adhoc

completed
2026-09-23T23:31:43.190439+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
248.3 s
total steps
386
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

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open, with a white plush, a brown plush, and a yellow object outside it. I’m moving the left gripper above the white plush while keeping the right arm parked.
move_to
left_x0.4000left_y-0.2000left_z0.1500left_gripper1.0000right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3912, -0.0193, -0.0299, 0.9996, -0.0212, 0.7933, 0.606, -0.3962, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2928 right_y=0.0009 right_z=0.1777 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.3744, 10.359, 1.9707, -0.0952, 0.1734, -0.0513, -0.3077, -1.4291, 9.7573, 1.9121, -0.0317, 0.0659, -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":0.4,"left_y":-0.2,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The safe is open, with a white plush, a brown plush, and a yellow object outside it. I’m moving the left gripper above the white plush while keeping the right arm parked."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe white plush is visible just left of the jaw centerline, beside the safe’s rim. I’m correcting sideways and lowering around its body for a grasp.
move_to
left_x0.3900left_y-0.1750left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.675, 1.599, 0.9882, -0.1551, -0.5354, -0.4362, 0.9996, -0.0238, 0.8021, 0.6132, -0.4332, -0.0204, -0.0265, 0.9995] state[eef_state]: left_x=0.3885 left_y=-0.191 left_z=0.1308 left_yaw=-0.0106 left_pitch=-0.0592 left_roll=0.0297 left_gripper=0.9996 right_x=0.2891 right_y=0.0003 right_z=0.1711 right_yaw=-0.0016 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9995 state[joint_eff]: [-0.5812, -8.212, 8.841, 1.7705, -0.3883, -0.022, -0.0513, -0.4308, -1.4838, 7.3094, 2.0537, -0.105, -0.1099, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.175,"left_z":0.025},"note":"The white plush is visible just left of the jaw centerline, beside the safe’s rim. I’m correcting sideways and lowering around its body for a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe white plush’s body is still slightly left of the jaws, with its lower body at the fingertip edge of the wrist view. I’m making a small alignment adjustment before closing.
move_to
left_x0.4050left_y-0.1500left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6373, 1.795, 0.7551, 0.2474, -0.5175, -0.4152, 0.9992, -0.0238, 0.8043, 0.6125, -0.4549, -0.02, -0.0261, 0.9995] state[eef_state]: left_x=0.3849 left_y=-0.1717 left_z=0.0294 left_yaw=0.0033 left_pitch=-0.0886 left_roll=0.0526 left_gripper=0.9992 right_x=0.2859 right_y=0.0003 right_z=0.1658 right_yaw=-0.0021 right_pitch=-0.0633 right_roll=0.0013 right_gripper=0.9995 state[joint_eff]: [0.335, -7.0222, 4.6291, 1.5653, -0.0904, 0.0904, -0.0611, -0.0752, -1.4427, 7.0359, 1.8632, -0.0611, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.15,"left_z":0.005},"note":"The white plush’s body is still slightly left of the jaws, with its lower body at the fingertip edge of the wrist view. I’m making a small alignment adjustment before closing."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe jaws now straddle the lower body of the white plush at table height. I’m closing the gripper to secure it.
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]: [-0.5907, 1.8542, 0.7376, 0.3439, -0.4862, -0.3882, 0.9991, -0.0238, 0.8043, 0.6125, -0.4572, -0.0196, -0.0261, 0.9995] state[eef_state]: left_x=0.3946 left_y=-0.1609 left_z=0.0138 left_yaw=0.0102 left_pitch=-0.0861 left_roll=0.0444 left_gripper=0.9991 right_x=0.2856 right_y=0.0003 right_z=0.1654 right_yaw=-0.0024 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9995 state[joint_eff]: [1.388, -6.2427, 5.559, 1.4774, -0.1587, 0.1441, -0.022, -0.0205, -1.1829, 7.0359, 1.7167, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the lower body of the white plush at table height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gripper stopped at a nonempty opening, consistent with holding the plush. I’m lifting it a short distance to confirm the grasp before carrying it into the safe.
move_to
left_z0.0850right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5419, 1.8904, 0.7376, 0.4061, -0.4641, -0.3489, 0.2072, -0.0238, 0.8089, 0.6125, -0.4782, -0.02, -0.0261, 0.9995] state[eef_state]: left_x=0.4065 left_y=-0.1482 left_z=0.0083 left_yaw=0.0193 left_pitch=-0.0739 left_roll=0.0485 left_gripper=0.2072 right_x=0.2826 right_y=0.0004 right_z=0.1601 right_yaw=-0.0021 right_pitch=-0.0911 right_roll=0.0019 right_gripper=0.9995 state[joint_eff]: [-0.0342, -8.1162, 5.012, 1.4481, -0.0513, 0.0562, 0.8083, -0.1983, -1.6479, 6.9402, 1.8242, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The gripper stopped at a nonempty opening, consistent with holding the plush. I’m lifting it a short distance to confirm the grasp before carrying it into the safe."})
tool
executing move_to over 5 steps (0.5s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe white plush rose with the gripper. I’m lifting it above the safe’s front rim and moving toward the open compartment.
move_to
left_x0.4700left_y-0.2600left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5419, 1.7035, 0.8162, 0.1169, -0.4644, -0.3569, 0.2109, -0.0238, 0.8658, 0.6643, -0.5457, -0.02, -0.0265, 0.9995] state[eef_state]: left_x=0.4024 left_y=-0.1457 left_z=0.063 left_yaw=0.025 left_pitch=-0.0935 left_roll=0.055 left_gripper=0.2109 right_x=0.2821 right_y=0.0004 right_z=0.1553 right_yaw=-0.0016 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9995 state[joint_eff]: [-0.1436, -9.4974, 8.5402, 1.6435, -0.2515, 0.0269, 0.3785, -0.2667, -1.4838, 10.1812, 1.956, -0.0659, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.26,"left_z":0.2},"note":"The white plush rose with the gripper. I’m lifting it above the safe’s front rim and moving toward the open compartment."})
tool
executing move_to over 11 steps (1.1s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe plush is held above the open safe, but still near its front-left edge. I’m moving it inward and lowering it into the compartment.
move_to
left_x0.5100left_y-0.2950left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6834, 1.9789, 1.7184, -0.5694, -0.5476, -0.4843, 0.2146, -0.0238, 0.868, 0.6643, -0.577, -0.02, -0.0261, 0.9995] state[eef_state]: left_x=0.4683 left_y=-0.2581 left_z=0.1863 left_yaw=0.0197 left_pitch=-0.1023 left_roll=0.039 left_gripper=0.2146 right_x=0.2769 right_y=0.0005 right_z=0.1492 right_yaw=-0.0017 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995 state[joint_eff]: [-0.4718, -10.9607, 8.7453, 1.16, -0.5006, 0.0366, 0.3687, -0.212, -1.6752, 6.9265, 1.8486, -0.0513, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.295,"left_z":0.075},"note":"The plush is held above the open safe, but still near its front-left edge. I’m moving it inward and lowering it into the compartment."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe white plush is now inside the safe’s rim. I’m opening the jaws to leave it in the compartment.
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]: [-0.6868, 2.2551, 1.7042, -0.3527, -0.5453, -0.4931, 0.2169, -0.0238, 0.8688, 0.6643, -0.6121, -0.02, -0.0261, 0.9995] state[eef_state]: left_x=0.4964 left_y=-0.284 left_z=0.0659 left_yaw=0.0258 left_pitch=-0.1591 left_roll=0.0793 left_gripper=0.2169 right_x=0.2707 right_y=0.0007 right_z=0.1429 right_yaw=-0.0015 right_pitch=-0.233 right_roll=0.005 right_gripper=0.9995 state[joint_eff]: [-0.212, -12.3556, 9.7573, 1.5556, -0.3394, 0.0171, 0.2222, -0.0342, -1.5932, 7.0906, 1.8339, -0.0513, -0.0415, -0.0073] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white plush is now inside the safe’s rim. I’m opening the jaws to leave it in the compartment."})
tool
executing move_to over 8 steps (0.8s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe white plush has dropped onto the safe’s floor. I’m withdrawing the left arm upward and away so the next object can be loaded without disturbing it.
move_to
left_x0.3400left_y-0.1200left_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6868, 2.2879, 1.7031, -0.3611, -0.5434, -0.5026, 0.9951, -0.0238, 0.8688, 0.6643, -0.6323, -0.02, -0.0261, 0.9995] state[eef_state]: left_x=0.4935 left_y=-0.2819 left_z=0.0464 left_yaw=0.0347 left_pitch=-0.1915 left_roll=0.0993 left_gripper=0.9951 right_x=0.267 right_y=0.0008 right_z=0.1396 right_yaw=-0.0014 right_pitch=-0.2532 right_roll=0.0055 right_gripper=0.9995 state[joint_eff]: [-0.212, -15.5829, 6.5983, 1.3407, -0.3248, 0.0757, 0.0122, -0.2393, -1.5385, 6.7897, 1.6435, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.12,"left_z":0.23},"note":"The white plush has dropped onto the safe’s floor. I’m withdrawing the left arm upward and away so the next object can be loaded without disturbing it."})
tool
executing move_to over 15 steps (1.5s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe white plush is visibly inside the safe; the brown plush and yellow object remain outside. I’m parking the left arm and bringing the right gripper above the brown plush.
move_to
left_x0.2930left_y0.0000left_z0.2000right_x0.3300right_y0.3000right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5823, 1.3724, 1.2453, -0.7547, -0.4858, -0.4213, 0.9962, -0.0238, 0.8745, 0.6632, -0.6567, -0.02, -0.0261, 0.9995] state[eef_state]: left_x=0.3501 left_y=-0.1275 left_z=0.2248 left_yaw=0.0449 left_pitch=-0.1742 left_roll=0.0821 left_gripper=0.9962 right_x=0.2624 right_y=0.0009 right_z=0.1337 right_yaw=-0.0012 right_pitch=-0.2845 right_roll=0.0062 right_gripper=0.9995 state[joint_eff]: [0.1709, -6.0239, 7.4051, 1.4579, -0.1343, 0.1392, 0.1001, -0.1573, -1.9761, 6.8308, 1.7314, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0,"left_z":0.2,"right_x":0.33,"right_y":0.3,"right_z":0.16},"note":"The white plush is visibly inside the safe; the brown plush and yellow object remain outside. I’m parking the left arm and bringing the right gripper above the brown plush."})
tool
executing move_to over 25 steps (2.5s)
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 brown plush is centered under the right gripper, with its torso just forward of the fingertips. I’m advancing slightly and lowering the open jaws around its torso.
move_to
right_x0.3550right_y0.3000right_z0.0350right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1211, 0.9646, 0.889, -0.7136, -0.1875, -0.0887, 0.9964, 0.9314, 1.8027, 1.4933, -0.8257, 0.5133, 0.757, 0.9995] state[eef_state]: left_x=0.2924 left_y=0.0012 left_z=0.1975 left_yaw=0.0744 left_pitch=-0.1946 left_roll=0.0826 left_gripper=0.9964 right_x=0.3214 right_y=0.2928 right_z=0.1486 right_yaw=0.0253 right_pitch=-0.3273 right_roll=-0.0281 right_gripper=0.9995 state[joint_eff]: [0.294, -2.9333, 6.2427, 1.8193, -0.0024, 0.0904, 0.0024, 0.4034, -9.0051, 8.4581, 1.0476, 0.5104, 0.1587, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.3,"right_z":0.035,"right_pitch":0},"note":"The brown plush is centered under the right gripper, with its torso just forward of the fingertips. I’m advancing slightly and lowering the open jaws around its torso."})
tool
executing move_to over 11 steps (1.1s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe right jaws are positioned on either side of the brown plush’s body. I’m closing them to take hold.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.9665, 0.8833, -0.7197, -0.1768, -0.0902, 0.9964, 0.9501, 1.9644, 1.0454, 0.0235, 0.7074, 0.6312, 0.9995] state[eef_state]: left_x=0.2908 left_y=0.0003 left_z=0.1933 left_yaw=0.0695 left_pitch=-0.2095 left_roll=0.0766 left_gripper=0.9964 right_x=0.3495 right_y=0.2976 right_z=0.0381 right_yaw=0.029 right_pitch=-0.052 right_roll=-0.0306 right_gripper=0.9995 state[joint_eff]: [-0.4034, -2.359, 7.2, 1.536, -0.2466, -0.0464, -0.0073, 0.2393, -8.212, 4.9983, 1.0867, 0.4615, -0.105, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaws are positioned on either side of the brown plush’s body. I’m closing them to take hold."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe gripper has retained a nonzero opening on the brown plush. I’m lifting it briefly to check that it follows the jaws.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7227, -0.1761, -0.0902, 0.9964, 0.9497, 1.9785, 1.034, 0.0235, 0.7067, 0.6281, 0.118] state[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1928 left_yaw=0.0693 left_pitch=-0.2126 left_roll=0.0766 left_gripper=0.9964 right_x=0.3468 right_y=0.2936 right_z=0.0284 right_yaw=0.0296 right_pitch=-0.068 right_roll=-0.053 right_gripper=0.118 state[joint_eff]: [-0.0615, -2.1538, 6.8034, 1.4969, -0.1099, -0.0464, -0.0073, -0.1983, -10.9333, 6.2974, 1.2821, 0.3297, -0.0122, 0.862] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The gripper has retained a nonzero opening on the brown plush. I’m lifting it briefly to check that it follows the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe brown plush lifted with the gripper. I’m carrying it up over the safe’s front rim, aiming for the space beside the white plush.
move_to
right_x0.4600right_y0.3000right_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7277, -0.1761, -0.0906, 0.9966, 0.9497, 1.8698, 1.121, -0.2146, 0.6918, 0.6281, 0.1199] state[eef_state]: left_x=0.2894 left_y=0.0004 left_z=0.192 left_yaw=0.0697 left_pitch=-0.2174 left_roll=0.0773 left_gripper=0.9966 right_x=0.3423 right_y=0.2908 right_z=0.0723 right_yaw=0.036 right_pitch=-0.1033 right_roll=-0.0794 right_gripper=0.1199 state[joint_eff]: [-0.0889, -2.1812, 6.735, 1.5067, -0.1294, -0.0611, 0.0122, -0.3761, -11.5077, 8.5812, 1.5018, 0.4762, -0.0317, 0.4615] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.3,"right_z":0.23},"note":"The brown plush lifted with the gripper. I’m carrying it up over the safe’s front rim, aiming for the space beside the white plush."})
tool
executing move_to over 11 steps (1.1s)
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 plush is above the compartment, offset toward its right side. I’m lowering it into the available space next to the white plush.
move_to
right_x0.4850right_y0.3050right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7422, -0.1761, -0.0906, 0.9969, 0.7525, 2.0647, 1.98, -0.775, 0.5594, 0.4423, 0.1216] state[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1895 left_yaw=0.0704 left_pitch=-0.2317 left_roll=0.08 left_gripper=0.9969 right_x=0.4543 right_y=0.3018 right_z=0.2171 right_yaw=0.0392 right_pitch=-0.1157 right_roll=-0.0751 right_gripper=0.1216 state[joint_eff]: [-0.2256, -2.1265, 6.8991, 1.6288, -0.0952, -0.0757, 0.0122, -0.5128, -11.1658, 8.4034, 1.3114, 0.2271, -0.0952, 0.6569] 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":{"right_x":0.485,"right_y":0.305,"right_z":0.075},"note":"The brown plush is above the compartment, offset toward its right side. I’m lowering it into the available space next to the white plush."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe brown plush hangs to the right of the grasp, leaving part of it over the safe’s side rim. I’m shifting the grasp inward so the whole plush can settle inside.
move_to
right_x0.4900right_y0.3600right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9688, 0.8833, -0.7471, -0.1761, -0.0902, 0.9969, 0.7166, 2.2059, 1.6501, -0.3515, 0.5251, 0.4171, 0.123] state[eef_state]: left_x=0.2861 left_y=0.0008 left_z=0.1881 left_yaw=0.0705 left_pitch=-0.2388 left_roll=0.0817 left_gripper=0.9969 right_x=0.4733 right_y=0.2996 right_z=0.0707 right_yaw=0.0376 right_pitch=-0.1705 right_roll=-0.1044 right_gripper=0.123 state[joint_eff]: [-0.1846, -2.2769, 6.8991, 1.5214, -0.149, -0.0611, -0.0073, -0.5812, -11.9726, 7.2, 1.6923, 0.2515, -0.1538, 0.5983] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.36,"right_z":0.075},"note":"The brown plush hangs to the right of the grasp, leaving part of it over the safe’s side rim. I’m shifting the grasp inward so the whole plush can settle inside."})
tool
executing move_to over 6 steps (0.6s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe brown plush is now within the safe’s side walls beside the white plush. I’m opening the gripper to set it down.
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]: [-0.1181, 0.9737, 0.8833, -0.7506, -0.1761, -0.0902, 0.9969, 0.7845, 2.4107, 2.0266, -0.569, 0.5461, 0.4522, 0.1266] state[eef_state]: left_x=0.2858 left_y=0.0009 left_z=0.1862 left_yaw=0.0709 left_pitch=-0.247 left_roll=0.0833 left_gripper=0.9969 right_x=0.4828 right_y=0.3574 right_z=0.072 right_yaw=0.0656 right_pitch=-0.1927 right_roll=-0.1217 right_gripper=0.1266 state[joint_eff]: [-0.1709, -2.4, 6.8991, 1.4823, -0.0952, -0.0562, -0.0073, -0.1709, -12.8889, 8.3897, 1.3993, 0.4127, 0.2027, 0.3639] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brown plush is now within the safe’s side walls beside the white plush. I’m opening the gripper to set it down."})
tool
executing move_to over 9 steps (0.9s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteBoth plush objects are inside the safe, and the yellow object remains to its right. I’m raising the gripper clear and approaching the yellow object with a forward tilt for the longer reach.
move_to
right_x0.5500right_y0.1800right_z0.1800right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9741, 0.8833, -0.7643, -0.1761, -0.0902, 0.9969, 0.7845, 2.4218, 2.0285, -0.6094, 0.5373, 0.4461, 0.9947] state[eef_state]: left_x=0.2833 left_y=0.0012 left_z=0.1839 left_yaw=0.0715 left_pitch=-0.2609 left_roll=0.0861 left_gripper=0.9969 right_x=0.4769 right_y=0.3534 right_z=0.0607 right_yaw=0.0681 right_pitch=-0.2353 right_roll=-0.1538 right_gripper=0.9947 state[joint_eff]: [-0.0068, -2.0444, 6.735, 1.5556, -0.1099, -0.0366, -0.0073, 0.0205, -14.9128, 6.4068, 1.5653, 0.2613, 0.0513, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.18,"right_z":0.18,"right_pitch":0.35},"note":"Both plush objects are inside the safe, and the yellow object remains to its right. I’m raising the gripper clear and approaching the yellow object with a forward tilt for the longer reach."})
tool
executing move_to over 20 steps (2.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe yellow object is visible just right of the jaw centerline. I’m correcting toward it and lowering with more forward tilt to reach its sides.
move_to
right_x0.5500right_y0.1500right_z0.0450right_pitch0.5000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.976, 0.8833, -0.7681, -0.1761, -0.0906, 0.9969, 0.4538, 2.0396, 1.2743, 0.3649, 0.4572, -0.0326, 0.9953] state[eef_state]: left_x=0.2828 left_y=0.0012 left_z=0.1828 left_yaw=0.0721 left_pitch=-0.2665 left_roll=0.0869 left_gripper=0.9969 right_x=0.5433 right_y=0.1822 right_z=0.1322 right_yaw=0.0755 right_pitch=0.2155 right_roll=-0.1955 right_gripper=0.9953 state[joint_eff]: [-0.0479, -2.1265, 6.694, 1.4725, -0.1197, -0.0415, -0.0171, -0.3897, -14.8034, 7.0632, 2.4493, 0.1685, 0.0122, 0.0562] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.15,"right_z":0.045,"right_pitch":0.5,"right_roll":0},"note":"The yellow object is visible just right of the jaw centerline. I’m correcting toward it and lowering with more forward tilt to reach its sides."})
tool
executing move_to over 10 steps (1.0s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe yellow object is close to the fingertips but still slightly right of center. I’m making a final small sideways and forward adjustment to put its body between the jaws.
move_to
right_x0.5650right_y0.1300right_z0.0120
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.976, 0.8833, -0.7715, -0.1761, -0.0906, 0.9969, 0.3557, 2.355, 1.0657, 1.1713, 0.2722, 0.0006, 0.9954] state[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1823 left_yaw=0.0722 left_pitch=-0.2699 left_roll=0.0876 left_gripper=0.9969 right_x=0.5505 right_y=0.1577 right_z=0.0522 right_yaw=0.0905 right_pitch=0.4696 right_roll=-0.0194 right_gripper=0.9954 state[joint_eff]: [-0.0479, -2.2085, 6.6803, 1.4481, -0.149, -0.0513, -0.0122, -1.2513, -8.8547, 4.3556, 1.4921, 0.1245, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.565,"right_y":0.13,"right_z":0.012},"note":"The yellow object is close to the fingertips but still slightly right of center. I’m making a final small sideways and forward adjustment to put its body between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe yellow object is now on the jaw centerline, and the arm has stopped descending above the requested height. I’m closing at this position rather than forcing the arm lower.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7723, -0.1761, -0.0906, 0.9969, 0.3099, 2.4359, 1.1206, 1.3132, 0.2039, -0.0002, 0.9954] state[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2725 left_roll=0.0881 left_gripper=0.9969 right_x=0.5663 right_y=0.1476 right_z=0.0611 right_yaw=0.0952 right_pitch=0.5812 right_roll=0.0161 right_gripper=0.9954 state[joint_eff]: [-0.0342, -2.2906, 6.7214, 1.3944, -0.149, -0.0708, -0.0122, -1.7436, -7.4188, 3.6991, 0.7937, 0.1929, -0.1294, -0.0171] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is now on the jaw centerline, and the arm has stopped descending above the requested height. I’m closing at this position rather than forcing the arm lower."})
tool
executing move_to over 10 steps (1.0s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe gripper stopped around the yellow object with a substantial opening. I’m lifting and easing back slightly to verify the grasp and clear the safe’s side.
move_to
right_x0.5400right_z0.1450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7719, -0.1761, -0.0906, 0.9969, 0.308, 2.4439, 1.1275, 1.3483, 0.194, 0.0006, 0.2872] state[eef_state]: left_x=0.2822 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2721 left_roll=0.0881 left_gripper=0.9969 right_x=0.5673 right_y=0.1485 right_z=0.0676 right_yaw=0.0979 right_pitch=0.6144 right_roll=0.0255 right_gripper=0.2872 state[joint_eff]: [-0.0205, -2.0581, 6.7077, 1.3993, -0.1245, -0.0611, -0.0122, 0.0342, -12.588, 3.8222, 1.4725, 0.0513, -0.0659, 0.7204] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_z":0.145},"note":"The gripper stopped around the yellow object with a substantial opening. I’m lifting and easing back slightly to verify the grasp and clear the safe’s side."})
tool
executing move_to over 5 steps (0.5s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe yellow object is moving with the gripper. I’m carrying it over the remaining space in the safe and returning the tool toward an upright orientation.
move_to
right_x0.4850right_y0.3250right_z0.2200right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9821, 0.8833, -0.7715, -0.1761, -0.0902, 0.9969, 0.3267, 2.1723, 0.9932, 1.169, 0.1989, -0.0002, 0.2851] state[eef_state]: left_x=0.2826 left_y=0.0013 left_z=0.1807 left_yaw=0.0723 left_pitch=-0.2759 left_roll=0.0891 left_gripper=0.9969 right_x=0.5422 right_y=0.1507 right_z=0.124 right_yaw=0.118 right_pitch=0.5734 right_roll=0.0141 right_gripper=0.2851 state[joint_eff]: [-0.0479, -2.0034, 6.8718, 1.4725, -0.1294, -0.0464, -0.0122, 0.2667, -12.6974, 5.1077, 2.0488, 0.1783, -0.0366, -0.2369] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.325,"right_z":0.22,"right_pitch":0.15},"note":"The yellow object is moving with the gripper. I’m carrying it over the remaining space in the safe and returning the tool toward an upright orientation."})
tool
executing move_to over 15 steps (1.5s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThe cleared overhead view shows the yellow object is still on the table, so that pickup was not successful. I’m releasing over the safe before making a corrected approach to the yellow object.
move_to
right_z0.0900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9844, 0.8833, -0.7753, -0.1761, -0.0902, 0.9969, 0.7353, 2.0022, 1.6268, -0.1181, 0.5198, 0.2375, 0.2849] state[eef_state]: left_x=0.282 left_y=0.0013 left_z=0.1795 left_yaw=0.0727 left_pitch=-0.2819 left_roll=0.0903 left_gripper=0.9969 right_x=0.4846 right_y=0.3248 right_z=0.2122 right_yaw=0.1627 right_pitch=0.1597 right_roll=-0.0096 right_gripper=0.2849 state[joint_eff]: [-0.0342, -2.441, 6.7487, 1.4579, -0.1294, -0.0122, -0.0171, 0.294, -10.5778, 9.0188, 1.8193, 0.3541, 0.1148, -0.0366] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09,"right_gripper":1},"note":"The cleared overhead view shows the yellow object is still on the table, so that pickup was not successful. I’m releasing over the safe before making a corrected approach to the yellow object."})
tool
executing move_to over 8 steps (0.8s)
step 242
top_cam
camera top_cam step 242
assistant
agent noteThe brown plush has ended up outside the safe’s front edge, and the yellow object is farther back than my first approach. I’m approaching the yellow object at the forward reach limit while positioning the left arm above the brown plush.
move_to
right_x0.6000right_y0.1300right_z0.1500right_pitch0.5000right_yaw0.0000right_roll0.0000left_x0.3550left_y-0.2300left_z0.1200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9871, 0.8833, -0.7872, -0.1761, -0.0906, 0.9969, 0.7376, 2.1395, 1.3655, 0.2241, 0.5152, 0.2359, 0.9948] state[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.177 left_yaw=0.0737 left_pitch=-0.2961 left_roll=0.0929 left_gripper=0.9969 right_x=0.4782 right_y=0.3218 right_z=0.0893 right_yaw=0.1737 right_pitch=0.1108 right_roll=-0.0397 right_gripper=0.9948 state[joint_eff]: [0.0068, -2.2496, 6.8444, 1.5263, -0.1538, 0.0024, -0.0122, -0.3624, -10.8513, 6.3385, 2.0928, 0.105, -0.0073, -0.2662] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_y":0.13,"right_z":0.15,"right_pitch":0.5,"right_yaw":0,"right_roll":0,"left_x":0.355,"left_y":-0.23,"left_z":0.12,"left_pitch":0},"note":"The brown plush has ended up outside the safe’s front edge, and the yellow object is farther back than my first approach. I’m approaching the yellow object at the forward reach limit while positioning the left arm above the brown plush."})
tool
executing move_to over 21 steps (2.1s)
step 263
assistant
agent noteThe right gripper now covers the yellow object in the overhead view, while the brown plush sits to the right of the left jaw centerline. I’m lowering both open grippers, with a small alignment correction over the brown plush.
move_to
right_x0.6000right_y0.1300right_z0.0250left_x0.3900left_y-0.2800left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8783, 1.6752, 0.9905, -0.2871, -0.7578, -0.6384, 0.9969, 0.3, 2.1857, 1.2518, 0.7452, 0.2924, 0.0143, 0.9953] state[eef_state]: left_x=0.3433 left_y=-0.2181 left_z=0.1024 left_yaw=0.0595 left_pitch=-0.0701 left_roll=0.134 left_gripper=0.9969 right_x=0.5886 right_y=0.1325 right_z=0.1218 right_yaw=0.0168 right_pitch=0.4026 right_roll=-0.0288 right_gripper=0.9953 state[joint_eff]: [-0.5402, -7.747, 8.7453, 1.5214, -0.6764, -0.0122, -0.0171, -0.4308, -11.0154, 9.265, 2.5177, 0.022, -0.0659, 0.0415] 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_x":0.6,"right_y":0.13,"right_z":0.025,"left_x":0.39,"left_y":-0.28,"left_z":0.025},"note":"The right gripper now covers the yellow object in the overhead view, while the brown plush sits to the right of the left jaw centerline. I’m lowering both open grippers, with a small alignment correction over the brown plush."})
tool
executing move_to over 7 steps (0.7s)
step 270
assistant
agent noteBoth grippers are down at their pickup positions. I’m closing them, then I’ll check each object during the lift before attempting another placement.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8833, 2.056, 1.1748, -0.1429, -0.783, -0.6598, 0.9969, 0.2928, 2.4279, 1.293, 0.9989, 0.271, 0.0223, 0.9954] state[eef_state]: left_x=0.3826 left_y=-0.264 left_z=0.028 left_yaw=0.084 left_pitch=-0.0813 left_roll=0.1721 left_gripper=0.9969 right_x=0.6022 right_y=0.1359 right_z=0.0558 right_yaw=0.0176 right_pitch=0.4523 right_roll=-0.0005 right_gripper=0.9954 state[joint_eff]: [-0.5402, -9.1692, 6.9402, 1.16, -0.1001, 0.1099, -0.0122, -0.8684, -9.6068, 5.1487, 1.2479, 0.0464, -0.2125, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Both grippers are down at their pickup positions. I’m closing them, then I’ll check each object during the lift before attempting another placement."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteThe right gripper closed empty, and the left gripper appears to have contacted the safe’s rim rather than the plush. I’m releasing and lifting both clear to avoid dragging the safe and to recheck the objects’ positions.
move_to
left_gripper1.0000left_z0.1700left_x0.3300left_y-0.1500right_gripper1.0000right_x0.5500right_y0.1000right_z0.1700right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8833, 2.0678, 1.1854, -0.1268, -0.8131, -0.6598, 0.0496, 0.2955, 2.431, 1.2957, 1.0538, 0.2607, 0.0261, 0.018] state[eef_state]: left_x=0.3874 left_y=-0.2639 left_z=0.0311 left_yaw=0.1 left_pitch=-0.0518 left_roll=0.1741 left_gripper=0.0496 right_x=0.6035 right_y=0.1398 right_z=0.0681 right_yaw=0.0199 right_pitch=0.5045 right_roll=0.0217 right_gripper=0.018 state[joint_eff]: [-0.3487, -11.6034, 4.6838, 0.9939, -0.1099, -0.0073, 0.8474, -0.0479, -13.5726, 4.1368, 1.3797, 0.1294, -0.0317, 0.8278] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.17,"left_x":0.33,"left_y":-0.15,"right_gripper":1,"right_x":0.55,"right_y":0.1,"right_z":0.17,"right_pitch":0},"note":"The right gripper closed empty, and the left gripper appears to have contacted the safe’s rim rather than the plush. I’m releasing and lifting both clear to avoid dragging the safe and to recheck the objects’ positions."})
tool
executing move_to over 17 steps (1.7s)
step 297
assistant
agent noteThe clear view confirms the white plush is inside, while the brown plush lies in front and the yellow object remains alongside the safe. I’m approaching the brown plush’s center and trying the yellow pickup slightly closer to the base, where the jaws can descend farther.
move_to
right_x0.5350right_y0.1350right_z0.0100right_pitch0.2000left_x0.3350left_y-0.3200left_z0.0200left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.783, 1.4216, 0.9764, -0.4805, -0.7578, -0.5575, 0.9972, 0.2291, 1.9614, 1.4136, -0.0788, 0.1589, 0.0998, 0.9963] state[eef_state]: left_x=0.3342 left_y=-0.1562 left_z=0.1633 left_yaw=0.1089 left_pitch=-0.0488 left_roll=0.1624 left_gripper=0.9972 right_x=0.55 right_y=0.1032 right_z=0.1365 right_yaw=0.0322 right_pitch=-0.0341 right_roll=-0.0013 right_gripper=0.9963 state[joint_eff]: [0.4718, -7.0769, 6.3795, 1.3602, -0.2662, 0.1832, -0.0024, -0.7863, -14.5709, 9.4564, 2.0635, 0.0171, 0.1001, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.135,"right_z":0.01,"right_pitch":0.2,"left_x":0.335,"left_y":-0.32,"left_z":0.02,"left_roll":0,"left_yaw":0},"note":"The clear view confirms the white plush is inside, while the brown plush lies in front and the yellow object remains alongside the safe. I’m approaching the brown plush’s center and trying the yellow pickup slightly closer to the base, where the jaws can descend farther."})
tool
executing move_to over 15 steps (1.5s)
step 312
assistant
agent noteThe left jaws surround the brown plush’s body. The yellow object is centered but still forward of the right fingertips, so I’m advancing slightly while bringing the tool upright and closing both grippers.
move_to
right_x0.5600right_y0.1400right_z0.0000right_pitch0.0000right_gripper0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0286, 2.0235, 1.0702, -0.0711, -0.7856, -0.8066, 0.9976, 0.3195, 2.2173, 1.0611, 0.8062, 0.2481, 0.1116, 0.9973] state[eef_state]: left_x=0.3307 left_y=-0.2999 left_z=0.0179 left_yaw=0.0202 left_pitch=-0.07 left_roll=0.0567 left_gripper=0.9976 right_x=0.5437 right_y=0.138 right_z=0.0401 right_yaw=0.0338 right_pitch=0.2441 right_roll=0.0346 right_gripper=0.9973 state[joint_eff]: [-0.7316, -9.2103, 7.1316, 1.2381, -0.3199, 0.0269, 0.0317, 0.4718, -7.747, 3.6718, 1.0085, 0.1734, -0.2027, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.14,"right_z":0,"right_pitch":0,"right_gripper":0,"left_gripper":0},"note":"The left jaws surround the brown plush’s body. The yellow object is centered but still forward of the right fingertips, so I’m advancing slightly while bringing the tool upright and closing both grippers."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteBoth grippers now show substantial openings around the objects. I’m lifting the brown plush clear and carrying the yellow object over the back half of the safe, rather than its front rim.
move_to
left_z0.2000right_x0.5900right_y0.2900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0328, 2.0487, 1.0779, -0.0643, -0.7834, -0.8165, 0.2825, 0.308, 2.2539, 1.2594, 0.5037, 0.1688, 0.1734, 0.6087] state[eef_state]: left_x=0.3299 left_y=-0.3026 left_z=0.0103 left_yaw=0.0209 left_pitch=-0.0766 left_roll=0.0572 left_gripper=0.2825 right_x=0.5664 right_y=0.1528 right_z=0.0291 right_yaw=0.0614 right_pitch=0.0977 right_roll=0.0862 right_gripper=0.6087 state[joint_eff]: [0.1436, -12.0957, 4.5333, 0.9939, -0.4274, 0.0855, 0.6716, -0.9368, -9.2103, 6.9128, 1.2576, 0.3883, -0.0904, 0.9451] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"right_x":0.59,"right_y":0.29,"right_z":0.2},"note":"Both grippers now show substantial openings around the objects. I’m lifting the brown plush clear and carrying the yellow object over the back half of the safe, rather than its front rim."})
tool
executing move_to over 13 steps (1.3s)
step 335
assistant
agent noteThe safe moved with the right gripper, so it caught the rim rather than the yellow object. The brown plush is securely held by the left arm; I’m lowering the safe back to the table before releasing the accidental grasp.
move_to
right_x0.5600right_y0.2000right_z0.0450left_x0.3600left_y-0.2900left_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0321, 1.8359, 1.483, -0.757, -0.775, -0.8288, 0.2849, 0.5404, 2.3219, 2.0422, -0.3527, 0.3752, 0.2497, 0.6097] state[eef_state]: left_x=0.3283 left_y=-0.3013 left_z=0.1627 left_yaw=0.0304 left_pitch=-0.1191 left_roll=0.1094 left_gripper=0.2849 right_x=0.5815 right_y=0.2776 right_z=0.1566 right_yaw=0.0837 right_pitch=0.0011 right_roll=0.0001 right_gripper=0.6097 state[joint_eff]: [-0.1299, -13.053, 9.3197, 1.2039, -0.486, 0.1001, 0.2369, 0.3214, -14.7487, 9.853, 2.4884, -0.1783, 0.4322, 0.0952] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.2,"right_z":0.045,"left_x":0.36,"left_y":-0.29,"left_z":0.23},"note":"The safe moved with the right gripper, so it caught the rim rather than the yellow object. The brown plush is securely held by the left arm; I’m lowering the safe back to the table before releasing the accidental grasp."})
tool
executing move_to over 8 steps (0.8s)
step 343
assistant
agent noteThe safe is back at table height but tilted by the rim grasp. I’m releasing it now so it can settle without further dragging.
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]: [-0.9516, 1.8462, 1.7157, -0.9443, -0.7219, -0.7586, 0.2869, 0.4229, 2.2509, 1.4494, 0.1181, 0.2905, 0.1925, 0.6096] state[eef_state]: left_x=0.3527 left_y=-0.2876 left_z=0.2156 left_yaw=0.0407 left_pitch=-0.1457 left_roll=0.1082 left_gripper=0.2869 right_x=0.553 right_y=0.1973 right_z=0.032 right_yaw=0.0657 right_pitch=-0.0665 right_roll=-0.0192 right_gripper=0.6096 state[joint_eff]: [0.3897, -8.3624, 9.5111, 1.0672, -0.4567, 0.2857, 0.2027, -0.4855, -13.559, 6.2974, 1.453, 0.0366, -0.2564, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The safe is back at table height but tilted by the rim grasp. I’m releasing it now so it can settle without further dragging."})
tool
executing move_to over 4 steps (0.4s)
step 347
assistant
agent noteThe brown plush remains secure, and the yellow object is now clearly visible ahead and slightly left of the right jaws. I’m moving the brown plush over the safe and making a corrected approach to the yellow object, away from the rim.
move_to
left_x0.4900left_y-0.2700left_z0.1800right_x0.6000right_y0.2150right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9485, 1.8503, 1.7199, -0.9661, -0.7143, -0.7544, 0.2891, 0.4129, 2.2509, 1.4361, 0.1436, 0.2939, 0.1913, 0.9947] state[eef_state]: left_x=0.3514 left_y=-0.2851 left_z=0.2124 left_yaw=0.0401 left_pitch=-0.1635 left_roll=0.126 left_gripper=0.2891 right_x=0.555 right_y=0.1912 right_z=0.0316 right_yaw=0.0539 right_pitch=-0.0543 right_roll=-0.0179 right_gripper=0.9947 state[joint_eff]: [-0.335, -9.935, 6.0376, 1.2283, -0.4518, -0.0855, 0.2173, 0.4308, -12.6291, 7.5145, 1.4139, -0.0122, -0.0122, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.27,"left_z":0.18,"right_x":0.6,"right_y":0.215,"right_z":0.025,"right_pitch":0.3},"note":"The brown plush remains secure, and the yellow object is now clearly visible ahead and slightly left of the right jaws. I’m moving the brown plush over the safe and making a corrected approach to the yellow object, away from the rim."})
tool
executing move_to over 12 steps (1.2s)
step 359
assistant
agent noteThe yellow object is now centered between the right fingertips. I’m closing on it while lowering the brown plush farther into the safe’s compartment.
move_to
left_x0.5350left_y-0.3000left_z0.0800right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.696, 2.1544, 1.9671, -0.8261, -0.569, -0.5129, 0.2912, 0.4328, 2.4687, 1.449, 0.6415, 0.3676, 0.1066, 0.9953] state[eef_state]: left_x=0.4725 left_y=-0.266 left_z=0.16 left_yaw=0.0584 left_pitch=-0.2264 left_roll=0.1544 left_gripper=0.2912 right_x=0.5919 right_y=0.2075 right_z=0.0127 right_yaw=0.0502 right_pitch=0.2314 right_roll=-0.0211 right_gripper=0.9953 state[joint_eff]: [0.7043, -12.465, 10.0444, 1.6777, -0.4225, 0.2027, 0.2076, 0.6085, -12.5197, 8.4991, 2.0537, 0.1148, -0.3639, 0.0513] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.535,"left_y":-0.3,"left_z":0.08,"right_gripper":0},"note":"The yellow object is now centered between the right fingertips. I’m closing on it while lowering the brown plush farther into the safe’s compartment."})
tool
executing move_to over 10 steps (1.0s)
step 369
assistant
agent noteThe brown plush is lowered into the safe area, and the yellow object is held between the right jaws. I’m releasing the brown plush and lifting the yellow object to confirm it is free of the table.
move_to
left_gripper1.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6647, 2.4695, 2.2414, -0.8032, -0.5953, -0.5091, 0.2927, 0.4229, 2.4817, 1.4528, 0.6621, 0.3752, 0.1047, 0.5206] state[eef_state]: left_x=0.5276 left_y=-0.2831 left_z=0.0939 left_yaw=0.1079 left_pitch=-0.2242 left_roll=0.1864 left_gripper=0.2927 right_x=0.5954 right_y=0.2009 right_z=0.011 right_yaw=0.0339 right_pitch=0.2431 right_roll=-0.0211 right_gripper=0.5206 state[joint_eff]: [-0.1983, -11.2342, 8.0342, 1.5897, 0.1783, 0.2027, 0.1392, 0.4991, -14.6667, 5.2718, 1.5653, -0.1245, -0.0806, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_gripper":1,"right_z":0.2},"note":"The brown plush is lowered into the safe area, and the yellow object is held between the right jaws. I’m releasing the brown plush and lifting the yellow object to confirm it is free of the table."})
tool
executing move_to over 13 steps (1.3s)
step 382
assistant
agent noteThe right arm did not reach the requested lift height, and the two wrists are too close around the safe. I’m withdrawing the empty left arm and lifting the right arm back into clear space before proceeding.
move_to
left_x0.3000left_y0.0000left_z0.2300right_x0.5400right_y0.1700right_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.63, 2.4691, 2.2562, -0.7864, -0.6132, -0.5198, 0.9971, 0.3904, 2.2353, 1.5948, 0.0109, 0.3912, 0.104, 0.5206] state[eef_state]: left_x=0.5425 left_y=-0.2653 left_z=0.103 left_yaw=0.1555 left_pitch=-0.1896 left_roll=0.1668 left_gripper=0.9971 right_x=0.5827 right_y=0.1708 right_z=0.0843 right_yaw=0.0009 right_pitch=0.0025 right_roll=-0.1292 right_gripper=0.5206 state[joint_eff]: [-2.9197, -14.147, 5.3675, 0.9646, -0.1636, 0.0904, -0.0757, 2.4821, -21.0393, 12.7385, 2.9524, 0.0073, -0.0611, 0.9841] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.23,"right_x":0.54,"right_y":0.17,"right_z":0.23},"note":"The right arm did not reach the requested lift height, and the two wrists are too close around the safe. I’m withdrawing the empty left arm and lifting the right arm back into clear space before proceeding."})
tool
executing move_to over 24 steps (2.4s)
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 · 7.501 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, 0.7925, 0.6037, -0.3912, -0.0193, -0.0299, 0.9996, -0.0212, 0.7933, 0.606, -0.3962, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2928 right_y=0.0009 right_z=0.1777 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.359, 1.9707, -0.0952, 0.1734, -0.0513, -0.3077, -1.4291, 9.7573, 1.9121, -0.0317, 0.0659, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12606db8741c765176b7e3c3faefbec2df9e2cfc7eb65956647446a324aa0e79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740ac6c004e0d0eb608ab83a0fd44da9aa40ad3287b7f536bc5d58852d099a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0052c9bbeb1d176bb8cd8f3b2bffeefbfa66ecb0873caad9d5f35261db04ab4c",
      "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 · 4.208 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGFuxO5g3U_prgf39Ekglw4kiPJiqFcAhldPKhokj-Wvh8punDIgrv52R8Pleyvq0oBmT0h5UJjCqkMblr7Iyz1zg6pvXDINTJnW2cFmU9XImetvfBBpl7q_0nq84SIHzc0IY51Yt-E3ImR3i9etZN19lki8py9m57SsXUjcVgTL4gNB101oBBjDZI_X-2v-CuuR-K_gj0hdJZ__4AdlHeP6M0P5YM8m1EJx6WU5GDc7RNNJ4yrr5g8nGarDrUT7ZHJyTveuPZoEZobL-rKy3nNFF6xCwFXw1CWjDNGoGgEsgv6ECn_DyDBaupmWvXjom1SlJEdMEYmN1vQrQYLLcdQkRW7frJl0ksO2N8jEAH1Cm-iMCynjF_FHxWip2FevRkdz9vAsMPEBajVzZb0Wo0EXpHM0oJLCTeFYclM0IFkfngmw1ffuRt3t0tww9the7D-mTG8nkuuqpGn6VZsinEkZDDUOPIe5aoaihNxBb760gfv1UjCE-Ohps_Kr3Df_9jPiFcDxAj1knNyxfMYW2Pk4KuDAGmNatMQP6FuQI3h6Az8suO9qSJDBXBeQxGTOH0IxrQ8BvIomn91L0DZE2GgMqJNiiRjkdzvBDR-FV6dClcwGUPLmARAObLc73jPyyDn4KkMPyVnVv87cKTMfB3Yli-8jkl0O3jmBmZoLwLY3ecOmhGqJsV2_EnwN1O9H7b7SyS-qrbnh64yZQzCff9jUG-q000D95gSAE9cyzS4LgBZMJlQPuMFcegLLa19a5r1FUqh3vhbEOamemNsgRah9iOnz71vpjRg0hnmxoqZkt6JrWjaI8tTdgVKQTpvQgAew7RwoausS4vqNtffRbEIOhm2O_IZ4ltl6UDLqfFZOWYMzDif5e35yxFxmLp6qRS38G1MVaOZ4zJ9JifPu8G2bXRYzfTjUecnZFVf2e1BecfEIHCJqUECOoeu8FQdAn8RmIgUq_eiknXKHRHDP4cj417EW7stwXBglEYgm9QCAq1g_72r1m9WKxB1WIh22C0JrpzQWAa3ICfSwHL9Gh5nuw6xJu3_8C_JCbbCLW-zw8K8fQmEDN6_rhyPDiLbnIyyq5vH2_neDQwdbBnr1jsP9U6blz6izo6V9NAkfutAnYCvMZtiVFnipWFo1TXAQBtpgzdD-0sYKUh2gTN7u5nf30_XG0yKiRrF7r3q0RBitblwHpMqQ97z948qYJc8r3-EED3i3iSnd6Oc7a1nGP5JrA15POxrWrMCcR67uqTL13BSdoLsU76iFaa_aEcoUCIU_f9ckZ5D7UNyfkX5g-OtqLRvmXvm3nnaPrbAQD-hbb9oJor3TU9U3EpWqfB44zpJ31cTNDh7UHCnBmc1xChUZVghAqQ72FaMIgMkPJwB6hm7jeYjuOKhfYAONKeT-VZ1sQLypqEWudCVQTt85bg6hEDxymE1FXWzNTYiCDVChd4DTNU2I3YZEleiWcavH6za2FBXDKzfQGMj9g4qrnatif6Hlhfwkqh257R1QzU5aq8eSuKhJxi-YAS-9v0F8SgmRU2_zxFZi7C90jW0wiNaON13QirbBIDvxhSX1lQb8tjhiyYYPcdSRIKeiiSEOeEys6LEnoHaD6sX5SIwOLY5yz70HLNSLNYdUM8lEkez_jH_XftWiqLTjDSHn_V4mfDECv5FOzCt608XNJ4zSqeqn1SCvtmuoKtgfDuqFQmWMDrXUoqqSvQy3kF9W4VeeV58e6uHDWMoiZDgPCLf_O23gCpZmjuqRCnjlLQJ14UnMWnjTb9Hj_U9seZeT7-ToGclersPOFzuBGZSOrr-2ktJHG4SzDGb8Oh9jTOs1r_Nx4fZCQI5ZPQubSpcFypJWRlMnqtpOxfRyqmQox1j8FSgaAXkLHoGXEH39l1MNlRt3d18T4oIo2yptt_ttusrwye8TcMGlP0SmUAM92mwuvH6eHGFl_Higct8vv1vaOq74LOHIoFJ_DhVEfhuwl1VJlxwOZ2zvH4Zat_2oRQPFjcSro21YChCTe5qIaIW8UGpnRdP40RZYUmww4p7rG-l2Xd9s9buW5UyfQVuZ57-FZ3ts6nSotws0bSYuDDdqFeVtx39Ttcy5dSp4of2Pk7M1pmVh0pqBaIT75knFyt7SxP5HbKXIxo44pb_feue5tWt-5pYMiSR8Vluv3m3qjBNtoSRJ",
  "id": "rs_06f55df79fc286d2016ab46168bfec87d0b70d86e91f57f8e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The safe is open, with a white plush, a brown plush, and a yellow object outside it. I’m moving the left gripper above the white plush while keeping the right arm parked.\"}",
  "call_id": "call_YbIz05Nn1YLtPf1P5qK2uyCd",
  "id": "fc_06f55df79fc286d2016ab4616d143c87d0a57c8c372fca0c15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YbIz05Nn1YLtPf1P5qK2uyCd",
  "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]: [-0.675, 1.599, 0.9882, -0.1551, -0.5354, -0.4362, 0.9996, -0.0238, 0.8021, 0.6132, -0.4332, -0.0204, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3885 left_y=-0.191 left_z=0.1308 left_yaw=-0.0106 left_pitch=-0.0592 left_roll=0.0297 left_gripper=0.9996 right_x=0.2891 right_y=0.0003 right_z=0.1711 right_yaw=-0.0016 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -8.212, 8.841, 1.7705, -0.3883, -0.022, -0.0513, -0.4308, -1.4838, 7.3094, 2.0537, -0.105, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996af989ceb41f0375e40d3ac2df5fb48a9f755ab67ccdd823dc1b675c90dc11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00900aacf112d8b8ad1b6fb91a186964db15a49899cd2bb00d32113d677d82b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4cd473c0cc54c397c5dcfe6f7a9fcd245f1c7749527ecb89ea97826061c554",
      "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 · 4.041 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, 0.7925, 0.6037, -0.3912, -0.0193, -0.0299, 0.9996, -0.0212, 0.7933, 0.606, -0.3962, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2928 right_y=0.0009 right_z=0.1777 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.359, 1.9707, -0.0952, 0.1734, -0.0513, -0.3077, -1.4291, 9.7573, 1.9121, -0.0317, 0.0659, -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]: [-0.675, 1.599, 0.9882, -0.1551, -0.5354, -0.4362, 0.9996, -0.0238, 0.8021, 0.6132, -0.4332, -0.0204, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3885 left_y=-0.191 left_z=0.1308 left_yaw=-0.0106 left_pitch=-0.0592 left_roll=0.0297 left_gripper=0.9996 right_x=0.2891 right_y=0.0003 right_z=0.1711 right_yaw=-0.0016 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -8.212, 8.841, 1.7705, -0.3883, -0.022, -0.0513, -0.4308, -1.4838, 7.3094, 2.0537, -0.105, -0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996af989ceb41f0375e40d3ac2df5fb48a9f755ab67ccdd823dc1b675c90dc11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00900aacf112d8b8ad1b6fb91a186964db15a49899cd2bb00d32113d677d82b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f4cd473c0cc54c397c5dcfe6f7a9fcd245f1c7749527ecb89ea97826061c554",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGF0u10nzulLjYVa5uxlneDOEr139hA1XXAlwWvPRArKRAzYAinLDaujPF7C5e288pXvTsqV36TBhjLO1XnV4MdMm76MnqKzVS8rDWacIHcaR_aaEPuwkiDM4Nuka5_l98xKcGrVpST-3QHujT0dlm28E_qBgIAUFv0V0Y9VEfRqKwjteeDWRxEuBPR3Yd-gx4U-RYCoiB6e1OcL0qUOarXMULJKmxXew_s9M2T1DKN_GiO9Ts8I6VqefBODBGj8VmdqxWnl7N1CqAV_WHIHEcr3grtiUjt1m4sQHW-44tj-ivRkq4KqOYpM5zBnYEImAFifVfwGrder0-Y4104tZLtaLRJpAe_nqnbtTahVZadNbII5RjFotlacC1GDAuZEAgxx5FwKTlQ0qaSxH6sZDvXD_vhMwn689-eFuffcj-x-5eYilzWW3rfKW0feJbuFfg6ChSEEcxGAlQfXRH8V6mMInUYcwap7Ed-Fa5-NgZObvVvV8CcamVR10A4y2IgnEkFoxSbdnwxinbW8ozeoXGWSh0-1bZH9DA_yB2WZSs-FeU2HZ1B9NHXCQ8CrqvBNsSjtXDbR9ur8lubwHqX77t-0TPCVyhKGH90xVb3u1r79cklI6uEaX1VdhObIt6uOdg86h0Z5tWggRN4gALSxtEPJNsRE-1kLITiv0RrqzN40KWCkh6Nj3sYoyqbjzlWFjE3_JEuhaNVaILFyE2S39zubFyhNBRZCDUm8iOZVnoFa_UHQUApSFLpk27mF-AWwumd4BEtKgtCH_pEzf8kETo1Ni2oAc73hGwQm6yQYL_1UReud9qK1iycsisaYMcZ8FnJ8CB8Rp5jQETh6MBywsCYFR8uyoLmJGjQp94siGZTiAN6lAp-sVpqoE5N-IceAVQLeIzLV5xQczbRLFLCVH6a6Ox5df1lnakbbUuEfpwWXzEAijzErpTOo4bZD8U_k2i6nujs2EBqQKBO_PKeWWUNbJvkH2oWOMqzGh447Pm3vRrMygVy6JpqtPK3i7lYpUh8lH5sNmZDH_5cRN1SIRdLOBGgWnS0rxsKzx2Y8vPEo9IgOT9fRh_WmhTfwfvsJ96iJpJuAQ-xBwlqgYeNKi7TPkPBQjsax3U9xOlFMVncEdWkTlmm-mjjhIBsg0YcoyDAhhodk0ykHwkEBhvpAx__ntjbKMJEWBQiEuEnn5KL2XiTah6UUWR-OS5CnyKSz9zJ9XtlpOLYsm2sp7GjHBRBuATqw47z0rrND56jWWcM1_kvlhvGnCVcLMYZfQO0M9bxc3UMwdFnTqMr0nZXI_syptB3wrcz4JQt91mxXGHWa9_diMu-SIcOzckEvKxIGFwlrCi_iqcHa5fscKvfOaQEZo_dl6BLmcfO5R_Csd8UeIYNtl2TP4BTwqK75MqezjVSAPaMHoa_95Ef8s_Jd2WJTU_mLD2hiptUPVpOvIXfDvRoBvwHWYo5dqYZ-78NnLrtL7mFj1a6Jbi4K3P8tuYGG_Lbxb8mW1HVMRwm5a1Pf0Oj9ZFCEOYIoHeXvgGc0JKcRApHN0UNce9TEs32gdvBvMwelc9kNiFfRgRT8s9fiNGjTXCfR_LrhNoOYHeE446QZXH8yrIHerOP7fiEPKrLc3JgirYObB5UAgLyY-7bFjitI2v0PYCiG585msrVZkNbvgg_4nXA5rV3cUh9PeIIjTdkfISe5JpLCSEqkYBFVa_7FbBUSr10fThTmpn12bg6y",
  "id": "rs_06f55df79fc286d2016ab46171c77c87d0bb7a463cd319b719",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.175,\"left_z\":0.025},\"note\":\"The white plush is visible just left of the jaw centerline, beside the safe’s rim. I’m correcting sideways and lowering around its body for a grasp.\"}",
  "call_id": "call_n4RUkHsQ5lgi7RZlbjJiH3U6",
  "id": "fc_06f55df79fc286d2016ab461737d7487d0956d5d3b8da615a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n4RUkHsQ5lgi7RZlbjJiH3U6",
  "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]: [-0.6373, 1.795, 0.7551, 0.2474, -0.5175, -0.4152, 0.9992, -0.0238, 0.8043, 0.6125, -0.4549, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3849 left_y=-0.1717 left_z=0.0294 left_yaw=0.0033 left_pitch=-0.0886 left_roll=0.0526 left_gripper=0.9992 right_x=0.2859 right_y=0.0003 right_z=0.1658 right_yaw=-0.0021 right_pitch=-0.0633 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.335, -7.0222, 4.6291, 1.5653, -0.0904, 0.0904, -0.0611, -0.0752, -1.4427, 7.0359, 1.8632, -0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620de09db45fe67a2e1c79115d3ddcf887f6ccf93976d80ed5a5e2c360d2dca0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac80ab5a44d12ea5bbe2431530b7736ef6925da77c01f2577c580e3c9c7cb4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a6ce1da1fd581ea8ad5f6598d5809500a516841d5ba48807e351afeac3efcb",
      "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 · 3.784 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]: [-0.675, 1.599, 0.9882, -0.1551, -0.5354, -0.4362, 0.9996, -0.0238, 0.8021, 0.6132, -0.4332, -0.0204, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3885 left_y=-0.191 left_z=0.1308 left_yaw=-0.0106 left_pitch=-0.0592 left_roll=0.0297 left_gripper=0.9996 right_x=0.2891 right_y=0.0003 right_z=0.1711 right_yaw=-0.0016 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -8.212, 8.841, 1.7705, -0.3883, -0.022, -0.0513, -0.4308, -1.4838, 7.3094, 2.0537, -0.105, -0.1099, -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]: [-0.6373, 1.795, 0.7551, 0.2474, -0.5175, -0.4152, 0.9992, -0.0238, 0.8043, 0.6125, -0.4549, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3849 left_y=-0.1717 left_z=0.0294 left_yaw=0.0033 left_pitch=-0.0886 left_roll=0.0526 left_gripper=0.9992 right_x=0.2859 right_y=0.0003 right_z=0.1658 right_yaw=-0.0021 right_pitch=-0.0633 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.335, -7.0222, 4.6291, 1.5653, -0.0904, 0.0904, -0.0611, -0.0752, -1.4427, 7.0359, 1.8632, -0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620de09db45fe67a2e1c79115d3ddcf887f6ccf93976d80ed5a5e2c360d2dca0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac80ab5a44d12ea5bbe2431530b7736ef6925da77c01f2577c580e3c9c7cb4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a6ce1da1fd581ea8ad5f6598d5809500a516841d5ba48807e351afeac3efcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGF5UeCpCTPNkUZA5Sb496UhEMBgdjbLvHhZ3xwZujr4YnLIw8tXOE6hhdhY_Py9RNAaW7WcDZ-YkEklsGj3crJybvcrIv_KTNnsxVhvfB-3gs8p7NUXbiCMaskBM8xjda-zhQ4PXThWRDVWK7MvqVw3WkbvipLOWp-8fV6Ol9BS7YUqL9AYy5DYlwl50ZNXYljRfC1ny7SVPQ32N-2KuOyeuSiLeCjiRRxBVaI2t_DOmiczWxyyccMxIjEek3Bz-xDOQdjzHyJiP4DM2s8ETtRtebEI8isHlgUNGS7kxVovEDBSRSgjU_xZ3lxkY_-2adoz2emH0UgRs_ryKyip4Qrc6a2jE4oAwjJvSzotelL-VdM0rwfyGh-gzlx3nW8MIfQDCMpoMvFfxSPCtuEE02hF09d_rAYbSCXOOy8Dj7AgBZzypoV8fWFOr1s0qE9EHWb2UyTn0YBA7J64-1woHT0cEMroJOcIGvv5e6_102G2F494hPRM6YwITZ8iNAt2YF8PhXMnSyIZpXdmP-T--VS9Pth_Nur6Ocnifi_iTb3pBsI1K82KQzZVbU-zBsnUNRWd-AJn7z-ZItk4zOW_aPpBKS7VqdFM219XAoaJmx8j461UD8ljAeo1zFisA4pqeSuxUfBhC6dklpD1nuKhM7thKW7rTgFxwATj_6VNij7-tAUJwOUdFRBN5ZDSSWBzQ7DgGSsKbSRzWwus-WNL_7-EMogadWkRJp-GHlg9WdRBi4BhE35i9Zj1_NtgM6p6lJklUhK6CN4JPZYpPd2xugsOLIaeMNr6jSIFUA5DrEwfLSIbQvFyD5eshTqhE--FV-aD9ihPzUoGV81UsGDEIDbuWbrksk-Wm9-le4JbUWnu1cXC7OqBOfR8I0Ier_5xFyKf9vCajvGmf5dhaeYUp3gYBkCj5CuRSUDVeI3wcPDQ1xkOJJCHXwwn3E_vhuXwP5DDQcBhALkAkrYiuGJ_S386cCBKZ0jbvjspNSAIvZugHZKW4ynKUumJXxU_CVYsXT6utlaW2IuK-5oNLG14m4gNskzsT8rDxeyUe4-ftNcfDEfnLIz3T3ER8kkU_cvkS_bl_f5Kr7vUmWVdcVkdZzTDBvuwdqXjphbveXjzUHsY6N0-X2PLbQlWh-NOnxp0IRb3IH0kIhWZFzoFeuPkNY_019qSKZ6VNNnP-N9U8FDIyXjgGQxD2R9sG-ea7O9OBN73ml0WId3F5v6fBC3-A7zf7RO693R51v2knbt2bMTH_ksfaLg_YQQVEOixe0RjMzQJzk1NsF8ZJW2xTqMGwMBc8fHB6ISyVp1e-pBIc2zx0Eb-04z9vz8SfrtP8uxN4oFdtJGFb0f0_wd7Lp6yAPoRsH67d6e8Kj7j5RoWx05C0Jr3CJ3POZqAkubQPfSo0IHJzuX-zleq_iMRqqAuj5PS-90uPYE9kTmbbwtuLM4j6oB0gYtEVtoqaHfrPz9lw8HfOf3Oe5pZYGIP2T1xD3FxsF8geouA6QTQa8i-FWlVO46_zIFN6C5ErXJEVMFi4Xwq",
  "id": "rs_06f55df79fc286d2016ab46176a3e887d0826d8e784e3110f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.15,\"left_z\":0.005},\"note\":\"The white plush’s body is still slightly left of the jaws, with its lower body at the fingertip edge of the wrist view. I’m making a small alignment adjustment before closing.\"}",
  "call_id": "call_gdfJhBbIgG2wHHJNWWKWf8xu",
  "id": "fc_06f55df79fc286d2016ab46178353887d09f315ec62e1ae3a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gdfJhBbIgG2wHHJNWWKWf8xu",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5907, 1.8542, 0.7376, 0.3439, -0.4862, -0.3882, 0.9991, -0.0238, 0.8043, 0.6125, -0.4572, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3946 left_y=-0.1609 left_z=0.0138 left_yaw=0.0102 left_pitch=-0.0861 left_roll=0.0444 left_gripper=0.9991 right_x=0.2856 right_y=0.0003 right_z=0.1654 right_yaw=-0.0024 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [1.388, -6.2427, 5.559, 1.4774, -0.1587, 0.1441, -0.022, -0.0205, -1.1829, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eff21221108201a3169eb5f2f2dd755923c473dc109d88ccc71989a0965031b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f473cb3739d7bd1165101ddd1e390ba3d747f48c5c7c09cede8cbd8801149779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c7ca6242bd6b17c3ab18ac6d1a660b1f27a9133f1750a21645aba64e5bfca8",
      "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 · 3.702 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, 0.7925, 0.6037, -0.3912, -0.0193, -0.0299, 0.9996, -0.0212, 0.7933, 0.606, -0.3962, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2928 right_y=0.0009 right_z=0.1777 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.359, 1.9707, -0.0952, 0.1734, -0.0513, -0.3077, -1.4291, 9.7573, 1.9121, -0.0317, 0.0659, -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]: [-0.6373, 1.795, 0.7551, 0.2474, -0.5175, -0.4152, 0.9992, -0.0238, 0.8043, 0.6125, -0.4549, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3849 left_y=-0.1717 left_z=0.0294 left_yaw=0.0033 left_pitch=-0.0886 left_roll=0.0526 left_gripper=0.9992 right_x=0.2859 right_y=0.0003 right_z=0.1658 right_yaw=-0.0021 right_pitch=-0.0633 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.335, -7.0222, 4.6291, 1.5653, -0.0904, 0.0904, -0.0611, -0.0752, -1.4427, 7.0359, 1.8632, -0.0611, -0.0757, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5907, 1.8542, 0.7376, 0.3439, -0.4862, -0.3882, 0.9991, -0.0238, 0.8043, 0.6125, -0.4572, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3946 left_y=-0.1609 left_z=0.0138 left_yaw=0.0102 left_pitch=-0.0861 left_roll=0.0444 left_gripper=0.9991 right_x=0.2856 right_y=0.0003 right_z=0.1654 right_yaw=-0.0024 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [1.388, -6.2427, 5.559, 1.4774, -0.1587, 0.1441, -0.022, -0.0205, -1.1829, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eff21221108201a3169eb5f2f2dd755923c473dc109d88ccc71989a0965031b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f473cb3739d7bd1165101ddd1e390ba3d747f48c5c7c09cede8cbd8801149779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c7ca6242bd6b17c3ab18ac6d1a660b1f27a9133f1750a21645aba64e5bfca8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGF9hf4DdFAbXjdt1JW1Q86C_Cu1yD_MlnrKm_jhtyqi4_mf-EdlV5j1NPhyF0XakYgkOOvxQmxvapKtOanUPcFS65SK3gQ5BB8rNpYBAEknSXjbBmpDh1FOP73VlZvSVaDDxRZHUP_Z8ahTe01GxeFSuSH4UIq0lSpwgqrN7yDv-F1TPkw7WP9TxqvzDfb6ObDlKlodD9vo-gGVlq3hIUT-1ZENDhPzQB2kTNOAkE2d1LS3Vupo0quT5DMkMjrfRnsL4QAKxYJUgVTiI1_kFZNOSS_ARZ3ydK9MoekIVzlMLZkngG8p4o8GOnj8GJo0_NGrkmWUP3MdshEePTF-5nDeM5VciXnDnzaQoTkHrzc5CTpHwzd-J3GTDIJM7Ue1kU_4sRb1pqYew9i2hdwrLkCcfENp1AY2hdDA2EUPaiiTkWAT_64mnGCx-nx5k_dzEdDF7gqeR82WotzgCOWvKBgU3KmKiYjsXLPbgIBGvyuSWKHbqH00V1nl9qcvwVuTIuBJ_7dgoJvhMWeIsIppf1SKW_HkPPFcWBusG2RDVbums_uKsvbuioEXqOx-Ehuf3-Mu5Ljd35VM8tsxNKCziQEsH24h7BXN4ZiGPsSa2yMJZ3L0dhmdBBBAftzs9ScjoJJBbeoDHNmYhhtfMI0gxhgd-0V7sO1ge4bX6yNuhdiUcLTtdy01OvWAghcPSuU34mUNy9XzzEjhdGR4aPJBXddP9COZf0NfjONoR9iLTJeIzLIwEVT6t7p_m0Q8KRtLnRb6xY7US1bp-l9R9DUWg1AliTI8q1IAcE9qBnRGihbD67FfSQEceLUPMt6y-I1UI29wNP7YnoGZMJEcHdPBFDlLc_J7srxviU1qiKWY_cOLNu3BX_HWIUy_vb14gH78U06qzawZ1Ms65binVspoli_KuTI7M7JCKhkKWyxGR9QT_H-I4yeW94v0yjqd_EKq-DjMvwYaDuNiIyN4XSNZ4_LiZIRFwXw-76AJWBxxpCHbiHQU3q5kNiDFYl5ELoy6oC_VGYeDDCMJlo-_TEDoedNwdskvoM7P0OKimiAqNb1hW8OtdxV-w2z2lofhxdzo2J-_krg1AB2QUI3gHiGwIpgzyArzOcz7sbhgAzySYn-JRGM7DYwP-2-RlIHahuUtbX0yiRQ8C-DJ1E_1WrVrV8v0qMj6R1jcNKOhunXDHwaaH0Azw7wmy218NPCFqgH9glAHJHFQXqGD238R-VT9nR9QYf_2sG07HYWZUY52_kd1d_CasIhprxaVJvBG6v8f81wY0JKm_tYskKhuQwlyhe6T7BF-7A2WsJWntp4zRNvLEUwJSqxTto7o42TpFASQx7ESTQGe_riQs93dCfNiVgN7ObNznFzR4sUJXINvqKR_77XKG8HTYah06M2QuwURyHBR1koQhup_ubL9BqTl-m9d-Q==",
  "id": "rs_06f55df79fc286d2016ab4617b011c87d081982d7319b9e809",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the lower body of the white plush at table height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_TTBcsszLQ6P0JNoz0eDAR68p",
  "id": "fc_06f55df79fc286d2016ab4617c6a9487d097e1f91cab8adf8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TTBcsszLQ6P0JNoz0eDAR68p",
  "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]: [-0.5419, 1.8904, 0.7376, 0.4061, -0.4641, -0.3489, 0.2072, -0.0238, 0.8089, 0.6125, -0.4782, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4065 left_y=-0.1482 left_z=0.0083 left_yaw=0.0193 left_pitch=-0.0739 left_roll=0.0485 left_gripper=0.2072 right_x=0.2826 right_y=0.0004 right_z=0.1601 right_yaw=-0.0021 right_pitch=-0.0911 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -8.1162, 5.012, 1.4481, -0.0513, 0.0562, 0.8083, -0.1983, -1.6479, 6.9402, 1.8242, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5766982ad18f3c67c7144aea546a3ba80ff29ac685182c47b0dd1bdb6e05f1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f097f18719f7db55ba20b5232e13d708de013134908368d286a9b560e0bcc98b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3963bad710c601ca9fbdaea1282ab2de5810c14801b3936f32895060abda84dc",
      "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 · 5.732 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

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]: [-0.675, 1.599, 0.9882, -0.1551, -0.5354, -0.4362, 0.9996, -0.0238, 0.8021, 0.6132, -0.4332, -0.0204, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3885 left_y=-0.191 left_z=0.1308 left_yaw=-0.0106 left_pitch=-0.0592 left_roll=0.0297 left_gripper=0.9996 right_x=0.2891 right_y=0.0003 right_z=0.1711 right_yaw=-0.0016 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -8.212, 8.841, 1.7705, -0.3883, -0.022, -0.0513, -0.4308, -1.4838, 7.3094, 2.0537, -0.105, -0.1099, -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]: [-0.5907, 1.8542, 0.7376, 0.3439, -0.4862, -0.3882, 0.9991, -0.0238, 0.8043, 0.6125, -0.4572, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3946 left_y=-0.1609 left_z=0.0138 left_yaw=0.0102 left_pitch=-0.0861 left_roll=0.0444 left_gripper=0.9991 right_x=0.2856 right_y=0.0003 right_z=0.1654 right_yaw=-0.0024 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [1.388, -6.2427, 5.559, 1.4774, -0.1587, 0.1441, -0.022, -0.0205, -1.1829, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.8904, 0.7376, 0.4061, -0.4641, -0.3489, 0.2072, -0.0238, 0.8089, 0.6125, -0.4782, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4065 left_y=-0.1482 left_z=0.0083 left_yaw=0.0193 left_pitch=-0.0739 left_roll=0.0485 left_gripper=0.2072 right_x=0.2826 right_y=0.0004 right_z=0.1601 right_yaw=-0.0021 right_pitch=-0.0911 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -8.1162, 5.012, 1.4481, -0.0513, 0.0562, 0.8083, -0.1983, -1.6479, 6.9402, 1.8242, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5766982ad18f3c67c7144aea546a3ba80ff29ac685182c47b0dd1bdb6e05f1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f097f18719f7db55ba20b5232e13d708de013134908368d286a9b560e0bcc98b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3963bad710c601ca9fbdaea1282ab2de5810c14801b3936f32895060abda84dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper stopped at a nonempty opening, consistent with holding the plush. I’m lifting it a short distance to confirm the grasp before carrying it into the safe.\"}",
  "call_id": "call_Ia5ybi1Xmiyf2MCVXBlfiaoY",
  "id": "fc_06f55df79fc286d2016ab4617f917887d0b7504f3f70630a46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ia5ybi1Xmiyf2MCVXBlfiaoY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.7035, 0.8162, 0.1169, -0.4644, -0.3569, 0.2109, -0.0238, 0.8658, 0.6643, -0.5457, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.4024 left_y=-0.1457 left_z=0.063 left_yaw=0.025 left_pitch=-0.0935 left_roll=0.055 left_gripper=0.2109 right_x=0.2821 right_y=0.0004 right_z=0.1553 right_yaw=-0.0016 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.4974, 8.5402, 1.6435, -0.2515, 0.0269, 0.3785, -0.2667, -1.4838, 10.1812, 1.956, -0.0659, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da6c68c2a97ead27f5b111fb0d97d1ee1acc516b613abf03bbe2a284aec3b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c01378241ba6a0fc85a011add86be96187a7689a565f8831240366e2a844c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ff7e2edc347af79d5fb50bdf30183b0c089a6b8d08d31716611c963e824544",
      "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 · 3.73 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 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]: [-0.6373, 1.795, 0.7551, 0.2474, -0.5175, -0.4152, 0.9992, -0.0238, 0.8043, 0.6125, -0.4549, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3849 left_y=-0.1717 left_z=0.0294 left_yaw=0.0033 left_pitch=-0.0886 left_roll=0.0526 left_gripper=0.9992 right_x=0.2859 right_y=0.0003 right_z=0.1658 right_yaw=-0.0021 right_pitch=-0.0633 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.335, -7.0222, 4.6291, 1.5653, -0.0904, 0.0904, -0.0611, -0.0752, -1.4427, 7.0359, 1.8632, -0.0611, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.8904, 0.7376, 0.4061, -0.4641, -0.3489, 0.2072, -0.0238, 0.8089, 0.6125, -0.4782, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4065 left_y=-0.1482 left_z=0.0083 left_yaw=0.0193 left_pitch=-0.0739 left_roll=0.0485 left_gripper=0.2072 right_x=0.2826 right_y=0.0004 right_z=0.1601 right_yaw=-0.0021 right_pitch=-0.0911 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -8.1162, 5.012, 1.4481, -0.0513, 0.0562, 0.8083, -0.1983, -1.6479, 6.9402, 1.8242, -0.0464, -0.0708, -0.0122]",
      "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]: [-0.5419, 1.7035, 0.8162, 0.1169, -0.4644, -0.3569, 0.2109, -0.0238, 0.8658, 0.6643, -0.5457, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.4024 left_y=-0.1457 left_z=0.063 left_yaw=0.025 left_pitch=-0.0935 left_roll=0.055 left_gripper=0.2109 right_x=0.2821 right_y=0.0004 right_z=0.1553 right_yaw=-0.0016 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.4974, 8.5402, 1.6435, -0.2515, 0.0269, 0.3785, -0.2667, -1.4838, 10.1812, 1.956, -0.0659, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da6c68c2a97ead27f5b111fb0d97d1ee1acc516b613abf03bbe2a284aec3b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c01378241ba6a0fc85a011add86be96187a7689a565f8831240366e2a844c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ff7e2edc347af79d5fb50bdf30183b0c089a6b8d08d31716611c963e824544",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGGIdavfW18hCJKBezgUS_8pQGGGsY25ugZg5P3LuPNCLUO7-I8BJaJqdB-hjp3va7Sd7htdkQKRNjJa-PDXadHFLbpjzFk5MyQh3nlE8uk4T9BgnfF8eUEUSVHDu0CHmalYXygeERSavmAUEJAp9CEMkt5Q6aNuDDh3YtqoGyDxyc3wvRYMp7GMPENjwn2R_shlOGsQ__at5zwWm9jxUjzlqHsqbCbGSpC-G9vmtTEmm2tsTGwrPkKYI8v7jFHMryBDPKMpIZjJ0bw9nH6vQ0i_O3hKSDvs2MFJ7JeDINUsvyMUH6N5HEkP8ktVbMfseHY7R9S5rslbMKIgXaPrEOGT5ydZv1W3bmuv4p_M2Jnv64MNO0FlPEHX4zeE359Bdg990tHtGzxePf5NbiyPsdoE6fhFl_HzYkVYh734LTWT8zXJdwRP-tX42Un7o4Ye6h9VrHlK__TBjS1iCtSKFfYxUkb4lQmyXPVxhShr7vEBmaSEbTGV2W8sNy1Uifrflk0nE6foNZTKwwPxv_bj4ezrF_6OBw9EGDVktBNgts58Wh-mji9eN730NoWlCtiikwVjml396F1UTVPO_oWWgiaKtmz6LP0qw7EselUgQbJKEpGli4VPMXUIjxsgiALx9fgchiGq1zQ07NuSZ2_dGyr88FKGArDQuktUcNv--Y9OzW2uz44qHFEqvLVvImtJabvD6RUTp68YTelTmIMjP7G3-hjcYsv_POZNivWK1vUzXK_fprF7xMeIoqajv6V04U0mE8tluIIdaIGGlI28mc_w0NcAmRUng4JP27rlWcONcdB-meqTSubavvFgaBlylEOxNyGrskr-SRkWgCyiE3ASg0zfV5A_LOX9KkQP2QOOWa8S4GT9qC--6JDEup48_bhMM65cqj61kcXVXwchD9A8Axup1bT5X38SifgYzQb8sUmWSGKP1wJM2tUzDG6tuqU0Iac3b9FxY_sbUvA0aNsFla-kQSG7oAPT-bGzDueGXQT4QP6z2k7DG_QbgTpzFgcnvp5yZY7Fwyql-Viuvm2PWWqiwHlvM8tC1_Ovb4IE5xf1moCUuOR6zCqpn24lQdNkEJR4IvrCS-xR2-9N9zQAB7dVDxaZHQNm_F3LcO6HKHIzQZwaEArs0YA-xkkq5EG3E-P_lOYpQkbVBhTtxIY1BqtgayhMe-VNnNfSvTvF39WouQvFk2BumG1e0eTrntMGV6dEp6OUJ2ydiySoUAMX4zpQIFpbPRRvD5KfRa3HpHqGlspy7aopdgnMx_q6Yih9GEG0b1Ko5To1yCGHuUwDBPnru0ZH-6UHnEeizVjjEQ4kYZ_NU6maKyXcjuZ5Ao3knngVLfUbTq0SlzAOU0Hcb_9szgZE_NDbKLDOyKWznyTLli512xeYeaNlt_DrwUgfuPRWR_uyLEI0IgVqa2P1pyNrrbP2tXfUTXF0XXKK-E3Kdz56xNrEIdi2lh7DuOYUG6JwLrmXzGUXUOdoVG_83-21XtKHUn1luXqLmZpgu6CXsP2IwNc30nll-8gP2w6YxCIh_UVYaVgLMNJnDnAHzRrGjnTPyuGRM-R6bTOGOpAzRRM-pOAaTAOnRyD4ciqO3ecMZUZwmF-cG2EC8qo_pwTm1IjfpuyLppsYogcbAuzqi63nXycCPhh-L6s2jNgK-I5Zu1VGD6MmuZZ2pVrMALuOm3CoZFvKMEAJyvzyrH4Yfw48H9Ff0OTsDpiFVjPLWE0CjBmSj13LdS7U0noD6JbkmztFrRY-c48Mxy5QWJePvzUyre2s1nE3LeUcFi59OcEYQFXI2U4k0jcj1UA77li_Qz34BqU7efH4yxR49ugiJD-y0qZ2y01eKwdX7skOxVyvTqp2C7pKTZztnfrdE35meEOJTR6OvxeeXYiJkQc=",
  "id": "rs_06f55df79fc286d2016ab46183f42c87d08f0d053c7ec9ef78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.26,\"left_z\":0.2},\"note\":\"The white plush rose with the gripper. I’m lifting it above the safe’s front rim and moving toward the open compartment.\"}",
  "call_id": "call_gbifb5ZgzldK5qz7XsZjOVxO",
  "id": "fc_06f55df79fc286d2016ab461873bc087d0a591cbee970cca35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gbifb5ZgzldK5qz7XsZjOVxO",
  "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]: [-0.6834, 1.9789, 1.7184, -0.5694, -0.5476, -0.4843, 0.2146, -0.0238, 0.868, 0.6643, -0.577, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4683 left_y=-0.2581 left_z=0.1863 left_yaw=0.0197 left_pitch=-0.1023 left_roll=0.039 left_gripper=0.2146 right_x=0.2769 right_y=0.0005 right_z=0.1492 right_yaw=-0.0017 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -10.9607, 8.7453, 1.16, -0.5006, 0.0366, 0.3687, -0.212, -1.6752, 6.9265, 1.8486, -0.0513, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baaf66bbc834fa00726225929457e678c06be3740c00b0008739858896ebcafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ac85125fcbbcd7ee01562dcf5d46468612606eacef8d4a5f018e665a07a5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44da31876ea9dbb491533e63ce5c259426a109ab2c2eb3dbf968fff33257d84",
      "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 · 2.327 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]: [-0.5907, 1.8542, 0.7376, 0.3439, -0.4862, -0.3882, 0.9991, -0.0238, 0.8043, 0.6125, -0.4572, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3946 left_y=-0.1609 left_z=0.0138 left_yaw=0.0102 left_pitch=-0.0861 left_roll=0.0444 left_gripper=0.9991 right_x=0.2856 right_y=0.0003 right_z=0.1654 right_yaw=-0.0024 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [1.388, -6.2427, 5.559, 1.4774, -0.1587, 0.1441, -0.022, -0.0205, -1.1829, 7.0359, 1.7167, -0.022, -0.0415, -0.0122]",
      "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]: [-0.5419, 1.7035, 0.8162, 0.1169, -0.4644, -0.3569, 0.2109, -0.0238, 0.8658, 0.6643, -0.5457, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.4024 left_y=-0.1457 left_z=0.063 left_yaw=0.025 left_pitch=-0.0935 left_roll=0.055 left_gripper=0.2109 right_x=0.2821 right_y=0.0004 right_z=0.1553 right_yaw=-0.0016 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.4974, 8.5402, 1.6435, -0.2515, 0.0269, 0.3785, -0.2667, -1.4838, 10.1812, 1.956, -0.0659, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6834, 1.9789, 1.7184, -0.5694, -0.5476, -0.4843, 0.2146, -0.0238, 0.868, 0.6643, -0.577, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4683 left_y=-0.2581 left_z=0.1863 left_yaw=0.0197 left_pitch=-0.1023 left_roll=0.039 left_gripper=0.2146 right_x=0.2769 right_y=0.0005 right_z=0.1492 right_yaw=-0.0017 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -10.9607, 8.7453, 1.16, -0.5006, 0.0366, 0.3687, -0.212, -1.6752, 6.9265, 1.8486, -0.0513, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baaf66bbc834fa00726225929457e678c06be3740c00b0008739858896ebcafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ac85125fcbbcd7ee01562dcf5d46468612606eacef8d4a5f018e665a07a5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44da31876ea9dbb491533e63ce5c259426a109ab2c2eb3dbf968fff33257d84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGMXZT96sfIfExZz08qPYV-d90id2gvqMt_Cwsah8-inD8hVWhz8wSADf9damajbrz4xbVu_Ua8z35oHoh7pj5jDVXKBlTjmxhTeC9NWoLKgdCYUjojeqPfo3GbqMYWJXQUgiSz01Ysh5gruPUT4HaUWbqjfHhoRWTAVCOhi53_VND5UULm9cN8SgvFmtADVub1oNsOXeHFpiSRZqT1IxBTqnqT3XX6lTm233JSA4TbHnxMLIM68DxFhrQfByD3d6Fj3XMYsD2XXQrr6ouolH4FuU1hesxypJdNtxYYpHSuPhzWP8rdJz4Isa43HOCxFsMdPFI6IkJwSEUwmEBpKCa1lFyTPU7rzjZgNAZXyO-h1HQDZEX2i6DydbUqfqae5Sq9MlFAgq6yDd6QRTDgZD8RCHvybRcBzRJWqvY4IT3ivD-XlkgBB86NC7WwWtmHxC2OYBbeLFOpJIXzHSgRq_DZLohTkWcdrQPJ9LOH0U5i6T6mnFHCqHNqtbT4bgefXJ1oQQkEbPnSsg5Vgv1oOGYqp7PDKQK1HVRsvBux89PQ2Jn0iMdfEX-14Ef51t6lWCQbles0088F9b9wbLoHRJBoWx_Uw07gMMVQI2umUHXYZOJkeKowSasx6aSWTA9Uw_jd1Mov04GWnigv7DV2IBkFvD7g9HgxE9BQ3XBdaDx_SnEe7ELFrhG0lg3d3XD6Lf9_3nVb0inCKY-syWEoUD7-dxagB3vG821AJ_JXQmCQY9X8HP6z_fIvPWv0qe_b0QPCDd7v-RCVHNdBWn-NvT0MB2J70G0cqasS1i3xmKrIEI1HGDcFmM4kbl5JwCxeMGRmDsW_Davjs0WPZd5XPx24FbIjxbHDQ9R_lpb23ohYWYJihKfiBeGxxjKrofrGVE5-d_VUZIiK9Kh15dPd7HGW7ua0Kv_FAkWjvX5dd3epRaorSW6gZOKLNbJrxjmBZBZvZxmIKzE4dHbl_Izras1Z5gnbGpUHpJEkCwEkAJTLmXt0e3fnfZkXys3KVm5GXpMkQBkq297pnLENtVXAv8DXBlMpHmMY7Oc8TE2Eg5gtRufA5_ROxbrrBr8L7yt-cNCJsft5zwk0N1fqxuZg8OLgfod5PedZb1ynN8xWa46Bf3PRb9BpeG230OqPnqib5UoDdQBlQENSn8AbBTasTvO3JzSsHxU5r9az7WkmJHw1UsAEDd1h985o3_7gOE488OfeubHPeLOTZ1gJ257c5ibmmmHo4D9UFyizau_yNZBTlaZw0ocywrT_i6wXuX13faaO9x4GWW9SAP_qc21lc4krqRn1fjFI-vaTHL2ss2veLv1yOi5Fi_uZHMhLko6viK7gyi8exw0eIhGpb0Hs2hK-LikqniASZQvqLeEUr0g6q3xcGNXrtkOjcBa0JJ_l5YjttgYfKnjoU44jo-qsjYYLU66uC2weOA2mR1NeDF9Jn93MDH_VqQorcVReV3iHayf2R3Or02-v46sJKbhN-tU_qA==",
  "id": "rs_06f55df79fc286d2016ab4618aab5487d0bacfc4c764f9291d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.295,\"left_z\":0.075},\"note\":\"The plush is held above the open safe, but still near its front-left edge. I’m moving it inward and lowering it into the compartment.\"}",
  "call_id": "call_oKu0kCK2epC7jW3HulXQrcqO",
  "id": "fc_06f55df79fc286d2016ab4618bc71487d08925161d89f7187f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oKu0kCK2epC7jW3HulXQrcqO",
  "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]: [-0.6868, 2.2551, 1.7042, -0.3527, -0.5453, -0.4931, 0.2169, -0.0238, 0.8688, 0.6643, -0.6121, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4964 left_y=-0.284 left_z=0.0659 left_yaw=0.0258 left_pitch=-0.1591 left_roll=0.0793 left_gripper=0.2169 right_x=0.2707 right_y=0.0007 right_z=0.1429 right_yaw=-0.0015 right_pitch=-0.233 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -12.3556, 9.7573, 1.5556, -0.3394, 0.0171, 0.2222, -0.0342, -1.5932, 7.0906, 1.8339, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fdd36ed48fd1a86772832ba66c5bbbdea25b4e9584f938293bf5c110814f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5c4a2b5366025b17c98912be773fedf3009bb939d439040f25eb455bef2383",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60a00ca72b3ec9e0f5b12aaffedb03fee7ab1c6348b86cb171037cc3322c8dc",
      "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 · 3.998 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 29 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.8904, 0.7376, 0.4061, -0.4641, -0.3489, 0.2072, -0.0238, 0.8089, 0.6125, -0.4782, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4065 left_y=-0.1482 left_z=0.0083 left_yaw=0.0193 left_pitch=-0.0739 left_roll=0.0485 left_gripper=0.2072 right_x=0.2826 right_y=0.0004 right_z=0.1601 right_yaw=-0.0021 right_pitch=-0.0911 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -8.1162, 5.012, 1.4481, -0.0513, 0.0562, 0.8083, -0.1983, -1.6479, 6.9402, 1.8242, -0.0464, -0.0708, -0.0122]",
      "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]: [-0.6834, 1.9789, 1.7184, -0.5694, -0.5476, -0.4843, 0.2146, -0.0238, 0.868, 0.6643, -0.577, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4683 left_y=-0.2581 left_z=0.1863 left_yaw=0.0197 left_pitch=-0.1023 left_roll=0.039 left_gripper=0.2146 right_x=0.2769 right_y=0.0005 right_z=0.1492 right_yaw=-0.0017 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -10.9607, 8.7453, 1.16, -0.5006, 0.0366, 0.3687, -0.212, -1.6752, 6.9265, 1.8486, -0.0513, -0.0122, -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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6868, 2.2551, 1.7042, -0.3527, -0.5453, -0.4931, 0.2169, -0.0238, 0.8688, 0.6643, -0.6121, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4964 left_y=-0.284 left_z=0.0659 left_yaw=0.0258 left_pitch=-0.1591 left_roll=0.0793 left_gripper=0.2169 right_x=0.2707 right_y=0.0007 right_z=0.1429 right_yaw=-0.0015 right_pitch=-0.233 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -12.3556, 9.7573, 1.5556, -0.3394, 0.0171, 0.2222, -0.0342, -1.5932, 7.0906, 1.8339, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0fdd36ed48fd1a86772832ba66c5bbbdea25b4e9584f938293bf5c110814f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5c4a2b5366025b17c98912be773fedf3009bb939d439040f25eb455bef2383",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60a00ca72b3ec9e0f5b12aaffedb03fee7ab1c6348b86cb171037cc3322c8dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGPMFuvnpyFqdOhGCsDlkSIt3vBqYZ_t6dhl5P6rBm5ELnVD1dEYS84Lciw_QThrIGZ-UjNfftodxAyECG0v5go_sL3hdR5Wsqr-aRaMVmM3quaOo9oeUM8Txorej3nbDdaR5KVfD-WKNiDu_YgBF9p9_aAOjNMgk2d6PEF6Y3tfOAd7NELFQUOV1f-mxYIaGBcK1jGgDArPd07FglTRIv95CgHpb_P6u8Z0X1s8OsWDyfXv6arfgVZSMQliB3qn9OPyQok_Y-TbaMYcjzGisiv23yfouWhkZOHfaJkhD_1UcrJgE1aun8IhShVc3bCDSF5iv-GUiY_n9podEIp6wYLzFkS-tx5GPlTutMrFlrneUg2pXsQPexEtbUH_qnjAPw5m32tUEb_Xs-DHjktqE4qFXtBjPwFEzd_apThRvp47bAR4tXKhQlnwFoRlVQRcAAzSf5JUdmdN6hR2dUDZ5BmR1p4EpjhdpZqpjvJH_nwMI2r9x2lrptof88ap3Xo5bx3bmpb_PKiGZOxRo4kh_ZJLCMEVVIk-o58__syzwhi9RcmB_EpDP1l1DvqizggBBJHtTjge0OIBCno5MD_zEi4UlieFnlcNFP5e5sIkDCpAK5-5u98iVzWHmU1jQd5h2Bpf3WhUhf7i1x9_ss-RreM7K9KXW9EEDBGN6jpIrq_NARrerWu-6RRPPH8MBr8O93AV6hwEI0HLmbu9Y2e9-J5ZhTpZ1FR6cRdeA8eU4z9aKQZTNpDjTShPK7H2XFScNLjsPsTqpglQhJxCSmihMdtJVkhjMTjnk4Mjk-nbcOqXfAL6P-nUVAFGKbRMJ61DpNpK14jRjsFO_kuT1pk7De52xepv5cUlvFNZ3nwiwMw7JBHcZQi1higODSJRnvbM7ihTFY0wtDrmI7pMIB_aHbhApQKh0xEXLktlvpcoTJiIERuDjg1ySlzVEhSWNOHLBYzB2x7o3ZxDNIJbrkdwgfc6nQqwAD25sjXIV4S3MB4DQHx74d5vnh2dZWuwIGfb6emKB9ADIdtD15Ka8sO0-Yk8TaISyQEtH2YlMJcHbpaV7fUKM4OoYlFfTzOmRR7v5iUA4jG67HXYUZe7orviIbe9J515yFahzBwLbM60GN9FuYfLQkmSjxgVqI8iLIWxFuO2s7jk1UcchAxqUaH75l4M44nNnZ9LRFKEdBMIARA4OVWf8MSFszPD86p8qgYoPrQQIV5i5p8qReoe31cjXmYgQwaLAnc-jV2EZeBWv5dvRB999jaeA_12OTp3jjqPkiV",
  "id": "rs_06f55df79fc286d2016ab4618ef25c87d08d7a6cddf948e29b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is now inside the safe’s rim. I’m opening the jaws to leave it in the compartment.\"}",
  "call_id": "call_VtZlrE3loei2KoMO15qdnMS2",
  "id": "fc_06f55df79fc286d2016ab4618f331c87d0bf656e69ad52bcbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VtZlrE3loei2KoMO15qdnMS2",
  "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]: [-0.6868, 2.2879, 1.7031, -0.3611, -0.5434, -0.5026, 0.9951, -0.0238, 0.8688, 0.6643, -0.6323, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4935 left_y=-0.2819 left_z=0.0464 left_yaw=0.0347 left_pitch=-0.1915 left_roll=0.0993 left_gripper=0.9951 right_x=0.267 right_y=0.0008 right_z=0.1396 right_yaw=-0.0014 right_pitch=-0.2532 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.5829, 6.5983, 1.3407, -0.3248, 0.0757, 0.0122, -0.2393, -1.5385, 6.7897, 1.6435, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e214ad14243f36295f81a2fd1763f0504c45f7be47b2f58f402c8bd907b16de9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dff7705318617c69e31d8afaa119d76847b579f2240699fb5a9815de7959137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fef1aad766f974bc4228fddd4de65886868e3bda0b2fcc29aa3b0b66223de84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.265 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.7035, 0.8162, 0.1169, -0.4644, -0.3569, 0.2109, -0.0238, 0.8658, 0.6643, -0.5457, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.4024 left_y=-0.1457 left_z=0.063 left_yaw=0.025 left_pitch=-0.0935 left_roll=0.055 left_gripper=0.2109 right_x=0.2821 right_y=0.0004 right_z=0.1553 right_yaw=-0.0016 right_pitch=-0.1636 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -9.4974, 8.5402, 1.6435, -0.2515, 0.0269, 0.3785, -0.2667, -1.4838, 10.1812, 1.956, -0.0659, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6868, 2.2551, 1.7042, -0.3527, -0.5453, -0.4931, 0.2169, -0.0238, 0.8688, 0.6643, -0.6121, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4964 left_y=-0.284 left_z=0.0659 left_yaw=0.0258 left_pitch=-0.1591 left_roll=0.0793 left_gripper=0.2169 right_x=0.2707 right_y=0.0007 right_z=0.1429 right_yaw=-0.0015 right_pitch=-0.233 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -12.3556, 9.7573, 1.5556, -0.3394, 0.0171, 0.2222, -0.0342, -1.5932, 7.0906, 1.8339, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6868, 2.2879, 1.7031, -0.3611, -0.5434, -0.5026, 0.9951, -0.0238, 0.8688, 0.6643, -0.6323, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4935 left_y=-0.2819 left_z=0.0464 left_yaw=0.0347 left_pitch=-0.1915 left_roll=0.0993 left_gripper=0.9951 right_x=0.267 right_y=0.0008 right_z=0.1396 right_yaw=-0.0014 right_pitch=-0.2532 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.5829, 6.5983, 1.3407, -0.3248, 0.0757, 0.0122, -0.2393, -1.5385, 6.7897, 1.6435, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e214ad14243f36295f81a2fd1763f0504c45f7be47b2f58f402c8bd907b16de9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dff7705318617c69e31d8afaa119d76847b579f2240699fb5a9815de7959137",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fef1aad766f974bc4228fddd4de65886868e3bda0b2fcc29aa3b0b66223de84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGUpX2bcCEWcJrzZDPRd-3icFnLbQXE9-yJ8hq3fA4DScJT62DZ4NpUjXAnhRMSoIey1frxyc6dt66QuQG_mWdbeSbPQpRwO8l3kbgQK1b0ckbGAYsr8_VcGTDiuT92HWPspdOi_HIb54F5ckx1B7CUYsgWmDkjyvQUnJLPbhm7m8pANJ_dGozIQFmxRNcd4U6UelxUy31GYCBrKPaDYH3XOx-T5Kvb3uMJAM_mBY5uoW-sYwWI_arOSk08zI3D74J6_Tjq3QHTMEC3vuDq-GOpMpzc7YjA5lXwaV-XoUcuTLuv9RVTHspCKrZ-rZ6bpRgmlIRkBAeO7R8cwzfQVZdGkq1IUcNqBXeg18RPvyVya57d0RAbBRrAy6-MDhrOWYkIHu6cM0F1fmFasVVMy-Qn-LBhs-eUIEQtiK9i31R4OYvjpPMtemlHhmptiGGELtz0ztwVLaCYr2KAE28YD0RoqHgch65xjlLPq6MRSAgG3gCYsMLE_vZoMdtq21XGbm01Jn5jzQzkuhFmd_r9CJiQcqU6jy6OX10SO6Uyilf75ari-TsZkzyQi-RtqX8RC1yzDxj_qwy9uh3aFVIxZm0cM5HfEKqeofYbaoPmzeSzGiDx7asRLdJLdEV3CAvTbbNU8vnR-9L4SW_qhNuzgDqq1CIhPQVqGA2GXcRUppPHTcLQWCsWkY0YcnrBkbeI8Rm5RHYKTTsKhSEOn-cF0qLCu3KEv6vxKgdOmgW_iM3kEsHIIHoYEOqUjIOQHfE-8yyON_pl7Yu5qacrUt-f6QwrU00AEJ3icOnvk3Wu4xmn_qgJsrgNjU0dh9N_Ge94o5u45xMSHlzgiCAMLvwraBEZPkvAhCdPl8G-c_z6VJT1oXa8HZ4UHGNVeFQR61o48UZrxr2c4-KU3y4mLv6dckqF1zJ5CLpuG-GN7DHnyBc5FfhgnwhlbeQ5cCfxgV_0MylJej2ksYALvstSUKROjtffGxBZwc_-NDNuvsLYAl11A2GTzxsEpuFdvOaDrZb6Xm1AKqOcotIWiQLawXbpbmSmuljEajy-LxMQSP23YwlMuZGc1aaY82X9eBa6gzSC7e6Ev27CBsw7waOrWpgsnAYTFF73c5f8r6AFDwInPz11w6wV-5Yj2biMHkIw5haDWo22AnaFmNRvolRhTRsJC2wmG-v0CEa9bG9ejqCxjqmZli8BTluMAwng4nursHNgPJHXqh1EEjkn3o_Qg4qEYP-7Qp5TMriDjuKtu76ypb-43p5Tiwfh2uX5lTBX4OfeG_LiVvKkz_69hyPm69qtnZMGPlGJ5p0gPg40NOvgC7Sl8thJF6ioWyjZuJ2Po2hA9ZiqagRgJu4q7dUHmEN61F2yaosK5BRvrVOdVOifaf3eLSXreiDFP0WWS0hc6CJx0rici0uPBjLpWck38SUUAw-HEDgAfGY0P0NZqiYXVYcZBSK-O7V9Cefzalk4SY9oW7705vHEKwAsDOKYBaf_vcqI49pvgc8h-MXcURmV_WZDXtBUURpq9Ibn1D4NmbAGo7luEH-YdPrAkr8IeJ_bNQWE5llXc6BI3nV3MaJB8eqB-wZLMvgonHpQCsgK_s_fT1MJR8l_HoqsQRzrlc7xq08TDaduhngmHVfzhVPatmBSOXw=",
  "id": "rs_06f55df79fc286d2016ab46191def087d0a0a2defe49f8bc45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.12,\"left_z\":0.23},\"note\":\"The white plush has dropped onto the safe’s floor. I’m withdrawing the left arm upward and away so the next object can be loaded without disturbing it.\"}",
  "call_id": "call_F7r7vMF4LlYYvQxPmBSM2j2k",
  "id": "fc_06f55df79fc286d2016ab4619384f887d0943654fdb04973e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F7r7vMF4LlYYvQxPmBSM2j2k",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 1.3724, 1.2453, -0.7547, -0.4858, -0.4213, 0.9962, -0.0238, 0.8745, 0.6632, -0.6567, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3501 left_y=-0.1275 left_z=0.2248 left_yaw=0.0449 left_pitch=-0.1742 left_roll=0.0821 left_gripper=0.9962 right_x=0.2624 right_y=0.0009 right_z=0.1337 right_yaw=-0.0012 right_pitch=-0.2845 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -6.0239, 7.4051, 1.4579, -0.1343, 0.1392, 0.1001, -0.1573, -1.9761, 6.8308, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3a5675a340745b6fc5fb2bc2f8531fad99f8fdb2723e67df69b4499458adc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59855c2399ebc61d02408b606a657aa068f42cf239bc6efe979d783df875cb72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb9038ccf1ef6ab8eb12e90fb956b50dd0feaf4d4bcfb88c8461ea10aa7ce30b",
      "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 · 3.905 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6834, 1.9789, 1.7184, -0.5694, -0.5476, -0.4843, 0.2146, -0.0238, 0.868, 0.6643, -0.577, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4683 left_y=-0.2581 left_z=0.1863 left_yaw=0.0197 left_pitch=-0.1023 left_roll=0.039 left_gripper=0.2146 right_x=0.2769 right_y=0.0005 right_z=0.1492 right_yaw=-0.0017 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -10.9607, 8.7453, 1.16, -0.5006, 0.0366, 0.3687, -0.212, -1.6752, 6.9265, 1.8486, -0.0513, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6868, 2.2879, 1.7031, -0.3611, -0.5434, -0.5026, 0.9951, -0.0238, 0.8688, 0.6643, -0.6323, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4935 left_y=-0.2819 left_z=0.0464 left_yaw=0.0347 left_pitch=-0.1915 left_roll=0.0993 left_gripper=0.9951 right_x=0.267 right_y=0.0008 right_z=0.1396 right_yaw=-0.0014 right_pitch=-0.2532 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.5829, 6.5983, 1.3407, -0.3248, 0.0757, 0.0122, -0.2393, -1.5385, 6.7897, 1.6435, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 1.3724, 1.2453, -0.7547, -0.4858, -0.4213, 0.9962, -0.0238, 0.8745, 0.6632, -0.6567, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3501 left_y=-0.1275 left_z=0.2248 left_yaw=0.0449 left_pitch=-0.1742 left_roll=0.0821 left_gripper=0.9962 right_x=0.2624 right_y=0.0009 right_z=0.1337 right_yaw=-0.0012 right_pitch=-0.2845 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -6.0239, 7.4051, 1.4579, -0.1343, 0.1392, 0.1001, -0.1573, -1.9761, 6.8308, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3a5675a340745b6fc5fb2bc2f8531fad99f8fdb2723e67df69b4499458adc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59855c2399ebc61d02408b606a657aa068f42cf239bc6efe979d783df875cb72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb9038ccf1ef6ab8eb12e90fb956b50dd0feaf4d4bcfb88c8461ea10aa7ce30b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.33,\"right_y\":0.3,\"right_z\":0.16},\"note\":\"The white plush is visibly inside the safe; the brown plush and yellow object remain outside. I’m parking the left arm and bringing the right gripper above the brown plush.\"}",
  "call_id": "call_QaQfW7OxLrV1dRXYXAm1XKas",
  "id": "fc_06f55df79fc286d2016ab461973cbc87d0ae270fb1ba589f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QaQfW7OxLrV1dRXYXAm1XKas",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1211, 0.9646, 0.889, -0.7136, -0.1875, -0.0887, 0.9964, 0.9314, 1.8027, 1.4933, -0.8257, 0.5133, 0.757, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0012 left_z=0.1975 left_yaw=0.0744 left_pitch=-0.1946 left_roll=0.0826 left_gripper=0.9964 right_x=0.3214 right_y=0.2928 right_z=0.1486 right_yaw=0.0253 right_pitch=-0.3273 right_roll=-0.0281 right_gripper=0.9995\nstate[joint_eff]: [0.294, -2.9333, 6.2427, 1.8193, -0.0024, 0.0904, 0.0024, 0.4034, -9.0051, 8.4581, 1.0476, 0.5104, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e856c70b5a986829a422eb472df538683cf022b78690b6f658422596269b93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7483953eb6e6968419b82ed6519bfc69c1500d71b4e4b4fe985eb77858aaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d6c34de959a58c4d84cd8d727a050bc09185d3e94e862252199512ea5c99b9",
      "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 · 2.405 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 40 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6868, 2.2551, 1.7042, -0.3527, -0.5453, -0.4931, 0.2169, -0.0238, 0.8688, 0.6643, -0.6121, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4964 left_y=-0.284 left_z=0.0659 left_yaw=0.0258 left_pitch=-0.1591 left_roll=0.0793 left_gripper=0.2169 right_x=0.2707 right_y=0.0007 right_z=0.1429 right_yaw=-0.0015 right_pitch=-0.233 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -12.3556, 9.7573, 1.5556, -0.3394, 0.0171, 0.2222, -0.0342, -1.5932, 7.0906, 1.8339, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 1.3724, 1.2453, -0.7547, -0.4858, -0.4213, 0.9962, -0.0238, 0.8745, 0.6632, -0.6567, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3501 left_y=-0.1275 left_z=0.2248 left_yaw=0.0449 left_pitch=-0.1742 left_roll=0.0821 left_gripper=0.9962 right_x=0.2624 right_y=0.0009 right_z=0.1337 right_yaw=-0.0012 right_pitch=-0.2845 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -6.0239, 7.4051, 1.4579, -0.1343, 0.1392, 0.1001, -0.1573, -1.9761, 6.8308, 1.7314, -0.0464, -0.0562, -0.0122]",
      "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]: [-0.1211, 0.9646, 0.889, -0.7136, -0.1875, -0.0887, 0.9964, 0.9314, 1.8027, 1.4933, -0.8257, 0.5133, 0.757, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0012 left_z=0.1975 left_yaw=0.0744 left_pitch=-0.1946 left_roll=0.0826 left_gripper=0.9964 right_x=0.3214 right_y=0.2928 right_z=0.1486 right_yaw=0.0253 right_pitch=-0.3273 right_roll=-0.0281 right_gripper=0.9995\nstate[joint_eff]: [0.294, -2.9333, 6.2427, 1.8193, -0.0024, 0.0904, 0.0024, 0.4034, -9.0051, 8.4581, 1.0476, 0.5104, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e856c70b5a986829a422eb472df538683cf022b78690b6f658422596269b93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7483953eb6e6968419b82ed6519bfc69c1500d71b4e4b4fe985eb77858aaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d6c34de959a58c4d84cd8d727a050bc09185d3e94e862252199512ea5c99b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGGeYFOyHNdxjmtjJmQ7uTwZHxv5HY_R1MhIC1ngXENKv9xn0pyNFoHaeXPjLOsWSBllA3mEVnmjMqSHN77AFOV4W_KbidNJ9UGx6pr8BsnIqsnO_lBvQBFKBkZSfppSyC98bTGl3EUouF5yretr7kVGsHeKYBwD1rh87__5wnenIX1R1YC3WGacIu1zajR8JAzjl2aSPMR70HD7FB_63w2Y8a4XEx1PFgjPVtHFJXVqQhW6yTqB-XTX3gCKgWAFaV1y6svXqNhLcGHk8HsbeFtFf50VqJu_yL8ewA1aOuJocmUFCXN415af9My7HboJsOuWMzvYMbHsQxDdQsKn9Xb83veGrwFM-6Im7pgGAaAn3Un_g6S8oJtx5KvVRQ4ia6Rz7LPKGRgCwEcmQ3PEmqgbLYDl0Vs8K3VwqOC8ZAbM29tO7a-mgxoY1AFO-p-yG1ij8z08VFmH8LFtihkVL39RYZcEwk-g1TUO44xseDbxTabX_Yer7KiVv4ci5gWYUGn6k_qkVpIytK6bNex2hEIZZf1tYvgFFNkxVPBtPJyh8gHHQslKPXr56V8APcMrY2JVWVyg3qMotL7iH6pQPLD7RaGtcSF1ATiuCsVCgP_mNkq-9hzX2ze0Pv4Q39tSz665hLytz4kuXWMcsnubdb-s5O4jN-KiktNuEYGR4AwmtqN44n4gb7OuruOBijYYm7rpvEMHJQC1By3se3nYx46cXEXOc5UMnzPTrDjCUXkeCUiCdSgheoeoYepanuZq8RUgs6d3YvRkQSdKNsNHZFu2fDQl_tUIL6VIwUfca4qqEXb-nSFIqW44KEbrzIbhB6MudTBqpw9-N-kcq-pKwG83_I9wogjZW7DgcLY47OSbzGzFX45bdJeUznD9ok6hJAD5r09DUWqKC7WWI2LjplFHtOHYVUqZoZc7Y7mZQu7uhpvA_Wt2kFFM5REjnyB5daKFtZqAAle-R4yYWcQo8k2d58ollojNMlRlXy6iGZPTMQYZxF7w4tHdoE-3TOIR1v2sGokIrMJZdIcseR45z8CQXzDDkvAgmEFAutVV-Nzwo1jQvnQcgFkEm_ivPbslbFMgt3hOESUGAto_mSjqUD8rZK8TDqXeKaJYjbfsmhf0ro8Lq1qQPMZFDCmjBFi7TrGugWj07G2GA7WtTlCLX0IJ4OrrAZnBS1xTnAWZx34CbXbllMyMZqtG2YrDwK1BNNOwTT3xOkFYsfyHYaogB0v_WCOPcRdQrdysXS0Dejz6XY0siU7AsV_ev6TemWb0dOc80nKuWxfRfHyXAjUAei7KsCoiFzdgg4nCLw_3hHlifeDzOIzBkK97RsNtys0hfO5deWj2uG5vRjVgPhjUNHrszzeHp4CrMxpnCQSd5x0T8vEGDQC2AMFSJh0spPlrkeMRXz1zqLnHm9HbdoMBSm2PyOgk9XZTjCgPBBe0uOn5lKj56BAYnwDgiIBySOL2c0S_tVOSsPgifSXuuQ1DK6ey95hSQV4iQgcRoMgx1TcGVUY=",
  "id": "rs_06f55df79fc286d2016ab4619c17b487d0ba4823d81e58d1a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.3,\"right_z\":0.035,\"right_pitch\":0},\"note\":\"The brown plush is centered under the right gripper, with its torso just forward of the fingertips. I’m advancing slightly and lowering the open jaws around its torso.\"}",
  "call_id": "call_GqbMXVsh12IAbUaUNPEOVQAF",
  "id": "fc_06f55df79fc286d2016ab4619d6d3c87d0adfe5a198d92f335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GqbMXVsh12IAbUaUNPEOVQAF",
  "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]: [-0.1184, 0.9665, 0.8833, -0.7197, -0.1768, -0.0902, 0.9964, 0.9501, 1.9644, 1.0454, 0.0235, 0.7074, 0.6312, 0.9995]\nstate[eef_state]: left_x=0.2908 left_y=0.0003 left_z=0.1933 left_yaw=0.0695 left_pitch=-0.2095 left_roll=0.0766 left_gripper=0.9964 right_x=0.3495 right_y=0.2976 right_z=0.0381 right_yaw=0.029 right_pitch=-0.052 right_roll=-0.0306 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -2.359, 7.2, 1.536, -0.2466, -0.0464, -0.0073, 0.2393, -8.212, 4.9983, 1.0867, 0.4615, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6fc5298150cf3d765b397ce495e3abcf540f8f3f840a3fa34794789f656b9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3ad17a49048e67d8cdbea1bd96048c52ecc20bbc5bf19a60e24dca6fc7fe72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1415e5c4e367eb91cb268d25783cec99ec53482b25ed34036d24876f650e1569",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 2.3 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 40 changed as sent

message 44 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6868, 2.2879, 1.7031, -0.3611, -0.5434, -0.5026, 0.9951, -0.0238, 0.8688, 0.6643, -0.6323, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4935 left_y=-0.2819 left_z=0.0464 left_yaw=0.0347 left_pitch=-0.1915 left_roll=0.0993 left_gripper=0.9951 right_x=0.267 right_y=0.0008 right_z=0.1396 right_yaw=-0.0014 right_pitch=-0.2532 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.5829, 6.5983, 1.3407, -0.3248, 0.0757, 0.0122, -0.2393, -1.5385, 6.7897, 1.6435, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.1211, 0.9646, 0.889, -0.7136, -0.1875, -0.0887, 0.9964, 0.9314, 1.8027, 1.4933, -0.8257, 0.5133, 0.757, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0012 left_z=0.1975 left_yaw=0.0744 left_pitch=-0.1946 left_roll=0.0826 left_gripper=0.9964 right_x=0.3214 right_y=0.2928 right_z=0.1486 right_yaw=0.0253 right_pitch=-0.3273 right_roll=-0.0281 right_gripper=0.9995\nstate[joint_eff]: [0.294, -2.9333, 6.2427, 1.8193, -0.0024, 0.0904, 0.0024, 0.4034, -9.0051, 8.4581, 1.0476, 0.5104, 0.1587, -0.0122]",
      "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]: [-0.1184, 0.9665, 0.8833, -0.7197, -0.1768, -0.0902, 0.9964, 0.9501, 1.9644, 1.0454, 0.0235, 0.7074, 0.6312, 0.9995]\nstate[eef_state]: left_x=0.2908 left_y=0.0003 left_z=0.1933 left_yaw=0.0695 left_pitch=-0.2095 left_roll=0.0766 left_gripper=0.9964 right_x=0.3495 right_y=0.2976 right_z=0.0381 right_yaw=0.029 right_pitch=-0.052 right_roll=-0.0306 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -2.359, 7.2, 1.536, -0.2466, -0.0464, -0.0073, 0.2393, -8.212, 4.9983, 1.0867, 0.4615, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6fc5298150cf3d765b397ce495e3abcf540f8f3f840a3fa34794789f656b9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3ad17a49048e67d8cdbea1bd96048c52ecc20bbc5bf19a60e24dca6fc7fe72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1415e5c4e367eb91cb268d25783cec99ec53482b25ed34036d24876f650e1569",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGhNIhfjekKs9Amn_xQVN778XR4N1hksDaaDZMP9x9Hguix3OV3IT_bz4Kg49g6X7TZjbVkT38SwjXdv_CYC9_QnHjW_tb5gtUPt1-qh3uLczeYkVRdrn9YU0nTMYZo6HO07rvGFXW8a7xI4ToT01ZvqL3e0c84fzN4uvMYu8lfPFh4nSA4qWp6xLFngGNhdUiaYtu6gPUMbDZpZMdeY8QoXQGv8vWiCMWCm7k3PhDu_8vvudRHoTQ6IxlR6YTjiQ-g91AkRIVcJaM0A2xREQ6c18NhoazonwWJaF8ixQLq8nnV9em0oeqcAXmYY-HHraBC5nqHWvNmGHrbJ6jhjZX3ocrmfRr1ALmzMuqG9Uoi4dG8FywKqeiss7JmAjLNZlmqErzMb7TFWJjEn6-qDUCVe3mGbGGb6NFA4tYCrqPCqhWUbVboa0e6CzIaatOzxc_4qFJYfUh74No69-vFJ0Gs9u_jl2TvSHy4HMv-9W1hn1TshOSW_lmtYQFJOzYp5DrtafWO4jRjhShVGBQCy99r18RzuQqa5PA96Z5pIWEfktwJW4gwwZYZKBDuF2eJxLyo9p1VBdLOK4gFJ6ioH9BYe8Tybak7vy2uPXR2E07R8psZGaw2yXXzXvLFlaDiO9oxDTeBcpywIwv-mdIyvMS8CjKbOxg9OCcHOFrr3N2S0z3CPn-rl-tyfTQQBaRhNKcoc5GB2idf2rbuqDVtamo84ADJNi2TbQ2gZfEVM4nSyNcqmLrxWgx0U4vbrVdGuVCjUWgRG5pI1D-A6tnGNufd0h_zf1aGDIY2RQR5LeI5zcvD1LXIojBfh06W5xgDSbd4MI2Go6QeZdRibyFLD2af5hvaj3jYa5ARzszbIKjVnn4QMO3X-gTQYPsYola2feruBWMc91OQpqq4nheRofQzQxWa1EklWYlCswllmPZX_4Ukn9CPSDOzcd1BPyXCcAoVoCeDD8BpNjNm4E5RdpLlkcgx4FN_CsNKgj7Zmu7Lc_60GDDOGgxoSsVNTC3keXh0fs9Ap4tTzdizMDYDRDZ6vTFLWhJtjJmy5c-RM3p7UirHkrDTO2cUY8xRG0JNEsEzR6PzADoupV1R5FQ0qSrBKbcINGKs5fy7_4i2PWz1pW4zlNIyNzq99seq5wBvtMCOJA_VFLTZm1lEbZHgtRh0xuO5ju29KBavHJndLEeCdz19KZxfWOzV6k41KPFKx1a45myMYoGKo8EnWqiZkx6yVeZ9avzIXg6mzF0UGVFdN74=",
  "id": "rs_06f55df79fc286d2016ab461a0e67887d0b1c7c4cc407a0ede",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are positioned on either side of the brown plush’s body. I’m closing them to take hold.\"}",
  "call_id": "call_VYKJvVAWhiW8JNmL7dBjBieu",
  "id": "fc_06f55df79fc286d2016ab461a1347887d09abc7dd075ca0cb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VYKJvVAWhiW8JNmL7dBjBieu",
  "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]: [-0.1181, 0.9665, 0.8833, -0.7227, -0.1761, -0.0902, 0.9964, 0.9497, 1.9785, 1.034, 0.0235, 0.7067, 0.6281, 0.118]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1928 left_yaw=0.0693 left_pitch=-0.2126 left_roll=0.0766 left_gripper=0.9964 right_x=0.3468 right_y=0.2936 right_z=0.0284 right_yaw=0.0296 right_pitch=-0.068 right_roll=-0.053 right_gripper=0.118\nstate[joint_eff]: [-0.0615, -2.1538, 6.8034, 1.4969, -0.1099, -0.0464, -0.0073, -0.1983, -10.9333, 6.2974, 1.2821, 0.3297, -0.0122, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:123cb35258e4d64a370a3a71d87def079f06dde9fd8b10ef51e703a0ff69152e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873da4eab484a3ecc5ba71801c2e97bfcac79c922955f1ae5d037c0580cbdef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8635359d45fe7b00ee97880ab5e9e94ec714480dbd5ae661b06c51d70804184c",
      "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 13 attempt 0 · /responses · status 200 · 4.287 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 1.3724, 1.2453, -0.7547, -0.4858, -0.4213, 0.9962, -0.0238, 0.8745, 0.6632, -0.6567, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3501 left_y=-0.1275 left_z=0.2248 left_yaw=0.0449 left_pitch=-0.1742 left_roll=0.0821 left_gripper=0.9962 right_x=0.2624 right_y=0.0009 right_z=0.1337 right_yaw=-0.0012 right_pitch=-0.2845 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -6.0239, 7.4051, 1.4579, -0.1343, 0.1392, 0.1001, -0.1573, -1.9761, 6.8308, 1.7314, -0.0464, -0.0562, -0.0122]",
      "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]: [-0.1184, 0.9665, 0.8833, -0.7197, -0.1768, -0.0902, 0.9964, 0.9501, 1.9644, 1.0454, 0.0235, 0.7074, 0.6312, 0.9995]\nstate[eef_state]: left_x=0.2908 left_y=0.0003 left_z=0.1933 left_yaw=0.0695 left_pitch=-0.2095 left_roll=0.0766 left_gripper=0.9964 right_x=0.3495 right_y=0.2976 right_z=0.0381 right_yaw=0.029 right_pitch=-0.052 right_roll=-0.0306 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -2.359, 7.2, 1.536, -0.2466, -0.0464, -0.0073, 0.2393, -8.212, 4.9983, 1.0867, 0.4615, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7227, -0.1761, -0.0902, 0.9964, 0.9497, 1.9785, 1.034, 0.0235, 0.7067, 0.6281, 0.118]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1928 left_yaw=0.0693 left_pitch=-0.2126 left_roll=0.0766 left_gripper=0.9964 right_x=0.3468 right_y=0.2936 right_z=0.0284 right_yaw=0.0296 right_pitch=-0.068 right_roll=-0.053 right_gripper=0.118\nstate[joint_eff]: [-0.0615, -2.1538, 6.8034, 1.4969, -0.1099, -0.0464, -0.0073, -0.1983, -10.9333, 6.2974, 1.2821, 0.3297, -0.0122, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:123cb35258e4d64a370a3a71d87def079f06dde9fd8b10ef51e703a0ff69152e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873da4eab484a3ecc5ba71801c2e97bfcac79c922955f1ae5d037c0580cbdef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8635359d45fe7b00ee97880ab5e9e94ec714480dbd5ae661b06c51d70804184c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper has retained a nonzero opening on the brown plush. I’m lifting it briefly to check that it follows the jaws.\"}",
  "call_id": "call_jGVhoXk6TNpweDUMPSdkA2uw",
  "id": "fc_06f55df79fc286d2016ab461a450c487d09f1985cf32c1e97c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jGVhoXk6TNpweDUMPSdkA2uw",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7277, -0.1761, -0.0906, 0.9966, 0.9497, 1.8698, 1.121, -0.2146, 0.6918, 0.6281, 0.1199]\nstate[eef_state]: left_x=0.2894 left_y=0.0004 left_z=0.192 left_yaw=0.0697 left_pitch=-0.2174 left_roll=0.0773 left_gripper=0.9966 right_x=0.3423 right_y=0.2908 right_z=0.0723 right_yaw=0.036 right_pitch=-0.1033 right_roll=-0.0794 right_gripper=0.1199\nstate[joint_eff]: [-0.0889, -2.1812, 6.735, 1.5067, -0.1294, -0.0611, 0.0122, -0.3761, -11.5077, 8.5812, 1.5018, 0.4762, -0.0317, 0.4615]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17bc25e2e87dab0413056cc1131dd2d764c18f285e13144ff8340b39b5c8c82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f840cd51efdd4d9e7e137096123313677a3120caa80678111eb1d95a5f1cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:426513c934cad3dbabc6889ed57f2ea2e6eeca045b375579fe1da2a6432ca514",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.098 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 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]: [-0.1211, 0.9646, 0.889, -0.7136, -0.1875, -0.0887, 0.9964, 0.9314, 1.8027, 1.4933, -0.8257, 0.5133, 0.757, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0012 left_z=0.1975 left_yaw=0.0744 left_pitch=-0.1946 left_roll=0.0826 left_gripper=0.9964 right_x=0.3214 right_y=0.2928 right_z=0.1486 right_yaw=0.0253 right_pitch=-0.3273 right_roll=-0.0281 right_gripper=0.9995\nstate[joint_eff]: [0.294, -2.9333, 6.2427, 1.8193, -0.0024, 0.0904, 0.0024, 0.4034, -9.0051, 8.4581, 1.0476, 0.5104, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7227, -0.1761, -0.0902, 0.9964, 0.9497, 1.9785, 1.034, 0.0235, 0.7067, 0.6281, 0.118]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1928 left_yaw=0.0693 left_pitch=-0.2126 left_roll=0.0766 left_gripper=0.9964 right_x=0.3468 right_y=0.2936 right_z=0.0284 right_yaw=0.0296 right_pitch=-0.068 right_roll=-0.053 right_gripper=0.118\nstate[joint_eff]: [-0.0615, -2.1538, 6.8034, 1.4969, -0.1099, -0.0464, -0.0073, -0.1983, -10.9333, 6.2974, 1.2821, 0.3297, -0.0122, 0.862]",
      "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]: [-0.1181, 0.9665, 0.8833, -0.7277, -0.1761, -0.0906, 0.9966, 0.9497, 1.8698, 1.121, -0.2146, 0.6918, 0.6281, 0.1199]\nstate[eef_state]: left_x=0.2894 left_y=0.0004 left_z=0.192 left_yaw=0.0697 left_pitch=-0.2174 left_roll=0.0773 left_gripper=0.9966 right_x=0.3423 right_y=0.2908 right_z=0.0723 right_yaw=0.036 right_pitch=-0.1033 right_roll=-0.0794 right_gripper=0.1199\nstate[joint_eff]: [-0.0889, -2.1812, 6.735, 1.5067, -0.1294, -0.0611, 0.0122, -0.3761, -11.5077, 8.5812, 1.5018, 0.4762, -0.0317, 0.4615]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17bc25e2e87dab0413056cc1131dd2d764c18f285e13144ff8340b39b5c8c82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f840cd51efdd4d9e7e137096123313677a3120caa80678111eb1d95a5f1cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:426513c934cad3dbabc6889ed57f2ea2e6eeca045b375579fe1da2a6432ca514",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGppJ29Z83TqWpM-4gsIRrQsfDkL5ECeMpfepCmQYoZWFdK_0W8T_lSlEL6U2WmE5ziJMOwhiVKwjegssjSeTjHUdFOXYbae_2lAzPX0bOQWl4mNlmAmt6rvUyGjw-2Mmb_ifvmJk_hwdtftX1fqx-AofbmpMkUXDiFFFQKssNHnKEyUUOCe5N1ChJhXvdsdKJuXeZ4BKMqdyu3aZY-56hQw5xttHK8_hv52LOFSBXQ8zLwzGIXGgUO_JGxKw6atgpiIw4X8_Gnmhn9fU7xI4iv0p6DAgPr3_jSjdEnMyTsrnhVwOZI80jqe6gWLyRP1RA_XYCHaZyToPvC39wAujE4CPN159m-rDeT-tcTGw-n0KpErVd5qNWJY7IJF-Ruzesx94zF4OceuAohjzsftSRNfYeR8A78Ljinb0HC_lcwFHWni4BKn2xNO33mYyITYd1lbYUilIju2ZkSXanS9PqACFqfY54LZI608_zysWndUckgm57OEY-MVPIHKUCVVsU3o5aQi6ky2bpogn31eain6vCWoABaxivzeZyWDWoJk5v2WsvesXUSHZUuatJEcg-Sowon34T1E9R1-vm1dvQuarRsieKOOECg9dCwSgYCXN3mmd6esm84ZsIhNmfLbFMtmFbUWzw-pUJFo_NyHr-Uf8zeDu2HOXYOPH5v43FHkYh5Il-hO32daLtjxRASHkbUhTQm59exB_B4FM8MBmOif6nbXOMpsBDDw2iazufTHPmoEI7n-Xlt7mUHuIF99M9UNiLiaEhqzfH0PRHLmjQnYKwSdKAd6MXU6xC9L7TdPCTpaewdjpUIvVhfseiuh4B3Lr0DeNNdBvruy5JkIbO4NeDbzfXsYsi4GTZ-U-rbZm3S3Z2KBd3SmjXxl_GPTFhSB3zUXWsidCMSFcpJeoD6ZUH-m-Zsx263f7RWGP9l_YBb1P0z-9yw7O4WnLHYtqQeajNFdYxgQv5To-kKohMgTtpystqJD6HNnRc3XjP18TlOIO-epY9ikNGsdAJc_yfg767TLjnjvjYwGiyFb8okUPOZC5qMIh207yYzsTXaav1xx5mXfpUoK2dW2wjSPMflTgR8P9EmHzqcl-mcQK9lpbARoJO0D760pxp1QCxy0JmQxxCvIMw7jM7lxS1FVcBXmMm3x3o9rhkcU3i2QVaPoyRYvkufUnXdtEAsTZILAcwlFK3i5-uEzo_Nf0hTvDTJA3T9ELvZz7-L5F-e1gz-y1aUstLzDfXLUYwHEtAYx517OI3UDp6T4MZNxoO2ispPP5noKwNUf5p5-zrYYcWP9u_LPbcgJDIuuwNggGEP-yeGm8RClCWYSrktgRZBibAo0QGwgRjlbFQ0f7GF0Fl5HogKo6Kc-H3lHURIA8_x2ZG4vv6ImWF5kWIQjrCxzdap6y8ETC3QKE-uyFCN2SKIEaW3JPRAmOsUffTAH2IoG9jsd6b_YQ5JMNn0BqF8q5NVvlrIyNoRXfoOSiXt2Btn-KxWO44npkEfckH5i-L7q-XuvRqd_7TPXdu4dQ7vigA1nnrWghc-4LQvj-uZu9jukhE1oEnjhJlMLmZ9eCLCk9Lt4XFz4VOfr_tgKSxNleHuLSBd0IU4zLo7ln14g20eQHggZwnFAhWSLuGgx4T0-_A=",
  "id": "rs_06f55df79fc286d2016ab461a75b5487d099ba89ae6770aa89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.3,\"right_z\":0.23},\"note\":\"The brown plush lifted with the gripper. I’m carrying it up over the safe’s front rim, aiming for the space beside the white plush.\"}",
  "call_id": "call_DqdEJZdcWWmLvJ0XsH5QD1Cx",
  "id": "fc_06f55df79fc286d2016ab461a8fd3887d08187f54941a5e564",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DqdEJZdcWWmLvJ0XsH5QD1Cx",
  "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]: [-0.1181, 0.9665, 0.8833, -0.7422, -0.1761, -0.0906, 0.9969, 0.7525, 2.0647, 1.98, -0.775, 0.5594, 0.4423, 0.1216]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1895 left_yaw=0.0704 left_pitch=-0.2317 left_roll=0.08 left_gripper=0.9969 right_x=0.4543 right_y=0.3018 right_z=0.2171 right_yaw=0.0392 right_pitch=-0.1157 right_roll=-0.0751 right_gripper=0.1216\nstate[joint_eff]: [-0.2256, -2.1265, 6.8991, 1.6288, -0.0952, -0.0757, 0.0122, -0.5128, -11.1658, 8.4034, 1.3114, 0.2271, -0.0952, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606250d9065b4c034734382b2d183fdcb009c497b56ae4de6e78c2186fef8ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750ab1e08ef8fb0a606932d814ed486294b13ecf31f0ae1a8f2f50621f33dc8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed92efba71d659dcb2743b449d2b637853bd3374b751c43a7eb9cc254c53464b",
      "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 · 5.149 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]: [-0.1184, 0.9665, 0.8833, -0.7197, -0.1768, -0.0902, 0.9964, 0.9501, 1.9644, 1.0454, 0.0235, 0.7074, 0.6312, 0.9995]\nstate[eef_state]: left_x=0.2908 left_y=0.0003 left_z=0.1933 left_yaw=0.0695 left_pitch=-0.2095 left_roll=0.0766 left_gripper=0.9964 right_x=0.3495 right_y=0.2976 right_z=0.0381 right_yaw=0.029 right_pitch=-0.052 right_roll=-0.0306 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -2.359, 7.2, 1.536, -0.2466, -0.0464, -0.0073, 0.2393, -8.212, 4.9983, 1.0867, 0.4615, -0.105, -0.0122]",
      "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]: [-0.1181, 0.9665, 0.8833, -0.7277, -0.1761, -0.0906, 0.9966, 0.9497, 1.8698, 1.121, -0.2146, 0.6918, 0.6281, 0.1199]\nstate[eef_state]: left_x=0.2894 left_y=0.0004 left_z=0.192 left_yaw=0.0697 left_pitch=-0.2174 left_roll=0.0773 left_gripper=0.9966 right_x=0.3423 right_y=0.2908 right_z=0.0723 right_yaw=0.036 right_pitch=-0.1033 right_roll=-0.0794 right_gripper=0.1199\nstate[joint_eff]: [-0.0889, -2.1812, 6.735, 1.5067, -0.1294, -0.0611, 0.0122, -0.3761, -11.5077, 8.5812, 1.5018, 0.4762, -0.0317, 0.4615]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7422, -0.1761, -0.0906, 0.9969, 0.7525, 2.0647, 1.98, -0.775, 0.5594, 0.4423, 0.1216]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1895 left_yaw=0.0704 left_pitch=-0.2317 left_roll=0.08 left_gripper=0.9969 right_x=0.4543 right_y=0.3018 right_z=0.2171 right_yaw=0.0392 right_pitch=-0.1157 right_roll=-0.0751 right_gripper=0.1216\nstate[joint_eff]: [-0.2256, -2.1265, 6.8991, 1.6288, -0.0952, -0.0757, 0.0122, -0.5128, -11.1658, 8.4034, 1.3114, 0.2271, -0.0952, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606250d9065b4c034734382b2d183fdcb009c497b56ae4de6e78c2186fef8ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750ab1e08ef8fb0a606932d814ed486294b13ecf31f0ae1a8f2f50621f33dc8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed92efba71d659dcb2743b449d2b637853bd3374b751c43a7eb9cc254c53464b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.305,\"right_z\":0.075},\"note\":\"The brown plush is above the compartment, offset toward its right side. I’m lowering it into the available space next to the white plush.\"}",
  "call_id": "call_7ZiNMdSTLRZemfSGMkUG0gGU",
  "id": "fc_06f55df79fc286d2016ab461ac45c487d099d621156119546c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7ZiNMdSTLRZemfSGMkUG0gGU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9688, 0.8833, -0.7471, -0.1761, -0.0902, 0.9969, 0.7166, 2.2059, 1.6501, -0.3515, 0.5251, 0.4171, 0.123]\nstate[eef_state]: left_x=0.2861 left_y=0.0008 left_z=0.1881 left_yaw=0.0705 left_pitch=-0.2388 left_roll=0.0817 left_gripper=0.9969 right_x=0.4733 right_y=0.2996 right_z=0.0707 right_yaw=0.0376 right_pitch=-0.1705 right_roll=-0.1044 right_gripper=0.123\nstate[joint_eff]: [-0.1846, -2.2769, 6.8991, 1.5214, -0.149, -0.0611, -0.0073, -0.5812, -11.9726, 7.2, 1.6923, 0.2515, -0.1538, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be3c7264d179961e27962ffc3f7ead4e8a02e8d9d969ee97d413a90f7794258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba461e37cdfea98fc4897796a518ed9d69d78e740c7774cd242ac397ff82a47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7f24bf3798544d14f19bea1c1cb5ee67a5962e22378fdc9b89ec64dff0e5d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 2.301 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 55 changed as sent

message 58 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9665, 0.8833, -0.7227, -0.1761, -0.0902, 0.9964, 0.9497, 1.9785, 1.034, 0.0235, 0.7067, 0.6281, 0.118]\nstate[eef_state]: left_x=0.2902 left_y=0.0003 left_z=0.1928 left_yaw=0.0693 left_pitch=-0.2126 left_roll=0.0766 left_gripper=0.9964 right_x=0.3468 right_y=0.2936 right_z=0.0284 right_yaw=0.0296 right_pitch=-0.068 right_roll=-0.053 right_gripper=0.118\nstate[joint_eff]: [-0.0615, -2.1538, 6.8034, 1.4969, -0.1099, -0.0464, -0.0073, -0.1983, -10.9333, 6.2974, 1.2821, 0.3297, -0.0122, 0.862]",
      "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]: [-0.1181, 0.9665, 0.8833, -0.7422, -0.1761, -0.0906, 0.9969, 0.7525, 2.0647, 1.98, -0.775, 0.5594, 0.4423, 0.1216]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1895 left_yaw=0.0704 left_pitch=-0.2317 left_roll=0.08 left_gripper=0.9969 right_x=0.4543 right_y=0.3018 right_z=0.2171 right_yaw=0.0392 right_pitch=-0.1157 right_roll=-0.0751 right_gripper=0.1216\nstate[joint_eff]: [-0.2256, -2.1265, 6.8991, 1.6288, -0.0952, -0.0757, 0.0122, -0.5128, -11.1658, 8.4034, 1.3114, 0.2271, -0.0952, 0.6569]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9688, 0.8833, -0.7471, -0.1761, -0.0902, 0.9969, 0.7166, 2.2059, 1.6501, -0.3515, 0.5251, 0.4171, 0.123]\nstate[eef_state]: left_x=0.2861 left_y=0.0008 left_z=0.1881 left_yaw=0.0705 left_pitch=-0.2388 left_roll=0.0817 left_gripper=0.9969 right_x=0.4733 right_y=0.2996 right_z=0.0707 right_yaw=0.0376 right_pitch=-0.1705 right_roll=-0.1044 right_gripper=0.123\nstate[joint_eff]: [-0.1846, -2.2769, 6.8991, 1.5214, -0.149, -0.0611, -0.0073, -0.5812, -11.9726, 7.2, 1.6923, 0.2515, -0.1538, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be3c7264d179961e27962ffc3f7ead4e8a02e8d9d969ee97d413a90f7794258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba461e37cdfea98fc4897796a518ed9d69d78e740c7774cd242ac397ff82a47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7f24bf3798544d14f19bea1c1cb5ee67a5962e22378fdc9b89ec64dff0e5d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGzC08NM4pRFHb3X2ZelNaBLmTR2AaBSp6V1wmV1mHCM9cez6-8w8qlf4WNL6TmLNUe6Ov3iVv0XE944k34aqbAhan7IuDo5DAFkLgSH7E9JB_eMgmOc_B1NI20hXm9UPePJKljCPLJagWsoq-VL-vxZcL-9XC0pXgjtG9EEZadZpXtjeG5uqv1pmtXj_acr---YhdOyRv-wxuolxTMBlBEiX3VlXD9x-BtDyuWC2lAsYhOCjtEtAJ1AxIufpktNl3Ms0cAjtuN_sFM9zBi4YaPNcccOWzeYdOmNi8aEc9r4ukMeCnt2tPcUeNKpUYYSobJmRyi3bySCp2Io7aardcYaxAWRoirDUXqL_HHvZYtHgTTJcMRkI7jRbHUO3k8-xVXMZ9d9Q6KqR5FhExIgIi2juglf7s2k3eQ044PSocH9miIGe8TPUAQc9QjCLfVBDw1uF6WnRK-IVAKhontElQZy-xC98R0IVK_s4M21U3lHyomQ6SnAC9bG3MYQRLqCFAKDV4vfdGE-oTKVfLB4DGkDL3ruXeTijzCYzI4ThfgILnsWs9bMvMs-9kvNo5Q_ZHfhUwOLZwLiMIfjqOHoVXltswtXPnNFx8CZBVzKmKgyC043Bnh4qauXZ4cR8QCcsu8za76UPiWnwhpmYkZYUSSCh__wYcabT-77sX7_hI7j5l5CM44WyDcXat3SYw6_SxGYyfUE7xM-cxaqCnnYKjtmp-ssA3bdDtcBMny6BWUshFsAU2P_NDymSPWgE8T1u52z89dT4R5YkNFGAN-a6qAze0lx00uJG_StDTcBbvfWqpMbI4ShNNBsMnP0mOkCOEtYgMc7jOlWPgJH9eeqMw4HkuM0YSFC8u3RbugpwuqxngxdM8RRdE9Y0lb_UCGslKE7JyguKudxZa8kptTCFcBI2-k-FAIoLhpm14ssc_xY8PzgT7me8TdAuRU40VzqKWnXCG8vs8qKlhcpmA6Kv1B73c_Et3ahmhM2pwIR5ihEvIF0NMVrWb6Ulo4-xW1JUA3QSCjmYd0I7xflfXuNIuNAaUlQSFIgUjxDwPwRQ1l75a6aUhbzUiaWfqtFC8MH6mRbBybvMvFySeNjJbIkXiwBSZpR522flK1xeERPpGwhIBfFWe1hPp340kUCwF84qIrFmgVA_otXh5eqf330UQegL5tdV8krQsQg5mY1dAhQFBar853DlSUGDwg3ZOnjoeHmX6hqA4PDZFofIAE0ffy1wuQcGOHup-XuFrdzJDevOfpxVGZjhp1FZlt1NUegqkAsytzImh-_ct-UvTEDGufykyVehZUKSoWg0lW3YIySQyGsiyUdT3feAnuy16R6UWFQxtScwu43VBoAZEc_1d7zL4vee6pwexh2pq6wrz7ppCO9YcWBZOnNNinrHxzJ2hdUFcIGl6WpR6UExZcrVcTNc9HhBkPbVpVJQ-OuLD9z4GYLuH750Njs8WB9SCz91rZzhiLaWhimZsfh-XcO-N4X3imZFfXqFimRjXkY8GChLODtx2tnCZbxOhE_gpGOYOt3oMc-_Ofgnt7rijjDQW33PPlbd2flVCJPOou5fKyqJVD9g5ft3cncJrsLiEuluxdexb9vogPse8mK-Fi1GdewpmU4woeFK3BXTPRqlt9hRP69VllXeRyuPoBv1NlXa9AFm-EFKNuEJg_CmXeY9i1x-zS9jVS3baDIes5xegSiLQeUIG75wtkoVu4zoPgmDyVKbJTyMIyEzeyFgczEiL04n1AMeYoGCKYoXHP1QOSUPEpxRj6tYHEA8JDi2oMy6DWpNmyceGhcmMEnmprDhVkxg==",
  "id": "rs_06f55df79fc286d2016ab461af65a887d09f932d96f51ff3b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.36,\"right_z\":0.075},\"note\":\"The brown plush hangs to the right of the grasp, leaving part of it over the safe’s side rim. I’m shifting the grasp inward so the whole plush can settle inside.\"}",
  "call_id": "call_rxrCxv4GmQ08pB9rpDvz1Nws",
  "id": "fc_06f55df79fc286d2016ab461b1a89487d08ece17f31de81fbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rxrCxv4GmQ08pB9rpDvz1Nws",
  "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]: [-0.1181, 0.9737, 0.8833, -0.7506, -0.1761, -0.0902, 0.9969, 0.7845, 2.4107, 2.0266, -0.569, 0.5461, 0.4522, 0.1266]\nstate[eef_state]: left_x=0.2858 left_y=0.0009 left_z=0.1862 left_yaw=0.0709 left_pitch=-0.247 left_roll=0.0833 left_gripper=0.9969 right_x=0.4828 right_y=0.3574 right_z=0.072 right_yaw=0.0656 right_pitch=-0.1927 right_roll=-0.1217 right_gripper=0.1266\nstate[joint_eff]: [-0.1709, -2.4, 6.8991, 1.4823, -0.0952, -0.0562, -0.0073, -0.1709, -12.8889, 8.3897, 1.3993, 0.4127, 0.2027, 0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044ce915fbb0762d17d6909a86d4c22eda3d8bf995353ddb80c7d407c7f3ddbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c319206d91c3f6b9cd7d597f9cffd6bc60d8e531bc3c73d549774540037ca22d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc4d0e59ff392f265aa3c42615718b7a6eb83e84a8acb6e79dbf13880f451cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 6.238 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 58 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]: [-0.1181, 0.9665, 0.8833, -0.7277, -0.1761, -0.0906, 0.9966, 0.9497, 1.8698, 1.121, -0.2146, 0.6918, 0.6281, 0.1199]\nstate[eef_state]: left_x=0.2894 left_y=0.0004 left_z=0.192 left_yaw=0.0697 left_pitch=-0.2174 left_roll=0.0773 left_gripper=0.9966 right_x=0.3423 right_y=0.2908 right_z=0.0723 right_yaw=0.036 right_pitch=-0.1033 right_roll=-0.0794 right_gripper=0.1199\nstate[joint_eff]: [-0.0889, -2.1812, 6.735, 1.5067, -0.1294, -0.0611, 0.0122, -0.3761, -11.5077, 8.5812, 1.5018, 0.4762, -0.0317, 0.4615]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9688, 0.8833, -0.7471, -0.1761, -0.0902, 0.9969, 0.7166, 2.2059, 1.6501, -0.3515, 0.5251, 0.4171, 0.123]\nstate[eef_state]: left_x=0.2861 left_y=0.0008 left_z=0.1881 left_yaw=0.0705 left_pitch=-0.2388 left_roll=0.0817 left_gripper=0.9969 right_x=0.4733 right_y=0.2996 right_z=0.0707 right_yaw=0.0376 right_pitch=-0.1705 right_roll=-0.1044 right_gripper=0.123\nstate[joint_eff]: [-0.1846, -2.2769, 6.8991, 1.5214, -0.149, -0.0611, -0.0073, -0.5812, -11.9726, 7.2, 1.6923, 0.2515, -0.1538, 0.5983]",
      "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]: [-0.1181, 0.9737, 0.8833, -0.7506, -0.1761, -0.0902, 0.9969, 0.7845, 2.4107, 2.0266, -0.569, 0.5461, 0.4522, 0.1266]\nstate[eef_state]: left_x=0.2858 left_y=0.0009 left_z=0.1862 left_yaw=0.0709 left_pitch=-0.247 left_roll=0.0833 left_gripper=0.9969 right_x=0.4828 right_y=0.3574 right_z=0.072 right_yaw=0.0656 right_pitch=-0.1927 right_roll=-0.1217 right_gripper=0.1266\nstate[joint_eff]: [-0.1709, -2.4, 6.8991, 1.4823, -0.0952, -0.0562, -0.0073, -0.1709, -12.8889, 8.3897, 1.3993, 0.4127, 0.2027, 0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044ce915fbb0762d17d6909a86d4c22eda3d8bf995353ddb80c7d407c7f3ddbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c319206d91c3f6b9cd7d597f9cffd6bc60d8e531bc3c73d549774540037ca22d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc4d0e59ff392f265aa3c42615718b7a6eb83e84a8acb6e79dbf13880f451cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is now within the safe’s side walls beside the white plush. I’m opening the gripper to set it down.\"}",
  "call_id": "call_47Ew3byGyV5HNlOgt6DpjRBE",
  "id": "fc_06f55df79fc286d2016ab461b519b487d0883ad1f43c45812b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_47Ew3byGyV5HNlOgt6DpjRBE",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9741, 0.8833, -0.7643, -0.1761, -0.0902, 0.9969, 0.7845, 2.4218, 2.0285, -0.6094, 0.5373, 0.4461, 0.9947]\nstate[eef_state]: left_x=0.2833 left_y=0.0012 left_z=0.1839 left_yaw=0.0715 left_pitch=-0.2609 left_roll=0.0861 left_gripper=0.9969 right_x=0.4769 right_y=0.3534 right_z=0.0607 right_yaw=0.0681 right_pitch=-0.2353 right_roll=-0.1538 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.0444, 6.735, 1.5556, -0.1099, -0.0366, -0.0073, 0.0205, -14.9128, 6.4068, 1.5653, 0.2613, 0.0513, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:987b8d561f327458418be81c3a3ee3feb8cf8bd00f403691479872da831e8d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef219e95278b2d400d5a612b91cbf6b4b0d4d4dfa5d0650f95d7b57ded56ba73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78381542fdab075085b088821a0596cbf8960d5606d16d484490a003f944d1fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 11.55 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]: [-0.1181, 0.9665, 0.8833, -0.7422, -0.1761, -0.0906, 0.9969, 0.7525, 2.0647, 1.98, -0.775, 0.5594, 0.4423, 0.1216]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1895 left_yaw=0.0704 left_pitch=-0.2317 left_roll=0.08 left_gripper=0.9969 right_x=0.4543 right_y=0.3018 right_z=0.2171 right_yaw=0.0392 right_pitch=-0.1157 right_roll=-0.0751 right_gripper=0.1216\nstate[joint_eff]: [-0.2256, -2.1265, 6.8991, 1.6288, -0.0952, -0.0757, 0.0122, -0.5128, -11.1658, 8.4034, 1.3114, 0.2271, -0.0952, 0.6569]",
      "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]: [-0.1181, 0.9737, 0.8833, -0.7506, -0.1761, -0.0902, 0.9969, 0.7845, 2.4107, 2.0266, -0.569, 0.5461, 0.4522, 0.1266]\nstate[eef_state]: left_x=0.2858 left_y=0.0009 left_z=0.1862 left_yaw=0.0709 left_pitch=-0.247 left_roll=0.0833 left_gripper=0.9969 right_x=0.4828 right_y=0.3574 right_z=0.072 right_yaw=0.0656 right_pitch=-0.1927 right_roll=-0.1217 right_gripper=0.1266\nstate[joint_eff]: [-0.1709, -2.4, 6.8991, 1.4823, -0.0952, -0.0562, -0.0073, -0.1709, -12.8889, 8.3897, 1.3993, 0.4127, 0.2027, 0.3639]",
      "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]: [-0.1181, 0.9741, 0.8833, -0.7643, -0.1761, -0.0902, 0.9969, 0.7845, 2.4218, 2.0285, -0.6094, 0.5373, 0.4461, 0.9947]\nstate[eef_state]: left_x=0.2833 left_y=0.0012 left_z=0.1839 left_yaw=0.0715 left_pitch=-0.2609 left_roll=0.0861 left_gripper=0.9969 right_x=0.4769 right_y=0.3534 right_z=0.0607 right_yaw=0.0681 right_pitch=-0.2353 right_roll=-0.1538 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.0444, 6.735, 1.5556, -0.1099, -0.0366, -0.0073, 0.0205, -14.9128, 6.4068, 1.5653, 0.2613, 0.0513, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:987b8d561f327458418be81c3a3ee3feb8cf8bd00f403691479872da831e8d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef219e95278b2d400d5a612b91cbf6b4b0d4d4dfa5d0650f95d7b57ded56ba73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78381542fdab075085b088821a0596cbf8960d5606d16d484490a003f944d1fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGG8JJLlfZmDXbfD_zBxE6HDQFDuKFqddncyWElhIkqzolZd9gVBJRPLbw7gPEj0J2KsjKUK8IjjeEUsxTzTKC15L0mI3N4yVJ4K32CMsJPoLaRpmDLiSUQvQrImukTXBz8aXVGlOySP-ckarfU9S9S4JOyTmPQxBazqf8enRHfDPBbo0L3-umYFSdZKeT4alYw5Ub0tfS6wtPt0ITJUi1x4eoLQN1FEMz0rTQjTTzGntxnZYRrqxbDNy3ovwdV1okdjFmWQ6njG6e1BbqeT2xyKd3jMqlKjizxmeSJCOqWmEs2SGAgju1SKRCpJNxM9jBg2P7zQhZeOqY1cgw8xMaGy8cJWuaOTd3Jlx-oIs-u891XiQ-TMyKeKYLzTKfDkUZMbWiUKcENcOVG0bJWwJiwyF2ssgoSNKV0vXQRXxFgihDHbidr-bCj6ZLDqejxxUo1naOzG0nc31O3IDmME1RZycW_Y7LQbfFvaqVPllcSlqsQriCbGkodaoMqvnQzQ7y20LJbbu2wj0-MLPbsW304xzotO-rIzdJlsapiSIPc0MDxWIewDLrmrKhM34d7BtqCdZcJKcZrrqEc2ER4lwW5MA913fCCk-TMyQt-1D8nHDnd8yMbrT-5vezr4RFAIqSb8ZjtX5K_twAHzgq6ABxPYlWqnMSepJ8WUtrUi2ZvhHEC06JAQeMvajA5hK_2bZEDn56LXDlof9uekrHlw2KJCrb_k4kw5luKYwFyQx8xXOlKl1i-8oQTLD3v-DT3yM7mfqLPnQqdU6BBYx_BCL7FQG0bpaDVKKauQTAhLsRig_rzo9bwNx3USpqOovnlCVOx-mwfgkFxH0lwAMN_uFLxdqno8wMtziBOwlTGGaLLPjBpHl_z10lTBCm_X6meyEXN-B5RfnC9QYO2M3ExmJ91lwr9a478KEuE_tww7RtjNkH1HmiGboP2r5Ya2btk7ao6x8bNmTVZIPyiiP56rPZpnfqt9ONMBWRSLbUfBAs8Mjejg9Uq65R2EWd1PEss9YVc_piJcgxknGk1XYH_01wD1HFDBysYPPJwckZetNZgpx7n8V3qVmWKpS3Qz1szWgEtY7N2hn_G7_UAPSXzSIJ10aDBjJNHMZ7fQTMI04iCxpLQ0lZq9ZryyYXvzs1rBqrGHOWyG8VvEu4Hzp34nrjotEOJRLFGNsw_H7YlImDVqaUWwKBMNoMvy7zEJ-zcDqgbt0M17ALQIoaNFa-tWdzwAO1OXzlR7f-GssE5eZCsK_n6ou0cID9Gt7GXrXs03xiX1_IJ6rkBQaMmdwdy4zhUoPVrVr6srISY-SzdslPu1Rkat1nSOJOsh0JVhnWX9hZ_nIida_pTMp0rKplLiUAHHcavnVNSt9n04DRPAyru7j1k4YE5gIUJJDndInvMTt_-0GSSeA9sz7azI5AFOpS_YvG07p5T6xK3PrixVuPtPYovwwN8eJeUwNFOJRCTGA5Z2WFTxYbfVIWsLeBbbS2Bs-wOAE8g_eojgoBIJH5WDbgxQyTSLXOwD58_4fwISa-gXa2vkhVwEzCMZ_Gbnk7Ua3op1Hb9XhN6uG9ZVEfNXgyvbLjr1-BtvscNgOY1XtUeCUtfC2t3BdAngDBLuJNZ_ntnB3scprW-8goLQDtALBHxBCVkzqpVNdJy4xCJiEiZFudmtyhwXDCDEx2xPe0HyrY65drASE-uoAmL4Z7vGa1SkWhXCzGBPVVsokozLQSGO-4AnRcy0oNach_GEV4eXpKQByUXnrtAdNFirKXoVgHSDLi8qkL-FzS-Yp8DZhIApz6XHsWbCbR5BQv7PvEeSoUVnbgT1nVRgOxr6ekmGDHz30oUyi-DXtqud8M_vy_9m",
  "id": "rs_06f55df79fc286d2016ab461b8471487d08ec249f84af257fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.18,\"right_z\":0.18,\"right_pitch\":0.35},\"note\":\"Both plush objects are inside the safe, and the yellow object remains to its right. I’m raising the gripper clear and approaching the yellow object with a forward tilt for the longer reach.\"}",
  "call_id": "call_b75SG5k7xCYEIn8JgDwZMSC8",
  "id": "fc_06f55df79fc286d2016ab461bbf98887d0be433f4f668de031",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b75SG5k7xCYEIn8JgDwZMSC8",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.976, 0.8833, -0.7681, -0.1761, -0.0906, 0.9969, 0.4538, 2.0396, 1.2743, 0.3649, 0.4572, -0.0326, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0012 left_z=0.1828 left_yaw=0.0721 left_pitch=-0.2665 left_roll=0.0869 left_gripper=0.9969 right_x=0.5433 right_y=0.1822 right_z=0.1322 right_yaw=0.0755 right_pitch=0.2155 right_roll=-0.1955 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.1265, 6.694, 1.4725, -0.1197, -0.0415, -0.0171, -0.3897, -14.8034, 7.0632, 2.4493, 0.1685, 0.0122, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2b3fe9e39475be028f84f1ac553f882a1d66b092a483a79a108b383d9f0971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f22d8341d456e31825f218cd30c8514c6a1f6c368dcbfde4c47d2e209488ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b5d08a66edd89fa21cdd8e80b71759905272916bc64d3c1b924549c88f9f04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.925 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 65 changed as sent

message 69 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9688, 0.8833, -0.7471, -0.1761, -0.0902, 0.9969, 0.7166, 2.2059, 1.6501, -0.3515, 0.5251, 0.4171, 0.123]\nstate[eef_state]: left_x=0.2861 left_y=0.0008 left_z=0.1881 left_yaw=0.0705 left_pitch=-0.2388 left_roll=0.0817 left_gripper=0.9969 right_x=0.4733 right_y=0.2996 right_z=0.0707 right_yaw=0.0376 right_pitch=-0.1705 right_roll=-0.1044 right_gripper=0.123\nstate[joint_eff]: [-0.1846, -2.2769, 6.8991, 1.5214, -0.149, -0.0611, -0.0073, -0.5812, -11.9726, 7.2, 1.6923, 0.2515, -0.1538, 0.5983]",
      "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]: [-0.1181, 0.9741, 0.8833, -0.7643, -0.1761, -0.0902, 0.9969, 0.7845, 2.4218, 2.0285, -0.6094, 0.5373, 0.4461, 0.9947]\nstate[eef_state]: left_x=0.2833 left_y=0.0012 left_z=0.1839 left_yaw=0.0715 left_pitch=-0.2609 left_roll=0.0861 left_gripper=0.9969 right_x=0.4769 right_y=0.3534 right_z=0.0607 right_yaw=0.0681 right_pitch=-0.2353 right_roll=-0.1538 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.0444, 6.735, 1.5556, -0.1099, -0.0366, -0.0073, 0.0205, -14.9128, 6.4068, 1.5653, 0.2613, 0.0513, -0.0904]\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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.976, 0.8833, -0.7681, -0.1761, -0.0906, 0.9969, 0.4538, 2.0396, 1.2743, 0.3649, 0.4572, -0.0326, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0012 left_z=0.1828 left_yaw=0.0721 left_pitch=-0.2665 left_roll=0.0869 left_gripper=0.9969 right_x=0.5433 right_y=0.1822 right_z=0.1322 right_yaw=0.0755 right_pitch=0.2155 right_roll=-0.1955 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.1265, 6.694, 1.4725, -0.1197, -0.0415, -0.0171, -0.3897, -14.8034, 7.0632, 2.4493, 0.1685, 0.0122, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2b3fe9e39475be028f84f1ac553f882a1d66b092a483a79a108b383d9f0971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f22d8341d456e31825f218cd30c8514c6a1f6c368dcbfde4c47d2e209488ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b5d08a66edd89fa21cdd8e80b71759905272916bc64d3c1b924549c88f9f04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHKPAMyEV5Gdn56QN6ZTPvdQ-qGfSeua4-KKks3ijoKgVVBeTeXttL5i-6CM2GNF3jFQhmphmC_e9AeX9mELEZ77VVzGambTCN4A1ujI2FuK-J-_cda-cEdM96ON7ADtlMotym7oiKJ2kWt3aWZbnUU7uQMor2y8Vi3QMy0VlsXGS6rzzzLh2urGYYhIHfhElsOl80W3cHx348huvBzj-Vi19y9_kDUDEwQv7Pk8m18bKme5TC1Pm9rT1HrlgaevDfojK8TnZrj5lH7WA_yF8QYWr6mZGsdjlEHB-Ul-8WrFjUW_6__YAqqXt5YRTPUzto9qXo24P-lZVVMnAM3yA0P3B62qCkmgXHXbvmKg9vMJTmWncrjqyljVsczRX1ZryQSWjW2emIhHVXZKHjWA5gSkHjb-6_H54DnjVksnmZB5cggWsWFb9lkg7H-mS84ipzMfRJEJLOE_q60B3x6H1xMDBgppTyyYL4q9kjZKSqtgGVjYOBWWZ4SMRBdDuzRfWzNTa-U28tUlyZObaUNoc2NQ9HjyMtsbZp5rSj81GtaGcsVDHJx3TS-SlY30pyDeiV35C3YgXD7I72EPo8t3MbxHwbspsm26tUD5VaSCMlNLX7y7KYJZNft1lzK_TpD6ALtlCLWqNA8-vTKaMRnBrUX4Bj9K5Wct5Qq1qyJs7LmYyUuukMEWFYkmJJbCPuyT6H5ytq7Ix_QgQbeVO6L9kougbn4ft6BpkruLDt2SsnCRBq0_5sVOrI86woJ23aQBYKz7d6f1v7ngymV250Sb9ycyEWI683zKGl4J3jlmXJLVNjBSTK0rAJHUs9Ua6zTgrfuUc8sfYVB8mzcuxtuZ_JQNta3p3rGAzsJ7VeUPp4B7aZuWKaFhsiSjdbg_1VBqS1eQo6GW4t90pkEH3ks5G8IevlloNSEkSer48DBVQe_NT_jAuERTjIxm-EuGbVHsXKJfSCAZaYN9LE8K8eSUJ0LjpNJZMftSJxFYlhTb0pI6duiX2bIYhSAo4G0p2UAFHMDOiasnQajAoxkQZJeQuCBnhoLrU92xkr6U3fjchaOwgmXIyd0X9XgfAzd8F5-SebCp2IfCdeDcsjZ3BYAQEHYxDEPOdttKNO1SLKCdLx68HZbpbZ0cXGVuviKh7H8T2-ghn5Ku08uIXM1HQwnIjK5JzADvXFCI3WcNTcofzcf_1q52z8XtEwa8X2INWNoT_O5mpgOmsmBTPBNNdw5zFDepAzfnyFXP1cIHJU1wHr-ZBr_SjVzgfW0tyWc80lKdywnhYniD5minJpOOBnfSrrMgWrqPWgPGbXQ-iIjXKI4XoY2Xo7SW0lrITbJ_BS5UzKiMOWmFBOK7F1TCvisXK0uf7BaZV64ML4kHAKk-QCOXgADSbpiPeDRSRb9tSeibhRyNxpSxgRokF6VTh65FFH3I7NkrdDIDb8HKvKai3PK-dhoWDpKBVjYDVEMMwKhTTgZAOxzvUCroqTOdn5BhW40247ddE0gh3S3z23BkNfGxsYDrgnDVfRXlnnLHst3TY4_Bq61IC1NYcl8yOlRqAXbSBOKTowXuSnvBxLJO0MrtgJ89_2BcTi45F1SMrOCKLTYqkKkSajXWGBtADxiKAaGZVIXTJJU57nDMOOQVRwth9BeAeFd_GOZl1job353NLGfJvB-uxpIRK-xJD-REywPGNvBtZCF-fYpIQq6b2b2viRPbzR1xaoZv8hi6EKro1Y8C_l6gGx1sOI-FAuwdcApVxES38dleZNnKvJ13jxMhJ5bGTNMHbVnNJHZ8NxTW5LGACbiXqO8QXIp4VkGCIelJAnm_bMs3viHloEX0g9_SswLnufBa8yVtrj1z9YZoYOHfn8o1_WaCe-vI70b-4Gcd-P8R0rybgB8KUofVMrB2st0uEdDp2g821mEkORr9rHyY3MsllqBCc58-gZrKdIJ383_IB1LMnOfrqp-D0RRPJDQ1PlOgVCLZyV0F_cKiL7yOdvOWn37sGKKDNGEqYynr3vv9Llz9X2LZ4Dd2Y_HxaGl_9NxiTMexT3k3ssuA6Vsu1Mr86VY6RBxCe_FwkmsE0kK2wqN1h0uvIpsQe4EjRJtknp0DsrJuag2JtDtCn93okA2OR38_EsVZYy3bvSNhyhrK7dkbg3vlH1GjpdmXIWmrAIG8Ai14iWXWdW43CFcWUP7BDEFjNEyo1z4B5vy6M3aA8EfTy9U2Mq4kE1CF4m1fy2P6kUIFeNNEKsqZtz1nS0S0G4FEXlXnkOZq1S6Ja3XDt-5MZESFkWNKRmCQBim28sY07Bt2p-1BY-k776qwELbfJX86PjQr22U00tc-o4Oxy3RrfxEot7F9S5FJB1HF5vTvH7wEQllYEZMnQgMC0RWgc8yyMIW4djb4BHph_QJ_mCOJkZZOgZDYiCo2X1JTCjLiDBfIxOx7XxkoC9xMFd_ns0dLnjaJ8unR-luG_o7TDIXhQPauOkW_B6Yae-_QpKyMCX9M-pXcoBgB_WfD29DX77-ok69MkrSkFekGCmjwMFwMjR0N2w1W-u1KMNbLmRZ5u1Mihe5BM-8rYXbVBtUBjc5-9a9ACaWSuxiMpQPNlCLheXrZtbNdASkc_xHLlhtEeR4emSd1kGymbDbHDK2u7vX5f4PKG8p2hByprQ8aaR4Qhv-J5Pgc8b1nHo1xZ-BD6Hcjsm-1GrHiNM9xs99lDPvaxMy0AMn2mzeK2yC2HNX3YbLg_cFj_7E69zJMiJ9RQGTjecyUZgJkrhrPbKx9qBjbFnKqifrIqwOjB1qlJg2CNyaUCZzYnQq_qVXAFOPJSOd44EK5ZeYEhcjZRMoklaAmdI_lTAKwgrszN4a7nHuhKWGriSp8i6f2Ff9zCBqIeffSF2ZoIdyl6oY6-YNoe6XDv1A_59OzK61SrAwwVgp9xATJU9jMKlCWPoUMvRQWElRCkohIWCzDrHxVPw14KDr9M6oflE0im7rXHOgDjDMu1mpVaplxe_dfHXrnF_lpRcdCfjoJLTizDNgW7Zc0RQNbqzmPNg5bIirqLPkjUqbUCrVNAqoKwbuTJz9ua327J3JS4P5CNVZDh2cshfJ67FKT-kmoZMbBilj78Q1sK_GKzy7pcFfRPeNKt5VcclmR47bW8ZioKWUI-vZ7hhnW-4KkV9NA8xBTUncRmz1A3FpmXThjyOCOpIvdyeR7J2TNzP17ImZAVqop2R_huH5p7jCmn7B4SJKxUIQ1K0g9tvjXAYC6sRM4mmlWb4Rj09ziwwPD3K4FQSl2rEqQFw5ZEmY5x9VxWa2EFnxgZHE5SSz2m0vUxu2-5ADEyqQ3BF2VfqMMAxbk3IdnWtHCYHnmc04QEBYtn9krNaBHHXqx4ZzNn_AQfQ-jSLn1abpIgQnCsatyxh7f5B5aXyb1K4yiBqMiXQkm3und-kElCzgTitKyBGxChWWK0Yaku6IYfJ98On9VrejO15SbsFp2cHou0VHd14YY3kVpQj8uZTg_wlxt8MG4di_CZlTUkb3-Gw4cvzfgHhvYNMqIF6og7-ViVBDfr00sjQGsBKnjpcGwmQO67bVtIGroeBz5v1ha0kLnNFL4HIQBKXKsPWlTc3UknWA2E7SFxNKCyZTqp-_xKAuSkz8JqNEq5gvR3OHdyWfpYJ1fK0JFMflD2rVGwRXdzp-nVQpyCW4VhMkNe3q85l66U8Yuj0bLc7OVVRhABuVHrrRoI-KOs4-_IbqOp18iQP045X4jenKogel0S_ZPGqoBtbFeLoUQXEgHCz3C3w9bO5sc8vneY1v7YClPfPf-6LIwGJLojrVNPWWppFoVidArUnI4Op1Nh9IDSrLnr2fFXTMKzEg4svqLBYrOMqeEF6dISPna7G2pGGJJxjcA71f6J2qeoZPb_WbJOdZuDV0zhK6cX7_Vx485L93",
  "id": "rs_06f55df79fc286d2016ab461c07ae487d0a722166a51b20073",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHKLEpdLlSAl7j0T9ZJyZeK2shcxLtv2kfasPDRCKM698p8eqgSTM5iZMmjVDjiu-BTbteIFBglo1nreGdsV7cGXL0wwV_wbK1496uX22jI4OkfhlKblQS_NWDeHXGCZGc2Jp40y7hNKZn-3xOQDlhBFnpnpr-dOT31PQlTIuWQ1Sw0sdh9Cgb_i0pqf5JpwYdKRFHPejooGlhnUve4BwvnY5uBrxr_kg6fEkiQcq6KOKMOUCdGeeB5HHwkFHJ4875Tf7_PV1rbFsYKlnSttIO0DeaqB3weqx_UshQlJsbdLCVRNg0CXAkjqxOTniXHmNmpUtVQKkOub-vNNxqft_Zyktsk4b2t1ekrD0Y7lhqtJji6kfdknuJA_h3LIx7RytTHeqem1_0hF_CmfWUHwucdqM8fjKD4kNVkO2ci-xxAFacjd-v1wYro6FUKkfY938lcmWccBBijhTOpsje8FZ_8sKxgasTE53KVUemMcd_-1Dy-9kUoTpR6XiiIw3BRN1izHgvuN30UDW1eAGNwQoR3YZnEs6m_qlymMnxWvjva6nfmxzwqYfte9T0JLADU35UaWoBMM0Bvse3L0f1dT2nj7jgkXLanm1nGfRvvuMInGltCbc_Wy75oknWaCUozyNSisE0C4mfTnsD4K7qYdbBEz5-u6EibO_qx7zkL03c8EVd5izJ2zaXYeRCSyRp5YP_j74QgrgpQ8aOsvw76qBzvE5mP2_k3igb8VV905WOr7frn4bslkkfZSNZ63raVM3Jj8BWqI2dy_FHIX_cCpFgFlRr3qZ_vTHhU5WOy8LNz76j3zSi8NhmxJVThiDV0sJXH6W2UZ2QZagdK5-evnL57bwIUZBmpQjvgXz9VDZp-l8yRDuAdI5Gmi-flP5goyW2U9HOA29q9CJ-igZpNVee4F6wLoWZDsC47ggSkiop3nNBj6maTA8K2gHjidjqntkd3vjTrJ5YQ3Vg8NfJwcvwVrt9qJs7xKjjixUeqq7yu19hYQ_tNT2CVMoouhzSQnB15ajp0p1ur9C6wgsFYx7oRxXd1TvKzs9ZTycrTgZGiwWaEjAJzjPx3g59l-7ywZyNyuJaQZGIbpAkFAZ3lVi-JO7h-KM3eN-QpEtURBy3Cypm0B1TbHyXtdZoduQvC4YYhspOgyUJ2tDkJ8aorLlc6c0qKTanmhyN9VAt1AzN_3XsKfnT3dU0vgA5AVBx4reCvM0P21I4O8sRG4zsMThdU7EAD8UD00a8oYa72DX59W9v8jihgbCawWkgvw7JYvyMB",
  "id": "rs_06f55df79fc286d2016ab461c8de6487d0a0dc0bcef0142a87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.15,\"right_z\":0.045,\"right_pitch\":0.5,\"right_roll\":0},\"note\":\"The yellow object is visible just right of the jaw centerline. I’m correcting toward it and lowering with more forward tilt to reach its sides.\"}",
  "call_id": "call_xbcRAtmOKLYlBm2anWCKUlVf",
  "id": "fc_06f55df79fc286d2016ab461c948d887d0b29f8c8d16e8b5ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xbcRAtmOKLYlBm2anWCKUlVf",
  "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]: [-0.1181, 0.976, 0.8833, -0.7715, -0.1761, -0.0906, 0.9969, 0.3557, 2.355, 1.0657, 1.1713, 0.2722, 0.0006, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1823 left_yaw=0.0722 left_pitch=-0.2699 left_roll=0.0876 left_gripper=0.9969 right_x=0.5505 right_y=0.1577 right_z=0.0522 right_yaw=0.0905 right_pitch=0.4696 right_roll=-0.0194 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.2085, 6.6803, 1.4481, -0.149, -0.0513, -0.0122, -1.2513, -8.8547, 4.3556, 1.4921, 0.1245, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096447e30d7bcbe73ecc8f3edba702e4e4250f5f2efacb9640cbe1bd5daec21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6d0243317d12b6cefd00ffe203ece2c0b24aae6d39ff95d1bd7db5d46279d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fd332f8d0674b6f02fab78acd398ecb4b6220ab2764926c00303a42ae32f52",
      "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 · 3.129 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 69 changed as sent

message 74 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]: [-0.1181, 0.9737, 0.8833, -0.7506, -0.1761, -0.0902, 0.9969, 0.7845, 2.4107, 2.0266, -0.569, 0.5461, 0.4522, 0.1266]\nstate[eef_state]: left_x=0.2858 left_y=0.0009 left_z=0.1862 left_yaw=0.0709 left_pitch=-0.247 left_roll=0.0833 left_gripper=0.9969 right_x=0.4828 right_y=0.3574 right_z=0.072 right_yaw=0.0656 right_pitch=-0.1927 right_roll=-0.1217 right_gripper=0.1266\nstate[joint_eff]: [-0.1709, -2.4, 6.8991, 1.4823, -0.0952, -0.0562, -0.0073, -0.1709, -12.8889, 8.3897, 1.3993, 0.4127, 0.2027, 0.3639]",
      "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]: [-0.1181, 0.976, 0.8833, -0.7681, -0.1761, -0.0906, 0.9969, 0.4538, 2.0396, 1.2743, 0.3649, 0.4572, -0.0326, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0012 left_z=0.1828 left_yaw=0.0721 left_pitch=-0.2665 left_roll=0.0869 left_gripper=0.9969 right_x=0.5433 right_y=0.1822 right_z=0.1322 right_yaw=0.0755 right_pitch=0.2155 right_roll=-0.1955 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.1265, 6.694, 1.4725, -0.1197, -0.0415, -0.0171, -0.3897, -14.8034, 7.0632, 2.4493, 0.1685, 0.0122, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.976, 0.8833, -0.7715, -0.1761, -0.0906, 0.9969, 0.3557, 2.355, 1.0657, 1.1713, 0.2722, 0.0006, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1823 left_yaw=0.0722 left_pitch=-0.2699 left_roll=0.0876 left_gripper=0.9969 right_x=0.5505 right_y=0.1577 right_z=0.0522 right_yaw=0.0905 right_pitch=0.4696 right_roll=-0.0194 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.2085, 6.6803, 1.4481, -0.149, -0.0513, -0.0122, -1.2513, -8.8547, 4.3556, 1.4921, 0.1245, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096447e30d7bcbe73ecc8f3edba702e4e4250f5f2efacb9640cbe1bd5daec21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6d0243317d12b6cefd00ffe203ece2c0b24aae6d39ff95d1bd7db5d46279d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fd332f8d0674b6f02fab78acd398ecb4b6220ab2764926c00303a42ae32f52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHPz4WoVfWsO5XTszlFDfSNRWu4JQc6ShxknZfrqmyiTi1bx4dGx36MzYQMTvtxCZxLrvIO2Jv40AIBBzkW4RSExhbGyI0KW7WErt4fvdPRYxmtc9JZ0ixBtbKsSIsPE_RkE1656wfhkjIYVk2MQLsFF3ihOr0ugKweypnYOu7wQ3GJsrBm6OmoRJJrZmgF09wz_VpyYfvC517qC9311IuHRJEeYkKSHSvOQAQtRVO5AMMoSdvtFze_xZI-8-ii6LcvaCgSf-xTG-V0_59R8hTFftKVG0IY1Cun4JQ_OwtuzG7qfCUlKWvSc2_s56_nIWrX_vF2NDw79oQiCT5b8UV8BbfJanAeRhEYmroZeVv8rSio8ppAmafZBG8DW_VMEITgTk2wSDTVeMbvjsFuYpBcGrkgwVkrQim7sgspQy1Rt6F0kG1mpq_WoPqfB9wVfgaqWVuDi81g26DDDriJ9sq8WKc9NF-rbMB5U1lFgG0G0xfRfvwc7TzQIBD8Qm417DmUDW7YaEyr0HnqCq-ZS-nlOIRrUHo_HJnOoSCLjoSbVC088V1jKRuTS2CngJQvdSvWrd9KxXhO56GOdoa__DT0viEsV6PtodGSR72Fj9xjntnPj-Gzf8GEJp4nPc8Y1Su3Qik_QjAoP6ZGzV73NDSfPEpmHeoST1BJNPL0k1dT2Hx_-dRpKjSmLsBKDrjWGAWjntAz0b_A51t9BWK0AReq54wNAsEd0cKBUgDSaKRF6WvUOZmyOmmQ59qhiCSILwfnRVfNYKD68AE7XHQmE2qnJtPr79nrIL8nnTqpcW-AA3QzVbgrBcmvA3qIPfudFS0kU2WnZ8vf9EtQybUzeHrMtY3AYOk6aPOtYolF1Ve975deJUhmOQeXRqoTksdO6d1J28-dFDWTv-0Y_JKcYVIrPq3b6XuedUuDm2UuwSztJ4Ohvu9ZA3TVePH-Z0YJxprCbE_IX9cfeOwI-BjBvBRVgxuXJQb_LSdg99PdVzwauNt0L5rsVW9cxcf3sPSny2OQfzMDlYVYqJtxz7xNWDIUzUTXv0q1bzaQe2o4E5gTQi0bT25yKA9WJYqlocDeitEOcQqLpxqBu8Dlbv7x5feL-ZLVTPF0hZdwTAdr1DAhDD5Yua17t-7Ej90nd1c90lxv94SL0xlKcVijgXRaSQG_E0KGLUAP7l1_ZabDHBPjxA7UIKUZeMu5ibmWvr2CI4Z1rIKzgI7lsE8C0lD_28Uk7zSgU_A4MBLWxyY92MhYQEv_Ts5P_s-_7pEyVYejDc1eL8CUA2CI7mYFEteZi0X2kyl4kpbO2PgJwCfKFbWIn7BH3QXo1xU7HDop54VDLHONNZLQRHdb-wMDsoKYIP7tnHS2_9dJn9nQk0X0xx5YXSbaSaJnS8dt_AIX68p_9Bz-KHoVyfvpGawciye4olaIBj7bFsj8QUw5rww3l3woDRrxVzTFfD5X5ZK9CvI9BW-CKc5nOBu7EUCV9e0pOJ7Bhb86YgtgDQ56ZSRh9vkwXY1IZoqcFk0pU79XzNgOtCkozKuAhxjo5kdx2XJ3IkNEBQJXTRvgSw0nEHYnholPXO2AZ8VKE8uYNsNOGP4J-enQuqfjP06aXV_b7dkBm-Gh0KjwOijuoJZVmMZu_SindkAAhoa1FXoPqaN80PhGU6bcwRHv-TJfSc8i_7ypny9tsBdOhJp3bOBOy0Y-SPu5oo2YS7EvR1X9-STZkI9c5IOBOkhhn0S8L2qfDay_SFOXGQ==",
  "id": "rs_06f55df79fc286d2016ab461ccbfa087d0ac7836a0289c5d9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.13,\"right_z\":0.012},\"note\":\"The yellow object is close to the fingertips but still slightly right of center. I’m making a final small sideways and forward adjustment to put its body between the jaws.\"}",
  "call_id": "call_qlVyyUGVZx1TpkLEeZL0bLsd",
  "id": "fc_06f55df79fc286d2016ab461ce777087d099500a943a78cfcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qlVyyUGVZx1TpkLEeZL0bLsd",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7723, -0.1761, -0.0906, 0.9969, 0.3099, 2.4359, 1.1206, 1.3132, 0.2039, -0.0002, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2725 left_roll=0.0881 left_gripper=0.9969 right_x=0.5663 right_y=0.1476 right_z=0.0611 right_yaw=0.0952 right_pitch=0.5812 right_roll=0.0161 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.2906, 6.7214, 1.3944, -0.149, -0.0708, -0.0122, -1.7436, -7.4188, 3.6991, 0.7937, 0.1929, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5105e546a7070b6f56c33c8b43b95253ae4ea70434b050b0794fad40924bee5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bea469eebd1a2eaa5a9f61073da1e2c5ab85ad0cba086aebf89bebe9e832a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27840b3878e0aef39308526d65a192b08ba15509d5d3092f294d32895c7c9b5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.113 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 74 changed as sent

message 78 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]: [-0.1181, 0.9741, 0.8833, -0.7643, -0.1761, -0.0902, 0.9969, 0.7845, 2.4218, 2.0285, -0.6094, 0.5373, 0.4461, 0.9947]\nstate[eef_state]: left_x=0.2833 left_y=0.0012 left_z=0.1839 left_yaw=0.0715 left_pitch=-0.2609 left_roll=0.0861 left_gripper=0.9969 right_x=0.4769 right_y=0.3534 right_z=0.0607 right_yaw=0.0681 right_pitch=-0.2353 right_roll=-0.1538 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.0444, 6.735, 1.5556, -0.1099, -0.0366, -0.0073, 0.0205, -14.9128, 6.4068, 1.5653, 0.2613, 0.0513, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.976, 0.8833, -0.7715, -0.1761, -0.0906, 0.9969, 0.3557, 2.355, 1.0657, 1.1713, 0.2722, 0.0006, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1823 left_yaw=0.0722 left_pitch=-0.2699 left_roll=0.0876 left_gripper=0.9969 right_x=0.5505 right_y=0.1577 right_z=0.0522 right_yaw=0.0905 right_pitch=0.4696 right_roll=-0.0194 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.2085, 6.6803, 1.4481, -0.149, -0.0513, -0.0122, -1.2513, -8.8547, 4.3556, 1.4921, 0.1245, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7723, -0.1761, -0.0906, 0.9969, 0.3099, 2.4359, 1.1206, 1.3132, 0.2039, -0.0002, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2725 left_roll=0.0881 left_gripper=0.9969 right_x=0.5663 right_y=0.1476 right_z=0.0611 right_yaw=0.0952 right_pitch=0.5812 right_roll=0.0161 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.2906, 6.7214, 1.3944, -0.149, -0.0708, -0.0122, -1.7436, -7.4188, 3.6991, 0.7937, 0.1929, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5105e546a7070b6f56c33c8b43b95253ae4ea70434b050b0794fad40924bee5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bea469eebd1a2eaa5a9f61073da1e2c5ab85ad0cba086aebf89bebe9e832a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27840b3878e0aef39308526d65a192b08ba15509d5d3092f294d32895c7c9b5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHS5AnvI4e8ElPIODwCcIJPQ2NMHU03QEC4eLx5AC_hVhg04JnCwP_5unLgJq6Cf3-LKMdTIMTyikF5tr2aHAzxQeHdjxyyQ9jRCy16hpFwRmZQtnLoCbRh2vD36Kd5sGxEppvNKnTS7HDOOmyBbhBIG1Vz_wMVT5JXZpDF1Im0Vlf2QTQEiWKpnycM7xs1p1p6Pilb6ZCRQpelAOTQ0Ym1M21SbFaennroU3jjc1YcKhOsPAz9VtRVHpPMzhwh6z_OUWH6AkvMvRjy6NH07DTCcPlJUAjuAgqEn9ROK89l0EyQxmTThpv-J4cu5x38zDfDCubbaUMEKx6g-Y0KoeDuntTWBbvKQZ1Nm1uFwbd3s9OcwBYDfdZ3IXymXqr4Ya0OwOUjFqdYyhslBKrjqGqssLBXkLuwXkV08vdCmZSG5VR9Z5yl7hNIWX7OSCccpWzDKXmn9ilVsDiUFGRH-ka3eRVKWhdHM2x9E1E24TcIUNp5v_ZgMrKQN49GYVZdKNvdmJdZ7w_Xar_xnUgabEldAJAc-ZXqnB1VuWum-mOViWMQNUM2fvJNp9uTHw3s-6reH9EL_Svo4asdRcx7sA-oT690wT6bTiGRoI9PSm9Ct_tGJqzn6XnaFlrsS7YWsZsFEVL8duEd0XWDVqdSmPSoBdgn9oO32JDJUFeWifXcZIoSNevCRQC5msoRfl-npAw0ZOjLh4aer8kYzVC5fkoQ-RVwBCiNjQg4r4LO2TFjr2BbTAfONkYdU65FjhYDVl5GZNJSK5kc41mv0lf77XXYDbY28y18_9g-YSKuNIkxRI5eKJdiC-FREFGPeqW4h7W7i5rEZXL268LLV-rRsq_hVSg8b7zyyeX-_06SoF4elEOH4N_84Ctdy0qVzZDp0ORSbtKaqPTCW9ws3TRPbAhyJmtGyChIJNRijph3wCdNIBRakECOElELvsc52kkjTgV45gs5_Sxc-hm_TFyrZink5sXdKzfWYiO1baGUiTkxagqS5yA3mERcbTN0GL8S4FI4y0mJhWx8r9qa2TnYkLmg2aJM_D03_hK3GqR5F4neqOY8S7mJ0yc2z3ySU1bUzPKolhWYx-KQIZQUPOCy_TYxsr_93I9QL6hPaCiyE38hu8bPX5lR-5F8WMHUF32BlfAdTAmnW6Xo1NlcR74ZjEgzPRtnPQsU_8K5o8tOS4kHNwum4C2Fe7s3yeDCT4B2AV6j9Jx8LOKKWgNDwdrfGF40NO_PXdzvTK8VIwsWXvr-7b2IbT9WqdKE7V0e-Oq5LF2K6mfuk0cLSIhpC4hajIWlJhBtB4kfoWgzB00oFFFWAmIRb2YxJYienp5lUS1_Ax_QB4NTZOCm3OFJCGDJegnQH0nlP3pv4EeZ7fHzOpkauIUfi4Jo0TR07q_oLH70FxuC3uyHO0XlynH2epTeLpY2LSZK4bUczbF7tx8wLTl7WJsMLE9DIxQlXBNaXQzBIExf",
  "id": "rs_06f55df79fc286d2016ab461d1222087d084d9ba0a854cbff2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now on the jaw centerline, and the arm has stopped descending above the requested height. I’m closing at this position rather than forcing the arm lower.\"}",
  "call_id": "call_FVWBijG3kIS7r2hbhRqZ7Ca0",
  "id": "fc_06f55df79fc286d2016ab461d1c9e087d093a09284837840bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FVWBijG3kIS7r2hbhRqZ7Ca0",
  "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]: [-0.1181, 0.9779, 0.8833, -0.7719, -0.1761, -0.0906, 0.9969, 0.308, 2.4439, 1.1275, 1.3483, 0.194, 0.0006, 0.2872]\nstate[eef_state]: left_x=0.2822 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2721 left_roll=0.0881 left_gripper=0.9969 right_x=0.5673 right_y=0.1485 right_z=0.0676 right_yaw=0.0979 right_pitch=0.6144 right_roll=0.0255 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.0581, 6.7077, 1.3993, -0.1245, -0.0611, -0.0122, 0.0342, -12.588, 3.8222, 1.4725, 0.0513, -0.0659, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4205b4268ab15f5db02b2551533e622f4b2ca3df7dce1b081659a3d88769078f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca096272465f59d1c9df35f66bafc5ebf02fd40dff90edf4693831885940085a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495aff7be518f59f050eaddd744133768770c862a384fb419d242c67aee8aa54",
      "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 · 3.731 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 78 changed as sent

message 82 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]: [-0.1181, 0.976, 0.8833, -0.7681, -0.1761, -0.0906, 0.9969, 0.4538, 2.0396, 1.2743, 0.3649, 0.4572, -0.0326, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0012 left_z=0.1828 left_yaw=0.0721 left_pitch=-0.2665 left_roll=0.0869 left_gripper=0.9969 right_x=0.5433 right_y=0.1822 right_z=0.1322 right_yaw=0.0755 right_pitch=0.2155 right_roll=-0.1955 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.1265, 6.694, 1.4725, -0.1197, -0.0415, -0.0171, -0.3897, -14.8034, 7.0632, 2.4493, 0.1685, 0.0122, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7723, -0.1761, -0.0906, 0.9969, 0.3099, 2.4359, 1.1206, 1.3132, 0.2039, -0.0002, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2725 left_roll=0.0881 left_gripper=0.9969 right_x=0.5663 right_y=0.1476 right_z=0.0611 right_yaw=0.0952 right_pitch=0.5812 right_roll=0.0161 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.2906, 6.7214, 1.3944, -0.149, -0.0708, -0.0122, -1.7436, -7.4188, 3.6991, 0.7937, 0.1929, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7719, -0.1761, -0.0906, 0.9969, 0.308, 2.4439, 1.1275, 1.3483, 0.194, 0.0006, 0.2872]\nstate[eef_state]: left_x=0.2822 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2721 left_roll=0.0881 left_gripper=0.9969 right_x=0.5673 right_y=0.1485 right_z=0.0676 right_yaw=0.0979 right_pitch=0.6144 right_roll=0.0255 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.0581, 6.7077, 1.3993, -0.1245, -0.0611, -0.0122, 0.0342, -12.588, 3.8222, 1.4725, 0.0513, -0.0659, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4205b4268ab15f5db02b2551533e622f4b2ca3df7dce1b081659a3d88769078f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca096272465f59d1c9df35f66bafc5ebf02fd40dff90edf4693831885940085a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495aff7be518f59f050eaddd744133768770c862a384fb419d242c67aee8aa54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHXsm4tpPrc0wkF6JgmuZ1r58OKWwZV2s3qr4XvTHtP4mDTsi3tiY_rkFVPTPpnk__Bj8nIWQuS4kzoMX18Ok1DsBQis7AQMDQU7DVWcXTBeRbMTbl6gb4sh58A4qYZaKlrfNmCYTHB8XLOscddB8Z8WurYgIjVBZwum36iBWLv9SdhrPL7sWrNnkc8GHsi0LltGnOOSKL-yFetyi3xAqBSKIrGJms6WXn2ylanvbryRkSpPPFfMj0QDOU_tHJsy6C1MMhI0m4tzQK74DQRMaqPA7w5edDfSxtYW6CE3u_-ar4EowKHIDCBAYGSRjV3-AKKQGgmk24N6KFxVws3jitPPbD_ayIQzlu9_3bs1TtrmPWQcHChNoqoSb0IWw0T3vDBpFbLpWuaftLgOhVl7sDt_uSj9te9zosBc_G490BG3lXQ_5EeYZTA3LQY8wx9EcItUIciXgxKN1w5iLHKO2uZqe3f2fs9opKCV3FiHxR-XzTi5jW5fjYgvUvVp_7D60E8_pOQwFqjozeN8ZmA9cLRu5Q7Ne2PRIoPKVmO_ROqdzHCcLxHaPUxmxcVEqi4lHiYNrrwr9xIMo6ENopzJ3uwqbbCLxhaFJ1H7T0w8Aalq5UGXA5NWkOJ3sPWNiFePmZ7DKUiVKqorG_wwxdVZGyFVCFLOFZlhrt_9CIB54ewXn2svRCktY32EEjdhIovjDqB8wrIge8447bl8cfD9OxnzK7Phx1WY-1uG_GhOSnECdy6uKTS3LR2tsN5v2hoKW9xhkNn26P4DQ51IDGROSF1Bl_DD-JyzA1Kv9iFwbItR-olhi_N1VmDZw8Lx6zPY3UtKE6dwUuojRp84wyFEriEiT1ye7xHnxq_AhHquG_ufnfzpw4DdPknSUcS7vF-4uzz6S3E8uMcmLR6f46NJefudXk0UPfbpMfYhWq6nOAalRWAmHhXh_gvYbLy-zwHKXbqnLeZQJQxh9DmPXyfxevCenV2GDzmBVoFdKd2Wl_6knU5g6vZkkyWwtJKGwE_fb8EeujLa9mHOWFrP4KozWCetx5Tqgh_fZtWBHE_mwwCtVUnEcbzYaQAUCdOxdNNk4fUY_ozMdpDp3oTCxa7SzNF0D9KK0FUg3WKAD_uJ96cFdtg_erzvDUeC2GX0CGARstDqbZvu8YGz_6TFR5g8F4dvnF1YCvOGSnJCQvA21yJUtN9VBli_IJ5_wicFK1-j9YibKbGg_qwwYloF0FB1t9xhw0WIFAfwbCbri-Q7YHDHZI=",
  "id": "rs_06f55df79fc286d2016ab461d61e6887d0b7b4ff2533743c99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_z\":0.145},\"note\":\"The gripper stopped around the yellow object with a substantial opening. I’m lifting and easing back slightly to verify the grasp and clear the safe’s side.\"}",
  "call_id": "call_VbGcJzuZ8sXkvx31acbiumLv",
  "id": "fc_06f55df79fc286d2016ab461d654c487d0b2e099b422f401c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VbGcJzuZ8sXkvx31acbiumLv",
  "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]: [-0.1181, 0.9821, 0.8833, -0.7715, -0.1761, -0.0902, 0.9969, 0.3267, 2.1723, 0.9932, 1.169, 0.1989, -0.0002, 0.2851]\nstate[eef_state]: left_x=0.2826 left_y=0.0013 left_z=0.1807 left_yaw=0.0723 left_pitch=-0.2759 left_roll=0.0891 left_gripper=0.9969 right_x=0.5422 right_y=0.1507 right_z=0.124 right_yaw=0.118 right_pitch=0.5734 right_roll=0.0141 right_gripper=0.2851\nstate[joint_eff]: [-0.0479, -2.0034, 6.8718, 1.4725, -0.1294, -0.0464, -0.0122, 0.2667, -12.6974, 5.1077, 2.0488, 0.1783, -0.0366, -0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e4a8ae14d8ffea7d27f4740bc8d508d57f3f49b060f57d77cef6678487e422",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea1c3b5712eff4402c6b5682d50ccf440b57cdfb525c893f9f7979001c595bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f796701ae78c7377bcfac694fc09ae2ba16c4cc8f6577ed45266a0970dc3fb2f",
      "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 · 5.174 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.976, 0.8833, -0.7715, -0.1761, -0.0906, 0.9969, 0.3557, 2.355, 1.0657, 1.1713, 0.2722, 0.0006, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1823 left_yaw=0.0722 left_pitch=-0.2699 left_roll=0.0876 left_gripper=0.9969 right_x=0.5505 right_y=0.1577 right_z=0.0522 right_yaw=0.0905 right_pitch=0.4696 right_roll=-0.0194 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -2.2085, 6.6803, 1.4481, -0.149, -0.0513, -0.0122, -1.2513, -8.8547, 4.3556, 1.4921, 0.1245, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7719, -0.1761, -0.0906, 0.9969, 0.308, 2.4439, 1.1275, 1.3483, 0.194, 0.0006, 0.2872]\nstate[eef_state]: left_x=0.2822 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2721 left_roll=0.0881 left_gripper=0.9969 right_x=0.5673 right_y=0.1485 right_z=0.0676 right_yaw=0.0979 right_pitch=0.6144 right_roll=0.0255 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.0581, 6.7077, 1.3993, -0.1245, -0.0611, -0.0122, 0.0342, -12.588, 3.8222, 1.4725, 0.0513, -0.0659, 0.7204]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9821, 0.8833, -0.7715, -0.1761, -0.0902, 0.9969, 0.3267, 2.1723, 0.9932, 1.169, 0.1989, -0.0002, 0.2851]\nstate[eef_state]: left_x=0.2826 left_y=0.0013 left_z=0.1807 left_yaw=0.0723 left_pitch=-0.2759 left_roll=0.0891 left_gripper=0.9969 right_x=0.5422 right_y=0.1507 right_z=0.124 right_yaw=0.118 right_pitch=0.5734 right_roll=0.0141 right_gripper=0.2851\nstate[joint_eff]: [-0.0479, -2.0034, 6.8718, 1.4725, -0.1294, -0.0464, -0.0122, 0.2667, -12.6974, 5.1077, 2.0488, 0.1783, -0.0366, -0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e4a8ae14d8ffea7d27f4740bc8d508d57f3f49b060f57d77cef6678487e422",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea1c3b5712eff4402c6b5682d50ccf440b57cdfb525c893f9f7979001c595bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f796701ae78c7377bcfac694fc09ae2ba16c4cc8f6577ed45266a0970dc3fb2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHbVLHv1OSXhOa--ZA-jd5VEtVnC_HLncZSByGXYfct9GDUvmfK2IKDlaUrAcMOU0k5NiVUy8vEmr29NbqihYyjgJG2O3P1zNziEdfCXaLGXkPI0NJYrG0v4UafLXztq9qwIaRmkFLcxr9oTVuO902pw7C1mzuL4E9Zc-zbAeaEvqtxuNbqE0eaGSWiGFZIzr-UII09AY4IDmjAqFK6TapfuR4mE6Qz1URBeEZcNYMWyxhqWPVRcMTl1PR9jUCPG4glM-UXZh_cXeqNnn8GKjvGU43W2j5bqnlCWd_15J1RdAv0wX8JwLorSBM7Zw9QSXVDjqKeAw8PQW-Aegf-3Y7nAm1Q_EGbgMX7RhQIIT3bP6vV1WDwap6R_AhDqcR8JzXX3Z0LlG1qvv6NF4UTdK9kbZ8ZQnZEUqB_psRAQTFeUBoIPyidY8QujCwW-Q4AnWZz7tXo9J5n-RnJfo45Wk3S89OzcvsSTuoIJEEEoOynXFu6uPschJccx_1APxlBNOfYiLLJSgVEq1Bu-jA764jw1-C6iIW8rHaZIh-GfBbmD0gH9DEqGy0kwEN0xC50M9Ia6QqlGpfAsnspmaaXM9IFF3wxheSkQAfVXkyesQ8MFd3XJWlaMQMK4Hyky_TNrjgKxLuo5WK9FTo69ibLAbk2fHLcvtigl6E0sc4Y0BMhTB_3hXn-XMNgikbyX1nY6iaOJ3GROH8fMw3OeuJu7j3R8uNygBu8Vo0MHlbJKKiwZbMbyuONok-LsKgVCZ4A0abD-nO7ZgK0LSRWznmxahvk7ihoRXQ0HX1RyHXGdJZYcFTSdkkypAQUSWux-0rh15DCuxYNT658pOpK1ASkCQoLg8rLq_22VF_98KolrZ-AXNHmIQ6wWVSbjFRfOBE2_p09MOT4R4yWgUewVIOw0-Tc1APVdNC4x-YDSh4Nw8U41L5N1Pk61t6bSUU9zVl49P2OGKbj4r-Nx5cg015jFUON3Ol3aoDTeO7dY4LAUTRFETuna-iWGufFqvehWVFJ6-G1Yd9SAsmZCih9nYYp4-el4fg4yzX9tmICLGrjBziaWnpH0nIo4wnpT6ws57DI1Z1A7pUTWxZlickZtpf9lC-GBoJjt0lUjqXLQ3Owjnzc5jhCIWoV6zdF-leOvm3NTHrVXdTbDdvQSAgMjx23rvKfEOWbM6Yc8-hzfR8GDbKOlmLr2fuMgS03OgYKzpyeBQJGuX6vS0yYedrYgonosZ4fVqWI23noW1OWd9Ic59U3ODlR5Ye52UZPR71C5i57mDIaQ9FONv0iDkLQqEsbWfdTG2nsBUI0gf8-fodQGND01dKJxk-3MzyETG2-dCOIdgHEPGkyb5yCT4awABXQScNcMyb_wKcq8Tmq4GqYe-IDNEai6b2cwzvfmB60QxK-8_e9fIk9hLEAU-ms7eenkwsr_RNxSu1GY0Nfh4G-36N51lawcjmj9sMoS1PNvmBCPLg3B-gt84Ch4jVoM2GLfF4uGNvaBfkaOj34fl3RyX_avkk=",
  "id": "rs_06f55df79fc286d2016ab461d9d2f487d0a8e0843709bf2e3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.325,\"right_z\":0.22,\"right_pitch\":0.15},\"note\":\"The yellow object is moving with the gripper. I’m carrying it over the remaining space in the safe and returning the tool toward an upright orientation.\"}",
  "call_id": "call_xmLDn5Z6kJTIcpGryBDsZiZ5",
  "id": "fc_06f55df79fc286d2016ab461dae32887d096cbeabd75e50cbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xmLDn5Z6kJTIcpGryBDsZiZ5",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9844, 0.8833, -0.7753, -0.1761, -0.0902, 0.9969, 0.7353, 2.0022, 1.6268, -0.1181, 0.5198, 0.2375, 0.2849]\nstate[eef_state]: left_x=0.282 left_y=0.0013 left_z=0.1795 left_yaw=0.0727 left_pitch=-0.2819 left_roll=0.0903 left_gripper=0.9969 right_x=0.4846 right_y=0.3248 right_z=0.2122 right_yaw=0.1627 right_pitch=0.1597 right_roll=-0.0096 right_gripper=0.2849\nstate[joint_eff]: [-0.0342, -2.441, 6.7487, 1.4579, -0.1294, -0.0122, -0.0171, 0.294, -10.5778, 9.0188, 1.8193, 0.3541, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00867a944981c379eafa0b2c3f52469af72bad94045709e9d8a5b06b4ddb938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cff6f39791cf48e42de49b87efd89bdfc515bf78b47a4d44e1f4165543eb2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24cf43abf6bac04d5c02fe473b4c28abba9b5953cfbde8dfa403951effefd212",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 9.946 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7723, -0.1761, -0.0906, 0.9969, 0.3099, 2.4359, 1.1206, 1.3132, 0.2039, -0.0002, 0.9954]\nstate[eef_state]: left_x=0.2821 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2725 left_roll=0.0881 left_gripper=0.9969 right_x=0.5663 right_y=0.1476 right_z=0.0611 right_yaw=0.0952 right_pitch=0.5812 right_roll=0.0161 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.2906, 6.7214, 1.3944, -0.149, -0.0708, -0.0122, -1.7436, -7.4188, 3.6991, 0.7937, 0.1929, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9821, 0.8833, -0.7715, -0.1761, -0.0902, 0.9969, 0.3267, 2.1723, 0.9932, 1.169, 0.1989, -0.0002, 0.2851]\nstate[eef_state]: left_x=0.2826 left_y=0.0013 left_z=0.1807 left_yaw=0.0723 left_pitch=-0.2759 left_roll=0.0891 left_gripper=0.9969 right_x=0.5422 right_y=0.1507 right_z=0.124 right_yaw=0.118 right_pitch=0.5734 right_roll=0.0141 right_gripper=0.2851\nstate[joint_eff]: [-0.0479, -2.0034, 6.8718, 1.4725, -0.1294, -0.0464, -0.0122, 0.2667, -12.6974, 5.1077, 2.0488, 0.1783, -0.0366, -0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9844, 0.8833, -0.7753, -0.1761, -0.0902, 0.9969, 0.7353, 2.0022, 1.6268, -0.1181, 0.5198, 0.2375, 0.2849]\nstate[eef_state]: left_x=0.282 left_y=0.0013 left_z=0.1795 left_yaw=0.0727 left_pitch=-0.2819 left_roll=0.0903 left_gripper=0.9969 right_x=0.4846 right_y=0.3248 right_z=0.2122 right_yaw=0.1627 right_pitch=0.1597 right_roll=-0.0096 right_gripper=0.2849\nstate[joint_eff]: [-0.0342, -2.441, 6.7487, 1.4579, -0.1294, -0.0122, -0.0171, 0.294, -10.5778, 9.0188, 1.8193, 0.3541, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00867a944981c379eafa0b2c3f52469af72bad94045709e9d8a5b06b4ddb938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cff6f39791cf48e42de49b87efd89bdfc515bf78b47a4d44e1f4165543eb2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24cf43abf6bac04d5c02fe473b4c28abba9b5953cfbde8dfa403951effefd212",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHiEDyDiKMhUkeF11Y76iWtY7pWDUFAgOZVmgG1zV5k6YSy6o7f0uDQzBYbPpW-6Alz1x0HBm6c7REUKaLd5YkYm7ZnkerHH--ZFrkLutThhRX046nCvHrV-MDqJecWhI_n9f_or17fDDvpHJkl9gzBI6HdojMnP-jsGdODKib3YBUe_AkTexSps1aaxZlgp8HygLgphKED0vFlWNwBLulIEf5rtgraiHcxZzqS55FyHoDRq1q5nViyjADtiTZmigZ-or0hCtRmaNqMGZQhmyrc-30bvDHbmb8GSR1Tx3xfOzQCGzX0YYpBAk5fwAeHKPJBq8y5edJHiNdcy7heODjvK0ucV52hOHCor-6bvGwtUYjjq0QXswB4Ho6mrIbE4S4SWgQRIM8kngzBZf6KltRQi2U1onGFvudqGZ-my9jO9fPWsEtyqopRKxyQYJfPUhzH_L_hWLuruokF4Scq7MDIxhi3eN4qKVMuR2QOmeBh11zHCWISTCnAujsI096Q8qQuvMFcB-NUdKcSCokqa4ctgTePz_S0jFKvpt4nF4cc00Dt2b0c0m3r8qse3c5ImQ9-T6NBAhLcpqf-cthtUELwEZsyxS6VSb_DlKsqWww4BFiV76Ccc0Bqr1zEhxxyy-Uw9KIYYLglLG2xu_k2cohVPTO7w4qKxqsoMUhcBb14s1h6sRLtW7NmHjaAbWV72kPQJ8YwDc14y0frxuVOsUcJW3174oQQv1aAYBxkIRcN6JIkAJwZroyGhr2n2PFhdBlpACQedh6InYJ-thuPBCXsdRi2H8b9TE50L6vPR4SJ90BKsx2SUIoyJsntc4Usq_Yu9mNE6T0oC6hAufpd20XnZ_Pk2AHL6MSZXVhfDiwUBBk4LK7Jr1mAs1pQC3NxfaXzbGkLCx_-FC1DpXJ5-1jWveMP2f-x229mSkmr22V3GfLH7V0NfKPoXQUp-WqRLXF4cWxnFeYGjo4hJGkkSvx0dMtPvYauAZRv5-c3NXDskvr4xpL0108oKrD2LeHIoRxj0uE3OIdzgKFnHo58YRbFloc4VDrnWfLnMw1kNr_k6SzmeffRBGaQRQXU8IaszL0WB1APxA7LvDFjH5qN6DnL6T0JTNC6n2lyB1n5YNkdLAPb3AMZDWb9-JdV5vD2T9gqfF_OlNJ3--941E1BK5aDYaP01xfU0VtMkIzMFbW88sAYHsbyfzN1Qvp3KIUUWlDIlpSWDbLbQHIiWFbYjqAPZbbXsFdDjUl5JMVjvVIOGj0r98DCmdTwLYmuDdkRh2G9zC5ECoW2jYT5YMbSvpmRVKDGu4IUS6O6Tw_7El56evBwrzDOgGZJv14ycAHb716HAXuo8rCGkHJ-9X6ZfuxdU_s1zzYFqH7yuGW1H9ZqL4cQ_kv_oikvQ4C1JAw3pMhpDd9THwDBIvEJiZC1fgYcb0NEjnlJw1XP1rs65Tjd9JlT_JFKIhyJUtRthpZzMVwD5lGUxtFRzHvPMMrzG3apwGhEwYCeYpWLbMAfh03uPzCElK2NjxEUzEcs5HXj90dqmyGG8Fs98dJoyrkEc7MGDIMtHUNRncAEEhNpTrPLx7Wtmf8ksrmJ1xAloY5uyl1iFTLDEgTj-AJa_N9zx2rWpJM4FjLpuiztrsQ1CbVbcHVZg4FIXWQrRiSZHqgu1ZIC5Xd1d7z-Wdw8cdM-g8SJUxCzLO8nBs7VhJh3jYZ5oW3FZ15uQAx9G6ZDLHTkT5eWuo2WToqR0rSswy_kY0cCBhUYWaxSslN6MLbTLzVK8-MrbPenx68AuIojyXP4BaDf-0JCvrzll0KKPj5f6oFMTQeFcMa8lCOtZUuPTVWyvQDLsw9IVr5nDcgxvOTWxrlzLKoit6q7jlmyjatGwXuAhNttZF1l5s6KvaTgsdAWL9k3SX_eUeXUK_Ae2nFZFOgfqjHHsFk6dHOtU87BWCS8YHomCBgvE6yXkrolKBkZ3PbUFMjvDmoxC3IN3_cP5XyBc3Rj1Ip9ThSGYNytLs1n_omc3hyszMGUgM7q4y9tGs8=",
  "id": "rs_06f55df79fc286d2016ab461df17d487d0adf08abd8b566f1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_gripper\":1},\"note\":\"The cleared overhead view shows the yellow object is still on the table, so that pickup was not successful. I’m releasing over the safe before making a corrected approach to the yellow object.\"}",
  "call_id": "call_F4bmMJxCyVnd05SEFiH6pt5b",
  "id": "fc_06f55df79fc286d2016ab461e1582487d087b33c48d005d6d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F4bmMJxCyVnd05SEFiH6pt5b",
  "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]: [-0.1181, 0.9871, 0.8833, -0.7872, -0.1761, -0.0906, 0.9969, 0.7376, 2.1395, 1.3655, 0.2241, 0.5152, 0.2359, 0.9948]\nstate[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.177 left_yaw=0.0737 left_pitch=-0.2961 left_roll=0.0929 left_gripper=0.9969 right_x=0.4782 right_y=0.3218 right_z=0.0893 right_yaw=0.1737 right_pitch=0.1108 right_roll=-0.0397 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -2.2496, 6.8444, 1.5263, -0.1538, 0.0024, -0.0122, -0.3624, -10.8513, 6.3385, 2.0928, 0.105, -0.0073, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85dc56dd5c63a67682af7e1783c2d415555968e0785217f0cd6bc32fcb68845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a7a075f2bfc3e9544be431a181c69613b593ef85f23e19e9bbe3712cbed658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dedb786aaaab144238a7c2ce7785e9fa24c5f2e19b4c387f1a858475e136826",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 8.427 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9779, 0.8833, -0.7719, -0.1761, -0.0906, 0.9969, 0.308, 2.4439, 1.1275, 1.3483, 0.194, 0.0006, 0.2872]\nstate[eef_state]: left_x=0.2822 left_y=0.0013 left_z=0.1817 left_yaw=0.0724 left_pitch=-0.2721 left_roll=0.0881 left_gripper=0.9969 right_x=0.5673 right_y=0.1485 right_z=0.0676 right_yaw=0.0979 right_pitch=0.6144 right_roll=0.0255 right_gripper=0.2872\nstate[joint_eff]: [-0.0205, -2.0581, 6.7077, 1.3993, -0.1245, -0.0611, -0.0122, 0.0342, -12.588, 3.8222, 1.4725, 0.0513, -0.0659, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9844, 0.8833, -0.7753, -0.1761, -0.0902, 0.9969, 0.7353, 2.0022, 1.6268, -0.1181, 0.5198, 0.2375, 0.2849]\nstate[eef_state]: left_x=0.282 left_y=0.0013 left_z=0.1795 left_yaw=0.0727 left_pitch=-0.2819 left_roll=0.0903 left_gripper=0.9969 right_x=0.4846 right_y=0.3248 right_z=0.2122 right_yaw=0.1627 right_pitch=0.1597 right_roll=-0.0096 right_gripper=0.2849\nstate[joint_eff]: [-0.0342, -2.441, 6.7487, 1.4579, -0.1294, -0.0122, -0.0171, 0.294, -10.5778, 9.0188, 1.8193, 0.3541, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9871, 0.8833, -0.7872, -0.1761, -0.0906, 0.9969, 0.7376, 2.1395, 1.3655, 0.2241, 0.5152, 0.2359, 0.9948]\nstate[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.177 left_yaw=0.0737 left_pitch=-0.2961 left_roll=0.0929 left_gripper=0.9969 right_x=0.4782 right_y=0.3218 right_z=0.0893 right_yaw=0.1737 right_pitch=0.1108 right_roll=-0.0397 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -2.2496, 6.8444, 1.5263, -0.1538, 0.0024, -0.0122, -0.3624, -10.8513, 6.3385, 2.0928, 0.105, -0.0073, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85dc56dd5c63a67682af7e1783c2d415555968e0785217f0cd6bc32fcb68845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a7a075f2bfc3e9544be431a181c69613b593ef85f23e19e9bbe3712cbed658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dedb786aaaab144238a7c2ce7785e9fa24c5f2e19b4c387f1a858475e136826",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHtssblkKWzIRJ4OtkhBlkBOK8qBN8DgbWa0hIhEg3fz0iQaIyzKiPtqNHcrBXycABB3H5nfYO_494ix_i6LtnI2FWmy2Kic7b5mh6scmdw5prjlmEFStfrDd7KWBPd5MOHiYJZjk9a0DxbxIw1QnEcgLY0eciWSPpnVL212WPUkEFK6nIkNMVFVRBfoWiOFeHH78--U7sUiM0mgw4ExagS2bbdJEYC7Wx6xWhgjOTiWVmrdP8Vysvdx8tM5vH2AzU4IbZQYQ74vKwcfm6HWs4ID1gfn5ot4VrumdLUy6HBXRydaBnxgqqrzLeExqWKo4ERdUtpI2MDE9SzE5SdRYExo__qosXp4wQZpl9Bl1AuF3gLFYAECxp38pYURFRe4GknPl1OoTscxxPiKT27jTmoMoiDCuSOxosPfTGeJ6EJZhLHkGJ8wFdjvX0sMvTdKPMO7ncLe6KT4Lpfd5cD97Z2PB3TEb_9x_jE-HwkT_8Pq05-LOa6HTBNOliXTHjbJTKjYBTm10zbbtxP6RzIwwTKcdDi0WyQFqet2dJq6lAij17iMw2SKiEYDHtT5R7yzp__NPAeZ5JjK_3fmrOVsSUg5UrilycO5_sgFjUr6P9cKDIeneaOEhVMkvAxfO_9weHS3_G2GosR20UGqEIz32SmhzupNTWTw0HlqqVXJGnat1bSsmxAtJMKAj6iTl4b-n9Hpeo4vyDydMu71AzWDhoEXmIzl3CIIPOm2HINl8FPnXtsxYN9ve7-Y1YijRm_ZCf8gbmB2825ka4jUWE42X2rxY4E5PaV7TuwHbT5jjNujbkRZt2XQnsw4DZc1XUmx9cRovuO8JRve6YVSWfZa8lsrM27yKVlRGALtefwwZzQLFb9aKm5FiYYZrehZRYpd3fYZQ3OpGwMCjArErIA9wKibLxrXF_uDhOiHJqde42lR_abEprFLNKqb_jTW_7tSe140Uf5OekijDN9i0CJoyIkHLpYS-H9ctCjFqhndetobJ2QC8uLLAiQmpQTUHFWG-fMQh1Pktzf1LXcFB-n-z3XY-i_QdvH3EUSWPa3I9l47ZsV8Q7SB0AKZx1pHaY7ziS21nl0bStfeCpoa0yg3dCIkbA9IVT1NKi-43kpJSg_4sAOKyyEuhRknApE-VMSddry4gk5GR3itD5RC9RLh4ACWf9r1lIj9T9OaHEnVLDthiUxugfzbBZUjPTw0kNbRwa5lBo9FFh9oFyPilSiWPWN-LuLzdzG7kv_uYLpXUqUavHtZMZws0VCZG_2qMYi4gRcmK5KOYM1ImqXMEnSUEIjoSftcm_EWy14BWQEDu0GgCBDdhAgovOWWpn-z4mWAqTgWhg4Gw3uXoGNEzscwi5z50lhHhhWpY_EkXkP1ZXYGLAqFYni9gZtsBmMA94m5OPIGDU7slp7qYlhwcaDI6QoxsYJreyFrJ8JghW6W8PaJ__WQ5AKGrQ-tTMA75n9qkJHHwmgc5_Sk6l2B618yNJgeDAsr4UQbeLYmxbb5DgOEXsdhUHmRj0TqqbJ0tCH65Usssbj78r8c17EBR77D2WjVA5JKLUgacnIIZSDz7GNp4g6fi7ni05gqlIu9NunXLIZZV4ARYTmMqSjuBjNTwIJJfM4bgt69JfST1XjQNjd1rMv1gCy7HfmfPDTAeFbj-OFs2yTlFFsBRWV1maL12SrqHuCF200YKagMHbxl5q1ZJkyEg5_mGQ0rR6H4Rlwm_rDB9iUv00zzK4LTIBzCaKlH1tYlt6SGCgH6mZ9Mhp2dp4fdhMeL_rAuiiqDa9mfj4iHuhwu1aMlTq9X3A73NuPRgM5t6IcJW2wijdohqYTdrCXHlw0ECQZLyTaPdRklYL4q1mDr4RSgEJHe9ooCRNI2rHMxE2YZclk688xDozKGhk2cFJ8Y0X77jHA3tchttczm8f783zUJvvRRGeoTfLwkb_h2ogN3eg1xtRRJlRL5I-sPhq2v8fy8DTXVMT6bswLVydUdOGWmnyBvSsTpk3E-5KpoTVHmcigro79AA1y2-EnxTqd6Z9lAUt-qHMJdkyit7xrlIl9GR_InGurpzKjVs-5iqEeWwiV9MzLz2tR4efj4iGxP2mYT8_8FK4UIC-wVzulXyMO0jZHrMi4YAlqfcSXpZXQ0522PeDryAjjRRw3BOq4F5y7bSLbgqbUn23VxKbym5-LCZoAMRJ-4HRwEKGq3RLYZ-4UsNNU9XxS7vt7NTSZOR36z1RFD1USN333DkhvA3jQ-tQu7RfVupB2XmLIMeVz7z6NamUbgzWQwB64ednClcBkYOYbyAycE_a_BLKLVSUSNjGV1jPR5tSZxdRZ-fBE8_ZSb0Bhd4stHcZBjlHmk4oIbc8smbKqG_qqZmVFfyW6TC4htNV7Rqbgspnyk42HW22ydWoe0CH83RQ1lQQX_3AVYDKWP990wURHQcvB4Yt9V6G2cS-y4KYPEYsJcQOnmMzbwWbP_K4lWfk7XX1xGDpL7JmJUtqXke-RjDTIB6zQJ-GioQUuqdM6vtZZFgid0FHWdedCW5PKyZCVF3nsOy6m5v2Et9szUzyZ-hLcvG3fYw0PLMJHbAMuBni7JIdICl5aayZqktZBEUiGg0XLAJc_qPxclyzsmpkZJEmSP_IZv80W6ngbT89mwDPkQRoCbwvPym6xZ3XW6Zh5MqjfblkEJQ63RreeIEsGSrGKP_tjJ9v8xpCLR-cpPOyo7PJ7-PLrk5mmr7hJ7oCJeZiLVWLFKuGuqQn3L8Eex7i_w5FB4bDTQVtqr0C23gRPwuGvl3CdKvG7g0JV251vpe73nZGw3wi-tREsqIWAYsV7-1WRsG50vZKlTtSRfXzrkvto2DwlRxQryR5w4ubaz7B2j1nlDup636Vt4jNaRE_okMiphmAPeGyKpJ2fM0OtvLDnkuo-qWYmUOUZItfLbBAUy9wahNyd4Oxo67OJ3WBjfXJxG1TCyUNC_L_OThmIdHzrSYQ3j5h2ZGwEvo9gpceStCd3-ULIJ13c3VzUe9NxNCFkY5dDX4E3rADhDD2zXMcnVwe8Nm2Sltsy0UF6jVHdbM2Sjl1Hg9WUifGeYan21D8mTyMnvVojhs1c92U5A-Rvo49Y-h3ah0qCf8ZC3zMAUUFr3bgj7iHJLlt_AXnuxeVP0Wb622RlBIFzDWbegLCmbyJtzQDMMdUtuHCANpwf92gyZHQynGGR5G5r",
  "id": "rs_06f55df79fc286d2016ab461e4b91c87d083a018acfaf062f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.13,\"right_z\":0.15,\"right_pitch\":0.5,\"right_yaw\":0,\"right_roll\":0,\"left_x\":0.355,\"left_y\":-0.23,\"left_z\":0.12,\"left_pitch\":0},\"note\":\"The brown plush has ended up outside the safe’s front edge, and the yellow object is farther back than my first approach. I’m approaching the yellow object at the forward reach limit while positioning the left arm above the brown plush.\"}",
  "call_id": "call_AfvEdhwCk7sImJ6BKQ49TjIa",
  "id": "fc_06f55df79fc286d2016ab461eb932887d0b024a8d3563fdb47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AfvEdhwCk7sImJ6BKQ49TjIa",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8783, 1.6752, 0.9905, -0.2871, -0.7578, -0.6384, 0.9969, 0.3, 2.1857, 1.2518, 0.7452, 0.2924, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.3433 left_y=-0.2181 left_z=0.1024 left_yaw=0.0595 left_pitch=-0.0701 left_roll=0.134 left_gripper=0.9969 right_x=0.5886 right_y=0.1325 right_z=0.1218 right_yaw=0.0168 right_pitch=0.4026 right_roll=-0.0288 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.747, 8.7453, 1.5214, -0.6764, -0.0122, -0.0171, -0.4308, -11.0154, 9.265, 2.5177, 0.022, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5136229c8a92f31ff927d475a28069cfe36de03fe2139867515d90144ee3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10c12532fe8f523caa2dbdd84df5bc5f59b8867094278da9669961c43091f69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88efcfb17b12102cafb7c7377f4e67669f4f517af084103a09afd0d01d602f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.922 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9821, 0.8833, -0.7715, -0.1761, -0.0902, 0.9969, 0.3267, 2.1723, 0.9932, 1.169, 0.1989, -0.0002, 0.2851]\nstate[eef_state]: left_x=0.2826 left_y=0.0013 left_z=0.1807 left_yaw=0.0723 left_pitch=-0.2759 left_roll=0.0891 left_gripper=0.9969 right_x=0.5422 right_y=0.1507 right_z=0.124 right_yaw=0.118 right_pitch=0.5734 right_roll=0.0141 right_gripper=0.2851\nstate[joint_eff]: [-0.0479, -2.0034, 6.8718, 1.4725, -0.1294, -0.0464, -0.0122, 0.2667, -12.6974, 5.1077, 2.0488, 0.1783, -0.0366, -0.2369]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9871, 0.8833, -0.7872, -0.1761, -0.0906, 0.9969, 0.7376, 2.1395, 1.3655, 0.2241, 0.5152, 0.2359, 0.9948]\nstate[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.177 left_yaw=0.0737 left_pitch=-0.2961 left_roll=0.0929 left_gripper=0.9969 right_x=0.4782 right_y=0.3218 right_z=0.0893 right_yaw=0.1737 right_pitch=0.1108 right_roll=-0.0397 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -2.2496, 6.8444, 1.5263, -0.1538, 0.0024, -0.0122, -0.3624, -10.8513, 6.3385, 2.0928, 0.105, -0.0073, -0.2662]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8783, 1.6752, 0.9905, -0.2871, -0.7578, -0.6384, 0.9969, 0.3, 2.1857, 1.2518, 0.7452, 0.2924, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.3433 left_y=-0.2181 left_z=0.1024 left_yaw=0.0595 left_pitch=-0.0701 left_roll=0.134 left_gripper=0.9969 right_x=0.5886 right_y=0.1325 right_z=0.1218 right_yaw=0.0168 right_pitch=0.4026 right_roll=-0.0288 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.747, 8.7453, 1.5214, -0.6764, -0.0122, -0.0171, -0.4308, -11.0154, 9.265, 2.5177, 0.022, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5136229c8a92f31ff927d475a28069cfe36de03fe2139867515d90144ee3fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10c12532fe8f523caa2dbdd84df5bc5f59b8867094278da9669961c43091f69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88efcfb17b12102cafb7c7377f4e67669f4f517af084103a09afd0d01d602f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGH3kwkcsZgkU4eq_PaAP_TEjaK_1Cwizv-7w7GSBBY1oHLlzk_iQzr_VJmo17XtVJpPvvBP9b3tYJ4wDAX67RejOv9Fx0rc8SNwaQLPccC7GrUlYsFpSx8Kjo2BlXvpouXm7obdG4WJuxGos_cFYIg1hbcK4X166yQP8UronzLzf07lwkS_0vPHzyGRS4EfYCQTISHh5N-C2e0FK5d60KJuydYjVhf9ewP38Wm2NH6U7dMtsg6JhjC5d8fFTOowEs8f8ef_vKacemXY0yfmUnZ9Mu_83xgTCyRrMzbTI8SlsoPX0NrxAM8O7xr9yCwTTgachQquC7P_t931K4VzBadIfMrhllx3DlC6GqfVBxGfF3MQb4PVEHGrZoMjz6xdsiNT9QKM8HqmLACLYoAfPJlifGqc_lZe3waG20CjDIGlBiA6BLYPPKabB81B0mKgn4LjbHNghaMk7TLwxMxvBJ5CVK4Xq14gtXyXy7s9t_E7NrODUvFTdfuG5Z7wjyHISisos7Qi4cdAwymSPoeRmW83ovKFuU-0SOfHfDamr5RXD2_gsYVKYsql3dyRdyz6kB3PjGYdazFgZO6ejS9veUCVCt2AyyI8INAtfGQVskvpMm8nD8NG1YrVXcEYzmXHA671Qtej9rcyyXKE_lWUyoj9LvZMX92Aowx73ia-8b2Hx-V468eKC8o5OvPy1xDhBYVVFOnNFTf-oR3ZqtgHac-wYihX9QcnrnGzQ3NKP0k8UnXr3n7xjCF6G5i2D5BLjQOSBguUsRyTarOU1Nubx35P5wYyghgBMBLUCCIZsgsotX3w0ZFpbXO3iwvFYOsUrZ5gNq0X2yhNRXUZ2lDXWWrVeWY8xwxb0x1NG3FNTMesEeHRMN3Yxq7QJO1tZhkTRDXY7_lUk8PVvi0huyRazC27fY1f6dAADc86PuXpEd7IEnz8Gl7KFesTpZKQCF0vHVIdS2tuVHsKbKlykirL-2_IDkX0EMOjT-PH8Mryuz36gCkz78wS40FpqlIkagybWnH3OxhMZ7a_HjEhqwEvcwZt4jshGupqiiC8eyrVu2yAIpBVibqepK0p-Lp9KofnnDW-Yq0Dxir7uw-XLj7LSIGQOXaQPy2h8P5dmCD5NqeUYaNihmMgxhgZSucyg6WuOBnsXxsxjByyb0g3RkyAXAGqX_IMvL0Qc4I9awT6jVXO0HX7nB832-y4qgxErnDVV-kH_r3m-8C-DRLVEQP84uluRc6sQJevSmRCEsrNzFqp8Yhp57nR5I00hRfZbjAPG_6z02h0j-QIX9CgaL7EhppSZojoqtV063d9DUjQmtM9SXTRbnsE9ETwoM8mLMOS1WfHDCyk4-apKXUiDHp7tFqviAcIV_JGJ2Fgbm9wViqaUQWX1nme4hLotvlvGFabwK5lWlawDubMD1_EgRb5w447mRqhriJw5GHrCqPIYD8Exzp4m3KNFvSb0x6evZC7lnb6kV7_cyQjX5RFqBiTS2q2FNtjbubxGsAux9OvwkLSzmbCxhmfIzGiNhY3ND4KWwPhWYo0XUOBICEgRzCG5_3GeDiXFhAXaIRqg1nCqGk2lkrUFdF6lfTA9r2m59HQUEcJdQW_ZJ8SM9J0WfNRyeLnrKj2MUTPU7Kr0DFb5YNklfY=",
  "id": "rs_06f55df79fc286d2016ab461f4c4f087d08adbb62b51c5cb53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.13,\"right_z\":0.025,\"left_x\":0.39,\"left_y\":-0.28,\"left_z\":0.025},\"note\":\"The right gripper now covers the yellow object in the overhead view, while the brown plush sits to the right of the left jaw centerline. I’m lowering both open grippers, with a small alignment correction over the brown plush.\"}",
  "call_id": "call_rt8W5EW6ooR0WbUSKCCY3X7w",
  "id": "fc_06f55df79fc286d2016ab461f6462487d0adc9ffba86ff9037",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rt8W5EW6ooR0WbUSKCCY3X7w",
  "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]: [-0.8833, 2.056, 1.1748, -0.1429, -0.783, -0.6598, 0.9969, 0.2928, 2.4279, 1.293, 0.9989, 0.271, 0.0223, 0.9954]\nstate[eef_state]: left_x=0.3826 left_y=-0.264 left_z=0.028 left_yaw=0.084 left_pitch=-0.0813 left_roll=0.1721 left_gripper=0.9969 right_x=0.6022 right_y=0.1359 right_z=0.0558 right_yaw=0.0176 right_pitch=0.4523 right_roll=-0.0005 right_gripper=0.9954\nstate[joint_eff]: [-0.5402, -9.1692, 6.9402, 1.16, -0.1001, 0.1099, -0.0122, -0.8684, -9.6068, 5.1487, 1.2479, 0.0464, -0.2125, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de29925bbfbb6a19d85bdfa85fcc91b999f5af15058bb1311366095335144172",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645a74c834264e219ca404de8d1058cba8c55b57fa7de0dd5b55a2b874481d34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fc620c98787dd7ef813a5d07f1d123912fc890556db077373b96dcab77dd0d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 10.54 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9844, 0.8833, -0.7753, -0.1761, -0.0902, 0.9969, 0.7353, 2.0022, 1.6268, -0.1181, 0.5198, 0.2375, 0.2849]\nstate[eef_state]: left_x=0.282 left_y=0.0013 left_z=0.1795 left_yaw=0.0727 left_pitch=-0.2819 left_roll=0.0903 left_gripper=0.9969 right_x=0.4846 right_y=0.3248 right_z=0.2122 right_yaw=0.1627 right_pitch=0.1597 right_roll=-0.0096 right_gripper=0.2849\nstate[joint_eff]: [-0.0342, -2.441, 6.7487, 1.4579, -0.1294, -0.0122, -0.0171, 0.294, -10.5778, 9.0188, 1.8193, 0.3541, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8783, 1.6752, 0.9905, -0.2871, -0.7578, -0.6384, 0.9969, 0.3, 2.1857, 1.2518, 0.7452, 0.2924, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.3433 left_y=-0.2181 left_z=0.1024 left_yaw=0.0595 left_pitch=-0.0701 left_roll=0.134 left_gripper=0.9969 right_x=0.5886 right_y=0.1325 right_z=0.1218 right_yaw=0.0168 right_pitch=0.4026 right_roll=-0.0288 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.747, 8.7453, 1.5214, -0.6764, -0.0122, -0.0171, -0.4308, -11.0154, 9.265, 2.5177, 0.022, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 2.056, 1.1748, -0.1429, -0.783, -0.6598, 0.9969, 0.2928, 2.4279, 1.293, 0.9989, 0.271, 0.0223, 0.9954]\nstate[eef_state]: left_x=0.3826 left_y=-0.264 left_z=0.028 left_yaw=0.084 left_pitch=-0.0813 left_roll=0.1721 left_gripper=0.9969 right_x=0.6022 right_y=0.1359 right_z=0.0558 right_yaw=0.0176 right_pitch=0.4523 right_roll=-0.0005 right_gripper=0.9954\nstate[joint_eff]: [-0.5402, -9.1692, 6.9402, 1.16, -0.1001, 0.1099, -0.0122, -0.8684, -9.6068, 5.1487, 1.2479, 0.0464, -0.2125, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de29925bbfbb6a19d85bdfa85fcc91b999f5af15058bb1311366095335144172",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645a74c834264e219ca404de8d1058cba8c55b57fa7de0dd5b55a2b874481d34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fc620c98787dd7ef813a5d07f1d123912fc890556db077373b96dcab77dd0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGH9P8Ldvi0Qs5vLB1dU6V5A1P32ySGNoXw3vmPs7BHrqHZNRLh3PJTUMCA7vNMh_m6caYMKyJwCzcSINFNf0-nkjZni53psmsV_f7uEHWlHgEsB6B4-O7TJ_g7UToTAe9SEOW16XttLwzhrozq_IQjR8QDh67trcfoLXbCg-qblT_qS7PsC7OG7GOhUY2It4P_N8Ty2fcXAkA9l4u3l3uvYtCIj9OszcevmHaBru2KXnQTRF03QlpbcTEBAwh313mERgOJhwZGDqDZsugvXRXU7j6DYjBOvFm2YcQ3Jey6E5jHZNNCJjRgazc-wyRHs2pHeT-ChpJhpPAKa3TtcaKyjbOVIGT_cvpPg9XgzbYqIgHkAvi61ETPZ31Ssos-Wtpnt6L4ncN7_XfrJnyloW__MeU_vupnf8DURXO9Co6sbsPLOLYY_azYUwVdVYmtxcreTF-SW9-EXYAL21mnXcZb00SQ6X6R6I4xEiU8Wx1P_BAdqtZDWIxuqZ1ex7UREzL1xuXz7_1bT4q-2heXIF8YMEun0pjTv60pwfiRulnd6d_sX85yNiv4DbzBbpuTeQrMcW0YaCiw10kiTj03zwDFIqF-5sCuBYY9moBfv2xFD9xuKKEd3-vNp2mlWeBmlws18H05gh5sPxpVrRxURCW47AS0Wo41d4USWs5BjIICUSd4nIKhsJ2tuq_Dbt8SuDywsvIiHk7pPF5t9M1rslwFIaH8sKz9D7CXf0tVssSBnzKCZ1OUUXlbL66oIaGBrbrU_lse3zCvNOABHgDVIfXBUEa9Mds31vZOxVrlvF2Q4E6sE2nYE3s2lPw9qIX8DRwYQx0QBYhdKsuG30qpJjusVlPCNFYudFqG1pFnDPhA_uyTGt2JMkpw7xFe_xEgKZ3c2AEAvQJejHNlt-t023mJHIjM-PGTfUjzhA66f9xcl5K5ceWpFkyS3fZboQbRfDtu6TYU9HcseHSqYc7r0qXyz3X3nUfj3Yczex5RJRQP9g3fXUo-aLBq4L4S49YUAfvwHyZgQrLY4xQKYM6xw9fe9wx0CkZnveTcMd_8ZEhjbtfkfLWA1kuYghkP3U-hRzsdTuBVUwj5DNM0qvvs8daLbboqCHHyahvdhaZM9EDAdG1WEuqJ7T8BkUdnRub7mxB08ybXTH97EfqjtS2ppLbl2Rkm8QP4m6aFG2PI5PDcqFl41cLIpeRisyZywEJdHlsiIoYZBGpAYMEI1I6WqlfhZbuZYp7qFWB9haH1lOC4XIpp6syLUKdP1GJJa3U8PGmfjymVSrqPLGTtmxK8NfuQ378mUnDtFwvcGCWceAYXSv26lHudHDYdZpePjAT-vQ2dYwktc7Qi_5Ydl2UOAq7CQikPwbOa9YmNwMqnS8Zsunb2iAdQ-9p-6LRGHhXdXWraPyo5qjX40txEk4Zjij8ETn8IVW-ahIpQ6f4Xi3kVJgtaNmuZiUE1q-FuIhJjpG53zmtUHsXM5RBrts14LLeDLsw==",
  "id": "rs_06f55df79fc286d2016ab461fa7b6887d09a378171ba54c009",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both grippers are down at their pickup positions. I’m closing them, then I’ll check each object during the lift before attempting another placement.\"}",
  "call_id": "call_xTA2rXEt8oZXwxWkfRGxUTa9",
  "id": "fc_06f55df79fc286d2016ab461fc162c87d0952fa1b8a6a3da5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xTA2rXEt8oZXwxWkfRGxUTa9",
  "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]: [-0.8833, 2.0678, 1.1854, -0.1268, -0.8131, -0.6598, 0.0496, 0.2955, 2.431, 1.2957, 1.0538, 0.2607, 0.0261, 0.018]\nstate[eef_state]: left_x=0.3874 left_y=-0.2639 left_z=0.0311 left_yaw=0.1 left_pitch=-0.0518 left_roll=0.1741 left_gripper=0.0496 right_x=0.6035 right_y=0.1398 right_z=0.0681 right_yaw=0.0199 right_pitch=0.5045 right_roll=0.0217 right_gripper=0.018\nstate[joint_eff]: [-0.3487, -11.6034, 4.6838, 0.9939, -0.1099, -0.0073, 0.8474, -0.0479, -13.5726, 4.1368, 1.3797, 0.1294, -0.0317, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2a2fa03bcf199a8077d730a4c09bce0e688b681607c21f2c842a4a28f6327c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04a0b8a1c27882adbbab8cf4a2855bff9778b7a3fcbd72678809d0c7e7bfa35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d090941194742faffc56c80f5e6efaa79dbeab8d4618c6e3486a7cbceb0392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 11.96 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9871, 0.8833, -0.7872, -0.1761, -0.0906, 0.9969, 0.7376, 2.1395, 1.3655, 0.2241, 0.5152, 0.2359, 0.9948]\nstate[eef_state]: left_x=0.28 left_y=0.0016 left_z=0.177 left_yaw=0.0737 left_pitch=-0.2961 left_roll=0.0929 left_gripper=0.9969 right_x=0.4782 right_y=0.3218 right_z=0.0893 right_yaw=0.1737 right_pitch=0.1108 right_roll=-0.0397 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -2.2496, 6.8444, 1.5263, -0.1538, 0.0024, -0.0122, -0.3624, -10.8513, 6.3385, 2.0928, 0.105, -0.0073, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 2.056, 1.1748, -0.1429, -0.783, -0.6598, 0.9969, 0.2928, 2.4279, 1.293, 0.9989, 0.271, 0.0223, 0.9954]\nstate[eef_state]: left_x=0.3826 left_y=-0.264 left_z=0.028 left_yaw=0.084 left_pitch=-0.0813 left_roll=0.1721 left_gripper=0.9969 right_x=0.6022 right_y=0.1359 right_z=0.0558 right_yaw=0.0176 right_pitch=0.4523 right_roll=-0.0005 right_gripper=0.9954\nstate[joint_eff]: [-0.5402, -9.1692, 6.9402, 1.16, -0.1001, 0.1099, -0.0122, -0.8684, -9.6068, 5.1487, 1.2479, 0.0464, -0.2125, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 2.0678, 1.1854, -0.1268, -0.8131, -0.6598, 0.0496, 0.2955, 2.431, 1.2957, 1.0538, 0.2607, 0.0261, 0.018]\nstate[eef_state]: left_x=0.3874 left_y=-0.2639 left_z=0.0311 left_yaw=0.1 left_pitch=-0.0518 left_roll=0.1741 left_gripper=0.0496 right_x=0.6035 right_y=0.1398 right_z=0.0681 right_yaw=0.0199 right_pitch=0.5045 right_roll=0.0217 right_gripper=0.018\nstate[joint_eff]: [-0.3487, -11.6034, 4.6838, 0.9939, -0.1099, -0.0073, 0.8474, -0.0479, -13.5726, 4.1368, 1.3797, 0.1294, -0.0317, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2a2fa03bcf199a8077d730a4c09bce0e688b681607c21f2c842a4a28f6327c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04a0b8a1c27882adbbab8cf4a2855bff9778b7a3fcbd72678809d0c7e7bfa35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d090941194742faffc56c80f5e6efaa79dbeab8d4618c6e3486a7cbceb0392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06f55df79fc286d2016ab461ffebf087d087292e97b6f5fd8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.17,\"left_x\":0.33,\"left_y\":-0.15,\"right_gripper\":1,\"right_x\":0.55,\"right_y\":0.1,\"right_z\":0.17,\"right_pitch\":0},\"note\":\"The right gripper closed empty, and the left gripper appears to have contacted the safe’s rim rather than the plush. I’m releasing and lifting both clear to avoid dragging the safe and to recheck the objects’ positions.\"}",
  "call_id": "call_5F64fgClRrHCa9F0BSMQoqV0",
  "id": "fc_06f55df79fc286d2016ab462070b1487d0843f11373d1d772b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5F64fgClRrHCa9F0BSMQoqV0",
  "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]: [-0.783, 1.4216, 0.9764, -0.4805, -0.7578, -0.5575, 0.9972, 0.2291, 1.9614, 1.4136, -0.0788, 0.1589, 0.0998, 0.9963]\nstate[eef_state]: left_x=0.3342 left_y=-0.1562 left_z=0.1633 left_yaw=0.1089 left_pitch=-0.0488 left_roll=0.1624 left_gripper=0.9972 right_x=0.55 right_y=0.1032 right_z=0.1365 right_yaw=0.0322 right_pitch=-0.0341 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -7.0769, 6.3795, 1.3602, -0.2662, 0.1832, -0.0024, -0.7863, -14.5709, 9.4564, 2.0635, 0.0171, 0.1001, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b52044625ef749328864c8778bc96904020312922100e6b5488212e13c628c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b67b7b0ae0a6fc00d3692c42888c3707387a365546c668b9ca3623a3fee4e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd5f24dc0fd3d8fdb3e0340e4b41ee04265d79f32038b8cf08d01b1e715dd71",
      "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 · 5.411 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8783, 1.6752, 0.9905, -0.2871, -0.7578, -0.6384, 0.9969, 0.3, 2.1857, 1.2518, 0.7452, 0.2924, 0.0143, 0.9953]\nstate[eef_state]: left_x=0.3433 left_y=-0.2181 left_z=0.1024 left_yaw=0.0595 left_pitch=-0.0701 left_roll=0.134 left_gripper=0.9969 right_x=0.5886 right_y=0.1325 right_z=0.1218 right_yaw=0.0168 right_pitch=0.4026 right_roll=-0.0288 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.747, 8.7453, 1.5214, -0.6764, -0.0122, -0.0171, -0.4308, -11.0154, 9.265, 2.5177, 0.022, -0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 2.0678, 1.1854, -0.1268, -0.8131, -0.6598, 0.0496, 0.2955, 2.431, 1.2957, 1.0538, 0.2607, 0.0261, 0.018]\nstate[eef_state]: left_x=0.3874 left_y=-0.2639 left_z=0.0311 left_yaw=0.1 left_pitch=-0.0518 left_roll=0.1741 left_gripper=0.0496 right_x=0.6035 right_y=0.1398 right_z=0.0681 right_yaw=0.0199 right_pitch=0.5045 right_roll=0.0217 right_gripper=0.018\nstate[joint_eff]: [-0.3487, -11.6034, 4.6838, 0.9939, -0.1099, -0.0073, 0.8474, -0.0479, -13.5726, 4.1368, 1.3797, 0.1294, -0.0317, 0.8278]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.783, 1.4216, 0.9764, -0.4805, -0.7578, -0.5575, 0.9972, 0.2291, 1.9614, 1.4136, -0.0788, 0.1589, 0.0998, 0.9963]\nstate[eef_state]: left_x=0.3342 left_y=-0.1562 left_z=0.1633 left_yaw=0.1089 left_pitch=-0.0488 left_roll=0.1624 left_gripper=0.9972 right_x=0.55 right_y=0.1032 right_z=0.1365 right_yaw=0.0322 right_pitch=-0.0341 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -7.0769, 6.3795, 1.3602, -0.2662, 0.1832, -0.0024, -0.7863, -14.5709, 9.4564, 2.0635, 0.0171, 0.1001, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b52044625ef749328864c8778bc96904020312922100e6b5488212e13c628c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b67b7b0ae0a6fc00d3692c42888c3707387a365546c668b9ca3623a3fee4e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd5f24dc0fd3d8fdb3e0340e4b41ee04265d79f32038b8cf08d01b1e715dd71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIWdH_Nn9msictwE-8ZH2XoAC4xd-gftuTnoVH7Qk4KC-d_n0PT6h0DQ8YY3pov1bX75GmaoniCuQuryzqtuYMgOLOCBqH5N-vB3Yp6U8IKXP7rUoZqzbqo4p4YBiFvmXwSNAfX9WOOjgWK3OWaCdkMcv4NxOjFLUrW-wtQDS-oBNdXO-JFKAs1APW97ihe9E9sUajRXDGVxhQ0Qq12xJKR1eVuK7sHQLDor6tFxI3JdbW4hArNB1BPznNLnK5q8mIqANtSTirKHFVuQP_JNlAC19SBBqUL961tdGJL9EFXlg9EcPWJuKYeN6DiQYaqNuDV_uBZ7YKXw-M8P669LznSDKRdbIJWudkvMFnEilGoA9pu3ErvtjtFhtOumJiWFoxOcML25NmEstsYy04FWQnTcV1VyJkmHJZXXROhUYfy8SA-DgnPX_Lr9akondwqaXc7RSBQmGdmO2bKZbVfNNEzGR4QUsCGAC2jFkvSmVJrrN9U1RED8b3UZJKBIk0jN4FXfdmL14SBWY2b1M-gN7iRbLTIvjbU8CXj95wM6Oa-6ViRMEUEuAmD3K43VeS0MCoGz7oDZMnF46xi7LHUZ9lEMBQu5AfUkVkpGzFrJQTSZf-tO_NyXE9Zxyh-b5QKzToBtjhijdEttZqipeG4_e1hYe3yy8TlhgmqKQEKDs6Fgv1KclD4HAoMJ_6Bj-I2lSw-caWK0rjZbpw9pUhQHEK-diWcbfZS6yM_Cmq-crKPCcUPVOqZDInB6OEshEVngcfs9XNtPYI6o8utv2XzHTHkmp9aN1mBD4_8lS0Se7hfHIZoVZv38-PVSbeYO9ZaB4J55qrHSkjXV0u179yTJ-iFdN1k6Y0tAehXucSzDtd3hdaV0kDRqIZDWhX6rvkIt75Q-ll3ZkG8CMSSl7s0r9f7MjtXI_50mGO3iLtbDTKJ-0PdkU9pMXtGU9nV4r1GbXtKk3hzr4bXSu_4arOCKVSmYk_4IkcBLwyT47rQxJeFREIUdU8DrEMO1L37zFBxwr0IL-JNRyrmh2Ov8Zi-vciu7QwIp-HNzaS5EGji0pVJXUZ2ru90_fr4jZ7Wm-LoqE7FOCbwnOH_9wlrAazK0KGJ9QqhqnP34GEaaEoY710JSCeFaGaVIQtLrxmXlFvBYOs9PnDccT09wPQeGaFEbbKY3cjt45WgRkulR7WFJihW1Vgxgp-FCJOdNRA7neDxRTjFQzLvBbRMF3_ODIYvjAB2NHiYT74b2CzhLif0WgM_ejrCex3yiNbQhSl5GMYLttfDceR1yoMevHFWzcUrL9Nq-2BmC6oU92j6uJwZpq6uZIQGWIEBEYxh8jCqeBc_eOA6FPYE7fjdBiX_eNxef_wkfcjClpe_4j1m-eB6oTJW2qI1THwmZTyh1OQ6tVyMy3nUdHBLHjmoOCvLsdZf-9KNWDYOirPC0sjT9OWp7_5KKXTqgBfKJWWexFXFgwYH7_YjBqoMmOBPSrwpCWlmhnfymv89eo2BYW3wd31V3mPL9Nb_z2y9be6kWXGZT5uXGNYgvlfNytfhAtp9iKRd9oriy1RZG28p6W7gW2OxWQKZKmKyeU7QHSuoxC7SaUOTkfkOjins46GHh0xj_70LdEyQfuev_5ky6-VDGDvZjxdRVszYjTQg79ARM3zpgHZo2WYEjHEElCQSID_qna1KFcErWDt5yH6Fl1RVH9WUKFlPpUg1gqq0A-aFHK-x-5g4qQA8kR_0WlfT2vn7igUxkjvzvbNVWc1vN8gDaGRZW8DC5QxFKE5Q9BZ7GpwpqzxVjq6FMfm3M_NAuZM_bi6XUm-T8SBRlxGRRwZPceUa9zu1__lWD4gM-ZV262GN7gVYv0R06Z5aitfpOaHXMAWvr_BPDhW8WCFlPdl0oiN9WCw3ImLpLXTFLron1OXdNaqGd2sw1a72VrZOkYBFusxdTgIuI8V3BnmP69Jg5ssvaXxtSNevVWRxYQ0FNl8VmQI4c3jfqS2hX7RidP15uW8-dWrva9It9l0og8G0WamxSFmdVfN3vXsfMroupB4UhEu_ZlfP0FCzD_eO4zvPb0cP5Pdh--ZW3ws5CeXCYQ-fbrVth28tmevm-1krWeeqw3BS2ohE4HAxzvl3kWfLWD4MkUK0cDkcVqmeTPjJ3U_HEvLdQ9P4ADeRBooscjpeg760LZPkLJYBehRyzyKBxNZ2UVzmQq6pu04nmU9DV11VB68fba1zbsFIZixLxWlith5XEFJgQmR_LJFXAJeWk9p4Z5lwF17b67rv3J3bd928HLuq_sfkNgZddZcWux-ZCD6pjNSZgpOVVdVlnRdtuhLBrlbZoudZK5Xo3fB2QM1DLorV1c1GBAaaW-Af3_P25UWukZgQdEZ-inMG1MrN5kMdrz6zQgG864ZOoRASPfb6WsikKbfz-67dYIdknzCxb1X7VMBrlUVTfKxFvGpiBALoNIfQl0TAJlMj52Fkr8A54EEVyh5Dz1iK4LZ-3uLHeaJ5sft8LTR8LIlu4TrLBDoSWGjQMjghr3RoLfrJo5GgbkQSB-DeSSQ4c-p3wkP2-yRoXxu3ALAup9t8JlXuyg1L8NDXB3ZzUj7pAKLX76_bgGLDtOr1rPdYN0ZKpwyeH2W7ZbGSkPlRsQQ5zXL5309goKcOxSOVzJeuIMb-emDjBfrAQvjNndSprvLeBDU7TXMe_tzJI5DHBj-fBzq94U3AVJokP4YYktIEYrkZcqa5sZsfjiPD_36UnXOn1mbjaC213qk3kiO556YHLTHaOE6qfmSI5vO4wk37tnR3p5MW3tXHSdqcEDUSGHkPXS9Mfd4wXZssWNhoZLBBgu51rtlqhEqdgKV3EpvD7LG38RtN4aAB5JbZkEaNrzWzgxcDg3xCiP8co2ceOfDJHZvylvdoU37brjGkfYOLzgdBkxaxkTMaqoylYU2HmQnHxq5O9uRSYx9jHAYqZ5Sglv9y-2SHvmXOlec4SPDcs75m9Co6cdHNck6nNpxxajR6eatjoiillJ9_sW62vtPRvceN6l1XdGWJLMulqBDUg8d9RloMWn2STQE8pvpXHbkS0NjjWSOvJsu6-FgGWpCPJDTLmDkjEJNGyP5o0_QH87mwZoBBl-dI4gYlMAuIT1SkrJQI_5uRom_cwi-Fww_8b705-XUE6QUxcCF1R_xvQMYF4U5kMA8IW2srd6haeUMqxN-2_lFZmTG363XlkMtk8x20CAG43l9EqcTp1sie9iYB-sWRr7LTo8OQ9xxi5oim2aYZqnEs0TXdGEHU9qG2f7NjJKw1fAPCnwCG1DVW16758GwzDSBl8XPwr6wbQXXuhxe3qECZupOFzEovBbABjyHfq_jZrndF7_ZHB90zjuPx5TbtO-pp64uy5chBS8GNEz9HQggVCYRsZ4qv6zvfA19c3H_0dLtBk1cFM08olZSlkX7okHIJyzHrVXGOgrnuWdUImsqkZEd2-npg8Zn4JRLvGxD5Uo8AEKpAQj9MNPobnZSTvkoR1ZYZ_GBt4JQgUWJpdRSSQ0N9yyo_eYKxhul9wbNrMWzqY4gcNc9ptllsPoDlQtZr40K0-wdJjrFDoqiOmrDtP3rSbQvxqHp9mei-nqMM3EIvVZXGqZu8TUyElUDHCFsYQs8RIqkY7JpjlRsqdnYcLEumS_Z0SOesTKVnN0PLcibn6wkPOm46ZSb3jBTDM8BYWl3PJhhuCFZes6DT-7O4MFrSJDMthtRbh_slbyw8RYekkEFtKqPbmM16B-Z2q7fkiA4t8ZEdg3fTgVvuz07fh-f16IK-E4ufJRRXa91iVMvZSbGDpK6B2RifUklQMWYQOWo=",
  "id": "rs_06f55df79fc286d2016ab4620bc38887d0bb3f18cac92b4068",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.135,\"right_z\":0.01,\"right_pitch\":0.2,\"left_x\":0.335,\"left_y\":-0.32,\"left_z\":0.02,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The clear view confirms the white plush is inside, while the brown plush lies in front and the yellow object remains alongside the safe. I’m approaching the brown plush’s center and trying the yellow pickup slightly closer to the base, where the jaws can descend farther.\"}",
  "call_id": "call_HeGk1DXBpKuEkGZuwpLL6bzn",
  "id": "fc_06f55df79fc286d2016ab462146a9087d0a34201d794596798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HeGk1DXBpKuEkGZuwpLL6bzn",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0286, 2.0235, 1.0702, -0.0711, -0.7856, -0.8066, 0.9976, 0.3195, 2.2173, 1.0611, 0.8062, 0.2481, 0.1116, 0.9973]\nstate[eef_state]: left_x=0.3307 left_y=-0.2999 left_z=0.0179 left_yaw=0.0202 left_pitch=-0.07 left_roll=0.0567 left_gripper=0.9976 right_x=0.5437 right_y=0.138 right_z=0.0401 right_yaw=0.0338 right_pitch=0.2441 right_roll=0.0346 right_gripper=0.9973\nstate[joint_eff]: [-0.7316, -9.2103, 7.1316, 1.2381, -0.3199, 0.0269, 0.0317, 0.4718, -7.747, 3.6718, 1.0085, 0.1734, -0.2027, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914cf8807c981db451ab0a643f84ab428979e5e5c99dbdce36de42ba37d8dca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369521bdc4fa283cfe9d82fff685ef088ae91fd2a9d200430cc68857803a24af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae70e08cbddabc3a5adc9b34fcdde452c73c68757249e22f5db90459addd697",
      "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 · 12.08 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 2.056, 1.1748, -0.1429, -0.783, -0.6598, 0.9969, 0.2928, 2.4279, 1.293, 0.9989, 0.271, 0.0223, 0.9954]\nstate[eef_state]: left_x=0.3826 left_y=-0.264 left_z=0.028 left_yaw=0.084 left_pitch=-0.0813 left_roll=0.1721 left_gripper=0.9969 right_x=0.6022 right_y=0.1359 right_z=0.0558 right_yaw=0.0176 right_pitch=0.4523 right_roll=-0.0005 right_gripper=0.9954\nstate[joint_eff]: [-0.5402, -9.1692, 6.9402, 1.16, -0.1001, 0.1099, -0.0122, -0.8684, -9.6068, 5.1487, 1.2479, 0.0464, -0.2125, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.783, 1.4216, 0.9764, -0.4805, -0.7578, -0.5575, 0.9972, 0.2291, 1.9614, 1.4136, -0.0788, 0.1589, 0.0998, 0.9963]\nstate[eef_state]: left_x=0.3342 left_y=-0.1562 left_z=0.1633 left_yaw=0.1089 left_pitch=-0.0488 left_roll=0.1624 left_gripper=0.9972 right_x=0.55 right_y=0.1032 right_z=0.1365 right_yaw=0.0322 right_pitch=-0.0341 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -7.0769, 6.3795, 1.3602, -0.2662, 0.1832, -0.0024, -0.7863, -14.5709, 9.4564, 2.0635, 0.0171, 0.1001, -0.0659]\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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0286, 2.0235, 1.0702, -0.0711, -0.7856, -0.8066, 0.9976, 0.3195, 2.2173, 1.0611, 0.8062, 0.2481, 0.1116, 0.9973]\nstate[eef_state]: left_x=0.3307 left_y=-0.2999 left_z=0.0179 left_yaw=0.0202 left_pitch=-0.07 left_roll=0.0567 left_gripper=0.9976 right_x=0.5437 right_y=0.138 right_z=0.0401 right_yaw=0.0338 right_pitch=0.2441 right_roll=0.0346 right_gripper=0.9973\nstate[joint_eff]: [-0.7316, -9.2103, 7.1316, 1.2381, -0.3199, 0.0269, 0.0317, 0.4718, -7.747, 3.6718, 1.0085, 0.1734, -0.2027, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914cf8807c981db451ab0a643f84ab428979e5e5c99dbdce36de42ba37d8dca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369521bdc4fa283cfe9d82fff685ef088ae91fd2a9d200430cc68857803a24af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae70e08cbddabc3a5adc9b34fcdde452c73c68757249e22f5db90459addd697",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIdxMHyjGIBUQgDSEQ5ipUZ530riJD9o9PvpDCOGDzH-BoUh0OScJTyLNl1CPJAlP3wZUHyI7kxIib-69WhmSAAsIs17SAnqjpsGRxmIUDSY6XaV2pXrNDnCQHTGKKWs7B8hKWr2xJ-4rKVPJG9IMHZ3Sj8FsfvnK2sdEVPx-iezBztUdc0vYqxCW8LjB9fWNPnJHTqqabomXTib0caLParLA9owXzRDT_7dH36cnigdTRlz_U5Aus08_qV1V3eGKmHUP_uTMLgY6CEL0aIAv41hg9MJ-EVb3UyAduiPoErL4UZrdFkG6DzhuiESV8lMpsnDjfVtQJ5KZh7auyqr2sXDRTsycQHoXmC2llLGK7uQSZ_K-qSTf6nfHBMs0LNiKTuKKPW1RUq_PCxeY3FF914x_w0N5Jqm77FP5LeaP4qEPrzpPR7-uLHxwcdBbs3m288Gm7jGUZIfg7HPnBdaEFkmq0eZBqGtzuO45SJ4xNPjLsQRnWI3lP5NOed6SB9dmETPlsyRTBMLlOxHWuppPc_fDBUsvCQgWOkbvLIzBzc2ush8ZPBXGumSaG6vpQtFwuGZzMNTu4vlxBe2xjDBWkYNNHPuUftrkfipleKamMqCR2TOTKKaXhju2UG2wrCu4SjbHcOFZIClMq5gCoUAkYIU4xS6uByzbaQdyUUNb-Qtq3XcUDpq4LAmH88IMMXrUHa0oQzLDqo804_PqpFB2F86NndPed7593J_sLVeMDA3arT_tYdLv8ivIqrc9ptLuQ0aC9TegbOyekH7HwMWlX2W4ye6upJTTHvu4wlhI_XxMbGOITWRfM64OtGb1WlyfEm30b8lz1MV19der3HPK8CntfdTJFCCiKRavRwvBx5RlPOyMVHquWQaRr-fGEcHchVoHllWJ9vtExB-XakMtGG5XN9qIkwec7a02p3HJmA3ThwfDq8bSrvoAEQW8FIBIh1tOiQ5WzLXtho9Ez7Eej1atpjj0frIe4AsvDyGQWIJ8DtQ7tDJYrv8yZIFD0G8UUzFPSvoHl3OW6n4IFi_kUW4QfGR49HdZxpplIO2Z_b_La74zrSpFcgiCgUe0FWd-kOBSTxF3MVgyrFyZPa0i-PUQbHpJy20Fzcr03ey4ZansdOB58c6YeH_Mz-H4KnMfSQzVcHlLDlSUmU1CUCHi9VKukYm_9V65KGkITSxoMAxFNH106HGvlpcJFIJs8PgBQ1rPDtX3fmykdQieFalHm-K7H6tNw0lvXJqZIzLjVoXHu6V_5YC524U2d2b58dz5Jh1SaD07pgHNiNIbtk7BrEBaovix3cnE-ZDRpWL5FDA10hJzgDMPm4h1DCgbV6L6-h7sf2aRZjBEW6rNma4bpz-u8jkwdO36yt0nNa-rAmVjA0hyB_ACLZTerwKQyLFAgZYiSej14YtkcOiAZEtNcmC7nVmUd3ytd3rR14aIEOgGyHq95JdW0kt-OJs6V0hE6WJZhNwIfZDg2EQAgkeJfW8yG8MGJe7zMP9v0Y3r-hRYd9srNoAsNG_xk0aZr2ROUZOq2WsjEBrjtxYrpioTPjBtcuSv7VXItK5dh8FwYNVjmiljyF2YK3G_248ahGEPeoHs6wZixQTORtR36sz1O_mjnwgkEDCX5WAZSq279DbQbVhSuO3RBR4LHFbZcaBo_e9uqBoaOXSuBt2ZFjH49s7D6Aj_OmPrJC8kLIIvftiEQoFMQDVDsoH6Fo3b95W_TrTOWFS9sLhGHrNUo3fT0ckLXPcvNDe87UdCG0t4wFE3AxDRgU44FCYMiDQ02Nc0hGZKzMH3vtEA5nhZ3dGBAQy8-zPdrUud2Je8G7sqTWET4QIbyAkWnawNL5MvAIVWRTRmlvKs-2MmCJ-K6DDSmP5hy9y70HcgTQwy-UfSkLo3blyDwEWJQ9x-6LtBlelleiX-YwDmvBN6Y696VqQsn9Psyn6FJFQ37mXh7zu8jC-Ws=",
  "id": "rs_06f55df79fc286d2016ab4621973c887d0940cbca421600754",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.14,\"right_z\":0,\"right_pitch\":0,\"right_gripper\":0,\"left_gripper\":0},\"note\":\"The left jaws surround the brown plush’s body. The yellow object is centered but still forward of the right fingertips, so I’m advancing slightly while bringing the tool upright and closing both grippers.\"}",
  "call_id": "call_YYrfbYd067YAm9LBjj6X0Kc3",
  "id": "fc_06f55df79fc286d2016ab4621beebc87d0adae005eb07e5fa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YYrfbYd067YAm9LBjj6X0Kc3",
  "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]: [-1.0328, 2.0487, 1.0779, -0.0643, -0.7834, -0.8165, 0.2825, 0.308, 2.2539, 1.2594, 0.5037, 0.1688, 0.1734, 0.6087]\nstate[eef_state]: left_x=0.3299 left_y=-0.3026 left_z=0.0103 left_yaw=0.0209 left_pitch=-0.0766 left_roll=0.0572 left_gripper=0.2825 right_x=0.5664 right_y=0.1528 right_z=0.0291 right_yaw=0.0614 right_pitch=0.0977 right_roll=0.0862 right_gripper=0.6087\nstate[joint_eff]: [0.1436, -12.0957, 4.5333, 0.9939, -0.4274, 0.0855, 0.6716, -0.9368, -9.2103, 6.9128, 1.2576, 0.3883, -0.0904, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9def5be498ebb55b9c6f25bbd72e5f06ede2e9ad887608ceb991b5d1da0975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179c936133ea439086cd67457493ac908c7d8b45168bf07b177df339d6a23d64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f67668b2ae1b238a29d755dc0edb7dcd1cfeac8d20e63db0ba1a38e75b7c39",
      "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 · 4.823 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 2.0678, 1.1854, -0.1268, -0.8131, -0.6598, 0.0496, 0.2955, 2.431, 1.2957, 1.0538, 0.2607, 0.0261, 0.018]\nstate[eef_state]: left_x=0.3874 left_y=-0.2639 left_z=0.0311 left_yaw=0.1 left_pitch=-0.0518 left_roll=0.1741 left_gripper=0.0496 right_x=0.6035 right_y=0.1398 right_z=0.0681 right_yaw=0.0199 right_pitch=0.5045 right_roll=0.0217 right_gripper=0.018\nstate[joint_eff]: [-0.3487, -11.6034, 4.6838, 0.9939, -0.1099, -0.0073, 0.8474, -0.0479, -13.5726, 4.1368, 1.3797, 0.1294, -0.0317, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0286, 2.0235, 1.0702, -0.0711, -0.7856, -0.8066, 0.9976, 0.3195, 2.2173, 1.0611, 0.8062, 0.2481, 0.1116, 0.9973]\nstate[eef_state]: left_x=0.3307 left_y=-0.2999 left_z=0.0179 left_yaw=0.0202 left_pitch=-0.07 left_roll=0.0567 left_gripper=0.9976 right_x=0.5437 right_y=0.138 right_z=0.0401 right_yaw=0.0338 right_pitch=0.2441 right_roll=0.0346 right_gripper=0.9973\nstate[joint_eff]: [-0.7316, -9.2103, 7.1316, 1.2381, -0.3199, 0.0269, 0.0317, 0.4718, -7.747, 3.6718, 1.0085, 0.1734, -0.2027, 0.1001]\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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0328, 2.0487, 1.0779, -0.0643, -0.7834, -0.8165, 0.2825, 0.308, 2.2539, 1.2594, 0.5037, 0.1688, 0.1734, 0.6087]\nstate[eef_state]: left_x=0.3299 left_y=-0.3026 left_z=0.0103 left_yaw=0.0209 left_pitch=-0.0766 left_roll=0.0572 left_gripper=0.2825 right_x=0.5664 right_y=0.1528 right_z=0.0291 right_yaw=0.0614 right_pitch=0.0977 right_roll=0.0862 right_gripper=0.6087\nstate[joint_eff]: [0.1436, -12.0957, 4.5333, 0.9939, -0.4274, 0.0855, 0.6716, -0.9368, -9.2103, 6.9128, 1.2576, 0.3883, -0.0904, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9def5be498ebb55b9c6f25bbd72e5f06ede2e9ad887608ceb991b5d1da0975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179c936133ea439086cd67457493ac908c7d8b45168bf07b177df339d6a23d64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f67668b2ae1b238a29d755dc0edb7dcd1cfeac8d20e63db0ba1a38e75b7c39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_06f55df79fc286d2016ab4621fa9f487d0b5bd84a5ceeb86bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"right_x\":0.59,\"right_y\":0.29,\"right_z\":0.2},\"note\":\"Both grippers now show substantial openings around the objects. I’m lifting the brown plush clear and carrying the yellow object over the back half of the safe, rather than its front rim.\"}",
  "call_id": "call_7e5K59Xxuy4btgG2azjRgTfZ",
  "id": "fc_06f55df79fc286d2016ab46228fa8087d09a40e9ba3d71d967",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7e5K59Xxuy4btgG2azjRgTfZ",
  "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]: [-1.0321, 1.8359, 1.483, -0.757, -0.775, -0.8288, 0.2849, 0.5404, 2.3219, 2.0422, -0.3527, 0.3752, 0.2497, 0.6097]\nstate[eef_state]: left_x=0.3283 left_y=-0.3013 left_z=0.1627 left_yaw=0.0304 left_pitch=-0.1191 left_roll=0.1094 left_gripper=0.2849 right_x=0.5815 right_y=0.2776 right_z=0.1566 right_yaw=0.0837 right_pitch=0.0011 right_roll=0.0001 right_gripper=0.6097\nstate[joint_eff]: [-0.1299, -13.053, 9.3197, 1.2039, -0.486, 0.1001, 0.2369, 0.3214, -14.7487, 9.853, 2.4884, -0.1783, 0.4322, 0.0952]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437fd63c3bf72c83a624c1e74b0a0b945f06b11cf0d275a21b185127febc3d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c950f70c6d26b05b3e91c6596d0f299f402ead18ef9262a435299f226b543d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c0e519554a0804cc55b940556b58c25d7607e746c0c0ca198efd2a662bb3ef",
      "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 · 6.901 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.783, 1.4216, 0.9764, -0.4805, -0.7578, -0.5575, 0.9972, 0.2291, 1.9614, 1.4136, -0.0788, 0.1589, 0.0998, 0.9963]\nstate[eef_state]: left_x=0.3342 left_y=-0.1562 left_z=0.1633 left_yaw=0.1089 left_pitch=-0.0488 left_roll=0.1624 left_gripper=0.9972 right_x=0.55 right_y=0.1032 right_z=0.1365 right_yaw=0.0322 right_pitch=-0.0341 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -7.0769, 6.3795, 1.3602, -0.2662, 0.1832, -0.0024, -0.7863, -14.5709, 9.4564, 2.0635, 0.0171, 0.1001, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0328, 2.0487, 1.0779, -0.0643, -0.7834, -0.8165, 0.2825, 0.308, 2.2539, 1.2594, 0.5037, 0.1688, 0.1734, 0.6087]\nstate[eef_state]: left_x=0.3299 left_y=-0.3026 left_z=0.0103 left_yaw=0.0209 left_pitch=-0.0766 left_roll=0.0572 left_gripper=0.2825 right_x=0.5664 right_y=0.1528 right_z=0.0291 right_yaw=0.0614 right_pitch=0.0977 right_roll=0.0862 right_gripper=0.6087\nstate[joint_eff]: [0.1436, -12.0957, 4.5333, 0.9939, -0.4274, 0.0855, 0.6716, -0.9368, -9.2103, 6.9128, 1.2576, 0.3883, -0.0904, 0.9451]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0321, 1.8359, 1.483, -0.757, -0.775, -0.8288, 0.2849, 0.5404, 2.3219, 2.0422, -0.3527, 0.3752, 0.2497, 0.6097]\nstate[eef_state]: left_x=0.3283 left_y=-0.3013 left_z=0.1627 left_yaw=0.0304 left_pitch=-0.1191 left_roll=0.1094 left_gripper=0.2849 right_x=0.5815 right_y=0.2776 right_z=0.1566 right_yaw=0.0837 right_pitch=0.0011 right_roll=0.0001 right_gripper=0.6097\nstate[joint_eff]: [-0.1299, -13.053, 9.3197, 1.2039, -0.486, 0.1001, 0.2369, 0.3214, -14.7487, 9.853, 2.4884, -0.1783, 0.4322, 0.0952]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437fd63c3bf72c83a624c1e74b0a0b945f06b11cf0d275a21b185127febc3d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c950f70c6d26b05b3e91c6596d0f299f402ead18ef9262a435299f226b543d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c0e519554a0804cc55b940556b58c25d7607e746c0c0ca198efd2a662bb3ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIwUq4zpimPShFEzslkGn_CpMghsYo1qOckMuJ8OUPBFBEZUcAQNtZowSGuxesw7Q6rhLlI_Se0ZLLKugc19C9bGrzpqGAatSma467kahFmGqW7HkcArOo5TA1a09Kha220AAcwYCo-m53vsz9LF_awyYUcMnAIuBj1oNrjt3GSLUx2c8pNOHQPa7-t4tA1DQ3Zrx-Z10DT69PpjDc-cRUbwX9gSYchiy5uxa4QKXn4UeSzhfCWiTfikj3R3v2pO_Aewu95wcapGvOWrPwrrPQQs2X--qucjS_eGkUsf1eMNh91aUaS-F4F6j7Rkrq-l0WQxU1xjX0dSy6fwkkX8FTXnEyJFG4CFNxUy7pnAhs0RdiVUfDUDBcWhEAMqvmOQEYWAfwZBHAjvN71Dq1A6trpIMSgL1FPh0vE1THnrS7rta6c7NxX3Qg8QBAt-DXYkyHp0SsI8F3CTb4zfroDbKNrzb-gQyZZddu90GwqkYVjiKikwHP5F0DoOLRhTZC3aurIghX_EiNq5oDTo2t7cQn53D7rOTMw-qlEhdUPFKRWsn_C8pAAhbeYGkQk-ldguNEiMCO2xjYnH1zlNh4eWXXfXq1AWOAKBdbAICsW4jvafyz710avqBqwi3SXZwAs9dG0TBVIG4Ah_DefhmIhv8bVDN-4MfI_dGPg8rmY-0GU5wf5m0j9fRlhcXxlkgxDRM8zmGzT9FxE4crCXXmJXUvw9-0UeOF3VTDgrqAVYKJXhBtSeBRPqr_uhSsw0FxEzaHciOpm4XaEhNlFm4YsYVcO69yFMYEsBjxMExtNPrXf9ukIH8lGzKq_5_pu7BN_zwC_tmskuX9Nqmhch6G0iQleK5qcHhNPTrTHlQwumPOSoFYECjyQ8KW4AQRdS0z11Vb4yzac6bBfWLaEArF56G-T6u08v2wXoq3q227F_kdtmVrJtOhVdYTuhqVFou6LWUKHKOoquQqYySa-2l4iczHAOa34hWvFHIXSwcJwo42NIY_U77ckLHjDSamXXIz5GyNiODu5tm72vIBQ3mUNAkqmqmLZma47Q072weNaFl5IVNeOF8ewNP2gWaTXlRjkXhJet7haVmPKe2k0tX_ndovzFtrc22EPnGc9l8F14NidtkVCDhD1TNMuH4jwTEIWM_7-FQVNnQNKUa3obl7irhSA8-vR5lIVf9gxy5emRmtIjCmnjWMN-vVwxIliCoZaCYHHndxMghMOrDs5jnXloC6edFpnsfzEGUEplD9MMWbG6Y9Y2A5_7kRwir5zJFwhtJ3-P0iocn43npa48OK4VM7lPDtBryeobbYZfgWozyc6hwijYMoHoN6E-7yLGJV8oYQkcaQA0FxonRbNfSkEzipU71qbfo3neRZU3yNhxc0cL45K8h8lNN1WqnOsYbhRD5aXjoDGqmuebCL6oe7kxp3TCl95XuZ-i0hdPKH5_ao_DSxaJf5_jlGUCvnn-FHD_eP5Gv8TCFp8NiugDyuyoPpYS4OL-BTxXX24hu1hMnuufp9IL-z7Kgh_bDbgJGUC_841GUxk48Cw4_tuyi242O8MJJJEBw59Jnbqlt-j-mFDwwR30un0YiY0ep_3B7gdla5m2zsMcNd3cf4LE4O_GB7KTrYGGdlfCEN2nE81rcTiTVbzRdP0siKGSVLaBDjo6YjE7x8BH-i0avW4Hy7Ndm-eQJ8eTfLEf-LaJ_KtqgXwBpDszvFCorP1BT34GreDbF8ChfbY1FP8dUovk3GBARHXdZue-KvobupWL4pF2KWQ4E2vJZbagQbJulWqTfwu24eOcpbdprlAqincuhcIOw0RB_1TW9ioeiCWXrunUAfeq7uM3QzYmiL3wu5vxP-l28S9P3HXvUca6dpngqylZdF6ew==",
  "id": "rs_06f55df79fc286d2016ab4622ca2e887d08af3d69daa66215f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.2,\"right_z\":0.045,\"left_x\":0.36,\"left_y\":-0.29,\"left_z\":0.23},\"note\":\"The safe moved with the right gripper, so it caught the rim rather than the yellow object. The brown plush is securely held by the left arm; I’m lowering the safe back to the table before releasing the accidental grasp.\"}",
  "call_id": "call_qzsWE34x3i5gAfBHYTiHrvby",
  "id": "fc_06f55df79fc286d2016ab4622ea0e087d0a09408ce0ba8b2e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qzsWE34x3i5gAfBHYTiHrvby",
  "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]: [-0.9516, 1.8462, 1.7157, -0.9443, -0.7219, -0.7586, 0.2869, 0.4229, 2.2509, 1.4494, 0.1181, 0.2905, 0.1925, 0.6096]\nstate[eef_state]: left_x=0.3527 left_y=-0.2876 left_z=0.2156 left_yaw=0.0407 left_pitch=-0.1457 left_roll=0.1082 left_gripper=0.2869 right_x=0.553 right_y=0.1973 right_z=0.032 right_yaw=0.0657 right_pitch=-0.0665 right_roll=-0.0192 right_gripper=0.6096\nstate[joint_eff]: [0.3897, -8.3624, 9.5111, 1.0672, -0.4567, 0.2857, 0.2027, -0.4855, -13.559, 6.2974, 1.453, 0.0366, -0.2564, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec78631c223dc4e15093bc7a806d40f1dc4bf71486fc6b581aee2cba5f590a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de387978c9bc5d2256c5ceab6847bc18aa6109f774492f9612021bfbfe806f50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e251c3f978afbfe6a12cef5c841a979c240b78ae059571910118b3c6e7982ca",
      "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 · 11.63 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0286, 2.0235, 1.0702, -0.0711, -0.7856, -0.8066, 0.9976, 0.3195, 2.2173, 1.0611, 0.8062, 0.2481, 0.1116, 0.9973]\nstate[eef_state]: left_x=0.3307 left_y=-0.2999 left_z=0.0179 left_yaw=0.0202 left_pitch=-0.07 left_roll=0.0567 left_gripper=0.9976 right_x=0.5437 right_y=0.138 right_z=0.0401 right_yaw=0.0338 right_pitch=0.2441 right_roll=0.0346 right_gripper=0.9973\nstate[joint_eff]: [-0.7316, -9.2103, 7.1316, 1.2381, -0.3199, 0.0269, 0.0317, 0.4718, -7.747, 3.6718, 1.0085, 0.1734, -0.2027, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0321, 1.8359, 1.483, -0.757, -0.775, -0.8288, 0.2849, 0.5404, 2.3219, 2.0422, -0.3527, 0.3752, 0.2497, 0.6097]\nstate[eef_state]: left_x=0.3283 left_y=-0.3013 left_z=0.1627 left_yaw=0.0304 left_pitch=-0.1191 left_roll=0.1094 left_gripper=0.2849 right_x=0.5815 right_y=0.2776 right_z=0.1566 right_yaw=0.0837 right_pitch=0.0011 right_roll=0.0001 right_gripper=0.6097\nstate[joint_eff]: [-0.1299, -13.053, 9.3197, 1.2039, -0.486, 0.1001, 0.2369, 0.3214, -14.7487, 9.853, 2.4884, -0.1783, 0.4322, 0.0952]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9516, 1.8462, 1.7157, -0.9443, -0.7219, -0.7586, 0.2869, 0.4229, 2.2509, 1.4494, 0.1181, 0.2905, 0.1925, 0.6096]\nstate[eef_state]: left_x=0.3527 left_y=-0.2876 left_z=0.2156 left_yaw=0.0407 left_pitch=-0.1457 left_roll=0.1082 left_gripper=0.2869 right_x=0.553 right_y=0.1973 right_z=0.032 right_yaw=0.0657 right_pitch=-0.0665 right_roll=-0.0192 right_gripper=0.6096\nstate[joint_eff]: [0.3897, -8.3624, 9.5111, 1.0672, -0.4567, 0.2857, 0.2027, -0.4855, -13.559, 6.2974, 1.453, 0.0366, -0.2564, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec78631c223dc4e15093bc7a806d40f1dc4bf71486fc6b581aee2cba5f590a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de387978c9bc5d2256c5ceab6847bc18aa6109f774492f9612021bfbfe806f50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e251c3f978afbfe6a12cef5c841a979c240b78ae059571910118b3c6e7982ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGI3p1As0vpiMOJXIN1hm2dU_MdUHJ82ZRYlY15m7_rjggGT2qOCyFfXugewmCGdwBy8CDrIUw7uI372BPHJIXWQ11VJZ1LV5pelVfBS8AcTdvnt1ChK73T6InSrM_MSajMVUNJ4FJ-G4slmlc71Ri6RPcoX3rjUlHdeMl2gV6nCpC-hVRM5X3Wh2WjtMQ9joODTESxXHR-3xa6uo1WJYbwX01_PO4rJ0DpXKjiBBXWf8Osmt3JekN7ISFhE99C-5taaUZMf1l_fAnWsVpRrVAHMRuiYxAAnQTFc7DeGNDNE6wCmfE_EGNkZz1QBsBoe7aP28P08qxuKTbha83FO0dG9sLWEgzky37hWqT_vTzuOhK_B-DaB0cyVvFUXIGHu7YCwRHp-3CMHHVFumDHuHrFxE8GVnccuNKv51z8WbHl5w1E_-d1g880Q-5fbIQDU4D3fygFhchCuWjpGHpUq8fT0vlm2GIS2x9SbZisBNOqn-0w4cmkpIq_yq9E7LBb1cLGhuXVAq_y_OZSY2Cl-PN9NZG-kPS9vLIU-UqkdrUs1nWtv34BrADn2cCntRv5PJZpcnx4eAhx5U84APVu73lJ6vwP80kqlByLL5fp0BeWQvmrCTZmpx7dL5q8OQL1h-Zf-JQMxQnLGHAZbp3teuT3a6-MWLHpOUa9dCfNHKo9J8vUA4i7EcN7iYWHgjDUEVCLjnk2sTc6KF9PgtCmztIcD_mvBLlQgy7zn-Ah-qyelyWbQihOl-awkTtRzoV19xEw7LaR7ae6R0AAITEDOlnME4Cc8J6mw3AL6VpNROePan5mTtZbpvaBtnQzVt7MnWLO2REvNxhmNzO4rKoxjF9orqszQ1My0jE9Hetw67dBUWD6VSg-j5OFr341oxnaEHaeQIOr2eJbOWBQ8pDj40wPpWThHHKeaB45yu1uqu8sRg6Cx0kGvMdypJ5Er2LSmmK3rVrnZdqo0jtCCsymop_iFuhpDofS7mqSp6IveMscv1QIsVoaXy8DlAgHv8cPG6g_qba6HdigOM3apIsaTL3V2w9vRRLCZYFTOI0vocSFZzPINAx23v92K3EVrpBLtaIeW7qGQWn2TYv0uO0WS2QS4UyyFRwRj9TvBxx61PDUCzWETUtOpfgUkCMVjTIlYqlb11wlElJbiOCrPvCbC7RMHWiI2PhDDSEwyu1jk6khHTr2fgQZwIaU7CbdGD0sJgti1qSszdw8sUqh2qNftgmRxHbzBgy25VcAgrRhS8cOiGbeCgr46bsAoj7_1129M2qlM5D4oTDBWSxff5yTIgV1Y58ggjhGe_H8XuSv4EktzemqWbp5H8OBCg4RgCUVwqyCYfDw1FaE5K31sUnYPH59b6KnEXY2h3L5tbE7dLwwhSB4OMmDuV4vxhnfhKpIgFIHrH6-1iNi7FkhyBWghxE5qFGBPEeotByKAHPt1Pm7Rkup85GjwA-J0uiGkzZSw-i_vhMUy3wlGPvYb4kAddCN5paUMBaWLwXRp6nLaNgfIs4DJl2nR5w2bkaz-o1ubqrOr6avzLX1YcKW9HauryTtuwbnlB9csg_S9OOT0e7qqKbXtqYUld4MCqfqPK9S0LiQRftlv1Xj_ozT9r0CNosn0MXQMUQkZYOytX8fZ3bGXPxT3gdoBKrO6FPWAF3aKjP2HQ1d_vXaY3fpCKhpbJwODbIyywdW0EN-BwUsnzXK2s1qkT_15BRsPQcWY_JS83Bh9wJN-d01PfdG-Jhv-j8cpaDp5YBWWQPEtB5PMevsJb7G9jK4uH-7D2G3SFMd5pzK5HN-VITDJz62Xb4gHbdLbH_kQlq1BzkaROpS-_UXtdvQtCsMI700rggFvJgul8QFO3n5m4A0lxppS_7CQdRO43sh_-0U7tB2arcU8tMGmwq04hfBxNUUtgUrOHPVK3W7Z2T-2t9kwNWOox1lNaVmwpwr9mdYbLefi4_JX4VfHbvvdn5iwBVqYWfn1uhexLJKCF5GxuYFx1deBJlx3-XT0nT3CmIYRQSK9pR6ypKA9qO2qEjFzQTjV8er-A48GFYuJf9lXIuC5ffAcnzD4xjyY7D5l2aTSfjungEUIt-lyQppy5XReQB-0fis0gFZw1wT3hD8IwqV-7LGwcVALAoufD5ccgoZkSBLIKQPSn1ZTNhI=",
  "id": "rs_06f55df79fc286d2016ab462330b2887d09e170cff2848e074",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The safe is back at table height but tilted by the rim grasp. I’m releasing it now so it can settle without further dragging.\"}",
  "call_id": "call_Jvv9H290sDSbCVlrhon7uwwc",
  "id": "fc_06f55df79fc286d2016ab462369eb487d0b860724674fe420e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jvv9H290sDSbCVlrhon7uwwc",
  "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]: [-0.9485, 1.8503, 1.7199, -0.9661, -0.7143, -0.7544, 0.2891, 0.4129, 2.2509, 1.4361, 0.1436, 0.2939, 0.1913, 0.9947]\nstate[eef_state]: left_x=0.3514 left_y=-0.2851 left_z=0.2124 left_yaw=0.0401 left_pitch=-0.1635 left_roll=0.126 left_gripper=0.2891 right_x=0.555 right_y=0.1912 right_z=0.0316 right_yaw=0.0539 right_pitch=-0.0543 right_roll=-0.0179 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -9.935, 6.0376, 1.2283, -0.4518, -0.0855, 0.2173, 0.4308, -12.6291, 7.5145, 1.4139, -0.0122, -0.0122, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d1772e1f3fe5d7d6a7de5de34b3889d97f3749a9228d8947861d69c4cf95dca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a052c65a64f0fb67b8bd9e2f9bf73a197f03ea7a879a228c6606c9f339ba11e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272bfed1d47e3a83b439d386b0ecfb606993313a42f45d9c698174408dc7de2a",
      "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 · 5.838 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0328, 2.0487, 1.0779, -0.0643, -0.7834, -0.8165, 0.2825, 0.308, 2.2539, 1.2594, 0.5037, 0.1688, 0.1734, 0.6087]\nstate[eef_state]: left_x=0.3299 left_y=-0.3026 left_z=0.0103 left_yaw=0.0209 left_pitch=-0.0766 left_roll=0.0572 left_gripper=0.2825 right_x=0.5664 right_y=0.1528 right_z=0.0291 right_yaw=0.0614 right_pitch=0.0977 right_roll=0.0862 right_gripper=0.6087\nstate[joint_eff]: [0.1436, -12.0957, 4.5333, 0.9939, -0.4274, 0.0855, 0.6716, -0.9368, -9.2103, 6.9128, 1.2576, 0.3883, -0.0904, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9516, 1.8462, 1.7157, -0.9443, -0.7219, -0.7586, 0.2869, 0.4229, 2.2509, 1.4494, 0.1181, 0.2905, 0.1925, 0.6096]\nstate[eef_state]: left_x=0.3527 left_y=-0.2876 left_z=0.2156 left_yaw=0.0407 left_pitch=-0.1457 left_roll=0.1082 left_gripper=0.2869 right_x=0.553 right_y=0.1973 right_z=0.032 right_yaw=0.0657 right_pitch=-0.0665 right_roll=-0.0192 right_gripper=0.6096\nstate[joint_eff]: [0.3897, -8.3624, 9.5111, 1.0672, -0.4567, 0.2857, 0.2027, -0.4855, -13.559, 6.2974, 1.453, 0.0366, -0.2564, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9485, 1.8503, 1.7199, -0.9661, -0.7143, -0.7544, 0.2891, 0.4129, 2.2509, 1.4361, 0.1436, 0.2939, 0.1913, 0.9947]\nstate[eef_state]: left_x=0.3514 left_y=-0.2851 left_z=0.2124 left_yaw=0.0401 left_pitch=-0.1635 left_roll=0.126 left_gripper=0.2891 right_x=0.555 right_y=0.1912 right_z=0.0316 right_yaw=0.0539 right_pitch=-0.0543 right_roll=-0.0179 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -9.935, 6.0376, 1.2283, -0.4518, -0.0855, 0.2173, 0.4308, -12.6291, 7.5145, 1.4139, -0.0122, -0.0122, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d1772e1f3fe5d7d6a7de5de34b3889d97f3749a9228d8947861d69c4cf95dca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a052c65a64f0fb67b8bd9e2f9bf73a197f03ea7a879a228c6606c9f339ba11e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272bfed1d47e3a83b439d386b0ecfb606993313a42f45d9c698174408dc7de2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJDUhn8aasS99-6_KQ0o8I0sGa7LJRP-lAG_qNq7YSws9Xtnkt6Y3OrJnTnkHaV8kkWIfskIz_FW9uVQd6yFKIhYVxKRS4MVv0J87g7irnm4NMnzfKt8uRD7hCzHr2jSfEpKRriHpRyHaoA09rmRO0lyhf6pjYy1S33kAOky0aX5ZxY_43IX0ubyCBkxao1j13iuNilXmJOUr3Gywu3XuKwd96IuSFSa0cyQd1FcALZ2noIN_TzoOdrt8eVy9NCWNqnp0PgNW_kcHRhN2_bSgtZeopmdayWhx9BpyRDZ8v6XPy8dMW1_kSFZ6ii16pX5n_0yRp0Uilvm4ulkkEMvGIKYahlpHxJsrpMqBUfrrSEKazIDZ2tDGM5YBgZcwourmsXk1yNDoyXdIHE-IyCLW1XoxZ_STrEXDksmw2CVjax-BbC0tlQEnfvfCWAF082BMx9J0g3mLH-WzTQ0oDJr4EGGyTTRIQfq5yF2nPOACvVtOBeqAhafZcC9F34Vdt7jFpy9W_d07uj1m3x6cdvLdlpRe2kkYDyOBBu77jIayGp7O5SmJ5_eTatbjLj0Dryhts0kaNos-bc34qKFU9oLIo-LxaZJSoWRksEubMgX9s4LeANSxfR5or8ciL0qgb0kNyGDzOhUcM67D1x5d4YUVbHCPP4nMYOvfWyopz5iPqO7nHuIJo3ZwgCAxkDX8f6WOBkCQoXzQdxpZzlN_i4-5944yL1eHfpqzCw-PdplB3NVLtiq0_Q4pQZjBU8uDvb0nH0c9UVAJtVKAr-uqItJnTSPKasVXt_lCMCKojD2dKprtC0zuKZ_2vXUaFYjOpM3l3v_Mm57qb0ZAWoSQyCDaHsqSnIGHo7yUeB2AIy4o2qt_ttg-_QEKAoQLtnYd-g3hYnd_KfgsAg8WEz_YmdZapBcRWisaxckic9RquKXOFip3SL-dfHSovMIMl_LHxEqZBDoE80TZXvMZJcBGc0x8wPy3GICY6czBSBI7x6MVvaIKE1aKFFnQJg4egMyUKD4lTvHrIRk2oe4CLEDXG8RiXIS7_SqYKDebsNxtXuO_EQoQK1-egin3xBq5SOkQq4LucblzUBjgmXLHmmy8ynXeWQ_qE00y1TFpMd-CYoG8n9eE5Jr_dlK9C7hvvP-ZeDWSGs0TO96vVrUWnPC1J_VIH37i33GQ-8Lkq7czhxh-D6PwrGd6hy6_KjGYNGlwJZPI4m9U8CNtDoxeWy46uoVddVX5nz9eVSovDJfMi2f7VMy7_1JiYbzAcXgoAcgYOmbOT83W9t55JWOBEMpmkzXiKSR8g-t5ODImj9Sv3G4WD8z2TdNPb_klfFdVGvX1yfknYUDw8S_qOaskocpamVSrZM5mSsdZ5-DnhnV0LeEaguV06v6rnMUCCvftYfGhl3pzV0wTQ3nnXQqK2gnZqiBsZbwlcKakObMkVCRPhD2UdwPYRVNZQsB5ouJT65qzPstSEMoxapAEZ-HThucHeW-_huNwV6mLcrS_-1alA1olcsktI-8itnoY29aHmqMG4JRWFKSd2QpkxtX2HxnjWVJJaZWykX3fbrBFkO2ehuAoiULaFl0udtZ6_MykcDOEnU0YqnsdZE4jt2v2lkRk2pmZe2atwxRA-gp3fhfNAlWZ1CUrVMBN4ESLXf0e7WWva2Wg8clD8HvbTHrYb7v8bETnI2AT8AsuPpZHcc026RDBiAnl2BEB_wi5Se1hmbHmtyzZWXDZf3SOPpM2kTPlOOk3kxe2YIfM1Qty6ksWi8WlQJ_CozlvQzWtzKXhtQzEjPOFq-xVWp7FEtdWo_1iIaanDGWmJCWJzuYSHcUgDco-Zy_Ym00v6Qm_LFRb5Zd3fOQOFONZWlKa569ebFdTwO6W3lNQ7mbi4aB9hPQvujvZ5V8zDaN6WDTVAiS4Sj4Gdo1oXEaxg60x5WIj28p0miipYZCSsHQwLZ8yZ-5u78EqYAy5L8d7YABeH5_85QvZ7EAEB4IPbVaGlamZ4IzAQPVT3Q8YNdg-JG1BsWRdpV_K0ut0JOOIOfUdZXM0zWe06v3cZhKtfbXifUKkFJSzWh_i4lRgAGkYunL8twtx3eLTYVvWPp7SNMLnwplXm7EIhF9-basU0QPPYqVCt4FERJ_XnE2lE_LYzjx-Jfzd0tE2LXzIdcvH1FsXE2hNtfCbx3gMqCZsrbIzqhiOoIeHqPEjvWEmQNdfQtae-flY2Y-11cg-8svS_Igh85lKSDWuO0ZV884kqZSf_HLtAJARdcKgQM_zlLGYqj4aLO1psxqBkZf2QpSMbp5rW_gzCgX4JnkOYkuRbwjQ0Z1Q5Z4Zc4nwywEwY7TKeeDI6gaTtkiDePIbPcYppnN6dI2HBnJmsYfaYKu9AvG99PvjPChSXXYpl9xQxnujjW6Ayd7xIu5Z_l0WTzRJNLJjdMs5zxbU6oTaaNdQ7BCriZoMywEbHPNVgPH7wreB7BHorXZfvLTMP2Q15DILkbhgbJ90kzLcK5xTOb2jGyaodUc9_OhgCE_BHlzkeOX3ohfARL5A_Qa79qfCqRsrCbog3Bv3ed5U-MRtfBCqXXdtGJ51c6O84CgAmUMZuuAob4IEQO_B4WbBR9Bek7oh74AOBGnrXKde7_g58ZM0t1zBpw-XtQAR7ee32AvIeEexHgqhw9pkJySZlU6X-5fCI8_HggALAhwFd58u0QGT84T-fzfo9o04eKJvAA11R9F6y9jf3F410z1u5ygeoG3pCShCFJqBd-sg34XWQZ0H1asIqccqe3ZhjixU_lhEbovVltKYVWzIvbusfADqVbNvVZ6jfdfVezLWSTqqyzVD3MEFBSM_yRlTTyWbnR7MY1PIBHXjSEZ1_7RbyqSjP0Y3GoOzENy9Roj5JK9CSlAVgsd_9eeERYPjtn3dSjTlQFX46fgjRzY368P9ZzU4HVNJp1afEUMe7GBbhJ__l8iHnyX6nPOCdSFpl6nqA8nCvsX8MJSVCdA7uvkFvrOaYiUMKoZ0hR9oOyjAz4H6tStlv2o5Ysao8foxSy2DgvrD2ISjeIfeyaDoD6-Vxnj9I4XXuDouQMKZtvGva9mKO80kLg2DAUCtLKzYf-WE0pYFlQ3u7sk6neL6IDGQsOTCoAgPkC2K259V5tkwWjvHVoqNDroak9M7ZLIB8nEvo3UILC7Msm3S624oatuVZ0xcbBqwJ0VASTzGN55DrB-N72X4MrX36VlMzYl10uvrNHhUNYKkH3kDKVZP4xHVdAyQW5AHBuaBxk3Tq0G0Z2ld8-2m8kqELlVhscw3AKsnkRoKTl-jobFv931C_4JXVEfzdu6lwltkXmp8HiULxmACMoaQ2xP9pXN2rdPfJJyVHhvKfcr_LGNs1cFFI577j0tSuIr-PgPxBm0F4yFnX0WUFSFcI-N4dpzF5GI2TTYVYJ6eUew91ABlNGi12BeUhoBkZIlVamzXRA8bsVmJhplQ48MSLTueh90_subdQxxVNbLyuELVsynyNBZWVdSeiaQ9pnWAAoZZds13LL6OLCc8VoF_-9rustuV7GQcuCCcWmFuxXRJHx6YUyhvUVgW6oSFeCUpo8YQwBKSRvS9qqSLYjZGZmOZHorY2zdDOCwnL56THxuzd9iXP85HIkjBbc8utVpL_i5oZ-xHuASYiS2Qulm_Ldd145xGyjbItZypIYa06gyCysc4fonnOsDPbpDTgtagavQFa8XiHtywUByLVX6EOl0C6mLTgr0ioQSAq8qOeuAXl0XJB5JwpdZsY06V1yuLwGOeR7zSW-5-oo5v33X2hFlsGY4niQ6jGvTM0GQIVXiKP8eXqzWGus9bWuxJl2_NYP_zxyOEH7R50UskWxcaOkulgQyeoRr8V1EMvMKtbWpOSHK72xDK8DA4MiEdp_seerDK0SCIXzRA9oddYIqc_aVp1QSYgfxsPYcIOq8tDXC5d1Q_ypZEtAxGbY85UjFPyZw8q24FRWl7BwHSySvUBlEsN34Il8vA4kI-Lz8uc5tcWeAt2wj1DqXrvLQZt1tO5YEHT_V8UG9PO7Tbpay9t2aBxA0n7Eh9TDUI8qSA==",
  "id": "rs_06f55df79fc286d2016ab4623984a487d08cc180de8d79f668",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJDVFJp7QOi021mlPN3_xE5EIy6p_WV5cEHmj2sdFlBK9Wq75X0KSgvzCn7rp-PeYKPPGc8E3srjd8WrFLhQSuRStbRfa5ZkNP4ark_U870K6QAJXW-kYQja2vF1IedH9jOJkXqf3JrUSRM5W8cnDcEJw-pcfyWdo_DdoeFm0-KzDfHOvY6MSmjN2ID9tlCHUYawwkpyR1Pkqi6CgbqYP10AeMujtMpC1dPUJ5wv8VCdy8Wt_pM_OAnCXr0qWPVxPwAmpXLG274M5baoe2VD24CN3Wtq8CFHWS7yDSdgndNi33D0dY89HSvH76ac9sjdjaSR3TxW5ZLjmGco0DU2ZFmBqVouo9WgQtJ9sDB1eMvbJMLRVAAz2as-JIxOG2aacRZEIneg5CvrLMhij1ae6bKij8Bdm-UZORRBcmqVIeBI_pKGS32oUScBPxZbaXlttd7gZGZxRJNCuObOl45PFhQR-2sM3WY3Yzh8p1K23ql_Nh5iIMtBpL_e059oaHTwuSn2TUC3IxXdk0Qs9LRqH4VzSI2VSOcz7YR57jAjTR7Jm9wBbw3pdAzCly6eIDM227DRotVGc0FzvcZ0KodSUtzoFQ9d4MKvLxaI5HGz3bb0OnyIi7icnD4v0DZJ1-UXrIQiRIHiNNnxZDYNf1J7TRoudUNsQDADw2wbJLeJ09KRKk1deQU2SlPc9CFsLUiJzn0vZeaeeJ85B25VhjvC0-Ci8pS5ZDywWi21hqBs981N_OqcuxqX1_mezdM3pX_GYunV5Hff-TGsjtrs1Qg-77XYvSVA_IDHVWTxbhaOZp0j4ZGlj9UxcEVeyE5JJ-_ZOTnkXWw8T99mj3TNWyL8X9BqckDVEbmZpQAJFCZ6kF6dq6wT2JRDzXq_va8wDPa9xHp8_J6kdjDLmhC9n4Y9RBP_ujhpFRN-w7fFnOFPZgmtyX9BO49sS52ixNojGeAWpR5T1IAJvBojiTSubfy-QuuWMTyICvIPt-jZyuh2rEUICCLVXFoYh5pg6qyumUlG3iaRv2RGuPSvX-Co5pzbTvoWdg4rbwPLBZOwsx2pJChlC5yqxfjbRIN_ArVFqRi73d8Hd7-l7K5Zmy9J2ODxr5RvNK9yw-zlGVH5NCdM8zWY8yIiZfTioWs62vPTdsdLw6n_hkI7gs_Vsc9VwkJ0QOOi-H8UswTJ8AWWz8Xw7_K1b9WO_OsYN7VenRP7uMg9XcrCAWMx3_Fn6LTNYj-yRgRTrX6ElQWwMiOHwCq0tEysd3DkpD9YHjZ2ee2RQWaUp1AL27x5wOrVdQy5XIrhSJ7uWoP3xbunUAQfg_tDUWdbnQmaFOrVmfByDfar87zxOzmWB9zyUhybaVVhquUXhQS71VHqIdj71QZjiSdBP2ns4VQ4FhWMadlyZIeGj2aegW79Jj5VR5IKhEIBDAOOn3tDA==",
  "id": "rs_06f55df79fc286d2016ab462411ff487d09a84bec2d1ee64d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.27,\"left_z\":0.18,\"right_x\":0.6,\"right_y\":0.215,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The brown plush remains secure, and the yellow object is now clearly visible ahead and slightly left of the right jaws. I’m moving the brown plush over the safe and making a corrected approach to the yellow object, away from the rim.\"}",
  "call_id": "call_JSbLjYgu4a9lpzAf9ZGnCNP4",
  "id": "fc_06f55df79fc286d2016ab46242093887d0b8b67cfbd934f789",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JSbLjYgu4a9lpzAf9ZGnCNP4",
  "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]: [-0.696, 2.1544, 1.9671, -0.8261, -0.569, -0.5129, 0.2912, 0.4328, 2.4687, 1.449, 0.6415, 0.3676, 0.1066, 0.9953]\nstate[eef_state]: left_x=0.4725 left_y=-0.266 left_z=0.16 left_yaw=0.0584 left_pitch=-0.2264 left_roll=0.1544 left_gripper=0.2912 right_x=0.5919 right_y=0.2075 right_z=0.0127 right_yaw=0.0502 right_pitch=0.2314 right_roll=-0.0211 right_gripper=0.9953\nstate[joint_eff]: [0.7043, -12.465, 10.0444, 1.6777, -0.4225, 0.2027, 0.2076, 0.6085, -12.5197, 8.4991, 2.0537, 0.1148, -0.3639, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f193655f0b81b2e734c768838a3d372fb16d6dfde233e2292e73045f5f8f0db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:928173ac06442014e224967c94fc60df703c02b69cb8ff30b8172f3d45980655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff88f7ce2b9db96a9c5e70ff38056176dde81fbcaf6cda317ede2ac5fd249b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.286 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 135 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0321, 1.8359, 1.483, -0.757, -0.775, -0.8288, 0.2849, 0.5404, 2.3219, 2.0422, -0.3527, 0.3752, 0.2497, 0.6097]\nstate[eef_state]: left_x=0.3283 left_y=-0.3013 left_z=0.1627 left_yaw=0.0304 left_pitch=-0.1191 left_roll=0.1094 left_gripper=0.2849 right_x=0.5815 right_y=0.2776 right_z=0.1566 right_yaw=0.0837 right_pitch=0.0011 right_roll=0.0001 right_gripper=0.6097\nstate[joint_eff]: [-0.1299, -13.053, 9.3197, 1.2039, -0.486, 0.1001, 0.2369, 0.3214, -14.7487, 9.853, 2.4884, -0.1783, 0.4322, 0.0952]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9485, 1.8503, 1.7199, -0.9661, -0.7143, -0.7544, 0.2891, 0.4129, 2.2509, 1.4361, 0.1436, 0.2939, 0.1913, 0.9947]\nstate[eef_state]: left_x=0.3514 left_y=-0.2851 left_z=0.2124 left_yaw=0.0401 left_pitch=-0.1635 left_roll=0.126 left_gripper=0.2891 right_x=0.555 right_y=0.1912 right_z=0.0316 right_yaw=0.0539 right_pitch=-0.0543 right_roll=-0.0179 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -9.935, 6.0376, 1.2283, -0.4518, -0.0855, 0.2173, 0.4308, -12.6291, 7.5145, 1.4139, -0.0122, -0.0122, -0.2076]\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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.696, 2.1544, 1.9671, -0.8261, -0.569, -0.5129, 0.2912, 0.4328, 2.4687, 1.449, 0.6415, 0.3676, 0.1066, 0.9953]\nstate[eef_state]: left_x=0.4725 left_y=-0.266 left_z=0.16 left_yaw=0.0584 left_pitch=-0.2264 left_roll=0.1544 left_gripper=0.2912 right_x=0.5919 right_y=0.2075 right_z=0.0127 right_yaw=0.0502 right_pitch=0.2314 right_roll=-0.0211 right_gripper=0.9953\nstate[joint_eff]: [0.7043, -12.465, 10.0444, 1.6777, -0.4225, 0.2027, 0.2076, 0.6085, -12.5197, 8.4991, 2.0537, 0.1148, -0.3639, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f193655f0b81b2e734c768838a3d372fb16d6dfde233e2292e73045f5f8f0db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:928173ac06442014e224967c94fc60df703c02b69cb8ff30b8172f3d45980655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff88f7ce2b9db96a9c5e70ff38056176dde81fbcaf6cda317ede2ac5fd249b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJKuoIP_YpKGeNocYXGcsaNDk3LEOTOx8mixGpmDzaoDAz11igqKl20S1wBIgnUS5-atC3wvsEWn0SSLWBV70rZ0owoO5aGLgnAZvJt_P9WF-rUzH3zI30PuHRFsPJbuXGnKUzp8azeev1DWKzNB2x5iUHI5fTCVNtf3HTXVaARd1vZz5H5MOAkHWW60BRBzD9FxWOyxC6juPovfLafsByG7ab14Tu_lONnFtakeDU8yjL3_kuHwR3p6LrlCwuOlyu8AtX9lNkf1JPDv735n5yfYm5pzWegNjrKRbEmPuBwJ5PinEzCx9zdWbuXI2wZCcNo76_FbgcO0TOTSH0B8vEkjdStW1mHMBZDjAfmsUULKAh_HGUhXYj-lIG1F8WGZVl7HfdFjPtqW37uAQ-cYL8gOdCDFAqMjdMgH0YesEWOP31JYS2V-4vf9iT2yt5nnWfxcu2w-kMrhmX0QXCqr1esN0RpmrYBxneShpPTQF_8HgzBRZbEbdLvHpcXzOSw_dNicD5JnCF0KwVHp1XZdThc8D13CxEqc3EcbNarzlPdQPkc6mfdqu71HBbkMo3uObo3_AC9eeowpCsSa32sDLiqB4bAFL1c8MEMgs8v_i7VKm5zxuE6jVY1scPMgTjyLgXtBx9xI6g_zUFoJ2GGAW9EAmZtsSnmZJzRErCGWiuzDq_c-Ld7rKWhjsFiEcJJxzTmAmy4J4UwqmET9cTdLhNNmYopTDRDfwfXN4FKvfT9OepIwVFjNqvDcPWIngUk3kUtSjHk1aH0O7IuYgNTA-X3MBt4xx3LT7j-ZEOqnbmfbHA9ht7hoblnaKzMDo8enMVO9rneI6GpSHeWtQyh-bm_V9x5Aqm_XYQFPxb5844lkkbIeMbA_uBcpt4ehaWGtz3dtaHriAUdUA75r396X_uC-yYfPDDy55YjjuOWW1MeAWxbzT8ejx7og8aegjQ28kGDtOm19qoaaP_5IyIKhbtN3Qhj-Yb4c1y_Vfsp3CRr2wVIJ2sG9YPPNgdhZQRlVQve8ZbBsR780oM4J9Fb-rhO0n-CSiUfYZ3JaPvODSDCkvd98zaeIE-NOEgIUbs_Uelm2ZwPGbU7t3_4pNa3VeQEUuVkNOnCrM_0O8drPfKNJJ-u4wbR_M5hewhjb_imGRnZis-ok-9hs2V_lR9n3uJLWQDlaGz_lWX6g2u3LiQe7Ady2-h_zLiGZUxyB91m7O_VK-aq1hcLn3oElYBOctH56CmvV2Uh6KwS4bvDDIrcqcDMWmbzlnivTXivJ-E4j1zf58c_LPsat6L6CxgMgLEWZhElYsG8ChGt0b9y4AFTk2tHMyUrar00sNL1YptWrtqebz2KGsHOvUdStrX5OXcbp-XJ_VB6401p8oErO8SBnJqz16_m49eoKWMCR864SZFw16t5s5wtwRnNEo_Q00RYdfFmMvhvkB43ZoJ09SrC_3shLWqlTapZ47btdNatQlnjrjRD8X1SFzJTgJKEbiHDQT2AGpqxoXArfFR_H3GQs1l5_XiIzI0_j6dkemKEu1GY",
  "id": "rs_06f55df79fc286d2016ab462465f6087d0a5a3be27babf5b5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.3,\"left_z\":0.08,\"right_gripper\":0},\"note\":\"The yellow object is now centered between the right fingertips. I’m closing on it while lowering the brown plush farther into the safe’s compartment.\"}",
  "call_id": "call_AzT0G7iaoN0Tbds6xLEej52c",
  "id": "fc_06f55df79fc286d2016ab46247fc2887d09b1718b2ebe4d698",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AzT0G7iaoN0Tbds6xLEej52c",
  "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]: [-0.6647, 2.4695, 2.2414, -0.8032, -0.5953, -0.5091, 0.2927, 0.4229, 2.4817, 1.4528, 0.6621, 0.3752, 0.1047, 0.5206]\nstate[eef_state]: left_x=0.5276 left_y=-0.2831 left_z=0.0939 left_yaw=0.1079 left_pitch=-0.2242 left_roll=0.1864 left_gripper=0.2927 right_x=0.5954 right_y=0.2009 right_z=0.011 right_yaw=0.0339 right_pitch=0.2431 right_roll=-0.0211 right_gripper=0.5206\nstate[joint_eff]: [-0.1983, -11.2342, 8.0342, 1.5897, 0.1783, 0.2027, 0.1392, 0.4991, -14.6667, 5.2718, 1.5653, -0.1245, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdef0325e49314247269489aee0cff25db90048f4409343b824967d155d9f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427eee45f20adef738e6cc1f79166e289ccd88c3bb2c4994ad8e78eb9a45342f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc315fd5193065d3405ab5e2f79ca7de6bd29a0e7eef8e280368f0d9bd83f591",
      "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 · 4.068 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 135 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9516, 1.8462, 1.7157, -0.9443, -0.7219, -0.7586, 0.2869, 0.4229, 2.2509, 1.4494, 0.1181, 0.2905, 0.1925, 0.6096]\nstate[eef_state]: left_x=0.3527 left_y=-0.2876 left_z=0.2156 left_yaw=0.0407 left_pitch=-0.1457 left_roll=0.1082 left_gripper=0.2869 right_x=0.553 right_y=0.1973 right_z=0.032 right_yaw=0.0657 right_pitch=-0.0665 right_roll=-0.0192 right_gripper=0.6096\nstate[joint_eff]: [0.3897, -8.3624, 9.5111, 1.0672, -0.4567, 0.2857, 0.2027, -0.4855, -13.559, 6.2974, 1.453, 0.0366, -0.2564, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.696, 2.1544, 1.9671, -0.8261, -0.569, -0.5129, 0.2912, 0.4328, 2.4687, 1.449, 0.6415, 0.3676, 0.1066, 0.9953]\nstate[eef_state]: left_x=0.4725 left_y=-0.266 left_z=0.16 left_yaw=0.0584 left_pitch=-0.2264 left_roll=0.1544 left_gripper=0.2912 right_x=0.5919 right_y=0.2075 right_z=0.0127 right_yaw=0.0502 right_pitch=0.2314 right_roll=-0.0211 right_gripper=0.9953\nstate[joint_eff]: [0.7043, -12.465, 10.0444, 1.6777, -0.4225, 0.2027, 0.2076, 0.6085, -12.5197, 8.4991, 2.0537, 0.1148, -0.3639, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6647, 2.4695, 2.2414, -0.8032, -0.5953, -0.5091, 0.2927, 0.4229, 2.4817, 1.4528, 0.6621, 0.3752, 0.1047, 0.5206]\nstate[eef_state]: left_x=0.5276 left_y=-0.2831 left_z=0.0939 left_yaw=0.1079 left_pitch=-0.2242 left_roll=0.1864 left_gripper=0.2927 right_x=0.5954 right_y=0.2009 right_z=0.011 right_yaw=0.0339 right_pitch=0.2431 right_roll=-0.0211 right_gripper=0.5206\nstate[joint_eff]: [-0.1983, -11.2342, 8.0342, 1.5897, 0.1783, 0.2027, 0.1392, 0.4991, -14.6667, 5.2718, 1.5653, -0.1245, -0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdef0325e49314247269489aee0cff25db90048f4409343b824967d155d9f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427eee45f20adef738e6cc1f79166e289ccd88c3bb2c4994ad8e78eb9a45342f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc315fd5193065d3405ab5e2f79ca7de6bd29a0e7eef8e280368f0d9bd83f591",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJOUs08xf-GTNSvCrMWLe6xJzeT1qX9vzPmdUslfIXk8QSXD_cKv0_57TDehzTsb1eVqWyjyTXwjeg26PKEEJIi3A2OUZGFN_n6FatCW-my4XZ59J5KFnYuJ49_x4QpxwHVPLP61Ilx8lUgnXtgX3nmt4sWpWtSVgh_umAzvRNMYsya6ols4C5MSAn5ss8lvHGimOFv4irfGMc6LPXmhaEcpWZM_SnB1SkHjof1qbcpcqvQe1ZGOuC6XVVf9Ekx9cg2ph5qirHugzcOApALpJzx90Ld-0XEbL32LsujXHDbrNs9c4yT55eV8JH9A2RURJTMLZZrA1XQfnPLR8Mjb5W0iSQ9hnzXX9Fq8gDrq3pUyUyXZQV_Diep4eDV9AUvVPX4l90KYHw_rKvsjgXCkYcSHVD3hUl0hidBmnR7XWhy2ALy-THkI7jBO2MCKPVO0Eu-u_m2s77RemP3HaxxRMOroifOemUcdqZ6IykGDrHm1HwF32iggWsTpxZLVyUHhDI_3eccNbIub385pivEdcGDFywgELlyqhXKObOiEhJ2ZW_GtomhFvn2Z6CLcnKxqva-TaMTfwT2iEzVt6ni3qukzmS4rvVfwOJXBv3oRKI9AwXkMQTgXeY6Fb8-Vp_waY95DQdlQxkLYfGWfAlLQzyr1qsrqGGzuyNpHKNHc_bybtzHVEnJ4AroitVCbDUVhgvG0FxpI40Y63rf7cVtzXW1yx6c4Lrhk8sO-r9L07q0dfzbPQEkRpeEOCK-gowauOLTZsOuecFszhvNMJ2c1cPMlL7_bOK4ikQU_5FFw9QnH9s9b49aTFPYV3ZKhvHcFdCtcsRDVYm33NE1xVIhjTBLYfvIKnHzOZW9YzFNrZYkQnYYfSv41q2MahkMXEeOPTezF8es3GA9Z3gZJYa8PnMCobl0did9yMcFknqzIHqHTProyw718bAmuPKCoGq834LnSEe_ML97QsQfUTRyK_NX81imbpMoM24dgD_sRAz-6yQlWB_9SFOgFBoBitcdIzGrI0bRMPoQ0C2AO6_99KM7E_Gwqfv8zYF34sDTqU5guOMIMZr3kgTdcNjOGLGos-P7e8wcxzDydB9t0o49WnV-zxxZzF-vKJfkjjhaQSM-n2wpC0NHr_qpRAMUJkaABAcvrV3X6b9mZwGOIUlFgQf32xqqFwWcXHWMbbLZmNZxp0352ercl92_x8ESqwiM6-YGG31nCFA-DASRyvaY2FB_cgYDKisAl720gyoGiMYMKDcP78TCYn8-NcUJ0R18e-et_cnzZoiNT1f6-pMWk4SfJm58Mq-MbNdoyfk9LEY2hmsE4nMpL5i6XbowLAQ9zOBm",
  "id": "rs_06f55df79fc286d2016ab4624d4c8487d0ae711d7dbe83d638",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_z\":0.2},\"note\":\"The brown plush is lowered into the safe area, and the yellow object is held between the right jaws. I’m releasing the brown plush and lifting the yellow object to confirm it is free of the table.\"}",
  "call_id": "call_51aGHDT1UXcY9MaBbv38KEun",
  "id": "fc_06f55df79fc286d2016ab4624dd62887d098994099e853019c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_51aGHDT1UXcY9MaBbv38KEun",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.63, 2.4691, 2.2562, -0.7864, -0.6132, -0.5198, 0.9971, 0.3904, 2.2353, 1.5948, 0.0109, 0.3912, 0.104, 0.5206]\nstate[eef_state]: left_x=0.5425 left_y=-0.2653 left_z=0.103 left_yaw=0.1555 left_pitch=-0.1896 left_roll=0.1668 left_gripper=0.9971 right_x=0.5827 right_y=0.1708 right_z=0.0843 right_yaw=0.0009 right_pitch=0.0025 right_roll=-0.1292 right_gripper=0.5206\nstate[joint_eff]: [-2.9197, -14.147, 5.3675, 0.9646, -0.1636, 0.0904, -0.0757, 2.4821, -21.0393, 12.7385, 2.9524, 0.0073, -0.0611, 0.9841]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65334990e2716c5267277dda611ba6d40e5128a48af34a57a778b5ace507aeda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ba614feabf1b28ddafe0abcf5df8f8778f2d485e07ad9d9bb71868c943f31e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7686fe73f51cf53f38690235bc31833324a84907a1e9f526a33585bc737465",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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