adhoc

completed
2026-09-24T00:28:56.089966+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
134.1 s
total steps
185
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 yellow ball and two stuffed toys outside it. I’m moving the right gripper above the ball first, keeping the left arm parked.
move_to
right_x0.4550right_y0.1550right_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]: [-0.0193, 0.7933, 0.6044, -0.3912, -0.0193, -0.0341, 0.9997, -0.0204, 0.7944, 0.6079, -0.3962, -0.0189, -0.0254, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.4427, 10.2769, 1.9707, -0.0513, 0.1538, -0.0366, -0.5128, -1.5248, 9.6479, 1.9072, -0.0269, 0.1197, -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":0.455,"right_y":0.155,"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 yellow ball and two stuffed toys outside it. I’m moving the right gripper above the ball first, keeping the left arm parked."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe ball is centered left-to-right in the wrist view but is still ahead of the fingertips. I’m advancing and lowering toward it, with a slight forward tilt for reach.
move_to
right_x0.5150right_y0.1650right_z0.0750right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.7963, 0.6083, -0.4118, -0.0212, -0.0383, 0.9997, 0.4511, 1.665, 1.0546, -0.0849, 0.3439, 0.2184, 0.9996] state[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1747 left_yaw=-0.0026 left_pitch=-0.0198 left_roll=-0.002 left_gripper=0.9997 right_x=0.4398 right_y=0.1509 right_z=0.1323 right_yaw=0.0361 right_pitch=-0.0651 right_roll=-0.0344 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.5248, 7.2957, 1.8144, -0.1001, -0.0513, -0.0122, 0.1299, -8.4855, 8.1709, 1.8681, 0.2271, 0.2662, -0.0513] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.165,"right_z":0.075,"right_pitch":0.3},"note":"The ball is centered left-to-right in the wrist view but is still ahead of the fingertips. I’m advancing and lowering toward it, with a slight forward tilt for reach."})
tool
executing move_to over 13 steps (1.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe ball remains ahead of the open jaws and slightly to their right. I’m making a smaller forward-and-right adjustment to put the fingertips around its middle.
move_to
right_x0.5500right_y0.1500right_z0.0300right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.7975, 0.6083, -0.4278, -0.0223, -0.0383, 0.9997, 0.4324, 2.0754, 0.9573, 0.693, 0.3748, 0.0822, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0001 left_z=0.1712 left_yaw=-0.0016 left_pitch=-0.0369 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5 right_y=0.1635 right_z=0.0525 right_yaw=0.0612 right_pitch=0.1876 right_roll=-0.0645 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.2786, 6.9812, 1.8632, -0.0855, -0.0317, -0.0122, -0.6222, -9.3333, 7.7197, 2.21, 0.1832, -0.0073, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.15,"right_z":0.03,"right_pitch":0.5},"note":"The ball remains ahead of the open jaws and slightly to their right. I’m making a smaller forward-and-right adjustment to put the fingertips around its middle."})
tool
executing move_to over 11 steps (1.1s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe ball is now centered at the fingertips. I’m closing gently to a ball-sized opening rather than squeezing fully, to avoid ejecting it sideways.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.799, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.3691, 2.4062, 1.0729, 1.2819, 0.3267, -0.0093, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0001 left_z=0.1692 left_yaw=-0.0019 left_pitch=-0.0465 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5499 right_y=0.1558 right_z=0.0532 right_yaw=0.0476 right_pitch=0.534 right_roll=-0.0137 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.7509, -0.0366, -0.0464, -0.0122, -0.6222, -8.4718, 4.4786, 1.2283, 0.1197, -0.3932, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.45},"note":"The ball is now centered at the fingertips. I’m closing gently to a ball-sized opening rather than squeezing fully, to avoid ejecting it sideways."})
tool
executing move_to over 6 steps (0.6s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe ball is still visible beyond the fingertips, so the first closure did not capture it. I’m reopening and advancing a few centimeters, correcting slightly right.
move_to
right_x0.5850right_y0.1450right_z0.0400right_pitch0.6000right_gripper0.9500left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.7994, 0.6083, -0.4507, -0.0219, -0.0383, 0.9997, 0.3752, 2.4142, 1.0798, 1.3239, 0.3027, 0.0017, 0.4551] state[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1661 left_yaw=-0.0019 left_pitch=-0.0617 left_roll=-0.0006 left_gripper=0.9997 right_x=0.5501 right_y=0.1639 right_z=0.0612 right_yaw=0.0623 right_pitch=0.5725 right_roll=0.0151 right_gripper=0.4551 state[joint_eff]: [-0.3761, -1.265, 6.9675, 1.8779, -0.0513, -0.0269, -0.0122, -0.5949, -12.2735, 3.6991, 1.4921, 0.2222, -0.1148, -0.0562] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.585,"right_y":0.145,"right_z":0.04,"right_pitch":0.6,"right_gripper":0.95,"left_z":0.18},"note":"The ball is still visible beyond the fingertips, so the first closure did not capture it. I’m reopening and advancing a few centimeters, correcting slightly right."})
tool
executing move_to over 5 steps (0.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe ball has reached the jaw opening and is mostly below the wrist camera’s view. I’m closing around it before testing the lift.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8051, 0.6281, -0.5125, -0.0223, -0.0395, 0.9997, 0.3176, 2.5118, 1.2243, 1.3666, 0.2325, 0.0036, 0.945] state[eef_state]: left_x=0.2793 left_y=0.0003 left_z=0.1615 left_yaw=-0.0009 left_pitch=-0.1094 left_roll=-0.0001 left_gripper=0.9997 right_x=0.5825 right_y=0.1524 right_z=0.0685 right_yaw=0.0573 right_pitch=0.6591 right_roll=0.0456 right_gripper=0.945 state[joint_eff]: [-0.0068, -0.9641, 9.8667, 1.8632, -0.0806, -0.0366, -0.0122, -0.9231, -9.4974, 4.6427, 1.409, 0.1441, -0.1441, -0.0366] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"The ball has reached the jaw opening and is mostly below the wrist camera’s view. I’m closing around it before testing the lift."})
tool
executing move_to over 7 steps (0.7s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe jaws have closed, but the ball is partly obscured and the grasp is uncertain. I’m lifting a short distance to check whether it comes off the table.
move_to
right_x0.5650right_y0.1450right_z0.1450right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8059, 0.6327, -0.5251, -0.0219, -0.0422, 0.9997, 0.3176, 2.4767, 1.216, 1.2922, 0.223, 0.0185, 0.2547] state[eef_state]: left_x=0.278 left_y=0.0003 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.1182 left_roll=-0.0022 left_gripper=0.9997 right_x=0.5832 right_y=0.1543 right_z=0.0678 right_yaw=0.066 right_pitch=0.6127 right_roll=0.0485 right_gripper=0.2547 state[joint_eff]: [-0.3487, -1.2513, 6.6667, 1.7607, -0.0464, 0.022, -0.0171, 0.0479, -13.7641, 4.3692, 1.6777, 0.0659, 0.0122, -0.022] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.565,"right_y":0.145,"right_z":0.145,"right_pitch":0.5},"note":"The jaws have closed, but the ball is partly obscured and the grasp is uncertain. I’m lifting a short distance to check whether it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe yellow ball appears to have lifted with the gripper. I’m carrying it over the red-lined base of the safe, staying above the rim.
move_to
right_x0.4700right_y0.3050right_z0.2050right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8082, 0.6331, -0.5369, -0.0219, -0.0422, 0.9997, 0.3126, 2.1643, 1.1194, 0.9775, 0.2115, 0.0296, 0.254] state[eef_state]: left_x=0.2763 left_y=0.0003 left_z=0.1583 left_yaw=0.0004 left_pitch=-0.1319 left_roll=-0.0018 left_gripper=0.9997 right_x=0.567 right_y=0.1481 right_z=0.133 right_yaw=0.0802 right_pitch=0.5164 right_roll=0.0338 right_gripper=0.254 state[joint_eff]: [-0.1299, -1.0188, 7.1179, 1.7118, -0.0464, -0.0464, -0.0122, -0.5538, -12.5607, 5.4769, 2.0488, 0.0611, 0.1441, -0.0904] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.305,"right_z":0.205,"right_pitch":0.15},"note":"The yellow ball appears to have lifted with the gripper. I’m carrying it over the red-lined base of the safe, staying above the rim."})
tool
executing move_to over 14 steps (1.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe overhead view shows the ball stayed on the table, so the lift was empty. I’m returning with the jaws open and aiming lower; its position is near the arm’s far reach.
move_to
right_x0.5900right_y0.1350right_z0.0250right_pitch0.6000right_gripper0.9500left_x0.2930left_y0.0000left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8097, 0.6331, -0.5549, -0.0219, -0.0425, 0.9997, 0.7315, 1.9617, 1.4723, -0.0376, 0.5365, 0.2752, 0.2539] state[eef_state]: left_x=0.2734 left_y=0.0004 left_z=0.1545 left_yaw=0.0006 left_pitch=-0.1513 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4724 right_y=0.3075 right_z=0.1824 right_yaw=0.1271 right_pitch=0.1356 right_roll=-0.0006 right_gripper=0.2539 state[joint_eff]: [-0.1846, -1.347, 7.1453, 1.8046, -0.0415, -0.0513, -0.0122, 0.1846, -13.053, 9.2923, 1.8779, 0.2759, 0.1734, -0.0171] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.135,"right_z":0.025,"right_pitch":0.6,"right_gripper":0.95,"left_x":0.293,"left_y":0,"left_z":0.18,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The overhead view shows the ball stayed on the table, so the lift was empty. I’m returning with the jaws open and aiming lower; its position is near the arm’s far reach."})
tool
executing move_to over 16 steps (1.6s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe arm is stopping above the requested height at this far extension. I’m retracting slightly and reducing the tilt to bring the jaws lower around the ball rather than closing above it.
move_to
right_x0.5450right_y0.1350right_z0.0150right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.7994, 0.6155, -0.4557, -0.0223, -0.0463, 0.9997, 0.2836, 2.5351, 1.2545, 1.3731, 0.1337, 0.0219, 0.9476] state[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0594 left_roll=-0.0068 left_gripper=0.9997 right_x=0.5902 right_y=0.1512 right_z=0.0679 right_yaw=0.1133 right_pitch=0.6734 right_roll=0.0619 right_gripper=0.9476 state[joint_eff]: [-0.5812, -1.5658, 7.0085, 2.0684, -0.0757, 0.0073, -0.0122, -1.4154, -8.3487, 3.5761, 0.7985, 0.149, -0.4371, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.545,"right_y":0.135,"right_z":0.015,"right_pitch":0.35},"note":"The arm is stopping above the requested height at this far extension. I’m retracting slightly and reducing the tilt to bring the jaws lower around the ball rather than closing above it."})
tool
executing move_to over 11 steps (1.1s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe lower pose is tracking better, and the ball is clearly ahead of the jaws. I’m advancing while keeping this shallower tilt to approach the ball at a lower height.
move_to
right_x0.5950right_y0.1250right_z0.0050right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8028, 0.6132, -0.4656, -0.0219, -0.0498, 0.9997, 0.2798, 2.3817, 1.0393, 1.1698, 0.12, 0.0647, 0.9492] state[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.0751 left_roll=-0.0094 left_gripper=0.9997 right_x=0.5502 right_y=0.1398 right_z=0.0269 right_yaw=0.1216 right_pitch=0.4101 right_roll=0.0619 right_gripper=0.9492 state[joint_eff]: [-0.1983, -1.3744, 7.3094, 1.7509, -0.0366, -0.0122, -0.0122, -0.7179, -12.1641, 3.535, 1.58, 0.0269, 0.0415, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.125,"right_z":0.005,"right_pitch":0.4},"note":"The lower pose is tracking better, and the ball is clearly ahead of the jaws. I’m advancing while keeping this shallower tilt to approach the ball at a lower height."})
tool
executing move_to over 4 steps (0.4s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe ball is between the approaching finger tips and slightly right of center. I’m making the final small lateral correction and closing fully for a secure grasp.
move_to
right_x0.6000right_y0.1170right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8047, 0.6132, -0.4774, -0.0219, -0.0532, 0.9997, 0.2333, 2.4805, 1.2285, 1.1343, 0.0544, 0.0711, 0.9493] state[eef_state]: left_x=0.2826 left_y=0.0002 left_z=0.1617 left_yaw=0.0063 left_pitch=-0.0888 left_roll=-0.0116 left_gripper=0.9997 right_x=0.5921 right_y=0.1345 right_z=0.0316 right_yaw=0.1284 right_pitch=0.463 right_roll=0.0873 right_gripper=0.9493 state[joint_eff]: [-0.2803, -1.3333, 7.0496, 1.7607, -0.0513, 0.0269, -0.0122, -0.9231, -10.0581, 5.1487, 1.4579, 0.2418, -0.1783, 0.0024] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_y":0.117,"right_gripper":0},"note":"The ball is between the approaching finger tips and slightly right of center. I’m making the final small lateral correction and closing fully for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe safe shifted during closure, and the ball is still ahead of the fingers; the jaws caught the safe’s edge instead. I’m releasing and lifting clear to avoid pushing either item farther away.
move_to
right_gripper1.0000right_x0.5600right_y0.1100right_z0.1700right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8078, 0.6132, -0.4801, -0.0223, -0.057, 0.9997, 0.2268, 2.4886, 1.2526, 1.1347, 0.0338, 0.0589, 0.6857] state[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1604 left_yaw=0.0088 left_pitch=-0.0945 left_roll=-0.0142 left_gripper=0.9997 right_x=0.5974 right_y=0.1354 right_z=0.0361 right_yaw=0.1479 right_pitch=0.4797 right_roll=0.0779 right_gripper=0.6857 state[joint_eff]: [-0.0889, -1.4017, 6.9538, 1.7021, -0.0757, -0.0073, -0.0122, -0.9915, -10.0991, 4.9162, 1.4237, 0.2369, -0.0904, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.56,"right_y":0.11,"right_z":0.17,"right_pitch":0.1},"note":"The safe shifted during closure, and the ball is still ahead of the fingers; the jaws caught the safe’s edge instead. I’m releasing and lifting clear to avoid pushing either item farther away."})
tool
executing move_to over 13 steps (1.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe ball is still near the reach boundary, with the safe immediately to its left. I’m making one final approach from farther right so the left finger clears the safe’s rim.
move_to
right_x0.6000right_y0.0950right_z0.0250right_pitch0.6000right_yaw0.0000right_roll0.0000right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8097, 0.6132, -0.4946, -0.0219, -0.057, 0.9997, 0.1898, 1.9656, 1.338, 0.1413, -0.0139, 0.0525, 0.9986] state[eef_state]: left_x=0.2802 left_y=0.0002 left_z=0.1571 left_yaw=0.0085 left_pitch=-0.1109 left_roll=-0.0139 left_gripper=0.9997 right_x=0.5619 right_y=0.1141 right_z=0.1453 right_yaw=0.1631 right_pitch=0.095 right_roll=0.0648 right_gripper=0.9986 state[joint_eff]: [-0.3487, -1.4154, 6.9538, 1.8046, -0.0366, -0.022, -0.0171, -0.6222, -13.8051, 9.1009, 2.0879, -0.0562, 0.1099, -0.0464] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_y":0.095,"right_z":0.025,"right_pitch":0.6,"right_yaw":0,"right_roll":0,"right_gripper":0.8},"note":"The ball is still near the reach boundary, with the safe immediately to its left. I’m making one final approach from farther right so the left finger clears the safe’s rim."})
tool
executing move_to over 17 steps (1.7s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe ball is now alongside the left finger, with clearance from the safe visible. I’m centering over it and lowering the fingertips before closing.
move_to
right_y0.1200right_z0.0050right_pitch0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8097, 0.6132, -0.5106, -0.0223, -0.057, 0.9997, 0.2092, 2.5458, 1.2755, 1.3727, 0.178, 0.0227, 0.8011] state[eef_state]: left_x=0.2777 left_y=0.0004 left_z=0.1541 left_yaw=0.0089 left_pitch=-0.1269 left_roll=-0.0131 left_gripper=0.9997 right_x=0.6037 right_y=0.0999 right_z=0.0692 right_yaw=-0.0106 right_pitch=0.6822 right_roll=0.0708 right_gripper=0.8011 state[joint_eff]: [-0.3487, -1.2376, 6.9265, 1.7607, -0.0513, -0.0317, -0.0122, 0.2256, -8.6496, 3.9179, 0.6276, 0.1832, -0.4225, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.12,"right_z":0.005,"right_pitch":0.43},"note":"The ball is now alongside the left finger, with clearance from the safe visible. I’m centering over it and lowering the fingertips before closing."})
tool
executing move_to over 9 steps (0.9s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe ball is centered between the finger tips without the safe’s rim in the opening. I’m closing around it and will check whether it lifts.
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, 0.8124, 0.6132, -0.5182, -0.0219, -0.0574, 0.9997, 0.2432, 2.5317, 1.2984, 1.2663, 0.2131, 0.0948, 0.8013] state[eef_state]: left_x=0.2765 left_y=0.0003 left_z=0.152 left_yaw=0.0088 left_pitch=-0.1373 left_roll=-0.0133 left_gripper=0.9997 right_x=0.607 right_y=0.1158 right_z=0.0602 right_yaw=-0.0496 right_pitch=0.6101 right_roll=0.1416 right_gripper=0.8013 state[joint_eff]: [-0.1983, -1.306, 7.2547, 1.6581, -0.0269, -0.0415, -0.0122, 0.9504, -10.865, 4.465, 0.569, -0.022, -0.1783, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The ball is centered between the finger tips without the safe’s rim in the opening. I’m closing around it and will check whether it lifts."})
tool
executing move_to over 9 steps (0.9s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe gripper closed empty again. The ball is beyond the fingertips at maximum forward reach, and the arm cannot lower enough there, so I’m lifting clear rather than pushing it farther away.
move_to
right_x0.4700right_y0.0700right_z0.2100right_pitch0.0000right_roll0.0000right_yaw0.0000right_gripper1.0000left_x0.2930left_y0.0000left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8139, 0.6132, -0.5251, -0.0219, -0.0574, 0.9997, 0.2478, 2.4989, 1.2667, 1.2583, 0.21, 0.1043, 0.0127] state[eef_state]: left_x=0.2755 left_y=0.0004 left_z=0.1503 left_yaw=0.0089 left_pitch=-0.1456 left_roll=-0.013 left_gripper=0.9997 right_x=0.6018 right_y=0.118 right_z=0.0657 right_yaw=-0.0468 right_pitch=0.6028 right_roll=0.1506 right_gripper=0.0127 state[joint_eff]: [-0.1573, -1.388, 7.1726, 1.663, -0.0562, -0.0269, -0.0122, -0.1299, -11.9453, 4.2188, 1.9951, 0.0611, -0.0659, 0.8767] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.07,"right_z":0.21,"right_pitch":0,"right_roll":0,"right_yaw":0,"right_gripper":1,"left_x":0.293,"left_y":0,"left_z":0.18,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The gripper closed empty again. The ball is beyond the fingertips at maximum forward reach, and the arm cannot lower enough there, so I’m lifting clear rather than pushing it farther away."})
tool
executing move_to over 21 steps (2.1s)
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 noteI couldn’t reach the yellow ball securely. At maximum forward reach, the fingertips remained too high or short of it, and the final close was empty. I released the safe’s edge and moved clear. The objects remain outside and the safe is open; please move the ball and safe closer to the arms before retrying.
give_up
hindsightFor this scene, the yellow ball is at or beyond usable low-height reach. Commands near right_x=0.60, right_z=0.005 with forward pitch settled around z=0.06, and closing yielded an empty gripper reading of 0.013. The safe rim is immediately beside the ball and can be caught accidentally, shifting the safe farther away. Confirm a ball grasp with a full-close width and an unmistakable lift before transport; a partial-close reading alone was misleading.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8047, 0.6132, -0.453, -0.0223, -0.0566, 0.9997, 0.2066, 1.6077, 1.1744, -0.168, 0.1677, 0.094, 0.9975] state[eef_state]: left_x=0.2863 left_y=0.0002 left_z=0.1665 left_yaw=0.0085 left_pitch=-0.0644 left_roll=-0.015 left_gripper=0.9997 right_x=0.474 right_y=0.0729 right_z=0.1894 right_yaw=0.0058 right_pitch=-0.0092 right_roll=-0.0059 right_gripper=0.9975 state[joint_eff]: [-0.2803, -2.2496, 6.9128, 2.0537, -0.105, 0.1001, -0.0122, -0.5402, -9.853, 9.9624, 1.8095, 0.0171, 0.0024, -0.0073] 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
give_up({"reason":"I couldn’t reach the yellow ball securely. At maximum forward reach, the fingertips remained too high or short of it, and the final close was empty. I released the safe’s edge and moved clear. The objects remain outside and the safe is open; please move the ball and safe closer to the arms before retrying.","hindsight":"For this scene, the yellow ball is at or beyond usable low-height reach. Commands near right_x=0.60, right_z=0.005 with forward pitch settled around z=0.06, and closing yielded an empty gripper reading of 0.013. The safe rim is immediately beside the ball and can be caught accidentally, shifting the safe farther away. Confirm a ball grasp with a full-close width and an unmistakable lift before transport; a partial-close reading alone was misleading."})
tool
give_up: I couldn’t reach the yellow ball securely. At maximum forward reach, the fingertips remained too high or short of it, and the final close was empty. I released the safe’s edge and moved clear. The objects remain outside and the safe is open; please move the ball and safe closer to the arms before retrying.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.013 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3912, -0.0193, -0.0341, 0.9997, -0.0204, 0.7944, 0.6079, -0.3962, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4427, 10.2769, 1.9707, -0.0513, 0.1538, -0.0366, -0.5128, -1.5248, 9.6479, 1.9072, -0.0269, 0.1197, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b97059b52fdef936a20977b8e71a09a91779d2c2db0ac69365aadcb4875359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76877c8e079e39c266690b2ecc7634b3424fedf1a924c8ea02279743029947fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8386d75fdf5f861df1b2775c680371bee4ca1fc0c9f2e7c60de6ff624815aa9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob e7b97059b52f
wire blob 76877c8e079e
wire blob d8386d75fdf5
call 1 attempt 0 · /responses · status 200 · 10.35 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7YWxCa0zJeyDwBfXEYTuHpwLPTXeudAVfw88_FFvq4hredB7Ryhwd3eggdZZPLPmNaD7zxkVtIwXY-TPjrtwaKebzail-A9ELLsGy27d7754PA0ANBYLyLwkKjBkAS5rVIYDwPy2erEocioSXZu7W7VYsg8USGpqrPKHaoFdyjcdSFjDWzxnQdvADg_lTvRPXAZ7Mmu1VcxCfzFiDklf9oVL6TVY2Tf2RYvAbhTWy-2xb2LEC2DfQaQp2Q-TG375MaGAtfUP13u3Y9aLg7S-6gNYILK2wC4jLt0Jp0fXEXUhv0P5ExjFNko4edd2juToD9hVfvsEcth18-dIAipTxKnErF0QdGdyLnc47pN_eTq05lLrDXPl2S43LHx7PY2bapDnmHs0Lj-hG57lp0C-hRmCcV68Fia5F2D1gwXy2XEWFcQt0nnI3qb89fpbZZxs15cQhTdclp5tEejU3TNadHYz4QRzG1NPEWi1r4H2XI6hH9z4xglukir9RpV5fiJxESr88PejOuCBVo1dvD-7x3e3gaOMdtlvOI2On2WVq-5ymChAIEVkMdG_uQdlw5VwM3gHHy--97wnFJWiBWL76GFjQeh-BHonSb3ch-QjPgoSVaLi2JWI0O3lY6pZE5k7jZ6zaNMJVOhz17PZ2Pb7soru33o-g6sbRyMxS-nGyBr8YNrXlakua2z47GszMH4kCNNU6c08r-tEQy7TuVZaiY9cy-CIfC3g5LgeC4RoRApXbqx9_h2KmVlUZ7V4PiXPxuqPGxIAstXKC6bnpNeGGprgRnOPvowRYUIbffGlCUolbqAP5T6lCuzTYyKpYT0x6Trb8bYuy3IIANM-i8frbvanvMAOobo7XaWfHMcNH__jwF4_xfIipZV-oDOBb96D4Zy1YVIFNL4Q8CykBXDsRorU47NgzOZv8iLl3IJpPtFDThSVyKvPWylrrewGfXJ3JXkNBC253HXyLjoBxTf8pmyWrT6oqNcP3ATQP2uf7gC7ABqm7LISUjN9M-YKukQ8LC2TQcm7FNeIjojOK4ZWklbJUYpUNQpoDWxNyRCbPRWMatk2yP9KdaX0AcdJhkhW_E4YMzYM0V8ElOEmU4hxhLkvu07JJ2sQqo3Py09smMjxjeqDy3RthuaJcctY1WIahAcHD8H-ODngh1nQmzqLf_BJwTa2NCnAzoazE_1EeSd6fHQywbbb7NojoiIJcyOLhpdRDV0S0hvMeIzdMzk4ZJvmJ65rCep_mCl2T-HvVhLHuqkgUdhwwhl4MSQKTFma1xYPD2Akzvee5vITIZNSvzf5ZZjZGh_d-wqC8xv-75cFDFsKqOLhAo0ockvm5oyAOlChcAIM1d6KtFTtyN5b-Upxqp8MNsnqi1_gd_mbZ8j0Ag8GyfJQS37UpEy8_F_neQLweU959ePTON5hopVrPTT80UtkuO0wpvUxVDwLf3dS2k2fLnu_PH_t7sORJ8BWAKBQLCChMzFVRHqvf9T5CLAeQkyQpDJP6k88oy_GKHZDDAGgSNz4LyfZnIHptvs8wxylhFAfVF4yCq4yAb2dQNCgC9UyDi9I1nQSQiB6kvfh_IgVrM-R3tS1BpmkPA5z3HUJsGZtG_tDZmlPQFBfX_8Txl0eApdb6p8Bl58Er0w0C54mosoMmCKaa74swxurt89PQut80YhPSF-4ZoCJev81qZ9c_iWuNWtuuOOrhFnMClvdv4qXUQA0SbR8ZeaVGxrMYTGiPc6SogO1hWO3PA-oxQHHQzKUhG89tD5WMgmc9fvBd1N5hX0BrLtGY6x_rQq6xgqzoXs7os3AaDaUD1iXigFBEBUWZzbEJK7LFnD87WyyHGcP3e-veVQy7YwQNzqxOmDSjjU4yRvhyXXaY44lxpfu16DxknGwJmbZzZEy2aDEEce74I0USp7d5Eufas4gGCRaxXos1HylhpCjk8wgFY5V-oSaCSpd4ReNFVfxHvmqjXGnLa9GW-H_-vS_VVNwq0YmZPi8hLjzWWrF6XpqJoYw2-TbuisPAGAXxyO0GGA_EJkUC8z_cttoMkCl0jBfBgJHjYKwNLlPxomtYUXQ2I46rXXuGzyEwpJ8dyPjBBdqNCpdl67rkI218lePt2qBOIF3TKNWhpLAuE6Wg1wuRE7Ls9zcgiAgwqaXxXULu4IWDzZvC-QT-qGruv-NGKGnxkmgdagmRkXo-9vTGo_lO8sjciKkyavlnr30bfdt1vosuKH6VunIkOtasRHPz6RTSx0uLpeo1PnzRn4jQ5KwoDcmLPD1aS4VWaGtl5GnkPQk5L_4Eo42AeuE98NZk-2fFh-NaIM0sCyX4oov6jEY7HUKBM5uvTJOYrmWFiG94uR3Dp9P6Nd_zAe9aE-hGyFWG0p9rSYR8GjVKNCgnJgkifdcVD9mpLXYqkCOJk6T-17-uZI4Tsn4wR24Yj6Aub_sBF9csXPlvLnuR01QFLcsa8sBAhCd8bf5lXPpC7bzB3iidpl2vuPjnVPir9osJnS67Kdm-JoBF40j3wjGVgt5FKH56YvCwAej60xVWnE3mcYYzvUYr_0rl8IIo58J6Fmm0w4ExduQqe7-Fi3GhecVenHZLxLffdNdCUnhr4dOpvtVKju6PTSVbNrBeuFmcGVvJv5M8I3wg6vPRFnblPVfXLsd5q5CC4ghStw72TAEKtxgbbxLLdbcobBprC5hGZI-9KupAdq9d9HlJ1_aRe40sPtmGklKmHK31LG0hpf9I=",
  "id": "rs_023b23d1a208d83f016ab46ed14de087d0b92b093589ab005e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.155,\"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 yellow ball and two stuffed toys outside it. I’m moving the right gripper above the ball first, keeping the left arm parked.\"}",
  "call_id": "call_RQgJnAan1EWM6Sksg7683AYZ",
  "id": "fc_023b23d1a208d83f016ab46ed6c0d887d0ae69642e9ab341c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RQgJnAan1EWM6Sksg7683AYZ",
  "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]: [-0.0257, 0.7963, 0.6083, -0.4118, -0.0212, -0.0383, 0.9997, 0.4511, 1.665, 1.0546, -0.0849, 0.3439, 0.2184, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1747 left_yaw=-0.0026 left_pitch=-0.0198 left_roll=-0.002 left_gripper=0.9997 right_x=0.4398 right_y=0.1509 right_z=0.1323 right_yaw=0.0361 right_pitch=-0.0651 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 7.2957, 1.8144, -0.1001, -0.0513, -0.0122, 0.1299, -8.4855, 8.1709, 1.8681, 0.2271, 0.2662, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4a06368103c90178947d662efa6819843f1f7ab138bf413134cb97d8b86162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd2fd4d4a22092f8bec900c9b852b2c282a856af1a6be38ae017c3215015d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28c1469d7bcca086f8258b967e52a33bb19ff19f7a6ad39daad6927d2db2b53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 2a4a06368103
wire blob 6cd2fd4d4a22
wire blob a28c1469d7bc
call 2 attempt 0 · /responses · status 200 · 3.445 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3912, -0.0193, -0.0341, 0.9997, -0.0204, 0.7944, 0.6079, -0.3962, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4427, 10.2769, 1.9707, -0.0513, 0.1538, -0.0366, -0.5128, -1.5248, 9.6479, 1.9072, -0.0269, 0.1197, -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, 0.7963, 0.6083, -0.4118, -0.0212, -0.0383, 0.9997, 0.4511, 1.665, 1.0546, -0.0849, 0.3439, 0.2184, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1747 left_yaw=-0.0026 left_pitch=-0.0198 left_roll=-0.002 left_gripper=0.9997 right_x=0.4398 right_y=0.1509 right_z=0.1323 right_yaw=0.0361 right_pitch=-0.0651 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 7.2957, 1.8144, -0.1001, -0.0513, -0.0122, 0.1299, -8.4855, 8.1709, 1.8681, 0.2271, 0.2662, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4a06368103c90178947d662efa6819843f1f7ab138bf413134cb97d8b86162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd2fd4d4a22092f8bec900c9b852b2c282a856af1a6be38ae017c3215015d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28c1469d7bcca086f8258b967e52a33bb19ff19f7a6ad39daad6927d2db2b53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 2a4a06368103]
[blob 6cd2fd4d4a22]
[blob a28c1469d7bc]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7jHnnFsEWA7e_iWXqVEigQYwlYrc0VbhyJRFFxn1n2DwfJfnjtxkPuW8h1MZeIZSSE6HePoJrRganIQluRUCTr9buStohybt2rBOWNDvqy7yptlI32dSCnQ5mtc1dxvevSpibUd1epAVZ55c8-MdyVoLVcWWkXKAVBvwy9gQ23RK4RHTIrZ6vL0oz-cwttVPIorTzvjLt3qSefzmieTdfGp8xEqscnYAZlqlAowMB3tEy49hKrX6pxF4SXD4DNbo60pQXapz0Uc1inKZYyp8sHZ_PBwD15gdHPab23cniE7S7GUUJVVUmb_M_eioB96kCItPjdr5lJOHWAt1OCdQDFGee8M-hN-Q3tZdoNc-hMo6TABHYHlFkFJELG0QxqmKOwxZqh72Fa9fu8VSXQ8yhpYBONdKBunYOI_LrD0fbUTFceeWAjrmCePWut6Gzlf7oP6kfmWGkAn_fxDff66giDjfUxw0he5eS2sjSgQQ7f68A2nZKaBy-OxIsqbOXth06ufn-fechNYEfHNtQFXjfTPM0T4cgdrcZ62ZHzaWOXNGTRV9zBuRdHynLcsc-aKEvonZOwjOxC2Y0hSv8PbJsWY_ARavoatTilvcb5xPWRs5XNy-6lfeldAV7_qf46f21b4l6S9kwwjdAVUJTg6m_sNRMxJWwiDT7DmLXoPrmsHTsaRQKRxFZGOBpLb-IljNKJtdvK4E6g_fBl8r0fHNIjEEEGkXA-d6tkvOozREJqwwdvMLU8wtYeo7rkMrFfmeOK81HEf3I1-wiPB9YTACcL_d795eAe9DDgC0U-I49jlXxj6djdhV6SCmJBfB-RnIpB8ZdB_OEpx3ET6ocdgeKJ2LWCkFYCd2MJS2X2YC_PAxNPIzJDLI8rxKzzgcSrBo6PYN8ANUUh4pJAzmNv-jzWYvjdlusiUfE4DJcZbu-V1OYp0nysYcXGmZPXHa3dt_cBO9CWlrdWM-qiXxcMX6x6zP1NOQ38cPBqUSiLjffhPfqGuz95qFMBs7aA7oiYaK37it6awBn5C5JFrBYEPBUFV52TA8GojQ8LtqNCExPf2b_gvH2-24dyJy85SrXdOcq5uW-h3w8NlKvx7P_fJgTs1coyMVEkcPkuM8vqS8V-zSt9LzY8iI2-5QHQbajgDHTP_FXnNh9Gg5vj3EYfJdcVCSoPxJGaPvi7Hl0aehU2eMCpRZZ6G251fe3ONrcDbgQdjHgbnKL9XSXvrHfS05dYl8cKJu_vQjUjy8nAjOln9jCRDgmG_ZZ7LmiS3zlUNH2YSVJegjLgAsbXTtloRI_BINL0qG0sLgK0DP9wzC9qQcgwHRUtsSZ_GNcw96etK8CWm_AKWp4VrS114IRSFhlsbHxeXER7sxNg6iqeFKtmzJaCC9v6U2-cM7xCTx-nwcOYscMM0B-8QdDiwHQMf-Q9EPl6YaXxwc0NJA82mGc0IE1gcCPEjCGxKMh55escZcZc_h0fLOfTcTduZckg_h37JpG2WG7ItMF8B6fwocxTNQslwCWaFHlrU78nkghiRiBJtKKYOHeWC4FIK39GraqoE46xr0d24Sx7IglvLi2CXyEUU-E5a89aiALsWYGbYg7en2JD9Kzzibeesq1i9m6ia_5gsOLN1RZzRpSQERVb0mogoNZmtAwFDaX4sfHcjbLidkiHHmTG56aACUftN28irIUL2MGjdT514EsTguAFS7SYPdtqYzalCWKOcmKNP5Ji_PHNA7eP914UWw97edMDmGyXOAA8DK3LCdGIe9M-AEwzY3htXMfNzTi_llkkWqr10lrUjSHeru6mK4grLEyo8EtIksTP1kaWcEsaskXHQRFcZy23aLCem2lGf4Z8_kcy5FKFc_XzzpzBVdglqrmd7iwUbaSiH9lmNjEL2FsLVirDFQFL4VtWe436XAlZ5P5wwR6AMEdwMjy0CF_2GEj_7SqNp-vGGb8sMiQ2gPOIk9papt9CRXLTSeVFGUyx-5Ii9ybl59VUhJQAaw04_JZ839rQkcJqwBHo7VO5p7Er3N5wI3IKkj0kpzeSxOgVVvg7aGjdtnhekwm009eG0_OJ3MSNbxCmiHEIdf_lSWTIDt_GwTPAmOXmoS8RlHL58vjGicBsTC84uQETbVKM29mJVNcSZlm-vK96OkExn1gZYksQ5asvYDg0UgxrvFXe4qjy00TTptk5SKiZTkPAZr_Vic62CbzDI2JbSfFJKvKnPkE6VV-3zwZEDsIfly1C6Qh609xU_0T_YLZg_vo4-kSPyoIwquTnrI4arGk4oLTi3HxfOZ1cCQ4mSeqGaLam3r_CiSyeZlFExAA83ktBv6koqOUy_GtRBQHiRt5rjD_YbAdT8bXkH4MoDU0MINcfBTiexY3CQ0IGT6GOozSEmZgGeOQ6D8Alj5gmPzccqDB9-dR-j01NCqttNfoy1ggo-h4-IJV9cvXRSEkQp4MbPXRYZxhNEki5DyWKgZOfUT9V0dBEiLjCu22PysUuSMFlH2qRZLnEmnN5qkmcduwHZ_4PF5GLSPJ7ANfIMIRVZ7O5pIRLtLOGWjAEpvwIGNeW-MKvVPxT7LyvNme9IO8NUAJCn2EGb5OXQMuOdibfBMLiAzgalQWEDpB-WPDh2W-m8rSy17e2giN6usAB8xbCkqny3CxBpJNgK2JozIrz2gqoo-k0MRXMbhgVtiKePoEUDOHkO9cUNIIMrmrlQIW5LTGAekdSuIePkzYAZxE8tYX57PtBDPLexD7PV7XE0SqReMxDTLA8xdeE7rIindpbs8WCzNdxm_tNU0s906m_Bq_zmlM930kfaFTIBqy6ASFYL-G4h8r-H9mfZ23avjo-tHw4DocxvI9REjJizCHPDWxN_q1hHNEY35s1Y4FV7pezHZOcdXco6z4rj2NcbKVRpiqors9R6l_v7B6eTv4UIRJiXXlNSgDdGBbOU8pRx-fs9PfKCIn2ms7v37nCoNVDNV9GMHpBYKZ3Xm3rDgt8NnbmOkStG3xn58YU-DEAOhZkR7N3DFvw7Yd6JyY0fsaljdjag_gdMW7ewR5w_JadrOVp7sc1QnV9oGEcGaMGAUFH9tExH2MoXWtf-bXd9mcaifIGDsYurwj8kEynH5cj2GrVHakJOXv9t-dkmpoAQkqmxARnqFgG4otaujnWHoONcO1cGS-dGw5pPa9hcFmY-9evVyll7ON_KZjkSsPa0VpOd_DqlgPOQ6m-NIRTjlvlmQ0ohLCDZomNNeSFBz1TCdvyr62Fad6usQBYeXKsAlZr6vq-s8KmuwCvOeDyozpX67tDwkS7b1Me0qRleqZqTUb-kHigXMESrLf2Hp3NqvK9CobCtiR5TxsU633pSDZGLI7KGl6PcvaOR4QfskyxZuzkpXJCyX6de6rhtdrGVkBw-htj0Mn1zzJ-X3O40WEgTkcnTLoM5S0c52Rv0ONYmujAXQ1q8AWFADEsmjhzD0oUQPghramGZRUHXyF5An5y8fR5LWIOjil6c7aRxtzgaD3pves=",
  "id": "rs_023b23d1a208d83f016ab46eda7ae087d09e5763e3fd7808fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.165,\"right_z\":0.075,\"right_pitch\":0.3},\"note\":\"The ball is centered left-to-right in the wrist view but is still ahead of the fingertips. I’m advancing and lowering toward it, with a slight forward tilt for reach.\"}",
  "call_id": "call_wf4I1EoKg3RlaYkyoQzpt1sN",
  "id": "fc_023b23d1a208d83f016ab46ee2a73c87d0b87f8e967ea651cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wf4I1EoKg3RlaYkyoQzpt1sN",
  "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]: [-0.0257, 0.7975, 0.6083, -0.4278, -0.0223, -0.0383, 0.9997, 0.4324, 2.0754, 0.9573, 0.693, 0.3748, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0001 left_z=0.1712 left_yaw=-0.0016 left_pitch=-0.0369 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5 right_y=0.1635 right_z=0.0525 right_yaw=0.0612 right_pitch=0.1876 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9812, 1.8632, -0.0855, -0.0317, -0.0122, -0.6222, -9.3333, 7.7197, 2.21, 0.1832, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaab35f742ca0c68fb6ac60b6b36cf3532ea71ed72f9483398ee18dfaf4fd1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f270ca9f28d2ea0c0f39b8dfc948db14b91035f82672df9278b01261dc30c42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013b1606ee1e2346b054eb4e8d5ae54ed8bd7a95abe9d85b8d8018e59d964ce1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob cdaab35f742c
wire blob 7f270ca9f28d
wire blob 013b1606ee1e
call 3 attempt 0 · /responses · status 200 · 4.313 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, 0.7963, 0.6083, -0.4118, -0.0212, -0.0383, 0.9997, 0.4511, 1.665, 1.0546, -0.0849, 0.3439, 0.2184, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1747 left_yaw=-0.0026 left_pitch=-0.0198 left_roll=-0.002 left_gripper=0.9997 right_x=0.4398 right_y=0.1509 right_z=0.1323 right_yaw=0.0361 right_pitch=-0.0651 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 7.2957, 1.8144, -0.1001, -0.0513, -0.0122, 0.1299, -8.4855, 8.1709, 1.8681, 0.2271, 0.2662, -0.0513]",
      "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, 0.7975, 0.6083, -0.4278, -0.0223, -0.0383, 0.9997, 0.4324, 2.0754, 0.9573, 0.693, 0.3748, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0001 left_z=0.1712 left_yaw=-0.0016 left_pitch=-0.0369 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5 right_y=0.1635 right_z=0.0525 right_yaw=0.0612 right_pitch=0.1876 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9812, 1.8632, -0.0855, -0.0317, -0.0122, -0.6222, -9.3333, 7.7197, 2.21, 0.1832, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaab35f742ca0c68fb6ac60b6b36cf3532ea71ed72f9483398ee18dfaf4fd1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f270ca9f28d2ea0c0f39b8dfc948db14b91035f82672df9278b01261dc30c42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013b1606ee1e2346b054eb4e8d5ae54ed8bd7a95abe9d85b8d8018e59d964ce1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob cdaab35f742c]
[blob 7f270ca9f28d]
[blob 013b1606ee1e]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7oIyFCN-ozMDEL4Px2zFO_lhacxXhYB4QMNstsH7NYUtmhhe1ccBYHrwoxKrXuk5qbbV8Yj0oKpDjCbm6mkP2g0IslZFQj2kFqKEJusA4EGle-XNX392XG4aFyesjRhfJ0oBHrbQTRwJxkiwV9gUDtTL1ZME1PlYEz-mXxj69palaGVQOsm3vasW0joI8zp1j611WbK1ErrezMxQpf2UkVKY1t_jFuy0t9aFDtYbEGI27aVJ-ZurRoYIEtQGIX0Po8JG-S6OFFAJ09yyYwBVxCgLMQGw5WgxttKPEsM76_Z5sqbP75i5nvBzeHKJJNX4UN8ohQKoLMOHnIOdv5TmTmypM9OHKQNtZYLEmDnoersfpCOSCzKZqAsXs2QCp7hoMTB8mSqvlHEtCEkc7NUPQHu6Od0c1x_sKxyMgFI4xBTLM7pFTKAV6lBVZ1FoLbqD_jGu9hq5dB4u-dFunFseyz4nxy4RtsNLvKS7KDAX6DuT_cggjsRud9b3ypFDfBB2ls_LYYnwwjg_uX2fbIQBjq6qz0EThvIw_hxlCNBRk-2R5emuv3QR9rjNXmulKTNhQO1Te_JiX63iNXenMdWiD1w89qad4v1I5AEk9J9IMvfrTVraqWRtMudSTl1O2FYAoBQGxMZrI1SfKCLeDvZaBxO77sXPtQnDjx67q2GElSQXOkfZPGnZCt-Vk1zd0MDq_gTMnoHjD3X8YHOvpyb1aVi_yrmb3CXdY8ty-isD0BAVfHipk8EV5MHtDQ-vU30Z2Zl80BV1qFAnyv47qB8lviiPUFyy1Fc_SVpJiamu5hhB-HwLz0bPjv99nHMnJv6o2xWiAg7kI13BcDup0GjP5NxTIVQvd1MvOwDA6UAtPlCpQBsj6BjMHDOEiXBW4rk69T51HlnWMkE_YeUWODZlSljLKioIo-L-Ii6DrluOGU-hiJH2iTQe1wSJQcDk-nNV5fS0lf00xwJbZJyyPnqGkObKw-hdYR9U8gsTSnKWUhWwlRfyisvKhkvIb6TjdYMKzf6qpdpUn-vBTNujGA1ZOP3SbDX51ZTj5wWFWOb1OpdVtjav6Bedz_NnT7vhM_47Aw5aJkcbVWQBeBI2-xLz1pTN_tDWsYKFCp2bC7ChwA5SXay_LSb8vrG8NGFD3lrMFGqYZluDzgdHGvTQ5UfE--SyKTabwCIxNgzugEog15BVHaaKNzIiwK2Jgb-PwpF2Z2P2m2caX8adyzh94Wq6lS3g1dixqsKxb1di6BlueZ4hIS7LtDhjEczOLiHIrz67yfI5VWECttO_58YVQd9Yrre2OQLDshPrWHN8jY_2zgvDuakXKJpoRmHmKgnFxbDmph8X_nXYZLuWYqzfU8H0sjzKSUPzE0b_r31CfoOX-d83SgME0s7DKkbaMkYUgfoUhgioytxtNIEoq7FgcBsyVmmOyNVcv3xMzA6aiDpdE9iqoaUXzhDJAtbUxst46ABDLIN92RCWscbGi5DyY85SQvXQ==",
  "id": "rs_023b23d1a208d83f016ab46ee62d9887d08a36dda61d1c0229",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.15,\"right_z\":0.03,\"right_pitch\":0.5},\"note\":\"The ball remains ahead of the open jaws and slightly to their right. I’m making a smaller forward-and-right adjustment to put the fingertips around its middle.\"}",
  "call_id": "call_8sPcwJHF2daDOWh9nnna6OYo",
  "id": "fc_023b23d1a208d83f016ab46ee76f1887d0a4f8718ebead8caa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8sPcwJHF2daDOWh9nnna6OYo",
  "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, 0.799, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.3691, 2.4062, 1.0729, 1.2819, 0.3267, -0.0093, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0001 left_z=0.1692 left_yaw=-0.0019 left_pitch=-0.0465 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5499 right_y=0.1558 right_z=0.0532 right_yaw=0.0476 right_pitch=0.534 right_roll=-0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.7509, -0.0366, -0.0464, -0.0122, -0.6222, -8.4718, 4.4786, 1.2283, 0.1197, -0.3932, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d05693cc87c1616108e6c068b2b3d43a56986f90966db8ca8133911002d0c6e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4292d8e8b7eba24a761c22891a371614c321edcd52773f1302f83d496bd73f74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243a6cc32130e96195443f051dd2f4a8843f3b5abdf7edaa9dd33b895c4c20fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob d05693cc87c1
wire blob 4292d8e8b7eb
wire blob 243a6cc32130
call 4 attempt 0 · /responses · status 200 · 3.467 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3912, -0.0193, -0.0341, 0.9997, -0.0204, 0.7944, 0.6079, -0.3962, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4427, 10.2769, 1.9707, -0.0513, 0.1538, -0.0366, -0.5128, -1.5248, 9.6479, 1.9072, -0.0269, 0.1197, -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, 0.7975, 0.6083, -0.4278, -0.0223, -0.0383, 0.9997, 0.4324, 2.0754, 0.9573, 0.693, 0.3748, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0001 left_z=0.1712 left_yaw=-0.0016 left_pitch=-0.0369 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5 right_y=0.1635 right_z=0.0525 right_yaw=0.0612 right_pitch=0.1876 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9812, 1.8632, -0.0855, -0.0317, -0.0122, -0.6222, -9.3333, 7.7197, 2.21, 0.1832, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.799, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.3691, 2.4062, 1.0729, 1.2819, 0.3267, -0.0093, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0001 left_z=0.1692 left_yaw=-0.0019 left_pitch=-0.0465 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5499 right_y=0.1558 right_z=0.0532 right_yaw=0.0476 right_pitch=0.534 right_roll=-0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.7509, -0.0366, -0.0464, -0.0122, -0.6222, -8.4718, 4.4786, 1.2283, 0.1197, -0.3932, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d05693cc87c1616108e6c068b2b3d43a56986f90966db8ca8133911002d0c6e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4292d8e8b7eba24a761c22891a371614c321edcd52773f1302f83d496bd73f74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243a6cc32130e96195443f051dd2f4a8843f3b5abdf7edaa9dd33b895c4c20fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob d05693cc87c1]
[blob 4292d8e8b7eb]
[blob 243a6cc32130]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7t96xirTiSUqUfA2oRYf8uIPr8Oy2gB-ag8Im2WBJzWuQDfbC8-CvzS8tFX26Gs5aeZJzIc62_W9NsHResjw1ZX7Y9DAnL0mDyoXNhCW2ruOBpKLHTtCP4Zh1l6MJZKYBcrxdWfrOMBcMA1F82z0Xq8VxzrDsG2rK_aSwXyfHD8req-PqqYh7SUFhHfBD7M5dR4V_xgCM9D375ygDNPN8-loYqPgq52AYIgmiewuWrs9wENLEBMn0kW9txeOjS_ljT3I9zmy5VuDFvVGxvxlwrnEN7leohMoLvKtGWSLOpyqXG998D4VcYf2F_h9LU7GWP8XfKteRPtP8kzf2Zz_trvLi-NM1CdEzuLZJatiqObrDif1HSnLXfh7lc8D7UbacKd3mbXpA9HxlARi19IIrvRnRE8S3Cpz94jS9EeJPe-r4cpqNanx3RI8lGJgyEwxUUW2QlVNzWY7kmhGpX8Ol47J_uDLVwfAdUYbs3TljbOtaLa-jFTsMqSVGAsRgvYzjJFAwOxJpqijB1kmBz_6x5MJ35LWUMMKlsa8otfCN4beMWs6u8phYe8NMr1RjTxE60B_uYN4snNgkL-uXEFHkU9VbPd1l43r9ZGFvGa4aI39MGqhO9A-WwnliDLm1fcNwIcNH8JSaDJdY8Fa_-VqVvkhA21dSLFX47pSynCHXa0jE1Yte5hYc2mxjwusTer2s0hVZOtXnTU6_R-PPvml2cst59Tr9AO-k6hPJ7jzxtcwnGOcaiTFK7L5MJV0M_AwyYTiRKmRhCEs9wxSlrEFxhyCuK1YrJs1TL_wEitbuXkdT_U5XRlCvrPsj5YDp_YqWSoJ-Ujw325InlXrb98yDibLg8qdBkAbm7k5HEaG5HO24jA37PJew6ivjXaEXpksiQjqi9ivkwDpkqSR-iub6kAl37YqlkISURRs_nfc7dBDZB0lMOrSyKopdm88lrIiFf2OISgjO9aDiyH109OTEJsJvuF0AqxOI8GemfNs8Bmwr9aMSe9WruuNV5ptnkKwZfTKXM-J9Zskaxb57CHmoK5i7ywPYgrKwNc7PkEftrNchiIhBAHzfXNRf8SyQuDP1mQ0a-9y9Wqidg6mxao6Mi6N3Ltj3yjiLJDfkZC40c8GvwG-8T8Wbiaz3MxyZcm39vgen7p3DWmW9sFgA_4_LNqTJMHT5kAA4-Ol4T1EWDgt84XlQOFf9catDRRUH7pFAP0AWe5ojbPl2IoQ-a4dyKitdEr3fTuUDR3gYqSecA9YggugKONGiyzFhULQbm3viUAIr5SdjG71KIHaa6o8F2xW5Rc4aNpLOTMHELEBqo3sCOch1E2nYVq6xw6EfefpK3hYQNVEf40DTGA-p1fQkn5KYFIfMC_EzFiFtucgEb98KM0iUTZeeFX-VGnpO5UGHxPUBNy1O24rMcpKsINReMKZmyXwBc3Xmqw_n3QPXs8oJn-UOBWUWRIN6SK_YmSm2c2kPBRX7PQYiYiVOHbHFFTg5BtjBZAHD8W3ZJQ7U0wU7-TV0A6ZkibQ_xrbpathUBvBl8o7249K-UmUbAK60-ykBwZAxdN5YJt2ajfhgAe8oKHu1HzLo-pMDEN4T3l_lLq3fSx0anpkNx6zuC5hNe2iNJePSh4xis0XD6BK0zN3mkaSkw6wR-OVh0K_5WWRC_",
  "id": "rs_023b23d1a208d83f016ab46eeacb4887d0979bd5879ee13d76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The ball is now centered at the fingertips. I’m closing gently to a ball-sized opening rather than squeezing fully, to avoid ejecting it sideways.\"}",
  "call_id": "call_LVTidgpCCUm6tJnOFHNiFbF3",
  "id": "fc_023b23d1a208d83f016ab46eec7bfc87d0bdd7e73b3a72cd24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LVTidgpCCUm6tJnOFHNiFbF3",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7994, 0.6083, -0.4507, -0.0219, -0.0383, 0.9997, 0.3752, 2.4142, 1.0798, 1.3239, 0.3027, 0.0017, 0.4551]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1661 left_yaw=-0.0019 left_pitch=-0.0617 left_roll=-0.0006 left_gripper=0.9997 right_x=0.5501 right_y=0.1639 right_z=0.0612 right_yaw=0.0623 right_pitch=0.5725 right_roll=0.0151 right_gripper=0.4551\nstate[joint_eff]: [-0.3761, -1.265, 6.9675, 1.8779, -0.0513, -0.0269, -0.0122, -0.5949, -12.2735, 3.6991, 1.4921, 0.2222, -0.1148, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1be4b62631c0c2f84da485b22199ddc8ea0661e0df400fb10707f11e5118614",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8d741995bef212f1e754b22271ebc0290c112485fa96653672f6cd74b03a23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b631c35d0ef2fedb0a8c811719620843c8dc0c877e21be53634f4ccec249c6df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob f1be4b62631c
wire blob 6f8d741995be
wire blob b631c35d0ef2
call 5 attempt 0 · /responses · status 200 · 2.897 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7963, 0.6083, -0.4118, -0.0212, -0.0383, 0.9997, 0.4511, 1.665, 1.0546, -0.0849, 0.3439, 0.2184, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1747 left_yaw=-0.0026 left_pitch=-0.0198 left_roll=-0.002 left_gripper=0.9997 right_x=0.4398 right_y=0.1509 right_z=0.1323 right_yaw=0.0361 right_pitch=-0.0651 right_roll=-0.0344 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 7.2957, 1.8144, -0.1001, -0.0513, -0.0122, 0.1299, -8.4855, 8.1709, 1.8681, 0.2271, 0.2662, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.799, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.3691, 2.4062, 1.0729, 1.2819, 0.3267, -0.0093, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0001 left_z=0.1692 left_yaw=-0.0019 left_pitch=-0.0465 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5499 right_y=0.1558 right_z=0.0532 right_yaw=0.0476 right_pitch=0.534 right_roll=-0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.7509, -0.0366, -0.0464, -0.0122, -0.6222, -8.4718, 4.4786, 1.2283, 0.1197, -0.3932, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7994, 0.6083, -0.4507, -0.0219, -0.0383, 0.9997, 0.3752, 2.4142, 1.0798, 1.3239, 0.3027, 0.0017, 0.4551]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1661 left_yaw=-0.0019 left_pitch=-0.0617 left_roll=-0.0006 left_gripper=0.9997 right_x=0.5501 right_y=0.1639 right_z=0.0612 right_yaw=0.0623 right_pitch=0.5725 right_roll=0.0151 right_gripper=0.4551\nstate[joint_eff]: [-0.3761, -1.265, 6.9675, 1.8779, -0.0513, -0.0269, -0.0122, -0.5949, -12.2735, 3.6991, 1.4921, 0.2222, -0.1148, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1be4b62631c0c2f84da485b22199ddc8ea0661e0df400fb10707f11e5118614",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8d741995bef212f1e754b22271ebc0290c112485fa96653672f6cd74b03a23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b631c35d0ef2fedb0a8c811719620843c8dc0c877e21be53634f4ccec249c6df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob f1be4b62631c]
[blob 6f8d741995be]
[blob b631c35d0ef2]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7x2y0f3kGyhJV_Lq2qOxBMquMhOfeYIm5QEogtypQdBfYcBJkdyC0nHIDu-aE3jz7rg5iZqccrl5kurtS0vexe8C6K4x9oVZd0Z0Ej-Imc_iB4X6gBSsmNeJ_OKjm_mfxJDyj8SSiDm2WogrjXPgYZ4LlD50tN2M9Ac67XKTVEj4rDCB7jgTIRCdGgg9mdYKznO-b6bbWCYgOW7jlDBtWLH2210vAPvr-rXagdh7eubCz-Yr9SlxQf9jLraLXXvEEAvUw6ewUWvw47PT19PxkkuiM2UAbAW7C9qiGmZmrEKHCd3fuoeX7kLQ7_dnVjv--48QnzWoVetC-89TdTFNX1YZTfXF56e2EZXaI35aBoGmTzQNBB46WR0jVqPSG_0SdFhpby0ehXJaNHDSx-vQXGKGZopjQHAHg5NJIncDe5184MXJsPboIQuAhFdObaK9fXMQ_KPCD4iYmbeEs8iEZ08c1b7bK0Cdt7OKTOlWIcwZ8NLUEB6oKQ72jNKjyehFqhjS13oV1hgCZnm-Ln80qgoH1WNSvTwV8AEP9_uSbo_6iFyylnh4NQbRX00aQpTRQpdZVqpX_bsgqA1KFu-D8LkDV84aa3AKAM4qhjR3nKvkh6HX0b4iZhaGmoxw4Qn_8tVO9SdBaoRmCKJnEIKucBY-OTuLGyAMC5wDd7txaJ2N2JIyqS81MM3ZDqYlVSPx1PrBOp4kkmA0EPPoaFYu67b5TeJSa6ldLxkQpUbNUsqL-ki7VKM2oVyeLF9N6j78iTnqanY9UkbNOgqrp909TxBF-mJm6h2RS6Sw0aPQSy7ORipu2iCIJEgM0gYT76Umg-HPkS0rq7mAog4GKnUErnbV7J-c1a3p48MLAi8WsjsyXee_8ykKVNXU33nbPX5U_43OEZdQJiHgSyDH6ZzWseXzmDx_mBNTkn_iKfIWpUuEyGDsgehAGQIb2OkiJMCiyqjds75NSCR8nt7GKXhJ2DKI0qiEcwSjrXRCZoxJU-eJ3M3FA-WUdAdNSOfBN6xX6gTE1Sl2tu1yULUu65Rrk4geyEKhCuFbHQ-JX64JOxVrMGFbFE8WpG9BkVlEzoTXEJx2ZqkXAgkBMe9wyjG0FdoGIWBrJ41yORSNt52KiAn3v1M1tFm0ooKVHUFzVnhXAwjpsvY4BregUqSNZbrC1j6UMzKeLwKMOJhtolTWyblCcLp18HVa8z9nzm1tiiM_srLleo1KAPNPsea2rdzNdVnl2n7Xkcpnr1k0a9c19rQUbWbEPMZ98Y71jirrFHaHv7tEhRIwbnrJiaJj4ugD57sPvigKUePWHGRzbeBbILQK7A5zFTcZ61GXi1DrRxw52gieIlhqaqzKJVsfKjEthFZ3DCKwOa7fQng9B-sL2YMSx-90_YUi6pwn903aTcmCt8YMZNNlRw5oEtQRHsPkCtl9SrUaojlyU6BvXsZkQq5ZbNSNIT0vYDg6kwjqNr-hve_vzII-kAHkt3lIH-_PvINjA35kxYv4gKXHBIF3Z114hlC_iEhkvosHjiTxHYabptAbAr67_oWq_81SkDe5-dWQ==",
  "id": "rs_023b23d1a208d83f016ab46eef6e1887d082046a1355b3b786",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.585,\"right_y\":0.145,\"right_z\":0.04,\"right_pitch\":0.6,\"right_gripper\":0.95,\"left_z\":0.18},\"note\":\"The ball is still visible beyond the fingertips, so the first closure did not capture it. I’m reopening and advancing a few centimeters, correcting slightly right.\"}",
  "call_id": "call_06rMiBRiaxRyWQgK2sL3JdxA",
  "id": "fc_023b23d1a208d83f016ab46ef08d9887d086fbc77fb7c3006d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_06rMiBRiaxRyWQgK2sL3JdxA",
  "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, 0.8051, 0.6281, -0.5125, -0.0223, -0.0395, 0.9997, 0.3176, 2.5118, 1.2243, 1.3666, 0.2325, 0.0036, 0.945]\nstate[eef_state]: left_x=0.2793 left_y=0.0003 left_z=0.1615 left_yaw=-0.0009 left_pitch=-0.1094 left_roll=-0.0001 left_gripper=0.9997 right_x=0.5825 right_y=0.1524 right_z=0.0685 right_yaw=0.0573 right_pitch=0.6591 right_roll=0.0456 right_gripper=0.945\nstate[joint_eff]: [-0.0068, -0.9641, 9.8667, 1.8632, -0.0806, -0.0366, -0.0122, -0.9231, -9.4974, 4.6427, 1.409, 0.1441, -0.1441, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4b1bd93886de5f75b15bd5cd23a3a5bb2a3fb21009b159e96190a34774ab72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c565856a3addd1e6bc151c97fbbdcd42d9751fc636d6b89db26421c2938651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1650f45e5f8b823c3a5bb54108e1172b691b850e9c5757350510c65eef162245",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 1e4b1bd93886
wire blob b6c565856a3a
wire blob 1650f45e5f8b
call 6 attempt 0 · /responses · status 200 · 3.349 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7975, 0.6083, -0.4278, -0.0223, -0.0383, 0.9997, 0.4324, 2.0754, 0.9573, 0.693, 0.3748, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0001 left_z=0.1712 left_yaw=-0.0016 left_pitch=-0.0369 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5 right_y=0.1635 right_z=0.0525 right_yaw=0.0612 right_pitch=0.1876 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.2786, 6.9812, 1.8632, -0.0855, -0.0317, -0.0122, -0.6222, -9.3333, 7.7197, 2.21, 0.1832, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7994, 0.6083, -0.4507, -0.0219, -0.0383, 0.9997, 0.3752, 2.4142, 1.0798, 1.3239, 0.3027, 0.0017, 0.4551]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1661 left_yaw=-0.0019 left_pitch=-0.0617 left_roll=-0.0006 left_gripper=0.9997 right_x=0.5501 right_y=0.1639 right_z=0.0612 right_yaw=0.0623 right_pitch=0.5725 right_roll=0.0151 right_gripper=0.4551\nstate[joint_eff]: [-0.3761, -1.265, 6.9675, 1.8779, -0.0513, -0.0269, -0.0122, -0.5949, -12.2735, 3.6991, 1.4921, 0.2222, -0.1148, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8051, 0.6281, -0.5125, -0.0223, -0.0395, 0.9997, 0.3176, 2.5118, 1.2243, 1.3666, 0.2325, 0.0036, 0.945]\nstate[eef_state]: left_x=0.2793 left_y=0.0003 left_z=0.1615 left_yaw=-0.0009 left_pitch=-0.1094 left_roll=-0.0001 left_gripper=0.9997 right_x=0.5825 right_y=0.1524 right_z=0.0685 right_yaw=0.0573 right_pitch=0.6591 right_roll=0.0456 right_gripper=0.945\nstate[joint_eff]: [-0.0068, -0.9641, 9.8667, 1.8632, -0.0806, -0.0366, -0.0122, -0.9231, -9.4974, 4.6427, 1.409, 0.1441, -0.1441, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4b1bd93886de5f75b15bd5cd23a3a5bb2a3fb21009b159e96190a34774ab72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c565856a3addd1e6bc151c97fbbdcd42d9751fc636d6b89db26421c2938651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1650f45e5f8b823c3a5bb54108e1172b691b850e9c5757350510c65eef162245",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 1e4b1bd93886]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG70lufVrWlSYUSAPWmp2lIAm5daR-Vjv-qpUDkwFK2dVCM0mqkCybnXCmqNHl3zCERK4N2R-WatDTnwYRRyt_6kbZAVZKtNgKJJhfVD980VBKH0nopsILHQ94wwS1DoWJfvg4UapsRF5fAoJEJQkKGqqjbgRhsCp9ikeVfpin8Cpqr0y7Q3UZZRepd_Q9PvBrZdCH99VFR2Ndt8yNpuv7vmm9aed4QHA1eOu-rO_3KEbemQBVAoYHnytKVYkhj5aW4Pw3wW7rI_BMjtJVtpotS2hm0Sn6nbTWmq4ZbKBKV0uu44qCoOUk6OYdfg7dTEOzfyjc1P8gPfxSn7qkMK7gpWRldxWgO9Gh4L9y4lt3D9_Vy3LP6yFPf3BxIe9C08EFa85Xp0Vr39U7AQzsLqk7KoWreiEm52j6o4I81NmQA91bah0wjVGEL8rh2ifDCfIeyY6Dp6ej7MBovmxkfVvqy4dd-8Dk-dyz4XdHxxvFUZnN5kUepMp2wpihYie2cWQZhkJDVsDVfr8ZkKe75mVooGJhYF5YMo1umB8NTyM3PWqOAqkk0uNoBvdTW7EhnpQlmKUuMQ4jlZLqESAqu0alvnNilVw44k-OMiFs1wyUGdbSN4ngvfZLjegM98TmZhgOCHdYvctnkzjrgJWR0ilEbzrpuY6X-PdoTR607DKlppnPjeljIfQlxIPalnmXnV1IGX4ywh7p0aJBDuk2j-unCMAVEF0Cv7Sym99fgb19JxjA57F_YI_BWOP7FK1fKLZV3IwNC-MvujIRMGwME-Lg4KIn0K4Ov6EuQNRfN2spGMZkYJIQoU51TxDeTwFx8G7Hg9nhBb47mcMl25UrMhByIO_clXGd_LwJMthqYiXPt6NeIxe6qVDQUst0JP2B1OBS-SH6Kt1v8ooMxDTK6ZyFDUTn3lncB2NRXvHIcjGcVZ_1gfWx6V7YSmaMw3U3Oy6V585AIe91f6zeTKSndC7QbIW-odgkohi_CQ1xLXD8pgFpQfrRrGFJGThgxfSzCVMhufkXEMJEBpVVdrt0s2r7d1gUygP0jdSwdc9JZVZj4YWpQSo872R3NFKYM8jgeAhum9upGa1UESNO_I8LoCSRGuUG7Be6zFbAXmiKdlI2Xijfwb7B8VRoG26Rfi6ePFX-JES3nmAPxy8hqqQFaAeEM3k4h49X63OgodX90rf8sMaTqE5OPahOyWoaMvhdaReqCqCLyQBLS8-mbdN3h5vWTVVdz-kqMqIkf8qqDYkcdqSh6QFP9bJpLnHl9fNbudKtKnut3BppozwtM8W2CWmxV9z3tNl0B6F6OZ4QJ3PrlBHO4=",
  "id": "rs_023b23d1a208d83f016ab46ef39a3487d0b7640bfb05680e81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The ball has reached the jaw opening and is mostly below the wrist camera’s view. I’m closing around it before testing the lift.\"}",
  "call_id": "call_wIZWSBSBya9l25ZKqLla6u8w",
  "id": "fc_023b23d1a208d83f016ab46ef4180c87d0901cc193f233283c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wIZWSBSBya9l25ZKqLla6u8w",
  "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, 0.8059, 0.6327, -0.5251, -0.0219, -0.0422, 0.9997, 0.3176, 2.4767, 1.216, 1.2922, 0.223, 0.0185, 0.2547]\nstate[eef_state]: left_x=0.278 left_y=0.0003 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.1182 left_roll=-0.0022 left_gripper=0.9997 right_x=0.5832 right_y=0.1543 right_z=0.0678 right_yaw=0.066 right_pitch=0.6127 right_roll=0.0485 right_gripper=0.2547\nstate[joint_eff]: [-0.3487, -1.2513, 6.6667, 1.7607, -0.0464, 0.022, -0.0171, 0.0479, -13.7641, 4.3692, 1.6777, 0.0659, 0.0122, -0.022]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660bf8b5bbd230dbcafa90653ee34315e0e6207823d626077fea31d5503ecd1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5800cec915376289c7d1f1f65ea5b52da4daa76647b0338642be037aaa0dcade",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d71437d40023b933419043082766673b537983363d26ab31031e8feb6ecbc56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 660bf8b5bbd2
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.33 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.799, 0.6083, -0.4358, -0.0219, -0.0383, 0.9997, 0.3691, 2.4062, 1.0729, 1.2819, 0.3267, -0.0093, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0001 left_z=0.1692 left_yaw=-0.0019 left_pitch=-0.0465 left_roll=-0.0009 left_gripper=0.9997 right_x=0.5499 right_y=0.1558 right_z=0.0532 right_yaw=0.0476 right_pitch=0.534 right_roll=-0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.7509, -0.0366, -0.0464, -0.0122, -0.6222, -8.4718, 4.4786, 1.2283, 0.1197, -0.3932, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8051, 0.6281, -0.5125, -0.0223, -0.0395, 0.9997, 0.3176, 2.5118, 1.2243, 1.3666, 0.2325, 0.0036, 0.945]\nstate[eef_state]: left_x=0.2793 left_y=0.0003 left_z=0.1615 left_yaw=-0.0009 left_pitch=-0.1094 left_roll=-0.0001 left_gripper=0.9997 right_x=0.5825 right_y=0.1524 right_z=0.0685 right_yaw=0.0573 right_pitch=0.6591 right_roll=0.0456 right_gripper=0.945\nstate[joint_eff]: [-0.0068, -0.9641, 9.8667, 1.8632, -0.0806, -0.0366, -0.0122, -0.9231, -9.4974, 4.6427, 1.409, 0.1441, -0.1441, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8059, 0.6327, -0.5251, -0.0219, -0.0422, 0.9997, 0.3176, 2.4767, 1.216, 1.2922, 0.223, 0.0185, 0.2547]\nstate[eef_state]: left_x=0.278 left_y=0.0003 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.1182 left_roll=-0.0022 left_gripper=0.9997 right_x=0.5832 right_y=0.1543 right_z=0.0678 right_yaw=0.066 right_pitch=0.6127 right_roll=0.0485 right_gripper=0.2547\nstate[joint_eff]: [-0.3487, -1.2513, 6.6667, 1.7607, -0.0464, 0.022, -0.0171, 0.0479, -13.7641, 4.3692, 1.6777, 0.0659, 0.0122, -0.022]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660bf8b5bbd230dbcafa90653ee34315e0e6207823d626077fea31d5503ecd1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5800cec915376289c7d1f1f65ea5b52da4daa76647b0338642be037aaa0dcade",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d71437d40023b933419043082766673b537983363d26ab31031e8feb6ecbc56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 660bf8b5bbd2]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG740fsgNoZkFr557cLAJZQ7VaNZTbnXyKj3EsVjTGaIpbRrQPnqFQyHad3Y905mndyE1MQr3IDR_mHrOkE-0r8TBVGW3HFw-ydrL2ZjNV7CZSBvxHc2F7i85fO7XJQ-ADNEtHPFg8HyqtqLNiVtmC7eO0IRQ0e05fLcGHK0kXRrzjreKx3aXtr977VRRKc-zB36XwYKi2TGsk2U3KJ8R6PuFXZOl8-3QPlmF3tglBwasaR0HW-pmA3x3NNR1p5eTJOpsDr5eS7u0s52PpFU5N2dtoaHiZoHaH5I8y9EilI685b8-eKAa4aNWoXN_Vf2-KsA0S91fJzKLuorLrrq8qelcUTgaTyV8uKcj5MUKx_qXi2FEtgpMvLsW5d3VM2SUHmGVwMvFUtVkoz2XI_av8RnYbLGLqYsWRsvBsREqqlnmlftPFbsXTtv61RcjNnnulrlCPkq1UFdRTu8-hCwQKI_-NCz5ePKQuKCUrcS4b0whU1SrPGckzxO2-uh4_In7FosCAVMPGfMMsNlxzX9aunJekbPBcOmJhfT5kWfNHTeZhnZddqXptc_vxibOqTf6TphvBAxMNA0fhUOpMKqkU6xD_DcbFQ_nT4YvcJ8qFBPBr86NK-aWjvwfL0zOQDs4kUUcasWNwNLgAOYuHieM-H8YOD5bYOBpolzWqk8b3zydpfOUwdtkfpj_CoE_H3JZuHNh-R0SSyzzF4qBTz-G4WJ8VjMLkqt3sESPgiO_0wfRC3ryLr6qpSV1GCKgaHcn_jTrSe2g9ExwYvwyJwGjUe9BEHToHcL7PTbmauOkI3cIViz8oewo10VCx5kIqT0sdtLenYT3cSYx9JXPUpufS0bXYqdlJ8yXIP7Y5o-MT7lZZysozQ25b2C9EYO8f04TcqHMWjx36M6y5TlEK86PK6fqkO7p_lbq2XXkQa7NfJXfjEFOoNQn1COYCYgIMWeFEpyYE_ROOqNGzkhXUraA6bETcvblm_5anV3Cul0RvihjlVcAIKfSfD_21JeryUCQ1rQq04of3_-j2s9mvqJ62rhL89qWFitSDlJ0czzqYbopvo1kF0GYCbUUMcdZRREcTjsEKlMUkGyTYD-48gbv5zDusJhVKh1gjy4c2K-tarPBEb2yOgdqSbQY3B9ptYCVfwFOk4RKc6-AJdiQprHJYkp-Vty53mgohKlnLO1TjAgD2rNX5sw5XYOTxVcom_jFOmGLaZhJELg4N37RCHqWPrdNKXx8r95jPbb2O-dyHsCwgmWwFpN-AM2SuD09bsmjdQhXfeJAUMViM7Dn-NQKt0dpWBVbBzT2xLUH49UEA_HfDkNcPcB7o22C0MtgxywDiT8oP0O1TKzkJDYz9D2zm0vNSV60flxtkbO50qiahM6YwtK3I24Tvs2-kcpgSs_cTzcv0s9Cu8hyKQ6yYcgpke3xv0UMhERqgRzvzt6TkH5c7CqFnW6HsZAcHNJeoW7khMesaIXaYAMhqpntZHQXvpiSQ==",
  "id": "rs_023b23d1a208d83f016ab46ef6ca4887d0b9a2119269c65c1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.145,\"right_z\":0.145,\"right_pitch\":0.5},\"note\":\"The jaws have closed, but the ball is partly obscured and the grasp is uncertain. I’m lifting a short distance to check whether it comes off the table.\"}",
  "call_id": "call_b5pgkrS4ehZ6mbBgcYfzaktH",
  "id": "fc_023b23d1a208d83f016ab46ef7bec487d0a0112bc565c8aabf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b5pgkrS4ehZ6mbBgcYfzaktH",
  "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, 0.8082, 0.6331, -0.5369, -0.0219, -0.0422, 0.9997, 0.3126, 2.1643, 1.1194, 0.9775, 0.2115, 0.0296, 0.254]\nstate[eef_state]: left_x=0.2763 left_y=0.0003 left_z=0.1583 left_yaw=0.0004 left_pitch=-0.1319 left_roll=-0.0018 left_gripper=0.9997 right_x=0.567 right_y=0.1481 right_z=0.133 right_yaw=0.0802 right_pitch=0.5164 right_roll=0.0338 right_gripper=0.254\nstate[joint_eff]: [-0.1299, -1.0188, 7.1179, 1.7118, -0.0464, -0.0464, -0.0122, -0.5538, -12.5607, 5.4769, 2.0488, 0.0611, 0.1441, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f14d113ef41cb093c6edd9e0f66c083533eee291c1b6cf2e1ae83dd9a0444d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9263163dfe4b9f2ce3dc3690d22547c3ed18f915323f98aa6d0248131504616f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7344267933eaed09ba06eccee85df325bc3b422ccfe5361602eb8d02977319",
      "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 · 12.14 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7994, 0.6083, -0.4507, -0.0219, -0.0383, 0.9997, 0.3752, 2.4142, 1.0798, 1.3239, 0.3027, 0.0017, 0.4551]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1661 left_yaw=-0.0019 left_pitch=-0.0617 left_roll=-0.0006 left_gripper=0.9997 right_x=0.5501 right_y=0.1639 right_z=0.0612 right_yaw=0.0623 right_pitch=0.5725 right_roll=0.0151 right_gripper=0.4551\nstate[joint_eff]: [-0.3761, -1.265, 6.9675, 1.8779, -0.0513, -0.0269, -0.0122, -0.5949, -12.2735, 3.6991, 1.4921, 0.2222, -0.1148, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8059, 0.6327, -0.5251, -0.0219, -0.0422, 0.9997, 0.3176, 2.4767, 1.216, 1.2922, 0.223, 0.0185, 0.2547]\nstate[eef_state]: left_x=0.278 left_y=0.0003 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.1182 left_roll=-0.0022 left_gripper=0.9997 right_x=0.5832 right_y=0.1543 right_z=0.0678 right_yaw=0.066 right_pitch=0.6127 right_roll=0.0485 right_gripper=0.2547\nstate[joint_eff]: [-0.3487, -1.2513, 6.6667, 1.7607, -0.0464, 0.022, -0.0171, 0.0479, -13.7641, 4.3692, 1.6777, 0.0659, 0.0122, -0.022]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8082, 0.6331, -0.5369, -0.0219, -0.0422, 0.9997, 0.3126, 2.1643, 1.1194, 0.9775, 0.2115, 0.0296, 0.254]\nstate[eef_state]: left_x=0.2763 left_y=0.0003 left_z=0.1583 left_yaw=0.0004 left_pitch=-0.1319 left_roll=-0.0018 left_gripper=0.9997 right_x=0.567 right_y=0.1481 right_z=0.133 right_yaw=0.0802 right_pitch=0.5164 right_roll=0.0338 right_gripper=0.254\nstate[joint_eff]: [-0.1299, -1.0188, 7.1179, 1.7118, -0.0464, -0.0464, -0.0122, -0.5538, -12.5607, 5.4769, 2.0488, 0.0611, 0.1441, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f14d113ef41cb093c6edd9e0f66c083533eee291c1b6cf2e1ae83dd9a0444d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9263163dfe4b9f2ce3dc3690d22547c3ed18f915323f98aa6d0248131504616f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7344267933eaed09ba06eccee85df325bc3b422ccfe5361602eb8d02977319",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG79idRArn1Z_B7lZ0G0HPfhoLUmGx5Ei4BurZk-cofBxaEXQl3BuahZwh5PTf0tvDclsrZK8zYuqJKr03Szx5sbYsh0_sgLpQon1a_oe4ILflsnDzcZa8qcgXA4Mdgz6T2S4mvD-iUvUnDLOrR5vKYVCOn5o9K7BlGBM8NYf_xuXFaB40gwfU4_j8xlaBElUN3gzu7ZNtywIhPcBV1LsdC6dCF9icJajt8dvZkeVYhth1EHRr8VVP1Qs1ZRy8d-I7Z3XOnPPcF2SRZQwb19GLbbor8JELnXq7GHmfYaBH7zShddxqRAmJObP7eL96VIQelFFBCwEhaF8RSf8m90RhvkT_Ilyz389A6Y23pRQt_foqGmOBuh05Q8aJv7s_PLu3q5MInj8OoQSKe5TSs7xIuFatxoT4CsH4h01AYeo0QX6iIiSJ4eO_1Siox9J8cQzQMCIxrVY-sTzBDkFleRJ_j1Pg6QSFOs1wlnfon1B8LdUwFjp9BjiIgRGPAFrIZnU15DuId24f9UVTuZYnbORcYuICVDa6vqK4AZyIxrQsqloLvqvHZV5pJAdgH1tE_8ZaXhch6Zd_T_0_fbVOnp4xAsfs1cm9RA7O03gsVXepsDuyehzQ7G-vop1dUw2yZbFvuu7jpgdPGd8XixuXLQPJlMBR1ASscsb5608aBUOqT-Ky3aeKJPPVXNv63hAgqL0NFkSBIrWaQW7t_XRI7UMMQNw21nO7ULc8AfP_d02UJMPSvu8DPLdxGySgtGCeaXTEANomM620EF7M-JqgwnnmorzMehx0_TEU1pJfTkWiw7-suwPPCoFGk3_u96u1jzhhMaxed9cumvV6UbvfG7lwJUVSUiUka-q3-X4adcCnMGiTQH01j5LFBfWRrNEBNc6XhB4ITYXGt2bjtPFfrKHGribMMS5NLMtc56EMSkJSub-8awEsCz34O56_hQu2Ry-lVSyBqy_L8wzOKmy9cv_TLiSOBfwkoPaBrOVScXJdKAM5t7iNY6zaKHMa3uHd6tlwlueEuakWo3oX6swj-b2LfkroUP_DhwmPLkbcyA2VpGdBoEXYKgPEHCReBk1sD1i5paKKT_5H78spNOjswTLlb9SKOblNglW9B1d1fijxHnCsqC-2omzdKyaVU8-34Qbj3inwNNzkGnhI_8rbs7bh2kXVDA2yLBI0BqfWYKFa8aj8dHKGHfQh4u6i3tnSRsDUkTaHBkdHxX0_8-6Ar47WdGHWMJFwqKa28NOccpvD9LcmW-WVXJa9X_iLy692-fSBo9c38ulYhPGENRHnURodZ-I8P8uo7C6Vbd40WYL8A7-tlc0sT1dJfVRH9Xgfr2JUMJOKs4lExvVwI_vhwv_LUsFYotryqkiXFRH6dJIZB1zNu-3BLtztM8Lz0yBALn7Sicf2wAhonQBDbNfHD0r6be-17RxjrVX-h7bpmgih6SC1CL3yAKkI1aXUEkkKXxkreQ7nkYbUAxsmlTrCH3klY1V-RT0GisvV3M48XoXpEuYfx689TTDFKUmmFMK9f8GmD5QOMSkM_E41lvYw4PByZ5DFuL6jxslSpSzxR0LSx_K7eLdjHMPRd_3n9cRzkqr7zLiOlvEvyNuPHDCh9clBQMNkQPQM7_digTGS1pjwFwZXg=",
  "id": "rs_023b23d1a208d83f016ab46efaca9487d09abec138b210721f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.305,\"right_z\":0.205,\"right_pitch\":0.15},\"note\":\"The yellow ball appears to have lifted with the gripper. I’m carrying it over the red-lined base of the safe, staying above the rim.\"}",
  "call_id": "call_hXLHAEH64jl1ofiL1AtV9RMk",
  "id": "fc_023b23d1a208d83f016ab46efc8fbc87d0902c08912b08b376",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hXLHAEH64jl1ofiL1AtV9RMk",
  "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, 0.8097, 0.6331, -0.5549, -0.0219, -0.0425, 0.9997, 0.7315, 1.9617, 1.4723, -0.0376, 0.5365, 0.2752, 0.2539]\nstate[eef_state]: left_x=0.2734 left_y=0.0004 left_z=0.1545 left_yaw=0.0006 left_pitch=-0.1513 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4724 right_y=0.3075 right_z=0.1824 right_yaw=0.1271 right_pitch=0.1356 right_roll=-0.0006 right_gripper=0.2539\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.8046, -0.0415, -0.0513, -0.0122, 0.1846, -13.053, 9.2923, 1.8779, 0.2759, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e262d459c06ac14310246650048793ee2d397e033c506e51ddb43308ff26273b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62321c711ab3cb3a3545f230c224f9c9287b88bcf3818c7bfea5181b8c38a43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379328e2c986264e97160aed058bb6d682b37a5d849cec4882831496dfc03a53",
      "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 · 6.654 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8051, 0.6281, -0.5125, -0.0223, -0.0395, 0.9997, 0.3176, 2.5118, 1.2243, 1.3666, 0.2325, 0.0036, 0.945]\nstate[eef_state]: left_x=0.2793 left_y=0.0003 left_z=0.1615 left_yaw=-0.0009 left_pitch=-0.1094 left_roll=-0.0001 left_gripper=0.9997 right_x=0.5825 right_y=0.1524 right_z=0.0685 right_yaw=0.0573 right_pitch=0.6591 right_roll=0.0456 right_gripper=0.945\nstate[joint_eff]: [-0.0068, -0.9641, 9.8667, 1.8632, -0.0806, -0.0366, -0.0122, -0.9231, -9.4974, 4.6427, 1.409, 0.1441, -0.1441, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8082, 0.6331, -0.5369, -0.0219, -0.0422, 0.9997, 0.3126, 2.1643, 1.1194, 0.9775, 0.2115, 0.0296, 0.254]\nstate[eef_state]: left_x=0.2763 left_y=0.0003 left_z=0.1583 left_yaw=0.0004 left_pitch=-0.1319 left_roll=-0.0018 left_gripper=0.9997 right_x=0.567 right_y=0.1481 right_z=0.133 right_yaw=0.0802 right_pitch=0.5164 right_roll=0.0338 right_gripper=0.254\nstate[joint_eff]: [-0.1299, -1.0188, 7.1179, 1.7118, -0.0464, -0.0464, -0.0122, -0.5538, -12.5607, 5.4769, 2.0488, 0.0611, 0.1441, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6331, -0.5549, -0.0219, -0.0425, 0.9997, 0.7315, 1.9617, 1.4723, -0.0376, 0.5365, 0.2752, 0.2539]\nstate[eef_state]: left_x=0.2734 left_y=0.0004 left_z=0.1545 left_yaw=0.0006 left_pitch=-0.1513 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4724 right_y=0.3075 right_z=0.1824 right_yaw=0.1271 right_pitch=0.1356 right_roll=-0.0006 right_gripper=0.2539\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.8046, -0.0415, -0.0513, -0.0122, 0.1846, -13.053, 9.2923, 1.8779, 0.2759, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e262d459c06ac14310246650048793ee2d397e033c506e51ddb43308ff26273b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62321c711ab3cb3a3545f230c224f9c9287b88bcf3818c7bfea5181b8c38a43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379328e2c986264e97160aed058bb6d682b37a5d849cec4882831496dfc03a53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8LkqgnjY49KblfRa2YO3vXQ9QWTpZ5ddZS4g_UcayRL26sCNymQLwLbCUqJ3I6V2vZlzVjdByI-RxmXiBilq4JOMpEiFK4hCIHjyi-qsQWhY-op-MXgSC_OhA0p-3tioCGGKjtWBC1syzGnfUe3QZrdhWZ3kJskLXUT9J85PyFpBcLM5VCLWgfDgZ_mcXkWPj5B7C1O5Wbz3vP7Koc95kh8KosUjUiOk7CF-GoaoBRcBeRexlbl3Y6KZkt2sbBSwsFiNuTJHIBkRrm0IPgZVb0lgikclPgY4X_RpbitjaAF5IQQOtSGEffFVxG4uVY2Np9pqPmjDbZpAVJOguNt0WYBvM2svMf2V4Yrcq4cwGoi6jVtP7Q9ve6gTgKpNn76POKqvFYZVe6l2DCWdE0tVYXGfyn_bFZvN9kQZc9pXAr2QoTUqwcd-lltZMoWmoFY6864LZq0OId2a05iBNqiw8VRxPyMaq8t6H4MjKWvB2sL3s0BkfQi43fffi9JL8Aj-RjizM1J9CJH1XTdAxX-tM--HATMBLcQhXYn6yGTOJOrw9j43flWc_bs6-4Tvpf7YDexXRU8ONBLdJeGKJBPkzda6azQ_BUYc1WH5PkOUsHHARnbbGiCuX4YI3hzDFN32lDtOLcOxzzyhSLbAl-9pNWdI2ErUpCLMbfxKTPDOxRL7MxycsoBddAux7lQ9FGK_WGf-lTeDiACpjnbP017qVfxdAHFyMA8PtIFZKM9Ky8esBz_qoewxpPwcGaVNwpEI6eqmbSTKuWYOna2zanN9fFdA98TPkeANNe3L0PZs4g9DAz3NsvIrZ_LRNjc-086XtVG_irP6CsvAqKOmOSFcqUZlhgwCcOSiO5PJF4kWfFp6wAYfii-9rdFkhqhD8N-MxLG6I4Xoxg0RU3tScojVFvUF9-f1aYJiXq0zd0mAV689uGhGYanVUEwRjEOB8aiVY0MzD-n3hHiw5HWEzTnNI-CdTY53AxSUP-ciVfLyMyuV1DECNugcFmpnjhfuj7Fzovh4Kn_wI3UZYdmFXw67Wk2CmO1rR3x6nk2TaNOTJBaNBWQYZOTQOPC7hTRkCQFu6FQ-laQ7W_6I3IhiJNcdPLIQb1q3nHLboqSdQCZZ96kZsZWIhIIkVaGg0O7jtzL3O_pVwJyEx2XhN6HqLBSFE4SS1AYIAZU9Jx2NGF2IMDKuNHD2AV_bbpWtLlsFkoGSr06r9nYvVmkmf8JGQDFLH4sMDrTSwwrkdHfFAbgobC3_9D_ZTtVznf55daDlS7kyLcR548kpfh4TK0yDZaIl1Qw_PABc4Sft2L7XKd_0yj0Pgq_Y7e3z46w76DnhXplrdybDVO5GOhUGbi7FXJFSwo19smSjas06uPRqGxBErM9bnc6xGl2y6KdpX5vhsyPjLzSwU76Yn7QNPs7koWEPFO-hoSw4mPYHfRZz_jXQOSgo93wnHqNkGQ9Ukult-ugtlE8i7LadrH_zJ1VCBBYtSrxGCQRwmEEnmKBkBhDem0q3UjbSdUudnSrOppmAmNOodCXNlA6STkVPkLelgULPgTUFh7o7Z5JJAJhVgIMFUI6Y-KN5iJT6LAfUjA5I1dkm4JLjJ8J99BfZ3ffvmY6ZydU1YfQX6Pawfe3SheUCfEYuw3nLibksaVN_jZ6OGceUj1RjnJZlhsS1XBvO-VNtnnP1CcfuQNzJjXG8B-dUgGbGSTHG0zkG5T5H-sTd7vVX9C1JaHKU6SQvu5N_gVABUg9T7m4YXKgrDw3g3vXs6uJ8r7pAPFxNSkvCY5QK7qdymy4qqcrBW9HAvh4j-HMZuYQqS7QIic0cQ1muViSJxWxGSliTo4vncJ9GaOdhrv7t_8kIsMYgu-tt1bNVYS3vRQRAZzPGWrMUGoER4J2zpS2fK0okIzM1gNnJbJQOqVybL93w0dCreCTaa1hE9XDJKgT8E4BgcFErmnwIJ-N7wMISeWrr4JDWGV2lkeSr9zp4V6_deNm4b_VL784geE-LQcoRoK3xfDhA00XCoF_lZa1k0VbKgO9nutBn5Cr_EQKf2811Swfm-8GlYmGiuDi5h7H4GqNHCTU12vMbAKoGvlxZ2lD48_HoZw82-1VtXV6HsrBKRo_0-ois00qP4LQ1XkJCevhU82LhcN6SWHb3QTchIl_fCsiw2wmcGDMFb85yrgSUmXamdw7HP19oreOXE6YS9uVVdm7dPco6Q5csyiF6AMLJ3x_znVxSceTJxEVw5xzKX4IHz2NNHblheRyMMyik-Lxf9jRe2mkrwAUbCoxm9MUU6d8WSvOEQGyN9MdzAn8fCCclqXXUS-Ukt0nlGp87q4Y_G_7CPeZelih4XOyvd-hZ2TZD2nO7ElicKYAwptMv50u_5EgtDX10Oj3XkAV1KABdjFAEPzYpBxIr9EqzIqIejHHqZxHw6hHs4a8Rki3Lm1ohmC67OXf2PMVjenbikDTmkVSYtKWf3z9-oETCuiZw0XzBVyHxKjQfTpZwIx0rCis05lsp8L-RApxhm8APF7MrPKEwJp14EZkT_UOVxvGptclmB4W5jdjdRvZYnA_lhthk46YiirQXK3LjKiEbJEjek9RWiwzc91aMHCvAtPda2BFfkoUb5zOqiLl8Fr2lNUw4nq69urk1ReaPIURFY1mXdZHZURNd5INDopFSmdty36Bz3Pts_WfDo3Yb0NZQYjDrsfAtNHuUkevT3AZGkV2WAON6IJKqWy2Utm2KOkgNM9CEY6r5vAcLWFc0B9awwG9h8yrd1jD0_ky7LGt8sKHAGY0ppgK0LYD63ByEJrFpfbD9q9_dmxrG-4A6nVNfQwCqiiVNRxedxENQQrqg7W2D3u1SiVJYwVGsYEJt14hJ7_MbpOpircjJZjt8VEJh1ToA-Z-vYMCSG43mFtRqyPj5sRLFt2lz7hKYiaHV5-HoF5uWwcAELBgE8XiuZrqV1X0km-EQdoKGrixH7Yi9LL20YgYq67wGNvQVDr8RqW58c4A21A2dCw31xUi36Uxvw_vZie55yJLOIHNn8bo_TXbTx5jPme5UXLqwIIry0uIaP0KLWPuOBE0q202mHTyk5q5HDAQF9YfRgc5OLbut7zeQySksXLUvHZ3OVmTsre2yF_8rQgLdeMa-kHyxdz2cYvE4TTFh2rWbhHXyt99OqJ9gR4hTQN9ALQ2fjBOm-UghsNeYumUJ74UHeYafSF9UppB6t3imk-_2LoqQbF1I06So4Os-o6b3ZivonGsuvM9bcB8MPUqkrEZZElJRI-MeNweXLvNpv7gGxZqE7Awn5WB5xKHT24K9BnzPMcoceo0OEaBDwIWL5rQiI1XPe05D8UZYhWG-1knXHzB5s6SZ0wVFIGhRKVS1Fc6Qv_xegFqJK-1ZZqHbJbtBIc3VL6_X2Y9zndRP8CmMdyzsVWJUS-orPQ6v_1E_n58enMZdPZs8iWSLMkhF556wEFjdL690-Ya03Qqv9WqCpACxMUSl-7aBN8G_xw7u4jzcZaA6acXOvyYChHWHZ-e-nQVQMPcQOoxJWTSiOB0N6VNyi6rdKJVrc2gGNnBdN6vMUGjyaCDV3xu2nT7KskbGlQAOXsf9YxtIuEClxAdJAIEDy5lxjYoK0RXlFUZzsSIcErGyrGdbzsDc0M0C1T_zrkyBklwGyFsv1qkVDHMqCSvjI7OKE_Q0cbLnKGVT_3c41g_J7jPS_6dYS1vDJSQ2Xk1uGSL60ip-4vxIRf3tLWFC7Hr9QEeFhm9xFJLCu-dHOWdNseVnhmM-qqXIIca2d1NE64peEoGFM_wtz9OmXhX-Eip_jDWftDZVO2_FCcURC9cDNUqocpgNK-3YE2pDKrULtSJ9ejxMW6Z-vD5Av90xKiOmV29V-h8KDrG3bz5ghbGsmI6aDq9MMQIQ30PADPBLMz",
  "id": "rs_023b23d1a208d83f016ab46f007f1c87d0a5299c38282f22e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.135,\"right_z\":0.025,\"right_pitch\":0.6,\"right_gripper\":0.95,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The overhead view shows the ball stayed on the table, so the lift was empty. I’m returning with the jaws open and aiming lower; its position is near the arm’s far reach.\"}",
  "call_id": "call_su8cMH46TKkjlm1rR7qMEJdo",
  "id": "fc_023b23d1a208d83f016ab46f09c67087d0907754fc849ef7bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_su8cMH46TKkjlm1rR7qMEJdo",
  "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, 0.7994, 0.6155, -0.4557, -0.0223, -0.0463, 0.9997, 0.2836, 2.5351, 1.2545, 1.3731, 0.1337, 0.0219, 0.9476]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0594 left_roll=-0.0068 left_gripper=0.9997 right_x=0.5902 right_y=0.1512 right_z=0.0679 right_yaw=0.1133 right_pitch=0.6734 right_roll=0.0619 right_gripper=0.9476\nstate[joint_eff]: [-0.5812, -1.5658, 7.0085, 2.0684, -0.0757, 0.0073, -0.0122, -1.4154, -8.3487, 3.5761, 0.7985, 0.149, -0.4371, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a63a2205d5c975a986bdf78e474c3e9862235cef47ed39c99161cfec1b3532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e8d562f19d836bf8fbb16a4064fbcf17b69ac86b8b021c86cf96e4fd8a767a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd73880d4e420202e2528e86498770c6ae7643a6344a3bb363a04e04959c390",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 6.148 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8059, 0.6327, -0.5251, -0.0219, -0.0422, 0.9997, 0.3176, 2.4767, 1.216, 1.2922, 0.223, 0.0185, 0.2547]\nstate[eef_state]: left_x=0.278 left_y=0.0003 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.1182 left_roll=-0.0022 left_gripper=0.9997 right_x=0.5832 right_y=0.1543 right_z=0.0678 right_yaw=0.066 right_pitch=0.6127 right_roll=0.0485 right_gripper=0.2547\nstate[joint_eff]: [-0.3487, -1.2513, 6.6667, 1.7607, -0.0464, 0.022, -0.0171, 0.0479, -13.7641, 4.3692, 1.6777, 0.0659, 0.0122, -0.022]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6331, -0.5549, -0.0219, -0.0425, 0.9997, 0.7315, 1.9617, 1.4723, -0.0376, 0.5365, 0.2752, 0.2539]\nstate[eef_state]: left_x=0.2734 left_y=0.0004 left_z=0.1545 left_yaw=0.0006 left_pitch=-0.1513 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4724 right_y=0.3075 right_z=0.1824 right_yaw=0.1271 right_pitch=0.1356 right_roll=-0.0006 right_gripper=0.2539\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.8046, -0.0415, -0.0513, -0.0122, 0.1846, -13.053, 9.2923, 1.8779, 0.2759, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7994, 0.6155, -0.4557, -0.0223, -0.0463, 0.9997, 0.2836, 2.5351, 1.2545, 1.3731, 0.1337, 0.0219, 0.9476]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0594 left_roll=-0.0068 left_gripper=0.9997 right_x=0.5902 right_y=0.1512 right_z=0.0679 right_yaw=0.1133 right_pitch=0.6734 right_roll=0.0619 right_gripper=0.9476\nstate[joint_eff]: [-0.5812, -1.5658, 7.0085, 2.0684, -0.0757, 0.0073, -0.0122, -1.4154, -8.3487, 3.5761, 0.7985, 0.149, -0.4371, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a63a2205d5c975a986bdf78e474c3e9862235cef47ed39c99161cfec1b3532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e8d562f19d836bf8fbb16a4064fbcf17b69ac86b8b021c86cf96e4fd8a767a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd73880d4e420202e2528e86498770c6ae7643a6344a3bb363a04e04959c390",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8TZXbvcGC1v1Ql6ecijyyis8a5AlRtijdFTmHrGoiczDT0V7JBAlGIlRCLYQD5d2mLIyNnnV1Zi5UTgAMQawVnWsJUPKVPiOXa-UaUm8k0Q83Pzy4z6POxLEF1xt9nfT6rYXJIH6yembXvMzTKOaii67tQyelarVBL1yDIczwmmC_TvqE9cDhgOmlM_y3KcpbetUfVsTTVOPp7kVhtTCZIzWoyHRVUqzNeqrPG-BjbxNqpXs8VVI8XZGxvlCnSL2p2HE12GWKSswNCvkJcEbnouqSlhIT1Gbf_TvClLTLG6bvgphV5Kn-jfsleWM1NcsWRjpewTJZiLSr-lUW_GeAN6Hv9ahw2sBgjm2aDG3oXudOIZDgDdRkQdZY_weEzbKwlDxretNehMw5aKbbEHwZ78ZKK1FB6y2c5T5FOZh3nmQRW659hW7va6Cgtgs_ymxF-d_Xb4t2pysDnTvQaWIpxnkDg9XSb_bPAa2245e8ponV6RO6fZLr7G_BQms1B4IIbHcd7dIamiB_EVHBckVeILoDoMhh7ghb04C9A6TlvPuFi1NRKg9e4Bdyn-4gRHDvtbwxBiVeRo_XeVS8hr11X6uGuh7ywc1dXTqCGRIV0CzU_4-p0fYZ3gYra6y0SGaspAPFW6VSApPNg_tQ8eHkN9mDqU8lAwy4PVoZyLqvS1J7IN2BCl48eg0E9yfbhfJnTpvLyp33bWlRTM2JbXoBlsQGYn-d8ZmxX4yy70n01gvaK7vaXnozy-v6BgTn1Hkl1WQbU1Ugup6NrgTF406W5_Bcn2u7wGtcoUv18z7gDJ7NQr36J6hgr47c85cEXf4gHSOsJ3CDLPG5zkPgOpFYeCPoY7dG-up8v1zo7ayoLN8HLLFSeiUoVm2BgpSk1L2KJlq539Z1Wh18gvgrxWKqACs8cDuHmJTU7AweSeytSuK8nkp7CIjNmgXLHJmYohm4AIzOL1fR_284uNXQa9XHRjbcKZGsIWKhh0kKFqsx2VYmUV5ODePqsSLGTDspJ_SS-Yf_gGonvFEVB39rB0HgEDVpJGmub8cAtN6eikpNAoDSEYlDRgoFWKXHW_uGIM7ln233mKXTJYm6uE_T746MH1uLNaV-Wt3geGGTiP4LprTaL9XS5AUTBwyAjZ-wCxQm27Nyo1aGp9YzqUTNVY4z6qFrTmUf-wHtFE4vm0d4MPJqs28lSHt2a69jdIFzaTfNinr09V9Vl3bZp8vj1mceNPVesO2keVJbnbdKNpm7Gclbkf7dtLRk0f8ViiD3su1U5SsJMwJEp1h0L-qiA1nCU283e_JUFQdPTlIM5OivXGCGd1plk9WNSqXy3ZBGJbX3ALSQmi6BCD7urppbmCRRpCXMsi9SoR0hrnIXefRPkRkesIdonwPpL5mk9JD3JOFuEi6bMvVJcKyWRhVvFYrZBHysGeT8KyoOZkXoBaiUb7Uhu1dGwabhroNVAQM-pj9s6Gs93RcpuoyQI-6s6tnCGsgVHFF9wmMKdZdmXOv9W1Rsv2cwntY4mQORNVPP9v41KSm227AdiSAeeuCMw5xZMIvu9sllCTUfCQqnijzklFFAjEdZHsPMtOa-K8JliKMs3Ia9wjg0TrWZaVp5rIbcryh-44t7wDVC01Ecx0nSeK3hiROJNFrFCu_F6dwoONJLmunHTDGKO6v03JOW8CytJEC4hrHFzz2keHJGSkVAA1sLfC3HX057wG5F0BmKpxO59OSWhlOm1XAz3GZmQjwl3N46jtkwszjultAFCHRVDsM5n8x7mvbtC33ykZ4Ih51sHE0TbLNCVfvImGFUjbvcy6_YLJBZx5WJ0boVlxmME3wCyQu3ozVVUUcZbT7J4AsQ8WVlrjojnq_oVtlWsIC4TJtLxigVcDRbx53a6Ia148FzCJUKapRQK8SAnH6qN0TdDpDIDNQBS-tJAvC-1FykLRqyIjiOvksSrIDDswnLIkTvyMowkiM4015AbMdtusJgfc7AmzJmv6Fo0kgnRgkPBtUkmQSPFtV8BMWCqomgsljarP59eS9UOgAAkEnAeLnVLcWqgTOzLVomhxrw3XGw4L7BBwiJmKAYSDx8CVqukGPneXabzmZMujQgQsv5VaBbb5KjTxkzbPgVTLM3COXEMGnAHTCB5UOx9s5s3ZhIuLmTIQX02_qhB3B_uXLp6LFrP5gOCI6LzaqTffgbzAj0h27lQjNw4U6s9KVf5sFP8KklGHouT5hOsmO6oWldsVH_r8idsyUrjjpMgrFGwSr2SU2FERhpCzfkEaTzd00VDAxLMozrXiubhxI1tHQRKhVbtwQuqeor2hPmIJxtZB0Z5HK-L442eR4jKDTMDCXtNpcw2zkN_zsIZSl2pz0p2jbaMV2X8PbneXJkfbmjoASF5EMH4skgMGg1DZdQ8Nw5Iu3K5exJX58OcM2nsI8fc79mO",
  "id": "rs_023b23d1a208d83f016ab46f0dfaa487d0a3256ed6caf137e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.545,\"right_y\":0.135,\"right_z\":0.015,\"right_pitch\":0.35},\"note\":\"The arm is stopping above the requested height at this far extension. I’m retracting slightly and reducing the tilt to bring the jaws lower around the ball rather than closing above it.\"}",
  "call_id": "call_0u14z7vuUnXRVfGlDqeSP4Co",
  "id": "fc_023b23d1a208d83f016ab46f1223d887d08217422e34d985d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0u14z7vuUnXRVfGlDqeSP4Co",
  "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, 0.8028, 0.6132, -0.4656, -0.0219, -0.0498, 0.9997, 0.2798, 2.3817, 1.0393, 1.1698, 0.12, 0.0647, 0.9492]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.0751 left_roll=-0.0094 left_gripper=0.9997 right_x=0.5502 right_y=0.1398 right_z=0.0269 right_yaw=0.1216 right_pitch=0.4101 right_roll=0.0619 right_gripper=0.9492\nstate[joint_eff]: [-0.1983, -1.3744, 7.3094, 1.7509, -0.0366, -0.0122, -0.0122, -0.7179, -12.1641, 3.535, 1.58, 0.0269, 0.0415, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ea59fe90073d3d5c68fa69d3f88b798b59569ddb81702e8767c6592843d80e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d484fa6238df7607d07f7c9d5105ed267cb2970c2a6167a604d4907388ccf7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972f5e4b507ff8bf129d5c962a207e1e05293786bc2bc285845402f1e88b0e79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.296 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8082, 0.6331, -0.5369, -0.0219, -0.0422, 0.9997, 0.3126, 2.1643, 1.1194, 0.9775, 0.2115, 0.0296, 0.254]\nstate[eef_state]: left_x=0.2763 left_y=0.0003 left_z=0.1583 left_yaw=0.0004 left_pitch=-0.1319 left_roll=-0.0018 left_gripper=0.9997 right_x=0.567 right_y=0.1481 right_z=0.133 right_yaw=0.0802 right_pitch=0.5164 right_roll=0.0338 right_gripper=0.254\nstate[joint_eff]: [-0.1299, -1.0188, 7.1179, 1.7118, -0.0464, -0.0464, -0.0122, -0.5538, -12.5607, 5.4769, 2.0488, 0.0611, 0.1441, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7994, 0.6155, -0.4557, -0.0223, -0.0463, 0.9997, 0.2836, 2.5351, 1.2545, 1.3731, 0.1337, 0.0219, 0.9476]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0594 left_roll=-0.0068 left_gripper=0.9997 right_x=0.5902 right_y=0.1512 right_z=0.0679 right_yaw=0.1133 right_pitch=0.6734 right_roll=0.0619 right_gripper=0.9476\nstate[joint_eff]: [-0.5812, -1.5658, 7.0085, 2.0684, -0.0757, 0.0073, -0.0122, -1.4154, -8.3487, 3.5761, 0.7985, 0.149, -0.4371, -0.0757]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8028, 0.6132, -0.4656, -0.0219, -0.0498, 0.9997, 0.2798, 2.3817, 1.0393, 1.1698, 0.12, 0.0647, 0.9492]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.0751 left_roll=-0.0094 left_gripper=0.9997 right_x=0.5502 right_y=0.1398 right_z=0.0269 right_yaw=0.1216 right_pitch=0.4101 right_roll=0.0619 right_gripper=0.9492\nstate[joint_eff]: [-0.1983, -1.3744, 7.3094, 1.7509, -0.0366, -0.0122, -0.0122, -0.7179, -12.1641, 3.535, 1.58, 0.0269, 0.0415, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ea59fe90073d3d5c68fa69d3f88b798b59569ddb81702e8767c6592843d80e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d484fa6238df7607d07f7c9d5105ed267cb2970c2a6167a604d4907388ccf7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972f5e4b507ff8bf129d5c962a207e1e05293786bc2bc285845402f1e88b0e79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8aA_2VZjvz8lT29kv18vfIF2h34_wI4KP0jIZIbxD0CawMjdLkxp5smsrek8SqGm8jg153qvFvmhGbovTDLtiUT2EEYx4f7jXdxeEjHRZNydk0WC-o5cu0LWgJG30ZUh1kgk-uwv2-tICAf_bBkY8NF9ik2HsPwikbF4xhAPP1jRlD8fDj2AA3pAThDklXeQSHSsVdsitWBLycz2gx6gZIMsj97YiH1mgPRnwhdW2KHaXKZrB7fZPf_rRUSIvEEAHwI7FnVn7WSsMBF5CX0Q9gg00zuIyQNpnzax4KgFvGW2X_roso_iOwdJpBf_G7pkvEnkRrKhji5YMDFoUDe7q12xxfVCp6KunPJ4S4N9V-yuM7LObzVFC8NZ6WDK04VGtnNnRLcSk9QqgwUoUuM1247sufj2PFsvZmOjfOPpqWb3LJlI8id61MYb-xIhuuDJtzMwyoS_Qvmp13KScD-jDGJxzZKZqhzC-kpY7cor-tzbv6YcCdXkeWfSEvxE3WE7dSm-YH5RqA2WM1YQzLbnVqnRFSScchA8jdkKqx9ml7zp0GClaM8KRvlut08TL8zvGUJB-NrgGAvNOb5dsN8Ob8wuHmUigtNSdPT2E3WlvYAMok8HoCYX53KuWC2EcBonvALd4u3LmLEi0EZACb2BzH72q4x6rDRc5efmqWJufj5qtDgzyzILSRjNGqdhNj4auvBjrzxUi_oNIGbuQONC1YanMGpXT_vU6rsuKJpLjjHWEBJ4wu14FU5KxnlIulBJU1zJedNEJnFwy90EEY5Q7hckmyujhz01QzNcHcrgL8MK-q3xlvEikVZ4vVnnndm4KxiQHyCx0z5h_YDbNWPCtXZJVmZ7AqhsEeSgFfyw5xn-PtUXN1tSoXyX8UhSKhVZQ8gc1sPoQNdlqTEqxgA2eSJvWpJT5PBiasPY1xmNtda-KuN03YDYP2b6t5F4RHlqSXa8v8eyf4Bhoz-HgcD6IgP7YgKlYks4jNXAm1lVWoR51S7wL_KgDlgSi1iaA9OTp8K1yOOD3lbyoiELUvOdj_yJaNyfegsNBQizZe2peJV927IRyhxaJxauRNdIIhJup0I0nCxfNs4bSsn-Y2VraFJi5qDOFByMDFFZ4v99VTbMQhRH9vLXjhffWhIENBNLRNMXaqW601uMJdFDaAzFO4VibrqdTws4MOIEdeE_tchmVR989RDAdhVqTjbjN3wcn4PsxAuxdGYQBJwzCbTFNQULqqD0FsNCa_G5ff28gRR2Geq3bOkkOE9zjgBHnxf-TAzucqpf9WGRFW-Fuy-Omaf2wHlTIu_kzv3HGrd8KuwCJ2CH1TJ8lmRkZxV4FC8uD-BFq08NB7MNb27z0qYhVquIPaOk38_AWgHu0bMd45n6AHJklIAb25wn3ydmJ3jF1mZz1dkKUHaiLeZFZgdsqnE3zUqcHPGyDbZpHvamcpy_76qxDzAZdPD7ERBZgjsLByUkxBXe4ISmHEAsiOW5BxNWlVK5-D_expwK2jaHMJ7BCBmuZ_Lvi1kxicsPTjslwqnEEqtjwvuCMa_1r0UW5A4gTgoXzAmL_VcMzSmU6izlcHf66unbTyG9ZdWW6SRbS0siE9cqUWTDa778adZx5X9U_Ve8HqPVHzZEX56Mob59m8fxq7GtLwbNAKv2sfJAQInGoIWlBJiegKSHmEkayn_jLIz9Uzbl7dRL9XSUT1C39c9PaUKycoJICFioSCY0n--p1qB94B50x04gBsvuN1xyGAivkjhFqfG_ktnki4hyoZQUsiPiggILs9ygbS5v4CyZJNZ6WLDtvcQVBbTyk4AcGjxZ1wlgR6J-ECNGbGM3fUKstGS6S0JECT9VW5LXd9HQes0VL_zGVBuAvSpgqEbk6Yrpah-Nn4Ne2AzCFuCkcqBYtAQ3NvcTNp2dLFLFwZRZJIElKQ_qiyJlkuFe5MYDLm3EQ--Jw1_kW60YgjW2JsUAM6uhQUHpVj8tJC411uj76WRYbHF-NzqaUlb-PLam7BB4nTYy0X4zUdn1J_yaiuVuwGQ7GgK3z17jr1Io7eYZjtNWSWPkFDv7xW1ufqUfdyt1c2FSbXONzOJjUARvk8Pz06LHQPv2T8ATNsbSqTv6UdIlWsVxktG7TjyFJsx-tFdXYSZ4xLWpJMClOWNFfLjdVShezdfjoc5GEasCHZcp2Cxfgy4HOTqp8-c5E9-y65v1oq5xlc_7EE2A5P7KwQtmdV3nuGJXrWB7cRYAj27I7DIXWFlNzbFXpRygSfXqefwEKW58FwsyxZTBmbCQ8ixprEI8LI6R1mS2lK0RWHvDer7_PlLh_IO4WAm_Yv0A==",
  "id": "rs_023b23d1a208d83f016ab46f15a14087d0b4e8fdd5a8bf192f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.125,\"right_z\":0.005,\"right_pitch\":0.4},\"note\":\"The lower pose is tracking better, and the ball is clearly ahead of the jaws. I’m advancing while keeping this shallower tilt to approach the ball at a lower height.\"}",
  "call_id": "call_wKedCWXkifafNMWOyxBZY7Xq",
  "id": "fc_023b23d1a208d83f016ab46f19530c87d09f511a5ac20827f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wKedCWXkifafNMWOyxBZY7Xq",
  "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]: [-0.0257, 0.8047, 0.6132, -0.4774, -0.0219, -0.0532, 0.9997, 0.2333, 2.4805, 1.2285, 1.1343, 0.0544, 0.0711, 0.9493]\nstate[eef_state]: left_x=0.2826 left_y=0.0002 left_z=0.1617 left_yaw=0.0063 left_pitch=-0.0888 left_roll=-0.0116 left_gripper=0.9997 right_x=0.5921 right_y=0.1345 right_z=0.0316 right_yaw=0.1284 right_pitch=0.463 right_roll=0.0873 right_gripper=0.9493\nstate[joint_eff]: [-0.2803, -1.3333, 7.0496, 1.7607, -0.0513, 0.0269, -0.0122, -0.9231, -10.0581, 5.1487, 1.4579, 0.2418, -0.1783, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334cb62d44ca941afa5ef46a263f9b949dfc35479d6b471ab655a178c93fcc97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12239ee74e718e2c1ec8cce0e02a5013f3aee7e0eb49c1dbee4bfa13faa5942d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692bc0f14bacc28ecf85b96eb6afb41f6009358371c1575124756715e2309bdc",
      "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 12 attempt 0 · /responses · status 200 · 11.77 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6331, -0.5549, -0.0219, -0.0425, 0.9997, 0.7315, 1.9617, 1.4723, -0.0376, 0.5365, 0.2752, 0.2539]\nstate[eef_state]: left_x=0.2734 left_y=0.0004 left_z=0.1545 left_yaw=0.0006 left_pitch=-0.1513 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4724 right_y=0.3075 right_z=0.1824 right_yaw=0.1271 right_pitch=0.1356 right_roll=-0.0006 right_gripper=0.2539\nstate[joint_eff]: [-0.1846, -1.347, 7.1453, 1.8046, -0.0415, -0.0513, -0.0122, 0.1846, -13.053, 9.2923, 1.8779, 0.2759, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8028, 0.6132, -0.4656, -0.0219, -0.0498, 0.9997, 0.2798, 2.3817, 1.0393, 1.1698, 0.12, 0.0647, 0.9492]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.0751 left_roll=-0.0094 left_gripper=0.9997 right_x=0.5502 right_y=0.1398 right_z=0.0269 right_yaw=0.1216 right_pitch=0.4101 right_roll=0.0619 right_gripper=0.9492\nstate[joint_eff]: [-0.1983, -1.3744, 7.3094, 1.7509, -0.0366, -0.0122, -0.0122, -0.7179, -12.1641, 3.535, 1.58, 0.0269, 0.0415, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8047, 0.6132, -0.4774, -0.0219, -0.0532, 0.9997, 0.2333, 2.4805, 1.2285, 1.1343, 0.0544, 0.0711, 0.9493]\nstate[eef_state]: left_x=0.2826 left_y=0.0002 left_z=0.1617 left_yaw=0.0063 left_pitch=-0.0888 left_roll=-0.0116 left_gripper=0.9997 right_x=0.5921 right_y=0.1345 right_z=0.0316 right_yaw=0.1284 right_pitch=0.463 right_roll=0.0873 right_gripper=0.9493\nstate[joint_eff]: [-0.2803, -1.3333, 7.0496, 1.7607, -0.0513, 0.0269, -0.0122, -0.9231, -10.0581, 5.1487, 1.4579, 0.2418, -0.1783, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334cb62d44ca941afa5ef46a263f9b949dfc35479d6b471ab655a178c93fcc97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12239ee74e718e2c1ec8cce0e02a5013f3aee7e0eb49c1dbee4bfa13faa5942d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692bc0f14bacc28ecf85b96eb6afb41f6009358371c1575124756715e2309bdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8eLneP4kWaOKMA3kF1IgAUjspQ_FnCy7JcpqP7wn0r9ny3njtybKCcPia2ujXJhojcx0N7ZZ2LwdKNESAnInQXqvhtil4msEBHiGeAKbniRosCMPHCzgWwiAH6a-73zd7MYKpsBhT9WLx3iMuZa2B5VO9kUtL9vtAyfjOPAOwnkRwm6ZIoZyTLi6m1EaRcoYe7mhA5a0b9FoPnPKekKEQe_4HXhdIj6EWIQeJx3cbMA9cLSCwEcFIpHiU7Dvj4bZiMRH0j6hcLcPJNNAcMq07cVMOTITQQWXvHPInAKwBLilHb1RZSRv7D8ikqM1iQVAh7C8ThcewGv-3L2h7-JbG5CmzrLaw7Bv1Y4h9BqsoASs7fZoqdcd6wImWtgr1pJNtUA8oFJGXXidz291abxO-8NIsbQyckm8e_F8u-qzFWoyNYxoa3qAmGhXfsdZpg3w891bd1Tp1e11P04ArFYrUtio53CJbUL93VXL9s01k2AVqseymFrUsZW54ujEPfcYGlYMh_2bUjvN1no5FuKP2MhMf7e6pVWb1gTE7qeqS49jng2CIEHSVue8SP96xVdS4whRkdIntz7-X4NL-7Ds6-mpWmu7BKRe490goZWDX8mkSA3rcoWmATZBf2zcZh9jSZnNGNIipotyAdKAnlk0cajgf3vcNYlaAX3tdpkLG2rfCTggyzAFH_HNdhlK8hDJ9Ba6Myw2DFdS0bYLlze70h2jY5bI72Z8O5Dt2wVQfXYVji08iTth29_P07n27QQ0xMuMZFpVc9-Jsq0jTNesMCrvuYT0W7TONDNL-4bm0J7mcpj1J46PI2IuhQ2BZvR0Z8UOE5-smCOZ8BE9Qc_oX5Jt-7G83iW8G7MsLSuupiPZlxsApste_9uVTRqKthMT3oWVSejY_2sDC43LY6_0Q9YXCv74A85GPcn2BAxlXvBgdx4g-2z56L_MAkNincwrihCGsmQM68KtD23uEjbI6XxDqubyf8AuK5aaC2wnyBJMXaDhbBPwUZa1FssJe8RM-KqN4xXOa-WClx_RTbk-lNcQlPAv8pX5iTcup4gPwAgTkFP6rgZPo-UtbyP8XzBZqYrr3fFc1ZowDITIc95PaHlX2_Su1LZttU_5z9yCQsK-fIz0XzNXGjEeHsEfH0EN54s25jiIRLHkuQBy3xSS9O60rg0jbL8y7zwMiKkYcClbaRQbmfwNTJ-Gy1hrw2T4i_pIVoTi6pnxvyOn8hXOILgLhci63Pf-sZjAyQG3ovnAiR73hXlp9tbO7p1iyUnr8aEsOB93c4cOq0XPJQXwwDTYSrfTziTwQ41nTzsb24fe4KPAV-qKBHJ8XvROjvwQRv",
  "id": "rs_023b23d1a208d83f016ab46f1c7bb087d084a257a2fd99b7ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.117,\"right_gripper\":0},\"note\":\"The ball is between the approaching finger tips and slightly right of center. I’m making the final small lateral correction and closing fully for a secure grasp.\"}",
  "call_id": "call_Ic8cXDxLSteIeaNIeDdf6L9a",
  "id": "fc_023b23d1a208d83f016ab46f1d230887d0a13e1609b7c5c613",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ic8cXDxLSteIeaNIeDdf6L9a",
  "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, 0.8078, 0.6132, -0.4801, -0.0223, -0.057, 0.9997, 0.2268, 2.4886, 1.2526, 1.1347, 0.0338, 0.0589, 0.6857]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1604 left_yaw=0.0088 left_pitch=-0.0945 left_roll=-0.0142 left_gripper=0.9997 right_x=0.5974 right_y=0.1354 right_z=0.0361 right_yaw=0.1479 right_pitch=0.4797 right_roll=0.0779 right_gripper=0.6857\nstate[joint_eff]: [-0.0889, -1.4017, 6.9538, 1.7021, -0.0757, -0.0073, -0.0122, -0.9915, -10.0991, 4.9162, 1.4237, 0.2369, -0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b2f4f25efad14c059a94bb5439cccf49cbdbf1ed662d7d1d234e0b60967969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677e43adce70b1718bab883b2fcd879a574e6bd3c5e239ba87f7ab2fb5e4a05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b3ce3be4d8163ca5e6506c10c275f0fadc7e79aed93b7fb8618ae551e529833",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 13.44 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.7994, 0.6155, -0.4557, -0.0223, -0.0463, 0.9997, 0.2836, 2.5351, 1.2545, 1.3731, 0.1337, 0.0219, 0.9476]\nstate[eef_state]: left_x=0.2859 left_y=0.0002 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0594 left_roll=-0.0068 left_gripper=0.9997 right_x=0.5902 right_y=0.1512 right_z=0.0679 right_yaw=0.1133 right_pitch=0.6734 right_roll=0.0619 right_gripper=0.9476\nstate[joint_eff]: [-0.5812, -1.5658, 7.0085, 2.0684, -0.0757, 0.0073, -0.0122, -1.4154, -8.3487, 3.5761, 0.7985, 0.149, -0.4371, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8047, 0.6132, -0.4774, -0.0219, -0.0532, 0.9997, 0.2333, 2.4805, 1.2285, 1.1343, 0.0544, 0.0711, 0.9493]\nstate[eef_state]: left_x=0.2826 left_y=0.0002 left_z=0.1617 left_yaw=0.0063 left_pitch=-0.0888 left_roll=-0.0116 left_gripper=0.9997 right_x=0.5921 right_y=0.1345 right_z=0.0316 right_yaw=0.1284 right_pitch=0.463 right_roll=0.0873 right_gripper=0.9493\nstate[joint_eff]: [-0.2803, -1.3333, 7.0496, 1.7607, -0.0513, 0.0269, -0.0122, -0.9231, -10.0581, 5.1487, 1.4579, 0.2418, -0.1783, 0.0024]",
      "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, 0.8078, 0.6132, -0.4801, -0.0223, -0.057, 0.9997, 0.2268, 2.4886, 1.2526, 1.1347, 0.0338, 0.0589, 0.6857]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1604 left_yaw=0.0088 left_pitch=-0.0945 left_roll=-0.0142 left_gripper=0.9997 right_x=0.5974 right_y=0.1354 right_z=0.0361 right_yaw=0.1479 right_pitch=0.4797 right_roll=0.0779 right_gripper=0.6857\nstate[joint_eff]: [-0.0889, -1.4017, 6.9538, 1.7021, -0.0757, -0.0073, -0.0122, -0.9915, -10.0991, 4.9162, 1.4237, 0.2369, -0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b2f4f25efad14c059a94bb5439cccf49cbdbf1ed662d7d1d234e0b60967969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677e43adce70b1718bab883b2fcd879a574e6bd3c5e239ba87f7ab2fb5e4a05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b3ce3be4d8163ca5e6506c10c275f0fadc7e79aed93b7fb8618ae551e529833",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_023b23d1a208d83f016ab46f20706c87d0ad37621a8b5602d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.56,\"right_y\":0.11,\"right_z\":0.17,\"right_pitch\":0.1},\"note\":\"The safe shifted during closure, and the ball is still ahead of the fingers; the jaws caught the safe’s edge instead. I’m releasing and lifting clear to avoid pushing either item farther away.\"}",
  "call_id": "call_mwpiQZQyeQuCTkp9iz7VGqA1",
  "id": "fc_023b23d1a208d83f016ab46f29a50087d09ed5f7855f6194f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mwpiQZQyeQuCTkp9iz7VGqA1",
  "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]: [-0.0257, 0.8097, 0.6132, -0.4946, -0.0219, -0.057, 0.9997, 0.1898, 1.9656, 1.338, 0.1413, -0.0139, 0.0525, 0.9986]\nstate[eef_state]: left_x=0.2802 left_y=0.0002 left_z=0.1571 left_yaw=0.0085 left_pitch=-0.1109 left_roll=-0.0139 left_gripper=0.9997 right_x=0.5619 right_y=0.1141 right_z=0.1453 right_yaw=0.1631 right_pitch=0.095 right_roll=0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.4154, 6.9538, 1.8046, -0.0366, -0.022, -0.0171, -0.6222, -13.8051, 9.1009, 2.0879, -0.0562, 0.1099, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a053f603502455f7b6d84fe928a8bd3af0950600b063d04d834cd49f43307fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0b4d9a0d4bac22e39373b19534c67964d3086913e296cda57057056d8eb6fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443e9b97551069268dcbcd86b0c42caf88789bf19e0aa6628b7804a28545a0a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.549 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8028, 0.6132, -0.4656, -0.0219, -0.0498, 0.9997, 0.2798, 2.3817, 1.0393, 1.1698, 0.12, 0.0647, 0.9492]\nstate[eef_state]: left_x=0.2843 left_y=0.0001 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.0751 left_roll=-0.0094 left_gripper=0.9997 right_x=0.5502 right_y=0.1398 right_z=0.0269 right_yaw=0.1216 right_pitch=0.4101 right_roll=0.0619 right_gripper=0.9492\nstate[joint_eff]: [-0.1983, -1.3744, 7.3094, 1.7509, -0.0366, -0.0122, -0.0122, -0.7179, -12.1641, 3.535, 1.58, 0.0269, 0.0415, 0.1441]\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, 0.8078, 0.6132, -0.4801, -0.0223, -0.057, 0.9997, 0.2268, 2.4886, 1.2526, 1.1347, 0.0338, 0.0589, 0.6857]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1604 left_yaw=0.0088 left_pitch=-0.0945 left_roll=-0.0142 left_gripper=0.9997 right_x=0.5974 right_y=0.1354 right_z=0.0361 right_yaw=0.1479 right_pitch=0.4797 right_roll=0.0779 right_gripper=0.6857\nstate[joint_eff]: [-0.0889, -1.4017, 6.9538, 1.7021, -0.0757, -0.0073, -0.0122, -0.9915, -10.0991, 4.9162, 1.4237, 0.2369, -0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6132, -0.4946, -0.0219, -0.057, 0.9997, 0.1898, 1.9656, 1.338, 0.1413, -0.0139, 0.0525, 0.9986]\nstate[eef_state]: left_x=0.2802 left_y=0.0002 left_z=0.1571 left_yaw=0.0085 left_pitch=-0.1109 left_roll=-0.0139 left_gripper=0.9997 right_x=0.5619 right_y=0.1141 right_z=0.1453 right_yaw=0.1631 right_pitch=0.095 right_roll=0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.4154, 6.9538, 1.8046, -0.0366, -0.022, -0.0171, -0.6222, -13.8051, 9.1009, 2.0879, -0.0562, 0.1099, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a053f603502455f7b6d84fe928a8bd3af0950600b063d04d834cd49f43307fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0b4d9a0d4bac22e39373b19534c67964d3086913e296cda57057056d8eb6fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443e9b97551069268dcbcd86b0c42caf88789bf19e0aa6628b7804a28545a0a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_023b23d1a208d83f016ab46f2d5ddc87d09d02480b24908db3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8530LTCXkD1AF8YBk2_z6XvczX_G7DgoJIPi8p35aLo9fFt3J6WMoQSTOuY4cFnIfKFjp-w3YS8SXzf9kipDKqTCBD3uDVI54MlBGViW5aukHPfVFOF6v3gAIx_uZvK0Gkyg-uZiFvVBhruFU4aPcnqC47c1JCBW7yjbybItPS-1mKOtTRQzHoWeBQgJHJOemDz5EAwAKdyy1lqBDy3ewDFAHnQx-8CuBiU9-3zTVRWH1-ruxU94Zl-JvsxKFjPyDFEpCt9wguvjCy--cYo1QEvoxkAD-9sCkmxUUbneeIuaJvy2AnSffsdxoM7iuxigHc6X98ARRXZEPkz8kW1cSEEbpy1ZScp7tjiNXXw8eU-Sk-Ec7bp7IfrZwi4utlRf7TkyRtsTh5DUkkdJOwQGrs-t-D0emQnh0ZTgsSCx6uKUnvohPQmAgW08Fumu5RdTmOzhtIbHSaDvOW93iUxw15xm334MLofdLgKfyJCJSe7qiXr4_F79zhxZyB17qKFp_w12SeT_BIe_8yVCrzFHuRRnn44Ik0dF78onAaX7JoYZV2MK06IyCATSFXMkEjJZeHd6GzYh9DFBK_KnkQyLGmwKYDJF7rRMOm349qZ2qIucLKlGbquQOTfhzqSihVQ7S0UppOUI9LEj11WYfDBwAwHj_5W_-eh8h5SsmK4Hf1btdl4pWRGZF53DUIW7MMhqVp7bGug5K5AArGv4UQ0YukBk11KwQYyZiUvpMNJp01kZs23RVvTztmSF7YkUuHZ1pUQg2U1Jg0DBC1SSptaeqovZfq8Og8a7ASqU8Zg2PwLNvMnpXXGbHkdvbCQDzKlbTr0Gd1E-MRXC6reww3-9sWZhdcGHSk_bSwo7iHtI4tG_OjP2hmkGuxehwMunj4HKtdeXMRSnBzd27IftYBZb9jw8rgeJRZGqskg4oFFTR4_u2v8tbFvASh1_oSluhzWE5sIjnr-7YbfJRwV_zXZanHCTpeqXpqxTIQUnlgdmzRstozIsHV3kc-MYOdq5zIn58Ezj2V_PT04e3Pk9kQCMwc4qZ0xyJFdhaA8MYBhChxAqbOc7zgL-BvQbBDAv4JX53cSIkOsq4fbA9cIeC3F8V79o9Z7qxOlCQeVVOeRI-JNGcO3ojeaytKOI6LDhMugQwVphSUnpIlMp9asTEYllOMJoaGnVdbsi3z1MtmWisM06GXQJKi20aqshdTBi5DfdwTaraAsdMUAILeZat6igCINozTZyeTMrtJGLsQmQkF8OdWyH06B8J1jubmDYwsQR3CdLH_3EpGDsF-ot1_54Fh9Y672nHcVHxBCgt88bsdpylC_IObbDjZl6dc0FqPKerc-xuYOqnjbkr4Tez4dmC0YGhFb-COdEPxJUfqvi5UIIkgLLZSuUuw0zbFLjx2EKx7aX1xYBA1YtJyXx3hQPs0mLXSPUFV3GqSFX-H2AxPRTYNhXq7Ox49olq5xC3C65lhnD_EA9y9sZzGkhwrZUpTN5O0cnxdcGjt07DY8qs4V7t_o3DfNMmQHZPohTLu9GusiyNpCsyXuorNCCYD5AHsvg==",
  "id": "rs_023b23d1a208d83f016ab46f36be0487d0b9ab106db1869db6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.095,\"right_z\":0.025,\"right_pitch\":0.6,\"right_yaw\":0,\"right_roll\":0,\"right_gripper\":0.8},\"note\":\"The ball is still near the reach boundary, with the safe immediately to its left. I’m making one final approach from farther right so the left finger clears the safe’s rim.\"}",
  "call_id": "call_Lg2hDA6lnBZsvVHFbzOPiLDS",
  "id": "fc_023b23d1a208d83f016ab46f384aa487d0aa9106e938cbf8b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lg2hDA6lnBZsvVHFbzOPiLDS",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6132, -0.5106, -0.0223, -0.057, 0.9997, 0.2092, 2.5458, 1.2755, 1.3727, 0.178, 0.0227, 0.8011]\nstate[eef_state]: left_x=0.2777 left_y=0.0004 left_z=0.1541 left_yaw=0.0089 left_pitch=-0.1269 left_roll=-0.0131 left_gripper=0.9997 right_x=0.6037 right_y=0.0999 right_z=0.0692 right_yaw=-0.0106 right_pitch=0.6822 right_roll=0.0708 right_gripper=0.8011\nstate[joint_eff]: [-0.3487, -1.2376, 6.9265, 1.7607, -0.0513, -0.0317, -0.0122, 0.2256, -8.6496, 3.9179, 0.6276, 0.1832, -0.4225, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f6d8592048bc82c1bbb480073a9bc0abaed5d089f95040d7a6be505ce956a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1638afecc2b9d92e5abec82e3110cc6dfad710ff031fcc4dda715d98a031133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c526b0667b4085a9e38f1471fde215abfa9d414f1d222920cb9e4c7b81127c6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.657 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 59 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, 0.8047, 0.6132, -0.4774, -0.0219, -0.0532, 0.9997, 0.2333, 2.4805, 1.2285, 1.1343, 0.0544, 0.0711, 0.9493]\nstate[eef_state]: left_x=0.2826 left_y=0.0002 left_z=0.1617 left_yaw=0.0063 left_pitch=-0.0888 left_roll=-0.0116 left_gripper=0.9997 right_x=0.5921 right_y=0.1345 right_z=0.0316 right_yaw=0.1284 right_pitch=0.463 right_roll=0.0873 right_gripper=0.9493\nstate[joint_eff]: [-0.2803, -1.3333, 7.0496, 1.7607, -0.0513, 0.0269, -0.0122, -0.9231, -10.0581, 5.1487, 1.4579, 0.2418, -0.1783, 0.0024]",
      "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, 0.8097, 0.6132, -0.4946, -0.0219, -0.057, 0.9997, 0.1898, 1.9656, 1.338, 0.1413, -0.0139, 0.0525, 0.9986]\nstate[eef_state]: left_x=0.2802 left_y=0.0002 left_z=0.1571 left_yaw=0.0085 left_pitch=-0.1109 left_roll=-0.0139 left_gripper=0.9997 right_x=0.5619 right_y=0.1141 right_z=0.1453 right_yaw=0.1631 right_pitch=0.095 right_roll=0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.4154, 6.9538, 1.8046, -0.0366, -0.022, -0.0171, -0.6222, -13.8051, 9.1009, 2.0879, -0.0562, 0.1099, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6132, -0.5106, -0.0223, -0.057, 0.9997, 0.2092, 2.5458, 1.2755, 1.3727, 0.178, 0.0227, 0.8011]\nstate[eef_state]: left_x=0.2777 left_y=0.0004 left_z=0.1541 left_yaw=0.0089 left_pitch=-0.1269 left_roll=-0.0131 left_gripper=0.9997 right_x=0.6037 right_y=0.0999 right_z=0.0692 right_yaw=-0.0106 right_pitch=0.6822 right_roll=0.0708 right_gripper=0.8011\nstate[joint_eff]: [-0.3487, -1.2376, 6.9265, 1.7607, -0.0513, -0.0317, -0.0122, 0.2256, -8.6496, 3.9179, 0.6276, 0.1832, -0.4225, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f6d8592048bc82c1bbb480073a9bc0abaed5d089f95040d7a6be505ce956a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1638afecc2b9d92e5abec82e3110cc6dfad710ff031fcc4dda715d98a031133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c526b0667b4085a9e38f1471fde215abfa9d414f1d222920cb9e4c7b81127c6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8-XoDyb2DOPMOX96DnY3X78xoLylMQWm8yZiuLTEV9NPRt8yGZQHPHkpbEK3JGr9gykoU507yjLvswQcdSSlPQ912lM2WqxXfnMrIUybjLcxzoloE66ABG7lEHEyWi29-lw6rhgjumXOg4lCrkkCFxNGJxAKesdx_pUjF8Bf1CTT2Q4IoZWjRJOZvVRQ-J9fOo5jg08FtL_GvBrTPcsghtCgx59Hn3PHzq1ya5BHWq3cfXTpE8fpQZfkuuPROp0wgQkEDDkg7yGRX9jb9qNh1WGZRjqBuZfOhBW7CBVYpOCv3BD-LB4Jx3U0rXuU7X2x0Q57vhwPpyHyngTkH1HljOBXOqvpNoHbRRwKVkVh0u5tuNMM_K1e10UTBISDEwNuMYig3SJ7qtsUUiaehL3Yhn6fjOFuZRZ--YClt2_FJoaT2AeZMZbgttZPvilxQRDZE2OlZ-z-JaMeuBdRqNWEv8-IDUNMIwmDvcxrwCf5LCrpdy0Gctt8AhHWzNerLvVb2w-jbQ30Q_yo014SVx4PbEUjzduNBXS0tgvEAOyBRVYtULBR5b_Tkzt2_kj9QZora1cQsjrbxlGsmgP4ics2HSumF-sUqQmsrvWnjPkWf4AHOEtgKL9y2vNzeAaObWR7-J7vBx4ZGP9XY915WXXlpKsKZhoeWHLGmRy3O1JDVcktM8O0FG6M2pNb1Rb79wb4iKEAwIAUu0fnUq18vVltG5OKIpE39Bh9whQDlikOw1ZBv2a_jvjWWuKTMnY_lvHzRoriTCHFwUav2INlU_hvh7Kn7NfVFeGmWhfYLA9rVnVIb5O-wa9S5nTmDf_pfqYHPihGuRA-tztb_56_Dh1bgj9dwXQr1XJpa7s7dZ2c-RfFOwdeCVLwHYmWyRrdAVf8Ho55JPi5cKGhNPUZjGy5SxXDX9O4hBiUwpPQC16u86NpRkGdbW3-enfDKlPFHB4J69nm9yzI5SS2Va0c7M9JvjWIwXsmxPe4PlUNZKXHg10EoADG_NN-JCijH9dHIi_PZjNKuZ3ZtUbvFkTMUjtmp8OFzNAjZpyIvaxjzEh-2zm_ir1r4c2u6gDX9im1z_GZaPv8GCm0ZbtsaUTSYh66ht_9keZ7CA0gUhMiiK53eteiy4QWSlHtVX-8agLMaxXhrgBgFXC0UHntQfXmkh80tSux3sC3MlA1yL-iXSZY8bc1GBdwnp_F7m0FmWUSNmx9q9YoOxwGoXJ_JFz42kYCvIM3bnrruEMl7N2CxwXItx-_fbVXwBDrX7Q8HZ_OMU1XV9QaqTQ6Wq51KARJDZ34a6AuKzwiMjzFULJXH4B5gUnhULg88_0HjdAVWVI3gEmA3wHkNp44b6uqWkfHI-vZIDZI7-7MUJCcuPmu-PPyqv99_6aQins8unuy-UEEjBylcqj5Yzxhqc_epyUxWDxW3F_FnaKv2IE520Zfqo2z8WOHJ9tV2LgnzQeqZ47QruNu-rYyXm4MapbCaOXSyUpkFA9w==",
  "id": "rs_023b23d1a208d83f016ab46f3c858087d0975464cb26a750af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.12,\"right_z\":0.005,\"right_pitch\":0.43},\"note\":\"The ball is now alongside the left finger, with clearance from the safe visible. I’m centering over it and lowering the fingertips before closing.\"}",
  "call_id": "call_YOYwm3Pjyc1rbLiqNfw1iIib",
  "id": "fc_023b23d1a208d83f016ab46f3dc32087d0a8bc98522b5d9e59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YOYwm3Pjyc1rbLiqNfw1iIib",
  "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, 0.8124, 0.6132, -0.5182, -0.0219, -0.0574, 0.9997, 0.2432, 2.5317, 1.2984, 1.2663, 0.2131, 0.0948, 0.8013]\nstate[eef_state]: left_x=0.2765 left_y=0.0003 left_z=0.152 left_yaw=0.0088 left_pitch=-0.1373 left_roll=-0.0133 left_gripper=0.9997 right_x=0.607 right_y=0.1158 right_z=0.0602 right_yaw=-0.0496 right_pitch=0.6101 right_roll=0.1416 right_gripper=0.8013\nstate[joint_eff]: [-0.1983, -1.306, 7.2547, 1.6581, -0.0269, -0.0415, -0.0122, 0.9504, -10.865, 4.465, 0.569, -0.022, -0.1783, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:878fbd1d4b158a469acb54ccdf452dfcab2cd396eb1a1451bd9a838a0afe2824",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:459fab2d9f3f1373ed59531983058dd5698851e683f457bd466b3ab5605b0077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89908d5b5f954c2ba4bacac397ee006b46a3051e49c9356feaa8a5ee8d997266",
      "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 · 3.93 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 59 changed as sent

message 63 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, 0.8078, 0.6132, -0.4801, -0.0223, -0.057, 0.9997, 0.2268, 2.4886, 1.2526, 1.1347, 0.0338, 0.0589, 0.6857]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1604 left_yaw=0.0088 left_pitch=-0.0945 left_roll=-0.0142 left_gripper=0.9997 right_x=0.5974 right_y=0.1354 right_z=0.0361 right_yaw=0.1479 right_pitch=0.4797 right_roll=0.0779 right_gripper=0.6857\nstate[joint_eff]: [-0.0889, -1.4017, 6.9538, 1.7021, -0.0757, -0.0073, -0.0122, -0.9915, -10.0991, 4.9162, 1.4237, 0.2369, -0.0904, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8097, 0.6132, -0.5106, -0.0223, -0.057, 0.9997, 0.2092, 2.5458, 1.2755, 1.3727, 0.178, 0.0227, 0.8011]\nstate[eef_state]: left_x=0.2777 left_y=0.0004 left_z=0.1541 left_yaw=0.0089 left_pitch=-0.1269 left_roll=-0.0131 left_gripper=0.9997 right_x=0.6037 right_y=0.0999 right_z=0.0692 right_yaw=-0.0106 right_pitch=0.6822 right_roll=0.0708 right_gripper=0.8011\nstate[joint_eff]: [-0.3487, -1.2376, 6.9265, 1.7607, -0.0513, -0.0317, -0.0122, 0.2256, -8.6496, 3.9179, 0.6276, 0.1832, -0.4225, 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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8124, 0.6132, -0.5182, -0.0219, -0.0574, 0.9997, 0.2432, 2.5317, 1.2984, 1.2663, 0.2131, 0.0948, 0.8013]\nstate[eef_state]: left_x=0.2765 left_y=0.0003 left_z=0.152 left_yaw=0.0088 left_pitch=-0.1373 left_roll=-0.0133 left_gripper=0.9997 right_x=0.607 right_y=0.1158 right_z=0.0602 right_yaw=-0.0496 right_pitch=0.6101 right_roll=0.1416 right_gripper=0.8013\nstate[joint_eff]: [-0.1983, -1.306, 7.2547, 1.6581, -0.0269, -0.0415, -0.0122, 0.9504, -10.865, 4.465, 0.569, -0.022, -0.1783, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:878fbd1d4b158a469acb54ccdf452dfcab2cd396eb1a1451bd9a838a0afe2824",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:459fab2d9f3f1373ed59531983058dd5698851e683f457bd466b3ab5605b0077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89908d5b5f954c2ba4bacac397ee006b46a3051e49c9356feaa8a5ee8d997266",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9CroBpji4IejuuEqS_pxYLs0hSS3HfK52hjcJZJQuTD_8pZ2GQLrnNL_XV29z85U52GTJNaYG7mHWqa6-JAh3AAec11NKffCm6AeGHcP4yOHuknWcncZcyNNObuodykRhH4ujX1kp6vQEebxTeTmRKsTf2Wrcb39ivAGHFB9H4YW7Hvx3dTGE8rjnLHPkEA08uOimVlIeG8LYsx-qBaXvbckJu3uwsCkm84ygM2yD77fUnMtSxjeg--1Cc2P70Fo-yJudlzjkXXaJjf2U4CA5GHrWErh0hl3c0Tod2xPfxLUK8_X9PC6HPmehUAaUc_JWXAT1M6UMqb8WLFS6sK0rPgkMbWNYHry5pdZyYeuVCIHW5p1oEu0HPr9lwNTn0wzY0UEpVfENtvRC8MJ3ID2fDPScyRE-uoA6GjhNE1X2G88JzzpfVuujtz6EB8-KIz4DabeY2ml5TlpTNTl2uonWNQNCLvddxe2HNIWHodcE-5bLfRYWYtuDtvG3D11VG4yIn5dXT6eYqRIYTcZqwif8ppCCBM7cVQqcOhl9CWsmLqyQ0l8bqm9xkM1-eZxS8uRJG7plpRh6kf0rMV0q3kR9LhlAWRzZMMtNQh-_XFQYT69hnnUtQzEvDQdvF7KaB57aJoW2_VEUZhk2ri2qOpLN6wnAqRXW80gZTXxRoocGdwUihNv-tbvnDkNSZO-uaeDyxnVanlsHGwEvh45_cew6X_mrm-J1rN8lwh7UfhswPAdtg1VO2Zedt99P5iyQXCVMX1QdwASRmTmc6XUfNqK-Q6taRudz_eRuwq1Xj4Xk8axIDEa5mY_V3W2wLkhMpa-AVvvblk4DkhQtablcLrYYT0MWbuXjaNxBUL-1RYM1eU7umRffbT_14z8D_EZC86ztvO5KgSC_Fr4wjuSXc0dgcC4HFJ1n8kZsLzrFpEfyejSLaD2-2dE-D6OLEdIrDZuB_r29d28rNViXNv10YnDjjTFds6l5wZqLAjDegfh9BZbUOzLmm_5wu-Y1jshVU3rgCVSrEf6bmQIsIQ1JdeSXP260BckKz1EYX2R-ivVUy9YMtFu18fIPv0WwnBcog2q0zSYcoyMDVcioo-JFmYIAx8elWcvEBICKH7fHZR5auTA-yYmm0t18qPx35EuEc5R0_jGwhQZ_KQHEibPPwF1D2c5phKHACZBEAnBQ5eIvr5U4pEDwKUJcY_XNrr6PDqrbruW-Jrr6LLKzTbOYKZEsmPqveqjOhFZUrTMV5W_JYX6XwGpTrJAEwn3xHCKgdUDQR",
  "id": "rs_023b23d1a208d83f016ab46f40e8a087d09d605c488d56b3d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The ball is centered between the finger tips without the safe’s rim in the opening. I’m closing around it and will check whether it lifts.\"}",
  "call_id": "call_miTGtp8Jyv9sOSuDngJqNaPf",
  "id": "fc_023b23d1a208d83f016ab46f41533087d0a28d1334074c71f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_miTGtp8Jyv9sOSuDngJqNaPf",
  "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, 0.8139, 0.6132, -0.5251, -0.0219, -0.0574, 0.9997, 0.2478, 2.4989, 1.2667, 1.2583, 0.21, 0.1043, 0.0127]\nstate[eef_state]: left_x=0.2755 left_y=0.0004 left_z=0.1503 left_yaw=0.0089 left_pitch=-0.1456 left_roll=-0.013 left_gripper=0.9997 right_x=0.6018 right_y=0.118 right_z=0.0657 right_yaw=-0.0468 right_pitch=0.6028 right_roll=0.1506 right_gripper=0.0127\nstate[joint_eff]: [-0.1573, -1.388, 7.1726, 1.663, -0.0562, -0.0269, -0.0122, -0.1299, -11.9453, 4.2188, 1.9951, 0.0611, -0.0659, 0.8767]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f80194c51a515ffc748a7a1f07caa9b5c098cae4d3623d98242d5ec61791b308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af12f0c777bbb9a71150b6b2da42df1fe33a35c098060d0f4eeea106cb8c4e45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5513a88712045c2588057e5833dd5ff5cb43dfee1fffff182b59d06ee17699f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.204 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 63 changed as sent

message 67 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, 0.8097, 0.6132, -0.4946, -0.0219, -0.057, 0.9997, 0.1898, 1.9656, 1.338, 0.1413, -0.0139, 0.0525, 0.9986]\nstate[eef_state]: left_x=0.2802 left_y=0.0002 left_z=0.1571 left_yaw=0.0085 left_pitch=-0.1109 left_roll=-0.0139 left_gripper=0.9997 right_x=0.5619 right_y=0.1141 right_z=0.1453 right_yaw=0.1631 right_pitch=0.095 right_roll=0.0648 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.4154, 6.9538, 1.8046, -0.0366, -0.022, -0.0171, -0.6222, -13.8051, 9.1009, 2.0879, -0.0562, 0.1099, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8124, 0.6132, -0.5182, -0.0219, -0.0574, 0.9997, 0.2432, 2.5317, 1.2984, 1.2663, 0.2131, 0.0948, 0.8013]\nstate[eef_state]: left_x=0.2765 left_y=0.0003 left_z=0.152 left_yaw=0.0088 left_pitch=-0.1373 left_roll=-0.0133 left_gripper=0.9997 right_x=0.607 right_y=0.1158 right_z=0.0602 right_yaw=-0.0496 right_pitch=0.6101 right_roll=0.1416 right_gripper=0.8013\nstate[joint_eff]: [-0.1983, -1.306, 7.2547, 1.6581, -0.0269, -0.0415, -0.0122, 0.9504, -10.865, 4.465, 0.569, -0.022, -0.1783, 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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8139, 0.6132, -0.5251, -0.0219, -0.0574, 0.9997, 0.2478, 2.4989, 1.2667, 1.2583, 0.21, 0.1043, 0.0127]\nstate[eef_state]: left_x=0.2755 left_y=0.0004 left_z=0.1503 left_yaw=0.0089 left_pitch=-0.1456 left_roll=-0.013 left_gripper=0.9997 right_x=0.6018 right_y=0.118 right_z=0.0657 right_yaw=-0.0468 right_pitch=0.6028 right_roll=0.1506 right_gripper=0.0127\nstate[joint_eff]: [-0.1573, -1.388, 7.1726, 1.663, -0.0562, -0.0269, -0.0122, -0.1299, -11.9453, 4.2188, 1.9951, 0.0611, -0.0659, 0.8767]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f80194c51a515ffc748a7a1f07caa9b5c098cae4d3623d98242d5ec61791b308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af12f0c777bbb9a71150b6b2da42df1fe33a35c098060d0f4eeea106cb8c4e45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5513a88712045c2588057e5833dd5ff5cb43dfee1fffff182b59d06ee17699f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9GbkMNcs7bkTV4S7OOh4rCF6h9I4CP3mpOye9S3_RSc6AH3OR5q6cDsZXRRv5fnxG7uesSVBQOeWDoJ3k6WZ2upMMejP9VOMiYif4RQdhNSfNPJToNTkLvPLkHhrEkCvwFrggIlsmDK3QdyUlY0TwFX2IxSx0eIzkDy4lv6rHSLs98iMquXpGvTFjueH3MVgMcvQntXZaMQPnybKi5ZKj6CzCwnjF_aPLCMJIYhL_QNYbzXrTyDGV5JNK5AOdtUGTjzrjnX35UAWjPKPYQdcZjIEjOGoSkjhSK5ikfjuWmNOeqBm_CDxSiyLxiHFaf2iJJ_83FacVhj0uEqkN5B3lVLxCNhansouPVvzh8nz0WsRyfN8FWWOBiQAn-uskZGNDC75sZASkPj6LsbSaEZRA3Wsshe2Oxc4RVfdujJy1NqcWNnrQxYkePoSIXdm5Q9toi3aq6tDEfT7Z6elw8GC9aFV-FCc9ZZyKNHmsFkGGmPRnI4JhJBC1T8vQlvIKSpxf_lUdZw38nJqhH7e0zsb3r8qh_SFbfLQDGxlLhUXuq8Epb6fJl15aVp25Lp6l7sVvRTn0GWc-llDWUBrZW4vhb5u5jlwgNVk3psfp8_aAeS5YfdfKPeCbjpDRMz6Ek8pbiyhrsbmkA9wPWaAFxTny7HRnEKN7RQ_LuisPj11J50P4SsYrHGp6GpawvlsTojotebzwjlEV58tqmvtoOZ1PY3IjgHmR5OzpGorNdCXnxMkUI_aIyfFhMupBulpZ2psFWp4_E_gPDmX5_amrwzYCE60trKcKU29-ApzNz8QNHVTDOnKBA1dbu2v2lFY89YZ-tIZAfg6ODPIcpGk7dJi62FtX9A_N5qi16Nl_q1Lzx95dfehX355TxNuoHPNdue7hMJ6dY4aEyDcSWZPvO7OgeCluVtjUlDGZ9LPymsmzvxYreB4Rs3wIIAxrXElzI0ncdpLOOWwfzDTrwzoiWxKPNV7YTzQJkDlpcaX_mZqsdQKHemCyFdRZG72zET-EpEr1rk4kWxKvH0cfSf259ZEDEh90w2NEspfTJU5CwbSYzil0jwEJz_Gcrjih7U56x5aBeRNyMYt9oSQfMRYdU1vi4K3S47vucUQ06plY0C-Q4FGjBCBpEZqEmJRe9zCZ1c5JxP_6SM7767CXiGG28TN5qr34NrbkIODHQSKUdNKjwHSRfb9i2NOYS54pD_oyGe0SoPmYuogbjCFkgsTQlr_9-ntSEhYMddJjIMpzSTArLms1r63bq7A9ql2WgVDj_L4LVSKb0KU-r0wfkBhvC3c_0qpVSc37MnGSUGx41YeW8cGgK9bE1MPlF1Ncz6Un0HgE3e_AH8E3DlQwNnrxCnp5BCtV1zbz6PILqjfmzxOgDWXDdkLXwyUXAc30BwjcbqNDtABmlTJxuhFNTofuPKTZyTBjFNHtiNP16dXAa4wEFVhZmw4FTDT0bHnFB8O5raTlAE2CVef7cEJuSKMzP8MEAt4Orzt92glj4cIvusURMT4xgg3tPfm7l3aP8SDJIEDqGBh3DOZBSHHUYvqC-eauzdfhyEWQ0VMFbg8tCjeVNBK8=",
  "id": "rs_023b23d1a208d83f016ab46f446fac87d0ac0308a71e03d03e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.07,\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The gripper closed empty again. The ball is beyond the fingertips at maximum forward reach, and the arm cannot lower enough there, so I’m lifting clear rather than pushing it farther away.\"}",
  "call_id": "call_X6Qpyqte8S9hSWmDXkZWd1kZ",
  "id": "fc_023b23d1a208d83f016ab46f45452087d095fd1971badc4d80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X6Qpyqte8S9hSWmDXkZWd1kZ",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8047, 0.6132, -0.453, -0.0223, -0.0566, 0.9997, 0.2066, 1.6077, 1.1744, -0.168, 0.1677, 0.094, 0.9975]\nstate[eef_state]: left_x=0.2863 left_y=0.0002 left_z=0.1665 left_yaw=0.0085 left_pitch=-0.0644 left_roll=-0.015 left_gripper=0.9997 right_x=0.474 right_y=0.0729 right_z=0.1894 right_yaw=0.0058 right_pitch=-0.0092 right_roll=-0.0059 right_gripper=0.9975\nstate[joint_eff]: [-0.2803, -2.2496, 6.9128, 2.0537, -0.105, 0.1001, -0.0122, -0.5402, -9.853, 9.9624, 1.8095, 0.0171, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab7b2a4b7dfaadecac7ee4841499869b98292f7fef65632fd81b8a196468139",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3970cd2ab58be259de15ed3874a2898e071f9d8e69dc0ce3fd41f0e05fae2e18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98d912efce6da9de8c0ab399bbdd8c1a81a3b6bb6db33a046614a89606833afe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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