adhoc

completed
2026-09-24T02:55:41.490746+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
272.5 s
total steps
442
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open, with a cream plush, a brown teddy, and a small yellow object outside it. I’m moving the left gripper above the cream plush for the first pickup.
move_to
left_x0.3700left_y-0.1350left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0307, 0.7918, 0.6037, -0.3908, -0.0193, -0.0341, 0.9998, -0.0269, 0.7925, 0.6079, -0.3958, -0.0193, -0.012, 0.9996] state[eef_state]: left_x=0.2931 left_y=-0.002 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.293 right_y=-0.0009 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [0.3761, -1.4427, 10.3179, 1.956, -0.0757, 0.1392, -0.0366, 0.1709, -1.3333, 9.6205, 1.9121, -0.0366, -0.0317, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.135,"left_z":0.15,"left_gripper":1},"note":"The safe is open, with a cream plush, a brown teddy, and a small yellow object outside it. I’m moving the left gripper above the cream plush for the first pickup."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe cream plush is to the left of the jaw centre, beside the safe’s rim. I’m shifting left and lowering to straddle its torso without touching the rim.
move_to
left_x0.3650left_y-0.0750left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5472, 1.3479, 0.7517, -0.1352, -0.4179, -0.3317, 0.9998, -0.0273, 0.7967, 0.6132, -0.4324, -0.0196, -0.0185, 0.9995] state[eef_state]: left_x=0.3555 left_y=-0.1285 left_z=0.127 left_yaw=-0.023 left_pitch=-0.078 left_roll=0.0317 left_gripper=0.9998 right_x=0.2889 right_y=-0.0008 right_z=0.1727 right_yaw=0.0035 right_pitch=-0.0355 right_roll=-0.0041 right_gripper=0.9995 state[joint_eff]: [-0.2256, -5.7368, 9.4427, 1.7216, -0.442, -0.0366, -0.0366, -0.0068, -1.5521, 6.6256, 2.0635, -0.0757, -0.0073, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.075,"left_z":0.035},"note":"The cream plush is to the left of the jaw centre, beside the safe’s rim. I’m shifting left and lowering to straddle its torso without touching the rim."})
tool
executing move_to over 6 steps (0.6s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cream plush’s torso is centred between the open jaws at table height. I’m closing the left gripper and restoring the idle right arm’s parked height.
move_to
left_gripper0.0000right_x0.2930right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3481, 1.5314, 0.4839, 0.2691, -0.2913, -0.2192, 0.9997, -0.0273, 0.7986, 0.6094, -0.4549, -0.0196, -0.0185, 0.9995] state[eef_state]: left_x=0.3517 left_y=-0.0699 left_z=0.0257 left_yaw=0.0148 left_pitch=-0.1597 left_roll=0.0599 left_gripper=0.9997 right_x=0.2852 right_y=-0.0007 right_z=0.166 right_yaw=0.0036 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9995 state[joint_eff]: [0.2393, -5.5316, 5.0393, 1.873, -0.1148, 0.0952, -0.022, -0.0342, -1.3333, 7.3504, 1.8584, -0.0513, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.293,"right_y":0,"right_z":0.19},"note":"The cream plush’s torso is centred between the open jaws at table height. I’m closing the left gripper and restoring the idle right arm’s parked height."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper has stopped above its empty-close reading, suggesting it has caught the plush. I’m lifting a short distance to confirm the toy comes with it.
move_to
left_x0.3550left_y-0.0750left_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.347, 1.5463, 0.4656, 0.2699, -0.2932, -0.2245, 0.1271, -0.0254, 0.8471, 0.683, -0.5533, -0.0193, -0.0189, 0.9995] state[eef_state]: left_x=0.3446 left_y=-0.0665 left_z=0.0148 left_yaw=0.0225 left_pitch=-0.1893 left_roll=0.0691 left_gripper=0.1271 right_x=0.2828 right_y=-0.0002 right_z=0.167 right_yaw=0.0056 right_pitch=-0.1369 right_roll=-0.0015 right_gripper=0.9995 state[joint_eff]: [-0.1436, -6.735, 7.1179, 1.4969, -0.1734, 0.0122, 0.7643, 0.3077, -1.1966, 9.9077, 1.9609, 0.0122, 0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.075,"left_z":0.095},"note":"The gripper has stopped above its empty-close reading, suggesting it has caught the plush. I’m lifting a short distance to confirm the toy comes with it."})
tool
executing move_to over 6 steps (0.6s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe cream plush lifted with the gripper. I’m carrying it upward and over the open safe, clearing the near rim before lowering it inside.
move_to
left_x0.4600left_y-0.2250left_z0.2300left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3603, 1.3853, 0.6582, -0.1108, -0.2947, -0.2443, 0.1311, -0.0254, 0.8501, 0.6823, -0.5919, -0.0193, -0.0189, 0.9995] state[eef_state]: left_x=0.3509 left_y=-0.0735 left_z=0.0759 left_yaw=0.0235 left_pitch=-0.2135 left_roll=0.0659 left_gripper=0.1311 right_x=0.2764 right_y=-0.0 right_z=0.1588 right_yaw=0.0058 right_pitch=-0.1792 right_roll=-0.0002 right_gripper=0.9995 state[joint_eff]: [-0.7043, -6.7077, 8.6906, 1.6923, -0.2173, 0.0513, 0.4029, 0.0068, -1.6752, 7.1043, 1.9365, -0.0269, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.225,"left_z":0.23,"left_pitch":0.15},"note":"The cream plush lifted with the gripper. I’m carrying it upward and over the open safe, clearing the near rim before lowering it inside."})
tool
executing move_to over 14 steps (1.4s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe plush is above the safe’s opening, with its head toward the upright lid. I’m lowering it into the compartment, slightly nearer the front to avoid the hinge.
move_to
left_x0.4350left_y-0.2250left_z0.0750left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6636, 1.7538, 1.3296, -0.2409, -0.6151, -0.3336, 0.1348, -0.0254, 0.8547, 0.6815, -0.6186, -0.0193, -0.0189, 0.9995] state[eef_state]: left_x=0.4469 left_y=-0.2155 left_z=0.1933 left_yaw=0.014 left_pitch=0.0483 left_roll=0.0973 left_gripper=0.1348 right_x=0.2719 right_y=0.0001 right_z=0.1526 right_yaw=0.006 right_pitch=-0.2113 right_roll=0.0008 right_gripper=0.9995 state[joint_eff]: [-0.6085, -9.4701, 10.5368, 2.1026, -0.4225, 0.2418, 0.3687, -0.0342, -1.6615, 6.8855, 1.8388, -0.0464, -0.0415, -0.0073] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.225,"left_z":0.075,"left_pitch":0.15},"note":"The plush is above the safe’s opening, with its head toward the upright lid. I’m lowering it into the compartment, slightly nearer the front to avoid the hinge."})
tool
executing move_to over 8 steps (0.8s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe cream plush is lowered within the safe’s red compartment. I’m opening the jaws to leave it inside.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7128, 1.9285, 0.9775, 0.2901, -0.6693, -0.3157, 0.1376, -0.0254, 0.8558, 0.6815, -0.6388, -0.0193, -0.0189, 0.9995] state[eef_state]: left_x=0.4284 left_y=-0.2207 left_z=0.0668 left_yaw=-0.0036 left_pitch=0.0718 left_roll=0.1359 left_gripper=0.1376 right_x=0.2683 right_y=0.0002 right_z=0.1489 right_yaw=0.0061 right_pitch=-0.2326 right_roll=0.0015 right_gripper=0.9995 state[joint_eff]: [-0.5265, -9.1009, 5.7368, 1.9853, -0.4469, 0.0562, 0.2759, -0.0752, -1.5385, 6.9949, 1.6972, -0.0171, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The cream plush is lowered within the safe’s red compartment. I’m opening the jaws to leave it inside."})
tool
executing move_to over 9 steps (0.9s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe cream plush has settled inside the safe. I’m withdrawing the left arm and bringing the right gripper above the brown teddy in front of the safe.
move_to
left_x0.2900left_y0.0000left_z0.2300left_pitch0.0000right_x0.2800right_y0.3150right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7166, 1.9568, 0.9607, 0.2829, -0.6739, -0.3214, 0.9951, -0.0254, 0.8558, 0.6815, -0.6647, -0.0193, -0.0185, 0.9996] state[eef_state]: left_x=0.4219 left_y=-0.2166 left_z=0.0476 left_yaw=-0.0027 left_pitch=0.0345 left_roll=0.1673 left_gripper=0.9951 right_x=0.2636 right_y=0.0003 right_z=0.1445 right_yaw=0.0061 right_pitch=-0.2585 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.1299, -11.8906, 6.7487, 1.5556, -0.2418, 0.022, -0.0611, -0.1709, -1.4154, 6.7897, 1.746, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.23,"left_pitch":0,"right_x":0.28,"right_y":0.315,"right_z":0.16,"right_gripper":1},"note":"The cream plush has settled inside the safe. I’m withdrawing the left arm and bringing the right gripper above the brown teddy in front of the safe."})
tool
executing move_to over 27 steps (2.7s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe brown teddy’s torso is between the jaws, slightly left of centre in the wrist view. I’m making a small sideways correction and lowering around its body.
move_to
right_x0.2700right_y0.3300right_z0.0400right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1459, 0.831, 0.7727, -0.5602, -0.2386, 0.0101, 0.9963, 1.0805, 1.7638, 1.4406, -0.889, 0.5991, 0.91, 0.9996] state[eef_state]: left_x=0.2907 left_y=0.0031 left_z=0.2126 left_yaw=0.0438 left_pitch=-0.0274 left_roll=0.1638 left_gripper=0.9963 right_x=0.272 right_y=0.3057 right_z=0.1481 right_yaw=0.0315 right_pitch=-0.3049 right_roll=-0.0484 right_gripper=0.9996 state[joint_eff]: [0.1436, -1.7162, 9.7436, 1.9853, 0.0073, 0.1832, 0.1099, 0.1709, -8.3897, 8.294, 1.0183, 0.5934, 0.232, -0.0611] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.33,"right_z":0.04,"right_pitch":0.2},"note":"The brown teddy’s torso is between the jaws, slightly left of centre in the wrist view. I’m making a small sideways correction and lowering around its body."})
tool
executing move_to over 17 steps (1.7s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe open fingers now straddle the teddy’s torso. I’m closing them to grip the soft body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 0.836, 0.7727, -0.5846, -0.2291, 0.0105, 0.9964, 1.2438, 2.0041, 0.9463, 0.0757, 1.0325, 0.8135, 0.9995] state[eef_state]: left_x=0.2878 left_y=0.0025 left_z=0.2063 left_yaw=0.0382 left_pitch=-0.0573 left_roll=0.164 left_gripper=0.9964 right_x=0.2663 right_y=0.3242 right_z=0.0341 right_yaw=0.0507 right_pitch=0.1371 right_roll=-0.089 right_gripper=0.9995 state[joint_eff]: [-0.2256, -1.6068, 6.9812, 1.8926, -0.2271, -0.0464, 0.0073, 0.4718, -8.4581, 4.6974, 1.4383, 0.5641, -0.0464, -0.0171] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers now straddle the teddy’s torso. I’m closing them to grip the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe jaws closed quite narrowly on the teddy, so the hold needs checking. I’m lifting it a few centimetres before attempting to carry it.
move_to
right_x0.2700right_y0.3300right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5896, -0.2291, 0.0105, 0.9965, 1.2434, 2.0159, 0.9424, 0.0849, 1.0431, 0.8055, 0.0425] state[eef_state]: left_x=0.2871 left_y=0.0027 left_z=0.2053 left_yaw=0.0386 left_pitch=-0.0622 left_roll=0.1649 left_gripper=0.9965 right_x=0.2668 right_y=0.322 right_z=0.0309 right_yaw=0.0501 right_pitch=0.1425 right_roll=-0.1058 right_gripper=0.0425 state[joint_eff]: [-0.1573, -1.306, 7.0906, 1.7021, -0.1636, -0.0366, -0.0073, -0.0068, -10.4137, 5.0256, 0.9988, 0.2662, 0.1001, 0.9841] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.33,"right_z":0.105},"note":"The jaws closed quite narrowly on the teddy, so the hold needs checking. I’m lifting it a few centimetres before attempting to carry it."})
tool
executing move_to over 5 steps (0.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe teddy has risen with the gripper, although it is held near the lower body. I’m lifting it over the front rim and aiming for the space beside the cream plush.
move_to
right_x0.3650right_y0.3850right_z0.2400right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5926, -0.2287, 0.0101, 0.9965, 1.2434, 1.8942, 1.0485, -0.1627, 1.0279, 0.8032, 0.0452] state[eef_state]: left_x=0.2866 left_y=0.0027 left_z=0.2047 left_yaw=0.0385 left_pitch=-0.0652 left_roll=0.1649 left_gripper=0.9965 right_x=0.2676 right_y=0.3287 right_z=0.0824 right_yaw=0.0614 right_pitch=0.1231 right_roll=-0.1216 right_gripper=0.0452 state[joint_eff]: [-0.0342, -1.1966, 7.0496, 1.6874, -0.1294, -0.0806, -0.0073, -0.1573, -11.2479, 7.4598, 1.1697, 0.486, -0.0464, 1.033] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.385,"right_z":0.24,"right_pitch":0.2},"note":"The teddy has risen with the gripper, although it is held near the lower body. I’m lifting it over the front rim and aiming for the space beside the cream plush."})
tool
executing move_to over 11 steps (1.1s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe teddy is clear of the rim and above the safe’s right-hand space. I’m lowering it inside while moving its feet past the front edge.
move_to
right_x0.4000right_y0.3850right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 0.8413, 0.7719, -0.6083, -0.2287, 0.0101, 0.9965, 1.092, 1.9915, 1.702, -0.4671, 0.9642, 0.5186, 0.0452] state[eef_state]: left_x=0.2847 left_y=0.0029 left_z=0.2 left_yaw=0.0385 left_pitch=-0.0866 left_roll=0.1688 left_gripper=0.9965 right_x=0.3578 right_y=0.3821 right_z=0.2234 right_yaw=0.071 right_pitch=0.1725 right_roll=-0.133 right_gripper=0.0452 state[joint_eff]: [0.0068, -1.7846, 6.9538, 1.7656, -0.1245, -0.0659, -0.0122, -0.4991, -10.5231, 8.6085, 1.3944, 0.4274, -0.0464, 1.033] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.385,"right_z":0.08},"note":"The teddy is clear of the rim and above the safe’s right-hand space. I’m lowering it inside while moving its feet past the front edge."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe teddy is inside the opening but close to the right wall. I’m shifting it inward and lowering it a little more so it can settle below the lid.
move_to
right_y0.4000right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 0.8474, 0.7719, -0.63, -0.2291, 0.0101, 0.9965, 1.018, 2.2097, 1.4647, -0.0078, 0.8993, 0.4404, 0.0452] state[eef_state]: left_x=0.2819 left_y=0.0034 left_z=0.1944 left_yaw=0.0393 left_pitch=-0.1139 left_roll=0.1742 left_gripper=0.9965 right_x=0.3928 right_y=0.38 right_z=0.079 right_yaw=0.0828 right_pitch=0.1309 right_roll=-0.1766 right_gripper=0.0452 state[joint_eff]: [-0.0615, -1.347, 6.9812, 1.8877, -0.1587, -0.0708, -0.0122, -0.4991, -11.5761, 5.9556, 1.6874, 0.2906, -0.0513, 1.033] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.4,"right_z":0.055},"note":"The teddy is inside the opening but close to the right wall. I’m shifting it inward and lowering it a little more so it can settle below the lid."})
tool
executing move_to over 2 steps (0.2s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe teddy has contacted the contents of the safe and is supported there. I’m releasing it before withdrawing the gripper.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8471, 0.7719, -0.635, -0.2287, 0.0105, 0.9965, 1.0264, 2.2646, 1.5089, 0.0196, 0.9123, 0.4374, 0.0452] state[eef_state]: left_x=0.2811 left_y=0.0035 left_z=0.1936 left_yaw=0.0392 left_pitch=-0.1185 left_roll=0.175 left_gripper=0.9965 right_x=0.3964 right_y=0.3918 right_z=0.0711 right_yaw=0.0822 right_pitch=0.1476 right_roll=-0.1709 right_gripper=0.0452 state[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6288, -0.1343, -0.0317, -0.0122, 0.8684, -10.5778, 7.0632, 1.1404, 0.2125, 0.232, 1.0281] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The teddy has contacted the contents of the safe and is supported there. I’m releasing it before withdrawing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteBoth plush toys are now in the safe; the yellow object remains beside it. I’m lifting away and moving over that last object with a forward tool tilt for the longer reach.
move_to
right_x0.5100right_y0.2700right_z0.1800right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 0.8497, 0.7719, -0.6376, -0.2287, 0.0105, 0.9965, 1.0309, 2.2852, 1.5154, 0.017, 0.9184, 0.4332, 0.9947] state[eef_state]: left_x=0.2809 left_y=0.0035 left_z=0.1924 left_yaw=0.039 left_pitch=-0.1238 left_roll=0.176 left_gripper=0.9965 right_x=0.395 right_y=0.393 right_z=0.0629 right_yaw=0.0869 right_pitch=0.1407 right_roll=-0.1909 right_gripper=0.9947 state[joint_eff]: [-0.1846, -1.6068, 6.7897, 1.6288, -0.1685, -0.0366, -0.0122, -0.6906, -14.4889, 5.7094, 1.4139, 0.2027, -0.0073, -0.2173] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.27,"right_z":0.18,"right_pitch":0.4},"note":"Both plush toys are now in the safe; the yellow object remains beside it. I’m lifting away and moving over that last object with a forward tool tilt for the longer reach."})
tool
executing move_to over 11 steps (1.1s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe yellow object is directly below the wrist camera’s lower edge, near the jaw centre. I’m lowering around it; afterward I’ll also tuck the teddy’s protruding legs inside before closing the lid.
move_to
right_x0.5150right_y0.2550right_z0.0250right_pitch0.5000right_roll0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8501, 0.7719, -0.638, -0.2287, 0.0105, 0.9965, 0.6907, 2.101, 1.3144, 0.4412, 0.7139, -0.0013, 0.9953] state[eef_state]: left_x=0.2808 left_y=0.0036 left_z=0.1922 left_yaw=0.0394 left_pitch=-0.1245 left_roll=0.1762 left_gripper=0.9965 right_x=0.5037 right_y=0.2709 right_z=0.14 right_yaw=0.0838 right_pitch=0.3055 right_roll=-0.2379 right_gripper=0.9953 state[joint_eff]: [-0.1026, -1.4291, 6.9538, 1.6093, -0.1245, -0.0269, -0.0122, -0.2667, -14.8718, 6.612, 2.1661, 0.0904, -0.0366, 0.0562] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.255,"right_z":0.025,"right_pitch":0.5,"right_roll":0.15},"note":"The yellow object is directly below the wrist camera’s lower edge, near the jaw centre. I’m lowering around it; afterward I’ll also tuck the teddy’s protruding legs inside before closing the lid."})
tool
executing move_to over 8 steps (0.8s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe yellow object is centred at the bottom of the wrist view, and the descent has stopped at contact. I’m closing the jaws to pick it up without pressing farther down.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.852, 0.7719, -0.6453, -0.2287, 0.0105, 0.9965, 0.5907, 2.4252, 1.1412, 1.2385, 0.4492, 0.1513, 0.9954] state[eef_state]: left_x=0.2798 left_y=0.0037 left_z=0.1904 left_yaw=0.0396 left_pitch=-0.1335 left_roll=0.1778 left_gripper=0.9965 right_x=0.5185 right_y=0.2596 right_z=0.0572 right_yaw=0.0624 right_pitch=0.5344 right_roll=0.1497 right_gripper=0.9954 state[joint_eff]: [-0.0889, -1.5111, 7.0359, 1.6679, -0.1148, 0.0171, -0.0073, -0.8137, -7.5009, 3.535, 0.7009, 0.1197, -0.1245, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is centred at the bottom of the wrist view, and the descent has stopped at contact. I’m closing the jaws to pick it up without pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe jaws have stopped with a measurable gap around the yellow object. I’m lifting it clear to verify that it is securely held.
move_to
right_x0.5050right_y0.2550right_z0.1450right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8558, 0.7719, -0.6651, -0.2287, 0.0105, 0.9965, 0.6006, 2.431, 1.1469, 1.2953, 0.4248, 0.1581, 0.1108] state[eef_state]: left_x=0.2769 left_y=0.0041 left_z=0.1859 left_yaw=0.0402 left_pitch=-0.1568 left_roll=0.1822 left_gripper=0.9965 right_x=0.5162 right_y=0.2697 right_z=0.0691 right_yaw=0.0742 right_pitch=0.5827 right_roll=0.192 right_gripper=0.1108 state[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.8144, -0.1148, -0.0122, -0.0073, -1.1009, -12.5744, 4.0137, 1.2479, 0.188, -0.1001, 0.8864] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.505,"right_y":0.255,"right_z":0.145,"right_pitch":0.4},"note":"The jaws have stopped with a measurable gap around the yellow object. I’m lifting it clear to verify that it is securely held."})
tool
executing move_to over 7 steps (0.7s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe yellow object has lifted off the table with the gripper. I’m carrying it over the safe’s opening, beside the plush toys.
move_to
right_x0.4700right_y0.4000right_z0.2200right_pitch0.2500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8581, 0.7719, -0.6827, -0.2287, 0.0101, 0.9965, 0.5915, 2.0869, 1.0882, 0.8005, 0.3992, 0.226, 0.1131] state[eef_state]: left_x=0.2742 left_y=0.0045 left_z=0.1822 left_yaw=0.041 left_pitch=-0.1762 left_roll=0.1856 left_gripper=0.9965 right_x=0.5027 right_y=0.2593 right_z=0.1225 right_yaw=0.102 right_pitch=0.3921 right_roll=0.1554 right_gripper=0.1131 state[joint_eff]: [-0.0205, -1.6068, 6.7487, 1.7509, -0.1343, -0.0415, -0.0073, -0.7043, -13.2034, 7.2821, 2.2344, 0.105, 0.105, 0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.4,"right_z":0.22,"right_pitch":0.25,"right_roll":0},"note":"The yellow object has lifted off the table with the gripper. I’m carrying it over the safe’s opening, beside the plush toys."})
tool
executing move_to over 12 steps (1.2s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe overhead view shows that this pickup caught the teddy again, not the yellow object, which is still beside the safe. I’m using this hold to move the teddy farther into the compartment so its legs no longer hang over the front.
move_to
right_x0.5350right_y0.3900right_z0.1000right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8585, 0.7719, -0.6971, -0.2287, 0.0101, 0.9965, 0.8906, 2.1818, 1.8229, -0.086, 0.6987, 0.2909, 0.115] state[eef_state]: left_x=0.2718 left_y=0.0049 left_z=0.1796 left_yaw=0.0415 left_pitch=-0.1909 left_roll=0.1884 left_gripper=0.9965 right_x=0.4676 right_y=0.403 right_z=0.2101 right_yaw=0.1492 right_pitch=0.2444 right_roll=-0.0081 right_gripper=0.115 state[joint_eff]: [-0.1436, -1.4154, 6.7624, 1.663, -0.149, -0.0611, -0.0073, -0.2256, -12.6974, 8.8, 1.9023, 0.4371, 0.2222, 0.188] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.39,"right_z":0.10,"right_pitch":0.45},"note":"The overhead view shows that this pickup caught the teddy again, not the yellow object, which is still beside the safe. I’m using this hold to move the teddy farther into the compartment so its legs no longer hang over the front."})
tool
executing move_to over 8 steps (0.8s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe teddy’s feet are still angled over the left edge of the safe. I’m lifting and turning it so its length runs into the compartment rather than across the rim.
move_to
right_z0.1800right_yaw0.6500right_y0.3650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8623, 0.7712, -0.7055, -0.2287, 0.0101, 0.9965, 0.7963, 2.4485, 1.6775, 0.5335, 0.6502, 0.112, 0.1168] state[eef_state]: left_x=0.2705 left_y=0.0051 left_z=0.1769 left_yaw=0.042 left_pitch=-0.2036 left_roll=0.1908 left_gripper=0.9965 right_x=0.5254 right_y=0.3892 right_z=0.1037 right_yaw=0.1568 right_pitch=0.3915 right_roll=-0.0379 right_gripper=0.1168 state[joint_eff]: [0.0068, -1.7026, 6.9812, 1.5751, -0.0952, -0.0317, -0.0122, -1.1009, -11.2342, 8.0068, 1.6581, 0.0317, 0.0708, 0.1832] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18,"right_yaw":0.65,"right_y":0.365},"note":"The teddy’s feet are still angled over the left edge of the safe. I’m lifting and turning it so its length runs into the compartment rather than across the rim."})
tool
executing move_to over 5 steps (0.5s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteThe teddy is now aligned lengthwise, with its feet over the safe’s opening. I’m lowering and releasing it in that position.
move_to
right_z0.0850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7197, -0.2287, 0.0101, 0.9965, 0.6056, 2.22, 1.4876, 0.4904, 0.1341, -0.0109, 0.1183] state[eef_state]: left_x=0.2682 left_y=0.0054 left_z=0.1741 left_yaw=0.0427 left_pitch=-0.2194 left_roll=0.1938 left_gripper=0.9965 right_x=0.5377 right_y=0.3479 right_z=0.1446 right_yaw=0.4975 right_pitch=0.3397 right_roll=-0.0472 right_gripper=0.1183 state[joint_eff]: [-0.0068, -1.5658, 6.735, 1.6435, -0.1734, -0.0415, -0.0073, 0.2393, -15.8017, 7.3915, 2.2784, -0.0122, -0.0708, 0.1392] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085,"right_gripper":1},"note":"The teddy is now aligned lengthwise, with its feet over the safe’s opening. I’m lowering and releasing it in that position."})
tool
executing move_to over 9 steps (0.9s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe teddy is resting in the safe, and the yellow object is still just to its right near the back. I’m moving farther forward and right to approach the yellow object directly.
move_to
right_x0.5900right_y0.2500right_z0.1400right_yaw0.0000right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7246, -0.2287, 0.0105, 0.9965, 0.6048, 2.3249, 1.438, 0.6189, 0.1204, -0.0185, 0.9948] state[eef_state]: left_x=0.2673 left_y=0.0055 left_z=0.1733 left_yaw=0.0427 left_pitch=-0.2243 left_roll=0.195 left_gripper=0.9965 right_x=0.5356 right_y=0.3488 right_z=0.0877 right_yaw=0.5141 right_pitch=0.3133 right_roll=-0.0541 right_gripper=0.9948 state[joint_eff]: [-0.0479, -1.4017, 6.7214, 1.5214, -0.149, -0.0122, -0.0073, -0.0752, -11.7128, 6.0923, 2.2247, 0.0952, 0.0171, -0.2418] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.25,"right_z":0.14,"right_yaw":0,"right_pitch":0.55},"note":"The teddy is resting in the safe, and the yellow object is still just to its right near the back. I’m moving farther forward and right to approach the yellow object directly."})
tool
executing move_to over 9 steps (0.9s)
step 236
top_cam
camera top_cam step 236
assistant
agent noteThe gripper is now over the yellow object’s location, clear of the safe’s side wall. I’m lowering at this forward position for a grasp.
move_to
right_x0.5900right_y0.2450right_z0.0250right_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7418, -0.2287, 0.0101, 0.9965, 0.5545, 2.3562, 1.478, 0.7624, 0.5053, -0.0196, 0.9953] state[eef_state]: left_x=0.2643 left_y=0.006 left_z=0.1704 left_yaw=0.0436 left_pitch=-0.2411 left_roll=0.198 left_gripper=0.9965 right_x=0.5811 right_y=0.2635 right_z=0.1228 right_yaw=0.0979 right_pitch=0.4769 right_roll=-0.0877 right_gripper=0.9953 state[joint_eff]: [-0.0889, -1.347, 6.7214, 1.5946, -0.1538, -0.0513, -0.0073, -0.8137, -11.5214, 8.6359, 2.2735, 0.0708, -0.0659, 0.0415] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.245,"right_z":0.025,"right_pitch":0.6},"note":"The gripper is now over the yellow object’s location, clear of the safe’s side wall. I’m lowering at this forward position for a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 243
assistant
agent noteThe forward descent has stopped short, so I won’t press harder. I’m closing once at the current position to check whether the yellow object is between the jaws.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7479, -0.2287, 0.0101, 0.9965, 0.5236, 2.619, 1.5227, 1.2339, 0.4664, -0.0628, 0.9954] state[eef_state]: left_x=0.2632 left_y=0.0061 left_z=0.1695 left_yaw=0.0439 left_pitch=-0.2471 left_roll=0.1992 left_gripper=0.9965 right_x=0.5923 right_y=0.2544 right_z=0.0848 right_yaw=0.0593 right_pitch=0.703 right_roll=-0.0049 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.2239, 7.0222, 1.4872, -0.1538, -0.0513, -0.0122, -0.9915, -8.4171, 4.0821, 0.3394, -0.0269, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The forward descent has stopped short, so I won’t press harder. I’m closing once at the current position to check whether the yellow object is between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteThe safe shifted during the close, indicating the gripper caught its rim rather than the yellow object. I’m releasing immediately and moving clear to reassess the remaining placement and the lid.
move_to
right_gripper1.0000right_x0.4600right_y0.1200right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.865, 0.7712, -0.7494, -0.2287, 0.0101, 0.9965, 0.5285, 2.5488, 1.5028, 1.1015, 0.4362, -0.0277, 0.0514] state[eef_state]: left_x=0.263 left_y=0.0062 left_z=0.169 left_yaw=0.044 left_pitch=-0.2494 left_roll=0.1996 left_gripper=0.9965 right_x=0.5918 right_y=0.2633 right_z=0.0906 right_yaw=0.0998 right_pitch=0.6306 right_roll=-0.0088 right_gripper=0.0514 state[joint_eff]: [-0.1709, -1.4427, 6.8308, 1.453, -0.1441, -0.0659, -0.0122, -0.5675, -14.5983, 4.7795, 1.5263, 0.2711, 0.1245, 1.1111] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.46,"right_y":0.12,"right_z":0.25},"note":"The safe shifted during the close, indicating the gripper caught its rim rather than the yellow object. I’m releasing immediately and moving clear to reassess the remaining placement and the lid."})
tool
executing move_to over 12 steps (1.2s)
step 265
assistant
agent noteThe yellow object is visible just outside the safe’s right wall. I’m approaching farther to the right than the previous attempt, keeping the jaws away from the rim.
move_to
right_x0.6000right_y0.2000right_z0.0500right_pitch0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8688, 0.7712, -0.7563, -0.2287, 0.0105, 0.9965, 0.347, 1.6073, 0.775, 0.8371, 0.2722, -0.0185, 0.9957] state[eef_state]: left_x=0.2619 left_y=0.0065 left_z=0.167 left_yaw=0.0451 left_pitch=-0.2599 left_roll=0.202 left_gripper=0.9965 right_x=0.4658 right_y=0.1217 right_z=0.2365 right_yaw=0.0911 right_pitch=0.5847 right_roll=-0.0239 right_gripper=0.9957 state[joint_eff]: [-0.1299, -1.7299, 6.8171, 1.5214, -0.1099, -0.0659, -0.0122, -0.2256, -7.8154, 7.1043, 2.1026, -0.0611, 0.0366, -0.1392] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_y":0.20,"right_z":0.05,"right_pitch":0.4,"right_gripper":1},"note":"The yellow object is visible just outside the safe’s right wall. I’m approaching farther to the right than the previous attempt, keeping the jaws away from the rim."})
tool
executing move_to over 13 steps (1.3s)
step 278
assistant
agent noteThe jaws are now at the yellow object’s position, to the right of the safe rather than over its rim. I’m closing for the corrected pickup.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8711, 0.7712, -0.7673, -0.2287, 0.0101, 0.9965, 0.3996, 2.4245, 1.359, 0.8871, 0.3164, 0.0311, 0.999] state[eef_state]: left_x=0.26 left_y=0.0068 left_z=0.1647 left_yaw=0.046 left_pitch=-0.273 left_roll=0.2043 left_gripper=0.9965 right_x=0.5953 right_y=0.1956 right_z=0.0582 right_yaw=0.0979 right_pitch=0.4106 right_roll=-0.0292 right_gripper=0.999 state[joint_eff]: [-0.0752, -1.5932, 6.694, 1.5214, -0.1392, -0.0659, -0.0122, 0.3487, -11.7402, 6.1607, 1.6923, 0.0904, -0.022, -0.1245] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are now at the yellow object’s position, to the right of the safe rather than over its rim. I’m closing for the corrected pickup."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThat close was empty, and the fingertip readback remained several centimetres above the table. I’m making one lower, more forward-tilted approach slightly toward the yellow object; if the arm still cannot reach it, I’ll stop rather than force the reach.
move_to
right_gripper1.0000right_x0.6000right_y0.2250right_z-0.0100right_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8715, 0.7712, -0.7685, -0.2287, 0.0101, 0.9965, 0.4, 2.4294, 1.3705, 0.923, 0.3061, 0.0299, 0.0125] state[eef_state]: left_x=0.2598 left_y=0.0068 left_z=0.1645 left_yaw=0.0461 left_pitch=-0.2745 left_roll=0.2046 left_gripper=0.9965 right_x=0.5984 right_y=0.1991 right_z=0.0682 right_yaw=0.1027 right_pitch=0.4506 right_roll=-0.015 right_gripper=0.0125 state[joint_eff]: [-0.1026, -1.4427, 6.653, 1.409, -0.1587, -0.0464, -0.0073, -0.2803, -13.6, 4.7248, 1.4969, 0.0904, -0.0073, 1.1062] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.6,"right_y":0.225,"right_z":-0.01,"right_pitch":0.6},"note":"That close was empty, and the fingertip readback remained several centimetres above the table. I’m making one lower, more forward-tilted approach slightly toward the yellow object; if the arm still cannot reach it, I’ll stop rather than force the reach."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteThe lower approach again stopped above the table and shifted the safe, so I’m backing away rather than pressing into it. This will also expose the right side and show whether the yellow piece is separate or part of the safe.
move_to
right_x0.4200right_y0.0800right_z0.2500right_pitch0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8753, 0.7712, -0.7876, -0.2287, 0.0101, 0.9965, 0.4397, 2.706, 1.5578, 1.2804, 0.3515, -0.0158, 0.9944] state[eef_state]: left_x=0.2565 left_y=0.0073 left_z=0.1606 left_yaw=0.0473 left_pitch=-0.2969 left_roll=0.2091 left_gripper=0.9965 right_x=0.6114 right_y=0.2243 right_z=0.056 right_yaw=0.0693 right_pitch=0.7042 right_roll=0.0349 right_gripper=0.9944 state[joint_eff]: [-0.1846, -1.5932, 6.6667, 1.5849, -0.1441, -0.0611, -0.0122, 0.6496, -6.6393, 3.4667, 1.2625, 0.1001, 0.0366, 0.0806] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.08,"right_z":0.25,"right_pitch":0.2,"right_gripper":1},"note":"The lower approach again stopped above the table and shifted the safe, so I’m backing away rather than pressing into it. This will also expose the right side and show whether the yellow piece is separate or part of the safe."})
tool
executing move_to over 17 steps (1.7s)
step 315
assistant
agent noteWith the arm clear, the yellow piece is visibly separate and farther right than my earlier approaches. I’m making a corrected approach with a narrower jaw opening to avoid the safe’s wall.
move_to
right_x0.5500right_y0.1450right_z0.1200right_pitch0.3500right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8806, 0.7712, -0.8013, -0.2287, 0.0101, 0.9965, 0.2459, 1.3399, 0.9131, 0.0578, 0.1654, 0.083, 0.9989] state[eef_state]: left_x=0.2542 left_y=0.0076 left_z=0.1573 left_yaw=0.0485 left_pitch=-0.3157 left_roll=0.2129 left_gripper=0.9965 right_x=0.4286 right_y=0.0813 right_z=0.2342 right_yaw=0.0622 right_pitch=0.2165 right_roll=0.0171 right_gripper=0.9989 state[joint_eff]: [0.0068, -1.894, 6.8034, 1.5507, -0.1734, -0.0122, -0.0073, -0.3487, -7.1179, 9.8667, 2.1856, -0.1099, 0.0757, -0.1245] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.145,"right_z":0.12,"right_pitch":0.35,"right_gripper":0.55},"note":"With the arm clear, the yellow piece is visibly separate and farther right than my earlier approaches. I’m making a corrected approach with a narrower jaw opening to avoid the safe’s wall."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent noteThe yellow object is now clearly visible to the left and ahead of the jaw centre. I’m correcting toward it and lowering the narrower jaws around its sides.
move_to
right_x0.5750right_y0.2050right_z0.0250right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.886, 0.7712, -0.8165, -0.2287, 0.0101, 0.9965, 0.3264, 2.0319, 1.0557, 0.6304, 0.2329, 0.0792, 0.5524] state[eef_state]: left_x=0.2515 left_y=0.008 left_z=0.1539 left_yaw=0.0498 left_pitch=-0.3359 left_roll=0.217 left_gripper=0.9965 right_x=0.535 right_y=0.1418 right_z=0.0973 right_yaw=0.0858 right_pitch=0.2442 right_roll=-0.0053 right_gripper=0.5524 state[joint_eff]: [-0.0752, -1.7573, 6.8581, 1.4872, -0.1441, -0.0562, -0.0122, 0.1846, -10.359, 7.4188, 2.293, 0.1978, -0.0366, -0.0122] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_y":0.205,"right_z":0.025,"right_pitch":0.35},"note":"The yellow object is now clearly visible to the left and ahead of the jaw centre. I’m correcting toward it and lowering the narrower jaws around its sides."})
tool
executing move_to over 6 steps (0.6s)
step 331
assistant
agent noteThe yellow object is now centred between the fingers at table level. I’m closing gently around it rather than squeezing the rounded shape fully shut.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8219, -0.2287, 0.0101, 0.9965, 0.4324, 2.4184, 1.2633, 0.8284, 0.3141, 0.0795, 0.5524] state[eef_state]: left_x=0.2505 left_y=0.008 left_z=0.1524 left_yaw=0.0496 left_pitch=-0.3438 left_roll=0.2186 left_gripper=0.9965 right_x=0.5638 right_y=0.2041 right_z=0.0106 right_yaw=0.1204 right_pitch=0.2698 right_roll=-0.0262 right_gripper=0.5524 state[joint_eff]: [-0.0205, -1.5795, 6.653, 1.3748, -0.1832, -0.0757, -0.0073, -0.0889, -12.2325, 6.0923, 1.6386, 0.1099, 0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.15},"note":"The yellow object is now centred between the fingers at table level. I’m closing gently around it rather than squeezing the rounded shape fully shut."})
tool
executing move_to over 5 steps (0.5s)
step 336
assistant
agent noteThe gripper is holding a substantial width of the yellow object. I’m lifting it clear of the table to verify this pickup before moving it into the safe.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8249, -0.2287, 0.0105, 0.9966, 0.4362, 2.4329, 1.2751, 0.8631, 0.3176, 0.0792, 0.4069] state[eef_state]: left_x=0.2499 left_y=0.008 left_z=0.152 left_yaw=0.0496 left_pitch=-0.3468 left_roll=0.2195 left_gripper=0.9966 right_x=0.567 right_y=0.2074 right_z=0.0146 right_yaw=0.1185 right_pitch=0.3006 right_roll=-0.0173 right_gripper=0.4069 state[joint_eff]: [-0.1573, -1.4974, 6.5709, 1.3211, -0.1538, -0.0415, -0.0073, -0.3761, -13.9145, 4.3009, 1.4774, -0.0317, -0.0464, 1.0134] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The gripper is holding a substantial width of the yellow object. I’m lifting it clear of the table to verify this pickup before moving it into the safe."})
tool
executing move_to over 6 steps (0.6s)
step 342
assistant
agent noteThe yellow object has lifted with the gripper. I’m carrying it over the safe, aiming to keep its longer end within the open compartment.
move_to
right_x0.5000right_y0.4000right_z0.2200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8318, -0.2287, 0.0105, 0.9965, 0.4377, 2.2375, 1.2697, 0.6178, 0.3134, 0.0788, 0.4085] state[eef_state]: left_x=0.2485 left_y=0.0082 left_z=0.151 left_yaw=0.05 left_pitch=-0.3535 left_roll=0.2209 left_gripper=0.9965 right_x=0.5609 right_y=0.2064 right_z=0.0703 right_yaw=0.1287 right_pitch=0.2476 right_roll=-0.034 right_gripper=0.4085 state[joint_eff]: [-0.0479, -1.265, 6.9675, 1.3553, -0.1392, -0.022, -0.0171, -0.2803, -14.3932, 8.6359, 2.2002, 0.0562, -0.022, 0.6716] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.4,"right_z":0.22,"right_pitch":0.3},"note":"The yellow object has lifted with the gripper. I’m carrying it over the safe, aiming to keep its longer end within the open compartment."})
tool
executing move_to over 17 steps (1.7s)
step 359
assistant
agent noteThe yellow object is above the compartment with the two plush toys. I’m lowering and releasing it while bringing the left gripper toward the upright lid’s top edge.
move_to
right_x0.5100right_y0.4000right_z0.0850right_gripper1.0000left_x0.6000left_y-0.2000left_z0.3100left_yaw1.5700left_pitch0.3000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 0.8928, 0.7708, -0.8486, -0.2287, 0.0105, 0.9965, 0.8417, 2.2433, 1.8965, -0.0296, 0.6704, 0.1928, 0.4105] state[eef_state]: left_x=0.2454 left_y=0.0087 left_z=0.1477 left_yaw=0.0516 left_pitch=-0.3745 left_roll=0.2253 left_gripper=0.9965 right_x=0.4985 right_y=0.3987 right_z=0.2153 right_yaw=0.1675 right_pitch=0.2874 right_roll=-0.0496 right_gripper=0.4105 state[joint_eff]: [-0.0479, -1.5385, 6.735, 1.5409, -0.1441, -0.022, -0.0073, 0.1983, -11.8222, 8.4855, 1.8828, 0.3101, 0.2515, 0.442] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.4,"right_z":0.085,"right_gripper":1,"left_x":0.6,"left_y":-0.2,"left_z":0.31,"left_yaw":1.57,"left_pitch":0.3,"left_roll":0},"note":"The yellow object is above the compartment with the two plush toys. I’m lowering and releasing it while bringing the left gripper toward the upright lid’s top edge."})
tool
executing move_to over 28 steps (2.8s)
step 387
assistant
agent noteThe yellow object is in the safe, but the left arm did not track the rotated lid approach. I’m withdrawing the right arm and using a simpler, closed-finger pose near the lid’s upper edge.
move_to
right_x0.3000right_y0.0000right_z0.2300right_pitch0.0000left_x0.5400left_y-0.2000left_z0.3200left_yaw0.0000left_pitch0.4000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2138, 2.4699, 2.3562, -1.5681, -1.2331, -1.7245, 0.997, 0.8295, 2.4172, 1.7107, 0.3222, 0.6502, 0.1841, 0.9988] state[eef_state]: left_x=0.488 left_y=0.0683 left_z=0.1805 left_yaw=1.412 left_pitch=0.2431 left_roll=-0.0161 left_gripper=0.997 right_x=0.5074 right_y=0.4012 right_z=0.0947 right_yaw=0.1787 right_pitch=0.2762 right_roll=-0.0573 right_gripper=0.9988 state[joint_eff]: [0.1846, -12.2051, 7.6786, 0.0415, -0.823, -0.1245, 0.0415, -0.5949, -11.8359, 6.3111, 1.9805, 0.1294, -0.0269, 0.0171] camera 'top_cam' (step 387): [image omitted: streamed camera frame] camera 'left_cam' (step 387): [image omitted: streamed camera frame] camera 'right_cam' (step 387): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.23,"right_pitch":0,"left_x":0.54,"left_y":-0.2,"left_z":0.32,"left_yaw":0,"left_pitch":0.4,"left_gripper":0},"note":"The yellow object is in the safe, but the left arm did not track the rotated lid approach. I’m withdrawing the right arm and using a simpler, closed-finger pose near the lid’s upper edge."})
tool
executing move_to over 34 steps (3.4s)
step 421
assistant
agent noteAll three objects have been deposited in the safe, but the teddy still protrudes over the front and the lid remains upright. I’m parking both arms rather than forcing the lid onto the toy or making another poorly tracked reach.
move_to
left_x0.2900left_y0.0000left_z0.2300left_pitch0.0000left_gripper1.0000right_x0.2930right_y0.0000right_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.498, 1.8885, 1.5711, -0.0002, -0.5415, -0.1638, 0.0094, -0.1284, 0.8852, 0.7967, -0.5373, -0.168, -0.1822, 0.9988] state[eef_state]: left_x=0.5412 left_y=-0.1865 left_z=0.2744 left_yaw=0.0598 left_pitch=0.3079 left_roll=0.0234 left_gripper=0.0094 right_x=0.3021 right_y=-0.0056 right_z=0.2116 right_yaw=0.1161 right_pitch=-0.0364 right_roll=-0.0509 right_gripper=0.9988 state[joint_eff]: [-0.7043, -13.094, 10.7556, 2.21, 0.0366, 0.2369, 0.9304, -0.0342, -2.2496, 10.0991, 1.8974, -0.2271, -0.0904, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 421): [image omitted: streamed camera frame] camera 'left_cam' (step 421): [image omitted: streamed camera frame] camera 'right_cam' (step 421): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.23,"left_pitch":0,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.23},"note":"All three objects have been deposited in the safe, but the teddy still protrudes over the front and the lid remains upright. I’m parking both arms rather than forcing the lid onto the toy or making another poorly tracked reach."})
tool
executing move_to over 20 steps (2.0s)
step 441
assistant
agent noteThe task is incomplete. All three objects were deposited in the safe, but the teddy’s legs still protrude over the front rim and the lid remains open. The lid approach did not track reliably, so I parked both arms rather than forcing closure.
give_up
hindsightUse a narrower jaw opening near the safe’s side wall: a full-width approach repeatedly contacted and shifted the safe. The yellow object was successfully grasped near right_x=0.567, right_y=0.207, right_z=0.015 with pitch about 0.30 and a 0.55 opening before closing. Grasp the teddy near its torso and orient it lengthwise before placing; holding its extremities left legs protruding. A left-arm lid approach with yaw=1.57 tracked very poorly, including a large lateral error; yaw=0 tracked substantially better.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1158, 0.8421, 0.8268, -0.5503, -0.1883, -0.12, 0.9975, -0.1028, 0.8703, 0.8268, -0.6537, -0.1535, -0.1825, 0.9988] state[eef_state]: left_x=0.2982 left_y=0.0022 left_z=0.2348 left_yaw=0.103 left_pitch=0.0244 left_roll=0.0167 left_gripper=0.9975 right_x=0.2865 right_y=0.0012 right_z=0.2062 right_yaw=0.131 right_pitch=-0.1079 right_roll=-0.0429 right_gripper=0.9988 state[joint_eff]: [0.1573, -1.5521, 6.6803, 2.0879, 0.0659, 0.1734, -0.0611, 0.1709, -2.3453, 9.6615, 1.9414, -0.022, 0.1392, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 441): [image omitted: streamed camera frame] camera 'left_cam' (step 441): [image omitted: streamed camera frame] camera 'right_cam' (step 441): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The task is incomplete. All three objects were deposited in the safe, but the teddy’s legs still protrude over the front rim and the lid remains open. The lid approach did not track reliably, so I parked both arms rather than forcing closure.","hindsight":"Use a narrower jaw opening near the safe’s side wall: a full-width approach repeatedly contacted and shifted the safe. The yellow object was successfully grasped near right_x=0.567, right_y=0.207, right_z=0.015 with pitch about 0.30 and a 0.55 opening before closing. Grasp the teddy near its torso and orient it lengthwise before placing; holding its extremities left legs protruding. A left-arm lid approach with yaw=1.57 tracked very poorly, including a large lateral error; yaw=0 tracked substantially better."})
tool
give_up: The task is incomplete. All three objects were deposited in the safe, but the teddy’s legs still protrude over the front rim and the lid remains open. The lid approach did not track reliably, so I parked both arms rather than forcing closure.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.473 s
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]: [-0.0307, 0.7918, 0.6037, -0.3908, -0.0193, -0.0341, 0.9998, -0.0269, 0.7925, 0.6079, -0.3958, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=-0.002 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.293 right_y=-0.0009 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -1.4427, 10.3179, 1.956, -0.0757, 0.1392, -0.0366, 0.1709, -1.3333, 9.6205, 1.9121, -0.0366, -0.0317, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9043a7953bc93d9e80b86f474ce84199c8611e3f979cb57a3c6014539f51f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4936a1b874659ae2106aa89afabb84636afe1964d3e73db56483a92cd529f9f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10bd60dfb49f7a3d6526227603d2356b5e8f0fa9035a52c8b7c2969a55f60935",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.884 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJE9pkDZOreVQ9otSEulKi3HqpyTlSvdnFa1MpoO860ZTqSrb-rx0W7wC-fHMtIeLaw9ABIBTlPQTH9rXH2Phqs13tcWVCTEggLx9dmAe0mMQ_yWX16lXGg_2s3CSuhr6g6-TgTpFswuDNe39DCOrq5GWB408jzAhvkW0KXEJLFfeGMhxoh_vtkP6HAHUZnNSLy1zFd-b2PBLjwcXBT_dwh6gEDhCEbq7lZLIkoK7vtP75DUbBz1OBIMgaHDzZRnlmbhegU2J4BKe2Yq5dkCqH_k_-WKG71wMxUsd95Yrk5tbrJuOmVbrYdXpGveAPvN5lls5pDw54Kw6_MFsPF-A8c06tL-eil5LHJ6kjjIHlZUWJlbn5UCE1I4jc7e9MBoCcGjDv6ysnGBTimS9YkfFDceL0jfkjpku-ZQcolsGLJOnVBnnkjYoSc8yRiCCeVuH84pO-DZr2VRw_5gy27EWeXOVKhyyS2TOMRGtkIiyEny5qsvHRg2RbNP-E7BpK4s2Z9ZelPDebtLuGiSUh8zwh9SGBFzis_GM-sFSEmFBoq0MWlpuAEtPOQPZrREYXZYXFC5RrVHe0GUdxDecrTQDA4vSmXzFZjXSTweurX5GOgP5BQw_y3BK32L-XJhOdVhPylT71ocVG_vac3w5g0JJSjVjwcCae1POZBmgUXY1bbfvRvQRsLVvRWF24yqf6QL-VMsHzh0smTXQYJdfR7xxS1rHJK5dv74r1eubhwWoduh_1NIOVNDstGpn-l2IQm6zQXiz7QKCl1EFfL3RtoQrEui4TRbbWiESMqrxDIPPJJEsNFFtIDXs1KdXKHbpFV9aFilKsffky63SXLi_MWq-D0LneQjnTN8ja8nUS8z0VX7UzI-3_a1sZU-7a5LglbvpFJzPEyz-y9z08QX1hJ4hjmRHKthaaAYgtn7yNXs99ACD7iVNbTjYeErRcIxsBxh7O8zwQEe-GhevL_kbtSfdXXSclPhbpQdza9s0qp2DM5KtKAer3ihulEIdDI9LDAfax4sILVXg8LOZotjfQiTz0Y-b94dLaZtzy-RitArDHF0sqAQKRyKyGlV-hrCPnnFgJyOlLd_26MSILcJDeE7qO7rt-qlkOZ-RqNnIL9jEUUL23hNfiM5QBlhswh5UqH772gFpajPz2oewuMPT9aHDs_GYBl3ETiGtVHByn1IT69DKo9zLCCNUa0j3mOKa9yVpOTFz3p3J7-0OJqPPzCAjs_auD2N4adL1Fib73IsqXHefyxd-NpfXOc9XVEMwxif6wF4xoPh6jYuZg-_yI914uMr8ctXUBDZoGav51Vajy3P6EYI03FDMaBiO9MgZflFYJ1EKG_JGpWrkf29XkAxG1m2q6hhnhyt30n-EAwSr4J5Z8NcZXTOhzj5u6wL4ZeFRafRHKyTXNvtoWUhAXPTDLCQxbo3T9wMb4Sv7kPm_MOwtoJcYLpHeUFD2zxroPby7Vqo2jCZqxkB92DpSggzmGgmqiVfh3mKmuVAPzLNdBxHc4-uT_l-wv5uGsnM37jB_EiufmSPsOBz_fmwtpffQ4Z8NtGSSd6iXWIGS01dV3vTk9TlEAPI1pQmboXJ8glbflsKNgbT1qkVcE31sShlDIoZZFy112s-XmSh1IR58ZM5_tYOdg2X4qhNLueUG5cldMQKm_p8Uh_m3nuSxnqUI7LbaYOeqaaS0sYwX1gxq-rtwaSqW_B76oj6DKEwEbHjpvE3fBfjQ5BCv8PbZ9z9MWvphBjSnZ4mCHFZGq84McyxbAbVNEw3adi-2sOIRY21UJ15czaabbwfR_I2boX7KXVSYkCmgesz2jchZe-Jzg6Tqycb6bAObFWnnHAkRuVmaiZcYbz-2E9dxZRRePL8Zr86CcPzXppu-_U_LBwl48bJ4VyFOikoSUP-zNr1MsyiKPeSGPLjhpPSzeuPpNB0a6Vt8NwsymXcbCChPGsF5VuIZraDWiIdWZpYs_RT7ejJQ5Xinmre-lA0ew82TmIRQkRR43EOIVGIMqCHM6sZx6o40Y7gbUIF6eC-O3B9SFKTYajz4uN3mkj60VSdKcx1GDjUqPGTrLHff7s_eqfP4FupPhGlTYLYWfbH6LcxoKxl4JeJoi8aMQDmiQ06B-kwBWpuBa5mz3o-tyIF73f-WTJjDmeLtxg5Do-xU35LXr6KZRfMzfRTic7IANsJ9vOWE2zbXelqijTH2IVD3KleqlBRHBPnzMiH7ut84_us1Uw8JGAqVJBXVMtgEZ8ZOYW-DG9hQCGiWKmWUu-RPWg1znCQV5b8MT5b7Fijn7OW-sTGhknPZThOZ_EDQJ1Dx5VXCBxt4cfyI_CH7cSi8ODe3wZZuGk8mvYJ3G9nhSxfvdUqv5FYC5IwV0DY4eDMzAB0usf-k-G54flam2XSFZvNVjJJZAbBRF1yw9tA6T4QdT8lQXCWs5dWALtt_FrCrzu_dn368JO0x-Wjm7o7eKyzG90M6VrBSfcl7JNEbNo0SsuVDHDCIROMfnyEViqN5sxATzWdnY81PDaniqQ9IJMG3aVrSA9JSU9H2AKqpfZUx9ZS75LD4vYu2hCnbj3KgfY1tCc0NVRp07I8upJf9v4AXEyIprTN-5MmDW9v4Q8fb9lyWdHk-tQAzbVmaxhe6BrF7ZO9jA1HyOTTvgHnIU1httttUcjEgviJaZb4VnqQMwbbxK4BXdnx9Jmgnv9OZnwsi7mbEA2COftrXCnzObtE3DeM7hexbrlo-oaUjDzXpYQJz70Y8V27cJu8cf_NKgwKzt5_uX6rWPnd2o5zCpaqoXqm9Q7XgcYx3Ez-JMbqiWFZ9qsfw-XNeSKKXXwVUqppIPi9DZA4T5owdDaBACjzr9DPZHdgUD-Uo-2beLGsFhwZRyn40A6vkkfFe1arBn5zQpCO9WBIVBqDxlm6ogwwZNO5tv6tSNzAAnaFxOXLMRmKt5S_mZ8pSbTkQwSkTbUwFkAwYz3b4Ipy1kCoiSU4kxLMZyRTh2Miqg6DlqstVgGODzQhVinYc6G9OGPBgiFssit6wg==",
  "id": "rs_040167a008f45f67016ab49136a8c487d09e68d730bd86b1f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.135,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The safe is open, with a cream plush, a brown teddy, and a small yellow object outside it. I’m moving the left gripper above the cream plush for the first pickup.\"}",
  "call_id": "call_iP7JOgyjRfXd5gCdoKjXQ5ao",
  "id": "fc_040167a008f45f67016ab4913cda6487d0b064f23c60a90bca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iP7JOgyjRfXd5gCdoKjXQ5ao",
  "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]: [-0.5472, 1.3479, 0.7517, -0.1352, -0.4179, -0.3317, 0.9998, -0.0273, 0.7967, 0.6132, -0.4324, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1285 left_z=0.127 left_yaw=-0.023 left_pitch=-0.078 left_roll=0.0317 left_gripper=0.9998 right_x=0.2889 right_y=-0.0008 right_z=0.1727 right_yaw=0.0035 right_pitch=-0.0355 right_roll=-0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.7368, 9.4427, 1.7216, -0.442, -0.0366, -0.0366, -0.0068, -1.5521, 6.6256, 2.0635, -0.0757, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a307d56ae0baa627489e943b36d31111e6baedabfbb5a23bcc3715edb3723b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ed1500d7326ec74f7d0c0d63be34d98ceaf4441c3487699e9aa0626cb48146",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff615968031d6017f29c4b8fa70bbe35372a7f981d49a7eb7afaed90397f3b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.618 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0307, 0.7918, 0.6037, -0.3908, -0.0193, -0.0341, 0.9998, -0.0269, 0.7925, 0.6079, -0.3958, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=-0.002 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.293 right_y=-0.0009 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -1.4427, 10.3179, 1.956, -0.0757, 0.1392, -0.0366, 0.1709, -1.3333, 9.6205, 1.9121, -0.0366, -0.0317, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5472, 1.3479, 0.7517, -0.1352, -0.4179, -0.3317, 0.9998, -0.0273, 0.7967, 0.6132, -0.4324, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1285 left_z=0.127 left_yaw=-0.023 left_pitch=-0.078 left_roll=0.0317 left_gripper=0.9998 right_x=0.2889 right_y=-0.0008 right_z=0.1727 right_yaw=0.0035 right_pitch=-0.0355 right_roll=-0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.7368, 9.4427, 1.7216, -0.442, -0.0366, -0.0366, -0.0068, -1.5521, 6.6256, 2.0635, -0.0757, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a307d56ae0baa627489e943b36d31111e6baedabfbb5a23bcc3715edb3723b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ed1500d7326ec74f7d0c0d63be34d98ceaf4441c3487699e9aa0626cb48146",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff615968031d6017f29c4b8fa70bbe35372a7f981d49a7eb7afaed90397f3b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJFE56OFB8xtgelL0_FEZnyo-lmWhWseRxFcEYNrXpB7TO0o4FpSfRTSMHLGjFnomDPHampXc9TZEaAVs_qLU1kW0qETBqcfgeS3ypaGfZsfJc-4E6vBigCyfsSpgCkhcSYae90zs-JqMegcdZqbVvCIbbByFWgLKma1iw08zGh9R7qBocXqIfRaCGbW3-VCZH1e6bbmjMNeImySBR_2T_PyPmSGQUTcn-AlbjrxCNudfzvV6Ptuq2_qMKF2BFamKOKsq1zHVTpJ8AJ6wPFxefmHyeKpLwVbkIxkXRaQXDMSv5amk0tnCFxlHxaJ0J93hi1yiq6f3G_npuH6z7NTBMFhMhtjQ76939FToybeLQcKT07Q6wprc67KRlDWq113460BWSMnhbYISv23SE-EWKYsxL7EP35lvdKJpAtC1OdNUKlQFFhva4MlF7S7nUzN11-TnwQNvmmtqqlGUdDlhGahnNlAFD1UOMO6EXrEJAVkX-PtOsfAmi0bzBUL7hPyv2k6R25GXajsFRtoB-D4Kqp2FVvXNcUqwV370dL2b49r63BJe29MJkkOB-wrMcoZEhbtFcDJ-6lWVj0njUAdGn8JsQcuSkowP8INt5fbJRqM3u24s2f4rsjzn1_lnB7o3OisIqCS3cvrPmS6Efx5MCIJLDr2cg21ccLnUpVmwR3eAOItQTrkgAhvLOiJA0wFfew2IPLnMCP3xBCkg2u8DhYOLLyBbRL2rpEd_9eaKI2gY-NjCVHGVreNneWMvvQvKSDlg890yYazHV0196EwkYaR_yUGWDaOhfNMMIWpZXF3NvxTlQayXR3DuEnCANxS-ipG3OKsgk06LgDXxf9u60PpAfqD7hyBA-hiNtxs9_rwawB1_LDPumi4ax2Z19xSUTEASsWq6e9DhB967eA5TmXgWQvVJKNzjbACH9dKw6FSTfCdO2z_vLH6ymvT1O10BQzELuowEc99LWsWUqtzjNPkFIkvV4C9kng91hWUtQt9vGfFvyxUjmjmbrCmuEN_s1kdP24jxHnOwrc0tPOiKLMnt8Mn4XyBdtbkDuNkGCmT8OLmh5fg3IcKzXzmDQ1o0pWlRkUaeNaBQZluFeeXXtj69p8BgrnKjhZWmU-4WRt_BBtk7V1Zz-lxovb_kKW0wYj68uxx5YhNfNwkJiiuR5hyQFFpgmjQdNmJFBFpIqX1uTR-3BoHSct-oW4CD8e9DNEzX0_ANBYCEEgNrvBZmQnt2Xgzig8LJZenWaUXTtth8PPWV6Lc5a9vQJFaW3fTgZeqww50Mx8uFyYxztbIuOBCpFYo-uy8SzJTikBXsEIWSHBRIxGXIbUVj18QVa0HQQnH4KshK-oRuSWt9MSv8VaK6Y2b65vFOrm07rxk93VZ7icd3Y_J9rrN5ydAAoB54KeRXkgeSDi2AZWNok4pi1gURIXUM-3n9z75PN1ES7jrjlj9ViD_czbu2Vuq7UlaZPIJ5USE1MRGx_44VM1l6kvkrwCK5d6X6mIAHHV1o0O7_sqder0Z6aKd9dvB6P2zY5CyL0J-3mXnhPHnk9sfjzFZ73S9JoDJCyL9QqaID7V-P1SsdIAcKqqmOhc3wmCRQek9NCZcdns_5R8_L2XS1a1znCsuhD4G-0_omevwVEHF8t0YCZspq89BfY03Ouyp7dMZjIIeVv5Ko-Yc43JxlEhKtFPchuKI2enbceVRgQVczR2A3aENFcTOgRqqmd2xJXqzjElmLiW-dg_KS55MCN5BqEm-lqRFyZUYfXXZemw-eJww6s3u6hcoMWJtBsWc4cml2zn836GyDzB6wBBYBac1DJP2wl8gy40xVMPztWFC8MqZCY4LpX34gUEbuX7M0UPqu-30v_b5LgmfY4toiWM1oJ7UitdTBJK21BG4cjHXhYucQpj_dapspHusTOao2GYWomYiK8NaAWvHoO4WEP55xvjO4GegYk4wDD8feyEix9Yk6CoeKKRsGR5lewlKkURRO2Fmvv-W3P-5e1_y7axdKlWGoGH5yP8-OY8S7NKnMfb2EfC1UmRm8-UvshvPfbj4lzw5VWmdxkPv9-U0AHNtmjX_Lkr0AsdDJ5oS9J6ULtSmckcW1Z9wurKwQgjH9evGJyRfL5SLECALj4s5Kog__9P8bJbmYV9DciJ0p6D0y7uhf2-fnIng8w3PMmWsl7zrdRHeP0u6q1NoXb9l3bm6hPDK6HRRfj_w6X9SzXkZ_kR__FyHSpi5D-pHDAdKKkfNddXEZxjRXG5Cd2bzLKvySw==",
  "id": "rs_040167a008f45f67016ab491401ca487d095c967bc5f9375a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.075,\"left_z\":0.035},\"note\":\"The cream plush is to the left of the jaw centre, beside the safe’s rim. I’m shifting left and lowering to straddle its torso without touching the rim.\"}",
  "call_id": "call_5gI5K7zhWBXOe7ZyyBjgjJOn",
  "id": "fc_040167a008f45f67016ab49144142c87d0918c93ebc65bd95c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5gI5K7zhWBXOe7ZyyBjgjJOn",
  "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]: [-0.3481, 1.5314, 0.4839, 0.2691, -0.2913, -0.2192, 0.9997, -0.0273, 0.7986, 0.6094, -0.4549, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3517 left_y=-0.0699 left_z=0.0257 left_yaw=0.0148 left_pitch=-0.1597 left_roll=0.0599 left_gripper=0.9997 right_x=0.2852 right_y=-0.0007 right_z=0.166 right_yaw=0.0036 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -5.5316, 5.0393, 1.873, -0.1148, 0.0952, -0.022, -0.0342, -1.3333, 7.3504, 1.8584, -0.0513, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e995e84737c481375203c01fa7d94a82c693a7652eca191fc4c1d177e854b343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83704946db712facc3e26a145ec27633666dea19cc2e14d37b461c52958e2576",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5164db61a9e1ad75cde54cf45ae5c222df6eaadea44905281a8973b82f8549dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.27 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5472, 1.3479, 0.7517, -0.1352, -0.4179, -0.3317, 0.9998, -0.0273, 0.7967, 0.6132, -0.4324, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1285 left_z=0.127 left_yaw=-0.023 left_pitch=-0.078 left_roll=0.0317 left_gripper=0.9998 right_x=0.2889 right_y=-0.0008 right_z=0.1727 right_yaw=0.0035 right_pitch=-0.0355 right_roll=-0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.7368, 9.4427, 1.7216, -0.442, -0.0366, -0.0366, -0.0068, -1.5521, 6.6256, 2.0635, -0.0757, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3481, 1.5314, 0.4839, 0.2691, -0.2913, -0.2192, 0.9997, -0.0273, 0.7986, 0.6094, -0.4549, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3517 left_y=-0.0699 left_z=0.0257 left_yaw=0.0148 left_pitch=-0.1597 left_roll=0.0599 left_gripper=0.9997 right_x=0.2852 right_y=-0.0007 right_z=0.166 right_yaw=0.0036 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -5.5316, 5.0393, 1.873, -0.1148, 0.0952, -0.022, -0.0342, -1.3333, 7.3504, 1.8584, -0.0513, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e995e84737c481375203c01fa7d94a82c693a7652eca191fc4c1d177e854b343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83704946db712facc3e26a145ec27633666dea19cc2e14d37b461c52958e2576",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5164db61a9e1ad75cde54cf45ae5c222df6eaadea44905281a8973b82f8549dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJFIeK4JjOmiYCdu73Qre8QhJCC6IE4BBCPBCJG4sHmE7Gfjy3TMsE4e3HZFuhV6lts55GYG-opOcgQei7Fkh-QOsL_TKiu9wVWZxJHE4jXqSaPCRx2M_nvuD5Xurp86w6vheK9RE7cUkSDiXzayAyTfxVlgwI0vQA2zX_T5wqo_O_VYhDoFi509jueojCxOF6S-D9RxaPGjeZGUEglmmfuspzOZtAq1ZAlNlFEWgUTPD7Uy2QfKLs7nR5a1VCBFlX7C-1BjeI9q5mBAFjo7Tx1VLIN5R6g00zl5Vy8FAp4yvJjq6-zWlRv-Gen0PuiOH_lPOPtT8uwnG43eS6hKm_LyyiuvZCaX2N14GeR7DfVJsuDLvYKfBhPYYvkQcWljum8E-CIjZEbBcNpOAogYIFI3bCiJzqxG05szAESDa4chmpUUz_3YUgE3VRfQf1HA_kp8a355tF_1LxfYjFdE2hL8lBoRBxU6Jt6ljza2qVhzr1yehPB8fdOgUIkvqdJ2_uhC6dMGdSZ-Bnshz1zfZHkFrlV7QehGwATWUtHGmP9Ayb5paOnKuG4BVccXWj1YZtSq3vMs-f8CcK4waxop78Zydd9v_CLhdiRWXLG9rZqQNClciDmCUUqfFVFjmOj90lbYX_HCKWNyJ9UZ2KaBWZYU6NdjCPODMKQCD_m45zEDq9GEmVTPnY3wjSTRSucC2JQc9vZ-qpS4GxCEEJFHiqiYgrLg2WYFg0Cj32alvTXoIaPqA_uUgTCD3QHMVedCCsstOo-iHxUSE5_sH9bMRnHb2kR9Wb-zr6pJpZHLNY8yO8STI6q7XL4MHFtuCO4KyAyeUaD9RuyhzKdkyHyzPa6Ep4aOoFIVY_dAHpUTzC1YXxtsGUk1pj0fPDBhHUQflsc4xrr0Jqp0WC-UPWN-n8UVzlq3ADQzcMHlgk4WpCucwr-QN_i4k3c1CbA_vfstLQijj7MSbgi_o4Nxlo5xL-1tUzuT1zWam3dTChhQDDF07SAHsiTBSrgRgnFsYTzrb8YIm8hsGc3XLhKgMDi5642KFXTRC-Q3SFJ-oEYeAHLHvyascBfYzOzvfsQnpeg9Tcz-hUnXOhrH1peK2jxL3lvUtO4WEZpHdJkFnG03YvspaR5wr4Tg5RbQf2AuIXoJh5wnu-74CRCry2ZEr606QIAjUxBVhndZ7EkgM2GGsNDGE68wVJbrE_v4FG7zuthWb47hu4a3bVzd1Xier0TfNijbI-10Mo2IyY2sYA39WSrpIg__o0U27K-i8j5rew1gAT1I-XWpUtYPq5bfjQLNv3I8Xye4JKu3aYkibH2sBzCLz1Y=",
  "id": "rs_040167a008f45f67016ab49146a6e087d0b77ff42fbcee0126",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.19},\"note\":\"The cream plush’s torso is centred between the open jaws at table height. I’m closing the left gripper and restoring the idle right arm’s parked height.\"}",
  "call_id": "call_5un5sCNP88SoVrhBOqoNyObP",
  "id": "fc_040167a008f45f67016ab491471ec487d0bcdbf5fdbdd3186b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5un5sCNP88SoVrhBOqoNyObP",
  "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]: [-0.347, 1.5463, 0.4656, 0.2699, -0.2932, -0.2245, 0.1271, -0.0254, 0.8471, 0.683, -0.5533, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3446 left_y=-0.0665 left_z=0.0148 left_yaw=0.0225 left_pitch=-0.1893 left_roll=0.0691 left_gripper=0.1271 right_x=0.2828 right_y=-0.0002 right_z=0.167 right_yaw=0.0056 right_pitch=-0.1369 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -6.735, 7.1179, 1.4969, -0.1734, 0.0122, 0.7643, 0.3077, -1.1966, 9.9077, 1.9609, 0.0122, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d2fba1640232698554391631fd704254a2abbe8210585b8492813ae4404c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e615cdb0270f78832a2b012b5f154076d9f82f96febc850a7e4dd1d6abd11776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28b5e95213c619360d11d3e3e31061fdfd0c9323a1fc2dcc4ff22e84ee362e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 6.873 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0307, 0.7918, 0.6037, -0.3908, -0.0193, -0.0341, 0.9998, -0.0269, 0.7925, 0.6079, -0.3958, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=-0.002 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.293 right_y=-0.0009 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -1.4427, 10.3179, 1.956, -0.0757, 0.1392, -0.0366, 0.1709, -1.3333, 9.6205, 1.9121, -0.0366, -0.0317, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3481, 1.5314, 0.4839, 0.2691, -0.2913, -0.2192, 0.9997, -0.0273, 0.7986, 0.6094, -0.4549, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3517 left_y=-0.0699 left_z=0.0257 left_yaw=0.0148 left_pitch=-0.1597 left_roll=0.0599 left_gripper=0.9997 right_x=0.2852 right_y=-0.0007 right_z=0.166 right_yaw=0.0036 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -5.5316, 5.0393, 1.873, -0.1148, 0.0952, -0.022, -0.0342, -1.3333, 7.3504, 1.8584, -0.0513, -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"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.347, 1.5463, 0.4656, 0.2699, -0.2932, -0.2245, 0.1271, -0.0254, 0.8471, 0.683, -0.5533, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3446 left_y=-0.0665 left_z=0.0148 left_yaw=0.0225 left_pitch=-0.1893 left_roll=0.0691 left_gripper=0.1271 right_x=0.2828 right_y=-0.0002 right_z=0.167 right_yaw=0.0056 right_pitch=-0.1369 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -6.735, 7.1179, 1.4969, -0.1734, 0.0122, 0.7643, 0.3077, -1.1966, 9.9077, 1.9609, 0.0122, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d2fba1640232698554391631fd704254a2abbe8210585b8492813ae4404c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e615cdb0270f78832a2b012b5f154076d9f82f96febc850a7e4dd1d6abd11776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28b5e95213c619360d11d3e3e31061fdfd0c9323a1fc2dcc4ff22e84ee362e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.075,\"left_z\":0.095},\"note\":\"The gripper has stopped above its empty-close reading, suggesting it has caught the plush. I’m lifting a short distance to confirm the toy comes with it.\"}",
  "call_id": "call_HJdk75wLM0yFglknGBkPPajs",
  "id": "fc_040167a008f45f67016ab4914a677087d093f6bab26aaa5ac5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HJdk75wLM0yFglknGBkPPajs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3603, 1.3853, 0.6582, -0.1108, -0.2947, -0.2443, 0.1311, -0.0254, 0.8501, 0.6823, -0.5919, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3509 left_y=-0.0735 left_z=0.0759 left_yaw=0.0235 left_pitch=-0.2135 left_roll=0.0659 left_gripper=0.1311 right_x=0.2764 right_y=-0.0 right_z=0.1588 right_yaw=0.0058 right_pitch=-0.1792 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.7043, -6.7077, 8.6906, 1.6923, -0.2173, 0.0513, 0.4029, 0.0068, -1.6752, 7.1043, 1.9365, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccb1b03c155bdd16272c1da192b1ac5b179c26eee8a01ccb38460765aa39be4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf01bd13d19f53ca179b52473170f3f30b4c3f3940ea53f8cc2bced23291f92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5231776cb55661f6bd1ee131ccfb67408af2e60ca2aa7b17e150d61d4e5dc977",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.918 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5472, 1.3479, 0.7517, -0.1352, -0.4179, -0.3317, 0.9998, -0.0273, 0.7967, 0.6132, -0.4324, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1285 left_z=0.127 left_yaw=-0.023 left_pitch=-0.078 left_roll=0.0317 left_gripper=0.9998 right_x=0.2889 right_y=-0.0008 right_z=0.1727 right_yaw=0.0035 right_pitch=-0.0355 right_roll=-0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.7368, 9.4427, 1.7216, -0.442, -0.0366, -0.0366, -0.0068, -1.5521, 6.6256, 2.0635, -0.0757, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.347, 1.5463, 0.4656, 0.2699, -0.2932, -0.2245, 0.1271, -0.0254, 0.8471, 0.683, -0.5533, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3446 left_y=-0.0665 left_z=0.0148 left_yaw=0.0225 left_pitch=-0.1893 left_roll=0.0691 left_gripper=0.1271 right_x=0.2828 right_y=-0.0002 right_z=0.167 right_yaw=0.0056 right_pitch=-0.1369 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -6.735, 7.1179, 1.4969, -0.1734, 0.0122, 0.7643, 0.3077, -1.1966, 9.9077, 1.9609, 0.0122, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3603, 1.3853, 0.6582, -0.1108, -0.2947, -0.2443, 0.1311, -0.0254, 0.8501, 0.6823, -0.5919, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3509 left_y=-0.0735 left_z=0.0759 left_yaw=0.0235 left_pitch=-0.2135 left_roll=0.0659 left_gripper=0.1311 right_x=0.2764 right_y=-0.0 right_z=0.1588 right_yaw=0.0058 right_pitch=-0.1792 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.7043, -6.7077, 8.6906, 1.6923, -0.2173, 0.0513, 0.4029, 0.0068, -1.6752, 7.1043, 1.9365, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccb1b03c155bdd16272c1da192b1ac5b179c26eee8a01ccb38460765aa39be4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf01bd13d19f53ca179b52473170f3f30b4c3f3940ea53f8cc2bced23291f92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5231776cb55661f6bd1ee131ccfb67408af2e60ca2aa7b17e150d61d4e5dc977",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJFS5tkBle7HLnYbxt-Qvh4nlZDy6RdtnA4KubR9XYhXtCVHM65y_fDyZsA7pFVvllt0DzQZIWoIQwJ1t1F-ZpL_C9hbLmYUnGjGMETT_yL2yHxjCrGCPAHAsfTPbVuP8tjfUnyddFBvcn7nCp_0QMQCSdvPSJ3Ov0-0HGgUlycLkSWP_KXo43aBqIALReju7dHvo2d9vdHgICCX0f8WHNxZwoTPIgq6t7bKjTJZW_OQAwnedYmOlgCPzBrF0qKANG60idQXPv89fy5-YUI4Itz4e3MWB5ev58uZQChdbQw_A2sg2y-oBQw8ZWpFRgphY-E9J_kO7RGYZ3-RfEa5DFYY8xO5-GVKDXapTiKEXNmDLMuAdn8TQNgTvLeg5qIdPjhBoMZQSfiPQIgDtyETqvLtCVADn3k8VyPQZX4HbHTYSlANHuHUR559A5k3zUYSRZ3ltHj50Kcpu70JbIwIGuzhWXfmySJFpiOmb0bRaqx81Q4Uy3zzCAAigeer0BdvsJVhzkab8lKCk5bB0nGAhZnv_4V0oQ6kPtLm-hlLwpelVrZ2xRfmMrLuRTtJw8GqT8TCwvsnzmcBy4USldiwZaTLSpk4B5TudVjG5fW4J3VEPDPhneN2hDytwNmjgBxvfbA7R_dqURLD4Ta7IltQMZs1y6Z__PKdVakXQarRZ6mtXxMjCyy7bdJxPI_ckooJw-HUf4Da7e-Z7AdPchvIUT-SDnjvSoLvP-m6JulwXtSgfDBdY3krf9m5lQJmFlBj6GAGkfEXs0WQ5lvRHY_HEVOuZiBVyWPXP39pv_tP9ptKvHDVwJZQJOxEfYxHlqfFq2VetK23NJW7ty2ZVADZpzSFaFY6uwqhaEchyjcy9BDFw1R-h2pU4SQ6ZsG4qLiZBuQmJlkUTFguMU1qnFT5SRU0BW8vOcTr84258r6jDDqb2QnED5Zx-krABLcWCfA2nq2MF7SjZNv_ZZfIQuTjVEdG94IG6-7Ue3SRHXU3sJ9x13BPbUF9k4FAOG18h5lcwjqk6BvM1dmjge7oNNq46NDMN4UUoGCS4uWV2_gHO-00_Z4mO1RqyCrNpiJpzzxUZC47cS0qxdR6PcKiZ_TgIDauGXyrE6Iqn5BDWMlLk2lTUEmr5oVB5H8uknOJV19n_m1usC-twkvSKqIWYm2DA2_sWvpaHkxOBhkXD5Ug7rfLYJ43_U6UXqCieNBxa8PpSHSrB7ChbhwgndWH_METi0rlVncPg8JARS4wTWSgMk7cPoSkRRPQuK7v4pHFoZ22vEjXgIfD2MehgUxG-UlPrSO48Zekkz3bracTKY_Pbq5ZjXT6kdxE3NdkCRxwmv5JwCAt9v77w8qVLwXgql-9py78DpxEHtxBwMLfvNVJrGdHPj15tMTFqejXozE_d_8V7oWn2zU5PcvEQluTxIDyMQiSuvvc-f5YREtjf-vY6O7Xh9Bt99Xnw_nBfx9VInfsG3lQuxuFylVB7gyV2qT79bj3L8WwjiGoeQVBW11H6w2uum-sxaTyU8V1m_HSMyuTYpBT2VA7HE4SDUu31W_okwE1YojGZj7-vj5VtyJrlGwX50TwUPsZYcFFD51bSqwKMTF_DCJvx8aGlLGZ4QWdRoLDRljehWPkssbvhgmygkMjppP7BLaMHJPE6Lh9rgKMiqDSxl7CIJyCfDgmlXl4zVJ_31AptxHWpNzElUX_j-UxcxyAuIBExgCpV4ZDk085UmOXFLND0IFza0ORh9ea6-h7tkpclCq3cWuqWDQCX4Z_AJOtF3lHgIxFH9aRpNggyvfmlQ__zAAvZuGhdddZDfq_l17sYROSr2SyUibc8ckPaoCK3yGMOrl1nsLnkY25Y-X0B3MUQXqowzyh3O6BQlQWjM9tkhypzMd8kClLTiDZpmFobPfg0hVFXXIKeynUmm_EpllNJ7pDu9ZMRHeK2dCA5wV53QS1OV1x691GnQfWRxN1HjWRiWwjU2F5esueOxoEJ231G8XT4fRIeb1Qh_0mjY1a9XMJaaP9LbqjDNsiCVpyULiAd17cy_ksxOAvN6O_Kx8qCdF0X4XJNSbNuzmLeE3EM4MkOqTEljvIOZuv9Tmom2RCwRInHOAgAAxU7c09UW6mr1P6ToH1RcsMmJXW5ZGEMPu3hapoV-Y1LDPgZdDTNNFse1arQ7mDl0e1fIAScDTgFLW9-jSwFDRj8JN-XMnPMd-tT6CrGTaLX04QBf2qn8plnWdFYxPhBDeXpvf1KwSdPBHx1OS5mXuzTTgk1HR-CTW1w5CDY5A78G6gCjBVX6lw3AKr8ehdRmbKD1yE-eu1wC29xaRWHFAo_wZggd4Jh4nPxtSbml0g5xdiFN_pLYvQEDNogdAfZIVR3oaVZ2uVNG2FydoLFldwqQDo5Z4qjVhboWCR7bzEdbik_4kyBeQedQjUj-Mi6C_v-v7oVD-2ijcQYYvUvnEA_Ez33blQZt4t7zgCUMeQ_DdVfcZCnTM_bZuosvfvUoRs8uKU",
  "id": "rs_040167a008f45f67016ab4914d27b087d0b1c5615c01b30ed7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.225,\"left_z\":0.23,\"left_pitch\":0.15},\"note\":\"The cream plush lifted with the gripper. I’m carrying it upward and over the open safe, clearing the near rim before lowering it inside.\"}",
  "call_id": "call_PHtiDPN1NtAkFAsPirkrYEjC",
  "id": "fc_040167a008f45f67016ab49151a86087d0bba48e66bd4d53e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PHtiDPN1NtAkFAsPirkrYEjC",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6636, 1.7538, 1.3296, -0.2409, -0.6151, -0.3336, 0.1348, -0.0254, 0.8547, 0.6815, -0.6186, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.2155 left_z=0.1933 left_yaw=0.014 left_pitch=0.0483 left_roll=0.0973 left_gripper=0.1348 right_x=0.2719 right_y=0.0001 right_z=0.1526 right_yaw=0.006 right_pitch=-0.2113 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.4701, 10.5368, 2.1026, -0.4225, 0.2418, 0.3687, -0.0342, -1.6615, 6.8855, 1.8388, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4381727c0b1b10c47a35b7e11a9823525a243ffbac9682ddf50ad24b063769ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d3c354f3fdca123862f46f1b37447a664fa5e1f70763348a13030773f4d82e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de6a6b48711a623d64e7ebcd879b3b8577b9bdcc2b90092aeb8847f3790259c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.471 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3481, 1.5314, 0.4839, 0.2691, -0.2913, -0.2192, 0.9997, -0.0273, 0.7986, 0.6094, -0.4549, -0.0196, -0.0185, 0.9995]\nstate[eef_state]: left_x=0.3517 left_y=-0.0699 left_z=0.0257 left_yaw=0.0148 left_pitch=-0.1597 left_roll=0.0599 left_gripper=0.9997 right_x=0.2852 right_y=-0.0007 right_z=0.166 right_yaw=0.0036 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -5.5316, 5.0393, 1.873, -0.1148, 0.0952, -0.022, -0.0342, -1.3333, 7.3504, 1.8584, -0.0513, -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"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3603, 1.3853, 0.6582, -0.1108, -0.2947, -0.2443, 0.1311, -0.0254, 0.8501, 0.6823, -0.5919, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3509 left_y=-0.0735 left_z=0.0759 left_yaw=0.0235 left_pitch=-0.2135 left_roll=0.0659 left_gripper=0.1311 right_x=0.2764 right_y=-0.0 right_z=0.1588 right_yaw=0.0058 right_pitch=-0.1792 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.7043, -6.7077, 8.6906, 1.6923, -0.2173, 0.0513, 0.4029, 0.0068, -1.6752, 7.1043, 1.9365, -0.0269, -0.0464, -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"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6636, 1.7538, 1.3296, -0.2409, -0.6151, -0.3336, 0.1348, -0.0254, 0.8547, 0.6815, -0.6186, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.2155 left_z=0.1933 left_yaw=0.014 left_pitch=0.0483 left_roll=0.0973 left_gripper=0.1348 right_x=0.2719 right_y=0.0001 right_z=0.1526 right_yaw=0.006 right_pitch=-0.2113 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.4701, 10.5368, 2.1026, -0.4225, 0.2418, 0.3687, -0.0342, -1.6615, 6.8855, 1.8388, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4381727c0b1b10c47a35b7e11a9823525a243ffbac9682ddf50ad24b063769ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d3c354f3fdca123862f46f1b37447a664fa5e1f70763348a13030773f4d82e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de6a6b48711a623d64e7ebcd879b3b8577b9bdcc2b90092aeb8847f3790259c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJFXOtSZchCIS7OwXhBjdofkPaxUlTdCth46ITnZhzvqjVWAn1exSck4PDL_yaAjh2KpsMoibu7r65pcnY42ng2f9CS-zcvggAqmcXiSziazIPXduG3NYS2q9fqEXvklheDVFpFNmNRz0Q2gsAykyhDTOdTF9axJM28uW8QiHOEY_-3PeYNJpISLssdJKvsPDOD2gvZ8qpwijelTQmR9fNgMiK4cdW5J0J6NEmeshjsRwPnsJsWUby5zpztLeTC-wuSilxCgQqt8xXURZ2OrujyaGXw0QYqQyX-R56D0lISwL9Jlkve6iJCdEYVpJIKnaXGQ0p09G_YdH9ky8fERrv6uYZ0_NHJ-t_Ucfb6LfTWXynEnXKUlVn8NnOhtiS3_4SiBaIltAWIHLfrCe4_sn9YD3UyBsUI0z0e4j1hSMQmAiLmrnpjlAIh4wbO6tUBIVdAUCQleUHrw3nrLJ63kDW4koczdUzrbTYQPI5hw8uhtbzjVK7FvyDZnOsUaAX3aN4Ccpd57h0sX0sK_E0fuE53ICorEieiW_FFHNushXmmhuT0_-MBtBLyM33P8kyUMGfKLYfsyr2QPhXkeqPR_1mFXmYk-SDxdnBGoh8W548bTsFGGnTi7JLG6wMdEQDeqaKOM7mCYej_j1pzCvGCmdKIlHJfIPsQ3wG9sWI5hd3c9xBdMdj2MtQz7kd7JZIPIEqsb94NKh8wZ1lAsj_53s5eDiSf9flW20uYQfB_iW72YhmLwum-blUzWa-0rjcxWmb8bKPOP0F_kfjMYX2i8fEu1oio4DQmDRbp-fiUftHmTYqPqZKc98oNff-G_OBS-LnpfnFMnDCWXqNN_TmgawLy7FS83jgwhMKfpR2XT8aEoJQzitcPX8aYZJSNlPSWAbvLbpkXL7rXwdgQF92dk93Jk4Oi2vvDGrmuZu5wGqrMHLdk_nkLHHfF-y56O0Wd5m_Rtt5hRoGFLmHrqK9vxaVbrWORLykhI_nCUkknIdY0BZVt-4qNykQBvmCQzFKi4c-H9i6z10uQcHFViMgKYsPkz-khHSGk00Ki5jRmKukrGx1ODxFEvWJ3WFC-0TO2OF4IxpNLa39lxqw_RtfDVxN1-hv3q022EaYz_3jtJD5tUou4m9dCNBb7hDqwdW-EIfEduSpxQloSJCksHWSXVwvLe0v5IaOMsOX1PMgOqKPqYidhDoHxhSJSwXpw-WMhwKvbVUOFw39dQlh4ywWt2ONTKAqPf75P23VbAd4bcCOYJ52LposXfyFId6LLpBFhidRXU2lkzoWV0Bd1A3ZMMloYXyz3Y5W8E0U2UiRwc4A_co7oiPbucih-MfPGsUcNOCkwCulCXi23lDYXZ2Uv5WjjlKLMGemVcqNMlbb4tbntxfrOVJCL-06Lpj0wLmIkfHIiFYEy5o2HWmWa6Nuc4JohvfJIl_2oejtzZ-hhXScrOYf_lLkGQsLUzZBk2yBgwGLDjFiK4Dnm-DRI6EklFqQ8L-Q==",
  "id": "rs_040167a008f45f67016ab49155416487d0968de343204d8f27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.225,\"left_z\":0.075,\"left_pitch\":0.15},\"note\":\"The plush is above the safe’s opening, with its head toward the upright lid. I’m lowering it into the compartment, slightly nearer the front to avoid the hinge.\"}",
  "call_id": "call_RXDQNK7CEiPZkiv7zSj2ruUP",
  "id": "fc_040167a008f45f67016ab491565ad487d092621d393f992338",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RXDQNK7CEiPZkiv7zSj2ruUP",
  "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]: [-0.7128, 1.9285, 0.9775, 0.2901, -0.6693, -0.3157, 0.1376, -0.0254, 0.8558, 0.6815, -0.6388, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4284 left_y=-0.2207 left_z=0.0668 left_yaw=-0.0036 left_pitch=0.0718 left_roll=0.1359 left_gripper=0.1376 right_x=0.2683 right_y=0.0002 right_z=0.1489 right_yaw=0.0061 right_pitch=-0.2326 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.5265, -9.1009, 5.7368, 1.9853, -0.4469, 0.0562, 0.2759, -0.0752, -1.5385, 6.9949, 1.6972, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68b2e4a867dded64db3d99c3ad0a3904c061f53a63aec6b69c1760dd43e27ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdaa487edc1f532a8b1d98d66695062b586a58acf3de97396fbc154a362fec3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132ac36984e5b3b742036f69afe794a71a219cce55b3e366a7a09b1e3bc36141",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.988 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.347, 1.5463, 0.4656, 0.2699, -0.2932, -0.2245, 0.1271, -0.0254, 0.8471, 0.683, -0.5533, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3446 left_y=-0.0665 left_z=0.0148 left_yaw=0.0225 left_pitch=-0.1893 left_roll=0.0691 left_gripper=0.1271 right_x=0.2828 right_y=-0.0002 right_z=0.167 right_yaw=0.0056 right_pitch=-0.1369 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -6.735, 7.1179, 1.4969, -0.1734, 0.0122, 0.7643, 0.3077, -1.1966, 9.9077, 1.9609, 0.0122, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6636, 1.7538, 1.3296, -0.2409, -0.6151, -0.3336, 0.1348, -0.0254, 0.8547, 0.6815, -0.6186, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.2155 left_z=0.1933 left_yaw=0.014 left_pitch=0.0483 left_roll=0.0973 left_gripper=0.1348 right_x=0.2719 right_y=0.0001 right_z=0.1526 right_yaw=0.006 right_pitch=-0.2113 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.4701, 10.5368, 2.1026, -0.4225, 0.2418, 0.3687, -0.0342, -1.6615, 6.8855, 1.8388, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7128, 1.9285, 0.9775, 0.2901, -0.6693, -0.3157, 0.1376, -0.0254, 0.8558, 0.6815, -0.6388, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4284 left_y=-0.2207 left_z=0.0668 left_yaw=-0.0036 left_pitch=0.0718 left_roll=0.1359 left_gripper=0.1376 right_x=0.2683 right_y=0.0002 right_z=0.1489 right_yaw=0.0061 right_pitch=-0.2326 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.5265, -9.1009, 5.7368, 1.9853, -0.4469, 0.0562, 0.2759, -0.0752, -1.5385, 6.9949, 1.6972, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68b2e4a867dded64db3d99c3ad0a3904c061f53a63aec6b69c1760dd43e27ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdaa487edc1f532a8b1d98d66695062b586a58acf3de97396fbc154a362fec3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132ac36984e5b3b742036f69afe794a71a219cce55b3e366a7a09b1e3bc36141",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJFbHOoGu2RLyYKN55EluJ0KbuZe5poHrQiUqgWm0JvocY6hHO0JxlELUbAwYI3SNOEODrSaz6qHHeJwmY1oR_FmJiGie_AKyJ0IXjbZBKAPJ4DpcGUdtvZe6oAG7Gh23p5r2vHfGiDcq35DXvq6PqPQL65dCOtlY9WX1nRVds7V69PImfskB4JhS9Fc_NGBAvvC_u5UILBiVRN-ttsK3sSQfIbeppbKaxuLyoffQQq7s4HLmKZfd8NCgC4LOgeop4Mp_LV40JcRsvHdbWzNZOqMmz_EcvMZi8-D0tBgLnRp9mUrqTY2DLIc5WmeUr2AIJkQf2fnIq7zgaC8ZH0Nx0nwpiYGbejHxGDbNs8nB8f9yajHecU-Z2oj_EqH_3vT9gO-vpMwK1uW3f4bR4aniQN9_Elo0WdR1i2SoebvxQHSfdH2saL17iGNsRW8wpCUGrJTe9oNlo3zQS8_i95C30dU2I2FiqP1NlpmclJssOD2Cnd5Es1nUc-qsnlws__breSf7HfopuLO1UPXVffr30fQxQXAq6I1LOPkT48s0k7RlOZDCvFWK_t2cn4K_45To2YSO0ggoUKRuHDCdKeMx1hOAwFSNugpUhAFfKi4BWwSBS1IxM0WzmHhz0NzY3OF8c4lwWG3YsmT_CB29Xc7Xi1C4ADZckzWNImXtS3tAylFjUbF4p0qWtl6HSnmxsjvUlRKLbXiUweMBl6s0kwZxoyp7k-CJhhTffU6wqfmMOQNOhnSw2SRHOajCplwMSywRw3aUwNuYphbgEEDYDxTg7Y1CJqsVIkNiq5G8MQVOgiv_ZfRSWZ7W5VkbGgRhWwwR0JUhEDiLdK4k1NN0yHsRmhbqV6hzS15If0-VhKMBPGAQD2Pd7cW06v5N04-PDbyvwAA2VcQyb3VnuwHvhMzxpxXr0By9hgr2_sGlY6vrel_CVMtK-nHW7r-5dG_BfsuZecDSVdvQurBRs8VEZWC9cgZ28rrvBpk0OrkZkjOksts0fU8GVMQaoCXCLlUHzVUuvU5r719Jqa1XDjcNiFI6NhfX4Qzl9L1Ss5OprsnaD1_XOHDn5pFPVTaTALAxppcty7ItUMkVajN1EBWVaMKC5fLzzwYcbIMltJGy-b2fqxUPHj-NRJFjhODgEO4OFUH2lxVLTeym4YS3-WVIfmsTrMVXV5wYl6vZSTsZcP6bKmH3oF2XHAUOwTn-2G8tyg0T8CKvW3sOHlyYJMyhSdTxwu4jzZWdYVFMqVd2uyIfus7RxX0q_L_OND4JhuPPKO6hYmr",
  "id": "rs_040167a008f45f67016ab49159df1487d0bb1c898541e7f4a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The cream plush is lowered within the safe’s red compartment. I’m opening the jaws to leave it inside.\"}",
  "call_id": "call_6huw3970o2QTKOMIGGQ1HEmP",
  "id": "fc_040167a008f45f67016ab4915a884887d08a3d426f069df4f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6huw3970o2QTKOMIGGQ1HEmP",
  "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]: [-0.7166, 1.9568, 0.9607, 0.2829, -0.6739, -0.3214, 0.9951, -0.0254, 0.8558, 0.6815, -0.6647, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.4219 left_y=-0.2166 left_z=0.0476 left_yaw=-0.0027 left_pitch=0.0345 left_roll=0.1673 left_gripper=0.9951 right_x=0.2636 right_y=0.0003 right_z=0.1445 right_yaw=0.0061 right_pitch=-0.2585 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.8906, 6.7487, 1.5556, -0.2418, 0.022, -0.0611, -0.1709, -1.4154, 6.7897, 1.746, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9615ed12ba7dd1f66a703c41071191b7e4e5c0b941061f87cf3bcfb41a5e8bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c1764742db7acba4ec87969240cf20519b62ed87e871054a77145c573afc64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7026bfccc6904ccb64dd998197c15137c53948f8144f912f7c8da7490287e56e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.107 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3603, 1.3853, 0.6582, -0.1108, -0.2947, -0.2443, 0.1311, -0.0254, 0.8501, 0.6823, -0.5919, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3509 left_y=-0.0735 left_z=0.0759 left_yaw=0.0235 left_pitch=-0.2135 left_roll=0.0659 left_gripper=0.1311 right_x=0.2764 right_y=-0.0 right_z=0.1588 right_yaw=0.0058 right_pitch=-0.1792 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.7043, -6.7077, 8.6906, 1.6923, -0.2173, 0.0513, 0.4029, 0.0068, -1.6752, 7.1043, 1.9365, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7128, 1.9285, 0.9775, 0.2901, -0.6693, -0.3157, 0.1376, -0.0254, 0.8558, 0.6815, -0.6388, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4284 left_y=-0.2207 left_z=0.0668 left_yaw=-0.0036 left_pitch=0.0718 left_roll=0.1359 left_gripper=0.1376 right_x=0.2683 right_y=0.0002 right_z=0.1489 right_yaw=0.0061 right_pitch=-0.2326 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.5265, -9.1009, 5.7368, 1.9853, -0.4469, 0.0562, 0.2759, -0.0752, -1.5385, 6.9949, 1.6972, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7166, 1.9568, 0.9607, 0.2829, -0.6739, -0.3214, 0.9951, -0.0254, 0.8558, 0.6815, -0.6647, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.4219 left_y=-0.2166 left_z=0.0476 left_yaw=-0.0027 left_pitch=0.0345 left_roll=0.1673 left_gripper=0.9951 right_x=0.2636 right_y=0.0003 right_z=0.1445 right_yaw=0.0061 right_pitch=-0.2585 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.8906, 6.7487, 1.5556, -0.2418, 0.022, -0.0611, -0.1709, -1.4154, 6.7897, 1.746, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9615ed12ba7dd1f66a703c41071191b7e4e5c0b941061f87cf3bcfb41a5e8bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c1764742db7acba4ec87969240cf20519b62ed87e871054a77145c573afc64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7026bfccc6904ccb64dd998197c15137c53948f8144f912f7c8da7490287e56e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJFftqUWQk4SW6ehVvTfmPIUAYP-Z2nsgz1o-Psiyf6nh0G1GPgE7fUxOMRaN1vBOjbmeNDYQSEgVo0X6tAGFjGfsSPfyxza8jdR5ZcB-CbQsz01QEd_Fc7YQXudQn0J6flrpHI91TD5x-6bev84NhO6Q0-sK4qgnOL_j5f3M0FnQmeHFbvc5LdbyhDDczbbBVzs7eJWE8wNJ1VX3XcToqhvGoL2wx3Uut4T5GTnIseNp7KZU-O2lJdpXIXvXOobRjvm1SME9UPK-E0rviB9HvfQWTkoxPl7EhCG5r_14e-8UslSTk83Vwj70yUOGfqiIB8dikjMNA0IO01j0CtlVcgPjfN1EHmY4kvPBa_8aPK0k_RycW2BNi5oMGAKSE_G_Zi-MhB2JUzwMDtz3q1ZQ9ZV6qAh-WjpW8v0ZivYcPcUxv-s5ab0j3UQdHgsqBMXuxkXomVU3CKX1ZHYOBbSWiWtIMZ2swLQARmfoQkpq66fL3eUAaG_DfqTem9zopwTnFobhTimqD_H07ptujkCY9P453cDmJEH2MyQ_3WgWcUKyX-f3oYy3wnSaZY2KdNSi8_88JH7JFNCFJyZoWcjWSiOXp_A3bL_kAM0tKcs77dyVC8L5RehjuWU1ncJUF612Lfl-YPL_3jxTXeXwQkZwyZUb_n5jybpddsza9T67cuidjY4RnnmaTNOgDT4dogXfweNy1EARA8_nh55fDeyEjcl-YLo10wnRiwE7rnnMfTVYUIPq85xSYdyj_iN2klL3MwKyc0OkLo3kBRx-WzEcjVqV83W_HsULg5yQUkMpv85nEOPXPw2UY6CkqMoz-h-qo_wq_3RyId80TZz_d49hzqndvru5Yl4wEPWq9fgHpMVuCVvfj77yzXZ9SAbKFcQ2r3-udGGc7xONad8OxhfogGos5ji7mrXZKwk1HQC1oiODV-EYYmEvqWVeuKigzBlMc9PEFA8XcGa0BNykZv4dnVZIl6VoO7SNiWZbzzZ660gEqa3ZAXMiCwd7oFSm_nRQDlcn6Lt6U4m9s-fhfFjxuxNE_TxSI5F4Crre3Yi2EXV6h2-hTlYE7tNCJ-L-YpNxBFVxUIGddUDCHWiXPaWfGAvPBNv6XYX8poiiqmOpySXBskpLFkEovSKquw57AFeIdoxduFvdC3BwJnnI8V6kWshznWnNntrf8GFS-u3SW_l9fuHwHbFGwLnqTHQsq2UJ9fL-POYG2fHpcjjA7ekd8Fh_cm3D7XpTUHWWQHz3F3DzrMzfMovaq_XeTjU2HcuDkEpytZHpbQ07eriq1dIM1z1gapl-jDym5XXKdpA6-ROrlR39w9N2mv57iVnhGv3xg4O_HH-fGSYl4I58iHzYSeZM-0W-sMEXwihX7Nl9QTIJPfjNnODdSbUmpnJFFk0rOHKRY-NNYZ1cUlXyOMSodHusTD2kGuENtOPfRTnq0abbxHYGSluTNioY4nWpI7O1VioTlL7-aiGhSIbmupOLL6iwON24NNdAlyhDEsUqqrQy_O-Jg6NSPVm2kMOu_GZpnMEIiR8BwKZGTHVzO_Vdeyl7A==",
  "id": "rs_040167a008f45f67016ab4915d5c9087d094c7aa6acf90da18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"right_x\":0.28,\"right_y\":0.315,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The cream plush has settled inside the safe. I’m withdrawing the left arm and bringing the right gripper above the brown teddy in front of the safe.\"}",
  "call_id": "call_fUtcuOrvDAH3pGtQz77GOmyU",
  "id": "fc_040167a008f45f67016ab4915ecb4487d0a195d6ccb88ab516",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fUtcuOrvDAH3pGtQz77GOmyU",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1459, 0.831, 0.7727, -0.5602, -0.2386, 0.0101, 0.9963, 1.0805, 1.7638, 1.4406, -0.889, 0.5991, 0.91, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0031 left_z=0.2126 left_yaw=0.0438 left_pitch=-0.0274 left_roll=0.1638 left_gripper=0.9963 right_x=0.272 right_y=0.3057 right_z=0.1481 right_yaw=0.0315 right_pitch=-0.3049 right_roll=-0.0484 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -1.7162, 9.7436, 1.9853, 0.0073, 0.1832, 0.1099, 0.1709, -8.3897, 8.294, 1.0183, 0.5934, 0.232, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eef9a308e12023887e6838e3ef4fffd39676e9387b3588c6e60982a3809ae63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e3e88d65c51dc045c7f2b9716f3194cf1b0dad8f3f8f51380c7cd88b66615c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8fc90d387dd00f36e5fe103232f5718d37b2c0624dd60154fb2ce912eef3c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.384 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6636, 1.7538, 1.3296, -0.2409, -0.6151, -0.3336, 0.1348, -0.0254, 0.8547, 0.6815, -0.6186, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.2155 left_z=0.1933 left_yaw=0.014 left_pitch=0.0483 left_roll=0.0973 left_gripper=0.1348 right_x=0.2719 right_y=0.0001 right_z=0.1526 right_yaw=0.006 right_pitch=-0.2113 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -9.4701, 10.5368, 2.1026, -0.4225, 0.2418, 0.3687, -0.0342, -1.6615, 6.8855, 1.8388, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7166, 1.9568, 0.9607, 0.2829, -0.6739, -0.3214, 0.9951, -0.0254, 0.8558, 0.6815, -0.6647, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.4219 left_y=-0.2166 left_z=0.0476 left_yaw=-0.0027 left_pitch=0.0345 left_roll=0.1673 left_gripper=0.9951 right_x=0.2636 right_y=0.0003 right_z=0.1445 right_yaw=0.0061 right_pitch=-0.2585 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.8906, 6.7487, 1.5556, -0.2418, 0.022, -0.0611, -0.1709, -1.4154, 6.7897, 1.746, -0.0513, -0.0317, -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"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1459, 0.831, 0.7727, -0.5602, -0.2386, 0.0101, 0.9963, 1.0805, 1.7638, 1.4406, -0.889, 0.5991, 0.91, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0031 left_z=0.2126 left_yaw=0.0438 left_pitch=-0.0274 left_roll=0.1638 left_gripper=0.9963 right_x=0.272 right_y=0.3057 right_z=0.1481 right_yaw=0.0315 right_pitch=-0.3049 right_roll=-0.0484 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -1.7162, 9.7436, 1.9853, 0.0073, 0.1832, 0.1099, 0.1709, -8.3897, 8.294, 1.0183, 0.5934, 0.232, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eef9a308e12023887e6838e3ef4fffd39676e9387b3588c6e60982a3809ae63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e3e88d65c51dc045c7f2b9716f3194cf1b0dad8f3f8f51380c7cd88b66615c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8fc90d387dd00f36e5fe103232f5718d37b2c0624dd60154fb2ce912eef3c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJFnAV_cY2e6OqTHuYBtQe3WhA3w_z67Ern1UqCjY3fGLias7_ZxBMVV2E8KnNVsz70FefK4Yt_QBOjFbMH3Dgdla4KWfAlypbHgK_ZX8Z1oeHKqxqSyu_5IktOVsKHO4ywyF1FGV0itTGHQoWbmXdDkoWw_5OZBxaeYWMFpjdeB6WfCkCSIsHmbD1OOPYOgqn9998lgW2DaxSvSao0QfSO5W8MxxN7-Z_XPz6Ob8CVW1Xh2kmnshh7twoboG4M3mbREwOGYQEnp1Nel1ApjaihVL1yIgkjx3amNOdB0QRUlvmnIL4yk4l9vx1rea1bH8KjH0Jl6k5-7dJ2FKoDp5IA4fsESZRbFHyqGAU9HqgujLT4iztsmvz4SKnaOKiGmfTLsYDKv4ippYEOm8Z2a8ysh8REqGW0CETeq-sPfQdkfXVhHSwApZVz_vDe4WASIbNGtF8aMErvtMcVXFetWhX2arrZgjOaGp3ESiwzjdhsYeE-D2AbG_VQxt0oIhcT4yoMwEqsAx-Ok1HbBsu-wPzZZ27WhjY3G88yv3GULlQ6c7xp7p6CM7jReYL_LymjzoOCXq9bDObdAsfGFc1ajgeejN9RyYIxMFkdLxdEmF9z7eplp4XchN79mG-vLtPgMuaqU4N2vkXBhPz1uUkw5f-lYPVe-qlTVoWKhPGhjtBMWKIN8gn2R3XkX7bqw7ginkBuwyjF3nJ7iJnlt5X50ugoenuHWd8jumHpX8dMgrciWuiw2t3sA_LHNTOuOHq3uinn5vDkDGmBuQ9RDDncT0UsQWBXfb-hNJeGDBfh-fa69yEEVZfC7jdG9g8ylhFCdL3kAx5aQk2o90o9mCP2OGTAQ14eF-Im--rz9yE-TNuq9WhDYAwKzvohRtBxQ9AIg_M_bTV6FNORJGGMtVktcJu7bG4UUHqSJTUStFimNu6Wf2RN5mlAZZ3ax2gb00LNdHbL-ZSXC-4wJRyVw7NWITpMIFe--wvP9CsnnlinQZES55WGkig3ZZ7900lKPWUTHI6yIovHQW16xFjnTRjZvSMRl3rqw37wFRiV6qlm0ZypzRTRPGnTk3Vr5crEDnbUX_OtAJM-yphufZvKCJKt04SlqMcE5t3sxlU3HO8s2LWOHnZD-l5G0KbWmyy7LmZsrKCfIy3hi5HIOGHXvbiBR8UUT1slr1hTgu75MfvZ2Rnl2uq9RKtyHejljE2J21sNTUm_9-ecCmkID_FwH3JyzjrtbGhQtskQx493O561nGjHsX09mP1hcdhhHjF6ZaJX0eAZeFkGV6_oi-eyKwIP-XGmRwkkQyAyHvrkTv42u0VT-G_j9fttx0JAznC4hY1ReXStfgpTG4CyrrQ_44CIM3S-Bw3LQyfjS68siHeUwr_me_wtwIzjCo54rFuw6FfcWdtLvhf3Dts-sIn4GTX3j-E8wJaRC5skvgziQlMJuBTjcNcPV1vabp-pX-GPTZdZ_LYnKD0WSEAcKcLnnpOEh7S3y4vXiRpkkBdbpLkSDJ3rF-6bwkdo6d85B8cGXcsFMjRtS8W0flWtLYZyIWcUvyJ1hLXJ8Q0IDpGt5IuRGlvj4KODkmKLu15G6E-t6Skt_zlYzXiKD-JPpznwm6Y-orNpU3ERcGqkb-WO-cU8Q1kts0ZPAKvJBIBtdNkVrvTiop8TemujbInEauiuw6D_VmTTNe6J5syf8EheAp071o-wwD4iAQpBy24DH3JjSQZhzwxHXZUPWrAp-MYniFwRUfE4PKLVnTVozFF2jJDhnDto5y7T-k8hRK3W7rnaxA9CIYsxzL4xb6rghUx2f7guGJqH9eXbbnnNrqkm2n4DHMyf4YvmSUdvRI6k0BDqdAQKxw6f_HAZQqI8kuCSr2E78n3dCOls4l51a8Wucu-EnUmxYE428nSKY6Xy5kq9wpmIfnLUFaNnR1fP7HkWhiHFktoNNJXSESq8YANSs9dEDfYUtRp_toDSYKCPQsWmGTuh7xOG1vuplAwwb8aFJS3OfMBy0pR5bOoR4HaTzAnu2wPMf-uw=",
  "id": "rs_040167a008f45f67016ab491640b8487d0bd39d0d38bd9b470",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.33,\"right_z\":0.04,\"right_pitch\":0.2},\"note\":\"The brown teddy’s torso is between the jaws, slightly left of centre in the wrist view. I’m making a small sideways correction and lowering around its body.\"}",
  "call_id": "call_Mnr2PghDb2uDQhwb29133l3l",
  "id": "fc_040167a008f45f67016ab49166ad9887d09b61d74eefa2096e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mnr2PghDb2uDQhwb29133l3l",
  "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]: [-0.1436, 0.836, 0.7727, -0.5846, -0.2291, 0.0105, 0.9964, 1.2438, 2.0041, 0.9463, 0.0757, 1.0325, 0.8135, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0025 left_z=0.2063 left_yaw=0.0382 left_pitch=-0.0573 left_roll=0.164 left_gripper=0.9964 right_x=0.2663 right_y=0.3242 right_z=0.0341 right_yaw=0.0507 right_pitch=0.1371 right_roll=-0.089 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -1.6068, 6.9812, 1.8926, -0.2271, -0.0464, 0.0073, 0.4718, -8.4581, 4.6974, 1.4383, 0.5641, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9693cdddb0161a60c5a48f7244a2a5f95be684e3070541548154a1ed65ed0937",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6103ecc1fd2d7bda2ca55eb96cff0464254379458c7ada386c54a03a204bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21a0372559c28ced666af5e38bee12c1ab53a30e52c3e9abce5d92e85436244",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.985 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7128, 1.9285, 0.9775, 0.2901, -0.6693, -0.3157, 0.1376, -0.0254, 0.8558, 0.6815, -0.6388, -0.0193, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.4284 left_y=-0.2207 left_z=0.0668 left_yaw=-0.0036 left_pitch=0.0718 left_roll=0.1359 left_gripper=0.1376 right_x=0.2683 right_y=0.0002 right_z=0.1489 right_yaw=0.0061 right_pitch=-0.2326 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.5265, -9.1009, 5.7368, 1.9853, -0.4469, 0.0562, 0.2759, -0.0752, -1.5385, 6.9949, 1.6972, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1459, 0.831, 0.7727, -0.5602, -0.2386, 0.0101, 0.9963, 1.0805, 1.7638, 1.4406, -0.889, 0.5991, 0.91, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0031 left_z=0.2126 left_yaw=0.0438 left_pitch=-0.0274 left_roll=0.1638 left_gripper=0.9963 right_x=0.272 right_y=0.3057 right_z=0.1481 right_yaw=0.0315 right_pitch=-0.3049 right_roll=-0.0484 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -1.7162, 9.7436, 1.9853, 0.0073, 0.1832, 0.1099, 0.1709, -8.3897, 8.294, 1.0183, 0.5934, 0.232, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.836, 0.7727, -0.5846, -0.2291, 0.0105, 0.9964, 1.2438, 2.0041, 0.9463, 0.0757, 1.0325, 0.8135, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0025 left_z=0.2063 left_yaw=0.0382 left_pitch=-0.0573 left_roll=0.164 left_gripper=0.9964 right_x=0.2663 right_y=0.3242 right_z=0.0341 right_yaw=0.0507 right_pitch=0.1371 right_roll=-0.089 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -1.6068, 6.9812, 1.8926, -0.2271, -0.0464, 0.0073, 0.4718, -8.4581, 4.6974, 1.4383, 0.5641, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9693cdddb0161a60c5a48f7244a2a5f95be684e3070541548154a1ed65ed0937",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6103ecc1fd2d7bda2ca55eb96cff0464254379458c7ada386c54a03a204bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21a0372559c28ced666af5e38bee12c1ab53a30e52c3e9abce5d92e85436244",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJFr31V77rtqGbLDAytYL8xRYqtFwHCqHn9rS90u1QFTqFvSOOpKy4S1uIhQ1kY_0ZJHp04NU6btjJ2EGiRVem15doYfB5jp0Vp_MvdNE4BIl1rsdtJipItQL4Q1Kkfm4_9By0pBzmmZnzt2N4RamQJF3h5mTXKmupce2qWuex1EGW3TqWGV_wsd4h2tsnbCKRoEjmhOU-XXuEcFPf8RhfTtAk08S6K2FpTDx8D6Gh3rl9gogBIteYuLlAqST3s0RZ-7YTwlqkWRfQ8ZMW7FbEMtqDoLsiMnX_6WAZ5bb_w6Dj5Jl-W7HAJO9DK7E9kWZMA_qrlLbHGxmHGxbIL260DifIwQQAqbtkdKI5xZa99PtrI6bswLz6ac4df-bxqEqr8szR0DKbR2yhD4kODeeY0zLWjXpUaZtkTo77aWhXyeA3ACEtQronjUhZ4GnOVSNJ6Yk_VC5d43LHnrF1FrxyEqW0KMr16WOZONv3relUahpHctyAoH_0Ogc_EjhidXqSlk7FfX1vip-XSoPzVl64LSqGVoim9UklBsCtDmvG9BBiXqTKUkKFh6YGrb3HOBqS-X2GtKear8-LwIk-TN1aR6PFmtEwdv7XXAypNPKnzvtv97Ckgb9aSCEhGCZz4OXPsaGuifLCdKp_o_KLJd-LzI_6nT7-60KKZMp0JJn2Q3urdE08yuhAdOZ_xr6Qp06G5zD_JZVrgKj18c-bH6tQFwQ_yJtTweF8vxkqSAE1t61a8Wj-fTQAyQIoYHt0l9nasC6rIUBH7zDG4ou60og4rUJdyihRqvcjxWtpCfrxCeKipIWuCMvL_8Ama4L1eqnozEgYd_l_thjg4baWrNyEoqMWY5mJG3K_em2h5sw5IZ6wRVBi7hOE80x0PAFMe_uSYgk1oAuPI-gMcGUpryFtyiSZPj1gansqda5ndnsm4iAq6hsG3TcB4pw_Ox0EzDJBQekZC2U1BXNLMQPqJimwh-nd4_cqguDX_8kITZdDVaNAJNE8xjcdzQuF7aK7tRkjMqy_uWkuhz2ttkaRsakG8bgAJNpkv95G-RJdkyswZJ3Bpg1bJ9kckAG3UfGwaKOY4esWdXy4gwJoanvrASSv0YZ7w-brhbXCVLO8AAmJsS8DcyokBNS5LPzetT1dKyjP9f_cLOJgCoWlQfBORj31V_Pl52E2m5uczAmePjMxRtHMBvVdLB7l293O4FzuvkMpIi46qgj6vV42WU4OtBbD9wIg==",
  "id": "rs_040167a008f45f67016ab4916abbec87d092a01b63c6de5517",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers now straddle the teddy’s torso. I’m closing them to grip the soft body.\"}",
  "call_id": "call_6rVwoBl3pg5F0E5Lx1g8g7bG",
  "id": "fc_040167a008f45f67016ab4916aea7887d095f1738350bd7ea9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6rVwoBl3pg5F0E5Lx1g8g7bG",
  "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]: [-0.1432, 0.836, 0.7727, -0.5896, -0.2291, 0.0105, 0.9965, 1.2434, 2.0159, 0.9424, 0.0849, 1.0431, 0.8055, 0.0425]\nstate[eef_state]: left_x=0.2871 left_y=0.0027 left_z=0.2053 left_yaw=0.0386 left_pitch=-0.0622 left_roll=0.1649 left_gripper=0.9965 right_x=0.2668 right_y=0.322 right_z=0.0309 right_yaw=0.0501 right_pitch=0.1425 right_roll=-0.1058 right_gripper=0.0425\nstate[joint_eff]: [-0.1573, -1.306, 7.0906, 1.7021, -0.1636, -0.0366, -0.0073, -0.0068, -10.4137, 5.0256, 0.9988, 0.2662, 0.1001, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a371a05a37818af84a4cb3007ffded4ef5193edf47671341da3748ea82c98d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5189eed94e83cdcf0c0bff580c86da71d0be8c5d4d0f0188d114e9027f3eb1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:049a9555688c90b4e2680bcde70f26fe069426290606f3138127ea65e5990b76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 8.338 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7166, 1.9568, 0.9607, 0.2829, -0.6739, -0.3214, 0.9951, -0.0254, 0.8558, 0.6815, -0.6647, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.4219 left_y=-0.2166 left_z=0.0476 left_yaw=-0.0027 left_pitch=0.0345 left_roll=0.1673 left_gripper=0.9951 right_x=0.2636 right_y=0.0003 right_z=0.1445 right_yaw=0.0061 right_pitch=-0.2585 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.8906, 6.7487, 1.5556, -0.2418, 0.022, -0.0611, -0.1709, -1.4154, 6.7897, 1.746, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.836, 0.7727, -0.5846, -0.2291, 0.0105, 0.9964, 1.2438, 2.0041, 0.9463, 0.0757, 1.0325, 0.8135, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0025 left_z=0.2063 left_yaw=0.0382 left_pitch=-0.0573 left_roll=0.164 left_gripper=0.9964 right_x=0.2663 right_y=0.3242 right_z=0.0341 right_yaw=0.0507 right_pitch=0.1371 right_roll=-0.089 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -1.6068, 6.9812, 1.8926, -0.2271, -0.0464, 0.0073, 0.4718, -8.4581, 4.6974, 1.4383, 0.5641, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5896, -0.2291, 0.0105, 0.9965, 1.2434, 2.0159, 0.9424, 0.0849, 1.0431, 0.8055, 0.0425]\nstate[eef_state]: left_x=0.2871 left_y=0.0027 left_z=0.2053 left_yaw=0.0386 left_pitch=-0.0622 left_roll=0.1649 left_gripper=0.9965 right_x=0.2668 right_y=0.322 right_z=0.0309 right_yaw=0.0501 right_pitch=0.1425 right_roll=-0.1058 right_gripper=0.0425\nstate[joint_eff]: [-0.1573, -1.306, 7.0906, 1.7021, -0.1636, -0.0366, -0.0073, -0.0068, -10.4137, 5.0256, 0.9988, 0.2662, 0.1001, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a371a05a37818af84a4cb3007ffded4ef5193edf47671341da3748ea82c98d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5189eed94e83cdcf0c0bff580c86da71d0be8c5d4d0f0188d114e9027f3eb1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:049a9555688c90b4e2680bcde70f26fe069426290606f3138127ea65e5990b76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJFvX5vUGYG9W6p2lFkS2tCGvWpsdw7h1GcbzNu4LQHDXzEfJ5L0qbWUvklKakrQqAl57IZvO-_nviWHJQ_7YQLdSEdgiQpDWn1pMGU_TV-j6O2X3ibQ-JnZh1KoYbaeIh7ZquZJmAoDPvuYt_eN8SRtC5IVgNRQxli72fX6NWzj5kG_xFhk_Fmc8XU9_SUDITez7BbGR279BVFTl74lFeTSR7AxFAI9l3ldoOwQ03sDEskZjb3eRkx0rcct6-LrFCOWAZTj_lEOWK_Yq9jNeWHhc0le8L7m7vQhptYjcjN0Q0wGCzbJf8eL6qClPd4IT_8yyaQGTjPpI4jqQ0eeEoBdJniuw2sjtvIVVpcl9ITxZtvEpRbjOe5Q-ThHbEES94L0515AS8nE4T-yiuPQypAPlcLZNdcOsIGsY4gyzg2PN165Subzg3FcRvwa9LnAWuB-ZNb9sQEwzDp8IZzjfhKmk-7tRgh5x2mAvDcYpR6tJQsShKvx2crPjwuiwfdpATzl-DesErlN9iJDViC-f9mEw7E5ZNWN-nAK3Ze3MXrekUZ5SsaVYi2QQKbdcYWMFtP_UAIpDj0-ptsURJR37wW5K_PPVWcyOtEPfB0UxC7qHpa4JLCGS118IlsNuluxWURyh2P8sZCZL55SHoC_Zi5lfobi4ub35GWy1gy2fCu244lXlkMTxf_Y416gdnQEcELPtOX8FHycJljP35vDXrDMleYf8oPVL749eAFOTmJ1-fBLBwueVy04ijwNJSwAk_PccbTseSkQ-rZksz2fZA0gXXrldQ4sGhI3gPE8G--02lAAilISE1r9cscOcolExHUtK3ki3p1D26EgZ2xtwVFt4wNYxIi7a_BWRn6fWj70jFkXLXogPK4RKnpi3l32P_tCBOTvg-EZc_yXEkMOh_klOuFbbQaV8ajD-WxPlpIaT3cPqTosUSywoLqVhOkrWyHyLkTLJxZvr8j_jNdMjftUkmOiEw9q6_Bd0v40Ezr5OBSjmsLRx6FMnUb1rz1NNcl7p-4YVZwVpoRVn0fCjZg5B1KxGCBw7xx4RqFYIl7oUFJgggaQlrREcmPgSuQfPpgqEPInQ2C1sYV1-R2bIynfHP5NuoIVnz-Cak1LFyazvgF-4fDN2OitBxS8TgC5Htf4VMnHzAQObDUcN_bb7H-Ho5PXxICaEyuQ-sgCzy9J55rscvR-Z04XZ9W_pBKRAceHq4vgw7vHmWdydjSH1W4Zng==",
  "id": "rs_040167a008f45f67016ab4916e1dd087d08035d51a9557dd8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.33,\"right_z\":0.105},\"note\":\"The jaws closed quite narrowly on the teddy, so the hold needs checking. I’m lifting it a few centimetres before attempting to carry it.\"}",
  "call_id": "call_36iEe4hPbr772jlfOxrf1W7I",
  "id": "fc_040167a008f45f67016ab4916e6f9c87d0be5ac018af6e0fc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_36iEe4hPbr772jlfOxrf1W7I",
  "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]: [-0.1432, 0.836, 0.7727, -0.5926, -0.2287, 0.0101, 0.9965, 1.2434, 1.8942, 1.0485, -0.1627, 1.0279, 0.8032, 0.0452]\nstate[eef_state]: left_x=0.2866 left_y=0.0027 left_z=0.2047 left_yaw=0.0385 left_pitch=-0.0652 left_roll=0.1649 left_gripper=0.9965 right_x=0.2676 right_y=0.3287 right_z=0.0824 right_yaw=0.0614 right_pitch=0.1231 right_roll=-0.1216 right_gripper=0.0452\nstate[joint_eff]: [-0.0342, -1.1966, 7.0496, 1.6874, -0.1294, -0.0806, -0.0073, -0.1573, -11.2479, 7.4598, 1.1697, 0.486, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48afb4393e68447a514090828edfe33345b1c2ee111bef1d7750348d7e7d07a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3733ae9c193bf7c69b13ccd7f5508e7b847930e1466d4af24fbe4b1012634d89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3128878c0c0fd9d72b48e77b419d4048b9c30b6270a79e3547133bda3483a720",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.692 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1459, 0.831, 0.7727, -0.5602, -0.2386, 0.0101, 0.9963, 1.0805, 1.7638, 1.4406, -0.889, 0.5991, 0.91, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0031 left_z=0.2126 left_yaw=0.0438 left_pitch=-0.0274 left_roll=0.1638 left_gripper=0.9963 right_x=0.272 right_y=0.3057 right_z=0.1481 right_yaw=0.0315 right_pitch=-0.3049 right_roll=-0.0484 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -1.7162, 9.7436, 1.9853, 0.0073, 0.1832, 0.1099, 0.1709, -8.3897, 8.294, 1.0183, 0.5934, 0.232, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5896, -0.2291, 0.0105, 0.9965, 1.2434, 2.0159, 0.9424, 0.0849, 1.0431, 0.8055, 0.0425]\nstate[eef_state]: left_x=0.2871 left_y=0.0027 left_z=0.2053 left_yaw=0.0386 left_pitch=-0.0622 left_roll=0.1649 left_gripper=0.9965 right_x=0.2668 right_y=0.322 right_z=0.0309 right_yaw=0.0501 right_pitch=0.1425 right_roll=-0.1058 right_gripper=0.0425\nstate[joint_eff]: [-0.1573, -1.306, 7.0906, 1.7021, -0.1636, -0.0366, -0.0073, -0.0068, -10.4137, 5.0256, 0.9988, 0.2662, 0.1001, 0.9841]\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"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5926, -0.2287, 0.0101, 0.9965, 1.2434, 1.8942, 1.0485, -0.1627, 1.0279, 0.8032, 0.0452]\nstate[eef_state]: left_x=0.2866 left_y=0.0027 left_z=0.2047 left_yaw=0.0385 left_pitch=-0.0652 left_roll=0.1649 left_gripper=0.9965 right_x=0.2676 right_y=0.3287 right_z=0.0824 right_yaw=0.0614 right_pitch=0.1231 right_roll=-0.1216 right_gripper=0.0452\nstate[joint_eff]: [-0.0342, -1.1966, 7.0496, 1.6874, -0.1294, -0.0806, -0.0073, -0.1573, -11.2479, 7.4598, 1.1697, 0.486, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48afb4393e68447a514090828edfe33345b1c2ee111bef1d7750348d7e7d07a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3733ae9c193bf7c69b13ccd7f5508e7b847930e1466d4af24fbe4b1012634d89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3128878c0c0fd9d72b48e77b419d4048b9c30b6270a79e3547133bda3483a720",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJF41KI1YfsCdSgKnvtv8l_vDTqYpvPVuXNJqqBA9a3ypOaKyNn_d_I0lkt7-xKMISeS7JTnL5XQIm9UuLW9iFrLE1E3QglUPvr6eW87InZe2OGSL728VWHNLhBnEyG1CHU2ozyQ7x98BKbguFJReEQduzeH9mtHbIlrUiuxrWlKoqqE5i37yU1GXPoQ7Dm-eQYBmwy26aO-CElWWoxaMY6H7-30ZJ62N3uqUaNj3d63NdHMKq7uBfBtDmMhMHlg8_IpgIv0qKtek-30mIbm_cIcJ6cdw7cbw_Ujfk2EKL53qFQUNikZnSbcf8vdqi-L8lJTeGgya5lFPbxLVbCP0wE_8mLYQQLNBZZZ4r6YjvHpUUl2QFI8wbJomUXAioknsvx6TbwDaH6kotPW02skWs03WhLgm4FeFqQSV8qR7RNuQiH8ZXA2CPANHx8Ky98bhxsPVuXjAsWXR_PyYE-ors7loIM93fEHB3Ku3_x9qDjnFQ-Vdq-yFLfu8k9zhNu9F73G4XSlGKhKbPCQhepfftm9nTaQ4okuZc17snh0WhvHvQqAMH-gT_6GYxRANlfNdz1cOA_oc_JWmGtQHh2m5JJeoN_kkUNphumaT530nfZ1Jk-Y1GQ_4yx2DJDqMkQud2EO034zS6tT8Mm-vxcMPUIKMyMWfPBeT5IDRyVPmZ7PC2xXq36pcbOkKcSi-0vkYYK0itRHWHWTXsl2DV15auJ7p2QvXRleBTplmk1MZwiZpWIF8bEHxoDx53lTAQkeCUFYOnfqX_gKKlFPmizjb7bLEckc7q-wr1WEI0KZ15odjWMr-d58V_soAFGU_v2w6LuDSkpUP5KIG00ZakXLwLnmjN6jkjOCOkuC-eYFVFlm_X27yDRX7EDn0STYUAvbAHIxpDi3oX0JlPNZNnBDpBtfI5UyaGP-8OJDaVUVkqoYIh6XutTCPQzbe3H5euzN-vsS362rnYEDjwEm-QcCNUXz1-J0Mo32YNmrMjcZ0M6vFUkROWhm4AN23aB0x30eeHYzhOmiW_Elslh461sw2JBnbisjeOJDiJ9D8YoCbDT1zmbog3f1wMs1REmapJgawBMQYwmRdhXcIASoAqD5ErG5vDsvMgWw9lLg69YYNxQQE72-hZCivV-gzAV_W-nshevdwqNvneFS7tXL_00aTPs487ZyB0XmiF10XhuwE4aQqjAcRt-VktDIJEUqknMt2wTENgjckPY6tpTP03Litn2C2iCKgbFIDTsu7C6qTSuF03OJn0wVw4Ll8skH67UyCKNUI9zqHuCG1jZloV4ag8V4-_g5iJTL2_7-ZFTEItBpLQMuiTyGR37uQrSZreoQ7We5p54lUaFovOuup1xeL3TWYgdMsUliUDI4YWhCfTXQU-8TP0v4XrR6iZ136fnggRwdN6ZEnttGYgRYZPNI2wBd0f5OMdVIGKEscOfwRfZOCW-0je4cqc5_PUbJpZqU_237JEkzhlbEtnQwUypuFj2V8-bQsGqQWsR2aui1lS5RX6B3ce5-whi4Yl3ZzVMAMXFDSynQkU423fKtMvEsw9qu2vaIfULsXW9M5sY5AodNY6fDEhg1Ej4o2uNVvjw10OzJqavRr_gjSlYiHEI10QKjOOMIHadEnW0X9ouGtK4Ln6PXgXA2V0zzUQYbbG2uunO_PoAw0z0IpjWTFAV0i8xFo9w1u5bPnqasKwpoGVyfaRYpy-083VNH3IITALL6l0Pjx8XQBAUsOo9e6ebntHuuInDfzp8cBRCH35D-zryuwMnfPN7Ztgi61OguiLCPKE6yLIXM33vGv5aMc-FRMglGj2bNgA_syDu6G4e2kT8RrPIswCGBlhho6z-y-hnK4bOfQzZfJEji-2IpFTZ9A60QaeNK9mvWzP9RI8uhCXWy3vsDYKEwbevaFyDtY4RMEK4GHdsHvWX9Yryw9CDPt9TQABMB_97rm9GnVbQ_jYIu6jMXPd0T5g-5eqg7_xKo_JmisQHGa6ydCdOBcVW6S7405WYSDCidAFsuTvR7sHWwA4wk9_IUsQI3S2hecaOZ7LD3tmw5Aet-zoDGmRQxcWozO40u0bVD9YdjynkQ76u74bVZVSYo3SKaKDgrORldroEKg87TYCmBxx6yx7F_-agwGWmjZW8MfLb0hs4Ly2NGNY6fv5Ff0Npp-4BKXVlWHEiFan89Ak1xYeGU8l_d94dMH2scEBnDikTvSQ4_sqYn1h6A-ENSbWmqw1Yr98Vui7QZxpe-YIy4YDsGSoyDwtHCjyWxzENzZUrEQiMpM1xdQxnh0dk4XUo0qhRddrSBDJWwBzCkr7zngZEAnPjOTdDNLwSQrMJVvCd50ziy5RdlBb4=",
  "id": "rs_040167a008f45f67016ab49171fd7087d0adcd5d7c1e5a4093",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.385,\"right_z\":0.24,\"right_pitch\":0.2},\"note\":\"The teddy has risen with the gripper, although it is held near the lower body. I’m lifting it over the front rim and aiming for the space beside the cream plush.\"}",
  "call_id": "call_KbfkCqf2gIj8GMS8BreQDYVR",
  "id": "fc_040167a008f45f67016ab49175d68487d0b552fc9a0de0f250",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KbfkCqf2gIj8GMS8BreQDYVR",
  "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]: [-0.1436, 0.8413, 0.7719, -0.6083, -0.2287, 0.0101, 0.9965, 1.092, 1.9915, 1.702, -0.4671, 0.9642, 0.5186, 0.0452]\nstate[eef_state]: left_x=0.2847 left_y=0.0029 left_z=0.2 left_yaw=0.0385 left_pitch=-0.0866 left_roll=0.1688 left_gripper=0.9965 right_x=0.3578 right_y=0.3821 right_z=0.2234 right_yaw=0.071 right_pitch=0.1725 right_roll=-0.133 right_gripper=0.0452\nstate[joint_eff]: [0.0068, -1.7846, 6.9538, 1.7656, -0.1245, -0.0659, -0.0122, -0.4991, -10.5231, 8.6085, 1.3944, 0.4274, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2900a6f05d09ba8f9c8e97d40555228f58f4d3620d04614ea0e77276444d78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78b594f360483907d769680ac3032d90c6577b0227cf826dbd693440fa45e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8431ac6132fdc7d0a47c496944a23b29a0a8976fdf44539567e8942a590ee9c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.438 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.836, 0.7727, -0.5846, -0.2291, 0.0105, 0.9964, 1.2438, 2.0041, 0.9463, 0.0757, 1.0325, 0.8135, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0025 left_z=0.2063 left_yaw=0.0382 left_pitch=-0.0573 left_roll=0.164 left_gripper=0.9964 right_x=0.2663 right_y=0.3242 right_z=0.0341 right_yaw=0.0507 right_pitch=0.1371 right_roll=-0.089 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -1.6068, 6.9812, 1.8926, -0.2271, -0.0464, 0.0073, 0.4718, -8.4581, 4.6974, 1.4383, 0.5641, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5926, -0.2287, 0.0101, 0.9965, 1.2434, 1.8942, 1.0485, -0.1627, 1.0279, 0.8032, 0.0452]\nstate[eef_state]: left_x=0.2866 left_y=0.0027 left_z=0.2047 left_yaw=0.0385 left_pitch=-0.0652 left_roll=0.1649 left_gripper=0.9965 right_x=0.2676 right_y=0.3287 right_z=0.0824 right_yaw=0.0614 right_pitch=0.1231 right_roll=-0.1216 right_gripper=0.0452\nstate[joint_eff]: [-0.0342, -1.1966, 7.0496, 1.6874, -0.1294, -0.0806, -0.0073, -0.1573, -11.2479, 7.4598, 1.1697, 0.486, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8413, 0.7719, -0.6083, -0.2287, 0.0101, 0.9965, 1.092, 1.9915, 1.702, -0.4671, 0.9642, 0.5186, 0.0452]\nstate[eef_state]: left_x=0.2847 left_y=0.0029 left_z=0.2 left_yaw=0.0385 left_pitch=-0.0866 left_roll=0.1688 left_gripper=0.9965 right_x=0.3578 right_y=0.3821 right_z=0.2234 right_yaw=0.071 right_pitch=0.1725 right_roll=-0.133 right_gripper=0.0452\nstate[joint_eff]: [0.0068, -1.7846, 6.9538, 1.7656, -0.1245, -0.0659, -0.0122, -0.4991, -10.5231, 8.6085, 1.3944, 0.4274, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2900a6f05d09ba8f9c8e97d40555228f58f4d3620d04614ea0e77276444d78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78b594f360483907d769680ac3032d90c6577b0227cf826dbd693440fa45e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8431ac6132fdc7d0a47c496944a23b29a0a8976fdf44539567e8942a590ee9c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJF9SYrUAa80LGBBuM2pdGF1h84ecoTzas-aWIjd9-BXF_GbzSCxeEIXIvAp7rWkjWcGTLVevNHu9l8m2s8Z82iE9--v4IFSynNQFiMPpcOicS5Q9261PMObwdxKKbWhJnJLhGWh9qT6ljIRZ6i24dXychJJY-vpUsZS47Xt3AOshVEtv0xagSTtqIiD5MaDcFn4zm-dwhnjKbP5UTgA_TAQOhxDTH39VnVMOOHRCHxk7pnfREbuW5FM6v5wd5Cz6KshNXXQBkKO7wWgLLASeK6yL8ddpiUURpsfavH4ZHkjLB7FUElOBMTl_dyQ5vpPma5Rw0XM73xCJliLxgF33c928ZIL6KYY2I2uxSmkfCKtqJSfeZMyQk81PFUIs91Cj4L0iQoIoFshj3DU_LLx26wkHd-jB0ADW4E1sI4_U3lz8OH7qNj2_fl7rashKLjWEyreOdMjslGeqJq754q_AgPWWmLfsWuNZRMPBNd76mndHmsSjhCnZfOnpDI2C-z4EONwLsofqNSHvFBSYicfNvj2aOJM85KDAxmCyv2S254UXU28WuNUJp8_fE2P_yc3AsFtoo7wRJ2D_aH4exttkCbYdotY2dAI4f0Nf7WYK5skyT2S3-NE5O0N7xFZ5SDPzMvCLDFqh6isy6Ce9QbXpi84LA0xaNvp_iSG49DdAoplMncXROXyCKDMzAFO25Ap4UMWOYxlPIrFTyrjzrdILarBbgELCCa3pHcLEedp2ZBQtZgUaImsOmKha0PZuZRS0IdlwAdETdjDUmWD-wmzzY39KhDu7dz1CICecR3cEXAwQXIoFTRLAzA3vRdQIb48__1JTLKPtHGtALnkUwM9HJ_oR0WasneMrHCP4gnoLiuCxz89p3zz_kX9ckrmNinGb7PoGodGzO7XcsuM2GySZ0u1ZUsRac-Kdv0zvzRLfBHv6VRXz9rh5DE2ScQOkhjbUAVQWytOwtkCoI9uIoSB9Y1j2re8xWmlNFN3FeXYJYeQ2bokeRuk6NrRwWJSm7SmjZaXQADz7euZmtTmwT_h8aqHdiAxJPLubY8BfeFdNf1BqsPDozQQiuMANqd4bcvR9DQYmxbVZEZs4v80UBB0A7fVXaMlyBAd_y1-YJVW9r4mYSrxVgmPzuNUoJ6ia_Kn21tTJ8IoqaDpuG1RdjQb6xoI4SeDdNdQdsKKjk_MZIm5NF96-IYbvNIlHEs-7dIoLkQlgNxLGRN0QYm_O0PlQJ_zvTmLm0gAHBSZxQHTvnRJ7eQTMvVkXFqC7XDZwr3yFM4cxRJprig9QtIa-IM7nRjbtZoowiozEyJxef2w7Eglqi7lzSKZ8B83sv8J_orFz3-HRVgnMTnnFdFu6B6LluSQQCdxF476qQP6X1yKlJvO3tAAbeSoUczTBeY-37bN16IpdGiA3XV-8K9VUPAWE6OShdAU1CTH7fyuEEpCQ8ObZqJGbctusVYCokTMDdF5-B8evqobtphiKbgqH3MlOG0Rh6gLpLiKmERHvt88tHv5seKhaccdzFSIi7aYtKLtLYcIe6vmzGjVkzgmRMnAFUBFtw==",
  "id": "rs_040167a008f45f67016ab4917a97ec87d0b3c8a60e731a37b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.385,\"right_z\":0.08},\"note\":\"The teddy is clear of the rim and above the safe’s right-hand space. I’m lowering it inside while moving its feet past the front edge.\"}",
  "call_id": "call_gHy1n4v00O5iMuLjGsLQJLdh",
  "id": "fc_040167a008f45f67016ab4917c285887d099958279e9c290ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gHy1n4v00O5iMuLjGsLQJLdh",
  "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]: [-0.1436, 0.8474, 0.7719, -0.63, -0.2291, 0.0101, 0.9965, 1.018, 2.2097, 1.4647, -0.0078, 0.8993, 0.4404, 0.0452]\nstate[eef_state]: left_x=0.2819 left_y=0.0034 left_z=0.1944 left_yaw=0.0393 left_pitch=-0.1139 left_roll=0.1742 left_gripper=0.9965 right_x=0.3928 right_y=0.38 right_z=0.079 right_yaw=0.0828 right_pitch=0.1309 right_roll=-0.1766 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.8877, -0.1587, -0.0708, -0.0122, -0.4991, -11.5761, 5.9556, 1.6874, 0.2906, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d0c73417ebd17a0e2500656686dcfb2b46629400a8f501ea83de54600ffa25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f2884c0ef875c927a5573e5b0e2521e5373e6f50a00acb797e98ddfcb35916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa759f5f3c4a1e8ee1c28632a351c6b922a7f20b9c3a21aa6c5847e5715ca8a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.52 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5896, -0.2291, 0.0105, 0.9965, 1.2434, 2.0159, 0.9424, 0.0849, 1.0431, 0.8055, 0.0425]\nstate[eef_state]: left_x=0.2871 left_y=0.0027 left_z=0.2053 left_yaw=0.0386 left_pitch=-0.0622 left_roll=0.1649 left_gripper=0.9965 right_x=0.2668 right_y=0.322 right_z=0.0309 right_yaw=0.0501 right_pitch=0.1425 right_roll=-0.1058 right_gripper=0.0425\nstate[joint_eff]: [-0.1573, -1.306, 7.0906, 1.7021, -0.1636, -0.0366, -0.0073, -0.0068, -10.4137, 5.0256, 0.9988, 0.2662, 0.1001, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8413, 0.7719, -0.6083, -0.2287, 0.0101, 0.9965, 1.092, 1.9915, 1.702, -0.4671, 0.9642, 0.5186, 0.0452]\nstate[eef_state]: left_x=0.2847 left_y=0.0029 left_z=0.2 left_yaw=0.0385 left_pitch=-0.0866 left_roll=0.1688 left_gripper=0.9965 right_x=0.3578 right_y=0.3821 right_z=0.2234 right_yaw=0.071 right_pitch=0.1725 right_roll=-0.133 right_gripper=0.0452\nstate[joint_eff]: [0.0068, -1.7846, 6.9538, 1.7656, -0.1245, -0.0659, -0.0122, -0.4991, -10.5231, 8.6085, 1.3944, 0.4274, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8474, 0.7719, -0.63, -0.2291, 0.0101, 0.9965, 1.018, 2.2097, 1.4647, -0.0078, 0.8993, 0.4404, 0.0452]\nstate[eef_state]: left_x=0.2819 left_y=0.0034 left_z=0.1944 left_yaw=0.0393 left_pitch=-0.1139 left_roll=0.1742 left_gripper=0.9965 right_x=0.3928 right_y=0.38 right_z=0.079 right_yaw=0.0828 right_pitch=0.1309 right_roll=-0.1766 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.8877, -0.1587, -0.0708, -0.0122, -0.4991, -11.5761, 5.9556, 1.6874, 0.2906, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d0c73417ebd17a0e2500656686dcfb2b46629400a8f501ea83de54600ffa25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f2884c0ef875c927a5573e5b0e2521e5373e6f50a00acb797e98ddfcb35916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa759f5f3c4a1e8ee1c28632a351c6b922a7f20b9c3a21aa6c5847e5715ca8a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGC_DIEo-5NI8StDTieAD13w7e9yVMxnvMG0GJRUxrcDtbM_4udAwG9KFaprirEVhkbsThcF5PF9LgRc8Q4qc3WkEHyEPVpwnu35ewpcCWJqUMtnNR4zpUvkxkFW0FHQN06WwyzJA-CVcO7DPkKZ9sE31UC0B7GH5tSmXq70GD1RTRWXwDGILBCY_5iWEKhWCLnOT6I56T-LxlHCZt-iPeCw8Eeieed3MFLglUB90zKO8V8_9Gtrq5q1rBGHrd8w2zg1U89A8-BZpK1wrsDtD4YgdsjSem-A3hsFcfIus_4qY_ZZHiIP9_v0KKL90dqKnWPvL6NF3ieYOWFuCRyHnGlukrtTIQYJ_ABaj6733FduyHPPWHMLKUvWSMLU2-RXAoI7NpXvXWTZEBfcBk1XD4Ev02m3xpje3ptgh2uPOs2SC776y8ElPZU3fE4x6eMlv1cmXEJRqkfn7_dEIUoZr4JM2tETw_1ww8TR8y-BhpQUxOEGYY9zSnghUvdsGgwWlhnCs6H23L2-VJf3EfP-uGSuxvA6MBnhOBefkFJ2cqBPVECmNpZO3qx_J3_qnu0HflWneg2BTjTT_JeaI8sfYvgPyuw2RQEbVX2K7DQRo14eAT1zu6HVe1fqWHhq1Wc44LbsqimFZNN8_slaVXrPFtv5LoCHqkgiAwMk-kqyDDVy2QmS9H-N7oVmNQAvJtA9SIXR8e9K2jmS9KOyAzc69tNZvMDKfJ7XVT_juVntqbsj1xrze3feeHrYwkrlvcZ29V_zVZOIgq_b3bYkAH6yvQGpWTu_dRNgn11rUUIkiU6oBM9VQLf44pUlUf4lffR-t38fZ2R2JK_Px4-Vu1zkv7GJDLtsZSWAWhN6z8mQR_OtXjtDmpwN-Yum1wfGlYMWFFs7N64F4rtDwSN7gaxq80tXt9rfADVU1l8uyZsQ0B4wQLRpp0jzTjllK6QdmSCRfiWHu1po-B_YHeaMo0cPQDDym-XVIUL3sPuzcTvl_P8WGEahrN9tANiSe1MlpvbI_RQeNL-phXztqHQPrKsNizxkqk9myVYbNG8wom6_VSKXQP3UVVJBfVZkxA7p1C-bVfqHK93H6vdvvZbYp3aDqrVqMJ6Z0yoH95000r3HuP7LLGjDA9l4rm7ZHvq8kGkkYQGxjMqNB1pULVY5LDHyF46ZiSqlaKuH66t1Kg6Yk6QMllR1lvVkdKBHBnlyA4V9IoYeRt-VFhlEwHsCXN3Labwj-jcdkOyiGm7LqP9CNcGweiaEDwNlqwv_FoU7thIRzrJjyEF2CtvznSvAYEwTLutO8rvlJcHAEDrr36o6yG1JojG3xZiceKe2lbm0995OyViBZCAhTl2JfvzWQpkF6f3L46WIZIWs3pGkeZ0bBd0o-coywegWWHhV6gEHUrQlApwAv2rNhPaq_DhfOqVGusu6NShxzL1IYemCX0aDWO_iwcAdmX6z0Nt1GIViCnMHbEplg3XSJnDmF69ftkPGD9pUF_u0TkIpq8Fp1m2SU__oNUXwlvdNQw--HCl6ijVD9VsK4mXEqZ6GRB0ibffxrLppivZwhd0IxvdoKBa6QuERuHalNdM076X8VOc7uCsBu9iZ_iq9Wbd0C_HMKABw67mUA==",
  "id": "rs_040167a008f45f67016ab4917f7cbc87d0916ff4a5e2a31d5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.4,\"right_z\":0.055},\"note\":\"The teddy is inside the opening but close to the right wall. I’m shifting it inward and lowering it a little more so it can settle below the lid.\"}",
  "call_id": "call_zrSx7Uu3RTfpvbYODpGUARc1",
  "id": "fc_040167a008f45f67016ab491817ce487d09caf08a4a41cc6b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zrSx7Uu3RTfpvbYODpGUARc1",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.1432, 0.8471, 0.7719, -0.635, -0.2287, 0.0105, 0.9965, 1.0264, 2.2646, 1.5089, 0.0196, 0.9123, 0.4374, 0.0452]\nstate[eef_state]: left_x=0.2811 left_y=0.0035 left_z=0.1936 left_yaw=0.0392 left_pitch=-0.1185 left_roll=0.175 left_gripper=0.9965 right_x=0.3964 right_y=0.3918 right_z=0.0711 right_yaw=0.0822 right_pitch=0.1476 right_roll=-0.1709 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6288, -0.1343, -0.0317, -0.0122, 0.8684, -10.5778, 7.0632, 1.1404, 0.2125, 0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c944836209046ef243be42ea16158273834857b35298b834f27e6fbde3e24731",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6acc2ae72da5456f1a9c7ea4820db20ffe4c73e1c95df50525daea075f3f541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e8d167baeead130db42d099a0f9deeb4a7c7ee50c1ca6a00f4624f14051eeb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 8.185 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.836, 0.7727, -0.5926, -0.2287, 0.0101, 0.9965, 1.2434, 1.8942, 1.0485, -0.1627, 1.0279, 0.8032, 0.0452]\nstate[eef_state]: left_x=0.2866 left_y=0.0027 left_z=0.2047 left_yaw=0.0385 left_pitch=-0.0652 left_roll=0.1649 left_gripper=0.9965 right_x=0.2676 right_y=0.3287 right_z=0.0824 right_yaw=0.0614 right_pitch=0.1231 right_roll=-0.1216 right_gripper=0.0452\nstate[joint_eff]: [-0.0342, -1.1966, 7.0496, 1.6874, -0.1294, -0.0806, -0.0073, -0.1573, -11.2479, 7.4598, 1.1697, 0.486, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8474, 0.7719, -0.63, -0.2291, 0.0101, 0.9965, 1.018, 2.2097, 1.4647, -0.0078, 0.8993, 0.4404, 0.0452]\nstate[eef_state]: left_x=0.2819 left_y=0.0034 left_z=0.1944 left_yaw=0.0393 left_pitch=-0.1139 left_roll=0.1742 left_gripper=0.9965 right_x=0.3928 right_y=0.38 right_z=0.079 right_yaw=0.0828 right_pitch=0.1309 right_roll=-0.1766 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.8877, -0.1587, -0.0708, -0.0122, -0.4991, -11.5761, 5.9556, 1.6874, 0.2906, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8471, 0.7719, -0.635, -0.2287, 0.0105, 0.9965, 1.0264, 2.2646, 1.5089, 0.0196, 0.9123, 0.4374, 0.0452]\nstate[eef_state]: left_x=0.2811 left_y=0.0035 left_z=0.1936 left_yaw=0.0392 left_pitch=-0.1185 left_roll=0.175 left_gripper=0.9965 right_x=0.3964 right_y=0.3918 right_z=0.0711 right_yaw=0.0822 right_pitch=0.1476 right_roll=-0.1709 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6288, -0.1343, -0.0317, -0.0122, 0.8684, -10.5778, 7.0632, 1.1404, 0.2125, 0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c944836209046ef243be42ea16158273834857b35298b834f27e6fbde3e24731",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6acc2ae72da5456f1a9c7ea4820db20ffe4c73e1c95df50525daea075f3f541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e8d167baeead130db42d099a0f9deeb4a7c7ee50c1ca6a00f4624f14051eeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The teddy has contacted the contents of the safe and is supported there. I’m releasing it before withdrawing the gripper.\"}",
  "call_id": "call_qwnuIaqpwOSRvxSUXUMWFIeL",
  "id": "fc_040167a008f45f67016ab49184260c87d08189989769a836ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qwnuIaqpwOSRvxSUXUMWFIeL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8497, 0.7719, -0.6376, -0.2287, 0.0105, 0.9965, 1.0309, 2.2852, 1.5154, 0.017, 0.9184, 0.4332, 0.9947]\nstate[eef_state]: left_x=0.2809 left_y=0.0035 left_z=0.1924 left_yaw=0.039 left_pitch=-0.1238 left_roll=0.176 left_gripper=0.9965 right_x=0.395 right_y=0.393 right_z=0.0629 right_yaw=0.0869 right_pitch=0.1407 right_roll=-0.1909 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.6068, 6.7897, 1.6288, -0.1685, -0.0366, -0.0122, -0.6906, -14.4889, 5.7094, 1.4139, 0.2027, -0.0073, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baac504605890eb350d749ae99129681c969df2c745b2c06cf4a133ea595e213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f6c115bbc5a6d3c102acf56c305649eec5396f3409af90277431b9646bcbe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507f7a94aa917877bb8eb6b39f7c7a2f37ad76690f507812684f5c98fe9726a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.052 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 60 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8413, 0.7719, -0.6083, -0.2287, 0.0101, 0.9965, 1.092, 1.9915, 1.702, -0.4671, 0.9642, 0.5186, 0.0452]\nstate[eef_state]: left_x=0.2847 left_y=0.0029 left_z=0.2 left_yaw=0.0385 left_pitch=-0.0866 left_roll=0.1688 left_gripper=0.9965 right_x=0.3578 right_y=0.3821 right_z=0.2234 right_yaw=0.071 right_pitch=0.1725 right_roll=-0.133 right_gripper=0.0452\nstate[joint_eff]: [0.0068, -1.7846, 6.9538, 1.7656, -0.1245, -0.0659, -0.0122, -0.4991, -10.5231, 8.6085, 1.3944, 0.4274, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8471, 0.7719, -0.635, -0.2287, 0.0105, 0.9965, 1.0264, 2.2646, 1.5089, 0.0196, 0.9123, 0.4374, 0.0452]\nstate[eef_state]: left_x=0.2811 left_y=0.0035 left_z=0.1936 left_yaw=0.0392 left_pitch=-0.1185 left_roll=0.175 left_gripper=0.9965 right_x=0.3964 right_y=0.3918 right_z=0.0711 right_yaw=0.0822 right_pitch=0.1476 right_roll=-0.1709 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6288, -0.1343, -0.0317, -0.0122, 0.8684, -10.5778, 7.0632, 1.1404, 0.2125, 0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8497, 0.7719, -0.6376, -0.2287, 0.0105, 0.9965, 1.0309, 2.2852, 1.5154, 0.017, 0.9184, 0.4332, 0.9947]\nstate[eef_state]: left_x=0.2809 left_y=0.0035 left_z=0.1924 left_yaw=0.039 left_pitch=-0.1238 left_roll=0.176 left_gripper=0.9965 right_x=0.395 right_y=0.393 right_z=0.0629 right_yaw=0.0869 right_pitch=0.1407 right_roll=-0.1909 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.6068, 6.7897, 1.6288, -0.1685, -0.0366, -0.0122, -0.6906, -14.4889, 5.7094, 1.4139, 0.2027, -0.0073, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baac504605890eb350d749ae99129681c969df2c745b2c06cf4a133ea595e213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f6c115bbc5a6d3c102acf56c305649eec5396f3409af90277431b9646bcbe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507f7a94aa917877bb8eb6b39f7c7a2f37ad76690f507812684f5c98fe9726a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJGOTzNiyAeVdWCDq1M1wRPIzT9owgnmItEJ2T_gGpBpHMSxpzgdnQMx7CP9Aa6de1J8ZQSDH2W31CHWcjR5H1CgvIE6063ER3O4vXioA4g5M9bwktilDulf0jczE1z9FHV91YHPNPznwldA0gt3HLCpNSCfKbYfCHWbTnZ6kD8vrqTKbfscDA_SJgGgjbQX79gcBQxclTk52lSycI6d07ZeFIGgf6t4QkpxKOmz945wCFipb96pI5sZi8DKhU-TAJF2DDAyhXHFs_22fbl1Ts9hS5LPjn4uLUmGyGcZYY85p1eFHnDhz--8BRLKGAgM4jnHSXw8FFzoankJVuTrJY1IqmhMdI3AlIfOz2IgcizevdncFeUsfZBjlVR3us45WsvkWcivvNRx7A_tlgOO9KjUhLKvlPQGW3Y7XHe7JhLtD8HEvkG3qOYRWohw0QwdPPoDCwmXjMBMAgYwQ5thexi2qEe5U9kD6C9i0jBUdNeybWGvNXK50Cc64oc0UXNfPOQPUGS62lViYs76LkSNoALuqwXtmU8b7W6ZNXJsAR6gI3bE052oNc6EkkUcfijFefmRK25eMIJ4I42gbFGj2aBiMqMEU1H7flulK0Z4rN1zEftJLVH0vqGyQ5ybb1ESiZtaT7vNQg3mBDsCc_ZvfuHcPaT2c1vUh5m2KS2U2VL9cmNG2chXLBWemFDRQ7eZUAv3Wq7qaHMs6QTyoJA6YOw_5OcW6hyjykF36231finJAClt1VZPM18vXPBOJw4AXSUWqC8nKqOIhm_Z3IaqabFPl8vc5ugB4dR1FCAAfwTqQlHxhijkZydxvVj5zMi4KwILx0PX8w05B7lxB-UyEQutRLWztkbjG2cmRTHa_nLC2gM3LyB3jOo3yhF2T4pxIxb5wHwF7Cm1j3m7SMYm16DJxxSAovslHAT4TFucpSMSPWxWx29rLsd29K7ZEqfeaD6fm3sedM0tk00S_zMPFtz8aA_DPqQ7iUSDAHpUW431uputnOq826wqj6rfuZWwLKyLHjCx33Ty3Ogbswz2TZWsc0OmdsI2o0Ov27LqQ6qKPfnsGu-nNEyUbYHEDyua7V9n9q8JUCQG7Fqmm5tBBBYBrmlS3Fk0C99PvJISPEflrDGHz6gkC8ZPJbR5TR5vbM_4CJlbuIoyEXB9MBuSektwz6eG_seTZPSHCinlrnnMftGLnHZETt71GkS93v2D0eHGe4A4q6bGXcjCiJbLBNHfJfdMP125HPBRCQaQv9S_BUoJMbr-ASpchG8aDkCLLGGB5rpMGhjzBMlOIiYcqQZH7kqNATdDr2GZIcXpQLuyMTjY4y8nI9MWyAtEGrPJpgHkc811lLtH0gZ4br_m_gNuHgn7HU1kW8Ft5WbFPEvGfE9XT4oTTFhxnpEG777bE-Q4O1XTVdgmbufK-K3-smFyyhBKiIKoOeaKmYQpPjnWl-7FCewQUEl-AEBjqu3ETfl9VELtHbfghDIQKD1ZqGbHOWyvE6WFSX8XfNrqvvSiJasJ6lC65ajcQHtqkqIqybUzda8rEQo33skGfAIUZ1-kXmDtXe4Y28n3ZPvlYbA86IC_fZdLs82BXzPVpGmgfm2_WUIT3yeoftcu-Dsa39DmG_VqbNNF42I_fNKRSRtsfdoGMxir-f7xgIKTHRgeFoyug9vKR6-B0mTxUhi_oRlXu2KETkQFeUd4fzq8FPCwGXS13qkc-XD_jkdzYMNd7GcGEDkHjPFJjWGOc5r6IVfug1mfpO5nsmA7nGNAFJUICgSLFJT5bPJ9f-R1B2MioSmuOdqNRtJB42S3Qmv-JJdXbMoHk7MkZbSSDPAvRRdkebzB9V4-tHt2ISPYGcPYv1sRsaAF0Ya_cRDAKCUYzMhsRZnn-05CLx47Jh99WX8UHxmE6Vjd0m2okS_hApcluHxiLug1xwz7SPAVOX9slYGGUvLsp7P4kqneEEtkRqHb9lvklJM2Y-_rNE8ieC0aatT6FKtVOJFWdShqA-3WKPmi9lv5dvrCIp4cpU0VqSsbbSNJ-ulV47wt9mnx0WLMEycUFTZ3TenExx4ntJA6IXgVyj8NB6D0o9V9_AwKsXjXD4l4Ix1zMYbNC0iHjZCX45bh-fmlSXIWhxgJ4lGw6MSsiesidYVktJE5AH0ss0s_e-W2CtaWHA6Xc7W3YdFGiT-IRcdnads10lkKZUjVUOaWturIA0yCqOuBRcSC0BFB7n7t94QLKt1YnX69k-EO87VrQ0cWBbDAl4NtHgLWnEcBHNfUl5fZm1NP99xjuVV6Dsh0zbifwcdiNXWGrokGrvnmANNHH4ZTcdTdqGAmXrxDZBD3pq1euzcKUfRUpNzZoaoWmqdPyE_thO6dj8EDHAQrQkbCi--jC8J2ORuD-5eLKfmF81Q5Gu2hQAd83tEgIZrAcE8s4I0vr7PBYX0yTmiCSFpzDLNp2tFdjQK-iawy3fDQtMa-8xrS8PCAzlLt7RsGv0ctMApJlL98kN1BWZhvcjwL9HCX0n6UQ8F-ORrEIHnr7rwqijKY-gFot1Y3CAkmbsmtBQTBb52_Tvq4te6oJNDS_kNaoCzW3XTL87Wdn9WpZo0qQQ-22nJmO_bpgvou-jsLAEjuwNALWYJNJg1wmFvd9t8e_ZI2LW9aMT-mVDsjZbVGxR77FiwCZyC5xJvVzeYlExEVjGFC2GRNJN2wI_VSGPRFVMMn4MBkF0RJTA==",
  "id": "rs_040167a008f45f67016ab491876f6087d0b7574465ed27f7fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.27,\"right_z\":0.18,\"right_pitch\":0.4},\"note\":\"Both plush toys are now in the safe; the yellow object remains beside it. I’m lifting away and moving over that last object with a forward tool tilt for the longer reach.\"}",
  "call_id": "call_SjcX3zvF6SrfBwXJ6tvN8g2C",
  "id": "fc_040167a008f45f67016ab4918d32f487d08c8b8b0934393eb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SjcX3zvF6SrfBwXJ6tvN8g2C",
  "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]: [-0.1432, 0.8501, 0.7719, -0.638, -0.2287, 0.0105, 0.9965, 0.6907, 2.101, 1.3144, 0.4412, 0.7139, -0.0013, 0.9953]\nstate[eef_state]: left_x=0.2808 left_y=0.0036 left_z=0.1922 left_yaw=0.0394 left_pitch=-0.1245 left_roll=0.1762 left_gripper=0.9965 right_x=0.5037 right_y=0.2709 right_z=0.14 right_yaw=0.0838 right_pitch=0.3055 right_roll=-0.2379 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.4291, 6.9538, 1.6093, -0.1245, -0.0269, -0.0122, -0.2667, -14.8718, 6.612, 2.1661, 0.0904, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67380e6defa5d8cd07b0bfcf6b88173bdaae507d411fb9698352c8913ee408c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c716f3db9de21db225b1bbf764da0cd2d5034bb88e4f8a81942c002db3839b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5dbe39205d983cd05c98f63e0d9b4dd61aebea40e0f5776d03a9b8781877422",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.555 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 60 changed as sent

message 64 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8474, 0.7719, -0.63, -0.2291, 0.0101, 0.9965, 1.018, 2.2097, 1.4647, -0.0078, 0.8993, 0.4404, 0.0452]\nstate[eef_state]: left_x=0.2819 left_y=0.0034 left_z=0.1944 left_yaw=0.0393 left_pitch=-0.1139 left_roll=0.1742 left_gripper=0.9965 right_x=0.3928 right_y=0.38 right_z=0.079 right_yaw=0.0828 right_pitch=0.1309 right_roll=-0.1766 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.8877, -0.1587, -0.0708, -0.0122, -0.4991, -11.5761, 5.9556, 1.6874, 0.2906, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8497, 0.7719, -0.6376, -0.2287, 0.0105, 0.9965, 1.0309, 2.2852, 1.5154, 0.017, 0.9184, 0.4332, 0.9947]\nstate[eef_state]: left_x=0.2809 left_y=0.0035 left_z=0.1924 left_yaw=0.039 left_pitch=-0.1238 left_roll=0.176 left_gripper=0.9965 right_x=0.395 right_y=0.393 right_z=0.0629 right_yaw=0.0869 right_pitch=0.1407 right_roll=-0.1909 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.6068, 6.7897, 1.6288, -0.1685, -0.0366, -0.0122, -0.6906, -14.4889, 5.7094, 1.4139, 0.2027, -0.0073, -0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8501, 0.7719, -0.638, -0.2287, 0.0105, 0.9965, 0.6907, 2.101, 1.3144, 0.4412, 0.7139, -0.0013, 0.9953]\nstate[eef_state]: left_x=0.2808 left_y=0.0036 left_z=0.1922 left_yaw=0.0394 left_pitch=-0.1245 left_roll=0.1762 left_gripper=0.9965 right_x=0.5037 right_y=0.2709 right_z=0.14 right_yaw=0.0838 right_pitch=0.3055 right_roll=-0.2379 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.4291, 6.9538, 1.6093, -0.1245, -0.0269, -0.0122, -0.2667, -14.8718, 6.612, 2.1661, 0.0904, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67380e6defa5d8cd07b0bfcf6b88173bdaae507d411fb9698352c8913ee408c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c716f3db9de21db225b1bbf764da0cd2d5034bb88e4f8a81942c002db3839b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5dbe39205d983cd05c98f63e0d9b4dd61aebea40e0f5776d03a9b8781877422",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGTRngqAPfIRfBMBYc_q6aJP8g0YXiqdIJJIoSRkQxuPVwWt2rX3HsSSwhItDBlLGKOQPNb5vKZ1rcnapeaq1QA0STZ75eo7qTc7dO8nQzt_J4VuEQR7mEHJ8Z9hHxyel9cjA0qmzVLaSmOFs9RxLNftLloFzN5xsAjA8QH4sunuDbLxjqBXcusLmeabisNo4sVorUZoh_BBtQ4aowoF3l2HWMI5R-jtyLwGDrXmTbab-yqGTQoM0CKQiTFMyqdOMqvKWjj50D8ljcgRe8FKNF8o9PwgQ8wd6mjLTBeWW8ADv6aSQc2NXbKXikoGzxwtYdT95efqRYkExxGVyl1W496ngmtJ8zuseVZItBLGPSI4N2ru_VC2pxKOHr2Oa7yEh5zmUmrdSCuG4XoDYPrIhB5Mo7oROWQFoKsJgDF4PnAlB2Y2Q42lAN89NRSxPSuuth366wLEXKj7ElZUOz5CmAbNnusOMsFjuXeb539T_MqmR7a_qagXC24l3FkHLton_qbzrGShgNEueeozawqKquseo6LlhwO0v7vFLLb09_ZBWn8-cqFv9G6fkku3wLgGP7ZTVBu-mj-HHilpHv6e48phRvUk3_WfuctrBXENiUjBdz22s5kFctBefQaTesJvVatiTuv131HUtsDi5Z6i7SRRaPNqBbeybehyOrMsYg1QKG_4_ulQsHHvoKHkOvzWwtnFLN6DDYFpuCPVhWQYsBlBBDjMNen1IbGkY1d59HG2c7jQ9oT68oNzyS-kPNmrFhOOWLLWyfPt2_TK_n0eWhkINONatm0sBd6UP7ho-yzPk31YSW4ADGYVQpzY0p_lpVu9fcgwrcBTWagULmbrakdglwWkIAgBXOy7IlaD2ILTz-delzhSCvzc0hoAbn172H_8i67Kg4XLOU1j7gQDZawbFQbJmtxmI2G2tP8b-41Py4jcIbqGM9x8LrqMEXacF9L2-ph4VRfLB-16xwMQ5efI_5fNHiZKWRdxkk0CZuqOWuxe5fmSSijLtYtvTo3w9Y11kI0l2AJ2WBeSVr_LN4LBeZFB7lolmRL0SAGTLgrR6YD-mxcW7x_YnZgN3K8IfFHqQk1JJkW8ca-T8_oEW4ocVIH8HropkXmLoAiBj3rdynVYq7SzkuqX7JIDjEnSjGds55os7cL-YN2om2aM2N23QF3D98ysRG30qPWGp8Cmz6QoPu0ClTlG08_E6F9EU8KXR01sEaSdcw9WAonoetR_xAUNwf8ZWV2cyUYLglGt2cFeCXZrcIZXzgvbE0QLrZahRZfh-qh-E6JSN6fV48o-QOgh0HWSHRU_px20dm9ZhFfeQ4CVnDa8dMCpJph767B-IriUi8tROPfFUY3AICOf5nXdTYeeZXJtx_l-YZhN4GZAomJPAcXDUzCnqEU-_zaqy_3-1wKwP1vS8RFPRcuE9knwXfKGwx1dwg4bWKBc1HCR4qu6moaDUoNkTpxadVdvi82q2I8UZtyrrUgYa5CpMPcdqo5on7rVLIdmgr0skzobHpwMRXgpxx8lUwnB4onJ8s9_jfOSven520dKzbnt_GXG_C0Xg9ZGm64buAZ9LeRgnDwwzdgzJqKaDLNx9so8GwWNOukQ2o21itgjclTLR_GuC5El_qQ0KfPvrLEXLl0f4mZaukhpdu0KtJbY8-zLhWAC09CDMI2u1nT37dQgfl1d6NIhNX9Otfo7cDbiURIyAbCJ4aQ99acgow5xGVuIVvKx4xoPxHsjTV0KJWXig==",
  "id": "rs_040167a008f45f67016ab4919072e087d0ae7c241d938b5fb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.255,\"right_z\":0.025,\"right_pitch\":0.5,\"right_roll\":0.15},\"note\":\"The yellow object is directly below the wrist camera’s lower edge, near the jaw centre. I’m lowering around it; afterward I’ll also tuck the teddy’s protruding legs inside before closing the lid.\"}",
  "call_id": "call_ZwWkmHInKND5djcad6OBrAZs",
  "id": "fc_040167a008f45f67016ab49192319087d0ad184af2129c9ae6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZwWkmHInKND5djcad6OBrAZs",
  "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]: [-0.1432, 0.852, 0.7719, -0.6453, -0.2287, 0.0105, 0.9965, 0.5907, 2.4252, 1.1412, 1.2385, 0.4492, 0.1513, 0.9954]\nstate[eef_state]: left_x=0.2798 left_y=0.0037 left_z=0.1904 left_yaw=0.0396 left_pitch=-0.1335 left_roll=0.1778 left_gripper=0.9965 right_x=0.5185 right_y=0.2596 right_z=0.0572 right_yaw=0.0624 right_pitch=0.5344 right_roll=0.1497 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.5111, 7.0359, 1.6679, -0.1148, 0.0171, -0.0073, -0.8137, -7.5009, 3.535, 0.7009, 0.1197, -0.1245, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dc2a2f4c32a2dc64a0894f8f59f7a30246a1914b153e72b403c2c9ecc56331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bc97be3df5102c1168c13fd6f8709b062c78d7214263dc32ee3e3912c7ee7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f720642cff6ae06308e3ced98eaac5c322984a2f2fb78b75db85930d8217b7f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.642 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 64 changed as sent

message 68 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8471, 0.7719, -0.635, -0.2287, 0.0105, 0.9965, 1.0264, 2.2646, 1.5089, 0.0196, 0.9123, 0.4374, 0.0452]\nstate[eef_state]: left_x=0.2811 left_y=0.0035 left_z=0.1936 left_yaw=0.0392 left_pitch=-0.1185 left_roll=0.175 left_gripper=0.9965 right_x=0.3964 right_y=0.3918 right_z=0.0711 right_yaw=0.0822 right_pitch=0.1476 right_roll=-0.1709 right_gripper=0.0452\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6288, -0.1343, -0.0317, -0.0122, 0.8684, -10.5778, 7.0632, 1.1404, 0.2125, 0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8501, 0.7719, -0.638, -0.2287, 0.0105, 0.9965, 0.6907, 2.101, 1.3144, 0.4412, 0.7139, -0.0013, 0.9953]\nstate[eef_state]: left_x=0.2808 left_y=0.0036 left_z=0.1922 left_yaw=0.0394 left_pitch=-0.1245 left_roll=0.1762 left_gripper=0.9965 right_x=0.5037 right_y=0.2709 right_z=0.14 right_yaw=0.0838 right_pitch=0.3055 right_roll=-0.2379 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.4291, 6.9538, 1.6093, -0.1245, -0.0269, -0.0122, -0.2667, -14.8718, 6.612, 2.1661, 0.0904, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.852, 0.7719, -0.6453, -0.2287, 0.0105, 0.9965, 0.5907, 2.4252, 1.1412, 1.2385, 0.4492, 0.1513, 0.9954]\nstate[eef_state]: left_x=0.2798 left_y=0.0037 left_z=0.1904 left_yaw=0.0396 left_pitch=-0.1335 left_roll=0.1778 left_gripper=0.9965 right_x=0.5185 right_y=0.2596 right_z=0.0572 right_yaw=0.0624 right_pitch=0.5344 right_roll=0.1497 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.5111, 7.0359, 1.6679, -0.1148, 0.0171, -0.0073, -0.8137, -7.5009, 3.535, 0.7009, 0.1197, -0.1245, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dc2a2f4c32a2dc64a0894f8f59f7a30246a1914b153e72b403c2c9ecc56331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bc97be3df5102c1168c13fd6f8709b062c78d7214263dc32ee3e3912c7ee7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f720642cff6ae06308e3ced98eaac5c322984a2f2fb78b75db85930d8217b7f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGYioWNSWp8YG1AfMVvd7w_7cNADv-GdKT3zivMXWJmu4MHuEXZj_lNmZsKeG7Jueob40PmnCtEV1jRb5rtkLLKG0NNjIIHYlUlpTP3N-FClIzQ6Kfswz7pcXi6ikVn-hLn8G0LWzs8Cz6FllZweBYQATd34e7UhjOBIvWMt3XMMR3mkakARg62l5xyowFvTs040Q51u_GWU90eM24wBdRv1hD74HvSvF_jun7U-nzlRI2SNbZvECkNqj2F9xGPQGHzJr0zYp7e3I8vQh2QvuJmRPfBs96hBlUuzE2QY7PTnfNUNadbepYVJF_-A1GnPcv-_mVL3psngQ8jVLnmgItMf8o4KHIy5T3UpiQPrqmlHltrdz9_UPod4vXB4O9yhJ7eFrc675mR6VhxQ6nO9bH7ii2pexvnDFD53LhfQsqmdrMLOt_-112mrk691yaXZm6SMJI34RTqGloGY6PDpEfxLhqBL5H1H_Ow60L2OePx4xr_KRl9xnRoGi7KIBuHo8iDgCkmbxX3Ohc0AdJzh1Hjqxzs-EtrxGjcAIyAMAtbJfhWsZblCtybJvibIcYDFx9UVPshRyc86X3rQF6YJVArPMvFNCM9uqNbqGahnLHayUNOndHHI1Qoe4NITBjjK-OatssXfLa37292JvQSoDMFt2sKuizZajAsCzwgdG0I8YGCOYmk-QBMzmvtPMYZdnSqJCAHpooO-LcIdVJACCnsLDBajECmwj0GzrtKCeX6xBt5xMi29btTRpwAVWbp-ZvTd4MPTmK1rQHZVGb1ELClmCAviIeXqFuOSq3NEAmKCtwSYizYCz7Kz9ah3B3kPbFu5ZmciTKE4c5QhvTnoErDOac3MMXAmtExrikrnb1YlmkRdrEC59Glirb5LSWTN_VSW3K3lmOTarpXq7pwGr-KdcXDro-WdQG_0faq7Z-vZJUMvrit1cUxx8Sy16LLF5D8fruI_w7BE5srUBzQGeBPQc2a-QhGH8VOmAd5HLYCPnrX9itK8jFTehCdTJzB0mApHzMIeYIW8NgTcHr0OKIzxVN2vtEIRdnfbXaKPp1H11W5m8cq-OLa0L9qCvn7_H2NmTdqAXxLj_ANG50FW9gqD5tP_4RSQ9CjduzZmpbBw7gOPgTsRmSWRT5ldWA4ZaBzF2PlrFaohlIv2mUEXaSiAi0WVrYrx4CANX7NCqRL4dK7BkcAwF9FYQm-h9itwFxF0OvyFrDJCyf76IFd0cFo6s45qUVKYMfXyRgLw1lWAjaU0B7_fbfln9EnMmzbgAEVj9RRRf8evhGrlEoVkelq-5RLRvT_J594IaP-9x7wzWJX68ywF1fpD2s1-q7q_y2fF9RekKP6SeAcPjL9wsmmncIz7AIT4eL1lrq8okNb217eFfmpwskaobqebKx7St4RYgI3t1r8M3a3boCqbuHTAfNI25eS21U2dGigW5p--tGJ4Q2TdEIg3SswJzhirw5i7lyFuvdu7rrDKOQO9Y8SSQIlRl1x0LDqXe94YXdsA411tl9P29LUeTGPnX08kPzobobnXSTIn3hJgO_xg9OuUyaZ5QZnsdzhMdHR_BJyQuxLYDNDHW8eQmZHx4v7lh-UlzOqjCftL04EPCxcFMed-S7Zi8wwYuAYTl7cnOzQWCaoDVZ3y9psNpvxF03pYAmc5eA9V5T_3IkFGi5n_KO65uSOqmxRHwJw2SVrzpiQVxPW36gpIQ4FE8JodDuMZ_24O3rkxqv72138CwXf_zVkuppe3xrlX0TBdw5GUF14dlP9JicIp5za-6-HLfGVeGfZqpy_7IqgJaY486rifoF2fQ==",
  "id": "rs_040167a008f45f67016ab49195510c87d0a83214c349e1881b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is centred at the bottom of the wrist view, and the descent has stopped at contact. I’m closing the jaws to pick it up without pressing farther down.\"}",
  "call_id": "call_zcyzjszwsVW7sqbXbxc5n5Tc",
  "id": "fc_040167a008f45f67016ab49197a37887d088ea5caf7204c3fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zcyzjszwsVW7sqbXbxc5n5Tc",
  "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]: [-0.1432, 0.8558, 0.7719, -0.6651, -0.2287, 0.0105, 0.9965, 0.6006, 2.431, 1.1469, 1.2953, 0.4248, 0.1581, 0.1108]\nstate[eef_state]: left_x=0.2769 left_y=0.0041 left_z=0.1859 left_yaw=0.0402 left_pitch=-0.1568 left_roll=0.1822 left_gripper=0.9965 right_x=0.5162 right_y=0.2697 right_z=0.0691 right_yaw=0.0742 right_pitch=0.5827 right_roll=0.192 right_gripper=0.1108\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.8144, -0.1148, -0.0122, -0.0073, -1.1009, -12.5744, 4.0137, 1.2479, 0.188, -0.1001, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133b3e82d5e7a1003145dde388b5a912cd320cb3f7ff2b4d74012eaabeac2ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3907e9454ef00daf04cb17ff7a26760800ff75412aa7bcdbdcd35f07cb8525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040a6e1bfc540be3b22a4be56cc9ed6112aedfc5dbbf6f06c32cf9b63c25f7f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.124 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8497, 0.7719, -0.6376, -0.2287, 0.0105, 0.9965, 1.0309, 2.2852, 1.5154, 0.017, 0.9184, 0.4332, 0.9947]\nstate[eef_state]: left_x=0.2809 left_y=0.0035 left_z=0.1924 left_yaw=0.039 left_pitch=-0.1238 left_roll=0.176 left_gripper=0.9965 right_x=0.395 right_y=0.393 right_z=0.0629 right_yaw=0.0869 right_pitch=0.1407 right_roll=-0.1909 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.6068, 6.7897, 1.6288, -0.1685, -0.0366, -0.0122, -0.6906, -14.4889, 5.7094, 1.4139, 0.2027, -0.0073, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.852, 0.7719, -0.6453, -0.2287, 0.0105, 0.9965, 0.5907, 2.4252, 1.1412, 1.2385, 0.4492, 0.1513, 0.9954]\nstate[eef_state]: left_x=0.2798 left_y=0.0037 left_z=0.1904 left_yaw=0.0396 left_pitch=-0.1335 left_roll=0.1778 left_gripper=0.9965 right_x=0.5185 right_y=0.2596 right_z=0.0572 right_yaw=0.0624 right_pitch=0.5344 right_roll=0.1497 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.5111, 7.0359, 1.6679, -0.1148, 0.0171, -0.0073, -0.8137, -7.5009, 3.535, 0.7009, 0.1197, -0.1245, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8558, 0.7719, -0.6651, -0.2287, 0.0105, 0.9965, 0.6006, 2.431, 1.1469, 1.2953, 0.4248, 0.1581, 0.1108]\nstate[eef_state]: left_x=0.2769 left_y=0.0041 left_z=0.1859 left_yaw=0.0402 left_pitch=-0.1568 left_roll=0.1822 left_gripper=0.9965 right_x=0.5162 right_y=0.2697 right_z=0.0691 right_yaw=0.0742 right_pitch=0.5827 right_roll=0.192 right_gripper=0.1108\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.8144, -0.1148, -0.0122, -0.0073, -1.1009, -12.5744, 4.0137, 1.2479, 0.188, -0.1001, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133b3e82d5e7a1003145dde388b5a912cd320cb3f7ff2b4d74012eaabeac2ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3907e9454ef00daf04cb17ff7a26760800ff75412aa7bcdbdcd35f07cb8525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040a6e1bfc540be3b22a4be56cc9ed6112aedfc5dbbf6f06c32cf9b63c25f7f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGc02DB6EP_HAlZRMsk0JGLdOiMreA3W6FnPnBHeTiROm5pHVq_XrThhaizTO0b1AbG-LiRKoN1BPASTz3eKxc77Klzmbcx9LMSfqfRJxLZ14FGEAEhEoEpiyLG3AYlY2uTIE7XNsgWcjUZlGihYDUUk9sYdeJb2X1IhY77mvDGG_lsaZCLdQDQCZPtyFg-1YWyBbgT9uBna3CTR4Th8B3pwD0v0bEVUiSoUOaMRr1n5lC_uxjKAjDDpiw8xhzbmYRucSTvJGiRhfbb62nijLdme6oVDD0d4bvQ50hXqmHs__PhkW_GDlL0OKO814T_0MSf5ufSQuceidIkcGGg2Ib_i9GEKP_kP-1PQ1JwLavj07xcj5rhtQoMuMcMUhqB2gfa1PKdX4CBaZAi9k4aSyKpxqt4ij69Mph9VJp3MiKOTchDCNOpu42ZsShR75rPPuAsTN06_ZyFZmqp7b-4ir3eITB8clJ6Tyx_CndZZsyXyMwVtCz_54iPfFINWnHIPNBX4Asw9HXfbDowujO8z92QmSaLkOxXgv_BPq494IPASj7NCjhPksuJYy5FEDbCvkebsye4MKU3aZ_f0e7QXblDVg0U_deve18ugFGaGcN-czxpaSarIYBu_753JfLKVYcsC3rzpWvhhbLAW7d12c5Vs4rS64tw6vqsxi_CAwSNjshpaAvtKV6T6zNBsOTbRjeXqHNAbIjdo95NlBVwGPgzF0WPtX2JlG0gXOWgcmz2gJo7b7nD1k0Rnz2Yotss47nIpm9UdwWVJPC4CwgozVZQ09728UlUiQCYEJmEwc_tdwhdDxqBbhn5OjIb3qTPUYwzPaVIJBZn_Y3tIfrtmbwlF7mMJtJVVNvBn7is5voyfzYfCIt0vAC_ycxnxQ6sbKzrnx6ZhEMj1xZQI70Krpf9p28hAFeBasU3PFXnq2lcKYLs23m8upaPc8SgAPspWJHUs4Ne5a7lZ9w1rpyewCXyzsh5avSUdNffyVCnmmTMzl5hD5MHX8jyRNU7xrZ9pxU8QCr6dz2kNhfRKGrguxfFOCXCTLW4AXk2QjdYuqo8VLQPKPCC1z21qRAoNnq-RzPyFhHT7UiF5phPfIIlT20prnIMy5vGt_HMx4nLJxct8lsgnDJTAYVd5mF1Olcix1QsJFvb64qws37drrIN8EM24q4KGc-noj1Z2xND-uObTWyyM97B0WAlQxAphfg6rOZTY-TIJ505EVeUEuLeL6Ii-qou44XIuFkTd_mUpYLG2r0=",
  "id": "rs_040167a008f45f67016ab4919b135087d08e9687a7b1270f06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.255,\"right_z\":0.145,\"right_pitch\":0.4},\"note\":\"The jaws have stopped with a measurable gap around the yellow object. I’m lifting it clear to verify that it is securely held.\"}",
  "call_id": "call_9gIyx4CBS9t8yGl5Lw9Gc7Vk",
  "id": "fc_040167a008f45f67016ab4919b23ec87d0813040c2482ef0bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9gIyx4CBS9t8yGl5Lw9Gc7Vk",
  "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]: [-0.1432, 0.8581, 0.7719, -0.6827, -0.2287, 0.0101, 0.9965, 0.5915, 2.0869, 1.0882, 0.8005, 0.3992, 0.226, 0.1131]\nstate[eef_state]: left_x=0.2742 left_y=0.0045 left_z=0.1822 left_yaw=0.041 left_pitch=-0.1762 left_roll=0.1856 left_gripper=0.9965 right_x=0.5027 right_y=0.2593 right_z=0.1225 right_yaw=0.102 right_pitch=0.3921 right_roll=0.1554 right_gripper=0.1131\nstate[joint_eff]: [-0.0205, -1.6068, 6.7487, 1.7509, -0.1343, -0.0415, -0.0073, -0.7043, -13.2034, 7.2821, 2.2344, 0.105, 0.105, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b49444ccb9c89341cb683bfe3d1e306963ac49164a50f5068ffad8908096f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb75dffd2fa4ce8aea61f6f5b3bb26e3e8764b3bed925d06c8e9d582a477b2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059f48eb82fd0947b5ec6a8b02233e629263f831175a1323c45933adb03b2613",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 12.43 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8501, 0.7719, -0.638, -0.2287, 0.0105, 0.9965, 0.6907, 2.101, 1.3144, 0.4412, 0.7139, -0.0013, 0.9953]\nstate[eef_state]: left_x=0.2808 left_y=0.0036 left_z=0.1922 left_yaw=0.0394 left_pitch=-0.1245 left_roll=0.1762 left_gripper=0.9965 right_x=0.5037 right_y=0.2709 right_z=0.14 right_yaw=0.0838 right_pitch=0.3055 right_roll=-0.2379 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.4291, 6.9538, 1.6093, -0.1245, -0.0269, -0.0122, -0.2667, -14.8718, 6.612, 2.1661, 0.0904, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8558, 0.7719, -0.6651, -0.2287, 0.0105, 0.9965, 0.6006, 2.431, 1.1469, 1.2953, 0.4248, 0.1581, 0.1108]\nstate[eef_state]: left_x=0.2769 left_y=0.0041 left_z=0.1859 left_yaw=0.0402 left_pitch=-0.1568 left_roll=0.1822 left_gripper=0.9965 right_x=0.5162 right_y=0.2697 right_z=0.0691 right_yaw=0.0742 right_pitch=0.5827 right_roll=0.192 right_gripper=0.1108\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.8144, -0.1148, -0.0122, -0.0073, -1.1009, -12.5744, 4.0137, 1.2479, 0.188, -0.1001, 0.8864]\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"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8581, 0.7719, -0.6827, -0.2287, 0.0101, 0.9965, 0.5915, 2.0869, 1.0882, 0.8005, 0.3992, 0.226, 0.1131]\nstate[eef_state]: left_x=0.2742 left_y=0.0045 left_z=0.1822 left_yaw=0.041 left_pitch=-0.1762 left_roll=0.1856 left_gripper=0.9965 right_x=0.5027 right_y=0.2593 right_z=0.1225 right_yaw=0.102 right_pitch=0.3921 right_roll=0.1554 right_gripper=0.1131\nstate[joint_eff]: [-0.0205, -1.6068, 6.7487, 1.7509, -0.1343, -0.0415, -0.0073, -0.7043, -13.2034, 7.2821, 2.2344, 0.105, 0.105, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b49444ccb9c89341cb683bfe3d1e306963ac49164a50f5068ffad8908096f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb75dffd2fa4ce8aea61f6f5b3bb26e3e8764b3bed925d06c8e9d582a477b2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059f48eb82fd0947b5ec6a8b02233e629263f831175a1323c45933adb03b2613",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGfAahvi0rCZobQhi-IAAykpanS2PWOjBHKJ6kS4Nttwen5Rg1fqB9Xc0nVKv9Ip-gRk8Swr4MtHvnwH5h_MYROlUUSWJVXnSO9qn2FWAucSZ-V0kGgqX_7ZWWY1e_leGvHLXj4jZDFKHAI0vxnEP6Xld731vzG7GC6iKegjGd6IDNkEI57ttppAGIXvudfJfAroyPyF8q4GFytT9ehJ4F7hcAcPZ7Nus7LUv2XF05wTM0vGriTp3iUP82G9ywtPTU8UbtHUnLr4YR0FuJh_42vSl1usYDwDzL8_1ligVRXJ8f9T8_Xo4Sbfc2jdWieohd_UA-P-4scZp2Rxk0Kl5Hp0Vd4wY7nAZcu870hMYb1rsM1ICVFnRcffx4MBEGH1GIjL4ub5TM3djv4tJFdEaQ2JLf4aY2Bnk1o2PGl9RmgyfBWvvCRNZn_R6gun0qktZiQeh3eTVDUUgML5T2vGyBN-bigliS1uj5jHd07DZYh_t0ewMEU3mkXGJPCChHj1Oil5K9FR1SeZjExldy83jEiE19HANhQBfG-OvBxtp7up7hCGOTyajBoaagoXDhNHaQl6Ca6lxT1UU7somXI1SpDLyoL9SeujZcJI6VWDv_Xleldm54NEL5_L6ZLaliGsF9964kWYVmv8fsPtZ3GKVvueqtbV_Ut7qh7QMXKU6Ky_XFxBkGH6LbwW6ufDlP5LKkZmUPj8O3g6xQ6gHtlLP7eE-f0JdMELFDf4_PFNnYEAPxFWOlShoa2ibzRdbGImNla-MdMXs0CdXZJSNVvzqSGn2a5zaABJtnmeV2khlf2AcEiI8MnpLYvS-yHxDtkc17QhpD08rrUelqfwGI8WqmtoaROSQMhDxgDbnuPaE5_ZKzx5gpMZWp8cmwJ1Z0xP-8hNuRkpY4lYTVe5YjrLm-P8uv3Xiv73B-LBhFllPj4sESOxuIeykbaXIf9S5ksqTbfRw9fPkdEpdoszlEhCsL7fNlGiKdIbLThfCBEHfbhh9aPR1VwBcMXoV9mMlJnhD2Pl5ZQ1zMHTrs7yew1yklGGPDwYGaQHYiIG8PncnwODN9fmQ_A5jBhgh953MZkc4Cv_QLP-9yOcu8nNNiZky6nKdkneNnnBCAY49r0D23iopdLia7l7VvDqwYDNwy-jg_aUueIW38Qk9jbCJD2sOp8XnjRajfD5BPyoHIY63kc6OcUw9ociABUmvkwz-f4e_k3BhiPOb8wn7QjB2QilLqgeyQIE0_tNaglGBc-PCOr_aZI7L9enbXtOdScUKcO3sG3h2xPcLmQDatMdNYIUquDvw==",
  "id": "rs_040167a008f45f67016ab4919e76d487d0b0bb9e8279675180",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.4,\"right_z\":0.22,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The yellow object has lifted off the table with the gripper. I’m carrying it over the safe’s opening, beside the plush toys.\"}",
  "call_id": "call_ExX3BTfQP8TC5xzvDaHW0LOC",
  "id": "fc_040167a008f45f67016ab4919ede4887d0bff5515b56f6e9a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ExX3BTfQP8TC5xzvDaHW0LOC",
  "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]: [-0.1432, 0.8585, 0.7719, -0.6971, -0.2287, 0.0101, 0.9965, 0.8906, 2.1818, 1.8229, -0.086, 0.6987, 0.2909, 0.115]\nstate[eef_state]: left_x=0.2718 left_y=0.0049 left_z=0.1796 left_yaw=0.0415 left_pitch=-0.1909 left_roll=0.1884 left_gripper=0.9965 right_x=0.4676 right_y=0.403 right_z=0.2101 right_yaw=0.1492 right_pitch=0.2444 right_roll=-0.0081 right_gripper=0.115\nstate[joint_eff]: [-0.1436, -1.4154, 6.7624, 1.663, -0.149, -0.0611, -0.0073, -0.2256, -12.6974, 8.8, 1.9023, 0.4371, 0.2222, 0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ffc508c880b0371abf54f41ab4541e34346213badd28f8a24f572fccaf5b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2385baf49fa3bdc27a5b178cc9ac05b4bd435c27d85b1cce98a4dfee8e654b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5eb7b2dc03ceb0501e7ac5bb7d0c6bb521adac6fea17ee18b8d7d2a2aefb2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.967 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.852, 0.7719, -0.6453, -0.2287, 0.0105, 0.9965, 0.5907, 2.4252, 1.1412, 1.2385, 0.4492, 0.1513, 0.9954]\nstate[eef_state]: left_x=0.2798 left_y=0.0037 left_z=0.1904 left_yaw=0.0396 left_pitch=-0.1335 left_roll=0.1778 left_gripper=0.9965 right_x=0.5185 right_y=0.2596 right_z=0.0572 right_yaw=0.0624 right_pitch=0.5344 right_roll=0.1497 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.5111, 7.0359, 1.6679, -0.1148, 0.0171, -0.0073, -0.8137, -7.5009, 3.535, 0.7009, 0.1197, -0.1245, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8581, 0.7719, -0.6827, -0.2287, 0.0101, 0.9965, 0.5915, 2.0869, 1.0882, 0.8005, 0.3992, 0.226, 0.1131]\nstate[eef_state]: left_x=0.2742 left_y=0.0045 left_z=0.1822 left_yaw=0.041 left_pitch=-0.1762 left_roll=0.1856 left_gripper=0.9965 right_x=0.5027 right_y=0.2593 right_z=0.1225 right_yaw=0.102 right_pitch=0.3921 right_roll=0.1554 right_gripper=0.1131\nstate[joint_eff]: [-0.0205, -1.6068, 6.7487, 1.7509, -0.1343, -0.0415, -0.0073, -0.7043, -13.2034, 7.2821, 2.2344, 0.105, 0.105, 0.2271]\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"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8585, 0.7719, -0.6971, -0.2287, 0.0101, 0.9965, 0.8906, 2.1818, 1.8229, -0.086, 0.6987, 0.2909, 0.115]\nstate[eef_state]: left_x=0.2718 left_y=0.0049 left_z=0.1796 left_yaw=0.0415 left_pitch=-0.1909 left_roll=0.1884 left_gripper=0.9965 right_x=0.4676 right_y=0.403 right_z=0.2101 right_yaw=0.1492 right_pitch=0.2444 right_roll=-0.0081 right_gripper=0.115\nstate[joint_eff]: [-0.1436, -1.4154, 6.7624, 1.663, -0.149, -0.0611, -0.0073, -0.2256, -12.6974, 8.8, 1.9023, 0.4371, 0.2222, 0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ffc508c880b0371abf54f41ab4541e34346213badd28f8a24f572fccaf5b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2385baf49fa3bdc27a5b178cc9ac05b4bd435c27d85b1cce98a4dfee8e654b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5eb7b2dc03ceb0501e7ac5bb7d0c6bb521adac6fea17ee18b8d7d2a2aefb2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJGtGaUQmg9EUrNiR3if-I9niyX0Qoqxnxe99TAID_aheYTpaz1hi3AhDboJbPItcmjfx3o0xTYQtD16RV_uoYU6TvAap2IhaA42YKJ7YRXC_ADCuINvbf7IZoJUs7p4XscDSl60g7sZTKaxPDkIKDUzXLks4tqJMA2qC2q2dze_QFzn_hjuGv0oEmjUuB_5TMIQEYSiSBow8BmOfI_5dN-hCGT4AubXpnCCZ4dIlpcgKJt3F55gXGgkTTiq14TxOLUms7gJD3KAMwDe9ldTq-JNlPzKh8Jxihgo7qpnACW3_yPWBwrD6WfgMSOZDbVEW3HlhsZB1yO_PzNNhXEbzTLJbmTXUYjvQ9YpV-TNtSBlY_tJj-ywb2Eoi_f-XAoqeeKAlXd4MZLqdnSzaPE_jvY5MSvzSVTNwZE7SgMyvGiHcAt53qT95vtGQA8aZe9br2YefpToIFpYneCic8o3U7PvakqkVqpUlXcjEJ5QUd--kwKsdgY3d2pjbqVzOjdaAY_PqODQAqtRIszeCE3E8Kz43H5gsis52dmXmB85-lnS0WKLx8m7TCAJnVz86m7EJP_Kj1wborOb2Q2Jvn84EDWtejHUtAfwjZ2QFd1Q6kUDq3lWMdIZNS-MSNPV4QCS05TZ4S0nNN3YA2hidMeusutJ6F8OS2k2YQBdtWMnYgLl2LMvsxSVI0TS-jvT2k0BKSgZ47FO4Pa66_pgEMmjoVyRN32yYoGntfg8StQGTsLI7eRruUiUCWSq1EUrFnvQqjBE3pOvNd9nnX9Prh34WrVa0VkfaBrwWJ7vVhxnizRuAw6XPLZw36fxg9VYu2w90eoNuNky0CqYjgkfNsQYz_ml1cf5Ia6AuiXC_a793tD5Xl8JWn58-Jl7rVdoak4XEG3AdwMhEOWu96o-H5UJnjfLNy6jin201gp7tak-EXRVDZC-JI3pEsbvavGjfFpS0Sen9DTygIFCdTu79kaYXEoS_goUhg6x3KfOuLrSWms80fDG4h4RAt0ndZ22VMd-nzoRqo6llgzQ88sxvXzZPKKcMOgZWtbo6MHr4ZT6fK2LTkVqciEBhxqksZ_mXIXlSaOx_QOCz8FeLn-1kHiivcndTuxC54OKqFDgQ1CUb1QGzXTF5T-bUT0DDOyfVlq2_VQ0t-1zH7CD8hJwm8hCIidHu_E9PK49t1Ad64YCI8A4L8TN9V5wb6_mu8j83DGspnw48EDxwrQt-NkG3bL-wmPrJje0EO-_To1ISwKJRFKi9s895Twqw4Fk04bJrq-QGit3pQIPULzwDejVrfmiCo43gcO2WMzSDfziwg75f6TPudolekmEU9c9iWVsMWI1-pCK681Pk1dgjOeHMe3tS9_KP3fv5QcBFNsn8FmA3FHfCxUHCQdq2kyVVtsly8J_CJxf3ySwNinLT3EUnIlwyh1W4XsKOq-0suyky7iYKKOa1T7BrhCn9nBeCt6xla2DJF66NoV_Ua-f6tOsI98TuHxa5lFEcdsdG3-HVLeU-KqtXvqJ1ILERb-hUM9Vk4Yk1ITmIHnukDd86bbMCZcDYwL2kEHy8jCNWZQxosJ4brfMFJd6Psf3fNvlL2qWCfl6ylhQp6oUYa_ftQqJSqAgNyRdJuwHpmxtON5aJ_xuHr3fsst6VJ2Rm83TEZqz2QTIBbFIPvQWVoWdY5xIPr4Z5sUtGm-N7etMO_kCJXU_tjVQq8M2LyNioI8McbgnjHdDkLz4m4JTAKJXZPTuTUfbjWPP8SJ6eog3DsjDvjMXEx-HOe6VI9U5x5WeYASQEWtXC5AQCp76ne9IVCi_gYLW4XRG90r_1KtaBbyaSALyaWPg-CNkq0MGdniDWlD0YLzl5UGZe-Z6SGi3cJIUFXXiTPhf45Fb063QL6fL-utmLb3Y0bZkx_l32CXX2H9Ny9sRhNlGyIAv8T8XAE2O0uZkA4Bx2VDRZ1MDhdeVAztnZjzdvmjfH_2MwPfVCNzGW62cbUiYnV8RlZpC5aktu3VbY7GUN_EFmLccHcOyH_TThQTMdN_U3ruJDExhB3X6D1TX3QztIoDqSIyXf7MzbleiikUzhBMsTvZAEUgCi6zyUZZzI4tiqpwa-z9kDkTHgSLXXk2zlkwADBcyME6k9vMcnAaxyvwvmAeO3Mvg2dEtcTpIip7g2_JyvBRtsfA__pxh_-wfmKN1GQoLFa5deeCbeGJeSWkOZOeJFr5wP71UafrVeIoRB-fzNRfh_hXpGzOV0U2MLNBTVXUCjyrgW7Bmy70fJgXBhAC6pys4KK-Ru3J3ms71-8bZcpdFdxcvdqMqQ5RKbi0jDqBh9me-ALxT5v-gt4JyPDGPL2eBWi9hIGlJvPJ3rGayR3p36t41MgQ7j_NNmMPsGlT3b-hh-u0LzfEp21fyU5WODxQm_wrXSgegHxk6m9EM725vud5PvbJJclb7-334VmWw4KoZe-wosZ_XhdJHmFEfFX7aMbMkNB6MzY01v6HS6Vq8Pn5nWdOof90-Utt1Itve5xMjvQCOu2Cb7_yGhIXSnH1d_yK1T9dS-J9TAdv1H-lFvXrLN8ANx_XgY9bILgnFWc9nMkwIcqWcuUOf8Jn-kgI9PDsETRzwdPNGKwm3Ng3ZsMTghSeL9PIFLB6T9ezqd85GZmtX0o2U-EGGtxkpunWH3zcMq9hg0KotdbAX2mPfNgRE0Q2Qf6LapIC7tdYEe3oqlTBXmTXA08d8lxZ_jT4vSMf3BCbuT-7Rh0jVGG7HxVol9knpgkUIgdGp1on_6M6hgzZFdkEXuF7hhFzS52ir9TBVr70JJtffi7Hp5RW9AES00Zo1ZOY1zFm0cjRQmQjpN6oslq9kEt0XB6vt-RsNAKEiUlveIzSPvjGs5kqwrQE2SytgmMhOjUEXXBnXHx8C-Dcknkn7ZGjKUb-RzhWelU8AE0UR-SFfFWB_L77sYhntrIeW1coduhEhN79GdygWmInnLBaSqynV2TTziI2XUWVTu9VS8_c1qEUmFVfN5lPMsVRRKzP348bWRpZnJebnrZsARXPPACPYGjMiUOtgU8SkpH-aqECYqrsuqDZx-9n67hygEIAla57PFqcYMObe8IPPYIgUtOmflojAy9kJj4AFktekqWtVn5jOIoaDnNT_J1wA8A6Ta4ubmCL2j5WujfXRHRnUdjoWsapqHuRlcsP2xOO6OXTBjTJDbxWedknUK_jgtGCxZnM_DsLHsszPXxuDfmdF58vZ9lFBMOePKLZHsqKM-xjyfr2Cxbob2PwYilHmcicNJ8UhNNk8NkUyFwjeJqrbLzY7nj70BupLHu0Czyl60YLb7lZIKOWRHtWptczqx495bJPcm6tBhT2tqbtt7ijlGEqfPQMjDRQM5ysNvqQt651fzghbAygaRr6Rtd5Ux3xznTUJJITBCdyJpIjUUahXB5ka9vziVmMbYHdMCUStmn7duDvW6gPaAc8oj2U895NuwxjwYrcwSy_zlbUcD8pKvYPoy9dd0JG0DTiZI73ATeVD2ex6YK8rAecRPghUaM7LXco7_WuLyuq9TH1gcmongWJ5jYbW3V3vtPeg_ZL1k0FeAuN0SyPbFdviJBpTgGeLCga-SYlDH_WYNPxcChmHvARgOcTpIcyED-TIABX8CsaEW_4dZfLPUgrxkW3AxWcZ5HA3RJojCHE_jR1iCYmJ4TycSr0nuuuQw2EOctJhtAq31ygoq756GPt9PHsGQTI7SCkr61QPGpj-8PYOBnG1A9AEhOg5aFXr0ne4DzAWjHbecplCwvEWf3pt73BFm9xU9re3xAhID9r_xltjiyy40PqTA7ULsbprnNY2lZstsEUp_eDPcFKfdAB92jV8jQ4gVTzvNCF_6opTXdi40kl9gw==",
  "id": "rs_040167a008f45f67016ab491a2e00087d080e5e0dfea73e147",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGtn9SjjM2x2arKcgW_OHjA8FMXKnVBa_-kSfLhqAQ0p6wPjF5LsAvOR5qsz5XninEYjU2vJvQCgSiMDwd-hiDk0x_zyIXteh-RO3BX_Q9wkzIak-tuAMr-e-HXOnaewT5Goc7a7V361BL0mDoLnzPoy0Ma3wDUSuM6jF0h90GrHB6FRF7yaqswe5Gmb3vzvifC7YSNkRgJM8d-buaTswlBlJj2xeHSXrZ2DeKysPWetw3h0PBISSm01Ivma9lrdopq-lkBlcjMxl2Rlt_fB5e2jEEqkAyPe5FaWTCPIp-HLZzOuLn8c-qrFrb-wTBKdvVnwlI6KhEhM5uJ5zpT_pJXrCNm_vq2LWUdI4SrfHb141n6ko_vO-uqkyGsBCMUBlQz3iDdxgkOxhDqjVKHc96wgoyW0va9E9KyYJBrW0jVWL-4z61QuZx8wOwaFoxARMom_m1bercrZLT0GyFcFa9N9mmfxY-uPjZSFYD9VJ9CQkHl0OBZxLmOlMA3E4QscHMeNhhavkpjYrZnsahLkHvTtGc4v7xk-7-PsyDfmHcFEUM2pnX2ba5AYtawBCKUc8CB5VqJGQTju-Dkt6hYjfYnnfsWNqwPdWF2_OPIu8DxDTzIuu90O9vcHvEhinYBW9gDQxuZ-NwFUXA6xun6XmCWz07xdfbDx4RFtEuLbIIenbeZE7nKkkjo4fPc7KpMnlBr2PdhZywS7kU8n9ekbFyVtGzn1NFCwOgZVKllClCovtp0-s8Zy9GIR0byeoGJX-IutVWps4kY2gvu78TKna4jzfs32kfTn5__kfugaOBR_VwH08H_OKbIHVBSA3vHOwNn5ayAEgv31SK1DuH6T-hJccpQnJNR2Vxl27r20GtF7E4iBMdAa6F7s5LGKvt6CWBTEDyaAoV9EbtTvULRUY0XW-08B7cfo6XQInwRP3dV_Sc-cQJGGMlmwxPCMe7QKnme1uJYz0Np8s7ffdlO16P4O_6RKSnvV5ZVlPu2Gkgfuo1p8H14PWJAVH59aWnWs1UxqfXUbd68MDcPRIkwdyeua4NrL9g2Hfaj7giE4kdEMQVGnh2X4IsjO0A3bfgunw3f6cbyW7uX3fO8lxNvQRY2izrsfWkxAoZp9TH-XeqpiOhcpw8IKa3v2sV1iFkVf64S2QbFtJmGHnuIBN-aNKo4acEt2zfJVDv_njcNcvScn0BzH34rdCpzZmFViphGJtB5xVrDszf8BxmOl3MNcm4mVCu-JQ1sIJDg042LZ6s8B8e4OTZhEs2JmHkQSIPGSGw4BpFElA8NakHuDa_Wzy2rIoSqh_vIwJM2fgp4JnJYzCtJ8H2LhC7Sf0ki65Ep8ACQAINOta4UpUoUBAQz_GuTIg==",
  "id": "rs_040167a008f45f67016ab491ab982487d094b5bc91b0dfedbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.39,\"right_z\":0.10,\"right_pitch\":0.45},\"note\":\"The overhead view shows that this pickup caught the teddy again, not the yellow object, which is still beside the safe. I’m using this hold to move the teddy farther into the compartment so its legs no longer hang over the front.\"}",
  "call_id": "call_qc9ScZseZUTIeHF6vAJEk6AD",
  "id": "fc_040167a008f45f67016ab491ac297887d0817bf8b4ffcee43e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qc9ScZseZUTIeHF6vAJEk6AD",
  "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]: [-0.1432, 0.8623, 0.7712, -0.7055, -0.2287, 0.0101, 0.9965, 0.7963, 2.4485, 1.6775, 0.5335, 0.6502, 0.112, 0.1168]\nstate[eef_state]: left_x=0.2705 left_y=0.0051 left_z=0.1769 left_yaw=0.042 left_pitch=-0.2036 left_roll=0.1908 left_gripper=0.9965 right_x=0.5254 right_y=0.3892 right_z=0.1037 right_yaw=0.1568 right_pitch=0.3915 right_roll=-0.0379 right_gripper=0.1168\nstate[joint_eff]: [0.0068, -1.7026, 6.9812, 1.5751, -0.0952, -0.0317, -0.0122, -1.1009, -11.2342, 8.0068, 1.6581, 0.0317, 0.0708, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77e89f7b818ad5843c497d3d8c1ed8fce27558594abf8a39b47f56e986542aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba171f9882d5a42a2a3acd51ec2e26e28ade8570a13a0fe1f480dc92a4161094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7b0cb3af1d1175c50a0d85ce5a9608cd60b2c6e2f7e5749b1b466f75b12c3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 2.834 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 85 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8558, 0.7719, -0.6651, -0.2287, 0.0105, 0.9965, 0.6006, 2.431, 1.1469, 1.2953, 0.4248, 0.1581, 0.1108]\nstate[eef_state]: left_x=0.2769 left_y=0.0041 left_z=0.1859 left_yaw=0.0402 left_pitch=-0.1568 left_roll=0.1822 left_gripper=0.9965 right_x=0.5162 right_y=0.2697 right_z=0.0691 right_yaw=0.0742 right_pitch=0.5827 right_roll=0.192 right_gripper=0.1108\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.8144, -0.1148, -0.0122, -0.0073, -1.1009, -12.5744, 4.0137, 1.2479, 0.188, -0.1001, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8585, 0.7719, -0.6971, -0.2287, 0.0101, 0.9965, 0.8906, 2.1818, 1.8229, -0.086, 0.6987, 0.2909, 0.115]\nstate[eef_state]: left_x=0.2718 left_y=0.0049 left_z=0.1796 left_yaw=0.0415 left_pitch=-0.1909 left_roll=0.1884 left_gripper=0.9965 right_x=0.4676 right_y=0.403 right_z=0.2101 right_yaw=0.1492 right_pitch=0.2444 right_roll=-0.0081 right_gripper=0.115\nstate[joint_eff]: [-0.1436, -1.4154, 6.7624, 1.663, -0.149, -0.0611, -0.0073, -0.2256, -12.6974, 8.8, 1.9023, 0.4371, 0.2222, 0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8623, 0.7712, -0.7055, -0.2287, 0.0101, 0.9965, 0.7963, 2.4485, 1.6775, 0.5335, 0.6502, 0.112, 0.1168]\nstate[eef_state]: left_x=0.2705 left_y=0.0051 left_z=0.1769 left_yaw=0.042 left_pitch=-0.2036 left_roll=0.1908 left_gripper=0.9965 right_x=0.5254 right_y=0.3892 right_z=0.1037 right_yaw=0.1568 right_pitch=0.3915 right_roll=-0.0379 right_gripper=0.1168\nstate[joint_eff]: [0.0068, -1.7026, 6.9812, 1.5751, -0.0952, -0.0317, -0.0122, -1.1009, -11.2342, 8.0068, 1.6581, 0.0317, 0.0708, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77e89f7b818ad5843c497d3d8c1ed8fce27558594abf8a39b47f56e986542aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba171f9882d5a42a2a3acd51ec2e26e28ade8570a13a0fe1f480dc92a4161094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7b0cb3af1d1175c50a0d85ce5a9608cd60b2c6e2f7e5749b1b466f75b12c3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJGz0l8f6Z9Z_9w56GvCAtrE6ycX0Zoq4iQ0Kk3tQ_38rJ4TpjPzlZroMz1mTv0YXLIjxm7kaMioIYicg4ge9sHdy4WbXMgXoUwtW4jn_RugkYxH-Hz08JArkFdvKRh18rhDsqzU3ipNHRKxU7RJC72w6lymx5B1MxBSpG8ZZrulb8KtuqTpJ8IZOsnRNW5HDJiSrbdm5m9VSTXnhmVWLjmDXUX6iyT_hXkBncbr-lGDzltJCI9dh_1ozXlfT-IRGBexXKkWWPFPYYCpya20gEv0ChJTqoiogZ6OPvnd52D42SE02qFnv8Bog0ADQhBVRmSUeZ37Yzm1j0ujYIbpg6CZyOTp5M9l-RCA8mUMKYMHvSznX3xQWnF_oI7TnNx0wIzeb6f0goSSC_76sC7ce-zQG_5i5J4E7oK5XCOrSPzSDYOi5k44nHvfVX8ZDQUmtz5f2id1ddazKNa3C1ByrxGoVH6klbzXBIXvCP3uGg64gHvEenLBwZWP7QBcMVg_Sz4SoawML6ntKfCHh-Q3dPSbgGMBCE-kSzp5_JdsX5wdsDXcZZVR6y93be-hF4895Dqrg6lmQ52BwrW8FDh-8OfogIGjgBAzScOME3Qg4tA3b-jvepUt1hhBE44-ryaecTwVPiHd4f8-sC3wuW0l0rgtjfN_LxufTbz_tko9IqV0x4eEoC4j-spa-2FOaU2MHHsm5qEVCZnZ7l_K9lqMQrx4ju_LUqKb55HpQJ4xrY_FJA7ugY_FA0W8SH-djGWCUao1H2Bng4bJi2Vrxcfm03d181-kT-VmRpxksVwdtNtsaCvfdCY8YkY3HDpsQFpTHMkgF4oe_iFUAtNl4C59CLb3sosAzcQJ2H2AvCPqU_J4G0N277Uz3MfDk6SOToCVMnKdUX-rs2R4XIChPOrvx_9dGvWnDdZcnjSjhx_q0ep3LjPPNhO9KQT3S5iA42Mp5hb3RYz01G6yBZ9neHnb0U8x8ZvV2l8zAUBiWowHojhj7_szodJg9jkFRM7GpmL7II6www4PmcxVXjB9cypn6HFSXGZ1gqcJ0vDVzyTVKqu1DSwVZtsDkS4tx13nmeypj38X2LFdRdcj2TqfcY-G94Wpz4lCZh5T0xsN7lZ-T0QP_pptsmpDLnsVQMOcfUTpbPsNOXI2n8sFrgf4ptIu-CYsZJwstwSq2bcDL2gcbun9TAGu2WZ04SVWUhAEALcTlt-PKyKvJFNMYspuVU-TnVjXWjlvu6ST27p-RU0q5zkxnRVwXK2HyY2JtPC8W__u5MTOoPnqG1HQac08XlEFQF9puYXpECsfIxfvKmVfX2-hOqI4yuSUC6-AoVu5uFjn5vK6w_HijhMVDdk-cHdfMk8-zDMVYywV6ZQMKe4MJQXUvqeHPlQ_EehCXhaxupO5GUCPFdAeMz4TS9cRzIrWAj1p5HAySGNwt4LpsC00Y846QSNVkrGSnKvZFUKF_cgsUv9GRcUjmb8IKkqay0M-OTxpqEvf2VHSYHX20buYPw3I_VbrUFhD3vg6LtrJu_Cbspd2TAl3VGrWcHDTUjUPPK-Ye778ZS-Zv3XafS7ocDLpjT-vEljepsplRHAkCTQjDLeLyg0pLTZEgVIg9N8X7P1kwc0SNirnVRtMGtTzNM-xDize176Huv8S7rBDi8f1RAjsN9Pf_rBg0DTUz37ANmOTHpbzsziZVsHf_hUwp12NP_TjlcVvV1FJRXAjLwYr0tWZK8leIhtM_4W1wmcjN7LB-wunXZzjjjcXqyjXervUAFS-L6wCoeUJDFGs0vBKg0m6aTHbXobD3eiIEDwfefpU0LfP0p58jJuS0KuRLPMAFitO5yQwfgkNbTP69TRj8A_CyZfsCWpmgpVlwA3N8GClZwUd0iMK7s1fMtdEG_iR4wBOV6VgpXlAdJuO9UodmuVNs-BY00-02EDH0vRuf7sD8KUTGL2vVWL_mrMiCK7iNgUUCvZ7PkR_TVxCylul7480MVHM7CphMngNnBaF0tn_4uMmAjEMB2gN3LQZ-riykfakzygGpFr-jB59U_N0smxjlTU60DE1OZyzxydTIJ6-HWiSr6g9GENqehE-bQ49Aa_lM2rOzalkUEMZpb3d_xk2eGMpmfkqM_ZjsuFS82F3oYtCRMO_bs5tdvbtx1_zBHKq-5S9O98E5H63RuZDCnhh",
  "id": "rs_040167a008f45f67016ab491af7ed887d0903974ae3e2ce0ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_yaw\":0.65,\"right_y\":0.365},\"note\":\"The teddy’s feet are still angled over the left edge of the safe. I’m lifting and turning it so its length runs into the compartment rather than across the rim.\"}",
  "call_id": "call_fkIv7Da1FblkJvH1vxugwCPe",
  "id": "fc_040167a008f45f67016ab491b2342887d0a0b17d866683b721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fkIv7Da1FblkJvH1vxugwCPe",
  "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]: [-0.1432, 0.8642, 0.7712, -0.7197, -0.2287, 0.0101, 0.9965, 0.6056, 2.22, 1.4876, 0.4904, 0.1341, -0.0109, 0.1183]\nstate[eef_state]: left_x=0.2682 left_y=0.0054 left_z=0.1741 left_yaw=0.0427 left_pitch=-0.2194 left_roll=0.1938 left_gripper=0.9965 right_x=0.5377 right_y=0.3479 right_z=0.1446 right_yaw=0.4975 right_pitch=0.3397 right_roll=-0.0472 right_gripper=0.1183\nstate[joint_eff]: [-0.0068, -1.5658, 6.735, 1.6435, -0.1734, -0.0415, -0.0073, 0.2393, -15.8017, 7.3915, 2.2784, -0.0122, -0.0708, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de7a2ed5d1f6c6c54d3694d0cb67c7186367d286bf72f0482cdb24f1eb54655",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac69f7f3dfba05b94ba02e9869acfec8b811b8eb0d4668fc7f6ab7aae7579d36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a7515ef66e7a6073d98c38a45e147d8b22398255dfcfde9eac0c0e58b3bcbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.436 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8581, 0.7719, -0.6827, -0.2287, 0.0101, 0.9965, 0.5915, 2.0869, 1.0882, 0.8005, 0.3992, 0.226, 0.1131]\nstate[eef_state]: left_x=0.2742 left_y=0.0045 left_z=0.1822 left_yaw=0.041 left_pitch=-0.1762 left_roll=0.1856 left_gripper=0.9965 right_x=0.5027 right_y=0.2593 right_z=0.1225 right_yaw=0.102 right_pitch=0.3921 right_roll=0.1554 right_gripper=0.1131\nstate[joint_eff]: [-0.0205, -1.6068, 6.7487, 1.7509, -0.1343, -0.0415, -0.0073, -0.7043, -13.2034, 7.2821, 2.2344, 0.105, 0.105, 0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8623, 0.7712, -0.7055, -0.2287, 0.0101, 0.9965, 0.7963, 2.4485, 1.6775, 0.5335, 0.6502, 0.112, 0.1168]\nstate[eef_state]: left_x=0.2705 left_y=0.0051 left_z=0.1769 left_yaw=0.042 left_pitch=-0.2036 left_roll=0.1908 left_gripper=0.9965 right_x=0.5254 right_y=0.3892 right_z=0.1037 right_yaw=0.1568 right_pitch=0.3915 right_roll=-0.0379 right_gripper=0.1168\nstate[joint_eff]: [0.0068, -1.7026, 6.9812, 1.5751, -0.0952, -0.0317, -0.0122, -1.1009, -11.2342, 8.0068, 1.6581, 0.0317, 0.0708, 0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7197, -0.2287, 0.0101, 0.9965, 0.6056, 2.22, 1.4876, 0.4904, 0.1341, -0.0109, 0.1183]\nstate[eef_state]: left_x=0.2682 left_y=0.0054 left_z=0.1741 left_yaw=0.0427 left_pitch=-0.2194 left_roll=0.1938 left_gripper=0.9965 right_x=0.5377 right_y=0.3479 right_z=0.1446 right_yaw=0.4975 right_pitch=0.3397 right_roll=-0.0472 right_gripper=0.1183\nstate[joint_eff]: [-0.0068, -1.5658, 6.735, 1.6435, -0.1734, -0.0415, -0.0073, 0.2393, -15.8017, 7.3915, 2.2784, -0.0122, -0.0708, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de7a2ed5d1f6c6c54d3694d0cb67c7186367d286bf72f0482cdb24f1eb54655",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac69f7f3dfba05b94ba02e9869acfec8b811b8eb0d4668fc7f6ab7aae7579d36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a7515ef66e7a6073d98c38a45e147d8b22398255dfcfde9eac0c0e58b3bcbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJG2pCyEWq0-4kzNS_eDrPzUQ4CMO9hEuBeu9OiD_5KfnOAgd3__bh_hHXlzgkPZS32J83ItuR6FB_PfpWzECXNl2hsW6D96jbM6bs-OrAtKOXkoqGQbPoNQbhLN34d5GUWg32RdaK0JxOxI6IvcK618DxsQWdo7CO3IbA8wKePm_ALTZgeBzDU-YIieLRrONItcEMHfZ7YIuWnzlSk9TK2LkObC5TNGdXxT4BUeBDJMligcn7jDK2mQOXYj8TGVa7vo5Uj0abC8hMhXxERRxYXR41lVeOxIaZme88gqZxMYSL60wqaLfMqCR0l_UO-OVm8xbv525FsvUwyKDv7M-oigMnmDZczxTV6G_EUp2kZRDZzXR4ddvtGGSFVPzGOzfB6jWDDdqsJhpzDRa932yG7oCllg6IAjvXIKntAXYOqpZeTgQyycYvFdEeTsVXZhu0AVSxqjo6MR6NtnSURNp8fCwPMYI4_6y3I9LS3tY87KVdhlWlKhAqb9B-J7N2xbweiTXrOvQ2PRb4cqNddJYekpoA8zvz-uc1BxD-OFkc2jANsVtzY4XzD8dxLUcPJZTjwHOqem9wWP0MCWIdPaCkd48_NgXViynGAI2pXE_9Fe3xDYbeHzMG_rQwAtm10MYg8PnDtmArzMb6lvaH0k9HKsNXI_zQCo5J8IBTp-2gCs5eLRxtAW-0HZu4neRPAVjEzyZUfAuNvlgL_L4Aa-nvBDJxAbYaz0EAVbJvze_HWSyxW-IOBiwVRfD3Z98ctXuQQKKe3sbV4ZuFV1u7Y_iCc_nYzGrx2CfRyDNej5Mhg9D2kdxoG6C6BG9GQuiERbU28CIjYiE6T0R5oRIQ2AG-zqVl5vM8LHnWLtv2jv-Sbxy7QBhshaOPWga2HsyVDvugfr-hJ4RMrWoTAwKblvpPv82hPFO2BestjxBFz2q2rj49Cejd70k9qmDCneymhO2vhkUOvo46Uckr02EKEk8Wau52WqEOh-dFmVbumj3pLkp08ud9XpMVeVpMy8BoUhT_tusqnR9pDim-vueMJEZQ5wjgIiBHpNN8YFzewxpGiDjs6mPNq3-pAVMsdWZl4K2XEtF1e-oEl49tjKiO28AUyUYTfXaCRXGA7awZujHWYOl5kAtkj-6Zz7xEOAR04IXgpubgEuA6oFIujKvZ3TebKwaOIM9lQyfqiuUHVzug6GuzAXrPcBowCawKyxks9xxKV6YDv3aGepuCASiq83H60txA9zRlbunQN9ZssYcgVDR4gPtcmUUEvgcdiF7sROnPQKAmTw42mpPGC0F2HGx8fRjf86w5g77LOptQih_lFo9wjUzwuK_NlaQyf88EFQazhx",
  "id": "rs_040167a008f45f67016ab491b5318887d0b05a8f9548e179b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085,\"right_gripper\":1},\"note\":\"The teddy is now aligned lengthwise, with its feet over the safe’s opening. I’m lowering and releasing it in that position.\"}",
  "call_id": "call_RtDocINJxQKKNKo1VkyeV9SP",
  "id": "fc_040167a008f45f67016ab491b59ae487d0a451f6fab873f7b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RtDocINJxQKKNKo1VkyeV9SP",
  "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]: [-0.1432, 0.8642, 0.7712, -0.7246, -0.2287, 0.0105, 0.9965, 0.6048, 2.3249, 1.438, 0.6189, 0.1204, -0.0185, 0.9948]\nstate[eef_state]: left_x=0.2673 left_y=0.0055 left_z=0.1733 left_yaw=0.0427 left_pitch=-0.2243 left_roll=0.195 left_gripper=0.9965 right_x=0.5356 right_y=0.3488 right_z=0.0877 right_yaw=0.5141 right_pitch=0.3133 right_roll=-0.0541 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.4017, 6.7214, 1.5214, -0.149, -0.0122, -0.0073, -0.0752, -11.7128, 6.0923, 2.2247, 0.0952, 0.0171, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6978ec3c4d6da5da1961dafa2e95d81c394f469dbc0653a1394857c8f99dd44b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cd0760932780e1d741ea0863e6978b3d3d448f8fd1e800d3210b5303b6f44a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe89eceeccd4562a31b8412e2a2f872a00e7f5ac523d987387ce224df441b431",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.214 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 89 changed as sent

message 93 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8585, 0.7719, -0.6971, -0.2287, 0.0101, 0.9965, 0.8906, 2.1818, 1.8229, -0.086, 0.6987, 0.2909, 0.115]\nstate[eef_state]: left_x=0.2718 left_y=0.0049 left_z=0.1796 left_yaw=0.0415 left_pitch=-0.1909 left_roll=0.1884 left_gripper=0.9965 right_x=0.4676 right_y=0.403 right_z=0.2101 right_yaw=0.1492 right_pitch=0.2444 right_roll=-0.0081 right_gripper=0.115\nstate[joint_eff]: [-0.1436, -1.4154, 6.7624, 1.663, -0.149, -0.0611, -0.0073, -0.2256, -12.6974, 8.8, 1.9023, 0.4371, 0.2222, 0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7197, -0.2287, 0.0101, 0.9965, 0.6056, 2.22, 1.4876, 0.4904, 0.1341, -0.0109, 0.1183]\nstate[eef_state]: left_x=0.2682 left_y=0.0054 left_z=0.1741 left_yaw=0.0427 left_pitch=-0.2194 left_roll=0.1938 left_gripper=0.9965 right_x=0.5377 right_y=0.3479 right_z=0.1446 right_yaw=0.4975 right_pitch=0.3397 right_roll=-0.0472 right_gripper=0.1183\nstate[joint_eff]: [-0.0068, -1.5658, 6.735, 1.6435, -0.1734, -0.0415, -0.0073, 0.2393, -15.8017, 7.3915, 2.2784, -0.0122, -0.0708, 0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7246, -0.2287, 0.0105, 0.9965, 0.6048, 2.3249, 1.438, 0.6189, 0.1204, -0.0185, 0.9948]\nstate[eef_state]: left_x=0.2673 left_y=0.0055 left_z=0.1733 left_yaw=0.0427 left_pitch=-0.2243 left_roll=0.195 left_gripper=0.9965 right_x=0.5356 right_y=0.3488 right_z=0.0877 right_yaw=0.5141 right_pitch=0.3133 right_roll=-0.0541 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.4017, 6.7214, 1.5214, -0.149, -0.0122, -0.0073, -0.0752, -11.7128, 6.0923, 2.2247, 0.0952, 0.0171, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6978ec3c4d6da5da1961dafa2e95d81c394f469dbc0653a1394857c8f99dd44b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cd0760932780e1d741ea0863e6978b3d3d448f8fd1e800d3210b5303b6f44a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe89eceeccd4562a31b8412e2a2f872a00e7f5ac523d987387ce224df441b431",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJG740iIk2W8aUghFeQkTT7QB9tkbUpb_lfBHHF6rxkwaUl2w2wnU0uO2e503G5G7c4rWGIQ2_wjScglqOMWYoM5iITvPJa5hFhdzZ8ueYosVRI3sUAzLXgC9zWXzlJeE8NPPwm_qCYiZ757RI1otEjLCKlfnCPMi-yS4TWldEMNvP4QPH7EHGKg5h-uhRnRhD4OuYdHMDyQ5Bx-caOm10DXZ5qpOjYtJpH_jxIw6J-CZuw93zaRKg2RVhc-fS_QyUMVBUiPHS1_AUEORpoPteXzaZhztbZFgY4GBX7txoJHjFI6mjypgJEUEMInMrUyn_juSlYdgH7w1YXOQi_ev00Sf3swBuvnwoun3bVK2vt3Odd6fk-Ak4uEKNeCui0vHiYW9QDeCAR1NqXHwFJviGO66w0-GacL4LWbdXp23N-ftgPtGzN0XzVS8tU-nFYkikVfQQXVGKsW9OIJktds9_P6oZGcLY013wBd4_JeK5aXdAAl7wATWsWL8-jMdH0IkarUUAdq8yNpIO_hazoxyVDHEvqnDz_htHjLI9dBe4KU__sDuSZWSt8ugZ0tAJUw78nEEJDXJ14mVf7OQhAv5zrcDH4ucssL3S7_ZWHEe6-lbFjuJ0G3sLliP-sVAcNW_6igRk0cPdceTcR26JxTTw1C0ApAhLoYJZy2nWuHJWx9D_Dg0ca10pPVoGmEKL3NGdqIR2D6dk42-gMsYZAUcUs4uRpmvQIN3uN6kmPuNdmlptqo8YfQOG3tmgCh7QSoT4-HlTFr5zcfslWmypQEcf6KmMWmSEDX7ytw53gl_syf9Dk0LjVqQOSgmRMOytuHbQnQDplEO9z96k6jdxkBSWjVtPde_FeupAbUffKGwgFR9T0IOjlKBN6xMi2TbxXaleTYMwEg8hDdTCy1mM8SLV7T07TdYer7HW_bA3hiGK2-toVok7C-lMfSqeYciKVm_l17Dwg7DpsBt2Iy7S8Jp_9-hweTsbMCSAMcHkmzrxU1Mj4SgA7VYMcjFFma4nioKTFMke9lZ94WA5HZXWAFruoVoGloDCpzRcx4dOARlyO9dHx0wq02lUVa8AkTLYU2jBatUW8NfbhQZ9y-00Nutt4BLRYXXR0U2myWWYIBmeaFQAUI9z_KaBJWIBDwfHjkbEss7hT2mk-4dMT_6Nt4PF2kIKovVYps_4jGi1hNLeELCdGDU17-WT4Vmh-3i69NCOs0QJ0dmvOVy2FeaUqbapXcoBi2rZccisAUuetsBsp-oTQhllqqsisrKan8aV8J1dt_LCwSnbTJmLrejeBVBE83sn-an4pOBSoh89lBfbHo5zEIQ3Bi0KrFyJvUQIag4ht8pZEg8r5foqWjeT0ttPkvLUjY2QlJ_xLoTutsGdNisHOaWrt88SwQoFxONynLKS_rlDcPAkJtVNQpkjzbkFGf1SYbDTMHO06XPDTLJpghZRWE7-KZFCtU_2gvcb-eKsK6pSIeE7vA5bFtf_3siQEGGvExrxNnJH_Y2pMLEdnjya52nrdrHOTAPXOn1FcNBsliqf18ULT2oXFJirUw7fQvUTnQWOkksMOb5J8NPgxKXlVv4RiujHsjRZUfgTE0GJaTxePXYTZZSFBSDast-BI80QVxJmFuFYf_8LKIr2azspQ=",
  "id": "rs_040167a008f45f67016ab491b885a487d0a64ef8f2ee6fa883",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.25,\"right_z\":0.14,\"right_yaw\":0,\"right_pitch\":0.55},\"note\":\"The teddy is resting in the safe, and the yellow object is still just to its right near the back. I’m moving farther forward and right to approach the yellow object directly.\"}",
  "call_id": "call_xePKBk4Y69EUHCI3lCzi3U6q",
  "id": "fc_040167a008f45f67016ab491ba568887d0bef9368982383f1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xePKBk4Y69EUHCI3lCzi3U6q",
  "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]: [-0.1432, 0.8642, 0.7712, -0.7418, -0.2287, 0.0101, 0.9965, 0.5545, 2.3562, 1.478, 0.7624, 0.5053, -0.0196, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=0.006 left_z=0.1704 left_yaw=0.0436 left_pitch=-0.2411 left_roll=0.198 left_gripper=0.9965 right_x=0.5811 right_y=0.2635 right_z=0.1228 right_yaw=0.0979 right_pitch=0.4769 right_roll=-0.0877 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.347, 6.7214, 1.5946, -0.1538, -0.0513, -0.0073, -0.8137, -11.5214, 8.6359, 2.2735, 0.0708, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a7e4322e6956426a3fed30292da78865fdcde554c6be1b75d2ddae22596e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03dd2cfdc4c0a528253efe3bcc9f41007f4c767dd8e72abfe2b32e7951200fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2718d34c4248be8f487525e99453b4fd767ffb8b3f6ed601f0ef246604a10349",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 3.385 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8623, 0.7712, -0.7055, -0.2287, 0.0101, 0.9965, 0.7963, 2.4485, 1.6775, 0.5335, 0.6502, 0.112, 0.1168]\nstate[eef_state]: left_x=0.2705 left_y=0.0051 left_z=0.1769 left_yaw=0.042 left_pitch=-0.2036 left_roll=0.1908 left_gripper=0.9965 right_x=0.5254 right_y=0.3892 right_z=0.1037 right_yaw=0.1568 right_pitch=0.3915 right_roll=-0.0379 right_gripper=0.1168\nstate[joint_eff]: [0.0068, -1.7026, 6.9812, 1.5751, -0.0952, -0.0317, -0.0122, -1.1009, -11.2342, 8.0068, 1.6581, 0.0317, 0.0708, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7246, -0.2287, 0.0105, 0.9965, 0.6048, 2.3249, 1.438, 0.6189, 0.1204, -0.0185, 0.9948]\nstate[eef_state]: left_x=0.2673 left_y=0.0055 left_z=0.1733 left_yaw=0.0427 left_pitch=-0.2243 left_roll=0.195 left_gripper=0.9965 right_x=0.5356 right_y=0.3488 right_z=0.0877 right_yaw=0.5141 right_pitch=0.3133 right_roll=-0.0541 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.4017, 6.7214, 1.5214, -0.149, -0.0122, -0.0073, -0.0752, -11.7128, 6.0923, 2.2247, 0.0952, 0.0171, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7418, -0.2287, 0.0101, 0.9965, 0.5545, 2.3562, 1.478, 0.7624, 0.5053, -0.0196, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=0.006 left_z=0.1704 left_yaw=0.0436 left_pitch=-0.2411 left_roll=0.198 left_gripper=0.9965 right_x=0.5811 right_y=0.2635 right_z=0.1228 right_yaw=0.0979 right_pitch=0.4769 right_roll=-0.0877 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.347, 6.7214, 1.5946, -0.1538, -0.0513, -0.0073, -0.8137, -11.5214, 8.6359, 2.2735, 0.0708, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a7e4322e6956426a3fed30292da78865fdcde554c6be1b75d2ddae22596e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03dd2cfdc4c0a528253efe3bcc9f41007f4c767dd8e72abfe2b32e7951200fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2718d34c4248be8f487525e99453b4fd767ffb8b3f6ed601f0ef246604a10349",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJHAu3fJb2XRoVHnjiTKxAEUeBHuXFdsXJGdS__Re1hKVRwuWFvS9rVLY4A4NzIy1p48N6TX8NT28xUxscfbJPhQdcq61se5upVCiEiXmCCfhlqTBsg6JH-nBw36YsvI4TNuruYoPUg-WIdW_nKp7JUwz9FHljmJeJ9fBXDodtqdy6q4udSxBpVnJcwiFRGq2pn5P5K4kCoh3gDIVxs9NjmfadA8u2uH-tUw1gCnbZmH12HT2J5lVt9_EFWd3SHXqq-1EX6AX-PxPBgPSuZB1EA3QyiM0xDwyJgQuurLWi2Ch7krvjEudV_tPyfv4Bjkp0FP6xh3Lab-X59Pm_YNfG2w8eYrBfdDWXz4hWuHIStFYH6vb4eC47m3rOiN_fBL8lC8Pqj8BjsRsbhOhLyA9NCUlQPDvS5WvF7kR6QXLNca6PJIkx0V5Ubuyxeranew4G0Q63CJRGfA6FwC_Cx7RJzvvEjPLM6A1Pifil0uVx8K6Ft2z5Bz1j4BZrOi7XNPWZXMcXtslfd6LBVmzQdI9uOrDQY0ABk7amFQuSyRlZ0E9wsF7z51fx-CjFHuJlLf63NXEsd4JClHI4qX68AJ1B1_JwuKCjIAo2Hg5YQ58CMseoLm2aIl32X7wzDnHEdMup9CPaHD7s5mzK-ZkDn7eMJeCU9Ph_1KkDMXacHlEiDuGKegpVg8r3oDRrc8CtYFM-hpERQvANYQVc9mTFCYO0or_4xT8XeLvf9aBJQYhrqFOzqFHQIR8ns7M4KtRY5SkBFXV5ti7pKwemy9mGgVNMG6zHjfOZhG7K5ZgO85c5u25qWJUqCeein_VgyOZsdIbU8umGzEpl64G4mjHXrzwC1j1NwPdC4GFWWbbu5uoZvYXcGfIf6Aq7aZQ3XCa-jatckKB09cA_JN5ud80Tf_qk3ahfAD72cx6brxDpYB6N_UWep9xCjIZt7BqVV9aFsVqcnNcaflx4y-Na3WzbmHLGo9E9Na7FmUOkTcC7rYwDfOHgxIgVwbzcfvG7z5vKbhXEOcP_xvO_uVwNHbeBDIYPi1iWL1WFRfb1Gm7KB8uOrtiLe8x-eWowtLIAbjRcgUH9PusfAXAbce0JRXLVI65FHM4ZjzXtgL0d-BNE9X6US9Tmt-HLOg1zREPh2DW5yTMNxoP7IMMK26wyWvJFtd1GhEZBSLWCwE3Qaxv_AS52uEegD5yUYI1CJjLL0Ls8urQkJ2oKc3U53pTykCxzpUarHzTd29cfVbxx5iMOmN9ZmVCZhzsiu1yyfoFQZFokNbvFYA1amnWklkXXnNNU_tgznQm9F_N9Mv__wZu8pOuYqmxxqhQPXQ1ggi5QbzzC57akHcAivOR_3F0rsAZi7YiqXfyTaJU2SJPv5eQqSxCDZWwb4nkWRrEJzk_9eolF-TFRz-ALDs05kmWlfxAzztJIruc7zU7-8bfgezBGon3katVg6v70vQpRexbVWJhEfIxAE3Ir7NSRXkl9U4uPj1HEyi1SMvQKCQku-yiyKAtfNVrjeAKaSSP8dfF7waoACs18RCQ3pEBrA7cJi6CU4hxzXOrNL8J0WacaN9Ggg25004rKBE2xzllEnKAZSXfWxBrygt7OlK-PXV90q3RIkMeqyPDg==",
  "id": "rs_040167a008f45f67016ab491bdf76c87d0a100848627cbbb21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.245,\"right_z\":0.025,\"right_pitch\":0.6},\"note\":\"The gripper is now over the yellow object’s location, clear of the safe’s side wall. I’m lowering at this forward position for a grasp.\"}",
  "call_id": "call_eJtQngWmzulIpWPdH8t3wmiS",
  "id": "fc_040167a008f45f67016ab491bf809087d0aa2cc777c51bc220",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eJtQngWmzulIpWPdH8t3wmiS",
  "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]: [-0.1432, 0.8642, 0.7712, -0.7479, -0.2287, 0.0101, 0.9965, 0.5236, 2.619, 1.5227, 1.2339, 0.4664, -0.0628, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.0061 left_z=0.1695 left_yaw=0.0439 left_pitch=-0.2471 left_roll=0.1992 left_gripper=0.9965 right_x=0.5923 right_y=0.2544 right_z=0.0848 right_yaw=0.0593 right_pitch=0.703 right_roll=-0.0049 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 7.0222, 1.4872, -0.1538, -0.0513, -0.0122, -0.9915, -8.4171, 4.0821, 0.3394, -0.0269, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da09f15ae3f463f048f4fa1a2cf6ff1333807bdb1b8d1b3d4a1b0dd2860c7870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c28aec94b574e416a8f48dfae3ed1e53adeb24f53a21f7c706272943e6f0b5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63252b8cb384e4843ac988c2c6c1eb98031cc37979023bc81189756b3f3fa1e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.148 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7197, -0.2287, 0.0101, 0.9965, 0.6056, 2.22, 1.4876, 0.4904, 0.1341, -0.0109, 0.1183]\nstate[eef_state]: left_x=0.2682 left_y=0.0054 left_z=0.1741 left_yaw=0.0427 left_pitch=-0.2194 left_roll=0.1938 left_gripper=0.9965 right_x=0.5377 right_y=0.3479 right_z=0.1446 right_yaw=0.4975 right_pitch=0.3397 right_roll=-0.0472 right_gripper=0.1183\nstate[joint_eff]: [-0.0068, -1.5658, 6.735, 1.6435, -0.1734, -0.0415, -0.0073, 0.2393, -15.8017, 7.3915, 2.2784, -0.0122, -0.0708, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7418, -0.2287, 0.0101, 0.9965, 0.5545, 2.3562, 1.478, 0.7624, 0.5053, -0.0196, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=0.006 left_z=0.1704 left_yaw=0.0436 left_pitch=-0.2411 left_roll=0.198 left_gripper=0.9965 right_x=0.5811 right_y=0.2635 right_z=0.1228 right_yaw=0.0979 right_pitch=0.4769 right_roll=-0.0877 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.347, 6.7214, 1.5946, -0.1538, -0.0513, -0.0073, -0.8137, -11.5214, 8.6359, 2.2735, 0.0708, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7479, -0.2287, 0.0101, 0.9965, 0.5236, 2.619, 1.5227, 1.2339, 0.4664, -0.0628, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.0061 left_z=0.1695 left_yaw=0.0439 left_pitch=-0.2471 left_roll=0.1992 left_gripper=0.9965 right_x=0.5923 right_y=0.2544 right_z=0.0848 right_yaw=0.0593 right_pitch=0.703 right_roll=-0.0049 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 7.0222, 1.4872, -0.1538, -0.0513, -0.0122, -0.9915, -8.4171, 4.0821, 0.3394, -0.0269, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da09f15ae3f463f048f4fa1a2cf6ff1333807bdb1b8d1b3d4a1b0dd2860c7870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c28aec94b574e416a8f48dfae3ed1e53adeb24f53a21f7c706272943e6f0b5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63252b8cb384e4843ac988c2c6c1eb98031cc37979023bc81189756b3f3fa1e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJHE-1rFMfv1fzUjI8UvAxDJtEb0iItn0HhmSQzgb-DVQFjdJjRuS444jrGgaP7qQvQyKDae1KoCyBEir76erwrKvz3eK-zgf5qyJ39P2Bmlcqm_3u4jYtOwTj8NGI5OQNh-_dSExKnceDzPyOnhuAvhf74slIPmZSzbHkK8RrHvprmIAtA6037fboJmPETSNwERnr_n2yQ8Dda3aQPyA_W8fmae4ndwGBFW4_BvGuO7qUtccxJlNqGBRNeuNl6l7pzWu5qwyJ7LxHAsj2Umhp8wnx5I1jFqfa9lFob16S-lfBTB4DSU0Z319-ZX65DeL3zV_OfKJxCBOsqPAFdWQcMnBpsW65-jEAl-D4mLdn_uDY8-MpHOBKkTQc6I9sN7tqr8DpwP9ZYZLBuq3_gdJ8MU4vqmJmqTi-ioX8Xsi4Z8XRmOFzsQ4ZLrAoNiSR-SL60t0x5Rqs3KUvESHpwDu1Xtl_sVBiRmttWk9IvcBe2QwYv0g3K0W4c2HVY_Wy5f2Hrf6H8PU8Z-Wa-ujC4WvvfW1O75hFStpuergNno_jzow9hAhJizO8O-5MGn5XMm1_h7vK4DF9bnFlwxpepBTx3kF_s-smYgvLYuJ6yPfH6QcjtvxxQ7bp62LF8Mpcblkwb5QuU1SjqLwUDkOxPZx_jFX-HzVaeqLdbLhwb2xduK469ksu9XpRoBfzIRxV5TfhzashqymBZYkk-124h81ADNAIyvhrBlyhRwVdEuYGslUlMDyU3Rh3dsE6FmRJ87DZ4Di6FxD6vd5fESVRaTRdYvBfYVDcqQB467mNH1jrOnUPx2XmZvy5kU8UereFIacafUmn54cPdlqYq9WQ0_1RPR9ZQdy8FZ8-nSo_60ZUlAzcQoUWWORmXFjROw0yrdIsv9Isph7wik5Bouyx6HmOTBs2tIwlcpHyDcvJrM5awuMIwhLVvZkTKAhWSzSw2b15X5LDhdMyavrNc9Tc05Mi1roetyoGLKXi91c1Fv2JAiOTr7c1j9M-db92Sjl7rRr6KgcjYkTCBGFXV-5kHxYBDt1LJsJmMCx_FIecbVdUNNAq_x51XkZZOXVfFFi50kV2pMq3Bx5Tw1tjVRGx154jn5-3CRoili96q3UDzivv_wwXj6GSyUMgcsMTB5JCpeoKW5PSI0sSG-W7WVtTM9is1597BwgdxQAngZBBNzzbbfS-_-V7f5OrqaHED1xrDiUqSOWChM0r2xg7Zt6aTDvBLBdgShbX8kXPENu0iDr-8RymNf1HGzrb4wCipQ8SqJkXZ_u3UCe9JLlPhgXnmVInlG7JQaclFZFZa0Qjgf2l7WqfK9g0_pRV65qgiLwRi2X8veqh9Da3kuBbmyiHEu4Xprdr2OhJy2tz5rq80sOOAXHNgzpqlIR7XQon6QerOqf4ZtOrtPRAs-GWM_Ty8IrJw67k5NAtNbK90iTatLr5QD3oKgjJva-tPUVYdMipNv2xCIeZCAdJiXndlhGx224lCCKwqKBs5wvUtA1FAmze6AhQNjmujec-Mrb7R07PRkebkBThJcrDNCx5WQxrMtSyuUKg==",
  "id": "rs_040167a008f45f67016ab491c2bb9887d09d1806b66601a5a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward descent has stopped short, so I won’t press harder. I’m closing once at the current position to check whether the yellow object is between the jaws.\"}",
  "call_id": "call_XOTZIeIaADCZdgP2qiG3lTek",
  "id": "fc_040167a008f45f67016ab491c3e01887d0b07096b9934bb7cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XOTZIeIaADCZdgP2qiG3lTek",
  "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]: [-0.1432, 0.865, 0.7712, -0.7494, -0.2287, 0.0101, 0.9965, 0.5285, 2.5488, 1.5028, 1.1015, 0.4362, -0.0277, 0.0514]\nstate[eef_state]: left_x=0.263 left_y=0.0062 left_z=0.169 left_yaw=0.044 left_pitch=-0.2494 left_roll=0.1996 left_gripper=0.9965 right_x=0.5918 right_y=0.2633 right_z=0.0906 right_yaw=0.0998 right_pitch=0.6306 right_roll=-0.0088 right_gripper=0.0514\nstate[joint_eff]: [-0.1709, -1.4427, 6.8308, 1.453, -0.1441, -0.0659, -0.0122, -0.5675, -14.5983, 4.7795, 1.5263, 0.2711, 0.1245, 1.1111]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40581b450e59e87f0d5f2ca4a944238932310203061cffab2948adaf0c26e1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a372cbb872323865797f7be41d6e24bc49d707d7d83f8b593d208974273eea7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b0e245329c7146888c84e89f67e6dba1abf08bf2406378cd3fd8dd5d9b2d54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 8.681 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7246, -0.2287, 0.0105, 0.9965, 0.6048, 2.3249, 1.438, 0.6189, 0.1204, -0.0185, 0.9948]\nstate[eef_state]: left_x=0.2673 left_y=0.0055 left_z=0.1733 left_yaw=0.0427 left_pitch=-0.2243 left_roll=0.195 left_gripper=0.9965 right_x=0.5356 right_y=0.3488 right_z=0.0877 right_yaw=0.5141 right_pitch=0.3133 right_roll=-0.0541 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.4017, 6.7214, 1.5214, -0.149, -0.0122, -0.0073, -0.0752, -11.7128, 6.0923, 2.2247, 0.0952, 0.0171, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7479, -0.2287, 0.0101, 0.9965, 0.5236, 2.619, 1.5227, 1.2339, 0.4664, -0.0628, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.0061 left_z=0.1695 left_yaw=0.0439 left_pitch=-0.2471 left_roll=0.1992 left_gripper=0.9965 right_x=0.5923 right_y=0.2544 right_z=0.0848 right_yaw=0.0593 right_pitch=0.703 right_roll=-0.0049 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 7.0222, 1.4872, -0.1538, -0.0513, -0.0122, -0.9915, -8.4171, 4.0821, 0.3394, -0.0269, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.865, 0.7712, -0.7494, -0.2287, 0.0101, 0.9965, 0.5285, 2.5488, 1.5028, 1.1015, 0.4362, -0.0277, 0.0514]\nstate[eef_state]: left_x=0.263 left_y=0.0062 left_z=0.169 left_yaw=0.044 left_pitch=-0.2494 left_roll=0.1996 left_gripper=0.9965 right_x=0.5918 right_y=0.2633 right_z=0.0906 right_yaw=0.0998 right_pitch=0.6306 right_roll=-0.0088 right_gripper=0.0514\nstate[joint_eff]: [-0.1709, -1.4427, 6.8308, 1.453, -0.1441, -0.0659, -0.0122, -0.5675, -14.5983, 4.7795, 1.5263, 0.2711, 0.1245, 1.1111]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40581b450e59e87f0d5f2ca4a944238932310203061cffab2948adaf0c26e1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a372cbb872323865797f7be41d6e24bc49d707d7d83f8b593d208974273eea7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b0e245329c7146888c84e89f67e6dba1abf08bf2406378cd3fd8dd5d9b2d54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJHJm51kuHMrDpDGM7E7hCS5DiYOOfDpzuA2APQsPDSRroDW0l8ETjymlbIJTdmPU9BzvoC-CfjTk9g0PXUHh-1BcDObbxBWVk0gX9S8HbQBWdN3DDAHC9kSjDrw7KMYWsm-jGRBzK5W7_p8Ij_xVH6OEGjLtVivZVD7LOMbCMLskdqRC-5P-sZx7IzYwB_O-RaS00Zvjx7kQeMzUDHwPwhS3oSnhhhb2pjwckf3AMDfNRArSCAaBOJDfXH3KdxkSFvz-0AsQZNGT62uF_bKhRtU01vI23k21N0VH74VJ3jAidQQSK5OvshvWIattjvr9i2JI13sTIWtL_EeHOJxCFyPYgVxLJ9WtQWeWTSkYcRlNNj5J9-P19Xow0isg1nrvv4Tsqtk4PuCCLf7ChOQg45yxYc-8bnJSARYPPJVkxXS46YRwWgjSv4cCVBeD1A7_uRJN78VHl0GYwRk5Ez8aO-Nf2bNBa6Un-nsEIyB9Tc2RDpsQEM9y4Ou0FliydSFRuP8F6TnYAbbZEPji_hpzUQ9Pdz8nXNiT4WQBfqJ2SZdAn85xMZSW45o0Ygm4k803r3U2X0jRc_Gk5bpN4SOdoplgh2ZGkywS8FLC2hMNlxJtgJa-v6olsOUCLazgE-XyYZepKkYWVJhihh1iRHgmUrpuZ9LcHWElHa3vjBz9rH8kCvoZCbdOqq2-q6LEHYtuTvPpY1D2jFgjfw-Sb44RNtpGLPWT9P6H6_giBYOplfDlL4DCsGNnpRM9L37fD5qxo09LKeQEWzOk6WeCU385ebQZut-kq5EwOk2lU8VS-vnYxXscr9MLqfl4g2vlYfHTKTOwu0uLkojEA-oztnhPyTqs2-Nw5zLn2mR2iHp-lGKnSTtL73Rtexi3LPL3q3Idbo-X6jv4_dEg8qzavab0OPtxSlAAfPzWkcZSvZ4rQAJLiSj90IBcPIEES9mmEPhRwbvFRFwnWXMxNGCE9s3GTr6dAsi1i6GmIc9fu_EUEYZH9II6W8fKHPhHuU3sgX_uCYlZ6dXw0HOgdty_77FLh81y4mCfgL0N1NQlldUrl-UuFecnUDzc9hG_a-EY2ZxsIYGAmFnCZhmRIs8aHHodcX3AsWNVLbJ1_pbxFbGoMaRULGy8q9CeaAxKKtsAGXwLAtq5i5x_Cf_LQQ6VmEdTXydEUg1tPkTnu5AUveeQ0UorcYO_kNnHWeBLDGLQ7cAQwNYLQma4VRZ7pzjSZFqUsg21xR3tMDxda1zb2KmbIPnqpadkKmS3JYMYzFdAZrV8ij7PzAa3CgTTXWuypKLv5ac1qQRnr_dGkggQq1u6EGUyYeaUsiQnzzHCiuOCOZ2Fa3qDbcC3d5Hijk8sJyvXbFltnYHWFprd0rYvfunP8h2_CtGN7xDW6nckMNclQCaC58lKaWNoEuWeLCRDiVrvF8dTw-a_sd3nTOg1Qw7Ka-0SoxCTYVyuEpFrhapbbcDIR451xPFGBebhevo1nUkfkIywYs6pl9FwHjdZYQV_lyNKGJOKSdHCxH3ZerH948ST5zb-Xu1COrAsnXPh2G5JOkkftWp2TvwoipuO4D_tTi0M0lbMLaAWtreaJyY1a6V5DuwLCfBI6kSIyy45q2v1bjTVDgD3ZsGDihFKQJNicFdtdKqSMrT-0AHmm_ghhQ1_PzFg-0ZcAmhK2NxEE9zUuR2bA==",
  "id": "rs_040167a008f45f67016ab491c7024087d089bcd3d403177b90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.46,\"right_y\":0.12,\"right_z\":0.25},\"note\":\"The safe shifted during the close, indicating the gripper caught its rim rather than the yellow object. I’m releasing immediately and moving clear to reassess the remaining placement and the lid.\"}",
  "call_id": "call_xtH1B0jf4nzLJ3mTXrz2dkMP",
  "id": "fc_040167a008f45f67016ab491c8c9cc87d0affb7513f83d9d68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xtH1B0jf4nzLJ3mTXrz2dkMP",
  "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]: [-0.1425, 0.8688, 0.7712, -0.7563, -0.2287, 0.0105, 0.9965, 0.347, 1.6073, 0.775, 0.8371, 0.2722, -0.0185, 0.9957]\nstate[eef_state]: left_x=0.2619 left_y=0.0065 left_z=0.167 left_yaw=0.0451 left_pitch=-0.2599 left_roll=0.202 left_gripper=0.9965 right_x=0.4658 right_y=0.1217 right_z=0.2365 right_yaw=0.0911 right_pitch=0.5847 right_roll=-0.0239 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.7299, 6.8171, 1.5214, -0.1099, -0.0659, -0.0122, -0.2256, -7.8154, 7.1043, 2.1026, -0.0611, 0.0366, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7c26e5ffc45d30a3cbb97d4981dbf83ba85a52d37bd5fba933c574d6c3c4d45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e545604adbc9c8cc954231849a414a064abdbb36c48328226db6c1c5f0d143e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265768bdec71eefb15dcbfb54ed72a8e6fc124d0c60fe037107a02dca3d54080",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.986 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7418, -0.2287, 0.0101, 0.9965, 0.5545, 2.3562, 1.478, 0.7624, 0.5053, -0.0196, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=0.006 left_z=0.1704 left_yaw=0.0436 left_pitch=-0.2411 left_roll=0.198 left_gripper=0.9965 right_x=0.5811 right_y=0.2635 right_z=0.1228 right_yaw=0.0979 right_pitch=0.4769 right_roll=-0.0877 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.347, 6.7214, 1.5946, -0.1538, -0.0513, -0.0073, -0.8137, -11.5214, 8.6359, 2.2735, 0.0708, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.865, 0.7712, -0.7494, -0.2287, 0.0101, 0.9965, 0.5285, 2.5488, 1.5028, 1.1015, 0.4362, -0.0277, 0.0514]\nstate[eef_state]: left_x=0.263 left_y=0.0062 left_z=0.169 left_yaw=0.044 left_pitch=-0.2494 left_roll=0.1996 left_gripper=0.9965 right_x=0.5918 right_y=0.2633 right_z=0.0906 right_yaw=0.0998 right_pitch=0.6306 right_roll=-0.0088 right_gripper=0.0514\nstate[joint_eff]: [-0.1709, -1.4427, 6.8308, 1.453, -0.1441, -0.0659, -0.0122, -0.5675, -14.5983, 4.7795, 1.5263, 0.2711, 0.1245, 1.1111]\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"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8688, 0.7712, -0.7563, -0.2287, 0.0105, 0.9965, 0.347, 1.6073, 0.775, 0.8371, 0.2722, -0.0185, 0.9957]\nstate[eef_state]: left_x=0.2619 left_y=0.0065 left_z=0.167 left_yaw=0.0451 left_pitch=-0.2599 left_roll=0.202 left_gripper=0.9965 right_x=0.4658 right_y=0.1217 right_z=0.2365 right_yaw=0.0911 right_pitch=0.5847 right_roll=-0.0239 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.7299, 6.8171, 1.5214, -0.1099, -0.0659, -0.0122, -0.2256, -7.8154, 7.1043, 2.1026, -0.0611, 0.0366, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7c26e5ffc45d30a3cbb97d4981dbf83ba85a52d37bd5fba933c574d6c3c4d45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e545604adbc9c8cc954231849a414a064abdbb36c48328226db6c1c5f0d143e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265768bdec71eefb15dcbfb54ed72a8e6fc124d0c60fe037107a02dca3d54080",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJHToEOAetdVX32qvhH85XjflS7fboYbmBvM48ziiiuppTG9QvUgxA7MTjiAAeiAg5SxxsogxGuA-NUGrhnKMPMyZ3VYikkHwOVVFTQZWfYMj_obl_S6XbzO9mYOD6DCfrcqB1MWdB3m7eS7RhrnKlbLmpA6Vk2D_Iq4RZS3uhZoD_lAxKI1DBXdx2nvbmGnh-iDJW3VPtV88r9qaVzEG-pa9GFjRXxTF0KK-atoBXb1Gfx5yR_AhXVTeG559oOwPENuOMvPaQyUsW2A1qZ0qxAKbCVXGjC2DSHeAacqWpMjtrtpq2Rn6dFOEEqJnYJXe6TQ5hd-GvXkaTwDHXosfcGK9zweGt7zX3-KvuYSP_qSmO5jUDD88OnOEXu3Dn21ld6v3MuIY4JnRhiT6Ol1i7z9KFlzXh4I6eVqHn0y-ZEAD4feToiuHS3dE_vfmjSU1A3kAvdodCg_ALJFk8d8yGknHhYtJDI_oMFaIc-Lo-xz0bVOLrIXhPubDNRTG3t9ghIR5YC0gycmMJFLDnuXhVsB6k3vQp_61i09HNMrb2Ezn8GVYHZoOrNOiJS6yOU4zEl7B7-hTW8EQY9iJ7M0buNUGB1h1DkrdrYGYRY1g24ORpSzmC9P7JEZ068bSeFPTMAMaDFAKFEaJm-fsE1Ym5ovKR-CEWKEvjHvwxCp9_Epw0bsLxS3xMSsg5EVTNBbFZn52FzyqsNVNtZ_dcPNKUKa7w_MHQTOeJcjA5XMFtfAYQEeo2HIcpHVcki_jJbScRCPw27PGicELGESs839gUScEHmbaQ-CU8OLrAa3f3bhXkRkd1AVpE7ErYKgU7UqYugUPKYcgCtR0rjsodWF9y0JxZv3vwt6Uk06S-ScFltBBUDQpqC3dPxH9lrlUyF4mKkXla5dYpkHn6USFLMGc76rIXSSduHCxirqlrgXnoZQTIFu-uNBr7l7SmKy6BmOKacO7QEfeIKb-G4l9WQZqF4dO0eQVt413mc_MiQTorkk5oubV5svO4nZcQh3DF7iwY3KpPDC2jBvc_cewz0f4oqVLcRR1SOiNw98ZmRGZa_pTBLK-tuxRZE60kNnvb6dGlEiA2WnNxQxzv6iMNGGDOTNuoP_fvcobGD0WRxp12JVOcYdxMl4T_PpJryRxQ0QzYZ00fXz8c0-ZzayoRIl1_n_TxJsyznPQbegMils9QfXp8VqFnlDEPtJ9Q-18Uq7pnmT_S8zU_lIzx9tGCcdR2e5pQzCNV9GfTMA5zOHBeVXsW9xa8ConAJ_FKAPZmZkbNI3zZ7wON__ebT2eeZPFh-4aOg-zHUv5u-IZY0OcQZsgUQuN_3kEVwtDBfyuPi2Ch2d0l25oPbCXgZUOtTGAt4NBMmulHn5WBJ9cZV6RBM5IrODZH-zQEpd-rAxHPzdkvaybpEHY6Ew4ZhFBqTq2dbLoaUAtEuhdYD_et8DeJDPHhWzPcwHgTjVLdQ979pqIeoEiHq2YGEzsgjmXfGS815onYM0SmHniNJNxfN5YO0_BcJr7pSL0wYUkEpofy6oTYgZ5Ld815VTaE9k21OcIrLnaln9XfXZa4x0o92La3Y7hAJlSY9gTUcuWvotumuonyEXSpAW87CVnpDB-84oDj4bflhWmG6dxAZwd6EISsIyDh2DlvI8YfvZagI9WGwzwd70wRtcCpael0GVZ3jNvg244qgNEd5aWlGcqqcPLHPeNPwbz6_ndqZCdZ1rznp8nhNRHM6czN_lbEpQzD_F14lJyw8KdkO_nzN6CTcXR6Fh9BkLd87SurVayWyp3_Iq4-Zm1vKB2b36HBy6QIfEzeQZSFuDlYiiOV76wyL8P8cwx43DgUn8PWVipQXc5cMEofBvUSSbcrDTXRmkOsJ2mML2b7Dk7T4EZPol916OJGmn9oqz1hvPmTCKdm5ROKZ6yzDZBa6tuhUIRTn77FkSur9LCTgRxJlgBwmCj7_V1xXs6oxVMaDV4hwHxOLfheJ39L1xbs4foJw3eQrZd0PkpYyWY_7GQlxAlrPTxeO0dtpaakgITc6NQfNkFqzRCZOgwemoUG1Qe75BN0CPopUCVEdO4RPy8fVim9zNXQHG2thu-9MvqDZyZGVwjWbbzJCI0c-Ex8ZhdjFW6uxWoY-O8wkU6Qgo7OFEfPiKJd1hoK8mM8jzgxoWEnUgObXKjXQqHfPldu0Zjtj5FCY0yFMe0OY1_RAi3qb1HEq2cFe62myr6Q9JdkNI5QvRZOop9jp-FPf-1aDXKn3Y3MdV-ILVYlPlWdpD-gLCmwj1w1StFzW3acFaBBZ-EaDMWRG3holEXh_jR-BNtn2pTtZmRbP8AWfFqvtyGOkGr4729JCe9NKkNPv0MyXFALy20cYzDqKXJa1I3bF6dm43bchbEQs507BQC55e3QwfNKpsL8BJ0w5NkmGLqvH7RLtQWwgbDZQo54w3QMaKPdWworeMMFWyG0jOvZQrhBc2uB8QFk40Gc79i1jo4t3aeh012eXMYUmxejJaqq6vItXRydKr4mSrVjIHQZwWfVZUUPGLfC6vnox62m887onugR3PWoPE7OiXERELhfYEiAM1O-H3iLi8Y2rtBBauz5SHWhwfI3YS6qHAy-21wHbw3IvN3jtVZCbcynCWopg_DFU4_X1gy8qG3remwl7k8WqcjLo35uX46V7dqf2Ba-4bfSzDJhDXFPEYYqjZkimWTmEXSuJdmFjPNaYvmH9wNRPUFFlApBu8DyaK3fPjtZmIv_hGxqpZGisP8XaR6bUwwjtzeI-tYHBxT9V23cjREDGRo4j2sIsq-vuUfp_jsOHWRDzjgONboKIvPEfJiMCccmUPVYoJk7vhJlcpldeMoN9IQStL90le_sYX3QmOt3TpjRRglrIceV2btZnI7NMnO9kKk0IYxiLSsIBcG5DTqUHMrjs-exBpFL4EiOY=",
  "id": "rs_040167a008f45f67016ab491cc7d2087d093bb16701530c5e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.20,\"right_z\":0.05,\"right_pitch\":0.4,\"right_gripper\":1},\"note\":\"The yellow object is visible just outside the safe’s right wall. I’m approaching farther to the right than the previous attempt, keeping the jaws away from the rim.\"}",
  "call_id": "call_5KDU0nya37wJbfTpcQoMpj2N",
  "id": "fc_040167a008f45f67016ab491d28aac87d08d686d0fedb4ed43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5KDU0nya37wJbfTpcQoMpj2N",
  "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]: [-0.1425, 0.8711, 0.7712, -0.7673, -0.2287, 0.0101, 0.9965, 0.3996, 2.4245, 1.359, 0.8871, 0.3164, 0.0311, 0.999]\nstate[eef_state]: left_x=0.26 left_y=0.0068 left_z=0.1647 left_yaw=0.046 left_pitch=-0.273 left_roll=0.2043 left_gripper=0.9965 right_x=0.5953 right_y=0.1956 right_z=0.0582 right_yaw=0.0979 right_pitch=0.4106 right_roll=-0.0292 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.5932, 6.694, 1.5214, -0.1392, -0.0659, -0.0122, 0.3487, -11.7402, 6.1607, 1.6923, 0.0904, -0.022, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502895a3bc2649f07dc1d71fa9277cabc246f905bc89388ffaa98b2fe05b0c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bf103197adeaba4c7c6ccfa59ad17ffd2c513aa0c6758eb04106c2cc754049",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8cd99fef18a591b59a94902f59867356c9dfc0bee559aa65ff6874d8d215bb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 11.46 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8642, 0.7712, -0.7479, -0.2287, 0.0101, 0.9965, 0.5236, 2.619, 1.5227, 1.2339, 0.4664, -0.0628, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.0061 left_z=0.1695 left_yaw=0.0439 left_pitch=-0.2471 left_roll=0.1992 left_gripper=0.9965 right_x=0.5923 right_y=0.2544 right_z=0.0848 right_yaw=0.0593 right_pitch=0.703 right_roll=-0.0049 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 7.0222, 1.4872, -0.1538, -0.0513, -0.0122, -0.9915, -8.4171, 4.0821, 0.3394, -0.0269, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8688, 0.7712, -0.7563, -0.2287, 0.0105, 0.9965, 0.347, 1.6073, 0.775, 0.8371, 0.2722, -0.0185, 0.9957]\nstate[eef_state]: left_x=0.2619 left_y=0.0065 left_z=0.167 left_yaw=0.0451 left_pitch=-0.2599 left_roll=0.202 left_gripper=0.9965 right_x=0.4658 right_y=0.1217 right_z=0.2365 right_yaw=0.0911 right_pitch=0.5847 right_roll=-0.0239 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.7299, 6.8171, 1.5214, -0.1099, -0.0659, -0.0122, -0.2256, -7.8154, 7.1043, 2.1026, -0.0611, 0.0366, -0.1392]\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"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8711, 0.7712, -0.7673, -0.2287, 0.0101, 0.9965, 0.3996, 2.4245, 1.359, 0.8871, 0.3164, 0.0311, 0.999]\nstate[eef_state]: left_x=0.26 left_y=0.0068 left_z=0.1647 left_yaw=0.046 left_pitch=-0.273 left_roll=0.2043 left_gripper=0.9965 right_x=0.5953 right_y=0.1956 right_z=0.0582 right_yaw=0.0979 right_pitch=0.4106 right_roll=-0.0292 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.5932, 6.694, 1.5214, -0.1392, -0.0659, -0.0122, 0.3487, -11.7402, 6.1607, 1.6923, 0.0904, -0.022, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502895a3bc2649f07dc1d71fa9277cabc246f905bc89388ffaa98b2fe05b0c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bf103197adeaba4c7c6ccfa59ad17ffd2c513aa0c6758eb04106c2cc754049",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8cd99fef18a591b59a94902f59867356c9dfc0bee559aa65ff6874d8d215bb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJHaLfeOX-EuRANtie-gFd8zJJnQzk3_FGvUSK96il2tbZrCOAcLcQjNE0jxK5JreTovAVQZmlN6SaA78yF81Nyv9e3FPLpAUHsAX82CxVT_5UJYr1LR_M7c2MUrpl8BN6a4IXYa89k1R_x8D7Ca6Lwd_4E9RRp1sL4nMbZFoCndJPKpGySMlKV8yyhkEBCszkWwLQhlEidMKVTBKv_8UhHuSWHcZrWzNLitAJQKrRNtOpzrTB_iJk711wEuWFue5nuoa4Vh1GTaIGq_eJyBei4SMbD-PpRminD4AbB03npVw8JZ6bst-UbmU6pY_TrnsFggGKoQ4enyGIbsQtV4bAuaNK1ZSgq9B5B1Ncg0Ct00epby2-xluIzvjCAi238lPhixMBiNwdJolet9KTSRobjduLF4fFSS0SRd0RHQxkK0hkPvl27uLUzysg6CRmObuyE_4_wgLxbRNa3w0r1JQepHH6Dh5i27qgLmFGMwpcbjEhzBenWc0RE7lIAjnj19HIubpCmqPsrxFU0p-VZSyFhOsi926yrVV__UQ14CXdTCpVXVVGmne_Ma5nPH0yZW6eUdB6bpEWOuRc6DrDrkh9HqRpmozWiRW-BXuIeJ2S2bPnmCTuRaOyGVAOxopZpw92LiROqS5we56IAdPAi0yNYefEZZmFRJnMjUA7xrYCb5hgtg_QnMwyB6QTN6Da_7fHOEYAzaExdOTmMJ0PhBE_9-6b2hKvRyzBIFJ1V-Ds-2r5DJ7eowQDCGb3PhfjQGkKQQsL2zE6ULa58WjNlm-3MyY5VJbQY5syNJr4IBZmjp-qxxEYM8MAYiqCkGS5wvjgMnu1-kGUfPEZWxLkRe5eJElOZapsxyTEwlc_4FSIUtgBlEiGxmI9jGifQlK6ebMT3jCOpDp0VR_2qpEn3mMKMd6nUKom2ORY39fqgL_SGXjwmnvVwwmPFJEMVPVU5Ie0s6K9zK4hNAv7Yza0cf01KGBth2AC-NHBRG-i552LvJqzHJT8SugeImsJ0gQEq4Bqqhhp9OuzYTCcAA2DaC9eYdzs_zBiAiKwwW3D4qpVVmV7Rlc2TgzFWQBp_Wf-hYJFMmhAQsEnQ1JZOhBQz6-XeLoaw3IK64ZgqEaVXuXuvVOii3fHQQCMQ1zXpy76vO8pnMm48c4XEP8QOVwVuPnYPuwZxkjyFbmDfGuPvqJtdm9LXdZULQ6Fra_tA5KAy8eONxjWmPs9Q6MzGEO83iCHW7gsuI3kP58B33CvmkwMi7vfCn9tDIjgI5EPpRCrRqR5yXP-KBp8tGoQrsrLan6bzgT7RDHQMwVp7rDFzGtEkAmtgi8ImqsDDPXcAwg_x6zxGFnemvzhKDfhj2LKsn7g-yIpLeSGAe03dMvOGpQu-9Wtixn0JGeXCHAI5jk6cATK_VikqlFUANH5_DyyvwviZKvPHZzPxdSJ3MPFjckYD30OVOI9ZCI1lFHNvu6dHVqv-4YzhxuCtQZAZZ0jFQl_12QvFtYGPhs8hIhtvCnuUUhmuFPRkkeILou-qINymmjXZXnNezsWfXzkFbyofSxrxs2tLcGPewM19wn__7V1i4HBTyJVzrCKJRSgafJDJbYrYBmiAc-CyPSnb3j-Y9Y1ldvOs43964SJibmUtkdO_pCL4cSIlFPYFO0rL_AUR-xRPbuPkoZMToHPjkmriyQ6a2SBvEvBJrDKYMMA8W26dbR6PC-KF95zpLx360RDqpOAKkgbBPGPtQMAodQtiUe1pfrJZThzpRaQCA1F4nWONmv9T0N5meMAAwAwId3oqqjm-0p_emV9WhLoWHI4eTXM5rEv-ejW43wqPdO2Gj8k4jH0vmcQPUpqtkkJfKey2wWgU_BJd3gLEEnsahaAn8QbQQ4TxKR94b_7ljksU2qoPDAfKWnSvA8_RnlsBoo7PNpuiIiWdrziuyrmyzl-E3vIUTli3PZGjVG4iKsSIFhldFDhONlLgg70jAD3PM4Ym_qagM6Il0jqQPMvtYkn0_thMkkb07dLXMlIUpM1w4cMbSMTDJJBZxNope91VYYUAp8drtrkGtncjddIbWxmdFQT6vGOOBdNcvt1jFw1ohrpo1np10aOhQly1lboL6sUWRFLNhfkMdB1c5cebsz-licAVKoQa833zfEokDW6VcZ0sikS7KLHQk3G2h86GtRr77cS2R79F4VHFjFxwhtHuWDeARnadywlMrXTCk-cOPeFX7iv1w9m1w1_0QarA9cvGKkGM3Ao3-xJ8RGH8TqKHOpCyJzg==",
  "id": "rs_040167a008f45f67016ab491d6730c87d08f566377e48fb7b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now at the yellow object’s position, to the right of the safe rather than over its rim. I’m closing for the corrected pickup.\"}",
  "call_id": "call_C6jPawqHdmFUZdPIPYeXFbGP",
  "id": "fc_040167a008f45f67016ab491d9afb087d0bfa1043e91d93b08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C6jPawqHdmFUZdPIPYeXFbGP",
  "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]: [-0.1425, 0.8715, 0.7712, -0.7685, -0.2287, 0.0101, 0.9965, 0.4, 2.4294, 1.3705, 0.923, 0.3061, 0.0299, 0.0125]\nstate[eef_state]: left_x=0.2598 left_y=0.0068 left_z=0.1645 left_yaw=0.0461 left_pitch=-0.2745 left_roll=0.2046 left_gripper=0.9965 right_x=0.5984 right_y=0.1991 right_z=0.0682 right_yaw=0.1027 right_pitch=0.4506 right_roll=-0.015 right_gripper=0.0125\nstate[joint_eff]: [-0.1026, -1.4427, 6.653, 1.409, -0.1587, -0.0464, -0.0073, -0.2803, -13.6, 4.7248, 1.4969, 0.0904, -0.0073, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a321bd183f5f20e495b59eb402a57811476d604c05090de1816a5e0c85130d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4d229e855c3ed9c1e42e298ad3987a5880d0ea60bb0697954d72d44e94fc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f9cf4d7ad2cf0fc7f1c36ce0d8e84467573c1cc2d363b8c8c9df8addb24d81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 14.78 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.865, 0.7712, -0.7494, -0.2287, 0.0101, 0.9965, 0.5285, 2.5488, 1.5028, 1.1015, 0.4362, -0.0277, 0.0514]\nstate[eef_state]: left_x=0.263 left_y=0.0062 left_z=0.169 left_yaw=0.044 left_pitch=-0.2494 left_roll=0.1996 left_gripper=0.9965 right_x=0.5918 right_y=0.2633 right_z=0.0906 right_yaw=0.0998 right_pitch=0.6306 right_roll=-0.0088 right_gripper=0.0514\nstate[joint_eff]: [-0.1709, -1.4427, 6.8308, 1.453, -0.1441, -0.0659, -0.0122, -0.5675, -14.5983, 4.7795, 1.5263, 0.2711, 0.1245, 1.1111]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8711, 0.7712, -0.7673, -0.2287, 0.0101, 0.9965, 0.3996, 2.4245, 1.359, 0.8871, 0.3164, 0.0311, 0.999]\nstate[eef_state]: left_x=0.26 left_y=0.0068 left_z=0.1647 left_yaw=0.046 left_pitch=-0.273 left_roll=0.2043 left_gripper=0.9965 right_x=0.5953 right_y=0.1956 right_z=0.0582 right_yaw=0.0979 right_pitch=0.4106 right_roll=-0.0292 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.5932, 6.694, 1.5214, -0.1392, -0.0659, -0.0122, 0.3487, -11.7402, 6.1607, 1.6923, 0.0904, -0.022, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8715, 0.7712, -0.7685, -0.2287, 0.0101, 0.9965, 0.4, 2.4294, 1.3705, 0.923, 0.3061, 0.0299, 0.0125]\nstate[eef_state]: left_x=0.2598 left_y=0.0068 left_z=0.1645 left_yaw=0.0461 left_pitch=-0.2745 left_roll=0.2046 left_gripper=0.9965 right_x=0.5984 right_y=0.1991 right_z=0.0682 right_yaw=0.1027 right_pitch=0.4506 right_roll=-0.015 right_gripper=0.0125\nstate[joint_eff]: [-0.1026, -1.4427, 6.653, 1.409, -0.1587, -0.0464, -0.0073, -0.2803, -13.6, 4.7248, 1.4969, 0.0904, -0.0073, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a321bd183f5f20e495b59eb402a57811476d604c05090de1816a5e0c85130d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4d229e855c3ed9c1e42e298ad3987a5880d0ea60bb0697954d72d44e94fc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f9cf4d7ad2cf0fc7f1c36ce0d8e84467573c1cc2d363b8c8c9df8addb24d81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_040167a008f45f67016ab491dd736487d0b464bcaba703667f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.6,\"right_y\":0.225,\"right_z\":-0.01,\"right_pitch\":0.6},\"note\":\"That close was empty, and the fingertip readback remained several centimetres above the table. I’m making one lower, more forward-tilted approach slightly toward the yellow object; if the arm still cannot reach it, I’ll stop rather than force the reach.\"}",
  "call_id": "call_V7RrBBtBecbc13c3reAYGhFV",
  "id": "fc_040167a008f45f67016ab491e585c087d0afba2231ca44d79e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V7RrBBtBecbc13c3reAYGhFV",
  "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]: [-0.1425, 0.8753, 0.7712, -0.7876, -0.2287, 0.0101, 0.9965, 0.4397, 2.706, 1.5578, 1.2804, 0.3515, -0.0158, 0.9944]\nstate[eef_state]: left_x=0.2565 left_y=0.0073 left_z=0.1606 left_yaw=0.0473 left_pitch=-0.2969 left_roll=0.2091 left_gripper=0.9965 right_x=0.6114 right_y=0.2243 right_z=0.056 right_yaw=0.0693 right_pitch=0.7042 right_roll=0.0349 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.5932, 6.6667, 1.5849, -0.1441, -0.0611, -0.0122, 0.6496, -6.6393, 3.4667, 1.2625, 0.1001, 0.0366, 0.0806]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f83a72edc2958fc2fa6b7035f15c2ebe223d52446109eadeb31fe491c16ca0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698ed57a845aaabb4be8e7e8dbf2200f4e17214c68280e7b296e9e0bb9669ca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e2dc7ae9e2bd0b3be1faa36ac227b0eb1e6b5236aefa4894db0d79b52c3f8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 9.978 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8688, 0.7712, -0.7563, -0.2287, 0.0105, 0.9965, 0.347, 1.6073, 0.775, 0.8371, 0.2722, -0.0185, 0.9957]\nstate[eef_state]: left_x=0.2619 left_y=0.0065 left_z=0.167 left_yaw=0.0451 left_pitch=-0.2599 left_roll=0.202 left_gripper=0.9965 right_x=0.4658 right_y=0.1217 right_z=0.2365 right_yaw=0.0911 right_pitch=0.5847 right_roll=-0.0239 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.7299, 6.8171, 1.5214, -0.1099, -0.0659, -0.0122, -0.2256, -7.8154, 7.1043, 2.1026, -0.0611, 0.0366, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8715, 0.7712, -0.7685, -0.2287, 0.0101, 0.9965, 0.4, 2.4294, 1.3705, 0.923, 0.3061, 0.0299, 0.0125]\nstate[eef_state]: left_x=0.2598 left_y=0.0068 left_z=0.1645 left_yaw=0.0461 left_pitch=-0.2745 left_roll=0.2046 left_gripper=0.9965 right_x=0.5984 right_y=0.1991 right_z=0.0682 right_yaw=0.1027 right_pitch=0.4506 right_roll=-0.015 right_gripper=0.0125\nstate[joint_eff]: [-0.1026, -1.4427, 6.653, 1.409, -0.1587, -0.0464, -0.0073, -0.2803, -13.6, 4.7248, 1.4969, 0.0904, -0.0073, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8753, 0.7712, -0.7876, -0.2287, 0.0101, 0.9965, 0.4397, 2.706, 1.5578, 1.2804, 0.3515, -0.0158, 0.9944]\nstate[eef_state]: left_x=0.2565 left_y=0.0073 left_z=0.1606 left_yaw=0.0473 left_pitch=-0.2969 left_roll=0.2091 left_gripper=0.9965 right_x=0.6114 right_y=0.2243 right_z=0.056 right_yaw=0.0693 right_pitch=0.7042 right_roll=0.0349 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.5932, 6.6667, 1.5849, -0.1441, -0.0611, -0.0122, 0.6496, -6.6393, 3.4667, 1.2625, 0.1001, 0.0366, 0.0806]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f83a72edc2958fc2fa6b7035f15c2ebe223d52446109eadeb31fe491c16ca0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698ed57a845aaabb4be8e7e8dbf2200f4e17214c68280e7b296e9e0bb9669ca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e2dc7ae9e2bd0b3be1faa36ac227b0eb1e6b5236aefa4894db0d79b52c3f8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_040167a008f45f67016ab491e99a1c87d0bf71578de4f84c5d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtJH2aUrxcvzriWDQPEjiMJD-6g8skkynfZAwEN4dTEBGLhPKLnqJVQPkGWH9Agwpm6YnE6Nrhg1BRBwmws5fZ2bsv20fG6BHFEBbeytyw4R_t2-ReyQeqfimIU-imzMf3NMu5JUnHSeA5RICp85xuCkCQX9ectUcDMls6GK-WL1XDLPQWYVyWXhmSGmbhjzQSAeZeRHBs0Tmfs_FsdP1cWVEBBsQ0b5w-ef6eg7ABxbJhIJ4Ab8yup4ybnY1u8RkSrc1iSh7OvVt29SyD5NtCeatBly4eymo_TLHc6Sr_66XraKSBkzQ9FPz3MdwcexFJCc6zvBVYltGVlGHcvCjpGW9SjIEQ3O828eCXXRT6xK_ywacZdYS7IavPoQk_BUCXLvAP_m6qhJZKUl9GWEeYSMUha94vbLRuaD5wB0lgVw3mmLE67PEAtyugVD3A-9tJyzokR1NiMlfcY95oWpeiYOrr2MDaCqYm-CAyG79KKzDjXlLept3r4Mifu59fCGCjatPStmlTAOfEkPl_1PcC2EcDJUSjIHGV_iCfErAbfXzkAzx8eyeMdPGDePnyuuP6Dd91hZcmywdPmRuKSWc2fUCELUdqju4LE5AKFWxAcmULMWYkLti1KdLRE80I4tJ4flTxRkH7uK8AVb-Alqy_MgL62cQvNiYCiW0llZR8M0eje7N_C7sGE-XVRPU5OYgKA30Gt9ZbL6MEu_TBM79iLhxHq7Rg7hnbK7hP025WutqFMP1aMPsyAq7wZ_VaR0L1HLDI36zSNPDJKvjUhcYF3SqQIB2fxFdQE2AuGoJF-jBtZImVXTcayh4cgpP3z71-XvlU3msDw4BDhoViTX-7BL9tfsBEC4-kzUxflevOAxHeSfxoMZIVqdawFHSM6JNgcLqMNiw65HHWiRCDwFGy5XR9qPdJLioHyzhH3Rw-9XFzbb942jOzkExSeCf7Yk94o_-JhgLtVs3dbed3ZYohQHtffprOO3QTwqbtZXP3u9KbAqgKL-Hngc_7FkoS1Dace21HZaOa4QoqCKa0KfI6KVmYuVluvL5aH0-xGDeUONnQjGzg1-WJI3Dd6LgnjYg5wh0GHViWwAyaGcnKQCaiJzfvTeLcx5UAIfrN3XAou9YUvE0qypvRaTMRDlAtmzlBlN7pi80_3sZ8JVgwS9e58vjxjSrmzCyQIsdJ_0N3zddXyTlqNhVqshJvTOLSgmKAJSoljZdEk6JsJdwu425TB8Dv-XTVkpVXFFB_znaGQEfp7YgCqvu6Q6YPw0Z7pbHQYiBjBLzFSNiOCVpwppuoCe43YC8azFo51sozgOlCXBLWIfZ79FjevrX7Fi06aWuK1ouYxvfr68x9Q8oY691O3dlFP4fYHPYvHFdwWmvXX1-r0Ohgu7hdDgtug-ZB3-5q6sNrZ6OqyDadTGn3tcrOeZigvIr0DH_6jk72KobDMkUNYC16WqJWgEdgIyhJU_uF5SBlYooNyDhBe4wrumtG7gfBZG9fGPSyhr17ugLrFIkMhaN6_KwGu9v4JpelByj88hiqYjsZJNhef5brO0qxj3dD6wpgf1_zbsPhOrKV27SaDhCZ25BBIxlElVmJcDDx424uVw1soHRhrluzXqK8LE7V6G5zl9S4PNuIpJxBcWEJhsbljJFdYyqwDwSHxb6dLXC-_VFakZrQjRbpg1SEah3ugFQSxf8YqogXF1PJ0blLZ99hBUoEdo23paIWPuzeHa7FYd--P6H7xOyKmskwY26W9Gi_u4WVctqW1ntemZ9RCemZmm8t_cdE3Y6dV4jww5lMGvGiu5ex3o3uum6gqCOiapEyc2rDkuCpYHHhQJuKukAef9221dq06GO1TQFhIh2vu-P1BMgmRAPlx5hsB1PYomT6zEZrx7d1WyPf4-vYtStQZgtKXIXz-l9jZzzedjitAlJKjVUBmoEi6oyDPyHlbUHv95S1vuxEewTZKn1N5YgleiFtHrdlrmAI0Z-6RfqpUTkODAnxAFx8EptTVcZ-jfMVHVjC60Yu_rjMHwv602PnnsGgn-BCcVke_2STBSaHx8uhWXYSCwrbq40nDVUAa6_z3I9_ESi6-GzPfW0lUDM0oEKvYunUOu0ijD9XrYloa0lavTQTc08-QxFvptXeXqExlKJ98ygTYS5NasNFVEbYtz4jd8qUTE5MuGLDHgBgDFAc9xNFgkMPoQEyPbT8A==",
  "id": "rs_040167a008f45f67016ab491f31f9c87d0bf76664806144bd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.08,\"right_z\":0.25,\"right_pitch\":0.2,\"right_gripper\":1},\"note\":\"The lower approach again stopped above the table and shifted the safe, so I’m backing away rather than pressing into it. This will also expose the right side and show whether the yellow piece is separate or part of the safe.\"}",
  "call_id": "call_HdiT4Z1LsLmEWbM4tlYLc7Re",
  "id": "fc_040167a008f45f67016ab491f5b70487d0886284bd5d6f2b3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HdiT4Z1LsLmEWbM4tlYLc7Re",
  "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]: [-0.1425, 0.8806, 0.7712, -0.8013, -0.2287, 0.0101, 0.9965, 0.2459, 1.3399, 0.9131, 0.0578, 0.1654, 0.083, 0.9989]\nstate[eef_state]: left_x=0.2542 left_y=0.0076 left_z=0.1573 left_yaw=0.0485 left_pitch=-0.3157 left_roll=0.2129 left_gripper=0.9965 right_x=0.4286 right_y=0.0813 right_z=0.2342 right_yaw=0.0622 right_pitch=0.2165 right_roll=0.0171 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.894, 6.8034, 1.5507, -0.1734, -0.0122, -0.0073, -0.3487, -7.1179, 9.8667, 2.1856, -0.1099, 0.0757, -0.1245]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a753a7a0d50f57ccbd51482d18d054054cb510e0a1e1fde647876369b06c72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039c9700193e4108abe7c8f0abc4a9940065bd7f0ff82032307583c8316f2879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef46786945f9ad387c7cecead3a47c9f744e6dacf10bbd8cb7d18478c19fe25c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 8.919 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 126 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8711, 0.7712, -0.7673, -0.2287, 0.0101, 0.9965, 0.3996, 2.4245, 1.359, 0.8871, 0.3164, 0.0311, 0.999]\nstate[eef_state]: left_x=0.26 left_y=0.0068 left_z=0.1647 left_yaw=0.046 left_pitch=-0.273 left_roll=0.2043 left_gripper=0.9965 right_x=0.5953 right_y=0.1956 right_z=0.0582 right_yaw=0.0979 right_pitch=0.4106 right_roll=-0.0292 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.5932, 6.694, 1.5214, -0.1392, -0.0659, -0.0122, 0.3487, -11.7402, 6.1607, 1.6923, 0.0904, -0.022, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8753, 0.7712, -0.7876, -0.2287, 0.0101, 0.9965, 0.4397, 2.706, 1.5578, 1.2804, 0.3515, -0.0158, 0.9944]\nstate[eef_state]: left_x=0.2565 left_y=0.0073 left_z=0.1606 left_yaw=0.0473 left_pitch=-0.2969 left_roll=0.2091 left_gripper=0.9965 right_x=0.6114 right_y=0.2243 right_z=0.056 right_yaw=0.0693 right_pitch=0.7042 right_roll=0.0349 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.5932, 6.6667, 1.5849, -0.1441, -0.0611, -0.0122, 0.6496, -6.6393, 3.4667, 1.2625, 0.1001, 0.0366, 0.0806]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8806, 0.7712, -0.8013, -0.2287, 0.0101, 0.9965, 0.2459, 1.3399, 0.9131, 0.0578, 0.1654, 0.083, 0.9989]\nstate[eef_state]: left_x=0.2542 left_y=0.0076 left_z=0.1573 left_yaw=0.0485 left_pitch=-0.3157 left_roll=0.2129 left_gripper=0.9965 right_x=0.4286 right_y=0.0813 right_z=0.2342 right_yaw=0.0622 right_pitch=0.2165 right_roll=0.0171 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.894, 6.8034, 1.5507, -0.1734, -0.0122, -0.0073, -0.3487, -7.1179, 9.8667, 2.1856, -0.1099, 0.0757, -0.1245]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a753a7a0d50f57ccbd51482d18d054054cb510e0a1e1fde647876369b06c72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039c9700193e4108abe7c8f0abc4a9940065bd7f0ff82032307583c8316f2879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef46786945f9ad387c7cecead3a47c9f744e6dacf10bbd8cb7d18478c19fe25c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJICpwSZVijMaiXjKMqxpvoBV5IYzPp5FwMw6qVO7DRzCPmiEurkerdyWfRLQkijNJhz0ivnbqe1knKB1d_jwbROSnPV27s313g4neJpTZWGa__9Q8BV26P-Pqa-J_VrCDGm9FuMfEU1OQs9_2Na8s8-6JygnEdR9fabnMWoH4evoWL1xRAYuR2qeHNMbA8FLOc8XLhPnkqK4KwnJTb8ah9pRnjWTYXsrnNeNOOIFq11qdxbUI6fP6QxnF0hadi_AhhV2xFfk3UdGLRGAU7PZBCodnE44VIavcYGF5qysjxaBDMuQEUFoNAHwgNzZVTu8ZO-ns8LVoj7ilNZkP42Ad828ZemERvOoP3YktQ7dntTQVM0i0cNlqqfp7dzmHHjhU7jsV8cV3vdpi3CQm737GR7MGivs1JGEMu3mQo2cdI5XvODwC9GBx1tBv3Lt-Op2qd_firCTQsVzdcsL5yB6dXlXDePMy68zDiB4Wq_N5ZWQBu_PUewrJfMtgKO0aLKA2sT61oFGqX5vQi-eivvJviJdzLve6FYhre6T2DnWd-k50LEqN8xx2n_ctuxcUMEDw-CTRsn_RAGIFRb2L3rSmRf66YZI6KhDfHmUYr7yORjOnQih-XUHDzPOwNtqA7tho4O7GbhEnrypQ1FiqbJxqfj65uigj7ZQlvS6ahwEfuvma5cK59PX49VDdubMuheRiCaDYYLylFt9rSbWg3ixw1_s0aw9wRlL9Djon4HdMZ-u0-km--djDhvOyhQdcyXkVBk4ZFOk-nEKvtNMHYB0e7TaEjUDNzK3q99B82rBRxsCEgStJYcvsfWrMbEJ62oZiAERDzMTdlmzDqmDEtOEZVTzYaln_3SXwBEYK7b6tsrpCEDj9nE16aRumXNd4Lln0AcEjPhIlBbsykcSF-LowsVr1Hzvi7qC7qpJwbw4VeEHHF0u4qFX4o5JFKjhrBdJ6EV_ZXJxeI5oWYDqQi-3Bn9lemECyhyG_pPN4KL2M2xm-lcbRBXhv_nS4MGRQHHDB_iaiuCRC_3Sy4cpDO8zCpV-jOhFW8d6FF-ION0kONx03ESRKpUJ86EenqMjOjexv8MvIeAIGmwdWU2rmSsMpugJpaA7Ka_CYxZ3UpkGQVCu9EcNfXyyc8vEbjZpaZnzS31AbLk0Kp6J7OepcqpCNNWqA_2HI7NpuYCuwUh5WTaTw6r4jYLKLSFawFmsOXIkUUWpNH0KrjDrzAvaHEwVVfEEVEBCytlzhAnmYIdGHF4RcN5UtjansZjljQ4udmbLJXFXRMKBLU8RgywpPy7E3b4bZkpyh4_Ehcn0NiaIMIauNkCPhE22Xcens-LXdytNptXBVMxWpXiLyMRhx18qKBsTEJZYH4EkZ5Gufr2bDnL2WSfg5A2eEl-xWU1J0v2toYYeiEyYpQjQj3U7BDuoWt3RikiasHg5nJHXx_dGk7mZbM12oe5Bf89-kDRXztvauqcZkJgW_6Bz-jHgtkk6tDldEJGenHX85bQVfXcvIWWZi-dd0FGzh5oU7lFJa5HIkGWSmp1WrQjCskd_Cs26PWmPAfoN_v3S5M9aUad8vAClGyHQvS9Vj0N_-90DoFpKUuW2EOOg_4wdOAZsnRvUBRaGRE824wu_IB9XsWeMBZ-s9M-fOvGirUmr_lSFeyCPBbUS-y5oA_NpYvPMwGALa4Ncupqwca1ADjKY9eBxr0Q0kz2JQP4b7p1gpbILJD70uI50rlhBsRt5t0VG18hxEB8FFi2OZGbYHQGYF79Cm64SrByHJzQaQMKiaxQko-Mmi8Ois4-zptzRlXxOAA-XoiEgifQu62QzTJjvITRI3r79YsCZUv9dIVpcpUmdG_LcBjsqPuQEXIJtwKOvuhSR2WUGiG80W3lpmAAWdFSnTy8YfNiw86-MmWbXmCyByqFsZ-RcmjSchtmrpJsfSc0E_yDTjnSqzL8SfOiD1g8qzEnLy1ItAa8gSkJWLE4A94_Knuh-I0OqP3UFQLWexIprmrqK2fjEdvGaC_sFe796i5yM2BbYJvtdp4MrUq9a69d84nbMCLbLNQtGHY-qD2mGWX-91JWtAKNINwHkicRJfd05ZoDv2rR-bFAhCq9yP41nfc4QnYaRi1ptecuck7DnhsXHS4cy0NpApuu1D6EmzVH92Bz7mMQkFTSenEHo-FUXDMR2xWdqxoXt1guGfvN9C73IHeM0BNnSKYQZKvvsRXNiZqASuy2Kx6NtJkZhZVYsX6dh95uNcNGfbBkkvgsvVvoWxDgGW48lVQ088OWiDQoEKQVTvd9FfirDN8qVL_LjivLcDj93oO5PkbRumymA130XiBUJ3ZRMtqynmHFtUxnIvVc13JF0jb_sfsg3i7NFCi-VzVHCT0XpBVm_pfQW0Ox_G7oAIKRnyxbDPZFeR101SytBSn804tMZr4XgECY1YcRBimBNDMep6qGPmAQlFhP_q9t69HM92kgXkA1zvTAdSsOtVSKvzlLnz1Jsaxv7glmcX-v5hQ64beTm0tYBiRLBEj_LGX0VtfWSIKy1hFv4lic9GjgHcWnQSAczgFjMN-FbXhpN_5kNUo1qnkPHmua1_C-pInRR-BPUIX00O_otOpfXVtvnvIg3D4bXBlpt2utQ7He5jtHbNz9eFqENiLW8XEfKGNGHKPhDfHE6_ZoAl6W161kjXoNUdxaY-rDNMiFpiMvH6-oE3TLvO45O40CMM8sMxTy9oHWVQnvoHkPUl7qbputpNw3n2Xw8XeychwCjnqTgMEBbr9A7k1LdUYHsur6_Tr96QaUizlxo5hEIHHSoCalWXqFXhP9HgrPs7prup2-Lol5uKgsYYWt2kdpPeXJmDwRGTjMEYHXbP0ASbvCBemhKajXnkLxW3gR2-9qbJpdGaL_a92CPo-RNxPvQtN160nvLmF-Qc_bXMBhOwGLvgRveGowxQWviavDr_6USKwPTx-5SMkPzLGeQz6V8EE3lP80K8OFB6XsKklpXuVXFmYeS2zLYkEtVZ01AWEvuYbtkyOBPguOoPKKVGKcZqHL8rMk7CEUXaYo3WjHlv2uCH-laf8qQCnldgxWLQ-7X_h8PsU2Fk46uBgNNcOfZfZkRb5hkafeIDLQJ6DIsMRwIi88DJNSIA2mCkLTATnur-zMvDRty3487krhbnLPMu8jl-pYHRGZCHfVHDiRweFeLuTqx5yyk5ijXiN_WOytR54PcJb-nJUOUYubBb8TH76bYlZ0YWmn5-zJkt6QtxWEmG7ieMBhOwJqPtXkdbHV09I9i0AttCuJZrWDSr4ONceWLSn7Ag9zzVHKeFVtqWTcYAsVhcIV98QQptQtcjFj",
  "id": "rs_040167a008f45f67016ab491fa42c887d08fd52c1d680a0daa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.145,\"right_z\":0.12,\"right_pitch\":0.35,\"right_gripper\":0.55},\"note\":\"With the arm clear, the yellow piece is visibly separate and farther right than my earlier approaches. I’m making a corrected approach with a narrower jaw opening to avoid the safe’s wall.\"}",
  "call_id": "call_6th2Z0I9iPuDpYvWa57Jwtty",
  "id": "fc_040167a008f45f67016ab492012e9087d08b4705db8d3eaeaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6th2Z0I9iPuDpYvWa57Jwtty",
  "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]: [-0.1425, 0.886, 0.7712, -0.8165, -0.2287, 0.0101, 0.9965, 0.3264, 2.0319, 1.0557, 0.6304, 0.2329, 0.0792, 0.5524]\nstate[eef_state]: left_x=0.2515 left_y=0.008 left_z=0.1539 left_yaw=0.0498 left_pitch=-0.3359 left_roll=0.217 left_gripper=0.9965 right_x=0.535 right_y=0.1418 right_z=0.0973 right_yaw=0.0858 right_pitch=0.2442 right_roll=-0.0053 right_gripper=0.5524\nstate[joint_eff]: [-0.0752, -1.7573, 6.8581, 1.4872, -0.1441, -0.0562, -0.0122, 0.1846, -10.359, 7.4188, 2.293, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d855f0897d7a08c2a909c1662c120c87a6cc45c289088093a59035caf69ac175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d27794d3a06751c588aa96dcf526b8e79d0c5d7e9655338f64e0f665ec36e17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41ce7e6b89d2afb26279fc1dc5d43a204f599197a558e46ea7f81995de9d8ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.572 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 126 changed as sent

message 130 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8715, 0.7712, -0.7685, -0.2287, 0.0101, 0.9965, 0.4, 2.4294, 1.3705, 0.923, 0.3061, 0.0299, 0.0125]\nstate[eef_state]: left_x=0.2598 left_y=0.0068 left_z=0.1645 left_yaw=0.0461 left_pitch=-0.2745 left_roll=0.2046 left_gripper=0.9965 right_x=0.5984 right_y=0.1991 right_z=0.0682 right_yaw=0.1027 right_pitch=0.4506 right_roll=-0.015 right_gripper=0.0125\nstate[joint_eff]: [-0.1026, -1.4427, 6.653, 1.409, -0.1587, -0.0464, -0.0073, -0.2803, -13.6, 4.7248, 1.4969, 0.0904, -0.0073, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8806, 0.7712, -0.8013, -0.2287, 0.0101, 0.9965, 0.2459, 1.3399, 0.9131, 0.0578, 0.1654, 0.083, 0.9989]\nstate[eef_state]: left_x=0.2542 left_y=0.0076 left_z=0.1573 left_yaw=0.0485 left_pitch=-0.3157 left_roll=0.2129 left_gripper=0.9965 right_x=0.4286 right_y=0.0813 right_z=0.2342 right_yaw=0.0622 right_pitch=0.2165 right_roll=0.0171 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.894, 6.8034, 1.5507, -0.1734, -0.0122, -0.0073, -0.3487, -7.1179, 9.8667, 2.1856, -0.1099, 0.0757, -0.1245]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.886, 0.7712, -0.8165, -0.2287, 0.0101, 0.9965, 0.3264, 2.0319, 1.0557, 0.6304, 0.2329, 0.0792, 0.5524]\nstate[eef_state]: left_x=0.2515 left_y=0.008 left_z=0.1539 left_yaw=0.0498 left_pitch=-0.3359 left_roll=0.217 left_gripper=0.9965 right_x=0.535 right_y=0.1418 right_z=0.0973 right_yaw=0.0858 right_pitch=0.2442 right_roll=-0.0053 right_gripper=0.5524\nstate[joint_eff]: [-0.0752, -1.7573, 6.8581, 1.4872, -0.1441, -0.0562, -0.0122, 0.1846, -10.359, 7.4188, 2.293, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d855f0897d7a08c2a909c1662c120c87a6cc45c289088093a59035caf69ac175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d27794d3a06751c588aa96dcf526b8e79d0c5d7e9655338f64e0f665ec36e17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41ce7e6b89d2afb26279fc1dc5d43a204f599197a558e46ea7f81995de9d8ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJIMB7LuB3L1S1JzulbtsL7o4J02-xcZVH1c1UKjAg0kTUmljq-qWCdLZfL0ORfNMoh_yDjRKGmeEwfrRsxMfter6dDBJFKupUpHgPUuolo00eTDTlJGMPYO8gFd5isDIPjfo_mwonzTssv9FDztiMuCkzZrza0Zn5TZkhPIaBJXLm0kIf7mlITHRXQoVZnT1LsrGKk34TUXBRW85W6Vli-8EAxZQxuO1L3fe62wxkI9niCNfIvTmjqty2i-g_s1ibi8dtA331GWTEimFtXn3ntj0gOnNeBiYAVenTaLdJXfbvwE2rlBnfpuOdpJ9JcFX14jTKkhex4gjmchVhGZ3SALUZ0zyiI1I94h2FTWVmqTnqDAbskY9RtZiDHACB17sAJvO4iuTA_2v91Nupjli7yHYfSEfy0Up6tc621ef0DUdoIwF_OJzUByA4RXTuXqf0xSGKVpLC9CjTPyjl4XteiKWhMjA6r3SAED6AaQgKIzKDwjFV4wJdxLBzu4X2l4qjXvIzt2STIa9lBZaoPYFvg0mKo8mEDPFGW1A5vq91kXmUp5IXK5yGfTqXpjbEGiYddpH_xS54KcNNLcK6f0022Ha-bkWxSB-dCdwtJG1uYL9h97CiR-qXuqoJL3riiRQQ0qko3xZfpv_5gVXG3vJhCyNrlOcTIOYx_TYnw9fQ58wcKHCrj5GGGLtRiLwTvemyIdRdxG182D6Cd3jHi7Jy0_chWZNgOXlRq8_kheLfJjP2EUQGE4-kAChMCHswNazkLhQuqmUqUTEccrz0QohfXtv0QCI2nAXt8m32-ZC_h-uksCm3R-Ceu5GuTiWCZJxyXti4BrTVfa1kjV37vn4P_qs9n9FSp12viBfqdg-jDv9Q35rcr5MZWvfMYxMAeVyVpvmJCPx8IyA3FQef4SFjPZrypUwcOQz6Oz4cq2xWY1qaQqGD4BsPUAPNIPmKf92T6-t6TvXt7JJ22V0j5AOHphPyMAnH_B_4DrLFFFfO_zxUjG0rqk_xLOorGFMQ74tBGK6cexWyNqtkuc3zIHxD9EciwadYnmVHakOmjU9FSRgZ8nbjnllbaF_dtn1A6RZvF_yr-ksn_j0wZU1pn92Labhr3ok01Cf8LvLs8kQISHSGpOtbAxSm-YnzXASqCGJYOa6JEJrG434AnIFIzjdA0IWmH9_pdRUedxcLEhI9txOJFiTZKQYYR198GUFhnLQ2paXhAWr1tpAhOPUDfv9zKjkyiPUK5CdUhNVoSxaoQp98pwAiZAybzLU7uuRNEhnrg7f5_of_WXydxWjvfCilqq8eICfmOkb59j_PFW_gEqAod9JGLFUKA5Z_OFsmY4JKcBWgD00Se59InsAVQFDqR3N89I18ErMMS6KW5yQgF5oTcAJcmSliJZiUYhxWgjmK9Di2I1eaYUDMCDregc6QVc9_bTB3H4ica70oyZ9OjqCRKMnZktrGqV9x-GQwFxA2GrvXX9-PFPAKkXCqVXXzVn5yGzx39MOImyu4qicKBWs_oKcaXYm2PdvfcApfyuEo3urU1hurw3XAUh_gxVGGbXEDxLBWVdRnuQymL6KJUwPcHS9DV9SJWfAfujxLb_BHXPls8nMl5MUCvfR3IuENDETPXnXCdE7u3FtkjNoIb9hMPpvCuTJEDJ-ZxXzeK2KsJS7SYQNdol-0mR4F5Q6W84kCQX-Sjl8EvrXlHhYGf4PjIfMF1IvDTr7X0GTd-oxhq9WAdm3aCRARY9-Ga_T-QMkyOxwC94v2Hf96EqM1gzoLUihsnM0t8IzcT0tNMlIOu9BNBI-nRHERAriZV0ncDDwcZDbJ4pxCh5sxdmweMyghtz-wSHMl-exJMCk7cvlTVKGlHF8NcurJzrkHoYW0UyyWrEYlD4pwjZGRKRG7jnNTg=",
  "id": "rs_040167a008f45f67016ab49208d95c87d0b542d3bc507a1a7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.205,\"right_z\":0.025,\"right_pitch\":0.35},\"note\":\"The yellow object is now clearly visible to the left and ahead of the jaw centre. I’m correcting toward it and lowering the narrower jaws around its sides.\"}",
  "call_id": "call_zRoMBexaEjTtXya9SjcdFbg1",
  "id": "fc_040167a008f45f67016ab4920b595887d082cd18e4d23e737d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zRoMBexaEjTtXya9SjcdFbg1",
  "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]: [-0.1432, 0.8883, 0.7708, -0.8219, -0.2287, 0.0101, 0.9965, 0.4324, 2.4184, 1.2633, 0.8284, 0.3141, 0.0795, 0.5524]\nstate[eef_state]: left_x=0.2505 left_y=0.008 left_z=0.1524 left_yaw=0.0496 left_pitch=-0.3438 left_roll=0.2186 left_gripper=0.9965 right_x=0.5638 right_y=0.2041 right_z=0.0106 right_yaw=0.1204 right_pitch=0.2698 right_roll=-0.0262 right_gripper=0.5524\nstate[joint_eff]: [-0.0205, -1.5795, 6.653, 1.3748, -0.1832, -0.0757, -0.0073, -0.0889, -12.2325, 6.0923, 1.6386, 0.1099, 0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3774b063ea7ebf520fe5dcd6229b070b333575d7ae64e9b9380f0bf7e5b5f682",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e25c13b7b162073ce4e4da8027f15e9dc74e8a0f517497694b0461a5a707b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385ba62014c1d4445d73a8c032ae18e55ae5b5b20bc983190c0374cbc3f0ae30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 8.124 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8753, 0.7712, -0.7876, -0.2287, 0.0101, 0.9965, 0.4397, 2.706, 1.5578, 1.2804, 0.3515, -0.0158, 0.9944]\nstate[eef_state]: left_x=0.2565 left_y=0.0073 left_z=0.1606 left_yaw=0.0473 left_pitch=-0.2969 left_roll=0.2091 left_gripper=0.9965 right_x=0.6114 right_y=0.2243 right_z=0.056 right_yaw=0.0693 right_pitch=0.7042 right_roll=0.0349 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -1.5932, 6.6667, 1.5849, -0.1441, -0.0611, -0.0122, 0.6496, -6.6393, 3.4667, 1.2625, 0.1001, 0.0366, 0.0806]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.886, 0.7712, -0.8165, -0.2287, 0.0101, 0.9965, 0.3264, 2.0319, 1.0557, 0.6304, 0.2329, 0.0792, 0.5524]\nstate[eef_state]: left_x=0.2515 left_y=0.008 left_z=0.1539 left_yaw=0.0498 left_pitch=-0.3359 left_roll=0.217 left_gripper=0.9965 right_x=0.535 right_y=0.1418 right_z=0.0973 right_yaw=0.0858 right_pitch=0.2442 right_roll=-0.0053 right_gripper=0.5524\nstate[joint_eff]: [-0.0752, -1.7573, 6.8581, 1.4872, -0.1441, -0.0562, -0.0122, 0.1846, -10.359, 7.4188, 2.293, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8219, -0.2287, 0.0101, 0.9965, 0.4324, 2.4184, 1.2633, 0.8284, 0.3141, 0.0795, 0.5524]\nstate[eef_state]: left_x=0.2505 left_y=0.008 left_z=0.1524 left_yaw=0.0496 left_pitch=-0.3438 left_roll=0.2186 left_gripper=0.9965 right_x=0.5638 right_y=0.2041 right_z=0.0106 right_yaw=0.1204 right_pitch=0.2698 right_roll=-0.0262 right_gripper=0.5524\nstate[joint_eff]: [-0.0205, -1.5795, 6.653, 1.3748, -0.1832, -0.0757, -0.0073, -0.0889, -12.2325, 6.0923, 1.6386, 0.1099, 0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3774b063ea7ebf520fe5dcd6229b070b333575d7ae64e9b9380f0bf7e5b5f682",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e25c13b7b162073ce4e4da8027f15e9dc74e8a0f517497694b0461a5a707b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385ba62014c1d4445d73a8c032ae18e55ae5b5b20bc983190c0374cbc3f0ae30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJIQtnHmFziSZPnjkKWxt4iKWIy5Sq-H92EmLlyU8PfA2jP7Z2QMzFXftk51C7at120iDjExHbv2S_9csRIc7Pkc7r2v4zQ1pK6oBPyfGFtty1Sn397ON3b4_J0-akLeuKfXnuChDq1Hhv1Wk3RsgRpP8oDD3ACHm-7hYy6stuDZjMfhxnpvySvv8jsQ9mcFUV8ZjW9xqbnHKXh16ck3lTVi2i8bQwL5WgpFcBMZl8K66R3Dr2U2ACWoUbiXg7GFfazLhhIo2nEz0io1QYoOf6X4RmduC7JftwQO3tHmWuUHgKNOIhEc4c9xCjrkOukd9L5ctZO4wlGVH5J2tj36LtmGjQBPt6pal3jDu5JV0tlNhz7U9MR8NvFFmdlLrqFbLCwVHuEp1WJfBkUqwJBlTHRiPy4lcn2MFrxSy9w6GfiXa9JabWUA8ykxK02Vs992NmNMjf7x_aIRvv6y0iJnKIrLTuBN0w4ZDpoz8dLRTM0brE6ZJx2EWipNOLFiGRSxYwIi-oZcZePT0WidGd9uowv9AjRL6VgoSbCYc-gwMOVZZ2ADH7SNRsQj5tS_NSBgZjHQsuyHco-Lk5wTpqoZXpV6SdXz91Qsd9gxMB6Eczqm0OIHa1EPM1wqeOYFURocyrlTy-F8CINlaV6Y5YbzcB8mOOhHaVo9w53qNTJoeWWnYQZrMCEI-r7ssVE7IUcx2zLmK058CqSG6w9FAFgTY0qY_wfphlap3q9jf7mu_bfKv001PbioKv6TlxbMV9GXsRn2sA03jDviE7xenv3eb6y3egaTcrvbEpp-Dd1YnmT0j02bJFprNJJw7mQ2X7-QlsEBRDkYJZEI9BHrRXpk7QwhP3v8iWDwiVjJaX1Ysavu8hycCff7OsxnEYQDmcYz33gW6KubFr9BKkvUFyrYI2z-oB3IYYBQSaty8lwp1pq0Ai1QRQ5HYj_5XdQrso-HNCq-DCmwCg8ZjRJpjV_CEN8fe41emUzdR4hVJavhmA490TJEnU3ZhOyYJu0rZvW9AfycgkeCW4LTGxraWDLa86gDX1thK_GHR3-aJXnGqZhY2F7CAhQ8AwUpdk_PcK8gtxfVT1XGDMhrTS4tYfIwxK3hoGUnIeBiD16s_895MfxpvQX0tQ5tCvffFFNoDKShCQyu5MbP_GqYmVAdG-tA1gFTKmPsscemKAd9DbLCntAH_1b9m_-2SMYlTYasvYBl_WAGG8a2qpJglKVKcjJoYNwAohgMkp6mOEIxdiEbCsX8k0OeJBDSetKYy9GzoQp3ir3I7zGdboTxxKn29jx_pV2a7zRDeQuWxPlDKffiGyqg7-I-CGWRtLuhXaMDSES769c-mAYrAt5rGL4b2WMOc1gJipsJ__UjYFxBhjNzNelxZywS8uHRULGb1UPuQKSK1TU67WfV2FHPPA4nS1_QsdrR8-ahkYGbbhnJG9ewZbdoZx2NCdMdPr8Gu4O6xmUKyyOFAkJdYT3MO0MwFqJtRz3DPg==",
  "id": "rs_040167a008f45f67016ab4920e5a0087d0b5565785cf0bf70a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.15},\"note\":\"The yellow object is now centred between the fingers at table level. I’m closing gently around it rather than squeezing the rounded shape fully shut.\"}",
  "call_id": "call_8F4ChOpMSWoPWg3VmbJRE6BD",
  "id": "fc_040167a008f45f67016ab4920f8ea087d0b5940a136a18e337",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8F4ChOpMSWoPWg3VmbJRE6BD",
  "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]: [-0.1432, 0.8883, 0.7708, -0.8249, -0.2287, 0.0105, 0.9966, 0.4362, 2.4329, 1.2751, 0.8631, 0.3176, 0.0792, 0.4069]\nstate[eef_state]: left_x=0.2499 left_y=0.008 left_z=0.152 left_yaw=0.0496 left_pitch=-0.3468 left_roll=0.2195 left_gripper=0.9966 right_x=0.567 right_y=0.2074 right_z=0.0146 right_yaw=0.1185 right_pitch=0.3006 right_roll=-0.0173 right_gripper=0.4069\nstate[joint_eff]: [-0.1573, -1.4974, 6.5709, 1.3211, -0.1538, -0.0415, -0.0073, -0.3761, -13.9145, 4.3009, 1.4774, -0.0317, -0.0464, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d13aacf0f5f309bda2ce8f758300ca359341d0bf4c043f2a80d18a73df3b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3c6b6d34eb5473d53b0b26f4f04ec4ae6262dfda036e4b099bbba16f0fd78d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482e55c5c48bda82203ee2ce09f62f019485cf1eab663c65e51f7766b1668a55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.467 s
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

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8806, 0.7712, -0.8013, -0.2287, 0.0101, 0.9965, 0.2459, 1.3399, 0.9131, 0.0578, 0.1654, 0.083, 0.9989]\nstate[eef_state]: left_x=0.2542 left_y=0.0076 left_z=0.1573 left_yaw=0.0485 left_pitch=-0.3157 left_roll=0.2129 left_gripper=0.9965 right_x=0.4286 right_y=0.0813 right_z=0.2342 right_yaw=0.0622 right_pitch=0.2165 right_roll=0.0171 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.894, 6.8034, 1.5507, -0.1734, -0.0122, -0.0073, -0.3487, -7.1179, 9.8667, 2.1856, -0.1099, 0.0757, -0.1245]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8219, -0.2287, 0.0101, 0.9965, 0.4324, 2.4184, 1.2633, 0.8284, 0.3141, 0.0795, 0.5524]\nstate[eef_state]: left_x=0.2505 left_y=0.008 left_z=0.1524 left_yaw=0.0496 left_pitch=-0.3438 left_roll=0.2186 left_gripper=0.9965 right_x=0.5638 right_y=0.2041 right_z=0.0106 right_yaw=0.1204 right_pitch=0.2698 right_roll=-0.0262 right_gripper=0.5524\nstate[joint_eff]: [-0.0205, -1.5795, 6.653, 1.3748, -0.1832, -0.0757, -0.0073, -0.0889, -12.2325, 6.0923, 1.6386, 0.1099, 0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8249, -0.2287, 0.0105, 0.9966, 0.4362, 2.4329, 1.2751, 0.8631, 0.3176, 0.0792, 0.4069]\nstate[eef_state]: left_x=0.2499 left_y=0.008 left_z=0.152 left_yaw=0.0496 left_pitch=-0.3468 left_roll=0.2195 left_gripper=0.9966 right_x=0.567 right_y=0.2074 right_z=0.0146 right_yaw=0.1185 right_pitch=0.3006 right_roll=-0.0173 right_gripper=0.4069\nstate[joint_eff]: [-0.1573, -1.4974, 6.5709, 1.3211, -0.1538, -0.0415, -0.0073, -0.3761, -13.9145, 4.3009, 1.4774, -0.0317, -0.0464, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d13aacf0f5f309bda2ce8f758300ca359341d0bf4c043f2a80d18a73df3b95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3c6b6d34eb5473d53b0b26f4f04ec4ae6262dfda036e4b099bbba16f0fd78d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482e55c5c48bda82203ee2ce09f62f019485cf1eab663c65e51f7766b1668a55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJIY9V6tQiYlWxe_SY3tINEj6cWqRDpYh4zmoPFceg9f3xVhlFc3js1n-WVlrpoCLG5Y037b3lNiQnkaqoRCqJmoc5u-T3Gzrzbdv_hM9ByB4bwHrLxReDtu3vIzms42P9pND1AmCWAOGlCOLOYTs3LLS3Z9F8eTGuqkqewesHU0KrjTB78JIw7ILLHQ64wpC8sQ0lwIocNkHBW0_I1Csjpt7AKGBa2Q6NztggJn3QVT82AsUVQDt5q0RjVHScwXSDuukb1HCxImjps80DHVjY8S_E7riA01zMet_ZIkI7tySNmZeP6dwckBvxRCM1Ih7Juab50gkxOPFbGgOX_6qxwn0pTCDepZSHss_d4wlb8O1nofBx4Z67fsFHinq-BiXM3PBsoVDDNoSV727U0Q0pS0P5xpg5imX3zU9eoxTKzQ4KwUxf5n0Bap8_VhjU01ygwZbmmtXE3uTBqUsj_RcSZwF8obTMpJ_K9Z0m_AzNL03PbWu0z3Z5TdTSczWVP4Zgo780w6c1w1k5MRXAPFD7rFxx47_KxuQJ1gRYqe9VjKaHNaukOKcBAClnARTjI4FLrxWX2Z_OZ68bhHy8PkgaZ75aRg9Qa1dEqfUOR56EBzhmTUEP0iiWzPV3IB1htVnbmrGF1bwGgad1ezia9_blE3p4Ti-8X7IfvMJv5Xx0yXI05R6bmmrQjvOVdfOfSLezlL4OtccZ15JewE8oaUwk76q5gJTq11sMuoD2XZshb-bjwAUsuNXUUWt-u-AebwmUOQhMRUbqiz9-dHWx7GAe7nav1n5Yrvz_BPP_B0CtN6mzTXbGdsZTvJUlKIFIzEFRhCX-EKMqtOtT6ynYwBGOw6A15WUGkLu8WN87__tzDNRzB1BfY1_sqIkU0EMwPFDF-UeZR70QuA9Ga5Dyn0p540jBVMvtj5f2KBsbFpfn6UyAUWwNBjHTQqvh-AG5UXpPB2gfUEakWJybj7HKOdJnDt20B-6BCNNzM_qHo8S2osNmL2-iZ0vkAPkj5CatFJ1GOylSOJN84DBJIxvg_4XSw_oMpiQ9DdJ5G2YoFX9OA59rk7rPOx4s-ZusHfAudg1TH5lQxnyLuApW4Uk2svDB1VIY0YZyVrJlgSZbNmRwO3rCH4UuFF1dV5OMpSEREkqTLW5tneFxqKtSAuOWzBnOhanMIMtCzMLPnY5DATBQ6zRb_Ep01lARCHJkkJyrlCjV4Lo2QP3Aje6Qx5OTXxmdREA6lBqUNB-PIZrRngkzRKbUv-S-tB8rOUcKhtjbMzr-1WF3Av52S8TMd8SomzKZLcVrUggkNoJo7tXituVMT3IsWH-s9mnjA9pJ-DRUuoy-laqQeJOnBK-UbMc74J1-TANcLS89R2wUGr4UjXo5-5-EFmr22THsN7aF0sB9ox922EEwvBFg7QBWkP02kMy5tuY9QYjLUM0UQ68v5XnmmriBPbwqk-rXj_jq0xb3-8lTelGEnY-mTA2o8uBOcz6iz_HoE4I-XMX_lJTJsW2GwrpMkVi1yKPJH_GoOiIVNpKh1cDquLDAKyBSGXoWufRRxftKs_f0qRxFRrxj9WglOl-PjtxB9OAA9hFnUuPIR8LIjcJs0QihWlsfrkl8iXxWHpLgB3gCXTLyyd509HfOAzhs4HmXcrgOlAK85FgSwow7qdGh5qi-AfY5wMkXw1rh1dhreRHrLXT3thUJua-bw0jx-AaCm6i2eV5Ayv4ei1SGc8FRdVFgmuR-A2YYJEo8mYlk9c3H2XshwRAzZ9LqhEfa2BKRmlNq79wZMF_3jMm9lhn0_7Q3i6v_xzeG8sDCBmnnlFw-R_hTDxXDrwP46qqoZ_ZEoVk-vBSgArOZVOPWddfdQ8UK7Bgg3r1W-k5Ngh-Zi9CZemFyPKjttkmaCPFM1p0SvKO8V_gmOdTbdTjl7Eoq-Rnoq-cKfoYkfoTtyUWsJ_G61IoOcyN2Zgs_0IK6ilS5YmBXNil6s24lP5cQq7_Gq_aw_AmTaiuJxHVklHKUDoVgJqQAQHTOGBukPv2wXn1Wduo2gJPsCD1JoGtyp0t30BJFp4z_OTMivaKl7KXz8wBE0U0u1Yr1jqtw0PZdS6QSsxexqJtbSbI667QKMcc1A4ZORhu1hE0nrBlIDi1oOFxZMA2yDD1w6xBoJpbkfMETEHqET25xH2-JSKuFC5bwOH_KC4uFgmUVqwTo-5tlN9FWPR__C7TCrUxMba1lIxHin6jKyw3TmDt-t08gdmEzsrFEJlbPyxWQ_awH3RkU8oU0q4LcdM4JHDvid-HvFa9nMevbdTW20573hUlcAcDzQ81A4rjfejLaw5aDvG8YHw3oSNMdWAfai0ZfqIfdGT2oQ6YmUVHMoz8gdhlNbYkIlubSKRv1rcONnMuBVVtJZeGZA4raD2dsM7z6PHuYn1dq4td-UghtQu4HSudW24jgtEFrgWCnNEwV0DDaVKV4YMUC6CsrgkOBEsMpWYjkUC-Gzo2rN8FGv57Gocum9W3S0A98oQC4095x8rCYxNjML_SL4Hr_oOvLO_EgsJ39OvmYbGpiGOjEl6CXzhpEnl",
  "id": "rs_040167a008f45f67016ab492132fb887d0b2b46f91eeeee5e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper is holding a substantial width of the yellow object. I’m lifting it clear of the table to verify this pickup before moving it into the safe.\"}",
  "call_id": "call_ziRsQc6gnSEVZaX1aqnal0Lc",
  "id": "fc_040167a008f45f67016ab49217ff4887d091ba921f4d023d25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ziRsQc6gnSEVZaX1aqnal0Lc",
  "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]: [-0.1432, 0.8883, 0.7708, -0.8318, -0.2287, 0.0105, 0.9965, 0.4377, 2.2375, 1.2697, 0.6178, 0.3134, 0.0788, 0.4085]\nstate[eef_state]: left_x=0.2485 left_y=0.0082 left_z=0.151 left_yaw=0.05 left_pitch=-0.3535 left_roll=0.2209 left_gripper=0.9965 right_x=0.5609 right_y=0.2064 right_z=0.0703 right_yaw=0.1287 right_pitch=0.2476 right_roll=-0.034 right_gripper=0.4085\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.3553, -0.1392, -0.022, -0.0171, -0.2803, -14.3932, 8.6359, 2.2002, 0.0562, -0.022, 0.6716]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfeb2a9f9cbd11f759efab68b857d9fa0daf165c64243ada441556e04727c3e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08069ea70f2e76728685ae0d5a0f4e2c50128568abe6a4d144320bfd32a4bf22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcf3f3f762ce7449ec8ff82a204f3e1d55bc2c91ad215c69ea728d136db600d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 8.321 s
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

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.886, 0.7712, -0.8165, -0.2287, 0.0101, 0.9965, 0.3264, 2.0319, 1.0557, 0.6304, 0.2329, 0.0792, 0.5524]\nstate[eef_state]: left_x=0.2515 left_y=0.008 left_z=0.1539 left_yaw=0.0498 left_pitch=-0.3359 left_roll=0.217 left_gripper=0.9965 right_x=0.535 right_y=0.1418 right_z=0.0973 right_yaw=0.0858 right_pitch=0.2442 right_roll=-0.0053 right_gripper=0.5524\nstate[joint_eff]: [-0.0752, -1.7573, 6.8581, 1.4872, -0.1441, -0.0562, -0.0122, 0.1846, -10.359, 7.4188, 2.293, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8249, -0.2287, 0.0105, 0.9966, 0.4362, 2.4329, 1.2751, 0.8631, 0.3176, 0.0792, 0.4069]\nstate[eef_state]: left_x=0.2499 left_y=0.008 left_z=0.152 left_yaw=0.0496 left_pitch=-0.3468 left_roll=0.2195 left_gripper=0.9966 right_x=0.567 right_y=0.2074 right_z=0.0146 right_yaw=0.1185 right_pitch=0.3006 right_roll=-0.0173 right_gripper=0.4069\nstate[joint_eff]: [-0.1573, -1.4974, 6.5709, 1.3211, -0.1538, -0.0415, -0.0073, -0.3761, -13.9145, 4.3009, 1.4774, -0.0317, -0.0464, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8318, -0.2287, 0.0105, 0.9965, 0.4377, 2.2375, 1.2697, 0.6178, 0.3134, 0.0788, 0.4085]\nstate[eef_state]: left_x=0.2485 left_y=0.0082 left_z=0.151 left_yaw=0.05 left_pitch=-0.3535 left_roll=0.2209 left_gripper=0.9965 right_x=0.5609 right_y=0.2064 right_z=0.0703 right_yaw=0.1287 right_pitch=0.2476 right_roll=-0.034 right_gripper=0.4085\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.3553, -0.1392, -0.022, -0.0171, -0.2803, -14.3932, 8.6359, 2.2002, 0.0562, -0.022, 0.6716]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfeb2a9f9cbd11f759efab68b857d9fa0daf165c64243ada441556e04727c3e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08069ea70f2e76728685ae0d5a0f4e2c50128568abe6a4d144320bfd32a4bf22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcf3f3f762ce7449ec8ff82a204f3e1d55bc2c91ad215c69ea728d136db600d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJIcHEB898en4xtjLKTgmCmBU54niOUjkBgvB4i6FYyjOkQ_5PjSc4N-ZMZlKHAqx5yYawhgLcA74XtWmT8MapBm6hw6sYWx9d-SK_vQzk6_rFJ6NKbBf8wBQgLXrsGboFzbeeDVkYa_zXFPU3NkXCVsl6YpF1jP_vsG4seDhkpdzJNspoCPVJ3GIjJKpq93_Cx1gFflUddsu9cQufqRTaGGYGwO6lPZ8R0hZlfA_klPKNfEp1faW3pnp0UVgQL5rCt5FYc0sh1-C_JVedTrc44f3eXQ4GryJnrzCdsLI60YGGN3-YsIQAf2CQPsVtDTApW2nopFOX-5gvrsO9l2JaWKCCgCabatArU9SINgREesqb--_ZJ_ZOLFIUk45Lgey2EdTwfiRsloFYpEmrjO2Ekn68MVcG1V0JMQtBGbVKYpebN3SoNyzqvBt_m2zbq5EM4A0_VoBMCG6WdJgIvkn5HoR9ywBu71UT2e11rtg_nR1sbEzNKN2Rcsn4u2yhrOUAD9OqZ0mBwNL_BOggVH-mwBxx62nwMvmGJyTgPU-_ILT2qwqzfRupinwn4fcmNeRCZn9DoxH-rWz8ldoiBar6VWocSkg5hI7ClJlb8_dtbhgCQB7hIo74o-7K4Ni9gnclpnihp5esltT3XqON5DQUqAG-mzqh59w_eAhbNUZb6Sbyi0TRmLNppfNxGK6mzJ3arEz5s92PcBA83y6a0qALg1eq0DdSi0vi1TkAQocTy47qIYeiAsuuMG9oPOEceUSTkqhUvZaVZ9C4VWb_X4QoXJb5SIlJhbR8ceJ34lDat1wqH54RCAyygz88TgDfC-lEKtE3breciPVRQXCMvrqwULj-EyX8DQDdCRPhEDQLH8nS2XBTVqKONVJHn3FSMYrNugUgc2UUcl-BW6VaHo7UMjcsJHuCBgKgpLMMa_ODrZEtLN5ntugGDUDgooGO0FKxEqhBY5yZQPTGsv2TczRrUJjp8Vt41ZfehiW-EGWsz9FLycHqSNkZFoY_pQDeoHEMmWATOzWm-YucZRy68sHgcnXmsGQziGZJqva2et9hHBhRFCvVN64EArVJddsXNmsgQhJAp9LRspc93kAR3eRmpmg5KgahlmFHXOzvrpIiRs8geV8WjtnJdq7uCacASIOmdj_YLdp_v-hbLtdNxjfAT7SAhu6krxqoAi-BNTtPy_bwEUBZKAft0Ajou56kfjyGAOZCnModDVh-QH9HkIFj-4PSRdYLyOFgh7rBzCkzpjz7rhFYyAoV7wlxOg7vH9lCPwDHM3h5eh8KkSRJqMM3gX-A==",
  "id": "rs_040167a008f45f67016ab4921b31ec87d0bcf64634e7055932",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.4,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The yellow object has lifted with the gripper. I’m carrying it over the safe, aiming to keep its longer end within the open compartment.\"}",
  "call_id": "call_OJTVVF4t48XAU3XxnZdqUtyx",
  "id": "fc_040167a008f45f67016ab4921b967487d0a74f77e898c0b6b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OJTVVF4t48XAU3XxnZdqUtyx",
  "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]: [-0.1432, 0.8928, 0.7708, -0.8486, -0.2287, 0.0105, 0.9965, 0.8417, 2.2433, 1.8965, -0.0296, 0.6704, 0.1928, 0.4105]\nstate[eef_state]: left_x=0.2454 left_y=0.0087 left_z=0.1477 left_yaw=0.0516 left_pitch=-0.3745 left_roll=0.2253 left_gripper=0.9965 right_x=0.4985 right_y=0.3987 right_z=0.2153 right_yaw=0.1675 right_pitch=0.2874 right_roll=-0.0496 right_gripper=0.4105\nstate[joint_eff]: [-0.0479, -1.5385, 6.735, 1.5409, -0.1441, -0.022, -0.0073, 0.1983, -11.8222, 8.4855, 1.8828, 0.3101, 0.2515, 0.442]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fcafdfc9093aeef7125f56d544a09ef77415b1c9f93d2f9bfb1d3cd39d2b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5662cf914e7806bbf0f90a4a15be60d4e1cae39dee0e8b5ada5251318be91f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01faf7327041adcc2003066fb7d180a9bae68b4155ed1712ffc1569b87e5967",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.666 s
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

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8219, -0.2287, 0.0101, 0.9965, 0.4324, 2.4184, 1.2633, 0.8284, 0.3141, 0.0795, 0.5524]\nstate[eef_state]: left_x=0.2505 left_y=0.008 left_z=0.1524 left_yaw=0.0496 left_pitch=-0.3438 left_roll=0.2186 left_gripper=0.9965 right_x=0.5638 right_y=0.2041 right_z=0.0106 right_yaw=0.1204 right_pitch=0.2698 right_roll=-0.0262 right_gripper=0.5524\nstate[joint_eff]: [-0.0205, -1.5795, 6.653, 1.3748, -0.1832, -0.0757, -0.0073, -0.0889, -12.2325, 6.0923, 1.6386, 0.1099, 0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8318, -0.2287, 0.0105, 0.9965, 0.4377, 2.2375, 1.2697, 0.6178, 0.3134, 0.0788, 0.4085]\nstate[eef_state]: left_x=0.2485 left_y=0.0082 left_z=0.151 left_yaw=0.05 left_pitch=-0.3535 left_roll=0.2209 left_gripper=0.9965 right_x=0.5609 right_y=0.2064 right_z=0.0703 right_yaw=0.1287 right_pitch=0.2476 right_roll=-0.034 right_gripper=0.4085\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.3553, -0.1392, -0.022, -0.0171, -0.2803, -14.3932, 8.6359, 2.2002, 0.0562, -0.022, 0.6716]\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"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8928, 0.7708, -0.8486, -0.2287, 0.0105, 0.9965, 0.8417, 2.2433, 1.8965, -0.0296, 0.6704, 0.1928, 0.4105]\nstate[eef_state]: left_x=0.2454 left_y=0.0087 left_z=0.1477 left_yaw=0.0516 left_pitch=-0.3745 left_roll=0.2253 left_gripper=0.9965 right_x=0.4985 right_y=0.3987 right_z=0.2153 right_yaw=0.1675 right_pitch=0.2874 right_roll=-0.0496 right_gripper=0.4105\nstate[joint_eff]: [-0.0479, -1.5385, 6.735, 1.5409, -0.1441, -0.022, -0.0073, 0.1983, -11.8222, 8.4855, 1.8828, 0.3101, 0.2515, 0.442]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fcafdfc9093aeef7125f56d544a09ef77415b1c9f93d2f9bfb1d3cd39d2b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5662cf914e7806bbf0f90a4a15be60d4e1cae39dee0e8b5ada5251318be91f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01faf7327041adcc2003066fb7d180a9bae68b4155ed1712ffc1569b87e5967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJIm6gCpUmEG6iDslhVOJYBAey6RNe5EPrKM3dJC1h4AQJoDgr2hzGrDDv1NW1QWtTe_olZmVTYD2u6F0UlVqZB7cgwHVfTl7vnsCRjK6KoZrOFvnDp-nbaEtTOm1UZCTJIEItfjnMQk6BK96A_NlkkqwZUhU1rjr7qyimQZUy0AqHmrLDGjlf9QOkL-4Yb6lNq-l8ecHiN_4d3WL-7-mcUAgsIHSBwB6o1NnF02PAXMxcBdzggSe9ioGaRAMKd1H0ooWBL1HzUtuCWyVhEu63KQboNE74bgwF8N7vjYPJgRvR8BfspS_xVYrcMsaR7NXN_S7rPGqnrKXhAJqw39eBdXe6A2IXHn8HlyB2imTnWWQ0cG5RVQfJik_Od5zdHCTNI6PQirJJqKSNnowANR5OBy6wJIIq5Y4JgOirBmYLpu4mexPm3Yjbe74BgLlaVEphfFMe9TGdWxGj4EtScAhAcO7sICstAbI3cHwynvCBocCs9oMnTwOneZhuzOePH_qRsVGb4phmgwyEmJZR9R3JBHd1p2yjnjqP-1lM5b0RSXGYqgmQAx6lvwhmjwVSzf9c5DHLQPWxJd70tLmrhicpn9lp0eDosuhm504P_Z8n_RZecokv1ZHz9sJPAw03qRbPmzLtAYget-ZxQUas0UXEkxmP7-eK0sD5BBv81JZk6IgqGrJrmf8DnxhVzwugTTnQRM5To98HixoKTwdXh9UoiMo0ZMrCEA6W1gAZgyUvvVDHYbdI0FOMUG0g4zIJy0aq-imZYDqlSpAZzXtHxOPY8dD7MYIc-ZtfNxK8dRlBKDSNf8HwhESrhvUopWi_3Y4bHa-WpwGV3tcMHcme9dYLj_fyTjdAt6wfJUlAWuyzkyWOK1_b-DzsVLJwhSnB2sr0u3S9465fCXXiJtZIfTtkC2m3zomoozpifQktGFSYvopmXcJ6gKDznacmAzQgCi9SEgyRX6WiVCv3aMKdReI21MFcDACmTOipW_HHfQ1c7NXSX_xl7-u0iwVQpM3XmxdUeur6goa9advynNrPAcbXNQzFBI2snps9Y4eQgKKMcu6BUIxA0pZgftSbTp7gelylODLMBZRevTd9OaX3ZRDbNW54MS0_ISwlJ0bzAdVxJCy5Ybj0nnB8Fi-HaPgZoaCMv_eRiiNU3Qc_-2L44hbcVPHeJ1oZPNe9LqmEPocXrPMWGOVrH9eli6F3K4XDS4pSUDabKTosFzd_Ija7EZ4TP8H7VvBoMqwxmuv__r2SD-iYFUQNbTA4LpMo_twRLdCp66e5_1gQHTKi6Gh52Mrt0-TP49cytvjTloh7J_egs1V5xMWcCbzj-HPfeMXT9qtOjEMpgAYbjDY9KOn1nVbe68XDpFJ4HZ2OFDDryZdAFF9jJDrz9mCGMv8TzgT_FowaPq7RtGqveAp1rBlojbX9wLnnf-PdO1DDJEBuCSFQAh-MjMdLcAn2M5aTH7AQcOD2nWuyVzEZIbcYzblEqrTwoeT7TyJkSbMRqpG1xs5_3zN4YhYwXSGFblXHvFsgkyfNCJBOh_J0qzX6SIQu4pl4rmxjeFLrZ3lqwtfb-GQsQ-Ir4nyp4COvyi9Ej54drVTp_s03MowUlfSZmfSPa5tDfLsVws5ay7aaz_ktIdQoOyhk_dvUAcNd7Dpu33Ke23yiy8bnNyD9XpmhHbwcOAPX3kqnya6g-BIwX2QQLzRT3Jg7DcMoGt2Sj4bhs9H7D3IE8XCadmInBJwPIBZS6AujdHfp3Mg_B1CV6TEHllDQZL1UWmUzLCCOkevvnl4PAn7nKq0grZtlK4a1xPs0s9jJv7cZFSrPHHXZGNRlg7loOik-p_ynHX-ofB8857l3kNQ5Hya8yOOLYpYEyixNXIEUF5Ogp5vDf2ED6_PHI66B7EA0ba22MIaaWQTW1IyrKkJwA8nnA1v9zhYsuqgxUyCj5prW1abSWz0dP1cprWyVGQFdMOazycxplsFjjeKKT6QzQmDOeYMs1dKXdFv1qZ_S9hJ3BwdhuZVz2QfO15vOkitiK9_0H4qoySnvMrSPTYQ2IHyY1EnE_XOmJbx4Abx7fWf1Au4yi96PgQhWMRFnEV7RQyk0aom96V-sIMmWA6y7A9-J-PdDeHitoxCbXBIChu6wmAHdFtkhUjbMyo1TvHTRz2EXQxPbfLORGOU4N7IrX3tgr22ftWHMYCRQc_22bs-ceEXL_sa77GHZieeTvK-m_wzkr7NdvTnuhbo73Xm97d7WVtysOR-NAdScbdxIZJUaIBCZ8HxwZEla7aNCRmQA-dyDZ6nF99h8Ysc5k3Iy5Z0RUC-Etz75wIrkjAjK4Z6uHjIRxBthFjfSDKXKCTL6dXz5XsaAay9IddKJ9ImekFNl-aZ-Sc2QjZyXs4JRqqVf5ad8uO0nZToOleIkWust3_J8JbWc6w0WEez8vPpXvNd884s48-L-6OMoR9OLpSINV_Xi5-mo1vETODh1RNBCJqtLvjHDHYYBVoZgMQ4fujEbVeh-WNgyMqMO6n1lkKsjeWQpSsU-BuLLAXaS9_0p7_Us6r-Uxofui9T6Kf2Sf0yOG440lMmZn0YOdPTmYZR4GmJ3-fYlGnT6bxf_RjT7eWB6m2E-AuIJ9Oa6xpRJDaE5CRckgPoahZIX7Pdn4zHtPiLDHt6dlS_aiicl0w6rv-SF8XkhYckz4Sf-TS01WvBd-wbH8naT2pz0nhiEje0u6re_ozy0H619U4sGFtK07rsbn52LrV1rL9R_4YUbCcrKI8W3JAgqLLMJE6VTDxA4yyEA11hu_w32sMlJJCD68=",
  "id": "rs_040167a008f45f67016ab49220442487d0994ecc37bd3111d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.4,\"right_z\":0.085,\"right_gripper\":1,\"left_x\":0.6,\"left_y\":-0.2,\"left_z\":0.31,\"left_yaw\":1.57,\"left_pitch\":0.3,\"left_roll\":0},\"note\":\"The yellow object is above the compartment with the two plush toys. I’m lowering and releasing it while bringing the left gripper toward the upright lid’s top edge.\"}",
  "call_id": "call_kq4xmojfuiX9cJnu81mUtd6O",
  "id": "fc_040167a008f45f67016ab4922580b487d0a3cd9e95e01c88a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kq4xmojfuiX9cJnu81mUtd6O",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.2138, 2.4699, 2.3562, -1.5681, -1.2331, -1.7245, 0.997, 0.8295, 2.4172, 1.7107, 0.3222, 0.6502, 0.1841, 0.9988]\nstate[eef_state]: left_x=0.488 left_y=0.0683 left_z=0.1805 left_yaw=1.412 left_pitch=0.2431 left_roll=-0.0161 left_gripper=0.997 right_x=0.5074 right_y=0.4012 right_z=0.0947 right_yaw=0.1787 right_pitch=0.2762 right_roll=-0.0573 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -12.2051, 7.6786, 0.0415, -0.823, -0.1245, 0.0415, -0.5949, -11.8359, 6.3111, 1.9805, 0.1294, -0.0269, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ca62784cf6fc30f9e6761d001fa48efc56c73ee68649b386264422faf09035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9367ea2cb76e288eee4fea630a6cf165a93dfd93cf7a22c1c02321a735eeee2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbc8bd9f064649bd090846958c58fff3c3b37c17b3ea35380b25513a0e9bfb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 6.468 s
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

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8249, -0.2287, 0.0105, 0.9966, 0.4362, 2.4329, 1.2751, 0.8631, 0.3176, 0.0792, 0.4069]\nstate[eef_state]: left_x=0.2499 left_y=0.008 left_z=0.152 left_yaw=0.0496 left_pitch=-0.3468 left_roll=0.2195 left_gripper=0.9966 right_x=0.567 right_y=0.2074 right_z=0.0146 right_yaw=0.1185 right_pitch=0.3006 right_roll=-0.0173 right_gripper=0.4069\nstate[joint_eff]: [-0.1573, -1.4974, 6.5709, 1.3211, -0.1538, -0.0415, -0.0073, -0.3761, -13.9145, 4.3009, 1.4774, -0.0317, -0.0464, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8928, 0.7708, -0.8486, -0.2287, 0.0105, 0.9965, 0.8417, 2.2433, 1.8965, -0.0296, 0.6704, 0.1928, 0.4105]\nstate[eef_state]: left_x=0.2454 left_y=0.0087 left_z=0.1477 left_yaw=0.0516 left_pitch=-0.3745 left_roll=0.2253 left_gripper=0.9965 right_x=0.4985 right_y=0.3987 right_z=0.2153 right_yaw=0.1675 right_pitch=0.2874 right_roll=-0.0496 right_gripper=0.4105\nstate[joint_eff]: [-0.0479, -1.5385, 6.735, 1.5409, -0.1441, -0.022, -0.0073, 0.1983, -11.8222, 8.4855, 1.8828, 0.3101, 0.2515, 0.442]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2138, 2.4699, 2.3562, -1.5681, -1.2331, -1.7245, 0.997, 0.8295, 2.4172, 1.7107, 0.3222, 0.6502, 0.1841, 0.9988]\nstate[eef_state]: left_x=0.488 left_y=0.0683 left_z=0.1805 left_yaw=1.412 left_pitch=0.2431 left_roll=-0.0161 left_gripper=0.997 right_x=0.5074 right_y=0.4012 right_z=0.0947 right_yaw=0.1787 right_pitch=0.2762 right_roll=-0.0573 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -12.2051, 7.6786, 0.0415, -0.823, -0.1245, 0.0415, -0.5949, -11.8359, 6.3111, 1.9805, 0.1294, -0.0269, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ca62784cf6fc30f9e6761d001fa48efc56c73ee68649b386264422faf09035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9367ea2cb76e288eee4fea630a6cf165a93dfd93cf7a22c1c02321a735eeee2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbc8bd9f064649bd090846958c58fff3c3b37c17b3ea35380b25513a0e9bfb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJItwk6d5Lap7AETXY3_ObzailmluzcJbBClBaBjrmBGC6LCLUx7xeI0pLEpeID8zHAms8hjyq81ER-xFdzw7QmsNdMOVXJfgwEYtUFYfvTYuYSWdAGjCTuTSFPKYqvhVCuKFMXiaJKdoXbet2H9hFBkeJfhsDGS2XRU2DKDQDNc0rblMTItC0AAGvYRIZYGO0vv7WZpV-SFlvC_r-pjCCgSihHdYNN3dIwAyGsvi8vsnnDKyapZuw7zsZdxeYcVYsG8QAxqw-TNwboPXSakROjqCNJn4NJLJZN26d5iNpFSiTG3DtrbnKPcGmzJCLJmfDPuVSr_KXRuBHfdrEVEjUKht3JummPyw9PQufFM9mi5-0uW5oSq56V2DExrRjd3D2GlcnS-4FDGkZRPjtRpkRDF0L1o2NdYiiUaANSxCtKmIN5SyhvyBevqyUgxxStmQlLh-Dnz__QlYdFFLiG39kTv_Qa15hqyP1dPmY4Qu50WQ9gfobq5s8_9ZYTljuVNT98SMeZhdeB0qgRAw42jG9bNp0LKZO-gaiiOXZBV4dN_U2RjSFVEMpoDs2XZq-QHO4vc2HEDARvMmz-Mqiv_SpCgD0zW6WRegA3zONqOMpvG7FYgFExWqPKrZo_WbCmHMW15i_vipqYH9GLyrKzALryF4njjFr1pi4unJSKgNd0eN74sb5xIA3tOY77Q_agcDx93AKteHB7EolWJTG2TKpQ5yHIikEtLseZk2dJUPF0B1QbOoZdChORc498yHB0JoLC40TktCSLIpyBAikBtgbb9sKyUMVjNkf5ElOilpcca_StX0Kj4rRsQVQGWI6ZMqZcR5UTEwNYls7s1kDkFvfWz1FS_0QCTJ8djHF7XuJWlp0z3kSjgbI0aEIL2hn1WZS96wMc7RwZAVLmhYT2FQG9R2uaDDbPr-gvfLNgPiY9zKhbhUumVH6SBd67wim6DTWPO4Ln43bA5RcdZAcDJsK7DtqB-thyjjXsvUP-VhI7WbV01U21CeZv5BVxB2soSaz4orJCyrBZO5hhn2jJ4cNEECAn2_JY3E0WibV_GKnTAvP2unDPTjnMgKV2tK8JPw4bUnovx9ccGeclE-BI1U1FmUEJiVPfHv6sw79OjJZvOswNI42hQhp8dBZQEG_a4dALnNqFOVVEJ6Y24N0F29oRvhZDu-ukuhKFplqf66R7Q202_lPlyFrxiLJ7N_fYO6DeYNC2FccTl9KeJmlpYYX5ZyI8fN6ioX379K33ih6MB6_zrlBpDyTSXr8WtFpZJheMksdT9dbK3kLFMu-Z8dg8TTseuTZP881f_BPFosVz3-VAMLn-u_guPzr3nHxLr0gr4DU50CCr4yTwpw_NNyAkpITxWv0Sp1bxHdKjNBSFRYWe86bxXYc5LfPrkVSgt6GKM2g4IdkcSYtyAPU1KuxHTYaPLU1rhxFJBFrjm4t5j52Q=",
  "id": "rs_040167a008f45f67016ab4922b54f887d0b2b0c00914d55227",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"left_x\":0.54,\"left_y\":-0.2,\"left_z\":0.32,\"left_yaw\":0,\"left_pitch\":0.4,\"left_gripper\":0},\"note\":\"The yellow object is in the safe, but the left arm did not track the rotated lid approach. I’m withdrawing the right arm and using a simpler, closed-finger pose near the lid’s upper edge.\"}",
  "call_id": "call_IUIsl1TjPLglwk3XnHUUqX7w",
  "id": "fc_040167a008f45f67016ab4922bffe487d095c8232b335c38d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IUIsl1TjPLglwk3XnHUUqX7w",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.498, 1.8885, 1.5711, -0.0002, -0.5415, -0.1638, 0.0094, -0.1284, 0.8852, 0.7967, -0.5373, -0.168, -0.1822, 0.9988]\nstate[eef_state]: left_x=0.5412 left_y=-0.1865 left_z=0.2744 left_yaw=0.0598 left_pitch=0.3079 left_roll=0.0234 left_gripper=0.0094 right_x=0.3021 right_y=-0.0056 right_z=0.2116 right_yaw=0.1161 right_pitch=-0.0364 right_roll=-0.0509 right_gripper=0.9988\nstate[joint_eff]: [-0.7043, -13.094, 10.7556, 2.21, 0.0366, 0.2369, 0.9304, -0.0342, -2.2496, 10.0991, 1.8974, -0.2271, -0.0904, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d607a0faf7d3e396cbc93bc68601753c7891d0d25c91254e15f1c18d8289fbf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39766cbe3c08a8697033c706e24c3a7a8726cba7386ec5c2afd447b2ae879e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e135dc81d157881033017443d930cb5451606f97fb2d030c69f670fa2ef80434",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 4.818 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8883, 0.7708, -0.8318, -0.2287, 0.0105, 0.9965, 0.4377, 2.2375, 1.2697, 0.6178, 0.3134, 0.0788, 0.4085]\nstate[eef_state]: left_x=0.2485 left_y=0.0082 left_z=0.151 left_yaw=0.05 left_pitch=-0.3535 left_roll=0.2209 left_gripper=0.9965 right_x=0.5609 right_y=0.2064 right_z=0.0703 right_yaw=0.1287 right_pitch=0.2476 right_roll=-0.034 right_gripper=0.4085\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.3553, -0.1392, -0.022, -0.0171, -0.2803, -14.3932, 8.6359, 2.2002, 0.0562, -0.022, 0.6716]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2138, 2.4699, 2.3562, -1.5681, -1.2331, -1.7245, 0.997, 0.8295, 2.4172, 1.7107, 0.3222, 0.6502, 0.1841, 0.9988]\nstate[eef_state]: left_x=0.488 left_y=0.0683 left_z=0.1805 left_yaw=1.412 left_pitch=0.2431 left_roll=-0.0161 left_gripper=0.997 right_x=0.5074 right_y=0.4012 right_z=0.0947 right_yaw=0.1787 right_pitch=0.2762 right_roll=-0.0573 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -12.2051, 7.6786, 0.0415, -0.823, -0.1245, 0.0415, -0.5949, -11.8359, 6.3111, 1.9805, 0.1294, -0.0269, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.498, 1.8885, 1.5711, -0.0002, -0.5415, -0.1638, 0.0094, -0.1284, 0.8852, 0.7967, -0.5373, -0.168, -0.1822, 0.9988]\nstate[eef_state]: left_x=0.5412 left_y=-0.1865 left_z=0.2744 left_yaw=0.0598 left_pitch=0.3079 left_roll=0.0234 left_gripper=0.0094 right_x=0.3021 right_y=-0.0056 right_z=0.2116 right_yaw=0.1161 right_pitch=-0.0364 right_roll=-0.0509 right_gripper=0.9988\nstate[joint_eff]: [-0.7043, -13.094, 10.7556, 2.21, 0.0366, 0.2369, 0.9304, -0.0342, -2.2496, 10.0991, 1.8974, -0.2271, -0.0904, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d607a0faf7d3e396cbc93bc68601753c7891d0d25c91254e15f1c18d8289fbf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39766cbe3c08a8697033c706e24c3a7a8726cba7386ec5c2afd447b2ae879e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e135dc81d157881033017443d930cb5451606f97fb2d030c69f670fa2ef80434",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJI3LF2Qmxfkwi4niS_NCMuHQUtifQhI2QEo8wSwYnbLkhkYSYNHlAqb2sc265pEwEzFj6wxhnasUpY_Q5eITKM1nQCrBRWja5HJS4AWEnWsXVFD1HQRku5yMqKxPQkGQTQ0gNL4uVx3GphC4xtIRjgQnCBk_IIz-gjJA7N52K5c7PXVt0ENPXcWUv2Dv_LIHjOfFpALvwYGofQLcDZtWj0rFQwkMBcA4YgdCDBHGc185YXHk0no-t-JCno65Q7ir0FPyGGunxP_ZLlN2WFId3YNpAu9Hx6_6kuluIRzYNrj_6OSYWojIsrznOJiDJQMDipLwq6KT5f1e85ZmnwopLbRAR5oO5uEOJYUIj-LznUNMqYOio8YsCzsQcJUTofogKXbkZ51XFxfbR_szwn4O65nJmSWE8mtru0qIX9CIg1go-iio_mROKnrFMEOHCZyAyiWkQ9xJD1zIF2aFMjlBEzAWvGgkekzqiZrm_Skur4PaV8SjyozdcVMx6ntkrwXTeGM0MmkzL0zitlRVTaMSEeN-KPfCplBTg9jjuOhlYtvYxlb6zuOGRxmwPngVdGe1iSa98q5xILZzMVrBXDDwcwfLZ_yV1qvqzAFbFiY1cOqbiS1iAEbF9nNNeOLRjkhHHc6_2IvD6XZsefBSGTk094Xhtwa44iBxOTOudrzsH1PknG-vunjdUPJTMd-xxRGNBtAr93CeM7VILK7GMNlPPvKBn7awYSTD4IqARA457YNAxNFGgnokSd3ZCpHztl5yAYZh5i1CUWeelZkSi6n4YjhEBKQqAqHMDmUrJtRjry_g6OuvEj6JOuvM9WghE1qkHD_NNPTzohJiH2zG4vYpFCv_XpFh4N9mn7eH-GORW-idq4yXtkvnafSwY5-bRVYP-D_dEZfc5ysdNPeeCgotJfZ3qY41fenQDnI6ndTgA4Jd7zXrW7Oh5RT1-EkXEJTDA95e15SqtRopoNXijeOAItY5oPS_wNIAbRk2oHyDrRKrHBwBG5fGyLMpID4_9YuQnQFR04aKRVm9aThWt3zudRqimYia92Xoi_F3-g50_0S-RGR5xhupbqw53nYeXsg08ogoo21lWbsyOhcTxix3YqRsZxuCcF6y_vjbUXg6yIDpeXGWGrw8PofltQrulym0XiXifn6Aa-VzbHUllIKh9474dfi4JKPdKtvxDz2JXqIPm5TLObFlQ9Nc04NM-mtzU6JglXnGyZ5AwBSkACKD4Nye5Xa8H66QyTToftQ_N4mTPtiA9yoqjTcA3Ss-TJwpGfqlfyf2a7Zxd1VwrrYqe9fIXnfPZNX2WnmV-2LNxwFzn4ltCscaLf02yG6_dd2ENxkFftDAeL3R3Q9qxSwud725dFdWZyZFCh3mCatRazSN4PTfihsXfTKR94t4jRkCNwfwzMX_0BmmPUZ0vE4N43KtVL5LoZ3ZTJb65sfcoveqfOAeKJ3x2hdUve9CW1gSz3m38e3KGZf1fWc9ji1BXFxBYHwJeW0YCa0tLTa2k-GKFl5VrO5GtOzR32QlKTk6scQyLK_hL4xFd0IR9XS3wYZ6q6WAl-VmPaVuvQF_qa2PWLvndXfaRPyLd9oe3mNzSf9FDs6Wq6C2OtKawKR3uvnY5CjegsvKi6ujo8dE5cVD1jU6Dp7fEzT0MtewvbZ0zShuvbeH5X6oa4eK49KcNRvHUL7a0Z1mo-gGejH0_hfSYvvOEtfqpBO7gSlc6i_l_T8VHY0wNWcCVUXpFrJ9uJ9aBH9M39XtNIRK579vd2DwNWMViXzZ-SABd5SlR69vXORmYwTrrFtb4EvWzuXxRVXnTsCRcie2svjQFUMFkRHMLo7pv3MWIBXOoxgXi5xHLIn6892LIXMBg0FtsoOsxC74o0vUtmBnr-1Sn-r3dG45fuURiQDqx6186NGc57MtRKGvGAv3SKsUWgFz1Ta1ZHtxVRx9W7r0q0R-IIQKYC7_2mZhZWkKM6s6h5jjsLRxZ7Q9jrcZWNvlca1OohmMcwybc8I9nWAkeueZAs8BJzADG8BOBjRT-fLWnFqCcn4tNULocg-sKos45LSwYscRXnyeWj419jfLogkrCKkYBCfG-h1HralL8aLbcJwmI_CO9SHgyX6IPJNbT4KJ2E6BoF0MzMrNpoWgKJv3jgEhtYurWc2GDOFNWuUik0RqX3V7mMzeOZQG90WfaDgrSrgzr-gk7IKMxkUbSMrrloNT-rEEc-Qwx5f2L9lIgr_UTjAjstDVYvKVD726mcFbtPL1hCPek3fBkbsNA37EsKlmnnscoimLFsvkU2_lfz4x2CWMIkcsGKxudikNTLdSqKFNBo3VDwEyRzzu3zjkKrr916Co-Ozk1TRCqy9C1ewVEswcUtfsAzhenNRIJTUW6btuQGbOPVZZ0zPcTNsoXZJqXe14AOq6A9u3XbR-cxbL8qAeT7nm8hf1m1yfKF6Lq4xSSHYu_gWYFYp-LK-2XgiKRWueY5y6m07d3Jpr8YMpv--Ph757qv5T0vNoJ9DjSBFyQ90mw==",
  "id": "rs_040167a008f45f67016ab4923214e887d0bb49e0bb66abd569",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.23},\"note\":\"All three objects have been deposited in the safe, but the teddy still protrudes over the front and the lid remains upright. I’m parking both arms rather than forcing the lid onto the toy or making another poorly tracked reach.\"}",
  "call_id": "call_XzvxwKZ2ALvxPAB0qXPpsPwB",
  "id": "fc_040167a008f45f67016ab49235da4c87d092147786bdf22327",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XzvxwKZ2ALvxPAB0qXPpsPwB",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1158, 0.8421, 0.8268, -0.5503, -0.1883, -0.12, 0.9975, -0.1028, 0.8703, 0.8268, -0.6537, -0.1535, -0.1825, 0.9988]\nstate[eef_state]: left_x=0.2982 left_y=0.0022 left_z=0.2348 left_yaw=0.103 left_pitch=0.0244 left_roll=0.0167 left_gripper=0.9975 right_x=0.2865 right_y=0.0012 right_z=0.2062 right_yaw=0.131 right_pitch=-0.1079 right_roll=-0.0429 right_gripper=0.9988\nstate[joint_eff]: [0.1573, -1.5521, 6.6803, 2.0879, 0.0659, 0.1734, -0.0611, 0.1709, -2.3453, 9.6615, 1.9414, -0.022, 0.1392, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0585c2e2719ddc72830eb72fccac53c4df9d886d8e7f5716a0f0ff513546536",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d5f3146dcf050c7fd48d877abfee413f2790d933a83290e9c6e1da31dfd840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 441):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f9d92b48820b0956e3879e6ab85f984cc653accc6d09d4f6925d394135e758",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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