adhoc

completed
2026-09-24T00:36:59.982647+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
249.8 s
total steps
404
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 small cream plush, a brown teddy, and a yellow object outside it. I’m positioning the left gripper above the cream plush for the first pickup.
move_to
left_x0.3200left_y-0.2100left_z0.1600left_gripper1.0000right_x0.2930right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7933, 0.6037, -0.3923, -0.0193, -0.0341, 0.9998, -0.0204, 0.7944, 0.6075, -0.3962, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.293 left_y=0.0015 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2931 right_y=0.0011 right_z=0.1781 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.3197, 10.3043, 1.9853, -0.0611, 0.1587, -0.0317, -0.6359, -1.5385, 9.7026, 1.9121, -0.0366, 0.0269, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.21,"left_z":0.16,"left_gripper":1,"right_x":0.293,"right_y":0.001,"right_z":0.18},"note":"The safe is open, with a small cream plush, a brown teddy, and a yellow object outside it. I’m positioning the left gripper above the cream plush for the first pickup."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe cream plush is visible just left of the jaw centerline. I’m shifting slightly forward and left while lowering the open jaws around its body.
move_to
left_x0.3400left_y-0.1900left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8867, 1.4063, 0.8757, -0.3336, -0.6788, -0.6128, 0.9998, -0.0212, 0.8005, 0.6147, -0.4332, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.312 left_y=-0.2014 left_z=0.1425 left_yaw=-0.0211 left_pitch=-0.053 left_roll=0.0341 left_gripper=0.9998 right_x=0.2892 right_y=0.0009 right_z=0.1722 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.4171, -5.5863, 9.306, 1.4774, -0.6422, -0.0024, -0.0366, -0.1162, -1.7162, 7.0222, 1.9805, -0.0513, -0.0366, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.19,"left_z":0.035},"note":"The cream plush is visible just left of the jaw centerline. I’m shifting slightly forward and left while lowering the open jaws around its body."})
tool
executing move_to over 7 steps (0.7s)
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 jaws are still near the plush’s feet rather than around its torso. I’m advancing a few centimeters to center the grasp on the body, clear of the safe’s rim.
move_to
left_x0.3850left_y-0.1780left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7898, 1.6749, 0.6559, 0.1314, -0.6228, -0.5354, 0.9997, -0.0212, 0.8024, 0.6147, -0.4549, -0.02, -0.0193, 0.9995] state[eef_state]: left_x=0.3304 left_y=-0.1819 left_z=0.0319 left_yaw=-0.0036 left_pitch=-0.1032 left_roll=0.0834 left_gripper=0.9997 right_x=0.2861 right_y=0.0011 right_z=0.1674 right_yaw=-0.0007 right_pitch=-0.0595 right_roll=0.0012 right_gripper=0.9995 state[joint_eff]: [0.6359, -6.8718, 4.9026, 1.6484, -0.2564, 0.0317, -0.022, -0.1026, -1.388, 7.159, 1.9072, -0.0269, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.178,"left_z":0.02},"note":"The jaws are still near the plush’s feet rather than around its torso. I’m advancing a few centimeters to center the grasp on the body, clear of the safe’s rim."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe cream plush’s torso is centered between the open jaws. I’m closing the gripper to secure it before a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6647, 1.8267, 0.7448, 0.2035, -0.5632, -0.4557, 0.9996, -0.0212, 0.8036, 0.6144, -0.4778, -0.0196, -0.0196, 0.9995] state[eef_state]: left_x=0.3713 left_y=-0.1666 left_z=0.0105 left_yaw=0.0351 left_pitch=-0.132 left_roll=0.1045 left_gripper=0.9996 right_x=0.2827 right_y=0.0011 right_z=0.1624 right_yaw=-0.0008 right_pitch=-0.0839 right_roll=0.0012 right_gripper=0.9995 state[joint_eff]: [0.2393, -7.9111, 7.3368, 1.6337, -0.1294, 0.1685, -0.022, -0.212, -1.3197, 6.9949, 1.8681, -0.0269, -0.0464, -0.0073] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cream plush’s torso is centered between the open jaws. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe closed gripper retains a nonzero opening around the plush. I’m lifting it a few centimeters to confirm the grasp, while restoring the idle right arm to its parked height.
move_to
left_z0.0850right_x0.2930right_y0.0010right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6537, 1.8347, 0.7559, 0.2253, -0.5537, -0.4267, 0.137, -0.0212, 0.8043, 0.6144, -0.5003, -0.02, -0.0193, 0.9995] state[eef_state]: left_x=0.3781 left_y=-0.1681 left_z=0.0134 left_yaw=0.0214 left_pitch=-0.1192 left_roll=0.1052 left_gripper=0.137 right_x=0.2792 right_y=0.0012 right_z=0.1579 right_yaw=-0.0006 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.9995 state[joint_eff]: [-0.4855, -7.7744, 7.5009, 1.4969, -0.1148, 0.0611, 0.9792, -0.0342, -1.306, 7.1179, 1.8193, -0.0464, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085,"right_x":0.293,"right_y":0.001,"right_z":0.18,"right_pitch":0},"note":"The closed gripper retains a nonzero opening around the plush. I’m lifting it a few centimeters to confirm the grasp, while restoring the idle right arm to its parked height."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe cream plush rose with the gripper and is held by its lower body. I’m lifting above the safe’s rim before moving it into the red-lined compartment.
move_to
left_z0.1900left_pitch0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6537, 1.6775, 0.8406, -0.0448, -0.5533, -0.4347, 0.1394, -0.0212, 0.8032, 0.6144, -0.49, -0.0204, -0.0196, 0.9995] state[eef_state]: left_x=0.3737 left_y=-0.1648 left_z=0.0628 left_yaw=0.0278 left_pitch=-0.1408 left_roll=0.1168 left_gripper=0.1394 right_x=0.2808 right_y=0.0012 right_z=0.1602 right_yaw=-0.0001 right_pitch=-0.0957 right_roll=0.0019 right_gripper=0.9995 state[joint_eff]: [-0.2667, -9.2376, 8.6359, 1.619, -0.315, 0.0464, 0.5836, -0.294, -1.9077, 7.0359, 2.5177, -0.0611, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19,"left_pitch":0.08},"note":"The cream plush rose with the gripper and is held by its lower body. I’m lifting above the safe’s rim before moving it into the red-lined compartment."})
tool
executing move_to over 9 steps (0.9s)
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 plush is now clear of the rim. I’m carrying it over the left half of the safe, leaving room for the other objects.
move_to
left_x0.4450left_y-0.3050left_z0.2050left_pitch0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6975, 1.4651, 0.9203, -0.2127, -0.6571, -0.3866, 0.1426, -0.0212, 0.8051, 0.6125, -0.5079, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.367 left_y=-0.1621 left_z=0.1548 left_yaw=0.0271 left_pitch=-0.0004 left_roll=0.1326 left_gripper=0.1426 right_x=0.2778 right_y=0.0012 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.1175 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [-0.4991, -8.1436, 9.812, 1.7509, -0.4713, 0.2125, 0.7399, -0.1162, -1.388, 7.3504, 1.7656, -0.0513, 0.0024, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.445,"left_y":-0.305,"left_z":0.205,"left_pitch":0.08},"note":"The plush is now clear of the rim. I’m carrying it over the left half of the safe, leaving room for the other objects."})
tool
executing move_to over 13 steps (1.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe cream plush is above the safe’s red interior. I’m lowering it into the compartment before releasing it.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8398, 1.9881, 1.6474, -0.4519, -0.7769, -0.4797, 0.1462, -0.0212, 0.8097, 0.6125, -0.5449, -0.02, -0.0196, 0.9995] state[eef_state]: left_x=0.4391 left_y=-0.2989 left_z=0.1886 left_yaw=0.0193 left_pitch=0.0418 left_roll=0.1376 left_gripper=0.1462 right_x=0.2719 right_y=0.0014 right_z=0.1474 right_yaw=-0.0003 right_pitch=-0.159 right_roll=0.003 right_gripper=0.9995 state[joint_eff]: [-0.5538, -11.0701, 9.4427, 1.2576, -0.6276, 0.149, 0.6813, -0.0752, -1.5795, 6.8855, 1.9219, -0.0366, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The cream plush is above the safe’s red interior. I’m lowering it into the compartment before releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe plush is resting inside the safe. I’m opening the jaws to leave it in place.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8429, 2.1414, 1.354, -0.0555, -0.7708, -0.4801, 0.1465, -0.0212, 0.8116, 0.6125, -0.5682, -0.02, -0.0196, 0.9995] state[eef_state]: left_x=0.4332 left_y=-0.2957 left_z=0.0562 left_yaw=0.0115 left_pitch=0.0055 left_roll=0.1724 left_gripper=0.1465 right_x=0.268 right_y=0.0015 right_z=0.1427 right_yaw=-0.0002 right_pitch=-0.1842 right_roll=0.0035 right_gripper=0.9995 state[joint_eff]: [0.1983, -11.1795, 5.9966, 1.7802, -0.3394, -0.0562, 0.7888, -0.1573, -1.347, 7.1726, 1.7705, -0.0806, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The plush is resting inside the safe. I’m opening the jaws to leave it in place."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe cream plush remains in the red-lined compartment after release. I’m lifting and withdrawing the left arm to clear the safe for the next pickup.
move_to
left_x0.3000left_y-0.0600left_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8429, 2.1654, 1.3415, -0.0559, -0.7792, -0.4896, 0.9955, -0.0212, 0.8116, 0.6125, -0.598, -0.02, -0.0193, 0.9995] state[eef_state]: left_x=0.4301 left_y=-0.2907 left_z=0.0409 left_yaw=0.0222 left_pitch=-0.0128 left_roll=0.1966 left_gripper=0.9955 right_x=0.2629 right_y=0.0016 right_z=0.1375 right_yaw=-0.0003 right_pitch=-0.214 right_roll=0.0044 right_gripper=0.9995 state[joint_eff]: [-0.212, -13.641, 7.0085, 1.3162, -0.2466, 0.0904, -0.1587, -0.2256, -1.1966, 6.8444, 1.8193, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.06,"left_z":0.24},"note":"The cream plush remains in the red-lined compartment after release. I’m lifting and withdrawing the left arm to clear the safe for the next pickup."})
tool
executing move_to over 21 steps (2.1s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe cream plush is fully inside, and the brown teddy remains in front of the safe. I’m bringing the right gripper over the teddy’s torso.
move_to
right_x0.2850right_y0.2250right_z0.1500right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5282, 1.008, 0.9031, -0.6125, -0.5747, -0.2329, 0.9968, -0.0212, 0.8158, 0.6106, -0.6201, -0.02, -0.0193, 0.9995] state[eef_state]: left_x=0.3039 left_y=-0.062 left_z=0.2259 left_yaw=0.0517 left_pitch=-0.0164 left_roll=0.1921 left_gripper=0.9968 right_x=0.2587 right_y=0.0017 right_z=0.132 right_yaw=-0.0001 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9995 state[joint_eff]: [0.1299, -2.7419, 10.2085, 1.6581, -0.0904, 0.1245, 0.1197, -0.0205, -1.1282, 6.9949, 1.7118, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.225,"right_z":0.15,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The cream plush is fully inside, and the brown teddy remains in front of the safe. I’m bringing the right gripper over the teddy’s torso."})
tool
executing move_to over 19 steps (1.9s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe teddy’s torso is centered beneath the right jaw column. I’m moving slightly forward and lowering the jaws around the plush body.
move_to
right_x0.3100right_y0.2250right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0115, 0.9073, -0.6361, -0.5648, -0.2401, 0.997, 0.9993, 1.3937, 0.8471, -0.3969, 0.7311, 0.6724, 0.9996] state[eef_state]: left_x=0.3014 left_y=-0.0626 left_z=0.2222 left_yaw=0.0472 left_pitch=-0.0384 left_roll=0.1931 left_gripper=0.997 right_x=0.2759 right_y=0.2176 right_z=0.1327 right_yaw=0.0407 right_pitch=-0.0648 right_roll=-0.053 right_gripper=0.9996 state[joint_eff]: [0.0889, -2.8376, 6.4068, 1.7021, -0.3834, -0.0024, 0.0122, 0.212, -5.4359, 8.4991, 1.4432, 0.6325, 0.1783, -0.0611] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.225,"right_z":0.035},"note":"The teddy’s torso is centered beneath the right jaw column. I’m moving slightly forward and lowering the jaws around the plush body."})
tool
executing move_to over 7 steps (0.7s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe open jaws now straddle the teddy’s torso. I’m closing them to secure the plush for a test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0119, 0.9073, -0.6422, -0.5644, -0.2405, 0.9971, 0.9188, 1.684, 0.6991, 0.0269, 0.6777, 0.5972, 0.9995] state[eef_state]: left_x=0.3007 left_y=-0.0623 left_z=0.2211 left_yaw=0.0473 left_pitch=-0.0439 left_roll=0.1961 left_gripper=0.9971 right_x=0.3004 right_y=0.2169 right_z=0.0336 right_yaw=0.034 right_pitch=-0.111 right_roll=-0.0973 right_gripper=0.9995 state[joint_eff]: [-0.0479, -2.5641, 6.8581, 1.5263, -0.2662, -0.0611, -0.0073, -0.4444, -6.3111, 4.7658, 1.37, 0.3541, -0.1538, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws now straddle the teddy’s torso. I’m closing them to secure the plush for a test lift."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe gripper closed almost completely, indicating that it missed the teddy’s thicker body. I’m reopening and advancing toward the torso, with a small leftward correction.
move_to
right_gripper1.0000right_x0.3500right_y0.2400right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0126, 0.9073, -0.6529, -0.564, -0.2405, 0.9971, 0.9157, 1.6962, 0.6937, 0.0307, 0.6693, 0.5938, 0.0171] state[eef_state]: left_x=0.2994 left_y=-0.0616 left_z=0.2192 left_yaw=0.0473 left_pitch=-0.0537 left_roll=0.2022 left_gripper=0.9971 right_x=0.2992 right_y=0.2154 right_z=0.0276 right_yaw=0.0369 right_pitch=-0.1253 right_roll=-0.1062 right_gripper=0.0171 state[joint_eff]: [-0.1299, -2.6188, 6.9265, 1.6484, -0.2955, -0.0171, -0.0122, 0.1983, -7.9932, 5.7231, 1.1746, 0.3443, 0.0073, 1.0965] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.35,"right_y":0.24,"right_z":0.025},"note":"The gripper closed almost completely, indicating that it missed the teddy’s thicker body. I’m reopening and advancing toward the torso, with a small leftward correction."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe jaws have advanced onto the teddy’s thicker midsection. I’m attempting the corrected grasp.
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]: [-0.5297, 1.0126, 0.9073, -0.6609, -0.564, -0.2405, 0.9971, 0.8436, 1.845, 0.8646, 0.0257, 0.6258, 0.519, 0.9946] state[eef_state]: left_x=0.2983 left_y=-0.0611 left_z=0.2179 left_yaw=0.0472 left_pitch=-0.0604 left_roll=0.2065 left_gripper=0.9971 right_x=0.3412 right_y=0.2332 right_z=0.0221 right_yaw=0.0358 right_pitch=-0.1451 right_roll=-0.1261 right_gripper=0.9946 state[joint_eff]: [-0.212, -2.3453, 6.735, 1.5556, -0.2173, -0.0171, -0.0122, -0.7043, -6.653, 7.2547, 1.5702, 0.2271, -0.0562, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws have advanced onto the teddy’s thicker midsection. I’m attempting the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe second close was also empty, so I’m not repeating the same approach. I’m lifting away to reveal the teddy in the overhead view and reassess its position.
move_to
right_x0.2800right_y0.0600right_z0.2000right_gripper1.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0126, 0.9073, -0.675, -0.5644, -0.2405, 0.9971, 0.8429, 1.8507, 0.8696, 0.0166, 0.6121, 0.5159, 0.0122] state[eef_state]: left_x=0.2965 left_y=-0.0598 left_z=0.2157 left_yaw=0.0483 left_pitch=-0.0721 left_roll=0.2145 left_gripper=0.9971 right_x=0.3401 right_y=0.2345 right_z=0.0192 right_yaw=0.0448 right_pitch=-0.1603 right_roll=-0.1277 right_gripper=0.0122 state[joint_eff]: [-0.1026, -2.4821, 6.9265, 1.6288, -0.2857, -0.0317, -0.0122, -0.294, -8.9368, 4.8342, 1.3553, 0.3443, 0.0269, 1.1062] approver: 10 step(s) modified (delta_clamped ×10). 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":0.28,"right_y":0.06,"right_z":0.2,"right_gripper":1,"right_pitch":0.1},"note":"The second close was also empty, so I’m not repeating the same approach. I’m lifting away to reveal the teddy in the overhead view and reassess its position."})
tool
executing move_to over 15 steps (1.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe unobstructed overhead view shows the teddy has shifted left and is lying on its side. I’m approaching its central body from higher up, with the gripper farther toward the table center.
move_to
right_x0.3300right_y0.2900right_z0.0650right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6895, -0.564, -0.244, 0.9971, 0.4763, 0.7784, 0.5758, -0.3706, 0.4656, 0.1299, 0.9961] state[eef_state]: left_x=0.2947 left_y=-0.059 left_z=0.2127 left_yaw=0.0503 left_pitch=-0.0862 left_roll=0.221 left_gripper=0.9971 right_x=0.2798 right_y=0.0591 right_z=0.1834 right_yaw=0.0142 right_pitch=0.0724 right_roll=-0.1278 right_gripper=0.9961 state[joint_eff]: [0.0205, -2.6188, 6.7077, 1.663, -0.3053, -0.0024, -0.0122, -0.0752, -0.5265, 9.6342, 1.9805, 0.1392, -0.0562, -0.2222] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.29,"right_z":0.065,"right_pitch":0,"right_roll":0},"note":"The unobstructed overhead view shows the teddy has shifted left and is lying on its side. I’m approaching its central body from higher up, with the gripper farther toward the table center."})
tool
executing move_to over 20 steps (2.0s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe teddy’s body is now directly below the jaw tips, slightly to their right. I’m making a small lateral correction and lowering onto the thick torso.
move_to
right_y0.2750right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6979, -0.564, -0.2474, 0.9971, 0.9897, 1.8278, 0.9382, -0.02, 0.7437, 0.6418, 0.9972] state[eef_state]: left_x=0.2936 left_y=-0.0583 left_z=0.2114 left_yaw=0.0525 left_pitch=-0.0928 left_roll=0.2229 left_gripper=0.9971 right_x=0.3225 right_y=0.2798 right_z=0.057 right_yaw=0.0415 right_pitch=-0.0377 right_roll=-0.0557 right_gripper=0.9972 state[joint_eff]: [-0.0479, -2.5504, 6.735, 1.4921, -0.3004, 0.0171, -0.0122, 0.4444, -8.3077, 7.2684, 1.4481, 0.4274, 0.2271, 0.1099] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.275,"right_z":0.035},"note":"The teddy’s body is now directly below the jaw tips, slightly to their right. I’m making a small lateral correction and lowering onto the thick torso."})
tool
executing move_to over 2 steps (0.2s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe jaws are positioned around the teddy’s lower torso at its current location. I’m closing gently through the commanded grasp and will check the retained opening.
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]: [-0.5297, 1.0153, 0.9073, -0.6983, -0.564, -0.2478, 0.9971, 0.989, 1.8454, 0.9134, 0.0299, 0.7391, 0.6514, 0.9974] state[eef_state]: left_x=0.2935 left_y=-0.0583 left_z=0.2114 left_yaw=0.0527 left_pitch=-0.093 left_roll=0.2228 left_gripper=0.9971 right_x=0.3219 right_y=0.2793 right_z=0.0479 right_yaw=0.0386 right_pitch=-0.036 right_roll=-0.0396 right_gripper=0.9974 state[joint_eff]: [-0.1983, -2.2632, 6.8034, 1.4237, -0.2759, -0.0708, -0.0122, -0.6632, -6.612, 5.012, 1.3309, 0.3541, -0.1343, 0.0024] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are positioned around the teddy’s lower torso at its current location. I’m closing gently through the commanded grasp and will check the retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe gripper has only a small retained opening, but the teddy moved as the jaws closed. I’m making a short lift to determine whether it is securely held.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7048, -0.5636, -0.2478, 0.9971, 0.9871, 1.8606, 0.8928, 0.0204, 0.7277, 0.6411, 0.0392] state[eef_state]: left_x=0.2926 left_y=-0.0578 left_z=0.2104 left_yaw=0.0528 left_pitch=-0.0986 left_roll=0.2261 left_gripper=0.9971 right_x=0.3165 right_y=0.2724 right_z=0.0334 right_yaw=0.0476 right_pitch=-0.0703 right_roll=-0.0794 right_gripper=0.0392 state[joint_eff]: [-0.212, -2.5368, 6.8034, 1.4823, -0.2662, -0.0562, -0.0122, 0.0205, -9.7436, 6.9128, 1.3602, 0.3883, 0.1587, 0.9939] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The gripper has only a small retained opening, but the teddy moved as the jaws closed. I’m making a short lift to determine whether it is securely held."})
tool
executing move_to over 5 steps (0.5s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe teddy did not lift securely; the overhead view shows its main body to the right of the gripper. I’m releasing the small tuft and moving over the center of the body rather than its outstretched limb.
move_to
right_x0.3450right_y0.1650right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7139, -0.5636, -0.2478, 0.9971, 0.9871, 1.7302, 1.0084, -0.2497, 0.7143, 0.6388, 0.0407] state[eef_state]: left_x=0.2913 left_y=-0.0571 left_z=0.209 left_yaw=0.0533 left_pitch=-0.1063 left_roll=0.2312 left_gripper=0.9971 right_x=0.3142 right_y=0.2722 right_z=0.0879 right_yaw=0.0555 right_pitch=-0.0934 right_roll=-0.0941 right_gripper=0.0407 state[joint_eff]: [-0.1846, -2.5094, 6.694, 1.5067, -0.3004, -0.0659, -0.0122, -0.3624, -9.9624, 7.9111, 1.3504, 0.3687, -0.0171, 1.0281] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.165,"right_z":0.05,"right_gripper":1},"note":"The teddy did not lift securely; the overhead view shows its main body to the right of the gripper. I’m releasing the small tuft and moving over the center of the body rather than its outstretched limb."})
tool
executing move_to over 10 steps (1.0s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe teddy’s broad torso is now between the fingertips rather than beside them. I’m closing around this thicker section.
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]: [-0.5297, 1.0153, 0.9073, -0.7197, -0.5636, -0.2478, 0.9971, 0.6762, 1.6192, 0.6426, 0.0849, 0.5282, 0.3679, 0.9947] state[eef_state]: left_x=0.2905 left_y=-0.0566 left_z=0.2081 left_yaw=0.0537 left_pitch=-0.111 left_roll=0.2344 left_gripper=0.9971 right_x=0.3339 right_y=0.1584 right_z=0.0332 right_yaw=0.0263 right_pitch=-0.1606 right_roll=-0.1384 right_gripper=0.9947 state[joint_eff]: [-0.1709, -2.5231, 6.7761, 1.5116, -0.2466, -0.0317, -0.0122, -0.2393, -8.4581, 5.9966, 1.7363, 0.1978, -0.0708, -0.188] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The teddy’s broad torso is now between the fingertips rather than beside them. I’m closing around this thicker section."})
tool
executing move_to over 10 steps (1.0s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe close was empty, and the wrist view now clearly shows the torso behind the fingertip meeting point. I’m backing up slightly and correcting the tool tilt to place the jaws across the body.
move_to
right_x0.3000right_y0.1500right_z0.0400right_gripper1.0000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7204, -0.5636, -0.2478, 0.9971, 0.6739, 1.6138, 0.6319, 0.0795, 0.5076, 0.3592, 0.0121] state[eef_state]: left_x=0.2904 left_y=-0.0565 left_z=0.208 left_yaw=0.0537 left_pitch=-0.1117 left_roll=0.2348 left_gripper=0.9971 right_x=0.3299 right_y=0.1582 right_z=0.0293 right_yaw=0.0428 right_pitch=-0.1794 right_roll=-0.1382 right_gripper=0.0121 state[joint_eff]: [-0.1709, -2.5094, 6.8581, 1.4237, -0.2613, -0.0122, -0.0122, 0.0479, -5.9556, 6.188, 1.3993, 0.3932, 0.0708, 1.1013] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.15,"right_z":0.04,"right_gripper":1,"right_pitch":0.15},"note":"The close was empty, and the wrist view now clearly shows the torso behind the fingertip meeting point. I’m backing up slightly and correcting the tool tilt to place the jaws across the body."})
tool
executing move_to over 11 steps (1.1s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
assistant
agent noteThe corrected approach places the plush body across the open jaw gap. I’m closing at this position.
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]: [-0.5297, 1.0195, 0.9073, -0.7387, -0.5636, -0.2478, 0.9971, 0.8169, 1.6028, 0.3122, 0.6159, 0.7258, 0.3058, 0.9948] state[eef_state]: left_x=0.2882 left_y=-0.0552 left_z=0.2043 left_yaw=0.0552 left_pitch=-0.1304 left_roll=0.2473 left_gripper=0.9971 right_x=0.2963 right_y=0.1496 right_z=0.0309 right_yaw=0.0613 right_pitch=0.0898 right_roll=-0.1559 right_gripper=0.9948 state[joint_eff]: [-0.0068, -2.8239, 6.653, 1.6288, -0.2662, -0.0562, -0.0122, 0.2393, -3.959, 4.041, 1.6581, 0.4713, -0.1197, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The corrected approach places the plush body across the open jaw gap. I’m closing at this position."})
tool
executing move_to over 10 steps (1.0s)
step 256
assistant
agent noteThe closed fingertips are visibly to the right of the teddy’s torso. I’m reopening and shifting left and slightly back so the body, not its edge, is inside the jaw gap.
move_to
right_x0.2800right_y0.2000right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.021, 0.9073, -0.7422, -0.5636, -0.2474, 0.9971, 0.8181, 1.6135, 0.3008, 0.6037, 0.7208, 0.3027, 0.0123] state[eef_state]: left_x=0.2878 left_y=-0.055 left_z=0.2034 left_yaw=0.0554 left_pitch=-0.1346 left_roll=0.2504 left_gripper=0.9971 right_x=0.2916 right_y=0.146 right_z=0.0223 right_yaw=0.0696 right_pitch=0.0623 right_roll=-0.1798 right_gripper=0.0123 state[joint_eff]: [-0.1026, -2.6598, 6.653, 1.4286, -0.2906, -0.022, -0.0122, -0.1573, -5.9556, 4.9026, 1.5849, 0.2662, -0.0024, 1.1209] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.2,"right_z":0.035,"right_gripper":1},"note":"The closed fingertips are visibly to the right of the teddy’s torso. I’m reopening and shifting left and slightly back so the body, not its edge, is inside the jaw gap."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteThe torso now spans the space between the open fingertips. I’m closing the jaws around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7464, -0.5636, -0.2478, 0.9971, 0.9993, 1.6512, 0.4728, 0.3412, 0.8291, 0.4587, 0.9946] state[eef_state]: left_x=0.2873 left_y=-0.0546 left_z=0.2026 left_yaw=0.0563 left_pitch=-0.1387 left_roll=0.2528 left_gripper=0.9971 right_x=0.2781 right_y=0.1983 right_z=0.0312 right_yaw=0.0962 right_pitch=0.0465 right_roll=-0.1906 right_gripper=0.9946 state[joint_eff]: [-0.0615, -2.5778, 6.8171, 1.4335, -0.3101, -0.022, -0.0122, 0.2256, -5.1214, 5.9556, 1.4383, 0.5201, 0.2173, -0.1294] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The torso now spans the space between the open fingertips. I’m closing the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
step 276
assistant
agent noteThe teddy’s body has been pushed to the left of the gripper again. I’m using the overhead view to center farther left and lowering the fingertips to table level for a final torso grasp.
move_to
right_x0.2650right_y0.2600right_z0.0120right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7486, -0.5636, -0.2474, 0.9971, 1.0012, 1.652, 0.4751, 0.3157, 0.8204, 0.4526, 0.0123] state[eef_state]: left_x=0.287 left_y=-0.0544 left_z=0.2023 left_yaw=0.0563 left_pitch=-0.1407 left_roll=0.2544 left_gripper=0.9971 right_x=0.2757 right_y=0.1976 right_z=0.0275 right_yaw=0.1077 right_pitch=0.0257 right_roll=-0.2105 right_gripper=0.0123 state[joint_eff]: [-0.0752, -2.5094, 6.8171, 1.3993, -0.2906, 0.0122, -0.0171, -0.3214, -6.0239, 4.3556, 1.58, 0.4371, 0.0464, 1.0476] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.26,"right_z":0.012,"right_gripper":1},"note":"The teddy’s body has been pushed to the left of the gripper again. I’m using the overhead view to center farther left and lowering the fingertips to table level for a final torso grasp."})
tool
executing move_to over 10 steps (1.0s)
step 286
assistant
agent noteThe low sideways approach is pushing the plush instead of enclosing it. I’m lifting above its new position with the jaws already open, so the next approach can be straight down.
move_to
right_x0.2900right_y0.3300right_z0.1700right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0264, 0.9073, -0.7639, -0.5636, -0.2478, 0.9971, 1.1435, 1.853, 0.6842, 0.1795, 0.8909, 0.6098, 0.9948] state[eef_state]: left_x=0.2851 left_y=-0.0533 left_z=0.1989 left_yaw=0.0582 left_pitch=-0.1571 left_roll=0.2652 left_gripper=0.9971 right_x=0.2644 right_y=0.2577 right_z=0.0123 right_yaw=0.1254 right_pitch=0.0156 right_roll=-0.2148 right_gripper=0.9948 state[joint_eff]: [-0.1162, -2.906, 6.7487, 1.5458, -0.3053, -0.0562, -0.0122, 0.2393, -6.5573, 5.3265, 1.033, 0.4957, 0.0952, -0.2418] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.33,"right_z":0.17,"right_pitch":0,"right_roll":0},"note":"The low sideways approach is pushing the plush instead of enclosing it. I’m lifting above its new position with the jaws already open, so the next approach can be straight down."})
tool
executing move_to over 11 steps (1.1s)
step 297
assistant
agent noteFrom above, the teddy lies slightly forward and left of the open jaws. I’m descending onto the center of its body without sweeping sideways at table height.
move_to
right_x0.3200right_y0.3700right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0279, 0.9073, -0.7681, -0.5636, -0.2478, 0.9971, 1.1347, 1.7077, 1.1927, -0.4, 0.778, 0.675, 0.9966] state[eef_state]: left_x=0.2846 left_y=-0.053 left_z=0.198 left_yaw=0.0587 left_pitch=-0.1619 left_roll=0.2684 left_gripper=0.9971 right_x=0.2858 right_y=0.3283 right_z=0.15 right_yaw=0.1467 right_pitch=-0.0175 right_roll=-0.0483 right_gripper=0.9966 state[joint_eff]: [0.0068, -2.6598, 6.6393, 1.3455, -0.3199, -0.0562, -0.0122, -0.8821, -9.3607, 8.4581, 1.3309, 0.359, 0.2271, 0.1783] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.37,"right_z":0.02},"note":"From above, the teddy lies slightly forward and left of the open jaws. I’m descending onto the center of its body without sweeping sideways at table height."})
tool
executing move_to over 9 steps (0.9s)
step 306
assistant
agent noteThe teddy’s broad body fills the jaw gap on this vertical approach. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0283, 0.9073, -0.7689, -0.5636, -0.2478, 0.9971, 1.1038, 2.0789, 1.1526, -0.004, 0.7624, 0.6479, 0.9968] state[eef_state]: left_x=0.2845 left_y=-0.053 left_z=0.1978 left_yaw=0.0584 left_pitch=-0.1629 left_roll=0.2691 left_gripper=0.9971 right_x=0.3137 right_y=0.3591 right_z=0.0244 right_yaw=0.1399 right_pitch=-0.0372 right_roll=-0.0761 right_gripper=0.9968 state[joint_eff]: [0.0205, -2.5915, 6.735, 1.3016, -0.2515, -0.0415, -0.0122, -0.4855, -8.5128, 6.9675, 1.0818, 0.1392, -0.1197, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The teddy’s broad body fills the jaw gap on this vertical approach. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 316
assistant
agent noteThe jaws closed narrowly and displaced the plush, so the grasp remains uncertain. I’m testing with a short vertical lift before attempting any transport.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7715, -0.5636, -0.2478, 0.9971, 1.1046, 2.0937, 1.1595, 0.0212, 0.7662, 0.6445, 0.0189] state[eef_state]: left_x=0.2841 left_y=-0.0528 left_z=0.1973 left_yaw=0.0587 left_pitch=-0.1654 left_roll=0.2708 left_gripper=0.9971 right_x=0.3159 right_y=0.3632 right_z=0.0233 right_yaw=0.1407 right_pitch=-0.0251 right_roll=-0.0666 right_gripper=0.0189 state[joint_eff]: [-0.1846, -2.4547, 6.5983, 1.37, -0.3199, -0.0317, -0.0122, -0.1573, -11.8632, 4.8889, 0.9939, 0.2711, 0.0024, 0.8327] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The jaws closed narrowly and displaced the plush, so the grasp remains uncertain. I’m testing with a short vertical lift before attempting any transport."})
tool
executing move_to over 5 steps (0.5s)
step 321
assistant
agent noteThe teddy appears to have risen with the jaws despite the very narrow grip. I’m lifting it clear and moving cautiously over the safe’s open compartment.
move_to
right_x0.4350right_y0.3100right_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7731, -0.5636, -0.2478, 0.9971, 1.1061, 1.9862, 1.2373, -0.2222, 0.7498, 0.6395, 0.02] state[eef_state]: left_x=0.2839 left_y=-0.0527 left_z=0.1971 left_yaw=0.0588 left_pitch=-0.1667 left_roll=0.2716 left_gripper=0.9971 right_x=0.3103 right_y=0.3583 right_z=0.0663 right_yaw=0.1527 right_pitch=-0.0695 right_roll=-0.1105 right_gripper=0.02 state[joint_eff]: [-0.2667, -2.5368, 6.612, 1.3846, -0.2369, -0.0366, -0.0122, -0.0068, -13.094, 9.1419, 1.4432, 0.4274, 0.0171, 1.0281] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.31,"right_z":0.23},"note":"The teddy appears to have risen with the jaws despite the very narrow grip. I’m lifting it clear and moving cautiously over the safe’s open compartment."})
tool
executing move_to over 11 steps (1.1s)
step 332
assistant
agent noteThe teddy is clearly traveling with the gripper and is above the safe beside the cream plush. I’m lowering it into the remaining interior space.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7868, -0.5636, -0.2478, 0.9971, 0.7956, 1.9469, 1.7733, -0.6479, 0.5514, 0.3519, 0.0202] state[eef_state]: left_x=0.2819 left_y=-0.0515 left_z=0.1952 left_yaw=0.0601 left_pitch=-0.1781 left_roll=0.2794 left_gripper=0.9971 right_x=0.4267 right_y=0.3084 right_z=0.213 right_yaw=0.143 right_pitch=-0.0952 right_roll=-0.1218 right_gripper=0.0202 state[joint_eff]: [-0.3214, -2.5094, 6.5983, 1.4872, -0.3199, -0.0659, -0.0171, -0.3487, -9.9624, 8.9778, 1.5458, 0.2418, -0.0513, 1.0281] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The teddy is clearly traveling with the gripper and is above the safe beside the cream plush. I’m lowering it into the remaining interior space."})
tool
executing move_to over 9 steps (0.9s)
step 341
assistant
agent noteThe teddy is resting inside the safe beside the cream plush. I’m releasing it before reaching for the yellow object.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7937, -0.5632, -0.2474, 0.9971, 0.7925, 2.0331, 1.3666, -0.2192, 0.5373, 0.3408, 0.0202] state[eef_state]: left_x=0.2808 left_y=-0.051 left_z=0.1943 left_yaw=0.0604 left_pitch=-0.184 left_roll=0.2833 left_gripper=0.9971 right_x=0.4184 right_y=0.3007 right_z=0.0724 right_yaw=0.1515 right_pitch=-0.1536 right_roll=-0.1607 right_gripper=0.0202 state[joint_eff]: [-0.0342, -2.2906, 6.8308, 1.3797, -0.2711, -0.0366, -0.0122, 0.1162, -10.5778, 6.8171, 1.7411, 0.315, 0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The teddy is resting inside the safe beside the cream plush. I’m releasing it before reaching for the yellow object."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteBoth plush objects are at the safe, though the teddy still protrudes near the front rim. I’m clearing the rim and approaching the remaining yellow object on the right.
move_to
right_x0.5400right_y0.1600right_z0.1800right_pitch0.4000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7944, -0.5636, -0.2478, 0.9971, 0.7895, 2.0468, 1.3537, -0.2066, 0.5446, 0.3401, 0.9945] state[eef_state]: left_x=0.2807 left_y=-0.0508 left_z=0.1942 left_yaw=0.0609 left_pitch=-0.1844 left_roll=0.2837 left_gripper=0.9971 right_x=0.4183 right_y=0.2969 right_z=0.0632 right_yaw=0.1423 right_pitch=-0.1615 right_roll=-0.1744 right_gripper=0.9945 state[joint_eff]: [-0.2256, -2.5368, 6.6393, 1.2869, -0.3004, -0.0171, -0.0122, 0.0068, -12.2872, 7.2957, 1.2186, 0.1001, -0.0171, -0.2125] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.16,"right_z":0.18,"right_pitch":0.4,"right_roll":0},"note":"Both plush objects are at the safe, though the teddy still protrudes near the front rim. I’m clearing the rim and approaching the remaining yellow object on the right."})
tool
executing move_to over 19 steps (1.9s)
step 370
assistant
agent noteThe yellow object is just left of the jaw centerline at the bottom of the wrist view. I’m centering over it and lowering the open fingers for a grasp.
move_to
right_x0.5300right_y0.1850right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8089, -0.561, -0.2478, 0.9971, 0.3542, 1.9244, 1.0988, 0.5354, 0.218, 0.0296, 0.9953] state[eef_state]: left_x=0.2787 left_y=-0.05 left_z=0.1911 left_yaw=0.0613 left_pitch=-0.2008 left_roll=0.2923 left_gripper=0.9971 right_x=0.5319 right_y=0.1598 right_z=0.1512 right_yaw=0.1399 right_pitch=0.2998 right_roll=-0.0279 right_gripper=0.9953 state[joint_eff]: [-0.1026, -2.7419, 6.7897, 1.3993, -0.3248, -0.0562, -0.0122, -0.2803, -10.6462, 7.4188, 2.4005, -0.022, 0.0366, 0.0708] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.185,"right_z":0.04},"note":"The yellow object is just left of the jaw centerline at the bottom of the wrist view. I’m centering over it and lowering the open fingers for a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 378
assistant
agent noteThe yellow object is between the open fingers. I’m narrowing the jaws without fully crushing the rounded object.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8162, -0.561, -0.2478, 0.9971, 0.4091, 2.2227, 1.0397, 0.8303, 0.2581, 0.0341, 0.9953] state[eef_state]: left_x=0.2776 left_y=-0.0494 left_z=0.1902 left_yaw=0.0622 left_pitch=-0.2068 left_roll=0.2964 left_gripper=0.9971 right_x=0.5254 right_y=0.1826 right_z=0.0348 right_yaw=0.1616 right_pitch=0.2419 right_roll=-0.051 right_gripper=0.9953 state[joint_eff]: [-0.0205, -2.5368, 6.7761, 1.3553, -0.2955, 0.0073, -0.0122, 0.5128, -10.2222, 5.5453, 2.2735, 0.1929, 0.0855, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.3},"note":"The yellow object is between the open fingers. I’m narrowing the jaws without fully crushing the rounded object."})
tool
executing move_to over 7 steps (0.7s)
step 385
assistant
agent noteThe retained jaw opening confirms a grasp on the yellow object. I’m lifting it clear of the right wall and moving over the safe’s interior.
move_to
right_x0.5100right_y0.3350right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.0325, 0.9073, -0.8169, -0.561, -0.2478, 0.9971, 0.4122, 2.2299, 1.0389, 0.8394, 0.2451, 0.0261, 0.5475] state[eef_state]: left_x=0.2775 left_y=-0.0494 left_z=0.1901 left_yaw=0.0619 left_pitch=-0.2075 left_roll=0.2969 left_gripper=0.9971 right_x=0.5244 right_y=0.1864 right_z=0.0325 right_yaw=0.1802 right_pitch=0.2417 right_roll=-0.054 right_gripper=0.5475 state[joint_eff]: [-0.1573, -2.3316, 6.7624, 1.2821, -0.3004, -0.0708, -0.0122, -0.6222, -11.8769, 4.9846, 1.7216, 0.0952, 0.0464, 1.0281] camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.335,"right_z":0.21},"note":"The retained jaw opening confirms a grasp on the yellow object. I’m lifting it clear of the right wall and moving over the safe’s interior."})
tool
executing move_to over 13 steps (1.3s)
step 398
assistant
agent noteThe safe tilted and moved with the gripper, indicating that the jaws caught its rim rather than securing only the yellow object. I’m lowering and opening the gripper to release the safe and stop pulling on it.
move_to
right_gripper1.0000right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.034, 0.9073, -0.8204, -0.561, -0.2478, 0.9971, 0.7166, 2.13, 1.5772, -0.0902, 0.5037, 0.0635, 0.5485] state[eef_state]: left_x=0.2771 left_y=-0.0492 left_z=0.1893 left_yaw=0.0625 left_pitch=-0.2116 left_roll=0.2997 left_gripper=0.9971 right_x=0.4911 right_y=0.3194 right_z=0.1236 right_yaw=0.2614 right_pitch=0.013 right_roll=-0.2352 right_gripper=0.5485 state[joint_eff]: [-0.2803, -2.6735, 6.6667, 1.243, -0.2466, -0.0757, -0.0122, 0.1846, -15.3094, 11.9453, 3.6703, 0.3883, 0.823, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.07},"note":"The safe tilted and moved with the gripper, indicating that the jaws caught its rim rather than securing only the yellow object. I’m lowering and opening the gripper to release the safe and stop pulling on it."})
tool
executing move_to over 5 steps (0.5s)
step 403
assistant
agent noteI could not complete the task within this attempt. The cream plush is inside, but the brown teddy remains outside and the yellow object was not successfully retrieved. The safe remains open. I released the gripper after it caught and shifted the safe’s rim rather than lifting only the yellow object.
give_up
hindsightApproach plush objects from above with the jaws already open; low lateral corrections repeatedly pushed the teddy across the table. Confirm the whole plush clears the safe’s front rim before release—the grasp point being inside did not mean its dangling body was inside. For objects beside the safe, check that neither jaw overlaps the rim: a substantial retained opening can indicate a grip on the safe, and lifting then moves the entire safe. Wrist pitch and roll drifted substantially during this run, changing fingertip alignment in the wrist images.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5293, 1.0382, 0.9073, -0.8276, -0.561, -0.2478, 0.9971, 0.7185, 2.1838, 1.4925, 0.0227, 0.5076, 0.0528, 0.9948] state[eef_state]: left_x=0.2762 left_y=-0.0486 left_z=0.1873 left_yaw=0.0643 left_pitch=-0.2211 left_roll=0.3062 left_gripper=0.9971 right_x=0.4871 right_y=0.3167 right_z=0.079 right_yaw=0.266 right_pitch=-0.0103 right_roll=-0.2574 right_gripper=0.9948 state[joint_eff]: [-0.0615, -2.906, 6.5709, 1.3211, -0.3297, -0.0708, -0.0171, -0.4855, -11.4667, 6.147, 1.79, 0.1685, 0.0708, -0.1783] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task within this attempt. The cream plush is inside, but the brown teddy remains outside and the yellow object was not successfully retrieved. The safe remains open. I released the gripper after it caught and shifted the safe’s rim rather than lifting only the yellow object.","hindsight":"Approach plush objects from above with the jaws already open; low lateral corrections repeatedly pushed the teddy across the table. Confirm the whole plush clears the safe’s front rim before release—the grasp point being inside did not mean its dangling body was inside. For objects beside the safe, check that neither jaw overlaps the rim: a substantial retained opening can indicate a grip on the safe, and lifting then moves the entire safe. Wrist pitch and roll drifted substantially during this run, changing fingertip alignment in the wrist images."})
tool
give_up: I could not complete the task within this attempt. The cream plush is inside, but the brown teddy remains outside and the yellow object was not successfully retrieved. The safe remains open. I released the gripper after it caught and shifted the safe’s rim rather than lifting only the yellow object.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.024 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6037, -0.3923, -0.0193, -0.0341, 0.9998, -0.0204, 0.7944, 0.6075, -0.3962, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0015 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2931 right_y=0.0011 right_z=0.1781 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3197, 10.3043, 1.9853, -0.0611, 0.1587, -0.0317, -0.6359, -1.5385, 9.7026, 1.9121, -0.0366, 0.0269, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18e87508d1a04a826a35f5ead42e1d8a45af3dbb48d5f61bd6b9c89a89b5710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f577e54b1f5dbe189199ee25bda169cb62bd1ad6653995d065b255a979dc40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e27232b77a5e86d3189cd9fab97493fdabb59824021890f1b139569fdc1802",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.913 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHC7B8sqAjeWI8wWvRMGqr-f0Js1P5kFOAH4Hn_HGb3uhDsObIoEFcqxd5bxv0AccJfuY15lwWZqVKSl91Ky5COLLk4qgjfqWcnXLdhQIIVBbJimmWHS7-aLUAdU3ESes5SsUUIQldnfyslRjxyNtLu4c8ydEqxGtfGSqFkfJOpORGV-12q391eEmgFqEL94seZGVfU6axI9EyRA5Osz56vPbxZ84_idFiUYPe3KVJ_6pNJSnNuVgcRsEdOWghwwFEMVAgZ8bAiIuS7nzTBOJq_YzcVZqCScyp946qQAmGYtipH1k4viyGWL97-IHfGxJ-9ld5hsa0HkkgmdgcB8ELgs3-T8h8gdhBHnAvCiNCxfhkuP9kvT_xvGIWR7HrF5lI7uX_YtDO2GQFjtTBOloRgNSkvsI7aLTuZLWW-DTmR34GK88ptZ-OavHQXyd1zexgC_bftuTiM8W0OOIr768LiFP7oA0ZT5No_xdSxkTYEdrvn14FA_yhRRtJL0tjlJ2U5BEdozDnUcK0JaFKwC-ERPn-X4nFNlFWHln8jbpMiOzpxvDCjnptCQQsJQHbkPcqyU-LBzu36t7_OzNPCqchCk_CMLzhpGDZRIuE1vRrquPv81CaGpaJs2agkTkTdfEgVc_eu7iaTCku9QPKd3Qffne8tceXdatq4mmc1eLADqZb7qy3qTNWw5Sb_MfmKOTGk9fxJ708x5INBeynY_ed7wG5KYGCRX1K6OqKl4SVgtpaKFOSCtMlq1Vx2Sv7agKNhY8UN5iBE4oA_jBJgSlwKQtMyJu7_mvOrFpnnIMaIbbIYG7g2cY0pN7C8KPFFCdXiY2_C8j3wCry-LmQmww0CALwjBg32_XNDsRm2heRaBJZAdFhaDYHv7ZRwY5LzWBCYUii4KBtlSLK-mARLO9QAldSMGye3O2FeMUcyBW_ezF1xrmVunYsQqOKq9pkefcibhrCDpeYI_udj2KZMIezjBi_6ccItxV2BKeWZMtkMiqc9rslbcgNhmhr2MfBDGKUFcvAgcGxlU9BEGsHzGG6dXGQiPuYohlpOYeBOjeEE5npd7rIorgd0rpqxKT81YGPYkrsp-LfnHYkWoa_ZNwF4dh9B1KL2iSH5L0cQ9yGFzXGyUMk02tmqgzZnyZK9sWpg-xqzveGgXSMgKpM3I-2cy3jSWh0KasWtouw8UsHFQv5QYH7cS2-i3xWjC6QtoXjeL-tPcWxG7veqq3W5F3A6-FYQSdr3wpsYUzLLhLxnzfqUZo9e1H7wq6fcSMg8w0wrkd45t2L0L7Ss5IQi9cFbj4PCN3nWCJvqvCfDUNRuA0wmKsBOPJW7pGx31z7sq6415kpGNy9rJ8PfoTXl6K3EjsCxiBXRqRXz7Cx86To32jmkZGiC6GBO7cYXQjUfffUxjcO-xx8S2lHLie0J_wZOs44cNEkUvpUznftVcn94lvneDmZivb-yI2eiuT2Q005Ep7zC2T9F8EL7llEWnicJvTxAUqO7FfnxUwrmnz2Ic0YSEC3z2CNpt2vl2csGToEvCHOI3WZqgS5USgayBZczwLnq1Z9pA64eL-qDLT9hMr4KZW2klEJgKyJZy3raPMbLM4kHbhez2aaAEXExWAUBULWPuf9NzmYeD04qhVbyn6fWMXHfIgqT79bVgX9jELUtiueEKkGroGb2tnEwqOmkOF9k2JffkoGvlI4VK5n6noFrBR4BLmLng_BQ_Rtgnj6_wnbOMfi2pRYWu-7yqO3IOP0fwsLbEqPjcHctaBzgB9y_AwfOs-T39eaPXsQuZA7_Pmwb0AQJa9E_SpUB3qjcNWREdKFb7g9GQ1pbPus322xiG9rSpm1LjvwFaqcffZHDEU_rNf6CNd2_Nc1jDRPLWVNXJCgcXGhMQvO8Og-NwrmhjqoR4ZacUWN2KpVRRMPU9C-E1o4I5trO2DFMMYh1TdmDe9SdQ-G_wzbRNmh4YhgUR6NraFAIh1cBkD5FKwIm5S2Bv9bNKgrv02PwJbmF8N_VrF_BaCA0dmK8HAxWuyLKCOB2NUnpqS5dxsliBIPWQ7jCXjxtFWKBUpH-hCYfL_24SgVYMmJ7tQixpyoU2DhNHqylRMfGuLMBay9iFNfUI8Mh4ocLghfZiXx9cLpns7R9xwidvVXypoHUjnWAjdJJOfjHwcYVDmluS8Ai8CmKQ-2EM01Wqu8vgBvrD_YhgkHvOpnRV4gGzKTetvM3S8ZUZ53ITmGKHv6gdVEQVnQO96PWv-PKzvwzF3GNYHWTQpafn4ZzK0mwbX0vte8VflKAKI6daSf0veqbgrvetZzV9K4mnGN-m8IIk4XIj7tBHy6zprKJr3TgbyYyAzHjpEd-BsMAtbgv8jufp3xA-AmDrlizTn6tw8MMI63YMWZct3yDuRfxwYnTOfuFZHAYUHRZQQ1ePfo0XUsycPKhUUKA54wCpiZvdUOHGCGc8epZ_NQ==",
  "id": "rs_01490c78c3415d49016ab470b5e42c87d0a1e7ab14b2b61937",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.21,\"left_z\":0.16,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"The safe is open, with a small cream plush, a brown teddy, and a yellow object outside it. I’m positioning the left gripper above the cream plush for the first pickup.\"}",
  "call_id": "call_0S5ozy4nVfPfn4xmfeXpdWGV",
  "id": "fc_01490c78c3415d49016ab470b9e22087d0a006a4e83fa3dcb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0S5ozy4nVfPfn4xmfeXpdWGV",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.8867, 1.4063, 0.8757, -0.3336, -0.6788, -0.6128, 0.9998, -0.0212, 0.8005, 0.6147, -0.4332, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.312 left_y=-0.2014 left_z=0.1425 left_yaw=-0.0211 left_pitch=-0.053 left_roll=0.0341 left_gripper=0.9998 right_x=0.2892 right_y=0.0009 right_z=0.1722 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.5863, 9.306, 1.4774, -0.6422, -0.0024, -0.0366, -0.1162, -1.7162, 7.0222, 1.9805, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfdac1e8ab2ce60aa4c12c09ffcd9a08096d5ca102175a758034ca89f620ef4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54b42c28ee5bba74e4193593d909f73856a4dd5d24e1d5aa6a1d5ee964347cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c893c578182fdaac03fe5475cdf30548c21ceedac66b5aae35dbfc5dbaf5c3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.911 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6037, -0.3923, -0.0193, -0.0341, 0.9998, -0.0204, 0.7944, 0.6075, -0.3962, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0015 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2931 right_y=0.0011 right_z=0.1781 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3197, 10.3043, 1.9853, -0.0611, 0.1587, -0.0317, -0.6359, -1.5385, 9.7026, 1.9121, -0.0366, 0.0269, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8867, 1.4063, 0.8757, -0.3336, -0.6788, -0.6128, 0.9998, -0.0212, 0.8005, 0.6147, -0.4332, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.312 left_y=-0.2014 left_z=0.1425 left_yaw=-0.0211 left_pitch=-0.053 left_roll=0.0341 left_gripper=0.9998 right_x=0.2892 right_y=0.0009 right_z=0.1722 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.5863, 9.306, 1.4774, -0.6422, -0.0024, -0.0366, -0.1162, -1.7162, 7.0222, 1.9805, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfdac1e8ab2ce60aa4c12c09ffcd9a08096d5ca102175a758034ca89f620ef4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54b42c28ee5bba74e4193593d909f73856a4dd5d24e1d5aa6a1d5ee964347cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c893c578182fdaac03fe5475cdf30548c21ceedac66b5aae35dbfc5dbaf5c3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDAwoGaUGzXfuMgZQZZLeBS2pO3R-PxP9ZbZN1NzVPBS3m3f2B2qihG9nPiqS9s2EyUnl6p7HxAMKp5thIpZX1E7VrgR7bpxg4bDXPGx6yhJFloLBv8lVt6sw085L2uJ5WOLtBUWheKsbeJS8OAx7TjNGk7C7XkTNDSVkNapQL3YA5xNfaHWAE3ERchQpS8suL8LZzns-ybndTLFmi0JvlsZW4VQ67uNa18joI9r7re-bEIxZaoP4glTWNtMH11thQ4jp1gKwLV_8jaYjZTPli17U1VsvQFo11ya_Iw4SqKs3PHZ9YNJomfmz-eOMFcPMRlgR8diXhRZyU94ARdtjZPNCpF-eiMSYypoSYek1NZtgN5-8KGfwvcIs8QpFqed0rZhiKgTeWQC0F8yJeCUfmqayKQNTUvGjwe9DP0cQtlEgCWA3AUsqke8PKokyMz6WEvnjXI_vl2zT8Mm6uWb6-T1UGJ7nRGymwqcGBIpyiHIAMnqm7WUwCMljjsmU_OEXmlb34hxCSPL_WMssipf37LmJ5dnuk7Sbta2H3A8mhwed5uXhZc9GHrK1me4w3SFFoaCGMixrHXWa312ZJyv0RJEiCTN9VP5sSB7etYX9wMdHbffKH-9vKCBkQ5qdmXm8m9D0NwcfKkVCPKcOiejK-4PMvk5PmeexCm6FmW9X0zkkN7lJQ8zs-kCwQZtrXsvHxpv29DJOoE8BPAsFL6FeKAYjYcKsJxgtqhjF04I0rRB9R4A-9q1r2WMjl9bhvqMgg2_pulLFn9VdDLbQdGlac7BvIGuBCz3TwEo-oe6oqBIM23il4xJ_8Qf_x_A2fUXdGi3lodG_q1ybzrv-q6ECqhU3LF3PyLj3ZemOSjBOSF3XfjQomGmru_3A2blVbEZK7m_vvW-7Dklqj6dSmjRQVXb5pSRwIZJVebpEc69akocxo4tdb5F-LcY4ZmH7wAJZYUJcEKIbS03OhBla_T1HWMACSUflPaQxZnN6zw3IATHXdT4gdswocZGP-9Sy-EL6JqXXR9DpgxbUVM7Ubdp6wJueOpcpe-lf8dsskjEcBDghcDxWGaW8gk7e--WmbuyhCd9o22A2PYRpLniW9XJUj3UgKTjQLvpTRYQNtL4hg5MuN3Lu9rcULPJIR21fOAimShYC2A3BRfsNDlmSZDzhR4oI_feiPmOxilqtFl076uIl2rSHGaQPgAAGX4ou94u7odpNIxEMB97uyViIGpgxP7ZmMZibdadiIB534lQ-gRCmtrnaIyKO8HRgPAqpcfg7lV1KVMeJNDkh4LKe9jl5A2qBa1oUosTYvpO4JVxf4vqJFNzfpyNwPbC85EXQizmHU4CBvp0-4IfaP3LBCPrTYrJIBimmAANQm4mWW3XRmW-jYtQbpm7zMdDD_W8PhAR_ESTTkBdPVzYwaEQxPaRWiyjaX539ZZZ6p_b4Deh-T4VIqa5_da8k87-VEhzpTXHu0YlYoh0e8LrPrA_8DGEUTErIB2ZyHWAgWTy1l8KYJpc7b2aA5WOq0-wbNn5z03F3uiAP7V3gIw66DZNP-PL_rSNK9TNR55SGwacSTBeiUVs8on-HdQ9ns1-iaCAI97C5i3ovCUQAH_zz6QuWAcVfulvvmq7P3FWWWd0Llgo1JyDHjHCiE3U8d9iRkG7PZiHF4V1CG6EUICHro-RpmVRcap_FRvzMzQV3VyXEb-nIuMh8A5pLJjAVNRVnf-WvbPk77R",
  "id": "rs_01490c78c3415d49016ab470be24d487d0a29625e3d433ab3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.19,\"left_z\":0.035},\"note\":\"The cream plush is visible just left of the jaw centerline. I’m shifting slightly forward and left while lowering the open jaws around its body.\"}",
  "call_id": "call_EacRd2nvnAZujtCkuHn1QHVb",
  "id": "fc_01490c78c3415d49016ab470bfe30087d0ad4b3f15d27f49c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EacRd2nvnAZujtCkuHn1QHVb",
  "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]: [-0.7898, 1.6749, 0.6559, 0.1314, -0.6228, -0.5354, 0.9997, -0.0212, 0.8024, 0.6147, -0.4549, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.1819 left_z=0.0319 left_yaw=-0.0036 left_pitch=-0.1032 left_roll=0.0834 left_gripper=0.9997 right_x=0.2861 right_y=0.0011 right_z=0.1674 right_yaw=-0.0007 right_pitch=-0.0595 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.6359, -6.8718, 4.9026, 1.6484, -0.2564, 0.0317, -0.022, -0.1026, -1.388, 7.159, 1.9072, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9bbd03ddaaceda71f0ea2d28b8fa73527a71b8be90d571b45952f403e0bc27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57a4ea6bba22db7d2cf5ab415813174e14a5c77e7854e8055716c6e476286fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28176f37814c3d365315b89e0b18345aa826cced035e95060ead5a33a3497f4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.514 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]: [-0.8867, 1.4063, 0.8757, -0.3336, -0.6788, -0.6128, 0.9998, -0.0212, 0.8005, 0.6147, -0.4332, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.312 left_y=-0.2014 left_z=0.1425 left_yaw=-0.0211 left_pitch=-0.053 left_roll=0.0341 left_gripper=0.9998 right_x=0.2892 right_y=0.0009 right_z=0.1722 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.5863, 9.306, 1.4774, -0.6422, -0.0024, -0.0366, -0.1162, -1.7162, 7.0222, 1.9805, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7898, 1.6749, 0.6559, 0.1314, -0.6228, -0.5354, 0.9997, -0.0212, 0.8024, 0.6147, -0.4549, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.1819 left_z=0.0319 left_yaw=-0.0036 left_pitch=-0.1032 left_roll=0.0834 left_gripper=0.9997 right_x=0.2861 right_y=0.0011 right_z=0.1674 right_yaw=-0.0007 right_pitch=-0.0595 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.6359, -6.8718, 4.9026, 1.6484, -0.2564, 0.0317, -0.022, -0.1026, -1.388, 7.159, 1.9072, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9bbd03ddaaceda71f0ea2d28b8fa73527a71b8be90d571b45952f403e0bc27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57a4ea6bba22db7d2cf5ab415813174e14a5c77e7854e8055716c6e476286fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28176f37814c3d365315b89e0b18345aa826cced035e95060ead5a33a3497f4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDHlbLFYP48JbwBo4EUTvF2UyOQiS7uQ5fv_RTCGcxOYMMUJh1pn5LbyC3ALDfiTnWMVUv-c5q5a2x2H9uV-j1LZfK38ALO2YyPIpIFzdanJVGvAmI1yF-41M_0ygS_WbAcd4v-uQg1yu8CQx3eJidSG4dYu0w4EOi7SXfEUWRfsj4-tpP62GXYP9lvSKpb4Ho2TqS3qjw1koGcqf4DZ2oD_RYHQ2Lj91ia6JOs2xzu9BLes0iERLZCXpDY46DMqcPgb3N-tUuoIdMzrfqXaNQ7fjbRYRVS-pUC3NEa5sKpssZE_w1dMdcpVIY5V8i7BJqduwNL5QQ7-zVLRyWONKtUmnvwm_XbOEGCUjZxwPNHHF3tf_FveWXsS1fgrpObkN67vpP18niVycBezbikRLDFHeYfVhn5xL6iKEqPsmjfNFlySUE0VeyZmlHsctMMt6nwlAcX8OcFOaJbUH112TUKC0m1Gcio9bQ1CJDYeX1EwNMRpoV-CKbH2UaRYv487cTV2lb241ucMxun5-SDa89OjybwUvACLFn6zFh5ejYltHK9S_sI8DZeVvaMCJJqMsp4zHqyMmIE2hP4eKYa8yu-gzELjHOTRizwzBfgUI-C-z2V6nJ_2zl0605kQqFgrdCfnyhlA5akBMauPa6fa9z9a4lQcqDfC7V6b0NVb9a6OGGdBvf4a91ROlMVad7KFEf7kNOzU24frix8Sx7-xoXh1GEe5bOD_sN5K8jZM4Vylpd5aQggM6J9u790KbP5o9kO-BHfa0E-eSwbHHbRR__Hfig2IfZC-_8OKM2SpjOnHrquX6PzITXp7xARmYWGuv7RVbV_N2Sw1797kdYsjuYXiNfoXJpqxe37h314QALzinUNvBVTCTh-CD-mSiZBuvwIp5AB6dl9VtgPQ9Sawl5mOZwU-kWuVmM1y4RZltD4JKGzA32-KpdmpW6w8m40t8oq8MyucRlbGKahyq7l-MwS6uljbYgVwb0tRb2kFX6fuO9-68kcMZ6k6qfnmP4Ucath-jZbPlFWbx9FW7Ql-YKwLLucWGs5IsJ_pQ9Lt62f5OwbODYBEAX0E8zbxj4Ocb26yuTvp1xEwIsjQs876i65e_Dt8mWF_QDLHlz-IN54s7TZe8sqNK71ATleSlvcZVa927u3r92B_wY5U8H70A-3k59fDL2h7kv3kTlZA2QQ2uljDXEVtdneW7TRTFUzR2njYyIwJNmOz5Zpcl20P66pi-llY217XOkcYcZf7tbAd9xNls-0hjr5SDSYn20XVVjFkpU6YznYT9dvjIaNxhp8ke9OB4TLHV-mmDfKQEjA6vYiIBJngHGzCLh9joOSiuFQTVtMtfjB43gTZU3JCEZbRFJAy7EKS5_4wLeE4KwvPYYeOFA0_ocj-Da1EGbK_CHaHhc7-_LFbGNjt7oeqnHshGuYq274MoyWEV0EXDssVzi4UZwM7IagFa4oXlSang5LbjRJ8Yqq88W061T77E_A33pdeOSJ_-64abuM4Vn4RVjjrgxpw2qeyhFfLDYqr0fW2r0WFQmiLD6Vcn-IRmqzX81XYNjCeh0JdmJ29FVliUpNAVGN82unI3AmCR4AWlB6M_U8avX1vCnuFpyY-NwcROno8Tk6bdkuHaKl14rL9dO90cjnD0WJNPkOnL-BZq0qIHkyCFrD2bn0N_uL2TRatQgXiDHS1CXtzXEGBKkrT0fs0ftSl0sUYVQKwm1sgL4gI3nFNqk_F34Uf_IhFNGDc5Or6l3QpdbZhfekHnVds9edNIZ7lGzw_9Du7vrx8Y6utfVHEy4cwVkos1zk8xs6BXJSvEBvvjrfVHZYNc4ezoDK-WC7ots3uXrCwKr-uLaZ58xPkGPEmwi4zCEkyX_YBbWaCBtXppVT7FCvGxs0sQY=",
  "id": "rs_01490c78c3415d49016ab470c3a2bc87d0928c962323bf408c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.178,\"left_z\":0.02},\"note\":\"The jaws are still near the plush’s feet rather than around its torso. I’m advancing a few centimeters to center the grasp on the body, clear of the safe’s rim.\"}",
  "call_id": "call_2987Vm1MjCYoFPeoBGXKipHb",
  "id": "fc_01490c78c3415d49016ab470c6305887d0b0bc8c680c57ea4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2987Vm1MjCYoFPeoBGXKipHb",
  "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]: [-0.6647, 1.8267, 0.7448, 0.2035, -0.5632, -0.4557, 0.9996, -0.0212, 0.8036, 0.6144, -0.4778, -0.0196, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3713 left_y=-0.1666 left_z=0.0105 left_yaw=0.0351 left_pitch=-0.132 left_roll=0.1045 left_gripper=0.9996 right_x=0.2827 right_y=0.0011 right_z=0.1624 right_yaw=-0.0008 right_pitch=-0.0839 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -7.9111, 7.3368, 1.6337, -0.1294, 0.1685, -0.022, -0.212, -1.3197, 6.9949, 1.8681, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2d9fc10e41de2986f29109afe8766e4214a0c540d780c4a598f457a6d44bec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee9209e5bf864cf808d5c614707f312ece70c33817b2df5cfd2dc4426ffe372",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b698c9b95877637f80c5d0649b9d23a66050035e2940e427610a2f086409b222",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.705 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6037, -0.3923, -0.0193, -0.0341, 0.9998, -0.0204, 0.7944, 0.6075, -0.3962, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0015 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0008 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2931 right_y=0.0011 right_z=0.1781 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3197, 10.3043, 1.9853, -0.0611, 0.1587, -0.0317, -0.6359, -1.5385, 9.7026, 1.9121, -0.0366, 0.0269, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7898, 1.6749, 0.6559, 0.1314, -0.6228, -0.5354, 0.9997, -0.0212, 0.8024, 0.6147, -0.4549, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.1819 left_z=0.0319 left_yaw=-0.0036 left_pitch=-0.1032 left_roll=0.0834 left_gripper=0.9997 right_x=0.2861 right_y=0.0011 right_z=0.1674 right_yaw=-0.0007 right_pitch=-0.0595 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.6359, -6.8718, 4.9026, 1.6484, -0.2564, 0.0317, -0.022, -0.1026, -1.388, 7.159, 1.9072, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6647, 1.8267, 0.7448, 0.2035, -0.5632, -0.4557, 0.9996, -0.0212, 0.8036, 0.6144, -0.4778, -0.0196, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3713 left_y=-0.1666 left_z=0.0105 left_yaw=0.0351 left_pitch=-0.132 left_roll=0.1045 left_gripper=0.9996 right_x=0.2827 right_y=0.0011 right_z=0.1624 right_yaw=-0.0008 right_pitch=-0.0839 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -7.9111, 7.3368, 1.6337, -0.1294, 0.1685, -0.022, -0.212, -1.3197, 6.9949, 1.8681, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2d9fc10e41de2986f29109afe8766e4214a0c540d780c4a598f457a6d44bec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee9209e5bf864cf808d5c614707f312ece70c33817b2df5cfd2dc4426ffe372",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b698c9b95877637f80c5d0649b9d23a66050035e2940e427610a2f086409b222",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDK-YegUdKQUJz7M4Uipv6_b1ScX0Q2wX_iiZ8BmZ2RtLrkPSUZj5LyWJRlJjQIiqVXHrm46s7rz-CPdwCRiwJ5hTRT_zC1ELaFjUit-1thWwPXUosnILlDK_xCYDOmPD4yNqYsPDkkDanTxSJbAvjZlBa8_dRtCuqWGFMIOU33rGgz8Fm4DA0sQr2q6ir6rFCyR_xUX9UN7zSH01XCd3GPKTjbO7VqRLTOtb5e8tO0hGGaKIw_1s8-anNLDjD_9ADFQn8cMBwEXLUp7FB43i9uXDBLes7tmS-Eek3vGUXGQZaxnribbQN-G12jn6GEOc8gy-15Pw3-7tScp3TxJiAz4w85cmfY-fHINuqqMok1JsnOkogvYhLXsjNsyiskwXb8sBPrH_eoAfC5F213MAM2bkGsJJSfwovqfr52G4THh415484s9mkls2EJ4v3BgS-gN-GdkDWvrglT66xHGoB-K9H1301FnoUi1n3iFWv9b0nVdh-MZHqPdmsWZ-KldI7gx3DJUcU5vDnfK-hoeyEcHGlq7Aegb59rFW-uBM5vRyHHKYG-9uMq_XJQZXsPLXMs9L9yh1S1LXGCY3QaF51eWHV3b48O-6kz1KUq3A7S5xL9YI5DkFjlOaNzu5E3oKGQ5VGRX2yqkg14MfNWpVa4CGuqFYKtdO631ZRaH-uFhFxD649DwnVga2RS0YqKNW1ktpZH6dO8hFLuOTD6eA8N6sT2Hh9BuI6qjE9iNzZ3bRpaRd-d_OS7xdBiNKMtQ3KqvtRCAv0GBqkudamiJ6c1M6HPUL8pak2F59oSR-ItF1uKd9rRaFemue4zZOkf34514qaSRDy-yQlqioAVO53ZmScwLZUeLy9oaIwMzwyklrd04HL5K14L8fZB-m86aP2KtE72fjT_yvnsE3oTe_28v5XuagW-qB5ydCadZge9qurZ_stu4l7fvy0zyrkZ14VlWrq7bSS2IdqQDATFmoV1s-hrcYwbCkzJllFMepDtrfKOz5mmXUCk6tn3E-8fw1eT-n_zAZc0FEe89zHO8tNI6eGOuP0x1fa8emNYK8ZYD5Nyl6zDsOKcOFLx8EKEsnDpQDNeGVkc4ZEEQd5KhnXwnq0Y2YA67vlcjnUcRVQGn3nRgk6JGC5tJdYOzhiUbl2T1r_Y6069RMVZ5l3SvX3MDAJb0tWnbYAkvy69Vty2KJWbyigiWwlQnWJEajn7lbmH27C51oFUJe4FO3bJatCIuA==",
  "id": "rs_01490c78c3415d49016ab470c9374087d0a738caf334a2a366",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cream plush’s torso is centered between the open jaws. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_IL6ml7GoWv66FYIydGAF6YUk",
  "id": "fc_01490c78c3415d49016ab470c967a487d092285196d4365196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IL6ml7GoWv66FYIydGAF6YUk",
  "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]: [-0.6537, 1.8347, 0.7559, 0.2253, -0.5537, -0.4267, 0.137, -0.0212, 0.8043, 0.6144, -0.5003, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3781 left_y=-0.1681 left_z=0.0134 left_yaw=0.0214 left_pitch=-0.1192 left_roll=0.1052 left_gripper=0.137 right_x=0.2792 right_y=0.0012 right_z=0.1579 right_yaw=-0.0006 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -7.7744, 7.5009, 1.4969, -0.1148, 0.0611, 0.9792, -0.0342, -1.306, 7.1179, 1.8193, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ec338211afa2a4f48cde87e8c7ba7f771db6098190c6c2a9587b8d0fcdd5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f4cd8c99ddd61dc1ab2f07a3be12f5df48ecc3a6d71cac15789c7d6c751a42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b45a038bf2a16c8404db7587640ef8bb907d694bcbe3f46ebcfa8c12d1f15cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 5.443 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]: [-0.8867, 1.4063, 0.8757, -0.3336, -0.6788, -0.6128, 0.9998, -0.0212, 0.8005, 0.6147, -0.4332, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.312 left_y=-0.2014 left_z=0.1425 left_yaw=-0.0211 left_pitch=-0.053 left_roll=0.0341 left_gripper=0.9998 right_x=0.2892 right_y=0.0009 right_z=0.1722 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.5863, 9.306, 1.4774, -0.6422, -0.0024, -0.0366, -0.1162, -1.7162, 7.0222, 1.9805, -0.0513, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6647, 1.8267, 0.7448, 0.2035, -0.5632, -0.4557, 0.9996, -0.0212, 0.8036, 0.6144, -0.4778, -0.0196, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3713 left_y=-0.1666 left_z=0.0105 left_yaw=0.0351 left_pitch=-0.132 left_roll=0.1045 left_gripper=0.9996 right_x=0.2827 right_y=0.0011 right_z=0.1624 right_yaw=-0.0008 right_pitch=-0.0839 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -7.9111, 7.3368, 1.6337, -0.1294, 0.1685, -0.022, -0.212, -1.3197, 6.9949, 1.8681, -0.0269, -0.0464, -0.0073]",
      "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]: [-0.6537, 1.8347, 0.7559, 0.2253, -0.5537, -0.4267, 0.137, -0.0212, 0.8043, 0.6144, -0.5003, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3781 left_y=-0.1681 left_z=0.0134 left_yaw=0.0214 left_pitch=-0.1192 left_roll=0.1052 left_gripper=0.137 right_x=0.2792 right_y=0.0012 right_z=0.1579 right_yaw=-0.0006 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -7.7744, 7.5009, 1.4969, -0.1148, 0.0611, 0.9792, -0.0342, -1.306, 7.1179, 1.8193, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ec338211afa2a4f48cde87e8c7ba7f771db6098190c6c2a9587b8d0fcdd5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f4cd8c99ddd61dc1ab2f07a3be12f5df48ecc3a6d71cac15789c7d6c751a42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b45a038bf2a16c8404db7587640ef8bb907d694bcbe3f46ebcfa8c12d1f15cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"The closed gripper retains a nonzero opening around the plush. I’m lifting it a few centimeters to confirm the grasp, while restoring the idle right arm to its parked height.\"}",
  "call_id": "call_jL7RkNJwdkNaEO2JfBHkWjcm",
  "id": "fc_01490c78c3415d49016ab470ccebe087d0a9c8cd87898e3dd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jL7RkNJwdkNaEO2JfBHkWjcm",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6537, 1.6775, 0.8406, -0.0448, -0.5533, -0.4347, 0.1394, -0.0212, 0.8032, 0.6144, -0.49, -0.0204, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3737 left_y=-0.1648 left_z=0.0628 left_yaw=0.0278 left_pitch=-0.1408 left_roll=0.1168 left_gripper=0.1394 right_x=0.2808 right_y=0.0012 right_z=0.1602 right_yaw=-0.0001 right_pitch=-0.0957 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -9.2376, 8.6359, 1.619, -0.315, 0.0464, 0.5836, -0.294, -1.9077, 7.0359, 2.5177, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81802077c622877c820c2a38a85f559d306f941e19ff33363e53e87505fcfbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f9c6c448f3c91cce6e667c58a4bde1ea67f7693a842834280ac83563df1833",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e883c9df19ce8c7d6e45ef91389fa376ff9f6cba84895dd21c8cdb809c14ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.303 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7898, 1.6749, 0.6559, 0.1314, -0.6228, -0.5354, 0.9997, -0.0212, 0.8024, 0.6147, -0.4549, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3304 left_y=-0.1819 left_z=0.0319 left_yaw=-0.0036 left_pitch=-0.1032 left_roll=0.0834 left_gripper=0.9997 right_x=0.2861 right_y=0.0011 right_z=0.1674 right_yaw=-0.0007 right_pitch=-0.0595 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.6359, -6.8718, 4.9026, 1.6484, -0.2564, 0.0317, -0.022, -0.1026, -1.388, 7.159, 1.9072, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6537, 1.8347, 0.7559, 0.2253, -0.5537, -0.4267, 0.137, -0.0212, 0.8043, 0.6144, -0.5003, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3781 left_y=-0.1681 left_z=0.0134 left_yaw=0.0214 left_pitch=-0.1192 left_roll=0.1052 left_gripper=0.137 right_x=0.2792 right_y=0.0012 right_z=0.1579 right_yaw=-0.0006 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -7.7744, 7.5009, 1.4969, -0.1148, 0.0611, 0.9792, -0.0342, -1.306, 7.1179, 1.8193, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6537, 1.6775, 0.8406, -0.0448, -0.5533, -0.4347, 0.1394, -0.0212, 0.8032, 0.6144, -0.49, -0.0204, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3737 left_y=-0.1648 left_z=0.0628 left_yaw=0.0278 left_pitch=-0.1408 left_roll=0.1168 left_gripper=0.1394 right_x=0.2808 right_y=0.0012 right_z=0.1602 right_yaw=-0.0001 right_pitch=-0.0957 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -9.2376, 8.6359, 1.619, -0.315, 0.0464, 0.5836, -0.294, -1.9077, 7.0359, 2.5177, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81802077c622877c820c2a38a85f559d306f941e19ff33363e53e87505fcfbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f9c6c448f3c91cce6e667c58a4bde1ea67f7693a842834280ac83563df1833",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e883c9df19ce8c7d6e45ef91389fa376ff9f6cba84895dd21c8cdb809c14ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDTVj7NkeDRr7sDtoXQ0lTsThIa1w93hNOXxBVUA8n6cXhGbGemTQ1g9ilGhxIq6Ez87e3wfmBOq22xbeHW6A_6xm0ulwsIRUNInMwLg9waIhmOATzoMOskYeFC_4CkZQqUFovSWPlRZCWuoh-nw0lRUnEHHOhUxkQNG_Vfb1n2vH-oudaoxpTJN88EHGPvJxqWyh5HJN9Azt1GHCeLN2znE73SsHoxEocPnJaEzkAusjCsvkYRqRQLCV9OEWJatK8gOW8LBT5aGE7BHprw7oi4t5y-XCYrLhBoCSwhnHjJ6-O0fzim9YKQHwtTYxIV5dxR-5Gb5DagzUofpj98Z0dxwRjsWPR8F2yJ8d-Xq2lJXk73kKthnicabPnWv3ok4hrJRCSCGRRlVEhiRj6U0agMKeZO80KlIZBQSuQo0mORz3r10II_WrRev-BA-JThw2WJJeA8EaaMjrZNLh2iiXTeLyB6Z2UhQHAhG4N0Dt3nn_B71_FxWkpY0p2E9faCiA1fJTJ2yzLzK68LShZetUSEGmHL0GfIMBaMOA_L8XyqDo5eE5k_PoeyUjpjXqX0iWf8pc_UTF51cxawWRtemD3RaroosV2GHhmzBtht8rhJFSRE3AsqB2Y-tjL0hjHUOBNKlWH5aMI-vP1ID85u0U_ApSLY-eyDj0zBcKeXiRsDeUOvT3lBGpXjE1F_2yWjHrcRaJdPBVF-F9lVrkMINa1Qcg17fiDtBu9nIQydC1fh1-Jj0upgY3N5QVr4RK63Nm6q-qBrb_H87lApQoJxqMsfgYYWzVXObldg0wEMlkv0o8_tPmdpCd8riT6ux0c_6k8BI0FY2EutIQWe7b4G5o40Uv6ikZze2tR8I2wmkcADbZuECe34-onu9sCnksHkcqR-8Sg-_3h7Fr1kSNXOm3jPVqs44U34c-seJnc8BNcDh5LDQi1X8_Q8k48TdT8C2WVyPEvRzk1dAwxJbc0jtb6CkdQti6XIrcVipg8B2xS6EdnyHxfBOdpNoyZKjjVkfmu-j2LrXlL4_Q3n9Fhp-OERuLuyNokVoqy4istD5dWgZJSA6F9M-LoEPczH0ykxAYMhmVia32ziencL5P6DZOdud6aO3vbu41v0M5kU1jAcfCIXONWltcCQG44SNCuWt5CV62FFFODLqpj2bclMsKpya1jSFoFd1ABpXNqwsCu4oiz2r7fsohroDP7UbcN7_APpwStu7Idh9Ypu-nazgvSYVG19RRIWnDUtbd6NI4PBaHT8MIJbJnAPYuvbdy0S76dmcP1oEWnJpvz9VyhvzIhz4-1ZhgPF_a552NLL54qqdM5zN55dZqDjEg1f3aT1iTfC0geDh-qoZiIyaQuMM2gDetYNBTlA285J-soUPVhkw7WHv-ccPSy4NJN2_OH-ggB0xYJTG88l0BcFClxMCEVUGd_2PouM2_X2inzvF7NoL1PaYXaYqc4xeIqI_JtPfcUkiT9IZROVtrS8J1HXaBO5UKtkL76CatJ5MesZdYK4VyZdyb-hE4wK4s2htgzNzxLsaywxyMBx9jdlZ_Gq1lOajXzqpOw0mck29cherXplnHikpS8PqoI1-cXpaxiKDHqpBT7QNe6LwgG31bBVtjayMpCpKIdBbtofjFOwb26GcA7zWCc_e12vTf95aRxEDvsXaJfDX7vxxZoc0cvZ9I2Yh3gLjRbu1SabDqEVW9rmUNUuHUnv4ARuat9UP9onq4IWoTr6gySwwFfbnCKylDuBc9SWNx_Xi9yghOhTSpKsfG5swctG_5U9ewA6flbpyNI7MkGEnd7DeD0CjocFNxjzg5VvAEcn-_fqz-nXa0ov28x2wW5igvWwXo6T-zCpiQD5SjxI5bIOG0YWYXDY7PNi57Dit6zXL1OJewF0eMtPnSM2HUk3Sul-f8yVjKZ-9xzNqsIJqkLuS8vh-QyGxTJKGCyeb6ZvyzurQky8kpeMN5886mz5fl8uubD7ESpIc1Nagp81j66RaR1hzRHKetQWKY3FJBmg8xU9WQweAFhzcQY=",
  "id": "rs_01490c78c3415d49016ab470d03e9087d0997db2449b04c36f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"left_pitch\":0.08},\"note\":\"The cream plush rose with the gripper and is held by its lower body. I’m lifting above the safe’s rim before moving it into the red-lined compartment.\"}",
  "call_id": "call_aZ0UHRoveEsPBaBIebdrdQaJ",
  "id": "fc_01490c78c3415d49016ab470d2c0e487d0875212e157b8b66b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aZ0UHRoveEsPBaBIebdrdQaJ",
  "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]: [-0.6975, 1.4651, 0.9203, -0.2127, -0.6571, -0.3866, 0.1426, -0.0212, 0.8051, 0.6125, -0.5079, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.367 left_y=-0.1621 left_z=0.1548 left_yaw=0.0271 left_pitch=-0.0004 left_roll=0.1326 left_gripper=0.1426 right_x=0.2778 right_y=0.0012 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.1175 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.1436, 9.812, 1.7509, -0.4713, 0.2125, 0.7399, -0.1162, -1.388, 7.3504, 1.7656, -0.0513, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04333c7465666aacec0fd1e681216e7022a90c1457c9e9784d2fec6b970dca94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855e4cb0e11e3b91748be674025240b9bf6c90e61df4c8af03316a9eca61c93a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872a378134da015090354a2d2d2d88fd46baf1544a47b5f751143bc59b0c161e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.266 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 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]: [-0.6647, 1.8267, 0.7448, 0.2035, -0.5632, -0.4557, 0.9996, -0.0212, 0.8036, 0.6144, -0.4778, -0.0196, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3713 left_y=-0.1666 left_z=0.0105 left_yaw=0.0351 left_pitch=-0.132 left_roll=0.1045 left_gripper=0.9996 right_x=0.2827 right_y=0.0011 right_z=0.1624 right_yaw=-0.0008 right_pitch=-0.0839 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.2393, -7.9111, 7.3368, 1.6337, -0.1294, 0.1685, -0.022, -0.212, -1.3197, 6.9949, 1.8681, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6537, 1.6775, 0.8406, -0.0448, -0.5533, -0.4347, 0.1394, -0.0212, 0.8032, 0.6144, -0.49, -0.0204, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3737 left_y=-0.1648 left_z=0.0628 left_yaw=0.0278 left_pitch=-0.1408 left_roll=0.1168 left_gripper=0.1394 right_x=0.2808 right_y=0.0012 right_z=0.1602 right_yaw=-0.0001 right_pitch=-0.0957 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -9.2376, 8.6359, 1.619, -0.315, 0.0464, 0.5836, -0.294, -1.9077, 7.0359, 2.5177, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6975, 1.4651, 0.9203, -0.2127, -0.6571, -0.3866, 0.1426, -0.0212, 0.8051, 0.6125, -0.5079, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.367 left_y=-0.1621 left_z=0.1548 left_yaw=0.0271 left_pitch=-0.0004 left_roll=0.1326 left_gripper=0.1426 right_x=0.2778 right_y=0.0012 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.1175 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.1436, 9.812, 1.7509, -0.4713, 0.2125, 0.7399, -0.1162, -1.388, 7.3504, 1.7656, -0.0513, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04333c7465666aacec0fd1e681216e7022a90c1457c9e9784d2fec6b970dca94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855e4cb0e11e3b91748be674025240b9bf6c90e61df4c8af03316a9eca61c93a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872a378134da015090354a2d2d2d88fd46baf1544a47b5f751143bc59b0c161e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.305,\"left_z\":0.205,\"left_pitch\":0.08},\"note\":\"The plush is now clear of the rim. I’m carrying it over the left half of the safe, leaving room for the other objects.\"}",
  "call_id": "call_52iToeqk1BabGl1ejYP9eEdu",
  "id": "fc_01490c78c3415d49016ab470d6019887d082e960264f2ad6df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_52iToeqk1BabGl1ejYP9eEdu",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.9881, 1.6474, -0.4519, -0.7769, -0.4797, 0.1462, -0.0212, 0.8097, 0.6125, -0.5449, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4391 left_y=-0.2989 left_z=0.1886 left_yaw=0.0193 left_pitch=0.0418 left_roll=0.1376 left_gripper=0.1462 right_x=0.2719 right_y=0.0014 right_z=0.1474 right_yaw=-0.0003 right_pitch=-0.159 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.5538, -11.0701, 9.4427, 1.2576, -0.6276, 0.149, 0.6813, -0.0752, -1.5795, 6.8855, 1.9219, -0.0366, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53550a2d516640b5d7e0668e5efed289c3876da3d1cf08780cc02c9553d5d9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d86fff924f684b3a9d0cfd77dbfa305cac3de8869ba0463b3174b648a8712ca4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299ffd22bddc83c683715b7de046ac719e380f552de118114a533e9d48cc4614",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.59 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 28 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]: [-0.6537, 1.8347, 0.7559, 0.2253, -0.5537, -0.4267, 0.137, -0.0212, 0.8043, 0.6144, -0.5003, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3781 left_y=-0.1681 left_z=0.0134 left_yaw=0.0214 left_pitch=-0.1192 left_roll=0.1052 left_gripper=0.137 right_x=0.2792 right_y=0.0012 right_z=0.1579 right_yaw=-0.0006 right_pitch=-0.1072 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -7.7744, 7.5009, 1.4969, -0.1148, 0.0611, 0.9792, -0.0342, -1.306, 7.1179, 1.8193, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6975, 1.4651, 0.9203, -0.2127, -0.6571, -0.3866, 0.1426, -0.0212, 0.8051, 0.6125, -0.5079, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.367 left_y=-0.1621 left_z=0.1548 left_yaw=0.0271 left_pitch=-0.0004 left_roll=0.1326 left_gripper=0.1426 right_x=0.2778 right_y=0.0012 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.1175 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.1436, 9.812, 1.7509, -0.4713, 0.2125, 0.7399, -0.1162, -1.388, 7.3504, 1.7656, -0.0513, 0.0024, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.9881, 1.6474, -0.4519, -0.7769, -0.4797, 0.1462, -0.0212, 0.8097, 0.6125, -0.5449, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4391 left_y=-0.2989 left_z=0.1886 left_yaw=0.0193 left_pitch=0.0418 left_roll=0.1376 left_gripper=0.1462 right_x=0.2719 right_y=0.0014 right_z=0.1474 right_yaw=-0.0003 right_pitch=-0.159 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.5538, -11.0701, 9.4427, 1.2576, -0.6276, 0.149, 0.6813, -0.0752, -1.5795, 6.8855, 1.9219, -0.0366, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53550a2d516640b5d7e0668e5efed289c3876da3d1cf08780cc02c9553d5d9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d86fff924f684b3a9d0cfd77dbfa305cac3de8869ba0463b3174b648a8712ca4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299ffd22bddc83c683715b7de046ac719e380f552de118114a533e9d48cc4614",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDaafLJmZZZ3-vPlNSf8Cc3o_ExkvyqAg0uIENeU5rmXC6Mn8lpG4MS3pN7bmnMljKrfBpr_Y47D6CZYJPcU-nQr4nabIbG2L0GjbFK1txP7wYjrBJYXi7BpGsEj_dvRKRTCaUAQtQC9ADkudelcSAchM-2NkeWQQWhTdO3ToAIDURu78OYZcCWFgkQRBZZKwcnc0l32fAzwMfpli6zIzm2a9_zZoAm3U2xWx7BsUHlsweho8K2MEkRZeE4TFypkuia7WzBxVznYg9K7rxJbGixartjEP8Hhw_Kyf1_OPUkVgWYbZxBCWZw1ZF4hnY1l34NeBlXZbgfqGDXDRm9HMBXsC67o1RUPaGWMQHyBdn79tZVmGNCgB93jYbqA7aoPWNzQNij5xgD1J1LGxXcYcKudOoKjfDI7jGBSYlB3E4EPeLpGKogAF_nvQAUUBLcslLKNqFjokYaAhx5fgER1YMXo7HI-GLqvzkt0-OcYHWfzsVKqfOuSSJ3fFhcBT8cox8scCqVBH0DoBustrD82JlAnd8MdZWuwgFb5aMwav0LGJsJUtm9uPvnNqoCIDg6eG2cXFojFAXnNfZzlyM4WwI0fuX4xuJ7oICgwICobQOPavX0PcK-LMtNBcH94Z5wQaGr5nuMhLdz37_J8Wp6KQpVpWhqhFr1ZDnMV2tK7Jwca0QAXh5Kn_83_NEUPKTkWlvmAeSggtNX1CCDggJOjdh0rjqaYBYopmFlK7dYvkQxHciJ1lJaQMXbI1TF_rcIO67_PPbg5fWp1D_DgRNz1l3KWk8LBfL-zZQXHOJ8vM4ilE-5Upz4sq834Wi7BjpXxEdhL6YPTrr7_sGjV60nk1jT2Zde9scsNXghyL2kjOCsHHBNXVGBxRqOVy8BU0WnLK830XCFo9-qcWykWGqq0WJhFTy3Uo8Zi5Da4PhvwyCaqVZjL7eT-gfbLFf6k-QSax50kFZQc4l7HZ7giW_Px0R-XQk0-BR94L7BFc2Jw_HGsqDHNoa9Hv6Axl0_RFG5PalOlK7t22fD-W7WfMa-ETu_lw4LhjM3qqt8HBg_SxVPj8uI1CxJuEWxIj9xbSzk0QBISAnUIjiBLD5hFbNoK_b5qhXWlxVwtaFdEkKI2cHCPJ8CLvpd-dL8Z7PzuVk4atSx5eynpmQsKuGMuaWPSRD9lcTMiFTvu6DL5de_qbvVbk-Qm46JghvYDMHewwWwK2b_iTORA2rjQq7iegXkWCOgIA==",
  "id": "rs_01490c78c3415d49016ab470d9630c87d091d9f57876eb9fb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The cream plush is above the safe’s red interior. I’m lowering it into the compartment before releasing it.\"}",
  "call_id": "call_yRr00gI0t4AGSPvrhFuIJLCC",
  "id": "fc_01490c78c3415d49016ab470d9beb087d0b25e126cbf314df8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yRr00gI0t4AGSPvrhFuIJLCC",
  "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]: [-0.8429, 2.1414, 1.354, -0.0555, -0.7708, -0.4801, 0.1465, -0.0212, 0.8116, 0.6125, -0.5682, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4332 left_y=-0.2957 left_z=0.0562 left_yaw=0.0115 left_pitch=0.0055 left_roll=0.1724 left_gripper=0.1465 right_x=0.268 right_y=0.0015 right_z=0.1427 right_yaw=-0.0002 right_pitch=-0.1842 right_roll=0.0035 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -11.1795, 5.9966, 1.7802, -0.3394, -0.0562, 0.7888, -0.1573, -1.347, 7.1726, 1.7705, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0b91bef8ccd413df492909d523550b74d69a0621b358e1305c397e5d2df901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448572998c9b5f68f2f74f9ec7937489039ab13a368363600702879284802fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e648519b00897a546dc434e793b13838b419ef0aab6a613d9647d48a8b5f1c7",
      "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 · 7.212 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6537, 1.6775, 0.8406, -0.0448, -0.5533, -0.4347, 0.1394, -0.0212, 0.8032, 0.6144, -0.49, -0.0204, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.3737 left_y=-0.1648 left_z=0.0628 left_yaw=0.0278 left_pitch=-0.1408 left_roll=0.1168 left_gripper=0.1394 right_x=0.2808 right_y=0.0012 right_z=0.1602 right_yaw=-0.0001 right_pitch=-0.0957 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -9.2376, 8.6359, 1.619, -0.315, 0.0464, 0.5836, -0.294, -1.9077, 7.0359, 2.5177, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.9881, 1.6474, -0.4519, -0.7769, -0.4797, 0.1462, -0.0212, 0.8097, 0.6125, -0.5449, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4391 left_y=-0.2989 left_z=0.1886 left_yaw=0.0193 left_pitch=0.0418 left_roll=0.1376 left_gripper=0.1462 right_x=0.2719 right_y=0.0014 right_z=0.1474 right_yaw=-0.0003 right_pitch=-0.159 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.5538, -11.0701, 9.4427, 1.2576, -0.6276, 0.149, 0.6813, -0.0752, -1.5795, 6.8855, 1.9219, -0.0366, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1414, 1.354, -0.0555, -0.7708, -0.4801, 0.1465, -0.0212, 0.8116, 0.6125, -0.5682, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4332 left_y=-0.2957 left_z=0.0562 left_yaw=0.0115 left_pitch=0.0055 left_roll=0.1724 left_gripper=0.1465 right_x=0.268 right_y=0.0015 right_z=0.1427 right_yaw=-0.0002 right_pitch=-0.1842 right_roll=0.0035 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -11.1795, 5.9966, 1.7802, -0.3394, -0.0562, 0.7888, -0.1573, -1.347, 7.1726, 1.7705, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0b91bef8ccd413df492909d523550b74d69a0621b358e1305c397e5d2df901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448572998c9b5f68f2f74f9ec7937489039ab13a368363600702879284802fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e648519b00897a546dc434e793b13838b419ef0aab6a613d9647d48a8b5f1c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is resting inside the safe. I’m opening the jaws to leave it in place.\"}",
  "call_id": "call_eHb1a04MpG5kGCuHn53XnatT",
  "id": "fc_01490c78c3415d49016ab470dd367487d094bf21d4c780e851",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eHb1a04MpG5kGCuHn53XnatT",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1654, 1.3415, -0.0559, -0.7792, -0.4896, 0.9955, -0.0212, 0.8116, 0.6125, -0.598, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4301 left_y=-0.2907 left_z=0.0409 left_yaw=0.0222 left_pitch=-0.0128 left_roll=0.1966 left_gripper=0.9955 right_x=0.2629 right_y=0.0016 right_z=0.1375 right_yaw=-0.0003 right_pitch=-0.214 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -13.641, 7.0085, 1.3162, -0.2466, 0.0904, -0.1587, -0.2256, -1.1966, 6.8444, 1.8193, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa49535e1858bf06f1ea42f3f5b09d91356e1a3a874020f68184ac21535f5e45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c006624f2b045cbc49cdb3bd64e19baf614606c9e57110c56ec0bb2e422fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23adb956a253d4dc3164d7d6894fbc86c252e92058869bec919211e3690508a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.16 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 35 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6975, 1.4651, 0.9203, -0.2127, -0.6571, -0.3866, 0.1426, -0.0212, 0.8051, 0.6125, -0.5079, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.367 left_y=-0.1621 left_z=0.1548 left_yaw=0.0271 left_pitch=-0.0004 left_roll=0.1326 left_gripper=0.1426 right_x=0.2778 right_y=0.0012 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.1175 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.1436, 9.812, 1.7509, -0.4713, 0.2125, 0.7399, -0.1162, -1.388, 7.3504, 1.7656, -0.0513, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1414, 1.354, -0.0555, -0.7708, -0.4801, 0.1465, -0.0212, 0.8116, 0.6125, -0.5682, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4332 left_y=-0.2957 left_z=0.0562 left_yaw=0.0115 left_pitch=0.0055 left_roll=0.1724 left_gripper=0.1465 right_x=0.268 right_y=0.0015 right_z=0.1427 right_yaw=-0.0002 right_pitch=-0.1842 right_roll=0.0035 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -11.1795, 5.9966, 1.7802, -0.3394, -0.0562, 0.7888, -0.1573, -1.347, 7.1726, 1.7705, -0.0806, -0.0659, -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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1654, 1.3415, -0.0559, -0.7792, -0.4896, 0.9955, -0.0212, 0.8116, 0.6125, -0.598, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4301 left_y=-0.2907 left_z=0.0409 left_yaw=0.0222 left_pitch=-0.0128 left_roll=0.1966 left_gripper=0.9955 right_x=0.2629 right_y=0.0016 right_z=0.1375 right_yaw=-0.0003 right_pitch=-0.214 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -13.641, 7.0085, 1.3162, -0.2466, 0.0904, -0.1587, -0.2256, -1.1966, 6.8444, 1.8193, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa49535e1858bf06f1ea42f3f5b09d91356e1a3a874020f68184ac21535f5e45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c006624f2b045cbc49cdb3bd64e19baf614606c9e57110c56ec0bb2e422fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23adb956a253d4dc3164d7d6894fbc86c252e92058869bec919211e3690508a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDliCpbaQxZgC-thwnKFCHI-hoy6oWcsvvaPOMTZwWU1z7EQqxgauUVuF4uP7IIuozmQiNf8VJuMVrD4_8dO3lTLElql5sIumgS4bC-ICD6CGEKNcZQkJ4MJkjmyGbVxyS0OAVCaCCU0JFAC02U7inuYwNmGER2CHSTM2lunuvBG63su8uiWh4n5GH-kzCepDJUkF7qDjUTUE8BA0lZ0-lhQwar1bs3ZF4j9gNnxYbwlcNUdMy6J8fVlb2ocvNrOgA-rbW2wm7Kf3lp_igzsh5IHxrRI7jXka_dTJo1rUS1osYOAOSeb2MA-VKXq0eSC9M39reH5ti-yaSnltJx1rkm6ZuJtw3FVOhHbsLCX-OCGzQxYTl0QRWK1tfEqnMH_UOoeDs3G_sadS8-Mlhj67rnFDTIukS-LjXWt7UnJ3y881_2y2W6TAxCQpvsoVT64zuavYz_452bHYa4qmNiC5JAamsQwLSgz_cqyLK0VAaUePTLaqVpG_nsqwK31g5BYoA_HbRiVs6bZQAuwi-QauGDkY5-s43FfV-4QY0KwofY9EcM-A5rYW9wV11bA5XMlox5ELPfthVtGUtQ_4-Xd7t73jXgF3dQyJ7gSEqBD4OJ86uuZQR_hMcDrZNljv5ZZ4KZJns9DWmKI3HKrDyd8MM1EI4GmAbXl5IKkKAkpw0Qd0g3x20TIC2sjBfSn79Xxev6Qg6FZ_HsLeyS74Jj643UaSF-Adqxs1BXOustCpwEIPO6tTEvfa5q3zLi5-Bp2i_49Y1bfqWZV6wbd-snh3LovMP5iiaYC0OaXT0yHrimWEp2s9fSLNhLojTUcs_K70BRqJ8_yBCoQkWSa-FEVckFMbQKtUlBn-GWZoGfdRDnXuh8voyMwRbJuCbx40eo8gxAQyG_fOwpCTsMRiaQbyLGfBx_oY-sGoxA2s9AOtXTOGB3ycwHBSjRCmhFMxKdSEWwEvSJEEuXME2WE7IlVRC6_9R7A2FzRj1WqS29d5bWG2TnuLRYjF1OCCn9DOcmhG3wo5CqogFCcFSa1MoG1imYq9FXRr__DPxYeUpRD1jy4Ploy4ybuk0EaqCuhbZj3jNscwSrLcdQ3vLYiiRn5TYtkeg6p4s6V8G0YNa1OEyg__1CpuONInccv-isrZL-Uh1B5PKfArve2lcDyeCTU2Yc4EDWFDD1L8VSefnMfCXdLBgsXjKGuHwB63uJGDPVuqyKzPX6n3JBr6huAiP5oSdIYCL3dEesyCryh_GMRyUcyFXYg3-IZV28njwMzDs9ejmgRAj-Jgr14EC3HjZ0aWz99y33bKWiriu17wRjPd9sau_DIT6RVsoHjBgN-7SZlcG_-UrzyR5RslbDjPOypiihiVWmB0_k0ljt2fKgOPR4OtThyVLmP_5Y7KN1JlCJqUnf_ZpIPP7nxWkgeffkwHzgX4qiswr65d2OItSPgapFTfYkAK63tqqpVNVu574NmhkONF7hTIxSE6ArHciXKQ-zjtQ7XbpiTaL_w5u7t2bihxjjxMniYBQwTQga3-uX4S-5uynUf9fkK_cckU0hrX_6mVHH8zCxTuSiwsBuk1GJ-sgq5vBNg_roNFDAN2fUFmRXhuzVFMF2-6GADGRRKruUFxLbYbxYHHMDFDjEm3Pxyqh5B4UavFlfsqnbU8uKgcBJJ5Uy8NmB8GuZsa5lemKMeeUsJTH1cw0S7bwn0PsIlth-jB4D_KsVIzbvn55BaMHvsZjdAWYvHiDIKxm6e3hRva3gsDlZooLK8k8k2ugOI-qvubeyu9-rTuLWFwy13dZm-zfU1VtDQZOlIFPQ9SOQmF7-Gb1ULbFyLN1vNgwuNKmd4Sqto5Ja84ZJxeFAR9V0SSqOEhWhuxbeeouxk_LCeaYhiCZ3c6kCFaSZxkSqR8uEDg07HnU7xVZD0KZokmexlxCT1gTD14WDhRuOtJeuJAHQdMLmiBneg3ZgtOI5wxTQLnegLaID6s6UMcW82hPON6nzhJIG8M3tnCMnize811Dl5oa8einzlBkDmKpKiDA9uWGb3pLzjuWGTPyY6iZO4W8HEKFyZKvlIrsHb5hTNaoXt14h8iyrYUXZNuNJ4RsYTJWJEchp_cfQMkatOyDkkjiktObSa2ahLjnisr5jv1C9YovoTv0_H-cRNLFdUu2QxpkDZUsHSbd-d1MFNNDn1OLHuLactHu9TxLuciBMohXcfxn2LVo44VWnzHejG-meS83YozJWNyNfsV1Qgt56HEr5lysX-x-gA9cshPg_9vdtavlv2PZPzQB2-Nu46BRHOJA7Tckx9Lun_Cd28CRQ_8bdVMqQKu6ZJ4tWY5NqodzlqT9YbtY6zFoy7-NEJS0=",
  "id": "rs_01490c78c3415d49016ab470dfe53087d0b2d299ed3b4058f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.06,\"left_z\":0.24},\"note\":\"The cream plush remains in the red-lined compartment after release. I’m lifting and withdrawing the left arm to clear the safe for the next pickup.\"}",
  "call_id": "call_Cv5svl9bokzTNCELA0EMDOrN",
  "id": "fc_01490c78c3415d49016ab470e4cb0887d091819bccb96ffc1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cv5svl9bokzTNCELA0EMDOrN",
  "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]: [-0.5282, 1.008, 0.9031, -0.6125, -0.5747, -0.2329, 0.9968, -0.0212, 0.8158, 0.6106, -0.6201, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.062 left_z=0.2259 left_yaw=0.0517 left_pitch=-0.0164 left_roll=0.1921 left_gripper=0.9968 right_x=0.2587 right_y=0.0017 right_z=0.132 right_yaw=-0.0001 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7419, 10.2085, 1.6581, -0.0904, 0.1245, 0.1197, -0.0205, -1.1282, 6.9949, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b746782137fca860ec3cca953edf501143c7dc38ccee9770289294c5f56e4dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd7272c27ba97c7e6867f79cba4e2b93ad067a5a6771083b6473106022283d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174d26b5ff7c32ec572a43defc2df0e4188df8c5b3e8a23363ce1eef2afb41f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.987 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 35 changed as sent

message 39 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8398, 1.9881, 1.6474, -0.4519, -0.7769, -0.4797, 0.1462, -0.0212, 0.8097, 0.6125, -0.5449, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4391 left_y=-0.2989 left_z=0.1886 left_yaw=0.0193 left_pitch=0.0418 left_roll=0.1376 left_gripper=0.1462 right_x=0.2719 right_y=0.0014 right_z=0.1474 right_yaw=-0.0003 right_pitch=-0.159 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.5538, -11.0701, 9.4427, 1.2576, -0.6276, 0.149, 0.6813, -0.0752, -1.5795, 6.8855, 1.9219, -0.0366, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1654, 1.3415, -0.0559, -0.7792, -0.4896, 0.9955, -0.0212, 0.8116, 0.6125, -0.598, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4301 left_y=-0.2907 left_z=0.0409 left_yaw=0.0222 left_pitch=-0.0128 left_roll=0.1966 left_gripper=0.9955 right_x=0.2629 right_y=0.0016 right_z=0.1375 right_yaw=-0.0003 right_pitch=-0.214 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -13.641, 7.0085, 1.3162, -0.2466, 0.0904, -0.1587, -0.2256, -1.1966, 6.8444, 1.8193, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5282, 1.008, 0.9031, -0.6125, -0.5747, -0.2329, 0.9968, -0.0212, 0.8158, 0.6106, -0.6201, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.062 left_z=0.2259 left_yaw=0.0517 left_pitch=-0.0164 left_roll=0.1921 left_gripper=0.9968 right_x=0.2587 right_y=0.0017 right_z=0.132 right_yaw=-0.0001 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7419, 10.2085, 1.6581, -0.0904, 0.1245, 0.1197, -0.0205, -1.1282, 6.9949, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b746782137fca860ec3cca953edf501143c7dc38ccee9770289294c5f56e4dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd7272c27ba97c7e6867f79cba4e2b93ad067a5a6771083b6473106022283d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174d26b5ff7c32ec572a43defc2df0e4188df8c5b3e8a23363ce1eef2afb41f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDs8swdwmihirvVU1FF6Ej8kk5Pww7N5CBu7l7YpXsFo7i_ygZBwoAzZw-NbFqpE4dpL3dCx8s3hIYUZ5YzK1xoxGwikfcy8QMXfhjeXUuUtm15d2V0rgVvp68On_vqozgIOxjBqi6aTCwIrb4CjS8oe7xcQlwxCoOxIxS5AkxicSRJKtEtrkOnjITvNVHJYSJff_hO0NnooChYJ-fJcH5dT_o87SM3-QyqWZ2kZhbMxE00-la_DxiTBeACNOKCZvwxgEX6BN0aBBvw1J31c-Nb8Il65PpOVJMBzQJm2-kH_aw2m8Lyqz6xbYOCEaL83xPAQVeEbV3fPEH-57BTKsFakESWRQuAVGDpRgc8pVAS7rzT58p9bG0HWDlgKXsg6j34H00zMr5ygtv9mwCZcgz_KQUZjQqqCHNue5zBfvEL4Ax3rz8llAUgeFdqpFHgeVhIYh-n0GIVoL8uww0JYeIyZpb_oAe4tRzJJiL60NNHGpVYU6XUzBzplxECLXJlxxD7aDvAo2dF0_uNcOqkZw1AqYftffGhYadfmwC89aesajOg8fAl7eSKL2c_zXEjDSjvN8aL6p2mIlleUshpfTFABgQeXhI5-cPWx28QtRK6YQIXxIuvdUcqfRRkzU9NQR4RIpWoM9RQKxLIaMD2jW0e3MNHv3gWQCPtw4xZunzYu0r-F-Uo59K2aYIwBS1JagPLK4K5Qn3dCDj2xfRcjFUTazE4JEQR0HeVm5kH_WBhD0JrHvg7w9CN5ftQoR-m7peZSz53IBXa3ULOMKBG-eIyHZPcojKViqcV3FzalEMBn7c7fYPb2Xjsknv5oVVglsTN3kXr5cQll63-u1UXrGYepbMr4be8gwRRVVZQNlv9LQud_jW2_PzBPHIKb9gnW-NhbATBDqhDSZz0BzcPFVmbi0HmwlzoSD2BNCrqG24KYXQzhsH7BCs8nPpnaOEPEHnmLoS-RH29ceOhp4wjNi6zh2kVmrK_-AKwTYVmHdqMUstNgYaaR3MO8-f2_SHhn03ONTzoIQR93aid7uwYMh7AGDf13bYaCDSS94g3miXeE_suLt9cXZO8l0B9x4BWn9L40jm-BqC9Vn5LXwKLlRPJ9deXWlNGQcC4fVIL12qrbkniy0pPZaiMC65ReHEQgOR-UG3z7BL6aDcDfDucTA-oPLfiE4w8ukvUh-Ymr1-PeEYUL3CAqDUA0UPV6qFEjUQM_rOg4udCZcqZG3cxOobTkMpTnQBnTAi81-YjVSDqApoAhHWxc3avJrCQ12pqDWNU7dWhhABzBDQ7jzqMjfq7WGN44PDixSwlH5kctwjeDsR6vBuC9RdZlft8WJvEaePjaenAvbEAytOUliZU6dmmL6WDZk0H9PK8A7Tj7T07qA4vpl4NuH8sZFKmNr59g7rnvNq1YGZM5sC8Uu5992xy2Vzb-BHTQmYrzqBgpJgOa1LrQGy8-Z0yfeEi1Baeit-HgvHDVuOSflmlG_utA4fdPM_GQ3LR2XH7uMBhui5Ik5rm-QG0QL858Ev1VCLvxLB0YhrcJkgVoDzWD22lUyzXA5fGYdxC_TYUYbN8ILQFoY8sKwxzF6q-BZ4gjWyQU6QQ",
  "id": "rs_01490c78c3415d49016ab470e9487887d09ef34c771662be57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.225,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The cream plush is fully inside, and the brown teddy remains in front of the safe. I’m bringing the right gripper over the teddy’s torso.\"}",
  "call_id": "call_hwM7b5XhixYCwWOBYe7Qnnrs",
  "id": "fc_01490c78c3415d49016ab470eae0a087d0ae8cfc2d5a09c1ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hwM7b5XhixYCwWOBYe7Qnnrs",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.5293, 1.0115, 0.9073, -0.6361, -0.5648, -0.2401, 0.997, 0.9993, 1.3937, 0.8471, -0.3969, 0.7311, 0.6724, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0626 left_z=0.2222 left_yaw=0.0472 left_pitch=-0.0384 left_roll=0.1931 left_gripper=0.997 right_x=0.2759 right_y=0.2176 right_z=0.1327 right_yaw=0.0407 right_pitch=-0.0648 right_roll=-0.053 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.8376, 6.4068, 1.7021, -0.3834, -0.0024, 0.0122, 0.212, -5.4359, 8.4991, 1.4432, 0.6325, 0.1783, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b84be778d18a267990ab0acd3a61180bc69c155d7612c962516fdcbb586ec6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fc3302e857cedb9c44cced5ed9c881946cb23a50d3fef8c0539c08546dc46b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2365853e07d4e3d7c75edec7fa1f65022b3ea379a0478cded634b88ba73f3e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.341 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 39 changed as sent

message 43 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1414, 1.354, -0.0555, -0.7708, -0.4801, 0.1465, -0.0212, 0.8116, 0.6125, -0.5682, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.4332 left_y=-0.2957 left_z=0.0562 left_yaw=0.0115 left_pitch=0.0055 left_roll=0.1724 left_gripper=0.1465 right_x=0.268 right_y=0.0015 right_z=0.1427 right_yaw=-0.0002 right_pitch=-0.1842 right_roll=0.0035 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -11.1795, 5.9966, 1.7802, -0.3394, -0.0562, 0.7888, -0.1573, -1.347, 7.1726, 1.7705, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5282, 1.008, 0.9031, -0.6125, -0.5747, -0.2329, 0.9968, -0.0212, 0.8158, 0.6106, -0.6201, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.062 left_z=0.2259 left_yaw=0.0517 left_pitch=-0.0164 left_roll=0.1921 left_gripper=0.9968 right_x=0.2587 right_y=0.0017 right_z=0.132 right_yaw=-0.0001 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7419, 10.2085, 1.6581, -0.0904, 0.1245, 0.1197, -0.0205, -1.1282, 6.9949, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0115, 0.9073, -0.6361, -0.5648, -0.2401, 0.997, 0.9993, 1.3937, 0.8471, -0.3969, 0.7311, 0.6724, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0626 left_z=0.2222 left_yaw=0.0472 left_pitch=-0.0384 left_roll=0.1931 left_gripper=0.997 right_x=0.2759 right_y=0.2176 right_z=0.1327 right_yaw=0.0407 right_pitch=-0.0648 right_roll=-0.053 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.8376, 6.4068, 1.7021, -0.3834, -0.0024, 0.0122, 0.212, -5.4359, 8.4991, 1.4432, 0.6325, 0.1783, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b84be778d18a267990ab0acd3a61180bc69c155d7612c962516fdcbb586ec6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fc3302e857cedb9c44cced5ed9c881946cb23a50d3fef8c0539c08546dc46b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2365853e07d4e3d7c75edec7fa1f65022b3ea379a0478cded634b88ba73f3e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDwb8X47Vwcc4SowjMzmFahKI-0GUJoCMNPOJGG3NWGlWGJ2_WJ26jWkqR6OXM8HWg0BX_IyKJI0DCFEVF97xJ4A1dkfmDDqHPNhczHvKuhPByrDaMXinVStMGMfARkB2s45HKKTdzmfYbZnpksPJ9mYBI-3o3JYhDEWNq3WzOh2DHQnHrZlkAztl-l3UaWFKnQWlfp_EdhEykt4lOljs4wgq6_qM-LvAIKIfoi_UZiAakgnpMyxavgAnP43-oOuLXOGjIBZUB79WADIPw2joIHT13FBKRdQohqjO96yNdyT_3j9v2gqHBmAxd6OCoWkcuqvkFTRfwpjS_ZBodXnFdlwgnvoG_o56MCZ5MXthM1x9LGoMzqnfKplec7T1FYOLPMCUHmTy1_2g1XH4awPDXg2s4YX_mmcStW8N2k-kOOwVApoBXIDkTug2KdA-i0ji8l_W3J2mrjm-fbLdIx-Q86onLlE4ATZwEx1shpCIkqd5CbDpJ6cN8FGdtSUmIkRk4Td9sEvHabQmBeJBHGxwwEwr1PEYg0jn4u_6jqhFH4EiHJJXkcOYhgDMCqNbivGCwdxnVLuotNbz3GcXHyHrEw_uVeAYbpPEP0ov1OEH5u5hhawkep3fdWbGIzepUGvB_oitq1nVGaeJcdnUOAh254BK-535Mp1etwB06YTlJ_QibZjJ4I4PYKNTYc7bxs_7vta70gft90SMrjCySBOmM-TisFhIH3LNpqWB3jklz2rP9iCw4SCHLRsUZlv3qTrleKgQ1siMrklFnwT0DOnfuzLLxqvzShpVlqPbguv3b9LUx4Zq69-Q4uTOtlNJwOC6ixU3DuOxGhg4Dtc8zs1JkMyWZNQkKuqy1sQTDo2DtgMFZePfjjjSlqQ4_kAf0ikuyHLuX-rn1tUFOJxbFyIvRGllMXK7uYUIxK1HVf2nFp0K-9PRUtgAIBQdaeRiVEpJ5enc-ENAfL2FhCn8j93wPMnufEU-YUo4rbDYeupcvvI2dcytflID4BvUPPDYaVuUo_SIoN9NHQBq3xCnkp65gq0OoHEZ37pEAknMZoLx_bSSBahhK0QhXWdJT3RQM1sQxMC56ia1XTC-kzaVH1UjVjCXRdh07rMr12kdV9_kKmQZ5sr1wLb5JeBpqqGl-lo6N_f04fCcq3rLEZk68-Bh4XNE3jUmfggRn0jrugukFk9Bnmc9JfoHcGZ_I6-esoUZvoW5uoLEtVIOnTk72Zkfq63r32WZhHbZY9BPuJsl7y5njo5-C__WIfFRz45qEicQA4m9ZJ625teGn1k55PmO_MimF11N4GydBgd-HrECCQe5Y=",
  "id": "rs_01490c78c3415d49016ab470ef411487d080eb612d3190602a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.225,\"right_z\":0.035},\"note\":\"The teddy’s torso is centered beneath the right jaw column. I’m moving slightly forward and lowering the jaws around the plush body.\"}",
  "call_id": "call_I1mGMB0WB2y2HKJyGK4np8TU",
  "id": "fc_01490c78c3415d49016ab470efd7fc87d0992fa76b2b4b62cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I1mGMB0WB2y2HKJyGK4np8TU",
  "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]: [-0.5293, 1.0119, 0.9073, -0.6422, -0.5644, -0.2405, 0.9971, 0.9188, 1.684, 0.6991, 0.0269, 0.6777, 0.5972, 0.9995]\nstate[eef_state]: left_x=0.3007 left_y=-0.0623 left_z=0.2211 left_yaw=0.0473 left_pitch=-0.0439 left_roll=0.1961 left_gripper=0.9971 right_x=0.3004 right_y=0.2169 right_z=0.0336 right_yaw=0.034 right_pitch=-0.111 right_roll=-0.0973 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.5641, 6.8581, 1.5263, -0.2662, -0.0611, -0.0073, -0.4444, -6.3111, 4.7658, 1.37, 0.3541, -0.1538, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82010dc0c8cabbaada3c8fcbf6033ba3c2b2a20b2056b1a9817935d9150bc2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd34da687d0691e5ba867524a42f2d16bba18c2255e1d563b99d6aea82501c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6e1eb488bd1a1240445cac62a97c090d05c3d75188169c3a141e7b8604205e",
      "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 · 3.55 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8429, 2.1654, 1.3415, -0.0559, -0.7792, -0.4896, 0.9955, -0.0212, 0.8116, 0.6125, -0.598, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4301 left_y=-0.2907 left_z=0.0409 left_yaw=0.0222 left_pitch=-0.0128 left_roll=0.1966 left_gripper=0.9955 right_x=0.2629 right_y=0.0016 right_z=0.1375 right_yaw=-0.0003 right_pitch=-0.214 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -13.641, 7.0085, 1.3162, -0.2466, 0.0904, -0.1587, -0.2256, -1.1966, 6.8444, 1.8193, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0115, 0.9073, -0.6361, -0.5648, -0.2401, 0.997, 0.9993, 1.3937, 0.8471, -0.3969, 0.7311, 0.6724, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0626 left_z=0.2222 left_yaw=0.0472 left_pitch=-0.0384 left_roll=0.1931 left_gripper=0.997 right_x=0.2759 right_y=0.2176 right_z=0.1327 right_yaw=0.0407 right_pitch=-0.0648 right_roll=-0.053 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.8376, 6.4068, 1.7021, -0.3834, -0.0024, 0.0122, 0.212, -5.4359, 8.4991, 1.4432, 0.6325, 0.1783, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0119, 0.9073, -0.6422, -0.5644, -0.2405, 0.9971, 0.9188, 1.684, 0.6991, 0.0269, 0.6777, 0.5972, 0.9995]\nstate[eef_state]: left_x=0.3007 left_y=-0.0623 left_z=0.2211 left_yaw=0.0473 left_pitch=-0.0439 left_roll=0.1961 left_gripper=0.9971 right_x=0.3004 right_y=0.2169 right_z=0.0336 right_yaw=0.034 right_pitch=-0.111 right_roll=-0.0973 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.5641, 6.8581, 1.5263, -0.2662, -0.0611, -0.0073, -0.4444, -6.3111, 4.7658, 1.37, 0.3541, -0.1538, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82010dc0c8cabbaada3c8fcbf6033ba3c2b2a20b2056b1a9817935d9150bc2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd34da687d0691e5ba867524a42f2d16bba18c2255e1d563b99d6aea82501c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6e1eb488bd1a1240445cac62a97c090d05c3d75188169c3a141e7b8604205e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHD0_T7gkyMQC2nYPU14BiAo2eLOAHSdvLhv1AO-n8mMxGSqz9CydzpWyknKA91uQiK-6_UClhRuKfbIfFFkEre_ulxvWt2pag5sx4hsaxOpmRCjk0WsX8_B6J3UlVwAkwx0ZYrS8bCCV7kIvYmCJT-BFrDGHMgbWmCrOL0gGAFytVChi8hSAZWme4-kqs6wJwKY7EXbSkWNhfPX9wdb_mxn0G9MtIVM2TZk8TDypSbN-dspp0KydOEXEVbqHo8HfSoHPH5utyA-3bc9M56qGw-iyejZdQH2dF3QyfzofPeEP2OOoe085iQ8eLRPLdczAEruDX84dljiwxPMcdleP356-Zx5Fa4LS1XKROlloVNmePV9epNylpISp1oOnVKaw7RgrGAheTiRRKavkiD8TbTPp9EJQzMReU_m-4MhKoxnokb_WY_VSeUMBfYqLXpAoLYOOWleYNuXOkwGnWLBslkzEaqvUhgbgSb5uyBYKfMKULwv4lPTZ78tpVJavWOksZm_W2TzTVfzL0bn31wBB7qAcNMOKhFXbrg-ijLviJKpiIyUYM8vglsZSWYGCFpAFTRP2m5EMdfcqtrPrkB_8VdFWhol1nJiqbI_x1ZuGYjCxugQG595ALgZFu9YGKEjRZRelkU-hSmOD_djnnTmuvhAwmDtwFjYlwA-ZX4NIuioreUbx2vCN6KdQSXxYJpjUfgDKMqQVzH-xJMI9RvmtNF2DForP0qrTNc00243Is4EcBRW3hXbLW6kMuyrtli_nG1v01-DNDhaPZXckul-uzBUT5kK7eK6NUPTgcmE6vhwmrbEO6Sp-2Tw88nK8m7uD68-VmY1bIoZs1LVqyZbQeWfTLKDUIKC6YMe3nUxrW3r4laI6XBwOpkb2IB9uc3VjvvoHNH6ZVDAN9BZFcdK0jtbl1HHFQJKGdAVJ3p50glv08HNq2IqK6mbdi5apFPcGCd5skEhGlCx4eJg-ppvk2uI4vQedUhvggqu-3cQtmwOKKJmMGRw4cU4osqQzcs5_T22oCdeifQ9cGziRtN2NxQ2hm8Pn_VCqDZz9pZruyD-YCuW5z57P13G_hpbZM9m-7zpsddEbxTus-vjCaTtA77-yWrG_iaVJlsoaNKoP1u7MkwEKRFnfGw4F5Y-eWMAYiP2ztwV5pdn0ECcSpzw43PsJm4B3-VAbPMEvPi2WezJo4OdXtGVHrT0f3WE4saf5vkzwTNwW_bt8Nbz5EtLGL-D_VjhfqYxdklLgFDyFAH3FUGyDrNUowaffFIjOt1LW-AkhYe5w-0-bI8gCfegMy2YfPkUhMEfbl1JvLgyrM-soQgYanaTBmaH51SDBIB92fndOidbzq8lZSecvsEqMmm6gEZ6vIYaouFSy5Rs8yVtU8KtzTF9k5R27X5pA1ndDrl2",
  "id": "rs_01490c78c3415d49016ab470f2f9fc87d0a2ae518eec99323d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the teddy’s torso. I’m closing them to secure the plush for a test lift.\"}",
  "call_id": "call_EItAREUGcRV6qAOvRIbVuO4v",
  "id": "fc_01490c78c3415d49016ab470f3f24087d095d14a3bcbf111b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EItAREUGcRV6qAOvRIbVuO4v",
  "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]: [-0.5293, 1.0126, 0.9073, -0.6529, -0.564, -0.2405, 0.9971, 0.9157, 1.6962, 0.6937, 0.0307, 0.6693, 0.5938, 0.0171]\nstate[eef_state]: left_x=0.2994 left_y=-0.0616 left_z=0.2192 left_yaw=0.0473 left_pitch=-0.0537 left_roll=0.2022 left_gripper=0.9971 right_x=0.2992 right_y=0.2154 right_z=0.0276 right_yaw=0.0369 right_pitch=-0.1253 right_roll=-0.1062 right_gripper=0.0171\nstate[joint_eff]: [-0.1299, -2.6188, 6.9265, 1.6484, -0.2955, -0.0171, -0.0122, 0.1983, -7.9932, 5.7231, 1.1746, 0.3443, 0.0073, 1.0965]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef6e205576bbc5375a15f28a1b7dae67a43e6a98874de4982208db1f6ae09cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf994691e0004b268e969391fd70a9e591f9aaf839afdf916916e09c4171f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7cd3f89413e85d72ee52282919e62f3599ecee29b8f9e34e74a139c7afd495",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.436 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5282, 1.008, 0.9031, -0.6125, -0.5747, -0.2329, 0.9968, -0.0212, 0.8158, 0.6106, -0.6201, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3039 left_y=-0.062 left_z=0.2259 left_yaw=0.0517 left_pitch=-0.0164 left_roll=0.1921 left_gripper=0.9968 right_x=0.2587 right_y=0.0017 right_z=0.132 right_yaw=-0.0001 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7419, 10.2085, 1.6581, -0.0904, 0.1245, 0.1197, -0.0205, -1.1282, 6.9949, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0119, 0.9073, -0.6422, -0.5644, -0.2405, 0.9971, 0.9188, 1.684, 0.6991, 0.0269, 0.6777, 0.5972, 0.9995]\nstate[eef_state]: left_x=0.3007 left_y=-0.0623 left_z=0.2211 left_yaw=0.0473 left_pitch=-0.0439 left_roll=0.1961 left_gripper=0.9971 right_x=0.3004 right_y=0.2169 right_z=0.0336 right_yaw=0.034 right_pitch=-0.111 right_roll=-0.0973 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.5641, 6.8581, 1.5263, -0.2662, -0.0611, -0.0073, -0.4444, -6.3111, 4.7658, 1.37, 0.3541, -0.1538, -0.022]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0126, 0.9073, -0.6529, -0.564, -0.2405, 0.9971, 0.9157, 1.6962, 0.6937, 0.0307, 0.6693, 0.5938, 0.0171]\nstate[eef_state]: left_x=0.2994 left_y=-0.0616 left_z=0.2192 left_yaw=0.0473 left_pitch=-0.0537 left_roll=0.2022 left_gripper=0.9971 right_x=0.2992 right_y=0.2154 right_z=0.0276 right_yaw=0.0369 right_pitch=-0.1253 right_roll=-0.1062 right_gripper=0.0171\nstate[joint_eff]: [-0.1299, -2.6188, 6.9265, 1.6484, -0.2955, -0.0171, -0.0122, 0.1983, -7.9932, 5.7231, 1.1746, 0.3443, 0.0073, 1.0965]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef6e205576bbc5375a15f28a1b7dae67a43e6a98874de4982208db1f6ae09cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf994691e0004b268e969391fd70a9e591f9aaf839afdf916916e09c4171f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7cd3f89413e85d72ee52282919e62f3599ecee29b8f9e34e74a139c7afd495",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHD57P0H7NBWohhNe2Df1LGTBRWy0-aB0ZwOLVynSjWkIq2GH_j87oZr6IMNW3BPkUkGOiiQAA2hqWUDwx6lTfvabiDaze24ZtSWNL0hxTngqMwGIOUp9-VzA3y38yRttpF0zuhRVkMZ9NxCkptUpl7Om8Ab8etRjMBZ5JOZYwPRQrEueVfnX4G8CXzhKZMdl3exNk8ZliHQoCiEScfOiZxCUqYyNywZuIYPr-bMT8GQ4W5E8dF1xvst-rsHzhI7l9pQluMVyMmCL6OvIPl5hzbuqnCuYxHhi8t2Eu6cyuzSFUMxwFtQH3xTFaw8-DC-rDv-HUHgGIWB3b_XWY-IBqhtBwq5D6x365xdbgrEe0c5end2odoms1WUxkJB3gyZJ1_oH-4fLa73LtQg-87dcBIH38Zp8AC7c-EP3mhl_FlOVD-lAmfs5pNq7mHMJx4VOpccESd9NPLryaJtXkuAvrc4FAKnrzO53ys5lrc6sH1Dp--szdUCxst_hiv2k6KybIRidg5MHOK-jKzjd8dUmnznJuf6PnXyuOmRC8OCEzqj2B4M6VERO1a13s597uKA0xmPB3NHD3PY942zt3sVBscMmx1HrzPdVnLTZk4MsxMofIX1AsbZwENFuH6-R3SV-HSd0kJ4if73N385wCzXqkTg4HYfaRrsN_VrHLTCG-y5k1XEAcPWsNmaPabvMKTIWm7FT_2mfRrHpeJuHT97BPzDEKfuTK2BtC1Y9G41G3ajg1Z9DpM1gcfcYoBI_y73whdvDy1g_9X49k-rg57PHQSzzvnMX5IEmTzMSZ7K-_vZKPlorMopkEHTf6mxmSf64nqFX5dJP7Q_qX3KLfapotrYnBAVhtvqTV_MPTSQuj8f8CRDOr2qdPx3LhHOIJ0L0h5mmt_eJKpSuw4CSpc-hpwF4OqN4CuK5KLDAnS8aiZKMhTEkbwIlvifYEwiIgYH-zxKwr9g81MbeaSUMMMd41vH84a5IR3b5aLKRxN1jLkl_D7rY1aBZq3bkQBPp94Tg1vPfH3B2QIXB0G-HG2f6Lm7g_4KtI0TdOJeQ8zuXNx8LjsG8tThekVMNMCPzN3i18CfFJ_fmDITM9jFSylyjPwbYG_9CJZ5fshBbqGJC3TlDXUljDon9dzoE9m9Urt38gwRDkRuAYFFsAAOVGboxywSzSURWnJZ_jyt2byf0vh_pMQJ7I9Iw-2trtaG1idP71SrZHBiyrfa7iKjjO5gXoT7wcoUXF7g_uvbjsfX6SpAGnfUESf-TBhvOqSnh3Y3GE8xXmkgPNCIllUM7Obu3a0Om2PLo8pWq-F8Tnfw0uKRTr-RZASZjYThQiNzQCIUqiWv3_CzpkO0CM2qYrNKNcz1q0RU0gVakvn-8lJEiQhAlRte9TNZ943qBWAiUs00BmU6",
  "id": "rs_01490c78c3415d49016ab470f71d8487d0a578d16c622d2cfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.24,\"right_z\":0.025},\"note\":\"The gripper closed almost completely, indicating that it missed the teddy’s thicker body. I’m reopening and advancing toward the torso, with a small leftward correction.\"}",
  "call_id": "call_cwFNLoMsKRoe5ZZc4ao53YxM",
  "id": "fc_01490c78c3415d49016ab470f8379887d08807fe114a3ecab7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cwFNLoMsKRoe5ZZc4ao53YxM",
  "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]: [-0.5297, 1.0126, 0.9073, -0.6609, -0.564, -0.2405, 0.9971, 0.8436, 1.845, 0.8646, 0.0257, 0.6258, 0.519, 0.9946]\nstate[eef_state]: left_x=0.2983 left_y=-0.0611 left_z=0.2179 left_yaw=0.0472 left_pitch=-0.0604 left_roll=0.2065 left_gripper=0.9971 right_x=0.3412 right_y=0.2332 right_z=0.0221 right_yaw=0.0358 right_pitch=-0.1451 right_roll=-0.1261 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -2.3453, 6.735, 1.5556, -0.2173, -0.0171, -0.0122, -0.7043, -6.653, 7.2547, 1.5702, 0.2271, -0.0562, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbcef29c34c3de87417e69c2cd1a323f1ae88ad06247589a97a5b99c8aa84956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f3652a7b685cbd7108b7a0a5fde7f83782338c2f9fbf71ffdd66c0caf658b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d5e4793c7e46407633e21531e76ad1b26fffa88d3dd75d176322275b1ce8fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.773 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0115, 0.9073, -0.6361, -0.5648, -0.2401, 0.997, 0.9993, 1.3937, 0.8471, -0.3969, 0.7311, 0.6724, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=-0.0626 left_z=0.2222 left_yaw=0.0472 left_pitch=-0.0384 left_roll=0.1931 left_gripper=0.997 right_x=0.2759 right_y=0.2176 right_z=0.1327 right_yaw=0.0407 right_pitch=-0.0648 right_roll=-0.053 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.8376, 6.4068, 1.7021, -0.3834, -0.0024, 0.0122, 0.212, -5.4359, 8.4991, 1.4432, 0.6325, 0.1783, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0126, 0.9073, -0.6529, -0.564, -0.2405, 0.9971, 0.9157, 1.6962, 0.6937, 0.0307, 0.6693, 0.5938, 0.0171]\nstate[eef_state]: left_x=0.2994 left_y=-0.0616 left_z=0.2192 left_yaw=0.0473 left_pitch=-0.0537 left_roll=0.2022 left_gripper=0.9971 right_x=0.2992 right_y=0.2154 right_z=0.0276 right_yaw=0.0369 right_pitch=-0.1253 right_roll=-0.1062 right_gripper=0.0171\nstate[joint_eff]: [-0.1299, -2.6188, 6.9265, 1.6484, -0.2955, -0.0171, -0.0122, 0.1983, -7.9932, 5.7231, 1.1746, 0.3443, 0.0073, 1.0965]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0126, 0.9073, -0.6609, -0.564, -0.2405, 0.9971, 0.8436, 1.845, 0.8646, 0.0257, 0.6258, 0.519, 0.9946]\nstate[eef_state]: left_x=0.2983 left_y=-0.0611 left_z=0.2179 left_yaw=0.0472 left_pitch=-0.0604 left_roll=0.2065 left_gripper=0.9971 right_x=0.3412 right_y=0.2332 right_z=0.0221 right_yaw=0.0358 right_pitch=-0.1451 right_roll=-0.1261 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -2.3453, 6.735, 1.5556, -0.2173, -0.0171, -0.0122, -0.7043, -6.653, 7.2547, 1.5702, 0.2271, -0.0562, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbcef29c34c3de87417e69c2cd1a323f1ae88ad06247589a97a5b99c8aa84956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f3652a7b685cbd7108b7a0a5fde7f83782338c2f9fbf71ffdd66c0caf658b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d5e4793c7e46407633e21531e76ad1b26fffa88d3dd75d176322275b1ce8fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHD8U9WZ59QvK8lNNzkoqUfAKzCady4RIwl8-4Qy4b9g0LgWFm05OAuo15ZR9yCY2tAO39HZ0Rg7eJncuOECQI3aG9JqST3Gy1pehPbUgE-b6wzwmQjCPM9aG3yzDab0IvCBEeFW-sMyUACO8sops2qgW83SKpMpnEnCQez1qWB0W2coMrzljrNHVo1uKsStT47WKs0vWRXEjVMiL-7HpYeKaWfdi2-CN7y78ho0R-fwFA345Gu1ycB7_A0jRbO32CDTljUc1tUp5p_H0DiSPqzCCAOlWi1kaEyQ9nlBxhXXEKD_jvBUW9DIvYwZZobxQd1rpTfYgLd1oxOaORRvNnbzhz4sR5ZuQXvlgSSN2FvUaXQDkQjUOYH6AU-0hCGlFCBat9YSU3Pol-0uWsc5f93sCedNegDZkvwMYq_aaFUhxDm2IIyuLJpB5vfTw20RrcBsWkha9Ge0sXFblfVqc9uk6650rWfM7IS-HV0-OKdoiWyN54sJqtok3QJ9yEePtVNreFlKabKWQwuZeYBLKUl4XYdIKn6UU-L90TfdnCYumoRPlj_4yU6mKgFv7G8SUKDMtBJPBlwKSdOba7pHmNU4ava-etpTgkSQeFhLXdUG9MGZwQKVlyuJmaDq6PsV3SJoNfcUc6kcDbuJfo2vLENkgpegtc0g3d5yLjlLgUvlYOgGA0dD5jpHFdAVwMi-Zr9hD_x8_7CzW7-jU0b1Y8H-KNLYzGcV3E5C46yV6k-jfKHKKzeQnNaHR1YFo_Q5KGWDhAmvpcX-VgKVY34daIEdeyiGW5g8AJu6Bo7xOQRetzcCyoqX7xa3hsydr8pssxTGZXIIzYHH635Jdb3FcGrykCRRZ2le12fXox_gHMFzODGnn9VFj3eiOUD_msRk0j74O7qSxCGQvIJd1K35c9EfbRVbzkETozyZ6AkMW235eEdKGjmxoROAqVNugfeCeZpWXnofJ__HFYFXWqRcVZMLiKiAwLnqRyoRQllcqEf820BwAFxtYGnbwyh1TOCEcT3gSE1KVlaVQ3oWMr2XtPnfB9HQqDjBzQxHUqNRF8YA4DcASMJKjR5grbn-OuUctiOnyhpTFTVNiDTklWmLx86oaeNcNwCoGUpGqfhMCs0H4oHeMmc_zIDFMG-caKfH4DFUXdlhMn5x2UtEKjukByIxS0vWSl-fdSkea8LErLO0Mey8b-MCOEHfYPXv0i05gG_WRz5MaqvVOOrlyrBXVEVFPkAWSoiPI7beV6AKWi4-XvOxFBc-ZD4eIgW3dfLxdqo7",
  "id": "rs_01490c78c3415d49016ab470fb8b4887d0a7b3ec8d5b0076dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws have advanced onto the teddy’s thicker midsection. I’m attempting the corrected grasp.\"}",
  "call_id": "call_c9yuN2onsOhodESKEfGy4z0F",
  "id": "fc_01490c78c3415d49016ab470fbe6f887d09f4d0e64c7331d68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c9yuN2onsOhodESKEfGy4z0F",
  "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]: [-0.5293, 1.0126, 0.9073, -0.675, -0.5644, -0.2405, 0.9971, 0.8429, 1.8507, 0.8696, 0.0166, 0.6121, 0.5159, 0.0122]\nstate[eef_state]: left_x=0.2965 left_y=-0.0598 left_z=0.2157 left_yaw=0.0483 left_pitch=-0.0721 left_roll=0.2145 left_gripper=0.9971 right_x=0.3401 right_y=0.2345 right_z=0.0192 right_yaw=0.0448 right_pitch=-0.1603 right_roll=-0.1277 right_gripper=0.0122\nstate[joint_eff]: [-0.1026, -2.4821, 6.9265, 1.6288, -0.2857, -0.0317, -0.0122, -0.294, -8.9368, 4.8342, 1.3553, 0.3443, 0.0269, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8de6e1ab08b564d3757613aceaf0be33b5b60d33437632b4bca98a2ea85c893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73af7caacc4bda2b75d71c3e6bd27c7c7b51350308419251f1a4e4a99107c97b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738159f5cce8f5a1655be4aa6db1e779478a30ae66fb5866aef87f7fc65b3179",
      "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 · 13.72 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0119, 0.9073, -0.6422, -0.5644, -0.2405, 0.9971, 0.9188, 1.684, 0.6991, 0.0269, 0.6777, 0.5972, 0.9995]\nstate[eef_state]: left_x=0.3007 left_y=-0.0623 left_z=0.2211 left_yaw=0.0473 left_pitch=-0.0439 left_roll=0.1961 left_gripper=0.9971 right_x=0.3004 right_y=0.2169 right_z=0.0336 right_yaw=0.034 right_pitch=-0.111 right_roll=-0.0973 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -2.5641, 6.8581, 1.5263, -0.2662, -0.0611, -0.0073, -0.4444, -6.3111, 4.7658, 1.37, 0.3541, -0.1538, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0126, 0.9073, -0.6609, -0.564, -0.2405, 0.9971, 0.8436, 1.845, 0.8646, 0.0257, 0.6258, 0.519, 0.9946]\nstate[eef_state]: left_x=0.2983 left_y=-0.0611 left_z=0.2179 left_yaw=0.0472 left_pitch=-0.0604 left_roll=0.2065 left_gripper=0.9971 right_x=0.3412 right_y=0.2332 right_z=0.0221 right_yaw=0.0358 right_pitch=-0.1451 right_roll=-0.1261 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -2.3453, 6.735, 1.5556, -0.2173, -0.0171, -0.0122, -0.7043, -6.653, 7.2547, 1.5702, 0.2271, -0.0562, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0126, 0.9073, -0.675, -0.5644, -0.2405, 0.9971, 0.8429, 1.8507, 0.8696, 0.0166, 0.6121, 0.5159, 0.0122]\nstate[eef_state]: left_x=0.2965 left_y=-0.0598 left_z=0.2157 left_yaw=0.0483 left_pitch=-0.0721 left_roll=0.2145 left_gripper=0.9971 right_x=0.3401 right_y=0.2345 right_z=0.0192 right_yaw=0.0448 right_pitch=-0.1603 right_roll=-0.1277 right_gripper=0.0122\nstate[joint_eff]: [-0.1026, -2.4821, 6.9265, 1.6288, -0.2857, -0.0317, -0.0122, -0.294, -8.9368, 4.8342, 1.3553, 0.3443, 0.0269, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8de6e1ab08b564d3757613aceaf0be33b5b60d33437632b4bca98a2ea85c893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73af7caacc4bda2b75d71c3e6bd27c7c7b51350308419251f1a4e4a99107c97b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738159f5cce8f5a1655be4aa6db1e779478a30ae66fb5866aef87f7fc65b3179",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01490c78c3415d49016ab470fed66087d0a8a9172c445614d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.06,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0.1},\"note\":\"The second close was also empty, so I’m not repeating the same approach. I’m lifting away to reveal the teddy in the overhead view and reassess its position.\"}",
  "call_id": "call_qeAMOcKHnVyS6Xds49FsyaDX",
  "id": "fc_01490c78c3415d49016ab471035aa887d0a1d14b3cdc6d3ad7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qeAMOcKHnVyS6Xds49FsyaDX",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6895, -0.564, -0.244, 0.9971, 0.4763, 0.7784, 0.5758, -0.3706, 0.4656, 0.1299, 0.9961]\nstate[eef_state]: left_x=0.2947 left_y=-0.059 left_z=0.2127 left_yaw=0.0503 left_pitch=-0.0862 left_roll=0.221 left_gripper=0.9971 right_x=0.2798 right_y=0.0591 right_z=0.1834 right_yaw=0.0142 right_pitch=0.0724 right_roll=-0.1278 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -2.6188, 6.7077, 1.663, -0.3053, -0.0024, -0.0122, -0.0752, -0.5265, 9.6342, 1.9805, 0.1392, -0.0562, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fbfd6bbf14c5132d3286920f76523afc8fb00435b6d23549e2b244c02ab90a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e76470660bffdc554f56623f4a65255908674f67a9c9d9ca756584d91e4e1d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c52ffa58b17b1e4987d33cec890a4fc8d042b6071f13962abb069ebe4e62201",
      "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 · 6.368 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0126, 0.9073, -0.6529, -0.564, -0.2405, 0.9971, 0.9157, 1.6962, 0.6937, 0.0307, 0.6693, 0.5938, 0.0171]\nstate[eef_state]: left_x=0.2994 left_y=-0.0616 left_z=0.2192 left_yaw=0.0473 left_pitch=-0.0537 left_roll=0.2022 left_gripper=0.9971 right_x=0.2992 right_y=0.2154 right_z=0.0276 right_yaw=0.0369 right_pitch=-0.1253 right_roll=-0.1062 right_gripper=0.0171\nstate[joint_eff]: [-0.1299, -2.6188, 6.9265, 1.6484, -0.2955, -0.0171, -0.0122, 0.1983, -7.9932, 5.7231, 1.1746, 0.3443, 0.0073, 1.0965]\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]: [-0.5293, 1.0126, 0.9073, -0.675, -0.5644, -0.2405, 0.9971, 0.8429, 1.8507, 0.8696, 0.0166, 0.6121, 0.5159, 0.0122]\nstate[eef_state]: left_x=0.2965 left_y=-0.0598 left_z=0.2157 left_yaw=0.0483 left_pitch=-0.0721 left_roll=0.2145 left_gripper=0.9971 right_x=0.3401 right_y=0.2345 right_z=0.0192 right_yaw=0.0448 right_pitch=-0.1603 right_roll=-0.1277 right_gripper=0.0122\nstate[joint_eff]: [-0.1026, -2.4821, 6.9265, 1.6288, -0.2857, -0.0317, -0.0122, -0.294, -8.9368, 4.8342, 1.3553, 0.3443, 0.0269, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6895, -0.564, -0.244, 0.9971, 0.4763, 0.7784, 0.5758, -0.3706, 0.4656, 0.1299, 0.9961]\nstate[eef_state]: left_x=0.2947 left_y=-0.059 left_z=0.2127 left_yaw=0.0503 left_pitch=-0.0862 left_roll=0.221 left_gripper=0.9971 right_x=0.2798 right_y=0.0591 right_z=0.1834 right_yaw=0.0142 right_pitch=0.0724 right_roll=-0.1278 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -2.6188, 6.7077, 1.663, -0.3053, -0.0024, -0.0122, -0.0752, -0.5265, 9.6342, 1.9805, 0.1392, -0.0562, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fbfd6bbf14c5132d3286920f76523afc8fb00435b6d23549e2b244c02ab90a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e76470660bffdc554f56623f4a65255908674f67a9c9d9ca756584d91e4e1d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c52ffa58b17b1e4987d33cec890a4fc8d042b6071f13962abb069ebe4e62201",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01490c78c3415d49016ab47107355887d08c645a8a578bedad",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtHETAyIDOTxeIFiK9O_Ywr_rrZamN02jCaeAA1b0yTtuUwIutwtHLVmAPljIlJEGfkcZt7i7vppAUWOblX0zWDk5eWuu-tN45p5wVhUvLmM1cDq_hjjrNAiAdeDEY1fO4mx-fVsQ9LsJuKhY_MtFjwmzIDLDv0Lca4sKflucdqYwqxztlkRlZLKaqOCmV1b1JKTOe0PyLjbHWwK5-iZf4j7_ReaBcLNgAqSKcYfzy-7odzwbtIHdThk4EIHFK1p6mY7zfp3N9Y_v4i2GXER_-FwrGyd0gsAAwMX8yLak4MpxfT4gLfBos3ZzNmJ0EpVecKmMCbV_U3o_PpquTprh0ZhSmIJCSEyyHDJsR2f_mvjcHbc4SfpAAfTj953HFSDrArZtqyzQoXiZde3zMQQcUK-9Bl0GVBicdLrfJItk5kWPSH73KzrOvVpUyZHrEqT9u2WjTNHE2vMZlaMY-0z78h6l237Qm2v_hjCAjbmtYBBnn2GoCLDe6ujxv7iVwTWJOoy35pmPYdPeNfE9Rpxi4NmFoAhlI1jbqYt-7XVbDRXpsOXs5ccDfuK19yqm3AHduJ0i5KZZeaQDqBziWPja62GZTSKptR9WvJaKRE9Y-cJX_Mm2utYz81P2_OPjJCHbCyx_kSj1WhmSw2U4JJfNo_8FYHaWAk0tvJrvSo7Tu1fWU113HOD6KsJ89epfsVDR0JzODKcq-Dl6VpLdUNNDC_HKeTBlNhavTB2SzNN_HqX6UuuLcmxwRhP1hYVdiKoztft8Oe8nMnbDpD2xGvF9pJ_qHXPav2IG49hkGFugmcF1efLBhbQOb9UcCA18YIEI_Go28RAKI9utnJB94Eajhzeqt1HhgFXYhfkIX6meh7NoeKXqtmY0cgGAisfyOpaFRqGgooFW9YM8AnT0a_vN-kzgwbAxyEDv4lsLL4bJ48o9YkvbMhvzZP8JDK3nibVkXyPBUhA76eFjZB3gxrIUoOGEtp59xJeJOnx6Y3daN4NHndZXD1ZLZyKqDOnskr9hO2ncPpuGUCKtHXipo7dN-EHZf8tB-d1HQfure4WC1AdAxBUBExU2uJbRt0l9qcD5AFCE1QNRWsoTIobaLXcgojmCwg8xW_21n826-dvKMBpPstb-l872FGN4805yfy7_hq-jsP6Y3shQ11Yl7SctpZe_t6CTiRY98hNp1bdeDLOT-oTLephY8-zAQQyUPZ5zy7Ni1PXcQTEXVcVhC5kxgAqFnlvBC1dytLuF6Dd3KZVtFJWmvBVGbdNy4SaCc4YSgeJQGG6fmUQuR5x8Bn_NHsMuPWxQWRM-hl5CHuvreAiAPcTvtV5J78CUhl1LeJDQXIkcrM0P66D1oGD-A8GXJvCYzrrkobWNElFNir-eDCS5ovNUHClgSUy5OUA5fpXMRL6iiDfPbwayMgXa7PzVbF_mPCjMsLsguth-gIE5BjN5-n2E8riBRt_hkFCbBsj7zHlKGkuo8eT3sk0FLmDFax0xlxz7QK8kMqP5UV7XibW02BNMrtCJ8-vCf8F97XyaK8q6QjrwO9nV0mJzqLwCQmV3KA==",
  "id": "rs_01490c78c3415d49016ab47110d96487d09fa229fcf4af1508",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.29,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The unobstructed overhead view shows the teddy has shifted left and is lying on its side. I’m approaching its central body from higher up, with the gripper farther toward the table center.\"}",
  "call_id": "call_YmArvnIlAEDBo3jn9rqeAFti",
  "id": "fc_01490c78c3415d49016ab47112312487d0b4ba228800c52ea7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YmArvnIlAEDBo3jn9rqeAFti",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6979, -0.564, -0.2474, 0.9971, 0.9897, 1.8278, 0.9382, -0.02, 0.7437, 0.6418, 0.9972]\nstate[eef_state]: left_x=0.2936 left_y=-0.0583 left_z=0.2114 left_yaw=0.0525 left_pitch=-0.0928 left_roll=0.2229 left_gripper=0.9971 right_x=0.3225 right_y=0.2798 right_z=0.057 right_yaw=0.0415 right_pitch=-0.0377 right_roll=-0.0557 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -2.5504, 6.735, 1.4921, -0.3004, 0.0171, -0.0122, 0.4444, -8.3077, 7.2684, 1.4481, 0.4274, 0.2271, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c256ba8a60551ca11ec6264665cf77287842f71beeb47c6fed61d19a4ebfd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af8779d9096751bcea982bce4f838739f32dc7f26d952daa44b072f8d3124ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f55b04a0c024b30c00f292aede3b1c8c0bdfcc475d163be2d51684caaae55c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.214 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0126, 0.9073, -0.6609, -0.564, -0.2405, 0.9971, 0.8436, 1.845, 0.8646, 0.0257, 0.6258, 0.519, 0.9946]\nstate[eef_state]: left_x=0.2983 left_y=-0.0611 left_z=0.2179 left_yaw=0.0472 left_pitch=-0.0604 left_roll=0.2065 left_gripper=0.9971 right_x=0.3412 right_y=0.2332 right_z=0.0221 right_yaw=0.0358 right_pitch=-0.1451 right_roll=-0.1261 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -2.3453, 6.735, 1.5556, -0.2173, -0.0171, -0.0122, -0.7043, -6.653, 7.2547, 1.5702, 0.2271, -0.0562, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5297, 1.0153, 0.9073, -0.6895, -0.564, -0.244, 0.9971, 0.4763, 0.7784, 0.5758, -0.3706, 0.4656, 0.1299, 0.9961]\nstate[eef_state]: left_x=0.2947 left_y=-0.059 left_z=0.2127 left_yaw=0.0503 left_pitch=-0.0862 left_roll=0.221 left_gripper=0.9971 right_x=0.2798 right_y=0.0591 right_z=0.1834 right_yaw=0.0142 right_pitch=0.0724 right_roll=-0.1278 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -2.6188, 6.7077, 1.663, -0.3053, -0.0024, -0.0122, -0.0752, -0.5265, 9.6342, 1.9805, 0.1392, -0.0562, -0.2222]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6979, -0.564, -0.2474, 0.9971, 0.9897, 1.8278, 0.9382, -0.02, 0.7437, 0.6418, 0.9972]\nstate[eef_state]: left_x=0.2936 left_y=-0.0583 left_z=0.2114 left_yaw=0.0525 left_pitch=-0.0928 left_roll=0.2229 left_gripper=0.9971 right_x=0.3225 right_y=0.2798 right_z=0.057 right_yaw=0.0415 right_pitch=-0.0377 right_roll=-0.0557 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -2.5504, 6.735, 1.4921, -0.3004, 0.0171, -0.0122, 0.4444, -8.3077, 7.2684, 1.4481, 0.4274, 0.2271, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c256ba8a60551ca11ec6264665cf77287842f71beeb47c6fed61d19a4ebfd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af8779d9096751bcea982bce4f838739f32dc7f26d952daa44b072f8d3124ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f55b04a0c024b30c00f292aede3b1c8c0bdfcc475d163be2d51684caaae55c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEb1XM8XkP_SbCb0lWgvIym2eVoNyBg4_ZOiG3WYbodA85MU8XXLQJlg76FTJLRKUaIcEnUKNZjN9sFlQKAxcoI3096PDG-hYIQo1qZ2ju7ddCtOs94bQSbEsJMSs0fnnyOM09M0n3ahZ5-YiuROdGCF8UGduDi3d12W9qcR_2j0N8FgdMAHir9OdTpNDv4r4twwKIPE2XqlNWgJM7V2ESKuHcc9OPrjhg9EN7heQwRCAN9J0-ma2I6v76LuDVCbizdDkCsmttSB7lC1BPSR5Fl8JpZOr0E0BByYuOHP3emHzu8jgXUjeGg0LTL2j23o6UDEZv2cV28PiC9JsAJhg0TSd2N7ABl_7VtmXf6miD_04mTQqe-NSVUZR_Yl8R7iU_Ln48Yn5249lFql8pwQWKd-tB5Fnq6-GjBu-nQi5TGvMkIzUs4rG6dSOm_7b3nY9jDdoqGqoU2AUS2b1aRZ4_V3_X9wPP_mfvb_ipk5_5ijl0ivrQKAb29Vb_rQ-KEdNLa1Ajku-HGebFo8Su4sqOnEMXLiCFrpWZlo5F1Nf3YzQGBZs4bgZXJDa0wwKIR8sSp8Y8STuotgicPPrP5OCoF99pf3figE5lX46QxUXf8jem7D5gEORGnrd8VrJ6DtxShJ8xqR3G_p05Kc_K1Y-OIWHBluU0PGG7OqhXvMDlidX9knpDcgQ0XwQ4N6BXF0WoTtEEeMSOerrh9yjPVkYNpbaItNmAe0N8IfZzXrDQLnwl7DyeMk8V4QtRuK_R95RfkELBV0Fk0z3Bp_ofTpjrBqnOttgHlq0CxlkkZvqT6mtNzzH5CCHH1_YyoxBEGrMkfQPRCpTEzvXPFJXGfR3y9j4HVr2w7jnHpjTmvOiMs49UH_ysQy8RIOvToZcDe7hoelfDz7TIWkjDxKxLbdN0e3TpAMMSCj7LPJtZMpBGdW7YIExF6b6DQM41B1xGy2PYnMTGhWVx40QBFAxhL7zxc2-sebpabWUhQc0Hn1g8NyIEADW2ZBuvrnY7nqzY60yqqT8-pGf_tkXSylXx3T5FS2i1ejKIj-N6UtJZgfkbyZuhfVIWGGlNYKqOsQ7E9rPj0QOdbznZmOokZ5mmHlwNDGWRODT-Rprgk73nJTC6oLP9uNXoLn0eLIAooCsS70LDHC6S__T2_dmhOishBXchdQQbSmztcfyRArT5jruB7kFcGv3H3BUOCZHK9p3Wp4ijqBDmrgU-pCIWA2C0_VlLE2qb_Xc-9BNuADJk-W1GXglRIyF6ph3fnMihj-yPVajxa2yp4Vo2CAfywtwHDyXN_WJ8HsPSVJ4LJElbZ-_dj4lACk9LMaRax26ZAW_jxy3O2bUevzuCozqa3Ag6ymIiitqX8uXnlXr9yz8sBtIObrxOvHNgSFCc5NlZcFFuBmKC8yNjuZy-QROeSsrMHUf7QSu0IFKAqfZMXgT3HncoDZoDmYzvDE-0NNvZvlv3z9o4KzjoFi6Pn7xwO1irKSDgZnJLWQFix5q44j5R-qIt1FiTJtW45BYVZos89E6lLkoIG4hXYRsT3RTx9-ssteUmDZt4mmAz5Lf6rB0nR4yHMqOEmq-wcoQGwgfTQ1E5-Mq0gCAxYxKx47pGQqEUsY0gboOCC3gMeuYydccxYjAwWIBdOoDYtL2FAuKKLcLBxwcOgOOY_2dHXO36fysUyTnSwBlka8Iohv7f8Jt9Eyu-QSU-8btI6nXJ7r3pr-13hNslJc33EJZBt-g3OW1Ps3zTkxk3BzDDNh_kwMoLYOdsSxwvKw33ZLtJhs2Xgn4SpQa6h",
  "id": "rs_01490c78c3415d49016ab47118ae0087d09afeb8c2bcda421a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.275,\"right_z\":0.035},\"note\":\"The teddy’s body is now directly below the jaw tips, slightly to their right. I’m making a small lateral correction and lowering onto the thick torso.\"}",
  "call_id": "call_K1IzHs0HvUG8rjw6pOMDohTn",
  "id": "fc_01490c78c3415d49016ab4711af8ac87d08b34360cca4d57dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K1IzHs0HvUG8rjw6pOMDohTn",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6983, -0.564, -0.2478, 0.9971, 0.989, 1.8454, 0.9134, 0.0299, 0.7391, 0.6514, 0.9974]\nstate[eef_state]: left_x=0.2935 left_y=-0.0583 left_z=0.2114 left_yaw=0.0527 left_pitch=-0.093 left_roll=0.2228 left_gripper=0.9971 right_x=0.3219 right_y=0.2793 right_z=0.0479 right_yaw=0.0386 right_pitch=-0.036 right_roll=-0.0396 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -2.2632, 6.8034, 1.4237, -0.2759, -0.0708, -0.0122, -0.6632, -6.612, 5.012, 1.3309, 0.3541, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb381979400dcccdbb8aa56966776ac024581377e701e088bd58634f07b61f96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56e0023bbf97574c62c44f3645f017e1ac78f5251d3549da6c3c5870235b05c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c94bf7df6669193449036e34169007da25fb5799df1816098ce92b556815b50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.539 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0126, 0.9073, -0.675, -0.5644, -0.2405, 0.9971, 0.8429, 1.8507, 0.8696, 0.0166, 0.6121, 0.5159, 0.0122]\nstate[eef_state]: left_x=0.2965 left_y=-0.0598 left_z=0.2157 left_yaw=0.0483 left_pitch=-0.0721 left_roll=0.2145 left_gripper=0.9971 right_x=0.3401 right_y=0.2345 right_z=0.0192 right_yaw=0.0448 right_pitch=-0.1603 right_roll=-0.1277 right_gripper=0.0122\nstate[joint_eff]: [-0.1026, -2.4821, 6.9265, 1.6288, -0.2857, -0.0317, -0.0122, -0.294, -8.9368, 4.8342, 1.3553, 0.3443, 0.0269, 1.1062]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6979, -0.564, -0.2474, 0.9971, 0.9897, 1.8278, 0.9382, -0.02, 0.7437, 0.6418, 0.9972]\nstate[eef_state]: left_x=0.2936 left_y=-0.0583 left_z=0.2114 left_yaw=0.0525 left_pitch=-0.0928 left_roll=0.2229 left_gripper=0.9971 right_x=0.3225 right_y=0.2798 right_z=0.057 right_yaw=0.0415 right_pitch=-0.0377 right_roll=-0.0557 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -2.5504, 6.735, 1.4921, -0.3004, 0.0171, -0.0122, 0.4444, -8.3077, 7.2684, 1.4481, 0.4274, 0.2271, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6983, -0.564, -0.2478, 0.9971, 0.989, 1.8454, 0.9134, 0.0299, 0.7391, 0.6514, 0.9974]\nstate[eef_state]: left_x=0.2935 left_y=-0.0583 left_z=0.2114 left_yaw=0.0527 left_pitch=-0.093 left_roll=0.2228 left_gripper=0.9971 right_x=0.3219 right_y=0.2793 right_z=0.0479 right_yaw=0.0386 right_pitch=-0.036 right_roll=-0.0396 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -2.2632, 6.8034, 1.4237, -0.2759, -0.0708, -0.0122, -0.6632, -6.612, 5.012, 1.3309, 0.3541, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb381979400dcccdbb8aa56966776ac024581377e701e088bd58634f07b61f96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56e0023bbf97574c62c44f3645f017e1ac78f5251d3549da6c3c5870235b05c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c94bf7df6669193449036e34169007da25fb5799df1816098ce92b556815b50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEf4HvjDFqy4kY20QlU8gJvti2w93wG6h6SrTSUK8B0-WUxbCcZ9H1qKwJWofFWmvW0Vcs-x0BP3LlwXwClLocgjkyHFUn6r7HA1Gu2Ev31Rhq9a9x08YxO4CogSyDJaDReNICqdq9brGO3oMRfWwRMXSnqVqGPNEu7SYW_jF64Ro3TbIPr8Pauypt1xjAVMIDP4ujt4WkH7OJgFdSoHl3_cIaxNa4mA3wTql0K_mI4U8gUsEjx5el4I_fcdHMgLaXjaVxabNnl-fb9fZgj4E-lyRs19ybKfNbqOQKf2A0TSrziBbMFci8nntyluLKaFVVme6b_cdKcshe0BzJuL15TUuc7ns4hBqM2Qqkx5rHobrv2ZV6diuMMVuBksjI1lN3iUX-yKsRdkpBD1BMx4mm1LucFTGEKPYqt5GBC_NKf9HfR--FP-_1Qnavv1Pt-Qy-WewEYfRANZZRIW0ZcjZI3cZwsnvlRauwUv-U2GTC033_MUCBkyMbA2T7YXyKZtjQR8V3VCQY5Sy4ww9O1EUNIqP1dTFCmLcYJYlHvi2cBZvoeEs289sJ9scvbEOkaqjKNBBVmWep7xxfAcKAQK-TFLGLzmUKiYm8HAPN1Wy9R4j32dXhygcfhq_IRQZRWGzvIQ8QexIh4HgdKKx8QI0TP6-6xJEsZYZDWBpm7wb7VY_RAdJJryOViQF3kJCtgU8xepHdf5VQ20Gv1INH4CNkl7EtM7KxYAFTAGATaLOOSxCk_xaXrzU0OcRvjF5815zXboacw-sHY4PHN_dOVxzYUoQVTIqbZGepgGnohAqFrWKBaiokzuv-C5nEIowIbmBffu9R9Nui0z8L05dygT7T7gkepoDgccifYdxE_W0JKmXSJLee8dP4slg8Lg9f2gex7URhpadc_UCZL5qBJ8evsJMP0rGDDrXMFJlDJzja3QEAAtybxSf_e6p1zEgx718-qB15qMCGbw3yO6iG95Zm2LDz7FKajv9MAMTOqvgKOYWAoR7aSdxez0OvUSOOqay8eLW9IhkBs6P9van3KpmW0PMeOokVWpWPi7K-lYT9deCAcjhPzHVHdyvd8ZF0dqOJwc6u2Kt_agetD5Z1P1P1HXGcP8gZwijxqeoMnaC6WZwsVaoHeOrGOAfuiBvq4mgPd-bsYA-VFE2BjiEb0D3I-0KSQWZMGQC2RLxnXkCQQ1i27cNif3wZav8U7xIWHDPvSKxFMBYYozsJiHsHm0e9Oni193Vg_rShGTqbxiFgjkV8c1FCzuoofRz4KuvGJh-Kp5HpyYbc-qUXD0x6DqLhIqeuQua2oXrsxLgnp0WRtX_e8qNyZuFgYFgVQ2QHsbNk2Yj63RucJWrkvzfCFBL5l0pGl2NkP6rOTObxW5FceVhjf2LZpLsEh2NMHcVuiA-rWe_tqwtwaA7Tp8fxePIrKS8C0z4Ff6xxoJUwjXX9q4hg=",
  "id": "rs_01490c78c3415d49016ab4711d3d6087d08d49baf7aebaec4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are positioned around the teddy’s lower torso at its current location. I’m closing gently through the commanded grasp and will check the retained opening.\"}",
  "call_id": "call_14jKzseUMBPlD0M00mpKzL8i",
  "id": "fc_01490c78c3415d49016ab4711e17dc87d09321fc999329ed4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_14jKzseUMBPlD0M00mpKzL8i",
  "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]: [-0.5297, 1.0153, 0.9073, -0.7048, -0.5636, -0.2478, 0.9971, 0.9871, 1.8606, 0.8928, 0.0204, 0.7277, 0.6411, 0.0392]\nstate[eef_state]: left_x=0.2926 left_y=-0.0578 left_z=0.2104 left_yaw=0.0528 left_pitch=-0.0986 left_roll=0.2261 left_gripper=0.9971 right_x=0.3165 right_y=0.2724 right_z=0.0334 right_yaw=0.0476 right_pitch=-0.0703 right_roll=-0.0794 right_gripper=0.0392\nstate[joint_eff]: [-0.212, -2.5368, 6.8034, 1.4823, -0.2662, -0.0562, -0.0122, 0.0205, -9.7436, 6.9128, 1.3602, 0.3883, 0.1587, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bcfd41e3aefb6641816b6113ff783b80efe4ea29fdc28d6e1b2b025f0cbc04e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7971073b2cad6a0a63b03bcd07399c461560031f28c116606f1575dbf3c44dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bdf6ff60311bf41a9c0379d0709ad4977651abbbcaa10cfda109df6b917d6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 9.196 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 72 changed as sent

message 76 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6895, -0.564, -0.244, 0.9971, 0.4763, 0.7784, 0.5758, -0.3706, 0.4656, 0.1299, 0.9961]\nstate[eef_state]: left_x=0.2947 left_y=-0.059 left_z=0.2127 left_yaw=0.0503 left_pitch=-0.0862 left_roll=0.221 left_gripper=0.9971 right_x=0.2798 right_y=0.0591 right_z=0.1834 right_yaw=0.0142 right_pitch=0.0724 right_roll=-0.1278 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -2.6188, 6.7077, 1.663, -0.3053, -0.0024, -0.0122, -0.0752, -0.5265, 9.6342, 1.9805, 0.1392, -0.0562, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6983, -0.564, -0.2478, 0.9971, 0.989, 1.8454, 0.9134, 0.0299, 0.7391, 0.6514, 0.9974]\nstate[eef_state]: left_x=0.2935 left_y=-0.0583 left_z=0.2114 left_yaw=0.0527 left_pitch=-0.093 left_roll=0.2228 left_gripper=0.9971 right_x=0.3219 right_y=0.2793 right_z=0.0479 right_yaw=0.0386 right_pitch=-0.036 right_roll=-0.0396 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -2.2632, 6.8034, 1.4237, -0.2759, -0.0708, -0.0122, -0.6632, -6.612, 5.012, 1.3309, 0.3541, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7048, -0.5636, -0.2478, 0.9971, 0.9871, 1.8606, 0.8928, 0.0204, 0.7277, 0.6411, 0.0392]\nstate[eef_state]: left_x=0.2926 left_y=-0.0578 left_z=0.2104 left_yaw=0.0528 left_pitch=-0.0986 left_roll=0.2261 left_gripper=0.9971 right_x=0.3165 right_y=0.2724 right_z=0.0334 right_yaw=0.0476 right_pitch=-0.0703 right_roll=-0.0794 right_gripper=0.0392\nstate[joint_eff]: [-0.212, -2.5368, 6.8034, 1.4823, -0.2662, -0.0562, -0.0122, 0.0205, -9.7436, 6.9128, 1.3602, 0.3883, 0.1587, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bcfd41e3aefb6641816b6113ff783b80efe4ea29fdc28d6e1b2b025f0cbc04e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7971073b2cad6a0a63b03bcd07399c461560031f28c116606f1575dbf3c44dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bdf6ff60311bf41a9c0379d0709ad4977651abbbcaa10cfda109df6b917d6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEjW1_TGiIwejenGzwsEpjtllyp4Bdg3_PUUrrQbjRHeHFXNJDZlrrJ78a-tJ5qevwQdt3TFHAdQONPfyhgdoc1koxXxAjVc7DOEF-AHdecFAL2dcnTGDMGkdaHhefx7MODTklyqd-0TyDl-kRvqIYfUmyKjhnzWkEpw8_2gYl6ARAHipZhUgp-n-kz7GBOiJJ1YN0b4dGtZ4dJmIyUn5o00FUolwkkwTDn-FpjnsEgWTQfOElJUdVaCqBL4TBY17F0q2U2jfochN4mfXetB-tjxeBFUN1iUYX589pzJ2_MGL3VC_IF7Xa7HnCd-R2OKSpPazAIJ0hJNeGV6_DyTFZfkQXmyx8xoe-Yyh_M_mAs5fpXozpaBIXZOn54LaS5E-jLh3Z71DFkLiz9YAK1Qk5ZoOfe3AxE91sa8TVeFdt6CzWYp5uLxparbdZXEwoRa1XAkOKM_ZJgYW3Z8uzpnaLr3WANhPR2xMAlxztlXEHelca_5QnPcOr3BQ9LZ6vG-MDIXJS3xof-E_F0GrIuHm1SlqUkOgDPUDM6aRzBDD3AWDzR9lweGxtyovoSMDT6v6v6yB90MvJcYBr1Ey2wSJHKtOAThgR_rWdgpES8ihtWGB0pTbdJCHwnRRbIXnxgy3t6kEBfDbfPQzcOMVspktxqUgCi6DEoU_iYsMqY7lKj2bS-G8MgK-Tg47oyI91B7lIuJlsHuUrEOgk889HyvfFw8z4CPs7hzP4gKObN5wd5Bw0Ap1c9UkBVoONoUjsVHZfLThZA227NVWqqhPhUDScIT-Q8gdnvC3BuyQj76M1HNZbQW2kIQEjgdgzT9MRv6JDhPe0LLgezc1lNXHPke9J4qdYhXELDHF7KTtBGnP2bmihhpDzKAK7QrucwFsZf3f7ZXdLcb2n0rrDn0ml_xSZILRIPrW4khh8JLHH5yok5i3iWjhQkSISgxu2QSUHuln4kLT6B-Dn-_o02KL6BsiK4XFm-vda4JUjrOgjqSm-qK4RrHGjLBmJWBf8invGtKkMFPC6o6mTsZsjnwwYFc0Jx5N-NDNWZviSfr8DRxrxotinYY_NuhWUOwxXmvBeAgh_V_z21XFSdy4RXy0n2q_hBJB9IlhEM-XSMut-TdfnMPimCCfqwz1G5XnbAVYDqyxPLe2TFd_ReSRo60dV5iYYttBmMbMEz-S7GRXOQwZTv0oPaRzdbRg0PmTUstMzISlAVceMPMhJrYfxCP2K0-2ue5rMbo7SnDirJ2tQywaUdGlaaBOPUWH9_WrsqL14FB-V-oFl-F4wG02bb15ZcF6pBZBTjf74FpMV-al0QsgNx4iM=",
  "id": "rs_01490c78c3415d49016ab4712223cc87d086d36d854a4d3694",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The gripper has only a small retained opening, but the teddy moved as the jaws closed. I’m making a short lift to determine whether it is securely held.\"}",
  "call_id": "call_BpPKqnNxhAVPcehQYtnpi4wf",
  "id": "fc_01490c78c3415d49016ab47122be4087d0910ec4b91eedbaf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BpPKqnNxhAVPcehQYtnpi4wf",
  "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]: [-0.5297, 1.0153, 0.9073, -0.7139, -0.5636, -0.2478, 0.9971, 0.9871, 1.7302, 1.0084, -0.2497, 0.7143, 0.6388, 0.0407]\nstate[eef_state]: left_x=0.2913 left_y=-0.0571 left_z=0.209 left_yaw=0.0533 left_pitch=-0.1063 left_roll=0.2312 left_gripper=0.9971 right_x=0.3142 right_y=0.2722 right_z=0.0879 right_yaw=0.0555 right_pitch=-0.0934 right_roll=-0.0941 right_gripper=0.0407\nstate[joint_eff]: [-0.1846, -2.5094, 6.694, 1.5067, -0.3004, -0.0659, -0.0122, -0.3624, -9.9624, 7.9111, 1.3504, 0.3687, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0372c515aedff8bad007df4091ccd149fdba48b78b917a90ea7f2bedfd1e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4951d89038ddccef64a0f06b74bd81c8d6200ea0f0c68498e60d2e111e73de58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3ae6da71a05f72cfe79d605374fa5f23894175321da45f1b595cef9b45e3d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.91 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6979, -0.564, -0.2474, 0.9971, 0.9897, 1.8278, 0.9382, -0.02, 0.7437, 0.6418, 0.9972]\nstate[eef_state]: left_x=0.2936 left_y=-0.0583 left_z=0.2114 left_yaw=0.0525 left_pitch=-0.0928 left_roll=0.2229 left_gripper=0.9971 right_x=0.3225 right_y=0.2798 right_z=0.057 right_yaw=0.0415 right_pitch=-0.0377 right_roll=-0.0557 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -2.5504, 6.735, 1.4921, -0.3004, 0.0171, -0.0122, 0.4444, -8.3077, 7.2684, 1.4481, 0.4274, 0.2271, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7048, -0.5636, -0.2478, 0.9971, 0.9871, 1.8606, 0.8928, 0.0204, 0.7277, 0.6411, 0.0392]\nstate[eef_state]: left_x=0.2926 left_y=-0.0578 left_z=0.2104 left_yaw=0.0528 left_pitch=-0.0986 left_roll=0.2261 left_gripper=0.9971 right_x=0.3165 right_y=0.2724 right_z=0.0334 right_yaw=0.0476 right_pitch=-0.0703 right_roll=-0.0794 right_gripper=0.0392\nstate[joint_eff]: [-0.212, -2.5368, 6.8034, 1.4823, -0.2662, -0.0562, -0.0122, 0.0205, -9.7436, 6.9128, 1.3602, 0.3883, 0.1587, 0.9939]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7139, -0.5636, -0.2478, 0.9971, 0.9871, 1.7302, 1.0084, -0.2497, 0.7143, 0.6388, 0.0407]\nstate[eef_state]: left_x=0.2913 left_y=-0.0571 left_z=0.209 left_yaw=0.0533 left_pitch=-0.1063 left_roll=0.2312 left_gripper=0.9971 right_x=0.3142 right_y=0.2722 right_z=0.0879 right_yaw=0.0555 right_pitch=-0.0934 right_roll=-0.0941 right_gripper=0.0407\nstate[joint_eff]: [-0.1846, -2.5094, 6.694, 1.5067, -0.3004, -0.0659, -0.0122, -0.3624, -9.9624, 7.9111, 1.3504, 0.3687, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0372c515aedff8bad007df4091ccd149fdba48b78b917a90ea7f2bedfd1e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4951d89038ddccef64a0f06b74bd81c8d6200ea0f0c68498e60d2e111e73de58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3ae6da71a05f72cfe79d605374fa5f23894175321da45f1b595cef9b45e3d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEttoLUKGTGyh2nX48D9V_IVamZS6niyfprjAMjnx9U13yT5g8T1SU-B1TtdvFLvDywjCRrrT8p7NsUsJu6uFIB1a8SWQQbGQAQobC3CUUmpH3vYLyhtyVvSegMCRQBa3uOddYp41mOI2xOcpc9io05rD06-VXYoSpwduQ8zR4mMN9yILRYfOJegrfg_EiXKYQCOCYx3r15FVdWVxekr9_Lseq1h7_qNOmafvEAavbnPhxK50wbEmsCP-BP2Evzj4vIIcoY4a07zHwMDwCHmL_GmXEHREjZle29yOwcq9xOFmn4T-TFGbY8exSVzzUDjmRX8YcC-ARn5vGalZvTmX8EoKJ1mslo2Z3ZXlamJI04GxEJMPh0b6vtyrbaRFtlkJC8V7VHAahBidWCYJFrxGTcdCD6sZlohkIXh3KF2tx_TZPC0UST01Ybb85UIVi-i79dvAYLGLe7xMM74S4D7JZpQcLPDgZ4GLnm8NpvhRLooEKy_QU12naFuDRFW23Ny8mMM8SeXkMaqVNW3xXcLl4TfInXtGE5HpLa25KBBdUZE4bS7B4ippc434EW0nyRt30pLAH-qT6euQVy9YxJrIj9KaF52OOwFj-MN-lNZtfDwMcBQeBz218I2ixL9PDtSJDV2AA5vZyBP-3_NFZ2tS91UM0N9Ykx6wDIYe_k-CTtwdu3ibDSP9ZoqkCJAjzdXoDKpeITTjOzji1UhkrkMvUBtw9o5fF-BzcGYmlcVasJ8e6pmWJIEWwREMVk_snhBK6O2J_1VF2tYZWWjSYjwk43Jf6zfImrvzhV7CLKrqTcRhDuw6ti5uKgRD1XTud7hepgH7WMYRBSlFyaj5aI8qJmlwLEHGZnWAQjv3cH8X-WTcLT7TG9b5wo3k4-mpR1dgtrKtuuT-QDH67sjq2_MbocttikF2r0FyJnjEqTnRWDhujSaZwz3AzsLsrsjXV3j2Cmhk2MZnLSx8gJbvbfTg7oKIe00k2x9_MXxbhO9FWkSRqZeCZaKBUtsPOQAn1pVUj_IBnsX80UlD7fIdsNKkk8kOFeBLQQO3TJtFiCsJgrTttxEgNfr5WwcnO-ZgWmTZsgV7Py42nqG0noQ5_SGokTa8j4seJ9Y07LMeYaHNQbaUvkAlTyf0C968q3VmYv4PqdSqiCPzpNP16q6E6p4oU32lbO2nNL1M6JxizMwXUitALj2PC2v3_wEleN0lf_i77I7z3HO2JVbKVOPyPdiEjANLDy2yZKoRh9cEFOwNihzHrT6yoYOHj7DZC2ZnB7ZCcTC15LfZtPXln9Hz7yvz3hkQezNCCKpIbHxKsN9Hey4bL1_zK8G9vI2aRJHfeIbw-YV0WfJGbtOdWBktKu0Px1i57FVjAlDwOSz0mkNSMsYc5RleIScdJuEMurLR_iyLRY6c-DGv2ok7LvqM0kUhmyGmin6j-u0wHWxwbEIhphEmnWqGIwwT3u5yF91g6mNuWpH7hVJcLsnBhIjekmkKGiQMl6DTKAA5hfhQU_R8xvfYqSreV8VuTFNrFhxxDmYHIPsl2BTLE1erWMukZK6RyFOPxUW9EQU5mcD2YEGkBS4EalyJHvR1ULfO9k1ZQ4_zW8GIJqETuapB7I8rl0MhGrgV7opBtirFaC6ifGfID-odZ3ZQtwPRlSunyDMOo3h1J-lbRrx6h4RJcump2JCQs8ikwAoBmNaaKWDa0cBi1B0rtH1eo6FSrSYS-Ydi1-lIeHrPyx-kgX14SBiass7yzUBEhxvGggeIpmpZY0uR-C3G3_0eWCK1ZXV_q9c3tvooyI1nYN55GvfskCdNjigqb55h6-7kGKJ7lkveD_q_bKOKN4un3hpHMcAYGAffINvqI_ZvTtCivKZFBaMVngSUqOxytpHTJt2HqiWKfA80y603LJEt3YH9KXZBkL4atlm-8kl8srogV2jXA-CK5Za1Hfvle0fzBhbAsLce0XTVfg_z1gB3omtBrvZz57huqLLO60X_iKMHIzpdT-z_tpUpF85ZfA953bZUzJv26Wpqm8n_fT0q0c2vkJxRAZBqzKA-DElSWAKUhSfndtEOT8nAB-ZJjKG-5-9KE8Od_1IzYy_plMB8oQuIx5S7bA_9NoubAerlhh0uYCajHgDGUdIPweLevh2C-uZk_6mpB0rjmwBjLlqEZxIvIhsODXwA5OL-zAQ8OXYD-seBl22gBMagTtwvkRctIQC7AGsqA_7oJtYcOnrwPMpKgRondSZ2J4vJ-5CN158fGSdn98JWXgMmy83XyHmNcOcHy9H2tfovQ0USAJ3vrTWEm1GRHE9P1FU70nqoab9PepZewhAy2HsGDE3WMn3bQ8duSbee4LvDKIXim_82Inr5TFjmZ8fBDFcjIwxPz8yPnII7eXz7bLijIAG2pWBf4CurAVhYEElErrl4zV93HBBVPJp7CT1O5qCxn8019wLsywfU11XrxwcD4pixNFYxXHM5J0l4oDKpLKpyvQZIANHsKa0TJwHRuRbx3qWK2uMJ91Zzox4reKYHw33ROjfKNMBnJ0iYd70r80WWP_yN8ElI9ZeGF8-uLPpsKqG6nlEDK2YX73PooP301e0tMsDFpxY9lATUgWKi9j8jPJ_-LhxA4ZJH1pAJOwwzpU-u04u4LoSViEBlppz34APnJoNp6aghcu6kPzr7e_MDJZOb4lTu5lnVfmmzlOgeMkaDSs9dmZ1wytr5nR3c2olH0ci37o8sblvm98-q4Uoen9HNjJepq0I5b4h5In_ls29Y2opKvkcT85AvjzD1Ayw6FCXB9eCa7SSj-_FupYfSXutguR0EMoGVXqmSKdoBXrp1SeUBF0vSHmgV1LvS4QaDtRo-NBdmH7xEmhDDNV77aZ9Tl6VmbASAE3vZa_AsQiwdxagw2qfD5oGT8aSD1Is1uOTaP2wCRYez2TsqaiwkwXDrSDlehah3f4eDN63GxH",
  "id": "rs_01490c78c3415d49016ab47125964487d0b75668771d80a13f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.165,\"right_z\":0.05,\"right_gripper\":1},\"note\":\"The teddy did not lift securely; the overhead view shows its main body to the right of the gripper. I’m releasing the small tuft and moving over the center of the body rather than its outstretched limb.\"}",
  "call_id": "call_t1kaVJJcMK1bdY6lLldDvXMM",
  "id": "fc_01490c78c3415d49016ab4712b77ac87d08e0f6430378d995b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t1kaVJJcMK1bdY6lLldDvXMM",
  "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]: [-0.5297, 1.0153, 0.9073, -0.7197, -0.5636, -0.2478, 0.9971, 0.6762, 1.6192, 0.6426, 0.0849, 0.5282, 0.3679, 0.9947]\nstate[eef_state]: left_x=0.2905 left_y=-0.0566 left_z=0.2081 left_yaw=0.0537 left_pitch=-0.111 left_roll=0.2344 left_gripper=0.9971 right_x=0.3339 right_y=0.1584 right_z=0.0332 right_yaw=0.0263 right_pitch=-0.1606 right_roll=-0.1384 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -2.5231, 6.7761, 1.5116, -0.2466, -0.0317, -0.0122, -0.2393, -8.4581, 5.9966, 1.7363, 0.1978, -0.0708, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7528e4377a24cf8c669a05aaadb476c9f3a6f28fe926b0126bf0b3c8c2bca65b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f77574b78a05cdec54e75076b2d3e974faf51535ef6162807b4094283308763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8edbd003ee0491d53a6da8afbb721c53d8481e9b8a35bc8ae9b67fab78c027d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 6.278 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.6983, -0.564, -0.2478, 0.9971, 0.989, 1.8454, 0.9134, 0.0299, 0.7391, 0.6514, 0.9974]\nstate[eef_state]: left_x=0.2935 left_y=-0.0583 left_z=0.2114 left_yaw=0.0527 left_pitch=-0.093 left_roll=0.2228 left_gripper=0.9971 right_x=0.3219 right_y=0.2793 right_z=0.0479 right_yaw=0.0386 right_pitch=-0.036 right_roll=-0.0396 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -2.2632, 6.8034, 1.4237, -0.2759, -0.0708, -0.0122, -0.6632, -6.612, 5.012, 1.3309, 0.3541, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7139, -0.5636, -0.2478, 0.9971, 0.9871, 1.7302, 1.0084, -0.2497, 0.7143, 0.6388, 0.0407]\nstate[eef_state]: left_x=0.2913 left_y=-0.0571 left_z=0.209 left_yaw=0.0533 left_pitch=-0.1063 left_roll=0.2312 left_gripper=0.9971 right_x=0.3142 right_y=0.2722 right_z=0.0879 right_yaw=0.0555 right_pitch=-0.0934 right_roll=-0.0941 right_gripper=0.0407\nstate[joint_eff]: [-0.1846, -2.5094, 6.694, 1.5067, -0.3004, -0.0659, -0.0122, -0.3624, -9.9624, 7.9111, 1.3504, 0.3687, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7197, -0.5636, -0.2478, 0.9971, 0.6762, 1.6192, 0.6426, 0.0849, 0.5282, 0.3679, 0.9947]\nstate[eef_state]: left_x=0.2905 left_y=-0.0566 left_z=0.2081 left_yaw=0.0537 left_pitch=-0.111 left_roll=0.2344 left_gripper=0.9971 right_x=0.3339 right_y=0.1584 right_z=0.0332 right_yaw=0.0263 right_pitch=-0.1606 right_roll=-0.1384 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -2.5231, 6.7761, 1.5116, -0.2466, -0.0317, -0.0122, -0.2393, -8.4581, 5.9966, 1.7363, 0.1978, -0.0708, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7528e4377a24cf8c669a05aaadb476c9f3a6f28fe926b0126bf0b3c8c2bca65b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f77574b78a05cdec54e75076b2d3e974faf51535ef6162807b4094283308763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8edbd003ee0491d53a6da8afbb721c53d8481e9b8a35bc8ae9b67fab78c027d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHExlFLENwRMGuKETSbtm8mJhN66Ki0kFBHr6Ee3awO8kn5o25Sg5gpSbwWcaFvCA_VOEMkbbi2ZvaLbkRmeOwxDucpN_s6yEK-b5rg-vh5yB5RkBctHAJ98gUOSZvhheElAFk1OGzuCtgazgIPWtxEnuN4DO8ySC37xbHSdYalCXXd8zcc82nrWw4jZ3lSF0OP8TOvoqY-3nVdzAERO7lad08vas73hufepSfRc24ieC1tsoklzEomCynererC-7B03zFvqOrSBAmPCYIDy87lpp6YdbyJ3ED_iA0nASNfu3osPkkDcmOrbmtj_vWlN65yqzR0kQq9OTh61mAc8MIZFDRfv_5mmuFxiPOkK7X5Uiopaaa-oUGVbygnG4nclJ2EOqe0iif8tiVsOBD1eFdpL8T5DFHYSmVHp0CpRSy-3OFF58V5TGzMAMOW_QKUKAUzCbTUNBOce6xnQQQNH-hgoXFmjG7iMcq25lewaoHFzIV-xMMhU26y05lHVyb_699Q_EsaDAeGk3ou-HRK0JPnQ5VCRxRqWEy8Bz_m0tiIH6NiSi9_UL3IlHVp9XYR3uCjfeFAzdJFgBhdtFrT4C4UXAvYK4GZfJStnJgF8zxx31rTTvI3Cil4zZpDPLDihHNXAxJr5vbai2q66hROwCn6TRTE2pSJJyRzQI5NvgKs6g-9pzedoJ14UOhSfE33BTlfPMjmgFdHr4ELbnPv-c1a-iWSU9VJ4jj13RYkOiA0kHnCbZKWLe_3Jqwn3azcp05y_mXzyspugmbe-BldX1u81XwAjSuYybZ50DNQ6YezzFxsf5o8qbaOujiPB9jCQ9A6ICpUj-F78AsvWR2zWbDnRcI1vpRBX8UpQbQuZlLkIEj_ZA_ntgZriEsRpMRiGC94JT7RrlHV7OSj7V2LX4WvnhbdD95UhIqb_KCPSeDwxhr1OeVqaP2fcnvKuis0ICcqYWlebp1xtEPh5SIZFK61Sf-aP6ryOo8htjXwNv8FBNljdPoVz6DfGz78lFfsZFhdpjyyppx4HX8hgrBE4xRRmVx2wqDgm0F7C0YLnp76cJg55esGNsMF5o49gTqXBXnmNqg7W6fkd_SvXGyFLn9AA2HRbxFOm_eTqAmsnf3vpRVZlwbiRoAfr8DTp1fgRdwHXqPKgdXr3Orbj_ZSmr56WpVRtJDrmgtcZyfQObXJSRCM-74JjA35oaRLrUDdaLyqt_QlmNgSDrW2Fr1lVLVYGGeyMR-VwSf3EEio2Cfo_nGa4rPQt9SXJGfjcrroR41OLgoNrbYK2JJa-yFyZB4fnSA==",
  "id": "rs_01490c78c3415d49016ab4712fa97487d0824c5e45843a584d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The teddy’s broad torso is now between the fingertips rather than beside them. I’m closing around this thicker section.\"}",
  "call_id": "call_ONlckMZH5nyiEQrt4kDSTTdE",
  "id": "fc_01490c78c3415d49016ab47130193887d09e2fbadfba2c8f83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ONlckMZH5nyiEQrt4kDSTTdE",
  "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]: [-0.5297, 1.0153, 0.9073, -0.7204, -0.5636, -0.2478, 0.9971, 0.6739, 1.6138, 0.6319, 0.0795, 0.5076, 0.3592, 0.0121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0565 left_z=0.208 left_yaw=0.0537 left_pitch=-0.1117 left_roll=0.2348 left_gripper=0.9971 right_x=0.3299 right_y=0.1582 right_z=0.0293 right_yaw=0.0428 right_pitch=-0.1794 right_roll=-0.1382 right_gripper=0.0121\nstate[joint_eff]: [-0.1709, -2.5094, 6.8581, 1.4237, -0.2613, -0.0122, -0.0122, 0.0479, -5.9556, 6.188, 1.3993, 0.3932, 0.0708, 1.1013]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b8814e75846fbcb7dc2e663ef96b4bd3e2049f15a95c16520beee0907a368d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfc13e0bd763f97d852e434c16f85dda6c933514dfaf06b0e3d641fa1914900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6937441ddb5e092c1c8d15c2a7141a8262166e755d7421640ef4ba5d110f6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.501 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7048, -0.5636, -0.2478, 0.9971, 0.9871, 1.8606, 0.8928, 0.0204, 0.7277, 0.6411, 0.0392]\nstate[eef_state]: left_x=0.2926 left_y=-0.0578 left_z=0.2104 left_yaw=0.0528 left_pitch=-0.0986 left_roll=0.2261 left_gripper=0.9971 right_x=0.3165 right_y=0.2724 right_z=0.0334 right_yaw=0.0476 right_pitch=-0.0703 right_roll=-0.0794 right_gripper=0.0392\nstate[joint_eff]: [-0.212, -2.5368, 6.8034, 1.4823, -0.2662, -0.0562, -0.0122, 0.0205, -9.7436, 6.9128, 1.3602, 0.3883, 0.1587, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7197, -0.5636, -0.2478, 0.9971, 0.6762, 1.6192, 0.6426, 0.0849, 0.5282, 0.3679, 0.9947]\nstate[eef_state]: left_x=0.2905 left_y=-0.0566 left_z=0.2081 left_yaw=0.0537 left_pitch=-0.111 left_roll=0.2344 left_gripper=0.9971 right_x=0.3339 right_y=0.1584 right_z=0.0332 right_yaw=0.0263 right_pitch=-0.1606 right_roll=-0.1384 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -2.5231, 6.7761, 1.5116, -0.2466, -0.0317, -0.0122, -0.2393, -8.4581, 5.9966, 1.7363, 0.1978, -0.0708, -0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7204, -0.5636, -0.2478, 0.9971, 0.6739, 1.6138, 0.6319, 0.0795, 0.5076, 0.3592, 0.0121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0565 left_z=0.208 left_yaw=0.0537 left_pitch=-0.1117 left_roll=0.2348 left_gripper=0.9971 right_x=0.3299 right_y=0.1582 right_z=0.0293 right_yaw=0.0428 right_pitch=-0.1794 right_roll=-0.1382 right_gripper=0.0121\nstate[joint_eff]: [-0.1709, -2.5094, 6.8581, 1.4237, -0.2613, -0.0122, -0.0122, 0.0479, -5.9556, 6.188, 1.3993, 0.3932, 0.0708, 1.1013]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b8814e75846fbcb7dc2e663ef96b4bd3e2049f15a95c16520beee0907a368d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfc13e0bd763f97d852e434c16f85dda6c933514dfaf06b0e3d641fa1914900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6937441ddb5e092c1c8d15c2a7141a8262166e755d7421640ef4ba5d110f6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHE490Q9LRbp_0U6I_UsEL9SOIPGrT4ohfGVn7P5oSP17F-ryZNdC_qIpDTxdzzDJ96u7z7HQ1Xy_ZmzyVXP1IpskNl1Yd9_I3JeLh2vPrNLVqr7pcPPOwZipe4NS6IceaLVwwAunzf5i3kUIGUsAZ436hcJcXXYEsV3yWWWZph229UMDyuVgpQhQEZJGFVXQSZVb8z31azJdhSb4Ja1JTSDlxXyg1vkFAIQV_wAeP1iOY0_0_X7gUEo6c5bUjtZgnBbauf0ukYFbdv0cv5MjkHX9GaXlOX1HW4fj8iHKTpKIhjkni-spKZxGPBwoZMc-XnDlfCUnGwi5xXHf6nV5oeIWfBTQ9koqeSx29Kn43TXniJFMLZ7zehGoXHwkLSdAmPHbO_NAqTEI4dr-tfz2h89QqrKw8EhKW3UA6djNd_26HNJXe3ZcVQE3UsK3UJNf_VWvD6GrZSDI6Zg6dW_56ZKfOYx9xdVtjT4coT0Mj-8JEAga01rcfKq9ddSAffXZbyTJDi9GYrJuwwEt9TDGgSB1ImP2xxQts29hXRC6QPodrp_Ht_22Xt3AzqVjP2pJ-LnCl4xh8wwXVNdT1XN9s3Tb0aOx5tKt-W4NX8T6qeQe_kB0fwPuaRWvzp19JBzciYw3ql_ijjY5yxPxWEad9SOY-RP-22KwfVkvln_2H82khMsFsmmMKhZV8o-WT0GRMgapuJE0dx4SQKOvu-vwsY3IDXrWTA2cqpLp-MKT2BZS6_VWh4t7hlrTuBkivXu739ISfBA6ih4Yn91v0XdrX9Wq0au_9dVtrhfVy_Pb33IbSsotuPO9ujVU8xtdz_SkYXkliLiuC8WIdAX0eBdXKHe01jNgxnp3i06ol4-dDz3CgCAmTRo7IA401bBnOoa-65sBNjxyRcEkrifLSoXmzTre469Z26gY8BeWjhmBu_fqbztn4cc-XUjTxQKkG68WCdmU77A5UowgFoRs4XJZJNwOlkTJOzfoQWHUG9vYaNKpiWwo3P1jRZD5C-OAjlo0Xl07KX9OFJi8xgO9DUPN6L2ggj7b_wuI8X83xCJzfhoeiWMr4EYBxHQvJpeJrIG19cBCinjlcm80zDI3eM4Z_Gh_g3d9GDi733aRArGEBJ8Dwh4Z-_YapNEXZVzZkn7q6srpk41rF-PRy6khAp9xRtWuVrmEUD_UvQa1ZcC9ZKyDl1kSjlHWDHR1ioF5Ezb5x0QaFwyWIkiN6FR7PFJc6z678_g_T_pIeXBSmQgiLtjgv7hqh9qnWJy7zI_KFstVDJgC4-Z9MAfvvHuA64cHNTlBtksngb1_fdnD9_a0cCVEDRiu3UJgbh2wjQigYEJ8ycmSIhCO9xCplXpMBpxA3O9VmszxaRenKWCWgmRlebIhbrb0C0nFLXUo1fBEsBwfi481Lxw7CTEnHOn2wm4Cnhmx60X-kztwRTIUSa6YatQQDJAFtufp2P8_BduH9ds1S3PfN_ugF9r6akdaUEln8S9PI87ZaptU6dkNWrvfsEhythDPReS0nWIWNL7u6m8EotbRj3PyruJV9p7u-5QbdPOmH3oEU4yjmIc9jfq6OrHdeFzB9_pK1Zayhn-xiNnNCuxFmCRd8Z7RarN-M8Ie37kg7xWMKGRCDdU82aXuR2beFWjaZmWeBcIXJMj35MMVCqpOYB2IOMEd5_dbo22eyvOlHm-JEUxwU8pE8XGjy1ApC8pN1-jEHg_SFmaOcINdKKsRXfN5C8EUoLkObx8SEfsep-xVCXiuspFuUcifNQxFCVrTDEtuPFwu4Fn_UKHrwNL_Lyzu-M2wBSVTrC1YoN1I2F7HJkHD61DLl5oPpHPkzhPOHQVYQv7qYefUDuPL7AlccgrWf1c37uqsq318mfdA5Ry_OQccllKI8dX5AKSsQ0mLykBiMGsPgd2vQHtoOmf14pa3q5caLkvK7qukf4xK2cooOmRcq_E9pmwkPgKKfAL7M6n1jjcYike9mY54ADjmG7R42H5Qpf40mDGZZdwQhLQtUgi4SXqZ7pF951Z_yuoQMWc1OSZXR7umj1o3ZSu3TfAH-04_CfT7j7xxGR1L-TzAnHdaQgYWhGoMkcPkdGKMnVxsetofALFnyntE9Gj1Oy4m5lte3M2BkpAzbp2o8nf8pR1zfkD01X3CHHIBkJdOv0VJngL_yrvNenme0hWG48sNgGkSChikuAPB-Q3Dk9PJ982SI51JbALKh8dJx80LFsbNkqxCI1EVAI_ZBdhSso0Z5BhK1ozxSCOEnKL-w==",
  "id": "rs_01490c78c3415d49016ab47133439087d0ae37a807ee029e6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.15,\"right_z\":0.04,\"right_gripper\":1,\"right_pitch\":0.15},\"note\":\"The close was empty, and the wrist view now clearly shows the torso behind the fingertip meeting point. I’m backing up slightly and correcting the tool tilt to place the jaws across the body.\"}",
  "call_id": "call_YAmWuDahlCCB5yIL18D67fV5",
  "id": "fc_01490c78c3415d49016ab47137080c87d09fd709b35cabb82b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YAmWuDahlCCB5yIL18D67fV5",
  "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]: [-0.5297, 1.0195, 0.9073, -0.7387, -0.5636, -0.2478, 0.9971, 0.8169, 1.6028, 0.3122, 0.6159, 0.7258, 0.3058, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0552 left_z=0.2043 left_yaw=0.0552 left_pitch=-0.1304 left_roll=0.2473 left_gripper=0.9971 right_x=0.2963 right_y=0.1496 right_z=0.0309 right_yaw=0.0613 right_pitch=0.0898 right_roll=-0.1559 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.8239, 6.653, 1.6288, -0.2662, -0.0562, -0.0122, 0.2393, -3.959, 4.041, 1.6581, 0.4713, -0.1197, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f38732ad5f041cd420b2048464fe6fc84cdf28ed9df42c4efeb8c3e8a039159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3437f83f4e9ebe43b39e2868b95a1f8d7bb454537b6b398faaedf31e0c34ce48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807fabbea2dd5b6c2d6e403f505aff66629304b2838f5239f1e359ca588d34cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 6.917 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7139, -0.5636, -0.2478, 0.9971, 0.9871, 1.7302, 1.0084, -0.2497, 0.7143, 0.6388, 0.0407]\nstate[eef_state]: left_x=0.2913 left_y=-0.0571 left_z=0.209 left_yaw=0.0533 left_pitch=-0.1063 left_roll=0.2312 left_gripper=0.9971 right_x=0.3142 right_y=0.2722 right_z=0.0879 right_yaw=0.0555 right_pitch=-0.0934 right_roll=-0.0941 right_gripper=0.0407\nstate[joint_eff]: [-0.1846, -2.5094, 6.694, 1.5067, -0.3004, -0.0659, -0.0122, -0.3624, -9.9624, 7.9111, 1.3504, 0.3687, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7204, -0.5636, -0.2478, 0.9971, 0.6739, 1.6138, 0.6319, 0.0795, 0.5076, 0.3592, 0.0121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0565 left_z=0.208 left_yaw=0.0537 left_pitch=-0.1117 left_roll=0.2348 left_gripper=0.9971 right_x=0.3299 right_y=0.1582 right_z=0.0293 right_yaw=0.0428 right_pitch=-0.1794 right_roll=-0.1382 right_gripper=0.0121\nstate[joint_eff]: [-0.1709, -2.5094, 6.8581, 1.4237, -0.2613, -0.0122, -0.0122, 0.0479, -5.9556, 6.188, 1.3993, 0.3932, 0.0708, 1.1013]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0195, 0.9073, -0.7387, -0.5636, -0.2478, 0.9971, 0.8169, 1.6028, 0.3122, 0.6159, 0.7258, 0.3058, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0552 left_z=0.2043 left_yaw=0.0552 left_pitch=-0.1304 left_roll=0.2473 left_gripper=0.9971 right_x=0.2963 right_y=0.1496 right_z=0.0309 right_yaw=0.0613 right_pitch=0.0898 right_roll=-0.1559 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.8239, 6.653, 1.6288, -0.2662, -0.0562, -0.0122, 0.2393, -3.959, 4.041, 1.6581, 0.4713, -0.1197, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f38732ad5f041cd420b2048464fe6fc84cdf28ed9df42c4efeb8c3e8a039159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3437f83f4e9ebe43b39e2868b95a1f8d7bb454537b6b398faaedf31e0c34ce48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807fabbea2dd5b6c2d6e403f505aff66629304b2838f5239f1e359ca588d34cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHE8_205L3opQjuK5rv744cFcsZ5ASUm7GvfQovAytIgY4NBsPbNu3BUcolv1FW6L0mpTvWGJNp-tp0D1SHe5hCyikt00YU9IyBkr19VdJGEoaX3FffLqCuffwQ9spwmYvS0m_pzaK4Mu9g9tR-bASlxYOhDm70qMUNlO9Xdje_pqsP4nGsPOr0NqhBuHroDQvh6g15AJjVSsnBYx75Ize6KGrGczAs4vLj--ge0Tdnm2FTrwoFJ2Hfx2EvVHTs7Pzu3RXnO-kN54lvVp26Yw3fHPw5RTKmBPzwuxCE-rQhsMX_xppOODEtd04Oy4gYQTUZGDXzAzzT_0DsIyhDRrStVpLdyTN9i1s91g1YNyesEp5uu0epqIv0Oi27cpNE5KkXIWNczgPBHgMvynAoFUFOlRMSLv1TXkroUD-nmSlhn9AzXSxil3CdelPOITcAig8xZDiqMdZ7BPIsSYuPemvfzDdvQKWBGjRNXEvP6hIwbeigi3fTFwsaw00q4AfhfKDzDWIkdB-7Nqs5wW2EnVjYiiRB0KDo61DYKblXpN3Sc3-c8apnLJP__dGlkK2ES7CybuyvmzWDwJPVXEAw3jl68CtkWWtty2ptbSZJQcO6qyEe-E7KPPoWcqCvEJ7GqB4-bDiyalDwTQbpqDhMBzBFJiuX9k3-7P4mIh_EiFIEnsKv4GfXxr52111ROeWg_o9Tl0OnGEPkXui260wiU8rW7rx_EASZHqir9Bvf74DkfoV38sysXhSzhZUq387obRkdThByhu5vs06_N66W6uDxpQKnIFvuEwjfQfye3_F9-IlkcE3uEBHQbT6zy4ZmU2EUgGKmLqN3D-3oUN9EgxyR6NpoFnznW0eSY04PKVNrhTwxQM1rWQxYJhhkRAvskj3Pfpv_eqsZBdNvhab1LFnHF2VwaMWKmv2U1c-RM-v_Ot-nLVvzfDPdUA0eQuOMyWlb7JXwPejpXczm-fr4GAnMb59lgQrtrrOdyKY5Hhq1-WvAP2qEAnGd-FbDfJPNilOPGDArXv8L1uiQ9u-78GKBQOX75zuLCSgtNYLPt_ur0m287vVZoKq7uJZ-Fw0rewDZ_c8zZiZS_egTOw4sTF8IT7e-ZT7QQyABV3qYREXVJRnswrZU9C67ncXbha7vtE-F4MD7n-vtgIILGzC2RRUtSIRcDWjVAS0UfnfkJPciniHyAQA-vuK9dMcyifUohWf30_awQaPtlP9NixAH_4GtA5fA5ZDbPbr2Ma01_pXINY6zDhqcxTOTWQ8qRjBn2AaKWAGLVEXZEfawT0oDmoYU1ZwLmAaqS1zwGiLYVJJPsc0o=",
  "id": "rs_01490c78c3415d49016ab4713b773887d0899d93beff4e6ccd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected approach places the plush body across the open jaw gap. I’m closing at this position.\"}",
  "call_id": "call_dj2F9Kb7GtQjxPlSZ2BP9V8C",
  "id": "fc_01490c78c3415d49016ab4713c0fac87d09171adfc6d0d1fc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dj2F9Kb7GtQjxPlSZ2BP9V8C",
  "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]: [-0.5297, 1.021, 0.9073, -0.7422, -0.5636, -0.2474, 0.9971, 0.8181, 1.6135, 0.3008, 0.6037, 0.7208, 0.3027, 0.0123]\nstate[eef_state]: left_x=0.2878 left_y=-0.055 left_z=0.2034 left_yaw=0.0554 left_pitch=-0.1346 left_roll=0.2504 left_gripper=0.9971 right_x=0.2916 right_y=0.146 right_z=0.0223 right_yaw=0.0696 right_pitch=0.0623 right_roll=-0.1798 right_gripper=0.0123\nstate[joint_eff]: [-0.1026, -2.6598, 6.653, 1.4286, -0.2906, -0.022, -0.0122, -0.1573, -5.9556, 4.9026, 1.5849, 0.2662, -0.0024, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89277fe4334b7acd174d52e6e2519bbacd457947abe43466a4650fb303915fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194d025e17288ea846fcbb78acaa5f17a7f34b15201d4f99b2ca5a89beedcc73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d9e10ae473e2db13bdc08f3558fca000ab6b3fdfdcd0b2808eb42461591b6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 3.478 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7197, -0.5636, -0.2478, 0.9971, 0.6762, 1.6192, 0.6426, 0.0849, 0.5282, 0.3679, 0.9947]\nstate[eef_state]: left_x=0.2905 left_y=-0.0566 left_z=0.2081 left_yaw=0.0537 left_pitch=-0.111 left_roll=0.2344 left_gripper=0.9971 right_x=0.3339 right_y=0.1584 right_z=0.0332 right_yaw=0.0263 right_pitch=-0.1606 right_roll=-0.1384 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -2.5231, 6.7761, 1.5116, -0.2466, -0.0317, -0.0122, -0.2393, -8.4581, 5.9966, 1.7363, 0.1978, -0.0708, -0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0195, 0.9073, -0.7387, -0.5636, -0.2478, 0.9971, 0.8169, 1.6028, 0.3122, 0.6159, 0.7258, 0.3058, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0552 left_z=0.2043 left_yaw=0.0552 left_pitch=-0.1304 left_roll=0.2473 left_gripper=0.9971 right_x=0.2963 right_y=0.1496 right_z=0.0309 right_yaw=0.0613 right_pitch=0.0898 right_roll=-0.1559 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.8239, 6.653, 1.6288, -0.2662, -0.0562, -0.0122, 0.2393, -3.959, 4.041, 1.6581, 0.4713, -0.1197, -0.1392]\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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.021, 0.9073, -0.7422, -0.5636, -0.2474, 0.9971, 0.8181, 1.6135, 0.3008, 0.6037, 0.7208, 0.3027, 0.0123]\nstate[eef_state]: left_x=0.2878 left_y=-0.055 left_z=0.2034 left_yaw=0.0554 left_pitch=-0.1346 left_roll=0.2504 left_gripper=0.9971 right_x=0.2916 right_y=0.146 right_z=0.0223 right_yaw=0.0696 right_pitch=0.0623 right_roll=-0.1798 right_gripper=0.0123\nstate[joint_eff]: [-0.1026, -2.6598, 6.653, 1.4286, -0.2906, -0.022, -0.0122, -0.1573, -5.9556, 4.9026, 1.5849, 0.2662, -0.0024, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89277fe4334b7acd174d52e6e2519bbacd457947abe43466a4650fb303915fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194d025e17288ea846fcbb78acaa5f17a7f34b15201d4f99b2ca5a89beedcc73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d9e10ae473e2db13bdc08f3558fca000ab6b3fdfdcd0b2808eb42461591b6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFEqwcyxbaoD_OPhgUs1XpJ_b72AObmNVKE4LQcng4ZssFzEHK8KxpWtPNyDyesF82dvvcy4GycBTClx18_53Wvqm2Ey54FJPuCPgLtIsr9cULQuEw4NaAYef3yLX747F4kE3Ep9E2HyYPO4t-bK4phW1AFM_q18PG0yIRzlBSqgxrvsJIErkCAhVdj--kxP0L45r37neeH8Yt-Ne9l7HbVVe3zI3NGB3dgZxWcM-M3DWyZDtUI6f8pNzEXAusllIYfGFk26qAYHwVtofwrk3YHEfw3cbORicAJdDvXkGvbnnnWg73xjYT3QGpTL6L8NH76X1teVWoAlVSH34DvkxwLxRL6G0QlpRV7BH70QtSyjT2AA0PFr6bke_AVNhukWPXcwGlSUJbJOuZMJ-4HOsTbge9XFarLvD33Gl39Ft8m3Nbze49Qe4YgNZ0x4rWlFcwozsw3jOWUEHAYPzd463NWZneyjlRyGWzOjn56_Vc__dUmtXlyyJET3bf7BXt-3dNOBS_wWIqMMyePb4fFe2yGBY5IyT3sXW0kSvla9-t9RAfD0IGRRm7I3HwhmgNhoPfkM7ZfUfNu3AcLvAgRoxZhwL2IGBbF9mU2aLnilATX4jlnaGtC0GmNS2H2kZvSqNxxp9pg14gKwQ_hpv_5uWOG6fukUa3lam4i1FD-y7R925BwhwAg3-SkTxdDU_CzlZ9LYxpZ2kN5QRZ5Vqqkd9plHZM0UkLZm824qW7KXkVPblJa5X9BIy_xlDqfJ7koaQoodaf2IK2RX9kWrgomXasFDBjPRcCq1kSszAdtswDQYzMG7_JhYZ_BA9KcmsdLbCUm4DWGaLdHUBUa_se8yfrXwDviOtR35UwpuiA1g9SRZXyiG7oJd3Jyt6kO7Wjo_kAXY6-lLyp74YGYVezjElqP3BYxPJozVnrBV5819U7EXK3_QrxoF2qfCeqiu-F-IJz9dfn3YqOnvMBi8OtBQDScYzT-n99NSMb4G0E2MBtse-a3FRsqvg6WbJS3Nm0B4X1ToB8RIO498EX2ubOxztvEwazxFYRhPUPw5MlwUA_j8eXXK3BgWfzYSUjL9s3odQFFgg9W_Fl8wsph6C86m2KptjlYqklmqmI2P5SxNOJnxKb_Besb4NWmZzBVhUSniTiiJm62RNZlOYAsgus_46Jnsx8K9Ld2jP2N5fHeWiYQCAlTWHnQ0zt4cxGZCip02_f6OqLylMiN10XG069ZrVlDsbSd2K1lWHV05uLXuoT9B3qKfngas7fb6AAHSIFCx9yAhm0705afDtKZjymZP6l4qDIPqLQ5d_tzEguA2IlTuGx3oISMk_fPet35wrewAHufcyWMbO82FPTyViUToB2gQm2-9QN4aDMcQKl3KJQ6dfn5eT7CGZ-LxLjKBSgtkVbdNV62fhq5LCnuslclir5aMN1ZTANmzZWjlZleZh-tZJEzvE4_yhhuPXS57ksYEZ0Mj-CbTpTVjAIo8kMb4FKQw4g4h0RjOgo-fgAhgAnCF2UcMpYZqGU6rbl4uiCy9TZQ-f1-NHS-7NjGNdGHFmk4r1S99cYkYg3rz_Vceg8Tw1t9n2fpkmXZv5Qt9SoBhToP95SalfAUWObPiP3vmUfBsLWRgTO4FnC6x_z8YBk-1gR8QQyjBjm532_-cH3Gv3a0sH1mt_1sypmeVjObahpUzJv4Lb2sK7wEpqqnn_WGoPc5_PQJNEY_ut8HFJB7tZXCYdqt8YwJDP5GTgfr69Z5hvU5VB1LA-pb3eQxwWluR-NbiDjalQie4X2xWCw6fSfjM20zEuqo1B-P9XbmdutvXLNMAP28GCrTXYRHtIoDEIctY8aCTFQEpJCGSD_y_p1rZqY5_uDhWwjmj9dE3o_spopzYqc8Js3WWKZo0xaee0PbJ4Vj31up7TvVPpLrmf6fqVZUmiJdILm8MOKb2SA3INlRXWk2vBeuOWBo4tdU-scy6Ouo0ri0M7Ec5QBWN566jnGb3E6nje_hQjmQsSLUa2vZnaxxxbyxPKN89LNDllTRxIx-6s7PO8zZBID3QbEzU4gUIm6MUa3q_K2r-uSYojE8Yyy9C9A2lCPkXjr8dZnrbxfdXTkrJC2RvST1J0Wl4SesCM32Tm23cYZ4KcGKzQCSNzb8XuQpYPPPORiHz54=",
  "id": "rs_01490c78c3415d49016ab4713f4adc87d09c93ccefea71b508",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.2,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The closed fingertips are visibly to the right of the teddy’s torso. I’m reopening and shifting left and slightly back so the body, not its edge, is inside the jaw gap.\"}",
  "call_id": "call_tDX6taki6t5LDJ6fX117XVEA",
  "id": "fc_01490c78c3415d49016ab47143353087d0804405ab34d60ce1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tDX6taki6t5LDJ6fX117XVEA",
  "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]: [-0.5293, 1.0218, 0.9073, -0.7464, -0.5636, -0.2478, 0.9971, 0.9993, 1.6512, 0.4728, 0.3412, 0.8291, 0.4587, 0.9946]\nstate[eef_state]: left_x=0.2873 left_y=-0.0546 left_z=0.2026 left_yaw=0.0563 left_pitch=-0.1387 left_roll=0.2528 left_gripper=0.9971 right_x=0.2781 right_y=0.1983 right_z=0.0312 right_yaw=0.0962 right_pitch=0.0465 right_roll=-0.1906 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.5778, 6.8171, 1.4335, -0.3101, -0.022, -0.0122, 0.2256, -5.1214, 5.9556, 1.4383, 0.5201, 0.2173, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132740822ed884c6684d4b8c8928fa8ae616960726a21c78ef4660ebbef99c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5da8b0fee6d22f81c6b7e5498c8a0a26c1c53d73e2a20942ad8a2f9778304f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de49f72a086f741ad3bd2788f34a63a68275caf6192d5e4bce3388d32fe82a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 9.281 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0153, 0.9073, -0.7204, -0.5636, -0.2478, 0.9971, 0.6739, 1.6138, 0.6319, 0.0795, 0.5076, 0.3592, 0.0121]\nstate[eef_state]: left_x=0.2904 left_y=-0.0565 left_z=0.208 left_yaw=0.0537 left_pitch=-0.1117 left_roll=0.2348 left_gripper=0.9971 right_x=0.3299 right_y=0.1582 right_z=0.0293 right_yaw=0.0428 right_pitch=-0.1794 right_roll=-0.1382 right_gripper=0.0121\nstate[joint_eff]: [-0.1709, -2.5094, 6.8581, 1.4237, -0.2613, -0.0122, -0.0122, 0.0479, -5.9556, 6.188, 1.3993, 0.3932, 0.0708, 1.1013]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.021, 0.9073, -0.7422, -0.5636, -0.2474, 0.9971, 0.8181, 1.6135, 0.3008, 0.6037, 0.7208, 0.3027, 0.0123]\nstate[eef_state]: left_x=0.2878 left_y=-0.055 left_z=0.2034 left_yaw=0.0554 left_pitch=-0.1346 left_roll=0.2504 left_gripper=0.9971 right_x=0.2916 right_y=0.146 right_z=0.0223 right_yaw=0.0696 right_pitch=0.0623 right_roll=-0.1798 right_gripper=0.0123\nstate[joint_eff]: [-0.1026, -2.6598, 6.653, 1.4286, -0.2906, -0.022, -0.0122, -0.1573, -5.9556, 4.9026, 1.5849, 0.2662, -0.0024, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7464, -0.5636, -0.2478, 0.9971, 0.9993, 1.6512, 0.4728, 0.3412, 0.8291, 0.4587, 0.9946]\nstate[eef_state]: left_x=0.2873 left_y=-0.0546 left_z=0.2026 left_yaw=0.0563 left_pitch=-0.1387 left_roll=0.2528 left_gripper=0.9971 right_x=0.2781 right_y=0.1983 right_z=0.0312 right_yaw=0.0962 right_pitch=0.0465 right_roll=-0.1906 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.5778, 6.8171, 1.4335, -0.3101, -0.022, -0.0122, 0.2256, -5.1214, 5.9556, 1.4383, 0.5201, 0.2173, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132740822ed884c6684d4b8c8928fa8ae616960726a21c78ef4660ebbef99c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5da8b0fee6d22f81c6b7e5498c8a0a26c1c53d73e2a20942ad8a2f9778304f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de49f72a086f741ad3bd2788f34a63a68275caf6192d5e4bce3388d32fe82a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFJzWzu3gIz3NtHFpYBwIZfmMjg_tcyDcZxI_KMBqOowH1ABYFOnD_KaA9h63IqYQasUBm7tFTWc-1NT9YMyJ-Na0nXc9wJNsH6--x7XswNQCBclFL95W6BYGnQWA7WeA5MzbnWqSLhWJ_ZmXqmbr7rLGGTTAXYr_RK0owkZlH390SxIa6PZdkMwEeaZcUmniyToDRI83zoySWV2YZ_cFjfOceRPQiaJufUjLS6d8IYMafCZPNHQgyhmfPflMP_OyJ2FdrqDmsIgXHlr8iemKmD9B-ZdU5Gur1G2ezLFV4lZSudI0tvtHEJntSjZ7o550YKcHaBWop1cEHkKZt8jYfGiJDK7ICum69uPrA391R6vhCxafTFjgBW6gbQ3O27lDMsc-TxS9mdcPIkQoIjWVwCZeenrgklB06BJIYfqi2sCTZrkhce409ugqfaYkpjCrKCOEYJMfRcmRkxOhm80kHREZW9unc4e51hsm3Xc80O1PrlJiHbH999SpKT8Bzl_QvwW9I5_qBXew4ZacfNJ19K_QNVtaKBpMUoSdvim0hAgFk88qZs0UguD2wsgOYhuWyyy1GX5eruWbG0f7d_eMUiFLaXGaBrGRm7kpoe-pELz5ErpCgIzUqjT10z2vmMqyXTqhbO0Qp38friOkRaDLH3bXkVGGMmBoVq89ODPry5w5weo8giYBRvt7GmuxXmDAOUanJIvFjkPBLzw9gZnjsgeetXiJ9r59DSkF3H5QAtU5oeITUQ85I0ZuCv4VFVD5GF_EhkXp8xJfNvLEdbaN1dKvaXNMPEx4hd-Ji7bUXAQgWce4ppiGAuqx6U_2SbMie81dvb6ooIIFL6gGc5Ox-h1F8RmM1sjXyhuliWl8KoPy1OIrzMA_RRhGNYzqA6Pq4KeWqQf05fHE9uK_0sqlhJ1uXnSrb6Px7NzyOepKRKNzc7gxEN-4kISjU_PY44job0pYI3HaKETFkQ8pyTX3K-eWQYZsxPMSiRwMdbAKvVtn4ySlTExcSTVRB5OQda6HBQQuyKOlIactXvjX5_MmGNH_DHgev4Hg8bEnjdGzznCkVHhjTMy-DxMRkmJUdDk9Uh2sBuzd0ZuKc2CQeCSOfTLvbLaumw0rdUPW4WPw-syZvjL2SvzwiysbKVaZQ-56BEqzmLFSeYg8bM18irq2cFCzuOswEszGz_EifkAdB96M6JKbLV537hkpB8WXhINSZLIH08Vs3-jFOPfa9AnQRvVg8uTews5gGJvXm6B2odqqFP37goMnhxyBn1qeZPwJAO101OQy9GA_TA2tIYx63aEQ5Q75kYTBjq3MqaxLG_aQ-1CpXmlw1MSzS4SX6_EmtYya6cPImD9Cwhn1JU8jVo2IZdFx2cFnBayh2Zbus2Fm3QjZTDT_KOdIyAav7RTyQOjjHazS0BlnGonPKqK-eiylmBO-ImymHxgKQueLKlSc1jm8ksFm_h13wX4M-kxKZRn6uUW-n4nW9rvGEFKqnP7ZlglSpVnF8q9SFSxAyw3XQ=",
  "id": "rs_01490c78c3415d49016ab47147058087d0aeef57f0ceec02c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The torso now spans the space between the open fingertips. I’m closing the jaws around it.\"}",
  "call_id": "call_4raPtY4WxKjLMi5Ycu1zOIdR",
  "id": "fc_01490c78c3415d49016ab471485e8887d0ad788f164c7988de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4raPtY4WxKjLMi5Ycu1zOIdR",
  "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]: [-0.5293, 1.0218, 0.9073, -0.7486, -0.5636, -0.2474, 0.9971, 1.0012, 1.652, 0.4751, 0.3157, 0.8204, 0.4526, 0.0123]\nstate[eef_state]: left_x=0.287 left_y=-0.0544 left_z=0.2023 left_yaw=0.0563 left_pitch=-0.1407 left_roll=0.2544 left_gripper=0.9971 right_x=0.2757 right_y=0.1976 right_z=0.0275 right_yaw=0.1077 right_pitch=0.0257 right_roll=-0.2105 right_gripper=0.0123\nstate[joint_eff]: [-0.0752, -2.5094, 6.8171, 1.3993, -0.2906, 0.0122, -0.0171, -0.3214, -6.0239, 4.3556, 1.58, 0.4371, 0.0464, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f8523b1733b6f654658910f9ac8d058b9669a8b9fe54f06c0686c23f2d0184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10a5bcf76a6ebcc3dc4f593ce9c940c8e73fcf46264b4eadc141a22975524d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a54017fdf3ee44145a18f76213db02b9c8d9d9bdf52b8e10bd31f87e5b3eff2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.013 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0195, 0.9073, -0.7387, -0.5636, -0.2478, 0.9971, 0.8169, 1.6028, 0.3122, 0.6159, 0.7258, 0.3058, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0552 left_z=0.2043 left_yaw=0.0552 left_pitch=-0.1304 left_roll=0.2473 left_gripper=0.9971 right_x=0.2963 right_y=0.1496 right_z=0.0309 right_yaw=0.0613 right_pitch=0.0898 right_roll=-0.1559 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.8239, 6.653, 1.6288, -0.2662, -0.0562, -0.0122, 0.2393, -3.959, 4.041, 1.6581, 0.4713, -0.1197, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7464, -0.5636, -0.2478, 0.9971, 0.9993, 1.6512, 0.4728, 0.3412, 0.8291, 0.4587, 0.9946]\nstate[eef_state]: left_x=0.2873 left_y=-0.0546 left_z=0.2026 left_yaw=0.0563 left_pitch=-0.1387 left_roll=0.2528 left_gripper=0.9971 right_x=0.2781 right_y=0.1983 right_z=0.0312 right_yaw=0.0962 right_pitch=0.0465 right_roll=-0.1906 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.5778, 6.8171, 1.4335, -0.3101, -0.022, -0.0122, 0.2256, -5.1214, 5.9556, 1.4383, 0.5201, 0.2173, -0.1294]\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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7486, -0.5636, -0.2474, 0.9971, 1.0012, 1.652, 0.4751, 0.3157, 0.8204, 0.4526, 0.0123]\nstate[eef_state]: left_x=0.287 left_y=-0.0544 left_z=0.2023 left_yaw=0.0563 left_pitch=-0.1407 left_roll=0.2544 left_gripper=0.9971 right_x=0.2757 right_y=0.1976 right_z=0.0275 right_yaw=0.1077 right_pitch=0.0257 right_roll=-0.2105 right_gripper=0.0123\nstate[joint_eff]: [-0.0752, -2.5094, 6.8171, 1.3993, -0.2906, 0.0122, -0.0171, -0.3214, -6.0239, 4.3556, 1.58, 0.4371, 0.0464, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f8523b1733b6f654658910f9ac8d058b9669a8b9fe54f06c0686c23f2d0184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10a5bcf76a6ebcc3dc4f593ce9c940c8e73fcf46264b4eadc141a22975524d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a54017fdf3ee44145a18f76213db02b9c8d9d9bdf52b8e10bd31f87e5b3eff2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01490c78c3415d49016ab4714b5b3887d08e01fd91ae3beedf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.26,\"right_z\":0.012,\"right_gripper\":1},\"note\":\"The teddy’s body has been pushed to the left of the gripper again. I’m using the overhead view to center farther left and lowering the fingertips to table level for a final torso grasp.\"}",
  "call_id": "call_y51ujVq4kY736aruZdjp13py",
  "id": "fc_01490c78c3415d49016ab47151d00887d0a0fb095fb6d0bfe5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y51ujVq4kY736aruZdjp13py",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0264, 0.9073, -0.7639, -0.5636, -0.2478, 0.9971, 1.1435, 1.853, 0.6842, 0.1795, 0.8909, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2851 left_y=-0.0533 left_z=0.1989 left_yaw=0.0582 left_pitch=-0.1571 left_roll=0.2652 left_gripper=0.9971 right_x=0.2644 right_y=0.2577 right_z=0.0123 right_yaw=0.1254 right_pitch=0.0156 right_roll=-0.2148 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.906, 6.7487, 1.5458, -0.3053, -0.0562, -0.0122, 0.2393, -6.5573, 5.3265, 1.033, 0.4957, 0.0952, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba7d80c4a738deba00fb02a29408e6d086c9cab0b307bd2c0583de3ed0e8629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a30e6d980686e846e60b0b6a21d25e71d8c2d30e8d7fc332d2ff2804f3439f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8e63e982b9c6ee783f3ddf7b4e172e457cbcbd08d7be796e5787ffca42f6cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.693 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.021, 0.9073, -0.7422, -0.5636, -0.2474, 0.9971, 0.8181, 1.6135, 0.3008, 0.6037, 0.7208, 0.3027, 0.0123]\nstate[eef_state]: left_x=0.2878 left_y=-0.055 left_z=0.2034 left_yaw=0.0554 left_pitch=-0.1346 left_roll=0.2504 left_gripper=0.9971 right_x=0.2916 right_y=0.146 right_z=0.0223 right_yaw=0.0696 right_pitch=0.0623 right_roll=-0.1798 right_gripper=0.0123\nstate[joint_eff]: [-0.1026, -2.6598, 6.653, 1.4286, -0.2906, -0.022, -0.0122, -0.1573, -5.9556, 4.9026, 1.5849, 0.2662, -0.0024, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7486, -0.5636, -0.2474, 0.9971, 1.0012, 1.652, 0.4751, 0.3157, 0.8204, 0.4526, 0.0123]\nstate[eef_state]: left_x=0.287 left_y=-0.0544 left_z=0.2023 left_yaw=0.0563 left_pitch=-0.1407 left_roll=0.2544 left_gripper=0.9971 right_x=0.2757 right_y=0.1976 right_z=0.0275 right_yaw=0.1077 right_pitch=0.0257 right_roll=-0.2105 right_gripper=0.0123\nstate[joint_eff]: [-0.0752, -2.5094, 6.8171, 1.3993, -0.2906, 0.0122, -0.0171, -0.3214, -6.0239, 4.3556, 1.58, 0.4371, 0.0464, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0264, 0.9073, -0.7639, -0.5636, -0.2478, 0.9971, 1.1435, 1.853, 0.6842, 0.1795, 0.8909, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2851 left_y=-0.0533 left_z=0.1989 left_yaw=0.0582 left_pitch=-0.1571 left_roll=0.2652 left_gripper=0.9971 right_x=0.2644 right_y=0.2577 right_z=0.0123 right_yaw=0.1254 right_pitch=0.0156 right_roll=-0.2148 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.906, 6.7487, 1.5458, -0.3053, -0.0562, -0.0122, 0.2393, -6.5573, 5.3265, 1.033, 0.4957, 0.0952, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba7d80c4a738deba00fb02a29408e6d086c9cab0b307bd2c0583de3ed0e8629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a30e6d980686e846e60b0b6a21d25e71d8c2d30e8d7fc332d2ff2804f3439f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8e63e982b9c6ee783f3ddf7b4e172e457cbcbd08d7be796e5787ffca42f6cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFaRM5iaEwpbUXfeOhC7J3Y4DbSbXQPFVj_1FsVN-_qN0-Wm-OQeri3BuIC2F4OsUQo0zmql6IM7wINccdnR_XCRUOZi96kkpCCmtEyhSOZ3PWWnxk0E-fkSCIeMw7MBQBsxGsL0sng-uDb9sGC34AzY9GwUvA3fMSbwWXuI-XX_PKLxQxrFxrMxpo-5X0-dpRR8J7yRqNeiUFi394h43wd1aPBPNdzyOVd6o1GoRdUA6QnhwzOCspNrBmC6_keM7pgdZsYQpac355-Ni1VFyOIOpzDrOmut-OLK3PgEbZwcWRXSyoChMI5wL4XbkBHQ2nk-nOLqWQXesr-348fZjjtsYiaoQMRyLyAQenIUKGaoYqNREw4RGp1KKig0TkMa2Q3QHquCxMDjaKB2GJrHuXM5RoiSKUeYcgz_i1rEDW9xHRUbZvBoCBPNjDRsQD1oeP7HCA9QumN4IyhgKmD9HGTRYsXkV7I6fLGgt3BhC4OERFpxwwVb54CrhFfUPeG3pglE85UQlVHq7PXWslobAYpzHz1hrgBTLOyTNtV4fwZIHocrAzw3ZxEL6PViYlZAdLyED9d8-kukd6s8qbg0ef5GxFRqCis9CWRa9qBkWDJ1_dgDt5IqqzafALsszzJiZ8EARWu1qzbodo3z_v9z4Y7ecJUJb5rX8OY7Ss0vuXjTluOIir7qnx7iBEvmLPmfrZaDtPIdOF0642MudiXbWGJylT5nlRMBBvqrSRX2VAypviPj5BkrT_d0Mp48tDTZArCGrn9Jbw8AFuWwykGeeb7Lqgw6tnsFddRlm8WgBi1s8-OjJxUlbGS4F88TBNbE0d1_9zUIA_YHnGtbPGGfJXSKRCYeL6WH5ynC1GMVEGPFUENl4diYACB5yGt0PKR5ag02hJdnK54DI70jNvtlmHeVpZ6xthgxb1G1gIr9HhKpVDK_0mh1xfXwd58ScfoEoH6vUx2wulam1NUMXRgEFqKSlWgdJKSuoIExn3X8K0tkfsDZrYGeKP1McrKDbPa1A29B_hNLpd89-Dtzr4gBA_5r5pq2Mdzv0tj7j0JwshGktw_KCJpiLQCi-9pLu6NPRO6Dv9M2psfBM6P1KgQEtS4RudOECr2JOYRdTEM_j8n7nV039CLTm3XMK8-58B08-08DL4Z6dsCM8YBAKpg80fl157fP97sKvKUwEF1rblcAizOXZBsUC8ubSe_DMxdAjgsgZdI8W-81HVb13MKfNiaK7f1n8iB_lkcD7U9QNrORgCFzEf0ACkxEAn1gb8O55TyjZgoX6JJ-5YxVz-RpGpDO0xZAs_sJyC5Q2xQ5UOBNoi354hROu-OfZSaIlXlRScPdY8q8lVPlZ4vplegVRwcxW4mt5LI0ABaPgK826N49hpLf1lKA6ct7gVjqIeHZBAsIRRILC0j6fjjIZIOc4nXsT52f8Anf1-p8998aYE458TpjzI3mZZ91oTQZSTWx9GCdiJdzycJkBdMDzKMIs3nVYH7178DeSOc3XpK8FfMInkavm7IO8oev1XhnQSLobTrWyYxP8_2-paVVhq_YceZStHym9jg3lhSFkjdtt0S-OHXw4waneAjAHz5PPkQ4aw_V5YkQwIAkUNVdu_HJfWC5bwG7623O8zg969pyd6UNfTO-MKoPWNaFgjXyz1Sx108oQZxiqVO6oTHLdgOl-Cul0MZkGfBms93PwhjSOGdP1XlOXnABY983kYxjPM4BRTw1N2pRcnk9bVN_U11F8TwhEUygnzoDbOIFaYKdB0u9oL4LSnofROIjyzxO_O23hWooaIwA6xeUr0RgOawoRhrLEVn32GVS8pS6MC5Iy1OkcX_SENKa2YdXF2arMAD1OfjM8ocCeVlmVcGG391tKY3DniPXFi-NswG8buBDQocqEjyyPPv9ZNQdL574lUAUbdtSj3qnUHaUoQqtjER2NiN_D2PibIvZFiAEs6flQiDYK_75coaD3WkYtQoHMDPVAq2r_15NuacgUkAO_Gko2kbi34JZzGdIJFD09LdmkLl7iXpSrdSFK6WN7FAhyDO3vvGKYpSfvSpmcmEDdyKpKfIjEy3IcLxn5wQPyK7x_CR_Vf99LvrTA_adn8eBCQFmpXpy5vqyzArt5ZRWA8v2be9XA==",
  "id": "rs_01490c78c3415d49016ab47155ce3c87d09465da8a9aee91a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.33,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The low sideways approach is pushing the plush instead of enclosing it. I’m lifting above its new position with the jaws already open, so the next approach can be straight down.\"}",
  "call_id": "call_RanxPSIOuNrFW0eewDbsdPyH",
  "id": "fc_01490c78c3415d49016ab47158985487d0891493502f64e999",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RanxPSIOuNrFW0eewDbsdPyH",
  "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]: [-0.5293, 1.0279, 0.9073, -0.7681, -0.5636, -0.2478, 0.9971, 1.1347, 1.7077, 1.1927, -0.4, 0.778, 0.675, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.053 left_z=0.198 left_yaw=0.0587 left_pitch=-0.1619 left_roll=0.2684 left_gripper=0.9971 right_x=0.2858 right_y=0.3283 right_z=0.15 right_yaw=0.1467 right_pitch=-0.0175 right_roll=-0.0483 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -2.6598, 6.6393, 1.3455, -0.3199, -0.0562, -0.0122, -0.8821, -9.3607, 8.4581, 1.3309, 0.359, 0.2271, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce839306b31a4477ab36a30ef1ea6d58e63827d4de6fe96b4f32b3eee4d0603a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2590ef22d64ea89b555b876a222271f0ff6762089e4b51fe2696e3bc1c4dbd56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca4f076e07d0775eacc24896fc0f25e09cded74352ea1f0c3e5228d1b265ed7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.297 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7464, -0.5636, -0.2478, 0.9971, 0.9993, 1.6512, 0.4728, 0.3412, 0.8291, 0.4587, 0.9946]\nstate[eef_state]: left_x=0.2873 left_y=-0.0546 left_z=0.2026 left_yaw=0.0563 left_pitch=-0.1387 left_roll=0.2528 left_gripper=0.9971 right_x=0.2781 right_y=0.1983 right_z=0.0312 right_yaw=0.0962 right_pitch=0.0465 right_roll=-0.1906 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.5778, 6.8171, 1.4335, -0.3101, -0.022, -0.0122, 0.2256, -5.1214, 5.9556, 1.4383, 0.5201, 0.2173, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0264, 0.9073, -0.7639, -0.5636, -0.2478, 0.9971, 1.1435, 1.853, 0.6842, 0.1795, 0.8909, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2851 left_y=-0.0533 left_z=0.1989 left_yaw=0.0582 left_pitch=-0.1571 left_roll=0.2652 left_gripper=0.9971 right_x=0.2644 right_y=0.2577 right_z=0.0123 right_yaw=0.1254 right_pitch=0.0156 right_roll=-0.2148 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.906, 6.7487, 1.5458, -0.3053, -0.0562, -0.0122, 0.2393, -6.5573, 5.3265, 1.033, 0.4957, 0.0952, -0.2418]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0279, 0.9073, -0.7681, -0.5636, -0.2478, 0.9971, 1.1347, 1.7077, 1.1927, -0.4, 0.778, 0.675, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.053 left_z=0.198 left_yaw=0.0587 left_pitch=-0.1619 left_roll=0.2684 left_gripper=0.9971 right_x=0.2858 right_y=0.3283 right_z=0.15 right_yaw=0.1467 right_pitch=-0.0175 right_roll=-0.0483 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -2.6598, 6.6393, 1.3455, -0.3199, -0.0562, -0.0122, -0.8821, -9.3607, 8.4581, 1.3309, 0.359, 0.2271, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce839306b31a4477ab36a30ef1ea6d58e63827d4de6fe96b4f32b3eee4d0603a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2590ef22d64ea89b555b876a222271f0ff6762089e4b51fe2696e3bc1c4dbd56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca4f076e07d0775eacc24896fc0f25e09cded74352ea1f0c3e5228d1b265ed7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFfJaH27iLhFrm8AuqvsXV0kEtKlJ8ADsOqZsbtfyl9pFBAghyCMpI2frxYH6uSqGyzXjO_6zvtsl3k45hjTCSVUWqJ4WBKKE7LIqJ1h2-r4CMuwhejKqvPR6bgCtwr--766WzFQMPthovWuT4nnH874AwKSN7zWzHr7pK9qwVDYZ2GtVMNSWMRTpc0a4TxVnxPmjoIfvaO0mTnhBwVKvi8krbu4sQk9-jMh1t5Kx_zz6rolsRGDLBr4Ht3knM-N84GMahTlripcm2jHoh35BInFNsTiCrkzBN1s727sPANmZKxuw3Sr8okrEXlUKoeiSE1v5R1pZlDrfDZNyklaUcaKQaXLyX5GeCsky-iqkVIq8pSSu5vJ6_rt3wq0d8WYO0NW8Ac2b66r_whs_RyDbi4JXuerAYvmhgU6H-iJW3tkQBNoFs5BLZXM2cLa0aUet37UckWAgakp1erDDyeYTLGeczynNoS9FLWCwORcVLV8V100vcon_6kU1xecSsbe2TWXBLHUY7Cf3MY_6SlWjkqwcmihe53F3BR28VzPmf0zlnPI4l3vL-PBucZD9ZF2LiPmz2PqJJDfIDeBbf3qPDGjcAHpEDoc66H9fVkrdccF38N5qoLJ72puSn52TGAatVzOqCgmVQVvQ9NE1rlbjkoX-3H4u3VJF8SDjDJTP7XOQGfbrnJMawX7BrhR7HaPfJFy9mc16KqtouqVNVqGxkdw5Ky4IKj0zJPADKZcbPrv_J38FweJeAkM_uHHaFpT5OHbDNUE1iYIb8DQtPfZVdpzdVAthBmreZyLT9DbZ3YJmi2QKRe86pExk71vA6F2ZVdrkg1C_da4-1iR9O05cl4eHhwXfjfOJupkxNYCJgMnCi4T2EZkhiC_05RLnxkrrrH57Hu3o7J4OkOG995uhW-IRMH3xLd5S-ZNxvlqOmh1fLWpprW0sbhkgRG5Hbe4MdWpbW-bMSBnH_Jf1M5Zn91ZfoLwCL793kXHJ9EmOVhruewTCtQUyCpnOtQG7Ty82ZN5bhhesvLO4-lmMT5ga6BFiHTgm_1yMtZiXbZJtD7aEcyuhyDiHAAKLFTr4IsPwQ5sifJEpXLhOPtdhWEI5p7341vJBh4QnXVOtD2zU7kPkwL-hueKkf7tkQKnxhH25vat_1W_oIj60LddjbzIV_rZ1L2eKmB2dCxQ_EHvOVP5dsMSXhumTVLqQ7tQPr0ByhK3x5zJlN0VcIv1RBVRYfHmVnRMbxTvrgL-TEKbLkFoqPtQt6hcDWPhm6C896_Y74QYz8eU9LMz5pteg_wA4zxZKzM9R7-mffOXudq6Kc1TNskN7JrzDFmqSoBnDD2RJ_ZlKZoaFW_tjx5Cml5eSGRiNb51rWP3kTyqs2LI1NJhK2poWc9m65XfE8YBeCPlRGRebWrZCVA1eFEGr5EPjwrDnwrjJzHMnBTZ_WosGuU70Ak3IKKkouTCFG599Ciah7ivIOhUXE3edfSLaaV_howd8JNU1hQvlLt0IFR-KSKOEgJTBRzTyW7mPlA5Ip4a8jtI3iOZueACqM3H_PrndEQHRh25oD3j2I4YjiXToxLp16ufzh6_Aq965yLd-DWRx-8IUW1uc_h8rUDLcGxBea1jpvKNTK_I4DGcIRwT1bvH-E=",
  "id": "rs_01490c78c3415d49016ab4715cdb0c87d09ae7e87064b0f624",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.37,\"right_z\":0.02},\"note\":\"From above, the teddy lies slightly forward and left of the open jaws. I’m descending onto the center of its body without sweeping sideways at table height.\"}",
  "call_id": "call_uTiPB9XkNZWILqqxZ4FTzrcU",
  "id": "fc_01490c78c3415d49016ab4715e723887d0aff5010cf53b27a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uTiPB9XkNZWILqqxZ4FTzrcU",
  "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]: [-0.5297, 1.0283, 0.9073, -0.7689, -0.5636, -0.2478, 0.9971, 1.1038, 2.0789, 1.1526, -0.004, 0.7624, 0.6479, 0.9968]\nstate[eef_state]: left_x=0.2845 left_y=-0.053 left_z=0.1978 left_yaw=0.0584 left_pitch=-0.1629 left_roll=0.2691 left_gripper=0.9971 right_x=0.3137 right_y=0.3591 right_z=0.0244 right_yaw=0.1399 right_pitch=-0.0372 right_roll=-0.0761 right_gripper=0.9968\nstate[joint_eff]: [0.0205, -2.5915, 6.735, 1.3016, -0.2515, -0.0415, -0.0122, -0.4855, -8.5128, 6.9675, 1.0818, 0.1392, -0.1197, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699593a28c2adb54dbb808508dfee6d2c1bb21fcf8ffe61cc98afe21b93b0e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb63a8cfb85fdc01ec2d1adea8c94be21e3a4066a99de2b39508ddfee3aaccf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744bb7a7ffa5f9f9083ef1cedf8992fb57026843b37e3187bc40423a0607a2fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.272 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0218, 0.9073, -0.7486, -0.5636, -0.2474, 0.9971, 1.0012, 1.652, 0.4751, 0.3157, 0.8204, 0.4526, 0.0123]\nstate[eef_state]: left_x=0.287 left_y=-0.0544 left_z=0.2023 left_yaw=0.0563 left_pitch=-0.1407 left_roll=0.2544 left_gripper=0.9971 right_x=0.2757 right_y=0.1976 right_z=0.0275 right_yaw=0.1077 right_pitch=0.0257 right_roll=-0.2105 right_gripper=0.0123\nstate[joint_eff]: [-0.0752, -2.5094, 6.8171, 1.3993, -0.2906, 0.0122, -0.0171, -0.3214, -6.0239, 4.3556, 1.58, 0.4371, 0.0464, 1.0476]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0279, 0.9073, -0.7681, -0.5636, -0.2478, 0.9971, 1.1347, 1.7077, 1.1927, -0.4, 0.778, 0.675, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.053 left_z=0.198 left_yaw=0.0587 left_pitch=-0.1619 left_roll=0.2684 left_gripper=0.9971 right_x=0.2858 right_y=0.3283 right_z=0.15 right_yaw=0.1467 right_pitch=-0.0175 right_roll=-0.0483 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -2.6598, 6.6393, 1.3455, -0.3199, -0.0562, -0.0122, -0.8821, -9.3607, 8.4581, 1.3309, 0.359, 0.2271, 0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0283, 0.9073, -0.7689, -0.5636, -0.2478, 0.9971, 1.1038, 2.0789, 1.1526, -0.004, 0.7624, 0.6479, 0.9968]\nstate[eef_state]: left_x=0.2845 left_y=-0.053 left_z=0.1978 left_yaw=0.0584 left_pitch=-0.1629 left_roll=0.2691 left_gripper=0.9971 right_x=0.3137 right_y=0.3591 right_z=0.0244 right_yaw=0.1399 right_pitch=-0.0372 right_roll=-0.0761 right_gripper=0.9968\nstate[joint_eff]: [0.0205, -2.5915, 6.735, 1.3016, -0.2515, -0.0415, -0.0122, -0.4855, -8.5128, 6.9675, 1.0818, 0.1392, -0.1197, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699593a28c2adb54dbb808508dfee6d2c1bb21fcf8ffe61cc98afe21b93b0e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb63a8cfb85fdc01ec2d1adea8c94be21e3a4066a99de2b39508ddfee3aaccf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744bb7a7ffa5f9f9083ef1cedf8992fb57026843b37e3187bc40423a0607a2fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFjh8Ela-AdCpax2ggokCwsaArU8_H9I8agHEZjFUni_1nzUYoKd27QNRCuwEg4DBHX6DopXL4TLm6V2dXZVDX6hez4OL8H_HLFw8ztTaQKQ9Whi6bWJw8qBIpgIwFkzmB_RL11gzszQoBrM71APzN7RFXYE1RP9qd1AcgxkcPokyUtm-9s9W8aAJuIFamyAnszzn_17ZjQhAJuebzpuTseD4qh9PtxbIocwjNGfO6sGiqArw4igpl9sSbphKj97stkI2OQqTtGXnivamLh1BND4tlJ-BwK3AK37mVRLOgSqbp_odoepwegw6xnNecNMymqRj2h0TQBnTtqv-EbqcdYGoNqrf3KqDiHe54u6L3-75PcgOAGqAXKS68ouz2Hcczu7GFsOFo7RF9F2DErKDGdGxTmO0x9uzlg1n03lgph8OBq_N0YJ2Dx4UCuudgMFm_jBqJEC-6CZWZS6SSv-Wd48BXwPS7I9QYT8n0Xlei99lf2CW9ng5XIF3PSYTkz2yMtcbQPWc31U9hU6q_Y9WPOekqIA4pyLjxTGaEc0RNS4ZHURnBV7XS5Ok6sQhoRNB4H9KcAurIVwmOu2rwoNDHfXln-BLsp7fW_do_BUDV3-w78A-IvUUAHgvGfcoi3-jLE1jNL0b3uc4neBLfrq9IEc4Zy5NsPPsz1R_BBDMDEOyv-9XVfJO1Pk1MfjgEVKRb-6xTrwDaBo1lTOQgQfY24CrgxP9PLdZcelwDSSjRAi2HdV9-vdFQNj5bQqdKm36yRI_5PwiAkKKbAJQC3UN-vWdtJTx8dArsmQ2I6dzEI0TkgMZzr2MXG2ZhDjy2YgdRUlnpXJaEeCRzaARehHLMDa1X3dJfYxGeON5Ed13WDTb-J5x6I9tsDGbxkM6EBDbWaUa-HrvO1RkdS0IQQxoXLNYBWBW6ZhSgXYc62w0EGuLKjU-jMzoJwNV_R8oho0JIyYthU0TFTj6S_YhP6w6OOvRP8SDkc4_9-ri3H7L_PqPJcx8jsRlmwOY2apFKVMAtC4rFZCJWLbFYPaoDUE1oNEda96_i4inKumVgnr5U24Dn4oAHA91m00-OZWMmDQp5PBK5p-HdyqtRHA-EMuq6m_IKYIjZzxVFveD03VQUFehoOkKy3pAonKu89AGlPL74hQlkIsRKZnN1-OCH5VDMabj9EJ13Q9i8VS3N-OyZBHNqmmjp7MiryE--wyoQc1ZqoHvQvmN5yEPtkd34Bslp4gg==",
  "id": "rs_01490c78c3415d49016ab471627f4487d0b15441cd4e0de135",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The teddy’s broad body fills the jaw gap on this vertical approach. I’m closing the gripper to secure it.\"}",
  "call_id": "call_dNnHhR1SQXjCcKLHjwj1xYji",
  "id": "fc_01490c78c3415d49016ab47162cc9c87d0ae858cdb9c467daa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dNnHhR1SQXjCcKLHjwj1xYji",
  "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]: [-0.5297, 1.0286, 0.9073, -0.7715, -0.5636, -0.2478, 0.9971, 1.1046, 2.0937, 1.1595, 0.0212, 0.7662, 0.6445, 0.0189]\nstate[eef_state]: left_x=0.2841 left_y=-0.0528 left_z=0.1973 left_yaw=0.0587 left_pitch=-0.1654 left_roll=0.2708 left_gripper=0.9971 right_x=0.3159 right_y=0.3632 right_z=0.0233 right_yaw=0.1407 right_pitch=-0.0251 right_roll=-0.0666 right_gripper=0.0189\nstate[joint_eff]: [-0.1846, -2.4547, 6.5983, 1.37, -0.3199, -0.0317, -0.0122, -0.1573, -11.8632, 4.8889, 0.9939, 0.2711, 0.0024, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927274c5a2f9814b6b39985b7ba55827b3f53a3d12fcc38b6ea99626ace1e1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c8a9b104822b9078fbe447b4daac2195cb22dd17e6a0bc3778db4f76ae29f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf302d25886e190760631599db341b34e60e690fd8369a1efbd011981e5f122f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.184 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0264, 0.9073, -0.7639, -0.5636, -0.2478, 0.9971, 1.1435, 1.853, 0.6842, 0.1795, 0.8909, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2851 left_y=-0.0533 left_z=0.1989 left_yaw=0.0582 left_pitch=-0.1571 left_roll=0.2652 left_gripper=0.9971 right_x=0.2644 right_y=0.2577 right_z=0.0123 right_yaw=0.1254 right_pitch=0.0156 right_roll=-0.2148 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -2.906, 6.7487, 1.5458, -0.3053, -0.0562, -0.0122, 0.2393, -6.5573, 5.3265, 1.033, 0.4957, 0.0952, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0283, 0.9073, -0.7689, -0.5636, -0.2478, 0.9971, 1.1038, 2.0789, 1.1526, -0.004, 0.7624, 0.6479, 0.9968]\nstate[eef_state]: left_x=0.2845 left_y=-0.053 left_z=0.1978 left_yaw=0.0584 left_pitch=-0.1629 left_roll=0.2691 left_gripper=0.9971 right_x=0.3137 right_y=0.3591 right_z=0.0244 right_yaw=0.1399 right_pitch=-0.0372 right_roll=-0.0761 right_gripper=0.9968\nstate[joint_eff]: [0.0205, -2.5915, 6.735, 1.3016, -0.2515, -0.0415, -0.0122, -0.4855, -8.5128, 6.9675, 1.0818, 0.1392, -0.1197, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7715, -0.5636, -0.2478, 0.9971, 1.1046, 2.0937, 1.1595, 0.0212, 0.7662, 0.6445, 0.0189]\nstate[eef_state]: left_x=0.2841 left_y=-0.0528 left_z=0.1973 left_yaw=0.0587 left_pitch=-0.1654 left_roll=0.2708 left_gripper=0.9971 right_x=0.3159 right_y=0.3632 right_z=0.0233 right_yaw=0.1407 right_pitch=-0.0251 right_roll=-0.0666 right_gripper=0.0189\nstate[joint_eff]: [-0.1846, -2.4547, 6.5983, 1.37, -0.3199, -0.0317, -0.0122, -0.1573, -11.8632, 4.8889, 0.9939, 0.2711, 0.0024, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927274c5a2f9814b6b39985b7ba55827b3f53a3d12fcc38b6ea99626ace1e1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c8a9b104822b9078fbe447b4daac2195cb22dd17e6a0bc3778db4f76ae29f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf302d25886e190760631599db341b34e60e690fd8369a1efbd011981e5f122f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFoILfJkfrYaPMijaNR-mcd7cj3COQAW_QZ2l_YCWFsAaEVBvZG2FBnBnfmAacfDDHuasH6LKqqkcWjzW_LlGoR6FrTf7SP3NTWHv3uCT-gn2qd2QSJ-VPV8UURaFIRFALYpTHnbV0UosTLMCf5wqMgodgOlyzYqy7GKunf5fGM_hc51x3_Uj0PwmccKBgJf0FtUuJ3FNDVrqL166NtVB6aGItPjQsVtkBLipJFJRxMs803mKDlt5HkFIHwrwIvVBMw4YwyOGHxVv3J5j0qTyIwv5SHt6dDpz7wMXE1dtKw8XhHUq8JcRoM_Y76Vi6AsSYVPukrFkyGSmB5UvImYjHwVkBYPJW-fATcVjyPk34UWzi2xlElEXkUvdq864Bnp5MEgArPP1DeHwTvwE-dDX3veKnDABSToVj_1mxOFUmUral2Kog4ZPYZPhWQLwCghyM11oMsWpIQePHpVJw5gzYAGcK3pxRGITI2xVIgT858iMq-QxYBS5t_NdldkeK9klJf5x3I85INEUYRk8jHl0cmnF-VaGUhQw6zCM5pJ2eCFJvi-uXGTPDc4qwH93tHHXIqqQY8r1dzTRoBtbuzXllBNuKU_b0z8TjZ-thOcLYKtw-dW1bwMsDyzTQ8Vmvrm9W5x2eoFY_MSkKTc8fR1cNmg-Htc-eh8y4a-L9i7dd70fHNORliNfR8kfXNS6_2TidPgI9fJGysXDCuSc_pTLKPnqqhnQ76RTfmXS-x0A1AeROpSggSF9X8_03HKo4CagwkH52pA_sKvhW_UKc4y8ztns5DTuCNbEAZhTqbwp5UFYx1zE4STZs_S8h5sGs9yp2atnbnj-rTxGnFL8Een0g4MiSa_6xmLLUIgM2bJKm6uukJvrzJe80I11RpPlM7oZizciwakPHZgn_4xXdjqtThElI5sMr96UWlQyULgfCgbjMscBUjyttBUV84SrFYCY6Ef8kHPgSIgNalC2qn3N0WBW-jzAwxGavwIi6d2sp6EJCT6EeqDHq2PU_Uy38v7AqspgAsoCH57Ad4g0qdNSFhpyZooPBew-SEvxn_wQThhnk4JmMSdVlpWjT-ZNpt9_aceoPHQ5LtIdzszjaBcgYv4rh1rAYxEGstMZvR2DuLGaNoxbkH5e9EMKrENZxogGwNfxGBOeKMkIWV-aUz1DemrEkjhlSPDgRk8YHT_q6ARg1MAJfXc78xtxJJEsY1943mIkIhbLScGX6UzgL5SmMZuYuS8I1zUq-GJnFEbvyzvfzSq7w5STiuCsHv9BHK8OBm2qZBsP-xBnUVcBjxtldIbpVOp_CM3JKu3vIbeBAizC6xzjrfO1mA-ZV5iexPNVg_",
  "id": "rs_01490c78c3415d49016ab47166ec0887d08d08e0ab2dd6aa93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The jaws closed narrowly and displaced the plush, so the grasp remains uncertain. I’m testing with a short vertical lift before attempting any transport.\"}",
  "call_id": "call_bZcpsSUCwSxLSlaTbVnf2QbF",
  "id": "fc_01490c78c3415d49016ab471674b5487d08946892db25fbd44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bZcpsSUCwSxLSlaTbVnf2QbF",
  "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]: [-0.5297, 1.0286, 0.9073, -0.7731, -0.5636, -0.2478, 0.9971, 1.1061, 1.9862, 1.2373, -0.2222, 0.7498, 0.6395, 0.02]\nstate[eef_state]: left_x=0.2839 left_y=-0.0527 left_z=0.1971 left_yaw=0.0588 left_pitch=-0.1667 left_roll=0.2716 left_gripper=0.9971 right_x=0.3103 right_y=0.3583 right_z=0.0663 right_yaw=0.1527 right_pitch=-0.0695 right_roll=-0.1105 right_gripper=0.02\nstate[joint_eff]: [-0.2667, -2.5368, 6.612, 1.3846, -0.2369, -0.0366, -0.0122, -0.0068, -13.094, 9.1419, 1.4432, 0.4274, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5669c8e0cc17f41d57411129634e91768ce5a5d48af1218e1d043cb424bfdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abbf0c3f120f0bdebc2ef040a7a3828a637efa5ed381a25913bad7895ff3524b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b604ebc734e287eef2d67d55575c1ffadd0a7dcc16b86db4297c023d95c30a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.456 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0279, 0.9073, -0.7681, -0.5636, -0.2478, 0.9971, 1.1347, 1.7077, 1.1927, -0.4, 0.778, 0.675, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.053 left_z=0.198 left_yaw=0.0587 left_pitch=-0.1619 left_roll=0.2684 left_gripper=0.9971 right_x=0.2858 right_y=0.3283 right_z=0.15 right_yaw=0.1467 right_pitch=-0.0175 right_roll=-0.0483 right_gripper=0.9966\nstate[joint_eff]: [0.0068, -2.6598, 6.6393, 1.3455, -0.3199, -0.0562, -0.0122, -0.8821, -9.3607, 8.4581, 1.3309, 0.359, 0.2271, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7715, -0.5636, -0.2478, 0.9971, 1.1046, 2.0937, 1.1595, 0.0212, 0.7662, 0.6445, 0.0189]\nstate[eef_state]: left_x=0.2841 left_y=-0.0528 left_z=0.1973 left_yaw=0.0587 left_pitch=-0.1654 left_roll=0.2708 left_gripper=0.9971 right_x=0.3159 right_y=0.3632 right_z=0.0233 right_yaw=0.1407 right_pitch=-0.0251 right_roll=-0.0666 right_gripper=0.0189\nstate[joint_eff]: [-0.1846, -2.4547, 6.5983, 1.37, -0.3199, -0.0317, -0.0122, -0.1573, -11.8632, 4.8889, 0.9939, 0.2711, 0.0024, 0.8327]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7731, -0.5636, -0.2478, 0.9971, 1.1061, 1.9862, 1.2373, -0.2222, 0.7498, 0.6395, 0.02]\nstate[eef_state]: left_x=0.2839 left_y=-0.0527 left_z=0.1971 left_yaw=0.0588 left_pitch=-0.1667 left_roll=0.2716 left_gripper=0.9971 right_x=0.3103 right_y=0.3583 right_z=0.0663 right_yaw=0.1527 right_pitch=-0.0695 right_roll=-0.1105 right_gripper=0.02\nstate[joint_eff]: [-0.2667, -2.5368, 6.612, 1.3846, -0.2369, -0.0366, -0.0122, -0.0068, -13.094, 9.1419, 1.4432, 0.4274, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5669c8e0cc17f41d57411129634e91768ce5a5d48af1218e1d043cb424bfdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abbf0c3f120f0bdebc2ef040a7a3828a637efa5ed381a25913bad7895ff3524b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b604ebc734e287eef2d67d55575c1ffadd0a7dcc16b86db4297c023d95c30a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFuuHjSrRIzu1Q9ZpDbOaY9E1dfuUxZ_iCQ7YGFUzRZzCFyp-p1SwVPwSfdNnH0GTlGFhiywGiXmn91yrX3_c_e2pGZDxV2OPOm2viBLa-mtI5SOYbZEH3MEplDn57MmueJy3t2eXiLrmE7vZO93luy08MtqMUM62OrBNr59z1YnmEbtu0ODkTXOMsXM9VhzWn6MnMBICc6O9uFlU6NaW0GOHggCfWiGjbpVMxZQuS5Va5SNvXoY2oZN4t8FFodd8B6yQm1013DenBHmqDf7YvRGrpPRkGElOtD0C8Do5lg6mzq3R3xIXAV767nkAPoGuiYpw9OsA2woaysu67hAHZP0PYf57L-qBJXzjrIDbakT04sFS-4lL7Nsg4dbMLELau-1wJT6fCU4LZ41CX7OWcBKezLlvcUEMNdB3XyuwcmXgWMFHDnaii8JU6Ik0_vIuVrVCFe2bzb_D6XXkmTYxIzY1c1E-9zvlhyX0HEB_cBMjxM0ym_G5d_xUplUo8Xfy7aqU9gbCjmQA65iDfdSfk9O41ZzomWkXuPQ0--bo4ZhZghvN2mBjH5ySXysoR4pCD3hWm0pk0RNistfeDoA8G6R6asECH1umjn4YwXydJPhhLuUDQBOYGFd_u7hJHHgRqP7NEiUNHWsTRnLhPg1OxXrny22xb1eAw4KrJmMYp17-JmTYJLDhuAhAjsFJDqdJcaoZM11qQ2YxWrAQC-mnAulBJ53gQFJUMe4Ndq96w65ZIutWaxhXLEKrIQJYPZNLS-hABECWKLHQqlaKI8Tnft-0_TLjbkapdN07NFIy5-fjD1CehsE_Abf5mOodocbhmpKL_7gV-DAfX-sZ3qeE8tQYE_NTWt7evGguesTAg8OAPVdXsirJXIYAxHaD8q7bxULqvPEa_Q-D3HUX3bY7sdPOfsgY0_b46_J1jUqPKi333_JVa-_ILF2AZjU457UTskbOBMPGzahgaNTNMqNJYtrTGUIujSEcSfS6cGucD4jSVpZvopNjMN1MQvvHUYxGQBvhyCtxdamYd7tsZz0k2E4hZX1p4Ol10dKRPi7srtL1LGi3cbmUyCVqnt5eHACBVqYHfc_8dmrg2QgSO_QC28i3HWoyJ4Ugd6URqQj-aOWbyS0u2xDrWx9GKIukXmuW5gB3AJMPeflI53iozMU_RIMX7aIWV0s5tr3SpFqpUWvW_V_AX6po9yw6VZbc2RQiXcKLEYj_UzqaGNxvmGKbpH149h9SmGcZFby4PgdYlD7ZPpaxUW8_uIqOu42guiakJe1RLE3-zvL7IICPoYdjaH0ejW2Yk0OQ05PF0X323gN-nFVLYC_8YGc0-cxRu7GxWZl7WkwoiemhvVCpfnGfVD6vZLTiUfX0NSDPxt3LbNZe7um4vFcqvkKzMHgZhKxquJ6zjQgaSDlvNZQcL3gY6MZyYUoU8tpq9io_uKL_XBXX_c9szd4d8IVoDuDxSKqozWKQdqls_Hd_oeGpCq_YDTfO5PkE1q__mh_k2xttQQIThIQNSiFTdrBiW23JkZWoC9Rhq9IrHIYcSWTeb5Lm1APYG5tqXVvrbvG4BSXYl_NSZTO0_Yc1ZezJY_95CipYC1JQJEgoC67cYaSK-h3ts4gDVfAPvOzg4_edxEqL2kK3_S_xsoIVSkyaQqf5DHQL8_DlweRqvoUtVlS0xmuyISdDV-ndQ2sfgTEsx_E80iCgHlaei2aUU9TxpubFKibp57X4xXnA3Asg2CV23QB7_XLzAMb27GQA0omZX7u25FyoUyo76ZjmfmfeDPJo-Jf029k3YJRTDbrDzjIZs96a4HfmDtB9DkbmBiDs622olZtJQVIpCB4m2hOlHOm4Z8whvACH1KZMUJJo-fGvB1rC-U3ucCOhlDQkSHcxDlnaTU-sXlaAXO6gwreNXS0XytEI_Jp7e29HGx2Pp3VEIWfgVlzq0ld6UVbXiELowoU_SxPV13LPLAdZSRbkMzwW-ldA0McUFjrAdbIX62qVU9-WVZ8t0cg78uQrnk_h8HygVErDc0KHuyjQYZ-Xh3fkCKrVlyFzuH2-iSGaC6Dbwg9QFw9DxhU76oUdtfEp0nWx2ojCE0EjIGJUqRiqnxeB08TFWbzNLajxH7eq74ZaV3OZx4TCR_hYnJGBn-t8g52TDNSfslvjRKQlwsMoZBu0gTdNht",
  "id": "rs_01490c78c3415d49016ab4716a73d887d08c5c0fe5a2e69732",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.31,\"right_z\":0.23},\"note\":\"The teddy appears to have risen with the jaws despite the very narrow grip. I’m lifting it clear and moving cautiously over the safe’s open compartment.\"}",
  "call_id": "call_rOwNjXMhkXp60kiG5hkKngg1",
  "id": "fc_01490c78c3415d49016ab4716de42c87d0a726e34725fb0041",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rOwNjXMhkXp60kiG5hkKngg1",
  "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]: [-0.5297, 1.0286, 0.9073, -0.7868, -0.5636, -0.2478, 0.9971, 0.7956, 1.9469, 1.7733, -0.6479, 0.5514, 0.3519, 0.0202]\nstate[eef_state]: left_x=0.2819 left_y=-0.0515 left_z=0.1952 left_yaw=0.0601 left_pitch=-0.1781 left_roll=0.2794 left_gripper=0.9971 right_x=0.4267 right_y=0.3084 right_z=0.213 right_yaw=0.143 right_pitch=-0.0952 right_roll=-0.1218 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -2.5094, 6.5983, 1.4872, -0.3199, -0.0659, -0.0171, -0.3487, -9.9624, 8.9778, 1.5458, 0.2418, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181f50f0b628c5522a7e4c778721ae8be15149959da6da349098d9aa86c5eba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dccd9ad0c274ebefe3d321a3fad5aece72842bf7c7b9bb3839425dbefbe1119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7157692a5dff713b1d5ecf96bb9beb2fb02f8d821f794d3ffa60b4d59f1b817e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.464 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0283, 0.9073, -0.7689, -0.5636, -0.2478, 0.9971, 1.1038, 2.0789, 1.1526, -0.004, 0.7624, 0.6479, 0.9968]\nstate[eef_state]: left_x=0.2845 left_y=-0.053 left_z=0.1978 left_yaw=0.0584 left_pitch=-0.1629 left_roll=0.2691 left_gripper=0.9971 right_x=0.3137 right_y=0.3591 right_z=0.0244 right_yaw=0.1399 right_pitch=-0.0372 right_roll=-0.0761 right_gripper=0.9968\nstate[joint_eff]: [0.0205, -2.5915, 6.735, 1.3016, -0.2515, -0.0415, -0.0122, -0.4855, -8.5128, 6.9675, 1.0818, 0.1392, -0.1197, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7731, -0.5636, -0.2478, 0.9971, 1.1061, 1.9862, 1.2373, -0.2222, 0.7498, 0.6395, 0.02]\nstate[eef_state]: left_x=0.2839 left_y=-0.0527 left_z=0.1971 left_yaw=0.0588 left_pitch=-0.1667 left_roll=0.2716 left_gripper=0.9971 right_x=0.3103 right_y=0.3583 right_z=0.0663 right_yaw=0.1527 right_pitch=-0.0695 right_roll=-0.1105 right_gripper=0.02\nstate[joint_eff]: [-0.2667, -2.5368, 6.612, 1.3846, -0.2369, -0.0366, -0.0122, -0.0068, -13.094, 9.1419, 1.4432, 0.4274, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7868, -0.5636, -0.2478, 0.9971, 0.7956, 1.9469, 1.7733, -0.6479, 0.5514, 0.3519, 0.0202]\nstate[eef_state]: left_x=0.2819 left_y=-0.0515 left_z=0.1952 left_yaw=0.0601 left_pitch=-0.1781 left_roll=0.2794 left_gripper=0.9971 right_x=0.4267 right_y=0.3084 right_z=0.213 right_yaw=0.143 right_pitch=-0.0952 right_roll=-0.1218 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -2.5094, 6.5983, 1.4872, -0.3199, -0.0659, -0.0171, -0.3487, -9.9624, 8.9778, 1.5458, 0.2418, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181f50f0b628c5522a7e4c778721ae8be15149959da6da349098d9aa86c5eba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dccd9ad0c274ebefe3d321a3fad5aece72842bf7c7b9bb3839425dbefbe1119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7157692a5dff713b1d5ecf96bb9beb2fb02f8d821f794d3ffa60b4d59f1b817e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHF3WiIWasy4pERIumWL-GOYSBJmPSg9KnnqsGWFNUQ3W9io6Q_CoiicEhc_o1nnd1tQJOVpoigrQntItU99BiUndT3XrW7Pc-FyZWS0AgfO21wFDmUO5L-J3dlIye_-kCEUgj_LdH6qu4vREXkTrtmoWfkF-2FPmMIIYtRkZGVU1pmZwifcEjhzKZ6AaOmrBe6_UQmxVlXkQvqQB3P2-TjRubO38gRlkmyPLu7Ao7dEjojAkE40eZo2mQDJQI9tJYXLa1hCy1WCNYPbDVni8Z4K5yMCnJd38_OZzmhmjMWqBoDtxXrbxXBe16lLE3mzmSWNhJkfV9KsXJJ5Vy-pbGPipMA_1CVJXyPgx40XuawRZidL1sB-wQkHCrf1bp7fcmsogiRGrEh-_mAmL9E_zax3rV4NnfAGydblenTEvOlko4-7n4EAs8omWs_o7thPMB17XdA4-yLXfBC0daxP8P9ywxQfK1mF0yhCuUZ5epPFLRjBTgzQKm2n4g6S6pJrWIoCZAJJ-91nzaFgxKP_yKHdTp6TU23DvhpOsO03RDmcgrJJbc0MUTq-DmiQ_hlmPNmvK5huz6xvhIVjgXGQclVM9vLnbe4NTnq6VkiQn0EWXHOaDAQ20fbhwJuyyrzmRLx0jRuWgeE30UQPLV6NgvIG2nFNmNZJcM9OAk3fbjgXMsmcriLx06qyf_dQFK6EFLH6bTA5zye3N9cf6nwMHGwX6ZMcG90fh7MVC-bnLiI-Ar6eKW8yL5GImG63fwj6ERXDeVu4-HX_yYLpmcsprwV0Ym8JH4gNskfptQbuvEPXqe29GK9RyVGilhjpgsaabFcIcFeZmkzoGdHEl1rG1CswqKv2ETmQRscryRZ6TyWjikEmXUN8n0LYZndbqXY8ST054hhoYic-ZbhQMPF1PApxYbWQlNplVXxWSLYIoF23_T7GdWP2OXcj88mvohKVKl7wExlvW0EMJ1tFN0khHyjw5q7qTKk_Y28PSDQjkL-qsrP0aKUIiOHL8VXvsOKGha5k3Zt6haBjkJumlgEje8Z_vGD0uK5yr-yXxy6rEYOsqu3hcYnqIz58OtjI-zVjnHBjF14DasO38944yYOy6qP44xmRRHhR0oitnOHdIb8x8UCY4wdM4ovBrOK6P3y_JTfKFRPlBVJOE0J62aZhIOqLnLI8Jlcs0VJRepV-XSxjQovTzvABKGTSYodxA7Z-MvOr_VrsEPbGqc0AOgFpNXGWwdPRUohZTzKdyIftdyM84EyF-E-XNMEtQo4bm0h9XfPGSAowUR06xA_GEJ8uNocLClg6U5TQNrJ0pUMKhghS7YRD7aAbZUb2NnGomL70CxSLQd8RdVkIgZbDvs6mS_1AnSdYu15ZxVRke3CkagD0suGZ4xRMX_PQStWK7ClHq3LXEZk86es4TWLA-1rEPbonAn4VO6Bit05pqwJ-J3XeyOFLAIxiT6JULbllBxA_tJk7uNxm_vcuKCXH35KNNEYN8yuTfaOk9g9hfQg4njoYO776EITYfktNrt35SvEHFU4_PkkQqq8eRS-WvB1KSXV2at2zEV5wtBqNB7wnRyLjq6sPVQ93v-7Vu8r-GvD7Jw3ghCkZQ4Puqq9YrB4WhnlqUUR6DsdkgKboYDRea3WOSh6gam8c7i7jXp3J7tNIN6B6rRFAUtwpMYSvjZR9pcuKqIPqHaRshqfMvXFM-Hi2Aexj_WW9OJlRfJRMThVCnONIfZQ1U9xG3VgT7_GfiiIg_1kBHnULw6LhnmhujHWVYkfxwIqix4-R5neCFY6kdfaww-RMnHPt1mdG7Vh1GkzP4oE4rsGFcOGK5xdgwMRX4fDr9DIFrh72InWmZ7fxeZDrwMulwKdhIcZGxD_IqXADD_HSB6Mrtp1uN6v6zaAr2iP-Xra6umn0xv_Zw4SNorbBxX8fKPeJbTFQaGE4TT7V_Iq5xuB_UfxQWb-4KOb0kS2Pi-eFKt0DW0CAJKods0enANTJVaDh_Uj--KAVjkv7dfmz8nz4s7DCDc63Su-0jnWxjbq_JddMuBxBkw2PXpQOGJ4-ubFz16JOXksthTjrFET9p6XoLI3sIKMUdB5Y1hHx6peAK4LMHKvAURl-Ya2LC9NAqMxf8gxUIOHq7BeE4OPUjkrnFGPfYwyPvJzqVIIo2jgqCL4B0GLBdGtZHxYrv51DwxIkqhzQuSqk75vQtXJzGROVv6jszanBcHv4kEixnAM0U96QqiJHgfkwatyDtjTc1uaOndjyCKST6BJLLpC0VpWwLwp75x5kggsncKu_K1gTM2z3Vl6ciICmOCHvNNm4ojkcOK27lC-bmxXe2q_VioxQd7kyegts5MacNifZexjqCIX8z0IS1IcrIH2EhGrwNQ_qdaq-bp-osKkewWJaHQsWULPPAb6N5izpGiN5iraUJZF11KMWpmU-It4oGLxW1TiYwq-36BpYWwl0hypPcOhVMEKZV3wrxBRwtHMqj5OnpAIBZaksl7jCoxcvGYH06MIH2AwcG-gwQp2NQzHZn6Ths1n18RzT94Auqfm3pTL_QBEqnUfu7jPvOoOJss_XRbYIpFn9I8HzsVTiXf8nOEMpk8LW33SZXrHWegtgnUL_suP98Z0jUB5sR7HAoQMfYtCO7z70MG1ysi2Bs5eIBiXsGaiNFLnBBHCQIXyVNB6IdXYBH8BGnv-WREzw6FeCcRZMPUDZf_JOextFmbakAV9AgSiYB7Pj5jRUZVPAQ8tP_EXdHYVtbtNDuJ6pqVW-gJJfuU05aQzRraX4efLWkMzcXRlJvgEy08PSFvZmINSpfbx9EOvpJsau1ZsO",
  "id": "rs_01490c78c3415d49016ab47171302887d082915199be2d2870",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The teddy is clearly traveling with the gripper and is above the safe beside the cream plush. I’m lowering it into the remaining interior space.\"}",
  "call_id": "call_eDo9UFJkXGDLrN9kDoTOklDj",
  "id": "fc_01490c78c3415d49016ab4717663e887d09927ea08f7057430",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eDo9UFJkXGDLrN9kDoTOklDj",
  "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]: [-0.5297, 1.0286, 0.9073, -0.7937, -0.5632, -0.2474, 0.9971, 0.7925, 2.0331, 1.3666, -0.2192, 0.5373, 0.3408, 0.0202]\nstate[eef_state]: left_x=0.2808 left_y=-0.051 left_z=0.1943 left_yaw=0.0604 left_pitch=-0.184 left_roll=0.2833 left_gripper=0.9971 right_x=0.4184 right_y=0.3007 right_z=0.0724 right_yaw=0.1515 right_pitch=-0.1536 right_roll=-0.1607 right_gripper=0.0202\nstate[joint_eff]: [-0.0342, -2.2906, 6.8308, 1.3797, -0.2711, -0.0366, -0.0122, 0.1162, -10.5778, 6.8171, 1.7411, 0.315, 0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076b7ca98bd0408614e52f65d81d4d68229c5b857d14449338975a9f32e33bb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22177f8012bec421e576b7f7f7cb5b788cf36e86e66c96a87e0aa67f40a97b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f8ec8127b1e9269f5117fbdbf8d6d4c09675fc7c08f6cb80fe7dd48df3b406",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 10.36 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7715, -0.5636, -0.2478, 0.9971, 1.1046, 2.0937, 1.1595, 0.0212, 0.7662, 0.6445, 0.0189]\nstate[eef_state]: left_x=0.2841 left_y=-0.0528 left_z=0.1973 left_yaw=0.0587 left_pitch=-0.1654 left_roll=0.2708 left_gripper=0.9971 right_x=0.3159 right_y=0.3632 right_z=0.0233 right_yaw=0.1407 right_pitch=-0.0251 right_roll=-0.0666 right_gripper=0.0189\nstate[joint_eff]: [-0.1846, -2.4547, 6.5983, 1.37, -0.3199, -0.0317, -0.0122, -0.1573, -11.8632, 4.8889, 0.9939, 0.2711, 0.0024, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7868, -0.5636, -0.2478, 0.9971, 0.7956, 1.9469, 1.7733, -0.6479, 0.5514, 0.3519, 0.0202]\nstate[eef_state]: left_x=0.2819 left_y=-0.0515 left_z=0.1952 left_yaw=0.0601 left_pitch=-0.1781 left_roll=0.2794 left_gripper=0.9971 right_x=0.4267 right_y=0.3084 right_z=0.213 right_yaw=0.143 right_pitch=-0.0952 right_roll=-0.1218 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -2.5094, 6.5983, 1.4872, -0.3199, -0.0659, -0.0171, -0.3487, -9.9624, 8.9778, 1.5458, 0.2418, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7937, -0.5632, -0.2474, 0.9971, 0.7925, 2.0331, 1.3666, -0.2192, 0.5373, 0.3408, 0.0202]\nstate[eef_state]: left_x=0.2808 left_y=-0.051 left_z=0.1943 left_yaw=0.0604 left_pitch=-0.184 left_roll=0.2833 left_gripper=0.9971 right_x=0.4184 right_y=0.3007 right_z=0.0724 right_yaw=0.1515 right_pitch=-0.1536 right_roll=-0.1607 right_gripper=0.0202\nstate[joint_eff]: [-0.0342, -2.2906, 6.8308, 1.3797, -0.2711, -0.0366, -0.0122, 0.1162, -10.5778, 6.8171, 1.7411, 0.315, 0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076b7ca98bd0408614e52f65d81d4d68229c5b857d14449338975a9f32e33bb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22177f8012bec421e576b7f7f7cb5b788cf36e86e66c96a87e0aa67f40a97b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f8ec8127b1e9269f5117fbdbf8d6d4c09675fc7c08f6cb80fe7dd48df3b406",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The teddy is resting inside the safe beside the cream plush. I’m releasing it before reaching for the yellow object.\"}",
  "call_id": "call_SYvqAeWLALTOfVsxXkDRX5NK",
  "id": "fc_01490c78c3415d49016ab47179c83887d0a5335b0941dee4c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SYvqAeWLALTOfVsxXkDRX5NK",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7944, -0.5636, -0.2478, 0.9971, 0.7895, 2.0468, 1.3537, -0.2066, 0.5446, 0.3401, 0.9945]\nstate[eef_state]: left_x=0.2807 left_y=-0.0508 left_z=0.1942 left_yaw=0.0609 left_pitch=-0.1844 left_roll=0.2837 left_gripper=0.9971 right_x=0.4183 right_y=0.2969 right_z=0.0632 right_yaw=0.1423 right_pitch=-0.1615 right_roll=-0.1744 right_gripper=0.9945\nstate[joint_eff]: [-0.2256, -2.5368, 6.6393, 1.2869, -0.3004, -0.0171, -0.0122, 0.0068, -12.2872, 7.2957, 1.2186, 0.1001, -0.0171, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3806db0d9ca03e49cd9ed90487d2b788ccd0617068878bc87db91aab9690fac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1fb0c4176183d022fb256a84b90b8283ac3e825e65b542a3280cc3946a2d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8c71755761ef822cf420f8fc26ecc74a7f24f5edc9ad62612b2e088c6bbcb4c",
      "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 35 attempt 0 · /responses · status 200 · 2.91 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 135 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7731, -0.5636, -0.2478, 0.9971, 1.1061, 1.9862, 1.2373, -0.2222, 0.7498, 0.6395, 0.02]\nstate[eef_state]: left_x=0.2839 left_y=-0.0527 left_z=0.1971 left_yaw=0.0588 left_pitch=-0.1667 left_roll=0.2716 left_gripper=0.9971 right_x=0.3103 right_y=0.3583 right_z=0.0663 right_yaw=0.1527 right_pitch=-0.0695 right_roll=-0.1105 right_gripper=0.02\nstate[joint_eff]: [-0.2667, -2.5368, 6.612, 1.3846, -0.2369, -0.0366, -0.0122, -0.0068, -13.094, 9.1419, 1.4432, 0.4274, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7937, -0.5632, -0.2474, 0.9971, 0.7925, 2.0331, 1.3666, -0.2192, 0.5373, 0.3408, 0.0202]\nstate[eef_state]: left_x=0.2808 left_y=-0.051 left_z=0.1943 left_yaw=0.0604 left_pitch=-0.184 left_roll=0.2833 left_gripper=0.9971 right_x=0.4184 right_y=0.3007 right_z=0.0724 right_yaw=0.1515 right_pitch=-0.1536 right_roll=-0.1607 right_gripper=0.0202\nstate[joint_eff]: [-0.0342, -2.2906, 6.8308, 1.3797, -0.2711, -0.0366, -0.0122, 0.1162, -10.5778, 6.8171, 1.7411, 0.315, 0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7944, -0.5636, -0.2478, 0.9971, 0.7895, 2.0468, 1.3537, -0.2066, 0.5446, 0.3401, 0.9945]\nstate[eef_state]: left_x=0.2807 left_y=-0.0508 left_z=0.1942 left_yaw=0.0609 left_pitch=-0.1844 left_roll=0.2837 left_gripper=0.9971 right_x=0.4183 right_y=0.2969 right_z=0.0632 right_yaw=0.1423 right_pitch=-0.1615 right_roll=-0.1744 right_gripper=0.9945\nstate[joint_eff]: [-0.2256, -2.5368, 6.6393, 1.2869, -0.3004, -0.0171, -0.0122, 0.0068, -12.2872, 7.2957, 1.2186, 0.1001, -0.0171, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3806db0d9ca03e49cd9ed90487d2b788ccd0617068878bc87db91aab9690fac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1fb0c4176183d022fb256a84b90b8283ac3e825e65b542a3280cc3946a2d26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8c71755761ef822cf420f8fc26ecc74a7f24f5edc9ad62612b2e088c6bbcb4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGFoVTspo-FmuPFarHH_HSOHPal6Iy684I4hc-kf3i1ds8R0mI_hThJkoFotFTTDSu-nVwIS2_ZZ4ep38LH8k6jcoQmqMG1JZRf8lpT2XNt4UlRQH1mvSPe7_I055pa2WFu-RRiQjcd5XDMTcPIt9YMhP0bY1UCFQUAK3h2HMXle50-nqSE_DKYtCejUvT5hPJVZUSl3VvIwETijPthv1qqwe7MILtc9-OPb1tyApeNlp24VrjnXEcxUhLk6GI5UJFdAKdeRbcK05qXcpX-vbYNV55SIiKDb5_K-vA4pTBd3Ir2_AoIwtLZiDJMueFsZpOpqsxmZEIe-wWFTbgyGUDxKhr54YxBKivxAUDEM-JWyMoPL2mDY_oq8HQwq-5KNEgjmGX2uChgT8CJVTt8mNhzxU9WpqSgFNCa-ERMLIH4aOqE1ggKSlIf1y-0K3rLfFY06huvro1sNdmNK1gzuUPThbCZQjF5TsPy08SppnrAOsY2EfeCas8cLfnJmPcDWMnnIe_h6UQF4Qwav7S-eGNS23i4vnA7tGgANy_bL5Zz_Q0oR3VEkxbqxz1bDKjSLKDLvWmM3JSIv-JVYiI5RtqoxOoWD1-U1QBivWmnHzz2_hGAVHYAcFjHsi8o7g5bk8XWxeEq3NSZtFYusFh7L56I8DFkwXBkIHjKvOFM0mje_mh2adyBbxfI0uHe63Tp8wjJtVD9EyoAFWE9ExANNIz-fTIUCHg1FI3LcXsANwiULK9P99Dmn8kOpwyN3rykcw6wQw-2kWxEbKf2gNaG_cPyb4oVLFqRI-IARQykaGrcUbFjVE84ze9D9Tl1JZ-7KN1OB8USb9Wo-e-dIIihhtRzzKeBKiCXEoi3ODvhmNYX-y2_W122ifaV4JvM_tWKamClox1hBWAHfLIf1vjutPxUfqSQSMdHEV9cneBPCXcKMRZqxJsqJVRBVBbUWyJ2M88oFAOJdOe7UGX6i315R0sMlZ7OSrt-nA_AF7IhC_Ch3jC1sM0DUPy255GMg6b17TjjH3xHPxuaPixFkaeH7Y5UOAfpkWl72XVDL7MZFdrU7H1rI_CurDdbjN9kQjRPV-YTg9HeBSjbsLSFKGQ7Id2KL8kbcJzngn9xPhrFZ6C_eh8CqIeoHNwPTnEl2M7cwIrCY9A5D-PUZXfHPGDMHJbWWzhHXiMchOXbbYfjCQwViK3tKlAm-LYxbFXeT1Fk00z3LNKTUvalsU6wdMh-jc9I8yHROASx1DzHEKe4xfRRv5zyX1ViDywk0OuymZw6ZFnplb_WbbW9xrb76fGk7cnjCt4hpJ-KgakamN74g3t3x2u8XM0BtWf1ISDjTlo2MnqZWq2CvkpnafksXE_Qwifc0sEgdJLSWQ1-22bgVhD7LXlxfknOZEBzU9Vw82K1e_bosIuD9RPm4aHv_tcM2e0LOCH6nRO4sSdtu08TVjUXUbh37tH-iuxW9QhRlMvnLCd9b-rS6001JSlDPm-NWbUIH7w-2RbYTnsrgUzslHndPZwlNTi505lpAv3yXQrtNMF54u6Ij9eiPpvoNSa6D7LT0eseCp96QqadflvWH3knuJACBxtn-lMjdZ4ExTHM6HRTh44Iae2q6oTumRjc-w7zn7bSw49Xxe0ospNvS6HQbNh_I2jDArLkU8tgsBDDRu2Vll4tMriZ0cq1QZ18oNlJmofmuv68FCDWNIeEqB0B9Ba3no-Cy5vehPenso_IIUsiXNg-DjnbI1YIGkMlCfykIUMASj2bCqQVxaAYTqXtKgGriBu9IiECClhzRneqWHWYUPiliNBzeh-rmJ3O2JmgsQDwTMUcKpAR6hEjfbwkeKNSo5Vaqx5--C0JtLDY2u03mUrsflc84hyauCf4d7y2bO6zWbe9geqA-klE7kJsWVPnZgO8AVr1e73VB-eecH4enu2BEL34QRxDF2W4a3WIDXKifiehD0O-KhqLiL2ogA6nMjZE-XlqTZaZWR0Bw3pi1Cx4DehWnoHEI77mNrRcjI9IA1E99bxRBx5TQl-uSoP3axaLS0I0wSaqVk6CGysW9hugakR2e_sdJBPTBjWyTJP4a9xwhxLWp08ydMlNxa8xGWcVr-jlDC-flqSnY0W4WxKEhgoQA23WNUfin5vKSnuFkjESP6zqiL_HTDiWPDVQ0rwOp9T15VqMtORKYnZNFOF2Lf1IZhuLRClLMvPnizZd72BYA8P_sA84L1majC5-8Wp04r6-hLdBPy4xVmdiW6oYIAZxq4mu09PEtQMKXcUWzosC1PwO5elNadrtaDmOM_x6leTKz9LcXMC7-YD9vEO8JfvU70CqqJhxwg9hUu1HOYqstJ8l1A3bPYqFE-A6aCBbYkJclgxuX8pZNaY-Tn1jZ38IStc4TtzEp80DXP7UbcC3_cFrLpkzJiHb61wkIj5e1QhP6JH2OEnzgs7NQDxtx5bERqjsRd_TAfwQIaO2EILaWosN01Z94FCUIgO0DZzSdHehS7MZSlHr1X06AaELZx8A-VaQCiUXwaEgJVtzM_h2YDQuoT_5xMweC2zSDF2s-grCDn_smR-fB3Ue0W88OXMHTyD6Iu4JV-j0FI2PNwMNobx0XEeB2EX-hIhoYvr1Vgdy_FJLCOOIvK9O0ihnSYCpBZAh5XNHtvtd9RcIcsPyeyAoSnSJYA57j5MDogOqQ9mc12HeuVq0lRaH14k8icaYdzWZAZ25UVTDMbDEiQe_jibjl9-SuEEy3_7u5OG0dQQ62SuHnfyNlga064M-MI8ZFJxa7gp2aoHbcielFP5dYRNcT0aLUp5Hv4jR6lk9biGgcPqgRy8OiUiYPPRJIhAXmJza0cXk7_soqj3OVgUoE7JZnWoFSK_0lvOEMeTPoh4UnwKiR4Dm1PS2nJahHeLZvqkBvqz_w7n-mbCrbtE4bWFJdLKj5ytptivc6wu5pSLAI1GQeMsupe4hRYKNPv-3_TEnTlqwHObZ0mQi6DBpj_l5DHkoAn06E_7Koo1DBztqXkGwzqq1Nbaq5qlru-Jc5tVZpzrgbIG9_yD53LqjrnEB3le-0MSwGtFK4yZeSHUwv2ssDVKaJJRtbkK2VmAysBuIASJmPg8NzPGAbVr3nDEyAx2wGTfuY1i0z5XVKRH26BQ2posLsTmUfstc7ss6KpocheeJb5cJ7BXJXDmBqCWX-ZcNmV5vQ0d5Pq-CwiHyce1yUyrImu3sgf8welmKCR1mLFgXuYYO2VW-cuE4wDpdM7IRrWa7-1SGmP0JzsOJvDxDTm4W8obe4bXf8wVEywuk13oNz35Jph0uxvpnQFyYl1aOQitUe-R-ZTi7UN90CkhgeoOfENG4pRF_lgY4LEhIsD3_B0aXWcCiELfDP0MSUt_yECN9HiCXtOSLx1oz2WKqVK8Z45Co",
  "id": "rs_01490c78c3415d49016ab4717df1a887d0a3f24374dc0cd58c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.16,\"right_z\":0.18,\"right_pitch\":0.4,\"right_roll\":0},\"note\":\"Both plush objects are at the safe, though the teddy still protrudes near the front rim. I’m clearing the rim and approaching the remaining yellow object on the right.\"}",
  "call_id": "call_ztMuGbKsSODqzSJaZW5S0KHe",
  "id": "fc_01490c78c3415d49016ab47184bf0887d0a8f7f050d7dec602",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ztMuGbKsSODqzSJaZW5S0KHe",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.5293, 1.0325, 0.9073, -0.8089, -0.561, -0.2478, 0.9971, 0.3542, 1.9244, 1.0988, 0.5354, 0.218, 0.0296, 0.9953]\nstate[eef_state]: left_x=0.2787 left_y=-0.05 left_z=0.1911 left_yaw=0.0613 left_pitch=-0.2008 left_roll=0.2923 left_gripper=0.9971 right_x=0.5319 right_y=0.1598 right_z=0.1512 right_yaw=0.1399 right_pitch=0.2998 right_roll=-0.0279 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.7419, 6.7897, 1.3993, -0.3248, -0.0562, -0.0122, -0.2803, -10.6462, 7.4188, 2.4005, -0.022, 0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b84414283f67cbbd990815ffe04b466fafb7fbc76af02e80131d291fd7caf67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55604abe055d90f71e02c9c44e20d6230d082e7b79b92c6d1c26d06c2aad0c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4f960269669fb851a6a40bd74f19a1ddd305d437e0d464460ecae8cbb3ccf0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 3.076 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 135 changed as sent

message 139 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7868, -0.5636, -0.2478, 0.9971, 0.7956, 1.9469, 1.7733, -0.6479, 0.5514, 0.3519, 0.0202]\nstate[eef_state]: left_x=0.2819 left_y=-0.0515 left_z=0.1952 left_yaw=0.0601 left_pitch=-0.1781 left_roll=0.2794 left_gripper=0.9971 right_x=0.4267 right_y=0.3084 right_z=0.213 right_yaw=0.143 right_pitch=-0.0952 right_roll=-0.1218 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -2.5094, 6.5983, 1.4872, -0.3199, -0.0659, -0.0171, -0.3487, -9.9624, 8.9778, 1.5458, 0.2418, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7944, -0.5636, -0.2478, 0.9971, 0.7895, 2.0468, 1.3537, -0.2066, 0.5446, 0.3401, 0.9945]\nstate[eef_state]: left_x=0.2807 left_y=-0.0508 left_z=0.1942 left_yaw=0.0609 left_pitch=-0.1844 left_roll=0.2837 left_gripper=0.9971 right_x=0.4183 right_y=0.2969 right_z=0.0632 right_yaw=0.1423 right_pitch=-0.1615 right_roll=-0.1744 right_gripper=0.9945\nstate[joint_eff]: [-0.2256, -2.5368, 6.6393, 1.2869, -0.3004, -0.0171, -0.0122, 0.0068, -12.2872, 7.2957, 1.2186, 0.1001, -0.0171, -0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8089, -0.561, -0.2478, 0.9971, 0.3542, 1.9244, 1.0988, 0.5354, 0.218, 0.0296, 0.9953]\nstate[eef_state]: left_x=0.2787 left_y=-0.05 left_z=0.1911 left_yaw=0.0613 left_pitch=-0.2008 left_roll=0.2923 left_gripper=0.9971 right_x=0.5319 right_y=0.1598 right_z=0.1512 right_yaw=0.1399 right_pitch=0.2998 right_roll=-0.0279 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.7419, 6.7897, 1.3993, -0.3248, -0.0562, -0.0122, -0.2803, -10.6462, 7.4188, 2.4005, -0.022, 0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b84414283f67cbbd990815ffe04b466fafb7fbc76af02e80131d291fd7caf67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55604abe055d90f71e02c9c44e20d6230d082e7b79b92c6d1c26d06c2aad0c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4f960269669fb851a6a40bd74f19a1ddd305d437e0d464460ecae8cbb3ccf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGKmhPV6wLRcClaN4f67RhxlBs0ykX7y7bwZoNuMqxxXGI_pw87okGQO3JuUViq34Po7Efr_t-4CojyeY3lg5piFoe8-UPg0NNx9pGC0EqYaOo561YwN5OyERrdI3Qe2nH5m_-MwWLdF3h0VJLWfplaEU-czGR3awyeFi7nMb-wBoOBFbyZ3XpRJLEqX4TiBJDdG3YdDZsybaYkSkD0HFM3Bwz9iVSPNr185k0Eqy0pkF5eU3B7WpkbDWm7OCKF6vh_tCJwzSCRpIXjCDgtwcEPhS8LR7eXnu2-MGiYSpmk1b_rWYQ2JQ4x9louvj98jt4EUuyxiJzM7_Lnb-nh9H-gh-AdCfgtp7ak_lTNahYXBQ-UJ5x3MOvwnusZp3kSVlnJfjNa74nwurHrKZv67MF14Ebb4FtiAwiOQL3NHcC7OfkbXe1zahcbFUeADc4OUvJaeH3rI3au4enIVlGJ9QnqKRevFA_05PGNT1gShbywNubedukkU-rVGfd1DCmcoGDt0qLYOczD2Inh_VTWUW5VGEu7E7gFBE2O0PfrPZTYslXZU_MvprNgRHwjYYHA_dipAHVkcBpfF7F83FomWqMaU1xmDgXWXgzsoyRoJUrzl_rNaUof4NPtfo3ay1ErqTpGbh8fWD8Zux6Axp_XSxASVoyyFORVt7r9L69Gn5XYcqMZdnXVEM5BYjb2UQZhmnFl2S9ph5X0WmYUuJL5AoB2oXMpV0EiALnAD2agVhlEIYkeUgMOSKKETg54pa_eBpt1coOcnnDmhI8Uqj9RGuZZNotMhlzfftjWjuxIO6yJ4hffquDDYSskKpOC3cGLR47Zbfuion7nc16NRl8xFeNDJxlRHhbpfKdsYsIJFe3CjlZRMsK9dfQcL2muqf4v2vTfbxY7efRtPOoDXr-LZFKaqtt1vnldUpGbRJJjrRPrI_kmky-U8OlaN7wn0de0cSG49OcPxmkyr1rXl0cSTPR4dgwlV7ts9tAk0qO5lmIOV6homL0h6E2pp4KHgALSNjoLseVpqD2p9deDXvpEU-goLZ18UcPGl8KHZE8JwvmYKOrckqInQ7f4MxGUdna0ZVujRqC5ar1CSxP1Mkud8By4lMtNUSj4Qk2PaaPFttlKichhrirxrRO-llGi9UVI2pGUTXWtidTJEYYGNmhoqrrGvJn5cELXGRQsZtnSCuSmdBnMYX3gHjm_ZcM9CP7rdNEMbuuGjhMpV6HAIzDGlhNPAbYHvVdw_xGb8p2WeV8fN1rWac3M67T7q_X0qJgIeiE7DC-crxi93uXviydGZ0Xyxh09BhLYmCTNnRRlhuSjuHez2x28uGx9Jel_roSAVxeh5hFkqoNZjhgUANBRkR70DQ==",
  "id": "rs_01490c78c3415d49016ab47189466887d087be55ad576fb29a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.185,\"right_z\":0.04},\"note\":\"The yellow object is just left of the jaw centerline at the bottom of the wrist view. I’m centering over it and lowering the open fingers for a grasp.\"}",
  "call_id": "call_tytQ1BHj2KSWKc1w1CpMcQnp",
  "id": "fc_01490c78c3415d49016ab47189c96c87d09bd2c8fe6e7245c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tytQ1BHj2KSWKc1w1CpMcQnp",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8162, -0.561, -0.2478, 0.9971, 0.4091, 2.2227, 1.0397, 0.8303, 0.2581, 0.0341, 0.9953]\nstate[eef_state]: left_x=0.2776 left_y=-0.0494 left_z=0.1902 left_yaw=0.0622 left_pitch=-0.2068 left_roll=0.2964 left_gripper=0.9971 right_x=0.5254 right_y=0.1826 right_z=0.0348 right_yaw=0.1616 right_pitch=0.2419 right_roll=-0.051 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5368, 6.7761, 1.3553, -0.2955, 0.0073, -0.0122, 0.5128, -10.2222, 5.5453, 2.2735, 0.1929, 0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58cdfb0edcf6aa0a91c024d00b37bbfa38f7f06eb71a6377b0dfa313ffb2fadd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01ffee48d9db87b5241c0aa264f75c79ac46c9de2b6d2940ab4deb8e7bf2f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9e40c61f1a8e934dd6ff11eb8ab80281516656ef1f70d55fcbf9e1891e1b83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 9.027 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 139 changed as sent

message 143 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7937, -0.5632, -0.2474, 0.9971, 0.7925, 2.0331, 1.3666, -0.2192, 0.5373, 0.3408, 0.0202]\nstate[eef_state]: left_x=0.2808 left_y=-0.051 left_z=0.1943 left_yaw=0.0604 left_pitch=-0.184 left_roll=0.2833 left_gripper=0.9971 right_x=0.4184 right_y=0.3007 right_z=0.0724 right_yaw=0.1515 right_pitch=-0.1536 right_roll=-0.1607 right_gripper=0.0202\nstate[joint_eff]: [-0.0342, -2.2906, 6.8308, 1.3797, -0.2711, -0.0366, -0.0122, 0.1162, -10.5778, 6.8171, 1.7411, 0.315, 0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8089, -0.561, -0.2478, 0.9971, 0.3542, 1.9244, 1.0988, 0.5354, 0.218, 0.0296, 0.9953]\nstate[eef_state]: left_x=0.2787 left_y=-0.05 left_z=0.1911 left_yaw=0.0613 left_pitch=-0.2008 left_roll=0.2923 left_gripper=0.9971 right_x=0.5319 right_y=0.1598 right_z=0.1512 right_yaw=0.1399 right_pitch=0.2998 right_roll=-0.0279 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.7419, 6.7897, 1.3993, -0.3248, -0.0562, -0.0122, -0.2803, -10.6462, 7.4188, 2.4005, -0.022, 0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8162, -0.561, -0.2478, 0.9971, 0.4091, 2.2227, 1.0397, 0.8303, 0.2581, 0.0341, 0.9953]\nstate[eef_state]: left_x=0.2776 left_y=-0.0494 left_z=0.1902 left_yaw=0.0622 left_pitch=-0.2068 left_roll=0.2964 left_gripper=0.9971 right_x=0.5254 right_y=0.1826 right_z=0.0348 right_yaw=0.1616 right_pitch=0.2419 right_roll=-0.051 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5368, 6.7761, 1.3553, -0.2955, 0.0073, -0.0122, 0.5128, -10.2222, 5.5453, 2.2735, 0.1929, 0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58cdfb0edcf6aa0a91c024d00b37bbfa38f7f06eb71a6377b0dfa313ffb2fadd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01ffee48d9db87b5241c0aa264f75c79ac46c9de2b6d2940ab4deb8e7bf2f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9e40c61f1a8e934dd6ff11eb8ab80281516656ef1f70d55fcbf9e1891e1b83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGOOxHA_J71nSv-0Ubt9Hq5jIpYr1PxpvT43EhS4SboJKLlUPrn6hBt2LCydj74f5PlhQrCBaCorqB_6ltdoCCtMNwq-SicYgHPYwN4NyMIToYUVbJapr8ZjRTfcnemYrayqzjQ1xK18GH4MvNycVhnASQe88F-eNKexfSrQdje2KvSyjhmF1GAWPA5L9OP9XFvOEHgxiNDhxOR3mH2m1iFtj2oVNwscKvW0_GEz6U9_lmXem3i6s7JGLWfOmngphf-ydRGXB3rj_uIYuvz66fUsO6BvTfbhjyKPiMRfJHhxQPAx1AJncjYh1GlRbZwjww2AProFWINytk0N8jeiIf6top7R9P0pp9zigEyNxRwEiUbVmn9fTIpwe2vHkJiUKQo7yieRIc-Ex9khVHXtpuhOMTVgMQNbCAATXosp4l-tgecEDHT2XwCXg4tNpNiGle3tMC-mLj9fAfmmcB0a7dIboRc_379-qIpUS5if0URyL-NmSEr_bUeF-z_AabYuH--YxOmA-KXgvUpjuj3EcNLSfcQGjy8KoXGHTJN-CfvqdsuP29pt_tuLbXHjNDn7wMIuNUBMf73-bkr5rUV0yUBhY_WwuYWTwO2kwjXBT8ffrBDQhICnncpXDttJMGYaIB2QMwkhXrQvXzDMohtq61Wj88qMh7P7PZk3ndMphLnwae5ZVhxcIikGO0i9WZ1v-dHWz01NQkeEoPjVzR7eSGhK7t1eJQoi_Rpu4zlbI84we55q0sGASBR4lFLMpjD7sVzHvCZZcpwek9vTVFZwEakb8txz5o1so9FvknF3-XZaKJsct4rg2fZoA2piogQOwf5JaEzSL5l3XhETjQr99YOJJTzVf-Qmnrjmb0FvuqhG7OI545CBf_jloztdvLR-DfkPNyxZWjgl_3TTcDImPHM7A5R3UVJB9Dc1AgzkHlf1SAVD9WbCwhniNpuZv3kWUMcYIVQQN_UjImYePg7k-mUcXVR_mNcAWfRtT3PdtpXlzrZLrchsgaT7iiF9LHrslGBaJAw2cg3YGDI6O3Q9G4YMBAisV5n6EgnTSbZyDISmM6It-WhwMCvV6dIwL6jmXtTnVezUAsDnet_WWTt93NrNJks0U2QCme_ay7INJT58ner1AR3dZM76rOrEtwrYJ1lDN_0qAkROXCWix10ROdV3Fb2JBbPhSEM5iw3x1tIwJ7Slm0G21yE1F-Fs3LQo7TwqYjTcWnqOKGVa0owWSmL5KOcEQTokv158Mi8-d8IEo7hhsJ7nzL1ldnI-3Ktbph1Sq529Xm-604k_CscFchdI1NmXXMzCQ5JSAWP-B_BTq3eJ9sb99s8jwuFqalGXgZdR5yGAfWBhEMSfbHjOb5StRlW6PoKVFWLyzSaMb8B73YcRjSN1os3SOUQuXtD6mnZ",
  "id": "rs_01490c78c3415d49016ab4718cd06887d0b631846ceeaab3ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"The yellow object is between the open fingers. I’m narrowing the jaws without fully crushing the rounded object.\"}",
  "call_id": "call_RciPAnGCyD1qssjEqzgiQsvo",
  "id": "fc_01490c78c3415d49016ab4718d9e5887d094a416f595ef3e39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RciPAnGCyD1qssjEqzgiQsvo",
  "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]: [-0.5297, 1.0325, 0.9073, -0.8169, -0.561, -0.2478, 0.9971, 0.4122, 2.2299, 1.0389, 0.8394, 0.2451, 0.0261, 0.5475]\nstate[eef_state]: left_x=0.2775 left_y=-0.0494 left_z=0.1901 left_yaw=0.0619 left_pitch=-0.2075 left_roll=0.2969 left_gripper=0.9971 right_x=0.5244 right_y=0.1864 right_z=0.0325 right_yaw=0.1802 right_pitch=0.2417 right_roll=-0.054 right_gripper=0.5475\nstate[joint_eff]: [-0.1573, -2.3316, 6.7624, 1.2821, -0.3004, -0.0708, -0.0122, -0.6222, -11.8769, 4.9846, 1.7216, 0.0952, 0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b24ea51135f72e6263cfdfcd8d1490f659b2f07ad70c7c9ad60af725e1a2f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5963e2b47ed0347903145ba33e8ffec089b8c01b3e30c566dfd5a2bc9fc11ded",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aa79a4b2e46b8cc2e0e0caf98bec084ea943417420d8cbe68aee7b74c03322",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 8.042 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0286, 0.9073, -0.7944, -0.5636, -0.2478, 0.9971, 0.7895, 2.0468, 1.3537, -0.2066, 0.5446, 0.3401, 0.9945]\nstate[eef_state]: left_x=0.2807 left_y=-0.0508 left_z=0.1942 left_yaw=0.0609 left_pitch=-0.1844 left_roll=0.2837 left_gripper=0.9971 right_x=0.4183 right_y=0.2969 right_z=0.0632 right_yaw=0.1423 right_pitch=-0.1615 right_roll=-0.1744 right_gripper=0.9945\nstate[joint_eff]: [-0.2256, -2.5368, 6.6393, 1.2869, -0.3004, -0.0171, -0.0122, 0.0068, -12.2872, 7.2957, 1.2186, 0.1001, -0.0171, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8162, -0.561, -0.2478, 0.9971, 0.4091, 2.2227, 1.0397, 0.8303, 0.2581, 0.0341, 0.9953]\nstate[eef_state]: left_x=0.2776 left_y=-0.0494 left_z=0.1902 left_yaw=0.0622 left_pitch=-0.2068 left_roll=0.2964 left_gripper=0.9971 right_x=0.5254 right_y=0.1826 right_z=0.0348 right_yaw=0.1616 right_pitch=0.2419 right_roll=-0.051 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5368, 6.7761, 1.3553, -0.2955, 0.0073, -0.0122, 0.5128, -10.2222, 5.5453, 2.2735, 0.1929, 0.0855, -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 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0325, 0.9073, -0.8169, -0.561, -0.2478, 0.9971, 0.4122, 2.2299, 1.0389, 0.8394, 0.2451, 0.0261, 0.5475]\nstate[eef_state]: left_x=0.2775 left_y=-0.0494 left_z=0.1901 left_yaw=0.0619 left_pitch=-0.2075 left_roll=0.2969 left_gripper=0.9971 right_x=0.5244 right_y=0.1864 right_z=0.0325 right_yaw=0.1802 right_pitch=0.2417 right_roll=-0.054 right_gripper=0.5475\nstate[joint_eff]: [-0.1573, -2.3316, 6.7624, 1.2821, -0.3004, -0.0708, -0.0122, -0.6222, -11.8769, 4.9846, 1.7216, 0.0952, 0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b24ea51135f72e6263cfdfcd8d1490f659b2f07ad70c7c9ad60af725e1a2f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5963e2b47ed0347903145ba33e8ffec089b8c01b3e30c566dfd5a2bc9fc11ded",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aa79a4b2e46b8cc2e0e0caf98bec084ea943417420d8cbe68aee7b74c03322",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01490c78c3415d49016ab47191299887d0a1dd48de8b3caa70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.335,\"right_z\":0.21},\"note\":\"The retained jaw opening confirms a grasp on the yellow object. I’m lifting it clear of the right wall and moving over the safe’s interior.\"}",
  "call_id": "call_K2Mam80XfCLOJbs58L0T7BNb",
  "id": "fc_01490c78c3415d49016ab47196a8b487d0b13bed72216ca0e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K2Mam80XfCLOJbs58L0T7BNb",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.034, 0.9073, -0.8204, -0.561, -0.2478, 0.9971, 0.7166, 2.13, 1.5772, -0.0902, 0.5037, 0.0635, 0.5485]\nstate[eef_state]: left_x=0.2771 left_y=-0.0492 left_z=0.1893 left_yaw=0.0625 left_pitch=-0.2116 left_roll=0.2997 left_gripper=0.9971 right_x=0.4911 right_y=0.3194 right_z=0.1236 right_yaw=0.2614 right_pitch=0.013 right_roll=-0.2352 right_gripper=0.5485\nstate[joint_eff]: [-0.2803, -2.6735, 6.6667, 1.243, -0.2466, -0.0757, -0.0122, 0.1846, -15.3094, 11.9453, 3.6703, 0.3883, 0.823, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f0f16a56b35f0f9064ccdca34e8f65c30f1a42f7a8cb34293064c43d7017a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69541498de0dae72516c5ee3cba4f1da05016c2363d890f34d3715608210ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75fab50a8a5a6a25a5043c3dd5d46d0ece423a35a9b9115ef832c7ac3f52ee0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.944 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5293, 1.0325, 0.9073, -0.8089, -0.561, -0.2478, 0.9971, 0.3542, 1.9244, 1.0988, 0.5354, 0.218, 0.0296, 0.9953]\nstate[eef_state]: left_x=0.2787 left_y=-0.05 left_z=0.1911 left_yaw=0.0613 left_pitch=-0.2008 left_roll=0.2923 left_gripper=0.9971 right_x=0.5319 right_y=0.1598 right_z=0.1512 right_yaw=0.1399 right_pitch=0.2998 right_roll=-0.0279 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.7419, 6.7897, 1.3993, -0.3248, -0.0562, -0.0122, -0.2803, -10.6462, 7.4188, 2.4005, -0.022, 0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.0325, 0.9073, -0.8169, -0.561, -0.2478, 0.9971, 0.4122, 2.2299, 1.0389, 0.8394, 0.2451, 0.0261, 0.5475]\nstate[eef_state]: left_x=0.2775 left_y=-0.0494 left_z=0.1901 left_yaw=0.0619 left_pitch=-0.2075 left_roll=0.2969 left_gripper=0.9971 right_x=0.5244 right_y=0.1864 right_z=0.0325 right_yaw=0.1802 right_pitch=0.2417 right_roll=-0.054 right_gripper=0.5475\nstate[joint_eff]: [-0.1573, -2.3316, 6.7624, 1.2821, -0.3004, -0.0708, -0.0122, -0.6222, -11.8769, 4.9846, 1.7216, 0.0952, 0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.034, 0.9073, -0.8204, -0.561, -0.2478, 0.9971, 0.7166, 2.13, 1.5772, -0.0902, 0.5037, 0.0635, 0.5485]\nstate[eef_state]: left_x=0.2771 left_y=-0.0492 left_z=0.1893 left_yaw=0.0625 left_pitch=-0.2116 left_roll=0.2997 left_gripper=0.9971 right_x=0.4911 right_y=0.3194 right_z=0.1236 right_yaw=0.2614 right_pitch=0.013 right_roll=-0.2352 right_gripper=0.5485\nstate[joint_eff]: [-0.2803, -2.6735, 6.6667, 1.243, -0.2466, -0.0757, -0.0122, 0.1846, -15.3094, 11.9453, 3.6703, 0.3883, 0.823, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f0f16a56b35f0f9064ccdca34e8f65c30f1a42f7a8cb34293064c43d7017a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69541498de0dae72516c5ee3cba4f1da05016c2363d890f34d3715608210ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75fab50a8a5a6a25a5043c3dd5d46d0ece423a35a9b9115ef832c7ac3f52ee0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGhs0FPoqgSCQecdIVhZMlMrgUSZYKuCOEO2DxTKGexku1RNCCiJAMPU4iXhFUZtnSnicG7bbkPKstDs2aHY837_J2dhQiM8vaHG55PSoRVHG3XbV50fDvstrAj_vq1CQS5oF0MZFJxuQE_Rmkg0LI-ft5L_tyzFgpizIJUO4YNSbkJKPCSgS0O1GAiPOFrP1Me47OpPFktOKlHHpGKb-sbujVATNhjHMytvkmCz6kAaFng39aGLreQ6KnqRFcyG9EGjhpOaQV44A4ueyHnE7MJH62L6I6YFQzF8rgura7pNpJgP3qVPsJPRBkSElUtegVcJokLN9Qj6MinDJqRUj3w-nFQhbdahS1Y88FNA1h0dWOgltFuLyPRlYo6nJirCDWxjsznblUhsrveeH--snXgXVhTztuVurwCGLqNU9aG3wH_fH-oQRCiiQRD0J7IeDkh_NyZoxPhwb9uiMoT3ZRNzwmxzyuQBRmuojzpbx9_j2wunLTD_3z7CEauzI88b64kZUXqUUa6oul0nxLE6RroRfqpEvRjXxwFUpIAGmvW0I_eWyAhKOFse5mWTzM29RjeXuOrsLdPr9ia3gd3FhjhWQbqaR1KP9HLQsMRwUcMwEldYeYI2bm-uT3m4r0q3rAXNNnYbdx_ydIQKuMvrrXaVrLWw1-6yhtN3J1FGtr-rRJAx0ynlC9Lyh7myHOlW48lCJzVs3EVNSmlGxv1pGmIvCyTRpsEqbKartoXYdtySEiPpu9yOjbzII_ZXP_G6CdBLibcZOSfRNkzvsA69ONDKEChcweQINef7dCGlNOj4s4aN-myMF3phyGKbcOP1JCBdXEwsMjs7UMBOv7YE_GvtbUKeabc3fgovRort2BKLpCinbJbfvgFj5yB-z7vtx1K4Js3hybTfhR_1sy88uxuea60npBhjDc08JLSidgPQ8Q5imDryRBIl_aDwCHRfCUvF2VD7aMKt3Y2PxlaU8hCRJyPrhg9SBqMnScPYGUmuq8bZrxKmYcgflzhYDifhlUHaPTJBRoRABfcj2XKhMV2HoBubG4m4WTlJ8ARKn4nSn_NYhlww53f9k0QwRaecr_RRW0XEdAtLa2I8lCRSpjVwtdc0aGwYTkfc-ZtWoxjYn4secobr9h8dM-sJBtsGZbjkkqb0-R9S-g6kYVIN4ErjTyS9-Nu0e1lZPsdcH3uvBN0pHk2p7rB3UIwSqXawp4o15Wm7vnj9-Mays53Gw0LjGtcyj-3sZea6cePadN3aZKauUmvSeqPQoJhsNJ5fNUIfzlUE5hxEIzeULWLUy46vr87nk-gtUznXH6rhwtAudKwy1hYa-VVvne4e-IlojUUpmuFn_xmH2nQuQAjTj3BFqj7Xl8kAdekgYp_FFHGfifCruFYs9W1dfufW8Ul-2vzYTFE98QrU2scYS8G16_MJzHWiMqnWLwp9FiUuEGEcBIbVW0cQbI3LYAGz28LZdNcPJXGZi3Xf3kpw-9VOs-h6vTZWPd0H9gPQZjxJoCe11ZaqcsTiRpEK_JcFaoMoXNm7A5v15o-fR5FHAj9RG6Gzh0tdrH5R4at8Rq2d1ZwQZ6FD6Pd8-l-HUtKRCCgAhAKHQG3xWCosjois8YbkqPdV3nFssAbwJbkdi2cTHZbxZZV81XGmfvd5lTByeZw2ocQIpDKi-l5qkIUghhLrTmncjytsF4LItgUeXBznhB0HaGPvbcyY0D-5vO5fg36zLcKHND12tbob1T19IclVE97jTkGH_uUQMCHZApysOdJWs_7p8AXldinUZYrgjhAVMUZmBNZt8-G0YByhMbZqQWT5ErUQc6AX_xzmhlr6PE497I8yv4GwxXRs-6K0afNn0ZsxsrjgZRmsGV7D0uVHZyvPo8EdSddV3KRzXBQ-8J38eXKBb3t88_xpj2yfMbK51anq-HgWOPdii6C124iKsT51oWm2z5tWB5fA2OSaSoDgCLLzFqMvzdBSA82Dn5oh0ZWauae__05TPxjl7d6vAXf7uypBi9SYZg6UsR5mCjyFrDa-AKq4ci3rDCVVekXOXRyJj_ndBNlTQP1CrEqOL-Tjo4VqUC18MfBJ7BJszwnXQjBoHcZWvSe-60chIH-BSyFQ93QmrVHD6JImFKTysOAoSjqoV1TARG12g11rdRHFaXhdhYFYYSFkcIp0iXkjvGFOlwQVljhyibholU28yDnERkeC9Nc1fYgWhj3jtrvypC9fawEXqep0ishGqGrowkfQ_ZqEhaR4kGmSWKo8-KC9d6b8QYb0M92jTCzIzKXoJuXMZeFsXd5aQ78IXT51g2fHg_2FYbnlADDpG_WcSO_g5vtWY4Rlnf4yvAzeddWphArLjwtVumGnQug7oeRZMfkmhchZOIESy_DFn3As9WFo83d0oSbzzehuza51fOVaJn22B9GypW5UlH6Up8zl_bzQy8Ov_-s9ctdiMsgjvr5tZvxNmfH93JQypcOY9LAOAkcepW-qpQrWVNLUfsCJxn5glbACeegNWqsCVsRWq1iPhas2kCrv8zcYrPUDGqmSl7LBMrgGcZRcaK9Nw9gAPtMloEd-jHZxnr4mZxuJnbIG0ab5Oo5SAHT3HbYHsSpkVZl8uYmjC0R1R1Cd7EltyPd",
  "id": "rs_01490c78c3415d49016ab4719b253887d083068e1f8493fa24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.07},\"note\":\"The safe tilted and moved with the gripper, indicating that the jaws caught its rim rather than securing only the yellow object. I’m lowering and opening the gripper to release the safe and stop pulling on it.\"}",
  "call_id": "call_GwRkkAS9favVQFls0GOw9JCh",
  "id": "fc_01490c78c3415d49016ab4719f846c87d09f0ca35e71322be4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GwRkkAS9favVQFls0GOw9JCh",
  "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]: [-0.5293, 1.0382, 0.9073, -0.8276, -0.561, -0.2478, 0.9971, 0.7185, 2.1838, 1.4925, 0.0227, 0.5076, 0.0528, 0.9948]\nstate[eef_state]: left_x=0.2762 left_y=-0.0486 left_z=0.1873 left_yaw=0.0643 left_pitch=-0.2211 left_roll=0.3062 left_gripper=0.9971 right_x=0.4871 right_y=0.3167 right_z=0.079 right_yaw=0.266 right_pitch=-0.0103 right_roll=-0.2574 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -2.906, 6.5709, 1.3211, -0.3297, -0.0708, -0.0171, -0.4855, -11.4667, 6.147, 1.79, 0.1685, 0.0708, -0.1783]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a0f1c8daa33debbae7ef0d413565c2f4a76336a8df3225a68f5333a368bbda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d97e8dd3b2231f035658dac2cd3d4e2c45c35e8d5eff0e75b530a27e2621a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8b45ed0fdc668ebfb4b9784f74db4f7574b7c744a069562dc5827fb0aae6ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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