adhoc

completed
2026-09-24T00:32:10.622879+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
152.3 s
total steps
229
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see an open red-lined safe, a yellow object behind it, and two plush toys in front. I’m moving the right gripper above the yellow object to pick it up first.
move_to
right_x0.3850right_y0.2050right_z0.1500right_gripper1.0000left_x0.2930left_y0.0010left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3912, -0.0193, -0.0341, 0.9998, -0.0212, 0.7929, 0.6067, -0.3958, -0.02, -0.0124, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.3744, 10.3179, 1.9463, -0.0952, 0.1392, -0.0366, -0.2667, -1.3197, 9.6752, 1.9121, -0.0464, -0.0513, -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":{"right_x":0.385,"right_y":0.205,"right_z":0.15,"right_gripper":1,"left_x":0.293,"left_y":0.001,"left_z":0.18},"note":"I see an open red-lined safe, a yellow object behind it, and two plush toys in front. I’m moving the right gripper above the yellow object to pick it up first."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe yellow object is centered in the right wrist view but still ahead of the fingertips. I’m advancing slightly and lowering the open jaws around it.
move_to
right_x0.4100right_y0.2050right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7967, 0.6075, -0.4118, -0.0193, -0.038, 0.9998, 0.693, 1.5597, 0.9604, -0.1635, 0.5327, 0.3988, 0.9996] state[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1743 left_yaw=0.0021 left_pitch=-0.021 left_roll=-0.0027 left_gripper=0.9998 right_x=0.3735 right_y=0.1982 right_z=0.1339 right_yaw=0.0356 right_pitch=-0.0562 right_roll=-0.0435 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.4291, 7.6103, 1.8339, -0.0611, 0.0317, -0.0171, 0.1436, -6.8718, 8.7453, 1.7705, 0.4615, 0.2711, -0.0562] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.205,"right_z":0.055},"note":"The yellow object is centered in the right wrist view but still ahead of the fingertips. I’m advancing slightly and lowering the open jaws around it."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe closer wrist view shows the yellow object still ahead of the jaw opening and slightly to the right. I’m moving forward and a little right to center the grasp near its lower half.
move_to
right_x0.4650right_y0.1930right_z0.0270
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4282, -0.0193, -0.0387, 0.9998, 0.6437, 1.816, 0.9104, 0.086, 0.4934, 0.363, 0.9995] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1705 left_yaw=0.0029 left_pitch=-0.0393 left_roll=-0.003 left_gripper=0.9998 right_x=0.3973 right_y=0.198 right_z=0.0476 right_yaw=0.0328 right_pitch=-0.1197 right_roll=-0.0829 right_gripper=0.9995 state[joint_eff]: [-0.1846, -1.3744, 7.159, 1.8437, -0.0757, -0.0513, -0.0122, -0.6632, -8.2667, 6.0513, 1.7753, 0.2613, -0.0366, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.193,"right_z":0.027},"note":"The closer wrist view shows the yellow object still ahead of the jaw opening and slightly to the right. I’m moving forward and a little right to center the grasp near its lower half."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe yellow object is now close to the fingertips, with its center just ahead and right of the jaw column. I’m making a final small alignment before closing.
move_to
right_x0.4900right_y0.1800right_z0.0220
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8028, 0.6075, -0.4362, -0.0193, -0.0387, 0.9998, 0.5415, 2.0125, 1.0786, 0.1066, 0.4126, 0.2813, 0.9995] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1677 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4493 right_y=0.1918 right_z=0.0188 right_yaw=0.0373 right_pitch=-0.1614 right_roll=-0.098 right_gripper=0.9995 state[joint_eff]: [-0.3214, -1.5795, 6.9949, 1.7607, -0.0806, -0.0464, -0.0122, -1.0872, -9.4564, 7.2821, 1.6825, 0.2369, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.18,"right_z":0.022},"note":"The yellow object is now close to the fingertips, with its center just ahead and right of the jaw column. I’m making a final small alignment before closing."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe yellow object fills the grasp area at the bottom of the wrist view. I’m shifting slightly right and closing the jaws around it.
move_to
right_x0.5000right_y0.1680right_z0.0250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4511, -0.0193, -0.0387, 0.9998, 0.4824, 2.0762, 1.1862, 0.054, 0.35, 0.2306, 0.9995] state[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1647 left_yaw=0.0029 left_pitch=-0.0667 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4755 right_y=0.1847 right_z=0.0154 right_yaw=0.0552 right_pitch=-0.1926 right_roll=-0.0975 right_gripper=0.9995 state[joint_eff]: [-0.0615, -1.2786, 6.9949, 1.8144, -0.0757, -0.0464, -0.0122, -0.9368, -9.8393, 7.6786, 1.6288, 0.3492, 0.0073, -0.0073] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.168,"right_z":0.025,"right_gripper":0},"note":"The yellow object fills the grasp area at the bottom of the wrist view. I’m shifting slightly right and closing the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe yellow object is still visible, and the safe shifted when the jaws closed, so that was not a valid pickup. I’m releasing and lifting clear, then approaching farther from the safe’s rim.
move_to
right_gripper1.0000right_z0.1100right_y0.1400right_pitch0.4000left_z0.1800left_x0.2930
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4736, -0.0193, -0.0383, 0.9998, 0.4313, 2.0842, 1.2373, -0.0139, 0.2523, 0.1928, 0.2972] state[eef_state]: left_x=0.2825 left_y=0.0017 left_z=0.1589 left_yaw=0.0028 left_pitch=-0.0942 left_roll=-0.0015 left_gripper=0.9998 right_x=0.484 right_y=0.1781 right_z=0.0154 right_yaw=0.103 right_pitch=-0.2443 right_roll=-0.0641 right_gripper=0.2972 state[joint_eff]: [-0.0889, -1.5932, 6.9675, 1.8681, -0.0513, -0.0024, -0.0171, -1.2239, -9.9487, 8.7043, 1.7949, 0.6911, -0.1099, 0.8669] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.11,"right_y":0.14,"right_pitch":0.4,"left_z":0.18,"left_x":0.293},"note":"The yellow object is still visible, and the safe shifted when the jaws closed, so that was not a valid pickup. I’m releasing and lifting clear, then approaching farther from the safe’s rim."})
tool
executing move_to over 22 steps (2.2s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe safe has settled farther back, and the yellow object is now isolated beside its right edge. With the tool tilted for reach, I’m lowering around the yellow object without crossing the rim.
move_to
right_x0.5250right_y0.1460right_z0.0250right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8646, 0.6651, -0.5407, -0.0193, -0.046, 0.9998, 0.3836, 1.9633, 0.7765, 0.8936, 0.2985, 0.0071, 0.9981] state[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1602 left_roll=-0.0057 left_gripper=0.9998 right_x=0.4793 right_y=0.1413 right_z=0.0824 right_yaw=0.117 right_pitch=0.3003 right_roll=-0.0819 right_gripper=0.9981 state[joint_eff]: [-0.1299, -1.5932, 10.7009, 1.8046, -0.0269, 0.0513, -0.0122, -0.4444, -10.5641, 4.9846, 2.2491, 0.0904, 0.0024, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.146,"right_z":0.025,"right_pitch":0.4},"note":"The safe has settled farther back, and the yellow object is now isolated beside its right edge. With the tool tilted for reach, I’m lowering around the yellow object without crossing the rim."})
tool
executing move_to over 4 steps (0.4s)
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 yellow object is centered between the jaws and separated from the safe wall. I’m advancing two centimeters and closing for a secure pickup.
move_to
right_x0.5450right_y0.1460right_z0.0250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.868, 0.672, -0.5575, -0.0193, -0.0463, 0.9998, 0.3573, 2.2978, 0.9241, 1.1526, 0.271, -0.0021, 0.9988] state[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1559 left_yaw=0.0075 left_pitch=-0.1735 left_roll=-0.0057 left_gripper=0.9998 right_x=0.5184 right_y=0.1468 right_z=0.0283 right_yaw=0.1139 right_pitch=0.368 right_roll=-0.0649 right_gripper=0.9988 state[joint_eff]: [-0.1709, -1.2923, 6.3385, 1.8291, -0.0415, -0.022, -0.0122, -0.5128, -8.7043, 4.4103, 1.7509, 0.0464, -0.1734, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.545,"right_y":0.146,"right_z":0.025,"right_gripper":0},"note":"The yellow object is centered between the jaws and separated from the safe wall. I’m advancing two centimeters and closing for a secure pickup."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe gripper has stopped at about five centimeters of opening, consistent with the yellow object. I’m lifting a short distance to check that the object, rather than the safe, moves with it.
move_to
right_x0.5250right_y0.1500right_z0.1000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8688, 0.672, -0.5632, -0.0189, -0.046, 0.9998, 0.3569, 2.3272, 0.9463, 1.2003, 0.2497, -0.0113, 0.5226] state[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1547 left_yaw=0.007 left_pitch=-0.18 left_roll=-0.0055 left_gripper=0.9998 right_x=0.5237 right_y=0.1525 right_z=0.0316 right_yaw=0.1343 right_pitch=0.406 right_roll=-0.06 right_gripper=0.5226 state[joint_eff]: [-0.0068, -1.6615, 6.8581, 1.6386, -0.0317, -0.0024, -0.0171, -0.6906, -9.4701, 4.5744, 1.9658, 0.2369, -0.1978, 1.0232] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.15,"right_z":0.10,"right_gripper":0},"note":"The gripper has stopped at about five centimeters of opening, consistent with the yellow object. I’m lifting a short distance to check that the object, rather than the safe, moves with it."})
tool
executing move_to over 6 steps (0.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe lift is short of its target, and the yellow object is close against the safe’s side. I’m lifting and moving outward to clear that edge before carrying it over the opening.
move_to
right_x0.5000right_y0.0750right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8696, 0.672, -0.5766, -0.0193, -0.046, 0.9998, 0.3557, 2.1483, 0.9298, 0.9318, 0.2417, -0.012, 0.5203] state[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1521 left_yaw=0.0074 left_pitch=-0.1941 left_roll=-0.0048 left_gripper=0.9998 right_x=0.5168 right_y=0.1507 right_z=0.0559 right_yaw=0.1491 right_pitch=0.302 right_roll=-0.083 right_gripper=0.5203 state[joint_eff]: [-0.0615, -1.6752, 6.9949, 1.6825, -0.0659, 0.0073, -0.0122, -0.7453, -14.0376, 5.9556, 2.8059, 0.022, -0.0415, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.075,"right_z":0.17},"note":"The lift is short of its target, and the yellow object is close against the safe’s side. I’m lifting and moving outward to clear that edge before carrying it over the opening."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe safe moved with the gripper, so the grasp caught its wall along with the yellow object. I’m lowering and releasing them, then I’ll turn the jaws to grasp the yellow object front-to-back instead.
move_to
right_x0.4900right_y0.0800right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8715, 0.672, -0.5846, -0.0189, -0.0463, 0.9998, 0.1745, 1.7748, 0.8635, 0.4736, 0.0807, -0.0799, 0.521] state[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1502 left_yaw=0.0073 left_pitch=-0.204 left_roll=-0.0051 left_gripper=0.9998 right_x=0.4885 right_y=0.0753 right_z=0.1095 right_yaw=0.1483 right_pitch=0.1424 right_roll=-0.108 right_gripper=0.521 state[joint_eff]: [-0.0205, -1.7573, 7.0085, 1.6874, -0.0513, -0.0659, -0.0171, -0.253, -12.0684, 8.7316, 3.138, 0.0513, 0.1441, 0.7839] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.08,"right_z":0.045,"right_gripper":1},"note":"The safe moved with the gripper, so the grasp caught its wall along with the yellow object. I’m lowering and releasing them, then I’ll turn the jaws to grasp the yellow object front-to-back instead."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe safe is resting on the table again. I’m lifting clear and rotating the right gripper so the next grasp won’t include the safe’s side wall.
move_to
right_z0.1800right_yaw1.5700right_pitch0.0000left_x0.2930left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8715, 0.672, -0.59, -0.0193, -0.0463, 0.9998, 0.1879, 1.9648, 0.799, 0.672, 0.0841, -0.0906, 0.9947] state[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1493 left_yaw=0.0076 left_pitch=-0.2094 left_roll=-0.0047 left_gripper=0.9998 right_x=0.4834 right_y=0.0804 right_z=0.0378 right_yaw=0.1648 right_pitch=0.0857 right_roll=-0.1205 right_gripper=0.9947 state[joint_eff]: [-0.1983, -1.4564, 7.0085, 1.6288, -0.0757, -0.0122, -0.0122, -0.2803, -9.0188, 5.6684, 1.199, -0.0366, 0.6032, -0.1148] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18,"right_yaw":1.57,"right_pitch":0,"left_x":0.293,"left_z":0.2,"left_pitch":0},"note":"The safe is resting on the table again. I’m lifting clear and rotating the right gripper so the next grasp won’t include the safe’s side wall."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe safe’s lid swung shut during the retreat, so it needs to be reopened before loading. I’m moving the right arm clear to expose the lid and its front edge.
move_to
right_x0.3400right_y0.0300right_z0.2200right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8131, 0.672, -0.5312, -0.0193, -0.0536, 0.9998, -0.1467, 2.3581, 2.0521, -0.7628, -0.9474, -1.4212, 0.9953] state[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1752 left_yaw=0.0112 left_pitch=-0.0923 left_roll=-0.0135 left_gripper=0.9998 right_x=0.5577 right_y=0.0662 right_z=0.13 right_yaw=1.3276 right_pitch=-0.0005 right_roll=-0.3795 right_gripper=0.9953 state[joint_eff]: [-0.2803, -1.7299, 8.9231, 2.2491, -0.1001, 0.0904, -0.0122, 1.5521, -14.2154, 7.1316, 0.4322, -0.8669, -0.1783, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.03,"right_z":0.22,"right_yaw":0,"right_pitch":0},"note":"The safe’s lid swung shut during the retreat, so it needs to be reopened before loading. I’m moving the right arm clear to expose the lid and its front edge."})
tool
executing move_to over 17 steps (1.7s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe safe’s front edge and handle are visible, with the loose yellow object still outside on its right. I’m approaching the lid’s front lip to try reopening it.
move_to
right_x0.4050right_y0.2150right_z0.0850right_yaw-0.5000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8185, 0.6716, -0.5541, -0.0193, -0.057, 0.9998, 0.292, 1.0889, 0.8341, -0.3397, 0.3241, -0.2474, 0.9954] state[eef_state]: left_x=0.2795 left_y=0.0017 left_z=0.1693 left_yaw=0.0132 left_pitch=-0.1209 left_roll=-0.0153 left_gripper=0.9998 right_x=0.3473 right_y=0.0494 right_z=0.2094 right_yaw=0.1509 right_pitch=-0.0253 right_roll=-0.3861 right_gripper=0.9954 state[joint_eff]: [-0.0889, -1.6615, 7.1726, 1.8926, -0.0562, -0.0269, -0.0122, 0.1026, -3.8085, 8.841, 2.0928, 0.188, 0.1832, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.215,"right_z":0.085,"right_yaw":-0.5,"right_roll":0,"right_gripper":1},"note":"The safe’s front edge and handle are visible, with the loose yellow object still outside on its right. I’m approaching the lid’s front lip to try reopening it."})
tool
executing move_to over 14 steps (1.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe lid is closed flush, so a straight downward grasp would catch the whole box again. I’m turning the jaws sideways to try pinching just the front lid lip.
move_to
right_x0.3900right_y0.1900right_z0.0800right_roll1.3000right_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8234, 0.6716, -0.5671, -0.0193, -0.0574, 0.9998, 0.7811, 1.9995, 1.3567, -0.5003, 0.8688, 0.9623, 0.9989] state[eef_state]: left_x=0.2776 left_y=0.0017 left_z=0.1656 left_yaw=0.0134 left_pitch=-0.1388 left_roll=-0.015 left_gripper=0.9998 right_x=0.4036 right_y=0.2152 right_z=0.0859 right_yaw=-0.4161 right_pitch=-0.0472 right_roll=-0.0577 right_gripper=0.9989 state[joint_eff]: [-0.2256, -1.1145, 6.8855, 1.7509, -0.0855, -0.0562, -0.0171, 0.4718, -9.6752, 6.5436, 0.6618, 0.6618, 0.1734, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.19,"right_z":0.08,"right_roll":1.3,"right_yaw":-0.5},"note":"The lid is closed flush, so a straight downward grasp would catch the whole box again. I’m turning the jaws sideways to try pinching just the front lid lip."})
tool
executing move_to over 18 steps (1.8s)
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 sideways wrist view exposes the seam above the handle. I’m raising the grasp to that seam and closing lightly around the lid edge.
move_to
right_x0.4130right_y0.1850right_z0.1100right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5846, -0.0189, -0.0574, 0.9998, 0.6788, 1.9026, 0.5316, 1.0229, 0.5922, 1.4456, 0.9988] state[eef_state]: left_x=0.2748 left_y=0.0017 left_z=0.1619 left_yaw=0.0132 left_pitch=-0.1583 left_roll=-0.0146 left_gripper=0.9998 right_x=0.3844 right_y=0.1881 right_z=0.0597 right_yaw=-0.4925 right_pitch=-0.0703 right_roll=1.145 right_gripper=0.9988 state[joint_eff]: [-0.0068, -1.4427, 6.8991, 1.7265, -0.0659, -0.0513, -0.0171, -0.4444, -6.8581, 4.0274, 2.1026, 0.0904, 0.1392, -0.0171] 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":{"right_x":0.413,"right_y":0.185,"right_z":0.11,"right_gripper":0},"note":"The sideways wrist view exposes the seam above the handle. I’m raising the grasp to that seam and closing lightly around the lid edge."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe jaws closed empty, just below the lid edge. I’m reopening them and shifting a little higher and farther onto the lip for one retry.
move_to
right_x0.4380right_y0.1900right_z0.1300right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5884, -0.0193, -0.0574, 0.9998, 0.6155, 1.7737, 0.6353, 0.7609, 0.5297, 1.4223, 0.016] state[eef_state]: left_x=0.2742 left_y=0.0018 left_z=0.1612 left_yaw=0.0136 left_pitch=-0.1621 left_roll=-0.0142 left_gripper=0.9998 right_x=0.4066 right_y=0.1826 right_z=0.0915 right_yaw=-0.4933 right_pitch=-0.0912 right_roll=1.1085 right_gripper=0.016 state[joint_eff]: [-0.0205, -1.1692, 6.8581, 1.5946, -0.0855, -0.0611, -0.0122, -0.4581, -9.0872, 7.3231, 1.9902, 0.0952, -0.0366, 0.8376] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.438,"right_y":0.19,"right_z":0.13,"right_gripper":0.55},"note":"The jaws closed empty, just below the lid edge. I’m reopening them and shifting a little higher and farther onto the lip for one retry."})
tool
executing move_to over 6 steps (0.6s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe lid lip is now at the jaw opening. I’m closing the jaws to test whether this higher approach catches 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]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0189, -0.0574, 0.9998, 0.5835, 1.7691, 0.7834, 0.5667, 0.4992, 1.4117, 0.5454] state[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0133 left_pitch=-0.1667 left_roll=-0.0143 left_gripper=0.9998 right_x=0.4312 right_y=0.1876 right_z=0.1083 right_yaw=-0.4978 right_pitch=-0.1156 right_roll=1.0682 right_gripper=0.5454 state[joint_eff]: [-0.0615, -1.2376, 6.9128, 1.5897, -0.022, -0.0415, -0.0171, -0.4991, -10.1538, 7.4188, 1.8926, 0.0611, -0.0659, -0.2711] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The lid lip is now at the jaw opening. I’m closing the jaws to test whether this higher approach catches it."})
tool
executing move_to over 6 steps (0.6s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe second pinch also closed empty, so I won’t repeat it. I’m making one controlled upward sweep at the front lip with the closed fingertips to see whether the lid can be lifted from underneath.
move_to
right_x0.4500right_y0.2100right_z0.2100right_roll1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0193, -0.0574, 0.9998, 0.5816, 1.7691, 0.7853, 0.5472, 0.4957, 1.412, 0.0171] state[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0136 left_pitch=-0.1667 left_roll=-0.0141 left_gripper=0.9998 right_x=0.4304 right_y=0.1867 right_z=0.1049 right_yaw=-0.4984 right_pitch=-0.1253 right_roll=1.0536 right_gripper=0.0171 state[joint_eff]: [-0.0752, -1.1282, 6.8444, 1.5507, -0.0855, -0.0757, -0.0122, 0.1162, -8.1846, 5.5726, 1.9805, 0.1734, -0.0317, 0.7253] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.21,"right_z":0.21,"right_roll":1.57},"note":"The second pinch also closed empty, so I won’t repeat it. I’m making one controlled upward sweep at the front lip with the closed fingertips to see whether the lid can be lifted from underneath."})
tool
executing move_to over 7 steps (0.7s)
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 lid did not lift; the wrist view shows the fingertips still outside its edge. I’m moving the sideways opening a few centimeters inward to the lip, rather than attempting another blind pinch.
move_to
right_x0.4850right_y0.2250right_z0.1050right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.6075, -0.0189, -0.0574, 0.9998, 0.6025, 1.7367, 0.8589, 0.6273, 0.4931, 1.6432, 0.0189] state[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1577 left_yaw=0.0133 left_pitch=-0.1812 left_roll=-0.0139 left_gripper=0.9998 right_x=0.4451 right_y=0.209 right_z=0.1665 right_yaw=-0.4935 right_pitch=-0.1596 right_roll=1.4082 right_gripper=0.0189 state[joint_eff]: [-0.0342, -1.2376, 6.8308, 1.7363, -0.0464, -0.0562, -0.0122, 0.3624, -10.6872, 8.1299, 2.1319, 0.2125, 0.0611, 1.0281] 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":{"right_x":0.485,"right_y":0.225,"right_z":0.105,"right_gripper":0.55},"note":"The lid did not lift; the wrist view shows the fingertips still outside its edge. I’m moving the sideways opening a few centimeters inward to the lip, rather than attempting another blind pinch."})
tool
executing move_to over 6 steps (0.6s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe two fingertips now straddle the lid seam in the sideways view. I’m closing around that edge before attempting to lift 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]: [-0.0189, 0.8299, 0.6716, -0.6147, -0.0193, -0.0574, 0.9998, 0.5808, 1.9995, 0.9459, 0.7879, 0.4736, 1.6447, 0.5453] state[eef_state]: left_x=0.27 left_y=0.0019 left_z=0.1553 left_yaw=0.0137 left_pitch=-0.193 left_roll=-0.0132 left_gripper=0.9998 right_x=0.4791 right_y=0.2224 right_z=0.1094 right_yaw=-0.4985 right_pitch=-0.1719 right_roll=1.3981 right_gripper=0.5453 state[joint_eff]: [-0.1299, -1.6068, 6.8308, 1.6044, -0.0366, -0.0611, -0.0122, -0.5402, -8.1162, 6.0786, 1.663, 0.0513, -0.1001, -0.1587] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The two fingertips now straddle the lid seam in the sideways view. I’m closing around that edge before attempting to lift it."})
tool
executing move_to over 6 steps (0.6s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe lid is thin enough that the gripper reading alone is inconclusive. I’m lifting gently along its opening direction and checking whether the lid separates from the box.
move_to
right_x0.5150right_y0.2400right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.831, 0.6716, -0.6159, -0.0193, -0.0574, 0.9998, 0.5804, 2.03, 0.9527, 0.8211, 0.4694, 1.6386, 0.0145] state[eef_state]: left_x=0.2698 left_y=0.0019 left_z=0.1548 left_yaw=0.0138 left_pitch=-0.1953 left_roll=-0.0131 left_gripper=0.9998 right_x=0.482 right_y=0.2248 right_z=0.1039 right_yaw=-0.4927 right_pitch=-0.165 right_roll=1.4022 right_gripper=0.0145 state[joint_eff]: [-0.0615, -1.4017, 6.8444, 1.5507, -0.0659, -0.0659, -0.0122, -0.4444, -9.1556, 6.2017, 1.8632, 0.0513, -0.0269, 1.2918] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.24,"right_z":0.22},"note":"The lid is thin enough that the gripper reading alone is inconclusive. I’m lifting gently along its opening direction and checking whether the lid separates from the box."})
tool
executing move_to over 8 steps (0.8s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe lid stayed closed, and repeated attempts have not found a reliable grip on its flush edge. I’m parking both arms clear of the safe rather than risk dragging or tipping it again.
move_to
right_x0.3000right_y0.0010right_z0.2200right_yaw0.0000right_roll0.0000right_pitch0.0000right_gripper1.0000left_x0.2930left_y0.0010left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8318, 0.6716, -0.6319, -0.0193, -0.0578, 0.9998, 0.5728, 1.9156, 1.2896, 0.4519, 0.4507, 1.6379, 0.0174] state[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1518 left_yaw=0.0141 left_pitch=-0.212 left_roll=-0.0128 left_gripper=0.9998 right_x=0.5178 right_y=0.2466 right_z=0.2261 right_yaw=-0.4712 right_pitch=-0.1279 right_roll=1.4758 right_gripper=0.0174 state[joint_eff]: [-0.0752, -1.3333, 6.8171, 1.663, -0.0708, -0.0708, -0.0122, -0.7726, -10.1675, 6.2701, 1.4237, 0.0611, -0.0708, 1.033] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.001,"right_z":0.22,"right_yaw":0,"right_roll":0,"right_pitch":0,"right_gripper":1,"left_x":0.293,"left_y":0.001,"left_z":0.2,"left_pitch":0},"note":"The lid stayed closed, and repeated attempts have not found a reliable grip on its flush edge. I’m parking both arms clear of the safe rather than risk dragging or tipping it again."})
tool
executing move_to over 21 steps (2.1s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteI could not complete the task. The first pickup caught the safe’s wall, and its lid swung closed during recovery. I could not reliably reopen the flush lid. All three objects remain outside, and both arms are parked clear.
give_up
hindsightThe yellow object was close enough to the safe that a left–right grasp caught the safe wall; isolate it or use a front–back jaw orientation before closing. A nonzero gripper opening can indicate the safe wall, so verify that only the intended object moves during the initial lift. This safe’s lid can swing shut when the box shifts, and its closed flush edge was not reliably graspable with sideways jaws.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8112, 0.6716, -0.5301, -0.0227, -0.0647, 0.9998, -0.0021, 0.8757, 0.7937, -0.5137, 0.0025, 0.1081, 0.9975] state[eef_state]: left_x=0.2828 left_y=0.0003 left_z=0.1758 left_yaw=0.0133 left_pitch=-0.0896 left_roll=-0.0202 left_gripper=0.9998 right_x=0.3044 right_y=0.0025 right_z=0.2162 right_yaw=-0.0659 right_pitch=-0.0166 right_roll=0.0874 right_gripper=0.9975 state[joint_eff]: [-0.2256, -1.9077, 8.9778, 2.2344, -0.1392, 0.022, -0.0122, -0.1983, -1.7983, 7.3368, 2.1514, -0.0708, -0.0464, -0.0269] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task. The first pickup caught the safe’s wall, and its lid swung closed during recovery. I could not reliably reopen the flush lid. All three objects remain outside, and both arms are parked clear.","hindsight":"The yellow object was close enough to the safe that a left–right grasp caught the safe wall; isolate it or use a front–back jaw orientation before closing. A nonzero gripper opening can indicate the safe wall, so verify that only the intended object moves during the initial lift. This safe’s lid can swing shut when the box shifts, and its closed flush edge was not reliably graspable with sideways jaws."})
tool
give_up: I could not complete the task. The first pickup caught the safe’s wall, and its lid swung closed during recovery. I could not reliably reopen the flush lid. All three objects 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 · 6.433 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, 0.7921, 0.6033, -0.3912, -0.0193, -0.0341, 0.9998, -0.0212, 0.7929, 0.6067, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.3179, 1.9463, -0.0952, 0.1392, -0.0366, -0.2667, -1.3197, 9.6752, 1.9121, -0.0464, -0.0513, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b373e031389a3f487fd61c6814f0f538cf1a37bb422a2c3d24c05404eea5eda0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3eef37b02cea4ed5b05494a76645fe77108a2c44feeeb05b05de3e7fa77ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081ace45cb5f583d32aa9be5e4a8dc70b4884cd53087aee7edde290dcd3c6f78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob b373e031389a
wire blob 6e3eef37b02c
wire blob 081ace45cb5f
call 1 attempt 0 · /responses · status 200 · 4.432 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtG-ZUezyARQGS9mxn8xqJkiUUWeOq7o2DUNV1IP4mOx34G5mkjlNv5E0fpI21NZ2CaBatbKHAaodjtGqioALFYpbRgxpKHic1YZL2YoqrfY8O-4o9HdOugR17zrOjzAR9cUEN1vQptR4LAVBClmqiCnqQtD7hUEOuM99o8_zsikkzXcf9qKbIhN_zdr1S8C6e83abzWh3paND9Hsm9Xxvp2hI-uJQf0kpnjsUsQRTydVAFGt7LbnLRF8r2bNeE_2nbPa4GAWkpaNgE8PoCLP4f31gTQRUaeR0NLPGAkHQA6aa5Pq8eKMjsbSxGl61WsK-GetIuUUjpyeVVr_rcNh5Yg8hanU5ung-o9FaU_wWFLwRBMmaN9jVwlBRNNUmt-ej8JZ5iyKq4lV8fNj28lYxCzXpE4p6Rz4yK0YVnqBziBlDspdPIAIdn3YwEFYqVlWNftpbsh5uvBTqKNq5LxtQJsqGKtjDUyiSuUJf7nEJWIzZLHkK322zeHyxDVDQizQ2WTf4XX9a0CptyLF0Grgw_LpAoMRAz7UONU0_hexmBYMZ8fGnSqo8OdJNkEVpXlGccY4-TSxGIBFB3-c8firehUhBTL1OhHj_iXZr0GoUOWKJkpRVVh6sP0yzAXZmzvufZgHeF6UuOJcMzlyMQn5l-dTyeGCR4kqAx2Xn-aI2buAm7XRcCdfX1qDloBqJW9XtCs6h8K-NKsPL6aQgRq4G6QUdUv5kPe6ZH6tSxco0-py9fEUUJYltqLzKTRcjfDV4PFw-SMdG-9741KOAfklIhAgpGRcJrrSLtydoCAD9aBgzzjZio2m_y6cNGVV8bQpXmwzHEhIsO6Oc2JpRNf7uMVe8jVHCsV8L4jsm-x5lFhkFDyxoQAFTRlU_SQBUT8TBZuiRcwEbc80voO4iSAqlBRVLLrvuMmhe53AhBA-0q_F2-VXZhBZ4WCS1hnvbLV314tt6536eFN2PacQ5BYVfbCeULkhJe83zIqzuTxjkjPDtIs7mv7yzPLMrgx_nVlaRkzdqVPi79MaLfJdRJ6SVX7H_3SlSRQfdLuuG1o4hPkvNtLbYTxtkgScOUxPSIRTM9ChLgLOErxVvO5rGxcGhihjf9dWcq6tEsMkjP8qgaDUl6PSi2zxKqP1Ov1F3r_mdf_m9ZpXEWlaZLdpfJ_wlekobOG7tX5wFPSh5zkX2uKCIAwiTC2gsEi5Hjcg4QK5zzlwjGeFMJaeC7Ek7u0m46Wx4kAr-_s9UnDmEEn91HO2n2IhEHbuLd2W6GoGpXDdVl6pj3e_FPhZRo5nEyAOh17wlMTBI3vcIuUNm3bAWERSLlkSjGgzx5Jl_UBrlOVfxLRB2lm426xX-n4mhm8QOhyZINJWgAhyrMWU58gC5zzWNiYDPwnpIM47V7_jwiaLfguuuCDT0AqfAbVtp-9rotzbdrqf6uymIS6_M6IexsJcm_Akuxm2DeAJwllZR5ZdF6AeMry_I42YVyycI9UAHopbJ7ZpFIpYy2uqKFwM6g2TgsjmgzL3qq6TEcZjtfFGd1AEzrzyWSIJmgywR39YUSUp132CcQPXtoEFpa4551JWI9wec49_xFBGS7F8NXKd9XiSxpijZzJbX0nTlB9KBUzNbnE8_KhwOT5RH6oyeUaniUlONf4T57b0pb-EJTv0TqyIuzQ232rxTlbAqJzwr-VqnTzsgkSihiH27qDTjnJ5xCU2UjQpxjIUMiKEHIZvLOk_-ySwc4cQ6ws77liCwtYVW0oj95IpLaeHpAEqhBN9_CPem8Y-jUBCrazXExmX_6lmLmktLmnjgqVUJQ6y3CfGECuFrAviKAtHZ61LCrady2GzboDESp7cEJ_OQefWns1S9GoILgH9vMMJyQhTL9B0DUKCcyRiyeEUQnVSZRioM4WbJtM1pv3Yg2nJom01Z8ixpUqIS1n9Eal6KWIWKiRDXssLI05n9V8wno-ca1NkPY3UrpOqQd_pMDipoEmdQZewi_1q7H2OkhrcjYVnMiPUEd8uDEQUf24GUeuVVt4S-meCWTb1oHSn_FRvQjRkDF0iJvzmVrSDRlHRePYbickx5M7mewekcOe5N4GY_OUg3aE=",
  "id": "rs_09ad5e714aef96b4016ab46f93e44c87d08925871e477afc14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.205,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"I see an open red-lined safe, a yellow object behind it, and two plush toys in front. I’m moving the right gripper above the yellow object to pick it up first.\"}",
  "call_id": "call_Tn5SAWyz65MoPqO6A3Gmm35m",
  "id": "fc_09ad5e714aef96b4016ab46f97bda487d0991acd58d59578ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tn5SAWyz65MoPqO6A3Gmm35m",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7967, 0.6075, -0.4118, -0.0193, -0.038, 0.9998, 0.693, 1.5597, 0.9604, -0.1635, 0.5327, 0.3988, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1743 left_yaw=0.0021 left_pitch=-0.021 left_roll=-0.0027 left_gripper=0.9998 right_x=0.3735 right_y=0.1982 right_z=0.1339 right_yaw=0.0356 right_pitch=-0.0562 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.4291, 7.6103, 1.8339, -0.0611, 0.0317, -0.0171, 0.1436, -6.8718, 8.7453, 1.7705, 0.4615, 0.2711, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2c97e252a0c312a316d7223d67dc61e93a344698762196b4b375fa729318f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8388e3d980df1f03d9daade102579ab039bf287360471cf59fed85b503c5ab2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b09456fa0eb638aa4983406561737a8014edd2bd95145c75125691e30b537e",
      "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 · 6.262 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, 0.7921, 0.6033, -0.3912, -0.0193, -0.0341, 0.9998, -0.0212, 0.7929, 0.6067, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.3179, 1.9463, -0.0952, 0.1392, -0.0366, -0.2667, -1.3197, 9.6752, 1.9121, -0.0464, -0.0513, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7967, 0.6075, -0.4118, -0.0193, -0.038, 0.9998, 0.693, 1.5597, 0.9604, -0.1635, 0.5327, 0.3988, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1743 left_yaw=0.0021 left_pitch=-0.021 left_roll=-0.0027 left_gripper=0.9998 right_x=0.3735 right_y=0.1982 right_z=0.1339 right_yaw=0.0356 right_pitch=-0.0562 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.4291, 7.6103, 1.8339, -0.0611, 0.0317, -0.0171, 0.1436, -6.8718, 8.7453, 1.7705, 0.4615, 0.2711, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2c97e252a0c312a316d7223d67dc61e93a344698762196b4b375fa729318f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8388e3d980df1f03d9daade102579ab039bf287360471cf59fed85b503c5ab2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b09456fa0eb638aa4983406561737a8014edd2bd95145c75125691e30b537e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-fcVkG_cwu2p-G846NSK7pWdbYt_gRuKIf3CXOFWUPsKKDvaQiNqJYubRBi48LoEDttX26YftdYZAL4n8WLhBiEo906sR_fYZYkhBspxnJiP8Itw-y_DTzU42a6w4wZHNVdUYVlJm8HUTsdyCu4Jmgd6NV5y2_TBV0cqC931PfoL7MHyzyCxh31ATrBFJaBXprn4eRYHqDFIx-JXwfEunWnlp6-3Rxl0Dul1jX1pu7-4RZnHylOiy0xsaDjihYpWkjrjwP7QB7QD-CNmnSyACRcwC6t716p-NWfUNlN_bzDrf7Tz-Ynk2QwkMshJAlvQuVPnofVplIiNjonWlcyaww5jtOt46zUhM4iXtUqMf0NCq5KPkrP_sODiTKRM13q4P0G5GuVhOkLrg9zjPBYSYoSZyFQTfqZ4rxW1gZIXz8zzTEkGUjS2AuW_8N1Vdey1x-j4_q8MvskHWlom67zzQbg7NF7x9SGTpvxICbwM7KQNchdo_XD5yNYur7SCg6ptHLiWQdKMe1qbhV8LRaPmC7-CUCi0CXt3b09tgMFHThlkCjpB1WHInGtnk-n4rumG01mycr8AYXvKiioHqI_DVNmVJE06xAvY5o7IHjUen-q1WfKyJXAlfiXxSjMTnJPYGODQpI9Klx0S6X24S52UUQMjbj_VqgFTY3vwovZImzk5bjTg5jPfij3DdE4fDOlRQ6gcB5T2gc-JzBvvUkm0OCsOe1bsiRi4eL69xD8YLRoS_VDBn_ruNs_6MSQTivKcu3RGBUmtSXSSFQkp27i0gzbh9OQe4wLGBaCrm3Wyhg_iCLSKz4obLxjGmBhmZP7di3ZfDe_o5xvp550OdBwh5cPD65Tzc-ae4ehqMevEV_wbX1KAFtQySQb3bCdGZCTEFcIU9yd8WkgU9a6DGkKpNwbvSfUP3ZK5Y7opAa9YEtpqrs2g0wDbMqUFDfD_0BDEOts1bXMDw_UdEXBtkJC_SjbNYR1qtixRIjR1RPmGRee8dAENpKSl8b-1cD09Xm_CCPh0llTMtj2GYENvmvawgcq_869Mhs7E3KF69L-F0-pi7xMIcANa0KWyIZKkU06kbydhVUChJVP0ECfc-aKA5_LpRtDcHzLkfupbSxrQFSsVB8ojwn0GeAjPfKeq6D-em1qiS2xJ5T7K5N5Wfwfa3V2baXwwfFPxH3oyOwovgAnU6U1PgkwHtivtmDOZn_ipN5WB9VZVVqzBixqSiCITrBxpdkbUJVPRG4tB2Ez_YQZiCSvT2WztkKCIzRimViHy4rGXepDTfEp-GCzqjxaMEwx_r0dFZ-jVVnDbBWplLKKhCJE0e2NxFGLRwwtAb4-n3W2oWEggkR0MCNMDJ7_d3v9_kHxZvQpZItsQkEh6RUslGCCRSDPVoxLaCNdiupqijJjg1qLucfrLJ96e1R-XTG6QDKiQcocznlwCpmEjHyvvmRb5KFeElqszux5WFVoSrApRhjXWsO7pW4NZwAOBJlio312o2SQ1aCHW5lzDSZQ7E7yShESett2wfpGOA-ZtG7oLgexMkXMkSMZUpn60ImuM5gb6ty2ueAOKCyEGTYdzwMdKSqOZDXSQwn6SYq0bDA",
  "id": "rs_09ad5e714aef96b4016ab46f9c25ac87d0a2e1770d379b8042",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.205,\"right_z\":0.055},\"note\":\"The yellow object is centered in the right wrist view but still ahead of the fingertips. I’m advancing slightly and lowering the open jaws around it.\"}",
  "call_id": "call_ll5e4DameUmdp6lVbGBxLOry",
  "id": "fc_09ad5e714aef96b4016ab46f9df68487d091784a7fcaa85ded",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ll5e4DameUmdp6lVbGBxLOry",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4282, -0.0193, -0.0387, 0.9998, 0.6437, 1.816, 0.9104, 0.086, 0.4934, 0.363, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1705 left_yaw=0.0029 left_pitch=-0.0393 left_roll=-0.003 left_gripper=0.9998 right_x=0.3973 right_y=0.198 right_z=0.0476 right_yaw=0.0328 right_pitch=-0.1197 right_roll=-0.0829 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.159, 1.8437, -0.0757, -0.0513, -0.0122, -0.6632, -8.2667, 6.0513, 1.7753, 0.2613, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40947e61c2d10a511be1c65114296e766f19576c16fd9f4e23c1dd3e5cba77a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebbc8a6419f84743fddf1f23488d542c1ddbf5f40a87ba91f5599b275b7601a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7073aa725dd8fdb80ee44555c0c5a2a926609771c393915ffc3a6f046d72b3b1",
      "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 · 4.155 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7967, 0.6075, -0.4118, -0.0193, -0.038, 0.9998, 0.693, 1.5597, 0.9604, -0.1635, 0.5327, 0.3988, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1743 left_yaw=0.0021 left_pitch=-0.021 left_roll=-0.0027 left_gripper=0.9998 right_x=0.3735 right_y=0.1982 right_z=0.1339 right_yaw=0.0356 right_pitch=-0.0562 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.4291, 7.6103, 1.8339, -0.0611, 0.0317, -0.0171, 0.1436, -6.8718, 8.7453, 1.7705, 0.4615, 0.2711, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4282, -0.0193, -0.0387, 0.9998, 0.6437, 1.816, 0.9104, 0.086, 0.4934, 0.363, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1705 left_yaw=0.0029 left_pitch=-0.0393 left_roll=-0.003 left_gripper=0.9998 right_x=0.3973 right_y=0.198 right_z=0.0476 right_yaw=0.0328 right_pitch=-0.1197 right_roll=-0.0829 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.159, 1.8437, -0.0757, -0.0513, -0.0122, -0.6632, -8.2667, 6.0513, 1.7753, 0.2613, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40947e61c2d10a511be1c65114296e766f19576c16fd9f4e23c1dd3e5cba77a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebbc8a6419f84743fddf1f23488d542c1ddbf5f40a87ba91f5599b275b7601a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7073aa725dd8fdb80ee44555c0c5a2a926609771c393915ffc3a6f046d72b3b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG-m-4E2MEf4Gu7kGkSOiXNu5eDI6Ob6N0wx3wTlhyX07-WLdQ5RnKqNfarXV3xk3Hjm9aM7avEhjcoeiaYJm5kbCNWYKWaka4h9VK9stFsqbpplI0oSFoar7SPegN8wKIgi5Ucl9HYwy1ksWXRUPTAPx8BrUO-kawHzwAWzdhkUTrQURiFDJI1SELJLAQ6CSZoWE9g6QAHYuzKgj-yVTKi31wXey06vbKLgwHRHVE76iwjYcR2nCz3uygRL7peu6Ifprvct-vm8Nd3S2z4YxZHf8Vt55CLmM-sSBybkQIDV7cnzgjozg0iliNTdsN_QRd7ga8DmNZU536rnRmScuz44ZQ84I_caCI70jm3NgGu3lUDLy5i8pGya9fnD8IQEle7hWT49sIzLNIQNn_XYMEZIjHL9yZPLEkLQa4HcBk_Vz26KAJccYb-fk1_AYzc2A54KnQa8vob2ySvO5zJUv9H1dgRr8fKZhw0W31pSVSviMVtJYo2cj_kgEZQWpEeatHtomgD47_CQg_6drCGnuWgWC2LwrCaxjkq2NvzUF8TLiigh_VzowUl50WHK6AxTap9nEOMbtSdBbg6TrNs0boMx5_IRT1iXObaKZIEB6eMs6yDU1_8-9aFrBFjIrz-8lUK81IDHVv1Fx9Rl0pAj2Ir-21dUy9AFV1kdTqbGu8zgh1Ealw5v5KlwT3f8XUI_yV85mqsAICxJ403qBsI3_2nBBSf9im5D9Cq02oZirONTc4VFEttnruhegmt_it_lJIpn4ZFq8zTK09FN8jk4aG82shssM3N8mCvi3gFMkjz0nE1pHxI5k0Le7TRFN6bf2yc8POEmbaNODjnRRUrsUCCelj2Iapov-3Tv9VcX75BaqcAWzRdkQGiizdCkOIAwDUXZY5lrrd9SYNHaOMnhv2KXDxh_nlrst22B0dTSj3LUKPj0bd6E5smoouUaLsIxhRnRK2Yq2BHO_ocCN85PIE35IOeAkuzQbaMiuts3HzO7YuFXPIz8RGSKf8ayRnnPqRhanbrx_ePpaAKCU-cuM7YCOWV9CdlU2sOgu0lFGOF4BbWsr_wXE3JC4jiZCcHF4PAHgBjpeLNu0-m_PTMnG0cXgdJqP5oM10Qbj6VRcUJWTstkDzyeYKR2R0k7BomxKDSPCJcg2P3Cc4SSdatv-Fzm4paCr3l-Z676dqut1Dv2qHHx08bDHfCzwnlL1WZXUgTs1-IkbNMWCxGqHxj5-6J_qSWKxljn_NPEYyWAWttLBgZKJR6zOyWjXPtxj2VyltZpRt7KneCrF8jPiEB-vLmIsAOS0yQ_Y944erJ0IbSUTX2_9KywA28BNNwyy1pWl-OAIMF1ba_QcnGwSl55wNeQkGRVmqASKQmZqYS_nMIbdOyseUYJCLnx4F-FypNX410VnuSA6xKDTLMukrfbuu9Llmsc3xz3UZHyt14RM3500o13YwAb2dVDEZXrglVedvX34CPYruktj6kGGGAhJwBPJM3RVYUeC4-j-n_BGzooB9vG6gwqMrFZ5SUdzUTJYgpOfNuWeeP_b9NuXnF-eW2xCgMri_VDPOUCQb-LxMCuwwJmpTEZGvup_MWjGRpcFYn1QObo-SSDKsVHU-hEFNJBqcPwMoo1HhfDfuSUa2UbWL6t4RAxkfeIDyha4SanbAx9REf9BqUnxs4gSuShM9DXGJOZ6DTu4V3f3Tezu9lnpNL3KNmXGOeIyQnxR7wFiQ_6EfRIQvzwrlb6ybOPxxTV50tj-xWTxk9-k3E-MM6pXcezq9qarB2mgWolmZr70alaDRYknVEPUc1R8EEUJU-9sBUK5wr56C8rTIju-i5TTenZQfcLuiqwy01uZkSf41q6vaHgcK2gGRJ8-FdEiVksl2VnzLZMSLKhArs3VkExCKrRu0E_9i2BoFbXmX6iN1Ontlren2gJ_4SkI4iYNYtExP4GPtNUYdDjLiZPveCTcA_BNHTWoeaQPO7SIs7ySvzfmly-wZRWM3J1eE6Qrv8IjnpyJiu7qD1sTRH6T319KMSoge8Qu4sNaKNNPVLhiPA9QBIFUY2ikJIR_TjDidfUr7OraTdcOQ4jsiVyjvXBhuNegl4hU_-sVCAz-sHnvcfTJL3RTCTjEZPngUoYXRXbAQjLMyaZkwBy11ewyCTnGOiBKBIfK2p6OBYgk6WZWqnDR8zf7k0EqAS7gYKvfls3A2OiAMkB7kzSMnQ8pumbQrw=",
  "id": "rs_09ad5e714aef96b4016ab46fa1438087d085971cf09ce282cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.193,\"right_z\":0.027},\"note\":\"The closer wrist view shows the yellow object still ahead of the jaw opening and slightly to the right. I’m moving forward and a little right to center the grasp near its lower half.\"}",
  "call_id": "call_mUTbKVKyzdip7YexdJ1iIpve",
  "id": "fc_09ad5e714aef96b4016ab46fa506a487d0b60344008220a3af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mUTbKVKyzdip7YexdJ1iIpve",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6075, -0.4362, -0.0193, -0.0387, 0.9998, 0.5415, 2.0125, 1.0786, 0.1066, 0.4126, 0.2813, 0.9995]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1677 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4493 right_y=0.1918 right_z=0.0188 right_yaw=0.0373 right_pitch=-0.1614 right_roll=-0.098 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -1.5795, 6.9949, 1.7607, -0.0806, -0.0464, -0.0122, -1.0872, -9.4564, 7.2821, 1.6825, 0.2369, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28be05b7e0c97c4c53652810fe765cb71f4613f3b66e8c893446d3d0962c5a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93eb2b1b2c27043cbaf92d4d705c156f3920fe9fd0e930f6cda9a98912ad739d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d0b7e214e37a1105abe0f8a9be9f9eb26f65d760a849b82cb2755ac4d0a9238",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.425 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3912, -0.0193, -0.0341, 0.9998, -0.0212, 0.7929, 0.6067, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.3179, 1.9463, -0.0952, 0.1392, -0.0366, -0.2667, -1.3197, 9.6752, 1.9121, -0.0464, -0.0513, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4282, -0.0193, -0.0387, 0.9998, 0.6437, 1.816, 0.9104, 0.086, 0.4934, 0.363, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1705 left_yaw=0.0029 left_pitch=-0.0393 left_roll=-0.003 left_gripper=0.9998 right_x=0.3973 right_y=0.198 right_z=0.0476 right_yaw=0.0328 right_pitch=-0.1197 right_roll=-0.0829 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.159, 1.8437, -0.0757, -0.0513, -0.0122, -0.6632, -8.2667, 6.0513, 1.7753, 0.2613, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6075, -0.4362, -0.0193, -0.0387, 0.9998, 0.5415, 2.0125, 1.0786, 0.1066, 0.4126, 0.2813, 0.9995]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1677 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4493 right_y=0.1918 right_z=0.0188 right_yaw=0.0373 right_pitch=-0.1614 right_roll=-0.098 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -1.5795, 6.9949, 1.7607, -0.0806, -0.0464, -0.0122, -1.0872, -9.4564, 7.2821, 1.6825, 0.2369, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28be05b7e0c97c4c53652810fe765cb71f4613f3b66e8c893446d3d0962c5a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93eb2b1b2c27043cbaf92d4d705c156f3920fe9fd0e930f6cda9a98912ad739d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d0b7e214e37a1105abe0f8a9be9f9eb26f65d760a849b82cb2755ac4d0a9238",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-qU3dgU5jtQMKg1ltIoKKfEc9mog-eBcF8qApb2Y-HJsJl8FtQk7CsPfnLhGOOV2F_A11kcPNVLjKmX8NG59ZvuoE2DKbkiIMumSR7rTt9YoKR0WtRoXkfka31rVc963Zd5PFZZ45zPh9a-VTVDDyMYR115I2yjk6spQtixAG0LYAboxxUIDD2o2ESObpWVBOItRDeLzewZUxa4gX4V1xsdTf-SLmVUvDbZKwciQGw_gyKE5DWwPhlTvdzdELetuJ64NPlBXVOIQ8TwHqVKM_NCgB-PLsGXts_GZTjBqMlg5nFCfvRrXodhw_GBAB3iZQbG7crzGLOOzdV419tuE--Y0gY-G6bcp7Pn_kffEWT5R0yqF4tjZji5_gmAAEIObHzKCK06gjki6t_facxts-Hb62qM-hjcF-sWxUQ_QZz7DSuTZEc_XGeSXYgeIaSh6qpJLM2T21_igl2D7i4VmrI-QkVBvF0N0QMjjTDZtxMJ8RiYiDxC8Zwd7s53dsfs06vO9-ARV1rgzJ0uFA0NGWPiEkOJEFljoitkj-JotsCorSaaDZuM7w3F2ZlWqeTwyaE_pIF2C80Pm6-cWAwMq7uSCKGcBd5nKxrYLKPeexSgxgm5Ex3Pyp_UUeQ8pNCOgFvpivmlCamVSt0a6AvW6YiaGwVK3glAtNMD16804Ok1sCiBDvIwrXZt8AtwVDUfgzr_XPiZCc43Iy4v5o5AnXhYiDig-N30VXnW39I_7Mt3cwbV2DbtAyE6JldINRCMU_aF7NkPDfYeVa9Cd-YOHYAsTbKBeB6Rz97il1XzSD5hZQH5rZk4e_mRAkkJKmsrzS1CTa386coWPTWF2K2U6hS3xEUb4EmwkDqiM6gVB2Xg2axOyeZ_BzB_f3z5Mhr6W1iip39EXRbAN73iVf6e-YMkHYucZeHw-LOgR02GMg5VkAghGmMyB7E7wkbtPwzx2hjRL3kByZj94s7OmRoGPm1E3bjwaHKTtXbMqUNl3uUTD8-zAVae4ZUlA91VpmT0RhoqsweZhrTIG9iSRxunQqO_g8NGRDrMQeejwniakuAIi-T-V75rgvrallVvWrTOzGdtTSolzIYpU0dw90Y19jeTcnAsbS5C_J7m8NMrkDDyv-TVnWKloNWX_sDKl3cb8U5fa4Xx-SGBbte_7J9Dud6ZIru9KsrLuOOiP-wbHtIdfrXp_iCoKSfkN9Rz6EjfEdKl-Z6l34siTF1JHZLJMWTfAOjG7nIaswv2pfJRwc_M6iR23vO8lC6JmuAv-fx-kcxDgu0v1pAS5vMCk1iTFBvCxxEfc65o96f6DJhMF0SbxThk3kxFmjy3zT_qU57m615D1OFqhRszIHugHopclcPp7iwD3SEJbhpl1HAQEPfGS_2_aEy55xsyycJqDQtdPEkfnDIDPyLmlhO6kEscyXw8haE8z4tBWjcLUsvs-pdnVl8Je9mtQMVJNU3_uryhHZyDk1o9IX5OBiCtmUgfOQrVN7hx2qTBKD21HbzGip50jJRkJoMLJRnyNqz_DMpOWbUSxLs-OnN5GTXuQ6e4lhAei0sNp9dGqacXiLsZl4dJODLLjQLe92_SMCaz_0K4IxT",
  "id": "rs_09ad5e714aef96b4016ab46fa7f3c887d08ea80af8231b1ee6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.022},\"note\":\"The yellow object is now close to the fingertips, with its center just ahead and right of the jaw column. I’m making a final small alignment before closing.\"}",
  "call_id": "call_99QcS9gjpkuBr30llYpT0YXN",
  "id": "fc_09ad5e714aef96b4016ab46fa9a27487d0b6a9a92f87af179e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_99QcS9gjpkuBr30llYpT0YXN",
  "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]: [-0.0189, 0.8032, 0.6075, -0.4511, -0.0193, -0.0387, 0.9998, 0.4824, 2.0762, 1.1862, 0.054, 0.35, 0.2306, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1647 left_yaw=0.0029 left_pitch=-0.0667 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4755 right_y=0.1847 right_z=0.0154 right_yaw=0.0552 right_pitch=-0.1926 right_roll=-0.0975 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2786, 6.9949, 1.8144, -0.0757, -0.0464, -0.0122, -0.9368, -9.8393, 7.6786, 1.6288, 0.3492, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e118dbd2b83166e4848d4c9ba07406d67db4792d1bbddf0c5dcdc92ea80a84b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15570140da746304bc553eb228064dba3e9823c80f842f34d44de5a8b5defbc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c53d8c7e3680ec5da56483cca78d11352b68937fd47ec80d0e9e6f64126599",
      "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 · 6.632 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7967, 0.6075, -0.4118, -0.0193, -0.038, 0.9998, 0.693, 1.5597, 0.9604, -0.1635, 0.5327, 0.3988, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1743 left_yaw=0.0021 left_pitch=-0.021 left_roll=-0.0027 left_gripper=0.9998 right_x=0.3735 right_y=0.1982 right_z=0.1339 right_yaw=0.0356 right_pitch=-0.0562 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.4291, 7.6103, 1.8339, -0.0611, 0.0317, -0.0171, 0.1436, -6.8718, 8.7453, 1.7705, 0.4615, 0.2711, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6075, -0.4362, -0.0193, -0.0387, 0.9998, 0.5415, 2.0125, 1.0786, 0.1066, 0.4126, 0.2813, 0.9995]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1677 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4493 right_y=0.1918 right_z=0.0188 right_yaw=0.0373 right_pitch=-0.1614 right_roll=-0.098 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -1.5795, 6.9949, 1.7607, -0.0806, -0.0464, -0.0122, -1.0872, -9.4564, 7.2821, 1.6825, 0.2369, 0.0024, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4511, -0.0193, -0.0387, 0.9998, 0.4824, 2.0762, 1.1862, 0.054, 0.35, 0.2306, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1647 left_yaw=0.0029 left_pitch=-0.0667 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4755 right_y=0.1847 right_z=0.0154 right_yaw=0.0552 right_pitch=-0.1926 right_roll=-0.0975 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2786, 6.9949, 1.8144, -0.0757, -0.0464, -0.0122, -0.9368, -9.8393, 7.6786, 1.6288, 0.3492, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e118dbd2b83166e4848d4c9ba07406d67db4792d1bbddf0c5dcdc92ea80a84b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15570140da746304bc553eb228064dba3e9823c80f842f34d44de5a8b5defbc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c53d8c7e3680ec5da56483cca78d11352b68937fd47ec80d0e9e6f64126599",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-uGdyZTPeWPMSsxsP-fhTIz5waXp78pE-DWaGz70mAm9DvdMXZmoODl1Wh4tH_VPGKNV5eM8vnsdMYZDHccVdfQzL-UYiHjrVs2efvzsr3VNZzJbLfCD66WaSsslIbVscqVy32SCY6OacwAWU--cblihUwhG1MgwMdqcjsCAOtOftlVhxvlF7aU-BLvfsIsHBEMelrQPK_tzgja1VKSx_RY6jIRe-Zp0GMZTyryVtOVOhG9qqauyQ1GeCSnRBgfOW5Vo0AWXwnWu6RvG7O-jTsnNC4WRi6775qTeGw33bwhxPJYGeOC-ArtNtn7-B6561wM_BO-SWfw1mNoZS65vUlu6bCJXfZio_kAFHQP-814uDLTqSMR3gSr-7O8hJtgrEgA3EyPDe5DWPcapSADvwmNgY2OcQbYxPKEqf_L1HQMWzb6vVisnuWZUS8gomMWn5IYwtvMBrytuJxFdb4hs5723tj-K2cM5igN0b6MHpVdtdZiMjYolaAvLXoIPsfqkPzAKqyrkBwKkbZDeddOATSV3NxPUz3qIQsvEXHjD6GZtYTq2AfVnaqQjhS5hJlmz4Mu0mMzkOGocZz5dyNc5thKDkVT7RFWFHYvZymUzOheuURWE00p4BmTHQI76buAfApflR7w-SYClob90z7uWUJOngJiltkW7nSmUSa9y-2sZ7ROyucGlm0LtzdaBmEIpuiEO5XJVra8xxbm6RhRtGdqLESrWbtq25GHWJLbPqvnqJS4tafIPgokt-M1WXYw6f2vtlZbfiJtwQz64y6iG9XOajFQC8VKIpf9CwUENrJA93Vbz8aUhKgXRbs8ZSaNWtX_pplnuX10onr2IBbcEZx37fqfXTXkUtd68xZk5FUifCqq9C8AGojhIC3ghFlwsZX4Zgyk55c7PpCu8FE_pyvDZ0LxEEt8tmVV0uLuPNS8icslldB0lDJzUDErHHqhSd5H_rQnd0_FxKMTfgTh0RQZKPb0CMgj1jR1c_RfU1Bk1QogZ2IlbCX9tyi_3pb4tJx16YvBh4YmuSNoZxHEvOwN7g7nWFH-iOsIM5jJlOekWlF2svnc1v20hF7CLKxiaCGf9b7VWg123HANSgpbrwV7ZtuyKp_MptB5kYEWePWaxpmyGP_5UOLMtkR37-VP6zBXK8F16fxy8-HY6DEyzuQL3PEkISk4SekczrphBzYjahlAx0DbUEm7pJKWM0cxVtB9Ix0RNJ20__S9JNJFADhUh3-WgBBlWduJgHKA6w9XLQyfdL5LijMUKSw1vXzw29-x_MTzr5ugkUCgZ219L18UA==",
  "id": "rs_09ad5e714aef96b4016ab46fac757c87d0a5fdbed11583f201",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.168,\"right_z\":0.025,\"right_gripper\":0},\"note\":\"The yellow object fills the grasp area at the bottom of the wrist view. I’m shifting slightly right and closing the jaws around it.\"}",
  "call_id": "call_JkUk9qmn1TAh7ga4amrdhmdt",
  "id": "fc_09ad5e714aef96b4016ab46fad20e087d08e206c170e86658c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JkUk9qmn1TAh7ga4amrdhmdt",
  "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, 0.8078, 0.6071, -0.4736, -0.0193, -0.0383, 0.9998, 0.4313, 2.0842, 1.2373, -0.0139, 0.2523, 0.1928, 0.2972]\nstate[eef_state]: left_x=0.2825 left_y=0.0017 left_z=0.1589 left_yaw=0.0028 left_pitch=-0.0942 left_roll=-0.0015 left_gripper=0.9998 right_x=0.484 right_y=0.1781 right_z=0.0154 right_yaw=0.103 right_pitch=-0.2443 right_roll=-0.0641 right_gripper=0.2972\nstate[joint_eff]: [-0.0889, -1.5932, 6.9675, 1.8681, -0.0513, -0.0024, -0.0171, -1.2239, -9.9487, 8.7043, 1.7949, 0.6911, -0.1099, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e53914fa98288d5b87610506242349989ed875998ea6c9d67c0983ff954cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2269e481670600400404b737e2c0cd58bb244bd07cb9e87a0f90fcc14f23c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bc41f9964b61b5b9284dd6fa0647f45a91ec50747f345acaa51a6f88122cb9",
      "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 · 4.668 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6075, -0.4282, -0.0193, -0.0387, 0.9998, 0.6437, 1.816, 0.9104, 0.086, 0.4934, 0.363, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1705 left_yaw=0.0029 left_pitch=-0.0393 left_roll=-0.003 left_gripper=0.9998 right_x=0.3973 right_y=0.198 right_z=0.0476 right_yaw=0.0328 right_pitch=-0.1197 right_roll=-0.0829 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.159, 1.8437, -0.0757, -0.0513, -0.0122, -0.6632, -8.2667, 6.0513, 1.7753, 0.2613, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4511, -0.0193, -0.0387, 0.9998, 0.4824, 2.0762, 1.1862, 0.054, 0.35, 0.2306, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1647 left_yaw=0.0029 left_pitch=-0.0667 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4755 right_y=0.1847 right_z=0.0154 right_yaw=0.0552 right_pitch=-0.1926 right_roll=-0.0975 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2786, 6.9949, 1.8144, -0.0757, -0.0464, -0.0122, -0.9368, -9.8393, 7.6786, 1.6288, 0.3492, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4736, -0.0193, -0.0383, 0.9998, 0.4313, 2.0842, 1.2373, -0.0139, 0.2523, 0.1928, 0.2972]\nstate[eef_state]: left_x=0.2825 left_y=0.0017 left_z=0.1589 left_yaw=0.0028 left_pitch=-0.0942 left_roll=-0.0015 left_gripper=0.9998 right_x=0.484 right_y=0.1781 right_z=0.0154 right_yaw=0.103 right_pitch=-0.2443 right_roll=-0.0641 right_gripper=0.2972\nstate[joint_eff]: [-0.0889, -1.5932, 6.9675, 1.8681, -0.0513, -0.0024, -0.0171, -1.2239, -9.9487, 8.7043, 1.7949, 0.6911, -0.1099, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e53914fa98288d5b87610506242349989ed875998ea6c9d67c0983ff954cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2269e481670600400404b737e2c0cd58bb244bd07cb9e87a0f90fcc14f23c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bc41f9964b61b5b9284dd6fa0647f45a91ec50747f345acaa51a6f88122cb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-2h5sr3iAwnzAjpW1Q_zj_9w8fJzsp1o-SnDASAZvBc51d29eZShH1hWVzbwwjJGfTtwSKAHO7QGt8kkrpZjP0g58bDkTfT6VfQWtLTAw9djK35TxAdmoEvHh4PVQEPX1757AG_vYY-w-yF_XMaXKaEY_oEcxpXw3Vqv1z5ApVz9Fy9ja7Nrflsz-YrK7jpih2_KNkF28XIBRQUfqiVmXqLnR2bsQ-vEJ6NzpxbfK4vfnzmOYYnLOzQAXlM6zmsG5Hic67cFKaTljU8hnqKtJLbrH1m5KDs5aKFSVFXdwQQ-GWphXTNeC5OJdNLd26F-1WMbY2wK4h13xssSbe6Zn5O8p6AYIeT2JfRJxddGcLHYVMwF6N3YfR-BdkWGd921S68Uanh7aYravrSbf_wygxHC1u9T6ZUOpPR5UYJCiPC4UaX-KQTnCf6DB8P0sLy98UFO2VO70tNqi7BNimOivCWgUsLA2VL0syHOpJx0JiXuTIYPedVHYMiNIAXd3v3_MGA2bhH0u8TvEQ1EYq1hFvnAjcYkUwyRRZ3QdY0ZakgTjHWZm2wzAl-lFFKDM1gsr-ZTBAOt2twaSARjVObpGUDFLOgWW4p7lNd0bY-JUYby34xQ1KfBxtXPAXfqhgtwc0rhp34scv6GuzKGM6EO1oZuxpaFkoGmVEsE0-JFGA6cfY6GYJ0p2sbQjRxOlAVpNeOdhVkJV5a3SB30TLI0U9k93Xh0WlF6Iz-jcaVDEjWeQ-2vs0qbQaUHTKaXtRarCiaNIQrEa7YLuh-YhXE9dKef3CGpd6EuHr1FCUxxRZ2TOQIyB1HAyyifIi7KvxHhPo2qk3D2reIJgcsqTNOboZoRFiaNrJOV0pVwPhTqs_Uk7WLmEH3okf5guErL7Lz08Y3tJEOI8kPp5qZbjrXfEORQjOFVjlT0stE65SS6pn3a9kNwa_vtcTVShNkCMc73PYozxK3ZzHF1FznqBDo2D4lxQdtc5BxsbxIVVBxP-d-DQ6SE3PeeVoWXX0MYm_Sfl_jdfKgnrfsrwkLAUYFtWFI19QvBhZly2qB7DcDFGmPDBeZcyycW5fhMbKrvAw3yA8FcGV2L3ajctW6tRBe_KXNwZIyL9i87qFdyouuqBfEFjOYlbC7fIkjKVxTtDWR-pWN8YmhXrB8ame-e6drGdXDkFguq6doZ76iswA4vJRdWbeWN3iew6A8EqQ8uE4HEAjMDNHGCoU043qUDJsuhFxe3ar446S-e62hq1TmYrVKky0dSRN5u3ghjT9KmuDwq0Pyynn4jTzDR1iIFcs1lc3AZGkpORRfKXRsEYkMdp9ipV3JqxFMjp9Y7SlAtnE23XPJgGcXIJDM1Rx2WN46f3dA3VKCExabVec6o18HKrF6-zC48P-9sKi7P-V5F63SqJ_jNvHmR5HyMNNk1mWwdrmzXrCF1UniyXw-a3fhJ5jjd1ROxtSMdl8WHlW-vSDVSHdCh7NfC_i1f7gjVOec8WoO12pOUVjBo0DQEXvMM9GHmOZnMVFFoPSNuP39ZwE41_QftXmP3tMtJEfsDI25ip4oJI9Mvsgh5v0slbszJS0s2l-hZyJfbvWWz13ECkcscRU5EWhqCMVGtvEzcUZueFMtNtwdSUunGgaGNaXY9v9z9cPXu5vUUe6crJnxF54FRyurn6GyeblR9exYEy3brFGiIpGk0i7XNo8XVBsfXOhnzIdPQnncXxAMw92tNO5pBHtB-VdarX6Q7mejeJ_xBovkbkKFIgCEQv43Lmi1GP21LG1sSZgRWKtJdAK8rnCs0uYLMiTT1DEVV2FcGbasU-F-qFxQaQeinATGe1on7P1ikPFxdDyML0Vnj07ArjGhmHZGxXQYAOiTaF0aTZHqmTP_Ugq_S0UYf7dFOAeXg_kPq_8KtmEz-4Y9XmCQFrEu0oif3eYUGrJgI7QxSm1HrKw8twfbvEBKIBEpnDP-yOnnMbHnRU1s3wSK_7V4JeXQxHME1HKq7NuB1BQa5_fhlcPMLJZwVV1gIFyY5J3uyaj1uea5WhgLhE4b9048PjqP3xLj3rv1Z9kVAo5rAkAi01U8OLgXE3EyEv6VDZbPOJ0NAXA_3Kjcv5aqg45mPhMGbAQtl-Hr8i9mEGnJh_B8UhKTeKFEaJgyGgzvl8JOH2pW7tuTKecZ9mG7TwWlYAJFDlMm4vTTv7UImYSNQkU6ras2yMssSAZCsW0729XoHkq0vlTSy-cbf1z_i0zHW_oUOx80o7Wc_oHqfsKTisqUqkOe0rhCt0v5ttml13BBVCddHes7LM42N03NmLahgkyVMqTcIUQzb9lfS1FaUt468J2F27FDQH8mAQ-9fINeqNo5m8=",
  "id": "rs_09ad5e714aef96b4016ab46fb15be887d099d91373d8ae9b91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.11,\"right_y\":0.14,\"right_pitch\":0.4,\"left_z\":0.18,\"left_x\":0.293},\"note\":\"The yellow object is still visible, and the safe shifted when the jaws closed, so that was not a valid pickup. I’m releasing and lifting clear, then approaching farther from the safe’s rim.\"}",
  "call_id": "call_OUzVMqatWr7lbbbGUfeRwsLf",
  "id": "fc_09ad5e714aef96b4016ab46fb48b1487d0941ed4185751ef71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OUzVMqatWr7lbbbGUfeRwsLf",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8646, 0.6651, -0.5407, -0.0193, -0.046, 0.9998, 0.3836, 1.9633, 0.7765, 0.8936, 0.2985, 0.0071, 0.9981]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1602 left_roll=-0.0057 left_gripper=0.9998 right_x=0.4793 right_y=0.1413 right_z=0.0824 right_yaw=0.117 right_pitch=0.3003 right_roll=-0.0819 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -1.5932, 10.7009, 1.8046, -0.0269, 0.0513, -0.0122, -0.4444, -10.5641, 4.9846, 2.2491, 0.0904, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866353179caddfcbc9aad88ea8feb93f1b2662aed20821ad93b8dfc81dad6a8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ed62d21871562d566e6f5a59792b97ed98e8031a3954adca7b18a9884a06e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db46ebee98dddb89128883c66eb85db8728a08bf368b29f50394d012a62fb05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.359 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6075, -0.4362, -0.0193, -0.0387, 0.9998, 0.5415, 2.0125, 1.0786, 0.1066, 0.4126, 0.2813, 0.9995]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1677 left_yaw=0.0029 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4493 right_y=0.1918 right_z=0.0188 right_yaw=0.0373 right_pitch=-0.1614 right_roll=-0.098 right_gripper=0.9995\nstate[joint_eff]: [-0.3214, -1.5795, 6.9949, 1.7607, -0.0806, -0.0464, -0.0122, -1.0872, -9.4564, 7.2821, 1.6825, 0.2369, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4736, -0.0193, -0.0383, 0.9998, 0.4313, 2.0842, 1.2373, -0.0139, 0.2523, 0.1928, 0.2972]\nstate[eef_state]: left_x=0.2825 left_y=0.0017 left_z=0.1589 left_yaw=0.0028 left_pitch=-0.0942 left_roll=-0.0015 left_gripper=0.9998 right_x=0.484 right_y=0.1781 right_z=0.0154 right_yaw=0.103 right_pitch=-0.2443 right_roll=-0.0641 right_gripper=0.2972\nstate[joint_eff]: [-0.0889, -1.5932, 6.9675, 1.8681, -0.0513, -0.0024, -0.0171, -1.2239, -9.9487, 8.7043, 1.7949, 0.6911, -0.1099, 0.8669]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8646, 0.6651, -0.5407, -0.0193, -0.046, 0.9998, 0.3836, 1.9633, 0.7765, 0.8936, 0.2985, 0.0071, 0.9981]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1602 left_roll=-0.0057 left_gripper=0.9998 right_x=0.4793 right_y=0.1413 right_z=0.0824 right_yaw=0.117 right_pitch=0.3003 right_roll=-0.0819 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -1.5932, 10.7009, 1.8046, -0.0269, 0.0513, -0.0122, -0.4444, -10.5641, 4.9846, 2.2491, 0.0904, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866353179caddfcbc9aad88ea8feb93f1b2662aed20821ad93b8dfc81dad6a8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ed62d21871562d566e6f5a59792b97ed98e8031a3954adca7b18a9884a06e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db46ebee98dddb89128883c66eb85db8728a08bf368b29f50394d012a62fb05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG-87EfqW8gtdE8mkuq8dafDEVGY4uSodmtsa4jIaF8NoAO6KUv7Y1cqmnIsfThiot-znOr_XqFT1Sc7VR3ZzweuOQxJgSKLmmsn72_mcrxFD5NBR5iB5Ucf4_kIRe1nTu_WK82I6CivX9fA283HN2lKNVzTTu1x1VymHBzsEmBiUzzEukdZwMAU8Abp_TMHWx8PUTqBfiYFWXhNJXA6W-HXpVmH0hCv0zVjaJAe-Qj2VnggBDAqcau0oE6HR7a5hk5fLeYMC6bfrMyCCjT54gv834oYiFGyD1bMjTFFZUwdO9FzNaLaA24BV93nEG2JTKSLgZgBjk1iLH7LLlVBKC_0Xjkb-g_MW49ZRCD7NiIypvPqZ7eW-4TaKnUrhsO3kgCCjGrBTJ_-xHUFUoqYYU_am2Xv75DPAm0fFLreAtq_vspbdx-OWzMQnJVfmK9diY8mEsOx28rTaAQSauMg2eR9SJZJmARkG8mGmtyj5g2nV2Te29LO4dBuoIDuz4Cvfqa1QU17-E-ezz8_l7CvuNAkDZ8-TZ5l16n4lWrqbGbmPrTv1xET-QAmWNiVZ60o5aPKFC8u_tpQHmMd3hVlMsrtSj5t-zQEvYhIOSYSTdqVuAlEoc94a3cdCeAMrh6QsHDJfGvXGhYEyUjR-M6eNb60ZPcC4Sy3SbUiEDYyHI3YyyewxUCcQW3BbzVIIolsUXGrr6rpTsjbLsb_HY88HpTeohuatl-IFfCpKSoRBq5Gd7wRL329ElG2VSwfSAkAqSGqeE-9OkKFYPEBY_YJsMJ4z94LCgIZWJU2XXTtMzBohKNNVpfP7hTKctM3lWIzxMxU-601T-rV_C0UUNLEH9ofoZVvYE8NXJG592A1Jk8Wq4aQqfTUGCzG4MvGeYGy-eeKzHE2nhoqdebAClymiju9EqM4hvgBTJSOtOPOTan7v0TqUSz13Mgn-oRD9feyMF4_CugAqjHz6KgSP_wZZ90QQ6EUh1SPWyl9iTrslfoa2sP-vdJ-Z35kUSPTJs0Ud2Cab27ehqYrckS977Rtea3vDzWWwmjBFTXNmuUhd5XyvFOYt_HV4jTuuUGRrVa7hfGATDAR--hJd2ZxLjYO63R6kknFoDBtbtJSecxMUD6_tffXS9ogw11GybwQdyp8aReyRrgq5LlQA46_AGscIg4yikalurx3NERtjKxd2nolZJxXo4f8YNHnqn5QMfpgzHkmf7Zyg2ZLUHdV2iEQm8njz4KweMChyjPjol-lJenntgy8hUc3MKn9-Z2Vd6-TRZkcvbN5xs0tcRfss7LcyIEBuavfacnqBIqAPgwog3vhr2ydCunxhuis-AYfTvoCMqevoKNtZZGkjG6LH4P0mHBwS6cx_d5xSU_aq5ZW-Yo50Li30FOi1KoY24icov7GgG8HNHpIjdR9R0TH6rpBjBO7i60rV3kEWODQgS9JoQFs4kSk05tLpYUqXfhHSImzZL4GLssadRWJi9-lLtBXxd0SxafI0Mog9vUgOR9nPe-s25G6kXsmnJCex0zjBrXEe2hAMroJ4rkxaHZ1MAxxsmqvYSKOBpVssgE6x5SO5BQYhCOtUnLWfWGu4BEsGoDarhmXZMJ5IMSqUm_lSU5cTnHimBGjyrKmkxOHudF9AscxvyVFOB5KmOk-BucUbaBTuHOIhmo6cy_NLwVuHacW4BtjJDOluVwZijSlgZG71FUccNP-bnBn0v0t3WjFA958gFXAjJ9Sv1FJ_gOZfcBQ2kTKsd1YNvOu4eQN8XaJfExnwSsGzPbJTQwYUN286476NA7a",
  "id": "rs_09ad5e714aef96b4016ab46fb982c887d0bbfcd3609a2a2310",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.146,\"right_z\":0.025,\"right_pitch\":0.4},\"note\":\"The safe has settled farther back, and the yellow object is now isolated beside its right edge. With the tool tilted for reach, I’m lowering around the yellow object without crossing the rim.\"}",
  "call_id": "call_uyAFnZF8HRqfu8yeTmD7X6Tg",
  "id": "fc_09ad5e714aef96b4016ab46fbb8ae087d0a3450e508789d76c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uyAFnZF8HRqfu8yeTmD7X6Tg",
  "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]: [-0.0189, 0.868, 0.672, -0.5575, -0.0193, -0.0463, 0.9998, 0.3573, 2.2978, 0.9241, 1.1526, 0.271, -0.0021, 0.9988]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1559 left_yaw=0.0075 left_pitch=-0.1735 left_roll=-0.0057 left_gripper=0.9998 right_x=0.5184 right_y=0.1468 right_z=0.0283 right_yaw=0.1139 right_pitch=0.368 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.2923, 6.3385, 1.8291, -0.0415, -0.022, -0.0122, -0.5128, -8.7043, 4.4103, 1.7509, 0.0464, -0.1734, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858a8ba640023146838103584e5d32a96714cb91cf01f3cd1e043c24211153ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e4f0c04a2fd452508f95d16109206bc9e5c08bef785a6aeaff6e1b6d981761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d88446e6b40210ef7cebf64aac4eff7ab36503877c0de0741625c0b5b328023",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.91 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4511, -0.0193, -0.0387, 0.9998, 0.4824, 2.0762, 1.1862, 0.054, 0.35, 0.2306, 0.9995]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1647 left_yaw=0.0029 left_pitch=-0.0667 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4755 right_y=0.1847 right_z=0.0154 right_yaw=0.0552 right_pitch=-0.1926 right_roll=-0.0975 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2786, 6.9949, 1.8144, -0.0757, -0.0464, -0.0122, -0.9368, -9.8393, 7.6786, 1.6288, 0.3492, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8646, 0.6651, -0.5407, -0.0193, -0.046, 0.9998, 0.3836, 1.9633, 0.7765, 0.8936, 0.2985, 0.0071, 0.9981]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1602 left_roll=-0.0057 left_gripper=0.9998 right_x=0.4793 right_y=0.1413 right_z=0.0824 right_yaw=0.117 right_pitch=0.3003 right_roll=-0.0819 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -1.5932, 10.7009, 1.8046, -0.0269, 0.0513, -0.0122, -0.4444, -10.5641, 4.9846, 2.2491, 0.0904, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.868, 0.672, -0.5575, -0.0193, -0.0463, 0.9998, 0.3573, 2.2978, 0.9241, 1.1526, 0.271, -0.0021, 0.9988]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1559 left_yaw=0.0075 left_pitch=-0.1735 left_roll=-0.0057 left_gripper=0.9998 right_x=0.5184 right_y=0.1468 right_z=0.0283 right_yaw=0.1139 right_pitch=0.368 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.2923, 6.3385, 1.8291, -0.0415, -0.022, -0.0122, -0.5128, -8.7043, 4.4103, 1.7509, 0.0464, -0.1734, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858a8ba640023146838103584e5d32a96714cb91cf01f3cd1e043c24211153ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e4f0c04a2fd452508f95d16109206bc9e5c08bef785a6aeaff6e1b6d981761",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d88446e6b40210ef7cebf64aac4eff7ab36503877c0de0741625c0b5b328023",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG_CTTbLq2mWfD5zIcMAdH2H_RPJa5vEaVnocSxAfxsH0I6OMgSQngTRar7JB9VaDcStqYAWIDS2aV04qBMcJvpSQDcGsQ_uMFox6oxfv5XgOm8Kb8xaYapXQMnWzMTGM5siXYg0YTcnbLgfX0Um_LcwjrPG_uEnt0GrftQHjOv3MXz2Khc95R7YG9UDlog1kJXNENUgXAuPUjWEkrVUtOpHAoZE1jQi3NeuTMZSX1fDAYmHNfkpDIb9Mc3M3ZThWKsN6vj8udcthUcv5h-vY6t5MhLkQUefeSz6UAYdcyLAxwH03qflDdOsvGX7rBKCnlxyd9PXglg7dcW7OFo19cKTv4vJ0heReq8UEz4wFfr9B2yxrjs6InGEE0c1OIx1G-kCinJUXQUa4K_70td7sU8oR2benLsPjcVAonHMv0ccA1-vtPMTHmw2iE7LkilYlFw1bZZxpG7f5rcKdDLtf92ZJjhvMhPMbJLveHI5nMNKjkc9zatLcypKbWgbWDaf9owmHa4nr4phDZyGF4rpApJtsCB0g-U1y6q_0zjVI2lOTEqREcoTwefo0RqAbyz6YLiwpTo2M9X3OM27zmb2LUOsssSYH7iDqwJqdn-lx4jvJxC4DmNgGruQqbdXUf2xDZTWNLPvXzUcIhUAIiHttKOmejnRE0GZH8LbClYe6Z3wrMxBGXQr-N39FuUTJi72O0j0tPcGJ9cUAdZ1ppxrGf1ARdH2NzSByd-K2YqRwVyBSM3OLJePbLc8DogFSISwzOgOXo-anq7_vvamguNsjICXS8_Lzq7njIw38QlLoooUNrzT9Mwiutjv-qTz3MA-fQCKX1n3OPJCBJKWPz9DwUiIFsKlQ4RW9DBGD_yh8VqlD_ylDIfpuey3HfjnnYGlYdn8q0FzR1tAo-xEzZYryicgeVgAIxyy08CQWWrjhrPRrBaESbkSanWRe-qVa8smopZY7gq8rxL3xKEAppAGHajXp1oACDuj7GMgJdyNFQL44_9Z_aJn1AC_1liHYJxIf6NblbInNlWX1F1qLoFBM7OCA0D4_C1APz3tA0aeWMxzRA1WkbkmKyNd3t2Sn3mItMNN1uCFk8s_BaKcpWO9Y9OAxGFr1p46tEXA3K4g8LeeZ0zzRyI1YtGHTd2XGX19HWGfDgBtjeStHTonSSsE_8FgCcXfL99dT7wHRxQmrwp4o4Fn2PO4kBS86yGddXwRsL5615sKaXt-4xBtE7x0aTvX6Z3hTDwMkAMHRFkCL288txAqUS0DwZlRZ8AmkZwfSSR_hY5kOK1shF6Z5ukg0SGdqSKRyQ-2R44gjBpYm3YXEZtmXcgfR6XiGx28MvKAXgjW9vqV3Y8lfD6mahUvuyPB-YNoh-CBiVN2iBSzKCx-oklT24cvCCqigl_G7f90BEjyU85RKbE-JVSegsruWCvzPdv1RicGq7DN37F6xAfhlb_xJyG7GS3RM0NuczBvz0oB9H-DwKPtb-Ctj3GYA-zYAC_iunZO0MQpwIqlGj1AFDmyMxaDUnH3jmmZztTM4qyLc2pQtcWmbWkMT1nDHiwKgXd1OXFjcFqAiCakH2XTaiWSu2hUvD6X77qxtEUqKDC-B4E2KZ7B4NBDS7Y6LnD35XbIkhiHwKqF8oKMXcCDLZ08Q0sUGGNP_P-SDEVEpMXfpLJOjqdDxjXm8yziHca1T7eME-sZQyJZKiE2FRRm4fHv02VKcjpxXNk-3aKRO7hfGm6144qWQecxqXCuE7XAZHKgOcY4Z_pl1HHde3cTbmMJw6QqVznqLP_pNJuErCRYPWVmLxs-kr38n0uHrDoUbkmG0bQyjKRz0uxXXzcvXDdiNnPqqML3XN1aGFer-Xf-iMWsB127S0AzCHX88Z6ceQ==",
  "id": "rs_09ad5e714aef96b4016ab46fbf6b1487d0aebc71312b444f6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.545,\"right_y\":0.146,\"right_z\":0.025,\"right_gripper\":0},\"note\":\"The yellow object is centered between the jaws and separated from the safe wall. I’m advancing two centimeters and closing for a secure pickup.\"}",
  "call_id": "call_ZgUh85e0u0k4wTipDV6Zw7LB",
  "id": "fc_09ad5e714aef96b4016ab46fc1954087d0a7361851ff6726db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZgUh85e0u0k4wTipDV6Zw7LB",
  "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, 0.8688, 0.672, -0.5632, -0.0189, -0.046, 0.9998, 0.3569, 2.3272, 0.9463, 1.2003, 0.2497, -0.0113, 0.5226]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1547 left_yaw=0.007 left_pitch=-0.18 left_roll=-0.0055 left_gripper=0.9998 right_x=0.5237 right_y=0.1525 right_z=0.0316 right_yaw=0.1343 right_pitch=0.406 right_roll=-0.06 right_gripper=0.5226\nstate[joint_eff]: [-0.0068, -1.6615, 6.8581, 1.6386, -0.0317, -0.0024, -0.0171, -0.6906, -9.4701, 4.5744, 1.9658, 0.2369, -0.1978, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4d78897b903b209e57bb340b14d42398400a21858f11aad1bb3744d0a545f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1079e610bfc5eee11320a24c564d4a4c1de3c6d83f0f0acb2e395c9bf7e3274a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912ec4e1b2a13cadecbf3efdf76b959815d6e17d7461fe9be237bbcb97f74b8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.624 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4736, -0.0193, -0.0383, 0.9998, 0.4313, 2.0842, 1.2373, -0.0139, 0.2523, 0.1928, 0.2972]\nstate[eef_state]: left_x=0.2825 left_y=0.0017 left_z=0.1589 left_yaw=0.0028 left_pitch=-0.0942 left_roll=-0.0015 left_gripper=0.9998 right_x=0.484 right_y=0.1781 right_z=0.0154 right_yaw=0.103 right_pitch=-0.2443 right_roll=-0.0641 right_gripper=0.2972\nstate[joint_eff]: [-0.0889, -1.5932, 6.9675, 1.8681, -0.0513, -0.0024, -0.0171, -1.2239, -9.9487, 8.7043, 1.7949, 0.6911, -0.1099, 0.8669]",
      "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]: [-0.0189, 0.868, 0.672, -0.5575, -0.0193, -0.0463, 0.9998, 0.3573, 2.2978, 0.9241, 1.1526, 0.271, -0.0021, 0.9988]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1559 left_yaw=0.0075 left_pitch=-0.1735 left_roll=-0.0057 left_gripper=0.9998 right_x=0.5184 right_y=0.1468 right_z=0.0283 right_yaw=0.1139 right_pitch=0.368 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.2923, 6.3385, 1.8291, -0.0415, -0.022, -0.0122, -0.5128, -8.7043, 4.4103, 1.7509, 0.0464, -0.1734, 0.0562]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8688, 0.672, -0.5632, -0.0189, -0.046, 0.9998, 0.3569, 2.3272, 0.9463, 1.2003, 0.2497, -0.0113, 0.5226]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1547 left_yaw=0.007 left_pitch=-0.18 left_roll=-0.0055 left_gripper=0.9998 right_x=0.5237 right_y=0.1525 right_z=0.0316 right_yaw=0.1343 right_pitch=0.406 right_roll=-0.06 right_gripper=0.5226\nstate[joint_eff]: [-0.0068, -1.6615, 6.8581, 1.6386, -0.0317, -0.0024, -0.0171, -0.6906, -9.4701, 4.5744, 1.9658, 0.2369, -0.1978, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4d78897b903b209e57bb340b14d42398400a21858f11aad1bb3744d0a545f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1079e610bfc5eee11320a24c564d4a4c1de3c6d83f0f0acb2e395c9bf7e3274a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912ec4e1b2a13cadecbf3efdf76b959815d6e17d7461fe9be237bbcb97f74b8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG_GSoKaOKv4q7mNje3Eu_mPP50NOjvoFIstNzCh584NPXzqU6H3W7dpJz1OyEANdxgtVXbF4zeJuZGq9lhF4_V0_rkj4GvT8s94F4VDgOsfgtKnzk1jMaFVOqY0jJzE9bRwNdv16PbHhjaxa0ZZKlV02ntBJKkFZluqmP4hn7I09Sx9qi-z-Hhz6bWHx-ehj43SAHl4nw7a1CuO-t6pc2QQlJeUOgvofWkZSUuRE9dHSKHrw6KiALoUBn6EU2x8Bt0QWk3pX_ycYJmZEp_AU5-VCZ0J6WZEVj-4V2cGzq1UDYN98KnUmFqyAXVrpj7qL2NSmYHhd60Up3QSquunbjIQTM_v6phVJjWXJ1Nz3EgdPlVKkmoyWYafK8Mcla0IV8NabeYHopH7DJv0LPrn91rQhacRBGfnF5SRobrwe3RBhz2h7sH0unnlNqQYzS6wFAMkp9WqmUOMuB-BvKvFcR-korjtZtBWsfTjHURuYbRhLB3brrnWNWHVDPFSvHO386zOTzTHik_upnEQs6Us1yUNU1fv3zrvMDIQwPvQuJTvQgVoeawH5bE0f_lytlGuF7KsZw50KMT2-Fr8vy5cZ4XniFUW7TnX61kC9pe_bfI5Psa_8a1LYo7cBMSy9rH3mPUzO2NGlPgQmcE6_e2fvIJ7tZAipB-o4rzeJaPO0jxbT1sWUM4AQERFEDUII_BAfS0bOZ_Qzr7yX3bEtWZLR_WgC49Dg7PZERcUQVX4AJMWmN1BpVNdo08DDE4T1Y3tOylIc-yJAqGQVRUxle6wHQ9LxXfaR7H8GSo2wEQR0mltSDVFqN1mc0SWIKdCIXx0GfPQ8F1vld5pl9vXh8N0ZRSSVD-y229JdizJGlj4zWsAbuGVgxsAop1bfZbie3dVEyTCMC0Sbgmeeh91YbR9D6przKhWaP-CCtbFMdXmpKTBdnTDmsh5htVikjRXzeaTqvVC1Na5xc8Grt9ng-jIddReQV2lpODoa9bf3T_giYJftyX0ugTTE2hfnMtaSqmOftSa3h1Hz8b3l6typNb7D_zrkGHtZx-dMp9uiT_xr-c5AJu8JGI2qechrFihvAnPcsXOZdaQEeTtVSDiX5pAjKLNvUMUG8wo15Q3Us2etDPqwIj-oVVFAG0-RdEWcJR_nzwkGUF_8v_dVXKD2wsfg6w02Pkl0xLh4VUN5Dx-GImjGZr4Ve9pZE8iKe2JxfBuIoMVyblZdqjujEHeUMPS4PyQCuZ8mr1uw0BOiSoPryjY5UIFrksWHJUGuQSmsqR-zPcN3H61PAJoh1Px-fZtNPZDAZPYY8emfxqV3EJhhw5xmA547hISSYVBdw69O38U4z8w",
  "id": "rs_09ad5e714aef96b4016ab46fc4cbb087d0b0b9c0c56e4ad82e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.15,\"right_z\":0.10,\"right_gripper\":0},\"note\":\"The gripper has stopped at about five centimeters of opening, consistent with the yellow object. I’m lifting a short distance to check that the object, rather than the safe, moves with it.\"}",
  "call_id": "call_BUaGZpPVU1vp3Tu8pOcc3Y0X",
  "id": "fc_09ad5e714aef96b4016ab46fc548e887d0831a313827a1a789",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BUaGZpPVU1vp3Tu8pOcc3Y0X",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8696, 0.672, -0.5766, -0.0193, -0.046, 0.9998, 0.3557, 2.1483, 0.9298, 0.9318, 0.2417, -0.012, 0.5203]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1521 left_yaw=0.0074 left_pitch=-0.1941 left_roll=-0.0048 left_gripper=0.9998 right_x=0.5168 right_y=0.1507 right_z=0.0559 right_yaw=0.1491 right_pitch=0.302 right_roll=-0.083 right_gripper=0.5203\nstate[joint_eff]: [-0.0615, -1.6752, 6.9949, 1.6825, -0.0659, 0.0073, -0.0122, -0.7453, -14.0376, 5.9556, 2.8059, 0.022, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e232efb15354086baaa3339417005461503d1a6aad1b9196db7e4091e62bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a6bdeb9359d8f4b27d9fbc8fc2e1862c1e658e91821edb5fff22310a456df1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3ca7733dc6b5fc84af9af515f70503ea1a32a60ddf27505a9000dc577f48e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.26 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8646, 0.6651, -0.5407, -0.0193, -0.046, 0.9998, 0.3836, 1.9633, 0.7765, 0.8936, 0.2985, 0.0071, 0.9981]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1569 left_yaw=0.0072 left_pitch=-0.1602 left_roll=-0.0057 left_gripper=0.9998 right_x=0.4793 right_y=0.1413 right_z=0.0824 right_yaw=0.117 right_pitch=0.3003 right_roll=-0.0819 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -1.5932, 10.7009, 1.8046, -0.0269, 0.0513, -0.0122, -0.4444, -10.5641, 4.9846, 2.2491, 0.0904, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8688, 0.672, -0.5632, -0.0189, -0.046, 0.9998, 0.3569, 2.3272, 0.9463, 1.2003, 0.2497, -0.0113, 0.5226]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1547 left_yaw=0.007 left_pitch=-0.18 left_roll=-0.0055 left_gripper=0.9998 right_x=0.5237 right_y=0.1525 right_z=0.0316 right_yaw=0.1343 right_pitch=0.406 right_roll=-0.06 right_gripper=0.5226\nstate[joint_eff]: [-0.0068, -1.6615, 6.8581, 1.6386, -0.0317, -0.0024, -0.0171, -0.6906, -9.4701, 4.5744, 1.9658, 0.2369, -0.1978, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8696, 0.672, -0.5766, -0.0193, -0.046, 0.9998, 0.3557, 2.1483, 0.9298, 0.9318, 0.2417, -0.012, 0.5203]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1521 left_yaw=0.0074 left_pitch=-0.1941 left_roll=-0.0048 left_gripper=0.9998 right_x=0.5168 right_y=0.1507 right_z=0.0559 right_yaw=0.1491 right_pitch=0.302 right_roll=-0.083 right_gripper=0.5203\nstate[joint_eff]: [-0.0615, -1.6752, 6.9949, 1.6825, -0.0659, 0.0073, -0.0122, -0.7453, -14.0376, 5.9556, 2.8059, 0.022, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e232efb15354086baaa3339417005461503d1a6aad1b9196db7e4091e62bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a6bdeb9359d8f4b27d9fbc8fc2e1862c1e658e91821edb5fff22310a456df1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3ca7733dc6b5fc84af9af515f70503ea1a32a60ddf27505a9000dc577f48e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG_Lip8QWhOdQDjo_RhyaYX74yUAyikqp_2A_TqKuDTrJnBkz6H16Nvba20gW_xDoLCNCSjq_VHgcxVwYLmtZ6fCuXUdbTDU1z0E647PoVtDZ_Li3BAVDN_BAnELOsKnoVZayLiTrbThGbesXnK5I2yEMXGmTtW8xs-kFCuviKsw0c0-7593Z4VRFW3nXnC7U_CSbfCWBiLuTzCK7eJYlowFNQNfc4tgZmmD2C2wEgljfe-wGnJ6kfJPxKqSqk4KWbcrjDuXT2mjDmT8WhHgAtXrdqcso22OcplcLhxat90hsf66p1LpDlpqc86kH65tnyhGA-H0RmbN0LRqwI82XePoe8-Rqan1HZbr0okYbRxyseJepzs869AajQh3WYnQc8J8Ex_8szAXg5HfdeDt8Z9TwLidaj84R565B6RVvnTv9oM2qTyNX6LzkKskz09Thn4rzngLaLPNTsQo1YHbJMKCTCkKcOxHXK2g5LBda1SAucwF0m4sCMlf0zom2LWhElxIfbeVKpHKKWKg1IS1CqV2mtHLCqMwhjCJDDywX3ZwNZGMHymseJaZ9iNY4P69Q7UiR8Jm9IraqSAWh8KQ0bLk095XmvZSa6uQf4IQC8IGJSnMmIBBHzZvwGg53pSatWNOw5bsMH8KVrCCHe83rtXKDPVgUpXpKyRUUObvQR2Z2zPoz4bMmM01imhM5i-6ny50uQE757HeRSRE-IvX-jHghZOBWNXVWZwHXSa4a_E8M03kFdOyJRVoqNdzSp9URJc-wJOUV9NwFbI0BWscAPqCsbgWAF8K50GZgISN1-QpNtmGZP72ydKDsPFA15JahhWZYZEcx2F4yz31slTboFLHI68sFCm3ONFB4xzDv6W0f9XkvbyeoxalKUyV2aCjGg44YaHX0IypcyAVDaJsmaH4Yl2PIvLpMBEW0-u9z5P3bsJNW-VO0SeLtb9OofBHHQ685L_lUAiJHuGvty-BApkTAwKls5ofQU_s32-iyRcX7v2NV3auhLHzfWXkd2O757EUY7SGZYmjMH37txTPimSrIYlSUvKnsV0Y9ASMDt14GGjLWgtvd5ApCthbpo0w_HXKsiM8-SCKwsYh1LtUE-CR8dwniu_NfMQtC72T_qo4KaE5aAMjjzM9MG9WPxnH95Uc-hg_yKf9CpqIYydok-vE0khEaWKTpW7cg78jpDOgeezNNert3dqh8sM8PJ_FahkJFgpsHczYTDwm7Z2jZHvQw9H-iNHcdE2XWtgzSzswCDPFXC93qusi8jjN8Sm_g3CkZK7Od1OuC3OMyvx3wxVog9f4WXSkVqiSMA8VBfnN2GU7d_gVS_eVVSS4nvmmdihO9RtA_8w-FynJWbDfuOjXve5JtKw_3r62dSAyQIqNb5swlyTt6pAiIf2N2RqdlPi-E5iKxtwYspLClN6pkq4C8jZhgetG8Vuztt52msNEJL2I-VIB1998T429cNFfLzHXlvQqttvTvMFfZvaWAISgVIAO_NyTIbApL8XkN4DZoW6wPjt1yncv-YCb9BtaNA47XgVNfmr2GRMrEEohWR8qzaWBNjrrxSjFx8jG7HNoP9s_ht8-tXhjIV1TNRWTs2eybIobs9y6ayArWM_0CIRuBVpqoxI0LWqrFkSt3Ea2c4kJ3OXugfoqlnflQUDQNn1_7iRdJWGVX9c2U0AU8e48ceXOUcunYCSnoLrQCXdUIhk=",
  "id": "rs_09ad5e714aef96b4016ab46fc8a57087d0b2ed7f2671b563ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.075,\"right_z\":0.17},\"note\":\"The lift is short of its target, and the yellow object is close against the safe’s side. I’m lifting and moving outward to clear that edge before carrying it over the opening.\"}",
  "call_id": "call_DeDZM6lQIz2EROpKaSku82Mk",
  "id": "fc_09ad5e714aef96b4016ab46fca559487d0b1ab50f5e5e122a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DeDZM6lQIz2EROpKaSku82Mk",
  "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]: [-0.0189, 0.8715, 0.672, -0.5846, -0.0189, -0.0463, 0.9998, 0.1745, 1.7748, 0.8635, 0.4736, 0.0807, -0.0799, 0.521]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1502 left_yaw=0.0073 left_pitch=-0.204 left_roll=-0.0051 left_gripper=0.9998 right_x=0.4885 right_y=0.0753 right_z=0.1095 right_yaw=0.1483 right_pitch=0.1424 right_roll=-0.108 right_gripper=0.521\nstate[joint_eff]: [-0.0205, -1.7573, 7.0085, 1.6874, -0.0513, -0.0659, -0.0171, -0.253, -12.0684, 8.7316, 3.138, 0.0513, 0.1441, 0.7839]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25cd2035dcfd503e95c59b0012cbdac0f710335230ccc3a13018ea27fedb973b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de357214f0dc0e1e479ff079fdbc10f3efcb28ec73ad96a1ff881fe93b90c3c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111232a36c31d02a179ed57dff48a67588ce47deff30dd6fc4b11921a2584e6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.726 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 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]: [-0.0189, 0.868, 0.672, -0.5575, -0.0193, -0.0463, 0.9998, 0.3573, 2.2978, 0.9241, 1.1526, 0.271, -0.0021, 0.9988]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1559 left_yaw=0.0075 left_pitch=-0.1735 left_roll=-0.0057 left_gripper=0.9998 right_x=0.5184 right_y=0.1468 right_z=0.0283 right_yaw=0.1139 right_pitch=0.368 right_roll=-0.0649 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.2923, 6.3385, 1.8291, -0.0415, -0.022, -0.0122, -0.5128, -8.7043, 4.4103, 1.7509, 0.0464, -0.1734, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8696, 0.672, -0.5766, -0.0193, -0.046, 0.9998, 0.3557, 2.1483, 0.9298, 0.9318, 0.2417, -0.012, 0.5203]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1521 left_yaw=0.0074 left_pitch=-0.1941 left_roll=-0.0048 left_gripper=0.9998 right_x=0.5168 right_y=0.1507 right_z=0.0559 right_yaw=0.1491 right_pitch=0.302 right_roll=-0.083 right_gripper=0.5203\nstate[joint_eff]: [-0.0615, -1.6752, 6.9949, 1.6825, -0.0659, 0.0073, -0.0122, -0.7453, -14.0376, 5.9556, 2.8059, 0.022, -0.0415, 1.033]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8715, 0.672, -0.5846, -0.0189, -0.0463, 0.9998, 0.1745, 1.7748, 0.8635, 0.4736, 0.0807, -0.0799, 0.521]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1502 left_yaw=0.0073 left_pitch=-0.204 left_roll=-0.0051 left_gripper=0.9998 right_x=0.4885 right_y=0.0753 right_z=0.1095 right_yaw=0.1483 right_pitch=0.1424 right_roll=-0.108 right_gripper=0.521\nstate[joint_eff]: [-0.0205, -1.7573, 7.0085, 1.6874, -0.0513, -0.0659, -0.0171, -0.253, -12.0684, 8.7316, 3.138, 0.0513, 0.1441, 0.7839]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25cd2035dcfd503e95c59b0012cbdac0f710335230ccc3a13018ea27fedb973b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de357214f0dc0e1e479ff079fdbc10f3efcb28ec73ad96a1ff881fe93b90c3c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111232a36c31d02a179ed57dff48a67588ce47deff30dd6fc4b11921a2584e6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG_Q0XopyHDsp9IpfRjNEsvziPVTdFi4OqtLVY5ULtkk20Mlq6So-EHA2nS5yY3cEsrjSzW9jbGgqRVVMkyoglV9_75Ov8ojZ7m-IA6bKs19IfxtpTJebiuTPXOkQVmzh07SeOP1rYDDi-Yyv3UYiw9vnXQZnHVVKSYsOxlxmnv3BPG4HZXjFllu5LTyVXYOkVjvecw8Zlhhn2PPhotG1azewaiinyOS9w7An-e2Y-JsRFkyvQYV55-gVmabfBAJcgbkZYW0YAGygUeUawEgf0YpOyFYb8D58didBYwQfKRZ-2mHZqnx-FdetwmYr1QiNOe8RMFaV9qBMsKlHD-7IZ3ds2DnN1c_y6IYeMtnZ3_LZQqjtzRI1Rpxf6EyhtOrBEhhByogMWAA4OMyRkPW7EJQvWsF-2UZCRWOetbx23A-ghqTrvfsBi60Zf_fHgmbfQawa0_iZqfkqJiUoC7_oYZM489I7d2NZVHdypMjLOHY4AO7DXKhMvwiojsbqfmgKddYBPRBjp9jnbzsfxelGDu_-6t8L82EKTcB1-QDKgNrlUZHUYN6ocN3XJnOSAfc8t0I-Qo6PdX0GRnUBmPC0TgqqAh0rFmNR98_0LXA0pVYwfT3wzD8-D2SCYeir4bWuSm3mOAL9YQIivt7UjhG7Ni0gVUZaWOQgryptIHzng0qVYGwzUm-1B3bCi2rteQrbYz2gRwE46VMIfYAvZ4QK2KDAUULWlP2k6rWPxzW6P9N4PDCyfpD4__awTAIt2ttM7OI253ZkPIeK1TgEn91xMcgS6Agir2sj3zZfPdn-BtpklIl0jMmUlDVeU1GQjm9wM6sqc4hTdAj0zcVIzB_WDAq6BuJH3IL2OSm_6CZt8oyMZ9XNWK0oMnKSI6hdM9T2cAiW6KHtGDAok8klGQuP2aGg6-tfxXWaVdXZkaxyvxSmnAz362MOd5WX0pnCwBfCaf92DZh99Go3KwdWY2wLyCGqLiouAt-I885KEe62cPk12ygJnRje25w9NTfHwucwtftuXLeSy-P4e12YDIkaIXhhS7EBxONIvCuPhL2QiXOFxQG2mqBwqPnlFtnLI-23NQjj1cbvYh8yYUiaNVz0q5fAaWWvPVm3O9xeK8WRBwJjGXCQ0ISqlacYKf1duZux6SkgKWynxoYt6Dj8fjP7fmDTgdEGgXoi3aohyjoY7Y1yD7CQiaNhrFVbaYIZNeai3VBgIF7bb2UU_68gwbW84nseEeNI6tOqa-gdkBaV6lK71L3EUxXCgbyIuW1PqMoHhFHb3OWxWeLdrUYp-EtYouXxQsViRwcqNi5720GYnczwztRVyJnBwfZsZu3T1-RtoNA2f3du2LNA_hOVwaItIZpCxexSRPwmjDb07thQNUht9hPPD4CXnE6J_yzpA0NloMv1Lof9xC1ZRoPn0D46QFxDVxbkt1-WQRMpJKf_mXi-f9zcXMX3e3qyLAlK_ZufDoOuvvIs_Ee1OhKYlYj8fZv0uSfy2dPNAWn_gcelYc-88BsmwDKUJbbsz-erOyFPYNHdNFNaupNv2hnk07lbf-HgPi_BCHZSCh1BBt5bneLHvm5vUAlcfJNAMhs06Ro0uflDMJvc4pfzkBg3GE5mBnHh7pHTyE-HpLgETbmOnRlPTAJR3a2TtpEK5QC4M3W3HYBDP8HB-9QmiK2LDkAwRd1hvBOUGuWMPQvM1Bz7mq_BCUgFdMGGLxJwK1x6T1mgKzvrl_CHT5uv6mR3uiDDl48KvveADjeMFPK-zpGdBvKOkw=",
  "id": "rs_09ad5e714aef96b4016ab46fcd7fbc87d08f1d9cfa45e46039",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.08,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The safe moved with the gripper, so the grasp caught its wall along with the yellow object. I’m lowering and releasing them, then I’ll turn the jaws to grasp the yellow object front-to-back instead.\"}",
  "call_id": "call_qfwNUyBkkRVaSY39IHhLpsBv",
  "id": "fc_09ad5e714aef96b4016ab46fcf5c4087d0ac1f1e8d1063d04f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qfwNUyBkkRVaSY39IHhLpsBv",
  "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]: [-0.0189, 0.8715, 0.672, -0.59, -0.0193, -0.0463, 0.9998, 0.1879, 1.9648, 0.799, 0.672, 0.0841, -0.0906, 0.9947]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1493 left_yaw=0.0076 left_pitch=-0.2094 left_roll=-0.0047 left_gripper=0.9998 right_x=0.4834 right_y=0.0804 right_z=0.0378 right_yaw=0.1648 right_pitch=0.0857 right_roll=-0.1205 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -1.4564, 7.0085, 1.6288, -0.0757, -0.0122, -0.0122, -0.2803, -9.0188, 5.6684, 1.199, -0.0366, 0.6032, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890019b5df1f3ce894aaaee1d754f44b3c5d67da8230c7ef4e0944375e772b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8be7e8e13f58e9e00627494de2dcb35001b3018697acef0124799edb2c5286b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0d5be01b0c52cf9426b26c833e120910dbe5c67219f63776768804feb735e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 12.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 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]: [-0.0189, 0.8688, 0.672, -0.5632, -0.0189, -0.046, 0.9998, 0.3569, 2.3272, 0.9463, 1.2003, 0.2497, -0.0113, 0.5226]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1547 left_yaw=0.007 left_pitch=-0.18 left_roll=-0.0055 left_gripper=0.9998 right_x=0.5237 right_y=0.1525 right_z=0.0316 right_yaw=0.1343 right_pitch=0.406 right_roll=-0.06 right_gripper=0.5226\nstate[joint_eff]: [-0.0068, -1.6615, 6.8581, 1.6386, -0.0317, -0.0024, -0.0171, -0.6906, -9.4701, 4.5744, 1.9658, 0.2369, -0.1978, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8715, 0.672, -0.5846, -0.0189, -0.0463, 0.9998, 0.1745, 1.7748, 0.8635, 0.4736, 0.0807, -0.0799, 0.521]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1502 left_yaw=0.0073 left_pitch=-0.204 left_roll=-0.0051 left_gripper=0.9998 right_x=0.4885 right_y=0.0753 right_z=0.1095 right_yaw=0.1483 right_pitch=0.1424 right_roll=-0.108 right_gripper=0.521\nstate[joint_eff]: [-0.0205, -1.7573, 7.0085, 1.6874, -0.0513, -0.0659, -0.0171, -0.253, -12.0684, 8.7316, 3.138, 0.0513, 0.1441, 0.7839]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8715, 0.672, -0.59, -0.0193, -0.0463, 0.9998, 0.1879, 1.9648, 0.799, 0.672, 0.0841, -0.0906, 0.9947]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1493 left_yaw=0.0076 left_pitch=-0.2094 left_roll=-0.0047 left_gripper=0.9998 right_x=0.4834 right_y=0.0804 right_z=0.0378 right_yaw=0.1648 right_pitch=0.0857 right_roll=-0.1205 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -1.4564, 7.0085, 1.6288, -0.0757, -0.0122, -0.0122, -0.2803, -9.0188, 5.6684, 1.199, -0.0366, 0.6032, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890019b5df1f3ce894aaaee1d754f44b3c5d67da8230c7ef4e0944375e772b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8be7e8e13f58e9e00627494de2dcb35001b3018697acef0124799edb2c5286b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0d5be01b0c52cf9426b26c833e120910dbe5c67219f63776768804feb735e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG_TVbMeH_WcPh2CpwomtCve9xvkpmMxPJH3HGuF1Am4EILQ_h6gJ3bxdYsjy-8uCIEFnwgmPjyxLIdVI44kRaGnKPmI4PEwDLq9-cg7xnNgtxaxb63JK7HzL5iPxyvRQndmTxeZfxVkw9RZPJfX58gX9aTpWvt06-DI5z2pkz_yzOUIVes_FZIlhAPTWk1XMLLpVxK_WSwsn4yMajQ6MzdkEcJlBwoN-USptFbKqpe7vZagvyHl2EBZG2ujoLtYT8aj3sDzv0iRyDwx1m8XgXR6EZsKJ27hYFnCrib_nccjzMZVOZdJe3zm9GdIVdgfKKss0L07FXP-JpxT_dnWiOuUZhS79TZx2z6cUcp8DKLoCK9028fj4i-9MpGLbndesisw0wDfDt4KQE9XUkKa0wLF8pNTn9lxXeRsxbry6fSIgtiAzxyeBfZkWcbZzDXqFq_Vu7E-Vuu-C4CwzZ3Lozutt86eJiC-Zi_UKeFhLei_-437MgKBuNrFFicrIrkhvI9mi1WdB5Z0Ow_lXF1AJ6TvZFh9zh7bVNd14dqZEwVdlje20_v-dWY8sFHs7-HbA-M7qTLDeUFeeuLNX0kz_mz2Scgzw70hqR7A-cWyyTGwDwiLA3moWZjbTVjoRAA10uc5SH4_bwVfRvDvG8Ysn2M2_vqSkHfB_7fkQLCZJzdF1kWdDc_nXB_a0JKVAoAA5x3ppvdN_w3pghRIXwsuSW6hiTmy4AP1EsR9td5e0IYoxWKhiWy9eVLXWd8jA-FtaNWYVZZa3a010PJZukLfzRfQrd8baFzEpRwHmNJVmaGj9P443mqJkweKlxJISU8vAO9JegG42sQet0yAef4uaFBecWc9cqI0Ca5RFqIVLpI134ZqaIaVQaFkXXwMK0Ye5d14eOck9JVNbp-RD5Ro40WZ-JomDlTbPpG_c6DJqsrEzxQ_ew8kfTchgc3cSqvhmqUTumCzlxgq_nFBCumF3OAP4YvwBpgjwbJ55PwaRT6-RGAKgnQn268lVy-cTSQMUEsrpK5jR2Xzi_OMK8jxylzfg6Y_BjufPctQ_sOci4uH7g68ZJrXKjIa2Bu5oWdNFw1GkG4MMEJIPVCZMaqZKe3s6GAieb9LqC4tsYVvTvCg0Mt_80IU8SdXYp1TqoIL5--HzCoMGpBvxGFrXQWjygu4pxPtG9bfznYuCvadKsbMxgbpgZJ99UwtcaGIDh-TGaCGYlJlvbwHM5GDCV2UOtxYJPyasEQjz00pLhhs5izFPE4=",
  "id": "rs_09ad5e714aef96b4016ab46fd2499c87d0af3bc30b56b3cb4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_yaw\":1.57,\"right_pitch\":0,\"left_x\":0.293,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The safe is resting on the table again. I’m lifting clear and rotating the right gripper so the next grasp won’t include the safe’s side wall.\"}",
  "call_id": "call_IVDb2arGFhsAQ80hXJPpXbfX",
  "id": "fc_09ad5e714aef96b4016ab46fd2967c87d08faaa5761d134ed0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IVDb2arGFhsAQ80hXJPpXbfX",
  "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, 0.8131, 0.672, -0.5312, -0.0193, -0.0536, 0.9998, -0.1467, 2.3581, 2.0521, -0.7628, -0.9474, -1.4212, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1752 left_yaw=0.0112 left_pitch=-0.0923 left_roll=-0.0135 left_gripper=0.9998 right_x=0.5577 right_y=0.0662 right_z=0.13 right_yaw=1.3276 right_pitch=-0.0005 right_roll=-0.3795 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -1.7299, 8.9231, 2.2491, -0.1001, 0.0904, -0.0122, 1.5521, -14.2154, 7.1316, 0.4322, -0.8669, -0.1783, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f242ae6084ba4cd487534ca653573768ba324e61332510be7fb4b7278b8b40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec7ee5d41c705774139570b072e7fb600510b565068c2dd57a97084e53e6355",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b63562a65f7387ca8961c540dfdf07c2dfc678ee72cdaaa512cff6e3730f5c",
      "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 · 6.745 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8696, 0.672, -0.5766, -0.0193, -0.046, 0.9998, 0.3557, 2.1483, 0.9298, 0.9318, 0.2417, -0.012, 0.5203]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1521 left_yaw=0.0074 left_pitch=-0.1941 left_roll=-0.0048 left_gripper=0.9998 right_x=0.5168 right_y=0.1507 right_z=0.0559 right_yaw=0.1491 right_pitch=0.302 right_roll=-0.083 right_gripper=0.5203\nstate[joint_eff]: [-0.0615, -1.6752, 6.9949, 1.6825, -0.0659, 0.0073, -0.0122, -0.7453, -14.0376, 5.9556, 2.8059, 0.022, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8715, 0.672, -0.59, -0.0193, -0.0463, 0.9998, 0.1879, 1.9648, 0.799, 0.672, 0.0841, -0.0906, 0.9947]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1493 left_yaw=0.0076 left_pitch=-0.2094 left_roll=-0.0047 left_gripper=0.9998 right_x=0.4834 right_y=0.0804 right_z=0.0378 right_yaw=0.1648 right_pitch=0.0857 right_roll=-0.1205 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -1.4564, 7.0085, 1.6288, -0.0757, -0.0122, -0.0122, -0.2803, -9.0188, 5.6684, 1.199, -0.0366, 0.6032, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.672, -0.5312, -0.0193, -0.0536, 0.9998, -0.1467, 2.3581, 2.0521, -0.7628, -0.9474, -1.4212, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1752 left_yaw=0.0112 left_pitch=-0.0923 left_roll=-0.0135 left_gripper=0.9998 right_x=0.5577 right_y=0.0662 right_z=0.13 right_yaw=1.3276 right_pitch=-0.0005 right_roll=-0.3795 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -1.7299, 8.9231, 2.2491, -0.1001, 0.0904, -0.0122, 1.5521, -14.2154, 7.1316, 0.4322, -0.8669, -0.1783, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f242ae6084ba4cd487534ca653573768ba324e61332510be7fb4b7278b8b40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec7ee5d41c705774139570b072e7fb600510b565068c2dd57a97084e53e6355",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b63562a65f7387ca8961c540dfdf07c2dfc678ee72cdaaa512cff6e3730f5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_09ad5e714aef96b4016ab46fd5e3e487d086edb78f42ccc714",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.03,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The safe’s lid swung shut during the retreat, so it needs to be reopened before loading. I’m moving the right arm clear to expose the lid and its front edge.\"}",
  "call_id": "call_oWq0aL9WXfwFTZXeVG2HDe6g",
  "id": "fc_09ad5e714aef96b4016ab46fdfb25087d083806d2088fa70ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oWq0aL9WXfwFTZXeVG2HDe6g",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6716, -0.5541, -0.0193, -0.057, 0.9998, 0.292, 1.0889, 0.8341, -0.3397, 0.3241, -0.2474, 0.9954]\nstate[eef_state]: left_x=0.2795 left_y=0.0017 left_z=0.1693 left_yaw=0.0132 left_pitch=-0.1209 left_roll=-0.0153 left_gripper=0.9998 right_x=0.3473 right_y=0.0494 right_z=0.2094 right_yaw=0.1509 right_pitch=-0.0253 right_roll=-0.3861 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.6615, 7.1726, 1.8926, -0.0562, -0.0269, -0.0122, 0.1026, -3.8085, 8.841, 2.0928, 0.188, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65f7b6035463ed8520206854ddf4514baaf6cef36303a2491cde9a4407b0d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc62c345bedb69f729ca2ce480f14144f9e082702fdc0944ed03e579e16b07f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f47ff761aa4b4e6a2a26efe95b167916ea70284301a0a38f45d7cda32768abc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 8.037 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8715, 0.672, -0.5846, -0.0189, -0.0463, 0.9998, 0.1745, 1.7748, 0.8635, 0.4736, 0.0807, -0.0799, 0.521]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1502 left_yaw=0.0073 left_pitch=-0.204 left_roll=-0.0051 left_gripper=0.9998 right_x=0.4885 right_y=0.0753 right_z=0.1095 right_yaw=0.1483 right_pitch=0.1424 right_roll=-0.108 right_gripper=0.521\nstate[joint_eff]: [-0.0205, -1.7573, 7.0085, 1.6874, -0.0513, -0.0659, -0.0171, -0.253, -12.0684, 8.7316, 3.138, 0.0513, 0.1441, 0.7839]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.672, -0.5312, -0.0193, -0.0536, 0.9998, -0.1467, 2.3581, 2.0521, -0.7628, -0.9474, -1.4212, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1752 left_yaw=0.0112 left_pitch=-0.0923 left_roll=-0.0135 left_gripper=0.9998 right_x=0.5577 right_y=0.0662 right_z=0.13 right_yaw=1.3276 right_pitch=-0.0005 right_roll=-0.3795 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -1.7299, 8.9231, 2.2491, -0.1001, 0.0904, -0.0122, 1.5521, -14.2154, 7.1316, 0.4322, -0.8669, -0.1783, 0.0562]\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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6716, -0.5541, -0.0193, -0.057, 0.9998, 0.292, 1.0889, 0.8341, -0.3397, 0.3241, -0.2474, 0.9954]\nstate[eef_state]: left_x=0.2795 left_y=0.0017 left_z=0.1693 left_yaw=0.0132 left_pitch=-0.1209 left_roll=-0.0153 left_gripper=0.9998 right_x=0.3473 right_y=0.0494 right_z=0.2094 right_yaw=0.1509 right_pitch=-0.0253 right_roll=-0.3861 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.6615, 7.1726, 1.8926, -0.0562, -0.0269, -0.0122, 0.1026, -3.8085, 8.841, 2.0928, 0.188, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65f7b6035463ed8520206854ddf4514baaf6cef36303a2491cde9a4407b0d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc62c345bedb69f729ca2ce480f14144f9e082702fdc0944ed03e579e16b07f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f47ff761aa4b4e6a2a26efe95b167916ea70284301a0a38f45d7cda32768abc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG_p92ko0klKPUx5JSu507UJdJTkUQ5AKvNn5d95fHZclpOyy7mpi-Lfy236TGKMGylyEDwWIGG2jHzLV3VO2X9FYo1Q1VQeIBfnZwwLIPdipI0nOLhgESWGcQ3g9Qt5q0ttgchH4gfUHECLOGjKt96SyoviKrS6VR1Hl5QkGOeclfmfo6MwDACyrSBfrOIbqcOV2emRAM_tu_fZqaZajX3ygqNNGpt7Nyu4i6kCubD1ZQuXIO31rz23v92HieLcsUmW0Mmr9c9L2CmZ6wqNEyJjMIpBf6qspoFCv7UEhLQ7RGFIngn7EVby1CJee14Odmwkf6jnj7hC00gxQYpQXBvo9RoLz826v8j5rdnnSOTh4GCncG0J07ji1NZgEmY-0O6SpT8B1WrICIvbRG4M34Wh57ra90Yj-JQfWs_uODIwBTttarHw-3aZXUQQq167-KZXWehp4Zvk0qupnwZLglIL2cXpfKDhpw2Wl5Wo0AxmHzoiJgVSG8LmKLOMcA23YCWaeI3UYm3skofUxDx6k3fHEStslnBKYhLv_FUMCoT_p9OtnvsCZn-uX-TcqfKM7jykOJE4lpFmwP5fexE3kVBXC485edfHdNy5W0wTZClI8IqAFy5i0qWkQi_p3fQlnR71_n9nfeNnrX5OprZ_cjzTJ8krP6-F-75Lxvpqg-RaKuLhqQhcCjNJ53hsUawSRpbUKZNu_V6heF0PIAJLhdfuC4oKWatPjNShX8Nsas4cjRgUHIRHkDL6cn1umuQr8T6v4KGA5nstMZsYVGA98g8NTZoH5VgklqTB09moIRHXbiuwPgiCg6nC6u8TL9YNBE-B4eVYYcv3AeT8QSlIJiOSpHxZmQPLbebkk9AS_sPJV2T9oJU2hmWjtN1aUdL97UWpMBYnoXnP4JohiwA8VeTC5fR8NE6zuKD1z9-LRY7BiNDByKaRbPRpRo88ytMhizegloXqlNJEqp2kETFklyoqUt89aK_Aj4bynEtxFyP8pp9cyKJhaOAnvcrGOGo5_j7e5OkJdmJ4ZBVHc6XgPz7QMqng0e3-GV0eJBO2mjQJKK56agBlh0mHSbXpAlgLlzR3GGQaanLVLtwqLIgr78p6XirG7cgsK5cm02RNi09pBC1sXuxQ_RQvItJckfzf324RbM_fyQ8H9VUHtV8viY6HayCdJoUib9vJ_0go-PbwhwoIBXYh4KUNm-SHM3zA1axKo7m9jdzpCbgveHXFK4fyKXS7zip5jq9ugYZ7YmVk6phzY_UxK-8nzLN90Y_eh1Y55_M1Lz3P050O1XGIhLeOz9xbD8DAsBpPzo-DHUbgGc7UJ5GyiYGfA5Iv157BZq7PpMur6kT8PvPCnzSiwcONU3AQhXjnNKmq7DCFFMmiu814FeKkPi3kwN2pJpaPCdKeJrOlcSMFCrv0JYdPT5kmkJMrJkquId06oGvGAOz_BUlq2VzWSan2NStBswpaTWIUmrSkcEYL8eUu-yEPd4xjPpY_2L3LkUCHKXrvM8Nx8uwww4mPyYQHLAA6v-RpCmsn6H5j1HWR6IQ7gyI6xHyA2m5duu1enKFAp-1pOTeWpOGyYECISky3tESzAAvxwHMuFU4zaHbbbcpO9ui4OHy4dD0PKKD30oxclZDE8IrL6ci0KItiBgD0HfJYLILHVB3hSKXVSOD3LUFmPn4eeE6u9pTzqz41VlYQAgOYTk0jN7_kncD0YE24cUyVND1nhThLYo-QW8B55iZLAgFmLCYZECCbwBfir2v6RDGKQDUXi-7PlUDEj7kXW35StJejMoGkWATBlfhEJ_lwDrVVPCWZqMpcysqZPvWgiqVwpQdMnNsozrzqRme8VvRk38hiH8tSUz8Xq5lhZZfb5M_GbS7blS63JkJ8BnEQqhu-Rsoh5Ifbf0TaakU1o6t-F-Vl_xSB4a7wxYPV5uLPE09rl1ATxNCjRhunB1GuQd02fcXV1oD18YeanPKmVgxkUdwl5jNg22cz9Nxe6LAix3ptCTYgZ9Hf3-3QV_ZE3y0FblrHQcC7IUivjrgIcEeozpWbUTq4EyQT9cL1uBIfNo4TQGJcJv4AayR8VAtFTiVQnKfkUO0MeTLKg_IpyTmupb0_4xyjz3qqZ5DsaJM7oy4GgoLAlg26VKkcTHhCsl727YeNdpIeeEincuXXNHjepSOEWybGYOo8NJKSs7YTcISwu5ePvof0SAFA3mogHcXy9KQnR7c8sFbPV1xSFG7MEb7NCSDEEtfPPOkzCaK9EaXxsIKOVn8QzCOcBo1yqVD7jUtsup92HNhErARUcFsxVG3jdIN6z0tJTSV6PIPyPY2pOS7AO3uRm19tXL15UvC1dSQwG9KZfWd7XVIpllqitAeL9xiY4EQrjeBWOPc0k26NfoWzg1rWnhCKANCy8svfqeQs5vzRKCUgKLpn2-XZX1GHtq3IdOcbIWKrvxeE6usecUJ4NBQUkMwr9U8rN9kdHytErof_9ojEOexcq9sxKdCOCLuGBDqXuTet7mCkceL96y4e8wygWsRzprminGAi26ub7ND905grCxRY6DOLtIicfWyYA4TnvprJjla_3TurmEHbSu3EU_QX9bb6SxGWjTTE6bt7ftiVMd1U3veH92sMJyeMF_d2wz1ApK5K-WwXo-3iiag8IN80QxxAim39d3VNQrs=",
  "id": "rs_09ad5e714aef96b4016ab46fe3b94087d0ab7d4feccb05f821",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.215,\"right_z\":0.085,\"right_yaw\":-0.5,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The safe’s front edge and handle are visible, with the loose yellow object still outside on its right. I’m approaching the lid’s front lip to try reopening it.\"}",
  "call_id": "call_52UL3Rh3CgNxGfDYYb2BbNiW",
  "id": "fc_09ad5e714aef96b4016ab46fe7f49c87d0ac0b83433f197c52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_52UL3Rh3CgNxGfDYYb2BbNiW",
  "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]: [-0.0189, 0.8234, 0.6716, -0.5671, -0.0193, -0.0574, 0.9998, 0.7811, 1.9995, 1.3567, -0.5003, 0.8688, 0.9623, 0.9989]\nstate[eef_state]: left_x=0.2776 left_y=0.0017 left_z=0.1656 left_yaw=0.0134 left_pitch=-0.1388 left_roll=-0.015 left_gripper=0.9998 right_x=0.4036 right_y=0.2152 right_z=0.0859 right_yaw=-0.4161 right_pitch=-0.0472 right_roll=-0.0577 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.1145, 6.8855, 1.7509, -0.0855, -0.0562, -0.0171, 0.4718, -9.6752, 6.5436, 0.6618, 0.6618, 0.1734, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9e7c34248dfe48ecb0fcd293f88169cb4df1786ed304ca19cc1afa110fa565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d366fc411f09dd17651ec920cc25cbe5ae589c1037e6d0c82a7818801c078368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae6767ac05d0ea60e06f38a91ecf4027b76666f800da4adefba84c34d1fff35",
      "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 · 3.381 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8715, 0.672, -0.59, -0.0193, -0.0463, 0.9998, 0.1879, 1.9648, 0.799, 0.672, 0.0841, -0.0906, 0.9947]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1493 left_yaw=0.0076 left_pitch=-0.2094 left_roll=-0.0047 left_gripper=0.9998 right_x=0.4834 right_y=0.0804 right_z=0.0378 right_yaw=0.1648 right_pitch=0.0857 right_roll=-0.1205 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -1.4564, 7.0085, 1.6288, -0.0757, -0.0122, -0.0122, -0.2803, -9.0188, 5.6684, 1.199, -0.0366, 0.6032, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6716, -0.5541, -0.0193, -0.057, 0.9998, 0.292, 1.0889, 0.8341, -0.3397, 0.3241, -0.2474, 0.9954]\nstate[eef_state]: left_x=0.2795 left_y=0.0017 left_z=0.1693 left_yaw=0.0132 left_pitch=-0.1209 left_roll=-0.0153 left_gripper=0.9998 right_x=0.3473 right_y=0.0494 right_z=0.2094 right_yaw=0.1509 right_pitch=-0.0253 right_roll=-0.3861 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.6615, 7.1726, 1.8926, -0.0562, -0.0269, -0.0122, 0.1026, -3.8085, 8.841, 2.0928, 0.188, 0.1832, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8234, 0.6716, -0.5671, -0.0193, -0.0574, 0.9998, 0.7811, 1.9995, 1.3567, -0.5003, 0.8688, 0.9623, 0.9989]\nstate[eef_state]: left_x=0.2776 left_y=0.0017 left_z=0.1656 left_yaw=0.0134 left_pitch=-0.1388 left_roll=-0.015 left_gripper=0.9998 right_x=0.4036 right_y=0.2152 right_z=0.0859 right_yaw=-0.4161 right_pitch=-0.0472 right_roll=-0.0577 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.1145, 6.8855, 1.7509, -0.0855, -0.0562, -0.0171, 0.4718, -9.6752, 6.5436, 0.6618, 0.6618, 0.1734, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9e7c34248dfe48ecb0fcd293f88169cb4df1786ed304ca19cc1afa110fa565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d366fc411f09dd17651ec920cc25cbe5ae589c1037e6d0c82a7818801c078368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae6767ac05d0ea60e06f38a91ecf4027b76666f800da4adefba84c34d1fff35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG_ymGLkA-Jh-WaeuoIxu0Ex17kjtTLvKlgezBocVRi82G10w4v52NdCRYkz5jD94apTHj-mBArNtivxPQSEGwywB2OXp6ePK_Z1EzxFotXBvAt16OMnsbZNNOqchf8-8ES_6EDCfI4pDTHve5I2_D6Wc2Lzc5pLMEhr-qU-BWOZA0rUyziRH227csuM82VwsD5AFYJlcb6yQ4ooZES9CaL3JB50ByY3JxR6HD_MKyFMiWHPVh4mIsg2JWVcnp3IemD425FTL4xAdIWlpxq7Jo3JbSPuevq7IDhIlUFigNtWJRDza-XRaNBuunguTWgCo46uLYjgnCu9hqq5-yaPKHwWVQvNBDFEyAAXgxQlgp61cV5zRUCcKS3Dt4B9j4tPdxFqERHUcnPj2uZ7NTPDeRluota32tn8cDOCUeJQs8IJDa_tdxaKCOYPJ9WaiTi5haVlfsvV45PKaCNTQ1vLDJ5roC7x51SSKHyomGZRlQHs7qge23cI9E96Y02R9akSDYu21wVCfDGiWeEt9byz7z3qnCPD3Z_vUBSPczt1gEyCUsJvpcpbGzGLLd-GtwLIlVLkmDDlU1uMNVefr2cl7IeSUp-DOgGoVQIHfG1Vu0q9Ml-h062ukT3aA4LlrKgvThQzd7FCcrPu1Z03Qn4gc3D1xS7FA5OmKLLBuZ6o1dRPoQp0M0jZtjHKyc4MZrA2tFacZwoEwgUbsnU31ujVNIJ4qZ95-WKQgibdVbHS324MXxYF_s6E-Sd1DcBndZixkWQOwjzNp_oJ913eTVkzIxBrATbi7tGGhsNMlc40TUBOvcFtS8SkJNpJW8T5wQ2AuK_PwGSfwEhNh-mghnYdHG7qWSME7c26f8pBL4kZJ-2IN8qMFVsB57KUeP--ABaxIC7PMKXefhKRoawYKwZCyGQrmkm6PE7M6XYDxsQou8kgy_WFTtkl4cmjQJcC66m6gLqp8sIlOIFw50xXMAPRCrCjDv3oKGzIJSPXTg-hHQW084hrkkwLmMwvrnswPGCaMF1k-sYy8GlbLk5E6cSqo3ifYIGF2LUgUB6sXeYLm_CfaDT99WSN7BsrN2G5shJN4z4iygA7hARLE6161jJhNoWQFpHiK_4jzzxtwAGRH3Ub9OAwV0nKeJtrOTokbkrlX55b-hRGM-PmPQujn6-bD4oda3Rn3KCjhq3Ps0gWOCAQ2GfUuLlTXRcgehpP0-AL_a4S1g4Ek479EFqmkMrv59G4P6JTZzbfhteatM3oaMOkerAJo_X0lwmbEVk_kYVEVEVUd70C0eNo2AAjK7IoHRpmDY5ZbH9k8lx17ECLL7HJ-IH1yYdp4qxxh1eIsIsOVAYWth0imTa6bDo0XAom8cNDEOXptKoYorGAu-EuBI3iVEPPVTLCxudpsaGfmRmvJpQur1jajcAXZwt7Jgh--dTxZqgbfXwE2kG2ZQsrFewwDFHxBUk6JeFlJi2mOhDj20_v_wy4aNH5p6K2PDwtQyzJOZ_nUyFKnSR4iZcK5Suv3mhQRX_eJrkKjLUQOz4OaYRyoiy5z89WuduQdh8WanF-TyH6zTfJUxMMutNO270BpGQr5CUkwvDeA0vCUnPjecJwSfBRnZQuhCj3WWqs78Z-gsOorKK6sxiekMlTD0bL9SsWjK8hvM9Fieg2zX-5zLObKqn3D5dXwi4O9zgBaVdDCjtElaSC8FvXseR7Lge3DwhPkPoX4vqufimR1n4t-weceqUPZAneleyMGYw-7QvzMVYb1rLY_HN2HBCMzkmGSsankY96x1VMJQsxVVEmYKi8pFUv7qtgH2K9L80rD3gm_k605nIIHKpkc-uw5cZi2Gcz2iiKVVRt_8gGGv8Pu_L1emeIR3oogDwEgX9dMbFxnXZEvqnCzg8N5nT6cB3xz3x0LhVIrDT3-KeAd7JvFP32lFTpfo4jhgqkssTCr7YYglvxilorINAQxJzuwaten5Zh5Gvn4E_01CGR5JOPI80BvMpqdwezibS9G_hn6oJ7ySn8X5RCpSLj3318ZBVzstX9aHiI-yE7Io20fNmlPGOdWp31PN0SlOv9t25sNFsyCdxIO-itNPfMEtwvQ1vfAhbzrh4orrq3SiUtxBupDg5-xZL0IxP0zENwpm8vpzbAH2EuXCskU3fXhJBvEWQ_qDJ-tD8B0yyqwDy5S2YOF2YeMVIzIWaMjTeiwMpXPLBVKaJOWeupYKSsGPhDScOkEgRwlbwjLj2V5DWx5CLKbhjWcd-hUUiyroGtoqvYRuCZus1H9_ArHOp_kYCJOlmi_1gvH1pWGIdVz2PFHeZBwBMX8Faev8lOEjlUzvoGTYJsE_Ypn5bb9MAwtHaSZRrtW9eVp9HzRM-VMt_1ZzrmixVLSyA24K1AL6cPz9p1sVMSxTm6ZaZk832p4xxhzVoXfkc3TCLFyz6wb8wbsSvLwXxhxrSpTKEjYykly_iWyssuNwpDDbn1L5qQxqGnkvV3cIp2fOeMO9FtWFZQIyM58KVLEqnzaBHl7O-d2WIDMXJZIX_bUJm6ALfMFua-J1SSc7Ohzybad15W7epVr4RkZ5MLgsFk2ObAk8bP1_pNe-fxe4Qmt7ukqrFmY6_XsnMj4QrV1_cpB7Bdc7MXUqd4SDAeDdfi28AG9klwHh11VViYKiNlUCb474M9nHeNJo7CZF1VK0wI8WdBXWtYrQtctJNbP08RVainKxH7mV58M6EMXQ==",
  "id": "rs_09ad5e714aef96b4016ab46fec3bb487d0a157b3205a07bcdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.08,\"right_roll\":1.3,\"right_yaw\":-0.5},\"note\":\"The lid is closed flush, so a straight downward grasp would catch the whole box again. I’m turning the jaws sideways to try pinching just the front lid lip.\"}",
  "call_id": "call_rV4o16n9VCp5jzjTTDksD2nG",
  "id": "fc_09ad5e714aef96b4016ab46ff123f487d0a473f26ed442e54c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rV4o16n9VCp5jzjTTDksD2nG",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5846, -0.0189, -0.0574, 0.9998, 0.6788, 1.9026, 0.5316, 1.0229, 0.5922, 1.4456, 0.9988]\nstate[eef_state]: left_x=0.2748 left_y=0.0017 left_z=0.1619 left_yaw=0.0132 left_pitch=-0.1583 left_roll=-0.0146 left_gripper=0.9998 right_x=0.3844 right_y=0.1881 right_z=0.0597 right_yaw=-0.4925 right_pitch=-0.0703 right_roll=1.145 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4427, 6.8991, 1.7265, -0.0659, -0.0513, -0.0171, -0.4444, -6.8581, 4.0274, 2.1026, 0.0904, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb7789c4fedfd2aa594741b4725d0c6ef48d7a1fec56b530d856c33d2f49cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba616495c80f1fb228d6a009d60c5e37dc89c0d278d4838da33a39570b944e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654dd7981e29aaa97c59923de0825437d460d9861ba2ad37a194eb7523ac0973",
      "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 · 4.021 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.672, -0.5312, -0.0193, -0.0536, 0.9998, -0.1467, 2.3581, 2.0521, -0.7628, -0.9474, -1.4212, 0.9953]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1752 left_yaw=0.0112 left_pitch=-0.0923 left_roll=-0.0135 left_gripper=0.9998 right_x=0.5577 right_y=0.0662 right_z=0.13 right_yaw=1.3276 right_pitch=-0.0005 right_roll=-0.3795 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -1.7299, 8.9231, 2.2491, -0.1001, 0.0904, -0.0122, 1.5521, -14.2154, 7.1316, 0.4322, -0.8669, -0.1783, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8234, 0.6716, -0.5671, -0.0193, -0.0574, 0.9998, 0.7811, 1.9995, 1.3567, -0.5003, 0.8688, 0.9623, 0.9989]\nstate[eef_state]: left_x=0.2776 left_y=0.0017 left_z=0.1656 left_yaw=0.0134 left_pitch=-0.1388 left_roll=-0.015 left_gripper=0.9998 right_x=0.4036 right_y=0.2152 right_z=0.0859 right_yaw=-0.4161 right_pitch=-0.0472 right_roll=-0.0577 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.1145, 6.8855, 1.7509, -0.0855, -0.0562, -0.0171, 0.4718, -9.6752, 6.5436, 0.6618, 0.6618, 0.1734, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5846, -0.0189, -0.0574, 0.9998, 0.6788, 1.9026, 0.5316, 1.0229, 0.5922, 1.4456, 0.9988]\nstate[eef_state]: left_x=0.2748 left_y=0.0017 left_z=0.1619 left_yaw=0.0132 left_pitch=-0.1583 left_roll=-0.0146 left_gripper=0.9998 right_x=0.3844 right_y=0.1881 right_z=0.0597 right_yaw=-0.4925 right_pitch=-0.0703 right_roll=1.145 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4427, 6.8991, 1.7265, -0.0659, -0.0513, -0.0171, -0.4444, -6.8581, 4.0274, 2.1026, 0.0904, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb7789c4fedfd2aa594741b4725d0c6ef48d7a1fec56b530d856c33d2f49cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba616495c80f1fb228d6a009d60c5e37dc89c0d278d4838da33a39570b944e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654dd7981e29aaa97c59923de0825437d460d9861ba2ad37a194eb7523ac0973",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG_3lkBePG4c9dQhhO-644XXZ4dZzeF6f49W_vfGrHxpcrhE-KwDZ2_2ur3LAVZpg6nrdlrTOvKMgUuz6lMtaa5rqB09Hisu4cjsRipd3k_wxIU6CjWJPsmrkpX38MjwBNLDTMkhUm8Poifx7tyx-kOOIPrpiOm63mCtOv-_aDa-982i1PqTTkq3P1tGhmmd0YUDYc2Ov8Q7KDJQfJd1OHqIUG0irK581F0FU2iumhJYeN7ui1NdOA2UwkgQ5p_FDefQKl40N34SNJu8K7DTS9-N9EjtnMPPGtewBFVppc26PgOP1fFVfUzO7-9Kqpynsey7esGN3R423o3KyViKBs__pOYo9Rjb28ZLZr1donqOHEOdn0t9vzQDyQFjclimaVSJ-rWI1J58FoKZFHl0auCN8H5R94fBm3wfrcydQ-qY5pA6aNyfM00rEVAnFZy5H4SUtEb5JuhviwEGC6zR1QDTBfPgfOn0JE8GqX6rRcwkDDfAPksWT-aWFwYQKuihHd_FAplpZNl7nz6jtjcGzu96najMgYdUVTEv0QW9SScw6iYOOm3wnw83SURHBxeXtOpp5xpodVWSyJpyrkXeOOklzEavCv-i9ftg-UisQ-84lfyZW57oEsmc0kdTcu1oRoVi4SPJzs_CG0drhqhYepa0aH6Lq6Zkn4DgiKzJQYGvM-cjqJIk99FYniRQWGTdepnMzSycUnRsd_qrfn-asibtyzMq-VoUR6zEO5gT_zM8IQ6QeArB2tEu6O_hhJFBR43LyC7yLVBa8hyNwKYlzASoSy3zXksIWJr4w6tFalSE01GYyztlnLXeNCyNqso0JJlZm79HBrh1OHOirb17TscuAOajDtJR3k0o2HPrXMPHoYl8kw6258l_FRNPJiRMh73gfWronHsZqXOj1qbCmsk1EIYOogqqf9__UMg-gI-k3ky9mFCbo7FeIC65PZRhQHMTLH1fMex4vjddAxCbs1RZYFWEQ0wfrQfzWPRDUXF3cdJFrqrpJ0yGfe37JCYYAq_NM9KhuClo_VhqGT2PLJo1xpKeE0EGCuI6hmfKCSDyLSYm7IFIVXkesqMnOSjBl8kIPi-_SXcbI-kF5JByZItb0sidcUZ2IY4NCV8TUQxrhjaaQtnYteyR6PjOlujMLURW6cdv5gLkeSuhcXPbU3cotRP9XLRolmXH8WMfgQMI-QZIprvr-lw_LCAsl1gsNl9dAHO0YpaE4_GnvzAZq14-g-TXp1ac-MuX1nczwfoW_hvTIq0S-Z2JTLgSwpqhNLMYA53sIykYSBvcMCOC4KCgVVrmubJyCnVbyZumbBmeDDl9D4zgmNNpI7PkIoWC3W7F97gI9_eu-7ImeNYd09AQ2_ZVCry-lIkUATj1u2q9qgc=",
  "id": "rs_09ad5e714aef96b4016ab46ff5828487d0a580b2f5f4a372f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.413,\"right_y\":0.185,\"right_z\":0.11,\"right_gripper\":0},\"note\":\"The sideways wrist view exposes the seam above the handle. I’m raising the grasp to that seam and closing lightly around the lid edge.\"}",
  "call_id": "call_Ek3tjtcx7LtK9sq3VzdEmxhH",
  "id": "fc_09ad5e714aef96b4016ab46ff6729487d0b35b5d2a527d1c4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ek3tjtcx7LtK9sq3VzdEmxhH",
  "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, 0.8253, 0.6716, -0.5884, -0.0193, -0.0574, 0.9998, 0.6155, 1.7737, 0.6353, 0.7609, 0.5297, 1.4223, 0.016]\nstate[eef_state]: left_x=0.2742 left_y=0.0018 left_z=0.1612 left_yaw=0.0136 left_pitch=-0.1621 left_roll=-0.0142 left_gripper=0.9998 right_x=0.4066 right_y=0.1826 right_z=0.0915 right_yaw=-0.4933 right_pitch=-0.0912 right_roll=1.1085 right_gripper=0.016\nstate[joint_eff]: [-0.0205, -1.1692, 6.8581, 1.5946, -0.0855, -0.0611, -0.0122, -0.4581, -9.0872, 7.3231, 1.9902, 0.0952, -0.0366, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e81f83495030da8a1229fe3b207319b45ec69819a9d4b8779d96a70db6dde9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b5da434cdbbf13f014c6d863337ced9b79174a0eac34f0ee06b5e934f8626b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbadd63de47a05b03ec9365de16096d3f197155973132bb535987bc998699a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 2.893 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6716, -0.5541, -0.0193, -0.057, 0.9998, 0.292, 1.0889, 0.8341, -0.3397, 0.3241, -0.2474, 0.9954]\nstate[eef_state]: left_x=0.2795 left_y=0.0017 left_z=0.1693 left_yaw=0.0132 left_pitch=-0.1209 left_roll=-0.0153 left_gripper=0.9998 right_x=0.3473 right_y=0.0494 right_z=0.2094 right_yaw=0.1509 right_pitch=-0.0253 right_roll=-0.3861 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.6615, 7.1726, 1.8926, -0.0562, -0.0269, -0.0122, 0.1026, -3.8085, 8.841, 2.0928, 0.188, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5846, -0.0189, -0.0574, 0.9998, 0.6788, 1.9026, 0.5316, 1.0229, 0.5922, 1.4456, 0.9988]\nstate[eef_state]: left_x=0.2748 left_y=0.0017 left_z=0.1619 left_yaw=0.0132 left_pitch=-0.1583 left_roll=-0.0146 left_gripper=0.9998 right_x=0.3844 right_y=0.1881 right_z=0.0597 right_yaw=-0.4925 right_pitch=-0.0703 right_roll=1.145 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4427, 6.8991, 1.7265, -0.0659, -0.0513, -0.0171, -0.4444, -6.8581, 4.0274, 2.1026, 0.0904, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5884, -0.0193, -0.0574, 0.9998, 0.6155, 1.7737, 0.6353, 0.7609, 0.5297, 1.4223, 0.016]\nstate[eef_state]: left_x=0.2742 left_y=0.0018 left_z=0.1612 left_yaw=0.0136 left_pitch=-0.1621 left_roll=-0.0142 left_gripper=0.9998 right_x=0.4066 right_y=0.1826 right_z=0.0915 right_yaw=-0.4933 right_pitch=-0.0912 right_roll=1.1085 right_gripper=0.016\nstate[joint_eff]: [-0.0205, -1.1692, 6.8581, 1.5946, -0.0855, -0.0611, -0.0122, -0.4581, -9.0872, 7.3231, 1.9902, 0.0952, -0.0366, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e81f83495030da8a1229fe3b207319b45ec69819a9d4b8779d96a70db6dde9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b5da434cdbbf13f014c6d863337ced9b79174a0eac34f0ee06b5e934f8626b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbadd63de47a05b03ec9365de16096d3f197155973132bb535987bc998699a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG_8W__Mw0HV7ORs5AotzUUQQ8IlCoTGuOzEdzTMiqAtnQmjATmTIecRVIVhf8-pRAZLil0QUfpsCVNqxMZ1S5X929u-1bMN409qr8yOhfzwH9M4gQ2tPsRkK6bZY3auuDYkguKxftnqByO-no0OQx-UXKO3fL-8ao_hu7iIokOI8H4SBoV9pE5eyS5aLIbUVOYpDcKxlRZe7tJzubDqr1CLBkpU4ncywO7C68etH8jJMkaAD6haRhJn2GyCKBs6H2-3nh_44rwDbeovrISuCAbF2uQ7XsZQ3b7a4UuccyehwhpTcOtnjw2w1uZBNyHU9reM1ESSFPXkGnLcNdsbnc0Kbxvf4LVWAfj5hFZ7nWad7dxG4YzGEmv6yWVp3ieHsyaVA0X22zHCXUsHT7BxMiUdjv90zRAiFA0NnLKbrPJkfCOJQM_FAleahS9os3E3ffdDz-irepFn5A923Nb_eMV3LOaTPbREVyTPdvuB6N-qhEdB6L-2DxmRWMv3Vo2HBwY-8P0kkwP3Nyhs32GwyAyC3OutOdmCEAuROW1Q-pJFcf1wDQKp3rU_jdA78fm69pHbp-svUaLNV9nwckcxYMB0xAD5RJ4ZE0Dpuqj5GZsuER2WnXyoJ1IHZcZyRX5rsedcJRFPBKOMsykku90Fk2bDEjZolrXeCmnDkNcylA6YuTtXy2Awwbb2vOEVl6m8U1JE9W8PPxODiBlLGX3lroWyKdaUhHs7x3jFgrECHd5sdn11AG0kFquSvrBL-hCGqVT5XjrC7yR4g2XfzA30bm_NqkTIOTDigVcpk1YcLZf-DQahJypm9xxTkLq64JB6YTT7aCuVv-kTSJjawILdNybkn_w5Kf-UcxnXl1Yg1FFU5MrWY7goy8daNSTH0UT_pYIdfJOrkCoLcOLcWkWGLk7JCPWHsyaGtGQrtgUzqtLM2myeu6SPI1q_P4hgGz8PYxFHwCN-2HBfR52wtq8b7qu9SMfWW53cCMlII7ivF7DEadgUyys-7ryT-vExrBfUD-GzpkdLUoU4sSsXeRTxAgY9H1PINO4Rd2-5dRakRG2uncMLO88qbMi3FD8Z_wgyjbK2AQOAhpnqmemnKT9hi1faB3nVDJvFKjwYzy3oslJRkMxhog_wezXQafArEaiuC-eDTkNiI8SgwQ9DtLl0mc-Q9lYs95hsLHCP9VPsFGD_lHSmGQ0A44FKVqiu5VyKnq40B0mkG-7rwBjFX5kVAc6DnjnKlm_EpTe0pT1oXBhVJsHmhZzVhRAcOhMeJMwY18bcGRK0gKNI8HtPvrfkteSQYEBJzH5SHf-d8qQyHzz7SNudeLl2CVv1b2ZLtIMaq2VpjaitNaR4GZ0X3WZ7p3wGHJ6hrci2pmRYzzSKT_XjRmX0Jub2QDrpYObWzj6qT7F5Hr5CTaxJQl6U5h6jPTpZZyLvi2IL_KQkqHkdmVpPhG1J1LV3woSZS2qwD9ZmgMcuAM0xlb2jxOLRxSmO-hKt-JX9A1pRzJv2icNFPr35ciuwyWIXCQoj1IsB-nZ0R0xhyt5pmPxnpymUfPE8t6Kd5A023Pcy5ZFEoDZaSEtw8e9mGNajbhg0rSXQo9rwk08db5ktlN5ejHTW2wgDA7ClOg==",
  "id": "rs_09ad5e714aef96b4016ab46ff9fcc887d0ba1ef1cccac73e43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.438,\"right_y\":0.19,\"right_z\":0.13,\"right_gripper\":0.55},\"note\":\"The jaws closed empty, just below the lid edge. I’m reopening them and shifting a little higher and farther onto the lip for one retry.\"}",
  "call_id": "call_pwvN0JC5o7kG8RLnNuuTbmHi",
  "id": "fc_09ad5e714aef96b4016ab46ffb8c1087d0a6fec9ee3f832307",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pwvN0JC5o7kG8RLnNuuTbmHi",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0189, -0.0574, 0.9998, 0.5835, 1.7691, 0.7834, 0.5667, 0.4992, 1.4117, 0.5454]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0133 left_pitch=-0.1667 left_roll=-0.0143 left_gripper=0.9998 right_x=0.4312 right_y=0.1876 right_z=0.1083 right_yaw=-0.4978 right_pitch=-0.1156 right_roll=1.0682 right_gripper=0.5454\nstate[joint_eff]: [-0.0615, -1.2376, 6.9128, 1.5897, -0.022, -0.0415, -0.0171, -0.4991, -10.1538, 7.4188, 1.8926, 0.0611, -0.0659, -0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84342737c73172370787fed070cb12d9cb67f6044f5a988176e388ea60da301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c73f65b00d5a94c4f9b52d811234a0be2133666da4481f19af1ab039a5b148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a91c4636a665433da4ba2b125a19b28eaf45658a9da50ac550005a6d494d34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 7.825 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8234, 0.6716, -0.5671, -0.0193, -0.0574, 0.9998, 0.7811, 1.9995, 1.3567, -0.5003, 0.8688, 0.9623, 0.9989]\nstate[eef_state]: left_x=0.2776 left_y=0.0017 left_z=0.1656 left_yaw=0.0134 left_pitch=-0.1388 left_roll=-0.015 left_gripper=0.9998 right_x=0.4036 right_y=0.2152 right_z=0.0859 right_yaw=-0.4161 right_pitch=-0.0472 right_roll=-0.0577 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.1145, 6.8855, 1.7509, -0.0855, -0.0562, -0.0171, 0.4718, -9.6752, 6.5436, 0.6618, 0.6618, 0.1734, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5884, -0.0193, -0.0574, 0.9998, 0.6155, 1.7737, 0.6353, 0.7609, 0.5297, 1.4223, 0.016]\nstate[eef_state]: left_x=0.2742 left_y=0.0018 left_z=0.1612 left_yaw=0.0136 left_pitch=-0.1621 left_roll=-0.0142 left_gripper=0.9998 right_x=0.4066 right_y=0.1826 right_z=0.0915 right_yaw=-0.4933 right_pitch=-0.0912 right_roll=1.1085 right_gripper=0.016\nstate[joint_eff]: [-0.0205, -1.1692, 6.8581, 1.5946, -0.0855, -0.0611, -0.0122, -0.4581, -9.0872, 7.3231, 1.9902, 0.0952, -0.0366, 0.8376]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0189, -0.0574, 0.9998, 0.5835, 1.7691, 0.7834, 0.5667, 0.4992, 1.4117, 0.5454]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0133 left_pitch=-0.1667 left_roll=-0.0143 left_gripper=0.9998 right_x=0.4312 right_y=0.1876 right_z=0.1083 right_yaw=-0.4978 right_pitch=-0.1156 right_roll=1.0682 right_gripper=0.5454\nstate[joint_eff]: [-0.0615, -1.2376, 6.9128, 1.5897, -0.022, -0.0415, -0.0171, -0.4991, -10.1538, 7.4188, 1.8926, 0.0611, -0.0659, -0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84342737c73172370787fed070cb12d9cb67f6044f5a988176e388ea60da301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c73f65b00d5a94c4f9b52d811234a0be2133666da4481f19af1ab039a5b148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a91c4636a665433da4ba2b125a19b28eaf45658a9da50ac550005a6d494d34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHAASIbvXpDuwvQPLQj5m6HNLKfcOVJBcAY8l03XpIe5GdYkspf4eymuxOyj4bSQYVkG1qh1MYsP6nnrILSzsHNTZ9qymzgouTTBT1ZyvKcTkMRx5qv3cjuiYEGLK9UHT3qU5UsQfAYProqlVQIfq7_qDcruRbViIMeRIvpTjesc5T0JnlPW_DDwQvMyOP4cYOWcvpOTqY-T9wOH7v8oSlcqE2PYCOQ-CFQcszAku9j8RpLeH_3D2bxNDkYBDYLGFHUO1SxnFMW2Uf3YZj4kayh4_hXopNeQ4gxvqhhVPN-fy2DHTdlqLd1qvb7I8Ufz3Nb64rY_xFjNNW4HOwQEkeaYUDxqUuRA6H4e7dvVH7wCTR5FH9QIOW4o5y7VBPo0vEIrQ-MkTLtI_OoNuLAnq922p9tcRNID21ZIKGODgaZBPnHm7-utdk-B4U5UtCCHkBddUwM6JECZIOowXW3GNPKaO2jLhD1lh-r5mfcGiQ7RCbenXMRIavyAiOD-0eTmkb4q9r72RJUI9m_ScrjPpXVRi2hakt2rbs522BaILf4cbIOa2sLKf0wu4rOVowEKGASQjqNl3W0KfpZMLE2xqZQa8sl3jWQZK-GrnfP_G-kCEQQpZ_-O5_2hc-B3CpKikID96Oa589PI5iKnp-rlC5_xABmfGimB_sRULy5IuTFY-EFAHXwGxq0sQUJAtPyBr1RuuyD8NUzonQTVrCqN9qv6-28Sv-yOpWaDclwlQKd1YJZX_rfS6T4q8ThACQ_M6b5Qt9QDKu60GuxHLk9CQC_MLGrJzPeB4mhLO_AC3rB398WOaSzKjBvav5SexQ5aB1epB40RZ9DsijGsrekFzxO9Wq9A6KZ_FYE2AmEO6CaokEdJC4TKAw0TXu1jsQ-UYDQ94_nctuXqN0sDHrk_GqelgwSkgFq9ulXPO-dwZO9XkQRBySWY_2-fPQWlFsp2ONIAIJj2Wel4P73vKZ9TILqrHYKyCnjbwgm6D6rjkcILMahez2KTDl4AkvOCZfBnKhmQqVRJim5n1wGLt2Ma-gS6KJof-6iOuCHAoRB0AG4S4T7ELXczeP8d9prQE7Ulnt_oTw_H4BTjOhgi-CI8k2SNh8T3lyKv9oMADmcbGIRRCTko3mJwyk1qYANBtKxk46Ro4REmcjYxQuJf2sbPYZuZCHCu7qCnixa5ZZYjrmEgfLNldLX9_1qrL9AdgrjgvIAbS15iPpQ6O1uDe2ECKWSRBlK97Mp6KSHSey0T6VJl2qmYS3DIHpY7iuak1-9j6l-CIezPURFt5IcCyYYIhy2GDnjzaG7oIkK_YqA2fWbNGqrqZogtv-U3P1DqH4x2kfWB",
  "id": "rs_09ad5e714aef96b4016ab46ffe9b0887d096765dc1d8828d46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lid lip is now at the jaw opening. I’m closing the jaws to test whether this higher approach catches it.\"}",
  "call_id": "call_SAMxHPRrIBfjelAdbSEHrxXm",
  "id": "fc_09ad5e714aef96b4016ab46fff32ec87d09164ad3ab1ffcebc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SAMxHPRrIBfjelAdbSEHrxXm",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0193, -0.0574, 0.9998, 0.5816, 1.7691, 0.7853, 0.5472, 0.4957, 1.412, 0.0171]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0136 left_pitch=-0.1667 left_roll=-0.0141 left_gripper=0.9998 right_x=0.4304 right_y=0.1867 right_z=0.1049 right_yaw=-0.4984 right_pitch=-0.1253 right_roll=1.0536 right_gripper=0.0171\nstate[joint_eff]: [-0.0752, -1.1282, 6.8444, 1.5507, -0.0855, -0.0757, -0.0122, 0.1162, -8.1846, 5.5726, 1.9805, 0.1734, -0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3d76873b7f38efcd711de2a3e49acf23e6718822355889ebd85c0460bbea44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e6bb7e10a850b2fb5d8efb6a4accb5e22684381b5c0930c84410963188e62de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ca87bb7d1aa2712071556fab05bcebb44c865da705ed4989df5188710cd53e",
      "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 · 7.714 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5846, -0.0189, -0.0574, 0.9998, 0.6788, 1.9026, 0.5316, 1.0229, 0.5922, 1.4456, 0.9988]\nstate[eef_state]: left_x=0.2748 left_y=0.0017 left_z=0.1619 left_yaw=0.0132 left_pitch=-0.1583 left_roll=-0.0146 left_gripper=0.9998 right_x=0.3844 right_y=0.1881 right_z=0.0597 right_yaw=-0.4925 right_pitch=-0.0703 right_roll=1.145 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4427, 6.8991, 1.7265, -0.0659, -0.0513, -0.0171, -0.4444, -6.8581, 4.0274, 2.1026, 0.0904, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0189, -0.0574, 0.9998, 0.5835, 1.7691, 0.7834, 0.5667, 0.4992, 1.4117, 0.5454]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0133 left_pitch=-0.1667 left_roll=-0.0143 left_gripper=0.9998 right_x=0.4312 right_y=0.1876 right_z=0.1083 right_yaw=-0.4978 right_pitch=-0.1156 right_roll=1.0682 right_gripper=0.5454\nstate[joint_eff]: [-0.0615, -1.2376, 6.9128, 1.5897, -0.022, -0.0415, -0.0171, -0.4991, -10.1538, 7.4188, 1.8926, 0.0611, -0.0659, -0.2711]\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 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0193, -0.0574, 0.9998, 0.5816, 1.7691, 0.7853, 0.5472, 0.4957, 1.412, 0.0171]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0136 left_pitch=-0.1667 left_roll=-0.0141 left_gripper=0.9998 right_x=0.4304 right_y=0.1867 right_z=0.1049 right_yaw=-0.4984 right_pitch=-0.1253 right_roll=1.0536 right_gripper=0.0171\nstate[joint_eff]: [-0.0752, -1.1282, 6.8444, 1.5507, -0.0855, -0.0757, -0.0122, 0.1162, -8.1846, 5.5726, 1.9805, 0.1734, -0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3d76873b7f38efcd711de2a3e49acf23e6718822355889ebd85c0460bbea44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e6bb7e10a850b2fb5d8efb6a4accb5e22684381b5c0930c84410963188e62de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ca87bb7d1aa2712071556fab05bcebb44c865da705ed4989df5188710cd53e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHAIm44-N2M-AGHPm1GmdYZAXEWA4kLUpDZRj9xQ8yZUYMh_qi1a0CPJJBB9qcR2JDrVi3KdgmePqA9AorXz3jbhRmUScaQ8kUfBU0n-QPuKYpdaoeLNBXUcSc9YWk9qV8OoujT_Zg_DQO7VwgWB5MqfBwhx7Axcj8Eh3c0xotB6mx2Ti_NL7y31rwiR0mdoRMoylIJiVIomRa_ZdWl12sjRmj9BG8I_a-fqFdBwMhQj_n4bnJfCAuwP2pohUh-lXF1xf35U4okcDx0Iy8sxC0wKeyfab5dw0sPDpbDv07tB1CPR2jB8RplUDleQHT7vTL9zb-AlgJQxHhFgTT_wJOP4DZdFsNxU4RrS6pDmzbBfgRX1pK5xshSjytxvufu9pfbtb89jtSdroLWmGFWGktkozsACeeFFaQpMIPwDpwBEosNpE5keM_F6y2taveElHrdPiyNM1VB8gy8mBmms_WZHUzLfmPoYY2QFCgWqaFLLFfV7sCwM6CcXybQG-3Nn29Dn8jpcW4DhXkVn3VrId-V4Q5WO7k-uZNIVyrdIy-r8PoWBGvFRai2iJixcesws3lbZrGCsvowtkfPJ_AgljB97FT8AYHrFNvtJsNPb_kp4qouXJvKUCGO9mFiOWC42zDg3kiY9xeoAmtqM-IQyLXsrhc8ulbS8l7ORLFrlhY0fpkXAj-hXjd58a1ZTGyw11mTr58ahgHbgsfDq2VIxbUWoCE_Gle7TfnlyUxVfiDWtnBlppVoX8omKnGEgGdRGyXm-bPTsgnbXo9CKtderqUvmKY8NwOK7iTF_bUkIZMSGqxjBHZhV7FzsLa5EDkj4VbRcpwerGzIEsBfqLJmAIKLvJ_t16npANKqsmpY6tKcx23Za8ufOZ0OooE03J-ZBMHubqqmjPDDRb59SVAL4-VWVmLJEwZGdMJ4blGla3uV0a63dc-jjNs3RBkOagUXP-GagPPiFHIoYtLAOrhyJO70yBivTcwMrvlFE855Tssa5osfd_n98LIWj0EKFRT0Z-7WB5psevg_THjD-QSc9u6b0CIo88PthxKslU6MCm69TX18rmNqnGJ6P0aLaMUM6YHWHupkgLiB4DakCziP8kGQ5pjFirKzhyAV1FvGf4JURXWRWfYGXaeqmWsXli0RZRhqb0xkZkmxzgLanGo_ZfJQdgQt5HMnKrcbyAhjdIxFygWe80tkXLOS7XqD3AV5jbQr9cU7FlcAXYIkDOJ3d0IR3UnLohABvybmNpWJ76zRNxJ6LIHfxILsOMGUkXKy2kqqMG__2D89rmoatAKEXC3cSDGaQevmmW4BTsaeO_wqnY6mvdQwMrGFfzslz08Z7U-6O3KfYcxoBDzokCblQi2T1ArBQwEMT8zFOoYczF8CLWrRmjN6wS_RAtc8VmjWbrN09NiBiKDxGDw4z0Ye1oEPrVXoa_HbQf34N7Sg-_QTnqvSnr-YSZVyPFDuGSvc3cwpcC30u0WHHDr6jsTgIMEUapD8p-lLpAQ1RQM99bb8axE-kweE3r_URBrklR_y04dFCW079j3EQdVjBBDMKACQoXvgPhTr9gU6x9YIylEYSvoC0HwXKhZZ9XKvx6b4a8SgxmDzcHatckN72Uh8JU-gczwz21cW5IT_RV6Udzh6IVTiZo9UidtLsR6ivsoDcp44lnDo4UULnfJXzsUyE6craOAAQeJ5OhOE7QMFYEDt389UI9Znhs9d25J9fWuvWHei2tSUZvIfvhVgeGmoYYrCrBq0n8Mx_IeZOguqTlypmqZ1DWsAIzaKinWlyJXef02VteLcJSrhcemDe2aNq4ULZyTXWXs627Lt9eJFTA_xuWBhB_79fZFEYgHIikP1TvgtE-kyCvwuNwjlCIQHRFWI-GHF8W9AuB7QPcsF_fvW5yVd-OaZbn6L1VjvIEZgwsQ1mtbaT_u14Nf_NswnM6XEgQKsoE28mo3VnSr9pzhrJH7KY-jAJclxBOgC_vlKREJhMdsgwl32JEU3kDWjtJPnwbKUk5GHzpVOBEtMI4RXF0I1ZWLLiXMQOOinp4LsRe5HEKhZNUFpIOIJ1BgqmIs4PVhuspYxSM1SJu6Gq0nBJ8Z7EjIaqqrzgjz-h_MJfWgn9W_jY2d-J8cJeGKAawOJJmvSk5fqsemKvFIXCh70t0E0MshImJmrydlIO9DE4dY7oVJIB7BHofmSsldjcq3KybqoPj0Gp_ZQoTG71GDJLWJIxujjkX-_2_7l0gHwKfiBVLnMr028ZAs59S2li5TXmBJ4NIiP3Fbxfw9qRyMdgwUP-0ncTzMmA8vydx5QQqREKV4pPWvz7iFGbcnjYKWHCefx3wkXAnnrpTeYhO6Nnr3BSBymuWavO7GdgYG3l4ABvVbR2FhF1s4V1kPfqVl9P6BW_i8AR0VvmN0O-qvqRCqO4vcDoeC2YcXXl98pVJ-XsE60dxYo7PpRW6v2SvyzkLkrPUPjcmtXNfzxiUNFAZeJvf4KDxDmRLcWxrPGbI2LTFfiGEfZurY8tzSNl8x6Jfu_T8NV5nrOriNGgDGj1KtAg6RVYVCCtdSY3UDgKBw5E5GVyqnKHn_BC6v_Ngnj61cLwAR-rdDlK-rcRMVjWbRvenKBGeW4ga9WFwx6Gu-XM1GndyGcOuaGXGzfwq31pTCtwQnPmLIBudn0n2OfCaUrFZDK2Eks9SzKGzqV2ERTDODTIOODlWr_PnffxP_8MO6ug5uX9hwitsJaNe5-R5lLmO_PF7c3M-KzH4O9uva9QqESu7qabmVGhFqgGQJAOV6MutRr7pjPi3PccowcAOyXzxObB_rL1RWWvUOj0ubXFNq3mVZKJLXiooPWVfVaqFQ==",
  "id": "rs_09ad5e714aef96b4016ab47001d6a087d0924396eae4b98f04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.21,\"right_z\":0.21,\"right_roll\":1.57},\"note\":\"The second pinch also closed empty, so I won’t repeat it. I’m making one controlled upward sweep at the front lip with the closed fingertips to see whether the lid can be lifted from underneath.\"}",
  "call_id": "call_YLmgEghYvzZ5rIDmMHwStl1d",
  "id": "fc_09ad5e714aef96b4016ab470070da087d0b4050037a40b1c1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YLmgEghYvzZ5rIDmMHwStl1d",
  "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]: [-0.0189, 0.8253, 0.6716, -0.6075, -0.0189, -0.0574, 0.9998, 0.6025, 1.7367, 0.8589, 0.6273, 0.4931, 1.6432, 0.0189]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1577 left_yaw=0.0133 left_pitch=-0.1812 left_roll=-0.0139 left_gripper=0.9998 right_x=0.4451 right_y=0.209 right_z=0.1665 right_yaw=-0.4935 right_pitch=-0.1596 right_roll=1.4082 right_gripper=0.0189\nstate[joint_eff]: [-0.0342, -1.2376, 6.8308, 1.7363, -0.0464, -0.0562, -0.0122, 0.3624, -10.6872, 8.1299, 2.1319, 0.2125, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0e537b637c24ba20aff4adc4f3acf707f1e36810b1247d03b9b150f9c10886",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d052303367809aa3336cefd9352da5c7f4c8816dae94f39e5878eb97bca52c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4928beb27ab08805499804baa97750e105f3263a1777a0ebe1c349a26eb532",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.299 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.5884, -0.0193, -0.0574, 0.9998, 0.6155, 1.7737, 0.6353, 0.7609, 0.5297, 1.4223, 0.016]\nstate[eef_state]: left_x=0.2742 left_y=0.0018 left_z=0.1612 left_yaw=0.0136 left_pitch=-0.1621 left_roll=-0.0142 left_gripper=0.9998 right_x=0.4066 right_y=0.1826 right_z=0.0915 right_yaw=-0.4933 right_pitch=-0.0912 right_roll=1.1085 right_gripper=0.016\nstate[joint_eff]: [-0.0205, -1.1692, 6.8581, 1.5946, -0.0855, -0.0611, -0.0122, -0.4581, -9.0872, 7.3231, 1.9902, 0.0952, -0.0366, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0193, -0.0574, 0.9998, 0.5816, 1.7691, 0.7853, 0.5472, 0.4957, 1.412, 0.0171]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0136 left_pitch=-0.1667 left_roll=-0.0141 left_gripper=0.9998 right_x=0.4304 right_y=0.1867 right_z=0.1049 right_yaw=-0.4984 right_pitch=-0.1253 right_roll=1.0536 right_gripper=0.0171\nstate[joint_eff]: [-0.0752, -1.1282, 6.8444, 1.5507, -0.0855, -0.0757, -0.0122, 0.1162, -8.1846, 5.5726, 1.9805, 0.1734, -0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.6075, -0.0189, -0.0574, 0.9998, 0.6025, 1.7367, 0.8589, 0.6273, 0.4931, 1.6432, 0.0189]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1577 left_yaw=0.0133 left_pitch=-0.1812 left_roll=-0.0139 left_gripper=0.9998 right_x=0.4451 right_y=0.209 right_z=0.1665 right_yaw=-0.4935 right_pitch=-0.1596 right_roll=1.4082 right_gripper=0.0189\nstate[joint_eff]: [-0.0342, -1.2376, 6.8308, 1.7363, -0.0464, -0.0562, -0.0122, 0.3624, -10.6872, 8.1299, 2.1319, 0.2125, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0e537b637c24ba20aff4adc4f3acf707f1e36810b1247d03b9b150f9c10886",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d052303367809aa3336cefd9352da5c7f4c8816dae94f39e5878eb97bca52c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4928beb27ab08805499804baa97750e105f3263a1777a0ebe1c349a26eb532",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHAQI5wvP3cXgFgEivHqaWJvu0qu1x-q2D7l5O60hGr_03v2YOM-9adzA_F9G2I9UpzJ8_fG4eOYBFX1AwYmkvu0Euos4NsK5kwOmGd4Hs8Ofr5Yb-5Bnv8OsH-YCVHbePfWlmkEJBCre6n4fWmFpVQcdqQuGf940VDRKeL1rdf8ypZiNYAl9ZubKNc-M9dzGO0axKMacdHTKZ94OiCuRWI4uSRTAPR6o1vROpfyRfWdkvjAA2XQcTVMz7lgiSGON4JgRR3v8XOo3au7JmcWmRwZCa5nLQeaHKii1nfk-CFyQf9NWfvYYQV7flCLHNb9SvYWC6MAwsjM_KkCQRDUp9_RCBm0sSYvJoGu6y2YDmsUyTOYgwS3Q2mk0DYMymXxfirj6LRErGFGIP5sZrFkZvroQNcI0SjE9BH-AeWCASJ1EyjGDZPPOK0ZeVAPi2ybLEy72YMh4NXSxcZCl3iBsD1k5i2YIyBYftQ73qMu1GWjwo5J-CnOezVZyLOsbO4g5m6o-yTe5oViFXuWiUzonhj0ErQRRk-4IQT7EhdYg8LKkl_x2r8iWRXAkj7FTvms3EWVzZ-_hFq5zL83Ca1R7UTLKypMFdpLjiDQAXqwz0g0k8fHAJcK25DXkO9eY4SRI3HRD_V_8p7yNXD5u8qWfQ21CXN_U6Om5auhxSJj_uPNnw32PrUdy15uFlq09U_pVSLiiXKDazO03rmy3CSh7DBQ7P3nkg6lCK_pi8qnXSBqEsZTzDyZKgqWzZIEhtvc5PzRXLz7b20aUAJUg7LR3uYqbfGZZaFjGMjSJdfj6wGeZol5-ljqwHQBhcavSdqADzp73MjAHnlu5_WgIrV4ipRW5zn4bYhTnM1NQaaCoA_1At2aDFkPR-KZNOMpgOV_rROkPnZiy1W5R0USWLZpijouIAIt7FqUMwKLRBqXV445834Z-PEoOT3uvIMn33eGUsx_KCev1sZNjV-C6WwANH3Mzmckbj1aT7BedY2p_uC3If0SRwmibpjEtk2so3u8tU746_apRhw1vTDgudhyjlzuswG2UE_Wk78jpEytB1WXmQX_dETZ4ZCr9yp2aVquT1kdSXrR7FQybwN7tNkOeayPCpymcl2aCCtd_Kmqd45bcVEMJ9P15WfeCsQkHO_K2iA1Xlnu1g20LpSEbQle1rUiyUfeNpop0yumfy-M6DIOOQTukawFTQg_sGFX5BnpQpzO4B7XtzCvHhwkLk3UZ4O63co9B1hrt3FCS6tXWSIHIZDLSmA6Ki-8aFBAhUFBw3KFrTkzYX22rE7pmEHlG9-6Ww8XaphmSt5hu9uReJVfEv7M-OLqOgEHXzn5guWDJuD-gW3KBJvYNl4D-P_XO6fKH67zyqvzFvzZwBYJ2VK5JbCiqFVU7v8RRmeOQ4r6cj4iUQGBrAYgzVY3o9Cjv_LlexgS5sKZuLPK6F1L9-RkCW5_QVA8Vp6Q6BusyHTanCidRAI2WFh0M4Efi4SM5EgDp6hnYFsSOlzQ4-KpodO0A9TGQJb5gFDHuQrbh0Y6vPGAc0bpr8vJM3JKNBgjkD7CUTJ7ij1Y4-pBLkWRP9U0M6OvIXfUVGCSUgCFk_BFt6KPs-LmfGT3NS2S9UHm1MzwXEKLJVoId4en9YEfuCz9ZsX87HJg1Je_TF8gdGrXa1b8C7x4PirO2BYyDIh_1E20iYo-eNp1vvXO9r7FRBrBoThSRQdF9nw8c8g0dhb2wMJkkQA1fuoe7SQih2hdmxhDOyvK5Gf1piCm1EyysA_zJlto0mc5Rh7DbfuwYj4aT-eGqaNECenkKFVnqSyfaqyw1Z6iUPtk-M64zEmteLJKbEhSXky2GQ8oCKyqt-kocZ0O092U53NjjU6rCW5nYnD5x5_OULn201P1NmwY9hzioOX59B-_SeTKasRkHzz9i74lhbx6AKwQUbQlsL42eNO_WElGSogc4tQ8zGlQB_VD7DVlG3cNbSWNeAF0vw1SsOwhuephak6T8uhyAkw93-vwspB06tqcuSC55ODQm5KTQ3XsnXPAtKdOAOvs89WFnjgAWGBHZkMVk5o1yppknVghyeDbO7u-LqgH0tq5YQyL_TSwIoSl197bzrrhBIf8TldMvf9OnrZyb1h9Lz9f6UB9tCyX-B1trQyYmOpcIVEWieEqysvHx4wJ3CN6HJ8Ol_HsNl7XBtfZqN9OAFs7lDwT0fivPNkTzU9hnKEfOmSbrwugmOnRou5a_vXMolMAZtYWiJlMJBI_TMH05T1p-F0UsHV2CSDIVUE_DGaLB3cJTWeoC3UfHGKNY64E9GqeQsfdSFOe4C1JTm-mqVXcypZkOsh-nbb4SlGTdmdR7EmZm5tPEn7IF8fnNGRQ3qAS4iEArawOjtJx473e2ZzNQDjJahOcNCGuWiftvgNf6mmqnHDF2jZZ3Zvk1ZGeWYn_0Uc4X1t1AyFSNLxOqiSzkV-UyZFRp82zr9pumA3txsoqMDJA8KuKn6TNveWodAxw1xI0tGDbTI_AAyMCWhsgZXk9wjf_XBuSTPzqSukGuZfGToTJcDO-yTjGpyQjdG1W0AMIInbiCseAst5PHqPp7MSj24kmFjGl8SGfvUdwB0h0D8wisFipUFmGwtIIGVQWd1x2lK7thOmetpvCfnkMbkKrjZtykF9HQj9xYz0_PeAizmdG4Rv_y5JXpAjGF5-yl6pT7fFFQdTSdvpGWJdJ-4O0DKFrxPSb6WQnyHnRzW_0NFrN6K6efR4RmESJ7-T80kO7PfehtjnOMZBVhCT4HEQZbNtah82MAOvYqpcDNbsdzmqDnam2YFtdje58ZE4DEbHE8eM2Vz1HqxFoztlNnC-qpt6mQlsF1dsJie8obCTKv_Y=",
  "id": "rs_09ad5e714aef96b4016ab4700a65e487d097610e36cb9266ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.225,\"right_z\":0.105,\"right_gripper\":0.55},\"note\":\"The lid did not lift; the wrist view shows the fingertips still outside its edge. I’m moving the sideways opening a few centimeters inward to the lip, rather than attempting another blind pinch.\"}",
  "call_id": "call_gKnWlPDA8KGGACuGSUcUEcQf",
  "id": "fc_09ad5e714aef96b4016ab4700fa76487d0b718a51a77f28e29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gKnWlPDA8KGGACuGSUcUEcQf",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6716, -0.6147, -0.0193, -0.0574, 0.9998, 0.5808, 1.9995, 0.9459, 0.7879, 0.4736, 1.6447, 0.5453]\nstate[eef_state]: left_x=0.27 left_y=0.0019 left_z=0.1553 left_yaw=0.0137 left_pitch=-0.193 left_roll=-0.0132 left_gripper=0.9998 right_x=0.4791 right_y=0.2224 right_z=0.1094 right_yaw=-0.4985 right_pitch=-0.1719 right_roll=1.3981 right_gripper=0.5453\nstate[joint_eff]: [-0.1299, -1.6068, 6.8308, 1.6044, -0.0366, -0.0611, -0.0122, -0.5402, -8.1162, 6.0786, 1.663, 0.0513, -0.1001, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ce84977851d1fc78cecc437508d81624107bfd00d06d674682975f69f02e82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a90ac5c4e1814d7b5c5a95ce5781dc3c134dfdcb0d7f585e8b563c3724ad6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3266e1faf4474320b87dbb09c07627f8ce38a8ed75c44eeacd93723d29deefa",
      "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 · 3.122 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0189, -0.0574, 0.9998, 0.5835, 1.7691, 0.7834, 0.5667, 0.4992, 1.4117, 0.5454]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0133 left_pitch=-0.1667 left_roll=-0.0143 left_gripper=0.9998 right_x=0.4312 right_y=0.1876 right_z=0.1083 right_yaw=-0.4978 right_pitch=-0.1156 right_roll=1.0682 right_gripper=0.5454\nstate[joint_eff]: [-0.0615, -1.2376, 6.9128, 1.5897, -0.022, -0.0415, -0.0171, -0.4991, -10.1538, 7.4188, 1.8926, 0.0611, -0.0659, -0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.6075, -0.0189, -0.0574, 0.9998, 0.6025, 1.7367, 0.8589, 0.6273, 0.4931, 1.6432, 0.0189]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1577 left_yaw=0.0133 left_pitch=-0.1812 left_roll=-0.0139 left_gripper=0.9998 right_x=0.4451 right_y=0.209 right_z=0.1665 right_yaw=-0.4935 right_pitch=-0.1596 right_roll=1.4082 right_gripper=0.0189\nstate[joint_eff]: [-0.0342, -1.2376, 6.8308, 1.7363, -0.0464, -0.0562, -0.0122, 0.3624, -10.6872, 8.1299, 2.1319, 0.2125, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6716, -0.6147, -0.0193, -0.0574, 0.9998, 0.5808, 1.9995, 0.9459, 0.7879, 0.4736, 1.6447, 0.5453]\nstate[eef_state]: left_x=0.27 left_y=0.0019 left_z=0.1553 left_yaw=0.0137 left_pitch=-0.193 left_roll=-0.0132 left_gripper=0.9998 right_x=0.4791 right_y=0.2224 right_z=0.1094 right_yaw=-0.4985 right_pitch=-0.1719 right_roll=1.3981 right_gripper=0.5453\nstate[joint_eff]: [-0.1299, -1.6068, 6.8308, 1.6044, -0.0366, -0.0611, -0.0122, -0.5402, -8.1162, 6.0786, 1.663, 0.0513, -0.1001, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ce84977851d1fc78cecc437508d81624107bfd00d06d674682975f69f02e82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a90ac5c4e1814d7b5c5a95ce5781dc3c134dfdcb0d7f585e8b563c3724ad6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3266e1faf4474320b87dbb09c07627f8ce38a8ed75c44eeacd93723d29deefa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHAUWCwdRTV1HORyv-vVuKkk_RCcR6U1N7eufHNixCH8Rx-frXWXLk0cqz_nZvrPicDrAXYJL4Stg02b2pK41GgjQY7O2lWy7lz3DCjLZL7hYDhWA2yaMqY8RWHGv977W5gXxegZFrx4qu7WTcgKFtZIevdTu2aVo8MS_0WV5HInl7fBPunoXJLfrJGAD4rC7OHlTR7ExOIlYqkQxrfctcZ3zERjC77NaUhfKbZ1WHhb4ekqXQaenilnGsEhQcCEQzrYCaY8zX9eSGL2NLjVl1sBMHxMQhVBmw1rvgHtAMSNumP-y_EMlC-VsU-tekMc_MaqpjOqmukyd1y2u-wet9LSqM8OYH49EEd_MaGOA1XifeLlbpHyapbJJZTIjggF5ikUO5lVpozvwKoIpZTA1nFUxFkIB0KMlMIUIYgrKKpHvZn_uD8xhRj5JJoicTkrcOFEpAtW0dMJGYpEHDNn0K4qvnB6y1nE04LBBaabACq_zAsqlR2vcjryjjKx8-luRycY-Ck5k3bD6gsMd_6P9nCpM1S1436HKWcxrqHvGL3jr29azUTixnLvsTaIXLbGrd9DjEjaNTlj6QGSuOmtpzMwpmHIyXpojPDSorZGpnlERWjCqs19cfPSZGkvcitsQcSCpL6OE3BBfQU4n3zD_pUMSHoFtJcwaPLOqPueQKo6OZztv4f0EFysc6ItdZ91d7sp0iXNwly0Z3fYUFPTMFPz6iawEiUzfZRHd7Fk7oApfgsDLfZi-4vkZmkH1eDS0M-5tOSoobUxp0dQUTNlRCcmMVaAmaVscGfgEfhjQX2zhcZ_sQ1YhxRZuk2UMUbY4T4jKtKNra7-Th0Hu_CBo_G7B1ao9Rvoo9x1yB4e5E-NtYLotSazV3xJiELbzSnGvHJUrf1yd8uAP8ha-sDLTReCx6LO-rGMUx5S6MhEW3GH30Pu5WehHcDD_piPMqOXyKZSTIyw7806AoM2L1l00RhV1VNUwXUhmSsXung-hFV5Pj8OmvEvMgNLQV4aDkVNcf0IjFaXblEQmzhPir-GapFS8ieE-qca3z6xapOItAvLWAWImm6x2KUlhwSmhMfxInAvg4LzZ3xFEnr6Hd4aptuGZ7rn0Kjx4YGy3gV9DLQhaVWLceF_ruy-19QWfGnZM3BCRmVoIfGj9gzIbYAeN0BrisTI1pn6gqzSmJ_f3iod3QfOXR8awsYGGXeoCNZocHoYP_DbioNjQG9g7R9dztGRipfYmCA33hda-HMyI74tCik8yvLTpj-F-Dg6cAnqndw6RoZjbb8SPqijs_p6fyHwpRpFvZX4_51-nbwN76_QnHsOfk2FkOLHatDOX96HJ6ped2svxzF3FWKi_EPeX2Ih2Bu23oo7JNQQk4ItnnuwbhM=",
  "id": "rs_09ad5e714aef96b4016ab470128f7087d0b7b779a31ac8b6ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The two fingertips now straddle the lid seam in the sideways view. I’m closing around that edge before attempting to lift it.\"}",
  "call_id": "call_GT6Odz0nVJfO2Hd4LrABgWDc",
  "id": "fc_09ad5e714aef96b4016ab47013992887d09605a56dc7e9c8ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GT6Odz0nVJfO2Hd4LrABgWDc",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.831, 0.6716, -0.6159, -0.0193, -0.0574, 0.9998, 0.5804, 2.03, 0.9527, 0.8211, 0.4694, 1.6386, 0.0145]\nstate[eef_state]: left_x=0.2698 left_y=0.0019 left_z=0.1548 left_yaw=0.0138 left_pitch=-0.1953 left_roll=-0.0131 left_gripper=0.9998 right_x=0.482 right_y=0.2248 right_z=0.1039 right_yaw=-0.4927 right_pitch=-0.165 right_roll=1.4022 right_gripper=0.0145\nstate[joint_eff]: [-0.0615, -1.4017, 6.8444, 1.5507, -0.0659, -0.0659, -0.0122, -0.4444, -9.1556, 6.2017, 1.8632, 0.0513, -0.0269, 1.2918]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9568d96e092390ce7841ad9cfab426f5b6dc781e4cfb509ce09f1d4bd6ca0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d43c7c6a16c6bfdb4cba7aca017299869c02964b0c32120f0450358d661a67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e60d5a61f19dca63492a5b7523683941f1b9e5a46927d0ac9c7261ea051f0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.741 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.593, -0.0193, -0.0574, 0.9998, 0.5816, 1.7691, 0.7853, 0.5472, 0.4957, 1.412, 0.0171]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1603 left_yaw=0.0136 left_pitch=-0.1667 left_roll=-0.0141 left_gripper=0.9998 right_x=0.4304 right_y=0.1867 right_z=0.1049 right_yaw=-0.4984 right_pitch=-0.1253 right_roll=1.0536 right_gripper=0.0171\nstate[joint_eff]: [-0.0752, -1.1282, 6.8444, 1.5507, -0.0855, -0.0757, -0.0122, 0.1162, -8.1846, 5.5726, 1.9805, 0.1734, -0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6716, -0.6147, -0.0193, -0.0574, 0.9998, 0.5808, 1.9995, 0.9459, 0.7879, 0.4736, 1.6447, 0.5453]\nstate[eef_state]: left_x=0.27 left_y=0.0019 left_z=0.1553 left_yaw=0.0137 left_pitch=-0.193 left_roll=-0.0132 left_gripper=0.9998 right_x=0.4791 right_y=0.2224 right_z=0.1094 right_yaw=-0.4985 right_pitch=-0.1719 right_roll=1.3981 right_gripper=0.5453\nstate[joint_eff]: [-0.1299, -1.6068, 6.8308, 1.6044, -0.0366, -0.0611, -0.0122, -0.5402, -8.1162, 6.0786, 1.663, 0.0513, -0.1001, -0.1587]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.831, 0.6716, -0.6159, -0.0193, -0.0574, 0.9998, 0.5804, 2.03, 0.9527, 0.8211, 0.4694, 1.6386, 0.0145]\nstate[eef_state]: left_x=0.2698 left_y=0.0019 left_z=0.1548 left_yaw=0.0138 left_pitch=-0.1953 left_roll=-0.0131 left_gripper=0.9998 right_x=0.482 right_y=0.2248 right_z=0.1039 right_yaw=-0.4927 right_pitch=-0.165 right_roll=1.4022 right_gripper=0.0145\nstate[joint_eff]: [-0.0615, -1.4017, 6.8444, 1.5507, -0.0659, -0.0659, -0.0122, -0.4444, -9.1556, 6.2017, 1.8632, 0.0513, -0.0269, 1.2918]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9568d96e092390ce7841ad9cfab426f5b6dc781e4cfb509ce09f1d4bd6ca0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d43c7c6a16c6bfdb4cba7aca017299869c02964b0c32120f0450358d661a67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e60d5a61f19dca63492a5b7523683941f1b9e5a46927d0ac9c7261ea051f0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHAYXAWvjCN09iCaAXJqRunorm3RsK-PYrKO6M3hbSPw50Udqb4vfymeTydMcURac3tAcB3wKGRPIN4CCrfyhSFPcUXvVjjv8tXYFLLllw8sgWtx86CkfU2DDBb-h_6jkNCdSKR7CsAA9i45EYnQbV7yzEmd5Fo23VnpV6_8j-9BbCU16RaeUYuadBAVTFFWDtZXwlRz-v5LIEW8w9XXGs6KfGx_iIciv9xm62Zj5kylBsEdXO-9RczyfFkWEUeDsjF6fcfkix5H1CUqMhK6MCaMBWJz75KtbKsItbnsrX3Sym3AUyAIaDC9H_V3YX0coBD5tJQuq760_WnnkUGP9QjB2Cm-7Bv4lZlO_70dbck3PZJl5l5CUhprGQfYj-Peq7BsFRM3BMjrQI-UJSDlj_eLhcV2w_8FjWON69imVr4-p7qWj9oBDBF3GUyEoELGa3Tyqn4hrIFGnsxfflpgJGodPDlI8e1NX3ZqU8OgXFvQadiy_A4WrYuFm1XZ7hgvjbzul3B-eWErKlsV17g3N7XEOJETlrY63d0gFbGOgXT4zyidnJbXvxqyvz3HVtTz4iY__gE1jYh1bqOHgE2hxwZ-Dqra3-4M64yciJWKNYfh4cilSWd2Cd5OtLlxym7SrA7wFP9OLhlaZFvoVtx_V3zICjNiQAfayOvFhUBfSUhkMFv8LhHGWDKmas6ArJy4lV4bgeCO4eX4iZ9xm8bFphpZDeLONqSPFJYdisP7oYPbQA3C_v0LEwJ1c6vAnyzPMRw79KELEW9iuiqOUHs3ktjx0evSyOikeDwZdhf0ua1I4kg7a_TDVGvQDcm7DFvznxc46gTMbuf6K2jkFAunC0331UacQM_PFLQDesqWRm0KgN0UNX_fU9JLBytrFs6QqTLPiKhB7LHhxOeBLL4L8rFO3E1oPX4GarknAwpIjOSRym86RjpzqEd9cPUaBTLw__LDnStLc_wpaMLtAe4nn4_nljtbH-ixASOktSrYbP5FDm2twJziRh6fLb1Ein7mdrWQgAUNoDjJnkQioqIysAslIlUA83nQIHMnW7jWkU6_QHfVlFqaxQ8TnYuNnYOANpQMp9lfbKH3fRaCjA_ax3NFLCvtNiSJBhx-lwqVNcP1TLnqcX9Sy_I4CkBQwYoyLhTZEL6BZxCKIS-iLMDqvmngm-lARzCWk-EN3Wmpgr6-ebmVUuhrNV3aN6hhS5bMPKaBxYIJlsk1HS4pyobUSwOkpaFknM4V7Z-cwV4UB4Y5u6KZtmufspBKOP7EDmK_ZhctmeB35JPruWSAW8AhbU3yMPYG6RPDowDSSIIwL56_X2koYgpTQIz9opqez0ZVp8Nn",
  "id": "rs_09ad5e714aef96b4016ab4701654d087d08ec9afafb0991146",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.24,\"right_z\":0.22},\"note\":\"The lid is thin enough that the gripper reading alone is inconclusive. I’m lifting gently along its opening direction and checking whether the lid separates from the box.\"}",
  "call_id": "call_RzBEIZEygxNWF3FXfiKNNlQt",
  "id": "fc_09ad5e714aef96b4016ab4701743a487d0a0114246e20b1364",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RzBEIZEygxNWF3FXfiKNNlQt",
  "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]: [-0.0189, 0.8318, 0.6716, -0.6319, -0.0193, -0.0578, 0.9998, 0.5728, 1.9156, 1.2896, 0.4519, 0.4507, 1.6379, 0.0174]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1518 left_yaw=0.0141 left_pitch=-0.212 left_roll=-0.0128 left_gripper=0.9998 right_x=0.5178 right_y=0.2466 right_z=0.2261 right_yaw=-0.4712 right_pitch=-0.1279 right_roll=1.4758 right_gripper=0.0174\nstate[joint_eff]: [-0.0752, -1.3333, 6.8171, 1.663, -0.0708, -0.0708, -0.0122, -0.7726, -10.1675, 6.2701, 1.4237, 0.0611, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ccee65fa0d7dce1610f450abc2d9140b439137e7202fd7472d3403f95796885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f4e2500db4aaca4374631ffe725bc62acfa626a2d677731876558640c51ee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66691200882eb7633803575f3fead4fbde442a0b811d06d2380983a83dfa3d4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.187 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6716, -0.6075, -0.0189, -0.0574, 0.9998, 0.6025, 1.7367, 0.8589, 0.6273, 0.4931, 1.6432, 0.0189]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1577 left_yaw=0.0133 left_pitch=-0.1812 left_roll=-0.0139 left_gripper=0.9998 right_x=0.4451 right_y=0.209 right_z=0.1665 right_yaw=-0.4935 right_pitch=-0.1596 right_roll=1.4082 right_gripper=0.0189\nstate[joint_eff]: [-0.0342, -1.2376, 6.8308, 1.7363, -0.0464, -0.0562, -0.0122, 0.3624, -10.6872, 8.1299, 2.1319, 0.2125, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.831, 0.6716, -0.6159, -0.0193, -0.0574, 0.9998, 0.5804, 2.03, 0.9527, 0.8211, 0.4694, 1.6386, 0.0145]\nstate[eef_state]: left_x=0.2698 left_y=0.0019 left_z=0.1548 left_yaw=0.0138 left_pitch=-0.1953 left_roll=-0.0131 left_gripper=0.9998 right_x=0.482 right_y=0.2248 right_z=0.1039 right_yaw=-0.4927 right_pitch=-0.165 right_roll=1.4022 right_gripper=0.0145\nstate[joint_eff]: [-0.0615, -1.4017, 6.8444, 1.5507, -0.0659, -0.0659, -0.0122, -0.4444, -9.1556, 6.2017, 1.8632, 0.0513, -0.0269, 1.2918]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8318, 0.6716, -0.6319, -0.0193, -0.0578, 0.9998, 0.5728, 1.9156, 1.2896, 0.4519, 0.4507, 1.6379, 0.0174]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1518 left_yaw=0.0141 left_pitch=-0.212 left_roll=-0.0128 left_gripper=0.9998 right_x=0.5178 right_y=0.2466 right_z=0.2261 right_yaw=-0.4712 right_pitch=-0.1279 right_roll=1.4758 right_gripper=0.0174\nstate[joint_eff]: [-0.0752, -1.3333, 6.8171, 1.663, -0.0708, -0.0708, -0.0122, -0.7726, -10.1675, 6.2701, 1.4237, 0.0611, -0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ccee65fa0d7dce1610f450abc2d9140b439137e7202fd7472d3403f95796885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f4e2500db4aaca4374631ffe725bc62acfa626a2d677731876558640c51ee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66691200882eb7633803575f3fead4fbde442a0b811d06d2380983a83dfa3d4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHAca07MtJ6nBRYog1P4wDc7jqHtlERjcI6rTFajgb93oVpqCzh2SvXECF9vNb_2a2GDEyCWs4P1X7_m9kHMqhQbv5TvWO-QnkQ-xPasScccqYcCGvbHqZ3-7C6lWWS9E-hzxt_6jCRZZYL5CexnmD2B6pV1tpxSY1rE8QD2ezvzJTohoivK0D5MD5fNEMGKQHELIf-pCHbWiqKAtrk6waJG1uErriYxB6exBLL1Ye9KkY7UsLT8O34dPJsjV2kl8mx-10a9Aw4wTS2-WbdJxzZYr8k3tWBIMQAa_VMj8CQOR9HSZeL8Pz2lv_xJQicwfsN3m_ObGLe0axUkJLVfvmE9lA_O-3db1JJEGqRg7ZxnLpa8vGN1M5FbLIV_8RQhmnfm2R8B2FZxpCLQNJNLTwoHr_z24McCFByD-YxTkR7U49ShuH1lypApCCNC9b6VgJ-boUBhQTdvzrL_yqjx7T8JUM1SeNuVsJYnja--2uYD9xAKOXk145R0A8xAbsRPYsEUCnQ5dbTI31bCT6ZfmRHKWyzhOob7G3x2sEh2q4K--Q_4FWSVqqMzkH-slgJ_83tfH0746y5PppoaCHLB65He3IlrnLWd5e_M-PNwVQUWWbvW-ke5Tprn5eBVEeS2IX4CI7DyyEtx3Ewq90VwZ2JDNSnKNMHGwYJpidW_6-xPla1G2Q1gKZqCA8JCwxytGydLx34s6uw70339_ICLOCiogfPzma0bp2Oz-8lis1KijofhjAw-SbvUgRdSOaabzKcvcZr-TFprVAq80eTDdGbZK-rJK6Sh25RApNiA2abFfyykikvFVMq6mjK3G9qtl_f71TIQP5M-VpCtzN5weTQ_kK1oMJZj7E4w48pbGIJJwzV4oldFLSUS431efSqE5joAv7drGQIqQACCxGIulMFiPCII5hHRi0srLOPUAlHkEPQdJTAq6KPApa0JIQdV_KYZMVXRXwcYweblYg0pWoUQY3fo2w6QlpiBCciPdjKJlvfjMAq7-bQYRydDxxT-KjhuiTH4rMNXx7S-0a9JoyFMLnMvv1odK9JXchcPcDYeNaHa4nZu1PahUkL70nF8RM10nAATSCB1CHZV-Ff9J2RynNcZkpiUVRi4w5Wqgrwi4DHZaUvbwRU1LXpDuCw7WiXAhz0nHOmQAhjdWtd_9pFrqZ1s2QIqCGoVQEBCFAxg-Mxnb_BQF60b3EMHuW5arfmM6d9qP67suVCTt3W01XT_2cU5mQg6CxtTOO9MjYj2TJnD9errhfHquL5kMk0CV8HyiLnoEHlOk9jyyMAk5Ym1K-9JK1uKj6DM7SptKVSlNmbyt9WBZHYofmxzppJ2BUdn1eXNFUzXt-YwurSzdN5uyv6YUiMy9T9rd8Z4aa1L6cpSBW36rT5xtyJFdxKwimRYgaEV8JX-ar5mJ5Fh0tcbmSbYWBP6ajzSHlA9DL-j5AY=",
  "id": "rs_09ad5e714aef96b4016ab4701a4f1487d0875d50aee608c391",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.001,\"right_z\":0.22,\"right_yaw\":0,\"right_roll\":0,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0.001,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The lid stayed closed, and repeated attempts have not found a reliable grip on its flush edge. I’m parking both arms clear of the safe rather than risk dragging or tipping it again.\"}",
  "call_id": "call_ghg45v3R6gTadX96oU0DxGyL",
  "id": "fc_09ad5e714aef96b4016ab4701af85087d0a6153f576702fd8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ghg45v3R6gTadX96oU0DxGyL",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8112, 0.6716, -0.5301, -0.0227, -0.0647, 0.9998, -0.0021, 0.8757, 0.7937, -0.5137, 0.0025, 0.1081, 0.9975]\nstate[eef_state]: left_x=0.2828 left_y=0.0003 left_z=0.1758 left_yaw=0.0133 left_pitch=-0.0896 left_roll=-0.0202 left_gripper=0.9998 right_x=0.3044 right_y=0.0025 right_z=0.2162 right_yaw=-0.0659 right_pitch=-0.0166 right_roll=0.0874 right_gripper=0.9975\nstate[joint_eff]: [-0.2256, -1.9077, 8.9778, 2.2344, -0.1392, 0.022, -0.0122, -0.1983, -1.7983, 7.3368, 2.1514, -0.0708, -0.0464, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57f536dcd6e4ef37f2ca9b6fbb9450e4af44756c00374d7b1e69d6d4c0c9c58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95a7713d5ea81828efd73d467fe6c3f454554de4901348a672bbf4197d8c4ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5749bee69763c67388e11d81823e08b119de6c84d6e157598e5ae29a6dcadcba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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