adhoc

completed
2026-09-23T23:03:59.342712+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
209.1 s
total steps
391
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 in the middle, with a small pale plush to its left, a brown teddy in front, and a yellow object to its right. I’m moving the left gripper above the pale plush to line up the first pickup.
move_to
left_x0.3400left_y-0.2400left_z0.1500left_gripper1.0000right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6071, -0.3958, -0.02, -0.0128, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1776 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.347, 10.3179, 1.9658, -0.0659, 0.1734, -0.0415, -0.5128, -1.5658, 9.7436, 1.9072, -0.0269, -0.0269, -0.0513] 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":0.34,"left_y":-0.24,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The safe is open in the middle, with a small pale plush to its left, a brown teddy in front, and a yellow object to its right. I’m moving the left gripper above the pale plush to line up the first pickup."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe pale plush is visible just left of the jaw column, beside the safe’s rim. I’m shifting slightly left and lowering the open jaws around its body, staying outside the safe.
move_to
left_x0.3400left_y-0.2080left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8978, 1.5562, 0.9707, -0.281, -0.6922, -0.6304, 0.9997, -0.0238, 0.7986, 0.6151, -0.4328, -0.0204, -0.0185, 0.9996] state[eef_state]: left_x=0.3322 left_y=-0.2301 left_z=0.1337 left_yaw=-0.0131 left_pitch=-0.0467 left_roll=0.0282 left_gripper=0.9997 right_x=0.2892 right_y=0.0003 right_z=0.173 right_yaw=0.0008 right_pitch=-0.0332 right_roll=-0.0037 right_gripper=0.9996 state[joint_eff]: [-0.5812, -6.6256, 9.5385, 1.4725, -0.4664, 0.0952, -0.0464, -0.3761, -1.5385, 7.0222, 1.9365, -0.0757, 0.0171, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.208,"left_z":0.035},"note":"The pale plush is visible just left of the jaw column, beside the safe’s rim. I’m shifting slightly left and lowering the open jaws around its body, staying outside the safe."})
tool
executing move_to over 7 steps (0.7s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe plush’s body is between the open fingers but remains slightly left of center. I’m making a small sideways correction and lowering to table-level grasp height before closing.
move_to
left_y-0.1900left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8356, 1.7245, 0.7128, 0.1162, -0.6533, -0.5789, 0.9997, -0.0238, 0.8024, 0.6151, -0.4549, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3323 left_y=-0.2021 left_z=0.033 left_yaw=-0.0038 left_pitch=-0.0899 left_roll=0.0716 left_gripper=0.9997 right_x=0.2862 right_y=0.0002 right_z=0.1676 right_yaw=0.0008 right_pitch=-0.0591 right_roll=-0.0045 right_gripper=0.9996 state[joint_eff]: [0.5675, -7.1863, 4.9299, 1.6386, -0.2906, 0.0806, -0.0122, -0.1983, -1.5521, 7.3231, 1.9414, -0.0269, -0.0464, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.19,"left_z":0.005},"note":"The plush’s body is between the open fingers but remains slightly left of center. I’m making a small sideways correction and lowering to table-level grasp height before closing."})
tool
executing move_to over 2 steps (0.2s)
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 fingers now straddle the plush’s lower body, and the descent has stopped against it or the table. I’m closing the gripper to secure the plush.
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]: [-0.8207, 1.7622, 0.6651, 0.2523, -0.6483, -0.5774, 0.9993, -0.0238, 0.8024, 0.6151, -0.4561, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3366 left_y=-0.1995 left_z=0.023 left_yaw=0.0041 left_pitch=-0.0584 left_roll=0.0328 left_gripper=0.9993 right_x=0.286 right_y=0.0003 right_z=0.1673 right_yaw=0.0009 right_pitch=-0.0602 right_roll=-0.0039 right_gripper=0.9996 state[joint_eff]: [0.7863, -5.0393, 4.2051, 0.3492, -0.0757, 0.5397, -0.0757, -0.1846, -1.1966, 6.9812, 1.6777, -0.0513, -0.0171, -0.0122] 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 fingers now straddle the plush’s lower body, and the descent has stopped against it or the table. I’m closing the gripper to secure the plush."})
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 gripper closed almost fully and the safe shifted slightly, so the grasp needs verification. I’m lifting a few centimeters to see whether the pale plush comes up with the fingers.
move_to
left_z0.0900right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8101, 1.7748, 0.6476, 0.3298, -0.6777, -0.5541, 0.0471, -0.0238, 0.8024, 0.6151, -0.4808, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3434 left_y=-0.1949 left_z=0.0265 left_yaw=0.0213 left_pitch=-0.0111 left_roll=0.0315 left_gripper=0.0471 right_x=0.2823 right_y=0.0004 right_z=0.1625 right_yaw=0.001 right_pitch=-0.085 right_roll=-0.0033 right_gripper=0.9996 state[joint_eff]: [-0.0889, -5.6684, 3.8085, 0.9792, 0.1197, -0.0269, 1.033, -0.2256, -0.6906, 6.9538, 1.8877, -0.0415, -0.0269, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). 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":0.09,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The gripper closed almost fully and the safe shifted slightly, so the grasp needs verification. I’m lifting a few centimeters to see whether the pale plush comes up with the fingers."})
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 plush has not lifted independently, and the fingers appear caught on the safe’s side rim. I’m releasing that contact before repositioning farther outside the safe.
move_to
left_gripper1.0000left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8101, 1.6279, 0.7086, 0.0349, -0.6609, -0.5617, 0.0494, -0.0238, 0.8604, 0.6586, -0.5365, -0.02, -0.02, 0.9996] state[eef_state]: left_x=0.3322 left_y=-0.1865 left_z=0.0552 left_yaw=0.0168 left_pitch=-0.0788 left_roll=0.081 left_gripper=0.0494 right_x=0.2825 right_y=0.0004 right_z=0.1559 right_yaw=0.0016 right_pitch=-0.1552 right_roll=-0.0021 right_gripper=0.9996 state[joint_eff]: [-0.1026, -9.6615, 9.1966, 2.0049, -0.5104, 0.0415, 1.033, -0.4308, -1.5111, 10.0034, 2.0098, -0.0415, -0.0708, -0.0122] 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_gripper":1,"left_z":0.04},"note":"The plush has not lifted independently, and the fingers appear caught on the safe’s side rim. I’m releasing that contact before repositioning farther outside the safe."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe released plush is now clearly separated from the safe, on the left side of the wrist view. I’m moving the gripper left and slightly back to center over its body rather than the rim.
move_to
left_x0.3150left_y-0.1450left_z0.0850left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8101, 1.6699, 0.6865, 0.0753, -0.6552, -0.5655, 0.9953, -0.0238, 0.8631, 0.6617, -0.5674, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3296 left_y=-0.1849 left_z=0.0385 left_yaw=0.0166 left_pitch=-0.098 left_roll=0.0925 left_gripper=0.9953 right_x=0.2779 right_y=0.0004 right_z=0.151 right_yaw=0.0012 right_pitch=-0.1857 right_roll=-0.0013 right_gripper=0.9996 state[joint_eff]: [-0.1299, -6.2564, 4.9573, 1.7021, -0.3541, -0.0024, -0.0073, -0.1162, -1.7026, 6.6393, 1.8632, -0.0513, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.145,"left_z":0.085,"left_pitch":0,"left_roll":0},"note":"The released plush is now clearly separated from the safe, on the left side of the wrist view. I’m moving the gripper left and slightly back to center over its body rather than the rim."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe pale plush is centered between the jaws with the safe wall safely to the right. I’m lowering around the soft body for a second pickup attempt.
move_to
left_x0.3200left_y-0.1300left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7483, 1.3872, 0.5339, 0.0864, -0.6319, -0.5274, 0.9963, -0.0238, 0.868, 0.6617, -0.593, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3162 left_y=-0.1463 left_z=0.079 left_yaw=0.0355 left_pitch=-0.0137 left_roll=0.0093 left_gripper=0.9963 right_x=0.2736 right_y=0.0005 right_z=0.1453 right_yaw=0.0012 right_pitch=-0.2162 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [0.294, -4.2051, 5.7915, 1.5604, -0.0806, 0.1978, 0.0952, -0.0752, -1.4564, 7.0085, 1.7998, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.13,"left_z":0.005},"note":"The pale plush is centered between the jaws with the safe wall safely to the right. I’m lowering around the soft body for a second pickup attempt."})
tool
executing move_to over 5 steps (0.5s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe plush’s body fills the space between the fingers at table height. I’m closing around it and refreshing the idle arm’s raised parking pose.
move_to
left_gripper0.0000right_x0.2930right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.691, 1.6642, 0.3744, 0.469, -0.6022, -0.4976, 0.9964, -0.0238, 0.8722, 0.6617, -0.6189, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3106 left_y=-0.1224 left_z=-0.0015 left_yaw=0.0564 left_pitch=-0.0678 left_roll=0.0555 left_gripper=0.9964 right_x=0.2691 right_y=0.0007 right_z=0.1398 right_yaw=0.0017 right_pitch=-0.2464 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.8137, -5.2855, 4.3419, 0.7302, -0.0415, 0.2955, 0.0024, -0.212, -1.7983, 6.9812, 1.7705, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The plush’s body fills the space between the fingers at table height. I’m closing around it and refreshing the idle arm’s raised parking pose."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe closed gripper retains about two centimeters of opening, consistent with compressed plush rather than an empty grasp. I’m lifting to confirm that the toy follows.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6857, 1.6829, 0.3653, 0.5976, -0.5983, -0.4793, 0.2003, -0.0238, 0.815, 0.6621, -0.5644, -0.0208, -0.0196, 0.9996] state[eef_state]: left_x=0.3218 left_y=-0.1301 left_z=0.0099 left_yaw=0.0467 left_pitch=0.0045 left_roll=0.0006 left_gripper=0.2003 right_x=0.2763 right_y=0.0007 right_z=0.1641 right_yaw=0.002 right_pitch=-0.1342 right_roll=-0.0019 right_gripper=0.9996 state[joint_eff]: [0.1026, -5.135, 4.0274, 1.4432, -0.149, 0.0122, 0.7741, -0.4718, -1.9487, 9.7162, 2.2735, -0.105, -0.0171, -0.0073] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The closed gripper retains about two centimeters of opening, consistent with compressed plush rather than an empty grasp. I’m lifting to confirm that the toy follows."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe pale plush rose with the gripper. I’m carrying it over the open safe with extra height to clear the front and side walls.
move_to
left_x0.3400left_y-0.2800left_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6865, 1.3903, 0.4557, 0.2371, -0.5957, -0.4835, 0.2024, -0.0257, 0.82, 0.6521, -0.5888, -0.0227, -0.0196, 0.9996] state[eef_state]: left_x=0.3221 left_y=-0.1312 left_z=0.0715 left_yaw=0.0464 left_pitch=0.02 left_roll=-0.0193 left_gripper=0.2024 right_x=0.271 right_y=0.0006 right_z=0.154 right_yaw=0.0018 right_pitch=-0.1735 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.0068, -5.135, 8.2393, 1.6484, -0.3101, 0.0415, 0.2076, -0.0479, -1.1009, 7.6239, 1.8974, 0.0073, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.28,"left_z":0.21},"note":"The pale plush rose with the gripper. I’m carrying it over the open safe with extra height to clear the front and side walls."})
tool
executing move_to over 14 steps (1.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe plush is above the safe’s interior, clear of the rim. I’m lowering it into the box before releasing it.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9852, 1.6653, 1.3144, -0.5339, -0.783, -0.7677, 0.2053, -0.0257, 0.8227, 0.6514, -0.6128, -0.0235, -0.0193, 0.9996] state[eef_state]: left_x=0.3386 left_y=-0.2786 left_z=0.196 left_yaw=0.0344 left_pitch=-0.0001 left_roll=-0.0295 left_gripper=0.2053 right_x=0.2669 right_y=0.0009 right_z=0.1488 right_yaw=0.0024 right_pitch=-0.2009 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.3214, -8.2803, 8.5265, 1.1453, -0.6618, 0.0952, 0.2906, -0.0479, -1.4427, 7.0769, 1.7411, -0.0171, -0.0366, -0.0073] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The plush is above the safe’s interior, clear of the rim. I’m lowering it into the box before releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe plush is inside the red-lined compartment below the rim. I’m opening the gripper to leave it in the safe.
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]: [-0.9867, 1.8351, 0.9867, -0.0948, -0.775, -0.7715, 0.2073, -0.0257, 0.823, 0.6502, -0.635, -0.0231, -0.0193, 0.9996] state[eef_state]: left_x=0.3329 left_y=-0.2729 left_z=0.064 left_yaw=0.0309 left_pitch=-0.0361 left_roll=0.0137 left_gripper=0.2073 right_x=0.2628 right_y=0.0009 right_z=0.1444 right_yaw=0.0022 right_pitch=-0.2246 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [0.2803, -8.4718, 5.8051, 1.5409, -0.4078, -0.0073, 0.1978, -0.1162, -1.2239, 6.8855, 1.7021, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The plush is inside the red-lined compartment below the rim. I’m opening the gripper to leave it in the safe."})
tool
executing move_to over 8 steps (0.8s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe pale plush has been released inside. I’m withdrawing the left arm and positioning the right gripper above the brown teddy in front of the safe.
move_to
left_x0.2900left_y0.0000left_z0.2100right_x0.2200right_y0.2350right_z0.1700right_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]: [-0.9871, 1.8534, 0.971, -0.1066, -0.775, -0.7761, 0.9952, -0.0257, 0.823, 0.6502, -0.6575, -0.0231, -0.0193, 0.9996] state[eef_state]: left_x=0.3285 left_y=-0.2666 left_z=0.0506 left_yaw=0.0349 left_pitch=-0.06 left_roll=0.049 left_gripper=0.9952 right_x=0.2587 right_y=0.001 right_z=0.1406 right_yaw=0.0024 right_pitch=-0.2471 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [-0.0615, -10.2632, 6.9402, 1.2821, -0.3101, -0.0269, -0.149, -0.0342, -1.0598, 6.8581, 1.6874, -0.0366, -0.0415, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.21,"right_x":0.22,"right_y":0.235,"right_z":0.17,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The pale plush has been released inside. I’m withdrawing the left arm and positioning the right gripper above the brown teddy in front of the safe."})
tool
executing move_to over 24 steps (2.4s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe teddy’s torso is slightly right of the jaw column, with its head toward the left. I’m centering the fingers on the torso and lowering to grasp the soft body.
move_to
right_x0.2300right_y0.2000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1204, 0.8597, 0.7532, -0.5884, -0.1997, -0.1246, 0.9963, 1.2453, 1.3521, 0.9302, -0.7311, 0.8688, 0.9821, 0.9996] state[eef_state]: left_x=0.2872 left_y=0.0042 left_z=0.1901 left_yaw=0.1002 left_pitch=-0.0987 left_roll=0.0469 left_gripper=0.9963 right_x=0.2157 right_y=0.2285 right_z=0.156 right_yaw=0.0367 right_pitch=-0.0491 right_roll=-0.0506 right_gripper=0.9996 state[joint_eff]: [0.0342, -2.0171, 10.2222, 1.8144, -0.0317, 0.188, 0.0952, 0.1983, -4.8752, 8.3761, 0.9597, 0.6764, 0.1832, -0.0513] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.23,"right_y":0.20,"right_z":0.035},"note":"The teddy’s torso is slightly right of the jaw column, with its head toward the left. I’m centering the fingers on the torso and lowering to grasp the soft body."})
tool
executing move_to over 8 steps (0.8s)
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 open fingers surround the teddy’s torso at a suitable height. I’m closing gently through the gripper’s normal controlled motion 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]: [-0.1192, 0.8619, 0.7544, -0.6075, -0.1883, -0.1246, 0.9964, 1.1461, 1.4811, 0.5076, -0.1642, 0.8211, 0.8658, 0.9996] state[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1862 left_yaw=0.0923 left_pitch=-0.12 left_roll=0.044 left_gripper=0.9964 right_x=0.2231 right_y=0.1884 right_z=0.0334 right_yaw=0.0233 right_pitch=-0.0879 right_roll=-0.1122 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.7162, 6.8718, 1.7607, -0.2613, -0.0464, 0.0024, -0.253, -4.5333, 5.2718, 1.0476, 0.3883, -0.0562, -0.0171] 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":0},"note":"The open fingers surround the teddy’s torso at a suitable height. I’m closing gently through the gripper’s normal controlled motion to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe gripper closed empty; the teddy remains forward and to the right of the fingertips. I’m reopening and shifting a few centimeters toward its torso for one corrected attempt.
move_to
right_gripper1.0000right_x0.2550right_y0.1650right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1192, 0.8619, 0.7544, -0.6147, -0.1917, -0.1284, 0.9964, 1.1442, 1.4895, 0.4927, -0.1589, 0.815, 0.8639, 0.0117] state[eef_state]: left_x=0.2834 left_y=0.0036 left_z=0.1849 left_yaw=0.0974 left_pitch=-0.1265 left_roll=0.0448 left_gripper=0.9964 right_x=0.2209 right_y=0.1841 right_z=0.0271 right_yaw=0.0237 right_pitch=-0.1009 right_roll=-0.1275 right_gripper=0.0117 state[joint_eff]: [-0.253, -1.265, 6.8581, 1.6825, -0.1197, -0.0122, -0.0073, 0.0479, -5.4222, 6.3111, 0.8767, 0.4029, -0.0171, 0.9597] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.255,"right_y":0.165,"right_z":0.07},"note":"The gripper closed empty; the teddy remains forward and to the right of the fingertips. I’m reopening and shifting a few centimeters toward its torso for one corrected attempt."})
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 teddy’s torso is now centered in the wrist view. I’m advancing slightly and lowering the fingers around the body, with a small tilt adjustment to counter the observed droop.
move_to
right_x0.2700right_y0.1700right_z0.0050right_pitch0.1000right_roll0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8684, 0.7544, -0.6312, -0.1913, -0.1287, 0.9965, 0.9653, 1.3369, 0.519, -0.2279, 0.7258, 0.6575, 0.9947] state[eef_state]: left_x=0.2812 left_y=0.004 left_z=0.1803 left_yaw=0.0988 left_pitch=-0.1489 left_roll=0.0493 left_gripper=0.9965 right_x=0.2479 right_y=0.1585 right_z=0.0562 right_yaw=0.0143 right_pitch=-0.1287 right_roll=-0.1508 right_gripper=0.9947 state[joint_eff]: [-0.1026, -2.0718, 6.8034, 1.7509, -0.1099, -0.0269, -0.0073, -0.3214, -4.9709, 8.0479, 1.1893, 0.3639, -0.0513, -0.2125] 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":0.27,"right_y":0.17,"right_z":0.005,"right_pitch":0.1,"right_roll":0.1},"note":"The teddy’s torso is now centered in the wrist view. I’m advancing slightly and lowering the fingers around the body, with a small tilt adjustment to counter the observed droop."})
tool
executing move_to over 8 steps (0.8s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe teddy’s body is between the lowered fingers and away from the safe’s rim. I’m closing the gripper for 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]: [-0.1184, 0.8692, 0.7544, -0.638, -0.1913, -0.1352, 0.9969, 0.9314, 1.7008, 0.2512, 0.7139, 0.7444, 0.6193, 0.9953] state[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1788 left_yaw=0.1026 left_pitch=-0.1562 left_roll=0.0461 left_gripper=0.9969 right_x=0.2673 right_y=0.1648 right_z=0.0038 right_yaw=-0.0025 right_pitch=0.0655 right_roll=0.0601 right_gripper=0.9953 state[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.619, -0.0757, 0.022, 0.0269, -0.4171, -4.0684, 2.1949, 0.8034, 0.0366, -0.2515, 0.0464] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The teddy’s body is between the lowered fingers and away from the safe’s rim. I’m closing the gripper for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe second close was also empty, and the overhead view shows the teddy ahead of the grasp point. I’m lifting and repositioning over its visible center rather than repeating the same low approach.
move_to
right_x0.3200right_y0.2050right_z0.1100right_gripper1.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8696, 0.7544, -0.638, -0.1913, -0.136, 0.997, 0.9298, 1.6947, 0.2504, 0.7685, 0.7441, 0.6254, 0.0115] state[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1787 left_yaw=0.1031 left_pitch=-0.1565 left_roll=0.0456 left_gripper=0.997 right_x=0.272 right_y=0.1705 right_z=0.0135 right_yaw=-0.0112 right_pitch=0.1004 right_roll=0.114 right_gripper=0.0115 state[joint_eff]: [-0.0752, -1.1966, 6.8171, 1.619, -0.149, -0.0513, -0.0073, 0.0479, -4.6427, 3.412, 0.9451, 0.2125, -0.0611, 0.9304] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.205,"right_z":0.11,"right_gripper":1,"right_pitch":0,"right_roll":0},"note":"The second close was also empty, and the overhead view shows the teddy ahead of the grasp point. I’m lifting and repositioning over its visible center rather than repeating the same low approach."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe overhead view now places the right gripper directly above the teddy, with its body below the wrist camera’s edge. I’m descending vertically at this corrected position.
move_to
right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8749, 0.7544, -0.6598, -0.1913, -0.136, 0.997, 0.8661, 1.494, 0.7139, -0.0216, 0.6853, 0.5755, 0.9945] state[eef_state]: left_x=0.2768 left_y=0.0045 left_z=0.1736 left_yaw=0.1041 left_pitch=-0.1829 left_roll=0.0516 left_gripper=0.997 right_x=0.3157 right_y=0.2042 right_z=0.0971 right_yaw=-0.0003 right_pitch=-0.007 right_roll=-0.0034 right_gripper=0.9945 state[joint_eff]: [-0.1026, -1.9624, 6.9128, 1.7314, -0.105, -0.0415, -0.0122, -0.5128, -6.7214, 7.9385, 1.6386, 0.2711, -0.0024, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015},"note":"The overhead view now places the right gripper directly above the teddy, with its body below the wrist camera’s edge. I’m descending vertically at this corrected position."})
tool
executing move_to over 6 steps (0.6s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe gripper is down around the teddy at the corrected overhead location. I’m closing once more to check for a secure body 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]: [-0.1184, 0.8753, 0.754, -0.6758, -0.1913, -0.136, 0.997, 0.8642, 1.7325, 0.5873, 0.3408, 0.691, 0.5838, 0.9953] state[eef_state]: left_x=0.274 left_y=0.0048 left_z=0.1705 left_yaw=0.1048 left_pitch=-0.1993 left_roll=0.0554 left_gripper=0.997 right_x=0.3175 right_y=0.2041 right_z=0.0258 right_yaw=-0.0108 right_pitch=-0.0055 right_roll=-0.0011 right_gripper=0.9953 state[joint_eff]: [-0.1573, -1.5795, 6.9265, 1.6581, -0.1245, -0.022, -0.0171, 0.1026, -5.1214, 3.1658, 0.8181, 0.0366, -0.1294, 0.0659] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper is down around the teddy at the corrected overhead location. I’m closing once more to check for a secure body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe safe moved instead of the teddy, indicating another rim contact. I’m releasing it and moving back and left to the teddy’s exposed body, clear of the box.
move_to
right_gripper1.0000right_x0.2550right_y0.2550right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8753, 0.7544, -0.6903, -0.1917, -0.1364, 0.997, 0.8661, 1.7332, 0.5789, 0.3683, 0.6994, 0.5755, 0.0459] state[eef_state]: left_x=0.2715 left_y=0.0052 left_z=0.1683 left_yaw=0.106 left_pitch=-0.213 left_roll=0.0586 left_gripper=0.997 right_x=0.3183 right_y=0.2043 right_z=0.0277 right_yaw=-0.0102 right_pitch=0.0108 right_roll=0.0021 right_gripper=0.0459 state[joint_eff]: [-0.0615, -1.5385, 6.7487, 1.6239, -0.1538, -0.0366, -0.0171, -0.4718, -6.9265, 5.7231, 1.1502, 0.442, 0.0171, 1.4676] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.255,"right_y":0.255,"right_z":0.085},"note":"The safe moved instead of the teddy, indicating another rim contact. I’m releasing it and moving back and left to the teddy’s exposed body, clear of the box."})
tool
executing move_to over 10 steps (1.0s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe teddy has shifted to the right of the wrist view. I’m aligning with its now-visible torso and descending outside the safe’s front-right corner.
move_to
right_x0.2800right_y0.1950right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8806, 0.754, -0.6971, -0.1917, -0.1394, 0.997, 1.1511, 1.623, 0.7654, -0.1566, 0.849, 0.8551, 0.9945] state[eef_state]: left_x=0.2706 left_y=0.0053 left_z=0.1656 left_yaw=0.1083 left_pitch=-0.2252 left_roll=0.0593 left_gripper=0.997 right_x=0.2556 right_y=0.2562 right_z=0.0712 right_yaw=0.026 right_pitch=-0.0127 right_roll=-0.0199 right_gripper=0.9945 state[joint_eff]: [-0.0752, -2.0034, 6.7624, 1.6288, -0.1587, -0.0122, -0.0122, 0.212, -8.4171, 7.0359, 1.16, 0.6325, 0.1783, 0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.195,"right_z":0.005},"note":"The teddy has shifted to the right of the wrist view. I’m aligning with its now-visible torso and descending outside the safe’s front-right corner."})
tool
executing move_to over 6 steps (0.6s)
step 223
top_cam
camera top_cam step 223
assistant
agent noteThe teddy’s torso is just ahead of the fingertips, centered beneath the wrist camera. I’m making a short final advance while closing around the body.
move_to
right_x0.3000right_y0.1800right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7052, -0.1913, -0.1398, 0.997, 0.9668, 1.689, 0.474, 0.3164, 0.7437, 0.6811, 0.9953] state[eef_state]: left_x=0.2692 left_y=0.0054 left_z=0.164 left_yaw=0.1087 left_pitch=-0.2341 left_roll=0.0609 left_gripper=0.997 right_x=0.2757 right_y=0.1953 right_z=0.009 right_yaw=0.0016 right_pitch=-0.0308 right_roll=-0.0198 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.6205, 6.7214, 1.5165, -0.1001, -0.0269, -0.0122, -0.3077, -4.3282, 3.6991, 1.0281, 0.2711, -0.2369, 0.0708] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.18,"right_gripper":0},"note":"The teddy’s torso is just ahead of the fingertips, centered beneath the wrist camera. I’m making a short final advance while closing around the body."})
tool
executing move_to over 10 steps (1.0s)
step 233
assistant
agent noteThe gripper is nearly closed, so the hold may be on a thin part of the teddy rather than its torso. I’m lifting briefly to verify whether the toy is secured.
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]: [-0.1184, 0.8818, 0.754, -0.7193, -0.1913, -0.1429, 0.997, 0.8536, 1.6981, 0.4633, 0.3874, 0.664, 0.5755, 0.0392] state[eef_state]: left_x=0.2666 left_y=0.0057 left_z=0.1617 left_yaw=0.1112 left_pitch=-0.2478 left_roll=0.062 left_gripper=0.997 right_x=0.2959 right_y=0.1791 right_z=0.0057 right_yaw=0.0009 right_pitch=-0.0487 right_roll=-0.0278 right_gripper=0.0392 state[joint_eff]: [-0.1846, -1.5385, 6.7214, 1.5604, -0.1538, -0.0415, -0.0122, -0.5265, -5.7778, 4.6291, 1.6386, 0.2564, 0.0464, 1.2332] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The gripper is nearly closed, so the hold may be on a thin part of the teddy rather than its torso. I’m lifting briefly to verify whether the toy is secured."})
tool
executing move_to over 7 steps (0.7s)
step 240
assistant
agent noteA thin part of the teddy appears retained, and the toy is moving with the wrist. I’m carrying it slowly over the safe at rim-clearing height.
move_to
right_x0.3800right_y0.3350right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8825, 0.754, -0.7238, -0.1913, -0.1429, 0.997, 0.8513, 1.3922, 0.6178, -0.0872, 0.6533, 0.5678, 0.0409] state[eef_state]: left_x=0.2658 left_y=0.0058 left_z=0.1608 left_yaw=0.1115 left_pitch=-0.253 left_roll=0.0633 left_gripper=0.997 right_x=0.2937 right_y=0.1777 right_z=0.0839 right_yaw=0.0096 right_pitch=-0.0642 right_roll=-0.0392 right_gripper=0.0409 state[joint_eff]: [-0.1983, -1.1692, 6.7077, 1.4725, -0.1245, -0.0415, -0.0171, -0.0479, -5.9692, 8.1983, 1.619, 0.3541, 0.0659, 1.033] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.335,"right_z":0.22},"note":"A thin part of the teddy appears retained, and the toy is moving with the wrist. I’m carrying it slowly over the safe at rim-clearing height."})
tool
executing move_to over 14 steps (1.4s)
step 254
assistant
agent noteThe teddy is hanging securely from the gripper above the safe. I’m moving slightly deeper into the compartment and lowering so the whole toy lands inside.
move_to
right_x0.4300right_y0.3350right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8864, 0.754, -0.7422, -0.1913, -0.1429, 0.997, 0.9424, 1.9404, 1.7576, -0.7498, 0.6888, 0.6365, 0.0409] state[eef_state]: left_x=0.2627 left_y=0.0062 left_z=0.157 left_yaw=0.1129 left_pitch=-0.2745 left_roll=0.0685 left_gripper=0.997 right_x=0.3761 right_y=0.3327 right_z=0.207 right_yaw=0.0352 right_pitch=-0.0868 right_roll=-0.0572 right_gripper=0.0409 state[joint_eff]: [-0.0479, -1.8393, 6.6667, 1.6142, -0.0952, 0.0269, -0.0122, 0.3761, -10.7009, 8.294, 1.0769, 0.4811, 0.2125, 1.033] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.335,"right_z":0.105},"note":"The teddy is hanging securely from the gripper above the safe. I’m moving slightly deeper into the compartment and lowering so the whole toy lands inside."})
tool
executing move_to over 7 steps (0.7s)
step 261
assistant
agent noteThe held brown-and-gold item is lowered into the compartment. I’m releasing it before moving to the remaining 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]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1429, 0.997, 0.8555, 2.0949, 1.5982, -0.4465, 0.6304, 0.551, 0.0409] state[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1133 left_pitch=-0.2812 left_roll=0.0702 left_gripper=0.997 right_x=0.4176 right_y=0.3274 right_z=0.1045 right_yaw=0.0325 right_pitch=-0.1331 right_roll=-0.1008 right_gripper=0.0409 state[joint_eff]: [-0.1299, -1.5521, 6.6803, 1.4676, -0.1538, -0.0415, -0.0122, -0.8547, -10.7692, 6.5026, 1.6093, 0.2222, 0.0366, 1.033] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The held brown-and-gold item is lowered into the compartment. I’m releasing it before moving to the remaining yellow object."})
tool
executing move_to over 10 steps (1.0s)
step 271
assistant
agent noteThe released item is in the safe, though part of the gold-colored strand may still drape over the front. I’m clearing the opening and approaching the yellow object on the right.
move_to
right_x0.5000right_y0.1650right_z0.1600right_pitch0.2500right_roll0.0000left_x0.2900left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1432, 0.997, 0.8513, 2.1155, 1.589, -0.4541, 0.6155, 0.5423, 0.9945] state[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1136 left_pitch=-0.2812 left_roll=0.0699 left_gripper=0.997 right_x=0.4154 right_y=0.3248 right_z=0.0887 right_yaw=0.0388 right_pitch=-0.1681 right_roll=-0.1266 right_gripper=0.9945 state[joint_eff]: [-0.3077, -1.5521, 6.7897, 1.3846, -0.1245, -0.0122, -0.0122, 0.1026, -13.6, 7.1043, 1.2723, 0.4127, 0.1148, 0.149] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.165,"right_z":0.16,"right_pitch":0.25,"right_roll":0,"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0},"note":"The released item is in the safe, though part of the gold-colored strand may still drape over the front. I’m clearing the opening and approaching the yellow object on the right."})
tool
executing move_to over 14 steps (1.4s)
step 285
assistant
agent noteThe yellow object is visible to the right of the jaw column. I’m shifting right and lowering the open fingers around it, keeping clear of the safe’s side.
move_to
right_x0.4800right_y0.1300right_z0.0200right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1383, 0.8131, 0.7002, -0.5541, -0.2066, -0.1719, 0.997, 0.4488, 1.8488, 1.058, 0.2989, 0.3985, 0.1555, 0.9953] state[eef_state]: left_x=0.2826 left_y=0.0009 left_z=0.1856 left_yaw=0.1134 left_pitch=-0.0698 left_roll=0.0072 left_gripper=0.997 right_x=0.4903 right_y=0.164 right_z=0.1241 right_yaw=0.0281 right_pitch=0.1321 right_roll=-0.045 right_gripper=0.9953 state[joint_eff]: [-0.7453, -1.9624, 7.0632, 2.0049, -0.232, 0.0122, -0.0122, -0.2256, -12.041, 6.4752, 2.3468, 0.0171, -0.1441, 0.0659] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.13,"right_z":0.02,"right_pitch":0.25},"note":"The yellow object is visible to the right of the jaw column. I’m shifting right and lowering the open fingers around it, keeping clear of the safe’s side."})
tool
executing move_to over 7 steps (0.7s)
step 292
assistant
agent noteThe yellow object lies between the fingers, slightly right of center. I’m making a small centering correction and closing only to its approximate width to avoid squeezing it sideways.
move_to
right_y0.1150right_gripper0.3800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8169, 0.6998, -0.5625, -0.2062, -0.173, 0.997, 0.3981, 2.1075, 0.8082, 0.9756, 0.3374, 0.1123, 0.9954] state[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1829 left_yaw=0.1098 left_pitch=-0.082 left_roll=0.0092 left_gripper=0.997 right_x=0.4851 right_y=0.1444 right_z=0.0439 right_yaw=0.04 right_pitch=0.2781 right_roll=0.0021 right_gripper=0.9954 state[joint_eff]: [0.0889, -1.5658, 6.9128, 1.707, -0.149, 0.0073, -0.0171, -1.2923, -6.9812, 2.8239, 0.569, 0.3101, -0.3541, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.115,"right_gripper":0.38},"note":"The yellow object lies between the fingers, slightly right of center. I’m making a small centering correction and closing only to its approximate width to avoid squeezing it sideways."})
tool
executing move_to over 7 steps (0.7s)
step 299
assistant
agent noteThe yellow object is bracketed by the jaws. I’m tightening the grasp slightly and lifting it clear of the table to check that it is retained.
move_to
right_gripper0.1800right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8173, 0.6998, -0.5701, -0.2062, -0.1734, 0.997, 0.3321, 2.0987, 0.7723, 1.0313, 0.2527, 0.0822, 0.3848] state[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1813 left_yaw=0.1102 left_pitch=-0.0897 left_roll=0.0109 left_gripper=0.997 right_x=0.4872 right_y=0.1251 right_z=0.047 right_yaw=0.0621 right_pitch=0.2975 right_roll=0.0068 right_gripper=0.3848 state[joint_eff]: [-0.0205, -0.9094, 7.0085, 1.7118, -0.1197, -0.0415, -0.0122, -1.0325, -10.4957, 3.6171, 1.6484, 0.2222, 0.0415, 0.1929] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.18,"right_z":0.18},"note":"The yellow object is bracketed by the jaws. I’m tightening the grasp slightly and lifting it clear of the table to check that it is retained."})
tool
executing move_to over 9 steps (0.9s)
step 308
assistant
agent noteThe yellow object lifted with the right gripper. The teddy is visibly draped over the safe’s front edge, so I’m carrying the yellow object over the compartment while positioning the left arm above the teddy’s hanging body.
move_to
right_x0.4300right_y0.3200right_z0.1900left_x0.2800left_y-0.2550left_z0.1100left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 0.8207, 0.6998, -0.5838, -0.2062, -0.1734, 0.997, 0.3336, 1.726, 0.8928, 0.4946, 0.2424, 0.078, 0.1813] state[eef_state]: left_x=0.2785 left_y=0.0002 left_z=0.1779 left_yaw=0.1106 left_pitch=-0.1064 left_roll=0.0152 left_gripper=0.997 right_x=0.4833 right_y=0.1264 right_z=0.1518 right_yaw=0.0781 right_pitch=0.2547 right_roll=-0.0059 right_gripper=0.1813 state[joint_eff]: [-0.0479, -1.4017, 6.9812, 1.7118, -0.1294, -0.0757, -0.0122, -0.4855, -10.0034, 8.759, 2.2051, 0.0952, -0.0366, -0.0171] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.32,"right_z":0.19,"left_x":0.28,"left_y":-0.255,"left_z":0.11,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The yellow object lifted with the right gripper. The teddy is visibly draped over the safe’s front edge, so I’m carrying the yellow object over the compartment while positioning the left arm above the teddy’s hanging body."})
tool
executing move_to over 23 steps (2.3s)
step 331
assistant
agent noteThe overhead view shows the yellow object stayed on the table, so that pickup was empty. I’m securing the teddy’s centered body with the left hand while returning the right hand for a better yellow-object approach.
move_to
left_x0.3100left_y-0.2800left_z0.0150left_gripper0.1800right_x0.5000right_y0.1400right_z0.0900right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1141, 1.6398, 0.9421, -0.4583, -0.881, -1.0294, 0.9984, 0.8425, 1.8839, 1.2652, 0.123, 0.6933, 0.2726, 0.1813] state[eef_state]: left_x=0.2746 left_y=-0.2417 left_z=0.0971 left_yaw=0.1079 left_pitch=-0.0416 left_roll=0.0355 left_gripper=0.9984 right_x=0.4257 right_y=0.3131 right_z=0.1722 right_yaw=0.1167 right_pitch=0.2076 right_roll=-0.0571 right_gripper=0.1813 state[joint_eff]: [-0.9504, -6.7624, 8.9915, 1.2137, -0.7643, 0.6178, -0.1783, 0.759, -9.1282, 9.7436, 2.1026, 0.3932, 0.2173, -0.0171] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.28,"left_z":0.015,"left_gripper":0.18,"right_x":0.5,"right_y":0.14,"right_z":0.09,"right_gripper":1,"right_pitch":0},"note":"The overhead view shows the yellow object stayed on the table, so that pickup was empty. I’m securing the teddy’s centered body with the left hand while returning the right hand for a better yellow-object approach."})
tool
executing move_to over 15 steps (1.5s)
step 346
assistant
agent noteThe left fingers are around the teddy’s torso, so I’m lifting it clear of the front rim. The yellow object is farther forward than the earlier approach; I’m reaching forward with a tilted wrist and closing to its width.
move_to
left_z0.2100right_x0.5450right_y0.1400right_z0.0250right_pitch0.4000right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.079, 1.9629, 0.981, -0.1478, -0.8883, -0.9955, 0.1833, 0.3534, 1.8832, 1.0859, 0.16, 0.2447, 0.0887, 0.9969] state[eef_state]: left_x=0.3055 left_y=-0.2723 left_z=0.0216 left_yaw=0.1266 left_pitch=-0.027 left_roll=0.0409 left_gripper=0.1833 right_x=0.4915 right_y=0.1395 right_z=0.0863 right_yaw=0.0985 right_pitch=-0.034 right_roll=-0.0729 right_gripper=0.9969 state[joint_eff]: [0.6769, -7.3504, 6.4068, 1.1062, -0.1685, 0.2808, 0.1245, -0.2667, -8.4718, 6.5026, 2.1709, -0.0024, 0.0513, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.21,"right_x":0.545,"right_y":0.14,"right_z":0.025,"right_pitch":0.4,"right_gripper":0.35},"note":"The left fingers are around the teddy’s torso, so I’m lifting it clear of the front rim. The yellow object is farther forward than the earlier approach; I’m reaching forward with a tilted wrist and closing to its width."})
tool
executing move_to over 15 steps (1.5s)
step 361
assistant
agent noteNeither hold is yet confirmed, and the teddy still extends over the front edge. I’m closing both grippers fully at their current positions to distinguish a real grasp from an empty opening before moving anything further.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.079, 1.7329, 1.4162, -0.8391, -0.8795, -1.0115, 0.1822, 0.3313, 2.3177, 1.0275, 1.1473, 0.2558, -0.025, 0.3524] state[eef_state]: left_x=0.3062 left_y=-0.2758 left_z=0.1862 left_yaw=0.1325 left_pitch=-0.0432 left_roll=0.0493 left_gripper=0.1822 right_x=0.5464 right_y=0.1445 right_z=0.0529 right_yaw=0.1075 right_pitch=0.4438 right_roll=-0.0664 right_gripper=0.3524 state[joint_eff]: [0.0068, -10.7009, 8.9094, 0.9353, -0.5299, 0.1245, -0.1294, -0.4855, -7.7333, 4.8342, 0.9451, 0.0415, 0.0806, -0.0073] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Neither hold is yet confirmed, and the teddy still extends over the front edge. I’m closing both grippers fully at their current positions to distinguish a real grasp from an empty opening before moving anything further."})
tool
executing move_to over 4 steps (0.4s)
step 365
assistant
agent noteBoth grippers closed empty. The pale plush is inside, but the teddy is draped over the front and the yellow object remains outside; I’m withdrawing both arms and leaving the safe open rather than closing it on the teddy.
move_to
left_x0.2900left_y0.0000left_z0.2200left_gripper1.0000right_x0.3800right_y0.0000right_z0.2200right_gripper1.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.079, 1.7321, 1.42, -0.857, -0.8761, -1.0119, 0.0097, 0.3267, 2.3302, 1.0328, 1.1847, 0.2573, -0.0345, 0.01] state[eef_state]: left_x=0.3048 left_y=-0.2741 left_z=0.186 left_yaw=0.1319 left_pitch=-0.0509 left_roll=0.0604 left_gripper=0.0097 right_x=0.5487 right_y=0.1423 right_z=0.0569 right_yaw=0.1041 right_pitch=0.4729 right_roll=-0.0698 right_gripper=0.01 state[joint_eff]: [-0.0205, -7.8427, 6.0376, 1.0965, -0.4957, -0.0464, 0.9402, 0.253, -12.5333, 4.0137, 1.5263, -0.0122, -0.0024, 0.8523] camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.22,"left_gripper":1,"right_x":0.38,"right_y":0,"right_z":0.22,"right_gripper":1,"right_pitch":0,"right_roll":0},"note":"Both grippers closed empty. The pale plush is inside, but the teddy is draped over the front and the yellow object remains outside; I’m withdrawing both arms and leaving the safe open rather than closing it on the teddy."})
tool
executing move_to over 25 steps (2.5s)
step 390
assistant
agent noteI could not complete the task within this attempt. The pale plush is inside the safe, but the brown plush remains draped over the front rim and the yellow object is still outside. Both arms are withdrawn, and I left the safe open to avoid trapping the protruding plush.
give_up
hindsightOn this setup, partially closing to a chosen gripper opening repeatedly looked like a grasp but was empty; confirm with a full close and visible object motion. The brown plush was briefly carried by a thin part at a reading near 0.04, but placing the grasp point inside was insufficient—the dangling body stayed outside the front rim. The safe shifted when the fingers caught its rim, invalidating earlier object coordinates. Re-localize after any rim contact, and place a dangling toy deeper before releasing.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2153, 0.8841, 0.8486, -0.6617, -0.3546, -0.234, 0.9977, -0.0731, 1.2198, 0.9081, -0.2981, -0.1326, -0.0925, 0.9976] state[eef_state]: left_x=0.2878 left_y=0.0035 left_z=0.2162 left_yaw=0.1923 left_pitch=-0.0667 left_roll=0.0558 left_gripper=0.9977 right_x=0.3829 right_y=-0.001 right_z=0.2016 right_yaw=0.0858 right_pitch=-0.0207 right_roll=-0.0008 right_gripper=0.9976 state[joint_eff]: [-0.1162, -2.1949, 6.2838, 1.8974, -0.0317, 0.1538, -0.1245, -0.1709, -5.8872, 9.4701, 1.9756, -0.1734, -0.0513, -0.1392] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task within this attempt. The pale plush is inside the safe, but the brown plush remains draped over the front rim and the yellow object is still outside. Both arms are withdrawn, and I left the safe open to avoid trapping the protruding plush.","hindsight":"On this setup, partially closing to a chosen gripper opening repeatedly looked like a grasp but was empty; confirm with a full close and visible object motion. The brown plush was briefly carried by a thin part at a reading near 0.04, but placing the grasp point inside was insufficient—the dangling body stayed outside the front rim. The safe shifted when the fingers caught its rim, invalidating earlier object coordinates. Re-localize after any rim contact, and place a dangling toy deeper before releasing."})
tool
give_up: I could not complete the task within this attempt. The pale plush is inside the safe, but the brown plush remains draped over the front rim and the yellow object is still outside. Both arms are withdrawn, and I left the safe open to avoid trapping the protruding plush.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.778 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6071, -0.3958, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1776 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.347, 10.3179, 1.9658, -0.0659, 0.1734, -0.0415, -0.5128, -1.5658, 9.7436, 1.9072, -0.0269, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf06f725b8d4b1725fa9d4a035aa0bb7363930471a9ea1c22f1e9540cbf47364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ef58dcd168d3ea5af8fcbf783e7cb706346b059df155715abe1ca84008ed01c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf36b44d4126e7f1a985c5be858683df0d5ced094e3e60ab2b7a48e83d836c9f",
      "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 · 5.439 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFrudSLZS29fNUpTEOwwkoyNSOeGGtvcT90-sZjKzvBJCQcymfcQplh1JFARNHjNKoRXoere7TyESM01YyQ7Pctgk0lp2wQ7obabURS0GE8xz8PjfcMTbr-Sk7DvgQJPcE-wq-X_kIc5oFLc0p1PAnA0lvHrGZcHHZ8lRbh9WFoxnAP_jFFTnBN_bbTb4SOF1IsuLqZTcUDrRtpTlF6s4PoXPA54pWbvIEBsF0izqvuGK-HntH495yVScjPFL1IchHYn5FANmz11RjwAhsZQapNpl7Re2TAMBVoSw5bVcY9V-UUTdTGCGgRNc6v1Yt-NvGfPL7o0Hm-DpFUwalBB8YwirjOqKKGs9k0Lnfm_LWjeTMmYXzYQe9khhaBWcI0OoItbracelPq5LIyZ-bHDeBWFeamQkB5WC33uYWAvzbsV5Jn2Uu9J0oT0dkgX4NFUQ_zsTHDcqV5YKydeH-Ick67sE6s_mpQZS5QETcbGfmKrfpbxRZyBYBgpLOqNVjqjg9tDmvD6njKQt6b8nS0d-NMeq5xYgIVdhLFHskyKQTPyiJkV2m4X53Pe-zIo2l8p2d0tE2WMJ9JrUqqT9ug5GDUaOqanNlVO_JCbiGI6dt1DgP4gQyHwy17C-MeMtglMFzfNeefB9EEhyAdSeI4uESBRqxf2vZAFPUnweO3ORAzBhlHHBwf8qIEwtLyeVXeX8bCGCiN9XaQc39G2bW5LuljdX92N-thfz3Hxp9QOMJBiOKj9RgmUGxGyfro1US-R5qh2QbLaaGUnSGl8w03sCrWqu6rInqS1KF6RFIerdWZTceU-T8mIQjpZW0ex_JvcIbcHiXYYgqn3KFz-k-drJg0isDzlL10S1xJdBPmSfEpIkF2qHtSMw7u7wYsIYraDJlLxc_DmByJsqMuPQj9mKBfxumNN2VSTZw_YqxCSAZcuYSuMCrhoccIiWtEC_931sQRKUdRIPQA9gRYAbIbreaQUg9dIIpF662PSmjTTCK2W1-2tnA8bPM3S_lrpGKJdKnRC_uDuHEtlUXxWiFPedR-kP_DgrcVBoPcLBYGPqlVxtwLva6SYwuAaLs8z0hmnxFJvfSzWMkB4uDRtkwEY4iNM8Ft-Te2Elqgec-OKiImjTn1H3qiglIvjLszkCIcGgG4ZkdtoO_qeivh-sgJqxrf5WEH0xNbFzte078D1LCdErXfdLUnfMoFhJOCRnQ9Xr2YW11r0q2pEFgjzMuus1zmtd9zVeWCo0F9uxcNUzxcX0yvZz8mV5mjWIFtexvbjj4oiazvzzxflrikuAaPQHeBEqIbRf3EvaR6m2Y6_xLKxs9uZFxKPNUDbkg6e9g8ZZMfmkEvpijRZp10xo4VwUvOhhqQqrHy_DonplIOiq8w-YfNtO0Gwz4MdHROpnnmUhckfIWvE_DIca3pZBpq4D0_DJniCP85HCW41xU-56nXnEHIDqYIMgxDCv2rD9tzGnj0lEhFAF5wPWusYyChp_KKGMaz90S2rM93QhN7HPZl_xkDnHrnikIfAc8dlAoByrEiU1Y9RbXu7QDl_e4srUaxJTbecdslbDIEgFluY3HLoUBrbkbp8YHQAQn3-vApci2XP_vnUbQCkrM1ZoQXzWp99t8VGbC0xX8N-gXepnfmCC1YFWTC74JDgKghzcX4sSlNzuDVx28hkK_FrFxoJLQPDgzeLVDjXIWdeyYSJqzyDpUU99Xn1Xp7Uf0exnEl_M_hmZI5KWdHyOzTS1p3NdagnDZmJdIadzS5lP5VIZCTF48txPqsQopdmigDt4-KImkgZ6xNQevqBo6Hb5O2A3YsVsoM-xuyDuEIMjQdit8l_IeyJ6_hnc4k5qZZlAnshUkNXsLXc9Y2fnw4wiHCghPF8N7QKCTM9qBqY0Pj6AGIz6rwz_n7pWp-8DpnIZaEoIWU4EO1w5WbJtPr6EbZqzY3AFt84MW4fFQDfIk8ADW0VHUsTkAQGBUdKnQL-Vny40Wj57TWIMLiVzvCSCJAOWtrlyWBSAju0odBm0Y3j9_4KS7UT4564oR12N53yLeXjixJzI0BjtzPT4-3aJS5S06YME87DiQgZ7J900-pb446em532geKo0_ugA9-Xygm3B7XPyP1I4QPVYT22_6Lvh5QZR6VOTSGJ6hL4rimZr0tWT04QmxaKPbXIXTLKz9GpVbY9KlsH5yMPBqFX6KjM4jl1qE7rtdhTcL14rdY2zYWSWXBuZUkw2JjRDk7UA8xwJBe8",
  "id": "rs_045259c066ba39c9016ab45ae8ec2887d0bbcaa2804ea5779a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.24,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The safe is open in the middle, with a small pale plush to its left, a brown teddy in front, and a yellow object to its right. I’m moving the left gripper above the pale plush to line up the first pickup.\"}",
  "call_id": "call_elXEVfrhJLsrkS7kwEQkIue9",
  "id": "fc_045259c066ba39c9016ab45aecdb1487d09cad82553a7fdc47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_elXEVfrhJLsrkS7kwEQkIue9",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8978, 1.5562, 0.9707, -0.281, -0.6922, -0.6304, 0.9997, -0.0238, 0.7986, 0.6151, -0.4328, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.2301 left_z=0.1337 left_yaw=-0.0131 left_pitch=-0.0467 left_roll=0.0282 left_gripper=0.9997 right_x=0.2892 right_y=0.0003 right_z=0.173 right_yaw=0.0008 right_pitch=-0.0332 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -6.6256, 9.5385, 1.4725, -0.4664, 0.0952, -0.0464, -0.3761, -1.5385, 7.0222, 1.9365, -0.0757, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2896e498a34ae796e3552c2cba9e35611ffc695b6230fe3333a276b736eef17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009297ca3e890677e930bc7f5dfc00ec8dc922ec8e0b379a71c2abb08aab745f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e987411d6ba8231d0529c6e1f45ba262280982019eeacdf602b5c470c2041f0c",
      "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 · 4.826 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6071, -0.3958, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1776 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.347, 10.3179, 1.9658, -0.0659, 0.1734, -0.0415, -0.5128, -1.5658, 9.7436, 1.9072, -0.0269, -0.0269, -0.0513]",
      "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]: [-0.8978, 1.5562, 0.9707, -0.281, -0.6922, -0.6304, 0.9997, -0.0238, 0.7986, 0.6151, -0.4328, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.2301 left_z=0.1337 left_yaw=-0.0131 left_pitch=-0.0467 left_roll=0.0282 left_gripper=0.9997 right_x=0.2892 right_y=0.0003 right_z=0.173 right_yaw=0.0008 right_pitch=-0.0332 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -6.6256, 9.5385, 1.4725, -0.4664, 0.0952, -0.0464, -0.3761, -1.5385, 7.0222, 1.9365, -0.0757, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2896e498a34ae796e3552c2cba9e35611ffc695b6230fe3333a276b736eef17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009297ca3e890677e930bc7f5dfc00ec8dc922ec8e0b379a71c2abb08aab745f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e987411d6ba8231d0529c6e1f45ba262280982019eeacdf602b5c470c2041f0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFr18Ta_fQXabPffhslVlJtEIABTVRHU1wDZZIiQk_gL4DIQdtBMDydKS0xzYdf-GH48LxEVhwi5UBJf4J8_x245g_u3rfIiYcoy4cxhES-SQbisjDdeoTnJ2ggfEf7avvh9Dd6RAxgWCVrJ22b8oq06cFIbGE27Z7ExddEULmaNVORMYrm2JOU21I--SeTP4DEO96wdj8YEEPKnr3tk9IAYxeV014xL56Xt4Cagbmvo7a-be1ccea8hKTi08n5abxUl7rHNVoni3yRcWSIYa2u5NtFlOm5nBZ9xqI-SuFIQ_5aEBQ07DYiV36rIvSD8908fg7JudicSDUDMVG8RKPFFKd702l-3_2Lzw3ulZFDkDtmQ_SNxVLyrtrGVi9jroWxJN4_u7AT8cLECWCJPUdcYB8kREw2EqhLVAcYsyZcudj3WYdrwy3JaikloBMfySdpRIqIDTtKfKu45K1jEin7RNJBQ3Sev6Q_s4bUnsKnCKla8wxPd1lg2nxCJRQefp20P5G4jo7YtCQuPCX4ZjO0_2QV11Dc5rYmlqQstRjZiNyIhCQi0P8DpaJsBh9BrEgpngATbJ0qjaAjSWZMCKHlJnUpBvfgw2pcfJbbSStmfTd9P-Uogo4hliWKJdYGfNjLW0IcV6BXc7s-qd0qxfYAjd2EWVyVxiFIm2YwMkxUKEKM0zH1yRfJashvDTduuqghCw86mLryVuT_FZEgpkh38JMjpMR3XROZig0iYR6D7uGqKpwnRUYYyMILKoCYykAAmaBc7OQppNJdmn2RawjH2l0-abYZYvt5yr5aq1S6dr6CSFt7BHVI_gwMUyfMPxoViMVIpA2oyOYuMnmMZNZOrrRZCn9XeY832CR_5IaX2oPhYAg24bGGP6-Z4KKx6W9pYldEshjjPQUs--84bpt5jBQGXVahmTP0KS3dSUtMCADQ4bPAN-of11UOOOi8RE_IG3J4saKKcDFrbOlBWHj6LBDOq_NdSmhdIy6981BomFWktzHXkDFT6cc9IYAlE7nRmZqIRprMQRK-s8AHTuJmhYzXeJEyqNv-NoyoAfIo3yachHFzyc6upoPPl3D1wY6eT3rIyOFo5q3ZhpdZ93fGtqoHywGOT3TGy2J2iDr96aOze1uqFk9YAxIrQU_Of-EfiEkujmlnlql_aAQ3whr_yu8v0RPDUEP8HBW-bwVGpSy2CjtEpbNfCwJ7utJVR67ak64wGvg2zu8JAn0cmxGO0E6FnZSVAgdhruzpTfElvNmTd0DMXja1f6ILvTqJ1Ib0wmkiYst0Vxa2r9vK1EH5RqKoWvqww1zIBlLO3OTUhZFZAanFCVs1OzKC02SH12lP8j_HUr-b9gjEN1JUif3J60uOkQbiRd2jhhM5QB67TCX_u4y3XRYlShihFWATk9TV-FUAi0Gqa2iCezbDIM5SzEniigUWJiJHCQbN4FqZfDx4jB_dHzMtKRZLD8gb6dmR4RhWoqviQVOk1QxGJ_5xiEkHSJlJeWo9Ec0-jAm0xvyhgtyyP3dChE-DycA9cifQyovZJCHWn8UrUno1vGCN6fdR5V8MFRnsDbcfahCxtPLeBhCGdnzYUGHXY1PHfp6diffDwTu7j8Y7RHtyfrH5bUw_HuUtcnFjcVjLmTvnz3rNpD0xXJ2CRNNTJ6CU49oNFaXRksyNdrorcG1fxbw1JT2rRccviUKR-d-sz7YCA0Z9QbbbYRu__QfC5ziuOWl47VFRdej5MvsLjRcCZI9140VMln6oZDqyypk50IW7SdpOdhaOqPnSLHXWe1loRHBWnNhFum7cMJ0UUcL0If2ZckPGUZKfNYKYlMapPBQXrM14=",
  "id": "rs_045259c066ba39c9016ab45af2960487d0b8492a1aab1032d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.208,\"left_z\":0.035},\"note\":\"The pale plush is visible just left of the jaw column, beside the safe’s rim. I’m shifting slightly left and lowering the open jaws around its body, staying outside the safe.\"}",
  "call_id": "call_RrOBvySPkiBAqGQ9Y9Ej5pus",
  "id": "fc_045259c066ba39c9016ab45af490b887d096d0293ff8471cac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RrOBvySPkiBAqGQ9Y9Ej5pus",
  "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]: [-0.8356, 1.7245, 0.7128, 0.1162, -0.6533, -0.5789, 0.9997, -0.0238, 0.8024, 0.6151, -0.4549, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=-0.2021 left_z=0.033 left_yaw=-0.0038 left_pitch=-0.0899 left_roll=0.0716 left_gripper=0.9997 right_x=0.2862 right_y=0.0002 right_z=0.1676 right_yaw=0.0008 right_pitch=-0.0591 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -7.1863, 4.9299, 1.6386, -0.2906, 0.0806, -0.0122, -0.1983, -1.5521, 7.3231, 1.9414, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ad15b4530e5332d9c1d9b11d8704cd0f59ebc7a9470ef0d0f5f42971b66722",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a5b16ec7bb1e68124c318339d958e3ca606f4ef465b498ba676a5b2798ecf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2d17ffcdc8f4dc73b04fa33b8f20accd928b34c6a9a4a52de3649d0c6c851c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.677 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]: [-0.8978, 1.5562, 0.9707, -0.281, -0.6922, -0.6304, 0.9997, -0.0238, 0.7986, 0.6151, -0.4328, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.2301 left_z=0.1337 left_yaw=-0.0131 left_pitch=-0.0467 left_roll=0.0282 left_gripper=0.9997 right_x=0.2892 right_y=0.0003 right_z=0.173 right_yaw=0.0008 right_pitch=-0.0332 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -6.6256, 9.5385, 1.4725, -0.4664, 0.0952, -0.0464, -0.3761, -1.5385, 7.0222, 1.9365, -0.0757, 0.0171, -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]: [-0.8356, 1.7245, 0.7128, 0.1162, -0.6533, -0.5789, 0.9997, -0.0238, 0.8024, 0.6151, -0.4549, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=-0.2021 left_z=0.033 left_yaw=-0.0038 left_pitch=-0.0899 left_roll=0.0716 left_gripper=0.9997 right_x=0.2862 right_y=0.0002 right_z=0.1676 right_yaw=0.0008 right_pitch=-0.0591 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -7.1863, 4.9299, 1.6386, -0.2906, 0.0806, -0.0122, -0.1983, -1.5521, 7.3231, 1.9414, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ad15b4530e5332d9c1d9b11d8704cd0f59ebc7a9470ef0d0f5f42971b66722",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a5b16ec7bb1e68124c318339d958e3ca606f4ef465b498ba676a5b2798ecf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2d17ffcdc8f4dc73b04fa33b8f20accd928b34c6a9a4a52de3649d0c6c851c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFr7nKtJSFyr9Vq9H46tNkwa_dtYLB3v1r10ZK8Hou2Rfiwn6DQbkNPByqcBLaMplgEmpNfOzZqsmgK-wlScnYbEzBVzBZq28_gH9_tPBRhrtiB_ESG6DSddfZug2Te8ZzQTRaqTBOs0ZdLDGxoTR5yQUjVdsfVQ-3Ymv0_6RCWgcyjCnOU7zV9DXylJvyQTS0MjB4fjmc0bSwscsfZJeHJqolB8-_0SWCyGRsrLWk85XceHC_7N1SYwSxTr0pG7Z1JVEwrnhn-P9bW2tRrk0npdr48gsUfF5vVRgMsnXvNzNFkcH1rh9EhoAPLxuEvOQ9fkEw4fFsX4Dh1UEehqNj0JUGgw1Gt2bL0Ph5igIL2TFnxt4ns6Ub2Hp8rG8YMCufw6zoVdESZBW5B7ZdVxVJh7vsl7lNNaqVQrrm1vjZoezYRwIAfv3WeoTfZBWqOHTt-hvoTeLqDNan-7PS3MgTVBCRqLg8bg13R0jC3vgYk81n85CR60HCDrpZ5e_dwb6ZBTlz8HbNrfhd1NBVqqHjxXyE5sT_zYsvOlTETBAD5buDH2OhdH8Nyqxeo9ihlwvUQkLRxXkqw6_-ip0YmqXyJze9QhF_Ovaw2R3XhH0eFBGSQpxopgAfDhOcay3pVcJqNVe5CgfTrYPP6zUBH50aKdh1BzLukATjjlCd_ZJglPp6znNV6TmSPJraJLRKKCVZWkMv8wlYyETBtCo64len_1QTh0xRp-eGm6sxROzWx9qC8LlsrPZVZ7FY9yKmgsCwwnuls2P5jltvBYroSrVpQ0L-XJ-l5Xc6VqzKPyQTGBCMcqA5m3HrLSucLu9vty9en5MNgrANfcgjhhb_F6nCrWMYmUjoNo-2CmGO-tPc7M2gHOiZOtPKz4RVfcPZqkjGHSxMF24ObtaxPVPAiCsLw5gZM3lTMscUDlYFPJMDcjRbz4r1XdHW6ZLcpp_h2IYuVjyPX0Bh_Yuob_rRrWJbkWQ5MziDoT7uO6LvOkWiu9HK8xMQWj3Lwn4d_q0bqeUdq-FZKKMgRKxfagNAO3Vyci5gH9mNnECKERXHOGdawMUkfpM_ib5VOD6I0_6_MALzw9vmcd9g2dtO2z0ac2tTOGZNgFsb4oF-i8V74AaF9A4cVKK-jfWNxiLKN23YXMlFT8yLcXbr7LtD9RP3zJ1REbVyJMKjUQCKNfpBFHvp_TQPCdPgaaaVb_w_Zv-NK8lq4s-bmBPqkukCNU9Ei_8f8zi-2NiKUxGR6394dhETWTeXz9yb1hsNPIwpLKpptFNQSo0VzgaSBLHHViQifpxx7d4suV33siiamJTp4lwfyADfbgxv55W7v5p5C2-pqkzwUCQRnxvbkiebwnNaDM0SJ0Wi-f-XOW9jKwPM53MmtNL8qOUMzqmh4W1O74rEBVGqoRCSHVvMbwxn_SLM5ILmUBmVIErSpG47DgX4W387mYS1A5f2X4K6_n_xFqwPvVi_v3qkIAmMF69-VijKNsME5K7hnzXP3PYfoIKLzGFHKmokePb-N-txs4nCtbKFlXN6mGvO7vQRn4FHQUhIavyHBTx9p2japbRplW2zBqBqD58wc=",
  "id": "rs_045259c066ba39c9016ab45af89b5c87d09e759d54def345d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.19,\"left_z\":0.005},\"note\":\"The plush’s body is between the open fingers but remains slightly left of center. I’m making a small sideways correction and lowering to table-level grasp height before closing.\"}",
  "call_id": "call_prNlVgokxuFF9w5wtHpmk1na",
  "id": "fc_045259c066ba39c9016ab45afa103c87d095c468a0a430e69d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_prNlVgokxuFF9w5wtHpmk1na",
  "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]: [-0.8207, 1.7622, 0.6651, 0.2523, -0.6483, -0.5774, 0.9993, -0.0238, 0.8024, 0.6151, -0.4561, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3366 left_y=-0.1995 left_z=0.023 left_yaw=0.0041 left_pitch=-0.0584 left_roll=0.0328 left_gripper=0.9993 right_x=0.286 right_y=0.0003 right_z=0.1673 right_yaw=0.0009 right_pitch=-0.0602 right_roll=-0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.7863, -5.0393, 4.2051, 0.3492, -0.0757, 0.5397, -0.0757, -0.1846, -1.1966, 6.9812, 1.6777, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279e2cd5df8ef79e25774f29f4ce43f17e16a30f6d947834316c6eeb4318c8a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313fe4e8de35c180a8e844395550bbf45099baed53c64b91839218ef091b7290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b975549bb9fb2d78ddb598cf18cb2089d1398fc1db49419bcfd4bad20fa41706",
      "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 4 attempt 0 · /responses · status 200 · 3.578 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6071, -0.3958, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1776 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9997 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.347, 10.3179, 1.9658, -0.0659, 0.1734, -0.0415, -0.5128, -1.5658, 9.7436, 1.9072, -0.0269, -0.0269, -0.0513]",
      "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]: [-0.8356, 1.7245, 0.7128, 0.1162, -0.6533, -0.5789, 0.9997, -0.0238, 0.8024, 0.6151, -0.4549, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=-0.2021 left_z=0.033 left_yaw=-0.0038 left_pitch=-0.0899 left_roll=0.0716 left_gripper=0.9997 right_x=0.2862 right_y=0.0002 right_z=0.1676 right_yaw=0.0008 right_pitch=-0.0591 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -7.1863, 4.9299, 1.6386, -0.2906, 0.0806, -0.0122, -0.1983, -1.5521, 7.3231, 1.9414, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8207, 1.7622, 0.6651, 0.2523, -0.6483, -0.5774, 0.9993, -0.0238, 0.8024, 0.6151, -0.4561, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3366 left_y=-0.1995 left_z=0.023 left_yaw=0.0041 left_pitch=-0.0584 left_roll=0.0328 left_gripper=0.9993 right_x=0.286 right_y=0.0003 right_z=0.1673 right_yaw=0.0009 right_pitch=-0.0602 right_roll=-0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.7863, -5.0393, 4.2051, 0.3492, -0.0757, 0.5397, -0.0757, -0.1846, -1.1966, 6.9812, 1.6777, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279e2cd5df8ef79e25774f29f4ce43f17e16a30f6d947834316c6eeb4318c8a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313fe4e8de35c180a8e844395550bbf45099baed53c64b91839218ef091b7290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b975549bb9fb2d78ddb598cf18cb2089d1398fc1db49419bcfd4bad20fa41706",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now straddle the plush’s lower body, and the descent has stopped against it or the table. I’m closing the gripper to secure the plush.\"}",
  "call_id": "call_rAQNZc1nM9TNElAD3fd3iBBh",
  "id": "fc_045259c066ba39c9016ab45afd12f487d084c6737e5ec77a01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rAQNZc1nM9TNElAD3fd3iBBh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 1.7748, 0.6476, 0.3298, -0.6777, -0.5541, 0.0471, -0.0238, 0.8024, 0.6151, -0.4808, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1949 left_z=0.0265 left_yaw=0.0213 left_pitch=-0.0111 left_roll=0.0315 left_gripper=0.0471 right_x=0.2823 right_y=0.0004 right_z=0.1625 right_yaw=0.001 right_pitch=-0.085 right_roll=-0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.6684, 3.8085, 0.9792, 0.1197, -0.0269, 1.033, -0.2256, -0.6906, 6.9538, 1.8877, -0.0415, -0.0269, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452f80ec582fbe37143199e966a7a26ffc1addc5bbcced34dc2de13e64f5d472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13384ae89b840b127542661a3b81b6a8b04590ac04afefeba5d2a2785bf8c2c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720e927392a6022904b78f2da31d816e26dc5a81f0481d054547ab90fb2664e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.999 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8978, 1.5562, 0.9707, -0.281, -0.6922, -0.6304, 0.9997, -0.0238, 0.7986, 0.6151, -0.4328, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.2301 left_z=0.1337 left_yaw=-0.0131 left_pitch=-0.0467 left_roll=0.0282 left_gripper=0.9997 right_x=0.2892 right_y=0.0003 right_z=0.173 right_yaw=0.0008 right_pitch=-0.0332 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -6.6256, 9.5385, 1.4725, -0.4664, 0.0952, -0.0464, -0.3761, -1.5385, 7.0222, 1.9365, -0.0757, 0.0171, -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]: [-0.8207, 1.7622, 0.6651, 0.2523, -0.6483, -0.5774, 0.9993, -0.0238, 0.8024, 0.6151, -0.4561, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3366 left_y=-0.1995 left_z=0.023 left_yaw=0.0041 left_pitch=-0.0584 left_roll=0.0328 left_gripper=0.9993 right_x=0.286 right_y=0.0003 right_z=0.1673 right_yaw=0.0009 right_pitch=-0.0602 right_roll=-0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.7863, -5.0393, 4.2051, 0.3492, -0.0757, 0.5397, -0.0757, -0.1846, -1.1966, 6.9812, 1.6777, -0.0513, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 1.7748, 0.6476, 0.3298, -0.6777, -0.5541, 0.0471, -0.0238, 0.8024, 0.6151, -0.4808, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1949 left_z=0.0265 left_yaw=0.0213 left_pitch=-0.0111 left_roll=0.0315 left_gripper=0.0471 right_x=0.2823 right_y=0.0004 right_z=0.1625 right_yaw=0.001 right_pitch=-0.085 right_roll=-0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.6684, 3.8085, 0.9792, 0.1197, -0.0269, 1.033, -0.2256, -0.6906, 6.9538, 1.8877, -0.0415, -0.0269, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452f80ec582fbe37143199e966a7a26ffc1addc5bbcced34dc2de13e64f5d472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13384ae89b840b127542661a3b81b6a8b04590ac04afefeba5d2a2785bf8c2c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720e927392a6022904b78f2da31d816e26dc5a81f0481d054547ab90fb2664e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsClq_cuB9f0hPFRdAvV4yvIpyR7lKR70DKQB8n1a5Dm9hWc92OuxqdtgkFvkTYdXo5laPynk13A1zAdrftyEOZUcWIqkrXwlDnRp05V7kH_4PiLlS0NeEXVHsCPQgQvk8Znbm-44XqikgvAjKhVUpu2fbgw9uN_mU3_Owdxe1DtsvPwKqO27Oq_nULgGHOcTSVDxjqvQU1NnQJMH7GaEcFuSvEEsDzKKP7vbccLS8-WKuMi-jw1-6I7AMSkb3sm_lmp9IZKBfGyr1KcFCjeW1If8YIA5mA8vCHnb7QlGy6SC6ytteUYR0fYV4LL4I3UdcAiTRR9iS8xvn5opPfWB6BO9BqIi6NIehwtVvDItFcI6L5vGiEYojyRiYwzn8rcm5BXl4x8REdopfK4aE3_WCPBBLUP_4k2s80FYqG0T3G5z-PxQWl8oOYqZ30GYv-FBTKe6ZETXnsMgKeDZIuHKjVmBmpRvpbURS73R1XmdWrAm1iVOExDTYeBac2AMeups6q7Y1R2Vgdt7tbPNZmS46a0yp-53CWrbY9SAGYBaqEIIK6q6tIMlRoYgtusk61iT6l-nOR2Nghc39VoEAGC9K8L7YnL3u7xidrbcWlNLRhUnEwrbyw6owyeLVyU4t2le7_1sX6nVmHmlKjxiMnfe6SsgJzYOXUQEi9tZ2xquUi-J7ILdKmepHKp4dnCdFFXS9nz9Yfm5LzsFTlKgKWlGpBL-8JUrElJh3eAxTDWNj6JC7wT2mmCkAw-HpIkIzKr7UEQwgfpkCeFKF6hvVwHe4AMUUwOVtVxIAZhXq544mIg4mku18T74vnir-3P1QD21W1BruJO-VabXG3vbLJFlNuuRQvzJTyf5tQHhwxBbQFoaHZqJ08m9c_vbC8fKycV7zuQ7Rb9d1U7nRJwMBfzYCEIntb7genaalePHT2GanQEhQGX3m3lf-r3-nrFcLMkdkN_9AlQ-9nh_k88hu9BibMnOjJfk4P76DOvJ272UY_HgJjjLeiUov5RNJrxPesa-AqY0HAAPM5FWAAU_Y6DB63yqOLQXHqT7sHcDpSZ9fwazBM02JJsnDATLwWHqxRfJ7genfL0NGqF4gmPp52PjF7_EDAHvpM2u_EaYaEcm3nnt9kJwjpL9DZdl2eXP-H6PDG-TFeRHrTsK_arNg0k-t5bSnff72h61omtJOzqZCoTRuh06KEn7O9v-jOPSpdsknA9b-Cefnnuj_A0lqUj_PfQ2L-C2RNL7gSnEEr0eJHk-_7sfKGoLhz87Q-Kicv-jtJ9D7jUW0aNHN6gTVqduF8NIsr0sk5hrDA_RmYcvhVBwzExphWpNE6GDBIvOjK-ImqTeAaRrFmeEdqrvrAD4aB57V56yEw2ZgpIPM27OZEf8sSudZsIsGPMPkEVNsW0u5nsB4Vcf65RH503Azl3hckMB3zaa5ip3BGISdlyh0IYkiZU_7xTLnKz1h2GU6QTz8NbWJHiDCILpNbzZiKoyB7DdQcmQ85HYnhJsmu3dw2gv0=",
  "id": "rs_045259c066ba39c9016ab45b00698887d0b5283ceed8646e47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper closed almost fully and the safe shifted slightly, so the grasp needs verification. I’m lifting a few centimeters to see whether the pale plush comes up with the fingers.\"}",
  "call_id": "call_n3W5sOGZxAWoTHdca4JXV9jj",
  "id": "fc_045259c066ba39c9016ab45b0165f487d09dca23379a8e947e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n3W5sOGZxAWoTHdca4JXV9jj",
  "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]: [-0.8101, 1.6279, 0.7086, 0.0349, -0.6609, -0.5617, 0.0494, -0.0238, 0.8604, 0.6586, -0.5365, -0.02, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.1865 left_z=0.0552 left_yaw=0.0168 left_pitch=-0.0788 left_roll=0.081 left_gripper=0.0494 right_x=0.2825 right_y=0.0004 right_z=0.1559 right_yaw=0.0016 right_pitch=-0.1552 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.6615, 9.1966, 2.0049, -0.5104, 0.0415, 1.033, -0.4308, -1.5111, 10.0034, 2.0098, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b5231a3e9d5f9f5b77997ad361365e05a15fa344fe1488c2c7c480ca8949d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdaafe1f85d71f8845310ddf03997500e153bc016882a65d5324128dc43a18e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb52284b1805f384a6374c8f097febc82d46c90623751daaf167ddf45f411bca",
      "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 · 3.693 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8356, 1.7245, 0.7128, 0.1162, -0.6533, -0.5789, 0.9997, -0.0238, 0.8024, 0.6151, -0.4549, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3323 left_y=-0.2021 left_z=0.033 left_yaw=-0.0038 left_pitch=-0.0899 left_roll=0.0716 left_gripper=0.9997 right_x=0.2862 right_y=0.0002 right_z=0.1676 right_yaw=0.0008 right_pitch=-0.0591 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -7.1863, 4.9299, 1.6386, -0.2906, 0.0806, -0.0122, -0.1983, -1.5521, 7.3231, 1.9414, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 1.7748, 0.6476, 0.3298, -0.6777, -0.5541, 0.0471, -0.0238, 0.8024, 0.6151, -0.4808, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1949 left_z=0.0265 left_yaw=0.0213 left_pitch=-0.0111 left_roll=0.0315 left_gripper=0.0471 right_x=0.2823 right_y=0.0004 right_z=0.1625 right_yaw=0.001 right_pitch=-0.085 right_roll=-0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.6684, 3.8085, 0.9792, 0.1197, -0.0269, 1.033, -0.2256, -0.6906, 6.9538, 1.8877, -0.0415, -0.0269, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.8101, 1.6279, 0.7086, 0.0349, -0.6609, -0.5617, 0.0494, -0.0238, 0.8604, 0.6586, -0.5365, -0.02, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.1865 left_z=0.0552 left_yaw=0.0168 left_pitch=-0.0788 left_roll=0.081 left_gripper=0.0494 right_x=0.2825 right_y=0.0004 right_z=0.1559 right_yaw=0.0016 right_pitch=-0.1552 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.6615, 9.1966, 2.0049, -0.5104, 0.0415, 1.033, -0.4308, -1.5111, 10.0034, 2.0098, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b5231a3e9d5f9f5b77997ad361365e05a15fa344fe1488c2c7c480ca8949d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdaafe1f85d71f8845310ddf03997500e153bc016882a65d5324128dc43a18e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb52284b1805f384a6374c8f097febc82d46c90623751daaf167ddf45f411bca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsFB7qKTS8fbazKTJJQN6DNyNW_mddRFAg2ixHJbKrxr5kTmldzcRsrehZ9mn4L9mQgdIka75zkc7lT2_F-ZxBfDr3JTVZeoULChgwHw4EUlNVChMDDprSsT_zw2tAO-AOzQSINqOVdPaMR7qYOxa0cJ1PaIrCK0G2U8KivR4ikG-X1PkMtFsSudzI97JYflkeMe2y-gUiA4IRgypLQ4tJnOVcSmqrSb_fsDb_jMBZs1YBjqApFazRe95W6dq8TYz38TaLJcwUGKMB6A33LNFEQ5H4I_LE6PGGvhwLiMlBkqngjhvd-Nl46QWy3XbSarWcT-IHldLwhX4NOiGfBH1bC6zac69qNk8szRsSL1ecuTcL8qNUnEkBP0GndQdfXn-3GtG0Cdv5pjL8eMbUMEoe0Hc1M9CzK7uRXdQ0ppRdeWn2PBYlixQykFSArkzZjJIQKcVuksbZGJdjGN6aZ-F4vPjXOicgevRfla3JJCG8eGQA4cvmQKGBedUyHSZYNPW1Q7zbFRtw70v6ANg-vMYJZi4CHpyiUZSQn1rEpvQ4qZUlULDT-ZrMUAjQ4WL8hZFcQNESE2RgVCkUh3IUn-8FT96Ov39Tq7uMHnKPSTeThHCj93UVPTWJMzPlmv-GzbsCIJx7Ii1cN5r3ICWMomzIvX46xUf74VnsopefSzLK4JzUhe-70oGRF_2I5ksg899bt4tce-IesX4LMVzm5qVpYcumR9cFDvxA0hP4poX5VBcTTVi2YSja-u426TQYPC28iXOjFDgrzsQ0cvrR5uKTMMPMNnlfsUxN_jjIl4ouXIdc1t6jH0YTCg3qLOfYYeePobk-kTFLJgQRY5k3reOM1W_FRa5U9rbrWefJN-M9hwhVRi-_0wOTjnzBb8oJP9uA1IeHXkQPsgnkd1Nof8AO6vfsNEhwOthCdaGEeYun5Yp-tuUOWeXboJfR1GdiC8HsDL-AfKg9lIhn6ihmMqcqlwlUeQAVuNu0gGqGjGJpvSQz6BSnUVWb7ZvJsNgu2XCm3hBO4AU22xMxmuGpGtaC-6Ty5Bf6-ZBoWZuOit_utOYdjuq3uXl9VDnBvJHtM-cEK7_xuSk5-BblOM8wqYyVON9TGQqDknfGBFCLzYaFiTjBc7eF8Zyn6219xpOl9_qx9w1NB8jL0x69UMW_MpZBfj7andmThLUfCkGXHTXultTTxZWMj273ArmU6HjSMYS8uUN_gAYoEIHQvuPYv4fx-1qwk1Es0jOmT8fl8sq1IxwZdZYucnNvUp9Tz7UwL5ZyWImcLshk2DkgPaEtyz0yBwD3nb-zEDxg_YRHnHpOg7DJf_eEMiPt8OrRU66ivfPYfSMa-DigAIknnGFQkKlbWAZp0QJD5jEvmcj57chNBh4kYJVlZOdmOkOp9oqFPC9mQQSTFeaO5g1JybL2T7fCTL15O2eLMuan5WNpaXXW_IUo=",
  "id": "rs_045259c066ba39c9016ab45b043b2887d084eb78b40879cbee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.04},\"note\":\"The plush has not lifted independently, and the fingers appear caught on the safe’s side rim. I’m releasing that contact before repositioning farther outside the safe.\"}",
  "call_id": "call_H4cR8PbrpvTI8EXOU6ty2Sox",
  "id": "fc_045259c066ba39c9016ab45b050b2887d0920b0a2a9264b916",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H4cR8PbrpvTI8EXOU6ty2Sox",
  "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]: [-0.8101, 1.6699, 0.6865, 0.0753, -0.6552, -0.5655, 0.9953, -0.0238, 0.8631, 0.6617, -0.5674, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3296 left_y=-0.1849 left_z=0.0385 left_yaw=0.0166 left_pitch=-0.098 left_roll=0.0925 left_gripper=0.9953 right_x=0.2779 right_y=0.0004 right_z=0.151 right_yaw=0.0012 right_pitch=-0.1857 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2564, 4.9573, 1.7021, -0.3541, -0.0024, -0.0073, -0.1162, -1.7026, 6.6393, 1.8632, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b83e05bc5bda8a9e9b00587cc3a18a9c9d8994cb0de62628af5293e00a6d59a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025a8546b8e81ec8874a51aa419fb5ddbb6449b1b306c5f92b74ac71345eedf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1371f17f35bd49647ded7659b03fd0a5d00140845f72a9fe669863a97d1d51b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.212 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]: [-0.8207, 1.7622, 0.6651, 0.2523, -0.6483, -0.5774, 0.9993, -0.0238, 0.8024, 0.6151, -0.4561, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3366 left_y=-0.1995 left_z=0.023 left_yaw=0.0041 left_pitch=-0.0584 left_roll=0.0328 left_gripper=0.9993 right_x=0.286 right_y=0.0003 right_z=0.1673 right_yaw=0.0009 right_pitch=-0.0602 right_roll=-0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.7863, -5.0393, 4.2051, 0.3492, -0.0757, 0.5397, -0.0757, -0.1846, -1.1966, 6.9812, 1.6777, -0.0513, -0.0171, -0.0122]",
      "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]: [-0.8101, 1.6279, 0.7086, 0.0349, -0.6609, -0.5617, 0.0494, -0.0238, 0.8604, 0.6586, -0.5365, -0.02, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.1865 left_z=0.0552 left_yaw=0.0168 left_pitch=-0.0788 left_roll=0.081 left_gripper=0.0494 right_x=0.2825 right_y=0.0004 right_z=0.1559 right_yaw=0.0016 right_pitch=-0.1552 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.6615, 9.1966, 2.0049, -0.5104, 0.0415, 1.033, -0.4308, -1.5111, 10.0034, 2.0098, -0.0415, -0.0708, -0.0122]",
      "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]: [-0.8101, 1.6699, 0.6865, 0.0753, -0.6552, -0.5655, 0.9953, -0.0238, 0.8631, 0.6617, -0.5674, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3296 left_y=-0.1849 left_z=0.0385 left_yaw=0.0166 left_pitch=-0.098 left_roll=0.0925 left_gripper=0.9953 right_x=0.2779 right_y=0.0004 right_z=0.151 right_yaw=0.0012 right_pitch=-0.1857 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2564, 4.9573, 1.7021, -0.3541, -0.0024, -0.0073, -0.1162, -1.7026, 6.6393, 1.8632, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b83e05bc5bda8a9e9b00587cc3a18a9c9d8994cb0de62628af5293e00a6d59a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025a8546b8e81ec8874a51aa419fb5ddbb6449b1b306c5f92b74ac71345eedf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1371f17f35bd49647ded7659b03fd0a5d00140845f72a9fe669863a97d1d51b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsKP_-WbzQeQLsJAEchiDRWig2kMLWbVOg6PWVImGmBtXDDD4xtfzdpc8HWGZC2Ok7YUu6RGQuWsmapYrCGSzcBpe_vgDHT6teTSpQxf1VAdtqrO_MBBF9Bt0BZrKdnRemH0kDgW1Ri68SIBX4xwUczE8AYx-JMAuSZDfnaYvZarhfaT9iT_1imGDgj0SlteTC59KHq7uGGunyldFYawpUVt8H49NDsD8AUKEsObeQF2PMgJEyAfayQcf6exWAuiv2Ag-cvav8TUzxKhha_sMmKdccFdaUeXJf0A_DMNOlHhD1xjtlyn0Lf3MHSHYpypn7IprjCMFTGLzPnfCVsIYCjTUw-kEt86PvNM9IWnXLBiDT7RxXSlAN4qgzu54UyOzhdROvYW82hkPXwNAh8CC-2fi1ISsomTbEx2bRmwLoThnbHx9T7A6Z7RvFUewCRnmTgSkT99g40ueeFFxZZ1VLNKiFSYraZPD331wrTUHP97Qh4cQAHb3DMB-XIdMqhrBMw7vIxIKiFftnwyhymorg6yPk2FVFbbEeQM69iUJM3x-iT9L3jyFXoT95Ave4xlKxpx5lv1lXY_Zl9k6PW_L6d6gqyAkStmSVqzqRKbm9Mmu-nM36y-j0BsNvzKwfIGKeIWydSKCQwDHAchIp480rF72F4Z7cYHQ4pD7d_6xHNgFVuRfkPS-qrFw_agsQxiyzBU8aPt-DoSi9KXkkN0wUDTft76e439TuUYT4BHy0dcpma23cO6CumKh_Vr6eIJ3YDFeZBngec4QGItYBIlOI0fsp6emi0reWaHAxRzdt3RYnWnj4ExZiLDNYvtp3EjqScRlGH8NSlPJGVJUvzv7Nup9eNwE9P-2ZWnfthRjy9C31FV6wcnnHtJhiBYekDE01gHOhT5ZDGeHBVT7aMhO6iUwFvHvH3WxRQZ_HxRQ5YVU7XOF7oXTHO89tC-lnz4otdn_1oklNpLrt0zJIYlByoQRWWw902SY6--ES7nIZ_9uZVuUKiIbTM2z9qjCEwdFXXwhCH1o01_XSGScLrVO4yiyN19kO1VoJ0Wy553Y8Cuud2SGSbIr01wD5WFg-Xp0V4tgl2iUyB96r18WAeAaan3xsG0wK_dBmV9buo2sl8jn6MQH-4qTH3IwXMk2VCfsuJuP6TbTPlFO_zTHgWK1dytuQxpX336fQb9dOh2FFcr8SXo1KnBkupwgZfkS-X8TEETWFIxKcTm3J13nh2SRtVFe2oVyDtn0dsfpvnQQ2nUDhen7L4EmMylUSJ5E6x5eQjomEzw-H_E0QxUxU8t3fMensiXW_GFqB5AIG3W-T-OerztY-fmz7Eq4QVqmBQ8rgwls84EhPr19rRxvBa2tBq8EaV7fUMXMMeC3xZLk5fPVbWvTf81I0ZzPmlcMtN5IFxDFiYX-O6nIv2Hc9GwtEHV58jaIeMffg_l610K7hhWQkQ7dhOBC7yDl_xQf-Ny_xRUe2hjqWmVm5hIcGcL7Un1A==",
  "id": "rs_045259c066ba39c9016ab45b0827e487d0b928206ef805ec49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.145,\"left_z\":0.085,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The released plush is now clearly separated from the safe, on the left side of the wrist view. I’m moving the gripper left and slightly back to center over its body rather than the rim.\"}",
  "call_id": "call_PqiM4kANUwElHj2UlL7DpkZl",
  "id": "fc_045259c066ba39c9016ab45b09509887d0a6c14fcbcdfc4e4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PqiM4kANUwElHj2UlL7DpkZl",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7483, 1.3872, 0.5339, 0.0864, -0.6319, -0.5274, 0.9963, -0.0238, 0.868, 0.6617, -0.593, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3162 left_y=-0.1463 left_z=0.079 left_yaw=0.0355 left_pitch=-0.0137 left_roll=0.0093 left_gripper=0.9963 right_x=0.2736 right_y=0.0005 right_z=0.1453 right_yaw=0.0012 right_pitch=-0.2162 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.294, -4.2051, 5.7915, 1.5604, -0.0806, 0.1978, 0.0952, -0.0752, -1.4564, 7.0085, 1.7998, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876a7013e006542963c980a59955d626e55ca328e709f5445188005787845ba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12761f202fef5fee4ed474985e7d23d435b8374781171b50b9a354dad97f448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d990b9c0cf49d0cedf05367cb71fd5765c564368ecf3ba9d797723b1c71683e9",
      "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 · 2.28 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 1.7748, 0.6476, 0.3298, -0.6777, -0.5541, 0.0471, -0.0238, 0.8024, 0.6151, -0.4808, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1949 left_z=0.0265 left_yaw=0.0213 left_pitch=-0.0111 left_roll=0.0315 left_gripper=0.0471 right_x=0.2823 right_y=0.0004 right_z=0.1625 right_yaw=0.001 right_pitch=-0.085 right_roll=-0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.6684, 3.8085, 0.9792, 0.1197, -0.0269, 1.033, -0.2256, -0.6906, 6.9538, 1.8877, -0.0415, -0.0269, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.8101, 1.6699, 0.6865, 0.0753, -0.6552, -0.5655, 0.9953, -0.0238, 0.8631, 0.6617, -0.5674, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3296 left_y=-0.1849 left_z=0.0385 left_yaw=0.0166 left_pitch=-0.098 left_roll=0.0925 left_gripper=0.9953 right_x=0.2779 right_y=0.0004 right_z=0.151 right_yaw=0.0012 right_pitch=-0.1857 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2564, 4.9573, 1.7021, -0.3541, -0.0024, -0.0073, -0.1162, -1.7026, 6.6393, 1.8632, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7483, 1.3872, 0.5339, 0.0864, -0.6319, -0.5274, 0.9963, -0.0238, 0.868, 0.6617, -0.593, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3162 left_y=-0.1463 left_z=0.079 left_yaw=0.0355 left_pitch=-0.0137 left_roll=0.0093 left_gripper=0.9963 right_x=0.2736 right_y=0.0005 right_z=0.1453 right_yaw=0.0012 right_pitch=-0.2162 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.294, -4.2051, 5.7915, 1.5604, -0.0806, 0.1978, 0.0952, -0.0752, -1.4564, 7.0085, 1.7998, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876a7013e006542963c980a59955d626e55ca328e709f5445188005787845ba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12761f202fef5fee4ed474985e7d23d435b8374781171b50b9a354dad97f448",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d990b9c0cf49d0cedf05367cb71fd5765c564368ecf3ba9d797723b1c71683e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsOOn1gcQiTwZ7mAYjhh16Q7Uh2QUTebWuqabPRomzs4MI4Cu1gL6boVMlOeKbjJrtgWxec0TgEkarHypaNPeKgzONy5y-GW2GW-9HShO9--2grO_E21wzxiMde63kR8C8aOkUg-9aX_4e6-4nprHM6DgOfn6JGWyJXOvZixRQEvncEpym8t0x5pTI_057cMLsFwXQEJmTgOnD2imBUmIlf7_-IAG3KQh8Ev5dKcWBHgCxhyIsntKMJNCmwIH-G_xXqzXew4ZtON27Um7lKBpWuOR8QKRbGXsD4fPCDDLhUgxat7BIj0nr_UskhJOMRuwyOTcHvj_zMKa4KFt7dBJHIOcZFhfOAqaZemGXzcUMvclLttCPyIA9p1bU-CPWOM0MDy5BuXjnkQVW-_tXT5KVOyuQbXOSkfffsa9Q2A_f9Jw8nlwAd00bF08IoavtRMLhGj6I11GM900Ky3P0M6AeTJnty1ulnf_bwfeBreJkBQM_Ae7iJDGOUg26Q3BgQ-R9Buc3BQY8aPnMR6odDsmM8z1Oz4EL6SSsT1dE95rf0EgPzfpjFQrLo5-1UqTMUH3wW7UWtfEl-d4-8jVzY7_xVnCLjJ7cMSfYv42l3uR5RRCA5Xw87Zyu-qyUH_2fHu_vI_U6pUAHY_qp035HDOHtcOTaZReJfCrkS18PWkM-bwG7sOmIDp-pfVo2tlrW1W1aWiR7tWaV7E_zhCv-vU7CTZs3b69J9HDL4aYOirHO_WN_9i8-pag3fu2IqPHU4W8-Lw9KJZHeU7cbySfZreQMUOIY7qmGo6DSDkzF1imNXb7bK1t8KmSwWYS8Zt-Ze_hRA-RPFDmtdhWrL68j7REG_2db-AMf4v0fihJ3YmDn6b6QwprUsGx25ulgPwJnJREVXdFVXGcjKhX5eWS2ginePJiSf_CJcIPdq7ADjSlHCIQdqhNtHj5KVte9elBa6yi_oYU60si7x2xitmvgBThReK4_qA2_PfBWj1r66Kl2oOFJEaSZJQ4kMmLreOLSb8R4Oa1UK_4EKMtM4cuJu8m1N6T02dzp3B7PlP3l-WCtXFLdpXNz91CU_iif-Ts3iwyiPYP_VDX9As13vaA-tAZv71HEpZ7G7Mj8lpUKSEYlJyBDdo80PwLYPQAgCxfi07hVkW0D2gxINDm-xFbcsKcM8G4NWv7lfvR83OrsTvyFPopELrGhlcfJ3VtnL6-1-4b1xhdI5IpQfXbbqx8NpxBGIZBvJyiMyS39bNCqJ_DyLQxU1d6Wetyp5R69LM-bUOfxsJrhL0Oz0F9uDgxaFO9GyJPRLkb5JzcnunqTFYlKKhzlEfHhYmQ6iGVC8TyVgJ8g7Zj3iYDPm6YFAN-GlXUF2fQ==",
  "id": "rs_045259c066ba39c9016ab45b0c3d8487d0a5b56a572d0a509b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.13,\"left_z\":0.005},\"note\":\"The pale plush is centered between the jaws with the safe wall safely to the right. I’m lowering around the soft body for a second pickup attempt.\"}",
  "call_id": "call_jSfm8sXYJgTT1wkFVSp25HMp",
  "id": "fc_045259c066ba39c9016ab45b0d147087d0bd9941e661cab5dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jSfm8sXYJgTT1wkFVSp25HMp",
  "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]: [-0.691, 1.6642, 0.3744, 0.469, -0.6022, -0.4976, 0.9964, -0.0238, 0.8722, 0.6617, -0.6189, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3106 left_y=-0.1224 left_z=-0.0015 left_yaw=0.0564 left_pitch=-0.0678 left_roll=0.0555 left_gripper=0.9964 right_x=0.2691 right_y=0.0007 right_z=0.1398 right_yaw=0.0017 right_pitch=-0.2464 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.8137, -5.2855, 4.3419, 0.7302, -0.0415, 0.2955, 0.0024, -0.212, -1.7983, 6.9812, 1.7705, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfea8d6e337620f095d7993955ca89ec2d97bcbf9490fd0c3377395420d94402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4174d67734b35d348d4cef877a2698779aa931d58271dacbe871aea3aed3ddac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5953b9bb03e50d87eb6a0c0d6ec2eb3a4b3c88ca2c8671bb79f08ebcabe34e6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.261 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 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]: [-0.8101, 1.6279, 0.7086, 0.0349, -0.6609, -0.5617, 0.0494, -0.0238, 0.8604, 0.6586, -0.5365, -0.02, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3322 left_y=-0.1865 left_z=0.0552 left_yaw=0.0168 left_pitch=-0.0788 left_roll=0.081 left_gripper=0.0494 right_x=0.2825 right_y=0.0004 right_z=0.1559 right_yaw=0.0016 right_pitch=-0.1552 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.6615, 9.1966, 2.0049, -0.5104, 0.0415, 1.033, -0.4308, -1.5111, 10.0034, 2.0098, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7483, 1.3872, 0.5339, 0.0864, -0.6319, -0.5274, 0.9963, -0.0238, 0.868, 0.6617, -0.593, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3162 left_y=-0.1463 left_z=0.079 left_yaw=0.0355 left_pitch=-0.0137 left_roll=0.0093 left_gripper=0.9963 right_x=0.2736 right_y=0.0005 right_z=0.1453 right_yaw=0.0012 right_pitch=-0.2162 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.294, -4.2051, 5.7915, 1.5604, -0.0806, 0.1978, 0.0952, -0.0752, -1.4564, 7.0085, 1.7998, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.691, 1.6642, 0.3744, 0.469, -0.6022, -0.4976, 0.9964, -0.0238, 0.8722, 0.6617, -0.6189, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3106 left_y=-0.1224 left_z=-0.0015 left_yaw=0.0564 left_pitch=-0.0678 left_roll=0.0555 left_gripper=0.9964 right_x=0.2691 right_y=0.0007 right_z=0.1398 right_yaw=0.0017 right_pitch=-0.2464 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.8137, -5.2855, 4.3419, 0.7302, -0.0415, 0.2955, 0.0024, -0.212, -1.7983, 6.9812, 1.7705, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfea8d6e337620f095d7993955ca89ec2d97bcbf9490fd0c3377395420d94402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4174d67734b35d348d4cef877a2698779aa931d58271dacbe871aea3aed3ddac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5953b9bb03e50d87eb6a0c0d6ec2eb3a4b3c88ca2c8671bb79f08ebcabe34e6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The plush’s body fills the space between the fingers at table height. I’m closing around it and refreshing the idle arm’s raised parking pose.\"}",
  "call_id": "call_EMoBqkmatyaGTlVNLQmsuS90",
  "id": "fc_045259c066ba39c9016ab45b0fc1fc87d0b1bcc51be2d364af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EMoBqkmatyaGTlVNLQmsuS90",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6857, 1.6829, 0.3653, 0.5976, -0.5983, -0.4793, 0.2003, -0.0238, 0.815, 0.6621, -0.5644, -0.0208, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.1301 left_z=0.0099 left_yaw=0.0467 left_pitch=0.0045 left_roll=0.0006 left_gripper=0.2003 right_x=0.2763 right_y=0.0007 right_z=0.1641 right_yaw=0.002 right_pitch=-0.1342 right_roll=-0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.135, 4.0274, 1.4432, -0.149, 0.0122, 0.7741, -0.4718, -1.9487, 9.7162, 2.2735, -0.105, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966f6ebfe4652b9851ce148de04e5e59173b6d6a8f5d3fef0c1cd2aaffeac1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c504c18b12d951257310336a4464939bec197f52fd9a723f2b2ef921e2ca75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0830f727015e5b29eddaaa6c8f46ccc8a10e0b74fbb2463e138fced85b23a1b",
      "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 · 4.127 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 1.6699, 0.6865, 0.0753, -0.6552, -0.5655, 0.9953, -0.0238, 0.8631, 0.6617, -0.5674, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3296 left_y=-0.1849 left_z=0.0385 left_yaw=0.0166 left_pitch=-0.098 left_roll=0.0925 left_gripper=0.9953 right_x=0.2779 right_y=0.0004 right_z=0.151 right_yaw=0.0012 right_pitch=-0.1857 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2564, 4.9573, 1.7021, -0.3541, -0.0024, -0.0073, -0.1162, -1.7026, 6.6393, 1.8632, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.691, 1.6642, 0.3744, 0.469, -0.6022, -0.4976, 0.9964, -0.0238, 0.8722, 0.6617, -0.6189, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3106 left_y=-0.1224 left_z=-0.0015 left_yaw=0.0564 left_pitch=-0.0678 left_roll=0.0555 left_gripper=0.9964 right_x=0.2691 right_y=0.0007 right_z=0.1398 right_yaw=0.0017 right_pitch=-0.2464 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.8137, -5.2855, 4.3419, 0.7302, -0.0415, 0.2955, 0.0024, -0.212, -1.7983, 6.9812, 1.7705, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6857, 1.6829, 0.3653, 0.5976, -0.5983, -0.4793, 0.2003, -0.0238, 0.815, 0.6621, -0.5644, -0.0208, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.1301 left_z=0.0099 left_yaw=0.0467 left_pitch=0.0045 left_roll=0.0006 left_gripper=0.2003 right_x=0.2763 right_y=0.0007 right_z=0.1641 right_yaw=0.002 right_pitch=-0.1342 right_roll=-0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.135, 4.0274, 1.4432, -0.149, 0.0122, 0.7741, -0.4718, -1.9487, 9.7162, 2.2735, -0.105, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966f6ebfe4652b9851ce148de04e5e59173b6d6a8f5d3fef0c1cd2aaffeac1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c504c18b12d951257310336a4464939bec197f52fd9a723f2b2ef921e2ca75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0830f727015e5b29eddaaa6c8f46ccc8a10e0b74fbb2463e138fced85b23a1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The closed gripper retains about two centimeters of opening, consistent with compressed plush rather than an empty grasp. I’m lifting to confirm that the toy follows.\"}",
  "call_id": "call_Kn5FTGgDdHEmYa0s9gGtQ87N",
  "id": "fc_045259c066ba39c9016ab45b12f00c87d0b78c23d539e45e7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kn5FTGgDdHEmYa0s9gGtQ87N",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.3903, 0.4557, 0.2371, -0.5957, -0.4835, 0.2024, -0.0257, 0.82, 0.6521, -0.5888, -0.0227, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3221 left_y=-0.1312 left_z=0.0715 left_yaw=0.0464 left_pitch=0.02 left_roll=-0.0193 left_gripper=0.2024 right_x=0.271 right_y=0.0006 right_z=0.154 right_yaw=0.0018 right_pitch=-0.1735 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.135, 8.2393, 1.6484, -0.3101, 0.0415, 0.2076, -0.0479, -1.1009, 7.6239, 1.8974, 0.0073, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60c32733f66b290f8010578b50ac93fdbfabcae3d011298cb4d1bb9cf652434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd83aa6fb620d467f9c9cabc94877d54335628bb1a795cfa7efd2f44bc82ac60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779dab9ad1702a1d7718d41e7140fc02b3054fe58e58db86a39266f8d291bfda",
      "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 · 2.464 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 36 changed as sent

message 39 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7483, 1.3872, 0.5339, 0.0864, -0.6319, -0.5274, 0.9963, -0.0238, 0.868, 0.6617, -0.593, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3162 left_y=-0.1463 left_z=0.079 left_yaw=0.0355 left_pitch=-0.0137 left_roll=0.0093 left_gripper=0.9963 right_x=0.2736 right_y=0.0005 right_z=0.1453 right_yaw=0.0012 right_pitch=-0.2162 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.294, -4.2051, 5.7915, 1.5604, -0.0806, 0.1978, 0.0952, -0.0752, -1.4564, 7.0085, 1.7998, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6857, 1.6829, 0.3653, 0.5976, -0.5983, -0.4793, 0.2003, -0.0238, 0.815, 0.6621, -0.5644, -0.0208, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.1301 left_z=0.0099 left_yaw=0.0467 left_pitch=0.0045 left_roll=0.0006 left_gripper=0.2003 right_x=0.2763 right_y=0.0007 right_z=0.1641 right_yaw=0.002 right_pitch=-0.1342 right_roll=-0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.135, 4.0274, 1.4432, -0.149, 0.0122, 0.7741, -0.4718, -1.9487, 9.7162, 2.2735, -0.105, -0.0171, -0.0073]",
      "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]: [-0.6865, 1.3903, 0.4557, 0.2371, -0.5957, -0.4835, 0.2024, -0.0257, 0.82, 0.6521, -0.5888, -0.0227, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3221 left_y=-0.1312 left_z=0.0715 left_yaw=0.0464 left_pitch=0.02 left_roll=-0.0193 left_gripper=0.2024 right_x=0.271 right_y=0.0006 right_z=0.154 right_yaw=0.0018 right_pitch=-0.1735 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.135, 8.2393, 1.6484, -0.3101, 0.0415, 0.2076, -0.0479, -1.1009, 7.6239, 1.8974, 0.0073, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60c32733f66b290f8010578b50ac93fdbfabcae3d011298cb4d1bb9cf652434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd83aa6fb620d467f9c9cabc94877d54335628bb1a795cfa7efd2f44bc82ac60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779dab9ad1702a1d7718d41e7140fc02b3054fe58e58db86a39266f8d291bfda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsYRY3hVmNf691NVFsT3UgBq3Rj31Q8KP2aAHHRDxsNi4tltA2HHJycKS0Vewy73ycbU0n_8DL7k3etHtVxlMXmBWOiUrkuzpxRLZ_qQwsvpBGf-NMPrw3i8EBddBypa4r0NVn4VpvlOZY3K27oxHqzZVCItE3Mkp5thXGRA6Q9YfSe9-IhKSrMD2Jd-TiIw8D6cFqbfgyNh_qqgBrWaGqZV_e3ciHspuI0RVedH0M_uBU9jLgl53MrsUKSBz9ogJwbe7cj8omykAJhWPPgYUK0GjF5PMjYyQqI7NiKHPBamv8ubrI29RAcB-Znfj7p_upovdc7Cj5LCbA6eWI4ox5Yp6fg45qAdpokTCLNTCh9IG2xyHUaJ_CxLPVBoV57R38-hIWzHlRhcIwocC--e38fsbIz4ff02lXUzg47v4lv8e2ZjiXqcd3jAHgz6bC8Wv2YdvwgL_QtbzdM3Tpz5D01jHB0MBGqow9EjcxNDBHdiA1W6DVr4P50zmd58UYuWYkU8k3DJ4Npy1MKZXef4W-XMnKJdjkpmpv2JmjKHaM7iTqPpZkVL28ENAR9fm4RJtr74fMSOajYJpdJLmWl9-5rSLkhAY7EUmfDqmoAD1nK9qvWHzDpZsbgsYwEbAkR_cV0c6XVzHuE3UMD1Zqbx21tlFRhIpuwm2hVSjeb3SrJ5prW2TDGHgvg-6-WSZP3gm0KL1UrqOYKlH7cP_9P7psBxz2kbc25kNggUhZu5g2WPaibKb2K2hnu316GbmTZ-F0zl2Ij7IItLEfqt8cLntg_r4EshTdm5J9SgmXa1TXoCGD8V_0MukhTF97L6DVOON8VMgqtl03JtrLK3PGxPh_G3DXH5C3G01Tf1UczryznD9tJuU5GvM-HpvKP3aeYskUbt61T_-TV6mB6xnOdQMmG8Ts-DzrGi3ZzF-uTUQb0of_oXVNAgf-VwO7Osn6BpYKZDSnuyB_4zJkH3M01KRivTCL1hsqxD0DK6_thWBe8p0lmNOu64H6AA1Lw0I8r_OU_alBgNlYxgy5v6irpv82RtfAT8IeEUrY3kvZ1RFjRbUviVrHfKkPLMlhLN3Yx-F5PyNgaC5DRY-JXKcECm3lFe-9l70dNRTHEgneMfDTPkaGJjiCUYZqFldWI4eewwL7BUdJBmFLnXnI6cQWS_HAhyoSSYgBRl2e0GObOLmNbI5lRCvWMzAfVduyZ4TXC_BPb7isg3oYSR3zaKkDLW9Icz8CTCPcDC6ytng1WAbTolXpB47pi2M-O3TFw9EESzBVAW4PxMLYPDuUoEBPetp7D4tTRrrwZHdlj4GJD2mFlMkZLvxAsu2LAw9eoH5xSYI07hIRxjGu5_6OUlnuA6A-QYn0D7dbb8NXCee0_5v4yIHFqtKwdp869L-r_Vvj_O4QIGJEeKnxPsqFzLjr1LenllG2UzJWCfWUzBMsfoxY9l7pWBKpU5DK1hsiSoXZTmsxpe5504XigLiAFS5uQw-0Yo2kinQp-8TrjgcuqvqWwlaosjaDJqh-oMvBL51PaKTgdTI4p0BMQ8Xz9m6Whgfcx_3Qd-l3Bd29D96Z-tANq2eiOghft1PV_bVBFVDVRk1E5Na-eXMhY2Odt9tJ-44oZlcs_0k0sHp0TUyiBGUVfQhs=",
  "id": "rs_045259c066ba39c9016ab45b1597cc87d095984aa5ba9ebc16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.28,\"left_z\":0.21},\"note\":\"The pale plush rose with the gripper. I’m carrying it over the open safe with extra height to clear the front and side walls.\"}",
  "call_id": "call_R0WP6Fr5sl2lDv92ILaEMFcl",
  "id": "fc_045259c066ba39c9016ab45b17669087d089e695a94328863c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R0WP6Fr5sl2lDv92ILaEMFcl",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9852, 1.6653, 1.3144, -0.5339, -0.783, -0.7677, 0.2053, -0.0257, 0.8227, 0.6514, -0.6128, -0.0235, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.2786 left_z=0.196 left_yaw=0.0344 left_pitch=-0.0001 left_roll=-0.0295 left_gripper=0.2053 right_x=0.2669 right_y=0.0009 right_z=0.1488 right_yaw=0.0024 right_pitch=-0.2009 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -8.2803, 8.5265, 1.1453, -0.6618, 0.0952, 0.2906, -0.0479, -1.4427, 7.0769, 1.7411, -0.0171, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a9b89c3a41175929ef2de5dae108397cc133c6f3e97362926e34a7728b3a67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8da83b117e10edb1cb1d2d735be428df1f0b1a4ec3ab021a7b073d85a419af8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c4d6da8ebb328743ceddeeb0742e4f5c432ff341ad5cd4ae92ff227dc3626b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.036 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 39 changed as sent

message 43 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.691, 1.6642, 0.3744, 0.469, -0.6022, -0.4976, 0.9964, -0.0238, 0.8722, 0.6617, -0.6189, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3106 left_y=-0.1224 left_z=-0.0015 left_yaw=0.0564 left_pitch=-0.0678 left_roll=0.0555 left_gripper=0.9964 right_x=0.2691 right_y=0.0007 right_z=0.1398 right_yaw=0.0017 right_pitch=-0.2464 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.8137, -5.2855, 4.3419, 0.7302, -0.0415, 0.2955, 0.0024, -0.212, -1.7983, 6.9812, 1.7705, -0.0171, -0.0317, -0.0122]",
      "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]: [-0.6865, 1.3903, 0.4557, 0.2371, -0.5957, -0.4835, 0.2024, -0.0257, 0.82, 0.6521, -0.5888, -0.0227, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3221 left_y=-0.1312 left_z=0.0715 left_yaw=0.0464 left_pitch=0.02 left_roll=-0.0193 left_gripper=0.2024 right_x=0.271 right_y=0.0006 right_z=0.154 right_yaw=0.0018 right_pitch=-0.1735 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.135, 8.2393, 1.6484, -0.3101, 0.0415, 0.2076, -0.0479, -1.1009, 7.6239, 1.8974, 0.0073, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9852, 1.6653, 1.3144, -0.5339, -0.783, -0.7677, 0.2053, -0.0257, 0.8227, 0.6514, -0.6128, -0.0235, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.2786 left_z=0.196 left_yaw=0.0344 left_pitch=-0.0001 left_roll=-0.0295 left_gripper=0.2053 right_x=0.2669 right_y=0.0009 right_z=0.1488 right_yaw=0.0024 right_pitch=-0.2009 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -8.2803, 8.5265, 1.1453, -0.6618, 0.0952, 0.2906, -0.0479, -1.4427, 7.0769, 1.7411, -0.0171, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a9b89c3a41175929ef2de5dae108397cc133c6f3e97362926e34a7728b3a67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8da83b117e10edb1cb1d2d735be428df1f0b1a4ec3ab021a7b073d85a419af8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c4d6da8ebb328743ceddeeb0742e4f5c432ff341ad5cd4ae92ff227dc3626b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The plush is above the safe’s interior, clear of the rim. I’m lowering it into the box before releasing it.\"}",
  "call_id": "call_K1w0PupB2j18kURRlDJXAXit",
  "id": "fc_045259c066ba39c9016ab45b1b6e0087d0b1a0af487f4dc997",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K1w0PupB2j18kURRlDJXAXit",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9867, 1.8351, 0.9867, -0.0948, -0.775, -0.7715, 0.2073, -0.0257, 0.823, 0.6502, -0.635, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2729 left_z=0.064 left_yaw=0.0309 left_pitch=-0.0361 left_roll=0.0137 left_gripper=0.2073 right_x=0.2628 right_y=0.0009 right_z=0.1444 right_yaw=0.0022 right_pitch=-0.2246 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.4718, 5.8051, 1.5409, -0.4078, -0.0073, 0.1978, -0.1162, -1.2239, 6.8855, 1.7021, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9e9fbd1b3439caeeebc9c74c654ce4767fed8da70339dede759cee46b40a37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930eb85f052b14f7cda6927fa3766d8b2a3cf4b5effec4223c62d3a78ffb8e6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dde34f597b5ebd68f6b09f67d5095282e538be563797621c6e4a6cb888bd859",
      "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 · 3.64 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 43 changed as sent

message 46 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6857, 1.6829, 0.3653, 0.5976, -0.5983, -0.4793, 0.2003, -0.0238, 0.815, 0.6621, -0.5644, -0.0208, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.1301 left_z=0.0099 left_yaw=0.0467 left_pitch=0.0045 left_roll=0.0006 left_gripper=0.2003 right_x=0.2763 right_y=0.0007 right_z=0.1641 right_yaw=0.002 right_pitch=-0.1342 right_roll=-0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.135, 4.0274, 1.4432, -0.149, 0.0122, 0.7741, -0.4718, -1.9487, 9.7162, 2.2735, -0.105, -0.0171, -0.0073]",
      "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]: [-0.9852, 1.6653, 1.3144, -0.5339, -0.783, -0.7677, 0.2053, -0.0257, 0.8227, 0.6514, -0.6128, -0.0235, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.2786 left_z=0.196 left_yaw=0.0344 left_pitch=-0.0001 left_roll=-0.0295 left_gripper=0.2053 right_x=0.2669 right_y=0.0009 right_z=0.1488 right_yaw=0.0024 right_pitch=-0.2009 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -8.2803, 8.5265, 1.1453, -0.6618, 0.0952, 0.2906, -0.0479, -1.4427, 7.0769, 1.7411, -0.0171, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9867, 1.8351, 0.9867, -0.0948, -0.775, -0.7715, 0.2073, -0.0257, 0.823, 0.6502, -0.635, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2729 left_z=0.064 left_yaw=0.0309 left_pitch=-0.0361 left_roll=0.0137 left_gripper=0.2073 right_x=0.2628 right_y=0.0009 right_z=0.1444 right_yaw=0.0022 right_pitch=-0.2246 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.4718, 5.8051, 1.5409, -0.4078, -0.0073, 0.1978, -0.1162, -1.2239, 6.8855, 1.7021, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9e9fbd1b3439caeeebc9c74c654ce4767fed8da70339dede759cee46b40a37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930eb85f052b14f7cda6927fa3766d8b2a3cf4b5effec4223c62d3a78ffb8e6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dde34f597b5ebd68f6b09f67d5095282e538be563797621c6e4a6cb888bd859",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is inside the red-lined compartment below the rim. I’m opening the gripper to leave it in the safe.\"}",
  "call_id": "call_w1RTchffR67v8eT1whNn4U9C",
  "id": "fc_045259c066ba39c9016ab45b1e697087d0bd08ce79033c65ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w1RTchffR67v8eT1whNn4U9C",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9871, 1.8534, 0.971, -0.1066, -0.775, -0.7761, 0.9952, -0.0257, 0.823, 0.6502, -0.6575, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3285 left_y=-0.2666 left_z=0.0506 left_yaw=0.0349 left_pitch=-0.06 left_roll=0.049 left_gripper=0.9952 right_x=0.2587 right_y=0.001 right_z=0.1406 right_yaw=0.0024 right_pitch=-0.2471 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.2632, 6.9402, 1.2821, -0.3101, -0.0269, -0.149, -0.0342, -1.0598, 6.8581, 1.6874, -0.0366, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bbea88f4486a43962961390be09668684a7412d1711a1439e107719b86740b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a51302347fdb69c359a188e9a14b6560e3fdff439a591565d250cad9f5a70f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be3fbe8eb321fe38e2f93f40015daad0bc082fa767243229ecfd029299dabe3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.866 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 46 changed as sent

message 49 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]: [-0.6865, 1.3903, 0.4557, 0.2371, -0.5957, -0.4835, 0.2024, -0.0257, 0.82, 0.6521, -0.5888, -0.0227, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3221 left_y=-0.1312 left_z=0.0715 left_yaw=0.0464 left_pitch=0.02 left_roll=-0.0193 left_gripper=0.2024 right_x=0.271 right_y=0.0006 right_z=0.154 right_yaw=0.0018 right_pitch=-0.1735 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.135, 8.2393, 1.6484, -0.3101, 0.0415, 0.2076, -0.0479, -1.1009, 7.6239, 1.8974, 0.0073, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9867, 1.8351, 0.9867, -0.0948, -0.775, -0.7715, 0.2073, -0.0257, 0.823, 0.6502, -0.635, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2729 left_z=0.064 left_yaw=0.0309 left_pitch=-0.0361 left_roll=0.0137 left_gripper=0.2073 right_x=0.2628 right_y=0.0009 right_z=0.1444 right_yaw=0.0022 right_pitch=-0.2246 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.4718, 5.8051, 1.5409, -0.4078, -0.0073, 0.1978, -0.1162, -1.2239, 6.8855, 1.7021, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9871, 1.8534, 0.971, -0.1066, -0.775, -0.7761, 0.9952, -0.0257, 0.823, 0.6502, -0.6575, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3285 left_y=-0.2666 left_z=0.0506 left_yaw=0.0349 left_pitch=-0.06 left_roll=0.049 left_gripper=0.9952 right_x=0.2587 right_y=0.001 right_z=0.1406 right_yaw=0.0024 right_pitch=-0.2471 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.2632, 6.9402, 1.2821, -0.3101, -0.0269, -0.149, -0.0342, -1.0598, 6.8581, 1.6874, -0.0366, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bbea88f4486a43962961390be09668684a7412d1711a1439e107719b86740b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a51302347fdb69c359a188e9a14b6560e3fdff439a591565d250cad9f5a70f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be3fbe8eb321fe38e2f93f40015daad0bc082fa767243229ecfd029299dabe3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsjPJ_OoC_rb36s1bTn0oNRpOB7ywt1d_5qyJdJrPfiJoqi1ywq-fTL61V7IOzMjQeJXd0nJrpTGuQb_wTkz4bFeUr8iHCKMhQ9BhTzLf5HduJ54Z7_KbUSpMHd4o4TfEi3SbxLAJSlsryGvzDxeYCExcrhBpI_Be6besTs755B0RwU87zL7eihLUQVzQP0xzt-fZ366AtRzNn_QveQkyxEuM3sywj8fmR9OIjC9q53MJgyc5v9pCanUYyeiun6db5xZrwX5RmTmrXk0bH7sVRU0LVgBLvgkdBPugS1X2U3n7tD0gJaB1FSIBUVTUw86SOygsqaMCsATxCSBUroEgpQWxSUjzmX2Hrf7d1OWSTGwS8LgMPxJVDDfGO7N1H8Q_aNihm1dBEvBKv4c0lkZjGFLDu3kGktTRmdLnQPZCzl13ojfXFgt5oi4XilSvCsNjricq2EoiheLj6zQdyCnObZnQQ48sVDEcpNRX76ALvLmLvL1qrAlaDZoOdoHkyLQg1B6NS91EozowJaOMGzndA6CUiTBGSt9ZPoS-FBlF04QAbYsi3a0YS3DQOwD8CWIN-fz26OClVXcP0gEBa5QVBt7-WsbDbu5ZjoBZMsMUmvqZjiU5CA47r17agbwPmwL1QyDwW8M-AnxiZLEHzGIUL6602jANrgF3u5Pv_Z91x7OpY-8Nj4gysIBbHywMuRm6wO_z3tZHcLL-EAJ__-WVCMc2AotCMEASrbrrHOIUuMw1FRYT_66mYB818yJK-IYX_wFEH8_Mrw4kOduupJZ4WqjUfUw6hbae5OCHm_ZVI1pnFBp7BOOVTMqcnBLgL_JF3xL60DWBrNu16KIj8VVFSGYCJA_JaErVEGMpbcMRMz7KviXjD6zM1I3IJpc-XuuR0aIeF7t1QSaKxR0h_f3vjIxg4HMm2mwGowWseWNZx6vfGBmwMGtUt6grz2zkG83f2jI5jp08DSoneJEx2iBrdqLBqeCrgFdVvXKvr1K6m0YpmjES0ReBpM2gSxpA1XdMtvPIkv-HAPFVcGUotVE8e2C2N0CJeQ5PVeC3QtZXUIboHwK33bWT4I13FjGbiWoHH6ONI1T_HG6fVC-jbAl1m6oiJivsS8JYbmCcfsQPfQo-YafiCWms65NXHOnZdhscJWxoOTVoNY2zAS8ZVXbdotckR-0x5Nllb3ZhMapKaidNLzUQL501XS13-zCnJF7ey7AvYhTuvMaFeVFXsWu3v7kdg6P9Ec4A30OKAGY7l1UGjQUHOtxY2sxhj5p1nWlSHG33PFOOvDj-ndtMZUUOPSDcUaW2SER1Q-USyCDjrnI3IGAhMLRlNAduQDgSZ566ojqgso7IIL6o_xIz2GVdzZv3d5PNvfv3fZqnQwrwDKEGDbaYvM-qpCRKlLKyw0Smcb",
  "id": "rs_045259c066ba39c9016ab45b213f3087d0b85f5dc2c226bb48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.21,\"right_x\":0.22,\"right_y\":0.235,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The pale plush has been released inside. I’m withdrawing the left arm and positioning the right gripper above the brown teddy in front of the safe.\"}",
  "call_id": "call_6wwtyoQSvBH2Mmyr2bydloCv",
  "id": "fc_045259c066ba39c9016ab45b225b6c87d0a832aa0bdd56f428",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6wwtyoQSvBH2Mmyr2bydloCv",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1204, 0.8597, 0.7532, -0.5884, -0.1997, -0.1246, 0.9963, 1.2453, 1.3521, 0.9302, -0.7311, 0.8688, 0.9821, 0.9996]\nstate[eef_state]: left_x=0.2872 left_y=0.0042 left_z=0.1901 left_yaw=0.1002 left_pitch=-0.0987 left_roll=0.0469 left_gripper=0.9963 right_x=0.2157 right_y=0.2285 right_z=0.156 right_yaw=0.0367 right_pitch=-0.0491 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.0171, 10.2222, 1.8144, -0.0317, 0.188, 0.0952, 0.1983, -4.8752, 8.3761, 0.9597, 0.6764, 0.1832, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d784cb600a4beff263b4a9dde8ecb5d85aa9da2e7ab0fbf19b441c03c09ef32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e3e7b5016f3805244eee294b782a6207dc1009e5fee1c1a025f6c586006ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5a597ae62e267d90be83c60bd58cfebff720220b6fb4693c9c1bb0e01fcb66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.884 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 49 changed as sent

message 53 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]: [-0.9852, 1.6653, 1.3144, -0.5339, -0.783, -0.7677, 0.2053, -0.0257, 0.8227, 0.6514, -0.6128, -0.0235, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.2786 left_z=0.196 left_yaw=0.0344 left_pitch=-0.0001 left_roll=-0.0295 left_gripper=0.2053 right_x=0.2669 right_y=0.0009 right_z=0.1488 right_yaw=0.0024 right_pitch=-0.2009 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -8.2803, 8.5265, 1.1453, -0.6618, 0.0952, 0.2906, -0.0479, -1.4427, 7.0769, 1.7411, -0.0171, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9871, 1.8534, 0.971, -0.1066, -0.775, -0.7761, 0.9952, -0.0257, 0.823, 0.6502, -0.6575, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3285 left_y=-0.2666 left_z=0.0506 left_yaw=0.0349 left_pitch=-0.06 left_roll=0.049 left_gripper=0.9952 right_x=0.2587 right_y=0.001 right_z=0.1406 right_yaw=0.0024 right_pitch=-0.2471 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.2632, 6.9402, 1.2821, -0.3101, -0.0269, -0.149, -0.0342, -1.0598, 6.8581, 1.6874, -0.0366, -0.0415, -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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1204, 0.8597, 0.7532, -0.5884, -0.1997, -0.1246, 0.9963, 1.2453, 1.3521, 0.9302, -0.7311, 0.8688, 0.9821, 0.9996]\nstate[eef_state]: left_x=0.2872 left_y=0.0042 left_z=0.1901 left_yaw=0.1002 left_pitch=-0.0987 left_roll=0.0469 left_gripper=0.9963 right_x=0.2157 right_y=0.2285 right_z=0.156 right_yaw=0.0367 right_pitch=-0.0491 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.0171, 10.2222, 1.8144, -0.0317, 0.188, 0.0952, 0.1983, -4.8752, 8.3761, 0.9597, 0.6764, 0.1832, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d784cb600a4beff263b4a9dde8ecb5d85aa9da2e7ab0fbf19b441c03c09ef32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e3e7b5016f3805244eee294b782a6207dc1009e5fee1c1a025f6c586006ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5a597ae62e267d90be83c60bd58cfebff720220b6fb4693c9c1bb0e01fcb66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsp8gJ4C21ubn4l48isXqDZhD9GrjvqOJ-m0HT-gL6uxFYg0-jVE5d8UjZi62rBUyFqWw4TSh4m0JulCggtDDG5Iaxt5u8R9wA9GrgFlupuXN3Vg5z583leVs0g9TXENBzQuH5Z-RQWhZQ1aI-3CoonZgjrvCpiwHNsbHnbUcweca9oGyEJd0ku-EuUwAsdEz0zmPLeXYdw6P4IkktBhBc78nSucon42-487lY8q08QvRaOBxaBqnq8JMRyqAoUCT8keO35xoKlEKc6dBs_o681b3rFhSBBIrM7Uc0ciNvfwXHNrpNpzuBVf-jY3C6H8WfjhMet9gxF4URUIrn2BU2oatWZ9QtcpMEMLL5owhmx9mrWP8aUkbxBjhysKmhroN4K92Hw78X1RF_6sZ5HWGe1BNL9TrrvcvrrEi9lzuM5MAN51UbVx-Q3oFB8bS5jYd4E_gZNQ0eky0aWuYoOmYeu-LYPPGJYxHBDyJY4aUbOdcPQvjYGOfiA7z0V1O7omhgK3OQmGX1d5y_YPsOQUKy_08qyyafw0BG_Kj7UyHFZaACbzpfx9IuwClNc4EbGnnZFPPR5unPhIIoK9WH5lNei0D0zSASVPrjXedpp8_niW0CU0aL4UyKkn5RjTQITD37UcsC56lFYCJSQ7hd3xyGogpsjbaldKLRQ3Z3Q1Hi8hqXgf0P2UZpQj4uGEnuo7fnyrIO207zETCRMGsXYa1Yhlhvzf0QRlgAtjlIF6iTUEXzxGjgD40nTk_NLRdk9qWniwzCG9TRkXXANanbigSjDiaL-7OuhwGiL3NVNZOUktbEuSbJ3P5HjypY20cstjNDLXuqfClwE0wTYk9E9dJqPgCQb26gCf3EaMnFmxPwbkKSp3XQQcnXLY01GK8ijmAZb5qTsaowvxYDQ1N3GU2G9lGVbaHtNmIMAoYm0Sm4813oKh4_ZHQnzuVcLnTx-yEE9COnRGj7q7nXc6yi6El7fRW2pcfzwsc_FK-UorxGhPVDRMQ7iH5HNiFnl944Qen0Zm9AxgTeyG_XRZkJLlusx964Z9A4Cx38eL7huPGESHfdBwGmOUFpCfdaSl73lgc0Zm247zgs7AzaGhxnFEgMHWQJlwSwVw5_IpEQBYwsNHcVeItB3z_SRgUjfah3wJ7f34SpKuZanHfj9LLNPL-C54HTUq7sddCeX8PVlvWJvlYekD7-YgOOU1PfX3FZ279uDlsvNWKya-SL7Vsr-MIGViqpQiZ-CG_R-WHGMWtMug3FyriZBt94SDXqgEH6WaVG4hR2TpQvWAzs6zMGDWG_cJxdcQiW5CabHdjh_vajEK6u59EsFEej0HofvaTtPp0dOp8JT8X0yM61oyxgnnORtCYU7GSK7y5MQx_qE7fGiUKl3lALek0QMXozxlYVFCFVn1o60z_1Kreug5o1aVH-guIVpPKg5FMKqz9w631GYkd73oaTVm6eJUmre8O6akkBpQyilkvbJ76z8njwIuey3bnMX9Ap_pr8zMkAk01Sj4dK_5rC0PF37dCuDmBB8UjUkzKen5jSea-zk52mX3MGikQ==",
  "id": "rs_045259c066ba39c9016ab45b2720fc87d0967a533a282606f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.20,\"right_z\":0.035},\"note\":\"The teddy’s torso is slightly right of the jaw column, with its head toward the left. I’m centering the fingers on the torso and lowering to grasp the soft body.\"}",
  "call_id": "call_UdYbO6OQ4D66t2GHZYHlP0Qr",
  "id": "fc_045259c066ba39c9016ab45b28eeec87d0a3e6ec7e607c78a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UdYbO6OQ4D66t2GHZYHlP0Qr",
  "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]: [-0.1192, 0.8619, 0.7544, -0.6075, -0.1883, -0.1246, 0.9964, 1.1461, 1.4811, 0.5076, -0.1642, 0.8211, 0.8658, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1862 left_yaw=0.0923 left_pitch=-0.12 left_roll=0.044 left_gripper=0.9964 right_x=0.2231 right_y=0.1884 right_z=0.0334 right_yaw=0.0233 right_pitch=-0.0879 right_roll=-0.1122 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.7162, 6.8718, 1.7607, -0.2613, -0.0464, 0.0024, -0.253, -4.5333, 5.2718, 1.0476, 0.3883, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507d83aac2f4bdcf1ea34e014f16819ed0c9c7018a01df83fb930a6aedb21453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fbadb866052aaa1b7a360f3f2f61009a3cee76caa3b41867153e5b27538d89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28013428c28e927725d5fb1b4e2f6dd303d09659dc66ceb29397b667e1ff0cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.777 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 53 changed as sent

message 57 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9867, 1.8351, 0.9867, -0.0948, -0.775, -0.7715, 0.2073, -0.0257, 0.823, 0.6502, -0.635, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3329 left_y=-0.2729 left_z=0.064 left_yaw=0.0309 left_pitch=-0.0361 left_roll=0.0137 left_gripper=0.2073 right_x=0.2628 right_y=0.0009 right_z=0.1444 right_yaw=0.0022 right_pitch=-0.2246 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.4718, 5.8051, 1.5409, -0.4078, -0.0073, 0.1978, -0.1162, -1.2239, 6.8855, 1.7021, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1204, 0.8597, 0.7532, -0.5884, -0.1997, -0.1246, 0.9963, 1.2453, 1.3521, 0.9302, -0.7311, 0.8688, 0.9821, 0.9996]\nstate[eef_state]: left_x=0.2872 left_y=0.0042 left_z=0.1901 left_yaw=0.1002 left_pitch=-0.0987 left_roll=0.0469 left_gripper=0.9963 right_x=0.2157 right_y=0.2285 right_z=0.156 right_yaw=0.0367 right_pitch=-0.0491 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.0171, 10.2222, 1.8144, -0.0317, 0.188, 0.0952, 0.1983, -4.8752, 8.3761, 0.9597, 0.6764, 0.1832, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1192, 0.8619, 0.7544, -0.6075, -0.1883, -0.1246, 0.9964, 1.1461, 1.4811, 0.5076, -0.1642, 0.8211, 0.8658, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1862 left_yaw=0.0923 left_pitch=-0.12 left_roll=0.044 left_gripper=0.9964 right_x=0.2231 right_y=0.1884 right_z=0.0334 right_yaw=0.0233 right_pitch=-0.0879 right_roll=-0.1122 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.7162, 6.8718, 1.7607, -0.2613, -0.0464, 0.0024, -0.253, -4.5333, 5.2718, 1.0476, 0.3883, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507d83aac2f4bdcf1ea34e014f16819ed0c9c7018a01df83fb930a6aedb21453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fbadb866052aaa1b7a360f3f2f61009a3cee76caa3b41867153e5b27538d89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28013428c28e927725d5fb1b4e2f6dd303d09659dc66ceb29397b667e1ff0cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFstx8E6IMp2WyWZimsRePrzRnvyFu7Wqhr1b78CGddoZYb1ScclKAlv0Uespi3g71ZIDMdYh6tSkoAy7raPMoqD4gpkaNvh8vQUSRQQQLIZiEkSxw61I6eTaURWWGDC0Ge5cNloSkrbRsPFLXycBgcvFKaE0OJP2QpR7AhiNaG6crgIhrf8oucJUksjU1ut5Cuz0cWIhybctEdfHKf3ht-Qt40__yiXw5kPRFB-LX0j6KaWsgM5Ak37sel9Hrh82FISQjHqD05RibD2Ah6aER3EL_2NHfgUdM9sK7ayd99I0nxmLMgIdKgeHy-iQMf78iNTp-4tioA53Pp8zbgyon67COOwbo_HTAdBNAmSSnSIwb6Y_dBNyDVlxtFTNfwSui9IHQVLYfy6zjno0d6zF4Zn-G9QytUjnHtQvoMdvOzfjCTk-5CM6bYU-32HtY3ni4EkH8QnEiXJ7v53RbqqeR00_dQrrD2iFpMTD39QVqP9dPybLltzNAcpPZZPv_TaBvZ1CXxOxQXG52W17_o_Id14m_7Kq96XG8ZVUh5AEWcvLBFgxEcGBytT0iMamg99Nzpw3IWp61aK-APfF5GAilQaqk7-CMC01ttw0xJ_jQqLNghm7btZj-1qWWF9ri5kfKpFyuAPDL9OX3BhJrySa0xIikrXVrXVsuVkBnfZSQTlWT3P4b_H86pw_yfV5GZ4VE7XWoFHEv-OUKBU2C-kHpdNWZtPdrFCnFEk52SiwhDE4yahXX20rp94kk5W4wK7rW3qB4IgXjJsC_eGHZj6K0v9DOj1fiq1nImyH0A_jb9tpURjO-Gf1JCav_955JncTsVv4HN3zA7D-oBrWcPDPF2oJLm5cmAph_Bfspw7z3o8WwATMoD6U-eVIWz8maEsc7ZFtH-4h5kVnXqfH3Q0CW-rWzXa5tBkCEmrWxzTTBR_RcPCTq-xY_DvNsBflgqOvqcH-Yc1ms-DTawOYDdSLg6H80xkwvIJQ-J7YKJuhJ2OgqzooMZmrSIOrvDdrKWerP4uAr1r25TfXpD9cNXiWNxr94_Qhhb1TJ09sPYlnLzL1oH6Z-EpSu8hinjhY589g2MUapDmeCYaF_j7ff9pxpc5PSLb1iUAO5MkCovBQR1AAbrU_Cla94C-KRHVVA_PkT5p3MFo85cftSXdRgiTyTLeP7zz0Z6s3QozZyh_-eMQbDJZwihO44ZpIQWAVTgUtD2ly-SoFtld-4XCZ34yKsyyjvLCwYiAJdODY7xtyD77uAMqTKO9-mflA1klo50zxw0c9mmRyAi6rfqdMZZ-rRd-y6iyf99OW6341Gq-EdLfAqM=",
  "id": "rs_045259c066ba39c9016ab45b2bd43487d08e2758c914b801df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers surround the teddy’s torso at a suitable height. I’m closing gently through the gripper’s normal controlled motion to secure it.\"}",
  "call_id": "call_Qux65kuiGbkiFnB6U7ihxeMR",
  "id": "fc_045259c066ba39c9016ab45b2c839887d0914b97aad2aec702",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qux65kuiGbkiFnB6U7ihxeMR",
  "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]: [-0.1192, 0.8619, 0.7544, -0.6147, -0.1917, -0.1284, 0.9964, 1.1442, 1.4895, 0.4927, -0.1589, 0.815, 0.8639, 0.0117]\nstate[eef_state]: left_x=0.2834 left_y=0.0036 left_z=0.1849 left_yaw=0.0974 left_pitch=-0.1265 left_roll=0.0448 left_gripper=0.9964 right_x=0.2209 right_y=0.1841 right_z=0.0271 right_yaw=0.0237 right_pitch=-0.1009 right_roll=-0.1275 right_gripper=0.0117\nstate[joint_eff]: [-0.253, -1.265, 6.8581, 1.6825, -0.1197, -0.0122, -0.0073, 0.0479, -5.4222, 6.3111, 0.8767, 0.4029, -0.0171, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511c6fe28b9b0fdcb09848d1aa69b3ce3e47a098d2eb923ad1da3d2a37cdc500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5395f41538ebf2f9c6d274ea42b25ac8ccff05cdb744862891497f3e65ff931",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4316339b9bc4408aba3944c1d33acc96ffe177ccff2da6a379ed331e652c2259",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 5.059 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9871, 1.8534, 0.971, -0.1066, -0.775, -0.7761, 0.9952, -0.0257, 0.823, 0.6502, -0.6575, -0.0231, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3285 left_y=-0.2666 left_z=0.0506 left_yaw=0.0349 left_pitch=-0.06 left_roll=0.049 left_gripper=0.9952 right_x=0.2587 right_y=0.001 right_z=0.1406 right_yaw=0.0024 right_pitch=-0.2471 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -10.2632, 6.9402, 1.2821, -0.3101, -0.0269, -0.149, -0.0342, -1.0598, 6.8581, 1.6874, -0.0366, -0.0415, -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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1192, 0.8619, 0.7544, -0.6075, -0.1883, -0.1246, 0.9964, 1.1461, 1.4811, 0.5076, -0.1642, 0.8211, 0.8658, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1862 left_yaw=0.0923 left_pitch=-0.12 left_roll=0.044 left_gripper=0.9964 right_x=0.2231 right_y=0.1884 right_z=0.0334 right_yaw=0.0233 right_pitch=-0.0879 right_roll=-0.1122 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.7162, 6.8718, 1.7607, -0.2613, -0.0464, 0.0024, -0.253, -4.5333, 5.2718, 1.0476, 0.3883, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1192, 0.8619, 0.7544, -0.6147, -0.1917, -0.1284, 0.9964, 1.1442, 1.4895, 0.4927, -0.1589, 0.815, 0.8639, 0.0117]\nstate[eef_state]: left_x=0.2834 left_y=0.0036 left_z=0.1849 left_yaw=0.0974 left_pitch=-0.1265 left_roll=0.0448 left_gripper=0.9964 right_x=0.2209 right_y=0.1841 right_z=0.0271 right_yaw=0.0237 right_pitch=-0.1009 right_roll=-0.1275 right_gripper=0.0117\nstate[joint_eff]: [-0.253, -1.265, 6.8581, 1.6825, -0.1197, -0.0122, -0.0073, 0.0479, -5.4222, 6.3111, 0.8767, 0.4029, -0.0171, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511c6fe28b9b0fdcb09848d1aa69b3ce3e47a098d2eb923ad1da3d2a37cdc500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5395f41538ebf2f9c6d274ea42b25ac8ccff05cdb744862891497f3e65ff931",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4316339b9bc4408aba3944c1d33acc96ffe177ccff2da6a379ed331e652c2259",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsxa-kS_1ZjaGdJAw6SWzKZ2_kzRMXEj95b4DMbKHH0S3PwrOV48IS8eCpIYE7FynfurW0q2Evup9sPiig_4_MEbZcGTwLlA9EmIJj0fLOSnpNWHsJ_rLcjf_YHe88pRJp1qmCjTlXmZ4Fa26N7bvNuW6m0SVcXVYT9fmugFgyRUAMeAWdKS7EWtyNNqDVjmUKVohcuuLjiKxcdJRjnAE8foYj1EXWt1VrIaHiJSMRTT2whk535O_g7thUDiUgjALr-yqDrilgCKH3xhLTellPXNaSUsVVYHTpM_Rj7nB4X03jcR5-IUpD-1XsBN2NznF_Q4vsw7Y1x6fI9BdBejcfho8K5H5IMFLLaYN5hY6uG3LaQDxcRTgwSIR3aQa3Ox_Hupm7oBwdtSyvn4K2Bfe5an8euyH0yBx5MQ3g-AQAF-BEJLRpK_o-vsf2zfeN0FzU6h_2mAgLP0hC9CHalrzlQ92gYhRt6WVpxxhkSAigD56ZU_tdihQLQfsFKApHUd_4Kzfh8pSDgAwWt6zKUcKDVnwesQmE3ffmXwHvoIZ1Hv2ylHLfdnDxkYGStLu7RMvTUsu85wXAQPLViDvw7pyDupw_K2d_VwKA925bwivQ9pJcbq8jg-6rPtDFM0vZe6WE6ul-UFRY2K7YcLVz6LjCv0HTCPwH5sU9M4BhqjpM1jL4qD5iUHtUV8XLTNwnJmHMjcoqbsqRXNoIEYYSfxF-LFhGyaFPRY6L7GMaGD6AwEGAlR8E1wMIwC-snoTB9H4RVggdySmj-r1KEmslLYij1KHlzQ6VEWNaFJ-Mc6rjFw542jHmrEXq_GiRohNHdXbM7w1O4WeTYf6neGzi9qsKompt9C6rAm9DqGK2yOnTUrWxWhGia-KOCisQDWj_3ZYGBFEbEJmrFD_FyAGsKkL4LPbj0FG7p47X47d_1imF0MOSI1eNK7zwjed8r5-InwvxaH4ptFAuHXo3UF773UzwNfyiMg8xdR89j5KOlcq1KxbShF24LBys6dCZIEejf9_MUk3qJqa5Y7G4RsMyuPcresRP5QofWRDUuQPhn97VyI64JxnuoGGPUmGwScsXFVV0-YIpcaJMoSPr-wS4N_p2nkVLoboibv-DPIgdG_ZR3iTpf72wV0GjuUaHn52c1vxaOZ4q4l4SB59Uc-iP3wWsr4NSlST26q3x_msqT_7xNBIRQ7nQxWrTUjelRJmlnEvnucByWyDKmwMuPsDzszp3qpUOPHzcyaC3_vBvX3pQeXrnptZ5-D0YQWu2GrFhxOtrq1HWSbpNkcC3sC__1SRjJYhUcJyVjZCPo-fXchvmt_bgfBO8ihl0iumLfAClFQShGuc3AN479V89-6Phu5Jr9hg==",
  "id": "rs_045259c066ba39c9016ab45b30375087d0a4f7e20a24855765",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.255,\"right_y\":0.165,\"right_z\":0.07},\"note\":\"The gripper closed empty; the teddy remains forward and to the right of the fingertips. I’m reopening and shifting a few centimeters toward its torso for one corrected attempt.\"}",
  "call_id": "call_HM47fgji84aMhFBOyG8Op1lY",
  "id": "fc_045259c066ba39c9016ab45b30d0ec87d082d3bcb1beb82233",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HM47fgji84aMhFBOyG8Op1lY",
  "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]: [-0.1184, 0.8684, 0.7544, -0.6312, -0.1913, -0.1287, 0.9965, 0.9653, 1.3369, 0.519, -0.2279, 0.7258, 0.6575, 0.9947]\nstate[eef_state]: left_x=0.2812 left_y=0.004 left_z=0.1803 left_yaw=0.0988 left_pitch=-0.1489 left_roll=0.0493 left_gripper=0.9965 right_x=0.2479 right_y=0.1585 right_z=0.0562 right_yaw=0.0143 right_pitch=-0.1287 right_roll=-0.1508 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -2.0718, 6.8034, 1.7509, -0.1099, -0.0269, -0.0073, -0.3214, -4.9709, 8.0479, 1.1893, 0.3639, -0.0513, -0.2125]\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:6ae5aed4a419be2553f6b2717ddeb8f7a1a52a07a8aa5473fdb718c7559853e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cba34cb48a0c384de26ce8016e73fa731a22109e4133c8ffef0cd9cff12ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1befceb8de2dde75fe30567a4f2a23346e13e5b3b703d0458b970deddcbde9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.042 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1204, 0.8597, 0.7532, -0.5884, -0.1997, -0.1246, 0.9963, 1.2453, 1.3521, 0.9302, -0.7311, 0.8688, 0.9821, 0.9996]\nstate[eef_state]: left_x=0.2872 left_y=0.0042 left_z=0.1901 left_yaw=0.1002 left_pitch=-0.0987 left_roll=0.0469 left_gripper=0.9963 right_x=0.2157 right_y=0.2285 right_z=0.156 right_yaw=0.0367 right_pitch=-0.0491 right_roll=-0.0506 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.0171, 10.2222, 1.8144, -0.0317, 0.188, 0.0952, 0.1983, -4.8752, 8.3761, 0.9597, 0.6764, 0.1832, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1192, 0.8619, 0.7544, -0.6147, -0.1917, -0.1284, 0.9964, 1.1442, 1.4895, 0.4927, -0.1589, 0.815, 0.8639, 0.0117]\nstate[eef_state]: left_x=0.2834 left_y=0.0036 left_z=0.1849 left_yaw=0.0974 left_pitch=-0.1265 left_roll=0.0448 left_gripper=0.9964 right_x=0.2209 right_y=0.1841 right_z=0.0271 right_yaw=0.0237 right_pitch=-0.1009 right_roll=-0.1275 right_gripper=0.0117\nstate[joint_eff]: [-0.253, -1.265, 6.8581, 1.6825, -0.1197, -0.0122, -0.0073, 0.0479, -5.4222, 6.3111, 0.8767, 0.4029, -0.0171, 0.9597]\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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8684, 0.7544, -0.6312, -0.1913, -0.1287, 0.9965, 0.9653, 1.3369, 0.519, -0.2279, 0.7258, 0.6575, 0.9947]\nstate[eef_state]: left_x=0.2812 left_y=0.004 left_z=0.1803 left_yaw=0.0988 left_pitch=-0.1489 left_roll=0.0493 left_gripper=0.9965 right_x=0.2479 right_y=0.1585 right_z=0.0562 right_yaw=0.0143 right_pitch=-0.1287 right_roll=-0.1508 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -2.0718, 6.8034, 1.7509, -0.1099, -0.0269, -0.0073, -0.3214, -4.9709, 8.0479, 1.1893, 0.3639, -0.0513, -0.2125]\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,$blob:6ae5aed4a419be2553f6b2717ddeb8f7a1a52a07a8aa5473fdb718c7559853e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cba34cb48a0c384de26ce8016e73fa731a22109e4133c8ffef0cd9cff12ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1befceb8de2dde75fe30567a4f2a23346e13e5b3b703d0458b970deddcbde9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFs44YoHx_jFhaTIOOUl9uMhw1WwTpKjUWCIlZzrEHL2XP_V-8NvDVLoVT2iNkzZ7pfLv8PANoAIbk4OCtAGrAOIAPYnaVNE9HKXhJb5ZEsBwM4JUDrCU9miW46RxgNsfRBES933PyzBZ7X8BHcwir3KIa-A4OiRlilL2hvpn-GWsPbOnBBsWKggIcAhJr1a2VBjq3kMzVRJsQxtMmDD389Bna7kpcfuFw4aQtY7ZXb_0eY9sVsYbarNewpWNa-V3JvDDnLn9eSVXJB_5IKJ-6IMNppgCbBQzvTIkUsraExKw7tqqVvM0cw3dMp2p7Odoq7gNtSA1I2syeRs5XfgtF-rOBShNm_ZjxDP6aPqIA40L5bPWIRQr-ShFxK7xU6ue__uYaU60RR9X98jAw-RvAyyxzK6GcWZnAe8c_18EmmQsW4tJsLTlCR4IjEZNWnO1KpPYj-eLqsjv5Oy9ne5V0zioQVZg2XoXhVDugT3o2MdwVWWCx9GLzBDPDZzHqmHlv5h-sGo1vdmrp_o1GeSolqL7YbuAJ0oEdW0aY3LwMBLMcqGylVlmyl1_2xWYY03V0-jDg7sUyB0uQqnD6cZU8McVGYBjAGByMUPLbW46bDBZLPTrp3Yh3mQmsz6SL9CjaD3yUzz0OBWS102ws5-cewqt9oMa_mVgDAuSomt4N-HT85oVfGlLuAndgEjg-Yy95NV8CRpETwK53d5JjTxV59WzsNIacdjaFR7tCypiSiSGUS7mDetvr2ZHO0ZoZZurg47mGVVLOBMCabEFYbObiCtMLf2MkB5kmNX_sKl5d_od64TnZANcji3eMFp4HXRAO938vwpPrfgo2LejKOWjBFPbKFKnHwymELI8eanRboMKCr9kCkezQScgFCurB7Dcd5k-K6L0Uw5zTudE1CSvGfwNQ1P0TPJqH4MNG0nlaS8KgiomCgA6sAIvaPrjZZNnuFN29qi7jvA8rTCqnh_hPsCwtJ2MfjHt0PhdwX0XG-TwxN5MNlTANhfRPOKlNke2r2ici6lmxnSb4M9GUAtV5Erx16XGS_K1-25atGGTiXhoyINMAtWNWPqeQJAlc8bGb6ohBMcC2QIjZyuYM_vfnYtvEhG310tknkIagBWCxLIBYrcgjERtHfaxYkHRKEsHo5KNW5RsvVwiwpM9ufvrqO9pEDoSaw9JD8YqBlMW4EPxWpIFFQcHuZG1dFxVaJVyxGt0htjBWKsw0SLrJMl37e-9JnmZbKFvBULTJriDpFA2pQZjxals8PB1M7m-tm2rynbb5wGa-_JiuNmZJZWe7SxjK5hIpCH8FiWmNyizrIm0C_nRLygm5J2bTeRLHUre8JYoYDte-wPA-chl45X4MY7-woczQlOFl18zqn2FDFtN3SxkPd74ranJAD9ysLzPuJQ8kCdQvJ8Q9WbKP1OzakzgNAJHebbO4-iEHJwgna7boiqIbxgM39PUy3ybP3qDl_Aneq6L6JrLf6MLhorCMpvukjiCmxHREvNEWj4l-5aAefzPtxhPUxEasFnlLFwZ9A3dDX1XpHQ7HqHVyCcxYVR6UhfpQ81V76aJKx8kuILDPhkYdEc7Z-IAF2cBqRQzu-qmTd0OFXSJfkr5pd9BEPjv-s_os5HHDi3M9OJRpdaTPWfZLhSTTCO8GLAU6WTLNqtLZQIfzAlg6HYtstjOeGVkI392xUttGrrVA6VwKJWqaEzoEWapo9DZXGcTpBF0GSKwaJBeLcz-84mLIWS8jSCvPFzcP5OX7p71RwBi32BGK4=",
  "id": "rs_045259c066ba39c9016ab45b34cc9087d098ff00b62ebd8367",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.17,\"right_z\":0.005,\"right_pitch\":0.1,\"right_roll\":0.1},\"note\":\"The teddy’s torso is now centered in the wrist view. I’m advancing slightly and lowering the fingers around the body, with a small tilt adjustment to counter the observed droop.\"}",
  "call_id": "call_bg3RQ2mftNifhTCeJxM1KYLo",
  "id": "fc_045259c066ba39c9016ab45b36e37487d0a636717109939829",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bg3RQ2mftNifhTCeJxM1KYLo",
  "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]: [-0.1184, 0.8692, 0.7544, -0.638, -0.1913, -0.1352, 0.9969, 0.9314, 1.7008, 0.2512, 0.7139, 0.7444, 0.6193, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1788 left_yaw=0.1026 left_pitch=-0.1562 left_roll=0.0461 left_gripper=0.9969 right_x=0.2673 right_y=0.1648 right_z=0.0038 right_yaw=-0.0025 right_pitch=0.0655 right_roll=0.0601 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.619, -0.0757, 0.022, 0.0269, -0.4171, -4.0684, 2.1949, 0.8034, 0.0366, -0.2515, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65992019f5007941eacc16e1e8383305d00efe20c2f4b580afe171fcbc25bace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671c82b0fbd22072a7f269db4660310b1942c839a455a681fa0ee2a5d8b5dca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226df24b51c28c465e17aafc439ac72ad34ac19ccb7ec17914f5b462c1e4e3f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 5.168 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1192, 0.8619, 0.7544, -0.6075, -0.1883, -0.1246, 0.9964, 1.1461, 1.4811, 0.5076, -0.1642, 0.8211, 0.8658, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1862 left_yaw=0.0923 left_pitch=-0.12 left_roll=0.044 left_gripper=0.9964 right_x=0.2231 right_y=0.1884 right_z=0.0334 right_yaw=0.0233 right_pitch=-0.0879 right_roll=-0.1122 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.7162, 6.8718, 1.7607, -0.2613, -0.0464, 0.0024, -0.253, -4.5333, 5.2718, 1.0476, 0.3883, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8684, 0.7544, -0.6312, -0.1913, -0.1287, 0.9965, 0.9653, 1.3369, 0.519, -0.2279, 0.7258, 0.6575, 0.9947]\nstate[eef_state]: left_x=0.2812 left_y=0.004 left_z=0.1803 left_yaw=0.0988 left_pitch=-0.1489 left_roll=0.0493 left_gripper=0.9965 right_x=0.2479 right_y=0.1585 right_z=0.0562 right_yaw=0.0143 right_pitch=-0.1287 right_roll=-0.1508 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -2.0718, 6.8034, 1.7509, -0.1099, -0.0269, -0.0073, -0.3214, -4.9709, 8.0479, 1.1893, 0.3639, -0.0513, -0.2125]\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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8692, 0.7544, -0.638, -0.1913, -0.1352, 0.9969, 0.9314, 1.7008, 0.2512, 0.7139, 0.7444, 0.6193, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1788 left_yaw=0.1026 left_pitch=-0.1562 left_roll=0.0461 left_gripper=0.9969 right_x=0.2673 right_y=0.1648 right_z=0.0038 right_yaw=-0.0025 right_pitch=0.0655 right_roll=0.0601 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.619, -0.0757, 0.022, 0.0269, -0.4171, -4.0684, 2.1949, 0.8034, 0.0366, -0.2515, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65992019f5007941eacc16e1e8383305d00efe20c2f4b580afe171fcbc25bace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671c82b0fbd22072a7f269db4660310b1942c839a455a681fa0ee2a5d8b5dca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226df24b51c28c465e17aafc439ac72ad34ac19ccb7ec17914f5b462c1e4e3f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The teddy’s body is between the lowered fingers and away from the safe’s rim. I’m closing the gripper for the corrected grasp.\"}",
  "call_id": "call_Ez7tXBpeV5C8GeUh7Do2Dwrm",
  "id": "fc_045259c066ba39c9016ab45b3a14c087d0959df0f315ef4f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ez7tXBpeV5C8GeUh7Do2Dwrm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8696, 0.7544, -0.638, -0.1913, -0.136, 0.997, 0.9298, 1.6947, 0.2504, 0.7685, 0.7441, 0.6254, 0.0115]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1787 left_yaw=0.1031 left_pitch=-0.1565 left_roll=0.0456 left_gripper=0.997 right_x=0.272 right_y=0.1705 right_z=0.0135 right_yaw=-0.0112 right_pitch=0.1004 right_roll=0.114 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.1966, 6.8171, 1.619, -0.149, -0.0513, -0.0073, 0.0479, -4.6427, 3.412, 0.9451, 0.2125, -0.0611, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3035dd8b7847e9f8de8194f6a866ad520071a0e042979ea91bf8cd523b4c26d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84ba469c993cdce47a1e3ad0ac2a72e04772c572356520cfa2119bf03b1a9f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcaf1051b423bf12f4c81ee7c8ead04372956d55edef1bd433db5af3b3a60c78",
      "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 20 attempt 0 · /responses · status 200 · 3.466 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 72 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1192, 0.8619, 0.7544, -0.6147, -0.1917, -0.1284, 0.9964, 1.1442, 1.4895, 0.4927, -0.1589, 0.815, 0.8639, 0.0117]\nstate[eef_state]: left_x=0.2834 left_y=0.0036 left_z=0.1849 left_yaw=0.0974 left_pitch=-0.1265 left_roll=0.0448 left_gripper=0.9964 right_x=0.2209 right_y=0.1841 right_z=0.0271 right_yaw=0.0237 right_pitch=-0.1009 right_roll=-0.1275 right_gripper=0.0117\nstate[joint_eff]: [-0.253, -1.265, 6.8581, 1.6825, -0.1197, -0.0122, -0.0073, 0.0479, -5.4222, 6.3111, 0.8767, 0.4029, -0.0171, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8692, 0.7544, -0.638, -0.1913, -0.1352, 0.9969, 0.9314, 1.7008, 0.2512, 0.7139, 0.7444, 0.6193, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1788 left_yaw=0.1026 left_pitch=-0.1562 left_roll=0.0461 left_gripper=0.9969 right_x=0.2673 right_y=0.1648 right_z=0.0038 right_yaw=-0.0025 right_pitch=0.0655 right_roll=0.0601 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.619, -0.0757, 0.022, 0.0269, -0.4171, -4.0684, 2.1949, 0.8034, 0.0366, -0.2515, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8696, 0.7544, -0.638, -0.1913, -0.136, 0.997, 0.9298, 1.6947, 0.2504, 0.7685, 0.7441, 0.6254, 0.0115]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1787 left_yaw=0.1031 left_pitch=-0.1565 left_roll=0.0456 left_gripper=0.997 right_x=0.272 right_y=0.1705 right_z=0.0135 right_yaw=-0.0112 right_pitch=0.1004 right_roll=0.114 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.1966, 6.8171, 1.619, -0.149, -0.0513, -0.0073, 0.0479, -4.6427, 3.412, 0.9451, 0.2125, -0.0611, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3035dd8b7847e9f8de8194f6a866ad520071a0e042979ea91bf8cd523b4c26d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84ba469c993cdce47a1e3ad0ac2a72e04772c572356520cfa2119bf03b1a9f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcaf1051b423bf12f4c81ee7c8ead04372956d55edef1bd433db5af3b3a60c78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtAnJwFoQEmg1a0ymV7Xlz3G38-3yJg5r7C95EdrDTMROvacG2y8VsIDuQiBPU-wSV45keaWUVQaUpy-6SpwsKvksku4e74jPa_7fViP-OuMJu3vtD5h3whUtCcYDt4KfoLv0D4Ek7XQZRzeRbiM742DF_L11zJWgp79ohXO3p0VXAXF1x39KGGP10TE9NBQZ5xEl6nEc9wwnrJvl_Qxj3jITYGluMDFz_AKGGIxdZro61XOrEifQ0ekc5puGOtJZ6hdmnIEkTa_K0R8U0wE13MRhxoVYitvKx9Xorwt7docburU8CMAdexUgJ591-YLXnWO8cSdSxwz_15HO4M8aIjyUj5HbkdIy-_usiS04ltOjMkPpH_TcFnJGxKB3py3hxzDi4JOoKxWpbZtTXeLwktzbzNCAY1SI8iTrFxiw3UbXO7Dmlqd7qD_eGN0vYWtypB6dYAl3K9OJ_GpNUJG53h4qNcaqjzibMrMdM445VCJdH94qCHT8NoPpAxfekhMg8kMs_awheF4Gvzjkd6RLhw0CWgr60VcRi_HuxzhddcJ4YSJuc7sG5Y7zPEL_QCE1LoYxiYO7WRRzO0v4rTyNf2rmCd3h3i_WQdyAIWAm1wx5wE_6MeNo8AWO-MRMpvQwd_mjMHpvGdGbYFXCe60axsyMyX1R0TybOpFAjsFSc2-WWs0v2TeqMA2pQ4fJxs33G3va22DkvfctsrwAIbGmlA0mHBuZgVOs8ZSDM7zzUz-emP5RFLLEzOkCcYphsG_WpP5wCgiuzIb6VKStOqcbAVveAkl_bVfPuWGjv89gZGG5LOxIb4g9lIf_jQhSnjISkMFlcyuHuBH9_X-kcuwh9XDpusxHp6f8PHFTqM6D5niiTngQmNq982QSasI51qTOJo1bn8VIZZtvS-kLcB6YbecyEUjgcNzUcVTe4fDnB2TIbB6J3j1hefZgFnQTp_lC_nrWdx-sNjNq_O436QCH0H38wfPoMLxe0FY87JOeyqccTlbMOU66lSVXayYOFE8ZwWVe1QJTyriKxpLUx3QuY8y19JSfhfoZZOJdkFpwjbblFFBPIddjizWklcjuWqW0hEUMlkUvNiS5enYM7P97tTdEfkIBE1iDuaeIHcIxff2nEXDpZPr8cQteqGeLVWwk_GGrCj7cDIMbno0gPwZ6s36Z2V-F-FdlnwpBnfufH5GrH3hlWN_qzJJOsq-OzbTHvXYbnbKAFPEXkv_TRVDfEGicpBmqjyFSXdVCnoL9kp19GLd8gPnLEG9zUguSh3xT6PS3_syym-lf0KIUo7iPYTjcys1nDFsJcXdDUiXI5S8ZR1mWPnFhRAl_394FGVLL83NOv0ynYyYdMBb5uOocwwx203dAehoiKQfBiL29ZtlWRFmbGgu9rERCVpG_liY1b4mV-bRj9WiWDVmG_IzDPmLD8JOEcfwZ7RaOXEgLDyPCIKupwLk7HxKHxTwOShsIuVGXkf8OW-MGDTSzonAvZpd0AdTAdRgRvh5oGhONOFdzzsRwA8O5QDCNwA69tQfEF6BYGhXCNwHSgHwDWwKXN6BtNuqnnt78b0lZPWOKGekzXybWiK5UtgyC4P63WBfswfbdmQTdIs38B90uN9yNQFvUhhiCniiF8PKWFLvZzR-Djn7Vs4GMvpCVXZXpEJrdTvtqgp70CPH-Uuy9v3Q0AiZPNK03RS1OdWd7iZKjlwQqKvudfDc6b_0h25U73A1KsTot5x-kvKC4vDUG2qIsHXpDZVxCOCUbuMRSqD5unpcqaQXtozVGnOzjhbJUS5XKRC",
  "id": "rs_045259c066ba39c9016ab45b3d70bc87d0aba7334bd2fd9821",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.205,\"right_z\":0.11,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The second close was also empty, and the overhead view shows the teddy ahead of the grasp point. I’m lifting and repositioning over its visible center rather than repeating the same low approach.\"}",
  "call_id": "call_wmIhC3EVJwm8BeYuuAerl6pk",
  "id": "fc_045259c066ba39c9016ab45b3f96ec87d0a0f401099f5e1b77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wmIhC3EVJwm8BeYuuAerl6pk",
  "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]: [-0.1184, 0.8749, 0.7544, -0.6598, -0.1913, -0.136, 0.997, 0.8661, 1.494, 0.7139, -0.0216, 0.6853, 0.5755, 0.9945]\nstate[eef_state]: left_x=0.2768 left_y=0.0045 left_z=0.1736 left_yaw=0.1041 left_pitch=-0.1829 left_roll=0.0516 left_gripper=0.997 right_x=0.3157 right_y=0.2042 right_z=0.0971 right_yaw=-0.0003 right_pitch=-0.007 right_roll=-0.0034 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -1.9624, 6.9128, 1.7314, -0.105, -0.0415, -0.0122, -0.5128, -6.7214, 7.9385, 1.6386, 0.2711, -0.0024, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd01d92975f46350b028cf917d4798dd574fc33d008724f34b83da2d25c671d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d58b756fbec6cf5c22f0dc6bf89fb38ef576c99460c09f47dc9fca7e0a0d350",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c894a13cac585ec26db5ab908eeec09cc82fe01cb334826736f0bff0b891ccd7",
      "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 · 2.478 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 72 changed as sent

message 76 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8684, 0.7544, -0.6312, -0.1913, -0.1287, 0.9965, 0.9653, 1.3369, 0.519, -0.2279, 0.7258, 0.6575, 0.9947]\nstate[eef_state]: left_x=0.2812 left_y=0.004 left_z=0.1803 left_yaw=0.0988 left_pitch=-0.1489 left_roll=0.0493 left_gripper=0.9965 right_x=0.2479 right_y=0.1585 right_z=0.0562 right_yaw=0.0143 right_pitch=-0.1287 right_roll=-0.1508 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -2.0718, 6.8034, 1.7509, -0.1099, -0.0269, -0.0073, -0.3214, -4.9709, 8.0479, 1.1893, 0.3639, -0.0513, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1184, 0.8696, 0.7544, -0.638, -0.1913, -0.136, 0.997, 0.9298, 1.6947, 0.2504, 0.7685, 0.7441, 0.6254, 0.0115]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1787 left_yaw=0.1031 left_pitch=-0.1565 left_roll=0.0456 left_gripper=0.997 right_x=0.272 right_y=0.1705 right_z=0.0135 right_yaw=-0.0112 right_pitch=0.1004 right_roll=0.114 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.1966, 6.8171, 1.619, -0.149, -0.0513, -0.0073, 0.0479, -4.6427, 3.412, 0.9451, 0.2125, -0.0611, 0.9304]",
      "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]: [-0.1184, 0.8749, 0.7544, -0.6598, -0.1913, -0.136, 0.997, 0.8661, 1.494, 0.7139, -0.0216, 0.6853, 0.5755, 0.9945]\nstate[eef_state]: left_x=0.2768 left_y=0.0045 left_z=0.1736 left_yaw=0.1041 left_pitch=-0.1829 left_roll=0.0516 left_gripper=0.997 right_x=0.3157 right_y=0.2042 right_z=0.0971 right_yaw=-0.0003 right_pitch=-0.007 right_roll=-0.0034 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -1.9624, 6.9128, 1.7314, -0.105, -0.0415, -0.0122, -0.5128, -6.7214, 7.9385, 1.6386, 0.2711, -0.0024, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd01d92975f46350b028cf917d4798dd574fc33d008724f34b83da2d25c671d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d58b756fbec6cf5c22f0dc6bf89fb38ef576c99460c09f47dc9fca7e0a0d350",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c894a13cac585ec26db5ab908eeec09cc82fe01cb334826736f0bff0b891ccd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtFFPaFXuVNEJUbR46ne1b4gpCo035JohKNJ6tFerr5gxiajgRv-9xOahnpyscTvfA4qIwvwm_0KlI_T7q-mX7ZCuABC7uUUPrloNlPIyEO4H0bF1y-gWt8L9lmIjNluK3NGHYxjw6gg96-ADdhN9Dtcrya59eA8yhyDs_8U662474lq9yazV_8pqpPSx2rMOTKxyfIyTUypB-LZzSQp4CHGmQD6LSGp8iU9pB5z8-eUrI0DVEpSrnv0-to3z-GTVGVWH8YdP2MnxN2H82nnaT-Z2BeOijW1q1mfJeDWGu481YaMZ-FhVN5-vua0FVocVoz-71l2mTBXNM-qwh8zN5dbm1Q5M1d3TKIfg9RbxLgoBCzPVAe2rYFtKBBpnzQtg6FEnZ6iDSJ83U8IGaT8ZyjZaWommxalLKh9s2QEVc8_kQdNc8Yp8Y27_S2Bs6Mt_AyKzxhU5Us0b8NIB3AlTApt58pB8-sAtN-Vz3fpn_89eajfMw6sUTTxE6eDQcbBijp39cnlluq93jdqufV9CPh5DytvBrzmxOYYjGFPdXKGQGHuq8eYXbMQDgqzRO5aUe9ogmGyV_m7Az7AZT6qIPPOWK7fndKd70h3sZYMfubZkXLdlqhuPCfZItjVKESLaAyerNOWa11MTyeTZhgRVCZfX4Vq4tQ1QSc5_VhQypxuU9dazPMEWO6GUiJjEYXEp7UHJ_fU3QA9tgyn6RuGx9qojvEql486YfUOeNOg9elidNdCGCZMwTNat6bQ_WF2He_FItniGLVTDBFtjBf-tYBSlR8ghK1PBULsiL494nmaDWBtOQfso8sPDWQpmqqNNZb6jlz3cHzyrUBZ00L3A-PzeKeMzQhYMEeRGlL0SHByFx7xT1g-pwVJNDQN5jcCxlHue4eu3A3FlvnfQJhC-2gUvzcpWKwebxU5_fusOBFGjdN6iJjv7-o09bvaRl8RgRz4ssWRuq2wOzYrKK-sJPXI8rk1KK65BuHLghHTlX2RRUcrembKbpo4KfM52TNKq9NnsgcD_qvRlaZfWW6JdrpCUCLggLG6vrzYwzs7Ly3a1JJNt2aoQtJkjbz3xbi19BDVHQa2KwiZ_sgZ2-sNWBPpoj8NGJgpdvpMWE1yhatUAIIT8eyG8GFXsvB8sQvuhucBo9rSg-Ti9tj_bc4WYhTWdMaDGrhpcCv7WgEUo2rP8qv-7-YmAUUwTsVA81rtpgWlln9nSfU3ROi-jsnnza2tALerxDITNwaXVZ_CaHn5OlzCgpZn21onrDRN5gOgnjdsNatSk0oXHeelaA1P7k2lbQ5BgIiE3xO6GC2of_zWPZz7lGJdDx4kVMBIM0tLH33rtx6Zs1ypsMlR0qLBHtUJtPqQ9l9z_1eeXqflAPPMLWpaMud3nfZseBlaeF-w6ArYJ_DcXVZSgy79FdNO9exi-psbVEGA1yq2JZ8JUO-UoRzBUUhy9KRJfeLGh7pxxoNtse-mjSUhvD9ihUO4rKvYmtrTetBfBg6FqKMUa_GpUs=",
  "id": "rs_045259c066ba39c9016ab45b431dbc87d08ad9bc345ec0e486",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015},\"note\":\"The overhead view now places the right gripper directly above the teddy, with its body below the wrist camera’s edge. I’m descending vertically at this corrected position.\"}",
  "call_id": "call_Vz2SvZfQtXsMbJ3f7ethuxke",
  "id": "fc_045259c066ba39c9016ab45b443b2487d09c6d54ef7d3b7487",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vz2SvZfQtXsMbJ3f7ethuxke",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8753, 0.754, -0.6758, -0.1913, -0.136, 0.997, 0.8642, 1.7325, 0.5873, 0.3408, 0.691, 0.5838, 0.9953]\nstate[eef_state]: left_x=0.274 left_y=0.0048 left_z=0.1705 left_yaw=0.1048 left_pitch=-0.1993 left_roll=0.0554 left_gripper=0.997 right_x=0.3175 right_y=0.2041 right_z=0.0258 right_yaw=-0.0108 right_pitch=-0.0055 right_roll=-0.0011 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.5795, 6.9265, 1.6581, -0.1245, -0.022, -0.0171, 0.1026, -5.1214, 3.1658, 0.8181, 0.0366, -0.1294, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766e2466f0e2294c8b2a3e0da62e2e2ebfa7913711aac8c48b2d9b1dbc62e2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17e01f6f2c5601308491d07fb85d73adca292361f9c7a15867a03c287d51c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c308da95742e5780592b4ec0568d2a20a1cb528c1d9119a8c52461c1718df7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 6.751 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 76 changed as sent

message 80 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8692, 0.7544, -0.638, -0.1913, -0.1352, 0.9969, 0.9314, 1.7008, 0.2512, 0.7139, 0.7444, 0.6193, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1788 left_yaw=0.1026 left_pitch=-0.1562 left_roll=0.0461 left_gripper=0.9969 right_x=0.2673 right_y=0.1648 right_z=0.0038 right_yaw=-0.0025 right_pitch=0.0655 right_roll=0.0601 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.619, -0.0757, 0.022, 0.0269, -0.4171, -4.0684, 2.1949, 0.8034, 0.0366, -0.2515, 0.0464]",
      "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]: [-0.1184, 0.8749, 0.7544, -0.6598, -0.1913, -0.136, 0.997, 0.8661, 1.494, 0.7139, -0.0216, 0.6853, 0.5755, 0.9945]\nstate[eef_state]: left_x=0.2768 left_y=0.0045 left_z=0.1736 left_yaw=0.1041 left_pitch=-0.1829 left_roll=0.0516 left_gripper=0.997 right_x=0.3157 right_y=0.2042 right_z=0.0971 right_yaw=-0.0003 right_pitch=-0.007 right_roll=-0.0034 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -1.9624, 6.9128, 1.7314, -0.105, -0.0415, -0.0122, -0.5128, -6.7214, 7.9385, 1.6386, 0.2711, -0.0024, -0.0269]\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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8753, 0.754, -0.6758, -0.1913, -0.136, 0.997, 0.8642, 1.7325, 0.5873, 0.3408, 0.691, 0.5838, 0.9953]\nstate[eef_state]: left_x=0.274 left_y=0.0048 left_z=0.1705 left_yaw=0.1048 left_pitch=-0.1993 left_roll=0.0554 left_gripper=0.997 right_x=0.3175 right_y=0.2041 right_z=0.0258 right_yaw=-0.0108 right_pitch=-0.0055 right_roll=-0.0011 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.5795, 6.9265, 1.6581, -0.1245, -0.022, -0.0171, 0.1026, -5.1214, 3.1658, 0.8181, 0.0366, -0.1294, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766e2466f0e2294c8b2a3e0da62e2e2ebfa7913711aac8c48b2d9b1dbc62e2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17e01f6f2c5601308491d07fb85d73adca292361f9c7a15867a03c287d51c79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c308da95742e5780592b4ec0568d2a20a1cb528c1d9119a8c52461c1718df7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is down around the teddy at the corrected overhead location. I’m closing once more to check for a secure body grasp.\"}",
  "call_id": "call_fyWzjvupNM6dYGifXTja9nvc",
  "id": "fc_045259c066ba39c9016ab45b4761c087d0b6bc7cfcd139ccfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fyWzjvupNM6dYGifXTja9nvc",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8753, 0.7544, -0.6903, -0.1917, -0.1364, 0.997, 0.8661, 1.7332, 0.5789, 0.3683, 0.6994, 0.5755, 0.0459]\nstate[eef_state]: left_x=0.2715 left_y=0.0052 left_z=0.1683 left_yaw=0.106 left_pitch=-0.213 left_roll=0.0586 left_gripper=0.997 right_x=0.3183 right_y=0.2043 right_z=0.0277 right_yaw=-0.0102 right_pitch=0.0108 right_roll=0.0021 right_gripper=0.0459\nstate[joint_eff]: [-0.0615, -1.5385, 6.7487, 1.6239, -0.1538, -0.0366, -0.0171, -0.4718, -6.9265, 5.7231, 1.1502, 0.442, 0.0171, 1.4676]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273a9c8fa6d07fe3927d1b5863a7010b761625b5f491acc09c283c66b2c89ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f708761424a0161114a1687a5acc0071fdb4d9f82c4aa15a21acc109044e5b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe728eb8d2c05d99f5fea482ad2c31ed4dfcf32ae4264594a59b27731588f03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 7.164 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 83 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]: [-0.1184, 0.8696, 0.7544, -0.638, -0.1913, -0.136, 0.997, 0.9298, 1.6947, 0.2504, 0.7685, 0.7441, 0.6254, 0.0115]\nstate[eef_state]: left_x=0.2801 left_y=0.0041 left_z=0.1787 left_yaw=0.1031 left_pitch=-0.1565 left_roll=0.0456 left_gripper=0.997 right_x=0.272 right_y=0.1705 right_z=0.0135 right_yaw=-0.0112 right_pitch=0.1004 right_roll=0.114 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.1966, 6.8171, 1.619, -0.149, -0.0513, -0.0073, 0.0479, -4.6427, 3.412, 0.9451, 0.2125, -0.0611, 0.9304]",
      "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]: [-0.1184, 0.8753, 0.754, -0.6758, -0.1913, -0.136, 0.997, 0.8642, 1.7325, 0.5873, 0.3408, 0.691, 0.5838, 0.9953]\nstate[eef_state]: left_x=0.274 left_y=0.0048 left_z=0.1705 left_yaw=0.1048 left_pitch=-0.1993 left_roll=0.0554 left_gripper=0.997 right_x=0.3175 right_y=0.2041 right_z=0.0258 right_yaw=-0.0108 right_pitch=-0.0055 right_roll=-0.0011 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.5795, 6.9265, 1.6581, -0.1245, -0.022, -0.0171, 0.1026, -5.1214, 3.1658, 0.8181, 0.0366, -0.1294, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8753, 0.7544, -0.6903, -0.1917, -0.1364, 0.997, 0.8661, 1.7332, 0.5789, 0.3683, 0.6994, 0.5755, 0.0459]\nstate[eef_state]: left_x=0.2715 left_y=0.0052 left_z=0.1683 left_yaw=0.106 left_pitch=-0.213 left_roll=0.0586 left_gripper=0.997 right_x=0.3183 right_y=0.2043 right_z=0.0277 right_yaw=-0.0102 right_pitch=0.0108 right_roll=0.0021 right_gripper=0.0459\nstate[joint_eff]: [-0.0615, -1.5385, 6.7487, 1.6239, -0.1538, -0.0366, -0.0171, -0.4718, -6.9265, 5.7231, 1.1502, 0.442, 0.0171, 1.4676]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273a9c8fa6d07fe3927d1b5863a7010b761625b5f491acc09c283c66b2c89ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f708761424a0161114a1687a5acc0071fdb4d9f82c4aa15a21acc109044e5b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe728eb8d2c05d99f5fea482ad2c31ed4dfcf32ae4264594a59b27731588f03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtP0ed9NBsHrtUMSS26o1AtTmgTIL0tDiPg4r3iPqjq7DTDsh8oCkouwSloanD2ToZLTsL4mvMiycutOBWH5sUAgsIJPCrF3rv8vyHXstkqCtCAMoCirmSHHoN8q2L69flTvlFMOcthcJGxCTQziJdxvewUasVkjSM-XJnxoSjcZByslMA5zkH-R7lFEPuVICdT-3aLMXmtkjEvKAQU8PPPy-Uu9E9DezEMqa04xnQcTcXLB-ybyQwmsWBKKxBmImCZ3-eKbRnqJ-W0S3oPCJIO816iy0hfik3cyuHGMF_DU5LZcWLcCrECiCjdPT9kfQkhKf0deqoO-oN9mDIqlF2QNU75jVBJlo-3co2silUKl5Xvteq5cdtTBbQVAMFIRcebGOvCb0sDXJMcyLRAI7HsavgMM8z0-zXrrLXExJ0mMcFL55Ug0RITGM_iD40yjRSxIVU2S7bcTw9mbnNFsiXCkc9sExVzfntuiH-vJ72306h8XvWx3Eagdd80Kla7cOZizpW2raBPv9hnTTtz1B9B54pyiCPpB5MQ75pe8sURsL1XGZiT_gVndlU6xbCsZqMSsRwcfjq4_zQdvE9k2yWUMSvgKt0PGRY3o3PF9tn6Q07gVNFghTt51cXMW9N0iEjc4es8xb8AKX2W12GLDbbItm6fiKk5Zeycj38dqjrDYzpuC-8J6Ln8SCIcEiv1kL8_2Za7_th8PAHgGNSZIJLp1h70O9EOubkTuO1mwt039-MHHB1uFodmJRP6zB075Y70rAuIRTqf8zDBSUNyYXZ_Cf7QNtMtRLpp_n-OiY51ge8-P-qpqXFDDFDSSC2RivTLSS5XIziqvn1bASaYPUMeCUz_5XcS1PxsHql-A3dNq-c8-5KfOOUwjSUwn2oATDQWzqisY0QJJyscTEUqmt5o8Ts-nuVZM07NldKiC1Yw6TVZhtRWNiHtQvigNioorsZTDALrsDL-ij2nmF4zLOHbSTn442Ropvj5UD6FS4DlImXtd1Vm7wYjES2O08HysCO58WIQcJUg9MOlIfMqV20OGXV49fIXq3t_B3cSAcZlvpb3lMVA1dLS4bn0vgvD2chc5ftzsrHt-xLV_zMOcGT-hJsdg3MTYMDtA33pCcOd4atC0ZEFau7ijQee2OLPyC_AaF4NKt9Fda17P8tGuGDMCbGCt6M6100Zau3imb8R4ZwVbQPRbinMIv6mdpPKSrkPFSpWiwdz5_JIH7pawHC_CyQ-wFs7MxLDx2aDQpSoFhmOF8i68-e7VCM4hosYEn_WX3CTaYVkDlkXZU-m2TrNdwSkp02_qfsgUbP7JhCwh0O0gtgPdcSyRqn-n5-tWIDWlLglhzD80e-TRXGvxu6T7iEAFcvWxdNXgeDcN1RsGEdjHKlEDNgjlSuYNC7g-pfzOVHNn2LR5EN0uLCSio1JNDQfgfoHGarpRl3FNf07ZBE3bUiyGYViIXQVvhx49Lut44q-V0izbOQO8STjg8HEM1CMsER4yPLZHcCx9f6xZcGTMTrVG5GHeUSrLdvkBPsE4RLm8JShHRGPXuupCQf_j0G5IaFZH_J09sWT5Mc5I9Qe9zdBLZESxqcMu4V6IFNoSerYDmSiopB6wh-J8V4hRvSlFBJdtxN3xPPjjSu4HglTTIQTmNM6ocph744O2JHPVNsuZo4S-dFrdugt9PEvGkz6MhpGN3Zgxp_fnytpkCf3xIGcQASzd1u9ZcZGRvDTEzqhzQAiCTyjsf5nVIXZ-CvlrnAtNqk4pB-GRiN2Sm9xE20W41I7JNa6hKM_UfYQAw2X-_oF6RhKQbmS4AgcMBJtDAUIgR9f6cTNeLKlOS_F0S3JzOitYFeN9r831AIPWkRgLXGjnOizNQchQkkMkKiiJGDkXrxBvh8JgzMb-0jC9BmOrKWREU9rt4_AR9eesAKpYwy0_Tu0aXMBtUlajslsnj5RHu78d82WhN5KRE1aOj6pLn-3gtNdNHIdyqa8BvYSOuc_0eQBpcRGQQlSomJbvYbq-XoF9wqVHrwOXbVNdhyiqkkseySbprgV-7Bg1Ac72tFFtQGFhNOJZ0G2O1EKLQOd3Yt-TtGvwMUpVaT-Lpi-TrG_yWtLN0JsXpaUVTxvkU7P6whZXAKqj9V3VHlaPkmOkYWPhtX1O5nxDJaQn55Ir1CFAvWhcp3j5RENwKHA4Mpy5NAk86KSsonLyauWMHCKp9B6IBZ7RnawkYTHMCiDgTuX6dmJViir_rsh1azZL-gtvkXIu4IXD--ZVQbGsUHga9mx6BmmaseN05LMOd2BSp4yYMyYk_yZjpPG",
  "id": "rs_045259c066ba39c9016ab45b4a7e5087d09b122153ca1a83ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.255,\"right_y\":0.255,\"right_z\":0.085},\"note\":\"The safe moved instead of the teddy, indicating another rim contact. I’m releasing it and moving back and left to the teddy’s exposed body, clear of the box.\"}",
  "call_id": "call_RPIk7wSCcCVGJIZVM9kin6gg",
  "id": "fc_045259c066ba39c9016ab45b4ed46c87d09501f86fc37c6654",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RPIk7wSCcCVGJIZVM9kin6gg",
  "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]: [-0.1184, 0.8806, 0.754, -0.6971, -0.1917, -0.1394, 0.997, 1.1511, 1.623, 0.7654, -0.1566, 0.849, 0.8551, 0.9945]\nstate[eef_state]: left_x=0.2706 left_y=0.0053 left_z=0.1656 left_yaw=0.1083 left_pitch=-0.2252 left_roll=0.0593 left_gripper=0.997 right_x=0.2556 right_y=0.2562 right_z=0.0712 right_yaw=0.026 right_pitch=-0.0127 right_roll=-0.0199 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.0034, 6.7624, 1.6288, -0.1587, -0.0122, -0.0122, 0.212, -8.4171, 7.0359, 1.16, 0.6325, 0.1783, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1cd26c7b75b0170cb2e21a7cef1cff7f2915c94b21497bf4f09211831ed46a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3393cc4b578be30aa86000fe659375f2e6bb3061d5ac4f1082c0628023bbee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e8254b0d6c35001bfddefb7af5adbf4418e14ad45215c4910a19101760bf19",
      "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 · 4.326 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 83 changed as sent

message 87 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]: [-0.1184, 0.8749, 0.7544, -0.6598, -0.1913, -0.136, 0.997, 0.8661, 1.494, 0.7139, -0.0216, 0.6853, 0.5755, 0.9945]\nstate[eef_state]: left_x=0.2768 left_y=0.0045 left_z=0.1736 left_yaw=0.1041 left_pitch=-0.1829 left_roll=0.0516 left_gripper=0.997 right_x=0.3157 right_y=0.2042 right_z=0.0971 right_yaw=-0.0003 right_pitch=-0.007 right_roll=-0.0034 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -1.9624, 6.9128, 1.7314, -0.105, -0.0415, -0.0122, -0.5128, -6.7214, 7.9385, 1.6386, 0.2711, -0.0024, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8753, 0.7544, -0.6903, -0.1917, -0.1364, 0.997, 0.8661, 1.7332, 0.5789, 0.3683, 0.6994, 0.5755, 0.0459]\nstate[eef_state]: left_x=0.2715 left_y=0.0052 left_z=0.1683 left_yaw=0.106 left_pitch=-0.213 left_roll=0.0586 left_gripper=0.997 right_x=0.3183 right_y=0.2043 right_z=0.0277 right_yaw=-0.0102 right_pitch=0.0108 right_roll=0.0021 right_gripper=0.0459\nstate[joint_eff]: [-0.0615, -1.5385, 6.7487, 1.6239, -0.1538, -0.0366, -0.0171, -0.4718, -6.9265, 5.7231, 1.1502, 0.442, 0.0171, 1.4676]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8806, 0.754, -0.6971, -0.1917, -0.1394, 0.997, 1.1511, 1.623, 0.7654, -0.1566, 0.849, 0.8551, 0.9945]\nstate[eef_state]: left_x=0.2706 left_y=0.0053 left_z=0.1656 left_yaw=0.1083 left_pitch=-0.2252 left_roll=0.0593 left_gripper=0.997 right_x=0.2556 right_y=0.2562 right_z=0.0712 right_yaw=0.026 right_pitch=-0.0127 right_roll=-0.0199 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.0034, 6.7624, 1.6288, -0.1587, -0.0122, -0.0122, 0.212, -8.4171, 7.0359, 1.16, 0.6325, 0.1783, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1cd26c7b75b0170cb2e21a7cef1cff7f2915c94b21497bf4f09211831ed46a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3393cc4b578be30aa86000fe659375f2e6bb3061d5ac4f1082c0628023bbee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e8254b0d6c35001bfddefb7af5adbf4418e14ad45215c4910a19101760bf19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtYCfAK8KtBkz8_dQE381V1rbVKFmOB3BXrzT72AcaujkyTitf7GtQeuuXLGg8orflYCPKsO7BVVWO0-Rt-jfxcrAyBOXKyrmho8l7qV70gtl-p-fOdNLjYAOz6Jmf3NER5lTKGpNM604icGyQVwE8G4AcksXN6s93xZ7w3AUy4tPw-DCzP5uVS6fd1bTIMUmeqG9TC0mtYjiLLe7i6fAT-sLvqMBPnQwP55-NNHRJUun_2a01Y8P3ECqUdT3RGixKLrMU3_Olcr4QLN1AN0Imfcdm6NtFvqPCMsiIoEbivPh_6brFJvnmVPrkAVCNaKJFRermHCTRfIRqTGnXoXpwaXqPXsD2YUzXos7w8RcFGMXGH157BeHmriNROCZRTGJrwjnaXyIK6aWykxfIlY2Dze6u3CAnme6jZeXl0OIu_Cb1A91nBPTN9-j_7s2sBuxArQbgTd1ckDwWDaYisPVs2JCOf1m43nC5kpS-3DbuwzvL7LsELkPVkGSBOJZ8fI5hj9thZvXohaN9BUzBVkyHFXCjiOA-nYziUyfELbkewf4Th7TgV8M-9T6i8TdNNry9ygwRhVtGfFaXk36njPu-RA54OUYkA7eVUBaj1TeCCzl0b2CNhKXMuilQd55WIE2lM0O9ykKSnsP4G8MHRPPVAdS6thAWaO6LiHugjHUhp96-ugoepwaUt6PjvJ-ZrVFjPBE3qihiYLOeLxUtBC5zqLU1xk0YzWoxABc1O7otTP92OphOVRjS2Flzq8tSzy8vWtWtxEgPcuok2PgvoWawwQwxAbf3jQ8b_UdluLxYFWErsBs2AGv_E6IxENNUGIIxs2C3YBmzbpYfyirXh936HUowUXEh2Pm9EUxNa-x7et8LChb-Vu9yswURGmin9xLuJXJ6C7TPtxvEvXGCOlvmo0F5yPKEyvbdQXYbrByNMbSYPUqEF0I9F5gBHRr_EyZbldWw_Mpym-saY55hjUmt5KvtuOd2gEc6IRrPQ3pYTMrnImrMtnjpVTMKc2QYp632NA35UNCdcFHBrjH62VYKq4sCqotFDEvvYIIH4Ssd2r6gtRxLQSx7U_pfHO-u2MxBXsfZx51ivSBx9lVzQwSqMUESFPfrS4dD67BzX0uEIJYRghJtdoQuK5fYtfeHb8zsQm1xUnWT67ti0lTbkJic7tqRrBPlQ7rAxnboSnTXJ4g2fLJGGQxYq7DlyZaJ2gYhav2fk4yG-Wl-1TBbwx8St9TDreHgHlXIT2JHT3xiw9cc4kFjvhLIccTjeLk_p2rlfHRU5MH_YmR_VdBpMB7mQOwudTp3doal5HPZX_MU4loBPQhSgwTxmLMfPO57UVY0QGYMM-_nj1s4o4h23voL6Dpb7J_FCL0XaTYp9_2sevD7i31vhi-IoEnde_xSF8qTDgVODj0ycgCLQ9wGlv5xlHAZ0watLxl8-UMnEYz2VFForZL2u4q3Wxt-WqhKfBZ0J4zqaRBimCusu01J2W5aNVPld2LrCvXDJB9biErOj6DesManZwo_OtFLrqsB4mP9rFFww6MXO-80mwQkLPCl8meluB4z7it4So3j9cNe7KsAI00s-0qqAPv0qY1R1vk751WKU0SI7exI9O6JLReFPDw2PKwVJHc7cJCeymdzDzzXFkScj_6w7KBtfdkss2GSsusppKPDv5DBOtkoO_3NB7_MWOuTAebPd4Kq82b7Z-41UTOeDomrxFFHnUS03UJx1z_UNzCfHvy6_PW29DjC1_cUdqjBIxNhajdyvmYhf7NenJxdGWqpvWN6KSsKYagQ0RGwM3z19v0AkDxpjsjhhAwJcKugUPA5cC4UirAzC23AK4-aaAXzCRgysXbTq68ZYvgOeda6iBfINYBmKBoN0tcnWzOl8hp2N7FYeTNS3tolY1OvXCFrhgULw3jPO-GJfVusiqGXWo-Vlx7hN7zvLPy4GKRKuEs8MstwsM4EU17XvqBfDzIzHbZ52bpA1MnAIgDmWh900xpei_LA4d1cjZrPOssEdTNy-5GpX5goPCPuE_BeaW9Mk5Y9jJpaj5IHkMgkaXYIuuZ2Iy_4qxarxojAmtC-yBu7x8XPUMGpLAtdUSJKZv7NiKU-5EGpVaqYj5ORGu_0hc8yKKVEzY0CEU8NYnq5kHMROe2K8UpZZE95sLYYusIQIsp9aXUIa31i8_6zXOjrUhpwGBiEzKCXt8F8TGXQ00OaoK82ctOwnuSeqwduXK0lvLpXTLgyELvnpPV9Adk76ssGQwr_vnQbdvAnjfR5J1_w-ccHEWlySqBZZJ2-epoX-MUSbZ7SZMuxuRlN7e-1SJvFGJ4q5Cf8VKSjYWLMraCPatU8bQ3g-kbPk7vuRRzu2AQ7D2Xn3orQLKCGIjV_f6pV1-Fu6HOyMYrIxr8tGNiszdvCKTD48wFKvAvjcr0pjWKMqnFGLCMEzMFpsoumosv5oXqb2uoaD_oBuWaWsv46WaHk91EtxQcGnINDIs3nKtDBmHppuNGwYKjz5Y6Eh_S1YlkCgFrorEAIIRJXzEklOcMnCwYh9vpE=",
  "id": "rs_045259c066ba39c9016ab45b523e7087d083265a7bbb7ea7dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.195,\"right_z\":0.005},\"note\":\"The teddy has shifted to the right of the wrist view. I’m aligning with its now-visible torso and descending outside the safe’s front-right corner.\"}",
  "call_id": "call_ZJYsAS6Qvt4A59hXZ3xcZiWH",
  "id": "fc_045259c066ba39c9016ab45b56ff5c87d089b7fc018f1ec986",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZJYsAS6Qvt4A59hXZ3xcZiWH",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7052, -0.1913, -0.1398, 0.997, 0.9668, 1.689, 0.474, 0.3164, 0.7437, 0.6811, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0054 left_z=0.164 left_yaw=0.1087 left_pitch=-0.2341 left_roll=0.0609 left_gripper=0.997 right_x=0.2757 right_y=0.1953 right_z=0.009 right_yaw=0.0016 right_pitch=-0.0308 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.6205, 6.7214, 1.5165, -0.1001, -0.0269, -0.0122, -0.3077, -4.3282, 3.6991, 1.0281, 0.2711, -0.2369, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695a60feb48025e2231423046f095d624dd4eecef8d5c426697e1a3bee15eb3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d93bec21c6fa802689025218f46d16a49a0069065a3cf47cefa32e7d24120988",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153d45f7bea7b0b5d08774ea06f3aa565081774b0a61d1c7888f5ba6e454063a",
      "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 25 attempt 0 · /responses · status 200 · 4.107 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 87 changed as sent

message 91 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]: [-0.1184, 0.8753, 0.754, -0.6758, -0.1913, -0.136, 0.997, 0.8642, 1.7325, 0.5873, 0.3408, 0.691, 0.5838, 0.9953]\nstate[eef_state]: left_x=0.274 left_y=0.0048 left_z=0.1705 left_yaw=0.1048 left_pitch=-0.1993 left_roll=0.0554 left_gripper=0.997 right_x=0.3175 right_y=0.2041 right_z=0.0258 right_yaw=-0.0108 right_pitch=-0.0055 right_roll=-0.0011 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.5795, 6.9265, 1.6581, -0.1245, -0.022, -0.0171, 0.1026, -5.1214, 3.1658, 0.8181, 0.0366, -0.1294, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8806, 0.754, -0.6971, -0.1917, -0.1394, 0.997, 1.1511, 1.623, 0.7654, -0.1566, 0.849, 0.8551, 0.9945]\nstate[eef_state]: left_x=0.2706 left_y=0.0053 left_z=0.1656 left_yaw=0.1083 left_pitch=-0.2252 left_roll=0.0593 left_gripper=0.997 right_x=0.2556 right_y=0.2562 right_z=0.0712 right_yaw=0.026 right_pitch=-0.0127 right_roll=-0.0199 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.0034, 6.7624, 1.6288, -0.1587, -0.0122, -0.0122, 0.212, -8.4171, 7.0359, 1.16, 0.6325, 0.1783, 0.0562]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7052, -0.1913, -0.1398, 0.997, 0.9668, 1.689, 0.474, 0.3164, 0.7437, 0.6811, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0054 left_z=0.164 left_yaw=0.1087 left_pitch=-0.2341 left_roll=0.0609 left_gripper=0.997 right_x=0.2757 right_y=0.1953 right_z=0.009 right_yaw=0.0016 right_pitch=-0.0308 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.6205, 6.7214, 1.5165, -0.1001, -0.0269, -0.0122, -0.3077, -4.3282, 3.6991, 1.0281, 0.2711, -0.2369, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695a60feb48025e2231423046f095d624dd4eecef8d5c426697e1a3bee15eb3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d93bec21c6fa802689025218f46d16a49a0069065a3cf47cefa32e7d24120988",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153d45f7bea7b0b5d08774ea06f3aa565081774b0a61d1c7888f5ba6e454063a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtcGLTFk3o1aAJTOUeLhyjyuwhPv-S4qTTVqqaLKwp1TlJYh_WIxhQWxww8B3h8Jk_GEDTkFa24mE0FVyjADrPzB_CW0VEKT5cyP2SK8PABYl0IHLfVfmymq0-hDZ4a9qKuR_TkFayOWiCX0uhW3xtzc-1wy3tslQ832A5Kyt_Aa--eDNSd3nkUauwKj0aUOYL1FGZdSmwFF9mQOczJbta1ZKR-yzKTH7oIavNFBtlHwBxDyqDg9eOJ3NO8zMLRDSe_x6RkdbKbC7-YoGRCkSKp6XBuijlM82GNUcOqi5GNLY1qej0OuyFz0W-6MsvXHgtmvkyEgVPkOdkZJr6Atil8WQIFHPXEhnwZEJG9JrgMKtyB_iJfeydyqhK6SgPsOxDnKZOEhJLyLSeyzbx0WPltWBGdSzcofa_m0wYdP2fLKYEC3c3FOF4-0wsSmm1yAUgqklKjUhFg1NshL3ZnAflJL6WhwSDsjscYOMKA8PnlrZhQGm1Hpszz6UCj1l9kSw6z29IjOYPsd-0acX69oY9hsnrWGtxVVJTM15EKxN8m9gSIMZQt_n8mf_4ggwwQkOvn_VP-jaENBnuaYmc73EksX_TQtfMJZC_Ty7FCXZM_IHtp9OF3eIVSYQ9iDaTatqvPS6AzK_qddBaWQOLIBDmL-vo281iSbYESs97G7TtwlukTyCIrTfQQjpoOwlOKYy7j-O0RIUgBoV_LmUb_JQ52zZviSFcI9jETi3kgOoaDCz4-Ij3lYoM6x2Bamz_n8y08IISwHSPmspjsAyxmYMyWXX6WzC9KD_bM8LbQrphn1BF_kHRzTOLEcyDLxLotknsHVWGMoV1trzdbt_t0DSGbYVBzn4sES9E-Mo8OLroBJW0ptSBWpXAElB5h8cVo32M5wZHPT2SAC65ap5uSMNtGQWs9JCRipWrJBK-NwLTRvsakRlOHFM7dAR2KbmhBTJi5-McLVwYCesFhdd7OMnsN4j-OE_IiUD6i_yldtjIWKsczw8ebwkkQgN2I01ggs2P_aH5NPtSHhw95-p6pUXpSTd-zWXcOAJqvPzNiuSqfH4zkOPppvPUQkSVzEuzAbly3IslH_80w8RP9DJsD2sv7kD9GWHbmIhDTymRmzuZvJGUMvP5RQoaxy44MFWbszZLNwZNaJ0J6GBrp3LHWfNGT_CUHjAwYv66egRpOcCr0AxU0gtJtS7XW9uevKudU8kw9HwaRFeOLNu0ouD-kw_0AYxXQwdUQ6Ew_G6tGu4K-UKYM_yb-tav80jAQrss-4KYLcSxHCVlleydB29EcvspGuzCSyAgPV7nexkZwFR-iAeZX42KITMUtBjoNezx1lYvbHAg364XCDuluRV6kDhe7qgsyUfIm7cNDGiEBB7Hkjp5boLpzxDGu5Bv_TatQpB7qjASQxi1tlwRfqcYHfShYkk5t8-fozUyncLC-_0VocvRsNTf2guiaKCTh-qInTEOjaszlUlgTq8ZFCsGFtF8HAQP44aXDvhhpieAVeYzKo_QPzDSHiqvMd1XVPDF1PP-WhpSw-7nR3jOUsWEsbA8yAseal5PsB2oFHeDJbWZ86oJPBzTX_gHgTgqoJaC1MtTVXmcJD0OqXkGuVmgwo5o_Gg==",
  "id": "rs_045259c066ba39c9016ab45b5a29d887d0a05171b11640e33d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.18,\"right_gripper\":0},\"note\":\"The teddy’s torso is just ahead of the fingertips, centered beneath the wrist camera. I’m making a short final advance while closing around the body.\"}",
  "call_id": "call_dp9qkrF7u2IayWoR9mMRT4dl",
  "id": "fc_045259c066ba39c9016ab45b5bb35887d08498cf3cc77477f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dp9qkrF7u2IayWoR9mMRT4dl",
  "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]: [-0.1184, 0.8818, 0.754, -0.7193, -0.1913, -0.1429, 0.997, 0.8536, 1.6981, 0.4633, 0.3874, 0.664, 0.5755, 0.0392]\nstate[eef_state]: left_x=0.2666 left_y=0.0057 left_z=0.1617 left_yaw=0.1112 left_pitch=-0.2478 left_roll=0.062 left_gripper=0.997 right_x=0.2959 right_y=0.1791 right_z=0.0057 right_yaw=0.0009 right_pitch=-0.0487 right_roll=-0.0278 right_gripper=0.0392\nstate[joint_eff]: [-0.1846, -1.5385, 6.7214, 1.5604, -0.1538, -0.0415, -0.0122, -0.5265, -5.7778, 4.6291, 1.6386, 0.2564, 0.0464, 1.2332]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e7c3c1d14dfdfcb70a0a33f08ccd2d0bb1022db42b095d6f2fdc6dbe23aaee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7876a5f7df5489996e670e0e961272785968e43e09cab995c4ea1d6b08bd2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7788c0756e888f94d0b5ff5bcda498f868b1e5f8704d9c769d6b876b1ca86efe",
      "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 26 attempt 0 · /responses · status 200 · 4.797 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8753, 0.7544, -0.6903, -0.1917, -0.1364, 0.997, 0.8661, 1.7332, 0.5789, 0.3683, 0.6994, 0.5755, 0.0459]\nstate[eef_state]: left_x=0.2715 left_y=0.0052 left_z=0.1683 left_yaw=0.106 left_pitch=-0.213 left_roll=0.0586 left_gripper=0.997 right_x=0.3183 right_y=0.2043 right_z=0.0277 right_yaw=-0.0102 right_pitch=0.0108 right_roll=0.0021 right_gripper=0.0459\nstate[joint_eff]: [-0.0615, -1.5385, 6.7487, 1.6239, -0.1538, -0.0366, -0.0171, -0.4718, -6.9265, 5.7231, 1.1502, 0.442, 0.0171, 1.4676]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7052, -0.1913, -0.1398, 0.997, 0.9668, 1.689, 0.474, 0.3164, 0.7437, 0.6811, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0054 left_z=0.164 left_yaw=0.1087 left_pitch=-0.2341 left_roll=0.0609 left_gripper=0.997 right_x=0.2757 right_y=0.1953 right_z=0.009 right_yaw=0.0016 right_pitch=-0.0308 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.6205, 6.7214, 1.5165, -0.1001, -0.0269, -0.0122, -0.3077, -4.3282, 3.6991, 1.0281, 0.2711, -0.2369, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7193, -0.1913, -0.1429, 0.997, 0.8536, 1.6981, 0.4633, 0.3874, 0.664, 0.5755, 0.0392]\nstate[eef_state]: left_x=0.2666 left_y=0.0057 left_z=0.1617 left_yaw=0.1112 left_pitch=-0.2478 left_roll=0.062 left_gripper=0.997 right_x=0.2959 right_y=0.1791 right_z=0.0057 right_yaw=0.0009 right_pitch=-0.0487 right_roll=-0.0278 right_gripper=0.0392\nstate[joint_eff]: [-0.1846, -1.5385, 6.7214, 1.5604, -0.1538, -0.0415, -0.0122, -0.5265, -5.7778, 4.6291, 1.6386, 0.2564, 0.0464, 1.2332]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e7c3c1d14dfdfcb70a0a33f08ccd2d0bb1022db42b095d6f2fdc6dbe23aaee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7876a5f7df5489996e670e0e961272785968e43e09cab995c4ea1d6b08bd2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7788c0756e888f94d0b5ff5bcda498f868b1e5f8704d9c769d6b876b1ca86efe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFthnwvGR1KWdoZ97UZE4pi2gh9rU8g46975kfvJG9VFFDWyUiz-uvfL-LYZd7DgHSyaJGPGZ_o3tgOZxjCfGQO8RoZkJ075h-wYnTbVG-Hz_uQ14yAp30mfKyotcRFWHEJcqoocDlfolWnRRLH1P_m5B2VErW1ez41dFS6LuQitnXB5WlaTDGKdAcTILaX9-CCpxUYaHO050SMJcMb6SzoQPZOfKTuh_dx4nzgbY04doAtFK2ePnV-UIfpQpLegvVumzYr2kW3GxYG-Rnip0FuN98AqszIo64niJv1PR5DI7c9lVb87LvyElZY2t9iI1FcAj3eT7Sdb-0xZ4aenSKy7rY4Ikf0wveZs6SH3ifF10twHk9o-zkXelFLkpebCvWlE3ErRH5UINIBBJiTTdhcB6bRC1EglngKGalD1kKWEpwaeFTUfEPWbLFXN1lzDi5JAYZaXdj2v5kmxeheJZrUTnulhD3TgQ3fxX177TOApO-fHmesGr6ZtNOMVLmTwETUFRQCQtAxQNzHK1liFS1NRFTe8aFJzgMjESaza3Pw6KGYyhU1CkvNuYR8ntpC6wp8viMFMCIURWXZX3eM8myI4LOaeBqzWtztsmkQLmhPIW6tpEOQxrFElIghG2nqR5M4q5ztynCbzjFjSe9o2MlePtZt9iS7NRKGJHNzxHs8IOr7PpJ04Wv9rw_g4rpBSl4lrkDVYRgpgqTjh0q5-uzKN-ub-IWJMnlTCEmVcriQpGKbkPOJF7YzWUxZkX5RBEI-dhhgXb7vqydJE79OugITBHj4xMSyS5ZnLJl0z7oPyryEzppMzl6gHPEjT7cv-BeCqreAdQISs1YUwawJ3NfUQfWstixjWFJIhEypYR3L4DpLgixDVl64GjAPOjKdlqcCiG7JdC5TEU9FfDRddbtJtPlLpB-JmoTRO98Cio4Rsi0oD0skDxnvlm_y_BSh0XQy-EGOKt6RVlmfxQ10AwH0CGgkZTy8sTgW3V4_MysHiAnzw3wJc5crcvlKFXXftxh1SSJe9U8jHKSfn6EebjgsENjqfStNA8jdWh-4GxSEUhKcYmb8r_IZY5GRzWngoGm83VHTRhors_1glyzdgl-c9AeGkWXVLLNYX9Lxc5JisPxDtRpFhoBAD04IDisyqf7YA6uGIxlQpJq7aG5NLHvolYZtjXOJZyUan7hZH6946Byb1TE0fyRRmgzIkRmP1NcWs-OGXZ2PSAdEj3bcRbZJ78WnHxu4aoVm2MgKPu4H7nhpJ80LSy-igpuR8nOiyB0YoSsQI2eBQWYvV3tPU5KWiJw==",
  "id": "rs_045259c066ba39c9016ab45b60a92087d0813001f30e153b1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper is nearly closed, so the hold may be on a thin part of the teddy rather than its torso. I’m lifting briefly to verify whether the toy is secured.\"}",
  "call_id": "call_zCIDBPZ8Taca5nQlvb9r9SI9",
  "id": "fc_045259c066ba39c9016ab45b612e2c87d0947a33a6bc937bf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zCIDBPZ8Taca5nQlvb9r9SI9",
  "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]: [-0.1184, 0.8825, 0.754, -0.7238, -0.1913, -0.1429, 0.997, 0.8513, 1.3922, 0.6178, -0.0872, 0.6533, 0.5678, 0.0409]\nstate[eef_state]: left_x=0.2658 left_y=0.0058 left_z=0.1608 left_yaw=0.1115 left_pitch=-0.253 left_roll=0.0633 left_gripper=0.997 right_x=0.2937 right_y=0.1777 right_z=0.0839 right_yaw=0.0096 right_pitch=-0.0642 right_roll=-0.0392 right_gripper=0.0409\nstate[joint_eff]: [-0.1983, -1.1692, 6.7077, 1.4725, -0.1245, -0.0415, -0.0171, -0.0479, -5.9692, 8.1983, 1.619, 0.3541, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cefaeb7e19ae1c54a45c5d4fed44abf242ff8a7cd9228d8ff9dd443be4f8241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc71144d274ed31f4b09245a678c608e7d07c6dfa7cb4f92ae33e29401b3e477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124a7ea398f236acc3fb636f3b7c0207bfcfd7bf502de9588b3d85eb730475e2",
      "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 · 3.404 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8806, 0.754, -0.6971, -0.1917, -0.1394, 0.997, 1.1511, 1.623, 0.7654, -0.1566, 0.849, 0.8551, 0.9945]\nstate[eef_state]: left_x=0.2706 left_y=0.0053 left_z=0.1656 left_yaw=0.1083 left_pitch=-0.2252 left_roll=0.0593 left_gripper=0.997 right_x=0.2556 right_y=0.2562 right_z=0.0712 right_yaw=0.026 right_pitch=-0.0127 right_roll=-0.0199 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.0034, 6.7624, 1.6288, -0.1587, -0.0122, -0.0122, 0.212, -8.4171, 7.0359, 1.16, 0.6325, 0.1783, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7193, -0.1913, -0.1429, 0.997, 0.8536, 1.6981, 0.4633, 0.3874, 0.664, 0.5755, 0.0392]\nstate[eef_state]: left_x=0.2666 left_y=0.0057 left_z=0.1617 left_yaw=0.1112 left_pitch=-0.2478 left_roll=0.062 left_gripper=0.997 right_x=0.2959 right_y=0.1791 right_z=0.0057 right_yaw=0.0009 right_pitch=-0.0487 right_roll=-0.0278 right_gripper=0.0392\nstate[joint_eff]: [-0.1846, -1.5385, 6.7214, 1.5604, -0.1538, -0.0415, -0.0122, -0.5265, -5.7778, 4.6291, 1.6386, 0.2564, 0.0464, 1.2332]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8825, 0.754, -0.7238, -0.1913, -0.1429, 0.997, 0.8513, 1.3922, 0.6178, -0.0872, 0.6533, 0.5678, 0.0409]\nstate[eef_state]: left_x=0.2658 left_y=0.0058 left_z=0.1608 left_yaw=0.1115 left_pitch=-0.253 left_roll=0.0633 left_gripper=0.997 right_x=0.2937 right_y=0.1777 right_z=0.0839 right_yaw=0.0096 right_pitch=-0.0642 right_roll=-0.0392 right_gripper=0.0409\nstate[joint_eff]: [-0.1983, -1.1692, 6.7077, 1.4725, -0.1245, -0.0415, -0.0171, -0.0479, -5.9692, 8.1983, 1.619, 0.3541, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cefaeb7e19ae1c54a45c5d4fed44abf242ff8a7cd9228d8ff9dd443be4f8241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc71144d274ed31f4b09245a678c608e7d07c6dfa7cb4f92ae33e29401b3e477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124a7ea398f236acc3fb636f3b7c0207bfcfd7bf502de9588b3d85eb730475e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtnTza1MLO_x2JgSrmnqQjs2dUEgkDdvR2dZVKijfxFpAdKQPUT1LwC5kTe6Ajr5s3Za4T827daj_fzFk9ziZhEub8lrsBsB2Me5EVh1VrOilt6pVSbO36zrMZSBjZAEVQQmvU4YfbzHPoGN7Iix1CGJ68CXLdIm2KRwMh8SEh3OoxgmeKCT93FWsjmCRKwcHpGT13s1OJJuQ6P_75kB5TnZsd64Ly6QCKW-06GYQ8kuLR6zMwPr3-kdJ4IbuG9kJugt8DRZm-TKrPB3H25-Kt_98H5Oqh9DmQVw0XFHFnNTWpkDEKMRlvJkFpAuvsuZjNQO_lM2cFekVU_5zkEsVb3p9wbHbWFtiK6-52n9b_ct-mj0z5wRJ_u8hXpQbHUB591WkYlF5yV8ZPeYkyohPRrIr5pLiM_MLfC3H8m91IkSJ7bPoJ-W0p0uHfeu6iSXzAfGUe4jugZFO8pYwySd1R7kGt-0JwGsJaPresIiJRu7T0QNc88kgwhQPsDzHBephgebw7sX5v0IKMS8vO7OxMCowm61w7EySgBQy51xanRmq7JIvQmxjZyNNC4xTP3iX9trGjMZKDSGPCpX4owYoAfrxdFuHgEH-mMh23ZmQy-LyOB80RtiKXzQXhjZkkXgdh1hnfbkwPWduY0NTgxqN0b_o6-RFfywY9YELDzqZ8A1fNkdTBU6Vt7L1ynCjddSjiwD6Tl7xNEFKv0T6Y3BanKXf5O3zoSqdXcLZUIjnP1qh9_Vbg52yZjtg5QrVRTyyongUAxa0XhAEEeqVnxKCzfBgKX6XzkdDRFGS6btjBhXY73J_I-Xm_bViy5T6Gnkp_4dmRJtxIlX0nOJdkOstccBxv-LMd1UC_nYDBhP-ZhldBKMWhWQjO4L4pj2vvlUm8tUSCLeQ8ANrqsqdUOEluy4-wq7mOP5GVU06CHvtUbd94su5hmJtE8hGY6cMu6rBAeAKHtXEGc8QAiQmGLJzwczog6538237MC7Rf2VC3sB4XC1gjbJNWJBOxIeEU4Xb14NoHoUO7CQvHt4ymdezpJ2xBOsspnGjlwmE1U8NrLDp0NmpHX17qU6NONRp4A38sROfqmDdH3fWCWDN1vVdtnBdR96BCc5UW7i8N3r6_0Ktuscw2zH4KmFMLCFq7D2L40N5pUw3W5vqBH7RASrA8ex6LOtzSmXzafhBEin0K2qthoBbYTqXU9g8PSzwGRnuTIdFHjNBWZILxS1gW-8BJAWgUcvBve0temXknFUQzeFXqpVcSgN3U-m3boEfTvfCFr1ONiY5xAKmbx-2B68EEpHHUXXar4PijCRy-LYDPgBuyveoUz0CzNYVdJwRjHcsM2gE4lcOJ61xwnb6Th0yMh46jD_WLNT3BHoSzZWFWRUqXMclzDuJk9NUIiq97NK5_pZMO5O3c0H0xVd1rfcaX0AFE0dRig33_zRzDlm4yKvV2J8q-WRsMVYujfOFTh2wp9EjWzzNTJlyutkI0vchfz7wyzYEPfGDaxpY8n7Y5DjmKbwSs73DOXZ5KGD6ahSfcUToqNL1sb6xLDCPGzgASTvUm5436IdHD5uKVjR0Z8a_KJSf8aYcGBM-HdtL_d8a83ZWwBqXbK9HkfUynay-0ASFUF-oVdNLyZSrqMjBCCwyk=",
  "id": "rs_045259c066ba39c9016ab45b64ad1887d081f9e2fdd18855b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.335,\"right_z\":0.22},\"note\":\"A thin part of the teddy appears retained, and the toy is moving with the wrist. I’m carrying it slowly over the safe at rim-clearing height.\"}",
  "call_id": "call_23wOH60it4cT78nyuK3YwaUF",
  "id": "fc_045259c066ba39c9016ab45b663b9c87d08e1f727b7f7a7c3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_23wOH60it4cT78nyuK3YwaUF",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.7422, -0.1913, -0.1429, 0.997, 0.9424, 1.9404, 1.7576, -0.7498, 0.6888, 0.6365, 0.0409]\nstate[eef_state]: left_x=0.2627 left_y=0.0062 left_z=0.157 left_yaw=0.1129 left_pitch=-0.2745 left_roll=0.0685 left_gripper=0.997 right_x=0.3761 right_y=0.3327 right_z=0.207 right_yaw=0.0352 right_pitch=-0.0868 right_roll=-0.0572 right_gripper=0.0409\nstate[joint_eff]: [-0.0479, -1.8393, 6.6667, 1.6142, -0.0952, 0.0269, -0.0122, 0.3761, -10.7009, 8.294, 1.0769, 0.4811, 0.2125, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee796c92943997a89649a6f25efd7998d41d607f90ccac9e84c64d0b668b2284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243ad96e85141e814bee2be98bf355c60ee53e4d90f6cbe7b3cab28b08d3d06e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3bdd3591304f24d4e31079ad4063c652bafb27f25a33b627cdd7e71adf5594",
      "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 · 3.691 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7052, -0.1913, -0.1398, 0.997, 0.9668, 1.689, 0.474, 0.3164, 0.7437, 0.6811, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0054 left_z=0.164 left_yaw=0.1087 left_pitch=-0.2341 left_roll=0.0609 left_gripper=0.997 right_x=0.2757 right_y=0.1953 right_z=0.009 right_yaw=0.0016 right_pitch=-0.0308 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.6205, 6.7214, 1.5165, -0.1001, -0.0269, -0.0122, -0.3077, -4.3282, 3.6991, 1.0281, 0.2711, -0.2369, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8825, 0.754, -0.7238, -0.1913, -0.1429, 0.997, 0.8513, 1.3922, 0.6178, -0.0872, 0.6533, 0.5678, 0.0409]\nstate[eef_state]: left_x=0.2658 left_y=0.0058 left_z=0.1608 left_yaw=0.1115 left_pitch=-0.253 left_roll=0.0633 left_gripper=0.997 right_x=0.2937 right_y=0.1777 right_z=0.0839 right_yaw=0.0096 right_pitch=-0.0642 right_roll=-0.0392 right_gripper=0.0409\nstate[joint_eff]: [-0.1983, -1.1692, 6.7077, 1.4725, -0.1245, -0.0415, -0.0171, -0.0479, -5.9692, 8.1983, 1.619, 0.3541, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.7422, -0.1913, -0.1429, 0.997, 0.9424, 1.9404, 1.7576, -0.7498, 0.6888, 0.6365, 0.0409]\nstate[eef_state]: left_x=0.2627 left_y=0.0062 left_z=0.157 left_yaw=0.1129 left_pitch=-0.2745 left_roll=0.0685 left_gripper=0.997 right_x=0.3761 right_y=0.3327 right_z=0.207 right_yaw=0.0352 right_pitch=-0.0868 right_roll=-0.0572 right_gripper=0.0409\nstate[joint_eff]: [-0.0479, -1.8393, 6.6667, 1.6142, -0.0952, 0.0269, -0.0122, 0.3761, -10.7009, 8.294, 1.0769, 0.4811, 0.2125, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee796c92943997a89649a6f25efd7998d41d607f90ccac9e84c64d0b668b2284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243ad96e85141e814bee2be98bf355c60ee53e4d90f6cbe7b3cab28b08d3d06e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3bdd3591304f24d4e31079ad4063c652bafb27f25a33b627cdd7e71adf5594",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFts2HPPQScj9zrOqaUKq44TiedglJ0pxbIJL6JsmVkpAfarKji-t4urJRy7CaJ_qPL0bEs4VIHbOaeLbEHUQPVG-xMBYLeFCaHzLvweEwS-nwskJR-4SU35A40Ro7Pc7PfgjEvLGHzFY6Q-QRf81pXqiwO7ywScq6VKFf4-8I_NqZKa8eMB2dtbpv0s0XPTEzjgV_47L-_fdCoVZJcOO0EFYaE-zWvtWkAssfMDSV867zG1l0cczqF_R2MMW9QvJHB_rTBgSkRDf5Wy_Jdwvl68G-UQEB1gF8H0jhXa_iBwN42DoWyATsMCcdu0AmtlMCae6vRw3k-KEznqb6UlJISlb-O7Ex0MHxwc4xmVZxzgwT-U4L-1hTKFWSFPdZdOMGSDbTMD66miUkbAxsd_QPolLEvIGtotcJG_Jsz6GaUhpnFzq3kzlkAj2D10RRWSEGMah9Ofro_2nZ5AKPN6xUhtq3ZRuV9Suc8cPqs2ciQNhQW-q5qXoo41BZLxG-jPN5PIuOk3afHMZQuj8cIKEplmftTU64VWWrDgo0BWHmx2yU2jDKD7IItptEYAJ3JThx9C_Wt54Jf4G5Eevs5R0tplU87T0q7-Eq-VrNvKqhliam_MsMmEFhIV-6qiSVmNP5f7XGg-8DOlqPz0VSZDfYXdgsWlz1Igj3zgcdoc0It_5NhOfFOzr15hSwTgSdgK-JJ9pbAjawEFEyhTgWWmYethQxSIciz_PwnB7Mm6OaW_VghBiWdDEEfQGe9YwRW26V5LrO7VCsV0kXMybH3ZejObo_9NOsv7MJ-NNDDaZ1xOBkCUr4g0COKV8HIQluMKYIh52vyHx8TbcBXq8wXov-dZ1-9O4QVbWLgLiYwa-dQmOb4Q6YtGw3jqANvUNsUBx2AAoMvWyV8nL-a0CgGrCr2YJUIMaFQrIMuuJwZNFK_ju3sRClXTkajm0OSfQW2moePVj7pNIAkRTrBbtqmTR3f5_HER-KCmUHjWxCEr_VyhrHrI0ndVa2gS1bvlqeZSSbYxiKserv-NIjWj6gtAq8XqmtjXcQN2_DCJfMaH3kln4eA8g37r1ZgbtWIbeC0kPpqirGFv5T5nPKXrCflpNDqdnL3RzNnmaArcekn9-i7XWZ41iSpbap_ePVyaOgQ_rXlSx1l6aAEjctWofWt7xAtuv3rX2zXxnp5Q8LFHZeVndcoHrgLcw2kEz3EBcAQ_DiLIw8JmJ84e6AwiJeQR6FzD4-U_iDublZ-KVVxoCL2VyFziIMCsOICDWHLkUi929KqpAS30DxFUKO97Aa_BFGcKEVUbJ0izwckpYGabrIHs1pN_wSOGlli3EXX1Ni-prIh3NtHFFvosUQnqQK7cd8jEtvZx_-hIM7Ta3sNlWN5AQEeP8DIcZ8hyybBH2grBJOyeLwZUs3SKjhJpsOnOaUiuaWIYBTxQXdnbi6IMYoJybb_Y55yQQfVBApoim0DRyiqN",
  "id": "rs_045259c066ba39c9016ab45b6a12dc87d09dc503a8f9fce92a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.335,\"right_z\":0.105},\"note\":\"The teddy is hanging securely from the gripper above the safe. I’m moving slightly deeper into the compartment and lowering so the whole toy lands inside.\"}",
  "call_id": "call_og5WXMsrxjhmdiykD8d4kzEc",
  "id": "fc_045259c066ba39c9016ab45b6b026887d0a1478fd0c995be86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_og5WXMsrxjhmdiykD8d4kzEc",
  "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]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1429, 0.997, 0.8555, 2.0949, 1.5982, -0.4465, 0.6304, 0.551, 0.0409]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1133 left_pitch=-0.2812 left_roll=0.0702 left_gripper=0.997 right_x=0.4176 right_y=0.3274 right_z=0.1045 right_yaw=0.0325 right_pitch=-0.1331 right_roll=-0.1008 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.5521, 6.6803, 1.4676, -0.1538, -0.0415, -0.0122, -0.8547, -10.7692, 6.5026, 1.6093, 0.2222, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573c9332f2705c350f58772d57b2ca4165af4c3b975192e19d49a969c47c62da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b92ac030736d579dc4f0d359b45e78fe276770950de7c1896b5dc766513826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183475f3c6afb894db24a71a600f090e6b3a9a6f8fb73a8bf11d49d1758e110f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 8.109 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8818, 0.754, -0.7193, -0.1913, -0.1429, 0.997, 0.8536, 1.6981, 0.4633, 0.3874, 0.664, 0.5755, 0.0392]\nstate[eef_state]: left_x=0.2666 left_y=0.0057 left_z=0.1617 left_yaw=0.1112 left_pitch=-0.2478 left_roll=0.062 left_gripper=0.997 right_x=0.2959 right_y=0.1791 right_z=0.0057 right_yaw=0.0009 right_pitch=-0.0487 right_roll=-0.0278 right_gripper=0.0392\nstate[joint_eff]: [-0.1846, -1.5385, 6.7214, 1.5604, -0.1538, -0.0415, -0.0122, -0.5265, -5.7778, 4.6291, 1.6386, 0.2564, 0.0464, 1.2332]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.7422, -0.1913, -0.1429, 0.997, 0.9424, 1.9404, 1.7576, -0.7498, 0.6888, 0.6365, 0.0409]\nstate[eef_state]: left_x=0.2627 left_y=0.0062 left_z=0.157 left_yaw=0.1129 left_pitch=-0.2745 left_roll=0.0685 left_gripper=0.997 right_x=0.3761 right_y=0.3327 right_z=0.207 right_yaw=0.0352 right_pitch=-0.0868 right_roll=-0.0572 right_gripper=0.0409\nstate[joint_eff]: [-0.0479, -1.8393, 6.6667, 1.6142, -0.0952, 0.0269, -0.0122, 0.3761, -10.7009, 8.294, 1.0769, 0.4811, 0.2125, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1429, 0.997, 0.8555, 2.0949, 1.5982, -0.4465, 0.6304, 0.551, 0.0409]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1133 left_pitch=-0.2812 left_roll=0.0702 left_gripper=0.997 right_x=0.4176 right_y=0.3274 right_z=0.1045 right_yaw=0.0325 right_pitch=-0.1331 right_roll=-0.1008 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.5521, 6.6803, 1.4676, -0.1538, -0.0415, -0.0122, -0.8547, -10.7692, 6.5026, 1.6093, 0.2222, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573c9332f2705c350f58772d57b2ca4165af4c3b975192e19d49a969c47c62da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b92ac030736d579dc4f0d359b45e78fe276770950de7c1896b5dc766513826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183475f3c6afb894db24a71a600f090e6b3a9a6f8fb73a8bf11d49d1758e110f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtwkCEt1gJNUfTvSBzRbs1KRhcTGo_A06FHz5vu7TMK4-OoCLaZ-xWYtxoSI_l4D3fIyXtBqngtvXp60YDi89xTOmRLLkzmUG6kt_oNr3cXjdu05PgTBK9zZpvjInwimZFs7WoSWcnBO_RaCeLE0z2_1mSPUzwlMXE_b1Jtj8qwg4aDUtidU55d8DMIwz3C6Fky8lfcUd9HqYpGdKlwcsJqIK8HyLPuUodBo9c0Ehx_l5sxMsS_TbI9kj6CHNg6kTi3DOktbg5nUTt6JH9-cU1kVDjYIlH6BXQlaPir7hoF0yyP9I7G6UgvZ9JTF8o1lO92Qfk-C5F7MXzucfITPCRJZbEIBMt5coGmboSW4EAuR0A6X4jhG0S6h9Hv72gtZs4xW72hjkWnP153E1WEQxkQ8qB-LPCvSD9qKGAvW9kfuAgmm3nVwu6wAiAgv809FveMLsJ9tGWbTG_o3IxkS0xEIZ_B5jp6VLhLbShI5Grrk_1qW2yEWUNQu4FAzjvL2y0U6QNy3wRrnHEaLvIXeJncfp-dijgwghEXdIUb_iK851044vUlKH__xRvlMpBTR3eRIL9FLs45DZDkFpFKtt6NxkxRUFRV45EtsLbCy07DNv1KMqO5lDC5q9-oQ5yv83UbHPg2wyRoMCqSbcK3Z6MyDoygSmCYI2AF26PBnoHPvDwif4O-u6mpgBNHWoMmr4JdfFPTiuIkmiQQxblodjiL9akPaWk1wT7zTpCYXNjCL_APBXFW5ALodp0yY1aECrRwitYA8v-wo3TTd8THIl3DAPTP5UEWvbm-RfBMrvoITjjYYohKw8Blh_KgaPFXjww6tWONr2vcgP29Lpu7LsZXf8_iN6aLo9k1E2TZ4R3X6v79Ojklilyo79brDOTKDN0L0fUZKu90g1vSDwg1ZZbXM0mvS5e2gVyqZpMt261xEdZPR6erX-k0qBU4aqAzVSiG-i7wd6A13BFYJDD_mgfZ0EqE8jimKJV8ezdUvKoj3gSEB3JKFFZDAyDj6LzRAxDt948BmEjPtPdFdLFA_7d9qOtSl9z3SM587FN-XDCyaJIRXohZAte_s4vORlJbtTreeE8zm-cx6mxhnq5qOfAEfppVoRaSy6qcRc9BYMBmAuPKCpoc-FwD875G3XFdULyRwZck9i_sPQ6HWyV_6iirfiDOvJihKhJp8wH3R8lNhS_1yll5t6Sq_mwaykV1MV1s5ss6fnUzYBKWj3hCPcv9BqXhSOIhZCC8xkqJqcrsEDYROjwO5qknA9ON8BGSSmLLlDjUQ9rs19OWCmvgHGjD6VcG1zILnzHvzRLDNOJqWp8voLgCLs-zvMiN3ZCHnmkz3cQn3pSGLBYEDzNQRSS_Ip2XMoCdmt8WkMZRuB_e7_5vBvbCmYTZfDBl47GoFYvKlojKkNiRUGClICvWjbxGOyEU13THiLY6tTUzA3zCHN_aAyfCK-Q0aQkbN8M4qRO5g3CwG74ViNPrBKnjoNPenQ==",
  "id": "rs_045259c066ba39c9016ab45b6e968087d0915749158b52416b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held brown-and-gold item is lowered into the compartment. I’m releasing it before moving to the remaining yellow object.\"}",
  "call_id": "call_sFfZp1DuLH9LQm9Vsfezqx0o",
  "id": "fc_045259c066ba39c9016ab45b6f972087d0bd7fa2b8a49774ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sFfZp1DuLH9LQm9Vsfezqx0o",
  "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]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1432, 0.997, 0.8513, 2.1155, 1.589, -0.4541, 0.6155, 0.5423, 0.9945]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1136 left_pitch=-0.2812 left_roll=0.0699 left_gripper=0.997 right_x=0.4154 right_y=0.3248 right_z=0.0887 right_yaw=0.0388 right_pitch=-0.1681 right_roll=-0.1266 right_gripper=0.9945\nstate[joint_eff]: [-0.3077, -1.5521, 6.7897, 1.3846, -0.1245, -0.0122, -0.0122, 0.1026, -13.6, 7.1043, 1.2723, 0.4127, 0.1148, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d2c1be6dde7f70153e2fd5f95e616dfa1f8fc85c67e817cb32eb43d3f2f211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a436b15b78179ca9c5129ee62a88e17f82cf037ecbbe9f780ac517dae51b61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9ed0b3ce2516af08a4c4a86868169d215666c334cbc7218be011c185a156c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 4.825 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8825, 0.754, -0.7238, -0.1913, -0.1429, 0.997, 0.8513, 1.3922, 0.6178, -0.0872, 0.6533, 0.5678, 0.0409]\nstate[eef_state]: left_x=0.2658 left_y=0.0058 left_z=0.1608 left_yaw=0.1115 left_pitch=-0.253 left_roll=0.0633 left_gripper=0.997 right_x=0.2937 right_y=0.1777 right_z=0.0839 right_yaw=0.0096 right_pitch=-0.0642 right_roll=-0.0392 right_gripper=0.0409\nstate[joint_eff]: [-0.1983, -1.1692, 6.7077, 1.4725, -0.1245, -0.0415, -0.0171, -0.0479, -5.9692, 8.1983, 1.619, 0.3541, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1429, 0.997, 0.8555, 2.0949, 1.5982, -0.4465, 0.6304, 0.551, 0.0409]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1133 left_pitch=-0.2812 left_roll=0.0702 left_gripper=0.997 right_x=0.4176 right_y=0.3274 right_z=0.1045 right_yaw=0.0325 right_pitch=-0.1331 right_roll=-0.1008 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.5521, 6.6803, 1.4676, -0.1538, -0.0415, -0.0122, -0.8547, -10.7692, 6.5026, 1.6093, 0.2222, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1432, 0.997, 0.8513, 2.1155, 1.589, -0.4541, 0.6155, 0.5423, 0.9945]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1136 left_pitch=-0.2812 left_roll=0.0699 left_gripper=0.997 right_x=0.4154 right_y=0.3248 right_z=0.0887 right_yaw=0.0388 right_pitch=-0.1681 right_roll=-0.1266 right_gripper=0.9945\nstate[joint_eff]: [-0.3077, -1.5521, 6.7897, 1.3846, -0.1245, -0.0122, -0.0122, 0.1026, -13.6, 7.1043, 1.2723, 0.4127, 0.1148, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d2c1be6dde7f70153e2fd5f95e616dfa1f8fc85c67e817cb32eb43d3f2f211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a436b15b78179ca9c5129ee62a88e17f82cf037ecbbe9f780ac517dae51b61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9ed0b3ce2516af08a4c4a86868169d215666c334cbc7218be011c185a156c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFt53061wYqJF0HgC1sti09rZZIA5CkFhcQYE8ILKROIkJNUUmSZEDSAWrv3oyS3MYKz8Ta0IFxfrHASAn19M_xqciV9ZDYcVLX6uQem5ncEpZtjhqDRwlkaOUAx90iUvKYJ4b8-wmQvJojPSgILKVYiCyRwtKI_-91VHhqo4TKYSjYSkcUh-Zpbp6Rs5l9zsomJrOdgnU9wb-pMGI1MvTGDhFOuNTT-P5Rxx3yT1-jlm_jprRC-pWf58m0fW9EEbZxoLmZyIZ0glAMgSCQlwjkg7WAM_088IzC1IUOuN5WcVmW13sqVqBUZslphojCtBvAhOFLD_COW5AHZ1-APg4OkD4iHmzeGHo6j6UNyX7vLF6unv6pcK7cqLFUA9OV8ja6vxbED0fYDln3O1XM9jab8-fyP2u1yQbMULO9yUDJhIgFa8AVPYnb4XLiqqZ6Ij8V_Bili7rQ4gLX56EhRrn2VHU8afvopGMZnApP65nGaYdsIvayPqSLV1Y686cxx3TZqHjQU9LO7WjnK51HTYX-lAGguWV_CDPkdTeh4J23I6cBCkf_Nv08u1JLKIKIs73m4YeeDXHCX0bwGsdDCF2SY4nbLX_qfg1ikKs2Esq5oaSTHwDZUfA-8zHMGdYHbRj3xi4FW8HAGO9dbmRTnqckzpymRwAu2q7BMbbZz6RF7ryZLWEN4uTBouDa-K-r6Q8xHI7Dcm_cDLFtYYwvFNIH0OACGSy6cODwc8GxZbyrMzxMNshBvKv_VH5PCMVQLOdIC7389lRMPwT_Tln3IVHpOMxBRkDsNNuDQmy8I9FPjG0ZVKTKPQ2FEj6NKc-3o8SdiedUXZ8A6U4y6rCKeElL_f6rkDAzPSchCacFUIJn9MbwfR34YcIze7pnQ39Z1g5Msz5uUr3yjNX13nVOClIggPUS_8in9CMrPMgNZeqnREo48egqGddBSOcZygYFcdEvhziRk-S9ztkPMN_BLIxX4IS4WNraKdXCETdhOERH1BCwFifcbuNUB3Fc5g2OlCJIkbdVYsXD0SM-yoLzkE6XjbVPLP2eBgeg96d37uSxYbndo3hpNwlo3bbAwfSK5QxB9miuFrplmgIlFr3jWy2IWnd0nz-EVVEoYPehFyaYhYDW6QFYMvhmWGtLxUxuNLmKF9GDD7PzPsRllIz3VkpDbK964j-yhB6rAPwBjrtT80ZuUs1_0zDkJr2dSjCFhCCj3BLwwbqCJC1rroHp0IpUvCtckYyQ9mRMU2YsQsy5dJAVhQPF1XIWiyDzWQqBnx5whvFCb7C3m-PA-IqGllGI-ZvX_TktfN7-S0JeBwrt8z7SDKsUfqA9p_kHpP0DPHetfK75mDFXGwoxRiKP_Dnn3r2KOqi_voIwcpMc2e1iokrwhQokd32ETJFDJ1cB4pkHIZ2q3P6s0-E_OhMx2PzwU2EyF8eUf3HFu1wVUgRykKIm-1rp8z_V7SSk0bY0uvu4OJ80nNunfQSp7zu-3VEauhG0VEzbVIqAn-0zcFu0vTu7sXWUwovmSKvwnFlItZYKyQlmzm-TPYwKR4BFvjLT13j0m752rwUZahsP-_DFjxwL9J2y6srVI8zcesEugIfYUq26RQzfwUx7IKUdKRBXEXn3lzpOvkkugTe5_30NSFRfEyEGobzRP4opILtLt2Kj4-By31GXqiUnLDnBptHLYtGwh_hzFnDv4WIrbIzsHnTaQf_Ek2jG1H3hImRITP7zEbeNccFCaJhudUkzy8eC5rcosLf36dwj04FGlgsnPvfQh1oYUeIEx-Hrp0iC06n97aBjixf-fYBzRFDrdsMw9e-k--oilOYOKrzMCnCPyBuIRNKlEPQqT_1M6gFWN9TqiCaZd8UX7h_HiNBe31Vk6tTM0MOP5ji7c4KniM0kk8e2yY5QSMISZR3k3TgozMco_bVzRelB5cGi6-bpsBaS4reovqQU5v7GG0rS6NRsTUMDDLesa6GLW8dH7CmMVVMOZKzAtlrO6rmWtgJhBxDZMJVGUGR9YY3AgI1sCRwbOIVXH3hfgPvgJKaj_cj7m6Y_BfypSjXO2RvGINaJD2Dya9O7MDB5cfQb660235G6BfEeXbvn83MQ77TdYwgn13PRDAQ9oDT5-UujfnJ6OgBA68Qw8O82JD7nqxCZV4R9ZMYlCCqOXDmS66P54tPcjz4XObBsvelzMA564gXD50vWCNT_nD_S-qbB0XdT_mMiPo4KBT4I_wqhPCIxfccKRKjuIsDWmzH0xLxytFybkGmNy8dBCeCQTIC1Mq0gEVu390KFPcofB26rtyGzOn51nIux0iYtlKhr99MoCtqaar2E5ojJCVR6gFr7bn8EseK7FvD_CVhTtlvg9HhXQ1g6Nhdjix8OO9R5JMHfItyRifZ2TUQJVgQjxnEiFgwd1WnzzSxtibbNjmpicpg9ApXwM3pLRpfxQ1AwJ78S9lS-ZpXHHvldrUBU2EsBNfFY62PJbpR-SXNAAODn58IciyKROgwlo6WpjQRGcaSoVktBhARKB8e45XfPC9ZkOPuiMh32VRmI=",
  "id": "rs_045259c066ba39c9016ab45b7324ac87d085930d6304582c8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.165,\"right_z\":0.16,\"right_pitch\":0.25,\"right_roll\":0,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The released item is in the safe, though part of the gold-colored strand may still drape over the front. I’m clearing the opening and approaching the yellow object on the right.\"}",
  "call_id": "call_ibKzVZD65X00oKIEyo7TwjkD",
  "id": "fc_045259c066ba39c9016ab45b779a6487d0a0985c26013f51ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ibKzVZD65X00oKIEyo7TwjkD",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1383, 0.8131, 0.7002, -0.5541, -0.2066, -0.1719, 0.997, 0.4488, 1.8488, 1.058, 0.2989, 0.3985, 0.1555, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0009 left_z=0.1856 left_yaw=0.1134 left_pitch=-0.0698 left_roll=0.0072 left_gripper=0.997 right_x=0.4903 right_y=0.164 right_z=0.1241 right_yaw=0.0281 right_pitch=0.1321 right_roll=-0.045 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -1.9624, 7.0632, 2.0049, -0.232, 0.0122, -0.0122, -0.2256, -12.041, 6.4752, 2.3468, 0.0171, -0.1441, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be4e97f828411dc0256f2222ee7d35d76524cbde370819592c21986aa6c6cc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d859f66108bdf579489b9a455ff07c89b23e045b96ab32b3ae4b84f729ae64fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efed81512baf8d55c5366bfbef614f7cadcf727fe97d63c611714f5d6efd51c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.702 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.7422, -0.1913, -0.1429, 0.997, 0.9424, 1.9404, 1.7576, -0.7498, 0.6888, 0.6365, 0.0409]\nstate[eef_state]: left_x=0.2627 left_y=0.0062 left_z=0.157 left_yaw=0.1129 left_pitch=-0.2745 left_roll=0.0685 left_gripper=0.997 right_x=0.3761 right_y=0.3327 right_z=0.207 right_yaw=0.0352 right_pitch=-0.0868 right_roll=-0.0572 right_gripper=0.0409\nstate[joint_eff]: [-0.0479, -1.8393, 6.6667, 1.6142, -0.0952, 0.0269, -0.0122, 0.3761, -10.7009, 8.294, 1.0769, 0.4811, 0.2125, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1432, 0.997, 0.8513, 2.1155, 1.589, -0.4541, 0.6155, 0.5423, 0.9945]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1136 left_pitch=-0.2812 left_roll=0.0699 left_gripper=0.997 right_x=0.4154 right_y=0.3248 right_z=0.0887 right_yaw=0.0388 right_pitch=-0.1681 right_roll=-0.1266 right_gripper=0.9945\nstate[joint_eff]: [-0.3077, -1.5521, 6.7897, 1.3846, -0.1245, -0.0122, -0.0122, 0.1026, -13.6, 7.1043, 1.2723, 0.4127, 0.1148, 0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1383, 0.8131, 0.7002, -0.5541, -0.2066, -0.1719, 0.997, 0.4488, 1.8488, 1.058, 0.2989, 0.3985, 0.1555, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0009 left_z=0.1856 left_yaw=0.1134 left_pitch=-0.0698 left_roll=0.0072 left_gripper=0.997 right_x=0.4903 right_y=0.164 right_z=0.1241 right_yaw=0.0281 right_pitch=0.1321 right_roll=-0.045 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -1.9624, 7.0632, 2.0049, -0.232, 0.0122, -0.0122, -0.2256, -12.041, 6.4752, 2.3468, 0.0171, -0.1441, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be4e97f828411dc0256f2222ee7d35d76524cbde370819592c21986aa6c6cc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d859f66108bdf579489b9a455ff07c89b23e045b96ab32b3ae4b84f729ae64fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efed81512baf8d55c5366bfbef614f7cadcf727fe97d63c611714f5d6efd51c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFt_v148D-rg-hEK7wADvPwHZb4zxuxuWB-GC2uW9M4EHVCFOf_R5trxjJ4riZlVJoLNxTRut4qlfriYvsRiFdJrW75FnO-Z5y-0AKoE-OYuMGO5_SqsVdTARZRV5uAL-1O0aq2GW9XdCPS-1h5R24bAfGR2a2xTVLHZ6LIzlqxJrFXh_Q72sq1uC0qaoXwL7eNg9F9rTWfErtsUyYr8CLaw52l9PgvC2WpsbnaMkEBc5A_a2lRcBdWMlrv_qXgkfzpibXLUf_lxw8QqXjlSoPYRcIZoScITlRXWU4-rwGs4s07bmmUDurTlGiZHYT0KC0_F3cGraDITGASb8UhcCRpLcO4QRWApLvMZTI9oP8jdHYlS69eVnNwCxXPoQMs-6RTXNExwL5BuJUBcXJNn3SQ4MwGiZtG5Fk5JL71GO7wZg8fbN0M3Z6DPbOBQ8ELMvpHyOae9c_zD6HRPlfAPaya0A4ATySUVviTsr1YVT1LH2vXxH5MGRml58UavySRBsW3NdrEAAbbTltISJWVI0qfhmTYEUGRG8Ouk3_ngvV5elF7WTd0iWU7qhDWnDFSHRossZ7Z3Uvt5TMWRMyDMIlIHsPvmy-_oaig4Xt7R51j1U-i2LlXAjGz4b0DeQ4E1ZtLsNpgDxftYO93tkQszs7XawyTbPtH9bpXRLjUSZoM8Q-k0DFIPWi3R-PnOiUUEg0jsM7LVG6hLJmBieojfHQvF7nWfml3znu10dTD6UPu_0lThYP60uX9H7rLNWqVxf0uaDip9eGMmMweQ9p1V-ban1MeIrx-hAnio9j8hkH1vwM7KeBnT2dJ-fLos2HZhXT64FkeSBcqg_huZtcmwqxOp9CuBVA0tgdFJJKGJ3gw8DoIwI6R78yTe2c80QKUsZRv7rve6czbyjYUL3gGdPQldz9P7ky5SLFBCWjze1aLdYvUCuNyV7HE0C1L0sEz1p4JpliNDoAcCLX6WKcMeI89dzbNLzOVSzHPzW18qW9jU-k-zjj14TwBmgVTZjAz8jEmYpJBHHYV8d3sAN2HpbZFXgvprQH5oK7zcvuZpX_UN6FgAYtcHM1OTAMu0sBa01kPxFlK2vcaZ6T6_VsoQ-UB3v6VgCcG_ofC9yyAL3RAJw_fA9_Oa3cbeaagx29PXraYZZzshluRjvhJh-9VST1DAo5pG5MXSOdlTpwyAZxb66NXchUayE3wE_1dhY0-1mPNF7Y44tuv7vuBcUR30cJD2fs_KUQ9X_7nGS9OvorXHHbiRDmV-MNamdX95cwAN0thFprVQGy1nYICoG0TBW1ZjUJUWGF8Gn5vjIBlWz8iBC77jdYvZyQsq28kVY5hdlPXbuwWX47FIt19sfZ32dGjS7K6uH6jfJoCoq-1LLmlimtbt2jOScw9DsqDjgzs9ytPk-p_zmaEbUAH0lU6pl-1zwr5EfGoxo5bB7OKvuZ5WbwI1C-rzafICO7qwEovew3Ywfn6rmJWeYZQCMwQb4V15IPD1YH-G6iQVO7j8Fomn2h_sxCLBpc-e9bprl1UC7PZM8bkmQG35hCiYltMKBKF6hAvGMJScMZ2Kdt7RTJcCxDw97UFPzJXtbPKcWB70i9xMYfE62eXavJcyRssue8DB8w==",
  "id": "rs_045259c066ba39c9016ab45b7ced7c87d0b01834f83d6653fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.13,\"right_z\":0.02,\"right_pitch\":0.25},\"note\":\"The yellow object is visible to the right of the jaw column. I’m shifting right and lowering the open fingers around it, keeping clear of the safe’s side.\"}",
  "call_id": "call_J2IZjGSHtTp5osKEDXJvMooT",
  "id": "fc_045259c066ba39c9016ab45b7ea27087d08818acf8b0281e46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J2IZjGSHtTp5osKEDXJvMooT",
  "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]: [-0.1425, 0.8169, 0.6998, -0.5625, -0.2062, -0.173, 0.997, 0.3981, 2.1075, 0.8082, 0.9756, 0.3374, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1829 left_yaw=0.1098 left_pitch=-0.082 left_roll=0.0092 left_gripper=0.997 right_x=0.4851 right_y=0.1444 right_z=0.0439 right_yaw=0.04 right_pitch=0.2781 right_roll=0.0021 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -1.5658, 6.9128, 1.707, -0.149, 0.0073, -0.0171, -1.2923, -6.9812, 2.8239, 0.569, 0.3101, -0.3541, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a22888ca85ed487b6ae08130eee6103c8b8a2d56d3abb946d33865088acf071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8628e8787b45cb6741532e5ef8cb97e1bc16916035c25c96a767fada4503e336",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6661254f303d963b00ca38729191a6d4d969ccf5c0dec28ba5fa40d47304f222",
      "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 · 3.45 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1429, 0.997, 0.8555, 2.0949, 1.5982, -0.4465, 0.6304, 0.551, 0.0409]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1133 left_pitch=-0.2812 left_roll=0.0702 left_gripper=0.997 right_x=0.4176 right_y=0.3274 right_z=0.1045 right_yaw=0.0325 right_pitch=-0.1331 right_roll=-0.1008 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.5521, 6.6803, 1.4676, -0.1538, -0.0415, -0.0122, -0.8547, -10.7692, 6.5026, 1.6093, 0.2222, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1383, 0.8131, 0.7002, -0.5541, -0.2066, -0.1719, 0.997, 0.4488, 1.8488, 1.058, 0.2989, 0.3985, 0.1555, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0009 left_z=0.1856 left_yaw=0.1134 left_pitch=-0.0698 left_roll=0.0072 left_gripper=0.997 right_x=0.4903 right_y=0.164 right_z=0.1241 right_yaw=0.0281 right_pitch=0.1321 right_roll=-0.045 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -1.9624, 7.0632, 2.0049, -0.232, 0.0122, -0.0122, -0.2256, -12.041, 6.4752, 2.3468, 0.0171, -0.1441, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8169, 0.6998, -0.5625, -0.2062, -0.173, 0.997, 0.3981, 2.1075, 0.8082, 0.9756, 0.3374, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1829 left_yaw=0.1098 left_pitch=-0.082 left_roll=0.0092 left_gripper=0.997 right_x=0.4851 right_y=0.1444 right_z=0.0439 right_yaw=0.04 right_pitch=0.2781 right_roll=0.0021 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -1.5658, 6.9128, 1.707, -0.149, 0.0073, -0.0171, -1.2923, -6.9812, 2.8239, 0.569, 0.3101, -0.3541, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a22888ca85ed487b6ae08130eee6103c8b8a2d56d3abb946d33865088acf071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8628e8787b45cb6741532e5ef8cb97e1bc16916035c25c96a767fada4503e336",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6661254f303d963b00ca38729191a6d4d969ccf5c0dec28ba5fa40d47304f222",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFuDnn6JbPfS8qxI4pvuuw1VARZp-us-OypiUqqOsdtbZcH5gBUYhQaD3MkeilMg7I-lE0N5uYEZo3ePgUXLR9b8GcB-zQmNINI5SL3qYW1lxkpOjRXjA5QmdSjg2wS7FlmL3DvRPSL5pdCfL-atPKdoQaVBlYh4op2GexrhrO_h03LqROBB98BRmBA58HdKdYq8yRMLRCoe9nBclJ9lZFWiUNiUqzp3r1tgMm4tZ3cmH9f1AObzyAXhMqMB55R3uhF9Qblaz2FXZPUUsPfSuGJjw4STgphRva16OArs-mOx31RgBK6fsHghq17UtLX0TlWqfbB5pJ39FIhuYXVdarhrclrhzL_MK_iateOamON9UIKfb0hy83Fa_xxomJkDnun24NRY_GX_kUblHjiebdGBH1OenRQAS_i_S4ogsqC2AwVURRdL-2mb2IFoBxwZomASxRFisZObLCRZoWpj2upNUe0WLsOLKwDyUHI3OR8w-Ftt4gjlE4cjpAg4Lakpiv71bQ1oYzUGYOATQyIwPKXc_zBnswYkyIvCZuQpQ0scGPxxKD_WGmXyGmc9aR5_eprAzZZy_tf4-R4ViKAytGUJAK2Tj_6g5kmE9pqH-7xDmRlvA892HWjPpldyUMYa2HKP_nMwNzqzvhgC6bb7BSpqVxQLhA0Gl7D--mB7znolBurK32KPvYjTvE16wuD2ZiDJObX1GD2fzaecnyBnKhZU9k6E634ipQUszHTOVeZeons8zKrjsROminV9E39sx7w-ETZAIFSReWrW7L1Yv1TG5IzKB1TLpc80tCCOYrMQ5XKh467Oik3QuDgudSuQ0MjSDZRfDAoPMZBx2Gpo92lObJ0vI8yS9bBn8vvbX8D9Z18YOwjYLcjVtI4eA9tCLno4lX7maFC9MPOM3CYigHwQrtXVofLo2TcnLr19wcLHhxPGX8EHd274OEbr8V3lHTtyMHepoMtujmVfF7P0JGD5Y9OJ_we2cLjnTw961Zfviv2uhYScLXmaxMtbJsCeIsKLpeBo8SolBHHosfimqzgKalxRhLWwaHK9hzwS2ZSb2d0I51XtNlKdUy18pFt_LORxCk7R1bgtlXa65GqhryGXR5o-_pQUszBSr8uRdKwQksyRkUZ1mlmKuWv6k6Lk2wcViQHFYdcW6r9WVwmztiYLFyJR-HK7rXZggP4J8XdYwlXeniY4EPHng1C6gDexxvt7TSx4s8-MSjIR_W2E_bhZ8Ls0zHtQzy_gXlWC9tdSBWX5ahug0G0Nqg6l2DMzxv_Nkoxvbys3RSlEZPKx8xrR9nGOC5ykWfezNjZI3VamM-h84JqK6mqdRukQ7UEsDBkPNBOaMCxLaJUHe9H6RMQHjUhChXYCRANTyzIR8dkXjFvjGzgMQAi5SRivGYn1yR24fgdrrxsfoBQtDIzTlkmdLg==",
  "id": "rs_045259c066ba39c9016ab45b82232887d0887ec5a96a1f6446",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.115,\"right_gripper\":0.38},\"note\":\"The yellow object lies between the fingers, slightly right of center. I’m making a small centering correction and closing only to its approximate width to avoid squeezing it sideways.\"}",
  "call_id": "call_ZxFmTEw5aAZyxnaHkRUAMqqO",
  "id": "fc_045259c066ba39c9016ab45b8315f887d0b6c1b0a1fcd39ce8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZxFmTEw5aAZyxnaHkRUAMqqO",
  "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]: [-0.1425, 0.8173, 0.6998, -0.5701, -0.2062, -0.1734, 0.997, 0.3321, 2.0987, 0.7723, 1.0313, 0.2527, 0.0822, 0.3848]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1813 left_yaw=0.1102 left_pitch=-0.0897 left_roll=0.0109 left_gripper=0.997 right_x=0.4872 right_y=0.1251 right_z=0.047 right_yaw=0.0621 right_pitch=0.2975 right_roll=0.0068 right_gripper=0.3848\nstate[joint_eff]: [-0.0205, -0.9094, 7.0085, 1.7118, -0.1197, -0.0415, -0.0122, -1.0325, -10.4957, 3.6171, 1.6484, 0.2222, 0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ec48311294d2fadf7bce87680c50f28c0cf3803c46010abbdae525dddb3b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2bfa11db3078e6919e1ae67913ceb94a63a57cbffda13873af7b6def4f617a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8966957c4e17e86ed7766d7314aa091a3bf371959ccbf1f669324b9165bd15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 5.415 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.8864, 0.754, -0.749, -0.1913, -0.1432, 0.997, 0.8513, 2.1155, 1.589, -0.4541, 0.6155, 0.5423, 0.9945]\nstate[eef_state]: left_x=0.2614 left_y=0.0063 left_z=0.1559 left_yaw=0.1136 left_pitch=-0.2812 left_roll=0.0699 left_gripper=0.997 right_x=0.4154 right_y=0.3248 right_z=0.0887 right_yaw=0.0388 right_pitch=-0.1681 right_roll=-0.1266 right_gripper=0.9945\nstate[joint_eff]: [-0.3077, -1.5521, 6.7897, 1.3846, -0.1245, -0.0122, -0.0122, 0.1026, -13.6, 7.1043, 1.2723, 0.4127, 0.1148, 0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8169, 0.6998, -0.5625, -0.2062, -0.173, 0.997, 0.3981, 2.1075, 0.8082, 0.9756, 0.3374, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1829 left_yaw=0.1098 left_pitch=-0.082 left_roll=0.0092 left_gripper=0.997 right_x=0.4851 right_y=0.1444 right_z=0.0439 right_yaw=0.04 right_pitch=0.2781 right_roll=0.0021 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -1.5658, 6.9128, 1.707, -0.149, 0.0073, -0.0171, -1.2923, -6.9812, 2.8239, 0.569, 0.3101, -0.3541, -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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8173, 0.6998, -0.5701, -0.2062, -0.1734, 0.997, 0.3321, 2.0987, 0.7723, 1.0313, 0.2527, 0.0822, 0.3848]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1813 left_yaw=0.1102 left_pitch=-0.0897 left_roll=0.0109 left_gripper=0.997 right_x=0.4872 right_y=0.1251 right_z=0.047 right_yaw=0.0621 right_pitch=0.2975 right_roll=0.0068 right_gripper=0.3848\nstate[joint_eff]: [-0.0205, -0.9094, 7.0085, 1.7118, -0.1197, -0.0415, -0.0122, -1.0325, -10.4957, 3.6171, 1.6484, 0.2222, 0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ec48311294d2fadf7bce87680c50f28c0cf3803c46010abbdae525dddb3b4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2bfa11db3078e6919e1ae67913ceb94a63a57cbffda13873af7b6def4f617a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8966957c4e17e86ed7766d7314aa091a3bf371959ccbf1f669324b9165bd15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuHOs54zlRKse2gtXZ4zGtUhyLa29ccUrq-HA_0A_Bwv8l1OoNH0mZKnoDV7oBHNcWVdPLjqwXOkt3Df2dEj1FQeH1-wIC0-wUtkVxbzzXFytaTf8mv0gnFZbGHLzdq6SDLRiYcARD53plilglgPJe6MYSFvD9WK03X9N95dJ-Unga9WczPkao4PeBKy_qBXHdiFUpjX_2l9qxNnrRvhmLMNpMvxgjQygNxUrZ-b6ZrqFWJHCFH52kIejlffgL07YpMzYV0z3VE6hcmbfV4D-xQ9cXM3g7c_3XOjxnnZZZ3HVNLsteB-mfTq-ayfnN3zKs5LfEhSmROHQcfJDfeJQWGLfdwr2IL-EipMGa451JRhPMYvM6fRXsGUW_2-GcURHrM4RQ9yPIDEGY_ZbY27-tn4tFCT2Zo2z3yXAWfBlAXgGV6vecdYVA4o4OELW6T-tf8hJSkcIbEKCkjcQwMwqCi5PFyZCb-2qTxjk_Wml2ovs3grnCWTUeRBGqo3S6HFRiY_wnVTU6awl84zQss4gjhzim5qEZvg9eBHvvDFcBJdB7AgfjU9H6lbsDif0mdZeMru_W_hFWm1sYd7g0bxnxpgqLhbUViE7Pp5QJhZfdQPSGHx---FQjIYIjpKiow1OAMgY7GB_TsBdU11ovG4SNNDoRvpHQ9t5W-PBqVn6mCCvjHkccW4PmjjzmXVrMIi4OHwyti2XjjtMy9XSzm4sdJJ5bGM_0yih7RkUPZatOh165yNlPY_IaedZqSgoF5vjoouq_-JTz_Pxv82p1YZFYEfEiHWvLI4Xkj4OdrcAwuS1VyyadPwnXDJ7S_VsdDcO6KOf7kktHjdoq-Yr0wIz2Pj4P3BknC7rPrrQF3m4REk5NpW5b5PQQ4HN7fiJ2zYqBqY96_LJ-DhJ53_QSN8VpyXGRvUAql5ny3TeJui6IhQ7ej2c3-gWNlQDiBEB_R97fMExPEYnuRuJXngHyhkcA_J6q6Wk5IwaPlubf6k9iaqa3w3_0fI42kdfmon0Pf42TOD6Tu-y3T-9SgRH8NJSvCjqB1DtKx4973YcvAY1GA2SWnCdbG9xdYp7OJDNJXbM_39wTOEB8d4I_PzxAD3rHPMs_j0XStIwQgKh3thKIaXRhwZZcxSzba9l4FBe3ytqc111bxrgUgDmut91q7uuuAX1UnU99R2L3mWYZ-ehO0mrhR9Nxk-QPBEo-WmheE9VRoqwJqU0OMYDUOOMOnpYJI-VFVE3a2h4Wde-tkgVdoByT_iPhSbA-6tXcAY50SzJz4dVe-yOsf2ZmKZ4PXlgjR3p7LUdKba0BdrktmSaLPAwREk5hinHxs1IrtsVCwfW5XRO7nPlkxNSHcQbgp74QkQfvq3PiG_gmrHozN8uv75V2dTNQRzJjoVM-HRGfD73j03-7CxudfE4US-sxiYrvTD6apPV1ArQP-r-UVtV738ELu61U4CLti74ATzvpuUxNlOENhao_nk70t-eltE8obuaOFZ3YqDdqC-HImhATHv4EpRmADxMBtIk1BpylMigRTsRW5zchtnFlth76JJXk0NxdHIQvtXA-Oj20PlyHJupw=",
  "id": "rs_045259c066ba39c9016ab45b8621e087d0ac13826ebad773b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.18,\"right_z\":0.18},\"note\":\"The yellow object is bracketed by the jaws. I’m tightening the grasp slightly and lifting it clear of the table to check that it is retained.\"}",
  "call_id": "call_A2eSbSWRdMHVQ2kVLidUddyN",
  "id": "fc_045259c066ba39c9016ab45b87220887d0b141eec7752751a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A2eSbSWRdMHVQ2kVLidUddyN",
  "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]: [-0.1425, 0.8207, 0.6998, -0.5838, -0.2062, -0.1734, 0.997, 0.3336, 1.726, 0.8928, 0.4946, 0.2424, 0.078, 0.1813]\nstate[eef_state]: left_x=0.2785 left_y=0.0002 left_z=0.1779 left_yaw=0.1106 left_pitch=-0.1064 left_roll=0.0152 left_gripper=0.997 right_x=0.4833 right_y=0.1264 right_z=0.1518 right_yaw=0.0781 right_pitch=0.2547 right_roll=-0.0059 right_gripper=0.1813\nstate[joint_eff]: [-0.0479, -1.4017, 6.9812, 1.7118, -0.1294, -0.0757, -0.0122, -0.4855, -10.0034, 8.759, 2.2051, 0.0952, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7a55bf73bd3d7e23ad0b31bd3875fd9bcb61c2b9e52f31564ba5dbee3a858b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7023886d8dac631f483912d7f257d595258040db20de87db7abd92ea526976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d165dafe3b72905d9c0890a31500d78b831cbfc61eb1127e775dc7c93b15708",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.884 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1383, 0.8131, 0.7002, -0.5541, -0.2066, -0.1719, 0.997, 0.4488, 1.8488, 1.058, 0.2989, 0.3985, 0.1555, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0009 left_z=0.1856 left_yaw=0.1134 left_pitch=-0.0698 left_roll=0.0072 left_gripper=0.997 right_x=0.4903 right_y=0.164 right_z=0.1241 right_yaw=0.0281 right_pitch=0.1321 right_roll=-0.045 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -1.9624, 7.0632, 2.0049, -0.232, 0.0122, -0.0122, -0.2256, -12.041, 6.4752, 2.3468, 0.0171, -0.1441, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8173, 0.6998, -0.5701, -0.2062, -0.1734, 0.997, 0.3321, 2.0987, 0.7723, 1.0313, 0.2527, 0.0822, 0.3848]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1813 left_yaw=0.1102 left_pitch=-0.0897 left_roll=0.0109 left_gripper=0.997 right_x=0.4872 right_y=0.1251 right_z=0.047 right_yaw=0.0621 right_pitch=0.2975 right_roll=0.0068 right_gripper=0.3848\nstate[joint_eff]: [-0.0205, -0.9094, 7.0085, 1.7118, -0.1197, -0.0415, -0.0122, -1.0325, -10.4957, 3.6171, 1.6484, 0.2222, 0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8207, 0.6998, -0.5838, -0.2062, -0.1734, 0.997, 0.3336, 1.726, 0.8928, 0.4946, 0.2424, 0.078, 0.1813]\nstate[eef_state]: left_x=0.2785 left_y=0.0002 left_z=0.1779 left_yaw=0.1106 left_pitch=-0.1064 left_roll=0.0152 left_gripper=0.997 right_x=0.4833 right_y=0.1264 right_z=0.1518 right_yaw=0.0781 right_pitch=0.2547 right_roll=-0.0059 right_gripper=0.1813\nstate[joint_eff]: [-0.0479, -1.4017, 6.9812, 1.7118, -0.1294, -0.0757, -0.0122, -0.4855, -10.0034, 8.759, 2.2051, 0.0952, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7a55bf73bd3d7e23ad0b31bd3875fd9bcb61c2b9e52f31564ba5dbee3a858b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7023886d8dac631f483912d7f257d595258040db20de87db7abd92ea526976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d165dafe3b72905d9c0890a31500d78b831cbfc61eb1127e775dc7c93b15708",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFuODF-HUIJvSvhx3GpsPnvuNeAItbmEVy0b13pKG5vLYbfYXtDa3tL1SlEwI88mCDLBbxGktX1PK0_bNA6NEpA93vD05ZMI7h6G3hrgTERRxgD2lFOH03XdTjSb493pxoaRlL5q7kVwhmwDX1B5_p5tffNmJZqZvTWRWpM06xl8xcnSuM948PKcRhYtVJnIpfdkWyj3fhpr2Jtoo4I7k_tIRtq-I0G6o5RisbIlf2gc6RHKkNKJfOl6VQsRqhefBm0yq6PuRLOHX_o4SVy3hNyM3SDyQIRMNQGqrXS2hblZv9gZdBPeD8rYAvw2hq1yxK0F6xREcgTg0ksMQLahsCcqmANstoX6sx9h-sr_9SLr76jKMVMuK4T8uYWQ_lrxkBQhj17jAkYIsdLAU-Jy1OgxAFT2kam09bFyjlACBBHzPBX9MWbUu3smTY1rBBRqPNE0idHelZffwXDn7FZ88BooCrh9hJRxX4ZtZbX0qpmELppDuGZVX2r-IwT9rUhfyIkaQwh8DwrjHFzNxCXT0lQ9CKUDP3onnojn6Fc0L6QJoplsJNHkkTLZC6pcitS-hH9l_qcOcUubkkEpM47TT6D2nhLdgWMvZFjOvtKBRuBDiYqw_KDSMAlto3qNiiqcnjn1L7jUP9CR5cSFGtY5-3L3y7gL8Jdwp9dZPyDXF-xPMHckYcxP763MoOYEbUuf0f1I4ERDJnL-buZJ6Q4oO_e4BAPjbdZnab6ix8ojeJauX3Z8_q8q5WGPlfQ_PYUKq0i2S6gNHwR-OFZt8EADP2gYuseOAdly86JHiB3yDRncIf0nLCYH6zu6XyO-gj5agl-bHEEG_cJqDfHwTAwFcMz5zYXVtl9WkyfkUSGR2uOh2yjdZxL7qsWIB4SmsCtNlaZyfzagaekIyBoj_jw2HGpqoFECkJ4QzBgm60foZ_U773li-kf2CDB9LH8wVdNBokj4cikHRTNNyYaTM6liDhiunOgoyQSb_l_Qitw0tsP2addEyJyarM_q7v2hKgTNgyEDoCYibRzxBK0rn4qM_abqWPBPfULQ2hUgbbMURI5sU87h2mqleo27vwog2ndMZJw_8OU2-Y6fD_y4-OFng2SgW70pNM973z20JqywC1Uh3PzJS6g2xnx-2wVoJhrFEBXLIyOvcCZfUf9OhysSg1711IzOQs-JI993PzXfD76V4uOfQOGZl74RK2meI-eDsJFrgZ_HGCF4fqJLMdkFZgmUJL9Ef59SU84VWCgfIsky8bEhXbSoPVBsm5d1QAlohaEyG7RL5OuJ88yb7WnMUIixMzr-jZ1W7__LgWyXz5ZmnzXiJb0BWZ5rdsLmrLMD2WN_y7kTXZnQhIjHjGZHtQ8Uua9_qeIZ-6Z1z-r2faHQMr0wOKgkiZQev9aj7NvBYc8f3ITVTO-a9xPM1ugEllSFR5aQwHlWYVGDRISVDrH-G2_rsdsrXD4lCr-9D_ZfbuASpT7Jq-3MtsUJk6udnkHwaAD_R0ohF4PvhHJ5VuzFyZvHXYY9bzqMm1Is-CzdgQpNJnZpNI3g6lGwYt-TW92UpqLyanli8NvWl5uAM55I4CpCNCLPE_GYhhhQ5iHYQaYnKlrSSwya8GKYu_w5ft4_Hevuo_YgxyHnno5TrXen7I4ohFVJcDaKl7f-GNxOtp-caMgawYvVh1ogWHkhiBlWWk3WnG516mbaEV_cDQS0XSmUhxLxuNDE4g4wolJfAluJoXDpsBeSGPLNhBDl9UgcxwvNSpb6dheUpw36B_1qGvtO2eBen0OMa8sBvVzUF3cjRxhkGtNmeNN-GM83qjGPtw==",
  "id": "rs_045259c066ba39c9016ab45b8ab82887d09aa9417565815c2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.32,\"right_z\":0.19,\"left_x\":0.28,\"left_y\":-0.255,\"left_z\":0.11,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The yellow object lifted with the right gripper. The teddy is visibly draped over the safe’s front edge, so I’m carrying the yellow object over the compartment while positioning the left arm above the teddy’s hanging body.\"}",
  "call_id": "call_LHsaduNHmCq4EvnzpZvrowoN",
  "id": "fc_045259c066ba39c9016ab45b8cf3b487d08d364559e73cd228",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LHsaduNHmCq4EvnzpZvrowoN",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-1.1141, 1.6398, 0.9421, -0.4583, -0.881, -1.0294, 0.9984, 0.8425, 1.8839, 1.2652, 0.123, 0.6933, 0.2726, 0.1813]\nstate[eef_state]: left_x=0.2746 left_y=-0.2417 left_z=0.0971 left_yaw=0.1079 left_pitch=-0.0416 left_roll=0.0355 left_gripper=0.9984 right_x=0.4257 right_y=0.3131 right_z=0.1722 right_yaw=0.1167 right_pitch=0.2076 right_roll=-0.0571 right_gripper=0.1813\nstate[joint_eff]: [-0.9504, -6.7624, 8.9915, 1.2137, -0.7643, 0.6178, -0.1783, 0.759, -9.1282, 9.7436, 2.1026, 0.3932, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f42c4d1ab527fd49cba3e0d699047d807ce02192fda8461d933edb8e8137d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d934ff2afd686aafffa2b77908c2106f50f2035297a696ea5c66a964fd0fee1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3cfdf0cb577d6a096c244acff90b647878fbafc383cc26cb38489cb199d86d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.366 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8169, 0.6998, -0.5625, -0.2062, -0.173, 0.997, 0.3981, 2.1075, 0.8082, 0.9756, 0.3374, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1829 left_yaw=0.1098 left_pitch=-0.082 left_roll=0.0092 left_gripper=0.997 right_x=0.4851 right_y=0.1444 right_z=0.0439 right_yaw=0.04 right_pitch=0.2781 right_roll=0.0021 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -1.5658, 6.9128, 1.707, -0.149, 0.0073, -0.0171, -1.2923, -6.9812, 2.8239, 0.569, 0.3101, -0.3541, -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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8207, 0.6998, -0.5838, -0.2062, -0.1734, 0.997, 0.3336, 1.726, 0.8928, 0.4946, 0.2424, 0.078, 0.1813]\nstate[eef_state]: left_x=0.2785 left_y=0.0002 left_z=0.1779 left_yaw=0.1106 left_pitch=-0.1064 left_roll=0.0152 left_gripper=0.997 right_x=0.4833 right_y=0.1264 right_z=0.1518 right_yaw=0.0781 right_pitch=0.2547 right_roll=-0.0059 right_gripper=0.1813\nstate[joint_eff]: [-0.0479, -1.4017, 6.9812, 1.7118, -0.1294, -0.0757, -0.0122, -0.4855, -10.0034, 8.759, 2.2051, 0.0952, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1141, 1.6398, 0.9421, -0.4583, -0.881, -1.0294, 0.9984, 0.8425, 1.8839, 1.2652, 0.123, 0.6933, 0.2726, 0.1813]\nstate[eef_state]: left_x=0.2746 left_y=-0.2417 left_z=0.0971 left_yaw=0.1079 left_pitch=-0.0416 left_roll=0.0355 left_gripper=0.9984 right_x=0.4257 right_y=0.3131 right_z=0.1722 right_yaw=0.1167 right_pitch=0.2076 right_roll=-0.0571 right_gripper=0.1813\nstate[joint_eff]: [-0.9504, -6.7624, 8.9915, 1.2137, -0.7643, 0.6178, -0.1783, 0.759, -9.1282, 9.7436, 2.1026, 0.3932, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f42c4d1ab527fd49cba3e0d699047d807ce02192fda8461d933edb8e8137d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d934ff2afd686aafffa2b77908c2106f50f2035297a696ea5c66a964fd0fee1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3cfdf0cb577d6a096c244acff90b647878fbafc383cc26cb38489cb199d86d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuWtzmtZlqPoIKK2jDJGfEDcKoDWTur-pHU6NP4GN6mpZcG0rqjxNVDWuEl6yY-2sPkqJGxP5ENDsJDigc6t-rH4iOjlqX9LxjQhS3JZd8DfoikBjC3qTczmJkRd_FiNOzmCUqQkZd3UF7jBQPnV-yNVusq5QMVluBrGxtDqVy2Q8ledaB8_YwIzKpUeSUYEz29amL7-zMoUkhC4wPlS4b30bLg0U73INRX_w3zVk29aRMyyAHtFgUw6MRGjs4ICT2Ef7YORZQkNPnx9fwwjphIElDHJ6Qn4-CuxoN2H8T6RD2mAs5sV9T3XvlMbfSsjqHrZnTz58wqpwybJu_2O51ltuH-u4RzWVbvXZ1HZemOuL8SR80COfPW8sD2DNvTM6SLNOlG9s57ElqKk0isfHXfthczgsjyNertNYGyhDTH5rxeyzFCAMz16Kk9JE34XY_ur7d26uxzB-UEb5DzZ-1isoent0j-fvjNC1Mn9qiU_1m27VmgfpYNwpv_dMa_qbDw8eYr3vW2Zb7kplV4NjRic174aUjliL6bXQY0tPlywSNkV2PoYMMfffmspPxqXVMJI2lZ0djRQu0ktOm8VZOPfAJVYCuagkpbbLI9awmu8ulSHn7lbd2Rji1Q4Wa31SG5mWyOX7MP6STtGoltw_L6qj3oFThG_zPd6yR5rAxyILGOH-zVio_SfXZZWDUX7HidPjcBmlkYt1imjO3K-BaQ8lOdQ-91kuDk7y15cHF43tqrjXwWmCmgnmUriH8oy2Yyyb0v17u4oGZPkY4QTogDeS55TlWWbs4pofe6UZDjGkAT5Ijbe-MzqkSRFW3qk9iYaDXff5Ql6ctwvv7j0nQneCXOfjGEYyzzPe-iUfy8IvlbfYIXA1t_EQVmZ313vQedt0WuLtmse9Xu2NxitmpWl7luUzbbo9-0jVl-AMnM-47mOlcYouiGiERwFpr1VevawO6ZtfhCpbRtdYbsSU_NaiiwPLRXS_3lFAMimbsvAa1YQqJdUAkMo3EAVEHrKwsWZo7mCshHV8hDE4xmrixToD330qvxmznGRJdW3gOSVsknOoqiaHvc3UdL2qZnaQK_C-wimjQ1nKbqWEjPt0nXqOR-iaEICfebUy2rbiptbAnIY62Cjxp6U6mF23cFpEbtHAQcixqjnrbpVOvpxYEyiQL7a9UasSliY2bINEykVrGKH9HekTnVPaZWJsBe0yOeg-i0Jnh6pVxwJwtwTtrZRA61j6ZYgoz-QKgs1e65FrNXq4fZJ086i-w96bKNkNnmJM1ws5xd0VUIe4Ph5rWXLr4hVNZV6zRtl8GZsUOJFMMCxoZZN-Vhrh0WyfGIw5yN34eGZkZIWhh8Y5Eu18PI_u3HPRD_nQMrb1Fw3T0B7hFQu2iJFr6KkdYjUzBWaWv6fn01et8dJzaLyR3Uzs_uvhYunDl4Hm9-dwEZ6q7LxEfb1QOc3IQEa7WS7fD0WAufyErhPwkC2RPGzF_VlSxi5es695Y9qMik--1QzTKPKkSmAoZaFa5ZL3CroSh5CYIRXbpHCJ6xN-RAu5c2GYT-id-uyXELLzR2eT1UCpRyyb8JV06JUiRCqFWRmLdLpzQ3aX6NZrzVPI36MrQP5y7AiNanujdbiCkzqZ0Nc0RBIneWSBLt1grK4gJrAe6j_X_HTSrYEGeYqiPbfMJJmMWVWKmZEEpASjeDd3my4ske5GB6-aaJSfBKq7SgUnkkWG0qoijXjO5Ntg2BXk4BQHBcb0t23y4-PH5MGVS5BjxcGDRt4r2oFWh3Y_wixTSW4VjHpULXFhUfHoFDvqN9IfqFQsl2hKWEGPO_rE2J3eAhM9tHIczoKsaRCC8TzrDyZMwNXDyexAUWbM1fjaDOiIUUCBTF0hHtkOs8Dza9PRfb9W0N1bo-5fMTPBAH4BPMzMkZsgVhFvH5bObhOpsqHbJWO3TVUUvfFGlc13Yk_zmjqCYZLqJovIXyx0LdTJv5zWdNXGv8ocEYQjJ7RS8aOoxIHM6rcYESLM_kC81fQLw9PlOIzLkNs9rNezWbUx1bid7oBU8TmBP0YmEJACPaWr1LFsBiRo9wJ15F7V1lrMggEJM6FQT4UDrAp-gqjERL16Fu5nIBUzkyAfdFkz-YsyAIMw==",
  "id": "rs_045259c066ba39c9016ab45b923a6487d0901ea4c8129bf87c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.28,\"left_z\":0.015,\"left_gripper\":0.18,\"right_x\":0.5,\"right_y\":0.14,\"right_z\":0.09,\"right_gripper\":1,\"right_pitch\":0},\"note\":\"The overhead view shows the yellow object stayed on the table, so that pickup was empty. I’m securing the teddy’s centered body with the left hand while returning the right hand for a better yellow-object approach.\"}",
  "call_id": "call_SE8kaQ3JXJ64oIMuVXP9ZXBN",
  "id": "fc_045259c066ba39c9016ab45b94ed8887d0a7f09a2935ebb91c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SE8kaQ3JXJ64oIMuVXP9ZXBN",
  "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]: [-1.079, 1.9629, 0.981, -0.1478, -0.8883, -0.9955, 0.1833, 0.3534, 1.8832, 1.0859, 0.16, 0.2447, 0.0887, 0.9969]\nstate[eef_state]: left_x=0.3055 left_y=-0.2723 left_z=0.0216 left_yaw=0.1266 left_pitch=-0.027 left_roll=0.0409 left_gripper=0.1833 right_x=0.4915 right_y=0.1395 right_z=0.0863 right_yaw=0.0985 right_pitch=-0.034 right_roll=-0.0729 right_gripper=0.9969\nstate[joint_eff]: [0.6769, -7.3504, 6.4068, 1.1062, -0.1685, 0.2808, 0.1245, -0.2667, -8.4718, 6.5026, 2.1709, -0.0024, 0.0513, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e443b63cab8ad9f2c47b84d6ceada4b5bc05b3df9d3403b7c90262cba1e3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b6c148f45440469a81b60a47ed234a2b6da1fb7d4c0b13d308823c7404aa80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451df989dd8081670d8018d2ba8a501ee58ee66671bb56dd14f674d159c66e5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 7.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8173, 0.6998, -0.5701, -0.2062, -0.1734, 0.997, 0.3321, 2.0987, 0.7723, 1.0313, 0.2527, 0.0822, 0.3848]\nstate[eef_state]: left_x=0.2804 left_y=-0.0001 left_z=0.1813 left_yaw=0.1102 left_pitch=-0.0897 left_roll=0.0109 left_gripper=0.997 right_x=0.4872 right_y=0.1251 right_z=0.047 right_yaw=0.0621 right_pitch=0.2975 right_roll=0.0068 right_gripper=0.3848\nstate[joint_eff]: [-0.0205, -0.9094, 7.0085, 1.7118, -0.1197, -0.0415, -0.0122, -1.0325, -10.4957, 3.6171, 1.6484, 0.2222, 0.0415, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1141, 1.6398, 0.9421, -0.4583, -0.881, -1.0294, 0.9984, 0.8425, 1.8839, 1.2652, 0.123, 0.6933, 0.2726, 0.1813]\nstate[eef_state]: left_x=0.2746 left_y=-0.2417 left_z=0.0971 left_yaw=0.1079 left_pitch=-0.0416 left_roll=0.0355 left_gripper=0.9984 right_x=0.4257 right_y=0.3131 right_z=0.1722 right_yaw=0.1167 right_pitch=0.2076 right_roll=-0.0571 right_gripper=0.1813\nstate[joint_eff]: [-0.9504, -6.7624, 8.9915, 1.2137, -0.7643, 0.6178, -0.1783, 0.759, -9.1282, 9.7436, 2.1026, 0.3932, 0.2173, -0.0171]",
      "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]: [-1.079, 1.9629, 0.981, -0.1478, -0.8883, -0.9955, 0.1833, 0.3534, 1.8832, 1.0859, 0.16, 0.2447, 0.0887, 0.9969]\nstate[eef_state]: left_x=0.3055 left_y=-0.2723 left_z=0.0216 left_yaw=0.1266 left_pitch=-0.027 left_roll=0.0409 left_gripper=0.1833 right_x=0.4915 right_y=0.1395 right_z=0.0863 right_yaw=0.0985 right_pitch=-0.034 right_roll=-0.0729 right_gripper=0.9969\nstate[joint_eff]: [0.6769, -7.3504, 6.4068, 1.1062, -0.1685, 0.2808, 0.1245, -0.2667, -8.4718, 6.5026, 2.1709, -0.0024, 0.0513, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e443b63cab8ad9f2c47b84d6ceada4b5bc05b3df9d3403b7c90262cba1e3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b6c148f45440469a81b60a47ed234a2b6da1fb7d4c0b13d308823c7404aa80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451df989dd8081670d8018d2ba8a501ee58ee66671bb56dd14f674d159c66e5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFucj7UxIWK7zirGEXlZrkhwznqqX8PvbmIanAwn1JXqsZFr-we4fTn0zOGKsqGx_OQ8RpwfU6mLdma0qtWGA5mElF_MwlkBFbeFsqHeZKVEbGOknsqopwFp427Yu2KjPwt74pSsqkI8JizCA90e2LODPNiXtd6fTQVoLWL5kKPcCFqqcjtBwj8GjhuiAYkx03HN6YOb5FOiTMrx_anPpjJ5ctgDxoB8ks2_E9gqPCXRxYjdGhwgIFvPrimH_NYnE8ABrsMURuIpg3bL9u6ldhNH7dT_t6yiavLtJR55i9tTpgIbwzisr8x9TMxYLpXBVtt96EznQO17_9X6X21UvTJduW2KQYCCpP81tqjVXjuMgN-9abvcLBMxccRFxx_hgWX8SvBkbhkqbdkkNC6bk92SPNdQkdSdwrsLKSHCTtFJmXoiM7MUzrRJVe6-njwK8c63O3RbFA5CxokDrSakADYJ07HT7nSvCWoqObeF6flLT3Pu-Z-Rcz4z_gYc4pAGceR2xfD2hbrd2bOOwe1spwLXDt95g1zQBbxYNEQQO5SkrVWmw_lGR7_txhF6cQhfIshQG3BaFyW9NAGokhBLa82BeZ4FlFbr2ul7RVUx2VnqrFI22gJXyxQLFIhW_yEhzJN2vCTVtTqQ6kAx5u3xRcerYqamENAy0q2JiOewdfr3EwEUw2Zt9PdILMpBkDCEeAsDT0Wq5cijdeOvWuo50xvw7XRqdSUAwUwRNTHaQVeREUGwakndXZAPhD3sZvYllnrfHOQC-uRg519IQYGhW939wDe1vjEUYZLm7XlW50jfhiLSjUAzf-C3Y55MWOL9GKSoLdubHbvJ0Iw8HgTbzQhwup9NT8qYTgDcn82hqK1unLyU3oJWe_sx2lzLsnCiAyvguuJXw-ABDMQT_uYdLO6TRsjN5BkD2JnabKfoQzVyiK46DypE-lFeK_F2XDYpCakg2ZSMUchcW4D720aOIqEf3PvB6VXPaRAb_s-cIbSqDcYmR3VOLQEgXKgd4yVMIvpWP24QkqnWocUdKnm3vgUZ-yywZ_FGHn3OYIED3yNoPWCcH0tCQ-zajvty4v9HbuFmH2fHML2nCJB6CS_LoOqdaVeKgsfKDq1H_Yd6t6fuFMG2c4hNOlDYzTPbD831pexm90vblYY9nCwLqjMA0GO3JFfLRiK7u3w-v4mW2A96QKh_7OQ996DBtr31rkmEsx-dTxEuJm7_w-n7PEEo_TtkLm5gqhzLMzSUZnrrc3mIi0KKsX8REGS6j1de_JISsCVR3_Do2ITJYu3eUrizev3LsJ4ap1Sd0U3304Yx9gGShDShBX40XFg3B47jiRCOyZP7EbLozZzECIoL-AQHg12pP7R5o6A9riSSF2-pV8RzFOF_9_I1u8f68hxOtNVq0_-Q-3PMZCvJVcw7IMF5CjT_lYPGKVt_2-AL-qkZOsqY4B7qotE9reETgb-2Hp2A80AtB2-DDtCWutp65HZI3Z0eBpWS28EjrslFTpB9NV2beB0hkFHdC5q9-yKatRkc3t8zQrkyi0yUHrbfSxI4cY1hRtRNFGKPoYYO7enZVNDobCO8f-cZmBSIh0fpKmfOP4H0DgCjsk4rL_26l6juJLHcmQ==",
  "id": "rs_045259c066ba39c9016ab45b99b58487d0ad698eb1cef606fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"right_x\":0.545,\"right_y\":0.14,\"right_z\":0.025,\"right_pitch\":0.4,\"right_gripper\":0.35},\"note\":\"The left fingers are around the teddy’s torso, so I’m lifting it clear of the front rim. The yellow object is farther forward than the earlier approach; I’m reaching forward with a tilted wrist and closing to its width.\"}",
  "call_id": "call_oaqA4XqsPsFadqYQ0KhGHsFX",
  "id": "fc_045259c066ba39c9016ab45b9aef3487d082927f4e4aa2a392",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oaqA4XqsPsFadqYQ0KhGHsFX",
  "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]: [-1.079, 1.7329, 1.4162, -0.8391, -0.8795, -1.0115, 0.1822, 0.3313, 2.3177, 1.0275, 1.1473, 0.2558, -0.025, 0.3524]\nstate[eef_state]: left_x=0.3062 left_y=-0.2758 left_z=0.1862 left_yaw=0.1325 left_pitch=-0.0432 left_roll=0.0493 left_gripper=0.1822 right_x=0.5464 right_y=0.1445 right_z=0.0529 right_yaw=0.1075 right_pitch=0.4438 right_roll=-0.0664 right_gripper=0.3524\nstate[joint_eff]: [0.0068, -10.7009, 8.9094, 0.9353, -0.5299, 0.1245, -0.1294, -0.4855, -7.7333, 4.8342, 0.9451, 0.0415, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948644daaa4ca7c8f0c38823b7bb9eefdacae0e5e27022c699a179089738a9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41f11776fa0749349d640d76ecd413e3a55a912ea630fd28f7792804e49e1f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae490e19dde7e483f39ea3517cbc630daac4369c9126d8a5db371ca0848f099f",
      "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 · 4.184 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 0.8207, 0.6998, -0.5838, -0.2062, -0.1734, 0.997, 0.3336, 1.726, 0.8928, 0.4946, 0.2424, 0.078, 0.1813]\nstate[eef_state]: left_x=0.2785 left_y=0.0002 left_z=0.1779 left_yaw=0.1106 left_pitch=-0.1064 left_roll=0.0152 left_gripper=0.997 right_x=0.4833 right_y=0.1264 right_z=0.1518 right_yaw=0.0781 right_pitch=0.2547 right_roll=-0.0059 right_gripper=0.1813\nstate[joint_eff]: [-0.0479, -1.4017, 6.9812, 1.7118, -0.1294, -0.0757, -0.0122, -0.4855, -10.0034, 8.759, 2.2051, 0.0952, -0.0366, -0.0171]",
      "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]: [-1.079, 1.9629, 0.981, -0.1478, -0.8883, -0.9955, 0.1833, 0.3534, 1.8832, 1.0859, 0.16, 0.2447, 0.0887, 0.9969]\nstate[eef_state]: left_x=0.3055 left_y=-0.2723 left_z=0.0216 left_yaw=0.1266 left_pitch=-0.027 left_roll=0.0409 left_gripper=0.1833 right_x=0.4915 right_y=0.1395 right_z=0.0863 right_yaw=0.0985 right_pitch=-0.034 right_roll=-0.0729 right_gripper=0.9969\nstate[joint_eff]: [0.6769, -7.3504, 6.4068, 1.1062, -0.1685, 0.2808, 0.1245, -0.2667, -8.4718, 6.5026, 2.1709, -0.0024, 0.0513, -0.0464]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.079, 1.7329, 1.4162, -0.8391, -0.8795, -1.0115, 0.1822, 0.3313, 2.3177, 1.0275, 1.1473, 0.2558, -0.025, 0.3524]\nstate[eef_state]: left_x=0.3062 left_y=-0.2758 left_z=0.1862 left_yaw=0.1325 left_pitch=-0.0432 left_roll=0.0493 left_gripper=0.1822 right_x=0.5464 right_y=0.1445 right_z=0.0529 right_yaw=0.1075 right_pitch=0.4438 right_roll=-0.0664 right_gripper=0.3524\nstate[joint_eff]: [0.0068, -10.7009, 8.9094, 0.9353, -0.5299, 0.1245, -0.1294, -0.4855, -7.7333, 4.8342, 0.9451, 0.0415, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948644daaa4ca7c8f0c38823b7bb9eefdacae0e5e27022c699a179089738a9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41f11776fa0749349d640d76ecd413e3a55a912ea630fd28f7792804e49e1f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae490e19dde7e483f39ea3517cbc630daac4369c9126d8a5db371ca0848f099f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuluAFObyLK8_5VboozqIAeVu946YpfveGPy_lIsgFmH9mFhDY-OD4JVikyi6c5KJqArzsoT-kHvgvT_JN6IXYKYrC1gGjj132LqclmQ3KszEIR75yGuULH6aNNBwlCB0OfCL0NCpNT-f3BOeDHCWnIdTp2nf0BdLlFdlOHQLOhpszeDB0X_kxVjqIzZ7m7HGUw0tSHK5yTh63SIZjEn-w7teqgi03jJNRp9XGktS1UAV9cbXKqyQ4maS63VRnVmh461Ej6r-nfelN6JodnygnHAVU28ynS1XMYAdxsDbNZ5yvCYN8kALxPwf4jjyTurE-aETRIOiIyH8oMWLKAX8yxCsgFIYH7BlVutO2RPGm6dCOhSekNKWoX5I6AQoHZzJPmRysvp2tleb0sN8X_UgAkXt0R9SKyA3gmmxa9nB-4hb7KiiFfX0tKkZHAX4gCcKGslP04lHOgEOHWEp9IUeBL4PQ9vbvIRuz2m0II7xhMMYDsO3FTQBUKRowTtNNLlBWoGmqM8wXfQfnCPtEjo-rzuNrbKTudVsqhp82e_flU5ttHrECwb6u2hx2qBcdvFPsl-sEchLuV5gsgGEmYf70ELOTtYVxRje-Di6xnEouuwVcKqXZ8b--VWexqhbG4bmmK2Xp8NLfwgwcLM0DXVH6OzYZzRhlOLy-uuZT7ZNMgvqmF6RXrnWqI4cmqhkyP8PX-6N5OBzp5xoWFXwBm6nkFCjCEMZQMD4iXaQMww6BKV6SOD6eIUQftKyF4zWukZvCA_gjPH8sbNVIHI366AgnEiu_mTWhEC2CXupDTf4YVhRONVfLjcJ1H7DgmQ_3pFeOUbB4h81HB8J-4NrR3v5juzJ005TPmbwP_U8miMryBVJhEu-AKmCqap9geWFGit8LyKHZl8Z1Un6XAUZGYqOgbASM86RpnEn1yN3gZAWpkwJ-0tws-jb_FP5J3hDGi3fxn_rGdVEV3zdMCGz1CrrzsbVJdIKWfDwE3SrRrwZlIGqCQJKlIsPedcownrIj2k4mhQNNVj2Lyt95Ot69Q9KkAqkxLmLDhRROTM-4BkfdjTzr4sFPnNfOTIUcKbRwuYe8d0tHkKxt-FG3AeBHmt6Gy_3TyKiVYG47Oj0Spk2JEjmH-ojn85NPsor7ojzuBXrOHFB_aQpKxk1-4fJxv5WFWWWR2XivT8ddhVmBRBEAyjlcjq8SpjLI4udqsy4t22areHui99dwmFIfDpAR2CqSpD1Wd7bYEd6SYfMZZVm2WYOM05JCTVQ7MRl_tylca5h2li18hdUl7LuWK9V8Xl4kvdBZNrSbL5a91rL4FdO4-UoUwe-En3UoDpUaq0Br2R-XSfTQ-F_nzgveyVO1DpRCVzv2jbYIbVKLjY0LWdlcJIGyGgvPMHp7SxOEVcGzUTNCvD_-Z4BefThvtUcXsilFhPV90vVQE8ET2CunOH1NNM24J5wbovwgmsKM4Re7275OJQpbIS6rH7xjR4pHC-fvsEtcYlKo425bjumxjFqdrifH42HTdClCqcVJzpVtQfkgrzDPS89tv3N1yhwZn9jJO5CGo0lQGwrpPFZBcmi3A3iArG4kEpygYEKby1Vudxj52vX0Nhr-SAkqg8MfuYbGQbNvFQs90UsgIczGIGNbwjhYCJk7m4qZAIGSKZttuKo1t1FGK8lEO1_wZHy7s1Pywjgl6lmt9XfOnPY30UIzdCWIa-aiuku_t5UfZRYjh_AVDMTgOK6b4w2yAgH-Uf72_qsfKkUGLAwWv3GEWeoRsVYSyUu4YELyiGMgVc8TG28Lo1QLRyWI8CcvwalLKHblnbJS1ed_S8bHf6BzByXm5nsv_XLAhxcQZhX8qkH-yMo3byjtvasADxKaj7S2aC7lyh5t2k6AsE6_yr9VDAjVNBM-REYpJOXJF-4bPDx64lWcaJ0Jop7xTPRUOxYmu7daWpUFYM1qkI8ZZflWQmVps52wHCteMsb9F_zBkaTZCY7MMlIo4EVBZukRZsm9Ia83exEtGbvd8Ee62eS9wJBAhF8CZEhaKdn22Ko8P2r8IH_5lo32QJBpQIav3-kcgEf9rHzCXB36fjiLCBQJaAH3zwGdrf5c-snEwmCSGcpRgwFFCXbuDbEFiJy2QgOEnVwevh_vjDxMdeX_yR59AGld7xTJFaZP8LPXcMVyQZUPro4wOYNwECkl8B9SNg14-3USJEeutCVqRnUDVbj9hwXMXb_GrrR0ENA6FUkJ3hqU9oCBOoM_iwX80kUstuRKfGTTLV1JMDLutLZDiSDlflkwlc_OlfkxIlroyKoJBHH4u05PvlP3nrlvNhZuHIuYIAqMn0RHBEG_emvHDu-FopjpkBnqiX0xIr3pyf0IdXGvYCiQvNlUYKyH6bevkvHOiBV-WsECBFAwIkUJr4wEPO-i8mZU=",
  "id": "rs_045259c066ba39c9016ab45ba0722087d08f4c792104fda90f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Neither hold is yet confirmed, and the teddy still extends over the front edge. I’m closing both grippers fully at their current positions to distinguish a real grasp from an empty opening before moving anything further.\"}",
  "call_id": "call_NixzE1WAAMaeU8pDwAkWuFsH",
  "id": "fc_045259c066ba39c9016ab45ba428b087d0ba3cad7e6c820aa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NixzE1WAAMaeU8pDwAkWuFsH",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.079, 1.7321, 1.42, -0.857, -0.8761, -1.0119, 0.0097, 0.3267, 2.3302, 1.0328, 1.1847, 0.2573, -0.0345, 0.01]\nstate[eef_state]: left_x=0.3048 left_y=-0.2741 left_z=0.186 left_yaw=0.1319 left_pitch=-0.0509 left_roll=0.0604 left_gripper=0.0097 right_x=0.5487 right_y=0.1423 right_z=0.0569 right_yaw=0.1041 right_pitch=0.4729 right_roll=-0.0698 right_gripper=0.01\nstate[joint_eff]: [-0.0205, -7.8427, 6.0376, 1.0965, -0.4957, -0.0464, 0.9402, 0.253, -12.5333, 4.0137, 1.5263, -0.0122, -0.0024, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34272cdf11770c867bb47fd43ed83d39f44a739f2e35c7fa8922d176768cce14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e167e73eeb0a5e025a3faaa61504471eb729de4e2abeeeac0b1765337177fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69db1ac832dc9728e2dcae787f7e3c9617edeadcc58a2cf26fda20de2390db38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.294 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1141, 1.6398, 0.9421, -0.4583, -0.881, -1.0294, 0.9984, 0.8425, 1.8839, 1.2652, 0.123, 0.6933, 0.2726, 0.1813]\nstate[eef_state]: left_x=0.2746 left_y=-0.2417 left_z=0.0971 left_yaw=0.1079 left_pitch=-0.0416 left_roll=0.0355 left_gripper=0.9984 right_x=0.4257 right_y=0.3131 right_z=0.1722 right_yaw=0.1167 right_pitch=0.2076 right_roll=-0.0571 right_gripper=0.1813\nstate[joint_eff]: [-0.9504, -6.7624, 8.9915, 1.2137, -0.7643, 0.6178, -0.1783, 0.759, -9.1282, 9.7436, 2.1026, 0.3932, 0.2173, -0.0171]",
      "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]: [-1.079, 1.7329, 1.4162, -0.8391, -0.8795, -1.0115, 0.1822, 0.3313, 2.3177, 1.0275, 1.1473, 0.2558, -0.025, 0.3524]\nstate[eef_state]: left_x=0.3062 left_y=-0.2758 left_z=0.1862 left_yaw=0.1325 left_pitch=-0.0432 left_roll=0.0493 left_gripper=0.1822 right_x=0.5464 right_y=0.1445 right_z=0.0529 right_yaw=0.1075 right_pitch=0.4438 right_roll=-0.0664 right_gripper=0.3524\nstate[joint_eff]: [0.0068, -10.7009, 8.9094, 0.9353, -0.5299, 0.1245, -0.1294, -0.4855, -7.7333, 4.8342, 0.9451, 0.0415, 0.0806, -0.0073]",
      "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]: [-1.079, 1.7321, 1.42, -0.857, -0.8761, -1.0119, 0.0097, 0.3267, 2.3302, 1.0328, 1.1847, 0.2573, -0.0345, 0.01]\nstate[eef_state]: left_x=0.3048 left_y=-0.2741 left_z=0.186 left_yaw=0.1319 left_pitch=-0.0509 left_roll=0.0604 left_gripper=0.0097 right_x=0.5487 right_y=0.1423 right_z=0.0569 right_yaw=0.1041 right_pitch=0.4729 right_roll=-0.0698 right_gripper=0.01\nstate[joint_eff]: [-0.0205, -7.8427, 6.0376, 1.0965, -0.4957, -0.0464, 0.9402, 0.253, -12.5333, 4.0137, 1.5263, -0.0122, -0.0024, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34272cdf11770c867bb47fd43ed83d39f44a739f2e35c7fa8922d176768cce14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e167e73eeb0a5e025a3faaa61504471eb729de4e2abeeeac0b1765337177fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69db1ac832dc9728e2dcae787f7e3c9617edeadcc58a2cf26fda20de2390db38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFupvVFOZNsOPEmNrQIz9chR2gQtFyW98NeypPKpKu0aTXbKIOkev54nHbBLAtchCvsuk3Re91e6hMeleeE3OM3flezVbjvJU0p8uqkTxoPNGWWtc0X9-oLeoShb09JRDLX0S8YBanPUYthySQe2wdZb7xtUxlKPz0-IO0KpJWUdhmuC6Kj2Yw7lUSV4XsdQeg6gVfo7DS6J6d9A6qxBOgs1DwkHRlxubR1YLvkZSBVkGSncR4mp6XgJW_WX9vPihZrralpGO6hNRfwWpwRcH8y_aTgbd-PAnRAj58-X7TOzvQcbUns1_fPxq_YfTkbHRttIsWo-alJsvBmKbD47XPTlooH_gcNbESPs_dyPJhS8DkPBa5k3xGSM8gHpb2l_vgLVSX5BNMzOOGLi3R3zuAy5C_QVUqhKetNIoEPOy5qCUxLH0OzXbLSduDvN7YTliEWpQdmvoFTjDnTXYd50sEdokAQTZVzcZCTHEhNjPLC8uvTdOlHmR77gPU_iJ8qqPsCcyfLCGsWpayeMdmft40sQtuAMHZkKXEe5sfJZG7e_l-rctsz0cxiGdpkEvns_TjYOEkjBmtAvT5rsSAa8LH3JCF_mNCNQTjMGU1r3x-fOMYk4T6swJ0PFEthItGG7pr9dvi6ySxt8nUwX44r9TU2Q7e7vm-zRm7yPd31OZhI8iTvX6eHmKl9y0D8kD57uXxPn9cPLwjyrVpTLEzdF6jUVMlBokcec3XKZ60EM_oDUTJHN5MiBUovr6x88jMV0CH8eBQf6EVDipYk5fZ2w_P6_TUikCWfRc6hEytuALqvxv_v4XFcrTJZ18tlyipbc067ZtI1J6VDfHrB8LaqY1Bxt8auxfIo0wB334NgQGgs7jvVvoef2lVMgYgXt0hYdhB1OoD1d9QaHJAcSJnHi4MPUSEDwBR2BGQ4JcctDVJThIxJsi7Le1i5EQ7WpkZE9VQ42iOkkBedECJDdh8C0mcUOh3EB3wC44szUUAhwitdVNQ17sX50zOxsOm00ZJbgu68wgB5vslPAXYFwmcHG6cWCtdNs0UJYv_7NWJhae7wKKF46BJ-8H2Fpd0-7TTEoAQnLvc8o5X38GmsVLW3VtvvIa6YZxZCVpABd2-lFasga2w8czncK77296xypefIyHLytzddiFXoSKZmhyrhBDCbm7bpB_C5NRuapM9gEOmcxMORXwRtfzAbFzIrVYke50PBECb81HSuqcMsbanhAWawtq7pMR6anztxc-4GqxauaTNP70CwsCz0FaSu-4_Uqciw30eDxxath-MIvslbCOyIPwjTJz4-2hC_qOcQ6Sp80EHJcu3nX0BTRxHBXWhvk9bzr",
  "id": "rs_045259c066ba39c9016ab45ba78f5487d0bcbb48ca109e0fe6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.38,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both grippers closed empty. The pale plush is inside, but the teddy is draped over the front and the yellow object remains outside; I’m withdrawing both arms and leaving the safe open rather than closing it on the teddy.\"}",
  "call_id": "call_IZJ8RnqstOAVQJQwePtHgipk",
  "id": "fc_045259c066ba39c9016ab45ba8434087d0936a2ad248ce7388",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IZJ8RnqstOAVQJQwePtHgipk",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.2153, 0.8841, 0.8486, -0.6617, -0.3546, -0.234, 0.9977, -0.0731, 1.2198, 0.9081, -0.2981, -0.1326, -0.0925, 0.9976]\nstate[eef_state]: left_x=0.2878 left_y=0.0035 left_z=0.2162 left_yaw=0.1923 left_pitch=-0.0667 left_roll=0.0558 left_gripper=0.9977 right_x=0.3829 right_y=-0.001 right_z=0.2016 right_yaw=0.0858 right_pitch=-0.0207 right_roll=-0.0008 right_gripper=0.9976\nstate[joint_eff]: [-0.1162, -2.1949, 6.2838, 1.8974, -0.0317, 0.1538, -0.1245, -0.1709, -5.8872, 9.4701, 1.9756, -0.1734, -0.0513, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08e3cc02858578629123a07b7b086f89fd79583af5d8a0923c2119f82d22d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d1f460a99dad86e93548dc09df6e4399d4afff3951d8d62451ec7f6022e0df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17204797a1e34c9c1edfcc06130484c01f1b237405ee933ebe2f75551bf9ed47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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