adhoc

completed
2026-09-23T22:51:05.953437+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
216 s
total steps
426
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open, with a brown plush toy, a light-colored plush toy, and a yellow object outside it. I’m positioning the right gripper above the brown toy for the first pickup.
move_to
right_x0.3100right_y0.2100right_z0.1500right_gripper1.0000left_x0.2930left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7929, 0.6041, -0.3912, -0.0193, -0.0299, 0.9997, -0.0208, 0.794, 0.6071, -0.3958, -0.0189, -0.0326, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0008 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.4427, 10.2906, 1.9805, -0.1001, 0.1783, -0.0415, -0.3487, -1.5385, 9.6889, 1.917, -0.0513, 0.1929, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.21,"right_z":0.15,"right_gripper":1,"left_x":0.293,"left_y":0,"left_z":0.18},"note":"The safe is open, with a brown plush toy, a light-colored plush toy, and a yellow object outside it. I’m positioning the right gripper above the brown toy for the first pickup."})
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 brown toy is centered near the bottom of the right wrist view, beneath the grasp area. I’m lowering the open jaws around its torso.
move_to
right_x0.3100right_y0.2100right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4095, -0.0223, -0.0353, 0.9997, 0.8902, 1.3891, 0.8257, -0.308, 0.6689, 0.5377, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0014 left_pitch=-0.0194 left_roll=-0.0023 left_gripper=0.9997 right_x=0.3 right_y=0.2021 right_z=0.132 right_yaw=0.0436 right_pitch=-0.0626 right_roll=-0.0621 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.6889, 7.2821, 1.7705, -0.1441, -0.0659, -0.0171, 0.1299, -5.6274, 8.8274, 1.619, 0.5543, 0.1978, -0.0611] 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":0.31,"right_y":0.21,"right_z":0.025},"note":"The brown toy is centered near the bottom of the right wrist view, beneath the grasp area. I’m lowering the open jaws around its torso."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe open jaws now flank the brown plush at table height. I’m closing them to secure the toy before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4274, -0.0219, -0.0383, 0.9997, 0.8822, 1.6855, 0.6334, 0.1135, 0.6571, 0.5312, 0.9995] state[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.171 left_yaw=-0.0 left_pitch=-0.0377 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3016 right_y=0.2023 right_z=0.022 right_yaw=0.0426 right_pitch=-0.1145 right_roll=-0.1114 right_gripper=0.9995 state[joint_eff]: [-0.1573, -1.2239, 7.1863, 1.9072, -0.0269, -0.0317, -0.0122, -0.5265, -6.6256, 4.7385, 1.4432, 0.2857, -0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws now flank the brown plush at table height. I’m closing them to secure the toy before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe jaws closed almost fully, so this may be a thin or unsuccessful grasp. I’m lifting only a few centimeters to check whether the brown toy follows.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8021, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.8825, 1.6978, 0.6231, 0.107, 0.6548, 0.527, 0.0366] state[eef_state]: left_x=0.288 left_y=0.0 left_z=0.1684 left_yaw=-0.0 left_pitch=-0.0495 left_roll=-0.0043 left_gripper=0.9997 right_x=0.2976 right_y=0.1981 right_z=0.014 right_yaw=0.044 right_pitch=-0.1355 right_roll=-0.1351 right_gripper=0.0366 state[joint_eff]: [-0.0752, -1.5658, 7.1316, 1.7998, -0.0513, -0.0659, -0.0122, -0.0889, -7.7333, 5.6547, 1.2869, 0.2759, 0.0073, 0.8571] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The jaws closed almost fully, so this may be a thin or unsuccessful grasp. I’m lifting only a few centimeters to check whether the brown toy follows."})
tool
executing move_to over 5 steps (0.5s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe brown toy did not rise securely; the jaws were too far toward its legs. I’m opening and moving forward toward the thicker body for another grasp.
move_to
right_gripper1.0000right_x0.3500right_y0.2100right_z0.0900left_x0.2930left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0223, -0.0387, 0.9997, 0.8822, 1.5227, 0.7341, -0.1825, 0.6395, 0.524, 0.0371] state[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1651 left_yaw=0.0006 left_pitch=-0.0655 left_roll=-0.0039 left_gripper=0.9997 right_x=0.296 right_y=0.1994 right_z=0.0695 right_yaw=0.0548 right_pitch=-0.1474 right_roll=-0.1314 right_gripper=0.0371 state[joint_eff]: [-0.1846, -0.9778, 7.1726, 1.8437, -0.0366, -0.0708, -0.0171, -0.335, -7.1179, 7.8017, 1.3602, 0.4225, -0.0171, 1.033] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.35,"right_y":0.21,"right_z":0.09,"left_x":0.293,"left_y":0,"left_z":0.18},"note":"The brown toy did not rise securely; the jaws were too far toward its legs. I’m opening and moving forward toward the thicker body for another grasp."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe brown toy’s body is now aligned between the jaws. I’m lowering around it, with a small tilt adjustment to counter the observed wrist sag.
move_to
right_z0.0250right_pitch0.1200right_roll0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8402, 0.6437, -0.506, -0.0219, -0.0456, 0.9997, 0.7738, 1.6299, 0.8951, -0.231, 0.5674, 0.4164, 0.9947] state[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1604 left_yaw=0.0042 left_pitch=-0.1224 left_roll=-0.008 left_gripper=0.9997 right_x=0.3372 right_y=0.2018 right_z=0.0758 right_yaw=0.0547 right_pitch=-0.1936 right_roll=-0.1642 right_gripper=0.9947 state[joint_eff]: [-0.1299, -0.7453, 10.0855, 1.8095, -0.0415, 0.0171, -0.0122, -0.5538, -6.8034, 8.5675, 1.4921, 0.3639, -0.0611, -0.1734] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_pitch":0.12,"right_roll":0.08},"note":"The brown toy’s body is now aligned between the jaws. I’m lowering around it, with a small tilt adjustment to counter the observed wrist sag."})
tool
executing move_to over 11 steps (1.1s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe jaws are positioned around the brown toy’s thicker middle. I’m closing for the second pickup attempt.
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]: [-0.0254, 0.8452, 0.646, -0.5179, -0.0219, -0.046, 0.9997, 0.7841, 1.7916, 0.4961, 0.7029, 0.606, 0.4263, 0.9952] state[eef_state]: left_x=0.283 left_y=0.0003 left_z=0.1579 left_yaw=0.0048 left_pitch=-0.1368 left_roll=-0.0078 left_gripper=0.9997 right_x=0.3382 right_y=0.2003 right_z=0.0301 right_yaw=0.042 right_pitch=0.1039 right_roll=0.0719 right_gripper=0.9952 state[joint_eff]: [-0.0889, -1.8803, 6.7077, 1.6923, -0.0464, -0.0708, -0.0171, 0.0205, -5.094, 3.453, 1.0672, 0.0806, -0.1978, 0.0415] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are positioned around the brown toy’s thicker middle. I’m closing for the second pickup attempt."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe gripper is still nearly closed, so I’ll verify this grasp with a short lift before transporting anything.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8455, 0.646, -0.5259, -0.0219, -0.0463, 0.9997, 0.7841, 1.8046, 0.4843, 0.6968, 0.6014, 0.4202, 0.0411] state[eef_state]: left_x=0.2817 left_y=0.0002 left_z=0.1563 left_yaw=0.0047 left_pitch=-0.1452 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3338 right_y=0.1968 right_z=0.0205 right_yaw=0.0508 right_pitch=0.0795 right_roll=0.0475 right_gripper=0.0411 state[joint_eff]: [-0.1983, -1.2786, 6.9812, 1.6532, -0.0513, -0.0464, -0.0171, -0.1299, -7.9521, 5.012, 1.7656, 0.1978, 0.0269, 0.8327] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The gripper is still nearly closed, so I’ll verify this grasp with a short lift before transporting anything."})
tool
executing move_to over 5 steps (0.5s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe brown toy stayed fixed relative to the wrist camera during the lift, indicating it is held by a thin section. I’m raising it above the safe’s rim before carrying it inward.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8482, 0.646, -0.5369, -0.0223, -0.046, 0.9997, 0.7841, 1.5471, 0.556, 0.3641, 0.5877, 0.4179, 0.0448] state[eef_state]: left_x=0.28 left_y=0.0003 left_z=0.1536 left_yaw=0.0049 left_pitch=-0.159 left_roll=-0.0069 left_gripper=0.9997 right_x=0.3315 right_y=0.1974 right_z=0.0766 right_yaw=0.063 right_pitch=0.0716 right_roll=0.0493 right_gripper=0.0448 state[joint_eff]: [-0.2667, -1.1829, 6.9128, 1.7802, -0.0806, -0.0269, -0.0122, -0.2393, -6.7624, 7.7333, 1.7705, 0.2613, -0.0073, 1.033] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The brown toy stayed fixed relative to the wrist camera during the lift, indicating it is held by a thin section. I’m raising it above the safe’s rim before carrying it inward."})
tool
executing move_to over 8 steps (0.8s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe brown toy is visibly suspended in the gripper. I’m moving it over the open compartment, keeping it raised above the rim.
move_to
right_x0.4600right_y0.3200right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.849, 0.646, -0.5499, -0.0219, -0.0463, 0.9997, 0.7841, 1.3258, 0.8539, -0.1925, 0.5789, 0.4175, 0.0478] state[eef_state]: left_x=0.2778 left_y=0.0003 left_z=0.151 left_yaw=0.0048 left_pitch=-0.1727 left_roll=-0.007 left_gripper=0.9997 right_x=0.3299 right_y=0.1977 right_z=0.176 right_yaw=0.0713 right_pitch=0.04 right_roll=0.0283 right_gripper=0.0478 state[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.7021, -0.0806, -0.0611, -0.0171, -0.212, -6.8991, 9.1829, 1.8974, 0.2759, -0.0122, 1.033] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.32,"right_z":0.22},"note":"The brown toy is visibly suspended in the gripper. I’m moving it over the open compartment, keeping it raised above the rim."})
tool
executing move_to over 11 steps (1.1s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe brown toy is over the safe’s interior. I’m lowering it into the compartment before releasing it.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8532, 0.646, -0.5636, -0.0219, -0.046, 0.9997, 0.7769, 1.9701, 1.6909, -0.4309, 0.5591, 0.3996, 0.0478] state[eef_state]: left_x=0.2756 left_y=0.0004 left_z=0.1475 left_yaw=0.0047 left_pitch=-0.1906 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4493 right_y=0.3154 right_z=0.2022 right_yaw=0.0896 right_pitch=-0.003 right_roll=-0.0067 right_gripper=0.0478 state[joint_eff]: [-0.2256, -1.7709, 6.8581, 1.6777, -0.0562, -0.0269, -0.0171, -0.4855, -11.4667, 8.7043, 1.5897, 0.232, 0.0366, 1.0281] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The brown toy is over the safe’s interior. I’m lowering it into the compartment before releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe brown toy has reached the safe’s compartment. I’m opening the jaws to leave it inside.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5781, -0.0219, -0.0463, 0.9997, 0.7776, 2.0537, 1.3941, -0.104, 0.5556, 0.3992, 0.0478] state[eef_state]: left_x=0.2732 left_y=0.0004 left_z=0.1446 left_yaw=0.005 left_pitch=-0.2066 left_roll=-0.0059 left_gripper=0.9997 right_x=0.442 right_y=0.3095 right_z=0.091 right_yaw=0.0924 right_pitch=-0.0458 right_roll=-0.0391 right_gripper=0.0478 state[joint_eff]: [-0.1983, -1.5248, 6.8718, 1.6532, -0.0611, -0.0317, -0.0171, -0.1436, -10.0444, 6.6256, 1.8291, 0.1734, -0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brown toy has reached the safe’s compartment. I’m opening the jaws to leave it inside."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe brown plush is resting inside the safe. I’m lifting the empty gripper clear of the rim before approaching the yellow object.
move_to
right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5854, -0.0219, -0.0463, 0.9997, 0.7776, 2.0758, 1.38, -0.1173, 0.5518, 0.3923, 0.995] state[eef_state]: left_x=0.2719 left_y=0.0005 left_z=0.1433 left_yaw=0.0051 left_pitch=-0.2139 left_roll=-0.0057 left_gripper=0.9997 right_x=0.4372 right_y=0.3055 right_z=0.072 right_yaw=0.0969 right_pitch=-0.0862 right_roll=-0.0738 right_gripper=0.995 state[joint_eff]: [-0.1983, -1.4838, 7.0359, 1.58, -0.0269, -0.0757, -0.0171, -0.0615, -13.1077, 7.7607, 1.58, 0.1685, 0.0464, -0.2466] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.21},"note":"The brown plush is resting inside the safe. I’m lifting the empty gripper clear of the rim before approaching the yellow object."})
tool
executing move_to over 9 steps (0.9s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe yellow object sits to the right and farther back than the safe’s center. I’m approaching it with the gripper open and tilted forward to improve reach.
move_to
right_x0.5450right_y0.1450right_z0.1500right_pitch0.3500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8566, 0.646, -0.5884, -0.0219, -0.046, 0.9996, 0.778, 2.0006, 1.742, -0.6006, 0.5392, 0.3916, 0.9966] state[eef_state]: left_x=0.2714 left_y=0.0005 left_z=0.1423 left_yaw=0.0049 left_pitch=-0.2188 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4365 right_y=0.3078 right_z=0.1796 right_yaw=0.1038 right_pitch=-0.128 right_roll=-0.0962 right_gripper=0.9966 state[joint_eff]: [-0.1573, -1.6342, 6.8308, 1.5165, -0.0611, -0.022, -0.0171, 0.0342, -13.6684, 8.8274, 1.7509, 0.2857, -0.0317, 0.1538] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.545,"right_y":0.145,"right_z":0.15,"right_pitch":0.35,"right_roll":0},"note":"The yellow object sits to the right and farther back than the safe’s center. I’m approaching it with the gripper open and tilted forward to improve reach."})
tool
executing move_to over 16 steps (1.6s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe yellow object is directly under the right gripper in the overhead view. I’m lowering the open jaws while maintaining the forward tilt needed at this reach.
move_to
right_x0.5300right_y0.1500right_z0.0250right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8585, 0.646, -0.5926, -0.0219, -0.0463, 0.9993, 0.3344, 1.9511, 1.1049, 0.5095, 0.2363, 0.0372, 0.9968] state[eef_state]: left_x=0.2707 left_y=0.0005 left_z=0.1411 left_yaw=0.0051 left_pitch=-0.2249 left_roll=-0.0054 left_gripper=0.9993 right_x=0.5355 right_y=0.1461 right_z=0.1338 right_yaw=0.0965 right_pitch=0.2555 right_roll=-0.0234 right_gripper=0.9968 state[joint_eff]: [-0.1299, -1.6068, 6.8444, 1.5165, -0.0708, -0.0708, -0.0464, -0.4308, -9.4974, 6.188, 2.337, -0.0269, 0.0269, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.15,"right_z":0.025,"right_pitch":0.45},"note":"The yellow object is directly under the right gripper in the overhead view. I’m lowering the open jaws while maintaining the forward tilt needed at this reach."})
tool
executing move_to over 8 steps (0.8s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe descent stopped above the requested height, suggesting contact near the yellow object. I’m closing the jaws and will check the lift before proceeding.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8581, 0.646, -0.6079, -0.0219, -0.0463, 0.9993, 0.3481, 2.3268, 0.9825, 1.2449, 0.2489, 0.0296, 0.9968] state[eef_state]: left_x=0.268 left_y=0.0006 left_z=0.1386 left_yaw=0.0052 left_pitch=-0.2398 left_roll=-0.0049 left_gripper=0.9993 right_x=0.5353 right_y=0.1518 right_z=0.0551 right_yaw=0.0803 right_pitch=0.486 right_roll=0.0293 right_gripper=0.9968 state[joint_eff]: [-0.0205, -1.4564, 6.9402, 1.663, -0.0806, -0.0659, -0.022, 0.3214, -7.5145, 4.0547, 0.486, 0.1245, -0.4567, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped above the requested height, suggesting contact near the yellow object. I’m closing the jaws and will check the lift before proceeding."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe gripper remains about three centimeters open, consistent with holding the yellow object. I’m making a short test lift.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6117, -0.0219, -0.0463, 0.9993, 0.3504, 2.3432, 0.9852, 1.2728, 0.2455, 0.033, 0.3015] state[eef_state]: left_x=0.2673 left_y=0.0006 left_z=0.1379 left_yaw=0.0053 left_pitch=-0.244 left_roll=-0.0048 left_gripper=0.9993 right_x=0.5352 right_y=0.1537 right_z=0.054 right_yaw=0.0817 right_pitch=0.4995 right_roll=0.0378 right_gripper=0.3015 state[joint_eff]: [-0.0342, -1.5111, 6.8034, 1.4969, -0.0659, -0.0464, -0.0171, -0.3761, -12.6427, 3.9179, 1.5653, -0.0415, -0.0562, 0.9109] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The gripper remains about three centimeters open, consistent with holding the yellow object. I’m making a short test lift."})
tool
executing move_to over 5 steps (0.5s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe yellow object stayed between the jaws during the test lift. I’m raising it clear of the safe and the plush toy already inside.
move_to
right_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6147, -0.0219, -0.0463, 0.9993, 0.3504, 2.1639, 0.9737, 1.0786, 0.242, 0.033, 0.3013] state[eef_state]: left_x=0.2668 left_y=0.0006 left_z=0.1374 left_yaw=0.0053 left_pitch=-0.247 left_roll=-0.0047 left_gripper=0.9993 right_x=0.5342 right_y=0.154 right_z=0.0991 right_yaw=0.0886 right_pitch=0.474 right_roll=0.0303 right_gripper=0.3013 state[joint_eff]: [-0.2256, -1.4564, 6.8034, 1.5214, -0.0708, -0.0562, -0.0122, -0.2393, -12.7658, 5.4222, 2.254, 0.0317, -0.022, -0.0317] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.23},"note":"The yellow object stayed between the jaws during the test lift. I’m raising it clear of the safe and the plush toy already inside."})
tool
executing move_to over 9 steps (0.9s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe yellow object is safely raised. I’m moving it over the rear portion of the safe, beside the brown plush.
move_to
right_x0.4900right_y0.3150right_z0.2200right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6304, -0.0219, -0.0463, 0.9993, 0.3504, 1.8732, 1.095, 0.6048, 0.2379, 0.0326, 0.3019] state[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1348 left_yaw=0.0054 left_pitch=-0.2627 left_roll=-0.0042 left_gripper=0.9993 right_x=0.533 right_y=0.1543 right_z=0.1933 right_yaw=0.1001 right_pitch=0.4141 right_roll=0.0132 right_gripper=0.3019 state[joint_eff]: [-0.0889, -1.2786, 6.9538, 1.6093, -0.0464, -0.0366, -0.0122, -0.3761, -12.3966, 9.4291, 2.2784, 0.0171, -0.0513, 0.0464] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.315,"right_z":0.22,"right_pitch":0.2},"note":"The yellow object is safely raised. I’m moving it over the rear portion of the safe, beside the brown plush."})
tool
executing move_to over 14 steps (1.4s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe yellow object is aligned over the open compartment. I’m lowering it into the safe.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6373, -0.0219, -0.0463, 0.9993, 0.7216, 1.9831, 1.5639, -0.0597, 0.5323, 0.2134, 0.302] state[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1336 left_yaw=0.0055 left_pitch=-0.2695 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4859 right_y=0.3129 right_z=0.2067 right_yaw=0.1472 right_pitch=0.1742 right_roll=-0.0221 right_gripper=0.302 state[joint_eff]: [-0.2667, -1.388, 6.9265, 1.4872, -0.0562, -0.0464, -0.0122, 0.2393, -10.5094, 9.4974, 2.0098, 0.3004, 0.1978, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The yellow object is aligned over the open compartment. I’m lowering it into the safe."})
tool
executing move_to over 8 steps (0.8s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe yellow object is inside the safe’s walls. I’m releasing it beside the brown toy.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.86, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1277, 1.3273, 0.2676, 0.5301, 0.2165, 0.302] state[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1332 left_yaw=0.0055 left_pitch=-0.2714 left_roll=-0.0039 left_gripper=0.9993 right_x=0.48 right_y=0.3102 right_z=0.0893 right_yaw=0.1544 right_pitch=0.1284 right_roll=-0.0478 right_gripper=0.302 state[joint_eff]: [-0.1162, -1.5795, 6.8034, 1.453, -0.0806, -0.0562, -0.0122, -0.2803, -10.5368, 6.4752, 1.9121, 0.1832, -0.0464, -0.0171] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is inside the safe’s walls. I’m releasing it beside the brown toy."})
tool
executing move_to over 7 steps (0.7s)
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 brown toy and yellow object are in the safe; the light-colored plush remains outside on the left. I’m clearing the right gripper while bringing the left gripper above that final object.
move_to
right_z0.2300left_x0.3650left_y-0.2450left_z0.1500left_pitch0.1000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8604, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1487, 1.3144, 0.26, 0.527, 0.2111, 0.9946] state[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1331 left_yaw=0.0055 left_pitch=-0.2718 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4762 right_y=0.3074 right_z=0.0711 right_yaw=0.1623 right_pitch=0.0923 right_roll=-0.0737 right_gripper=0.9946 state[joint_eff]: [-0.1162, -1.4701, 6.8855, 1.4237, -0.0562, -0.0757, -0.0122, -0.3761, -13.6274, 7.3641, 1.6728, 0.1294, 0.0317, 0.0024] 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_z":0.23,"left_x":0.365,"left_y":-0.245,"left_z":0.15,"left_pitch":0.1,"left_roll":0,"left_gripper":1},"note":"The brown toy and yellow object are in the safe; the light-colored plush remains outside on the left. I’m clearing the right gripper while bringing the left gripper above that final object."})
tool
executing move_to over 22 steps (2.2s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe light plush appears slightly left of the jaw center in the wrist view. I’m adjusting over its body and lowering the left gripper while parking the right arm out of the way.
move_to
right_x0.2930right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000left_x0.3850left_y-0.2200left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8673, 1.6192, 0.9432, -0.1081, -0.733, -0.5537, 0.9993, 0.725, 2.0022, 1.6577, -0.3328, 0.5201, 0.2062, 0.9952] state[eef_state]: left_x=0.3543 left_y=-0.2294 left_z=0.1272 left_yaw=0.0044 left_pitch=0.0266 left_roll=0.0445 left_gripper=0.9993 right_x=0.4716 right_y=0.3053 right_z=0.1857 right_yaw=0.1738 right_pitch=0.0024 right_roll=-0.129 right_gripper=0.9952 state[joint_eff]: [-0.9641, -7.2821, 9.2513, 1.8242, -0.4322, 0.1538, -0.0855, -0.1983, -14.5846, 10.3453, 2.1563, 0.1978, 0.0952, 0.0562] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"left_x":0.385,"left_y":-0.22,"left_z":0.025},"note":"The light plush appears slightly left of the jaw center in the wrist view. I’m adjusting over its body and lowering the left gripper while parking the right arm out of the way."})
tool
executing move_to over 26 steps (2.6s)
step 247
top_cam
camera top_cam step 247
left_cam
camera left_cam step 247
right_cam
camera right_cam step 247
assistant
agent noteThe left jaws are down around the light-colored plush, with contact limiting the descent. I’m closing them to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7883, 1.9049, 0.8223, 0.3756, -0.6926, -0.4988, 0.9992, -0.1661, 0.8482, 0.7139, -0.4847, -0.223, -0.1818, 0.9953] state[eef_state]: left_x=0.3866 left_y=-0.2238 left_z=0.0395 left_yaw=0.0267 left_pitch=0.0562 left_roll=0.0158 left_gripper=0.9992 right_x=0.2968 right_y=-0.0065 right_z=0.1962 right_yaw=0.1065 right_pitch=-0.0188 right_roll=-0.0045 right_gripper=0.9953 state[joint_eff]: [0.5675, -6.6393, 3.9863, 1.4383, -0.0659, 0.2759, -0.0171, -0.1573, -2.0034, 6.8444, 1.9853, -0.2466, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are down around the light-colored plush, with contact limiting the descent. I’m closing them to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 257
top_cam
camera top_cam step 257
assistant
agent noteThe left gripper stopped at a substantial opening, consistent with a plush grasp. I’m lifting a few centimeters to confirm that the light-colored toy comes with it.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7914, 1.9076, 0.8181, 0.3973, -0.693, -0.5068, 0.2058, -0.1646, 0.8528, 0.7139, -0.5224, -0.2283, -0.1986, 0.9953] state[eef_state]: left_x=0.3868 left_y=-0.2258 left_z=0.0405 left_yaw=0.029 left_pitch=0.0666 left_roll=-0.0018 left_gripper=0.2058 right_x=0.2917 right_y=-0.0043 right_z=0.1878 right_yaw=0.1221 right_pitch=-0.0587 right_roll=-0.0034 right_gripper=0.9953 state[joint_eff]: [-0.0752, -9.0325, 5.3812, 1.3114, -0.2418, 0.0171, 0.8718, -0.1709, -1.6615, 7.0906, 2.0488, -0.1099, 0.1148, -0.0122] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The left gripper stopped at a substantial opening, consistent with a plush grasp. I’m lifting a few centimeters to confirm that the light-colored toy comes with it."})
tool
executing move_to over 4 steps (0.4s)
step 261
assistant
agent noteThe light plush has lifted with the left gripper. I’m raising it above the safe’s rim before moving it into the remaining space.
move_to
left_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7914, 1.7866, 0.865, 0.1963, -0.6926, -0.5144, 0.2084, -0.1646, 0.8547, 0.7136, -0.5507, -0.2283, -0.1997, 0.9953] state[eef_state]: left_x=0.3827 left_y=-0.2217 left_z=0.0744 left_yaw=0.0315 left_pitch=0.0439 left_roll=0.0157 left_gripper=0.2084 right_x=0.2876 right_y=-0.0036 right_z=0.1818 right_yaw=0.1234 right_pitch=-0.0879 right_roll=0.0044 right_gripper=0.9953 state[joint_eff]: [-0.0889, -10.5641, 8.5265, 1.7314, -0.3199, 0.0806, 0.2613, -0.0479, -1.5658, 6.8991, 1.9512, -0.1197, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.24},"note":"The light plush has lifted with the left gripper. I’m raising it above the safe’s rim before moving it into the remaining space."})
tool
executing move_to over 11 steps (1.1s)
step 272
assistant
agent noteThe last plush is clear of the tabletop, and its original spot is empty. I’m moving it over the safe’s center.
move_to
left_x0.4650left_y-0.3300left_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7914, 1.6112, 1.2781, -0.4507, -0.6922, -0.5289, 0.212, -0.1646, 0.8558, 0.7136, -0.59, -0.2283, -0.2024, 0.9953] state[eef_state]: left_x=0.3835 left_y=-0.2226 left_z=0.2071 left_yaw=0.0382 left_pitch=0.0045 left_roll=0.0461 left_gripper=0.212 right_x=0.2815 right_y=-0.0026 right_z=0.1743 right_yaw=0.1261 right_pitch=-0.1267 right_roll=0.0139 right_gripper=0.9953 state[joint_eff]: [-0.0479, -10.6735, 9.4838, 1.6337, -0.2759, 0.0952, 0.359, -0.1709, -1.388, 6.8991, 1.9951, -0.1148, -0.0073, -0.0171] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.33,"left_z":0.24},"note":"The last plush is clear of the tabletop, and its original spot is empty. I’m moving it over the safe’s center."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe last plush is over the compartment. I’m lowering it gently onto the other contents.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8257, 2.1628, 2.1025, -0.7681, -0.704, -0.5743, 0.2143, -0.1646, 0.8612, 0.7136, -0.6167, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.4623 left_y=-0.3272 left_z=0.2255 left_yaw=0.0371 left_pitch=-0.0174 left_roll=0.0474 left_gripper=0.2143 right_x=0.2775 right_y=-0.0019 right_z=0.1682 right_yaw=0.1277 right_pitch=-0.1574 right_roll=0.023 right_gripper=0.9953 state[joint_eff]: [-0.6222, -12.8752, 8.7179, 1.072, -0.4567, 0.0513, 0.232, -0.0752, -1.9214, 6.8171, 1.7705, -0.1392, -0.0317, -0.0171] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The last plush is over the compartment. I’m lowering it gently onto the other contents."})
tool
executing move_to over 9 steps (0.9s)
step 291
assistant
agent noteThe light plush has reached the contents of the safe. I’m releasing it so it can settle into the compartment.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8253, 2.1944, 1.6497, -0.334, -0.693, -0.5747, 0.2171, -0.1646, 0.8623, 0.7136, -0.6357, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.4561 left_y=-0.3224 left_z=0.0922 left_yaw=0.0316 left_pitch=-0.0566 left_roll=0.0798 left_gripper=0.2171 right_x=0.2743 right_y=-0.0014 right_z=0.1646 right_yaw=0.1286 right_pitch=-0.1767 right_roll=0.0289 right_gripper=0.9953 state[joint_eff]: [-0.1162, -11.494, 6.4068, 1.5897, -0.398, -0.0366, 0.2759, 0.0068, -1.5658, 6.8444, 1.6972, -0.1343, -0.0415, -0.0171] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The light plush has reached the contents of the safe. I’m releasing it so it can settle into the compartment."})
tool
executing move_to over 8 steps (0.8s)
step 299
assistant
agent noteAll three objects have been transferred to the safe, though the plush toys may need to settle below the lid. I’m lifting the left gripper clear to inspect the rim before closing.
move_to
left_z0.2700left_x0.4300left_y-0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8253, 2.2089, 1.6321, -0.3443, -0.6926, -0.5819, 0.9951, -0.1646, 0.8623, 0.7136, -0.6575, -0.2279, -0.2024, 0.9953] state[eef_state]: left_x=0.4518 left_y=-0.3178 left_z=0.0768 left_yaw=0.0376 left_pitch=-0.084 left_roll=0.106 left_gripper=0.9951 right_x=0.2706 right_y=-0.0009 right_z=0.1609 right_yaw=0.1293 right_pitch=-0.1976 right_roll=0.0353 right_gripper=0.9953 state[joint_eff]: [-0.294, -13.8051, 7.7607, 1.3846, -0.3736, 0.0122, -0.0366, 0.0068, -1.4564, 6.9128, 1.7118, -0.105, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.27,"left_x":0.43,"left_y":-0.22},"note":"All three objects have been transferred to the safe, though the plush toys may need to settle below the lid. I’m lifting the left gripper clear to inspect the rim before closing."})
tool
executing move_to over 13 steps (1.3s)
step 312
assistant
agent noteThe light-colored plush has settled over the front-left edge rather than fully inside. I’m returning to it so I can place it deeper in the safe before closing the lid.
move_to
left_x0.3900left_y-0.2250left_z0.0250left_pitch0.1500left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6979, 1.8591, 1.779, -0.8124, -0.6155, -0.4828, 0.9963, -0.1646, 0.8677, 0.7124, -0.6762, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.4345 left_y=-0.2267 left_z=0.2386 left_yaw=0.057 left_pitch=-0.1147 left_roll=0.1207 left_gripper=0.9963 right_x=0.2674 right_y=-0.0003 right_z=0.156 right_yaw=0.1314 right_pitch=-0.2216 right_roll=0.0428 right_gripper=0.9953 state[joint_eff]: [0.5128, -12.7932, 9.0598, 1.3016, -0.2027, 0.1587, 0.1148, -0.1983, -1.935, 6.8444, 1.6532, -0.1636, -0.0415, -0.0171] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.225,"left_z":0.025,"left_pitch":0.15,"left_roll":0},"note":"The light-colored plush has settled over the front-left edge rather than fully inside. I’m returning to it so I can place it deeper in the safe before closing the lid."})
tool
executing move_to over 14 steps (1.4s)
step 326
assistant
agent noteThe left gripper is back around the light plush at the front-left edge. I’m securing it for a deeper placement.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8013, 1.9736, 0.8059, 0.4961, -0.765, -0.4839, 0.9966, -0.1646, 0.8688, 0.7124, -0.6952, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.3893 left_y=-0.2209 left_z=0.0303 left_yaw=0.0611 left_pitch=0.114 left_roll=0.0334 left_gripper=0.9966 right_x=0.2641 right_y=0.0003 right_z=0.1526 right_yaw=0.1328 right_pitch=-0.2409 right_roll=0.0488 right_gripper=0.9953 state[joint_eff]: [-0.6359, -6.5709, 3.6308, 1.0525, 0.0904, -0.0122, 0.022, -0.1026, -1.5385, 6.7487, 1.6337, -0.1587, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper is back around the light plush at the front-left edge. I’m securing it for a deeper placement."})
tool
executing move_to over 10 steps (1.0s)
step 336
assistant
agent noteThat close was empty, and the pale feature appears to be the safe’s front hardware rather than another loose toy. The yellow object and brown plush are inside; I’m clearing the gripper to approach the lid.
move_to
left_z0.2700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7975, 1.9747, 0.7986, 0.5186, -0.8082, -0.4881, 0.0116, -0.1646, 0.8688, 0.7124, -0.7185, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.3912 left_y=-0.2128 left_z=0.0344 left_yaw=0.1004 left_pitch=0.1435 left_roll=0.0357 left_gripper=0.0116 right_x=0.2598 right_y=0.001 right_z=0.149 right_yaw=0.1345 right_pitch=-0.2632 right_roll=0.0559 right_gripper=0.9953 state[joint_eff]: [-0.1299, -9.0325, 5.7778, 1.3944, -0.0317, 0.0073, 1.0037, -0.1846, -1.2513, 6.7624, 1.6239, -0.1245, -0.0562, -0.0171] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.27,"left_gripper":1},"note":"That close was empty, and the pale feature appears to be the safe’s front hardware rather than another loose toy. The yellow object and brown plush are inside; I’m clearing the gripper to approach the lid."})
tool
executing move_to over 16 steps (1.6s)
step 352
assistant
agent noteWith the arm clear, a small light-colored plush is visible just in front of the safe. My previous grasp was too far forward; I’m lowering closer to its body.
move_to
left_x0.3350left_y-0.2050left_z0.0150left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7979, 1.6081, 1.33, -0.4103, -0.8055, -0.5068, 0.9972, -0.1646, 0.8734, 0.7124, -0.7319, -0.2283, -0.2024, 0.9953] state[eef_state]: left_x=0.3945 left_y=-0.2168 left_z=0.2441 left_yaw=0.1051 left_pitch=0.1235 left_roll=0.0421 left_gripper=0.9972 right_x=0.2575 right_y=0.0014 right_z=0.1459 right_yaw=0.1358 right_pitch=-0.2803 right_roll=0.0617 right_gripper=0.9953 state[joint_eff]: [-0.1983, -10.1812, 9.3744, 1.3651, -0.3297, 0.1929, -0.1538, -0.1846, -1.6889, 6.694, 1.5018, -0.1636, -0.0317, -0.0171] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.205,"left_z":0.015,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"With the arm clear, a small light-colored plush is visible just in front of the safe. My previous grasp was too far forward; I’m lowering closer to its body."})
tool
executing move_to over 15 steps (1.5s)
step 367
assistant
agent noteThe light plush is now between the left jaws rather than beyond them. I’m closing around its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8711, 1.8172, 0.7113, 0.2394, -0.7868, -0.7017, 0.9984, -0.1646, 0.8753, 0.712, -0.7464, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.3393 left_y=-0.2033 left_z=0.0276 left_yaw=0.1165 left_pitch=0.0116 left_roll=0.0088 left_gripper=0.9984 right_x=0.2548 right_y=0.0018 right_z=0.1431 right_yaw=0.1375 right_pitch=-0.2963 right_roll=0.0666 right_gripper=0.9953 state[joint_eff]: [-0.8957, -5.7915, 3.1248, 0.9011, -0.1441, 0.0708, -0.1783, -0.0615, -1.6068, 6.694, 1.5067, -0.1636, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The light plush is now between the left jaws rather than beyond them. I’m closing around its body."})
tool
executing move_to over 10 steps (1.0s)
step 377
assistant
agent noteThe jaws have retained a small but definite thickness of the light plush. I’m lifting it up and inward toward the open safe, clearing the front rim.
move_to
left_x0.4900left_y-0.3200left_z0.2300left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.87, 1.8175, 0.7132, 0.2543, -0.8013, -0.6975, 0.1071, -0.1646, 0.8753, 0.712, -0.7559, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.342 left_y=-0.203 left_z=0.0313 left_yaw=0.125 left_pitch=0.0298 left_roll=0.0046 left_gripper=0.1071 right_x=0.253 right_y=0.0021 right_z=0.1417 right_yaw=0.1384 right_pitch=-0.3054 right_roll=0.0696 right_gripper=0.9953 state[joint_eff]: [-0.3624, -7.8564, 4.9162, 1.1648, -0.2418, -0.0855, 0.5934, -0.0342, -1.1009, 6.653, 1.4579, -0.1734, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.32,"left_z":0.23,"left_pitch":0.15},"note":"The jaws have retained a small but definite thickness of the light plush. I’m lifting it up and inward toward the open safe, clearing the front rim."})
tool
executing move_to over 13 steps (1.3s)
step 390
assistant
agent noteThe final small object has moved off the tabletop and is above the safe. I’m releasing it into the compartment.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.812, 2.1475, 1.9152, -0.4183, -0.8196, -0.5678, 0.1079, -0.1646, 0.8787, 0.712, -0.7712, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.4871 left_y=-0.3209 left_z=0.22 left_yaw=0.1393 left_pitch=0.1534 left_roll=-0.0388 left_gripper=0.1079 right_x=0.2502 right_y=0.0026 right_z=0.1387 right_yaw=0.1402 right_pitch=-0.3233 right_roll=0.0755 right_gripper=0.9953 state[joint_eff]: [0.3077, -12.7658, 8.0068, 1.1697, -0.3199, 0.1734, 0.0708, -0.0342, -1.7162, 6.6393, 1.4383, -0.1832, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The final small object has moved off the tabletop and is above the safe. I’m releasing it into the compartment."})
tool
executing move_to over 9 steps (0.9s)
step 399
assistant
agent noteThe objects are in the open compartment. I’m positioning the closed gripper above the lid’s free edge so I can fold it down toward the front.
move_to
left_x0.5800left_y-0.2900left_z0.2650left_pitch0.5000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8108, 2.1601, 1.9163, -0.4461, -0.8204, -0.58, 0.9953, -0.1646, 0.881, 0.712, -0.7883, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.4862 left_y=-0.3188 left_z=0.2094 left_yaw=0.1432 left_pitch=0.1309 left_roll=-0.0174 left_gripper=0.9953 right_x=0.2469 right_y=0.0032 right_z=0.1357 right_yaw=0.1422 right_pitch=-0.3418 right_roll=0.0817 right_gripper=0.9953 state[joint_eff]: [-0.1709, -13.6821, 6.735, 1.746, -0.3394, 0.0513, -0.1001, -0.1573, -1.3744, 6.653, 1.4774, -0.1832, -0.0073, -0.0122] camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_y":-0.29,"left_z":0.265,"left_pitch":0.5,"left_gripper":0},"note":"The objects are in the open compartment. I’m positioning the closed gripper above the lid’s free edge so I can fold it down toward the front."})
tool
executing move_to over 13 steps (1.3s)
step 412
assistant
agent noteThe closed gripper is at the lid’s upper edge. I’m sweeping downward and toward the front to fold the lid over the contents.
move_to
left_x0.4350left_y-0.3100left_z0.0550left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6716, 2.2696, 1.9045, 0.1482, -0.8265, -0.1757, 0.0105, -0.1646, 0.8848, 0.712, -0.7994, -0.2283, -0.2028, 0.9953] state[eef_state]: left_x=0.5729 left_y=-0.2848 left_z=0.2421 left_yaw=0.1607 left_pitch=0.4336 left_roll=0.0045 left_gripper=0.0105 right_x=0.2448 right_y=0.0035 right_z=0.1334 right_yaw=0.1439 right_pitch=-0.356 right_roll=0.0864 right_gripper=0.9953 state[joint_eff]: [0.4034, -13.3402, 10.0444, 1.9219, 0.1343, 0.2515, 0.9695, -0.0205, -1.7162, 6.5983, 1.4237, -0.1832, -0.0171, -0.0171] camera 'top_cam' (step 412): [image omitted: streamed camera frame] camera 'left_cam' (step 412): [image omitted: streamed camera frame] camera 'right_cam' (step 412): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.31,"left_z":0.055,"left_pitch":0.15},"note":"The closed gripper is at the lid’s upper edge. I’m sweeping downward and toward the front to fold the lid over the contents."})
tool
executing move_to over 13 steps (1.3s)
step 425
assistant
agent noteThe objects were transferred into the safe, but the lid remains open after the closing attempt. I cannot complete and verify closure within this trial’s remaining motion budget.
give_up
hindsightThe initial pale object near the safe’s front-left corner was closer to left_x=0.335, left_y=-0.205 than the first estimate; a grasp near x=0.385 caught or disturbed the safe instead. Placement near x=0.46 was too close to the front edge; x≈0.49 placed the small object farther inside. A diagonal sweep from left_x=0.58, left_y=-0.29, left_z=0.265 did not engage the lid, so its free edge needs more precise alignment before attempting closure.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8818, 2.2215, 1.3712, 0.1146, -0.8921, -0.5964, 0.0107, -0.1646, 0.8879, 0.712, -0.8143, -0.2283, -0.2024, 0.9953] state[eef_state]: left_x=0.4401 left_y=-0.3124 left_z=0.0562 left_yaw=0.1267 left_pitch=0.1446 left_roll=0.0324 left_gripper=0.0107 right_x=0.2419 right_y=0.004 right_z=0.1307 right_yaw=0.1457 right_pitch=-0.3731 right_roll=0.0925 right_gripper=0.9953 state[joint_eff]: [-0.3077, -12.5333, 5.5043, 1.4872, -0.4762, -0.1148, 0.862, -0.1026, -1.2103, 6.735, 1.3797, -0.1636, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 425): [image omitted: streamed camera frame] camera 'left_cam' (step 425): [image omitted: streamed camera frame] camera 'right_cam' (step 425): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The objects were transferred into the safe, but the lid remains open after the closing attempt. I cannot complete and verify closure within this trial’s remaining motion budget.","hindsight":"The initial pale object near the safe’s front-left corner was closer to left_x=0.335, left_y=-0.205 than the first estimate; a grasp near x=0.385 caught or disturbed the safe instead. Placement near x=0.46 was too close to the front edge; x≈0.49 placed the small object farther inside. A diagonal sweep from left_x=0.58, left_y=-0.29, left_z=0.265 did not engage the lid, so its free edge needs more precise alignment before attempting closure."})
tool
give_up: The objects were transferred into the safe, but the lid remains open after the closing attempt. I cannot complete and verify closure within this trial’s remaining motion budget.
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 · 9.063 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6041, -0.3912, -0.0193, -0.0299, 0.9997, -0.0208, 0.794, 0.6071, -0.3958, -0.0189, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0008 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4427, 10.2906, 1.9805, -0.1001, 0.1783, -0.0415, -0.3487, -1.5385, 9.6889, 1.917, -0.0513, 0.1929, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674fe59b4872b008b928f1eea25bfd81db9a13fa82213579a877ae4e1056a59c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca50a22446e27f19d8e3fe120e72fdb729b7a4fc1377c8db428ab803b5df9e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b9e2bd3dfb6fbafe57d532e91e5616ff58ed6fe9c9b91392a225268eb3f7ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.818 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFfrs4izvCGii50PggDYFjWH9OJ_X6azlYJez-kicPnHi16sI-xq7uzWvaUngOoRl4pgfC50pvpgP_5pp6xUfbwDTcaguscEUXZvqG1aBAEkjz8L1mFLd9UF7ZknmPBhRnlP-3A7dVIbIx4-48GYhXzkZWsglqi9QnyzAsifUJjSYsKxeg7EDM14EaQ_3KSjZBqUvCSPLoTz1VJlaux9RPwp28RoHoJaU6dA99K_PKJgPYfni_SNeRlAsJTSxB8GxopxulW0f_t8kyuieF5Jqe5nI5TEojbHWHHhLS1jnmDS40eVclY9LJnL0R-EychzSOs1VcAfcNxcrTtQHkq3m50IriPpq-OFHS9AAraY83HRQY6NdStH05W38PWyln5dS-VxGxpx0SBn-_ZNaUOrmO7O-4gthQc7bfuE827ICWOH385DcokRkTeNMipkghxPCSUQ8VtCMEFCbjAOHk-onPSvDNpDSR-mtAVLh_aoxzt3uo_zygQG1v5nW0BQ4VyFqSpeAwPTLgSqHP6pKQHc9Wczi7Hz8V6p72pt3EBnVFqnhwwclY-VfywoXVYODctkO9xFoZZu5KpIMfIJ94df8CL1u3iIKFrvDnBC_NXi32YGG-psBTUozdb8cU5V62ac-9Waaqev33V3XxV2it-XdSyXX4VWte2s8uR9MVbH7q6svOIJNDBOvVssZ5EVRer0BzYd4gjQl_xVRRL7caj4KdIkdBUKo_Y5kHrdBTLz9X8M8DAhLdvwz9hzMTDuM9QVPedmtHPbxhwwNV5Oq0y8AD0YT3KR_I3YHIpBg_eLq3cgUoUccNCXMqOqlxsUx1AKcBQBHXl7xF8kKdZ9MqMV7sYaC23OuZCwWxoPrl2tMRqtmKO6mFWQoXYGS4sM0GNuJidgQXA4rOJ8_6huDUpJVOEhKqO3QJ3tyitUAeMCavXFd-c6FCcCTSim5WcAFQy_lmXeGdG6E3d5U0nto5IxqXE38RQoT2f-pyTMRbYxJSsOXxfPqzov29KyoUe7tTcnrmiUwlO_IosEaYa6uxkMAUVTPD9RdI1Zp0lz28qmF-Fdrl-ixIr-aqbj4Z0clXNlW1X8cQdbueL8d673_Pm2VDIRd5-cMHyHR2WVO56lgvsbsznjUB6q0xBCwr2cr6O-oFaiRkfumn6nU18wm0MEMZqIBtyEW16OoGZFpUnRRvnB1V5AeywGzFKmyfaKrsuOvJWbMlml3YsaorBWIZsZbwHWtWMUInCNEcJrE1-ngjuSm2d_mUqbPF7a66-akdxvOCNT7q4JevArq3b5LWXnGdE6-F6SnETdUaB44NXv1lpvPERjKiK8sz8TxlFH6MZUF-nZJ6qN14RnI0rIJKhwRA2KHYVTh9AOfHQW5erEHMzN0Zg6NYh5FC9zqIQBVgl4wBcEaTh23h_LwIgEz_mVdN2DX9Q4oFkMyKjIMVCl6G8H72Gw07BwDJTAXa3eVjZgCnOlNYUd7Ug4IhPy1wCnou5bz7mTFKtn2ZQ3cU8zvIkslbJNechMpx2H8i0swMmgCvtyslYTx_lWP0JNMz-F8cseMTxRXQJGFcwHERc3-bY1DwXcqirbbu5i8VfruZYR_8Z59p9kHgMEjlFUsy6a0cwcXIs74jsG5nkxqYswMk8NXjQlgU7UHJ5OQy4zMAg6ClMcADIQFg-FfNH3xJCakbV_FYk5yDp9TWd3rSCvKEPnz2LwiRtVsc4kVdh42p9lV7Yp_3LY50WvO2ky0y7du0UzpJ5JSOnhU7lv2iVUPiJKcIbqlq1l5rq3ShJ7e6lUBFmNga46n4-LSEmvVKCkiKFUxwKFimNWnNGmShyeqbJsRl1LP5pWxzTroMHe39dniPoc5SVX9XCQkC_aE3kGrwf3r43wkmdOvGcVmrNTWugLkZSximJSKeQJq5MxwV--r9aw1umSPFlpGbsiixyedplZZ_c5AC3J9qgAZwUvvxhLZLo0HIPmKxyV03TyrNlQSG6LoY_WDXtUjwYLH0CzzeIJeveADRn3KQ_LqDrD6tUdOS2tsTv4anHCrmncLMDfHfsCXuBcur-HL1yYm_v1eKGm05NIPlsyd7Pj-sKt9U0NWjlO1o1vLPKLWvwlPPVVG_5mwmQRaJDFsan9KPtCLgR6kp5UvLaIfMZQUXMLTc1Zt56uMajFgw7V2Mj-tXUZKK8ILXFnhkWKks9SDLB2V_b3RYZVneas3A2yFMcL7kcHrQmJNJyWi6Xr16QEaW1EvQV9YjZk9ItBe4eCCWceDkaunjeOGcKDp3sJ9BDNkhmTAf45fj4YdjqLqslUMnuftnOKMDfpsH4uUNvsNZ0ZGz1qOw8-trBMydeGKrjhaFXMTSL7TGF70bMsODm81F3myGluliHOC0HPkBzgO0wv-Lq282Geh_WkkRUcrc6eLniJSqCtjZnpT1kKGLiKmdyzm4_tGt7HpEhJBq3RaGpXg2Pa2-JyL6PWRkRP5IDhh3Dnfb84RHJi_e6vzzFLOny7CjWyjxzDj5l2bK7E0gON6ckgQV9x105gWFTKrsa3yrXbL9cJBH9wNgng0rcea9m-KsOKd3LptUknU270WWyESWs9ht1JXqP2DeLDiE4jVH9upGzHoZ2PgQtrgOgp7dqFtegQlRmHc2QdtVTcNPz9chfNlOle8ZbBq-8hYReOlRcnT5aqMInXbYx__SN-_ux37Rz73Mw6vmcQXi5BcXJKUAMIiybzqKK_MwSGtaRhtCdRtf5GqoKCUpEO7f35tYC_9vocg8Ih075tY1mNJ5jgD16SKCiJdr7yHko3ZIdYFml7TjsSLgldkj7HBMuiUcKlDNTAKyGJwVlM_OSUgqS4uYQLU9SMny5-9z0HM_vsOt5ZgP1xk4-pTPxt66kzlai-MEW8hYCYrnqcU0ZLfWHjzoaXtoVPccdsNYOVKoG-EFADIu0=",
  "id": "rs_0aa00866861980ca016ab457e331a487d08fe6c1994a508fde",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.21,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The safe is open, with a brown plush toy, a light-colored plush toy, and a yellow object outside it. I’m positioning the right gripper above the brown toy for the first pickup.\"}",
  "call_id": "call_ZxraXEeYgXdDcERTYFOTrd16",
  "id": "fc_0aa00866861980ca016ab457e9cb0487d0b6de2dad342a4c1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZxraXEeYgXdDcERTYFOTrd16",
  "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]: [-0.0257, 0.7982, 0.6083, -0.4095, -0.0223, -0.0353, 0.9997, 0.8902, 1.3891, 0.8257, -0.308, 0.6689, 0.5377, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0014 left_pitch=-0.0194 left_roll=-0.0023 left_gripper=0.9997 right_x=0.3 right_y=0.2021 right_z=0.132 right_yaw=0.0436 right_pitch=-0.0626 right_roll=-0.0621 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.6889, 7.2821, 1.7705, -0.1441, -0.0659, -0.0171, 0.1299, -5.6274, 8.8274, 1.619, 0.5543, 0.1978, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602278c7483bc5ccca6b3f6a55706a94fadb6064475182b18e89140bd1588129",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8065e492b85c0d75b79e69a4cb8a7b7418e8d55c3f94ad7110b4d8b94e5a10c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f2279af1e55161164b2095ec53c8c02a6bd51a8c2f0b29b8a65e35dce114c3",
      "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 · 2.023 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6041, -0.3912, -0.0193, -0.0299, 0.9997, -0.0208, 0.794, 0.6071, -0.3958, -0.0189, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0008 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4427, 10.2906, 1.9805, -0.1001, 0.1783, -0.0415, -0.3487, -1.5385, 9.6889, 1.917, -0.0513, 0.1929, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4095, -0.0223, -0.0353, 0.9997, 0.8902, 1.3891, 0.8257, -0.308, 0.6689, 0.5377, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0014 left_pitch=-0.0194 left_roll=-0.0023 left_gripper=0.9997 right_x=0.3 right_y=0.2021 right_z=0.132 right_yaw=0.0436 right_pitch=-0.0626 right_roll=-0.0621 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.6889, 7.2821, 1.7705, -0.1441, -0.0659, -0.0171, 0.1299, -5.6274, 8.8274, 1.619, 0.5543, 0.1978, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602278c7483bc5ccca6b3f6a55706a94fadb6064475182b18e89140bd1588129",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8065e492b85c0d75b79e69a4cb8a7b7418e8d55c3f94ad7110b4d8b94e5a10c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f2279af1e55161164b2095ec53c8c02a6bd51a8c2f0b29b8a65e35dce114c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFfxf0qiLdueE4MuxijquXQ9SDj2i4suv85ZHFYqm6S814ju1qPhO26Q7rajZmV4aU3m3BsptujMHgDPbxqHnTvAWajSWEqJyjhRT4jPB1KnogJuh0kAkyQNLUHiECb47Klje8DLQB8RcZnbu2-7Zvq7uoI_qwmrmoLqT1CV3dQwiXEpRzHMRfeFN6yu8heMNJCUzIR5JNL_O98M6ODhz9nD2UvBHUPr2THT6ktbVi_jEhlNCmXZAemkItO_t-x5D9efyZ9Zfe05vuUrJZfruoPNBbS4_kxiG0mu7OLGrIika4zUcNL2q6gygYtmsdwUVEko9BLFpX_QN9-Wito8NdaDHdcBXKZrIy6rX_46LqJjYwC6OLYnAqDDvfOIe2324HRhBVXqPpQiJUcqKT3vPVmtZOEeie5UxibU_Xp2YtBWoozcIJiwtCfgDSAzZJ8bSqVHX-NejMSHGHRBy0osusfmfX8Vl37pQ2_GHTfMs5s-TPjFnEO5Z9kJXMXwGvm42durX7lKbBEQeJ2M8GSbOaeL5UpZm3rnavKNLlMqnrKWbLN4-NcnI_Y8LD20-5gwuyOmp0erUE4tqT6LiUF8lLAuR03DgAGgV1zwF3wLjzYKEf9B9N3U_ie2PYNCbbhTwSDxbs8ZBUFgXZD29qzNeTAl30lLCJKaFYbEhg8hq05yn367EJ-dQ2IdCpB0aybAIjrH-XPKAI8Z2FE1nIBwgNc3-18KSQuhstf5MJ7sGD56cFVcDvfUr1CgrFo9huwpmxCsmnpjQ1aR8cpN4tcwiSdir5u1btvh6a0ueEEhiZXwVQzy7xMkNgCZyctGIBc2V8ebCeSndXWmj4rUoJzETsIZv2rtymKxcmYZokkb1rtkHq4xGeuS68nB-EoY4-XhZQqafmyHyIUAA41sQ9jcziUhwnIiWHgq9Trwk0uCXsXBshghw9XQcLmUKJDpoxnJ-Xnj2_l3n5vH8i3L_OQpsjQtUJ1FBpm9qp1j8KWSOUs6n0TRrF0qmM5ZpGK0Dev5Zvft0-s0xrGxzElDleEcNqNyIG8D1iVFz5ktg4gA6HgIVJFQRBlwtuI8_jdxgIGQLSzIJFNVi_6NMOiZdCz7sCYyC9kPdnS2qk0HMINjeWfrqd9LSQon36GxZgd_fi3b5F-V2aQF7feKilsnHIJ3ySAUG4qNWRz5VdfUGakQKKGaV7-TQIWCq6z-seLPiRrwM6m1r88puutFtbqnAQO9yydNr2IqLWQCY3izw4cpSogMdJIFO70AbGquWyIpEBXOJ7qWhZjvnz8o4fLTpwh5TXTORXSYCCBJfU4noS_MFRUmw1ZvYXUW45P1xPHyWoDz4nXzLODEkAE4Q7HPVm-DRTilZiEQgfI1cucICEBRqoMfGkj349rsmwcjIl-u6OW9rAK7t-aDCUpLPj9JOiYkv6D5Hkg4cnb8g1qCI94-Js9v2lwBW2aMxL1tk8PpCLy0tna2G4tWEjMjpSGVs9Or2z4xZfle2Mad6VuDYF5qzRfrXEkX3t2wiU0yuv85Joz0Q6aRLK_wbXYjJB2TAiGo6rl9HWCQv-H9oInEhGBtRUjhLB6CDHArD8G16KpFpCanqulmC1oMcK-ZfHXBkudwxqTdpnuQNiPBFqa0onSBUyHyTmrpumQgnJIbkBXS8eCWKcyju7eJ_kA8Fcv4Fwz4H6n2tbolN_B-qoW87bARqHr3Ato7OxC1UfzFVUWvkaVDiHe5956uqZJPpX7bL1QWKFKEtFRrsLdz03pL79ybjDzygwzZbgc2_dEMLeZm--7THOZ71DUHFt2AZt__kqhDcdqQ-lyDkDRm7Ed5O9UU3AxBkm_LAxr3p-5kOAjL6IY-DujZpZRaRfEn3VHOutpoGTg8-Xvtu05x8KiHqx3UOCFk1HE74WyKcARp7FKFaAR8nHVHSFF2vfiGCvhxMaKeLFlpcw==",
  "id": "rs_0aa00866861980ca016ab457edef2087d09f49421790277fa9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.21,\"right_z\":0.025},\"note\":\"The brown toy is centered near the bottom of the right wrist view, beneath the grasp area. I’m lowering the open jaws around its torso.\"}",
  "call_id": "call_m3dHwSiMsNE0g71wOGDp8pgK",
  "id": "fc_0aa00866861980ca016ab457f0852087d09475dc2b713507d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m3dHwSiMsNE0g71wOGDp8pgK",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4274, -0.0219, -0.0383, 0.9997, 0.8822, 1.6855, 0.6334, 0.1135, 0.6571, 0.5312, 0.9995]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.171 left_yaw=-0.0 left_pitch=-0.0377 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3016 right_y=0.2023 right_z=0.022 right_yaw=0.0426 right_pitch=-0.1145 right_roll=-0.1114 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2239, 7.1863, 1.9072, -0.0269, -0.0317, -0.0122, -0.5265, -6.6256, 4.7385, 1.4432, 0.2857, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fc771cb324cc4a74fe1f8acf2f1084c717d39479f0c4575818d159161ee338",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f07cbc7809734d1890a627a9d3585629b456ee0d58113c2fc49233a21054586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2061b189490f1db0e76c10a5dd8cea1511b292278557c68d85b68e4cb1316f2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.033 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4095, -0.0223, -0.0353, 0.9997, 0.8902, 1.3891, 0.8257, -0.308, 0.6689, 0.5377, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0014 left_pitch=-0.0194 left_roll=-0.0023 left_gripper=0.9997 right_x=0.3 right_y=0.2021 right_z=0.132 right_yaw=0.0436 right_pitch=-0.0626 right_roll=-0.0621 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.6889, 7.2821, 1.7705, -0.1441, -0.0659, -0.0171, 0.1299, -5.6274, 8.8274, 1.619, 0.5543, 0.1978, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4274, -0.0219, -0.0383, 0.9997, 0.8822, 1.6855, 0.6334, 0.1135, 0.6571, 0.5312, 0.9995]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.171 left_yaw=-0.0 left_pitch=-0.0377 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3016 right_y=0.2023 right_z=0.022 right_yaw=0.0426 right_pitch=-0.1145 right_roll=-0.1114 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2239, 7.1863, 1.9072, -0.0269, -0.0317, -0.0122, -0.5265, -6.6256, 4.7385, 1.4432, 0.2857, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fc771cb324cc4a74fe1f8acf2f1084c717d39479f0c4575818d159161ee338",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f07cbc7809734d1890a627a9d3585629b456ee0d58113c2fc49233a21054586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2061b189490f1db0e76c10a5dd8cea1511b292278557c68d85b68e4cb1316f2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now flank the brown plush at table height. I’m closing them to secure the toy before a short test lift.\"}",
  "call_id": "call_dtvETNfE0KmUQnQjg0qmGEiC",
  "id": "fc_0aa00866861980ca016ab457f3633087d0a55389a2232884bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dtvETNfE0KmUQnQjg0qmGEiC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.8825, 1.6978, 0.6231, 0.107, 0.6548, 0.527, 0.0366]\nstate[eef_state]: left_x=0.288 left_y=0.0 left_z=0.1684 left_yaw=-0.0 left_pitch=-0.0495 left_roll=-0.0043 left_gripper=0.9997 right_x=0.2976 right_y=0.1981 right_z=0.014 right_yaw=0.044 right_pitch=-0.1355 right_roll=-0.1351 right_gripper=0.0366\nstate[joint_eff]: [-0.0752, -1.5658, 7.1316, 1.7998, -0.0513, -0.0659, -0.0122, -0.0889, -7.7333, 5.6547, 1.2869, 0.2759, 0.0073, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aea4c9b85b54165ddc5530f17e5edcac5e88c2f09738e255a8075316707d67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaac509a3453c9028c34b814da8a58b3cec5f88a4a22d1794ec759fa84ddf37e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acb15dad834bebc5604515eb0b6269e05faba7dea2436a6ab79139d92d9a3cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.003 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 13 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6041, -0.3912, -0.0193, -0.0299, 0.9997, -0.0208, 0.794, 0.6071, -0.3958, -0.0189, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0008 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4427, 10.2906, 1.9805, -0.1001, 0.1783, -0.0415, -0.3487, -1.5385, 9.6889, 1.917, -0.0513, 0.1929, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4274, -0.0219, -0.0383, 0.9997, 0.8822, 1.6855, 0.6334, 0.1135, 0.6571, 0.5312, 0.9995]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.171 left_yaw=-0.0 left_pitch=-0.0377 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3016 right_y=0.2023 right_z=0.022 right_yaw=0.0426 right_pitch=-0.1145 right_roll=-0.1114 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2239, 7.1863, 1.9072, -0.0269, -0.0317, -0.0122, -0.5265, -6.6256, 4.7385, 1.4432, 0.2857, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.8825, 1.6978, 0.6231, 0.107, 0.6548, 0.527, 0.0366]\nstate[eef_state]: left_x=0.288 left_y=0.0 left_z=0.1684 left_yaw=-0.0 left_pitch=-0.0495 left_roll=-0.0043 left_gripper=0.9997 right_x=0.2976 right_y=0.1981 right_z=0.014 right_yaw=0.044 right_pitch=-0.1355 right_roll=-0.1351 right_gripper=0.0366\nstate[joint_eff]: [-0.0752, -1.5658, 7.1316, 1.7998, -0.0513, -0.0659, -0.0122, -0.0889, -7.7333, 5.6547, 1.2869, 0.2759, 0.0073, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aea4c9b85b54165ddc5530f17e5edcac5e88c2f09738e255a8075316707d67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaac509a3453c9028c34b814da8a58b3cec5f88a4a22d1794ec759fa84ddf37e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acb15dad834bebc5604515eb0b6269e05faba7dea2436a6ab79139d92d9a3cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFf4jBTNeadZh4pEdEuNNHjJFYZmMNM3yLjXpBsvn-cyh9rZl9a77GlY57E_vAMRgorRKJSR6EyGW6SoFV45GXmrilKxt5CkCbA4qFtNzRvos1H14EhVwwXs5JRa2Dv3MCze0E3-vp8cA6pxLFE4DnOcJsmU1_2EZKV0p38Y7hWyuoPi8YRUOxnCEOZKhST8RuzaRiA8HCWLn8Lv8Sqx3f36oUOyC7MeN9vE_pwgb3-UJGu-BgymRklgKzFk1_rP4hIUpe9y3nom7Sd8KaG8Rtvd4IDyDPe-KJHEsYsk5vgBaTiklNuoL_gYJvZpnGR-tzCfVwkSDVXhj6kSYJ6F6owjuLDRj_V1fob4cobsgKNBxQfY1k6NrMt7Znco7e_Q6EnE3nw2M-JCMPmFOegaaGKLQA32MS3scrc-0glPWVGxOK0sPTbjp_maR9rDBjXh_2EWFST0qubxIkU5t447kZPzi7wIJzV-wE4Occ34Ydp9dQdd4ZAqP-W1zNCn9n3FYPdz7ec9ILB7ETaT6MrT45U8XOHx8TAni0SybPxFdKeTpCxO5PJCcMZnaqKGtLuCVpSkrEfA54kHJNp20WloK2Ftg0v4mnHJOwHR2sWUkwj7RRN1rxog3INyDVqgQFIGLL_sIgJrG0b9Tvg7YpSi9cAYWgDfOCa9oF6bT3ZmiWwVzqrJPHCXyhQN-rfTQ8CdbYdLcuqbAFSXxJOYfC1EKrjlRNb2k3VqkuHQDLB0uYFXjYLtXKD6GLu9ddmM_Na4KFxF7T7F1LDHDK21-rI11Lf4kH6N-sJj1g0Q3UhAVpCC6G59qlOTDsd6XPFYb13H2scn3NIm7MXqz-2Es1Llr8KPZZVcNT1bUuptXGVVbOnup1XpTZ7Ac2u44wxRTLDAffWELVhBSZ3sSuDc_PCjS8ocN1-ODC0Aty08Pr-IyVLvKV2FpTWgBsPwhYxKKkDihWCGdvPLM7mc7rrShu6XvR9S0Muij1miKQ26hBGlFXDnjUo59a6i9OuhQcrNDa3fDaHHzhGBcjTZZwUre4mzG4PiW40zkoMX1tZJK0nsWf34AvbgDfHVaX1_5AhHvRaS_Y-5X-IQ1LNdtCyUrQGc3cROGdaXWoIb6XWjYVNQXK-V0RISZpRiF_hVOXMoTfDoWr4uNJu6sei-xj7MP5cznGPB0NvOtZlKOEpu3QU89U1dgf9h1KEAqhadTbOTLlL9-zD6hX91U0YVwvSI_kCZBURqT7WiTRMuiGFibfOr7EVh8LpTwcZxUo_CyhZa3bCyoNwnxLibklb9kUlinRKT8XoMArEe0VmsqxDg0t3f-ycz2uo=",
  "id": "rs_0aa00866861980ca016ab457f6d41887d0a206912aa3879df1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The jaws closed almost fully, so this may be a thin or unsuccessful grasp. I’m lifting only a few centimeters to check whether the brown toy follows.\"}",
  "call_id": "call_agn0nvcg9kjroGvMCyzOpJJ4",
  "id": "fc_0aa00866861980ca016ab457f73f6087d0986348b0a394a415",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agn0nvcg9kjroGvMCyzOpJJ4",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0223, -0.0387, 0.9997, 0.8822, 1.5227, 0.7341, -0.1825, 0.6395, 0.524, 0.0371]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1651 left_yaw=0.0006 left_pitch=-0.0655 left_roll=-0.0039 left_gripper=0.9997 right_x=0.296 right_y=0.1994 right_z=0.0695 right_yaw=0.0548 right_pitch=-0.1474 right_roll=-0.1314 right_gripper=0.0371\nstate[joint_eff]: [-0.1846, -0.9778, 7.1726, 1.8437, -0.0366, -0.0708, -0.0171, -0.335, -7.1179, 7.8017, 1.3602, 0.4225, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102eba5ed8d11e2fd0d6826cdb4f9a4a40e0fe8cfca8a5a3d099f1da4cf096e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3997036cdff877905300494fd2d8c4d3ab1117b3cbdcb41444c8adacb6952dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7afc23b9aeea54631107c21286759bb10193a3ff41d3c33fde05a83fcc1e95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.726 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 13 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7982, 0.6083, -0.4095, -0.0223, -0.0353, 0.9997, 0.8902, 1.3891, 0.8257, -0.308, 0.6689, 0.5377, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0014 left_pitch=-0.0194 left_roll=-0.0023 left_gripper=0.9997 right_x=0.3 right_y=0.2021 right_z=0.132 right_yaw=0.0436 right_pitch=-0.0626 right_roll=-0.0621 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.6889, 7.2821, 1.7705, -0.1441, -0.0659, -0.0171, 0.1299, -5.6274, 8.8274, 1.619, 0.5543, 0.1978, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.8825, 1.6978, 0.6231, 0.107, 0.6548, 0.527, 0.0366]\nstate[eef_state]: left_x=0.288 left_y=0.0 left_z=0.1684 left_yaw=-0.0 left_pitch=-0.0495 left_roll=-0.0043 left_gripper=0.9997 right_x=0.2976 right_y=0.1981 right_z=0.014 right_yaw=0.044 right_pitch=-0.1355 right_roll=-0.1351 right_gripper=0.0366\nstate[joint_eff]: [-0.0752, -1.5658, 7.1316, 1.7998, -0.0513, -0.0659, -0.0122, -0.0889, -7.7333, 5.6547, 1.2869, 0.2759, 0.0073, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0223, -0.0387, 0.9997, 0.8822, 1.5227, 0.7341, -0.1825, 0.6395, 0.524, 0.0371]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1651 left_yaw=0.0006 left_pitch=-0.0655 left_roll=-0.0039 left_gripper=0.9997 right_x=0.296 right_y=0.1994 right_z=0.0695 right_yaw=0.0548 right_pitch=-0.1474 right_roll=-0.1314 right_gripper=0.0371\nstate[joint_eff]: [-0.1846, -0.9778, 7.1726, 1.8437, -0.0366, -0.0708, -0.0171, -0.335, -7.1179, 7.8017, 1.3602, 0.4225, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102eba5ed8d11e2fd0d6826cdb4f9a4a40e0fe8cfca8a5a3d099f1da4cf096e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3997036cdff877905300494fd2d8c4d3ab1117b3cbdcb41444c8adacb6952dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7afc23b9aeea54631107c21286759bb10193a3ff41d3c33fde05a83fcc1e95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFf82XjI3k1t9MiXDkz03-2BX4XSTSc2yxVjSSbcfj8PNo-D1qK9edK87p7LHbh_oQamhj_xPo5mY-Ggrs8hW60EthV8667CVZBX2UJjs9LzrHSSK_Wv5qUk78vLUnDieCxoFLKlS9Hx3e3TO6vzqXwNmw3oiW-bA9rFk5sR-omTIC3jb--_1dxi_xd1Zos91alZlMA1RgrO_c0mn_mVpmoQt0U6_D29Vyk6Gl7odXsVbXGmzW92bYT9YCRegRCFKpHwhrDJR52TPfbsxwjpRU-l384RAEDb-gqtXSDCckraUut0UyWv3KnShHoiBmcOb4sxlk4suBuujKOxc9zoEU2fnpDZmlGEZh7jVidDJi9KCwuBKPfRsjBagaKnIrbvRFZSljt6gD4d-5J3DnEQqD7lMcNKlePFov5HojksWLibj0vdrAi4npn8OeO0X6i3iKaySwxkCgqpPbtzcrnmT-HKZo-Z4iocgnBcM1v5y22G9kY4kOo7HocH13uifn4BJuxNCM8Vl-qdvhzUANd_Px7f2BpEyzs4tRx1yML4wknBfY0Ju6EwNkV3njOvN7VQhABLBNzYpKoQ11wG3k1EI2igvDpmRyNKmLQqnMt_wLMbD2npopHU2hAP8Ex6rmzl2RQF1TD6OL91ZSdh0Vxmrry2TzrX2rqwf3dfilbIFsrB5i-3hn2erDyzNlbVEIZpUEK9pSpqWXWyhpFRwRGB8ceiqg0DgKwZQ4zn6nOBvlvj5XulKfLV3JIc6Ki_Fzi7FofKJ7U9Vy1P_XlpKhFfI6air33tTCrBoSbeeeHX10Aq_qK3AuJsJBbCp2s3ln7Tb44JwXB6VBbD_H_93oKzAKp5YdA00MIkNpy0XhLZdfCE8MbNpuIDH89HK20ofXtvVKaHjVL5tiZh_dKo8ogVM1S5BcyFYenEFO41pCP7GxXrppS2AnuGySfkIe2FxPNUrtRY9ISu1bQWGUoJvJ7zLzHcH9T2Safzol3QRkWcGMo-vw9TMmjqvFwcQhuogGTTtbNGA-vO0oLcyhCPlrctC4m7irWmGVpTutX6N-N41TzBU-N5-2xp_m9cYsI2KrsH7oMb5uA8on4TwRpfPhy4A9Dw_iuhN6cIB4-j8D665PVnOng8HZJYr4_YowCKrIQErzwE7f1u7FmY2I6eLAXYmpEpGBCekB4w6ReAQoX4zn-43ntZcTJJF04EF9O4JTrrkdIPMDE-1NhSQWIyQBG7LOdVXXpOrS1vd_mjr8vqSVF_At2H9z0pkGM5uG0IuSydmYZyhJWXMIQkV50EFMUU4cuuLOa5MvHfQNGt5GOkQuTAsl08oSjON7Xjh02nTEJJtU-JuizJFNKgaelGO9pad9jujPt5Ma0-A-SWUSJjFpOtAIl8J2QTSL4748E1C3wImkT8yvAs_NfymCNF8VKvzUIxHccmcJfiOdTqLhtIvvTmwF2APWY9QdnzchoZdlnpZ24mThykXwkMSVZmPmGLNSqcvA==",
  "id": "rs_0aa00866861980ca016ab457f9f91c87d0b7374a9d7dc52f2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.21,\"right_z\":0.09,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brown toy did not rise securely; the jaws were too far toward its legs. I’m opening and moving forward toward the thicker body for another grasp.\"}",
  "call_id": "call_srL726ioou755LtskYPCsAIJ",
  "id": "fc_0aa00866861980ca016ab457fb39cc87d0b2fe08d79f3ba798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_srL726ioou755LtskYPCsAIJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8402, 0.6437, -0.506, -0.0219, -0.0456, 0.9997, 0.7738, 1.6299, 0.8951, -0.231, 0.5674, 0.4164, 0.9947]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1604 left_yaw=0.0042 left_pitch=-0.1224 left_roll=-0.008 left_gripper=0.9997 right_x=0.3372 right_y=0.2018 right_z=0.0758 right_yaw=0.0547 right_pitch=-0.1936 right_roll=-0.1642 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -0.7453, 10.0855, 1.8095, -0.0415, 0.0171, -0.0122, -0.5538, -6.8034, 8.5675, 1.4921, 0.3639, -0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bce83898c978cc987b63aacbde5836516dc76444a3ae80bc20fff76d395717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537da7a4197c8cfcc88b6a0a1b26fb155e4bd4965835c1cdc67bff86e68b5bd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cb6d63ae4835e833360f6375d32f347e064dbdbe253eec52544fb2a607e88f",
      "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 · 2.715 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4274, -0.0219, -0.0383, 0.9997, 0.8822, 1.6855, 0.6334, 0.1135, 0.6571, 0.5312, 0.9995]\nstate[eef_state]: left_x=0.2891 left_y=0.0 left_z=0.171 left_yaw=-0.0 left_pitch=-0.0377 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3016 right_y=0.2023 right_z=0.022 right_yaw=0.0426 right_pitch=-0.1145 right_roll=-0.1114 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2239, 7.1863, 1.9072, -0.0269, -0.0317, -0.0122, -0.5265, -6.6256, 4.7385, 1.4432, 0.2857, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0223, -0.0387, 0.9997, 0.8822, 1.5227, 0.7341, -0.1825, 0.6395, 0.524, 0.0371]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1651 left_yaw=0.0006 left_pitch=-0.0655 left_roll=-0.0039 left_gripper=0.9997 right_x=0.296 right_y=0.1994 right_z=0.0695 right_yaw=0.0548 right_pitch=-0.1474 right_roll=-0.1314 right_gripper=0.0371\nstate[joint_eff]: [-0.1846, -0.9778, 7.1726, 1.8437, -0.0366, -0.0708, -0.0171, -0.335, -7.1179, 7.8017, 1.3602, 0.4225, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8402, 0.6437, -0.506, -0.0219, -0.0456, 0.9997, 0.7738, 1.6299, 0.8951, -0.231, 0.5674, 0.4164, 0.9947]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1604 left_yaw=0.0042 left_pitch=-0.1224 left_roll=-0.008 left_gripper=0.9997 right_x=0.3372 right_y=0.2018 right_z=0.0758 right_yaw=0.0547 right_pitch=-0.1936 right_roll=-0.1642 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -0.7453, 10.0855, 1.8095, -0.0415, 0.0171, -0.0122, -0.5538, -6.8034, 8.5675, 1.4921, 0.3639, -0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bce83898c978cc987b63aacbde5836516dc76444a3ae80bc20fff76d395717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537da7a4197c8cfcc88b6a0a1b26fb155e4bd4965835c1cdc67bff86e68b5bd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cb6d63ae4835e833360f6375d32f347e064dbdbe253eec52544fb2a607e88f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgAGb_6nRx0ZpK3OyAQ_ylIZ0420OVKx8Fs8h1AfiHs_BLatkqrdNkIIjSTtB-g1boxJb_8zTaEACySHmC0OV90yTXaeSXoXEtat7jfykX3i1zrTNiZXNPZMK1QxwVE-ImpDdLR09JbJQtWM9ihJSL2FKgNZ_Yr3Lue9noJk4ej9V_coQni0aj6NK8wjCKWNfwFPlBm_KmagafpyMrMRN5QhF67EHApvFu6Ucry-XbTSXaCQe-_SL0HEcRSehSsYm2-uYulsFw8JQeQRP5p56yCXiyx-AXcZ6_r-hF1dbjSjPfrPry70JkNwDf3PdePTYnqbw1-4pk3cEUl0f-zakmi_mEAKIStaxicM_3cEAGuVUdAPtK8n9kkl5PTZT3TWTxGTrH56kDXOKlGAOOlF0G7pER5oscKzD-ViyIJf7fu2V4nZkQbQknA8ftNPcKEZ050GbzxvL3SjH0DJbyVkLutJksOkzWCEG9A_zFwnLKrXfjD5CJwlTwzPmtZjpAN1JefXcQweXgyihXo9Lq9dJWVr5zDb2FYKXiJhzxDvXpw3v5CgWDDqxAoytCM4HNuhL0Pe-ZYm6PPL1OtpPa6a3F6nVp_TT7sNB3rg8vxXQAbywjrVe5-1LboVZr2lrjBs0mYBN-DYtHMoShMZUpneKP-ff39SyY4ZWTKpLf9IYmw4yW4An2A0yh48RwrmtQINEHBCR0hT7RjbHnTS4Y39qJRdmoKq85DAoH93bVtdLiR0dvdPxeVxCKkvIYoOYUMWoqKzptuIfOcnKVLuSqXzEOd0l30_Snme4GFtxCuApXL1xyJV0o8QFjCW-U85pNh0vrJMYCb0WrgJ6XDsckeNP_aXxeGF1nou-Gn6BW1wVsGvDdVDW6QQVYTK1fO44lE4doHWiXU2D_9BJbVy1tTBCuVERxifL0eXPhSfURQjCtkI8ZLj3TP1g7hHpsl0G2AP8KPnGKTHM9iHBnDs8ZeX4HkvNRb3k2DSXuCSsL13gadqyK0tS_pTMQrb9BOm_yhgIcRvM51zASYobGJsT3yLJJM0bpmEIeDWjmHQIyT484Z-pZN3iachNiZDSuQGWZX8r2qwK2yu7TFOeZRuVcWql1u2ijoT7LqIWZHXzVOKO6CwiaHKsM428-5CRK0kUEnxWRinRcBNrMF6Jqof1r7z32ufNM87LAyQTeWq-jTSrQASmWPME_BQKwGvLAnSouAsfzJcLTdnRv371Y7tz3zIV51gizOgiNo-zmfBMfCRDY1znU=",
  "id": "rs_0aa00866861980ca016ab457fee82487d0a7041c7062c0f823",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_pitch\":0.12,\"right_roll\":0.08},\"note\":\"The brown toy’s body is now aligned between the jaws. I’m lowering around it, with a small tilt adjustment to counter the observed wrist sag.\"}",
  "call_id": "call_MhH7BwKRa7liCu9EJ3KPP4MT",
  "id": "fc_0aa00866861980ca016ab457ff328087d0a4d8b7d1fd9736c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MhH7BwKRa7liCu9EJ3KPP4MT",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8452, 0.646, -0.5179, -0.0219, -0.046, 0.9997, 0.7841, 1.7916, 0.4961, 0.7029, 0.606, 0.4263, 0.9952]\nstate[eef_state]: left_x=0.283 left_y=0.0003 left_z=0.1579 left_yaw=0.0048 left_pitch=-0.1368 left_roll=-0.0078 left_gripper=0.9997 right_x=0.3382 right_y=0.2003 right_z=0.0301 right_yaw=0.042 right_pitch=0.1039 right_roll=0.0719 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.8803, 6.7077, 1.6923, -0.0464, -0.0708, -0.0171, 0.0205, -5.094, 3.453, 1.0672, 0.0806, -0.1978, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2860fc2008a9cd15bec24fef50c6632570e9f3f2dd2c227fa6c771f3879dc21c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a686de9e5962510fa54802108a9f684e37b04b7177d86bd051b54cc2eb19742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8b99801a4212363e08c2eeb82d0b348273ed401d7a5a1132444b39de7532b0",
      "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 · 3.438 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.8825, 1.6978, 0.6231, 0.107, 0.6548, 0.527, 0.0366]\nstate[eef_state]: left_x=0.288 left_y=0.0 left_z=0.1684 left_yaw=-0.0 left_pitch=-0.0495 left_roll=-0.0043 left_gripper=0.9997 right_x=0.2976 right_y=0.1981 right_z=0.014 right_yaw=0.044 right_pitch=-0.1355 right_roll=-0.1351 right_gripper=0.0366\nstate[joint_eff]: [-0.0752, -1.5658, 7.1316, 1.7998, -0.0513, -0.0659, -0.0122, -0.0889, -7.7333, 5.6547, 1.2869, 0.2759, 0.0073, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8402, 0.6437, -0.506, -0.0219, -0.0456, 0.9997, 0.7738, 1.6299, 0.8951, -0.231, 0.5674, 0.4164, 0.9947]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1604 left_yaw=0.0042 left_pitch=-0.1224 left_roll=-0.008 left_gripper=0.9997 right_x=0.3372 right_y=0.2018 right_z=0.0758 right_yaw=0.0547 right_pitch=-0.1936 right_roll=-0.1642 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -0.7453, 10.0855, 1.8095, -0.0415, 0.0171, -0.0122, -0.5538, -6.8034, 8.5675, 1.4921, 0.3639, -0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8452, 0.646, -0.5179, -0.0219, -0.046, 0.9997, 0.7841, 1.7916, 0.4961, 0.7029, 0.606, 0.4263, 0.9952]\nstate[eef_state]: left_x=0.283 left_y=0.0003 left_z=0.1579 left_yaw=0.0048 left_pitch=-0.1368 left_roll=-0.0078 left_gripper=0.9997 right_x=0.3382 right_y=0.2003 right_z=0.0301 right_yaw=0.042 right_pitch=0.1039 right_roll=0.0719 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.8803, 6.7077, 1.6923, -0.0464, -0.0708, -0.0171, 0.0205, -5.094, 3.453, 1.0672, 0.0806, -0.1978, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2860fc2008a9cd15bec24fef50c6632570e9f3f2dd2c227fa6c771f3879dc21c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a686de9e5962510fa54802108a9f684e37b04b7177d86bd051b54cc2eb19742",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8b99801a4212363e08c2eeb82d0b348273ed401d7a5a1132444b39de7532b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are positioned around the brown toy’s thicker middle. I’m closing for the second pickup attempt.\"}",
  "call_id": "call_UdNz1NBJgHflCGl6gu16rn3B",
  "id": "fc_0aa00866861980ca016ab458035af887d0975cd25744d6c62e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UdNz1NBJgHflCGl6gu16rn3B",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8455, 0.646, -0.5259, -0.0219, -0.0463, 0.9997, 0.7841, 1.8046, 0.4843, 0.6968, 0.6014, 0.4202, 0.0411]\nstate[eef_state]: left_x=0.2817 left_y=0.0002 left_z=0.1563 left_yaw=0.0047 left_pitch=-0.1452 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3338 right_y=0.1968 right_z=0.0205 right_yaw=0.0508 right_pitch=0.0795 right_roll=0.0475 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.2786, 6.9812, 1.6532, -0.0513, -0.0464, -0.0171, -0.1299, -7.9521, 5.012, 1.7656, 0.1978, 0.0269, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:badfab2d2d756ea855453aef931d0776e55f372abbef8f9df60975024fe76f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d26824122f68b30b52ff69dc19bc2b94402cf27ee97aae222065cfd5ad7cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3e5d4aa97af7bf22ab04beb1f28b492cc625c111c1bdf7c824f48bb8c4ddce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.602 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4507, -0.0223, -0.0387, 0.9997, 0.8822, 1.5227, 0.7341, -0.1825, 0.6395, 0.524, 0.0371]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1651 left_yaw=0.0006 left_pitch=-0.0655 left_roll=-0.0039 left_gripper=0.9997 right_x=0.296 right_y=0.1994 right_z=0.0695 right_yaw=0.0548 right_pitch=-0.1474 right_roll=-0.1314 right_gripper=0.0371\nstate[joint_eff]: [-0.1846, -0.9778, 7.1726, 1.8437, -0.0366, -0.0708, -0.0171, -0.335, -7.1179, 7.8017, 1.3602, 0.4225, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8452, 0.646, -0.5179, -0.0219, -0.046, 0.9997, 0.7841, 1.7916, 0.4961, 0.7029, 0.606, 0.4263, 0.9952]\nstate[eef_state]: left_x=0.283 left_y=0.0003 left_z=0.1579 left_yaw=0.0048 left_pitch=-0.1368 left_roll=-0.0078 left_gripper=0.9997 right_x=0.3382 right_y=0.2003 right_z=0.0301 right_yaw=0.042 right_pitch=0.1039 right_roll=0.0719 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.8803, 6.7077, 1.6923, -0.0464, -0.0708, -0.0171, 0.0205, -5.094, 3.453, 1.0672, 0.0806, -0.1978, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8455, 0.646, -0.5259, -0.0219, -0.0463, 0.9997, 0.7841, 1.8046, 0.4843, 0.6968, 0.6014, 0.4202, 0.0411]\nstate[eef_state]: left_x=0.2817 left_y=0.0002 left_z=0.1563 left_yaw=0.0047 left_pitch=-0.1452 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3338 right_y=0.1968 right_z=0.0205 right_yaw=0.0508 right_pitch=0.0795 right_roll=0.0475 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.2786, 6.9812, 1.6532, -0.0513, -0.0464, -0.0171, -0.1299, -7.9521, 5.012, 1.7656, 0.1978, 0.0269, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:badfab2d2d756ea855453aef931d0776e55f372abbef8f9df60975024fe76f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d26824122f68b30b52ff69dc19bc2b94402cf27ee97aae222065cfd5ad7cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3e5d4aa97af7bf22ab04beb1f28b492cc625c111c1bdf7c824f48bb8c4ddce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgIC9Wl1uj2tGAJJXfChdWc_OO5DudNzwj6Aeim_97E9AgySXTetdoav_lKPSmhhlBuRnTC5ah1wunTY-hWMo_YCC-rN8pqU0LWm40au4ri4Sivak3gD9WQ8x9s2M6q7GyWB90KR54dulzCpKx2XQCn06_sKREYqvagQf2IiV8m6K8CWndKm1TQKlfPinj4iwuYTn5A001RvKcqx2bgruPBCRzclI-JsSXVrbAYncrEuDA7WHtm1hnXPUl6fM5kXfKkCAXYTR6OYUBDjTvYZ2Qa2XKw-UwQs2vZcA0lcxOpQVwbnVl58NYm8ihFYo-xjMoKV9aLeABG2UIXmKdWez_v1Y8RTeANso0qku7ZD9Jh0fmMFifYujMxbOad7suqENRhD03uR7XqAOaarY9jpZr5kl6H4jMqz7m2wx02Q_CPz4psZmXdNT91LIzjI-ZcDGQ_PGY5e587NgBTF3rCQc_VOkK3b27f2pr_dT3t7lTMghcY_eMkaNx_tD3pzxgtOZcXbvjn-W6crR3bXon3OAbakPBfv-3XpwOqcRuOoW1l32f5JzoJDnIRjLCnO7YXSxmaKe9nVEQANMgsejlmVZKcJs-szC7Rr1t5gQVHz66_uWfzLre8fDtKZFIg2Vu-oEmRL037QCTpaSLReA9ZkkoylPU8Q_JDri5o9lRvF77YFemIK-j5NLm4Bs905Z3QQ2DJTRTdK1jYKYZCihgGfJ4CWBOl6RViwWqukHuiJPJ1OMIGO5QNBI6cfiAHbHeKQtlSNq54rGM1UedNY0QJc0s3JYGaySoUaESVm14AZ2YBYu2GTGYQLZX8y94_0Gipal7s5J6KGkCRTOFDQ70Dun_MrlocAQhnB1GJHZgkg6SrEfhFrSMR54eSY3yzvLs75Ek_u80YfPvfmZxNJdu01I19DjU0lDOvLlAz-qgcuZrNbA9T7RvGQzavsgPcqBc9mSSy72Bp0hfSA-Y4scpm4Ofz1LbvDkNWxldP957OU1ckT2pvnmvg1r_3iWTQ-Av-eUIIViGfiz9BQdkPVED08swYet37-XcBmibLyzYHpgO7TfwFQozey6cxGtZi1lwaNLJ1kMiNL1v0a_7NZnC9c-R84hvyj_n7Aza8z-ordUb1v65Eh3tPtIQ5c4jIpZZajRP7gjtF-8gZz8Liuvhap4SR4D0dyqtfL6GfAl8D1jg2CQnycy1E5aAoNET6V9LUpIkK66oaiVoCasHEBaHUu1ZElWDZG7NJLTvSc9Vun6-IIN598nd39cXc--DjrAbqsf9ahePTkCbK1rxYkgIHELDdk8Jy8o_-_o-9WxezO-2dY3RI5nCkTbuvOZJzVrDjNAEmBOntzYNeJufOuTyMO7rLM0Zm5VxFTrsTBQXwh0yKW9ZaNV-yRG-u75O5toEgzcBFYHbtOtao5c140QDH7uOmQTr0L85Gac5npomGaaxdE9I7t_RwtuBTfNOi0zBK89-11sKsZC7bzyHz99T1bC3dLgoZoOau3D1kbbk4pqPB3uW8mvX3vjOAjHoRcssh9wcpbofReQoXz_JPWsFzpnULmZzPISzYMq4ac5scWyrh95SNNkEL8JF94QtNYsYX_GOHFuOOrIZi31vOhyeXaNNT_v-aOvS2fHLi_kSPneqbKoI=",
  "id": "rs_0aa00866861980ca016ab4580660f087d08904a71113459897",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper is still nearly closed, so I’ll verify this grasp with a short lift before transporting anything.\"}",
  "call_id": "call_zdtKyynYI8VNiVEqIVc6ds2l",
  "id": "fc_0aa00866861980ca016ab45807aed087d09f09f7bd7cf67944",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zdtKyynYI8VNiVEqIVc6ds2l",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.646, -0.5369, -0.0223, -0.046, 0.9997, 0.7841, 1.5471, 0.556, 0.3641, 0.5877, 0.4179, 0.0448]\nstate[eef_state]: left_x=0.28 left_y=0.0003 left_z=0.1536 left_yaw=0.0049 left_pitch=-0.159 left_roll=-0.0069 left_gripper=0.9997 right_x=0.3315 right_y=0.1974 right_z=0.0766 right_yaw=0.063 right_pitch=0.0716 right_roll=0.0493 right_gripper=0.0448\nstate[joint_eff]: [-0.2667, -1.1829, 6.9128, 1.7802, -0.0806, -0.0269, -0.0122, -0.2393, -6.7624, 7.7333, 1.7705, 0.2613, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e59cd847c1315d27cb0b36a3b76fc6bd0f48cdde6b540768d1df42d4878b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0143136616baaa5cf05bd492c0f4269551575357bfdd76efaa653e5af2d8ea95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b637ce761bef2c18c6ce9c41e4ed26acc2bef80c07bb43c27809ea9bea72e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.375 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8402, 0.6437, -0.506, -0.0219, -0.0456, 0.9997, 0.7738, 1.6299, 0.8951, -0.231, 0.5674, 0.4164, 0.9947]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1604 left_yaw=0.0042 left_pitch=-0.1224 left_roll=-0.008 left_gripper=0.9997 right_x=0.3372 right_y=0.2018 right_z=0.0758 right_yaw=0.0547 right_pitch=-0.1936 right_roll=-0.1642 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -0.7453, 10.0855, 1.8095, -0.0415, 0.0171, -0.0122, -0.5538, -6.8034, 8.5675, 1.4921, 0.3639, -0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8455, 0.646, -0.5259, -0.0219, -0.0463, 0.9997, 0.7841, 1.8046, 0.4843, 0.6968, 0.6014, 0.4202, 0.0411]\nstate[eef_state]: left_x=0.2817 left_y=0.0002 left_z=0.1563 left_yaw=0.0047 left_pitch=-0.1452 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3338 right_y=0.1968 right_z=0.0205 right_yaw=0.0508 right_pitch=0.0795 right_roll=0.0475 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.2786, 6.9812, 1.6532, -0.0513, -0.0464, -0.0171, -0.1299, -7.9521, 5.012, 1.7656, 0.1978, 0.0269, 0.8327]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.646, -0.5369, -0.0223, -0.046, 0.9997, 0.7841, 1.5471, 0.556, 0.3641, 0.5877, 0.4179, 0.0448]\nstate[eef_state]: left_x=0.28 left_y=0.0003 left_z=0.1536 left_yaw=0.0049 left_pitch=-0.159 left_roll=-0.0069 left_gripper=0.9997 right_x=0.3315 right_y=0.1974 right_z=0.0766 right_yaw=0.063 right_pitch=0.0716 right_roll=0.0493 right_gripper=0.0448\nstate[joint_eff]: [-0.2667, -1.1829, 6.9128, 1.7802, -0.0806, -0.0269, -0.0122, -0.2393, -6.7624, 7.7333, 1.7705, 0.2613, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e59cd847c1315d27cb0b36a3b76fc6bd0f48cdde6b540768d1df42d4878b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0143136616baaa5cf05bd492c0f4269551575357bfdd76efaa653e5af2d8ea95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b637ce761bef2c18c6ce9c41e4ed26acc2bef80c07bb43c27809ea9bea72e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgNPVvgusBNeYdGZo13wo3Zm5tqnLxHoG2Kg0PjdXlWvGaUyLdTTu2p8n8NCZOrr7waZz04aerMOqy8bZLLTT6Mi2MHCh9DdIs4FI34cyjfdyq9YThZKRzgyyUqJuCuvLOJkLDhJRRVD5OEZb2xQ9KTdMW8n5klFyyNihe3NvQCKPuUo_4N5oeSdSJ51Av3ZHCJSSi2EFU5h65Y5WOSc14VUjFrTc2rolFHOwcasHs4zi9m59R-MzhDNEo_Jk_sxYHnYSdYNQ_j_XeBO-zUhVCwfMzDc65sfGdPzCsYrcAAd7P_vZnvAZa595WB7JzNvYH7IYYw61ic0OkKfuYep0kzykTQX0KKOLoriMY8CrhpB_BM0EGhKViRdqlGgUN7kw02MkHOAQg-JjF96naNLxphrP8azlqYxnXn1Kce1GhXmzpyNI1XhN1SeG6NJF6APkJSnfA76QCUl--wvPOgmc-A3vNxXE-5W94Yv-Ibz6t5PQssecBmWkIK0eUDZY_oH9AgnpHPFUKoRb15A7FXjQmX8Oj9UWv-rt-0NnRMypjr_OKAAL8mJkuRv_xm0VSwdQxDJe-2ltg208sZK-8yBbd98VYwVz76dn7XySSZlz7hHnPalXkCoVa7qXH5Utr3bV0wagZjiFLs4c8195Y1oaVU-IEDQvNbU6OM9JV62zjosMXYlB2RB-RFbwzoOkdq8ra_MhmBuKamjVQTw-kAN1IP3Gn_aMmwaowqFz51F8d9WzkxSviJ-BvvHGIVuC90ikJRcQndASyEa6Z6eR7Gg2ZWfoviVlXaewTijd6PfQxY5mWGVb6jvrJzuVz4KLm0_tzEUTM0gt3WilWDlv0O7IgrI6wGSK6Q9zPfkMqJG76fpz3aEm5372Z2Oq7dEykVOk4r60P3Fi9qxIiH_3tzBvngV8pyxDczCKrWWMPUd__NZxh78pJ5CWGdJjta7iTkOjtpV8CSPFgeJLA8dTjjT39nMSckX-kGBPBSntlTWErwKDLgqGRfDRGTlzE-vFUtlDssvIfYPrBqhVfRuyLXvxpsS-Wlj3HvhyDbQbEskUP7FTzRv0RmwE4zfBMENY_3JKuv3w4W2wYmvhnp5ur35L5UdVuGeKyA6MbEYMoP1HViRkfZt-lMGIxrApvd_CEdIgNMKDVR7Ldt00qpbpeqt1gTVd82MOiQ_69K0Xx2_YFmqDxEM0nJBNwotG1OuTRD5X08ujM4k29zgxfm0N5T09Tdkx6f8DZ4FKiIP9XQyG1OPeQfjid1su6ADnY41kNSwNlbhOeCTHOfQEgAxi_4ANtilcqMGwNA7G9ey68GabUBZDn8PS7V9NnMWKERAVFjoYTvnQYkbyj4F2baIZkKOPp4pib9x6PksUXSRIrqoqqeMeiUWQDWc2sxG614CpA4zEDnnN6uHvk8Tm6BIjrstvtYX60dnFY0d7mqW1qCsNUQQ2je1ML1gLYF0m6ZCBcDdVL6CPBiFwJyiCtZaOu6WK3SzFz3zjkqeqqy124m4SKUtD1N0_nJvuytw23T2wBE4O5lXDZJFa0y6Aan2nzGUmcv94GIyjWcBCQCvCDC9OnjNttyu-o_tjwYK2CSEwpEjViwyQinmL58E0yBHC74EMq02mkXeks3_QMJqr6mAgd2uUc8WJgy5W2OALi8TrGsiOSi-hc3xBqR4jT44V5XNJOoDXhxCig2YOPtDEhqn6jb1-mNJAmGphd9HMJosLG9OyyZEUyL_NgDLUfs3UhNNAZKiYYsYfYyXsJ5lVePUxXZAAB5a5DRAUSQqc_yTfp3di5KtCe3PDzQF8hLs4Hh2MYvdEz-lyd1CFrNgePAe04A9VbhQ8VN746LsdZPcvR3txyo8tWwbVQLC-19kM0QZpn3yY9qK_ofpzsl1BJmgQYi9oT5mzmsQOu8Py7KOMYHfChvJ01NCYwG4AMqDAYUC5sBuSJ-WLVmcTOUgSQNKf2eRzCQEuhCLL8rbBZO6Op4Zawp",
  "id": "rs_0aa00866861980ca016ab45809feac87d08da67d0c16ab255e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The brown toy stayed fixed relative to the wrist camera during the lift, indicating it is held by a thin section. I’m raising it above the safe’s rim before carrying it inward.\"}",
  "call_id": "call_4bRLlx26GLr9HrPwWbAWQoQQ",
  "id": "fc_0aa00866861980ca016ab4580c96b487d0a4938388ac45de25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4bRLlx26GLr9HrPwWbAWQoQQ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.646, -0.5499, -0.0219, -0.0463, 0.9997, 0.7841, 1.3258, 0.8539, -0.1925, 0.5789, 0.4175, 0.0478]\nstate[eef_state]: left_x=0.2778 left_y=0.0003 left_z=0.151 left_yaw=0.0048 left_pitch=-0.1727 left_roll=-0.007 left_gripper=0.9997 right_x=0.3299 right_y=0.1977 right_z=0.176 right_yaw=0.0713 right_pitch=0.04 right_roll=0.0283 right_gripper=0.0478\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.7021, -0.0806, -0.0611, -0.0171, -0.212, -6.8991, 9.1829, 1.8974, 0.2759, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c846f608fa2b06b0f9edbb01c20731e74e0489a550a8889d3ae2eabad4a589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1dd2e59ca93524790c59becb67e409c6d5a9ac8924b9653ad105a8833b3e87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ee5d415503f993cba65046d32ae960e874a4ec40946ffb5898f2a58cdf9d63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.766 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.8452, 0.646, -0.5179, -0.0219, -0.046, 0.9997, 0.7841, 1.7916, 0.4961, 0.7029, 0.606, 0.4263, 0.9952]\nstate[eef_state]: left_x=0.283 left_y=0.0003 left_z=0.1579 left_yaw=0.0048 left_pitch=-0.1368 left_roll=-0.0078 left_gripper=0.9997 right_x=0.3382 right_y=0.2003 right_z=0.0301 right_yaw=0.042 right_pitch=0.1039 right_roll=0.0719 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.8803, 6.7077, 1.6923, -0.0464, -0.0708, -0.0171, 0.0205, -5.094, 3.453, 1.0672, 0.0806, -0.1978, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.646, -0.5369, -0.0223, -0.046, 0.9997, 0.7841, 1.5471, 0.556, 0.3641, 0.5877, 0.4179, 0.0448]\nstate[eef_state]: left_x=0.28 left_y=0.0003 left_z=0.1536 left_yaw=0.0049 left_pitch=-0.159 left_roll=-0.0069 left_gripper=0.9997 right_x=0.3315 right_y=0.1974 right_z=0.0766 right_yaw=0.063 right_pitch=0.0716 right_roll=0.0493 right_gripper=0.0448\nstate[joint_eff]: [-0.2667, -1.1829, 6.9128, 1.7802, -0.0806, -0.0269, -0.0122, -0.2393, -6.7624, 7.7333, 1.7705, 0.2613, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.646, -0.5499, -0.0219, -0.0463, 0.9997, 0.7841, 1.3258, 0.8539, -0.1925, 0.5789, 0.4175, 0.0478]\nstate[eef_state]: left_x=0.2778 left_y=0.0003 left_z=0.151 left_yaw=0.0048 left_pitch=-0.1727 left_roll=-0.007 left_gripper=0.9997 right_x=0.3299 right_y=0.1977 right_z=0.176 right_yaw=0.0713 right_pitch=0.04 right_roll=0.0283 right_gripper=0.0478\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.7021, -0.0806, -0.0611, -0.0171, -0.212, -6.8991, 9.1829, 1.8974, 0.2759, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c846f608fa2b06b0f9edbb01c20731e74e0489a550a8889d3ae2eabad4a589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1dd2e59ca93524790c59becb67e409c6d5a9ac8924b9653ad105a8833b3e87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ee5d415503f993cba65046d32ae960e874a4ec40946ffb5898f2a58cdf9d63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.32,\"right_z\":0.22},\"note\":\"The brown toy is visibly suspended in the gripper. I’m moving it over the open compartment, keeping it raised above the rim.\"}",
  "call_id": "call_RmFsBDFEIrkC8Z1gLJOQZJXn",
  "id": "fc_0aa00866861980ca016ab4580f7e0087d08306b317e7e038bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RmFsBDFEIrkC8Z1gLJOQZJXn",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8532, 0.646, -0.5636, -0.0219, -0.046, 0.9997, 0.7769, 1.9701, 1.6909, -0.4309, 0.5591, 0.3996, 0.0478]\nstate[eef_state]: left_x=0.2756 left_y=0.0004 left_z=0.1475 left_yaw=0.0047 left_pitch=-0.1906 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4493 right_y=0.3154 right_z=0.2022 right_yaw=0.0896 right_pitch=-0.003 right_roll=-0.0067 right_gripper=0.0478\nstate[joint_eff]: [-0.2256, -1.7709, 6.8581, 1.6777, -0.0562, -0.0269, -0.0171, -0.4855, -11.4667, 8.7043, 1.5897, 0.232, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae90aa16162a611fae82dec0bd05b8471a641467d7cfb6297fd517de7079820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96bdd6fbeb594f77f1263d27053c83a5abf07dd883c6c7b6a9a867d5424687b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23dcfa56bfaedec05df2b77002a897146d847aefe44e118d1bccce21f606f2c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 1.945 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 39 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8455, 0.646, -0.5259, -0.0219, -0.0463, 0.9997, 0.7841, 1.8046, 0.4843, 0.6968, 0.6014, 0.4202, 0.0411]\nstate[eef_state]: left_x=0.2817 left_y=0.0002 left_z=0.1563 left_yaw=0.0047 left_pitch=-0.1452 left_roll=-0.0079 left_gripper=0.9997 right_x=0.3338 right_y=0.1968 right_z=0.0205 right_yaw=0.0508 right_pitch=0.0795 right_roll=0.0475 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.2786, 6.9812, 1.6532, -0.0513, -0.0464, -0.0171, -0.1299, -7.9521, 5.012, 1.7656, 0.1978, 0.0269, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.646, -0.5499, -0.0219, -0.0463, 0.9997, 0.7841, 1.3258, 0.8539, -0.1925, 0.5789, 0.4175, 0.0478]\nstate[eef_state]: left_x=0.2778 left_y=0.0003 left_z=0.151 left_yaw=0.0048 left_pitch=-0.1727 left_roll=-0.007 left_gripper=0.9997 right_x=0.3299 right_y=0.1977 right_z=0.176 right_yaw=0.0713 right_pitch=0.04 right_roll=0.0283 right_gripper=0.0478\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.7021, -0.0806, -0.0611, -0.0171, -0.212, -6.8991, 9.1829, 1.8974, 0.2759, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8532, 0.646, -0.5636, -0.0219, -0.046, 0.9997, 0.7769, 1.9701, 1.6909, -0.4309, 0.5591, 0.3996, 0.0478]\nstate[eef_state]: left_x=0.2756 left_y=0.0004 left_z=0.1475 left_yaw=0.0047 left_pitch=-0.1906 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4493 right_y=0.3154 right_z=0.2022 right_yaw=0.0896 right_pitch=-0.003 right_roll=-0.0067 right_gripper=0.0478\nstate[joint_eff]: [-0.2256, -1.7709, 6.8581, 1.6777, -0.0562, -0.0269, -0.0171, -0.4855, -11.4667, 8.7043, 1.5897, 0.232, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae90aa16162a611fae82dec0bd05b8471a641467d7cfb6297fd517de7079820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96bdd6fbeb594f77f1263d27053c83a5abf07dd883c6c7b6a9a867d5424687b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23dcfa56bfaedec05df2b77002a897146d847aefe44e118d1bccce21f606f2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgUxdrLRRfjbto1x398SA2adSg2Ln0FOCxTKY1eG4zsPdfCiMaao21XMPJ_WI4Juw9b5JTCBMqdFCXONAU2rBYv65azRSXDNkRe_GZxNMJ_6Q9MhG7UDX6MBCEko8QwbiEQ-jw0xZK9YsmUwCrBf08Vw8cKoLzexo6fI1ev-2W6fqDKK9Dc5N_uPZvTYDW7980d3ehSvbuCKwi745Hts-A-49QDgqaKKDVLu5rTzY9znoK2wZVpftN2avScGAEIGGMCTfM7JfLks55ldeyXBCIA_IcgJf2Tr7vyQIwX24bT8zW2nGooVc6ciSifNl-zFWY-n3yQOQKKtqZ6aib2C9Z-m4Mx817nenNNF1m7vzBKkPts--RMl4hkIuUmYR4uG_39tLzYqIdDHJhhissbqqIQ6Go7RTwwzkzevdECw98nrg6tinZJ8kPHi4hsFE68TDjHhKp6JlQjisqOIqm-CqUYnwJGRVk5wg7sEFyRQNw4UfcqUZb--a7bezwTKm5J59_raGN3eQollCkKZQLi39pxrq-aX3qb-scsTUgIQXP0zsB4LNAstLX33KjRUHtRd2HLkezTX3r9kHRh3LlNtBdR_kaUgsaqfM5rMQTFG_aeKYn9kHwt-K87qM_IU56Oi_rdkOzVopouABCcAVh0d3nFUEXrdnIbTyQ4ZfRn27FjhWdGB24m4eggL2U_5E1tUIwNn_l3dYAB4Pb9szTyp2mxMXvKoRa4lCzvQaC-7CWTbwH22RNQlGTzeVuMMSLss_1fgqiBvbwW2_FGNue7F5LK1EcDXMu3OmHqX2FsomouajtqC6VxshCq0DYUp4QIbLr5msk1d7JVfverb0DJEBwntgfGRD1yh-DMntFpo5O77nLF9dSIXO-IFPTiitPtkcNMLXsKBM1DLb7bFRRf-Pz0sp5ubZ2v-5t1zwzwRJOKaTH00GnTqs0NgqxCzJbekrLdnK05UliIxMVZ85zUZGK4-342nFQJCvUB-TgAB5IUDdZ3bE7-Hj61XKBnWJGZ-tvSrdhHo8GDalWsmJB0Amixi7JwcgHXBYWjLHSXqU5HB2t6UJNkX4P1jpP90xSNHNY5eK9GQDBrK5pUiXKrCumUJUbN2JPHdnkAIlYz-HduFRpui4YmonTifyf7qDaewoNzUW20vpbt4s42peEnUIRFpkjXiA5t2dbQPOx_utJZDytGvAgLfzIKcqRRPefpJ7MmmS1pTQLINC3KQi5zST-n6FO6U5yT60ukLjiTLuF9Tg9aK8_Mt9EwednvrF11Qax4Z-pEn76GXun6wo9fynem4g==",
  "id": "rs_0aa00866861980ca016ab458135ed087d098d4a614d15070a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The brown toy is over the safe’s interior. I’m lowering it into the compartment before releasing it.\"}",
  "call_id": "call_33UWWHOzlTyIDXzIc5vOMkgK",
  "id": "fc_0aa00866861980ca016ab45813b7bc87d09a2a63829866299d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_33UWWHOzlTyIDXzIc5vOMkgK",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5781, -0.0219, -0.0463, 0.9997, 0.7776, 2.0537, 1.3941, -0.104, 0.5556, 0.3992, 0.0478]\nstate[eef_state]: left_x=0.2732 left_y=0.0004 left_z=0.1446 left_yaw=0.005 left_pitch=-0.2066 left_roll=-0.0059 left_gripper=0.9997 right_x=0.442 right_y=0.3095 right_z=0.091 right_yaw=0.0924 right_pitch=-0.0458 right_roll=-0.0391 right_gripper=0.0478\nstate[joint_eff]: [-0.1983, -1.5248, 6.8718, 1.6532, -0.0611, -0.0317, -0.0171, -0.1436, -10.0444, 6.6256, 1.8291, 0.1734, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c456ff7765607ea98078697ac3bc95a1295d321c77f901171f21be53b735a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a8fa29f523020b823e46efff30963f2d0942d97f5c80007b223633e5d6a1d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1e27eb23684580503d76622236c9faed3180219cd7ddb61b43bdd5e797697a",
      "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 · 3.419 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 39 changed as sent

message 43 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.646, -0.5369, -0.0223, -0.046, 0.9997, 0.7841, 1.5471, 0.556, 0.3641, 0.5877, 0.4179, 0.0448]\nstate[eef_state]: left_x=0.28 left_y=0.0003 left_z=0.1536 left_yaw=0.0049 left_pitch=-0.159 left_roll=-0.0069 left_gripper=0.9997 right_x=0.3315 right_y=0.1974 right_z=0.0766 right_yaw=0.063 right_pitch=0.0716 right_roll=0.0493 right_gripper=0.0448\nstate[joint_eff]: [-0.2667, -1.1829, 6.9128, 1.7802, -0.0806, -0.0269, -0.0122, -0.2393, -6.7624, 7.7333, 1.7705, 0.2613, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8532, 0.646, -0.5636, -0.0219, -0.046, 0.9997, 0.7769, 1.9701, 1.6909, -0.4309, 0.5591, 0.3996, 0.0478]\nstate[eef_state]: left_x=0.2756 left_y=0.0004 left_z=0.1475 left_yaw=0.0047 left_pitch=-0.1906 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4493 right_y=0.3154 right_z=0.2022 right_yaw=0.0896 right_pitch=-0.003 right_roll=-0.0067 right_gripper=0.0478\nstate[joint_eff]: [-0.2256, -1.7709, 6.8581, 1.6777, -0.0562, -0.0269, -0.0171, -0.4855, -11.4667, 8.7043, 1.5897, 0.232, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5781, -0.0219, -0.0463, 0.9997, 0.7776, 2.0537, 1.3941, -0.104, 0.5556, 0.3992, 0.0478]\nstate[eef_state]: left_x=0.2732 left_y=0.0004 left_z=0.1446 left_yaw=0.005 left_pitch=-0.2066 left_roll=-0.0059 left_gripper=0.9997 right_x=0.442 right_y=0.3095 right_z=0.091 right_yaw=0.0924 right_pitch=-0.0458 right_roll=-0.0391 right_gripper=0.0478\nstate[joint_eff]: [-0.1983, -1.5248, 6.8718, 1.6532, -0.0611, -0.0317, -0.0171, -0.1436, -10.0444, 6.6256, 1.8291, 0.1734, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c456ff7765607ea98078697ac3bc95a1295d321c77f901171f21be53b735a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a8fa29f523020b823e46efff30963f2d0942d97f5c80007b223633e5d6a1d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1e27eb23684580503d76622236c9faed3180219cd7ddb61b43bdd5e797697a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown toy has reached the safe’s compartment. I’m opening the jaws to leave it inside.\"}",
  "call_id": "call_4mAILJGQfuJACNjhESWvasMY",
  "id": "fc_0aa00866861980ca016ab45816589487d0b702d5f3b2a93fbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4mAILJGQfuJACNjhESWvasMY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5854, -0.0219, -0.0463, 0.9997, 0.7776, 2.0758, 1.38, -0.1173, 0.5518, 0.3923, 0.995]\nstate[eef_state]: left_x=0.2719 left_y=0.0005 left_z=0.1433 left_yaw=0.0051 left_pitch=-0.2139 left_roll=-0.0057 left_gripper=0.9997 right_x=0.4372 right_y=0.3055 right_z=0.072 right_yaw=0.0969 right_pitch=-0.0862 right_roll=-0.0738 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.4838, 7.0359, 1.58, -0.0269, -0.0757, -0.0171, -0.0615, -13.1077, 7.7607, 1.58, 0.1685, 0.0464, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9040467222d2c8eae3ee88e6e34cf395d53fb4d2f71570d7a0fbf8a8d36964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e5da674bde1143dbc267de13c0a03a6ccbb7ccf506b950d7e27c21442e2d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce414071d28da366250e56b220efe157f231b9924b6fc00127df10c385eb2fc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.885 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 43 changed as sent

message 46 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.646, -0.5499, -0.0219, -0.0463, 0.9997, 0.7841, 1.3258, 0.8539, -0.1925, 0.5789, 0.4175, 0.0478]\nstate[eef_state]: left_x=0.2778 left_y=0.0003 left_z=0.151 left_yaw=0.0048 left_pitch=-0.1727 left_roll=-0.007 left_gripper=0.9997 right_x=0.3299 right_y=0.1977 right_z=0.176 right_yaw=0.0713 right_pitch=0.04 right_roll=0.0283 right_gripper=0.0478\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.7021, -0.0806, -0.0611, -0.0171, -0.212, -6.8991, 9.1829, 1.8974, 0.2759, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5781, -0.0219, -0.0463, 0.9997, 0.7776, 2.0537, 1.3941, -0.104, 0.5556, 0.3992, 0.0478]\nstate[eef_state]: left_x=0.2732 left_y=0.0004 left_z=0.1446 left_yaw=0.005 left_pitch=-0.2066 left_roll=-0.0059 left_gripper=0.9997 right_x=0.442 right_y=0.3095 right_z=0.091 right_yaw=0.0924 right_pitch=-0.0458 right_roll=-0.0391 right_gripper=0.0478\nstate[joint_eff]: [-0.1983, -1.5248, 6.8718, 1.6532, -0.0611, -0.0317, -0.0171, -0.1436, -10.0444, 6.6256, 1.8291, 0.1734, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5854, -0.0219, -0.0463, 0.9997, 0.7776, 2.0758, 1.38, -0.1173, 0.5518, 0.3923, 0.995]\nstate[eef_state]: left_x=0.2719 left_y=0.0005 left_z=0.1433 left_yaw=0.0051 left_pitch=-0.2139 left_roll=-0.0057 left_gripper=0.9997 right_x=0.4372 right_y=0.3055 right_z=0.072 right_yaw=0.0969 right_pitch=-0.0862 right_roll=-0.0738 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.4838, 7.0359, 1.58, -0.0269, -0.0757, -0.0171, -0.0615, -13.1077, 7.7607, 1.58, 0.1685, 0.0464, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9040467222d2c8eae3ee88e6e34cf395d53fb4d2f71570d7a0fbf8a8d36964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e5da674bde1143dbc267de13c0a03a6ccbb7ccf506b950d7e27c21442e2d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce414071d28da366250e56b220efe157f231b9924b6fc00127df10c385eb2fc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgbE4Us7mJMC5jRpi5hfHiALMDChy4__M1IFhz8D_b4lsvHZ2AGqU5PEn1A1ajY2toDzxW091fWaCC2iRU3wBOgsM07ULtRZlQCDwCZygZGnQ5_dRqQt2-lo0HtB-sKk5qgSoL9HI5y3iKpl62pSxOFo8MKBrJmpoPRaaAty-xnXYGTSbPcJ9km8V6ZPKziRY2NJQZ2K0I5oHcFfzSjDAprez8IQsymzmWTHihiC_opmjzwQ_4q-SDKG4924nEnhM_HmWcvdVRltg-OG2ATtC_iFuv0yar7eB54RedpykHwyvtaUM8OurGJoK5eDk0O234dMlqapR5nffxL23YxQpw9oWvH_HqbHPvlT6BmIdqwneCjx_ZrGzadhIe7dQkH2oveMtPigdAesKjCPgRXrP3M50183kn_Y2vfdhsXfDPsr8ExSnDgV7Ug4N6dP2z4FZ8X2Atz2ORmTGdLXFYHiSUYaE0gBkhQSeuz3k96CDOAXu-a-s27CckjVJPpnn8je_pWNEZ1pVNvpd-yW3f91KPX4jAIDyjGZ7dF4foNjsXsVo-7cWgnNfnydzkyBt1akO0Wo5bq0m-WVOOYoERIfcZUHunwZrJGlDdMTKXw9yhAXvEYueIVUIzj0bkeCnwUjmWijZEl77Twg42Ni3lRZS6tTr0iuKon_uXYxacuQofsyKpdvuDvrhUwDEv5HSI6Y8ecpWtMK5PDVgOQN59poD7Q0-Q2JlIWSrCO6f3z0MoFmnKASR_d4LpWxhYAPELimBrIVjx0bCYamAqhV3O1VvWkTPOxLD6qDB-W1u1EOH_7XLfeoc1mc-gkifd92pEI-H_nxRkkTRgJ11i6TvR6WN-UdX7A4rUENs2s3OsavIZpbu8ypIteMVYpi6XjeH9LAU6UW1hTtrM8NgdBWFSYi6Lwz4MIeBJ9ca3TjO7j4gy0I1flSlHHOcRqQPWG_M5UY2zFnU_IV8h0AKog6xVa4N0_DoirJf-R1zxE6VoaaaTBs9XXpwHT2ivr4mcXK4Sow_JTgbTZxhJbvr54OdOMUNcYd0U33Pz9dVwQ8sn-W5No2iBTfFApSlPyNBK-AZHRElzgUbjRemkq8T4iRn33iIezL9RxpAcpU_DJb5-miNYmw0MQedTNfI7pJuTxw5vJVckkt1eSN9iGuSIqM-74y9FY1KC2UVbCi6g-JCx-YhJ04F_5rB-hKdyjBzcaKBE68iVSTSOehzGCXlJ4NMWCNAcKCsqkvqT69KBWj1seKF6Vp_eg9JmcpSb8xfz_YWDAIDc4",
  "id": "rs_0aa00866861980ca016ab4581a0b1c87d0b265c3f9a6ea27b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The brown plush is resting inside the safe. I’m lifting the empty gripper clear of the rim before approaching the yellow object.\"}",
  "call_id": "call_7k6XA4qaLFvVx2a40kw8M2ES",
  "id": "fc_0aa00866861980ca016ab4581a907487d0ac5f7ae2162e5f85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7k6XA4qaLFvVx2a40kw8M2ES",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8566, 0.646, -0.5884, -0.0219, -0.046, 0.9996, 0.778, 2.0006, 1.742, -0.6006, 0.5392, 0.3916, 0.9966]\nstate[eef_state]: left_x=0.2714 left_y=0.0005 left_z=0.1423 left_yaw=0.0049 left_pitch=-0.2188 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4365 right_y=0.3078 right_z=0.1796 right_yaw=0.1038 right_pitch=-0.128 right_roll=-0.0962 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6342, 6.8308, 1.5165, -0.0611, -0.022, -0.0171, 0.0342, -13.6684, 8.8274, 1.7509, 0.2857, -0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87172c23bfb113c014e5a83616e82509d488701b02cb8b6d9a5ad981c17f9da7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e229bbf2f3d6c3ebc026e784afc7f4055df9978788e367ead22d218f80f0c8da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:436450abb2051985915d6d8aa66605d799835dda77ee41e708a495f44a50b97e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.549 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 46 changed as sent

message 50 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8532, 0.646, -0.5636, -0.0219, -0.046, 0.9997, 0.7769, 1.9701, 1.6909, -0.4309, 0.5591, 0.3996, 0.0478]\nstate[eef_state]: left_x=0.2756 left_y=0.0004 left_z=0.1475 left_yaw=0.0047 left_pitch=-0.1906 left_roll=-0.0062 left_gripper=0.9997 right_x=0.4493 right_y=0.3154 right_z=0.2022 right_yaw=0.0896 right_pitch=-0.003 right_roll=-0.0067 right_gripper=0.0478\nstate[joint_eff]: [-0.2256, -1.7709, 6.8581, 1.6777, -0.0562, -0.0269, -0.0171, -0.4855, -11.4667, 8.7043, 1.5897, 0.232, 0.0366, 1.0281]",
      "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]: [-0.0257, 0.8547, 0.646, -0.5854, -0.0219, -0.0463, 0.9997, 0.7776, 2.0758, 1.38, -0.1173, 0.5518, 0.3923, 0.995]\nstate[eef_state]: left_x=0.2719 left_y=0.0005 left_z=0.1433 left_yaw=0.0051 left_pitch=-0.2139 left_roll=-0.0057 left_gripper=0.9997 right_x=0.4372 right_y=0.3055 right_z=0.072 right_yaw=0.0969 right_pitch=-0.0862 right_roll=-0.0738 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.4838, 7.0359, 1.58, -0.0269, -0.0757, -0.0171, -0.0615, -13.1077, 7.7607, 1.58, 0.1685, 0.0464, -0.2466]",
      "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]: [-0.0257, 0.8566, 0.646, -0.5884, -0.0219, -0.046, 0.9996, 0.778, 2.0006, 1.742, -0.6006, 0.5392, 0.3916, 0.9966]\nstate[eef_state]: left_x=0.2714 left_y=0.0005 left_z=0.1423 left_yaw=0.0049 left_pitch=-0.2188 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4365 right_y=0.3078 right_z=0.1796 right_yaw=0.1038 right_pitch=-0.128 right_roll=-0.0962 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6342, 6.8308, 1.5165, -0.0611, -0.022, -0.0171, 0.0342, -13.6684, 8.8274, 1.7509, 0.2857, -0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87172c23bfb113c014e5a83616e82509d488701b02cb8b6d9a5ad981c17f9da7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e229bbf2f3d6c3ebc026e784afc7f4055df9978788e367ead22d218f80f0c8da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:436450abb2051985915d6d8aa66605d799835dda77ee41e708a495f44a50b97e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgg8qa765cUtWUUfooy4h9MZfg2YzBe2kaMS6vS7BAAjBn1chWw5KtwcsqHOg5aIafEo1uEEQ082BtCDqEe2G9wVz1akVSSJ3YGcOvHUZQ2bOZZ3qntu5babOQRbqqN5xBTJsDot9oMXC9DjDCGNqPsxblQGKYtP72BNmqIBLg3QJiLi2g-ei69uXo4y1ROUcTewhbrWlOz2xfVvaReXj_OshHq8qb_y5S2tUT0urItC4ldaGuesTFkc5_ht_grfURFFmOg1DUsM_AwW9ncWlw2O9HvqQ8YVJQpOnFesYuFL9CieOGc4htaXvF6wI_E164HaOWkLeNLoc2DZmydI-5VWE4ivrIvUFIw00g6aXlUyqSwNuikU3SHjVZD8sUJ8GTwomDMS4VCEG1Bwqk51gJA1Q-whRBPVWUdAHTXwznlQiwuHWBN_Txx7nFh6cY0OcRjb2h1kBrzYjyNSi6juvyPcod8dQmbFhTF1GFxIDp9tUdqKt6AqYgzGWqaajxJ0MshxpripiZx2Lilo_gsbNxzUXQZA1qseidyTIk9OMIzohmjI3r_S2xMqIrzgAjwjCOzzSToDdzSLOBpGwjDijn-fa4mp6A1IsEigcTeW9CXJGUUV_gu-BfkIuraFzB1jzDL8EaLlEuxdK1ES6Zqk5exqS4r39CarrJALKkpjn6bTm9rNRuK9a_PNKamlWSFJk4TfLBlIoYuuLYFRikuSCPvMI8tnfF0pB_wtsdZs9i79vI1kpLlxtA0-wgP7P5TrHkz3uXANPuMZxESrgiRP0wjvyTrMBPA8loP3zY6FVCGlt0pKtgrP67NZGEe2AykjCZcI0t9q2oXat9Atcebetg5HygGFl1mvw1ac00Be7gae2201t1bCMUc3xyPS7kc8kG0RlUQaJwRU6lJtzfQn99OliIE6kHasbRXteDNpk7GO5ajPSdYVX_fO3J2YAnnZ80SfkhBUKl07xYAry6gwdzM2P8vaKDGVomTxTr1b0dOoAOl8sWxo1TiP3V8OPytfsW6a8j145TgoMZ6Avm3e4WE3CdKq_cEul1HWgrqeh11LFwfjjIwVCbVRg5HmTGu6mF-wZ4kbN0VBa21CaHa03iCko3m_-M_rYKaGiJNVzCJTiZCgGS3V4QIwv3tv0T2IJ5Qa355bW5uYJMgOD93Zd14lJr-HC47xm_tq1FEHcEyo2qhJGv07j5jSmeq7umRd-3uj9N87Skdh8v9EbAyFGEzWah1v9GQkxo7ncERQc-6I00lA_VIhBAM4LBzRUrTvEQ2o16-Wh0Aie0y7OCZ2tY7cqPR9yZDScVCrXc0gY0uX2kTUeEykP6ITNOXUQnt2q8ZpW5SDWUGhJyFGa1yI3-S_A5WYaG9d5zR0lQKba0ssXCztxtuwsEc0cLJWl2fT1Km8nkiLS5slzEpSZoqu2vqE2gKfH2YFmtfDRGl2zLiWflBYLF8ONB65wOOX7M8pW2it86_8fq6SPbx22ipz6B8NqNsJYmZol5ka27w7R3oi4svroJqYYgYryD8bWTvAge8LpDN8q9HCa3ov_lUmdPCLA==",
  "id": "rs_0aa00866861980ca016ab4581d681087d08574c9181d664dbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.545,\"right_y\":0.145,\"right_z\":0.15,\"right_pitch\":0.35,\"right_roll\":0},\"note\":\"The yellow object sits to the right and farther back than the safe’s center. I’m approaching it with the gripper open and tilted forward to improve reach.\"}",
  "call_id": "call_fkJ0olvL576MgJ4Yh2lSD5LM",
  "id": "fc_0aa00866861980ca016ab4581f0f5487d08bdf5694d28633c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fkJ0olvL576MgJ4Yh2lSD5LM",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.5926, -0.0219, -0.0463, 0.9993, 0.3344, 1.9511, 1.1049, 0.5095, 0.2363, 0.0372, 0.9968]\nstate[eef_state]: left_x=0.2707 left_y=0.0005 left_z=0.1411 left_yaw=0.0051 left_pitch=-0.2249 left_roll=-0.0054 left_gripper=0.9993 right_x=0.5355 right_y=0.1461 right_z=0.1338 right_yaw=0.0965 right_pitch=0.2555 right_roll=-0.0234 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.6068, 6.8444, 1.5165, -0.0708, -0.0708, -0.0464, -0.4308, -9.4974, 6.188, 2.337, -0.0269, 0.0269, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6427f00964ae5223b958f1598940f454bd80d98bae6d80ce67f24797090a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95da120fba23200925110353d49f99f915e0082a708ca84500535ef905bd8f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca40397f6648908e29f9cf14456e18aafb141f93e7368cd7977d443ebf67b17e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.826 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 50 changed as sent

message 54 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8547, 0.646, -0.5781, -0.0219, -0.0463, 0.9997, 0.7776, 2.0537, 1.3941, -0.104, 0.5556, 0.3992, 0.0478]\nstate[eef_state]: left_x=0.2732 left_y=0.0004 left_z=0.1446 left_yaw=0.005 left_pitch=-0.2066 left_roll=-0.0059 left_gripper=0.9997 right_x=0.442 right_y=0.3095 right_z=0.091 right_yaw=0.0924 right_pitch=-0.0458 right_roll=-0.0391 right_gripper=0.0478\nstate[joint_eff]: [-0.1983, -1.5248, 6.8718, 1.6532, -0.0611, -0.0317, -0.0171, -0.1436, -10.0444, 6.6256, 1.8291, 0.1734, -0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0257, 0.8566, 0.646, -0.5884, -0.0219, -0.046, 0.9996, 0.778, 2.0006, 1.742, -0.6006, 0.5392, 0.3916, 0.9966]\nstate[eef_state]: left_x=0.2714 left_y=0.0005 left_z=0.1423 left_yaw=0.0049 left_pitch=-0.2188 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4365 right_y=0.3078 right_z=0.1796 right_yaw=0.1038 right_pitch=-0.128 right_roll=-0.0962 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6342, 6.8308, 1.5165, -0.0611, -0.022, -0.0171, 0.0342, -13.6684, 8.8274, 1.7509, 0.2857, -0.0317, 0.1538]",
      "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]: [-0.0257, 0.8585, 0.646, -0.5926, -0.0219, -0.0463, 0.9993, 0.3344, 1.9511, 1.1049, 0.5095, 0.2363, 0.0372, 0.9968]\nstate[eef_state]: left_x=0.2707 left_y=0.0005 left_z=0.1411 left_yaw=0.0051 left_pitch=-0.2249 left_roll=-0.0054 left_gripper=0.9993 right_x=0.5355 right_y=0.1461 right_z=0.1338 right_yaw=0.0965 right_pitch=0.2555 right_roll=-0.0234 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.6068, 6.8444, 1.5165, -0.0708, -0.0708, -0.0464, -0.4308, -9.4974, 6.188, 2.337, -0.0269, 0.0269, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6427f00964ae5223b958f1598940f454bd80d98bae6d80ce67f24797090a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95da120fba23200925110353d49f99f915e0082a708ca84500535ef905bd8f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca40397f6648908e29f9cf14456e18aafb141f93e7368cd7977d443ebf67b17e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgldnq-XZ1Zuc3smH8Xef--m6pvJJiwRQM3_4whZHdY6XNRzWDj7tDYdXX02cSW632z-Tv3FH3EJqnSc6xjPVFE6hcAUkvxc9kHtzzaIocgB_ng45jz00J8wCW_jqG2GH25swp4MThIvGg2x_APLZeCX7TDXyGbZYi2Clymm-SfizGAY2gCJQMl7fPGa1DPCtmsDP12rylGI1qWGq0nRYIFjVFWyRPcorOotpM0ze3o6dHoQJK0evQYxAQC7zPMua7jn3QIPq9YoBkwduy2Laj8O05tXaeHH-2xtWvVo8YbfHACMql9VTHnMAL9Ujq7apxRpMruQAGcGJiBHQKMBPbDSFaFLHCNvrY42FspaWOxfOUl9eIWQvWx1YlYafgujlyHWfK395198ZrmJAiFfsigj9tbIoQ4kv1Ewb8CAHAaeIjXTqS3Q_VyWdD4rOquUWRJob27FId8NRMMds6WioJqh7eWPIswmCiS432W18xBvUNkM59uazlHxOsCRtrNueqyB4EHkEu-xvjiWLWmay2VF9gFzHA8T6J9uV3MAqeHDCBzB30ytA7ZMHl5b75FiKBCiic9vbEM-pN-9I8Ia3VWOjEempyurIlZHr_6vsFWzu_ph0GES9AelTSuQ6sUjXFBHpfM7kYG4UhU281or9RpdhUJLBins4rQ5kP8PNRj1SR-jaC5ZgYTjPoTihuPNLZo7FnkOzOVOaphapXCLGSIN6i8dZPzYbuey2cpAPTadF4Ua958Pg2YSgqm-2fsxil6WrYroElCcLexbBvIflf5HtS0lgdjGKETFT_1orIi9OC8Xn8wmsrPR_nGU-zIlxHWdUWn05dnYrbuco-mj8BUfFS5gWV0zTxmiHpnAfFVkvwrzUkSKFA8qcIo_4ouQT1dhyZmhgCA6x6FicGxl0SoI0uXkAYxO4baZ7aAC3OPysDsg5-_ibDidoNHjiMPUmqRraC3e0BX1KP7EXxibEvippcByI1Dgci7nZ_fALGoUSSip9FEpjvJZmn4O_ZzK0kCVD2jGYjfQxYsDZhSwWjzXncmwAQ3GuW4i3iOTGMXAD2bQxB3S_WiyNHkUKrBRpNGuWOWUv_M9FouSUxgAjvRn49nqr8Cnfld-9A7JdX252LVC_us5OYLrAIpff9c0erakKN4zKG52V0FSnnCkD-Tx-toUTWPPsrdB8Mh6_CcyibPAlsEhx2M32goJiXm-xJ_tOlbXgMbWUVHBJS-GcoCybtGTuci313aZJxF1x4r-72B7S_UhW3jx7MsbGvGkPZCIG1xrQOe3FGUqSUSbx1D7sBXhES1IMRDjpDYcIzxlqzNiEL1QcFmrs8luQKbdDSlQgcz0L24vaVtJQnJtVSlAxnDPojFb_kLWfH-ybQPgOKIC0epQEv15hB56La7qDJuaKBPqK09oWkgXsttxU753ycmQ-2x0W_LhEvHjeJY3f1WgcKngEzyi8mVOccOtXKUmSIb8rD7qxlQEQdizrizOPscINZP_BK4F9_1KTUjORcivqK2eVFB_lLBu_F4ffYNrLA0AczPdfE30RFJB-cJfKtp8FCJA_JmdvZ8Ghd4hhE=",
  "id": "rs_0aa00866861980ca016ab45822fb5087d0ad10af2fb82e2d80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.15,\"right_z\":0.025,\"right_pitch\":0.45},\"note\":\"The yellow object is directly under the right gripper in the overhead view. I’m lowering the open jaws while maintaining the forward tilt needed at this reach.\"}",
  "call_id": "call_6O5I8zA8DE8e39Yq7d0pldsm",
  "id": "fc_0aa00866861980ca016ab45824215c87d09995fa3401973e57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6O5I8zA8DE8e39Yq7d0pldsm",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8581, 0.646, -0.6079, -0.0219, -0.0463, 0.9993, 0.3481, 2.3268, 0.9825, 1.2449, 0.2489, 0.0296, 0.9968]\nstate[eef_state]: left_x=0.268 left_y=0.0006 left_z=0.1386 left_yaw=0.0052 left_pitch=-0.2398 left_roll=-0.0049 left_gripper=0.9993 right_x=0.5353 right_y=0.1518 right_z=0.0551 right_yaw=0.0803 right_pitch=0.486 right_roll=0.0293 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.4564, 6.9402, 1.663, -0.0806, -0.0659, -0.022, 0.3214, -7.5145, 4.0547, 0.486, 0.1245, -0.4567, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ef6f9f97a0fa6a4028b9dbbd183798228ba52b50f354b58a8a85d8128abf9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c74e46edae695b90b553bf0ef27e1405b24126e72ff0818053d88dfffa5161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27eea7020c9715a4de5c79c06618f3f76e1da5cd2d8b9b67c478d6979def9971",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.6 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]: [-0.0257, 0.8547, 0.646, -0.5854, -0.0219, -0.0463, 0.9997, 0.7776, 2.0758, 1.38, -0.1173, 0.5518, 0.3923, 0.995]\nstate[eef_state]: left_x=0.2719 left_y=0.0005 left_z=0.1433 left_yaw=0.0051 left_pitch=-0.2139 left_roll=-0.0057 left_gripper=0.9997 right_x=0.4372 right_y=0.3055 right_z=0.072 right_yaw=0.0969 right_pitch=-0.0862 right_roll=-0.0738 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -1.4838, 7.0359, 1.58, -0.0269, -0.0757, -0.0171, -0.0615, -13.1077, 7.7607, 1.58, 0.1685, 0.0464, -0.2466]",
      "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]: [-0.0257, 0.8585, 0.646, -0.5926, -0.0219, -0.0463, 0.9993, 0.3344, 1.9511, 1.1049, 0.5095, 0.2363, 0.0372, 0.9968]\nstate[eef_state]: left_x=0.2707 left_y=0.0005 left_z=0.1411 left_yaw=0.0051 left_pitch=-0.2249 left_roll=-0.0054 left_gripper=0.9993 right_x=0.5355 right_y=0.1461 right_z=0.1338 right_yaw=0.0965 right_pitch=0.2555 right_roll=-0.0234 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.6068, 6.8444, 1.5165, -0.0708, -0.0708, -0.0464, -0.4308, -9.4974, 6.188, 2.337, -0.0269, 0.0269, 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]: [-0.0257, 0.8581, 0.646, -0.6079, -0.0219, -0.0463, 0.9993, 0.3481, 2.3268, 0.9825, 1.2449, 0.2489, 0.0296, 0.9968]\nstate[eef_state]: left_x=0.268 left_y=0.0006 left_z=0.1386 left_yaw=0.0052 left_pitch=-0.2398 left_roll=-0.0049 left_gripper=0.9993 right_x=0.5353 right_y=0.1518 right_z=0.0551 right_yaw=0.0803 right_pitch=0.486 right_roll=0.0293 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.4564, 6.9402, 1.663, -0.0806, -0.0659, -0.022, 0.3214, -7.5145, 4.0547, 0.486, 0.1245, -0.4567, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ef6f9f97a0fa6a4028b9dbbd183798228ba52b50f354b58a8a85d8128abf9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c74e46edae695b90b553bf0ef27e1405b24126e72ff0818053d88dfffa5161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27eea7020c9715a4de5c79c06618f3f76e1da5cd2d8b9b67c478d6979def9971",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgowTBJ3mbWoqgdfCpFtWqW7HLWkuwhAex335bdCTJNTPYlZlNO7hEDNJerWCkIRQ_odLDoYflHRz8mOgIfzKGEfKNgTBIeaB8nVBdfzpEh1BSjzcnBCC8fgRgJkkhYPq8G2A1M45EkzYeT_OoC3JmCFouLzub77i8js2Uy4-eq6dbKXCU4wwZ8r2FXt4GM6SXPAGuku-ShM7myQIuu3_hadcoF5Oiy9KvQBHRC1KK9_ow85XJvMNQsXAvu7EwZNeOmUkazWVZg_J1mUIHzetd9EjKzGRLP_NrbBvLRcogdcd-XHLjcKMUyg1iXO0FcdBk3TUBs_e7Qy9QMha39BqCDQHZHZ8_kijAHJXpraOljniZ9su0G-t8kvhftfJ5SQNSOg8oG70TscjBeJjFhUqKhrwRUU2H1lx5WzyFyBUO-ErQonuOEr9uoRchUSq-YetOh44jZ9Z8yrfb2K8H84lthikbhMcqYmxnOUvjU6CyfGnHalvpGSQiorhciDMSdEhFEmHcoqR0m_FxRMcEP5_1UAvIrc_ZfHx8PS8t5Ff2bhh5Pp2cba5ME_c-ec6OIuocRRBVzEIm8D5D1ddvQOVEKcXjCnaTKGCCVv-3s_nVQ4imFGIKKRdyaiXoADXso7f7bWgn9WGCg0w2TAed7FIi8Ya5s3eYHUo1qgy-aayRElhXVshCQyq3FIO819cug_VtLY8nfq5g8yMjKXI9DTXk-nASnXaJbpXGjcU81_OtlSynJm0CZHaUsBrKdVVSTJM0Q91rErE_aUNurij4Jsm0xvmiuHztkAgVJE5E29F5TS80kta8YSduBK8aNAXiOm_eekTFXHI3SaO-2tP4YuQcdl_gnb1gcdAL66tgv7ikOq9S7zgFTkjVOItPkM9Ynlmd8HJI9k-G82jTwxiwtsmXMQjxU04wlQx9Y3cG8YeIzZALWhWnqq7YF7Nx5LJHas6X6h0eMv8WCxGj78fw1ylFn31JUt1a68_3cE_McHWui15uTRVMIZNNH6b2tIk_poh0u-WXvnCjGjK2D5aQIdlxNoO0NaogrydJPO_ry4ImR8rYlIeGCN3NbD_E1_VGXe5c6-RP4ZgxvYOu1zNeE6ytdHD3kyX0gIo3cN5wKIoEX4O6AjRML-rqjesP_AyxyvGkYcspu4u7Lhoev6qsV9DG9tVxfuSi5UzyLHMamqrjoyjR4zMTkIEQWi38R-cxKYEsVSULKp_-jQjRUkO5W640rE19gK1vxZP_dcr8fYuZ8ujW5C3Nqo5eqipaDruI3dgp1oO99Q7p93cVv9zcVoa9IYfhIa8JOYbOS5r5Ct22HoLZ3oEOGWz6BW4zlLMvI2MaB",
  "id": "rs_0aa00866861980ca016ab45827272087d09850493d023b16ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped above the requested height, suggesting contact near the yellow object. I’m closing the jaws and will check the lift before proceeding.\"}",
  "call_id": "call_m03PC2upT0BVRKtWAoaFNPP8",
  "id": "fc_0aa00866861980ca016ab45827ecbc87d0b8458c3b0992d630",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m03PC2upT0BVRKtWAoaFNPP8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6117, -0.0219, -0.0463, 0.9993, 0.3504, 2.3432, 0.9852, 1.2728, 0.2455, 0.033, 0.3015]\nstate[eef_state]: left_x=0.2673 left_y=0.0006 left_z=0.1379 left_yaw=0.0053 left_pitch=-0.244 left_roll=-0.0048 left_gripper=0.9993 right_x=0.5352 right_y=0.1537 right_z=0.054 right_yaw=0.0817 right_pitch=0.4995 right_roll=0.0378 right_gripper=0.3015\nstate[joint_eff]: [-0.0342, -1.5111, 6.8034, 1.4969, -0.0659, -0.0464, -0.0171, -0.3761, -12.6427, 3.9179, 1.5653, -0.0415, -0.0562, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f9d2ae574fdfbc5444c166616308cc139a4ec6dd37eba12a62d75060199689",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd8ea3d491f526e50248ba09af376aade6967b9b3d6f08aa53a7921f8460638a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34d7e94eaac7f0d39f8225de9ab8f7b42a8092845a8f39a58ac6eae5ee13a2c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.639 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]: [-0.0257, 0.8566, 0.646, -0.5884, -0.0219, -0.046, 0.9996, 0.778, 2.0006, 1.742, -0.6006, 0.5392, 0.3916, 0.9966]\nstate[eef_state]: left_x=0.2714 left_y=0.0005 left_z=0.1423 left_yaw=0.0049 left_pitch=-0.2188 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4365 right_y=0.3078 right_z=0.1796 right_yaw=0.1038 right_pitch=-0.128 right_roll=-0.0962 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6342, 6.8308, 1.5165, -0.0611, -0.022, -0.0171, 0.0342, -13.6684, 8.8274, 1.7509, 0.2857, -0.0317, 0.1538]",
      "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]: [-0.0257, 0.8581, 0.646, -0.6079, -0.0219, -0.0463, 0.9993, 0.3481, 2.3268, 0.9825, 1.2449, 0.2489, 0.0296, 0.9968]\nstate[eef_state]: left_x=0.268 left_y=0.0006 left_z=0.1386 left_yaw=0.0052 left_pitch=-0.2398 left_roll=-0.0049 left_gripper=0.9993 right_x=0.5353 right_y=0.1518 right_z=0.0551 right_yaw=0.0803 right_pitch=0.486 right_roll=0.0293 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.4564, 6.9402, 1.663, -0.0806, -0.0659, -0.022, 0.3214, -7.5145, 4.0547, 0.486, 0.1245, -0.4567, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6117, -0.0219, -0.0463, 0.9993, 0.3504, 2.3432, 0.9852, 1.2728, 0.2455, 0.033, 0.3015]\nstate[eef_state]: left_x=0.2673 left_y=0.0006 left_z=0.1379 left_yaw=0.0053 left_pitch=-0.244 left_roll=-0.0048 left_gripper=0.9993 right_x=0.5352 right_y=0.1537 right_z=0.054 right_yaw=0.0817 right_pitch=0.4995 right_roll=0.0378 right_gripper=0.3015\nstate[joint_eff]: [-0.0342, -1.5111, 6.8034, 1.4969, -0.0659, -0.0464, -0.0171, -0.3761, -12.6427, 3.9179, 1.5653, -0.0415, -0.0562, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f9d2ae574fdfbc5444c166616308cc139a4ec6dd37eba12a62d75060199689",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd8ea3d491f526e50248ba09af376aade6967b9b3d6f08aa53a7921f8460638a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34d7e94eaac7f0d39f8225de9ab8f7b42a8092845a8f39a58ac6eae5ee13a2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper remains about three centimeters open, consistent with holding the yellow object. I’m making a short test lift.\"}",
  "call_id": "call_WJbvm0mvESmTzOXLqrJcs8zb",
  "id": "fc_0aa00866861980ca016ab4582b33e487d098241b24f7bbc81e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WJbvm0mvESmTzOXLqrJcs8zb",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6147, -0.0219, -0.0463, 0.9993, 0.3504, 2.1639, 0.9737, 1.0786, 0.242, 0.033, 0.3013]\nstate[eef_state]: left_x=0.2668 left_y=0.0006 left_z=0.1374 left_yaw=0.0053 left_pitch=-0.247 left_roll=-0.0047 left_gripper=0.9993 right_x=0.5342 right_y=0.154 right_z=0.0991 right_yaw=0.0886 right_pitch=0.474 right_roll=0.0303 right_gripper=0.3013\nstate[joint_eff]: [-0.2256, -1.4564, 6.8034, 1.5214, -0.0708, -0.0562, -0.0122, -0.2393, -12.7658, 5.4222, 2.254, 0.0317, -0.022, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fb3673c83552b3f04caf3628253efa30f505da98a6858ef9f5280495eb554f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b06c7cfc7655640c450603c667065bc98e77946010e3570350d92981b17cfa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3adf0c1689536b07fd94c86e7501a6c41a8d9c5b3e27b02e3f310b35f12fce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.205 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 65 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]: [-0.0257, 0.8585, 0.646, -0.5926, -0.0219, -0.0463, 0.9993, 0.3344, 1.9511, 1.1049, 0.5095, 0.2363, 0.0372, 0.9968]\nstate[eef_state]: left_x=0.2707 left_y=0.0005 left_z=0.1411 left_yaw=0.0051 left_pitch=-0.2249 left_roll=-0.0054 left_gripper=0.9993 right_x=0.5355 right_y=0.1461 right_z=0.1338 right_yaw=0.0965 right_pitch=0.2555 right_roll=-0.0234 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.6068, 6.8444, 1.5165, -0.0708, -0.0708, -0.0464, -0.4308, -9.4974, 6.188, 2.337, -0.0269, 0.0269, 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]: [-0.0257, 0.8585, 0.646, -0.6117, -0.0219, -0.0463, 0.9993, 0.3504, 2.3432, 0.9852, 1.2728, 0.2455, 0.033, 0.3015]\nstate[eef_state]: left_x=0.2673 left_y=0.0006 left_z=0.1379 left_yaw=0.0053 left_pitch=-0.244 left_roll=-0.0048 left_gripper=0.9993 right_x=0.5352 right_y=0.1537 right_z=0.054 right_yaw=0.0817 right_pitch=0.4995 right_roll=0.0378 right_gripper=0.3015\nstate[joint_eff]: [-0.0342, -1.5111, 6.8034, 1.4969, -0.0659, -0.0464, -0.0171, -0.3761, -12.6427, 3.9179, 1.5653, -0.0415, -0.0562, 0.9109]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6147, -0.0219, -0.0463, 0.9993, 0.3504, 2.1639, 0.9737, 1.0786, 0.242, 0.033, 0.3013]\nstate[eef_state]: left_x=0.2668 left_y=0.0006 left_z=0.1374 left_yaw=0.0053 left_pitch=-0.247 left_roll=-0.0047 left_gripper=0.9993 right_x=0.5342 right_y=0.154 right_z=0.0991 right_yaw=0.0886 right_pitch=0.474 right_roll=0.0303 right_gripper=0.3013\nstate[joint_eff]: [-0.2256, -1.4564, 6.8034, 1.5214, -0.0708, -0.0562, -0.0122, -0.2393, -12.7658, 5.4222, 2.254, 0.0317, -0.022, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fb3673c83552b3f04caf3628253efa30f505da98a6858ef9f5280495eb554f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b06c7cfc7655640c450603c667065bc98e77946010e3570350d92981b17cfa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3adf0c1689536b07fd94c86e7501a6c41a8d9c5b3e27b02e3f310b35f12fce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.23},\"note\":\"The yellow object stayed between the jaws during the test lift. I’m raising it clear of the safe and the plush toy already inside.\"}",
  "call_id": "call_8o3iJA8y4V3WY7IJ1Snpm5LP",
  "id": "fc_0aa00866861980ca016ab4582e078887d0a57b018b86a4b31b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8o3iJA8y4V3WY7IJ1Snpm5LP",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6304, -0.0219, -0.0463, 0.9993, 0.3504, 1.8732, 1.095, 0.6048, 0.2379, 0.0326, 0.3019]\nstate[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1348 left_yaw=0.0054 left_pitch=-0.2627 left_roll=-0.0042 left_gripper=0.9993 right_x=0.533 right_y=0.1543 right_z=0.1933 right_yaw=0.1001 right_pitch=0.4141 right_roll=0.0132 right_gripper=0.3019\nstate[joint_eff]: [-0.0889, -1.2786, 6.9538, 1.6093, -0.0464, -0.0366, -0.0122, -0.3761, -12.3966, 9.4291, 2.2784, 0.0171, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac37bee13cd2e10cb6f936946917a24e59852c262dc514ac9aba923fc84e4b87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e4db891a0cb651527dca993bdeb7c3b5184ee53688d3a5298e6e23cef91d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c9fd1d67c6f8546b90a0159386db01201ce9e015536a54d2d8b27916b89a65",
      "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 · 2.336 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 65 changed as sent

message 68 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]: [-0.0257, 0.8581, 0.646, -0.6079, -0.0219, -0.0463, 0.9993, 0.3481, 2.3268, 0.9825, 1.2449, 0.2489, 0.0296, 0.9968]\nstate[eef_state]: left_x=0.268 left_y=0.0006 left_z=0.1386 left_yaw=0.0052 left_pitch=-0.2398 left_roll=-0.0049 left_gripper=0.9993 right_x=0.5353 right_y=0.1518 right_z=0.0551 right_yaw=0.0803 right_pitch=0.486 right_roll=0.0293 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.4564, 6.9402, 1.663, -0.0806, -0.0659, -0.022, 0.3214, -7.5145, 4.0547, 0.486, 0.1245, -0.4567, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6147, -0.0219, -0.0463, 0.9993, 0.3504, 2.1639, 0.9737, 1.0786, 0.242, 0.033, 0.3013]\nstate[eef_state]: left_x=0.2668 left_y=0.0006 left_z=0.1374 left_yaw=0.0053 left_pitch=-0.247 left_roll=-0.0047 left_gripper=0.9993 right_x=0.5342 right_y=0.154 right_z=0.0991 right_yaw=0.0886 right_pitch=0.474 right_roll=0.0303 right_gripper=0.3013\nstate[joint_eff]: [-0.2256, -1.4564, 6.8034, 1.5214, -0.0708, -0.0562, -0.0122, -0.2393, -12.7658, 5.4222, 2.254, 0.0317, -0.022, -0.0317]\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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6304, -0.0219, -0.0463, 0.9993, 0.3504, 1.8732, 1.095, 0.6048, 0.2379, 0.0326, 0.3019]\nstate[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1348 left_yaw=0.0054 left_pitch=-0.2627 left_roll=-0.0042 left_gripper=0.9993 right_x=0.533 right_y=0.1543 right_z=0.1933 right_yaw=0.1001 right_pitch=0.4141 right_roll=0.0132 right_gripper=0.3019\nstate[joint_eff]: [-0.0889, -1.2786, 6.9538, 1.6093, -0.0464, -0.0366, -0.0122, -0.3761, -12.3966, 9.4291, 2.2784, 0.0171, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac37bee13cd2e10cb6f936946917a24e59852c262dc514ac9aba923fc84e4b87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e4db891a0cb651527dca993bdeb7c3b5184ee53688d3a5298e6e23cef91d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c9fd1d67c6f8546b90a0159386db01201ce9e015536a54d2d8b27916b89a65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgzs57gOQqddmT8qKiEgI8gsF19mut276qh4r_fnHg7_YMVRM9B4me8sGgylFit4EbzYqcAH0FvgvpRdtEU2VIB5Wf7Sm8yjpDIUuvFVTib4j_TtCE1RZhCl5_hm9Ki6lqA6_w2wQO8DuayTwhTldrGbdD4nZH18jkC_EiI0bUoWLoikptu2S5ste4QZZ7WvG-yK7rqfOQlM-n90oxNaDsxADzg5VlQHqQ2v1gnu06NCw_zRD8P3po18I_AiaKNA2_bmwhPQ-n4YikDBUQRN9DrpRvG2lA0F3YELPlv4giO-9uqEAXvog1NHKX1Gh4xD1rsCiLdlAqINcgo9Vh0-vPzcGfLQgTgzDjjd47Dfpif5m0B0NDojENtUGcajZdxdMbypv5sliSK9N1zx0xlH5vWOzHFphzfrNVD_DtLFxrPalbnswpVI3XrP4ACoj2R1N8TaNd2CLCVTbJOV33S09dSB54t1jsU1jjk-V0vxNlr6gidGrsba_G2Ft5qo7fbUbC1wG8ji48flZXL6w7P_5XdMaCJi9GAaFBYymQjKUUdo85X70PgyWEdnX07LIa0DqpN86JwCQ9vMUxnOL4WZId0OpyJNnWkZr_N-MDY8-m8pB8hlDbYaN_vEZsusF4p720-l0lbIzikrZj0Horn_Iv3_CfeWfzr5GplCCds0EFQ5TtJvNaHD2v3SfBnuVI6VRcRuZX9zPoYOAIUFk4AGlmihiwhdHFotcrgtUi-JYi8yweus-7c-cBqh4FCocjh2m2J5uLLsthb3qlZO607L5eYK3WTpgtNRl4KJJPl24n9I5fQB05Q59xn4Lil9vv5_d9HycDUXCyn2dzllPjZlrWTs3m9t1u7JClcvAEVM5wOujeQpf39-KaYBff7byCYCKyfeh3rStS1Y3NVxWqKa7EHfDM0MlZJotzF-Bauqrfc_sY1GBiWXrWdEVNQgXD3pupDxx-x-Km1zuU1fYJtgaFpUEV_8mAesNiCAzOCbASG-yT1ESrp3t_wSNFBNQ0QL7IVTHz8_GwkDsNcsW8YnsxhyNtpUnBMaN3VcjP97gwI-ZXVWmAmQH_3CiJ6xAGNn5tmrsfLBDdd7-3DdhvZjgVjuKm48dlPYIUgYe0z0WOm7BHDkzMHEFycBl9hRWkFBCUFqSF188ekZoD4nT1KeIxuyEM0nxeSWbELN2r4JvlTlMvXSBI5HgrnmjEpraX86OdFRtLlLqjmhbKGygn0zZ96Jq4zMr7Y3Elg69Q6QqZMLSVIir3VQUXiwpzZDQKDNBfrgovZNjHGmPrMGg0yWC41jguaQ0MNa1Xo9QeTk-3T_uS-2wv-Zt5urMzw_KcOFNDOyl7IJzL5LDifg8gJx_CHHOnz0ZpyEamPLgGPXBqnpzObnTqlNpi0MLBADvLnI9iv",
  "id": "rs_0aa00866861980ca016ab45831605c87d0a058920753f4ec21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.315,\"right_z\":0.22,\"right_pitch\":0.2},\"note\":\"The yellow object is safely raised. I’m moving it over the rear portion of the safe, beside the brown plush.\"}",
  "call_id": "call_LqeV1DpXRTCpRT4dIIAkSKzC",
  "id": "fc_0aa00866861980ca016ab458324d9087d095645934accf2571",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LqeV1DpXRTCpRT4dIIAkSKzC",
  "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]: [-0.0257, 0.8585, 0.646, -0.6373, -0.0219, -0.0463, 0.9993, 0.7216, 1.9831, 1.5639, -0.0597, 0.5323, 0.2134, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1336 left_yaw=0.0055 left_pitch=-0.2695 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4859 right_y=0.3129 right_z=0.2067 right_yaw=0.1472 right_pitch=0.1742 right_roll=-0.0221 right_gripper=0.302\nstate[joint_eff]: [-0.2667, -1.388, 6.9265, 1.4872, -0.0562, -0.0464, -0.0122, 0.2393, -10.5094, 9.4974, 2.0098, 0.3004, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73ef958eac12bd3c2a587fb5859f5c53d1eb490ad847eb7d65cbdfe519e160a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07336edb66156f932af93c4c3a685b34028c6be12e524776982229f2a38d3944",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3e9b9b75d180232e6041cc7b8b6e9d898cc0cfcd2acf3595da3c64625ab489",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.643 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 68 changed as sent

message 72 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]: [-0.0257, 0.8585, 0.646, -0.6117, -0.0219, -0.0463, 0.9993, 0.3504, 2.3432, 0.9852, 1.2728, 0.2455, 0.033, 0.3015]\nstate[eef_state]: left_x=0.2673 left_y=0.0006 left_z=0.1379 left_yaw=0.0053 left_pitch=-0.244 left_roll=-0.0048 left_gripper=0.9993 right_x=0.5352 right_y=0.1537 right_z=0.054 right_yaw=0.0817 right_pitch=0.4995 right_roll=0.0378 right_gripper=0.3015\nstate[joint_eff]: [-0.0342, -1.5111, 6.8034, 1.4969, -0.0659, -0.0464, -0.0171, -0.3761, -12.6427, 3.9179, 1.5653, -0.0415, -0.0562, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6304, -0.0219, -0.0463, 0.9993, 0.3504, 1.8732, 1.095, 0.6048, 0.2379, 0.0326, 0.3019]\nstate[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1348 left_yaw=0.0054 left_pitch=-0.2627 left_roll=-0.0042 left_gripper=0.9993 right_x=0.533 right_y=0.1543 right_z=0.1933 right_yaw=0.1001 right_pitch=0.4141 right_roll=0.0132 right_gripper=0.3019\nstate[joint_eff]: [-0.0889, -1.2786, 6.9538, 1.6093, -0.0464, -0.0366, -0.0122, -0.3761, -12.3966, 9.4291, 2.2784, 0.0171, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6373, -0.0219, -0.0463, 0.9993, 0.7216, 1.9831, 1.5639, -0.0597, 0.5323, 0.2134, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1336 left_yaw=0.0055 left_pitch=-0.2695 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4859 right_y=0.3129 right_z=0.2067 right_yaw=0.1472 right_pitch=0.1742 right_roll=-0.0221 right_gripper=0.302\nstate[joint_eff]: [-0.2667, -1.388, 6.9265, 1.4872, -0.0562, -0.0464, -0.0122, 0.2393, -10.5094, 9.4974, 2.0098, 0.3004, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73ef958eac12bd3c2a587fb5859f5c53d1eb490ad847eb7d65cbdfe519e160a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07336edb66156f932af93c4c3a685b34028c6be12e524776982229f2a38d3944",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3e9b9b75d180232e6041cc7b8b6e9d898cc0cfcd2acf3595da3c64625ab489",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The yellow object is aligned over the open compartment. I’m lowering it into the safe.\"}",
  "call_id": "call_X8z4dEtLDVV5WC9HJxLbd8Z4",
  "id": "fc_0aa00866861980ca016ab4583639c887d0b0d3b3fd12386039",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X8z4dEtLDVV5WC9HJxLbd8Z4",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.86, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1277, 1.3273, 0.2676, 0.5301, 0.2165, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1332 left_yaw=0.0055 left_pitch=-0.2714 left_roll=-0.0039 left_gripper=0.9993 right_x=0.48 right_y=0.3102 right_z=0.0893 right_yaw=0.1544 right_pitch=0.1284 right_roll=-0.0478 right_gripper=0.302\nstate[joint_eff]: [-0.1162, -1.5795, 6.8034, 1.453, -0.0806, -0.0562, -0.0122, -0.2803, -10.5368, 6.4752, 1.9121, 0.1832, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8daee00fb269fc3130926c2dd33d8a0033a59f8201a56d3aac82b4166b8ec910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d38cf64869e0547bac4861007f35b560528f2cef72116ab05bfcc9f4aaca9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b02c7d8fd6d4a0aeefff5835143b6f1dd0fd5fa6475af84887ab76983132120",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.734 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 72 changed as sent

message 75 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6147, -0.0219, -0.0463, 0.9993, 0.3504, 2.1639, 0.9737, 1.0786, 0.242, 0.033, 0.3013]\nstate[eef_state]: left_x=0.2668 left_y=0.0006 left_z=0.1374 left_yaw=0.0053 left_pitch=-0.247 left_roll=-0.0047 left_gripper=0.9993 right_x=0.5342 right_y=0.154 right_z=0.0991 right_yaw=0.0886 right_pitch=0.474 right_roll=0.0303 right_gripper=0.3013\nstate[joint_eff]: [-0.2256, -1.4564, 6.8034, 1.5214, -0.0708, -0.0562, -0.0122, -0.2393, -12.7658, 5.4222, 2.254, 0.0317, -0.022, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6373, -0.0219, -0.0463, 0.9993, 0.7216, 1.9831, 1.5639, -0.0597, 0.5323, 0.2134, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1336 left_yaw=0.0055 left_pitch=-0.2695 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4859 right_y=0.3129 right_z=0.2067 right_yaw=0.1472 right_pitch=0.1742 right_roll=-0.0221 right_gripper=0.302\nstate[joint_eff]: [-0.2667, -1.388, 6.9265, 1.4872, -0.0562, -0.0464, -0.0122, 0.2393, -10.5094, 9.4974, 2.0098, 0.3004, 0.1978, -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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.86, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1277, 1.3273, 0.2676, 0.5301, 0.2165, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1332 left_yaw=0.0055 left_pitch=-0.2714 left_roll=-0.0039 left_gripper=0.9993 right_x=0.48 right_y=0.3102 right_z=0.0893 right_yaw=0.1544 right_pitch=0.1284 right_roll=-0.0478 right_gripper=0.302\nstate[joint_eff]: [-0.1162, -1.5795, 6.8034, 1.453, -0.0806, -0.0562, -0.0122, -0.2803, -10.5368, 6.4752, 1.9121, 0.1832, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8daee00fb269fc3130926c2dd33d8a0033a59f8201a56d3aac82b4166b8ec910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d38cf64869e0547bac4861007f35b560528f2cef72116ab05bfcc9f4aaca9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b02c7d8fd6d4a0aeefff5835143b6f1dd0fd5fa6475af84887ab76983132120",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is inside the safe’s walls. I’m releasing it beside the brown toy.\"}",
  "call_id": "call_yy5CSTawlNAh25dnZL2mJPnS",
  "id": "fc_0aa00866861980ca016ab45839b44487d0ac8f64cc9162023c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yy5CSTawlNAh25dnZL2mJPnS",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8604, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1487, 1.3144, 0.26, 0.527, 0.2111, 0.9946]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1331 left_yaw=0.0055 left_pitch=-0.2718 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4762 right_y=0.3074 right_z=0.0711 right_yaw=0.1623 right_pitch=0.0923 right_roll=-0.0737 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 6.8855, 1.4237, -0.0562, -0.0757, -0.0122, -0.3761, -13.6274, 7.3641, 1.6728, 0.1294, 0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7d6452f216bd733dbf7380dab705c871251c647646fbc058df8e75242c5191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646e8d469d4f836ea4452b5f325c266218fc016ef7c9258822d78762771822f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8adb0f4701a13e9794a9dc3b6768fe5ab9041579c8ff4c485917c54fbad280c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.747 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 75 changed as sent

message 78 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6304, -0.0219, -0.0463, 0.9993, 0.3504, 1.8732, 1.095, 0.6048, 0.2379, 0.0326, 0.3019]\nstate[eef_state]: left_x=0.2639 left_y=0.0007 left_z=0.1348 left_yaw=0.0054 left_pitch=-0.2627 left_roll=-0.0042 left_gripper=0.9993 right_x=0.533 right_y=0.1543 right_z=0.1933 right_yaw=0.1001 right_pitch=0.4141 right_roll=0.0132 right_gripper=0.3019\nstate[joint_eff]: [-0.0889, -1.2786, 6.9538, 1.6093, -0.0464, -0.0366, -0.0122, -0.3761, -12.3966, 9.4291, 2.2784, 0.0171, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.86, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1277, 1.3273, 0.2676, 0.5301, 0.2165, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1332 left_yaw=0.0055 left_pitch=-0.2714 left_roll=-0.0039 left_gripper=0.9993 right_x=0.48 right_y=0.3102 right_z=0.0893 right_yaw=0.1544 right_pitch=0.1284 right_roll=-0.0478 right_gripper=0.302\nstate[joint_eff]: [-0.1162, -1.5795, 6.8034, 1.453, -0.0806, -0.0562, -0.0122, -0.2803, -10.5368, 6.4752, 1.9121, 0.1832, -0.0464, -0.0171]",
      "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]: [-0.0257, 0.8604, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1487, 1.3144, 0.26, 0.527, 0.2111, 0.9946]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1331 left_yaw=0.0055 left_pitch=-0.2718 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4762 right_y=0.3074 right_z=0.0711 right_yaw=0.1623 right_pitch=0.0923 right_roll=-0.0737 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 6.8855, 1.4237, -0.0562, -0.0757, -0.0122, -0.3761, -13.6274, 7.3641, 1.6728, 0.1294, 0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7d6452f216bd733dbf7380dab705c871251c647646fbc058df8e75242c5191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646e8d469d4f836ea4452b5f325c266218fc016ef7c9258822d78762771822f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8adb0f4701a13e9794a9dc3b6768fe5ab9041579c8ff4c485917c54fbad280c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFg_Ob79QKIUAZE6S578No2NaYfx-zEbYePdnJtoQo1hlFgg70bRAsEc2p0diu2jXtUZvU3Id5S4uYY6ymgmWGoKP5ZMnb5fWD2gYj5WVM22h_ltYB4Pbd9qNA4i5j0LCAUeRNg-QnHw3Fwm8Lzg92yIUTwnQYZy-tFGPObmlqEPYW0tHOwAAkUKYTi9unvukue4dslK6I0yRW2mRLfhtwPDEXzhzXEbn-WZDTnkchHiUI3cXsy9Bpd0hKHFEjJPv5YJkXVAUFQB1Vc4G6ndv8EOt0XNUPveWAzSuacMlAR8ZvEdKOktkicEvY_RUj0TSGFxtLhoaBEAJHTdTL7xJAkHiobhYWKajoxV_7sNf4Z6wmSCCmxH7woQcmzZRWw_je0TQ7u3yc_cHvKBD1iPcfOQ5eymzIGCmKAaoV7eMLj6nq_BKSSZL3lJzmBAsWeLneD4bB_wzwI1jERtkCcS7hxeyu5kpu7i3rY2vBdGBANBeKR-vYHjbvoRn852u1opnFQq-CNdbUf0-az5RNVKA9YM3EnEda5ReHsuqYkP6bQJojohGSPYvjcqK00dqXhRwgNnnebJbTlXUpgDaeCt2uyVxrcuFFzpi7gvb-cA9DacGu5vlIEMb05br6cy63k0510g9vyZyVLLl8AtbKNFmSMsivjyJco5Rdnf1exztkPdFPHKXM_AEnnidrVZH7Ncm24YVaQAdG8YVU8H_m-oDXrtBYWWJV21W99uvBbPbOpyBfoDErmsMzj4MfPyqalFZ2827mvybXWhOPsZAlB-yFxxZkYP9VHT_occ7ullHWDy1uXJtsE0jDka9MGDwqpOdLJuDaB5BNYdnSXEqbtCiyNaAus49GJ1IkfzSL1ygX6HjNX_unVLjquww8FyapYkAR60zsG7-WizmCWU5_eAjVVWP8y4imEYENDnaPaZ5lo2G4idOFRcljwx_uJi-npFzGdWMLURZBHI9rX8fW-yIcKWkQHP4GAXfXoY_wL9_TRNmxCJ7SokKyJx4RBlKNnnhK9KH5aN3lC89RKee8oJ1V_zjfpGhquci2lj34_oAzkvausz1QeRDgJxYp5FZq5qbR5DhUD3aBj5j_IQCyrW_ON5l97NjMuxrp-179xG4t0bQcGV8y-BWAGzaKT9IO6m-K67UiRggYwKyIbK4WM9pSJJL_JCVrVUG_AbkOtHaqlWDleoZjvuTkbsRzBKf-BHzPgXdnW9dlPrx1Ldwm3Uy7UMUNqENzNdO58U01cl1l70LknrjTV_7P8hxtvw_skPqr1MsbHuO64gwQamrUnwXTRz2H2oWihlLh-fIMVZjCgnsH3pLswTF0co2SFUzMVnR-ogSDykGAkxxLGt07RiV_ab_VayRW5ZDkSE7nnCZG-vRUqP4jXFNXUURtU64hwqHUcF0eGRqk4Xqf80ZVyoo01YK4Ka7Nps5EK40asLxPAynhqA9vFv40eAC1ReOlTjLSW5o75Ti-UVwlocMD2AVm3tZW39bpy3MsTsI7OijYMuppclkWlyOyIYd19tKE6Ps_o0gEJqYC6_enh6y-WXkQQipNR_xNDMxsGy24BYzNs2bkcdLV-RC0kBryD7rwi7wjDHISBnm3koFEoYxb98WNSIitI-p6aXjMeFmY48QeDwcHYWeGfLzi8X5uNiyYabGmuMbsZEpf8VV7mEeLYrZOa1KlZ6PMi8KlF8yr8L_Ag67zQyovM7C09WlP9LRG6BeRIzx1vSxDctoUq9lw1X-2BGeQYXFPR-Hg7kX6bKI0w_9YxPreG4qLmRslvaI1Sczvuk_lkvW5Wz8FsAUolzawU9jQ==",
  "id": "rs_0aa00866861980ca016ab4583c4f9087d0b9cbe19e43823e29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"left_x\":0.365,\"left_y\":-0.245,\"left_z\":0.15,\"left_pitch\":0.1,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The brown toy and yellow object are in the safe; the light-colored plush remains outside on the left. I’m clearing the right gripper while bringing the left gripper above that final object.\"}",
  "call_id": "call_EoeU0keJfaBN1W0tLj2V668D",
  "id": "fc_0aa00866861980ca016ab4583e762487d08a02f1db223c8dd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EoeU0keJfaBN1W0tLj2V668D",
  "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]: [-0.8673, 1.6192, 0.9432, -0.1081, -0.733, -0.5537, 0.9993, 0.725, 2.0022, 1.6577, -0.3328, 0.5201, 0.2062, 0.9952]\nstate[eef_state]: left_x=0.3543 left_y=-0.2294 left_z=0.1272 left_yaw=0.0044 left_pitch=0.0266 left_roll=0.0445 left_gripper=0.9993 right_x=0.4716 right_y=0.3053 right_z=0.1857 right_yaw=0.1738 right_pitch=0.0024 right_roll=-0.129 right_gripper=0.9952\nstate[joint_eff]: [-0.9641, -7.2821, 9.2513, 1.8242, -0.4322, 0.1538, -0.0855, -0.1983, -14.5846, 10.3453, 2.1563, 0.1978, 0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca34039df2f463e8c29296b798e4b25aa9166ca7904fba55de62bb52b4b4828d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53eb84f39f8c0fcc356bd64ae2f5038fe8ddf0a3fcea320ec6bc4dd3dd95c85f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee0bea25ed102e5b8fc25c77cccbf70f909fc407b350569069584a7baba36af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.496 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 78 changed as sent

message 82 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8585, 0.646, -0.6373, -0.0219, -0.0463, 0.9993, 0.7216, 1.9831, 1.5639, -0.0597, 0.5323, 0.2134, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1336 left_yaw=0.0055 left_pitch=-0.2695 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4859 right_y=0.3129 right_z=0.2067 right_yaw=0.1472 right_pitch=0.1742 right_roll=-0.0221 right_gripper=0.302\nstate[joint_eff]: [-0.2667, -1.388, 6.9265, 1.4872, -0.0562, -0.0464, -0.0122, 0.2393, -10.5094, 9.4974, 2.0098, 0.3004, 0.1978, -0.0073]\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]: [-0.0257, 0.8604, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1487, 1.3144, 0.26, 0.527, 0.2111, 0.9946]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1331 left_yaw=0.0055 left_pitch=-0.2718 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4762 right_y=0.3074 right_z=0.0711 right_yaw=0.1623 right_pitch=0.0923 right_roll=-0.0737 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 6.8855, 1.4237, -0.0562, -0.0757, -0.0122, -0.3761, -13.6274, 7.3641, 1.6728, 0.1294, 0.0317, 0.0024]",
      "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]: [-0.8673, 1.6192, 0.9432, -0.1081, -0.733, -0.5537, 0.9993, 0.725, 2.0022, 1.6577, -0.3328, 0.5201, 0.2062, 0.9952]\nstate[eef_state]: left_x=0.3543 left_y=-0.2294 left_z=0.1272 left_yaw=0.0044 left_pitch=0.0266 left_roll=0.0445 left_gripper=0.9993 right_x=0.4716 right_y=0.3053 right_z=0.1857 right_yaw=0.1738 right_pitch=0.0024 right_roll=-0.129 right_gripper=0.9952\nstate[joint_eff]: [-0.9641, -7.2821, 9.2513, 1.8242, -0.4322, 0.1538, -0.0855, -0.1983, -14.5846, 10.3453, 2.1563, 0.1978, 0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca34039df2f463e8c29296b798e4b25aa9166ca7904fba55de62bb52b4b4828d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53eb84f39f8c0fcc356bd64ae2f5038fe8ddf0a3fcea320ec6bc4dd3dd95c85f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee0bea25ed102e5b8fc25c77cccbf70f909fc407b350569069584a7baba36af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhGoNR47JIphmYYQdO6CbP3KJyJxcDcoErxZ6hoV7Gj1vLSc1oYwMez7SrZV1OEaIcUoFSpY7AwsDU9cb1Y1fsOZvtjs_BZ2yig0arXvZUSzQerqf8fgfI3zsSZOqHCOPbcwC3UZt7bqVRb9chHvnv5IfSbm4NLSasrhhbc8iKlfrzEoeeVreDPdyUlmkflPlSolS9MBMvmT0pjpRu6mscwi2cMoud7S0BQNSrnqhi0BF23Q9Ek8D1fx_hSoHIx2ppz0TfJwsvcCq4BmRC7nCLFVa9B6wUQ3rRqVSkV-JDaNPdMOiSBxu1ec8QCYSPcVZ1zqdvO2g0oIjnUuKJJqf9GHUHaFPJzqyQo5EqNXYboSPfgVv1Fp5gdgoV9jxfSgbL85fbYxzW14pnPnKaafAkTho2pkY4JBknnVdFk5dkQW-FUyomyQ9yR-2BuowG4JDYsSVtljMFXW4mpmQawUkYWlFFItAQg1YXysYMVy-ojuiymqcjpBV12gSeuAEpTZi2odaJdTmVv-BWdov5uQu4PGPYFqQGb7vz2JrQ-SsxAgOr7kEPv1S3zmEk6wewp96MGGH0bpEfohcZ_jPeYI6nI_oIdceDjWpYmIiGggfn3j9OGCScar37iiDZz9kitc0kYSToWEPE8odLSSYEkp-6hzfwTRwWqTnonxAMZe-LzziAxtnIIJpSl_bjGyjyoFcYVOHJ8I1nNbNrsdEr3RFMMfovQVRx83Z1rohJfYv5kP_Szk7vC7YfMw2G1GsgEi14PvzWHHQfVMR_kFkvGn9loGJ1c74BOpdWgVHSfPSbqhZFOYBdMweT9-8_FtT_kKNzsIrRaEH9-e4Xnk5bdzsHr2IXs-FTcLw2NpkWb_kZyqc2i7wv1hr2FESBrUc31jWU_i32poGkJr4OQLvS8XGFBvtQxysmom8V_4uVhjCz4_S8e9q0Mnq7x9gAVERJFe8InzIuUS-tIHLFO1RAgh1qWzmP06KZQXDnq1KC7PCYnCz8NtJsOvcV3lehpa_b6DrBcqBTZQ4MbsFf1GJtoVar5uUp6RSbhjU0zG6vM5Gdrh9e1JYik0lqvaY1Xo0L1bZCH0ycT4WDc5sJqY-cCyyNS1AL7h_u8SQhTZJPDlI_1QRQUS6RgT58-sm_YihGl1ZZBxf55WrmmTQzfUGrOoNmI8Db7VAwgE8pn5AV9Vl_-UH_GvnK9CQE0PRnFGBj4NiamCVOybVodW6q5qocTvS-zVi7Ey8S6CXnfA8VllDFKwOnwl3dl0MIBfKeSx3ovLfeXPj4ZRRjulRZYhzmDNc3qoK4L9Rad5c4vILig6I_PFqkjmJJowU8s1teTLuUfSKiwCtMJNhmdhnU-vg3-3ZVjEXh5JTwgFVuVEAzZjZ6TSczLe6wUvPq6aJTQlDDKn37JnmW6PcQLpf4-xNaQ57Rn03SG-xcODddhSzh96R4fg8fVtfQihV8fkm6hBBHul2Cr6ta-NeJCsgoi0jdX3J9VbRpfFiFyAbu70_ISoL8dH3svFNC-pAJSyr4P_6I9FPYDJ4tbj6qll84aYwkOAaJpD05LGbvhjoxV1SxtQzKSPF-xAAB4pJ6LVegFCOMpB2PYfsyX4W2fhdFfAmhVuJd7_Qsb59GwsTAJyCVraRoaWK9X8zOgVQCc7cIbCg8IvyXf9c_DNghNsABtWhP5kJDi-plD4xShvae_XJ6zaZgeGdxxsykoXPHdsHsBNfcE0DRP8DV9hTA7iopJyRCFgvrvVpURS8GiHbvh8wO7NQju3Zw=",
  "id": "rs_0aa00866861980ca016ab45843310887d0835e009ee79ababf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.385,\"left_y\":-0.22,\"left_z\":0.025},\"note\":\"The light plush appears slightly left of the jaw center in the wrist view. I’m adjusting over its body and lowering the left gripper while parking the right arm out of the way.\"}",
  "call_id": "call_hGvjd2zUhbD4lHSTIIpJYa9u",
  "id": "fc_0aa00866861980ca016ab45845040487d08261723c5c52340b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hGvjd2zUhbD4lHSTIIpJYa9u",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7883, 1.9049, 0.8223, 0.3756, -0.6926, -0.4988, 0.9992, -0.1661, 0.8482, 0.7139, -0.4847, -0.223, -0.1818, 0.9953]\nstate[eef_state]: left_x=0.3866 left_y=-0.2238 left_z=0.0395 left_yaw=0.0267 left_pitch=0.0562 left_roll=0.0158 left_gripper=0.9992 right_x=0.2968 right_y=-0.0065 right_z=0.1962 right_yaw=0.1065 right_pitch=-0.0188 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [0.5675, -6.6393, 3.9863, 1.4383, -0.0659, 0.2759, -0.0171, -0.1573, -2.0034, 6.8444, 1.9853, -0.2466, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989800a760ed50ffcf3bf7784300740e0648a8078f0b08effcab6d24cf0c2c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14676cf74af1342ede8e803b80f4f0cb9ca1d04d2a76ad525bd48d70ad7fbd6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a5b76fa5db5a399fc278a00b6263c182794aac13f3517ec536fa5b2f29cda5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.021 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 82 changed as sent

message 86 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.86, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1277, 1.3273, 0.2676, 0.5301, 0.2165, 0.302]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1332 left_yaw=0.0055 left_pitch=-0.2714 left_roll=-0.0039 left_gripper=0.9993 right_x=0.48 right_y=0.3102 right_z=0.0893 right_yaw=0.1544 right_pitch=0.1284 right_roll=-0.0478 right_gripper=0.302\nstate[joint_eff]: [-0.1162, -1.5795, 6.8034, 1.453, -0.0806, -0.0562, -0.0122, -0.2803, -10.5368, 6.4752, 1.9121, 0.1832, -0.0464, -0.0171]",
      "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]: [-0.8673, 1.6192, 0.9432, -0.1081, -0.733, -0.5537, 0.9993, 0.725, 2.0022, 1.6577, -0.3328, 0.5201, 0.2062, 0.9952]\nstate[eef_state]: left_x=0.3543 left_y=-0.2294 left_z=0.1272 left_yaw=0.0044 left_pitch=0.0266 left_roll=0.0445 left_gripper=0.9993 right_x=0.4716 right_y=0.3053 right_z=0.1857 right_yaw=0.1738 right_pitch=0.0024 right_roll=-0.129 right_gripper=0.9952\nstate[joint_eff]: [-0.9641, -7.2821, 9.2513, 1.8242, -0.4322, 0.1538, -0.0855, -0.1983, -14.5846, 10.3453, 2.1563, 0.1978, 0.0952, 0.0562]",
      "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]: [-0.7883, 1.9049, 0.8223, 0.3756, -0.6926, -0.4988, 0.9992, -0.1661, 0.8482, 0.7139, -0.4847, -0.223, -0.1818, 0.9953]\nstate[eef_state]: left_x=0.3866 left_y=-0.2238 left_z=0.0395 left_yaw=0.0267 left_pitch=0.0562 left_roll=0.0158 left_gripper=0.9992 right_x=0.2968 right_y=-0.0065 right_z=0.1962 right_yaw=0.1065 right_pitch=-0.0188 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [0.5675, -6.6393, 3.9863, 1.4383, -0.0659, 0.2759, -0.0171, -0.1573, -2.0034, 6.8444, 1.9853, -0.2466, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989800a760ed50ffcf3bf7784300740e0648a8078f0b08effcab6d24cf0c2c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14676cf74af1342ede8e803b80f4f0cb9ca1d04d2a76ad525bd48d70ad7fbd6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a5b76fa5db5a399fc278a00b6263c182794aac13f3517ec536fa5b2f29cda5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhMrlzMH0AZDAzaVpkHksAeQnaX4L26YpCmMfxtpUZ-REG6WgHIxsG7d9zfdLz-SL9sTLlWtQ7A-6wUfQFrif6Mt4AfZBDT-6AvkOmoCHs1Dg9iuapQo7VnhHynfgh3pfVlb0ZdutoAARBdqv4y2ycdtFqsuxNkYK6ooltEB0qSuDM9TweDPtk--Jbx4hQZ1IDTdMa1ObezHHwhJzE5IuCZAQ-XBK80Ql2y6eRqE3usB1Rfph6xCK6L_z6y2WbSSUkhRUVJV6h6Cj5X5kLuOYMTyHLaYWDvLLeZ9ItVHlSTAt4hCUppwbUPOA-ZaQQrb7kocbnDa_6Ig_8hUy8iWtEN4w2DLugo1atvZsUiZmqy0Pk6e7e87JuOrrNdTGbEmvDi7MXMf1bP3Z6FnSWt54pcJsA8Hs0H6BJCEbAkkhZgAJ5YQnDx8Hbij5ERGa2YcODnfH9xpYmiYEYP-w7T5gzl8oJO34K3jVVjxwBfT0cH2kyGKQNo6kiPOuDweXtOFHjFpVq0EuRBjSkeFBFq0BbYH7IDyQDNYwqTLe-avUoandpvhBmMCBoxfN8bH600zZOZKeuybCg6jkITmewpdJyy44G8pj3AnWgkEeKhxPFBrsbLDyqUWCfXgC3WupQljxBoJ2jm06ZmCOXPKSmFKrjUIYO67ItHHjREdHFCxjcc6BmL-TcVTWiI69j5u804AOUKSCk3vUkl6FqZNfNxc8AndLiNw909ZYJWUUvyqlm5WoiNpzePVrNCAerRsR902obQodJnswok2CA6DaQzw3wrU6k45qTqUjbV4_MnYRJ0hHBm7_PnugzwIGlAzqudpBKINAhZTgzPdvO4kYa7Bt5U3-2B0Q223x-RXpe9jRMYk8FggMZidcAGUQshtM8TnvRdq7M8qCBDcWRqIiKzAYsZkfA_ZXcH2LS-Do2I181ytLZ7aVZzNsY40MzBlCApTd-JFniXvVs-D9Hd-26J5mLVvn6eSRk_cDLvI4rkeQWqKv7Sr2uFTt4nMHHOGCMx25q_muxWOG7GQzCKSMj_UmmHqW6vHORSJwwBjWwJno27qq3Z0cjyuu9BvWsHR9-KS7V78LedGq0fNG19D3pGkEw2g7sifWrwCwWx6glahgdPlaF2ewWhjoxEjfwmZi30MWVWhj_MDk7Sf-MPFHuQW55z3_tZCRZ_tHbDki99lvy1DNRfYZEUbXivPVRLHgWnhpkwjiC5_zUxb0scSKnqJdgOby5-vMXK3GMZQpmfwlIciypSMkZlbQlIRp7xnysy5N9i",
  "id": "rs_0aa00866861980ca016ab4584b7d3887d087b5a6d2c44c633e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are down around the light-colored plush, with contact limiting the descent. I’m closing them to grasp it.\"}",
  "call_id": "call_CFL269SUydNHOkdCAAF8rB9G",
  "id": "fc_0aa00866861980ca016ab4584bc92487d0a408d2577d645638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CFL269SUydNHOkdCAAF8rB9G",
  "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]: [-0.7914, 1.9076, 0.8181, 0.3973, -0.693, -0.5068, 0.2058, -0.1646, 0.8528, 0.7139, -0.5224, -0.2283, -0.1986, 0.9953]\nstate[eef_state]: left_x=0.3868 left_y=-0.2258 left_z=0.0405 left_yaw=0.029 left_pitch=0.0666 left_roll=-0.0018 left_gripper=0.2058 right_x=0.2917 right_y=-0.0043 right_z=0.1878 right_yaw=0.1221 right_pitch=-0.0587 right_roll=-0.0034 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -9.0325, 5.3812, 1.3114, -0.2418, 0.0171, 0.8718, -0.1709, -1.6615, 7.0906, 2.0488, -0.1099, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54ca3831a663f882c94ea87569091d4eeb111a25eba982cd61d94b48d9c070d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585c1dfd557a9bd6fd4848ae5a85d3a59f51b79e500df48527357f0a543be801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a54beea947ad4ca81242ad34e009de8ce8e3616a4b6cef8f01742b5f648af8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 2.687 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]: [-0.0257, 0.8604, 0.646, -0.6376, -0.0219, -0.0463, 0.9993, 0.7242, 2.1487, 1.3144, 0.26, 0.527, 0.2111, 0.9946]\nstate[eef_state]: left_x=0.2626 left_y=0.0007 left_z=0.1331 left_yaw=0.0055 left_pitch=-0.2718 left_roll=-0.0039 left_gripper=0.9993 right_x=0.4762 right_y=0.3074 right_z=0.0711 right_yaw=0.1623 right_pitch=0.0923 right_roll=-0.0737 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.4701, 6.8855, 1.4237, -0.0562, -0.0757, -0.0122, -0.3761, -13.6274, 7.3641, 1.6728, 0.1294, 0.0317, 0.0024]",
      "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]: [-0.7883, 1.9049, 0.8223, 0.3756, -0.6926, -0.4988, 0.9992, -0.1661, 0.8482, 0.7139, -0.4847, -0.223, -0.1818, 0.9953]\nstate[eef_state]: left_x=0.3866 left_y=-0.2238 left_z=0.0395 left_yaw=0.0267 left_pitch=0.0562 left_roll=0.0158 left_gripper=0.9992 right_x=0.2968 right_y=-0.0065 right_z=0.1962 right_yaw=0.1065 right_pitch=-0.0188 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [0.5675, -6.6393, 3.9863, 1.4383, -0.0659, 0.2759, -0.0171, -0.1573, -2.0034, 6.8444, 1.9853, -0.2466, -0.0708, -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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.9076, 0.8181, 0.3973, -0.693, -0.5068, 0.2058, -0.1646, 0.8528, 0.7139, -0.5224, -0.2283, -0.1986, 0.9953]\nstate[eef_state]: left_x=0.3868 left_y=-0.2258 left_z=0.0405 left_yaw=0.029 left_pitch=0.0666 left_roll=-0.0018 left_gripper=0.2058 right_x=0.2917 right_y=-0.0043 right_z=0.1878 right_yaw=0.1221 right_pitch=-0.0587 right_roll=-0.0034 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -9.0325, 5.3812, 1.3114, -0.2418, 0.0171, 0.8718, -0.1709, -1.6615, 7.0906, 2.0488, -0.1099, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54ca3831a663f882c94ea87569091d4eeb111a25eba982cd61d94b48d9c070d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585c1dfd557a9bd6fd4848ae5a85d3a59f51b79e500df48527357f0a543be801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a54beea947ad4ca81242ad34e009de8ce8e3616a4b6cef8f01742b5f648af8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The left gripper stopped at a substantial opening, consistent with a plush grasp. I’m lifting a few centimeters to confirm that the light-colored toy comes with it.\"}",
  "call_id": "call_ncZ7huM2If2xPSROOHp5CEpk",
  "id": "fc_0aa00866861980ca016ab4584f7ba887d08e1f5951748df99e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ncZ7huM2If2xPSROOHp5CEpk",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.7866, 0.865, 0.1963, -0.6926, -0.5144, 0.2084, -0.1646, 0.8547, 0.7136, -0.5507, -0.2283, -0.1997, 0.9953]\nstate[eef_state]: left_x=0.3827 left_y=-0.2217 left_z=0.0744 left_yaw=0.0315 left_pitch=0.0439 left_roll=0.0157 left_gripper=0.2084 right_x=0.2876 right_y=-0.0036 right_z=0.1818 right_yaw=0.1234 right_pitch=-0.0879 right_roll=0.0044 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -10.5641, 8.5265, 1.7314, -0.3199, 0.0806, 0.2613, -0.0479, -1.5658, 6.8991, 1.9512, -0.1197, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea21589a491a06d9c5443bcd06eb98f259577690c546d1f775cfffe089a18d75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0429c508ac126181ddead1b364565982d0d676e6f25a420343458dfe19f4a2c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26c501bc7d8c995a785d2a4a551b6a18590f307dffa99f57063c6d122d419d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.123 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 93 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8673, 1.6192, 0.9432, -0.1081, -0.733, -0.5537, 0.9993, 0.725, 2.0022, 1.6577, -0.3328, 0.5201, 0.2062, 0.9952]\nstate[eef_state]: left_x=0.3543 left_y=-0.2294 left_z=0.1272 left_yaw=0.0044 left_pitch=0.0266 left_roll=0.0445 left_gripper=0.9993 right_x=0.4716 right_y=0.3053 right_z=0.1857 right_yaw=0.1738 right_pitch=0.0024 right_roll=-0.129 right_gripper=0.9952\nstate[joint_eff]: [-0.9641, -7.2821, 9.2513, 1.8242, -0.4322, 0.1538, -0.0855, -0.1983, -14.5846, 10.3453, 2.1563, 0.1978, 0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.9076, 0.8181, 0.3973, -0.693, -0.5068, 0.2058, -0.1646, 0.8528, 0.7139, -0.5224, -0.2283, -0.1986, 0.9953]\nstate[eef_state]: left_x=0.3868 left_y=-0.2258 left_z=0.0405 left_yaw=0.029 left_pitch=0.0666 left_roll=-0.0018 left_gripper=0.2058 right_x=0.2917 right_y=-0.0043 right_z=0.1878 right_yaw=0.1221 right_pitch=-0.0587 right_roll=-0.0034 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -9.0325, 5.3812, 1.3114, -0.2418, 0.0171, 0.8718, -0.1709, -1.6615, 7.0906, 2.0488, -0.1099, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.7866, 0.865, 0.1963, -0.6926, -0.5144, 0.2084, -0.1646, 0.8547, 0.7136, -0.5507, -0.2283, -0.1997, 0.9953]\nstate[eef_state]: left_x=0.3827 left_y=-0.2217 left_z=0.0744 left_yaw=0.0315 left_pitch=0.0439 left_roll=0.0157 left_gripper=0.2084 right_x=0.2876 right_y=-0.0036 right_z=0.1818 right_yaw=0.1234 right_pitch=-0.0879 right_roll=0.0044 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -10.5641, 8.5265, 1.7314, -0.3199, 0.0806, 0.2613, -0.0479, -1.5658, 6.8991, 1.9512, -0.1197, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea21589a491a06d9c5443bcd06eb98f259577690c546d1f775cfffe089a18d75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0429c508ac126181ddead1b364565982d0d676e6f25a420343458dfe19f4a2c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26c501bc7d8c995a785d2a4a551b6a18590f307dffa99f57063c6d122d419d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFhT3T22mThV8ptVssw0BGdeIjZS-16usF0o_4CLsXZg9MnDRpULF1dnM3cirxOsc3_04b_SSz-S-pWuOcFqYGmtx8V_4oY2zJq2G9PgMzHrxVO6A8Sz1ANEBS5-RFhaVpPH0GyV7mlB2s2bBxbUxU3BVf4UZDoAHyM4nr7kakPNPAHC-9735SKEnLgxocVd3d6wfWe6ElrVxkZnSgC3bCOXqPwT-A7pjYUs5GVirnabANLjLm2ZaBBECVS7Uu2hXQK34GHgUjjE96-zwB9GgznikslXaMS2d6ocDszNCureU2WacNIr0DIqwnIezgUpfcEqj3nR3x9nE6oFGbnUd2QvgptsIbIOwmiExs_eKtIfhiZYZxhyv_ksx-l3JcF-yglP6me-HfKUUMoLP6cppaovSHpF8cOLFuWSeZmrm9mt3RHDqYJQMl_gsacBUkQKx1NJJO3R7sZApDOf3bCfmIICb75o78IuvFnQy90qZ1mvdu6rUbyxD7ds7Kx6qKj--S1wRyZbAcwSI4vtk8TdwJbIms_ScRclKgh7w0Ro73_kag3T2dBWWm9nYWAKq860bwlMye77tVfQGQoeRjymBOcoFR3C8VTsfLu05W_mo6wnaEO_YqIxYBWlapk1Ko3u4zDP3S---j0YGrPxRlmzWIlTFGkH94lde-omd1UTEd7H4EfYwMq8E-3_8WH7pTK3B9rW88w9M92n6dyuRlAKowjfPoO4TCaJoE21QokLW3v8JY1ksfCilpKhIFjIkggXcAswgpHWbUAGY-CF-C9jcjzMgyo4UE-AgW-DRI53ucU_oryKKvqu7W-Ixv7AyzHSxJqYMzi9uuMEMMbZIwEVDTJnaDu4B5wshDRtuzNMq8GxuOJRkLBYbSKlujbNrmBmSNcSSJRER9cnFiDdSYj-KDaKxkOsTHo1-eIDQh6Rkk6VbqlhoQnY-wYYceot11wucLzV7bxQHt7Vnh4mi7DgnAVXykbRgfCbm0ywFfb6491wSvHhmqEywZQldP8iA-nTttwW6XIPMtK10tM-prLbN4MlWLBZDEcN7Nh7lfU86ZAtywJnbluL3WWr9jBIWtyB1y_f4A510z8G4pLQ_yv26NcPiOPR1GmIGxf2Ps2jnqv1Im5QV4xOS9D9fUHyrrfdCaZTHjtuMm9jsfg3FNOpzStZ4WoQtN4ERn7RzAgnreqvrpjpjF5R9Cy4r9TfCAbQsp4EBHpfHD5_JN2Ye55ReGcoe2Men7ni6Qh0dxSgOT1H090xFsUU9kH_mQ-IE98cp-FCwCmxmtw6kX4mGLbOiC4AjW8wpl2ynZKimljunxDBWn4=",
  "id": "rs_0aa00866861980ca016ab458525d8c87d0baf900d4e3939d3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.24},\"note\":\"The light plush has lifted with the left gripper. I’m raising it above the safe’s rim before moving it into the remaining space.\"}",
  "call_id": "call_kE4e3w0ehWmMUDE2f8puj96p",
  "id": "fc_0aa00866861980ca016ab45852b99887d0bad4deaab04416d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kE4e3w0ehWmMUDE2f8puj96p",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.6112, 1.2781, -0.4507, -0.6922, -0.5289, 0.212, -0.1646, 0.8558, 0.7136, -0.59, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3835 left_y=-0.2226 left_z=0.2071 left_yaw=0.0382 left_pitch=0.0045 left_roll=0.0461 left_gripper=0.212 right_x=0.2815 right_y=-0.0026 right_z=0.1743 right_yaw=0.1261 right_pitch=-0.1267 right_roll=0.0139 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -10.6735, 9.4838, 1.6337, -0.2759, 0.0952, 0.359, -0.1709, -1.388, 6.8991, 1.9951, -0.1148, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be53a96d7ec80d8dfc539dbeb564283e8426fd8c7d69702568006f3526afe87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d1e5f4f599e0e8c7354eed947f2b6120121388d9d0cb949422b67b10fc525b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e808bcdb39eeef950a9e28e747376dcd12d6ee57026cc30eac3d31c88eb4233e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.064 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 93 changed as sent

message 97 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7883, 1.9049, 0.8223, 0.3756, -0.6926, -0.4988, 0.9992, -0.1661, 0.8482, 0.7139, -0.4847, -0.223, -0.1818, 0.9953]\nstate[eef_state]: left_x=0.3866 left_y=-0.2238 left_z=0.0395 left_yaw=0.0267 left_pitch=0.0562 left_roll=0.0158 left_gripper=0.9992 right_x=0.2968 right_y=-0.0065 right_z=0.1962 right_yaw=0.1065 right_pitch=-0.0188 right_roll=-0.0045 right_gripper=0.9953\nstate[joint_eff]: [0.5675, -6.6393, 3.9863, 1.4383, -0.0659, 0.2759, -0.0171, -0.1573, -2.0034, 6.8444, 1.9853, -0.2466, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.7866, 0.865, 0.1963, -0.6926, -0.5144, 0.2084, -0.1646, 0.8547, 0.7136, -0.5507, -0.2283, -0.1997, 0.9953]\nstate[eef_state]: left_x=0.3827 left_y=-0.2217 left_z=0.0744 left_yaw=0.0315 left_pitch=0.0439 left_roll=0.0157 left_gripper=0.2084 right_x=0.2876 right_y=-0.0036 right_z=0.1818 right_yaw=0.1234 right_pitch=-0.0879 right_roll=0.0044 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -10.5641, 8.5265, 1.7314, -0.3199, 0.0806, 0.2613, -0.0479, -1.5658, 6.8991, 1.9512, -0.1197, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.6112, 1.2781, -0.4507, -0.6922, -0.5289, 0.212, -0.1646, 0.8558, 0.7136, -0.59, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3835 left_y=-0.2226 left_z=0.2071 left_yaw=0.0382 left_pitch=0.0045 left_roll=0.0461 left_gripper=0.212 right_x=0.2815 right_y=-0.0026 right_z=0.1743 right_yaw=0.1261 right_pitch=-0.1267 right_roll=0.0139 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -10.6735, 9.4838, 1.6337, -0.2759, 0.0952, 0.359, -0.1709, -1.388, 6.8991, 1.9951, -0.1148, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be53a96d7ec80d8dfc539dbeb564283e8426fd8c7d69702568006f3526afe87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d1e5f4f599e0e8c7354eed947f2b6120121388d9d0cb949422b67b10fc525b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e808bcdb39eeef950a9e28e747376dcd12d6ee57026cc30eac3d31c88eb4233e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFhXy2Ml-lnh1zZTQGUw_V1j4Z0XzMcJYxG5wFYH7ICeFDSSY9ptVjPXia8dAbBIgdabYFUKTQqh2KBi4cZrnXldSDzMLl54NSaTdGa350ixScSDbfwctOPY6Z6mFyQUk9uOxwFQ5d6JQGyiiZ-MNf8enUzljS3oQQECBotmEUdxgv74umg-shD2kAWsbK4Q7qRp3sbO2nl_g-7N-rDkt0Q4YUbj1YDspdq_y8X2YPETdq8Z9C5toDDq4Vkl1Ctkdkl7BSL_k8zmVyNNT23xumdqgZxBHb-VdH0-q-6-Wvr467MfB4AYxWQ43pFq9mzpLFg6HG75j2T4MdSp-FjDp5dw-rvCrMT2U8NDpZVDKQK7r7d-0TL47RZBiNoDCUzsOvN3v831fIJXf9Bs772QiX2JaBk_YH3ZrQ24sqhOCw2Hxt97ObzP7t7kjie8aS1zQLnlgdqWOSVuoE3CXpbLxRBgoRauLkh9FDqzFhreBWMGs6XXZEARRvC2DxfKpExKPb9tPuu6L4uY7WzFOamI1-pzPWCnkAq7Pb5sJABodPZMT6blDFOnaCjxkzRCp-uyMde9dJfXjeLGncFcgveGeyjmC3RwigHX6JcSEIe_du20tRf-q-imu4ZS2qtAyEUPkbJU7is9cPU8l_qmoHkN--qSIQ-hHfXeE4mJLC8EeLIgBdsNFFLo0LI-wEhQKoUSgeitNLk4yfeJ2IJwgkxwJOSXD7CEh7lzs08RPQ-MknjNDHWDdl8qMrrFQm7F9ZLTarYyIUMpxpRMnTEsc3pctXzI8rtcg2tf9HcYJmKqqNOBSsnaO6Iz_9WqmOnolD3_-8EV7IAzNcdk19VFJMjihr2EiG7AywPVw4-l49UAyWqgVRRxFw47D38nznlD9bhUJUAX_X2spepY371rGOui750Xnd7BDE5cTnvYCdNulNB3pINfN7S3Eok8OyErSKthEcSFQeaiWikIVfY7bq771fvFmYY0t0OTVXWW1e0s-nGrXPSIYJoIPnHjXpmVXwndH6_rnBPNS2EDaWWjoHMjkIzibAtyxwd8oT3l1ftgOZixJtv1llmb4qWhj-5PAgBn_uoaMPFrKQEAshD9rpF2E0IYFnKpwlqYMRAw-Jqo7dfoUz_ZSt4qnV3Ibg7caBKnYPBQGQ6IhsrGOb5_RCUoMPY7idxqLb3h9RNqNDEI3mixaxEjmloss_aSX1JEzrwxI3dTlr3SBzfAEw9QB_cZhR9RUQksFcRqFBc7eD6c9sjcFWfvD0CWpDwiS1_NRtXmlKXXfm5ULu2xGYn8nApX7xc5vlOUNExylk24rMnmagZzlZMClsDxrJ5NF8GLxOvgC8ynFo0pRrKE626qkRD-kJsc75hPFsYt1DZ9foJnAFDIU9DnQrvgoZQX7nHILri7T33ubilQ7me2FZ50mNGATswsE1D4r5CggvYCdR_HVwlQbxe2eZ-XVoN3R6ARTxrBosU1VtpUf_819U4zR2H1VlSG71X3Z5wwzQhNrRFQeoX4OHk=",
  "id": "rs_0aa00866861980ca016ab45855e03087d098fa467de4ccab85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.33,\"left_z\":0.24},\"note\":\"The last plush is clear of the tabletop, and its original spot is empty. I’m moving it over the safe’s center.\"}",
  "call_id": "call_YVIVNmFJw0hZRjuDYirZ9geG",
  "id": "fc_0aa00866861980ca016ab45856d8c487d08ff9bd966edc4853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YVIVNmFJw0hZRjuDYirZ9geG",
  "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]: [-0.8257, 2.1628, 2.1025, -0.7681, -0.704, -0.5743, 0.2143, -0.1646, 0.8612, 0.7136, -0.6167, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4623 left_y=-0.3272 left_z=0.2255 left_yaw=0.0371 left_pitch=-0.0174 left_roll=0.0474 left_gripper=0.2143 right_x=0.2775 right_y=-0.0019 right_z=0.1682 right_yaw=0.1277 right_pitch=-0.1574 right_roll=0.023 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -12.8752, 8.7179, 1.072, -0.4567, 0.0513, 0.232, -0.0752, -1.9214, 6.8171, 1.7705, -0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6174ee19e8840a3f2dd5e8b616787380166dd487a72d6472d853556a567d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435fdc573aeb0143779b8ac1ff7520268d1c636ab9f2998817fe873657e35993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae528822319396846f6f9d8152fd1a250e0327ca7db3ee6376f262e8ec629690",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.917 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 97 changed as sent

message 101 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.9076, 0.8181, 0.3973, -0.693, -0.5068, 0.2058, -0.1646, 0.8528, 0.7139, -0.5224, -0.2283, -0.1986, 0.9953]\nstate[eef_state]: left_x=0.3868 left_y=-0.2258 left_z=0.0405 left_yaw=0.029 left_pitch=0.0666 left_roll=-0.0018 left_gripper=0.2058 right_x=0.2917 right_y=-0.0043 right_z=0.1878 right_yaw=0.1221 right_pitch=-0.0587 right_roll=-0.0034 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -9.0325, 5.3812, 1.3114, -0.2418, 0.0171, 0.8718, -0.1709, -1.6615, 7.0906, 2.0488, -0.1099, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.6112, 1.2781, -0.4507, -0.6922, -0.5289, 0.212, -0.1646, 0.8558, 0.7136, -0.59, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3835 left_y=-0.2226 left_z=0.2071 left_yaw=0.0382 left_pitch=0.0045 left_roll=0.0461 left_gripper=0.212 right_x=0.2815 right_y=-0.0026 right_z=0.1743 right_yaw=0.1261 right_pitch=-0.1267 right_roll=0.0139 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -10.6735, 9.4838, 1.6337, -0.2759, 0.0952, 0.359, -0.1709, -1.388, 6.8991, 1.9951, -0.1148, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8257, 2.1628, 2.1025, -0.7681, -0.704, -0.5743, 0.2143, -0.1646, 0.8612, 0.7136, -0.6167, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4623 left_y=-0.3272 left_z=0.2255 left_yaw=0.0371 left_pitch=-0.0174 left_roll=0.0474 left_gripper=0.2143 right_x=0.2775 right_y=-0.0019 right_z=0.1682 right_yaw=0.1277 right_pitch=-0.1574 right_roll=0.023 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -12.8752, 8.7179, 1.072, -0.4567, 0.0513, 0.232, -0.0752, -1.9214, 6.8171, 1.7705, -0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6174ee19e8840a3f2dd5e8b616787380166dd487a72d6472d853556a567d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435fdc573aeb0143779b8ac1ff7520268d1c636ab9f2998817fe873657e35993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae528822319396846f6f9d8152fd1a250e0327ca7db3ee6376f262e8ec629690",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhcImT_7TFJKxKpOfazVEWZC_U3QOk5bC4uChY4EfmRt_Yj1QeCIxTRFWRl8wYqjWdSlMkXhyQqllz_haUxoaO6TCF2hXKCGk_Iwz58GIVLnBz217pUNM6dZ1cY9QgUbT1wK1X3VDDssQ9aQntlq6fLcvpcJAD8ks9llDdqRBAzQJKtbhcT3QVGb717c-VDlvgsgqdxEiUznUKD6nyYUWF9t4_PYormiJWg3az3VKppYXFaqohpzFCfJ5m_6JMqss2gMQYTaSHrvizlqpyz8sQ-7jrn-dnO4AkYVE26h8JB658krm6mcSb4WBn0jE7L2zJRlzSzj06tNfKig_fXXsSNbyWo1_WCvOAVQWUzODp94SMw6JPXyQdGNpoLe5jhGeuUJVnnpfMPuij05KldZeA9oM8SxMpCvGU1v6tD3Fok7EAcj8GxbWEp0p8YsvZbxgJIJK1D-HCP_3v8mVSCdZbEPs6o0_Z75YiT9jeSDWRBViIuD50iLjusiTzN5s1dULPv88ZG6tynz6-KGGgwP4leidRkj0bhFEdJ4CZ1pSq-MmPl6c_pRSNzElmoXiYl29DuWK3g6WBCdVqCeDATzRGS6Ge21vORFPjhtqIGNH2-wyXLpk9xpQGAAmcAvE5wBCp9pIgOrtVT0bL6YxObztFz7-xttrRYa3NRo7nLkwG5W1qKOqgmf73KDZUZ_NUgV8KX7WYB57EhdrnquCgKY3UkuFuF3MeBXtMKgBlhZEQPZBvzChUwY4S8ASFDSHjwQYjkUEdc5-RjmRRYQqcfGlGJiNZI8hiRegO4PdjPI_tGZJiHm7Jj5skozEgomlEUNBT-xZAhNpfDwUJEkBfotJ5hlJdWxZq7ivjlxCejuSC3synh5s7E945pEsJ3vAlVXXfw2wmmNtZlTbn8-Z2Ma1aHDtRZu8kuHev5Yh7__RbKz4U4X8f75g-lopuRWuRyBUkUmRIXtUKtvZmsNLSShCehVnvJ29PCVvmMXEgYlp0wPyCSpPruACe9xfmlZ8Q5EEMSq9yIV8ltxgbIc_Xz2zHqpGc8oVqxULq6pQ-C76scItqrXDUaktGOFS_KAiPgM_agYdh3M4CAExfWeLO32d2BovudpyFT7gOszXGadVoABA3zWREkyhc1x_6gCJO3_LmH8Vpw5ID_ljMvqH2p9_OfGXjxngZzD8wZA-xUIo6xwP5c5V2iiXn_baxUCuMS1Jo-yHKJHPRkn81OBcCnUjISEYMb06Y18F72JorIrb6rdeQ=",
  "id": "rs_0aa00866861980ca016ab4585b9d3087d09a61e07e4a01f1c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The last plush is over the compartment. I’m lowering it gently onto the other contents.\"}",
  "call_id": "call_7erqgOpcFdvN4WEb11xqJZNu",
  "id": "fc_0aa00866861980ca016ab4585bf91887d083d8fc0204316301",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7erqgOpcFdvN4WEb11xqJZNu",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.1944, 1.6497, -0.334, -0.693, -0.5747, 0.2171, -0.1646, 0.8623, 0.7136, -0.6357, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4561 left_y=-0.3224 left_z=0.0922 left_yaw=0.0316 left_pitch=-0.0566 left_roll=0.0798 left_gripper=0.2171 right_x=0.2743 right_y=-0.0014 right_z=0.1646 right_yaw=0.1286 right_pitch=-0.1767 right_roll=0.0289 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.494, 6.4068, 1.5897, -0.398, -0.0366, 0.2759, 0.0068, -1.5658, 6.8444, 1.6972, -0.1343, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b10fc7cc70426298e3b089783cad751f4ef7d743890ba160f8af1e25cebadb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f632aa9146675b8a792e99d0d7dd9fe4986f3864a64137a5ffb8cc5480d0bc1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59327c29cceab0994e610b4acb37a822f9f55e2827f548aecc540f9f73f86f44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.381 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.7866, 0.865, 0.1963, -0.6926, -0.5144, 0.2084, -0.1646, 0.8547, 0.7136, -0.5507, -0.2283, -0.1997, 0.9953]\nstate[eef_state]: left_x=0.3827 left_y=-0.2217 left_z=0.0744 left_yaw=0.0315 left_pitch=0.0439 left_roll=0.0157 left_gripper=0.2084 right_x=0.2876 right_y=-0.0036 right_z=0.1818 right_yaw=0.1234 right_pitch=-0.0879 right_roll=0.0044 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -10.5641, 8.5265, 1.7314, -0.3199, 0.0806, 0.2613, -0.0479, -1.5658, 6.8991, 1.9512, -0.1197, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8257, 2.1628, 2.1025, -0.7681, -0.704, -0.5743, 0.2143, -0.1646, 0.8612, 0.7136, -0.6167, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4623 left_y=-0.3272 left_z=0.2255 left_yaw=0.0371 left_pitch=-0.0174 left_roll=0.0474 left_gripper=0.2143 right_x=0.2775 right_y=-0.0019 right_z=0.1682 right_yaw=0.1277 right_pitch=-0.1574 right_roll=0.023 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -12.8752, 8.7179, 1.072, -0.4567, 0.0513, 0.232, -0.0752, -1.9214, 6.8171, 1.7705, -0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.1944, 1.6497, -0.334, -0.693, -0.5747, 0.2171, -0.1646, 0.8623, 0.7136, -0.6357, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4561 left_y=-0.3224 left_z=0.0922 left_yaw=0.0316 left_pitch=-0.0566 left_roll=0.0798 left_gripper=0.2171 right_x=0.2743 right_y=-0.0014 right_z=0.1646 right_yaw=0.1286 right_pitch=-0.1767 right_roll=0.0289 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.494, 6.4068, 1.5897, -0.398, -0.0366, 0.2759, 0.0068, -1.5658, 6.8444, 1.6972, -0.1343, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b10fc7cc70426298e3b089783cad751f4ef7d743890ba160f8af1e25cebadb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f632aa9146675b8a792e99d0d7dd9fe4986f3864a64137a5ffb8cc5480d0bc1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59327c29cceab0994e610b4acb37a822f9f55e2827f548aecc540f9f73f86f44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFhivW-PanAddLBTfEiN9iOhIesR0LM8aci87SYIdLLBLlMsDcJ_e8YgYstkMC5h7kapGBciWVxT9ARkOWUMTX28twpdHr_ovRiH9vMfjpvIF1muWrX6lT5oERkUJUmnybqtygTj7FhYVKaGYYIh7cENj9NemZQPMKhjz2UygxEpYNSpc6cxvNm1abZNe97SrgzDOKIhuL1v66MX1tuk1jv9mRteWFqyjWg6QiUNpjC9zgjUuZdmmWD5h2V3GcG2f-5qb-iQ4itdYhqWfIXyljIHyOhElbMvZVLLZHfQh7V8v1WyODlEaTkyvZFs1nOEHAjTqh5tUcfP6JMCICog6RE9atdQrgZCE7S3C_YyhAcvFJwQqz44PPXGU5f7rAKKwy17HOpopaDlKvEEaVTRuG4Q_Fvp5-hwFTYZ5r46x0WHwCMIG31ocnn3BzGit9qXdtJdN9AQ0M5TZCvz7oNmmJp6ZkM3BicZqjcf7EgBrx2CZc7qfy7mRKoNpud4r6cjshOlo070m-ZPYx9JwbyfgLutJ1lyY3F9Prd8RVlIVQA3Ha3xBmhAtSnWRlYnfJ4kmAF0jWrfBhsjM6Srbi3FhydVlAhS0zThiMVayMQpWdKddb4V7GKV5SZPEgLR0VCv9LJucTaGjoHNFiw4BGycfc5C97A3Kp1Hz8H8VabNIZedF30JKTSj21YNO65YFceVW4OOxI4VAupZe-M32zdIAEEpBeaLnriZnVBNzL-IchoCX2Ab6THd81W6pmwb9Ye_7xuV1aLsn5SMeCoe1uAuQsfIcZDbG3VlDwEroFFJUY7p6_k2l5Y_o8U5NpdCEgY7ak_PM3MdZY507bXvgjhkQOd7_y9wmPEv8va3xiDX-s0Obc1pTK1EX33N7teYpKOVnaRKhSNK5_pHAYeKBsg1ug-OQsO5smejuQqy6tU06ZY-cF16Sk3mxM1esMsfmjAE7zDHG76TqnYzN5J_HymmCjSxFS9HeOmnbsr4cHivUHU6owEHvGFxART_a1-0dM5whbKVhOuDJzvVDvE7qMkxCt6g82G-ZmCj6ry7E3Teap_RXQeZoDNkd_h25an_soZSgq1VvBz6Y8ODqpwP8R53IIeJ69V3fNg3-LDXkGuZct-469kTaaGO2Zi2VLA3lQM_Qxd2THeEg8ZAZP1JJN1yKtHQrJCFIudaIObLSMpM8N68BbCIv64AMl7ferxztsH9JX6S23DpmoIqjM827wOA5TBxWZifBb2Zq1RmWxrFfti-elbwf0bQf2CefW6QPSta9BYkffNNQq9t4jSTcWgiDZG6UtXmIR6fDQIZTF-eE-j2IFyE2rnhiyZ57X3b7CGCXbulkdNmOcGQzRggRJnTY7cxhRUmY71SJNUPO-1Q9UcJNgWb9ZhU63X4BKSO-IFW5DH3poecebFeiDycvYe1T5hPH8dgauwaPThH-Iivmmntp3WgOw-olHSvJ-XZP4TbtRRfllauNYxzISTpJrOcziJyYLLESwx7w_Aspm5ImlR9N25yIlgAXupAtjrq3xKVDJmx0JdxjPHK85U7XWqjpeo2ssDKP_UCbvLRc681DWvHh0gstW2NxGpezNq53ZwER_0PqVIRVok_b_A_0vufLc7dhMrLlNiI4lqA124QWrp3csCdj3iLxT3PHcV23IgiMsHWjQkPV7MLZiC4auPRuqNh83zlJjXUhfMMS74Jc3QCbP2cH7zyeTwzEolJV-kappifXWAKCc621syuGba2Ju6exUz8-MY1o7HmX55sdOddHy0iRQHxkMzgP4T1oSkkwj0iE1KcKJMtgptC6AaVhiYZRlwySFfID_PDMa9mz48lJBewKGmH6cNrnvyW3vvjwhAy1wg0VjVE8TnvAMi6zDeln8dr0VnHzT8fbnvG3hCWJns=",
  "id": "rs_0aa00866861980ca016ab4585f3f2487d0b4e603dd5c060b3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The light plush has reached the contents of the safe. I’m releasing it so it can settle into the compartment.\"}",
  "call_id": "call_XFi6PBI5mJYYQJHxqoSXTyhy",
  "id": "fc_0aa00866861980ca016ab45861ae8887d0aceeb5b149e0c62a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XFi6PBI5mJYYQJHxqoSXTyhy",
  "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]: [-0.8253, 2.2089, 1.6321, -0.3443, -0.6926, -0.5819, 0.9951, -0.1646, 0.8623, 0.7136, -0.6575, -0.2279, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.4518 left_y=-0.3178 left_z=0.0768 left_yaw=0.0376 left_pitch=-0.084 left_roll=0.106 left_gripper=0.9951 right_x=0.2706 right_y=-0.0009 right_z=0.1609 right_yaw=0.1293 right_pitch=-0.1976 right_roll=0.0353 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -13.8051, 7.7607, 1.3846, -0.3736, 0.0122, -0.0366, 0.0068, -1.4564, 6.9128, 1.7118, -0.105, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc328dc6d9831d318f8a92508f38d753768b1cbf4173a55c17fb1bde88e8dc8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d06525ca95051a144bd9e2b3128d09dfef6102bbd6eb289cef7ba62bf44ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719a85b313e02a36e120e8f3bb2a90d7e402b88c6bf91780e8c7f0896b38fb0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.157 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.6112, 1.2781, -0.4507, -0.6922, -0.5289, 0.212, -0.1646, 0.8558, 0.7136, -0.59, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3835 left_y=-0.2226 left_z=0.2071 left_yaw=0.0382 left_pitch=0.0045 left_roll=0.0461 left_gripper=0.212 right_x=0.2815 right_y=-0.0026 right_z=0.1743 right_yaw=0.1261 right_pitch=-0.1267 right_roll=0.0139 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -10.6735, 9.4838, 1.6337, -0.2759, 0.0952, 0.359, -0.1709, -1.388, 6.8991, 1.9951, -0.1148, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.1944, 1.6497, -0.334, -0.693, -0.5747, 0.2171, -0.1646, 0.8623, 0.7136, -0.6357, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4561 left_y=-0.3224 left_z=0.0922 left_yaw=0.0316 left_pitch=-0.0566 left_roll=0.0798 left_gripper=0.2171 right_x=0.2743 right_y=-0.0014 right_z=0.1646 right_yaw=0.1286 right_pitch=-0.1767 right_roll=0.0289 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.494, 6.4068, 1.5897, -0.398, -0.0366, 0.2759, 0.0068, -1.5658, 6.8444, 1.6972, -0.1343, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.2089, 1.6321, -0.3443, -0.6926, -0.5819, 0.9951, -0.1646, 0.8623, 0.7136, -0.6575, -0.2279, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.4518 left_y=-0.3178 left_z=0.0768 left_yaw=0.0376 left_pitch=-0.084 left_roll=0.106 left_gripper=0.9951 right_x=0.2706 right_y=-0.0009 right_z=0.1609 right_yaw=0.1293 right_pitch=-0.1976 right_roll=0.0353 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -13.8051, 7.7607, 1.3846, -0.3736, 0.0122, -0.0366, 0.0068, -1.4564, 6.9128, 1.7118, -0.105, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc328dc6d9831d318f8a92508f38d753768b1cbf4173a55c17fb1bde88e8dc8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d06525ca95051a144bd9e2b3128d09dfef6102bbd6eb289cef7ba62bf44ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719a85b313e02a36e120e8f3bb2a90d7e402b88c6bf91780e8c7f0896b38fb0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhmnXUx_Ck8sT7GEa6KYsr4puaryxgbok25tKJ7eq1sJ5ORqaWFRDMMQahG2RVvzoj3OPDS8IxfmAehRHzt8oE5hgAz19QyrzNec4V0vL6RJOQXKd4YsbQsSyUn5rAPAv8lQZlsPN9Pj9FR_xP6jYWIvcWuA2ZYxSXJICZc5NUJMoj8Q-qUHW4TDkunZBU_lRgEyB9gw0mEj6COL4qI6dl2rHGS8JFprR71VfvjHdXluau7U8VG3fxUO5HiRA756uqW96Deh2tR4YoVLeKDz88rtkl7lgLMF5GBgb1R0JIKQ2MRTuUsZBeN93ea23PIc8RVPAJnj51FxAzfPbFGWlt2VjUbV6U6xehSOPwBbLbz4XkvirQEGGfcYA0lefcZ_XuZWH9hwFOsQKvcUyukCl5K1fbBhIxc3CjOGh07WPNcCjTccTNKyk2D3swFRATStBPj1jOPqOp4D-uAqoxBqG73kbHo02rCYnO7uCR1ue0cqJeZvdF7HjFR320USUTuJbqODdzpeKEjXv4aG1yn1BmBTtcbA3pPxm4D_EIHrAlBBlKBsIoy5FS2e6VUuIVqlFF5jR9hG4cP6WDaEsQOjSf9Eg3yiBhXwO_-PvrVAfzgwDqV362iszkEUDg40wCTT8Gah53kLdLsFOKHgqb2Qw94bkdebJTbNcb7PYeulXIcE40mHnkmSHN6kJK0Qn2BOeAOUAewVD86vlWvzAcrGoOv_sIaPYZgaWrDHAcnIew9fjHurPP21QzSGFIZCTEK9XTHoPyks2gDRGVJ0_p0kC1xAwboEQ9xGAA7W7WOAqX01AGGCHaxcaCEbnCNMsLO2gaiqbxwFjvfRo7bhfJ2U4ZA5KSUTAMC02pDKAiPZvGPXhxsYdJ9lvx2fG5oC8xSOFMhgzQooUhgpC6tvNzum9Y4ry9-IBwg1krUhym6ZW731iYxAlE516KHe3ck6MnGBnVyAcqglLD1h8l4E__WQqWmAmwm2mO_7Io61RfGbKGORxhfHoojWNbEJ6IwZxcnQlyQOuqKfFIzOK5tirGPJRFKM6x3gfv5o55kyPAHJ4-6ClvOWiiu2v40Tmyo02qtL89gPESWF1peEBFSYwt61N8xvK9eoxRaIKnWc6XjU96TsPBx7-eF8CUhVAMeurma2JHcWEw8BUXyufL0tmlhwaDOs1aGVw8KN_1Om-cLASNLPiM=",
  "id": "rs_0aa00866861980ca016ab45865385c87d09220417925e347e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.27,\"left_x\":0.43,\"left_y\":-0.22},\"note\":\"All three objects have been transferred to the safe, though the plush toys may need to settle below the lid. I’m lifting the left gripper clear to inspect the rim before closing.\"}",
  "call_id": "call_5bmu2r6MVfwcbxlfNOptTans",
  "id": "fc_0aa00866861980ca016ab45865576487d0a923673d035806cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5bmu2r6MVfwcbxlfNOptTans",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6979, 1.8591, 1.779, -0.8124, -0.6155, -0.4828, 0.9963, -0.1646, 0.8677, 0.7124, -0.6762, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4345 left_y=-0.2267 left_z=0.2386 left_yaw=0.057 left_pitch=-0.1147 left_roll=0.1207 left_gripper=0.9963 right_x=0.2674 right_y=-0.0003 right_z=0.156 right_yaw=0.1314 right_pitch=-0.2216 right_roll=0.0428 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -12.7932, 9.0598, 1.3016, -0.2027, 0.1587, 0.1148, -0.1983, -1.935, 6.8444, 1.6532, -0.1636, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4639386ede1a7c795b4eeb177acae9890cb771c7b10178657871249e0e4ab6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8dc027ad9bd86cefb290dd9e4a47b90f32ac2c6dd2ecd75f74f1ac6a78ad2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70396a0cfe3423f4374356ecb708cad0e480d7fc5b7935c6596f16d53b917420",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.918 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8257, 2.1628, 2.1025, -0.7681, -0.704, -0.5743, 0.2143, -0.1646, 0.8612, 0.7136, -0.6167, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4623 left_y=-0.3272 left_z=0.2255 left_yaw=0.0371 left_pitch=-0.0174 left_roll=0.0474 left_gripper=0.2143 right_x=0.2775 right_y=-0.0019 right_z=0.1682 right_yaw=0.1277 right_pitch=-0.1574 right_roll=0.023 right_gripper=0.9953\nstate[joint_eff]: [-0.6222, -12.8752, 8.7179, 1.072, -0.4567, 0.0513, 0.232, -0.0752, -1.9214, 6.8171, 1.7705, -0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.2089, 1.6321, -0.3443, -0.6926, -0.5819, 0.9951, -0.1646, 0.8623, 0.7136, -0.6575, -0.2279, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.4518 left_y=-0.3178 left_z=0.0768 left_yaw=0.0376 left_pitch=-0.084 left_roll=0.106 left_gripper=0.9951 right_x=0.2706 right_y=-0.0009 right_z=0.1609 right_yaw=0.1293 right_pitch=-0.1976 right_roll=0.0353 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -13.8051, 7.7607, 1.3846, -0.3736, 0.0122, -0.0366, 0.0068, -1.4564, 6.9128, 1.7118, -0.105, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6979, 1.8591, 1.779, -0.8124, -0.6155, -0.4828, 0.9963, -0.1646, 0.8677, 0.7124, -0.6762, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4345 left_y=-0.2267 left_z=0.2386 left_yaw=0.057 left_pitch=-0.1147 left_roll=0.1207 left_gripper=0.9963 right_x=0.2674 right_y=-0.0003 right_z=0.156 right_yaw=0.1314 right_pitch=-0.2216 right_roll=0.0428 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -12.7932, 9.0598, 1.3016, -0.2027, 0.1587, 0.1148, -0.1983, -1.935, 6.8444, 1.6532, -0.1636, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4639386ede1a7c795b4eeb177acae9890cb771c7b10178657871249e0e4ab6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8dc027ad9bd86cefb290dd9e4a47b90f32ac2c6dd2ecd75f74f1ac6a78ad2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70396a0cfe3423f4374356ecb708cad0e480d7fc5b7935c6596f16d53b917420",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0aa00866861980ca016ab45869c32887d0ba2178161cfc8ac8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.225,\"left_z\":0.025,\"left_pitch\":0.15,\"left_roll\":0},\"note\":\"The light-colored plush has settled over the front-left edge rather than fully inside. I’m returning to it so I can place it deeper in the safe before closing the lid.\"}",
  "call_id": "call_PYoyVTjciMAScFbkitKMsOP2",
  "id": "fc_0aa00866861980ca016ab4586e64b487d0a9bd66173abff99a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PYoyVTjciMAScFbkitKMsOP2",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8013, 1.9736, 0.8059, 0.4961, -0.765, -0.4839, 0.9966, -0.1646, 0.8688, 0.7124, -0.6952, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3893 left_y=-0.2209 left_z=0.0303 left_yaw=0.0611 left_pitch=0.114 left_roll=0.0334 left_gripper=0.9966 right_x=0.2641 right_y=0.0003 right_z=0.1526 right_yaw=0.1328 right_pitch=-0.2409 right_roll=0.0488 right_gripper=0.9953\nstate[joint_eff]: [-0.6359, -6.5709, 3.6308, 1.0525, 0.0904, -0.0122, 0.022, -0.1026, -1.5385, 6.7487, 1.6337, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ce2511bf5d62ec4f5df6607c0acb3190e9668ca30d7bfee0e7b3c883f6560c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947c31ad6129d73dbc1ccce76978301ecd699be15a75e6f14ce337352c6b7676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806f409662d0849ae761c3c5ecfe7d0bee28d8b9e4973b113b03a1727a97ff33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 10.33 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.1944, 1.6497, -0.334, -0.693, -0.5747, 0.2171, -0.1646, 0.8623, 0.7136, -0.6357, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4561 left_y=-0.3224 left_z=0.0922 left_yaw=0.0316 left_pitch=-0.0566 left_roll=0.0798 left_gripper=0.2171 right_x=0.2743 right_y=-0.0014 right_z=0.1646 right_yaw=0.1286 right_pitch=-0.1767 right_roll=0.0289 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.494, 6.4068, 1.5897, -0.398, -0.0366, 0.2759, 0.0068, -1.5658, 6.8444, 1.6972, -0.1343, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6979, 1.8591, 1.779, -0.8124, -0.6155, -0.4828, 0.9963, -0.1646, 0.8677, 0.7124, -0.6762, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4345 left_y=-0.2267 left_z=0.2386 left_yaw=0.057 left_pitch=-0.1147 left_roll=0.1207 left_gripper=0.9963 right_x=0.2674 right_y=-0.0003 right_z=0.156 right_yaw=0.1314 right_pitch=-0.2216 right_roll=0.0428 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -12.7932, 9.0598, 1.3016, -0.2027, 0.1587, 0.1148, -0.1983, -1.935, 6.8444, 1.6532, -0.1636, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8013, 1.9736, 0.8059, 0.4961, -0.765, -0.4839, 0.9966, -0.1646, 0.8688, 0.7124, -0.6952, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3893 left_y=-0.2209 left_z=0.0303 left_yaw=0.0611 left_pitch=0.114 left_roll=0.0334 left_gripper=0.9966 right_x=0.2641 right_y=0.0003 right_z=0.1526 right_yaw=0.1328 right_pitch=-0.2409 right_roll=0.0488 right_gripper=0.9953\nstate[joint_eff]: [-0.6359, -6.5709, 3.6308, 1.0525, 0.0904, -0.0122, 0.022, -0.1026, -1.5385, 6.7487, 1.6337, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ce2511bf5d62ec4f5df6607c0acb3190e9668ca30d7bfee0e7b3c883f6560c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947c31ad6129d73dbc1ccce76978301ecd699be15a75e6f14ce337352c6b7676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806f409662d0849ae761c3c5ecfe7d0bee28d8b9e4973b113b03a1727a97ff33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is back around the light plush at the front-left edge. I’m securing it for a deeper placement.\"}",
  "call_id": "call_pim3JkBewBif9Ned5GoLjrqY",
  "id": "fc_0aa00866861980ca016ab45873883087d0966faea440398d81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pim3JkBewBif9Ned5GoLjrqY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7975, 1.9747, 0.7986, 0.5186, -0.8082, -0.4881, 0.0116, -0.1646, 0.8688, 0.7124, -0.7185, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3912 left_y=-0.2128 left_z=0.0344 left_yaw=0.1004 left_pitch=0.1435 left_roll=0.0357 left_gripper=0.0116 right_x=0.2598 right_y=0.001 right_z=0.149 right_yaw=0.1345 right_pitch=-0.2632 right_roll=0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -9.0325, 5.7778, 1.3944, -0.0317, 0.0073, 1.0037, -0.1846, -1.2513, 6.7624, 1.6239, -0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bcf4a0652b166b5b275b71ed385aadb199da0642ae2a407e3ff564d9455243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c22de0b60fcbacae5a29574e920cf2460b83686f1f2067d6f515ba10184f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7efd823d2d4a7150882925af2114494b0b6c70f1f859c052cec592505513cb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 11.2 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 120 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.2089, 1.6321, -0.3443, -0.6926, -0.5819, 0.9951, -0.1646, 0.8623, 0.7136, -0.6575, -0.2279, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.4518 left_y=-0.3178 left_z=0.0768 left_yaw=0.0376 left_pitch=-0.084 left_roll=0.106 left_gripper=0.9951 right_x=0.2706 right_y=-0.0009 right_z=0.1609 right_yaw=0.1293 right_pitch=-0.1976 right_roll=0.0353 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -13.8051, 7.7607, 1.3846, -0.3736, 0.0122, -0.0366, 0.0068, -1.4564, 6.9128, 1.7118, -0.105, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8013, 1.9736, 0.8059, 0.4961, -0.765, -0.4839, 0.9966, -0.1646, 0.8688, 0.7124, -0.6952, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3893 left_y=-0.2209 left_z=0.0303 left_yaw=0.0611 left_pitch=0.114 left_roll=0.0334 left_gripper=0.9966 right_x=0.2641 right_y=0.0003 right_z=0.1526 right_yaw=0.1328 right_pitch=-0.2409 right_roll=0.0488 right_gripper=0.9953\nstate[joint_eff]: [-0.6359, -6.5709, 3.6308, 1.0525, 0.0904, -0.0122, 0.022, -0.1026, -1.5385, 6.7487, 1.6337, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7975, 1.9747, 0.7986, 0.5186, -0.8082, -0.4881, 0.0116, -0.1646, 0.8688, 0.7124, -0.7185, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3912 left_y=-0.2128 left_z=0.0344 left_yaw=0.1004 left_pitch=0.1435 left_roll=0.0357 left_gripper=0.0116 right_x=0.2598 right_y=0.001 right_z=0.149 right_yaw=0.1345 right_pitch=-0.2632 right_roll=0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -9.0325, 5.7778, 1.3944, -0.0317, 0.0073, 1.0037, -0.1846, -1.2513, 6.7624, 1.6239, -0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bcf4a0652b166b5b275b71ed385aadb199da0642ae2a407e3ff564d9455243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c22de0b60fcbacae5a29574e920cf2460b83686f1f2067d6f515ba10184f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7efd823d2d4a7150882925af2114494b0b6c70f1f859c052cec592505513cb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFh_DryJnuQcWapgfZ-s74OW9g71m9fmJcCpDNn3H6CMZ0agdi79LC0-kxKbU5E-V48BQwJMvotrjdcXkovT_5RKuG9Px-O6zfI-TZ8ylTRafPmTh8XlQaH1ol0n3xYy5-5hSRaNPqxbWanmKSbsiipDrkKel3GAXmsclsBPt-eFKuDtJ3Z4zdQM_iqK_Bm_T7EGVpbfJyM4xnUAxnTaoMoFdzX4lKMSS3sjEVx6f9DyPPFl5UigGG0aM2SYcWIPKJGSDxPE6iqLLTK-X1566HsHsPZAT4xd0Zie2h67QVNG24xSLHWXTzyAcHIJrcRkFOBrVvJVc8QUQIuuqYUhwpfvqA2W7L60ZYhr4fi4rIm5xbmnN1AfVCx5xVp9HKSBfJHQIQlgWw6Ytl8SEVke4FGe7Jv1LZ1NWH5Xy5WFw3iJgMVJCTmy_oaa55dYdZBzAGnRIYrDKhcI745VE5LXPOTLhx2KwisYnfvzVu6ZFItYCKCnEF00A-fZjFrt5qbr1myinfD11vYoKgcucphimYM2eytP2Xh1OwM2SfRo78UTJjHFNCCUB7wF9KBXmP0gDZBx8Qyaz875qPgvAWc_Rr_hShSbefrywLNmVXAzC18rGrjNK6Nkm-un7aFHS9iRDfgAEhFbKbqr7EfxAizpsL3x2ZBDMVHAIIkb9KcEWA7cWZDyFu1ap_kLux90Edg-t4fsHfkiIKCAYTwI9YhoeckZOpOdTbCQ1uoXm1tiz5i14plqi72_y9t0UxQkih3HzaXtKL0ZSCo53klm-zHGGFR8vea56INPGRIwPuga1yzvMIdOG2jGlEBEwmrt9rCJ4CBIod66H-9X34vBvXAM6fVc8jaPU-YD__mDVLssuTaucl3q7ujkKREVSzL1FCivg7z5Cs7XceS1n_4OB-b1VM6qd-OOhDXRX4nPQqbzOqxwSW24ebV0Pf3rdhJtLGRICp4lw05wXC9p6hOckqf7zAuVfzylPQLcqDK8CD1PE6MPLFYfdoLseCFyBBqOTmkNQq2rKcWBfBYDy8MlkbkkW8D_2U2ehDMgtu2yefDE-SQqfUQ2ZDZV-HPh6bRyEe55knwjSKNgkd3VUBCT8sQfBMcoER0furcCueb9XfGZieeAZNFofPbZ24CqMrnZPAN7mTcP9t_AL67tyZv1gol8PECp_F4X7JohiLNGruSBOyF3VoFiOVygbsNQpC-zBY29Q7vflo3cxzfBcEOY2_ocM4RsxymlbaD-056EQtv_-R7RAcPuyd48gtp_TT6AKCLnFM1JP9UZUIUsQpvfiMWYfRA6jT4QbrZNAhSJZRPzMRktUISa6upmq-HqGdfaEEtw3TU902Y5Y95k3my17ZX_RWxuve1RTut6SQ0PIkoOGmAjBUW0ETpHeo4mydQQQopZfYVFoQqplTmB0CnumUjGGhH4E0V8lq8NBgnPc1EYhxUiYcWPd8FyxwJqYKfLNFWaYFSvTYZyUlap3qDSV7xFh2bZoBurN5GVuZafxc9bfbpLtY3qZ8kiMClKwRfg2awFrVxbYsK5jJagdgzuTonPgCMqrhyQibrdbhhSZKiZx1dJrnZL1lTzfpkfDNMOPvNHhi4Rxq-S9akNo3yqaKzF9Ouvi85b5BHo53ks7_RX5nvFR5oZdN3lplUav3LYzSiZTYjRLpFM-aAr6MddLruWCV6VRsBA8pypCa_NTQK2oteZVwoW1Fx63yNtBQwKam6RSFWqosGsGEAk3WmwO3nMW7eEFqQa8H99NZB601CQHx3jh_hhcg1BOPJAG7W7FFLzQO19n1SfJNXJ9X77WN4rsQAj7l7od17WGDJdVoRQt25VrJi0jsaWQAqKdidV8dWJbD1p04sG_PdpMav29U6X2MvzqBx7A9mpfRy0Syh2ecByq9aXS8dz85VY8EvEKXjWS2OQNf3cI8LEaZTfMuxWvvFdrkklJwbzoSwo2bgaEQEwiJu9p1v3Osvx5OCR0Q80fJFQJQV8MCBYcohgrc5fgFuDoJrekZcRmGt9fVLKseHykP_AWmUVOL0XDoXE4gPtVeg5X34GZQUZmCH5-FAQmVx8J_EcdSbj8FF5sFnxawRyquWkyb1027oljR8ItJtIarrI46fK7HwCXD78Pg-Bapb60hx3LIgLgc1D4DUlOZ0YE26QuPYT_JxFkDm-ji4A00fan-JRaaOzK29pk5T7LfzH4NEpj4x6J1S1L60iqn8OiG1Ht9XLJS6HqpBI-aE2kvoIIRkAShjFtArKEh-_UDWUwITXIiEQIA_qcaKCxasO6xyQY0pdoLAvnLAXWKM3CGUpEA_mdiNXMWOTfK-W84hGWn6GaROq0QyAhBCRKekJ-gMnlY8-LvGgo-777OC5OGsGpRaxj7AbBvKlmk53yIfCHWdtyltJQuGEOGZxIH9Xo9MSzG_aFbyXGQNFswLbz2kRDTtPKe7hAxFO4TJaGIqHawOKvlRpeiBIuuApmZ4EZNUDfMOKPNwuC1isBCvocr1dnYI93JFZV29puJxDjznUHRYwD2yoAfxtBmr4-_wr88O9N0aafkzMV_xSqRjpnY5VUyoHdZK4XuX4gXPPolgDvZBjzdJ53obtias8JqSFWojzEIVveWXOKi8b2toVTgKEwsnwSLEcG7oDMhePxGJZ3iieZRP8Y0qbdLpsKi3p1VXfxsggWrIZbunBa-erMvryYVn3U0regQMFs_Grxo1K3fZReXla4iIdAssstUkijZPyo3wyh34QuD2MRsieKTsBamRHSb2ZgLlqcmfSq-745lA4T9gcAURCOSjROf82R-TvoF6yr2M95V1_xOflRdx6Yzx5IQJkh9qwzBJ26nl47Z4ew-VhGlNnRa_W65iFUaxNA9rXgQHpdd_fg9wNr8jnqEFqJ59IveaJAU7gGOzhyZkS0xJBVYwaG1QTsxySPtPXvn0alMJNsd_UTAEU_36jEW9pKwB2cQQejJI7OBGbfSiRrL7aSW33yNBSxsNyZqZkhSmKbgmymmc2wdOFWesVGqrJG_Eei8gLy790QMO7dtsk81VVFpS-fY0kkETmeBOT2wznJ1stsUNtnQEG_bJEB8MTt27NHEGAAZDSviYaTd1zXR6bBYHY9qm80qvtKCFoXEO12hhSie092v8j-0GZOkvefjxNJC_E6xI40wgvM9yu8Ywa19647hciZ6l0IUqMmApCda7gZ23rmmlTHYbYby2ib-d2gVa2Hfc0nBjL6Cj3oCsxQBWbyJqSx30GwDMUWit-VML8PvEF97Aolbl9eqvuFGlL2GdI3aTH-pAWiR5Dezm8A0sqAKMOUKRvDjqF-NvUeoRnKScRhG6I_NcJJJNSKevtYtIv44KDhGXhCK1gYdVv4Ao6HRJTMQxeYYevEanOk35ODRQOMKgtGruYOzJf443CAjlQ6AjxVio_Qo5w9EV-50ru2aKZ6F1oVl3kdWaWPbBshemGjBivtGWPAVmvDEW0B5Fz_T7aJb_NshRREat3WDoyBD9jDccjO1arGZ2szIftb2FPfeYDYtOcnlarY83pqGbX6ptscXzO7r8yqDoMKuYYEF0TItekYfU4CE3rDJwtkA5jSF90q6MHOCkrBmsd6R1RUmoQzohQ4Xz08Mdl141ZhTnuY6IyLfYAbwr4GSXzabFa2ijBer_yj0r41tq0Qq4loDxjUNGoRfOY9Hdt19gxBMd9CwR66pM=",
  "id": "rs_0aa00866861980ca016ab45876972487d0bc4abce3d592dd61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.27,\"left_gripper\":1},\"note\":\"That close was empty, and the pale feature appears to be the safe’s front hardware rather than another loose toy. The yellow object and brown plush are inside; I’m clearing the gripper to approach the lid.\"}",
  "call_id": "call_NbVrimgYVlti4A8MLYzl5I5d",
  "id": "fc_0aa00866861980ca016ab4587e494c87d0be929aac181054bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NbVrimgYVlti4A8MLYzl5I5d",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.7979, 1.6081, 1.33, -0.4103, -0.8055, -0.5068, 0.9972, -0.1646, 0.8734, 0.7124, -0.7319, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3945 left_y=-0.2168 left_z=0.2441 left_yaw=0.1051 left_pitch=0.1235 left_roll=0.0421 left_gripper=0.9972 right_x=0.2575 right_y=0.0014 right_z=0.1459 right_yaw=0.1358 right_pitch=-0.2803 right_roll=0.0617 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -10.1812, 9.3744, 1.3651, -0.3297, 0.1929, -0.1538, -0.1846, -1.6889, 6.694, 1.5018, -0.1636, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c875a108422e38d2b525b5724b13cdd2d440ddc0543e97e7700c6f8167e03d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff4aa0c4c85c31c03d54904966883058669f4b7b20b3c098cbf2e72769fd652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6bb4ba2a8794db1b62943ad33c0a43f3bbcafd97012a06dbffca3707489404",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.019 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 120 changed as sent

message 124 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6979, 1.8591, 1.779, -0.8124, -0.6155, -0.4828, 0.9963, -0.1646, 0.8677, 0.7124, -0.6762, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4345 left_y=-0.2267 left_z=0.2386 left_yaw=0.057 left_pitch=-0.1147 left_roll=0.1207 left_gripper=0.9963 right_x=0.2674 right_y=-0.0003 right_z=0.156 right_yaw=0.1314 right_pitch=-0.2216 right_roll=0.0428 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -12.7932, 9.0598, 1.3016, -0.2027, 0.1587, 0.1148, -0.1983, -1.935, 6.8444, 1.6532, -0.1636, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7975, 1.9747, 0.7986, 0.5186, -0.8082, -0.4881, 0.0116, -0.1646, 0.8688, 0.7124, -0.7185, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3912 left_y=-0.2128 left_z=0.0344 left_yaw=0.1004 left_pitch=0.1435 left_roll=0.0357 left_gripper=0.0116 right_x=0.2598 right_y=0.001 right_z=0.149 right_yaw=0.1345 right_pitch=-0.2632 right_roll=0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -9.0325, 5.7778, 1.3944, -0.0317, 0.0073, 1.0037, -0.1846, -1.2513, 6.7624, 1.6239, -0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7979, 1.6081, 1.33, -0.4103, -0.8055, -0.5068, 0.9972, -0.1646, 0.8734, 0.7124, -0.7319, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3945 left_y=-0.2168 left_z=0.2441 left_yaw=0.1051 left_pitch=0.1235 left_roll=0.0421 left_gripper=0.9972 right_x=0.2575 right_y=0.0014 right_z=0.1459 right_yaw=0.1358 right_pitch=-0.2803 right_roll=0.0617 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -10.1812, 9.3744, 1.3651, -0.3297, 0.1929, -0.1538, -0.1846, -1.6889, 6.694, 1.5018, -0.1636, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c875a108422e38d2b525b5724b13cdd2d440ddc0543e97e7700c6f8167e03d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff4aa0c4c85c31c03d54904966883058669f4b7b20b3c098cbf2e72769fd652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6bb4ba2a8794db1b62943ad33c0a43f3bbcafd97012a06dbffca3707489404",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiMQmGZag-sUbuuurVOPA6FdG0lNI8GkDQh0KZi8-5NGiVAbH1jjeTZwpblmusL2sTpfWdkAof1aLAdpfJSpvg7JW7kHy-rNbF4TVQn2IZDpUUFPa5cA6ZVAR-1KfcFpoYPe4Mi3kzEYEnqYpMoghy46c4RnwxTCpWbt1hguW_nRGElufWbuMpvAhAes8SM6fYRNrZCBcQP8m4ZzvHTln7owKLQNIuNHM2sgBkNXFJgCQO4QYw1J4KKf540DS6UexBqkYoogtN4vwtDA5OTAZ6qHutr0j6D9IAd_rmoptNfrXyAHZemjBN1FVyMr4-xAAOCQLJEK-zjllHItE19TabeLvlFVvmL-e_kkOtIkkkMN5KUiXps88qQAhZzSYzlxURqc3sIS1R5ObZ3lw2W64eSde9-Kcwlafr4CXunbaPAwC3ougDhzrOVjjNjS7VE1UPTsg3r7_dABO4PIORnCQD2beyhOyTCux1RduiH8MZlY8asxIaBSfo82pumeDhc6QwZ4-rd7hvJi60SzG2rw-oGWkzDBjx8jmVzjyHSmCze_d4B7vq-2WqsqiM5GXO5lfG0s8JLgsZQa05athvTivTpVrKzN5JMbvz9SI_gfy6RuXy4m41nt1T9kFNDMI13o5zfzh7xadD-GiFxFQLHLDeRhciDLwdXRb37rSvV43W3rnaExXdiaKRdp7iFhW28ASdTztJFX9stFbABoKcCYlFGyW7nSVqr4iCBC3dGVaPhWOobmBNpEXDCCg3wEyk1Dt25tDuWflKPWpUdIofz32eXMBmT3Kf1bn0V5WYSUfgB-nvZKosShi3n0vOE_y88E3yC3sGS-Nvky3KEfMASUv4hjU11vmY3i7AEF4t5clu0elROZXooteuqx3_FS5dpuIr9hv4TdVAZU-KyvAgEU3ELFIhRurwz152dpGSjfnOvQvUcM3RZFPamta-lHeuDjKfJyTjafbw5uBY9XPQlNAT-K9VwXC7T1EVBEgMtE3h_DxAQLcmO6r3TRuNi4Wudj8eiW5uoQvi1GGnCoJbZ1nfx9qNBqNa9id2vhJRcnfcbNCD1Npe9T9fh_SCrNIrA57WdV_roy4yScsiq8yTCiUS9xu-bV4If3z_Tutnwz6GEETHSZGctvXEYXYKyja5xYsjxQzycOkvR_NeT5jQYwlmV3Kt_NsMp54kBDqY0-B4sb6lwdiPnqCR8Nj6DZe-krNIpWWg7J7_6doMddOchZiGsnRVztB-nDeqL6nJoU52Lxn_rqif078dIGh4PNH2LvWapTh7jkjhqYWAJDh_Aj9r1SSIcvOklRWb1i8x9twjoDNX3Ov3O1xU335xlVpOD_IBdllXU3FltRjFMSk6ZEIb8Dp5UumXar6shcnBN0wHUE67uxtgnzzAEQmIpl37BQnh3PfebS6ur5zXbuocxRHOl8dxEkU7KXW80gbLpP6SM0qVxB5eKzmItROrGmHnDkQTUb9u48mhxMonGUmPKfchfFRKyRZRPS3fjbIwRTGnrQGgIQ9RGxmC25aB4Nla8T72Ydzcdsy_xzgMIzEuMmg8lGVeY3ISoFj8SKbE6TVrOHnI57_bqSVHyjJbXnguPFYUSjNWpWeDgJubjMVN5Fktu2VSWzyyT9GFx3CrxORdVwiCQ1EbJHHi6x8_CCEacaOfCaoH32iItquNHE0WnTsFij7nrCKJb5uyjaM40p83UbgHWAUVEdz7yZklQUS28GSrEfOgJT0B_WvgAKpFORgUbP29PxKhGN2z5thP1SJrYaeNjKsMWIZHjMZHrY_r0bh4pJs0dIao6xRXg47FpC3NTQkRjBcy2S2sDaIsdld-d4wxnl1wuYjp3RngyMjXxdW7QvSZZlAWluJ9aPlVtJhc86cWu9oReFwVwVqId1HTmZvyUDAU8y81-BHIJtiJ9M7fjIOUlURqZlYmVv7ehUhVYKi3yiW-jm6XxsEY8n3lHIt9t9Eb2qqNH8TovvVvAsVDRfOXjUl9j1-ka_ZZNyeXdOPC7b893jHEULcXO_mm3DAYuBBEeEZZs5XbNDD1q6b1onioHqREQ6SYwKcmUlWu0yDhhpyO0yRA9UgfGa1wakySuJL2GhvAUqDtXsIVUCOxVhixusDe32rvcNQ3q6oQnzej2TiSZ4H1eUpDlRLL2yKf5u4ESziSEUQfd-ypquwzoRUOriJe3zPr2NWvcKe0wIlejSEGP4PwhYxFcFy-Yd3gyiin0GlXxlpTGnWCqKQdGHePHO0xLxN2-QL-rd64SimKjfQlLvNRRUJuc94xjlQeSJ2o917cyzS6i0ADpUu5v6ucMzu2mWAvYvOe_vsuRGoGVLS8RHFut-woT2v64BLTamHNLVHGO3Mm6RMMwcMtLsTPAMYmveyaRSo-MnlnvFGYPyXDkZbn5FpfCcs4RVMg9vEfcPCsuGuQ5t2IqcrrAnMy3wa8w551-FIjXBDtB-qPgU6PztyyPFDxojkmZnNkjHtTySxVH8wYu_AEpTIMwrxFY0fVWd5EScAE5aTLPFzkCoUrftKfdiLjEaxbCU5RL0w8GB7M-jnVqd9sLk3KF3VJOHWdLEd-XyyzHL6wY75Kwa1X7ZI6ERZUEMidGKNKsxcBLjVOiZDhUcQEixwaqs9oLDFolLF1yRROXjNmi0K5uUC3VQuiecpfLOpaPkZdxtNZnPdI0CISUdcKyGeptCCFIEo4l5DVSdCsIO4nEiGbSdZUWyEQQZsXdVFWA_y5ITHtQV5CNICfxkyGICAXu3Yp-qPZM7WywgJW8eV3k2GKHl5kkWW1PvBPxBArVv3E2KQw5MebGXF7zRTTuK3sHk_8kGD3RjPZPPrhXq1AUI8cv03mQ7NhfB3bUxLfJhRWBjyX0aoSGTvQPMzxGHmrny59Fwr7yopXdp-NbG2dFn8GKYisPkMA-oMPFzJ9B010_hyhSH7lctVFoBD1cKmxXEQkrZ30GlmbxkrLrWD4dWuq3N3wOAUYoV-mmLZV00YueFEaACsFvr7qN3lIISH0kuARut40F7fv1WxA4pUTQMG_xOQ_4j5eMgfD5lT0TRG8xN6d6jMxtT1tk6OUaupXPKPNs-E7Ta4k9dtFh4hIW7u1WPYBWk8JUTcTLIT027ysS_JFnEptg67G1zMYf3MZ0Hr-guWcA7Zirnx7XdpRwZqVgTak-cJyDqxOpSg47qUFjAeyNcEkoAc4libMLNp9vwu-DG86s7iPyoSpJNRlzL4QFAEQEebQGk_PZseuiHYYFnxpLwwbTxkwQfSInYHeQC2P4z5uq1g6cjAdnhHIrAIUuLKfM4Ij-iofVPyNELG4YtVrYH8WkZ0eVBLHLRTmOjrE-Yal-Ud5ctfWk2QnP6zw7bwLL625CYIv7TNrIKzNuS2J5nGJCJsfaX6mZj5D9JIckWHKKjDWJtBQ6hT_zCwXZzVCjZcLUyUgeGxUdacsFUOZUayd03WlF4LIucrJphC4kElNvWn78ruLqMX2WjOcnuBgDS36HrCzc-v2xFLv92mfte2RTKw2oRFNAT0rotkXORE4JBUnTH0w1_Lp5CUMeFT4S_sQne27NBGFjmgUSr0sQXtSi43JFgKBB77viALiH-FzpjJgXu74pkXy2dGRM81FAPLMo45tp0ZQfy-eDAYWCNpIarVhKakgQw8lcr-OWVk-g8C1r6fwEM_BOpi0_Puc9dySSWOlPt1tNDISOUlO1RpjTN0GC6flaVJwXrUwLjGn94W6WuAaTey6n2IfSDp5PzNxC0mBOmL-nEv3vD3p1LxfawuMyVtdOafHTOWD5TBhGaA4vR2ESSWrpNypmClqOrlCiYiEInpMXEHduMHqLQ-Y6fsPbwjPIbpkZUZb2jAU47AhEH0vFqUQzSqRxmprNcPxG1w38DMgp8y4071YDutfdf8CBNnOOo3MAw9IORBn6BdqSp752E-j1KuIw5qWK8fe_nwksuzFmdOA=",
  "id": "rs_0aa00866861980ca016ab45882764c87d08735c200788b9ba5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.205,\"left_z\":0.015,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"With the arm clear, a small light-colored plush is visible just in front of the safe. My previous grasp was too far forward; I’m lowering closer to its body.\"}",
  "call_id": "call_sqegzqMpiBVmZPY710LoXrJM",
  "id": "fc_0aa00866861980ca016ab4588b181887d0b20c3c2c062c5e2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sqegzqMpiBVmZPY710LoXrJM",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8711, 1.8172, 0.7113, 0.2394, -0.7868, -0.7017, 0.9984, -0.1646, 0.8753, 0.712, -0.7464, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3393 left_y=-0.2033 left_z=0.0276 left_yaw=0.1165 left_pitch=0.0116 left_roll=0.0088 left_gripper=0.9984 right_x=0.2548 right_y=0.0018 right_z=0.1431 right_yaw=0.1375 right_pitch=-0.2963 right_roll=0.0666 right_gripper=0.9953\nstate[joint_eff]: [-0.8957, -5.7915, 3.1248, 0.9011, -0.1441, 0.0708, -0.1783, -0.0615, -1.6068, 6.694, 1.5067, -0.1636, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90eb46ab4dd6a12348f997986301185c761d621219287c9d03b70dcf686f8601",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb20976319fa0563fee5d423bd7cc63032824a90453d4812fee48b8bef41837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94c19088b3f030e438de6dcf97f91cc46d68236b554bc115717823f9bdceee2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 6.24 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 124 changed as sent

message 128 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8013, 1.9736, 0.8059, 0.4961, -0.765, -0.4839, 0.9966, -0.1646, 0.8688, 0.7124, -0.6952, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3893 left_y=-0.2209 left_z=0.0303 left_yaw=0.0611 left_pitch=0.114 left_roll=0.0334 left_gripper=0.9966 right_x=0.2641 right_y=0.0003 right_z=0.1526 right_yaw=0.1328 right_pitch=-0.2409 right_roll=0.0488 right_gripper=0.9953\nstate[joint_eff]: [-0.6359, -6.5709, 3.6308, 1.0525, 0.0904, -0.0122, 0.022, -0.1026, -1.5385, 6.7487, 1.6337, -0.1587, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7979, 1.6081, 1.33, -0.4103, -0.8055, -0.5068, 0.9972, -0.1646, 0.8734, 0.7124, -0.7319, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3945 left_y=-0.2168 left_z=0.2441 left_yaw=0.1051 left_pitch=0.1235 left_roll=0.0421 left_gripper=0.9972 right_x=0.2575 right_y=0.0014 right_z=0.1459 right_yaw=0.1358 right_pitch=-0.2803 right_roll=0.0617 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -10.1812, 9.3744, 1.3651, -0.3297, 0.1929, -0.1538, -0.1846, -1.6889, 6.694, 1.5018, -0.1636, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8711, 1.8172, 0.7113, 0.2394, -0.7868, -0.7017, 0.9984, -0.1646, 0.8753, 0.712, -0.7464, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3393 left_y=-0.2033 left_z=0.0276 left_yaw=0.1165 left_pitch=0.0116 left_roll=0.0088 left_gripper=0.9984 right_x=0.2548 right_y=0.0018 right_z=0.1431 right_yaw=0.1375 right_pitch=-0.2963 right_roll=0.0666 right_gripper=0.9953\nstate[joint_eff]: [-0.8957, -5.7915, 3.1248, 0.9011, -0.1441, 0.0708, -0.1783, -0.0615, -1.6068, 6.694, 1.5067, -0.1636, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90eb46ab4dd6a12348f997986301185c761d621219287c9d03b70dcf686f8601",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb20976319fa0563fee5d423bd7cc63032824a90453d4812fee48b8bef41837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94c19088b3f030e438de6dcf97f91cc46d68236b554bc115717823f9bdceee2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiS4Xr0XdcuvfAX7meqllu4Mjvo9jJpw7SdCdRM8fsHv2Tul0vUd7R3bt_Nvbb18uxcduxzHKc7ioHl9xiG_AvFd7_Om6jItxnMvQJRqIbf4G3E8CsPWLu5lt7Vn9DGBF6xWTMieze9uBeQkOsOlsGYZ1URXGir763T3Qjtp5rinVP2hjAUTxogTG9XtAS3oKGgkMrVSvM4cRKNqLfQYjQ9CCYlMN07ZSzKZQMC25vw3YDnntkjy1JfEt4wZuywzlcR6U8IRAu7r1YTN1Q6eHrL8onC03mqazirQghGiSDnr1ikbDrlMXTV1FUEEKjk9BiobsHgOCWuHae3HfP_g1QIlyIKDTCK00oGzlnXwChDgjDQwzrd3TWm08v7Z53rTzzGe7PA8P5M0qCtFAyia4xvwSQ8ec8OKovdrTRkR5b9yhc0r1vDGnbtcAuQBUzXLPkW2JqN_3MGaYxqlQMtx5zf9L72G_LcSHQX_BvHbtTbzNWf6GWo73Qfw40v300SVKh486e7QfC4PzZtTUa8CAQABBemxKyFrhJa2VmI8b5pugSsQpltJ9-_Q8Z9RVAHMyEyoNWe6PFsun3bKG-fEwlG3_gm50blpEoW2bUlOG9EldiDVO49fFRl1eb8AcDnYwKjvnMTyNaPK9r-EXf7ETpIjUaA3ROlS6HXSPflyfYSlpP9e72RtPhsXGcnnz0wGc3AQhsOc6jW7n9qZl0RZjkdlns_fv3uN7xhXNsFxNke8HQoM5UZlGyPtZMPf-lGc-5LbNaJt0Ncvgu4mttqdyxvPPRxG0QUQlEA3OuxtpQJbAWcMgK_FA8V6V9xzjDwpQ4CeGjBZD4T9RoAxEBryGP0YOSnfCWPt5C8NsLdZmMDKURye1Yz6OaeMfqAYThSAgf4eb1waGQ5L2C8laz5IcRK6JGyqt6zXj0a6CUqlClBzkG9NFvomtfMTOTY7Ud2-k1sSi0gl0uvtTtkkNEBg78BcOD9g0mx0GK_NX2g_WMYZS80zv8-F3x8XK7M48g2cvs86yr3cWiCVoWSj-_Vjjkftf_zNwJiA6mH63xc4alTc110T4ags-2G6B4dMDlYqRWA_OcJvdHl_LEfljjiC3Mum50ZEKlRL0qv-vRVbE1HOgmQL-Sjg7SxvlP9O2UFrNTMVrYXEM07wF8Vji7KiPwSBQO31qEbt1vblJI-6vswsvUkq3nv9KI6elikNt95SxHA1Le_51y9OlKf0bDYgG1lIKxBa9UehZhXYvPexDvwvdg=",
  "id": "rs_0aa00866861980ca016ab458914aa887d091717c62ed99272c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The light plush is now between the left jaws rather than beyond them. I’m closing around its body.\"}",
  "call_id": "call_YhfbN6KTpCZRsdMPmiphEZWv",
  "id": "fc_0aa00866861980ca016ab45891a51c87d08354c8932f51e8b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YhfbN6KTpCZRsdMPmiphEZWv",
  "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]: [-0.87, 1.8175, 0.7132, 0.2543, -0.8013, -0.6975, 0.1071, -0.1646, 0.8753, 0.712, -0.7559, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.342 left_y=-0.203 left_z=0.0313 left_yaw=0.125 left_pitch=0.0298 left_roll=0.0046 left_gripper=0.1071 right_x=0.253 right_y=0.0021 right_z=0.1417 right_yaw=0.1384 right_pitch=-0.3054 right_roll=0.0696 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -7.8564, 4.9162, 1.1648, -0.2418, -0.0855, 0.5934, -0.0342, -1.1009, 6.653, 1.4579, -0.1734, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcffe20f88b374a70740abd01675ddcd5eb9694e23bd6ff2fb23e01acf71f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f774c3f3dc29a114d31f7ebb1c2ca173f458de24654ddc152575f5c757f658b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e33fda2b560a2b4bef54d6d8a4cf8b518c066b189833e4488b6cbd5e3d57c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 3.207 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7975, 1.9747, 0.7986, 0.5186, -0.8082, -0.4881, 0.0116, -0.1646, 0.8688, 0.7124, -0.7185, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3912 left_y=-0.2128 left_z=0.0344 left_yaw=0.1004 left_pitch=0.1435 left_roll=0.0357 left_gripper=0.0116 right_x=0.2598 right_y=0.001 right_z=0.149 right_yaw=0.1345 right_pitch=-0.2632 right_roll=0.0559 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -9.0325, 5.7778, 1.3944, -0.0317, 0.0073, 1.0037, -0.1846, -1.2513, 6.7624, 1.6239, -0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8711, 1.8172, 0.7113, 0.2394, -0.7868, -0.7017, 0.9984, -0.1646, 0.8753, 0.712, -0.7464, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3393 left_y=-0.2033 left_z=0.0276 left_yaw=0.1165 left_pitch=0.0116 left_roll=0.0088 left_gripper=0.9984 right_x=0.2548 right_y=0.0018 right_z=0.1431 right_yaw=0.1375 right_pitch=-0.2963 right_roll=0.0666 right_gripper=0.9953\nstate[joint_eff]: [-0.8957, -5.7915, 3.1248, 0.9011, -0.1441, 0.0708, -0.1783, -0.0615, -1.6068, 6.694, 1.5067, -0.1636, -0.0513, -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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.87, 1.8175, 0.7132, 0.2543, -0.8013, -0.6975, 0.1071, -0.1646, 0.8753, 0.712, -0.7559, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.342 left_y=-0.203 left_z=0.0313 left_yaw=0.125 left_pitch=0.0298 left_roll=0.0046 left_gripper=0.1071 right_x=0.253 right_y=0.0021 right_z=0.1417 right_yaw=0.1384 right_pitch=-0.3054 right_roll=0.0696 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -7.8564, 4.9162, 1.1648, -0.2418, -0.0855, 0.5934, -0.0342, -1.1009, 6.653, 1.4579, -0.1734, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcffe20f88b374a70740abd01675ddcd5eb9694e23bd6ff2fb23e01acf71f56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f774c3f3dc29a114d31f7ebb1c2ca173f458de24654ddc152575f5c757f658b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e33fda2b560a2b4bef54d6d8a4cf8b518c066b189833e4488b6cbd5e3d57c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiZY3BpeR4zRDozyoZtsVdsID017gHBrfix_A4LD1n0_7RWGKjfjLpIFEKmo4FkyZGdbHmm49M_4iLpmncsmR6NfWy58q-sp8JZfAQfhHIevdKzjAQBl03cRMBdfJPRR_QyVfEouviIwKvK6W8e00pHtlJStWkbLxFepvMGa13Une6yu70zQ4QVdrGYl3FlHCvg7UHuy7Li8ONKjuZ3aVZ93DE0yzg5lLz3e0xiG7o5iDN8CUfdqkPapGaxe7Iu7Rgl9V_OLMkpzr3_Kc8qwKzmI6ANRwGBTsjlUbaZXShemsuXVplzfRVFKawl5bZqIa8mR3z-zeNyHU86-KPJB137O_ckRWDzVtx-mow28AiGkB7HCRgWF3uBaHy6bNgtsFtERLoiasNJqZDMFp6-_EvrriEDvZGvzAWplVB9DGjFykVfG8mRM1u7BKgq2znZ4g4QdzbJAldOwK-YiLe1Dum2024DKSsIrUZo505wB82UZ9I5Pqtlo4_Pl5Ej4FPEKbVtH-OZpo_bnySTqSCuZm_8C-bwEh_z7RbRRxeLkUx8QUEFLBHSjioOecfb6w7-FpSjSwTrdI4W-3JdHcEkaE0DBgiq4XYaBiuaZZPcVMtl5fX4PxJeobf66gUjH8BmDZiVB9ZBYUKqRtKfhN4kLNXoRXVD7otnio0swCgeErpR-FRx8znDqClNz1AgohVG4nTk-5fNUYJBAAJ5k3T8CrSjXDPsgdmU_BGydf8eDqt0LGW_r3septkhrQNduDLMvdHyIzJMuwr-GQ1wvmZZQI2Y5pLqvDKsgqohc9MmawqPPxLgsEX3sUoy1S_h3E9RD9aeL7YejXpNJ86Q18qYWZWFxbeebuGOinSYASoah6sYu_J0TNL20niGRyujXm453JXJygIN_Q5v0-GyW5d9KnjPUmlXaZq7_ZVWQJsks-T17Wa3H2-Q2MKiNK7zg0loakn15DHZ7ZJkoBfjPrGHyg8HSJj9paQig1qXR8a6FGAQDvFxSg4AfegNDv4bGZJdgvGUw2Bt91RyRH4KaaeU00NUcxkBrAiBZvetHHikGXcpdJ9H84cg7xNHAmVIi8gn2-GzCLPBRq3qOLZHW7ZKI7rO9LesB8cUqIuFW2FIHNEorbQ4-vfRfXq6jVtGhgTkGDlNlevgAomD7FwVkqlZxHv9BQ8uuHoAoWw5Ew0TolUCwF2URomApucFUZK3ElR8awageTbhO3BdV8kU1Dd0AdMmnFzIwPAnFOwA1s0qpPEFQFc=",
  "id": "rs_0aa00866861980ca016ab458981e5887d0b9d710c3b3bab7bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.32,\"left_z\":0.23,\"left_pitch\":0.15},\"note\":\"The jaws have retained a small but definite thickness of the light plush. I’m lifting it up and inward toward the open safe, clearing the front rim.\"}",
  "call_id": "call_kFtGrMrSQpY3wpLxgODTsldv",
  "id": "fc_0aa00866861980ca016ab4589889a487d0919c8530fab5461d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kFtGrMrSQpY3wpLxgODTsldv",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.812, 2.1475, 1.9152, -0.4183, -0.8196, -0.5678, 0.1079, -0.1646, 0.8787, 0.712, -0.7712, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4871 left_y=-0.3209 left_z=0.22 left_yaw=0.1393 left_pitch=0.1534 left_roll=-0.0388 left_gripper=0.1079 right_x=0.2502 right_y=0.0026 right_z=0.1387 right_yaw=0.1402 right_pitch=-0.3233 right_roll=0.0755 right_gripper=0.9953\nstate[joint_eff]: [0.3077, -12.7658, 8.0068, 1.1697, -0.3199, 0.1734, 0.0708, -0.0342, -1.7162, 6.6393, 1.4383, -0.1832, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d99c47845a9e3a349d8aaecaef4f6d74aed49a1539d56276d0a60ec6187968a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e1ed5cf75ff29ed3058253f774862c636da7263c334fc1c04835c29d471bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37ff13f2ad7df54a5e3d3ed29c3133f200128a54060ab80cb98009ce4d9190f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 7.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7979, 1.6081, 1.33, -0.4103, -0.8055, -0.5068, 0.9972, -0.1646, 0.8734, 0.7124, -0.7319, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.3945 left_y=-0.2168 left_z=0.2441 left_yaw=0.1051 left_pitch=0.1235 left_roll=0.0421 left_gripper=0.9972 right_x=0.2575 right_y=0.0014 right_z=0.1459 right_yaw=0.1358 right_pitch=-0.2803 right_roll=0.0617 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -10.1812, 9.3744, 1.3651, -0.3297, 0.1929, -0.1538, -0.1846, -1.6889, 6.694, 1.5018, -0.1636, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.87, 1.8175, 0.7132, 0.2543, -0.8013, -0.6975, 0.1071, -0.1646, 0.8753, 0.712, -0.7559, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.342 left_y=-0.203 left_z=0.0313 left_yaw=0.125 left_pitch=0.0298 left_roll=0.0046 left_gripper=0.1071 right_x=0.253 right_y=0.0021 right_z=0.1417 right_yaw=0.1384 right_pitch=-0.3054 right_roll=0.0696 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -7.8564, 4.9162, 1.1648, -0.2418, -0.0855, 0.5934, -0.0342, -1.1009, 6.653, 1.4579, -0.1734, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.812, 2.1475, 1.9152, -0.4183, -0.8196, -0.5678, 0.1079, -0.1646, 0.8787, 0.712, -0.7712, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4871 left_y=-0.3209 left_z=0.22 left_yaw=0.1393 left_pitch=0.1534 left_roll=-0.0388 left_gripper=0.1079 right_x=0.2502 right_y=0.0026 right_z=0.1387 right_yaw=0.1402 right_pitch=-0.3233 right_roll=0.0755 right_gripper=0.9953\nstate[joint_eff]: [0.3077, -12.7658, 8.0068, 1.1697, -0.3199, 0.1734, 0.0708, -0.0342, -1.7162, 6.6393, 1.4383, -0.1832, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d99c47845a9e3a349d8aaecaef4f6d74aed49a1539d56276d0a60ec6187968a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e1ed5cf75ff29ed3058253f774862c636da7263c334fc1c04835c29d471bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37ff13f2ad7df54a5e3d3ed29c3133f200128a54060ab80cb98009ce4d9190f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFieHWJKGXqThML6GcIrEk3NE4nH5Ppmk08AZ7LMXh7-uDKfXvIeGP1WI089GuzzE8LoyQDMZalJ1RN9VeICg_eRdDQnEXLT9ajXTwurUprMTQ9b4o_cCQat_H6rVySBpvrY6CzhRRjKjq1DOmrH63lMh6KOEYjY2FAQHsAUTgx6EZUnd7v8CIGqW12ACuho1EVBkIffL1bOi8Q4_HlJkxk0Xn3e9QsN5_-snMkJ0_F7R5Uxru35NB4hu52hwHhIVhviS0ZvWH7FLUjGnlZyf8gZB_Ninhg3CC33YMp92QWMWvLC6aCXpCQZ336F2Wut6f_L3TR79BHy6d8vEYSQM-UuoHT0YzbIPf9hNkzcxsYLxbRQL5A7pps73DEaVTU2BgXalxlyvN_j2hS90XVErxDnaSdYarGjDxgXgvbIfsst3y6Oa4rdOwVP8knAx94B95NBQpjSNYJv4alOLn9lS_UQC-8y-FzwNgD8b0xTqRvJ0oHjVV4BMqH0z6EdSag7RrqN-YlQmSmQ172FDqnzJ4IqHQZB7a91vnnjnm5yzYuIkIPEmVB_tUVmraY4hWPECaErHH-BscK8bQTkNrQVBkduToIWqH32n-mWD2nc-VH7w6MI4pUv15NucUEuZPt4jzwq-knnPPYl19swfujuAk9GLDiTtCiXNhd8sPAq_dOC6JtfEdBRYjoT601BaUtNM-yWvcQiJZnpQOwzpOO0a-0DYPMJVrWrWNi2JGlPbEbtpBi4mUYfIGWbsciShZhjmJsIeUhlbgqgLJyyLfY0IMCiaS_sjKF0vJ2fsh6PQdg3dPVKERVU7g4v-_hSoaMAl5xm0Wrv5PqbK-qaKFQxwFEGqxPYOE3GUgGrOd7-nsB2VmOC94xpAK-GU0kQZhn7kbc8hCOdDZqItqewiwBNFdkW2J3pjSBgQAVQY1Vm5VT8LY0RyZYJyCyPuPTDdGy0y10u3T7mAFe4nUxCXCEfjn8B9_cZY72ikon0NS_8diZQlYZz0RH6FPmqczoe0tB3DC3JYxT0VtaKA3KaWdKvl0kyLQ99V8JA_JEjSqdutzvIBD01X_uiFDg_WaJ6ws_6QhdVtsa_Y1gRl27EbrHG9UC9xFn1kzOUlXRWGAB6qmI5ZJS3NA-3Qz5s19HOSBaIGriLZteEl5RuA8BDelG0el7N-YaZ2ZlBFxzAKfDdDBI067EJXGaUKTJg0MoXphJcuB-AKGIVRyN6Nqatg-vu8i6b0Z8nYU-gQfxG6KWKQkgFfGqEnzcnizb1q04FDXy2lIRHfhqRt6afzCzl4o4h3BPZWQ==",
  "id": "rs_0aa00866861980ca016ab4589d1d8087d0a5143d8400996db3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The final small object has moved off the tabletop and is above the safe. I’m releasing it into the compartment.\"}",
  "call_id": "call_WGDsb5gIr5VkEdpBHd7T6goL",
  "id": "fc_0aa00866861980ca016ab4589d873887d09b7fe15a09d5f2c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WGDsb5gIr5VkEdpBHd7T6goL",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8108, 2.1601, 1.9163, -0.4461, -0.8204, -0.58, 0.9953, -0.1646, 0.881, 0.712, -0.7883, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4862 left_y=-0.3188 left_z=0.2094 left_yaw=0.1432 left_pitch=0.1309 left_roll=-0.0174 left_gripper=0.9953 right_x=0.2469 right_y=0.0032 right_z=0.1357 right_yaw=0.1422 right_pitch=-0.3418 right_roll=0.0817 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -13.6821, 6.735, 1.746, -0.3394, 0.0513, -0.1001, -0.1573, -1.3744, 6.653, 1.4774, -0.1832, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f160aca853dd77da8b9ac98e0223ba3e3ce9aaa0da3be7320ff35749aa6b31b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e1f50203fca422d35582ea1c52c89ea3f2a52800938581832838ca3d7e5d73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb18fb49924a972fe6c76d13f3e909e261d8b74dc9513af6140652b3e09137e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.266 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8711, 1.8172, 0.7113, 0.2394, -0.7868, -0.7017, 0.9984, -0.1646, 0.8753, 0.712, -0.7464, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3393 left_y=-0.2033 left_z=0.0276 left_yaw=0.1165 left_pitch=0.0116 left_roll=0.0088 left_gripper=0.9984 right_x=0.2548 right_y=0.0018 right_z=0.1431 right_yaw=0.1375 right_pitch=-0.2963 right_roll=0.0666 right_gripper=0.9953\nstate[joint_eff]: [-0.8957, -5.7915, 3.1248, 0.9011, -0.1441, 0.0708, -0.1783, -0.0615, -1.6068, 6.694, 1.5067, -0.1636, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.812, 2.1475, 1.9152, -0.4183, -0.8196, -0.5678, 0.1079, -0.1646, 0.8787, 0.712, -0.7712, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4871 left_y=-0.3209 left_z=0.22 left_yaw=0.1393 left_pitch=0.1534 left_roll=-0.0388 left_gripper=0.1079 right_x=0.2502 right_y=0.0026 right_z=0.1387 right_yaw=0.1402 right_pitch=-0.3233 right_roll=0.0755 right_gripper=0.9953\nstate[joint_eff]: [0.3077, -12.7658, 8.0068, 1.1697, -0.3199, 0.1734, 0.0708, -0.0342, -1.7162, 6.6393, 1.4383, -0.1832, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8108, 2.1601, 1.9163, -0.4461, -0.8204, -0.58, 0.9953, -0.1646, 0.881, 0.712, -0.7883, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4862 left_y=-0.3188 left_z=0.2094 left_yaw=0.1432 left_pitch=0.1309 left_roll=-0.0174 left_gripper=0.9953 right_x=0.2469 right_y=0.0032 right_z=0.1357 right_yaw=0.1422 right_pitch=-0.3418 right_roll=0.0817 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -13.6821, 6.735, 1.746, -0.3394, 0.0513, -0.1001, -0.1573, -1.3744, 6.653, 1.4774, -0.1832, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f160aca853dd77da8b9ac98e0223ba3e3ce9aaa0da3be7320ff35749aa6b31b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e1f50203fca422d35582ea1c52c89ea3f2a52800938581832838ca3d7e5d73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb18fb49924a972fe6c76d13f3e909e261d8b74dc9513af6140652b3e09137e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFimPkp7GIES8W6tDOUTKZQSyAqP30MbobWipX9zXGFaFDNoyf968UvJ6_3zMYUqcRf6VcWMbpM6PuW7uRVkW98x5oLT68HlesLLIQ5lLZ5Cw5mqFzkDyKpmfX4iUweqBTpMMhR4TGd_GMeV9gHcaTlwHfPFM2X29H_C_Qa0az9eqzZxdIek7vWYpzQUUZcOykvpAvfyqvD2u-4GFrLVUr3Rzv7YSTdPWGX1le4g60XZ6EDkKkBoND17C5pSCZfl3sk5WPOfILpaB180v1iABonK_UXvV9BwERzK5fp9Y49xMLSR8t-09uWbJnOwftEuLC9AFwkNIZ7nJBTMhyVUdf47NmKp8cNLV9tMCPst-orvfLzP4_CNzKtnafPf2lD3qZlbfaoO5zSzjCJPKg7_3XPKit_rb-jLWX0PAwmlrE-TCSFlh7AUDCaLehe4vs28vOsyNfsnX5xYosx-gDV61jlMEeAyji0t2C8pVvx1P_Bya9S_b8oau_NUucMi2GX_LvFTYAMSuNA6bXdHkYXqK_mMEtDcX7ixIXHvEOqz7UnzBeix4whR9N2okT_sN7kpkOEuNr7-_AweheA02sSTh7BEHkL_i-na9et4FYBzA-kyCaRfV7_LfskUq0hd1_jh1C1LJQgMgV9WiqBrC9zKwW69knrLGksKsL0jy3JJEIO0nYzs0bZAku2ZDywffN-gqSR1KSa96c9CKSA62hoHzq5wWSirIEgryQCg_HaJ66u2mlrEMvBIvIZ-ysfsYeU6Xb-aMNpuSm8oocqGu9DCRQo2FKjojKaLV8eVuanDz7QUoECA0Y03yLB7m3ngC2_32xCDyDDVugAbFXtC2S8v-dB_k_Yfzc6fwId0RZs-A203SnwOvcKoHZfK4Lb8tvElVsrqdF4tft0lWjFm63kBF1SchVzVu80bnAx_6RJnKtdfp3rF9Wk2BdbR9eiAOdEh4HCoQhRJqlnfGb72Lx6QI-82tAjOxk67qdGCPFAuJedjPriRCL4yyTmKmPMfn8jnSQxjtTFk0LVjIDk4yIvBgU_V1VmnL2l8hvC5-aJ-F-JQgIMAEfUV1sWhXMANticUfnIYh1bMIyWkce60VDiHuOzah6s8qAkVw3rGo0skvSWJKUEwyKe5U0gmjYpZlcvJSLaItxrQS7CMUkKOvlWNNjQ-0VxO7xl7_11arxC-DEBVU7Sn7fQW1cbvvI9XmD50cZoRU3udINKzho0EF8h_0UW_nvzwDk4s7zH1Xtf5B6SsEnT4Ufpw6GKKKicPJQ6r1Nk_6opN018Ue0XX6Z7oTxIgtB-Ih4FiXFIh2nzxlHTOKhfMQMRIGCkUJJcMxrF6EEIEtB7EWNC7aaVRJ1Xt2JzOANLFfsuEBCiSjaJ16XXbVz7K29VqgMMBS5HM-aW9UezUCcTcF3INkZ1W-ifyFtinSYUY7F6gD1QroLRnOUrifOuOL4-hBPhlA1I6v6UlbO2xBE6BMuqcDKx9MGBX3cWetHe2vp-2XZ5JEesHzudf3mvAdStYcXCGX7N5DwCXaoRWa1vaq8MKuu6emEcShPnF_SbLLizlL696zUWeGDyvw9QxVYkRQuSjAJff7HMM9Vcy1HG_ftZM3200ncQXy2AQy-LpaeA5LGz7lhD0kRO3272U-b3YkLoLDg4IvQt2YezLyaTVf62zx8m4AjaZ7UDUXOFWimgOoZGMbGKVQC-QkxGfXSXIcTqCsdR94jcTznmhi5skdMEhTB_gABMPlbmCPdCuBD8-jBYdDa2bZVuw8tR5Y9c8ioznL3YitdtthKewq6r4HysHlo1sbk-jPgF_BQ==",
  "id": "rs_0aa00866861980ca016ab458a2ea7c87d0b16f685c3accb41b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_y\":-0.29,\"left_z\":0.265,\"left_pitch\":0.5,\"left_gripper\":0},\"note\":\"The objects are in the open compartment. I’m positioning the closed gripper above the lid’s free edge so I can fold it down toward the front.\"}",
  "call_id": "call_vMqBAjR7dIdStnYJZ6hnsonE",
  "id": "fc_0aa00866861980ca016ab458a5911087d08944c5db79c6243f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vMqBAjR7dIdStnYJZ6hnsonE",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6716, 2.2696, 1.9045, 0.1482, -0.8265, -0.1757, 0.0105, -0.1646, 0.8848, 0.712, -0.7994, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.5729 left_y=-0.2848 left_z=0.2421 left_yaw=0.1607 left_pitch=0.4336 left_roll=0.0045 left_gripper=0.0105 right_x=0.2448 right_y=0.0035 right_z=0.1334 right_yaw=0.1439 right_pitch=-0.356 right_roll=0.0864 right_gripper=0.9953\nstate[joint_eff]: [0.4034, -13.3402, 10.0444, 1.9219, 0.1343, 0.2515, 0.9695, -0.0205, -1.7162, 6.5983, 1.4237, -0.1832, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1331da036a44937296e03202d07856b1df4b641bc35d668206557885bfcece9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e448fecdf2f9ea017fe200c9b8c3e2252d89b7d3b6ce092cea5bea3dba87a230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f49ce3bd35f17d60172f4b59bf810d35828b8a36552e6f4e7a1fcbbb1142297",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.468 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.87, 1.8175, 0.7132, 0.2543, -0.8013, -0.6975, 0.1071, -0.1646, 0.8753, 0.712, -0.7559, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.342 left_y=-0.203 left_z=0.0313 left_yaw=0.125 left_pitch=0.0298 left_roll=0.0046 left_gripper=0.1071 right_x=0.253 right_y=0.0021 right_z=0.1417 right_yaw=0.1384 right_pitch=-0.3054 right_roll=0.0696 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -7.8564, 4.9162, 1.1648, -0.2418, -0.0855, 0.5934, -0.0342, -1.1009, 6.653, 1.4579, -0.1734, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8108, 2.1601, 1.9163, -0.4461, -0.8204, -0.58, 0.9953, -0.1646, 0.881, 0.712, -0.7883, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.4862 left_y=-0.3188 left_z=0.2094 left_yaw=0.1432 left_pitch=0.1309 left_roll=-0.0174 left_gripper=0.9953 right_x=0.2469 right_y=0.0032 right_z=0.1357 right_yaw=0.1422 right_pitch=-0.3418 right_roll=0.0817 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -13.6821, 6.735, 1.746, -0.3394, 0.0513, -0.1001, -0.1573, -1.3744, 6.653, 1.4774, -0.1832, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6716, 2.2696, 1.9045, 0.1482, -0.8265, -0.1757, 0.0105, -0.1646, 0.8848, 0.712, -0.7994, -0.2283, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.5729 left_y=-0.2848 left_z=0.2421 left_yaw=0.1607 left_pitch=0.4336 left_roll=0.0045 left_gripper=0.0105 right_x=0.2448 right_y=0.0035 right_z=0.1334 right_yaw=0.1439 right_pitch=-0.356 right_roll=0.0864 right_gripper=0.9953\nstate[joint_eff]: [0.4034, -13.3402, 10.0444, 1.9219, 0.1343, 0.2515, 0.9695, -0.0205, -1.7162, 6.5983, 1.4237, -0.1832, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1331da036a44937296e03202d07856b1df4b641bc35d668206557885bfcece9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e448fecdf2f9ea017fe200c9b8c3e2252d89b7d3b6ce092cea5bea3dba87a230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f49ce3bd35f17d60172f4b59bf810d35828b8a36552e6f4e7a1fcbbb1142297",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFirZkCtfyzz4VZon-o_JFtaVd1BnTdBG0B6c-WW4SkA13CTG19AR9wa--4jOGpRe09A1Lrh_1_6OTsJAg6i_I2uIS6QLKQd6PoUiStH_Lbpn5w1O2_hHjpxhmVgaZOcSDUtG4oRsHUhNc40fI_RAomlEJFLfywD_hcEGWWzF5JGGL44vUOMDI1zOyhQj3iS-GQppILn-Qtja_32WMKedfExmNle04dgFxGRy7SGn4BLHDDc0vMIF5efAEAyiwbxQyOGwiN29E4sJhAzXZrZdGY6Jp97Z4-2nTBsLjBmvgZOuScOxbORuVYxCBIqHrTwhM0GrMVJESNW7RkoBjdgTe9eM0LL0uFIbu0VG7RSL2BK4W9-m7Pt5IdrX6J88auanuIJYRGoYH30t9AYMYdY5qcnYNC3kwo5qq8wUr7nF4dwZeSdn8TXwLghsWet5n2yQRJZSO-jFQJOxN8YdThs5dCKxNQhFTf9ghaxTBUx8osjY9UpLfmoVOEghzWf3Og2ZLinFxj_0F-V2EtWBHt8WR6ibZWwM-bMFh8FQEDGLOWpKTiABEMtRg17BdoKcbYFFe1eYQwzlfmTVqe9fjJmc61iaTkK-GeoDd1veksbMfXIy8l01XzqrZXJ7dE8cd7vFEKxMHWAhx_NYFY-nfNmW015QHibTF6ojQSz6aLApz8SHs5pFaFE49246KJcWrepVyj-d-_C0Kpl1J_Rwt3o1Ksw9EDLDb90VhihEjm7x6PQ_lb91kJqwkX-14vuptMKN-yEmYvY0f_rcf-t6mlHKIdq0EAxyFVJismidflHRnHCTJ4IrSNgqVyiVdUfljTJI9HDXeZczR3t6l-6bvkyzxZbEcnulQpjaV7K1KJkvm7baBnglKlLe5nYOHgLTprBivoBaIWj0tupGR5nTdPkxNGv8DAiDSRoDQKIKwJ8FmRzPSmQk2Z7abBwZUsbBvS7d8Ov4aDMqBG6HQJGiMeXzp84e-dephnhWfZwgtmGTTMHmpY8JZ1vcvVF6NKqEb7shqjwNKvtSRk05V978vLept9sh3a1obeqeJY3TFbUlCwkR358cHHxf1AjF392uAolrNqSRblix2cLhsiooB_nK7mEkxsW1AqeYOSMWCS8pPwJlgg_yiJ7LVGxjSIZRRX84LsSvCcgfmr8J1KOjJLO17m7BmQXZ4-aRg64xm1nC2aCHHGc5TiUmCa9TzhYv05aJql6gQGYrgU4kPuOgi6ZGiDrCGO4gsAACnBWw41G2J326UVz04AT18ChZmf-M0kEZQ32Wz3Obg1e9yqkLy7dzCncUpLzoUxKC61KY2TUPSc1e5PtEfs1lBSN5AESsqcdpdrXeHGD2h5uxxc6ii2GkVjRvhYOyzWcADYOUOWSvEbFKunb8Dsf3ZaPlWYerW-pyLWA",
  "id": "rs_0aa00866861980ca016ab458a95fcc87d0a33dd463d1f536a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.31,\"left_z\":0.055,\"left_pitch\":0.15},\"note\":\"The closed gripper is at the lid’s upper edge. I’m sweeping downward and toward the front to fold the lid over the contents.\"}",
  "call_id": "call_VRXUXH8WUtB1t88Eyr3hS2c1",
  "id": "fc_0aa00866861980ca016ab458aa436c87d0bbf9f6e79d485fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VRXUXH8WUtB1t88Eyr3hS2c1",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8818, 2.2215, 1.3712, 0.1146, -0.8921, -0.5964, 0.0107, -0.1646, 0.8879, 0.712, -0.8143, -0.2283, -0.2024, 0.9953]\nstate[eef_state]: left_x=0.4401 left_y=-0.3124 left_z=0.0562 left_yaw=0.1267 left_pitch=0.1446 left_roll=0.0324 left_gripper=0.0107 right_x=0.2419 right_y=0.004 right_z=0.1307 right_yaw=0.1457 right_pitch=-0.3731 right_roll=0.0925 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -12.5333, 5.5043, 1.4872, -0.4762, -0.1148, 0.862, -0.1026, -1.2103, 6.735, 1.3797, -0.1636, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a94a9483957eaf11fb243fb4dd29302070486960514ab5407a4a2c3745db70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc1aba5aa93446c3bd40d6c3035eb43d128a743220a8928b7eef82b23ee50a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb1518d5f276c2be3e155b416d62e74745441bcf77fd21165444c59e30a052b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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