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, 0.7921, 0.6037, -0.3885, -0.0193, -0.0303, 0.9997, -0.0208, 0.7933, 0.6067, -0.3962, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2929 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.2103, 10.3453, 2.0195, -0.0904, 0.1441, -0.0415, -0.4308, -1.306, 9.7573, 1.9316, -0.0513, 0.1343, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cb77ded1e7d85d5573474d129e5a28bbfff6391a3026115b42cdf6e81a8da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c11cacde222efe7a8b6044b8018f32262df63c228ef1b714a05ce02f51c5cac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851e653848baf45f36f1d80255898449484e0c8dc072a588919471bf9e9359bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0c7807b88571af52016ab4765c722887d0a1bc8a7a1763e550",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.22,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.2935,\"left_y\":0.0013,\"left_z\":0.18},\"note\":\"I see an open red-lined safe, a brown plush toy, a small pale object, and a yellow object. I’m bringing the right gripper above the brown toy first, keeping the left arm parked.\"}",
  "call_id": "call_j3udRPH7ugiBPP6UttBPBWyd",
  "id": "fc_0c7807b88571af52016ab47662a00c87d094147c5fd0cfd00b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j3udRPH7ugiBPP6UttBPBWyd",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4068, -0.0193, -0.0315, 0.9997, 0.9417, 1.4025, 0.8471, -0.3344, 0.7052, 0.5976, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1753 left_yaw=0.001 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9997 right_x=0.2924 right_y=0.2132 right_z=0.1352 right_yaw=0.0409 right_pitch=-0.0513 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5111, 7.2, 1.8095, -0.0562, -0.0269, -0.0122, 0.1162, -5.5726, 8.4444, 1.5263, 0.6032, 0.2125, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad4f41f42ba42221906dedf07bf8159f9c5d0588041413cbb84e69e93b8c5fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602f21b70f71f73b2696d6be76e19ed861a79ea402a49c068764874ce61198e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e9c0e833377fd975f4d3c2baca85042ef3c8aee449e04b3937974e743619fe",
      "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, 0.7921, 0.6037, -0.3885, -0.0193, -0.0303, 0.9997, -0.0208, 0.7933, 0.6067, -0.3962, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2929 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.2103, 10.3453, 2.0195, -0.0904, 0.1441, -0.0415, -0.4308, -1.306, 9.7573, 1.9316, -0.0513, 0.1343, -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]: [-0.0189, 0.7967, 0.6075, -0.4068, -0.0193, -0.0315, 0.9997, 0.9417, 1.4025, 0.8471, -0.3344, 0.7052, 0.5976, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1753 left_yaw=0.001 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9997 right_x=0.2924 right_y=0.2132 right_z=0.1352 right_yaw=0.0409 right_pitch=-0.0513 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5111, 7.2, 1.8095, -0.0562, -0.0269, -0.0122, 0.1162, -5.5726, 8.4444, 1.5263, 0.6032, 0.2125, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad4f41f42ba42221906dedf07bf8159f9c5d0588041413cbb84e69e93b8c5fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602f21b70f71f73b2696d6be76e19ed861a79ea402a49c068764874ce61198e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e9c0e833377fd975f4d3c2baca85042ef3c8aee449e04b3937974e743619fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHZrL6jdse1EESCeFimM6Y_SX6TGk_EIeEcCEt1fDGDc_Z_hgerYDm-JM0aAK06R4QqwjGH6EwMBiMCJU4dNSczdZIQvHbpX8T4SizWiUC1PYU6H1AKYyXktbXflUcbk05vQGo6jMTAUfYG2NW8V-Mu8PifD1IX3MjrYLubRe6ttu6Mx3mVV4LaU978IH_mjrHF_ImnVpxIlkIivTxgi1r6VfPtR4WiO249Cb1KR0HviY-zxRLPyXRn3MhSq83d7WK0RxGi9tJURhh6-VzMWCAx0IVn0w2HmAFM61YJyLQTL4DJyyPlX-RqJmk8VAB_KTFHcU2GarpGkJUqrXTkHNyILBPW1yW0ET0iAltxxFg8leohI9KuEGWxIh16v7tiVuVu375WcsYwTMfkcE63ScqqXp0JyQ0k0ZK2zoCki_BXJG-dE6iZbNShcvcvzTLWVvAxWw_iFxeUIGho38XK7PIzLF2e7PGwAcHiGXWH-nnmkLA3HocWbzg9NTYAZbps_75DiiJfEmuOdwJj-aNHFRUj6oua4pL18vuHmSVmexpwh_eeo2GUIHiTf_RT7QU8NR4MR6XJqB6r60X6Ww6gom0tbeBRO9XAK3KHoUmtIEqtz8jouDVNkNqfA4WWDDmqniLsub6ZwRTxzeg-5o8JgIOuk7VDEDlokZkC6O3dxfUjpONznF5lbAQOmFHwR8feIZ04Q4MxiOkQP-wnRZnTsLg3FdGfdhSR3OmN0RXceCcYRub8kX1q5IzwEOQrxGOcj9NxjJdFkbE4ZWbmDLjikjFSnQUcziWPr15JTx49A1auKnzf34tTv3tVoyVRx0HyEqUvgEHloFZ2rjWNuz_iDQ-HhPfvHjR_I4ZWSWFg3nnaSwKVCYM-7I1csAjXx_JrXKsROOZXDcu5bURuTAHSYt9HIoJGHpNrVXBKDhRL_TjnSp_kVYPaD7san6Z7ci_TIcJ6PGe90Kj6nkkn2H5xOPpFnm0DtBx0aj43rqSW_Bc-Qi8MAsZkJ7DMEFFfEpiRwsG9MM8wd39cviAcb51gEIC0627JE-jR4LtjIIpjur9fXsqC4hoAOHc6os7-16XaWkigdoj94QKjvZa5f1zM8a56QgOVNZPTwlE5lz2KofotY9crby-acuCdKAqXZ7IJ6NyXk_nG623Qy7pW7WHpISKhBNcG5nNH4EQTZvCfrU4lqFI6dyxk1fyz83UPwjfsIIK1OoQrwg7px9G1GKC93x8A4cgb_-bBdXIN4OYLu9XsTdRny4h-TYWx5NaSCesE2UH9UdI8IHVTy1Noe8sEpnXkfiS8gRDPi2NMBRAEqxEG2q9mEBwz1tUiD-em1ognQFjjZVXObyqG8qFthaNX9tJiiJlhwY-mryo5KoPnLZlF3kwbi_8lXimHzC2DwaTLzsuqErvvsUzzO4f7LFnmysBhy2mRFwn2ELIsjW9Fm8yPg7xEmSaspZEXvaqv6_qRC8hjieiPGwAUz7qwAvwp4Oq1BDIoov87i33qZMJFz-GsqkGhlawKG_S0RZIGeH08hAaQMCAK_6heY67Pqz2c_5PqSOSu7fkWe20gkV0V62eSTx3SiclnNeEjJhOErJaxVpRhsszVur9tyeCienqOoZpoEPJpUZm4-XYZoE6WRJm1bmFpMsGG41TzAM06gozoNJIKPuH1bGBh-7XS5rHMvFANChVTehF50Iyki9qy7wG796YEW9LwbSrA6apgZmayq82To8SerazAweZJ0GaTvhPTWW3NrKFMfvWhpsJADybDp7odilBB5M1ANcwCswnMskm1uZIdPC6MNE_G2H0Sz4uJM5lSVI7TTWACMTwM6Hs1PECw-M54Vrnt1oKbvlNtUOsFz4lma9j-mzABwmbwI4gPB_jZwrm-Kd6flMgb8VPhxpu4=",
  "id": "rs_0c7807b88571af52016ab47667126887d088b89f079eaac4ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.213,\"right_z\":0.025},\"note\":\"The brown toy is centered in the right wrist view, just in front of the jaws. I’m lowering the open gripper onto its torso for a gentle fabric grasp.\"}",
  "call_id": "call_kWCuE0b0sRdkueAW8pLgS5J0",
  "id": "fc_0c7807b88571af52016ab47669ba1887d08902027e9f6421a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kWCuE0b0sRdkueAW8pLgS5J0",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6075, -0.4149, -0.0193, -0.0345, 0.9997, 0.8772, 1.7058, 0.6434, 0.1463, 0.6575, 0.543, 0.9995]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1735 left_yaw=0.0027 left_pitch=-0.0278 left_roll=-0.0029 left_gripper=0.9997 right_x=0.3072 right_y=0.2063 right_z=0.0224 right_yaw=0.0363 right_pitch=-0.099 right_roll=-0.0914 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.2103, 7.3094, 1.79, -0.0464, -0.0366, -0.0122, -0.3487, -6.5436, 4.4923, 1.4042, 0.4225, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf91fbc5582cdb99c2ac15fcba2c77590056d968176f721771636c8107a0045e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ac9a9200a8494247514e4a56fb365869d15e4981f6aa1c55916c8a954a7587",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71806dbdef8cb9ebb00ca82da1bc89bd5b42290e9302adea45d469987dfb264",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4068, -0.0193, -0.0315, 0.9997, 0.9417, 1.4025, 0.8471, -0.3344, 0.7052, 0.5976, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1753 left_yaw=0.001 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9997 right_x=0.2924 right_y=0.2132 right_z=0.1352 right_yaw=0.0409 right_pitch=-0.0513 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5111, 7.2, 1.8095, -0.0562, -0.0269, -0.0122, 0.1162, -5.5726, 8.4444, 1.5263, 0.6032, 0.2125, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6075, -0.4149, -0.0193, -0.0345, 0.9997, 0.8772, 1.7058, 0.6434, 0.1463, 0.6575, 0.543, 0.9995]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1735 left_yaw=0.0027 left_pitch=-0.0278 left_roll=-0.0029 left_gripper=0.9997 right_x=0.3072 right_y=0.2063 right_z=0.0224 right_yaw=0.0363 right_pitch=-0.099 right_roll=-0.0914 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.2103, 7.3094, 1.79, -0.0464, -0.0366, -0.0122, -0.3487, -6.5436, 4.4923, 1.4042, 0.4225, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf91fbc5582cdb99c2ac15fcba2c77590056d968176f721771636c8107a0045e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ac9a9200a8494247514e4a56fb365869d15e4981f6aa1c55916c8a954a7587",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71806dbdef8cb9ebb00ca82da1bc89bd5b42290e9302adea45d469987dfb264",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the brown toy’s torso at table height. I’m closing them to secure the soft body before lifting.\"}",
  "call_id": "call_QfyCntmL7D7zAXhH8b8G8N9Z",
  "id": "fc_0c7807b88571af52016ab4766df90887d0a45fde12ac4deef0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QfyCntmL7D7zAXhH8b8G8N9Z",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6075, -0.4278, -0.0189, -0.0353, 0.9997, 0.8757, 1.7073, 0.6365, 0.1741, 0.6582, 0.543, 0.1043]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1708 left_yaw=0.0028 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9997 right_x=0.3089 right_y=0.2073 right_z=0.0235 right_yaw=0.0356 right_pitch=-0.0855 right_roll=-0.0772 right_gripper=0.1043\nstate[joint_eff]: [-0.0068, -1.2513, 7.1043, 1.8242, -0.022, -0.0513, -0.0122, -0.0068, -6.8855, 5.5043, 1.0476, 0.2613, 0.0317, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8e14af278bc171b0a3a97684e0369d2e47e007c4c240bf2e8a090060f8ed2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af664a53c908c47cea022d3fe6141aea511b8db62b30b6377fb9da5f3fa3605a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44dbf6cc23ea3565e954082cfa0632f9a3c10170786b39aa1e13efeb3f7efae8",
      "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 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3885, -0.0193, -0.0303, 0.9997, -0.0208, 0.7933, 0.6067, -0.3962, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1786 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2929 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.2103, 10.3453, 2.0195, -0.0904, 0.1441, -0.0415, -0.4308, -1.306, 9.7573, 1.9316, -0.0513, 0.1343, -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]: [-0.0189, 0.7975, 0.6075, -0.4149, -0.0193, -0.0345, 0.9997, 0.8772, 1.7058, 0.6434, 0.1463, 0.6575, 0.543, 0.9995]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1735 left_yaw=0.0027 left_pitch=-0.0278 left_roll=-0.0029 left_gripper=0.9997 right_x=0.3072 right_y=0.2063 right_z=0.0224 right_yaw=0.0363 right_pitch=-0.099 right_roll=-0.0914 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.2103, 7.3094, 1.79, -0.0464, -0.0366, -0.0122, -0.3487, -6.5436, 4.4923, 1.4042, 0.4225, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6075, -0.4278, -0.0189, -0.0353, 0.9997, 0.8757, 1.7073, 0.6365, 0.1741, 0.6582, 0.543, 0.1043]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1708 left_yaw=0.0028 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9997 right_x=0.3089 right_y=0.2073 right_z=0.0235 right_yaw=0.0356 right_pitch=-0.0855 right_roll=-0.0772 right_gripper=0.1043\nstate[joint_eff]: [-0.0068, -1.2513, 7.1043, 1.8242, -0.022, -0.0513, -0.0122, -0.0068, -6.8855, 5.5043, 1.0476, 0.2613, 0.0317, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8e14af278bc171b0a3a97684e0369d2e47e007c4c240bf2e8a090060f8ed2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af664a53c908c47cea022d3fe6141aea511b8db62b30b6377fb9da5f3fa3605a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44dbf6cc23ea3565e954082cfa0632f9a3c10170786b39aa1e13efeb3f7efae8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper has closed on about a centimeter of soft material rather than closing empty. I’m making a short test lift to check that the brown toy comes with it.\"}",
  "call_id": "call_frCqVz2ZsZhGsW8Q3IkCpSMA",
  "id": "fc_0c7807b88571af52016ab47671948487d0b647030f742a670b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_frCqVz2ZsZhGsW8Q3IkCpSMA",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4351, -0.0193, -0.0364, 0.9997, 0.8757, 1.5455, 0.7322, -0.1024, 0.6456, 0.5419, 0.1039]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1691 left_yaw=0.0037 left_pitch=-0.0492 left_roll=-0.004 left_gripper=0.9997 right_x=0.3056 right_y=0.206 right_z=0.0718 right_yaw=0.0433 right_pitch=-0.1057 right_roll=-0.0857 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.2239, 7.1179, 1.7656, -0.0659, -0.0366, -0.0122, -0.1846, -7.3641, 8.3897, 1.3895, 0.3736, -0.0317, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e232f2e78dae8e28f0b85d11894ae0145a57d86d283d7e8ea34d1beb71925a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544067b0c9648a6a3f55bdbba2619e64faa1bf49dc02a642e6cf8a8b1b49d7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e437734f632b3d48b569b9afe1ef600b397813f08f5606bfd0295f5bc009f8",
      "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 13 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4068, -0.0193, -0.0315, 0.9997, 0.9417, 1.4025, 0.8471, -0.3344, 0.7052, 0.5976, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1753 left_yaw=0.001 left_pitch=-0.0191 left_roll=-0.0006 left_gripper=0.9997 right_x=0.2924 right_y=0.2132 right_z=0.1352 right_yaw=0.0409 right_pitch=-0.0513 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5111, 7.2, 1.8095, -0.0562, -0.0269, -0.0122, 0.1162, -5.5726, 8.4444, 1.5263, 0.6032, 0.2125, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6075, -0.4278, -0.0189, -0.0353, 0.9997, 0.8757, 1.7073, 0.6365, 0.1741, 0.6582, 0.543, 0.1043]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1708 left_yaw=0.0028 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9997 right_x=0.3089 right_y=0.2073 right_z=0.0235 right_yaw=0.0356 right_pitch=-0.0855 right_roll=-0.0772 right_gripper=0.1043\nstate[joint_eff]: [-0.0068, -1.2513, 7.1043, 1.8242, -0.022, -0.0513, -0.0122, -0.0068, -6.8855, 5.5043, 1.0476, 0.2613, 0.0317, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4351, -0.0193, -0.0364, 0.9997, 0.8757, 1.5455, 0.7322, -0.1024, 0.6456, 0.5419, 0.1039]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1691 left_yaw=0.0037 left_pitch=-0.0492 left_roll=-0.004 left_gripper=0.9997 right_x=0.3056 right_y=0.206 right_z=0.0718 right_yaw=0.0433 right_pitch=-0.1057 right_roll=-0.0857 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.2239, 7.1179, 1.7656, -0.0659, -0.0366, -0.0122, -0.1846, -7.3641, 8.3897, 1.3895, 0.3736, -0.0317, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e232f2e78dae8e28f0b85d11894ae0145a57d86d283d7e8ea34d1beb71925a93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544067b0c9648a6a3f55bdbba2619e64faa1bf49dc02a642e6cf8a8b1b49d7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e437734f632b3d48b569b9afe1ef600b397813f08f5606bfd0295f5bc009f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHZ39oRzxAqQhrvuGYWUooo-r1uvZJyiYynBzAWacguFzu3c-GWCtdblgpvNbBZD0kWhi6PNWaJwhPZ2SxHhUs1AkPYp8YqZUFnWYCa0i0KBKXzdh8mMGaQ5h6QbWI1-9IHNkNv9Tpj5qg3mgcxUpt8e54DDjRLD_jA5ZErR6cnTwvIHDhysbLqu9W6vzbP33p2_sdma3yKi2-wV5r0Bjjv_gfiIE5nIWshla6KMks0cLayzAru2gE0Xu5vU8jgd76DZpKsVjIW-J8Aj7gwN5Nqy_sFJr0Q0otDIrASLo8tTsVruzlPCyRfUyglpbMxXdNDo8uktAJvdl5SvVtyhh9FibqjYHEYsPeSiy0gzoq1ikS-lyaEa6OTzZbANdJkF2NE3O_n0qAx_YwcaaH_9VsbELViEQOCeIU0OzxSvR25ObEBAN6jDdbCAYakPWXUrXZDRItPXiO2j0O_PhhULrP31HbSWpBDPqW7GbFy-jMO2dbN0p57AVUrtaMQRNDwm163EX6qle2Np7G3_awrN6-k3T3OvRcq1Mcda2zWpTi9DchIk9_sUHRocFegfk8IIecm0RzKfKc1-ovDc3sSUDDvVtnvMWjBhAQvMuvpDpc_7TyTTi4LHZwD1IYasUn5XBu5iSVf01M-xfMLuP_dH-GfwHrPh_GqsJK9EN8r1PvggdkFSr6yAL8eZ-VYViLYHAajI-DHXZFwxBqyFI-_kfABLbsdPE0-7XkIwnVwKIKNAe8oNON9QJqX-vbf9u-yTBhtswxMnUUTeNgjCLrgkxMDFdXciNSQ-vgpUXIpStROT00nDCbI0lLU0mq33avo8K5DzjFPPmb3-PmP3D41MP7yJJ_SFGEUlOazIfB783aA_pzV-4LARr2zsT9dl-wT6IqH6KAXhK_k6nMcSbw6Ambm2yziiUij4BWntvpx79Zu8nwgcIrbHuaW8BzZq3vLl6bXca4Tt31WEY7fKEDv5cRWgeFPG-DuUqNLJmkJkmNgU_yBL-l4WAMcu0q9QMKXmFo6MMDck9LtyUvhC-Atug0lwE02hut8xHx7VwNI6coHNuXOB4vnmlGYXx3_01ZkiL1MSkkFiLeFpXQ9t1Nes6D5uQvHYgaxBE8d0luSnI_Qn9V8JEz2Z1qTv94D9FXS18Oem4wPf4Fk01F8sx5ijRSi-SR5sw4fbuo0KxgYv0cfCN1NFdbhUB-F0aM3eKXvShRQdKr4jSZWSoBZv5yXQPJWD2PrHU8YnEGBnkVWzNLNYhaDA5g8BoVsppZBXOrKQRJJsbbpWeLIEVTtNUBUZadzoniKXUxCG6tWmJtWMkD5S5tXv9OFnaHnQn1-cWnYXwpDEJqofQw0sQW-bRIKA5ule4lf_kzgQNRE8QbPz1z6AMXYpBlqBN1uBBshHYwZEiwVxZdVOR6yJJpBfl94-FxtxP837xeoJJNydlfNHpbq2ex5FD-o3r5k5mMqKkpMuG0IXqngNYQAnp3HtNpAsFTNhc5_3PCfUcazYRlOO12RO7nOPmiJ7fMXCuNg9oFToJNJVwtZGG4EuU4Bi2s27tl0mZwy18nAGPqKrzkhy__ejjz2o3UFrqxlBGUyAFgCCQexvk5lfT4GFgiqLKaBcPKoXAW8hLbW3iMVikea-_nB2oqDAT5NdfGAL5btxOrdxWw-SksF7eEk2AD-FCg5pzKr0INeXs1HMUOAem-8rODqTb13EJK6zMuU7K0Q6NQDlQWmVJefEcRS_SWlSBbURWmLZXxePcXa4gnJRuldWCcNj2dr955A2Sh4LFbouiYC91_ERh61P9Pd8JgHM8zDCVlGIVrAcQk7TcbF522xNkdvRWP8=",
  "id": "rs_0c7807b88571af52016ab47674669887d087b5d8dd2ba55612",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.23},\"note\":\"The brown toy is moving with the gripper during the test lift. I’m raising it well above the safe’s rim before carrying it inward.\"}",
  "call_id": "call_LYHnYMQFc6BR3RYVVwfChUh7",
  "id": "fc_0c7807b88571af52016ab47676a30c87d0839cd448332e3cf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LYHnYMQFc6BR3RYVVwfChUh7",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4507, -0.0193, -0.0383, 0.9997, 0.8757, 1.4097, 1.2121, -0.7368, 0.635, 0.5381, 0.1038]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.166 left_yaw=0.0048 left_pitch=-0.0648 left_roll=-0.0052 left_gripper=0.9997 right_x=0.3056 right_y=0.2085 right_z=0.2127 right_yaw=0.0509 right_pitch=-0.1248 right_roll=-0.0967 right_gripper=0.1038\nstate[joint_eff]: [-0.3214, -1.1009, 6.9812, 1.8437, -0.0513, 0.0024, -0.0122, -0.294, -6.8308, 8.4581, 1.3602, 0.3541, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a6b13bacd8af996a7f911082350b86633a4350520eb2e0ccb1f47f6a8b3b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34628d0a675b6efebd8924767b241bc731c82c40d9dbaf018606560476305b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acbd473afcbf09229f99be282133a30a7fa603957a9d81a6d15cf035f1e09e7",
      "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 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6075, -0.4149, -0.0193, -0.0345, 0.9997, 0.8772, 1.7058, 0.6434, 0.1463, 0.6575, 0.543, 0.9995]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1735 left_yaw=0.0027 left_pitch=-0.0278 left_roll=-0.0029 left_gripper=0.9997 right_x=0.3072 right_y=0.2063 right_z=0.0224 right_yaw=0.0363 right_pitch=-0.099 right_roll=-0.0914 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.2103, 7.3094, 1.79, -0.0464, -0.0366, -0.0122, -0.3487, -6.5436, 4.4923, 1.4042, 0.4225, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4351, -0.0193, -0.0364, 0.9997, 0.8757, 1.5455, 0.7322, -0.1024, 0.6456, 0.5419, 0.1039]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1691 left_yaw=0.0037 left_pitch=-0.0492 left_roll=-0.004 left_gripper=0.9997 right_x=0.3056 right_y=0.206 right_z=0.0718 right_yaw=0.0433 right_pitch=-0.1057 right_roll=-0.0857 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.2239, 7.1179, 1.7656, -0.0659, -0.0366, -0.0122, -0.1846, -7.3641, 8.3897, 1.3895, 0.3736, -0.0317, -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]: [-0.0189, 0.7986, 0.6075, -0.4507, -0.0193, -0.0383, 0.9997, 0.8757, 1.4097, 1.2121, -0.7368, 0.635, 0.5381, 0.1038]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.166 left_yaw=0.0048 left_pitch=-0.0648 left_roll=-0.0052 left_gripper=0.9997 right_x=0.3056 right_y=0.2085 right_z=0.2127 right_yaw=0.0509 right_pitch=-0.1248 right_roll=-0.0967 right_gripper=0.1038\nstate[joint_eff]: [-0.3214, -1.1009, 6.9812, 1.8437, -0.0513, 0.0024, -0.0122, -0.294, -6.8308, 8.4581, 1.3602, 0.3541, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a6b13bacd8af996a7f911082350b86633a4350520eb2e0ccb1f47f6a8b3b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34628d0a675b6efebd8924767b241bc731c82c40d9dbaf018606560476305b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acbd473afcbf09229f99be282133a30a7fa603957a9d81a6d15cf035f1e09e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHZ7JtKNPfXAOpr7OUg4igklHGdJz1HQJUUVBt9or99u4M98rF1kmmgCaP_LOcP_ZnrTGfhxdaSfwUOq5pssMwIvawU05x1wP5KerZruB1CIyciSLcMsM92lL_c3hRmvThq6aM2ZJFDDGKrJ7mMGIzJ_auNm7jz5qv7z4ARXolBUxq__BvuqknrM18r7XRGfVSKilonSMMTT01xfzC0Ypat9lNnuotrPWyXzR0mg9WcfJdjIvuYM_jB0DbCiMmi5E9h5u2ryfKRaWbr5BHK9RKJrI8OJn5Vw8FPMFapvPKVA6RdVYJVqRyQucgaja7qAiyB-7nL0xS5-V_fa0DDFaSPKthfjKWe0cUXRauStMsCW_vdkI9hPgBwcpPKKSvayY0sv17ATuNM8j9cXBA3bCLrvgtCUOFsdCW-oj3bUEimVZAB47KpNJ1JP6oLX85jEz3PbB1hQxMKGFVM5cS8R7Zm1fXKBcArkOIWxkDx-CJ7oUK30gamlk1yAEEo28pBHEFiB4sZn_Xqbp6-3r_sxa7aYWlEYIJZ0TznUvEP5nui23HwY5iJJ-1TQXb8Depbkj6iEz7pivZBPH_b554xThZ0sZZcBCnS0elr3lWu5HjNSUkNTtpqoMMF_BUDpH2AJh9KjPaAPfIoJzsu5KbP7w1FuFCTjO2mn4T_nFASV_DbxhIoVYgWyDEHvvglOFqZoduJhHC7G-a21ik21x8MjK0tl-WPZGOAHaYx9ato3HodudEKhJi_AqHRdvMyuA0AHetzwfkTHqzCQK88MiTu_b9JB5tVz1f7feCdUez_BX1J2cZjtEjd5YlHSZMpzqS9wtJ9aZmqZA8tZRhPxH8HyM-QTP1aYclyNsBQlj-g1mQLra3ISoxmXDMpt-ObSbkC6a3P1O-du6fchjzYQ0OXmPiwBfHWO29C8Q0PSl2UjA6btTD5TIryrhCCiLIoySM6xe1vTRCfxV79pqYMxPUXD3CFAJv9_JvQ8SNasZAkYgwSdrgPJ80AyjDT4rXUOHfPWMc6_HSX6HxDuqWLGrcrjgSVgXF_mjq_FvRriJwDbtu9Hq-5uGujl6yoVOdESPtKRw_Y9pgrK7MF8rmIAiiFzD3fA1Ty6UogxQuKTRtkUTjW5LKILuy8566q6poTNOWn8X63yaQQi9Q9FX-Dm-oYR4vtQVeo6h7C4pTeqS2nJVvakNJspAOjVQ7Zl0kA_vO2H1xUygiPw-1dUtNFzyPrQDvJ1tmhmf6-43sqKyNmoCPcTGfX3rIKz-x00GHG6YSivMG9CeQDdZzCsvBbyKVa1aD4YdA==",
  "id": "rs_0c7807b88571af52016ab47679eca087d0aee0c650366b7580",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.325,\"right_z\":0.24,\"left_z\":0.18},\"note\":\"The toy is suspended by the gripper and its loose end hangs below the jaws. I’m moving over the center of the open red compartment while keeping that end above the rim.\"}",
  "call_id": "call_ewn3VNQYOHcg2ogeDkiM6kUU",
  "id": "fc_0c7807b88571af52016ab4767a947887d0bb444038caa68266",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ewn3VNQYOHcg2ogeDkiM6kUU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8074, 0.6304, -0.5186, -0.0193, -0.0414, 0.9997, 0.8341, 2.0766, 2.0811, -0.9417, 0.5972, 0.4889, 0.1038]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1607 left_yaw=0.0066 left_pitch=-0.1186 left_roll=-0.0063 left_gripper=0.9997 right_x=0.4207 right_y=0.3213 right_z=0.23 right_yaw=0.0616 right_pitch=-0.1512 right_roll=-0.1146 right_gripper=0.1038\nstate[joint_eff]: [-0.1983, -1.4701, 10.0718, 1.7802, -0.0269, 0.0317, -0.0122, -0.6222, -11.5624, 7.8838, 1.1502, 0.3004, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f722a516e93b194b5fe2837ca3f8c3bda857cdcb90dfd27b34df98a22eff310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6298b9af05c3bc0168b63bef7acf262e02f04a0760deb7fcbf134cdfaccf0180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8f8fc738147c9fce8efffcc63aa684bfefe4d23448cd2349f7f0fe27743a14",
      "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 13 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6075, -0.4278, -0.0189, -0.0353, 0.9997, 0.8757, 1.7073, 0.6365, 0.1741, 0.6582, 0.543, 0.1043]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1708 left_yaw=0.0028 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9997 right_x=0.3089 right_y=0.2073 right_z=0.0235 right_yaw=0.0356 right_pitch=-0.0855 right_roll=-0.0772 right_gripper=0.1043\nstate[joint_eff]: [-0.0068, -1.2513, 7.1043, 1.8242, -0.022, -0.0513, -0.0122, -0.0068, -6.8855, 5.5043, 1.0476, 0.2613, 0.0317, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4507, -0.0193, -0.0383, 0.9997, 0.8757, 1.4097, 1.2121, -0.7368, 0.635, 0.5381, 0.1038]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.166 left_yaw=0.0048 left_pitch=-0.0648 left_roll=-0.0052 left_gripper=0.9997 right_x=0.3056 right_y=0.2085 right_z=0.2127 right_yaw=0.0509 right_pitch=-0.1248 right_roll=-0.0967 right_gripper=0.1038\nstate[joint_eff]: [-0.3214, -1.1009, 6.9812, 1.8437, -0.0513, 0.0024, -0.0122, -0.294, -6.8308, 8.4581, 1.3602, 0.3541, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8074, 0.6304, -0.5186, -0.0193, -0.0414, 0.9997, 0.8341, 2.0766, 2.0811, -0.9417, 0.5972, 0.4889, 0.1038]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1607 left_yaw=0.0066 left_pitch=-0.1186 left_roll=-0.0063 left_gripper=0.9997 right_x=0.4207 right_y=0.3213 right_z=0.23 right_yaw=0.0616 right_pitch=-0.1512 right_roll=-0.1146 right_gripper=0.1038\nstate[joint_eff]: [-0.1983, -1.4701, 10.0718, 1.7802, -0.0269, 0.0317, -0.0122, -0.6222, -11.5624, 7.8838, 1.1502, 0.3004, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f722a516e93b194b5fe2837ca3f8c3bda857cdcb90dfd27b34df98a22eff310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6298b9af05c3bc0168b63bef7acf262e02f04a0760deb7fcbf134cdfaccf0180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8f8fc738147c9fce8efffcc63aa684bfefe4d23448cd2349f7f0fe27743a14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0c7807b88571af52016ab4767ddd4887d0b6146622753d2425",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.365,\"right_z\":0.11},\"note\":\"The red compartment is slightly left of the gripper in the wrist view, and the toy’s position is partly obscured. I’m centering the jaws farther inside and lowering toward the safe’s floor.\"}",
  "call_id": "call_KgHgtflo3rN1d0Yrtrhz2OJM",
  "id": "fc_0c7807b88571af52016ab476857c0487d09fe60b1ee78e3379",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KgHgtflo3rN1d0Yrtrhz2OJM",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6342, -0.5331, -0.0193, -0.0425, 0.9997, 0.8318, 2.2925, 1.9835, -0.6865, 0.5869, 0.4858, 0.1038]\nstate[eef_state]: left_x=0.2771 left_y=0.0018 left_z=0.1591 left_yaw=0.0073 left_pitch=-0.1316 left_roll=-0.0068 left_gripper=0.9997 right_x=0.4497 right_y=0.3536 right_z=0.1108 right_yaw=0.0607 right_pitch=-0.1992 right_roll=-0.152 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -1.347, 6.6256, 1.7656, -0.0464, -0.0415, -0.0171, -0.1299, -12.0547, 8.1026, 1.5067, 0.2808, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93560b4fa9d47855abb6c49759ca1a74c4c0c74f816c15c8fd0eb00aad1b012f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073677737ea5e0cee8b80dfe59adc0c9fff80a9d2bbf653f5b167efb15cd6bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c198e689ec9334e3aec2c984e8da859c50ec14032b0517609ba0b03f5579017",
      "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 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4351, -0.0193, -0.0364, 0.9997, 0.8757, 1.5455, 0.7322, -0.1024, 0.6456, 0.5419, 0.1039]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1691 left_yaw=0.0037 left_pitch=-0.0492 left_roll=-0.004 left_gripper=0.9997 right_x=0.3056 right_y=0.206 right_z=0.0718 right_yaw=0.0433 right_pitch=-0.1057 right_roll=-0.0857 right_gripper=0.1039\nstate[joint_eff]: [-0.0615, -1.2239, 7.1179, 1.7656, -0.0659, -0.0366, -0.0122, -0.1846, -7.3641, 8.3897, 1.3895, 0.3736, -0.0317, -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]: [-0.0189, 0.8074, 0.6304, -0.5186, -0.0193, -0.0414, 0.9997, 0.8341, 2.0766, 2.0811, -0.9417, 0.5972, 0.4889, 0.1038]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1607 left_yaw=0.0066 left_pitch=-0.1186 left_roll=-0.0063 left_gripper=0.9997 right_x=0.4207 right_y=0.3213 right_z=0.23 right_yaw=0.0616 right_pitch=-0.1512 right_roll=-0.1146 right_gripper=0.1038\nstate[joint_eff]: [-0.1983, -1.4701, 10.0718, 1.7802, -0.0269, 0.0317, -0.0122, -0.6222, -11.5624, 7.8838, 1.1502, 0.3004, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6342, -0.5331, -0.0193, -0.0425, 0.9997, 0.8318, 2.2925, 1.9835, -0.6865, 0.5869, 0.4858, 0.1038]\nstate[eef_state]: left_x=0.2771 left_y=0.0018 left_z=0.1591 left_yaw=0.0073 left_pitch=-0.1316 left_roll=-0.0068 left_gripper=0.9997 right_x=0.4497 right_y=0.3536 right_z=0.1108 right_yaw=0.0607 right_pitch=-0.1992 right_roll=-0.152 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -1.347, 6.6256, 1.7656, -0.0464, -0.0415, -0.0171, -0.1299, -12.0547, 8.1026, 1.5067, 0.2808, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93560b4fa9d47855abb6c49759ca1a74c4c0c74f816c15c8fd0eb00aad1b012f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073677737ea5e0cee8b80dfe59adc0c9fff80a9d2bbf653f5b167efb15cd6bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c198e689ec9334e3aec2c984e8da859c50ec14032b0517609ba0b03f5579017",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHaLetLvJ0HFkUV3rbY4OV1LmrPcJsqqFZeW01N9zj2_ifphs-dOBYukMnwpQuiV4ckOcTN8k6F86pJIo7fefzoyKB1anPIFmQGzWbF1_Zihq0mkbg-5Nioipyq7Xx-Qf6JKmqYGykX4Cmo0P2HHp3JjFLpeexWQpHuiytOSqMRrXt7GCicj8CrhV809Hak0qp9n6_0ClOUJE8BQGPfRIhIa70nt2DVA1L9RvZmUX9XPGdL2c4JXnL4igcyZXN51idstKmmIpm8nzVxSumm08U0RJw5vDQogJKfseTvi6Ja4bIXq_AhR1m8UgwHzp7vOsTJ0e5_wGgvBRKhWKZ5a93VIfRv2EY1Wt28APuO-MA4LDzFMubVFoFoGM8OsQyV4fJi-z20Sxwf0m-EXGF6bBFOI7vrxnUUHXac5r9o_BbCFIjZp2_Zi2KgH8mrg2rpVDjHT01YR2589LrkKkSsmWew-8u8L-1ikRMr5CYUOZ01kD7U19TwDbKEvZKNsCYgQZ-o_NB_gUK9BF4OJLE-mavTwc2SHGJCbVVP2CKN604Vi7Xzf3yDhQaRvRDK53VeK5OG92knDjJUPN4OX9daU4VL72pJ588-_WIVt4N8ZEhPnvahut-wc4dfPw3EUaBtX0NIiXcj82gSNVNzv8I1YGiHxFye1yKy-l2dlQTj0JKPoa6hUZDN9zpsXFpE8LABFxC1aKrF43xBwGtb5eHuVzYBXOsfBpLSOoNvNrw7wJ9HiwHmKzOVDzC3xBf1dc0lbgPhmIdIHdrft1916GlMNtP3h-kOJnl8zBlqu2N2Yx31vSM5PZM9R01Eh7NXVkDQaXfnUVrNEHCiRcpekQSGLl_dQKifB7iw911tUMixc2Qn6HrEDV5NQmz9cD82thGphtUgK1cdQqd5TFOkPjK2VY8iITlIJF_pauCepDI235WAwNTXz52s81EBEvP3zlDE-qHsrD5I9zcCpwipfkV8QT62U7b5XdGErAtKiBH6ZI32lGHtqq0miPed0sia3IkUdCz7gmrq17CfDKApBuWdf37Xs58jztGkCBk86QB8bXwF7TG8t2S6uwCxLO0DWB0wXSxNMaZu3heEFn1j6W845t8Gf92ywXkV_UyVX28XrxUGVd5m_6AqiVAq9t4TTEMgyqIn-DqtVwSKJAZsxzMkSHiW7IwdKL0ITlDZ5ci84YWfSwU78nqEqqHAGcY_i2ZD34_tLCPHAdTOmjZ-8eCizUo8g24JYvD__YTmeMwGUVuuYDfdMEz8ojxHiipNzSe4WDqeNv9S7tt0IWcH3YecKBvO5qwmEPOlKYsSeavZelyN1DPzLJInvCedzP4CFVxtoZToOqnVeLcK0saLXt_Aut1uR9nDkBJuwygRwVj6s1QhTDO7RECYVDXN5rnN4pGKdGEm6odCSrl1ZXZv-q3ndAUH7UDNDXmkihPqUQQVYM3u1u3XBbt48dOOvPEL03rHQXAKzDemn2866owz7vp1nTQ60H9iFna5EjvOba80QnsjBuqJvd_WjJ-G4AEyb451BTwahc6WCK3eIKkQ-n0xjh25g8LRwTZrmO53OylQMcHNADhUN0CTd2qVS-VP47XsFe9lNrmbvLg714w4l9zko8NyiS_e7vsUcfsm5JRZxW-VHdwibQJPBIBhKpPqbfDNpVAkcPW8MvjAw4Pq-isgRMngqoqICClVDOG8bB0YJFqWIL6jo15W-zvzoKB9Ty-DGFrSlFsVTj7fO2vegnBrOZBIkQj1L0duI1GMN6F9x6Wt1lOOmLHv8cUCA0yMNjmMnmT6gM8IU9xBKWet5kruZmBxgUa9q79g8jZlttGYioUzALzw=",
  "id": "rs_0c7807b88571af52016ab4768907cc87d08e083668a07cf6f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.2},\"note\":\"The brown toy is visibly still outside the safe, so the first grasp did not carry it in. I’m opening the jaws and lifting clear before making a better-centered grasp.\"}",
  "call_id": "call_gNp81fj5NKKMFx4AvegDKH5D",
  "id": "fc_0c7807b88571af52016ab4768ad83087d0b6d575ae14cc09f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gNp81fj5NKKMFx4AvegDKH5D",
  "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]: [-0.0189, 0.8097, 0.6338, -0.5404, -0.0193, -0.0425, 0.9997, 0.8356, 2.3463, 2.4248, -1.071, 0.5785, 0.4725, 0.9947]\nstate[eef_state]: left_x=0.2759 left_y=0.0018 left_z=0.1575 left_yaw=0.0073 left_pitch=-0.1392 left_roll=-0.0066 left_gripper=0.9997 right_x=0.4469 right_y=0.3556 right_z=0.1972 right_yaw=0.078 right_pitch=-0.203 right_roll=-0.1543 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9402, 1.6435, -0.0366, -0.0708, -0.0171, -0.6632, -11.6718, 7.9111, 1.2625, 0.3394, 0.0855, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa35c32d346ead844a72e79b7e0fbf41ef97b34dbe9ef948019188e0ff20aa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d832c071f8c24d4334ec86e87b7b938369ef61e0a2f80607739b262a68e903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be208c862d30223204ef2fd419e2d24ed9452ea0c4410740f9dc4aeea3460a5",
      "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 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4507, -0.0193, -0.0383, 0.9997, 0.8757, 1.4097, 1.2121, -0.7368, 0.635, 0.5381, 0.1038]\nstate[eef_state]: left_x=0.2856 left_y=0.0016 left_z=0.166 left_yaw=0.0048 left_pitch=-0.0648 left_roll=-0.0052 left_gripper=0.9997 right_x=0.3056 right_y=0.2085 right_z=0.2127 right_yaw=0.0509 right_pitch=-0.1248 right_roll=-0.0967 right_gripper=0.1038\nstate[joint_eff]: [-0.3214, -1.1009, 6.9812, 1.8437, -0.0513, 0.0024, -0.0122, -0.294, -6.8308, 8.4581, 1.3602, 0.3541, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6342, -0.5331, -0.0193, -0.0425, 0.9997, 0.8318, 2.2925, 1.9835, -0.6865, 0.5869, 0.4858, 0.1038]\nstate[eef_state]: left_x=0.2771 left_y=0.0018 left_z=0.1591 left_yaw=0.0073 left_pitch=-0.1316 left_roll=-0.0068 left_gripper=0.9997 right_x=0.4497 right_y=0.3536 right_z=0.1108 right_yaw=0.0607 right_pitch=-0.1992 right_roll=-0.152 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -1.347, 6.6256, 1.7656, -0.0464, -0.0415, -0.0171, -0.1299, -12.0547, 8.1026, 1.5067, 0.2808, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6338, -0.5404, -0.0193, -0.0425, 0.9997, 0.8356, 2.3463, 2.4248, -1.071, 0.5785, 0.4725, 0.9947]\nstate[eef_state]: left_x=0.2759 left_y=0.0018 left_z=0.1575 left_yaw=0.0073 left_pitch=-0.1392 left_roll=-0.0066 left_gripper=0.9997 right_x=0.4469 right_y=0.3556 right_z=0.1972 right_yaw=0.078 right_pitch=-0.203 right_roll=-0.1543 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9402, 1.6435, -0.0366, -0.0708, -0.0171, -0.6632, -11.6718, 7.9111, 1.2625, 0.3394, 0.0855, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa35c32d346ead844a72e79b7e0fbf41ef97b34dbe9ef948019188e0ff20aa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d832c071f8c24d4334ec86e87b7b938369ef61e0a2f80607739b262a68e903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be208c862d30223204ef2fd419e2d24ed9452ea0c4410740f9dc4aeea3460a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHaP8EBbZHCVLn4fxrAED4z5VioUM45OuQN-sW8wKfyxm3B_F0EIMvkvmGIMKsyXKKloRO9RvT2v5yl08AIoLuFzVtaqQB43kuJ5u_OXQwDNbag18iU1XoYRu8dQtnVRtARK8oRO76jhkAg_TkPQPOID-X332IlnLKN1hdiQ_Uwrw1CJl_YcoG2o6KvCAmx8VGLoSr_pufo907zot0lfcO-5Z0GFISwbPmDfjsw4eIOR5a-qqRZ5AwAz8ymPeqUQQbZ8zv7l3NmkCbS2qtqCJRzEOY3GY7G6jo7rgUIGhex5vr5nBti7Dn-avr1cLcuthbQ-IxEAcnw8JEwY_rWYrsgeScOrgVL_cna5bYMHRSoqFqhYGjeM00Jkj782VGOrzmNawteIn_9Dwt0igAfFS4AMnS4CxdLY3uU-KfvPzyW3vmbvJndEdFlx6XdRxG0mxLfDsKFcb81YK5R53PBf1C-EjxuwPRDEP1WzxlCczIVDEyivRpmN4tXNIzC0aSnyrXvMG1aMGy_tlPZJdZDeYFoPpW9pqzuZ6NopnaZbPC5fOdeS_NrGztdZ1Wfi5ufWJ7x5FvpATvTpN80MvqslgftR6CLRcNGP_56SNOeUsQrJntthwwFHVzrV151dHWuOgv9mHKKIHjmR98Zfm2f1jZudVlihcyXE2J1sp2JYfdGQHnz2cm5BmWO8ScUzWuk83ZT1KLsZHpmQ0r1AJ5IpvWKeAAe3bmStTZH_-IRAU0vwlUw4p0FH8gzdan07VMttyks1V6n6qjxpvE9Tjh_mcSvDkS_D5JfpArMhTY-c-uxDDgfUWBcZW7pWoA2w6cq5Rp7JXd6etKBb8Srb8BGvq79sBpyL_Zlvri7yDKQgLkxO4oNaipATAYo8ck3VHd_MB2bHjuQokN-Qkvkz_3pXNNr9jk-mb0_YitPss5XLmLLIeQye0Rr2rdYiy2mSyRnCxe9beU3T_X7wI6aHZnG-eIk5SZMfEuG3LJusXzrwx_NQhbP2L2r7I1ztoHVOdaq7sps4BzNC8p6UH8eVsw--EWd5GCc0kfR7LHMyOK1JHVpvvJc4D2v1ID0Z332yfoQY0XNzaVUzJdOFq00EyKxIeceMMtPpT6FU_vydpemq0YayW3-kIOOddru5a8U1doxnUFZ6lzn7XX9Lekca1eu_gOUTAa9Rfr_ZIVLZxzC7_hIhZH46xtLK0f4g-FxxsFEFROqPx4BIp2PSZQkmgfgGLsyBBy7N--5yFW7QQ36E5j1pucLuCdPvieOw8h7zbA5hOWimDPWZwnKLQ8ihWx8A0vTpofO943LqupIx85cdDT31aEkojRu_FNtAuaMmhUTeZEtSxhRn2_iSvRXBKXfmK7QO6B8DO4nuD_vcP_xgq_9l4Ik7FzjWdq4cOhLrpIm4aDqjUtWXaAXdw6ZmP6YAy1IFw03_KAc-0qj5z849RN_9W0lHLsq6sDMTO7MGsWjbbmcU7XyhC53cS3jIqnXfFE3SRW1BDupgwY6TXN_HydDvpUw=",
  "id": "rs_0c7807b88571af52016ab4768e0ab487d0bb8819c92be3ee24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.25,\"right_z\":0.13},\"note\":\"The toy is resting beside the safe’s front-right corner. I’m approaching closer to the middle of its body rather than the small piece caught on the first attempt.\"}",
  "call_id": "call_vt8xXgSsa66LByZ77qoJZNlc",
  "id": "fc_0c7807b88571af52016ab4768ee66c87d0b0828aafcc781b8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vt8xXgSsa66LByZ77qoJZNlc",
  "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]: [-0.0193, 0.8139, 0.6334, -0.5617, -0.0193, -0.0433, 0.9997, 0.878, 1.7035, 1.2034, -0.6003, 0.5896, 0.5034, 0.9953]\nstate[eef_state]: left_x=0.2725 left_y=0.0017 left_z=0.1524 left_yaw=0.0074 left_pitch=-0.1651 left_roll=-0.0065 left_gripper=0.9997 right_x=0.3264 right_y=0.245 right_z=0.1156 right_yaw=0.0776 right_pitch=-0.27 right_roll=-0.2176 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -0.9231, 6.9675, 1.8486, -0.0464, -0.0659, -0.0171, 0.3624, -8.9094, 7.8564, 1.7363, 0.4225, 0.1538, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d97a236b4363e27bc000c74c356f9ae79a4f38fbaa79be5655291a396c79f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b598ff6d8d5b00591d0cc319764109192f9aeba05e347ca914ab07bb1b3f826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d768510a99e1a74ef60f3d79886def008b76c8271e655d1cef46c386d50a7e07",
      "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 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8074, 0.6304, -0.5186, -0.0193, -0.0414, 0.9997, 0.8341, 2.0766, 2.0811, -0.9417, 0.5972, 0.4889, 0.1038]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1607 left_yaw=0.0066 left_pitch=-0.1186 left_roll=-0.0063 left_gripper=0.9997 right_x=0.4207 right_y=0.3213 right_z=0.23 right_yaw=0.0616 right_pitch=-0.1512 right_roll=-0.1146 right_gripper=0.1038\nstate[joint_eff]: [-0.1983, -1.4701, 10.0718, 1.7802, -0.0269, 0.0317, -0.0122, -0.6222, -11.5624, 7.8838, 1.1502, 0.3004, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6338, -0.5404, -0.0193, -0.0425, 0.9997, 0.8356, 2.3463, 2.4248, -1.071, 0.5785, 0.4725, 0.9947]\nstate[eef_state]: left_x=0.2759 left_y=0.0018 left_z=0.1575 left_yaw=0.0073 left_pitch=-0.1392 left_roll=-0.0066 left_gripper=0.9997 right_x=0.4469 right_y=0.3556 right_z=0.1972 right_yaw=0.078 right_pitch=-0.203 right_roll=-0.1543 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9402, 1.6435, -0.0366, -0.0708, -0.0171, -0.6632, -11.6718, 7.9111, 1.2625, 0.3394, 0.0855, -0.2564]",
      "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]: [-0.0193, 0.8139, 0.6334, -0.5617, -0.0193, -0.0433, 0.9997, 0.878, 1.7035, 1.2034, -0.6003, 0.5896, 0.5034, 0.9953]\nstate[eef_state]: left_x=0.2725 left_y=0.0017 left_z=0.1524 left_yaw=0.0074 left_pitch=-0.1651 left_roll=-0.0065 left_gripper=0.9997 right_x=0.3264 right_y=0.245 right_z=0.1156 right_yaw=0.0776 right_pitch=-0.27 right_roll=-0.2176 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -0.9231, 6.9675, 1.8486, -0.0464, -0.0659, -0.0171, 0.3624, -8.9094, 7.8564, 1.7363, 0.4225, 0.1538, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d97a236b4363e27bc000c74c356f9ae79a4f38fbaa79be5655291a396c79f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b598ff6d8d5b00591d0cc319764109192f9aeba05e347ca914ab07bb1b3f826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d768510a99e1a74ef60f3d79886def008b76c8271e655d1cef46c386d50a7e07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHaVyROnkslJpeEpI4dcqJJHrdYoIkoINeuFQwDmWclAPltS543x9k-pP6Ww4mzyRZahe-eNxh6LdtATn2jr9waCbzBmjAHdQ5WotPO2NhPcSKOwVb8d6zgxH82ScpDCEhmte3hMP2j05WwJsxDZo4Crt-WBXqgERaNDyIei0umLTcUwEgg37aJzdqn0VosVqPpGJtU52T3BsSTqUTzYF3ncJP9m62lTvIntIoYhAwk1-i0rpKTynhvdF1EpCEgUyhDuE5bHyty4LeyODxHmIy5YFg80vICAPu0oBrlaA6JiDC_xTAxaeLex5Jl-0xiVJgXmxBHG1N-zmxrvJB2z9snO6_jVZoWu_pugamVw6I51_9tZwpif8_qut1ABQ2DmsExWnRzacd4BzzY1ZITpTO9oz5ODJC4Y8w5X1dHPLf2MsAxZU8U3WWA_PkqJwzrk3z6NM3WW-rfLoTBIB6UQysGyuJLeRno7OosNloXi_X-hf_aMnYu5bi63in9ng56ii5JC1XFfEKbFmcFbJ_oxvB2j-U2zlU4r7X1AVCGYx4kCuQviNmYPxi3nEvNp-hffQa_HLz1selsCPIDA5SxQomID1leuEQtaFzAFm2dIRLeRaZRqqtYiOZ4bRPPBWntRa-RT5lqSr6E_6j4xLCjQni996IbehLe1Awl-eoqpX29vyyUHNNWSMOjQqpLKN5pSRbQ12XiO8DaKnli6WN2kK89OjEQCJ6J-laHN3MxkLt_BQD3K7hXcIxGC4dQ0VibckVEY8cT_X1Y1cqw-M_12dN1uuto1L0E1fSFY6c6boddhkZ8NoYkBScDZJ8XX5k8GxwZyy7TpSToA6STbYhENuez5AC30Oplf5hajOWqm0jLPVMbM1cKKUWWFmrXbOcJ4a1aKKcbQN4DjantQUFsI0Iy3psb_1YfiV4tr_RG5KZ-WV3UUlQBa0UqLQOfBw_Q_fqHpF51WL3kMvj0ZcszFOrEmtKYmkJH9vThP41JANukm0PmJWLc3M7UOS4JJfIt2jzdC1o0EZgw8sHM1_fU8AYx8GiQpe8iAjrXPniJMnqJfPylQEA-EYe6oQ7Z4TBe0YxkWeLlIZ00iHuUPGa-MefuekuRX61jByRpxXWCPasz5HrSQZIhAIWsiku6nlmSBUJ0U2d61CrAe7pjAowRmXzGZvTrNq4hP2DPVCvVhtLGNPUT28p7I2UtlQK8ZedtdiWxwD8luT4I7R3N_KLBju3HBhRsq_E9qjHwFSBDKb7m7c50jCqFCvQrCHdGza1FTuVyWde3Veh_2y9Bb5hH4BV9n5I-t7jspnPW5ljNOfPtl9ny_Hs7MBUHSSHN-svDrybRPQJKyAafpkqQ-J69OddFiX3VK3YTDxkEVelntVayujWJC_eifesSGHJVwTE_WvBMggiP0HxKNHjKgj9bY99vNkL5xrsj3kiXlH0S7yZSwL-HrsCPKIxmsIDomML7lKlj_zyV7niJTVBI4B-IdsAYTeZ78uuP5gX1l-PHjYu4mRssxilNjuAS2fEARycD7ckWwHgQmGMO2W--qxTGgh9RPnnGP_8fH3QNcy4lhxGZVSPOl4SeHrPoOpiox61Vu7xnWv3sXVpwTu35Sl_uMW78QPD4xEhajNnKGpq6Hg0V812Ztnzfe39shHwoAUYLRHKZNHvk5-d6LueSvyobh6XwBOOOOfcPUtSSh2Dwqecfs6piGbI1Uz-XbblMKH3pMS6wNnIlzKRCLOzO94NvOMtQnzfTP63S8SLoUFfrqdmRHKz0=",
  "id": "rs_0c7807b88571af52016ab4769209b487d087898feb141b8cca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.24,\"right_z\":0.02,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The wrist view shows the toy’s torso ahead of the fingertips, with a leg closer to the jaws. I’m advancing four centimeters and lowering so the grasp reaches the thicker torso.\"}",
  "call_id": "call_khdxvzNOxkGeRDU5FjqO7sLJ",
  "id": "fc_0c7807b88571af52016ab47694530c87d0aa3c912a66647b84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_khdxvzNOxkGeRDU5FjqO7sLJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6334, -0.5709, -0.0193, -0.0456, 0.9997, 0.7929, 1.8751, 0.7967, 0.3218, 0.5827, 0.445, 0.9954]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1503 left_yaw=0.0091 left_pitch=-0.1758 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3657 right_y=0.2378 right_z=0.0271 right_yaw=0.0661 right_pitch=-0.0279 right_roll=-0.0177 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.347, 6.8718, 1.6728, -0.0464, 0.0073, -0.0122, -0.4034, -6.3521, 4.041, 1.0134, 0.0757, -0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0b7c05a304bca7f9e4822eed09febeba9db0656f5312024b8ea48dba37a8fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7f188e811bfe0b6e73edb1cbabc8f40cc123c7ab4800d62cfa27c2fa4ae413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b71de75a7640515f7895ab1abfc9976e950f13203aface7f2f4f66e8d8524c",
      "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 28 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6342, -0.5331, -0.0193, -0.0425, 0.9997, 0.8318, 2.2925, 1.9835, -0.6865, 0.5869, 0.4858, 0.1038]\nstate[eef_state]: left_x=0.2771 left_y=0.0018 left_z=0.1591 left_yaw=0.0073 left_pitch=-0.1316 left_roll=-0.0068 left_gripper=0.9997 right_x=0.4497 right_y=0.3536 right_z=0.1108 right_yaw=0.0607 right_pitch=-0.1992 right_roll=-0.152 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -1.347, 6.6256, 1.7656, -0.0464, -0.0415, -0.0171, -0.1299, -12.0547, 8.1026, 1.5067, 0.2808, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.8139, 0.6334, -0.5617, -0.0193, -0.0433, 0.9997, 0.878, 1.7035, 1.2034, -0.6003, 0.5896, 0.5034, 0.9953]\nstate[eef_state]: left_x=0.2725 left_y=0.0017 left_z=0.1524 left_yaw=0.0074 left_pitch=-0.1651 left_roll=-0.0065 left_gripper=0.9997 right_x=0.3264 right_y=0.245 right_z=0.1156 right_yaw=0.0776 right_pitch=-0.27 right_roll=-0.2176 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -0.9231, 6.9675, 1.8486, -0.0464, -0.0659, -0.0171, 0.3624, -8.9094, 7.8564, 1.7363, 0.4225, 0.1538, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6334, -0.5709, -0.0193, -0.0456, 0.9997, 0.7929, 1.8751, 0.7967, 0.3218, 0.5827, 0.445, 0.9954]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1503 left_yaw=0.0091 left_pitch=-0.1758 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3657 right_y=0.2378 right_z=0.0271 right_yaw=0.0661 right_pitch=-0.0279 right_roll=-0.0177 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.347, 6.8718, 1.6728, -0.0464, 0.0073, -0.0122, -0.4034, -6.3521, 4.041, 1.0134, 0.0757, -0.2222, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0b7c05a304bca7f9e4822eed09febeba9db0656f5312024b8ea48dba37a8fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7f188e811bfe0b6e73edb1cbabc8f40cc123c7ab4800d62cfa27c2fa4ae413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b71de75a7640515f7895ab1abfc9976e950f13203aface7f2f4f66e8d8524c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is now farther forward over the brown toy’s body. I’m closing around this thicker section for the second grasp.\"}",
  "call_id": "call_bMqFuKpUCCN1H3PQMewXu2Oy",
  "id": "fc_0c7807b88571af52016ab47697b61887d0b24694a7ee1bbf72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bMqFuKpUCCN1H3PQMewXu2Oy",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6334, -0.5846, -0.0189, -0.046, 0.9997, 0.7898, 1.8683, 0.7872, 0.3687, 0.6235, 0.4438, 0.1052]\nstate[eef_state]: left_x=0.2687 left_y=0.0018 left_z=0.1474 left_yaw=0.0091 left_pitch=-0.1914 left_roll=-0.008 left_gripper=0.9997 right_x=0.3715 right_y=0.2334 right_z=0.037 right_yaw=0.0334 right_pitch=0.0232 right_roll=-0.0089 right_gripper=0.1052\nstate[joint_eff]: [-0.0615, -1.1419, 6.8308, 1.6581, -0.0855, -0.0366, -0.0171, -0.1026, -8.0068, 6.0103, 1.1013, -0.149, -0.0317, 0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4001d8a2fe933b229e940a03fae66a70765c2d597a2d6092bf20879a9e3eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f991b2c89e280e5ff4010ff2af161f247f1a224349adac53215a4bd024888af8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc12c7aab91a5719e63e86aa116202b9b5e807b807d4a6cb9c54443043bb18a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6338, -0.5404, -0.0193, -0.0425, 0.9997, 0.8356, 2.3463, 2.4248, -1.071, 0.5785, 0.4725, 0.9947]\nstate[eef_state]: left_x=0.2759 left_y=0.0018 left_z=0.1575 left_yaw=0.0073 left_pitch=-0.1392 left_roll=-0.0066 left_gripper=0.9997 right_x=0.4469 right_y=0.3556 right_z=0.1972 right_yaw=0.078 right_pitch=-0.203 right_roll=-0.1543 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9402, 1.6435, -0.0366, -0.0708, -0.0171, -0.6632, -11.6718, 7.9111, 1.2625, 0.3394, 0.0855, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6334, -0.5709, -0.0193, -0.0456, 0.9997, 0.7929, 1.8751, 0.7967, 0.3218, 0.5827, 0.445, 0.9954]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1503 left_yaw=0.0091 left_pitch=-0.1758 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3657 right_y=0.2378 right_z=0.0271 right_yaw=0.0661 right_pitch=-0.0279 right_roll=-0.0177 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.347, 6.8718, 1.6728, -0.0464, 0.0073, -0.0122, -0.4034, -6.3521, 4.041, 1.0134, 0.0757, -0.2222, -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]: [-0.0189, 0.8173, 0.6334, -0.5846, -0.0189, -0.046, 0.9997, 0.7898, 1.8683, 0.7872, 0.3687, 0.6235, 0.4438, 0.1052]\nstate[eef_state]: left_x=0.2687 left_y=0.0018 left_z=0.1474 left_yaw=0.0091 left_pitch=-0.1914 left_roll=-0.008 left_gripper=0.9997 right_x=0.3715 right_y=0.2334 right_z=0.037 right_yaw=0.0334 right_pitch=0.0232 right_roll=-0.0089 right_gripper=0.1052\nstate[joint_eff]: [-0.0615, -1.1419, 6.8308, 1.6581, -0.0855, -0.0366, -0.0171, -0.1026, -8.0068, 6.0103, 1.1013, -0.149, -0.0317, 0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4001d8a2fe933b229e940a03fae66a70765c2d597a2d6092bf20879a9e3eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f991b2c89e280e5ff4010ff2af161f247f1a224349adac53215a4bd024888af8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc12c7aab91a5719e63e86aa116202b9b5e807b807d4a6cb9c54443043bb18a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHad-Hzks6vLV40nytAfsNWW2AtePPonEL9H1QuucPfVJux-d3PNM7hb6bEb8RWbwssc_YgV7AO82Tj7kGOA9X94ZyLPi3tatFNP9oXQu1UXx6QMugiOfEPI8P9kpsiogPT8dO1HglBDIvSHWafdf2n4W4etg640zPhD-bTu22q4AVK6ndarSjoB-OlCe3oTu08ry2yjYJ_cl60mNIsRP-1u-UkFGDIMc-SIAt5glDA-6cxjjSB3IEp2bq902jWgkLJdj0iPgpH1XYYOT8coxmBaqFGWfUzYHYGZWFKAQV1QTnQ-ZgTdKZ7-UBgbo4Id7dJebgqkzf4coL2tHbj_kK1DJ4e21gicgR6eDXXkQxWZkR9F0SIaeaHaKazrDBsLL2sgKB8qilQVeZlErFHo0CUeRVa-1rf0pgaNzlqQR06UIi4RZ6wTkfqn29uF-vE5ChfolJQ71NXVHnAY8nsV7_wAEUP4Soi_ISEtCeSKAS8O5bSuSSWc1UkOHFSn5yYUTj4aTKsolBYt4Fwwr1r8BaXQQvtt4sQBf8bWNV-No6a1g5nunxn0gabc4RAfPP2r5AjMXJvKFINo-h3lIaEY4E63oLTKQ-fweeZ0VQLrkJ83ElmOB6iJlgK0VRvpAWaH6egvaPFftC8WBj-Oc4I-5yKS5v0JlF2RdNine2jpKOjI0X_CfNerWf_FSRRFimBn2ovgfoiggk-TYwBO5dWeQys34rICQWS6DRWeltK90SNArG9M7KmAQO7ANasLfY9B5O8uYQgl5V5OLoIicwBOTMoxBk17oclYL-4ywjlz3NrcUIyzq42WvqinJkb0wov9y2PsI4KTbhQfMtQO36u--4M5YQHsSsAI_uYURdobl7OiUUTlKhOadlhic2y94cBXfDVCcnG4H3F3PIzzkYLBLOsodD1KUy2Gk59xxhhcv-pSGVB9txgheLF458iYuFgbfcVodZwAoSfkjTzfBbnNKRV6o1zdMVolJhrau7JzEdg4lQQvvqjilw0oUibM-C9-_0zZd7zwkp6tJhV-wetCQcthLa_wiBNPXbnZlQOhA73mjOGF3_aj6CilmQm2uNONWHHrDno_tYVpU7PUnKUdfLQGYXM7n0ZAq7c3t8SiRi5koMK98k4ILUWHzYgT7DdmylDZ1cD5L4qcrO_PSLKWTGm-jKGXmDIxAmqAJbWiJyjj4fsRzxqX0Ypt_GVwxonZVPiy5vwbC8FIx_VQHIZ0DmyK9J2LVVNdsbNI3u0UelboiQyHdd4ruxS8x129wSEOaqM3BzT4IJyhWyroRorwo3Sj2f8E4XYwZY5NMhET_sCXQQx8pSamRxbl242ZxB11ZchvhoaWtoSUqktgGK_Ss3rbUI2hQKHzhuW8AWzn6HbDGTeHqihnKZ_4ZU1XPmVQ-1JkcGSoTYKmk3RCBcon150atGrxkJy7olZv7DhTggyqlK-1yLCubXpWdKVMhVEWxfTh",
  "id": "rs_0c7807b88571af52016ab4769a92a887d09e13331002d78aae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The close has settled at a small opening again. I’m checking this second grasp with a short lift before attempting any more transport.\"}",
  "call_id": "call_jEXb1WQAp1U7pY0Os13X8MOE",
  "id": "fc_0c7807b88571af52016ab4769be43c87d0beb4cc1c7dbcce98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jEXb1WQAp1U7pY0Os13X8MOE",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6334, -0.5861, -0.0189, -0.046, 0.9997, 0.7876, 1.7306, 0.8688, 0.0917, 0.6014, 0.4454, 0.1054]\nstate[eef_state]: left_x=0.2685 left_y=0.0019 left_z=0.1468 left_yaw=0.0091 left_pitch=-0.1945 left_roll=-0.0079 left_gripper=0.9997 right_x=0.366 right_y=0.2311 right_z=0.0757 right_yaw=0.0465 right_pitch=-0.0292 right_roll=-0.0359 right_gripper=0.1054\nstate[joint_eff]: [0.0068, -0.9368, 6.8581, 1.5458, -0.0513, -0.0464, -0.0122, -0.6496, -10.0171, 8.3761, 1.8046, 0.2466, 0.1148, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5a76da1ba0d939aab6a9383498f0e1ab4f16e23b2a074202d743f11a18792f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40b7deef5051e052cd6ac3a7ade8e9c3b03fb050b9f7def72c8601d6297b97c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910a614be28703b0ef9aba6c19a2b37042e7e92ae27077684a968579b6ef8616",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.8139, 0.6334, -0.5617, -0.0193, -0.0433, 0.9997, 0.878, 1.7035, 1.2034, -0.6003, 0.5896, 0.5034, 0.9953]\nstate[eef_state]: left_x=0.2725 left_y=0.0017 left_z=0.1524 left_yaw=0.0074 left_pitch=-0.1651 left_roll=-0.0065 left_gripper=0.9997 right_x=0.3264 right_y=0.245 right_z=0.1156 right_yaw=0.0776 right_pitch=-0.27 right_roll=-0.2176 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -0.9231, 6.9675, 1.8486, -0.0464, -0.0659, -0.0171, 0.3624, -8.9094, 7.8564, 1.7363, 0.4225, 0.1538, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6334, -0.5846, -0.0189, -0.046, 0.9997, 0.7898, 1.8683, 0.7872, 0.3687, 0.6235, 0.4438, 0.1052]\nstate[eef_state]: left_x=0.2687 left_y=0.0018 left_z=0.1474 left_yaw=0.0091 left_pitch=-0.1914 left_roll=-0.008 left_gripper=0.9997 right_x=0.3715 right_y=0.2334 right_z=0.037 right_yaw=0.0334 right_pitch=0.0232 right_roll=-0.0089 right_gripper=0.1052\nstate[joint_eff]: [-0.0615, -1.1419, 6.8308, 1.6581, -0.0855, -0.0366, -0.0171, -0.1026, -8.0068, 6.0103, 1.1013, -0.149, -0.0317, 0.3687]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6334, -0.5861, -0.0189, -0.046, 0.9997, 0.7876, 1.7306, 0.8688, 0.0917, 0.6014, 0.4454, 0.1054]\nstate[eef_state]: left_x=0.2685 left_y=0.0019 left_z=0.1468 left_yaw=0.0091 left_pitch=-0.1945 left_roll=-0.0079 left_gripper=0.9997 right_x=0.366 right_y=0.2311 right_z=0.0757 right_yaw=0.0465 right_pitch=-0.0292 right_roll=-0.0359 right_gripper=0.1054\nstate[joint_eff]: [0.0068, -0.9368, 6.8581, 1.5458, -0.0513, -0.0464, -0.0122, -0.6496, -10.0171, 8.3761, 1.8046, 0.2466, 0.1148, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5a76da1ba0d939aab6a9383498f0e1ab4f16e23b2a074202d743f11a18792f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40b7deef5051e052cd6ac3a7ade8e9c3b03fb050b9f7def72c8601d6297b97c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910a614be28703b0ef9aba6c19a2b37042e7e92ae27077684a968579b6ef8616",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHakqigmwmEadXMQNaekFLvU6eOUUmoIJl63tDq9hBWzPz-l3xNUlHd8ZR8NQqCFqL8nHRCyYefcVIGX3VqvVGkZ1wD36kl9dExYL1sHjFX-fWww3YDcDR4epBqMX930ZzRjyCz1JqL8GnxY2b2OPwDbom0EIwi5kx_zyVBD01zVF7vTlcZnp3niemPTa2dSDuN6zKXcpDzu81C21NWMXJlgQBxa4Kp12165D7WynxZzzc69ZpeExR2NXFIzlkF9vvm-ewIikDcDQ1ujd4TSaHvXeZkbnz_hS9DTO_hX_e9ejRdmhk4EFhtVRxgAgL7nP4TdO4FqHnKA5MF8vSEkFaO0atyki6fvJV3cLXuGJjUv0-IfbgsJjFSyLIvIWcIUEGLV2TWyorFwrhZ1tdlx2JP8wIm0y3twfFGtgrbXVgqBlHdXBLRbVA0QrOKFaXJukNlh6TiEHcVTaLvKu0Wh2R3abLGikzicwN21j2uYjD4vBDvJ4XyepGiiDVsOo0haBFg4Jg7NbxphS7x9X29rr6iRb0IUZ5G15fGhj3EfdLAyOr_TTYncyA1cruG7DNDokpsQETh_fZ4vzlx4G4Q0Ob21MjxV39iOVwD3_dTGpOkysiIY1INpGq6peXHF67BXuDlrmSgxsiTfnXnb38_KrGhhGVnDYF1EqHcffR9yPByo1Q7dM7r3hhhWAR5YjXpPam5J35z-NTGPcSaTVspCkShNIRF8gQM-kP_P12vbaR2fFWA4yzRN_Az-mXqfQWq5IIZCxk4Fla25M5FbUqk4AcN_fw49Lk_GEJFQXSV9VkSIPmlp9Tm8s0MNaKtZWk4Vts94-YPERzXDL4B5INKRO1QGceAisXPneYpK51F7nKTfcO6Kk2k8DQBgE1aCsR9meMgFmxfxlmrRNdMuUZjz2opbU0OSUxCoOj3JZs5DihtDMWca0gc-sQE973UbFSN-7xbMHX_gq804zh7OixllsI3s8Kg4plhZQHB9dvSWHjztVlBxYUax-6BOto5T5atimX4wN1D62YnMwfyAA08fAl1ZcT08vnYegRlCmMSdmqWtJRQEacNcrjfghumbnDi02_cC3XpLFXcAHcunRO4vnjD-IRxCdK25fHt08X6C-oTQXnaai_UodMSt85TUmu6oYBE5CZ3gYVnEsf-VEpJ3FirNW-rEz4yaReOwM4Go3u39wjHgDcKpTy-QaOmKCSBoFQPGMZXIEO8Kcir0dmSv8xMDL_1FRwDRUMFIbOFD-xXK8fErbvw0QJ964uZTfMBmsVsYpGfawfhYkRzasNHvaGrir2_4Wx6Olj-i1q97mNMSCAlY-gPAQj-mJ01QlIv0x7gVahR3ByMwtlKKmDUflqSn3J4F7DWjmiYFEbs-5ShWHXusZxUr6Z9BzKzby_gNqwnbPpqUnBcyEdrY3bmwl2xubfF-s_ATz0oWNPSVIgSmgz4advL6Qwo1GEAdPku_Za2kVx34ETCey0uL0nnBcOSc2G9v-I347l-RNToyAd0_cFP2jWsh_mG1-jXAY_yGf5ZSehHSwxsAx2HVLmkPqDl4ssyzz1vQW0Z57CDnpNpp3Sc-I_NBl-i4lxyWaAoxRT6H1UjxmlV9rwxcdduTlERkisjeI38QKMbf6bcgVlsYCjmDm9gkSWX1j57dOMW2V6JKBWGw9SsScIA4jtAUix0BIkCVmYMW9s0kaqquvwZzMRt82dRTAUHZBpooNckDwd7vUhuSHsoKhICX65SX9AsIE8XKg6Iiys6OX8dDeNFpXdaAzftvu-bYKi95PperT5JyIbg6eKNKV3Z2faIsiGvuxbC-X_2Sl6wJYjcz5lvU3nziMSMjqkeeo8jVHbLXgNDqkgZXzYXMLt2iGW3MBywR63dS6HtJxtKfEhHKQxaAtGbs_9mFWKv8tivusKbmJeD2C68d1Uc9uY8wrew4lGhHRmUfKAv6wviUN0mmSRAtZfndb9Q2133I9CtLm6XGgDoRZFikrelNuLzZ2ajnI4JSX_TFPwoGOdbDrvgK0J2rSme_7CSKIhlHVbzl9gvC9m0h_XjFFUxc9S9GsAWkd37jDGHlVsgvLl4XZLwqetK_95z5rJQFEpV3dqGX9Af6Y1LqzgRSVMBf-dYjW_enIhPilD0TLQ2Gp66jdXEo9Zf1XujQiSot7lXb00mRH-9T-bDWwUenZ14p1U6ZQOopgDkGn7CXEI56vaCZWS7Ch-mrgocn7XEnWJ3dhavcjN8hEBf7AXxCeoSbM2RZYatAsYeQqKEZ11P8n2Q512ereKIvdWHFnqOeYc7hy5JH5l9Fl4-QqkVS-5I4T7LoIf2grobBPOcpDiBRe0Gn5UYrC00yGEjCqPSLPU56F-l3WOfI_YK6TGdkvg9Mmzu7cK3X8OGJknYq5mpoHVTcL3dImcAoHqq_WM0jD1bJKYRSTkcuf5gP",
  "id": "rs_0c7807b88571af52016ab4769eb58887d09440b08b27a09f16",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.25,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The toy stays fixed relative to the wrist while the safe moves in the image, confirming it is held. I’m lifting high enough that its hanging body can clear the safe’s edge.\"}",
  "call_id": "call_UWimNkJ4Q5jq3A31uws7zvtC",
  "id": "fc_0c7807b88571af52016ab476a344e087d0b39f2116f0d8472b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UWimNkJ4Q5jq3A31uws7zvtC",
  "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]: [-0.0189, 0.8207, 0.6334, -0.5919, -0.0193, -0.046, 0.9997, 0.7856, 1.557, 1.3098, -0.5385, 0.5854, 0.4446, 0.1054]\nstate[eef_state]: left_x=0.2676 left_y=0.0019 left_z=0.1453 left_yaw=0.0095 left_pitch=-0.2021 left_roll=-0.0074 left_gripper=0.9997 right_x=0.365 right_y=0.2322 right_z=0.2206 right_yaw=0.0564 right_pitch=-0.0483 right_roll=-0.0387 right_gripper=0.1054\nstate[joint_eff]: [-0.1573, -1.1966, 7.0359, 1.6484, -0.0708, -0.0464, -0.0122, -0.335, -9.388, 9.2376, 1.7265, 0.2759, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a667f4600a93bc9138b77bb29d820abe23feed8d015b40e343fd5f5c44fd3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e65c5ddcab952618c5d1201e22421a4999e1ea86e1fc677ba3fa90a44e10fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71fa492da72cbaf8e59fce3b6b1981ba2843c36c16ff21d4e78851f2fa6da974",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6334, -0.5709, -0.0193, -0.0456, 0.9997, 0.7929, 1.8751, 0.7967, 0.3218, 0.5827, 0.445, 0.9954]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1503 left_yaw=0.0091 left_pitch=-0.1758 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3657 right_y=0.2378 right_z=0.0271 right_yaw=0.0661 right_pitch=-0.0279 right_roll=-0.0177 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -1.347, 6.8718, 1.6728, -0.0464, 0.0073, -0.0122, -0.4034, -6.3521, 4.041, 1.0134, 0.0757, -0.2222, -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]: [-0.0189, 0.8188, 0.6334, -0.5861, -0.0189, -0.046, 0.9997, 0.7876, 1.7306, 0.8688, 0.0917, 0.6014, 0.4454, 0.1054]\nstate[eef_state]: left_x=0.2685 left_y=0.0019 left_z=0.1468 left_yaw=0.0091 left_pitch=-0.1945 left_roll=-0.0079 left_gripper=0.9997 right_x=0.366 right_y=0.2311 right_z=0.0757 right_yaw=0.0465 right_pitch=-0.0292 right_roll=-0.0359 right_gripper=0.1054\nstate[joint_eff]: [0.0068, -0.9368, 6.8581, 1.5458, -0.0513, -0.0464, -0.0122, -0.6496, -10.0171, 8.3761, 1.8046, 0.2466, 0.1148, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6334, -0.5919, -0.0193, -0.046, 0.9997, 0.7856, 1.557, 1.3098, -0.5385, 0.5854, 0.4446, 0.1054]\nstate[eef_state]: left_x=0.2676 left_y=0.0019 left_z=0.1453 left_yaw=0.0095 left_pitch=-0.2021 left_roll=-0.0074 left_gripper=0.9997 right_x=0.365 right_y=0.2322 right_z=0.2206 right_yaw=0.0564 right_pitch=-0.0483 right_roll=-0.0387 right_gripper=0.1054\nstate[joint_eff]: [-0.1573, -1.1966, 7.0359, 1.6484, -0.0708, -0.0464, -0.0122, -0.335, -9.388, 9.2376, 1.7265, 0.2759, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a667f4600a93bc9138b77bb29d820abe23feed8d015b40e343fd5f5c44fd3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e65c5ddcab952618c5d1201e22421a4999e1ea86e1fc677ba3fa90a44e10fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71fa492da72cbaf8e59fce3b6b1981ba2843c36c16ff21d4e78851f2fa6da974",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHaoirVnaiPDyZOlgl4JiyA7-4wUCkJBLGBMvo5lfDQnHV70LmsK7lflkdyy8WUxAQ86BqkfS5WoXfZ8GdzUpuSJFJXIussHLV9rKxTQ4kAQlt4VJiSGU-VZrq-A0uVyaBvwLZvgoKZ3iJslp45LcxL9HQv6o_hSVJ7GzEfTdNME2_qWxvasnowyPRw7fxiTl2K07j1cpLBUFzQ_F5XkVittizi5-MEpJieNappSZf5AGIihPwTrZIkrhIF3nj96Y71rL0mPRQkaTSLcqSkunt7Yma2ZoYaRHkGZ4_FF8qKu3jAMaC03IdCfdu9f9yyUHHLp0q332n-Hu7DpZ9h7sbkVy_XXeMLSxVoYw3WeY2xOQZXTe_dQXXfgqXxfe5pKorBkttV9FbHFfRd_QfYIlQ7O4lh0msm6x14c3LJaiQGT9pZulhXVhz0NVsYGUABDs40JRXl3JifYunrCK2oOhD2P0V7El8TyKwcPK6Vzq3ogFZZ123Cfc4gjCjGyR99AQUWBYelWcu2IKMaWqRrMShkS1heMqjpTdwiPlj0udOzfdjgXDbd24woKfycB_fs0cmPY9JxBF6YqlVwEdnousTxQlEyNu9ueUA9PI6H_MENayxj4Xl-oEACEsjxzRjUJZn8uLJ4PYBXG_s3hStVpt4oQNY_jr8YguIgvw0DEjtGToxmmBRDTE6ZhPtN8-iJzon6jhdofWgI8gGq83Kv3a9RG7A7BOUBy7_J2qWcyPqAmbghfw_zM5I8JzPfppIn7DH4fGm9Nm3bt5x2_DSi2hS-z1MHiMVxUbdZWsMj-NNdX3QNzS_ftYfH_TpooLjQBgx0WT6ONI6kid2iLjyRXDnCkmp9JxkWa_HqNP2et6KQfuD083BhkkCJ2IOiw1oaffExIh9MbpGgCi3Ld4uhrxEjFkp3AK3kSq2CS5TEY9pwNm3D1KRKRXMwcP1soZTClAznrM_sRYM2s4HjAYjyChev7dj7sSXPLWkdCxRQJXvXS7kjPLdivJs_I0TEgS3CQZvoaME_zyHxkhQpRowcTL2GHH47nNnUHW_d041Virt7DdiWYdilUYVkAgb2veM92Hr2kExIDzqXPgJMKIfI-rBVr-hv6Iag6A-8YBdK6aV6NfMM5oJjMmSj6gBIudsNNEslX-KBLxyaFfwly6nJHsEuE0SsRYanXnK_SZQlhGjZ5YMGaQyY_Ob-y3ajeOp0JwyaCPL76C-DesXJSFPOmNEAsIhsrNaQxcUECyDt9PcCP0CEx7RVXCwwZ44dCFePf3GMCZgmALBNIzbQVgjwAOrSB13fxBkqoiaWTiLNDlYRL-iw=",
  "id": "rs_0c7807b88571af52016ab476a6e75487d09e7512f39cac562c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.355,\"right_z\":0.25,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The brown toy is clearly hanging from the gripper now. I’m carrying it deeper over the red compartment so its body, not just the grasped edge, will land inside.\"}",
  "call_id": "call_ujFrOSvW0nzPeD5p1QDDoJBC",
  "id": "fc_0c7807b88571af52016ab476a78d0c87d08124fd00bf8d8d06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ujFrOSvW0nzPeD5p1QDDoJBC",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6334, -0.6094, -0.0189, -0.0463, 0.9997, 0.7994, 2.141, 1.9793, -0.4911, 0.6353, 0.3584, 0.1054]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1413 left_yaw=0.0095 left_pitch=-0.2235 left_roll=-0.0073 left_gripper=0.9997 right_x=0.4788 right_y=0.3472 right_z=0.2252 right_yaw=0.0792 right_pitch=0.0711 right_roll=-0.0479 right_gripper=0.1054\nstate[joint_eff]: [-0.1709, -1.4701, 6.8308, 1.6777, -0.0513, -0.0317, -0.0122, 0.0479, -12.5744, 9.2786, 1.8486, 0.3492, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aee6c7b9f64c0af37774c4f96d4f3be9fd0ed59112b217e0c6e3ff08d4d3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da78936258a059160318f0095f53a20c97fe5fe58399847d080295a3a391c2ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbfa59c4bdac810b845b53e769f14bc48183d8190122fbb02711ee55bd3ab504",
      "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 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6334, -0.5846, -0.0189, -0.046, 0.9997, 0.7898, 1.8683, 0.7872, 0.3687, 0.6235, 0.4438, 0.1052]\nstate[eef_state]: left_x=0.2687 left_y=0.0018 left_z=0.1474 left_yaw=0.0091 left_pitch=-0.1914 left_roll=-0.008 left_gripper=0.9997 right_x=0.3715 right_y=0.2334 right_z=0.037 right_yaw=0.0334 right_pitch=0.0232 right_roll=-0.0089 right_gripper=0.1052\nstate[joint_eff]: [-0.0615, -1.1419, 6.8308, 1.6581, -0.0855, -0.0366, -0.0171, -0.1026, -8.0068, 6.0103, 1.1013, -0.149, -0.0317, 0.3687]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6334, -0.5919, -0.0193, -0.046, 0.9997, 0.7856, 1.557, 1.3098, -0.5385, 0.5854, 0.4446, 0.1054]\nstate[eef_state]: left_x=0.2676 left_y=0.0019 left_z=0.1453 left_yaw=0.0095 left_pitch=-0.2021 left_roll=-0.0074 left_gripper=0.9997 right_x=0.365 right_y=0.2322 right_z=0.2206 right_yaw=0.0564 right_pitch=-0.0483 right_roll=-0.0387 right_gripper=0.1054\nstate[joint_eff]: [-0.1573, -1.1966, 7.0359, 1.6484, -0.0708, -0.0464, -0.0122, -0.335, -9.388, 9.2376, 1.7265, 0.2759, 0.0171, -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]: [-0.0189, 0.8246, 0.6334, -0.6094, -0.0189, -0.0463, 0.9997, 0.7994, 2.141, 1.9793, -0.4911, 0.6353, 0.3584, 0.1054]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1413 left_yaw=0.0095 left_pitch=-0.2235 left_roll=-0.0073 left_gripper=0.9997 right_x=0.4788 right_y=0.3472 right_z=0.2252 right_yaw=0.0792 right_pitch=0.0711 right_roll=-0.0479 right_gripper=0.1054\nstate[joint_eff]: [-0.1709, -1.4701, 6.8308, 1.6777, -0.0513, -0.0317, -0.0122, 0.0479, -12.5744, 9.2786, 1.8486, 0.3492, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aee6c7b9f64c0af37774c4f96d4f3be9fd0ed59112b217e0c6e3ff08d4d3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da78936258a059160318f0095f53a20c97fe5fe58399847d080295a3a391c2ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbfa59c4bdac810b845b53e769f14bc48183d8190122fbb02711ee55bd3ab504",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHasllr0Wj9uIsKg_WdY5eCXuPRjB6-zmaTcCppjd29kybTSbhWpBV4TSnq_YtOu3PpjtjVaUdraWOzR_5DriGtaXW-VpVXUz3fD4qDUcaVJAnP3fgtewYy13kBDdxIiFtGZvVFbIRSlGNMXGCqg_UbzbkJKYmizFSW3JrRpZ1wpkWbNLqTk3HMZOjnVMhQt9gjwDU3r4swcKUWpvzFRVHcQpslxGrEYhdoMm5zy8x5m1IAPMVIwavUtUecjsRZn7hAXcSwZ2xz-PxMk48ERlxljxeQmQhDpIt2p5fJ-CjOmLHGtkcKbLaVIS_uuhddl9Twqjl1I49KTFU5NCLayFKFrlEd3-ryQzUuQB4vEmNTqvMP42xrXFGOCjojeZvINiOfg8kszEbUJ7isF9t3fSE5d0fP8_Npv08dpmzlkn47C0T9vpL11a-ANm9s8AggpqsponsTqUI0ZVq1uWpgdsYu5TtZNfmRk06fsM2NkEqqlHdQmS1C2sej5n7bLqknwczOqs6BXlRRZvGaceC8biPWYj_26MZVy7zU2eUqPAYjeiccNkMMZg0edjpDavLJm9xUzYTzdnNx1Vmw-wEKNdg5DXka-Lc8UK89C0px-FEe2E0TmoYBDyKcu3YgT1fmN2jbF7bTMndQxztXEYg9iNztrsHcQEQI47qnJNxwJzVjH7pa1idrOyqZ82iwiidGEy2u1IRC5Tdn6gayTuH4qnF3Aoeale3IAHgLCZI4-u7FxS2ESuvbre_m1JrR8NOrNq-DcRTRoe8laWRhZ4mHgZLV0k8GeR0Tks8bRpkWhdD_DWBQPguekSM536L6qUmV5S4_yoMM7OQCyDx11Unti-V1wFBYQ_uiQS6cNVoA8ULtMWC8qeRLzKpXzVVeNp59iGvrSgHNiXcHk9CYBOvANCpkg35GJ85Cx3OI0uksVI-1dSew5XDEVVfRjLBY2MgYV9VOmiY232LvLLzck4fKxJAaKKcjsK0lhlAwUt7p0cH5CtG7nMFc6D2dXTr1G5hcvqwDOXqVLuw9mWzBHEi7LadhvkHZ0mpsmxkna2Et6E4Nw7-h5_osxIo_1SwIfw2absUJv58b3TRjWeW6IS2olp_zGDU8ZyuVe7f4B79dyAtwDd6CNul7GJdI_81e0vLttESx7FQjwnb-994D2Ug6KPTCZNGZsSrIxDQhOHT0b3VeziDSOYt4BGw4n97MDVXS7QiHy",
  "id": "rs_0c7807b88571af52016ab476ab3b5087d0a2025167f62442a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The toy is over the safe and its lower end is entering the red-lined compartment. I’m lowering it so it can fold onto the floor rather than dropping across the rim.\"}",
  "call_id": "call_yy3TWdMfEJkEnt4qnPFYEt1d",
  "id": "fc_0c7807b88571af52016ab476ab67c887d08ebc5f4b7cba5456",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yy3TWdMfEJkEnt4qnPFYEt1d",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6331, -0.6147, -0.0193, -0.0463, 0.9997, 0.7979, 2.2314, 1.4754, 0.1295, 0.6353, 0.3462, 0.1054]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.14 left_yaw=0.0099 left_pitch=-0.2299 left_roll=-0.0069 left_gripper=0.9997 right_x=0.4729 right_y=0.3398 right_z=0.0717 right_yaw=0.083 right_pitch=0.0906 right_roll=-0.0413 right_gripper=0.1054\nstate[joint_eff]: [-0.0205, -1.347, 6.8171, 1.5897, -0.0708, -0.0171, -0.0122, 0.0068, -11.6444, 6.653, 1.9316, 0.1929, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a6b2d744de23410aaeb6fe238e64333a17be73732a6a1af6b346b11441c443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40be48cc16948e2795db7e2fabc1e21d427cbcadefd25587fbb7457e1e3cb328",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f007d38e53caa5ed60255d5588373caac2d8a6dd159ace8f4a6d27fbebcbf9",
      "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 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6334, -0.5861, -0.0189, -0.046, 0.9997, 0.7876, 1.7306, 0.8688, 0.0917, 0.6014, 0.4454, 0.1054]\nstate[eef_state]: left_x=0.2685 left_y=0.0019 left_z=0.1468 left_yaw=0.0091 left_pitch=-0.1945 left_roll=-0.0079 left_gripper=0.9997 right_x=0.366 right_y=0.2311 right_z=0.0757 right_yaw=0.0465 right_pitch=-0.0292 right_roll=-0.0359 right_gripper=0.1054\nstate[joint_eff]: [0.0068, -0.9368, 6.8581, 1.5458, -0.0513, -0.0464, -0.0122, -0.6496, -10.0171, 8.3761, 1.8046, 0.2466, 0.1148, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6334, -0.6094, -0.0189, -0.0463, 0.9997, 0.7994, 2.141, 1.9793, -0.4911, 0.6353, 0.3584, 0.1054]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1413 left_yaw=0.0095 left_pitch=-0.2235 left_roll=-0.0073 left_gripper=0.9997 right_x=0.4788 right_y=0.3472 right_z=0.2252 right_yaw=0.0792 right_pitch=0.0711 right_roll=-0.0479 right_gripper=0.1054\nstate[joint_eff]: [-0.1709, -1.4701, 6.8308, 1.6777, -0.0513, -0.0317, -0.0122, 0.0479, -12.5744, 9.2786, 1.8486, 0.3492, 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]: [-0.0189, 0.8253, 0.6331, -0.6147, -0.0193, -0.0463, 0.9997, 0.7979, 2.2314, 1.4754, 0.1295, 0.6353, 0.3462, 0.1054]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.14 left_yaw=0.0099 left_pitch=-0.2299 left_roll=-0.0069 left_gripper=0.9997 right_x=0.4729 right_y=0.3398 right_z=0.0717 right_yaw=0.083 right_pitch=0.0906 right_roll=-0.0413 right_gripper=0.1054\nstate[joint_eff]: [-0.0205, -1.347, 6.8171, 1.5897, -0.0708, -0.0171, -0.0122, 0.0068, -11.6444, 6.653, 1.9316, 0.1929, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a6b2d744de23410aaeb6fe238e64333a17be73732a6a1af6b346b11441c443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40be48cc16948e2795db7e2fabc1e21d427cbcadefd25587fbb7457e1e3cb328",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f007d38e53caa5ed60255d5588373caac2d8a6dd159ace8f4a6d27fbebcbf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHaxxBdrB06j4yQiyCl3Hkx26-RaAosDWjpetxA949EUIdJfn5XZ5d8gL9sYxjuRL3cdtFc1_XE9N4YPTgyF7QIIzsr8zeL1cmZ9woU9ZOxN-PFQfIWd50TVuJuXqepDMpetv38by0LlOXp1MPGxF2VzjiEARinYsFwzC5qimpj2l0TpWWtlMk2H83vuGgBCzkLssT9J0zb7OYq_EP5y30D_7Gv2j8-T7qcWVEhxVb0_k8gkyBtin0_VOueS4cGtCL_3FfM00ci1o1f0yVzV6tRQRXI4g8VUJJ6QhyM0mx9j5I3hWPsLkU6QG2_VQdjXwKM73J0cL2Le9dB1NJaSQ5Dahq3Gnlit0Oiyhw8zCDNSExt1j67O3qY1DT3PboTnFJNCJjgTvIhfX65DBXYNT-SNZtawAtl2eGlJeTgApFDkZKcQa-0RLcdqCBUnZaaKUpf9h-EOy3AYN7xjRZRbPEOhrCPbLvOThvaKuOA_mkXihjB4Rj51gIEeimZvCpNKDoR1wHu0zjW4Rwf-t1nff4KBXYghGTeNlakEBK6MXjYqSCe4YujvFGfbN5VxOHg1EeSVmV0sx5uzXb7zD0mRNG9QtPuVpwG2XlpQ8uo6bf4zhmwETFnHgGj6NCyyrQRZFMpGn2d0pgAWsNV45LkH2GKKHZvsoa10kX8WEXMRmg4BnkRcloYy9eMJF2tURdBMeLI_Q_1C8kA8zRA4f6fnz8nmVof_A5xOEiPvxYFfqP-QBuadgFgAUyfYOWf07eAzYJILtbrW6Du4i8ngrDMvcJiWBj9K8xv9_WgtdvGgpvk1fh126htnhqdzGwOG83H1hMbxNqMpIiuzhRR3NVwFQFtmHMwsC4o8WSFl9V0qPMhlX4hvzRIsvY-lj6cA-zfviniW1hHDE38iRsA59g7l82OLYKhTIzyivROI4qfQM-OYkLUPrBpVes8sT_tz-Dp9Bo21AKCOEQbMoC_myiX1CpMKaBIeBYKC_odUbV2qZ-sFl0OZuPaBNsoHt_qmacFqJDS7xAp_yb34wyJr6rlFFuazoXjUtomZnkt8wCYOUysvcKK-eEJrGyI_cv_-KtJ8Jfo4jcBeH0itPHjzDszjdt-87Fo26Nzj0SRUW9RPQWN3cMPheWWu4BZ2C4KcZF7wbmas7aN7FgSga0PqkbB28N49z2a69yIH9mVEAqoxpoBB1JkacsIRtdgwqPFzxQKjciD7hNXOYJ28xUKHFo07dA_falQeId9C2yY9Vc_0mxEV91sAMddjQZABjRU9Dnqe5RcN",
  "id": "rs_0c7807b88571af52016ab476b03af087d08b772d7aea5256b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The toy is supported in the compartment and the jaws are near the floor. I’m releasing it inside the safe.\"}",
  "call_id": "call_vcqho42nCkaExZYR5mr95iKA",
  "id": "fc_0c7807b88571af52016ab476b09d3c87d09abf3a9238374f15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vcqho42nCkaExZYR5mr95iKA",
  "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]: [-0.0189, 0.8303, 0.6331, -0.6319, -0.0189, -0.046, 0.9997, 0.7906, 2.2513, 1.4647, 0.1436, 0.6395, 0.3439, 0.9948]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1359 left_yaw=0.0095 left_pitch=-0.2521 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4742 right_y=0.3344 right_z=0.0593 right_yaw=0.0747 right_pitch=0.0798 right_roll=-0.056 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.2239, 6.8308, 1.7314, -0.0611, -0.0317, -0.0171, 0.2667, -14.3521, 7.0769, 1.4286, 0.0806, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01212ffef7dbf831a0065e85bf0edcfda314741ee73c75733f9e13c15f882d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e5e5d8f240f29e6ea0e4ef9f77e02b57981678d3d3b5b97be0e996e9255c18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a54adcd344bf6adb5d9cfcec1768d2e8ea9c8ad2854540a7cf213118509e8566",
      "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 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6334, -0.5919, -0.0193, -0.046, 0.9997, 0.7856, 1.557, 1.3098, -0.5385, 0.5854, 0.4446, 0.1054]\nstate[eef_state]: left_x=0.2676 left_y=0.0019 left_z=0.1453 left_yaw=0.0095 left_pitch=-0.2021 left_roll=-0.0074 left_gripper=0.9997 right_x=0.365 right_y=0.2322 right_z=0.2206 right_yaw=0.0564 right_pitch=-0.0483 right_roll=-0.0387 right_gripper=0.1054\nstate[joint_eff]: [-0.1573, -1.1966, 7.0359, 1.6484, -0.0708, -0.0464, -0.0122, -0.335, -9.388, 9.2376, 1.7265, 0.2759, 0.0171, -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]: [-0.0189, 0.8253, 0.6331, -0.6147, -0.0193, -0.0463, 0.9997, 0.7979, 2.2314, 1.4754, 0.1295, 0.6353, 0.3462, 0.1054]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.14 left_yaw=0.0099 left_pitch=-0.2299 left_roll=-0.0069 left_gripper=0.9997 right_x=0.4729 right_y=0.3398 right_z=0.0717 right_yaw=0.083 right_pitch=0.0906 right_roll=-0.0413 right_gripper=0.1054\nstate[joint_eff]: [-0.0205, -1.347, 6.8171, 1.5897, -0.0708, -0.0171, -0.0122, 0.0068, -11.6444, 6.653, 1.9316, 0.1929, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6331, -0.6319, -0.0189, -0.046, 0.9997, 0.7906, 2.2513, 1.4647, 0.1436, 0.6395, 0.3439, 0.9948]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1359 left_yaw=0.0095 left_pitch=-0.2521 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4742 right_y=0.3344 right_z=0.0593 right_yaw=0.0747 right_pitch=0.0798 right_roll=-0.056 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.2239, 6.8308, 1.7314, -0.0611, -0.0317, -0.0171, 0.2667, -14.3521, 7.0769, 1.4286, 0.0806, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01212ffef7dbf831a0065e85bf0edcfda314741ee73c75733f9e13c15f882d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e5e5d8f240f29e6ea0e4ef9f77e02b57981678d3d3b5b97be0e996e9255c18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a54adcd344bf6adb5d9cfcec1768d2e8ea9c8ad2854540a7cf213118509e8566",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHa6E83Sw6M1zrZgs1cTWakTwfmFiQLb7EsgPN0gnVzWsP6sWh4_U-_fjzXL4gjLgOmUZ8jt3dqAcF2b2AqiA-ULBJmxUXbgDLSYn0DXahIO8WzqTYjGW7yjK2agkYSDKNx3ppW1DGO5PYzOY-bgfnvNqKy3OKUBt0NV_9YH7KlXLCSCNP2qOAyRBCJIWMlVLFCuXPgAzatKL8lT0qsI4DTKJXTwqJjgJXbMPe6tm8t4QPa4_oqVlqDgGsLYx6nAdt2koNkz0WVu96qbsI_XTc9GYPKjYls51B_IydfKNB1giK_P4ifih_U5m5OhK2gsijy3jdLX-_Sm8CoLbHJ2bjcrLIF-6Nuiid8pC_c-KiAYqYnq5TjUWJwg9Mc4KJbrdmr8q8wLVeUZs6wt3QkDJyzqxB_VUsy0zgzDGlNz5PtAIhZhM-8J9koWhO83DEFhXCP-ACQ8tsAMlCemi2DecRml5olMbAzdcLR-W58Hnq-KGtfs_BF7SVGIWkMflt-p3LPsim-YMpoKGjdXuO3h7Yk0SjVUliS4FQ1lg4BRoYsaH1fv3hILri5Gmpoi1nHLz2rhPJxRX8yy5FBLXj95nH0Z5Mhq-bRC2IwUKvi6u80I4i86RMCs3szdm5rlxlgpTTwV2sArvUscZpUsg__dWY0KiolGGE-CERH0zKcB88xuWbBZ9pSTg-Kzu_ybJpkaDM2bhCgAb405wmbDCGeZeAzvU90bzyYBMUqiIwZwRqdJD02G2Jgxm-lAO606eCJyDENViAwhRI1yBHjPUUf2NHfMh1K2Ojc8MNDsasrJJj6XRDesQGlpHLIQmqKos0IXXi48Gxlchbp5LaL_nSgh6xQ8Fb0p9KHGJsfrFAuL4hEkTMrhx9w3itNmrjLA1nOZ-6FhFEZM5oFrO33o6g0H2nu8acvrJVEQebYCLQc5KEf_gPGAoEVKt5o-4J8tlkcBlwAgA-O-n7qfUz_MvVrJqfpIPzV6pLYwKHaJDCL0sqaUhL86ue6ivq8iB_Afa2fxkJeG5CQjlJyfFLubysEBfNI3tY-mcl00DRh_vY5h7obHWD1tnBOfM1InQ0YlpZ4YuW6JB02JPY9GAmBxNwOA1lo5x5lHFirbqPux05MqVaeO7_x6p43DLqQ300WqCLKKFhcgT8xfTT9iO2kRWr2Dgu3MXfwwVGCG8HDxUfduUh59YJ7g7mdtvHjcQF9yYtNBrGkygaGlPMUMk4a7Z3yAiWxz4DruBUxAzyp4lFV9jECHUv0nGiYF_4Ru3KC_qT5-cHqXD2xx7ULrhIn9EU0HA67vXEX9VEO4uOp4z8ML6iKtynmg379yDhSsFT2gduLm0SLXVePHUl7q3KegtkNENKMEKkzl8Jm-LsoM8qPQYVopyr3ZJZ80vvM0ERfZjSFSaIHbHac9VVcM7XHoAYyyUvTWao6J0TOIPFB-Q-FZlojUIjHT9h9Nm0o-tRbpTotCtWVRLmbt-WGvo2mg6zuHz7q7HWhQLDq9OnO4zZziJQgwXScsc1tkxTU3RFAjV2FPFKhSgxWZRx-nWCMMlgMrmA04zvvhb_EaqxDMIfVN6Dy9nF5LmB3anhtZFOM_OF5446wbeckXfvaW-c0r7rchit9IvB8RCUH44iFescEgKQg83c486wMpAFAQz0G4B2qVIJbtP-64S2Pot0RA6IllR7OUwpELUAsIVVS7I6wZu5OjU7ZfgWj8WJIOMAnruSiCqPLasjo24FVsbhu9aEcNh5TVp95CdAN9Zrm2RmPj84EILwz1Slt8o5Zsfma0cvpxnoGULMCrqxppqSj24xC3Q1ZQd1e1qMxGkQB4eYBdRexYvPUkz-2xlHhaxQFwm4LVeHCgmjmM09skNOV87EXnD2COXHvd8ZwcQt5XXG7fb43qOmmfTQzUt1-TOPk5rWfBmJy_fQEErDrS5rXea33TxtrMPb9jUTXL104b3Mwmcf3GW0w7r19IhfhL_zLI0fn60Hu_gHuJZsZkNI8hazDD7ryS-zdRkSz8XMAaRHMx9XKlwB8Dl7RzxH0gJrHxkuekua6Ks2_KXZUOc2wkGJwklSqaRWozH7jEX-rJDaTCtappkR6hNf7bMWGcl768K7cnG0mo3tV2xQ9WFZm3LP4dI6l8cfcAcAY0ZrhtwGsRSWW1zTvr1KDYR3JwvSp0kiuixVUO7-mCprr-xqtiQc4Ic2r3nBqZdf64knq2ytZToTqHKfASX5uhFxIF1Fo7eL5kgTiq1ToMm51nXzawo7bwLKu5Qe6LsCy-aiWPk54eeOUjC3ywXvX00DVsm39rYWbLlOYxv6qosfuJzLrt-AKu-K-CaKz26j_qoVsnYrSjp22uXn-L_01SxPrBVFaP7UWz5-KKdA-tUc7ZU5L0XZMafsBZf_XdMIwIAQoPZEPnUmEk2UBmoyES66aGh9p02U-xAMfHTMsQN8A9EKC4Cm3lADDG3-NH8ULT9l6WfswXrF-we8c180PUaW1LauBuDtQVj8PYnu8kdh2tTeQHEWkoUkzrq0RVnF46acOVnYuPSQOSQqajumcAujlrlEemOjNBYh_ymjV-2tpXJAXNuIPFFaHbzQiS21pl6K5_Wc1dmlTaj822Jca97ufX83hNbeZ-1keqe8zy1-M7z3Aclcpv9szGoEYVbAvDSEVy8SY4qlsLPwkC1WEUVOVi-rC7V47RdGRU",
  "id": "rs_0c7807b88571af52016ab476b3cb9887d0bc5758c17f949a97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_pitch\":0.15,\"right_roll\":0,\"left_x\":0.2935,\"left_y\":0.0013,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The brown toy has been released into the safe. I’m lifting clear of the rim and restoring the parked left arm’s height before reaching for the yellow object.\"}",
  "call_id": "call_n9OGzw8rYyIRjqhrTwef6bx7",
  "id": "fc_0c7807b88571af52016ab476b968a087d0b84105643d13ae96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n9OGzw8rYyIRjqhrTwef6bx7",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8028, 0.6128, -0.4656, -0.0242, -0.0532, 0.9997, 0.7906, 2.0811, 1.6821, -0.2317, 0.6312, 0.3389, 0.9953]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0103 left_pitch=-0.0785 left_roll=-0.0137 left_gripper=0.9997 right_x=0.4724 right_y=0.3343 right_z=0.1772 right_yaw=0.0832 right_pitch=0.0857 right_roll=-0.0486 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -2.0444, 6.735, 2.2882, -0.1538, 0.1001, -0.0122, -0.3214, -15.1726, 9.5111, 1.7705, 0.2125, -0.1099, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9011682796fb70c36248f9c7eee3fee6b060aa99ca4b654e2b04cb133336e0f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c582f96a8ffb8588103c75c53de834839a19b027842554c9fcc07391af7279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b4458bb1b7820f32f752869aa386528c3e3c31a79e6e8aa11b75a323bdac33",
      "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 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6334, -0.6094, -0.0189, -0.0463, 0.9997, 0.7994, 2.141, 1.9793, -0.4911, 0.6353, 0.3584, 0.1054]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1413 left_yaw=0.0095 left_pitch=-0.2235 left_roll=-0.0073 left_gripper=0.9997 right_x=0.4788 right_y=0.3472 right_z=0.2252 right_yaw=0.0792 right_pitch=0.0711 right_roll=-0.0479 right_gripper=0.1054\nstate[joint_eff]: [-0.1709, -1.4701, 6.8308, 1.6777, -0.0513, -0.0317, -0.0122, 0.0479, -12.5744, 9.2786, 1.8486, 0.3492, 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]: [-0.0189, 0.8303, 0.6331, -0.6319, -0.0189, -0.046, 0.9997, 0.7906, 2.2513, 1.4647, 0.1436, 0.6395, 0.3439, 0.9948]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1359 left_yaw=0.0095 left_pitch=-0.2521 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4742 right_y=0.3344 right_z=0.0593 right_yaw=0.0747 right_pitch=0.0798 right_roll=-0.056 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.2239, 6.8308, 1.7314, -0.0611, -0.0317, -0.0171, 0.2667, -14.3521, 7.0769, 1.4286, 0.0806, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8028, 0.6128, -0.4656, -0.0242, -0.0532, 0.9997, 0.7906, 2.0811, 1.6821, -0.2317, 0.6312, 0.3389, 0.9953]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0103 left_pitch=-0.0785 left_roll=-0.0137 left_gripper=0.9997 right_x=0.4724 right_y=0.3343 right_z=0.1772 right_yaw=0.0832 right_pitch=0.0857 right_roll=-0.0486 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -2.0444, 6.735, 2.2882, -0.1538, 0.1001, -0.0122, -0.3214, -15.1726, 9.5111, 1.7705, 0.2125, -0.1099, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9011682796fb70c36248f9c7eee3fee6b060aa99ca4b654e2b04cb133336e0f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c582f96a8ffb8588103c75c53de834839a19b027842554c9fcc07391af7279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b4458bb1b7820f32f752869aa386528c3e3c31a79e6e8aa11b75a323bdac33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.16,\"right_z\":0.15,\"right_pitch\":0.5,\"right_roll\":0},\"note\":\"The yellow object is farther back and to the right of the safe. I’m approaching it with the tool tipped forward to stay within the arm’s long-reach range.\"}",
  "call_id": "call_PkxJM9zSfhoKaF4IxfRq7qvC",
  "id": "fc_0c7807b88571af52016ab476bcdafc87d080af99f0e417972c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PkxJM9zSfhoKaF4IxfRq7qvC",
  "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]: [-0.0257, 0.804, 0.6121, -0.4767, -0.0296, -0.057, 0.9997, 0.3523, 2.1407, 1.2182, 0.7341, 0.2779, 0.0147, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0015 left_z=0.1616 left_yaw=0.0169 left_pitch=-0.0913 left_roll=-0.0129 left_gripper=0.9997 right_x=0.5732 right_y=0.1629 right_z=0.1306 right_yaw=0.082 right_pitch=0.4015 right_roll=-0.0256 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.306, 7.1453, 1.7314, 0.0122, -0.0122, -0.0122, -0.3761, -10.9197, 6.3111, 2.42, 0.0171, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8207b157594ea83ea13da559096edc84c2b1bdc4ec1e58cb8cdc3e462dc5a3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7934a70f64a3cd0fb4779359880962d6d4dc6c3f13b71462f82fcb23f5cc4fc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5627c50f6e7647f2fed600578c9fa39a82930ed89e03f05df5ed14543d41b0f1",
      "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 59 changed as sent

message 67 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6331, -0.6147, -0.0193, -0.0463, 0.9997, 0.7979, 2.2314, 1.4754, 0.1295, 0.6353, 0.3462, 0.1054]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.14 left_yaw=0.0099 left_pitch=-0.2299 left_roll=-0.0069 left_gripper=0.9997 right_x=0.4729 right_y=0.3398 right_z=0.0717 right_yaw=0.083 right_pitch=0.0906 right_roll=-0.0413 right_gripper=0.1054\nstate[joint_eff]: [-0.0205, -1.347, 6.8171, 1.5897, -0.0708, -0.0171, -0.0122, 0.0068, -11.6444, 6.653, 1.9316, 0.1929, -0.1001, -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]: [-0.0257, 0.8028, 0.6128, -0.4656, -0.0242, -0.0532, 0.9997, 0.7906, 2.0811, 1.6821, -0.2317, 0.6312, 0.3389, 0.9953]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0103 left_pitch=-0.0785 left_roll=-0.0137 left_gripper=0.9997 right_x=0.4724 right_y=0.3343 right_z=0.1772 right_yaw=0.0832 right_pitch=0.0857 right_roll=-0.0486 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -2.0444, 6.735, 2.2882, -0.1538, 0.1001, -0.0122, -0.3214, -15.1726, 9.5111, 1.7705, 0.2125, -0.1099, 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]: [-0.0257, 0.804, 0.6121, -0.4767, -0.0296, -0.057, 0.9997, 0.3523, 2.1407, 1.2182, 0.7341, 0.2779, 0.0147, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0015 left_z=0.1616 left_yaw=0.0169 left_pitch=-0.0913 left_roll=-0.0129 left_gripper=0.9997 right_x=0.5732 right_y=0.1629 right_z=0.1306 right_yaw=0.082 right_pitch=0.4015 right_roll=-0.0256 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.306, 7.1453, 1.7314, 0.0122, -0.0122, -0.0122, -0.3761, -10.9197, 6.3111, 2.42, 0.0171, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8207b157594ea83ea13da559096edc84c2b1bdc4ec1e58cb8cdc3e462dc5a3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7934a70f64a3cd0fb4779359880962d6d4dc6c3f13b71462f82fcb23f5cc4fc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5627c50f6e7647f2fed600578c9fa39a82930ed89e03f05df5ed14543d41b0f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHbCQyjWyIotTUDjDTXUMgqFYjtNvnX86RdqwRMG3_eyroBWARxLaeBlH1u_EVq5l4ksm0xcqAHSA5oavJgnFihMFQk7ris3Q_2xdccvEOKzb4OI2LjXV5tZXKWPCPaB9yhYOYz_HlRMRRM9rW0RvBDgPaOP0HTcjlMfVzBFlJQK2OftNpZ2jWMHi7k_pltyY3HgeZDw8uBKwOymTuWcPQS8n9xTokVtJaNLQsZ0kOwCEtLsJ0T7gOgW6brrzkztP_lY-eIiuZ-FlLbHFk2IScqWXPOkCJYl1VTTrSqT22QRA2nsM1CbSijeCp7gzWT5XF50A_URfJ8DiSxvjUurgEVkRgvWurI8lPhUkof8KND6XgbtD_KWxVMdSpH7hv4wnfwwI2iw20V-5XHReFHg8_C5ASnTc-kP0nWmxnxzafs0Q3XXNuHciDXiaZf6FytwYN0a_oqzz2MSn4GrYuxvSNN8hFpCEAD3u4x34bjr9egbdyX7IIw5AvBfz19gCwZMynuKJ4Un9VmCCmHQJowptNpFXYMRTxhOyGr0BN2ar-jQHM_JlKtjOHcnQerclj_sgIm3YrKQirz9T9iBToZy1n7C7V70mva3kYb98OrHreJi5IcuuRCVWW9bMh3qhVQj4Qc-DeYtkdd-hCreC4DEyXjxtvGQST-Yq6E_WhxVUJHwFt6qOAouXYUHG6eaNvvxD-faRgVmf4ssrVsQTP_Z47GapAik7pE0pKsA0dLxmp3_VaSbWNKf4QVedPCU8T4J6NgM862AT4edzIWE6B3fqwg-JJV81twxAw06f3Xd6WOKTlD8_P9-HgUswnPp3vITk5IQHgG5FIoOC2Xn3ZUZfhmMWaoC5Mzznz-HnQBBe67i4NaJ3XxhV27-t_5YnQ2uGB8c_RdszSQJdptXKnD6W_ZpHQccwybrY36D82InV8-EpetkxndJi_xzZ81r9v2msog19XrRWh15ujfFkrH-189J3-2mZG_YE0X1Bytuk_LLHThjT5RKXU5QJrKfYNrQGUoDx8rEA-9AqIOIp0hQ8l7JnWkBtxOrXsr1E8CDMe223agrJErp4_Ao6TIkpHQQ6QwdZh4627XUf2BwUMhSbk2ncZth37hek3HH8lJVlKulfPZ_3q5fHOs4oaT0q01VaSrxrKaYbBq7mZkUjoDC5eruCrQ8y79-jWKaxPG_Ox-apbCVH9Xpz5uNfUEHTNg9G4if0G8LqTVc1MI0_ryITMLxcMjqx-TlJe28wVXJHcjY6oHff7UNFNQ_q1kUuCUoovqptiwptq6RHQI_ZjrCqRd4WFP0aO8JnDeHzUdZn79BpuNYT80D_6ThamAtvwIFbK0lbOb_QCyvLTd4GwhHtQtVHBTBXoqrJOLX-fP_PPVkf0KI-nX9w9lJAa95QHWiCR9sn2t0N2oa4cqvzCQgoOaN7UUuh_PL__XSapMKMLXHbjqmDFJRuO2nt7DvVcDSD5AZ",
  "id": "rs_0c7807b88571af52016ab476c0d3c487d0bf07329d8e992f1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.16,\"right_z\":0.025,\"right_pitch\":0.5,\"right_roll\":0},\"note\":\"The overhead view puts the yellow object directly beneath the gripper. I’m descending with the jaws open, retaining the forward tilt needed at this distance.\"}",
  "call_id": "call_NAu4U4BSs7hqpm4i5tFvSCPI",
  "id": "fc_0c7807b88571af52016ab476c15ec887d09bd897bc62f9c2c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NAu4U4BSs7hqpm4i5tFvSCPI",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8066, 0.6121, -0.4801, -0.0299, -0.0574, 0.9997, 0.3454, 2.4401, 1.214, 1.2312, 0.2569, -0.001, 0.9954]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1602 left_yaw=0.0174 left_pitch=-0.0974 left_roll=-0.0127 left_gripper=0.9997 right_x=0.5806 right_y=0.165 right_z=0.0736 right_yaw=0.0771 right_pitch=0.5875 right_roll=0.0172 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -1.4564, 6.9538, 1.6532, -0.0611, -0.0562, -0.0171, -0.6359, -7.4598, 3.9726, 0.5006, -0.0659, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa58291c4cb2d2f3d8a9c2cc718249ee75795af19df4925c9844452ca475d84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47719af553553ddfc0ccdcfe065748c8b25fbb0537f92d3c8ec31636ae8cf5f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2fe0806721dfba4af3484bee7b22783cf4a0bc69ada0c4823135c3b299126a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6331, -0.6319, -0.0189, -0.046, 0.9997, 0.7906, 2.2513, 1.4647, 0.1436, 0.6395, 0.3439, 0.9948]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1359 left_yaw=0.0095 left_pitch=-0.2521 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4742 right_y=0.3344 right_z=0.0593 right_yaw=0.0747 right_pitch=0.0798 right_roll=-0.056 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.2239, 6.8308, 1.7314, -0.0611, -0.0317, -0.0171, 0.2667, -14.3521, 7.0769, 1.4286, 0.0806, -0.0269, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.804, 0.6121, -0.4767, -0.0296, -0.057, 0.9997, 0.3523, 2.1407, 1.2182, 0.7341, 0.2779, 0.0147, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0015 left_z=0.1616 left_yaw=0.0169 left_pitch=-0.0913 left_roll=-0.0129 left_gripper=0.9997 right_x=0.5732 right_y=0.1629 right_z=0.1306 right_yaw=0.082 right_pitch=0.4015 right_roll=-0.0256 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.306, 7.1453, 1.7314, 0.0122, -0.0122, -0.0122, -0.3761, -10.9197, 6.3111, 2.42, 0.0171, -0.0269, -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]: [-0.0257, 0.8066, 0.6121, -0.4801, -0.0299, -0.0574, 0.9997, 0.3454, 2.4401, 1.214, 1.2312, 0.2569, -0.001, 0.9954]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1602 left_yaw=0.0174 left_pitch=-0.0974 left_roll=-0.0127 left_gripper=0.9997 right_x=0.5806 right_y=0.165 right_z=0.0736 right_yaw=0.0771 right_pitch=0.5875 right_roll=0.0172 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -1.4564, 6.9538, 1.6532, -0.0611, -0.0562, -0.0171, -0.6359, -7.4598, 3.9726, 0.5006, -0.0659, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa58291c4cb2d2f3d8a9c2cc718249ee75795af19df4925c9844452ca475d84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47719af553553ddfc0ccdcfe065748c8b25fbb0537f92d3c8ec31636ae8cf5f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2fe0806721dfba4af3484bee7b22783cf4a0bc69ada0c4823135c3b299126a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHbIrbyzDH8eJPoKk9Iv0CHYea4Nqvc1osb9g5-7rIKiH3lMaouJ7PCqKE6Pzme2fkYCESz_xuUHuRcr-867pGDFFN5Xi3ULYGVKqjmzSnvgxjaI5uR6mELnezB1Y86Bs6LBKL2HWSCEvrq--8nzgm2RVP_eW_7cz1Lu71M6LSI_Lk_lG-wW7-XOk-i3a91S-RBMT8qJcZYuWz-ji3Uac3gwem6MWQLpedwN7wDXRE1S8f1gt3fH7Etez2d4LLnWngYtGgt9C-j4G-c3HrEEB8oLlXHQeNsGpJIC7kZ4d2SurDIjrDISRIJ8lurVGEpeNSVo3TxnJ6dinzASmi47nnLeQ1VAUnjvfsO9UzDLg7q0Qk4dNKxXf_T5hwLIcPmJYAabkzSRRpE4G3hLCBc5FOt8J0NsHB3l3pwnMu3lAzeXm_jRcNJsPu9Nm-Hh53p8pIM9Witym9DMZNLQ8jE9QYBNoDyAgHeY6SqREQQF70gasE0pRUo8ilh1cVgzpcPVr45uOU9xrZ9movyP3fcVqC5ys2h-D8sFxXFqfRa0gVRnEZtCxAKCtwv0Nlq4JlIhgW2QlcyQAd9r1QlpF_mLRYOQhUSpqHWjajoIR7KB3adgM-y3Zfo0QxTB6Qfm8ZE5H2RH5VCQb_RnmVgNJF3OTXBeayYF1HjGl7N60oc9mG7jhYHGpFC9_ci4eLL_kx4vCRlk8CKVZxivE3SZLpXvV56pox54-3LBQ_cOsDn1M_z_9Amhm1pQoicoxR_1PpxccNhUmIsSt5f6EbGfi8Bj4L6GN7fh8EN-LEuBzuLINQOMXTpGv8HjLEdjmUbIUQlyorUuhMdmogSBJxto7Ml_GCVbXgEAvQJD_9B3FX-njHlQ6P1Lg9KMYJRKAJ28jVTbJkQ9GghuuhyGuNQ-Gs_EPA0g55KisSzH2KSDObdvCefQytN_Zea0yXCnXPb8ZMt-usnt4-ffwSe1spZWdIj9DkEjvPbdjsIXFOxQ-oo0fzaaeod_ci-xGWPhJN-UeyyCShMq-BhX4KF7DD9hDL3Yfa839WJNswNxqS_wjEyVuh2a_hN3VAMxmCRPkKImDpg1FZJijKry2glsHOWvYAo3yfkXVa_Ndhqpr6hgHHbRAeVNDEl_zirT20wbr-QNcv4Pwo6_5LfBPlkCicaq7qkvFvNpX_YD19S6Ksqc9Jl-g8q9CO0F0HwYuGPIOGYYo4zczndUT_3WeSMaZg0TsjMW4lbpfbnb_JCnd5OECiGTWED6wk7qBVskhwxhwZlwZK3KHRm1srUidkngvQSmkZlpwyypKzzFLj6WBmOmZwbAgMonTLsBBb5bbNZMzRDhDuVLY4J1s9OabzMxBaQ4p09SxxFNiU-QErf_9JonDKHNwjSP2yD2jexb3l02YIkQ-1yzdh3lkNekd6OZaIYyeBhC9iZCgnCHjgmPLTin0uib_e8Pcb1W7xf0BO2HxfwMWPG9ekI4zM7jBCsaAj5QuVlpYyoQJuPHnMGNdOAACeY1bkGms717GhYYCjdz_MY6Z1isCIACRsuHpgVC8Gl53yoiMjrrRz6rW573ip_rX9o7LGNfnWZRdlHfOP0JMNpMVAJfeFIxwwVl4skjVOliLBTijp7Ge2GjctadHZZXIesOkSiRSox2_JXymvq9AikRrMvw0wRkOzngOPQm00PPZtqiiNy-43u1z7TbuZ9DWMJvC31lxCKKA60o9lccrHOUKvipU-Jje5FKoV3sywbtr-tmqRw2hlEk7BhS1Z48arqin3PUjytBsVA7u9L8MrMpjs91RynQ7E7ws3Amu4NsdUbrpwy7fmfHnff0cVtpjh1ptoltb6vuzygxwraaTmo0k27fFaxGZNMlLwWHf3DEHW6L4LKxy9l_uXUVnVaB8sPeOGrYDkeI-TSqvc0nHUXyUvCeowwOgJ8MSqMF9AalY-0UMSnBHncZ-QWlMFkV8lr-5AqvdIWwR0EpTcRWjeB4Wp_9tqLNiChB0lhilSS8g9c6lr0FtXTguacpxLXrrev-0ozYcmOjsZPC5x7Zd8cZLmQd1edM6FwR7d65sEBkXXy2qEW4Ikwm_esm3ZY0G4focL2isVnrjHYq-zJcx9UA-mWK1ElEyf45pcMwO5o9EI11WVhhaylkIY_IjgFhUz1IEpmjB2E=",
  "id": "rs_0c7807b88571af52016ab476c483c087d0b3120b45b55582a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.15},\"note\":\"The arm stopped above the requested height at this long reach, with the yellow object hidden between the fingers. I’m closing gently to test whether the jaws are around it rather than forcing the arm lower.\"}",
  "call_id": "call_c7BBnJeYckyMAutBhtEvroQw",
  "id": "fc_0c7807b88571af52016ab476c7818c87d088faf1b10a449bd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c7BBnJeYckyMAutBhtEvroQw",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8078, 0.6121, -0.4805, -0.0296, -0.0574, 0.9997, 0.345, 2.4512, 1.2182, 1.2667, 0.2562, -0.004, 0.1548]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.1598 left_yaw=0.0171 left_pitch=-0.099 left_roll=-0.0128 left_gripper=0.9997 right_x=0.5809 right_y=0.165 right_z=0.0773 right_yaw=0.0743 right_pitch=0.6151 right_roll=0.0227 right_gripper=0.1548\nstate[joint_eff]: [-0.2256, -1.347, 7.0769, 1.6484, -0.0317, -0.0708, -0.0122, -0.0752, -13.2444, 4.3966, 1.5751, -0.0317, 0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797701d66808a58c232d86164d2f7847ea46c559b1f87c0086c175b64e93d2a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c36214b286804668f2566af35c9366961a13b34cf3cfa896cbb9ebaa786df8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae9779101a2f5f8d31e16d867689c7bc7bc692bb87a0d60fc11de01dd113420",
      "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 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8028, 0.6128, -0.4656, -0.0242, -0.0532, 0.9997, 0.7906, 2.0811, 1.6821, -0.2317, 0.6312, 0.3389, 0.9953]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0103 left_pitch=-0.0785 left_roll=-0.0137 left_gripper=0.9997 right_x=0.4724 right_y=0.3343 right_z=0.1772 right_yaw=0.0832 right_pitch=0.0857 right_roll=-0.0486 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -2.0444, 6.735, 2.2882, -0.1538, 0.1001, -0.0122, -0.3214, -15.1726, 9.5111, 1.7705, 0.2125, -0.1099, 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]: [-0.0257, 0.8066, 0.6121, -0.4801, -0.0299, -0.0574, 0.9997, 0.3454, 2.4401, 1.214, 1.2312, 0.2569, -0.001, 0.9954]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1602 left_yaw=0.0174 left_pitch=-0.0974 left_roll=-0.0127 left_gripper=0.9997 right_x=0.5806 right_y=0.165 right_z=0.0736 right_yaw=0.0771 right_pitch=0.5875 right_roll=0.0172 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -1.4564, 6.9538, 1.6532, -0.0611, -0.0562, -0.0171, -0.6359, -7.4598, 3.9726, 0.5006, -0.0659, 0.0269, -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]: [-0.0257, 0.8078, 0.6121, -0.4805, -0.0296, -0.0574, 0.9997, 0.345, 2.4512, 1.2182, 1.2667, 0.2562, -0.004, 0.1548]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.1598 left_yaw=0.0171 left_pitch=-0.099 left_roll=-0.0128 left_gripper=0.9997 right_x=0.5809 right_y=0.165 right_z=0.0773 right_yaw=0.0743 right_pitch=0.6151 right_roll=0.0227 right_gripper=0.1548\nstate[joint_eff]: [-0.2256, -1.347, 7.0769, 1.6484, -0.0317, -0.0708, -0.0122, -0.0752, -13.2444, 4.3966, 1.5751, -0.0317, 0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797701d66808a58c232d86164d2f7847ea46c559b1f87c0086c175b64e93d2a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c36214b286804668f2566af35c9366961a13b34cf3cfa896cbb9ebaa786df8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae9779101a2f5f8d31e16d867689c7bc7bc692bb87a0d60fc11de01dd113420",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHbM0kJpAFp5FpuIfxIf3GQQg2v5zq6e0IL8eraF2SyZEZ_xYh3rqdgQDc4HpOrjbgKPoQGLn1AxVwOTBwhaaTIgXmrS1YOsXIxTN14W1Cmtsi7a5uS2pw7wcRxxHGdRsdEynb4lO1E6VoV65ItI-NbMihwbaAhA2zuipTrWtVxsCMnbcPlRAd14jy-xwoZkg6OHdmiv-mopjah46xksrVdfP8HRRf_lcwL8OG6t1i426odJgown2c_xZLIBI5zzDjjNFMDzKr8IQywfo5LRxcoWmoJwGclMiF0iszpnEZdLRDGy6FnfvdmTvCN-J_fTZ1XR1qMjiz6zvwQ7wIS20OD9p1rwvPpiOycldSE9m2sdkwb72JJb-4CvY--QMdwb5r9iEEwJ4C7Qvo5me5a83f_DEk18nGXk31P8qKN7U10iSU0N9-5ZqjewEf5_tX_oJ73cAiTFc-Ap2LLeaiP72E5lLN0OCncgcZ15RPrZFHq9oVHcS_VwZLWv9EMv2MzCCDz5WtBIcThByXhLYYGWOKE_Q8q6uxYWLIQh0wDv2JUsTWJqMffGzbycAydM_5edB0cIPyzIRO8O8q0ZhOAP-LHf-0cDDpGuKEwQ3GOUudLt1CrcDBPjQfLjY2KPgT1GiGU8-gtueg2dpNVPmw9T7YlabrYmz0cSV9Jr0ORygz5j1I_AJDLpjpfylOhtSxrQCwicar7UA6Oxrg6iOzm4JY7_Yu-YLnegrqDSmfuSKgtNwLxgd5aKX0PXxXE2ZVmZ2RTs3qX6h66KPiFGuwLgi1RtzSwi7gb2gOCPUNsrOYe1bfPsG3fPVRYTJzTG5c3ntSLZA-cvSb-qAeuOltdlWThtGYPTQ9WhrqR2mgiSVU3dDfMxnEzfnrAuC7gnX15DlDWeefrgXFBXRMDecaGVezClbQ-tWlHRX-Ci62CdiZw34tqzuxri24RcdA_sF5e0px06sPxi3BQZOnGAGyUKgeWniWGLgMmtOuRMm3wrbmkR5ISrLes-88ZqrUROYb0-Vp16YfUOzuZRRsTldJCwv0RDbJi4sFP2ASp5APjwRMJ6MREImMRC0QtItXQRt3TUZClYRPiw7VRHaF9DNjgpuux12r9_L_jzZln1Z0i3IJDboR7HT_oEm9aej3no8bkA7Cg9_3TLKu257VHQCewyPo8d4Ci1aXGZHwYbSIzgZOShJE-zVoYTpF6Kmhdo75AQrimTJvz0mYsdMhiI2K36UtfVVOdHspOALrdfKVLbz389bCAOCd8SpxIXNPLIaaFqhEch",
  "id": "rs_0c7807b88571af52016ab476cad23887d0b1ac5270c250279f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_z\":0.17,\"right_pitch\":0.5,\"right_roll\":0},\"note\":\"The jaws have closed at the yellow object’s location. I’m lifting slightly and easing back from the reach limit to see whether it is secured.\"}",
  "call_id": "call_kNoLuQSPe9gafGZRygkhB4pj",
  "id": "fc_0c7807b88571af52016ab476cb39d087d0b344d5272fb343ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kNoLuQSPe9gafGZRygkhB4pj",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6121, -0.4946, -0.0299, -0.0574, 0.9996, 0.3676, 2.1071, 1.1515, 0.886, 0.2714, -0.0032, 0.153]\nstate[eef_state]: left_x=0.28 left_y=0.0017 left_z=0.1566 left_yaw=0.0175 left_pitch=-0.115 left_roll=-0.0119 left_gripper=0.9996 right_x=0.5619 right_y=0.1694 right_z=0.1571 right_yaw=0.0987 right_pitch=0.5155 right_roll=-0.0093 right_gripper=0.153\nstate[joint_eff]: [-0.2393, -1.0462, 6.9402, 1.8339, -0.0611, -0.0611, -0.0122, 0.0205, -12.8205, 6.4889, 1.9805, 0.1392, 0.1294, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e800de15becd7c732d9a5460a6b2aeb9088a202f8faca066f0f59b5d5059ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46e4600d49e6ce68daff52d03386d3a39bc6b080cff3b040a0d27fa99ffc3b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97fce1c7562d2aa60843504aab1806bef06393d826dbc13666189b94b12dcb3",
      "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 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.804, 0.6121, -0.4767, -0.0296, -0.057, 0.9997, 0.3523, 2.1407, 1.2182, 0.7341, 0.2779, 0.0147, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0015 left_z=0.1616 left_yaw=0.0169 left_pitch=-0.0913 left_roll=-0.0129 left_gripper=0.9997 right_x=0.5732 right_y=0.1629 right_z=0.1306 right_yaw=0.082 right_pitch=0.4015 right_roll=-0.0256 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.306, 7.1453, 1.7314, 0.0122, -0.0122, -0.0122, -0.3761, -10.9197, 6.3111, 2.42, 0.0171, -0.0269, -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]: [-0.0257, 0.8078, 0.6121, -0.4805, -0.0296, -0.0574, 0.9997, 0.345, 2.4512, 1.2182, 1.2667, 0.2562, -0.004, 0.1548]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.1598 left_yaw=0.0171 left_pitch=-0.099 left_roll=-0.0128 left_gripper=0.9997 right_x=0.5809 right_y=0.165 right_z=0.0773 right_yaw=0.0743 right_pitch=0.6151 right_roll=0.0227 right_gripper=0.1548\nstate[joint_eff]: [-0.2256, -1.347, 7.0769, 1.6484, -0.0317, -0.0708, -0.0122, -0.0752, -13.2444, 4.3966, 1.5751, -0.0317, 0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6121, -0.4946, -0.0299, -0.0574, 0.9996, 0.3676, 2.1071, 1.1515, 0.886, 0.2714, -0.0032, 0.153]\nstate[eef_state]: left_x=0.28 left_y=0.0017 left_z=0.1566 left_yaw=0.0175 left_pitch=-0.115 left_roll=-0.0119 left_gripper=0.9996 right_x=0.5619 right_y=0.1694 right_z=0.1571 right_yaw=0.0987 right_pitch=0.5155 right_roll=-0.0093 right_gripper=0.153\nstate[joint_eff]: [-0.2393, -1.0462, 6.9402, 1.8339, -0.0611, -0.0611, -0.0122, 0.0205, -12.8205, 6.4889, 1.9805, 0.1392, 0.1294, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e800de15becd7c732d9a5460a6b2aeb9088a202f8faca066f0f59b5d5059ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46e4600d49e6ce68daff52d03386d3a39bc6b080cff3b040a0d27fa99ffc3b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97fce1c7562d2aa60843504aab1806bef06393d826dbc13666189b94b12dcb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHbQgZ7iSFFAbckJpv5JCKvdmTaMsoEKhf_R96YtLHPBoct2Cj0WBMvRvGdewx4gywWwDn-xCfaCV9SOvbyeb5XKKPeD6g86fQ9dFT-He0cKxvoIdarfZqAtaUsiUAZzBlq9Ubay_GOUAeL8J43dfX-7OPEpjnQUgdY4CDRgEBOADlA5FN-LYcI2OCPAhBG26YQ7LuEI8OTVDu8pAEZoXPrzPk5BPz2x33Cu31FyCap3zQs3Is8QAL9KLhXLqCuXd89ocCVhJRGKF4O12rg03352ayoyM0P6nkHtPjHyy_rdhhKNWl6JR80npM5DS-Fn_ZeKQ6R3MFeUp4vWQ4_FYpMIe9TT8TdKPZC8qzfHIMOj0hllF_B-agga_EoRLN5qNa4JgfccZpAATRAQheSIoPNd0W6xfBoazwp4LHBYx_SU6YdhSAqRoCFK8Ksl9E7rhSKklAuLi6X3BLBukMLLy-9frCNPn2LSekKPs5_QFwdnEJSZOXKr4fhQuViaFkSRuZYaED6pEJP6Z2HG1OaHXnT6AhiUMagB7Shb61rHLZu-GDeVVV-HXxNoyCP7AFrLE868zMh6OW0a0XZFWWQpigJDtSaheu_mFbdthr1GBIP4RKRPt1ZuvdKQdbPstX3sVfvPdXzFIF3AI6SOsedyuNhhtbZ6lsMhdRYsrKwzDfZaq2kx0zlcC9SPLi3_6K4n8AIgp96_KT1_FbNgdhPu7Z-9dqFuwHto5i2p2NaRWr6UJT9Eqi4-2EJJyhgb0kWPH3ARsRYn5_NLG8fYc01aesaYZGV_YgwiHZi_GRgwh67vbjA2DXAp9RUY-FG2vK-btvDPHTOxDYsIniyddVWcQxz6r5QJxaeHcVfeGQdUpgbb2DjG4zvKjtyBdcQvZAbW07pi-HIDXnJ7nhq9IGbpbPwJPsmDfvNw4WZDIHiwdOjVSAaH0Zj8LFTJuViopJAivH4rcuRxqpijB1Zve2NCivqbtnLisWWRhpeZ4v_yu8HvL-Kssghxm8kbKs45ffBixFaqJQMroUClJIKo94u0Cc-NWrOAtsuyyIJmJYT-SQ5fNelsRXhq4il__pICPMrAHrXB4bg-OmoxwRDuUAnGQHU_68gQ1ltCOEQswomJxBcAd9_ncn63jNGrqfiObrN5S941rIlImzl0EwB7katDUjj8KwyJZBJEudMOHNIfyzMUlzdvr8Okpe1RU9yLOtQZE_O6Z1g5BeLXc0ZfY0mvik2C9sykS9cu1g_U0h2th2qfqUQrUS4mzOCMGu0TabUdQkMf6ckieN4h3qUsA70mSoJsE8y9LW5JGyKwZPHNj5XdYw85E3lrIKFASeF1uiFW3xBJonJeKQN-43KsDqNzJ48KMXpxf5VorxYlmDbWjqfyl3xo2GJbsFMhK2y6QeoRhFc_",
  "id": "rs_0c7807b88571af52016ab476ce53e887d0a81a330eb3701998",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.35,\"right_z\":0.2,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"A yellow edge is visible against the lifted jaws. I’m moving it over the free portion of the safe, beside the brown toy.\"}",
  "call_id": "call_ILBBS9XdlBKWvu74nZ4bsgub",
  "id": "fc_0c7807b88571af52016ab476cf17ac87d0a4984401022b199b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ILBBS9XdlBKWvu74nZ4bsgub",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8131, 0.6121, -0.5098, -0.0299, -0.0574, 0.9996, 0.7696, 2.1136, 1.6482, 0.0624, 0.598, 0.2031, 0.1528]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1529 left_yaw=0.0176 left_pitch=-0.1336 left_roll=-0.0111 left_gripper=0.9996 right_x=0.4985 right_y=0.3495 right_z=0.1972 right_yaw=0.1411 right_pitch=0.2524 right_roll=-0.0187 right_gripper=0.1528\nstate[joint_eff]: [-0.253, -1.5658, 7.0769, 1.7607, -0.0513, -0.022, -0.0122, 0.2256, -11.2205, 8.8957, 2.0391, 0.3394, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27787c6eca040925bdc7b69db4bbee2252d113f3ca39826124aff45559785cca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f116a0d9a61b88b0c09091900cb9e5ac958f505fbdb9623862a5891dcbb25273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629777310d3c9fd9a5a40f3960000483a9e5a5905f55294efe320095ba5f22b9",
      "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 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8066, 0.6121, -0.4801, -0.0299, -0.0574, 0.9997, 0.3454, 2.4401, 1.214, 1.2312, 0.2569, -0.001, 0.9954]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1602 left_yaw=0.0174 left_pitch=-0.0974 left_roll=-0.0127 left_gripper=0.9997 right_x=0.5806 right_y=0.165 right_z=0.0736 right_yaw=0.0771 right_pitch=0.5875 right_roll=0.0172 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -1.4564, 6.9538, 1.6532, -0.0611, -0.0562, -0.0171, -0.6359, -7.4598, 3.9726, 0.5006, -0.0659, 0.0269, -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]: [-0.0257, 0.8097, 0.6121, -0.4946, -0.0299, -0.0574, 0.9996, 0.3676, 2.1071, 1.1515, 0.886, 0.2714, -0.0032, 0.153]\nstate[eef_state]: left_x=0.28 left_y=0.0017 left_z=0.1566 left_yaw=0.0175 left_pitch=-0.115 left_roll=-0.0119 left_gripper=0.9996 right_x=0.5619 right_y=0.1694 right_z=0.1571 right_yaw=0.0987 right_pitch=0.5155 right_roll=-0.0093 right_gripper=0.153\nstate[joint_eff]: [-0.2393, -1.0462, 6.9402, 1.8339, -0.0611, -0.0611, -0.0122, 0.0205, -12.8205, 6.4889, 1.9805, 0.1392, 0.1294, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8131, 0.6121, -0.5098, -0.0299, -0.0574, 0.9996, 0.7696, 2.1136, 1.6482, 0.0624, 0.598, 0.2031, 0.1528]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1529 left_yaw=0.0176 left_pitch=-0.1336 left_roll=-0.0111 left_gripper=0.9996 right_x=0.4985 right_y=0.3495 right_z=0.1972 right_yaw=0.1411 right_pitch=0.2524 right_roll=-0.0187 right_gripper=0.1528\nstate[joint_eff]: [-0.253, -1.5658, 7.0769, 1.7607, -0.0513, -0.022, -0.0122, 0.2256, -11.2205, 8.8957, 2.0391, 0.3394, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27787c6eca040925bdc7b69db4bbee2252d113f3ca39826124aff45559785cca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f116a0d9a61b88b0c09091900cb9e5ac958f505fbdb9623862a5891dcbb25273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629777310d3c9fd9a5a40f3960000483a9e5a5905f55294efe320095ba5f22b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHbdkPG5aU0HLpRKub9rrD4bHzZxg8mH84NJNCyb6_YzU0dSo2VALetKupiH6fbqmq2CTkhmHriNVAyRmTcy3XdzkitJAN6TPXl76XgMyXUHesKkww43mGb2sRN-I0hWBbrF7pYEOdUtStgMLRRrnUd4PYp2TTs36vU2b2auORPXpGuQ3TBkOtBchYRl73VZHpZQzrPU4UTBYxhxsPu-FUJBEqeRqTtJ83uiG98VndJ7BJuiuVlxFD4zfhTzbtGHUg0seT9jOUYb-aH3e-EOm--p3hM5DQDtWhJTmRDHAVX4mGmFt9v8j0wqdPSJbJUAAH9CuMS8hyJVPtr-9Rx3He4KMWg0LWIV0qhcdbVAQoLAjsfYIWq5JoBzUrJ-8rQS_Lewob73uoABXD9X6hVg-S-F-X1D2bzuw7yGiyyUeoLyJlEl_RsqiTwAPOil7ACpb41_oLKiexVRTyb3OndC1xdzjh0gspQrnzj5fD0ZtQupJitWwsNU2CwRu-X4I_SLxAlavad2leeFs3WIT9IjOmtQo57A82qYIKmG0UIu-zLBtPOKRAMzTtFYu2j_DDawA4qZFL-9gE2YuykrYjJ7uLoI_KLDkklDheT7TyCdsDJdeRbqqjxS0oUhs8O03LH2cjfe9X8TTJ5wgLCRIC6E7Y4ig2My3hch0kuY6vB6baRMBrJGcF1Hxlw0qCowM2nBAkXa-GyahoAyE4zXgn-egPInqqMs_qrtVP3IHOQhL3Q54tEoA1WbvTbNqBO3sTF3M4y5YMNIqv3s0MFVtVqmbjKgkCYZx-2Z89gE0CxIhwDIVbk0O0hG3CQDxPwlECKqMtCp7saFCFIO6cL3usJQzAoGCDoqN54yJBjuQuwBSYSAo1k-mOS5DtSvFA3rvY-sXGNOG1XLXq_EFC4AQr0T0JFBHK_mOT5kyNoLodv8y6C2DbqDp7srA-0xwPJkapbuRAG8Ta-6jwcfp2kaYvgbcJ7MmOI8bwYSv0WsHEVL3BFUuzcsbGYORoj36_TNZ4w5Ir7U6v3Uriotbnld8BysBnBFlXPMFXGUlV9TRLusIATQQq13LwyAk8WrrRuZW0y6hBu5A3fIyN9n7wESzn6VJuZBxF4g9vMS9ssKqyE2DBbCSy8UWivld8_5oXj1ZvyYVv_nbYfHdHQMnXteBzfb9IK2cv06_YlZ2ZE53v3k8NijpzrRFma0weW6FGaLTdqok2-P11tz4_RZ-dzK19D6i8J5EQR0I7gdSGHygc8Zh0x9O8RxKjGuqwBmdRp_5H8wvDW9EsCQEsOwvVSKqZOxYP5WxsROee9Pm5MD19XbVvDq4xqCL4apqBY14Cm9pTemvds0YYfKgHojTVj-JGIFBVScVLRavftwyWmaCuJPpu_8d2zWh52xcsbPE6uKgxrg9_AZ89QoDexLMsXY9yAN5wvt0H_5lYxjKKV6y2EmP_54Q5aRD3c4x-TNWUsphSKnDqSAn9vFU9vDj76UfMB7CW1FGj1zHAjHg8MNSYwtZn0DX-uXfaSQKQyX8RJW0H2icBjCrBmlaXQtjrnZQwcwkcHC3bvB7-v2GxjVmFhVK7kulsZgWw8zl-XNnJ9y4DT2RpXqlpTh93YTc1lACi-N0adoWxIv3zsNMIcwqGqj9mTOlsI29QDk6ggbqOtqJyzZkpNk8F3ZY5i33u_67ltGXDFWQglc83LjMlWjFY-8HDd_VNpKame4c9sd0gUl607PDkXO4Ccl9OBOy-9Ck3qTdzDSB8NpyTQaPSqIwvazJqQV08ZvT2XkRobjb1iS8SZQEpjhmPPtlrVpFwHl5k6oSYxnawfdSATN_nlVLPut4X6md9X61fxWupEEnYORDgUQNqoG3UsYsqCdPdGCOYV406amUsLt70c8gyswQK7Fq0CZehIU52S2BR9EXhIbq0YE-h35oclxjoCL4jPC8IV91O_rjG7gnkbJFeZ1hmIMuo0EW6FuwrAK0c1TfGgj-yuPgZqon4mImEiQqi9qW7zbpnt8c8Pgu6PHNYFzCnwK6Kgh04k2uGqh0iBfo_QEMjyBESTI7m0NqnJnqyaxBGa0yr1NcuiOJJijKgN4BUbhgzK4V9YhaTWDF3k3ILvQquq6zhY21hamsJ2QkEpg8McwiGqOyOskiGUZvKSNZO4SlpCvrohm6YPujBUphOrCHymzR3ApbrtHSMwbz016G0p1Fyovx9-1Au4XYWKcX8LbzzQuN8nK6ezZrU6SNSH8SzyrGH8ASK6aga66tHwp7ufuMORIBY4PQlloJGOVM8L2vDGgkYvgyJMqwoJzez2sna1bJFMz6maameZrME76A5wnR-K28iwjqEA9SyQHzf8pGDtYXXp1s9n_jjM5KEDfgjDKa5CnxBVHwKG7LcB_W71WtnB66ro5VTKAHzHVU9y43oH71AFOUkB0_RYe-Hpqopw2M2gu-AmPYa7KWSClGjVhwiDmvdaDe95Hk2pX_L-VOB1NV5o-sJj3gkT2PbCzI09R9oMERmgynE5feqhsRsLqBNlQZk2ADtaDF9h7oqkHJWFaBOH5mZ3gmvps9jwpUo5_qI6OLpaNPAqhSv6QJPHKZ1YVmf2YQpq7J7n0SZBp6ilm6YaI-z_USKql22mt_2g_4EHnZrRLbb7tsr81KwyjiB_7Z-0LwjLl48XDRQPr2wGozLjYEPvY2A4gbfppYgri0kqgRqyRdeFr1bFUYfU-tDbSKzBm5xi-ITJ9NWyDbSrzkuXBY3VB6Gl1P-CutKo2QxttsIyL51j0yxQ7-CxbVMqDviN1hwB4KtTJVgKfWr6KtNy6Sgyr4R6M2W7GToa4nN9YP-uvLi5B4fni5lV81brSD9eF5J2TqKO709hLx5RQLBoTcxDdTcQP9YE45scd6-eHC3o5gQbgnxcishNWSA_vZefEXSz8D-fREctY1Bc9y95-aUmDhB6__kVSwUUP630Z2AGkQAlx0J7wsyy_bFuUVBN42MFd4B-V7SE_snF9rwvQgPHco8kIoXx4fqAqbfZbtVCZVLy2FTwA49-DmZs9scH-sOuBajwaRd1kZ2qoWiYyrhmRST-SxsKWhOhM1aM2zY_XiWarHfROlxkVCd-Glyg-J4PbRZ8uIS0AE5t03y3Rcz2z3lc4FCYpMY5bsBrbSN4ao2v7GWzhu6-FO_YJ1GDi9pouHLG3HDBFurW7CZdJScoQgyDl7acDrNYRAck6PGRKbZmqpOxnCHWSE-dOntCd-gz9u4vITKoUDjNxD5050FCpSvVs8Z_H3ZR9kz2senin9M3FTjaFhg-SnZL-lQfjkVbv_USMVCOyfwSxuDMJ4osWmnJyE9kXuDpxKrOd0cqzSl5hhbOetU_SrllHR7OEhUito3B5qka9S5iWixo7_aKq9qWjiitkQeqyNYenui1Abz9nHsVy5ACv0i8AEsDKIUOPonm8aMX16-sVSn3tA-hc4JTU5XwtN7HLu2Ea1HXpP3Vt6N_dgsAO-dJtGrQZfIfrKSVo-0xs-6bctZnqbdb397dAHIIvzUsHTeGz_Li-8EIDPpgaJpvUpWi_FlAxU0jFp8zHzdsthc4KUxGl3-VwtomuupuMZMiAtH0hzjThpZg2ChCdefv87klfHwAAPFdvmrDOi0ejcwwTu9RwpdYPqIjTPgafAhjFY6ra5bGOmxSz7L47sZO14HdEovIA386vMECAgq9DHpX5ZmE752fMLFJxikgl1d56WqyLoYW4Byb2lyiC8Bt996rOqG8l5UD_UUVTL42Cl0kRcWSFdkQHb5l1HXHJzSQUHC7mGK61l0x38W3Y_Lu3vNov-E3kg_1kZps3ju4s9DgsHA8=",
  "id": "rs_0c7807b88571af52016ab476d3ba4487d0a2a1f1d93e5aaed2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.155,\"right_z\":0.16,\"right_yaw\":-1.3,\"right_pitch\":0.2,\"right_roll\":0.95,\"right_gripper\":1},\"note\":\"The yellow object remained on the table; the previous close was too high. I’m changing to a side-approach orientation to reach lower without forcing the fully extended arm.\"}",
  "call_id": "call_zTY6ygxGJL2oAiZ29Gb7Iu97",
  "id": "fc_0c7807b88571af52016ab476dbeef087d0855787309bffb04f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zTY6ygxGJL2oAiZ29Gb7Iu97",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.0254, 0.8169, 0.6121, -0.519, -0.0299, -0.0574, 0.9993, 0.5774, 2.4279, 1.9694, -0.2253, 1.2568, 1.4773, 0.9973]\nstate[eef_state]: left_x=0.2764 left_y=0.0019 left_z=0.1502 left_yaw=0.0181 left_pitch=-0.1466 left_roll=-0.0105 left_gripper=0.9993 right_x=0.5611 right_y=0.1693 right_z=0.1516 right_yaw=-1.1759 right_pitch=0.2007 right_roll=0.8322 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.5385, 7.0496, 1.6532, -0.0415, -0.0464, -0.0464, -0.759, -13.5179, 8.4991, 1.3748, 0.7253, 0.1978, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a77ea1cf12c70505045dd737ec65da986fc601bfebff343fbcec5f831ae2c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c66820f9ade9eb6de9cad9ef5c35a1ea197ec1e958f47a3a6a9bf8028bf0cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ef49146956cbd9e8499a84b300e30c322a2f887597cd21953a78109ad6181a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8078, 0.6121, -0.4805, -0.0296, -0.0574, 0.9997, 0.345, 2.4512, 1.2182, 1.2667, 0.2562, -0.004, 0.1548]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.1598 left_yaw=0.0171 left_pitch=-0.099 left_roll=-0.0128 left_gripper=0.9997 right_x=0.5809 right_y=0.165 right_z=0.0773 right_yaw=0.0743 right_pitch=0.6151 right_roll=0.0227 right_gripper=0.1548\nstate[joint_eff]: [-0.2256, -1.347, 7.0769, 1.6484, -0.0317, -0.0708, -0.0122, -0.0752, -13.2444, 4.3966, 1.5751, -0.0317, 0.0269, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8131, 0.6121, -0.5098, -0.0299, -0.0574, 0.9996, 0.7696, 2.1136, 1.6482, 0.0624, 0.598, 0.2031, 0.1528]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1529 left_yaw=0.0176 left_pitch=-0.1336 left_roll=-0.0111 left_gripper=0.9996 right_x=0.4985 right_y=0.3495 right_z=0.1972 right_yaw=0.1411 right_pitch=0.2524 right_roll=-0.0187 right_gripper=0.1528\nstate[joint_eff]: [-0.253, -1.5658, 7.0769, 1.7607, -0.0513, -0.022, -0.0122, 0.2256, -11.2205, 8.8957, 2.0391, 0.3394, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8169, 0.6121, -0.519, -0.0299, -0.0574, 0.9993, 0.5774, 2.4279, 1.9694, -0.2253, 1.2568, 1.4773, 0.9973]\nstate[eef_state]: left_x=0.2764 left_y=0.0019 left_z=0.1502 left_yaw=0.0181 left_pitch=-0.1466 left_roll=-0.0105 left_gripper=0.9993 right_x=0.5611 right_y=0.1693 right_z=0.1516 right_yaw=-1.1759 right_pitch=0.2007 right_roll=0.8322 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.5385, 7.0496, 1.6532, -0.0415, -0.0464, -0.0464, -0.759, -13.5179, 8.4991, 1.3748, 0.7253, 0.1978, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a77ea1cf12c70505045dd737ec65da986fc601bfebff343fbcec5f831ae2c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c66820f9ade9eb6de9cad9ef5c35a1ea197ec1e958f47a3a6a9bf8028bf0cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ef49146956cbd9e8499a84b300e30c322a2f887597cd21953a78109ad6181a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHbiwThmC851NNG-7s_8xAN5wwSiAPMWHB8KHxv8Yne6r127sM91A6rHvQiJ6d0pnbk8VEn1TeBtpLO81l4zQ_O4vcJ8kli3yOP7gfyTVGh8CBslVD9Usu2k_v8tCnGASTQvg5Bvat_lEAfAuriKs6F1l1A7Xe5wP-uKZ2gRxbZopUnzJFj7shdrR5eYTXO-NTPGnemF3GilRh5ddUQ2IWULyXHxYbHET5fyH2kPWA7N_9TF9GKWgr8BVK5Phx6f4ZVbB5wzptrlhfJYbMhXAP1YEPAcwr5179KTHXmfq3DbAIZzBIKTat2KzaIsmX57cYXO1EqlNxCZgbfIlJ78IMe1WDZfB7HHA0VY-4gHE2CTbviCb5wVDi-ithOTRa9vEifwbA_uKCI6W1wiTIAkOHJ4yNV8fQENFIU99AxWaMexJZykPQAITJEU5-vAsnwozizVK3gv8uG_9VKOOVC0nGCexLMIqb_AdiD1So3iiJEeNgMGD7fHs2C0nXT51H-Vecijtcf883P4GzcLQCJlS7BXBMhC18iZWc53GqKJIJdhuoEzf-p34GAigF7_rp6PXyIL2G_zRzTfobZvKBzDYDwa9ANa-29h_Kcbm1dti5rpoK_1jZkk7H1e4SupC-5BYSWNslMuEZHQqK1FQaUuLYROyGPkvCaaXff9zNO7EZgjXQIQc6eCW9ZktmQzOWUZzbbl2lpme7MGBJQDSZKEfckvPHmOo-U7XTxoNo_z2APlhZ2GD1NFEcledwuHNoyNxepO3UjBwwjfJC7YnRXz2c-YI0K2vnNNPvGjYGwrZ4J_nWvzbYJu8U8EEwgjaA2ZxOkR61sXdPxjfuXjak7wwDIiyd2ieMtRK_IBjdEs7PICKZMxiJ0H3iq-aSXqqx1jdzJfP13bQffBqs_fJW41xYLUAHkrDMAlVQ2kjw5gwJyKvz3p5dsYxK6gODpv9SdQC4R-UYY_aKaxv9X2hFl4Gt5EVGFLjjIW9xE5nhFqBrJJXH5PV1JqClioz84DdF56Tkkqh16o1CLIupOb595FFiRtGFCN67Bb2W8ucQh6rIG_ByNAQha_kOcnI1h8a_neaPwFBlr-btl5HBan5SCch7PuLtwcTPkypzdCjbmBPv1My3czM46YSME8vys18NHV1eKTNaWY50GOEFTCr9w7Rwu6PYpKbPOaA07CzpViYN0Knv23OCLvhvP5z_2j1kRFHN4QlOQIde9kyBbmMs7mnqHAwpdHPczZPdOzzDPhC1-pcdB2-CH_yeUVvqbVJityu0FOKjgoV66YYEM5X-wyh4sfbh_DU3X2i8oCSsImDIBKLRSsFB2a1_T6H4VQUVJMojnA4cQ9oJHJ2bhpekTVWAJnPQ==",
  "id": "rs_0c7807b88571af52016ab476e0dbfc87d08a628bb3c2e01f69",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.145,\"right_z\":0.035,\"right_yaw\":-1.3,\"right_pitch\":0.2,\"right_roll\":1.3},\"note\":\"The sideways tool orientation clears the safe and keeps the yellow object underneath the fingers. I’m reaching slightly farther forward and down for a second, lower grasp.\"}",
  "call_id": "call_tgzYwNPU4MTctBYO70rzyrtt",
  "id": "fc_0c7807b88571af52016ab476e18e7487d0809ceb44d1a81104",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tgzYwNPU4MTctBYO70rzyrtt",
  "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]: [-0.0257, 0.8188, 0.6117, -0.5262, -0.0299, -0.0574, 0.9993, 0.5323, 2.7331, 1.8591, 0.9085, 1.2755, 1.1889, 0.996]\nstate[eef_state]: left_x=0.2752 left_y=0.0018 left_z=0.1482 left_yaw=0.0178 left_pitch=-0.1561 left_roll=-0.0101 left_gripper=0.9993 right_x=0.59 right_y=0.1555 right_z=0.072 right_yaw=-1.3013 right_pitch=0.1889 right_roll=1.2924 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -1.347, 7.2821, 1.663, -0.0366, -0.0659, -0.022, -1.4427, -8.7179, 4.6564, 0.5397, -0.2564, 0.1245, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5acc2f32d8ddf5533c2f2c90906a423a4358e60983885d54adb259a9c9759d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0c226bfe16ace9e222956508f863791947d31f59fe9168150cb06512b326b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e621ea9f35ef2104d0402a0804354992a2fb5ad30c0f7fec42f09882020d22ca",
      "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 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6121, -0.4946, -0.0299, -0.0574, 0.9996, 0.3676, 2.1071, 1.1515, 0.886, 0.2714, -0.0032, 0.153]\nstate[eef_state]: left_x=0.28 left_y=0.0017 left_z=0.1566 left_yaw=0.0175 left_pitch=-0.115 left_roll=-0.0119 left_gripper=0.9996 right_x=0.5619 right_y=0.1694 right_z=0.1571 right_yaw=0.0987 right_pitch=0.5155 right_roll=-0.0093 right_gripper=0.153\nstate[joint_eff]: [-0.2393, -1.0462, 6.9402, 1.8339, -0.0611, -0.0611, -0.0122, 0.0205, -12.8205, 6.4889, 1.9805, 0.1392, 0.1294, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8169, 0.6121, -0.519, -0.0299, -0.0574, 0.9993, 0.5774, 2.4279, 1.9694, -0.2253, 1.2568, 1.4773, 0.9973]\nstate[eef_state]: left_x=0.2764 left_y=0.0019 left_z=0.1502 left_yaw=0.0181 left_pitch=-0.1466 left_roll=-0.0105 left_gripper=0.9993 right_x=0.5611 right_y=0.1693 right_z=0.1516 right_yaw=-1.1759 right_pitch=0.2007 right_roll=0.8322 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.5385, 7.0496, 1.6532, -0.0415, -0.0464, -0.0464, -0.759, -13.5179, 8.4991, 1.3748, 0.7253, 0.1978, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8188, 0.6117, -0.5262, -0.0299, -0.0574, 0.9993, 0.5323, 2.7331, 1.8591, 0.9085, 1.2755, 1.1889, 0.996]\nstate[eef_state]: left_x=0.2752 left_y=0.0018 left_z=0.1482 left_yaw=0.0178 left_pitch=-0.1561 left_roll=-0.0101 left_gripper=0.9993 right_x=0.59 right_y=0.1555 right_z=0.072 right_yaw=-1.3013 right_pitch=0.1889 right_roll=1.2924 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -1.347, 7.2821, 1.663, -0.0366, -0.0659, -0.022, -1.4427, -8.7179, 4.6564, 0.5397, -0.2564, 0.1245, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5acc2f32d8ddf5533c2f2c90906a423a4358e60983885d54adb259a9c9759d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0c226bfe16ace9e222956508f863791947d31f59fe9168150cb06512b326b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e621ea9f35ef2104d0402a0804354992a2fb5ad30c0f7fec42f09882020d22ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHboaoKlfZ5br-M3tFSJGZ2Rr547BB3Se7q13gesVWxpTSYr94lYgSNadZLI3X4jycOrw52PkhP4VXS-WJiukqMjGvfL0eG2g0eF8LmtToxFGicCE-s_OXasZqTii0dwEhqVbGFG0drUcubqbginBOp_FcSPvLUQ0gAA8jSAriLWdsDye4rK9w3mhS-g7vjFYmBTG0LEJZn86S_iev7Xz37vfht6ZNT7TxOiyNkPg0mFwVsA-qoXwhnjXfoTaGJ9oMyO_aUwQQHAGWxG2HVwVf331W8cdPi56RegzSuH0OoIPDbf87IvyUy0NokwCsPeD_eJz6BZzYu5nckW5OPcvlrS-PeWyZNByaLH_9WPlepfYoxktlpYvl4v04-80nbBUIODlz1Cn6ME8xPqlA-6C-3Dhyi7mpAnNy-aZMQXUD-O2M4nkZnAqgb4wR_PwKsl1rHgXZw8C-fEk7KOJJ7VgZAVGde9XNPNvPb6GXo9J-1u5-kJTwZH37-U0RrcF5VLNsUhlZq0hqQapTbQqfBbe_4PCU_hwWCRLLXaZiN2RsYwnyCrlvk7H7cuu1SLIISzzWRK06y61OiN24sUmBIxNOihNmF7xseOCgGsxIE9lZSkJK_N0Pd1X69zFzsRlPv_z_fkb_gfWEWYg1WJ7dNKrYcCa07aAyIQVxGRYaCqt3JREc_9h7YTwindsx2dE6yEhuClgaJ7miPw79g3J-dUfZ8vcJ0WlG_EObqnBQFewGC8M7gdrgvJK_IWjv1QAyDzCmr3bu0cppVTOriHEqSVwWt1dSBqpgqRoe6ViEmWw7seJBffOygSRkbW5N6RP90nvj8-5d192dV58Hyd6gT8QvjQNUooOMRtNdwdv1piV-v5ZdXNdAnyn7PzoDTLuAjaGvMAPDcIZucKfeK9UwJSRi5wmXeO9NhkpXSpqqKc3m0KCVgLAI4Gjxdqb2bhT4bV8iQyXf0Ad1I8tAt6veDbjIjW7vpa0SqCKimieoSa9U_13r_pPxmmA8QrmDE6RV1qnzYIhpfor9rDKuuNzGGoWEfpaREfGKRmvNJbJGr6QSuoGtx0GYHOs990_9YYmbf-eS8xnwPy2isKX7VqegLsCeS6bqj-H6ycEIrLkidYsdZT3wKxmJ7fTQjdYqAAKM76W0xpzHHA0BHbSUjgoSTJa94blfqztPtjgqhx7bttPP-DlqgQAJC-RYhSCmkO7z5HOx6TNCouZSJ5X6u5JmY12QKILmE0vHZg--neNFH-acFvAiJRnlvQglKpbeo8cRjgNQsQpf43KJ0GROvnkj0JrgzsoMtwlK38trVQsnYZaKR-n81ob-SMMER82CXFQX-0hXpSe3FYUBY_LorKRCFS48m2QQNB7e53E_nf5jvWnni6kmOH3YzGhRWTKnHqLPWhmiaSB0qdtqUxWnbJYH-OhdyZypwOEmfKLqHmKqYT9m3IsHr8YvIujAUDPaXGCICJ0ROUuHh4fivYFu5ZziFf9EclF0WntdMuwg99PqZ96nzqQwhvN8UNQN3Y9tv_UUIxFphDizjiHEYkegrkXobDibU9NxbpVkPnt7pOnzghP785e2jer4YGab8Yef1MzqEgcguH6iDWvsgay2T9kOwdXd5hUkeOK0cNL_VNnwGwkg8_xHsFwqRZAng-5rI6ab2S1kNFNrCYXFiSEFBycy6ObVnw5jGP4r_-9tmGD6ZBYGxNZ4xFvEDFPxpLcQ8rKAHcWeqlz27_YWnrKfy6Qf0msnGTB8Vt703Dk3VwW8c48I8LBne8Nz9xvPUB9apF8BHDTwQf3QjgW5CayxUN1JsYkPj4oQ==",
  "id": "rs_0c7807b88571af52016ab476e4beb487d0bb950580e4886cb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.095,\"right_z\":0.055,\"right_roll\":0.9},\"note\":\"The yellow object is visible just to the right of the fingers, so the jaws were laterally off-center. I’m shifting six centimeters toward it and reducing the tilt to avoid putting a jaw against the table.\"}",
  "call_id": "call_BgrjKiUiLVXk3ripEWqx7dKq",
  "id": "fc_0c7807b88571af52016ab476e7020c87d0b716d820ae50099d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BgrjKiUiLVXk3ripEWqx7dKq",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8188, 0.6117, -0.5335, -0.0299, -0.0574, 0.9993, 0.4496, 2.6129, 1.8351, 0.358, 1.2404, 1.3853, 0.9954]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1469 left_yaw=0.0178 left_pitch=-0.1634 left_roll=-0.0098 left_gripper=0.9993 right_x=0.5944 right_y=0.1053 right_z=0.0643 right_yaw=-1.3089 right_pitch=0.1841 right_roll=1.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1419, 6.8991, 1.6288, -0.0659, -0.0659, -0.0122, -0.7863, -15.0222, 7.2274, 1.0427, 0.1099, 0.0708, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58cc3127532f201fce8b35ccd6dfd57ec910d982ec2aed69f8b39283451cc6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62c1fe20d0d649d10b97e5f09a41f39d2dce4edc0aa5a34508d01807838a64d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aceed4387047c28cfaaaec32bb63c9cffec9c8771bbfb4d03fc83a6356750adc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8131, 0.6121, -0.5098, -0.0299, -0.0574, 0.9996, 0.7696, 2.1136, 1.6482, 0.0624, 0.598, 0.2031, 0.1528]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1529 left_yaw=0.0176 left_pitch=-0.1336 left_roll=-0.0111 left_gripper=0.9996 right_x=0.4985 right_y=0.3495 right_z=0.1972 right_yaw=0.1411 right_pitch=0.2524 right_roll=-0.0187 right_gripper=0.1528\nstate[joint_eff]: [-0.253, -1.5658, 7.0769, 1.7607, -0.0513, -0.022, -0.0122, 0.2256, -11.2205, 8.8957, 2.0391, 0.3394, 0.1636, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8188, 0.6117, -0.5262, -0.0299, -0.0574, 0.9993, 0.5323, 2.7331, 1.8591, 0.9085, 1.2755, 1.1889, 0.996]\nstate[eef_state]: left_x=0.2752 left_y=0.0018 left_z=0.1482 left_yaw=0.0178 left_pitch=-0.1561 left_roll=-0.0101 left_gripper=0.9993 right_x=0.59 right_y=0.1555 right_z=0.072 right_yaw=-1.3013 right_pitch=0.1889 right_roll=1.2924 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -1.347, 7.2821, 1.663, -0.0366, -0.0659, -0.022, -1.4427, -8.7179, 4.6564, 0.5397, -0.2564, 0.1245, -0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8188, 0.6117, -0.5335, -0.0299, -0.0574, 0.9993, 0.4496, 2.6129, 1.8351, 0.358, 1.2404, 1.3853, 0.9954]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1469 left_yaw=0.0178 left_pitch=-0.1634 left_roll=-0.0098 left_gripper=0.9993 right_x=0.5944 right_y=0.1053 right_z=0.0643 right_yaw=-1.3089 right_pitch=0.1841 right_roll=1.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1419, 6.8991, 1.6288, -0.0659, -0.0659, -0.0122, -0.7863, -15.0222, 7.2274, 1.0427, 0.1099, 0.0708, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58cc3127532f201fce8b35ccd6dfd57ec910d982ec2aed69f8b39283451cc6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62c1fe20d0d649d10b97e5f09a41f39d2dce4edc0aa5a34508d01807838a64d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aceed4387047c28cfaaaec32bb63c9cffec9c8771bbfb4d03fc83a6356750adc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHbtQR0OoulqwwkSdvAPflWhbAg8g3afe57F5Tubc3Qnt5ZjrGaYIgYKr35nak222IV11ZDwDhuE1E7V_nVNe647AP4J9y4cG6PO-KjMQ5e406tW3fo68Z7NXpdaLgE46CDWfMgAtOkWtX8JZw-c2Dvguw7hboJlyLmhZJCIiKdqKwTl-PfgPk4V8de41aUcgaaIsY7h2ZBTdoafZRv4ioUNVuFu-PVKF_9UIixdRioW1-w7NveCeU_-GFyySpCOqHGHKoX6msMedI8705GF7U8zjHeDg4piuQWe1LOWLVG1Ivsw9giA2jygC3gft3Dhkayow4EPNyWL6NG7nCAfUIUjqUz5hAF6qtzO9YDU-GwjpemIN6hMk4nKaLckkGZQuiKxW2T912hK_qlimLqfn32Sc72eYO9pqesGRlxSZX2jq93wDJFD8ENPwKbRau_cIg-kC9MNKKUAeRlGfM-PUNourYsHX4ZoC7AUJ8ryvduaMnzPdZUet7-eZjDx8SXy8CPGCK-OU2Nwy_9wy1xV3g3Nffff-mTxvX8QbVdYr5htpPfTY0ap-gUksgnUQGK2zbujr6ssm1jY65A-Js6NdVN0H8EnLAfmcAAdEwmagafCNMlnVV_TE91Rj6W8d5bc6nQPufkzQ_J6LBG7CjiYfNB5-XIU7MG1ETByVjO0jDzhLJG6-PCxaoLXXsBJPgUApB7ht5t1VdDpoATT4ia3yLHcv_d7H-08Ai4b4VQe7T4dJqd9qr7UShEu_ho1wqhS_nRFd28rE1LROnHYB0rHhNQ0GkK_yiZJraOpf95ZaMa-AIupD-qYFQGN55Pk0aIFnvaoPZnfBUnwFLcy-jZ3M7XgYFQI_GQ5oo-NiW8G784W58CgjVRio5SenNskUb6DWSNqNlWdEO-f824hN3YHXvUkIGhIbbVGjCuGWBYidQvNH67SGgsUCScfbyipemqCJ0wV44Bf__aCks2exbtN6ZJm2yVTBX24ocgty16jv07QayReI5btfUBC1jRPgsQVP6jZKvxhoDmq2Pzh9a9L6LDhlDw5krPirZgDihGesZtAC7q71oju2WRgojJiQXLJajE6pWfkQ1hejcA0CAIPrIXyn-jWM6hUo40DaECF-2wG98SeC5JWeUKSTjPRW8HYQoHVWJeH6GDdjy6GX0V7Av-XJUP2dg228Lolr49dwwmlA_MqBqPolUxuXfzGektVrkbxEApGBwNN7YmAR9HqjIE6nCneOAigehdez0nbclJOXSWK0EcqczmD5qfpv0U10YwuY6GZRk0ef_3TwbT_6_bR_TfPtN6Sl-_6UWk3FMnv5v6p8u_QLr5WcDzv8R8e5dNh1v0uSZeXrtIc6mLEEOTWNvXP2LIbXwXr1_vVTEHDGXQ-rWuDuIG5o8w567jhiLPpZYBjfCGhq3aC4ZbcOqNscF2GkO1Vt6YrAcEDHQApHR8FCtqAC-bPfWaAhBc3kJqYt72ReHyBk_gRPkmAFSESh3gT-C2mcI_uuDIzSyUSHoPopB8I0fuDbIHAXgWjdFCGwqEByagoSCPj0nJxc4uXHXrKHyWbY13vvAYyAaG_PHCiX9SGR2OMP0c_u6qEVnmrLLs2l8SIF6UJ6cEnBXTzDsJDOzc1bYuJGRAS1K40P8LqwaogHvMuDFPslocwBF3aSn_2ljP-acOQ-2lL0-C_fQ==",
  "id": "rs_0c7807b88571af52016ab476e9fed087d0b0087deefecb1ac4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.075,\"right_z\":0.03,\"right_yaw\":0,\"right_pitch\":0.5,\"right_roll\":0},\"note\":\"The yellow object has shifted slightly outward and is now closer to the base than the grasp point. I’m recentering over its new position with a more upright jaw orientation.\"}",
  "call_id": "call_R8lUbczI57swAJ8s7F0Luwok",
  "id": "fc_0c7807b88571af52016ab476ebf3b887d09168dd87be05d188",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R8lUbczI57swAJ8s7F0Luwok",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8227, 0.6102, -0.5476, -0.0299, -0.0574, 0.9993, 0.1982, 2.4023, 0.9985, 1.261, 0.2867, 0.1078, 0.9954]\nstate[eef_state]: left_x=0.2715 left_y=0.0019 left_z=0.1427 left_yaw=0.018 left_pitch=-0.1828 left_roll=-0.0089 left_gripper=0.9993 right_x=0.5506 right_y=0.0633 right_z=0.0244 right_yaw=-0.1424 right_pitch=0.4435 right_roll=0.0886 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.7216, -0.0806, -0.0757, -0.0122, -0.2667, -9.7162, 3.9726, 2.1807, -0.1832, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a93933d3036d3c0f8dd01227c3fb8e2272596994f762446ba67eaf483ac146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230e0c784795a5a8f1076dcd45184eff744d4f2805b308507a159d77a3f36600",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24a73d9c07551a7e87e90e8d1831bdb8a21c73d53b2d0105419ab20d8bd38a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8169, 0.6121, -0.519, -0.0299, -0.0574, 0.9993, 0.5774, 2.4279, 1.9694, -0.2253, 1.2568, 1.4773, 0.9973]\nstate[eef_state]: left_x=0.2764 left_y=0.0019 left_z=0.1502 left_yaw=0.0181 left_pitch=-0.1466 left_roll=-0.0105 left_gripper=0.9993 right_x=0.5611 right_y=0.1693 right_z=0.1516 right_yaw=-1.1759 right_pitch=0.2007 right_roll=0.8322 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.5385, 7.0496, 1.6532, -0.0415, -0.0464, -0.0464, -0.759, -13.5179, 8.4991, 1.3748, 0.7253, 0.1978, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8188, 0.6117, -0.5335, -0.0299, -0.0574, 0.9993, 0.4496, 2.6129, 1.8351, 0.358, 1.2404, 1.3853, 0.9954]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1469 left_yaw=0.0178 left_pitch=-0.1634 left_roll=-0.0098 left_gripper=0.9993 right_x=0.5944 right_y=0.1053 right_z=0.0643 right_yaw=-1.3089 right_pitch=0.1841 right_roll=1.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1419, 6.8991, 1.6288, -0.0659, -0.0659, -0.0122, -0.7863, -15.0222, 7.2274, 1.0427, 0.1099, 0.0708, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8227, 0.6102, -0.5476, -0.0299, -0.0574, 0.9993, 0.1982, 2.4023, 0.9985, 1.261, 0.2867, 0.1078, 0.9954]\nstate[eef_state]: left_x=0.2715 left_y=0.0019 left_z=0.1427 left_yaw=0.018 left_pitch=-0.1828 left_roll=-0.0089 left_gripper=0.9993 right_x=0.5506 right_y=0.0633 right_z=0.0244 right_yaw=-0.1424 right_pitch=0.4435 right_roll=0.0886 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.7216, -0.0806, -0.0757, -0.0122, -0.2667, -9.7162, 3.9726, 2.1807, -0.1832, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a93933d3036d3c0f8dd01227c3fb8e2272596994f762446ba67eaf483ac146",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230e0c784795a5a8f1076dcd45184eff744d4f2805b308507a159d77a3f36600",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24a73d9c07551a7e87e90e8d1831bdb8a21c73d53b2d0105419ab20d8bd38a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHb1DOocXJ-l-QYbwdMaUzCCpvQoVLO5Vh6wasTbhwTCIggI5eNZmELcTveTAXCHSDtEk-nwRfWerGNJca-vLPUpju2RjARUUI6ssH_QULQshnSi-BrfSJNFeVOHKvjt2QvF7VEOy3r-zZnXn3EQOH4cSEDyVjdcyGax7t7oWK6JaMjjhPZDY0D-5tuAywDc4o1IN7EfWK_FUPVYZdfF_SY5qoBZFWky0-5EC9AxXPM_SFzsHqy1rQH4bCVaT7V0GpShWjMi1vGrUU3DqFGkjADQKi8YhNi6vCkb4prDfXXdqPvNLegyfkibRl2TCe_nmm7M-mGDEljOj_WAhGZHPw7G1myCH0BAyMehYc9i_7G6C9kpr6ryyXMFWSpt2Ht0l0R0nIqCNEu0Yb6yIpFRmj0uLgDR25QGe6MjxvYYGFEHm9IFFxoNTU-hV-u_gTmmbovetVU2q4CyLnaYvUcpE0EL1w9Kgy3ksGPZjI1vZfJGli4fW_LPb6Pu63SxGqEq1Ip1mAOLDhQgPHIsT4xQpavKEInkGi1GM3_z7c5T2fMdVpMbchyVk83zeyu4NM_U4X5vKKB5mGFyq0XBCKsSHyTZwcjkxByQreXhuUXyI7aq23-3kz9A7Wfdu-HBLip7tLKAK4GBtQ6Pm88jGsiD-PpAi3KsvQ2ZjhN3RNIO2v9qYibd1_qL6Q8cbODOsedMZi19E97xJ7bufrDnYd5Y8sE6wNaxTLuZeYDk0xhfhHNUCNvXRlOw1bgc5W7IpKIrJ4x_GF-oYvluAwLM50-sU5weo0IX96Tf6K-uBGm1dH85pB7gxiMStmN3XA2ktVvuh4eIthDvszN6v3FeI5DT9spzij_pTrHHhIHwJoeNoC7HiTVLK36UtTvH0xNXAg5NbqJ1Ig_wt1T-MNdmP-gNt9PPq61q9ffG-eX7LZ7JV8Xj9BiSlY-4Z1OJ1LaO42HXMrVxTw4DUsUZxo2S4K44d6zRmb5nNZjw9VclZAVTFEnuwfuCG-W1XjjG6ptN19QrczVJy33yNcPNPndklOmTHPfSf5ROpZWGy0YAAB62KsdayG3cC1CyTmLezMAICKFPp3DF9_iYCoppC50I6AXUGFIhbiF7cUF80mArYEE2NNLZVoWAiv9ffQ0pZL-IOHVdjGFezbxdFLKm_ysb9bD8rrndHXGxFASBzx2_lpuFvMHzJRFEvzZZcUQ-0a4zgJbsXg9115Akwh9eOk20JQbjin2MSETNK5X88YQAI-GrPm25_AmjidRfH4jnYP5Q5P1q-F36Mu_5AjPnWun0JgrdcJ0BMhJfiq2ArBD0tXxbD5WlrHgndnV8tnvakekkH1N_-2I_lIsfwimsirm_KcoMn-474dlp67PYlGoA-LI97BnanoNksAf7RYYxD-b8HzR_heG9ShUujkEjsAkshRnypkSe3C1cYH4PeP4m1dUZ0IwufADOGLCdxp4ntfIo9RYfQk8O37cpy4Kv_BM_yZDrxkXNGrpbGG6TkC0VxYdif2X-dK4RkwfSz2GXbKF2knIOEcfclcjc32ThftbTXuH_QeUVmbaGzJqRF2Fs0Pnazwup_Ipd7HFiSp5su5R0qg5WceYp80ffRHIpZUVBmkTUll1EGjrQFzEynb2TJRHiNoHS5TCkbcxkMhux13iW2tPLuZ1_scN0x3XiFfMKOArd4XJ_XqK8FK66zlvbzghLlr0WPNixGsM9PECROWFkA7Ay4strUaqS552gW64bl0YTof3xfZtEikmc3Dfs9Ht5zUeX5eey5e8o-PyXrZ28jrC-Qkt6rXixuLjvs1FO4EPILwbJnfXG5CTE9ynSce0CRMd8RpKfznWUC5zSO8uT6tyvFjBTV_ai5wt1QlC545DJqDjpkQ0lVAoNckgQG-YKiq7sNiZQlTXRJ96n-HTgB18rGXmj4CUtAy33lnTL55cCoBsuJDaREjMITPRpc-YGPPEN-yS4_utHRLDeYYxCKszWYnu5Up9Gfl1Esz5X7xTs9Ryi50j4oW202oF5TNG7Uw48ZY_b8oT5QKALWPA65bUjWmSPtvktF2Vi9FU-IYkXhTFuABkKFyayOobBUSvDfNTLOLLIFtWoZ3bxwn68xR8jfDsA27B1ILXxGrNpD_jGR-gr24ie5hODQmAjOTw1L6Y2i6DEusruovJLrFWWuPT1UzZ9DVIkdbrlljauvkWq9yz-HuLNv1lua-Yj9Rj6nNx6on1JKgHFpqtqqNz8yDf1NDCswioDEJWt9C8e6FOZU6sLmDzyMvQz0uNDMMSJ1o9I7icaIciASeYUj02ko02HdxB1CkoFk7MtvvVjbH435FULUTEKzWrd81SnlJoyr5r4Y4CMaBgd7d0ORzwndCYN9GZnWYCjC67lTWxRHfeL16nJUThou-aHjOQR3GyBg4QrLWiVcIH_BDbDaj_QF7lnikscguxfOGKIU4IM0QI_J7ba8GdjNuESi0-WdiX7FYs_xTwCJX5SRlUNcDEPk2pX9GANnmd6FBCypvlwBPZSF6w7N8M1UtkEU-jgditz3KQRg2cWXOOXC5kfujjw2FQBqRZK93KBpcjirEFPr2JsgHh2jQ==",
  "id": "rs_0c7807b88571af52016ab476ef8d3087d0a4436e0c38e376c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.02,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.34,\"left_y\":-0.2,\"left_z\":0.12,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The yellow object is slipping away from the long-reach grasp, so I’m stopping that attempt rather than pushing it farther. I’m parking the right arm and bringing the left gripper over the pale object next to the safe.\"}",
  "call_id": "call_sNojyxvfKWsc2RdOSy776LfH",
  "id": "fc_0c7807b88571af52016ab476f45f0c87d0b37305f075a47a00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sNojyxvfKWsc2RdOSy776LfH",
  "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]: [-0.8165, 1.4879, 0.7708, -0.1337, -0.6418, -0.5644, 0.9992, 0.0689, 1.3106, 0.8799, -0.1379, 0.0696, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.3274 left_y=-0.1888 left_z=0.1004 left_yaw=-0.001 left_pitch=-0.0702 left_roll=0.0417 left_gripper=0.9992 right_x=0.4071 right_y=0.0194 right_z=0.1869 right_yaw=-0.0177 right_pitch=0.0155 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -6.106, 8.6906, 1.7411, -0.5201, -0.0366, -0.0171, -0.4581, -6.3658, 9.7299, 1.8974, -0.0855, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a23ecc0873490afc767b34477391146c84418dc39b9ed735d9ac511c0dcbe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4842e05ee3249fc4dd552617c83e61c9bca10b52ec10bb508f611ea7c2c84a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45366cdaec4c7e584422fab4b6b44d48a64f34c5dff75c361ab3fb0838c1fd7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8188, 0.6117, -0.5262, -0.0299, -0.0574, 0.9993, 0.5323, 2.7331, 1.8591, 0.9085, 1.2755, 1.1889, 0.996]\nstate[eef_state]: left_x=0.2752 left_y=0.0018 left_z=0.1482 left_yaw=0.0178 left_pitch=-0.1561 left_roll=-0.0101 left_gripper=0.9993 right_x=0.59 right_y=0.1555 right_z=0.072 right_yaw=-1.3013 right_pitch=0.1889 right_roll=1.2924 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -1.347, 7.2821, 1.663, -0.0366, -0.0659, -0.022, -1.4427, -8.7179, 4.6564, 0.5397, -0.2564, 0.1245, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8227, 0.6102, -0.5476, -0.0299, -0.0574, 0.9993, 0.1982, 2.4023, 0.9985, 1.261, 0.2867, 0.1078, 0.9954]\nstate[eef_state]: left_x=0.2715 left_y=0.0019 left_z=0.1427 left_yaw=0.018 left_pitch=-0.1828 left_roll=-0.0089 left_gripper=0.9993 right_x=0.5506 right_y=0.0633 right_z=0.0244 right_yaw=-0.1424 right_pitch=0.4435 right_roll=0.0886 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.7216, -0.0806, -0.0757, -0.0122, -0.2667, -9.7162, 3.9726, 2.1807, -0.1832, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8165, 1.4879, 0.7708, -0.1337, -0.6418, -0.5644, 0.9992, 0.0689, 1.3106, 0.8799, -0.1379, 0.0696, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.3274 left_y=-0.1888 left_z=0.1004 left_yaw=-0.001 left_pitch=-0.0702 left_roll=0.0417 left_gripper=0.9992 right_x=0.4071 right_y=0.0194 right_z=0.1869 right_yaw=-0.0177 right_pitch=0.0155 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -6.106, 8.6906, 1.7411, -0.5201, -0.0366, -0.0171, -0.4581, -6.3658, 9.7299, 1.8974, -0.0855, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a23ecc0873490afc767b34477391146c84418dc39b9ed735d9ac511c0dcbe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4842e05ee3249fc4dd552617c83e61c9bca10b52ec10bb508f611ea7c2c84a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45366cdaec4c7e584422fab4b6b44d48a64f34c5dff75c361ab3fb0838c1fd7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHb9k0xuU5cRwuhMmYShlGiT-2Tj6PWWzgqlvT6rZBBMr57j_wW2B8_vPTgFgM_y97EwmsLMLBrFOq32Y1V8zm1mE7t4kiDXz_LDCfFGel2AXGm1R7n9kD96eCkiMj1jJD1YfSzJZk8R6nyYoE9TZQKQdu6pGzAsWp5CLXU9r5uNmQrwFrNixqk9cGVCx_gvGmYCzButscMXu7h7pOzgW0WMXw9oA7W4J2rHphBAommD4TNzj7rxjOK2UJI2MLSnxWCGSgGIEYp6k6ICRtOhOTwxjEF7nEMW92q618KCbSc7d63zyMz3b1SL_PUojnxehIVzQSGPUREaCU52tQHlrckxIzdLWdFxPvbTBJi1gGN0iDZwZYCuaerYhJ1mu7Fdnn_Z_mWltIMRHjgnrhXmttxJYmYO_ddssfCujaooA8FUqK9a1GM7d5IS3RYDcjyfUCLg8Hftljf9K1K7fWqztmvZ7SgOGTs8HKct6mrKFn8OzDNH86IbJnrPnMO5hRG9grQDr1dcl9x_hhpMhIWmSy9hZN2NvUaCQTZJYt9IehSd95MjK5KWStZZ-r-IbQJYJFdRVx_40-l0PAJ1ZBIzwogc8I9JKT2t12QDLi5tIBA-E88hcv05e7CUfwj88uzIdAcyieqOZLZ9jp1DurqrEExZofJ7K_x0dpyJF-b679W-yYErSpL6ONNYEERa2HjICl4WcRjbA-KEgjkV5s-7BsS7rwO436rAEnwLe06qJpUB-2tevL0eA_ISP-XcHf1RTGFNXHqY03wE_vkZr0cIN3D52jZYW3rcGgrUOmiV2KtP7utbFI6k-XFMCqb_HC7hWjOSZT7xxP_P11dRVHfVxyPbFxYTmxpwLNdhbz1EFjvOpfvHh7nrziOUGg5QXXjzdxPQ7iIf1QBIqf34BQRXChYrf_sMsqPc753DorNYnfchcG4ry3wyYWUwxHtqp7gQXXmKebnfoLaZFUcnMCQFFjIfLey4AjQ74mZ5Y90a_ursRwpgWw2pxBF9lf4_H_p5OM_pDxk4pxwUJp7T80gGzZylXxYQLx9I527E6ipqTBpDLz9Kp8tC-kq_lnMRCQhBkC4KXjCMbZoBuwJDCLOr2mApd7yYusnfBT7HYKDIlgQiQVUboyxTc9XnstKsVuqxQShwLIq-zum9LauLuaYJBLCFL4hIlK9Lj3bE-fCK8wDIeoCJ0yfhQ-WYwapS-bjH5lxExGc2OWsITyn5cJvb10cjRFeOnwmB6MWYX6_aOIiwEV3b4sWSml70ZWLol0eLYEwKSR2V9H7sztS7J0PHvi8OJk9KYO21KNlK5GVDtFT7RcBy2aDrOKihNKydrqv4vCpvv8gb2rzoZlJpCubLrObnJohgCw_dKRVisJ5ts7RWteIfPdYSz-z_AVMNjf8r7xbGToev-edbwz5KRy9DNmtRbO6LMKcgUeWAQwtNza6L-zOvooTgmPMoBeDsz1ZjPEBAFrSSqDh5-PdYc1MW45LGRN5hkuC8NFY5z-lbshEKpTfNRIljbFnH_eMEBovuIIJEWZT3jCnOuyuyG0W8tHmjGgjuTVJYe-vJPZNGT3voytEzaT1aEYjuKAv1CR4mKts8g6lx9BECJxiK_83v9aeKlm7Zfnsctmm2_8FvkZiWKTM3vnMQCkoeec39o2RbTJxTkX1APQxOCQnmXyobHYKvEQf66M0fZUJsNHkLKBfN7EWd-BpLRHXW1ooqeL0fXF7sfU9QsUCAFCnWjiUTeEFd3r-aN8CuICDOgfETqc_xzYNu5Tspd8XJD1LOmPeyZmpiwWxFHgwQ_-5BvaTj-fBAftgjpbGk_8jGRSFp31yZ3FkYZ7ReBx2GO59TrzhICwVrh7rpetUYOh_ugSrdorkSV9ANkJ36JjmxEhC2YvXq4soQS2yR85l274OvO0DmU_cMq0kc1h4WAO6EnOTHnQq1vQ2qHo8QmlVR2U8ojLPI54IuzD5zxmmgdjHg6Wu6b-utKVVPTXQBMYMob_ClZ_JYU_Y8MqamRwbRqx5Pks8naveVKfpabigwbfFJBDzlI8DXKoNXDh78bbAa3qYfwakSU5vF8IvSBQ6fKRt4u8uhCd3KH_6eUGgC13Vgq8L4OtioFKFlGS8155hjOMDpbjhAhST4uiG13_j6g5naAxCTwuNUYpZQCkxOJ1sDWb_MvsJ7",
  "id": "rs_0c7807b88571af52016ab476f9439087d08b6388951fb96204",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.18,\"left_z\":0.015,\"right_gripper\":0},\"note\":\"The pale object is just left of the left jaws, so I’m correcting sideways and lowering. The yellow object has unexpectedly come along on the right fingers; I’m closing the right gripper to secure it.\"}",
  "call_id": "call_eU4mkGA1FhFseqijA4rLYTi3",
  "id": "fc_0c7807b88571af52016ab476fcbb0487d0b7a2c99af406ad40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eU4mkGA1FhFseqijA4rLYTi3",
  "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]: [-0.791, 1.7004, 0.6006, 0.2779, -0.6518, -0.5507, 0.9992, 0.0658, 1.3109, 0.8776, -0.1814, 0.0635, 0.0269, 0.0164]\nstate[eef_state]: left_x=0.3334 left_y=-0.1797 left_z=0.0286 left_yaw=0.0228 left_pitch=-0.0453 left_roll=0.0367 left_gripper=0.9992 right_x=0.4007 right_y=0.0188 right_z=0.1768 right_yaw=-0.0113 right_pitch=-0.0307 right_roll=-0.0043 right_gripper=0.0164\nstate[joint_eff]: [0.2393, -4.588, 3.4393, 1.0916, 0.1001, 0.0757, -0.0122, 0.1846, -5.3538, 7.4872, 2.1123, 0.0757, 0.0317, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175d54b526e1905159c949c2bb65fe54098ce2b7fc61cbfeef5de0bfe604f7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f457361d66176236a6fa6dd464d4678adc55abf3dedbd90dd5e4d398643406a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df14780c381065a54aaaad76a83af87edd069ee1ba82962f9088ca573560e5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8188, 0.6117, -0.5335, -0.0299, -0.0574, 0.9993, 0.4496, 2.6129, 1.8351, 0.358, 1.2404, 1.3853, 0.9954]\nstate[eef_state]: left_x=0.274 left_y=0.0018 left_z=0.1469 left_yaw=0.0178 left_pitch=-0.1634 left_roll=-0.0098 left_gripper=0.9993 right_x=0.5944 right_y=0.1053 right_z=0.0643 right_yaw=-1.3089 right_pitch=0.1841 right_roll=1.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1419, 6.8991, 1.6288, -0.0659, -0.0659, -0.0122, -0.7863, -15.0222, 7.2274, 1.0427, 0.1099, 0.0708, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8165, 1.4879, 0.7708, -0.1337, -0.6418, -0.5644, 0.9992, 0.0689, 1.3106, 0.8799, -0.1379, 0.0696, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.3274 left_y=-0.1888 left_z=0.1004 left_yaw=-0.001 left_pitch=-0.0702 left_roll=0.0417 left_gripper=0.9992 right_x=0.4071 right_y=0.0194 right_z=0.1869 right_yaw=-0.0177 right_pitch=0.0155 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -6.106, 8.6906, 1.7411, -0.5201, -0.0366, -0.0171, -0.4581, -6.3658, 9.7299, 1.8974, -0.0855, -0.0562, -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]: [-0.791, 1.7004, 0.6006, 0.2779, -0.6518, -0.5507, 0.9992, 0.0658, 1.3109, 0.8776, -0.1814, 0.0635, 0.0269, 0.0164]\nstate[eef_state]: left_x=0.3334 left_y=-0.1797 left_z=0.0286 left_yaw=0.0228 left_pitch=-0.0453 left_roll=0.0367 left_gripper=0.9992 right_x=0.4007 right_y=0.0188 right_z=0.1768 right_yaw=-0.0113 right_pitch=-0.0307 right_roll=-0.0043 right_gripper=0.0164\nstate[joint_eff]: [0.2393, -4.588, 3.4393, 1.0916, 0.1001, 0.0757, -0.0122, 0.1846, -5.3538, 7.4872, 2.1123, 0.0757, 0.0317, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175d54b526e1905159c949c2bb65fe54098ce2b7fc61cbfeef5de0bfe604f7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f457361d66176236a6fa6dd464d4678adc55abf3dedbd90dd5e4d398643406a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df14780c381065a54aaaad76a83af87edd069ee1ba82962f9088ca573560e5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHcCTHBbqM9mG1x6dSGkVxvEoaXiqE9RiXxxx30iaCmVbiCR8wBDeM3Jm4A_6hAlqhePGbpn9y0kAyyd5LBR6ZNI2gQThfTlYx5UIJpCnuSsAFdjIEHZ5uSPuJRU-VmHg09dnO6ArEjieE1vga7GAgrl2M5bvU06rPBwYUG_D2RgYJXXGpIdAjce9TZHer9CmacQ1E8dNuPuIlCPmfzRcaMvUtMEkFS5pW4pSwKRJpKSC5A875_NRtL7dl4qdHBJd2yyT-Qzl8NLfNV-x5kNwCENuBC0nV_5QinU_SlSjoBaioiuHgnAIB605CqVfjxytkVNXzn-T5SPYUKBUaWv7sDr5IB7V_Zr9kK2iWEdHwvCPvMfNrx95qj6pB5Jr--Fm2Z_osim5Iokx-rHlNNshalg-bpLYjD3tAjj83UW0Fyjw6iNkdcQbWB3MlwbbJ8OOm0Y5e9DCIQxaaFLyCpYfbQAzQOiRl51TP7DMUjDFW3Tz1XbIcHpZIqHlU_ufq89b5w-m2VqFs1WsVzxkNEUkOFDLSDAO1LLPDlu8NBh0BQc9JQH-6sFcWgbmhzur7W7-yhzQnOD8lbqcyjgdxxdqRvmPWxE3sR_73NhT2V5710VWcrD2YBUd2jAIMNhW_VzgCm-anp3UmyFYrwO73TcjcmrXIOF6TnRi4eCdWXLEf6JZLUk-xJFKFQFA-C61ti5wIVZVSRbxGRSOtrZH0ZyMJw_2PfjfC51LomQkakjS5vP6f_FP9obUL0APVITgrtjPUYsdXv_XlXViAqjVQfPUPw_IbH0wo71H_Mp0Tx_YEVQolt6dZRHFDN1onDBpCEuJsV1YHwis61Oo5OyCeuTPs45_9OAyD3acrh5qd1HjU4UVDV4DoEB0_EOgDugNTB_iUumI4TeuJXVFxJmlQoP3bG_pjPbCizmxiTa5abivU6zYuGYkB1jfkP7Wt1jvNrSp1QsQC7p0FSpNGWZp_3YdiniZLmLp7PoKVBBHJbtaO9OxVvH0PqMtX8Y6M_8cIw8IR4k49pGw8JBvZZkFhlDyuyJpm2PbY3jvf2FjYcouJPGQz4qbaJyWoYcp7eO8E23EgXKzpc3vvJDt1CHB_fV6eo7Rl7PEWvm3ClaEnEAszKU2hmMDvt6l_ydtg4HZqoNNt0InGjY8dEw4UDTH-S5prau-FfULLxtyLhvZNkRFX01wsp_c7-NSr-0OcqcD5C9KEkWxv5NdDsgIRL8prudO9l_XC_wtzKsRna0EIUtFCfaWP0mItN9UaGrDspSLMf4voTCKSGWJR5ra3dJUAJllggITpIIWCBQ8IcnhqU5Hx-bSq7EXLVZ3ATdZFk9kyUc5_OXnTy2xhE6Or_oGI0AuW2l1kzI0EkpmJCpwRId3O_i1j8Ovl6deyYluDeK7thzaWLCQ9VGufFGrIwY-8gQo-4u0H8XrtNLm_i0zeINOiqbTzMbwuaVFXLqrxG8iM40FVHCb5MBIP38Q95Sn9zW9CP1KDqrM7b0q5L1-u3amrLtlP8s4i03L_vFR0v9Jo80t9kJoDSLh5VS4e4C8oh9IZA6_GGWtPcAa3wUYF351ZZiU_YkSQvApmz_R4w2XUKPmWdos8lhLqbpWLrEeImfbcpxMw==",
  "id": "rs_0c7807b88571af52016ab47700302c87d09202ae8f7c9ec227",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.155,\"left_z\":0.005,\"right_x\":0.48,\"right_y\":0.31,\"right_z\":0.23},\"note\":\"The pale object remains left of the closing line, so I’m centering the left jaws on it. The yellow object is hooked outside the right jaws rather than clamped; I’m bringing it above the safe without shaking it loose.\"}",
  "call_id": "call_LXH7RDVh4GHZNPRecAdEf6FP",
  "id": "fc_0c7807b88571af52016ab477018a8487d0845fa1d6093a4612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LXH7RDVh4GHZNPRecAdEf6FP",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6842, 1.7641, 0.5556, 0.4927, -0.627, -0.4587, 0.9992, 0.7357, 2.1059, 2.0071, -0.6903, 0.5644, 0.4465, 0.0193]\nstate[eef_state]: left_x=0.358 left_y=-0.1537 left_z=0.0235 left_yaw=0.0603 left_pitch=0.0162 left_roll=0.0262 left_gripper=0.9992 right_x=0.4754 right_y=0.3077 right_z=0.2191 right_yaw=0.0206 right_pitch=-0.0607 right_roll=-0.0282 right_gripper=0.0193\nstate[joint_eff]: [0.5812, -4.5333, 3.4803, 1.3651, 0.2564, 0.0073, -0.0122, 0.3897, -11.8496, 8.5812, 1.3455, 0.3834, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeeac48830101cb458811fedb651e789b5bf38a33ea784ce13e7dde0ca5f13e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca7b9dd103d8575e7d1b75583b7ac25b73c876409c8220cee5cabab3209aecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:100e901b55aae55f334257d9a0b8cea05ad391e2b7636ddd65d28e411ad10fab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8227, 0.6102, -0.5476, -0.0299, -0.0574, 0.9993, 0.1982, 2.4023, 0.9985, 1.261, 0.2867, 0.1078, 0.9954]\nstate[eef_state]: left_x=0.2715 left_y=0.0019 left_z=0.1427 left_yaw=0.018 left_pitch=-0.1828 left_roll=-0.0089 left_gripper=0.9993 right_x=0.5506 right_y=0.0633 right_z=0.0244 right_yaw=-0.1424 right_pitch=0.4435 right_roll=0.0886 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4838, 7.0222, 1.7216, -0.0806, -0.0757, -0.0122, -0.2667, -9.7162, 3.9726, 2.1807, -0.1832, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.791, 1.7004, 0.6006, 0.2779, -0.6518, -0.5507, 0.9992, 0.0658, 1.3109, 0.8776, -0.1814, 0.0635, 0.0269, 0.0164]\nstate[eef_state]: left_x=0.3334 left_y=-0.1797 left_z=0.0286 left_yaw=0.0228 left_pitch=-0.0453 left_roll=0.0367 left_gripper=0.9992 right_x=0.4007 right_y=0.0188 right_z=0.1768 right_yaw=-0.0113 right_pitch=-0.0307 right_roll=-0.0043 right_gripper=0.0164\nstate[joint_eff]: [0.2393, -4.588, 3.4393, 1.0916, 0.1001, 0.0757, -0.0122, 0.1846, -5.3538, 7.4872, 2.1123, 0.0757, 0.0317, 0.7741]\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]: [-0.6842, 1.7641, 0.5556, 0.4927, -0.627, -0.4587, 0.9992, 0.7357, 2.1059, 2.0071, -0.6903, 0.5644, 0.4465, 0.0193]\nstate[eef_state]: left_x=0.358 left_y=-0.1537 left_z=0.0235 left_yaw=0.0603 left_pitch=0.0162 left_roll=0.0262 left_gripper=0.9992 right_x=0.4754 right_y=0.3077 right_z=0.2191 right_yaw=0.0206 right_pitch=-0.0607 right_roll=-0.0282 right_gripper=0.0193\nstate[joint_eff]: [0.5812, -4.5333, 3.4803, 1.3651, 0.2564, 0.0073, -0.0122, 0.3897, -11.8496, 8.5812, 1.3455, 0.3834, 0.105, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeeac48830101cb458811fedb651e789b5bf38a33ea784ce13e7dde0ca5f13e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca7b9dd103d8575e7d1b75583b7ac25b73c876409c8220cee5cabab3209aecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:100e901b55aae55f334257d9a0b8cea05ad391e2b7636ddd65d28e411ad10fab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHcJZMaOeeuieieHP_LsEcWInADusMLJqWpbLKyZ_woqyr1nuTZ6lTP6L-j4ZZ3iiDn2ctJhs7AGPjyc_lKjVMqFfgMFWa4T48AHs8nIXhFYrdjwylRtDTeYFlfV88GgbahnvJPqFzTagbNCGK5sk2RvjRMzAOxQpDc2i95abgbF1AfphpHU04NSjGrj8dkqBfQGcE_lV9RNz8pChDZbGiOj7FTEZv5be0E1uhxrXWxE4qovlK0axKCsT4J991CnDh2L5PJ5mSIE-JtyfRX4EqmGeDgjez3RZRUq9Tcu3Q0YsjnWu1tNQnl6dHoo2mvR2YwJQePmZtBx_D1oltE607jh-NwPXjzv9YNNvcLpRMWGDkrmdeCHVGOlMZW0ETwhwKDbGem0tMOKYwQB2F5MVFPm0vbm6CMZjSZnIWgvbuIIg2y-EE39PakcDvAjQon6fDZYMc4XQQJR0ZejN-sCnyqeIj9dVqSiWwcG3QC1c0pPIwQe2W_-QDazDXsI_BRC50s6PePIiA89xKQtoyzp2wHNE8lAoTt2eJ9-t1vfx5tiPbgf6hYOqI7Xl15EGLuyzphxZ38R6_jDFlarb5M0BfYreYbZsCETw39TiNGQ0ZFPDgHgFeF_CDZWYPmdwGeaw5cqPKXbAKeahc_7Z_jskvrDIZJzu6ckgcNDGqYUpchJpoiVsLoMJDBKgtg3vjU09uWJgRY5gIC-Lz_mKFSToFJIP80OkCwqaZqMp0bg2-n3loFK-6g_4Ua2hEPvgG-aJEbAedwWworP0V45qsfhro0ZfppTdQDO4gt6zPueNrO_ujhS-uVbjAWBIQP_UoEdJP8iyuvM5S6AOqbvgy_mhW2vEA4ZT-3ExzmPVJS_SZD3l1QIB5j0hL1jrjxaAXt12RhtBhVNeEeRWQ2qy757kwB9iamB5VbdU_25d-ltbTOiLB8norErFsarfG9iNBq4RfEDwh8BrZKH41cMzF14c4DdCoTAu7II2M8_TKE3BEo3RWGOBFes2P1KnZNjLEjpvVuUHRr0rUQehFp9EDA-pHkW8bgLX-bck3iPxzBj_Fr7-PdRTabPCYfmG49WUrNLBssv_RnH9ZtRoLGGNB2kZMcbePJ0bF6FVlUZsWz7dplSq6hhanIneYTXC_jDMIkwVBhR5WRRK5yl4-cQgGBafwPwifXohYFZ0c23yZfypc2oc_I9TU6caoe7N2IOkzvoR08dUg1dL6AfUbFzRufSXX2Lx_5ykmmyT63Cl_tqzBXRfQvWH57WiOu1y9VMwrVynvPSVXCyAlJX9VydrV6JAqC2-kOD0acTstXn7z38zQbhwPlBKm5qgzTx8gK1kRiaTb3r98QcuCzdZzhZsiCvGVKz5JXCMWP-1Lr8vr7XSoS5i1s5OGBCYsEZtJxpCuWXi2ror_Vy08pDd4Y04vTKNgtjynbYXIDJOirnHsC3e_GBbPwlSb_w0kg_sAoKzoawLB03vufkagz362pqAvCwmFnvUVifIdXJ27IF8DUK_LylhfM9p1bdjySWxb9DEfH7SRFajQ-52URcKDAFOHEKA6w3WdDxbtAKMvYgnxIVswPUDEefcGGeBoiJIbnQhhHBiuWTg3XO6P1V7XNCokQCSj7ulATKPDPrYZ-wZ6bW8aDL88JdttmOUNWMZrigWZmP_fHtfsa8xl6qLU7QE8D6n8IHAObL82U27sMisIaBrk3cRD3M23m42SH9-h75MacXHoBP9dwP5Net33oR9mNtS1z06_FTxzerRo1hudjC1zeXAUMnuKkPSyhySc6SmCGEGCJF",
  "id": "rs_0c7807b88571af52016ab477072c1087d0976a21ba4be328cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.08,\"right_gripper\":1},\"note\":\"The left jaws are at the pale object’s edge, and the right tool is over the safe. I’m grasping the pale object while lowering and opening the right jaws to free the hooked yellow object into the compartment.\"}",
  "call_id": "call_ZMglP6pj1w0hrX9jEBWStCyL",
  "id": "fc_0c7807b88571af52016ab47708e8b887d0820b5405e8493a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZMglP6pj1w0hrX9jEBWStCyL",
  "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]: [-0.6846, 1.7611, 0.5579, 0.5304, -0.6598, -0.4606, 0.0102, 0.7376, 2.1559, 1.5639, -0.2451, 0.5602, 0.445, 0.9948]\nstate[eef_state]: left_x=0.3636 left_y=-0.1524 left_z=0.0337 left_yaw=0.0868 left_pitch=0.062 left_roll=0.0102 left_gripper=0.0102 right_x=0.4676 right_y=0.3029 right_z=0.0821 right_yaw=0.0239 right_pitch=-0.099 right_roll=-0.0587 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -6.8444, 4.7111, 1.1795, 0.0904, 0.0122, 0.8083, -0.3761, -11.3983, 6.8171, 1.7363, 0.1783, -0.022, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6481662083219d1458c38fceecdaad469da5e2395fd7caf98145e93711255e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543d1bb3e6271c5baf3c8a8bd37ffea68c79cb11a5fcfd40e9ed32cca58657f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd5f24392cadce6ea2539042caeb5a63c96c4f73ee11f00d8b18513c924f623",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8165, 1.4879, 0.7708, -0.1337, -0.6418, -0.5644, 0.9992, 0.0689, 1.3106, 0.8799, -0.1379, 0.0696, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.3274 left_y=-0.1888 left_z=0.1004 left_yaw=-0.001 left_pitch=-0.0702 left_roll=0.0417 left_gripper=0.9992 right_x=0.4071 right_y=0.0194 right_z=0.1869 right_yaw=-0.0177 right_pitch=0.0155 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -6.106, 8.6906, 1.7411, -0.5201, -0.0366, -0.0171, -0.4581, -6.3658, 9.7299, 1.8974, -0.0855, -0.0562, -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]: [-0.6842, 1.7641, 0.5556, 0.4927, -0.627, -0.4587, 0.9992, 0.7357, 2.1059, 2.0071, -0.6903, 0.5644, 0.4465, 0.0193]\nstate[eef_state]: left_x=0.358 left_y=-0.1537 left_z=0.0235 left_yaw=0.0603 left_pitch=0.0162 left_roll=0.0262 left_gripper=0.9992 right_x=0.4754 right_y=0.3077 right_z=0.2191 right_yaw=0.0206 right_pitch=-0.0607 right_roll=-0.0282 right_gripper=0.0193\nstate[joint_eff]: [0.5812, -4.5333, 3.4803, 1.3651, 0.2564, 0.0073, -0.0122, 0.3897, -11.8496, 8.5812, 1.3455, 0.3834, 0.105, 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]: [-0.6846, 1.7611, 0.5579, 0.5304, -0.6598, -0.4606, 0.0102, 0.7376, 2.1559, 1.5639, -0.2451, 0.5602, 0.445, 0.9948]\nstate[eef_state]: left_x=0.3636 left_y=-0.1524 left_z=0.0337 left_yaw=0.0868 left_pitch=0.062 left_roll=0.0102 left_gripper=0.0102 right_x=0.4676 right_y=0.3029 right_z=0.0821 right_yaw=0.0239 right_pitch=-0.099 right_roll=-0.0587 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -6.8444, 4.7111, 1.1795, 0.0904, 0.0122, 0.8083, -0.3761, -11.3983, 6.8171, 1.7363, 0.1783, -0.022, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6481662083219d1458c38fceecdaad469da5e2395fd7caf98145e93711255e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543d1bb3e6271c5baf3c8a8bd37ffea68c79cb11a5fcfd40e9ed32cca58657f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd5f24392cadce6ea2539042caeb5a63c96c4f73ee11f00d8b18513c924f623",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHcP8OSZUna2ZpZt5Y13jeuRaMGUQ40602KQLiLPA5HRH5xxUdaRl_yWGJi3KIcM6cjK09vP90941uNPFsTDyygTAsS67-Ua-0-WhMamz0gaG1eXi3Daa9jBMrHigpmTxqJ0TyzuAgTsv5TUeqtnA2KYzYOyoDh1hj7Giii6unYyPy905KyRPl8fdf14WaIp__93Yb3unpBKNOFTTjhBxFUNoPCHbMcSFGEZj7mNCiP129oOsdqvtDoul2X_jq6E3ik2tf5oTk7_QpI_qqSSK6VdHoIt4e8b1MGoUpS0MYzFap88i6L2pqQ12b4zYxIC4501EuSm5dtaS8d0EzTXe8rK9Flt5qg46MjQ44e91z_ES3zOZr5EHoy1ucHItBcqduXMqVC55FJ9YZwzcMhAINWjlHu6ruFQwCvFdqWkiLaCm9dzg3CdDyPVrF8EgJRX8GNcmD73qz6sKOrayZSlpCNa-a-MRMMkxq-okEs55z32HW4wc0tkDFaH2GRPgvY-wavzluOMcEFhNWkhO03V8tHQHbKmM8x3dOMBy8JabPajo6-qf7a7efFBZ1XCBEXaxgYV6ImCZ8YH24TyS_KxAS91UuGJ1DVI9zA1kuBAoJeLNP_nLkhT28BJIu-vdXV9mb8WaZwe5bw5SxAg7HT1AGwcGGnK-FylHtK4rJCNl4_I8IP37_BH95Uwi8p3ZwGBNbh81nDJTfVTY5ltC0ChCi4PYIURPnoAyaRiMcrlEakJKnLDGw4FiZSeFtTdqz5EQVsTNg6BNWkRAz1W1wyfKRTf15etkv2Tk2TILEhvvMYBw6sSu5UZhpUE6japNRbcET79ybsiorjWov8Vuss5OiTf_bVG8_4lmwu1L4a3ZUBG172Ts9rOSFROAWEkEH3vklThtMoD2afofRkpFfwQJIeU_0kG3YT9ASsE3f04hk7yujLhyRBjzTYeTWv2MYmfUvFFpDRVYlQrd2CuSJ3PY5rLEJxMJXmZhngEa7dzZDnS8tsgyPdSoazp4oHUwQ4fvbl5CZqAR57U6x0Ju0JfnTlcZC4O-FLGOrVoibahAvq3XoJneDdgc5_m5yJQHe06Tx3cjJfLOzSqr2v2LuHGLeamtB9B_m7RkRUPxBCn0aiqGXxvf4POQV5yywJ0ZOYY3W44tZfXXvYDCP3r7rrJ1RJXW3pb5jxDuoStFc03tenXD5skPn0UZ4QOH7XMF4bZPyrzUihSnQi874gSZMk4l98wjqU7ZuZvugqGE4EGx_kN10qDtAa90cBSJ_--y0f8VFgcV22mv0swrIxkMrWdTsJw5fW01H8dcGWOC2lTys5cdl-rQQnOpzUgkLvyKDPPk4nPC0V_ZtLLdDGy80ha3ej9SjBE4bKh2KDiKn2MvBv9v8A5KP5Nm7XV2n6hOQ0GSskBDepuWZmKHVkS7w7AjnEQe462NC5l4c4Li7d4zLHLOs4QDqJo5tiK4oj9aqBIreOXt1nPdDgP1Jgo3mL8qrMMLjuxclKFLGTuwSVB0mfWGZaTzvEv-Iufm05xg2Sqvd7Zk5qoZiZpYy-PKCz80ZdGkG1wxK0rbR_5B6fjtC8C1M5rVrLoXq_qNYZmOy-5pGqr9zjwQzvyK1QtaoMBE2w8UznO5T2hKFhmg0tkZqDpYRZPghNkPCVGtLlPIKhpKO31paw2RkZc1b8T6YEUmWWkdaVh1oCjGMua4-RA9SbeIUauaANaj9w0JvG0TE7FADnDqk4s2d2Vj6d-wi06YZ3mehbCzhMylhBeUBtm8u2OUw8jzvzihddN6DsHoVEh6yIeyRAeCPogO4rPtLJ7mG4kAQ==",
  "id": "rs_0c7807b88571af52016ab4770c6ac887d096a6428501d841ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.12,\"left_z\":0,\"left_gripper\":1,\"right_x\":0.35,\"right_y\":0.02,\"right_z\":0.23},\"note\":\"The left gripper closed empty, and the pale object is still just outside the safe. I’m opening and shifting toward its center while moving the right arm clear so I can verify what is inside.\"}",
  "call_id": "call_9jEGrc1BsFlbjrAcTZaJl0jp",
  "id": "fc_0c7807b88571af52016ab4770e416887d0a4a80bc3c66f758a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9jEGrc1BsFlbjrAcTZaJl0jp",
  "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]: [-0.6334, 1.8336, 0.3912, 0.7853, -0.6243, -0.4232, 0.9977, 0.104, 1.1614, 1.0084, -0.5709, 0.1234, 0.0135, 0.9953]\nstate[eef_state]: left_x=0.3442 left_y=-0.1202 left_z=0.0014 left_yaw=0.0911 left_pitch=0.0582 left_roll=0.016 left_gripper=0.9977 right_x=0.3501 right_y=0.0183 right_z=0.2138 right_yaw=-0.0168 right_pitch=-0.1358 right_roll=-0.0628 right_gripper=0.9953\nstate[joint_eff]: [0.4308, -4.9299, 3.3846, 1.8877, -0.1099, 0.0269, -0.0806, -0.1299, -4.8068, 8.7316, 1.8877, -0.0464, -0.0708, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8932e968af1f4875501d3c1bbe745a0bc7b40cc847ec16ee0c4dec6d00f8ee4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ab7f193d891235c455d3ac263666bf3eabeffb55e84752ea66cfb1def3dfb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562905c7ba081e8f9803341bdd1dec436125ba5d6ee9118b1d339d88b0af6e60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.791, 1.7004, 0.6006, 0.2779, -0.6518, -0.5507, 0.9992, 0.0658, 1.3109, 0.8776, -0.1814, 0.0635, 0.0269, 0.0164]\nstate[eef_state]: left_x=0.3334 left_y=-0.1797 left_z=0.0286 left_yaw=0.0228 left_pitch=-0.0453 left_roll=0.0367 left_gripper=0.9992 right_x=0.4007 right_y=0.0188 right_z=0.1768 right_yaw=-0.0113 right_pitch=-0.0307 right_roll=-0.0043 right_gripper=0.0164\nstate[joint_eff]: [0.2393, -4.588, 3.4393, 1.0916, 0.1001, 0.0757, -0.0122, 0.1846, -5.3538, 7.4872, 2.1123, 0.0757, 0.0317, 0.7741]\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]: [-0.6846, 1.7611, 0.5579, 0.5304, -0.6598, -0.4606, 0.0102, 0.7376, 2.1559, 1.5639, -0.2451, 0.5602, 0.445, 0.9948]\nstate[eef_state]: left_x=0.3636 left_y=-0.1524 left_z=0.0337 left_yaw=0.0868 left_pitch=0.062 left_roll=0.0102 left_gripper=0.0102 right_x=0.4676 right_y=0.3029 right_z=0.0821 right_yaw=0.0239 right_pitch=-0.099 right_roll=-0.0587 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -6.8444, 4.7111, 1.1795, 0.0904, 0.0122, 0.8083, -0.3761, -11.3983, 6.8171, 1.7363, 0.1783, -0.022, -0.232]\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]: [-0.6334, 1.8336, 0.3912, 0.7853, -0.6243, -0.4232, 0.9977, 0.104, 1.1614, 1.0084, -0.5709, 0.1234, 0.0135, 0.9953]\nstate[eef_state]: left_x=0.3442 left_y=-0.1202 left_z=0.0014 left_yaw=0.0911 left_pitch=0.0582 left_roll=0.016 left_gripper=0.9977 right_x=0.3501 right_y=0.0183 right_z=0.2138 right_yaw=-0.0168 right_pitch=-0.1358 right_roll=-0.0628 right_gripper=0.9953\nstate[joint_eff]: [0.4308, -4.9299, 3.3846, 1.8877, -0.1099, 0.0269, -0.0806, -0.1299, -4.8068, 8.7316, 1.8877, -0.0464, -0.0708, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8932e968af1f4875501d3c1bbe745a0bc7b40cc847ec16ee0c4dec6d00f8ee4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ab7f193d891235c455d3ac263666bf3eabeffb55e84752ea66cfb1def3dfb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562905c7ba081e8f9803341bdd1dec436125ba5d6ee9118b1d339d88b0af6e60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHcajmTph6AYJE0a-T5yTrtbUrek4TAOxSTCZUL3gzGaWKNG8GGFWR8zRwTZ0QR4HITk2boRMQTmvkldcN25Hjf9tAfMLjBuKrZ3FofuVlvybrLHKa2EiHBTipe_9QiOYRBV-mnmOZx0ZiGPxuFMMSO387FZw5Qgq5gpX56Jg1Dr9JiILPMetDkhpl7Q75jIVtPDG7wLyr3Y2Md6uSjrvSOpKIbEyD9PqAF8emHrFt-JMt27s-_9D2XP4EW3lFtV-o-aF0JwnBPXXeuyxIkqr1mDRJ8JNT3BCErttjcwfgPpyXVTSuV41mP9ItPNuj_3fJrEeJNl7NYjxw8Zz_58IF0wNmTD3eI6pPNzRKBv7hfgURahHwHtUIeCcwK0Bwco2KNa2RbP8oHrUmYYiVBokgZL396i7uEa1xYman1ZIRyWbDl6Rd8tcpMvHn5WvmCHoOe0RoXsCA-1x2nq4Ym7BhFD-jjawiTi-CAMoVeIniPhLY98RmXnd1XC2v3XPi0ju_uYV2Yvb7HabN0PMVpuy_IGlplgDpAJ3rHaQAwMNVDD0MeZ6WeX8lBC4ZhQpsSLOnL7Bfu3grUYg8pSkEQc_agtT5w3j4i_yaaaczxRN6QxLL_0FhM5-9J92qVdgOxmmrcqz130pEiXe-XQpukCMpAN0rxKGdUaYp6eaFPoAQxYnl0bZiilbfQXhAJu7o_AhNgvk8LVqKNH-oZoCL09RATH0Iji8UdkT0Z_sLlu879wkSgyDxAB0tfZYqKRmcQfTpKMD5qBWMVER8-i4JOZsv696jjslGKH_HC2fbyd77Mf32UlXF8onk_d4EBzsLJZBNYoa1P9hXCO4roYlJlT3sGGRjIGUWrAkFEZkzeDlxP2QP9t4aIqYm2zxva_kpKKXim2G9eFRTBl7rlv9AJX9ZIX2KmNUQVnwHIScoSovrKAMqCT42F1rjVpP7VDwByfK0lPYGSEx8v7h_s7RpEFijbTRdIlOyM_qkTP8U3p9EzqVjNck7lp9_tahxeXJUN7t9MsALK36seHkDtMGtTzbzK8iKNyAVSS2M5-Ul1iOX_Qz90h-6t4ALb5I3PlolsD6NjCGqMvmQkCBYMMxK6pzD7shbYzf9lslAVfWHvrhWhzzGJjAF6nTn9OHHzlV4eK-AB9TJ2G36AqL_xIUuppUdcw2K3sMhiKdm1SB8i5-u0vXgQ2xP9idwE27d3zrRGKDGF3he1Ey8laq7il5fq6LqyEEV-fllf2-A2gU247F8-nN6ikR6wU9AP5ZPWnNVOUczBPlcubKzyhXBa5IxvRSV3iQzfIHytxBYX6V8wmN-N0351oyOieG0aAqcPDgl6_xVJKpr9LyNrTVYH_FOUaz7jOpGFOXcPx2uB2yRiExMhB8eTMku8UkaTCtAo7fx4v-7YShz12wOsk1e-aK181tkznsqwXTW6q-Cp50Vn7EaeZVQbA2noO5dqzOi5f7m_zqyOjTTigl3EEObO8HwcAkm3dwYxqweyLoV94jgMr4RCuVepGPwwebI44Ydora7MAV1p4rsPxA7shCh86hvl4EqqT9pmbYMpBsFWMrb4gxqpvifvWUciK-ZiuZQ1sir7PdBDrWmjjtu3XSWp_HdJMVV2IRV9agiop6eKoTFLqP97kD0kVUpuX6yRYptdWul0qskxnOA9yv1-Tipy6kDfi-1tnXYvJZXtfxhLeo4tGt6SR83VO4QRI-loROr0GAbQXtoDKeslfumQqVzcpnPcNVvfVOpg7M16MqEmQTvFfg80H1a_lLGJHm66am1nMOsbyskyX_nuOt7QenS6D1SOWRmCfcWfE3Tqkj1mKvSbcr-yAqNc0SfeABUnKKKutSxtvOBvqTM-uFdD5Tmqe_kr0qD-HZPPM7Ruxa3dx-owpq4Unkv7EqC6WV7-ocLaJy9adaJnXLBA-cvY6rXQ2DeV5HowZz7H0KkVKAWxxRDmkM6xu01cO0RiTIDBAFJijv_XB7u7znDZ9AxpEzeG__2zCfysRXJ4Ld56UoPiH1ySth1DzM-UYfATiy15AE1ZRAeCUhqw5YkY43dSTsabGMFYj_Z08_omPm5dM2uFJk35evtQxcpGizhBTzID1At5ELa5FJZCFU3FeHUhcGa38LuJmZ_9zquFrMdAzuiM8VhDob7_LqjEfIyHWsyVBj2LOM1ZjbQL1w57XEolJPEEUp4fpu4Mw8D2nlpLGvVH0dEkYbNfq7TVsj1VkEaH1nLpocAvviRV9wSpcFquPv7GS-1aCBkTdfht93cRuXlAStM3b4THA4rozUEtG78yrzodV6Id65TLMJj2mZwkfrYv8i3D8XfqNy0sRt2hndox-yY1cHz_A01IFF2im_e4_8gvblAqundsjvsy9rM3FnRjQ0YGJSZRV2Njj9Jo7lAWc5m_Ndp72_qug80nQaOq8yOLifvwxTjyIhEv3s1lAubLY7Tm9an5eDabMucT7aVzIdf8aed_lvjEWug7kv0sVePUae39AaZmM2c8JxpUPsPMsOS-ZeU-cbwRivpJBg9jqlzL8HBOmUqXGu9otclwVqJFFU4qdlpsY4EsMjnCm6aWdlVcmwhj61YzeZAey_ipsDrfGgVMOoe-tO2KjPqgz7sGu6btP2MrVF9RGtMiWYTEvjN0gVa3UkvQZuoB7pK7oAmPk-nzPeSzSTiAi5R5YRGOrfAN1oPO-dug-jCc_thIm-sytZJ3mhT9PERvXAsAgUNT6Pqt8MADVYqFFVJCJ3xaaGcz56QKU1MTLEr_3wx1XSlz9vWJSBvJKCwHQ_f6NTKqOo4L2wvdBKqlwDEhodpY3MptvPApeHYpEnsQbUTstGoBHj1rKcIjpjyfX4u6uJJOn0egDTLs7R-00zrOg3WkN7F2UbwlNpQivPJvTLZbgL0J2C4EqFAlbKf2caov8E40CNYNFQdh5OjJzX_t9Gd6aNqjIOZQlVIMC74e1Na3ObGTud7YalXqEgb0keEfM5QxAslrlHxw9b08XvwEk3ohfCvCh9Fwluae7dkiXBMb6fmU3SLhRxz1fNW57tqW8RGrVRIdd4cyCfubOB9IQaW6cdedzrFRws5n3MtekF_tMU0upaeKL5FONefjzFrv3UcNT7LhaVPrmfbQ6xCjnnV7ZE21CiINcvHitL0w0Ubhg2CmCRKaNj8jTXqprKnX7yAJcBlAV_u9QSHDJ4CyADTYMG2msPAuf",
  "id": "rs_0c7807b88571af52016ab4771353a087d085869e1ebe039d31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.35,\"right_y\":0.07,\"right_z\":0.035,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The pale object is now centered between the left fingers. The yellow object is on the table beside the right arm, well within reach now, so I’m grasping the pale object and lowering the right jaws over the yellow one.\"}",
  "call_id": "call_cDQlhX4YyDlPirDTiTyXfujj",
  "id": "fc_0c7807b88571af52016ab47718cc3087d0832dd94bbde83af1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cDQlhX4YyDlPirDTiTyXfujj",
  "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]: [-0.6342, 1.8328, 0.3866, 0.7967, -0.6327, -0.4274, 0.2373, 0.3176, 1.4948, 0.3611, 0.3965, 0.2565, 0.1585, 0.9989]\nstate[eef_state]: left_x=0.3442 left_y=-0.119 left_z=0.003 left_yaw=0.0994 left_pitch=0.0673 left_roll=0.0111 left_gripper=0.2373 right_x=0.3325 right_y=0.0659 right_z=0.0168 right_yaw=0.0054 right_pitch=-0.1258 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -6.4342, 3.8769, 1.4628, -0.1783, -0.0024, 0.7448, 0.3897, -5.2444, 4.9573, 2.0098, 0.2759, 0.0171, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8830545d5a2de7fc9b02a2f72cba664153aed459fec74b5e2c3adc15e2e154c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8c0a579210347ff2f59b875f7cd5bfb718b656b3be825a19dd0348f9816be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4846ecbe51a0cf9e35720a3dfb483d33112c4793ffde28831094d8b83e872c1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6842, 1.7641, 0.5556, 0.4927, -0.627, -0.4587, 0.9992, 0.7357, 2.1059, 2.0071, -0.6903, 0.5644, 0.4465, 0.0193]\nstate[eef_state]: left_x=0.358 left_y=-0.1537 left_z=0.0235 left_yaw=0.0603 left_pitch=0.0162 left_roll=0.0262 left_gripper=0.9992 right_x=0.4754 right_y=0.3077 right_z=0.2191 right_yaw=0.0206 right_pitch=-0.0607 right_roll=-0.0282 right_gripper=0.0193\nstate[joint_eff]: [0.5812, -4.5333, 3.4803, 1.3651, 0.2564, 0.0073, -0.0122, 0.3897, -11.8496, 8.5812, 1.3455, 0.3834, 0.105, 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]: [-0.6334, 1.8336, 0.3912, 0.7853, -0.6243, -0.4232, 0.9977, 0.104, 1.1614, 1.0084, -0.5709, 0.1234, 0.0135, 0.9953]\nstate[eef_state]: left_x=0.3442 left_y=-0.1202 left_z=0.0014 left_yaw=0.0911 left_pitch=0.0582 left_roll=0.016 left_gripper=0.9977 right_x=0.3501 right_y=0.0183 right_z=0.2138 right_yaw=-0.0168 right_pitch=-0.1358 right_roll=-0.0628 right_gripper=0.9953\nstate[joint_eff]: [0.4308, -4.9299, 3.3846, 1.8877, -0.1099, 0.0269, -0.0806, -0.1299, -4.8068, 8.7316, 1.8877, -0.0464, -0.0708, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6342, 1.8328, 0.3866, 0.7967, -0.6327, -0.4274, 0.2373, 0.3176, 1.4948, 0.3611, 0.3965, 0.2565, 0.1585, 0.9989]\nstate[eef_state]: left_x=0.3442 left_y=-0.119 left_z=0.003 left_yaw=0.0994 left_pitch=0.0673 left_roll=0.0111 left_gripper=0.2373 right_x=0.3325 right_y=0.0659 right_z=0.0168 right_yaw=0.0054 right_pitch=-0.1258 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -6.4342, 3.8769, 1.4628, -0.1783, -0.0024, 0.7448, 0.3897, -5.2444, 4.9573, 2.0098, 0.2759, 0.0171, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8830545d5a2de7fc9b02a2f72cba664153aed459fec74b5e2c3adc15e2e154c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8c0a579210347ff2f59b875f7cd5bfb718b656b3be825a19dd0348f9816be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4846ecbe51a0cf9e35720a3dfb483d33112c4793ffde28831094d8b83e872c1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHceNz4HdN5yy436oUYPIliJ2bYAnuAjB7Ol2t1-4dKAQKx3sPsBGu-qV6ViOHguv8JHAaByC-d5m6JEAt4AvNC4mE4Us9qS9JeIkFnekDfP0mfJJrnXCxaP1w5s-kaWmC0oBHlMHUiaD1YmGgOQbAlYUrPFe9F7hQPusuZTvDr9TtHg_THz1XEppLvGgjMwlnih2ZFAyfxmr1-p_caRFcPXHfyzoIzaSF722bOQG33snV5N28PXdyDmT79xPz3rNVwHXtISbwhlfT14sXp_-jteSol6AKnQVdlizOySU7J4uVNCq_uR4eLQF3I9Cy8QA24PCQorzj8MqRT7OApDhStIg53XvgOwFi4BBoabeL80aSumQ8NUO33Hm1LSAa3xxkrUFnUuRasgiVH2ZHkFw07an13ErpFdHIGMwk4jds3V3OgULG_7SJiOftk1W7-gNTpBnql2058-fnbcclmC-8xXO0evapWIIl_0EQTJ33M1x067p-wKB2qQXC5VgKwnGbHJnO3woPVLqma6gr1-PRKWc48xxJ5kt-Ycgnhz3J6o2dg3B97kdPgdJyJr3PHp69SzjgcyOri8OGDpLVVGKvvbCqByHVOLijtV8A-qnIS7ISLJawkQHjGwHi0_D5kIVP2FD3vRse1C0LcOZAU_bvUANBURl7KTN3KFSnRkNYrkEk_RXs_dy7KHQq1YWOuXTaZkl88MmxS6ljL-vvdOgYH4sCdezBh-_KNIZG1mb3IlqWw18b4Oi21ouNIsQlLgadW308eaCr05I43wiQQk3ZVJQ5DbnB7bKAomJAE6NxYPgUIInJ66bkAltZswnB0SkbkbyQJDD-NBxynNrm9G9OdR88iBPpLPj4sDukPVTgr9pX_09xNY0d_6FPxpaafK4Y22DlB5NDHGK7_kxe5rJKouuDzE3CBu0LKWjd3eyvodG3uHLyuAAKStMzYvt5av6aI88J4miwOFvQFO7xRtx-pi3s_RxCLTSwWOBbztB7aVXx0ssKrDA-CkQZYeBwf9wwMAmVnNYdybdCUggwhKkrbIP0Gen5jyUslERKdqKEdBqFhbdt3L6CMr76ue3AtfYKYqGeZ1q33msjvjA5M1qVXzcg09l4Ih8i93Z5yq-6jXU97EcSDnHZHW-4E8sUGtbVoOD7EcmFYqmi5YxsQx4mWQRkT0Y2K37hIyLoP0YEXcs7xvPATNduXuRJvU5Zxlvyq0uUGMSnTWAHEg5PskmNuZ1ZTft9qUFyIP2fG4ie0uM5CfH6V58Mnqb-vt8Sh38Vm7OmWG1BUWiIPQoLh3riy-zyqy-vr54MDJzCTIyA4yAoXP5SoCT6S-t4Dvv3KWq7EgBmhzNJjKtjj9vl6fcCXQiaBgcdba_2d_v3pHmOlVCjhYR9LmRd8HAMQcZZ39jh6cJhRTauCzqqWUPa4r1Pt60A==",
  "id": "rs_0c7807b88571af52016ab4771cc0cc87d08974fdacb9f16bd7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_x\":0.39,\"right_y\":0.01,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left gripper has a substantial hold on the pale plush object. The yellow object is ahead and right of the right jaws, so I’m correcting that alignment while lifting the pale object clear.\"}",
  "call_id": "call_mXZgfa1wXgzKbJLJk56koU8R",
  "id": "fc_0c7807b88571af52016ab4771da0fc87d08758085ea9cac828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mXZgfa1wXgzKbJLJk56koU8R",
  "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]: [-0.6342, 1.2556, 0.7307, -0.1448, -0.6327, -0.4389, 0.2397, 0.0303, 1.6741, 0.4049, 0.609, 0.0319, 0.0025, 0.9989]\nstate[eef_state]: left_x=0.3435 left_y=-0.1186 left_z=0.1604 left_yaw=0.1049 left_pitch=0.0525 left_roll=0.0147 left_gripper=0.2397 right_x=0.3721 right_y=0.0092 right_z=0.0074 right_yaw=-0.007 right_pitch=-0.0772 right_roll=-0.0078 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.147, 9.4974, 1.6777, -0.2759, 0.0806, 0.2466, -0.3214, -5.3402, 6.9538, 2.1612, -0.0317, 0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4078f1895a99d83e057b76879539d7a03b9ada33700b3e5d6bc71820597f96b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0806086377e41062a40d40748b1e63a8463af1617aacd1799339b93afd4f904e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b71f33be2af31608581914a8a38b90dfb6b1d66c72a76a1ecee062851d9e152",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6846, 1.7611, 0.5579, 0.5304, -0.6598, -0.4606, 0.0102, 0.7376, 2.1559, 1.5639, -0.2451, 0.5602, 0.445, 0.9948]\nstate[eef_state]: left_x=0.3636 left_y=-0.1524 left_z=0.0337 left_yaw=0.0868 left_pitch=0.062 left_roll=0.0102 left_gripper=0.0102 right_x=0.4676 right_y=0.3029 right_z=0.0821 right_yaw=0.0239 right_pitch=-0.099 right_roll=-0.0587 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -6.8444, 4.7111, 1.1795, 0.0904, 0.0122, 0.8083, -0.3761, -11.3983, 6.8171, 1.7363, 0.1783, -0.022, -0.232]\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]: [-0.6342, 1.8328, 0.3866, 0.7967, -0.6327, -0.4274, 0.2373, 0.3176, 1.4948, 0.3611, 0.3965, 0.2565, 0.1585, 0.9989]\nstate[eef_state]: left_x=0.3442 left_y=-0.119 left_z=0.003 left_yaw=0.0994 left_pitch=0.0673 left_roll=0.0111 left_gripper=0.2373 right_x=0.3325 right_y=0.0659 right_z=0.0168 right_yaw=0.0054 right_pitch=-0.1258 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -6.4342, 3.8769, 1.4628, -0.1783, -0.0024, 0.7448, 0.3897, -5.2444, 4.9573, 2.0098, 0.2759, 0.0171, -0.1245]\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]: [-0.6342, 1.2556, 0.7307, -0.1448, -0.6327, -0.4389, 0.2397, 0.0303, 1.6741, 0.4049, 0.609, 0.0319, 0.0025, 0.9989]\nstate[eef_state]: left_x=0.3435 left_y=-0.1186 left_z=0.1604 left_yaw=0.1049 left_pitch=0.0525 left_roll=0.0147 left_gripper=0.2397 right_x=0.3721 right_y=0.0092 right_z=0.0074 right_yaw=-0.007 right_pitch=-0.0772 right_roll=-0.0078 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.147, 9.4974, 1.6777, -0.2759, 0.0806, 0.2466, -0.3214, -5.3402, 6.9538, 2.1612, -0.0317, 0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4078f1895a99d83e057b76879539d7a03b9ada33700b3e5d6bc71820597f96b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0806086377e41062a40d40748b1e63a8463af1617aacd1799339b93afd4f904e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b71f33be2af31608581914a8a38b90dfb6b1d66c72a76a1ecee062851d9e152",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHckVo2qLLEkWMKNIzqDjeYc8Zn-TA_p7LCA_a5l55n2COVIoE7UNBpC5gQRQzTjk7-iG9LYVrvb12lt0OjkmlkUbrWM27q0peYx5Z0pEqs77iQtMMVVNfADeqXOVZ2HZ5imvGl6lhfHsDasGaKUiPbz1JQW5Xok1zIKbkgmhBSwR9fSy9nRpH2k5wn7vcrsIP4wwm76Os1oQxi_m5YJfMNblejnXWXyNnND2y9iMduvkGqrO1UOZXbUgaCe3ER732aCzYBUD9hov8ouCKcOQdy8T_Ip-0wSfc_Q6172-H6PPJVxGAJqD90daxmtX3sraS-Iar-2dHJUOIlZzrUCUQaJBBRWd-O3NhtufVNo571GTgt74YLKH2WbdGsqXq7qnG3qpDkLbO_ADHIeM3yDHd_BHLYk96zGNNfWBAQYAgTJ_mwYeLxC-9QhQ4hwHJXAMeE6xYIWm3ZorhknrkUY8jgxrqS5OIeanYipW3lHjPdtba2PeL8XOVB8JqCdebs7vcK9hmMaZ-_tOYBEkXhQonQVDkXmnuaDRAVzjIAPh2wCFlLw4f5iRIXkAkoRSYAfTigyWB-ENBzbhCdbrEVI-TOzMuzf8wkRUUG66OjdCMVosgj4Z_yWWZ9H68xbFbcm6halimI60GX5PMOPmzjBYjIJ5OHrC_z8RGLDCYZFM4HuY8EK7B6NNEW2kJ5nQsYiKiNc_EmKoj-Z_LWcXfgE6QHFCzPNh1m2b-jsOecfphRUQnM73aT4YNGlZpZNEepOt6mMp6yg1G3BQ_fimR_54KlKpCb0_JLCkMkRrsBFxVZI5z7m9Jrm9ayeIj63FgYWtUftttdywGAT0goqpSqoI0t0H2fKYgwh7lXyXBsYuXySzfkGnS-IcfGBCu5bFrIBw1MjVQBbPCEY2YBSrSfVmxr2PqYhjz6h1Maya5xvTK55pt6TJoh_VUDWkyRLZMyDjdwHTm0h7MPn7XIVl7s-6sbGeMa2hz0phRHZT_bC-fmnBHdtL1c45AcwJO5lisquAK552Qd5vuXFGDr-netgBnzkc8UnZW1cj_CvQQfYgPIuAHJN171n9Y3gNIQ_Q3THFh0OhsQpWmjTufwiq_M_Hwzx1gn-Cm8tdIGLts4kB_2C9mZL8uwhJamof-CHOvvOQjoFW2T7V--Ew2BKoR7cZ4ui4cp_LxTpjtYwpInFT2oM_kGKSo-5jFohwFAEPCopR-i8VX__Ho6b9wv3nVkSZP9FRn-3wRB44MXKe53r5IKpQpk1URELxyeMPWZlGSyZD8MIMWyEChDeZVpo19-XSWJnCZcfOPhpE9VAM9Zghu1Aar-R7gKRjJW0Ny7odMpKL9QiUKWo5YDAmSyaUzErdO1s9b7gidPDTghWV78HSGyOntmk3CIADpnPlMvsO0g2KcsHsOej0gfKvfeDl_TbbN438eY6vVB0p5yLN1OSfff6lfPk8zOzIumHrw-ryh7_N0_Wgnacd_1Lprzra03Fwvx5dYHd4AanTQe20tT1cTiFbMCy7Nsw5Lk-zEDV6_gaPmRIetY61iEkY973_2dhyo4Cv13fZhddKQB4FQcGji0B-O_jq1WLAS7PZWMvVGXyu4-nOqlKvkLLTjL0z1lokZTAYJ3XRoMr58Q-oj4MTgcflXas61lKm_JGNQDoJ8ctOf5jfqTFNMLb9tynTL7IMu-akuc-MZk8N0xIYNusLyvBARLyBDnVs7EeLAeEFpAGduK1s4UwDEiCmPSUjlXqSWGe2cgw-nOI0nGbQDEkYBR9ubdWbKogWIKh-xC5u3TIIeRTto-ReSzX_v0fiGBEjToh1jgLSn0XiEgw-1IyavuPDDM=",
  "id": "rs_0c7807b88571af52016ab477215cb887d0a468f4317a4336d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.3,\"left_z\":0.2,\"right_x\":0.405,\"right_y\":-0.045,\"right_z\":0.11},\"note\":\"The pale plush is securely lifted, so I’m carrying it over the safe. The yellow object shifted when a finger touched it; I’m lifting the right jaws above it before the next descent to avoid sliding it farther.\"}",
  "call_id": "call_RE6PIPNVO0sMmsBO0U3zdsS4",
  "id": "fc_0c7807b88571af52016ab47723830087d0b0e2a545c25bd8ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RE6PIPNVO0sMmsBO0U3zdsS4",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.7883, 2.0533, 1.7386, -0.4671, -0.7372, -0.5823, 0.2412, -0.1707, 1.4712, 0.7109, 0.0307, -0.12, -0.1204, 0.9989]\nstate[eef_state]: left_x=0.4651 left_y=-0.2943 left_z=0.1857 left_yaw=0.1023 left_pitch=0.0279 left_roll=0.0206 left_gripper=0.2412 right_x=0.3941 right_y=-0.0429 right_z=0.0859 right_yaw=-0.0121 right_pitch=-0.1406 right_roll=-0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -11.9043, 9.0872, 1.2772, -0.4322, 0.022, 0.1392, -0.4444, -7.5966, 8.8274, 1.917, -0.1294, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7198ace44da0d6d1a582d843711ae2836848978e5e6f659ebbb2f50b742038f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53cd631e148b2e53ad214a62637345bf357f436b7c4a4436a5b5047fe31a1bff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05dd19fb2f4d5b2e2d4e102015a0e8461f4411ac43e10e456e7eb9cc12ceaa4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6334, 1.8336, 0.3912, 0.7853, -0.6243, -0.4232, 0.9977, 0.104, 1.1614, 1.0084, -0.5709, 0.1234, 0.0135, 0.9953]\nstate[eef_state]: left_x=0.3442 left_y=-0.1202 left_z=0.0014 left_yaw=0.0911 left_pitch=0.0582 left_roll=0.016 left_gripper=0.9977 right_x=0.3501 right_y=0.0183 right_z=0.2138 right_yaw=-0.0168 right_pitch=-0.1358 right_roll=-0.0628 right_gripper=0.9953\nstate[joint_eff]: [0.4308, -4.9299, 3.3846, 1.8877, -0.1099, 0.0269, -0.0806, -0.1299, -4.8068, 8.7316, 1.8877, -0.0464, -0.0708, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6342, 1.2556, 0.7307, -0.1448, -0.6327, -0.4389, 0.2397, 0.0303, 1.6741, 0.4049, 0.609, 0.0319, 0.0025, 0.9989]\nstate[eef_state]: left_x=0.3435 left_y=-0.1186 left_z=0.1604 left_yaw=0.1049 left_pitch=0.0525 left_roll=0.0147 left_gripper=0.2397 right_x=0.3721 right_y=0.0092 right_z=0.0074 right_yaw=-0.007 right_pitch=-0.0772 right_roll=-0.0078 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.147, 9.4974, 1.6777, -0.2759, 0.0806, 0.2466, -0.3214, -5.3402, 6.9538, 2.1612, -0.0317, 0.0415, -0.0171]\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]: [-0.7883, 2.0533, 1.7386, -0.4671, -0.7372, -0.5823, 0.2412, -0.1707, 1.4712, 0.7109, 0.0307, -0.12, -0.1204, 0.9989]\nstate[eef_state]: left_x=0.4651 left_y=-0.2943 left_z=0.1857 left_yaw=0.1023 left_pitch=0.0279 left_roll=0.0206 left_gripper=0.2412 right_x=0.3941 right_y=-0.0429 right_z=0.0859 right_yaw=-0.0121 right_pitch=-0.1406 right_roll=-0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -11.9043, 9.0872, 1.2772, -0.4322, 0.022, 0.1392, -0.4444, -7.5966, 8.8274, 1.917, -0.1294, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7198ace44da0d6d1a582d843711ae2836848978e5e6f659ebbb2f50b742038f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53cd631e148b2e53ad214a62637345bf357f436b7c4a4436a5b5047fe31a1bff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05dd19fb2f4d5b2e2d4e102015a0e8461f4411ac43e10e456e7eb9cc12ceaa4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHcrcvRqNmZmR8YwkZwRJPEkLMJonx1xT50ojC8QbFtXYIM9A0wLODRRwj7yN3VXCsf3hbHbDSRtPE27nbmY7eyTelgIUybMu-e7WSYzXDkz--djdMi_iVm2XnbSVMR3GrazQFVJO0kC4f20hvoV0O9lJtoRqKijudmzYqA8Cm34IzrT60JyrgiBeNSjQCYTVBGymPSyYLgjpdr5cPJJvSF1QaEhuhVnd69Ua2b_qUiIgU5mrer4Z_X_koJmO33LBcbv9uIDzUNkt_ytl7yokIi9ud_Zs_25HpRwHsrpUKETsPqWTmABeeDu3Biibki7oSGu3HDWLb2XxWH4IlI89ofv_Nlh-2L9zSb5AcdUvGOjNWQ9MT42FXqTGtUeJP4y6Av6YzF7A9h_hO4gDx9HXWY6dgkx0DBeOMCsE26Jp1OUaCkfNRHRD7ub4Y_b6LT5FdZRjQrR5A265tkQvrbxoozeZIaYzmFbLuGHk_FpIXgZRF1q7Co_xSJjMkSzWeJaXU0N1qSp-Ktd39gdSjLQsPm7vlXPpEB_5aB2haGdHnUcpuaRvivKB52IRa0m39kdqkZ5TmqjCWxiA9hTUVS9jfkutcwFvvTcqw4yUIK_TAvASWkjKbc97W5JnpIxtFBQTeYJbNY5cuMq5NPeJwKxEfrQmk196pgSYHhAhDcpxX4ZQZK2nCziH-w-KthAE7MALivbe1re3rZsym0H-oCkY_jbqxX5pNFPTasnmYDiTQsQ_XKewZNGBWtmoWkQKJG96R8Z0qWKyoZ2yGJm2JpBY3OsglsXa5nFQ2Y31032kGQ8YDc_6ycQ5rOw8qnf1V-0-wSz_R3kcODThWCu2voVxEYKA6T2BNCyXNa0Oi01xr0va4UKwBcqjL4V6KGvEQT_w-V3oL5t5zvpzS3SmUKZp-oZH4ArZPAiw2aR-o73U5Vh0JgLSc3gzev7LCR1lcLKSMrRmwQ6OVGTh_U1fKrPuhxxewwGssaqBMLLj5FJyxTehleStr_8wOCcL6aCQlUVsvYJAUB9FqeSKEkYEMNFp59V4bWNjbY6ZFii1Yz5bsoWV9UmtRdnTBk-hLMXLSCCJLeAiktDVGeS8fQX4wP2tDCXa1S9oyBt0Usybhgn5uD30O8XVzKCzKppie2YpsQWds3F5LV-tApJxze55CezjyNCiNJJFqIx_fUeoJUvg08V2-2CqbSOt1d2ZaNPC3pSO9a4nTG8yhKQYVH2rQr-ClLo05GV0xNLzo3Bms-VCXTJcYY2KpUVs2aymvW8XDUOIRvvBPu2vcpPb3Xr04CO57e22_zGA6DPYL5CxVWm0A6xtBGlUHiE8Hl_7_8evTirQYClI6lRtFZL86RNPQlhLz5Jo-vb9WLdONHxCWRiD6QyZy_Zp1zH9tmHC2mEefpppqsywfm0dMCTIur8xBZ_mSJjhLl-c1xzUoqg4uBpEEdYkoqC-3vlAsAWX4ux1cs8eVlaEOw6L8FzJ2fyWIex3m-fSM39dMG4i88pUESQqHXfdyS_kC5-aGV64nNkhKQggcuKB0LdWV3ezh4biYI4XPxPypd1WkFx10RpwOouzfYhfRk1CUHB10aFkCw5HwMSk4jy3x8VWfeHXQav5eJ3R-fCF7UiO6QBdCWJYRkg53gxWfdYYfbgDbKVOFp5f5WlbfXQprP-pmidtfIeZy-BxaNajQ==",
  "id": "rs_0c7807b88571af52016ab47728683087d0b4dbcb1fe48e8f0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.07,\"right_x\":0.39,\"right_y\":-0.04,\"right_z\":0.015,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pale plush is positioned above the brown toy inside the safe. I’m lowering it into place while making a straight-down approach to the yellow object near the right table edge.\"}",
  "call_id": "call_wWDIByQmThd0BBgoEPuV01db",
  "id": "fc_0c7807b88571af52016ab4772a69ec87d0a7fcecf47e76e7d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wWDIByQmThd0BBgoEPuV01db",
  "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]: [-0.7906, 2.159, 1.4681, -0.1345, -0.7307, -0.5846, 0.2434, -0.1715, 1.7248, 0.4446, 0.5926, -0.1295, -0.12, 0.9989]\nstate[eef_state]: left_x=0.4594 left_y=-0.2915 left_z=0.0738 left_yaw=0.0963 left_pitch=-0.0031 left_roll=0.0495 left_gripper=0.2434 right_x=0.3768 right_y=-0.0385 right_z=-0.0002 right_yaw=-0.0059 right_pitch=-0.0982 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.1385, 5.8735, 1.5897, -0.3834, -0.0171, 0.2173, -0.212, -6.4342, 5.0803, 1.5849, -0.1441, 0.2125, -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,$blob:d4f3606adc17b7017b4a713eff6c45e57fe60c76655b5ad92f4e9d82715ac607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095056263388e25466d01347388901c0b94e21c38fc2c53f932df03df022b2bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fdb36e303882458fc55bca3b2cb08b32c3543fbf9bfa0216b2429f12501a82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6342, 1.8328, 0.3866, 0.7967, -0.6327, -0.4274, 0.2373, 0.3176, 1.4948, 0.3611, 0.3965, 0.2565, 0.1585, 0.9989]\nstate[eef_state]: left_x=0.3442 left_y=-0.119 left_z=0.003 left_yaw=0.0994 left_pitch=0.0673 left_roll=0.0111 left_gripper=0.2373 right_x=0.3325 right_y=0.0659 right_z=0.0168 right_yaw=0.0054 right_pitch=-0.1258 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [0.0479, -6.4342, 3.8769, 1.4628, -0.1783, -0.0024, 0.7448, 0.3897, -5.2444, 4.9573, 2.0098, 0.2759, 0.0171, -0.1245]\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]: [-0.7883, 2.0533, 1.7386, -0.4671, -0.7372, -0.5823, 0.2412, -0.1707, 1.4712, 0.7109, 0.0307, -0.12, -0.1204, 0.9989]\nstate[eef_state]: left_x=0.4651 left_y=-0.2943 left_z=0.1857 left_yaw=0.1023 left_pitch=0.0279 left_roll=0.0206 left_gripper=0.2412 right_x=0.3941 right_y=-0.0429 right_z=0.0859 right_yaw=-0.0121 right_pitch=-0.1406 right_roll=-0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -11.9043, 9.0872, 1.2772, -0.4322, 0.022, 0.1392, -0.4444, -7.5966, 8.8274, 1.917, -0.1294, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7906, 2.159, 1.4681, -0.1345, -0.7307, -0.5846, 0.2434, -0.1715, 1.7248, 0.4446, 0.5926, -0.1295, -0.12, 0.9989]\nstate[eef_state]: left_x=0.4594 left_y=-0.2915 left_z=0.0738 left_yaw=0.0963 left_pitch=-0.0031 left_roll=0.0495 left_gripper=0.2434 right_x=0.3768 right_y=-0.0385 right_z=-0.0002 right_yaw=-0.0059 right_pitch=-0.0982 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.1385, 5.8735, 1.5897, -0.3834, -0.0171, 0.2173, -0.212, -6.4342, 5.0803, 1.5849, -0.1441, 0.2125, -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,$blob:d4f3606adc17b7017b4a713eff6c45e57fe60c76655b5ad92f4e9d82715ac607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095056263388e25466d01347388901c0b94e21c38fc2c53f932df03df022b2bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fdb36e303882458fc55bca3b2cb08b32c3543fbf9bfa0216b2429f12501a82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHcvkTxcSdO1rCOVp7NVOeL3sxWNwqvjcrchwaqncN-edr8xe8FZCrvyfIt5w9j7NLPkgkQoIfCWlXXQpkaoyGS9W0jgaCT8ySlFfeCRGflCjxU3rJqHqR8dUbd6jr3UH_8uS7QJnr2jzXgE_22eJ573Cu1tMLz-_PDRwNBYDrZTvDD-GShPhVOiJ4LghDLb3bOWZeOBzHWPedMxvAyJQN6VLHE4d9Z6ijGSlCCUBUKMBlcGmji2mjBjhjU-1G6EoueEE-qJQqdD8q60FKLwkkC7PSziz4MjHoNC1QsVUep4RDobRIoCsmCY1uayz2t8Bmmu8La2Xb-eIL6iSZclmDxVyJDWl6QAtVN95vKVn4WNxYlmnniTLwGBPya02r2UsmpQwwYWzP0yLOkW6MGSn133-tagraZUHcP0kwqJar8Bs-V9b8HT-X4IL81HF9Sa2_56k5SAGeSofpAcp8RevWYZJm7R42DjB3GlublZ9FTAmNCKuIXRvgF6cZI1Kq3eX23S9vo2Pmqh3J_xLwctlpri7xWlE-O3TjMHOCj-XHeoDmMy-a6adRF6cD5eGi_vgIKfYMW8n5AD8sF0HBBBQticE3_10KsYRDoy4V8dioi8W8Q0QJF3rYSbQEUH0GYma8V0cd3eA-wy-CZwxp5zSRADSngl68Gy2qDB9MZ_HeMJeMoibYv_OztkriqK0RztaONntx_gSerers2jYz5YLVM_Kt6S1PBW7yySFx9yIcUULtxIxxciEZ9oc1MnGAci9r1E__NZAtbMSX4dHEQIDp9msxYQl6cvT0AKPFw7MTLnRSGNUh-2uqA0d6IwY7bv3ng-MVD_bJ6HKOWzcAn1jv-M9O87j00enHT03f3GxiCavkw0cZYI3hYwvyg30VwPpE7RzFV7YowJ1R2eBBjYB-ROdF8_90dPwj4S_7kiDh5L122Z2bCgXvMAgA4AGzg3niX_nffCnisE4mFpngCm_AfIE4-o-m1LI4YrkOfzjIYQMY-vE5u5YEN0TuaVu0OPc7kUDg7iolqAq7kPhH6hdbwlthLdipIToQg185qfUMLsE8Dd_0ftmHJJGRcvSlaQqsftPcGNY7ClAqmu2ZwrBKXe_UFC3qg7nc3vb7QMpg9CcLIQgv1E-lWC99Aov4e4ywqmec72thkgL1bEp0_cqZkwy8u2GDqQ7PYKBwu0rMXtXOHMmreTpBw8Hok3cuv8Lii3k3rnbJlIxF-gLgXdRdvldrV3Lg7oHJe9dymOiVNysHnDaw3JWPPQD_XPk4TB4WWLizMDrWQMcXRJ705Q8GpW8JN8kCi07RCXNZY-IY_eXY5w9kvLdldz2rbmLEeEs1BI",
  "id": "rs_0c7807b88571af52016ab4772ddbbc87d091605d66a37f3304",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The pale plush is now supported in the safe, so I’m releasing it. The right jaws are down around the yellow object, and I’m closing for a final centered grasp.\"}",
  "call_id": "call_UAaHS5hfNq4L0PUM6N5L1WmR",
  "id": "fc_0c7807b88571af52016ab4772e496087d0a963f37383488c42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UAaHS5hfNq4L0PUM6N5L1WmR",
  "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]: [-0.7914, 2.1845, 1.4536, -0.1383, -0.73, -0.5888, 0.9972, -0.1715, 1.7317, 0.4339, 0.6186, -0.1326, -0.1238, 0.0181]\nstate[eef_state]: left_x=0.4552 left_y=-0.288 left_z=0.055 left_yaw=0.0979 left_pitch=-0.0311 left_roll=0.0797 left_gripper=0.9972 right_x=0.3761 right_y=-0.0378 right_z=-0.001 right_yaw=-0.0014 right_pitch=-0.0896 right_roll=-0.004 right_gripper=0.0181\nstate[joint_eff]: [-0.0205, -14.0923, 7.2274, 1.3455, -0.3639, 0.0171, -0.0708, -0.1026, -6.8171, 5.094, 1.4188, -0.0317, 0.0122, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513f45f7c018d6e2e15c5f194f7b6c4534dff8ead6803849e4b106f59269b0df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e39d9fd54b869e9e250be154de1b01824d230f3b0cf2ad9039aa1b14ae302348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a8dac4d25333bbdda84fafa196050442efd8eb1bebeddf0b7518925333bdc9",
      "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]: [-0.6342, 1.2556, 0.7307, -0.1448, -0.6327, -0.4389, 0.2397, 0.0303, 1.6741, 0.4049, 0.609, 0.0319, 0.0025, 0.9989]\nstate[eef_state]: left_x=0.3435 left_y=-0.1186 left_z=0.1604 left_yaw=0.1049 left_pitch=0.0525 left_roll=0.0147 left_gripper=0.2397 right_x=0.3721 right_y=0.0092 right_z=0.0074 right_yaw=-0.007 right_pitch=-0.0772 right_roll=-0.0078 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.147, 9.4974, 1.6777, -0.2759, 0.0806, 0.2466, -0.3214, -5.3402, 6.9538, 2.1612, -0.0317, 0.0415, -0.0171]\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]: [-0.7906, 2.159, 1.4681, -0.1345, -0.7307, -0.5846, 0.2434, -0.1715, 1.7248, 0.4446, 0.5926, -0.1295, -0.12, 0.9989]\nstate[eef_state]: left_x=0.4594 left_y=-0.2915 left_z=0.0738 left_yaw=0.0963 left_pitch=-0.0031 left_roll=0.0495 left_gripper=0.2434 right_x=0.3768 right_y=-0.0385 right_z=-0.0002 right_yaw=-0.0059 right_pitch=-0.0982 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.1385, 5.8735, 1.5897, -0.3834, -0.0171, 0.2173, -0.212, -6.4342, 5.0803, 1.5849, -0.1441, 0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.1845, 1.4536, -0.1383, -0.73, -0.5888, 0.9972, -0.1715, 1.7317, 0.4339, 0.6186, -0.1326, -0.1238, 0.0181]\nstate[eef_state]: left_x=0.4552 left_y=-0.288 left_z=0.055 left_yaw=0.0979 left_pitch=-0.0311 left_roll=0.0797 left_gripper=0.9972 right_x=0.3761 right_y=-0.0378 right_z=-0.001 right_yaw=-0.0014 right_pitch=-0.0896 right_roll=-0.004 right_gripper=0.0181\nstate[joint_eff]: [-0.0205, -14.0923, 7.2274, 1.3455, -0.3639, 0.0171, -0.0708, -0.1026, -6.8171, 5.094, 1.4188, -0.0317, 0.0122, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513f45f7c018d6e2e15c5f194f7b6c4534dff8ead6803849e4b106f59269b0df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e39d9fd54b869e9e250be154de1b01824d230f3b0cf2ad9039aa1b14ae302348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a8dac4d25333bbdda84fafa196050442efd8eb1bebeddf0b7518925333bdc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHc34FXmck3gIpu4fhW73kPcPS1R7JG7BNvti_1g-A9uXhc1M_2QyPTT5Dgj5KfEaJrCUIRoEifGfAUNM_cN7B_QQ9v6PbtRjd78aaODVcNk4s4Ifc6A5Cn4JsNX6ZOSw7db_An9EEq32a5DwnPaymav-WvlgGC_xW1BOmEayEmWoU3JumF-CLE3lVEwlQo79mldGvfu_CwxfrRMdI4jlAJ376OdALV_HrHjGSs48vCA26G4dxnOzWAq31RPVRJuG3sWY3mvqWAEgiUJr_leDoRKFL1HXqFe-HVqUYXXssex7vaDNbXvE_kLcOIwSJD_o2bA8Paf1P95L26JAfNFV6CyDyvGakY3bfCeE_sf4QifA2c7Jbei8eAeyf4dK0_PiwMPNNp0Yb_lyLwfjd2vQz6o88RwRjs79z0TtW8DswdIfN9cPbbmKdkniGsmPiYOHxPBYrvNjQeT2dK1Js31a2-pas8FuF8wWdYSavBvio-Q_Ho3J3O3HAjefhVhaWzw_0hWt5bTkvwYNODBbIF-2bRWIrIz4ZLZ910CV_sJ11VyWr5tYoGDwjM_e_ZBjVU7pX6qvBO1zygUmnmLu-JNvpFlqF9abqSVNaO2cr0Rj2ct9sewLQzu51YScq4NFXQq1sXgeRVfVs19eL_l_lwDXSAHtmvY7FYpfLCF5_2UciEmVebrsBmWuzi7rf_e32c0JEHmOnPNjwzDJ8VmCJmY-ytscgxoef_3jVFAKVv5OORW1iBzXveVmUTwH4mq59S5u0rCFy03Y7g-cZTA5NB4rm1gnnw5HyBikX65Xv-N_CLU4BlDiT3lqIXMKuLxDFS5EAWlF_Dhxr9OB45YCLmVFs7Weyn0XKKaNSAsuUtZ02ejNayhg1X-sAUeI8d3-7llv9RZ7s8LPyTweMrxgbmzTY44yU7oWHMgcCyJixfi6-wxAYAJ_sW3X9xL7Zualr4zo7X3fO2yOZ9RNZVp-50q-P3kK0HknZAnNduNKoowreWB5sdiOXi_xdlMPvI7VZyqxpQ89ItNLdZ1lem1wO2chRV3QBJND-vzcN431zEnBfd2jpS9hhZfG-m2HG_h4jyihZWTeHPj4eLmvNG-9WHdUwvxqgxele8HVIEnSn5rbsGlG9ybWpthstAU1544gSKA9KB_q6SIcV41y95pu6bgV_HyS5Bq6DpNmQA6hTfIfMmsa_1ix0ODveidvEZclPWRUzIG12XceXdej0lmhQiaJDTTtE712tUErg7R8lAuiRKXo8hjVna9tBJ0KwK-uW_zKpe6kt4UaIacKKgUX5kMz_Ue0jEYJ1_yadClMOxDTI_9FQ9BPXClTxMTD-_Pa5fj4CjGZI5MX0xguEmY6Zf20jGIpHoNfVRiU1indR0y67vO2n9S7otJNgGSHVHY31PK-sqCWnbk7v_dWvgbFQvEuRwxc_nsVpJAUvhSXNteILIuN6kOT5q_f5ZMC9rsDPQ7NTAWvtZGIgrOIwN-5W3K3CHlaRbaQOCvsr4A2kuQH8zfZ0ODN6-m0cEhdFrbVmqXHq_euuNvhq-tfkibwNazy2LVpaKRiYCmwvji3C6-JeWTqhvWHNQ9l6TkMBhXkhsXCM8MT2U9C3dNoFN3ZXoi92x0ByjReMlCGa-oGy817x6Ato6zEZkTCG4n1LL4yAsClaprqqlkXxnGKm311Rk6IuVJDqSXy6SMKZPdty2E9Ew4kfrlZ2x9Bxjpbj9XLUQ9TlfGqM8iQa_CcB0IjA8iwo9u4gOPqOf3VjUnM__tyuSUJLm--xrrbSFd1vYQQbQzInEjw3MhNZfHihnUHYsbn88i-iWlQLoy8LpPzUOA0wT2IiWQ34Y_b8xinTEoSp3SiH66YXistoH-suRS1onlx-U9lOpFjgEXMvbG59lcZsxOeS6f0t28pu9Bl_ZXJu3lm8PZi3bgDSpaRBW0T9P3sn1_dL8NteDx1AKbFtnLHrgv4INxTRGTL2xpQp3LkRqp0aPLVQUG-5chRbZf1gIbHlLLuZHO8S9PJ5oNIkKTsdSzo3AbnGXBioV6px86MkCbLzcaPCNz09m4WsmPmWhkHTr4JSPNWmHwVBMlQQQZRvoYaHYUAuDEIHG-rKQhVYCMGduTsVqM7gLvZBheTwesbfH_MUYHDHYtfUBMppfN3PIRZqpvlFa7N2HrrEwz4GRISnuwJ6wU2Ac9x0q5SBfchJ4y1gJTd8tDRDlqYWAdT8qJrsC-fhNsFwXsdgIXp1EDziXcSERFnzUajXZrJVS3cnKBqPgWFYb2aBUD78ZBeylmBucejCdh7FPonHkVaAMjC3Nt34SHbXNckO7PPbGeEjSfDya2EeyyGCyh90cS3iFeum4KWSG-gu4zLuf-kFBQ2rxiUgOliILKP4B7iYS9ATmsLw==",
  "id": "rs_0c7807b88571af52016ab47732500487d0a59b5722608485f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"right_x\":0.375,\"right_y\":0.005,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The pale plush is visibly inside the safe. The yellow object is just outside the left side of the right jaws, and that close was empty; I’m opening and making one small correction while clearing the left arm.\"}",
  "call_id": "call_siekzTHwVqOY6Bj8ubI4mKRA",
  "id": "fc_0c7807b88571af52016ab47735e1f887d0a9280514bf23fa73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_siekzTHwVqOY6Bj8ubI4mKRA",
  "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]: [-0.7914, 2.0922, 1.9266, -0.7349, -0.7296, -0.6071, 0.9977, 0.0013, 1.5444, 0.4503, 0.3714, -0.0132, -0.033, 0.9958]\nstate[eef_state]: left_x=0.4577 left_y=-0.2906 left_z=0.2018 left_yaw=0.1086 left_pitch=-0.05 left_roll=0.089 left_gripper=0.9977 right_x=0.3639 right_y=0.0064 right_z=0.0227 right_yaw=0.0214 right_pitch=-0.14 right_roll=-0.0069 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -13.9966, 9.0325, 1.37, -0.3297, 0.1832, 0.0366, 0.4991, -6.7214, 7.4051, 1.7753, 0.1197, 0.149, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5027d997e41701a7c22ba36af09a162e97e010f22ff4d00637f7b9c6fcb9e66a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05b796c865de06d1e6653148043dbd750dbc6dc4037476bc20d66c08bbc8284",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e512cb3e7236c6090c83a1806772c34e2325a1ee2e7f1a2f8c5e4a9896c270df",
      "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]: [-0.7883, 2.0533, 1.7386, -0.4671, -0.7372, -0.5823, 0.2412, -0.1707, 1.4712, 0.7109, 0.0307, -0.12, -0.1204, 0.9989]\nstate[eef_state]: left_x=0.4651 left_y=-0.2943 left_z=0.1857 left_yaw=0.1023 left_pitch=0.0279 left_roll=0.0206 left_gripper=0.2412 right_x=0.3941 right_y=-0.0429 right_z=0.0859 right_yaw=-0.0121 right_pitch=-0.1406 right_roll=-0.0011 right_gripper=0.9989\nstate[joint_eff]: [-0.4444, -11.9043, 9.0872, 1.2772, -0.4322, 0.022, 0.1392, -0.4444, -7.5966, 8.8274, 1.917, -0.1294, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.1845, 1.4536, -0.1383, -0.73, -0.5888, 0.9972, -0.1715, 1.7317, 0.4339, 0.6186, -0.1326, -0.1238, 0.0181]\nstate[eef_state]: left_x=0.4552 left_y=-0.288 left_z=0.055 left_yaw=0.0979 left_pitch=-0.0311 left_roll=0.0797 left_gripper=0.9972 right_x=0.3761 right_y=-0.0378 right_z=-0.001 right_yaw=-0.0014 right_pitch=-0.0896 right_roll=-0.004 right_gripper=0.0181\nstate[joint_eff]: [-0.0205, -14.0923, 7.2274, 1.3455, -0.3639, 0.0171, -0.0708, -0.1026, -6.8171, 5.094, 1.4188, -0.0317, 0.0122, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.0922, 1.9266, -0.7349, -0.7296, -0.6071, 0.9977, 0.0013, 1.5444, 0.4503, 0.3714, -0.0132, -0.033, 0.9958]\nstate[eef_state]: left_x=0.4577 left_y=-0.2906 left_z=0.2018 left_yaw=0.1086 left_pitch=-0.05 left_roll=0.089 left_gripper=0.9977 right_x=0.3639 right_y=0.0064 right_z=0.0227 right_yaw=0.0214 right_pitch=-0.14 right_roll=-0.0069 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -13.9966, 9.0325, 1.37, -0.3297, 0.1832, 0.0366, 0.4991, -6.7214, 7.4051, 1.7753, 0.1197, 0.149, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5027d997e41701a7c22ba36af09a162e97e010f22ff4d00637f7b9c6fcb9e66a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05b796c865de06d1e6653148043dbd750dbc6dc4037476bc20d66c08bbc8284",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e512cb3e7236c6090c83a1806772c34e2325a1ee2e7f1a2f8c5e4a9896c270df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHc7451yzttbz_0-0x-f3opNqEcdZ6ZO1QOfkV7Ju9MAM_RCkVdqZ2nNuwgogw-_-Fkhl0eBp3RQwOv-96kd3mxWKzg4mc2TFklMVYoe_exg-did0XePpqFfC05n0KzYIp23RmxYMgv4Y9CI67Kl8nq9UG_GZtbB_xFmD_OQYiheM9xI0PMIg68EoerkXUUtCibq7TNGUGO4PDfBxaf3VCNBzfA3sc7zomYoFTSxo7pLJIBTk4lOli14GK1DoRQLGL-ZlebC4Nj4iH8wtKgYRK2d2jCwt6WxORO7j4CWQNz2p0UOdCX0CqSwlWguBm3jS1z4Bj_hVTic0uLVxt3CL8d6MUezrWd6cu9T-pnx0yxQFzd13_4dM1z2PhToRaS1qI_0YKhqkzvmVRD69hkop_GSUopc2cQu-tWVeHhN2nhv6WhT8ORE8h9AzMLzCfiBZGNqU66LMmc4G47NLv2MgQw0of7-uoVW5AtT59795u5vq-JU9MW31y-__JerW_PirjkuK6TzxXGJLic93ZTPzL-uT1-X_4n9028ji8HHKsbDCJRi5HBswL8NDn4lgJLbybGsSU35TxdT3bB3iJ8J9vadQE4B-BN9BKq6Mme7p4I-kAsMdDyb8DgrKZI-uUGJeyNvPaIRfarnnLQt1EkI0LfAtygB_3oICFQK5gNn0Lchp9TjMqoG2gobXdwvfhPYlj8p0wg6i5WW3yguvGIZsMzjx-IIKoyua9tbQ1WKzCjJ4kg1s2TQVWZP_UrIRQcWeW40pAZuvr8Rwi5_JVdpnM7-9q_dmV_ETF9C3cKRRjiqYpElBHDlpJPuDXhoIrPFR0Z-Ut1Y88zqv-ZJQnhbZ8sFc40Z0_nQ_R5uUXOIqm3rsxT9E1BTfbySXyq1j3Q7C8t05jQoi2Z6ummk1LEGgKBTWB3ftPF-fJTeGC89E3LlGUVpV7Pm3drXQ4hQ7SXznlq-Rt-05b1RoKit-py2-M57DeYfykL3xYik6IUDJXaJcYEKSkTOt0G5QzL6ms_1YGu3rmREGrd-0ieb4Fultikzz_Qo3WtpuBZhN3zBHftUmk-vebLLunKnIvWlCJjB7oTEIyi7Mie2aJ_sHqKNuN3soa8oFSFvh0M47AgBehZeHQuRUTyouJ7H6vQv_C1MEs87Ka4ZQhPbUqVfar_lUoAUsLS37k86h0GdtyvL_ELXyi4NmpTo47ppxK3B1wuVTEr7X944F7aC9RaociK4ITLBr-hKO-zR1Slj9oU6IX8fTgm800K2TIoC9mBNnF_so1zf",
  "id": "rs_0c7807b88571af52016ab477399a8887d0957554c2afbc3002",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The yellow object is obscured under the recentered right gripper. I’m closing there and moving the left arm away from the loaded safe.\"}",
  "call_id": "call_lh1naTfkM37t92yMRchdiBvY",
  "id": "fc_0c7807b88571af52016ab4773a04cc87d0a0d538352e95dcb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lh1naTfkM37t92yMRchdiBvY",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1551, 0.8642, 0.7162, -0.4561, -0.2668, -0.2008, 0.9977, 0.0048, 1.541, 0.4522, 0.3447, -0.012, -0.0368, 0.0207]\nstate[eef_state]: left_x=0.302 left_y=0.0036 left_z=0.1996 left_yaw=0.1635 left_pitch=-0.003 left_roll=-0.0026 left_gripper=0.9977 right_x=0.3604 right_y=0.0074 right_z=0.0197 right_yaw=0.0261 right_pitch=-0.1614 right_roll=-0.0101 right_gripper=0.0207\nstate[joint_eff]: [-0.1436, -1.5932, 6.8308, 1.956, 0.0708, 0.1294, -0.0073, -0.3214, -5.3128, 5.0256, 1.8144, -0.0366, 0.0171, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb8f20a156fe2ac51e6362591ebc35e73ca913e683db10ddb87174b48d5d26e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1b37564af33634b1722ade074f7aca39a47b937c910704d0e80b3542a0fb0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da62e6b67c478374d9b79acafcd10212dab43bc3f6f50258d8e8dbed1b4c1e13",
      "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]: [-0.7906, 2.159, 1.4681, -0.1345, -0.7307, -0.5846, 0.2434, -0.1715, 1.7248, 0.4446, 0.5926, -0.1295, -0.12, 0.9989]\nstate[eef_state]: left_x=0.4594 left_y=-0.2915 left_z=0.0738 left_yaw=0.0963 left_pitch=-0.0031 left_roll=0.0495 left_gripper=0.2434 right_x=0.3768 right_y=-0.0385 right_z=-0.0002 right_yaw=-0.0059 right_pitch=-0.0982 right_roll=-0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.1385, 5.8735, 1.5897, -0.3834, -0.0171, 0.2173, -0.212, -6.4342, 5.0803, 1.5849, -0.1441, 0.2125, -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]: [-0.7914, 2.0922, 1.9266, -0.7349, -0.7296, -0.6071, 0.9977, 0.0013, 1.5444, 0.4503, 0.3714, -0.0132, -0.033, 0.9958]\nstate[eef_state]: left_x=0.4577 left_y=-0.2906 left_z=0.2018 left_yaw=0.1086 left_pitch=-0.05 left_roll=0.089 left_gripper=0.9977 right_x=0.3639 right_y=0.0064 right_z=0.0227 right_yaw=0.0214 right_pitch=-0.14 right_roll=-0.0069 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -13.9966, 9.0325, 1.37, -0.3297, 0.1832, 0.0366, 0.4991, -6.7214, 7.4051, 1.7753, 0.1197, 0.149, -0.1343]",
      "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]: [-0.1551, 0.8642, 0.7162, -0.4561, -0.2668, -0.2008, 0.9977, 0.0048, 1.541, 0.4522, 0.3447, -0.012, -0.0368, 0.0207]\nstate[eef_state]: left_x=0.302 left_y=0.0036 left_z=0.1996 left_yaw=0.1635 left_pitch=-0.003 left_roll=-0.0026 left_gripper=0.9977 right_x=0.3604 right_y=0.0074 right_z=0.0197 right_yaw=0.0261 right_pitch=-0.1614 right_roll=-0.0101 right_gripper=0.0207\nstate[joint_eff]: [-0.1436, -1.5932, 6.8308, 1.956, 0.0708, 0.1294, -0.0073, -0.3214, -5.3128, 5.0256, 1.8144, -0.0366, 0.0171, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb8f20a156fe2ac51e6362591ebc35e73ca913e683db10ddb87174b48d5d26e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1b37564af33634b1722ade074f7aca39a47b937c910704d0e80b3542a0fb0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 448):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da62e6b67c478374d9b79acafcd10212dab43bc3f6f50258d8e8dbed1b4c1e13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHdGnSZN-coBiZFy5Z82uMjVHbiA99v5QU-1D47ooCo2quypav1fpo6fgz-8q7lJEas_FKPlbLdgP4Lh2yRCSyENLbEIoewwx89xpt8Q7-54NOd6UsaVK5Dds-mRWpKnNLfIuMmyakDR00m2OoDlCAZtzveyzyLdwwCw2pwLBdn6mqxQUypIFrqP5nwiaYP_ZEQ2oC4H94rPb0a42uOvtR6qmqgBjyQTBOR0tix7nrhuqlu1W-FJDwi_ozYFHmRaQv-6_4JwQ39Wf4SFMUj2r5i_mN30A5O51d8e0_fUhwQVefgbLtDfbyrMuz_R4XcItucae1UtbuoJJyS33arxL4asZ74uAaXq22ZjMAS24Y5NkyQdp200SEuO-Mg8KM3hncCblFGN7DhGZqC-ggzm3RSM45U7RHQjscSuN19dQggnAoHmW4j0p57QpJHwSdVkiaxZsBS-IjMw3ZwZc6Sq_53xz3m8JqvfAsttuvLmJpSJupp63XUtLB4pttxqKUG2fPKtmFvTjz3RlMlonOsz71DPhIbDzjy8ciieVcaRQKdQ73JXfIV-apkFQzvvSkfvh84GJjKEjKsbIMpWsNRM3Nqz6kcWYQU12nPHaUPEZdEqzaiJyxfCVHcieTj2mk4jOg7txk30-AzOW0ByQT3hexr19uPaVMTIMq2E0p9Urget1buZPMmmGHK-7q04rGEn03J-oF604U0zzZX8Ez2p0yQrMZwixSh0NYy-6DtM1mE4omSIez9cXmo6olTQSbYLmrbjvM1ALlzBF9GrPBD81lC769YcIoNMhgvKSIWMKDVzLJsftP9kCxN4ZlQ-rRQNssd1XE-MTn3SqImD7KTJiPZ_5A5X2QABbl6_Pors0IzUs1IK6dC1dpu0kEnoqd_rKVRAKR-Ddvvug17JzyPjKP4b7ZBHHQIPq5swShLjEmfUoFVHW74mmnQiGxP5u-B07OOc08yXi51wTvQUfNNvc4yaM0oLIeutJl2qFtbwPvVBqEZ7Ne2O2h64TGor0TE-20JR2z0-T3nfYx2JFk_s_oIxaeA0F8sHKKsVrGXZJskOtrCWW4i2_767if9rQx0josDDJx-bCY0a9GNN-hAW0ySeA72FhYMb8BdzFFhdScqwyigtjt4ymWvWvFc3An7SERlFriXkyYyOsJAdJufgS-h8MreCs3n_1MPaU8p_D7G19mKJFViuynYLn8EDq15if_KgNs7K8O6doPX6rbJ0j2Fy1Zqmp7H5jbIWNtob1rbUoURY9V5Iw2Y-ye9c9wsn_1Y0dIDHPdaWLwafiQ9b2dGO-iCHQa9odpx3rbJlwzRHVim6ErrzKYoBNW_H7YjwduXLoiBzSM9pMrkgtaN7yWcOnx9s5GZA6hcY8X1X49DHrAQ=",
  "id": "rs_0c7807b88571af52016ab4773f279887d0a2a33f8fafe9960a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right gripper closed empty again. The brown and pale plush objects are visible inside the safe; I’m withdrawing the right arm to check the yellow object’s location and leave the workspace clear.\"}",
  "call_id": "call_fgE2m0g0ePAb4iWsuKlHBbZV",
  "id": "fc_0c7807b88571af52016ab4774522f487d082adb60fd509c412",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fgE2m0g0ePAb4iWsuKlHBbZV",
  "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]: [-0.1555, 0.8684, 0.7113, -0.4725, -0.2588, -0.2031, 0.9977, -0.0505, 0.8097, 0.6498, -0.4454, -0.0559, -0.0612, 0.9957]\nstate[eef_state]: left_x=0.2996 left_y=0.0024 left_z=0.1928 left_yaw=0.1579 left_pitch=-0.0287 left_roll=-0.0009 left_gripper=0.9977 right_x=0.2925 right_y=-0.0013 right_z=0.1833 right_yaw=0.0206 right_pitch=-0.0216 right_roll=-0.0082 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -2.0308, 7.3368, 1.8291, -0.1978, -0.0317, -0.0073, -0.5812, -1.4017, 9.7436, 1.8779, -0.1245, -0.022, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30b6e0df3e6307c7ff10af9e4f680aecde110840e38f39744daef58f88b6de1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab53eb25edbfe4ffab4c8b403a498c20289b254e504cea50ea6f070ad1d22490",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f446c16af426fba3d4cfe0fc10b4ff39196d8f7c2236ab3c537869f80f1fef92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}