adhoc

completed
2026-09-24T00:43:23.573107+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
217 s
total steps
342
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 small pale plush, a brown teddy bear, and a yellow object. I’m moving the left gripper above the pale plush to pick it up first.
move_to
left_x0.3400left_y-0.2200left_z0.1500left_gripper1.0000right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7921, 0.6033, -0.3912, -0.0196, -0.0338, 0.9998, -0.0212, 0.7933, 0.6067, -0.3958, -0.02, -0.0124, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.3744, 10.3726, 1.9756, -0.0659, 0.2076, -0.0317, -0.3487, -1.4017, 9.6889, 1.9121, -0.0513, -0.0317, -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":{"left_x":0.34,"left_y":-0.22,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"I see an open red-lined safe, a small pale plush, a brown teddy bear, and a yellow object. I’m moving the left gripper above the pale plush to pick it up first."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe pale plush is just left of the gripper’s center in the wrist view. I’m correcting sideways and lowering around its body, clear of the safe’s rim.
move_to
left_x0.3250left_y-0.1900left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8581, 1.4967, 0.9077, -0.2638, -0.6636, -0.5865, 0.9998, -0.0238, 0.7994, 0.6147, -0.4328, -0.0204, -0.0124, 0.9995] state[eef_state]: left_x=0.3304 left_y=-0.2104 left_z=0.1316 left_yaw=-0.0181 left_pitch=-0.0559 left_roll=0.0389 left_gripper=0.9998 right_x=0.2892 right_y=0.0003 right_z=0.1726 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9995 state[joint_eff]: [-0.2256, -6.5026, 9.2239, 1.6288, -0.5006, -0.0317, -0.0366, -0.5265, -1.6479, 6.9402, 1.9756, -0.1245, -0.0659, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.19,"left_z":0.025},"note":"The pale plush is just left of the gripper’s center in the wrist view. I’m correcting sideways and lowering around its body, clear of the safe’s rim."})
tool
executing move_to over 7 steps (0.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe open jaws are alongside the pale plush’s body. I’m making a small centering correction and closing gently around it.
move_to
left_y-0.1750left_z0.0150left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8307, 1.6718, 0.6212, 0.1833, -0.6521, -0.5652, 0.9996, -0.0238, 0.8005, 0.6147, -0.4549, -0.02, -0.0189, 0.9996] state[eef_state]: left_x=0.3223 left_y=-0.1886 left_z=0.0315 left_yaw=-0.0095 left_pitch=-0.0728 left_roll=0.0608 left_gripper=0.9996 right_x=0.286 right_y=0.0003 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0583 right_roll=-0.004 right_gripper=0.9996 state[joint_eff]: [0.6632, -5.2308, 3.9179, 0.8034, -0.1392, 0.0122, -0.0317, -0.253, -1.265, 6.9402, 1.9023, -0.0855, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.175,"left_z":0.015,"left_gripper":0},"note":"The open jaws are alongside the pale plush’s body. I’m making a small centering correction and closing gently around it."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gripper closed nearly empty, so the plush was ahead of the fingertips. I’m reopening and advancing a few centimeters to surround its body lower down.
move_to
left_gripper1.0000left_x0.3600left_y-0.1700left_z0.0050right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8013, 1.6825, 0.5697, 0.3111, -0.659, -0.5396, 0.0112, -0.0238, 0.8009, 0.6147, -0.4782, -0.02, -0.0193, 0.9995] state[eef_state]: left_x=0.329 left_y=-0.179 left_z=0.0306 left_yaw=0.0084 left_pitch=-0.0249 left_roll=0.0372 left_gripper=0.0112 right_x=0.2825 right_y=0.0004 right_z=0.1632 right_yaw=0.0012 right_pitch=-0.082 right_roll=-0.0037 right_gripper=0.9995 state[joint_eff]: [0.5812, -4.9573, 3.8769, 1.2283, 0.0024, 0.0464, 0.8718, -0.0342, -1.2376, 6.9402, 1.8681, -0.0415, -0.0611, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.36,"left_y":-0.17,"left_z":0.005,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The gripper closed nearly empty, so the plush was ahead of the fingertips. I’m reopening and advancing a few centimeters to surround its body lower down."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe plush remains to the left of the fingertips, while the safe’s rim is close on the right. I’m shifting away from the rim to center the plush between the open jaws.
move_to
left_y-0.1250left_x0.3500left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7074, 1.8156, 0.5888, 0.5091, -0.6434, -0.4538, 0.9952, -0.0238, 0.8574, 0.6575, -0.5419, -0.02, -0.0196, 0.9995] state[eef_state]: left_x=0.3619 left_y=-0.1653 left_z=0.0188 left_yaw=0.0438 left_pitch=0.025 left_roll=0.0423 left_gripper=0.9952 right_x=0.2813 right_y=0.0004 right_z=0.1553 right_yaw=0.0016 right_pitch=-0.1594 right_roll=-0.002 right_gripper=0.9995 state[joint_eff]: [0.5949, -5.3538, 5.1897, 1.1551, 0.2808, -0.1197, -0.149, -0.1026, -1.2103, 10.2359, 2.0391, -0.0415, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_x":0.35,"left_z":0.005},"note":"The plush remains to the left of the fingertips, while the safe’s rim is close on the right. I’m shifting away from the rim to center the plush between the open jaws."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe pale plush now lies between the jaws, away from the safe’s edge. I’m closing for a second grasp and will check its width before lifting.
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]: [-0.6289, 1.7931, 0.4606, 0.6849, -0.6186, -0.3889, 0.9963, -0.0238, 0.8616, 0.6617, -0.5678, -0.02, -0.0193, 0.9995] state[eef_state]: left_x=0.3577 left_y=-0.1291 left_z=0.0167 left_yaw=0.0703 left_pitch=0.0655 left_roll=0.0398 left_gripper=0.9963 right_x=0.2778 right_y=0.0005 right_z=0.1513 right_yaw=0.0015 right_pitch=-0.1853 right_roll=-0.0011 right_gripper=0.9995 state[joint_eff]: [0.4308, -6.4205, 3.0974, 1.1355, 0.2027, -0.1001, 0.1001, -0.1026, -1.8803, 6.5436, 1.8095, -0.0317, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The pale plush now lies between the jaws, away from the safe’s edge. I’m closing for a second grasp and will check its width before lifting."})
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 grasp reading is very narrow, so it may have caught only fabric or missed. I’m lifting a short distance to see whether the plush follows.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6136, 1.7931, 0.4435, 0.7479, -0.6132, -0.3786, 0.0379, -0.0238, 0.8631, 0.6609, -0.5949, -0.0196, -0.0193, 0.9995] state[eef_state]: left_x=0.361 left_y=-0.1256 left_z=0.0223 left_yaw=0.0781 left_pitch=0.0984 left_roll=0.0171 left_gripper=0.0379 right_x=0.273 right_y=0.0006 right_z=0.1459 right_yaw=0.0014 right_pitch=-0.2147 right_roll=-0.0006 right_gripper=0.9995 state[joint_eff]: [-0.0068, -6.3521, 2.8239, 1.0916, 0.2613, 0.0122, 1.0037, -0.0615, -1.6615, 7.0769, 1.7949, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10},"note":"The grasp reading is very narrow, so it may have caught only fabric or missed. I’m lifting a short distance to see whether the plush follows."})
tool
executing move_to over 6 steps (0.6s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe pale plush appears to rise with the gripper, though the grip is narrow. I’m carrying it over the safe at clearance height and checking that it stays attached.
move_to
left_x0.4300left_y-0.2900left_z0.2200right_x0.2930right_y0.0000right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6136, 1.4906, 0.5251, 0.3576, -0.614, -0.3832, 0.0385, -0.0238, 0.8642, 0.6609, -0.6167, -0.02, -0.0193, 0.9995] state[eef_state]: left_x=0.3581 left_y=-0.1233 left_z=0.0855 left_yaw=0.0809 left_pitch=0.0941 left_roll=0.0173 left_gripper=0.0385 right_x=0.2691 right_y=0.0007 right_z=0.1419 right_yaw=0.0018 right_pitch=-0.2376 right_roll=0.0003 right_gripper=0.9995 state[joint_eff]: [-0.2256, -6.5436, 8.4991, 1.8779, -0.2466, 0.0366, 1.033, -0.3487, -1.4564, 6.9949, 1.746, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.29,"left_z":0.22,"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"The pale plush appears to rise with the gripper, though the grip is narrow. I’m carrying it over the safe at clearance height and checking that it stays attached."})
tool
executing move_to over 15 steps (1.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe plush is clearly traveling with the gripper and hangs ahead of it. I’m lowering with an offset so the whole plush lands inside the red-lined compartment.
move_to
left_x0.4000left_y-0.3400left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8398, 1.8858, 1.5459, -0.3996, -0.7765, -0.5785, 0.0403, -0.0277, 0.8135, 0.6601, -0.5571, -0.0238, -0.0196, 0.9995] state[eef_state]: left_x=0.4271 left_y=-0.2856 left_z=0.2059 left_yaw=0.0754 left_pitch=0.0783 left_roll=0.0102 left_gripper=0.0403 right_x=0.2771 right_y=0.0001 right_z=0.165 right_yaw=0.0009 right_pitch=-0.1281 right_roll=-0.0003 right_gripper=0.9995 state[joint_eff]: [-0.5949, -10.1538, 8.9915, 1.4139, -0.5104, 0.0952, 1.033, -0.5265, -1.7709, 9.8393, 2.2882, -0.1001, -0.0464, -0.0073] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.34,"left_z":0.075},"note":"The plush is clearly traveling with the gripper and hangs ahead of it. I’m lowering with an offset so the whole plush lands inside the red-lined compartment."})
tool
executing move_to over 9 steps (0.9s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe pale plush is lowered inside the safe’s rim. I’m releasing it onto the lining.
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]: [-0.9627, 2.1208, 1.4067, -0.1444, -0.8356, -0.6941, 0.0418, -0.0277, 0.8169, 0.6533, -0.5877, -0.0231, -0.0193, 0.9995] state[eef_state]: left_x=0.3994 left_y=-0.3381 left_z=0.0794 left_yaw=0.0498 left_pitch=0.047 left_roll=0.0317 left_gripper=0.0418 right_x=0.2713 right_y=0.0002 right_z=0.1555 right_yaw=0.0002 right_pitch=-0.1689 right_roll=0.0006 right_gripper=0.9995 state[joint_eff]: [-0.5812, -11.3709, 5.4906, 1.4335, -0.696, -0.1587, 1.033, -0.0479, -1.5111, 7.3778, 1.8584, -0.0171, -0.0415, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The pale plush is lowered inside the safe’s rim. I’m releasing it onto the lining."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe plush has been released inside. I’m lifting straight clear of the rim before moving to the next object.
move_to
left_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9627, 2.1452, 1.3937, -0.1463, -0.8387, -0.7048, 0.9955, -0.0277, 0.8173, 0.6525, -0.6125, -0.0231, -0.0193, 0.9995] state[eef_state]: left_x=0.3969 left_y=-0.3339 left_z=0.0632 left_yaw=0.0562 left_pitch=0.0286 left_roll=0.0572 left_gripper=0.9955 right_x=0.2669 right_y=0.0003 right_z=0.1507 right_yaw=0.0004 right_pitch=-0.1948 right_roll=0.0014 right_gripper=0.9995 state[joint_eff]: [0.0752, -13.2581, 7.0222, 1.2918, -0.3443, 0.0659, -0.1294, -0.0205, -1.2239, 7.241, 1.8339, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23},"note":"The plush has been released inside. I’m lifting straight clear of the rim before moving to the next object."})
tool
executing move_to over 11 steps (1.1s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe pale plush is resting in the safe. I’m parking the left arm and bringing the right gripper above the brown teddy bear.
move_to
left_x0.2900left_y0.0000left_z0.2000right_x0.3000right_y0.1900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9627, 2.0457, 1.8198, -0.7059, -0.8345, -0.72, 0.9968, -0.0277, 0.8173, 0.6521, -0.635, -0.0231, -0.0193, 0.9995] state[eef_state]: left_x=0.3992 left_y=-0.338 left_z=0.1991 left_yaw=0.0615 left_pitch=0.0086 left_roll=0.0715 left_gripper=0.9968 right_x=0.2629 right_y=0.0004 right_z=0.1466 right_yaw=0.0005 right_pitch=-0.2177 right_roll=0.002 right_gripper=0.9995 state[joint_eff]: [0.0615, -14.0786, 8.9504, 1.3065, -0.4176, 0.1148, 0.1245, -0.1983, -0.8957, 6.8444, 1.707, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"right_x":0.3,"right_y":0.19,"right_z":0.15,"right_gripper":1},"note":"The pale plush is resting in the safe. I’m parking the left arm and bringing the right gripper above the brown teddy bear."})
tool
executing move_to over 31 steps (3.1s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe teddy’s torso is centered in the wrist view but still ahead of the fingertips. I’m advancing slightly and lowering to grasp its soft body.
move_to
right_x0.3350right_y0.1900right_z0.0250right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8089, 0.6922, -0.4793, -0.2806, -0.1303, 0.9971, 0.8001, 1.372, 0.9573, -0.63, 0.4946, 0.6113, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0034 left_z=0.1996 left_yaw=0.1192 left_pitch=0.0085 left_roll=0.0643 left_gripper=0.9971 right_x=0.2871 right_y=0.1805 right_z=0.1321 right_yaw=0.019 right_pitch=-0.2838 right_roll=-0.0513 right_gripper=0.9996 state[joint_eff]: [0.1299, -1.5111, 6.9128, 1.8291, -0.0562, 0.1441, 0.0171, 0.3487, -4.9162, 9.4838, 1.5263, 0.4225, 0.1294, -0.0611] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.19,"right_z":0.025,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The teddy’s torso is centered in the wrist view but still ahead of the fingertips. I’m advancing slightly and lowering to grasp its soft body."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe jaws are around the teddy’s torso at table level. I’m closing to secure the plush without dragging it against the safe.
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]: [-0.1696, 0.8139, 0.6868, -0.495, -0.2672, -0.1352, 0.9971, 0.7803, 1.7081, 0.5816, 0.2874, 0.5995, 0.519, 0.9996] state[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1924 left_yaw=0.1109 left_pitch=-0.0183 left_roll=0.0601 left_gripper=0.9971 right_x=0.3234 right_y=0.1849 right_z=0.0176 right_yaw=0.0044 right_pitch=-0.0796 right_roll=-0.034 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.6342, 7.3641, 1.7851, -0.2808, -0.0171, -0.0171, -0.335, -6.0786, 4.0957, 1.37, 0.4274, -0.232, -0.0171] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are around the teddy’s torso at table level. I’m closing to secure the plush without dragging it against the safe."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe teddy also gives a narrow grasp reading. I’m lifting a few centimeters to verify that the body is actually held before carrying it.
move_to
right_z0.1050right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1696, 0.8143, 0.6868, -0.5095, -0.2665, -0.1356, 0.9971, 0.7788, 1.7184, 0.5739, 0.318, 0.5941, 0.5163, 0.0387] state[eef_state]: left_x=0.2873 left_y=0.0016 left_z=0.1895 left_yaw=0.1106 left_pitch=-0.0328 left_roll=0.0635 left_gripper=0.9971 right_x=0.3242 right_y=0.1861 right_z=0.0158 right_yaw=0.0088 right_pitch=-0.0734 right_roll=-0.0245 right_gripper=0.0387 state[joint_eff]: [-0.0752, -1.265, 7.0085, 1.8437, -0.149, -0.0171, -0.0122, 0.0205, -7.5419, 5.3265, 1.1502, 0.2711, 0.1294, 1.0769] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_pitch":0},"note":"The teddy also gives a narrow grasp reading. I’m lifting a few centimeters to verify that the body is actually held before carrying it."})
tool
executing move_to over 6 steps (0.6s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe teddy is moving with the gripper. I’m carrying it over the safe, offset toward the far side because its body hangs to the right of the grasp.
move_to
right_x0.4350right_y0.3800right_z0.2400right_pitch0.1000left_x0.2900left_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]: [-0.1696, 0.8181, 0.6868, -0.5175, -0.2665, -0.136, 0.9971, 0.7959, 1.4738, 0.6518, 0.02, 0.6167, 0.4961, 0.0393] state[eef_state]: left_x=0.2864 left_y=0.0018 left_z=0.187 left_yaw=0.1109 left_pitch=-0.0441 left_roll=0.0664 left_gripper=0.9971 right_x=0.3182 right_y=0.1841 right_z=0.0823 right_yaw=0.022 right_pitch=-0.0447 right_roll=-0.0354 right_gripper=0.0393 state[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7705, -0.1685, -0.0366, -0.0122, 0.1709, -6.6393, 8.841, 1.7998, 0.4176, -0.0855, 1.0281] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.38,"right_z":0.24,"right_pitch":0.1,"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"The teddy is moving with the gripper. I’m carrying it over the safe, offset toward the far side because its body hangs to the right of the grasp."})
tool
executing move_to over 17 steps (1.7s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe teddy is above the open compartment with its body inside the rim’s footprint. I’m lowering it beside the pale plush.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8173, 0.6868, -0.5243, -0.2783, -0.1402, 0.9971, 0.9287, 2.1422, 2.0014, -0.614, 0.7528, 0.5045, 0.0394] state[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1862 left_yaw=0.1097 left_pitch=-0.0478 left_roll=0.0716 left_gripper=0.9971 right_x=0.4285 right_y=0.3773 right_z=0.2229 right_yaw=0.0533 right_pitch=0.0577 right_roll=-0.0586 right_gripper=0.0394 state[joint_eff]: [-0.3624, -1.6342, 8.212, 1.873, -0.232, -0.0122, -0.0122, 0.3214, -12.1231, 8.8821, 1.3944, 0.5641, 0.0708, 1.0281] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The teddy is above the open compartment with its body inside the rim’s footprint. I’m lowering it beside the pale plush."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe teddy has reached the safe’s lining. I’m opening the gripper to leave it in the compartment.
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]: [-0.1829, 0.8207, 0.6868, -0.5388, -0.2779, -0.1429, 0.9971, 0.9302, 2.2303, 1.5753, -0.1616, 0.7406, 0.5041, 0.0394] state[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1825 left_yaw=0.1111 left_pitch=-0.0649 left_roll=0.0744 left_gripper=0.9971 right_x=0.4214 right_y=0.3718 right_z=0.073 right_yaw=0.0651 right_pitch=0.0113 right_roll=-0.1006 right_gripper=0.0394 state[joint_eff]: [-0.1299, -0.9641, 6.9128, 1.8095, -0.1343, -0.0122, -0.0122, -0.1709, -12.0547, 6.8171, 1.7118, 0.359, 0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The teddy has reached the safe’s lining. I’m opening the gripper to leave it in the compartment."})
tool
executing move_to over 10 steps (1.0s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteBoth plush toys are now in the safe. I’m lifting clear before reaching for the yellow object behind its right corner.
move_to
right_z0.2500right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5446, -0.2779, -0.1429, 0.9971, 0.9302, 2.2444, 1.565, -0.1608, 0.7406, 0.4973, 0.9948] state[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1815 left_yaw=0.1112 left_pitch=-0.0703 left_roll=0.0761 left_gripper=0.9971 right_x=0.4195 right_y=0.3693 right_z=0.0619 right_yaw=0.0689 right_pitch=-0.0045 right_roll=-0.1243 right_gripper=0.9948 state[joint_eff]: [-0.1846, -1.1556, 6.8855, 1.6825, -0.1587, -0.0513, -0.0122, -0.1026, -13.8872, 7.3094, 1.3651, 0.2173, 0.0269, -0.0806] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.25,"right_pitch":0.2},"note":"Both plush toys are now in the safe. I’m lifting clear before reaching for the yellow object behind its right corner."})
tool
executing move_to over 13 steps (1.3s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe remaining yellow object is beyond the safe’s right side. I’m approaching it from above with a slight forward tilt for reach.
move_to
right_x0.5400right_y0.2000right_z0.1800right_pitch0.4000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5591, -0.2779, -0.1429, 0.9971, 0.955, 2.0823, 1.7836, -0.4061, 0.8368, 0.3649, 0.9953] state[eef_state]: left_x=0.2804 left_y=0.0011 left_z=0.1788 left_yaw=0.1116 left_pitch=-0.0842 left_roll=0.0803 left_gripper=0.9971 right_x=0.4187 right_y=0.3709 right_z=0.2055 right_yaw=0.0934 right_pitch=0.1239 right_roll=-0.1802 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.79, -0.149, -0.0317, -0.0122, 0.1299, -15.0769, 9.7846, 1.7607, 0.4908, -0.0952, 0.0513] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.2,"right_z":0.18,"right_pitch":0.4,"right_roll":0,"right_yaw":0},"note":"The remaining yellow object is beyond the safe’s right side. I’m approaching it from above with a slight forward tilt for reach."})
tool
executing move_to over 15 steps (1.5s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThe yellow object is centered just below the wrist view. I’m lowering around it; I can also see that the teddy will need to be tucked farther inside before closing the lid.
move_to
right_x0.5250right_y0.2000right_z0.0250right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8246, 0.6868, -0.5701, -0.2779, -0.1429, 0.9971, 0.5076, 1.9888, 1.2362, 0.45, 0.5072, 0.1028, 0.9954] state[eef_state]: left_x=0.279 left_y=0.0013 left_z=0.1758 left_yaw=0.1119 left_pitch=-0.0985 left_roll=0.0847 left_gripper=0.9971 right_x=0.5307 right_y=0.2011 right_z=0.1629 right_yaw=0.0055 right_pitch=0.3181 right_roll=-0.0484 right_gripper=0.9954 state[joint_eff]: [-0.2256, -1.3607, 6.8581, 1.6825, -0.1734, -0.0269, -0.0122, -0.4034, -9.6068, 6.5709, 2.3907, 0.0659, -0.1197, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.2,"right_z":0.025,"right_pitch":0.5},"note":"The yellow object is centered just below the wrist view. I’m lowering around it; I can also see that the teddy will need to be tucked farther inside before closing the lid."})
tool
executing move_to over 9 steps (0.9s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
right_cam
camera right_cam step 243
assistant
agent noteThe yellow object sits slightly right and nearer than the gripper center. I’m correcting toward it and shortening the reach before closing.
move_to
right_x0.5000right_y0.1750right_z0.0150right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8291, 0.6868, -0.5846, -0.2779, -0.1432, 0.9971, 0.5163, 2.3989, 1.1, 1.2358, 0.5426, 0.0002, 0.9954] state[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.172 left_yaw=0.1128 left_pitch=-0.1167 left_roll=0.09 left_gripper=0.9971 right_x=0.5296 right_y=0.1999 right_z=0.057 right_yaw=-0.0093 right_pitch=0.5279 right_roll=-0.0368 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.6874, -0.149, -0.0708, -0.0122, 0.294, -7.3504, 4.0547, 0.5788, -0.1343, 0.3834, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.175,"right_z":0.015,"right_pitch":0.5},"note":"The yellow object sits slightly right and nearer than the gripper center. I’m correcting toward it and shortening the reach before closing."})
tool
executing move_to over 3 steps (0.3s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteThe yellow object is within the open jaws. I’m closing partway around it to avoid squeezing it sideways.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5861, -0.2779, -0.1432, 0.9971, 0.506, 2.4176, 1.0004, 1.457, 0.5163, -0.0036, 0.9953] state[eef_state]: left_x=0.2768 left_y=0.0017 left_z=0.1714 left_yaw=0.1128 left_pitch=-0.1192 left_roll=0.0907 left_gripper=0.9971 right_x=0.5115 right_y=0.1878 right_z=0.0632 right_yaw=-0.0244 right_pitch=0.6167 right_roll=0.0207 right_gripper=0.9953 state[joint_eff]: [-0.3487, -0.8547, 6.8581, 1.6142, -0.1392, -0.0562, -0.0122, -0.9641, -7.5009, 1.935, 0.4908, 0.0708, 0.1197, -0.0171] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"The yellow object is within the open jaws. I’m closing partway around it to avoid squeezing it sideways."})
tool
executing move_to over 8 steps (0.8s)
step 254
top_cam
camera top_cam step 254
left_cam
camera left_cam step 254
right_cam
camera right_cam step 254
assistant
agent noteI’m securing the yellow object and making a short test lift. This will show whether the partial close captured it or only touched its edge.
move_to
right_gripper0.0000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5888, -0.2779, -0.1432, 0.9971, 0.4915, 2.4199, 0.9737, 1.5074, 0.5335, 0.001, 0.2549] state[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.171 left_yaw=0.1129 left_pitch=-0.1218 left_roll=0.0915 left_gripper=0.9971 right_x=0.5082 right_y=0.1742 right_z=0.0647 right_yaw=-0.0677 right_pitch=0.6345 right_roll=0.0409 right_gripper=0.2549 state[joint_eff]: [-0.0615, -1.2376, 7.241, 1.6093, -0.1832, -0.0415, -0.0122, 0.1846, -7.3915, 2.0855, 0.8864, -0.1392, 0.0513, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_z":0.13},"note":"I’m securing the yellow object and making a short test lift. This will show whether the partial close captured it or only touched its edge."})
tool
executing move_to over 5 steps (0.5s)
step 259
top_cam
camera top_cam step 259
assistant
agent noteThe test lift was empty; the yellow object stayed on the table. I’m reopening and moving farther forward for one corrected grasp.
move_to
right_gripper1.0000right_x0.5400right_y0.1900right_z0.0450right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8322, 0.6868, -0.5903, -0.2779, -0.1432, 0.9971, 0.4904, 2.2383, 0.9314, 1.2869, 0.5308, 0.0101, 0.022] state[eef_state]: left_x=0.2763 left_y=0.0018 left_z=0.1702 left_yaw=0.1131 left_pitch=-0.1251 left_roll=0.0925 left_gripper=0.9971 right_x=0.5061 right_y=0.1729 right_z=0.0943 right_yaw=-0.0433 right_pitch=0.5649 right_roll=0.0008 right_gripper=0.022 state[joint_eff]: [-0.1709, -0.9915, 6.8308, 1.5653, -0.1685, -0.0562, -0.0122, 0.1573, -13.0393, 5.2991, 2.2637, 0.0708, 0.1392, 1.1062] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.54,"right_y":0.19,"right_z":0.045,"right_pitch":0.35},"note":"The test lift was empty; the yellow object stayed on the table. I’m reopening and moving farther forward for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteThe yellow object is now clearly between the jaws, slightly to the right. I’m making a small centering correction and closing at its lower edge.
move_to
right_x0.5500right_y0.1700right_z0.0200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8356, 0.6868, -0.5926, -0.2779, -0.1429, 0.9971, 0.4885, 2.2982, 1.1152, 0.9295, 0.5072, 0.1059, 0.9948] state[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1689 left_yaw=0.1131 left_pitch=-0.1306 left_roll=0.0945 left_gripper=0.9971 right_x=0.5342 right_y=0.1908 right_z=0.049 right_yaw=-0.0238 right_pitch=0.3611 right_roll=-0.0199 right_gripper=0.9948 state[joint_eff]: [-0.212, -1.6342, 6.9265, 1.6044, -0.1392, -0.0366, -0.0122, -0.6222, -10.1402, 6.8308, 1.9414, 0.0855, 0.2027, -0.232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.17,"right_z":0.02,"right_gripper":0},"note":"The yellow object is now clearly between the jaws, slightly to the right. I’m making a small centering correction and closing at its lower edge."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteThe second close was also empty, so I’m stepping back and lifting to recheck the yellow object’s position instead of repeating the same approach.
move_to
right_x0.4700right_y0.1700right_z0.1500right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.836, 0.6868, -0.593, -0.2779, -0.1429, 0.9971, 0.4309, 2.3569, 1.1469, 1.0569, 0.4568, 0.0792, 0.0197] state[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1688 left_yaw=0.1131 left_pitch=-0.1313 left_roll=0.0947 left_gripper=0.9971 right_x=0.5541 right_y=0.1729 right_z=0.0559 right_yaw=-0.0401 right_pitch=0.4448 right_roll=0.0127 right_gripper=0.0197 state[joint_eff]: [-0.3214, -1.3607, 6.9538, 1.5604, -0.1685, -0.0317, -0.0122, -0.294, -7.9932, 5.2308, 1.3651, 0.0708, 0.0464, 0.989] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.17,"right_z":0.15,"right_pitch":0,"right_gripper":1},"note":"The second close was also empty, so I’m stepping back and lifting to recheck the yellow object’s position instead of repeating the same approach."})
tool
executing move_to over 15 steps (1.5s)
step 294
assistant
agent noteFrom the retracted view, the yellow object is centered and still forward of the fingertips. I’m approaching again with the tool vertical, avoiding the tilt that complicated the earlier alignment.
move_to
right_x0.5150right_y0.1700right_z0.0150right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.836, 0.6868, -0.6075, -0.2779, -0.1432, 0.9971, 0.4801, 1.808, 1.1637, -0.0132, 0.4248, 0.2893, 0.9961] state[eef_state]: left_x=0.2737 left_y=0.0023 left_z=0.1662 left_yaw=0.1139 left_pitch=-0.1451 left_roll=0.0987 left_gripper=0.9971 right_x=0.4727 right_y=0.1681 right_z=0.1284 right_yaw=-0.0312 right_pitch=-0.0084 right_roll=-0.0162 right_gripper=0.9961 state[joint_eff]: [-0.2803, -1.3333, 6.8444, 1.7265, -0.1538, -0.0659, -0.0122, 0.3487, -11.7265, 9.0598, 1.8486, 0.1099, 0.1099, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.17,"right_z":0.015,"right_pitch":0},"note":"From the retracted view, the yellow object is centered and still forward of the fingertips. I’m approaching again with the tool vertical, avoiding the tilt that complicated the earlier alignment."})
tool
executing move_to over 8 steps (0.8s)
step 302
assistant
agent noteWith the tool vertical, the yellow object is visibly farther forward than expected. I’m extending toward its middle at a small clearance height to check whether it is within reach.
move_to
right_x0.5750right_y0.1700right_z0.0450right_pitch0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8379, 0.6868, -0.6121, -0.2779, -0.1429, 0.9971, 0.4454, 2.1418, 1.1397, 0.3164, 0.3946, 0.2657, 0.9973] state[eef_state]: left_x=0.2731 left_y=0.0024 left_z=0.165 left_yaw=0.114 left_pitch=-0.1514 left_roll=0.1009 left_gripper=0.9971 right_x=0.5022 right_y=0.1684 right_z=0.0125 right_yaw=-0.0292 right_pitch=-0.0424 right_roll=-0.0325 right_gripper=0.9973 state[joint_eff]: [-0.1709, -1.4838, 6.8308, 1.5897, -0.1783, -0.0659, -0.0122, -0.8957, -9.1282, 7.3231, 1.2918, 0.0806, -0.1001, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_y":0.17,"right_z":0.045,"right_pitch":0.05},"note":"With the tool vertical, the yellow object is visibly farther forward than expected. I’m extending toward its middle at a small clearance height to check whether it is within reach."})
tool
executing move_to over 6 steps (0.6s)
step 308
assistant
agent noteThe yellow object is now at fingertip depth and only slightly right of center. I’m making the final small forward and sideways correction before grasping.
move_to
right_x0.5900right_y0.1450right_z0.0400right_pitch0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8398, 0.6868, -0.6155, -0.2779, -0.1432, 0.9971, 0.4061, 2.2597, 1.3926, 0.2264, 0.3538, 0.1997, 0.9974] state[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1639 left_yaw=0.1144 left_pitch=-0.1564 left_roll=0.1022 left_gripper=0.9971 right_x=0.5567 right_y=0.1767 right_z=0.027 right_yaw=0.0012 right_pitch=-0.0136 right_roll=-0.0447 right_gripper=0.9974 state[joint_eff]: [-0.0615, -1.4564, 6.8581, 1.5409, -0.1245, -0.0171, -0.0122, -1.5111, -11.8085, 8.3487, 2.0781, 0.2857, 0.0024, 0.0024] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.145,"right_z":0.04,"right_pitch":0.05},"note":"The yellow object is now at fingertip depth and only slightly right of center. I’m making the final small forward and sideways correction before grasping."})
tool
executing move_to over 3 steps (0.3s)
step 311
assistant
agent noteThe yellow object is between the jaws at table level. I’m closing around its center now that the longer reach is aligned.
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]: [-0.1829, 0.841, 0.6868, -0.6159, -0.2779, -0.1429, 0.9971, 0.3584, 2.2745, 1.4158, 0.2253, 0.2844, 0.1429, 0.9974] state[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1635 left_yaw=0.1143 left_pitch=-0.1579 left_roll=0.103 left_gripper=0.9971 right_x=0.5683 right_y=0.1638 right_z=0.0253 right_yaw=0.0413 right_pitch=-0.0228 right_roll=-0.0504 right_gripper=0.9974 state[joint_eff]: [-0.0205, -1.388, 6.8171, 1.5116, -0.1538, -0.0611, -0.0122, -2.3316, -11.0291, 9.1145, 2.1954, 0.4225, 0.0611, -0.0122] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is between the jaws at table level. I’m closing around its center now that the longer reach is aligned."})
tool
executing move_to over 10 steps (1.0s)
step 321
assistant
agent noteThe safe shifted during that close while the yellow object remained visible, so the jaws may have caught the rim instead. I’m releasing and lifting clear rather than dragging the safe.
move_to
right_gripper1.0000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1829, 0.8425, 0.6868, -0.6308, -0.2779, -0.1429, 0.9971, 0.3233, 2.2837, 1.4296, 0.226, 0.2726, 0.123, 0.4117] state[eef_state]: left_x=0.2702 left_y=0.0029 left_z=0.1606 left_yaw=0.1151 left_pitch=-0.1736 left_roll=0.1078 left_gripper=0.9971 right_x=0.5766 right_y=0.1468 right_z=0.0254 right_yaw=0.0268 right_pitch=-0.0203 right_roll=-0.0584 right_gripper=0.4117 state[joint_eff]: [-0.212, -1.4427, 6.8034, 1.6825, -0.1636, -0.0464, -0.0122, -0.6496, -11.9043, 7.8974, 2.2735, 0.3004, 0.0269, 0.9548] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.13},"note":"The safe shifted during that close while the yellow object remained visible, so the jaws may have caught the rim instead. I’m releasing and lifting clear rather than dragging the safe."})
tool
executing move_to over 7 steps (0.7s)
step 328
assistant
agent noteI’m withdrawing both hands to safe clearance so the yellow object and the safe’s opening are unobstructed. This will let me verify what remains reachable without further rim contact.
move_to
right_x0.4000right_y0.0000right_z0.2200right_gripper1.0000right_pitch0.0000left_x0.2900left_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]: [-0.1829, 0.8425, 0.6868, -0.6353, -0.2779, -0.1429, 0.9971, 0.3241, 2.1632, 1.557, -0.1017, 0.2646, 0.1127, 0.6946] state[eef_state]: left_x=0.2695 left_y=0.0031 left_z=0.1598 left_yaw=0.1153 left_pitch=-0.178 left_roll=0.1092 left_gripper=0.9971 right_x=0.5689 right_y=0.1461 right_z=0.0845 right_yaw=0.0384 right_pitch=-0.0985 right_roll=-0.0849 right_gripper=0.6946 state[joint_eff]: [-0.0205, -1.3744, 7.0085, 1.5311, -0.1587, -0.022, -0.0122, -0.1436, -15.4051, 9.2513, 1.7802, 0.1001, 0.1148, -0.0171] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0,"right_z":0.22,"right_gripper":1,"right_pitch":0,"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"I’m withdrawing both hands to safe clearance so the yellow object and the safe’s opening are unobstructed. This will let me verify what remains reachable without further rim contact."})
tool
executing move_to over 13 steps (1.3s)
step 341
assistant
agent noteI couldn’t safely complete the task. The yellow object is now beyond my reliable forward grasping reach, and further attempts contacted and shifted the safe. The pale plush is inside, but the teddy still protrudes over the front edge, so I left the safe open and withdrew both arms. Please reposition the yellow object closer and tuck the teddy fully inside before closing.
give_up
hindsightThe plush toys were held by thin fabric with gripper readings around 0.04, so narrow readings needed a lift check; their bodies hung several centimeters away from the grasp point and required larger placement offsets. Forward wrist tilt substantially changed the apparent grasp row and led to poor yellow-object alignment; using a vertical tool restored reliable low-height tracking. At long reach, a nonzero grasp reading can mean the jaws caught the safe rim rather than the target—check which object moves before transporting.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2111, 0.8272, 0.6868, -0.5522, -0.3202, -0.1383, 0.9971, 0.0097, 1.3071, 0.9958, -0.2844, 0.0467, -0.0719, 0.9986] state[eef_state]: left_x=0.2816 left_y=0.0002 left_z=0.1798 left_yaw=0.1155 left_pitch=-0.0758 left_roll=0.1097 left_gripper=0.9971 right_x=0.407 right_y=-0.0007 right_z=0.2108 right_yaw=0.0078 right_pitch=-0.015 right_roll=-0.0864 right_gripper=0.9986 state[joint_eff]: [-0.5675, -2.0171, 8.4991, 1.9365, -0.3541, 0.1783, -0.0122, -0.1709, -5.8735, 7.1179, 1.9512, -0.0806, 0.0269, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I couldn’t safely complete the task. The yellow object is now beyond my reliable forward grasping reach, and further attempts contacted and shifted the safe. The pale plush is inside, but the teddy still protrudes over the front edge, so I left the safe open and withdrew both arms. Please reposition the yellow object closer and tuck the teddy fully inside before closing.","hindsight":"The plush toys were held by thin fabric with gripper readings around 0.04, so narrow readings needed a lift check; their bodies hung several centimeters away from the grasp point and required larger placement offsets. Forward wrist tilt substantially changed the apparent grasp row and led to poor yellow-object alignment; using a vertical tool restored reliable low-height tracking. At long reach, a nonzero grasp reading can mean the jaws caught the safe rim rather than the target—check which object moves before transporting."})
tool
give_up: I couldn’t safely complete the task. The yellow object is now beyond my reliable forward grasping reach, and further attempts contacted and shifted the safe. The pale plush is inside, but the teddy still protrudes over the front edge, so I left the safe open and withdrew both arms. Please reposition the yellow object closer and tuck the teddy fully inside before closing.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.53 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, 0.7921, 0.6033, -0.3912, -0.0196, -0.0338, 0.9998, -0.0212, 0.7933, 0.6067, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.3744, 10.3726, 1.9756, -0.0659, 0.2076, -0.0317, -0.3487, -1.4017, 9.6889, 1.9121, -0.0513, -0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb535862c4ca9d7486bc4e17a41d16cc30953cec63c1aca26cd54566cc40fd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84c09b6cfac7e8d09e289d38e727a0b60f8ce4398c08da0c063d0d886b34d80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042679d6bd640f08e4455e1ab06b901b31b1e415f08ae1d519fe70dcf233a481",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 4.371 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHI7gJwVNyz-EoAkeFoWlLATGiXZFXAjw_sGM61vdA8X_r89NW2uvIIHHNRQLpoKOEQR5s2k_xZ9om0CFYWJ_6Hi8dGk-d33SM1lz_RKhWDQG6fGeuICOZfcmu15cOoxISFRzWjyUTX7X-p1frSRvpt9uUergGVUen4_aaqKG1hraxN5ffNwcm3ZTeKkWUVX7UJQgVxRITf9nb5phvFGxaTSit2Fg47n6aHa_jI3mZYmGKiYzBmvZ5r4GlP_Vn-5YuTNR2MLZ-tYubiX8vRlzSf36cok8UNCd2-hBfWSVzLrYYwDKm2sqJSjpdLExJpT3LvH_rSt5bZG5sQsNDFzCfzO69R6soeFm38cpP6xDW5Zk1oT4AJ6ii_LVib84L31CuQsEU7KUHyRhHr5_d7Ywu2LkxGtAz4IbezaLijr2x-xyKFBmVzhP112h-aC63RstETO_dmE9WFNRrA57hsnM5b_bgg258KgAfouH53P6UV3gkFEolgodTWzSZD33p9pgDq_2ZSNA-p4F0IvewZmxst0TwDKf2XOU4-WykJqDx6w8r5imH78Gl8_J9IT1P5VisA7ei-45HuprhyVmOIDPg6euTWd-zSIbkLodGe2bc6lgSA1c4VEzCUa1wJ6Bq3wqUOMYLqDk-IvT-puTi8D4cGxySIGm2QiyVcU2-69T6_TI1rfIzAuAEtJCYlOQr2RYDP6dsqMs5B6bMdH6xpP1qt_5-ynlccNfKKpl2HfCvUGw0bn9omDi6omHEsUTjBj8PBq3rRGtEvqXr4VhkSvipyHxVfJ5nsYc7XANsVfiR239MXWpPUKk0APXfvi8sDOeJivM65ueRQEkHsdxwteHWDpfKis0eoMn5B3TnbM9kz1wpj3h9YYPJZZWrUH98Hlx9iyeVRJuiU_XGdC9eAVI46YB0zCIskLUCT8CkaSxF5NVfrVDPpI8ARNnAvkkEzafRzbiD1qzQJS4Zae-0u5Z3HEuhqYKzvsPCIJnfI7vfm5vQbp0TN6rcgmB4ULi9CTNy0kxvIvXQLa97rKJY0vF0r1h7C1G1msPwZpjyt9tjJKVzMtFTcA4WMnjC87F2XfKC0iOi1sv5szPvwzp6SNjVhy2kXym1bnj53mMT9BMr8SK_ZbyRieGCc9eXpcEHHKc2AnIeBck6a0ZU9RZ0ooJ3dp4QHl4x6xi0Jb12HPPdyKY3y3yzb5332ttzM2caBNdZxy-OgfUjsaRtERW6u2iAQz0SgA3PowEWf0kYe6to1gDNxywJlzkd9EezlG6BonI6VU5ZDZWbLKRnv9j7ZGyThQHP8i7Kl-KzyfiQBXE-00zjE3eIrLBxwO64lCf-sRd4BST7gF_GjiMBX8jd3bwTa5H_qoH8ysAB9_QbWZfPELPKlqBxqoFqXL4nyvujp805IxJMizGInzSKc2qOyitq3D17CDWpyuxkncWlZOkLF60ph1U1ZEdztfF7apa9aI7FyDRzubtdyZK8YIaao9k3gI_BLmmYaeDqRI0B_ZnamNwnycu2GoA7H5WOwiTET6rCtfaA9ZeBAlQyUUvzUKC2LLzFt6WIB1uXfqK2taU4tJgPY0GNeW0xaDuEBLYo_UXrKOi5nBZAIh-IgzApVB2W5uSpP6Qmj7NCILNIAt_Iohd3N26FIgtx17Wk03WHMBmgIDAAUiFbsprdqCa1u69YYIDqbq7qmk0EifjSnHoxsAkLYCovsPoAEWGCz5pO2ONlbfHhTDMD1nioffcG-bH4X3X7Pp-Ba4RivRu6C_bjQxg6AKDCTB6TCJ9hQzHww8Tl4KLNCmEKGPPowjgcFi8JRm0geuSvRoZTVQc_6AsQq65G3i1s6ZzfWys_nF0uis5ZRMkJe3X6Sgw1QDtU3sNjlzVg35b6X-YLUNCUlsFyrfMqTORzPWkAfOQRpr3p7O1WHCwW-PBDziWXMR4xHAiDby3p_uLJKXw563psw2TKZV5HQxYF8i1tvcL59OBoMkJGkSJCAt2TBCzPowQJ19OrBmmQ50QTKIsR9l0ijygTfBRq-kpRX-Br7pl56XAYKP2FAtLTc6BtLEVjhk7ddyM2R4ns-xEnPmDbQJxrPjJSZOLaK47vxhq9Y0LZJ7raiq83U1-82UwuuJh811aHXVJ_QJnvtfBxQVu9R2cSkU8zzxkIfAkxVG9ThwBfqMzn-m2f8N4whPmug_10OXUp2T3FdH5I1nEUmusripAamrIRW2Ceyqtpy-QhhSTjQrx2Bqrsw6vh2wGq8wL-85RaCJ9EpelluTv1gVxqdTO1qG8zGEOz0OAiTUXvQrMdF9ZIJ9P-c8-ohFhA0hIk0-NTDxU_ArM2SfVx1TmQ099mILIFgfTSiI7Gd1rslS9Y_t_kGLp8MxjubjAjNLOm6BWv2quujctLSSNkWGtUFKz1fdseBfTMspAdo9ahsFHYxdQ6ewaRhPgFWgThteL0nt6x2p2YSk4bYpncNDbevh_y5NfvcM-htq6xWZ4og6VIvdrLNmLRpLRqTBVYsdYwz9jKUKlY6a6w==",
  "id": "rs_00540e5ee97127b3016ab47234cce487d0b0f5198f8292f193",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.22,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see an open red-lined safe, a small pale plush, a brown teddy bear, and a yellow object. I’m moving the left gripper above the pale plush to pick it up first.\"}",
  "call_id": "call_eCN8xZABJw7fp9xZHI60uLya",
  "id": "fc_00540e5ee97127b3016ab47239102487d09c66ad7cba1d3dd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eCN8xZABJw7fp9xZHI60uLya",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8581, 1.4967, 0.9077, -0.2638, -0.6636, -0.5865, 0.9998, -0.0238, 0.7994, 0.6147, -0.4328, -0.0204, -0.0124, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.2104 left_z=0.1316 left_yaw=-0.0181 left_pitch=-0.0559 left_roll=0.0389 left_gripper=0.9998 right_x=0.2892 right_y=0.0003 right_z=0.1726 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5026, 9.2239, 1.6288, -0.5006, -0.0317, -0.0366, -0.5265, -1.6479, 6.9402, 1.9756, -0.1245, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b29cf78b9abcb9e07e38ebb4184c709385139fb0ab450653a43f57e1a69e356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e76d361f74a3a578a3406d33a055998810216015c518d4e0293b8aedcee4502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f1b8eb2834fe6110828d1e9f976f8e25be2e7ba249069571bb72a4925c176b",
      "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 · 3.388 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, 0.7921, 0.6033, -0.3912, -0.0196, -0.0338, 0.9998, -0.0212, 0.7933, 0.6067, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.3744, 10.3726, 1.9756, -0.0659, 0.2076, -0.0317, -0.3487, -1.4017, 9.6889, 1.9121, -0.0513, -0.0317, -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]: [-0.8581, 1.4967, 0.9077, -0.2638, -0.6636, -0.5865, 0.9998, -0.0238, 0.7994, 0.6147, -0.4328, -0.0204, -0.0124, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.2104 left_z=0.1316 left_yaw=-0.0181 left_pitch=-0.0559 left_roll=0.0389 left_gripper=0.9998 right_x=0.2892 right_y=0.0003 right_z=0.1726 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5026, 9.2239, 1.6288, -0.5006, -0.0317, -0.0366, -0.5265, -1.6479, 6.9402, 1.9756, -0.1245, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b29cf78b9abcb9e07e38ebb4184c709385139fb0ab450653a43f57e1a69e356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e76d361f74a3a578a3406d33a055998810216015c518d4e0293b8aedcee4502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f1b8eb2834fe6110828d1e9f976f8e25be2e7ba249069571bb72a4925c176b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJB7mOezgSBWoem2N1PpMUP3IpFVoMXZqp71e0x2WttiiYfW4PyyxzkcuXS8b-n8orjoQHXub3hcGcVZOhhRC6f-aDyt_DlY3ldHNqqI-NmxwItgDM2iHfXyDryHzGLECIBuR4aSiFGor_2ShhD7gaPTWq0SocLooduTD-yWbMYKm4gYOYh0zAHM0-V43FqAm0dGYrFynUIgZWqZ7JGFxcX3ag-VAsntqyYICCSveVW3LVKXF4QoW8NGyxzVzIsj4GJVTRJV6wFFkkLxE1YOCKdrrUIdGVeMZjzGpDkfDE7tClgMRyEvxyg_Vip1Vr1EImZtPZCGfQjarN5IIjEnXumKDypZz0-MBXHR3el1uegW_Hpmnr024uYjqUHfRbk9lz1UDZjbi0LgxpgR-bPezZ8F1HFpTu3Yp2eaVSGHBmwyctatzXRxJVk-iMAZGkhR3rtlq-RyhCV4iaMjBJQiNyVrUimnDhJcsKdetOCcMb49BqYSYtFHuAe6rmw2GaV7IXj-3faECst6xnV0inRzs8pQNjFwt9hiRmNPcHhrzbrTlz0qYX-Z4d-enJ5aa34TaNkApt6K9NpS5T3A6jdiJ9HVoVo6TNuEpGMNf3CBUQesAp-N2t3kiEJK6G4Kf2CSL2ngul0mdMcxcC7BmwGBaDgvh6zlsK1WHy9THPTXx49lPgTwxfp1kbXi7TQDkSiYxmj6JYmGUe4qmbSfzubDjtZ4_H-PtAgfL3ChF0lFpR0eYRBV0S4rNJIuFmLkiiKGKJ5QlStEdVYYUmyu0i6tmrUZxg1X40a2NaJ5pH7UnWRjK0PlUDQgLSe-B9Ob0M3YqfOULS6IE6-12jhK_GUHz1mgKNxbP1w1m7H7KsXhIMxu6Q2eS0O4E-xjvcuf9Y71o8uHBNawm04aL0apIF777AJXDoU3giKoNnPn7EURYKla6y4T60TUqtVh9roSvIGnFEz2Y0-bDyv5rHYt2sgHc40j2dq0dT_871Kfycy7coHtyWZqlLFRecIfLGQVBirWPQBBPBXP_d1E-E5ofYD1PHmBGYwaT1iiJhYUq43pU6T_3bG13wuu4dhQHhbaRWWY1mlkqrXKLOxrDje0QMeNxPAqJVIkEXYNBrOIcCPgeb-sXBUa1fskizLvEh5dA8F3cWUq0UanPKlJRiIogXO3qx-Abci1BBCceZK2n174GwSLHjUdCkRjr5traSLKpwMZH9gZnXmIALCUUljXnYWusMgc_dPcU9JbiFtBfB0TSMTeWuVcNZV1182JTRWDSC67owBkBJbR-m-JzORw7TDE6RqU8DI8QbLfeo_9czegnWCKFAwoDJP1hXboUpEPcHsBWwLkbmk9wLiUUBPHSqfezRTrrUXhcx7rOPLm8Y_wNkyk8Wrug8Ecw0qDyn7De7yw-rd3yM6oPNRFj95hQ2heUjjRJ3-DWSTM77ZtfTzv_0JUCcUd0uDZQxm55-pNHFOrcLgcfOtEL_8AOSS2nP8o2LoPbjrpCOozizT7-3P46pIoT_HeFLTCSP0kYCo4cN6lFlX-PXwKH-d2aZnPjsOZ8fBAzDIu17q_jpYStE5Tmf05quwkDXSBgwcKrAa2IrsXrRB0UyrqXEdeXbKRLKF_3AAaKXMb02_8VctqH3BgdGwK263lYLfvtseqS4Xhq40-kE1B9AoVw1INDFfIJGpekbAJ_5-VoK3EyjabJ4y4mQNg-WSvRnNQeVYFoyiylr4quhH5-AAuxq94XwdXl6JQ0P-yg==",
  "id": "rs_00540e5ee97127b3016ab4723e77d087d0935140439dd1a0c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.19,\"left_z\":0.025},\"note\":\"The pale plush is just left of the gripper’s center in the wrist view. I’m correcting sideways and lowering around its body, clear of the safe’s rim.\"}",
  "call_id": "call_aJvIKlZrVvfawrosGbGLJuHs",
  "id": "fc_00540e5ee97127b3016ab472405d2487d08be941a510ea5bda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aJvIKlZrVvfawrosGbGLJuHs",
  "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]: [-0.8307, 1.6718, 0.6212, 0.1833, -0.6521, -0.5652, 0.9996, -0.0238, 0.8005, 0.6147, -0.4549, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1886 left_z=0.0315 left_yaw=-0.0095 left_pitch=-0.0728 left_roll=0.0608 left_gripper=0.9996 right_x=0.286 right_y=0.0003 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0583 right_roll=-0.004 right_gripper=0.9996\nstate[joint_eff]: [0.6632, -5.2308, 3.9179, 0.8034, -0.1392, 0.0122, -0.0317, -0.253, -1.265, 6.9402, 1.9023, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc821dc293855f30fd5f7de4f6612e2af78d8391c35a3c6920bb5bd9bace5d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa3c1bc86e9b93f82822be46ef04a5b40dc1749d12beca91840c329ac6ae671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9586756eaa993fb24e4cbaf053172413616aa822cf56e8a334a11ec7ba44b689",
      "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 · 4.472 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]: [-0.8581, 1.4967, 0.9077, -0.2638, -0.6636, -0.5865, 0.9998, -0.0238, 0.7994, 0.6147, -0.4328, -0.0204, -0.0124, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.2104 left_z=0.1316 left_yaw=-0.0181 left_pitch=-0.0559 left_roll=0.0389 left_gripper=0.9998 right_x=0.2892 right_y=0.0003 right_z=0.1726 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5026, 9.2239, 1.6288, -0.5006, -0.0317, -0.0366, -0.5265, -1.6479, 6.9402, 1.9756, -0.1245, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 1.6718, 0.6212, 0.1833, -0.6521, -0.5652, 0.9996, -0.0238, 0.8005, 0.6147, -0.4549, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1886 left_z=0.0315 left_yaw=-0.0095 left_pitch=-0.0728 left_roll=0.0608 left_gripper=0.9996 right_x=0.286 right_y=0.0003 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0583 right_roll=-0.004 right_gripper=0.9996\nstate[joint_eff]: [0.6632, -5.2308, 3.9179, 0.8034, -0.1392, 0.0122, -0.0317, -0.253, -1.265, 6.9402, 1.9023, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc821dc293855f30fd5f7de4f6612e2af78d8391c35a3c6920bb5bd9bace5d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa3c1bc86e9b93f82822be46ef04a5b40dc1749d12beca91840c329ac6ae671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9586756eaa993fb24e4cbaf053172413616aa822cf56e8a334a11ec7ba44b689",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJFRhAsjVSWiSV8jbNaQKddizxjhyKq-x_vnHdX2voIX-B3tkxaK7mbsDbo1d6kLEp8du0TibRqrp0EWDM49hvMtCltR4G6fj3zuWFmcD4mERvhl15AVsN5wkS1Dl8Xvcm7sADbjftRmma4cXp--_Mh3gTLt8MJrmmTWkFJv2Bm6Wy-qyURp5wgBWy0rY-usasOVJY-GHIKiH8axpma0gleoNZZ7luepdgaihHXOSRUpCdvHwofwfxW2PDEJMpFJS6rzvICfwDghDj78xrYqpfOAdlC8fa8elrXcYKHZVtqsoMR3wC1RhigKcFvDZYxp-zLgcnyci28l-xGt3YTwaS0ZcxmDDaGR9M-6Tx3OGbEZIajNJDKzaEXoN4aaZQyqR_-IsBU_wS34WrBUKH1j9O1t88ZKkgru-5tETVN8HDsOrWTDHnEg68YGLXZ_1mSnNo1YjJaGmAexfRUDO5DXFUOOrIt6wBcR2ifdRI2endn7xLp89mF4zarv4_aEQ1lebe22-oZ6-3BH7KPFARpCeE3vVcC4JkHUFIjjR8v3juPmwBOuO1TE-8ktu-EQ1qjTor0IFMaRnICm8baQm2LvtgN1nmx5IcyPWjkEqtMIC_ROodB9FG7w4riHzLNxK86AZob20KL4e-G8fJBf5RAuT7nLmwxweh6W6R4OXdwvAnTmk6_QLf2m9t6xbFL3ZnDZojmz0TNH17CbKoODpNdbqVZOV4NaLE7QISPCZZm6qWb7GrPE3xJdOIATkKXsXbRZcfyL_qy0QXECSa36mdkeSNm3Vguszkh_y2x7DBh0PXk3yB-A0g1EfL0jm3ef6sS8NEtcC1BCX-wzF9BtiW4GconRJsAZiYblk3aTdLuYEiSYzSNLPrumy5BhuyIY-pnbwm2kEnh6Vrug3-lzbvtnjw3khAw2f43axJPMB05foKNWvm1YExzf_ZhEn4nPu1yXrwvm_Uu6unK1EjGH5hV6iODbA6P9kHwIy9_VnjXxEcYP8BF_2if_GZ5fKIgNNVCPESaGdbNMeDbygI3inH43DKHiujLTG9PpbsFcCVzwO3yU-PjknoK628cSjIjmNgg2YJGpfjFlamonyqT8Y4kP3DIAGYIhpYTehxJxRdGUZvxyaOWsnslLBZoiGxiDzPvzfupP3kPBzlZZNicqDNmG3tGyy_rrzVf0p6yI-yhAezFhyGydgkPcLJp9qD278gb8QsmOs5V8eN_zS0bszsanHTVEyW0j2tID4k_3vW898U-h2UQqbVEOxhnckAOvZ2wk_MxHwxwOng6CxZd55LWX3L6pyknZTxuhBFisfeeaXBahjhCm2NYSqCxiEWDFfoGbCmCtqYbrNZmi5ZMl2zyEQHSEFr_QeKnpJzHztWgVNVV2QZj8y6KUndv3gLaDF3VPAfCGjboPhLGoXYNrwegT27TD3Mket_r2TAonSP2AtRMNVnaKOrjzN-TFhuePlnmKF_s",
  "id": "rs_00540e5ee97127b3016ab472433a4c87d0a6faf05289ecd1f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.175,\"left_z\":0.015,\"left_gripper\":0},\"note\":\"The open jaws are alongside the pale plush’s body. I’m making a small centering correction and closing gently around it.\"}",
  "call_id": "call_NYdPYYGlOBddfMm0wdpz9Qdl",
  "id": "fc_00540e5ee97127b3016ab47244737487d0b37526b657af2f5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NYdPYYGlOBddfMm0wdpz9Qdl",
  "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]: [-0.8013, 1.6825, 0.5697, 0.3111, -0.659, -0.5396, 0.0112, -0.0238, 0.8009, 0.6147, -0.4782, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.329 left_y=-0.179 left_z=0.0306 left_yaw=0.0084 left_pitch=-0.0249 left_roll=0.0372 left_gripper=0.0112 right_x=0.2825 right_y=0.0004 right_z=0.1632 right_yaw=0.0012 right_pitch=-0.082 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -4.9573, 3.8769, 1.2283, 0.0024, 0.0464, 0.8718, -0.0342, -1.2376, 6.9402, 1.8681, -0.0415, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fffac17f2a3cb74b29f347445d850b9c1384f7ea8ce2af30561a5e5d6e8ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895be05436524bcb402e542f17455914cb4456107dd2380c69d4bca18bc458ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d05c87820313790252e11d52feeb9676381d28dba3f29f8a0ba8529a70c3d73",
      "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 · 4.026 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, 0.7921, 0.6033, -0.3912, -0.0196, -0.0338, 0.9998, -0.0212, 0.7933, 0.6067, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.3744, 10.3726, 1.9756, -0.0659, 0.2076, -0.0317, -0.3487, -1.4017, 9.6889, 1.9121, -0.0513, -0.0317, -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]: [-0.8307, 1.6718, 0.6212, 0.1833, -0.6521, -0.5652, 0.9996, -0.0238, 0.8005, 0.6147, -0.4549, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1886 left_z=0.0315 left_yaw=-0.0095 left_pitch=-0.0728 left_roll=0.0608 left_gripper=0.9996 right_x=0.286 right_y=0.0003 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0583 right_roll=-0.004 right_gripper=0.9996\nstate[joint_eff]: [0.6632, -5.2308, 3.9179, 0.8034, -0.1392, 0.0122, -0.0317, -0.253, -1.265, 6.9402, 1.9023, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8013, 1.6825, 0.5697, 0.3111, -0.659, -0.5396, 0.0112, -0.0238, 0.8009, 0.6147, -0.4782, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.329 left_y=-0.179 left_z=0.0306 left_yaw=0.0084 left_pitch=-0.0249 left_roll=0.0372 left_gripper=0.0112 right_x=0.2825 right_y=0.0004 right_z=0.1632 right_yaw=0.0012 right_pitch=-0.082 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -4.9573, 3.8769, 1.2283, 0.0024, 0.0464, 0.8718, -0.0342, -1.2376, 6.9402, 1.8681, -0.0415, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fffac17f2a3cb74b29f347445d850b9c1384f7ea8ce2af30561a5e5d6e8ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895be05436524bcb402e542f17455914cb4456107dd2380c69d4bca18bc458ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d05c87820313790252e11d52feeb9676381d28dba3f29f8a0ba8529a70c3d73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJKnjtWwgX7shXtrgpa-8KDTwI6-dsOPuKgupFvKY8cp5h-q4bhaDYyUAD9fAkYjuX8d0wat2Ne_H82i1YD0zAzzcpcCl1Kcqeax9Xi6UHj0NTteXuMnrXA9004H4upV1nlUSFnKLUFgLCTKF0eNEb6WF2-QEOdeIkrAhpLKXNI_UgIWpC-JRndwdTj749P_Dw-BFF_Ex-Khs3YQGpsKOmWhTIACRpLMddcjYG1Jb2Ck5X9ee4tDtKtRrKnnCCPsKxWlHkDDDz1IS2J7-GF85Z8xEBZW_KV4PueQzr7k5yuK7p01qWCJUWm1U-DEiW98PHRDz5AhZCYsKA-Dhr5QCqw5lIjdahBjaldsWPmZxf_rGXtcXHyv4TNSzzQA9ZL7Eh_RU-oaOcynCQjj8ZdqXrHE6SGhdCIqB4k3B4S4ooBZ1MnFj6ocLV1VwchcQbdHo3mW6wW2S31IfnA5Ux70wM_AS0o1z63eQFychOngAOFeVAO3AjDMXJeI5cVdOeNvbCxjbw9kDqUZ0jI6-VefYo8iM2YsrVi-t1uH4alV5xASV5CX7KgxPuqVL1m_ssRYO411tawYwnwAcWUFl1xtJcKpiydAmoDK2iby3RjtdTK7Vzphj1M_8-fMynKDUppByKnKCPPJzpvMeDEeZu-uZLy6TF0uUMEQP-OPqaxG0HirSdue3WbNZhH4N0hWFBI-GGShdTGGxvPXGfGF1COE6ogR-P7TCFsQmV-FtYWrGPlqcdxOLaM7RZ2CcYn86lF4EebXUmH1mUg4YNYeqnmOZNuktvmooXHUIP_1v7Xxh-7k_7G1DeTlsqkzJXutWoDE0fy6Mdpz05555eLv2QnkX__qZGr3fCFXh_hNXUNg1CRQKd7POsMW1Vp0JhGkGq6PAIyQeK5MAmCcI9eNQBJgZKL1HL0VOvk02O798v2vPY0nwkkT-_go06NrREoU98KF1J6jP9P0B3YVe4U3me7mLYvtFAUyEWhXl88o-bElC7ThSmqYWddH0CXn979zNxbrDRQonxbBJ6WizYNCxvWAfAsauS-Xp6fzjCtizgADsRKF6xDq0pCyP3pSH09ix8h9y1o4JOoOnJwCULHL78ByIuVuCbie2XdzPtz28vB6_AYWDxDOadkR2vt25n2iBUNvhleAaDwjn3wzWvm0wfEpKkPTNI9UxTr9Ht3QueBJddvArFOMqFxlDKzPF_bbKriFGP6I3iEKVC_qQFHdC-6j6LM90DZW3AlmeTaI0gd2LquKja7dFkAU8Ac8V7OibNZQ4FQvuKRpgxusKo3Nis2iA-S40GmXNK5F7hcOXYfCvyBQph8T6AYwzzn_-_T8Z7oPAoGZTtbJCbAqSOyZZyOvjL7ua2kMnePyGslQOhUDgXQDxr1-WfG_w0FQd0iQviHR_7TR4csLk3a8ldU20Ms4TkRuTTe9a4bl4uQGHVBK69hOtA83csv05COIQumVYUQFSN1la0WyaF1wL6ZKJCwxV4NHyH5Ca6I1pDNOgc4MBhILwtW7HjkixlGXP3TpLCw8EBhng85nXIvQJvjmfiFTCT7oCzcUK04a38w-0zeJ1s-aduULoMVCTKZ-UImoy5mXum-F1gTr_ltxDR_kOb30x6TVCdWr9NPl27n9qYX3LhWS6g43V94vtpvH12YQPdIIOFg",
  "id": "rs_00540e5ee97127b3016ab47247946c87d087bea891477d3dda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.36,\"left_y\":-0.17,\"left_z\":0.005,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper closed nearly empty, so the plush was ahead of the fingertips. I’m reopening and advancing a few centimeters to surround its body lower down.\"}",
  "call_id": "call_2iD5YZzTyJFySUxQwN7RA78w",
  "id": "fc_00540e5ee97127b3016ab4724944c487d0be6d35795c78964d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2iD5YZzTyJFySUxQwN7RA78w",
  "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]: [-0.7074, 1.8156, 0.5888, 0.5091, -0.6434, -0.4538, 0.9952, -0.0238, 0.8574, 0.6575, -0.5419, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3619 left_y=-0.1653 left_z=0.0188 left_yaw=0.0438 left_pitch=0.025 left_roll=0.0423 left_gripper=0.9952 right_x=0.2813 right_y=0.0004 right_z=0.1553 right_yaw=0.0016 right_pitch=-0.1594 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.5949, -5.3538, 5.1897, 1.1551, 0.2808, -0.1197, -0.149, -0.1026, -1.2103, 10.2359, 2.0391, -0.0415, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efbbedea28b76c1310251727d990a1327741871f7360f1fc57d91db9b20c872a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06551995799809e09b447eba8905d062c95d929928cc89f83a4de485c5d07a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76912bfd302b6998776a1b73b14aee13aec5cf9159b8de8f66f11e2d2f028c51",
      "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 · 2.905 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8581, 1.4967, 0.9077, -0.2638, -0.6636, -0.5865, 0.9998, -0.0238, 0.7994, 0.6147, -0.4328, -0.0204, -0.0124, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.2104 left_z=0.1316 left_yaw=-0.0181 left_pitch=-0.0559 left_roll=0.0389 left_gripper=0.9998 right_x=0.2892 right_y=0.0003 right_z=0.1726 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=0.001 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5026, 9.2239, 1.6288, -0.5006, -0.0317, -0.0366, -0.5265, -1.6479, 6.9402, 1.9756, -0.1245, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8013, 1.6825, 0.5697, 0.3111, -0.659, -0.5396, 0.0112, -0.0238, 0.8009, 0.6147, -0.4782, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.329 left_y=-0.179 left_z=0.0306 left_yaw=0.0084 left_pitch=-0.0249 left_roll=0.0372 left_gripper=0.0112 right_x=0.2825 right_y=0.0004 right_z=0.1632 right_yaw=0.0012 right_pitch=-0.082 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -4.9573, 3.8769, 1.2283, 0.0024, 0.0464, 0.8718, -0.0342, -1.2376, 6.9402, 1.8681, -0.0415, -0.0611, -0.0171]\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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7074, 1.8156, 0.5888, 0.5091, -0.6434, -0.4538, 0.9952, -0.0238, 0.8574, 0.6575, -0.5419, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3619 left_y=-0.1653 left_z=0.0188 left_yaw=0.0438 left_pitch=0.025 left_roll=0.0423 left_gripper=0.9952 right_x=0.2813 right_y=0.0004 right_z=0.1553 right_yaw=0.0016 right_pitch=-0.1594 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.5949, -5.3538, 5.1897, 1.1551, 0.2808, -0.1197, -0.149, -0.1026, -1.2103, 10.2359, 2.0391, -0.0415, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efbbedea28b76c1310251727d990a1327741871f7360f1fc57d91db9b20c872a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06551995799809e09b447eba8905d062c95d929928cc89f83a4de485c5d07a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76912bfd302b6998776a1b73b14aee13aec5cf9159b8de8f66f11e2d2f028c51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJPO_oBemJ2NTlLJOYUWXUSbFhzn_eW7dVqPTI1E-pccyqGtnqpMW5l3VFVs9QzvEG-Uyi3tyS0bUM8kbhtked9nMIWHFJc-iI8RnILCWfqegqm0IdGFbXDL2dGx-V1PmoYTrVNpbURDOG7iaMm38i1D6Fb8EgMgmsQF1BkoMhLppFqepqE838OL1mzM6KMixGbMY6wq60Bc83WEKgIX-8Q2Yy0zJdKVjFs6Lom3qNPvOFn0vX3gX_bXARVDOiJh6WJK1_xfisY7gDZD_EfOGGNMcnMjrwbFRI3I-gxrshuhV4lI6HjJkA6Z8xjl0A_MO-7MLdgdvys7cyVrUi1XY-yJHCIodyv5e_xECoJQxvnqH6ESsV7eUwah0aLDlzDvTYAgjv-PMWqW-VICm0b-FH9dxcWRXu8WygJOqoEjCwi5ZxhIJNn6fvwpQUE6PMjQScZKVjI0dt34qWatlb79tQT7nWNdNd-_KPE-vA237NbAdg9yGVH-CTA2bNYwUWvsOQGp02CaRBC7Z2UnT7stQRD1p24HC9LFxbDPwxcnyrP_NDchZFmdX2IjNokdTeVa1p9eBIC4tFPo2g4IX_cUhtZVyVVm7HNzc5j_X7ftbw9wvGBBUEuwoFkU3hAgyNlGIXT4kktMwCzQmG3-mvdbge9IOu8hS40YzotRw2FkN2cfpfKMS_F8G80yvizwtIWeAxksYNsmGhWNuC7k1UI95-c5GS9dy9b24ZL9uDo3co9FGJi61eDQy4Hq3zqTQ5xADkd6YGbuqJg1epxc7Rt79gF07Ym6SLefZkXvSrRZXAObWAeQLSs0n9YjyUNpXPP2oz3DxQgA7OnXcFj9txtyYw9Gn2vnoZ6oGfUVqTZcQXOj9Hi5yVy78RKUVac3oikz6bfkPrD0UyOxqmZWcSATf1csE0-_yyhiG8qxtu3-kmBvjNE-H2liw-r6p1gvkPvqD0ThbjeE9YYfhFHaGS-DtnWPia6er7EfPScmHC1W8IQK1QZEe0WYNJFFRDyO1QgCY65BJ7dj-SBiJhBLxnFyET8KB8Up-OGzOhAPiWJbLK90wwd3-4Hg9DP3q5I638FO8hq2I8yI8o6cnsdK0KLmOpZUmIt9qfefxodg7SSsnls6DdGITFErsmT0BTzUj7ziLhSbmV6aIbWiTFeSO30iCXLxtuTzBGanDtTb6EwEcAIL99obQjySLlHNLbxrYOoDnuE1T1llgpWRJ_l-fjJ0jjQYNeZjKMxwp0VhCuiQDzvqg796mNrChJneHPV72wsoWYJX2oeUJ_3y7omSsbAbSmCQvmosgqtcNqZoWCJ0_CZXwHKxHhcr_s6Z76gORlKZ7YN46gJLqIRCwVMp_XzQFVFAeZKHJgbP42WBehd0NsmgEuRZu8Qo-lzW4QJyD3vseyxTUXYvZifIjOmVZHDVy2qGf3bGEQ3dBVZlIXQfnBYTMB05jFI1ghV60--S0a9-ayr2CSMYL6_dkJjZYIOH2HOMR7B1wRo8FsYvG2AzlIMogzFCPSCM187lhQQBEX4AePxt0JdL95tffa3dWMHJMxYqqMb3I0rmhW-LCiDjrqBxKaLJc-3584T6NXEvttGvMLNxIuYni8H1M4cgGhuPxcf37m4jhSnFEEx2y7XOJl92SvhtUrIU1ZPDwc9XOjEaBBdFpIPnhxYTy-pc6OPljv1c8WyoNr14d6-ld6UV2Q_OyN5Hwhgbv8-XrjC5JWN9C-SaEPq5K74fhX3lEUusk61Ww==",
  "id": "rs_00540e5ee97127b3016ab4724d416887d0a7b2582bfe56271d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_x\":0.35,\"left_z\":0.005},\"note\":\"The plush remains to the left of the fingertips, while the safe’s rim is close on the right. I’m shifting away from the rim to center the plush between the open jaws.\"}",
  "call_id": "call_agX8ABACmqee670ZSCxpN2jq",
  "id": "fc_00540e5ee97127b3016ab4724eb2bc87d09a5bf7d5ce3aeee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agX8ABACmqee670ZSCxpN2jq",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.7931, 0.4606, 0.6849, -0.6186, -0.3889, 0.9963, -0.0238, 0.8616, 0.6617, -0.5678, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3577 left_y=-0.1291 left_z=0.0167 left_yaw=0.0703 left_pitch=0.0655 left_roll=0.0398 left_gripper=0.9963 right_x=0.2778 right_y=0.0005 right_z=0.1513 right_yaw=0.0015 right_pitch=-0.1853 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -6.4205, 3.0974, 1.1355, 0.2027, -0.1001, 0.1001, -0.1026, -1.8803, 6.5436, 1.8095, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:287046ab236716cd764b1e2b95ba7cc70063cd9fc6ae633fc233ea15ccadfb6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbf0514536d7e71a997e54a40aec61e9330f20fbfd651242da1c0b9371bf0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7fbbca66d520c56603c46e59535eea287e04a1b8f715113bf3e9199bc2e6b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.151 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 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]: [-0.8307, 1.6718, 0.6212, 0.1833, -0.6521, -0.5652, 0.9996, -0.0238, 0.8005, 0.6147, -0.4549, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1886 left_z=0.0315 left_yaw=-0.0095 left_pitch=-0.0728 left_roll=0.0608 left_gripper=0.9996 right_x=0.286 right_y=0.0003 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0583 right_roll=-0.004 right_gripper=0.9996\nstate[joint_eff]: [0.6632, -5.2308, 3.9179, 0.8034, -0.1392, 0.0122, -0.0317, -0.253, -1.265, 6.9402, 1.9023, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7074, 1.8156, 0.5888, 0.5091, -0.6434, -0.4538, 0.9952, -0.0238, 0.8574, 0.6575, -0.5419, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3619 left_y=-0.1653 left_z=0.0188 left_yaw=0.0438 left_pitch=0.025 left_roll=0.0423 left_gripper=0.9952 right_x=0.2813 right_y=0.0004 right_z=0.1553 right_yaw=0.0016 right_pitch=-0.1594 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.5949, -5.3538, 5.1897, 1.1551, 0.2808, -0.1197, -0.149, -0.1026, -1.2103, 10.2359, 2.0391, -0.0415, -0.0513, -0.0073]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.7931, 0.4606, 0.6849, -0.6186, -0.3889, 0.9963, -0.0238, 0.8616, 0.6617, -0.5678, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3577 left_y=-0.1291 left_z=0.0167 left_yaw=0.0703 left_pitch=0.0655 left_roll=0.0398 left_gripper=0.9963 right_x=0.2778 right_y=0.0005 right_z=0.1513 right_yaw=0.0015 right_pitch=-0.1853 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -6.4205, 3.0974, 1.1355, 0.2027, -0.1001, 0.1001, -0.1026, -1.8803, 6.5436, 1.8095, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:287046ab236716cd764b1e2b95ba7cc70063cd9fc6ae633fc233ea15ccadfb6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbf0514536d7e71a997e54a40aec61e9330f20fbfd651242da1c0b9371bf0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7fbbca66d520c56603c46e59535eea287e04a1b8f715113bf3e9199bc2e6b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJTMUIi1cuZ2BncN2gchyTpXgXvFVsuiPc7LiiaHcQO4DWub8W6PcPUjc837SikKx7ndzhxNp2Y2NqQrp4AARNBEupCkTW6A3wTDnT6SDKgbcJ2mO4hjYgC-u-1ZHfkpoowADc29lhFdWnvv8R_MtJ6kmRgjKwHSCkOTqXhKeSqGYTKT9q0u6ygawdjFhJjuOZ2l_vmjiockYL-WAWxaYocGDty-g8YrM3YEBPd0811zJuGwoTQFwfuLPi9IyxiEXTQlWZkzMx-UGV5LUMYtR5J2Ck0aFiTODtCtMijNuwVTYFPs5t4IW2iN54yBdRY4sAagMusdgFh-j7WRSTXJDYY7cOOO2zKUk6Ao1aEIU_ITtUXJ3Yy8Uf-vTg87h00dyTlHevCG8a8T5xGyUybZ_iK4Fq-ob63VOjAcIK_tea7e_lI5j11ugO3gBkl_2gSAbCjDds5uK_slZab2OcdYLW4iJjEaW4BjxgfeAFhuNadPsZdRZ3RLENqbb3GT7cNEwjGue906QQ2xTAzna6gSD6OezCpqowOvyj4Ga3KnRHSe9CZBSYSG8qNMdabeYt6NlrGPBQkMgxtrvUOQzoHntte1LNeE7jvzShSEmvQnCT0F9wm1uK-JcIO_9HMuntReAHkso11yeTQWHgDsNmXiXFIErMmSX_ZqDNHPvLksd1Va8klu9pSZ9knYFJ0bMInY_zm_fS-D4bCxXP1xUzHWzFO-o6enY9JWlAnAPBJIfVfZOS5mQlAyf6_ruS4sADm9J-dmM0dSv2S6E1UHsljIRlAYu9yehCfuLE0L2xXMnkCXsHbPDdkIDlTcw9Qhx3ahRBytwhxF_EpUNcuzGA-Y1wj2rn827KIo2mZuaw84lqKZa2Zt_xc6lCCIGJ2hKn5PkneNRvTcbnet7bpT13DFLD8HGDb4X-lztDbyeKLDgYMcwl-dAMNpQ2Fc7oTvJI7X0K5gtkXybAoKoPLxhlsUXiYVViOubmnkCyINMeykIJys0mIgfSw6flsUynGghop_gRI7wgZzu_HUKozE3Rou_bZS8Qn9vVGWQMtGMtvkgwfAiwD5NA37Ts9w5_Oq2QxGd4F7T8yRdQ0RtEYkXPWqFFXT9XR5wBzI2eNNP5S1psz5pXGU-YHiWwjFMCHPo3kOHZdnpX4bg1zRom_nbvfj3ToZr8NHkPJp8TP7NPAs8e8SYvobSQqCRdzJiLSfZtfMBz7N0kgXHZlSbbOIQJB-Xnolh8lfYJjfx2uMnWlMh7AYbP6K3V8jjpfqSAeu3Zwr1ryG5jKICQwHoRRob8rVPWGiEkGoxtij02VBK7wMVZIklqBRNqZ4WoEw5m_E-MlDSsdTIq6LecmxMW_dZ1F06YcmA==",
  "id": "rs_00540e5ee97127b3016ab47251ba4087d08d9e06c592d6c5bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The pale plush now lies between the jaws, away from the safe’s edge. I’m closing for a second grasp and will check its width before lifting.\"}",
  "call_id": "call_rLSUSdT1j18E0PNyLCj8Rn7w",
  "id": "fc_00540e5ee97127b3016ab47252642c87d09d199c72125fdfc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rLSUSdT1j18E0PNyLCj8Rn7w",
  "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]: [-0.6136, 1.7931, 0.4435, 0.7479, -0.6132, -0.3786, 0.0379, -0.0238, 0.8631, 0.6609, -0.5949, -0.0196, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.361 left_y=-0.1256 left_z=0.0223 left_yaw=0.0781 left_pitch=0.0984 left_roll=0.0171 left_gripper=0.0379 right_x=0.273 right_y=0.0006 right_z=0.1459 right_yaw=0.0014 right_pitch=-0.2147 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.3521, 2.8239, 1.0916, 0.2613, 0.0122, 1.0037, -0.0615, -1.6615, 7.0769, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28514733c7db938e0ee1c288a710d00e019d6c05b28410e21a969dec30005c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70605c4a826775a8aa58a821e2b7f6205fcce7a1545f9d852c9ee317af44bff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6046086b545de573d822c2dd07fd3f634109198ec3ba41fb906b04180403e2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.858 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 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]: [-0.8013, 1.6825, 0.5697, 0.3111, -0.659, -0.5396, 0.0112, -0.0238, 0.8009, 0.6147, -0.4782, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.329 left_y=-0.179 left_z=0.0306 left_yaw=0.0084 left_pitch=-0.0249 left_roll=0.0372 left_gripper=0.0112 right_x=0.2825 right_y=0.0004 right_z=0.1632 right_yaw=0.0012 right_pitch=-0.082 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -4.9573, 3.8769, 1.2283, 0.0024, 0.0464, 0.8718, -0.0342, -1.2376, 6.9402, 1.8681, -0.0415, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.7931, 0.4606, 0.6849, -0.6186, -0.3889, 0.9963, -0.0238, 0.8616, 0.6617, -0.5678, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3577 left_y=-0.1291 left_z=0.0167 left_yaw=0.0703 left_pitch=0.0655 left_roll=0.0398 left_gripper=0.9963 right_x=0.2778 right_y=0.0005 right_z=0.1513 right_yaw=0.0015 right_pitch=-0.1853 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -6.4205, 3.0974, 1.1355, 0.2027, -0.1001, 0.1001, -0.1026, -1.8803, 6.5436, 1.8095, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6136, 1.7931, 0.4435, 0.7479, -0.6132, -0.3786, 0.0379, -0.0238, 0.8631, 0.6609, -0.5949, -0.0196, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.361 left_y=-0.1256 left_z=0.0223 left_yaw=0.0781 left_pitch=0.0984 left_roll=0.0171 left_gripper=0.0379 right_x=0.273 right_y=0.0006 right_z=0.1459 right_yaw=0.0014 right_pitch=-0.2147 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.3521, 2.8239, 1.0916, 0.2613, 0.0122, 1.0037, -0.0615, -1.6615, 7.0769, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28514733c7db938e0ee1c288a710d00e019d6c05b28410e21a969dec30005c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70605c4a826775a8aa58a821e2b7f6205fcce7a1545f9d852c9ee317af44bff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6046086b545de573d822c2dd07fd3f634109198ec3ba41fb906b04180403e2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJXlclzTkPHPQlgfD9zD6GVvalaiJoweXRXmKnEqSV7T8IIRM9BGz0Cll2y_XoMvaIHaBzUhnLGEmXWP0JFjCBAiL2h9Bi7vaP3nV8luuhCa6DCvbU0wbznGwx-oP72RVQMFiUvDCC9L7G2mYXX8JRFuwQV8vLn0l1Nzob5UplyEy8VCinpNy_HqTTUwG1GMA-kj10KdN93XlF7pL8-e209qKFxraQN9HAf7KXal0M2OfnbudFD36yMfRRQ_M-rXzDdzDZxTreC3vNZ-GC8uZ9opWVAdJMuBwfezOqU-M49opZSvocir40WGHm8603IHTM926zHc_utcnHQytGsAuueYkl0bnWRbGcoCZE468D3ErOtwxeel3jqTF2-s8jLhc4T-hfAZwlmL0NOgrLlBU7huoutv8CHfQwxlBa6ukpJHzzO9opsbJaB2CNNoQQffWnmACF1u7uzhJYgzwdCAzhyrcxqDvfGhlHLXYBYQN93prBGNtiJ9_jcrRA5H8TdN-ss406DigsIa4o_2xKi7lQQXedkTsDYs_4NlC7-J9sxaRGGAOgGnTSDCXEcGJjoChTE-B8oUmGvr59FXFpVAnhvYy4eT0he4TwvTbsNwozKQ2Zb9HZ3SL1fRKdWZv0-nuBiKRZLtkm-45MSTdPtWZF3Q9VwsxIxLBAMcPnrLzH3FbAind932u9_bJPP1Y18XL0YXYYpvFC73b68U3Pr6gKMnuKyxDMzdw-jI9EGWKvk0_wA1Vtpl5shXljBevMyyVSI7mmK0uS9eV-snorNNW44WfSLABRxO-Qd5_iofruwmzPgRIRkvTXytnBSi6Bpcj88v0CjHm9Q7MXr21a285GeQDITb3jKFWvZ9BsONwJDYvDjycW557ulXvAg0W48sViuErnpPyjuxgIDsx1yg1I0nLhRE82vNeIri5yvB2Kl4Qa7k1M0c5Fj0APB4rnAJ_FA46V535yckYVSV8OX7POoi5DGlyPlUdrEYax4jUQQ_aIBzerWhSBgjUJ911jXk2b-dRLm_VJiqECnGSa3y-djxDw6Bj-912jkDzpcVkvB6oq2vMuZ7kyY2FtNvOFjM2Bei7BW7uZ_uupqTtbl_aBQP9O4zDOG9BamGYdgiElonWXpP5kURtFb_OzZrRszAztHNpnjdBPnAFoEtca7zw5bUNzanGqgxN0izoabTJY4I2eZtejj-f5O174r_fCTbDeRq9Z1MYVZvWpZmtYsN0UlZqxaUIHzLya7wK4C1mm53UZchDkH6FFmzVt6jYyKgCycEb73rVqz3lPiWW50__pxRg==",
  "id": "rs_00540e5ee97127b3016ab472556fbc87d0a99e3b38948775e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The grasp reading is very narrow, so it may have caught only fabric or missed. I’m lifting a short distance to see whether the plush follows.\"}",
  "call_id": "call_RR3Q68jMxfsX6Mzvwo5aSRgp",
  "id": "fc_00540e5ee97127b3016ab47255dfcc87d0bcd018d76d245ef9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RR3Q68jMxfsX6Mzvwo5aSRgp",
  "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]: [-0.6136, 1.4906, 0.5251, 0.3576, -0.614, -0.3832, 0.0385, -0.0238, 0.8642, 0.6609, -0.6167, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3581 left_y=-0.1233 left_z=0.0855 left_yaw=0.0809 left_pitch=0.0941 left_roll=0.0173 left_gripper=0.0385 right_x=0.2691 right_y=0.0007 right_z=0.1419 right_yaw=0.0018 right_pitch=-0.2376 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5436, 8.4991, 1.8779, -0.2466, 0.0366, 1.033, -0.3487, -1.4564, 6.9949, 1.746, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c69dfa1cd074782bddd07623890443924661cfd3c6d3a4d17cef1998d0b774",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6e91598c45897a9ae4c8c1bc624f9cabb91e65e2088281b963898b721fd2cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe9a058e1a033c6835e19107699867ea0a3e629193e1d4df1cb94021b179963",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.51 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7074, 1.8156, 0.5888, 0.5091, -0.6434, -0.4538, 0.9952, -0.0238, 0.8574, 0.6575, -0.5419, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3619 left_y=-0.1653 left_z=0.0188 left_yaw=0.0438 left_pitch=0.025 left_roll=0.0423 left_gripper=0.9952 right_x=0.2813 right_y=0.0004 right_z=0.1553 right_yaw=0.0016 right_pitch=-0.1594 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.5949, -5.3538, 5.1897, 1.1551, 0.2808, -0.1197, -0.149, -0.1026, -1.2103, 10.2359, 2.0391, -0.0415, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6136, 1.7931, 0.4435, 0.7479, -0.6132, -0.3786, 0.0379, -0.0238, 0.8631, 0.6609, -0.5949, -0.0196, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.361 left_y=-0.1256 left_z=0.0223 left_yaw=0.0781 left_pitch=0.0984 left_roll=0.0171 left_gripper=0.0379 right_x=0.273 right_y=0.0006 right_z=0.1459 right_yaw=0.0014 right_pitch=-0.2147 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.3521, 2.8239, 1.0916, 0.2613, 0.0122, 1.0037, -0.0615, -1.6615, 7.0769, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6136, 1.4906, 0.5251, 0.3576, -0.614, -0.3832, 0.0385, -0.0238, 0.8642, 0.6609, -0.6167, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3581 left_y=-0.1233 left_z=0.0855 left_yaw=0.0809 left_pitch=0.0941 left_roll=0.0173 left_gripper=0.0385 right_x=0.2691 right_y=0.0007 right_z=0.1419 right_yaw=0.0018 right_pitch=-0.2376 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5436, 8.4991, 1.8779, -0.2466, 0.0366, 1.033, -0.3487, -1.4564, 6.9949, 1.746, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c69dfa1cd074782bddd07623890443924661cfd3c6d3a4d17cef1998d0b774",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6e91598c45897a9ae4c8c1bc624f9cabb91e65e2088281b963898b721fd2cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe9a058e1a033c6835e19107699867ea0a3e629193e1d4df1cb94021b179963",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJdN2CFjw7eGlbJWAi1ZHzR45k8MHOPK9H9QqAsVaQsCNTGf8kH7aJfL88Egv58oYrIgRNI-Sx51LBk1hnRREBB-gVTrdRYcEDheTKGUBCE0HURzOUZmQQSyWkdXtTEBv82wjAFdaGKXHdryEKh3yJ1DT_XEGSBlLluWbltgiDRza9wqZdqgWRfk1n6Bp2HKK7AhTgiajKBrJibLLZqW38SL8dW47NHewU-rOi3A_9Aq3F2UdZ0h1Kc3O9xS6pd0Y4dkobUlpkYs6oVDtOPJ-MiCZluQqw2WYu5bdx0xY-KcI0sKLSy8Z8vMdW-gyu-aUt7aw345BvD0tjLJX5JRhobO0cQrQALPizdEMage9Sq4T9_b2gpP_eTq8V8W7fSvuvoWvEkVp73J0W9ZPO4bbVkLtgsFDPjZwUp1AchKPQaGKTPlfFx8JIECQMgM7aeO8Wn2kVLYJVBa1mpCnUJebf0CJe0Y_k308ff9HNgd3d1LXFEZfK7OILge-o2FXdxQc8YuxgJ7Cacc-N4WP77PmgC_1bQmB2Hta2i39VtPv3nug08LO4mRCia714LEnFbUVIVebKZ9rDYrr6w46K8zahmheJXTllXZ2lum3uvniRlHNFmIOEUsiQJxSBQNt7kBU7T2m2lEporSpsoD_L6hnMOGl12azH0ywVnPkNjtGX4rxIBmp6JIc17PmiFdMGyVnXfw5KSyuB5wcO0YQAk6eVBopgmoB4HLIWEYIFu24CvlJ5HSwgOD5vTqcCJwChp55c73gI2stTi0XWQGrPZLKfU2d20FQrGqZbKcBqlAFl8S66tN9ZeR_2st3phVizjggkDnIZuvsqG33SmbcR8U5MgUO2IgTlXardedB_xeg-9lw-36q2RkZ9uCkNa7B1k_TCJU5QFxnMkkM2JnOTZg4ypFlLa2-CqaGDfkLghiJtZ-GQZ96u1yLgCZ7AVamtxtol-WF8OhVeXWG-xubwEgNvxgW4skJu3nTNsqF7ECwrSjkxH-W9LnqdHZxgpmYf_6Ga33Wb73Y4PZSem63YJARz13_HGsqJBQfJC3zAsaNjgz_0OLYmuygC1ExAHJ7DbYFNFHWeJSrOxtPJIgHAybuYU0AWqwPRv-4DuZ1eRHmQnF9RzETjXOrkpXo6gy1BCbCMBnkD1nYjff-FW3-bpaGUUqku-cWtU2Np6kgZppHvqrTEI3qnbSuN9J3H8LtJ1j6il51RlnRaVkUkRtuf4nySmhAFK20bCHkuxdqO4SsxDtEhZiwdKDO1bjsvGqjQ67kHlUisBHJExN1K4hBsq0qZBxbHI9EmFiq5sSMOySpFcVuXbLIgUPq16FSZm-TY7CDOVDxhUSrp-p0aN5Vmkq9ylRZs94dcUWynHz65yXnvCByZdu61D6GXfTbUdstR1KZuq0JYOQVSzHQTa6kFwiP0ChrH35NNQF8k1bOQZ0w3jjkCeAhsiciq-rhgpjIMMlwJhjxQsdtiMnqFyc9-L1zrtBqOTjlWNwvztcevgO-aG3ydJDQCU8015q1XtDsAgm6othcY7gRtR0psJPnwsz5XaEe_7X78Bq9IRXIsMVzGABelNZYYcOu2FRkQlmtF1urWgnNC4RKtwKBR0dGbBwK-nZBfoLVHp6SfjL9yky0yIX-BfaxoSLJyFDMVEmtc53da6TLB50aSStI1H8rlsQKoprH-BUde7uE5RDoEb8WWaumZMyVwmSzd73AQA647pIylZ4_j5bB30vYz_i4uyvlAcackW1psmrIbCx9mgElDKudbf3oX1H2Kbr84iyNDG7ZZeWYfFZ0QEPCD0mtw96bxNlsnxz9LwsR_czvMHMPMFQjgBghcuvHFD0c4j7wlJoi0uUwU8-Z_YXZrJr_7vkES_fsTBQCzOv7QZFOhZOVDfGMvYrOtxKTL4caEDTbdBhy5mg08eubToyrOJLmPZV2AhJQco5JIucSWOYS3-4syVgxGViHXJCvoZXYZAG-uCxa1JWuLMhQ2IoSD4D0eZACHyPc2rIbSgYJIZeOYym-6lPbSwM0OCQ_4hmlR9c6ZK8lkaWBLdYfDbwx27jXsiIsoDvlp42PufNR73sqqtyKfYiCo-7hem0WzzTf47sgHtzM-m_fLySS9LOfJAqsBMFVjw7sohj_N-r1kLyGJcgqoU2CEyO8mMPDtV5fMRVVGmNuVK",
  "id": "rs_00540e5ee97127b3016ab472592d7487d0b3f86b9a531b396a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.29,\"left_z\":0.22,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The pale plush appears to rise with the gripper, though the grip is narrow. I’m carrying it over the safe at clearance height and checking that it stays attached.\"}",
  "call_id": "call_mRD0gVcgmNMX8wSKtdeZUD2z",
  "id": "fc_00540e5ee97127b3016ab4725c640c87d090aa7cea820bd330",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mRD0gVcgmNMX8wSKtdeZUD2z",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.8858, 1.5459, -0.3996, -0.7765, -0.5785, 0.0403, -0.0277, 0.8135, 0.6601, -0.5571, -0.0238, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4271 left_y=-0.2856 left_z=0.2059 left_yaw=0.0754 left_pitch=0.0783 left_roll=0.0102 left_gripper=0.0403 right_x=0.2771 right_y=0.0001 right_z=0.165 right_yaw=0.0009 right_pitch=-0.1281 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -10.1538, 8.9915, 1.4139, -0.5104, 0.0952, 1.033, -0.5265, -1.7709, 9.8393, 2.2882, -0.1001, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f643ff613d12671f0f42810bac224568bf3c37056891a82895b44af7da06c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13396c21a0cc3b46ddd2d57b8c8dca33278aa552303052f99e6ec8ec0ce71af9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58afde9fa6401ca6f6aafbed0fe9ad84aea02cb8b4f92e8d58ea2e0fae67bda7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.191 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6289, 1.7931, 0.4606, 0.6849, -0.6186, -0.3889, 0.9963, -0.0238, 0.8616, 0.6617, -0.5678, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3577 left_y=-0.1291 left_z=0.0167 left_yaw=0.0703 left_pitch=0.0655 left_roll=0.0398 left_gripper=0.9963 right_x=0.2778 right_y=0.0005 right_z=0.1513 right_yaw=0.0015 right_pitch=-0.1853 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -6.4205, 3.0974, 1.1355, 0.2027, -0.1001, 0.1001, -0.1026, -1.8803, 6.5436, 1.8095, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6136, 1.4906, 0.5251, 0.3576, -0.614, -0.3832, 0.0385, -0.0238, 0.8642, 0.6609, -0.6167, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3581 left_y=-0.1233 left_z=0.0855 left_yaw=0.0809 left_pitch=0.0941 left_roll=0.0173 left_gripper=0.0385 right_x=0.2691 right_y=0.0007 right_z=0.1419 right_yaw=0.0018 right_pitch=-0.2376 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5436, 8.4991, 1.8779, -0.2466, 0.0366, 1.033, -0.3487, -1.4564, 6.9949, 1.746, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.8858, 1.5459, -0.3996, -0.7765, -0.5785, 0.0403, -0.0277, 0.8135, 0.6601, -0.5571, -0.0238, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4271 left_y=-0.2856 left_z=0.2059 left_yaw=0.0754 left_pitch=0.0783 left_roll=0.0102 left_gripper=0.0403 right_x=0.2771 right_y=0.0001 right_z=0.165 right_yaw=0.0009 right_pitch=-0.1281 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -10.1538, 8.9915, 1.4139, -0.5104, 0.0952, 1.033, -0.5265, -1.7709, 9.8393, 2.2882, -0.1001, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f643ff613d12671f0f42810bac224568bf3c37056891a82895b44af7da06c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13396c21a0cc3b46ddd2d57b8c8dca33278aa552303052f99e6ec8ec0ce71af9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58afde9fa6401ca6f6aafbed0fe9ad84aea02cb8b4f92e8d58ea2e0fae67bda7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJkhSBeRI4fm2oKW0UeSTzumBAMJyWNK4EwbcDtWfh-34KoQ23hOw7j0PAc-3vFPXp2LknWkG2Yqz1Iy6mJbaG-bqQltzMBKuL4LU-HaWt0KRpXUvfY3yNgbTpUzKGSJ37Xp50e2f3YgSH5HXYJONUiEd7mj4DeKRxx7pACGT0mXgECuqEJcKz3WY-Z7-wghvHqvMluwutoJUYkIUzyCh3cHezjt0lUztoi_YhUByfHZzhQVlkkyBI4h79VOJpZHN4lyOlHNGLUuDIWbnqCRF2Te-7m-qQ6C4xnU2Zn9MJrlAO84FCkcPxDmdsj4jaPLGjdov_9Ia9DnnSPy8Dlr031CAQLrpwgZR5DPV1gZ_z9tGDs89cz8K5SCxcfAgYo0y-3x_A1Z1FFbajIpwvAcgLx-T7U3O55NZzl9sRIOHSxMgMg8Pm2ENKoVzcLQDXIlPhoUH_3HXKqLB3w7XEDmcVME2pd3QfuO3Uj5NgF0J6MZ0hms5o2orRsDmE3RvVWv5yOqodQU0TZ-alH0a3wawmLIXcaOhiKOg2hQVqiHKZ501BUnR2Sg3-nVId8QB6rI0jrGFqw2UScn4Pou2_Ew3B49g1vBQgGj6ORjufFYes1Cf_PTyEpfLu8dikQSk0IMQadDKc9ho6BxpgVEEe48d--bEPQaAM2cVifFC3mVU_9iwrW8i_zU9L2L00u2WGtsykYgtfC-HDwwq55_0s8GGsz9y2s0BvN-H38OkX71a7VjgqqFwPL_WLobt6M3L7xLSRFim4ifhLTD2ADSGQwZ8pKgcXn3fPJ2Pvn30YnoDhy3LUV34m7_tI2RREqmyEtE_4kinA9teN0Z642w76wWybnCFjrl5IEHyhPYhaKLU1fhN7Y6u2MBpEe0ui31E6hs83G8QnPwR935zDTqDnUQ8zGNbxrXvbbV_RJG7qlOYoGuhoO1pdW-l1CcCxkFLQ6RiBhffQWKJfNztcazZsbwkMCevQ0pAtHZh-xTJLU4hOQ5kOWOIjxRzjd-QSkdwG7muhb1HCYg-Et9wNko6BRJRZC8nJxugLTJuB4GtB5dtdBS7jK3ji5GWR1ckXy7qDDu4l1kwaYMeKB9kIyYK07BqivYODh2w4KcmNkUjTmm-ZlDLyPekiz47PKY-JFvR9Llw76IwqJdowQ-XMYjIg6IkRTQ8u0Ncm2eXTsdQEm29UbqayoMwSVJXeUyoQ5crCpHC02nAOosBRkzvPm32aWM7bZnHCDWCy0_tnP0FVlhxm12sI938Ix3jpAbM1tXQTHgUhNFyInFSmGU9TwFvmWxJ7yOcn2bBV0qjMd6-TlVs7O8J4n96i7WBU2__Ghsp7nNfNw-HHdBSuDALIpYZgsxGX818tIS3PnxsB13mF3ESiZCKIk3f1OhUnuQUgrEEmTRUTZvN7lEm6vRC2E35uiO42UsOd3xORIxgN1OrXPYrVRxqj3BdE2wIuGIALgP11I8HHc2NrxTfY9s_C29DRLqwuGm0HAOHZZ_nTGbGMLyaN_-wpzZwkguHRQ0gaMeodnvzhFcId1MA5WrO4hWo623hXk4qDSIP1KwmTksjY42t_t2SIwlhhJrUhTELHHb95cD1Da-oylWiBsZk_1mhgh15b06mqZKuTmz3Gs1-FxAscTJ6Ciw_CNPvq3KS3SJ9uhoTZbLRiCTFUEumEc6siIh7W-D84WbkQQ_NBYws4787n2lZiRrh1l2elRgFP2bSJ69ViCe7HhQ0G9p7fAKVmL1XZUxcUXDM5l4r1lLSvc1Apui2c=",
  "id": "rs_00540e5ee97127b3016ab47260f5d487d0b0593c50149061b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.34,\"left_z\":0.075},\"note\":\"The plush is clearly traveling with the gripper and hangs ahead of it. I’m lowering with an offset so the whole plush lands inside the red-lined compartment.\"}",
  "call_id": "call_tMDXE7Z0Etbq0to395rtVmlg",
  "id": "fc_00540e5ee97127b3016ab47263266087d09920cd2d7d0a933d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tMDXE7Z0Etbq0to395rtVmlg",
  "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]: [-0.9627, 2.1208, 1.4067, -0.1444, -0.8356, -0.6941, 0.0418, -0.0277, 0.8169, 0.6533, -0.5877, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3994 left_y=-0.3381 left_z=0.0794 left_yaw=0.0498 left_pitch=0.047 left_roll=0.0317 left_gripper=0.0418 right_x=0.2713 right_y=0.0002 right_z=0.1555 right_yaw=0.0002 right_pitch=-0.1689 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.3709, 5.4906, 1.4335, -0.696, -0.1587, 1.033, -0.0479, -1.5111, 7.3778, 1.8584, -0.0171, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f95a002c39712b8e6872d6696d8d913cfeb1574f79bc13c7ed4e42ca1f5160e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4948f850eb938693b549ca7620bffad205d6e5206ff64fe5f5e5562abf4c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc9769731ea78aa35d3fe813a3db5004023073e93b3eb2cc70282ea0bcdf5da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.228 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6136, 1.7931, 0.4435, 0.7479, -0.6132, -0.3786, 0.0379, -0.0238, 0.8631, 0.6609, -0.5949, -0.0196, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.361 left_y=-0.1256 left_z=0.0223 left_yaw=0.0781 left_pitch=0.0984 left_roll=0.0171 left_gripper=0.0379 right_x=0.273 right_y=0.0006 right_z=0.1459 right_yaw=0.0014 right_pitch=-0.2147 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -6.3521, 2.8239, 1.0916, 0.2613, 0.0122, 1.0037, -0.0615, -1.6615, 7.0769, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.8858, 1.5459, -0.3996, -0.7765, -0.5785, 0.0403, -0.0277, 0.8135, 0.6601, -0.5571, -0.0238, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4271 left_y=-0.2856 left_z=0.2059 left_yaw=0.0754 left_pitch=0.0783 left_roll=0.0102 left_gripper=0.0403 right_x=0.2771 right_y=0.0001 right_z=0.165 right_yaw=0.0009 right_pitch=-0.1281 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -10.1538, 8.9915, 1.4139, -0.5104, 0.0952, 1.033, -0.5265, -1.7709, 9.8393, 2.2882, -0.1001, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 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, 2.1208, 1.4067, -0.1444, -0.8356, -0.6941, 0.0418, -0.0277, 0.8169, 0.6533, -0.5877, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3994 left_y=-0.3381 left_z=0.0794 left_yaw=0.0498 left_pitch=0.047 left_roll=0.0317 left_gripper=0.0418 right_x=0.2713 right_y=0.0002 right_z=0.1555 right_yaw=0.0002 right_pitch=-0.1689 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.3709, 5.4906, 1.4335, -0.696, -0.1587, 1.033, -0.0479, -1.5111, 7.3778, 1.8584, -0.0171, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f95a002c39712b8e6872d6696d8d913cfeb1574f79bc13c7ed4e42ca1f5160e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4948f850eb938693b549ca7620bffad205d6e5206ff64fe5f5e5562abf4c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc9769731ea78aa35d3fe813a3db5004023073e93b3eb2cc70282ea0bcdf5da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pale plush is lowered inside the safe’s rim. I’m releasing it onto the lining.\"}",
  "call_id": "call_WRIlNUX4CyU3UX9CTxK2pvOo",
  "id": "fc_00540e5ee97127b3016ab47266a2a487d0b58e9d75d27028c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WRIlNUX4CyU3UX9CTxK2pvOo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 2.1452, 1.3937, -0.1463, -0.8387, -0.7048, 0.9955, -0.0277, 0.8173, 0.6525, -0.6125, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3969 left_y=-0.3339 left_z=0.0632 left_yaw=0.0562 left_pitch=0.0286 left_roll=0.0572 left_gripper=0.9955 right_x=0.2669 right_y=0.0003 right_z=0.1507 right_yaw=0.0004 right_pitch=-0.1948 right_roll=0.0014 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -13.2581, 7.0222, 1.2918, -0.3443, 0.0659, -0.1294, -0.0205, -1.2239, 7.241, 1.8339, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9f9700c50cfb057f0bc5cdf025a9e480bc0cfb6dd0484b04300dc8ad76c28b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061a64d9863eba18276967e6757464b3c35eeb75b3becd3cd7b4fa345848ea6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d4594d61f57ee7e7fbd57f92f687ebec1e0da50f6b6979c9b4f9b182dc2c27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 6.157 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 41 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6136, 1.4906, 0.5251, 0.3576, -0.614, -0.3832, 0.0385, -0.0238, 0.8642, 0.6609, -0.6167, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3581 left_y=-0.1233 left_z=0.0855 left_yaw=0.0809 left_pitch=0.0941 left_roll=0.0173 left_gripper=0.0385 right_x=0.2691 right_y=0.0007 right_z=0.1419 right_yaw=0.0018 right_pitch=-0.2376 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -6.5436, 8.4991, 1.8779, -0.2466, 0.0366, 1.033, -0.3487, -1.4564, 6.9949, 1.746, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 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, 2.1208, 1.4067, -0.1444, -0.8356, -0.6941, 0.0418, -0.0277, 0.8169, 0.6533, -0.5877, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3994 left_y=-0.3381 left_z=0.0794 left_yaw=0.0498 left_pitch=0.047 left_roll=0.0317 left_gripper=0.0418 right_x=0.2713 right_y=0.0002 right_z=0.1555 right_yaw=0.0002 right_pitch=-0.1689 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.3709, 5.4906, 1.4335, -0.696, -0.1587, 1.033, -0.0479, -1.5111, 7.3778, 1.8584, -0.0171, -0.0415, -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 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 2.1452, 1.3937, -0.1463, -0.8387, -0.7048, 0.9955, -0.0277, 0.8173, 0.6525, -0.6125, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3969 left_y=-0.3339 left_z=0.0632 left_yaw=0.0562 left_pitch=0.0286 left_roll=0.0572 left_gripper=0.9955 right_x=0.2669 right_y=0.0003 right_z=0.1507 right_yaw=0.0004 right_pitch=-0.1948 right_roll=0.0014 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -13.2581, 7.0222, 1.2918, -0.3443, 0.0659, -0.1294, -0.0205, -1.2239, 7.241, 1.8339, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9f9700c50cfb057f0bc5cdf025a9e480bc0cfb6dd0484b04300dc8ad76c28b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061a64d9863eba18276967e6757464b3c35eeb75b3becd3cd7b4fa345848ea6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d4594d61f57ee7e7fbd57f92f687ebec1e0da50f6b6979c9b4f9b182dc2c27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The plush has been released inside. I’m lifting straight clear of the rim before moving to the next object.\"}",
  "call_id": "call_FwcZr8HYAgOONaJ9bZpWBhmc",
  "id": "fc_00540e5ee97127b3016ab47269d61c87d0a23f2d7c94bcdf4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FwcZr8HYAgOONaJ9bZpWBhmc",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 2.0457, 1.8198, -0.7059, -0.8345, -0.72, 0.9968, -0.0277, 0.8173, 0.6521, -0.635, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3992 left_y=-0.338 left_z=0.1991 left_yaw=0.0615 left_pitch=0.0086 left_roll=0.0715 left_gripper=0.9968 right_x=0.2629 right_y=0.0004 right_z=0.1466 right_yaw=0.0005 right_pitch=-0.2177 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -14.0786, 8.9504, 1.3065, -0.4176, 0.1148, 0.1245, -0.1983, -0.8957, 6.8444, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e56eaa93e86096c9808afc981279f17bad6d1b6d376a1c609254aad46f196d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3fdf6ce40999c5b1fee1a2bac84efc9d8a1d50f24e5236d839e29b6fcb8e92d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c72b2f235149ed29ee04c9b22cc7b267e29d6677ffb33b8c6adacb3882cb050",
      "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 · 4.369 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 44 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.8858, 1.5459, -0.3996, -0.7765, -0.5785, 0.0403, -0.0277, 0.8135, 0.6601, -0.5571, -0.0238, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4271 left_y=-0.2856 left_z=0.2059 left_yaw=0.0754 left_pitch=0.0783 left_roll=0.0102 left_gripper=0.0403 right_x=0.2771 right_y=0.0001 right_z=0.165 right_yaw=0.0009 right_pitch=-0.1281 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -10.1538, 8.9915, 1.4139, -0.5104, 0.0952, 1.033, -0.5265, -1.7709, 9.8393, 2.2882, -0.1001, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 2.1452, 1.3937, -0.1463, -0.8387, -0.7048, 0.9955, -0.0277, 0.8173, 0.6525, -0.6125, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3969 left_y=-0.3339 left_z=0.0632 left_yaw=0.0562 left_pitch=0.0286 left_roll=0.0572 left_gripper=0.9955 right_x=0.2669 right_y=0.0003 right_z=0.1507 right_yaw=0.0004 right_pitch=-0.1948 right_roll=0.0014 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -13.2581, 7.0222, 1.2918, -0.3443, 0.0659, -0.1294, -0.0205, -1.2239, 7.241, 1.8339, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 2.0457, 1.8198, -0.7059, -0.8345, -0.72, 0.9968, -0.0277, 0.8173, 0.6521, -0.635, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3992 left_y=-0.338 left_z=0.1991 left_yaw=0.0615 left_pitch=0.0086 left_roll=0.0715 left_gripper=0.9968 right_x=0.2629 right_y=0.0004 right_z=0.1466 right_yaw=0.0005 right_pitch=-0.2177 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -14.0786, 8.9504, 1.3065, -0.4176, 0.1148, 0.1245, -0.1983, -0.8957, 6.8444, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e56eaa93e86096c9808afc981279f17bad6d1b6d376a1c609254aad46f196d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3fdf6ce40999c5b1fee1a2bac84efc9d8a1d50f24e5236d839e29b6fcb8e92d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c72b2f235149ed29ee04c9b22cc7b267e29d6677ffb33b8c6adacb3882cb050",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJxJ3g7GhVRVLVSzg0P0jSaYRr5VKakz21kAuOmHRnIes8SGJIqcirIlruuvxmg8m5XGJQW0-z1_mIpFWQhm1XEIsr5qkoDhIaBfnBxJGXm6xU6lkmOWdiaSRsHQ2hCnuBUnvzd3x22B--6jp1kqgLtjSB3QyvC6YgwznykH0JW6c-2jriwt3EDNsdL2fzbod0I9B7M7FCBIy2mSMe0xgOXkS_HxU3wzSQx2QakZT6oV-EBRpx1ST0WcQEs_Ypg5CI7YPBYED0XaTzDdh0NXpa9ONz9dEeEiqja8okrvuOdIU7C4VsDPpnKA6HZ1Av1Y8BdbYg_sI0f6oibTRh9uz1y6PIfoSYdTwnzkWIXp2F-w8JdigegjULROXFjpMhTsU8rtsq99sSxI6U6NPLQixp7s2tfWZaBpO0h2xKcZPazgkpAyM7L-o-4z0Fz-fvngaSVS2S1K0K2qqS1DujKZMrKeLzcPrBSIXNdMVjYQ6MBjhVVlBSEFIDPczw3DZxq3UKA8d_Y4UvJ9cLSLfATtY2K0NsFVtU6Z1ZMgmg6C0Qn8qni0IoIZHNk6MVoc8qjY9IEfnBYh3L2Jb1hOjKongZUnQmp22KbCvlm4XnjHnq5FdfoCC313uR04aHLOIYq4PW5RrZ5d5DL7DTibisUWdAk-bMOspYQpVFINcuJDVNxwH-DHmyRs9w3J7i6q0acp4h4pxblmX9oulHGZSwVjKLWezNgOitFJG60OQf6FNxNKk2zd5BsY9v8oblHMBibbeDGesdeHHPlJThGcgFOucHUn6gekl97Sh77CH4Kd44qiymyUYTdb8_WSBhSmEKU1YTXLmNQgkY6OBbpwCQiYLdG7jQ0WIpkyWBy6gpICos3W2O0OVH1Z7b8zundiJpbx5YBa_AIV2E5yyFx9qW-sosdTjqak1-S7hs7JP0FUW6HKCDRS_kxfew4PXjq-OhRspmz8yA6cAZws-9kULBjmtXIrsqkmc_dV32wrYQqMfjI3xGAnBYgvcJjfWFD40xBCNGM3wqodd2UOVOkabpL6kngVjHiIIbcw-vJwlXnUBVTaJJ_o62j-_1PWmrdvbuxNLRja56q4xjcOrzzpHoC0vSUlgSZ_oA2AMjKCo34-toHfpTqU8D6qSOM3C-3sq9GkxocXx8JsO_ZriM_3H6WtdOyqVYD-LbXzjzSNe478c6GdkuDKq22AbkMiILmAxFVES_XwkakhInLO-qYUz-WA0M8eL1sUkgp1LAeH40Vhp-muUxXutaSGy49ht-AHcgcTYjvb2nTdLsyFYFqCn52qIp56mfKL4VKROCwAMKbZi_RZ83IlFMdfSLv47NQVoWBocRpzfkU2TxwajB-qASycRuMOZrhljC3yEzZHplGMrERNzrAz4kBW3uWlvA5Nbm2vr66oTrTcLxhfuk8nwHkCfII9LmvCzm1TLv1ZVfbS4KBEGQKiezYSRaXDLWNjfUEKztTp2garJ1MjWuUqq342wzA7XR0T4T9dunh5mc0mqwtm6ee0ZM1dATuGbXfTOl-J91gx6v5_EUXtJerWkfsGgypPY_Eq7d6f6jkufjz4LCytRvbkIkAXX69I4X8x2SgRK-NnYlZVkKX1yeA6VOf5Te2vfB9fYGsrdtUlHQJF8IZm6fljCnm9nYiAx57XyBqd4cD1NFRGAX3TkzPnLFGa_N1_NaRymA2V-amF8HVYPhEb3cfY2w90ArlI3lDnIJhj04fPafTE0-oD606fQTRmaWzZ4Up7_5EfljTC2HvlNVoj-o=",
  "id": "rs_00540e5ee97127b3016ab4726ee76487d0b0a31ac272089078",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.3,\"right_y\":0.19,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The pale plush is resting in the safe. I’m parking the left arm and bringing the right gripper above the brown teddy bear.\"}",
  "call_id": "call_3nb3g8hYs3BrF6OHRGsEyUm5",
  "id": "fc_00540e5ee97127b3016ab47270d58887d0b3420d6860f855da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3nb3g8hYs3BrF6OHRGsEyUm5",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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]: [-0.1696, 0.8089, 0.6922, -0.4793, -0.2806, -0.1303, 0.9971, 0.8001, 1.372, 0.9573, -0.63, 0.4946, 0.6113, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0034 left_z=0.1996 left_yaw=0.1192 left_pitch=0.0085 left_roll=0.0643 left_gripper=0.9971 right_x=0.2871 right_y=0.1805 right_z=0.1321 right_yaw=0.019 right_pitch=-0.2838 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.5111, 6.9128, 1.8291, -0.0562, 0.1441, 0.0171, 0.3487, -4.9162, 9.4838, 1.5263, 0.4225, 0.1294, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a57d3141bb3e8550380350312631c8e88404d771a54a83b807f28a66aa6d832",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6e1caede522ff5b0b2286bea663f48185c24c586f6a9238dc9f88257390c68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f386e837bf1107f765e47de458026ae7a9cc9bb3c054866091fd989fac749a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.469 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 44 changed as sent

message 48 changed as sent

message 38 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, 2.1208, 1.4067, -0.1444, -0.8356, -0.6941, 0.0418, -0.0277, 0.8169, 0.6533, -0.5877, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3994 left_y=-0.3381 left_z=0.0794 left_yaw=0.0498 left_pitch=0.047 left_roll=0.0317 left_gripper=0.0418 right_x=0.2713 right_y=0.0002 right_z=0.1555 right_yaw=0.0002 right_pitch=-0.1689 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.3709, 5.4906, 1.4335, -0.696, -0.1587, 1.033, -0.0479, -1.5111, 7.3778, 1.8584, -0.0171, -0.0415, -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]: [-0.9627, 2.0457, 1.8198, -0.7059, -0.8345, -0.72, 0.9968, -0.0277, 0.8173, 0.6521, -0.635, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3992 left_y=-0.338 left_z=0.1991 left_yaw=0.0615 left_pitch=0.0086 left_roll=0.0715 left_gripper=0.9968 right_x=0.2629 right_y=0.0004 right_z=0.1466 right_yaw=0.0005 right_pitch=-0.2177 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -14.0786, 8.9504, 1.3065, -0.4176, 0.1148, 0.1245, -0.1983, -0.8957, 6.8444, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8089, 0.6922, -0.4793, -0.2806, -0.1303, 0.9971, 0.8001, 1.372, 0.9573, -0.63, 0.4946, 0.6113, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0034 left_z=0.1996 left_yaw=0.1192 left_pitch=0.0085 left_roll=0.0643 left_gripper=0.9971 right_x=0.2871 right_y=0.1805 right_z=0.1321 right_yaw=0.019 right_pitch=-0.2838 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.5111, 6.9128, 1.8291, -0.0562, 0.1441, 0.0171, 0.3487, -4.9162, 9.4838, 1.5263, 0.4225, 0.1294, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a57d3141bb3e8550380350312631c8e88404d771a54a83b807f28a66aa6d832",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6e1caede522ff5b0b2286bea663f48185c24c586f6a9238dc9f88257390c68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f386e837bf1107f765e47de458026ae7a9cc9bb3c054866091fd989fac749a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ55VRQlRrP7slRguecqMH4-y3TC48-4mOeBotCXoUlH9ziMeAvtLfDERPnET1agDeDRIs_y9aYykzivwN0P8AyA5YWHg-VeU9h9riWnWDVa9Uy8f0f0gVt3A96wOAITzywYebNdRtX1ZHzYSzAt9CzqBFY7G_TG6eueeoBUWI6bQNH9ocLdDVyOKOaiCgNwvUperTLCvhWGkf2uNEC2n6BSHifsXAAs8gEAM_STEbDyn_DRs4X9sGHDonNZxsY08cugcrLNzURjbscMIRw5ZFS-nZz6AHRUx4VPjXqo3a2xWbt3B_2VRMCJViVFlEMRQH00DBPgSgTXPIrLOhxOsS1Oif2-xMgkn2xJ69ZoBH_uZl-EoAnhcStH0Ud9eXJkCF0PrR0vQED0_ww4TX2UWPe-wMvXZz1YGlhaytYcL7v_2evlVAQtZ8Q5GUku2bSzu50pbo1EjIj-9MMyCiBsDosBNP50wsNplSEzz2UQQycW6jj_zQ4hD8mFWdRe2INYhTGLZl2RvIer5GvRTAbK5uNDmonbqKfS41bFXIs4oSS0GWx7hrWHpB177IIqOgaEEGto3ihg5TySSxdYYvZhLGVcxu3xNKD0_OLhbdy6G-q-0PVRNedFd9m-kPylLpyllwlospCqw91zuMjFFWLFTNG8JnSzzQ-TzkS2ov_Buy1wLHkzGK4MTj2GFYFfxY5RfO_A9IdM6g0l5TogQw7Lil4Gi0Y5ht3_QL0DCSHK2fC4FXZsxRMJdy3gbLk3OWuIeIUoRBRQLT0m2hDXLrreP-tLQoinAZ6oxWSYbkQ5_hJLphxV7ugO_ebvGPKnet-RLauW_YdjQuFRbPCt-ipBz3HdcifbUpCNhtCu8e79emfAWXyUkGWetLZ8A7n280_J_qV7WzsC4V-jxkQiZp_W0XKDZ4goKL24UXaqnb0AonULkeRPdnnmr2Z0-CFxhwELjZnPnjwC26OazsoPXaIjF0_BsKvJm2eu68JK7yMd6ZsdteZDtIoHqdSRXf17al2COgNZ14pkVwHHMIwsuH9kHX0-PhzxyhI0ucJCA2jQ2QIJKYzo58g48MokLVgBFFUFtIFhZvl0v2ph0sGfCR7FguDFYiPIsK0pU2wjPbr-oMkE4KgiPD56EPQ_nXGOOR-4lMlf-D3-t2ai2LkPNZc3gY4scv0tKK6TLa9miKMZwv2fD62Ccfizj7yYaQE7RmpxaeR0TYjDut1Gd23SbBi688Gf5IHuCrg5AtrNOcfc8cMB3SUYlYQpaqna8wXLLItrbR3ICCY1S1tznfboaDc8ukGjnNWCLCJwr_9d5CusiB2dwo4E45rFkPllX_dANPWmPOcthIara9LZhfNwArRboZMrHO6JauuxyBF7wS_AlyAVYDQt3kB29pY5Q4VR17LxKA7NL6hwu8OH514LU05kE-XzAAmRrYlPxS3PtP5bSgM6SdBwvPThu_dDLBz7Qy11_PEzvlVqSNPgTAbuThKHya8aAVsbmm1ni6Kc_RowMbdraEtNMfdyxaHLxQ8zsY5bfAx",
  "id": "rs_00540e5ee97127b3016ab4727708b487d09ebdbd9a61e11d0f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.19,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The teddy’s torso is centered in the wrist view but still ahead of the fingertips. I’m advancing slightly and lowering to grasp its soft body.\"}",
  "call_id": "call_mUonv1AWp1GRxigpvA9kkivE",
  "id": "fc_00540e5ee97127b3016ab47278323087d0ba279a45036873fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mUonv1AWp1GRxigpvA9kkivE",
  "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]: [-0.1696, 0.8139, 0.6868, -0.495, -0.2672, -0.1352, 0.9971, 0.7803, 1.7081, 0.5816, 0.2874, 0.5995, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1924 left_yaw=0.1109 left_pitch=-0.0183 left_roll=0.0601 left_gripper=0.9971 right_x=0.3234 right_y=0.1849 right_z=0.0176 right_yaw=0.0044 right_pitch=-0.0796 right_roll=-0.034 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6342, 7.3641, 1.7851, -0.2808, -0.0171, -0.0171, -0.335, -6.0786, 4.0957, 1.37, 0.4274, -0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60103a5fe169b451925315f726ee6beb5662cd076af4a0a687507bc076c2f4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d282635ed065c92922dfaae79f83a1232a71c11112e5b9a6026aee4f363790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db53342c27e9dd89ec197eeda3391900b4366524496dcb099dd01b87c755178",
      "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 · 3.541 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 48 changed as sent

message 52 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9627, 2.1452, 1.3937, -0.1463, -0.8387, -0.7048, 0.9955, -0.0277, 0.8173, 0.6525, -0.6125, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3969 left_y=-0.3339 left_z=0.0632 left_yaw=0.0562 left_pitch=0.0286 left_roll=0.0572 left_gripper=0.9955 right_x=0.2669 right_y=0.0003 right_z=0.1507 right_yaw=0.0004 right_pitch=-0.1948 right_roll=0.0014 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -13.2581, 7.0222, 1.2918, -0.3443, 0.0659, -0.1294, -0.0205, -1.2239, 7.241, 1.8339, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 0.8089, 0.6922, -0.4793, -0.2806, -0.1303, 0.9971, 0.8001, 1.372, 0.9573, -0.63, 0.4946, 0.6113, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0034 left_z=0.1996 left_yaw=0.1192 left_pitch=0.0085 left_roll=0.0643 left_gripper=0.9971 right_x=0.2871 right_y=0.1805 right_z=0.1321 right_yaw=0.019 right_pitch=-0.2838 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.5111, 6.9128, 1.8291, -0.0562, 0.1441, 0.0171, 0.3487, -4.9162, 9.4838, 1.5263, 0.4225, 0.1294, -0.0611]",
      "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]: [-0.1696, 0.8139, 0.6868, -0.495, -0.2672, -0.1352, 0.9971, 0.7803, 1.7081, 0.5816, 0.2874, 0.5995, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1924 left_yaw=0.1109 left_pitch=-0.0183 left_roll=0.0601 left_gripper=0.9971 right_x=0.3234 right_y=0.1849 right_z=0.0176 right_yaw=0.0044 right_pitch=-0.0796 right_roll=-0.034 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6342, 7.3641, 1.7851, -0.2808, -0.0171, -0.0171, -0.335, -6.0786, 4.0957, 1.37, 0.4274, -0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60103a5fe169b451925315f726ee6beb5662cd076af4a0a687507bc076c2f4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d282635ed065c92922dfaae79f83a1232a71c11112e5b9a6026aee4f363790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db53342c27e9dd89ec197eeda3391900b4366524496dcb099dd01b87c755178",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ8JDRSt_5i9KCOxGn56JsB85fmLzERmbWH47CRmqfkUqknZP849pYvOgOZ5Ec6NPE1MQj8f-QAUXHjiBNH2CguEEcWX8yy_xXYIGQph2-wYXkdnsyDX6QVCbkKkJlnj7eyWTHXReU7XPSYUdFWGbYDiWnUGWQVsSdhRWQRz041mFkyLPXqC64G3S14_v0N4Q4zFgfqHkBb5OQ5OogYzUBBep-D7I_M9YAenkQev2_opE6KNHNKWLmxzKNisLmEZNzUsJkQFKFGD8lxnU4Urrij7t-rAv5I9JPUSGiswXlZC-cDmjcylY5pbm5KybXAimCvazE70xEh4Ul0H2ATqo1HTCxKFDu3hsNpkMJipAejw2eei_XiQCAxfVPpzKkZnkY2HllTFgJNfCsEVG5X85X5ESV9p24JKNSNgB4pcOTdJFk3AxgxcSdAUSOPCI1AWrOQgIjaMFUWG0aygz5kWCt7D3Yo-WtFn_1pRS0KZ3C3SAAmjvQ86fmzuRsbOcidroUsTe8P5jD--BZAr_0YIp4nJvYygapTNku8qByHXA5y-h00jBi5Sss0gBMLwCLM0pyktT19lCCDGCD_HmWuXuNapiBct6AxjvO1NR0qkgUn97ttFOZ1lIHKO7SFOEWTSWeDrHKlaoyysQ1sVWyM5E3TkPVyCC55B5Hm9xbrenh465PnkgAx6dhmg2UgHHkFsAOCfFgtnHfiOgDLYysh_xayecJxx_a_U1GcBz_cnt5HYXmnp8OFcwyH3z-xRK5yy1U4AllA6NXBDQHiYgQwo7oiaYq1Gfdj27MCv_aPC9nmAixYRWTG060kgj6BzBdJnHhXSRz9tLy5lWCfGWo2s7hB3WiOcZHa3UL6EauoWaZwIKglcjy0JQMjf-2UfZy9C6YzOv5T1hwsJSB1nontuNQ4VMyGdZdbzPkijlHAPLHlXsywbVTocE9Mu07VrrZoIr3S_SWyuBBhe3tq5S2uF8PhOjUt06n7bhX6V8D4hCvDz9vronVfJM4f1pINckmuX_KX79NWI-YVEL3Ox5vb_oc18t8sEfYrYwny0j85RJVzB4Xk0Oc4pgFfnmIY_bq8mz1IH6MKndWaXESP89a4yJo4oDQrbPbXJtFbN349DbHGthbol_n7na4mwiutoC_cc945DoH7jtLqeZ2YXzmpTZT4I1V10cpELASE3x0aWM5AUGq5MqdWP1ygoYBHyLiFUshm",
  "id": "rs_00540e5ee97127b3016ab4727b8d6c87d09127a4921cb7fdda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are around the teddy’s torso at table level. I’m closing to secure the plush without dragging it against the safe.\"}",
  "call_id": "call_mbJ7SpWSKc1P2Dv3Bw6nGY9i",
  "id": "fc_00540e5ee97127b3016ab4727bbe7887d0ac90748dc9d1b314",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mbJ7SpWSKc1P2Dv3Bw6nGY9i",
  "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]: [-0.1696, 0.8143, 0.6868, -0.5095, -0.2665, -0.1356, 0.9971, 0.7788, 1.7184, 0.5739, 0.318, 0.5941, 0.5163, 0.0387]\nstate[eef_state]: left_x=0.2873 left_y=0.0016 left_z=0.1895 left_yaw=0.1106 left_pitch=-0.0328 left_roll=0.0635 left_gripper=0.9971 right_x=0.3242 right_y=0.1861 right_z=0.0158 right_yaw=0.0088 right_pitch=-0.0734 right_roll=-0.0245 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -1.265, 7.0085, 1.8437, -0.149, -0.0171, -0.0122, 0.0205, -7.5419, 5.3265, 1.1502, 0.2711, 0.1294, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7f51257272b3a4441b51c5d6cab34f65e3524c13059604bcafe1f7cfc3a335",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a6787fa80c2822d9a9200aa9cc9cd8644a3423a606472d1d728c2c14820102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf3822c63f8863c2253a6b6ccce9e12994dcba9294d704c916ffe00fb78cbed",
      "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 · 6.222 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]: [-0.9627, 2.0457, 1.8198, -0.7059, -0.8345, -0.72, 0.9968, -0.0277, 0.8173, 0.6521, -0.635, -0.0231, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3992 left_y=-0.338 left_z=0.1991 left_yaw=0.0615 left_pitch=0.0086 left_roll=0.0715 left_gripper=0.9968 right_x=0.2629 right_y=0.0004 right_z=0.1466 right_yaw=0.0005 right_pitch=-0.2177 right_roll=0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -14.0786, 8.9504, 1.3065, -0.4176, 0.1148, 0.1245, -0.1983, -0.8957, 6.8444, 1.707, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.1696, 0.8139, 0.6868, -0.495, -0.2672, -0.1352, 0.9971, 0.7803, 1.7081, 0.5816, 0.2874, 0.5995, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1924 left_yaw=0.1109 left_pitch=-0.0183 left_roll=0.0601 left_gripper=0.9971 right_x=0.3234 right_y=0.1849 right_z=0.0176 right_yaw=0.0044 right_pitch=-0.0796 right_roll=-0.034 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6342, 7.3641, 1.7851, -0.2808, -0.0171, -0.0171, -0.335, -6.0786, 4.0957, 1.37, 0.4274, -0.232, -0.0171]",
      "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]: [-0.1696, 0.8143, 0.6868, -0.5095, -0.2665, -0.1356, 0.9971, 0.7788, 1.7184, 0.5739, 0.318, 0.5941, 0.5163, 0.0387]\nstate[eef_state]: left_x=0.2873 left_y=0.0016 left_z=0.1895 left_yaw=0.1106 left_pitch=-0.0328 left_roll=0.0635 left_gripper=0.9971 right_x=0.3242 right_y=0.1861 right_z=0.0158 right_yaw=0.0088 right_pitch=-0.0734 right_roll=-0.0245 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -1.265, 7.0085, 1.8437, -0.149, -0.0171, -0.0122, 0.0205, -7.5419, 5.3265, 1.1502, 0.2711, 0.1294, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7f51257272b3a4441b51c5d6cab34f65e3524c13059604bcafe1f7cfc3a335",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a6787fa80c2822d9a9200aa9cc9cd8644a3423a606472d1d728c2c14820102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf3822c63f8863c2253a6b6ccce9e12994dcba9294d704c916ffe00fb78cbed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKBBepKU5W1qoDY_xnL3YcyRM99JK83zqQtWlBdkHvv2LtRcld_M969-OaRnt31UtR3wIA7FyEnzez1r1sl_5DqGBXdu4Iagk0waKNEDZGE3OGTNrUvHSfy2sn9bUAIfabTbHGnNl9zaBInjs5R4qv_f9Re6v9w1e7NL3_O5ICGKRx7_oLIMgbrym9PdN264TRMDJFK9MisjwuhOJUHHiewT8WxlFmagrbSab8QBpK8V-g0QW0LiAAWwivB7NHr-UsnqoaUl3gAd2G3DYkPlZidH9Sm_Ks5Oa-N5FXMHXFq8XiVPcZBPtYA3W66GOr6B8Jlkeb15ZcGvSJ21k3LSMHAmQXuWWAOxY-YMrHxnq_sZoQHVBJosVAPFHRx1hTSduqXuVCOP2TEUrq0Yj_cWo0QulpDPdYt6Nga4272eFXJzuiIzqg6WZ9yRfsQPFOkx6PzHRuzq1X1E-H8GmTaOEhO_hVKs7MkyvXQEXAyg_qRMoBhDPUcCOcepwcpRQ0FaLq4EDoDRzEk8nuXrZDRoNAcC01ClW1VVhUsdiH_292LoOtSHu1FmutE0q1ik5UU2t6okP0P1r-4-CIqstO_i5j86vUn9rZ9JoWxPhB8BO--xA62OH5XHLCT5BLT02jx-LEqIP_GzEaX8Yr7uHn6Yc8S4V0a5nw0MF6086FX26uR6WQOE-zYb_55Mf-iwbaZdfQ_xZ4qg9K214bXOIJPIZY7uYx4gLNUQdQ4vdfuSQ6GWiEsmURaPdoaqFQG-TF4knAPm-12M7CA_GZ6AIO3wVQBu8qp6y5zqPDvh3ofBPyj1bIT8hl7zq_SM6XDZX_DlhT7d2yVRyPCB1d_7ol02LXM0frjMft3ojCRHNfsOwMJw7OVYAcRHVW44ZMyFFJYBXEFPPN-sy4AlVe187dCdbcOvIxJiHonP-8-qMprnQTurGiCjHSGUG9iJr3Px53naYo32MVPzHC1RWhFGH2IUYsN6fHH81EFFXM_k2yW3QKSNyqdftbrtDW_Xvj75-ZE7zKub1k_Dyn032GQ556ee4bh-ZCwx1gEDDL6BF6J1AbvhGSEqr6r_Y9q6ws8y5BJiEwntTRV4vVMirX5nX1heSB4ynHC_BJnWgXGnfmpmgGjx6DQK_heYXzJdULKcFwSYEAmPAQ6A1zmW3Pq2C6wC71gdBflAGr1rqh1blrSlf-HJVutrh43j-0hBuIFq1DaCxBgnh2-a4tEP-fuylQrMasEHcKDuSwaZVOjb6LViMzP1DM=",
  "id": "rs_00540e5ee97127b3016ab4727fa5b887d0b1d06064ea8ea8c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_pitch\":0},\"note\":\"The teddy also gives a narrow grasp reading. I’m lifting a few centimeters to verify that the body is actually held before carrying it.\"}",
  "call_id": "call_xdMcRoaOvz5ICI221QpCcxJ1",
  "id": "fc_00540e5ee97127b3016ab47280105887d0b0543deb29912302",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xdMcRoaOvz5ICI221QpCcxJ1",
  "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]: [-0.1696, 0.8181, 0.6868, -0.5175, -0.2665, -0.136, 0.9971, 0.7959, 1.4738, 0.6518, 0.02, 0.6167, 0.4961, 0.0393]\nstate[eef_state]: left_x=0.2864 left_y=0.0018 left_z=0.187 left_yaw=0.1109 left_pitch=-0.0441 left_roll=0.0664 left_gripper=0.9971 right_x=0.3182 right_y=0.1841 right_z=0.0823 right_yaw=0.022 right_pitch=-0.0447 right_roll=-0.0354 right_gripper=0.0393\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7705, -0.1685, -0.0366, -0.0122, 0.1709, -6.6393, 8.841, 1.7998, 0.4176, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f104d6863d72e43ccd4a57210bf916a57d01e59e1ed9c0eabdd44c22b45c60d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0670ed945d4e607b6b60b68e264319f47bc3ac18708d8ca7873463bc09fed7be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c2fe28ea71984c9cf6b7634301f5ca61d237575eab0595b7a23ed804a97aa6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.862 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]: [-0.1696, 0.8089, 0.6922, -0.4793, -0.2806, -0.1303, 0.9971, 0.8001, 1.372, 0.9573, -0.63, 0.4946, 0.6113, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0034 left_z=0.1996 left_yaw=0.1192 left_pitch=0.0085 left_roll=0.0643 left_gripper=0.9971 right_x=0.2871 right_y=0.1805 right_z=0.1321 right_yaw=0.019 right_pitch=-0.2838 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.5111, 6.9128, 1.8291, -0.0562, 0.1441, 0.0171, 0.3487, -4.9162, 9.4838, 1.5263, 0.4225, 0.1294, -0.0611]",
      "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]: [-0.1696, 0.8143, 0.6868, -0.5095, -0.2665, -0.1356, 0.9971, 0.7788, 1.7184, 0.5739, 0.318, 0.5941, 0.5163, 0.0387]\nstate[eef_state]: left_x=0.2873 left_y=0.0016 left_z=0.1895 left_yaw=0.1106 left_pitch=-0.0328 left_roll=0.0635 left_gripper=0.9971 right_x=0.3242 right_y=0.1861 right_z=0.0158 right_yaw=0.0088 right_pitch=-0.0734 right_roll=-0.0245 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -1.265, 7.0085, 1.8437, -0.149, -0.0171, -0.0122, 0.0205, -7.5419, 5.3265, 1.1502, 0.2711, 0.1294, 1.0769]\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]: [-0.1696, 0.8181, 0.6868, -0.5175, -0.2665, -0.136, 0.9971, 0.7959, 1.4738, 0.6518, 0.02, 0.6167, 0.4961, 0.0393]\nstate[eef_state]: left_x=0.2864 left_y=0.0018 left_z=0.187 left_yaw=0.1109 left_pitch=-0.0441 left_roll=0.0664 left_gripper=0.9971 right_x=0.3182 right_y=0.1841 right_z=0.0823 right_yaw=0.022 right_pitch=-0.0447 right_roll=-0.0354 right_gripper=0.0393\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7705, -0.1685, -0.0366, -0.0122, 0.1709, -6.6393, 8.841, 1.7998, 0.4176, -0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f104d6863d72e43ccd4a57210bf916a57d01e59e1ed9c0eabdd44c22b45c60d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0670ed945d4e607b6b60b68e264319f47bc3ac18708d8ca7873463bc09fed7be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c2fe28ea71984c9cf6b7634301f5ca61d237575eab0595b7a23ed804a97aa6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKHO_Ei7YXJSjThN9yFzbYN8-diwOSODM53IqjnScS6sg-wQ7MxYLwo1cDu3t1rOGrhi47zBVSfRZJnYedGaohSq6ajqZBHsMxdgJcCr6EMr5gl4BrufqkTx47VJ8l1FlkAHa-GhRcDWFPi9H68aR1KqIZJLvGbSgMQ0r5kAb9IoiwWenDqswQiIMFqQuG23IiqvEAV3ua3s7ILnTZCosrbbHW73PfjI5feUB7Ngps6-HI8lhsaOMl8eFQTFxD3bz4VoG27JJ0pzjrQwOIYrYR35Bq2lq6uxXkKyzQMfhSxyaAGlPvOvvFtnKx9QAGBy_6_-8178iOdBbJM6zi8dlT4Fq4RdQZLl1xn2dpLMXKi4zYt9NBMFRGmSItVUz9Xu52bw9tm0B-DbLNCLe1wguIlo3Z5st7akp6SLMhP78-uF9ivbgR2Ox_VXk_Nerhh3N9yUU7PInkwXpoobY_fLci_eJ_RxQKGY5RSFnrhaSptbDEUAQshrn_YU1ekjgTtNscA2IVApS8evjQ-eDdGIOYgE5ntE9pXwWv-aSaJh5izpDZ60akjqAlSPI_NwYsjEVl-aVcKE_jhJ-VqRhcGMU4dzuF5DJJhs_wIi5JnLoBDA-KxxsiMM2xegjndaQcG-VSUkJ75Jkqx9VgHfls-yrfPsd5LReS3jsxs2YSaEvUlJKy2tNrcC-cpJIoZX1cPn8KA-mqPzqYe_uo9xzp2gd4Ls8b36Apv1bKPVpbN6zJtki6n9aCAJGq9kitzpEvgaSKtxFyzrLRSlgIFCz6Au7cgZHxBu8AZcB-r3CKqnTjQqqvoVEwMo4gIX6jde60nYWnlvwYRMruJRGDAh1i-fNo8B0nEqE__cJo5WtxrapfLl90X8ChTpePYSRFrdXzxyBLd7gKETu8lNWhdSgt7CjXplcWNGM9nGhV1im_9AeS_R04D8JOZIPuU4F1qeG_bFR8wQWLFF4Fxo9h1dGELg1YsNJMdPDqtCSWPDqm_e-AFJj8L_TCp5QlscRKZp8sxnpv84BAvW3bUf_pI-YfAy2cI31TmbBEKagKkRF1WtQeW5dO5ThV3ZWiaIK0i8jtDAB6GIu1DOxKB6OtqN6IFal92sKAKTYagb5iHisrI4jHXrh5GRJz-zE7MdTjWNcUSkLjeEUc_7kxbtVusNu_0Hf60H3NwpQahwDAPTheOeDaYQrpocDqooEpMNa9kX3hoW2pVjACnm4hu_ay5KfVqYRDHtPQDNQPrA2cprhdTzPTLs7_XzYEyPTPtQFZtWY00GsDrVG2n4xp_mZjgngxMmFwd5IQHjtVXNCHwVp1mkMgdmWhxWlSd1q9QXZYAR8MjvlbwJfnvLu5Y7F5FZQvtq4D8FOOucTc2e3rWzDR47WLHS2GMpEvo2OCfbrltm8N5NM5bmpqAxwNijz0S6a_KBxagYbZbHvFGwhpl6dQdJlXadkbZUl7wnxRggd6qQdSBCLgxuU4PY_T4wk4C3Y6hNL_bUm9pWq_oQVR2B6rOJZTfCO7f7osK7lerp1dJ_5KGO4EHXC02_bsUjJHZqU_dayR6MijCvSrkrTSWjyVS7gDMdSvjK3aZoRkCIFXPT6M73hy-6jNZN7QIViBCzQOnTVsdZp9TyHn2h32c8y5Vz34cIoqh7sdlDaK1QcGOvVxRwaHVdSGStaXS0F36izJ2YR8jsl78pe8_HzeRwsL0Hz3YaA_RceSBCl-Whp0OUpLUDpzAgNmGO2h3646qmEctaWUug0FupFW4IEIJHdB7HMpulCH0ZUvE0f2CRDgJcOHNtIlCDSLWjPkYeL4FjjSWoMZlY1vc5bPqpeW50hhv_ubSxSQT0JqzcYYiRldL_Sv6L-F0VPF2kBZmv6Pf8eZMmw8mQNTDsQ8xRrf8cSU2c4aIWM1-TXuCm6jpU-Us6CJBQ8FDxUcPSLU8v8U0p6CzCXQ71hDzk1HOn1du4ZGgGWXZQnoY3UkgPiwbxX2Ra68m1YZJH1ljvGKOOig1u_aQUq2w5jquxkU-Rb4u515qlHj-Ys-4Y6QdVktVcs4N65gTnn45p6Qask9yweEgPnVy6awCqOQoihZ_2UCIvsfAmzUTO-4jxC8cITern062Uop5LdaqfvwjH9C-U_BA1-Joi7PsZU9OxHU2j8cEbGJgUMIYy8Omv1u8wYaMzrCnM1PQ1k55W20Uf7gGK10Y1naoeV_Bhg==",
  "id": "rs_00540e5ee97127b3016ab4728333c487d0954e2986293c775d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.38,\"right_z\":0.24,\"right_pitch\":0.1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The teddy is moving with the gripper. I’m carrying it over the safe, offset toward the far side because its body hangs to the right of the grasp.\"}",
  "call_id": "call_gQEWJIsR4slAWNKftNGzre73",
  "id": "fc_00540e5ee97127b3016ab4728665d487d0bff0d17d8e980e29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gQEWJIsR4slAWNKftNGzre73",
  "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]: [-0.1829, 0.8173, 0.6868, -0.5243, -0.2783, -0.1402, 0.9971, 0.9287, 2.1422, 2.0014, -0.614, 0.7528, 0.5045, 0.0394]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1862 left_yaw=0.1097 left_pitch=-0.0478 left_roll=0.0716 left_gripper=0.9971 right_x=0.4285 right_y=0.3773 right_z=0.2229 right_yaw=0.0533 right_pitch=0.0577 right_roll=-0.0586 right_gripper=0.0394\nstate[joint_eff]: [-0.3624, -1.6342, 8.212, 1.873, -0.232, -0.0122, -0.0122, 0.3214, -12.1231, 8.8821, 1.3944, 0.5641, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b73e88896e1bda8fd69108648ad7cb744d8cc5562f451451f27fbc67642eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f137a5460d237f9284376d021b92034a91df62c688fd81b71b5fe95540b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c54630befb8d5113e66a15f89b2e4d88a470c376cc121b18a88f9fae3f0c78d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.348 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]: [-0.1696, 0.8139, 0.6868, -0.495, -0.2672, -0.1352, 0.9971, 0.7803, 1.7081, 0.5816, 0.2874, 0.5995, 0.519, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1924 left_yaw=0.1109 left_pitch=-0.0183 left_roll=0.0601 left_gripper=0.9971 right_x=0.3234 right_y=0.1849 right_z=0.0176 right_yaw=0.0044 right_pitch=-0.0796 right_roll=-0.034 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6342, 7.3641, 1.7851, -0.2808, -0.0171, -0.0171, -0.335, -6.0786, 4.0957, 1.37, 0.4274, -0.232, -0.0171]",
      "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]: [-0.1696, 0.8181, 0.6868, -0.5175, -0.2665, -0.136, 0.9971, 0.7959, 1.4738, 0.6518, 0.02, 0.6167, 0.4961, 0.0393]\nstate[eef_state]: left_x=0.2864 left_y=0.0018 left_z=0.187 left_yaw=0.1109 left_pitch=-0.0441 left_roll=0.0664 left_gripper=0.9971 right_x=0.3182 right_y=0.1841 right_z=0.0823 right_yaw=0.022 right_pitch=-0.0447 right_roll=-0.0354 right_gripper=0.0393\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7705, -0.1685, -0.0366, -0.0122, 0.1709, -6.6393, 8.841, 1.7998, 0.4176, -0.0855, 1.0281]",
      "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]: [-0.1829, 0.8173, 0.6868, -0.5243, -0.2783, -0.1402, 0.9971, 0.9287, 2.1422, 2.0014, -0.614, 0.7528, 0.5045, 0.0394]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1862 left_yaw=0.1097 left_pitch=-0.0478 left_roll=0.0716 left_gripper=0.9971 right_x=0.4285 right_y=0.3773 right_z=0.2229 right_yaw=0.0533 right_pitch=0.0577 right_roll=-0.0586 right_gripper=0.0394\nstate[joint_eff]: [-0.3624, -1.6342, 8.212, 1.873, -0.232, -0.0122, -0.0122, 0.3214, -12.1231, 8.8821, 1.3944, 0.5641, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b73e88896e1bda8fd69108648ad7cb744d8cc5562f451451f27fbc67642eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f137a5460d237f9284376d021b92034a91df62c688fd81b71b5fe95540b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c54630befb8d5113e66a15f89b2e4d88a470c376cc121b18a88f9fae3f0c78d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKMq00Gyc7NatOxTXmZY4vtE1BIOkS5hKFl9A2RqGhCgwb86T1gJv-pMKt4W6UeTWsTTlZvaJP0QB__F5x-S6ua2tr10MeN90Qq6gsJoVFej6Ya5P_H344NoNXhnCh10DjDKWFtzxcTfnVxuk2yG0Gl8UpL_cDv1IiLZ2kexQ-20nabkiipkGy3KR5mIr5GkmQcN3mYRBwqCl_VkJ4sAXX0loT8jZ_lTCRxYFm1tMkC19yoI-nfJc-xy7gau76i_wCJzk50krtoaQylLF8hu2k4yCLyLBSnM-VmorCkO97zUoAXr2APjMRXqimB9068422NqaSjXZ1caB8ZSAZ-LUTkyzvZEt0VAClVeYI8eURgZAmy8XrJ5oF9PWUHTlqja0yCfWbSbF4IpkjZZXq_xO2Y7Gh6PLmdZjEPV8gRUDh0tdf2OYQZwnKc7last9Pfm637tvew8PDs6BiYdC3tpG1D7dgXyboqUhw_XaPnlAithhmWeblRs8Z19aEP58mQYvzeGyvgLSN2_Cul4ZoMA-QKOyGqQz8r-jKP34elELHhSoPZ0ySkDU0xO2MuuVuDE3sQezNU7onwSCeavinPWyV94f_M22QVPVVrbMsEm8B-y8aHgxvXCBP3viT08hkyByaOSS04TWNF08Kg-OhbL9AbfiOrgxZ-HhNJ1FUOl8DZ_8LUKqC1KMAV-43H_SknJFC6gYzZq95PoCZrNo0AQT-MJmGLfCMbmrDcb6s9fZ8ToFtjRM6hi5IHiAEu-XJqLL9V2v0q5vkLA_nXd6CpuygUztd0I7eODQHMxswzqFzRypYhEct_3jABJQVQ0BX6kx4JNDbdBPz-XMk_2Lsqjw_AgFPKMlSFSkLmAZTIY0vG32rAr-HRQWcumyoNcY3vmC78lo0hySP1iEipoHGh1pxtYv5yBSXJYFa2ytaVy32o7xCnCx5js1MPYsgyRZn5VELW--WRV031Sj5-ev9-xUN5GSrfj9-DOKV8ZDwKvoToqBvZEfi5w2c0ayL9G812ljpF12NcjMTbr992UqrGZHsCHFow6szuivU966SFdX3U115VaWClTPMenVanSLQ6Gqisj0XiDxQIHPhNEAoj7IFfer7uzM55xObI6wLCs2EppmhF7-OLfjop69JXq4Vv_0Y1TkDVwU1_wkCqYHBbo42wNRRuX4YEAjX2BweBUN5fM2UuVMsk1tyhU9qAqI2exUlZ1inU0E8soMa6_eZyDDPsk07_JzMnD-Nt3_fs2scv037gvUi0J3VKf0bSoKX9GjcZhaVxMtx2_9pSyhHNltRoBiVPKMu5P8oLQ3CIxH-GAz3ZvBRNxaSmkN06qeEFTB5t9o8jm4lHjdBUa8vJgbbzqyCu_lvCq1MLSzxqPyz59Jg=",
  "id": "rs_00540e5ee97127b3016ab4728abf7887d0842bc15c1ce92b7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The teddy is above the open compartment with its body inside the rim’s footprint. I’m lowering it beside the pale plush.\"}",
  "call_id": "call_tSAWmRWEqK2qMZvxnKqn4pp2",
  "id": "fc_00540e5ee97127b3016ab4728b894087d0a2d4272806ecb940",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tSAWmRWEqK2qMZvxnKqn4pp2",
  "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]: [-0.1829, 0.8207, 0.6868, -0.5388, -0.2779, -0.1429, 0.9971, 0.9302, 2.2303, 1.5753, -0.1616, 0.7406, 0.5041, 0.0394]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1825 left_yaw=0.1111 left_pitch=-0.0649 left_roll=0.0744 left_gripper=0.9971 right_x=0.4214 right_y=0.3718 right_z=0.073 right_yaw=0.0651 right_pitch=0.0113 right_roll=-0.1006 right_gripper=0.0394\nstate[joint_eff]: [-0.1299, -0.9641, 6.9128, 1.8095, -0.1343, -0.0122, -0.0122, -0.1709, -12.0547, 6.8171, 1.7118, 0.359, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2145f146fbbb37f23507eab605f4e89331721318b944d59edba206aa722f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f34acb88a7a38d8db2b78903dd565ba9f049d223c4121a4919b87783084ccc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1aefd2e4cf0986828bcce76692910861cee1091f8784cb2b5816157e8aa26a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.464 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]: [-0.1696, 0.8143, 0.6868, -0.5095, -0.2665, -0.1356, 0.9971, 0.7788, 1.7184, 0.5739, 0.318, 0.5941, 0.5163, 0.0387]\nstate[eef_state]: left_x=0.2873 left_y=0.0016 left_z=0.1895 left_yaw=0.1106 left_pitch=-0.0328 left_roll=0.0635 left_gripper=0.9971 right_x=0.3242 right_y=0.1861 right_z=0.0158 right_yaw=0.0088 right_pitch=-0.0734 right_roll=-0.0245 right_gripper=0.0387\nstate[joint_eff]: [-0.0752, -1.265, 7.0085, 1.8437, -0.149, -0.0171, -0.0122, 0.0205, -7.5419, 5.3265, 1.1502, 0.2711, 0.1294, 1.0769]\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]: [-0.1829, 0.8173, 0.6868, -0.5243, -0.2783, -0.1402, 0.9971, 0.9287, 2.1422, 2.0014, -0.614, 0.7528, 0.5045, 0.0394]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1862 left_yaw=0.1097 left_pitch=-0.0478 left_roll=0.0716 left_gripper=0.9971 right_x=0.4285 right_y=0.3773 right_z=0.2229 right_yaw=0.0533 right_pitch=0.0577 right_roll=-0.0586 right_gripper=0.0394\nstate[joint_eff]: [-0.3624, -1.6342, 8.212, 1.873, -0.232, -0.0122, -0.0122, 0.3214, -12.1231, 8.8821, 1.3944, 0.5641, 0.0708, 1.0281]",
      "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]: [-0.1829, 0.8207, 0.6868, -0.5388, -0.2779, -0.1429, 0.9971, 0.9302, 2.2303, 1.5753, -0.1616, 0.7406, 0.5041, 0.0394]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1825 left_yaw=0.1111 left_pitch=-0.0649 left_roll=0.0744 left_gripper=0.9971 right_x=0.4214 right_y=0.3718 right_z=0.073 right_yaw=0.0651 right_pitch=0.0113 right_roll=-0.1006 right_gripper=0.0394\nstate[joint_eff]: [-0.1299, -0.9641, 6.9128, 1.8095, -0.1343, -0.0122, -0.0122, -0.1709, -12.0547, 6.8171, 1.7118, 0.359, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2145f146fbbb37f23507eab605f4e89331721318b944d59edba206aa722f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f34acb88a7a38d8db2b78903dd565ba9f049d223c4121a4919b87783084ccc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1aefd2e4cf0986828bcce76692910861cee1091f8784cb2b5816157e8aa26a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The teddy has reached the safe’s lining. I’m opening the gripper to leave it in the compartment.\"}",
  "call_id": "call_TvUgCVFNaLHnmswe4Jp611q9",
  "id": "fc_00540e5ee97127b3016ab4728ebf7487d0ad66ac92a3aaa9ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TvUgCVFNaLHnmswe4Jp611q9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5446, -0.2779, -0.1429, 0.9971, 0.9302, 2.2444, 1.565, -0.1608, 0.7406, 0.4973, 0.9948]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1815 left_yaw=0.1112 left_pitch=-0.0703 left_roll=0.0761 left_gripper=0.9971 right_x=0.4195 right_y=0.3693 right_z=0.0619 right_yaw=0.0689 right_pitch=-0.0045 right_roll=-0.1243 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.1556, 6.8855, 1.6825, -0.1587, -0.0513, -0.0122, -0.1026, -13.8872, 7.3094, 1.3651, 0.2173, 0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ea71465249130c2c555fdbb324765b27d358df836df9f96b410e88545b4c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6967d77191624d599af67aff234a4e85bea42b8a0bae0e4ea49479ea2c24de8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ce8aa7981012a0a3731c655691fa8c022ef85672c5009e4a5a87d058ff8b3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.374 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 71 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]: [-0.1696, 0.8181, 0.6868, -0.5175, -0.2665, -0.136, 0.9971, 0.7959, 1.4738, 0.6518, 0.02, 0.6167, 0.4961, 0.0393]\nstate[eef_state]: left_x=0.2864 left_y=0.0018 left_z=0.187 left_yaw=0.1109 left_pitch=-0.0441 left_roll=0.0664 left_gripper=0.9971 right_x=0.3182 right_y=0.1841 right_z=0.0823 right_yaw=0.022 right_pitch=-0.0447 right_roll=-0.0354 right_gripper=0.0393\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7705, -0.1685, -0.0366, -0.0122, 0.1709, -6.6393, 8.841, 1.7998, 0.4176, -0.0855, 1.0281]",
      "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]: [-0.1829, 0.8207, 0.6868, -0.5388, -0.2779, -0.1429, 0.9971, 0.9302, 2.2303, 1.5753, -0.1616, 0.7406, 0.5041, 0.0394]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1825 left_yaw=0.1111 left_pitch=-0.0649 left_roll=0.0744 left_gripper=0.9971 right_x=0.4214 right_y=0.3718 right_z=0.073 right_yaw=0.0651 right_pitch=0.0113 right_roll=-0.1006 right_gripper=0.0394\nstate[joint_eff]: [-0.1299, -0.9641, 6.9128, 1.8095, -0.1343, -0.0122, -0.0122, -0.1709, -12.0547, 6.8171, 1.7118, 0.359, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5446, -0.2779, -0.1429, 0.9971, 0.9302, 2.2444, 1.565, -0.1608, 0.7406, 0.4973, 0.9948]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1815 left_yaw=0.1112 left_pitch=-0.0703 left_roll=0.0761 left_gripper=0.9971 right_x=0.4195 right_y=0.3693 right_z=0.0619 right_yaw=0.0689 right_pitch=-0.0045 right_roll=-0.1243 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.1556, 6.8855, 1.6825, -0.1587, -0.0513, -0.0122, -0.1026, -13.8872, 7.3094, 1.3651, 0.2173, 0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ea71465249130c2c555fdbb324765b27d358df836df9f96b410e88545b4c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6967d77191624d599af67aff234a4e85bea42b8a0bae0e4ea49479ea2c24de8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ce8aa7981012a0a3731c655691fa8c022ef85672c5009e4a5a87d058ff8b3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKWXjcZZrW6fvAN85B7bCRBQRlpMzxHx8MHD1CNNb6NdZizBg6EGoLrwRgT-HTyYxOc16ky7mgx8rN6TnFfJnG_tBjl6ItFlwwUiDLeZhosFUcE3oNYv0t3N0w0_dtEUrwdXD9Rfj6lk6Fd9ky7ZOlyw9LoIjk1eALtEQz4qKcqXtqMSCccvb25CQ-TOfMH3YP8P7HKcvlNZj56whDwJ2TSRWvdpXwZ2P03CuudTLNDf4SDd-lziLjuND7clzYNNxr9nmC312gSvey7dtwpR7Za6_Z07zxKus0hnzzY69mMjuU6eDFFqOvjK-PUH3ECpAGIvZiktgHJ25Qn7jugtMrzdEmxkvrjEN0LXcyl12DKN6LAanLjziksDxS_fRiucOZnETpv9qtBOEF8qQR-xlqcf_9HnykU7FQUNFS01NO6V5Bl_ciX1bpy0rdwGYN9eIC46izq56WuKnj9PnsC5x3yPLKB_fyUnSoLI-s-MQ2x2mRuq_xRf4zjqAQvG_q8z1Tx_Crg5ZmAARcIexZd5cYL-BuqZf6CPPgtDCP6Th6g2_zNDK1ItoQ1aoCnU7Za7CJGkD37EGdSYEDCZth4IwASRGXd4A35ugH_PoIZqDB2e4mWSdSICQR9GVU5XUBqx_DELeBylsiYGB9Bmr1Qr4Zqq31Ou5v4K2jOq4MGbPSo8BaIqprhXfE5tOfOa5oMGeMGzeOgKYArEtDnM7-KqkCetRFA0G-Z8VHybLpdbDjHumL4MBl2sfUCHPCCVX2yntgUH3wSOFCwGXB4A6usOTEFpIIlEnMnOQEzpSlptW9vCEmWEQcwpB8ZPart5w2vf77E_v97ORUUi066uTQw_K9PMvInXDikhI_ikWHPJwmZQub-BfCv8Ajh0J5SsD2JEoqxUWohJ8QmXCrfGAriMLB2d7PcZp_5jldSGwp_iKetHWAMx6SJhTQ7kkjpqHiFVmFvgs82EB57Ld4q-amxD7hNWuxRFYQKeRqgbvo5xMWSvrs5CcLH1b3OD4yIK4HChPa5t57MhbdfAwPFgjXT0sAa3s5VFN4Dn88wleSKPW4j2QgahxZYqXbug6096NZqSDql00pte2Bd9Vc61aYUZFo11n1pNoZOfGI-8UnZIdIIEVEqTGtof38_T4FYAbdTx3ZT6zMqwfsKRFrOX-BCRVMcMeUEexIWEoa60t6RDmSzuK-S5CVSWQSTRqu4TGtAsREeBxrUtE7fX3kI9nL0e43aUv_XvZS0izHUhMdgZd6JZb5yFi7NyWpfK7UojSHg26awPjS8pXkgAduoT-VlZ0nHP2GV94uWZYtHxMHOOggZQmlBkvNwWuOpPcV4QNjZZcHsSvU-gQUiSIn2X1zXqb6-2dD0JI3ukadeg6QudMpd99e2n40zQByP5QbBhSMUg3Po4nFox_kNVJgq9-G6bQTIHkLqgKIUXZNc3W37G8anJhHcxWXSwyFZRXH0qTPU-o4Cy_6ML-HkyBCZ9h8Zq5KZFJK1oSgIjJhXI5yjZAcCl5u6pa1NiAjWDJOwJz7GYfDtohZXrxWIL26c_G4gnJyvW10HDLvj0YSQXLoWX7dxbRrlbEMOe0wjedC73guHeZ1AYdhct8zneszVG9hK1InIF-_wwxoehSaJM61jYOKxpE6IHZItIZ2ylZnpt9mj9UCz5Wj4qdIsqslSE_9QRwb1G8UDBbJsLTch6p-PMGXcqzC2L7seCWiiqGX5av5OUKHXFvth-eCPaO4tI0-JS_3CF3AFYlkdCg9iye5AroTAPUEWY4Ej9Oizj294LEi4A2H_CRJWTYURKqG3CpIRpcfIGC3Pi49OoYo7p4tc13sxronktu731FtNK6XJCAQzl4hpkVySlQz2xZn8y6UtmJ6tINn5v3MfZRbEnZRsCAZ8KOYJGuS5RVMft5meNjWc8CEypwvJfbY18SR28nO7so9FgPen40ErwWXrPYUNigq-2h_v8cSrbBWx55GPFn4hhVfQEjLyGIf_FkEosko_WItuhvgA0x4Vprq_kJpnlIzxvRTXqOVxRRg0_0826Uy-6LxAtVjz9lXaWSVSyHGhxDMTYfk52R122h4sIpTdZbLt2M-rsTerZ9NsEVXHeNwf5X8E5r9djgpo2ZPPgrz7jicJWsE71fHBtP2oY6aCf4fEi4ix_yOJw-_jutDSXXQxHE6UY9NCdQHZ8ClNceTvfj4AkjxwQmEzqF6bSVxpx5QiwvQ07aaeO1B7-Wb7PRfUWqJ8Qic316nSUOo37oe_VHqDKzJ6nGK2R_T91vH0ov11lFnqsZYqFt0FVxDHwTWswrp5qLVPZwS02DeU8ivMBCycYXnKVW1jYUQNg40gwUbb8vI=",
  "id": "rs_00540e5ee97127b3016ab4729225a887d09ab6538e855a24f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.25,\"right_pitch\":0.2},\"note\":\"Both plush toys are now in the safe. I’m lifting clear before reaching for the yellow object behind its right corner.\"}",
  "call_id": "call_uxlDQSUFjDYWNUH6X6m9GjBs",
  "id": "fc_00540e5ee97127b3016ab47296058887d0b37289b36aeacb85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uxlDQSUFjDYWNUH6X6m9GjBs",
  "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]: [-0.1829, 0.8207, 0.6868, -0.5591, -0.2779, -0.1429, 0.9971, 0.955, 2.0823, 1.7836, -0.4061, 0.8368, 0.3649, 0.9953]\nstate[eef_state]: left_x=0.2804 left_y=0.0011 left_z=0.1788 left_yaw=0.1116 left_pitch=-0.0842 left_roll=0.0803 left_gripper=0.9971 right_x=0.4187 right_y=0.3709 right_z=0.2055 right_yaw=0.0934 right_pitch=0.1239 right_roll=-0.1802 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.79, -0.149, -0.0317, -0.0122, 0.1299, -15.0769, 9.7846, 1.7607, 0.4908, -0.0952, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0107e3a99a23edc6036dcdf231f456825610a232caca3b05fddc1d56a9abaa4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56bc6d8614d1573631552d00045c24ac58d67d5e852c322f323c0bd3a489be7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0995cdfb63cf902806d3b478e49d76dfafc84301d73ec5cda03f3de4c2fd22ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 6.207 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 71 changed as sent

message 75 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]: [-0.1829, 0.8173, 0.6868, -0.5243, -0.2783, -0.1402, 0.9971, 0.9287, 2.1422, 2.0014, -0.614, 0.7528, 0.5045, 0.0394]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1862 left_yaw=0.1097 left_pitch=-0.0478 left_roll=0.0716 left_gripper=0.9971 right_x=0.4285 right_y=0.3773 right_z=0.2229 right_yaw=0.0533 right_pitch=0.0577 right_roll=-0.0586 right_gripper=0.0394\nstate[joint_eff]: [-0.3624, -1.6342, 8.212, 1.873, -0.232, -0.0122, -0.0122, 0.3214, -12.1231, 8.8821, 1.3944, 0.5641, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5446, -0.2779, -0.1429, 0.9971, 0.9302, 2.2444, 1.565, -0.1608, 0.7406, 0.4973, 0.9948]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1815 left_yaw=0.1112 left_pitch=-0.0703 left_roll=0.0761 left_gripper=0.9971 right_x=0.4195 right_y=0.3693 right_z=0.0619 right_yaw=0.0689 right_pitch=-0.0045 right_roll=-0.1243 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.1556, 6.8855, 1.6825, -0.1587, -0.0513, -0.0122, -0.1026, -13.8872, 7.3094, 1.3651, 0.2173, 0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5591, -0.2779, -0.1429, 0.9971, 0.955, 2.0823, 1.7836, -0.4061, 0.8368, 0.3649, 0.9953]\nstate[eef_state]: left_x=0.2804 left_y=0.0011 left_z=0.1788 left_yaw=0.1116 left_pitch=-0.0842 left_roll=0.0803 left_gripper=0.9971 right_x=0.4187 right_y=0.3709 right_z=0.2055 right_yaw=0.0934 right_pitch=0.1239 right_roll=-0.1802 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.79, -0.149, -0.0317, -0.0122, 0.1299, -15.0769, 9.7846, 1.7607, 0.4908, -0.0952, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0107e3a99a23edc6036dcdf231f456825610a232caca3b05fddc1d56a9abaa4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56bc6d8614d1573631552d00045c24ac58d67d5e852c322f323c0bd3a489be7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0995cdfb63cf902806d3b478e49d76dfafc84301d73ec5cda03f3de4c2fd22ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKbQ-WuQonnS_6USshkHLj_w6mOk-D3oK1cVZ-O5rGv62rLX8GCXpNANK0mORdiGeFgmWuhu8Fxjj2SdKiXT3Bu5pkXc_qd8g2syzByIZs7jSAUoA8NjJpj4GOrZBItfhfIcEqJpBR0igpgEf0G-kCj7zbx3XuRRM0LSBHDIGbI3QAf5DNbH_18Vg5R-Y-Apfla_f3wIUtsye-CmvyBnVkme6fAWXO0VK6VCFxxWF8JI3p8s-V1_B-m9gwbKuM1koDYD9Uvk7G9c3RxxHz5cfxesyyo325ITcIb2LUQPfT9-0ZV9toT4QhJtvBV0zRH8jEjik7Z8QFm79Bn3sXJvD-W9r6E-t_5s99rh3Wp__amM4X9GZZunfn8YllyXV_VEgjWi9Ac6Do1hxOZF5GCOfDJ5ntOmY7ZYDkPILEAgD4v979AktDzsOCr7BgKspgRTCoyAp3y7LV9ICfRRApExofMc72B3KosTa0Ljr8EyOnXLcBEOUmKKeZoDrxqzRKE4SJA4tW_YZqyER6HcAe_1K4Fb98aaIvjFQ-piWpZtwB2lTxi1frGKvs8I9V7uSWIBa7ynLz23rt_QRcJqBxhw4AVgVFQ6WDmJP2Xb0naLuZZeJZY6xbPIG2Mhp0h-SMFgS1tpWy75DQ3PKyNBxoW9YeaFCA-aW4wTLfgp9dIwQTkVusd2hahuODYWjGxWTslsq-nGm7yCjsCeqoHIZvXsi245cIoI2KBTQyV56kfc0-Wf86Eba1n1eJN45JQNaXQvKYuCmWlK087nzTsp_FsqLSTxLx7qHWil-l1X3IfeGF2_Xmxktoz4OvwfVDGwLAeWl2GzCOlNFnwQxW44-Hv-7O0LZcLd0tOjCNYJuiUX09VxjW2LIOY1Zf84utMpgP_NTCPiDAt35oC3QylhyL2dUS6h262XAkLw07MoqMs-j7sI07FmLXgrNHmYpBuWXVVkXB7cpjvdaiZKcipUbf2w1trVcE3a_KJ_bIpGLMFvAjWV2unY2yCxCmmSTQPbL_KQz1LfsrWCKVg-kB_09nXXya1f4PcIixxD4wE3ktBKbU9SukiXHYO6hjr_PA4AQlTkZzzcd2he-bmjITE9nDArC1yqvIsK_5M5uhJslV1WfK_oDFHsSYwq-IWHJ3WuAkS7BsshavisBs52qsh3M15q-gMLNHM5t4LuBDMBoBXAPDOg9jR8MYh5E81GpmYmxaTTPhWtTesdMIREToE0imquJiicq7NAY3mSkUZMpYVGQ5i0mecVqWQsUAnBRTl8PVxjf-nPfVQoy5qEi4SwmWT5s1SoNWgBSGvr7A7dEQHDaHsikiEybDmRD1ey3VAGkGroyqcQeAuUamdJbCCRXiaLsPe9GhsHI_LniVgGdEVwHu3HGI-Z0kFL2rMpoSei5pk4E6g4E_9doRv9MVdDE5xxYgw_Q==",
  "id": "rs_00540e5ee97127b3016ab47299958087d0a4c15a24de4f152f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.2,\"right_z\":0.18,\"right_pitch\":0.4,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The remaining yellow object is beyond the safe’s right side. I’m approaching it from above with a slight forward tilt for reach.\"}",
  "call_id": "call_aJSuEgUdQC6BXe12BS6E6GSM",
  "id": "fc_00540e5ee97127b3016ab4729a696887d0a7c57d17cf007ee3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aJSuEgUdQC6BXe12BS6E6GSM",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8246, 0.6868, -0.5701, -0.2779, -0.1429, 0.9971, 0.5076, 1.9888, 1.2362, 0.45, 0.5072, 0.1028, 0.9954]\nstate[eef_state]: left_x=0.279 left_y=0.0013 left_z=0.1758 left_yaw=0.1119 left_pitch=-0.0985 left_roll=0.0847 left_gripper=0.9971 right_x=0.5307 right_y=0.2011 right_z=0.1629 right_yaw=0.0055 right_pitch=0.3181 right_roll=-0.0484 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3607, 6.8581, 1.6825, -0.1734, -0.0269, -0.0122, -0.4034, -9.6068, 6.5709, 2.3907, 0.0659, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7240a8f5040716bacfa4dda2f460992eb95ee9ea3682fff95dbaeb2cb27a645f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7be2112f53a7c19b143d5f674c7b36b8f860ab0573cc279c3915c5b2a31952d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a30f8919cedc49fa36d767de5c49d7584a02601729f933a8e9c5a82fe27f160",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.416 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 75 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]: [-0.1829, 0.8207, 0.6868, -0.5388, -0.2779, -0.1429, 0.9971, 0.9302, 2.2303, 1.5753, -0.1616, 0.7406, 0.5041, 0.0394]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1825 left_yaw=0.1111 left_pitch=-0.0649 left_roll=0.0744 left_gripper=0.9971 right_x=0.4214 right_y=0.3718 right_z=0.073 right_yaw=0.0651 right_pitch=0.0113 right_roll=-0.1006 right_gripper=0.0394\nstate[joint_eff]: [-0.1299, -0.9641, 6.9128, 1.8095, -0.1343, -0.0122, -0.0122, -0.1709, -12.0547, 6.8171, 1.7118, 0.359, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5591, -0.2779, -0.1429, 0.9971, 0.955, 2.0823, 1.7836, -0.4061, 0.8368, 0.3649, 0.9953]\nstate[eef_state]: left_x=0.2804 left_y=0.0011 left_z=0.1788 left_yaw=0.1116 left_pitch=-0.0842 left_roll=0.0803 left_gripper=0.9971 right_x=0.4187 right_y=0.3709 right_z=0.2055 right_yaw=0.0934 right_pitch=0.1239 right_roll=-0.1802 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.79, -0.149, -0.0317, -0.0122, 0.1299, -15.0769, 9.7846, 1.7607, 0.4908, -0.0952, 0.0513]",
      "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]: [-0.1829, 0.8246, 0.6868, -0.5701, -0.2779, -0.1429, 0.9971, 0.5076, 1.9888, 1.2362, 0.45, 0.5072, 0.1028, 0.9954]\nstate[eef_state]: left_x=0.279 left_y=0.0013 left_z=0.1758 left_yaw=0.1119 left_pitch=-0.0985 left_roll=0.0847 left_gripper=0.9971 right_x=0.5307 right_y=0.2011 right_z=0.1629 right_yaw=0.0055 right_pitch=0.3181 right_roll=-0.0484 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3607, 6.8581, 1.6825, -0.1734, -0.0269, -0.0122, -0.4034, -9.6068, 6.5709, 2.3907, 0.0659, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7240a8f5040716bacfa4dda2f460992eb95ee9ea3682fff95dbaeb2cb27a645f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7be2112f53a7c19b143d5f674c7b36b8f860ab0573cc279c3915c5b2a31952d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a30f8919cedc49fa36d767de5c49d7584a02601729f933a8e9c5a82fe27f160",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKjnDkK3U7PwFZUYOaYUm459Hx8YzQdi3ThrcGAv_9kAFBFHmkkHr4lU0V6vVgEoUO3L5wxk-JrpESgbJeP_CuFuqohO6z8h5nPmBLmF-Bk1S22ePLSiDtH5gh1nUxTxPsHzmh56UuioAjEcpUZgGxYkNxHj7z1pemMnqdqK9qisgnRVi7DnRvEvO_xpu6qyAcGnHqTmbgpR6ayMId1ZB2pNv0quhzZ06qH2zzxi93R6-D72sdQkbnjQKiPGT3YmOSWyjyyzFRCP-ml7FvD0VUeMBsDYZ_i_CqTipidG7sPHuDnXV_dcogTb2Zcf7BRUwwrvecpFYKLKdnvvwUU8EJd33fPlwqKtETEoZDWb3cQPKWUblm4KGty02ws4Z4W1VxdYImnXf8lBvxO12rvW-fdhkWz20jfJE4Cc0g7-eyVkhqjWMlmYMkdksRthHCRmVRMDsGsX3Xz2QG-8O6M-bO4RXdXmhQ5r9aopvxU8LAc9_nwlnNdizmt-zIZaO2PwqeEvMezUM2OkTng4wEKrNRJiaQ0HpW3ukL9PKAf673imvYJPtaoAqEDdKnUNXPVrXWgbjzzLLaCp2tQxyLZRylug0lT5XBlnAoqynfGAq1L3hBdlqjYqS8b-CZn2YlfwXfSPlgx9EadDp1WcGCnHf_1iSnGYFZ5Y7saL2wjeH135SFUNJpxZ2LIoJKm1LaGkqDBzv-n6LCRpEYG72yUaO05TWFF_5GFFJYpQMxUiIH08uJtWZdqCKQF_sg7NEA3ozN8UITYO-7a6WUuxPsQkzg6NKEu1NmYiiTXdQooJ3hVxspgcimu-Ht20snurmFWHTW0cZKH6tiLJ7dc4IslgBzspXrVjSr41zITOBAMjauP_KevwDKX-rnaaJ4uGEy4eEBYyyibrppZ_U4d-QH8N7UKpmEXX5Jmza9wLKO5lFKLNQnkGVuaF7VkRcPR97IVEd2hkc7TbpJAH5t5-lCRUuPVg3nbHmCg3jer-ku0edn9lACZYY-4PqBrb4I8npKxeCH_qy5TN2nRIyO2rutNMDGnY2S1_6B2aDYlIlEspOEzZBpyFauqkPhNMj8igbJqDmnYKW1muFHXmYSEJ_D7uPn14k83lppchYBvxe-NY5mOFGtPYEA02q7oxHQniItYvlzpu4Mbf9lCik7pvEw8hh510C_n_6lBkPw2vv03Mx-LkOJoa464GNYJk9xgwed9MmNdkDg8snJGOO5AknyV3QACu2F3uqda34Uz0kPw8KChzwTQ4QSx5jw9-2Wf6wSpY8i3eRy-1E3_GCb3ROkC5XOU3GhEuo_5PEwJvfsXuwIcLArHpaJxBbB1LCeR5cFxTpez0971qk_KCjnjMdnwde7Ndwt5fKLoVVrH7fJeos0ailDHRW4_QYqr9HU_VF42kPWu6QTouSEVtLcCqjfYSGUktjmyNnuMsECZnV8zQiT7-gEsyUvAw4aqCSwLg851mnyqKDzwXsKD5jl4IVidovwcZkCd6aQdExCbrbAstmlCFdjhp3Lo8wIDLi4-ScOLo06q3KCmB_kfZWRlJ7-Nd5ApBgw9IW7cco8ue-dfbl59-T-bwpM2ROZcWCsH8l3gy_iU6R8CYaXa4NkwhOE581YBuST-doHpZpAEoXqtMPnSvAIQWkMoVo9QYcDvxID-KnXSaA8hLxLNOnIr9aRwkZRNPFFl5ADwd8oK8zswz07j1Bf40fbTu1feBurtwH1XJrv40ej-rPsjvTHZ6xGq384zE_BjFIDoJd_Hk1COnIYwCldOGD0CJCAI8eaw-yjVBFd4xSBSVkDk6J3TrjPU5ovyMKnw7f3_qYVEeRdZG_q4Z3GugZ7wOiR4WLGUTEI4BYFuO6zNgqaeGy_1E6rwCDTw9AZIqn-1i0VZk81Rcc1pc9lEA8OHATrT_rx3M7u1Qlh6IeQvh02f7OJ0tuOTKaQzcYXl_AEXlPBRwB1bqL7pnDAcxvP8H94MMTpl8XHY4WEZrdc5qWdOgjKnoLqqtV9A3VDdMkdt6QRcIJRTwbiXZAPJ76DFPjh54RETfM-GNmerjFrjjKPkVSirF4Am72tl_b5PmbgGPGT23yHD0TK_eJf_fPDY9fqKrHrek1cuTFJyyT5fIUxBUi9fQDPv0cdwCemAE46D3L1cHjFG2v0RLHnt8zXy0Agxcjz9vPQJ4zorAVVQQ9aGZguz5Qy-RmTGMA==",
  "id": "rs_00540e5ee97127b3016ab4729eec1887d0be5f1075ab011b24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.2,\"right_z\":0.025,\"right_pitch\":0.5},\"note\":\"The yellow object is centered just below the wrist view. I’m lowering around it; I can also see that the teddy will need to be tucked farther inside before closing the lid.\"}",
  "call_id": "call_oC6ueWuYho6kel4dlKf8RkNU",
  "id": "fc_00540e5ee97127b3016ab472a1c97487d0a98b1c7b83d1f33e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oC6ueWuYho6kel4dlKf8RkNU",
  "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]: [-0.1829, 0.8291, 0.6868, -0.5846, -0.2779, -0.1432, 0.9971, 0.5163, 2.3989, 1.1, 1.2358, 0.5426, 0.0002, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.172 left_yaw=0.1128 left_pitch=-0.1167 left_roll=0.09 left_gripper=0.9971 right_x=0.5296 right_y=0.1999 right_z=0.057 right_yaw=-0.0093 right_pitch=0.5279 right_roll=-0.0368 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.6874, -0.149, -0.0708, -0.0122, 0.294, -7.3504, 4.0547, 0.5788, -0.1343, 0.3834, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1b0a55cf82a89ff2cb7c70749cd7643934fe0073874b6b6ec0adec91641e65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c3c43378ab22a40cfbce1f819c7e320245bfdee16b97409c5d1b17826197bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bcc5c8ca7a9dbba8f1fca5a9ba042b404ddf6413ae03bce9889be2c298bf15",
      "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 · 3.55 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5446, -0.2779, -0.1429, 0.9971, 0.9302, 2.2444, 1.565, -0.1608, 0.7406, 0.4973, 0.9948]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1815 left_yaw=0.1112 left_pitch=-0.0703 left_roll=0.0761 left_gripper=0.9971 right_x=0.4195 right_y=0.3693 right_z=0.0619 right_yaw=0.0689 right_pitch=-0.0045 right_roll=-0.1243 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.1556, 6.8855, 1.6825, -0.1587, -0.0513, -0.0122, -0.1026, -13.8872, 7.3094, 1.3651, 0.2173, 0.0269, -0.0806]",
      "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]: [-0.1829, 0.8246, 0.6868, -0.5701, -0.2779, -0.1429, 0.9971, 0.5076, 1.9888, 1.2362, 0.45, 0.5072, 0.1028, 0.9954]\nstate[eef_state]: left_x=0.279 left_y=0.0013 left_z=0.1758 left_yaw=0.1119 left_pitch=-0.0985 left_roll=0.0847 left_gripper=0.9971 right_x=0.5307 right_y=0.2011 right_z=0.1629 right_yaw=0.0055 right_pitch=0.3181 right_roll=-0.0484 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3607, 6.8581, 1.6825, -0.1734, -0.0269, -0.0122, -0.4034, -9.6068, 6.5709, 2.3907, 0.0659, -0.1197, -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 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8291, 0.6868, -0.5846, -0.2779, -0.1432, 0.9971, 0.5163, 2.3989, 1.1, 1.2358, 0.5426, 0.0002, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.172 left_yaw=0.1128 left_pitch=-0.1167 left_roll=0.09 left_gripper=0.9971 right_x=0.5296 right_y=0.1999 right_z=0.057 right_yaw=-0.0093 right_pitch=0.5279 right_roll=-0.0368 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.6874, -0.149, -0.0708, -0.0122, 0.294, -7.3504, 4.0547, 0.5788, -0.1343, 0.3834, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1b0a55cf82a89ff2cb7c70749cd7643934fe0073874b6b6ec0adec91641e65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c3c43378ab22a40cfbce1f819c7e320245bfdee16b97409c5d1b17826197bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bcc5c8ca7a9dbba8f1fca5a9ba042b404ddf6413ae03bce9889be2c298bf15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKo4_dcQl5hZkqGvwJua6toY_0Vuj3H0cOR_LhHefMBr872AprqCOva4U6oxYIc627U8CIJjLM0NQFjV6AArtLPoNPCq_U0AuGxUKUJYWcCsk42ndXj-uqTp2JVex51ITrtE7zgE3CX-k3ewo6Gp5i962iVYT4k4FMyp9Y5TVNT07O8b2QqBxV8is3ysiFrpufIwlTHR8intMu8KZlkoXt_xIRUKc7nOGGr4mwPVKIcizTc9hEUpGeLRGYgqSJw5WCrqd9_E50IlcifceFq0tHLHqNyklXqCtiCTXWCA46NLoIHe3S8RK9QbSSvWwGLVFvhO7oNva_qw8yRsIFLv_0UUC69lWXNz-J9nqNTQZtde9A49PNgeoI_uvHuupuRIe1uQYU6UOfZ1jNc8nZ495a1kzv7B9XXQv8dtrvXcsC1YK24kmxsjOGxgvs70wHk0Ye_p-pF3RFV6oLEmOyI_ssIeK3YCo57rkfqoNQWj19LDEUu8u37xhqiwrFJFV-hghuFxnPXNsFMOdq6niSUNIzgfkyKAlP0s447wFqbv5iS3wCefEDUNgpPb3ZeUBNV0emTc1tzXRBLM_Pv7q8BL1v2KoCYzBjvrrIPQjUMu3LUDpO03gihzE9XZwxeI6AyY3PzJ1peA0SKwUvIfX1kPRy2iYRRw-nA2Q0ETWHu-gNpQNlghFBLeMkJlFuNgxpUH09FMBxXx7EVKxvtPz_0iPtxt0LLHYaMKcBpVwvyI6UZkiehwaRYFnmbrltlSpxwBdIXFYgdfTjsi6cQBnv7k_GeCPk8JpegBwKF86cH2MSIurCD4flTg2JeHTdvx-dIjkfKRO6pAuaK4tQ4QvcQzhm_huTKuK70Q2x8m4FZ7BV-ND3rSeWVEcuyn9KhQ3xUCLbQtGK-Rm9yOg5oSYbWEjpQo5ExCGe8o0v9IJUEIKi5xE37XEUckv7_oA4dPxIUhBAcfDXaIovxOMEXTH2dWy--eJ6h_9gUp1DBA-WlfW3oAXVK4T8QvdOL8hYFT3SEOd9TANVp7gs5kVW4VViNbD9GpbZH6RTG18cPaHLSaYDmdMVAJ1np2vb5Ya9W_Fq4BBQByRl0NsWn-yb0KA7mzJypse9WSUxIV3dIzIwudV_bBnao8BoVQ9JCT3iJvKoNQ34ZPJLsfNxKmfgMBvxgplQzo1RtimNe7QU0z3EfF1OI_05K7vakRnf69tSJhxIDmqPGHklDQRJpOO6FrDjnxyn9sIgt0nLc2h3WXeSFWXlQR4Eq645rZ8BxXp8MRTfTF0pP0mhjVICZlbNkucD8GKpTg2nbD2coAqZT6amdJpKf19GdDrlFkBTGvhSRJ18tLScswjW6zgBor2srvgLN1Wt2-7DvCTFBwVKh6aL0WA9FbKB_1WmpIwF6xzgoBv_GVvB301XhdnOmmf-Hnt0orLOEKoB0mpOpnAwOayIlZfOy3LkIfXzvjQ6jlCjYxrym8CfQ7uWhLHxvbjmpXZx8CptA-75M52h_LXTp8LDwH5jHYkEj3irhlFXMSqhNIGGEUkoHJltZrX3uqLKdIP_gJXKzgkFHFnQ2NPow0XP_kYLu2DUEmb9zDsebCP9XRUAUUSMy9o51rv7_OQxaP5JxqDko-LQfiRFWw3G4m2hwuex4koEMgiHEv1F-f7juF95mb4BepxNku5TDsiOcOL2PeKl1QCAn800ZDmqox9n2PSEgWMLgSG64XwCf5U5iJiA9nPS55lEDeLpnQ-gdH8rywwd_FA==",
  "id": "rs_00540e5ee97127b3016ab472a56a8087d092757f98b55c729d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.175,\"right_z\":0.015,\"right_pitch\":0.5},\"note\":\"The yellow object sits slightly right and nearer than the gripper center. I’m correcting toward it and shortening the reach before closing.\"}",
  "call_id": "call_pEUxQLuFxGwh6An9lj4VDBDV",
  "id": "fc_00540e5ee97127b3016ab472a7748c87d09e442d2b63141264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pEUxQLuFxGwh6An9lj4VDBDV",
  "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]: [-0.1829, 0.8303, 0.6868, -0.5861, -0.2779, -0.1432, 0.9971, 0.506, 2.4176, 1.0004, 1.457, 0.5163, -0.0036, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0017 left_z=0.1714 left_yaw=0.1128 left_pitch=-0.1192 left_roll=0.0907 left_gripper=0.9971 right_x=0.5115 right_y=0.1878 right_z=0.0632 right_yaw=-0.0244 right_pitch=0.6167 right_roll=0.0207 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.8547, 6.8581, 1.6142, -0.1392, -0.0562, -0.0122, -0.9641, -7.5009, 1.935, 0.4908, 0.0708, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d745f83e85532b991b78ef1e34b0a4f021b55410110de5dcd06dca8d7ca1a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e19b55a00d43f94910ae293fc908b524ead19831e786f4b7296f9ecb151e8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df311980ecc048ee71733f7c3189cd4d4ccf1377b3dbd9a6194ba8cd336d4828",
      "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 · 6.596 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8207, 0.6868, -0.5591, -0.2779, -0.1429, 0.9971, 0.955, 2.0823, 1.7836, -0.4061, 0.8368, 0.3649, 0.9953]\nstate[eef_state]: left_x=0.2804 left_y=0.0011 left_z=0.1788 left_yaw=0.1116 left_pitch=-0.0842 left_roll=0.0803 left_gripper=0.9971 right_x=0.4187 right_y=0.3709 right_z=0.2055 right_yaw=0.0934 right_pitch=0.1239 right_roll=-0.1802 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.79, -0.149, -0.0317, -0.0122, 0.1299, -15.0769, 9.7846, 1.7607, 0.4908, -0.0952, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8291, 0.6868, -0.5846, -0.2779, -0.1432, 0.9971, 0.5163, 2.3989, 1.1, 1.2358, 0.5426, 0.0002, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.172 left_yaw=0.1128 left_pitch=-0.1167 left_roll=0.09 left_gripper=0.9971 right_x=0.5296 right_y=0.1999 right_z=0.057 right_yaw=-0.0093 right_pitch=0.5279 right_roll=-0.0368 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.6874, -0.149, -0.0708, -0.0122, 0.294, -7.3504, 4.0547, 0.5788, -0.1343, 0.3834, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5861, -0.2779, -0.1432, 0.9971, 0.506, 2.4176, 1.0004, 1.457, 0.5163, -0.0036, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0017 left_z=0.1714 left_yaw=0.1128 left_pitch=-0.1192 left_roll=0.0907 left_gripper=0.9971 right_x=0.5115 right_y=0.1878 right_z=0.0632 right_yaw=-0.0244 right_pitch=0.6167 right_roll=0.0207 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.8547, 6.8581, 1.6142, -0.1392, -0.0562, -0.0122, -0.9641, -7.5009, 1.935, 0.4908, 0.0708, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d745f83e85532b991b78ef1e34b0a4f021b55410110de5dcd06dca8d7ca1a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e19b55a00d43f94910ae293fc908b524ead19831e786f4b7296f9ecb151e8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df311980ecc048ee71733f7c3189cd4d4ccf1377b3dbd9a6194ba8cd336d4828",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKsntl68mXyMev6ax3uap_wWgmfSh4rK4BO3bFa4faVvnINJj1spE97AQOJbxlNyzFXSqOM7ZHuMpc0Wk_oSwFK2mCSXEykNDlKzkS3wddOTCfNkcimQPrjtCWDWlEHik9Mtar6-r4_RfZklhu_hVaTVH_ozQhLFraVuUYjlvGhMlhAqOPnZpfS44U5bmNSPgSt1VJDNK1D-0WfW5hWcSZPAe6X4533P5xDm4DeKISqeDQeOanQpWOq2E5c4w30A4Sh1SpGS62xCIvhcYyyJGxHtLKweieqdkkGZU_U-TFODAKqWi514F4a_1Xy8_YA7PpVR5ni2D8gxkIx9u8jtSWTKnDTQbwoySyOyWA9FaOdrcaRv0cAyVaSpwcSBPgE01S5mF2ErSSC4Pie7X_N0AMsJYWmyZ6ecUuBSXabvtDpsQ2iy2VAJfiFVYyeP6qTvojuHUVJU5wvL21rBHekPYg4v6kNWf7ndE9eSO5ud_5GLbaPJZVR7Ak6Lg-53pmijWomoO012dGF7J-5ZDeoO6mrXtzti2gyEqCDH1xNMI_BYQqxN0avaujabz-K0n24K2DOwh1DjHDbr7qsswce3Z_Tpoms6F88nWpfAMrYafeE7rSjqIHxmRqWntM7LaUsEgt2uh4gzHkXnPr_m5chF-v2EnBJBAVei7u07UV74ouzPKXQLWm8GSKYbB5MRA5hO6L0gIhnkKap2HnEJq7XY8UA5CbcM8nMScuPf6YeZM7dkSkJ9Z1MIm0wx5ssFdSMRxMqdjRxgM_2TtfFDZ4OxQrkTs79XtDqMAc6mwUDbFnBSW7AX-qLVY6ACbCM4cVw4BlkC5m52haqf4mz15QKw3JhaxG-a6Qj1Z7u8sDuejqFib76jWdb0NhnF7hEC4GY62ASDocxsyA-ebbnI99vW-MXB-DlHP46dyQxZEcTaobLVuw3h4umXWpd3QziWG5dY_SJ84nBL72C2t3MdSBLfEl73hcJHIOSKDPZejFZXg353FEMshKfRHImB4ZFU_q4-p_ko_fJ9saTH84AELpYaJgVs97VdnuW1dgzEQy2jegJm3t0eFEExMufBHvTANWnMnjkuELgTLeQMuLVHLLCOtSCyNy8BNYpoqG1ZnCRXCHY1-NFWnBvL-NGSkH-B-hJJfk1VJTcI4aVZz5Lv-3CnMde0XZkD4Pc2zJlurXDkgpijYCXNJgm-M9W9oMsNfRK3C58mpsmlUG8vthHwX6oRFnGFY_z2GW-q7ioCZ-_umQtP2f-kuBsDAq2O_uM4_ibjlDq2c6T2MSppph_41VfwraNXPpsDFMexOiLh6J8AH3s26RKT-w4Wp1eHAHpa5ltbkYBbxzyN3e6mFhhuBCH0kf1iXlzVOYAnaOZnZmGC9om7W8=",
  "id": "rs_00540e5ee97127b3016ab472aa8ca887d0a8f1a68ec558eaa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow object is within the open jaws. I’m closing partway around it to avoid squeezing it sideways.\"}",
  "call_id": "call_fQoVWgijPQyxwqmoPutC3L3S",
  "id": "fc_00540e5ee97127b3016ab472ab754087d0b063fe2e74080467",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fQoVWgijPQyxwqmoPutC3L3S",
  "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]: [-0.1829, 0.8303, 0.6868, -0.5888, -0.2779, -0.1432, 0.9971, 0.4915, 2.4199, 0.9737, 1.5074, 0.5335, 0.001, 0.2549]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.171 left_yaw=0.1129 left_pitch=-0.1218 left_roll=0.0915 left_gripper=0.9971 right_x=0.5082 right_y=0.1742 right_z=0.0647 right_yaw=-0.0677 right_pitch=0.6345 right_roll=0.0409 right_gripper=0.2549\nstate[joint_eff]: [-0.0615, -1.2376, 7.241, 1.6093, -0.1832, -0.0415, -0.0122, 0.1846, -7.3915, 2.0855, 0.8864, -0.1392, 0.0513, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5f11789c92b7d3e63352c9d07581e36968b849d96e02a7b55052f9885fd5d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54382712487b2c69b87b5b9fd12c3080b184052c827128b08db92a549fb003bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d73b864630d5df9ba2395db264961b28b1946ca39a4c88d35c2fb62e987434",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 9.161 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 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]: [-0.1829, 0.8246, 0.6868, -0.5701, -0.2779, -0.1429, 0.9971, 0.5076, 1.9888, 1.2362, 0.45, 0.5072, 0.1028, 0.9954]\nstate[eef_state]: left_x=0.279 left_y=0.0013 left_z=0.1758 left_yaw=0.1119 left_pitch=-0.0985 left_roll=0.0847 left_gripper=0.9971 right_x=0.5307 right_y=0.2011 right_z=0.1629 right_yaw=0.0055 right_pitch=0.3181 right_roll=-0.0484 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3607, 6.8581, 1.6825, -0.1734, -0.0269, -0.0122, -0.4034, -9.6068, 6.5709, 2.3907, 0.0659, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5861, -0.2779, -0.1432, 0.9971, 0.506, 2.4176, 1.0004, 1.457, 0.5163, -0.0036, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0017 left_z=0.1714 left_yaw=0.1128 left_pitch=-0.1192 left_roll=0.0907 left_gripper=0.9971 right_x=0.5115 right_y=0.1878 right_z=0.0632 right_yaw=-0.0244 right_pitch=0.6167 right_roll=0.0207 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.8547, 6.8581, 1.6142, -0.1392, -0.0562, -0.0122, -0.9641, -7.5009, 1.935, 0.4908, 0.0708, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5888, -0.2779, -0.1432, 0.9971, 0.4915, 2.4199, 0.9737, 1.5074, 0.5335, 0.001, 0.2549]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.171 left_yaw=0.1129 left_pitch=-0.1218 left_roll=0.0915 left_gripper=0.9971 right_x=0.5082 right_y=0.1742 right_z=0.0647 right_yaw=-0.0677 right_pitch=0.6345 right_roll=0.0409 right_gripper=0.2549\nstate[joint_eff]: [-0.0615, -1.2376, 7.241, 1.6093, -0.1832, -0.0415, -0.0122, 0.1846, -7.3915, 2.0855, 0.8864, -0.1392, 0.0513, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5f11789c92b7d3e63352c9d07581e36968b849d96e02a7b55052f9885fd5d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54382712487b2c69b87b5b9fd12c3080b184052c827128b08db92a549fb003bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d73b864630d5df9ba2395db264961b28b1946ca39a4c88d35c2fb62e987434",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKzvFDZU7-ZY-CX-9roV33SRXY1GazMBaDiuWxRr9TqZQAjA896ojNvdB4414mxZ8eaZTYyKj-86MZmoxPmXbzC8g1oMcnLkhuyUd1c6wCLr5j6AhbLKuP3AFVx6ssddRg8SWmOgaOtobEFH_jMFWDyozpvOr05ArJbGA-XUs3CnieugRz0O6ntEjhpRRyfhFU-DeVYKH4g7IOPIsjrV7OyKWqFQDZhvuTs3JpzXiBld1yFDK-7Gj3bT-PEEjnF2T1FZEjHBqA1v9efBt80inR4_lnQlWqocuneY7nZ7X6h6ox5a6bBIoTee6u0vPTwAlOAlC91WBaPcfOStXXgzbcdH05RCJWhuVj4uV5U_D_hwQL9IOj4d-AxroT14TXCq1_aoDSzxuACU5PMcYBR2U_hEdZVz5WoYluh_nKcuP1OI805y2ywjz-mAGpOPnb_vBkEA6MkWwDUu_D-0nis5oyu31_SRNpApsNA5yER6cAfxI_rlwaQB9ZkTqhgt56rjToXLGoKwyaNCxei6sQ2SXDJoONykXIG9ilNPzDxwewlLvIgI9JvRDWcsYT5VEaOpIKr93kbD_l5cdfIcYY-M2fgMsnORFTnjCZgZFZ4h54DFY9h8gp0w9e3Wtr9g4VAPgnnyHLD2Of-y55oxn-x8Rk1lRlwoszZtUVyn2jkttWAJDJDjP5KIVerGsZmOc66rXvNB3qHQtiu5HO_2pq5_3zegV9AKEzlKivtJd2mL067ysKYpHOZxA5WWKNtGZHm60cpPckT_qCQpYQzFFQy6aw6euCxWKONiH3lwohTL9g-4lxPuTInrcxWwve1f397mNXNljOEFpOt9btaTZVXNrRjgO45n-_SSgR0qIEfziOfqSpLFIwEis9rnZ6BxDW1jYKkEIyYWNvtn_HBIbpbaWtDu_MohrZnfYQOYZCqbA7RHbNqJkQxadoIR9K3laaKNA6lqLvbd6T_0N_AszNLpij5hti5qQs0u-daUP35Q6da3o2y3Ps1QYeIQg0o8R6yLWLiwNOaPf8Ffd_U3CY7J9MSiz4WNOGUTJxC0iAj8Au9Cx7DlAZjCqLMSK0qPLAFR6yeAzr4AzHgnQ7IF8jSz5m_IT5udLgp7wcvLCFOlMuHnag8OIoPRQ8AIVS2kfZtmC5hu19AxGfk26o7wR4fK7B6i61prcU242Zs3Y-cb2jDu75hACsptHaFIAaqHAai5VmZjmQTOPmqh7wuzhqHdkZ_aLKDuUqLyU8cJF-nnnZQQDUyp6fER0Q-H8ZfKr-HLmvKBjS0jbkUMflSWKP-YPKbx2jUI8bPASNZeEF55yILvUTIftdmMHRLN4XFe7yJcmBiCUvnDpBel2EOdisLapczgj0fwZPpDyaMMMPuf_4b-q6-FsfE-gs7b0wCmRo77s3d65CA4h_23JV8ZZWc6sS-Axr0LntPU5HsXdYkKFlUul2J2bZkFFSb2ESj0B3G-4EoLAu4NSVRllwDVKB_ZHDnwA9JFrzE8t9d9o744eoBx8f0FtcgrkKDPfKGG26Y9KxDJS1RQ5Y9tuMpV_Gg-_JYX0RrD-G1p8MqY4icpWX92tcvWN8gJYmo4wqIfx6Pk9kmw8K0R3uYLOF5v2xAbRK6uXiKhe2N3s9Ibf2iOybGBGE3FpgxQSxszcBDxA6hY4WVKIOutpeE6W2Z4qNf9AL36axLzuKkOlnJqLyYXJrMiVF7TVtFe4G4cR27HtBzCNmuuvaRwiGjeILKmrxG-VzLTe4p2ZwsMvpRK_0iAevaFTUY1Z4SoW22hcm39jfBh71PoBUQs1SGKy3Sm2kY5cQE-jhLZYwm7cKhWoa8cQJHnYkxMuBSt3nnOxZK_7QSiXwbuwFGn_mGRjOnw63UBFnTHzr8dHH7Dir8KoqKb_aLiiv0qbiYf-1_xluPX5boSbFBYcQBoo5g9XoWP1KiYolkSMthr0XN0PBjUpeOw9cykI_KpS_W3Wlf04rlJuEERol9YE4iUryF0_gsK3Y5goIk49HOstPjCMdDunTqJKNbSK5MX_AxmjXrhaIDdUpSivhmBAk90BpTCO6wecp2tA0tnlg27kK9vqNdw8wqJMUuaGcNxNi-CSutyYsDLi8j8OALxzbmrNRIh4tGyH6HjdF5kwklJCUv1yBVu_VPA79yD4XsrptQbVAsfAdFFXzWns9YojglSMDMrsG6t4ii9t-0hVzcjvEUE3zZBiIf-h5JAHnxKsz_oZgeFMLfv24NcNnbSIW0OEExlms48MqILC07XrJ55u5acIxfrgitLNJy_pY7sk7cgnklRACTQyGpcDbqcbqEuINgn8BzCPbBRkGlQ5q5VaQxK_g7rcNX4Vdg8nDXf3tiEa-d9ajmAztgbievxl6jqsC6SKBhG80aJfuftw==",
  "id": "rs_00540e5ee97127b3016ab472ae7fa887d0b7b50279cd99be1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.13},\"note\":\"I’m securing the yellow object and making a short test lift. This will show whether the partial close captured it or only touched its edge.\"}",
  "call_id": "call_oZi5uPIeijyh8PSvtPS1OZvH",
  "id": "fc_00540e5ee97127b3016ab472b2758487d0a3534db9bd550e63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oZi5uPIeijyh8PSvtPS1OZvH",
  "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]: [-0.1829, 0.8322, 0.6868, -0.5903, -0.2779, -0.1432, 0.9971, 0.4904, 2.2383, 0.9314, 1.2869, 0.5308, 0.0101, 0.022]\nstate[eef_state]: left_x=0.2763 left_y=0.0018 left_z=0.1702 left_yaw=0.1131 left_pitch=-0.1251 left_roll=0.0925 left_gripper=0.9971 right_x=0.5061 right_y=0.1729 right_z=0.0943 right_yaw=-0.0433 right_pitch=0.5649 right_roll=0.0008 right_gripper=0.022\nstate[joint_eff]: [-0.1709, -0.9915, 6.8308, 1.5653, -0.1685, -0.0562, -0.0122, 0.1573, -13.0393, 5.2991, 2.2637, 0.0708, 0.1392, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f48287adef23a9c3943bd8ee45ad4809124b1e9882b5b1d54757ce652bebb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed2d0fac2cc5083f7e435204c66547eb35613f46a3a365318e25bc8dc3f86c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e8a276fb97c571cb501acf6f261d814a1e6b6fff8bf9116540474b1e92825b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 4.085 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8291, 0.6868, -0.5846, -0.2779, -0.1432, 0.9971, 0.5163, 2.3989, 1.1, 1.2358, 0.5426, 0.0002, 0.9954]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.172 left_yaw=0.1128 left_pitch=-0.1167 left_roll=0.09 left_gripper=0.9971 right_x=0.5296 right_y=0.1999 right_z=0.057 right_yaw=-0.0093 right_pitch=0.5279 right_roll=-0.0368 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.6874, -0.149, -0.0708, -0.0122, 0.294, -7.3504, 4.0547, 0.5788, -0.1343, 0.3834, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5888, -0.2779, -0.1432, 0.9971, 0.4915, 2.4199, 0.9737, 1.5074, 0.5335, 0.001, 0.2549]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.171 left_yaw=0.1129 left_pitch=-0.1218 left_roll=0.0915 left_gripper=0.9971 right_x=0.5082 right_y=0.1742 right_z=0.0647 right_yaw=-0.0677 right_pitch=0.6345 right_roll=0.0409 right_gripper=0.2549\nstate[joint_eff]: [-0.0615, -1.2376, 7.241, 1.6093, -0.1832, -0.0415, -0.0122, 0.1846, -7.3915, 2.0855, 0.8864, -0.1392, 0.0513, 0.1538]\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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8322, 0.6868, -0.5903, -0.2779, -0.1432, 0.9971, 0.4904, 2.2383, 0.9314, 1.2869, 0.5308, 0.0101, 0.022]\nstate[eef_state]: left_x=0.2763 left_y=0.0018 left_z=0.1702 left_yaw=0.1131 left_pitch=-0.1251 left_roll=0.0925 left_gripper=0.9971 right_x=0.5061 right_y=0.1729 right_z=0.0943 right_yaw=-0.0433 right_pitch=0.5649 right_roll=0.0008 right_gripper=0.022\nstate[joint_eff]: [-0.1709, -0.9915, 6.8308, 1.5653, -0.1685, -0.0562, -0.0122, 0.1573, -13.0393, 5.2991, 2.2637, 0.0708, 0.1392, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f48287adef23a9c3943bd8ee45ad4809124b1e9882b5b1d54757ce652bebb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed2d0fac2cc5083f7e435204c66547eb35613f46a3a365318e25bc8dc3f86c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e8a276fb97c571cb501acf6f261d814a1e6b6fff8bf9116540474b1e92825b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHK9cqaTct-LtftK0sb0CK618CtR0BGPl9bEiruTYyL7CmLxuzDEbvsM0I75Bq2PCqOUcRJIn8C4cKa1Fk3PiB6v86sxvw4r2D9c3uaiAIGNwrNE-REku_vFlh0o5S97OxJCpNE7fZCdDeRn2-7hWTf88SJBD4s-e0N9ns9fXrojFIBFHS2Sxizae3dFadG0L5Mvfsq8dI3OIeaOwA7sfp_fNMoRJ293_L7J9EhTG5Nu5OHh_fGvXJfV-5u8PNSndqLegz8JCUs0y3eeOyAu5ixiEP6Tu1I86lPoXX2Shtnc0wnjTCQgjGzJJzjDidXMUMb4_ie0ZvR85EmqwPv3lTBH4S_efbSHtHPtRKksFi1QwYwhcTbQ_dcG1MQAJQVrjyCYkiHHDXwBvA0Sz6JU9cIDkdXV0csZRNmovIEeGozBDBCT0DKdJtl4ItZiA-Js-ma_pJSTcotJ-r3cg9U76uynyHIwnr6oFrd7IcpTNzmp-x8kI24x5ZJkir8nNdMgI4bnW1xbLbJ-tQePhKrn_MXeQlTxN1D5IYCgFpSwmMNOmXyjBmG1ukRjN7VwI7P19scy2xCF1_q28nnd9xNpe3DRqjGnYocJCkGnLAmaWhVGi2jK67TwN4m9Fg6GH4P1KyJdaVKbJdita3TApLrXRrg42x7CF2ZsAg6NzOkbeVCAkTAXT_ZysMJYRgDaYWa3JrqMS9Vmu8LzFVUqhL4RgGTR6l9J-u21cdEoSo4ae7sM0dadVZEWHKQ58lmNQJsVzoBibJUS1kZoExQeq3fT3qpIG5GR1zqSNf0ChaFQh3bDBMpRcycUaw8fuexDKlJkYb7JDWiAFGx3-mI2bDjHrDIM6-HUhuMvrpMF6dH8QuFTnHIw2De6CQOHV2pQ5JRt9bhSjhysg9UMCkv5TFhO0EPKcRzJoewWQVDsKF8mSjC_yz8ArduLmQUlTK4z2nA1ygI2QOOVPtseVwlST2DbREBtq6lg6vlyDBQRqkJ73YyNbpbyxo92abheCfI4tJQHBs290s7_J_hEeuzIoLJWaTaljHCwPjxY4gpF6ZjGjp62vVLpAyu44Dq5jsjbUMA-joBGgCO9I6TxEQtBTaRI6ha76wDG3K9G0noow7UvtVQq1Na9EKjl26qpm6zrvLD5U5KDb7M4xEil7FXuc-XbLaYqBYjDEB4wocg8Z1SX2HXsolhQj-mlShSvbwOnpakHJ0ffsH2Tt_tuPQbGRQqz9O5qr4doC7x984y_VZvLtFCIOSZWBsm0SUkOBaYrAzRmdCjB9pl853Qvx1MY2mAsDzqqTwP1DQhpZV0hOEhnwQ12u9o6OVhvjia4puI31WQXKOaiHcYiPHwQbK8bzt7vkrFHNAqirti0r5Cj0deJL1DKQ1CzIu5ZZ9GGp38-_8AeRswGQymw0eD4dxVgC_iaBNdIlvgAzYxT549GDXorNDZjLj2ZymPfsnGjTN3xsMKpbEVtLVUp9tAyfWQRLJuNwLTRqQfmH907B8TfufcAEt1KzSptPliiujSFfuFveHNehl9fZh1y6SA2xl942lOM13uVpwuS-7blvwbsVFKDvF-1e3Vw2A-hLOhBz7U74t_zWg3pxQDjOnQAZNyQwk6uhAq5wtFMjzcitrDRdsY2XcCr5eQZ2nTcZWxBzmRRtxDDYddbj2IZgs4AgMvDG1z2iHW_NRShUw9MxrupSoCvcuBxNZvqtCjMd0e06miX4B2jx6jk6OA_Sw0ifNGGBHX_wHMPfiSN7KKCYnazfHwWX0ekqrkuePQ5KumbLhc1KCWFwP7SZGcqJY6uo1npqP_gBoOKRpEhW2ZhmbRfzaRiR3w_O974WEi40cI75u1R3Sg5QtkVQ3U2QEyVIXvbldC5KKeBISQ07M4afiOf5LW_pm5x8KZwCf7ItG8Y653AgQiJqZXgitTT5AcoLCWYu9_Cg-5ool7g48EdrYBlIPBlnrItcsedffRPh8g7dHRup8O0pRBoZngU9pjvckSeOrjdPIZwpgi7eCqgU68sKki0TinFINCbWYg-i4daQXFLoU0CtiOnl4oCVGstZsJygomOGzWWJNd1_CdXtV91XnHmvBj551r7fk3aG8Cq7h2rJ8ISgEqKAaf2p58ikuI9QBcNZleS7cSMK15CNANZ6p4eGyWT1tZhEZpkLeNK-mSl7Tk57MWMKtH3hzsKAgIGfstwYxI6FpNGpLObEn_NeyPUe6Yl39UhgNBBJajVXNMUE5YGffd6SFDBnXzNW7ktrlZsETOnS285PmhG7xvEn6ZTi_8_lEun5itLPnsKUSnseQXifZ7Yb7Mpylm6ScRcOpOCcppo9PRVGrFuehZ7NyslAjDq94O7jxrn1i0vOJdkI4TVmalQKVKDE-cXP1pXqhYplcmvLUBtCuIUfjujgeYJOGADs42jaSfQIHUPUXh4SJBMvUXgo-ZdWy9Mo2_bQbARpZfAK5RRpaFH1xI5rSRzAlNdY6m11ZN1B0-YKAboixlNy6XiAvbc32CW7d4UaHhExzbW9-2W9rHdXdEheMj9BE5Z7sKpwcMifC7tneSTMcpOp_VGCccj8m4oAlCvbGKr5F8540gMjy1UP6RrQZXXOEEBaPL2cUtP1QbkcG7uST-XoJ0GOKCdzb97CMSe4BLVGKbbwdBkKDPdyrqqO8PPKSoixKwM-2CXLAv09cG8SYq-s2XcRiRfJR_OqUvIPPx6n4Twf_9Rsm4A85TVOJ2PzNiiuhypOn0qGNPiBhv5ez3cA6D0",
  "id": "rs_00540e5ee97127b3016ab472b63c8087d0a5e6d29edadfa4d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.54,\"right_y\":0.19,\"right_z\":0.045,\"right_pitch\":0.35},\"note\":\"The test lift was empty; the yellow object stayed on the table. I’m reopening and moving farther forward for one corrected grasp.\"}",
  "call_id": "call_x0SJwQI2kRXJlg8eLHGucaqZ",
  "id": "fc_00540e5ee97127b3016ab472bc20d087d08f3337b1da8b0937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x0SJwQI2kRXJlg8eLHGucaqZ",
  "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]: [-0.1829, 0.8356, 0.6868, -0.5926, -0.2779, -0.1429, 0.9971, 0.4885, 2.2982, 1.1152, 0.9295, 0.5072, 0.1059, 0.9948]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1689 left_yaw=0.1131 left_pitch=-0.1306 left_roll=0.0945 left_gripper=0.9971 right_x=0.5342 right_y=0.1908 right_z=0.049 right_yaw=-0.0238 right_pitch=0.3611 right_roll=-0.0199 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.6342, 6.9265, 1.6044, -0.1392, -0.0366, -0.0122, -0.6222, -10.1402, 6.8308, 1.9414, 0.0855, 0.2027, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87699bd418ec4ba75728aa7930a9ad8ac52a9882588995cebd1a0016f34d6c53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75edc24e123c47041b689137fff8843f2a83eaa200b15db994d1c5787538c2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05817c7ab30576d4b2c59964f2cd16c750a78d3eaa60862b5e4f9f63127f63d3",
      "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 · 10.5 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5861, -0.2779, -0.1432, 0.9971, 0.506, 2.4176, 1.0004, 1.457, 0.5163, -0.0036, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0017 left_z=0.1714 left_yaw=0.1128 left_pitch=-0.1192 left_roll=0.0907 left_gripper=0.9971 right_x=0.5115 right_y=0.1878 right_z=0.0632 right_yaw=-0.0244 right_pitch=0.6167 right_roll=0.0207 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.8547, 6.8581, 1.6142, -0.1392, -0.0562, -0.0122, -0.9641, -7.5009, 1.935, 0.4908, 0.0708, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8322, 0.6868, -0.5903, -0.2779, -0.1432, 0.9971, 0.4904, 2.2383, 0.9314, 1.2869, 0.5308, 0.0101, 0.022]\nstate[eef_state]: left_x=0.2763 left_y=0.0018 left_z=0.1702 left_yaw=0.1131 left_pitch=-0.1251 left_roll=0.0925 left_gripper=0.9971 right_x=0.5061 right_y=0.1729 right_z=0.0943 right_yaw=-0.0433 right_pitch=0.5649 right_roll=0.0008 right_gripper=0.022\nstate[joint_eff]: [-0.1709, -0.9915, 6.8308, 1.5653, -0.1685, -0.0562, -0.0122, 0.1573, -13.0393, 5.2991, 2.2637, 0.0708, 0.1392, 1.1062]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8356, 0.6868, -0.5926, -0.2779, -0.1429, 0.9971, 0.4885, 2.2982, 1.1152, 0.9295, 0.5072, 0.1059, 0.9948]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1689 left_yaw=0.1131 left_pitch=-0.1306 left_roll=0.0945 left_gripper=0.9971 right_x=0.5342 right_y=0.1908 right_z=0.049 right_yaw=-0.0238 right_pitch=0.3611 right_roll=-0.0199 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.6342, 6.9265, 1.6044, -0.1392, -0.0366, -0.0122, -0.6222, -10.1402, 6.8308, 1.9414, 0.0855, 0.2027, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87699bd418ec4ba75728aa7930a9ad8ac52a9882588995cebd1a0016f34d6c53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75edc24e123c47041b689137fff8843f2a83eaa200b15db994d1c5787538c2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05817c7ab30576d4b2c59964f2cd16c750a78d3eaa60862b5e4f9f63127f63d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHLCDLjMNcCBrD039ArmJJLPqHlIhLQ1H1gi6ZMuks0edbIxHIKZVlcHQjC2RGROXMQTm-iLP6ATzNh5s0i10K-WKovxfq6Z53Twqj2yNB-1SfAQqVVue4FgGT-NjvgnLB06-wmwGH-z9LdrdA3p0LFFnV6HJ7qKGqSS1Kfb489uOTknnuscL1JSjCZ-dXdrwckAbv3tphgBq8YB1HvSbCN3Lan6V5AaGJ-DLoqrZGPMKDUE20IlW2fR1I1paDzN0f1DKCjKwdz6uBguEITSmGOxxulfIMuTUakYtDe0FhNaGmmzKj3KKQo1F_7mh-fV28PxaVRZqTJL1PehaFeFasw1jFJQHYk97vQ6SXnnLxUh06V06gcY7WLjxfbMOT_RzJFkvRIIKRcGNfppJs0QgO4cXClVH7KSeWOX2lzYWiVlppfF2rIFQsDfyXxZtP5KyyCs4b-ZzOHwmY0F6TGyTyUl5-KTFMCSPzIRjjQr4suOnuPP2Azw5LZT3Cjf8YAWf24Z9EcTdVhMnRW7bwyegIIgBBXATqteaLOtV9vklaCoPHbkmJcNfmLXPWVmBGt4aJY904qJsuX2kGBJjyrUpUXO4Ow3f0BRDuPJbFWqnW7lqpwb2UcG8F8qtq99EQjvdmLf800CPAwthXy9IhnlQzBo_43vH-kvSQyrw109FHaWifnES7oBZy_4UAqnrN7_OuofiQGhZw4xTZpx33Nzan2okR7suntnPs_xxws0Wuaw9PW-xaMZU-Wfal1aR6HZ2bJOErcE9hgpi0-QblYNR2ixaid-xippUmwjO6qF0SpuYBD3EiGVj9O_k5SQrltmZtzilIhJhatRfq6JVQbSEdItSZdlvDpAfOzXa9egb2ZQZuc2Rtfk2pNEKv2mcDqs0uF_DfSEFnuZcoMU5bNsOKyXMacmVrxD5eM5hB1D0lI9mkaOmfs62VLug-73bmmIqBKN8RLaAY0EX21Of7mm1YY9p7nXm2XA6Ia3x0Yu222qrbaIRmYFA4BRDS3vPt9tJ9ypYryDPKma2lXaN4gJVMumkF1cP9zzpNLAsR6kc-DviOpL15E1N-KhH6qA8sLplfCWPjzaJBFRxE_uisX7sm2qwZoUhM0iw-vWI-w07VXDKOL-irTbmZSHUpmHl1S_J7Ex4qF5SoSEej_oX1BAeBiTFKyEepnGFs7QKWOBbjHCSOZy0QLyscYZ5MjhTyb_MXe6-ErElFPq795jVsYhpFHPApOndp5yNI_jVh8ksYaaAOn_-ZJCQY6qz8oPuAXLhnYOgvZGTaihl_v3e34cP0mABQO_6ML815jgwPJ8LlOZL1zbYwCX1QpJq1NgdwVLiEkxrg2MprFUxdXUTyPqDOk99qoYJP0lybL1KTh8OX6rAT_0jy7OOARb3pTh4XEJ6gdYcAnwVwmIcxeDWrDNYdlKNZsnUGNOoWiyLcPSLQt5S5xhC3AS3q24596inT3PKXWuo74mhMJ-BJS8aA8MZDxG2rw5z7oc9Vkr0VM1Z7vLF9Fxd3DjRHUD98xSUsnFnyydPPx-CvMBtrg6nrO2aGbR0GTqmkCdD7Q6lNa-23uLjIxfrbPlR-fUqyT96CunXYE7",
  "id": "rs_00540e5ee97127b3016ab472bf571c87d080142e92ac42c669",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.17,\"right_z\":0.02,\"right_gripper\":0},\"note\":\"The yellow object is now clearly between the jaws, slightly to the right. I’m making a small centering correction and closing at its lower edge.\"}",
  "call_id": "call_QfvU5kgaVpGFLqYdUfeDuNV5",
  "id": "fc_00540e5ee97127b3016ab472c0d69887d0854bc9359792a892",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QfvU5kgaVpGFLqYdUfeDuNV5",
  "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]: [-0.1829, 0.836, 0.6868, -0.593, -0.2779, -0.1429, 0.9971, 0.4309, 2.3569, 1.1469, 1.0569, 0.4568, 0.0792, 0.0197]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1688 left_yaw=0.1131 left_pitch=-0.1313 left_roll=0.0947 left_gripper=0.9971 right_x=0.5541 right_y=0.1729 right_z=0.0559 right_yaw=-0.0401 right_pitch=0.4448 right_roll=0.0127 right_gripper=0.0197\nstate[joint_eff]: [-0.3214, -1.3607, 6.9538, 1.5604, -0.1685, -0.0317, -0.0122, -0.294, -7.9932, 5.2308, 1.3651, 0.0708, 0.0464, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b57d9e59d767afbcbb731da0b2891e9a082547f1eb328efe01bc2be9b70198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4626da027b0bc8c4af474e396b6992e72a1fe13e71221ef0c30654cef4f945c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad8864ba4140ad467f022fcc19d09eeb0e8b75420bba1e96c87f6a79af1963e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.822 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8303, 0.6868, -0.5888, -0.2779, -0.1432, 0.9971, 0.4915, 2.4199, 0.9737, 1.5074, 0.5335, 0.001, 0.2549]\nstate[eef_state]: left_x=0.2764 left_y=0.0018 left_z=0.171 left_yaw=0.1129 left_pitch=-0.1218 left_roll=0.0915 left_gripper=0.9971 right_x=0.5082 right_y=0.1742 right_z=0.0647 right_yaw=-0.0677 right_pitch=0.6345 right_roll=0.0409 right_gripper=0.2549\nstate[joint_eff]: [-0.0615, -1.2376, 7.241, 1.6093, -0.1832, -0.0415, -0.0122, 0.1846, -7.3915, 2.0855, 0.8864, -0.1392, 0.0513, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8356, 0.6868, -0.5926, -0.2779, -0.1429, 0.9971, 0.4885, 2.2982, 1.1152, 0.9295, 0.5072, 0.1059, 0.9948]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1689 left_yaw=0.1131 left_pitch=-0.1306 left_roll=0.0945 left_gripper=0.9971 right_x=0.5342 right_y=0.1908 right_z=0.049 right_yaw=-0.0238 right_pitch=0.3611 right_roll=-0.0199 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.6342, 6.9265, 1.6044, -0.1392, -0.0366, -0.0122, -0.6222, -10.1402, 6.8308, 1.9414, 0.0855, 0.2027, -0.232]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.836, 0.6868, -0.593, -0.2779, -0.1429, 0.9971, 0.4309, 2.3569, 1.1469, 1.0569, 0.4568, 0.0792, 0.0197]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1688 left_yaw=0.1131 left_pitch=-0.1313 left_roll=0.0947 left_gripper=0.9971 right_x=0.5541 right_y=0.1729 right_z=0.0559 right_yaw=-0.0401 right_pitch=0.4448 right_roll=0.0127 right_gripper=0.0197\nstate[joint_eff]: [-0.3214, -1.3607, 6.9538, 1.5604, -0.1685, -0.0317, -0.0122, -0.294, -7.9932, 5.2308, 1.3651, 0.0708, 0.0464, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b57d9e59d767afbcbb731da0b2891e9a082547f1eb328efe01bc2be9b70198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4626da027b0bc8c4af474e396b6992e72a1fe13e71221ef0c30654cef4f945c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad8864ba4140ad467f022fcc19d09eeb0e8b75420bba1e96c87f6a79af1963e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_00540e5ee97127b3016ab472c4956c87d0b0500895eb783da9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.17,\"right_z\":0.15,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The second close was also empty, so I’m stepping back and lifting to recheck the yellow object’s position instead of repeating the same approach.\"}",
  "call_id": "call_LUQ7W1Xju8HFix4fciqTNWcC",
  "id": "fc_00540e5ee97127b3016ab472cc784087d0ab536946008e36b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LUQ7W1Xju8HFix4fciqTNWcC",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.836, 0.6868, -0.6075, -0.2779, -0.1432, 0.9971, 0.4801, 1.808, 1.1637, -0.0132, 0.4248, 0.2893, 0.9961]\nstate[eef_state]: left_x=0.2737 left_y=0.0023 left_z=0.1662 left_yaw=0.1139 left_pitch=-0.1451 left_roll=0.0987 left_gripper=0.9971 right_x=0.4727 right_y=0.1681 right_z=0.1284 right_yaw=-0.0312 right_pitch=-0.0084 right_roll=-0.0162 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.3333, 6.8444, 1.7265, -0.1538, -0.0659, -0.0122, 0.3487, -11.7265, 9.0598, 1.8486, 0.1099, 0.1099, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcea69daa5f29bc42046c4937b922359477370a756d407607fd2f50b55a33f04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7f05c98d05a521b70afe04d07f055e182e67476b61c7ba21e974874f653c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021b38b384580e0200f6d34c696eb7a2302933d4282b698da7df8dde2d0e2884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 10.61 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8322, 0.6868, -0.5903, -0.2779, -0.1432, 0.9971, 0.4904, 2.2383, 0.9314, 1.2869, 0.5308, 0.0101, 0.022]\nstate[eef_state]: left_x=0.2763 left_y=0.0018 left_z=0.1702 left_yaw=0.1131 left_pitch=-0.1251 left_roll=0.0925 left_gripper=0.9971 right_x=0.5061 right_y=0.1729 right_z=0.0943 right_yaw=-0.0433 right_pitch=0.5649 right_roll=0.0008 right_gripper=0.022\nstate[joint_eff]: [-0.1709, -0.9915, 6.8308, 1.5653, -0.1685, -0.0562, -0.0122, 0.1573, -13.0393, 5.2991, 2.2637, 0.0708, 0.1392, 1.1062]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.836, 0.6868, -0.593, -0.2779, -0.1429, 0.9971, 0.4309, 2.3569, 1.1469, 1.0569, 0.4568, 0.0792, 0.0197]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1688 left_yaw=0.1131 left_pitch=-0.1313 left_roll=0.0947 left_gripper=0.9971 right_x=0.5541 right_y=0.1729 right_z=0.0559 right_yaw=-0.0401 right_pitch=0.4448 right_roll=0.0127 right_gripper=0.0197\nstate[joint_eff]: [-0.3214, -1.3607, 6.9538, 1.5604, -0.1685, -0.0317, -0.0122, -0.294, -7.9932, 5.2308, 1.3651, 0.0708, 0.0464, 0.989]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.836, 0.6868, -0.6075, -0.2779, -0.1432, 0.9971, 0.4801, 1.808, 1.1637, -0.0132, 0.4248, 0.2893, 0.9961]\nstate[eef_state]: left_x=0.2737 left_y=0.0023 left_z=0.1662 left_yaw=0.1139 left_pitch=-0.1451 left_roll=0.0987 left_gripper=0.9971 right_x=0.4727 right_y=0.1681 right_z=0.1284 right_yaw=-0.0312 right_pitch=-0.0084 right_roll=-0.0162 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.3333, 6.8444, 1.7265, -0.1538, -0.0659, -0.0122, 0.3487, -11.7265, 9.0598, 1.8486, 0.1099, 0.1099, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcea69daa5f29bc42046c4937b922359477370a756d407607fd2f50b55a33f04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7f05c98d05a521b70afe04d07f055e182e67476b61c7ba21e974874f653c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021b38b384580e0200f6d34c696eb7a2302933d4282b698da7df8dde2d0e2884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLVLwt4iRkGKtCMJ_Kxo6wg4vrhmJBkKMYN1yL64nKSmqpkF-utr6QrrXMS6r38dvMVldFofi9j6B5A444assUSlIIisnDOOWyyjKX89xgKjTOSFXkctl22ZFtBBds2u-QOsLrn_neNZRa_8wJMibrBQWUPOH1FFalTIlvTohdZ0ob2FrT66x2Fr93BKCNxdf8nweheNcGO-xMJaI32y_YUR4_Jc7RURs07yxTQ3o1vIuApCvAUXp3SykyDWlppag5EvySp4E5UDFnAQ1slGo5BqtBrsBPQ6WRspPFmqqqZHgpJqFS0go6mhgx_YgzBg52xt4u0HjCJgJf-IW99ahnrjkpKqPamOQ6tpDQYLwIPSPVc2QLnuCM7GU9nxVp-DG9j1uL6wd9qhzetcP3IO8apW6Jl3QzpeKt3Wl6KcMNcFE9XtxtcAJU3PenpBgaFvbYrNVN6-14jqhWP22yYD-HQY-g5iZ-i31np2j13f4wPsW4KUYMh50dKufrOLKKiS2TbQTCZWd2Go1EV9--0NSzLQgK0FSsgXuAHz2IkC3toUQYoVHXH35tXFL2gkgZWKXOXfFR1VFckC4xdoDingH3XyjAFwvvskWl8KFtjpdxLLIbpogIXRLrW9uI_SaQsHAyx5HpEduXcvgAypKcQPjMEH5e4CJbfd7BF00eTFx2RFN3fvhxnsKWmEU6lgeprNQu8uePNH6k65MSU1E7sRUnxUTPFshwM6srh1QWUwYX5wU722hHALJG1wxcE78vNT9GpCve24Mo3_qCpk2hWFiE3eu8IgnmbGfaqnOjDb6stSVDalhBa91z4d67wh1BsEyigX39OFss2tgmrGQtSPkiNxo1aAxI2MQba7fmXRYlDbsEGUI125cZ6eOtztHi_MoumeD_0IoZ2WiEOQmbwtyr3QaVPboCYUUVkGlVbkMC-ovtKx0jWfd_37UZh4dU8p3j3dcog69N4G-ZCnbdXcUQtWm86s4VbpFUwTtd0a2iyz6kthelVlhvbE7mRCC0sxwCDKG8KzSYP9zFE-bk72QuJR29g71U4ufSunjdw8RgC7LTO2HIJljPpls396Vxswo39FtMIryxsls--aKCuFGOeDqKgwHS1CHn2JpAavAU4sAicEZHltA9yX__4egdLTRmcAqzBVgdWzOhplMMWH-gKAWgutMXT6kyM7NMNAeENxw7BG1h9bAfz5jwcvtyJIJFiAtv_LxeE8Ld-rYQWiIFq_WV0NngOVX6TSNtl6ipiuj5d7-o3GzAtWeawNZc4acXuM1ZeaPY1R4kYbNk2D2fobz4W4zarefQG2VaMKIMiRJypAgAyW36CoyEKGRx-hlz05z-DFvVmzh9d0l5I1ej_XiI-ePIlap8Dw8phieBFsvMUcoAzrFzE3jMLIDWy-HAVsCjHD1JcrfaDdIM-HP-uQVK8cWOFXry7EJjozD_BnaGYIr15KUwtwMjFTk47tYM6pVwdJ9j1m3yy6PQSrO127Nah06mS3YzBBOawhZ0q4pgmRJdPApaxPR6pQlfHuW8MIKv0Uxkzf-QI85ilMDbEHbtLtC9JzGXoILrw4tOm9waS-8e_zmvgQAQ2jv-S71r7PqjgY2jJmskbS6IE2P_4WpRSI6y_UTPJZCClyA1Kk_eFH7mGnSyr_VpD18zymii0Hb6cmdoWwlMNNGzdWME5aTyrE-zTk--taT5ooDzRCobN8ws_auQteLkHYHhg1LwCPUJr3Oj7y4pEIE2khXSMjK3cFpLpwh36o4j7hN6tPDcR5iaaouBaBlN6_zMV38gZL6Yk_-a2UIjfWIeB12El79CLhfBZ3ImzuoTJVtT1G5BSt01uy2pBJikfLyX4f4X7Kv0YThh_JiSllBlBFBTVRHWGt27v9Z2er9lrhsLh_6nRs9n_59DrVpq2Q2mak1WGTZWdXXW2lsMRMdw-1vjipece1VLOgrQ9BTDIAOLw-n6yGQHt5PtAfoQJq0ZvkObncQhaUhJqhhhQi4r375DCRrJ3KLqL7K9iOKoVvZEEYSOArEBMhViFK6EIuMsPRONSldgsCTLG0vyNXXRk3v3kel4mDjIDPMMH74Ihs-ETWfgw-3zd3eYOVS54WFZ27yqqsUaWn-l3gnFMAz5YrpukKboYc_OH456QIB3zUTzx6dmI6KKpbzPOue9JOeK3VzmRJe-6d2jbn9WG2I5zDvU9-K3gDWO8zWHBViVEKVBDx5AudScy6WfvxWlOIU8k9J3opkO1BaD6f5wnrkEmgRJuR63A88NV5iTr_i-V8-cP1ZGT2ay5F8Mi9Akv3WZ6jS7DX7XPxa4I-ZVSEgWm5vaumZxvfmmmvbxQsw4Jk-_3rqep4UKOASzO4rJgRmlsZQEzLn2CWSJPRtwcutoqVORzGG12SozK6YLMwvkbHio9W9l5qRpnyE6txnj4DQ8nbenRl5vOdajRUVzAiuwZLzuPB5XyOP7RSHcqOrfgOvszSUVWi1yVKE48kfRAuAVZGhPj",
  "id": "rs_00540e5ee97127b3016ab472d0680087d0bba5dd757bc7553d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.17,\"right_z\":0.015,\"right_pitch\":0},\"note\":\"From the retracted view, the yellow object is centered and still forward of the fingertips. I’m approaching again with the tool vertical, avoiding the tilt that complicated the earlier alignment.\"}",
  "call_id": "call_va2F5Pzh5fqLGQOYQY71A0HH",
  "id": "fc_00540e5ee97127b3016ab472d486fc87d0acb1ea41da2572fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_va2F5Pzh5fqLGQOYQY71A0HH",
  "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]: [-0.1829, 0.8379, 0.6868, -0.6121, -0.2779, -0.1429, 0.9971, 0.4454, 2.1418, 1.1397, 0.3164, 0.3946, 0.2657, 0.9973]\nstate[eef_state]: left_x=0.2731 left_y=0.0024 left_z=0.165 left_yaw=0.114 left_pitch=-0.1514 left_roll=0.1009 left_gripper=0.9971 right_x=0.5022 right_y=0.1684 right_z=0.0125 right_yaw=-0.0292 right_pitch=-0.0424 right_roll=-0.0325 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.4838, 6.8308, 1.5897, -0.1783, -0.0659, -0.0122, -0.8957, -9.1282, 7.3231, 1.2918, 0.0806, -0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849a6636d7969e7dfc2b3d636dbe0d4e54bdb181648dee349b17dfae221ac263",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4970fd68a4c935e4c7c21ac54e4dc36982ebea4376cfba9969f55704c49f85a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b36446a56d590d1e9b8d5ae07956076a32fb4a9d6ed84596f93dc16cffcbe73",
      "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 · 5.616 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8356, 0.6868, -0.5926, -0.2779, -0.1429, 0.9971, 0.4885, 2.2982, 1.1152, 0.9295, 0.5072, 0.1059, 0.9948]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1689 left_yaw=0.1131 left_pitch=-0.1306 left_roll=0.0945 left_gripper=0.9971 right_x=0.5342 right_y=0.1908 right_z=0.049 right_yaw=-0.0238 right_pitch=0.3611 right_roll=-0.0199 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -1.6342, 6.9265, 1.6044, -0.1392, -0.0366, -0.0122, -0.6222, -10.1402, 6.8308, 1.9414, 0.0855, 0.2027, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.836, 0.6868, -0.6075, -0.2779, -0.1432, 0.9971, 0.4801, 1.808, 1.1637, -0.0132, 0.4248, 0.2893, 0.9961]\nstate[eef_state]: left_x=0.2737 left_y=0.0023 left_z=0.1662 left_yaw=0.1139 left_pitch=-0.1451 left_roll=0.0987 left_gripper=0.9971 right_x=0.4727 right_y=0.1681 right_z=0.1284 right_yaw=-0.0312 right_pitch=-0.0084 right_roll=-0.0162 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.3333, 6.8444, 1.7265, -0.1538, -0.0659, -0.0122, 0.3487, -11.7265, 9.0598, 1.8486, 0.1099, 0.1099, -0.1441]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8379, 0.6868, -0.6121, -0.2779, -0.1429, 0.9971, 0.4454, 2.1418, 1.1397, 0.3164, 0.3946, 0.2657, 0.9973]\nstate[eef_state]: left_x=0.2731 left_y=0.0024 left_z=0.165 left_yaw=0.114 left_pitch=-0.1514 left_roll=0.1009 left_gripper=0.9971 right_x=0.5022 right_y=0.1684 right_z=0.0125 right_yaw=-0.0292 right_pitch=-0.0424 right_roll=-0.0325 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.4838, 6.8308, 1.5897, -0.1783, -0.0659, -0.0122, -0.8957, -9.1282, 7.3231, 1.2918, 0.0806, -0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849a6636d7969e7dfc2b3d636dbe0d4e54bdb181648dee349b17dfae221ac263",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4970fd68a4c935e4c7c21ac54e4dc36982ebea4376cfba9969f55704c49f85a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b36446a56d590d1e9b8d5ae07956076a32fb4a9d6ed84596f93dc16cffcbe73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHLhvwwKDvsa19-82gOUybSdhZFh1xK8OO4Mjs7rmEMBgVzQQcoLa6NswZGSpgzvqQ8POJ9oMO7xv2zssn9qngKUNPg2Ft37rqkrpniD78mRITf6I5x7Ht-_pXIGBQdIjw0mjIU0s6C4EIY71FyKOtm_kzEYNpu2zB4HecSLzdN545q8Ro25clQhaLQ3tyQu9FMQJczOxNmy4aDIstJdWTkjABj-FKDAuYDdRU1J8VL7RDxrNYUjHucYnHD-UPjr6Zpq4wFLdGIQsosg8jYbpgONvb2J0jPTCLQkJCq7R7F5NphwVD90wvEOKcTDWUMXcZz8H07GyE6AqVh8BVaBTLcYmkbGmZ1-aeKq_H8yRmb575uIM3J_PXmro-4mjGyw1dPvEbITkMatzMXz0pnRwQlViWcry0ycIxCAQn2VKth3A9ms6j2BLXmx-xxRJr1Zh21qooiF04_mjetLgF8RvvOVJu4JyBFyoTnDHLVJurzt-qcvykROzzyz2xIqyv0qe4iMhmoMv8Plgw3QWbpJgJEe_Pw3flM7adSQaVAenzvpT_AajWTUMCn_hAMBcRkoDg97eoI-4PjvexoFS3p5yx7TPPP_DxLApIPKbRyd5dYas3npDCYHD_JBZThacF-KcxxNR6QFfLkgE8UVCj72Y72KUc_8SeutHOYKHlsjMzINNV34s0BhCIYSmG3NwdBFmmmAa9CKb049KDjjo6go9napSa-x-uCPs5OixA0lVNv-IyH7WgLqO_jlV8UO_LQp95UeUZaehlVZz97Gt7E8a9FRiFr6I3eDgM9x54-w5C2sPEjBZUzPXY5J9md2q40fkMFjOFKC1BOgPOywpmFQQkJNfJCK7z1yBvr4boHGqlkQffpaAgJc9A_5D4o3b8n1aN9ylw5fHtYix3VOEKpVdkOK089JYNMlrSd47EYazhucQ5YjaPV9iMRjd08SZn_l02aODgJkGKhcCE_CiFVjm6RyqVYzta0K3C9GKd096bu8iLLPa2oiBuGmo7A0T0m3jwwCoTMKfT1vVxzToBWDYj_pThaKc4yUZ-ejb9YKMxp9VfG2WQhqXWZUK-YUIBrWgAqini9k9Oahctgj84nBRhejRJL1ygu_0dQjqMGCTUvw2cc9l3xc_ZE6RHcG2S5C4KdMYEAkwhvogTGEq-rNKoqGJ3yvjB-RK0RBQ2fPTIOjceNDi7CtQN1a58kgEtc3PE3b9pal2vBKtEpMhoKnBmiCip2dAHUI4C-jUh3CfRrENkT3z1OGA9UuUsCzF7MlP6s7GevvQ9C8awvT6KP-buSsoDY7JR4_C5zKnoNzMf-3k9JuuWYlSQFZ0oHrjH58RHz1Ex27ReO2LbCD5DvAS1a2ZdS77RYsWPX66nM0dSwk-lIXzq4BL57luKbo2E1Vdhkxg1bBYM4hrqnzFZcR2qemoOVZH_WPNYDZJQYA9ksh4vyy4pFhVN-c9F3lVD4W9iZfufBu9E3wybdMSl5yYc-b6yzRk_ewIODq0fsti_Amq09vUFueTgkWXo1DEflorgq9SozBpx1qHPyEJb_7iIu1K4L7Q_3kdoQ32MKI0SKnSFh-QcNVp3zcVjZ4pJP4Z2wMEktjYXak0vz3nhm6HUmmv8y-7ADT9Cxu90gfkqksurxHe6L_dAp9sBYvSKUN5lYItW8SxYzdo54bHp0OMii1N8FapI-Pco64CeIArTZAHwUHG2Qvy19eHu2Dt_-NMwhW8T-3R2ZeAoNwnen33GtJURyPtxn9MEBpT3Wbs4bkeknj70SNLo2SBWgUpU9wMuFewhnxCNaVC0cro3Yf6UG1DiSEZVuKirgJW4DaxKkoLQ6sAtA6CcI7SoytETaPsmLaGjwbkhVKkD-BvAWcmGRiy4Gx2HviRGQ5RY2clqKh5X5xVntRcCQADJ08OagHYZjW_L27_xxlVgD9qgTgAFJ1Cc_LNwUv1Tv301MG12vb7tvtt7JIm9aB8bK4VTTb91Q12-YvOU2C_sugzq8CmJTHDumfk4uLsMRJWHUMZeAW12sWAU_Eil-sZuGHs97_9xHmEeHphTB8-et9bMox_G4_3i8YtN4rQRMnuXzkjqA4LhHqlIFzbQdW3m1VM9tbYybouZPNvr4OpB5FGCthx5dISxl3sPQ7jVTWcn4Li1IDbJqYRCxVA5Z55irRAdvbiGhgbAd7heC4vcrJ2qtSiMnW0kgRLWqHzV_a66vUzxKKIDzBrmcLD2zP9OrlNNrOU4E4ZKFada2ClQJj2_iOA3dd1Ye2GdQmNq9662P_kY-ibD7BOflAtLdnR7GTDTFk60NtTqZvzOfjCw1x62Dp5tse50X18eBQM-12KLiz54o1dUjOebM8envOSCW_FBprwGdaBVMwMfhF-sWCuMlu8nZRCD2-STlOWoEoJanPz1_79B4-f2CeUobrm5gmGIHwqH8ksQXUqi5p3JKXB3jcqm2SjZuZxRatBHzD5EMRvILEvxK6jOotQ2JLGBi8N2F0DSbkyBYZRF3xFrOASaPRoc3xpANuFKFYYbOVNH1HiouS-IgToNkZtYgCs26gVW34EDfbwP0wa4ma8rKHLCTD8quiNwzqTptGlOVDrmauZVksKlq5BdNBEIGScRHLS3Acjgp8wT1dph31fK4TEFTJ5frpwUtk9NwYn_Uz11kdCFnfUpSqmp0s6_2nll78K_I537eQKMb5B2ey9Ph1hHAbRRN3ATSLsxEcj1v997xA8HGvdCBwKCTzdVIhZSn-0s54E05y6w6R-ZyuruGztrUQrAIUEy9qtsrd4bj566pmGTIsi0jYAaeEBl6jOzEJ-qvPpeI7zQfHUf3kcxk6OoRUxvrMkkwM6xWvD8EloHenBPmDcnwjZQLFBRRgTXZ69y20TNDBwhT7rnNls9zhD14qXeRPXiUqKPiL3tgsUw04cs-XiZpoja42JSp9uFCtngNBqKfCvXlushzWEw62HJ0qL04k8QnG_PqeoS0OTzo0qOpM-SzU08JNkYbsQX88m7hv-5wcN6-x4C4YguGENyZYcaclcQoqd1LKeKH-FH9BLkbtMkGtXVrAno7YhKSpobzsk5SDYg-Jy39ahXYhI3XuyvW2T2WzpesxMteYbUHLB38D3U8mCx7KizxKRJ-w6NhLnh3cPx1Q51AyivF9WGgWFwzeMdhtqSM8cZ9el0jNJiZouZZ-oyWMK6N7cCjC5GuOL5O6Ocgyl5rofseWvaWvLn-lyhIszVgevaG__U8YbS48Hxszym4PnTDCuXMAuBkw0HtQcui49dfmzKLZZAQatwl5KKOyy9YmSCmtlBSLcVt2qYW1F8_c3wlYlayKRVfD7W0J21GC62mykMjafFdsPu7SpBs5LiQdGxSMuoUIoRJluaMSeLeXJBmaFIseLAkml0WPQomuJXeXYtaF4WiqrfmQYYfjgi_uS7cT2FK1yERjpcGEwUGOqNaAgru0q2Xc9she",
  "id": "rs_00540e5ee97127b3016ab472d840b087d09a675786b4863159",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.17,\"right_z\":0.045,\"right_pitch\":0.05},\"note\":\"With the tool vertical, the yellow object is visibly farther forward than expected. I’m extending toward its middle at a small clearance height to check whether it is within reach.\"}",
  "call_id": "call_uhIhe4YrZ1Tg1TWmHNtT0Wag",
  "id": "fc_00540e5ee97127b3016ab472dfd3e487d08206f552d5aec39b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uhIhe4YrZ1Tg1TWmHNtT0Wag",
  "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]: [-0.1829, 0.8398, 0.6868, -0.6155, -0.2779, -0.1432, 0.9971, 0.4061, 2.2597, 1.3926, 0.2264, 0.3538, 0.1997, 0.9974]\nstate[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1639 left_yaw=0.1144 left_pitch=-0.1564 left_roll=0.1022 left_gripper=0.9971 right_x=0.5567 right_y=0.1767 right_z=0.027 right_yaw=0.0012 right_pitch=-0.0136 right_roll=-0.0447 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.4564, 6.8581, 1.5409, -0.1245, -0.0171, -0.0122, -1.5111, -11.8085, 8.3487, 2.0781, 0.2857, 0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2990e17d6e1e6d4b7408b70ad06fb49001e496a0acd676f4b362aef8687ede24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d50b92511dfa2542da3614d20d4b5d114a7cf9ed83f450d727115f5aa6f07e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221a89663f5a2412e4ea8041eb12770c8b2c99cbd5467eab2f1adbfd41a3ecd9",
      "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 · 3.149 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.836, 0.6868, -0.593, -0.2779, -0.1429, 0.9971, 0.4309, 2.3569, 1.1469, 1.0569, 0.4568, 0.0792, 0.0197]\nstate[eef_state]: left_x=0.2761 left_y=0.0019 left_z=0.1688 left_yaw=0.1131 left_pitch=-0.1313 left_roll=0.0947 left_gripper=0.9971 right_x=0.5541 right_y=0.1729 right_z=0.0559 right_yaw=-0.0401 right_pitch=0.4448 right_roll=0.0127 right_gripper=0.0197\nstate[joint_eff]: [-0.3214, -1.3607, 6.9538, 1.5604, -0.1685, -0.0317, -0.0122, -0.294, -7.9932, 5.2308, 1.3651, 0.0708, 0.0464, 0.989]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8379, 0.6868, -0.6121, -0.2779, -0.1429, 0.9971, 0.4454, 2.1418, 1.1397, 0.3164, 0.3946, 0.2657, 0.9973]\nstate[eef_state]: left_x=0.2731 left_y=0.0024 left_z=0.165 left_yaw=0.114 left_pitch=-0.1514 left_roll=0.1009 left_gripper=0.9971 right_x=0.5022 right_y=0.1684 right_z=0.0125 right_yaw=-0.0292 right_pitch=-0.0424 right_roll=-0.0325 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.4838, 6.8308, 1.5897, -0.1783, -0.0659, -0.0122, -0.8957, -9.1282, 7.3231, 1.2918, 0.0806, -0.1001, 0.1099]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8398, 0.6868, -0.6155, -0.2779, -0.1432, 0.9971, 0.4061, 2.2597, 1.3926, 0.2264, 0.3538, 0.1997, 0.9974]\nstate[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1639 left_yaw=0.1144 left_pitch=-0.1564 left_roll=0.1022 left_gripper=0.9971 right_x=0.5567 right_y=0.1767 right_z=0.027 right_yaw=0.0012 right_pitch=-0.0136 right_roll=-0.0447 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.4564, 6.8581, 1.5409, -0.1245, -0.0171, -0.0122, -1.5111, -11.8085, 8.3487, 2.0781, 0.2857, 0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2990e17d6e1e6d4b7408b70ad06fb49001e496a0acd676f4b362aef8687ede24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d50b92511dfa2542da3614d20d4b5d114a7cf9ed83f450d727115f5aa6f07e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221a89663f5a2412e4ea8041eb12770c8b2c99cbd5467eab2f1adbfd41a3ecd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_00540e5ee97127b3016ab472e341ec87d0887c8b1b59bf04da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.145,\"right_z\":0.04,\"right_pitch\":0.05},\"note\":\"The yellow object is now at fingertip depth and only slightly right of center. I’m making the final small forward and sideways correction before grasping.\"}",
  "call_id": "call_5kMBrDjRZqtkrugmUJyP0d7X",
  "id": "fc_00540e5ee97127b3016ab472e5ad3087d0b411d12dfa7fc7be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5kMBrDjRZqtkrugmUJyP0d7X",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.841, 0.6868, -0.6159, -0.2779, -0.1429, 0.9971, 0.3584, 2.2745, 1.4158, 0.2253, 0.2844, 0.1429, 0.9974]\nstate[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1635 left_yaw=0.1143 left_pitch=-0.1579 left_roll=0.103 left_gripper=0.9971 right_x=0.5683 right_y=0.1638 right_z=0.0253 right_yaw=0.0413 right_pitch=-0.0228 right_roll=-0.0504 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.388, 6.8171, 1.5116, -0.1538, -0.0611, -0.0122, -2.3316, -11.0291, 9.1145, 2.1954, 0.4225, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72e25f71e8ad06f52d82101d931d01a414a843a5c47bc049ef4c5abf1a13bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b835cc4de2ab0ab7c18577ec7d7f536a2d9de8e4f35f105c4dd63c41d66636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac4caf634c70768f65de3635993ad1bbfc80685307f9d83697e9d144e9eb2ba",
      "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 · 8.755 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.836, 0.6868, -0.6075, -0.2779, -0.1432, 0.9971, 0.4801, 1.808, 1.1637, -0.0132, 0.4248, 0.2893, 0.9961]\nstate[eef_state]: left_x=0.2737 left_y=0.0023 left_z=0.1662 left_yaw=0.1139 left_pitch=-0.1451 left_roll=0.0987 left_gripper=0.9971 right_x=0.4727 right_y=0.1681 right_z=0.1284 right_yaw=-0.0312 right_pitch=-0.0084 right_roll=-0.0162 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.3333, 6.8444, 1.7265, -0.1538, -0.0659, -0.0122, 0.3487, -11.7265, 9.0598, 1.8486, 0.1099, 0.1099, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8398, 0.6868, -0.6155, -0.2779, -0.1432, 0.9971, 0.4061, 2.2597, 1.3926, 0.2264, 0.3538, 0.1997, 0.9974]\nstate[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1639 left_yaw=0.1144 left_pitch=-0.1564 left_roll=0.1022 left_gripper=0.9971 right_x=0.5567 right_y=0.1767 right_z=0.027 right_yaw=0.0012 right_pitch=-0.0136 right_roll=-0.0447 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.4564, 6.8581, 1.5409, -0.1245, -0.0171, -0.0122, -1.5111, -11.8085, 8.3487, 2.0781, 0.2857, 0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.841, 0.6868, -0.6159, -0.2779, -0.1429, 0.9971, 0.3584, 2.2745, 1.4158, 0.2253, 0.2844, 0.1429, 0.9974]\nstate[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1635 left_yaw=0.1143 left_pitch=-0.1579 left_roll=0.103 left_gripper=0.9971 right_x=0.5683 right_y=0.1638 right_z=0.0253 right_yaw=0.0413 right_pitch=-0.0228 right_roll=-0.0504 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.388, 6.8171, 1.5116, -0.1538, -0.0611, -0.0122, -2.3316, -11.0291, 9.1145, 2.1954, 0.4225, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72e25f71e8ad06f52d82101d931d01a414a843a5c47bc049ef4c5abf1a13bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b835cc4de2ab0ab7c18577ec7d7f536a2d9de8e4f35f105c4dd63c41d66636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac4caf634c70768f65de3635993ad1bbfc80685307f9d83697e9d144e9eb2ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHLqK357z9Z2uwFRHk_6qsWEHnQJvxXe4ABcKxRhJ9BOSulN3RGwWClYeEQxYhezFFQm2h1TET6IAWo3N7fluRplEnALBuTpTDdEP2qHXQZypHDTCzIf-0hU0_eFhsoWMs1_2n9C8MvOVXTLyzPcUAAWJxKFGX8qa4Cc1mUsoRtgsFxBT8at9V0oYyP5V06Rb5-N5MnRbyTT6f-_DAS2PaIBTyyunLSsDMMnKq379pv3YE_9qXMhxVfGm7Zcie0bNURLvq6Y2it0Cjxg7MAVC2cwskKRdhQlSW4N-fcqBDLr3oPgYMRCpSjG-hzVMRgdpaGDNiw9e7jgpvSa6d-BuNH6fR7A1_MFsU7Ore2nLP45_gzNgG0kMH9BNhJ3UTHUdsfSyZUiwRCRJSHEMV5S25sKtWSgkxfDNiEAUmjOYKUHLcFfhs_2t8Ph8FymiJxtHqOtn00H20bJXyww0uz6QWcctxnalIFIbaI58GFgspn1H8GuF8QnzFDxxYt-akRdvqjpSerj8muARAJ57ejZFGcYg58AehM3Li8Wgi34q7nxzRR7cAzK9Dgsd3ERezF4UNEasBao5xDHTMTb0fLTF2iZjfawpX8YwLHYZIi8xhGiTgjQRj-RGQZ9sspPYh1phB7a4k0V0nOeL83X9zNmIe2wH7cr4UvZpKqmLcn9F0Xp0f8YDLn4zQnZ9Tlt_YjOxLymMLNz0ddojGjsE-X0NhAwEKXtojORsMNI7p6DhEpbc3_RXu7hlVqk98avCGBeDXuxWBz6rNzq7qu9KNNj3-qnSQr1u2exM_QtAu4sZeI-mbS9TAcSCas_7mFmvJay9XOSwkERNynlCjQCTNyPEL07jCgb-MxMr-Jf9gxHea89lxzm5y2xO8StWP0T6SGf97_dIqscGpd6PxEDdx6hVml5PkxIxbArLOJsSAlQj3wJLgVj7bXCpyoL-Cn_fpkV63cw_m4WvoAZbJ-F8DHA2T_GrOoAy73wZL-7xo7qaIRiV_e4ZZ6E_unVwvqKIc2ipB9hez3JZCxopDXbRZvHC4nQX4HD5EQ1ZrwRLHG81cqJGi0qaie28SEVqreTIAKf0tqpD4PsCZF1mzHrnpTGJDLva41LmeG9XmY5bOAAcgoMEDwdzvqjWqeOHyWfd9cjgCU7MAvZTyKxc93AgNllqh31LKXAGCrBQlbgzF5Gv89QbZUCesgSeW7rX5PNqUPruJbmhPaYm9mbcut629tbYFT0aadjNFvl6xr5dh2hetAHeFE=",
  "id": "rs_00540e5ee97127b3016ab472e9240887d095cac1a8402a1116",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is between the jaws at table level. I’m closing around its center now that the longer reach is aligned.\"}",
  "call_id": "call_lVdwd9qyrM4PdzXxV9CZnyRn",
  "id": "fc_00540e5ee97127b3016ab472e9bdd487d0816c359acb7fa769",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lVdwd9qyrM4PdzXxV9CZnyRn",
  "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]: [-0.1829, 0.8425, 0.6868, -0.6308, -0.2779, -0.1429, 0.9971, 0.3233, 2.2837, 1.4296, 0.226, 0.2726, 0.123, 0.4117]\nstate[eef_state]: left_x=0.2702 left_y=0.0029 left_z=0.1606 left_yaw=0.1151 left_pitch=-0.1736 left_roll=0.1078 left_gripper=0.9971 right_x=0.5766 right_y=0.1468 right_z=0.0254 right_yaw=0.0268 right_pitch=-0.0203 right_roll=-0.0584 right_gripper=0.4117\nstate[joint_eff]: [-0.212, -1.4427, 6.8034, 1.6825, -0.1636, -0.0464, -0.0122, -0.6496, -11.9043, 7.8974, 2.2735, 0.3004, 0.0269, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d859dc7a09fbc8b67ea785ea1bf73eed3401d6a02b1bae91229f5ef6fcd96d31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc640fef8e755ae1c2b71cece103ae2e4d2cab84167a232a878719828079131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:051dd0cf9acb6ad347c81f12c4c82fec577d57d294237ce64a84201fd1089dcb",
      "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 · 3.956 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8379, 0.6868, -0.6121, -0.2779, -0.1429, 0.9971, 0.4454, 2.1418, 1.1397, 0.3164, 0.3946, 0.2657, 0.9973]\nstate[eef_state]: left_x=0.2731 left_y=0.0024 left_z=0.165 left_yaw=0.114 left_pitch=-0.1514 left_roll=0.1009 left_gripper=0.9971 right_x=0.5022 right_y=0.1684 right_z=0.0125 right_yaw=-0.0292 right_pitch=-0.0424 right_roll=-0.0325 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.4838, 6.8308, 1.5897, -0.1783, -0.0659, -0.0122, -0.8957, -9.1282, 7.3231, 1.2918, 0.0806, -0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.841, 0.6868, -0.6159, -0.2779, -0.1429, 0.9971, 0.3584, 2.2745, 1.4158, 0.2253, 0.2844, 0.1429, 0.9974]\nstate[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1635 left_yaw=0.1143 left_pitch=-0.1579 left_roll=0.103 left_gripper=0.9971 right_x=0.5683 right_y=0.1638 right_z=0.0253 right_yaw=0.0413 right_pitch=-0.0228 right_roll=-0.0504 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.388, 6.8171, 1.5116, -0.1538, -0.0611, -0.0122, -2.3316, -11.0291, 9.1145, 2.1954, 0.4225, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8425, 0.6868, -0.6308, -0.2779, -0.1429, 0.9971, 0.3233, 2.2837, 1.4296, 0.226, 0.2726, 0.123, 0.4117]\nstate[eef_state]: left_x=0.2702 left_y=0.0029 left_z=0.1606 left_yaw=0.1151 left_pitch=-0.1736 left_roll=0.1078 left_gripper=0.9971 right_x=0.5766 right_y=0.1468 right_z=0.0254 right_yaw=0.0268 right_pitch=-0.0203 right_roll=-0.0584 right_gripper=0.4117\nstate[joint_eff]: [-0.212, -1.4427, 6.8034, 1.6825, -0.1636, -0.0464, -0.0122, -0.6496, -11.9043, 7.8974, 2.2735, 0.3004, 0.0269, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d859dc7a09fbc8b67ea785ea1bf73eed3401d6a02b1bae91229f5ef6fcd96d31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc640fef8e755ae1c2b71cece103ae2e4d2cab84167a232a878719828079131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:051dd0cf9acb6ad347c81f12c4c82fec577d57d294237ce64a84201fd1089dcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHL0zrQLDPPaY8MdbXUAlyvWoZUHfnWQQBM6Qr72g5yDBvs1Rqay2iGM441d4noRrdd5UGdHvpcRV5L4cryinZVbDThlkcAPERW5hGjMNudo8NH3EakiNmY7qMEpv0bRxMstNvl78QE_QrKT5qNkXBsNz7bDjdXKshaXGkJxvpFExNARVKOlnwF2uaBLuJIB0URbHdVmx4I95fLPEzj6ugc4RWzpK0MtF-OJac48goiC-5BrMkdB1M_94Ibeq6ZVLtgU5CLLLHZoQkCIJLyUoiCsc2R2nXEpFxfHy57bH3zB3U4cbeWIwy6T4Qs7WQr_0egpOWbNBbyPwUysO9RWU8JtyRmLzastsPo_ttcCzckLmDeVGG_wzlcv9bFQYcIUD7SrOgAgPUnrNNe5vZJoG1hw8aPWqYt86Ux0eDdtz7RpTNwPkde9SBoCl5g3i9pNmxJMQtXniO53b-GAGemc4T_xWHcE2f-NPHjMItBxdlBHzAxMlv3icmLr29hVPctYHwCN4ONMfG0oqLt_0Rhx_pErK0cskTM0ICEBrb0rR8RyoWQMw1IQlW2fotYF0L4CIPbC2OyhoFEypyBJIU5i4Jn7QFD5UvlcTj_a9FpuiPM2D-4jrgzItVkBbC27UTd7S1ZYAfbgKVnlXum_dPhgm-RHsvez08cqIwvH-uMhH_eDMq5rveY_hHBb9wQhtyoE2UYgMsH8_vAgLhiuRdRjHobMe7rZ1kMMiGWUVekkxh3QmSASdKpdZ4hIJfNZ2skd67PmndpKKUaRMNQYH7g5PXs3WrzRbKpgxdG1vYjwz2tPFgUY3sHVcidiR5mVk1fOpN3gh3dOquV6rsN1NREXruklTpDd2PUY-ISY-x-itSCMeh8R4l8-0patk_5CLGWbViyR0hrB-bb--9vtMHUhbMgKLAQPcjc3jJSrHBL1mre9bIC7wHS2F_tdRdSY3hNs4d-S1P1NO9AYX-FQl1P4VuUco-NZ_xGPmgvFlRKnPeQSg-TfxU8fSN4IniwLE2oX_ATVaHSWGUcBoYBvnn_7JuTNSD-xvjsgQbPQSdRmvCXwZSijPxrpHuijBjUF1TCzOS7WMJwEyP4zG_fXf3p2b9j1RuqVK_stoJ7a634_8CIWbeRMlZoG09uu5KHqAtO4xZyrxXNe1mamWayyMAGAbOtTBITp-JjUa9vsABWnh8nl3XEH6YMgZepgutnq28PTIRtx8vEjreHdNSwdgaUD2-_knn5lfyTSdnpdCMzLhiQQV2cidFDvSEeECckJy-mR2gjc9fgyH13wiOmw-9gUr2ibxmcan69npZre2rf2Bh_tiaiH_01PUJNPLgsQi2MWnzyh7VaANCKirYUIxcvHkDWURZFvhDUhI9bh1lFoHGoJOn8Zwwpz-hWEYcU_IAUzZv_Y2mv3O5d2A4yGlYN1xg0rdoa8CXw5tl2GaGiEI9oo1X7YKzv25sB8KKbaNg5lYQ0PCtQg6SV2S2jgJuAs43LCf8n2_4FRgtKXCL05HnICQPnpsDcVM9BNgmrRiWojS32T5X9XocyF2p4CpXLQtAFmBYW_CJUhhkjXS-Ku_HjPn5KHujrvuCPRafoC2oQlr6_EhHNQ5J9CNqWtCh83oMx3Ymsqr_SgK0_nuFfjml6IEzOactE6DETPJmNBOiox7XvElsu2nypjgMI7s5Xwpy4Wj1ohX4WVgJO4ULsODxYVIi-xoImf1B5l6zFDh5DL-mDXIgabUWpjzfagz12hY0w_0kkDST08xqGO_fqiM8P_1tBFEkB3d-5DeX7ffz6GmLb1PK7lpAXNGGB7lcANwEtQxF2tQI7MHmNGpkW1RCWVAj-GPMaTl5SVfuU1MyI2b899caKzVe9MYuTQFwm_nsCQAw2vbDeHeu4atAAbZODdcIW7qNlYwj630PQaxLarmp5ZYTMNczWmuhYl81IrjFvuj43DXHqzX-83Pfbmtm5GtmVI1sUDKO3ZbG0g7oAJ6SZOA0LQ0b_f2SQQy2XFb8ffVkYmDzzUUGYZObofU9raOZVar6qaSntFPwr5w4pFUihgBQPWwdps6x9wuKPvCCyLsEr4DSIxHb-3NBG5TInbhwkCn1U5D5RIk2k7NADlOVPV6fDkjvPjcCbQiQCci9KkAPQrYd81nVqIZjOywiLO02bFUslRTDHzwCvtNAe4VJ1yIWLiUqmIrvGYdgyb6HQhxrUHKIZ9dKbjv2-Xr1yONuBKycuDKtErme6R5agDDk09VnYNlHZT59Vur1enZEJN805Ox87YJT9hHASeTzHtfJvB7eD9HtdMGhBE4Zhv9jLqFBPSPJj5r3LFFzx9fsiYdQ1OCp63Hpi_GUMqUpRWFZp0Ibf6sKBX6joOOORKILRvpKY73EDRlTCwctJa0rjE5Z7XCh1eoWv35qgQyqZSBiruYwaWTlG2onk5LBLBYtmhxUK5t7GSDPLSI7bM9jIPoDZcbbbZdHC1KcZCX0TtwN0fv-zx6QSiNi2O1v1umKSUt64MPIs994jk6AMSj1oxqAlYQJ4oAA_U81m6QFev7bbkFv0Q0yCH4oegWZMyUoT6SDXJm_O8R9VYVdaCkoz4gijwk8ZWcosu_v8SCbBpbJIHQkzcAmTxrArO9Q5JqIw7SUKuYj5P6cMX2xCAcNX1bV-g-ZEFCghVFh9WQ19QIL7AaKUK3riSlZdyJlkV3vPWhwx4mWwFNbi1Zgy9S_1SsL7ybQkeTXfzJqKqw-zE6e9xk3Qvnc9HcqCxxuDZuRl8GSm8IbmRKK77OKrs7atnEn5VrrHm_QWzxXNPWy4Ulq8mu3HErcplmTQZZrMCE7YGMjqx55CDDmsgn7zaT9y7ukVQLw3LqjLn7n6sBZXmaZ_5bLeJdEh1tkTJUwmrEoK8g8ZVdz_bYfXQoZUOkS-2wjcowTV4ZeKA85bCQL9t6GfGzO0w1x9oI4hNgopaXroi2jTpsxV1-u6iKX_QLZCXa23RxWAkxdT4WDD2iFbZY0Lhx4zH5eUAOp-YsnNi9ExCyRHSwJDWcXYiyIEKluZfPw==",
  "id": "rs_00540e5ee97127b3016ab472ed32a887d0b9966c1d61105989",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.13},\"note\":\"The safe shifted during that close while the yellow object remained visible, so the jaws may have caught the rim instead. I’m releasing and lifting clear rather than dragging the safe.\"}",
  "call_id": "call_rGngBlBGXUGZFyVu0zy8f0JO",
  "id": "fc_00540e5ee97127b3016ab472f3361887d090627ec6b9de83e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rGngBlBGXUGZFyVu0zy8f0JO",
  "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]: [-0.1829, 0.8425, 0.6868, -0.6353, -0.2779, -0.1429, 0.9971, 0.3241, 2.1632, 1.557, -0.1017, 0.2646, 0.1127, 0.6946]\nstate[eef_state]: left_x=0.2695 left_y=0.0031 left_z=0.1598 left_yaw=0.1153 left_pitch=-0.178 left_roll=0.1092 left_gripper=0.9971 right_x=0.5689 right_y=0.1461 right_z=0.0845 right_yaw=0.0384 right_pitch=-0.0985 right_roll=-0.0849 right_gripper=0.6946\nstate[joint_eff]: [-0.0205, -1.3744, 7.0085, 1.5311, -0.1587, -0.022, -0.0122, -0.1436, -15.4051, 9.2513, 1.7802, 0.1001, 0.1148, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8058b49c1e509d956f251504955101e124435f486d792a8022bbdd9f1f83ee2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260c66fd429cb700ccfb0a22dbb1ef417c18e9d01ca4584a1c78e51f8b1c1786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa7264bd4439b80319203424e282b1e92aa764b167fe9991fa54d2133c46739",
      "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 · 10.4 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8398, 0.6868, -0.6155, -0.2779, -0.1432, 0.9971, 0.4061, 2.2597, 1.3926, 0.2264, 0.3538, 0.1997, 0.9974]\nstate[eef_state]: left_x=0.2726 left_y=0.0025 left_z=0.1639 left_yaw=0.1144 left_pitch=-0.1564 left_roll=0.1022 left_gripper=0.9971 right_x=0.5567 right_y=0.1767 right_z=0.027 right_yaw=0.0012 right_pitch=-0.0136 right_roll=-0.0447 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.4564, 6.8581, 1.5409, -0.1245, -0.0171, -0.0122, -1.5111, -11.8085, 8.3487, 2.0781, 0.2857, 0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8425, 0.6868, -0.6308, -0.2779, -0.1429, 0.9971, 0.3233, 2.2837, 1.4296, 0.226, 0.2726, 0.123, 0.4117]\nstate[eef_state]: left_x=0.2702 left_y=0.0029 left_z=0.1606 left_yaw=0.1151 left_pitch=-0.1736 left_roll=0.1078 left_gripper=0.9971 right_x=0.5766 right_y=0.1468 right_z=0.0254 right_yaw=0.0268 right_pitch=-0.0203 right_roll=-0.0584 right_gripper=0.4117\nstate[joint_eff]: [-0.212, -1.4427, 6.8034, 1.6825, -0.1636, -0.0464, -0.0122, -0.6496, -11.9043, 7.8974, 2.2735, 0.3004, 0.0269, 0.9548]\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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 0.8425, 0.6868, -0.6353, -0.2779, -0.1429, 0.9971, 0.3241, 2.1632, 1.557, -0.1017, 0.2646, 0.1127, 0.6946]\nstate[eef_state]: left_x=0.2695 left_y=0.0031 left_z=0.1598 left_yaw=0.1153 left_pitch=-0.178 left_roll=0.1092 left_gripper=0.9971 right_x=0.5689 right_y=0.1461 right_z=0.0845 right_yaw=0.0384 right_pitch=-0.0985 right_roll=-0.0849 right_gripper=0.6946\nstate[joint_eff]: [-0.0205, -1.3744, 7.0085, 1.5311, -0.1587, -0.022, -0.0122, -0.1436, -15.4051, 9.2513, 1.7802, 0.1001, 0.1148, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8058b49c1e509d956f251504955101e124435f486d792a8022bbdd9f1f83ee2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260c66fd429cb700ccfb0a22dbb1ef417c18e9d01ca4584a1c78e51f8b1c1786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa7264bd4439b80319203424e282b1e92aa764b167fe9991fa54d2133c46739",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHL4Ohb4H6NyoOMUewJqs8kG8zLTQ9HXKmJL-gNlKJKHE0l_gjmJgp1v0opOTGKLswQ-EfkkvfQ9VCF_ksViM0fixDxAk6YKaioGU58eBFun156DavEFyFvWAwkZ_eoy_9DnhZZGUsbw4RS5Biks-HN07hSzlVLo5oaszzNywI9Wnpdd246RNTF6moXlipfRMzTi7wbzaF8L3UkIx2ibnHA273QAcxevxp6yRraCfisdHNZTXgv8LtIzGwJOdF2D3fnU3DUzFeMomxjVLC3n89dsSboHd58ZifPRZpr4GKZeScguuW85qH2fDhPcl_G3CpgfSbYsFiSxFloRRIFHL3tm1XuvvAD3-UwpGsU6wP294V1b5ReYtcdAoyrA6WicHos1oxrlqQPvHcdeYqsFGkFLnXcWyy1MoCm-Hoe7_DEW32JNuzyZfWUGNn0SVNWDrjRL6IH_C2KzJ_Sc_Cg5BO7GsamE1rMfBzGN1ztYM7CSvgviU_iXC-ydhCkRa-Y93P2raTD_BCPrvXvfdxadkXijfeN9mWBQoE8WXU8_hTEMpAGJH08dxDavpgwvhRLxWpffPLL8OAwW2efNI1OMm6Gffiqv2c7QhAcUc4SLJH8qkvKODRscgL-ZjC3BSUv1QGFPFrblO8yZY6heyThTqUTClOLKdK9YCqGshNQASaRA6pqvMDyMrue9q0HyrUkiWk8zl9V60XUFBdW1qKNOFOdeuF9gi7LUIFCxYdD_-wZwywQkKX8KE1ulqTH2cER09GItW6QFGcY5J8L1U3IEwzWHtCMU_DOyJohnFfbRwu7A0P7BGTeHVm09qY8YCL0hq2YvRAlhlfO2SiT6kl7XALsE9jXEtCLTzLzLEVSmEwnKLB9FP9kdJNn5L3CR8xo_4cHFdQ4EFjAsGGJsTL-4BbRhdO3Umumw-9q4xgErFFvn8Wf38OrJ0zqJkNVYGkoQsPBpG0oYpJzhR98MGH8-WP6oDvfjZUh_xp_H7dzSwHJ472OidCIj6RH7xywZ17mHrUEb2oib0x87O96bP5Km47naKOw_1B-zIL0KAu8YugcC0ib9vsoOJk_fH2jhOPYoUmnzDujS1phyop_1sZE2qOrpoxnty5zKLTXuaKlQh9_I0fqN7qZok4RVv91ZNueXe-N5Onq-E_UKQXAe5fMdKXdBmH-3oRw0yct_8HPKo1KwMQheI6Vbk3kaJNNj_XELJ6K5shIC61ttX24XktJDeUep_T0uVvOLHQaeTdccbXvZkyj5Wfew02X6WnsK-9xtuu4sdt6lfHNdeCRMak8iUYqKrdfmLzOj3MUnlaN6kQgOBgJznMt9XUhhtu9Qvpzrh9Vo_TRH06-k3oGrrwVzxBkkaURHAS6YW9nxqtUbakwjUmJUSpnr9jHdp4eUyEaropYubqd2cul8LF6O3Oo3MswUbFtP0hON7Viw5g2aGRAm-nWOMf1emw9MYjQUdVaE_9Z0eUBpNHvW_g98x1Aw0A9S5uzm6MyMs3y-VBi7mUUjSVZd7OvU6bRetZBn9YmuwDFVyFNXEgCVn6Ql7f1S6AoR9A==",
  "id": "rs_00540e5ee97127b3016ab472f6602c87d081c9c90cf07dad40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"right_pitch\":0,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"I’m withdrawing both hands to safe clearance so the yellow object and the safe’s opening are unobstructed. This will let me verify what remains reachable without further rim contact.\"}",
  "call_id": "call_mfjm4rkG6vPaVwY9fCcGZp4N",
  "id": "fc_00540e5ee97127b3016ab472f7971087d09360d7a634e13e41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mfjm4rkG6vPaVwY9fCcGZp4N",
  "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]: [-0.2111, 0.8272, 0.6868, -0.5522, -0.3202, -0.1383, 0.9971, 0.0097, 1.3071, 0.9958, -0.2844, 0.0467, -0.0719, 0.9986]\nstate[eef_state]: left_x=0.2816 left_y=0.0002 left_z=0.1798 left_yaw=0.1155 left_pitch=-0.0758 left_roll=0.1097 left_gripper=0.9971 right_x=0.407 right_y=-0.0007 right_z=0.2108 right_yaw=0.0078 right_pitch=-0.015 right_roll=-0.0864 right_gripper=0.9986\nstate[joint_eff]: [-0.5675, -2.0171, 8.4991, 1.9365, -0.3541, 0.1783, -0.0122, -0.1709, -5.8735, 7.1179, 1.9512, -0.0806, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0979e7f06c66287469fe34b46ebc963d4b08e4715d45575b46cf927d48bb3d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5d7afb80d05f384b539fb1358da83910091710a42d0794b0e4cfd0f40db069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1632e1506a164222efaff09c95f063d1fded4ba4bae923846b95355a9eb57b39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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