adhoc

completed
2026-09-23T23:59:18.373516+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
221.4 s
total steps
369
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see an open red-lined safe, a brown plush toy in front-right, a smaller gray plush toy in front-left, and a yellow object behind-right. I’m moving the right gripper above the brown toy to pick it up first.
move_to
right_x0.2500right_y0.2000right_z0.1600right_gripper1.0000left_x0.2930left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3904, -0.0193, -0.0303, 0.9984, -0.0277, 0.7944, 0.6075, -0.3958, -0.0166, -0.0334, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9984 right_x=0.2931 right_y=-0.0016 right_z=0.1782 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.1966, 10.2496, 2.044, -0.0611, 0.1392, -0.1783, 0.0752, -1.4291, 9.7436, 1.917, -0.0757, 0.1441, -0.0562] 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":{"right_x":0.25,"right_y":0.20,"right_z":0.16,"right_gripper":1,"left_x":0.293,"left_y":0,"left_z":0.18},"note":"I see an open red-lined safe, a brown plush toy in front-right, a smaller gray plush toy in front-left, and a yellow object behind-right. I’m moving the right gripper above the brown toy to pick it up first."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe brown toy is centered between the right gripper’s jaws in the wrist view. I’m advancing slightly and lowering toward its torso for a secure grasp.
move_to
right_x0.2800right_y0.2000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4088, -0.0196, -0.0353, 0.9983, 1.0691, 1.2407, 0.7879, -0.5262, 0.7879, 0.7254, 0.9996] state[eef_state]: left_x=0.2917 left_y=-0.0005 left_z=0.1748 left_yaw=-0.0036 left_pitch=-0.0206 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2459 right_y=0.1954 right_z=0.1471 right_yaw=0.0481 right_pitch=-0.0437 right_roll=-0.0518 right_gripper=0.9996 state[joint_eff]: [-0.3487, -1.7846, 7.2, 1.7802, -0.1197, -0.0464, -0.022, 0.1573, -4.3692, 8.4991, 1.2137, 0.5836, 0.1392, -0.0562] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.20,"right_z":0.035},"note":"The brown toy is centered between the right gripper’s jaws in the wrist view. I’m advancing slightly and lowering toward its torso for a secure grasp."})
tool
executing move_to over 8 steps (0.8s)
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 jaws now straddle the brown toy’s torso at low height. I’m closing the gripper before checking that the toy lifts with it.
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]: [-0.0257, 0.8021, 0.6083, -0.4282, -0.0219, -0.0383, 0.9983, 0.9657, 1.544, 0.561, 0.0853, 0.7368, 0.6273, 0.9996] state[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.1699 left_yaw=-0.0 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9983 right_x=0.279 right_y=0.201 right_z=0.0483 right_yaw=0.0325 right_pitch=-0.0356 right_roll=-0.041 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.5111, 6.9812, 1.8291, -0.0415, -0.0073, -0.0122, -0.8547, -4.1094, 3.412, 0.6667, 0.2613, -0.2955, -0.022] 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":{"right_gripper":0},"note":"The jaws now straddle the brown toy’s torso at low height. I’m closing the gripper before checking that the toy lifts with it."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper has stopped partly open on the toy, consistent with holding fabric. I’m lifting a short distance to confirm the brown toy is secured.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4355, -0.0219, -0.0383, 0.9983, 0.9627, 1.5539, 0.5453, 0.086, 0.7231, 0.6212, 0.1104] state[eef_state]: left_x=0.2882 left_y=0.0 left_z=0.1681 left_yaw=-0.0 left_pitch=-0.0522 left_roll=-0.0042 left_gripper=0.9983 right_x=0.2754 right_y=0.1972 right_z=0.0393 right_yaw=0.0406 right_pitch=-0.0593 right_roll=-0.0593 right_gripper=0.1104 state[joint_eff]: [-0.335, -1.347, 7.159, 1.7753, -0.0269, -0.0171, -0.0171, 0.1846, -6.5026, 6.4068, 1.2723, 0.4127, 0.0415, 0.9109] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The gripper has stopped partly open on the toy, consistent with holding fabric. I’m lifting a short distance to confirm the brown toy is secured."})
tool
executing move_to over 5 steps (0.5s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe brown toy is moving with the gripper. I’m carrying it above the open safe, with extra height to clear the rim.
move_to
right_x0.4050right_y0.3250right_z0.2200left_x0.2930left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0219, -0.0383, 0.9983, 0.9627, 1.3796, 0.691, -0.234, 0.7063, 0.6201, 0.1126] state[eef_state]: left_x=0.2859 left_y=0.0001 left_z=0.1651 left_yaw=0.0 left_pitch=-0.0675 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2743 right_y=0.1997 right_z=0.099 right_yaw=0.0519 right_pitch=-0.07 right_roll=-0.052 right_gripper=0.1126 state[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.873, -0.0366, -0.0122, -0.0122, -0.3214, -6.2427, 8.294, 1.3797, 0.3834, -0.022, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.325,"right_z":0.22,"left_x":0.293,"left_y":0,"left_z":0.18},"note":"The brown toy is moving with the gripper. I’m carrying it above the open safe, with extra height to clear the rim."})
tool
executing move_to over 11 steps (1.1s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe brown toy is over the safe’s red-lined compartment. I’m lowering it into the compartment before releasing it.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8417, 0.6437, -0.506, -0.0219, -0.0425, 0.9983, 0.8829, 1.9438, 1.7535, -0.6987, 0.6334, 0.5377, 0.1148] state[eef_state]: left_x=0.2844 left_y=0.0001 left_z=0.16 left_yaw=0.0025 left_pitch=-0.1258 left_roll=-0.0055 left_gripper=0.9983 right_x=0.3968 right_y=0.3238 right_z=0.2056 right_yaw=0.0678 right_pitch=-0.0947 right_roll=-0.0541 right_gripper=0.1148 state[joint_eff]: [-0.2256, -0.8957, 10.1538, 1.9023, -0.0269, -0.0122, -0.0122, -0.5949, -11.0017, 7.9932, 1.1209, 0.4274, -0.0513, 0.2125] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The brown toy is over the safe’s red-lined compartment. I’m lowering it into the compartment before releasing it."})
tool
executing move_to over 10 steps (1.0s)
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 brown toy is resting within the safe’s compartment. I’m opening the jaws to leave it there.
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]: [-0.0257, 0.8433, 0.6437, -0.5182, -0.0219, -0.0425, 0.9983, 0.8825, 2.0453, 1.3495, -0.2504, 0.6113, 0.5339, 0.1164] state[eef_state]: left_x=0.2825 left_y=0.0002 left_z=0.1573 left_yaw=0.0025 left_pitch=-0.1395 left_roll=-0.0052 left_gripper=0.9983 right_x=0.3885 right_y=0.3184 right_z=0.0618 right_yaw=0.0794 right_pitch=-0.1471 right_roll=-0.0865 right_gripper=0.1164 state[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.7509, -0.0317, -0.0366, -0.0171, 0.0615, -10.3863, 6.8581, 1.5311, 0.4371, -0.0171, 0.1441] 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":{"right_gripper":1},"note":"The brown toy is resting within the safe’s compartment. I’m opening the jaws to leave it there."})
tool
executing move_to over 9 steps (0.9s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe brown toy remains inside the safe. I’m moving the right gripper clear and over the yellow object behind the safe’s right edge.
move_to
right_x0.4900right_y0.2200right_z0.1900right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0254, 0.8433, 0.6437, -0.5255, -0.0223, -0.0425, 0.9983, 0.8833, 2.0556, 1.3388, -0.2577, 0.6044, 0.5297, 0.9946] state[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.156 left_yaw=0.0033 left_pitch=-0.1468 left_roll=-0.0047 left_gripper=0.9983 right_x=0.3846 right_y=0.3158 right_z=0.0517 right_yaw=0.0838 right_pitch=-0.171 right_roll=-0.1062 right_gripper=0.9946 state[joint_eff]: [-0.0479, -1.4838, 6.9128, 1.6386, -0.0757, -0.0269, -0.0122, -0.4171, -11.9179, 7.0085, 1.2918, 0.2759, 0.0024, -0.0757] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.22,"right_z":0.19,"right_pitch":0.1},"note":"The brown toy remains inside the safe. I’m moving the right gripper clear and over the yellow object behind the safe’s right edge."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe yellow object is ahead and slightly right of the jaw center. I’m shifting toward it and lowering, with a modest forward tilt to help reach the far side of the table.
move_to
right_x0.5300right_y0.1700right_z0.0550right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8433, 0.6437, -0.54, -0.0219, -0.0425, 0.9983, 0.5892, 1.8977, 1.3338, -0.1318, 0.4946, 0.1761, 0.9953] state[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1533 left_yaw=0.0026 left_pitch=-0.1613 left_roll=-0.0045 left_gripper=0.9983 right_x=0.4746 right_y=0.2207 right_z=0.1374 right_yaw=0.0826 right_pitch=-0.0247 right_roll=-0.1472 right_gripper=0.9953 state[joint_eff]: [-0.253, -1.4564, 6.9675, 1.7656, -0.0611, -0.0317, -0.0122, -0.3624, -13.9419, 10.0171, 1.9902, 0.1978, -0.0317, 0.0513] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.17,"right_z":0.055,"right_pitch":0.25},"note":"The yellow object is ahead and slightly right of the jaw center. I’m shifting toward it and lowering, with a modest forward tilt to help reach the far side of the table."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe yellow object is still slightly right and forward of the fingertips. I’m making a small final alignment so the jaws close around its middle rather than push it aside.
move_to
right_x0.5500right_y0.1450right_z0.0220right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8452, 0.643, -0.5564, -0.0219, -0.0425, 0.9983, 0.4416, 2.159, 1.0809, 0.6197, 0.421, -0.0017, 0.9953] state[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1495 left_yaw=0.0027 left_pitch=-0.1803 left_roll=-0.004 left_gripper=0.9983 right_x=0.5201 right_y=0.17 right_z=0.042 right_yaw=0.0853 right_pitch=0.1579 right_roll=-0.1662 right_gripper=0.9953 state[joint_eff]: [-0.335, -1.5932, 6.9265, 1.6972, -0.0611, -0.0708, -0.0171, -0.4308, -10.2496, 5.3265, 2.0928, 0.105, -0.1734, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.145,"right_z":0.022,"right_pitch":0.35},"note":"The yellow object is still slightly right and forward of the fingertips. I’m making a small final alignment so the jaws close around its middle rather than push it aside."})
tool
executing move_to over 7 steps (0.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe yellow object is between the open fingers near table level. I’m making a small lateral correction and closing gently around it.
move_to
right_y0.1300right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8478, 0.643, -0.5663, -0.0219, -0.0425, 0.9983, 0.3843, 2.3203, 1.0866, 1.018, 0.3733, -0.0937, 0.9953] state[eef_state]: left_x=0.2745 left_y=0.0004 left_z=0.1471 left_yaw=0.0028 left_pitch=-0.1929 left_roll=-0.0036 left_gripper=0.9983 right_x=0.5484 right_y=0.1562 right_z=0.0439 right_yaw=0.1004 right_pitch=0.3745 right_roll=-0.1621 right_gripper=0.9953 state[joint_eff]: [-0.0889, -1.6342, 7.0496, 1.6728, -0.0806, -0.0513, -0.0122, -1.6615, -8.212, 5.1624, 1.1306, 0.0611, 0.1734, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.13,"right_gripper":0.25},"note":"The yellow object is between the open fingers near table level. I’m making a small lateral correction and closing gently around it."})
tool
executing move_to over 8 steps (0.8s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe yellow object is aligned between the fingers, but the partial close has not confirmed contact. I’m tightening the grasp before lifting.
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]: [-0.0257, 0.8482, 0.643, -0.5819, -0.0219, -0.0425, 0.9983, 0.3336, 2.3112, 1.0565, 1.0786, 0.3119, -0.1085, 0.255] state[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.2089 left_roll=-0.0031 left_gripper=0.9983 right_x=0.5514 right_y=0.1375 right_z=0.0512 right_yaw=0.1098 right_pitch=0.4085 right_roll=-0.1546 right_gripper=0.255 state[joint_eff]: [-0.212, -1.2513, 6.8308, 1.6679, -0.0171, -0.0366, -0.0122, -0.8274, -12.2872, 3.7538, 1.5458, -0.0171, -0.0317, -0.0073] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is aligned between the fingers, but the partial close has not confirmed contact. I’m tightening the grasp before lifting."})
tool
executing move_to over 3 steps (0.3s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe gripper closed empty; the yellow object remains just beyond the fingertips. I’m reopening and reaching slightly farther and lower with more forward tilt for one corrected attempt.
move_to
right_gripper1.0000right_x0.5720right_y0.1300right_z0.0050right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.849, 0.643, -0.5858, -0.0219, -0.0425, 0.9983, 0.3325, 2.3093, 1.0534, 1.0874, 0.3084, -0.1131, 0.0079] state[eef_state]: left_x=0.2711 left_y=0.0005 left_z=0.1434 left_yaw=0.0029 left_pitch=-0.2135 left_roll=-0.003 left_gripper=0.9983 right_x=0.5513 right_y=0.1374 right_z=0.0532 right_yaw=0.1137 right_pitch=0.4154 right_roll=-0.157 right_gripper=0.0079 state[joint_eff]: [-0.2393, -0.9231, 6.8308, 1.5263, -0.022, -0.0513, -0.0171, -0.0205, -11.3846, 4.9983, 1.8877, 0.0366, 0.0269, 0.6422] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.572,"right_y":0.13,"right_z":0.005,"right_pitch":0.55},"note":"The gripper closed empty; the yellow object remains just beyond the fingertips. I’m reopening and reaching slightly farther and lower with more forward tilt for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe extended pose is not reaching the requested low height. I’m shortening the reach while keeping the forward tilt, so the fingertips can descend around the yellow object.
move_to
right_x0.5350right_y0.1300right_z-0.0050right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8516, 0.6422, -0.5926, -0.0219, -0.0425, 0.9983, 0.3115, 2.5412, 1.203, 1.4845, 0.2684, -0.1535, 0.9947] state[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1412 left_yaw=0.003 left_pitch=-0.2238 left_roll=-0.0027 left_gripper=0.9983 right_x=0.5757 right_y=0.1399 right_z=0.072 right_yaw=0.118 right_pitch=0.72 right_roll=-0.1282 right_gripper=0.9947 state[joint_eff]: [-0.3214, -1.4701, 6.8855, 1.5507, -0.0366, -0.0171, -0.0171, -1.1145, -6.7487, 3.5761, 0.5055, 0.0513, -0.0073, -0.2418] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.13,"right_z":-0.005,"right_pitch":0.55},"note":"The extended pose is not reaching the requested low height. I’m shortening the reach while keeping the forward tilt, so the fingertips can descend around the yellow object."})
tool
executing move_to over 6 steps (0.6s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe yellow object remains ahead of the fingertips, and the safe’s rim is close beneath the gripper. I’m moving forward at rim-clearing height to approach it from above rather than against the safe.
move_to
right_x0.5900right_y0.1300right_z0.0750right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8536, 0.6422, -0.593, -0.0219, -0.0425, 0.9983, 0.3149, 2.5217, 1.0981, 1.5787, 0.2646, -0.1467, 0.9953] state[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1407 left_yaw=0.003 left_pitch=-0.2261 left_roll=-0.0026 left_gripper=0.9983 right_x=0.5534 right_y=0.1355 right_z=0.0693 right_yaw=0.1192 right_pitch=0.7292 right_roll=-0.1177 right_gripper=0.9953 state[joint_eff]: [-0.2667, -1.4017, 6.9812, 1.5458, -0.0366, -0.0708, -0.0122, 0.2803, -5.135, -0.6906, 1.3114, 0.1099, 0.1978, 0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.13,"right_z":0.075,"right_pitch":0.45},"note":"The yellow object remains ahead of the fingertips, and the safe’s rim is close beneath the gripper. I’m moving forward at rim-clearing height to approach it from above rather than against the safe."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe yellow object is now centered at the fingertip line. I’m lowering slightly and closing for the corrected grasp.
move_to
right_z0.0150right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6079, -0.0219, -0.0425, 0.9983, 0.2848, 2.3745, 1.1812, 1.0527, 0.2226, -0.1165, 0.9954] state[eef_state]: left_x=0.2672 left_y=0.0006 left_z=0.138 left_yaw=0.0031 left_pitch=-0.2413 left_roll=-0.0022 left_gripper=0.9983 right_x=0.5823 right_y=0.1336 right_z=0.0559 right_yaw=0.1447 right_pitch=0.4401 right_roll=-0.141 right_gripper=0.9954 state[joint_eff]: [-0.212, -1.3333, 6.8171, 1.6044, -0.0611, -0.022, -0.0122, -0.8547, -15.0359, 7.1863, 2.0049, 0.0171, 0.1099, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015,"right_gripper":0},"note":"The yellow object is now centered at the fingertip line. I’m lowering slightly and closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe second close was empty, and the low target is not being reached. I’m withdrawing the right arm so I can see the yellow object clearly again and avoid further blind attempts.
move_to
right_x0.2930right_y0.0000right_z0.2000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6147, -0.0219, -0.0425, 0.9983, 0.2893, 2.4516, 1.2114, 1.2255, 0.2089, -0.12, 0.0133] state[eef_state]: left_x=0.266 left_y=0.0006 left_z=0.1369 left_yaw=0.0031 left_pitch=-0.2482 left_roll=-0.002 left_gripper=0.9983 right_x=0.5874 right_y=0.1404 right_z=0.0645 right_yaw=0.1551 right_pitch=0.5644 right_roll=-0.1241 right_gripper=0.0133 state[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.5458, -0.0855, -0.022, -0.0122, -0.1846, -8.1162, 4.7111, 0.9451, 0.0757, 0.022, 1.199] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0,"right_gripper":1},"note":"The second close was empty, and the low target is not being reached. I’m withdrawing the right arm so I can see the yellow object clearly again and avoid further blind attempts."})
tool
executing move_to over 23 steps (2.3s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe brown toy is inside the safe; the gray toy and yellow object remain outside. I’m approaching the gray toy with the left arm while the right arm stays clear.
move_to
left_x0.3100left_y-0.2300left_z0.1350left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8577, 0.6418, -0.6334, -0.0219, -0.0425, 0.9983, -0.0776, 0.8253, 0.6525, -0.3805, -0.0948, -0.2317, 0.9976] state[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1327 left_yaw=0.0033 left_pitch=-0.2711 left_roll=-0.0013 left_gripper=0.9983 right_x=0.3026 right_y=-0.0032 right_z=0.1939 right_yaw=0.1243 right_pitch=0.0261 right_roll=-0.1287 right_gripper=0.9976 state[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.6093, -0.0464, -0.0659, -0.0122, -0.1573, -1.4564, 9.5385, 1.9414, -0.1294, 0.0073, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.23,"left_z":0.135,"left_pitch":0,"left_gripper":1},"note":"The brown toy is inside the safe; the gray toy and yellow object remain outside. I’m approaching the gray toy with the left arm while the right arm stays clear."})
tool
executing move_to over 21 steps (2.1s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe gray toy is centered in the left wrist view, just ahead of the fingertips. I’m moving forward a few centimeters and lowering around its body.
move_to
left_x0.3500left_y-0.2300left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9627, 1.4868, 0.8505, -0.2962, -0.725, -0.6975, 0.9984, -0.0795, 0.831, 0.6502, -0.4248, -0.1017, -0.2436, 0.9988] state[eef_state]: left_x=0.2997 left_y=-0.2192 left_z=0.1154 left_yaw=-0.015 left_pitch=-0.0676 left_roll=0.0392 left_gripper=0.9984 right_x=0.2968 right_y=-0.0021 right_z=0.1822 right_yaw=0.1346 right_pitch=-0.0252 right_roll=-0.1241 right_gripper=0.9988 state[joint_eff]: [-0.2803, -6.2701, 8.9231, 1.4139, -0.6325, 0.0415, -0.1783, 0.1162, -1.9077, 7.2957, 2.1074, 0.0122, 0.0806, 0.1148] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.23,"left_z":0.02},"note":"The gray toy is centered in the left wrist view, just ahead of the fingertips. I’m moving forward a few centimeters and lowering around its body."})
tool
executing move_to over 7 steps (0.7s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe left fingers now surround the gray toy’s body at table level. 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]: [-0.8558, 1.8393, 0.7898, 0.1066, -0.6697, -0.6128, 0.9983, -0.0799, 0.8341, 0.6495, -0.4397, -0.102, -0.2447, 0.9989] state[eef_state]: left_x=0.339 left_y=-0.2177 left_z=0.0153 left_yaw=0.011 left_pitch=-0.1123 left_roll=0.0865 left_gripper=0.9983 right_x=0.2948 right_y=-0.002 right_z=0.178 right_yaw=0.1353 right_pitch=-0.0435 right_roll=-0.1209 right_gripper=0.9989 state[joint_eff]: [0.1299, -8.3487, 5.3949, 1.6484, -0.3004, 0.1197, -0.022, -0.0068, -1.7299, 7.0632, 1.8437, -0.0757, -0.0366, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingers now surround the gray toy’s body at table level. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe gripper remains partly open on the gray toy. I’m lifting it briefly to verify that it is securely held.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8513, 1.8587, 0.7898, 0.1146, -0.6769, -0.6144, 0.1286, -0.0799, 0.8345, 0.6495, -0.4545, -0.102, -0.2443, 0.9989] state[eef_state]: left_x=0.34 left_y=-0.2147 left_z=0.0098 left_yaw=0.0221 left_pitch=-0.1151 left_roll=0.098 left_gripper=0.1286 right_x=0.2927 right_y=-0.0018 right_z=0.175 right_yaw=0.1352 right_pitch=-0.0583 right_roll=-0.1173 right_gripper=0.9989 state[joint_eff]: [-0.5538, -9.5932, 5.135, 1.1209, -0.3053, -0.0464, 0.8278, -0.0342, -1.4701, 6.9675, 1.7949, -0.0855, -0.0659, -0.0122] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The gripper remains partly open on the gray toy. I’m lifting it briefly to verify that it is securely held."})
tool
executing move_to over 6 steps (0.6s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe gray toy lifted with the gripper. I’m carrying it over the open compartment beside the brown toy.
move_to
left_x0.4050left_y-0.3100left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8513, 1.6917, 0.8917, -0.1864, -0.6735, -0.6273, 0.128, -0.0799, 0.8345, 0.6495, -0.4553, -0.102, -0.2443, 0.9989] state[eef_state]: left_x=0.3363 left_y=-0.2111 left_z=0.0667 left_yaw=0.0301 left_pitch=-0.137 left_roll=0.111 left_gripper=0.128 right_x=0.2926 right_y=-0.0018 right_z=0.1748 right_yaw=0.1352 right_pitch=-0.0591 right_roll=-0.1171 right_gripper=0.9989 state[joint_eff]: [-0.2803, -9.8393, 8.8684, 1.2918, -0.4127, 0.0708, 0.5348, -0.1709, -1.4564, 7.1179, 1.6923, -0.0708, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.31,"left_z":0.22},"note":"The gray toy lifted with the gripper. I’m carrying it over the open compartment beside the brown toy."})
tool
executing move_to over 10 steps (1.0s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe gray toy is above the safe, with its body inside the rim’s outline. I’m lowering it onto the other toy while keeping its limbs away from the hinge.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.878, 2.0171, 1.8973, -0.8734, -0.6701, -0.675, 0.1281, -0.0799, 0.8379, 0.6487, -0.4782, -0.102, -0.2443, 0.9989] state[eef_state]: left_x=0.4054 left_y=-0.311 left_z=0.2059 left_yaw=0.0282 left_pitch=-0.1409 left_roll=0.0783 left_gripper=0.1281 right_x=0.2893 right_y=-0.0015 right_z=0.1691 right_yaw=0.1356 right_pitch=-0.0855 right_roll=-0.1113 right_gripper=0.9989 state[joint_eff]: [-0.7316, -11.2752, 8.0068, 0.7741, -0.569, 0.105, 0.7888, -0.3214, -1.6068, 7.0632, 1.8486, -0.0611, -0.022, -0.0122] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The gray toy is above the safe, with its body inside the rim’s outline. I’m lowering it onto the other toy while keeping its limbs away from the hinge."})
tool
executing move_to over 10 steps (1.0s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe gray toy is supported inside the safe beside the brown one. I’m releasing it into 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]: [-0.8776, 2.0933, 1.4502, -0.3744, -0.6636, -0.6739, 0.1275, -0.0799, 0.8379, 0.6487, -0.4999, -0.102, -0.244, 0.9989] state[eef_state]: left_x=0.4019 left_y=-0.308 left_z=0.0639 left_yaw=0.0269 left_pitch=-0.1603 left_roll=0.0951 left_gripper=0.1275 right_x=0.2859 right_y=-0.0012 right_z=0.1649 right_yaw=0.1359 right_pitch=-0.1068 right_roll=-0.1064 right_gripper=0.9989 state[joint_eff]: [-0.294, -10.2222, 5.4085, 1.0818, -0.4176, -0.0415, 0.7888, -0.0205, -1.347, 6.9265, 1.8584, -0.0611, 0.0073, -0.0073] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray toy is supported inside the safe beside the brown one. I’m releasing it into the compartment."})
tool
executing move_to over 9 steps (0.9s)
step 240
assistant
agent noteBoth plush toys are now inside the safe. I’m parking the left arm clear of the lid and the remaining yellow object.
move_to
left_x0.2930left_y0.0000left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8776, 2.1098, 1.4349, -0.3813, -0.6621, -0.6811, 0.9956, -0.0799, 0.8379, 0.6487, -0.5228, -0.102, -0.2443, 0.9989] state[eef_state]: left_x=0.3977 left_y=-0.3032 left_z=0.0502 left_yaw=0.0352 left_pitch=-0.1846 left_roll=0.1198 left_gripper=0.9956 right_x=0.2823 right_y=-0.001 right_z=0.1606 right_yaw=0.1367 right_pitch=-0.1291 right_roll=-0.1017 right_gripper=0.9989 state[joint_eff]: [-0.1709, -12.7932, 7.3504, 1.2137, -0.398, 0.0562, -0.0024, -0.212, -1.2376, 7.0222, 1.8388, -0.1001, -0.0513, -0.0122] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"Both plush toys are now inside the safe. I’m parking the left arm clear of the lid and the remaining yellow object."})
tool
executing move_to over 27 steps (2.7s)
step 267
assistant
agent noteThe yellow object is just outside the safe’s far-right corner. I’m approaching from farther right with the jaws rotated, to avoid the rim that obstructed the earlier approach.
move_to
right_x0.5550right_y0.0950right_z0.1300right_yaw1.4000right_pitch0.3500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1688, 0.8272, 0.6876, -0.4648, -0.281, -0.0738, 0.9962, -0.0799, 0.8425, 0.6487, -0.5537, -0.1024, -0.244, 0.9989] state[eef_state]: left_x=0.2944 left_y=0.0031 left_z=0.1955 left_yaw=0.092 left_pitch=-0.0041 left_roll=0.1111 left_gripper=0.9962 right_x=0.2775 right_y=-0.0005 right_z=0.1538 right_yaw=0.1379 right_pitch=-0.1637 right_roll=-0.0934 right_gripper=0.9989 state[joint_eff]: [0.0615, -1.6615, 7.5282, 1.9365, -0.0122, 0.1441, 0.0513, -0.1162, -1.3744, 6.8718, 1.8877, -0.0855, -0.0122, -0.0073] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.555,"right_y":0.095,"right_z":0.13,"right_yaw":1.4,"right_pitch":0.35,"right_roll":0},"note":"The yellow object is just outside the safe’s far-right corner. I’m approaching from farther right with the jaws rotated, to avoid the rim that obstructed the earlier approach."})
tool
executing move_to over 22 steps (2.2s)
step 289
assistant
agent noteThe rotated wrist view centers the yellow object clearly, with the safe to its left. I’m lowering and moving inward slightly to place the fingers on opposite sides of it.
move_to
right_x0.5750right_y0.1350right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1688, 0.8307, 0.6868, -0.4953, -0.2749, -0.0761, 0.9963, -0.1501, 2.6167, 2.2669, -0.8536, -1.2793, -1.2854, 0.9989] state[eef_state]: left_x=0.2905 left_y=0.0028 left_z=0.1881 left_yaw=0.0884 left_pitch=-0.0384 left_roll=0.1147 left_gripper=0.9963 right_x=0.5623 right_y=0.0897 right_z=0.104 right_yaw=1.3644 right_pitch=0.3093 right_roll=-0.0776 right_gripper=0.9989 state[joint_eff]: [0.1983, -1.2103, 6.9949, 2.1026, -0.1294, -0.0366, -0.0024, 0.253, -12.1231, 4.1368, -0.3687, -0.8913, -0.1978, -0.0073] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_y":0.135,"right_z":0.02},"note":"The rotated wrist view centers the yellow object clearly, with the safe to its left. I’m lowering and moving inward slightly to place the fingers on opposite sides of it."})
tool
executing move_to over 6 steps (0.6s)
step 295
assistant
agent noteThe yellow object is centered between the rotated jaws at the low approach position. I’m closing around it and will verify the grip before moving away.
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]: [-0.1688, 0.8318, 0.6868, -0.5106, -0.2745, -0.0761, 0.9963, -0.075, 2.669, 2.0884, -0.4553, -1.3056, -1.0714, 0.9989] state[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1849 left_yaw=0.0883 left_pitch=-0.0543 left_roll=0.1186 left_gripper=0.9963 right_x=0.5636 right_y=0.1322 right_z=0.048 right_yaw=1.3835 right_pitch=0.3551 right_roll=-0.0328 right_gripper=0.9989 state[joint_eff]: [-0.0342, -1.4974, 6.9128, 1.8193, -0.1441, -0.0513, -0.0122, 0.7316, -11.6034, 4.9436, 1.2137, 0.1832, -0.1783, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is centered between the rotated jaws at the low approach position. I’m closing around it and will verify the grip before moving away."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe jaws have stopped around a roughly four-centimeter object, confirming contact. I’m lifting the yellow object just clear of the table to check that it follows.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5186, -0.2745, -0.083, 0.9963, -0.0738, 2.669, 2.0869, -0.4385, -1.3239, -1.0725, 0.4021] state[eef_state]: left_x=0.2872 left_y=0.0033 left_z=0.1833 left_yaw=0.0922 left_pitch=-0.062 left_roll=0.1153 left_gripper=0.9963 right_x=0.5633 right_y=0.1337 right_z=0.0512 right_yaw=1.3999 right_pitch=0.3722 right_roll=-0.0485 right_gripper=0.4021 state[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.6923, -0.1197, 0.0171, -0.0122, -0.3897, -14.8034, 6.3521, 0.7839, -0.3248, -0.022, 0.862] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The jaws have stopped around a roughly four-centimeter object, confirming contact. I’m lifting the yellow object just clear of the table to check that it follows."})
tool
executing move_to over 5 steps (0.5s)
step 310
assistant
agent noteThe yellow object has risen from its original spot, but it appears near the edge of the fingers. I’m keeping the grip closed while bringing it inward above the safe.
move_to
right_x0.4450right_y0.2800right_z0.2000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5259, -0.2745, -0.0834, 0.9963, -0.0731, 2.6461, 2.149, -0.5991, -1.3029, -1.0737, 0.4003] state[eef_state]: left_x=0.2862 left_y=0.0034 left_z=0.1819 left_yaw=0.0925 left_pitch=-0.069 left_roll=0.1168 left_gripper=0.9963 right_x=0.5608 right_y=0.1334 right_z=0.0697 right_yaw=1.3637 right_pitch=0.3453 right_roll=0.0282 right_gripper=0.4003 state[joint_eff]: [-0.0752, -1.3607, 6.9128, 1.6825, -0.149, -0.0269, -0.0122, -0.1162, -19.5624, 8.8684, 0.9499, -0.7546, 0.022, -0.1978] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.28,"right_z":0.2,"right_gripper":0},"note":"The yellow object has risen from its original spot, but it appears near the edge of the fingers. I’m keeping the grip closed while bringing it inward above the safe."})
tool
executing move_to over 13 steps (1.3s)
step 323
assistant
agent noteThe yellow object slipped forward and the gripper is empty. I’m checking whether it is still reachable at the far workspace boundary before attempting anything further.
move_to
right_x0.6000right_y0.1650right_z0.0950right_yaw1.4000right_pitch0.3500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1688, 0.836, 0.6868, -0.54, -0.2745, -0.0872, 0.9963, 0.247, 2.0296, 1.4242, 0.0067, -1.087, -0.4927, 0.0065] state[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1783 left_yaw=0.0949 left_pitch=-0.086 left_roll=0.1185 left_gripper=0.9963 right_x=0.4442 right_y=0.277 right_z=0.173 right_yaw=1.3742 right_pitch=0.3168 right_roll=0.0717 right_gripper=0.0065 state[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.7802, -0.1294, -0.0171, -0.0122, 0.1299, -13.5453, 6.6393, 1.8437, -0.2857, 0.1832, 0.5983] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_y":0.165,"right_z":0.095,"right_yaw":1.4,"right_pitch":0.35,"right_gripper":1},"note":"The yellow object slipped forward and the gripper is empty. I’m checking whether it is still reachable at the far workspace boundary before attempting anything further."})
tool
executing move_to over 12 steps (1.2s)
step 335
assistant
agent noteThe yellow object is still partly between the open jaws at the boundary. I’m lowering and closing once, then will keep active closure during any lift to prevent another slip.
move_to
right_z0.0050right_gripper0.0000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1688, 0.8413, 0.6868, -0.5632, -0.2745, -0.0902, 0.9963, -0.0055, 2.9623, 2.7415, -0.8345, -1.2999, -0.9665, 0.9948] state[eef_state]: left_x=0.2811 left_y=0.0043 left_z=0.1726 left_yaw=0.0973 left_pitch=-0.1134 left_roll=0.1236 left_gripper=0.9963 right_x=0.5907 right_y=0.1705 right_z=0.062 right_yaw=1.3818 right_pitch=0.3462 right_roll=0.0957 right_gripper=0.9948 state[joint_eff]: [-0.1436, -1.6205, 6.8718, 1.9658, -0.1294, -0.0122, -0.0122, -0.2393, -14.5026, 6.7214, -0.0708, 0.3199, 0.6862, 0.0122] approver: 1 step(s) modified (delta_clamped). 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_z":0.005,"right_gripper":0,"right_pitch":0.5},"note":"The yellow object is still partly between the open jaws at the boundary. I’m lowering and closing once, then will keep active closure during any lift to prevent another slip."})
tool
executing move_to over 10 steps (1.0s)
step 345
assistant
agent noteThe yellow object remains beyond the fingertips even at maximum forward reach, and the last close was empty. I’m parking both arms safely; the two plush toys are inside, but I cannot safely retrieve the remaining object from this position.
move_to
right_x0.2930right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_gripper1.0000left_x0.2930left_y0.0000left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1688, 0.8425, 0.6868, -0.5781, -0.2745, -0.0906, 0.9963, -0.0162, 2.8906, 2.2753, -0.0029, -1.4277, -0.5877, 0.0085] state[eef_state]: left_x=0.2788 left_y=0.0047 left_z=0.1697 left_yaw=0.0981 left_pitch=-0.1288 left_roll=0.1276 left_gripper=0.9963 right_x=0.591 right_y=0.1689 right_z=0.0301 right_yaw=1.4164 right_pitch=0.4999 right_roll=0.0504 right_gripper=0.0085 state[joint_eff]: [-0.1162, -1.388, 6.8444, 1.6923, -0.1538, -0.0366, -0.0122, 0.1436, -11.7128, 5.2308, 1.1795, -0.0855, 0.2369, 0.6129] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_gripper":1,"left_x":0.293,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"The yellow object remains beyond the fingertips even at maximum forward reach, and the last close was empty. I’m parking both arms safely; the two plush toys are inside, but I cannot safely retrieve the remaining object from this position."})
tool
executing move_to over 23 steps (2.3s)
step 368
assistant
agent noteBoth plush toys are inside the safe, but the yellow object slipped forward and is now beyond a reliable grasp at the maximum forward workspace boundary. Further attempts closed empty. Both arms are parked, and I left the safe open because not all objects are inside.
give_up
hindsightThe plush toys were successfully grasped near right (0.28, 0.20, 0.035) and left (0.35, -0.23, 0.02), then placed near x=0.40 at the table center. The yellow object initially admitted a grasp with right yaw about 1.4, near (0.575, 0.135), but slipped during lifting and moved beyond forward reach. Keep explicit gripper=0 commands during lifting of a slippery object rather than relying on an omitted gripper dimension to maintain squeezing. Rotating the jaws helped approach the yellow object beside the safe's rim; the straight approach repeatedly stopped high and closed empty.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2028, 0.8341, 0.6868, -0.5301, -0.3119, -0.091, 0.9963, -0.054, 0.8291, 0.6518, -0.3897, -0.1398, -0.0566, 0.9976] state[eef_state]: left_x=0.2854 left_y=0.0003 left_z=0.1818 left_yaw=0.0935 left_pitch=-0.0679 left_roll=0.1349 left_gripper=0.9963 right_x=0.3013 right_y=0.012 right_z=0.191 right_yaw=0.0892 right_pitch=0.0218 right_roll=0.0458 right_gripper=0.9976 state[joint_eff]: [-0.7453, -1.388, 8.2393, 2.1465, -0.3443, -0.0024, -0.0122, 0.1436, -1.5932, 10.1128, 2.0147, 0.0464, 0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Both plush toys are inside the safe, but the yellow object slipped forward and is now beyond a reliable grasp at the maximum forward workspace boundary. Further attempts closed empty. Both arms are parked, and I left the safe open because not all objects are inside.","hindsight":"The plush toys were successfully grasped near right (0.28, 0.20, 0.035) and left (0.35, -0.23, 0.02), then placed near x=0.40 at the table center. The yellow object initially admitted a grasp with right yaw about 1.4, near (0.575, 0.135), but slipped during lifting and moved beyond forward reach. Keep explicit gripper=0 commands during lifting of a slippery object rather than relying on an omitted gripper dimension to maintain squeezing. Rotating the jaws helped approach the yellow object beside the safe's rim; the straight approach repeatedly stopped high and closed empty."})
tool
give_up: Both plush toys are inside the safe, but the yellow object slipped forward and is now beyond a reliable grasp at the maximum forward workspace boundary. Further attempts closed empty. Both arms are parked, and I left the safe open because not all objects are inside.
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 · 6.926 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]: [-0.0189, 0.7925, 0.6041, -0.3904, -0.0193, -0.0303, 0.9984, -0.0277, 0.7944, 0.6075, -0.3958, -0.0166, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9984 right_x=0.2931 right_y=-0.0016 right_z=0.1782 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.1966, 10.2496, 2.044, -0.0611, 0.1392, -0.1783, 0.0752, -1.4291, 9.7436, 1.917, -0.0757, 0.1441, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c96bd407719110258de83db62a78d32052944bdfbad3b7d906a1c04957a6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7bee524764af38af49f5ddb72b4d9652173c38a6c39d0cc5cb9d017cdc3459e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43ea2945c0ba7a7b1fb341f56add9bddabdf499cc614b50150c5b9cb3bef1ad",
      "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 · 3.459 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGflVp_IBqVFAvjAooqWYoyDpVyKvfdzeuJe71kf8wnNk6rf75qxC2HjYgaoX55IvT668d_EclR8kydWaZ3cnVIf5HJIyEImEp15Cxb79FIsmmdDuILK9HjaBA5kJHu7MHyk93TpXj7YsLFE8Thnwt7XBxSsbSyinpVvDTraNI0agHQpULI-ULUtd16VWTwDRiuiCfyBxT8dFEhD22MIPmEM1linYvdavhR2A50xyJOS0CdaFS4j7AX9Z1Y_CtRbkGvX9Z0B_sOwzhrXJW00ChqDNNjUQIiCVh92nCNBbYDOz7jYuKlbWS2xVvPMgboVDIjc3KCPWoSgUbAqlDOWYmfyldn02GP72BnKOAOFIpp1e98EWpDi1vcudSYx1UsIIsXWL9TWSzepGx6HnAdjk9UgJ9ip1_9p3oRNzsjPa9qbFl48B5k6fbCABERyVxj404TMULK8c7LNDs23__a1EZ66sQadZXv3piO_neaAmV4LFIvplIyDJC0RbP2hJlNGOtSd9TM530bjW6C0udDedQXZBChRtYJH4xzlEpv_c1U-umNnamm_fzP4r7n54H_m-k-HEdZXCW4mvGGCIG29VJAH4nJ4Lt5WpNVcMbJVHrQ7mup92jbk9GVPDR8Zl55DLLbAFnQ_-jFihmU6CAENFSLX-zbWlOjJnhEIP8yyj9ixvdDyJ_wjLyygktIbE8odr50_-3u7K5UVt9y9R36ds0MU31NCWTgUorPjCy1PLZ2S_8O4R97iqaAELQjgKAiaF6L4TcUbYjnk438dy86dL7oD9UmAByULkZg0rvaiNctOy3zhgEMOK81FhuXHXwRsk9fg0zHyIKLFrBJKeTcP-j7bEZ1h0gaZOCSQSyCkjDuskn5fU2sqOPx4VtKR1lz0hgOewWuBFrwkrERWUzvXeiZZzltxmQcB6hPeerU_HLiTxAmTCZ4oKXuQhI3nt4cJn5Uk8x7UbRFr_jZ42N_WEL1skQGe3oZuAfM6BS6lJwWRqZmeufS4PtynsBB3MJ7KGcKjG-KgTSWb6VOtHq94L-oBu7JlirnJ5AjWaNWLA05DgUNMceM-8f9K-OLY_RrG1az3jbanhJWBfUxPPm5EMzgtEIemQspkUK1Dkd2OtTwJ6tJ9o56j3PFEQxSVQ5NCZUNaVHovSrNNcPZldbgPhDDK9wqa8dnN7zjLZj0pbxvc1JNFdJwjqVugX0F3kOEfNHD9zRe9w-Hw47KbjJZqTP4elP0D_LURYFw1UdKCtf7LzzUaFrR9w65O75j8R5pgGCKqJnOo930JWYySPhlu_QKhvVNYKretHwcSzCM3TgMavIN6-HQ0QfGW-Pnk5-sQwfCL7wz5YfsSd6_PHg_DWjqpF0fP5VozYLbCnGYkblk5OFyYSvefY5G44cgU7sxwXnx-vr_BBESgHQAzd6uOXIBpl-uA9If0DYIxKeLJOvPeevaSmUt4Ej5u_ofIQl9g7rOGVn2JlgJWOvhrBkYoHaN_wF4Yuv76imHvr3rViv75Z1ggJ3LFSigiUrYnHSFjJkuyFdSKdkmReYBbksw_UdV4dYjP3KI1aWDbMM7Ml0viQebSWj2DIzNMMPlCCopILsZfQ1sRP3UJi-yixu-rTcv55dwNhnDR8rlHqAojN3GGNmxZ84WZnHFFToRo1bheY2eTTdtE-c1FH3IfYG6zynGtbipefLGCXAizZWETwH0e0yM5yRy5pp-2IuxQhsuXf2UJyn1dNo9LoDLrecLiQDwVLou5Euk_IzPy-ptNyhVK19UUlbojGsIxrk3Kwc6b7r7QpTifJKeraRJaMyPhx3HXF6c3a4hX_K1mWezdslNzOvWtWfI5oa5_hNzT9iTlZ9ska51oNjsEm6GXrNxuxxrzNk4_71t7e0mN4n2rAlqjFLWGov1avLISZ2lXE0mjjzrFsy-P7PzAhEh4-3r40TpXh79TS7d7vNUy3VE3rUdgjZcUx6zi5g_0tJttWHnej_MoTrTPIOW_kiL_jsE8804pRUzV2ww6XUUKnNbEIQFY3JIzsBhCERP_1fwwSQ6XOunUK3_wS8arRBFqJh8QGN6MCLo7osenlSQPkWbG64yaaTjL0_SimqYkOCCKIxEyNzLxOBFz1c56x7CE4-GAADoOK3X9BuNH8bVo1NAAtqbYwaLswFS2QsRlsCB2u7AtxTYQ46KAFs0k0i3HOe0fBbNWK_QesptMD7fUJt-RLHnkwpQ=",
  "id": "rs_0c8ad1b35949b333016ab467dfb0dc87d0bcef40f0388d5d9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.20,\"right_z\":0.16,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"I see an open red-lined safe, a brown plush toy in front-right, a smaller gray plush toy in front-left, and a yellow object behind-right. I’m moving the right gripper above the brown toy to pick it up first.\"}",
  "call_id": "call_7M5GCbEvZlnsaip7Z2bq7RNh",
  "id": "fc_0c8ad1b35949b333016ab467e3bf9887d084b67133d37d3fec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7M5GCbEvZlnsaip7Z2bq7RNh",
  "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]: [-0.0257, 0.7982, 0.6083, -0.4088, -0.0196, -0.0353, 0.9983, 1.0691, 1.2407, 0.7879, -0.5262, 0.7879, 0.7254, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.0005 left_z=0.1748 left_yaw=-0.0036 left_pitch=-0.0206 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2459 right_y=0.1954 right_z=0.1471 right_yaw=0.0481 right_pitch=-0.0437 right_roll=-0.0518 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.7846, 7.2, 1.7802, -0.1197, -0.0464, -0.022, 0.1573, -4.3692, 8.4991, 1.2137, 0.5836, 0.1392, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81e52669ab1ec298f08e7285d8da409de51bc3559c9b892a182305434cb5af9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876a5147a572c35ab22812ffbeac0c640e0b17a088640da49af325a4f58e1896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427c7657cd462d9838c791dd413b15b64c94fc0dceb82cb8fd17a37aa9faa02d",
      "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 · 3.68 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]: [-0.0189, 0.7925, 0.6041, -0.3904, -0.0193, -0.0303, 0.9984, -0.0277, 0.7944, 0.6075, -0.3958, -0.0166, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9984 right_x=0.2931 right_y=-0.0016 right_z=0.1782 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.1966, 10.2496, 2.044, -0.0611, 0.1392, -0.1783, 0.0752, -1.4291, 9.7436, 1.917, -0.0757, 0.1441, -0.0562]",
      "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]: [-0.0257, 0.7982, 0.6083, -0.4088, -0.0196, -0.0353, 0.9983, 1.0691, 1.2407, 0.7879, -0.5262, 0.7879, 0.7254, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.0005 left_z=0.1748 left_yaw=-0.0036 left_pitch=-0.0206 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2459 right_y=0.1954 right_z=0.1471 right_yaw=0.0481 right_pitch=-0.0437 right_roll=-0.0518 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.7846, 7.2, 1.7802, -0.1197, -0.0464, -0.022, 0.1573, -4.3692, 8.4991, 1.2137, 0.5836, 0.1392, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81e52669ab1ec298f08e7285d8da409de51bc3559c9b892a182305434cb5af9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876a5147a572c35ab22812ffbeac0c640e0b17a088640da49af325a4f58e1896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427c7657cd462d9838c791dd413b15b64c94fc0dceb82cb8fd17a37aa9faa02d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGfqFXEFerzAZ5nyyi2kvvO9bHtcygMsfWM_gwG9-TvAAsXgbaPBOxRJuTMVJaTvPiWh05dE2aw5deGuKpr-rFMmNXK5J7FI25ob52CtLD8QOVV-bKRfyQh0oaVnBlZ8bXcMbIW1xJ3js-GqM9RMzfY98q5d0e4KgXtFepI3rkme-QKU2hcXCtgIC0yTCgcdRSeFOM5NkKqijGtFx-scMayKAr5KTxs-xY4tFuGAdneNB_5bXktvqEHbQqOFsRKuxO3sl1-ngEFAgIfC7AT3J_AjsFMcxl--grMGRHncqVbaUkMfw4u5tUvTkjdE95DQ8BeTm1hV6N6N3LGMVOYwe7TaaXYWNmDK7hPqakOKu3i3xx3lwvG_NWJWzr2oHYuCompX7ZIgiIMo9XxYA6moFgwzswOFP6OzaAyCra4Xn59FipZyXu9oA0ucKJ5E6u1ny_i4pF1aXXK4vwCJnPnAoyiUCPtoZ2A7OcsBt6yqgN0v9i_3bKcJxQI3SNIP625UmFlHHo__pD-nILdeZd6QMjvtXadmLrqVWA-VJbQajZaFGhVYRNp1RWVYaLRQuAYGtxhdpUWWJH9DpSNnotz9EsCToX7JDzvt2Krfour1dIh_1RMnKTFOJ7mwMUv9y6ozbJ61C5H9X-OUV7cCbOBd8_BRKLTl3CDHujYgb22cIWpWPZiqUfFaFS9ggu0b3FcAteTtqYo6caaChuqcx6wWuv1cvf3ka1bw2tboQL11cWMTKm7WaUwRX_mcz9GhFSPVa2V9qoVVnYFNof9UkldT_VbrcoSQPk-Pi9e_pzZp-KMk2TapSyii2N1cl912N58ecpFqjUm6ccWYVkDBzkUaDgN4Bm9NToHcNExzxLyswPUTWzMm7gdqd8NV2J_ZuSEUInLDahikjXQWQFsDHcKeUsIrcFSaKXNiURJl3N7oetylgCE-eiKfe_r0P3ijKwNdNyItp0dXw_AssWP47UDfTrGZD7Iqg0livTRhgd4XIasyVu9dYvqcAsX4pXxrovWXdXWog27t18QYOgB44w1I96V7wJQttu1nDZ1GwkZgqzfMnoJ-GbTgQxS_uWIuN17381pvC3Vu5589HbsyKpOlO_IEAb0aziF3IiV7eEnKE2KgGIzKCcd6ZactjDQdc4aRptPbddRZDPPQcPsOG5fp0c0B7awiqPwTdI-SHx6apidzr9rHT_uXp5wtBp_nHu5faUUKR3ptQ5FPBWCerxrL9wg_NhqXCsLT4E9SnZrdsWDZ0Dh9FBfYVkfmay6mEc7U2yX0epCtznAVe7zQK5wSrLe_K18CPwQePNATKfOJtTHtyKI_U9FIdQfePI7ElGA0N-F8ELnO-DjNMvHvifJYii-MkR-uXlqWXAIWIEPKk-d7Vyzs5LXhXyhRnSoKDX-_R6G5SZikjFVUuQUD4Hkeq84u8Ntn6fEhzunNUfeJTqLtv72P1HA_fEr1AihwzndSGNbxMv679G05d5_GmgeYXoAqYu07GoROkK3LRwuHhmaxT_qwzRBKZ4ORVgwom8BpojO1vhVKtHEvhTZKpn6pQ2Yi4gEPx5JBxQWbZGf2k4ZBhro=",
  "id": "rs_0c8ad1b35949b333016ab467e843a887d0897c30c888781a6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.20,\"right_z\":0.035},\"note\":\"The brown toy is centered between the right gripper’s jaws in the wrist view. I’m advancing slightly and lowering toward its torso for a secure grasp.\"}",
  "call_id": "call_CdlJgD1uibHBbKaEDkHXCbPa",
  "id": "fc_0c8ad1b35949b333016ab467e991c487d08d380af72acb7621",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CdlJgD1uibHBbKaEDkHXCbPa",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6083, -0.4282, -0.0219, -0.0383, 0.9983, 0.9657, 1.544, 0.561, 0.0853, 0.7368, 0.6273, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.1699 left_yaw=-0.0 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9983 right_x=0.279 right_y=0.201 right_z=0.0483 right_yaw=0.0325 right_pitch=-0.0356 right_roll=-0.041 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9812, 1.8291, -0.0415, -0.0073, -0.0122, -0.8547, -4.1094, 3.412, 0.6667, 0.2613, -0.2955, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddaa7855594b1523ab3f0ffb06701c13f4e0f4e1ac207683bd6d150812dc63cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b084bd17fbae40bb940dcad2c1879d11349835c3113fdeece010cd7629d9f1aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b7156322c3d67fefc91d1ff76619fe6f4188d43b9464a9f78576c29386c05f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.865 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]: [-0.0257, 0.7982, 0.6083, -0.4088, -0.0196, -0.0353, 0.9983, 1.0691, 1.2407, 0.7879, -0.5262, 0.7879, 0.7254, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.0005 left_z=0.1748 left_yaw=-0.0036 left_pitch=-0.0206 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2459 right_y=0.1954 right_z=0.1471 right_yaw=0.0481 right_pitch=-0.0437 right_roll=-0.0518 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.7846, 7.2, 1.7802, -0.1197, -0.0464, -0.022, 0.1573, -4.3692, 8.4991, 1.2137, 0.5836, 0.1392, -0.0562]",
      "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]: [-0.0257, 0.8021, 0.6083, -0.4282, -0.0219, -0.0383, 0.9983, 0.9657, 1.544, 0.561, 0.0853, 0.7368, 0.6273, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.1699 left_yaw=-0.0 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9983 right_x=0.279 right_y=0.201 right_z=0.0483 right_yaw=0.0325 right_pitch=-0.0356 right_roll=-0.041 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9812, 1.8291, -0.0415, -0.0073, -0.0122, -0.8547, -4.1094, 3.412, 0.6667, 0.2613, -0.2955, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddaa7855594b1523ab3f0ffb06701c13f4e0f4e1ac207683bd6d150812dc63cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b084bd17fbae40bb940dcad2c1879d11349835c3113fdeece010cd7629d9f1aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b7156322c3d67fefc91d1ff76619fe6f4188d43b9464a9f78576c29386c05f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGfuAr_OYjsc7H5_G4C2Wp9gbN0H7pcuorG2Wm5ByLccNCodDA3pdnTTHTzcT8MnJLK3UDJIzaw8692ao8wypxmxf1VNs9y2UfxbzSbsfJ79tl0gYLhmx4tBj2lXhbuvJYiBX2Tueo4stllhs4mj3b2LnvFuNd0leHuewl79-OlC80EcgMlzDS5yr19CfBXuONPIUsqJkQy_W3DKVpm5_EGVrfzrVnzz_QlcsVV1YG4-UZ67gphNuqwgRmB4oE_3QYJiu7kMwlTTMiI1jkEPsWf7Eh8mw5UqZhnIoe1szCYSxAY1xvFYA__avLU0mwlfMyxM0AmNWgP2yu5H181pl3WgwrrA6rCk2DvATNflChDHJZkrnM1IvGH7Wuc_Jn7nlpywlH17M8IUpVopMwf8Zwqh2-arji7HZC2gJPezu2gYY7kBosahe3Xz66oz672s1uETgLDTzLES3qg2ei5VzjP5SbIJqFQaJOBE16bIRYDZfAul88dC8j-1PfpOXNK2VgjumKQ-7V87UbwQ7aNTG0zCQxmMUHY7qrQ6lPMHP4FHS4DXg3ISnmKBpWu79E4a_Yy9E_PkTyFCKRVTmVnxAYbbmczVDwquolW1Js-hTAXLQQaxddgEt6VGYyMtz27sjptxd4yKjM4gHViH1mxL-5iNU0ExIGOjiT_yIWVcRGspH-0bYc70IVZavZQyhpfFvODpudMrF3PMbuTsOGs0r83y2vaGzmwR5Smdo3Ba-tMH6ZrqEvsPeNqRnfJFwoAbcmH48VIU7EAQNp688bWFCyOQu7zE-MuI9NiiZ9Oa0H1NnlKE6z8i3gEMSQ6bdNKXGs-1HIw1lkZTlLiG6HtmrvAyKGlGzCEfnT6nACn5XDEugFBD-r8UWLn_lp_IxXZODcDK6aqD2Amw2Iy4AxlT-nL7zFiRNH0KMbO70cfWs9pmdIopO9EoqbNuCSQAAofnFHocNP4PuWMdXPRm0mFwTfrSf0FKSwxpjvLUEL3HYsszyGK9VY3_MXIg76DmN-mpPVD9r7A0uHfktSPAAN7aeEZZnk3GyoJ-RwCYNJBKyorPHeI60lmNTVuyM54pg1WbXOx6jRvCxnNYFcYZJLmHE5SYOBdbszEug39ju3bhKZpQlDjITVSZnBc94Fsv0JRGifwVvkf2W9IpcQdfWJ-Q1uoqZsj-MH3ga-zSLdKa9CZmeI-aK2JFQeihlV-HS1rvOzm1Jszo8LoNn1tDT-6tvri2JDLw4xMspKKz1FLxoFVAEuWF9jEFdOXv8Gsr3YANhd4HgU40hN7oWbQI9m_ioeeXyCpG6dMfXnPXkJit1zVAOK7nJIfsCI6D_jTL5UhnSkpTPvjX9BqZHRslkhBli25GqvagSBQfssz5HAEP1H3Wjf4YBa_HCN-zRxXMyhnyeRPaaWEPZnopvxIC_bgO1OOdvQ==",
  "id": "rs_0c8ad1b35949b333016ab467ec554487d08b1242a7d7f7f178",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the brown toy’s torso at low height. I’m closing the gripper before checking that the toy lifts with it.\"}",
  "call_id": "call_Hts3Aae9SJasIhPd0eUigJGS",
  "id": "fc_0c8ad1b35949b333016ab467ed670487d0bf61b7aef22dab80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hts3Aae9SJasIhPd0eUigJGS",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4355, -0.0219, -0.0383, 0.9983, 0.9627, 1.5539, 0.5453, 0.086, 0.7231, 0.6212, 0.1104]\nstate[eef_state]: left_x=0.2882 left_y=0.0 left_z=0.1681 left_yaw=-0.0 left_pitch=-0.0522 left_roll=-0.0042 left_gripper=0.9983 right_x=0.2754 right_y=0.1972 right_z=0.0393 right_yaw=0.0406 right_pitch=-0.0593 right_roll=-0.0593 right_gripper=0.1104\nstate[joint_eff]: [-0.335, -1.347, 7.159, 1.7753, -0.0269, -0.0171, -0.0171, 0.1846, -6.5026, 6.4068, 1.2723, 0.4127, 0.0415, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9e2e9656970545bddc4f13aad7459c08e2b4174cd8cd64f6df477583571bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559f0876785c1e7e312aaed6564ff26d2def4483dbcc4d2aa27cfb02adf6509f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3df2dc459008f7596482fafbbd927fd5c16e57f131171c2c1fa1871e53266a83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 7.076 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]: [-0.0189, 0.7925, 0.6041, -0.3904, -0.0193, -0.0303, 0.9984, -0.0277, 0.7944, 0.6075, -0.3958, -0.0166, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9984 right_x=0.2931 right_y=-0.0016 right_z=0.1782 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.1966, 10.2496, 2.044, -0.0611, 0.1392, -0.1783, 0.0752, -1.4291, 9.7436, 1.917, -0.0757, 0.1441, -0.0562]",
      "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]: [-0.0257, 0.8021, 0.6083, -0.4282, -0.0219, -0.0383, 0.9983, 0.9657, 1.544, 0.561, 0.0853, 0.7368, 0.6273, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.1699 left_yaw=-0.0 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9983 right_x=0.279 right_y=0.201 right_z=0.0483 right_yaw=0.0325 right_pitch=-0.0356 right_roll=-0.041 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9812, 1.8291, -0.0415, -0.0073, -0.0122, -0.8547, -4.1094, 3.412, 0.6667, 0.2613, -0.2955, -0.022]",
      "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]: [-0.0257, 0.8032, 0.6083, -0.4355, -0.0219, -0.0383, 0.9983, 0.9627, 1.5539, 0.5453, 0.086, 0.7231, 0.6212, 0.1104]\nstate[eef_state]: left_x=0.2882 left_y=0.0 left_z=0.1681 left_yaw=-0.0 left_pitch=-0.0522 left_roll=-0.0042 left_gripper=0.9983 right_x=0.2754 right_y=0.1972 right_z=0.0393 right_yaw=0.0406 right_pitch=-0.0593 right_roll=-0.0593 right_gripper=0.1104\nstate[joint_eff]: [-0.335, -1.347, 7.159, 1.7753, -0.0269, -0.0171, -0.0171, 0.1846, -6.5026, 6.4068, 1.2723, 0.4127, 0.0415, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9e2e9656970545bddc4f13aad7459c08e2b4174cd8cd64f6df477583571bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559f0876785c1e7e312aaed6564ff26d2def4483dbcc4d2aa27cfb02adf6509f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3df2dc459008f7596482fafbbd927fd5c16e57f131171c2c1fa1871e53266a83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The gripper has stopped partly open on the toy, consistent with holding fabric. I’m lifting a short distance to confirm the brown toy is secured.\"}",
  "call_id": "call_GQg8QfA9PABTTYTkUoxwBi09",
  "id": "fc_0c8ad1b35949b333016ab467f1caa087d08906ce6d135d1f53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GQg8QfA9PABTTYTkUoxwBi09",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0219, -0.0383, 0.9983, 0.9627, 1.3796, 0.691, -0.234, 0.7063, 0.6201, 0.1126]\nstate[eef_state]: left_x=0.2859 left_y=0.0001 left_z=0.1651 left_yaw=0.0 left_pitch=-0.0675 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2743 right_y=0.1997 right_z=0.099 right_yaw=0.0519 right_pitch=-0.07 right_roll=-0.052 right_gripper=0.1126\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.873, -0.0366, -0.0122, -0.0122, -0.3214, -6.2427, 8.294, 1.3797, 0.3834, -0.022, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b927951ff46505ec805b8909335722d8500cc08d1cfe4045cdc70a6dd775723",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab003292e9be01994373871ba54cd18a2300d9a768b6c81aacf6ebbf97f5a659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3eb71c42660f625f4ce6d127e2f08fb3461fbfc676609865f95f24a1642067",
      "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 · 2.945 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4088, -0.0196, -0.0353, 0.9983, 1.0691, 1.2407, 0.7879, -0.5262, 0.7879, 0.7254, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=-0.0005 left_z=0.1748 left_yaw=-0.0036 left_pitch=-0.0206 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2459 right_y=0.1954 right_z=0.1471 right_yaw=0.0481 right_pitch=-0.0437 right_roll=-0.0518 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.7846, 7.2, 1.7802, -0.1197, -0.0464, -0.022, 0.1573, -4.3692, 8.4991, 1.2137, 0.5836, 0.1392, -0.0562]",
      "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]: [-0.0257, 0.8032, 0.6083, -0.4355, -0.0219, -0.0383, 0.9983, 0.9627, 1.5539, 0.5453, 0.086, 0.7231, 0.6212, 0.1104]\nstate[eef_state]: left_x=0.2882 left_y=0.0 left_z=0.1681 left_yaw=-0.0 left_pitch=-0.0522 left_roll=-0.0042 left_gripper=0.9983 right_x=0.2754 right_y=0.1972 right_z=0.0393 right_yaw=0.0406 right_pitch=-0.0593 right_roll=-0.0593 right_gripper=0.1104\nstate[joint_eff]: [-0.335, -1.347, 7.159, 1.7753, -0.0269, -0.0171, -0.0171, 0.1846, -6.5026, 6.4068, 1.2723, 0.4127, 0.0415, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0219, -0.0383, 0.9983, 0.9627, 1.3796, 0.691, -0.234, 0.7063, 0.6201, 0.1126]\nstate[eef_state]: left_x=0.2859 left_y=0.0001 left_z=0.1651 left_yaw=0.0 left_pitch=-0.0675 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2743 right_y=0.1997 right_z=0.099 right_yaw=0.0519 right_pitch=-0.07 right_roll=-0.052 right_gripper=0.1126\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.873, -0.0366, -0.0122, -0.0122, -0.3214, -6.2427, 8.294, 1.3797, 0.3834, -0.022, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b927951ff46505ec805b8909335722d8500cc08d1cfe4045cdc70a6dd775723",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab003292e9be01994373871ba54cd18a2300d9a768b6c81aacf6ebbf97f5a659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3eb71c42660f625f4ce6d127e2f08fb3461fbfc676609865f95f24a1642067",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGf6DeDVczwhcXUVEaNCx91Q8ScwyGdQ7OTqBPYSmh0TwJTQEJ0y1EbltaFR7xvyw_T-gh6Sub5qmQBHT22j6rsZPjeke3z5yuMgvTauYGpY-XieF-wPtpEKsyPCJ-5_KI5kavjVGb2Fg0v4EnbvduyFRIwrklXdu2bEC0bN2oxwh4l3JWElw1hgwuP6Xj1YHDIaQdWYzJBLoutRrqlihXtpOLsy3bb4FEkNJnsQsisqibw8VHD6xt4Z5HPaXKXByTVYJ1B78lbNML05C8GnjFUELsUcR0mDq-LcpDsGRGK_igcdNlJvrgH-6awOl7SZCPYlqceXvlHf0S3cnC6sPi_aX9I3FFhxl_8ZuhdI_UVFyVhbICoxgcFjVzGHJAcREnTUGJY-d9uTY6u_D7llsqgE1jVYFnIO9lvkP1A7NIck4Pu0GAIr19RJAP4FmamJtAa6F9MseAMZ8SfK2ywUAd3ykaAUGl_GYDhQm8FyF5mykjDcE03g9Bd9piiCcpD3-ILU4DKoG5rFDFPu9rwfXfEAN8bht35Fkp7WkGO66e4iywBEw2oDlBHUvNmSYrqDjXq_oxrBldRDyiuMYuR7V014d52g9M15blDvECshh95e8Z7s__JqPdJyAOwGbfljBaI0WZA40_E25HXmqzmTQXKuwSONLq15yfZt68QrVEf8j4Z4WKzPWcfeQx5ZcmUZzYS1y-lL3egh6NdapQdqyTCrTA1FUoxpytsPrXmPN7tFzjU9j9g291MlKRv9vyetKeklw3jGCr0mHyDdNsWDM3EEMSvCia7GYtwaNH_AX3CCSzEAUbq_EKH6PslkXJ4efmn5_6s0z4vv7PID_dt6lSh-fo4E67PKRmDRqGBg5pIyXrbpSvovjnngJdxHgxxYFn4OmcAH2x7Mk6p9AT0h6It9nADh87v5doYqVPmYMqz8Pqj-BCTvFerbxDjS3YxUYEjp_dqmBdHhWybYfdJPif2Uws7-nkuui2Zj5YCaPm5lq2o0JJopkbBXg2um1Pu5PQontg_Eo1df-vhXyYfCk5XTu0yXbM8ZxGAGmOw5Vp0intXq_T2DtSQlthoduyCzM543R2iNcVhEcrtrBvOM9shwiUp283hq0xfa0zJnDCrJBUCvxztd8wCBljXi5A3CdhEiKPJNxVXuAnxpo3yw9I5Q1M0T7fA6Hvie58kmSm9WFUVRsPGWxiLLeybr5Yopb3LxLCMP4aDzE8JDF527pZ-LirqjeAmGwHPOYQYtWh_sT9J8fI8fedo9r2shlHjAnvY-IuZH-f6EqjzDYVnZa0GD6xNV4gxXVb5tpFpGRpLI0HZLUAtJyQgl5c2Kl0kNUeOcQtOjUWSvUm3Y8i4VVd3B11q1uVDAm-0CPj60uPyGkYdlPVH-zy9BhSshCq3sSV5X8soeQsACYB8CIfWCb1H8zCNng3t1rkdQQnw2gB1PpnvrIcvLo4PbefK1bXlY7H8dCQG2zPNpARPbKlq-7oH80LvTwikT5Wrf8LatoQSH4TLCF1d9bbG3v0C67cpN_bXqaBiSPqF_89g4VPYMP5a-7rT5vaMKi_oxmQ21zUHQARXiOaBjsI_FBAUqSCNRKP15Pi1Xcvv4x5BAAE1IgtHqwHY7w0zP1sIhiBkzkDT7cT_GYa3mwFB8AYigQ0zAu5Zthv4iBPA-snslsv545QnQHfcH2Rp2qw6llbhJZ2iQ883s6eHbxhiAWVY7WeRTMatcy33KOBVzX93oqXxa5v0qv4wU3BnIt9l3veH7r8AXqOlQ8_gI75t3TeFzP-kLutqbLDF7PlWpb0HdKht1jAxnMDnX2l0SAK7IzqMfW7P_-oBTqPCk8pyBNbi52j3_4D79zQ5x9_a_qJEvizo5OcPhzw-E_Mef3LjPIVntIUJdDCyQ81IJAsPccqgHVjf1Iyp3ugWL_TguqMhzQFgmqdECcj9yyQzeqQ_nBCMMyRq-_71r3W314pf0NveoBcoscc7uVm3_pkkyxn-P4av2aKwMrpTUn7loGRTyrgS_iQN4Ae9Big9mlKKzWqYz6jKkjn57pIrCcOvQgpEQ8qIalTnYG8jVq8lWisnnICkbAXMgp0y8E9lI29fJjAcWzx_SVfUJH9ojv9Jho5iBA07ffIrH3iZxBhyAbqKWXuDTRsX9x9o-ebCDX7SnFtUxChdVSwp1",
  "id": "rs_0c8ad1b35949b333016ab467f5e5e087d0a323bac3ccb5e69c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.325,\"right_z\":0.22,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brown toy is moving with the gripper. I’m carrying it above the open safe, with extra height to clear the rim.\"}",
  "call_id": "call_3tf1YMXDrfD2OcXUOqc1HgQb",
  "id": "fc_0c8ad1b35949b333016ab467f9096087d09fe1050783923c89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3tf1YMXDrfD2OcXUOqc1HgQb",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8417, 0.6437, -0.506, -0.0219, -0.0425, 0.9983, 0.8829, 1.9438, 1.7535, -0.6987, 0.6334, 0.5377, 0.1148]\nstate[eef_state]: left_x=0.2844 left_y=0.0001 left_z=0.16 left_yaw=0.0025 left_pitch=-0.1258 left_roll=-0.0055 left_gripper=0.9983 right_x=0.3968 right_y=0.3238 right_z=0.2056 right_yaw=0.0678 right_pitch=-0.0947 right_roll=-0.0541 right_gripper=0.1148\nstate[joint_eff]: [-0.2256, -0.8957, 10.1538, 1.9023, -0.0269, -0.0122, -0.0122, -0.5949, -11.0017, 7.9932, 1.1209, 0.4274, -0.0513, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6a2201b041103b2bbecd60f0778827b94ac88f556b53cec6a8a441ff2b91ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f9cf23e143fcc9769c88481ac0b390065d36694ad96a2141489520bb31a742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f8949c1e7ec4bfb258f4863a1ec047d72632482abc436599ed20f6aafbc544",
      "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 6 attempt 0 · /responses · status 200 · 2.996 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6083, -0.4282, -0.0219, -0.0383, 0.9983, 0.9657, 1.544, 0.561, 0.0853, 0.7368, 0.6273, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.1699 left_yaw=-0.0 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9983 right_x=0.279 right_y=0.201 right_z=0.0483 right_yaw=0.0325 right_pitch=-0.0356 right_roll=-0.041 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9812, 1.8291, -0.0415, -0.0073, -0.0122, -0.8547, -4.1094, 3.412, 0.6667, 0.2613, -0.2955, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0219, -0.0383, 0.9983, 0.9627, 1.3796, 0.691, -0.234, 0.7063, 0.6201, 0.1126]\nstate[eef_state]: left_x=0.2859 left_y=0.0001 left_z=0.1651 left_yaw=0.0 left_pitch=-0.0675 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2743 right_y=0.1997 right_z=0.099 right_yaw=0.0519 right_pitch=-0.07 right_roll=-0.052 right_gripper=0.1126\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.873, -0.0366, -0.0122, -0.0122, -0.3214, -6.2427, 8.294, 1.3797, 0.3834, -0.022, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8417, 0.6437, -0.506, -0.0219, -0.0425, 0.9983, 0.8829, 1.9438, 1.7535, -0.6987, 0.6334, 0.5377, 0.1148]\nstate[eef_state]: left_x=0.2844 left_y=0.0001 left_z=0.16 left_yaw=0.0025 left_pitch=-0.1258 left_roll=-0.0055 left_gripper=0.9983 right_x=0.3968 right_y=0.3238 right_z=0.2056 right_yaw=0.0678 right_pitch=-0.0947 right_roll=-0.0541 right_gripper=0.1148\nstate[joint_eff]: [-0.2256, -0.8957, 10.1538, 1.9023, -0.0269, -0.0122, -0.0122, -0.5949, -11.0017, 7.9932, 1.1209, 0.4274, -0.0513, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6a2201b041103b2bbecd60f0778827b94ac88f556b53cec6a8a441ff2b91ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f9cf23e143fcc9769c88481ac0b390065d36694ad96a2141489520bb31a742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f8949c1e7ec4bfb258f4863a1ec047d72632482abc436599ed20f6aafbc544",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGf-iS3UQqcd5Uuo1NGBegeZJElaCCDqoYExkN3ok5njRbBQu40XcfnLZ8PnUiGmEpq_7aD9Q5rCn65NO8a8G1WxLkIoZWxbo6BK8CJPMWsDCj1KPg-Esouy5zZ45zWywCRAlFVnyMOEGTGTSsECQ1XeJdzRtaXkUpbRUI41byT_YNcn0H_Zoivii5U0AUwkr9tPowJTqcedSz9Wkob8S6SLZRhRINXyITb-Kjeo0-lJ3Kiec9ygYxriwytrTZiDguNR3Hrtvl0Uaa2ErZFuYPYQC47WXBPkg9Mx3HUh92XBfCvgwb2AogX4DVbD81t5Li40MjMYplBq_6D6Lx-Curadq2XnFTRQkEiS7bfXLJO6PyipybAvPqovNbPcVtStZVO41p3hTidLeTBIm_k3-X6raWX2rVFietlI-syX4UXo6bRjt5cGvYBmZLlSOINkYEOhmQQeGNiV7cIfEt-r_C7wFPvEnb2WuKkyEc2-tf-wFIESPDPudhuEVY0qHALSIZtaYfDl_hF-BWmymidjflAROp5XBgxSYO5YH-2Dscf6fQrBJvmBOnEeZmLGXgI21AymVW-iXjbYejB9YaHvtoAVXJAjFrwCKPEeptNbvZejSgIRx8l8q4IlvdPB_2drY-1FQ_s-nxtzrWn6S6hwtjqoYaekPNVZIMNu031JmNatVqr51897FJIJIEBxxamCbpq4_K4xJbUft885m-Y4hoa5t84e9R8bR891DIuFIW0HU-0I6xUXAD1syzYuC_NJ_6bJqSVCL7g6y5p3-op78hqn24tlD6Tq-VpMpKDTBrSuTNa7qZ0W8wCyPizLe0RAvIpkdQUHyoGwZeSAelZsog3eH9Fz0nGJL_9A5lR3ds6Gw9GSYHG0X5-T4bYZAaJ9947jufot9FSxPTwpJN13rwTX32566fuIdaevK_2z6oEUttIpPhaDPgRDheJgEc-T2iru2OuSR1heMHmJrEOhV9qfw9jR2XH7xWe79CtJ2eXapvWL-8DIf0ma_mF5DHCw85AqH48w4Z7Dte9fHgAgiRoBUv3jfbHq6HKou0xVvfehAPHrl6ZuZFBaWOJ92SPcJr_cqgeajyR93d2kNE2SnBAFguQ7KNnrFo_y267eg3XNL_RfcqEy4im5uwqbeNAV5W3xq35koSzGvjabCsISV7-sunWdv3d3h4LOhjim6Pr0Cvk1ZkdwObQSRouADKZz9kpNQ9VM5pfR7oH1ABf9FwIpniTwUuVl5Gn9M5xkdhePGFpgrfeaxp8cs7rfIzzIjNjnXZsI5rN_8QGcsIuN4wHiwPP9y3sS1HN3lJZf5XbLAAm6KqW8psMCqfrGIDMZOW3AVOM9BRs4MDAShSbQCUKWBg==",
  "id": "rs_0c8ad1b35949b333016ab467fccde887d092a36ed703228c03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The brown toy is over the safe’s red-lined compartment. I’m lowering it into the compartment before releasing it.\"}",
  "call_id": "call_j8BNtwOIEPfJcjdsEAB8ApYO",
  "id": "fc_0c8ad1b35949b333016ab467fd67e887d0bda5de900d04d885",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j8BNtwOIEPfJcjdsEAB8ApYO",
  "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]: [-0.0257, 0.8433, 0.6437, -0.5182, -0.0219, -0.0425, 0.9983, 0.8825, 2.0453, 1.3495, -0.2504, 0.6113, 0.5339, 0.1164]\nstate[eef_state]: left_x=0.2825 left_y=0.0002 left_z=0.1573 left_yaw=0.0025 left_pitch=-0.1395 left_roll=-0.0052 left_gripper=0.9983 right_x=0.3885 right_y=0.3184 right_z=0.0618 right_yaw=0.0794 right_pitch=-0.1471 right_roll=-0.0865 right_gripper=0.1164\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.7509, -0.0317, -0.0366, -0.0171, 0.0615, -10.3863, 6.8581, 1.5311, 0.4371, -0.0171, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ca9cda3b07dffc510444251a300da953a6241dcc427b7fb859b11c6dcc7d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738e0832527407e8b9b60dfea897513cd0e80c9779383a50d98ba868631093e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d6aec9aee9d7c2eb5deca6e6e79dd458ee2d2d8016b005452b5c5133436b03",
      "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 7 attempt 0 · /responses · status 200 · 4.823 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]: [-0.0257, 0.8032, 0.6083, -0.4355, -0.0219, -0.0383, 0.9983, 0.9627, 1.5539, 0.5453, 0.086, 0.7231, 0.6212, 0.1104]\nstate[eef_state]: left_x=0.2882 left_y=0.0 left_z=0.1681 left_yaw=-0.0 left_pitch=-0.0522 left_roll=-0.0042 left_gripper=0.9983 right_x=0.2754 right_y=0.1972 right_z=0.0393 right_yaw=0.0406 right_pitch=-0.0593 right_roll=-0.0593 right_gripper=0.1104\nstate[joint_eff]: [-0.335, -1.347, 7.159, 1.7753, -0.0269, -0.0171, -0.0171, 0.1846, -6.5026, 6.4068, 1.2723, 0.4127, 0.0415, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8417, 0.6437, -0.506, -0.0219, -0.0425, 0.9983, 0.8829, 1.9438, 1.7535, -0.6987, 0.6334, 0.5377, 0.1148]\nstate[eef_state]: left_x=0.2844 left_y=0.0001 left_z=0.16 left_yaw=0.0025 left_pitch=-0.1258 left_roll=-0.0055 left_gripper=0.9983 right_x=0.3968 right_y=0.3238 right_z=0.2056 right_yaw=0.0678 right_pitch=-0.0947 right_roll=-0.0541 right_gripper=0.1148\nstate[joint_eff]: [-0.2256, -0.8957, 10.1538, 1.9023, -0.0269, -0.0122, -0.0122, -0.5949, -11.0017, 7.9932, 1.1209, 0.4274, -0.0513, 0.2125]",
      "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]: [-0.0257, 0.8433, 0.6437, -0.5182, -0.0219, -0.0425, 0.9983, 0.8825, 2.0453, 1.3495, -0.2504, 0.6113, 0.5339, 0.1164]\nstate[eef_state]: left_x=0.2825 left_y=0.0002 left_z=0.1573 left_yaw=0.0025 left_pitch=-0.1395 left_roll=-0.0052 left_gripper=0.9983 right_x=0.3885 right_y=0.3184 right_z=0.0618 right_yaw=0.0794 right_pitch=-0.1471 right_roll=-0.0865 right_gripper=0.1164\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.7509, -0.0317, -0.0366, -0.0171, 0.0615, -10.3863, 6.8581, 1.5311, 0.4371, -0.0171, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ca9cda3b07dffc510444251a300da953a6241dcc427b7fb859b11c6dcc7d7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738e0832527407e8b9b60dfea897513cd0e80c9779383a50d98ba868631093e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d6aec9aee9d7c2eb5deca6e6e79dd458ee2d2d8016b005452b5c5133436b03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown toy is resting within the safe’s compartment. I’m opening the jaws to leave it there.\"}",
  "call_id": "call_DKyBInjnj5g7qQGgmvlZrU4a",
  "id": "fc_0c8ad1b35949b333016ab46801593487d09f3509de34b89b9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DKyBInjnj5g7qQGgmvlZrU4a",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8433, 0.6437, -0.5255, -0.0223, -0.0425, 0.9983, 0.8833, 2.0556, 1.3388, -0.2577, 0.6044, 0.5297, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.156 left_yaw=0.0033 left_pitch=-0.1468 left_roll=-0.0047 left_gripper=0.9983 right_x=0.3846 right_y=0.3158 right_z=0.0517 right_yaw=0.0838 right_pitch=-0.171 right_roll=-0.1062 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.4838, 6.9128, 1.6386, -0.0757, -0.0269, -0.0122, -0.4171, -11.9179, 7.0085, 1.2918, 0.2759, 0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7331c14eacf21baf4e31e987777c9eff3f0a43333054dc8265ed789f351792a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c635377af89cc45df7c6b68ff4b136170f27d9ab8d3741e01c79affa70aa94c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5435b94bfa9de4078731ec2f0ab86fc1a4d4b10f132afbcebe8cca929b52a75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 7.882 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0219, -0.0383, 0.9983, 0.9627, 1.3796, 0.691, -0.234, 0.7063, 0.6201, 0.1126]\nstate[eef_state]: left_x=0.2859 left_y=0.0001 left_z=0.1651 left_yaw=0.0 left_pitch=-0.0675 left_roll=-0.0038 left_gripper=0.9983 right_x=0.2743 right_y=0.1997 right_z=0.099 right_yaw=0.0519 right_pitch=-0.07 right_roll=-0.052 right_gripper=0.1126\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.873, -0.0366, -0.0122, -0.0122, -0.3214, -6.2427, 8.294, 1.3797, 0.3834, -0.022, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8433, 0.6437, -0.5182, -0.0219, -0.0425, 0.9983, 0.8825, 2.0453, 1.3495, -0.2504, 0.6113, 0.5339, 0.1164]\nstate[eef_state]: left_x=0.2825 left_y=0.0002 left_z=0.1573 left_yaw=0.0025 left_pitch=-0.1395 left_roll=-0.0052 left_gripper=0.9983 right_x=0.3885 right_y=0.3184 right_z=0.0618 right_yaw=0.0794 right_pitch=-0.1471 right_roll=-0.0865 right_gripper=0.1164\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.7509, -0.0317, -0.0366, -0.0171, 0.0615, -10.3863, 6.8581, 1.5311, 0.4371, -0.0171, 0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8433, 0.6437, -0.5255, -0.0223, -0.0425, 0.9983, 0.8833, 2.0556, 1.3388, -0.2577, 0.6044, 0.5297, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.156 left_yaw=0.0033 left_pitch=-0.1468 left_roll=-0.0047 left_gripper=0.9983 right_x=0.3846 right_y=0.3158 right_z=0.0517 right_yaw=0.0838 right_pitch=-0.171 right_roll=-0.1062 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.4838, 6.9128, 1.6386, -0.0757, -0.0269, -0.0122, -0.4171, -11.9179, 7.0085, 1.2918, 0.2759, 0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7331c14eacf21baf4e31e987777c9eff3f0a43333054dc8265ed789f351792a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c635377af89cc45df7c6b68ff4b136170f27d9ab8d3741e01c79affa70aa94c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5435b94bfa9de4078731ec2f0ab86fc1a4d4b10f132afbcebe8cca929b52a75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgHIP12B0MV-g_ximDQ6XVnkNl3QyfCUuDQES05IkQGdswXlN9pZoZl8lOWswFugKGKF6bv6sUFpG6gyCpzpeUO5CE9g0Tktudf2PWA6zL7mmQlNLR8jpipFLtr96k2g17NepzC-4kzSWvEF-yuwE14fh7hpYx2xMOqPFBWHIIAQ30WGVH6MFJ6f2X6i_Bsmhzj9y2x6D4i9ZpQEVXFYuCVayv2W5fAvmpUSY2RoTUGo5Gg4qa-8Fcd9O5KqLn0EpfE8CXQ6EiTAwGvE5OWJnvTOh2FZXTNbP6VOP20emDQqapvJEntg6sbGnSxs5khXvk9KwuJQQba1Y0X7tMpJ1O0cqYXA2vW32xyZbuwUCQyz8Qs-h16E760hspMtdR8TzHIkfUcnUDf32fP4xP4IM1sjdTpS41VTxWgIP2_o0RD7ueQQFXx6hM24N6H4ExQwHa9EwEkB5y0BpCTUtvicPSfgLzOjau_06l64lAflyoDvTAC3EswDJW9WBD1o7NtmsT6hyVQ5Ch2gK4FSRUfr9hEMU-j_KIJpey754h5xm-r1ZsMDPg58RRe2cyUGd4-D8Rtq77wC8BR73Rv1b3VXCiZaOmb_fIPjTN67jdP7zvoXuqgf1VO0H6bP-8eS-9hX_dbguDEqewQVn0xjQ62SsUT_v-Z8Ku8_o00UYu1GRpY6h7s4Dq_aIiiryNiHrAjP4NJQqWxevxrZzXfsQHsMKZo89ImpMrE5x7UsRxYnfsxrz_VxcHOlEtanuMYcASkL1EE1wSOuEdzsCY_fAkHYsljLix14oqyMqHpJaA0INlPmh6hF4zZe9uHy15mVY-kzoPVI-k86wXGtABqc-_Kgj8nmp1F9PWqAfTGQwSW8hPQ5xvPR0nycIRUmPV_a7XGAdGKFQqI_v6RfEJGlSnEeQiuGE0Eq1VxiQbUw6enApOMQgK3VWY1JZYj2x62dBzrqWcCMp0mJbBwwke0R4wo2Zh6Xbn9L8219fGVrWoAfIlqBJjgk5Vc86n9sZ2_z2sT2oYJ6yyAXWZHrTZOBny48Mv6irbvWRlUwpN0Zx03BM4wKKRBVUfoxyzfx3CbQaA8ijnbokn7WQ5V2CDLO85G3qXw1NybSmB1KCU3CML8sCRLZ57Afkp7VOM3kFyGUbwxzsL7ODZaM8w6JcyIup1oXKO0lpRmh3nqKnVBuG2JtJGZhYD92MsyX0hog2R8s_fXqvp_Y-_cGPLvSKavTZlED2Zp3rnjUtSPKaoeeyB73sc7AV7UlAOMemjP8948PYMc9QED9w_Ps0EyEs_LCK1DImtXApH6upDcE6PLuLcBcyoTvVGyHbz0sY7X-VCWe-mo5YfsS0Fnv7eV0Rdy-q0sJvYHXVJ3ygdm7un1QBqu3cFokAoifkURPIDSIpFbnZetJZKAaCRKw6r7Dwm56W9O4O8aP_xywKIRgR5NbxgaTsJByd-HzA3oviYIiNz27w9JetCEcxLiu7BE1LVngjdVlB4kG23xHkkDlbw3NZk4zdUCgY-p19dgjZvBfy7G_M9lIVIH7rR63QVtlNhCxNiKGXNqSMFeE2nMp8Z6N93F8qI97d79Nw2cshYEz3cr9XszXYP7ntbaJajmeqSwGBjBc3rcIrBfmDom-t70XjQjqTKjpvw=",
  "id": "rs_0c8ad1b35949b333016ab46804ee9c87d0976e620d8c8c731f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.22,\"right_z\":0.19,\"right_pitch\":0.1},\"note\":\"The brown toy remains inside the safe. I’m moving the right gripper clear and over the yellow object behind the safe’s right edge.\"}",
  "call_id": "call_xnSrKRTerfGQESsi8NSmaXC2",
  "id": "fc_0c8ad1b35949b333016ab46806bce887d09f1c528ef1e2af9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xnSrKRTerfGQESsi8NSmaXC2",
  "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]: [-0.0257, 0.8433, 0.6437, -0.54, -0.0219, -0.0425, 0.9983, 0.5892, 1.8977, 1.3338, -0.1318, 0.4946, 0.1761, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1533 left_yaw=0.0026 left_pitch=-0.1613 left_roll=-0.0045 left_gripper=0.9983 right_x=0.4746 right_y=0.2207 right_z=0.1374 right_yaw=0.0826 right_pitch=-0.0247 right_roll=-0.1472 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.4564, 6.9675, 1.7656, -0.0611, -0.0317, -0.0122, -0.3624, -13.9419, 10.0171, 1.9902, 0.1978, -0.0317, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d1f9a5219d1d9f4320deb62fca823ac7974816daca48ebdf2b6cb5e7de2dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10315d643081341f03e8ec7fd95e3a179741d18635672b5a38436e8882a69149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aab4ee89bdcc35813eb1db48af66ec04830ba2e6179d61311c1b4b24c79e3a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.399 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8417, 0.6437, -0.506, -0.0219, -0.0425, 0.9983, 0.8829, 1.9438, 1.7535, -0.6987, 0.6334, 0.5377, 0.1148]\nstate[eef_state]: left_x=0.2844 left_y=0.0001 left_z=0.16 left_yaw=0.0025 left_pitch=-0.1258 left_roll=-0.0055 left_gripper=0.9983 right_x=0.3968 right_y=0.3238 right_z=0.2056 right_yaw=0.0678 right_pitch=-0.0947 right_roll=-0.0541 right_gripper=0.1148\nstate[joint_eff]: [-0.2256, -0.8957, 10.1538, 1.9023, -0.0269, -0.0122, -0.0122, -0.5949, -11.0017, 7.9932, 1.1209, 0.4274, -0.0513, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8433, 0.6437, -0.5255, -0.0223, -0.0425, 0.9983, 0.8833, 2.0556, 1.3388, -0.2577, 0.6044, 0.5297, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.156 left_yaw=0.0033 left_pitch=-0.1468 left_roll=-0.0047 left_gripper=0.9983 right_x=0.3846 right_y=0.3158 right_z=0.0517 right_yaw=0.0838 right_pitch=-0.171 right_roll=-0.1062 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.4838, 6.9128, 1.6386, -0.0757, -0.0269, -0.0122, -0.4171, -11.9179, 7.0085, 1.2918, 0.2759, 0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8433, 0.6437, -0.54, -0.0219, -0.0425, 0.9983, 0.5892, 1.8977, 1.3338, -0.1318, 0.4946, 0.1761, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1533 left_yaw=0.0026 left_pitch=-0.1613 left_roll=-0.0045 left_gripper=0.9983 right_x=0.4746 right_y=0.2207 right_z=0.1374 right_yaw=0.0826 right_pitch=-0.0247 right_roll=-0.1472 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.4564, 6.9675, 1.7656, -0.0611, -0.0317, -0.0122, -0.3624, -13.9419, 10.0171, 1.9902, 0.1978, -0.0317, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d1f9a5219d1d9f4320deb62fca823ac7974816daca48ebdf2b6cb5e7de2dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10315d643081341f03e8ec7fd95e3a179741d18635672b5a38436e8882a69149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aab4ee89bdcc35813eb1db48af66ec04830ba2e6179d61311c1b4b24c79e3a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgQv95yl1Usi1EkW0u-oCzjhdTuk42ETB8lxLP2ltTpjQf_NvcdZOezBwDvXcg5rXsTsKk6Itz0qfRy-m6nkUjIK25DLTqe7dLlkxAGlNR4HhuEHqS6BbdV6CtVJcLYSKL9d71dBztVmA8zJ0pjOzF2iCbE-r53ygJR5V9MT3_4Nc-AAVB_qXuqhs1y5_5P2qAmEgWq0VTuy86UT0Lu9zdtnSGoLblRBvI1jk5a7Cd0NTE1mT7jN1DGH94EV1XLPDYM_NGTn2E2d2S9fPT3PsFL3VIJrNwrA6Pz8eYbDufFGWPue1pDZgQmaoh63Ee3eNw5p-qgvUhCz_cMhhAQjQPxdAAmiMjtvV0FurHf9XGkv6-pbpUBk7gsANo8ayuYr8v2QtiWYwLyv71fx_93vFkc0UnIxSRKCtoVq7_9c5TRapd4SsbdvuNSEfCSyxz8MorI4mgQZQUyTENrt2Kf-Tl-wroC4zE08U08XaYsi-7gW2jbbg9POGE_czX90mvis71A99cQx0iqq2TzzfGqaPJk2oovA3A0tiwE9C1xqAABkk0A-IZ1YZ-Zu0LHnqmwvTKDcMJlmnzEm-6PQWCrrd4ZeCbyWduPW3bwiiPoYdwA8qhdKH8lT4jFYNS479kzmRY_EhNg7T-ykrRsK1Hq4BhX-C-j2QYIA6GdUBja2Hx6Vrt4cJLWDufsTUJSCNVTHZI31RvjlcpQCn7w_U03g75R5i7CdWSNV5AkY1FqTdIXHt7ElTDqQoH-xxFyEkBXYoSksUms6GQvEN0R-m0Cds_4d4xnhbjT6_094ZK64q_7tAjsv1qa532XE55-HAxmoiUOt_1Y63LZjlaJt8vh8sF3I6Q1wyMk6WVNn8sGaquX-QdsQiOslke8ywSee1D3-iBfWiMJTr4EKGGqC7mrQSXKlVLvqGkQr1zGK7pq0eCjy9MiTIuWnktbS33lUoCwY50oxBO1nZf-i18zWsMGywj-oFQTbB5JGJgK7M66T82LEVE6BEx64mMYuXrK-jL6wH83k4OAUR3nRIBnW_4hHPTCGd8YMQZToUcFiJrske_3pUgqF4wx737EdVNf5v58Zew0lZdEk3pJG-ZzfrI2KNQTIV0RQTVBDVWfHFCq45Jdf0YpVLbJNbIuJfJFpwAmc-7EOn1CBryFA5t50sqFTvevAdrTTdhLFuSjCEehqhMrb6o0YpwQTW5INXkwj37D6AkzS6nuS_pL8DiBC4xeo4czTKuQVv7LKWPPJx_89svFUSOGW5LtVAdPhcqinlzBr2lWEBNhlYYca7AlE15GQzNnzPDLxjdcmvLLsxk3BfU-M0zNXAz4KD8YW73AhMM1HA2LDKL7DRkwJSnFhq6c_dUUHsFU6KV2XQ_9m0m94SC1x5lvxn8B-1J5n_MQ2npc_rhFSFvu4WAzPTDlCz79wsxuyQvvUX78hdrgBcd-l1vpsrUChc9I9h-aJIUfVJ7GN_9qanTEJSuEAETsB6vyQNq0jRCoAhy7Xtp-R-Cg0lVpSDASkJCxdryyc8HRYAMlNTlsMYtMNX_slqMWvKKA_GyIZYiANQKJmgebCswjXuxY-yCEX7hlS3Q9U_MWsRyXHi3gI2YoPfpY0nRPfVCcRGx0-QAVMjm6zoDAXZTBnvHApq3jeZlx37DsEFcoFSnLbCOOcklaAJFnU_0dUrx4dSqOdfEdpAnYoH7ii8RPMOwCPuKWutgJVwJLAIHk-D8P-jFE87-AYaGhjsvwnMcmWkgPSpo2RIVAdiQ0JJ9-j11SMGZ5i8EUaf6yISfXjaBVSDg9yDoxX1MtT5Vb1IQHZKDqTIGEO4Xh6E5PZ9yqnA4RPXAz4R6Gq3EXFmikm3V-Wyfeo2cfiAvYt1M2XL26BNwq8lQ1gr10idmUOaw4BykbgGZZQQdk1f9oFGaUesR0CJDddTWgIvE46K3oie9MXR6gcrrbb7CRbGKU7GV2-4xizkTw7CtYnCmRi-VduiuZadjOj7sFpkyEuwPfOsznhCA3FBwChFsc6K6AQQcorfYE72MCGrDdRlZHNIcyEL90fc_VImVOzSqzCZa2EcGRXbZbEFRpRQJgVNef7hADduAGJlcS0bUvvzQsESkEjKy9u2cxRLS_t6bEvjgMVx5IX3kcwSMWCk8tC47MNU-VEdsyhwDL0i_I2YQotsFuTNIgoQaOjLRMgc7_osFmcKpOHP6uKtePbKdNO_tWGVQrmzb0yzFkdZpdCfBHiUa-TD4bMY28pNPuV-GeuEFWMkCm8KJeQDzyDsErnHBIebGSkVHbzjCUq7x1kK4_CgayG-lSmxXa",
  "id": "rs_0c8ad1b35949b333016ab4680b5a2887d0bd67e1a1815fbe41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.17,\"right_z\":0.055,\"right_pitch\":0.25},\"note\":\"The yellow object is ahead and slightly right of the jaw center. I’m shifting toward it and lowering, with a modest forward tilt to help reach the far side of the table.\"}",
  "call_id": "call_GJzuJaKIlMa8MrJbLnBMhrlG",
  "id": "fc_0c8ad1b35949b333016ab4680f708887d0a28183d7b64e5312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GJzuJaKIlMa8MrJbLnBMhrlG",
  "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]: [-0.0257, 0.8452, 0.643, -0.5564, -0.0219, -0.0425, 0.9983, 0.4416, 2.159, 1.0809, 0.6197, 0.421, -0.0017, 0.9953]\nstate[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1495 left_yaw=0.0027 left_pitch=-0.1803 left_roll=-0.004 left_gripper=0.9983 right_x=0.5201 right_y=0.17 right_z=0.042 right_yaw=0.0853 right_pitch=0.1579 right_roll=-0.1662 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.5932, 6.9265, 1.6972, -0.0611, -0.0708, -0.0171, -0.4308, -10.2496, 5.3265, 2.0928, 0.105, -0.1734, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9748bbb8a3b72161c272391eacee85fbd17e8674024e5ef49b404f753d3281",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64008e5d08db31798c145555f7b515585d6a2d2fd4008d9ec02387a93a208b6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184636165e9dcc5744aa15ed5d851325d254236c4c91f67120cf2a6a353dd4f2",
      "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 10 attempt 0 · /responses · status 200 · 5.67 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8433, 0.6437, -0.5182, -0.0219, -0.0425, 0.9983, 0.8825, 2.0453, 1.3495, -0.2504, 0.6113, 0.5339, 0.1164]\nstate[eef_state]: left_x=0.2825 left_y=0.0002 left_z=0.1573 left_yaw=0.0025 left_pitch=-0.1395 left_roll=-0.0052 left_gripper=0.9983 right_x=0.3885 right_y=0.3184 right_z=0.0618 right_yaw=0.0794 right_pitch=-0.1471 right_roll=-0.0865 right_gripper=0.1164\nstate[joint_eff]: [-0.0752, -1.4838, 7.1043, 1.7509, -0.0317, -0.0366, -0.0171, 0.0615, -10.3863, 6.8581, 1.5311, 0.4371, -0.0171, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8433, 0.6437, -0.54, -0.0219, -0.0425, 0.9983, 0.5892, 1.8977, 1.3338, -0.1318, 0.4946, 0.1761, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1533 left_yaw=0.0026 left_pitch=-0.1613 left_roll=-0.0045 left_gripper=0.9983 right_x=0.4746 right_y=0.2207 right_z=0.1374 right_yaw=0.0826 right_pitch=-0.0247 right_roll=-0.1472 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.4564, 6.9675, 1.7656, -0.0611, -0.0317, -0.0122, -0.3624, -13.9419, 10.0171, 1.9902, 0.1978, -0.0317, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8452, 0.643, -0.5564, -0.0219, -0.0425, 0.9983, 0.4416, 2.159, 1.0809, 0.6197, 0.421, -0.0017, 0.9953]\nstate[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1495 left_yaw=0.0027 left_pitch=-0.1803 left_roll=-0.004 left_gripper=0.9983 right_x=0.5201 right_y=0.17 right_z=0.042 right_yaw=0.0853 right_pitch=0.1579 right_roll=-0.1662 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.5932, 6.9265, 1.6972, -0.0611, -0.0708, -0.0171, -0.4308, -10.2496, 5.3265, 2.0928, 0.105, -0.1734, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9748bbb8a3b72161c272391eacee85fbd17e8674024e5ef49b404f753d3281",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64008e5d08db31798c145555f7b515585d6a2d2fd4008d9ec02387a93a208b6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184636165e9dcc5744aa15ed5d851325d254236c4c91f67120cf2a6a353dd4f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgVXFlDh47g-52m0Ir8r8SnHx6UIcytVJToT4U5KXOAhOEaBAzrk9O88ZW7t4cx1BAEo5L2vBICz9T9DI6Qew_3fMpbwW3c6YzuiyRw4FJUlww8G8WpRjjEq3VzXr21V7qkFipR4VRFjG9O4M9AUn35xgw19D4S87LtPYoWZ79QkqZvc_AOloGpEzJeCzqevxqburr6umba4xyqOlxxMGQF9qQLnHU9awaJUcb0PIuyQ1zDIuPSJ0vzu0fTIfhCNAQUcBYD-MjA4IZ9HpBMr9cQVngcFRx73jq3bazE1F1LMxnowQm-q98jhJv0F4tTle6USF_OlScuwTwC-tRa-EzArfOxgcZdlg4g5N7qJDHhD-W0qvahOihZh7KDZ-rQuIab5jB9bXS3D6sX78roUji9Dnia_0_reehESBJn4Q_6SQZ9KrQgDjRzQ4yM_SIB7u8-6m5PAidxDzNwdixTUuMkhKqRTtZ-N-KQl2QqjnAZkXqQIa_HWmwy-rE88i0ss18FSoB2LDYaZAVXE_cjd2IIrFvetIJ-jBj2zYwRtQDNzpj9NDdXOIt-vkDBPuVzq_gqBcTFc56tsfgjbJs2JldqnYLmM-6s0chUr5pGUC4dEzb-f1Nw84v35D8ZdjFebUUWoCmUpnIwBwVkjglsKwFVFQBbNZ-XYO5iuwCmRGPSCUgKLvOuz7WbWBZJsYE6EQKuAH4JaF1HFuuMt5X6uAgILviZ-Zv5g58JY2CbNwsrWqFN1_VFkqslGvw0UjDhjoPCkTEU4i_3-sNcEaffkQq54F0YkAwC_PlOQIb4FZL-m4fsWoqdLaVkfpySlz2r8NN5vusQmAJEHm5hEzGc5PIUhq56tjSK7lVEIxaqEmys0GtA3YcR0PuTAQnBcW7G_OmG28WnPg9Ic_ja86VdIGriolEUYU_oNXvpi71yCJu5HT2qrdvLVI6NcfCRHS6sa8dqD1fgca54sFrF_0aBmuiN7qp3mk0xfYIgG336PR3tQKRb2TpCqcuYGKTBlBbmthvbkHPuuqQTezqtVsQUjOsDSQOFYezatSirgNNa6ABXGGkXOuV2nCvhQ6FmnGyUgDFzw0u9QmzKr7tFB9c3DxGZTDK-xz7wXMOMd1SGAQDVFyGNUsz5fEQDn_Lc9JxN0PzIsc94MqevIKCTB8Gnd-DMmboF4xXuf9L1hh2399n1tch-4oxnDZjKUt0wgUvY7TMHNvMP8zfTxwhyNY1hwL4ndgs1hWkkCxXzUe5sA8iediTp7qxYXvkhqKmHTtIeT7q4wbzjYkjs1NMjuVgw3cocwpd8MDAE1ZjUtNyCF8QizdR3QdQOmEvfmvEiHNVL2MyQ2rt8e6jG-VIgfpUcpGMbPCMd-knMvQ_t1YYbtu9vnURqCT5uFTXxcurSQ8QC3WhUat0IFtrV7tm3XEDWXq-1jyRvfZm6w6VyTisP8aqrQKB8o80BqBcVH2wzqgvBek-x4ILUsWNf1o59B_2TP6l0HqXFcCExCW3fUMSueARl548=",
  "id": "rs_0c8ad1b35949b333016ab46812d8ac87d0b69f382caee56aaa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.145,\"right_z\":0.022,\"right_pitch\":0.35},\"note\":\"The yellow object is still slightly right and forward of the fingertips. I’m making a small final alignment so the jaws close around its middle rather than push it aside.\"}",
  "call_id": "call_PLM76VNSRlDE06ScBgD7ZWQa",
  "id": "fc_0c8ad1b35949b333016ab4681469b087d0ae9e088cab56a9b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PLM76VNSRlDE06ScBgD7ZWQa",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8478, 0.643, -0.5663, -0.0219, -0.0425, 0.9983, 0.3843, 2.3203, 1.0866, 1.018, 0.3733, -0.0937, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0004 left_z=0.1471 left_yaw=0.0028 left_pitch=-0.1929 left_roll=-0.0036 left_gripper=0.9983 right_x=0.5484 right_y=0.1562 right_z=0.0439 right_yaw=0.1004 right_pitch=0.3745 right_roll=-0.1621 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.6342, 7.0496, 1.6728, -0.0806, -0.0513, -0.0122, -1.6615, -8.212, 5.1624, 1.1306, 0.0611, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d951bde9cd8123c28621ac95f7a8d423fcef2e1a0090ed5106434c6350e4441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0753678ee4faeb331a7a2f2bb539d57e0fe48494756b6fe5b4832e266ef812f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d372844c8760b0a22449a4a5cb62082e021adf736aaa5222a416114ce8c2cbab",
      "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 11 attempt 0 · /responses · status 200 · 3.598 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8433, 0.6437, -0.5255, -0.0223, -0.0425, 0.9983, 0.8833, 2.0556, 1.3388, -0.2577, 0.6044, 0.5297, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.156 left_yaw=0.0033 left_pitch=-0.1468 left_roll=-0.0047 left_gripper=0.9983 right_x=0.3846 right_y=0.3158 right_z=0.0517 right_yaw=0.0838 right_pitch=-0.171 right_roll=-0.1062 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.4838, 6.9128, 1.6386, -0.0757, -0.0269, -0.0122, -0.4171, -11.9179, 7.0085, 1.2918, 0.2759, 0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8452, 0.643, -0.5564, -0.0219, -0.0425, 0.9983, 0.4416, 2.159, 1.0809, 0.6197, 0.421, -0.0017, 0.9953]\nstate[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1495 left_yaw=0.0027 left_pitch=-0.1803 left_roll=-0.004 left_gripper=0.9983 right_x=0.5201 right_y=0.17 right_z=0.042 right_yaw=0.0853 right_pitch=0.1579 right_roll=-0.1662 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.5932, 6.9265, 1.6972, -0.0611, -0.0708, -0.0171, -0.4308, -10.2496, 5.3265, 2.0928, 0.105, -0.1734, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8478, 0.643, -0.5663, -0.0219, -0.0425, 0.9983, 0.3843, 2.3203, 1.0866, 1.018, 0.3733, -0.0937, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0004 left_z=0.1471 left_yaw=0.0028 left_pitch=-0.1929 left_roll=-0.0036 left_gripper=0.9983 right_x=0.5484 right_y=0.1562 right_z=0.0439 right_yaw=0.1004 right_pitch=0.3745 right_roll=-0.1621 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.6342, 7.0496, 1.6728, -0.0806, -0.0513, -0.0122, -1.6615, -8.212, 5.1624, 1.1306, 0.0611, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d951bde9cd8123c28621ac95f7a8d423fcef2e1a0090ed5106434c6350e4441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0753678ee4faeb331a7a2f2bb539d57e0fe48494756b6fe5b4832e266ef812f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d372844c8760b0a22449a4a5cb62082e021adf736aaa5222a416114ce8c2cbab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgc911u_AW_dZln6RSeK6W42uuDv9HA9degYMW1mOMGoRzs3EhR4Ih8ovzho3kDC77xPSi3m4VrNHED65Czil4l0nE7_6KzY2Qi2t9D1Ec_1_0gIiBSXk6vYg4ysHdMZu3jiN9t8uj2epP1T1PuCZqwWK8p6PyIw0fdrvMpmV414rLudyZ15GSkVVQe4ABHcWgKv5MZ53ZClF5Gtk9FbVdAHpmb7tWxo6EE98URGgbVnTyy6nhNcH753k8aVcHjlNOpx-kEFL54xmxp0Ppv_RpGBEurpvMe4LCwaz5IFSCdMB3vBhOrLQFxZciZRqYPtUbAetW9XeVB87HjqaPNNB32qF2CfU7iCJx7OxTLYmRUtvkF2s8P8V_-V1L9EwgupBDU6TzY0qyQiZf8JICPWQRNQLsTlqeOUImfT0aSXal_VaH7kg6QjWZqjaDMxBAYiQwG1SvTUYe4MXzIhjmTTeiSTUK2yWkUDWPX5_HJASfmTZkueE39VO-bJBstg7edtI-1uaLCM7urNWeF-PKDaKeqggPvqMDuOJBohCTmvO9tUoE5-A_XgEEkcaEOcPZ8dfqTEiNqPyrweWzc1vJGgdJn39LvIgm5kRekfNyVi4tqKFMIV0_G77iU_IX5PfjJX-z3FAFIhW9Y_w2ggsdFOLdTpJm6Oa6Zi4iq0_NDkVvRry55P-i76ZnxLb3fK3XgQUr2db0fGmdy7TqYbWcdSSwolyVo-5zy6o28bLxM1UwLddbYSgcViMSjNQmakNQQG85hKWudNXP3QRR_ZLyErgu3obfwaLjxIn1cVgakh00ZlHy5rC7-4s_VuGYsVdeQykuaugjkaWgqm_BpOkvNBIvLDChhvPdhM-V8KysluSmryH2h2U6VrMWP1fiQFSSn7HF-dw-LumcHcZzH6uDDM3OhPofS0b08QkaTlvZ0fgdC3XsTnBZqLd9as1CBB45eaxkk9Mj8b5WEt4tcwhPF_at7OM7IdN0YDro3pvpPkTX3uzkQpJkfKFpjIRHdw7nMvIvPdJ-x61p-tW36sOHkhI_81oPbENKOeQM9yjsuoeDJHyS3kGz-kN27CPB1R7wKBvRxazbF8OfmVAUwEfXWHitWx-qmhioItj0VNNbBQTyeWb8TKqFe35FFzEnRA4Kt03hRoKP7KvKjCvzhdlEDu8xPaTwSuGF2gdHc_mABLsTupsoA3VOGAqTMrI8vSFF4a7NJq5wG31UltVQrU2N_wVeTXutKEMhGa-M7qysPXKldjC91Cjs2RNqDtVzp4ejPQHmGf5zi0Wgv7r_UPPgbxaO05rJkx1A8zd4TW3TNIKz6azxdhoEpHnjLL7pBSr6ygL3kIwXcdX1IHSBhlEO-quUxufDIx54o1r2dVhmV_eT4hivIS_Xnj2mDgGPItiVd4dwVpNVX2-v8nEG-5OL1l2IBRt423TYJpw6WNQV_grlYEp6MzB4j23Awtvr-_4X1ICgF-akW8uTSzcSm3xnrpL91RnngkrdqvkfqzvuWKwlOafhKJw64vzMjculcmEUT9JFBVXqjrzidnctKyEsAxqH3aT7cck8doHve_Kv7pmBVNdQX0URjtneXesGGHxL6qr2J3Pwy0WJj2romGvZpSRFJ0Btg891iYgCtpjXsY9pdylQ9ZyrfYkW19lSZ3i0MmT7sy9yBaW_4Rj-qMFGO4EgjwbbHCVbiDu_99WGLwf_5dek=",
  "id": "rs_0c8ad1b35949b333016ab46819382087d0abbe4cce598f42e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.13,\"right_gripper\":0.25},\"note\":\"The yellow object is between the open fingers near table level. I’m making a small lateral correction and closing gently around it.\"}",
  "call_id": "call_pPoCTGGQ9pqydbOZf8GYtI74",
  "id": "fc_0c8ad1b35949b333016ab4681b381087d0abb743a67c962ce2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pPoCTGGQ9pqydbOZf8GYtI74",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.643, -0.5819, -0.0219, -0.0425, 0.9983, 0.3336, 2.3112, 1.0565, 1.0786, 0.3119, -0.1085, 0.255]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.2089 left_roll=-0.0031 left_gripper=0.9983 right_x=0.5514 right_y=0.1375 right_z=0.0512 right_yaw=0.1098 right_pitch=0.4085 right_roll=-0.1546 right_gripper=0.255\nstate[joint_eff]: [-0.212, -1.2513, 6.8308, 1.6679, -0.0171, -0.0366, -0.0122, -0.8274, -12.2872, 3.7538, 1.5458, -0.0171, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68716973f977d17b58f5b3a4c688ee2f40191157af05f610f4c7b001d8de4ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a87da281893685bb29aad7c528f5bdb838e3f5bb0cb58cf4b7a311780d5d7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9ae0a3ac70f40c77181b64a9b4b5fbca68a25d2a1d716648b454d48fb92ced",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 7.115 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8433, 0.6437, -0.54, -0.0219, -0.0425, 0.9983, 0.5892, 1.8977, 1.3338, -0.1318, 0.4946, 0.1761, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1533 left_yaw=0.0026 left_pitch=-0.1613 left_roll=-0.0045 left_gripper=0.9983 right_x=0.4746 right_y=0.2207 right_z=0.1374 right_yaw=0.0826 right_pitch=-0.0247 right_roll=-0.1472 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.4564, 6.9675, 1.7656, -0.0611, -0.0317, -0.0122, -0.3624, -13.9419, 10.0171, 1.9902, 0.1978, -0.0317, 0.0513]",
      "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]: [-0.0257, 0.8478, 0.643, -0.5663, -0.0219, -0.0425, 0.9983, 0.3843, 2.3203, 1.0866, 1.018, 0.3733, -0.0937, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0004 left_z=0.1471 left_yaw=0.0028 left_pitch=-0.1929 left_roll=-0.0036 left_gripper=0.9983 right_x=0.5484 right_y=0.1562 right_z=0.0439 right_yaw=0.1004 right_pitch=0.3745 right_roll=-0.1621 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.6342, 7.0496, 1.6728, -0.0806, -0.0513, -0.0122, -1.6615, -8.212, 5.1624, 1.1306, 0.0611, 0.1734, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.643, -0.5819, -0.0219, -0.0425, 0.9983, 0.3336, 2.3112, 1.0565, 1.0786, 0.3119, -0.1085, 0.255]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.2089 left_roll=-0.0031 left_gripper=0.9983 right_x=0.5514 right_y=0.1375 right_z=0.0512 right_yaw=0.1098 right_pitch=0.4085 right_roll=-0.1546 right_gripper=0.255\nstate[joint_eff]: [-0.212, -1.2513, 6.8308, 1.6679, -0.0171, -0.0366, -0.0122, -0.8274, -12.2872, 3.7538, 1.5458, -0.0171, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68716973f977d17b58f5b3a4c688ee2f40191157af05f610f4c7b001d8de4ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a87da281893685bb29aad7c528f5bdb838e3f5bb0cb58cf4b7a311780d5d7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9ae0a3ac70f40c77181b64a9b4b5fbca68a25d2a1d716648b454d48fb92ced",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGggaUb9wso4RqufSFirTZiMvJ2Z54cGN1hzc8DAKktPBE8HGe-A4oq3oHRX_6lgwW8W1qw9rX41mCMKavw2Hc7DJcGvvFvOq_ywYAfptCMdbcoalcixiJ5RbHHGzaHOCi2-j_rPf6sosag4IVoS0UFTvKae0y8RxI__trupGMWgSWyeqUQlsW9ZqN6fGLNQQuK8isi82J7RmP6hKLZN4Uw8ImVCF1oaDh7D1fLYl0P-gpnfv5gX5H39xk_cqcPI7rxKmwEjdFbqlsHFIBVyx3lsyawM19NZzhoq5ua3GCfmPULAHNdlI15PCIJUh7wcMJAIfcfeZX-dMjwgVEzpcIpQjx0JmZWTsS6EmIpDcp1fN31yXAZFYXQ2r-gecnj4XHXUsFGBKhPYWfRw69ECimwCs5GUhMiqrGI9uqEu1JUthqJ0TFkhvi822_DiRkH_4MlunJiiibrxfD-DLaiy9af5PTbQ_--z85aQNWcG5_XbfJn9XFta0L6xQvwb6ix9nMJiUaKLqC0wIZnXZ_IR-_4L_oEC0lCRiUHMVtQMwwNHb2RVcyHdraHrYazcaWq8oJKIyzThDGjSNNEmJYz_kNcsU1oWEd62LI251vGN79gFGYPpiobbsrqNSEWNNpBeruFVYI55JmjTQTevZoXkA5y-RALqK4WOhPfdjwNTtTgo6kDfIpSzPaMdqCQyBEYndN_4lQdSnFIDSXhGAMFrq9ar4PcfsBTYRSxBTP_mJyUV8LtYVhpQ3yfPW2-Hx_62JAOlNjYrP1dd435A_4Ezy9wZ4puW9xmJEbpEuIPyv5ZcUN0GzdlHeqiNr2iDyyRnOMQN96ps9bTuDT6ZpyhHZymFPSzoVuG8dPOD7XPfazUnJQlNC7cmCfZqDnCKbU9d6rL9bzi0gXERXTjc_dSYaWDjpxvMETYgb0oa8a_UyDxOEOrYc9ZvexCFfD_KlW5CiU4bCqYpF9Bn17vCpeIIPCpGPOxll7iP3gvdcMt-jiykJ04G8ZWdcsfSsUWlKgUn4LgceVpws_f9ElNLKTLseAXtfeboFKdYRHvoaaXhtyp8fHrSgATqyxzyZuRj8FsRuyirOz35u2N6OoobY4SZ8RqVsPaxmQpp84xGkvjKFLqkIvQZimyiuIoPWdFfVXrRChmdQuzMMtWkc_jKGuiHr9Ern0wDaHXxHEknqN34ReO_C0SgHdQR43gd92D_m6Lmt4_xow0dv2GfLnRlyYIkMudAtv9LB6FybeOxGq1nz8aeyiiRWccG9Li_I66n7lKlURLzOAU4Q4IimACZ0aycEp0MYHY8EKyzFY7WC7ITciMA7ovYHPkLhLmVI3pLx1Qpk7ZnmWgRwEBHjoUla2F6VcAqIVpy0gM6CeGuIqE9qJt7D_YQTS0zaLscyvlxbmK4OU3G",
  "id": "rs_0c8ad1b35949b333016ab4681eb7dc87d09ad10f3785f18b2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is aligned between the fingers, but the partial close has not confirmed contact. I’m tightening the grasp before lifting.\"}",
  "call_id": "call_D2lbGsXz5v0sFAauCP0I9qWo",
  "id": "fc_0c8ad1b35949b333016ab4681f709487d0b840206a4fa104a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D2lbGsXz5v0sFAauCP0I9qWo",
  "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]: [-0.0257, 0.849, 0.643, -0.5858, -0.0219, -0.0425, 0.9983, 0.3325, 2.3093, 1.0534, 1.0874, 0.3084, -0.1131, 0.0079]\nstate[eef_state]: left_x=0.2711 left_y=0.0005 left_z=0.1434 left_yaw=0.0029 left_pitch=-0.2135 left_roll=-0.003 left_gripper=0.9983 right_x=0.5513 right_y=0.1374 right_z=0.0532 right_yaw=0.1137 right_pitch=0.4154 right_roll=-0.157 right_gripper=0.0079\nstate[joint_eff]: [-0.2393, -0.9231, 6.8308, 1.5263, -0.022, -0.0513, -0.0171, -0.0205, -11.3846, 4.9983, 1.8877, 0.0366, 0.0269, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e79f23e05cb60ba9361dd868af69caa8e53d0457340fa05163dcb1a9cab61d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87df7e5c5b372fea9ce9aecba7904155f56f6a3f5c8db44846403fb91062e9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1809a5d9a9ee96b3fb8e8a4ada616a64cf1c8d7a9228085dea76a2df12157841",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 11.61 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8452, 0.643, -0.5564, -0.0219, -0.0425, 0.9983, 0.4416, 2.159, 1.0809, 0.6197, 0.421, -0.0017, 0.9953]\nstate[eef_state]: left_x=0.2761 left_y=0.0004 left_z=0.1495 left_yaw=0.0027 left_pitch=-0.1803 left_roll=-0.004 left_gripper=0.9983 right_x=0.5201 right_y=0.17 right_z=0.042 right_yaw=0.0853 right_pitch=0.1579 right_roll=-0.1662 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.5932, 6.9265, 1.6972, -0.0611, -0.0708, -0.0171, -0.4308, -10.2496, 5.3265, 2.0928, 0.105, -0.1734, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.643, -0.5819, -0.0219, -0.0425, 0.9983, 0.3336, 2.3112, 1.0565, 1.0786, 0.3119, -0.1085, 0.255]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.2089 left_roll=-0.0031 left_gripper=0.9983 right_x=0.5514 right_y=0.1375 right_z=0.0512 right_yaw=0.1098 right_pitch=0.4085 right_roll=-0.1546 right_gripper=0.255\nstate[joint_eff]: [-0.212, -1.2513, 6.8308, 1.6679, -0.0171, -0.0366, -0.0122, -0.8274, -12.2872, 3.7538, 1.5458, -0.0171, -0.0317, -0.0073]",
      "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]: [-0.0257, 0.849, 0.643, -0.5858, -0.0219, -0.0425, 0.9983, 0.3325, 2.3093, 1.0534, 1.0874, 0.3084, -0.1131, 0.0079]\nstate[eef_state]: left_x=0.2711 left_y=0.0005 left_z=0.1434 left_yaw=0.0029 left_pitch=-0.2135 left_roll=-0.003 left_gripper=0.9983 right_x=0.5513 right_y=0.1374 right_z=0.0532 right_yaw=0.1137 right_pitch=0.4154 right_roll=-0.157 right_gripper=0.0079\nstate[joint_eff]: [-0.2393, -0.9231, 6.8308, 1.5263, -0.022, -0.0513, -0.0171, -0.0205, -11.3846, 4.9983, 1.8877, 0.0366, 0.0269, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59e79f23e05cb60ba9361dd868af69caa8e53d0457340fa05163dcb1a9cab61d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87df7e5c5b372fea9ce9aecba7904155f56f6a3f5c8db44846403fb91062e9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1809a5d9a9ee96b3fb8e8a4ada616a64cf1c8d7a9228085dea76a2df12157841",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgnz1f_j7uLF-u9Ml_ZIaPRwwcBlZBJWT5ejEn_yhMGThkeWYHQneDh5RP8-yQ7zHQDQFcf4oh9nEzdQ1CP94HiklLPDazdk8XM66_8CxWuk45PLe-u2shVuyLBc6q9whCsuzfPc1_xx66eQuSF78jge73w43zyABBA1Vy9zlz97fAn26aA5zdDuJvmiwDo_DruXRvLZPTu3XCypNvVcHL_Z0TLm-_WVdFqeLBiaY46PQht7W3WmjdccfUN3m3cHnI9T5OTHKt8eW9N5slnlrltdthZc2lWk_q7YdlcMCKriZfPQz08N4w55-PhsDxobX-Hk759TSuofvRg_XuThxTLYHcBb8jABgBiWHhBReRRIMsBS_i7JaIVuwDDJ0wGYVJIyCjWLItp9y68cqVKBmFqBSwYhGENSoN05FLARpCO1fz0Eenllmy2AhBe08RERc8rM7bn_h5Zsl3VjjZttGDIr8RDQ7IgsYEzbcYy0c5sosW5ZPDWG1JyOC6gBhuPrfO7NzZXEyQVGmaYJM5SHZIyZO-LDdY48qFpaTysZmrcxFR6-sKCOpjVSvEFyxttFXoUxaElPOqRq3bRD2UYBW1YmA5qi3fbSzn6yqtCNPdrfflzShL_t3BU-ZOM8pojban7hKttwgu84UWPdUFIQ1Gtf8_VaXnNNLQIeacRS47ncSuV-798YR16teXkJIZp5bQxz2WlVAD0eLe8NmOVao8wwuhpniYfoLBhJoEHAlWcm2642Fq4zS76GknduP96Fb-Roqc-AFK_ZziamjtCCJ_zwtNwu74uFL84XNB_wgdoVa6_5J8DqBcXHc7JmnTeL4UusTWxP71VkwHIx6rc9EhL8prwBqJZxLJUAKooL6HZCpOweGmIP1ltvJtMGaVAeXfjfSATW2ju2hVxKZGU_eafDmjlygq0i-JJyJdSJSyyW9lxRev4_AtAWTBQAlD5SjUnCuBIBABy-NE-zufVYuS0qfFEVBT1C4aQySPzhlttKc5mcDX9au0xC24VcqNTywT26aAene8YV1ZaHG00MRVQ5al1z_PBqUMSqOnN9wW3lUnBzRUnIcSLjrkH86gIGPApkS2l7tVz9TDGsR44JwjuNMyL6sA2Xo05u7by1j8amKe_AiL-9xplGCz-D9yUtgOA_mynrZ6rN8cl2nVcj4HIL2tHWFdzKa_v_5jByQ6VkKHlm--P7Fo3n0zoXFHyrpxReQsU4wKmdyEUekYkXPvrUF41ljTnv620TKtV5T2aZFws3gFmvD-qySDjTsB1ysSsiTj6FhlKazh2lNRUCjAbYV_I-3k5vmjJ-mXvU4F9smUMHg6Y7L6QBkYO084dfbbYO96E6o51TC8rQ_68G6xXQ6Kchce4dPNN9djO5LY795C7u-CpnPSJNrVx0fUgBX747OlPwxQAtxJDDpvd-xNOZdhEg9JBjLwGGVSkaiYzv4V0E-vFALMOse5HL0bP8TtPAlPUJw9jgSm7xEAJmysCX4sKsPuCl456D2UBarKoyh9uZj7J2zpDzb4A83WctufBU4sMyJUjxkM2yMAiW2rk9hm2qq8YU4tPURLHHUjB_V2BiLMlUir5Cu5UE3Ux1XXAncHRVUQ1WLCtiLKWFrWqbJrQhXUHfpBuhRKoSp_PfpVl7MpuSxbbP68qqBNDCXiWVuVHK8EAoclr1gHNNsMnZUFl3HroHqLRvFFaS0fp5enhQQIMwsP6N_gaeAA0gvU5GWnpvpTfbmI_niuCUC2orDqdEp_l3aAO9bOWFwYyPVH6ElFvxjHaoclF9sn3mjwMdYdj4ccgn7E0YfHEksgo4BHminw9b8YnDEXSk9a9ILRW-LJnfRnkxd3GFOGzgGnoAZX_FdibJu34k9mWY2Q2zySklw8fpcIgkhnkPm4HQUUplItm1pqhlZXdPOXKneeaDJjowIgudDsHzZ7D7PxefOo5-zUm_PNgxOPOXUT2-d_Ahjxcgd2zYUQrAJmyszrUJ2OJf9sitqrW9ntYHYSeWpn8a0KJhpj_adLi0zR_uYQ=",
  "id": "rs_0c8ad1b35949b333016ab4682381b887d09565e66bf4b4813d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.572,\"right_y\":0.13,\"right_z\":0.005,\"right_pitch\":0.55},\"note\":\"The gripper closed empty; the yellow object remains just beyond the fingertips. I’m reopening and reaching slightly farther and lower with more forward tilt for one corrected attempt.\"}",
  "call_id": "call_gNXXmICgcphzdbcMHliI1cNj",
  "id": "fc_0c8ad1b35949b333016ab4682650c087d09d3986f46c31895e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gNXXmICgcphzdbcMHliI1cNj",
  "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]: [-0.0257, 0.8516, 0.6422, -0.5926, -0.0219, -0.0425, 0.9983, 0.3115, 2.5412, 1.203, 1.4845, 0.2684, -0.1535, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1412 left_yaw=0.003 left_pitch=-0.2238 left_roll=-0.0027 left_gripper=0.9983 right_x=0.5757 right_y=0.1399 right_z=0.072 right_yaw=0.118 right_pitch=0.72 right_roll=-0.1282 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.4701, 6.8855, 1.5507, -0.0366, -0.0171, -0.0171, -1.1145, -6.7487, 3.5761, 0.5055, 0.0513, -0.0073, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac8dac4a9e9357c6c86f05565f9c2bf2ff0b94579287fb68c136d38d99f97fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74719101df3f7b2e3a42905c4269eb3867b01de40df681fd7b5698fd4e8a07c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f714fcc363e689177e2d0a95a56e6c5159331f686e33545ddfbbeeeb64c29c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 10.11 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 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]: [-0.0257, 0.8478, 0.643, -0.5663, -0.0219, -0.0425, 0.9983, 0.3843, 2.3203, 1.0866, 1.018, 0.3733, -0.0937, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0004 left_z=0.1471 left_yaw=0.0028 left_pitch=-0.1929 left_roll=-0.0036 left_gripper=0.9983 right_x=0.5484 right_y=0.1562 right_z=0.0439 right_yaw=0.1004 right_pitch=0.3745 right_roll=-0.1621 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.6342, 7.0496, 1.6728, -0.0806, -0.0513, -0.0122, -1.6615, -8.212, 5.1624, 1.1306, 0.0611, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0257, 0.849, 0.643, -0.5858, -0.0219, -0.0425, 0.9983, 0.3325, 2.3093, 1.0534, 1.0874, 0.3084, -0.1131, 0.0079]\nstate[eef_state]: left_x=0.2711 left_y=0.0005 left_z=0.1434 left_yaw=0.0029 left_pitch=-0.2135 left_roll=-0.003 left_gripper=0.9983 right_x=0.5513 right_y=0.1374 right_z=0.0532 right_yaw=0.1137 right_pitch=0.4154 right_roll=-0.157 right_gripper=0.0079\nstate[joint_eff]: [-0.2393, -0.9231, 6.8308, 1.5263, -0.022, -0.0513, -0.0171, -0.0205, -11.3846, 4.9983, 1.8877, 0.0366, 0.0269, 0.6422]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8516, 0.6422, -0.5926, -0.0219, -0.0425, 0.9983, 0.3115, 2.5412, 1.203, 1.4845, 0.2684, -0.1535, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1412 left_yaw=0.003 left_pitch=-0.2238 left_roll=-0.0027 left_gripper=0.9983 right_x=0.5757 right_y=0.1399 right_z=0.072 right_yaw=0.118 right_pitch=0.72 right_roll=-0.1282 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.4701, 6.8855, 1.5507, -0.0366, -0.0171, -0.0171, -1.1145, -6.7487, 3.5761, 0.5055, 0.0513, -0.0073, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac8dac4a9e9357c6c86f05565f9c2bf2ff0b94579287fb68c136d38d99f97fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74719101df3f7b2e3a42905c4269eb3867b01de40df681fd7b5698fd4e8a07c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f714fcc363e689177e2d0a95a56e6c5159331f686e33545ddfbbeeeb64c29c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGg0jvuraRKZB-Uq2uRMpo92XPM6U4CNVaLsQ3-PaagmabC69NaYUDQ_EXleN0w9dk1DFjHS6XCcwZwS85fleMmvrnnnKMuyQOxN3ckVCsRJvOhIh_TD0THjrgGyCxuUoKNTK1gI4_5S9pjl-OD6RKBkji71p_m-OvfJiyWc-_hHUUf_IOFSVhoZJnKeltgOOaoRuIAb_tS6a6wAWPq2r_wPqC7hlBIxnE8NgfVvMMdOIqIzAyVtuGFwroClYMMcxflOvXUkCETAgb5acsysy8XfMVzqAPZn_VN1RU87YY57f4ovCi657dUmbvMaVRaIZA_pxuXb6hEeThFLHVzctHjDBTD2K76F6RBJDWAO4UEtn0BmPJV333Hox4-QEIvfGHbxal7gSRSBKMZgY_s6MtZTFlulAUkacrq1vcxjYC6FwQNhfZ-V9F-dRJgpRdGwS1QAebGN0FztrNt8PtAv89Pk0TrhtSSRtMeeM0FlnfbbnSZaQb6xNIp04q_sFHR6S3cce2ybx24qqZMkowY3ENWDZpMCjabVfRdQtECeGbY1qv3BfNjVyKJVwqUL6LkGKhcWF1O_5V6m3zasJBtXGKMuHwxxGunNi07BkxouYsOKkQo7-4YuqaJnakC2BORr9Jdd4iFqYWkRuqDe8kebJu_c11VZy2KQnST3m9VxWJoLBa1phkZ7N5DYosxFKb2mPK3F4OOQeLh1s85qrqDXAG5kORfP5Vi-u0z4mGcp2emtR0Id8v5kKSrpBsSAnlDqijLK_Md3JRYqdEZ4VU7tO2v_H3droF0SkIZ4JD5XW3l46w57puErzUJ4ZCudYEsMOQ9I3iUiuQUBsFfMIV1Z5c_b1IVM6qTLAWnO2p31x6m1RivVElyjmWfkaLMC7xPJ5f_4szUr5vtuKT3kSA6e6ks_oP_64Fdy4N27fhRlOSFa-br9-bTnt6KWm4fEZSE0Yz75nKmWvKDmtEhkBZgjKHFLGBwewE2xAHm8CzYfXi1Xd7B6gqqqjr1Gxx2hec1D6Fr5xz5KbxPce5RMMEwQmDEEoFyRcWAGWRLOwoDTjXXfIZOvmD63tUFhw5wPgd0S-KkBKi8UTz44kWrodHfyJrtZQ1jsdgpfALkVvZDgwDWeQaWJbePPHtaO5XFnmVkauRfLoSby0LAMqZplsSQdLMtXuBdninbHvFrU1VtxD_-5CV5EcE2hCjzAaYhn-uXUuATdSIsyq5jk5FkgBl1ldAwC-8PuNzTuUa3KDsJe1iWxHYLufUvMXSsOh6P13i-5yk8AErhqOoeN33l-ITqnjaPLM_CJWdWJC2sJymJTh1bIk2fpDA3q1J7II6prKIiKOXqMND97L2Y-xBAUED81RX3tpIont3VE2VHkiA4WLtEz35nBVBnalSmEbnDspvBs9nho70wf6cRYta1fFlG5piXxw7laMivuelrUM7P5lJw7DTqXENSDnnfItrjkBRMvxqo2hdNgFd8YiE3QgodNRh-QIr8VJDX39YRnkPoD16Vw0KNHW4d4Fa_A-kP5-NTYRsabzll_uURgMG-QGKCPzha3CuTuK3NMlVxSoQaDyhYawcUA79_UYo_icsHA7t__LBWv2GaBb82Pc4fof9qIxEOlC9vi0Vk2-T37VArTHPIQn3KSdQ4gAnc6Iz5eW2hWYGpYYCzsVGgiJwffryDABY4Ku34555QsQCeWciKutBsn8ZDCHM9UoLQVouetYwpoXD0PRauoo5gK9c4nJ4rL6OFJrnEFV-869XyIe6Qx_bpY_nZsa1KMwkYKoK_cTh0V9LnJyyO8_pgCBpONd7KXip-SPYjVuRmrmfJi9GWNF-BUT6OOL3tOHVyTxX06VsOsom3bLZKCaStEHX1hjwcbJL41YvK7EGMAjZRVmE7zTzuL8sjEWHYaOf6rlQzq_6g8mufwLVu48GjF27QA_HlHDrRvpdEeE8byBW30RgJYqIqJHX5F4TaZO8HRV9Nvymjpn5huyWb7wgKhOLWZ5Sir-lGafECaNFPO-D7fEeP0Ou_sX3i2tJf2PlHbhc0mQhz12Y1UnFEUmx3y4kY__2H7Dg6zAOlhqdr5zC0t45X1Y69pozWmyjI5XXfysrAgLLw-F-1Cu_PZL0QciuU1AzNasymR2HsuKW5aAJOHThfYeltz1fGwtXgcZaxB_4Wv5YuhaIcACWZ8bc-eviyCK3mUBLOc5Tkw9iJdjzSxelzO6j9Q1Mn2UHTtZcEAgpfbjETjaGmHEqLJQ_QcEF1a8xOepeyAUw3nM8AN_YcOv-icsF7pK5EdEr2s4vu-pfKLR-bkPeXeAC5AIPqmXtbMad7hOwtpmcLm1OAB_eK9y762lm0HmabYZ1Zzh6wYEt2V2mLRDdHY6cUDZSvq-kNs3EfM2kkd_lUBaJFC4TdVeTnFahXQup8sIQ7j84Z6Z0Ht1cixmwl7sOwivAXP9bZ1HBR0gzFgsyKyqw44Q17Q-Hfwe2OD-C8OP-RLtAnkiz_eqhBXTFoiQBK8m7ALdQDiVYwhIHmjlrdUGxm23tMxa2dygW0APp8jYMHy-ft81TcLXhUlLohO_E2f_Ie1jpXahGaHaQhoBpRNFwnCY9aw-L_JoiLFbO9_bGUObMt8zGU3udWPpTGb8xmNLv0tD5nrlpsXt9KatNyWT00Lh7Zg2eqr7058KJteMKr8MfD9Y8QXp71EdaTIE2MEtaRwXnxnHtE4Wk_-_y5LWmoYPenlrrg-YVal0jHGYqQ8o4LlP8-xCrKT0OQ_6YnuqzOekUV8OKnqfy9lZzXr6AzS7DLS1YTPByE7jncud4R8rq7tOe7tlN-58HlEOi2ZrNuxdRHEA_CD9N-XAig6P-kL9MWNYAveFq34iCEZ0hIxAUSDYsPTU6tKNmlJv13Ha4oIdM_tFoRY9h9AnIj7bd2kPTv04cSB9T56EO79wjIPzm8Cl63Hf10Ryxe8WXUREggI8JM5G8wvS5DagRs4L4tKJRybjiOli78ZQKuAqJKWglg9ltnkRWtY3mg-EyihhT-fCdLO_JY6hVKk4U6RW2eYzS5kBfMDUfHT826YEAXgfZHgdiTwYv9t-UpdkWEpxPw0QoPpPoYMKZyGBigkJKrQ1G0veAFpzlekas9f0VIX-hqxsrZTAqBUUR7xxJaI7xK9BdRyxJ3-d0PN131kHrDl2OcLQC0gs_fMwcHQ0etOSDooSneC6BnXWFKzDFPkAn9N_eQ14D4VFQXbXKR-KGvTfyNQ7lrgjDKUjYEo9OmvOcJ8pn2A95NQk9gbUETGE2cgFmvyQkt5xzRQq4V2DfM0C_wZOF-Ajvt3TUCOSf-23Ggl3UML9_RXQd9UGDnjn5dG6inopq67o5Q6_EVwJKqcbxBWRbiXb4JAqvBYQNx2fsF23HQ-7l8Zc3WKi0OPuqrUJtLxSrz3ROgeqQ==",
  "id": "rs_0c8ad1b35949b333016ab4682c1fb087d092fc8a2d76c5663f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.13,\"right_z\":-0.005,\"right_pitch\":0.55},\"note\":\"The extended pose is not reaching the requested low height. I’m shortening the reach while keeping the forward tilt, so the fingertips can descend around the yellow object.\"}",
  "call_id": "call_aqeBF6jx0REgg3oZEOZNoelM",
  "id": "fc_0c8ad1b35949b333016ab46833401887d0a71ed559cdbf8703",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aqeBF6jx0REgg3oZEOZNoelM",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8536, 0.6422, -0.593, -0.0219, -0.0425, 0.9983, 0.3149, 2.5217, 1.0981, 1.5787, 0.2646, -0.1467, 0.9953]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1407 left_yaw=0.003 left_pitch=-0.2261 left_roll=-0.0026 left_gripper=0.9983 right_x=0.5534 right_y=0.1355 right_z=0.0693 right_yaw=0.1192 right_pitch=0.7292 right_roll=-0.1177 right_gripper=0.9953\nstate[joint_eff]: [-0.2667, -1.4017, 6.9812, 1.5458, -0.0366, -0.0708, -0.0122, 0.2803, -5.135, -0.6906, 1.3114, 0.1099, 0.1978, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec6a32a8dd025675f3924bd0ebdf77674116c210949f0ca0e280fa11b7918fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f0f0f420886aa1e4f8bbb70b958f314404af32aad6f8f031529ff6ef3f980a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c97c6baf3cd56b129b6ed77551dfeabe7b1b4eb9235c3c95fdb9676bad090a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.876 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 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]: [-0.0257, 0.8482, 0.643, -0.5819, -0.0219, -0.0425, 0.9983, 0.3336, 2.3112, 1.0565, 1.0786, 0.3119, -0.1085, 0.255]\nstate[eef_state]: left_x=0.2718 left_y=0.0005 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.2089 left_roll=-0.0031 left_gripper=0.9983 right_x=0.5514 right_y=0.1375 right_z=0.0512 right_yaw=0.1098 right_pitch=0.4085 right_roll=-0.1546 right_gripper=0.255\nstate[joint_eff]: [-0.212, -1.2513, 6.8308, 1.6679, -0.0171, -0.0366, -0.0122, -0.8274, -12.2872, 3.7538, 1.5458, -0.0171, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8516, 0.6422, -0.5926, -0.0219, -0.0425, 0.9983, 0.3115, 2.5412, 1.203, 1.4845, 0.2684, -0.1535, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1412 left_yaw=0.003 left_pitch=-0.2238 left_roll=-0.0027 left_gripper=0.9983 right_x=0.5757 right_y=0.1399 right_z=0.072 right_yaw=0.118 right_pitch=0.72 right_roll=-0.1282 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.4701, 6.8855, 1.5507, -0.0366, -0.0171, -0.0171, -1.1145, -6.7487, 3.5761, 0.5055, 0.0513, -0.0073, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8536, 0.6422, -0.593, -0.0219, -0.0425, 0.9983, 0.3149, 2.5217, 1.0981, 1.5787, 0.2646, -0.1467, 0.9953]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1407 left_yaw=0.003 left_pitch=-0.2261 left_roll=-0.0026 left_gripper=0.9983 right_x=0.5534 right_y=0.1355 right_z=0.0693 right_yaw=0.1192 right_pitch=0.7292 right_roll=-0.1177 right_gripper=0.9953\nstate[joint_eff]: [-0.2667, -1.4017, 6.9812, 1.5458, -0.0366, -0.0708, -0.0122, 0.2803, -5.135, -0.6906, 1.3114, 0.1099, 0.1978, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec6a32a8dd025675f3924bd0ebdf77674116c210949f0ca0e280fa11b7918fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f0f0f420886aa1e4f8bbb70b958f314404af32aad6f8f031529ff6ef3f980a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c97c6baf3cd56b129b6ed77551dfeabe7b1b4eb9235c3c95fdb9676bad090a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGg-PJvRErPnd27L8euAMD7kMr8igoUPfYQUxXgzgERdEFAZV-5daNc9-s-fJJJimyshs__i0GnFbixs-HMqDc7ERR5RVl2V9uV4ggPq9W-8a4nlQedToLJ7QumN_RhVkyyQav2DWmoe8ELg0eip4Kv6jQdKiw7tNeP4FdxDa5d-lxy50rcB9IW-drK0IO3QqHJF3H2GKU7intMGX8CFcbm_ZDzC7S1j00pUQA9jRZfQtn7bDPwoIZZC0bMCLX6cf-61cAsHEzVJQMQ16Ul1bORG0RAv0ukcvVl2Bi70zg0Px2_4a9_zfnjInMpa-QJe_TsVzpJuIglAFbR5dhb86FxcHZAO0EMmkF492SEuRXvJVU96zV8zZ5j7MxmONb8a9lI59W_BtOSpnqHLmK8U8YDv7Ih1bkz-MYZjxT1qu_b3hInxidiBx0sFxD2VkrOpfoLHpzv56HNUcqz0YX-Qme9WmacsobsqIxh7I59teg-Ry5xLg9B69fRWr3wLuJaYpl-RBZ8bgkCM4vxcITaUXYZM-8CSZcVM0X-UyOaLKilIfnnsI_KHWMv6AY6e3j1piMBxREhA3QogMj3hMBKFFdqZbD_2vJDSO2h31cS2rsHGy4TvoyDLdOYKshRnk1MzFOl8BvUvBUMZA5EtIMahEJIdulzEAvnl0439aPnSONwM8t6mnJfF8uWVKrSdagB3q3hdjvVCwjoQbU_xiQzW_YrVZD6blnquJHN0IeWqtlXfIWKQ0WNuIYoh3GKRed3qhyu7MvN96DyJekkxvOFKtpRHzzIgOUxXG2l4X5OQkpFsvDk-5s1t90nkdRSNpJlw0u2WhxvP927P8k09iETRDHpyimNhRO6Q42W0ffwbT5xYs13HHoUrl7wLu-8_xunmxV6VPCi2QOKl4OihMvKyUQ-wcPnU-Iz4zKEGFc84PiMGLNf_4x2ophtSHdaNxoq3uvHQpLLPrK6JrELLWIDAa_HCMAkSC1dIGOL-56UdbFXdkUaxUNYCGxkroW_Atwae8Xfjhr9A-VPanqo2NTL0JM6oZPD46j48cnLaFbBxV57tNpbsSuKkleskSazuD_rojXyjPzts6k4M8Fp_V_9YELJPHiw-und1QWbTUgNxJbeIdl84o5hj5-ZBdmToshNuxD614PikdqytwdHGzogIsSniyE6pIQ7vRRYzEakFyO4fyDF_RjUhYTbWnsB8Z77nVurgiKaiTnk0iZz33V-X9izwlL0zWjv96ucQsyhERxIpBZm1mUfy0YeKqIj5YczfU7-9mLynnR0xLkxF-Fkq6_3ZlqAfj-K71BcPZXh8R32TNsTOHRy5b68RRcyoONaODdVrFenw-teb9bHHhFpsN0WeugSXscGStUbus89QhxNF1JNIdYL9JB3iIt_RWYs08J3fVB-Lp3b3bu_0wy1m5dsfvQTC2D-Kg1T4e91sXrdmsFBregO31OfQtBhHNqfKJ9mjBbsKyT4m4AtSlVR6FHkT8aluD3qts7Kij1bjZJ4S2_Y07cFH3aApyNOY5MAQF_2ZxWbwXNVtQ_yVo85MnJN-4AYssDLIayayF2TAXICO8T7uwxLswCQG-McaHy60t_1MDW3dIrD29mtgwHUSVyZP3EGx6H78I5JuDufS3Vw-sLk8zjKk3me1NC8AKkKQgB0SYbOX5MGdTPChC99SCeaEZwM2u2CeOA01UC6vVvmwMd7gmeykUbbZu1IJEaHPNH6vilZsK27w1EUStmTLhcaFumxjOmw2geYXdFbef8kknpAfKxIHPw8N8LoQtKuQ994DUij1bk18ZuN1TTvlCuq0F2ArN485oskwWUuPwnEOAWGDELjPzugQRo46HM1nT2i4F1llzqwE5w0RRWGQHUJvPwYOsppZjQARUQK7O8aODR0F2o_Td-mY2GApfdEOKa3WhiQlsW_kSKrzsNJRawjG9LJP3mktDOoHiMxf1SoWw9NEj5yFgwQn2015Lm2XgxMlcSoUa34sOLbft67gtfA51eCjeyPLbTB28-HWDBIfXyrGWTSAYzALfcW4bwcMEPkw90Qqn1tdQZUlYKTXnE-oX6W2JSp6z_4zBLF_DuMxoZw0a7U3MwuP3uMumXZhDMIT8i3ByNSAtf1T_vWYKk7NQdTE22QFVvwsHz9q7y6tu8V5FIM2ctLdoOzMseki1Zof2rShStA3JqPWIZs6ZutghTSLQMF3Ac8jKKulicF8GAtIcg8l7P04P5wvyMTiy88mnsC1JJumV--aQm2SXDTiS06CWKqv9VDoXsBUC2Ht948wESmqOo2RReJ7E0nJCT23sHj5c46QBjo6y50_lPT9C7NScHsFDxZYt26jsSFnsiID2eA3BEo0pZrUkSOsy9TkWMOfLiETiAotNEvH3VnHdS458w90M5aQMKYciLvZ79towwPEy5H-uzJarLpBsVScHns_nSdj-WrNU5ZXjNQOp7H13bjd6xgQ0i34jf2fikGTUj_GeQjlMm2P2x-b5RlNE0XkNO8C0inrWC-2i1fUxBQWbOAOfXzsoWMx9mtKVB5DbwkbC1Yh7pVD1f7xa3dq7VjuIB9eyv2oMXA3bRskeFfVdkpO9aCZEBWOy_M8B96-qypStUZV718QS77yBN1fu4Ncj3Sb7cFOVTPQXK3ri9P9aIPZrJjpqql_vS99Whj8aH5nF2sfAmefEYGeUvRy8kNiPMz5A1rE-qwszVYpPeI4VhTZkIw3cRLUGNvorLIXfT0OoRi_zqc3UO5JndtI2vDp1TLo0dB1DntnjXRpKsptp2ZIa6_QlymXq3U1gQH0wy3vPrn-kmzV86jOxPMDTmp7oiYTkoPhT22DaG3tWU0yKfEidoAwwARk9wYq2_pLDjh4nubIlvYt6EuzqsbeJ85VBtpTZGHnc99SjW-ubzLtJHC4iOgUetSWagD8GZNNm07XHxvrFxywByf7xiVA2nP3ccYC-LuQFA4sl0FnRlG4TsR-CxtFjDw66bzuIFwzJGsnikR2lVd-LIVW102-14Fx_8HTGNXROT3qvYDsbiz_B5RLOYLm2V7H9gqeeZFPlhZTYRF2OVDSzfgJpc5gU-xrrFJ3pqfX5jKsNKqwi960mbJRngBSy3cfd5G_siiV8XPzsyXHWAMs5eEirxvCdLUJ8N-DA9gFxFt_Ykx6cv8xbqqDPdpJHQB-k5y0CIs=",
  "id": "rs_0c8ad1b35949b333016ab46836887c87d0b86d9894340548e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.13,\"right_z\":0.075,\"right_pitch\":0.45},\"note\":\"The yellow object remains ahead of the fingertips, and the safe’s rim is close beneath the gripper. I’m moving forward at rim-clearing height to approach it from above rather than against the safe.\"}",
  "call_id": "call_6WDDJBs9WzWTgA43YPw9eedO",
  "id": "fc_0c8ad1b35949b333016ab4683d9a7c87d0a8b4efbc25263942",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6WDDJBs9WzWTgA43YPw9eedO",
  "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]: [-0.0257, 0.8539, 0.6422, -0.6079, -0.0219, -0.0425, 0.9983, 0.2848, 2.3745, 1.1812, 1.0527, 0.2226, -0.1165, 0.9954]\nstate[eef_state]: left_x=0.2672 left_y=0.0006 left_z=0.138 left_yaw=0.0031 left_pitch=-0.2413 left_roll=-0.0022 left_gripper=0.9983 right_x=0.5823 right_y=0.1336 right_z=0.0559 right_yaw=0.1447 right_pitch=0.4401 right_roll=-0.141 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 6.8171, 1.6044, -0.0611, -0.022, -0.0122, -0.8547, -15.0359, 7.1863, 2.0049, 0.0171, 0.1099, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec0eb4374b8848197224872a0e0d19fe0dfe5bd4cee7464959f03415a67010f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2efb2d8345411abe301733f354bf3efc5c680cb7dca763f9a2cbd98e0aa4f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a5cdda405fef0f7a2f679c30016624bbf99c65419b452ae0f005adbee27596",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.176 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 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]: [-0.0257, 0.849, 0.643, -0.5858, -0.0219, -0.0425, 0.9983, 0.3325, 2.3093, 1.0534, 1.0874, 0.3084, -0.1131, 0.0079]\nstate[eef_state]: left_x=0.2711 left_y=0.0005 left_z=0.1434 left_yaw=0.0029 left_pitch=-0.2135 left_roll=-0.003 left_gripper=0.9983 right_x=0.5513 right_y=0.1374 right_z=0.0532 right_yaw=0.1137 right_pitch=0.4154 right_roll=-0.157 right_gripper=0.0079\nstate[joint_eff]: [-0.2393, -0.9231, 6.8308, 1.5263, -0.022, -0.0513, -0.0171, -0.0205, -11.3846, 4.9983, 1.8877, 0.0366, 0.0269, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8536, 0.6422, -0.593, -0.0219, -0.0425, 0.9983, 0.3149, 2.5217, 1.0981, 1.5787, 0.2646, -0.1467, 0.9953]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1407 left_yaw=0.003 left_pitch=-0.2261 left_roll=-0.0026 left_gripper=0.9983 right_x=0.5534 right_y=0.1355 right_z=0.0693 right_yaw=0.1192 right_pitch=0.7292 right_roll=-0.1177 right_gripper=0.9953\nstate[joint_eff]: [-0.2667, -1.4017, 6.9812, 1.5458, -0.0366, -0.0708, -0.0122, 0.2803, -5.135, -0.6906, 1.3114, 0.1099, 0.1978, 0.0464]\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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6079, -0.0219, -0.0425, 0.9983, 0.2848, 2.3745, 1.1812, 1.0527, 0.2226, -0.1165, 0.9954]\nstate[eef_state]: left_x=0.2672 left_y=0.0006 left_z=0.138 left_yaw=0.0031 left_pitch=-0.2413 left_roll=-0.0022 left_gripper=0.9983 right_x=0.5823 right_y=0.1336 right_z=0.0559 right_yaw=0.1447 right_pitch=0.4401 right_roll=-0.141 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 6.8171, 1.6044, -0.0611, -0.022, -0.0122, -0.8547, -15.0359, 7.1863, 2.0049, 0.0171, 0.1099, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec0eb4374b8848197224872a0e0d19fe0dfe5bd4cee7464959f03415a67010f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2efb2d8345411abe301733f354bf3efc5c680cb7dca763f9a2cbd98e0aa4f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a5cdda405fef0f7a2f679c30016624bbf99c65419b452ae0f005adbee27596",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhCiqGgDha2ffdWysnVtiukndk8SNH2Hr01lDz_qG0wqVhF_pU2t1eFZVK0qd5r_7617Qseb00lm7BaGD_xMmWQsHr5WYiWVPh3zgg68BK92M17YS7AyeeFMxI63s76kmoOgBQJxSKeoi483M5gv3KVD1-2mHdJPlHmNAENGY8kyfbCKxT5_oJ_lEucgscxaD6--R-sk6IoWRLWEG_Yt4h9IONrelnoYFqfo7WtNJ8V5MXHebj3CDXJHNuPiwfd1q5P70_XmT-04POxXbGRrE-qZJvHrk9CLmalecbF3MJkzTjtWuxRN9M1HXFzrxB7PO2zw3Kpmj6URqZjx4K3Sf1qikRs_oa5rVL_lwF2b6r-nUrqiskzotPMZyt2j2tQj5zfj3YWcOa0jRa94ok6kxKkc7Ppnxu_KLZemEaAcEL2lNFrAbrPKTMmfVblNEIDvomd24fQ_yptTk3SzB3noRGGGZqjCjH77vUsUkDPx62VX9mdCIBgg96kYPtQK76hCUHuEo6KZEgf5qa9ge350FfIGEdWYvNWHgsD8ISqdbkrwuFLFiFboj9E2EgBVmcJkmim5O3NL7UXTZnB3oR4qL8D3vyE-aa3TmUz4qxoUqu9p4RaVNoaZKPBAV0ikCei93MVodIWZCIGvbGg2wVVs_vzGI1sXILDV9Z3bNKcK4tp2mYtSNy51yH2PqgSrPI4aJXNeI2v6VFDFPkBEFNpkWnJY3hbU8F7ZsuW7svfHr13GkFRT1bvGDp-l69OniKKXx69pr7rm8WBiDkf1OqMXmkkpKekPgD4uO5KSTYqEQz_k2rXgZDj6a3L1XtOIJQI2vphqg9HjzIDpRgpnphhLc4H6kCSIKbyR1Seiqdd6SjFysN5vX1x2Lf3sBfb2xi4Xn5xiDF44Pj1VocHVDy0BYEoTc9sUJOS1iLUWN23Lt6St81EXsPw7eg6xPytE2K2lgvFsoWQC4yvbX6Yrd8nnAb3k-AZaIBbbZP2P6oQ3VEHQY0aUGfzERb56XAfOXMxocoPINrnVkZSMQZS9YhOZ_ve-SFNAwt3Z69S0aokdbWEdGZm2ErBmd9m3xJGKlrzTj3C0Ndn3H5MY5jewBLXEDyiMv63LN5_O8u0NtI-mf8J6kDjrz0MFmsdtmUHumz9UnK8xqeIXfPYmLTFLJ36c0Co9HtPQJIpgF3PnBePrYDiSpfh-p1AutAu45I_017-YLEJYw8BW2s0Dpbd3OoPXmiXHnvKqyvNbJPVzQbYtzchGYXeoT1JVgBccgqjY5m6066aKkOTYaRnlkzYCumSMHpSuYUerqA0UQ2kQZoCF2otEAUuPP7ylha6DigAc-GecUhr--K7hzyWwFVSZknuKFrfEYSVqFMZXzg9sJx0xz-1jwzDxfpX4IvYaoP1sRwViFQexeoMEcHHL57APbc_jBNypA==",
  "id": "rs_0c8ad1b35949b333016ab468411c7087d0ab079ecc498b1210",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015,\"right_gripper\":0},\"note\":\"The yellow object is now centered at the fingertip line. I’m lowering slightly and closing for the corrected grasp.\"}",
  "call_id": "call_pUIsPHeMop6vNmqvTw6F3O3Q",
  "id": "fc_0c8ad1b35949b333016ab46842123887d09e5db978c87bd37a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pUIsPHeMop6vNmqvTw6F3O3Q",
  "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]: [-0.0257, 0.8539, 0.6422, -0.6147, -0.0219, -0.0425, 0.9983, 0.2893, 2.4516, 1.2114, 1.2255, 0.2089, -0.12, 0.0133]\nstate[eef_state]: left_x=0.266 left_y=0.0006 left_z=0.1369 left_yaw=0.0031 left_pitch=-0.2482 left_roll=-0.002 left_gripper=0.9983 right_x=0.5874 right_y=0.1404 right_z=0.0645 right_yaw=0.1551 right_pitch=0.5644 right_roll=-0.1241 right_gripper=0.0133\nstate[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.5458, -0.0855, -0.022, -0.0122, -0.1846, -8.1162, 4.7111, 0.9451, 0.0757, 0.022, 1.199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3329466ea62e957285ec205410f76a34b688a82d2f913d71c8975a244bc6ca2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c610b1c9192f51fb23aa9255945797b70a5ea32c541ad8ac01ac593f7ade29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce4883be0315a4bc9dc75b8f9c0590563f801e0130ddb710872e980342bf504",
      "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 · 2.874 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8516, 0.6422, -0.5926, -0.0219, -0.0425, 0.9983, 0.3115, 2.5412, 1.203, 1.4845, 0.2684, -0.1535, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1412 left_yaw=0.003 left_pitch=-0.2238 left_roll=-0.0027 left_gripper=0.9983 right_x=0.5757 right_y=0.1399 right_z=0.072 right_yaw=0.118 right_pitch=0.72 right_roll=-0.1282 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.4701, 6.8855, 1.5507, -0.0366, -0.0171, -0.0171, -1.1145, -6.7487, 3.5761, 0.5055, 0.0513, -0.0073, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6079, -0.0219, -0.0425, 0.9983, 0.2848, 2.3745, 1.1812, 1.0527, 0.2226, -0.1165, 0.9954]\nstate[eef_state]: left_x=0.2672 left_y=0.0006 left_z=0.138 left_yaw=0.0031 left_pitch=-0.2413 left_roll=-0.0022 left_gripper=0.9983 right_x=0.5823 right_y=0.1336 right_z=0.0559 right_yaw=0.1447 right_pitch=0.4401 right_roll=-0.141 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 6.8171, 1.6044, -0.0611, -0.022, -0.0122, -0.8547, -15.0359, 7.1863, 2.0049, 0.0171, 0.1099, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6147, -0.0219, -0.0425, 0.9983, 0.2893, 2.4516, 1.2114, 1.2255, 0.2089, -0.12, 0.0133]\nstate[eef_state]: left_x=0.266 left_y=0.0006 left_z=0.1369 left_yaw=0.0031 left_pitch=-0.2482 left_roll=-0.002 left_gripper=0.9983 right_x=0.5874 right_y=0.1404 right_z=0.0645 right_yaw=0.1551 right_pitch=0.5644 right_roll=-0.1241 right_gripper=0.0133\nstate[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.5458, -0.0855, -0.022, -0.0122, -0.1846, -8.1162, 4.7111, 0.9451, 0.0757, 0.022, 1.199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3329466ea62e957285ec205410f76a34b688a82d2f913d71c8975a244bc6ca2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c610b1c9192f51fb23aa9255945797b70a5ea32c541ad8ac01ac593f7ade29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce4883be0315a4bc9dc75b8f9c0590563f801e0130ddb710872e980342bf504",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhI-f8QVRywyLXWmwv3zDvMxfXAe2Xks_9AtKfp1A1nn-xP1oNc9FzE_WnuXl7V6WXezOTvYyDJGMFtZvh956wswU_qCDgUkUJwcYS_dYNKyLf0G1lUh3mLHGnBwDILUzmjvG9Sp7iX4uCnLV0o0UUSUWZGLa8xBLv-HyFHRrkvk60gVZ4Okaf9OdVLelpU7z3kBziXnsK3g9dGEcen6KFVgbTNbKZ4i1Op-Uf_yPU-J-UjSwlrv97TBcsTnyTq0mBBpfieM1RLDE33TJ6pqv_EK5I6qb9fvzCnswN1y7VTfzfMvTjVdDwtRG36Mq1BgyEkPOatQkguXE_bSh1oXYgzn7umx-rAQHt_s3eJU4DnNkC4_UhK26O13IEcWPRYKn9Bs8duSpjjriyBqRFpPXp5l385G7sEn0DPBal46JBtubD4otTnOn4VZG3JRLmyPioteU_xywsXEBurCee0QUFBvAaRlrdUXnqR_NvpX7AVbEZbejPkB2VjaB2D8_JAcGj3hVS6JOpW8mxiyMZkqTOybZ11QWHR4vfSmkeY30VcAMpooKobqEN2yZDBCPVIIcjbwAgag3Qm7ZKhP5-GXHd-VHoUgP6Lcm0BuaW3yUIUAyKwH1jeMb145pZxTmtyOeYCyj_P1rHyWpYIPq1boqnkgLXiF2gb_IINHU8feSAOfCBXckFf_rxsOwg7I72Ko98NZJKAOcio53Ei0Jhq8setCOOP55ujUW6EDifVBOGoozOg46P-XKtYR6W5-ZuJRhfc0UH-SVPgvWMIUWmPjnUnXT_ZavQdnONF00Cd3erCy_EB1Mt3zqAXtO7uJXJTLPwzj5i7MzVj10JzSeDO4DxwN4Fm8qbTxXRYzG5_u75avt7Cq5KKUl2-Ze-T3sAgR8rghryr_4135HBxDqQdXyzW9N5sevSTpUE_FkDxsaCzfg_XwmUo3TpUj2oECZuiq3tfi1WykGL1bWs9boWI4cgc4Dn1-6S2Ft7Nf862n7N3-_8m6XbNQ91A_WnW-BdV_AHmFYnRzihqJ7sTgCu-i0jelrtr_Vvjpsg4P1li_wX6-yWkCDF3mUlDoQszs_zkagn5f4QmceBEtkKPg4eS4d5Bt4UNBH0652HSPc3sTUBQMCMkZ6RveB1J7m9ncCQpuh_pkWnz9Abg2SGoyASOrWOXLv_v0WJiAiNIy5e0bqBNYpPNFtn9aNWr8hY0glagZatu_NRym5b375jf3k-gBezB36UQHyrIgNjpayl38OzwOqn1Ou6V0f_htdLN44kMYgLtI4kph2UKQnJ3OQnvAo8mRxk71IOnw_nPBaXPxw65Lw5PYtxq1hcFxesFXAdupuDx0Gaau9a0Wyp1zXYIzLqSrIgApXayYPmblW5qqUzLXgavJm5m40ZVnjQGIQjxJTXZbhaOEsIHppkq8uMyacloCkt8dpzyQ2zzC8JecfIWDJlL_eWtseZMBt_DH0e4FvUqt-bIifh19uAkGRfBcHMNQ_3D2sBwzmxtfddrU2-1MplAJt1OENiYf5GtFaq6RqPcJM5qnJRTAp4kHDHtAA3X67xpxkn0ypyQosbCvlhZcP0BxZ1oyT8VpjrS_gaSz3TmptRO-oBnWHJ9hfNHC-dUJL4kgvuIwnIepeDFprHV9koTxr0FHShj2V78vK30jbSA",
  "id": "rs_0c8ad1b35949b333016ab46846510c87d09738561276eb5f7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The second close was empty, and the low target is not being reached. I’m withdrawing the right arm so I can see the yellow object clearly again and avoid further blind attempts.\"}",
  "call_id": "call_U2PPxnOWB7kHPLIveFugbLyV",
  "id": "fc_0c8ad1b35949b333016ab468477eac87d0ac190a8e3d0444b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U2PPxnOWB7kHPLIveFugbLyV",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8577, 0.6418, -0.6334, -0.0219, -0.0425, 0.9983, -0.0776, 0.8253, 0.6525, -0.3805, -0.0948, -0.2317, 0.9976]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1327 left_yaw=0.0033 left_pitch=-0.2711 left_roll=-0.0013 left_gripper=0.9983 right_x=0.3026 right_y=-0.0032 right_z=0.1939 right_yaw=0.1243 right_pitch=0.0261 right_roll=-0.1287 right_gripper=0.9976\nstate[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.6093, -0.0464, -0.0659, -0.0122, -0.1573, -1.4564, 9.5385, 1.9414, -0.1294, 0.0073, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a66e0a79735c679ff29b157682cc026a97eb70fa367131c4415edd9ed36d0c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3951c3545647bfa6a7354a8fed3663d300f435907ef535f513b970c4e157091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b20a06725568202da6c19e814917e1f859fae25b94e23651b289e8e2dc88464",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.249 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8536, 0.6422, -0.593, -0.0219, -0.0425, 0.9983, 0.3149, 2.5217, 1.0981, 1.5787, 0.2646, -0.1467, 0.9953]\nstate[eef_state]: left_x=0.2699 left_y=0.0005 left_z=0.1407 left_yaw=0.003 left_pitch=-0.2261 left_roll=-0.0026 left_gripper=0.9983 right_x=0.5534 right_y=0.1355 right_z=0.0693 right_yaw=0.1192 right_pitch=0.7292 right_roll=-0.1177 right_gripper=0.9953\nstate[joint_eff]: [-0.2667, -1.4017, 6.9812, 1.5458, -0.0366, -0.0708, -0.0122, 0.2803, -5.135, -0.6906, 1.3114, 0.1099, 0.1978, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6147, -0.0219, -0.0425, 0.9983, 0.2893, 2.4516, 1.2114, 1.2255, 0.2089, -0.12, 0.0133]\nstate[eef_state]: left_x=0.266 left_y=0.0006 left_z=0.1369 left_yaw=0.0031 left_pitch=-0.2482 left_roll=-0.002 left_gripper=0.9983 right_x=0.5874 right_y=0.1404 right_z=0.0645 right_yaw=0.1551 right_pitch=0.5644 right_roll=-0.1241 right_gripper=0.0133\nstate[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.5458, -0.0855, -0.022, -0.0122, -0.1846, -8.1162, 4.7111, 0.9451, 0.0757, 0.022, 1.199]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8577, 0.6418, -0.6334, -0.0219, -0.0425, 0.9983, -0.0776, 0.8253, 0.6525, -0.3805, -0.0948, -0.2317, 0.9976]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1327 left_yaw=0.0033 left_pitch=-0.2711 left_roll=-0.0013 left_gripper=0.9983 right_x=0.3026 right_y=-0.0032 right_z=0.1939 right_yaw=0.1243 right_pitch=0.0261 right_roll=-0.1287 right_gripper=0.9976\nstate[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.6093, -0.0464, -0.0659, -0.0122, -0.1573, -1.4564, 9.5385, 1.9414, -0.1294, 0.0073, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a66e0a79735c679ff29b157682cc026a97eb70fa367131c4415edd9ed36d0c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3951c3545647bfa6a7354a8fed3663d300f435907ef535f513b970c4e157091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b20a06725568202da6c19e814917e1f859fae25b94e23651b289e8e2dc88464",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhNjV_V8KOQuPOwyEu74djbywn-dqX2BktYZa-DXcwZO-DCKZ2TNNY_KVE9U6x8KUn2tJu2rP8VjFUgoQbcnNqJrD0X0VyDiuHjKIxz0EaMI3KqOQ1AatRIzzXBaNHHA0OTapl1eftF2xisVtexwKgLTvMMpgRzyuNQ_0oGb-P1Yv077urKFWWG-VaOhC7Gi1rRUrf9SVGteSFV1vl742KU_0mlp-fp1WlcZxlO4GQoc6YYKzrIhfGaePDPAu4MnarCu8t5Z0PgwtHxbz09qH_Yj0eoEe7af0XxdrP37o4FeveuEFsJ-dfVPiudJWF03qE0U7d8vYT9o74V95PLdHhjhNlh90ruGmgPrNlb9snQY0Ib5NO35kYRF_GdF-UNwxfwf_jSDpnWqC9Bq5AoHXDy7AjqugjE6-GPW8phLFqB657ljbow_ZEgsKCANlImyzbgdgopWKO2c5XZ2D1zE5NDKJGJUUVlZ0tcYsU_4GP5UbUI6amsJ7Rnmw8TBlEQ1xEoMp4MfafL97R2t-DtD9K-G2hptf8TSmDLWnLw4k_NHXFiaWkKMbasU-XdWSVd95R4CAFc1aJT019G19kCEd7hIv16ge8b26cDkc8H01eEVY0kU1YKsoYAJvhl8OaYIydnos-mTzDeLzgjTu3zJYxc-aNMH2oQisU8_mQOiCvNo2PYGLIr1AqCFhZIUBpa_qFY5zPIZVfNApoCYHUs2UjVMnPyO6V1tkmOcbrFggWaOCE7VypoaN8444bfS2UWOz-F9GKh4z8ngNT9zBrXr64TqvkdP0YqcxXpNtRZ16zISQuVszknPoUx-paPCTK-nkUpFs4_TItE-YbzR4r6H9QAvJMxMAtwWUZfBOf7L8fxEkAwGL_ulMeAdUFVx17jFpYbP3_YoWXcu65PsWp0sjf14951k_4iK50LYhwPn6DBSajweBRc6RWjtG4DNe70WjvBpbZtugqBTQupR56kKcGOELC4k0jXQcLDqV0MYzFjMTjr0Ma288_1qEe60v--hpj-coP-LNK5rY8UjDqQnaNNHzroKARtd_OQzm0hWwSdmU_rSyr2f4-VEivFWzBH-e9o_1ael9l8UQQCp4YJiQPzl-Dg0di76NtJoAgVHsx0gFLB1t7vcfmWWPSBf9L1YYkL3dtr5vUbGpEOleTGwXBb9xcNRIy2UuKv1m39NELNtCaXq-c0moiA8sVgDQq7k2WUe6G3LtGcCNzTejKIiIN1_fD44MOXHL-0kNDeBm0bFGcttxJvl7EAuEGgoqJ5aErHVs-BCdFKctg6GBPrK7cQZ-D56DRNgTQclwrFR3OFVHk=",
  "id": "rs_0c8ad1b35949b333016ab4684c5cbc87d0a1b01840e7ec890b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.23,\"left_z\":0.135,\"left_pitch\":0,\"left_gripper\":1},\"note\":\"The brown toy is inside the safe; the gray toy and yellow object remain outside. I’m approaching the gray toy with the left arm while the right arm stays clear.\"}",
  "call_id": "call_msXi9GIpPh0Tj3p60wH9BixG",
  "id": "fc_0c8ad1b35949b333016ab4684cd91c87d0b7448f2183ad8211",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_msXi9GIpPh0Tj3p60wH9BixG",
  "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]: [-0.9627, 1.4868, 0.8505, -0.2962, -0.725, -0.6975, 0.9984, -0.0795, 0.831, 0.6502, -0.4248, -0.1017, -0.2436, 0.9988]\nstate[eef_state]: left_x=0.2997 left_y=-0.2192 left_z=0.1154 left_yaw=-0.015 left_pitch=-0.0676 left_roll=0.0392 left_gripper=0.9984 right_x=0.2968 right_y=-0.0021 right_z=0.1822 right_yaw=0.1346 right_pitch=-0.0252 right_roll=-0.1241 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.2701, 8.9231, 1.4139, -0.6325, 0.0415, -0.1783, 0.1162, -1.9077, 7.2957, 2.1074, 0.0122, 0.0806, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ed58f269d6c3f20f3f00d88e46158f6f6ac1f3edd92a1a5852d8188cddbf18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e576f376c4a74db82b8a3cea97e0fab585f50dce1e7b78956abaebd0f6b72b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcb10409f2cccf3d5b8550404f7f2e735187911b2f16134514d8ea1841e5cd0",
      "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 19 attempt 0 · /responses · status 200 · 2.155 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6079, -0.0219, -0.0425, 0.9983, 0.2848, 2.3745, 1.1812, 1.0527, 0.2226, -0.1165, 0.9954]\nstate[eef_state]: left_x=0.2672 left_y=0.0006 left_z=0.138 left_yaw=0.0031 left_pitch=-0.2413 left_roll=-0.0022 left_gripper=0.9983 right_x=0.5823 right_y=0.1336 right_z=0.0559 right_yaw=0.1447 right_pitch=0.4401 right_roll=-0.141 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.3333, 6.8171, 1.6044, -0.0611, -0.022, -0.0122, -0.8547, -15.0359, 7.1863, 2.0049, 0.0171, 0.1099, -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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8577, 0.6418, -0.6334, -0.0219, -0.0425, 0.9983, -0.0776, 0.8253, 0.6525, -0.3805, -0.0948, -0.2317, 0.9976]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1327 left_yaw=0.0033 left_pitch=-0.2711 left_roll=-0.0013 left_gripper=0.9983 right_x=0.3026 right_y=-0.0032 right_z=0.1939 right_yaw=0.1243 right_pitch=0.0261 right_roll=-0.1287 right_gripper=0.9976\nstate[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.6093, -0.0464, -0.0659, -0.0122, -0.1573, -1.4564, 9.5385, 1.9414, -0.1294, 0.0073, -0.0269]\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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 1.4868, 0.8505, -0.2962, -0.725, -0.6975, 0.9984, -0.0795, 0.831, 0.6502, -0.4248, -0.1017, -0.2436, 0.9988]\nstate[eef_state]: left_x=0.2997 left_y=-0.2192 left_z=0.1154 left_yaw=-0.015 left_pitch=-0.0676 left_roll=0.0392 left_gripper=0.9984 right_x=0.2968 right_y=-0.0021 right_z=0.1822 right_yaw=0.1346 right_pitch=-0.0252 right_roll=-0.1241 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.2701, 8.9231, 1.4139, -0.6325, 0.0415, -0.1783, 0.1162, -1.9077, 7.2957, 2.1074, 0.0122, 0.0806, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ed58f269d6c3f20f3f00d88e46158f6f6ac1f3edd92a1a5852d8188cddbf18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e576f376c4a74db82b8a3cea97e0fab585f50dce1e7b78956abaebd0f6b72b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcb10409f2cccf3d5b8550404f7f2e735187911b2f16134514d8ea1841e5cd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhWAgtSzX5MiP44TUEtBgDxeN0QxRUyFfEeAUCvSQT9DThgg6eJbYBNuCoGnxGZfJEPtLCuayv3DzsDsajClBOaFChxhnzohyYfjfVlIkjMRcNrS9NMW90TRE6t_zJsMpeygaBEejCG8hQPRxALkFPqqFgciT_42XNHCj8yDFT1oEhrwwa2Z4Dr6zVTWWdBsJOoqZQET6JoFi6SV1C0vjhcmZJAABKkP6RlM_TDyjfXK2ggWb8OHDZUotudaO5xpdtDEbzzl2V5PjVS1lC9hcMWb-nTVgfTlnq3rQVnP8lN24xBNgt4tHlQJbj31IQwe-67cBiZlprXWSAXau-8KDv0WIyvp85DlRvX_tqdxrH4v5HvXf1m4q_VJIB6IuGja1MvIRUHdkbHAJiaDVeSPCkPHwiRQIAT7_Erulby0fWy5Zt_P88-msYvoSiil3mR5Ardzi7ZQYJtjYcgqlyvgaAGB7Dhu1aVVdLIlVVrrPJxJalF7zrKHMfP1VTddyqURJzCzoPRKBrqFNBVT_HXOm224P73EgEq4Ga7s6OHVSH6tKwLkcRBB7-1SCjOUleNXa-r2cchIgpjTdu1pNPDVyqcd8BVTikfi6KttNFJwLgjdboksPh6Sk5qqLukazvSN3mU7kCV-_7MYmllvM88oay8PuwHzxvXJc0ivDNxPVplaNASIMwsR6oF95UeunJYsl162mgh0UrRfwWvI0MkdRLKzHh8fClFMIc4K_Ae-Gk0Rj0EdFtHGkYjNQUVASGT8e5TnKwr3xLFdkkqjDem9npz_SgtmNVsSf4zXd1AxpRsIOevmSBIKbM2PmpOwfCqq-3dBEZOp1jpFO3yzVkkZoMq82qQntlTIdW711dKEqI67-LSNk0nbfDr01Amti9jzMvPc6NeexVEp5C6zLckOmRX4tyg4180ZNXTtJVkydMH4GBKt9XBitOAAdlmlfDgOXOB8ON8-80OvbpMAYtJdZqjgw5MkjNUsCE267_W9nO4azpar25JgtGeYY9AYvhFqTrsguVYc8Lasy_ztG8D_1kHpjPkEXI-EsMBtlk-DViN8pKRZBbp2Czpuvg3P07XJAhcI1sIBmqaeMSl2bpnDFdncOo1kuyimF-O1qdmpqfoUS_-gj6RpYGIXuD7mr4Q62hCngoCphe9zvjEEE9U-kzf6D-cwxMUIbssmV5HI2wTsQjSr15Z9xrH9hHbnGcxSm7KK-qFoN0Db4yC3hOUu-q3MrDsuK0nhn9lKT0BLEgh3QEoc03qu_DztYQDW1lSQGp4",
  "id": "rs_0c8ad1b35949b333016ab468517c5487d0aff963f667e86672",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.23,\"left_z\":0.02},\"note\":\"The gray toy is centered in the left wrist view, just ahead of the fingertips. I’m moving forward a few centimeters and lowering around its body.\"}",
  "call_id": "call_ZB2dcnFtzzTQlh13Yv5vtCRq",
  "id": "fc_0c8ad1b35949b333016ab4685208f087d0b4ccfb82b398dd13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZB2dcnFtzzTQlh13Yv5vtCRq",
  "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]: [-0.8558, 1.8393, 0.7898, 0.1066, -0.6697, -0.6128, 0.9983, -0.0799, 0.8341, 0.6495, -0.4397, -0.102, -0.2447, 0.9989]\nstate[eef_state]: left_x=0.339 left_y=-0.2177 left_z=0.0153 left_yaw=0.011 left_pitch=-0.1123 left_roll=0.0865 left_gripper=0.9983 right_x=0.2948 right_y=-0.002 right_z=0.178 right_yaw=0.1353 right_pitch=-0.0435 right_roll=-0.1209 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -8.3487, 5.3949, 1.6484, -0.3004, 0.1197, -0.022, -0.0068, -1.7299, 7.0632, 1.8437, -0.0757, -0.0366, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f719fbc7ab5161ab48243044cacb4b3ea4729167af548e8678b8a4cb4aa10e13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c7303d4b6a3eeb1422653fc13e0a4df78661ad162eae4695b73e298fc878b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b578eb63ff584bd09038c74755cf85357be9ad625fcd24a9e01be194331b26e",
      "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 20 attempt 0 · /responses · status 200 · 2.195 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8539, 0.6422, -0.6147, -0.0219, -0.0425, 0.9983, 0.2893, 2.4516, 1.2114, 1.2255, 0.2089, -0.12, 0.0133]\nstate[eef_state]: left_x=0.266 left_y=0.0006 left_z=0.1369 left_yaw=0.0031 left_pitch=-0.2482 left_roll=-0.002 left_gripper=0.9983 right_x=0.5874 right_y=0.1404 right_z=0.0645 right_yaw=0.1551 right_pitch=0.5644 right_roll=-0.1241 right_gripper=0.0133\nstate[joint_eff]: [-0.0752, -1.4154, 6.9949, 1.5458, -0.0855, -0.022, -0.0122, -0.1846, -8.1162, 4.7111, 0.9451, 0.0757, 0.022, 1.199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 1.4868, 0.8505, -0.2962, -0.725, -0.6975, 0.9984, -0.0795, 0.831, 0.6502, -0.4248, -0.1017, -0.2436, 0.9988]\nstate[eef_state]: left_x=0.2997 left_y=-0.2192 left_z=0.1154 left_yaw=-0.015 left_pitch=-0.0676 left_roll=0.0392 left_gripper=0.9984 right_x=0.2968 right_y=-0.0021 right_z=0.1822 right_yaw=0.1346 right_pitch=-0.0252 right_roll=-0.1241 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.2701, 8.9231, 1.4139, -0.6325, 0.0415, -0.1783, 0.1162, -1.9077, 7.2957, 2.1074, 0.0122, 0.0806, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8558, 1.8393, 0.7898, 0.1066, -0.6697, -0.6128, 0.9983, -0.0799, 0.8341, 0.6495, -0.4397, -0.102, -0.2447, 0.9989]\nstate[eef_state]: left_x=0.339 left_y=-0.2177 left_z=0.0153 left_yaw=0.011 left_pitch=-0.1123 left_roll=0.0865 left_gripper=0.9983 right_x=0.2948 right_y=-0.002 right_z=0.178 right_yaw=0.1353 right_pitch=-0.0435 right_roll=-0.1209 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -8.3487, 5.3949, 1.6484, -0.3004, 0.1197, -0.022, -0.0068, -1.7299, 7.0632, 1.8437, -0.0757, -0.0366, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f719fbc7ab5161ab48243044cacb4b3ea4729167af548e8678b8a4cb4aa10e13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c7303d4b6a3eeb1422653fc13e0a4df78661ad162eae4695b73e298fc878b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b578eb63ff584bd09038c74755cf85357be9ad625fcd24a9e01be194331b26e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingers now surround the gray toy’s body at table level. I’m closing the gripper to secure it.\"}",
  "call_id": "call_DY5yDA4cg4iy3jBh2HTQelG2",
  "id": "fc_0c8ad1b35949b333016ab46858452887d089d480bf71b97026",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DY5yDA4cg4iy3jBh2HTQelG2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8513, 1.8587, 0.7898, 0.1146, -0.6769, -0.6144, 0.1286, -0.0799, 0.8345, 0.6495, -0.4545, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.2147 left_z=0.0098 left_yaw=0.0221 left_pitch=-0.1151 left_roll=0.098 left_gripper=0.1286 right_x=0.2927 right_y=-0.0018 right_z=0.175 right_yaw=0.1352 right_pitch=-0.0583 right_roll=-0.1173 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -9.5932, 5.135, 1.1209, -0.3053, -0.0464, 0.8278, -0.0342, -1.4701, 6.9675, 1.7949, -0.0855, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e414246aa5d594dbe1ded039d77a9b04000047fe052e12a6632203ca64cf2ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb26298201f36cd49c6d7d9074b9a0d738429b35eb389e8326ed39be1f1b3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3fd2ef2c8646efa51a8b539fc12aeaf0b84204c940b4711d9095d34d97bce5",
      "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 · 7.483 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 79 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8577, 0.6418, -0.6334, -0.0219, -0.0425, 0.9983, -0.0776, 0.8253, 0.6525, -0.3805, -0.0948, -0.2317, 0.9976]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1327 left_yaw=0.0033 left_pitch=-0.2711 left_roll=-0.0013 left_gripper=0.9983 right_x=0.3026 right_y=-0.0032 right_z=0.1939 right_yaw=0.1243 right_pitch=0.0261 right_roll=-0.1287 right_gripper=0.9976\nstate[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.6093, -0.0464, -0.0659, -0.0122, -0.1573, -1.4564, 9.5385, 1.9414, -0.1294, 0.0073, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8558, 1.8393, 0.7898, 0.1066, -0.6697, -0.6128, 0.9983, -0.0799, 0.8341, 0.6495, -0.4397, -0.102, -0.2447, 0.9989]\nstate[eef_state]: left_x=0.339 left_y=-0.2177 left_z=0.0153 left_yaw=0.011 left_pitch=-0.1123 left_roll=0.0865 left_gripper=0.9983 right_x=0.2948 right_y=-0.002 right_z=0.178 right_yaw=0.1353 right_pitch=-0.0435 right_roll=-0.1209 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -8.3487, 5.3949, 1.6484, -0.3004, 0.1197, -0.022, -0.0068, -1.7299, 7.0632, 1.8437, -0.0757, -0.0366, -0.0024]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8513, 1.8587, 0.7898, 0.1146, -0.6769, -0.6144, 0.1286, -0.0799, 0.8345, 0.6495, -0.4545, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.2147 left_z=0.0098 left_yaw=0.0221 left_pitch=-0.1151 left_roll=0.098 left_gripper=0.1286 right_x=0.2927 right_y=-0.0018 right_z=0.175 right_yaw=0.1352 right_pitch=-0.0583 right_roll=-0.1173 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -9.5932, 5.135, 1.1209, -0.3053, -0.0464, 0.8278, -0.0342, -1.4701, 6.9675, 1.7949, -0.0855, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e414246aa5d594dbe1ded039d77a9b04000047fe052e12a6632203ca64cf2ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb26298201f36cd49c6d7d9074b9a0d738429b35eb389e8326ed39be1f1b3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3fd2ef2c8646efa51a8b539fc12aeaf0b84204c940b4711d9095d34d97bce5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The gripper remains partly open on the gray toy. I’m lifting it briefly to verify that it is securely held.\"}",
  "call_id": "call_YL2xbicfk0jMnHxsqw2JYmPW",
  "id": "fc_0c8ad1b35949b333016ab4685b5b0887d0a8c0445026b1368d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YL2xbicfk0jMnHxsqw2JYmPW",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8513, 1.6917, 0.8917, -0.1864, -0.6735, -0.6273, 0.128, -0.0799, 0.8345, 0.6495, -0.4553, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3363 left_y=-0.2111 left_z=0.0667 left_yaw=0.0301 left_pitch=-0.137 left_roll=0.111 left_gripper=0.128 right_x=0.2926 right_y=-0.0018 right_z=0.1748 right_yaw=0.1352 right_pitch=-0.0591 right_roll=-0.1171 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -9.8393, 8.8684, 1.2918, -0.4127, 0.0708, 0.5348, -0.1709, -1.4564, 7.1179, 1.6923, -0.0708, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3eb17799ef1fefd7d6a04b1ce45f575277390d39b1d7dc14ee94843ff103e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc95bf762655fb883e57ee534f3bf2b5efabc99181452e833afcce5d313ec743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca63ba054d90fa6cca5b3bcc4ce810a7241b491d8a41a68eb15f81efecb6553",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.228 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 79 changed as sent

message 82 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 1.4868, 0.8505, -0.2962, -0.725, -0.6975, 0.9984, -0.0795, 0.831, 0.6502, -0.4248, -0.1017, -0.2436, 0.9988]\nstate[eef_state]: left_x=0.2997 left_y=-0.2192 left_z=0.1154 left_yaw=-0.015 left_pitch=-0.0676 left_roll=0.0392 left_gripper=0.9984 right_x=0.2968 right_y=-0.0021 right_z=0.1822 right_yaw=0.1346 right_pitch=-0.0252 right_roll=-0.1241 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.2701, 8.9231, 1.4139, -0.6325, 0.0415, -0.1783, 0.1162, -1.9077, 7.2957, 2.1074, 0.0122, 0.0806, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8513, 1.8587, 0.7898, 0.1146, -0.6769, -0.6144, 0.1286, -0.0799, 0.8345, 0.6495, -0.4545, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.2147 left_z=0.0098 left_yaw=0.0221 left_pitch=-0.1151 left_roll=0.098 left_gripper=0.1286 right_x=0.2927 right_y=-0.0018 right_z=0.175 right_yaw=0.1352 right_pitch=-0.0583 right_roll=-0.1173 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -9.5932, 5.135, 1.1209, -0.3053, -0.0464, 0.8278, -0.0342, -1.4701, 6.9675, 1.7949, -0.0855, -0.0659, -0.0122]",
      "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]: [-0.8513, 1.6917, 0.8917, -0.1864, -0.6735, -0.6273, 0.128, -0.0799, 0.8345, 0.6495, -0.4553, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3363 left_y=-0.2111 left_z=0.0667 left_yaw=0.0301 left_pitch=-0.137 left_roll=0.111 left_gripper=0.128 right_x=0.2926 right_y=-0.0018 right_z=0.1748 right_yaw=0.1352 right_pitch=-0.0591 right_roll=-0.1171 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -9.8393, 8.8684, 1.2918, -0.4127, 0.0708, 0.5348, -0.1709, -1.4564, 7.1179, 1.6923, -0.0708, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3eb17799ef1fefd7d6a04b1ce45f575277390d39b1d7dc14ee94843ff103e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc95bf762655fb883e57ee534f3bf2b5efabc99181452e833afcce5d313ec743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca63ba054d90fa6cca5b3bcc4ce810a7241b491d8a41a68eb15f81efecb6553",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhk9DoDwvQU4llPWcRALWBx6g8kEH3pK22VmrZTPE6ORSotRy7FOF3FiZpK5s_-4V7inuollV57RYTE94-aoTcdLbtMtn2EeIMDfZcOhHjXjxhLZwL1exSkP-7CfnUCG2eRnZ5-p1hCepAzHQxUa1hnMCBe8CH9cMzntmthW9JCUuhaWpsFM0m90eaGhT67UYqWkWT1YjOrKnc53WBaki-UEwMSBUpF8VQx5CVXFYeS7RFLV_RsWOuqadeS7SYYn76CPMSt2s16PHZMr3A4RmceeEUFZaAQU9ltZNUi1gb9PRBtk4HQ-ZR6czxnEYL_jbNXBMZheyUE4JEBH3PH86ut_c62q3WLxQWLQHZ2Vfi6CH1DfOdwZuU-sycOX9p_XYtHw_zyDNAHxjF6OaZ26WRFWHy0RVpWmCo6JrzhOSGoiPxXQfmr4teVzLJ2QAat8inqrsYPXohCaBqLVZ9m-QNgjziHsPP8ngqhwtCKkcPz9xpj68XIk6QfNa9r3dJWL9R29GC-4_p94Gx1hCKNE6LoxL7ubUFJgZlmykPjflv7dk1KCiBUUEtgOuYevqJOIrdtRHTB-15mpWc0bWt_sf_ilP1LZKLKmESPVgJsFxV4UZQtkodRvnBMG-gyNS6H2TOMaP9zgucJIfZT4loQstEp35xDtsLp7SJ1gZxWueAzkUhZZERYnRUOYl4edAxbiLT_3W9bwQzve3k39Ws_yFmv_9IWbNK2Bxc-RrsXcIm3xmRKgAsD42fh99OiCkGbgsPpYsd3vEaryLORNO-ndPpOIciTxmaaS4ph8BmcW_O6sXtfmuOHt7J4gAvx-gUfp4VpUecbFmG7FjJJxO-K_LBZS9MMp_M3YcshBW9P_RwGtFm2zw6C4PHyenFNDuwkPik_lDH1mYcR-FhEC64Za6rerQR1if4CNVDeyys-Rrujbvw5ln3MXEQhsiXHNFbPS2ZQsqw8MWhEK6fyaViqIk0-7Lrj1baPOYh6PCdFTYD618aKZ3ub2xa_MeRSyAxnxfg1_Eq5qWxadm65FQ2JbD3NF88uJeVjJ2cFhdCo95SPmParAEwzsQFB84gDS-4ageM86r2SZbugH9CtDclsdVIDstnPQH36hR7tZ-EWtXEEECNCHFm5ZzuyUZ46Bi1NW-maAVOEoI_muCpapPLC48VSxpc3rcXf-fuxP3Ou64V_R1Zux7xn85wQi_uUI7grJZL1LGfN0AFeiMXFGVuMthlOehEC99VczVvKwVYPlzBHqcfVapLn_PX9CBWVaRyHGNnc2tFl1mC4nfSUfuS9iOkNBBtmKA81AV7NQvZlODVKsnQ5vWNekNaWN9jJ0TPozY2VyG1cyXUN-ydWg8OoYuAoAPDZ3vb3BWWx35tPQ5aFUMF6Jh01ip3KcIJUncgkmYqM9GnD7i5d1kkt9AVL8UhvzjkMEThXGVVbknzpc5-8-yLf3RPeH3JH7xVuHhP7ELyLmfeDBEa44ZbRQrZnwjRqnLOZL79iHXHAPcnw_G1hZU4HeKSs65y_5B8ISTCAqLZmPO-JKsIAlXP_qmGz2N5Fkua5gLTQqtSx1LgGFvUIJH6CNNv8AywJ0SzE0hfdLoxUf9LcH9T3Aq_KLAP5p_gPrqophvAKAMQAzy6fVEoiChkp1QsshRPVqtLVEUOdQ1AL7U3tqR12x1Z565Ki1QvyTSSCwGuqUO668PBE8-YiVGPo9cqvOOd-uK5dAjX5xBjB7luJiBjsqCCJFP8J-BM3qachTmNYFrTUJWPX37KHmrpfiDEJk3g-99IQAIq6OPSU2CyIke_BiRTX77HLnYeErK06XY2sn-y8aEfQ9CBU8DG7vSefy7OVP8181wSR_m850XYKGdAXvrsZFmCxHk-KpTholI4Y3uqAgDYMXpwJLV55X0UlkawB3-Q7SZuu3J6v0VWd78g8hFYb6_AynSsoZJdXi3k-vn3rIkyFB7kr52_JYU8_79YYlR_mN1gGeXzdwbWwfmX2xPAaxFdklpSkYkWyYgwEBOMCSToUrWqXu07qqB5MsEF93LIu0FWTVm42g8aFNuiNqOOELX9ZMM2LsnVH0Qq2v73HJMrfzqFMpuJfpl4IXhlDlKrvf_t3-D0y9n1WxyJhcv9v3oTOKJqCPY2Is3oJcH8_YTi95uF87rOAClm6jowcgg2rJGHGvu-i",
  "id": "rs_0c8ad1b35949b333016ab4685fb7d087d09927bae9c83f0790",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.31,\"left_z\":0.22},\"note\":\"The gray toy lifted with the gripper. I’m carrying it over the open compartment beside the brown toy.\"}",
  "call_id": "call_zXUVSWrkMShJaZnSXMTiUhxw",
  "id": "fc_0c8ad1b35949b333016ab468631e7487d0aa0fda4d9fbc9f27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zXUVSWrkMShJaZnSXMTiUhxw",
  "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]: [-0.878, 2.0171, 1.8973, -0.8734, -0.6701, -0.675, 0.1281, -0.0799, 0.8379, 0.6487, -0.4782, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.4054 left_y=-0.311 left_z=0.2059 left_yaw=0.0282 left_pitch=-0.1409 left_roll=0.0783 left_gripper=0.1281 right_x=0.2893 right_y=-0.0015 right_z=0.1691 right_yaw=0.1356 right_pitch=-0.0855 right_roll=-0.1113 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -11.2752, 8.0068, 0.7741, -0.569, 0.105, 0.7888, -0.3214, -1.6068, 7.0632, 1.8486, -0.0611, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc59ba4eeccbf12744d8b0a4641012334d3e65db1f4aa0df310a605e3cbb567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfcb51736448e7ca6779cad835dd4889a3576952d65cecb16d39bdfd0b03d0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2657024d8fe923e6d621ea6b0ec9f7166734cf6997b1b5f448efd4cf40fb85",
      "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 · 2.308 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 82 changed as sent

message 86 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8558, 1.8393, 0.7898, 0.1066, -0.6697, -0.6128, 0.9983, -0.0799, 0.8341, 0.6495, -0.4397, -0.102, -0.2447, 0.9989]\nstate[eef_state]: left_x=0.339 left_y=-0.2177 left_z=0.0153 left_yaw=0.011 left_pitch=-0.1123 left_roll=0.0865 left_gripper=0.9983 right_x=0.2948 right_y=-0.002 right_z=0.178 right_yaw=0.1353 right_pitch=-0.0435 right_roll=-0.1209 right_gripper=0.9989\nstate[joint_eff]: [0.1299, -8.3487, 5.3949, 1.6484, -0.3004, 0.1197, -0.022, -0.0068, -1.7299, 7.0632, 1.8437, -0.0757, -0.0366, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8513, 1.6917, 0.8917, -0.1864, -0.6735, -0.6273, 0.128, -0.0799, 0.8345, 0.6495, -0.4553, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3363 left_y=-0.2111 left_z=0.0667 left_yaw=0.0301 left_pitch=-0.137 left_roll=0.111 left_gripper=0.128 right_x=0.2926 right_y=-0.0018 right_z=0.1748 right_yaw=0.1352 right_pitch=-0.0591 right_roll=-0.1171 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -9.8393, 8.8684, 1.2918, -0.4127, 0.0708, 0.5348, -0.1709, -1.4564, 7.1179, 1.6923, -0.0708, -0.0269, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.878, 2.0171, 1.8973, -0.8734, -0.6701, -0.675, 0.1281, -0.0799, 0.8379, 0.6487, -0.4782, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.4054 left_y=-0.311 left_z=0.2059 left_yaw=0.0282 left_pitch=-0.1409 left_roll=0.0783 left_gripper=0.1281 right_x=0.2893 right_y=-0.0015 right_z=0.1691 right_yaw=0.1356 right_pitch=-0.0855 right_roll=-0.1113 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -11.2752, 8.0068, 0.7741, -0.569, 0.105, 0.7888, -0.3214, -1.6068, 7.0632, 1.8486, -0.0611, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc59ba4eeccbf12744d8b0a4641012334d3e65db1f4aa0df310a605e3cbb567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfcb51736448e7ca6779cad835dd4889a3576952d65cecb16d39bdfd0b03d0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2657024d8fe923e6d621ea6b0ec9f7166734cf6997b1b5f448efd4cf40fb85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGho_xy2wChZWQgt09OnTvFCpN2GPyX1mLgDGiXeRZCWf9aio2oCY-3vPQGSSDpB3Zy3-oOqqRJop4q9SuuzthModGAJsw3SDERPKlZiIicuUPixV52_bmbIG8-fRXsp_9dvFgb6VbBCoFQa4jgRhJblFg04qEhhZbRrPMnX8t5MSDNsCKJCJu5npHjsb9fGr5Ya_mcsTBLkEcVSFmY_GAW2P4VMxmbKx1hN3vPij1F8ENyJjiZrt3qiNm-rIeYsng6j1Kv1Ucba_FS2oCdnM2_O-iM7UPAGsD2PlqqDlyr2LpIdeDtDexE9NzSXgPA9yNinjKo0EbLQPRYDVF0NbUlJrLuq6pV8LLZogPw3VJAlQYEaYshqsKmAJogVcoJYkAuz_A1KtWAhUYKvHGI7Tw3ynSj0TrRpArhNEN1bQbmlhxtfdFcVNb2i7YMnJZIPRO3_P02LG65hfbOG7eQ0OcThCMbYOIJuuFPgplMRNgyNfm8h60AkFvCXORETy-gjfLE1dPaazKQYRiMCxlXkwbiSlvUpikMQ34sLIfKwWdsC3-luy5xRZTs8gzYlLvccWk0T7qlGKZmVtsK8pI7nEiy2VpzxstgiKP5yideea1VR1jHNZCgTw6bcRmJsNX44Rj81BuKgp03pTHXNxJsd6yPxn4pDhwj-qrveBAqsW1t3V4Ggvhhx8EpOJX_xV8r4yupEfDYecQGwneyorwpzAWQHj23GpTkkIR6iB5yL7d6uhR8hb5gXEWQQr0pqx8FaVhPZ8TyCylfJsXYxN7qVs6Yj-jqwG4l9jRj6ZSfcTemHdj5_8YitM2_pGfcOYGmKRER_JvDGYNT_vyfITg6Fsmnh1m6jhl9f07anbZzGmm3nL6pYBrXE5InSxmsPkwhlp-ZY1kXPF-XCUcoTEntS_ZtvuS_xaXOAOJ96r4dHmdS8oaDpwQhrmMF6KP04W7Di7qHYxO-LsaxV4v1F25od19jIIvWyD5FYqjqPLJxxNC6XTHlZxgsuziQEQdQnFC1FJifVaTEk-pmSbhoe0Y_YR5eN0Bjp2qSI2uddMYUXcLk6ZftgoDNFliAWnSq3rOBUyxadGC22NkHNYj226b9yfSv1SYW9uxrGxcJJxX5WBnd3x-kOQAPaOHvuj_6wahk4yvRSJo86In_o3B0Hzy144CeE30FpdBpBD1QF7QopF5aHIOcd_taw5nzPY9TyNi1wp2A_nDfvJlOTzp27chhLI8_KqliMpiEIcMrQ1WoWIRPvBTczSyyhEyEpKibIZG6Y8HX_vZ9DaVsIs5b6VzBH246wfcpq8_fwJxvNiBr1De6AaGAGK-3lCt7bCCOZ3eN6fvJ4Dc7hnYgRYBguOSz9X5n6ShkUz4ZoYn2rVRBX4uj4svk=",
  "id": "rs_0c8ad1b35949b333016ab4686673e487d0b6649c2b700b3231",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The gray toy is above the safe, with its body inside the rim’s outline. I’m lowering it onto the other toy while keeping its limbs away from the hinge.\"}",
  "call_id": "call_KuER3tCtkDFfhbRboAbQzOlW",
  "id": "fc_0c8ad1b35949b333016ab468672f4c87d09aa5eb82a3300e8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KuER3tCtkDFfhbRboAbQzOlW",
  "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]: [-0.8776, 2.0933, 1.4502, -0.3744, -0.6636, -0.6739, 0.1275, -0.0799, 0.8379, 0.6487, -0.4999, -0.102, -0.244, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.308 left_z=0.0639 left_yaw=0.0269 left_pitch=-0.1603 left_roll=0.0951 left_gripper=0.1275 right_x=0.2859 right_y=-0.0012 right_z=0.1649 right_yaw=0.1359 right_pitch=-0.1068 right_roll=-0.1064 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -10.2222, 5.4085, 1.0818, -0.4176, -0.0415, 0.7888, -0.0205, -1.347, 6.9265, 1.8584, -0.0611, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0e143d410a9a9e9b25de9bfcfe57123cdb3a8c8f9a9d50506705e9e1a0e11a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bc2691c583ca234554e2df7f5f6c7a52c6816ba028c25cb7e1074e16e83dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461d679ece006036a2f6ecc4cc750ef60c319f39171f35745478fd47def91356",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 10.13 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 86 changed as sent

message 90 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8513, 1.8587, 0.7898, 0.1146, -0.6769, -0.6144, 0.1286, -0.0799, 0.8345, 0.6495, -0.4545, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.2147 left_z=0.0098 left_yaw=0.0221 left_pitch=-0.1151 left_roll=0.098 left_gripper=0.1286 right_x=0.2927 right_y=-0.0018 right_z=0.175 right_yaw=0.1352 right_pitch=-0.0583 right_roll=-0.1173 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -9.5932, 5.135, 1.1209, -0.3053, -0.0464, 0.8278, -0.0342, -1.4701, 6.9675, 1.7949, -0.0855, -0.0659, -0.0122]",
      "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]: [-0.878, 2.0171, 1.8973, -0.8734, -0.6701, -0.675, 0.1281, -0.0799, 0.8379, 0.6487, -0.4782, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.4054 left_y=-0.311 left_z=0.2059 left_yaw=0.0282 left_pitch=-0.1409 left_roll=0.0783 left_gripper=0.1281 right_x=0.2893 right_y=-0.0015 right_z=0.1691 right_yaw=0.1356 right_pitch=-0.0855 right_roll=-0.1113 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -11.2752, 8.0068, 0.7741, -0.569, 0.105, 0.7888, -0.3214, -1.6068, 7.0632, 1.8486, -0.0611, -0.022, -0.0122]",
      "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]: [-0.8776, 2.0933, 1.4502, -0.3744, -0.6636, -0.6739, 0.1275, -0.0799, 0.8379, 0.6487, -0.4999, -0.102, -0.244, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.308 left_z=0.0639 left_yaw=0.0269 left_pitch=-0.1603 left_roll=0.0951 left_gripper=0.1275 right_x=0.2859 right_y=-0.0012 right_z=0.1649 right_yaw=0.1359 right_pitch=-0.1068 right_roll=-0.1064 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -10.2222, 5.4085, 1.0818, -0.4176, -0.0415, 0.7888, -0.0205, -1.347, 6.9265, 1.8584, -0.0611, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0e143d410a9a9e9b25de9bfcfe57123cdb3a8c8f9a9d50506705e9e1a0e11a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bc2691c583ca234554e2df7f5f6c7a52c6816ba028c25cb7e1074e16e83dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461d679ece006036a2f6ecc4cc750ef60c319f39171f35745478fd47def91356",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray toy is supported inside the safe beside the brown one. I’m releasing it into the compartment.\"}",
  "call_id": "call_cOqP3cPMYilGtPQhC8R5Sz0n",
  "id": "fc_0c8ad1b35949b333016ab4686ab69c87d09786bf2ccd868c28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cOqP3cPMYilGtPQhC8R5Sz0n",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8776, 2.1098, 1.4349, -0.3813, -0.6621, -0.6811, 0.9956, -0.0799, 0.8379, 0.6487, -0.5228, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3977 left_y=-0.3032 left_z=0.0502 left_yaw=0.0352 left_pitch=-0.1846 left_roll=0.1198 left_gripper=0.9956 right_x=0.2823 right_y=-0.001 right_z=0.1606 right_yaw=0.1367 right_pitch=-0.1291 right_roll=-0.1017 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -12.7932, 7.3504, 1.2137, -0.398, 0.0562, -0.0024, -0.212, -1.2376, 7.0222, 1.8388, -0.1001, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3d31ae03599609e6f48f719c6b46a2f9d47496a6f2ae26eb7a635948ba2abf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd978412dc6d47a41a5f45601d98d67b5a458b9ce81cc1dee96e9f85ae44bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95242de827c51c55bf285264dd2d268b664ac0f63f17256d05260aafb3c4eb75",
      "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 25 attempt 0 · /responses · status 200 · 2.981 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 93 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]: [-0.8513, 1.6917, 0.8917, -0.1864, -0.6735, -0.6273, 0.128, -0.0799, 0.8345, 0.6495, -0.4553, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3363 left_y=-0.2111 left_z=0.0667 left_yaw=0.0301 left_pitch=-0.137 left_roll=0.111 left_gripper=0.128 right_x=0.2926 right_y=-0.0018 right_z=0.1748 right_yaw=0.1352 right_pitch=-0.0591 right_roll=-0.1171 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -9.8393, 8.8684, 1.2918, -0.4127, 0.0708, 0.5348, -0.1709, -1.4564, 7.1179, 1.6923, -0.0708, -0.0269, -0.0122]\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]: [-0.8776, 2.0933, 1.4502, -0.3744, -0.6636, -0.6739, 0.1275, -0.0799, 0.8379, 0.6487, -0.4999, -0.102, -0.244, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.308 left_z=0.0639 left_yaw=0.0269 left_pitch=-0.1603 left_roll=0.0951 left_gripper=0.1275 right_x=0.2859 right_y=-0.0012 right_z=0.1649 right_yaw=0.1359 right_pitch=-0.1068 right_roll=-0.1064 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -10.2222, 5.4085, 1.0818, -0.4176, -0.0415, 0.7888, -0.0205, -1.347, 6.9265, 1.8584, -0.0611, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8776, 2.1098, 1.4349, -0.3813, -0.6621, -0.6811, 0.9956, -0.0799, 0.8379, 0.6487, -0.5228, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3977 left_y=-0.3032 left_z=0.0502 left_yaw=0.0352 left_pitch=-0.1846 left_roll=0.1198 left_gripper=0.9956 right_x=0.2823 right_y=-0.001 right_z=0.1606 right_yaw=0.1367 right_pitch=-0.1291 right_roll=-0.1017 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -12.7932, 7.3504, 1.2137, -0.398, 0.0562, -0.0024, -0.212, -1.2376, 7.0222, 1.8388, -0.1001, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3d31ae03599609e6f48f719c6b46a2f9d47496a6f2ae26eb7a635948ba2abf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd978412dc6d47a41a5f45601d98d67b5a458b9ce81cc1dee96e9f85ae44bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95242de827c51c55bf285264dd2d268b664ac0f63f17256d05260aafb3c4eb75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGh2R1PXV0Jp5WQShUQCdE0ko_8r8F3IVD7kebItrTvXJIZZqTVqzX92Te1w48_5UHIg59-R5DY2z4oR-TgcpQNcM9VtbVPkO2wUrQOFq1_vqs2SsjGuwR9o9HjBhTAz1JPlP-_EuJzBUsladlsYZoYmxe_8oMDKKuouBlP8O-5Q1MRMgOEyjbWF7CwzRFFPL8ofMZ6KZwgSKHha2rMjb6lyDjePCaV9bWsyf3mvaQFb_du_h-WTDqCA1eUUBP6VVgmYxapCTpEBwD9iHAqo6h-b4DAAF4_7UWDSgeRAAyEUvQPUso3pNRE8oS2tANQY6SOxvrmi2P0iU_cdE36C5f4YXz8mTEZ8UHU8v6hnzyOi1gqUAWpDFkqNo4Ti9-SK8dLJDEL94FZSiTMkxvX3q-lWVPg8tb9FW8a30XA7vlQSUIxugDBltiW27eTGD7aFni-uG7jQirXengggBMLE-9SnGfkcVrg_P6_GiKfN1PAPaXWsTo0DcL_zypojdFL85nghm5Fp-kMNRqmAq2SfDKvn-ndqQmpQawQdnzlcnsF2yUSA7xPsOD5_c_vYW0pUiRYpfa7yJueL_IDwoV_pudrQ-qhx3RuHPqE21gClxHIw7mRK-asm9nAb9gGuzBcW90iI7dBIDmPDlw-zuM1X2VgzcIGd25mylctAq2AdjRaDQV7gim1eflJsGAnVyyhwqImB58WpEiKF8-Lnvv6ad2Qh5bIvDFdK0DTnu3kHvySOiCiEPmWj892rj6lJ1hj7akWeCYdnU2dy083hAD431rJBkt8nfn_JHQapsdKMbflhxx1RS8VtWigxzqELpjd15wauLC531Aj6pS_iHX_28gCzol31pDOIoc4yBKYS_Z_BsezMKhxCmWqCNE1zxmTiZhwtRrbKldnGGlWBacNP0NN2esY00CDf9uUSqXg2jZEkbx2v5F4WEzAAFNpryDsf9Cu0u1WYUG8qouLR6S2-uGP4rxu0WYSH0woN3MQp_jhKUc9aHg_NoR1oebgX0lqsP5GUIkI1S6EY3CNfQV3y5lgxfKhCnOIsfyI-7NjneE1NGiYIH_hK8nxlIt7dj9AZ5s_Pe43m4F_xFKVGO_esJdiBemJNA71PJZPAkVAjvtZDSLbeKOr4RLa_QXpI0kNrse40WpZwNmqN6zuZSaRpzhHbAwY4NpnFWzaHXF0ac3u0L-8pUn5ZNL-PNfse5rXAz11yNYRJ5YBWRXhRuWCQ-sXLrOUed_QbDlTIYSqJsAYK_PCghtNvK4zCpR2Up3CsYwzCh6qJPz6pf_WYo4eZdKAZIyaxcdCy-KGhefQoTn-z3e2z-WvogJToqmpj-8R76DyqKl3xqwzxiqQHM7amRXP3K5T5IbRTA4I7iyLTFzencMTsSSOsG-rTbAfRQVM1_RSX81IiR-JA4TjhYLssVf5VnLGc1JTmenMhC2UEDNKzWBLlviyDVPN2uoPViKLjxGxS7gZvVZpGkmR8KzHjr9B1AJ-IJg4eO4RuQtnifGy6npgsI4uO4oakanuznwD52Xq2NS-AoAnN-J4Wa5vtlByJNIfNRX0yAbhR8eI9f1ixfK8UwL7rRv-4vqdp2eSCuU-1bzsizpapvgm6LC5rbegiV1yrNSjvUlF2PDJJaomQiZ5rxyDAUMhugwPXNnlvZEhdsqt0lx3AH04yOnc9Pb_1wxYTrdMReVgnuYCFH1NYsAa_a8R6rjGZNcWhah17vCWrjCBq37iGMgBaDGklEvJFUu1p1Wi6_soS70plpqV97ym4CUmH9GtrWm_Ma32D3WBRqK8xrYS41sIDfpKR1YTQZdzcSwRiMIrUUgsSjuS1gvkfkwRZSXqXcAuqdVSkIkJQbcT-px4nlUXf8RL-g4cZczSqCM3C12_H4VxrsQlASsoJH9ywk9vbharLh-op7yIYMZLiP-xq_5eKJiQStXYLXX8WTmckMkYbWhRntSVt-zVQjBESc0r6iRLeeh6q4DcRvnFlqxvLCp720R_iAo4naQaI_gRPTjCpVbpdmECJwALHcGOpEGCh59GIKRHdpICAMguVFJ2IGjVHccn0zdlB-3QEk08nuV4cireRkxFNpcubzFfwgnSjOLe5hB1d9VASWvYKC67bAVbmsap3v4cFGRh7PP4Z10LUh6oWhM37UO4uA1ejKcDs0VOqdixHLVHx64-Z7wtU9VO6_hgPoJDKn8zpuiJ9ujDXo65Ir03HW2oUNjoOgzmZG-NocSVSh-sWIpfheIOwNU0UnUWeBXTfw_MLDg8JwztkxhOKtym1pNGqFRRllFOn7-cZE7ZxyZ3VuqYaKeZvJohWhXYYi4KN6cmbSL_iaGfQR4WTPvnp3Zw-h2QzWN3a8HJfBgsMTgZoIb2jgb1xu5TxyOSoQSnHUkDUftVHpwUawtLGAEOA8pnEqCb5BjsT7v8ekA3r09iisSgDpYhTcsAhBuMfHUYs0ABZEjFgIk-H7WdFbtkAZsX3olU22ibEAlpUdSR-3Z8YHmFHPe2rJ9nam2tkLko_m0CUYdLM89cneQ7ZPV8Tux7v351hWx_oXRIOlr00rI_bAtrcGwElgESdBnqKH5rEbatBMgCAdUkTaA_EJDpQ6JzTut8XAGZ_ziM3KiaXi9YTgNhve6cbnq9lrb1_NK4vSMVhvmEdley_sTIM5erHpyh5JHBz6JRnjyqVY9vwhrhKTJYiieWsGSh8on-gZjcvHhuemFJOcZq83L3YgjZc0Rit0skBW1x_qD2G3QiHtfF6ZKD5GDTp8J3RWP5ze_DaXc61Hd9n1mI9S6gK0EPFD5gjlo8sOb7NGxHJhYCIfD6tMPr-_1Wi21GZTN_stBkrP-g3SXrspxNgqFWNoUEdIi0PKiO080EdWPVK4mFUyxcTt_3am90Yxy79XV7jXC1jkjAzNoV-ZsF4fX78fUj64UT7vbZOI_LJcD76DKM0HY-m60LHjGqZ7h7lM7fmhw7XGYTHi5uGKh4bXg-_1EjP9RsTUOKWZ0U-Ar7Qjr63RPfIGPd3FolS11yr4EWD-L9PA82UTFRcTD04LrbOr_bhH0OChj5jp19NS9PxvZLOLLJo8wRZde74II4OCe9plXo-WF_uX3rmZFCaPs8gX1s5-hQbC4HYFXfus-bq117NI00UmVtrNFrfGnaFxioNeNlcresVjUUZJpDXx40Pmi21FMgPH36t-3AKGBFj-ebhaFL5zVgu8kj56s2HKYJbrwL2Up6SLL4ZFCOBXd8JOHb-DHIm__IAiXdVM0TEn7iDcPW0",
  "id": "rs_0c8ad1b35949b333016ab4686f027c87d091ee0100ab9fafa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"Both plush toys are now inside the safe. I’m parking the left arm clear of the lid and the remaining yellow object.\"}",
  "call_id": "call_FQ9UrW3Tg6vQGPWyWzHTowYc",
  "id": "fc_0c8ad1b35949b333016ab468758b1087d085ff07f8bb30794c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FQ9UrW3Tg6vQGPWyWzHTowYc",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8272, 0.6876, -0.4648, -0.281, -0.0738, 0.9962, -0.0799, 0.8425, 0.6487, -0.5537, -0.1024, -0.244, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0031 left_z=0.1955 left_yaw=0.092 left_pitch=-0.0041 left_roll=0.1111 left_gripper=0.9962 right_x=0.2775 right_y=-0.0005 right_z=0.1538 right_yaw=0.1379 right_pitch=-0.1637 right_roll=-0.0934 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.6615, 7.5282, 1.9365, -0.0122, 0.1441, 0.0513, -0.1162, -1.3744, 6.8718, 1.8877, -0.0855, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd2bce4d46b1251b4255a63e1d2395639371a248a70e7e31ad41de405c3e9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b2c73b3519225d80f4fe8767bcc94aea2c704a143066bb3210266101969452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecec3d91d2264bf02fdcfd5c9ca735a1635203bce969e9707ddc0a93410dacb1",
      "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 · 6.231 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 93 changed as sent

message 97 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]: [-0.878, 2.0171, 1.8973, -0.8734, -0.6701, -0.675, 0.1281, -0.0799, 0.8379, 0.6487, -0.4782, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.4054 left_y=-0.311 left_z=0.2059 left_yaw=0.0282 left_pitch=-0.1409 left_roll=0.0783 left_gripper=0.1281 right_x=0.2893 right_y=-0.0015 right_z=0.1691 right_yaw=0.1356 right_pitch=-0.0855 right_roll=-0.1113 right_gripper=0.9989\nstate[joint_eff]: [-0.7316, -11.2752, 8.0068, 0.7741, -0.569, 0.105, 0.7888, -0.3214, -1.6068, 7.0632, 1.8486, -0.0611, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8776, 2.1098, 1.4349, -0.3813, -0.6621, -0.6811, 0.9956, -0.0799, 0.8379, 0.6487, -0.5228, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3977 left_y=-0.3032 left_z=0.0502 left_yaw=0.0352 left_pitch=-0.1846 left_roll=0.1198 left_gripper=0.9956 right_x=0.2823 right_y=-0.001 right_z=0.1606 right_yaw=0.1367 right_pitch=-0.1291 right_roll=-0.1017 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -12.7932, 7.3504, 1.2137, -0.398, 0.0562, -0.0024, -0.212, -1.2376, 7.0222, 1.8388, -0.1001, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8272, 0.6876, -0.4648, -0.281, -0.0738, 0.9962, -0.0799, 0.8425, 0.6487, -0.5537, -0.1024, -0.244, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0031 left_z=0.1955 left_yaw=0.092 left_pitch=-0.0041 left_roll=0.1111 left_gripper=0.9962 right_x=0.2775 right_y=-0.0005 right_z=0.1538 right_yaw=0.1379 right_pitch=-0.1637 right_roll=-0.0934 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.6615, 7.5282, 1.9365, -0.0122, 0.1441, 0.0513, -0.1162, -1.3744, 6.8718, 1.8877, -0.0855, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd2bce4d46b1251b4255a63e1d2395639371a248a70e7e31ad41de405c3e9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b2c73b3519225d80f4fe8767bcc94aea2c704a143066bb3210266101969452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecec3d91d2264bf02fdcfd5c9ca735a1635203bce969e9707ddc0a93410dacb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGh82QosoOX4bku9UlhkYqAcXve9H4bCfNkCPsVYODmzByARuvci3i3KtNBnc2Mp6NclAhNCj3xtUtkemEMpaTSmoTElCBcQ7_pITI9OH5nz6BciutaVCA5wuZ2Bvz-uCpUtbqSHHHLFDjPXykbl_QHPCW5uoULo24Dl4lHUjbMAv0r1I6ur9JmKTRfXXWCWYQ_jHep7Zqqes3P4pRx2X5-E9e3gNkhBMnpcAG37FAWzC-UA52PUWgqIjU-Hz6oaS2a5zLBEutUZotwJiUkRu_7DEWw35ekBVNXN__GI03CfnowlLiEF3NxFJLXP5cYjswHM7CF4XCepYG8lkLzZUor772k1LUZWnpvU6nkW1hgWu-rmawhByVkRVtZQgU4oud8RheaUWS-vEyKPbQ2RX5O8Ds98LkyGNuLDh_DaD3KQ3QN2VBhmBNpnBMr4q3fyEf2J1Ib3Mg8oGdm5q3x4GkgUnCKrrsRCSJS-c31vaKuuVfFsrqzBpv2EQRV72PKvRQPtKeufbNI8rc9gqxYcrvKWx1vm614ZPG1xo694eCLMAXWnxh0aRLjGxo7qRbilG7lexF4_mx1MQn0ET6q0XL0_Hm5O1KkM4Kr7ZassIgJLZxIkuzDB85bWivl9Jn-_nM9PgZq-Xwljnas1NY7118FH_Y3lDs7vNlDbyf99rtnZG6qDxvqaA5N7vlm84r5xSvCF4pqdKiGdesUG44lmIwVpjZgBtfHPFZF-XWhSXXNgTeQAu6o_2NnCBZkLLsJLrloaMq7jL65HgI47qWSVJuUdNm60k9Put7R91Di5FdoBvDwkta9dBOoCaSIldO5mbYjBJf_JJd0pq4t4CZKjEIapOFOFJphlKDzJZmD6r6qtmTBznMMx_H5q_W8qcRnpun8qN7_Q1GY0KtVT1DxlHQiTJyQ_I3w4_2NUIM2gEH1hY9-PZo1TiLMeMr3Kv31_9QdikICTQbvwrN1Uo--RFbU9HwPE5mdg7VFiS5FJ9zZ9ZRh9-jX0IVWnzMNlgSUrxS8UYAu-MzuLujIHT8kiXJafpsuG6sgB0q7PfxRlhbVvn0UT6E3KnXJ2oC_GtpJfgDY0SUyRljIR9j9vVYpuS8LwG2HadUANjJn_pVAN_MTe0bFS7k2y-AFfcAclHMWoIxKuL3wYhpjixz-MVuOO9UTi7V91mhiVt7ITnRxrwydXYH_VWIMUZPTyKKlZ5r7a2V7Klhuw-XLqsHwWd_e680pCuYwIQkQP_cChGDTCEYbeSsWQrVsSmbq5RNVlF5R07u84M4rcXzYuyubT3wJuR1B5TjXf-_tGBgFujGNpPdkqGZfz34qeoWgjybeBwV5Lw4UI",
  "id": "rs_0c8ad1b35949b333016ab4687a5aa887d0a5c20f4f12a0ad68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.095,\"right_z\":0.13,\"right_yaw\":1.4,\"right_pitch\":0.35,\"right_roll\":0},\"note\":\"The yellow object is just outside the safe’s far-right corner. I’m approaching from farther right with the jaws rotated, to avoid the rim that obstructed the earlier approach.\"}",
  "call_id": "call_9fCyp2ybTlTuIp87FOk8aKBp",
  "id": "fc_0c8ad1b35949b333016ab4687af78487d0ac7655b1ff21c8ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9fCyp2ybTlTuIp87FOk8aKBp",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8307, 0.6868, -0.4953, -0.2749, -0.0761, 0.9963, -0.1501, 2.6167, 2.2669, -0.8536, -1.2793, -1.2854, 0.9989]\nstate[eef_state]: left_x=0.2905 left_y=0.0028 left_z=0.1881 left_yaw=0.0884 left_pitch=-0.0384 left_roll=0.1147 left_gripper=0.9963 right_x=0.5623 right_y=0.0897 right_z=0.104 right_yaw=1.3644 right_pitch=0.3093 right_roll=-0.0776 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -1.2103, 6.9949, 2.1026, -0.1294, -0.0366, -0.0024, 0.253, -12.1231, 4.1368, -0.3687, -0.8913, -0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed311a48a53ae29534d63d9ba32302955d4b2222cb747324e5ddc1fe9efcdce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd161737352e1b4ab3c870c9a399933e27b346a15e9638f5025df7d7de8f1697",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d89fd9593d03473528239d2167d6b4f7fc37d6030d4b1adaab7409920d30ae0",
      "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 27 attempt 0 · /responses · status 200 · 3.659 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 97 changed as sent

message 101 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]: [-0.8776, 2.0933, 1.4502, -0.3744, -0.6636, -0.6739, 0.1275, -0.0799, 0.8379, 0.6487, -0.4999, -0.102, -0.244, 0.9989]\nstate[eef_state]: left_x=0.4019 left_y=-0.308 left_z=0.0639 left_yaw=0.0269 left_pitch=-0.1603 left_roll=0.0951 left_gripper=0.1275 right_x=0.2859 right_y=-0.0012 right_z=0.1649 right_yaw=0.1359 right_pitch=-0.1068 right_roll=-0.1064 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -10.2222, 5.4085, 1.0818, -0.4176, -0.0415, 0.7888, -0.0205, -1.347, 6.9265, 1.8584, -0.0611, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8272, 0.6876, -0.4648, -0.281, -0.0738, 0.9962, -0.0799, 0.8425, 0.6487, -0.5537, -0.1024, -0.244, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0031 left_z=0.1955 left_yaw=0.092 left_pitch=-0.0041 left_roll=0.1111 left_gripper=0.9962 right_x=0.2775 right_y=-0.0005 right_z=0.1538 right_yaw=0.1379 right_pitch=-0.1637 right_roll=-0.0934 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.6615, 7.5282, 1.9365, -0.0122, 0.1441, 0.0513, -0.1162, -1.3744, 6.8718, 1.8877, -0.0855, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8307, 0.6868, -0.4953, -0.2749, -0.0761, 0.9963, -0.1501, 2.6167, 2.2669, -0.8536, -1.2793, -1.2854, 0.9989]\nstate[eef_state]: left_x=0.2905 left_y=0.0028 left_z=0.1881 left_yaw=0.0884 left_pitch=-0.0384 left_roll=0.1147 left_gripper=0.9963 right_x=0.5623 right_y=0.0897 right_z=0.104 right_yaw=1.3644 right_pitch=0.3093 right_roll=-0.0776 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -1.2103, 6.9949, 2.1026, -0.1294, -0.0366, -0.0024, 0.253, -12.1231, 4.1368, -0.3687, -0.8913, -0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed311a48a53ae29534d63d9ba32302955d4b2222cb747324e5ddc1fe9efcdce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd161737352e1b4ab3c870c9a399933e27b346a15e9638f5025df7d7de8f1697",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d89fd9593d03473528239d2167d6b4f7fc37d6030d4b1adaab7409920d30ae0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiEnauQUvHjVr1uM4hqKlM1Oxxe8Ng8gMAkeMTwWNIMrAokZmjrXnjUckJVmHOrrXEVQP6gEXipqh5hAvqQO9MZHo0chhFeKXVHGM0dugaR2zAuihonn7KTHEmAkVlv1tOqpqWo3hkkx2_ZLlllNL2NhU5jn3vPnDCVHI56EasrJcB1tSP1i5j4hTbTHo0o33siMLVMs3ZLO-rc8bHKogG9Ri_Y6kc9Ruumlusgjanc4ljIuLw8XLTiXbbo7HhFxVc_LvcW4FB-9-a7oCJWbOWv9fnh4MgOUx9AJWnGa0rvkT39kn1snr0dZvS94NziPwDrt8TfAyK26nHD61WJRXymIcF2wL9kD_XWr4YbKEmHbpx8QmgbwziFWVCTMzPXzhig3zX5Dx62BT11vAWeZQ-eC22eAdQA8cOym6VfETWQCQkj0xYjkWUuoJ7_f6io3xsuz5C12NEbjRdyc-hcCGxdh5V_xlBEH-hlDluJb5uCEDEzDU31NNVokxW8V9kHg_vJ-yO468WIvKv3wy0L4qf8M5xpJcluNJ3rO6qcVxDn0NQcA0lv-jl-mVKuMfok6Q3Z_BzJKqsPX8G9MNcyIahrJZVBImB3HpivQk-nyJF7iPHZjioYwMjm5E6vp2x1L4vXJiJlnOIsx5RATSxsBF8VTVFu3ww3Fn216bN_2zx26-8De7cze75JNVZMxb2CiPepHNArq3tAKnG_2EHsw7hGZjyLJvGeBuSXsctR6Qm2X9PaPxpcX6ypajuYRezukdvSSB3pPA1RviqwqntSIYXxohvvQl8CEYLs55pWTLEPmcz5gpPzRxJ1bbdHqKY-12ywYKjYgmQR5Noo2Z5TlwNnG5kFqnNgWTY5jOgUESx1dTPbiUbl2XzNz_ClCJzaqhcP06m4NlysD5gtf9z6OqhUgE8Q0HOLD13hSOaWKUzO6YHY6ffHbZ1WvtH4e4e7oCz4zOa9T_v-6r-SHwZlLDhwwdTeu0Nk_smaicdCK7LdilosSLAF2jXvdvdlsxkqkW0QZfNYCUdDwQDyYfQ767zizJlmFzA7zEmW4Wn7fi5KrCebSdywmMOCRIoY5lI3M9rr2q0mM0Ma2tg5SjaM2HXqDTdoam91mRLzK751lCbcIcmEPikgm38W_MurSRkN7KNXlk7jf5QV1eY-O_3EgM7YZGrX0QZT59qJCuJivcFOirP_vI99L2GH2GJC5_tQfcK42x9yF3CbpJaQMHG0Gu88t0S2OaOkKCNFmpIszrP7LNUJYND_XHg-nM7iJDTBtpn3ke9vT0XB-nkVZ8D1tB8CwEfEg4KiTEWpLG7VqiLyJJU-YU90mCWvHJzEdQHv1TwCmH_dPFmy_s-Og1is1mgoRNp--hHi5Ypu-ZBWodEHGQlG0Pt8i48gfyyus0XemS_R1VCRitzysdAcf240HX7cmLWkJIiqNHZh-hLDYeZupvmJrvswCN1bGnpEy3EirJx0lwQD9XoJIiBu85Yjgunjt2RfVgu4bJE_1IPD2o2gdxO2LAG7yIfLnT5APOsnY_yyOkGr7O8HzWoKS56Ll6Lbv7ZJ8V_K15LjOi4fyO14yXakCtDwU0UE6lgkkC2dFL9666D5AwcsHKyaFQSq6KfeDCi5lJDOkrB5d20d9B726QuFRhla1JmndGexO4ZZJa3qcCspqRZgOHnCn_u_Qz88RZW-VXYppnxRH99J3Z7v3hI3gC2-u4UTjFhtbwEZA0Yvvt0fMHtFT0mlGWgatBnvAOOI5cYJL2-_TtKugcEHG6rHr8jIjJo88S_Y1WI9vWQhyjb_L7OW1KUEWiGyWrm-WwCtLSqNeSZBBPqDcM0F3NMZB-nofOe2e-XfxzX25digYEc-97Xm4YnP3WAeL9YF9YGxgAJTtDKO39OkH5vtNrpuGmGAS6tXgK1oWJSdGElNS7OIPw4FWfPsXDwN7EdNEeY514EaG31hg6zm8H_3EuR4YU8h6haD8Ff8_XOZBanaHBCL05rcyldlNngpvHR34cFcuVUu7sIlbrTJ32rCtH5u0WDcTGVh_AZXJUxNCEBd3k0aAaMd2wue-KfAns22ztyP0HFhqr5KOjwdx7IYs0AA-YPu4WfJuO5pezUMbaC2v3gjUHHU-s0SncGNi_8XDT51ZiFWK7y_M9H6hUL-tf-akH6bh9oOF4y8BCUFvUBx",
  "id": "rs_0c8ad1b35949b333016ab4687fcf7487d089115a4984afa031",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.135,\"right_z\":0.02},\"note\":\"The rotated wrist view centers the yellow object clearly, with the safe to its left. I’m lowering and moving inward slightly to place the fingers on opposite sides of it.\"}",
  "call_id": "call_QsufPHJDr40VUVHbl2pmGUdM",
  "id": "fc_0c8ad1b35949b333016ab46883367087d0923c21fd9be47ad0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QsufPHJDr40VUVHbl2pmGUdM",
  "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]: [-0.1688, 0.8318, 0.6868, -0.5106, -0.2745, -0.0761, 0.9963, -0.075, 2.669, 2.0884, -0.4553, -1.3056, -1.0714, 0.9989]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1849 left_yaw=0.0883 left_pitch=-0.0543 left_roll=0.1186 left_gripper=0.9963 right_x=0.5636 right_y=0.1322 right_z=0.048 right_yaw=1.3835 right_pitch=0.3551 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.4974, 6.9128, 1.8193, -0.1441, -0.0513, -0.0122, 0.7316, -11.6034, 4.9436, 1.2137, 0.1832, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c614087fbc08a7de2b1b77f900c978020d0e9fc099b8df6773ce654719676e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e9bc1e2db6695090663ed271b37dcace2607c67bd2e9eed87ca91dcf046468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd7fb791a47ede1af3e03fb8180822ed7383fe162fe74f6f4fb77b807f8920e",
      "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 · 3.278 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8776, 2.1098, 1.4349, -0.3813, -0.6621, -0.6811, 0.9956, -0.0799, 0.8379, 0.6487, -0.5228, -0.102, -0.2443, 0.9989]\nstate[eef_state]: left_x=0.3977 left_y=-0.3032 left_z=0.0502 left_yaw=0.0352 left_pitch=-0.1846 left_roll=0.1198 left_gripper=0.9956 right_x=0.2823 right_y=-0.001 right_z=0.1606 right_yaw=0.1367 right_pitch=-0.1291 right_roll=-0.1017 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -12.7932, 7.3504, 1.2137, -0.398, 0.0562, -0.0024, -0.212, -1.2376, 7.0222, 1.8388, -0.1001, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8307, 0.6868, -0.4953, -0.2749, -0.0761, 0.9963, -0.1501, 2.6167, 2.2669, -0.8536, -1.2793, -1.2854, 0.9989]\nstate[eef_state]: left_x=0.2905 left_y=0.0028 left_z=0.1881 left_yaw=0.0884 left_pitch=-0.0384 left_roll=0.1147 left_gripper=0.9963 right_x=0.5623 right_y=0.0897 right_z=0.104 right_yaw=1.3644 right_pitch=0.3093 right_roll=-0.0776 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -1.2103, 6.9949, 2.1026, -0.1294, -0.0366, -0.0024, 0.253, -12.1231, 4.1368, -0.3687, -0.8913, -0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8318, 0.6868, -0.5106, -0.2745, -0.0761, 0.9963, -0.075, 2.669, 2.0884, -0.4553, -1.3056, -1.0714, 0.9989]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1849 left_yaw=0.0883 left_pitch=-0.0543 left_roll=0.1186 left_gripper=0.9963 right_x=0.5636 right_y=0.1322 right_z=0.048 right_yaw=1.3835 right_pitch=0.3551 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.4974, 6.9128, 1.8193, -0.1441, -0.0513, -0.0122, 0.7316, -11.6034, 4.9436, 1.2137, 0.1832, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c614087fbc08a7de2b1b77f900c978020d0e9fc099b8df6773ce654719676e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e9bc1e2db6695090663ed271b37dcace2607c67bd2e9eed87ca91dcf046468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd7fb791a47ede1af3e03fb8180822ed7383fe162fe74f6f4fb77b807f8920e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiIRRH8erfAGXrZAKRT8vWvNpCEGxNFmVxJW70gttAYtdxooq9wa02u0WbzwIAKUf_D6QE7RMib1W-dNsJg9QvWmGE1A7wc6HsjBZaYidzXiHwPr-eiLpY8HHB6Uo9AdbpfDw-pCyFVDOOkHbQu5qfXM-i0cXsByWxPiOJjyOThfKDQZQ-7tgPY4jRbicJzZqQY5H9uIbL8bdoq1iSJD9yqjN9aH99FpNG592UM2mBKiel-Jrm0jatoXKKaGU2ZPh33h5oItNlZC_s6lqAeYZdIXz0l-10NtS5urXQu2ZVGHEFHJKEpLX3Wji8JcMH9FraHxuw3nmQV_BD8OWFnG5H--lpbj82znTL0itj1KDYGUQBQnqCu18A2cevtpxQgPsvlAoAHt737LX0IkXQwkSDROhjj9WiEwVuL0Jqtlnoxstty17eLEzu6vSsrXxn9AmqPtQMK789I6mRvI1smKdX8xbotCnOaCNi66DJzg-jR0rz9NKgPzW7b-QJ5p7M7qm8CM6_LxQw-37wLGwi8w2UwVnCcEtlPTbypFSF8y6fCjRAmmuuuMcIApzAubG1mARIglf_XSGbh3Qsb844cJdqhW2ISYwu12EiTfgqAT839pQZqmBNz3Qr1Q9lZH6j3TKYHk-Bb3A4JEvdULx2-U1yq8Ct_4z-a_lyXEA09jD6prTPeRTELyQverIuPigskS7qRl4oupN-c5-65N9uDngL_k-2xT5-ecAx5k67yUoKb6RDWe3SBSJD6aixSYUhymOkVEJHeACMkJ-9aUNck4Ifbo-YZ0ug98cB9aL-Z2ouSnw7UB0nv9cCrpeLf5Yu_2ifl4sFfzetO-4gAbxP2VvJAetdwZrkFVz0OI1h476TBOLJI3WtCq8d92euO1V7eMyDIcu-Dgz0LSBv9khx2huCAn-B6tn3Jks9L3kadGsd06Nr-Os078_EQ3dvSD8TFEkbzVVjLO5-tsYKrvwKgUUgW61Oj46POGFspJzcr7blqFrLahUkd9d-cLGu90qi2HEgXqU-NMF1mFT_zbvoCbAmT3_SBqno4euloIpUW2b8r71Ea3KDjmZGatEWLYDERE2Z-NBWwnR3NK889K-bTRxSZXPnWNwWyCMgLyG-qHvm_N-3xAWV-uMykrAcmbCyi2rPpIb6B_vHsnwWT6h9qck1WANaMEbQCEDMR7e1XD9nvwmh3bu4ZcDifaoExYfOT0TK-KMQLA9xxnuhY3GmZ09I6u9cc0Wa769kOr2BgoFVgVjPHPSqUQarXv6BJwTEDadOVgWeiw-aW-PoqthHQrhFCOOnq0YeOWZVAlHGh1NDY4ij89Qfld7ipdItTI_nv6N-9_O9aTX7f_gp5XPta_IOQ8GThnhacAWipBCpkEXNLyAkvjJERdssKlu5EXBxxvSxgiy8gEJ6aTLqm47vg5GqyRA==",
  "id": "rs_0c8ad1b35949b333016ab46886677887d0bae6d4c8731719d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is centered between the rotated jaws at the low approach position. I’m closing around it and will verify the grip before moving away.\"}",
  "call_id": "call_X0m1QYgxz8cmiAhdF3qZUQVA",
  "id": "fc_0c8ad1b35949b333016ab468875a7487d0a8d7600e25624559",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X0m1QYgxz8cmiAhdF3qZUQVA",
  "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]: [-0.1688, 0.8322, 0.6868, -0.5186, -0.2745, -0.083, 0.9963, -0.0738, 2.669, 2.0869, -0.4385, -1.3239, -1.0725, 0.4021]\nstate[eef_state]: left_x=0.2872 left_y=0.0033 left_z=0.1833 left_yaw=0.0922 left_pitch=-0.062 left_roll=0.1153 left_gripper=0.9963 right_x=0.5633 right_y=0.1337 right_z=0.0512 right_yaw=1.3999 right_pitch=0.3722 right_roll=-0.0485 right_gripper=0.4021\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.6923, -0.1197, 0.0171, -0.0122, -0.3897, -14.8034, 6.3521, 0.7839, -0.3248, -0.022, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85041fc2452ab92f8b162308a6bb027a9d20586e310a398eb6a55dd1878ed39a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7cba9df8e2b476094b270b091fac0df1b97090bed95f8dd93ee7fa0a68f8bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2682b00cf1b4cb166cdb56362c300f53d76b6137a3f54b8f1df3a86889a88932",
      "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 · 5.605 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8272, 0.6876, -0.4648, -0.281, -0.0738, 0.9962, -0.0799, 0.8425, 0.6487, -0.5537, -0.1024, -0.244, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0031 left_z=0.1955 left_yaw=0.092 left_pitch=-0.0041 left_roll=0.1111 left_gripper=0.9962 right_x=0.2775 right_y=-0.0005 right_z=0.1538 right_yaw=0.1379 right_pitch=-0.1637 right_roll=-0.0934 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.6615, 7.5282, 1.9365, -0.0122, 0.1441, 0.0513, -0.1162, -1.3744, 6.8718, 1.8877, -0.0855, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8318, 0.6868, -0.5106, -0.2745, -0.0761, 0.9963, -0.075, 2.669, 2.0884, -0.4553, -1.3056, -1.0714, 0.9989]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1849 left_yaw=0.0883 left_pitch=-0.0543 left_roll=0.1186 left_gripper=0.9963 right_x=0.5636 right_y=0.1322 right_z=0.048 right_yaw=1.3835 right_pitch=0.3551 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.4974, 6.9128, 1.8193, -0.1441, -0.0513, -0.0122, 0.7316, -11.6034, 4.9436, 1.2137, 0.1832, -0.1783, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5186, -0.2745, -0.083, 0.9963, -0.0738, 2.669, 2.0869, -0.4385, -1.3239, -1.0725, 0.4021]\nstate[eef_state]: left_x=0.2872 left_y=0.0033 left_z=0.1833 left_yaw=0.0922 left_pitch=-0.062 left_roll=0.1153 left_gripper=0.9963 right_x=0.5633 right_y=0.1337 right_z=0.0512 right_yaw=1.3999 right_pitch=0.3722 right_roll=-0.0485 right_gripper=0.4021\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.6923, -0.1197, 0.0171, -0.0122, -0.3897, -14.8034, 6.3521, 0.7839, -0.3248, -0.022, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85041fc2452ab92f8b162308a6bb027a9d20586e310a398eb6a55dd1878ed39a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7cba9df8e2b476094b270b091fac0df1b97090bed95f8dd93ee7fa0a68f8bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2682b00cf1b4cb166cdb56362c300f53d76b6137a3f54b8f1df3a86889a88932",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiMUAXcWkwGy8JlUYAdGp0Vxf2k0-8M8ifL6YizmvltqIrbQAZdHtTUL3d3egl1693HIKS6A-DY6BCOSqvr9DoR7VZQsn62_ZP2UmoP3REXGnqbz6tcwcnb4KlWcyjNFrxrC_6dKC_u_RRznhZe-0Ne8svMtmW7wn9RATHotSMGoogYF-yysevAGMcIP2o51miOVAjYx0a4heg4Qn_f7oUWZSD1OuIYvy6yWN0QIoWp35d8gVldpWO0-xxnXoUSLv5gNBon2n6i7SKZpm878uKKK6kNgEyAm5SPmucbeVeWmid3BjSscej6W076NG1OZOHMMKNeEkNsjpPLK3Q468Hg_aMgGzSvURopGf2vl0hM-AhAqybJwdJaIlJBnIBGNfDW-DhLm5KUEVnzcFVwhaLDrBfi-HY3gjDlAwowdVLHWfvtZz2eK2ErQe9FTl1X3-EUPEqqOgAmTTwDcCoFJqdC7OyP5OV6yg6mNS_cwEdbaCPhNuHWmh9TJ47AL3QH7SNIqCYYo08PkhElOvf-kDhFIE-wxvcZ-wR_UubTNtggkzpnFJz6grL0qjxE_ip8On6kK2cJlmLI4IU4re3LYvKVZs25qINRj4k_UmwzfeoV1QsyyrEksMjOwYMXjVdvnbFRq9aHwxy9y2RROIKSma0TC-pricDGVPJHA5QJ1_E24aL-DhItS9UqZzrFN1MmCa6wkN2_VDlYXZGRSZ4irNfX6wqvE9KKCMEcxu1uUz9z2w3WnU5IFQTRTnQlWaMNFdjckLr2Z7qfj36pdnGhwQX868n2mqWvTmLVMx2MHg4MzvQ9YWH_ykazsxr7pE1SYWkZOmJDO8M7yCKSfHbaKtIdkm8-ouNE5KUP73wg3OSw8x0RzUqKNev84HIsq5Z_cfbbT_vPR8STcLg6lVChWW_1wUgolrv5YcYiAC9ChZZQdonXz30-JorKlEh6JXwyGg7wz_o9zu6z9nILO97k6R3hUFhpfGkS3EJtKvCE3Ci-y2fBpvFIvxJBpXvzQ556x0WP6IZNfYmvN2tKrYP2sHD-uYTyGmR5xe8c6O_XckUv5RZ3ruiP3yUCtoQyZ2YDDSY8wBuhc7HchkBg_3g9OcUc94g13ajdsPGwqA_wMJgTyNNDPd8WmOOBalUAggBhZSQxebJY9blOf-3QZSHz-O00Z_5o_cIZDkq5WjUP8TbL1GPrx-V-d3aOhHtnX61PWuke",
  "id": "rs_0c8ad1b35949b333016ab4688b623887d090666129a84894c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The jaws have stopped around a roughly four-centimeter object, confirming contact. I’m lifting the yellow object just clear of the table to check that it follows.\"}",
  "call_id": "call_bSPeabLras7JZEJ6pEhujylY",
  "id": "fc_0c8ad1b35949b333016ab4688b9ec487d0bba8f3487123a023",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bSPeabLras7JZEJ6pEhujylY",
  "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]: [-0.1688, 0.8322, 0.6868, -0.5259, -0.2745, -0.0834, 0.9963, -0.0731, 2.6461, 2.149, -0.5991, -1.3029, -1.0737, 0.4003]\nstate[eef_state]: left_x=0.2862 left_y=0.0034 left_z=0.1819 left_yaw=0.0925 left_pitch=-0.069 left_roll=0.1168 left_gripper=0.9963 right_x=0.5608 right_y=0.1334 right_z=0.0697 right_yaw=1.3637 right_pitch=0.3453 right_roll=0.0282 right_gripper=0.4003\nstate[joint_eff]: [-0.0752, -1.3607, 6.9128, 1.6825, -0.149, -0.0269, -0.0122, -0.1162, -19.5624, 8.8684, 0.9499, -0.7546, 0.022, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e42fc094c336f2efeb1b17a568cbb0fdbe21e7785550016d9cf81569b67586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c4a486ff3dbf0d4497c1df09c737aab8dfa1f1006f0334a4816941bd06aaec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272f992d23c2d6c8577fd4f5a1aee7ff6dc363388a1cf917ebb9129b4b4293e3",
      "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 · 11.44 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8307, 0.6868, -0.4953, -0.2749, -0.0761, 0.9963, -0.1501, 2.6167, 2.2669, -0.8536, -1.2793, -1.2854, 0.9989]\nstate[eef_state]: left_x=0.2905 left_y=0.0028 left_z=0.1881 left_yaw=0.0884 left_pitch=-0.0384 left_roll=0.1147 left_gripper=0.9963 right_x=0.5623 right_y=0.0897 right_z=0.104 right_yaw=1.3644 right_pitch=0.3093 right_roll=-0.0776 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -1.2103, 6.9949, 2.1026, -0.1294, -0.0366, -0.0024, 0.253, -12.1231, 4.1368, -0.3687, -0.8913, -0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5186, -0.2745, -0.083, 0.9963, -0.0738, 2.669, 2.0869, -0.4385, -1.3239, -1.0725, 0.4021]\nstate[eef_state]: left_x=0.2872 left_y=0.0033 left_z=0.1833 left_yaw=0.0922 left_pitch=-0.062 left_roll=0.1153 left_gripper=0.9963 right_x=0.5633 right_y=0.1337 right_z=0.0512 right_yaw=1.3999 right_pitch=0.3722 right_roll=-0.0485 right_gripper=0.4021\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.6923, -0.1197, 0.0171, -0.0122, -0.3897, -14.8034, 6.3521, 0.7839, -0.3248, -0.022, 0.862]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5259, -0.2745, -0.0834, 0.9963, -0.0731, 2.6461, 2.149, -0.5991, -1.3029, -1.0737, 0.4003]\nstate[eef_state]: left_x=0.2862 left_y=0.0034 left_z=0.1819 left_yaw=0.0925 left_pitch=-0.069 left_roll=0.1168 left_gripper=0.9963 right_x=0.5608 right_y=0.1334 right_z=0.0697 right_yaw=1.3637 right_pitch=0.3453 right_roll=0.0282 right_gripper=0.4003\nstate[joint_eff]: [-0.0752, -1.3607, 6.9128, 1.6825, -0.149, -0.0269, -0.0122, -0.1162, -19.5624, 8.8684, 0.9499, -0.7546, 0.022, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e42fc094c336f2efeb1b17a568cbb0fdbe21e7785550016d9cf81569b67586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c4a486ff3dbf0d4497c1df09c737aab8dfa1f1006f0334a4816941bd06aaec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272f992d23c2d6c8577fd4f5a1aee7ff6dc363388a1cf917ebb9129b4b4293e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiSVnWHMP2zY1pgSPWNXcaRzNDcO43NX6SsTYuPavSRDDivI45y9AeDXiK8o2-nSFrNal2L3LVOPb9YVNEvJueFqWhGlZl3C9RLVcgOUIWlEKgcyEYIero2fjMkf9qkV8rzsDT1A3TYt89FrHx1XVtaoiDOgiMBaEea_jOxQ8KUzVkpZnjGtKuzRVwrrDQ9EgW9h2oZn3YS7AJIiBNJdVScoCDCTUT1aHSFHAykoz8CEXXxG09-oc7W5sz5BlFKHnm4PASD_jy1QSly7_FIiHa_n5wmKd5AJSXdORN-HoOgqQ1HPEPQX9mFPRu3tx887380CfPeGtyou2aFA1CPZFG2pfRn7gbflYQ6QEFOlFw00IxHBXmHe_2IdLpxivfDh3GG9WYtrXSBJVL1AnnfAO571OZGCaKFFwZPchNPIQudj_ytAPHKiSXfbqz1LdPf4wNYj2Z92aqlXXH2sDCjieZSKK85QyFvnM3ETxITy2w8vZhSV8uPin4IFe5PgHCcGI9PWezO-fGCzYT3_gcYsNH3L2ymi2Dsj_GMfcm3FPRr8iahNWYbP1ZAPvjDb0jvyCyEXQpF6S9co2Jri6I5QvKqoLBIBf_tiUAoR_d6wGRwGCxkby7mhiPGA6MAukWxaqIlaSWRsM3rdWmtp5qH904uD-sFsU7w6ZjLW_aShlG3wx5Ol3xDUiTcehN0IWdEFA6jXB7pFFYDpwq4dWjhNCsvNes_3tY_Tqf2JggyrtMIj-JVLWFpsjpuc6PtNNmN7UFF4-5oc3uMziA2nX3B2UpzufrRr_QtqnHR0resJFWYp8lw-T-uno1enMinrFdhf-tA7i0FqjpY3GNgmtfy6O4ajS-M47XZ6xZaMxRdoz9YqXdHwNEJ0ciHpu977fHBgoDX0VkdxhBqAqoeGDMQKxnZUssG8tUbzUobKoWyW_s3sWOOWZm8qzsM9L8r3W_lBws_cilsCUk0yR5iyZK6-ZzIj33sytNnpAW4YFz44Mb7iQ9vnuPh8TbszP59KHcoXikIR07TBEZXUkvO1dixEztu18c21BLpv_Gm2XvmbOmxA2i5uvFBNTlvRDXPtGKjI92dogpXcaM3zuYlhj5AQVCKA3cI9FSD0XjSS9wdILiz5X9_7F4Je1GkU88CNPbQ-BNuPvJbnsKU9_e_-E6OOFeKjkQpgakqgLMBodnHzvpt4zhxuIKVNRsuhOWwlJwUVm5h8SmTQuqDoOWUhT9xJB1NNkag_oql1-OdPzR4OZtBz0IRTfnMBDz6vHPbTjDaLK9V_15UwveLmZOJLOayrga20QxzFa47f9JrTgDnch6WByrKTsWTsNE_X77ejdHls15OudkoR74TkeI-Vt7TMS87VShPKIGrhhjVi3kXtp5jImCTBfFK2Ki13_d6WGrMlN0o6ZFlAqjuU0hOu1gYNla9f7laq9v0hyVcocAUXInwkvJ5OAG8XFWJ6rVUILmQ9xQ07Q7ijBkUThGWuu9boBAVB89jlHLno68P3H-ByLBgYMH8ZcynjF88IQVhe0KvvAnltfkdVOIcaYDKjn_y4DuUeEp2X7nXf7835vU9GlgRpS0ghG0lrzlwLKU3_UEuaeF2eL12PTc0uRTQJtSHcbzq6EJ8PX8-BNoI1J4tV2Duy78v7hB2UFeeJTo0lTZBpjbIiS6WUij2NMMBFiX1TgAHfv4LNPT04O26s6GLA3Mxf9IOz_VyXLkDVje1W6qcjaTmSN3O1Bb-cbie_VZj3RRBSenlGuXloyDS1NwypQAaq_2iX9-l7WV7Y3ebIalOrYR26zuFs4yT7t3DOqB-poe1gKChdC7Q5KUV5WPblEHDhbcCQ0Jl1uS5HiZUL1byl2irsPLC5_dwtXWAIGpthABFgqcOonOVlrX6KBkhgvFWAG1Ee_ZgW7QK_rqOKZUrYJpZE2C6NKN9m4aS91vxAtBWbkkSWZRxLNBeEOftq-sbrP8=",
  "id": "rs_0c8ad1b35949b333016ab4688ece7087d091cc303353747670",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.28,\"right_z\":0.2,\"right_gripper\":0},\"note\":\"The yellow object has risen from its original spot, but it appears near the edge of the fingers. I’m keeping the grip closed while bringing it inward above the safe.\"}",
  "call_id": "call_G85iXqDjzGIE7u279YRUG0XT",
  "id": "fc_0c8ad1b35949b333016ab46891746887d0a490d7fe7defe926",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G85iXqDjzGIE7u279YRUG0XT",
  "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]: [-0.1688, 0.836, 0.6868, -0.54, -0.2745, -0.0872, 0.9963, 0.247, 2.0296, 1.4242, 0.0067, -1.087, -0.4927, 0.0065]\nstate[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1783 left_yaw=0.0949 left_pitch=-0.086 left_roll=0.1185 left_gripper=0.9963 right_x=0.4442 right_y=0.277 right_z=0.173 right_yaw=1.3742 right_pitch=0.3168 right_roll=0.0717 right_gripper=0.0065\nstate[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.7802, -0.1294, -0.0171, -0.0122, 0.1299, -13.5453, 6.6393, 1.8437, -0.2857, 0.1832, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fd83591505498c19da57eba910fa68f5bf13182a94549b8fa43e72c8b22b53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b00dafd4c87db379a0d7c6c11e9a3fc86978b5f81629fbd76188a77e3441f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0115727834d3c6d13ce17554c17802ad0e6b6e02208eab18ff4084eb57e19a",
      "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 · 6.135 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8318, 0.6868, -0.5106, -0.2745, -0.0761, 0.9963, -0.075, 2.669, 2.0884, -0.4553, -1.3056, -1.0714, 0.9989]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1849 left_yaw=0.0883 left_pitch=-0.0543 left_roll=0.1186 left_gripper=0.9963 right_x=0.5636 right_y=0.1322 right_z=0.048 right_yaw=1.3835 right_pitch=0.3551 right_roll=-0.0328 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -1.4974, 6.9128, 1.8193, -0.1441, -0.0513, -0.0122, 0.7316, -11.6034, 4.9436, 1.2137, 0.1832, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5259, -0.2745, -0.0834, 0.9963, -0.0731, 2.6461, 2.149, -0.5991, -1.3029, -1.0737, 0.4003]\nstate[eef_state]: left_x=0.2862 left_y=0.0034 left_z=0.1819 left_yaw=0.0925 left_pitch=-0.069 left_roll=0.1168 left_gripper=0.9963 right_x=0.5608 right_y=0.1334 right_z=0.0697 right_yaw=1.3637 right_pitch=0.3453 right_roll=0.0282 right_gripper=0.4003\nstate[joint_eff]: [-0.0752, -1.3607, 6.9128, 1.6825, -0.149, -0.0269, -0.0122, -0.1162, -19.5624, 8.8684, 0.9499, -0.7546, 0.022, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.836, 0.6868, -0.54, -0.2745, -0.0872, 0.9963, 0.247, 2.0296, 1.4242, 0.0067, -1.087, -0.4927, 0.0065]\nstate[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1783 left_yaw=0.0949 left_pitch=-0.086 left_roll=0.1185 left_gripper=0.9963 right_x=0.4442 right_y=0.277 right_z=0.173 right_yaw=1.3742 right_pitch=0.3168 right_roll=0.0717 right_gripper=0.0065\nstate[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.7802, -0.1294, -0.0171, -0.0122, 0.1299, -13.5453, 6.6393, 1.8437, -0.2857, 0.1832, 0.5983]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fd83591505498c19da57eba910fa68f5bf13182a94549b8fa43e72c8b22b53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b00dafd4c87db379a0d7c6c11e9a3fc86978b5f81629fbd76188a77e3441f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0115727834d3c6d13ce17554c17802ad0e6b6e02208eab18ff4084eb57e19a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c8ad1b35949b333016ab46895db5487d0aa49f5a69f2eac2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.165,\"right_z\":0.095,\"right_yaw\":1.4,\"right_pitch\":0.35,\"right_gripper\":1},\"note\":\"The yellow object slipped forward and the gripper is empty. I’m checking whether it is still reachable at the far workspace boundary before attempting anything further.\"}",
  "call_id": "call_rZSQ6G0zlDbIiUF9a9OevRMF",
  "id": "fc_0c8ad1b35949b333016ab4689e707c87d0a6e4f39dec4fcda9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rZSQ6G0zlDbIiUF9a9OevRMF",
  "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]: [-0.1688, 0.8413, 0.6868, -0.5632, -0.2745, -0.0902, 0.9963, -0.0055, 2.9623, 2.7415, -0.8345, -1.2999, -0.9665, 0.9948]\nstate[eef_state]: left_x=0.2811 left_y=0.0043 left_z=0.1726 left_yaw=0.0973 left_pitch=-0.1134 left_roll=0.1236 left_gripper=0.9963 right_x=0.5907 right_y=0.1705 right_z=0.062 right_yaw=1.3818 right_pitch=0.3462 right_roll=0.0957 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.6205, 6.8718, 1.9658, -0.1294, -0.0122, -0.0122, -0.2393, -14.5026, 6.7214, -0.0708, 0.3199, 0.6862, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b6d889b3d67c0cca5201a616d6ce234b684f099f09d7d93a8f2da2b58428ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41948c29378c8d46c2cfb08f299982d9b8c447f7676e8f0c9d9031652150becc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7399a27ece6944128a65bc9316e91aef1789953b937a710d1806e20d262f4c6",
      "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 · 5.235 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5186, -0.2745, -0.083, 0.9963, -0.0738, 2.669, 2.0869, -0.4385, -1.3239, -1.0725, 0.4021]\nstate[eef_state]: left_x=0.2872 left_y=0.0033 left_z=0.1833 left_yaw=0.0922 left_pitch=-0.062 left_roll=0.1153 left_gripper=0.9963 right_x=0.5633 right_y=0.1337 right_z=0.0512 right_yaw=1.3999 right_pitch=0.3722 right_roll=-0.0485 right_gripper=0.4021\nstate[joint_eff]: [-0.0752, -1.3744, 6.8991, 1.6923, -0.1197, 0.0171, -0.0122, -0.3897, -14.8034, 6.3521, 0.7839, -0.3248, -0.022, 0.862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.836, 0.6868, -0.54, -0.2745, -0.0872, 0.9963, 0.247, 2.0296, 1.4242, 0.0067, -1.087, -0.4927, 0.0065]\nstate[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1783 left_yaw=0.0949 left_pitch=-0.086 left_roll=0.1185 left_gripper=0.9963 right_x=0.4442 right_y=0.277 right_z=0.173 right_yaw=1.3742 right_pitch=0.3168 right_roll=0.0717 right_gripper=0.0065\nstate[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.7802, -0.1294, -0.0171, -0.0122, 0.1299, -13.5453, 6.6393, 1.8437, -0.2857, 0.1832, 0.5983]\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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8413, 0.6868, -0.5632, -0.2745, -0.0902, 0.9963, -0.0055, 2.9623, 2.7415, -0.8345, -1.2999, -0.9665, 0.9948]\nstate[eef_state]: left_x=0.2811 left_y=0.0043 left_z=0.1726 left_yaw=0.0973 left_pitch=-0.1134 left_roll=0.1236 left_gripper=0.9963 right_x=0.5907 right_y=0.1705 right_z=0.062 right_yaw=1.3818 right_pitch=0.3462 right_roll=0.0957 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.6205, 6.8718, 1.9658, -0.1294, -0.0122, -0.0122, -0.2393, -14.5026, 6.7214, -0.0708, 0.3199, 0.6862, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b6d889b3d67c0cca5201a616d6ce234b684f099f09d7d93a8f2da2b58428ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41948c29378c8d46c2cfb08f299982d9b8c447f7676e8f0c9d9031652150becc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7399a27ece6944128a65bc9316e91aef1789953b937a710d1806e20d262f4c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGimsaJWnj-QuJbC59JieaOwT1l9PswiXF4zD65RfnIs8VrfgpNzRfPLqOGUXd92Km8en_E3iRXHaCnX7Y-FlQ1Kbvb6SDNZN-eM8DROnpHrddVckwmK5WY1uhgX1INeYo5NwTFP8ylbJvcs6VMdQ6bgW6A14CBPZOY9r50R5CrIAjX58t-u8WgNtUhOlN9UDNXy5Zx32QWuF-bULJSqMDtOMQNWarxc3kwCoTbCsFjXU0rHu7Q_KDqDMFXq8ju9uGE4Sfn2RR-wBMChOKGb-tskYHkPkuwdXJglgV8pAUlmvN1-YLEIuQty0KXLttfOYxI5C-7o7SSxGDj7bboQs8nIpQr-anUlSHcspkY1EZ1u92sEVpEOuiuYMSxMZ2WzXuI_Z6arZbDiTCxwzZoBY-jM4bpZk7vfiVycsg-qFsRlWKCVBOJOZ2ObBosjCiHPG8RAUPRq0jiTJsDMN5mc6_G0J-x6Sxdr2-2MwRM5ai49TtfFqrKqMYYpS2SBI7keVRih-WCtaKAhsd76gnZRZ-1W1sybRzmm8D_UsyzJhFXGWUKWV37oFBsTWTjWuZcvDwa7xO7qUMFXyKzQm5HY53vq-grIrpvR1cySTWreHlxMCBorfXAL3KOYlUF58AKok2lRQ7m8ifbyhTF99kljELG0F3Q05b8UfLXqYxPboALTHoCqBIcs-ktpsZlVHQ2YZ2XELA4J9KaZBc0lOhl9W5hvM69qr1G80N3gX1aF96ZRffN1E-YfQmULpk-Of2vusUiPPhFx67UaEyNfSNRLbXQvfqqsYAxswpaZJKHSvEGzRaE_omKSeaWllyBxlTcwjlLjPOvvryJEpx72GBu35cYVsXLvRp-HvXtnOV1jQjgM9cMDolwefst22lkvWKvXckYC1sfFMMHbWTDl48EyVXa9IoNxs6vdjVFJaUDE6gAS1fzUkNvTGW8o5sXqIJJjb4FSmuhnfQPFU4uElK8-vLz6tS9pNecEWNlLFbcnzbbkBQVQgtfUh8XXLqO360VwjsZFEQp1QMe0AReBKlW_nTsac62tIBA5j29I4WXenrYQ_cXGLlx4PC1EZ2vViA3pkDSVucCbmDtu0m5DnAhKg_YAwoo5t56dAr8B32X_AA7QVK8A6Qlwfb6VcKTp9QU1hMSM4_kATf_1yONB2-CsZNALA5gtJxC17qjcP3uKA1B5Rnve1_-kewfhmQnmc7Po1E3r5HGq1cBed82dPtmgxzvbhQema01Qm3eyIm_FswwEfFxhJLmgPRGrV15AiIHmk4EIxMHeezfh9MNx2AIpOlBwJeoP4XR13V3fKkFqxNejhSyegyuM-LVOyayNQ9Y1_LviXR7XUSVHbS441hCnij6ddHz3X00iBIeU0OURSOprCoFlwmMfkRV8Ge10VkpyQAowgS-CL_TLCpBLv2a6dRBk3g8Ml3aQzZ1QOzzSyFI7RHCbE6G7NjH7IrYGhwtGI1FKTAUYdWCuCbPgC0FeLpErPXHHoK9Xawhoi6EE-FZJqWL3HttNDe61DnlOfTJZzTl_OgJ9-cvTD7jvNSTVVrDJtSEt4prZbNp10clMSdM2-YTQzo4-6B-6mJfcy77uEAkZb2gVub1hj3iROxLzq6NHQGZD5wymL4H91fF26z8JFXf6frcSBUtyt1mY4PMqZYwdole6ff4Q78-OGuiqBu1_ya0vZsqJTkL9D1DfrQQXm9D9BOPDU-XvNWaJe6Pt1tIdacmVRMlSwEu0BuHDJx3F1cgmi9N0NKie327lDJ1LDxMY2erHyxMDaFqiWeD_O5ibO5gmxxs9kp6Y57-FIg_6HOvo3qIf3DMs2-fXr_-eooHMxFNmTRIyRt_ij1TbYdamzQ-vvJnmOchOOYqOIykxiRJHW092x5zS5lDwB8YY5FzHOajEY4Pebj6LxDPRV8giVSNaUFWSYpAIqk7jSt3qe37yXgCSnAavpgxE6qnFxJ6vCFE0Zo14TZaXTObPUYmiLeK3MquW8b4jU4Snw-yiSpw7qBe6QIJZMQGDzzmuY_f7oqoL48l_Pb1fVXorUBOtMEW9dK5py18hNhfskeWbF3o8hglNYp2bwCJ5R29J8OuQHV2wOITBuUYSHDQ0qKxbF6JWSpYf0NqOlFlz9aZDy3tEBtX_NJjdEo5ELh-S0xoinPTiYd0yBzUAt0bVHrFrf8kL-rwt1CNQzGJGuuQ1lhuAk7ewwjeJdEl6uHJEdLoXE-QD1e0_W8VTPsc2qiKNUcqa2DenXwwRc7-BxB0ruU6_hmEkIGNJMMftKDENfZ7elIFqI_jPW475_-4UJjBBssxHNruExzhUjXqdltC_8EZw4camaq2Tje4CJNjth5y2RNu9hP1zndnr05tWDpqOD_AsCzDLwuG1hF5ltiXIi4fuV7F5awllqSKo3Gl3vIjOzLCidACv2Jf-CBYBMDVB",
  "id": "rs_0c8ad1b35949b333016ab468a2422887d0baf150f44c7b9a91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.005,\"right_gripper\":0,\"right_pitch\":0.5},\"note\":\"The yellow object is still partly between the open jaws at the boundary. I’m lowering and closing once, then will keep active closure during any lift to prevent another slip.\"}",
  "call_id": "call_c1yK9zn35EsLg5Qu24khtKQV",
  "id": "fc_0c8ad1b35949b333016ab468a5d03087d09ddb14a6044d9869",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c1yK9zn35EsLg5Qu24khtKQV",
  "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]: [-0.1688, 0.8425, 0.6868, -0.5781, -0.2745, -0.0906, 0.9963, -0.0162, 2.8906, 2.2753, -0.0029, -1.4277, -0.5877, 0.0085]\nstate[eef_state]: left_x=0.2788 left_y=0.0047 left_z=0.1697 left_yaw=0.0981 left_pitch=-0.1288 left_roll=0.1276 left_gripper=0.9963 right_x=0.591 right_y=0.1689 right_z=0.0301 right_yaw=1.4164 right_pitch=0.4999 right_roll=0.0504 right_gripper=0.0085\nstate[joint_eff]: [-0.1162, -1.388, 6.8444, 1.6923, -0.1538, -0.0366, -0.0122, 0.1436, -11.7128, 5.2308, 1.1795, -0.0855, 0.2369, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33257776704157510891a7a8c0edf5eb053a5ac2e9a923cebe13f970ddcbd7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28db3a870e528285dc8d0962060d31e9806295dc361931b0a97e407eae39a713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9dc4e6b5483a23d4fa8f6b212b29bfe5a4e98c3e2ad05092f8f78c61197f27",
      "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 · 4.635 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8322, 0.6868, -0.5259, -0.2745, -0.0834, 0.9963, -0.0731, 2.6461, 2.149, -0.5991, -1.3029, -1.0737, 0.4003]\nstate[eef_state]: left_x=0.2862 left_y=0.0034 left_z=0.1819 left_yaw=0.0925 left_pitch=-0.069 left_roll=0.1168 left_gripper=0.9963 right_x=0.5608 right_y=0.1334 right_z=0.0697 right_yaw=1.3637 right_pitch=0.3453 right_roll=0.0282 right_gripper=0.4003\nstate[joint_eff]: [-0.0752, -1.3607, 6.9128, 1.6825, -0.149, -0.0269, -0.0122, -0.1162, -19.5624, 8.8684, 0.9499, -0.7546, 0.022, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8413, 0.6868, -0.5632, -0.2745, -0.0902, 0.9963, -0.0055, 2.9623, 2.7415, -0.8345, -1.2999, -0.9665, 0.9948]\nstate[eef_state]: left_x=0.2811 left_y=0.0043 left_z=0.1726 left_yaw=0.0973 left_pitch=-0.1134 left_roll=0.1236 left_gripper=0.9963 right_x=0.5907 right_y=0.1705 right_z=0.062 right_yaw=1.3818 right_pitch=0.3462 right_roll=0.0957 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.6205, 6.8718, 1.9658, -0.1294, -0.0122, -0.0122, -0.2393, -14.5026, 6.7214, -0.0708, 0.3199, 0.6862, 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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 0.8425, 0.6868, -0.5781, -0.2745, -0.0906, 0.9963, -0.0162, 2.8906, 2.2753, -0.0029, -1.4277, -0.5877, 0.0085]\nstate[eef_state]: left_x=0.2788 left_y=0.0047 left_z=0.1697 left_yaw=0.0981 left_pitch=-0.1288 left_roll=0.1276 left_gripper=0.9963 right_x=0.591 right_y=0.1689 right_z=0.0301 right_yaw=1.4164 right_pitch=0.4999 right_roll=0.0504 right_gripper=0.0085\nstate[joint_eff]: [-0.1162, -1.388, 6.8444, 1.6923, -0.1538, -0.0366, -0.0122, 0.1436, -11.7128, 5.2308, 1.1795, -0.0855, 0.2369, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33257776704157510891a7a8c0edf5eb053a5ac2e9a923cebe13f970ddcbd7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28db3a870e528285dc8d0962060d31e9806295dc361931b0a97e407eae39a713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9dc4e6b5483a23d4fa8f6b212b29bfe5a4e98c3e2ad05092f8f78c61197f27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGiszzfykfbsbv8djhjvs6beZFZQp-NP7X-DdSyGXQ-vqKJkiYDVqRUyy_t604zNzWd3YmT5PFzQNoEKBguu8QH-n97IkG6XHFgOTl1lV0-N90-rVFnSI6ZWrFzpSqX5c-FyFPsmXq12nMotEq_EE-83tOkvNmJo_mzN1xuYIeMDOzlOPmCokox3ZxumYx0A5FpOb9efvpVR2_R1KfVn0lSNBsat0jHU3ojxErVwfPN_o693ZbpTWUw7xCgvKnuXNz-ZWOFcu0wCSU8EqRe26iThUZ93xeLYYS1232745uZnTjGjof_kBJ0dbwUQNePvI7lYLKx2-5JsPkdamXEvv1Q5Oi0korPNgzz9XNElARgxl9JdoHedOtjwTqYoX6oG_EKqOiTCrFnMtygtkMydqa5y9UCvHZ6azFPs8J0iivnVRJZZAgkt5MXPxRDuS59OP9M5S217kj4CJbMM9GErIJK0Fb0Ix_LWx51p_8dwjMZ7szXRZ7kXLFUKo_vf56NH9ENzIPRvJfPHE2vMat1Z2ChiCLecf6VB1It6wmaDVN_MBmA6_O_KvimUkDuKEMzd3KHBFVu8jCwdSVMPXevL_aDdwUr-p__moOX-bUaxLZwG3UjkKuXwc-gUDNB19Fd3hd_lq4VdrGI86Hypoeucr7mPQn93p_-Qjw09t9gAKidkrppyXAlqRBy9d78ai9pJsryTMECK-fJ5BAqD-1ehIUPDoATFdEl3BLlsl9nhHRw-yBtF7vw_EsCONKh-K9PDkKaoMKzm7ggiZbbehESHj3TA8u18h73Fmk4LStwtgxTkGDu7Jvkn0ZaOvVcmXPByXItgt5MYo26EDvFMRqz7aO25gYB2GZ1PM-tsGWHQ7rSfmZWCz3GPWKdoIBO9TnTTy564YgQVbtdXErQznY4BXsaBmfJLv0I0zT5HETAbsIKE3XwwFj-Pdw8R212KCNc1bOg6nYr7SAcEsgEFwMWTFoeVwAgBrPcw6NwPic3-vHNEpLVlbjt8BgWBc0Q730FHJlNA0y80DDEKLgpbsCyIRc5IJ-tTN8BPXGkAfgadV9bfQP7jMhji3MyP-hA7_yVR2x4kvXPfpUnHEfHmVRRGd_cE1RUXYcoS3_CiM21k6fwshWWIkNsmlPnmRp7ESprNvU7dh1BBHwC0c5dxphVYlVI2h7eKmWrJaGKQbzfVKWjtdam1RGErn0jQQJuImQ1s5OB2LX1-2Pu49ohuQrBfsiaGVw3paNHiceEkrXaSbDFIx2myjLplNAyTJMH7YriPdbd93lM8PR9vnqVIlwBrVsn6R0teX1nhDiHb-wa74BuJSGJnRWnHQ85U9cmFNM93-QxiQLlQhicCGXXveKheF5ZZ8yvEcsAOKj09YO4YoCbh7pmfin64Teq4nXuP1TX1C2jL_Nhsux1tFsNopbazhOPyqJ-qNeiiJUnkqt0NYLE3raR9RKyibw2qfFi3mUu5rEc7CtbFqy3Pz9JP9gimyp1p4itaqMb_CQnOz3fRvQJP_9WRoP8p7HY4xg3SXF_FRh2f6E3jT3gpfRHAssTLMvP3_8uvgegPROL7HtfhXb_7aZe6hs75Z6JM5cScytXI6C9KDV7SO_4f6ixZPJ6W6xZT86wboMuqoQmCTQbitSAD1cUB56Svlpz1KIMuAm7wjC2X91Cq5AEJFyGk5Dzj4UQt1d_NNF9AbgiFM8O3PzuEZZg=",
  "id": "rs_0c8ad1b35949b333016ab468a9247087d092883df0beaaf2b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The yellow object remains beyond the fingertips even at maximum forward reach, and the last close was empty. I’m parking both arms safely; the two plush toys are inside, but I cannot safely retrieve the remaining object from this position.\"}",
  "call_id": "call_nGLZLPft8v8TiaPw98JFvuU6",
  "id": "fc_0c8ad1b35949b333016ab468abe6c087d0a2dbb2aeeae13f40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nGLZLPft8v8TiaPw98JFvuU6",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2028, 0.8341, 0.6868, -0.5301, -0.3119, -0.091, 0.9963, -0.054, 0.8291, 0.6518, -0.3897, -0.1398, -0.0566, 0.9976]\nstate[eef_state]: left_x=0.2854 left_y=0.0003 left_z=0.1818 left_yaw=0.0935 left_pitch=-0.0679 left_roll=0.1349 left_gripper=0.9963 right_x=0.3013 right_y=0.012 right_z=0.191 right_yaw=0.0892 right_pitch=0.0218 right_roll=0.0458 right_gripper=0.9976\nstate[joint_eff]: [-0.7453, -1.388, 8.2393, 2.1465, -0.3443, -0.0024, -0.0122, 0.1436, -1.5932, 10.1128, 2.0147, 0.0464, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b5d26912cff755c16022d5e54b2113736f79e78b3c1139d9d3d660f10611e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86cd82131dbbe796feeda9fbe9964ec4fcf77a78240bd873fda3f8d4174caf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:204d1c88bc27f55e03865ba78b7d66663579264d3ddbe371ece404896aa353fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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