adhoc

completed
2026-09-23T23:47:09.593344+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
245.5 s
total steps
427
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 noteI see an open red-lined safe, a pale plush toy to its left, a brown plush toy in front, and a yellow object to the right. I’m moving the left gripper above the pale toy for the first pickup.
move_to
left_x0.3300left_y-0.1800left_z0.1500left_gripper1.0000right_x0.2930right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0193, -0.0338, 0.9997, -0.0212, 0.7925, 0.6048, -0.3962, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9997 right_x=0.2926 right_y=0.0007 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.3607, 10.4, 1.9707, -0.0904, 0.188, -0.0464, -0.5812, -1.2923, 9.9077, 1.9463, -0.0513, 0.1294, -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":0.33,"left_y":-0.18,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0.001,"right_z":0.18},"note":"I see an open red-lined safe, a pale plush toy to its left, a brown plush toy in front, and a yellow object to the right. I’m moving the left gripper above the pale toy for the first pickup."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe pale toy is visible just ahead of the left fingertips, beside the safe’s rim. I’m advancing slightly and lowering around its middle, keeping the jaws open.
move_to
left_x0.3500left_y-0.1700left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7841, 1.3479, 0.7753, -0.2436, -0.6056, -0.5182, 0.9997, -0.0208, 0.8005, 0.6121, -0.4351, -0.0185, -0.0338, 0.9995] state[eef_state]: left_x=0.3197 left_y=-0.1718 left_z=0.1304 left_yaw=-0.0231 left_pitch=-0.0626 left_roll=0.0377 left_gripper=0.9997 right_x=0.2886 right_y=0.0009 right_z=0.1706 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9995 state[joint_eff]: [-0.1983, -5.3538, 9.2513, 1.6435, -0.5299, 0.0122, -0.0464, 0.0615, -1.5795, 7.2821, 2.0, -0.0317, 0.0122, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.025},"note":"The pale toy is visible just ahead of the left fingertips, beside the safe’s rim. I’m advancing slightly and lowering around its middle, keeping the jaws open."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe pale toy’s lower body lies between the open jaws at table height. I’m closing the gripper, then I’ll verify the pickup with a short lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7055, 1.6909, 0.6094, 0.2176, -0.561, -0.4644, 0.9996, -0.0208, 0.8032, 0.6117, -0.4553, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3392 left_y=-0.1608 left_z=0.0192 left_yaw=-0.0032 left_pitch=-0.1222 left_roll=0.0871 left_gripper=0.9996 right_x=0.2857 right_y=0.001 right_z=0.1657 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [0.1436, -7.1043, 4.8068, 1.619, -0.1832, 0.0855, -0.022, -0.1983, -1.4701, 6.9949, 1.8584, -0.0317, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The pale toy’s lower body lies between the open jaws at table height. I’m closing the gripper, then I’ll verify the pickup with a short lift."})
tool
executing move_to over 10 steps (1.0s)
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 gripper has stopped above its empty-close reading, apparently holding the pale toy by its lower end. I’m lifting a few centimetres to check that it moves with the jaws.
move_to
left_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7052, 1.7054, 0.5972, 0.2272, -0.5671, -0.4725, 0.1065, -0.0208, 0.8036, 0.6113, -0.4812, -0.0189, -0.0341, 0.9995] state[eef_state]: left_x=0.3364 left_y=-0.157 left_z=0.0123 left_yaw=0.0074 left_pitch=-0.1318 left_roll=0.0958 left_gripper=0.1065 right_x=0.2817 right_y=0.0011 right_z=0.1604 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.001 right_gripper=0.9995 state[joint_eff]: [-0.0205, -7.6786, 6.1607, 1.2186, -0.2369, 0.0317, 0.7106, -0.0615, -1.0598, 6.9949, 1.8974, -0.0464, -0.0611, -0.0171] 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_z":0.085},"note":"The gripper has stopped above its empty-close reading, apparently holding the pale toy by its lower end. I’m lifting a few centimetres to check that it moves with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe pale toy rose with the gripper. I’m lifting it over the open safe, with its body pointing into the compartment, and refreshing the idle arm’s parked position.
move_to
left_x0.4100left_y-0.2900left_z0.2000right_x0.2930right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7052, 1.5169, 0.7033, -0.0746, -0.5652, -0.4808, 0.108, -0.0208, 0.8055, 0.6106, -0.5007, -0.0189, -0.0341, 0.9995] state[eef_state]: left_x=0.3347 left_y=-0.156 left_z=0.0688 left_yaw=0.0113 left_pitch=-0.1378 left_roll=0.0931 left_gripper=0.108 right_x=0.2787 right_y=0.0011 right_z=0.1558 right_yaw=0.0011 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9995 state[joint_eff]: [-0.0068, -7.2, 8.253, 1.5214, -0.3248, 0.0708, 0.1343, -0.0752, -1.1966, 7.0085, 1.7998, -0.0659, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.29,"left_z":0.2,"right_x":0.293,"right_y":0.001,"right_z":0.18},"note":"The pale toy rose with the gripper. I’m lifting it over the open safe, with its body pointing into the compartment, and refreshing the idle arm’s parked position."})
tool
executing move_to over 12 steps (1.2s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe pale toy is suspended over the red compartment. I’m lowering it inside, slightly farther from the front rim so it can settle fully into the safe.
move_to
left_x0.4300left_y-0.3000left_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8303, 1.9305, 1.7, -0.7307, -0.622, -0.614, 0.1094, -0.0208, 0.8814, 0.696, -0.5789, -0.0189, -0.0372, 0.9995] state[eef_state]: left_x=0.4075 left_y=-0.288 left_z=0.1866 left_yaw=0.006 left_pitch=-0.1514 left_roll=0.0766 left_gripper=0.1094 right_x=0.2822 right_y=0.0011 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.1804 right_roll=0.0008 right_gripper=0.9995 state[joint_eff]: [-0.5812, -10.5231, 8.7179, 0.9841, -0.5299, 0.0806, 0.1343, 0.0068, -1.306, 9.9761, 1.9658, -0.0317, 0.0269, -0.0073] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.3,"left_z":0.065},"note":"The pale toy is suspended over the red compartment. I’m lowering it inside, slightly farther from the front rim so it can settle fully into the safe."})
tool
executing move_to over 8 steps (0.8s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe pale toy is now down inside the safe’s compartment. I’m opening the jaws to leave it there before withdrawing.
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]: [-0.8154, 2.093, 1.4853, -0.3866, -0.6067, -0.6067, 0.1114, -0.0208, 0.8837, 0.6956, -0.6121, -0.0185, -0.0376, 0.9995] state[eef_state]: left_x=0.4217 left_y=-0.2957 left_z=0.0699 left_yaw=0.0111 left_pitch=-0.1835 left_roll=0.0982 left_gripper=0.1114 right_x=0.2764 right_y=0.0011 right_z=0.1524 right_yaw=0.0031 right_pitch=-0.2162 right_roll=0.0011 right_gripper=0.9995 state[joint_eff]: [0.1709, -10.7692, 5.7368, 1.3846, -0.3394, 0.0806, 0.1978, -0.0889, -1.853, 6.8444, 1.8437, -0.022, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The pale toy is now down inside the safe’s compartment. I’m opening the jaws to leave it there before withdrawing."})
tool
executing move_to over 9 steps (0.9s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe pale toy has settled inside the safe. I’m withdrawing upward and moving above the brown plush toy in front for the next pickup.
move_to
left_x0.2600left_y-0.3400left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2930right_y0.0010right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8165, 2.1227, 1.4719, -0.3973, -0.6029, -0.6117, 0.9952, -0.0208, 0.8837, 0.6956, -0.635, -0.0185, -0.0372, 0.9996] state[eef_state]: left_x=0.4161 left_y=-0.2914 left_z=0.0494 left_yaw=0.0184 left_pitch=-0.2218 left_roll=0.133 left_gripper=0.9952 right_x=0.2723 right_y=0.0012 right_z=0.1485 right_yaw=0.0031 right_pitch=-0.2391 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.1026, -14.0786, 7.1453, 1.2332, -0.4078, 0.0024, -0.1392, -0.1709, -1.6205, 6.8581, 1.7167, -0.0171, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.34,"left_z":0.18,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.293,"right_y":0.001,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pale toy has settled inside the safe. I’m withdrawing upward and moving above the brown plush toy in front for the next pickup."})
tool
executing move_to over 13 steps (1.3s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe brown toy’s torso is aligned beneath the left gripper. I’m lowering the open jaws around its middle, away from the safe’s front edge.
move_to
left_x0.2750left_y-0.3300left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2449, 1.8389, 1.4044, -0.7277, -0.8688, -1.0145, 0.9963, -0.0208, 0.8059, 0.6178, -0.4728, -0.0185, -0.0372, 0.9995] state[eef_state]: left_x=0.2626 left_y=-0.3446 left_z=0.149 left_yaw=-0.0359 left_pitch=-0.055 left_roll=0.0494 left_gripper=0.9963 right_x=0.284 right_y=0.001 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.077 right_roll=-0.0019 right_gripper=0.9995 state[joint_eff]: [-0.294, -12.4376, 8.7316, 0.7937, -0.7106, -0.1294, 0.1001, -0.0889, -1.853, 7.2274, 2.1563, -0.0171, 0.0366, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.33,"left_z":0.035},"note":"The brown toy’s torso is aligned beneath the left gripper. I’m lowering the open jaws around its middle, away from the safe’s front edge."})
tool
executing move_to over 8 steps (0.8s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe jaws are down around the brown toy’s soft body. I’m closing to secure it before testing the lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2034, 1.9518, 1.1069, -0.3073, -0.86, -0.955, 0.9964, -0.0208, 0.8097, 0.6159, -0.4953, -0.0189, -0.0376, 0.9995] state[eef_state]: left_x=0.2723 left_y=-0.3248 left_z=0.0445 left_yaw=-0.0311 left_pitch=-0.0611 left_roll=0.0851 left_gripper=0.9964 right_x=0.2805 right_y=0.0011 right_z=0.1581 right_yaw=0.003 right_pitch=-0.1053 right_roll=-0.0013 right_gripper=0.9995 state[joint_eff]: [0.253, -8.3761, 4.6974, 1.1404, -0.2466, -0.1636, 0.0024, -0.0889, -1.5521, 7.1043, 1.8779, -0.0366, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are down around the brown toy’s soft body. I’m closing to secure it before testing the lift."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe gripper closed to its empty reading, so it missed a secure hold. I’m reopening, moving a few centimetres farther over the toy’s torso, and lowering for one corrected attempt.
move_to
left_x0.3050left_y-0.3400left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1992, 1.9629, 1.0966, -0.2993, -0.8646, -0.9546, 0.0104, -0.0208, 0.8108, 0.6159, -0.5034, -0.0189, -0.0376, 0.9995] state[eef_state]: left_x=0.2731 left_y=-0.3207 left_z=0.0385 left_yaw=-0.0244 left_pitch=-0.0625 left_roll=0.0994 left_gripper=0.0104 right_x=0.2793 right_y=0.0011 right_z=0.1563 right_yaw=0.0031 right_pitch=-0.1144 right_roll=-0.0011 right_gripper=0.9995 state[joint_eff]: [-0.4308, -10.3726, 6.2564, 0.8376, -0.4029, -0.0513, 0.7741, -0.1026, -0.8137, 7.0359, 1.8046, -0.0659, -0.022, -0.0073] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.34,"left_z":0.01,"left_gripper":1},"note":"The gripper closed to its empty reading, so it missed a secure hold. I’m reopening, moving a few centimetres farther over the toy’s torso, and lowering for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
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 corrected position puts the brown toy’s torso between the fingertips at table level. I’m closing again to grasp the soft fabric.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1454, 2.0922, 1.1702, -0.194, -0.865, -0.8967, 0.9955, -0.0208, 0.8116, 0.6159, -0.522, -0.0189, -0.0376, 0.9995] state[eef_state]: left_x=0.3025 left_y=-0.3333 left_z=0.0162 left_yaw=-0.0046 left_pitch=-0.0456 left_roll=0.1008 left_gripper=0.9955 right_x=0.2763 right_y=0.0012 right_z=0.1526 right_yaw=0.0031 right_pitch=-0.1339 right_roll=-0.0006 right_gripper=0.9995 state[joint_eff]: [0.4308, -8.9641, 6.7487, 1.0769, -0.2027, 0.1538, -0.1343, -0.0615, -1.2923, 6.9128, 1.7851, -0.0269, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_gripper":0},"note":"The corrected position puts the brown toy’s torso between the fingertips at table level. I’m closing again to grasp the soft fabric."})
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 may have caught only a thin fold of the toy, so the opening alone is inconclusive. I’m making a short lift to see whether the brown toy actually follows.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1446, 2.0979, 1.1725, -0.1753, -0.9035, -0.8986, 0.0379, -0.0208, 0.8116, 0.6159, -0.5449, -0.0189, -0.0376, 0.9995] state[eef_state]: left_x=0.3071 left_y=-0.3321 left_z=0.0207 left_yaw=0.0144 left_pitch=-0.0078 left_roll=0.0994 left_gripper=0.0379 right_x=0.2725 right_y=0.0013 right_z=0.1484 right_yaw=0.0032 right_pitch=-0.1567 right_roll=-0.0001 right_gripper=0.9995 state[joint_eff]: [-0.0889, -11.0427, 5.0393, 0.8327, -0.0708, -0.0513, 0.8767, -0.0068, -1.2103, 7.0496, 1.8046, -0.0513, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_z":0.09},"note":"The jaws may have caught only a thin fold of the toy, so the opening alone is inconclusive. I’m making a short lift to see whether the brown toy actually follows."})
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 brown toy appears to be following the fingertips, though the grasp is on a thin part. I’m raising it clear of the tabletop before moving it over the safe.
move_to
left_z0.2100right_x0.2930right_y0.0010right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1446, 2.0102, 1.2407, -0.3798, -0.8948, -0.9138, 0.038, -0.0208, 0.8116, 0.6159, -0.5678, -0.0185, -0.0376, 0.9996] state[eef_state]: left_x=0.304 left_y=-0.3275 left_z=0.0589 left_yaw=0.0198 left_pitch=-0.0333 left_roll=0.1281 left_gripper=0.038 right_x=0.2686 right_y=0.0013 right_z=0.1443 right_yaw=0.003 right_pitch=-0.1796 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.1299, -13.4906, 8.0752, 0.9646, -0.5543, 0.0952, 1.033, -0.0615, -1.0051, 6.9265, 1.7509, -0.0317, -0.0562, -0.0073] 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":{"left_z":0.21,"right_x":0.293,"right_y":0.001,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The brown toy appears to be following the fingertips, though the grasp is on a thin part. I’m raising it clear of the tabletop before moving it over the safe."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe brown toy is clearly lifted off the table. I’m carrying it over the safe’s open compartment, beside the pale toy, with extra height to clear the rim.
move_to
left_x0.4550left_y-0.3300left_z0.2100left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1446, 1.9087, 1.6138, -0.8913, -0.8776, -0.9291, 0.0405, -0.0208, 0.804, 0.6159, -0.4747, -0.0189, -0.0376, 0.9995] state[eef_state]: left_x=0.3039 left_y=-0.332 left_z=0.1778 left_yaw=0.0226 left_pitch=-0.0612 left_roll=0.1435 left_gripper=0.0405 right_x=0.2834 right_y=0.001 right_z=0.1636 right_yaw=0.003 right_pitch=-0.0789 right_roll=-0.0019 right_gripper=0.9995 state[joint_eff]: [-0.0889, -12.9846, 9.1692, 0.9548, -0.569, 0.1001, 1.0281, 0.0068, -1.9214, 7.159, 2.1807, -0.0122, 0.0024, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.33,"left_z":0.21,"left_pitch":0.15},"note":"The brown toy is clearly lifted off the table. I’m carrying it over the safe’s open compartment, beside the pale toy, with extra height to clear the rim."})
tool
executing move_to over 12 steps (1.2s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe brown toy is above the safe opening. I’m lowering it until its body rests inside rather than dropping it from carrying height.
move_to
left_x0.4550left_y-0.3300left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8837, 2.0724, 1.7363, -0.4671, -0.8707, -0.4919, 0.0407, -0.0208, 0.8085, 0.6144, -0.4973, -0.0189, -0.041, 0.9995] state[eef_state]: left_x=0.4407 left_y=-0.3185 left_z=0.1871 left_yaw=0.0448 left_pitch=0.0879 left_roll=0.1774 left_gripper=0.0407 right_x=0.2799 right_y=0.0011 right_z=0.1574 right_yaw=0.0049 right_pitch=-0.1075 right_roll=-0.0039 right_gripper=0.9995 state[joint_eff]: [0.1709, -11.0838, 10.1265, 1.8486, -0.2418, 0.2711, 1.033, -0.1299, -1.6205, 7.1043, 1.8584, -0.0513, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.33,"left_z":0.09},"note":"The brown toy is above the safe opening. I’m lowering it until its body rests inside rather than dropping it from carrying height."})
tool
executing move_to over 7 steps (0.7s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe brown toy is supported inside the safe. I’m opening the gripper to release the thin fold of fabric.
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]: [-0.8772, 2.22, 1.6032, -0.2325, -0.8577, -0.4828, 0.0413, -0.0208, 0.8116, 0.6144, -0.5041, -0.0189, -0.0414, 0.9995] state[eef_state]: left_x=0.4487 left_y=-0.3251 left_z=0.0903 left_yaw=0.0354 left_pitch=0.0513 left_roll=0.2165 left_gripper=0.0413 right_x=0.2789 right_y=0.0011 right_z=0.1553 right_yaw=0.0052 right_pitch=-0.1175 right_roll=-0.004 right_gripper=0.9995 state[joint_eff]: [0.1162, -11.5077, 6.2427, 1.6239, -0.4322, -0.0513, 0.9792, -0.0342, -1.5111, 6.9128, 1.7118, -0.0415, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown toy is supported inside the safe. I’m opening the gripper to release the thin fold of fabric."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteBoth plush toys are now in the safe. I’m lifting the left arm away and parking it to make room for the right arm to collect the yellow object.
move_to
left_x0.2930left_y0.0010left_z0.2200left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8772, 2.2372, 1.6012, -0.2424, -0.857, -0.4877, 0.9952, -0.0208, 0.8116, 0.6144, -0.5079, -0.0189, -0.0414, 0.9995] state[eef_state]: left_x=0.4472 left_y=-0.3234 left_z=0.0795 left_yaw=0.0366 left_pitch=0.0338 left_roll=0.2348 left_gripper=0.9952 right_x=0.2783 right_y=0.0011 right_z=0.1546 right_yaw=0.0052 right_pitch=-0.1213 right_roll=-0.0039 right_gripper=0.9995 state[joint_eff]: [-0.0615, -14.1333, 6.4342, 1.3553, -0.3687, -0.0171, -0.1441, -0.0205, -1.265, 6.9128, 1.663, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.001,"left_z":0.22,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"Both plush toys are now in the safe. I’m lifting the left arm away and parking it to make room for the right arm to collect the yellow object."})
tool
executing move_to over 29 steps (2.9s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteWith the arm clear, I can see the brown toy is still draped over the safe’s front-left rim. I’m positioning the closed fingertips beside that protruding section to gently tuck it inward.
move_to
left_x0.3650left_y-0.1900left_z0.0750left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0525, 0.8337, 0.7509, -0.5167, -0.1059, -0.086, 0.9963, -0.0208, 0.8162, 0.6144, -0.5415, -0.0189, -0.0444, 0.9995] state[eef_state]: left_x=0.2955 left_y=0.0068 left_z=0.2085 left_yaw=0.0678 left_pitch=-0.0154 left_roll=0.0059 left_gripper=0.9963 right_x=0.273 right_y=0.0012 right_z=0.1472 right_yaw=0.007 right_pitch=-0.1594 right_roll=-0.0051 right_gripper=0.9995 state[joint_eff]: [-0.1162, -1.7846, 9.2513, 1.9463, 0.1197, 0.1587, 0.0952, -0.1573, -1.4017, 6.9402, 1.9072, -0.0317, -0.022, -0.0073] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.19,"left_z":0.075,"left_gripper":0},"note":"With the arm clear, I can see the brown toy is still draped over the safe’s front-left rim. I’m positioning the closed fingertips beside that protruding section to gently tuck it inward."})
tool
executing move_to over 18 steps (1.8s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe closed fingertips are beside the brown toy’s protruding head and shoulder. I’m gently sliding that soft section up and inward over the rim.
move_to
left_x0.4300left_y-0.2800left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7425, 1.6451, 0.7498, 0.0353, -0.6449, -0.5518, 0.0084, -0.0208, 0.8219, 0.6144, -0.5678, -0.0185, -0.0448, 0.9995] state[eef_state]: left_x=0.3523 left_y=-0.1744 left_z=0.0616 left_yaw=0.0666 left_pitch=-0.0719 left_roll=0.0626 left_gripper=0.0084 right_x=0.2687 right_y=0.0013 right_z=0.1411 right_yaw=0.0071 right_pitch=-0.1915 right_roll=-0.0048 right_gripper=0.9995 state[joint_eff]: [-0.5128, -6.9128, 8.1573, 1.6825, -0.2418, 0.0952, 0.7302, -0.1026, -1.6615, 7.0222, 1.8242, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.28,"left_z":0.08},"note":"The closed fingertips are beside the brown toy’s protruding head and shoulder. I’m gently sliding that soft section up and inward over the rim."})
tool
executing move_to over 10 steps (1.0s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe brown toy has moved inward but still crowds the left rim. I’m making one small additional inward nudge so the lid will have clearance.
move_to
left_x0.4500left_y-0.3200left_z0.0850left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7994, 2.0312, 1.3296, -0.2138, -0.6777, -0.6193, 0.0113, -0.0208, 0.8265, 0.6144, -0.609, -0.0189, -0.0444, 0.9995] state[eef_state]: left_x=0.4234 left_y=-0.2714 left_z=0.0717 left_yaw=0.0722 left_pitch=-0.0872 left_roll=0.0675 left_gripper=0.0113 right_x=0.2615 right_y=0.0015 right_z=0.1328 right_yaw=0.0075 right_pitch=-0.2372 right_roll=-0.0029 right_gripper=0.9995 state[joint_eff]: [-0.5128, -10.6051, 7.8564, 1.2186, -0.4029, 0.0464, 0.5739, -0.1299, -1.6068, 6.8171, 1.9756, -0.0757, -0.0171, -0.0073] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.32,"left_z":0.085,"left_pitch":0.1},"note":"The brown toy has moved inward but still crowds the left rim. I’m making one small additional inward nudge so the lid will have clearance."})
tool
executing move_to over 7 steps (0.7s)
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 toys are gathered at the safe opening. I’m parking the left arm and moving the right gripper above the remaining yellow object, with the arms kept on opposite sides.
move_to
left_x0.2930left_y0.0010left_z0.2200left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.4800right_y0.1700right_z0.1600right_pitch0.0000right_roll0.0000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8555, 2.167, 1.4368, -0.107, -0.7959, -0.5838, 0.013, -0.0208, 0.8291, 0.6144, -0.6312, -0.0189, -0.0444, 0.9996] state[eef_state]: left_x=0.4394 left_y=-0.3078 left_z=0.0681 left_yaw=0.0724 left_pitch=0.0308 left_roll=0.092 left_gripper=0.013 right_x=0.2575 right_y=0.0016 right_z=0.1285 right_yaw=0.0077 right_pitch=-0.262 right_roll=-0.0022 right_gripper=0.9996 state[joint_eff]: [-0.6769, -11.1658, 8.3897, 1.6239, -0.442, 0.2076, 0.1636, 0.0479, -1.4564, 6.7761, 1.7118, -0.0855, -0.0269, -0.0073] 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":{"left_x":0.293,"left_y":0.001,"left_z":0.22,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.48,"right_y":0.17,"right_z":0.16,"right_pitch":0,"right_roll":0,"right_yaw":0,"right_gripper":1},"note":"The toys are gathered at the safe opening. I’m parking the left arm and moving the right gripper above the remaining yellow object, with the arms kept on opposite sides."})
tool
executing move_to over 28 steps (2.8s)
step 255
top_cam
camera top_cam step 255
left_cam
camera left_cam step 255
right_cam
camera right_cam step 255
assistant
agent noteThe yellow object is centred just ahead of the right fingertips. I’m advancing slightly and lowering around it without touching the safe beside it.
move_to
right_x0.4900right_y0.1600right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0502, 0.833, 0.7395, -0.5179, -0.1009, -0.0891, 0.015, 0.4591, 1.7657, 1.211, -0.1596, 0.3561, 0.2226, 0.9996] state[eef_state]: left_x=0.2941 left_y=0.0066 left_z=0.2033 left_yaw=0.0677 left_pitch=-0.0275 left_roll=0.002 left_gripper=0.015 right_x=0.4642 right_y=0.1648 right_z=0.1388 right_yaw=0.028 right_pitch=-0.0779 right_roll=-0.04 right_gripper=0.9996 state[joint_eff]: [0.0615, -1.8803, 10.359, 1.9853, 0.0952, 0.105, 0.1978, 0.2803, -8.5812, 9.1966, 2.0391, 0.2662, 0.2222, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.16,"right_z":0.02},"note":"The yellow object is centred just ahead of the right fingertips. I’m advancing slightly and lowering around it without touching the safe beside it."})
tool
executing move_to over 8 steps (0.8s)
step 263
top_cam
camera top_cam step 263
left_cam
camera left_cam step 263
right_cam
camera right_cam step 263
assistant
agent noteThe yellow object sits slightly to the right of the jaw centre. I’m correcting that small offset and closing gently around its sides.
move_to
right_y0.1450right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.8356, 0.7441, -0.5545, -0.0944, -0.0902, 0.0163, 0.424, 2.038, 1.092, 0.202, 0.3191, 0.2028, 0.9995] state[eef_state]: left_x=0.2895 left_y=0.0055 left_z=0.1973 left_yaw=0.0623 left_pitch=-0.0624 left_roll=0.0013 left_gripper=0.0163 right_x=0.4824 right_y=0.1609 right_z=0.0232 right_yaw=0.0325 right_pitch=-0.1154 right_roll=-0.0448 right_gripper=0.9995 state[joint_eff]: [-0.1846, -1.6068, 6.5162, 2.0195, -0.1343, 0.0024, 0.1294, -0.5675, -9.1829, 5.2855, 1.1844, 0.1978, -0.1441, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.145,"right_gripper":0.25},"note":"The yellow object sits slightly to the right of the jaw centre. I’m correcting that small offset and closing gently around its sides."})
tool
executing move_to over 8 steps (0.8s)
step 271
assistant
agent noteThe yellow object slipped forward instead of staying between the jaws. I’m reopening and reaching farther with a forward tool tilt for a centred retry.
move_to
right_x0.5400right_y0.1450right_z0.0350right_pitch0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.836, 0.7441, -0.5644, -0.0944, -0.0906, 0.0172, 0.3981, 2.0335, 1.0725, 0.2348, 0.2539, 0.1726, 0.2565] state[eef_state]: left_x=0.2881 left_y=0.0056 left_z=0.1952 left_yaw=0.0626 left_pitch=-0.0726 left_roll=0.0021 left_gripper=0.0172 right_x=0.4838 right_y=0.1592 right_z=0.0219 right_yaw=0.0772 right_pitch=-0.1144 right_roll=-0.0204 right_gripper=0.2565 state[joint_eff]: [-0.1846, -1.2376, 6.8718, 1.79, -0.0855, -0.0611, 0.0806, -1.2786, -11.1521, 4.7521, 1.6337, 0.1832, 0.0317, 0.1538] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.145,"right_z":0.035,"right_pitch":0.4,"right_gripper":1},"note":"The yellow object slipped forward instead of staying between the jaws. I’m reopening and reaching farther with a forward tool tilt for a centred retry."})
tool
executing move_to over 18 steps (1.8s)
step 289
assistant
agent noteThe tilted gripper now straddles the yellow object near its middle. I’m closing for the corrected grasp.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.836, 0.7441, -0.5842, -0.0944, -0.0906, 0.0178, 0.345, 2.3047, 0.9905, 1.0607, 0.2638, 0.0254, 0.9975] state[eef_state]: left_x=0.2851 left_y=0.0057 left_z=0.1914 left_yaw=0.0628 left_pitch=-0.0923 left_roll=0.0044 left_gripper=0.0178 right_x=0.5321 right_y=0.1461 right_z=0.0262 right_yaw=0.084 right_pitch=0.3391 right_roll=-0.0217 right_gripper=0.9975 state[joint_eff]: [-0.0479, -1.347, 6.8855, 1.8388, -0.0855, -0.0415, 0.0464, -0.6496, -9.2376, 6.3111, 1.9267, 0.0024, -0.1783, -0.1148] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.1},"note":"The tilted gripper now straddles the yellow object near its middle. I’m closing for the corrected grasp."})
tool
executing move_to over 9 steps (0.9s)
step 298
assistant
agent noteThe gripper has stopped at a substantial opening around the yellow object. I’m lifting it a few centimetres to confirm it is secure.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.836, 0.7441, -0.5888, -0.0944, -0.0906, 0.0179, 0.3492, 2.3005, 0.9955, 1.1206, 0.2348, 0.0826, 0.4879] state[eef_state]: left_x=0.2844 left_y=0.0058 left_z=0.1905 left_yaw=0.0628 left_pitch=-0.0969 left_roll=0.0049 left_gripper=0.0179 right_x=0.5355 right_y=0.1551 right_z=0.044 right_yaw=0.0732 right_pitch=0.4033 right_roll=0.0645 right_gripper=0.4879 state[joint_eff]: [-0.0205, -1.0051, 6.8581, 1.6728, -0.1001, -0.0366, -0.0024, -0.3761, -10.9744, 4.2872, 1.2821, 0.2857, -0.6325, 1.0281] 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_z":0.12},"note":"The gripper has stopped at a substantial opening around the yellow object. I’m lifting it a few centimetres to confirm it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 303
assistant
agent noteThe yellow object is held, and the safe has shifted slightly during the pickup. I’m lifting and moving it over the clear red-lined space inside the safe.
move_to
right_x0.5100right_y0.2650right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.836, 0.7441, -0.5926, -0.0944, -0.0906, 0.0179, 0.3492, 2.1254, 0.9882, 0.8402, 0.2317, 0.0776, 0.4884] state[eef_state]: left_x=0.2838 left_y=0.0058 left_z=0.1898 left_yaw=0.0629 left_pitch=-0.1007 left_roll=0.0053 left_gripper=0.0179 right_x=0.5276 right_y=0.1528 right_z=0.0687 right_yaw=0.0896 right_pitch=0.2947 right_roll=0.0285 right_gripper=0.4884 state[joint_eff]: [-0.1983, -1.0872, 6.8444, 1.6581, -0.1001, -0.022, -0.0122, -0.1162, -14.7624, 7.159, 3.0452, 0.0513, 0.0122, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.265,"right_z":0.19},"note":"The yellow object is held, and the safe has shifted slightly during the pickup. I’m lifting and moving it over the clear red-lined space inside the safe."})
tool
executing move_to over 10 steps (1.0s)
step 313
assistant
agent noteThe overhead view shows the yellow object stayed on the table; the jaws caught the safe’s rim instead. I’m releasing the rim immediately before repositioning for the yellow object.
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]: [-0.0509, 0.836, 0.7441, -0.6079, -0.0944, -0.0906, 0.018, 0.6048, 2.027, 1.2705, 0.231, 0.4553, 0.1131, 0.4892] state[eef_state]: left_x=0.2814 left_y=0.0059 left_z=0.1869 left_yaw=0.0631 left_pitch=-0.1158 left_roll=0.0071 left_gripper=0.018 right_x=0.4976 right_y=0.2539 right_z=0.1099 right_yaw=0.1526 right_pitch=0.1132 right_roll=-0.104 right_gripper=0.4892 state[joint_eff]: [-0.1299, -1.3333, 6.8308, 1.7607, -0.0562, -0.0513, -0.0073, 0.3487, -16.3897, 10.9197, 2.9866, 0.2076, 0.4957, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The overhead view shows the yellow object stayed on the table; the jaws caught the safe’s rim instead. I’m releasing the rim immediately before repositioning for the yellow object."})
tool
executing move_to over 6 steps (0.6s)
step 319
assistant
agent noteThe yellow object is farther forward than the earlier wrist view suggested. I’m approaching it from the clear right side with the maximum forward tilt, avoiding the safe’s rim.
move_to
right_x0.5900right_y0.1350right_z0.0550right_pitch0.6000right_yaw0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.836, 0.7441, -0.6147, -0.094, -0.0906, 0.018, 0.6064, 2.0235, 1.2564, 0.2005, 0.4522, 0.1055, 0.9958] state[eef_state]: left_x=0.2803 left_y=0.0059 left_z=0.1856 left_yaw=0.0628 left_pitch=-0.1227 left_roll=0.0076 left_gripper=0.018 right_x=0.4913 right_y=0.2511 right_z=0.0998 right_yaw=0.1625 right_pitch=0.0749 right_roll=-0.1273 right_gripper=0.9958 state[joint_eff]: [-0.0752, -1.1282, 6.8308, 1.663, -0.1099, -0.0464, -0.0171, -0.3624, -10.7829, 7.4735, 2.0098, 0.0952, 0.0708, -0.1587] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.135,"right_z":0.055,"right_pitch":0.6,"right_yaw":0,"right_roll":0},"note":"The yellow object is farther forward than the earlier wrist view suggested. I’m approaching it from the clear right side with the maximum forward tilt, avoiding the safe’s rim."})
tool
executing move_to over 18 steps (1.8s)
step 337
assistant
agent noteThe yellow object is now directly between the fingertips. The safe’s lid has swung down on the protruding plush toy, so I’ll need to correct that after securing this object.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.8368, 0.7441, -0.6334, -0.094, -0.0906, 0.018, 0.3168, 2.4901, 1.2213, 1.1938, 0.3126, -0.0208, 0.9971] state[eef_state]: left_x=0.2773 left_y=0.0061 left_z=0.1819 left_yaw=0.0631 left_pitch=-0.142 left_roll=0.0099 left_gripper=0.018 right_x=0.5839 right_y=0.138 right_z=0.0385 right_yaw=0.0165 right_pitch=0.5123 right_roll=-0.0259 right_gripper=0.9971 state[joint_eff]: [-0.1709, -1.3607, 6.8171, 1.7851, -0.0952, -0.0562, -0.0122, -0.4171, -11.5214, 6.2427, 2.3028, -0.0122, -0.105, 0.1245] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"The yellow object is now directly between the fingertips. The safe’s lid has swung down on the protruding plush toy, so I’ll need to correct that after securing this object."})
tool
executing move_to over 8 steps (0.8s)
step 345
assistant
agent noteThe right gripper has a substantial hold on the yellow object. I’m testing that lift while bringing the closed left fingertips toward the safe’s partly open front edge to try to raise the lid.
move_to
right_z0.1600left_x0.3850left_y-0.2550left_z0.0850left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0509, 0.8368, 0.7441, -0.6373, -0.094, -0.0906, 0.018, 0.313, 2.5046, 1.2236, 1.2037, 0.3012, -0.0265, 0.6447] state[eef_state]: left_x=0.2767 left_y=0.0061 left_z=0.1812 left_yaw=0.0632 left_pitch=-0.1458 left_roll=0.0103 left_gripper=0.018 right_x=0.5841 right_y=0.1377 right_z=0.0332 right_yaw=0.0276 right_pitch=0.5098 right_roll=-0.0323 right_gripper=0.6447 state[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.5995, -0.0757, -0.0317, -0.0122, 0.1846, -13.8325, 4.3009, 1.7314, 0.0855, 0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"left_x":0.385,"left_y":-0.255,"left_z":0.085,"left_gripper":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The right gripper has a substantial hold on the yellow object. I’m testing that lift while bringing the closed left fingertips toward the safe’s partly open front edge to try to raise the lid."})
tool
executing move_to over 24 steps (2.4s)
step 369
assistant
agent noteThe yellow object has lifted with the right gripper. The left fingertips are under the lid’s front edge, so I’m raising that edge and guiding it back to reopen the safe.
move_to
left_x0.4300left_y-0.2550left_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8246, 1.805, 0.9695, -0.02, -0.6598, -0.5739, 0.007, 0.313, 2.1891, 1.1961, 0.8196, 0.2935, -0.0269, 0.6486] state[eef_state]: left_x=0.3725 left_y=-0.2381 left_z=0.0692 left_yaw=0.0068 left_pitch=-0.0598 left_roll=0.0493 left_gripper=0.007 right_x=0.5788 right_y=0.1374 right_z=0.1137 right_yaw=0.048 right_pitch=0.417 right_roll=-0.0608 right_gripper=0.6486 state[joint_eff]: [-0.4718, -8.6359, 8.6222, 1.6972, -0.442, 0.0269, 0.7204, -0.2256, -15.706, 8.6359, 2.1368, 0.0611, -0.0464, 0.3883] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.255,"left_z":0.23},"note":"The yellow object has lifted with the right gripper. The left fingertips are under the lid’s front edge, so I’m raising that edge and guiding it back to reopen the safe."})
tool
executing move_to over 11 steps (1.1s)
step 380
assistant
agent noteThe lid did not reopen, and the brown toy is still caught across its edge. I can’t safely finish the closure in the remaining trial, so I’m lowering the yellow object onto clear tabletop and withdrawing the left arm.
move_to
right_x0.5300right_y0.0800right_z0.0400right_pitch0.6000left_x0.2930left_y0.0010left_z0.2200left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7528, 1.821, 1.6123, -0.5972, -0.6167, -0.5312, 0.0092, 0.313, 2.175, 1.1946, 0.7792, 0.2935, -0.0269, 0.6506] state[eef_state]: left_x=0.4269 left_y=-0.255 left_z=0.2213 left_yaw=0.0228 left_pitch=-0.0493 left_roll=0.0259 left_gripper=0.0092 right_x=0.5767 right_y=0.1367 right_z=0.1116 right_yaw=0.0511 right_pitch=0.3901 right_roll=-0.0687 right_gripper=0.6506 state[joint_eff]: [0.7043, -8.5949, 8.8684, 1.2918, -0.2076, 0.2515, 0.5641, -0.3624, -10.2906, 5.9419, 2.2344, 0.0513, -0.0611, 0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.08,"right_z":0.04,"right_pitch":0.6,"left_x":0.293,"left_y":0.001,"left_z":0.22,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The lid did not reopen, and the brown toy is still caught across its edge. I can’t safely finish the closure in the remaining trial, so I’m lowering the yellow object onto clear tabletop and withdrawing the left arm."})
tool
executing move_to over 23 steps (2.3s)
step 403
assistant
agent noteThe yellow object is lowered onto a clear area to the right of the safe. I’m releasing it so nothing remains suspended in 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]: [-0.0517, 0.8364, 0.7868, -0.5381, -0.0967, -0.0902, 0.009, 0.2077, 2.4336, 0.9226, 1.4933, 0.2001, -0.0792, 0.6535] state[eef_state]: left_x=0.2962 left_y=0.0053 left_z=0.2196 left_yaw=0.0632 left_pitch=-0.0043 left_roll=-0.0041 left_gripper=0.009 right_x=0.5335 right_y=0.0802 right_z=0.0387 right_yaw=0.0464 right_pitch=0.5652 right_roll=-0.0727 right_gripper=0.6535 state[joint_eff]: [0.1709, -1.7983, 6.8034, 1.8877, 0.1001, 0.0904, 0.652, -0.3214, -9.2103, 2.8103, 2.127, -0.0952, -0.0806, 0.2906] camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is lowered onto a clear area to the right of the safe. I’m releasing it so nothing remains suspended in the gripper."})
tool
executing move_to over 4 steps (0.4s)
step 407
assistant
agent noteThe yellow object is resting on the table and the safe remains partly closed over the brown toy. I’m parking both arms clear of the objects before stopping.
move_to
right_x0.2930right_y0.0010right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2930left_y0.0010left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0517, 0.8421, 0.7834, -0.5617, -0.0811, -0.0887, 0.0103, 0.2062, 2.4462, 0.9161, 1.4899, 0.1974, -0.0792, 0.9964] state[eef_state]: left_x=0.2932 left_y=0.0027 left_z=0.2115 left_yaw=0.0494 left_pitch=-0.0378 left_roll=-0.0081 left_gripper=0.0103 right_x=0.531 right_y=0.0793 right_z=0.0293 right_yaw=0.0497 right_pitch=0.543 right_roll=-0.0768 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.894, 7.3368, 1.8974, -0.1685, -0.022, 0.6129, 0.0479, -12.0, 3.8769, 1.8926, -0.0464, -0.0708, -0.1343] camera 'top_cam' (step 407): [image omitted: streamed camera frame] camera 'left_cam' (step 407): [image omitted: streamed camera frame] camera 'right_cam' (step 407): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0.001,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.293,"left_y":0.001,"left_z":0.2},"note":"The yellow object is resting on the table and the safe remains partly closed over the brown toy. I’m parking both arms clear of the objects before stopping."})
tool
executing move_to over 19 steps (1.9s)
step 426
assistant
agent noteThe task is incomplete. The pale toy was placed in the safe, but the brown toy remains caught under the partly closed lid, and the yellow object is on the table to the right. I could not reliably reposition the protruding toy and reopen the lid within this trial. Both arms are parked clear.
give_up
hindsightThe safe is lightweight and moves or tips when its rim is inadvertently grasped; a substantial gripper opening does not prove the intended object was picked up. Verify the specific object's movement on every lift. Here the yellow object required right_x about 0.59, right_y about 0.135, z about 0.04, and pitch about 0.6 after being nudged forward. Grasping a plush toy by a thin appendage left its bulky body hanging outside the safe; grasp nearer the torso and account for the whole body before release. The lid can swing shut after the safe is disturbed.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0586, 0.8402, 0.7433, -0.5549, -0.0902, -0.0944, 0.0127, -0.0105, 0.8238, 0.6548, -0.3672, 0.0086, -0.0265, 0.9973] state[eef_state]: left_x=0.2898 left_y=0.0025 left_z=0.1956 left_yaw=0.0535 left_pitch=-0.0683 left_roll=-0.004 left_gripper=0.0127 right_x=0.3045 right_y=-0.0011 right_z=0.1978 right_yaw=-0.0158 right_pitch=0.0476 right_roll=-0.0095 right_gripper=0.9973 state[joint_eff]: [-0.4855, -1.6205, 6.5026, 1.956, -0.0562, -0.0659, 0.232, -0.253, -1.3607, 9.1829, 1.9023, -0.1148, -0.0659, 0.0855] camera 'top_cam' (step 426): [image omitted: streamed camera frame] camera 'left_cam' (step 426): [image omitted: streamed camera frame] camera 'right_cam' (step 426): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The task is incomplete. The pale toy was placed in the safe, but the brown toy remains caught under the partly closed lid, and the yellow object is on the table to the right. I could not reliably reposition the protruding toy and reopen the lid within this trial. Both arms are parked clear.","hindsight":"The safe is lightweight and moves or tips when its rim is inadvertently grasped; a substantial gripper opening does not prove the intended object was picked up. Verify the specific object's movement on every lift. Here the yellow object required right_x about 0.59, right_y about 0.135, z about 0.04, and pitch about 0.6 after being nudged forward. Grasping a plush toy by a thin appendage left its bulky body hanging outside the safe; grasp nearer the torso and account for the whole body before release. The lid can swing shut after the safe is disturbed."})
tool
give_up: The task is incomplete. The pale toy was placed in the safe, but the brown toy remains caught under the partly closed lid, and the yellow object is on the table to the right. I could not reliably reposition the protruding toy and reopen the lid within this trial. Both arms are parked clear.
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 · 10.22 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]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0193, -0.0338, 0.9997, -0.0212, 0.7925, 0.6048, -0.3962, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9997 right_x=0.2926 right_y=0.0007 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.4, 1.9707, -0.0904, 0.188, -0.0464, -0.5812, -1.2923, 9.9077, 1.9463, -0.0513, 0.1294, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25abd385ddd6857d8163f6d5a5c419fbe7e3eb70d04dc51f5eea8e723bbe789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:826b82429b596897cc834da596a4801df02021a57cdc78b7f70ba32f37912675",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ead466a4cbe1cf952b9060aeac6fc0563ce64a43f68bbb7c5ab5c9d664d7850",
      "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 · 4.922 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0a8281e2001712b8016ab465077fb487d0bf958bcd46def9fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"I see an open red-lined safe, a pale plush toy to its left, a brown plush toy in front, and a yellow object to the right. I’m moving the left gripper above the pale toy for the first pickup.\"}",
  "call_id": "call_TW5hkmdrgaCiSVLaiaySnglU",
  "id": "fc_0a8281e2001712b8016ab4650e557887d0bc51b5619579e61e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TW5hkmdrgaCiSVLaiaySnglU",
  "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]: [-0.7841, 1.3479, 0.7753, -0.2436, -0.6056, -0.5182, 0.9997, -0.0208, 0.8005, 0.6121, -0.4351, -0.0185, -0.0338, 0.9995]\nstate[eef_state]: left_x=0.3197 left_y=-0.1718 left_z=0.1304 left_yaw=-0.0231 left_pitch=-0.0626 left_roll=0.0377 left_gripper=0.9997 right_x=0.2886 right_y=0.0009 right_z=0.1706 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -5.3538, 9.2513, 1.6435, -0.5299, 0.0122, -0.0464, 0.0615, -1.5795, 7.2821, 2.0, -0.0317, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498fbd102cd03c700ea0c7b04d12c799bf43cc36190204ac08927ce8ba5b1f38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b2d0e9798c28151bb1c8270b459285d92b30482f6f329b9a5431e8aa7ff036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbef423394f5718eafba727fdcf1de2908dce428020bb1e5fc89964bbae3aa98",
      "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 · 4.75 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]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0193, -0.0338, 0.9997, -0.0212, 0.7925, 0.6048, -0.3962, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9997 right_x=0.2926 right_y=0.0007 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.4, 1.9707, -0.0904, 0.188, -0.0464, -0.5812, -1.2923, 9.9077, 1.9463, -0.0513, 0.1294, -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]: [-0.7841, 1.3479, 0.7753, -0.2436, -0.6056, -0.5182, 0.9997, -0.0208, 0.8005, 0.6121, -0.4351, -0.0185, -0.0338, 0.9995]\nstate[eef_state]: left_x=0.3197 left_y=-0.1718 left_z=0.1304 left_yaw=-0.0231 left_pitch=-0.0626 left_roll=0.0377 left_gripper=0.9997 right_x=0.2886 right_y=0.0009 right_z=0.1706 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -5.3538, 9.2513, 1.6435, -0.5299, 0.0122, -0.0464, 0.0615, -1.5795, 7.2821, 2.0, -0.0317, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498fbd102cd03c700ea0c7b04d12c799bf43cc36190204ac08927ce8ba5b1f38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b2d0e9798c28151bb1c8270b459285d92b30482f6f329b9a5431e8aa7ff036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbef423394f5718eafba727fdcf1de2908dce428020bb1e5fc89964bbae3aa98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUWeaOMykH_cfL-GdnNK7omPTNP05jkwvYjZaSeMzV-mxKw0YRo_1Ia6O_7rfauKi-YRawwd1SRP1X5IJQLpL6r_STaLqZLptjsjSqpWpStM6-1XU-IZODccloXYl2z0Tj0exrTuJmMXhrbCC_6Q3kA-xJzkO8r2O6Gd5tfPr0NzYoxGw42T8kpIPslQw7sfUTE-qVm6h-sD_HVneU9-UzKXqRjWG_si097ffLrHXQEm4g6GA8mLOetFJB39_EmtXgQbJvclLDn5szF4mS9zDweYP-P2ZInVK54jFRbyeg59yTqUya_Pw9FDRsrW13XAIVnTjBguD4i4toPLbWAlndkdBn2b_yvQwKT0Lqzm_mlR2Y_tUVxW06dqhvlH_9oSBi4g8fPuy9f-SL-zTT9X2y_s7o-5twMAIV2Je1o0tuT6vFCuaLN89Pj8IUp5nbYKlyOQTdUiOW8_a2Zqyt2GLRWL8OBJY8qpYy6fPfeK1qV7X1jZ7eZ6rktE9-VDZFTAxRWvT5g7Z-8Y1e3n-4Ym5EN9GJrsK_fsE1d6pObfC8zLHONCriM9GS9NSNX_geh0PNum4QRt_U0LTonX2iwBQKRoeauSOUIk1-GEfdXh5-eZna-e7c2Nt0lgD6rNq2lcSuz688Cbnbz4A-d1hUGmeNOrM1pA5ezQdjm0ghTdJxCz9ZcPvOeWVi_jXY6bI9y_OFtKswI9hyt1tB3DhCUsnyd1U5Athhb51RcDboMBVko4-5yAAef2gJzRsqk_3g5B5FhhfU0qHw9muUqvPw69tsRmMejOH807aRCh-v3unFmzjztuTSrVzIHqyiRJ4zMeodfGHAdZvtJYZs0IrmloTf3h3bIh4pdh-xLOefqzNDdIZXL_KekHPFtfnSpQM6bSX0p6rumSDLIza06qPqVD2rZJsK0U2d5SWJjGBmsDjl2SqX510IancuwKrlA-o8e1PkieHfTKpwY2FDycrx1-Nlbv6lEFD2ByoCBsrtoALWJy6sdk8jXnQ1r3aDQ07QzGpzylyvNiISzQQbz8wHP48bcRW88hMhJJ078uxou1ROg5G3gBNbnJGr3suJyRg5nMNxPjbCAR35wnLvJ7d0SIpt2yex6GSnlMxaqxWssV0Ajf1STI7hGRficJ61wyRrng_amZMobcVw0_yjtzGdgans8QYpOjangqyXShLbUZX7pJUdKCYT5kK9iIRrFG9Ivhi16IIbtPvymm-oRin2Bs7oFBK1RYLTTvDHVBtz18FZCwu1w75cSCnVEnspqySRQ-ikiN-R6urzUqYlGdgyo9O2xsq49AwoWQ_xFJl-NRwoLKT_mEuax5AS_Tzcj9vlTaDjUfxZ8sMY2KiIIw0HMqftfMq2O0BrlYNr94WdEknWbWeMxxvqs1qNDR8OcLywsLUC7wgGcnz31MaoFKPgrnS78Z5LfP9-RqobptfX8zEhoIBX2qUZHVUv0GMAJ7OYJTr-LbN9ssYs0mUCzMavrzI3bxLn84ugKD_6ndb9yOPHYtYO_H_wciLeJrkj-6SQCp8XpIILSQvmQas-0dH0DN1c9T9UOtZ0Rusa1BSCGcE9t9mpR9-NDLWJB_kt0Op3b46aiClsKaeSdEyUS0FWL3Aj7hzt0h2Z1jlPiij-83816tRD0MlGQMXg66rknEGelcZeQVdra8XvQBz0VNFe0CobM0eOygPYlMCwscuEDwHNQBSE=",
  "id": "rs_0a8281e2001712b8016ab46512e77087d08f7d575e1d1d1720",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.025},\"note\":\"The pale toy is visible just ahead of the left fingertips, beside the safe’s rim. I’m advancing slightly and lowering around its middle, keeping the jaws open.\"}",
  "call_id": "call_40UfZsl8anC89QkKBPjqhMBh",
  "id": "fc_0a8281e2001712b8016ab465156adc87d0a0f5f363b64ed983",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_40UfZsl8anC89QkKBPjqhMBh",
  "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]: [-0.7055, 1.6909, 0.6094, 0.2176, -0.561, -0.4644, 0.9996, -0.0208, 0.8032, 0.6117, -0.4553, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1608 left_z=0.0192 left_yaw=-0.0032 left_pitch=-0.1222 left_roll=0.0871 left_gripper=0.9996 right_x=0.2857 right_y=0.001 right_z=0.1657 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -7.1043, 4.8068, 1.619, -0.1832, 0.0855, -0.022, -0.1983, -1.4701, 6.9949, 1.8584, -0.0317, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41066f3d32a68c51c5a5a8853ebe5c95f1a03e657f394af941b09d3d322e53de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80bab55625080a09224167c23eb83dd3f763046a583ce3fb3d9db7a2c03ab305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f79d05b110e85ce5befe20af791df48f6bda4e233a55f9916e395ed6ff7051",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.019 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]: [-0.7841, 1.3479, 0.7753, -0.2436, -0.6056, -0.5182, 0.9997, -0.0208, 0.8005, 0.6121, -0.4351, -0.0185, -0.0338, 0.9995]\nstate[eef_state]: left_x=0.3197 left_y=-0.1718 left_z=0.1304 left_yaw=-0.0231 left_pitch=-0.0626 left_roll=0.0377 left_gripper=0.9997 right_x=0.2886 right_y=0.0009 right_z=0.1706 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -5.3538, 9.2513, 1.6435, -0.5299, 0.0122, -0.0464, 0.0615, -1.5795, 7.2821, 2.0, -0.0317, 0.0122, -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]: [-0.7055, 1.6909, 0.6094, 0.2176, -0.561, -0.4644, 0.9996, -0.0208, 0.8032, 0.6117, -0.4553, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1608 left_z=0.0192 left_yaw=-0.0032 left_pitch=-0.1222 left_roll=0.0871 left_gripper=0.9996 right_x=0.2857 right_y=0.001 right_z=0.1657 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -7.1043, 4.8068, 1.619, -0.1832, 0.0855, -0.022, -0.1983, -1.4701, 6.9949, 1.8584, -0.0317, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41066f3d32a68c51c5a5a8853ebe5c95f1a03e657f394af941b09d3d322e53de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80bab55625080a09224167c23eb83dd3f763046a583ce3fb3d9db7a2c03ab305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f79d05b110e85ce5befe20af791df48f6bda4e233a55f9916e395ed6ff7051",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUbcd-eubCCDoxIbf6eD8bZKAb4f5u6X3EZdjwIW-jekKxNLFpTVqA7Pn19lK-6i2qAA-nWU5cnvp8JPB31xcGLpeBE735H45_iu4vyGQM4YqrfFXHPHijl8F9bTbBgpSxB0KZnsYhZetxUk5wcu6As_XA-mcIT_TzFDnWviDf6wOPHlPORQSNdCp3X4mz88LhlnlF505bxxl8fADHqKF5HA2ld__VbJlqBZ06_kix9nJdciTde-42r7oPxq2_jBWe5lPBPP39p_LnyIjsfObswxtJppVlfExi1QSeBGQIDEPjVEuZWM47wRuZ3QubSEaDJN_NkpO4B7MyihrjsOJ3GsqSC_cAKY7kPsm-DRefoJe8xribaBtPx7MCnC0dF370xbCkIufopxizrNS41efLFmqIRmtt27oSDk2ltMk1I3SrOkb3XtFLkW-hVKeM2KOh5qIT57PkFu9QlrlwaV7LAAqj198SfU6bMvonRuFt0geKrQlqAr5tUl1GRSj9DKobe7LbEDY4CJTQX_Usd5qsqub-bXnXi6lddxUoyuCm9nJWk46VICRLybKvh-KJI3AaIWRbKQwZqWHI9xsDJ0tslM_YbgmOEzNpXOhV5WdpDxoWsnIPPIprCBDw8YfnSDJA5s5i6swqBSwAHGOfg5BNX2zBJsidYvE4pl4qohWqeNxFWaCaeI--WMcY7mlh7VaF5NDLqM7i7Z5I1MkmGTm6C8GOByCF42qN1C9e1e8JE3KCXSVovlrtq8dp2w2ApG8qBhaDGktiqOagh0FiQoUtoOXc4FEPdzThrU3y6aa20_QSw_W5Qd3O7C9-mlG3YAhbtWcrkvoLWgeOM0AHfWo0JKTCwuOwOPSREhbLb2ed9NRsPY0FWRKfh5qYyDmYZE7G1epncTdaP0fjDOX2uI0l9C2504Ut-DCpmiPbllmD-qEcbgRGJTMfx5iiSyq83fMFFVBbBMkNn-IvR45MZi6DhPwokTwkvJmOIMdo-3TyipDaw86bob5PnjGYRLV8g77BQ-UaKbkYcKdLZw-68e6Pxu_-qcsTbiAylQ5rNV5Jxgs5MK0L4Tn4qeMPi96HuztMhHPilyoSSTBxO_HSMIEjv5D6VMamqiadYFnAJ25TIkshh--nPvxVmKZxWE0Dt3vS_z5xMUwDEv8dGTgdSrag2XZeBPn4N_SAyHbrcmFL4RMsErkCVg2HpVYNm_B99QwH949p9-ovrsbo7mo7F7CR8Sm8qM8H-4B6LHerHcBDxEkuRk2XsUXX1M3GOonJn-CIl3oIGLeCvpfeX9mP9pLfWvolNRo8Ldnp_JRLt693G1_2JUurlsJd_5ZDWwtCApsQXKdNGRwPcXG7dlykXWttdyuKJGNafhD89SqJHmDQhj6Ux3FwKEevxNkCZUUIdXUbEGCOOkMAgNDMw19iWctyTv8tGe26V6igfsJUMA72phwM5B7Vf6e5KUsxTSS4SK_WtgevLAjSQbsvvSdIeFnRBlXVKkFQk5EIa4IlIpLghWgqf2z21KyGg7BJSj5mZ9wBJlS2qUyg9ARFi7ILvscklGtkACh5w9Nsg1k94BQMqr66ggJPHvfKzR4EOnBmy2HL0J1iLb4OtmjdNZHCAI25faNC4SamIres3R3Ff1eoCR6FTQdyV4WnWd5nmytKtFSKLA8O0KNtlAC2SpfBPhe3RzHruS4M4wUUI60mQNt6LRvV2Y_KAdFTBAHAYgARvcsslT1687aXUWVBsW6o6wguT-NIIybr8KLlGrd97oTXodOQ1MMbbHVBp5mYZ-aNILcGQjJ6SwN1GfBg5oFbRcsICSaVfrA2jvc-xahb0lr5RLIE=",
  "id": "rs_0a8281e2001712b8016ab465188e7487d087df9520b42c1369",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The pale toy’s lower body lies between the open jaws at table height. I’m closing the gripper, then I’ll verify the pickup with a short lift.\"}",
  "call_id": "call_oGS4qJnHsMUUNtj1sy6Adne0",
  "id": "fc_0a8281e2001712b8016ab4651aeddc87d084778835297774b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oGS4qJnHsMUUNtj1sy6Adne0",
  "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]: [-0.7052, 1.7054, 0.5972, 0.2272, -0.5671, -0.4725, 0.1065, -0.0208, 0.8036, 0.6113, -0.4812, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3364 left_y=-0.157 left_z=0.0123 left_yaw=0.0074 left_pitch=-0.1318 left_roll=0.0958 left_gripper=0.1065 right_x=0.2817 right_y=0.0011 right_z=0.1604 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.6786, 6.1607, 1.2186, -0.2369, 0.0317, 0.7106, -0.0615, -1.0598, 6.9949, 1.8974, -0.0464, -0.0611, -0.0171]\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:aadee0c9758ff3574b23ad40e21a07a171a4caf9693338993b544055c0b10d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634fc5b4e4d1475482db395625c846e72dfc0c0fe6366ad788b815ecd0b3480b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1bb46abf666dc4c0105f894e74d34fd94dc7671ad37e68886a0cb5aa99c9568",
      "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 · 7.31 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]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0193, -0.0338, 0.9997, -0.0212, 0.7925, 0.6048, -0.3962, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9997 right_x=0.2926 right_y=0.0007 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.4, 1.9707, -0.0904, 0.188, -0.0464, -0.5812, -1.2923, 9.9077, 1.9463, -0.0513, 0.1294, -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]: [-0.7055, 1.6909, 0.6094, 0.2176, -0.561, -0.4644, 0.9996, -0.0208, 0.8032, 0.6117, -0.4553, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1608 left_z=0.0192 left_yaw=-0.0032 left_pitch=-0.1222 left_roll=0.0871 left_gripper=0.9996 right_x=0.2857 right_y=0.001 right_z=0.1657 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -7.1043, 4.8068, 1.619, -0.1832, 0.0855, -0.022, -0.1983, -1.4701, 6.9949, 1.8584, -0.0317, -0.0659, -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]: [-0.7052, 1.7054, 0.5972, 0.2272, -0.5671, -0.4725, 0.1065, -0.0208, 0.8036, 0.6113, -0.4812, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3364 left_y=-0.157 left_z=0.0123 left_yaw=0.0074 left_pitch=-0.1318 left_roll=0.0958 left_gripper=0.1065 right_x=0.2817 right_y=0.0011 right_z=0.1604 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.6786, 6.1607, 1.2186, -0.2369, 0.0317, 0.7106, -0.0615, -1.0598, 6.9949, 1.8974, -0.0464, -0.0611, -0.0171]\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,$blob:aadee0c9758ff3574b23ad40e21a07a171a4caf9693338993b544055c0b10d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634fc5b4e4d1475482db395625c846e72dfc0c0fe6366ad788b815ecd0b3480b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1bb46abf666dc4c0105f894e74d34fd94dc7671ad37e68886a0cb5aa99c9568",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The gripper has stopped above its empty-close reading, apparently holding the pale toy by its lower end. I’m lifting a few centimetres to check that it moves with the jaws.\"}",
  "call_id": "call_jUSILriV0AaIwOgw9rXdkyoU",
  "id": "fc_0a8281e2001712b8016ab4651e8dc487d0bcf92f8b6f9b2f69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jUSILriV0AaIwOgw9rXdkyoU",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.5169, 0.7033, -0.0746, -0.5652, -0.4808, 0.108, -0.0208, 0.8055, 0.6106, -0.5007, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3347 left_y=-0.156 left_z=0.0688 left_yaw=0.0113 left_pitch=-0.1378 left_roll=0.0931 left_gripper=0.108 right_x=0.2787 right_y=0.0011 right_z=0.1558 right_yaw=0.0011 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -7.2, 8.253, 1.5214, -0.3248, 0.0708, 0.1343, -0.0752, -1.1966, 7.0085, 1.7998, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622c7d3230a354a5dbdacac4b26f2d73b14752418cf15d4e9db942222f0e1811",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c77f2f7e00ba98ab97ced72168fa79789354d163978f1d09d9c7e3ea73b3e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f00c0fe4cdcf4fcbb6dd8a3b20bdd4bf86e1d8ff9fdb51a23b6d8aeff2501e",
      "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 · 5.543 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]: [-0.7841, 1.3479, 0.7753, -0.2436, -0.6056, -0.5182, 0.9997, -0.0208, 0.8005, 0.6121, -0.4351, -0.0185, -0.0338, 0.9995]\nstate[eef_state]: left_x=0.3197 left_y=-0.1718 left_z=0.1304 left_yaw=-0.0231 left_pitch=-0.0626 left_roll=0.0377 left_gripper=0.9997 right_x=0.2886 right_y=0.0009 right_z=0.1706 right_yaw=0.0005 right_pitch=-0.0397 right_roll=-0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -5.3538, 9.2513, 1.6435, -0.5299, 0.0122, -0.0464, 0.0615, -1.5795, 7.2821, 2.0, -0.0317, 0.0122, -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]: [-0.7052, 1.7054, 0.5972, 0.2272, -0.5671, -0.4725, 0.1065, -0.0208, 0.8036, 0.6113, -0.4812, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3364 left_y=-0.157 left_z=0.0123 left_yaw=0.0074 left_pitch=-0.1318 left_roll=0.0958 left_gripper=0.1065 right_x=0.2817 right_y=0.0011 right_z=0.1604 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.6786, 6.1607, 1.2186, -0.2369, 0.0317, 0.7106, -0.0615, -1.0598, 6.9949, 1.8974, -0.0464, -0.0611, -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 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.5169, 0.7033, -0.0746, -0.5652, -0.4808, 0.108, -0.0208, 0.8055, 0.6106, -0.5007, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3347 left_y=-0.156 left_z=0.0688 left_yaw=0.0113 left_pitch=-0.1378 left_roll=0.0931 left_gripper=0.108 right_x=0.2787 right_y=0.0011 right_z=0.1558 right_yaw=0.0011 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -7.2, 8.253, 1.5214, -0.3248, 0.0708, 0.1343, -0.0752, -1.1966, 7.0085, 1.7998, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622c7d3230a354a5dbdacac4b26f2d73b14752418cf15d4e9db942222f0e1811",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c77f2f7e00ba98ab97ced72168fa79789354d163978f1d09d9c7e3ea73b3e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f00c0fe4cdcf4fcbb6dd8a3b20bdd4bf86e1d8ff9fdb51a23b6d8aeff2501e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUnPCvFv-f7Bp90MMuDG85hMWOJj4fHObPmKebKNNN9rsoF5Jdm2wZikDNjmgXkHVjfffYvyoCcIqGhSKqnNAuw9Fjd0ctTptobtW8xk0jbr4DZFhgOEU-NJru8y9ZY667O74a9IRMjC9VPo43z8HAL0fN05SWXA_aT0b8z8_5PAAPcQinRUKCbqPgz-w2bEygoMx4in12z38_F3NGNxhkuJLqUPNNa1e8JccoFYI9c6lvov9SWRrWZclcOwl-CkwpcjH_03S7g8i92Qh5nzVqJcB3AxBouxhNE6G7FhbHrmhuCMlc_Gczg3VvJvlWeRRwRISBSIvVZXlhtz6nAdy700kRxV20Z8Lxf-E79fw7pmZltt2E6lZaZl4b2AHEVOe1EXkw5_TJl8Tt4mKrOUZWKejpX6M2ImRQBceYch1DK46kCQxaC0AbD10i0DCSOnLiBvCPrABYD5lOkNTZAtqxdrrz6joNi8XWcw5znFewENpTX8j3l7NHYJwdEzEWo53MyaVk6ceRsFyeufLEpOm35W3cZp72KSl4j5x7g6G_yVQUWBYMpRPnm0f46o0nhtLFu-UZ1saRJQofhhz21yJkaBd2yiMwt-t-SWgZ09gwKgHufAB43UOQ3nf4SxfFhxTL3X7sc4Dpd7KVaou3goSIXDhqSvEhRuTrQwMh_6q6L7luwHCmT1tJwu--k1s3qcnvF9Asyz_Tst76gEh6d6pUvT9q-gukIOaVhM1AQAhr3h8jNhY1dxC8EzEr8hsYx3tAj715KF4AW9gS7QCrQTVvMG6lY8FCstS3mxrx0_0hImRa2vT2MPGgcDjxdOR93K61Qvb97aGdvBODfBrFvYLG8JXMhXPx3hsPJQ2QvI1oQJZUtWf54u2_LTM5N7pYDOoSOC6w25oPPScesGlpvXHyfRq0N99NNpLUe199aeKxk5F9UKtknIYivYEkocRIrqNtR7Xf-yJkEFFWWs1msrX4nfeDaTMTvrWDMu8hJZXhhytEr59xGQAe1MQ-9KR8u7lfaMMhJie5lI4BigSU7BCXEiz1m9vJmkdhZw0jA-lkgFzC5cQLyiqTd-FsbErFKVqSOVAqWatcV48QNOGTHZJggKRLqIu9hRQKLDVkS-7T3UrDH971U8P5tKBZZOp_vWx0uebp6djbbEuTfJq02aqKolFxG9XQd_nrPCuMopyiGa_Dw-Yxm9WGxrT8EQ8u16o8f1Xp5zXoW_IVFXdcABlsfPl5WT9d2-SnQ87H0jTPFvVAcyCo77dxDX-n_PWbNLzkTBioR_lvxoCBfYdlZkVrk03vaAV_6-b99ySFZD6cHyfFgt3hFzao_ZgIqyVxO65z9dMYQ2Cj1JYGrP2l7dE_YkvcFg49ZOb5pYMmemP-00Nwt5y7w2nLIAnBDMqe0ga6xENpC0vXsLPflUxLSLZ0OUBD0qM3M_NHQ9vXvciiiZp4YNAd8qF8EbsqPxMTMeD7g1wr5xusCzSrpIvJ3tIxDQW0-DUs_SIV_PdRpP-LEGVQ_fsCIHiuS4jhrbuo9MOtIf9q2gcNeY3nx7yG96CClmTNxCL8LNzArBpD7vrjVIf04KHgIO4K9dtmtPhTuPxPF3P2E4c918g5VE8ZTak3ttyNzgTwbKkkxPlAcTFBCb3tyeun6FCWoQBvIhiOTFiRIJ9jpsSM3h3Z-EibR9DiWofgloBBuG_r6orhXttDm5MUe898orwdpFVTIUGQYyzhznPlq8GFhPUwRHHzp-08GC-w5W87QU_GfXot8DqKxwCNQtclVaYa362iY5UKnpAXDSMF--sA1cqXPhyNP0UsA7lmHnBrLr6WlKMp9DHMMlPbvsNlqsWzh-Show_1r_XQ10fCSN2CWH647cgN6fg283IC4haDvSTTx3h5WbS8Q_6b3-R2AWRsdqayQJ-p-0RX1bvLUbSphQT3tpFbdOqp6WLMaIpKBllGGM4a_bC2OJFMLT9UCSSlktUbWdMkdFb9D4rzf2Zp0svjHwxmc9DuIDsTvZSi4ej8w0fbfWkXbDbgyVFmOgM3ejHHFy7P5b3Tok1mLPwrB_Hi00CZd_Rfco04IDNL_uw5gxCTzoqeBngZ9ocGw0L67KbRzTaTCVGxROWAkXEuJTSkNPmFM9qYoeq0APcWBiJaqPnLsAzTlFq77GF1fSt_KNa67DLYjxRuugJaaOZv8wnSGFc8V0nqpEymt3xc4PImm7QEzRy1_4YW_ZN5eg9iaRtjd1iLSloaQJjv2rKEltDsHdhBempCOnps2egFwpZEeBDG-_rTlko_ZlA8OJksLBJUJIaaPUKt5AZPX_gNb_Cm3ZtmiARcAJNgcbKeXIJ0C9BWi7X4GnB4G8WNeXI6KeW0MNHaMByC1",
  "id": "rs_0a8281e2001712b8016ab465216cf087d0889ca885492a0647",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.29,\"left_z\":0.2,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"The pale toy rose with the gripper. I’m lifting it over the open safe, with its body pointing into the compartment, and refreshing the idle arm’s parked position.\"}",
  "call_id": "call_saLEL1AKep5Sz08BklP8y2R2",
  "id": "fc_0a8281e2001712b8016ab4652613c487d08c97925e2872b59f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_saLEL1AKep5Sz08BklP8y2R2",
  "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]: [-0.8303, 1.9305, 1.7, -0.7307, -0.622, -0.614, 0.1094, -0.0208, 0.8814, 0.696, -0.5789, -0.0189, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.4075 left_y=-0.288 left_z=0.1866 left_yaw=0.006 left_pitch=-0.1514 left_roll=0.0766 left_gripper=0.1094 right_x=0.2822 right_y=0.0011 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.1804 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -10.5231, 8.7179, 0.9841, -0.5299, 0.0806, 0.1343, 0.0068, -1.306, 9.9761, 1.9658, -0.0317, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fc621c0ae73755dd2fae0b316f584d687970b12ecd66ecf0d96695d08d749a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b679140d119db99da316f55fdf2d4ff9d9aeada826b06ef9667d2c1be79f85aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ed4a05e1a5821e00be4325d6e0aba32223ac7265dcf54a92c9ee780b8e0b3e",
      "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 · 2.067 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]: [-0.7055, 1.6909, 0.6094, 0.2176, -0.561, -0.4644, 0.9996, -0.0208, 0.8032, 0.6117, -0.4553, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1608 left_z=0.0192 left_yaw=-0.0032 left_pitch=-0.1222 left_roll=0.0871 left_gripper=0.9996 right_x=0.2857 right_y=0.001 right_z=0.1657 right_yaw=0.0011 right_pitch=-0.0629 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -7.1043, 4.8068, 1.619, -0.1832, 0.0855, -0.022, -0.1983, -1.4701, 6.9949, 1.8584, -0.0317, -0.0659, -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]: [-0.7052, 1.5169, 0.7033, -0.0746, -0.5652, -0.4808, 0.108, -0.0208, 0.8055, 0.6106, -0.5007, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3347 left_y=-0.156 left_z=0.0688 left_yaw=0.0113 left_pitch=-0.1378 left_roll=0.0931 left_gripper=0.108 right_x=0.2787 right_y=0.0011 right_z=0.1558 right_yaw=0.0011 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -7.2, 8.253, 1.5214, -0.3248, 0.0708, 0.1343, -0.0752, -1.1966, 7.0085, 1.7998, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.8303, 1.9305, 1.7, -0.7307, -0.622, -0.614, 0.1094, -0.0208, 0.8814, 0.696, -0.5789, -0.0189, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.4075 left_y=-0.288 left_z=0.1866 left_yaw=0.006 left_pitch=-0.1514 left_roll=0.0766 left_gripper=0.1094 right_x=0.2822 right_y=0.0011 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.1804 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -10.5231, 8.7179, 0.9841, -0.5299, 0.0806, 0.1343, 0.0068, -1.306, 9.9761, 1.9658, -0.0317, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fc621c0ae73755dd2fae0b316f584d687970b12ecd66ecf0d96695d08d749a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b679140d119db99da316f55fdf2d4ff9d9aeada826b06ef9667d2c1be79f85aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ed4a05e1a5821e00be4325d6e0aba32223ac7265dcf54a92c9ee780b8e0b3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUu6w0137fJt3fgOX87EmTCBYBr6IWDhQB5XiswYmlq05sBLjFowivVqL01Lx_kQp-wTxa7gJK8HT9QItPooADI7t5QLQkDzv_HWxVLWO5gx9NI7CnZZ3hcKcPodfqwN_4fWC-XbCjC9noSNoGcsk06a__xalGhlqyhMLM0VEzbzbpWoQiDc2TqeYLnUKiIA23eaTbBJnLRrNeaPuQPAhQMIac96ZSYbScdL7WwM_MBLDkgZfgHwwM0-fm2_JvHvWb8jxbvar-x94O_YTCIx5bsuCyOytuUnfdfucR5isr0yW0bjxizVaHNqOIr8rVHQktK0nnsCsdJrp7yT5edBDc47kHAncZikspWmn3q7HkT_Puw-4XEb4UCx5f7-4NBQOys6Uif5FjgLU13SUw9QGUiQkaf0lg9v1eH2OnqQa1bagfBoE0O2_AZrK27AZSVo-QO09JqkDNrG3s-VEqw_WYg0EUZU4QYGTeIQ6WSkeibtLlhIK1oBVLDlmuSRfZQkSWvw8oG3jDM9Vl6v3GbKUohvz9ab64QwXNp_uDc6s2Ma4JJNaZwtJCgwQfACxBpoapL9QwwFDWBtE0QO42yxMUhz6qny8qAyA48fJQ7EgfRA-7L9ipsqdjv2I-iD0Foeon3hwwpAOJ2DRa5oUWJLmjp1e6jsK0LaE5MqipLSl6TNClc2qOVtveXTRbsE5kB8h9FRQiRwvthnudujK0HS1wqjH_fnwJgwk8NTsBJrBqC0Ags_mtUi-VrWubVXX5WJAj_j2Dt0Z7kGWa77sXlDQ9S03nYmsagz-4_RqK-1lXsQRnJ-F0CpAQtVwafcBuwpJnrfB97apvBilfE5YG_EHyrq1MvL4ooroYs-w3xpaM1jyam9EM6cvHYpXtozuVilt-RY62HdZZmzphJO8klBXp0QIp4hnciKnCnAXtUqDVZ41SjMkw8oh_DlKu5KuYo0IT3aD-9xqEjvz7H4NqGvs-Jn3y3xjvFbNhr5r7P8u2OfHfZjmeJx1DI0uaxBQlEueFm20VRBxgAypnGYkuTVd0uV4wqOBSne78H_30FnnJ0feWi9Xbr2IjwNtu8OKHcQvToVzInuxOHupvCPRsrofVhvORhGfSscmR1ejm6UEcp8N0OsFfFO0dfookPYS1llr-pid5ZRVHNCAbBLG5YtOuRHmsYDi1cBO3vBPvTEOK6EnqQxzIvDAh2TXD89hOZt2w4DC23HTb6ac92C2PTUg1ZUPm3y-z6FiMcOhkEfQAnscDJa68vTJmT2O8nyMia7dhAsro7cScrYUcXdLo1QGrhK-RraAchn76CcY-dDe6iiBha2PAeXoV-jojL1gxWaKssl9zrPRYXnA9xsIKrR1jheOcEhE6kSKMk7qLLMuNmoYrspJnStX53GFJVi62GliftqFPhukZ4q9E6gUn5YdEvYPLuf0PH61DPD25QFmDDml5LDZXGkp52Pl8ylpbhwlMP3A_9JhG4CTF_RJNUqMOG0veAL4K_cjZMGl-hsoVla5fkPJvJQlKCjlRlWeEZX86g9fjRJYteTn2_xYaCOBGpqS5nktjX5xxEu8DqKS0i9EX_9FYJg_aSXPWXykQHtQYbl2hQdzYuBmZ5y8oubTREe7ezAAR5rzNik8jQXHoHgRJYFZvnBhiWApkC1GRIfx0iOUb4NUchxO9DpWyhr1ThyzIdc4Wht28DtIt5mRpYHgJgkOPfSHFnkzt8-8v2ACfTmORhmXhKnb5gK2JtRgZzX0jZQbcua4k0zNBbayr70OHr0E2qYdYEhGmHYNyvrCbS6bVC1IkBMP0gs5m_YZ6KBlyOMcKOVpebgp3ry5p15rix0axg4wA_jsGd6mec7B_YGoUUAZew3zwfqeQEMwgohV_tqBh0MgDvgiKo_0xwnt1s7C2wZLrVTMlRVY1tK8SJuVgjEb8Q2-8yX9LGIhviXkBcT14ZfmEv7CH1AdryFl4_9YbOmfb7Q5Iz2OTFVMp-dzKWlAxXzp8tul91I7scIq_2d73vpeJOsiBZuPiRRayRe4gglPMbq-PjqVcoe9Qn",
  "id": "rs_0a8281e2001712b8016ab46529f81087d0acb8a5cc086e1030",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.3,\"left_z\":0.065},\"note\":\"The pale toy is suspended over the red compartment. I’m lowering it inside, slightly farther from the front rim so it can settle fully into the safe.\"}",
  "call_id": "call_io7m7Yti2pBgfjMyfPFD3znc",
  "id": "fc_0a8281e2001712b8016ab4652d00bc87d098dd011f397553bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_io7m7Yti2pBgfjMyfPFD3znc",
  "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]: [-0.8154, 2.093, 1.4853, -0.3866, -0.6067, -0.6067, 0.1114, -0.0208, 0.8837, 0.6956, -0.6121, -0.0185, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.4217 left_y=-0.2957 left_z=0.0699 left_yaw=0.0111 left_pitch=-0.1835 left_roll=0.0982 left_gripper=0.1114 right_x=0.2764 right_y=0.0011 right_z=0.1524 right_yaw=0.0031 right_pitch=-0.2162 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7692, 5.7368, 1.3846, -0.3394, 0.0806, 0.1978, -0.0889, -1.853, 6.8444, 1.8437, -0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363b2b9ceac17b82dc503c302de6daddf831d3e9c233c621b35dc4bdb570d903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f440687308a30959b2411548c254154a824191524e0977ae0cb781824ce112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33647eae35016e60d9b9cadb6e7baaaf15f5b4789575d3edd8c9648432250f3c",
      "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 · 9.248 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]: [-0.7052, 1.7054, 0.5972, 0.2272, -0.5671, -0.4725, 0.1065, -0.0208, 0.8036, 0.6113, -0.4812, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3364 left_y=-0.157 left_z=0.0123 left_yaw=0.0074 left_pitch=-0.1318 left_roll=0.0958 left_gripper=0.1065 right_x=0.2817 right_y=0.0011 right_z=0.1604 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.6786, 6.1607, 1.2186, -0.2369, 0.0317, 0.7106, -0.0615, -1.0598, 6.9949, 1.8974, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8303, 1.9305, 1.7, -0.7307, -0.622, -0.614, 0.1094, -0.0208, 0.8814, 0.696, -0.5789, -0.0189, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.4075 left_y=-0.288 left_z=0.1866 left_yaw=0.006 left_pitch=-0.1514 left_roll=0.0766 left_gripper=0.1094 right_x=0.2822 right_y=0.0011 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.1804 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -10.5231, 8.7179, 0.9841, -0.5299, 0.0806, 0.1343, 0.0068, -1.306, 9.9761, 1.9658, -0.0317, 0.0269, -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]: [-0.8154, 2.093, 1.4853, -0.3866, -0.6067, -0.6067, 0.1114, -0.0208, 0.8837, 0.6956, -0.6121, -0.0185, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.4217 left_y=-0.2957 left_z=0.0699 left_yaw=0.0111 left_pitch=-0.1835 left_roll=0.0982 left_gripper=0.1114 right_x=0.2764 right_y=0.0011 right_z=0.1524 right_yaw=0.0031 right_pitch=-0.2162 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7692, 5.7368, 1.3846, -0.3394, 0.0806, 0.1978, -0.0889, -1.853, 6.8444, 1.8437, -0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363b2b9ceac17b82dc503c302de6daddf831d3e9c233c621b35dc4bdb570d903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f440687308a30959b2411548c254154a824191524e0977ae0cb781824ce112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33647eae35016e60d9b9cadb6e7baaaf15f5b4789575d3edd8c9648432250f3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pale toy is now down inside the safe’s compartment. I’m opening the jaws to leave it there before withdrawing.\"}",
  "call_id": "call_rFVHFadtbXyeM1LOlNpeqTwI",
  "id": "fc_0a8281e2001712b8016ab4653029b887d0a8e3ee053d9c1e14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rFVHFadtbXyeM1LOlNpeqTwI",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8165, 2.1227, 1.4719, -0.3973, -0.6029, -0.6117, 0.9952, -0.0208, 0.8837, 0.6956, -0.635, -0.0185, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.2914 left_z=0.0494 left_yaw=0.0184 left_pitch=-0.2218 left_roll=0.133 left_gripper=0.9952 right_x=0.2723 right_y=0.0012 right_z=0.1485 right_yaw=0.0031 right_pitch=-0.2391 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.0786, 7.1453, 1.2332, -0.4078, 0.0024, -0.1392, -0.1709, -1.6205, 6.8581, 1.7167, -0.0171, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84e38da1b37f97e10e680f159d4560bc23970524c7ad4104f187901a6655460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c615afbe2bfc3c7480bc4e55e473361789823108a77ca9f1fe82c280cd64d12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2474d06f0be6a33679e3a367199ef3da57a76fe9ba3fff25a6cb31e059b62e29",
      "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 · 7.584 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 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]: [-0.7052, 1.5169, 0.7033, -0.0746, -0.5652, -0.4808, 0.108, -0.0208, 0.8055, 0.6106, -0.5007, -0.0189, -0.0341, 0.9995]\nstate[eef_state]: left_x=0.3347 left_y=-0.156 left_z=0.0688 left_yaw=0.0113 left_pitch=-0.1378 left_roll=0.0931 left_gripper=0.108 right_x=0.2787 right_y=0.0011 right_z=0.1558 right_yaw=0.0011 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -7.2, 8.253, 1.5214, -0.3248, 0.0708, 0.1343, -0.0752, -1.1966, 7.0085, 1.7998, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.8154, 2.093, 1.4853, -0.3866, -0.6067, -0.6067, 0.1114, -0.0208, 0.8837, 0.6956, -0.6121, -0.0185, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.4217 left_y=-0.2957 left_z=0.0699 left_yaw=0.0111 left_pitch=-0.1835 left_roll=0.0982 left_gripper=0.1114 right_x=0.2764 right_y=0.0011 right_z=0.1524 right_yaw=0.0031 right_pitch=-0.2162 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7692, 5.7368, 1.3846, -0.3394, 0.0806, 0.1978, -0.0889, -1.853, 6.8444, 1.8437, -0.022, -0.0611, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8165, 2.1227, 1.4719, -0.3973, -0.6029, -0.6117, 0.9952, -0.0208, 0.8837, 0.6956, -0.635, -0.0185, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.2914 left_z=0.0494 left_yaw=0.0184 left_pitch=-0.2218 left_roll=0.133 left_gripper=0.9952 right_x=0.2723 right_y=0.0012 right_z=0.1485 right_yaw=0.0031 right_pitch=-0.2391 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.0786, 7.1453, 1.2332, -0.4078, 0.0024, -0.1392, -0.1709, -1.6205, 6.8581, 1.7167, -0.0171, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84e38da1b37f97e10e680f159d4560bc23970524c7ad4104f187901a6655460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c615afbe2bfc3c7480bc4e55e473361789823108a77ca9f1fe82c280cd64d12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2474d06f0be6a33679e3a367199ef3da57a76fe9ba3fff25a6cb31e059b62e29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGU6jXN64B-x5u3NYk6hhWBWQPLBjwl8rOnoc9rjHzyxSowS9E9c_UR4PtIlxPnnf84p0TRJzp3iA5SLpxXPi0wSyK4aionYsvP8FQ2iF0C53xCxkbIN307nacX9P9a-mx15IArptJXX3y-gElVC2J4GhixQrHZPCrFC2xf-P_PFJd6WdTa9QdS1qh5-1h4V9xIJla2bM8MsNdAfo40hYWg489A0fuIHYzuYTc3orycoKj3zar0Jvuss-l7HS0rMiXoH-983zuFEZHPYJYZKculc4WOxL0Bku_hZWP6bAYuGhXJ7FvsfThHCMdwKPNm0yiF8EXWsAZe8njWf_Av8tNzhkMtEh0zfUgjhbuw67DMfh2wvSAk7MCnd93LzkCzgyjO0Xmg3KqhCaNtY3YxQzuPFDjdhDu9pbxz7ssos8SrcfAt4K_wIPf-VucFB8qcUTj5zPkfpmJ1Ylg_hcFQPniBDR1VKDoredY-ksHuIsyQGTXaiNSEAk5v9oVy-GdKuLoHcBge_iHi_Y2vnHGV9LD0yeH42qdl61gVbqDrxsmMQAKTaMNHJXH8VUdO98Q-o_l2Vrf-48j-gQ7yCf5PTmFYBDFZ7XlJBp38WidljEsp8i2spnWyXFIVUyVRnhIWHFx31jFj56ivpiBMWgRuq19vvy6WV93T2Di2KuO1yjV4e5SnzwPP7w5_LCI9UVSqQH7tjRGDwS0D8cPcEwmQllZUCBoLIflTFj5fypXx1YzOIoTnL_uolIwHYhpVBM6VJQzTqBHQ7r0HiYQZxyikKZs0qYLkDkgZMJ8PGSx9Y5TZueRPZ474Rdunt2WpiPW1IYzI2daJU70e-qadYZj47s13Q4M1V3YVuxuUJPD2ePRCisLtJ7tNCqLy8r4iYejQ0BiyJO8v03SNh8t-XqM2nty-sKGEoxNwP-XVW5rNKFA6Wh0zdQ9wvo6MtYQRmul4cbczHj5cgBB4hoaoF8wQ1ZFFiC2MBxjNaAajdDqXbCSIh7gZj5K5ERjvsb95mbzm6HCfGQt0VlMdeUvv-OlTuA-EOcn3kF8xgbZzilMwVFXV4nA62ktDNXALnsb8Bwvma1iHgBPlQSoP76QXVVRYpJsUBRvPGr8Ee8vuIYRcjl0DtkECM_4l4mTWpmAxYM1POwqwGDU1GoAh7ktUyj1KUf78rOgTwg7O8_I6v6QXXJjnz6ui9xUsN03BHk-TD8wD9DWN0KecZr2oblA0csuyDNahQNgwAeavex4pn7jGVJeM29UKHcp66SfH0p0F1nZ0lB3lT1H4aCQmLQ64IhLRb4EniDhL4reZQIvZ9NCZtk_AiXxL3E2t0zLB4640EhWdP3B_xuwusZytb71ZiUXS1fbshy9Kd3G7i4sKKJ93xeJa9UzqpCfyg1179HQQ4oI3ygGBVQ9W5zlaDxrO5HjHXPe3HpPS9BBU_wETccvH8oXiECU4Iy1OiL08OB0UfNI40jl9zid5zveuA-skkBvcFK4rLJCItx19cxXdlVhQyFbeMq4igqUEftmMIPKycVTPdNGvVczMfSs0FN6F9_U7-QpSbjrwlDWXa-hsTDtevqjU8b0UpEn3tHznq93m2NLUe9f1GRYERTqkV0ELavPm1J3XWpjY55wPFFLIkGGZRwuDTU9awqFdo8i6uxeDUrhsBgsSdWfBGfYtuSCVBKiU-dOZkVyy9hEZVyUeVt5fpuqIJbjm8c3ZBuGMSTB11jACAGq3zBycrRiNeXSzN0LPeEgMWfR4Px5Y0d9C7BgPy2a1nX3025IP1572VT4Xyt8Lp41oEIEkyiYkEnDNggnGkoAzwxn4bSdNsdiEL-3bQnPLN2-PfeYYORpstpYHS9BIRfuNZuKeR3PE1NAjEwmetnmqTPNiySJgnsyi5bjrlOgcKPg5PpMnq-SBB9XuaPfI0i6zL12smjgaupaSq_RkQPPBS6W6zImdK0I6wsKQnqTMpMEBKSkVu_ZhvRZ8JNLKieUs1PLNXqrmJyUBeLUDXL8_5HspzoUZbepbHm1ptcg2lLwx-C5Wyw7qganh0eaucV1o5eKCpcp-960GM_qvhHATOLrQ07joJtQQm55ZcvCpFLLng0MubN34aW1btmQPMFfJ8yBHkFMhAxnD7c6HCKU02yB4D947y8w4-CcBandX0PgaQK-8Yr_x1APB8xMpo8pMbu9QYNuRrOJkVT8nadVsLxgKciLljmI2ou2YHeqF6drUj1i2P9U5gVqNF1Pykiw7h_tkOzoFlqjvdfVxR-f4wraiAHMrtZhiwM6WTpN1fEP1DaN9l70PwToX5cEUHH03df3L9f-IE2CfSvop8aClbCsQqCS5Ucg-a1-jrbUvaaAlKwnSBXs0esbbiptNkpE5xI76R4C_Fah4JnwKSm1XSWuaWV2iWSmtdv3iMbL_Hwc65gT-i4A4_Ur1xq5VOBhok3wAF8Mr6oLZd26phbh5bTiQKwuqaEE4BXTLdgbl7LX6Xktmo-JZ3JgxSHQS4L_o1VgscEO-JkzUq6rzgIDaj1Y6pJ6C6hVgvn3vWkvTZTr5kIvD4gyxs22eVgrl3y83SLiK3KCUCWz4YvIO8nu_eN4TnpQh5Kkphf_M99xd8aCQuyKZOCfV029kMk6QHZ_mKqi7G9FaBpdLiBFQIVXH7HtDNsPGwoRmIrnd3SajBfRvqWeqkK8vwCHqExXGId5MItMVa_qDbvGeqfYQ-SB031eRpFuGNStE7TlYJmjI1TmmGs1v7e4nSSPdsYeLUg17fWr-vKZt3b1U4Aa3WHZTIXBc2LxeC3j0BgdVIU-ooBxCj8nMhotT4pOOs9khub7Qb",
  "id": "rs_0a8281e2001712b8016ab46533bb8c87d0a8b896a4c3cfc6e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.34,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pale toy has settled inside the safe. I’m withdrawing upward and moving above the brown plush toy in front for the next pickup.\"}",
  "call_id": "call_T24apOIYqzZ3FCDbTaWmqjQV",
  "id": "fc_0a8281e2001712b8016ab465393ea487d08d2111fccc7426e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T24apOIYqzZ3FCDbTaWmqjQV",
  "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]: [-1.2449, 1.8389, 1.4044, -0.7277, -0.8688, -1.0145, 0.9963, -0.0208, 0.8059, 0.6178, -0.4728, -0.0185, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.2626 left_y=-0.3446 left_z=0.149 left_yaw=-0.0359 left_pitch=-0.055 left_roll=0.0494 left_gripper=0.9963 right_x=0.284 right_y=0.001 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.077 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -12.4376, 8.7316, 0.7937, -0.7106, -0.1294, 0.1001, -0.0889, -1.853, 7.2274, 2.1563, -0.0171, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bc81908162e4fb5705925276e2121498487fcb5a09c9586833ebad9203fbed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8971838b9606767aeaae960c8579fdd9198036cb9d59dde50521599b1f201058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5fe4cc39f321699a02eb78ea6bf911b0338881d879ea9ad37bf413b2721588",
      "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 · 2.915 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 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]: [-0.8303, 1.9305, 1.7, -0.7307, -0.622, -0.614, 0.1094, -0.0208, 0.8814, 0.696, -0.5789, -0.0189, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.4075 left_y=-0.288 left_z=0.1866 left_yaw=0.006 left_pitch=-0.1514 left_roll=0.0766 left_gripper=0.1094 right_x=0.2822 right_y=0.0011 right_z=0.1589 right_yaw=0.0031 right_pitch=-0.1804 right_roll=0.0008 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -10.5231, 8.7179, 0.9841, -0.5299, 0.0806, 0.1343, 0.0068, -1.306, 9.9761, 1.9658, -0.0317, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8165, 2.1227, 1.4719, -0.3973, -0.6029, -0.6117, 0.9952, -0.0208, 0.8837, 0.6956, -0.635, -0.0185, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.2914 left_z=0.0494 left_yaw=0.0184 left_pitch=-0.2218 left_roll=0.133 left_gripper=0.9952 right_x=0.2723 right_y=0.0012 right_z=0.1485 right_yaw=0.0031 right_pitch=-0.2391 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.0786, 7.1453, 1.2332, -0.4078, 0.0024, -0.1392, -0.1709, -1.6205, 6.8581, 1.7167, -0.0171, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2449, 1.8389, 1.4044, -0.7277, -0.8688, -1.0145, 0.9963, -0.0208, 0.8059, 0.6178, -0.4728, -0.0185, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.2626 left_y=-0.3446 left_z=0.149 left_yaw=-0.0359 left_pitch=-0.055 left_roll=0.0494 left_gripper=0.9963 right_x=0.284 right_y=0.001 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.077 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -12.4376, 8.7316, 0.7937, -0.7106, -0.1294, 0.1001, -0.0889, -1.853, 7.2274, 2.1563, -0.0171, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bc81908162e4fb5705925276e2121498487fcb5a09c9586833ebad9203fbed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8971838b9606767aeaae960c8579fdd9198036cb9d59dde50521599b1f201058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5fe4cc39f321699a02eb78ea6bf911b0338881d879ea9ad37bf413b2721588",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVDfsPGzNxxG-bj1pzd4hZapJnRDFNWVIZH51o6NG097aDaHmvnoASgNoy2IptUwPdQ7veojVoL6vt65rTI3BXG1VJTVEHu2xZlMIbI16E747mjUEzZEZto7vg3ecMcdYRY_4bFPXL0soYOKpfXzkTfbrS2QueFKFYxRCvAeYbOT3Ihl8a3HQgP2tw-Lzner-KqJqqE6qGhl4NFkqDMAMrnuzx-_gDxlJidIRU8x8gpdtCQR2PIUaL_aT07unAE348dwA3viEvYxPxX8yx2XCovAGp91hBrWG3wJvAGfVO_exauUdkIac9mTdoaYv1X9dwXCMjCaq5jFq9aR8wCwPGi4tfH6W68_Q1amhOFrohobn2hgwTRDUr3A0a3IUZEtkvC4g_EAAlRp3vyf-rOsb_RoEAkr9OMTD_d6AW2QRbklbQWw1uVAlRt_9NWW0Ixlh2sn_T1EmJRqgtNGIZT8ZQk5FWxcQshDResgtNJMRHmpXTX4I6UXuVpJ-Nq4ZEI0UDBiGEhRF1mTBWEnFp7UdnSV5t-6OPetPRdmyI8MPFNnCgc0dFrLmryqrtN4zl0SOn6XsoWHwh0zu0A48HCd439DaAn-gS6hCP-nF7x2TEr-4igt000tSH9Vs3yAIgdmENmJZbMatwIPd2a0EKCSOkJWlFdVBzVWp6Z_uytYylztwzMRngTZoz_gtHvvcCMuO-lINzLEGp0PR10URRGTnMCA2l_UcfkX8cAvWrZIjEKJP6cdMjpdBP0ai_O-7R_MEojQQywAXNs4Z5rfzJ1X45CLYJu__MBcn745jf-3f0NzO3L2HsgksVshkygXPyqoTW7mmG371mj53k1iiqPE3UiOzry5XOxKNXMWJBUzHSX0HW0GHj2_MZXCXr2HBjvq9W9wxnYjZXjLfjliIf-Q4OJR2kla0g4IfGAWCx1-9UBZO0OngbSjvfchO6pIv4i3eqTe3kegWL6QUQNffD2UIZIEbJ-wTZF9Fq-0AErbA19TbIzVTDlKVMfj0SVDZ4Cx-oe6DEM06CjSav7vHBuS7-cPwuB211l-o-4nlbVPN-P1WOHKILKDV_8kF4elXh5nFqptj5GfWI007dA1TUlKaB6hLmznPItMPYIYpBSjnRLKUCM0Iw8zrTNZxNPH6dPTRvgLl68Ag816Dr8MchlEpdMZi11o7LXc45H91WyqRQ1PLu0gzyH_j2hY95AosFkgUaVYPGMk7ve2TUlaqKLDI1HNxOOjd8lkLJV3ZJtg-dsAK1F7MkRQzGazq3kWRN9u2JnMKhJHrvNWOI0-1UEHljvkdICx3EIxwQaBwfrlXKH_Y2xS-Ex60FLj24x3G55PZ4mxQ6pg0Nh7HLFKzCQpJVuDysh92XoslRobdXsHEXcMBCFFR_JsyiAZQGEhi7A4_Qh3IansYnqKXnwqtDFr9299mlOOhtEH2U54JQRupkAs7Emk44cD3AtPJP2Mp21m0l8Xg8I9p299TvPhSV3yqmK5b0nTxAIRYV3fvqKXT5srA_jdUjEbgEC8Xd7jJUMQFLmr3o4wUYsbvHFPoCrQPW0TtmnvPsVoirppcgopMs1qhtx2sbLh8108GcPWeR4aHc-r7Bkh3GZGgIly5hW7RXb7UtsTjkAChDoFS5w71xkkFbE5PU2fz38Wx1YiEqfpU5mIBfcfnPLkY_vpkylNsoe81dxKU4lXkDDHHLAFVFrVWgOVvPsQpZraXTIwHFikvIq0LoGDr-3wGhpTlFKgm9cxw==",
  "id": "rs_0a8281e2001712b8016ab46540135087d09004526410ef0c07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.33,\"left_z\":0.035},\"note\":\"The brown toy’s torso is aligned beneath the left gripper. I’m lowering the open jaws around its middle, away from the safe’s front edge.\"}",
  "call_id": "call_sWfERGxvKbqAhuzF567tpNKS",
  "id": "fc_0a8281e2001712b8016ab4654349c087d0b60d7bda958daa6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sWfERGxvKbqAhuzF567tpNKS",
  "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]: [-1.2034, 1.9518, 1.1069, -0.3073, -0.86, -0.955, 0.9964, -0.0208, 0.8097, 0.6159, -0.4953, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2723 left_y=-0.3248 left_z=0.0445 left_yaw=-0.0311 left_pitch=-0.0611 left_roll=0.0851 left_gripper=0.9964 right_x=0.2805 right_y=0.0011 right_z=0.1581 right_yaw=0.003 right_pitch=-0.1053 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.253, -8.3761, 4.6974, 1.1404, -0.2466, -0.1636, 0.0024, -0.0889, -1.5521, 7.1043, 1.8779, -0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7d370632c498395980f69317c728ab706812d02f18c83ff7ecaf3f0df05866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792a5d54c3a3422bfca53868fada85cbe59fdc35b8cbc19a18f40e55d6e910f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:403333563a059b4826c9df6d032e23cb33bd6242be2446ba175047fe69224ad1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.09 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

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]: [-0.8154, 2.093, 1.4853, -0.3866, -0.6067, -0.6067, 0.1114, -0.0208, 0.8837, 0.6956, -0.6121, -0.0185, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.4217 left_y=-0.2957 left_z=0.0699 left_yaw=0.0111 left_pitch=-0.1835 left_roll=0.0982 left_gripper=0.1114 right_x=0.2764 right_y=0.0011 right_z=0.1524 right_yaw=0.0031 right_pitch=-0.2162 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -10.7692, 5.7368, 1.3846, -0.3394, 0.0806, 0.1978, -0.0889, -1.853, 6.8444, 1.8437, -0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2449, 1.8389, 1.4044, -0.7277, -0.8688, -1.0145, 0.9963, -0.0208, 0.8059, 0.6178, -0.4728, -0.0185, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.2626 left_y=-0.3446 left_z=0.149 left_yaw=-0.0359 left_pitch=-0.055 left_roll=0.0494 left_gripper=0.9963 right_x=0.284 right_y=0.001 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.077 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -12.4376, 8.7316, 0.7937, -0.7106, -0.1294, 0.1001, -0.0889, -1.853, 7.2274, 2.1563, -0.0171, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2034, 1.9518, 1.1069, -0.3073, -0.86, -0.955, 0.9964, -0.0208, 0.8097, 0.6159, -0.4953, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2723 left_y=-0.3248 left_z=0.0445 left_yaw=-0.0311 left_pitch=-0.0611 left_roll=0.0851 left_gripper=0.9964 right_x=0.2805 right_y=0.0011 right_z=0.1581 right_yaw=0.003 right_pitch=-0.1053 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.253, -8.3761, 4.6974, 1.1404, -0.2466, -0.1636, 0.0024, -0.0889, -1.5521, 7.1043, 1.8779, -0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7d370632c498395980f69317c728ab706812d02f18c83ff7ecaf3f0df05866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792a5d54c3a3422bfca53868fada85cbe59fdc35b8cbc19a18f40e55d6e910f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:403333563a059b4826c9df6d032e23cb33bd6242be2446ba175047fe69224ad1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVHfPtfLupxabIeLtBNcKQcEoUrPcn0daylK56_k_korh24C3CZuRfba2Y1PAvUpkcwWy3rDEVmognx8bhGZNP6ls5VmLwu7F6uPnnNy6jYwG9__j3pztyzFdALaMsoqrGqfdotu-O1oumV1NAP3fZzpFC8tGIKUkBqKwSGZgBSziFABdq6R9KX7BbhIhwcgM5XwVN6wePY9X5Mke8UrKc4Q5AILBSlfTS1EdkypXJyFIl1JGTfzlrBVHPKZykBlWTRx0AkLngOeoYLousuAnwQdNtmoXQgiDbkpAChcPqxjRAhADzf_Nm_vUVGtKAQWELEaVuS76j58pERmZG71L306DvyMS5rIjhjJiXpszhZLoPXldo9omTPVd9dLXdxEpevOmtA6c1FED58jQINdAYGal5YWcBf70Arr6AmrJ5rLiX7RplLiERBXaiunH6JFgadjAOGnjyb1aNDKIlE_5ep5AZk_PICFqlYVBs4wpe1Bnn6jelPG36p7PmXSEsvt7nFwKrTycAJhLQs2QiWV9NoReDg6dnLuDyoU9KTMfNCzwiGoRMJeyzesZGtPaM75dm9EzH5am6DOtWps0hjIPAQCq7vtjQD2rNM_jAlB1EN63OKDAI2mRxSRfBpImtvkKw7ChXFHLUliBkwlwbEIHyEenDltMF5d2Ii74WZ2xgZxeNXToCOHzKpl33jokwJTdwI7a6zF17n-Jo-89TF9Ognu-2eNC0UfOKsledMFO3lcgx6twu5v4uYgnnTq9LaRt-i2xBVvOIv_-QxaeFtXuCRZk5q87HBTdVO8L0nwAqPiL6ZzdDgaQWtlm9mFHkipyM6Cp8SCuJ3z3DHWq2PDCm_5G4xtqnb7K-QtewzgfAGba5ggd8GH50uDctVavFe4m_kth4cNSHghgMVb1g3waEQO_gDuxlaJHWU0PYfDNmnxlr5v9TOWEFOlTEqDFuGOs62KBEhdL65mtNmRw3pLvdwWvdHX51IA1kd3A8du9JIgrRrTuyXqUshJmwo3fBUIXCD5F-tKi6_Yd-KPQfGqN5zsnXiZlO9UWE_JZg0Waf452OxR_oKny897avjm0fdGsoMLbL3ZoRk-1aXMhnhV5gfHhBM0TTEFi-lOE_os4v6z9PSBFSoCjcc39KC3S2GKAgqhYyLCfhmLoRkTsJxBVxKou6D4DrEEGIAx1diVBhYrEAmg4g1jT6t1be8JiIleilar59u4rldFv5TvsIEeXF73mjRtaDWRynW9R9bnD9FF_HI9GVTxT1WljvjOeT7w4vwSuzqHbSRxgk1MaI6dqI20cqKppqEJNpRysIIWiwoQPjALU_TAio6I_eqUThkm3NjzpCv_9IflTZwelzp5YSFrYzzQJEJbMr6XeEQUaQtQL4_Xn1f8LCwfND67laGrXlcqFN4KFT9f-M-pnIHolytog==",
  "id": "rs_0a8281e2001712b8016ab4654611d887d08a1828259a1ce93f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are down around the brown toy’s soft body. I’m closing to secure it before testing the lift.\"}",
  "call_id": "call_bTJn6GyGnmpRgHlgC4H8EuOu",
  "id": "fc_0a8281e2001712b8016ab46546bea887d0a45abfbfb70687af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bTJn6GyGnmpRgHlgC4H8EuOu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1992, 1.9629, 1.0966, -0.2993, -0.8646, -0.9546, 0.0104, -0.0208, 0.8108, 0.6159, -0.5034, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2731 left_y=-0.3207 left_z=0.0385 left_yaw=-0.0244 left_pitch=-0.0625 left_roll=0.0994 left_gripper=0.0104 right_x=0.2793 right_y=0.0011 right_z=0.1563 right_yaw=0.0031 right_pitch=-0.1144 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -10.3726, 6.2564, 0.8376, -0.4029, -0.0513, 0.7741, -0.1026, -0.8137, 7.0359, 1.8046, -0.0659, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e94273b6b49f1a28def73dc1925061d492a492f79bafcadde6fd657e6051fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b412823f3f9b2b64097c986f71b286d92964848797803386fe429d28ff8d0a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad2a848652c0dd0a5d7f737f8e5466564d6442a738fab14e4ba7be63368d85a",
      "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 · 2.897 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8165, 2.1227, 1.4719, -0.3973, -0.6029, -0.6117, 0.9952, -0.0208, 0.8837, 0.6956, -0.635, -0.0185, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.4161 left_y=-0.2914 left_z=0.0494 left_yaw=0.0184 left_pitch=-0.2218 left_roll=0.133 left_gripper=0.9952 right_x=0.2723 right_y=0.0012 right_z=0.1485 right_yaw=0.0031 right_pitch=-0.2391 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.0786, 7.1453, 1.2332, -0.4078, 0.0024, -0.1392, -0.1709, -1.6205, 6.8581, 1.7167, -0.0171, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2034, 1.9518, 1.1069, -0.3073, -0.86, -0.955, 0.9964, -0.0208, 0.8097, 0.6159, -0.4953, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2723 left_y=-0.3248 left_z=0.0445 left_yaw=-0.0311 left_pitch=-0.0611 left_roll=0.0851 left_gripper=0.9964 right_x=0.2805 right_y=0.0011 right_z=0.1581 right_yaw=0.003 right_pitch=-0.1053 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.253, -8.3761, 4.6974, 1.1404, -0.2466, -0.1636, 0.0024, -0.0889, -1.5521, 7.1043, 1.8779, -0.0366, -0.0513, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1992, 1.9629, 1.0966, -0.2993, -0.8646, -0.9546, 0.0104, -0.0208, 0.8108, 0.6159, -0.5034, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2731 left_y=-0.3207 left_z=0.0385 left_yaw=-0.0244 left_pitch=-0.0625 left_roll=0.0994 left_gripper=0.0104 right_x=0.2793 right_y=0.0011 right_z=0.1563 right_yaw=0.0031 right_pitch=-0.1144 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -10.3726, 6.2564, 0.8376, -0.4029, -0.0513, 0.7741, -0.1026, -0.8137, 7.0359, 1.8046, -0.0659, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e94273b6b49f1a28def73dc1925061d492a492f79bafcadde6fd657e6051fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b412823f3f9b2b64097c986f71b286d92964848797803386fe429d28ff8d0a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad2a848652c0dd0a5d7f737f8e5466564d6442a738fab14e4ba7be63368d85a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVMIBNxrKbF2BmFFt6aYux51QwKUOizPbqB35EQ73xgBwhvBTbvhQzbjpu1H0elIiY73or9OHIHz9E34V3Bsb_Wv9xf32r8hZNgczmLK_Fy660bdrR1DSoTuSd0YCG1bStKWPkSZTGoOxgHHDoGhKMkDM08e3xaGiaoc7ijRd5IJ-qs3YCFbB7ZJSE55GzZE0ynrOA8hSIwBmv--8I3zZkOJhWKI5TrGPKNPyumh_eEYBNLasOETmgX9ds0NoVw7hRqrzhpbP4kqAmCSvtXB2iT0OVBwLlFmznY3Zb3GzbSWiZN4eM6Xl1GsJWBSPDbH5NZht9UZ64yoSFiove2vSwfzk77jHN7UcAb3_4KoRZ_neGMnVWVIq5YMTOhWqAoyQBC_7WHADRCQ4TvAYoBKE-V48ipgRRfM63jgvEiICn-NPKNIz8sNDoC6qXBnQKIJTsHso5DX0136qcAgt2jy09xH0QR_IpneadgFIbKuEFayVbG8QUkkRuRlSErFnnyzUPEQMh010k9m5JjHlwpHXba4-qLekJzXwg30QE8U_xFLSVHFVwlnpoCpjPUBmco7098UcRgYR8TPc_CeF9d55VU_gSNSqv_O5xk1z2jEfsCLDo10-jWNVbDwVSFqdJCQIYIIuiDMnQE0qlA-kun2IsTCLco7smE_Xp87sfF6n5ix6-hkiRH4OLaJhhrbCPjWeMi_P367LOVJLOYr3qKZ-iLONmBfWdddCs537hmmZi42p9IFh5mfQcKU12p_BC49211DJV_E_bGzXFXkY76fB-Y5lROff4SekryQGF_C41z5kMU04tjDA4IHc-TH39HESqlhDU0KVJ2pdpA11io09p0osi2xy2M80_mKFkYUkzlZqyvlidkltj3QH-Z37sdMkF6HEK382ryvTc6yKEpTEzrj4X9WsDH9iVW00B5YSvbnkADVoQf8kNzN8pgGXCaRUl6pz8Fw1GhRuLiG4SBnrdCenk1GkS5JkgcdExYmqDHT6gdMu9zMkWjlb_-_Ooxu2j9CTNDVZrmMpGf2fqDpQ7oz8Ab-yMF3kQhfL_YKg8LKZB7jb-NClHTb0rLlBPpvTFElookLPraMSnYHVL8RbkJFgAwgYFCgMcSMc4ZAacLiw4u0yNQUJPzeRpmrceWY8YboL5qgafcV53oTwLVBQU2bjtSPT1kAxKufaCn1oWpRkL9jjfUFLvRviA7evOs67XizHvgg2Yr-jWDWgCvbHpol1grQuIJKMXYtKcYN6h4eyGbjimnwAHsgTrMRUF1Lbp7gPf2yLQ-0jet9SYCggMkh6cPC9Kw5hPrvqQml-2qmfy7Ik821XTuxC0yCBbGA6iTHAU0OHdPksustUJggsMmBMi4-epLZoKWJiH25UJL_oW90ZVOvn3CdB3FhRTzygeZI5I9F-clhhW7Ze2pmgFVZyoOWE3A5FdeffJkz6_Lo0mKZjpccxzpHgbvA2VVdiNdyRaVdbqsvxN58AhHNnMePIh6506lyz8sJCWNeOMyj0HmKQMgZXwylYd5s8Xqj_mSv9mS7nOCLMThbF_VmjZe3yk7YaKMd93XFjTUw5LL3pZSFLSAaUOHTK_QFlp-dOpZ8BvIGo-8bz3KnaTxNK_legG0HXZVs-AR8Mzah6gZ8fmtxl6Z67ueyQ_jNtSMNlngdUZ0qCsgr-4CopIoLCFolw==",
  "id": "rs_0a8281e2001712b8016ab46549c8e887d0a639372fce702b6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.34,\"left_z\":0.01,\"left_gripper\":1},\"note\":\"The gripper closed to its empty reading, so it missed a secure hold. I’m reopening, moving a few centimetres farther over the toy’s torso, and lowering for one corrected attempt.\"}",
  "call_id": "call_tj3aAHXuN7k92KJkDfL0zVM1",
  "id": "fc_0a8281e2001712b8016ab4654b5fc087d0a8536cf682c21509",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tj3aAHXuN7k92KJkDfL0zVM1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1454, 2.0922, 1.1702, -0.194, -0.865, -0.8967, 0.9955, -0.0208, 0.8116, 0.6159, -0.522, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3025 left_y=-0.3333 left_z=0.0162 left_yaw=-0.0046 left_pitch=-0.0456 left_roll=0.1008 left_gripper=0.9955 right_x=0.2763 right_y=0.0012 right_z=0.1526 right_yaw=0.0031 right_pitch=-0.1339 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -8.9641, 6.7487, 1.0769, -0.2027, 0.1538, -0.1343, -0.0615, -1.2923, 6.9128, 1.7851, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a57fefc6b3579e90d38740e4070665d6f31d7a8c12b87f2e8edd755690dbf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53099e4b43732a348004c97165ed1e5ded154f3818f515ac1b2e2fa21f2346fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b812c5b83692991cd8f043361887ee51aa584a8e7f40b20d74dff4e4736afe27",
      "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 · 3.043 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2449, 1.8389, 1.4044, -0.7277, -0.8688, -1.0145, 0.9963, -0.0208, 0.8059, 0.6178, -0.4728, -0.0185, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.2626 left_y=-0.3446 left_z=0.149 left_yaw=-0.0359 left_pitch=-0.055 left_roll=0.0494 left_gripper=0.9963 right_x=0.284 right_y=0.001 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.077 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -12.4376, 8.7316, 0.7937, -0.7106, -0.1294, 0.1001, -0.0889, -1.853, 7.2274, 2.1563, -0.0171, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1992, 1.9629, 1.0966, -0.2993, -0.8646, -0.9546, 0.0104, -0.0208, 0.8108, 0.6159, -0.5034, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2731 left_y=-0.3207 left_z=0.0385 left_yaw=-0.0244 left_pitch=-0.0625 left_roll=0.0994 left_gripper=0.0104 right_x=0.2793 right_y=0.0011 right_z=0.1563 right_yaw=0.0031 right_pitch=-0.1144 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -10.3726, 6.2564, 0.8376, -0.4029, -0.0513, 0.7741, -0.1026, -0.8137, 7.0359, 1.8046, -0.0659, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1454, 2.0922, 1.1702, -0.194, -0.865, -0.8967, 0.9955, -0.0208, 0.8116, 0.6159, -0.522, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3025 left_y=-0.3333 left_z=0.0162 left_yaw=-0.0046 left_pitch=-0.0456 left_roll=0.1008 left_gripper=0.9955 right_x=0.2763 right_y=0.0012 right_z=0.1526 right_yaw=0.0031 right_pitch=-0.1339 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -8.9641, 6.7487, 1.0769, -0.2027, 0.1538, -0.1343, -0.0615, -1.2923, 6.9128, 1.7851, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a57fefc6b3579e90d38740e4070665d6f31d7a8c12b87f2e8edd755690dbf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53099e4b43732a348004c97165ed1e5ded154f3818f515ac1b2e2fa21f2346fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b812c5b83692991cd8f043361887ee51aa584a8e7f40b20d74dff4e4736afe27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The corrected position puts the brown toy’s torso between the fingertips at table level. I’m closing again to grasp the soft fabric.\"}",
  "call_id": "call_S7Z4WkrNnqQPYPKquB6HSgjx",
  "id": "fc_0a8281e2001712b8016ab4654f61d487d0825a9486c2a05461",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S7Z4WkrNnqQPYPKquB6HSgjx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 2.0979, 1.1725, -0.1753, -0.9035, -0.8986, 0.0379, -0.0208, 0.8116, 0.6159, -0.5449, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3071 left_y=-0.3321 left_z=0.0207 left_yaw=0.0144 left_pitch=-0.0078 left_roll=0.0994 left_gripper=0.0379 right_x=0.2725 right_y=0.0013 right_z=0.1484 right_yaw=0.0032 right_pitch=-0.1567 right_roll=-0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -11.0427, 5.0393, 0.8327, -0.0708, -0.0513, 0.8767, -0.0068, -1.2103, 7.0496, 1.8046, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e88525742a1f71c95ee41d2fb489d55562bb2b0358db492e544d855ed43a5976",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590230f84a6a10edccc1cad8dae20560e7bf0238d7b76000e8fc728e6a7f696e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901340f3edc7286ed8b6e77aabf924eeb6bb80fdc7829413f56d3dad82d5747a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.676 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 47 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2034, 1.9518, 1.1069, -0.3073, -0.86, -0.955, 0.9964, -0.0208, 0.8097, 0.6159, -0.4953, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2723 left_y=-0.3248 left_z=0.0445 left_yaw=-0.0311 left_pitch=-0.0611 left_roll=0.0851 left_gripper=0.9964 right_x=0.2805 right_y=0.0011 right_z=0.1581 right_yaw=0.003 right_pitch=-0.1053 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.253, -8.3761, 4.6974, 1.1404, -0.2466, -0.1636, 0.0024, -0.0889, -1.5521, 7.1043, 1.8779, -0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1454, 2.0922, 1.1702, -0.194, -0.865, -0.8967, 0.9955, -0.0208, 0.8116, 0.6159, -0.522, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3025 left_y=-0.3333 left_z=0.0162 left_yaw=-0.0046 left_pitch=-0.0456 left_roll=0.1008 left_gripper=0.9955 right_x=0.2763 right_y=0.0012 right_z=0.1526 right_yaw=0.0031 right_pitch=-0.1339 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -8.9641, 6.7487, 1.0769, -0.2027, 0.1538, -0.1343, -0.0615, -1.2923, 6.9128, 1.7851, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 2.0979, 1.1725, -0.1753, -0.9035, -0.8986, 0.0379, -0.0208, 0.8116, 0.6159, -0.5449, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3071 left_y=-0.3321 left_z=0.0207 left_yaw=0.0144 left_pitch=-0.0078 left_roll=0.0994 left_gripper=0.0379 right_x=0.2725 right_y=0.0013 right_z=0.1484 right_yaw=0.0032 right_pitch=-0.1567 right_roll=-0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -11.0427, 5.0393, 0.8327, -0.0708, -0.0513, 0.8767, -0.0068, -1.2103, 7.0496, 1.8046, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e88525742a1f71c95ee41d2fb489d55562bb2b0358db492e544d855ed43a5976",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590230f84a6a10edccc1cad8dae20560e7bf0238d7b76000e8fc728e6a7f696e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901340f3edc7286ed8b6e77aabf924eeb6bb80fdc7829413f56d3dad82d5747a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVUSuEcMMnTAPjmuYUK12WtNmDCXCBC54QPu5s7ZrpUUQXB5DjYHNpuyjOkWjNlZJ0KUEtTPKVeD7SQ2CrHi2wyXwBaPkRbdtAaN8142wP7cXJJp278FejXdbRk52kdNUHRNcGDVyMVuMgZ0Ql2hx8BP34jlM0mVMpiqlSQVQAqsQg0BA7wa7SFllfz-wj5lleyU9EQIMbTF4w7rwiNPEdwPWM0x7VpHmZv-0WNto9sExS7ht1DI-RxLBQuqj9O_2L3KQhsiikWQBdH2EHVIz-FOMNwmeOh5FKirEhMDnjFG5URllYR31IGE5NyXYZWM59dg7iCOgAEXHHRD86cBpUSRlYNYlLF6xaTR232se41hG21C-kSqUCOMtgmLtpvWkO3yvhx9pBQlKcG99B38xaMYfpqS_pX2gmBvfz_8EA7c6QaSyCzu2mFBT_zBA-g212EDIKxwPeMATBusiRaXUu1mjT5ERDP0ncELjeLOYn6Vyf0MWR5XuW1GdyGy_jigK5nbS3PTnKyNQ8w_nLmBCqthbMjTqtBSyRa3s8x_7RM2_gCinl1vLXO_xDqEHKaR8FRJDkIVpETNsq0IvVljil-WFKW5gH7E8O_zLDnC7igvVnfckb4GmwAIy8eyumuBluhDow6cHc4a7n0Uis5vy3RbDRnG5ADQDRHOBQnqy5Lo1Pxv6vsOBO2_N4W45W0_hfrGLDHZnZoKW4AfrGCRgoJrL4J5ArwP2hHmMmP4eR0xMCHCraJkbrQEzA8vVvoXw7gG-gnTWqS3aN13n-mo04zQd0pK6-umpwxZLwgRFwJyqzw0lM_xLiMOVjv4wroN45QXxO2ACmbH2_yvYy03QbmcLrJ0j2qDIFETHS0ByEe0ht60w27XK6Qq4eVkd26hiT11uerEyf9Fez50G8wYGtCUiYf7U27x8GMDpi078hc5pdHj8tnUq2ASzidauRsNA5zVXb7hSvvoeBcTmGCzcYQ08mesanmF_oCv8UH3ZXICa6Pck3FdvcRypKe78B4-mMGDuVmbpl74JVTfCdeQocxmqFii2pNPj6wdZSrSaXPzZ1vfs9SKtfRTnvKKtZYry3nRSM6ExDPzkvcXdUJ2vg5aS2V1zVihejjY2c49ozZGDdMdLhzv0BCM4lf7v5ZkMRxPtbfoX-BcwSWVD10FKDvRsTyvmb_iadvxckcAHlbiILP5YqmVDuuUIxom3q2tEs2iYZVnnbtntUrj1tJJNEVJM6OryAOTHDlk1hUnVPnDFP4AaqnGRzMYLaK39ZQnSrt",
  "id": "rs_0a8281e2001712b8016ab46553234887d0bf72d0302f5650f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The jaws may have caught only a thin fold of the toy, so the opening alone is inconclusive. I’m making a short lift to see whether the brown toy actually follows.\"}",
  "call_id": "call_BQe0soNXY8QWV2Nczi1pwDmK",
  "id": "fc_0a8281e2001712b8016ab46553712487d0add58588f66f8811",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BQe0soNXY8QWV2Nczi1pwDmK",
  "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]: [-1.1446, 2.0102, 1.2407, -0.3798, -0.8948, -0.9138, 0.038, -0.0208, 0.8116, 0.6159, -0.5678, -0.0185, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.304 left_y=-0.3275 left_z=0.0589 left_yaw=0.0198 left_pitch=-0.0333 left_roll=0.1281 left_gripper=0.038 right_x=0.2686 right_y=0.0013 right_z=0.1443 right_yaw=0.003 right_pitch=-0.1796 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -13.4906, 8.0752, 0.9646, -0.5543, 0.0952, 1.033, -0.0615, -1.0051, 6.9265, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3312fd2f662402fb2bab90aa1448347afe8f558da9312008196207e8a17ef251",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4295b2ddc75a3a03fa3562d8119445a58035090384be41a4fd7a05d0ca290e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff99c8b706769956bed6a72974101e2046c0a04eac135628ce5f4401dd6200b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 8.536 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 47 changed as sent

message 51 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1992, 1.9629, 1.0966, -0.2993, -0.8646, -0.9546, 0.0104, -0.0208, 0.8108, 0.6159, -0.5034, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.2731 left_y=-0.3207 left_z=0.0385 left_yaw=-0.0244 left_pitch=-0.0625 left_roll=0.0994 left_gripper=0.0104 right_x=0.2793 right_y=0.0011 right_z=0.1563 right_yaw=0.0031 right_pitch=-0.1144 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -10.3726, 6.2564, 0.8376, -0.4029, -0.0513, 0.7741, -0.1026, -0.8137, 7.0359, 1.8046, -0.0659, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 2.0979, 1.1725, -0.1753, -0.9035, -0.8986, 0.0379, -0.0208, 0.8116, 0.6159, -0.5449, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3071 left_y=-0.3321 left_z=0.0207 left_yaw=0.0144 left_pitch=-0.0078 left_roll=0.0994 left_gripper=0.0379 right_x=0.2725 right_y=0.0013 right_z=0.1484 right_yaw=0.0032 right_pitch=-0.1567 right_roll=-0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -11.0427, 5.0393, 0.8327, -0.0708, -0.0513, 0.8767, -0.0068, -1.2103, 7.0496, 1.8046, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 2.0102, 1.2407, -0.3798, -0.8948, -0.9138, 0.038, -0.0208, 0.8116, 0.6159, -0.5678, -0.0185, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.304 left_y=-0.3275 left_z=0.0589 left_yaw=0.0198 left_pitch=-0.0333 left_roll=0.1281 left_gripper=0.038 right_x=0.2686 right_y=0.0013 right_z=0.1443 right_yaw=0.003 right_pitch=-0.1796 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -13.4906, 8.0752, 0.9646, -0.5543, 0.0952, 1.033, -0.0615, -1.0051, 6.9265, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3312fd2f662402fb2bab90aa1448347afe8f558da9312008196207e8a17ef251",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4295b2ddc75a3a03fa3562d8119445a58035090384be41a4fd7a05d0ca290e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff99c8b706769956bed6a72974101e2046c0a04eac135628ce5f4401dd6200b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVZohJIhCyaVAAHsqYq_Q3WUZ9saqRl1FvV_KJ18X-YQxOGj7V5q-kq4ofxs9erTGwzyxzratzud1An4Fa6vCckdylfSUay2wt0x4OM4Q9luq9TTSDC4orP88KLcadH6atfJ1LjmMIif7tW729OWmzm-9e3gSHjmj9091EWhlx014-9830CVR2x4ksNno8x-w5fdqxmE0yuUOLiRU7RA6tDzM604LUBg73j58mjGmOxJ4SgFmFBtfd5pOQ8BzYeQf8KBEUA6hxSR2J43jkrhOsAIIeXqPqC9l6ctWpXPXqtPjPVaPNeSlapNLyNKIZQlSK4zcAnbypbS5MOPtfvuKTPYljoWQ_gJFofneV_uoccc5NADTt2MMkSrGvS2fcZbmkZZP2E9uwr_69bwbVOxYNMHnDFcQIj93PHSqwvWyxRfzd6CZKYYgXvDLi-f7yh0TbXm1oCDCmeBFvpB-r8eicnNn-evOGb4R8ZS0ePqdVuvIS0bWijPLZDKUVz45Lxg8mSj_M2HD29QObSyz59mx8S3bXvS_yAPEAp7i5KYJxr03AsyLZB76ctG0LifpVc_x2l7NbsLqO6RYv51MVzDAwvHrbXjT57TwLAYZeznN8B0IRXqO7-sGr26f_Wc6QVDupLQtAjHY1oopfTvysYi0jatK1bk7Vrlw2kjrlUQLCekurdt9M8fvOMLGSpYahGgqkeGBLXdG5eOsgiSyhCn3YiQOM4eyQlrdnckfrxYQW80QRQ2Cw8r-YKjVeAqHMEFyLQtF5ntdHQ4OmI2sri-yAfuFt_4Z5KI9hfGtA7wcAsgO9WiV00R9H55l2j6zMUMi3ThX9_qjOVWo8OYNc9ooFhO8sTiIfL04ckTzH98iRb-LEH2zkX21qWPUjm-UXa4FRsg2uLfKsRSFVqz3scAHqvNkkoyPZn3xnU8lT9TWpTLnfcWi1SREDyeu0IM9lamQWe9deuNOV_kjr1rXnoHQ-jYsJ2B_vbfStfdmFVhLSruYZ2V3MHf16G7kys2tf00T4GSXmjlYi2UtGhspo570HGC2KBp8ZIKHY3G8xifrEqycSKnSBzX1_kNh5kbW_UAi7IQ2_-gFwmLWAWQAZ9iICIsYBUbzVzZHX0TsMKZFbE-z5sLgh_MIv9dt945yVNEPwtc0XgAAsLJaYyFogz7nTn2TTvJOQeGbTKQxM_OOYDw2aDtra0IV1pYvdo13ExEZQ3caKZPvVVn897YgDEbOlU-CCrwxRrOlTFBY-Yb9xZ_wEEpwNR4Hoy3PrTGtwzDNVEPwdHEGRThaKbq6U46ET1vVo63-Thw92eI17BBZsjmjWoZghncwT6NdNJFBo99DhnbTUEniSOZCvbgfmxGh8F_AmPmD8KDr523n9pSK_zR32yZ0eXfio8bwRk53Hk3xY7o_HbgA1miG12gk4YNfgHlyhyqff3cT1VGWgD76czpUsTPItFaOnErPOW-b1FpGudSN_irTRvPC9azEJl-6V_NgrxiGJ_EoCFnkoxmJ8fowwzk_q2VEGL697beAy3VbW92LBxpINkpKBLldGkAP1JcBF_N2evBdPm0rxP81iPe0g=",
  "id": "rs_0a8281e2001712b8016ab46556adc087d0ac547c27f81ee120",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The brown toy appears to be following the fingertips, though the grasp is on a thin part. I’m raising it clear of the tabletop before moving it over the safe.\"}",
  "call_id": "call_Nt5KkGjZtiUl7ScqtKSE3LoV",
  "id": "fc_0a8281e2001712b8016ab46558330087d0a24559092fdff25e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nt5KkGjZtiUl7ScqtKSE3LoV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 1.9087, 1.6138, -0.8913, -0.8776, -0.9291, 0.0405, -0.0208, 0.804, 0.6159, -0.4747, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.332 left_z=0.1778 left_yaw=0.0226 left_pitch=-0.0612 left_roll=0.1435 left_gripper=0.0405 right_x=0.2834 right_y=0.001 right_z=0.1636 right_yaw=0.003 right_pitch=-0.0789 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -12.9846, 9.1692, 0.9548, -0.569, 0.1001, 1.0281, 0.0068, -1.9214, 7.159, 2.1807, -0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ca22208e6c118a107b13d8fa2b304b4a292f80326c15d396210d19731f73d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b882bdb85338b39ee3bc5617e31ebfca72881bf6575bf59ae75baa9fc72fe371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40800779619c79adfee8f2d8dea19862c9dfcf24825dcacf05a1397b7fd29d25",
      "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 · 2.566 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 51 changed as sent

message 55 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1454, 2.0922, 1.1702, -0.194, -0.865, -0.8967, 0.9955, -0.0208, 0.8116, 0.6159, -0.522, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3025 left_y=-0.3333 left_z=0.0162 left_yaw=-0.0046 left_pitch=-0.0456 left_roll=0.1008 left_gripper=0.9955 right_x=0.2763 right_y=0.0012 right_z=0.1526 right_yaw=0.0031 right_pitch=-0.1339 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -8.9641, 6.7487, 1.0769, -0.2027, 0.1538, -0.1343, -0.0615, -1.2923, 6.9128, 1.7851, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 2.0102, 1.2407, -0.3798, -0.8948, -0.9138, 0.038, -0.0208, 0.8116, 0.6159, -0.5678, -0.0185, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.304 left_y=-0.3275 left_z=0.0589 left_yaw=0.0198 left_pitch=-0.0333 left_roll=0.1281 left_gripper=0.038 right_x=0.2686 right_y=0.0013 right_z=0.1443 right_yaw=0.003 right_pitch=-0.1796 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -13.4906, 8.0752, 0.9646, -0.5543, 0.0952, 1.033, -0.0615, -1.0051, 6.9265, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 1.9087, 1.6138, -0.8913, -0.8776, -0.9291, 0.0405, -0.0208, 0.804, 0.6159, -0.4747, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.332 left_z=0.1778 left_yaw=0.0226 left_pitch=-0.0612 left_roll=0.1435 left_gripper=0.0405 right_x=0.2834 right_y=0.001 right_z=0.1636 right_yaw=0.003 right_pitch=-0.0789 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -12.9846, 9.1692, 0.9548, -0.569, 0.1001, 1.0281, 0.0068, -1.9214, 7.159, 2.1807, -0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ca22208e6c118a107b13d8fa2b304b4a292f80326c15d396210d19731f73d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b882bdb85338b39ee3bc5617e31ebfca72881bf6575bf59ae75baa9fc72fe371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40800779619c79adfee8f2d8dea19862c9dfcf24825dcacf05a1397b7fd29d25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVi0pWjPvqJgoffxKvh-R1M4CxH-aqyqF4Ng8dT5g78c0AsCtc3ojT-p5NrGrkzejV4UTzcZAOkQ4G3LWCE0rWhth-aeyzLGKpiy8VXYV_wGdp28M33UiOj75ZeiWspiHorekk5sVvvz4ifn_xTxOdXpUFcY85XMnL3Kc9CH0EivUsjhtW03tbtLndWRg-xXYGqOIYpWZ7QnBUh6ExzMLw7cgr6hY0YC6YtoVRfhhGVXMsX41_zQM4_KGfoB5fqh4BTB4Db50V6vyA3papQmDJZ8oW9AjekPs4KypR3mkjo2Pn4paYTeYvcoo6Xw6BAufJISJKz8wqnNYS7pBlbyp2IGyx9mKlsPJdVRkEoZRLP51aRDRLfQgUJp71PizCA6TLbMP3e7yvdgnNjgfZo-HC4B_e42cEPsXyYJNiISke8M-cCVMaGNIJhls2odeNf02EkUlvXTmoKRC0HmlL88srUY2z7TT323Gh6XoTBf7WVT3_8_2icvW8sycpM_mtbgnOmd3zy3ydOiGKOR0E9F-ecXGP28ZXJ4b56hXNC9Avxfg69gFQMQIoe1KIJRp9vtTLdQE5Qy9fJr78kCNib5qi_W_OdKKCW34eqJXYjvwFUDNRYjKgOhA4mTeXWr7W8GrffDu4N6g5c2jab4t6N4a4RmLoCOfK4lPf4DjM9sfzsyqrcTn2_Ao_NkGsJfqtq2A32-MmLO8fAFrxe0FC0aRcLWiEF6_ljVORXY0phdczclhCtMacOA9tQIXCufaMH0V-m6EMph11pDjNcnSpa-Xf7BBc__hrfEoDesfZcxo11dZ3n7eHI8JopwZfn4pcQrJJAlXdFBFEacdHxeMy2E1twbwqEyZZGvP8vKEz8O0B90GERYDa10Vqrpiy3boZ-qAc3K_3HqT5pKpKZu0JX0bppj4fOjLd5wOtiNzztPdEksJppcrv01ElL472err1cmvr6DoC-t1PcU7uVNz3OFJKmVTOBFTCpYyFHNQq6n0LbxEl8Cjttops067uz8GN3Mn1mOHYM0KH2EjbTwcW9OKopb8cYVSC_bwH1fxUs-Z4nn47kv2-2nrvXBaEgMUIf-0u_nTOKlKLDZPnEvNtoSWwVCDWqobQ_ALMaeG_Pv-uJsicw4B_E96qwQNig6dPGFMszZZ_sP2z3lY2wzwtW9VEFStbSMe1DZVgALKKJ8Vl2XZQZPSLkU3oYCi2Om9bPIyrwNKBPj25CF882oW6KSdRRGcanRodsMLUyQl750gk21Nvc_7eT2GJCOlkJJy5b1ZvvYLU0Zgjc2PsVqhgOulegJvKN9bSdfRdC5PM0LBVzT29u-8TdICZ2_5bEhnnI0CunUDBF2xhky1fdcSSm0Z6tVaBQ78lwM6IUoYovxRY8kAt0CAYU_-gEDZ7GCJwPRyUWxXJ0NJc_ii1AXy1TVbbfA4vFUeIu3NNSFZOd95DbfxQwLK1W5f6aWy3NUbwYcp9lxPHs0oJebnJ9gcSS9eK7dGJgD0QqWCYpHjcCNyUfKODc_HniLjA8rkVQaxt27Ps_9Hzd_X8dt_JVtoAWnIoryybphL2cSYRST653mkj-I1f-bDVGNmwJhWkKdff7na6Fr10Unxo9f-fu-MsB9E8sFydMg036AkqYGfnOg-B4rqaZU_HkgHdJvAGH2ToDVqxmk0BezLd8FsZLt8RSTQqQ9BHPUXVHbxem1clqaZl5O7tgms00wFWZvHj95kQcrx-q7uMB9GkcYTv4Q08b-Ta-rlz7kgiv523DcKBJnyktGI8t_ID5d3REuYx0spe-bYdbxMaC-XwimKW6KfBxoTg07CkfxVygWlUFSKXsUuqxcmnaz6WPxcdOm_F28mSe65OKEzfJ8BcaAHZ3eMk-HrQ4DKiT7SpSfGUwH5JvBjX2Ma0ETeeAHBMclFPlf_l61dnCIGQeB_DmNxcRwCImpA7Ekk7vcNEB0eJVBPSrE7Bnu5MVU1sTFyyt6GQnnWru2FZTWmn1kilaneFvgs3RS5DuB0iT6k89xiCYf4SHeh0oUzSkw5pMHY1pGEmcL7N_evzE33N5vefUTzRFvAOt0CAS3e1mpCd8c1yUkfbvp5j8YBsdL78hyYu4cy6Zy0m-10qdyZhjbufIcd1RhYQHRfB8d9AW24nPhoVLsEpMy-kqJPu5gjTYxU-80ajdc-QQ1g8-SM9M4Jla0J49rY-zr2t9LccqJ22kAYCYqrgBo1L3TsoCFHyWzQ888O-pFr1ju2nAqvDBoTlplF7n1SZNde8zitu28qpa3cmcpC8BpIgJw2EWBQ8khXfXwfbaihDnPmlEZOvnSlXZi0i_GAvwS20gr_cYnGkWhxkD9fFDnRoJfwC_6Zwq7ifSj5av2O_sNDFyeIDE3VDW5dk_foid6H0QoBJ5Ni2H8dYDzQPFAU3Al0eofZdoVc91yN6rreHvTFnLAM4k2O3MUiCFwFOACNaosembLtqjUm87Lni8ipJ1gxNgQwu4m3YbFLH6nnz-SHDK",
  "id": "rs_0a8281e2001712b8016ab4655cce3c87d0bbcf8aa6d2543cf2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.33,\"left_z\":0.21,\"left_pitch\":0.15},\"note\":\"The brown toy is clearly lifted off the table. I’m carrying it over the safe’s open compartment, beside the pale toy, with extra height to clear the rim.\"}",
  "call_id": "call_CxKUyBPDAQuRz1ISvxmEPKFO",
  "id": "fc_0a8281e2001712b8016ab46561e27887d0827f769da6e68d3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CxKUyBPDAQuRz1ISvxmEPKFO",
  "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]: [-0.8837, 2.0724, 1.7363, -0.4671, -0.8707, -0.4919, 0.0407, -0.0208, 0.8085, 0.6144, -0.4973, -0.0189, -0.041, 0.9995]\nstate[eef_state]: left_x=0.4407 left_y=-0.3185 left_z=0.1871 left_yaw=0.0448 left_pitch=0.0879 left_roll=0.1774 left_gripper=0.0407 right_x=0.2799 right_y=0.0011 right_z=0.1574 right_yaw=0.0049 right_pitch=-0.1075 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -11.0838, 10.1265, 1.8486, -0.2418, 0.2711, 1.033, -0.1299, -1.6205, 7.1043, 1.8584, -0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c368c5c1acc70b33497970137a81af3e1eb0d58a52d64285d4487aa4cc7a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ebf356601ff9e5d549aeb9806685835ffda8b8148d654ebc4be85ce0af4d96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5483982728fd35f66846b329b0aee8d2cc2d4b423cbe1c09277b08aff67045",
      "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 · 2.837 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 2.0979, 1.1725, -0.1753, -0.9035, -0.8986, 0.0379, -0.0208, 0.8116, 0.6159, -0.5449, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3071 left_y=-0.3321 left_z=0.0207 left_yaw=0.0144 left_pitch=-0.0078 left_roll=0.0994 left_gripper=0.0379 right_x=0.2725 right_y=0.0013 right_z=0.1484 right_yaw=0.0032 right_pitch=-0.1567 right_roll=-0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -11.0427, 5.0393, 0.8327, -0.0708, -0.0513, 0.8767, -0.0068, -1.2103, 7.0496, 1.8046, -0.0513, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 1.9087, 1.6138, -0.8913, -0.8776, -0.9291, 0.0405, -0.0208, 0.804, 0.6159, -0.4747, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.332 left_z=0.1778 left_yaw=0.0226 left_pitch=-0.0612 left_roll=0.1435 left_gripper=0.0405 right_x=0.2834 right_y=0.001 right_z=0.1636 right_yaw=0.003 right_pitch=-0.0789 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -12.9846, 9.1692, 0.9548, -0.569, 0.1001, 1.0281, 0.0068, -1.9214, 7.159, 2.1807, -0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8837, 2.0724, 1.7363, -0.4671, -0.8707, -0.4919, 0.0407, -0.0208, 0.8085, 0.6144, -0.4973, -0.0189, -0.041, 0.9995]\nstate[eef_state]: left_x=0.4407 left_y=-0.3185 left_z=0.1871 left_yaw=0.0448 left_pitch=0.0879 left_roll=0.1774 left_gripper=0.0407 right_x=0.2799 right_y=0.0011 right_z=0.1574 right_yaw=0.0049 right_pitch=-0.1075 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -11.0838, 10.1265, 1.8486, -0.2418, 0.2711, 1.033, -0.1299, -1.6205, 7.1043, 1.8584, -0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c368c5c1acc70b33497970137a81af3e1eb0d58a52d64285d4487aa4cc7a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ebf356601ff9e5d549aeb9806685835ffda8b8148d654ebc4be85ce0af4d96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5483982728fd35f66846b329b0aee8d2cc2d4b423cbe1c09277b08aff67045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.33,\"left_z\":0.09},\"note\":\"The brown toy is above the safe opening. I’m lowering it until its body rests inside rather than dropping it from carrying height.\"}",
  "call_id": "call_sHIF89FoMCE4k9EUZBpZde28",
  "id": "fc_0a8281e2001712b8016ab465655f1c87d08f78617feb2ac404",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sHIF89FoMCE4k9EUZBpZde28",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.22, 1.6032, -0.2325, -0.8577, -0.4828, 0.0413, -0.0208, 0.8116, 0.6144, -0.5041, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4487 left_y=-0.3251 left_z=0.0903 left_yaw=0.0354 left_pitch=0.0513 left_roll=0.2165 left_gripper=0.0413 right_x=0.2789 right_y=0.0011 right_z=0.1553 right_yaw=0.0052 right_pitch=-0.1175 right_roll=-0.004 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -11.5077, 6.2427, 1.6239, -0.4322, -0.0513, 0.9792, -0.0342, -1.5111, 6.9128, 1.7118, -0.0415, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2f0c042196e62907ec7197219eb82baf61a3aac14474b28d3e697e0a9069fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c8e594c36a64fbc07174bbf1a33ef4dbd90a760053e10aa598958d570e6fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0142098b9ac8887cad618aa64b7bd7e92191c37a420d16f7969396c30548404c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.469 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 62 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 2.0102, 1.2407, -0.3798, -0.8948, -0.9138, 0.038, -0.0208, 0.8116, 0.6159, -0.5678, -0.0185, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.304 left_y=-0.3275 left_z=0.0589 left_yaw=0.0198 left_pitch=-0.0333 left_roll=0.1281 left_gripper=0.038 right_x=0.2686 right_y=0.0013 right_z=0.1443 right_yaw=0.003 right_pitch=-0.1796 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -13.4906, 8.0752, 0.9646, -0.5543, 0.0952, 1.033, -0.0615, -1.0051, 6.9265, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8837, 2.0724, 1.7363, -0.4671, -0.8707, -0.4919, 0.0407, -0.0208, 0.8085, 0.6144, -0.4973, -0.0189, -0.041, 0.9995]\nstate[eef_state]: left_x=0.4407 left_y=-0.3185 left_z=0.1871 left_yaw=0.0448 left_pitch=0.0879 left_roll=0.1774 left_gripper=0.0407 right_x=0.2799 right_y=0.0011 right_z=0.1574 right_yaw=0.0049 right_pitch=-0.1075 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -11.0838, 10.1265, 1.8486, -0.2418, 0.2711, 1.033, -0.1299, -1.6205, 7.1043, 1.8584, -0.0513, 0.0073, -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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.22, 1.6032, -0.2325, -0.8577, -0.4828, 0.0413, -0.0208, 0.8116, 0.6144, -0.5041, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4487 left_y=-0.3251 left_z=0.0903 left_yaw=0.0354 left_pitch=0.0513 left_roll=0.2165 left_gripper=0.0413 right_x=0.2789 right_y=0.0011 right_z=0.1553 right_yaw=0.0052 right_pitch=-0.1175 right_roll=-0.004 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -11.5077, 6.2427, 1.6239, -0.4322, -0.0513, 0.9792, -0.0342, -1.5111, 6.9128, 1.7118, -0.0415, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2f0c042196e62907ec7197219eb82baf61a3aac14474b28d3e697e0a9069fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c8e594c36a64fbc07174bbf1a33ef4dbd90a760053e10aa598958d570e6fb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0142098b9ac8887cad618aa64b7bd7e92191c37a420d16f7969396c30548404c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown toy is supported inside the safe. I’m opening the gripper to release the thin fold of fabric.\"}",
  "call_id": "call_f89IIKBFlCkYe6FOYRKVa1t2",
  "id": "fc_0a8281e2001712b8016ab465694f0887d08b56307bd2f275cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f89IIKBFlCkYe6FOYRKVa1t2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.2372, 1.6012, -0.2424, -0.857, -0.4877, 0.9952, -0.0208, 0.8116, 0.6144, -0.5079, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4472 left_y=-0.3234 left_z=0.0795 left_yaw=0.0366 left_pitch=0.0338 left_roll=0.2348 left_gripper=0.9952 right_x=0.2783 right_y=0.0011 right_z=0.1546 right_yaw=0.0052 right_pitch=-0.1213 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -14.1333, 6.4342, 1.3553, -0.3687, -0.0171, -0.1441, -0.0205, -1.265, 6.9128, 1.663, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31e6d2fece5ec87bb5bbaed8aca36a0d53e431df5357be606c2fa0567fb8ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e3033eaab1630fcc1ee24fab93bc027d8145639908b0f57cf73ca376cfb605",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2179a0954e13e09a7e103c2446c638e6be632910e9b20cf50e099e901704d00e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 12.18 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 62 changed as sent

message 65 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1446, 1.9087, 1.6138, -0.8913, -0.8776, -0.9291, 0.0405, -0.0208, 0.804, 0.6159, -0.4747, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.332 left_z=0.1778 left_yaw=0.0226 left_pitch=-0.0612 left_roll=0.1435 left_gripper=0.0405 right_x=0.2834 right_y=0.001 right_z=0.1636 right_yaw=0.003 right_pitch=-0.0789 right_roll=-0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -12.9846, 9.1692, 0.9548, -0.569, 0.1001, 1.0281, 0.0068, -1.9214, 7.159, 2.1807, -0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.22, 1.6032, -0.2325, -0.8577, -0.4828, 0.0413, -0.0208, 0.8116, 0.6144, -0.5041, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4487 left_y=-0.3251 left_z=0.0903 left_yaw=0.0354 left_pitch=0.0513 left_roll=0.2165 left_gripper=0.0413 right_x=0.2789 right_y=0.0011 right_z=0.1553 right_yaw=0.0052 right_pitch=-0.1175 right_roll=-0.004 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -11.5077, 6.2427, 1.6239, -0.4322, -0.0513, 0.9792, -0.0342, -1.5111, 6.9128, 1.7118, -0.0415, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.2372, 1.6012, -0.2424, -0.857, -0.4877, 0.9952, -0.0208, 0.8116, 0.6144, -0.5079, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4472 left_y=-0.3234 left_z=0.0795 left_yaw=0.0366 left_pitch=0.0338 left_roll=0.2348 left_gripper=0.9952 right_x=0.2783 right_y=0.0011 right_z=0.1546 right_yaw=0.0052 right_pitch=-0.1213 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -14.1333, 6.4342, 1.3553, -0.3687, -0.0171, -0.1441, -0.0205, -1.265, 6.9128, 1.663, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31e6d2fece5ec87bb5bbaed8aca36a0d53e431df5357be606c2fa0567fb8ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e3033eaab1630fcc1ee24fab93bc027d8145639908b0f57cf73ca376cfb605",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2179a0954e13e09a7e103c2446c638e6be632910e9b20cf50e099e901704d00e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVwQ9mknZgo3jm2VQFTNZHo_LqMn-hEYYrnq9kGEz9jmBG-OpULvUCkZKBIl1AxWzL9ztOVYC2mEwp140d3db-EY9cAhgFHYFpOLeOrtE6Q0IMWPbkEhE2ZM_oXddZYR5Y3c24ad9FM1d1nXvxtoGfqO3owYw7j845_95r4jjFNwL7_oh29gfaWUwV91R5X776_0WcBEcN-isWRfnpjR5ppf9l1tPgYOBAyQamhZlkx1VHVC3C0YO_C-Ue-aqQ-Crkacm2_t_tBMh7szX04-Vnvbari4QqJiA0t82DAjHoPdg9-VIJDjpXoWB-Igdplhyz-Y8t9mbT3qBeBLu0_NoXs3PBz54SggMY6WKvIBSpJe4OqAUhtVTW5yj30AQyUF0TM6yOO1yMc4n_VAGTgPgOHCMYMl3PXIGHL7iwXl9jUw-0jkbs6z5BPexbI6rrtpahhtLQFXnSzIi4K_6nxBn1mCyN4sAerxgszVfnjUfvFpYujvxXk3rrSdaL4vuvatfO_z_U1HqLxogq3mYllplkeLx4vl8v84b8p8I68rOrWN1Fnfhyr4tvm6kPX800-nUIWeqb1UkTYVirWic7nVuB9KbzSsmrxW3TDbmPTfdeoLhtRi42VledfDntNWx59S4FcTILYen1E179Al1wP4_L0b3XzDN0WImNZ88EEfNB3_2Y0sKbfzI5Ecf2rSqyCI0VJvBaHD1TwzIgoPQpwT61CmucM0nqzBpKYndXBhi6VqAOmeUWtOc9fN8nzJnIQ9XqJ8t0GvxUMPjhzDygeTTf3OTWOWuB3fKsU1qW3UGMMDc31vGxh4HrK7wssdyAM63zEk-dHs_mIGUkca3HbluIawcLRXQs0fEi0Efn2pSNiyuLdZlG0vLIA2Uaox-2HODN-cgKkvZq4syq9tNb6BuV_TlFpOsaD6wp9fcWG155kfkHq9IVbOPthoKZ7CynqenR4NOAssSeEGLUWYiBsuungMQ6szMHiBhMZzKvozhNh4BXVwNqpOrxHsnGGDZ8cMzoZMTcdY_oYc0tNMnVRkJsWV3NbZnc3bab3Huf-JtBIHNp0AjmRPexjURUFfOVtuKOm0n76zItWt3Bvd36xFg66DRIK3bBRDlC0BXHWWbuRCry5F-jkkUt44apY5XRiuuMlpS3u2qmlrwW79bmc6vgfBv7ELkYtXPZaKqotpDQXcsMWC0eU89O8b240LJruqWSptWyYET607v33T9D9VpejMxV9jsM3Y_B1cc8QLS4sh3WMWIjj2qZSj5YOWh_-y8i8eWLRQOJwIYCj63nO1OU_g1S5iGgXntY2oHigiX-a8jjiYYDTrXmKQmdOuToY0NJ_x3PrQdB-ZHtKIj96tRZnGBG3AWidfUZLiY4nhY2oaCuOCdgdAL3Tyiz_QV6v7nvxWVXdwm_ZCM5nT6VsKpNT6EBt0-mqXSGVPYmrUwV2_M0RC-dlgEkPzLL8ZSJZjFWR2nJHHdX1AzbaH3SaCc-3JkJhKzou-KnalkYq1wyM-TTeUCrwkBQCE4i3mNT9BoAmw-6TxwTRrkEjtmcT6OK1sv9AY6ObtYLp4L8AnBFOpjwsJBbK-GudwpybQI__usyy2kcdMSFsSI7LOsbs1o_pIWi1g1Dzao3RrnLOgqaXyVO4VTACxbIVwr677najwztE_WEEdx-9V9gLOjpWgRxHfKdZEf31o_a1NaOTWivAipzgNbsIyn7IIxIbV0xDTCWtS9CjcqUyTah_GyvUfaaRt7VqYZlAdmKTuDCSpX5cVnfeTGMXnzcnVWpcejVWMTJP2QUO5VxzdfrJvAMgROSxf76wNC0vYR1F7BVh8twN8O094Y6zrTl24CWf8Jjj_qYRcxEqjN_AJw1I7RN2dgeUvGMVP8qtAY339KK9gGaUadTTP_Ftpd_GGqpqvP1W0q2KdQNg9WlW3T9a0pFEJubBmfllgtTsffRGmA_7jjKb6dgaTQk86fIKA2vJRhvVXZf0",
  "id": "rs_0a8281e2001712b8016ab4656c5aa087d093d41a53eb17871a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.001,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"Both plush toys are now in the safe. I’m lifting the left arm away and parking it to make room for the right arm to collect the yellow object.\"}",
  "call_id": "call_IPhN95rsx8CXIu0ErwtJ8x5p",
  "id": "fc_0a8281e2001712b8016ab4656f640c87d0aab19223cef221c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IPhN95rsx8CXIu0ErwtJ8x5p",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.0525, 0.8337, 0.7509, -0.5167, -0.1059, -0.086, 0.9963, -0.0208, 0.8162, 0.6144, -0.5415, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.2955 left_y=0.0068 left_z=0.2085 left_yaw=0.0678 left_pitch=-0.0154 left_roll=0.0059 left_gripper=0.9963 right_x=0.273 right_y=0.0012 right_z=0.1472 right_yaw=0.007 right_pitch=-0.1594 right_roll=-0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.7846, 9.2513, 1.9463, 0.1197, 0.1587, 0.0952, -0.1573, -1.4017, 6.9402, 1.9072, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36f84769b61d4592a8acd25c48a8ce8475d908a484cf5b9af0ffc8a56c33b17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9024459129eed050e09978ea42c02fbdaf8001c7934a0a29e75a98836ac71b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2920e21667cd465f4113251e0b6689c9b89cb916b2543d679dbb947571927d1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.192 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 65 changed as sent

message 69 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8837, 2.0724, 1.7363, -0.4671, -0.8707, -0.4919, 0.0407, -0.0208, 0.8085, 0.6144, -0.4973, -0.0189, -0.041, 0.9995]\nstate[eef_state]: left_x=0.4407 left_y=-0.3185 left_z=0.1871 left_yaw=0.0448 left_pitch=0.0879 left_roll=0.1774 left_gripper=0.0407 right_x=0.2799 right_y=0.0011 right_z=0.1574 right_yaw=0.0049 right_pitch=-0.1075 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -11.0838, 10.1265, 1.8486, -0.2418, 0.2711, 1.033, -0.1299, -1.6205, 7.1043, 1.8584, -0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.2372, 1.6012, -0.2424, -0.857, -0.4877, 0.9952, -0.0208, 0.8116, 0.6144, -0.5079, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4472 left_y=-0.3234 left_z=0.0795 left_yaw=0.0366 left_pitch=0.0338 left_roll=0.2348 left_gripper=0.9952 right_x=0.2783 right_y=0.0011 right_z=0.1546 right_yaw=0.0052 right_pitch=-0.1213 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -14.1333, 6.4342, 1.3553, -0.3687, -0.0171, -0.1441, -0.0205, -1.265, 6.9128, 1.663, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0525, 0.8337, 0.7509, -0.5167, -0.1059, -0.086, 0.9963, -0.0208, 0.8162, 0.6144, -0.5415, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.2955 left_y=0.0068 left_z=0.2085 left_yaw=0.0678 left_pitch=-0.0154 left_roll=0.0059 left_gripper=0.9963 right_x=0.273 right_y=0.0012 right_z=0.1472 right_yaw=0.007 right_pitch=-0.1594 right_roll=-0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.7846, 9.2513, 1.9463, 0.1197, 0.1587, 0.0952, -0.1573, -1.4017, 6.9402, 1.9072, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36f84769b61d4592a8acd25c48a8ce8475d908a484cf5b9af0ffc8a56c33b17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9024459129eed050e09978ea42c02fbdaf8001c7934a0a29e75a98836ac71b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2920e21667cd465f4113251e0b6689c9b89cb916b2543d679dbb947571927d1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGV_mA_GlEEri79m3t14IJcqYjDLRoX20cFROyzmtxNBvs8iSm0hS0X7_hQR7UteOa7Uibphyoos13bnPatbGqxHheNXFcqy3cHI-XxC9LGOWZKywypd3TJrhdWbDXqFSMgqX4TdqSaVv7VlID2dYEDG5Kp3rPbVsUY2_AJuVnr8jFHR2jy7Vi9lwLoyDjzQSITid9uaRzLn0qFFe3HIbfKQNyOdT-JvNJwiSkGdAv6i2FUZ8EusUR2fIHZzeBYJIrJ2CiodhFqNFu-0554dcxmuIShCglQgSfbMaFnzwNE9AppnMG_zivB7eYKyT8YtBqY6jcn6a814uNk-uhWz8HGfGs3kxURj-NJdc26Vr-k68LG_Nwn-y3yClp7aq7lGGe7mNCZ3WvMVXaGlFl9ATGab7i1h9XH_qkTh55IO4gwUYdILlBWzTG9JubICuWuASolB5Z164VNNZZ_AM4tIZdF8UnVZBlTh3h_L_e7AX8q-u-yOwKl-Favt78msUj--r0_3rDoK2IMQk4T5_CX7xa4vF7bRkhfqKNi-HF3ALeJ10D2ZXBs6gICEZt1wizczZq8gEYzuFTPBluLNilapfPXWuRnUIn824uB39QntKP4qR05qi0r9Ze4vlGLMc4jkXTuRsz1UqF7qHD_E9Y3YYd2VHOZlMGmjwBvVIoUFtUQPvAlk13ofOsm6_PI4hvEhiVB1o4Lh1FtxmkUE_TVj6xOoE2oJagvYjd0ExmibVA6Y96y8iJmlZGyR4MT5jJGAZ66oLTi3WaIG4Sbqtvh1Rv_iMTXQAb01gXN0v9Q_zo9Ma-feCay1bL2Sq5rcxyTFYUoXlryOg-JW5V-Of8cEZz0qD5ogloR54LGWWM_4N_aNYU73mX_Ys6L_CKDoH5FqmmqGZLH9iDNf0LuVPAr2J-RA_Dw2NweQBFegGizeFj2v3DltKH_kVB7Qe-GrxezHQVj_1IhNxNuhxhuFFA7hnlpLbkIEe355K5szjveJ1OxORUnjJ5Ou-aCNR9-VRq2cvrupMowrsb3uJLoGse_A7tfz8FU17tpOB_2DAaDoo5qF0Z_KEsqbEzaKWrxeIQuC4Nt8bU4rW7_oAf9zytkaOPJutGfQtIgMED_7PWStDSxZviEOAUdiflCIvX6ypY7jbqk7Ez_kfCTTOil0WurMPWiQgpBOjbfpiqOJswnLtxuYfMYoB0sqLbwtOqaxZ4t_hDngeyDnDOC-gz56BaJXsJ2dPDsMETrYMgdlgmBhq1b3PkY35TVmgmeEIL6IWHyJdDmHCEm_9DDqIrWRcLwTUwt96MYluGsx-2BCPIM8bTXcpr1-V3Edh8vkiOjGwCHnTZmoy2Q98TKUMRyTxBly_DgkNjqerz6scyDEuoF1Xd7hhVFQsgLNuTFTY3_NpC632ZbateiWT7F64_r23ufIMCQOmA1gevsTIq3EVjB9Rqc9EafDVpwAnC1aTafw_h3vDfWVQIz62oxht0wycg6BfuYMxKFhwe-pwCBfLIZAfZ4yshxLTWYNPwXkG4JQAyzKuzSoP6Q7GlVS9sU4DYcxAegnAfU67hmHhnOkHilN10rtcEecVfSwL3CmxYtNw56JNqqeyYDotbD2NAspbzW5y9YZFW3F-OnVscLWeVAMBlJzaDnW3WRT_c53HFbG3iZjX1LVyLoahsijcWwsvgD775XM-7lC89pSfGa4n1XvNebOw_21lSSBeayhNsLhRLGCxhDBg9bMjjfVip3nCmgEXXb38uMfEiQA4W4xcNJo0Qavu2ocaw237xUrki-Fa-G9gQejt9TN9EeZqv9OpmfZxQzMgncDQs6mNCZCJEpvMfPGnlvrbKW9L9FqXWo9gg4NXFmzbFgukjX3Jv3EQ2VyNMK7XbSG1D3QkQLV7MnHDkYrOfwZ-O24NFyuLChuon8vpEM4P5lBsSN-pzKGuT5Lbwtrcq24-j6vNNbIWQxcoP4K3HEIN1YiKAcNdmn-LEXQ358Qg5rstfUetiCba44IQChM7FclInBYGdDYfwz96ytLovCW5SbkBfroS3Gt3p5ysr7Pk24dw_sMydE9HLtwhkj4k9rZOtWLwpiMBpp9UsnYCnHCTaCBHg8YEhnzVmvhj2eumh0sBYcJWPR07yUFnTAYWjfLWx8KGwf-_bEGMJHV1Pd0adfal1qN9NRdDcFuCa56wzjnQLu6u4vOC9ZV1Axe4roxf1IWtzLNVZoFKpQjxBI4ZP_dOKyvGLt11LIUUfRuIsXNyqUSsc-GQYofy695M1j3OcRG2YlDCthcOoMgssBh6lYX6srpZDU2R-wBLs7MvMMecCLaZo5xRpVIKwliViK6ZaJZu1CDUV2g58-MA5kjGTn7dtVsijj-wlnnIjf9XS5lv287QHwobIU4JW8Bw5BVeLdBum32vC9w3fw1RZMwDp1m-SPwDpyDXzQiur3Sld_rySZh3E0amN-CqM5CzTK205WWJ6xpitAr9QWMcl6_vu37LuO4oh16cclIcHXMwD6CKHueqiQMr50ttOK91HP9HNCzQh_2wUhDwYA51uJPiqZVPx_Ahr4GloFaaU9w4i1qtfeRN-lsnM4zQ0Z22R70sMfNd38LLI65e7Gc4mm02cDKsZFsQSEyVFRmsWln9dANy-Tb0DnjKsMvj_KY-UiUwr95cNqFOOKTRVEBxwz6EDj0Pr9woadO5YwDS5xFIAzv92zC196IlfOfHwJUTvgAM47HCl4mPvjhcD2CSuIh_coZP0qh7nXL3gXLwM-GySDTZ3CLC-9fWUlX8dirAufJ-q5WO4v8dakSX5XEnta4YC0QWousdY0ekbzmG1bl7KluEGhmCqiEObaGEB2RdPqMMiLgO_wBOJhiFm3rVHXZZ4WHOqv52wjh_b_KYrXriZRsjpE4wo4t93u17RitPMBGjlcFiSVmraEocO5mdFbdp-MmSWEwHxncbMQwNZ9Zm0U2v4iQvOMuNX9tJnNWEk0lrL7XtBVBpCOis89gfTKQvUFaFFCqmVOoseKQwXvpRRRcBJnBC9CsP4rsmkHlFUu5zeFK4PFcZ0nV6ZdBkMrqThdlcCPKayU8kZnSejPE9__JpwZUoaMGiDm53bfcu0E7771-V6uL1CggX9Nm8__jY4xHH2os_xTfGANFqGWRmPkUnqFSd-Fh8HzsF0fjn3IpkhJ1eTymBfTAu8GO7_rFSiHHEeCDFX9Uanm2w28C3AyoivXv0LplfFLYZOexyKsuG0VANeyAe36cNVuu9zqjY08VI-GcXunomL7HOrBtHlCwQXdqD8dILExHJekmoyhDIGjwOtEYGKq-bAOq1ebDgDmO5sWsRpP4jB_I0PG9KlBwI3746QHm5IGlvF2N_bM-rus0ZwJK2OKQHQehkgwBUC_QTcKm6o3q5ttOb-2YS2z5IQ_6QxYSN6dz4GWJQ9jSMQLPYa_UsBcmH1l64HtouQX3gIQTUbviHxHMtAE0wpBvG_cSvX-G2YHpkDBUm_Gigpa4e9oiMjE1Se8wdxnBXa8hLvz6zNWlx7q4cHRAiviC-X7fqw_YkbFVOEvXXrPBkJE66IC7EpKg1cDm1COuW7T_x1R_4sBw4t3BfJV69Hm--rsqTsFHNC0mBmWP9_6cx74FBW4vd43nKlpeMU15lY_M6MspQwIAljsPiDc-9gNql4h9n2C3yNFMwQYXGKwVef3cnXLWyK2EQB8gVKUAjdTfyucnAdRhxnwJ3DVjNc7vEO3a63um1p5D3N0clXeYkcWkJ9kABSIBQupVtkY=",
  "id": "rs_0a8281e2001712b8016ab46574aaa487d0bc494f6d4562e02f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.19,\"left_z\":0.075,\"left_gripper\":0},\"note\":\"With the arm clear, I can see the brown toy is still draped over the safe’s front-left rim. I’m positioning the closed fingertips beside that protruding section to gently tuck it inward.\"}",
  "call_id": "call_k6XZ5lwzOJycqzMRa5P2NZfy",
  "id": "fc_0a8281e2001712b8016ab4657e28c487d0b00c2c46358be6bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k6XZ5lwzOJycqzMRa5P2NZfy",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7425, 1.6451, 0.7498, 0.0353, -0.6449, -0.5518, 0.0084, -0.0208, 0.8219, 0.6144, -0.5678, -0.0185, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3523 left_y=-0.1744 left_z=0.0616 left_yaw=0.0666 left_pitch=-0.0719 left_roll=0.0626 left_gripper=0.0084 right_x=0.2687 right_y=0.0013 right_z=0.1411 right_yaw=0.0071 right_pitch=-0.1915 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -6.9128, 8.1573, 1.6825, -0.2418, 0.0952, 0.7302, -0.1026, -1.6615, 7.0222, 1.8242, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7500b24f417b48c7b696f88a0ca7daf699134a72f064c7e3112d8a1bef98afcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e2d40d948182570e15e8c0aa457cef58059e625f575853e6ec8f2fef8b6435",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb87cd0b0efee6fc94d21f121d68dd68467f1931c343b48895b7d6e21358bbe1",
      "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 · 5.451 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 69 changed as sent

message 73 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.22, 1.6032, -0.2325, -0.8577, -0.4828, 0.0413, -0.0208, 0.8116, 0.6144, -0.5041, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4487 left_y=-0.3251 left_z=0.0903 left_yaw=0.0354 left_pitch=0.0513 left_roll=0.2165 left_gripper=0.0413 right_x=0.2789 right_y=0.0011 right_z=0.1553 right_yaw=0.0052 right_pitch=-0.1175 right_roll=-0.004 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -11.5077, 6.2427, 1.6239, -0.4322, -0.0513, 0.9792, -0.0342, -1.5111, 6.9128, 1.7118, -0.0415, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0525, 0.8337, 0.7509, -0.5167, -0.1059, -0.086, 0.9963, -0.0208, 0.8162, 0.6144, -0.5415, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.2955 left_y=0.0068 left_z=0.2085 left_yaw=0.0678 left_pitch=-0.0154 left_roll=0.0059 left_gripper=0.9963 right_x=0.273 right_y=0.0012 right_z=0.1472 right_yaw=0.007 right_pitch=-0.1594 right_roll=-0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.7846, 9.2513, 1.9463, 0.1197, 0.1587, 0.0952, -0.1573, -1.4017, 6.9402, 1.9072, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7425, 1.6451, 0.7498, 0.0353, -0.6449, -0.5518, 0.0084, -0.0208, 0.8219, 0.6144, -0.5678, -0.0185, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3523 left_y=-0.1744 left_z=0.0616 left_yaw=0.0666 left_pitch=-0.0719 left_roll=0.0626 left_gripper=0.0084 right_x=0.2687 right_y=0.0013 right_z=0.1411 right_yaw=0.0071 right_pitch=-0.1915 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -6.9128, 8.1573, 1.6825, -0.2418, 0.0952, 0.7302, -0.1026, -1.6615, 7.0222, 1.8242, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7500b24f417b48c7b696f88a0ca7daf699134a72f064c7e3112d8a1bef98afcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e2d40d948182570e15e8c0aa457cef58059e625f575853e6ec8f2fef8b6435",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb87cd0b0efee6fc94d21f121d68dd68467f1931c343b48895b7d6e21358bbe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWEA0E4UMcw44JbpOvSNzk6VQTuoMUJvdlGHBJOS8XuFJ19AviU8sDQOHhPdtDEdYzovAQzLqli03Xd8f2GQsFrnESf-h5OwkfhYoobibWq4HOkiD-9y8UYAXVPDyonYcfKP4ppgBdOvBKUnES3krt4rP5IVTsKtSR-Egtnvxg9NErtKxC9rFJ45lqaeu7W0-oAc0Ag-bc4sActXYH0royH7Npdn9OEGvrAkLhNBsE1vOks7YEvuQ4uihJwD5UTaX76Lsy6G-M3iu57fljw-RC_bSly7fWFrSgfsVdKgZgjsPtVFrhC1zoNo5ytf4tpemazn3oO2zkwDrWUMhALpgHqJz9yMihHnZxMBtkI0kreM2gXhaKOBOWwtp1ReXm39aFneXECGEZZVoz57blZJHULxZW8dpCAiUWu59x_WEFvHON0kxqZdxrG9JmVe6J9GmL9IQNrpF0GOeKnGhPztIWVwLLlbZBUrX2w0SAY8altfMwjKULfs8U5vr3OCv_z7wzizLqE28ZIUw6D59ayHTFjkfvYpQd691U_eyuLJufxrKXwVGIuXJvrPdsjJfwEihpWsrmtlQu-4eAkRNZWBLA51K4fVljP9gqCzytQbCbIP4EU9-VV2owSEdWSbgQ1UbUm32rOjHYZIQjvE8CLrlO4Wnjf_ceLeaj32F8xaz9s8QZ5k8smo4zT7QoH65DesDnaPhQwCOJ7nDNf86JlLQ50oCxYReIOz2_3kGuSodiQ8Gx3GOBf38vAImqjtU5QdDJ6l9ZbgUq2tKkhItKnZnvJkrb2DzI_Egc2nbrnimk1KF-dD04AVcPxbAxnRr6aYcUFqWH_G2ZJLSSEW42T_rkbM2OMb749CyZHo0KUOEiDlCOlC_cFNUvH_Acq-H8lNpgSjT9FDdIoAjIhypo6yBUqDU_zlU_a1-PBLxEfbP6pJ5LrzsIfoHJFa122AHA6k4j4KnmDGry53PYrppC5EJJs1KySSy6UD_JmqOkLDh7LjjE-ElErhuJaJXWyyIrL3LPqaxf4sy63OM3KdRCsl9q6fieBfy3m12CxCz5pi42TLypOZuzOZw9Kw7KA2iJhDAZoyysW40RB1aolxktp6rbUExKjZEhg_8n23IGmlZAfkcFPKMTk31AImXZxst6nJJRZeyk5Q2cYhpqXpQCUKCr8jDnrknY1GdfBNZPpEntY-4PnDsVpBJNSlwPk_Xh80Jptl2zpVaDXrkQIKu_UY83_JPEXwn2T7CqhfqYd6qZNI0UIAnWhIBRjwvY0LUdWcvEb",
  "id": "rs_0a8281e2001712b8016ab46582c21887d0bdfaba033fd4ae54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.28,\"left_z\":0.08},\"note\":\"The closed fingertips are beside the brown toy’s protruding head and shoulder. I’m gently sliding that soft section up and inward over the rim.\"}",
  "call_id": "call_EPQ3NL5ihipmvwFgq1qZad4Q",
  "id": "fc_0a8281e2001712b8016ab46583200887d09301325ff182b446",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EPQ3NL5ihipmvwFgq1qZad4Q",
  "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]: [-0.7994, 2.0312, 1.3296, -0.2138, -0.6777, -0.6193, 0.0113, -0.0208, 0.8265, 0.6144, -0.609, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.4234 left_y=-0.2714 left_z=0.0717 left_yaw=0.0722 left_pitch=-0.0872 left_roll=0.0675 left_gripper=0.0113 right_x=0.2615 right_y=0.0015 right_z=0.1328 right_yaw=0.0075 right_pitch=-0.2372 right_roll=-0.0029 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.6051, 7.8564, 1.2186, -0.4029, 0.0464, 0.5739, -0.1299, -1.6068, 6.8171, 1.9756, -0.0757, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce3555a5dd6830b49f82c8b5e744e2378c7cf1e68cc265b422a86f76b406a85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087c49b8973971dab11426b8630f9f726cc767970cf12e8fce084e6a5d183002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbd8822a44db7765cbd76525aec80d9d93f6553cc39a281f520bb124ecf61e0",
      "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 · 6.353 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8772, 2.2372, 1.6012, -0.2424, -0.857, -0.4877, 0.9952, -0.0208, 0.8116, 0.6144, -0.5079, -0.0189, -0.0414, 0.9995]\nstate[eef_state]: left_x=0.4472 left_y=-0.3234 left_z=0.0795 left_yaw=0.0366 left_pitch=0.0338 left_roll=0.2348 left_gripper=0.9952 right_x=0.2783 right_y=0.0011 right_z=0.1546 right_yaw=0.0052 right_pitch=-0.1213 right_roll=-0.0039 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -14.1333, 6.4342, 1.3553, -0.3687, -0.0171, -0.1441, -0.0205, -1.265, 6.9128, 1.663, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7425, 1.6451, 0.7498, 0.0353, -0.6449, -0.5518, 0.0084, -0.0208, 0.8219, 0.6144, -0.5678, -0.0185, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3523 left_y=-0.1744 left_z=0.0616 left_yaw=0.0666 left_pitch=-0.0719 left_roll=0.0626 left_gripper=0.0084 right_x=0.2687 right_y=0.0013 right_z=0.1411 right_yaw=0.0071 right_pitch=-0.1915 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -6.9128, 8.1573, 1.6825, -0.2418, 0.0952, 0.7302, -0.1026, -1.6615, 7.0222, 1.8242, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7994, 2.0312, 1.3296, -0.2138, -0.6777, -0.6193, 0.0113, -0.0208, 0.8265, 0.6144, -0.609, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.4234 left_y=-0.2714 left_z=0.0717 left_yaw=0.0722 left_pitch=-0.0872 left_roll=0.0675 left_gripper=0.0113 right_x=0.2615 right_y=0.0015 right_z=0.1328 right_yaw=0.0075 right_pitch=-0.2372 right_roll=-0.0029 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.6051, 7.8564, 1.2186, -0.4029, 0.0464, 0.5739, -0.1299, -1.6068, 6.8171, 1.9756, -0.0757, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce3555a5dd6830b49f82c8b5e744e2378c7cf1e68cc265b422a86f76b406a85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087c49b8973971dab11426b8630f9f726cc767970cf12e8fce084e6a5d183002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbd8822a44db7765cbd76525aec80d9d93f6553cc39a281f520bb124ecf61e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWKpW-jypMNpe7xwNLLXgb3WKK_PKg8SLEMPrk1Bd0Cf-7L6cMO9vUuXoLZRwIQ8qCHs0DuPWNh86LK2wL89B8pcSl0jI3kDvkdbGXmUAMFD4ffO23du7uahVseZf8zPvvqZJlwgkQnalNRjaqB_QnIoNi-htDzfPywhTAv0mUy8e5KNN7Pj42Juw6eOvcK3r0FBHFmMqL0BHLSKW2wQSLGEDLBMbjQIK1ZHgDTqx-KrPeyG-LHxwdq5W5m9TUncqdStjRfpR3vKGkyJnxV_J-p1ZV2KjwnFyIvdWnnny2zGKGtxHqGVdKzoAoM761F3L2a9HXYyW7mDaQd2wmkeB3W89BYVVSt9GOQLof-Dv-TntI3M24QyXYfePCPIBeEBngMqN6DDZ3IANQOU86BOce6uogyeQgO7WjwDYIlVWWBlOX8BfeM_ilYEYekWPIi8U-irgPJn-mbtMEVVmvx55YOorFwPErz9sfx26peUoB4s4PtSBDYA8tzd2Dp-99a0cayy9FsUDApG8ir5MrL88dRszrWdC3M7EaG68UEEQspojIe_gOFnWRNH6RMpcxUY_C5qRYhTWzdxMtI_GXt_C052_agUQZaB4YbTnrx_kFZsKMlEWui9cveRgyuPDY3oI9i262xEY_mEYGuvHSw29BKrCf6U1rNv4NQpmHtGFS6W1lH66eBIIH0M8moMhY0Df4L4wK9kSQrAqhGtAJWsepiQio6MET_YA2imGwJtBrAzr7b6aEIqfI-MpufUyfAs5XJF7x4tUh2jcDnr4QNxXnvprXDESDx5ded5nD5SflnV5ilpEGDfHWDScnPV2vohz1Zd3FCjaRXK2LZVABseKz0g2habqgzwRZY5utZ706lYjOPuD7CAiPciCZmPUXgXgm6QfZ2yqcPux090MDAArnY2AowyPrbFdGKGzcmeTScSuMIoOawE7nRu9EEUsjJGvBphXoc76lr8ESjsd1GQT4OtWlrWLL2nE3rQ2NguWrAZfBO_BQiWzE5sBRmXk9kkea4OUisdefIxIBrvm0CXiJPE_xBphkFvT0TgTTeLytxcFdEzghhSEvrkEkP9zKVMydoIHKjGaLc_FcC-5WvbwWldXZy70nGfZfHSYR5bXOsy-HtRktjeozt87RGu5zrMzW3M328B53dtxHr42AEWY5Fr7nocdvcNird0gANF1ELC8qoI3a-fwaGbsyOqhF-w6AyQtaNvwW7ju_dWXZ4SR3i2BcufTMQk5iWfjkS940PVBjIQoN_lrFRJ9yIOSe-rz2JEHK041vAc4xkf4FZAPA3SFxmTN5iLi0tWYdT2BRWhLqQtC4sjws9UAyN21D7sbMfcU4cfGTncSRzP4BuuImyLUotB7LSLjQh7MlN1QTmGFIioM1FQpxK8oQPTDmHQFlgyjlCP9uYygwzOFp7eOAuz3gitEDeorZAwwmbEEaaxSldIgAdX4JE6yBD2tE3Jscw4rz13uCQzE39pQV13EiskJbHfXjxWLwQO4RzlsKvue3yzHumxsWSFoY19beOdCmsRoaM2wM9e5c4pHJzSiakYtttxjcMA5a2xGdrcsW-Vi7v37ySSKgr9ygfUbNVkxJz29GCDNFbYU2feQttPWeon-iScWTxAx6Vl81FUCQWlrMVYRt8TNg__rfq5agetiiqHFQ_S4yRHljIp30xthczwlezx9gVaks_LpfkBoDN2E8TbhIHPwrh5TwU-jxLxWDHYQFrXqrUSD2lr4nE-RKuypoVlSlgJVxNON6LxcySxZw=",
  "id": "rs_0a8281e2001712b8016ab46586b78c87d089645a9d425524f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.32,\"left_z\":0.085,\"left_pitch\":0.1},\"note\":\"The brown toy has moved inward but still crowds the left rim. I’m making one small additional inward nudge so the lid will have clearance.\"}",
  "call_id": "call_Xv0S9dYNBdaPwhyf4VHrD0vq",
  "id": "fc_0a8281e2001712b8016ab46589822087d09dcfbe8ed6e3b439",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xv0S9dYNBdaPwhyf4VHrD0vq",
  "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]: [-0.8555, 2.167, 1.4368, -0.107, -0.7959, -0.5838, 0.013, -0.0208, 0.8291, 0.6144, -0.6312, -0.0189, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.4394 left_y=-0.3078 left_z=0.0681 left_yaw=0.0724 left_pitch=0.0308 left_roll=0.092 left_gripper=0.013 right_x=0.2575 right_y=0.0016 right_z=0.1285 right_yaw=0.0077 right_pitch=-0.262 right_roll=-0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -11.1658, 8.3897, 1.6239, -0.442, 0.2076, 0.1636, 0.0479, -1.4564, 6.7761, 1.7118, -0.0855, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9faf4804275e142ae99e05b2503970a03721058b388539806cd85f05aa9592",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58dcb1c023a7d352a19a87c02170cd4126f8e462264c71ed521a3df34c136fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0d9bd948007d95fba552969a8a047edfa08834e0a1d8bbc7d77ea3610f96c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.42 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0525, 0.8337, 0.7509, -0.5167, -0.1059, -0.086, 0.9963, -0.0208, 0.8162, 0.6144, -0.5415, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.2955 left_y=0.0068 left_z=0.2085 left_yaw=0.0678 left_pitch=-0.0154 left_roll=0.0059 left_gripper=0.9963 right_x=0.273 right_y=0.0012 right_z=0.1472 right_yaw=0.007 right_pitch=-0.1594 right_roll=-0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.7846, 9.2513, 1.9463, 0.1197, 0.1587, 0.0952, -0.1573, -1.4017, 6.9402, 1.9072, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7994, 2.0312, 1.3296, -0.2138, -0.6777, -0.6193, 0.0113, -0.0208, 0.8265, 0.6144, -0.609, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.4234 left_y=-0.2714 left_z=0.0717 left_yaw=0.0722 left_pitch=-0.0872 left_roll=0.0675 left_gripper=0.0113 right_x=0.2615 right_y=0.0015 right_z=0.1328 right_yaw=0.0075 right_pitch=-0.2372 right_roll=-0.0029 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.6051, 7.8564, 1.2186, -0.4029, 0.0464, 0.5739, -0.1299, -1.6068, 6.8171, 1.9756, -0.0757, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8555, 2.167, 1.4368, -0.107, -0.7959, -0.5838, 0.013, -0.0208, 0.8291, 0.6144, -0.6312, -0.0189, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.4394 left_y=-0.3078 left_z=0.0681 left_yaw=0.0724 left_pitch=0.0308 left_roll=0.092 left_gripper=0.013 right_x=0.2575 right_y=0.0016 right_z=0.1285 right_yaw=0.0077 right_pitch=-0.262 right_roll=-0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -11.1658, 8.3897, 1.6239, -0.442, 0.2076, 0.1636, 0.0479, -1.4564, 6.7761, 1.7118, -0.0855, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9faf4804275e142ae99e05b2503970a03721058b388539806cd85f05aa9592",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58dcb1c023a7d352a19a87c02170cd4126f8e462264c71ed521a3df34c136fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0d9bd948007d95fba552969a8a047edfa08834e0a1d8bbc7d77ea3610f96c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWRo9_NSVmwUVt-CxlXc97HAHj29V6wIoyIKtRBtCXTx34x64fZB4JUDMz4sjBK_krn2B3pyK4tnEfax5MVl29rYlo6rjqc7UB23_l24NgLSPYf4J91cjCEZ0iYdzedShSDLoLvxqPvFZ7dHq-LqZ_7pifokVD3ud5e9i4vAMXJVjRdCp2PNCsXm6BBDg-SHKpG-RYCiM57nsES8ONGvH0TxPNPRIARsiszFV8RVeTeTksjPyvY58dwggb6Pdb4zE4ZbsLRVygaEaWD6OjyRas8GkJ9t9qaPp1GoVthSALWt89llSqLNvNff96HmvfP4wUy4nX5omAFeY2w4x5Ryck0vKghOZ1irov0fnmhJHuhLqNPUEhmQKY6gHR_AD16ZCGinZPaGof1xCwh3xX68S-dbE3P6WeCXfcaZY7eHg1F1Y1pogiB6Cdy9jy9IboS9Mk_NP-p15xoo2_RP7sKlr_mQjf2pXz2a7PgqOeIUgUyvIOIW7u1Ayn4N395lMTgw6HJi2vEOCQvyxxOz_CzazTVBzRT5dXyP9V8Wi1sfJPkPD0ywC5Wedm1HJPlCmqcXa0Jge4uMPAwKqzj-bTpTM9IaUgjUKeSO0DDqeb0sGqK_U2MOIrenO9QIM3ciLXr8b_YBJGaMge9mtmNsCVpvpNjwuL-uCxWDfjiu5Ff9jNkN45v8r9qC2ROSfvOqtiWxq9H1pkKYG9Ijmh4AXrgepQNyBVoSrtcXhMnDBCb1TaMmPYdzHlcZXGSNErAGL-CmxGbIBc-8EL3jgPrBWxmqgKB6Vh8Ksk2-HyMI68dtkl6F0ooDG0lO0og2-usYKnrRR0ZUa4e-r4q7GoEDuz0amZuqBffD2EKNBPG3yPqvrX85dbJjuccUON5-X6GWvyqnztczSxNLa0A1Ryato3GgVQpwfy6rFJkEjo3hpwe9TwVZ0sEFiGWIAABo4mGLyVTlWjl1HFT07kofmrgopavDcypehgMKtUz9VYucrVp1rn2B1oe4fmcvEAfbR5LnwnFq6jgd4TB3ce647t5cOVaRfJkAcS_0VpQUUhz5DP3xUO4xlYmHDOvGexALTg-e1k6T_Ki1k23pA2p_Mk-883zN9pdz6J3hIPg47cj3ynB03Cdp6RjSgvn4GLtSx6fQNcJxcTuXkWfsNt3SNU_CdHWVrnsUU1ctPO693_sJF6s2fQ0QZfuMgbzmYHZPsu5eIDP0CbpGXMJr1UHPhxH7YWaW21Z2Dxq1wfHp_Jl_gUktTzr3xwSx4x9vUa9SUkrKHQYNU-6-UOqhe7hUOtCF2K_kAIPYQVKaAk6FavwTsXCAzu8Xpb_V2Ugf3LB-8EJeRKw9SxtMIw4iuK2XdsmJZ4H3Hf9W7508ruIP1gkqnpK6sFhgztcY4_wr0xxyIRsP7JHNUpm3VFmhBZ023DbckWdPcFNavfi4lWvJkficAe3dOYj0afG5sly7TMf_NRGd8_-OBDh7Nh6qntRnQxtaloWwtoB1wi_JtsOHV7SX9Cig8JB2y_mW5VZE-xNEW0gN4byJCpuaW-GbeLfwaAYS_GzGF8ldnkP3HH8S7dB6Wc7DIVch6nuNyQgb11_5CA8IiI8h3DJnVo94_fXt3GMx4Foo02xFLhUSBheA5Ks-wdzk4TID-GBEcSjfvbywZbavfOUVvYK2-GYvRvoUj4cDbU7dlv95-XlQrJiyrlOwQn9Byiju1qwyAQfKfN__EAfmjmZM8dB31u_threBfwHs2zLTmCpaNxBJkSSRw1I6Ts1kRdP0iCCPpERVG9D2HnHWriYxsDAg5pZoPFqp17Sd7Fu04ofOtfrt-Y8NvsuGxLUkIYAxo-Ykqp41lb_lCiDLmnRI3pZWfr-ds9Omas8P8RHHitxnZw5VeTiV1bv2gX0dubRbrr7JMRPQdV7TDcOUrDJWlcj-bd28MFKSYZqSjzHZIdNUcM_K6zW7NFSPj7BDkkX403MEK49CC817dOboybE2RGBSHChTND75O32QwZdB9Vi8fNvHHaYQEvdlLt_lBe2Xao6_-G1sj_aoadeluLkGnY4",
  "id": "rs_0a8281e2001712b8016ab4658cbe1487d08eb7fa34d0d9ecf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.001,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.48,\"right_y\":0.17,\"right_z\":0.16,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The toys are gathered at the safe opening. I’m parking the left arm and moving the right gripper above the remaining yellow object, with the arms kept on opposite sides.\"}",
  "call_id": "call_jDLDWB0bqqs5NN026I07hFU4",
  "id": "fc_0a8281e2001712b8016ab4658fe8f887d0ab6214cae291ef44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jDLDWB0bqqs5NN026I07hFU4",
  "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]: [-0.0502, 0.833, 0.7395, -0.5179, -0.1009, -0.0891, 0.015, 0.4591, 1.7657, 1.211, -0.1596, 0.3561, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=0.0066 left_z=0.2033 left_yaw=0.0677 left_pitch=-0.0275 left_roll=0.002 left_gripper=0.015 right_x=0.4642 right_y=0.1648 right_z=0.1388 right_yaw=0.028 right_pitch=-0.0779 right_roll=-0.04 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.8803, 10.359, 1.9853, 0.0952, 0.105, 0.1978, 0.2803, -8.5812, 9.1966, 2.0391, 0.2662, 0.2222, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f1979fa95d9b3fca757a5839a6c9d73b9502e092ffc6542321873a8794ac0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafde3bec07854b6ac04ada5be6de0dee9f19ace1f5a42f0ad6dfcf6416e5b52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a2b999a40b2607db512ba8d3a23ff15a4602065a827253f80814ae560d6225",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.941 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7425, 1.6451, 0.7498, 0.0353, -0.6449, -0.5518, 0.0084, -0.0208, 0.8219, 0.6144, -0.5678, -0.0185, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3523 left_y=-0.1744 left_z=0.0616 left_yaw=0.0666 left_pitch=-0.0719 left_roll=0.0626 left_gripper=0.0084 right_x=0.2687 right_y=0.0013 right_z=0.1411 right_yaw=0.0071 right_pitch=-0.1915 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -6.9128, 8.1573, 1.6825, -0.2418, 0.0952, 0.7302, -0.1026, -1.6615, 7.0222, 1.8242, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8555, 2.167, 1.4368, -0.107, -0.7959, -0.5838, 0.013, -0.0208, 0.8291, 0.6144, -0.6312, -0.0189, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.4394 left_y=-0.3078 left_z=0.0681 left_yaw=0.0724 left_pitch=0.0308 left_roll=0.092 left_gripper=0.013 right_x=0.2575 right_y=0.0016 right_z=0.1285 right_yaw=0.0077 right_pitch=-0.262 right_roll=-0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -11.1658, 8.3897, 1.6239, -0.442, 0.2076, 0.1636, 0.0479, -1.4564, 6.7761, 1.7118, -0.0855, -0.0269, -0.0073]",
      "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]: [-0.0502, 0.833, 0.7395, -0.5179, -0.1009, -0.0891, 0.015, 0.4591, 1.7657, 1.211, -0.1596, 0.3561, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=0.0066 left_z=0.2033 left_yaw=0.0677 left_pitch=-0.0275 left_roll=0.002 left_gripper=0.015 right_x=0.4642 right_y=0.1648 right_z=0.1388 right_yaw=0.028 right_pitch=-0.0779 right_roll=-0.04 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.8803, 10.359, 1.9853, 0.0952, 0.105, 0.1978, 0.2803, -8.5812, 9.1966, 2.0391, 0.2662, 0.2222, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f1979fa95d9b3fca757a5839a6c9d73b9502e092ffc6542321873a8794ac0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafde3bec07854b6ac04ada5be6de0dee9f19ace1f5a42f0ad6dfcf6416e5b52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a2b999a40b2607db512ba8d3a23ff15a4602065a827253f80814ae560d6225",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWXmVTM6SO3dQbFoPcjvkgoqmqd77nJWrA2hLY22cR6vJvr747PEj1iQ98Tt3XjphaTWe5_yIReranjTCzcIjKIfeLNFPsKxBVTrVn0zyQW1RG4P0-A1m_sRyNmNbbDlTlV1tWQZXoITvjwYperHKsIVNcVZtsM-Rk-SP7rZNsDzw1PyG8_6gK7mfYGFEri3AdEvyD1hjt52Lk6a7K9bYSHaKUqCTyXcD43gThemgSNA2FmxiWXUzenkEFGJrajIMisgNQCeZT1PBMlvV_BU7soZd9YteKMHJCAw0nsgyMbC7aL0jPKgmP5XnnISECUnE2TlJoNY5yOft7FB4f41gOe3AKqsl9_EDnGDZxJbbMDhkgLF9i0XicdzBKRs1lmfTD3G2eYZtsET2QeIBzfvQgUacGfMrtY_MZIStwjoYct9Ye9I39pfRcCZpsOW9I0dtz9NfJvbvhE57k13kq8aBSlObaGzmvhXWaK6dN6JMT4IDHOA6OotDZPDDoMNiUV3BlP6VuDu86CXTtYwpL8DN6lsWY8-7e6DclJWDzPXY0gDIg6gukNd09QbYkfwJsDO-vmBA1wBVTRJqMcTWtT4dOWUjYlvaEzpUeMfLY8ntoThxW8ygq6g4rlc8VhS-D54nyMsMnPTZTMSMw6-S4ik7_cisgIp4rUdGvuVUzVdJIDIFm833zRIkSeOrbYBiNKST3Ed_ifpr_xnOCVY1QR_4eRNJ5Op5ZTZk3LUUVE-nTJmznPKzTnr5vNA6z9Y-c3XMAhazW6Du46l9NEhiemGWBureZA7-0MV5IPyI9M0B7WNZ37YhWd_9BoUk6LjeokYkzAGRUmyfv8ycCXeGNQf9Q4eqyDiUVach7Im4638OvoeSl_khgPbAte4AKfv8LprbbBU0Y2TTlemXSwFnkM-CXBZnkiYjT8bI7ALaG3eWvIhH3p1-Sf8GW8pVRBq6KoMlD1eXouCqfqqAkm-d7hCHCmfOvVNcCLuQ1mE7khMBW3G27tTd8Vb50U8v3prLN7fJSJSecGVRC9z9KwZY3-5wYRheVxBpHJ9BDxYI_6ie2AmxAutP2d26Z_BJH_ilW8LHjEvcP0dN08QHQ1YmzD1mvadgVjaZBWEyR6a_f5LbxcZeAvhz1VSK99F-5SluZszJxlIpFPhV2ArFrpl_QYN0q8v7eiSIM_NySz7tPovk_Eit8C2n1RjNonnSpQcHAbpvsUbRNLgZVyaKzj11QdsDkYPdJsDvtsHWkqjkGVAlWE6r2f_pFjPfwIRDD-C9SWVKkWoVFv2gp3y6izT4S-lMyntdXAleyztNRA4WQu0XM8BDioFoX9_7CfhUAiLZFcJb_N46Y06_j3unp63_0s_7nSXjAluqBbr-awDdvmAgjlARAoQiqYoE88ZgERAiMchnwRN5TrVszwhiXCxzgQ6HUaug7Zn0ShNbUtG1P2xQ0Ff63ryKM0N3dOciAxNqKHtkxOLEPm9yzecd-D7579zYhqkg==",
  "id": "rs_0a8281e2001712b8016ab46595e3d487d09a97c95de9fe0123",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.16,\"right_z\":0.02},\"note\":\"The yellow object is centred just ahead of the right fingertips. I’m advancing slightly and lowering around it without touching the safe beside it.\"}",
  "call_id": "call_dF9eN96DjynDMyDtLwByGyC7",
  "id": "fc_0a8281e2001712b8016ab4659703ac87d0a0159861ab3ed618",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dF9eN96DjynDMyDtLwByGyC7",
  "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]: [-0.0509, 0.8356, 0.7441, -0.5545, -0.0944, -0.0902, 0.0163, 0.424, 2.038, 1.092, 0.202, 0.3191, 0.2028, 0.9995]\nstate[eef_state]: left_x=0.2895 left_y=0.0055 left_z=0.1973 left_yaw=0.0623 left_pitch=-0.0624 left_roll=0.0013 left_gripper=0.0163 right_x=0.4824 right_y=0.1609 right_z=0.0232 right_yaw=0.0325 right_pitch=-0.1154 right_roll=-0.0448 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.6068, 6.5162, 2.0195, -0.1343, 0.0024, 0.1294, -0.5675, -9.1829, 5.2855, 1.1844, 0.1978, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a6ebcca4647f77cb40da32f729728ed2684501282b28c93b0353b053172a7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6df101f2af9dfb0f0de9e4bdb2937376c03d98b961c272a1d5119cfad3b9e46f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1dcea721c79e6c7acbb9e6066b6b7b53a9b2277c953c0bf784ab1c66f58347b",
      "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 24 attempt 0 · /responses · status 200 · 6.296 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7994, 2.0312, 1.3296, -0.2138, -0.6777, -0.6193, 0.0113, -0.0208, 0.8265, 0.6144, -0.609, -0.0189, -0.0444, 0.9995]\nstate[eef_state]: left_x=0.4234 left_y=-0.2714 left_z=0.0717 left_yaw=0.0722 left_pitch=-0.0872 left_roll=0.0675 left_gripper=0.0113 right_x=0.2615 right_y=0.0015 right_z=0.1328 right_yaw=0.0075 right_pitch=-0.2372 right_roll=-0.0029 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -10.6051, 7.8564, 1.2186, -0.4029, 0.0464, 0.5739, -0.1299, -1.6068, 6.8171, 1.9756, -0.0757, -0.0171, -0.0073]",
      "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]: [-0.0502, 0.833, 0.7395, -0.5179, -0.1009, -0.0891, 0.015, 0.4591, 1.7657, 1.211, -0.1596, 0.3561, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=0.0066 left_z=0.2033 left_yaw=0.0677 left_pitch=-0.0275 left_roll=0.002 left_gripper=0.015 right_x=0.4642 right_y=0.1648 right_z=0.1388 right_yaw=0.028 right_pitch=-0.0779 right_roll=-0.04 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.8803, 10.359, 1.9853, 0.0952, 0.105, 0.1978, 0.2803, -8.5812, 9.1966, 2.0391, 0.2662, 0.2222, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.0509, 0.8356, 0.7441, -0.5545, -0.0944, -0.0902, 0.0163, 0.424, 2.038, 1.092, 0.202, 0.3191, 0.2028, 0.9995]\nstate[eef_state]: left_x=0.2895 left_y=0.0055 left_z=0.1973 left_yaw=0.0623 left_pitch=-0.0624 left_roll=0.0013 left_gripper=0.0163 right_x=0.4824 right_y=0.1609 right_z=0.0232 right_yaw=0.0325 right_pitch=-0.1154 right_roll=-0.0448 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.6068, 6.5162, 2.0195, -0.1343, 0.0024, 0.1294, -0.5675, -9.1829, 5.2855, 1.1844, 0.1978, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a6ebcca4647f77cb40da32f729728ed2684501282b28c93b0353b053172a7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6df101f2af9dfb0f0de9e4bdb2937376c03d98b961c272a1d5119cfad3b9e46f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1dcea721c79e6c7acbb9e6066b6b7b53a9b2277c953c0bf784ab1c66f58347b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWdrwmmSaYo3LN3UpE7vVJ-k9So4WhxaNMz_1nCEgqRDgTVs5n9H3PijDFx5KjNpW_uFsFWIQTHCKhbJpjVu8elzVrySGR17j7nmJbgcdGsohfsak_5CXjlW3kZC2dmCCopIww9YhsHhBngnFSANtUbkypdGIzqnkUWWhOATfZCGMDFJfKj_ZHgdt2QObESvUTG8pwuNFDb9Q_LcfbBgsUogGHXcaJu95SSo6KlIhTPPfyv1AEqpt2fU85sNzOvGHfEjir1DjoqNcdVIT1B6Kv-fFw61970AQdZAJxbUwEAMMJubKfqVVUN8mzNMSXT2l1YrJpvvUSJr__V2dxaLuW-8KysM3mn-19BtBjIfuSWmF7Oup8Q1w5Kbiz166Q7gKECCbJ6Dr_C0gyHnYJtNQnVvzqEZjN5f0QGYRM8YGMXUA6zY729lh3NGSKvcq_KV5VtUA-3YzikVqoV7j_-KJfYENr1yTmclY04zeXutGlbk-PaVAoVFwAiH81Hmugj2qtowCA7CERI2io4o-S5NpcWwcRLNnNVrBC8GpkWTwq2PrTqWUddp1ozIV0iqVe3zJBd593gB_vIUbwdwaWxcCe1h-csV7AXcilEvWvG8OtQqe7u62J3B0gnDuJupSE4WYjzECavPSgSBWSQWbYEUCCR7cnGYrVkk1fyG1_TjHE2IV2ovDAE7_EMTnf8e5-Net8oYSQNv_J7q61Ytr-KBrUUF_rw8NC7ZveRAaRJfeIRjAg1dX2NqqjwexR9NIfbtdF8b5WdphFq04_e9eC7jdoeF33UDioZW-868SgGwtXuhnBYa9FPoAvbZVghdl-xI2K3y9atcJ3tu0t3m8R-uZEjdbVTdqvuyqDGcMfM3ilAMK3E1nTbO-RYf25LNh0hRPK7HIJPhcLpc0fGqRLcHfCAKis8OA4iCqXpjVkb8UGBHP4ZdqviF6HyXZOxW-WCX4QXw29RW9y8-qPxUzLVzQTwX608NNnRTMx4xuVDj1GheKun8x93BMnMHc2gyQlefbasuO9W8Vi6OGWKHNVlg2QN8K1yI0EQf9duwNLNip-NXPIMXRy3Suq4xpOz7hnV0nlyz3ZsxbvLEzHm30f-ihPjan_duQWCuM5rLgGWa1HVJN0XaVkPFb4y2Ca-fN1SVzqR4j5JqXLT2EeB9Gczg_94x8HSLfznaUFd4zq3CpLrR-WpcjlXW2TIltoS7FLya8VycO95NXS-Xi2AY7TBfHrK-NrTqyviSMw6A0LCOufLelgYJ2KutDsbGcOSOM_iqt55fvf6dnhi9amL6bJ5dEK_TCo_1GH-PbF0-EIaTpyr5mQq1d-1Im--Rl5tOybU1-KZBZjvA-jOPtpGrg0L9GXTdzYiIDax5jd1Cp205s6hqWatUHY-y_OzGDfzCz9N4JIF1tMp7rgqSFf51SfTqlJmvahurfachFsrZm6_0zRWbFPJduOUblsVgTAF-gdN2wZ-DQkXVXldSXQbX90jDKT3S48WAkGGSW77nhd0-Zpjcb4AJhihIHpbg6EepssBqgCKvainFtNLoNfx5v5IXnezibTdyGQ_PeqjP038tD5B37IP5lXPfvkfKOZLX8QhDQX0RT5SVjb7BBs7iasEBkyEa-iubq2DXvsajP6ARXSaVWSeR2uX1hn8PECdkDrT6s7ddhSvE_ypr_8FCSWAgGKLmnhDeH21COMch5j-oxbczKxZ_kCq3okmogWZlSWOt6A1TSGV8_tLl3d5fkYaUahufYZhq0Tg0lHc-exiDJ1a23trOV0HhC8hbWRAp_TYHjkERBxXBIS3vQsptFJ9VCnxIUDM2asb5C-gwMgIGjn118Sqwncqoca5EMit0zlYJrdM9jYn-xs_I3v5Nuusc5-7y7_y7V6GhhbOISFKIr8syBl0hNY-W--7u27x9YmUfeJnKppo1D6IMXFV4SdIX4WC-A==",
  "id": "rs_0a8281e2001712b8016ab46599f12087d095cba332e5aadaaf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.145,\"right_gripper\":0.25},\"note\":\"The yellow object sits slightly to the right of the jaw centre. I’m correcting that small offset and closing gently around its sides.\"}",
  "call_id": "call_wQnNmwGCp4icXYk1eORhyCjb",
  "id": "fc_0a8281e2001712b8016ab4659cc58487d0b3b5667ca034570e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wQnNmwGCp4icXYk1eORhyCjb",
  "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]: [-0.0509, 0.836, 0.7441, -0.5644, -0.0944, -0.0906, 0.0172, 0.3981, 2.0335, 1.0725, 0.2348, 0.2539, 0.1726, 0.2565]\nstate[eef_state]: left_x=0.2881 left_y=0.0056 left_z=0.1952 left_yaw=0.0626 left_pitch=-0.0726 left_roll=0.0021 left_gripper=0.0172 right_x=0.4838 right_y=0.1592 right_z=0.0219 right_yaw=0.0772 right_pitch=-0.1144 right_roll=-0.0204 right_gripper=0.2565\nstate[joint_eff]: [-0.1846, -1.2376, 6.8718, 1.79, -0.0855, -0.0611, 0.0806, -1.2786, -11.1521, 4.7521, 1.6337, 0.1832, 0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:916961dd0e6355bbf66d92b6ba48523b272374048ceccbf79e6b5dca251c21d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e684be2e3159349edd29b7c34ba577f8cb0bc43c349b479cd0eb7f7f288e4ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6a6be7d161e89a14d08793fff42f1937eff8cbd6cbf7996c62cd357e8fc760",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.654 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8555, 2.167, 1.4368, -0.107, -0.7959, -0.5838, 0.013, -0.0208, 0.8291, 0.6144, -0.6312, -0.0189, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.4394 left_y=-0.3078 left_z=0.0681 left_yaw=0.0724 left_pitch=0.0308 left_roll=0.092 left_gripper=0.013 right_x=0.2575 right_y=0.0016 right_z=0.1285 right_yaw=0.0077 right_pitch=-0.262 right_roll=-0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -11.1658, 8.3897, 1.6239, -0.442, 0.2076, 0.1636, 0.0479, -1.4564, 6.7761, 1.7118, -0.0855, -0.0269, -0.0073]",
      "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]: [-0.0509, 0.8356, 0.7441, -0.5545, -0.0944, -0.0902, 0.0163, 0.424, 2.038, 1.092, 0.202, 0.3191, 0.2028, 0.9995]\nstate[eef_state]: left_x=0.2895 left_y=0.0055 left_z=0.1973 left_yaw=0.0623 left_pitch=-0.0624 left_roll=0.0013 left_gripper=0.0163 right_x=0.4824 right_y=0.1609 right_z=0.0232 right_yaw=0.0325 right_pitch=-0.1154 right_roll=-0.0448 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.6068, 6.5162, 2.0195, -0.1343, 0.0024, 0.1294, -0.5675, -9.1829, 5.2855, 1.1844, 0.1978, -0.1441, -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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 0.836, 0.7441, -0.5644, -0.0944, -0.0906, 0.0172, 0.3981, 2.0335, 1.0725, 0.2348, 0.2539, 0.1726, 0.2565]\nstate[eef_state]: left_x=0.2881 left_y=0.0056 left_z=0.1952 left_yaw=0.0626 left_pitch=-0.0726 left_roll=0.0021 left_gripper=0.0172 right_x=0.4838 right_y=0.1592 right_z=0.0219 right_yaw=0.0772 right_pitch=-0.1144 right_roll=-0.0204 right_gripper=0.2565\nstate[joint_eff]: [-0.1846, -1.2376, 6.8718, 1.79, -0.0855, -0.0611, 0.0806, -1.2786, -11.1521, 4.7521, 1.6337, 0.1832, 0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:916961dd0e6355bbf66d92b6ba48523b272374048ceccbf79e6b5dca251c21d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e684be2e3159349edd29b7c34ba577f8cb0bc43c349b479cd0eb7f7f288e4ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f6a6be7d161e89a14d08793fff42f1937eff8cbd6cbf7996c62cd357e8fc760",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWkk8wskvOXdhjpfHPcpbuaMp0fUExCIPAzMQd9Hjli6S7rAXlc-FVXheZ_ZNQ_OJ7kYANMgrjEtjZBXHC5bYyHcIfPkFHqEDn-WnH3DzHcFnKwJw1I5mHRuOUcjKiPDAIgtB17DrElnsAoWPQg_BHkxkJUFZKYAwWvaAg6NGm9hSMdFyZAlJ9grIYtS0dPB7cckKkY8J3SKxh2DiTB_B9WkjtWIEXvZgZYughfuSLcfmBjA3gL27T8DvALU1MLFjR4X0oNnkzx1J5_hgG07ducnI-Oe3DzTpXmFbP79NFZnuNW9S8FTlQU9DAGvcXyzoe0EecXn2gt1Cd_4CdAPp6DGgaEzSibyW063C-EAoAa2DgJSF8iazqQvoQtBqdRnMTWWSHbqUmziani7Fb_ktK16oKucKbCHj7chSxeOVAnC46MWqfrcqlRH_DWYhWGV8jvWSomyeccPqq6p5XiNOOjgm4jNkb1KQqEA4afqih_NTmWIw3hByZHL4toku5yMsnILr37JwHj2zc99JIS7fjZTqYQvjy1yPVePGH51MGEUiw3V8XDCxgqhY2sOeZ5H-5P3mabgDF5AmtATnCooMILRxfNXHaJf7Gi0GngKi0MP3gbAbMy-NFq3IUM3KqiXO6FcbicM2fmZnlKQezvKsTr6iP3XB-MF6i3HeQNJV9OKzG3h5XoSvHaiAudvkgr-16-zuXv6G59vk8M_l3WUDqPrEnS2UBh-2u4q7fksPm3yxT8xUtX3zSeHg43EKF1w07ZTgSgsSizmqoH6oR01YlDUjqwlDEep9RXhWRT9GWj1gGQp34e8meqxbUZAvTE_dP_c7eaKFEktTgpLp6U8insmc4piu5HPpczxObDzv0aCFK_HsTHBq9qj3t9cfYg5ffyci0KDQBHE0sSkhbRjR6Ph8muHrG6LYNgJzSYqiXcfLB6I27U_rPWKVrkNKGSHZYhbEDYUYe1qlCsf4Ii4sRSRWlbklSk6SVA1TjioKtKsn2STkr3QbSFTfG0psYxTk-en1dETombjw2LJiXTKPsRrAXmINzy4kbJsGOy6wfdfKrtIuJc3fGc336vlSCNpu9lYFcKNb-7UH2fKzXMG3iPQzlVQ19nLG7wKSpWHRIy_42_7CWx6-2WXXZGt4dNJe46D8WNXVbZIw04L3i4bU5_0__tU8NkU5PzX5heB_j202ET1Fjl_VYhVYudqNhtepWtMdA945BnSvZ79DlRVx1H9M9j3FYCMpUPjYUNL4cLoqBi4ke2EzjJJq1L1RxI1pSoEHFL0a9rkYNOUpuhMFzDJobzDE8Wg0_QbnwK_yUiAi5LI_nOA1dQE8-QCcDRZV_IxR28R84EFc2_25zTGH9aBPa-qIMdaRPsD06k-7CEQF1z9doOFPc0sqdCwAATIdHXLwr9aEu8aNL59i0Rn1fZghz0I7KzH1UEecJU5fE4YvHvOHIOeSnicRbsMH5ybN4nDZLRLaO3NasjlrzcQpk91Eqng1NcTA0nWWAoXw5n-iGUiKrc0TuG5LeyXuhlofuqSIOny4raRAoVl1cwA_2vxPQ2VrP2HK8Lt1aY8Qoqtx27ZvL7n0Lu-TQIvq8Eynmr0FNccxcEGQQj7ebkZx3misZLWfbvyKBCiPkQlFQi1GwV4UaGnrcGRQX3FyBjtr_olpO-estZOVdmS1sNfMpDcLeTA2sgQX-6A_cq9lD3QFg9eJugoaYYjsK5r731h06cSHk0KLo9zYPk4T_2cksrcMLcj0RGBGnJ9c4KKGEEpNnT5_X7RccMe5wfzdcMXlc6h47D3plGieWz8f7vAvPKBikLSWK8l0Le7gW7azMVR4qyKzqyCpVQY67SN8UxZvE5gehEQG05dWq2RMfPoQqE9EBt0U-SDHo_tMIa3382UqalG5BNmpqE72sUz9p62-fW7asdt5TmzUAePnTrgTSyZ4cU6SdHdefsNfWgZvX-r3Rl6f7gBKEMNjBxclvAEvLHSqSkSB05wYD7f88Z-NTfcCL7gGfBRNUulEW_ho_rHBy82J6T5MHtyaEb4gIbn1xMfnJA8KJrOU8Mg7FDF0LBTKEqBjApsR8pKw14pILEAChjpNrGdPOu7oTtNTo4jtVt1jN_zPNY5mrZu-eLTzvy-2BQxSEjYeKBrq0CJIAaQVVzazZtv6tLQ3y-48j3LqKNdnIMagQYLlPvbt12b9-5DCavO2CIx67I8LxJS9UW3Aof2LQmONB0q6ybtSNh2InNfZ7V7M1FulRUwi40pXbn4Odm7r7Lv3ms7nzAPBvW6zIjgzGqAmX5KODvD4cjvoK0Kif584b_OuQpJstk-Nxh1A==",
  "id": "rs_0a8281e2001712b8016ab4659f949887d08b4c5155141111d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.145,\"right_z\":0.035,\"right_pitch\":0.4,\"right_gripper\":1},\"note\":\"The yellow object slipped forward instead of staying between the jaws. I’m reopening and reaching farther with a forward tool tilt for a centred retry.\"}",
  "call_id": "call_agycI6RBph13k5vVVQV6DBww",
  "id": "fc_0a8281e2001712b8016ab465a37c7c87d095b70566f6a35674",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agycI6RBph13k5vVVQV6DBww",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 0.836, 0.7441, -0.5842, -0.0944, -0.0906, 0.0178, 0.345, 2.3047, 0.9905, 1.0607, 0.2638, 0.0254, 0.9975]\nstate[eef_state]: left_x=0.2851 left_y=0.0057 left_z=0.1914 left_yaw=0.0628 left_pitch=-0.0923 left_roll=0.0044 left_gripper=0.0178 right_x=0.5321 right_y=0.1461 right_z=0.0262 right_yaw=0.084 right_pitch=0.3391 right_roll=-0.0217 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.8388, -0.0855, -0.0415, 0.0464, -0.6496, -9.2376, 6.3111, 1.9267, 0.0024, -0.1783, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a01a187df7034b41fcc3884a3e7357da92942bc0b30720f3fb6dde9725c8fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c1e849577480da274fa149dfec5dade72e456b941f99cc053e11d63906ee76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b626a90db3c77c5c08ac73921bb15676075a1275fa977cf0e9e6034fcfa522",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.784 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]: [-0.0502, 0.833, 0.7395, -0.5179, -0.1009, -0.0891, 0.015, 0.4591, 1.7657, 1.211, -0.1596, 0.3561, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2941 left_y=0.0066 left_z=0.2033 left_yaw=0.0677 left_pitch=-0.0275 left_roll=0.002 left_gripper=0.015 right_x=0.4642 right_y=0.1648 right_z=0.1388 right_yaw=0.028 right_pitch=-0.0779 right_roll=-0.04 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.8803, 10.359, 1.9853, 0.0952, 0.105, 0.1978, 0.2803, -8.5812, 9.1966, 2.0391, 0.2662, 0.2222, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0509, 0.836, 0.7441, -0.5644, -0.0944, -0.0906, 0.0172, 0.3981, 2.0335, 1.0725, 0.2348, 0.2539, 0.1726, 0.2565]\nstate[eef_state]: left_x=0.2881 left_y=0.0056 left_z=0.1952 left_yaw=0.0626 left_pitch=-0.0726 left_roll=0.0021 left_gripper=0.0172 right_x=0.4838 right_y=0.1592 right_z=0.0219 right_yaw=0.0772 right_pitch=-0.1144 right_roll=-0.0204 right_gripper=0.2565\nstate[joint_eff]: [-0.1846, -1.2376, 6.8718, 1.79, -0.0855, -0.0611, 0.0806, -1.2786, -11.1521, 4.7521, 1.6337, 0.1832, 0.0317, 0.1538]",
      "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]: [-0.0509, 0.836, 0.7441, -0.5842, -0.0944, -0.0906, 0.0178, 0.345, 2.3047, 0.9905, 1.0607, 0.2638, 0.0254, 0.9975]\nstate[eef_state]: left_x=0.2851 left_y=0.0057 left_z=0.1914 left_yaw=0.0628 left_pitch=-0.0923 left_roll=0.0044 left_gripper=0.0178 right_x=0.5321 right_y=0.1461 right_z=0.0262 right_yaw=0.084 right_pitch=0.3391 right_roll=-0.0217 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.8388, -0.0855, -0.0415, 0.0464, -0.6496, -9.2376, 6.3111, 1.9267, 0.0024, -0.1783, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a01a187df7034b41fcc3884a3e7357da92942bc0b30720f3fb6dde9725c8fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c1e849577480da274fa149dfec5dade72e456b941f99cc053e11d63906ee76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b626a90db3c77c5c08ac73921bb15676075a1275fa977cf0e9e6034fcfa522",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWocFgfaGYGD2F6GvTXTEXQKLcaGwb9DMDsITFeUlg8SklQPeEsQuMLeae0R6QYb-CieH51xXXQ7HsZjgte6Nky_TL1hlWli0MBSRbs97C3UISzWf6VwcrmmLN2jT6Pk6_9GJ9kGtRHTgeAV2MmheDOQdO6HrfHW20B4HGX7GXyUrVyjB7nQECsG2qm1ohjCVyM5EF7vi0IFBaEW3Ztm-MCOX7Ly3KVof-6y-8-3pE1a1Zl7RiRqpDTFOAA5q37quQB6DquVGaap3IeytykLVmRlRTMJY-Ep193sRx1BduD3mZ-r_ERV7W1ggkftt4eR9c5xruMYkva29pdavRMQHMYDYNR1NDr3M0bs4QHDPhs7yhI2tfIPPnnLWyrL4O1ESyh2xVMhz2ykviKZok3dw9NUrcG1stnisSwofsINMzwYcs3zal-lUQTcmS4zmO9Lb-9NATpOOpbLWIS6bkUqUfY9N4K-BxQ3XulIHct5LCo5wwj4dS6jqxoqWU1tFNhlwpZ3wNQa1C6HRXprE963lQJ49hn7ocO2c9CsLoPol7kkGB4R4Rag6nrdNxy2wKQABHYIYcCYYk8iWHFmPNiUKhuovfKpo09-hVIUfMEYOnoVvLd7TIcqqljBhpQI3IhIzrgCeu9t5dlJwgqD9BXccv_HkveUbtvXuZPgAy3-U-kweGVgSv0o0pZrCUx9BcGrRsfkjvv4SeykfCHtdWh7aRst8ObKTQHGE2ueRK74g-ItCyClWZuj3_bZ9IlXad42Yn6xVxL-NDxbauMZNM7Pcgf3wqRfobAEaqc86usVV54eL5waivHMuP5UB8-J16sQTLFWf4osHdFew3WnXNR5A3J26qAB2QFBcqb3Cr0pmzqCfXfDRm4GP2dej94wW63uiWtIitWMt2eEozXdFr2lcmvfakw7pCgo1v8UXx1JpEHi5bT-m_eSZHDjRjZSoKPSLKB7W53GLhFh1OkB4ON44jxVRVm3DLE_P4ON29LbQS5P-qS8kRuL-edxCVf9_HRFFun67tVnrWnjanL6Oa4afFk3_abKHk10DJckyp2UYMI75zHFNjVmHxWhUOg1qOkvy3PgmAqpr1NV3kowmQPCYVK185FLcCc_abHdD3rUOfHNHhjbP-Afu1-tdu_5hHsblvzqDQ2axvzeMoLGFmnsr6VtbWuLG7a3yweL2QK-4A1c7_0UJ9q_VJuE_VRdJg5dk8n0fpBS3-XtqImqrr15afpN0hGeIGrh7sn_FMPQPyFe51DeKdusJn_DdQXxMvYCh9Y0T_58NwN507P1YOuJXABBu-es-DTeAInkDz79oQHuH8p0pBTEJGiDvWlDZg6fIJz",
  "id": "rs_0a8281e2001712b8016ab465a7883887d0b1d3734932af59b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.1},\"note\":\"The tilted gripper now straddles the yellow object near its middle. I’m closing for the corrected grasp.\"}",
  "call_id": "call_UouaTXURCsMfdj5w1xzn901E",
  "id": "fc_0a8281e2001712b8016ab465a8108887d0ba65612a9860c7e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UouaTXURCsMfdj5w1xzn901E",
  "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]: [-0.0509, 0.836, 0.7441, -0.5888, -0.0944, -0.0906, 0.0179, 0.3492, 2.3005, 0.9955, 1.1206, 0.2348, 0.0826, 0.4879]\nstate[eef_state]: left_x=0.2844 left_y=0.0058 left_z=0.1905 left_yaw=0.0628 left_pitch=-0.0969 left_roll=0.0049 left_gripper=0.0179 right_x=0.5355 right_y=0.1551 right_z=0.044 right_yaw=0.0732 right_pitch=0.4033 right_roll=0.0645 right_gripper=0.4879\nstate[joint_eff]: [-0.0205, -1.0051, 6.8581, 1.6728, -0.1001, -0.0366, -0.0024, -0.3761, -10.9744, 4.2872, 1.2821, 0.2857, -0.6325, 1.0281]\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:a9d8de06e7783afd4b756351882b195665315769226f9fcd95a08003c31b538a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d40445715b7dd6f49b3c74b1cab3b39b4acbf4ebfa5cba0dcffa69e443f1f29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c01ee46df0e416699ef13791a0d36b4e57b40bb19f40dab94ac32d15ae8cd4",
      "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 · 7.485 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]: [-0.0509, 0.8356, 0.7441, -0.5545, -0.0944, -0.0902, 0.0163, 0.424, 2.038, 1.092, 0.202, 0.3191, 0.2028, 0.9995]\nstate[eef_state]: left_x=0.2895 left_y=0.0055 left_z=0.1973 left_yaw=0.0623 left_pitch=-0.0624 left_roll=0.0013 left_gripper=0.0163 right_x=0.4824 right_y=0.1609 right_z=0.0232 right_yaw=0.0325 right_pitch=-0.1154 right_roll=-0.0448 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.6068, 6.5162, 2.0195, -0.1343, 0.0024, 0.1294, -0.5675, -9.1829, 5.2855, 1.1844, 0.1978, -0.1441, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0509, 0.836, 0.7441, -0.5842, -0.0944, -0.0906, 0.0178, 0.345, 2.3047, 0.9905, 1.0607, 0.2638, 0.0254, 0.9975]\nstate[eef_state]: left_x=0.2851 left_y=0.0057 left_z=0.1914 left_yaw=0.0628 left_pitch=-0.0923 left_roll=0.0044 left_gripper=0.0178 right_x=0.5321 right_y=0.1461 right_z=0.0262 right_yaw=0.084 right_pitch=0.3391 right_roll=-0.0217 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.8388, -0.0855, -0.0415, 0.0464, -0.6496, -9.2376, 6.3111, 1.9267, 0.0024, -0.1783, -0.1148]",
      "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]: [-0.0509, 0.836, 0.7441, -0.5888, -0.0944, -0.0906, 0.0179, 0.3492, 2.3005, 0.9955, 1.1206, 0.2348, 0.0826, 0.4879]\nstate[eef_state]: left_x=0.2844 left_y=0.0058 left_z=0.1905 left_yaw=0.0628 left_pitch=-0.0969 left_roll=0.0049 left_gripper=0.0179 right_x=0.5355 right_y=0.1551 right_z=0.044 right_yaw=0.0732 right_pitch=0.4033 right_roll=0.0645 right_gripper=0.4879\nstate[joint_eff]: [-0.0205, -1.0051, 6.8581, 1.6728, -0.1001, -0.0366, -0.0024, -0.3761, -10.9744, 4.2872, 1.2821, 0.2857, -0.6325, 1.0281]\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,$blob:a9d8de06e7783afd4b756351882b195665315769226f9fcd95a08003c31b538a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d40445715b7dd6f49b3c74b1cab3b39b4acbf4ebfa5cba0dcffa69e443f1f29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c01ee46df0e416699ef13791a0d36b4e57b40bb19f40dab94ac32d15ae8cd4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWsiX6sgHdp3OTeSoS6s0mPThkEf7UaJ_TNGpGUJ6NmKmXuA6ru1g23pHyGcA0FIzhuQ9wTRGRne8gfbstaYSsNYwFeeXsqdIngJDda_4RTpO-K-XG3VsjcSLzfCGLHN9Ilqfoph77IR6VqAQ955l-CYQOZAkCHWPPpdIHXN1VX2sBTgrEeLm0s11k0ZyAC76bKKw4dxMpv8KSLxaSKeiM0rtVBOZRiVB0AKmo3Xkg-YRkjLMXObkRRMBUynJq2fYDfzW44VpV7SAGh-64xBn8fqkx5n3T3C8iaxB9cYRjbmumCAxJIEXM9k53UoDZNWlR-7tlpEXSmVEOKIc5tIKcg9GGh_oFmfwpeipn55G65rEqUssP69uxmgPx4-ishR7ntbZrJuJwjhVYyH56dBJ1Q4gQ38isBv_n8F5xv_Y4v0iOz_n1Y-6St6SEImyWTLjUgpNOXmP02U-BG0vNKMR_SBqJqTrYtdtkNybrhvyDsqW4HTI6UGuLHSk7WiWua053fhRo0qeYr2J_EQpha-85cIJTBfDxxlBuX9_Mi4aWRVuq1aIzM-2I1NSo-D4BiEt8GXplhMD9zqdkxv8a8qtGZmcUr0Htqz8kpzGuruWEaeX2qZNQSwM7DQ-xpQgs36P7xsImlz-lkWM_aOApYEfKRUIocO_jv2WXQYue0a9njF_BzuBpKp5qQG8VE7Sa-_duO6GHODGZ2GS9nqujmFEuWfO2jVKh0To2tjxWDUuZAF-FwSLAXD7rwNybvaplyMjS1WepSSopst2OtwazKrMnE0HNjyEoFd8C3jwySDhxLnV5s_1j_syHxWbYJLLP-4J7gXVa-WO7Pst6T0NkfdqfzItLP8YN2B85ewxkHeUhVd4B8p-MbhYexEd_Nu4jA0QOJnlpQ2LEh1QZ3Uweickgnk054J_z23oAOVCVbN-rXljhCl-LTFpbLWxLVfGdpAlwMIX5b_qmSjG2MxuPAo38XfSieideQkbaPmeq_SmrhvC0Jb7dddLEV-fAmP4FtGOnoyZt1sfi8a7wEPLJTYAqiAH3GHLZxdEignlEVgkLqocNdiuBcfjTsYl-ovOmfCyDBhRcZfBQSMqB58W15RF72t3yiEbH_aTsLXVRr8pSru6SYItiw1iCyJa6HBCMshT_I3-Lz65BHS2cMCNA2UL91sP-DkmzrelwFikpX2RBcKWeLEKcG5PMpbTgNSuwostAxgfdk9b288dJB1oYHw_G-GVkYYJYgI_J6hhlB56-u7e_DzLSdEd1zu4mXByS5vt4d",
  "id": "rs_0a8281e2001712b8016ab465ab71c887d0ac10f4648b1f792e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper has stopped at a substantial opening around the yellow object. I’m lifting it a few centimetres to confirm it is secure.\"}",
  "call_id": "call_OPefNRnC1YWAj9PoaXYz7Xuc",
  "id": "fc_0a8281e2001712b8016ab465abbb8087d0b2f63491173e2645",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OPefNRnC1YWAj9PoaXYz7Xuc",
  "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]: [-0.0509, 0.836, 0.7441, -0.5926, -0.0944, -0.0906, 0.0179, 0.3492, 2.1254, 0.9882, 0.8402, 0.2317, 0.0776, 0.4884]\nstate[eef_state]: left_x=0.2838 left_y=0.0058 left_z=0.1898 left_yaw=0.0629 left_pitch=-0.1007 left_roll=0.0053 left_gripper=0.0179 right_x=0.5276 right_y=0.1528 right_z=0.0687 right_yaw=0.0896 right_pitch=0.2947 right_roll=0.0285 right_gripper=0.4884\nstate[joint_eff]: [-0.1983, -1.0872, 6.8444, 1.6581, -0.1001, -0.022, -0.0122, -0.1162, -14.7624, 7.159, 3.0452, 0.0513, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01fb2fe281055cae0fc2f53e08b807b89e91e907c1d268faba7ead7f013e67c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99ecce76fe3ad3c13feba991a36f5e602b765b4903a435c7362c2039afe0233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1fb6e0954fa3e5e09e8698896ef31627f4100cb6dbb2659a2bd62aa60f4bd0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 9.3 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]: [-0.0509, 0.836, 0.7441, -0.5644, -0.0944, -0.0906, 0.0172, 0.3981, 2.0335, 1.0725, 0.2348, 0.2539, 0.1726, 0.2565]\nstate[eef_state]: left_x=0.2881 left_y=0.0056 left_z=0.1952 left_yaw=0.0626 left_pitch=-0.0726 left_roll=0.0021 left_gripper=0.0172 right_x=0.4838 right_y=0.1592 right_z=0.0219 right_yaw=0.0772 right_pitch=-0.1144 right_roll=-0.0204 right_gripper=0.2565\nstate[joint_eff]: [-0.1846, -1.2376, 6.8718, 1.79, -0.0855, -0.0611, 0.0806, -1.2786, -11.1521, 4.7521, 1.6337, 0.1832, 0.0317, 0.1538]",
      "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]: [-0.0509, 0.836, 0.7441, -0.5888, -0.0944, -0.0906, 0.0179, 0.3492, 2.3005, 0.9955, 1.1206, 0.2348, 0.0826, 0.4879]\nstate[eef_state]: left_x=0.2844 left_y=0.0058 left_z=0.1905 left_yaw=0.0628 left_pitch=-0.0969 left_roll=0.0049 left_gripper=0.0179 right_x=0.5355 right_y=0.1551 right_z=0.044 right_yaw=0.0732 right_pitch=0.4033 right_roll=0.0645 right_gripper=0.4879\nstate[joint_eff]: [-0.0205, -1.0051, 6.8581, 1.6728, -0.1001, -0.0366, -0.0024, -0.3761, -10.9744, 4.2872, 1.2821, 0.2857, -0.6325, 1.0281]\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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 0.836, 0.7441, -0.5926, -0.0944, -0.0906, 0.0179, 0.3492, 2.1254, 0.9882, 0.8402, 0.2317, 0.0776, 0.4884]\nstate[eef_state]: left_x=0.2838 left_y=0.0058 left_z=0.1898 left_yaw=0.0629 left_pitch=-0.1007 left_roll=0.0053 left_gripper=0.0179 right_x=0.5276 right_y=0.1528 right_z=0.0687 right_yaw=0.0896 right_pitch=0.2947 right_roll=0.0285 right_gripper=0.4884\nstate[joint_eff]: [-0.1983, -1.0872, 6.8444, 1.6581, -0.1001, -0.022, -0.0122, -0.1162, -14.7624, 7.159, 3.0452, 0.0513, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01fb2fe281055cae0fc2f53e08b807b89e91e907c1d268faba7ead7f013e67c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99ecce76fe3ad3c13feba991a36f5e602b765b4903a435c7362c2039afe0233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1fb6e0954fa3e5e09e8698896ef31627f4100cb6dbb2659a2bd62aa60f4bd0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGW0QFb6Xe3KUkrTrvCbba8QjHBjb57ob6hsDgPSLf4cXZ4oOpvl1-xl7Uf5pffkrlH3pBc4CEltAm4nUScjj1wOQW__OhTsv4MXBiPF4DkbzKJnSjORzdg-YN-4PDp8q44HRQBv4Ly9-6eWhbQgymEPPZCEXwn5INDGDND-zOvgGUMdDU7m-vd70EJJbyr540E_8fmcPRKfm32C630kc6ZEKg5M34IOTQIxFSNP8oH2Hp7_ykIuEnnb0VRcbJgG314kWbQVrD3btDDjAC0_h-kZZ7-U4UifAtl5t1-_k2hTk4ixWZqwpStkxjdY6xyLRqAcRFsT0-AJivdwk-9z77PTyFb05ziTx-CcgihdD8nLmshdzbAE7ToON4VXKAdb9gfBrGUK1V4PGWKU4NwaICRsfixBiLevMZvwWfmRQK-ctOqLiiND4vZYiY8RRdyyOk0EUWM1WZf2ZCEjy-xWWARoiYx78I4sGZSnd5vkmsm1U0YUYTG_z46T27yvIIgmQftbyEF49xgYWQndt5unsZLn7UPliyBa9Y4w7FzcUMAuTQG17Q4A8NGLg3LDrUJUPSKAnuRzMDpjlZQBE7-uWN5At1-T7kCisjCBi4_k8tHSvTx0aJEuKOZfzR0zBD_LZ3g9fBHB7-G05yeIzkC7UT1o6FlWUbjGmPc2fjnxellepAcZe1G70n-G6LujVLmeSMlNCn8O3J4ifzAVHeXC1M1ddXudNBXkk8PFn9Aj9oF_h7d-sdQCzueXlnEryiSwZCsupEgAxxN0wp80fYKEM5JI-IWdZHKpLdlJZtsPMh0jMx-ym_iBAIwbp4d0fb_Nvnf_lGX9Ljt5QH9RYzIYGbKBL7hv3UBKFHdYTm3YNY5LIF0-guJwpXEN8mLT64REbC7gDcJmWPm0568cMjLZeTqg5qkoDjyjckv3_8TsvlyeDWPS044B6BLrif7jmKyOUkr4yz_S56v4HjUFB_wMQa6-RZrFiQqte2Nr0jSahWSE7MxSd34Oqlh-h2QXMlJuBhaM6kWYbjzRO3htP1y0UdbTtUd1_ViMFYTRjOu6peeduAsfVkWiEWWnw8nd8a_9cVpzC98KU4FOXN1trQdePSejk6FswlGnbVkYP-acPGIzQTbZqZK8WQGnNBE2x78mdAQMUDrB_gA6B_BXQ4W--1wnyOjQiivTOEup_JpueN-5fOUpLXtMuaKHTQUEKCyrxvQyH-3ewh6mxUW1EaspQFs8hBp-2IaaPRiUDYLc6EMwAoD3m8pq-T2JtHP2ok7ATRexFL7RaK873qqNRuQAXLpiTT7I5z2NJcTNgxNOm6UVr_-Xvomti8ZXx1TtLAxjl4snD4AB8BKf58_4msGRtuqPCGRX3mU_65sCFGqfe5TP8DK2It_E_h7e3KDiyXssWDtsoBoy4g9eX2q-85xtSrBHz_swIJ-oj1ZHDIRt5nImyhzkqoyYmT2JKAi1KquuFt_-s-_zdou5y2LLV2NRupC3tnVLLuPSNjes3CguJTypU294kSUaYcPQOq_m0AsifKL5JtEiYjPgb_2SO_FtvOwXXh3DGF2Aps41zVAsqxHg1xEnsIVOT-9OzcM1tLdXTcCZGkRpdbjkrTqc_q33jFsTQm5Jw3QWXthYMXCfoFetgX6ac9NmpcMJJGq5YKoLeS2Zkar1JfDIJmePFpSqpYIq4NqBVuILaeFSfDp6TDk3PismhI9Y0h7UW3keFXs5RoHCn3nTjEQA5lB2-dWTRbKGK9NyAxnO4teUfbur_JUspfn10UMW_jhNXKJMRKuateGneFc4kKTorCykYFbEk7yY_6GaQu19HmISReBMzV4jLt-Xr3N3RiweatLMwIZiD9fNAUodmAUzvMLZLBBn-TuXLgHotPY-uKrLc5q1ihrrrsu1JkE8MX2VCs8Y4cOfnb18Zt8zC68JroBl3SEWEBRqSKPMvOoLvmMneYszZaHCdAakDRkeXPQ1ocdMc47qwrPgfEAKWYTcl12-_8wih3EnftN_rpsqPGCVLekpwcH4sfLgCzgq74yCQ7hglhsSTvBo0AOqMzOirPoZZ0VSZq5SKw1iO9Ho2W_510YyFInSOj0B2byW6OUSBK83s1_qYYz0n3I_YQDGmyMpeIDW04hMcAc99iQdBWSPwD6Iq6Ds9HUFNmbV08tqddxVsxzgxC2-NF39yqNIzMWPyX4DgPyfLcOXGg7YtySfYOCxAKEDXdnkIvMigyMrPrzYBVJ_w8W9fjq2LTTviS5PWi30qUCXL2qFCmY0DZ0syXCmlv7blmdo8E8c-TWWgdLSapU4QeRg2OffHHpePV6pMF04tTHx_nGRcUOcAF0xCZJyQCcZ3gMOfQ8rLIrzIWNJiI2hLJtbdgVddzEmYKbWr-u3bkQq5W40lS9s4JrMISeUh8w_vzuQ9Pge18zIpk7Ji4Z5-r9ViyKgi8aeesKfI36DwSCSOjv0vsRGHbXdHTYA3wb9Clb-DnBGFdXh67-1mdYFr9S3w-LU7fjv4HZRUkpCbQ8f4kGn0yD3WzvhxWITOXuWTpjnQtR2Hb_Qk-W-MLugNWsdTRT37Sw-_fVsxON_a0-3a9p7TnsXd5VhW8zKgVgBXQRKmNDeTOidiVgbOw4SNMRdVEzdB_k4D9hICcH89befk1RlE7M9rk4FnmCPlwCcZwk=",
  "id": "rs_0a8281e2001712b8016ab465ae74d487d0839a9d2acebd36e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.265,\"right_z\":0.19},\"note\":\"The yellow object is held, and the safe has shifted slightly during the pickup. I’m lifting and moving it over the clear red-lined space inside the safe.\"}",
  "call_id": "call_O1zDexPrRt1D3nmRXJIAj7sI",
  "id": "fc_0a8281e2001712b8016ab465b3626c87d08656d48b0fb48e3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O1zDexPrRt1D3nmRXJIAj7sI",
  "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]: [-0.0509, 0.836, 0.7441, -0.6079, -0.0944, -0.0906, 0.018, 0.6048, 2.027, 1.2705, 0.231, 0.4553, 0.1131, 0.4892]\nstate[eef_state]: left_x=0.2814 left_y=0.0059 left_z=0.1869 left_yaw=0.0631 left_pitch=-0.1158 left_roll=0.0071 left_gripper=0.018 right_x=0.4976 right_y=0.2539 right_z=0.1099 right_yaw=0.1526 right_pitch=0.1132 right_roll=-0.104 right_gripper=0.4892\nstate[joint_eff]: [-0.1299, -1.3333, 6.8308, 1.7607, -0.0562, -0.0513, -0.0073, 0.3487, -16.3897, 10.9197, 2.9866, 0.2076, 0.4957, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb241b87cfdd6c1a4ac35779afaf0dbd9c13187f7add5d45de1653602eb53b38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a5cf4f5a22da81726d0a60036cbe1043eea53852e989d59e4093f7be92645d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0830a249595a7ec43e07ce087acf73f47b709420070442ec49fd67c2b341dc",
      "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 · 3.071 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]: [-0.0509, 0.836, 0.7441, -0.5842, -0.0944, -0.0906, 0.0178, 0.345, 2.3047, 0.9905, 1.0607, 0.2638, 0.0254, 0.9975]\nstate[eef_state]: left_x=0.2851 left_y=0.0057 left_z=0.1914 left_yaw=0.0628 left_pitch=-0.0923 left_roll=0.0044 left_gripper=0.0178 right_x=0.5321 right_y=0.1461 right_z=0.0262 right_yaw=0.084 right_pitch=0.3391 right_roll=-0.0217 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.8388, -0.0855, -0.0415, 0.0464, -0.6496, -9.2376, 6.3111, 1.9267, 0.0024, -0.1783, -0.1148]",
      "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]: [-0.0509, 0.836, 0.7441, -0.5926, -0.0944, -0.0906, 0.0179, 0.3492, 2.1254, 0.9882, 0.8402, 0.2317, 0.0776, 0.4884]\nstate[eef_state]: left_x=0.2838 left_y=0.0058 left_z=0.1898 left_yaw=0.0629 left_pitch=-0.1007 left_roll=0.0053 left_gripper=0.0179 right_x=0.5276 right_y=0.1528 right_z=0.0687 right_yaw=0.0896 right_pitch=0.2947 right_roll=0.0285 right_gripper=0.4884\nstate[joint_eff]: [-0.1983, -1.0872, 6.8444, 1.6581, -0.1001, -0.022, -0.0122, -0.1162, -14.7624, 7.159, 3.0452, 0.0513, 0.0122, 1.033]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 0.836, 0.7441, -0.6079, -0.0944, -0.0906, 0.018, 0.6048, 2.027, 1.2705, 0.231, 0.4553, 0.1131, 0.4892]\nstate[eef_state]: left_x=0.2814 left_y=0.0059 left_z=0.1869 left_yaw=0.0631 left_pitch=-0.1158 left_roll=0.0071 left_gripper=0.018 right_x=0.4976 right_y=0.2539 right_z=0.1099 right_yaw=0.1526 right_pitch=0.1132 right_roll=-0.104 right_gripper=0.4892\nstate[joint_eff]: [-0.1299, -1.3333, 6.8308, 1.7607, -0.0562, -0.0513, -0.0073, 0.3487, -16.3897, 10.9197, 2.9866, 0.2076, 0.4957, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb241b87cfdd6c1a4ac35779afaf0dbd9c13187f7add5d45de1653602eb53b38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a5cf4f5a22da81726d0a60036cbe1043eea53852e989d59e4093f7be92645d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0830a249595a7ec43e07ce087acf73f47b709420070442ec49fd67c2b341dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGW-PYFAmUkxCNAeObEVCrhulfTfbjJJbWflN3Uo7gr-spK_8jVEUSa2iWWwBRrGnbOvpxGhBoTjVk24qK4218CDKLS6VqmbGiq4irlSFKSNPUQ7ZqbEu26o0wdzAzeRyytNvwj1yg5mBQ1x-L3U1n3MD27uLaJO9X63h0f22hlhguIiaW9n93Fn8Og27DVkwN_UdD0eaw1r9hFtUXokQwW-X7iuUXGfmULP_9E2RS85PBOgtRBq9L6M-ogr6c9jhyZpeUG5rodx-e8xhbpXZaMnJx2DlUdHiRyVikExZHuXucapKPRSUJ0TTJh9yYhgq60_RerPqbKzSxH7Y0ty8qfq8dACKkRsreOs5r4DlFwSKD59RyTBgK5J3hOWVSov9LMH5zGQ5JXzJxqWJn1wWgoyz8yADQ-QmaobRPhAr0xLuyu4BabRjV23eShbSSj2xqQUXgr50QGcX1M2Viu9G94pHVf2bzOhsfcrfTkVceQWTENOznCoCytPKQp3B9aBk5SlqXYhNfRRbcU0AoJz6RMMYzr2SC8ZA3c9m0lIRQSF25FGmeg9gu_eDgzO29TyzlPwJC1Qfpmszf0LmpvuLkN7ZQBIYejrtf_9Xu7eU2Tu_aocMpIHt92GZgecd-68mWroq1wxEDGWxYpXs6OR1eY4w1La5kErjX5lrYdnTTj4i-RlfRj14udBgqOSkBznekjARHhNNzjLDj_zHXw0p8h4tKSuCnaGDzQtN_BaOzDbXRSsrByGbHLI-fWrG8-DyXQLNmCZ0aEsHqw5X7_PU2JjPBlhHkdvy5Z3Dhq4VfVu4FfhtxpMwpkozCtvc3Ts9XUB852G_52DIwAnjTSoVemb5vlYpR2INciFp3xK9D_ZFQHbrWgVdRFMD6MW0Ayv6tSbRJU4sAbRqbInBoS0lcCKwrDldh4JOaWmNLA-Y_i0KOo3qP1vT66iEs3ANQQACPAuPauEffNmVNf1jBuTWLyDsMFSAMxQTYvGRnPFYTMsEW6VPEtohGoHT4dCVduSk5CrbWRLuOJqd2xEgAoPkaSg7YPlSptVWLisbuL24BBT2mGKWSYZDLznMdh8Rhiy9t-KsyOySmnFkHrOtYPFbqmqPCVKTglZ0W8M5bQ8fsWBw3WoqdX5VYZMdSFZQk6Nypl0z062gcpq6ofSC6zBaY9sRb0flJ-VZSY43iHXLKsiu2zvMZwmmc9ouCVuxtOe49voSzYLDW235r5pLUwWl8EkdP2PByZL_bzWRYSyPdsj0-i_xtNKcDyBxmianKBR-gzxp2JVobIUU9xVYNM4eMiOSJXA97oL8Dh-KESbY8QMLw1JvBGSznYtpOgtCg8ejwwzo18YaB0E7OaHuEUMCF1i-WlP_rzaR7AzcvmGYNQJvBcp2qPraNwBGZMoPGmtNuAgcainRg_QgpVxOKYda9FHg4n-C46RfMSmbMfFyH2EL99HoEB7ZvITytlOSeoivD62y1xxsZ9rxaoge3D8gFf6F-8X5PkNgbWlIYKlzOUwQx0cMc6XGrU-lbT8GhHRAlVDGAGtstXdm48mtLwmm_YTdDet7WQ_RIvtmxMPAzNqEajTR7PJgjSS6cBw8QY6RRFJnAUvygpMTRRuMphDpuiTYEUg0upO0DKEn9b8oVFX0wA-nwcMr7weOyJ9cmL3ymCPqVngVZJZVo2CQfknzbX6Lr0a-T3JZA9KHbzHE9C-1Z00kkgHXTfPdI7ziU_ZH21ygmnTg_Jj66N_iJXGr0jAYkIul2Hvvddw9fZEUauEXn0DqvvH-FD4yxjHUORx2Cj8WuCQEdIyTMEiPov5OwTQd8BqRVa32Je9zFCWbO3vfWAGzd_Ra84W7RIotoaR1Sch2e-TT6e7BueDFOlQ87NjU2jvgfdeMy2gfnaUnRqn_2hBtVFYliv6qNx3ceyXD7ejvIBvdO2WSOpmU5aH42AuZAUTYyhzgSFn2LNwVBn8rhKTOxhTo6rqdsR58FtKDZRFQ105zhdkGyN36qRaTM_e3GH_VSD0z_pkZkghziMMLWXZsO5-ClWh4vewobWqT_j9OqctJfGZTTUs42SNmQ-ozEF_GxIqDEpJtaGbO2eRFwM8C7aKejAz-UQlk739R_YDy4ODeAeqUoZJ1HIcOtqfzcwsqpxCRJOrvZTOgq9OnWFz9VV0E-eIYzgDcLqbSIvAK-G2BxGDxKRtBz-sHZRC6um5UHSSsmVVTCqk4_IP9bOFFm8sL51Tu04FR2W7ZWv4eR1w-S-BPY_d_QeLnAW0XqOpMz5khufw-WJNNubDRIea9_1R1pDFd1q0jPa9utWvzxJoHEI7yx3g2eKpAwFHapCNBWddlF2DnannZFZvRvbb2X0GOoEDwXsOODWzxhcMKw3GSuxVyTHLHl3VpmE-7FewRhtU3IzxtH4mdhN7iJ08XpU4JbBGeDjFtOHFSMCc_M6C3jMHDS3OHxMrXERsNyf2S9PO8KwdYlBvr2xMZbmqpTBoiGtaQOiViA74qrFTB2ghCgRUQ6zjt-LnAzbIBavoOA3bC46qunLU38kHKaifXmmQ1suoAqObU7PJH_CRc2pLa01f3Gypio0BGFrJKG68-D4h5aDdDmmoRzIKYj9egJhPN4eElT2QJTxrnB7V7MxyXbpEPoi6A_-J4RxkT4Ap0AWRE9DIheklR2vm2A4GU3W6ehekXLzv9KTdlh36aot7GseL5ifOKbp7QbF_K27NZHqRR6hAYZY279gvrcnMipkmWvc5SM-mgYHDCU9nONthP6S7yTpzUxVqlJP4V1OKHA01ornB_dPlyVy_yT987wOcBpoeyO2jzwsgNmt7yHMbxYgN9TKnCQ0x2CqrQpDkNd_FZzvP8wLZhAytBw_wGApYcd6dDysZSNk-W6kRpHIPOByevI0bILs72KDSCoXHMtK3dW8tAPTZ-JW4P7k=",
  "id": "rs_0a8281e2001712b8016ab465b7f8c087d0aaeb2be7c5886910",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The overhead view shows the yellow object stayed on the table; the jaws caught the safe’s rim instead. I’m releasing the rim immediately before repositioning for the yellow object.\"}",
  "call_id": "call_NFKs7bZ93hAyaO9aH7g67S8D",
  "id": "fc_0a8281e2001712b8016ab465bdb89487d09bdd36312d7968aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NFKs7bZ93hAyaO9aH7g67S8D",
  "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]: [-0.0509, 0.836, 0.7441, -0.6147, -0.094, -0.0906, 0.018, 0.6064, 2.0235, 1.2564, 0.2005, 0.4522, 0.1055, 0.9958]\nstate[eef_state]: left_x=0.2803 left_y=0.0059 left_z=0.1856 left_yaw=0.0628 left_pitch=-0.1227 left_roll=0.0076 left_gripper=0.018 right_x=0.4913 right_y=0.2511 right_z=0.0998 right_yaw=0.1625 right_pitch=0.0749 right_roll=-0.1273 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1282, 6.8308, 1.663, -0.1099, -0.0464, -0.0171, -0.3624, -10.7829, 7.4735, 2.0098, 0.0952, 0.0708, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afd8cd10da17468c28c238ce0638536ff03976007fd8a432a9fa26eb889b608",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75563d9c58c6fe9255b410f5d7d4f34fff1da4cdca76f6fed9ec5871b0cceb59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914536fdd992dd1eac61ae738f5a4566922f98a1854e0d56e7831ff8b60ab618",
      "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 · 2.969 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]: [-0.0509, 0.836, 0.7441, -0.5888, -0.0944, -0.0906, 0.0179, 0.3492, 2.3005, 0.9955, 1.1206, 0.2348, 0.0826, 0.4879]\nstate[eef_state]: left_x=0.2844 left_y=0.0058 left_z=0.1905 left_yaw=0.0628 left_pitch=-0.0969 left_roll=0.0049 left_gripper=0.0179 right_x=0.5355 right_y=0.1551 right_z=0.044 right_yaw=0.0732 right_pitch=0.4033 right_roll=0.0645 right_gripper=0.4879\nstate[joint_eff]: [-0.0205, -1.0051, 6.8581, 1.6728, -0.1001, -0.0366, -0.0024, -0.3761, -10.9744, 4.2872, 1.2821, 0.2857, -0.6325, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0509, 0.836, 0.7441, -0.6079, -0.0944, -0.0906, 0.018, 0.6048, 2.027, 1.2705, 0.231, 0.4553, 0.1131, 0.4892]\nstate[eef_state]: left_x=0.2814 left_y=0.0059 left_z=0.1869 left_yaw=0.0631 left_pitch=-0.1158 left_roll=0.0071 left_gripper=0.018 right_x=0.4976 right_y=0.2539 right_z=0.1099 right_yaw=0.1526 right_pitch=0.1132 right_roll=-0.104 right_gripper=0.4892\nstate[joint_eff]: [-0.1299, -1.3333, 6.8308, 1.7607, -0.0562, -0.0513, -0.0073, 0.3487, -16.3897, 10.9197, 2.9866, 0.2076, 0.4957, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.0509, 0.836, 0.7441, -0.6147, -0.094, -0.0906, 0.018, 0.6064, 2.0235, 1.2564, 0.2005, 0.4522, 0.1055, 0.9958]\nstate[eef_state]: left_x=0.2803 left_y=0.0059 left_z=0.1856 left_yaw=0.0628 left_pitch=-0.1227 left_roll=0.0076 left_gripper=0.018 right_x=0.4913 right_y=0.2511 right_z=0.0998 right_yaw=0.1625 right_pitch=0.0749 right_roll=-0.1273 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1282, 6.8308, 1.663, -0.1099, -0.0464, -0.0171, -0.3624, -10.7829, 7.4735, 2.0098, 0.0952, 0.0708, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afd8cd10da17468c28c238ce0638536ff03976007fd8a432a9fa26eb889b608",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75563d9c58c6fe9255b410f5d7d4f34fff1da4cdca76f6fed9ec5871b0cceb59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914536fdd992dd1eac61ae738f5a4566922f98a1854e0d56e7831ff8b60ab618",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGXC_l-RL7FzACgtdJ17DtGV47iOhD5r8Mc8JVnGTSEUr1n5lVRuf78DUxdmeHbla8vtKjfZBdXO1cJo5-JqDi2bIzRNlTQReHUDSMPyjYIG_6vq5EIOM3T_jCcyCvnsEPSXkzfVb425s-3zQYRz3N61s5TnZBjC86qWSZpaX1nNQZnOTy6ql6Hu9kkgdKrZIZ5mRJkr0s1IREhjJ5MXzrPn-O7WQxfpcJruveBG_sHFYBOP4GlHS0JdC2poIR39xGY8a4ycvjJ8KBzzSo61_Phx7VJbiCUz2Id_eIWwrjbfaKXBGkDs933zOyCbZxlTm8B-bDydagm0Xj5kLQ370Gvw6GN1UrYOXWMFuOPIgXPosEwcG9bc_MkehgJ93KNTsLmhtSpg65_txzQ32WFHqwt6VPYJw_lzepnoUEiUlO2rHvtoDLdFjmDXtwXuScrYz_arIKWdBgakk-Ir2E0lcjePzvmWq85rjsonFQh1BqaW2r7EfcGN58D5zhlIDrt-DreuJ9796dH06Uh55yy9ZJQFE06HNBBlMVZ-bnLqi8sEhG10Cg3ZVFcnuca7Bpd2CIvA-IqMmCPqZ1FNtRATKJ-E8FBeZGKTxaUKvVVeANamOOzw-7zYq9FxuqqTTqnDdVgc7iAmYxslMiN3e5xIuVvRAVdqc-D0T4ojk_SC2je2yOflo6KMTQLwQVbozsW6e4u2E6cADKvkaNyYPUSliWR1JilMitzUOOfsE5OfBm_pE5rabCtxRDN9mYFeBzSArRnYauhCrs7Gu3V4w8aUX_HbXezxkczzeNYMVKNFk2DA-zZsZZ2jqqM5hclDhkf8vNf-GeR9WHQ4AhZFNZgEuqYTnpP8YLpqzN32hWxkBMrml-6OeOP3lj1vm3JHPxazwsfeoOXOlF5B4W9goKKNT320G5Z_AZfcnziF4uXeCrHgVK2Lzp5gMDUJGsVjdbb5uWYneDYvBOPhHUmkHpjX9-FxqmuZcfk7lSS1QDqJE5rxERRbY7dLfuRMxKQi1lm7Ikjsx3lrCd0KkSHdk3pAqGK8P0-usJVdp6_8EMWscCvpWJ_2-zuMbxc8b_eC4xc8o8t_-GzucZxeqXei4ekaXUUee1BVVtUZegA1fghGQAdwZsIOdTz56s7LkjGtDbdzdr9vCaOq86YsVim8puoNePIcTiLp11jkGaspkSaANOeOxVt2SwiodvPaqM2AYctjK3V2D0Iu9T6U__TEOt6hyY8f9DbRaOGtWEHB7nCwlAkn6sUim5i-LT4NmqXG1VzJ0qnl-1n_fedV-v8lgx1LXtwjhg==",
  "id": "rs_0a8281e2001712b8016ab465c0a14087d0a80ffc4b831ca0e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.135,\"right_z\":0.055,\"right_pitch\":0.6,\"right_yaw\":0,\"right_roll\":0},\"note\":\"The yellow object is farther forward than the earlier wrist view suggested. I’m approaching it from the clear right side with the maximum forward tilt, avoiding the safe’s rim.\"}",
  "call_id": "call_nsQG3GwK1ZaYfhgpf0WW9vS6",
  "id": "fc_0a8281e2001712b8016ab465c0fd9c87d0813d56a422d828c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nsQG3GwK1ZaYfhgpf0WW9vS6",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 0.8368, 0.7441, -0.6334, -0.094, -0.0906, 0.018, 0.3168, 2.4901, 1.2213, 1.1938, 0.3126, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.2773 left_y=0.0061 left_z=0.1819 left_yaw=0.0631 left_pitch=-0.142 left_roll=0.0099 left_gripper=0.018 right_x=0.5839 right_y=0.138 right_z=0.0385 right_yaw=0.0165 right_pitch=0.5123 right_roll=-0.0259 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.3607, 6.8171, 1.7851, -0.0952, -0.0562, -0.0122, -0.4171, -11.5214, 6.2427, 2.3028, -0.0122, -0.105, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f43d54c6a74332b9aa5925dd129248c8d97ecfd42228088efbfd361c39f9c50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b34c4d0598c8049488b006e661e34593fbd9249901ee021662f1a01b7fe43a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6699c35a7adfe2dd2c66bf2b2371ec4f4d4fb8789bd35def08ed0e85f26bd198",
      "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 · 12.17 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]: [-0.0509, 0.836, 0.7441, -0.5926, -0.0944, -0.0906, 0.0179, 0.3492, 2.1254, 0.9882, 0.8402, 0.2317, 0.0776, 0.4884]\nstate[eef_state]: left_x=0.2838 left_y=0.0058 left_z=0.1898 left_yaw=0.0629 left_pitch=-0.1007 left_roll=0.0053 left_gripper=0.0179 right_x=0.5276 right_y=0.1528 right_z=0.0687 right_yaw=0.0896 right_pitch=0.2947 right_roll=0.0285 right_gripper=0.4884\nstate[joint_eff]: [-0.1983, -1.0872, 6.8444, 1.6581, -0.1001, -0.022, -0.0122, -0.1162, -14.7624, 7.159, 3.0452, 0.0513, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0509, 0.836, 0.7441, -0.6147, -0.094, -0.0906, 0.018, 0.6064, 2.0235, 1.2564, 0.2005, 0.4522, 0.1055, 0.9958]\nstate[eef_state]: left_x=0.2803 left_y=0.0059 left_z=0.1856 left_yaw=0.0628 left_pitch=-0.1227 left_roll=0.0076 left_gripper=0.018 right_x=0.4913 right_y=0.2511 right_z=0.0998 right_yaw=0.1625 right_pitch=0.0749 right_roll=-0.1273 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1282, 6.8308, 1.663, -0.1099, -0.0464, -0.0171, -0.3624, -10.7829, 7.4735, 2.0098, 0.0952, 0.0708, -0.1587]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 0.8368, 0.7441, -0.6334, -0.094, -0.0906, 0.018, 0.3168, 2.4901, 1.2213, 1.1938, 0.3126, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.2773 left_y=0.0061 left_z=0.1819 left_yaw=0.0631 left_pitch=-0.142 left_roll=0.0099 left_gripper=0.018 right_x=0.5839 right_y=0.138 right_z=0.0385 right_yaw=0.0165 right_pitch=0.5123 right_roll=-0.0259 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.3607, 6.8171, 1.7851, -0.0952, -0.0562, -0.0122, -0.4171, -11.5214, 6.2427, 2.3028, -0.0122, -0.105, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f43d54c6a74332b9aa5925dd129248c8d97ecfd42228088efbfd361c39f9c50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b34c4d0598c8049488b006e661e34593fbd9249901ee021662f1a01b7fe43a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6699c35a7adfe2dd2c66bf2b2371ec4f4d4fb8789bd35def08ed0e85f26bd198",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGXGOYxyIXx3TncqOWm4rQWwgtw9qKQjOQiLTxW4sJXRj-361Y5i0-P1F6egDJo8u-3xdLR1zc_61a5Za8h88ckBa8mYMFHLxScaKY_O4RISvzVrcFOYAK_pL2gyTdyJMdL28cCDUAfxBtZMBpcLBXTX_OiP7pu9ulx5NEMde1tM_2D-546iixw_L3beU4WGmSm7NBwMtIXwpBnQWtQcBpzja19Tv8hsLjyTm5hgRcbTSlwBifl4sOthXVUq3BTkpa4rM2mcSvgeGa6l1r3J_y1lY36Ilb8j0PEGrC4eW2IQqzNaZigQW0s6i7ayjsPJJjegOkFL5kn6KCh-Uzry_iJiGsvRgglcVxZbXuPd0peOCv4OOmDy83GlEtUgnQzCaPjx_AopG7ZFP7qmg-_LF10o81cYl5ux0uB_UV6jZSxEeAGNe-SBjvdHfR3vjBRbvxVNsRwVRADmF83J_ucDr9YKKSi0K2hXczRuoqcjiGlihBrPDBO-lPOSm_4zzCCyzHtL54TZB7KNgJE1kX9dic8ud61TdxccXP0L1e53nNdw2s67rbNI0N9RtRLfZG0XNzMTkdMgCVrNayzQ1wsElB438a5vZYByPV5V8zK3gi8VOAteH8npF4MQday_defTRybEj-zxMhpfgUvkMiryVZH7j1B3TDByVxI-jEgHT-iFcekvpO1CPnDYJg1QVMl-fewHFic4Uoh-8KmqR5pTN5Ax6IxAbn56w-3Eo9m8DkYoAwyi6mMAs_YFC9qVyvNmBjmXN49U521JHFxTkzl-y7mzD7lWJmGqy13IzJIE5gQGUrC9h54tM8yNYh2d2g6jsGwG7a_eBDxzUsbjF64x0Z7oigmtMj829HcN5qXavAPm_z15Whys0Hnzd64DgbRdSUp3bv1VxSAT1DxIunv--LPkZ5TRZi5YjUWm9C1Ern_zcsQqIsJ4jtg_KfD1OE7D5tU5tUAFjtrtxPgfIaZUnbyq9xFNy3i73f6fc1KCk_1PP4ZnfyF_eCKzOWDbuIDj0YX87USDx5jNqHotFU1I--3LH-2NFXmvxyE4LH00ERg_lzta2IHaQDG9rk3S2ZxQIHvtFYFsYbIN0dz1iP4v3Aakn1LCTrqV7_KwKyX9hJUqMl9QS4oZN57uUUhu5qa3BPL_Xh9C_xTEPNrH4MOi9ST-szOMQqpkMwRKp9FoIXAs8TTHglbWu8co84EWhChh9_qgEPDURoXl3u5txVvxKAE0Vlp4zSqa0MWh1Zh0Aqmxgz2T2jFQJg3sMut5mhMdknXqUlqrDqGN1EzkWPVPua_OVX6YwdhYJcc2u0pmWlSAN7_3qgPLiNLFv7rtPaBDFr6m",
  "id": "rs_0a8281e2001712b8016ab465c5683c87d0a4a0724f8e45160e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow object is now directly between the fingertips. The safe’s lid has swung down on the protruding plush toy, so I’ll need to correct that after securing this object.\"}",
  "call_id": "call_9h2yejeJTmRGJJ9rUDfPZmAV",
  "id": "fc_0a8281e2001712b8016ab465c6107887d08024e5158549888d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9h2yejeJTmRGJJ9rUDfPZmAV",
  "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]: [-0.0509, 0.8368, 0.7441, -0.6373, -0.094, -0.0906, 0.018, 0.313, 2.5046, 1.2236, 1.2037, 0.3012, -0.0265, 0.6447]\nstate[eef_state]: left_x=0.2767 left_y=0.0061 left_z=0.1812 left_yaw=0.0632 left_pitch=-0.1458 left_roll=0.0103 left_gripper=0.018 right_x=0.5841 right_y=0.1377 right_z=0.0332 right_yaw=0.0276 right_pitch=0.5098 right_roll=-0.0323 right_gripper=0.6447\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.5995, -0.0757, -0.0317, -0.0122, 0.1846, -13.8325, 4.3009, 1.7314, 0.0855, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564f2b43f479cb3d3d2704b39e5ee82f47dfb6aace0e23cb01bb14009993ef95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcbc52827ded81461b68db667744b242a373b8fb27eca9a1c2c462732c7882d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d4236419af1cf67b13098dfcfd94dd50250a1e804e1e4e4e6bf698d82319b6",
      "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 · 4.33 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]: [-0.0509, 0.836, 0.7441, -0.6079, -0.0944, -0.0906, 0.018, 0.6048, 2.027, 1.2705, 0.231, 0.4553, 0.1131, 0.4892]\nstate[eef_state]: left_x=0.2814 left_y=0.0059 left_z=0.1869 left_yaw=0.0631 left_pitch=-0.1158 left_roll=0.0071 left_gripper=0.018 right_x=0.4976 right_y=0.2539 right_z=0.1099 right_yaw=0.1526 right_pitch=0.1132 right_roll=-0.104 right_gripper=0.4892\nstate[joint_eff]: [-0.1299, -1.3333, 6.8308, 1.7607, -0.0562, -0.0513, -0.0073, 0.3487, -16.3897, 10.9197, 2.9866, 0.2076, 0.4957, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0509, 0.8368, 0.7441, -0.6334, -0.094, -0.0906, 0.018, 0.3168, 2.4901, 1.2213, 1.1938, 0.3126, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.2773 left_y=0.0061 left_z=0.1819 left_yaw=0.0631 left_pitch=-0.142 left_roll=0.0099 left_gripper=0.018 right_x=0.5839 right_y=0.138 right_z=0.0385 right_yaw=0.0165 right_pitch=0.5123 right_roll=-0.0259 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.3607, 6.8171, 1.7851, -0.0952, -0.0562, -0.0122, -0.4171, -11.5214, 6.2427, 2.3028, -0.0122, -0.105, 0.1245]",
      "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]: [-0.0509, 0.8368, 0.7441, -0.6373, -0.094, -0.0906, 0.018, 0.313, 2.5046, 1.2236, 1.2037, 0.3012, -0.0265, 0.6447]\nstate[eef_state]: left_x=0.2767 left_y=0.0061 left_z=0.1812 left_yaw=0.0632 left_pitch=-0.1458 left_roll=0.0103 left_gripper=0.018 right_x=0.5841 right_y=0.1377 right_z=0.0332 right_yaw=0.0276 right_pitch=0.5098 right_roll=-0.0323 right_gripper=0.6447\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.5995, -0.0757, -0.0317, -0.0122, 0.1846, -13.8325, 4.3009, 1.7314, 0.0855, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564f2b43f479cb3d3d2704b39e5ee82f47dfb6aace0e23cb01bb14009993ef95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcbc52827ded81461b68db667744b242a373b8fb27eca9a1c2c462732c7882d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d4236419af1cf67b13098dfcfd94dd50250a1e804e1e4e4e6bf698d82319b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a8281e2001712b8016ab465c9034487d09891c81ed478c5db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"left_x\":0.385,\"left_y\":-0.255,\"left_z\":0.085,\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The right gripper has a substantial hold on the yellow object. I’m testing that lift while bringing the closed left fingertips toward the safe’s partly open front edge to try to raise the lid.\"}",
  "call_id": "call_CdbuJ5E7LSqoieZNurMFRUCW",
  "id": "fc_0a8281e2001712b8016ab465d20b3c87d0b98e7d630f8aabef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CdbuJ5E7LSqoieZNurMFRUCW",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8246, 1.805, 0.9695, -0.02, -0.6598, -0.5739, 0.007, 0.313, 2.1891, 1.1961, 0.8196, 0.2935, -0.0269, 0.6486]\nstate[eef_state]: left_x=0.3725 left_y=-0.2381 left_z=0.0692 left_yaw=0.0068 left_pitch=-0.0598 left_roll=0.0493 left_gripper=0.007 right_x=0.5788 right_y=0.1374 right_z=0.1137 right_yaw=0.048 right_pitch=0.417 right_roll=-0.0608 right_gripper=0.6486\nstate[joint_eff]: [-0.4718, -8.6359, 8.6222, 1.6972, -0.442, 0.0269, 0.7204, -0.2256, -15.706, 8.6359, 2.1368, 0.0611, -0.0464, 0.3883]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2329aeddc2ceccc9c0a73b97bc82f9baea00a8ac1f4b4963c6680ae516e4ea73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d5c3bdc38fcf868e81510cc42388f351f133f4220cd4ee1b2d221a0bc72723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a621df7800b3b5099809c76a08a9cd573f14522ab5542aaee5f1898e6ce36a",
      "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 · 8.173 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

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]: [-0.0509, 0.836, 0.7441, -0.6147, -0.094, -0.0906, 0.018, 0.6064, 2.0235, 1.2564, 0.2005, 0.4522, 0.1055, 0.9958]\nstate[eef_state]: left_x=0.2803 left_y=0.0059 left_z=0.1856 left_yaw=0.0628 left_pitch=-0.1227 left_roll=0.0076 left_gripper=0.018 right_x=0.4913 right_y=0.2511 right_z=0.0998 right_yaw=0.1625 right_pitch=0.0749 right_roll=-0.1273 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1282, 6.8308, 1.663, -0.1099, -0.0464, -0.0171, -0.3624, -10.7829, 7.4735, 2.0098, 0.0952, 0.0708, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0509, 0.8368, 0.7441, -0.6373, -0.094, -0.0906, 0.018, 0.313, 2.5046, 1.2236, 1.2037, 0.3012, -0.0265, 0.6447]\nstate[eef_state]: left_x=0.2767 left_y=0.0061 left_z=0.1812 left_yaw=0.0632 left_pitch=-0.1458 left_roll=0.0103 left_gripper=0.018 right_x=0.5841 right_y=0.1377 right_z=0.0332 right_yaw=0.0276 right_pitch=0.5098 right_roll=-0.0323 right_gripper=0.6447\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.5995, -0.0757, -0.0317, -0.0122, 0.1846, -13.8325, 4.3009, 1.7314, 0.0855, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8246, 1.805, 0.9695, -0.02, -0.6598, -0.5739, 0.007, 0.313, 2.1891, 1.1961, 0.8196, 0.2935, -0.0269, 0.6486]\nstate[eef_state]: left_x=0.3725 left_y=-0.2381 left_z=0.0692 left_yaw=0.0068 left_pitch=-0.0598 left_roll=0.0493 left_gripper=0.007 right_x=0.5788 right_y=0.1374 right_z=0.1137 right_yaw=0.048 right_pitch=0.417 right_roll=-0.0608 right_gripper=0.6486\nstate[joint_eff]: [-0.4718, -8.6359, 8.6222, 1.6972, -0.442, 0.0269, 0.7204, -0.2256, -15.706, 8.6359, 2.1368, 0.0611, -0.0464, 0.3883]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2329aeddc2ceccc9c0a73b97bc82f9baea00a8ac1f4b4963c6680ae516e4ea73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d5c3bdc38fcf868e81510cc42388f351f133f4220cd4ee1b2d221a0bc72723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a621df7800b3b5099809c76a08a9cd573f14522ab5542aaee5f1898e6ce36a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGXaA7jm1K7AK9YpWFFFFJywH5gKuIUC8Xy-Yu99ex4_qisfFmdWk_F1SQuEUsjBMkpvYM5SEfSrVseVHXyYO2rGFubiBEbmeBAPATrV5bMY0IxsO9TtoxVHoW6_df1kWPvAl791gtepwaVzKSM2VjcIk9PnU-t43t2G1E55MyYt6zTPyhqwC8lV2CzkSctv6l6zcMeGLbkZ2kCYZ4Gc1QA1NRyKqrDkDnGUlZ99JTiDAH9R-lJJQtLhH6GAcMymQZwnioVIgZm37Pm5EIPaAwoj9tqEXOzuOiSYvFZlMDtrUv4FJJMNf4wcbiFjrD5UcIkYnrxSymIyxbd4yJ8Ba9buOgDPxoMHWA_2ReKR0kmjer31eiSqw7Rca17JR0IvfP1-1_Vr8rAxVJEE1Oh13LGFGXMMbAq__k6Qoeo4OLzvVr3sMJDKrvV5QBAztY2RHXZ8RcNyGbgvwL4jdhW2vLAIycSV8r8yTyuMF6sT6E1xrKJKC-1H_UTumjEzqpsRGtT3kw58eDkbkBYOqHxGr6Y6s3QbcNSpj4lOEKY_dx5LZlGttgnua7gkQ62UVjTAbgmmIBYya7bWOTYEAgaTdeKm_qJZPe61eV007_LPI0nhZjooK-gTUSwcrbPNu0nsoGNKZhoideN-VX4r-vB0O2eCW5hWJB-RuU3V3qkheATWxLsBTxLngSivRq9YLU-HFslOMAhfcTAO7xfD-o5knUf_JEobElBbG4YxnlSwKsuoB4306Q5wtHz_Q6DFbwJd5Lv8KpL1BWdSXEIuCBW8b33TeZr-3UWO8P16PisJkMb7ERsQJjIkJFJNzpeLG47gxNHjaoYxu-xn8a4GeIh4AqWiQlXo40f5wGBFvIV0t1bOTSeUptuDRIy3uOm9-3H01vrxZUqolcf-HyPi2WURu7_f-aesxjIM5v5IK9fTgFbz2fOTl-ZQbQbvAryyupL379Bf1aPstzdpV2beTuT-qGopLIf6VuxqN0Vt_utJ_4nypCK5UjJTYRIA2W7F7tYw3FT8nze6LuNODht4UzuFmXLe20FcBltRcF_sY3uEp42VaaMjdjbr-M5wNK8I38aVA3ILIwV8l-wFxGFbaCmwkk9H3kHvDSSbiCcpHWRPteH70smseg3ojvwAkgOm5qhJ9wloeNX8mBpgm6VjH9eE6krOiosLeWZTOEXs1mbMBaDaOx16JyGALxvBEoTjvHeVEfP_CC5JBy3VpqgyMxfEwAi0gNRH4aPM-aHw9SnyhR7IK4qKlMyEOdrLwDLmMQ5m_VUYSVZvj87aO238eE8pdq53QJlp6slzBzxzaNm-nciqI2kqTM3mBzCJCUx6X-uJdYz8ixNDUN62f_oDSLLgZXhDm9YNQ779hS6xxOu_TVjtjebp2AdT_UNhDkWUGCMfw0_NEVBLlF6yZi-sI6IEJvRir3otYAWfK_2idk6MENqh5jruKE6mc2u9S8PPkgfAHx5-i0mggnHZouDTbg8OrXx7vpAahP3Wfbs7sON2bu2sp8E=",
  "id": "rs_0a8281e2001712b8016ab465d82fb887d09dab9154b2bb6a28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.255,\"left_z\":0.23},\"note\":\"The yellow object has lifted with the right gripper. The left fingertips are under the lid’s front edge, so I’m raising that edge and guiding it back to reopen the safe.\"}",
  "call_id": "call_zrD2sg5xAaetaMwDJz2GfLYj",
  "id": "fc_0a8281e2001712b8016ab465d9687c87d0bd0bcf0bc137e262",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zrD2sg5xAaetaMwDJz2GfLYj",
  "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]: [-0.7528, 1.821, 1.6123, -0.5972, -0.6167, -0.5312, 0.0092, 0.313, 2.175, 1.1946, 0.7792, 0.2935, -0.0269, 0.6506]\nstate[eef_state]: left_x=0.4269 left_y=-0.255 left_z=0.2213 left_yaw=0.0228 left_pitch=-0.0493 left_roll=0.0259 left_gripper=0.0092 right_x=0.5767 right_y=0.1367 right_z=0.1116 right_yaw=0.0511 right_pitch=0.3901 right_roll=-0.0687 right_gripper=0.6506\nstate[joint_eff]: [0.7043, -8.5949, 8.8684, 1.2918, -0.2076, 0.2515, 0.5641, -0.3624, -10.2906, 5.9419, 2.2344, 0.0513, -0.0611, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1467936a8f40b2b8b8779b489ef7287e972f49ca8905ac689872f437bfb0dd43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e492f10cbc3adffe45b6c25a443e37d885abebb32e3428d5e3234416a9e5ca54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837e84dd0816c893ad59f4ab32f1ed3a7b2cea7ebb3479f578454c01db57502f",
      "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 · 2.61 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

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]: [-0.0509, 0.8368, 0.7441, -0.6334, -0.094, -0.0906, 0.018, 0.3168, 2.4901, 1.2213, 1.1938, 0.3126, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.2773 left_y=0.0061 left_z=0.1819 left_yaw=0.0631 left_pitch=-0.142 left_roll=0.0099 left_gripper=0.018 right_x=0.5839 right_y=0.138 right_z=0.0385 right_yaw=0.0165 right_pitch=0.5123 right_roll=-0.0259 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.3607, 6.8171, 1.7851, -0.0952, -0.0562, -0.0122, -0.4171, -11.5214, 6.2427, 2.3028, -0.0122, -0.105, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8246, 1.805, 0.9695, -0.02, -0.6598, -0.5739, 0.007, 0.313, 2.1891, 1.1961, 0.8196, 0.2935, -0.0269, 0.6486]\nstate[eef_state]: left_x=0.3725 left_y=-0.2381 left_z=0.0692 left_yaw=0.0068 left_pitch=-0.0598 left_roll=0.0493 left_gripper=0.007 right_x=0.5788 right_y=0.1374 right_z=0.1137 right_yaw=0.048 right_pitch=0.417 right_roll=-0.0608 right_gripper=0.6486\nstate[joint_eff]: [-0.4718, -8.6359, 8.6222, 1.6972, -0.442, 0.0269, 0.7204, -0.2256, -15.706, 8.6359, 2.1368, 0.0611, -0.0464, 0.3883]\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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7528, 1.821, 1.6123, -0.5972, -0.6167, -0.5312, 0.0092, 0.313, 2.175, 1.1946, 0.7792, 0.2935, -0.0269, 0.6506]\nstate[eef_state]: left_x=0.4269 left_y=-0.255 left_z=0.2213 left_yaw=0.0228 left_pitch=-0.0493 left_roll=0.0259 left_gripper=0.0092 right_x=0.5767 right_y=0.1367 right_z=0.1116 right_yaw=0.0511 right_pitch=0.3901 right_roll=-0.0687 right_gripper=0.6506\nstate[joint_eff]: [0.7043, -8.5949, 8.8684, 1.2918, -0.2076, 0.2515, 0.5641, -0.3624, -10.2906, 5.9419, 2.2344, 0.0513, -0.0611, 0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1467936a8f40b2b8b8779b489ef7287e972f49ca8905ac689872f437bfb0dd43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e492f10cbc3adffe45b6c25a443e37d885abebb32e3428d5e3234416a9e5ca54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837e84dd0816c893ad59f4ab32f1ed3a7b2cea7ebb3479f578454c01db57502f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGXjJ7FFJ_ReBLeCCbVwUmfqUsGFeRxEUNbHT6EHBlYlJ6burF-dhclmhuTlcHl7I0tOerZ05Zw3TeNtFrae2a7Akq1X7Awbm7R3A8W6LouX1mIgJ9dlO9L-yQgiChA_KxK85W-PHKVPhW1AvGVfzv0jHUeLDqU-tNqRjVN1KVAIDq3LJTZjmmpa8VbMIz0ifysa6OmGqTpq_Ehfbp7_A30tZeFlLGZZIG9OCOZXnJU25X87Ad-XVpnhfU0MIXBo3z-9jbyAH0wI6SH9c6GNa1KmIYE7N8ztKPiEv2AFlZVtn7CRDIEQvfC_OY68H2X46-Klpp0dmmoAqyS2inZI5svIc8n3s5_of71mwxduVZ6oHjKg69Xx8DIxWbf7bHor1eIOcpomH9GmVyW9znGUsKOiRB5bWP4H9byH6yH-HVuix5jawSw2sVAPAjEKfJLTNZdQb5CVHMCDcuKGxXU4NE75oQEcOJsrqVT8zkEfSOeEEAmipCcLv8uG2Jp45oLtxHi2csYxb2arnntHlmWZqtxzkjhPrCayAkHaUP_xDX3s5NrC3BxjCEkEUqXEnb5RQeQ2WPK86nq1W1nEgE-G8htlijw7pYaAmgeNTm94Cj-VPhH8b-6krYj6np-p9m-vqQTjYr2wzmcB9jYk6vyY9Aa01A2eybqV7982FDWsgAEvFFiNnbhlRa0tG49Y00Z0tvHlxJQWB-WlfIgSv1CX7QiiGQExfXlP9MwyQXEL04EXGpb87tPOjk8Ogpwn3C_F4KejSAm4tq-dQaolftuTbm8TlIyEmHmR5I5Kum7mywbhML-rdjG8ncAWRI2g12DteSeKQd2ucfhoDb0AePev4kffdDlFzVvI4jAejBHgWstM4Hwgs4cFYbN6Ahwcn0jDLeyAPVhSbbCKpzQ3k9v3NIM0WnGed0FTMOAmqPczE44suLzyks02OjJj_TUk2b_dh1AAGWjOdUdzscEDRYZdpUt58EiPM6zrMEA4PpIqpm0nAD_eRg1SooFWNuCJnJJ7331sj6tm0xlCu-SBgCYx38wBQTu9nYWI2rdtaWRkB8YDrs8KbVc357z0CMgl5sJJlQ5KDjMJu53d1tXVj3QgktmBoG0xA4BhUXZZkMUmEZgKGrNdttKbQIT5RQ80eT_vXRKFfZCM8f8BiE9rcHbHbiKkMLzWp-YjDzXXHWcqLP0wZSBhMkOoPXulojs-YGA93HGXr1-oRB-ILbdBct7QWc1UKhxzMRa4ltGlb0ykF4g-jWIyA7WF0sdzJYkNLcaR5FdwKSxxWoXc2wXI374yvY-bYgq4mEWSTNQmJHNCgBuYnhbfc37fIVHL-IgfEGABMUqnCwqm5fRey0FjaaxOPYYhY08abcUpkC-0zCnK0366kftinsZzOtTQJz5Oko5jt8vCEIBW95hldg54xzstU00xCDkRGnib3ymwf1nAK8CK7JbnoojpBhOkJ2G7h9vjzgl7kqkNUTykCkc_7LSal8OIdEIzngf2K1g8cuUZNNSzpSu_mO8nDoiiAM_wz5NvF7WG_s2cqk7JQwe18qQXOcXxoq7VPfkE2MWPOWi2lru_NOIjJNZZZ2wtoi38Ot9qmxX3p_HQE_YQ-QY9Hh4wWqEofPfvXwhm6bXHQ4OcjX0AjDlDjUutpUDQWHPfytrR78jK9KlAAfma30ZwR55rgZbN6FXZ-b8_P-rrUW3K9YEzpehR9NQbZLmwMsPoa_RHyGxvPwNw1tpvQ-_G6UUfNrPqdPZGiIheCW5GO3IPrWY1a6hJjCEIaqtRbaI-KNnlLHb96FV82oNCP1w7q7xawOcNvVlHywSudnu3boHLIkehvmMZoVmrDJp1kgdOIYNgzU7o4pYH3vZZaqoMOCCJSQzOY_aZFY9z5ngfYwB654eSIEMSHT-zYvYH49mRhhdIAUSMnNs2Wgro5EICiDk0WG2MigyX9YHt-3u-3f3NixOyxojisonEXxVgo6L4YLX1B59GI70BkU63sCk5JKBKc-1_2GA59xpQ0cRVVQJ6Al4CgN51-oCEdYmAcV0nx1T7yRVUnUCjmO9TvNEPa_h59KodJwcVNKFy7Qwth_BAp1d81dWBWjxDAr98aDDaYq1pxxSoBmbl02Fz3WVHySHzGkXuebXAMaSFKp_6Z1tgSdGrkYJV45LNHcEbnfA4ils1jdhfYw7tSWLmj1m8w-_aKucRVwtXRfxYAQT78ojw_chkiYsWvJuO3et-xQJQBVtFxBuVCNwLQQLK26qufoeesHGzV6ShyTh3tk7hj7RXglG2dHp62GUKZld7AqnY9pQ01LAKYHCgfZkMoWPd4S4Lr_Aca6Qqdoqwtpn6ujcWvnxG3C-v82WSRKM1cBg9pXd-_JQF6lneAOYjMkyrey4dGoA2sTgTTk1L3Hqv8QZ9KE6RQr1b7fsvufHM5kPGMhINl68hnF0zDJs9kKD9_o_VBWSlBCltJSort7r7De4NhIJ6n2vDBp8qYlj1SrC-SA74Cd_kH8Nc1xnjcCD5AFbDsi50ITXZ9WVYUGomtOYM3YGfH92k0kwFVg-Mf9NLedxPxN6XEE7WbPxteXIJeDY2faM3u4oG39nVRQ3pyp_Cr-f86TDNmiFR-VV9np-_A5F4iZr8rkSR_s7g06cyG68q28Ax4ygcSn5kRcJCk4MQFQdXcGyW3NmfAm8iJZ4gCh8PTY0_N7g44dUFXqKxm2aE_37O-Nunx6ME2btW3GWecACLa-DccyGF73qZc8oOvGSBsx4bPkbhpijWPJ57MgV5R1Qk-pfy_Rhbh0SWDkoAXF0ExeU40QQgEaR8fDXfBgjQXKYvcdy-zgJa7E0ESwzlQ37Nsw==",
  "id": "rs_0a8281e2001712b8016ab465dd1f9487d080d629f3da795920",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.08,\"right_z\":0.04,\"right_pitch\":0.6,\"left_x\":0.293,\"left_y\":0.001,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The lid did not reopen, and the brown toy is still caught across its edge. I can’t safely finish the closure in the remaining trial, so I’m lowering the yellow object onto clear tabletop and withdrawing the left arm.\"}",
  "call_id": "call_IbqvfWSZLCyFSeZrH69Vb0Ym",
  "id": "fc_0a8281e2001712b8016ab465e21a2c87d0993d1170aa1eb956",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IbqvfWSZLCyFSeZrH69Vb0Ym",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 0.8364, 0.7868, -0.5381, -0.0967, -0.0902, 0.009, 0.2077, 2.4336, 0.9226, 1.4933, 0.2001, -0.0792, 0.6535]\nstate[eef_state]: left_x=0.2962 left_y=0.0053 left_z=0.2196 left_yaw=0.0632 left_pitch=-0.0043 left_roll=-0.0041 left_gripper=0.009 right_x=0.5335 right_y=0.0802 right_z=0.0387 right_yaw=0.0464 right_pitch=0.5652 right_roll=-0.0727 right_gripper=0.6535\nstate[joint_eff]: [0.1709, -1.7983, 6.8034, 1.8877, 0.1001, 0.0904, 0.652, -0.3214, -9.2103, 2.8103, 2.127, -0.0952, -0.0806, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487aa52254f28365331888c280dcba566a8a98c01ae0c24c956ce046d0da3449",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69454740003d20db860eab01f2032f3fa872ea13f2fe9512d3e6ba6dc62bcd72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66795087351017bc8ace06c8b55ff1323454d17502897fe1df1cc31edd7543ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 2.983 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

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]: [-0.0509, 0.8368, 0.7441, -0.6373, -0.094, -0.0906, 0.018, 0.313, 2.5046, 1.2236, 1.2037, 0.3012, -0.0265, 0.6447]\nstate[eef_state]: left_x=0.2767 left_y=0.0061 left_z=0.1812 left_yaw=0.0632 left_pitch=-0.1458 left_roll=0.0103 left_gripper=0.018 right_x=0.5841 right_y=0.1377 right_z=0.0332 right_yaw=0.0276 right_pitch=0.5098 right_roll=-0.0323 right_gripper=0.6447\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.5995, -0.0757, -0.0317, -0.0122, 0.1846, -13.8325, 4.3009, 1.7314, 0.0855, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7528, 1.821, 1.6123, -0.5972, -0.6167, -0.5312, 0.0092, 0.313, 2.175, 1.1946, 0.7792, 0.2935, -0.0269, 0.6506]\nstate[eef_state]: left_x=0.4269 left_y=-0.255 left_z=0.2213 left_yaw=0.0228 left_pitch=-0.0493 left_roll=0.0259 left_gripper=0.0092 right_x=0.5767 right_y=0.1367 right_z=0.1116 right_yaw=0.0511 right_pitch=0.3901 right_roll=-0.0687 right_gripper=0.6506\nstate[joint_eff]: [0.7043, -8.5949, 8.8684, 1.2918, -0.2076, 0.2515, 0.5641, -0.3624, -10.2906, 5.9419, 2.2344, 0.0513, -0.0611, 0.2027]\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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 0.8364, 0.7868, -0.5381, -0.0967, -0.0902, 0.009, 0.2077, 2.4336, 0.9226, 1.4933, 0.2001, -0.0792, 0.6535]\nstate[eef_state]: left_x=0.2962 left_y=0.0053 left_z=0.2196 left_yaw=0.0632 left_pitch=-0.0043 left_roll=-0.0041 left_gripper=0.009 right_x=0.5335 right_y=0.0802 right_z=0.0387 right_yaw=0.0464 right_pitch=0.5652 right_roll=-0.0727 right_gripper=0.6535\nstate[joint_eff]: [0.1709, -1.7983, 6.8034, 1.8877, 0.1001, 0.0904, 0.652, -0.3214, -9.2103, 2.8103, 2.127, -0.0952, -0.0806, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487aa52254f28365331888c280dcba566a8a98c01ae0c24c956ce046d0da3449",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69454740003d20db860eab01f2032f3fa872ea13f2fe9512d3e6ba6dc62bcd72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66795087351017bc8ace06c8b55ff1323454d17502897fe1df1cc31edd7543ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is lowered onto a clear area to the right of the safe. I’m releasing it so nothing remains suspended in the gripper.\"}",
  "call_id": "call_9X3mOVgoo5SQuimyF9MMCBtH",
  "id": "fc_0a8281e2001712b8016ab465e7cd3087d083ca1bbf5d591fdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9X3mOVgoo5SQuimyF9MMCBtH",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 0.8421, 0.7834, -0.5617, -0.0811, -0.0887, 0.0103, 0.2062, 2.4462, 0.9161, 1.4899, 0.1974, -0.0792, 0.9964]\nstate[eef_state]: left_x=0.2932 left_y=0.0027 left_z=0.2115 left_yaw=0.0494 left_pitch=-0.0378 left_roll=-0.0081 left_gripper=0.0103 right_x=0.531 right_y=0.0793 right_z=0.0293 right_yaw=0.0497 right_pitch=0.543 right_roll=-0.0768 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.894, 7.3368, 1.8974, -0.1685, -0.022, 0.6129, 0.0479, -12.0, 3.8769, 1.8926, -0.0464, -0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473ddc324549cf81fa64eb2e401638423b9f7d43d86ec9815b6d43917355efd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56a416c245c9cd9e55fad5a55d19cd7905dd19f78e95a05aa69825847b8fc2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab2cee168af6a3b8c83be19c460df2004181e3e1effc84bae994eae88a7fe92",
      "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 · 5.374 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 136 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8246, 1.805, 0.9695, -0.02, -0.6598, -0.5739, 0.007, 0.313, 2.1891, 1.1961, 0.8196, 0.2935, -0.0269, 0.6486]\nstate[eef_state]: left_x=0.3725 left_y=-0.2381 left_z=0.0692 left_yaw=0.0068 left_pitch=-0.0598 left_roll=0.0493 left_gripper=0.007 right_x=0.5788 right_y=0.1374 right_z=0.1137 right_yaw=0.048 right_pitch=0.417 right_roll=-0.0608 right_gripper=0.6486\nstate[joint_eff]: [-0.4718, -8.6359, 8.6222, 1.6972, -0.442, 0.0269, 0.7204, -0.2256, -15.706, 8.6359, 2.1368, 0.0611, -0.0464, 0.3883]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 0.8364, 0.7868, -0.5381, -0.0967, -0.0902, 0.009, 0.2077, 2.4336, 0.9226, 1.4933, 0.2001, -0.0792, 0.6535]\nstate[eef_state]: left_x=0.2962 left_y=0.0053 left_z=0.2196 left_yaw=0.0632 left_pitch=-0.0043 left_roll=-0.0041 left_gripper=0.009 right_x=0.5335 right_y=0.0802 right_z=0.0387 right_yaw=0.0464 right_pitch=0.5652 right_roll=-0.0727 right_gripper=0.6535\nstate[joint_eff]: [0.1709, -1.7983, 6.8034, 1.8877, 0.1001, 0.0904, 0.652, -0.3214, -9.2103, 2.8103, 2.127, -0.0952, -0.0806, 0.2906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 0.8421, 0.7834, -0.5617, -0.0811, -0.0887, 0.0103, 0.2062, 2.4462, 0.9161, 1.4899, 0.1974, -0.0792, 0.9964]\nstate[eef_state]: left_x=0.2932 left_y=0.0027 left_z=0.2115 left_yaw=0.0494 left_pitch=-0.0378 left_roll=-0.0081 left_gripper=0.0103 right_x=0.531 right_y=0.0793 right_z=0.0293 right_yaw=0.0497 right_pitch=0.543 right_roll=-0.0768 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.894, 7.3368, 1.8974, -0.1685, -0.022, 0.6129, 0.0479, -12.0, 3.8769, 1.8926, -0.0464, -0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473ddc324549cf81fa64eb2e401638423b9f7d43d86ec9815b6d43917355efd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56a416c245c9cd9e55fad5a55d19cd7905dd19f78e95a05aa69825847b8fc2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab2cee168af6a3b8c83be19c460df2004181e3e1effc84bae994eae88a7fe92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.293,\"left_y\":0.001,\"left_z\":0.2},\"note\":\"The yellow object is resting on the table and the safe remains partly closed over the brown toy. I’m parking both arms clear of the objects before stopping.\"}",
  "call_id": "call_ZSvTOqslHCzMzZNrMgpPZVNF",
  "id": "fc_0a8281e2001712b8016ab465ea6a1087d0baa1b788844b4c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZSvTOqslHCzMzZNrMgpPZVNF",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0586, 0.8402, 0.7433, -0.5549, -0.0902, -0.0944, 0.0127, -0.0105, 0.8238, 0.6548, -0.3672, 0.0086, -0.0265, 0.9973]\nstate[eef_state]: left_x=0.2898 left_y=0.0025 left_z=0.1956 left_yaw=0.0535 left_pitch=-0.0683 left_roll=-0.004 left_gripper=0.0127 right_x=0.3045 right_y=-0.0011 right_z=0.1978 right_yaw=-0.0158 right_pitch=0.0476 right_roll=-0.0095 right_gripper=0.9973\nstate[joint_eff]: [-0.4855, -1.6205, 6.5026, 1.956, -0.0562, -0.0659, 0.232, -0.253, -1.3607, 9.1829, 1.9023, -0.1148, -0.0659, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c74bad7b5eeda6812187fcd1f3f4bca32eb145d441b577e8ebba34aa66c7b16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaf557e3c01e800f0756d2c26d5018415bbe84f52223e7ed010d3fa4c9546c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 426):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b3f62ba7d0fdca5c23ceacae9cef969ef60885a67c2448b068b062ab9fe57f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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