adhoc

completed
2026-09-24T03:04:36.957039+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
196.9 s
total steps
400
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open, with a brown plush toy in front, a white plush toy to its left, and a yellow object to its right. I’m positioning the left gripper over the brown toy first.
move_to
left_x0.2700left_y-0.2800left_z0.1500left_gripper1.0000right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0196, -0.0341, 0.9998, -0.0212, 0.7937, 0.6079, -0.3958, -0.0189, -0.0257, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2931 right_y=0.0007 right_z=0.1786 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.3744, 10.359, 1.9658, -0.0855, 0.2222, -0.0366, -0.4718, -1.4564, 9.6615, 1.9121, -0.0659, 0.0708, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.28,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The safe is open, with a brown plush toy in front, a white plush toy to its left, and a yellow object to its right. I’m positioning the left gripper over the brown toy first."})
tool
executing move_to over 26 steps (2.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe brown toy’s torso is aligned with the left gripper in the wrist view. I’m lowering the open jaws around its middle.
move_to
left_x0.2870left_y-0.2720left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.161, 1.5841, 1.0412, -0.519, -0.8509, -0.9264, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.2666 left_y=-0.2714 left_z=0.138 left_yaw=-0.0132 left_pitch=-0.0335 left_roll=0.0221 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9995 state[joint_eff]: [-0.4581, -6.7761, 8.6632, 1.0037, -0.7204, 0.022, -0.0366, -0.2803, -1.6752, 6.8718, 2.0537, -0.1001, -0.0952, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.287,"left_y":-0.272,"left_z":0.035},"note":"The brown toy’s torso is aligned with the left gripper in the wrist view. I’m lowering the open jaws around its middle."})
tool
executing move_to over 7 steps (0.7s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe open jaws surround the brown toy’s torso near table level. I’m closing them to secure a grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.108, 1.7996, 0.8482, -0.1112, -0.8223, -0.865, 0.9997, -0.0238, 0.8043, 0.6151, -0.4549, -0.0189, -0.0257, 0.9995] state[eef_state]: left_x=0.2813 left_y=-0.2659 left_z=0.0384 left_yaw=-0.0082 left_pitch=-0.058 left_roll=0.0618 left_gripper=0.9997 right_x=0.2863 right_y=0.0001 right_z=0.167 right_yaw=-0.0026 right_pitch=-0.0625 right_roll=0.0013 right_gripper=0.9995 state[joint_eff]: [0.3897, -7.4872, 4.588, 1.1844, -0.3932, 0.0464, -0.0171, -0.1846, -1.5521, 7.0222, 1.9219, -0.0855, -0.0122, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws surround the brown toy’s torso near table level. I’m closing them to secure a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe gripper closed nearly empty, so it likely caught only loose fur behind the torso. I’m opening and moving a few centimetres forward for a deeper grasp.
move_to
left_gripper1.0000left_x0.3190left_y-0.2700left_z0.0250right_z0.1800right_x0.2930
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1057, 1.8221, 0.8326, -0.1127, -0.8204, -0.8684, 0.0195, -0.0235, 0.8043, 0.6151, -0.4782, -0.0189, -0.0257, 0.9995] state[eef_state]: left_x=0.2785 left_y=-0.2589 left_z=0.026 left_yaw=-0.0026 left_pitch=-0.0773 left_roll=0.0938 left_gripper=0.0195 right_x=0.2828 right_y=0.0003 right_z=0.1625 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0018 right_gripper=0.9995 state[joint_eff]: [-0.4034, -9.8256, 6.2427, 0.9939, -0.398, 0.0317, 0.9206, -0.0615, -1.2513, 6.9538, 1.8535, -0.0855, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.319,"left_y":-0.27,"left_z":0.025,"right_z":0.18,"right_x":0.293},"note":"The gripper closed nearly empty, so it likely caught only loose fur behind the torso. I’m opening and moving a few centimetres forward for a deeper grasp."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe jaws now sit farther around the brown toy’s body. I’m closing again before checking whether the toy lifts.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0183, 1.8988, 0.9012, -0.0795, -0.786, -0.7837, 0.9947, -0.0235, 0.8608, 0.6598, -0.5491, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.3092 left_y=-0.2566 left_z=0.0171 left_yaw=0.0194 left_pitch=-0.0973 left_roll=0.1237 left_gripper=0.9947 right_x=0.2806 right_y=0.0003 right_z=0.154 right_yaw=-0.0018 right_pitch=-0.1686 right_roll=0.0033 right_gripper=0.9995 state[joint_eff]: [0.4855, -7.747, 7.8154, 1.3651, -0.3053, 0.2613, 0.1197, 0.1162, -1.388, 10.3043, 1.9853, -0.0415, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now sit farther around the brown toy’s body. I’m closing again before checking whether the toy lifts."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe grip is narrow and may contain compressed fabric, so I’m making a short test lift. The overhead view will show whether the brown toy is actually secured.
move_to
left_z0.0900left_pitch0.0000left_roll0.0000right_x0.2930right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0203, 1.9011, 0.9039, -0.0818, -0.7826, -0.7895, 0.0424, -0.0235, 0.8623, 0.6617, -0.5724, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.3086 left_y=-0.2578 left_z=0.0165 left_yaw=0.019 left_pitch=-0.1004 left_roll=0.1194 left_gripper=0.0424 right_x=0.277 right_y=0.0004 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1915 right_roll=0.0038 right_gripper=0.9995 state[joint_eff]: [-0.1709, -8.9231, 4.7795, 1.0476, -0.4615, 0.0415, 1.2918, -0.0342, -1.6752, 6.8718, 1.7558, -0.0659, -0.0757, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_pitch":0,"left_roll":0,"right_x":0.293,"right_z":0.2,"right_pitch":0},"note":"The grip is narrow and may contain compressed fabric, so I’m making a short test lift. The overhead view will show whether the brown toy is actually secured."})
tool
executing move_to over 7 steps (0.7s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe brown toy rose with the gripper and is off the tabletop. I’m lifting it high enough to clear the safe’s front rim.
move_to
left_z0.2300left_x0.3200left_y-0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0225, 1.7241, 0.8963, -0.1436, -0.7841, -0.8013, 0.0454, -0.0238, 0.815, 0.6621, -0.5602, -0.0189, -0.0257, 0.9995] state[eef_state]: left_x=0.3078 left_y=-0.2577 left_z=0.0721 left_yaw=0.0173 left_pitch=-0.0443 left_roll=0.0176 left_gripper=0.0454 right_x=0.277 right_y=0.0003 right_z=0.1648 right_yaw=-0.0025 right_pitch=-0.1316 right_roll=0.0028 right_gripper=0.9995 state[joint_eff]: [-0.9231, -9.8393, 5.4359, 1.2576, -0.6618, 0.0659, 1.033, -0.2256, -2.0991, 10.1675, 2.2589, -0.1099, -0.0024, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23,"left_x":0.32,"left_y":-0.26},"note":"The brown toy rose with the gripper and is off the tabletop. I’m lifting it high enough to clear the safe’s front rim."})
tool
executing move_to over 11 steps (1.1s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe brown toy is suspended clear of the table. I’m carrying it over the open red compartment, avoiding the upright lid.
move_to
left_x0.4450left_y-0.2350left_z0.2250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9993, 1.6192, 1.3506, -0.7204, -0.7559, -0.7963, 0.0454, -0.0235, 0.82, 0.6563, -0.5907, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.3181 left_y=-0.264 left_z=0.2027 left_yaw=0.0223 left_pitch=-0.0735 left_roll=0.0246 left_gripper=0.0454 right_x=0.2713 right_y=0.0006 right_z=0.1555 right_yaw=-0.0018 right_pitch=-0.1728 right_roll=0.0034 right_gripper=0.9995 state[joint_eff]: [0.4581, -9.7299, 9.1966, 1.3065, -0.4615, 0.2466, 1.0281, -0.0889, -1.6615, 7.3231, 1.8388, -0.0806, -0.0757, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.235,"left_z":0.225},"note":"The brown toy is suspended clear of the table. I’m carrying it over the open red compartment, avoiding the upright lid."})
tool
executing move_to over 10 steps (1.0s)
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 brown toy is above the safe’s interior. I’m lowering it into the compartment before releasing it.
move_to
left_z0.0750left_x0.4450left_y-0.2350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6899, 1.8194, 1.6005, -0.6537, -0.5705, -0.5331, 0.0454, -0.0235, 0.8227, 0.6552, -0.6136, -0.0185, -0.0257, 0.9995] state[eef_state]: left_x=0.4315 left_y=-0.2278 left_z=0.2058 left_yaw=0.0572 left_pitch=-0.1213 left_roll=0.0457 left_gripper=0.0454 right_x=0.2673 right_y=0.0006 right_z=0.1503 right_yaw=-0.0022 right_pitch=-0.1995 right_roll=0.004 right_gripper=0.9995 state[joint_eff]: [0.3077, -9.4701, 9.6615, 1.6728, -0.2173, 0.2369, 1.0281, 0.0068, -1.4291, 7.0632, 1.7314, -0.0269, -0.0269, -0.0122] 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_z":0.075,"left_x":0.445,"left_y":-0.235},"note":"The brown toy is above the safe’s interior. I’m lowering it into the compartment before releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe brown toy is down inside the safe. I’m opening the gripper to leave it there.
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]: [-0.6865, 1.9682, 1.2976, -0.2523, -0.5571, -0.5278, 0.0454, -0.0235, 0.8246, 0.654, -0.6353, -0.0185, -0.0257, 0.9995] state[eef_state]: left_x=0.436 left_y=-0.2319 left_z=0.0749 left_yaw=0.0532 left_pitch=-0.1656 left_roll=0.0764 left_gripper=0.0454 right_x=0.2634 right_y=0.0007 right_z=0.1456 right_yaw=-0.0021 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9995 state[joint_eff]: [0.1846, -10.2222, 6.147, 1.5409, -0.3297, -0.0171, 1.0281, 0.0068, -1.4017, 6.8855, 1.7363, -0.0317, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown toy is down inside the safe. I’m opening the gripper to leave it there."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe brown toy has been released in the red compartment. I’m lifting clear and restoring the idle arm to its parked pose before reaching for the white toy.
move_to
left_x0.4400left_y-0.2350left_z0.2300left_pitch0.0000left_roll0.0000right_x0.2930right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6865, 1.9862, 1.2778, -0.2665, -0.5568, -0.5327, 0.9953, -0.0235, 0.8284, 0.654, -0.6571, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.4289 left_y=-0.2262 left_z=0.0577 left_yaw=0.0623 left_pitch=-0.2038 left_roll=0.1082 left_gripper=0.9953 right_x=0.2596 right_y=0.0008 right_z=0.141 right_yaw=-0.0014 right_pitch=-0.2498 right_roll=0.0051 right_gripper=0.9995 state[joint_eff]: [-0.0068, -12.0, 7.6513, 1.3846, -0.315, -0.0171, -0.0904, -0.1299, -1.5521, 6.7761, 1.6679, -0.0757, -0.0659, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.235,"left_z":0.23,"left_pitch":0,"left_roll":0,"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The brown toy has been released in the red compartment. I’m lifting clear and restoring the idle arm to its parked pose before reaching for the white toy."})
tool
executing move_to over 12 steps (1.2s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe brown toy is visibly resting inside the safe. I’m moving to the white toy just outside its left side.
move_to
left_x0.4270left_y-0.0850left_z0.1450left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.701, 1.8378, 1.5188, -0.5186, -0.6048, -0.535, 0.9963, -0.0238, 0.8131, 0.6548, -0.5549, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.438 left_y=-0.2335 left_z=0.1869 left_yaw=0.0692 left_pitch=-0.078 left_roll=0.0388 left_gripper=0.9963 right_x=0.2767 right_y=0.0003 right_z=0.1632 right_yaw=-0.0023 right_pitch=-0.1316 right_roll=0.0025 right_gripper=0.9995 state[joint_eff]: [-0.4308, -13.3675, 9.7709, 1.4432, -0.4371, 0.2125, 0.0904, -0.1983, -2.0308, 10.3179, 2.1661, -0.0513, -0.0415, -0.0073] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.427,"left_y":-0.085,"left_z":0.145,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The brown toy is visibly resting inside the safe. I’m moving to the white toy just outside its left side."})
tool
executing move_to over 14 steps (1.4s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe white toy sits slightly left of the jaw centreline beside the safe. I’m shifting left and lowering around its body, keeping clear of the red rim.
move_to
left_x0.4470left_y-0.0520left_z0.0300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3252, 1.5269, 0.8898, -0.0456, -0.3035, -0.2348, 0.9965, -0.0238, 0.8162, 0.6487, -0.5758, -0.0185, -0.0257, 0.9995] state[eef_state]: left_x=0.422 left_y=-0.0828 left_z=0.1278 left_yaw=0.0405 left_pitch=-0.066 left_roll=0.0196 left_gripper=0.9965 right_x=0.2725 right_y=0.0004 right_z=0.1559 right_yaw=-0.0027 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9995 state[joint_eff]: [0.1846, -8.7179, 6.5299, 2.0977, 0.0708, 0.1294, 0.0073, -0.294, -1.4974, 7.3641, 1.7607, -0.0464, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.447,"left_y":-0.052,"left_z":0.03,"left_pitch":0,"left_roll":0},"note":"The white toy sits slightly left of the jaw centreline beside the safe. I’m shifting left and lowering around its body, keeping clear of the red rim."})
tool
executing move_to over 7 steps (0.7s)
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 white toy’s body is between the open jaws. I’m closing to grasp its fabric torso.
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]: [-0.2138, 1.8229, 0.7094, 0.4297, -0.2348, -0.1822, 0.9966, -0.0235, 0.8188, 0.6483, -0.6113, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.435 left_y=-0.0487 left_z=0.0217 left_yaw=0.0667 left_pitch=-0.0816 left_roll=0.0206 left_gripper=0.9966 right_x=0.2665 right_y=0.0007 right_z=0.1487 right_yaw=-0.0016 right_pitch=-0.2002 right_roll=0.004 right_gripper=0.9995 state[joint_eff]: [0.2393, -8.0615, 4.547, 1.9023, 0.1148, 0.1734, 0.0024, -0.1846, -1.4291, 6.8718, 1.8681, -0.0757, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0},"note":"The white toy’s body is between the open jaws. I’m closing to grasp its fabric torso."})
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 gripper is holding about three centimetres of material, consistent with the white toy. I’m lifting a short distance to verify that it comes up cleanly.
move_to
left_z0.0950left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2184, 1.84, 0.7017, 0.4606, -0.2436, -0.1799, 0.2986, -0.0238, 0.8192, 0.6483, -0.6346, -0.0185, -0.0257, 0.9995] state[eef_state]: left_x=0.4353 left_y=-0.0493 left_z=0.0179 left_yaw=0.068 left_pitch=-0.0742 left_roll=0.026 left_gripper=0.2986 right_x=0.2624 right_y=0.0006 right_z=0.1446 right_yaw=-0.0025 right_pitch=-0.2239 right_roll=0.0045 right_gripper=0.9995 state[joint_eff]: [0.0479, -9.4838, 5.7641, 1.2967, -0.0708, -0.0855, 0.8425, -0.0889, -1.1009, 6.7897, 1.7705, -0.0122, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The gripper is holding about three centimetres of material, consistent with the white toy. I’m lifting a short distance to verify that it comes up cleanly."})
tool
executing move_to over 5 steps (0.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe first lift stayed lower than requested near the safe’s side. I’m lifting upward and slightly away from the rim to free the white toy without dragging the case.
move_to
left_x0.4080left_y-0.0350left_z0.2050left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1886, 1.6608, 0.7013, 0.2279, -0.1947, -0.1276, 0.3013, -0.0235, 0.823, 0.6483, -0.6571, -0.0185, -0.0257, 0.9995] state[eef_state]: left_x=0.4144 left_y=-0.0407 left_z=0.0463 left_yaw=0.0299 left_pitch=-0.1355 left_roll=0.0494 left_gripper=0.3013 right_x=0.2585 right_y=0.0008 right_z=0.1399 right_yaw=-0.0019 right_pitch=-0.2502 right_roll=0.0051 right_gripper=0.9995 state[joint_eff]: [0.3487, -10.2222, 9.0735, 2.5958, 0.1538, -0.1538, 0.2662, -0.1983, -1.0051, 6.7487, 1.7851, -0.0366, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.408,"left_y":-0.035,"left_z":0.205,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The first lift stayed lower than requested near the safe’s side. I’m lifting upward and slightly away from the rim to free the white toy without dragging the case."})
tool
executing move_to over 11 steps (1.1s)
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 white toy is not lifting freely and the safe has shifted, suggesting the grasp also caught its edge. I’m releasing now rather than pulling harder.
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]: [-0.189, 1.6394, 0.646, 0.205, -0.1986, -0.1131, 0.3041, -0.0235, 0.823, 0.6483, -0.6762, -0.0189, -0.0257, 0.9995] state[eef_state]: left_x=0.3939 left_y=-0.0362 left_z=0.0305 left_yaw=0.0267 left_pitch=-0.1909 left_roll=0.0753 left_gripper=0.3041 right_x=0.255 right_y=0.0009 right_z=0.1367 right_yaw=-0.0015 right_pitch=-0.2693 right_roll=0.0058 right_gripper=0.9995 state[joint_eff]: [-0.212, -9.4154, 6.5026, 2.3663, -0.1978, -0.0952, 0.2759, -0.1983, -1.0462, 6.735, 1.6532, -0.0611, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":1},"note":"The white toy is not lifting freely and the safe has shifted, suggesting the grasp also caught its edge. I’m releasing now rather than pulling harder."})
tool
executing move_to over 7 steps (0.7s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe safe tilted when the grip released, and its lid has swung partly forward. I’m withdrawing the open gripper away from the case so I can reassess the toys and opening.
move_to
left_x0.3700left_y0.0150left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000right_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]: [-0.1871, 1.6241, 0.6624, 0.2146, -0.1997, -0.1341, 0.995, -0.0235, 0.8288, 0.6487, -0.6846, -0.0189, -0.0257, 0.9995] state[eef_state]: left_x=0.4021 left_y=-0.0368 left_z=0.0439 left_yaw=0.0396 left_pitch=-0.1498 left_roll=0.0513 left_gripper=0.995 right_x=0.2536 right_y=0.001 right_z=0.1342 right_yaw=-0.0014 right_pitch=-0.283 right_roll=0.0062 right_gripper=0.9995 state[joint_eff]: [-0.253, -6.1333, 5.4632, 1.5995, -0.1148, 0.2027, 0.1197, -0.1573, -1.1419, 6.7487, 1.4823, -0.0562, -0.0611, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":0.015,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"The safe tilted when the grip released, and its lid has swung partly forward. I’m withdrawing the open gripper away from the case so I can reassess the toys and opening."})
tool
executing move_to over 11 steps (1.1s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe white toy is now clearly visible outside the safe, closer to the front than the previous grasp. I’m approaching its exposed middle, away from the lid edge.
move_to
left_x0.3660left_y-0.0430left_z0.0250left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0364, 1.1774, 0.7944, -0.2459, -0.0029, -0.0296, 0.9963, -0.0269, 0.8131, 0.6567, -0.5583, -0.0196, -0.0261, 0.9995] state[eef_state]: left_x=0.3677 left_y=0.0175 left_z=0.175 left_yaw=0.0392 left_pitch=-0.0486 left_roll=-0.0052 left_gripper=0.9963 right_x=0.2764 right_y=-0.0004 right_z=0.1634 right_yaw=-0.0047 right_pitch=-0.1331 right_roll=0.003 right_gripper=0.9995 state[joint_eff]: [0.3487, -5.1761, 9.9897, 1.8779, 0.1294, 0.2613, 0.1197, -0.4308, -1.8667, 10.3316, 2.1563, -0.1343, -0.0171, -0.0073] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.366,"left_y":-0.043,"left_z":0.025,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The white toy is now clearly visible outside the safe, closer to the front than the previous grasp. I’m approaching its exposed middle, away from the lid edge."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe wrist view shows the white toy left of the jaws and the safe rim on the right. I’m shifting outward to centre only the toy between the fingers.
move_to
left_x0.3540left_y-0.0040left_z0.0150left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2047, 1.5784, 0.3763, 0.5457, -0.1684, -0.1219, 0.9965, -0.0277, 0.8169, 0.6495, -0.5877, -0.0219, -0.0261, 0.9995] state[eef_state]: left_x=0.3591 left_y=-0.0406 left_z=0.0202 left_yaw=-0.0127 left_pitch=-0.0655 left_roll=0.022 left_gripper=0.9965 right_x=0.2707 right_y=-0.0 right_z=0.1539 right_yaw=-0.0034 right_pitch=-0.1735 right_roll=0.0056 right_gripper=0.9995 state[joint_eff]: [-0.2393, -4.9573, 3.7402, 1.5311, -0.0269, -0.232, 0.0073, -0.1983, -1.4974, 7.4188, 1.8926, -0.0171, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.354,"left_y":-0.004,"left_z":0.015,"left_pitch":0,"left_roll":0},"note":"The wrist view shows the white toy left of the jaws and the safe rim on the right. I’m shifting outward to centre only the toy between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe toy is now separated from the safe but still ahead of the fingertips. I’m advancing along its exposed body to put the jaws around fabric rather than behind it.
move_to
left_x0.4040left_y0.0080left_z0.0160left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0471, 1.6154, 0.2878, 0.6895, -0.0715, -0.0666, 0.9966, -0.0277, 0.8173, 0.6495, -0.6121, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.3473 left_y=-0.0001 left_z=0.0059 left_yaw=0.0334 left_pitch=-0.0559 left_roll=0.0059 left_gripper=0.9966 right_x=0.2665 right_y=0.0001 right_z=0.1494 right_yaw=-0.0035 right_pitch=-0.1983 right_roll=0.0064 right_gripper=0.9995 state[joint_eff]: [0.2256, -4.2598, 4.1915, 2.0391, 0.1294, 0.0317, -0.0073, -0.0479, -0.8137, 6.9538, 1.7753, -0.0317, -0.0366, -0.0073] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.404,"left_y":0.008,"left_z":0.016,"left_pitch":0,"left_roll":0},"note":"The toy is now separated from the safe but still ahead of the fingertips. I’m advancing along its exposed body to put the jaws around fabric rather than behind it."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe forward move stalled at table height, so the fingers may be catching the surface. I’m raising the gripper while advancing over the white toy.
move_to
left_x0.4040left_y0.0080left_z0.0850left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.6235, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2645 right_y=0.0001 right_z=0.1474 right_yaw=-0.0034 right_pitch=-0.2097 right_roll=0.0067 right_gripper=0.9995 state[joint_eff]: [-0.1162, -4.8615, 4.1368, 2.0781, 0.1148, 0.1197, -0.0122, -0.0889, -1.0325, 6.8308, 1.6777, -0.0366, -0.0415, -0.0073] 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":{"left_x":0.404,"left_y":0.008,"left_z":0.085,"left_pitch":0,"left_roll":0},"note":"The forward move stalled at table height, so the fingers may be catching the surface. I’m raising the gripper while advancing over the white toy."})
tool
executing move_to over 5 steps (0.5s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe left arm has stopped tracking the requested motions. I’m trying a shorter-reach raised pose to recover it before continuing.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.635, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2625 right_y=0.0002 right_z=0.1455 right_yaw=-0.0033 right_pitch=-0.2212 right_roll=0.007 right_gripper=0.9995 state[joint_eff]: [0.0342, -4.7795, 3.9453, 2.0733, 0.0952, 0.1636, -0.0122, -0.0342, -1.1966, 7.1453, 1.5946, -0.0611, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"left_pitch":0.15,"left_roll":0},"note":"The left arm has stopped tracking the requested motions. I’m trying a shorter-reach raised pose to recover it before continuing."})
tool
executing move_to over 13 steps (1.3s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe left arm is moving again. I’m approaching the white toy from above at its exposed end, with a little extra height to avoid the table.
move_to
left_x0.4010left_y0.0030left_z0.0450left_pitch0.1000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0399, 0.7521, 0.5003, -0.2035, -0.049, -0.0566, 0.9969, -0.0277, 0.8223, 0.6487, -0.6647, -0.0219, -0.0261, 0.9995] state[eef_state]: left_x=0.3013 left_y=0.0002 left_z=0.1812 left_yaw=0.0167 left_pitch=0.1256 left_roll=-0.0098 left_gripper=0.9969 right_x=0.2571 right_y=0.0004 right_z=0.1389 right_yaw=-0.0029 right_pitch=-0.2566 right_roll=0.0076 right_gripper=0.9995 state[joint_eff]: [-0.5812, -1.3607, 9.9897, 1.9316, -0.1099, 0.0317, 0.0317, -0.0752, -1.1966, 6.8308, 1.7851, -0.0366, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.401,"left_y":0.003,"left_z":0.045,"left_pitch":0.1,"left_roll":0},"note":"The left arm is moving again. I’m approaching the white toy from above at its exposed end, with a little extra height to avoid the table."})
tool
executing move_to over 9 steps (0.9s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteThe white object appears to be a furry phone-shaped item, and its lower body is now between the jaws. I’m closing on that exposed section.
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]: [-0.0189, 1.6524, 0.392, 0.6319, -0.0448, -0.0555, 0.997, -0.0277, 0.8268, 0.6483, -0.6846, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.3732 left_y=0.0045 left_z=0.0154 left_yaw=0.0332 left_pitch=-0.0475 left_roll=-0.0016 left_gripper=0.997 right_x=0.2535 right_y=0.0005 right_z=0.1345 right_yaw=-0.003 right_pitch=-0.2814 right_roll=0.0085 right_gripper=0.9995 state[joint_eff]: [0.212, -7.1179, 6.653, 2.2442, 0.0708, 0.1538, -0.0024, -0.1299, -1.4154, 6.7761, 1.6239, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white object appears to be a furry phone-shaped item, and its lower body is now between the jaws. I’m closing on that exposed section."})
tool
executing move_to over 10 steps (1.0s)
step 243
assistant
agent noteThe grip was empty; the item is still ahead of the fingertips. I’m reopening and reaching farther over it from a raised pose.
move_to
left_x0.4250left_y0.0120left_z0.0900left_pitch0.3000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 1.6714, 0.3813, 0.6201, -0.0483, -0.0597, 0.0106, -0.0277, 0.8288, 0.6479, -0.7021, -0.0216, -0.0257, 0.9995] state[eef_state]: left_x=0.3655 left_y=0.0052 left_z=0.0029 left_yaw=0.0385 left_pitch=-0.0888 left_roll=-0.0006 left_gripper=0.0106 right_x=0.2502 right_y=0.0005 right_z=0.1311 right_yaw=-0.0032 right_pitch=-0.3012 right_roll=0.0087 right_gripper=0.9995 state[joint_eff]: [-0.1983, -7.4462, 5.1897, 1.7509, -0.0562, 0.0513, 0.8425, -0.2256, -1.3197, 6.7761, 1.5849, -0.0269, -0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_x":0.425,"left_y":0.012,"left_z":0.09,"left_pitch":0.3,"left_roll":0,"left_gripper":1},"note":"The grip was empty; the item is still ahead of the fingertips. I’m reopening and reaching farther over it from a raised pose."})
tool
executing move_to over 13 steps (1.3s)
step 256
assistant
agent noteThe furry item is centred beneath the raised jaws, separate from the safe’s side. I’m lowering for a grasp across its body.
move_to
left_x0.4320left_y0.0180left_z0.0250left_pitch0.3000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0013, 1.7, 0.4156, 0.9031, -0.0483, -0.0475, 0.9967, -0.0277, 0.8288, 0.6479, -0.7238, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.4098 left_y=0.0127 left_z=0.0642 left_yaw=0.0529 left_pitch=0.1995 left_roll=-0.0057 left_gripper=0.9967 right_x=0.246 right_y=0.0007 right_z=0.1277 right_yaw=-0.0026 right_pitch=-0.323 right_roll=0.0096 right_gripper=0.9995 state[joint_eff]: [0.2803, -5.7641, 7.4598, 2.4054, 0.0611, 0.1148, -0.0611, -0.0205, -1.1556, 6.7077, 1.6581, -0.0415, -0.0708, -0.0073] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.432,"left_y":0.018,"left_z":0.025,"left_pitch":0.3,"left_roll":0},"note":"The furry item is centred beneath the raised jaws, separate from the safe’s side. I’m lowering for a grasp across its body."})
tool
executing move_to over 4 steps (0.4s)
step 260
assistant
agent noteThe jaws now straddle the furry item’s thicker section. I’m closing to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0132, 2.0315, 0.4458, 1.2999, -0.0414, -0.0582, 0.9971, -0.0277, 0.833, 0.6476, -0.738, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.4303 left_y=0.0166 left_z=0.0333 left_yaw=0.0661 left_pitch=0.2946 left_roll=-0.0235 left_gripper=0.9971 right_x=0.2432 right_y=0.0007 right_z=0.1245 right_yaw=-0.0025 right_pitch=-0.3417 right_roll=0.0101 right_gripper=0.9995 state[joint_eff]: [0.2803, -5.8598, 3.5624, 0.6764, -0.0317, 0.2857, 0.0317, -0.0889, -1.4291, 6.694, 1.5165, -0.0269, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the furry item’s thicker section. I’m closing to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 270
assistant
agent noteThe grip is narrow, possibly on the item’s fabric edge or loop. I’m testing a lift before attempting to place it.
move_to
left_x0.4150left_y0.0180left_z0.1500left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0147, 2.072, 0.4522, 1.3834, -0.0414, -0.0376, 0.0343, -0.0277, 0.8341, 0.6476, -0.7467, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.4346 left_y=0.0173 left_z=0.0384 left_yaw=0.0565 left_pitch=0.3442 left_roll=-0.005 left_gripper=0.0343 right_x=0.2415 right_y=0.0008 right_z=0.123 right_yaw=-0.0024 right_pitch=-0.3516 right_roll=0.0104 right_gripper=0.9995 state[joint_eff]: [0.3077, -6.5846, 2.947, 1.5751, 0.0317, 0.0806, 0.9353, -0.0479, -1.265, 6.8444, 1.4139, -0.0366, -0.0611, -0.0073] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":0.018,"left_z":0.15,"left_pitch":0.3},"note":"The grip is narrow, possibly on the item’s fabric edge or loop. I’m testing a lift before attempting to place it."})
tool
executing move_to over 8 steps (0.8s)
step 278
assistant
agent noteThe white item lifted with the left gripper. I’m holding it aside while bringing the right gripper to the safe’s front-right lid edge to reopen the compartment.
move_to
left_x0.3000left_y0.0180left_z0.2200left_pitch0.3000right_x0.4050right_y0.3800right_z0.1400right_pitch0.1000right_roll0.0000right_yaw1.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0147, 1.4582, 0.4698, 0.7006, -0.0483, -0.0456, 0.0383, -0.0277, 0.8364, 0.6476, -0.7677, -0.0219, -0.0257, 0.9995] state[eef_state]: left_x=0.4116 left_y=0.0182 left_z=0.133 left_yaw=0.0663 left_pitch=0.2928 left_roll=-0.0088 left_gripper=0.0383 right_x=0.2373 right_y=0.0009 right_z=0.1194 right_yaw=-0.0022 right_pitch=-0.3748 right_roll=0.011 right_gripper=0.9995 state[joint_eff]: [0.1299, -6.4615, 8.7316, 2.1612, 0.1148, 0.0757, 0.6716, -0.0615, -0.7453, 6.694, 1.5067, -0.0317, -0.0366, -0.0073] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.018,"left_z":0.22,"left_pitch":0.3,"right_x":0.405,"right_y":0.38,"right_z":0.14,"right_pitch":0.1,"right_roll":0,"right_yaw":1.2,"right_gripper":1},"note":"The white item lifted with the left gripper. I’m holding it aside while bringing the right gripper to the safe’s front-right lid edge to reopen the compartment."})
tool
executing move_to over 32 steps (3.2s)
step 310
assistant
agent noteThe right gripper is just outside the lid’s front-right corner. I’m lowering the open jaws to catch that edge without pressing on the lid.
move_to
right_x0.4100right_y0.4000right_z0.0720right_pitch0.1000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0208, 0.6739, 0.4347, -0.0917, -0.0479, -0.0494, 0.0412, 0.577, 1.9633, 1.3205, 0.0231, -0.4957, -0.3191, 0.9996] state[eef_state]: left_x=0.299 left_y=0.0183 left_z=0.1971 left_yaw=0.0737 left_pitch=0.2498 left_roll=-0.0103 left_gripper=0.0412 right_x=0.402 right_y=0.3662 right_z=0.1263 right_yaw=1.1501 right_pitch=0.0451 right_roll=0.0185 right_gripper=0.9996 state[joint_eff]: [0.4581, -0.7863, 10.9333, 2.1954, 0.0562, 0.0611, 0.569, 0.3624, -10.1812, 8.1436, 1.8388, -0.3687, -0.0317, -0.0611] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.4,"right_z":0.072,"right_pitch":0.1,"right_roll":0},"note":"The right gripper is just outside the lid’s front-right corner. I’m lowering the open jaws to catch that edge without pressing on the lid."})
tool
executing move_to over 4 steps (0.4s)
step 314
assistant
agent noteThe right jaws are positioned at the lid corner. I’m closing gently on the edge so I can test opening it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0204, 0.6785, 0.4381, -0.1146, -0.0456, -0.0532, 0.0419, 0.6212, 2.1128, 1.3067, 0.2279, -0.4866, -0.2871, 0.9995] state[eef_state]: left_x=0.2978 left_y=0.0177 left_z=0.1922 left_yaw=0.0732 left_pitch=0.2257 left_roll=-0.0135 left_gripper=0.0419 right_x=0.4042 right_y=0.3953 right_z=0.0795 right_yaw=1.1708 right_pitch=0.0772 right_roll=0.0198 right_gripper=0.9995 state[joint_eff]: [0.0342, -1.0051, 7.0359, 2.044, -0.0904, -0.0024, 0.7204, 0.4034, -10.0991, 5.6821, 1.536, 0.0806, 0.0171, -0.0171] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaws are positioned at the lid corner. I’m closing gently on the edge so I can test opening it."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe right grip was empty at the corner. I’m opening and moving slightly farther along the lid edge to try a more secure purchase.
move_to
right_x0.4450right_y0.4000right_z0.0750right_gripper1.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0204, 0.6788, 0.4381, -0.1371, -0.0456, -0.0566, 0.0439, 0.6247, 2.1273, 1.3037, 0.2604, -0.4934, -0.2882, 0.0085] state[eef_state]: left_x=0.2958 left_y=0.0177 left_z=0.1869 left_yaw=0.0748 left_pitch=0.2028 left_roll=-0.0156 left_gripper=0.0439 right_x=0.404 right_y=0.3988 right_z=0.0769 right_yaw=1.1811 right_pitch=0.0918 right_roll=0.0141 right_gripper=0.0085 state[joint_eff]: [-0.0615, -0.4308, 7.159, 2.0586, -0.0415, -0.0024, 0.6276, -0.294, -12.9573, 6.7624, 1.3065, -0.0904, 0.0073, 0.735] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.4,"right_z":0.075,"right_gripper":1,"right_pitch":0.1},"note":"The right grip was empty at the corner. I’m opening and moving slightly farther along the lid edge to try a more secure purchase."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteThe jaws now overlap the right side of the lid. I’m closing at this new position to test whether the edge is captured.
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]: [0.0204, 0.6815, 0.4381, -0.1627, -0.0456, -0.057, 0.0462, 0.5777, 2.2189, 1.4628, 0.1967, -0.5369, -0.3145, 0.9949] state[eef_state]: left_x=0.2936 left_y=0.0176 left_z=0.1803 left_yaw=0.0747 left_pitch=0.1746 left_roll=-0.0144 left_gripper=0.0462 right_x=0.4404 right_y=0.3993 right_z=0.0805 right_yaw=1.1837 right_pitch=0.1079 right_roll=0.008 right_gripper=0.9949 state[joint_eff]: [-0.0615, -0.841, 7.1316, 2.127, -0.0464, -0.0611, 0.232, -0.5812, -10.5778, 8.4308, 1.5263, -0.2027, -0.0464, -0.2222] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now overlap the right side of the lid. I’m closing at this new position to test whether the edge is captured."})
tool
executing move_to over 10 steps (1.0s)
step 344
assistant
agent noteThe lid-edge grasps have both been empty, so I cannot reopen the safe reliably. I’m withdrawing the right arm and lowering the white item onto clear tabletop rather than leaving it suspended.
move_to
left_x0.3400left_y0.0180left_z0.0350left_pitch0.2000right_x0.3000right_y0.0000right_z0.2300right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0204, 0.6815, 0.4381, -0.1814, -0.0456, -0.0566, 0.0491, 0.5766, 2.2227, 1.4662, 0.1963, -0.5415, -0.3145, 0.0086] state[eef_state]: left_x=0.2917 left_y=0.0176 left_z=0.1761 left_yaw=0.0744 left_pitch=0.156 left_roll=-0.013 left_gripper=0.0491 right_x=0.4407 right_y=0.3995 right_z=0.0798 right_yaw=1.1862 right_pitch=0.1086 right_roll=0.0104 right_gripper=0.0086 state[joint_eff]: [-0.0205, -0.6496, 7.1453, 1.9853, -0.0366, -0.0024, 0.2857, -0.0615, -12.8068, 6.1197, 1.6874, -0.149, -0.0611, 0.7204] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.018,"left_z":0.035,"left_pitch":0.2,"right_x":0.3,"right_y":0,"right_z":0.23,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The lid-edge grasps have both been empty, so I cannot reopen the safe reliably. I’m withdrawing the right arm and lowering the white item onto clear tabletop rather than leaving it suspended."})
tool
executing move_to over 34 steps (3.4s)
step 378
assistant
agent noteThe white item is supported on the tabletop beside the safe. I’m releasing it; the yellow object also remains outside.
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]: [0.02, 1.6894, 0.1181, 1.1767, -0.0486, -0.057, 0.0512, -0.0093, 0.8703, 0.7921, -0.5491, -0.0196, -0.0368, 0.9981] state[eef_state]: left_x=0.3386 left_y=0.019 left_z=0.0345 left_yaw=0.0771 left_pitch=0.1861 left_roll=-0.0138 left_gripper=0.0512 right_x=0.2987 right_y=0.0043 right_z=0.2099 right_yaw=0.0186 right_pitch=-0.0458 right_roll=-0.0075 right_gripper=0.9981 state[joint_eff]: [-0.4034, -3.9316, 2.9197, 1.6337, -0.0611, -0.0317, 0.2076, -0.2256, -2.0171, 10.1402, 2.0733, -0.0952, 0.0366, -0.0122] camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white item is supported on the tabletop beside the safe. I’m releasing it; the yellow object also remains outside."})
tool
executing move_to over 10 steps (1.0s)
step 388
assistant
agent noteThe white item has been released safely. I’m parking both arms clear of the objects and the closed safe.
move_to
left_x0.2900left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2930right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0204, 1.7035, 0.1177, 1.1931, -0.0486, -0.057, 0.9953, -0.0124, 0.8753, 0.7963, -0.5907, -0.0193, -0.0414, 0.9988] state[eef_state]: left_x=0.3389 left_y=0.0191 left_z=0.0337 left_yaw=0.0775 left_pitch=0.188 left_roll=-0.0139 left_gripper=0.9953 right_x=0.2934 right_y=0.0034 right_z=0.2022 right_yaw=0.0178 right_pitch=-0.0881 right_roll=-0.0102 right_gripper=0.9988 state[joint_eff]: [-0.0752, -5.9282, 3.0154, 1.7509, -0.0708, -0.0562, -0.1392, 0.1983, -1.9761, 6.6667, 2.0684, -0.0659, -0.0122, 0.0611] camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The white item has been released safely. I’m parking both arms clear of the objects and the closed safe."})
tool
executing move_to over 11 steps (1.1s)
step 399
assistant
agent noteThe task is incomplete. The brown plush was placed inside, but the lid swung shut while handling the white furry item. Attempts to grasp and reopen the lid failed. The white item and yellow object remain outside, and both arms are parked clear.
give_up
hindsightThe white furry item was a small pouch with a thin strap; a verified lift held it with a gripper reading around 0.04–0.05. Its proximity to the safe made a wider grasp catch the case and swing the lid shut. Move or secure the lid before grasping beside it. The left arm stalled at a low straight-down pose near x=0.35; retracting to x=0.30, z=0.20 recovered motion, and forward pitch about 0.3 allowed the later pouch grasp near x=0.43, y=0.02. The shifted safe's lid edge was difficult to capture from the right arm at its y=0.40 limit.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0242, 0.7979, 0.6338, -0.3855, -0.041, -0.0566, 0.9963, -0.041, 0.815, 0.6987, -0.5434, -0.0456, -0.0509, 0.9988] state[eef_state]: left_x=0.2978 left_y=0.0036 left_z=0.1916 left_yaw=0.0253 left_pitch=0.0313 left_roll=-0.0086 left_gripper=0.9963 right_x=0.2844 right_y=-0.0 right_z=0.1843 right_yaw=0.0165 right_pitch=-0.0775 right_roll=-0.0019 right_gripper=0.9988 state[joint_eff]: [-0.3897, -2.0308, 9.1009, 1.8681, 0.0464, 0.1245, 0.0904, -0.5675, -2.0034, 7.0769, 2.3126, -0.1343, 0.0366, -0.0073] camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The task is incomplete. The brown plush was placed inside, but the lid swung shut while handling the white furry item. Attempts to grasp and reopen the lid failed. The white item and yellow object remain outside, and both arms are parked clear.","hindsight":"The white furry item was a small pouch with a thin strap; a verified lift held it with a gripper reading around 0.04–0.05. Its proximity to the safe made a wider grasp catch the case and swing the lid shut. Move or secure the lid before grasping beside it. The left arm stalled at a low straight-down pose near x=0.35; retracting to x=0.30, z=0.20 recovered motion, and forward pitch about 0.3 allowed the later pouch grasp near x=0.43, y=0.02. The shifted safe's lid edge was difficult to capture from the right arm at its y=0.40 limit."})
tool
give_up: The task is incomplete. The brown plush was placed inside, but the lid swung shut while handling the white furry item. Attempts to grasp and reopen the lid failed. The white item and yellow object remain outside, and both arms are parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.254 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0196, -0.0341, 0.9998, -0.0212, 0.7937, 0.6079, -0.3958, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2931 right_y=0.0007 right_z=0.1786 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.359, 1.9658, -0.0855, 0.2222, -0.0366, -0.4718, -1.4564, 9.6615, 1.9121, -0.0659, 0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58401cab4be98f4c21d4a2704b09d2b6f799584374c2fec4be8b93e564bd35f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b49173b53d6bc31eac4b7eefae6ad4d08b6bc82f0b039328ee9a6f5bec026c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d70ea6c9bd418100d3413a0f20f8c9648323ede03fca4fb2504027feb0c941",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.256 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNVdAuOD3gQTsCScgsSf4Kwn_mSbhI9Zx9Ei6Gb0P-sWQIuGYOSqyEZu1kuFg-ZRsjpmv7w6exza9tHB0PP3LoltpYQFDv17FB8v9Dbn4NXijlxWPHaiz66dT8jy5XXZKFV0fvLd0wfhGfB9Br9OOajr1hviwI9nh5TCfTG7ZZuKLs86NoPjGo45prlpww3ZbdnXgE-zpNYD-9pe_xaY9ieom_vJdiQTjLecSEiYtE0_lF0vLntFZjdmUyLcQ3prpt8WZT8EvavxZYYRD467V-eimCRwHho5ZODHeKyzgyBVg24WiV4E7R1Ap9BEmhkp0a4Z64aQPButMuI11u-utBNRnl7u24DhAhGQcKO064q3LB6Wndl5AAl_ZJb5O_hKsygo1FZXigPyKYFCoxsDyaIicxDfYfnkZQWGBCRvRdRvOJXia0yJvdrETL__FhRL7owvSDdCcwLGV4_RbVhdZnlYSxDsSJR40m0LfMjR4WNjnBpwZ1JTU3E4aYPw_w28feMLHHAvyZkxI-st5WMv0QMXsJwQEWT7Kz-H0oD4HvjnL1E3HKMOyBH1Uz1b4YthKmsPKnJd2RQgwkDR6nSA-mCCrYQhOqSHgVRWkDZfC9XfjrOvSiMXnhpz-Mvu-c8O0f9hau6MieZpYREy3XfikSRCKlpJrzPV38w7jY1_flhpthr-UvIRxL2hVdZHMnY_GZ6DeXTYVVz6CJXE-gWbIXhJct1yGkMWhHiK57Qflaa-xQTMzf5Ua4tSwNHGZPS18yLC14ZkmhqYM0Kt8r8XUszXbOATg-GqXC-00nyieVW_7SOcCELRmQCVM0D2ZqzJRfsc8ngpeBdMjySGVzjfF7xrtcsMust-dx5-2Zxcs5fjT5YCSQsAd1o86bMRwA5e18P7u15jtzlQJsLiDDL_z1UhZvgQAKwZn43cP7T_nzOD5jYvDQIWrYEddR2yb78lwCEEtSwBH1RtvUvAIr5XCcaJBvktd_sp1YMUUFRxFvXwtPhK7RZ6ITSIuv-7OKK7M74u8woRvvehjX83FV1cdMu6kYLazTRj5jNNAyjqlnbFnQ9vJRB85eIEMA4NI57Zj9ZZ5LKouYT6rzfB99f0uFIyOZ5TYnunk3Aessze1-4778PMcWSzEcsEfHV0iNInWUV-a9FRgYtfuZ7Ov87WdBE57rNWp3QwRfDP_CkQENmm76Oy4QoXeHSCSd74FlJ1tF2vUQYMHFODAiwGBGMc6woDhvmU5ADYa0xCAIQPl63wVcOHGFiEKV4S0JEBt3Tx2N7Aq3v6hJmwtW9E_urdqUTkOXJDcXgv6xhfv92pHY1gNT65nBrjd0iMWdtWxAhd4-J8YdRphmaiufCGVEgK0FVZ6489_O-WFgFNIGQCq8Bj_kCgRnzB6ULed_rp_kG6KDBUEkgsUBL3l-UjtPJ1sCnuA44grUcLQTjmTEjxz7kGeKrjz0TbfgMycHRSflQhN0Gx4nXFGPE0Bx7CodHSEIaOjzVYMfCWDsoPCMVHOCrs9A-KivHMMufXwQ_4KbG6waJpc8TLb3DOuM79q-1zFB44_e1QP-10h9Kl-1becgiLwwWFMUin598c7_gGWV2QepZpnDcW52lAXeI_xCnlFGVaFZKqGvCQo2lTOyembVr1Am5MkDcDrm2CmbI6MvI013U-jO3G0UrlfkMCa0NIiukXr05Bz_US-w7jd_Uj7tx-eIZWld-Jmbn189VVswfGEZHgnBNRa-X37Ms5ke9qkSF7cfU-cqGAk1YpJtssERG8s7qfeSx4y-GX129JGmyO90D_dvN_dkbe6504v4Icv_kqwuR3D_UT6ZpROjXvWGh2368AaPcIlNboyjgLIekLJoN5yVxMBowUYWv5bv3bT6haEuTB2HgmcZUZxlELSZeZRdYOos8Ocve9UKvHEE0fnelhRQJiqApOHKqmrJZqpaeeVhXTX9GLmwKd-JS9MyfDV2IHCYJsBa-DJ6eGdnq_Yd6lyHRrQcPH85tcI2Qx5YADEheIJcxZRfZyShvaoIMQitGc6dAgLLxEWnJPa2k7lLYWAT-fudRzHnXj-VrRDNl_fcx-Fvmrd3kWmaLJXHp6O5BqNBoZa-NQalDsGSYhiR2IGQMkzoxZHYoWJXRRRTm6gdrg9DYK4pmu38v1wL8A9DS-PKjCkXN6CvQOU4JjBvROU6amM1xVRsm50K1bge8gpXHKjpum5C-PpEs4b2hG8Lt2hbNwHbIT7UhADKge8cCrorQ4Tb4KK0jL79WCB4J3WDSoSF4QeTDmKPivSyMNA-z-2vLbbQYaNqIh26s9QOoapOWjNEtalinaMrabCQkUb2ebdv5vhwVlV4jCqycTAz2XkCXZgoyfZSFvjqXxto5fLPdKQYJuAU5Lq1gyASVhTCVK1rISM94fwG5gRizI7A=",
  "id": "rs_0304a6004fe11c96016ab4934ecf5087d0addaf6c09e7f667d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.28,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The safe is open, with a brown plush toy in front, a white plush toy to its left, and a yellow object to its right. I’m positioning the left gripper over the brown toy first.\"}",
  "call_id": "call_Bj7IaqstymSraJaLGBtbJ6B3",
  "id": "fc_0304a6004fe11c96016ab49353ce3887d0b1336381d900e926",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bj7IaqstymSraJaLGBtbJ6B3",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-1.161, 1.5841, 1.0412, -0.519, -0.8509, -0.9264, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2666 left_y=-0.2714 left_z=0.138 left_yaw=-0.0132 left_pitch=-0.0335 left_roll=0.0221 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -6.7761, 8.6632, 1.0037, -0.7204, 0.022, -0.0366, -0.2803, -1.6752, 6.8718, 2.0537, -0.1001, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8517716661632ef4086d2114db1c8b969eff378020aad49d31da84f5e3f8b012",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e067d035c810d73bdb7580a8d6d2a4dae4a597b26528521489ef9af3a4ef589",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e2987c214ddaa827956db8a2f2d75625fcc2d2b4aa714521e81432714bb7a2",
      "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 · 1.789 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0196, -0.0341, 0.9998, -0.0212, 0.7937, 0.6079, -0.3958, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2931 right_y=0.0007 right_z=0.1786 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.359, 1.9658, -0.0855, 0.2222, -0.0366, -0.4718, -1.4564, 9.6615, 1.9121, -0.0659, 0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.161, 1.5841, 1.0412, -0.519, -0.8509, -0.9264, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2666 left_y=-0.2714 left_z=0.138 left_yaw=-0.0132 left_pitch=-0.0335 left_roll=0.0221 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -6.7761, 8.6632, 1.0037, -0.7204, 0.022, -0.0366, -0.2803, -1.6752, 6.8718, 2.0537, -0.1001, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8517716661632ef4086d2114db1c8b969eff378020aad49d31da84f5e3f8b012",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e067d035c810d73bdb7580a8d6d2a4dae4a597b26528521489ef9af3a4ef589",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e2987c214ddaa827956db8a2f2d75625fcc2d2b4aa714521e81432714bb7a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJNbv2X3FhRcRIv6DGeIPYvCJw4HEQ_V4dkN9pPZvHVz2Iog5BiG30qfGHk1OHJwII_oXykOQx8khc9yOZPLDz00TpmciDbyshzMyg7MDAfzrla1B6jeDlvIaC1Qm-cLPsy5k7dX9H74jbY0o-Yg09U7aeK7HjJ6Jj8OXuS2_ZlFJ55bDsBms_cfZII53NCgqx8PybjDStaKGxHiSz8bWA7vIt9Kbm1n6X3AkgE8huhyo_fBCVv54Y8dMndjdHuhXnG07fLBqIw0N6EYvMgN5LoYoGr4NiaTnUM8FfKkpv_vnV32CsO9-iU8jdRPVX7rmaQT0mYkEZeY0r6lPxj7eUMKx5E2ugdzD8YTJ2VSSLiT9RGpdEfc4Iu13l9zNuFrdD3wvCtZ-nDZcwd4Is3r5sNX9gmHxRcRV-IA7I9V5UJy8OuiqTkqUuqRQXMMHt4N6NT2At6svkBxE06-gfzvSFHjRlUT2J0HwJX4YmPiUQk0e8jHj48J2qX1ihY3h8EP-RH-Hgfi2CHNhQo-aqrF99UW2mgCm5GgTbW0O2Y_6c4BhUDDOVYFcyeYXERZJ1aB7lE17vj7yB5-zqcUbyJGn2MdnhboX2SNQToHBJEw-ofbpetnNeRUxuMjEGj6lFhIwZK9bOtVm4ckTlZXwufrbJajoDEpirxy-msILtzs5afQ1ccoTaA2n6WgJ3FdwPBMYkcccxsnjoKxzHjG75Mms0tQHbnpLW5k-Yq0PZNEOUeteLbTmZkdE4xMqnCUQPW73BgLVVHtr19iBkQVP2f_bsKQxWsWTDlTIEEKLPh3Gbgf5Y3xtCYB1FL1ArHbL38gQWKafj4QQUylMgq3daToy1Rw8Ol0UWk9jYjf4HXp14COFik4O_Q6qaguJ5zVydZoJ3dd-vyRvJTxKJEPpAiCVlox0p4rb538r_e7mDRH-47-OdO_R0sISPnsGUoeZhLMFi0t_eWTZgEOZYEAigNmc_adHCKpn5nBourEouzQ4r4oWlLi1u6Acdkzv73wVyVTmbKwWJ0UYBNTua1xv93bhiO7eVsFlf_Wuj_hUzE4kJVgj21L6_2Ffc3UjR71b2c6pOoUJrU5b1J7Jn537a_kSqJ2_u55lY--7sioWR2_MoWFCJiFsmkGsBfrhox5OxcSlCHGmptc7p5JAkfbtZkF_j7mf6loX78IrhhvwrpmWYF7qwWT9DOUfIEudR28SMLVwkJCHYxHWBFr4lCn6SeZKUU2fv1Yd3NdmAUteZ988wb5iRq1ccnikx6QYHJuu8X16ZmH-d4zAwNdDpVI7LgfxTleV5YyezJcSjyMjFhctM9ezju0enaI4g7jnW5ULV3lRJW24O5bVvx84syc1mAiANa_pNyIF7B7sqQFkFvAbw-0eV1vt0gS-UXRMWAYKFLfoOUhlUvSvZ6t7OqN1TeNLiRAhyA7usTfwPIR3GezNUom7mRH_5W0e11X4vXKOGU2colmJW5TmsHNMikf_QSInUKW8xHlpkPQuHjbQzvlx90JqfugnbksyuaGVfDG263KcUE-",
  "id": "rs_0304a6004fe11c96016ab49358cae087d0aa2dd11cc7bcbff0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.287,\"left_y\":-0.272,\"left_z\":0.035},\"note\":\"The brown toy’s torso is aligned with the left gripper in the wrist view. I’m lowering the open jaws around its middle.\"}",
  "call_id": "call_bRyDQvfYvP1J7hJEvtQAyf8y",
  "id": "fc_0304a6004fe11c96016ab4935a39f887d0be0d956c67074806",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bRyDQvfYvP1J7hJEvtQAyf8y",
  "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]: [-1.108, 1.7996, 0.8482, -0.1112, -0.8223, -0.865, 0.9997, -0.0238, 0.8043, 0.6151, -0.4549, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2813 left_y=-0.2659 left_z=0.0384 left_yaw=-0.0082 left_pitch=-0.058 left_roll=0.0618 left_gripper=0.9997 right_x=0.2863 right_y=0.0001 right_z=0.167 right_yaw=-0.0026 right_pitch=-0.0625 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -7.4872, 4.588, 1.1844, -0.3932, 0.0464, -0.0171, -0.1846, -1.5521, 7.0222, 1.9219, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5bd839faca59a3effd017af42c830e6f126c6c8e7aa28ebcb899704fa15e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba64c9a56f8ea830e172a3754799cf3086071a9eeed6e6442713cad37dfc591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d15afe16cafea9d4e616e9731a315d70fdf4978a971a4967de458f95917c089",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 4.182 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]: [-1.161, 1.5841, 1.0412, -0.519, -0.8509, -0.9264, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2666 left_y=-0.2714 left_z=0.138 left_yaw=-0.0132 left_pitch=-0.0335 left_roll=0.0221 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -6.7761, 8.6632, 1.0037, -0.7204, 0.022, -0.0366, -0.2803, -1.6752, 6.8718, 2.0537, -0.1001, -0.0952, -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]: [-1.108, 1.7996, 0.8482, -0.1112, -0.8223, -0.865, 0.9997, -0.0238, 0.8043, 0.6151, -0.4549, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2813 left_y=-0.2659 left_z=0.0384 left_yaw=-0.0082 left_pitch=-0.058 left_roll=0.0618 left_gripper=0.9997 right_x=0.2863 right_y=0.0001 right_z=0.167 right_yaw=-0.0026 right_pitch=-0.0625 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -7.4872, 4.588, 1.1844, -0.3932, 0.0464, -0.0171, -0.1846, -1.5521, 7.0222, 1.9219, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5bd839faca59a3effd017af42c830e6f126c6c8e7aa28ebcb899704fa15e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba64c9a56f8ea830e172a3754799cf3086071a9eeed6e6442713cad37dfc591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d15afe16cafea9d4e616e9731a315d70fdf4978a971a4967de458f95917c089",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws surround the brown toy’s torso near table level. I’m closing them to secure a grasp.\"}",
  "call_id": "call_6yLuMkZprf4gFuAY425pr9zY",
  "id": "fc_0304a6004fe11c96016ab4935cd04087d0b33dd8625fc3460f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6yLuMkZprf4gFuAY425pr9zY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1057, 1.8221, 0.8326, -0.1127, -0.8204, -0.8684, 0.0195, -0.0235, 0.8043, 0.6151, -0.4782, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2785 left_y=-0.2589 left_z=0.026 left_yaw=-0.0026 left_pitch=-0.0773 left_roll=0.0938 left_gripper=0.0195 right_x=0.2828 right_y=0.0003 right_z=0.1625 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0018 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -9.8256, 6.2427, 0.9939, -0.398, 0.0317, 0.9206, -0.0615, -1.2513, 6.9538, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a885308b07ad312f80d95709283c23fd5d84b99d6724dcc8567f88112232bc52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb9df7850721dc5cfdb88ddf01125c124c866c2a6ff2765edcb2ef0e859b782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f26a27f073d76f4c5101f885748d0ce33d6a4b239bf2448b19a9be4544b2663",
      "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 · 2.44 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 13 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0196, -0.0341, 0.9998, -0.0212, 0.7937, 0.6079, -0.3958, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1778 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2931 right_y=0.0007 right_z=0.1786 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.359, 1.9658, -0.0855, 0.2222, -0.0366, -0.4718, -1.4564, 9.6615, 1.9121, -0.0659, 0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.108, 1.7996, 0.8482, -0.1112, -0.8223, -0.865, 0.9997, -0.0238, 0.8043, 0.6151, -0.4549, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2813 left_y=-0.2659 left_z=0.0384 left_yaw=-0.0082 left_pitch=-0.058 left_roll=0.0618 left_gripper=0.9997 right_x=0.2863 right_y=0.0001 right_z=0.167 right_yaw=-0.0026 right_pitch=-0.0625 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -7.4872, 4.588, 1.1844, -0.3932, 0.0464, -0.0171, -0.1846, -1.5521, 7.0222, 1.9219, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1057, 1.8221, 0.8326, -0.1127, -0.8204, -0.8684, 0.0195, -0.0235, 0.8043, 0.6151, -0.4782, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2785 left_y=-0.2589 left_z=0.026 left_yaw=-0.0026 left_pitch=-0.0773 left_roll=0.0938 left_gripper=0.0195 right_x=0.2828 right_y=0.0003 right_z=0.1625 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0018 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -9.8256, 6.2427, 0.9939, -0.398, 0.0317, 0.9206, -0.0615, -1.2513, 6.9538, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a885308b07ad312f80d95709283c23fd5d84b99d6724dcc8567f88112232bc52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb9df7850721dc5cfdb88ddf01125c124c866c2a6ff2765edcb2ef0e859b782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f26a27f073d76f4c5101f885748d0ce33d6a4b239bf2448b19a9be4544b2663",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNiu05bvC9wuj9ElpGul7YhY-dc2Tt1lpvyNz-THtEKp6lxtOn6IOwRwooBPzLcZk-Yei2Zo0VTZHiVjSHQv6hfGnYujTKSuZtRkfuwms-ctUdERPmwG7ZSGHwWdRGu9_Opw0esHJUejTt0E1OFUNfOQ0P5wSuVGlHPH9Ib3tGrkZN4mGNddn6QDtWw6TQf-RtueylVDUwiRMZPczpAWPxZgwqMO4UI-Rw23L-HXCD7Jws8Rui0yQOivScvzffW9V1JplEkRq7PCdAug9QRc1lRSYFCNduQ820xyS_IqCAru88gvGxBmhP0b7jL0lUlSuwfwYw1ACCduXtfJqT4NmA_RYwIp3rIQkpvCAB5R_1iofTVh55_AMCRXYJqMa050Zo6cWFajRze59AwRcSyacUeKr26xp0jjjlnN2XIC8msDS2KZOyMD98unXOuCmxtmfR4LsXloXLZY90p-dy3D1bREuYPUi1lxujMrPOj80YZEgKBYzdK04h4k_E-OUvM3G8_LlcZ5SAFgwW61piaZjQL7E5z0jJ3JgYH-KqFmOES5Et6fssUvvSNl3epMPUhv_jUCKCCNTumic89PPugtVAPLIqQ-_8DPkDnv4Jzbdfh_rm6HAk37Ism8vSEfF4dA7Qx4eErahJ4SJ0EEGhfZ9aU0BEHevcxE_b5PFZq9K6imMMk0jHp3zSmvgfKMC7oTNfJ73Q-WGcX9B65_ERusR-kQIM0391NCIHlqlNrm2GvqIeqMYzgCr8kvwpgjsFiVaD_vsJKA9wN3IjCRD93fzS-OpzvXohKxGB5l7-hoYLn22HfRzM_4TqWj5k7ye8F1WkZIsb2FS9srJ5SPsQxdoa1ZAYJmRi0WDB7JyjtBk9KeGq_svfSwJ827AcBljB-g1nKcnz-TnFjegm4U1Mpy658oBSMZSEpiKkvsX-KkbaMNRRbNpyVr0t6bnI20TihYDMy-v1S5xkJoX6jclaMXAYLmC6mllu-GjOQxYfTH1bV2bBzVcLYzeFs-dnER-HFBTVMroMk5c3P0VDJlU8iyaiO2DNBIpxvCQpumhHKODmLLeUprCG6r2mmJ8ly-_AfWStEXxBBLHlVYF3pZwYtigtBcsX92yBqcOAKkIW-G6CsJMDOIeBmXlNVFCP57OYrijonNFWtaE5OSxzt_bZmNJjrtUf6UEbGpxqAYx9zdtQpm4idmTjWDxgqvnzIESXuwZFGX1enhsewKNqjnBbXjmArjrIXiu4XQRaOhnldx_Y0Qn75Fw-zCFS8o2_2ZCdOTRTgfW3yRx-4438PxS3Ap8jnOICsyh7Ahdh_m1rPBr9HnS13q4RIM5M5pnCMQDFCQBfekyvQto_pR8l1TU-QSHDh2HMAlfdNvuV8rS9u62yZtPcNpGb7HfpzkCO9IagOxersXrWtprFwoJmK0kM6tVRxGurkwiJzvwfNTddeQF6-mIHRCUZplkPRBoExp3Lq7mDI07yrZFJIaAX_a_Jmc5DXArnhMj6ll_NgM6fgfVBvEpZobu_dq0xfqenuIjHeJedHoCnX4j4qhjbSjh8A8UP1lw==",
  "id": "rs_0304a6004fe11c96016ab4935fa35887d0a458a790fbf49ad1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.319,\"left_y\":-0.27,\"left_z\":0.025,\"right_z\":0.18,\"right_x\":0.293},\"note\":\"The gripper closed nearly empty, so it likely caught only loose fur behind the torso. I’m opening and moving a few centimetres forward for a deeper grasp.\"}",
  "call_id": "call_YxxonudbHoHvyOhkU2BEwHMc",
  "id": "fc_0304a6004fe11c96016ab49360e97c87d09e1b8e6c4798d84c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YxxonudbHoHvyOhkU2BEwHMc",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0183, 1.8988, 0.9012, -0.0795, -0.786, -0.7837, 0.9947, -0.0235, 0.8608, 0.6598, -0.5491, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3092 left_y=-0.2566 left_z=0.0171 left_yaw=0.0194 left_pitch=-0.0973 left_roll=0.1237 left_gripper=0.9947 right_x=0.2806 right_y=0.0003 right_z=0.154 right_yaw=-0.0018 right_pitch=-0.1686 right_roll=0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.4855, -7.747, 7.8154, 1.3651, -0.3053, 0.2613, 0.1197, 0.1162, -1.388, 10.3043, 1.9853, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a511399eee75cdf3599e476da03c20dba3edd408f473789b16af3e460a57072",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96649d1c0bd86260c57ab4aaaee813c2d66e88b8c14b4b93839d8b3a6426ce70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc0560d3b49e99a7885fe8b0950565ad1745e55ca4b271f73ad9dacf6bf3ede",
      "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 · 2.89 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 13 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.161, 1.5841, 1.0412, -0.519, -0.8509, -0.9264, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2666 left_y=-0.2714 left_z=0.138 left_yaw=-0.0132 left_pitch=-0.0335 left_roll=0.0221 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.4581, -6.7761, 8.6632, 1.0037, -0.7204, 0.022, -0.0366, -0.2803, -1.6752, 6.8718, 2.0537, -0.1001, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1057, 1.8221, 0.8326, -0.1127, -0.8204, -0.8684, 0.0195, -0.0235, 0.8043, 0.6151, -0.4782, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2785 left_y=-0.2589 left_z=0.026 left_yaw=-0.0026 left_pitch=-0.0773 left_roll=0.0938 left_gripper=0.0195 right_x=0.2828 right_y=0.0003 right_z=0.1625 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0018 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -9.8256, 6.2427, 0.9939, -0.398, 0.0317, 0.9206, -0.0615, -1.2513, 6.9538, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0183, 1.8988, 0.9012, -0.0795, -0.786, -0.7837, 0.9947, -0.0235, 0.8608, 0.6598, -0.5491, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3092 left_y=-0.2566 left_z=0.0171 left_yaw=0.0194 left_pitch=-0.0973 left_roll=0.1237 left_gripper=0.9947 right_x=0.2806 right_y=0.0003 right_z=0.154 right_yaw=-0.0018 right_pitch=-0.1686 right_roll=0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.4855, -7.747, 7.8154, 1.3651, -0.3053, 0.2613, 0.1197, 0.1162, -1.388, 10.3043, 1.9853, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a511399eee75cdf3599e476da03c20dba3edd408f473789b16af3e460a57072",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96649d1c0bd86260c57ab4aaaee813c2d66e88b8c14b4b93839d8b3a6426ce70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc0560d3b49e99a7885fe8b0950565ad1745e55ca4b271f73ad9dacf6bf3ede",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now sit farther around the brown toy’s body. I’m closing again before checking whether the toy lifts.\"}",
  "call_id": "call_FjJmQiVu6oCzumBLAU0Pq6xa",
  "id": "fc_0304a6004fe11c96016ab49364f49487d0ba33c8996ff51f2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FjJmQiVu6oCzumBLAU0Pq6xa",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0203, 1.9011, 0.9039, -0.0818, -0.7826, -0.7895, 0.0424, -0.0235, 0.8623, 0.6617, -0.5724, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3086 left_y=-0.2578 left_z=0.0165 left_yaw=0.019 left_pitch=-0.1004 left_roll=0.1194 left_gripper=0.0424 right_x=0.277 right_y=0.0004 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1915 right_roll=0.0038 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -8.9231, 4.7795, 1.0476, -0.4615, 0.0415, 1.2918, -0.0342, -1.6752, 6.8718, 1.7558, -0.0659, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756a3cc4ce9f10c734b81852b4d3ab73b209198d5345ab9376d5e3faa58fb621",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7598077c51a4534a122617e56dc6812e679cc995b95e48cdcb490da783a64b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429267d0bad6637ae0a39a8e55949c7d7e5fdd92eb7559e83e67c812deeeafc0",
      "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 · 4.143 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 20 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]: [-1.108, 1.7996, 0.8482, -0.1112, -0.8223, -0.865, 0.9997, -0.0238, 0.8043, 0.6151, -0.4549, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2813 left_y=-0.2659 left_z=0.0384 left_yaw=-0.0082 left_pitch=-0.058 left_roll=0.0618 left_gripper=0.9997 right_x=0.2863 right_y=0.0001 right_z=0.167 right_yaw=-0.0026 right_pitch=-0.0625 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.3897, -7.4872, 4.588, 1.1844, -0.3932, 0.0464, -0.0171, -0.1846, -1.5521, 7.0222, 1.9219, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0183, 1.8988, 0.9012, -0.0795, -0.786, -0.7837, 0.9947, -0.0235, 0.8608, 0.6598, -0.5491, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3092 left_y=-0.2566 left_z=0.0171 left_yaw=0.0194 left_pitch=-0.0973 left_roll=0.1237 left_gripper=0.9947 right_x=0.2806 right_y=0.0003 right_z=0.154 right_yaw=-0.0018 right_pitch=-0.1686 right_roll=0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.4855, -7.747, 7.8154, 1.3651, -0.3053, 0.2613, 0.1197, 0.1162, -1.388, 10.3043, 1.9853, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0203, 1.9011, 0.9039, -0.0818, -0.7826, -0.7895, 0.0424, -0.0235, 0.8623, 0.6617, -0.5724, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3086 left_y=-0.2578 left_z=0.0165 left_yaw=0.019 left_pitch=-0.1004 left_roll=0.1194 left_gripper=0.0424 right_x=0.277 right_y=0.0004 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1915 right_roll=0.0038 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -8.9231, 4.7795, 1.0476, -0.4615, 0.0415, 1.2918, -0.0342, -1.6752, 6.8718, 1.7558, -0.0659, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756a3cc4ce9f10c734b81852b4d3ab73b209198d5345ab9376d5e3faa58fb621",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7598077c51a4534a122617e56dc6812e679cc995b95e48cdcb490da783a64b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429267d0bad6637ae0a39a8e55949c7d7e5fdd92eb7559e83e67c812deeeafc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.293,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The grip is narrow and may contain compressed fabric, so I’m making a short test lift. The overhead view will show whether the brown toy is actually secured.\"}",
  "call_id": "call_VXS8inbq2FJXNr1DL6OOT21D",
  "id": "fc_0304a6004fe11c96016ab49368252487d0aa53a34e2e9a5d63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VXS8inbq2FJXNr1DL6OOT21D",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0225, 1.7241, 0.8963, -0.1436, -0.7841, -0.8013, 0.0454, -0.0238, 0.815, 0.6621, -0.5602, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3078 left_y=-0.2577 left_z=0.0721 left_yaw=0.0173 left_pitch=-0.0443 left_roll=0.0176 left_gripper=0.0454 right_x=0.277 right_y=0.0003 right_z=0.1648 right_yaw=-0.0025 right_pitch=-0.1316 right_roll=0.0028 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -9.8393, 5.4359, 1.2576, -0.6618, 0.0659, 1.033, -0.2256, -2.0991, 10.1675, 2.2589, -0.1099, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14efa7bd9d6c247501ccc5cb147e7db08c2d9111917ce3583fe259169dae1e37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958c6a31014b4bc2e4e72b8ca0e0c58d3b18889ba36a45b2f8fdc86bf3810af5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8bc561e27c9db672b5f9c0aabc0c01fcd61d45bcead5a2d3af22b721622a557",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.251 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 20 changed as sent

message 23 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1057, 1.8221, 0.8326, -0.1127, -0.8204, -0.8684, 0.0195, -0.0235, 0.8043, 0.6151, -0.4782, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2785 left_y=-0.2589 left_z=0.026 left_yaw=-0.0026 left_pitch=-0.0773 left_roll=0.0938 left_gripper=0.0195 right_x=0.2828 right_y=0.0003 right_z=0.1625 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0018 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -9.8256, 6.2427, 0.9939, -0.398, 0.0317, 0.9206, -0.0615, -1.2513, 6.9538, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0203, 1.9011, 0.9039, -0.0818, -0.7826, -0.7895, 0.0424, -0.0235, 0.8623, 0.6617, -0.5724, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3086 left_y=-0.2578 left_z=0.0165 left_yaw=0.019 left_pitch=-0.1004 left_roll=0.1194 left_gripper=0.0424 right_x=0.277 right_y=0.0004 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1915 right_roll=0.0038 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -8.9231, 4.7795, 1.0476, -0.4615, 0.0415, 1.2918, -0.0342, -1.6752, 6.8718, 1.7558, -0.0659, -0.0757, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0225, 1.7241, 0.8963, -0.1436, -0.7841, -0.8013, 0.0454, -0.0238, 0.815, 0.6621, -0.5602, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3078 left_y=-0.2577 left_z=0.0721 left_yaw=0.0173 left_pitch=-0.0443 left_roll=0.0176 left_gripper=0.0454 right_x=0.277 right_y=0.0003 right_z=0.1648 right_yaw=-0.0025 right_pitch=-0.1316 right_roll=0.0028 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -9.8393, 5.4359, 1.2576, -0.6618, 0.0659, 1.033, -0.2256, -2.0991, 10.1675, 2.2589, -0.1099, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14efa7bd9d6c247501ccc5cb147e7db08c2d9111917ce3583fe259169dae1e37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958c6a31014b4bc2e4e72b8ca0e0c58d3b18889ba36a45b2f8fdc86bf3810af5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8bc561e27c9db672b5f9c0aabc0c01fcd61d45bcead5a2d3af22b721622a557",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJNuik8gGu1CQ1bhg71pazJHoq5SMQsimgOV1X40LXrPwB9S85e16U-QHH_pDalN_M1_JbYZcXdkr2_AR-VlZ19l1cng-r6k4RBWYBDINwNIasIMnJ11i9SS1sv2e0GYRs7AjLmn7TiWNQqWRulV-zetarF895FFRJwlIBeDKNHXdwxeKwry5fwmWWbUCikUoqkt8nJJoqpHciYdXYx9TUoArw14T79umsG8fr0J1RLIigxyR5YitTXsRg67j9gCMuGMkKwsv88TuaVDflua549aeDEbfUlzeAdwZfFTR3y1ltLw6aqhjWQbCyqYOs5_D-TA4QjkkliRPG9eUeF0gXWoHZDC2PRFk1k0VXjqB_9VugYcXlrCxxp0CDBkrDSi_bsgMP62qSxTLfhr2miVVjC1WFpNCqOYuTKxWy_3ylzBAgPPxQAIHzVvmZjNiW0Z_SzXAmRzgXXU6Ko449uStBi_gs0_dhvKohsVmsLHUca8qS6KrA-SFTFxAwsejSevoJH4qK4D6DzLPXEfevIeQjM9jN_mB-ucugn6rybvZ9tBSTmLKLPIKhyvsPL1Cled-YsnJuAubOli7HyKkty66PPPPyMczu6LZnKDJML_oCqw3_yhl8XlULEXHInvdh0mWdtVnKuN1Eo4Wzs6W_m5l_ttG3pBhznBDR8lwMfyVkK0GHhnGFH1AdDxzGAEN_ezOdoiQPjudMOj3tz8MkbBv0O3rq5vusN0iQ2tUacuqH0sNGx3uxMcSqA0FfRCBytSQ4M2Sw0Uu4Ww6qe4h3I8HkQlKWXIvYX-y_2L7Lv_80E5X2gCvbRbaEqQ-JKI7wgwY260YY20u3LWe7r7n3t8bZYKvLHy5BaUJoQNm7zz4NqDQ9RO47AbNyeZd0InRjuQ3huQOzgyb2w5BVpJIEP8TG0-G6wfstcfpAjspKMNxXx3w9zYkVuPkR4cbyRWOZTDk7PtQkc0jHa5zx_AD3sSQkCoYNPMvifPki6fH5XRGriwmybHq6UlVfooRMXOihY2LghUYzJOlZIka6Dy9V9U1cfcHewtA310Jm2-Q3stj5mSossP_2-qUWL3LvWpRLFaPxoyRIhYGDGrJEB7YiIjirEeXBzCEGD154TnzLywu0dq4rG_xMfqz3Y26PZVQjo1xS10sb159ArwPlKVHZ1tNrevum570RXJpc77BNWK3yWjax3mM4028FIph_KjCPOqqasN15NEsErXgSuTFrbUap4H71jCMsaI_D2dIHzGD6MzPVg72V8fhtm12GAQ4uQWewuK4yyugBTnpw9UcTLmbQb_LQKF8wsIRlug8p7VJkGNCzzoYAtt6LwIb1mS2EWqSGs9rQWpf_Ec9IvaqZhm9ygo9YuJFtF3SdaN-JVFOw2jktkIb94iqN6Wycv63XeS26VPzVk_PMMM9fUd9saID39YhsvHQ9HdudtOjgvL5lg_hm20EIfgYwOv-FZ75KFdb4L_LepiNGla1pwgkrK6OyvrdH1WQne003QdhMzS2hTVkfAP2j8AoFlJQktR6gZUplpgYT3sVof30wCq2OZWLYULwQ954Euq_dAMotUQY4r-syNhoBR1qSTzQO16ehKMfx9Aael85Lo_F565mNgBvv7DoD8BW0wRtzlH5ILxkbYQ8TsHYeIZ6T9aCsz6_X_9J-Xd",
  "id": "rs_0304a6004fe11c96016ab4936bb10c87d09ddf00c3460baf30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"left_x\":0.32,\"left_y\":-0.26},\"note\":\"The brown toy rose with the gripper and is off the tabletop. I’m lifting it high enough to clear the safe’s front rim.\"}",
  "call_id": "call_qFcvaVeVZbmcPaKjbMx4SNQf",
  "id": "fc_0304a6004fe11c96016ab4936d8f8487d09bf4d7f93743cddf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qFcvaVeVZbmcPaKjbMx4SNQf",
  "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]: [-0.9993, 1.6192, 1.3506, -0.7204, -0.7559, -0.7963, 0.0454, -0.0235, 0.82, 0.6563, -0.5907, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3181 left_y=-0.264 left_z=0.2027 left_yaw=0.0223 left_pitch=-0.0735 left_roll=0.0246 left_gripper=0.0454 right_x=0.2713 right_y=0.0006 right_z=0.1555 right_yaw=-0.0018 right_pitch=-0.1728 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -9.7299, 9.1966, 1.3065, -0.4615, 0.2466, 1.0281, -0.0889, -1.6615, 7.3231, 1.8388, -0.0806, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8c318aa1b398816da89fcdbe0238ac0d70d0fdf9c1c62c6aa89051c8584bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8158517102cfd7cb6578d27db755584e22e8913ace72ab11e4c4d6938d924382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16de9525b8377584c77e9f293177a0ea430087996514b3826671c8da406387ca",
      "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 · 2.528 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 23 changed as sent

message 27 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0183, 1.8988, 0.9012, -0.0795, -0.786, -0.7837, 0.9947, -0.0235, 0.8608, 0.6598, -0.5491, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3092 left_y=-0.2566 left_z=0.0171 left_yaw=0.0194 left_pitch=-0.0973 left_roll=0.1237 left_gripper=0.9947 right_x=0.2806 right_y=0.0003 right_z=0.154 right_yaw=-0.0018 right_pitch=-0.1686 right_roll=0.0033 right_gripper=0.9995\nstate[joint_eff]: [0.4855, -7.747, 7.8154, 1.3651, -0.3053, 0.2613, 0.1197, 0.1162, -1.388, 10.3043, 1.9853, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0225, 1.7241, 0.8963, -0.1436, -0.7841, -0.8013, 0.0454, -0.0238, 0.815, 0.6621, -0.5602, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3078 left_y=-0.2577 left_z=0.0721 left_yaw=0.0173 left_pitch=-0.0443 left_roll=0.0176 left_gripper=0.0454 right_x=0.277 right_y=0.0003 right_z=0.1648 right_yaw=-0.0025 right_pitch=-0.1316 right_roll=0.0028 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -9.8393, 5.4359, 1.2576, -0.6618, 0.0659, 1.033, -0.2256, -2.0991, 10.1675, 2.2589, -0.1099, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9993, 1.6192, 1.3506, -0.7204, -0.7559, -0.7963, 0.0454, -0.0235, 0.82, 0.6563, -0.5907, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3181 left_y=-0.264 left_z=0.2027 left_yaw=0.0223 left_pitch=-0.0735 left_roll=0.0246 left_gripper=0.0454 right_x=0.2713 right_y=0.0006 right_z=0.1555 right_yaw=-0.0018 right_pitch=-0.1728 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -9.7299, 9.1966, 1.3065, -0.4615, 0.2466, 1.0281, -0.0889, -1.6615, 7.3231, 1.8388, -0.0806, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8c318aa1b398816da89fcdbe0238ac0d70d0fdf9c1c62c6aa89051c8584bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8158517102cfd7cb6578d27db755584e22e8913ace72ab11e4c4d6938d924382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16de9525b8377584c77e9f293177a0ea430087996514b3826671c8da406387ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.235,\"left_z\":0.225},\"note\":\"The brown toy is suspended clear of the table. I’m carrying it over the open red compartment, avoiding the upright lid.\"}",
  "call_id": "call_68bOURBWekQCxdNL0LdtuCbz",
  "id": "fc_0304a6004fe11c96016ab49370cac887d0b61a9be1bb44ad0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_68bOURBWekQCxdNL0LdtuCbz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6899, 1.8194, 1.6005, -0.6537, -0.5705, -0.5331, 0.0454, -0.0235, 0.8227, 0.6552, -0.6136, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4315 left_y=-0.2278 left_z=0.2058 left_yaw=0.0572 left_pitch=-0.1213 left_roll=0.0457 left_gripper=0.0454 right_x=0.2673 right_y=0.0006 right_z=0.1503 right_yaw=-0.0022 right_pitch=-0.1995 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.4701, 9.6615, 1.6728, -0.2173, 0.2369, 1.0281, 0.0068, -1.4291, 7.0632, 1.7314, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21671547bd22ff9adc1942c8a488e4781573065eb8df1c6a3f060ed7981f93ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5021ef7a86f6fab72c7fc977d3a8733db9807dd95854b8c5c1467a5b5295be7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40d10545f5b5b75814123899f7f0b377e0a583596763ea193beb4375216da4fe",
      "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 · 1.962 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 27 changed as sent

message 30 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0203, 1.9011, 0.9039, -0.0818, -0.7826, -0.7895, 0.0424, -0.0235, 0.8623, 0.6617, -0.5724, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3086 left_y=-0.2578 left_z=0.0165 left_yaw=0.019 left_pitch=-0.1004 left_roll=0.1194 left_gripper=0.0424 right_x=0.277 right_y=0.0004 right_z=0.1503 right_yaw=-0.0017 right_pitch=-0.1915 right_roll=0.0038 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -8.9231, 4.7795, 1.0476, -0.4615, 0.0415, 1.2918, -0.0342, -1.6752, 6.8718, 1.7558, -0.0659, -0.0757, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9993, 1.6192, 1.3506, -0.7204, -0.7559, -0.7963, 0.0454, -0.0235, 0.82, 0.6563, -0.5907, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3181 left_y=-0.264 left_z=0.2027 left_yaw=0.0223 left_pitch=-0.0735 left_roll=0.0246 left_gripper=0.0454 right_x=0.2713 right_y=0.0006 right_z=0.1555 right_yaw=-0.0018 right_pitch=-0.1728 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -9.7299, 9.1966, 1.3065, -0.4615, 0.2466, 1.0281, -0.0889, -1.6615, 7.3231, 1.8388, -0.0806, -0.0757, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6899, 1.8194, 1.6005, -0.6537, -0.5705, -0.5331, 0.0454, -0.0235, 0.8227, 0.6552, -0.6136, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4315 left_y=-0.2278 left_z=0.2058 left_yaw=0.0572 left_pitch=-0.1213 left_roll=0.0457 left_gripper=0.0454 right_x=0.2673 right_y=0.0006 right_z=0.1503 right_yaw=-0.0022 right_pitch=-0.1995 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.4701, 9.6615, 1.6728, -0.2173, 0.2369, 1.0281, 0.0068, -1.4291, 7.0632, 1.7314, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21671547bd22ff9adc1942c8a488e4781573065eb8df1c6a3f060ed7981f93ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5021ef7a86f6fab72c7fc977d3a8733db9807dd95854b8c5c1467a5b5295be7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40d10545f5b5b75814123899f7f0b377e0a583596763ea193beb4375216da4fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJN1OCmdGFf5aXkH4CexOcWXp1FsRP2xFupFN-H2UnuxPUaW6muJkypdjaSrvyQHjYoN__Ebj9q2Dk8gkh9nRWDvvZ1WtN908vyjNuaUvOjArmpcB61ww-IJa9Y_PU1aXASFg4UFkhkQH4BMFcWSfpKdR25d2CPi6iKp9rsA90tMdNW1Lco5G4y7Y1UI_Ja6yUCzEd_yLsFR07NG8mv1xfdiIoXsBiUaJdhglsxvjOse0pjFpiaP7g3Udp9_77QZoRLsFHTDocuhR_sdBgpuhAlhNuGX78y1ifs35ZYkVPOjp9N95cf3GH2Qm_8Ar-6PET3HWzrnzQTLaO00V6_dQ2YxO5v45vGTNQxuha1JBnnF_WiPN6G7y6E2wyqnNuKMgMPlFlbe0zBwucnrSkl83jykush5YjNDn6YFoD_S5rKBXqKRo_rQHDi_to7LMPF5a7WlZv_UN0Jwtv0eJnI1dzBtofZohcmeC-DmSSsjIXpoIfsdSPDL4vY-WlCK8bDi1Cvkn1HZ6G_Xl5kUdZ45ZRYOHE2ISt_ITvevdUHwWHHhWqjajItO-oK-VESeYNcw0dEHo1pC7bcuYXpwGKdClsdHeu_evwrdJwHxaeOz3gPDaEytBu4ocHLTERwSG_QZeqQkKi2-8glsiFaC7pKXohPKPYO7oTRYxUcx0nP0XTI1ZcjQEz-7FgLuznTt2SCCj7G2cLOn0TTDSNyqMv0CiEqMccW70jZACopGeO6vjYe1nsDRyVBTu_wJccf4c18fokM4CHGdmztIR0Rd-gZ6iJWRL_dLfHxoTgTI4-QqliwOhCuS8dUDZsQ2oLkKxLeN5Ug-w3sQ2geHlv02ruspVVmZVyswkDe25GSA6vDSPRkqzORV8CLWf2zNZGvM2uhqzIq0DrPEQyCsrGfMScTyGiYwagypIpdGaq3_6zmJckwDfSrXBAhno_XMWD-KIKY07WseSr1qvi2fqqOh3vmtSV4GtQvsb0NFavn3u75exq2xBhZZYT56Ru0S_G661A9IO4wKpUGC6jCqf8Noer1ChC9ZqIDiwrhs3d4vrSXMomnDM5lsEIa7Zwf9wQR3Xb94SaDf73hiMUKBgQxmOxyt1o4uu0-NHm3B-LX2-SXLgybFgI35KdER7ludXvzVHjvnB16IK3AUKrJLi437nvTxHdLRZmZ-1MZsc6vp2ytZ7iSXaxUD7UbqHgex0QYbSvUaMI1WMVFQDzzXL0o2xjoO5r3FCvC0n-FwhIaNk-Es_BZLkpRfM52fjq1ZAGhvoCDnYvdiKvI3DMVxNhueL-zIjYnvZ9rvneMyo6g8NNtMeBytgNE=",
  "id": "rs_0304a6004fe11c96016ab4937416ec87d0b12f27cfbbea16c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"left_x\":0.445,\"left_y\":-0.235},\"note\":\"The brown toy is above the safe’s interior. I’m lowering it into the compartment before releasing it.\"}",
  "call_id": "call_IssdnteP5pc3xg9r4vG9brmW",
  "id": "fc_0304a6004fe11c96016ab493746f9887d0896f881911ae967d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IssdnteP5pc3xg9r4vG9brmW",
  "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]: [-0.6865, 1.9682, 1.2976, -0.2523, -0.5571, -0.5278, 0.0454, -0.0235, 0.8246, 0.654, -0.6353, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.436 left_y=-0.2319 left_z=0.0749 left_yaw=0.0532 left_pitch=-0.1656 left_roll=0.0764 left_gripper=0.0454 right_x=0.2634 right_y=0.0007 right_z=0.1456 right_yaw=-0.0021 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -10.2222, 6.147, 1.5409, -0.3297, -0.0171, 1.0281, 0.0068, -1.4017, 6.8855, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4664fd4e7e9556e2405353f60196a45a4b45aad643cc9e1cd5beb8bc50f436",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9105f529b445a8b0b4f02e2c55b1c0cdaf60e07c0583a0938e0d10097a2e691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d98b8ba335eb57e0944496d7cf7935dbe5939cbdf035c174d748f1ef1b46f76",
      "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 · 5.398 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 30 changed as sent

message 34 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0225, 1.7241, 0.8963, -0.1436, -0.7841, -0.8013, 0.0454, -0.0238, 0.815, 0.6621, -0.5602, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3078 left_y=-0.2577 left_z=0.0721 left_yaw=0.0173 left_pitch=-0.0443 left_roll=0.0176 left_gripper=0.0454 right_x=0.277 right_y=0.0003 right_z=0.1648 right_yaw=-0.0025 right_pitch=-0.1316 right_roll=0.0028 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -9.8393, 5.4359, 1.2576, -0.6618, 0.0659, 1.033, -0.2256, -2.0991, 10.1675, 2.2589, -0.1099, -0.0024, -0.0122]",
      "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]: [-0.6899, 1.8194, 1.6005, -0.6537, -0.5705, -0.5331, 0.0454, -0.0235, 0.8227, 0.6552, -0.6136, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4315 left_y=-0.2278 left_z=0.2058 left_yaw=0.0572 left_pitch=-0.1213 left_roll=0.0457 left_gripper=0.0454 right_x=0.2673 right_y=0.0006 right_z=0.1503 right_yaw=-0.0022 right_pitch=-0.1995 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.4701, 9.6615, 1.6728, -0.2173, 0.2369, 1.0281, 0.0068, -1.4291, 7.0632, 1.7314, -0.0269, -0.0269, -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]: [-0.6865, 1.9682, 1.2976, -0.2523, -0.5571, -0.5278, 0.0454, -0.0235, 0.8246, 0.654, -0.6353, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.436 left_y=-0.2319 left_z=0.0749 left_yaw=0.0532 left_pitch=-0.1656 left_roll=0.0764 left_gripper=0.0454 right_x=0.2634 right_y=0.0007 right_z=0.1456 right_yaw=-0.0021 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -10.2222, 6.147, 1.5409, -0.3297, -0.0171, 1.0281, 0.0068, -1.4017, 6.8855, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4664fd4e7e9556e2405353f60196a45a4b45aad643cc9e1cd5beb8bc50f436",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9105f529b445a8b0b4f02e2c55b1c0cdaf60e07c0583a0938e0d10097a2e691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d98b8ba335eb57e0944496d7cf7935dbe5939cbdf035c174d748f1ef1b46f76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown toy is down inside the safe. I’m opening the gripper to leave it there.\"}",
  "call_id": "call_KHwpZ4IO9eAiEAklwTga42Cw",
  "id": "fc_0304a6004fe11c96016ab49377599c87d0b25ab1a62a9fe6d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KHwpZ4IO9eAiEAklwTga42Cw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.9862, 1.2778, -0.2665, -0.5568, -0.5327, 0.9953, -0.0235, 0.8284, 0.654, -0.6571, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4289 left_y=-0.2262 left_z=0.0577 left_yaw=0.0623 left_pitch=-0.2038 left_roll=0.1082 left_gripper=0.9953 right_x=0.2596 right_y=0.0008 right_z=0.141 right_yaw=-0.0014 right_pitch=-0.2498 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.0, 7.6513, 1.3846, -0.315, -0.0171, -0.0904, -0.1299, -1.5521, 6.7761, 1.6679, -0.0757, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ef6c7b418a0e845c891c0c4fee33fd29c1f276ee3f2ff82eda596e14afc9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470041ec3e344023864b3ad04b7c9fad02c30d43e555c822a1df93d528e7cf0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e1192f23baaff497fb5f5fb6ee7468b60df51632dcac7464463358ee79cc14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.204 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 34 changed as sent

message 37 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9993, 1.6192, 1.3506, -0.7204, -0.7559, -0.7963, 0.0454, -0.0235, 0.82, 0.6563, -0.5907, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3181 left_y=-0.264 left_z=0.2027 left_yaw=0.0223 left_pitch=-0.0735 left_roll=0.0246 left_gripper=0.0454 right_x=0.2713 right_y=0.0006 right_z=0.1555 right_yaw=-0.0018 right_pitch=-0.1728 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -9.7299, 9.1966, 1.3065, -0.4615, 0.2466, 1.0281, -0.0889, -1.6615, 7.3231, 1.8388, -0.0806, -0.0757, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.9682, 1.2976, -0.2523, -0.5571, -0.5278, 0.0454, -0.0235, 0.8246, 0.654, -0.6353, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.436 left_y=-0.2319 left_z=0.0749 left_yaw=0.0532 left_pitch=-0.1656 left_roll=0.0764 left_gripper=0.0454 right_x=0.2634 right_y=0.0007 right_z=0.1456 right_yaw=-0.0021 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -10.2222, 6.147, 1.5409, -0.3297, -0.0171, 1.0281, 0.0068, -1.4017, 6.8855, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.9862, 1.2778, -0.2665, -0.5568, -0.5327, 0.9953, -0.0235, 0.8284, 0.654, -0.6571, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4289 left_y=-0.2262 left_z=0.0577 left_yaw=0.0623 left_pitch=-0.2038 left_roll=0.1082 left_gripper=0.9953 right_x=0.2596 right_y=0.0008 right_z=0.141 right_yaw=-0.0014 right_pitch=-0.2498 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.0, 7.6513, 1.3846, -0.315, -0.0171, -0.0904, -0.1299, -1.5521, 6.7761, 1.6679, -0.0757, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ef6c7b418a0e845c891c0c4fee33fd29c1f276ee3f2ff82eda596e14afc9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470041ec3e344023864b3ad04b7c9fad02c30d43e555c822a1df93d528e7cf0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e1192f23baaff497fb5f5fb6ee7468b60df51632dcac7464463358ee79cc14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJN-QdfwUblI5IjpiDNxO5IXlikS-2SBwP2I_p_FQJ-LwEoxIktQUOkvJyvf1m9iiJk8z8P8Dc5pC9cSWD4465fu4Q7m5mNmR18qizcSYY6CTUDzQDi7kqw5srvkbJ5050FcGswppLcU742JjDqejLeH-pP8BPajsgu7yUrA-SPCBBI7mi7UAryL75kymiVF1dy-RkRfGCkeFx64vcHV0vtwWgraYFz6wps7YRmPyBfAckUvmQugN_WjiuNB89raN8VQry0PUgLIqE5GSRTtCP8uS_kchgoKf0Q4qfii5NaZ_IsTmAA4e4MfZ8JYv9mmhVNI5qORKC22NKszl781WzD5uD_yaAuLw374CaEKUjPAH0xar4Yg0bApsP1RFCvHX5wReFwB0ck2bullYCFp5HyIIeQXWvc3tjDGLhfD9Kp3W86VNFekWNR8_e0QGFrJaat9YeTE4EnVpVCTusxw3teuxcx8pH0spVIzaL-n0Jgw1cviZP6xH1ahlfNJj9Ny0VK2SArWqOQmkhjzCvl9Wpnke4Iig7qalsj3Me3TgptKhpdSGTkkyOAB7fEZ-Zp5JaiMflaPr5OUUMeMKZfdNH94CN2QQCV-PaXn3jTdChpTdyzYXz1H8Y9Y_-pGam7BVTsWsLu9jThxi5stlgTT-L2JciDrUhjqPXaq-m-I7cInSxiiTKGFrR90yZB9CDpbFW_uGD_mekKIKTtCFXYClzzjYcq-LZVyMO01MG8VY1gkUrmPP-yF_0nEvYibvDTwszViOOYpmzhtWws9gL2DndsHHQeIhHQMqmqeAdY0sMevNyaark3YPKZeR0NndeznURIWM5CECcsXds2yAsPCrZOWqmhuYpqm2i--0UP1sRXk1nKvF4TAa69BIz4XhigbnLleFaZglT-kjdVfTLpNZMdr57dRo39QiaLffSmRYKsaMck6omkJqMwdwEp85c5CnzJ_HgzLjLmIs-8jmecFWzBrAnrmRJU4V3hQdlmWac-PMiHe7UbPZcCsmicCAFBOlcy9EKLxFFOSGuGTDugpVVj_8nchFK9sO04cZcZs2O8DXEKQBwlqtzeht4aLiEJGQ0xeuSzQO0myCjzjYhOi0DaurZIqir4g5_wldWKkVNPJa8bVHFzxJVnJDfkpOnq4EVyv0jKcaj99KGf1NwL0xMIGEuwJoI5lKLRhxDDpKpJlk-UH6_ide6qcSqQCN4wideis15bF6B9YNZcXtU8QwcH0WvgueSxUiwnj-O360RR_YtLV1r4cjzAniAEmW-R8YtVIrnRkLCLQHPaw-3-KDosmMpk_aSrYUHahObbajnimPfS0LCTIWyhqEZAhpsSspW6iiIqoKgmKjWpHwGOkHGMSZKg4QRhsSAbxlF2LENJoGuh1mKvASD_EFTnIjis25LeRzGJmFiNh54hPdQgb7z1cBu8Kjc84PpKSVjlLu9yGDt_zFJRV0NJjmJppZLZct7FTdt9z2X5_QwN9PbX844zUua0KNzyYb-c4CuOu5fPqn5F3eVf0q8ySb6jxCQ2EI4MNFs75q1ag27KHnpnD3yVsBObWKaws_krBvWGdyFZlGtMvpHHHd2T1AZ2eY7sUHPSBKRNeJTP_nI_knQWsAXA9ARznEGOUMTksYDSjaMmYfm3BZwwWRU2oU_LhXDf2OwSkicAAcWIxhpa_A0IFsKv2vmzYR47jfW6sInPqvQM4yGXXG9f2GOj3G2M8kNJwWmzeNfmn2k3X4-TDHrINbctlP9GwDRaXsYKgmBKqq3dRxiTkAjd5bRpIHXGuBWP0g3lTrACQ_m7MD7yNaV69TfdvjSuaSNKr0EmFOj-qjh9qnwBdnOOmUdztqLWc227C1YVsLsZveAGhLG6ezF57mh3Xrh27bg9bblJLG9golikQUmdzzkz_YrQG60arMgXGW80JNCvj5VEWG0scfGTN4OzvW7R05xr4qb-MRIUrG-MqDZyppMnqwDsm4LjSigDYxQyl",
  "id": "rs_0304a6004fe11c96016ab4937a18f087d097fc2c61b5201c45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.235,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown toy has been released in the red compartment. I’m lifting clear and restoring the idle arm to its parked pose before reaching for the white toy.\"}",
  "call_id": "call_qK3RTsf3l2Irt64hYqquPVE8",
  "id": "fc_0304a6004fe11c96016ab4937ce1f887d08232c5e5b37ae6e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qK3RTsf3l2Irt64hYqquPVE8",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.701, 1.8378, 1.5188, -0.5186, -0.6048, -0.535, 0.9963, -0.0238, 0.8131, 0.6548, -0.5549, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.2335 left_z=0.1869 left_yaw=0.0692 left_pitch=-0.078 left_roll=0.0388 left_gripper=0.9963 right_x=0.2767 right_y=0.0003 right_z=0.1632 right_yaw=-0.0023 right_pitch=-0.1316 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -13.3675, 9.7709, 1.4432, -0.4371, 0.2125, 0.0904, -0.1983, -2.0308, 10.3179, 2.1661, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a227afa86b5e49310266e40a8a3683601c81da04325e38b2f29f911c2fd3a51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a10d51ac4cff7021c6b80d92845f2f6e2bf76cd7a3f3643b1b9078f8f170e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8291c138a62d551960f101dfeb1109396fce7f9c1be1e11c109042c57a94a2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.947 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 37 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]: [-0.6899, 1.8194, 1.6005, -0.6537, -0.5705, -0.5331, 0.0454, -0.0235, 0.8227, 0.6552, -0.6136, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4315 left_y=-0.2278 left_z=0.2058 left_yaw=0.0572 left_pitch=-0.1213 left_roll=0.0457 left_gripper=0.0454 right_x=0.2673 right_y=0.0006 right_z=0.1503 right_yaw=-0.0022 right_pitch=-0.1995 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.4701, 9.6615, 1.6728, -0.2173, 0.2369, 1.0281, 0.0068, -1.4291, 7.0632, 1.7314, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.9862, 1.2778, -0.2665, -0.5568, -0.5327, 0.9953, -0.0235, 0.8284, 0.654, -0.6571, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4289 left_y=-0.2262 left_z=0.0577 left_yaw=0.0623 left_pitch=-0.2038 left_roll=0.1082 left_gripper=0.9953 right_x=0.2596 right_y=0.0008 right_z=0.141 right_yaw=-0.0014 right_pitch=-0.2498 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.0, 7.6513, 1.3846, -0.315, -0.0171, -0.0904, -0.1299, -1.5521, 6.7761, 1.6679, -0.0757, -0.0659, -0.0122]",
      "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]: [-0.701, 1.8378, 1.5188, -0.5186, -0.6048, -0.535, 0.9963, -0.0238, 0.8131, 0.6548, -0.5549, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.2335 left_z=0.1869 left_yaw=0.0692 left_pitch=-0.078 left_roll=0.0388 left_gripper=0.9963 right_x=0.2767 right_y=0.0003 right_z=0.1632 right_yaw=-0.0023 right_pitch=-0.1316 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -13.3675, 9.7709, 1.4432, -0.4371, 0.2125, 0.0904, -0.1983, -2.0308, 10.3179, 2.1661, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a227afa86b5e49310266e40a8a3683601c81da04325e38b2f29f911c2fd3a51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a10d51ac4cff7021c6b80d92845f2f6e2bf76cd7a3f3643b1b9078f8f170e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8291c138a62d551960f101dfeb1109396fce7f9c1be1e11c109042c57a94a2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.427,\"left_y\":-0.085,\"left_z\":0.145,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The brown toy is visibly resting inside the safe. I’m moving to the white toy just outside its left side.\"}",
  "call_id": "call_ZjpGZz9IWCOTbuLNKJ0LuAcX",
  "id": "fc_0304a6004fe11c96016ab49380b8a087d0ae5f31afe574e6ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZjpGZz9IWCOTbuLNKJ0LuAcX",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3252, 1.5269, 0.8898, -0.0456, -0.3035, -0.2348, 0.9965, -0.0238, 0.8162, 0.6487, -0.5758, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.422 left_y=-0.0828 left_z=0.1278 left_yaw=0.0405 left_pitch=-0.066 left_roll=0.0196 left_gripper=0.9965 right_x=0.2725 right_y=0.0004 right_z=0.1559 right_yaw=-0.0027 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -8.7179, 6.5299, 2.0977, 0.0708, 0.1294, 0.0073, -0.294, -1.4974, 7.3641, 1.7607, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc34b191339ff95bbe6456904fdd1fc53d6a34128a13df9110a48047c6d79e9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f48bdbcb94e3aea257e76c075bd4992196624018ed7db0e40d967c0928b3c68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147a14deff8d42894bb9d604d05a34bd30f38ec711514e21632501031d4967ab",
      "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 · 2.588 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]: [-0.6865, 1.9682, 1.2976, -0.2523, -0.5571, -0.5278, 0.0454, -0.0235, 0.8246, 0.654, -0.6353, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.436 left_y=-0.2319 left_z=0.0749 left_yaw=0.0532 left_pitch=-0.1656 left_roll=0.0764 left_gripper=0.0454 right_x=0.2634 right_y=0.0007 right_z=0.1456 right_yaw=-0.0021 right_pitch=-0.2243 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -10.2222, 6.147, 1.5409, -0.3297, -0.0171, 1.0281, 0.0068, -1.4017, 6.8855, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.701, 1.8378, 1.5188, -0.5186, -0.6048, -0.535, 0.9963, -0.0238, 0.8131, 0.6548, -0.5549, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.2335 left_z=0.1869 left_yaw=0.0692 left_pitch=-0.078 left_roll=0.0388 left_gripper=0.9963 right_x=0.2767 right_y=0.0003 right_z=0.1632 right_yaw=-0.0023 right_pitch=-0.1316 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -13.3675, 9.7709, 1.4432, -0.4371, 0.2125, 0.0904, -0.1983, -2.0308, 10.3179, 2.1661, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3252, 1.5269, 0.8898, -0.0456, -0.3035, -0.2348, 0.9965, -0.0238, 0.8162, 0.6487, -0.5758, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.422 left_y=-0.0828 left_z=0.1278 left_yaw=0.0405 left_pitch=-0.066 left_roll=0.0196 left_gripper=0.9965 right_x=0.2725 right_y=0.0004 right_z=0.1559 right_yaw=-0.0027 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -8.7179, 6.5299, 2.0977, 0.0708, 0.1294, 0.0073, -0.294, -1.4974, 7.3641, 1.7607, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc34b191339ff95bbe6456904fdd1fc53d6a34128a13df9110a48047c6d79e9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f48bdbcb94e3aea257e76c075bd4992196624018ed7db0e40d967c0928b3c68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147a14deff8d42894bb9d604d05a34bd30f38ec711514e21632501031d4967ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOGvkTJSGx3i-uSPhvN1yD8909mPwDL-Dki1tFjYmUOYcR4tJVOtjmhkGeZ5btzgV-_i537PLfRvEDxJTxZifxc_WAGIrdWHVARddVOZH8tcYjunsvZ_dTp4G9Gc_tXT4J3cHuT85Js7sCDA8vCQeRr-zEixKpLwMSymUC8n3t0rrCztyBF77W5-j9HIpmlmRBYXGQKdTtpiFVo3DCF3znZpBwlBU2t8SUpb5OeAZrtaIWHqjrF1VgViw4NWzM9Ej0sAC8Qj3fCO4Xy-l4kZPHYyk844-aGR2-VavuvnXFZ6o_aQSsgiyz_V_VhmPCkeD9fvrHdKtng4FoMxwjHtXbjnF45bPGpKIPnNtMSeEHD9lliDT6Eb8IWiRHn_Djgpoet9dMs5Gi7kUTkVCWvTaHWJTANR5izeUUcwyKs6OVvjhupItfgUsGHwgyPpVOKWn9QXvUpd6nfRr1L5-2tGiIsXyaaWwoE6tD24LtIsXaaraMY4YeQnGTORCPf28LeQwAUTqsMi8RoiH0L-md0n669oZNlmRJrabxI5uL0lJzsC0slzsz9VPdfvO7Xvyl6pHSnarrE_N6rn8-4GZN8cikld0VFjhvJ1X9e4aVQdMMGXPWJ0woJP73COWgRXMNIuTc_SI10SKtb2FPq1znWDW3zerMnkK9t08b6Sserq-cWWN7uTiPLly4bAJp2NKnovScYUrSbG_8UoAfb5BLYJ4ZY116T3LtsdHF58o4cihmzagR8ne0SIQVv29qH9jMA_F8CS3x0HqXg1zRUPSLDNABe7e4Jkd7aCQgpbFv4MhjhNhDq0_4sdsB8P_hmvS86UIxDI7uKhpa70xZ9_sufYB6sH1-Lv5Dff8KkzV4Hc9IbGenvnOivUWxqrMGTIWoNh6HUjgwFgYJSBsgDPTjDQvx-Vwk8E7cz-lEwE5MKZZaqcnuB8sNVVepnMQONfSS98lgI-_tKNOSlO4yedORi0_M3O7gqnoIcg9ENI6CYdthkP1dm8lLKIqShOw5bidYKQIiluFPxXIObcKwTzcuLmMowXbc31HEtjTmxglMHSPCPwau6EAGUFlyEob94nQf9GJOZtaSdzpQPvyC4bO5NAuLkr8dEAU_TEM6CrMyznM7HKeNCgCGNnLZYs36PEWXcCJHD4CnnBbtzypGA0L3jJ2fphFvofy6a9tXgiB56rz7gYeIi2yiTYCWJBn-fgFptxPoDZ4rjI1pW5rjbU_DR5YDNcJppY-IvOBNmi7N4dCU-H3r2vLqhcp6Xg5zoOBJdtDq9XaLVb81nYhwo8UUzV1IYOKkRPXF9JEA4OQDHF1TujdXqHf8qBI-QeQka4ahk6UjhAOtK7g7RW3naV5ZkyAGmniodoeOc5zSje16UQ4gp-CNDcnBBOmeJjo_psRUuAcl376K4FISOuYUCb8PrsGhk4NzzDKLr_HvbpjLjI7xEx_ExwGOVT3a9q9RINu22_xa5BQfc7CpTNKBkzHTXprNzVw==",
  "id": "rs_0304a6004fe11c96016ab49384365c87d081b40d4068b014cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.052,\"left_z\":0.03,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The white toy sits slightly left of the jaw centreline beside the safe. I’m shifting left and lowering around its body, keeping clear of the red rim.\"}",
  "call_id": "call_KaznqAUswx8MM9Nkj7zR4cL4",
  "id": "fc_0304a6004fe11c96016ab493859d0087d0a3d60fa1d243511a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KaznqAUswx8MM9Nkj7zR4cL4",
  "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]: [-0.2138, 1.8229, 0.7094, 0.4297, -0.2348, -0.1822, 0.9966, -0.0235, 0.8188, 0.6483, -0.6113, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.435 left_y=-0.0487 left_z=0.0217 left_yaw=0.0667 left_pitch=-0.0816 left_roll=0.0206 left_gripper=0.9966 right_x=0.2665 right_y=0.0007 right_z=0.1487 right_yaw=-0.0016 right_pitch=-0.2002 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -8.0615, 4.547, 1.9023, 0.1148, 0.1734, 0.0024, -0.1846, -1.4291, 6.8718, 1.8681, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac08f1529caa843ab49a04ed123adb8959fc401937ba6053e15b7d17e5369fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fca80bd2fcc3d09817d4e77b8a0463a392f329290c703371883b6166fe51e76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08748c976cbfa0c6577dc00ad454a4dda618423a4c3722cb205a34aad25f0ba2",
      "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 · 2.293 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.9862, 1.2778, -0.2665, -0.5568, -0.5327, 0.9953, -0.0235, 0.8284, 0.654, -0.6571, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4289 left_y=-0.2262 left_z=0.0577 left_yaw=0.0623 left_pitch=-0.2038 left_roll=0.1082 left_gripper=0.9953 right_x=0.2596 right_y=0.0008 right_z=0.141 right_yaw=-0.0014 right_pitch=-0.2498 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.0, 7.6513, 1.3846, -0.315, -0.0171, -0.0904, -0.1299, -1.5521, 6.7761, 1.6679, -0.0757, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3252, 1.5269, 0.8898, -0.0456, -0.3035, -0.2348, 0.9965, -0.0238, 0.8162, 0.6487, -0.5758, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.422 left_y=-0.0828 left_z=0.1278 left_yaw=0.0405 left_pitch=-0.066 left_roll=0.0196 left_gripper=0.9965 right_x=0.2725 right_y=0.0004 right_z=0.1559 right_yaw=-0.0027 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -8.7179, 6.5299, 2.0977, 0.0708, 0.1294, 0.0073, -0.294, -1.4974, 7.3641, 1.7607, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2138, 1.8229, 0.7094, 0.4297, -0.2348, -0.1822, 0.9966, -0.0235, 0.8188, 0.6483, -0.6113, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.435 left_y=-0.0487 left_z=0.0217 left_yaw=0.0667 left_pitch=-0.0816 left_roll=0.0206 left_gripper=0.9966 right_x=0.2665 right_y=0.0007 right_z=0.1487 right_yaw=-0.0016 right_pitch=-0.2002 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -8.0615, 4.547, 1.9023, 0.1148, 0.1734, 0.0024, -0.1846, -1.4291, 6.8718, 1.8681, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac08f1529caa843ab49a04ed123adb8959fc401937ba6053e15b7d17e5369fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fca80bd2fcc3d09817d4e77b8a0463a392f329290c703371883b6166fe51e76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08748c976cbfa0c6577dc00ad454a4dda618423a4c3722cb205a34aad25f0ba2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOKfR8N8zyIRHTcedtTEdOnRNyugRFfqP3fqy4GgfBcnuWgDru9OYQp-2AORAH9oLM1BRxYE6ZmAwD45iRU2F6-woKU_5kukZ8bfNXlohiom7VYKGnO2gxEAz0WScrhPPSD8ydJioVTH8McQ5VUHsf7X6NS10DS7OVG9XJax596v6ky8LnsLHnSoU9y1unwvKbM05FDuA6xBvZrEeixlxXRm-L-NaYcAdkjtPcEya3sKgkSpMolGD9ul7VScEabYM9INQ6I33fSyxcHyXRWHSKb9RmRdceq3Gw0nxaX_uF7FInp0vhIPFmjuU09mDSDDVmzFZI_-cyDx4BeI2ThVycSdHynF9977v16ACNpxXIow93SYRMSS5DEh_CkJB11YkNX5Iz18DFwFp8D_6MXLjZJOXlSI6PBBFX1Nz2BdRDQa7zey5KOAncB832weJHPuesa8W9Ezc_74dZMQ4cUFDrxrO0_yyV50Ck53VSEBlgCTYkGHQ6ExMhMAGDc-4nc9bi20-5TS8u_cDAUNfMnippNCN1Pb5pBfm0W6yh-XVFwEo7Hk0hGbi9c03NVpS977xIkHWXVmkILIebSknmU5IOmmFYER9bCSvIBR9GDRNcCIaog-Pw34DGwLMlmUnUtlAfLF8AHL-3FkzbtoTl9WBIYqP6HKWw87zC5bb1E7WYcoEkIMslfDX-dxrr5gE0vO4Lu4-MoTtQOmv69kwxJ69ySUspi9w0aMKwzE9Go8SgShayMXV9fzmt5i4BP8scSMVq_jj_qTMzBojzy4LhYAgETZSR-QmqKxKty_zdrvn8XYJqktukaDY7YLy_YT-1GnNT5_V8EAx9q3et7t5DFcSCwetXd-wawAvKJIADd2D8ydzL_O4wZNiN-_uQJQxF6PNRJEAAkr_eBQ1D0-93SN6_bwpX8PVuQCBx07GKFyB_2GVVmoJjuQRLwAONDnd5F49vbeAu4wuDqLyYYtcy1XYvo4V9Mmkqg_4nN6q3HFeY4tgAStVcCHm7WTUV0gibPoRCGFjDy2kgUKwqOHUMiA2l13s-nSBoZLNDDtU3ZEeu8tBGSy4JfwOEDMkAHPNWnwLYAjEnF5kYrDc8baYQCHzX4UAZknGLnp996OPPS5sSelsTtxAxmT9oWh2ogmF8C-NlXK9hGe9BLd0oZQumLhkLSNmaOLnSKfd1J9FqyFAarpsXZr4-62xrlTtfzqyhuHEazBt7cahezKFAEfJb4t2b1wlSq0aL8FKGze-1XdQl0lGAac-XwVPpLhhr_J8nL2LTlnF1fcj4bePeI_EUezB3vlutTLdqBn7CwqtUiwyk1NPV3VP-rTM25ZG2_NhuOa-jezNNh4C3MaM24ZGY1g1O1Lhypyx1m_1W8GetXTzndmgU=",
  "id": "rs_0304a6004fe11c96016ab493890cd087d09e4f811958be907b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy’s body is between the open jaws. I’m closing to grasp its fabric torso.\"}",
  "call_id": "call_OB3mFp5UxK3KPxdM9dYCnpoS",
  "id": "fc_0304a6004fe11c96016ab493898c0c87d0a422552a14944756",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OB3mFp5UxK3KPxdM9dYCnpoS",
  "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]: [-0.2184, 1.84, 0.7017, 0.4606, -0.2436, -0.1799, 0.2986, -0.0238, 0.8192, 0.6483, -0.6346, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4353 left_y=-0.0493 left_z=0.0179 left_yaw=0.068 left_pitch=-0.0742 left_roll=0.026 left_gripper=0.2986 right_x=0.2624 right_y=0.0006 right_z=0.1446 right_yaw=-0.0025 right_pitch=-0.2239 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -9.4838, 5.7641, 1.2967, -0.0708, -0.0855, 0.8425, -0.0889, -1.1009, 6.7897, 1.7705, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740548f81550ed7f78b681fa0486c056c1d6af989c8b949a26cd791735dd9df0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca64477069f9c69560659b1def670b2aacb1f1d3cc8df49a9178ac832527f49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05a4984798378b67b9c35a923e6d64e48d0182174aeaefddef55ff6320690d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 5.618 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]: [-0.701, 1.8378, 1.5188, -0.5186, -0.6048, -0.535, 0.9963, -0.0238, 0.8131, 0.6548, -0.5549, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.2335 left_z=0.1869 left_yaw=0.0692 left_pitch=-0.078 left_roll=0.0388 left_gripper=0.9963 right_x=0.2767 right_y=0.0003 right_z=0.1632 right_yaw=-0.0023 right_pitch=-0.1316 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -13.3675, 9.7709, 1.4432, -0.4371, 0.2125, 0.0904, -0.1983, -2.0308, 10.3179, 2.1661, -0.0513, -0.0415, -0.0073]",
      "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]: [-0.2138, 1.8229, 0.7094, 0.4297, -0.2348, -0.1822, 0.9966, -0.0235, 0.8188, 0.6483, -0.6113, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.435 left_y=-0.0487 left_z=0.0217 left_yaw=0.0667 left_pitch=-0.0816 left_roll=0.0206 left_gripper=0.9966 right_x=0.2665 right_y=0.0007 right_z=0.1487 right_yaw=-0.0016 right_pitch=-0.2002 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -8.0615, 4.547, 1.9023, 0.1148, 0.1734, 0.0024, -0.1846, -1.4291, 6.8718, 1.8681, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2184, 1.84, 0.7017, 0.4606, -0.2436, -0.1799, 0.2986, -0.0238, 0.8192, 0.6483, -0.6346, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4353 left_y=-0.0493 left_z=0.0179 left_yaw=0.068 left_pitch=-0.0742 left_roll=0.026 left_gripper=0.2986 right_x=0.2624 right_y=0.0006 right_z=0.1446 right_yaw=-0.0025 right_pitch=-0.2239 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -9.4838, 5.7641, 1.2967, -0.0708, -0.0855, 0.8425, -0.0889, -1.1009, 6.7897, 1.7705, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740548f81550ed7f78b681fa0486c056c1d6af989c8b949a26cd791735dd9df0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca64477069f9c69560659b1def670b2aacb1f1d3cc8df49a9178ac832527f49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05a4984798378b67b9c35a923e6d64e48d0182174aeaefddef55ff6320690d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The gripper is holding about three centimetres of material, consistent with the white toy. I’m lifting a short distance to verify that it comes up cleanly.\"}",
  "call_id": "call_Q2KqJVVP1r4DFXUsyLJuFmdq",
  "id": "fc_0304a6004fe11c96016ab4938c66cc87d0ad8c2adb0500f32c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q2KqJVVP1r4DFXUsyLJuFmdq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 1.6608, 0.7013, 0.2279, -0.1947, -0.1276, 0.3013, -0.0235, 0.823, 0.6483, -0.6571, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4144 left_y=-0.0407 left_z=0.0463 left_yaw=0.0299 left_pitch=-0.1355 left_roll=0.0494 left_gripper=0.3013 right_x=0.2585 right_y=0.0008 right_z=0.1399 right_yaw=-0.0019 right_pitch=-0.2502 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -10.2222, 9.0735, 2.5958, 0.1538, -0.1538, 0.2662, -0.1983, -1.0051, 6.7487, 1.7851, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2398fde0a5af9707bd19cb3916f89d0df5e766b2f9454b4a01aacf6a80ef3d25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83f0e008e7e3edf625be8ef317ae0dd69bd90456550fff99f5897bc919706e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac60c005f96fa08aafb73e238f72d6bf66c7ba9faf01d62bedede970c91d7cb0",
      "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 · 2.733 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 55 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3252, 1.5269, 0.8898, -0.0456, -0.3035, -0.2348, 0.9965, -0.0238, 0.8162, 0.6487, -0.5758, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.422 left_y=-0.0828 left_z=0.1278 left_yaw=0.0405 left_pitch=-0.066 left_roll=0.0196 left_gripper=0.9965 right_x=0.2725 right_y=0.0004 right_z=0.1559 right_yaw=-0.0027 right_pitch=-0.1617 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -8.7179, 6.5299, 2.0977, 0.0708, 0.1294, 0.0073, -0.294, -1.4974, 7.3641, 1.7607, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2184, 1.84, 0.7017, 0.4606, -0.2436, -0.1799, 0.2986, -0.0238, 0.8192, 0.6483, -0.6346, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4353 left_y=-0.0493 left_z=0.0179 left_yaw=0.068 left_pitch=-0.0742 left_roll=0.026 left_gripper=0.2986 right_x=0.2624 right_y=0.0006 right_z=0.1446 right_yaw=-0.0025 right_pitch=-0.2239 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -9.4838, 5.7641, 1.2967, -0.0708, -0.0855, 0.8425, -0.0889, -1.1009, 6.7897, 1.7705, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 1.6608, 0.7013, 0.2279, -0.1947, -0.1276, 0.3013, -0.0235, 0.823, 0.6483, -0.6571, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4144 left_y=-0.0407 left_z=0.0463 left_yaw=0.0299 left_pitch=-0.1355 left_roll=0.0494 left_gripper=0.3013 right_x=0.2585 right_y=0.0008 right_z=0.1399 right_yaw=-0.0019 right_pitch=-0.2502 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -10.2222, 9.0735, 2.5958, 0.1538, -0.1538, 0.2662, -0.1983, -1.0051, 6.7487, 1.7851, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2398fde0a5af9707bd19cb3916f89d0df5e766b2f9454b4a01aacf6a80ef3d25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83f0e008e7e3edf625be8ef317ae0dd69bd90456550fff99f5897bc919706e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac60c005f96fa08aafb73e238f72d6bf66c7ba9faf01d62bedede970c91d7cb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJOTeVQXoFMemiGo8DbrA_I73puLVqfsQKY_VYWRwZZ7kCZMLsSDeUpRIwAWZ27JTJubTQuCFQyb24w4ML5fyGUv5T7Ro91NJkxhBnudyL3GhRXVe8J-LbrR_pQgZTV0Z7Y-kOwOZ0yMcut2-Ap90kvGqYuyfN07gQHR0TWlt9RZMoiJB4iQHHv7uTOahyo8JsjUKoI4mVNj5C9xDUdlA2n9BbO8WInuHg0futlAbahOAWKPmSj2cd1MY5togXdBC7g80Ox7ULd3-sSaXaLtxNVJlGtZYlZqRU-aUlVvK6DwLh76SIV6t1krhk-vTzkZvQNctwztgTVg_DdsI5vljR7zElqGH-FSY7Yn0gwRIpdBUAu1XWqhprlqbPjC_y3NhRvzIEJ5CXqbeVIUl6WUqAGd57xXXHgwZtrW0XLt_8nRiwymjKdZ44MAFlgkOVYFeoCmcjOacEJi4llwqHNXzA2WdPhs8Xw2lKqUwngZQynBioMVCUxFXY4i4HlNXqJv4n9td9ReIspWPE2IVJc-VVgC8UPnhUbVyfwJ8kZt5NhF9O05EMDKbJFngo80VWCvpRhrDz0P-OyZdYCfSLa75quZ5vps6Cst6UJRhPE9N439X-gKzBVutDriFRrt48Mraqlzi0F-WVxizn7RILDyF7Vlhs8KbGnJQZRi_wzB50XKyySZdoSYygGT8CRJp8dmaKwvo-k6MAoSUuaELpFJ1rcQH-q1L1ui_em5Kk9QHQSFbvLYnK-jSJ1yN_PIgj-yhZaAywzoqySSAop3mjP-44dWqExFutVDggKjnBuoOnuH0G7ue3hdIC2lsdJFqxNB7ICASZe22W3TVp_E-ON9HX-50thoGTVyhxjrclYUrBMwF-4Dcj0QkvRlzxzq8j__Oqw907gSsMyrQAf908j2OlmDkLJVWR52yXjsl2KXa43fyMh5r8FeZBGpikdQMCmetrOWO_TwVs_p8IP-Y77b7oqAHlmhNArGLSqZInK5ZX4YsBTixyYrcBcAB0Dt09cyKDjknRiWEsrArmBPOySJVfdLZXyD7y7GrqnrYHSwI47hrKrmTy7C7zlCxV46Aa5ozdYAsii7x8LozL8uO4MHp45Dn8I5-PSc6bVaZFeEUL_cBY9RW9fodDBjJa3jBRKx_trao95fy6IovN1LFvXshcxhMnfQvijaevXsENMc1qSu6tK6p6MSmpKRB1joSkQbF4aFR3o9BVkWWOcucpukN1Qnw0PWtb9kTlSn_9Y5MHPV779T06RPZC3bkvVNGaEbA9VOJGyvj4v4dInd5W8Y5pXNpMt5109tthzZaDOFfYGk0dd2xdaRvYgE3uFN5-4RuBE4kgAu2GIS0kYY3LkBwzucdlBiY1ltYQMVkqauwukc89gFVn_amZjslPvYh55jHSkQNIOZ35MS5BTtMFWdFVOaTrj27vD-wr48un3_wiGw529fWU1DyQyDzYzVUmNp9wl3tP0CWzslShSEMF7ugBY2NLtJ9Noh_8Ov9poCVZxhf7OdnAhdyKAyRbwEGV7O6SiVG6svGN8sQ3cdI81oUbGdhYhpIDUBc9wNLUdCS6Ra-4F1XRCINxKYNFKKD9iG4fPqkGzfvhzEssK2wmZoS4Fhw0aGF8IstSt7uLKOm51pDrzbj4tdcX8R1x0xJ_WXy4SOZvBHWmRnAzkxjvw9NtmiokaZcAJlY09tyQ5P29L7ERl0G5ZWZYj5BuPd5Q28WRN2Fb_QDzMjONVCcy-0515UMHB-aDiqju4FLprFtPJOpabHvuFgUE0IG4_7afkF_DbeYkAbJrC8nCvNg_7lXqBj1wsCdViggyFk8a5Imv_TRH1nGD3BJNYytyO2LpADMMT_Ahw6Lz032ng6Ci-vqu57iOQTQbAgubUsYHxFFGa6h-odKXKVqA-N2JobnfXvi_ecZHG_Ea4PIajeM3oeKKXSYQ==",
  "id": "rs_0304a6004fe11c96016ab4938f29e887d0b215ba79bd8787e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.035,\"left_z\":0.205,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The first lift stayed lower than requested near the safe’s side. I’m lifting upward and slightly away from the rim to free the white toy without dragging the case.\"}",
  "call_id": "call_l5r9mH4QSDnPvKK9ABpO2KsH",
  "id": "fc_0304a6004fe11c96016ab4939211dc87d0a0d87e99c45a0c8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l5r9mH4QSDnPvKK9ABpO2KsH",
  "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]: [-0.189, 1.6394, 0.646, 0.205, -0.1986, -0.1131, 0.3041, -0.0235, 0.823, 0.6483, -0.6762, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3939 left_y=-0.0362 left_z=0.0305 left_yaw=0.0267 left_pitch=-0.1909 left_roll=0.0753 left_gripper=0.3041 right_x=0.255 right_y=0.0009 right_z=0.1367 right_yaw=-0.0015 right_pitch=-0.2693 right_roll=0.0058 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.4154, 6.5026, 2.3663, -0.1978, -0.0952, 0.2759, -0.1983, -1.0462, 6.735, 1.6532, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ead2a2f67a9babec047a53824eb0556107f652aea1e2f3f02af8eaad1595703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df34106c7f6c51076dccc826c22432d4363f9cae6cf5c490031aefd6bdb43a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605a7c88c118f85bfe6f20dcee299b85f916374df86459025ad9c9d558a2d282",
      "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 · 3.219 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 55 changed as sent

message 59 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]: [-0.2138, 1.8229, 0.7094, 0.4297, -0.2348, -0.1822, 0.9966, -0.0235, 0.8188, 0.6483, -0.6113, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.435 left_y=-0.0487 left_z=0.0217 left_yaw=0.0667 left_pitch=-0.0816 left_roll=0.0206 left_gripper=0.9966 right_x=0.2665 right_y=0.0007 right_z=0.1487 right_yaw=-0.0016 right_pitch=-0.2002 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -8.0615, 4.547, 1.9023, 0.1148, 0.1734, 0.0024, -0.1846, -1.4291, 6.8718, 1.8681, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 1.6608, 0.7013, 0.2279, -0.1947, -0.1276, 0.3013, -0.0235, 0.823, 0.6483, -0.6571, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4144 left_y=-0.0407 left_z=0.0463 left_yaw=0.0299 left_pitch=-0.1355 left_roll=0.0494 left_gripper=0.3013 right_x=0.2585 right_y=0.0008 right_z=0.1399 right_yaw=-0.0019 right_pitch=-0.2502 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -10.2222, 9.0735, 2.5958, 0.1538, -0.1538, 0.2662, -0.1983, -1.0051, 6.7487, 1.7851, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.6394, 0.646, 0.205, -0.1986, -0.1131, 0.3041, -0.0235, 0.823, 0.6483, -0.6762, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3939 left_y=-0.0362 left_z=0.0305 left_yaw=0.0267 left_pitch=-0.1909 left_roll=0.0753 left_gripper=0.3041 right_x=0.255 right_y=0.0009 right_z=0.1367 right_yaw=-0.0015 right_pitch=-0.2693 right_roll=0.0058 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.4154, 6.5026, 2.3663, -0.1978, -0.0952, 0.2759, -0.1983, -1.0462, 6.735, 1.6532, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ead2a2f67a9babec047a53824eb0556107f652aea1e2f3f02af8eaad1595703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df34106c7f6c51076dccc826c22432d4363f9cae6cf5c490031aefd6bdb43a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605a7c88c118f85bfe6f20dcee299b85f916374df86459025ad9c9d558a2d282",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOXHpkH5haKnCZvM4FPy5-GDr0aVWvPxzhlPnqb-Ent2ViKkVNom6gBRTtWqkPglrDYG9vRAED14uyFyckE6jvk-wFvfG456w8ZiC3yY60G0lRkD_gzT8lmgQYFaPKW9PQtm6EF62OT5eelvftxmh3Po99vGJ8lqyzp-XTdwe3Ss3r6SqMJOdXDGoLfLom6dYIZ5CykVhr7U9woS_ho_hh38MxpMqOSiTo31vxQn8HHAPHCR3XR8787spNmVd-p17KAQjBUJX_-hscNvqMVnPVVMQle1tgatdUU56sjtu6GcAu05C879Rz0StmGAaaMiPl9j3san853k-PB7_jKzIQVFMbXI5cpfm08BGJqs-8uCc6HWBMuSyVpZLwrylHx3Owym4F9zycO3ewpKvfhRw9lSlCmBIXFeZ0KSGlZWd1qe5iJTZ-nsj48LqbUbBQbD4qj6VHfGPtt3-AxlVvsGmGn8wJ9QLnWuHN--W0lcvJLNJEbRbCdz9x6IzNt3_ueZTeNkCvrOWfTWRRaNU2VIHYcSrIkBnfTjMSdKztIYlIOTDSnYyIJGn1fg1xAGvZc3gezst1uxPn0ZRNVkbPcfN-i_eYfhLz2aVcZsiLGVnGKSY2a4IDM_CxVuOTr_yhS8hjulVQvX-1P--CnJ5CKxD9lWQkgUd3CHlJnQ7ipp0Tacru5cPgvXdaHak_2A6avNfqiq7EFLXa8K2Qffi8o2-UWBHe-hX35nWVKs5dR5zBK-RwE1bJf0eTy6EnFIjD59sSo7IpzskL54nB2acBX1AwPJBs4xpJ3ivWE2NEXsY-BemFGtyqNRalJ0qZq5oy0epFXxugd2gVQ3bVDcYSIiB52I_9BwmoH61EgheA9YxAjexX-NszMi02Pyy9Z4yw6312QSLtBGb14RIOu_H7UFSYms77XEQ4s6G5qtg4HmaRDEnhQoyRpHDeRCohyuF0Pxf46ImrqbNg0qcOua4dpfOsvpoLzJ7dHFORZ0gDuPtjH10XLXKp7qOecod4_YD9AMLnNHHSJIG08kgGOS37Uaz0B8TsKP0LP1jvwQlBp3YimCOAWnJGvCc_9RIdrq5e47zeFAQ69eX4W9p6hTmevaW2ueeC9HZ_Pu9gxAMJR9yZ9fFcMJ4t_GOiE3TVGXmSFgnp5W8aH5WEKznLcLHnKCqyJ4E8OGHKQbJYkmUG_4IAEw5yssntcTrodSjFTxoV3FJ6Dk920gfHLXkh6v8UCSHVCC0MtTFE1EC8H8p4kYsZGxoLEBqYeZmKmNNy4Whug07K2jRJkv9og6rh6rhSrdHJbpVXr3AbF1uPNvAQhe4CfE92HuxivR1oYaGEVao6OAYRd",
  "id": "rs_0304a6004fe11c96016ab49395c92087d081898de22a56a67b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white toy is not lifting freely and the safe has shifted, suggesting the grasp also caught its edge. I’m releasing now rather than pulling harder.\"}",
  "call_id": "call_bTgTzUhPFwwLJPRfYLu2L7Yf",
  "id": "fc_0304a6004fe11c96016ab493963df487d082751bd11c06d399",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bTgTzUhPFwwLJPRfYLu2L7Yf",
  "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]: [-0.1871, 1.6241, 0.6624, 0.2146, -0.1997, -0.1341, 0.995, -0.0235, 0.8288, 0.6487, -0.6846, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4021 left_y=-0.0368 left_z=0.0439 left_yaw=0.0396 left_pitch=-0.1498 left_roll=0.0513 left_gripper=0.995 right_x=0.2536 right_y=0.001 right_z=0.1342 right_yaw=-0.0014 right_pitch=-0.283 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -6.1333, 5.4632, 1.5995, -0.1148, 0.2027, 0.1197, -0.1573, -1.1419, 6.7487, 1.4823, -0.0562, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267a3aaa3f9559a70aeae9c0d8525af717cf6e18e16dbe8b88d323bb97101eca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de5f5f9147c8e869ef14d453128e7f21298aa3d5989f5ba807bb7bfcf79e9ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f453a8c3ab5c02119ea1889f34a7d34da52a918d06c14339db06bd9367b4863a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 7.62 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 59 changed as sent

message 63 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]: [-0.2184, 1.84, 0.7017, 0.4606, -0.2436, -0.1799, 0.2986, -0.0238, 0.8192, 0.6483, -0.6346, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4353 left_y=-0.0493 left_z=0.0179 left_yaw=0.068 left_pitch=-0.0742 left_roll=0.026 left_gripper=0.2986 right_x=0.2624 right_y=0.0006 right_z=0.1446 right_yaw=-0.0025 right_pitch=-0.2239 right_roll=0.0045 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -9.4838, 5.7641, 1.2967, -0.0708, -0.0855, 0.8425, -0.0889, -1.1009, 6.7897, 1.7705, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.6394, 0.646, 0.205, -0.1986, -0.1131, 0.3041, -0.0235, 0.823, 0.6483, -0.6762, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3939 left_y=-0.0362 left_z=0.0305 left_yaw=0.0267 left_pitch=-0.1909 left_roll=0.0753 left_gripper=0.3041 right_x=0.255 right_y=0.0009 right_z=0.1367 right_yaw=-0.0015 right_pitch=-0.2693 right_roll=0.0058 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.4154, 6.5026, 2.3663, -0.1978, -0.0952, 0.2759, -0.1983, -1.0462, 6.735, 1.6532, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1871, 1.6241, 0.6624, 0.2146, -0.1997, -0.1341, 0.995, -0.0235, 0.8288, 0.6487, -0.6846, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4021 left_y=-0.0368 left_z=0.0439 left_yaw=0.0396 left_pitch=-0.1498 left_roll=0.0513 left_gripper=0.995 right_x=0.2536 right_y=0.001 right_z=0.1342 right_yaw=-0.0014 right_pitch=-0.283 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -6.1333, 5.4632, 1.5995, -0.1148, 0.2027, 0.1197, -0.1573, -1.1419, 6.7487, 1.4823, -0.0562, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267a3aaa3f9559a70aeae9c0d8525af717cf6e18e16dbe8b88d323bb97101eca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de5f5f9147c8e869ef14d453128e7f21298aa3d5989f5ba807bb7bfcf79e9ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f453a8c3ab5c02119ea1889f34a7d34da52a918d06c14339db06bd9367b4863a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOagWOA-ArkBdP-W1DCkfoAS-yn4JLEMnUwEmp_nHmvOSF9QNYQS0KxPkbTrFCZ-X_P5z1i6tJqEuoSUPFzEXssc-jpujd_7t1jy43FXfcCZc3MR11FsZHbILGQ4FnVaNNJ_DqSbs9qhiJH7rW2C8UbW6_w2d1IjmzNLy0iFCFV61HDkwXpPEE-3rkQp9qaO1-Uh7LcR6aXJ66-LNbqOZ15G4o9oAH-z2evercciID0wzLrvvOWEwcOC9h0CeU2DNyOa0C6FnjUl4e1_X713irMksDJkvlcEAw05at1vN7qHkJnsgcQVy7o7FlvZ5gEuofF_4aKZYm6Dirj6KujQgTDQybC7BlffwkmTclxZa9L9gMKULHs8QEqlPjtYqyUHWzfilN74NeLBSVD_2hn_8TgKMRoWHTjPKncj2lmErTFeYX4bdilNqH31wIZEGIMus6c4ZS_UZFzVxT4o_SCIVxXydEDTXVSde7QEXQh4e_Mh254keoqDfo8WFbCYvX3XUgiV_Kfi9JpgkYnci4wPdq3LI_8OU80BVpkTuqXagI9-jPd8vhJ84H3YyzLdnstYW3Bz9DfTcDPnapEyW9nquJanaDQbbxtsmlOQyu4wAcu8oimsfUvp3T4rCpY3vwfkqFid9XZrPkC7GaKJxjvCrlyolMz0vaiZXeRoRO-KTPzsnZ0NzxqNp0isJjNB0U1B5QJGKuyzrRhFpawK_ZLVOWFmcLTOHYNJMk46YDWgGCoU3s58DI1NYb3bK2rTHVahLF6hmPoV9jqAn8Q3ryyinqYH4WACHkzHnY8be_LhRqfC4M3jircQ5GDptVtfGqTUmnBlo5_AZsHZzogG7zmi7bmW4mFbLNRh6W79Wn4ej6ZB6grLbwoy3jKfrRz1gVqKGabOlpg3RVweYSGYKCRnCpHJ8bJf5L4GpcHko6kYyz4sp2cnqPH2jodC1fb9poohx6iTMJ3c8cgb84wpUH-DLeWuDhiW1mRcDcUwaNN9QipQFDjmH8G1qpw1N0poWd1D7xDoH7EgRXFNadbL6a4EXF0auzehhnSWnk1OQGmfLuiefTcxDaNQV63XWhmkCS7FINzir5XJkRbDWZXCNgALdyZJPjTxCHiILq2G40O0TU72ZxDTAw9r9sH9PdfVGFc2jcM9BKVeR2fZeIYuuQ4rTLXHReC3-DHwK-_oCQ0h1fm35UfSfQIet-rEDzpBNWOPby_9A77zepfplyhYcNsNL_ZMH3kCUa4mr6HhaQDoqKmN-GIIs7diA319hvaJCiw2oUP",
  "id": "rs_0304a6004fe11c96016ab493991e3487d082e3df0792d48db6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":0.015,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The safe tilted when the grip released, and its lid has swung partly forward. I’m withdrawing the open gripper away from the case so I can reassess the toys and opening.\"}",
  "call_id": "call_4y3YRVR2jNpObMR3M4FYMpTZ",
  "id": "fc_0304a6004fe11c96016ab49399b58887d08adc851eb233ce56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4y3YRVR2jNpObMR3M4FYMpTZ",
  "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]: [0.0364, 1.1774, 0.7944, -0.2459, -0.0029, -0.0296, 0.9963, -0.0269, 0.8131, 0.6567, -0.5583, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3677 left_y=0.0175 left_z=0.175 left_yaw=0.0392 left_pitch=-0.0486 left_roll=-0.0052 left_gripper=0.9963 right_x=0.2764 right_y=-0.0004 right_z=0.1634 right_yaw=-0.0047 right_pitch=-0.1331 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -5.1761, 9.9897, 1.8779, 0.1294, 0.2613, 0.1197, -0.4308, -1.8667, 10.3316, 2.1563, -0.1343, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac427e219a0f7fb85d4b04d797efee9e739591e41a433041042f6ed054997b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e3acad2c38816b58db044405309fbe6fb284fcaf31e397471a4f3452153d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34e6ecb747416fe6b05debfbbf79fefaeb2d7ed5852e3864acdc947d6347c63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.679 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 1.6608, 0.7013, 0.2279, -0.1947, -0.1276, 0.3013, -0.0235, 0.823, 0.6483, -0.6571, -0.0185, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4144 left_y=-0.0407 left_z=0.0463 left_yaw=0.0299 left_pitch=-0.1355 left_roll=0.0494 left_gripper=0.3013 right_x=0.2585 right_y=0.0008 right_z=0.1399 right_yaw=-0.0019 right_pitch=-0.2502 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -10.2222, 9.0735, 2.5958, 0.1538, -0.1538, 0.2662, -0.1983, -1.0051, 6.7487, 1.7851, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1871, 1.6241, 0.6624, 0.2146, -0.1997, -0.1341, 0.995, -0.0235, 0.8288, 0.6487, -0.6846, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4021 left_y=-0.0368 left_z=0.0439 left_yaw=0.0396 left_pitch=-0.1498 left_roll=0.0513 left_gripper=0.995 right_x=0.2536 right_y=0.001 right_z=0.1342 right_yaw=-0.0014 right_pitch=-0.283 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -6.1333, 5.4632, 1.5995, -0.1148, 0.2027, 0.1197, -0.1573, -1.1419, 6.7487, 1.4823, -0.0562, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0364, 1.1774, 0.7944, -0.2459, -0.0029, -0.0296, 0.9963, -0.0269, 0.8131, 0.6567, -0.5583, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3677 left_y=0.0175 left_z=0.175 left_yaw=0.0392 left_pitch=-0.0486 left_roll=-0.0052 left_gripper=0.9963 right_x=0.2764 right_y=-0.0004 right_z=0.1634 right_yaw=-0.0047 right_pitch=-0.1331 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -5.1761, 9.9897, 1.8779, 0.1294, 0.2613, 0.1197, -0.4308, -1.8667, 10.3316, 2.1563, -0.1343, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac427e219a0f7fb85d4b04d797efee9e739591e41a433041042f6ed054997b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e3acad2c38816b58db044405309fbe6fb284fcaf31e397471a4f3452153d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34e6ecb747416fe6b05debfbbf79fefaeb2d7ed5852e3864acdc947d6347c63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOjftm6z9g0Wh0Ki9R8bSU1WiVY5m7uuGlOoq25zceZeVsEhVi5KLETk9S8vvG8Dam7TGNXvyCWxlNkS2pAwTDlpRxnnH-5fwK5psPm4-wiWpDBB5zD1puAuqIk9AdJxcrELQfQr6LgkDve_G0pyTQvZC2u9guZmYlqFlU4XwnDvNn2fy-GnWZBxYibGkNnVH5ge1S3IOwctvXRx5Y37C14zOdqudmloFn-7eWdu9rasQqYeFA2ukei7yb5Gr4_WdYTEk-rTrCt86W3lqI04c_fqHxvH6dpGSR9I4bQm_ymD9LuCzZJpDoSsoImuAwmVQ87K-LYtCb9e_8E1MlW1JaBJZotK27DHPv7i7DoPK7RrXoElmg5nIgbe3h-gKuSY0vDmMIedNcyuoBKW7LmKLoxic2fUrpkt2ni-49nPTcP7gxVMLhqJuPQq8sPeoQg3vlJ_6dPd9a6Qs9TuAgxGFPs20F5sEsgpaVusrmJgdYQEsboUjmH1EFSh20Sd0ff-x_RVFa_ACgazcKYt0qpdNRNnDlyGBKFPu3gijO9nqGEPEO8ml5ZsYnwWUiabHOYScgLHc4e_s_AiOt5zd7zpSIwKzH2CwtdsjhqVHPyPI3joTr4M2wyANpn0j1cJZx7TLRrNwC5hpg6isZkdk9eKFb-g9JWFGWSnl6rzWC4i38PR2-PryWBRyuPqnmLEVKK6Ai1OOVf26nmyrJ0sF0-FLMvdGIqvUjTXeEEmXAjp4Fw-bbiFbuvuM3yV0QJraOet0y7UIXHRu-imGnWFaTurlQwiXzwAth-0g7qayaHa9nQ_JqRW1LVyAnvWeKWm_P9NPBazGKAcAKF0iYZzIwkB3dIbF3iecvIMjvjU7U7GV1RUSb3MPTZHmO6qkOEx_2mLDVwd676nTi2Z27gCaZzw2W88QsD9JsGDMN_a6bivAf_b1Bh83YEmYP-w7rd96-X8gpMa1kAhrmMnHtNK-O1H3zCpmvIi-gtmLSWZi5aPAnEAWFKsgbp8h0Ad3dYughWlHecmMnpkfzyqiyL1t0ecP24Gxy6H5TBQcI-XntbtLEy3Ksm4QMnfqybiXZmFNO_m3U9PMP7MhoyqJIT-Zm1GYg0oXzacLfQFHu6-1sgkdT8iTuu4rrfIZ1wZaBSEtX1I3NJJxhqIA-Pl0WCvOrkPHBbew-_OK4oM6pOyU8xx_Bu8SgNtByJmGvnS8Fc3_DZkCWK5RruLTf5QvwW21KudxEI-zztZyzwgeqVu-XnpROcIbbYtqxyfFNXGNn_TP1SpbgQCu-4kHqr7c5ZoYhq_-T8WU--PUSFSY7U_so_qweRyYTRHfTS9WBJEirV3UbFyt8F93_Rhwy1LsYmwA8dSyawf4nODjtBRD50utRtw7rVeAgxQj8qaXhQpp54-maHQAAMqsFjY2jNofthleVMALvlYor_FGm9soK38tgGXJ43phbRetfSO3NFQKgxjkYVSwWPFMm9HQZZvKbJ7SdKhUawAYUfAhjQBqLdX7QSmsWMjEW_pldYZpIjlxniKJieuoPUnEFGV6mr3whnSF-6aP4BTDEZBTn4_24_XN7uFj5RMCGcegaKzyD5FnAqMEI6FLPsqlG3RjajNxtMymROgb1jT6YVFF9FtobpgfVjDo-swApVR_9VWiO3FZ5ZeN-q8OxviKDIHJH8_xisADmAcu0UYk2RDk2HvJfBY5qmJeHPAWVEsFc0TgnQbOH6zoXYlbjW4nS2Qba4prIvyxBeWPL8vfoLR7BiaBQCp6d_9nOGRmBJ0mvg2BBER10j5kgoAyTDwMTpYlbQE8CB1_wmJEzNuu5J6Uhjerm4QfdsXOodDNQokJHz23QF2lNAon5ZKdDEtp0rYqFULC9dOQiqNDzIrhytS1J0pCys9iEcnqNXkqKo8E3EACrO-9MlnCn_jnwEHVVMbNqlVYEPYezWhhpNRSK1ze_SQx6DfhLF_WnOB4zCOueFdEMPEH-p6LkTo8qY7Wo83e1ju8w7h032cmlCToKMpNSJz1vns9DkGRpHyD_62letXwlO9wh-apaGvyagXzxkY-6fOMsScfs-odCvu9YJSjlYJB0q6dc7wHgP3rAVBvY1hidOZsRzqz4cJu21I3ktCY3_6ummgIRYosjZIZzMfAEJ0Kq5vUusQ-J2Aed0CJQPaodBaM85a5OOMxkPoKvD4sB_Vujqd0jf6nUvne8AuOW06_2D4sBsh7TToFn-EpbgLjwUXHSHShiKstdLSZTOYc0SU3PlSqbFSwCNz0Yj1Gx_Oj1yWCVuzkKCYSZ1yHK1_F-7TgQILmsINNoli_w_eLlYmfD4-5jiEp-wnJ8R6O7FKvty7daxWjg4cpgfroyeIY46PAJFvUHFlkd0h-_w-pCVKFrJZ3qX6stTot2ODC6KcdK98TJwoRzKt_DW6EMY3RY7a_tCkLP4OM18CZzYAKExmwC9u9ZtWrV5A0CxJrfLgamF2shOBKld4PY_Jg6jC6RyTlm00Oa-quvDyzwArB0f6Q97jN4dmNyZ89QTAPxNiDwEIP6a09mMtqcyVc2NJ1sspcr_nA4R-3hRgCPiTSbWTjE9bdNX-VZYGMYmZlTq9eLL8z1Q5lUM_23t3MQFXPaknPLP8s_wzTElsi6NYM4TrBFh12538t4rtM2UD-dbAXbBwRA716iy020s0Ve4C6DlDZAhvqkPnlIi",
  "id": "rs_0304a6004fe11c96016ab4939d68d087d094c30cb26b6cf774",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.043,\"left_z\":0.025,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The white toy is now clearly visible outside the safe, closer to the front than the previous grasp. I’m approaching its exposed middle, away from the lid edge.\"}",
  "call_id": "call_VQArRJSHmefvf8Hn9ovAFVNP",
  "id": "fc_0304a6004fe11c96016ab493a26d5087d08804e7c25812a1a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VQArRJSHmefvf8Hn9ovAFVNP",
  "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]: [-0.2047, 1.5784, 0.3763, 0.5457, -0.1684, -0.1219, 0.9965, -0.0277, 0.8169, 0.6495, -0.5877, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3591 left_y=-0.0406 left_z=0.0202 left_yaw=-0.0127 left_pitch=-0.0655 left_roll=0.022 left_gripper=0.9965 right_x=0.2707 right_y=-0.0 right_z=0.1539 right_yaw=-0.0034 right_pitch=-0.1735 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -4.9573, 3.7402, 1.5311, -0.0269, -0.232, 0.0073, -0.1983, -1.4974, 7.4188, 1.8926, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16000c2a01db12693ef00ce515233e2f06a1cc1f87ba848cdf57c6a1542e8add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0938e49c005d93978ccbf00394c7f1972249a28335dc60a26eb001fed707d648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de87b0bb3c63b871d334b2ca494a2d130ae2e39ad07f070e5699983d9e857bb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.185 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.6394, 0.646, 0.205, -0.1986, -0.1131, 0.3041, -0.0235, 0.823, 0.6483, -0.6762, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3939 left_y=-0.0362 left_z=0.0305 left_yaw=0.0267 left_pitch=-0.1909 left_roll=0.0753 left_gripper=0.3041 right_x=0.255 right_y=0.0009 right_z=0.1367 right_yaw=-0.0015 right_pitch=-0.2693 right_roll=0.0058 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.4154, 6.5026, 2.3663, -0.1978, -0.0952, 0.2759, -0.1983, -1.0462, 6.735, 1.6532, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0364, 1.1774, 0.7944, -0.2459, -0.0029, -0.0296, 0.9963, -0.0269, 0.8131, 0.6567, -0.5583, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3677 left_y=0.0175 left_z=0.175 left_yaw=0.0392 left_pitch=-0.0486 left_roll=-0.0052 left_gripper=0.9963 right_x=0.2764 right_y=-0.0004 right_z=0.1634 right_yaw=-0.0047 right_pitch=-0.1331 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -5.1761, 9.9897, 1.8779, 0.1294, 0.2613, 0.1197, -0.4308, -1.8667, 10.3316, 2.1563, -0.1343, -0.0171, -0.0073]",
      "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]: [-0.2047, 1.5784, 0.3763, 0.5457, -0.1684, -0.1219, 0.9965, -0.0277, 0.8169, 0.6495, -0.5877, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3591 left_y=-0.0406 left_z=0.0202 left_yaw=-0.0127 left_pitch=-0.0655 left_roll=0.022 left_gripper=0.9965 right_x=0.2707 right_y=-0.0 right_z=0.1539 right_yaw=-0.0034 right_pitch=-0.1735 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -4.9573, 3.7402, 1.5311, -0.0269, -0.232, 0.0073, -0.1983, -1.4974, 7.4188, 1.8926, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16000c2a01db12693ef00ce515233e2f06a1cc1f87ba848cdf57c6a1542e8add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0938e49c005d93978ccbf00394c7f1972249a28335dc60a26eb001fed707d648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de87b0bb3c63b871d334b2ca494a2d130ae2e39ad07f070e5699983d9e857bb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOobGDkLbdYG-G9gtTBn7wHNemGDHOVzwYUdMVYkKX5y8TBwEBduaPvpea5yp5UEhYklcJs9PSPF0MonIL62qwK1E0ETifcaWhOLR_HPb44cHwOAmPJtH56Do-5NrpxLhp0lTfZY--Y81phcYqL-CBkXE7ppRv3O3Eft_LzXeVMtj_-BRXK51-qcAxLtPbq7OoFXrS3JXIilZsspbSZpACHOHXUnILwvqkrXJcM4utkfRzXK3ZYyzQXeN5wNI0_X15dqXjk_WOiORFujgSc1761X3s2he0znnRbPt4aNe8qzumR5Vp9vKyZGCUekRemYC-5z2sENNTJ5U_nKH3c-un2e-e81kUBP8_7sEwz7tJBsEbMca20LA-g5UpsHV43evCbBL82_6mhcQjez56Rks0jdXAd6dBsO08KhpBFhKHZtxmeG-UKi4_KKeTA1seGjev_RH1rNwYx5sGS-CKXE5MMVFPSztQozR8OfIn8K4t3TniSDyNbzhthxjWSV4Da_A-rB7jYEp-vTJ86bDRIFk2T-P4gBuYyY9R5nc34cQC4O7MtYEft0QpbhFFJbSkAhLAw7kWZpyMvUY3fuKXTf9GG55DsicpHBepINuKHT1QcVxEgCNBsXnycg2uOaAhhOmqjq3pqjNTuFuq1r0HixUrsoAYHh-tcfoQl3fGzgesBDRgwCmJca-JPZ9UqfdTsujQA7RMF_A1Hp7tVRZS3svMs2H08XTUa2IRE-rQwOADRJT7qEu0gnzbCii1bRYwG4z4LiCpWNen2qa0m-MB9FxuB63q5rGoK4aWPwth_sribhgl44BeINr9rgv4y9OmGWrBMDoyjzfnUJL4IGMD6hNAwIb7BsPkCaPeol2K3mg9hbPCuKYcatuJibeoUBHmKTlg-bVDCuc6i-Ibc3vAcyuvNC1lu_iMHdtSMAdhVgOPauxYWjsBKHtdd_FGD7MT0m9s9MN5C5XHuyha9utNfujUt0J4_PeAZWnHCM6gXZkpBbmVEiOU72AotTrNGiak_GRLrM1ofVZBi7SsEXhD1c_e-Q0EXM8ERj-ukciXL2MPZLvYdtRZwLYNeKVweRfgsPPEvn-8Qm3CC2BFDgJs0fhNUz44cyc24YDbFwzIiN6AzPRQiDfUCYCN3uA2myEy0VlBbgV9YnZOA3365GsF9FMwJfz5Cf2yQjpyoubiWqJvt11oYZNludkSUxRbpvfN3iDHC4pxS73NUG0XxYxocxkC6Qdtl4O9nhK7dEDSf5acb3si5wnZnC5oL7mxsHC6xiW__0RWQWPZJ3KVPgskSclrqC8U9Dt5p24fWr5km1W7vbFATWrm6LCfbt7AIh-B7BMCBpv8qY9EHO3EDde3RLOF5NvrWvam15TZw3-IYzrD5mhWqlmfnQgADJ2Jp2ECeUqDwkTYP46TrwfdhfPAMEwtkHz84KKQYG1pybJjo4vS18l4=",
  "id": "rs_0304a6004fe11c96016ab493a5ec1487d083395b68270b2b0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.354,\"left_y\":-0.004,\"left_z\":0.015,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The wrist view shows the white toy left of the jaws and the safe rim on the right. I’m shifting outward to centre only the toy between the fingers.\"}",
  "call_id": "call_vro2OUdHF91SN5eSlS6wVv08",
  "id": "fc_0304a6004fe11c96016ab493a73e6487d0b896ededb6be5354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vro2OUdHF91SN5eSlS6wVv08",
  "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]: [-0.0471, 1.6154, 0.2878, 0.6895, -0.0715, -0.0666, 0.9966, -0.0277, 0.8173, 0.6495, -0.6121, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3473 left_y=-0.0001 left_z=0.0059 left_yaw=0.0334 left_pitch=-0.0559 left_roll=0.0059 left_gripper=0.9966 right_x=0.2665 right_y=0.0001 right_z=0.1494 right_yaw=-0.0035 right_pitch=-0.1983 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -4.2598, 4.1915, 2.0391, 0.1294, 0.0317, -0.0073, -0.0479, -0.8137, 6.9538, 1.7753, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b037373cb1bc5cdac34e71b55304d2a84ed99c11042152a93542562b9e7ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2200442cadcfa6a263baaf2c5ea66f702190c809e1ce5d9e2e5ec2c4d93f138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d42b7761ca7284488c623d2a3c06297d469d42495b20d951b5c323287b14e4f",
      "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 · 2.858 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1871, 1.6241, 0.6624, 0.2146, -0.1997, -0.1341, 0.995, -0.0235, 0.8288, 0.6487, -0.6846, -0.0189, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4021 left_y=-0.0368 left_z=0.0439 left_yaw=0.0396 left_pitch=-0.1498 left_roll=0.0513 left_gripper=0.995 right_x=0.2536 right_y=0.001 right_z=0.1342 right_yaw=-0.0014 right_pitch=-0.283 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -6.1333, 5.4632, 1.5995, -0.1148, 0.2027, 0.1197, -0.1573, -1.1419, 6.7487, 1.4823, -0.0562, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.2047, 1.5784, 0.3763, 0.5457, -0.1684, -0.1219, 0.9965, -0.0277, 0.8169, 0.6495, -0.5877, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3591 left_y=-0.0406 left_z=0.0202 left_yaw=-0.0127 left_pitch=-0.0655 left_roll=0.022 left_gripper=0.9965 right_x=0.2707 right_y=-0.0 right_z=0.1539 right_yaw=-0.0034 right_pitch=-0.1735 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -4.9573, 3.7402, 1.5311, -0.0269, -0.232, 0.0073, -0.1983, -1.4974, 7.4188, 1.8926, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0471, 1.6154, 0.2878, 0.6895, -0.0715, -0.0666, 0.9966, -0.0277, 0.8173, 0.6495, -0.6121, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3473 left_y=-0.0001 left_z=0.0059 left_yaw=0.0334 left_pitch=-0.0559 left_roll=0.0059 left_gripper=0.9966 right_x=0.2665 right_y=0.0001 right_z=0.1494 right_yaw=-0.0035 right_pitch=-0.1983 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -4.2598, 4.1915, 2.0391, 0.1294, 0.0317, -0.0073, -0.0479, -0.8137, 6.9538, 1.7753, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b037373cb1bc5cdac34e71b55304d2a84ed99c11042152a93542562b9e7ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2200442cadcfa6a263baaf2c5ea66f702190c809e1ce5d9e2e5ec2c4d93f138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d42b7761ca7284488c623d2a3c06297d469d42495b20d951b5c323287b14e4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOs_TW4nLcmo5nH6yuPTxltDvxxGcPrOzZ9AaaYJigPlL9hNC-Gm8hhvrrEtDKBm-mZA4OVkypmfxg6xUCE_sIrnKzyg1FVPP2v26VbRsCd4K2n78_VelWjl1MuWarGJoy6PfEDYXC9iQUqMOYiafkY5aonzGvS-2E4sd0uWgfA3t1V4VgFUDU0BsMZACp4uzgjuKG1cHriDb73xlSkH_TQnVPfRaWwyepoT-9GN4ZHG0FROQ6bwnblNsrEHrCytYYUJyTRSWBrOWpt0W_hpFuy37MFxVgyKSD05pBaWKDHZ8_CEw1VQFhj_4QglgBfCUiuQrmSMwNwEl2AVfVprk_-8bdUwnWvN__mqdbTr3XFqgzAG0orb7rWALg6YlGkjqGxB5JMAIBP9gzeITxoc2Ej4KIbisffprak-f-gbEQu4rTD_Zd-l4TcPkMrfDafIRqUC4LPeJhNWOQjcMvGKWjJYUQgObFHHhEYVofPxxgquzElo_qHdXIlL2J3gf2s-sa-cKPim6XXdL7HurLk3LAxEv8spnwgUABvUVpZtA3mCB94IVh5Rj1RUmiPiWUGW-KZdc0ncc0CraXBfoFuLyc8HWDPR74e5D5NL-r3I1zXBPeVVUwu2qiw50WLF1tzXZepGQNh3_VvKuBUqS_w982jRcAquncQnLEeKGWidWL9FYVPC1VplxGKpocAcrVUj_vYlRQVNPi1yXGouLEjdqe195ccFa1avmmvHF9jfYEu4y3OzrAra3lePYQtCjIU7Stv-E-pObpI4kk9nuT2hyhEIiQl1L9EaN-VA4B1vhc_xzwg-x4d8UOXNUdwLkE5_whgDKIP7ZRgcFh0LVUu0VF1vB_a_6H2DCOcXjxxnhdjRhZkNWdumTgPkNUhBwvqgzLBeAryFjz5qXKyGwzLUCdq8swbXUq9mdZecR3qRjUetxG8pJjBFuwhOIaqK7EXRD8zhQNaaif8NAMpZDf_7GemZYFqLpswmNfKFnZ8Rc0_PbCoMXonAssqS8nKSDUMuLbEuaAkQME7tmpHNOBIb31LAk_gdtpmA4RqI8LksHQnmeANiFGUC-JGRMyyYcV59K6sxJ02K71D_UFZcJlo_p6dKCuIzuDrUSwfa5e76_iLuA7fj9sjFk4dwDv9p4NHvlvGQBOK6P5Sh3p9Z2LopZ7UqOcsrcmnlSzK9ufwTGzfZVzhIwEohljmjBYPFS0D01oQkHtbEvnq1fOPUKNYKj8wAopcU9E21tUm8hcIvraj34mizx6inT4HcQsNRZlnRTfT38Rt-JKCNNhYEOdXVUyP5rMeqaxTUv5O18h5QuwPirUQ56F0--4-Fy6mIci7RbM5ZVdPECvyrFHZhUOC9hkikBS3YCxk1LTliIKwZLwWk6HHOySf8hFen4wXUO6UbkNWmQRHmQCPh2dac-7nxAFqU0ZXIIRoLrIi1ZpIHtgUdCILoWgSINHbl_HL_c14pWWYyd2GCbFvFx_zrLAXo7X9mdSrI1-1_KcFqJSjtU7zvQrHAsuDEWb0GTc4vcdxx_KfCJQXkIsE37_O-srk_EMRzSDbAUjAOztiLdJNrSCp0HY=",
  "id": "rs_0304a6004fe11c96016ab493a9f6e087d09b2133804587a079",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.404,\"left_y\":0.008,\"left_z\":0.016,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The toy is now separated from the safe but still ahead of the fingertips. I’m advancing along its exposed body to put the jaws around fabric rather than behind it.\"}",
  "call_id": "call_OGmwzQCDN05Flc7qwutQbBBs",
  "id": "fc_0304a6004fe11c96016ab493abd0c087d0babcb066cab5aacc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OGmwzQCDN05Flc7qwutQbBBs",
  "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]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.6235, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2645 right_y=0.0001 right_z=0.1474 right_yaw=-0.0034 right_pitch=-0.2097 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.8615, 4.1368, 2.0781, 0.1148, 0.1197, -0.0122, -0.0889, -1.0325, 6.8308, 1.6777, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77180934711e1f3cb4fc90c887e8f8ec047a4a4c92eed7ebabbb3edfab71f88a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c253460cccc1b0bc54d6c291b50a9d7c438d7132649913b8a880c03f83a4ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d346a0815dc83b2b30a01d5da36f9d45ae2d2e213d46013dfd6c76ce172830",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.16 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0364, 1.1774, 0.7944, -0.2459, -0.0029, -0.0296, 0.9963, -0.0269, 0.8131, 0.6567, -0.5583, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3677 left_y=0.0175 left_z=0.175 left_yaw=0.0392 left_pitch=-0.0486 left_roll=-0.0052 left_gripper=0.9963 right_x=0.2764 right_y=-0.0004 right_z=0.1634 right_yaw=-0.0047 right_pitch=-0.1331 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [0.3487, -5.1761, 9.9897, 1.8779, 0.1294, 0.2613, 0.1197, -0.4308, -1.8667, 10.3316, 2.1563, -0.1343, -0.0171, -0.0073]",
      "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]: [-0.0471, 1.6154, 0.2878, 0.6895, -0.0715, -0.0666, 0.9966, -0.0277, 0.8173, 0.6495, -0.6121, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3473 left_y=-0.0001 left_z=0.0059 left_yaw=0.0334 left_pitch=-0.0559 left_roll=0.0059 left_gripper=0.9966 right_x=0.2665 right_y=0.0001 right_z=0.1494 right_yaw=-0.0035 right_pitch=-0.1983 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -4.2598, 4.1915, 2.0391, 0.1294, 0.0317, -0.0073, -0.0479, -0.8137, 6.9538, 1.7753, -0.0317, -0.0366, -0.0073]",
      "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]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.6235, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2645 right_y=0.0001 right_z=0.1474 right_yaw=-0.0034 right_pitch=-0.2097 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.8615, 4.1368, 2.0781, 0.1148, 0.1197, -0.0122, -0.0889, -1.0325, 6.8308, 1.6777, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77180934711e1f3cb4fc90c887e8f8ec047a4a4c92eed7ebabbb3edfab71f88a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c253460cccc1b0bc54d6c291b50a9d7c438d7132649913b8a880c03f83a4ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d346a0815dc83b2b30a01d5da36f9d45ae2d2e213d46013dfd6c76ce172830",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOwqQYtuEFAsrgLPKgcO4kQ_t11bgyBD-x-Q3Ju9Q4EOx6imZJo2kHBDg8ThwY4gP6jH1nxG8AhLXx4Pz0erbHQEZamXpChIaXEhN-krjA2_eCwtt6MWj2E46igRPqsNCmJWzfb6rRG4yw31W5a0WMpMpzvZFDm_szrFjJC6FBUkYHwSXbcoe-Cw4vetOJzFw0_4qfv3-hwJ5IkJJQJS3QpUGqcQjddLRUSNCIV90_uCIVoLYHmp8T_zhKK0cVZ2AdeGE8v4LbZjjdL25x7IQwCX0Aqkw84gy6o014yGpEjzdy4KUuU5YYY1ia6c5SGqcsUE6U--DwLnYQED9FIg66at_u_ZBJ0xQ1drVPjwT6iDGFXk4JrMbxkNSTOmf9D3TPH8nbx4uqKJfZE3CkhbBajwM8xroA4hEH7H7GWDfzrUSRoUAZNOf9qX2dD9RaYDbqzIivvogVK7ulD-BlsOuIYdcWRzmqEIKqdRlBHJMrwQD0iAjjf9B9EmgTKni-Fv3GJ-Y8ILaahTXJ1XHa6CRcdu7CKMKe9QM6PRxsXXRevZCzKMZZrNEP-1EUshHWdz7TSe8tYcuacIf2GtUtI8WIUTTCFduEdESc7LLejYaDo4yb_pTtx86EVcXuwgd0TAzG-5SolzimCqAv4S5Zp_WpdMQT_9DZtIggzHyjmiR8eDaDtNi8yON6fk22ovgt17rR45cQsMHMrUoRxaFy9h0PLpV_cc-3GBR-PeT_5-BNe38YqHC91Y-zua97NLlOonNLjbVCW9CVklyrdq7gdK9gYxohxZ0FoS6mF3P7dWPGQSwZhUFaOTJYCMW5A3BezVPLcIHV8sbYUTu93XC1pC2Th62b6wgkSNuUMIXItNPJRCSA_0ssM754ZgUrShn5G5TMGVGoAfnrOazMNi3Yy77OsilVGfKGRFcSimqbAeSqK_f745Zgid_6Ns6sClEJ88Me1UTSTlEkCQutv7FEf57Hoq6DnLpfvOChOn9-Zn9Gb9om9Qmx8hw_0I3_jYvNO0zcLHC0QAU7SkZNqb5gOWsXrXNC2nSoFXCn1lkVeu7ToSI_kCAXp5QgTA_xZuSVfBEqhpSlrWC5G1aIcEp-by3uprvtooPHiCQRQ8DfPkk6x3g9U8kT_OU0Skdw_5CQ4dP_9zVUgqBLn7ZLO3XTftij3XaZ4cYGIsc_SCYnkWSAez5xC-Xt-jvK4aohpEdDaWs850j18vd9AZi5ck5mhLMMRUlgf0XVqE7-kclfTMkNsU2rLs_WMmscQqDraKlLxsjMC",
  "id": "rs_0304a6004fe11c96016ab493ae5cb887d08779716144107741",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.404,\"left_y\":0.008,\"left_z\":0.085,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The forward move stalled at table height, so the fingers may be catching the surface. I’m raising the gripper while advancing over the white toy.\"}",
  "call_id": "call_U4IvYVb18wuRYGbxwNW23IdH",
  "id": "fc_0304a6004fe11c96016ab493aeb60887d0a1391adeb8cafc6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U4IvYVb18wuRYGbxwNW23IdH",
  "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]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2625 right_y=0.0002 right_z=0.1455 right_yaw=-0.0033 right_pitch=-0.2212 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -4.7795, 3.9453, 2.0733, 0.0952, 0.1636, -0.0122, -0.0342, -1.1966, 7.1453, 1.5946, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ac424ccb1744c4870611616b0d337137c9da7df9f62dc120aa06f07a447f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2979362dfd74511e3849b0d6f32f54a9a3f7c6d257ff228ffa098edcce31792",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90befe22112330d04c4900efa9775979c6e8168f0d8ddd9267961b077a195942",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.459 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]: [-0.2047, 1.5784, 0.3763, 0.5457, -0.1684, -0.1219, 0.9965, -0.0277, 0.8169, 0.6495, -0.5877, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3591 left_y=-0.0406 left_z=0.0202 left_yaw=-0.0127 left_pitch=-0.0655 left_roll=0.022 left_gripper=0.9965 right_x=0.2707 right_y=-0.0 right_z=0.1539 right_yaw=-0.0034 right_pitch=-0.1735 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -4.9573, 3.7402, 1.5311, -0.0269, -0.232, 0.0073, -0.1983, -1.4974, 7.4188, 1.8926, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.6235, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2645 right_y=0.0001 right_z=0.1474 right_yaw=-0.0034 right_pitch=-0.2097 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.8615, 4.1368, 2.0781, 0.1148, 0.1197, -0.0122, -0.0889, -1.0325, 6.8308, 1.6777, -0.0366, -0.0415, -0.0073]",
      "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]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2625 right_y=0.0002 right_z=0.1455 right_yaw=-0.0033 right_pitch=-0.2212 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -4.7795, 3.9453, 2.0733, 0.0952, 0.1636, -0.0122, -0.0342, -1.1966, 7.1453, 1.5946, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ac424ccb1744c4870611616b0d337137c9da7df9f62dc120aa06f07a447f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2979362dfd74511e3849b0d6f32f54a9a3f7c6d257ff228ffa098edcce31792",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90befe22112330d04c4900efa9775979c6e8168f0d8ddd9267961b077a195942",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJOztKqc34VKcypNxsduEJZjH8By-l1wXYwn_0VAji7AZFgEVoHISm7_SJYOtulfZt2PPZK_lEwFIQwLdomXD9BS1oO6B-YUHDLkbXGsU-nrRzX78bvwBOYnsXNz7VsyMcbezgjGtlO8UOL2u_ar6HZx4vd9SB6Coyx7yKJXUzI13VJ6xjp3PgGaWU-ToI6ooxjwrQ0EXHEh_T2v2r_ZuchSBiwZflolHbFsOI12a23a8rmoyLlHNNFEJoGwuer5aBjkjh6iQ003EmA8kRMfwrEHhOoybMFhzjMpDv69Y7vNY3pQSDNg6OMVqI9Dtk_0F_-CoEp3z4fsm2LDY6KqF2tosxbWfWCaQI9Y1DZC_ygFA8_eNso7DvlzH7NDeJSiWAwg6ILmCJ-a5OZoxir18R7gy0W7KTRhSten672eRBUZIPkbZQq2paeCgSwCQNCA2H6-PkWGHX16QrjVGhx0-FS01emg3GjOLBUhVDgfGrhVzarMon9-N-M_mA3it_aMYSGl0XFhJvsgUq32MEoRWjtIRt8HxPo-gSlqY03x4qSFc-1uzikok9MLW8cDX_1VH_pidVHwrDBISLK79rpOU4WC-7-fBEkR_AJFCA2j6AWAsQ_SmLWW4LWTY1U53D1kO074z1NiF9FrwekrtF5ltVM3aod7XA2hwuU6FoIyvwLw0qxntU9dE-Jp3lycZSFi6_Hm8VoDhfbUEcvVQjTT9FF26v6FgaKRSsBlcZKCRulFyPZjfbE230JlubbG1nzWldv7bfX-iBh37-yUnxqiKzXiBHCXdVlN9Ik_6ySzLeEfQAFwvIaFGpLFdJSDL21KsbcXeh2668XQ9FjS8ZHhXTYQTnu_4TPyd6o6GEGG8Tp2fNCPs6EaKu0130z52NM_oObWYKErSzHCGamflYxpn0DOxVccyk8ISATVygoLlfj7TjA8A2Ixk7GXxad7hUF3ICH6Ii34h1su6Elu9TRT-PeVP_5RtKUUmJOgeelz0GUqI_lstjeR2sVa1jBFjYZSXnKSjoB4_RDiQARKzpKxcXiH4NeNy-TRdmSon7i_Oo43j7sN1aH2cLyGtNvANIu5bfxvHbKqIUWOa3rjdlVueVG_FUmWnVAPzrRgdGTnL7VfggOSGZfPaQFHYjFLeja_UVZ7veC2gwoa9Ob1XUo00RNXp6DfLk03hZQR53z5hcPYJ2y5hYot8L1op179j4WspOgEDJM-R_moBS0xN489K7qO1V6X2XJz0vYGapvGTIgvjYeKkdKlSxKwY81n0zBjmGVyodplBbKmlkO1njdFiXXf8oU82DiIDutZKfSAr_CNgyA=",
  "id": "rs_0304a6004fe11c96016ab493b1b03487d0a869b90d7d021c34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The left arm has stopped tracking the requested motions. I’m trying a shorter-reach raised pose to recover it before continuing.\"}",
  "call_id": "call_bygQo3DTQ0vhR9TbVZajVmOf",
  "id": "fc_0304a6004fe11c96016ab493b27cb887d0a4537d18bec5ede1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bygQo3DTQ0vhR9TbVZajVmOf",
  "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]: [-0.0399, 0.7521, 0.5003, -0.2035, -0.049, -0.0566, 0.9969, -0.0277, 0.8223, 0.6487, -0.6647, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0002 left_z=0.1812 left_yaw=0.0167 left_pitch=0.1256 left_roll=-0.0098 left_gripper=0.9969 right_x=0.2571 right_y=0.0004 right_z=0.1389 right_yaw=-0.0029 right_pitch=-0.2566 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -1.3607, 9.9897, 1.9316, -0.1099, 0.0317, 0.0317, -0.0752, -1.1966, 6.8308, 1.7851, -0.0366, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc397c827f645a63d66b87984ee9619ab595bb0569e12c100ed6fbb49a48d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76017665c6514c65ef07f3f5793428c49907ddf2469bfbddf01471304382e15e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a352b1563c6aa9a0eb3f4a07b6ff928a1bafa792f7c5b554da98c9641cb363",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 2.594 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]: [-0.0471, 1.6154, 0.2878, 0.6895, -0.0715, -0.0666, 0.9966, -0.0277, 0.8173, 0.6495, -0.6121, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3473 left_y=-0.0001 left_z=0.0059 left_yaw=0.0334 left_pitch=-0.0559 left_roll=0.0059 left_gripper=0.9966 right_x=0.2665 right_y=0.0001 right_z=0.1494 right_yaw=-0.0035 right_pitch=-0.1983 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -4.2598, 4.1915, 2.0391, 0.1294, 0.0317, -0.0073, -0.0479, -0.8137, 6.9538, 1.7753, -0.0317, -0.0366, -0.0073]",
      "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]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2625 right_y=0.0002 right_z=0.1455 right_yaw=-0.0033 right_pitch=-0.2212 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -4.7795, 3.9453, 2.0733, 0.0952, 0.1636, -0.0122, -0.0342, -1.1966, 7.1453, 1.5946, -0.0611, -0.0464, -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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0399, 0.7521, 0.5003, -0.2035, -0.049, -0.0566, 0.9969, -0.0277, 0.8223, 0.6487, -0.6647, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0002 left_z=0.1812 left_yaw=0.0167 left_pitch=0.1256 left_roll=-0.0098 left_gripper=0.9969 right_x=0.2571 right_y=0.0004 right_z=0.1389 right_yaw=-0.0029 right_pitch=-0.2566 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -1.3607, 9.9897, 1.9316, -0.1099, 0.0317, 0.0317, -0.0752, -1.1966, 6.8308, 1.7851, -0.0366, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc397c827f645a63d66b87984ee9619ab595bb0569e12c100ed6fbb49a48d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76017665c6514c65ef07f3f5793428c49907ddf2469bfbddf01471304382e15e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a352b1563c6aa9a0eb3f4a07b6ff928a1bafa792f7c5b554da98c9641cb363",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJO6ITp0WqFTHq1Q8aC_B1HWLeWJSawTLbKa-m1ef_Llm7bKaXEvRqqmfJmrGdD4nnhm9TXKQXI9yNaimddmvKlBxZoW7JEjBWxpbVKltU-_pNmsg1TtlGPT7hfduj3AcKXRGo6rgdbdwSZiNGKwGhmzZnqHBRGd7OfotRiRyUmKVAappfYs61faAqBR6FJIceN_AjFxlTLMyPrktRHVoGS75YOdaPj9hOVk1dMFXGpEuDSWYfz_XmZsor3wVYicnUm5vi3xNoUkFHVLD9PjVFbvW71573HY1NqNK79RviZHrPtJd9Oa0DCCf-KmOAYFgEZ9ouidcJXzg8v7bKPAUzUOPVmKq5wT71EGUxWwwirS7ofnYcicvKxNok_vRQeaKKkWXls2VKy7VQmu57A0q_RkDVMhblCqsYAOYuXDQp5lylAx4AY93cye0cWd3tjUmyCavLnsUb-zDRwodMBDyjSIvzzgqgVbhXHBHIuABxGEa46HAmoBmBvWOVYwlGVjo-QOAH_dvKQcRater43JXN-8yFHh_4c6amOrI9RUh4nsf9GgvgxuoKy5F9Lds7cotDnhdNLi5yR-mB4dOW4Q_NeT7fwhJ4vHhqMw1KNg6_XNoU-M99-xQZfncHe8dQ4vt1PXcSFRLJH1A-KFzlnhiLHF5Ko8ncNNp4EW1dV8RJJLpV0d9yZLOdZofj4dV2tQzmr_jzLuSBjNACMfhu8QX2dxaVpQ6-dhGYB0n75XOgIQdSGXcf0-rV821yyIsuVe6t6K7VFoHGsiMTxbYv4QfjoHhr45JDY6kBQSNR-S-2gM5qhaxZCfa4uJXvGtjPzKn8185B00Xo2JvlYhQbh4oSPiYKmyRh07RIXUT72pkGhG-SHdfGBtkx6BYpH_oWTURfIfm0xC1W0V7iNQVVA0DtdUCWXvOI_j47O2k28RQvy7nohA_0BEU8akovPKJMaJogBkMj0VpgBtJ_OvAYThRCoPWN1yX_WDYIxESlcLQiVQKjG67VtGWyZO6_zr4bpFG1DSP1g880vifub3JU0UrW5eJlYHbnAvIfdAVulSwD2QEu1KuYo-Eie4cmFYLh_BScn2DmVL62H7ijzk36J1O3vFLG2QuENgHkHm3CYo2imqaKI2RrbXvhsREcQlWo6Uom1tuyrZ7ScXKn-EjQgmbWJloMpcIsRo2c_Ow8gCszvRX4Rv5iSLgnh7PcypnHto_6nw4muTPj8mw1cIfulg9Dkh0Y4O0r7BoDqtRn7_q-9Vi7bpVOJ6zJTLW5EhlgXAD7GcEOKnrVqNKTZXuLx3tQqlwDG1bDiDJ0oRo6xIvjasGS483-Yzb68QoPMy6XnMVS8OqOsT9vrvrK1XUQNLbvt2wJfjdrlnjpbHIicOkUVuboZXyRw2Nmo2nr1MFOPkMLjrjWNeY7sh0NF7PLoE2LQfIWNEmQErU1kZYMqrPZ3VPRHttOn17JgjCD325e6fYYMnmOx41pk2TZLDQ-CjP80s3Wt5rrUfbxbY6dzzE86cym84azz85DdjMcbx3GUMT6-mMgUdepXGFC1l6nJifOmn3YjceL3nAIsYhDQ84r7xGAsVA8VED4bsfIHiYKHZFcH03uW9FPo8bOyKGTy6kgrlsSk9ig4cO7h8I8QSwG-5tr38BKKzYUavbvalLIGZlQKVFPFuPQ1QupJzALPp_AUPX16DO6RxmQgLZEpYQ4-ptVa2qpIo79w_0ksqCsioAjo0VC3teX1yKQvONFtWZ7t3-ExUCcjY3pAljHImXYPIRO-Yk46O7msbTNs1ohV4I2ikG-wmXn_2uF52QQhhHmPV9WDIKk2oLeVWfmcKDlJ-7fyoznqgmQUnP3Vx8RxzcMOoXsiGK_BazfmBRcQMAii-n6GVqPlTxamKni8LK-yokDIpgCMZk17-CEEyYqeDZ59wNOwhiFKP77Ww6CYbx7QRtTsXzaYzmSZ4TYjgbtqbIsJHksOvvPOxg4_GO6Gx8hClRTs0-1zymdDKRvNoCXFvsLlmtrFi0kGW8GEIqQLb5IBqH0zmIubpt4ZGht0M31VzT6zyNWmByxmDcimxwJVM7jCWJjS_Iu-PMdr5IKUBsgEVDIi3zgQCNtUblUMbD6m8ihoO97YAZuLx9otddn8UpQ==",
  "id": "rs_0304a6004fe11c96016ab493b61db487d0bc9b3033b058dc9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.401,\"left_y\":0.003,\"left_z\":0.045,\"left_pitch\":0.1,\"left_roll\":0},\"note\":\"The left arm is moving again. I’m approaching the white toy from above at its exposed end, with a little extra height to avoid the table.\"}",
  "call_id": "call_Yij6hDUXVVMd2NRgt3gDZM5G",
  "id": "fc_0304a6004fe11c96016ab493b918c087d08a3d069dfec3986f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yij6hDUXVVMd2NRgt3gDZM5G",
  "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]: [-0.0189, 1.6524, 0.392, 0.6319, -0.0448, -0.0555, 0.997, -0.0277, 0.8268, 0.6483, -0.6846, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3732 left_y=0.0045 left_z=0.0154 left_yaw=0.0332 left_pitch=-0.0475 left_roll=-0.0016 left_gripper=0.997 right_x=0.2535 right_y=0.0005 right_z=0.1345 right_yaw=-0.003 right_pitch=-0.2814 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.1179, 6.653, 2.2442, 0.0708, 0.1538, -0.0024, -0.1299, -1.4154, 6.7761, 1.6239, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cd7e9e53673b95682daa9a507dcbdbc6c47ecd60eccf28525020d5b007d537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6251396316386aee0bd50c0cea89a467f57a8fbbd4b8fccc691b599d948b3e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c48c71e4d1d047473c906329198030e21976da7c0cca76ed90c36d6fe6f9a5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.526 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]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.6235, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2645 right_y=0.0001 right_z=0.1474 right_yaw=-0.0034 right_pitch=-0.2097 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.8615, 4.1368, 2.0781, 0.1148, 0.1197, -0.0122, -0.0889, -1.0325, 6.8308, 1.6777, -0.0366, -0.0415, -0.0073]",
      "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]: [-0.0399, 0.7521, 0.5003, -0.2035, -0.049, -0.0566, 0.9969, -0.0277, 0.8223, 0.6487, -0.6647, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0002 left_z=0.1812 left_yaw=0.0167 left_pitch=0.1256 left_roll=-0.0098 left_gripper=0.9969 right_x=0.2571 right_y=0.0004 right_z=0.1389 right_yaw=-0.0029 right_pitch=-0.2566 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -1.3607, 9.9897, 1.9316, -0.1099, 0.0317, 0.0317, -0.0752, -1.1966, 6.8308, 1.7851, -0.0366, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.6524, 0.392, 0.6319, -0.0448, -0.0555, 0.997, -0.0277, 0.8268, 0.6483, -0.6846, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3732 left_y=0.0045 left_z=0.0154 left_yaw=0.0332 left_pitch=-0.0475 left_roll=-0.0016 left_gripper=0.997 right_x=0.2535 right_y=0.0005 right_z=0.1345 right_yaw=-0.003 right_pitch=-0.2814 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.1179, 6.653, 2.2442, 0.0708, 0.1538, -0.0024, -0.1299, -1.4154, 6.7761, 1.6239, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cd7e9e53673b95682daa9a507dcbdbc6c47ecd60eccf28525020d5b007d537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6251396316386aee0bd50c0cea89a467f57a8fbbd4b8fccc691b599d948b3e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c48c71e4d1d047473c906329198030e21976da7c0cca76ed90c36d6fe6f9a5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJO9E9jCBlSY3-ghDHHhcQeu4gLNZ2DHReSRi93_f5jNdcIbISJh_ok7bvCRJAxMfr8hqZxJTxw8v3QlvqK-itpgNzX5vP873199NHnr22yxoVd2kCED030k9xgYBv0O7hMcwICyqosWf69dkr3C0bpBhjsOya-ZeUKHJlgu6mojYmjT5BUeYtUg0IerFIB3xlpq5_uKLsKOqqUe0pG64aRzbYWba0bTdaS7youXydtg0RuqIwtHzN6Mqnjaopi2w2t-uu8cfOR-S1AY3rVBDjiZychd6PWg4v4xXL0LohxqdDy05N6TtCwZn_U27T5SxmB7NcT5iV2C-03-KBQZ9MbjdiknIGQlSzUvf-ec67Gun2Ioyo6dZ0AZcsyEuz-LKBz6eqp8FjXA1vvYAuZhngmVAwPBeRKYYth9L3LLg6mhz7j95Yp5i1OVcgrwvTN2v1mayNluvWZP4Hd1uN55GRzVQ58Je8tSSRvV7vix58Yc5ISpeTMMhulwaTf-vdWSFZ3G8aqi3KYJFRYgGjJnnbiV5Wk-y7pfqGKxtzBU0Ir0ejRGpuKlDMb6O8cAzCFPewO50o3YWZiZ7Y1MW7AQ_REBtlEYKPGbQowNU-XzJKHgVhHinbYCGZ3_sdSpDCou7mzH-x2P16pGEfkUH1LpXbBY0_clHqRIAhtWK9eMfHhAW8W7VO8e7gE5D_JeJ3_GKfo5DSSKHjJP__Z9Qfa0yALetGjinBg6b6FI45_cc8No2xqbuzrTpNSfWQ6Pd_GWxXtZ2cNjJgc7m7ONfUWoO3dKyHkH3EAWK2qWKriydkntqtqqZnS6rISMJUtuvq5fNzx3z0165HKiOHw34PP3HwQAQXKSdMFXg2SRULZo6v2jgEtULlmNq5_Kx3-v5ijnFRmRpETp8wYKud4OZm1_HAaiYe9ppgBupU8QvOmp84A-ewNao2WlqgkNTcHsfHbz8LA1d4o5gLSQRL0emTOXRM48WtffJOn8QWDff5KF1QBCWOy2Dun21so9VuxWN37NsAiLaXLM-3chcSGWiOlPQ3I-OmG9Rar4P0TnvqZykq--_P_idKBY5odXTN6iIJnXHo1XaR4VAbsDIrvFsWeU4zfrNpW7xn3A-vInCDlG9iqlYT2cZahTs9hXxxHb7Dv3RJhZhv1H7N_-p6jgX6lzl2GBk_fSaj-w4KAVmsHZFWo4_h8Bl0aUCynHJhjAnPjVmXtBsSef6nZU1qUWLpmAeyFrIWgc9pdw61Jf5ZVW-XB5RvnXP285e50ZkXIkgRdldibqgsbuxsU_2d51RkMWy_Yan5NxihCfN22Ucy4AkD3iQrk=",
  "id": "rs_0304a6004fe11c96016ab493bc959087d0a1e50cea6aa3c29b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white object appears to be a furry phone-shaped item, and its lower body is now between the jaws. I’m closing on that exposed section.\"}",
  "call_id": "call_htdojQIkvBdePDdzgxRuAjvD",
  "id": "fc_0304a6004fe11c96016ab493bcfefc87d09a56cb59e295ecc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_htdojQIkvBdePDdzgxRuAjvD",
  "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]: [-0.0189, 1.6714, 0.3813, 0.6201, -0.0483, -0.0597, 0.0106, -0.0277, 0.8288, 0.6479, -0.7021, -0.0216, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=0.0052 left_z=0.0029 left_yaw=0.0385 left_pitch=-0.0888 left_roll=-0.0006 left_gripper=0.0106 right_x=0.2502 right_y=0.0005 right_z=0.1311 right_yaw=-0.0032 right_pitch=-0.3012 right_roll=0.0087 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -7.4462, 5.1897, 1.7509, -0.0562, 0.0513, 0.8425, -0.2256, -1.3197, 6.7761, 1.5849, -0.0269, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa46432ecb3192f94cc8594022d04bf9bec957e661434eaedc84410e0c173df6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5c5b1c8f24b94f0530f06a1b51bb971118530156ca12a1a5454587aff672b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36faa53cc2b3fdb4a251dd7891d33c6b78ff3356d030fc654a5d29584e1b29e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.721 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]: [-0.0311, 1.6215, 0.281, 0.7261, -0.0372, -0.0521, 0.9966, -0.0277, 0.8173, 0.6495, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3495 left_y=-0.0007 left_z=0.0088 left_yaw=0.0127 left_pitch=-0.0336 left_roll=-0.0039 left_gripper=0.9966 right_x=0.2625 right_y=0.0002 right_z=0.1455 right_yaw=-0.0033 right_pitch=-0.2212 right_roll=0.007 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -4.7795, 3.9453, 2.0733, 0.0952, 0.1636, -0.0122, -0.0342, -1.1966, 7.1453, 1.5946, -0.0611, -0.0464, -0.0122]\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]: [-0.0189, 1.6524, 0.392, 0.6319, -0.0448, -0.0555, 0.997, -0.0277, 0.8268, 0.6483, -0.6846, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3732 left_y=0.0045 left_z=0.0154 left_yaw=0.0332 left_pitch=-0.0475 left_roll=-0.0016 left_gripper=0.997 right_x=0.2535 right_y=0.0005 right_z=0.1345 right_yaw=-0.003 right_pitch=-0.2814 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.1179, 6.653, 2.2442, 0.0708, 0.1538, -0.0024, -0.1299, -1.4154, 6.7761, 1.6239, -0.0464, -0.0415, -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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.6714, 0.3813, 0.6201, -0.0483, -0.0597, 0.0106, -0.0277, 0.8288, 0.6479, -0.7021, -0.0216, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=0.0052 left_z=0.0029 left_yaw=0.0385 left_pitch=-0.0888 left_roll=-0.0006 left_gripper=0.0106 right_x=0.2502 right_y=0.0005 right_z=0.1311 right_yaw=-0.0032 right_pitch=-0.3012 right_roll=0.0087 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -7.4462, 5.1897, 1.7509, -0.0562, 0.0513, 0.8425, -0.2256, -1.3197, 6.7761, 1.5849, -0.0269, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa46432ecb3192f94cc8594022d04bf9bec957e661434eaedc84410e0c173df6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5c5b1c8f24b94f0530f06a1b51bb971118530156ca12a1a5454587aff672b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36faa53cc2b3fdb4a251dd7891d33c6b78ff3356d030fc654a5d29584e1b29e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJPDWyHlsJ_kR0n1TCsSbOPWECBfRh97-vXA60cNr7U-3eEk0IzeUZdi1-Iz1Pch8UN87oZl2zCIXkR3b91jKX2FdMe5RRfS9wATSDcb20j_M01luLySPiqHinHoQI_wSWwIZ8538vnKj1pB-k1fWCURPYbyb1seU-SvKp4-Dfe521JqPADnqiDe9jkhxTUvIhfQpVIunkXg8ZabxKcoQk8KH8n-LSw_tXWdX3MFzcXl0zSs4wEp1XEB4zNFwFWEl0vdsB24_PSB6kF-WvERbKjn4eahO_gegcmJT5vxFapa27flWCgH1T9XJSzru3HmSwa93rbUWuaMyrWd5WgNiN95aG4Yq_MN3zq9691yOeeLtHoL09J65UUgBvhlF12ELJJVeZH6svwJTYar9vT5tKCsnOtsLwurrC2s6FTYVLdvPiHsNfLsWf_hpNXwQSbnOkskY_sL0XmkNh3U88Xfo06dmCBJg4DuB725FQyEaeuRQXY3m-tVvvPS29qcz2Z-n80N62yMpapRATbdUruVIqZQ-e-LiI7ryGphBTuE5SoMwq86-jsBGTnVnN3N1SRMNTPuy-euRsi7EuASRWUPFrZHAWr8s23dg5H-E6odf0-EGcnxwhMBqZwBapjDpMmQJ2ta3guYu2C0cRfR0JxS14dKqYwpszU2RI6LOxtjseO2WAMg2aFs-D0M1ieYScLeOw6OTYXlO60PHXwpVLPaQjeY9q_q3ZDZFv2iYCejvIyMnu5pvVIvbMBv0hS8oGb5E7xC7JvUqRG0q3grWf32S2bSKiBwuTExAO7Q12t2knWWNiyedwLNyUorYCLXoqZf2KmwaA8qcMorA1xwifsHZtv2b1M-8XgVHDfwV_XYnztkua_PuPlAvw5K6aC9xHZSk3onpuNR3Fn4eRG1XbWkKuVXcTOo0eIplhEBSBLZcPiJMx4RIZqH8xDONfKbVcG9hHSECwMqi1l0wInq6t4bKXo1fWANNygBVum3_-P97KExkQ5dJFTnVH_Na19mDDF0XEbagcLiFj08Yxopzo37b9QBUdbDqmrz-rFrY-bGjKPWn1clWMSHDBbpprJHsUOnkz40IVOdwVjzt7asqrWtfAmP8ksTf7CuUviDerl8vzWDXeMTRAztBBEmFq4ISyULTHk8E6gTAcbqYBVcLA78TiWemt0udK5dVZNAP_z60tXGrzPlEg2nHLcrKCd_VPjuGoRdJhvA4YLjHD-lQtqgZPE5S81eCF8py_87m3wRShO_TzMQbehF1irfmttY0DlTRgE8Ly2IvDkvTP9MEu432nfedKChyLWhHM2yY0QZeihUBeRepat5q4Mxbx6NlENqqvQbOFBqHY_laDS99-vsrrNG62tfweFJMREb4Jy_X8NW2Fk=",
  "id": "rs_0304a6004fe11c96016ab493c148f487d0914a2b7154447175",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":0.012,\"left_z\":0.09,\"left_pitch\":0.3,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The grip was empty; the item is still ahead of the fingertips. I’m reopening and reaching farther over it from a raised pose.\"}",
  "call_id": "call_cSWq6IzcQHBGa3nrCXse6VJ1",
  "id": "fc_0304a6004fe11c96016ab493c2381087d0a92e3030a400d34a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cSWq6IzcQHBGa3nrCXse6VJ1",
  "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]: [0.0013, 1.7, 0.4156, 0.9031, -0.0483, -0.0475, 0.9967, -0.0277, 0.8288, 0.6479, -0.7238, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4098 left_y=0.0127 left_z=0.0642 left_yaw=0.0529 left_pitch=0.1995 left_roll=-0.0057 left_gripper=0.9967 right_x=0.246 right_y=0.0007 right_z=0.1277 right_yaw=-0.0026 right_pitch=-0.323 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.7641, 7.4598, 2.4054, 0.0611, 0.1148, -0.0611, -0.0205, -1.1556, 6.7077, 1.6581, -0.0415, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f83588634129aee77edfca7dadcea44810c6b04f56b27ac8dc350881bbd5877",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3205823ccc15a1ca43dfaee1666dcdccba49971ff166042819421494cc44ed8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42bea328523c371b027e37182180d210be5360c7f651e23aabe7c0efd78303c9",
      "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 · 2.135 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]: [-0.0399, 0.7521, 0.5003, -0.2035, -0.049, -0.0566, 0.9969, -0.0277, 0.8223, 0.6487, -0.6647, -0.0219, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0002 left_z=0.1812 left_yaw=0.0167 left_pitch=0.1256 left_roll=-0.0098 left_gripper=0.9969 right_x=0.2571 right_y=0.0004 right_z=0.1389 right_yaw=-0.0029 right_pitch=-0.2566 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -1.3607, 9.9897, 1.9316, -0.1099, 0.0317, 0.0317, -0.0752, -1.1966, 6.8308, 1.7851, -0.0366, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.6714, 0.3813, 0.6201, -0.0483, -0.0597, 0.0106, -0.0277, 0.8288, 0.6479, -0.7021, -0.0216, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=0.0052 left_z=0.0029 left_yaw=0.0385 left_pitch=-0.0888 left_roll=-0.0006 left_gripper=0.0106 right_x=0.2502 right_y=0.0005 right_z=0.1311 right_yaw=-0.0032 right_pitch=-0.3012 right_roll=0.0087 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -7.4462, 5.1897, 1.7509, -0.0562, 0.0513, 0.8425, -0.2256, -1.3197, 6.7761, 1.5849, -0.0269, -0.0659, -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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0013, 1.7, 0.4156, 0.9031, -0.0483, -0.0475, 0.9967, -0.0277, 0.8288, 0.6479, -0.7238, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4098 left_y=0.0127 left_z=0.0642 left_yaw=0.0529 left_pitch=0.1995 left_roll=-0.0057 left_gripper=0.9967 right_x=0.246 right_y=0.0007 right_z=0.1277 right_yaw=-0.0026 right_pitch=-0.323 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.7641, 7.4598, 2.4054, 0.0611, 0.1148, -0.0611, -0.0205, -1.1556, 6.7077, 1.6581, -0.0415, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f83588634129aee77edfca7dadcea44810c6b04f56b27ac8dc350881bbd5877",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3205823ccc15a1ca43dfaee1666dcdccba49971ff166042819421494cc44ed8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42bea328523c371b027e37182180d210be5360c7f651e23aabe7c0efd78303c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJPHQgE5Ti3tmVc_fYeevydLgxbI4y-pBhgmGoO7cbt_3Hemgdo1goHkcCqnih8A7ze7PesCtksvUXaj7UWzgbIJmz_OTjtScof23wKGSdvnbZtoRGjot2ukEVFyHs_ag1UU8YrwBVIfInoGlInx0L89wkq05waSmqhAj1kE7CSCu4VXpXO7CibYrFFufD4b6CZF44AMcdV1DOW4uhdqHzrLyVbDwt7oT9n0yHawz1IpQrwYvOMzwBHunv3M9Qgb-f6Trtv3fttku1rIaWcae86qWTzrtEKSdaRs3sw7Yjs5m3B_JgkKPGGN3b7QVOCoqhnf-HynFpxySIJyEhIRoD4gNBXNARzlD3hQZohUHlbYR4BFPbnXzgO5RDxqzBR0A_EB5_-aWe_8d5NxpmeAavYi0pNWqL8p5-rwZk8Vv5tkBAwpga1wgPq9MFPJuvyhmdqBfkogkO1CEhk7xgwi-TJ3sSxOK1t1cU5LoFkuT--jTizNfTql2N_MupgtDNoKRhRCTSdhFu0i_mnlr_KLVRA2pq0TJ3KvQo2utOvdIbSVDrjoMlc0L5GFkUU6-i43MfFtgUW86utvXK5zWSEn7GwgrlLKugBbVR7v-IJvCmNxHWTAPkPeeHk2VwGu7ssc1waIrEVQSxCy_XGor2WsXrAksldWjSm7IyuHCDUXvUfNMmdzp5jgbX5163VGZicl_uoebRvmZZ5o0uMPfX8r0vrjJ9Q4M8_lNKqahy-Rn_3W9AIqHOfjDukOw0S4rldigsxsyXxdlotW4eDybotXYiInHC93gnRIvKF2OS8RwfY5ebMhddZzGzg9dWamI1z4lcqlBUo--KN9VMPcUnB63-qrUY7j5LGpdV4VCcJn3U4x4qBYu15TUGZ-WEBSadN_vuhUOSnjodDtCui2pEVbQbsR-cN-zUYdcrIgfaPcLspE98cRiMhIwTqiQdpYi--rVXMLE9a8kpLUMrNyFhM6G_rkx81rEsO0hHOcmWTBlD3tplkU-cJDKK3rqifjhjrORpjNt4v2oR_JL6OFocRWStk9e3rQIud5FSFutAUoFyR7tPNHtMiErOlnI5KZ0C4qUvU3J8pvROeUfVhN0H5CCGeev-nB0AQCFqTGZXv8x7LQjKNWda0qIH6qnoW-04udZRfLIhuihkODhlVfqTgRuvsvr60-3ArGvuIgkiMF8A1Xm8L905BJGJok3oHA33LHch_Vq0wIwyI-1W5Bftkb04d9dlkSDuKP_GrZAOAMDTzxbvk=",
  "id": "rs_0304a6004fe11c96016ab493c5b7c887d0aac8c47abd1260d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.432,\"left_y\":0.018,\"left_z\":0.025,\"left_pitch\":0.3,\"left_roll\":0},\"note\":\"The furry item is centred beneath the raised jaws, separate from the safe’s side. I’m lowering for a grasp across its body.\"}",
  "call_id": "call_Asukn6W5qzwalEOp3ErT7aeR",
  "id": "fc_0304a6004fe11c96016ab493c610ec87d0a5030df22044256d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Asukn6W5qzwalEOp3ErT7aeR",
  "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]: [0.0132, 2.0315, 0.4458, 1.2999, -0.0414, -0.0582, 0.9971, -0.0277, 0.833, 0.6476, -0.738, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4303 left_y=0.0166 left_z=0.0333 left_yaw=0.0661 left_pitch=0.2946 left_roll=-0.0235 left_gripper=0.9971 right_x=0.2432 right_y=0.0007 right_z=0.1245 right_yaw=-0.0025 right_pitch=-0.3417 right_roll=0.0101 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.8598, 3.5624, 0.6764, -0.0317, 0.2857, 0.0317, -0.0889, -1.4291, 6.694, 1.5165, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d0540c9cc750c56a3074b9dd56ed80b4d3bbb55ee12fa6f8ec97cbfc0e7c32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6647eeba70292a0c4ae6ba408999cc30936318ca2e1f929db01b87655a0e08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df1265df81ddb5262bf23e648b4c6abe6ac2417a478db22e66d8f0c84d6360e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.668 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]: [-0.0189, 1.6524, 0.392, 0.6319, -0.0448, -0.0555, 0.997, -0.0277, 0.8268, 0.6483, -0.6846, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3732 left_y=0.0045 left_z=0.0154 left_yaw=0.0332 left_pitch=-0.0475 left_roll=-0.0016 left_gripper=0.997 right_x=0.2535 right_y=0.0005 right_z=0.1345 right_yaw=-0.003 right_pitch=-0.2814 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.1179, 6.653, 2.2442, 0.0708, 0.1538, -0.0024, -0.1299, -1.4154, 6.7761, 1.6239, -0.0464, -0.0415, -0.0122]\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]: [0.0013, 1.7, 0.4156, 0.9031, -0.0483, -0.0475, 0.9967, -0.0277, 0.8288, 0.6479, -0.7238, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4098 left_y=0.0127 left_z=0.0642 left_yaw=0.0529 left_pitch=0.1995 left_roll=-0.0057 left_gripper=0.9967 right_x=0.246 right_y=0.0007 right_z=0.1277 right_yaw=-0.0026 right_pitch=-0.323 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.7641, 7.4598, 2.4054, 0.0611, 0.1148, -0.0611, -0.0205, -1.1556, 6.7077, 1.6581, -0.0415, -0.0708, -0.0073]",
      "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]: [0.0132, 2.0315, 0.4458, 1.2999, -0.0414, -0.0582, 0.9971, -0.0277, 0.833, 0.6476, -0.738, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4303 left_y=0.0166 left_z=0.0333 left_yaw=0.0661 left_pitch=0.2946 left_roll=-0.0235 left_gripper=0.9971 right_x=0.2432 right_y=0.0007 right_z=0.1245 right_yaw=-0.0025 right_pitch=-0.3417 right_roll=0.0101 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.8598, 3.5624, 0.6764, -0.0317, 0.2857, 0.0317, -0.0889, -1.4291, 6.694, 1.5165, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d0540c9cc750c56a3074b9dd56ed80b4d3bbb55ee12fa6f8ec97cbfc0e7c32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6647eeba70292a0c4ae6ba408999cc30936318ca2e1f929db01b87655a0e08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df1265df81ddb5262bf23e648b4c6abe6ac2417a478db22e66d8f0c84d6360e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the furry item’s thicker section. I’m closing to secure it.\"}",
  "call_id": "call_UEfotK4iZHHJEaTxIIOqJJZN",
  "id": "fc_0304a6004fe11c96016ab493c8e40487d09574c65c76051ef3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UEfotK4iZHHJEaTxIIOqJJZN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0147, 2.072, 0.4522, 1.3834, -0.0414, -0.0376, 0.0343, -0.0277, 0.8341, 0.6476, -0.7467, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4346 left_y=0.0173 left_z=0.0384 left_yaw=0.0565 left_pitch=0.3442 left_roll=-0.005 left_gripper=0.0343 right_x=0.2415 right_y=0.0008 right_z=0.123 right_yaw=-0.0024 right_pitch=-0.3516 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -6.5846, 2.947, 1.5751, 0.0317, 0.0806, 0.9353, -0.0479, -1.265, 6.8444, 1.4139, -0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13a20eacfecf4d4b16c3bd0e0eb701aa350fa32d6f7d365ad25035be42fe7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7704d201899735fb05b3a39b96094fe2115eddb337fbaad0dbe0f825878dd9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d4d0f656f3fbfc60b0ea1ca01d5e445913a8df7bb190c3b56540a0313245e9",
      "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 · 7.873 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 106 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]: [-0.0189, 1.6714, 0.3813, 0.6201, -0.0483, -0.0597, 0.0106, -0.0277, 0.8288, 0.6479, -0.7021, -0.0216, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=0.0052 left_z=0.0029 left_yaw=0.0385 left_pitch=-0.0888 left_roll=-0.0006 left_gripper=0.0106 right_x=0.2502 right_y=0.0005 right_z=0.1311 right_yaw=-0.0032 right_pitch=-0.3012 right_roll=0.0087 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -7.4462, 5.1897, 1.7509, -0.0562, 0.0513, 0.8425, -0.2256, -1.3197, 6.7761, 1.5849, -0.0269, -0.0659, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0132, 2.0315, 0.4458, 1.2999, -0.0414, -0.0582, 0.9971, -0.0277, 0.833, 0.6476, -0.738, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4303 left_y=0.0166 left_z=0.0333 left_yaw=0.0661 left_pitch=0.2946 left_roll=-0.0235 left_gripper=0.9971 right_x=0.2432 right_y=0.0007 right_z=0.1245 right_yaw=-0.0025 right_pitch=-0.3417 right_roll=0.0101 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.8598, 3.5624, 0.6764, -0.0317, 0.2857, 0.0317, -0.0889, -1.4291, 6.694, 1.5165, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0147, 2.072, 0.4522, 1.3834, -0.0414, -0.0376, 0.0343, -0.0277, 0.8341, 0.6476, -0.7467, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4346 left_y=0.0173 left_z=0.0384 left_yaw=0.0565 left_pitch=0.3442 left_roll=-0.005 left_gripper=0.0343 right_x=0.2415 right_y=0.0008 right_z=0.123 right_yaw=-0.0024 right_pitch=-0.3516 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -6.5846, 2.947, 1.5751, 0.0317, 0.0806, 0.9353, -0.0479, -1.265, 6.8444, 1.4139, -0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13a20eacfecf4d4b16c3bd0e0eb701aa350fa32d6f7d365ad25035be42fe7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7704d201899735fb05b3a39b96094fe2115eddb337fbaad0dbe0f825878dd9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d4d0f656f3fbfc60b0ea1ca01d5e445913a8df7bb190c3b56540a0313245e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPNxOf8Y4PFtF35fxNlzqccafzHTzaYAYH2NcKukZSjOb5rYFCs6jkW2ZRhOnFnZJ0FjATjqayJbEHMTzUinUpB1AjunXU0GqDu2JInTzqhvsPO1k27HhGk8fjpVpy0Ve_EmZKEK-9vpCIIvmyMpS0d1zrtTgsfUMs7omYXLZ2IgP-MscA7pFJ_NoM5NRuo9PpK2tEw125dkB4_YSr8ZWAbQSXqHf3zuzuFbs7GYHHI-rhyTE4se9CLKXguzs9jRHoVtXvDoh-6TNA9C9D0Sn4F8QDMuobO_D6xO2rnfcLbpjBSz9L9pzSqEzjHPMtY3qCDG_Th85rV5xT6N17_1XblfreiTivGtwflXovD5kVlv-9tV1iJN_gJFHBP7owAF5vDn6UQAE2eHG0OHr5JeHtE-Pbd8v3NxLz6c1T7CgQssrjUs_ljY5yhx51ycL4SoGYc2DmnMShwu33NGZoHBgmPYyUY3wY0si1NgiQWgnGePwEfl0OQ3Bxb8ypm7TtMCWi2KAvkiDPd1q4EsiGFayQI9xSgBqm6zD65Uv7Xv3nZv-dIuil0xSYk940_TqR2IUPnenFgRTqNrXtd5HZp-fvuffSVos_Y6gMZnVSG1AZIJanGuAOJOgTIYD2g2Ysi3PmnQjjZ_uejSzR6GRhtJ_hSGHKIlMxg5-7iR6Wx2m4FyTA18ITrHkXaNLaYk2_MmqKqXyeaBc5uw9jVqFtelPYd4XVhgwY8ki1F9TukehOMH5t4hTE15vkNRa8nM7P38pH0HKC9iUdPWlQfoxmcIIfZQMMioRUXYEY8jPOtu8j-5UfVuq6kQXuXvGR0CRd3S_4rdeMwDoN4XetUhBzAR_9nvIxyKoWwSWYJKwPycuXsZTW8hrmukp2aW8VN-LSChbx5X048GeJYI2rKtkIvkqSGvYjDvB-6AwJyzuFEGngIQra5QYIpF40c7eaotk62fLv2Vs8FfL09Ad5ppxfnt6pMrLxWwoGNJ0Y2gE2ot7GvlZDf4xIXSCdSXa1o6TE4gnRjvgOzqSTjZD5eoNoFbp6Hd2RRs3ByUp1bmmvrXQzwfa_0CXiX_MoCN4vI_NzsBvkJDUi3jHZKoxDFR1qzWhv-lBtvnABVsipi1NxFnlbArcdFEGgKFxF48tPqKnIBIAvlSLOwEQeG3yALCK1MVljh5jjwY6vtpxCGBe2N1lMPcRkFl2h66LbGsXNYRzpQuRLM9DvgfbSrK9HJZFq6KsIrM_Nmz59ZU9EuTCtRNjGKzUE=",
  "id": "rs_0304a6004fe11c96016ab493cbd8e087d08fa8a4fff96881dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":0.018,\"left_z\":0.15,\"left_pitch\":0.3},\"note\":\"The grip is narrow, possibly on the item’s fabric edge or loop. I’m testing a lift before attempting to place it.\"}",
  "call_id": "call_VUYShQAfwZla20uPVrPzi9fJ",
  "id": "fc_0304a6004fe11c96016ab493cc243887d0a4058ac686d29bd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VUYShQAfwZla20uPVrPzi9fJ",
  "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]: [0.0147, 1.4582, 0.4698, 0.7006, -0.0483, -0.0456, 0.0383, -0.0277, 0.8364, 0.6476, -0.7677, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4116 left_y=0.0182 left_z=0.133 left_yaw=0.0663 left_pitch=0.2928 left_roll=-0.0088 left_gripper=0.0383 right_x=0.2373 right_y=0.0009 right_z=0.1194 right_yaw=-0.0022 right_pitch=-0.3748 right_roll=0.011 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -6.4615, 8.7316, 2.1612, 0.1148, 0.0757, 0.6716, -0.0615, -0.7453, 6.694, 1.5067, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dca4cce673a6de2ebffe019b0e85b189f677c57879194adae84722ea5e731e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70713ac7d1ffcb003abfc6d7cf17a6dd00272b1369d16815ec2bb5caa31ef8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe44808ac2ea7838a5b0fe3d0ff49371907bc2866e5ef4ef8d873dfe376838a",
      "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 · 6.511 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 106 changed as sent

message 110 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]: [0.0013, 1.7, 0.4156, 0.9031, -0.0483, -0.0475, 0.9967, -0.0277, 0.8288, 0.6479, -0.7238, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4098 left_y=0.0127 left_z=0.0642 left_yaw=0.0529 left_pitch=0.1995 left_roll=-0.0057 left_gripper=0.9967 right_x=0.246 right_y=0.0007 right_z=0.1277 right_yaw=-0.0026 right_pitch=-0.323 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.7641, 7.4598, 2.4054, 0.0611, 0.1148, -0.0611, -0.0205, -1.1556, 6.7077, 1.6581, -0.0415, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0147, 2.072, 0.4522, 1.3834, -0.0414, -0.0376, 0.0343, -0.0277, 0.8341, 0.6476, -0.7467, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4346 left_y=0.0173 left_z=0.0384 left_yaw=0.0565 left_pitch=0.3442 left_roll=-0.005 left_gripper=0.0343 right_x=0.2415 right_y=0.0008 right_z=0.123 right_yaw=-0.0024 right_pitch=-0.3516 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -6.5846, 2.947, 1.5751, 0.0317, 0.0806, 0.9353, -0.0479, -1.265, 6.8444, 1.4139, -0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0147, 1.4582, 0.4698, 0.7006, -0.0483, -0.0456, 0.0383, -0.0277, 0.8364, 0.6476, -0.7677, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4116 left_y=0.0182 left_z=0.133 left_yaw=0.0663 left_pitch=0.2928 left_roll=-0.0088 left_gripper=0.0383 right_x=0.2373 right_y=0.0009 right_z=0.1194 right_yaw=-0.0022 right_pitch=-0.3748 right_roll=0.011 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -6.4615, 8.7316, 2.1612, 0.1148, 0.0757, 0.6716, -0.0615, -0.7453, 6.694, 1.5067, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dca4cce673a6de2ebffe019b0e85b189f677c57879194adae84722ea5e731e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70713ac7d1ffcb003abfc6d7cf17a6dd00272b1369d16815ec2bb5caa31ef8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe44808ac2ea7838a5b0fe3d0ff49371907bc2866e5ef4ef8d873dfe376838a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPVCPgTT86uKeu7ltqhIQEdtCE8qINFF0IhWEyIakcqzM6o1KII3ZFv8vCwwtpL9tGBVXzPw2MSfRM5sUVpUUL7gBExeeDJPOgU6U3iL0ObJS-fGMwAjibgXd65wesjXjWOjP_ti5fvOJo0ZZlUr2kooWIHnHOWfdMVXVHrqhePgZ0gW_RilVbgelCH72tkTSeQSzPBH7bJDGbMxZB_j2t56zBZrdMBRjnRZuqCaBbtN9E3QZCBWaqyD4i6eHEa-m8rdqE7peZP3n46HPxA9PH2l5lqbyUlHBwDQ1lDKr795k9SzaOifv3BTaXnEVAX04hq__6xWf-w2IL3k7dJoytqsaCxXCfICgfAq_2IpegLa1ZV33NvFgQKVSsPk0DVEMoOwdHEPEiEorrHuxVXUPYSsH5BuB2dpVg0lpk8OxE_7tjHKxG-ebsNattG1an8xybV1-Pf-CV2rnIqdaSuSsphfPBBtk9xM2H74A1rOb8aGvFLJ5fITBByEPw5rSywcZLEFGQN-dw2RBa1MfXwjz74cB63ivht6V2ae5qPjmipTJVbOAK1XeVzBXskFCKUCRpnsUCflJ1pisdVhGMX0lgjjEa07hkehrATgXusOHp5kszQF3681W9HdEN1Os-Mvs-kgjSfn7baTDmUGrAWMIuWXOXqW8Pcvo1lB2ZplSd_LVzIdZwaWjPm0JY0El538EasCGkM40PFK6o74shiMG4oRjDXb6w7mQrPp0u_K8neNeWaKgt_TddgyqkHi_Vz7Qm6WaV-zcn25g1MXrWF-CMbakUjVd9jFcMlG9w7lrh9DWyavI_s5DEUJDn0EqcVmVF1Ud7FOMjz9YN-eMwhwvf2G7ge1Xu1Q2w2KEGvMvkqGhvFyWpQyPiljOo_aRQtZeGKM6QYhsK5cMBUX0QjAcoo_JCQx1s4PThdKtRRyUM92tPcwIf4880V1mcgE1FExexkWNEyHEOMIErJRQdS7I7qVmX7I9D9RoILGJThMZFUZNbAalAa-EPvGNJ9wu-9xdmaULbeYUfkvGRq3rTk85yuCXG8TfnhfsbRcXWTms2y7RnPSos0BJombgVHUguVAS7aVuTslH-8Q8y6kN4IVuyJy5ozmtMdMFlWXJTyyuKnlVfCQWgiP1fL7dppUWZ6pHMN0z3hnyZhQFaTABP9W_PqOSorZ5e_pbELTkezlYu4lUOit3JlN2yoLUvlfirwi2I1dNvZOlsl1fO9oTrh6btbRCHcswweJCDCzxWu_ZU2jOZ4nZVv4Mr5J3mrL2pu1yYpPpY4L86Q03UvQTSUXcvpmfbX0UFuc48ZZeFt4ulA2dGoqW90Yvf6isII3i6CsVHSplih_I1sihcaxrnRj8kV_DqMQaFjC6ef9kN1FB8aDFYAPUrtf2soXNswGG627bryGGYBZB1wfowqrw2HionBp_NyOBPepaisFzpkmq76SRqCnOVbomMuQdoFCEl5g8U6ZE-FjZbJ4iYC1zX666nFg7Wq3Qdr61Y9_iP91aI0EEhyIkSwbXwtDPznkJlGwt82PChcpLGMBThiFc__T1n3KPkZ1rVWGbnBPfGreK3suebEdaDZDf-CeMgN71LhvXGCIqvVVwya7Q_zzScI3YeJf3KH6_GjhEpwH2FyNqt_WTk9XRxv4ulYx3c3OjyAOS132sHA1tmjTQVnRimp3IRDISvl-QfcaVvrlBS3ShNpNAoeJHpByAawFwq0D1DuAC1wES1rlwr0GxAwWY5-bYYeHIwWaw9M-FeuM9fFN0eLSpuXIPsYcDjNewq8wba9tLNA6ROjtvwQdQPTNoQWRKSvmb-VPKza2jOLJDkYpuhdE1fJwrlm3wUdzKdezpgw9pd40SOTioFfGg9bAG3ERiNhIHYcpRHMkk02RVWMeejNQMzKD1oUsmFGH0yL_B2DMOrWTCSgtVRTiTsShJ-Q5mV3aiuoC5RxjuUVfkn_IbYdM1Q4dxqsx0vH9FmVrPQc-tZaBCqVhnRC2sSVCI302icyH8S0A5glCyDQjtrWKus9ecMyEqcilSyKlbKTyozUIpRM_ktyKOXZBPL_taqzF4kqZ7bJdJ6ZoNbE7Mk_nunSfJrFBNVzMmnDhWm7GKG0XSO1SD9bzO9MfsbLO8yOGU3szj2zJpgxC9i338iKDNLxI6rY9ZjtGd9-vZeves9CBezG4VXngN40VtlqU3c-ZAOlSkz8goA_5klR2ndQ0SKk1w89QvqAcbKFequVJhdIbKYhn9fZIbOsrFQla5fnrVp9cEGjeV7AVZMy_S_X5RJip85FDAGbA7frkj-_Z282hcaIixQbL0cyj9cMEzgqjT1DzMDk1ALwjl9CGyFDhBxDTYR6OZVJs2f5bZae6vg0uemx4pmmA2ZGmWSx1H3zKModMxT5x41SquxAR4iEEHFdpB8xDJwFeYX2I_uNQuM2EkClL6SncOfwqHVnLRzRL_aix3lWAXZ4pe-8HqKhNR4qhVQOMDibEDfdK3CglKW69aNK-XrWEmFhZA64Qom0OTkOCtuxAVzuM3XAslNvIRM7UP4rtQWK32ba8_F9OlCmhDK68aNhMYE5LcVxHtjw4FBpTKkPYXz-qKnwcpXWhunejwDjhoAX9LULlpzcvDMavXZatwaPvoPygnaQlJWCtPQeiXnXEyIuAz5MtEIUkszlmSU=",
  "id": "rs_0304a6004fe11c96016ab493cf6b6c87d0a181f4026970dd72",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.018,\"left_z\":0.22,\"left_pitch\":0.3,\"right_x\":0.405,\"right_y\":0.38,\"right_z\":0.14,\"right_pitch\":0.1,\"right_roll\":0,\"right_yaw\":1.2,\"right_gripper\":1},\"note\":\"The white item lifted with the left gripper. I’m holding it aside while bringing the right gripper to the safe’s front-right lid edge to reopen the compartment.\"}",
  "call_id": "call_EZZ9tpJs8fRkwbDaywVo76sq",
  "id": "fc_0304a6004fe11c96016ab493d40b4487d0ab14e93732d1fb69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EZZ9tpJs8fRkwbDaywVo76sq",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0208, 0.6739, 0.4347, -0.0917, -0.0479, -0.0494, 0.0412, 0.577, 1.9633, 1.3205, 0.0231, -0.4957, -0.3191, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=0.0183 left_z=0.1971 left_yaw=0.0737 left_pitch=0.2498 left_roll=-0.0103 left_gripper=0.0412 right_x=0.402 right_y=0.3662 right_z=0.1263 right_yaw=1.1501 right_pitch=0.0451 right_roll=0.0185 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -0.7863, 10.9333, 2.1954, 0.0562, 0.0611, 0.569, 0.3624, -10.1812, 8.1436, 1.8388, -0.3687, -0.0317, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6ec289d53557de44b3f1025065ed6e4f2436764e6c86da8b015852aab1b544",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb89cf6660f38047279c51962d4b37548c7aa816cd0b82985312e1b83a7b4f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70154e8ba1a9c7cb7ab1049a1b5028ac6595887273bb9899c9ca6dd4fd3264a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.134 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 110 changed as sent

message 114 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]: [0.0132, 2.0315, 0.4458, 1.2999, -0.0414, -0.0582, 0.9971, -0.0277, 0.833, 0.6476, -0.738, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4303 left_y=0.0166 left_z=0.0333 left_yaw=0.0661 left_pitch=0.2946 left_roll=-0.0235 left_gripper=0.9971 right_x=0.2432 right_y=0.0007 right_z=0.1245 right_yaw=-0.0025 right_pitch=-0.3417 right_roll=0.0101 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.8598, 3.5624, 0.6764, -0.0317, 0.2857, 0.0317, -0.0889, -1.4291, 6.694, 1.5165, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0147, 1.4582, 0.4698, 0.7006, -0.0483, -0.0456, 0.0383, -0.0277, 0.8364, 0.6476, -0.7677, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4116 left_y=0.0182 left_z=0.133 left_yaw=0.0663 left_pitch=0.2928 left_roll=-0.0088 left_gripper=0.0383 right_x=0.2373 right_y=0.0009 right_z=0.1194 right_yaw=-0.0022 right_pitch=-0.3748 right_roll=0.011 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -6.4615, 8.7316, 2.1612, 0.1148, 0.0757, 0.6716, -0.0615, -0.7453, 6.694, 1.5067, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0208, 0.6739, 0.4347, -0.0917, -0.0479, -0.0494, 0.0412, 0.577, 1.9633, 1.3205, 0.0231, -0.4957, -0.3191, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=0.0183 left_z=0.1971 left_yaw=0.0737 left_pitch=0.2498 left_roll=-0.0103 left_gripper=0.0412 right_x=0.402 right_y=0.3662 right_z=0.1263 right_yaw=1.1501 right_pitch=0.0451 right_roll=0.0185 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -0.7863, 10.9333, 2.1954, 0.0562, 0.0611, 0.569, 0.3624, -10.1812, 8.1436, 1.8388, -0.3687, -0.0317, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6ec289d53557de44b3f1025065ed6e4f2436764e6c86da8b015852aab1b544",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb89cf6660f38047279c51962d4b37548c7aa816cd0b82985312e1b83a7b4f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70154e8ba1a9c7cb7ab1049a1b5028ac6595887273bb9899c9ca6dd4fd3264a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJPfuoVjB2Ne7pLNKYamZtK9sXwT4y26EI7cLq9J9HqCeYviPNR2s2zFlhR1MlpwISmAnnFqOYiu0B3wOnu3SDMEDFAWwMBBQ8OWltHaZQKM8I9zSqcLNKt7qNv0JIygxcJPibR92_sDrviZGW8ISqLpF9Bv-0v_ccAG0WNfuGhgbk16Oo_xOeAVWp5V4_TVHmACIY0-Ehmv7ME2hHx5pC8R_jVfhLKW3rCyzKW0_Is1t1s3_90r7O_kqM2z6Pamzar3R89Fmd0jmPwvwp9Xbcs5ChyWC6JGHuvmEkHn2BFdKBgCPyXNrCz3nLb9rhZUAAnCdFnSfh0UxXMq4ODxQL8WI8Tl8hLFHPjaOQoK-IIY-QMFiIiby1XD1T8u8hkuLeyfI5MAPP2YcMbHJO3iP2DTxDdUhGdgRXrjsyibNnejrbofKAdsYcs8KGK0KaptjhRtyU01zNEjgOUliHffIKiInZv89qjGgupjcbX_2PtVWXsyY8hzc-7J42SyH2CTHHDu5lIVg7KdKiu-zKwvNv3BtYipS1K7ky_cf8QFDjqJUCU4ggQKlBAWxEojDRcUus_doyJUJyESEi48lglPePaHOk8iDY_ohUCoRSH76IhPdo4InkFAwWAGO4GkWApYCSywdnk8AC6hylNShbjV9Tbtz2Xb46QXxgVotZtqnZ6CrS2I1trEy6sE50DBg95FFarsmW0F1XFXuW_wP0eYfMgdIUBWplNZs8Kq_FMxaZriBpIa8Yv1ZlLfiHJAQEPvD-sdrpiuK5zb9xxMB_JmB1zNntZlxFm6e0SEn801xYfszvVYdDPH2W0rrPMDotcy_pAEsliZvQ1xSWeqEewuuWQRMzLBjm3lAArsH8Wjpg2IjgsDNIbb6k1MYBvxAlgo2u5cPIKTgIBYaKwkCTMdC3WCUFV0RFnUhP9Q8NQ6YoqOVbxHI6Dm60V4L96C0lSnH6kkQ2lWcyhwySBU-oohNJgJ2l9pEiuplgSE5km2M4vfhV7QY6ICZ4UudvEkgS_eH0UNUHHjqdddxU5MtQ0S17WqUuGxmr-0ij71WNwoojTNKVdkDq-wP8Z895xALpgi9VPv1dw5FzJpDgDz3AX_Rrddu6GwjtM7J8BxR-m_L_FptH2gKVoiW-8A3O8Hir9p7SOwS8CeW8N0yj-bUrpuUzJdwbLuHkX6xNZOHdy0HDNzE4qjv8z5Ow9jxvAUawFDEtUfwtRJ04NCrayhqeZC3YmDd4Mhp0xpF98eMVOsaHMpB9zpLQN6yltozVgFpKQ5NeycrQ_1d8QniAqOlnNZa9wrbFwlxE3k0gL7kFxx3lXLBkG369WyaxcprTVxqGTGxD4w__3hzWhDSNRSyy_r7s8SbGZOWVYPEcj-B4nGuA_rZTnH-GpzU3jhympZEMp6XZi_rjcYQSMsxdGRi-sIlHbJxVQfezhT1DMSZ0OZyMvS3YuKDCgpH0SqbWKEAgJ_4xP0UnPkuYTlihFBUbmuLZeTClevgQrXtuV9eGqVdlMP5l063y6JcnfVAUbJayQc8hYaLAmUwUcsL-u7mYJcTuucXsLxxXdS6yTaIy0NuWGEHhHUTcgE8wlZtkKcAHto4pqWiA2crxvrdK1KQizj1VT0vDm7MO51z_11qV2nTrMbAwSPxVoM4tu7hCNgwrQn3G5VjXSThsJse5ku2BfbS7aNnFXxxNBFu4Xn1M4bVryeVohnw4NMQu1FQ8ufw66lov_W2LulxgpD607uYqNP3rXCHV1CKtOdO0cwIhknKSuuhiXymV2mxqh837CYOWpCxX3AMjXDsDL8S7iNOVG4jbc05LtTHoqL4YNslwsNrTWqxiPZ7FLBoMLR2zx57s6eQyq4S4dtGcBbL0G5x1ZerVnX3_1t4itYJ0Kw3gkQLPFJMRfku4OFXqOe8G4PgNgjKYyKXrOcE2_mYySXdaOr-ENoGdThswvzwjfQkHPGutn-rsIt8q4qG4rlg7hq8odmY4wnG1IQ5fVN25RyQkKBo-R2AmM_v-O8VtDL_oNyVdS1c4QFstUsaScRilIFQAzayMiRDAfZplpArMHCIBg_lm86-A==",
  "id": "rs_0304a6004fe11c96016ab493da23bc87d0ae9a21a476ff937e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.4,\"right_z\":0.072,\"right_pitch\":0.1,\"right_roll\":0},\"note\":\"The right gripper is just outside the lid’s front-right corner. I’m lowering the open jaws to catch that edge without pressing on the lid.\"}",
  "call_id": "call_nlIAioKTKAPMLcNQLiBKzN3y",
  "id": "fc_0304a6004fe11c96016ab493de4ba487d0b824aa68ecb586ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nlIAioKTKAPMLcNQLiBKzN3y",
  "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]: [0.0204, 0.6785, 0.4381, -0.1146, -0.0456, -0.0532, 0.0419, 0.6212, 2.1128, 1.3067, 0.2279, -0.4866, -0.2871, 0.9995]\nstate[eef_state]: left_x=0.2978 left_y=0.0177 left_z=0.1922 left_yaw=0.0732 left_pitch=0.2257 left_roll=-0.0135 left_gripper=0.0419 right_x=0.4042 right_y=0.3953 right_z=0.0795 right_yaw=1.1708 right_pitch=0.0772 right_roll=0.0198 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -1.0051, 7.0359, 2.044, -0.0904, -0.0024, 0.7204, 0.4034, -10.0991, 5.6821, 1.536, 0.0806, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aada1adab3c2bd94e7fd144032fe6ad074cbd946f256f71732b541c82cd47131",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab09b8e329f992f4d7c3b90391b8aab1d3d6557419ad2e1020dc95841fcf7983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f260641ed2f2464af23e508804634ca3e9ef978676380ede180c1a9a80d8d465",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 7.529 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0147, 2.072, 0.4522, 1.3834, -0.0414, -0.0376, 0.0343, -0.0277, 0.8341, 0.6476, -0.7467, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4346 left_y=0.0173 left_z=0.0384 left_yaw=0.0565 left_pitch=0.3442 left_roll=-0.005 left_gripper=0.0343 right_x=0.2415 right_y=0.0008 right_z=0.123 right_yaw=-0.0024 right_pitch=-0.3516 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -6.5846, 2.947, 1.5751, 0.0317, 0.0806, 0.9353, -0.0479, -1.265, 6.8444, 1.4139, -0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0208, 0.6739, 0.4347, -0.0917, -0.0479, -0.0494, 0.0412, 0.577, 1.9633, 1.3205, 0.0231, -0.4957, -0.3191, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=0.0183 left_z=0.1971 left_yaw=0.0737 left_pitch=0.2498 left_roll=-0.0103 left_gripper=0.0412 right_x=0.402 right_y=0.3662 right_z=0.1263 right_yaw=1.1501 right_pitch=0.0451 right_roll=0.0185 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -0.7863, 10.9333, 2.1954, 0.0562, 0.0611, 0.569, 0.3624, -10.1812, 8.1436, 1.8388, -0.3687, -0.0317, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6785, 0.4381, -0.1146, -0.0456, -0.0532, 0.0419, 0.6212, 2.1128, 1.3067, 0.2279, -0.4866, -0.2871, 0.9995]\nstate[eef_state]: left_x=0.2978 left_y=0.0177 left_z=0.1922 left_yaw=0.0732 left_pitch=0.2257 left_roll=-0.0135 left_gripper=0.0419 right_x=0.4042 right_y=0.3953 right_z=0.0795 right_yaw=1.1708 right_pitch=0.0772 right_roll=0.0198 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -1.0051, 7.0359, 2.044, -0.0904, -0.0024, 0.7204, 0.4034, -10.0991, 5.6821, 1.536, 0.0806, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aada1adab3c2bd94e7fd144032fe6ad074cbd946f256f71732b541c82cd47131",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab09b8e329f992f4d7c3b90391b8aab1d3d6557419ad2e1020dc95841fcf7983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f260641ed2f2464af23e508804634ca3e9ef978676380ede180c1a9a80d8d465",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJPiXEeZYeSPx4Umla0c3Oc-rKo3GNt6-1BRq7WFzdJHV5fm6aCzsdV7viMRrcHds__mmjzj1EDrC-XVHRSXa8obYd1ctIecCg-nm4XUqsZ3DGl-xkCP9ifkGv4QD-Sw6vg3_yXVRv_4G42lTjRuY9CSXd2Py4KKHdh3arwpCT1gD5M7AQvohcnHqZTtSRrhbSoZXOuAaoyT7igJjuPJQLx0CrQxcFuokpHZlI517vTKt6N_Yh5CAHXPQ1vltmVg5REU1bGWA3_i3kQWrrIYYlgXzjTXISIOAxr3Z2YPNLkk-8NaVYiDf84Oppq-MhPI9UbN66eJZHiyr2oJJYZuJtiMEPHR6gkfpxaV4r158-gjbEOxK9ujQb0NxEC-e6NCcB_prvn_-3M5qNg1F077THgJL2DYpZyrmgKaAZLaZjkVwbgKmsRw8FFWawARZzYnMzmDrRhvfdZd1aRL11wRb_WrB9c_gVkxkF90iv64-zHFR0lvcx8E5RP3ZfSn32Zqbz-eDkrDAm0mFQyZn4bZDTDK_S55Jf0pXkA6AgBEZS3OEkRarh3yaAzxmWgKNAbJjolFek985MbEKi5z8tiZML5VcHzgdBGN_UR1UmgESbPd5V6wt1fn8A09LjqDNEgtx4plQxYvSCXnvXxvRsgPfoajwoDu8EwaWF1ToiNOrole-bcBjnKQwjN4937qsNLewCwTJT_ZJKe2SQrcTpOoOxb1smGETez3QaXlbBQrX-KF2fjwCFEMQ3AR4L_x1xFhW1Enl95u4Kx4XCIXirCsLEw8Eopz5pcMxMAl9Lp5cc2QFevOw7AOAYc0m1Xa1GdYo6Aoxsv_6HRfvYVWAAD-U0iSJgX38DFf_x6kI70tB4PMyTZa6scFRd6p28E9Quco_-fokqfqx628bMhxq7zkOnR3s4EZzYvNq5CmG-5yTTlus2rgVCSFQm3nfFVoL22vSX5oRLD9c5cvOSMQY8riyUlayCwSj5f06sdFFqWFN9SeqgResA5e26veGU1kY4w4B19lfhdeROlxDVLz-hS4jhmLXurLgOIzg4dZHqM1lE1qmNh9PTzYYeeuK6OWyhKqSe2ApNuQictW_frOyNtBwzYjRGp24-RjmRwXglDLmxUXWcNwDhi0iDoFKg_3U5P_SpTfXvSspbRqOY15J2vRdAxzWq_-by8_AhZ0Qd3DMbxVJwF116tk0PSrzC3DsYRxinDCyTeB2KY0mL3_CHQm0lrLbZwTO9AvtfpGb2hTT2tNtigsKKt-lU3oKpuQA_V0zN5Ffj7bBdJ5tO4u2PneY_QHGEmNMzqYj1x-K7DNaUFqymjkQIckc6PsoJvWKOYwVQQM-3oQ08QwETzmDtJQsgJznZXYovQWgJ5Bi9y6GiO5KHA=",
  "id": "rs_0304a6004fe11c96016ab493e1594c87d09d628648ea46aa9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are positioned at the lid corner. I’m closing gently on the edge so I can test opening it.\"}",
  "call_id": "call_ITHDJooMHqePtYtDwEcsHCEa",
  "id": "fc_0304a6004fe11c96016ab493e1f41087d098475bed91dd11ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ITHDJooMHqePtYtDwEcsHCEa",
  "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]: [0.0204, 0.6788, 0.4381, -0.1371, -0.0456, -0.0566, 0.0439, 0.6247, 2.1273, 1.3037, 0.2604, -0.4934, -0.2882, 0.0085]\nstate[eef_state]: left_x=0.2958 left_y=0.0177 left_z=0.1869 left_yaw=0.0748 left_pitch=0.2028 left_roll=-0.0156 left_gripper=0.0439 right_x=0.404 right_y=0.3988 right_z=0.0769 right_yaw=1.1811 right_pitch=0.0918 right_roll=0.0141 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -0.4308, 7.159, 2.0586, -0.0415, -0.0024, 0.6276, -0.294, -12.9573, 6.7624, 1.3065, -0.0904, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1692087e0aace1d28a72715666e08d3f462c4cb6a7512f66af647b6dc165c93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d282b17674d8ee9a0f865b1e1d031f5ce396617dec32e5e5b00576be34494248",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db1015c674bcf8d7532bb79269ec719db38ce217a679a20a0ffc43c12f4f7ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.247 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0147, 1.4582, 0.4698, 0.7006, -0.0483, -0.0456, 0.0383, -0.0277, 0.8364, 0.6476, -0.7677, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4116 left_y=0.0182 left_z=0.133 left_yaw=0.0663 left_pitch=0.2928 left_roll=-0.0088 left_gripper=0.0383 right_x=0.2373 right_y=0.0009 right_z=0.1194 right_yaw=-0.0022 right_pitch=-0.3748 right_roll=0.011 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -6.4615, 8.7316, 2.1612, 0.1148, 0.0757, 0.6716, -0.0615, -0.7453, 6.694, 1.5067, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6785, 0.4381, -0.1146, -0.0456, -0.0532, 0.0419, 0.6212, 2.1128, 1.3067, 0.2279, -0.4866, -0.2871, 0.9995]\nstate[eef_state]: left_x=0.2978 left_y=0.0177 left_z=0.1922 left_yaw=0.0732 left_pitch=0.2257 left_roll=-0.0135 left_gripper=0.0419 right_x=0.4042 right_y=0.3953 right_z=0.0795 right_yaw=1.1708 right_pitch=0.0772 right_roll=0.0198 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -1.0051, 7.0359, 2.044, -0.0904, -0.0024, 0.7204, 0.4034, -10.0991, 5.6821, 1.536, 0.0806, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6788, 0.4381, -0.1371, -0.0456, -0.0566, 0.0439, 0.6247, 2.1273, 1.3037, 0.2604, -0.4934, -0.2882, 0.0085]\nstate[eef_state]: left_x=0.2958 left_y=0.0177 left_z=0.1869 left_yaw=0.0748 left_pitch=0.2028 left_roll=-0.0156 left_gripper=0.0439 right_x=0.404 right_y=0.3988 right_z=0.0769 right_yaw=1.1811 right_pitch=0.0918 right_roll=0.0141 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -0.4308, 7.159, 2.0586, -0.0415, -0.0024, 0.6276, -0.294, -12.9573, 6.7624, 1.3065, -0.0904, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1692087e0aace1d28a72715666e08d3f462c4cb6a7512f66af647b6dc165c93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d282b17674d8ee9a0f865b1e1d031f5ce396617dec32e5e5b00576be34494248",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db1015c674bcf8d7532bb79269ec719db38ce217a679a20a0ffc43c12f4f7ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJPrKK8l0z78ynn-RnpUY1BLbR_TbjokTR2XuTp8zjN2YxipnAwiMOXS-JseI2U1ISHXhky6Y9VNDufQfi0UZOI-Cx1T8lOLWqprPdf79-haKIfXrOMDv1N-rISBka2aO_-__FSdM3A3koeqkRRL9LPESM7z0ovHfvbpkLSn7tR0Khjnm2tVwM2iWw7093WLSLGAbhlcoLPb2AB-XOaECiDII3vG1ot1i0p20ATDdBN0Nu5MegklU6e4-sNFXHHlAS7E-keHFr5SwV0Pnn2QEMK5HmFI-ugC83L01Wx6G8rUHOoFA4MhNd8dEbVvyqgoKn6aG0BkVaCJpn1myuzKnSha9orENTzC1fmQxjc-bbcWWfvbjBHwGkIJTTxE7t1lepkClF8ihVE8Gj5g-by7DAXPLSWpK7IiYVF83jMhFBZHjpL497S02aIvBQlou848EzsSc2yQJa7X2cs4GqZ4Mw7mxNAkSNwmLDON1EQ-RhvnJzCEtd71rdVwJFPfr01IxGzliilSSirSYQ9Ljv-vEvlYdPNbNHxpZ4FXPiSOakOxQ0suVtDrdEmJnxjTaoc02eVda_GvbyWJUWsMy84TxFrHlYxaFQV5hH3L741ljm88KFFlsxIq8LhPo2o-CVtdQ6vnh4mMuJ0ujORzoZnzrCqa3gMkPR69mzZJrlLSh4S-FRH4Xb5ZUcGVYFxOys5K5WtOcr2qk23YtJVy-xka9hRRPfQCLy2JiERDuOv_dxmSsHWmIi6QxpMd1_M_iKLFlCQ5g62KuAYKcwCbNn9j2sf5QK7jz7Y45lNhExZQtOCd1fOSI2kpt3mFzyBONhnAAZEyvgCaUYBqtNCJtZpXDW5QNpzPtssmGu55IX93PDCbKeJeEo4lgUL1jJHMQvkyOyq74TFlVBVyVYzz32FKTvCMjiSkLhZD5SQO1LnaX83TrGv9G8Uqwmyz1RZGB4qNZrM1Kggy1vmso9iJ1ij28JKYZz-SszUoXTNvVAjaAxmAkZckNznq-mPo1VMUXToELZTujkCIuYcA3L7Gvsz_YmkHeWTCuzNRgOKM8dbItFS18HOw1mDMZXN6TviZ5nlocN5TbaeIFeZpwZBCH4NHQXQBtzhB8p1LHt125NuZhRCHfFX5Sft61H4YcOF50olDEUk62KakbaBDDrNCOi59oVcA3rsiIUkkTeeV_21heWW7Z8lTMMAKC0CxB2lU8BBiMGLh2K--1WLWbO87x7GsruwZTYvZrP3jzeS-Jf6GgHZTaBQldUzYnFrSMrCYtVGxERh5VxetyBQ4sDav3w0BqMZDvNmoITka4hmZliC4GrSPe1OKwtsSwTaZxIQ4GMJj2vfNWzM0DSjBG0bLN8kIkMh4EEjGVNyndi3pTHbxpUz-hrLagisWptohmJb3_cqtUvF9srStxQMDJYz4hcACn4cJ-FMBzKHenfqg8gWt42RDS2ul4r5ASYMBlOoYvRsqvfTDrkt-t8zfzwYK3xu5srnR-ufBMcydJpG1vTTQygLbYPH5h2L55N2wgEUnLsqCRwJBJBEi9Ub1Xa87pe1r_9cfJdZMbpOoqdgax2cfIKFI2vYTOkZxCcbo1s1njmGlz2uSRggl3tjSNjqhQ5w8BV3FcuS6zqq06oP_YQUlIpaYC-BB3T63-gE97dJSU59f-uz2v02Hfc566wJVcGVzpx8tvvkk0ci2UaFEBvZzBCuL-jCn6Y8H_crIcTI5N1NblLOqDxtsmXILVLjvM8v9TZOjR_Dlm3Y9YSy8C46shON1qnPFTkSJrAEPu3RHGfWzNHJYWBLdC3isdRts82RxiqlKAIRJka-BAFvy2KMYRLuJyFRTHCI3_TJtT1FMSxSrZuvP1ARbxhZKQdONkytBQ6yNtfhj9vall7YdcSRDjldeGBMbFG5uLhvMqR4uw-FcBN51230OFy1BGBEFwBRZkLwgjd42bhAkNYquCPoSol3iQFJ7vWeXar6WBn4_3GWkt302_WgeZX-6s4yh5Dm0IGMjSt6ybD2sNfEQ4CImwy2cH6Iy05P0C4ChUVliz1Oejm6vr6SYw0jTmmVH4l8PYe-lpMwPethzZzEcJS4gig0EQMWkfdESxlSpvR-Sg0rUgGExpOLCRpPhE6pj2M1GU-aJTNVc4kyhE92M0fTAzyD_qE2jEHuQpLEH7yHetPOcfmAXVejpikQVKPAaFlDE8_RlOTIhCmRqB2EeKNNYsBEUDPGKR7LHmP_yryOEh4S9MT5Nlw2vFPsTT090SCffewZjei0EFuu_dvfjLO8pmdrK4DtrQ3VBW1HwlIfzB-gFw2IT-_RXKsJJNntKcwuPLAk29bafYg1OXFMSD1TIoAFj1glmJky6uMBzYLyraWYkJi2UJWdWFG54tV6UZdVv8aYElM7wieFMmrdz7oQScK7gDHOpsKP0WwrKPOjVV6NC6TJynpco3lesxY23MJkPtpGRwNYJCG_bBhrCA2g_khMev_ytXif_kVWnLyZSmzZw5S6Uv2nXC53wgg650GFKIf_49DwxAZYsGWYSdXQMIWkeabeSmybT0kAHxi0k3gqqHCJh9Em2A--x-NQ66WnHr5DnpLGqzgeJK64NbVnrtg6OLZbAZRddrhtCSslAZFsDrRQJe5duQg4Mew9aKpCH1-vnBOYsgEJ-IINWz0_-BSdWnS3CCVxBwO6YZyo7aJ2Op6NYLzLHRGQYjudasUDbiE3fQL0GlMtUlLY7ITFvkGpi-eJ5c9VfapcZs5jqhOaDkzV_",
  "id": "rs_0304a6004fe11c96016ab493e555f087d0950f636397955e3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.4,\"right_z\":0.075,\"right_gripper\":1,\"right_pitch\":0.1},\"note\":\"The right grip was empty at the corner. I’m opening and moving slightly farther along the lid edge to try a more secure purchase.\"}",
  "call_id": "call_f0aXlMLH7es0ht9r0lDDo1Za",
  "id": "fc_0304a6004fe11c96016ab493ea3fec87d08473ba2559414c1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f0aXlMLH7es0ht9r0lDDo1Za",
  "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]: [0.0204, 0.6815, 0.4381, -0.1627, -0.0456, -0.057, 0.0462, 0.5777, 2.2189, 1.4628, 0.1967, -0.5369, -0.3145, 0.9949]\nstate[eef_state]: left_x=0.2936 left_y=0.0176 left_z=0.1803 left_yaw=0.0747 left_pitch=0.1746 left_roll=-0.0144 left_gripper=0.0462 right_x=0.4404 right_y=0.3993 right_z=0.0805 right_yaw=1.1837 right_pitch=0.1079 right_roll=0.008 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.841, 7.1316, 2.127, -0.0464, -0.0611, 0.232, -0.5812, -10.5778, 8.4308, 1.5263, -0.2027, -0.0464, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5a85eca3a56c1f814645b7a8d078cf76cc228e22ad38e6b75c1eb39cd13ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111aab06f3ce04aa93ed9539665763e8acfe43da35815b60d32d3d7954025080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f193773fcbac355d877568245ebfeddcf3487ced57b925ddc5e21946cd8863",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 9.113 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0208, 0.6739, 0.4347, -0.0917, -0.0479, -0.0494, 0.0412, 0.577, 1.9633, 1.3205, 0.0231, -0.4957, -0.3191, 0.9996]\nstate[eef_state]: left_x=0.299 left_y=0.0183 left_z=0.1971 left_yaw=0.0737 left_pitch=0.2498 left_roll=-0.0103 left_gripper=0.0412 right_x=0.402 right_y=0.3662 right_z=0.1263 right_yaw=1.1501 right_pitch=0.0451 right_roll=0.0185 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -0.7863, 10.9333, 2.1954, 0.0562, 0.0611, 0.569, 0.3624, -10.1812, 8.1436, 1.8388, -0.3687, -0.0317, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6788, 0.4381, -0.1371, -0.0456, -0.0566, 0.0439, 0.6247, 2.1273, 1.3037, 0.2604, -0.4934, -0.2882, 0.0085]\nstate[eef_state]: left_x=0.2958 left_y=0.0177 left_z=0.1869 left_yaw=0.0748 left_pitch=0.2028 left_roll=-0.0156 left_gripper=0.0439 right_x=0.404 right_y=0.3988 right_z=0.0769 right_yaw=1.1811 right_pitch=0.0918 right_roll=0.0141 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -0.4308, 7.159, 2.0586, -0.0415, -0.0024, 0.6276, -0.294, -12.9573, 6.7624, 1.3065, -0.0904, 0.0073, 0.735]\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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6815, 0.4381, -0.1627, -0.0456, -0.057, 0.0462, 0.5777, 2.2189, 1.4628, 0.1967, -0.5369, -0.3145, 0.9949]\nstate[eef_state]: left_x=0.2936 left_y=0.0176 left_z=0.1803 left_yaw=0.0747 left_pitch=0.1746 left_roll=-0.0144 left_gripper=0.0462 right_x=0.4404 right_y=0.3993 right_z=0.0805 right_yaw=1.1837 right_pitch=0.1079 right_roll=0.008 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.841, 7.1316, 2.127, -0.0464, -0.0611, 0.232, -0.5812, -10.5778, 8.4308, 1.5263, -0.2027, -0.0464, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5a85eca3a56c1f814645b7a8d078cf76cc228e22ad38e6b75c1eb39cd13ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111aab06f3ce04aa93ed9539665763e8acfe43da35815b60d32d3d7954025080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f193773fcbac355d877568245ebfeddcf3487ced57b925ddc5e21946cd8863",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0304a6004fe11c96016ab493eda8d887d096adf9e6963e572f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now overlap the right side of the lid. I’m closing at this new position to test whether the edge is captured.\"}",
  "call_id": "call_RCHQrJTIpbBiOeFdQItQrmHZ",
  "id": "fc_0304a6004fe11c96016ab493eeae7c87d0a9fbdd1cd807be06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RCHQrJTIpbBiOeFdQItQrmHZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6815, 0.4381, -0.1814, -0.0456, -0.0566, 0.0491, 0.5766, 2.2227, 1.4662, 0.1963, -0.5415, -0.3145, 0.0086]\nstate[eef_state]: left_x=0.2917 left_y=0.0176 left_z=0.1761 left_yaw=0.0744 left_pitch=0.156 left_roll=-0.013 left_gripper=0.0491 right_x=0.4407 right_y=0.3995 right_z=0.0798 right_yaw=1.1862 right_pitch=0.1086 right_roll=0.0104 right_gripper=0.0086\nstate[joint_eff]: [-0.0205, -0.6496, 7.1453, 1.9853, -0.0366, -0.0024, 0.2857, -0.0615, -12.8068, 6.1197, 1.6874, -0.149, -0.0611, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1a1775e6fb16aa47ad9e2603ae5ec6ac23d2fc06be7364fd9bca48573871b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bf4405369a7a745b94fa6ad1323f53961a3ce0d04b395079a36e493172205e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51cd1a910e0446cec3754c244bdf948434b37626a5691fc52f81b78ef59a7ac1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.571 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6785, 0.4381, -0.1146, -0.0456, -0.0532, 0.0419, 0.6212, 2.1128, 1.3067, 0.2279, -0.4866, -0.2871, 0.9995]\nstate[eef_state]: left_x=0.2978 left_y=0.0177 left_z=0.1922 left_yaw=0.0732 left_pitch=0.2257 left_roll=-0.0135 left_gripper=0.0419 right_x=0.4042 right_y=0.3953 right_z=0.0795 right_yaw=1.1708 right_pitch=0.0772 right_roll=0.0198 right_gripper=0.9995\nstate[joint_eff]: [0.0342, -1.0051, 7.0359, 2.044, -0.0904, -0.0024, 0.7204, 0.4034, -10.0991, 5.6821, 1.536, 0.0806, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6815, 0.4381, -0.1627, -0.0456, -0.057, 0.0462, 0.5777, 2.2189, 1.4628, 0.1967, -0.5369, -0.3145, 0.9949]\nstate[eef_state]: left_x=0.2936 left_y=0.0176 left_z=0.1803 left_yaw=0.0747 left_pitch=0.1746 left_roll=-0.0144 left_gripper=0.0462 right_x=0.4404 right_y=0.3993 right_z=0.0805 right_yaw=1.1837 right_pitch=0.1079 right_roll=0.008 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.841, 7.1316, 2.127, -0.0464, -0.0611, 0.232, -0.5812, -10.5778, 8.4308, 1.5263, -0.2027, -0.0464, -0.2222]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6815, 0.4381, -0.1814, -0.0456, -0.0566, 0.0491, 0.5766, 2.2227, 1.4662, 0.1963, -0.5415, -0.3145, 0.0086]\nstate[eef_state]: left_x=0.2917 left_y=0.0176 left_z=0.1761 left_yaw=0.0744 left_pitch=0.156 left_roll=-0.013 left_gripper=0.0491 right_x=0.4407 right_y=0.3995 right_z=0.0798 right_yaw=1.1862 right_pitch=0.1086 right_roll=0.0104 right_gripper=0.0086\nstate[joint_eff]: [-0.0205, -0.6496, 7.1453, 1.9853, -0.0366, -0.0024, 0.2857, -0.0615, -12.8068, 6.1197, 1.6874, -0.149, -0.0611, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1a1775e6fb16aa47ad9e2603ae5ec6ac23d2fc06be7364fd9bca48573871b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bf4405369a7a745b94fa6ad1323f53961a3ce0d04b395079a36e493172205e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51cd1a910e0446cec3754c244bdf948434b37626a5691fc52f81b78ef59a7ac1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJP5fONETzDQnkADIHQrb6jVlJg6If9N3pcs8NvXfnIdUfELa6huZE-7H0gS1tg69Lz7VC49JfzYsErvaSz9jI1ZPTFlz4_LzLz0D5-LYMfCo-qcVq61X36mydIYOXyaBw9h6u5DrT6D0CtP0PJnHrRauzq3YzVWwGoh6Gi4OsbHwbG2egsFqqjI1VzYni9WFfD71_wsve2vPOEwjccp1Imx5KVEY_b7ht4B8q_RnBofylIzOelvWt1swiIsfXH8KXmCU6lUm-pR_B_fMOGVMR3qmtVygyZmd1MRtNa7Er4f_w5CNMkk_gVE0rqcqZmWGYPr8ySYzY72_1bWFS0Gsh43cShiLMwRfv4NSBE4suCikMdpRgaWj6axayW2ayDvQqz3vO5eIx87n9lDJgKfShbc03r1Le94L7-FEAGvk98SwO4LvRY4MEF0Aat2rgkba3Bh4LqsmK3zB9ufTTpFPDOfK0d2gYTARuz0e0nqHIsjueY3QIuG_zWtKu4V1mXmWD3t4pcd9ENZFBFgVkW8dKiKJZbhZSbtWXoJ30wAgLfvGbbdTzshf4CEGBErSvJYS0Nd1JFxj28vxXw8S5de2EzPAGPfPWOUn1UwxsB-9BgQmrlwHTVQE-b3FqdOJBgfThNXG2gAzRd3K8BssC48oSVEjkaLdr38E73PGu-j9N9uxhHBnBWMS8ge-bEYRujnduVNlYuv0wrDOHamNDi8BcYI_vnj8Whs1ggWJrvVRj3pxVa5yApN-HJeLnWjCBBLAG1piSxwnzPHueJ11jRqwecVX_LdlHoN_MjZQ2Et5RR0ldri2RL5dCGBKgTnhfawbfhrueNVgANqSsRh7gyX27c32MGD3tbCnQPdIPEYkSXm5BBDoJLKfIbvLQ-Tdo-W31lNM6oaLSGWGzJa0YtUidVh1fma3TCNNQfsp3tcjhQ9QuBKOl34zduvzWx3d5aM6UC_HhidhECc9Mlm12ih9pWtUv9SU2nG-IhlVQSCL3Kzhhs7UzspLf7hvusCUHAPgzk1t5rnTP_NO9vwIJVFPh6TnvplS78ylJJfDISbfpmG7ZM1e6-5QIMksslTb4FagUDrlTEGC70Xx_yeUE-mIkEp0DBFc16NdXuBuBVYYNFmVsVP41ZyWZ6CZcvrkrGD_lXztOydoQeKy9KlSEKnLm7XtC9nY1OzCXlL81kfcox7RtHJFSRNiutc-GLDQxrgaChaR1-kz4f1gugsoq8ZWcx7gueCyXLzW19CVw5O2mLam_wezYPyoMslgsXpvekdVkQH_3wTCK19kscfQaeWlYL5NVawy__Qz4sCbPxOKVbkaQRnba4yVz0WzMRg6A1A0QYHXbP9VFHBMKK9-xF-V_M4yuiv09PTBqC8g0UmY-W8szL_c2g04XG0ew55HsTHwWd4TFRE4qIkzjEzrxadlPsc2GvIcc-P_Loxk5Pts6Cnlf1pu5XC8KcsBszfgG-hPaj68MSEQXbhb0RRALecEfHu-y0ieMK3gaaFgCB3v1uajgcrWerQK6MbVxuJEoykSOTxF-wwhoSXw1bTbLBzmN0oJSryj1gX3HeTKbh_wt1qStvJmqFhIWjEosJXNVshschUkGeQb5fPHbQScjNheptqeRcemignGitqxvNjfWNYto5uw89XbjD2Fe2wh-IqnIJn4JxSX25Tz2W-DfoQO958r93dpM00qFlpP7lCYPSYyIJrWIk6xRSUJEzTd-RDAhg-km9CPVq4P06rvXOp9vYAWGnKWCpU15WvI0eQQdu1J5PFAL1FiD3xk2g8o7QoYmeAUt5bimQPFv2nzeUg7huwuhm1A5n8vRA9KOYnyaaDw2soXoYefBNGmiwFs7_Tm0i1SKl0csn06cjGsqoAZfjw3tSbWQM3y2WutId361ZqDMybKFYqvr8jU0HosPWj4j_1cstv33GZf33U1urEoIL8GmpVCTzT2cbtLpb2NVEUBOq6yVX0okI_qoBv3I2Q0jYYTwQPF_7SFrG0-eUBqGQL2qPrIJM_eo0aRgReL4tzW7uDoMB4itk0otG_2NSve6zo7ADZr8UU0XqEs390Bjls7VMbMTwXNyMK_dZQxiMpuowd9_st5vRyqwcbIjJfYXlgUGkmlwD1o7XNLDOiSsibMHmf1_Bz8efMWfGqVD0JC29mSAN8uo7ebrsmYg1JQSQT7kv907kxiOODUw3VZiy5I63HIV-JN_JuJWOKYgLyd2dkcqAbUp5-48Ag1NcEdzfngcC3fQJNRrwLHOmwoEpV56SShQjpy2Jcv3OwXJFlbXIVpeLv3SliT9vRph50SUzmElFwfFQk_YDBeU6pdXnGxiahTEryWPQq_yesE76PjhH9KlNYE_XBg3Km1hS6Lh-yIKRcAKftSsY9BzzJew7H_2IdhWmspqTKbDKZJpZJ-QpuFVCPLmKlg4d8SMOSIkUGe5RUQQMXNOKsfCrKviZ85DMBFAwKzL9GFFWMWj9ls7gSWWsiOM-PSmj0SykhvikkJvfw58mqaRu1KGSock0tYEl6UVE2LF9UXn5nzSPZGvsvyZGyNxZtpDdTeMZOR2S6qn1wVM5fYKSyp1aZLIEJUnr3ieIDj_yfR_CplNidOZ11IqbmktiPw0UJ1-tmzYNWgRTFvrZz88CyPMboghAySNtiZH6z0MNKnzkhwyP4FFpW-Wyf6rOvHmrwqdVAjqb7OTlaxg1iqRRadvdB4oQoD1ArcFWqBeGVshCb1V2Gu-isCc6t7m5Dvh9-djmzLqEaXFmy67ccbosny-axdoG8ym_opJRem_lU0Eqw4F3-4RCnMfI33yHX9rRDWfC-hutwgaNaDn00r9s0OhLw4-2M3mq4a4oJO_-To8Hx1lElk3a2CJUtsnSBFLRKqVGu-DAOZxgP14j3AHF0dAqpPW4VdBb-Y80I9dNP1l3DAY8fxI8oFo_ehFuJQxvsfAP_x1ZXvSi97dzZsN98eQ2YUlzlwbIBU4O0VI0cvcENQZNmMCQt5nxfifjW2IpuV50RllltMX8K-tkZnmyeBse-87Chb-Mpgt398mQZtx3ISrMMivg8Su3YGva--8CUF9n7n1Tiqxz6DS5-m5kSPFOqIOEtgM5IKExuXuebA7S2cvL116YVCuVGVm9JuxveeQ-ocSmXhhhbJFIVWLzNlVVkj_NcuqVhcWXF7KvIHYXY5wap09CS_FzWU72_Cjg4lHAfIyG5B7scKSt5Oblm9C5dtwmewm5s6hV1oV4d7V4I5mY3QIvD1COgxRoC4VeYEN-NAfU4rCOzjgwqGTaBxVteJaZT5LKfnaz4wI9mcNFq2ZdkYO1tNlgwBNPRkQoeXYb3lGcRg0onum6ZA1UqLdJ4s1otAuYRn7iMbIJbBNOAqxNCaVAhHsLXAAtS3qNWFHWLBBsOhjufg0re4FwMZQjfa0Hz0A==",
  "id": "rs_0304a6004fe11c96016ab493f1d6dc87d0bd666b23f6c4c647",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.018,\"left_z\":0.035,\"left_pitch\":0.2,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The lid-edge grasps have both been empty, so I cannot reopen the safe reliably. I’m withdrawing the right arm and lowering the white item onto clear tabletop rather than leaving it suspended.\"}",
  "call_id": "call_AR7p6xoHIap138fbC5wsgFhm",
  "id": "fc_0304a6004fe11c96016ab493f8255c87d0a93f9533ad1b4fc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AR7p6xoHIap138fbC5wsgFhm",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.02, 1.6894, 0.1181, 1.1767, -0.0486, -0.057, 0.0512, -0.0093, 0.8703, 0.7921, -0.5491, -0.0196, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.3386 left_y=0.019 left_z=0.0345 left_yaw=0.0771 left_pitch=0.1861 left_roll=-0.0138 left_gripper=0.0512 right_x=0.2987 right_y=0.0043 right_z=0.2099 right_yaw=0.0186 right_pitch=-0.0458 right_roll=-0.0075 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -3.9316, 2.9197, 1.6337, -0.0611, -0.0317, 0.2076, -0.2256, -2.0171, 10.1402, 2.0733, -0.0952, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f2af14dfa45f433399967fab8147e8c8db9ef725b005e9eaaf3ae29e737efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253a81a2d2991179ba5c5f057ca5413a29ae58f7b1e26a95d91e6cace15b9bde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccffd042cdb2a705ce8e5874461bec0707bf84c1caa3f2efaa1c009c117ba92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 3.47 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6788, 0.4381, -0.1371, -0.0456, -0.0566, 0.0439, 0.6247, 2.1273, 1.3037, 0.2604, -0.4934, -0.2882, 0.0085]\nstate[eef_state]: left_x=0.2958 left_y=0.0177 left_z=0.1869 left_yaw=0.0748 left_pitch=0.2028 left_roll=-0.0156 left_gripper=0.0439 right_x=0.404 right_y=0.3988 right_z=0.0769 right_yaw=1.1811 right_pitch=0.0918 right_roll=0.0141 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -0.4308, 7.159, 2.0586, -0.0415, -0.0024, 0.6276, -0.294, -12.9573, 6.7624, 1.3065, -0.0904, 0.0073, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6815, 0.4381, -0.1814, -0.0456, -0.0566, 0.0491, 0.5766, 2.2227, 1.4662, 0.1963, -0.5415, -0.3145, 0.0086]\nstate[eef_state]: left_x=0.2917 left_y=0.0176 left_z=0.1761 left_yaw=0.0744 left_pitch=0.156 left_roll=-0.013 left_gripper=0.0491 right_x=0.4407 right_y=0.3995 right_z=0.0798 right_yaw=1.1862 right_pitch=0.1086 right_roll=0.0104 right_gripper=0.0086\nstate[joint_eff]: [-0.0205, -0.6496, 7.1453, 1.9853, -0.0366, -0.0024, 0.2857, -0.0615, -12.8068, 6.1197, 1.6874, -0.149, -0.0611, 0.7204]\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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.02, 1.6894, 0.1181, 1.1767, -0.0486, -0.057, 0.0512, -0.0093, 0.8703, 0.7921, -0.5491, -0.0196, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.3386 left_y=0.019 left_z=0.0345 left_yaw=0.0771 left_pitch=0.1861 left_roll=-0.0138 left_gripper=0.0512 right_x=0.2987 right_y=0.0043 right_z=0.2099 right_yaw=0.0186 right_pitch=-0.0458 right_roll=-0.0075 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -3.9316, 2.9197, 1.6337, -0.0611, -0.0317, 0.2076, -0.2256, -2.0171, 10.1402, 2.0733, -0.0952, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f2af14dfa45f433399967fab8147e8c8db9ef725b005e9eaaf3ae29e737efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253a81a2d2991179ba5c5f057ca5413a29ae58f7b1e26a95d91e6cace15b9bde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccffd042cdb2a705ce8e5874461bec0707bf84c1caa3f2efaa1c009c117ba92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white item is supported on the tabletop beside the safe. I’m releasing it; the yellow object also remains outside.\"}",
  "call_id": "call_3t8dwwjnCpGHWr3up5FdBS6o",
  "id": "fc_0304a6004fe11c96016ab493feae3c87d0855255ab61c3501f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3t8dwwjnCpGHWr3up5FdBS6o",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 1.7035, 0.1177, 1.1931, -0.0486, -0.057, 0.9953, -0.0124, 0.8753, 0.7963, -0.5907, -0.0193, -0.0414, 0.9988]\nstate[eef_state]: left_x=0.3389 left_y=0.0191 left_z=0.0337 left_yaw=0.0775 left_pitch=0.188 left_roll=-0.0139 left_gripper=0.9953 right_x=0.2934 right_y=0.0034 right_z=0.2022 right_yaw=0.0178 right_pitch=-0.0881 right_roll=-0.0102 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -5.9282, 3.0154, 1.7509, -0.0708, -0.0562, -0.1392, 0.1983, -1.9761, 6.6667, 2.0684, -0.0659, -0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bcfc7ebe4a96ad0fef811912f0d6f3500c88642bffbf16c51ecf36bf61abbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188164fd45796483d04c2ce01b2c6ef6c781610f3107e682f23207e01091ba2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0c82bd5b2cc07a307c4531041f5d387afbae1b84e76fea2de63833a2b8e7fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 4.893 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 137 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 0.6815, 0.4381, -0.1627, -0.0456, -0.057, 0.0462, 0.5777, 2.2189, 1.4628, 0.1967, -0.5369, -0.3145, 0.9949]\nstate[eef_state]: left_x=0.2936 left_y=0.0176 left_z=0.1803 left_yaw=0.0747 left_pitch=0.1746 left_roll=-0.0144 left_gripper=0.0462 right_x=0.4404 right_y=0.3993 right_z=0.0805 right_yaw=1.1837 right_pitch=0.1079 right_roll=0.008 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.841, 7.1316, 2.127, -0.0464, -0.0611, 0.232, -0.5812, -10.5778, 8.4308, 1.5263, -0.2027, -0.0464, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.02, 1.6894, 0.1181, 1.1767, -0.0486, -0.057, 0.0512, -0.0093, 0.8703, 0.7921, -0.5491, -0.0196, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.3386 left_y=0.019 left_z=0.0345 left_yaw=0.0771 left_pitch=0.1861 left_roll=-0.0138 left_gripper=0.0512 right_x=0.2987 right_y=0.0043 right_z=0.2099 right_yaw=0.0186 right_pitch=-0.0458 right_roll=-0.0075 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -3.9316, 2.9197, 1.6337, -0.0611, -0.0317, 0.2076, -0.2256, -2.0171, 10.1402, 2.0733, -0.0952, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0204, 1.7035, 0.1177, 1.1931, -0.0486, -0.057, 0.9953, -0.0124, 0.8753, 0.7963, -0.5907, -0.0193, -0.0414, 0.9988]\nstate[eef_state]: left_x=0.3389 left_y=0.0191 left_z=0.0337 left_yaw=0.0775 left_pitch=0.188 left_roll=-0.0139 left_gripper=0.9953 right_x=0.2934 right_y=0.0034 right_z=0.2022 right_yaw=0.0178 right_pitch=-0.0881 right_roll=-0.0102 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -5.9282, 3.0154, 1.7509, -0.0708, -0.0562, -0.1392, 0.1983, -1.9761, 6.6667, 2.0684, -0.0659, -0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bcfc7ebe4a96ad0fef811912f0d6f3500c88642bffbf16c51ecf36bf61abbaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188164fd45796483d04c2ce01b2c6ef6c781610f3107e682f23207e01091ba2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0c82bd5b2cc07a307c4531041f5d387afbae1b84e76fea2de63833a2b8e7fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The white item has been released safely. I’m parking both arms clear of the objects and the closed safe.\"}",
  "call_id": "call_vgFhP7hHvHODReSm6j6zXiVT",
  "id": "fc_0304a6004fe11c96016ab494021ab487d08213a545484d2264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vgFhP7hHvHODReSm6j6zXiVT",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0242, 0.7979, 0.6338, -0.3855, -0.041, -0.0566, 0.9963, -0.041, 0.815, 0.6987, -0.5434, -0.0456, -0.0509, 0.9988]\nstate[eef_state]: left_x=0.2978 left_y=0.0036 left_z=0.1916 left_yaw=0.0253 left_pitch=0.0313 left_roll=-0.0086 left_gripper=0.9963 right_x=0.2844 right_y=-0.0 right_z=0.1843 right_yaw=0.0165 right_pitch=-0.0775 right_roll=-0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -2.0308, 9.1009, 1.8681, 0.0464, 0.1245, 0.0904, -0.5675, -2.0034, 7.0769, 2.3126, -0.1343, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc81f4fb793c8f8822ffe80d464252b2f016aaacc56df9f442e13ceff9793948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc744cf4df50fa9639f79668adc895596fc7cbc02fc16b7a188c3ee9d4a3e41e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260dc96804225ce3fe1ff57c9960b6f1657d7c8e7bbe24bc64093e52c663ff72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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