adhoc

completed
2026-09-23T23:11:01.175723+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
239.9 s
total steps
425
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 open safe is in the middle, with a pale soft object to its left, a brown plush in front, and a yellow object to its right. I’m bringing the left gripper above the pale object first, keeping the right arm parked.
move_to
left_x0.3000left_y-0.2000left_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]: [-0.0189, 0.7933, 0.6037, -0.3916, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6075, -0.3958, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0007 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.3077, -1.4564, 10.3726, 1.9365, -0.0952, 0.2125, -0.0366, -0.4444, -1.5795, 9.6752, 1.9414, -0.0659, 0.1538, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.2,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The open safe is in the middle, with a pale soft object to its left, a brown plush in front, and a yellow object to its right. I’m bringing the left gripper above the pale object first, keeping the right arm parked."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe pale plush is centered between the jaw columns beside the safe’s left edge. I’m lowering the open gripper with a small forward adjustment to surround its body without contacting the safe.
move_to
left_x0.3200left_y-0.2000left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9237, 1.3411, 0.7872, -0.3378, -0.7017, -0.6422, 0.9997, -0.0238, 0.7994, 0.6151, -0.4328, -0.0193, -0.0345, 0.9995] state[eef_state]: left_x=0.2919 left_y=-0.1913 left_z=0.1318 left_yaw=-0.0259 left_pitch=-0.0562 left_roll=0.0426 left_gripper=0.9997 right_x=0.2892 right_y=0.0001 right_z=0.1728 right_yaw=-0.0015 right_pitch=-0.0343 right_roll=-0.0003 right_gripper=0.9995 state[joint_eff]: [-0.294, -5.1761, 9.2103, 1.5458, -0.6227, 0.0024, -0.0464, -0.2667, -1.6479, 6.9675, 2.0195, -0.0757, -0.0269, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.2,"left_z":0.02},"note":"The pale plush is centered between the jaw columns beside the safe’s left edge. I’m lowering the open gripper with a small forward adjustment to surround its body without contacting the safe."})
tool
executing move_to over 8 steps (0.8s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe open fingers are around the lower half of the pale plush, slightly right of its center. I’m shifting a little left and closing around the soft body.
move_to
left_y-0.1850left_z0.0150left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8619, 1.6943, 0.6266, 0.2035, -0.6861, -0.6071, 0.9993, -0.0238, 0.8032, 0.6151, -0.4549, -0.0193, -0.0376, 0.9995] state[eef_state]: left_x=0.3204 left_y=-0.1962 left_z=0.0311 left_yaw=0.0051 left_pitch=-0.049 left_roll=0.042 left_gripper=0.9993 right_x=0.2862 right_y=0.0002 right_z=0.1673 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0022 right_gripper=0.9995 state[joint_eff]: [0.0752, -5.3675, 3.6171, 0.7106, 0.0366, 0.2125, -0.0562, -0.1983, -1.5521, 6.9675, 1.8974, -0.0659, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.185,"left_z":0.015,"left_gripper":0},"note":"The open fingers are around the lower half of the pale plush, slightly right of its center. I’m shifting a little left and closing around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper closed almost completely, so the first pinch was empty; the pale plush is still just beyond the fingertips. I’m reopening and moving forward about three centimeters to center the next grasp.
move_to
left_x0.3550left_y-0.1750left_z0.0550left_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]: [-0.8364, 1.7157, 0.5819, 0.3367, -0.6933, -0.5877, 0.0127, -0.0238, 0.8036, 0.6151, -0.4782, -0.0189, -0.0376, 0.9995] state[eef_state]: left_x=0.3278 left_y=-0.1893 left_z=0.0295 left_yaw=0.0237 left_pitch=-0.0016 left_roll=0.0105 left_gripper=0.0127 right_x=0.2827 right_y=0.0002 right_z=0.1627 right_yaw=-0.0001 right_pitch=-0.0839 right_roll=-0.0018 right_gripper=0.9995 state[joint_eff]: [0.2803, -5.6821, 3.7538, 1.1746, -0.0464, 0.0122, 1.0672, -0.1162, -1.265, 7.1453, 1.8681, -0.0659, -0.0317, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.175,"left_z":0.055,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The gripper closed almost completely, so the first pinch was empty; the pale plush is still just beyond the fingertips. I’m reopening and moving forward about three centimeters to center the next grasp."})
tool
executing move_to over 10 steps (1.0s)
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’s body is now between the open fingers, with its head farther forward. I’m advancing slightly and lowering onto the middle of the body for a firmer pinch.
move_to
left_x0.3750left_y-0.1500left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7326, 1.6829, 0.6121, 0.2611, -0.635, -0.5159, 0.995, -0.0238, 0.8604, 0.6586, -0.5472, -0.0185, -0.0422, 0.9996] state[eef_state]: left_x=0.3447 left_y=-0.1643 left_z=0.0345 left_yaw=0.0471 left_pitch=-0.0424 left_roll=0.0501 left_gripper=0.995 right_x=0.2807 right_y=0.0002 right_z=0.154 right_yaw=0.0024 right_pitch=-0.1663 right_roll=-0.0035 right_gripper=0.9996 state[joint_eff]: [0.1026, -8.6496, 7.8838, 1.5556, -0.1245, 0.1343, -0.1441, -0.1573, -1.4017, 10.3863, 1.9707, -0.0366, 0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_x":0.375,"left_y":-0.15,"left_z":0.005},"note":"The plush’s body is now between the open fingers, with its head farther forward. I’m advancing slightly and lowering onto the middle of the body for a firmer pinch."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe fingers are at table height around the pale plush’s torso. I’m closing fully, then I’ll check the jaw opening and test the lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6361, 1.8141, 0.6273, 0.4061, -0.6014, -0.466, 0.9962, -0.0238, 0.8642, 0.6617, -0.5686, -0.0189, -0.0448, 0.9995] state[eef_state]: left_x=0.3707 left_y=-0.1451 left_z=0.0119 left_yaw=0.0912 left_pitch=-0.0392 left_roll=0.0534 left_gripper=0.9962 right_x=0.2777 right_y=0.0003 right_z=0.1505 right_yaw=0.0043 right_pitch=-0.1884 right_roll=-0.0046 right_gripper=0.9995 state[joint_eff]: [-0.8684, -7.9658, 4.5333, 1.7265, 0.1294, -0.0073, 0.1197, -0.1436, -1.5248, 6.8308, 1.7851, -0.0513, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are at table height around the pale plush’s torso. I’m closing fully, then I’ll check the jaw opening and test the lift."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe closed gripper retains about two centimeters of material, consistent with a grasp of the plush. I’m lifting it a short distance to verify it moves with the fingers.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6353, 1.8286, 0.6224, 0.411, -0.6025, -0.4721, 0.2091, -0.0238, 0.8642, 0.6617, -0.5987, -0.0189, -0.0448, 0.9995] state[eef_state]: left_x=0.3688 left_y=-0.1431 left_z=0.006 left_yaw=0.0966 left_pitch=-0.0493 left_roll=0.0587 left_gripper=0.2091 right_x=0.2725 right_y=0.0004 right_z=0.1452 right_yaw=0.0045 right_pitch=-0.2185 right_roll=-0.0037 right_gripper=0.9995 state[joint_eff]: [-0.1983, -8.3897, 4.9162, 1.3602, -0.2515, 0.0415, 0.9109, -0.1573, -1.3333, 6.8171, 1.8242, -0.0317, -0.022, -0.0073] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The closed gripper retains about two centimeters of material, consistent with a grasp of the plush. I’m lifting it a short distance to verify it moves with the fingers."})
tool
executing move_to over 6 steps (0.6s)
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 pale plush stayed fixed in the gripper during the lift. I’m carrying it above the red-lined safe cavity, with extra height to clear the silver rim.
move_to
left_x0.4250left_y-0.2900left_z0.2100right_x0.2900right_y0.0000right_z0.2200right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6353, 1.5929, 0.7238, 0.054, -0.5983, -0.4835, 0.2091, -0.0235, 0.8661, 0.6617, -0.617, -0.0189, -0.0448, 0.9995] state[eef_state]: left_x=0.3655 left_y=-0.1414 left_z=0.0705 left_yaw=0.1006 left_pitch=-0.0656 left_roll=0.0606 left_gripper=0.2091 right_x=0.2692 right_y=0.0006 right_z=0.1416 right_yaw=0.005 right_pitch=-0.2387 right_roll=-0.0031 right_gripper=0.9995 state[joint_eff]: [-0.1162, -8.2393, 8.6085, 1.5653, -0.359, 0.0708, 0.6716, -0.0889, -1.6889, 6.9949, 1.6679, -0.0562, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_x":0.425,"left_y":-0.29,"left_z":0.21,"right_x":0.29,"right_y":0,"right_z":0.22,"right_pitch":0.15},"note":"The pale plush stayed fixed in the gripper during the lift. I’m carrying it above the red-lined safe cavity, with extra height to clear the silver rim."})
tool
executing move_to over 14 steps (1.4s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe plush is suspended over the safe’s red interior. I’m lowering it toward the bottom while keeping the fingers inside the rim.
move_to
left_x0.4350left_y-0.3050left_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8307, 1.9808, 1.7687, -0.7216, -0.7029, -0.6834, 0.2099, -0.0277, 0.7044, 0.6277, -0.4355, -0.0261, -0.0452, 0.9995] state[eef_state]: left_x=0.4237 left_y=-0.2892 left_z=0.1967 left_yaw=0.0928 left_pitch=-0.08 left_roll=0.0435 left_gripper=0.2099 right_x=0.283 right_y=0.0004 right_z=0.2033 right_yaw=0.0064 right_pitch=0.0706 right_roll=-0.0086 right_gripper=0.9995 state[joint_eff]: [-0.3897, -10.8376, 8.5265, 1.072, -0.6032, 0.0611, 0.5934, -0.4855, -1.0735, 6.612, 2.2735, -0.0952, 0.022, -0.0073] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.305,"left_z":0.065},"note":"The plush is suspended over the safe’s red interior. I’m lowering it toward the bottom while keeping the fingers inside the rim."})
tool
executing move_to over 9 steps (0.9s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe pale plush is down inside the red-lined compartment, below the surrounding rim. I’m releasing it there.
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]: [-0.8364, 2.1422, 1.5105, -0.3481, -0.6956, -0.6899, 0.2101, -0.0292, 0.7097, 0.6273, -0.4515, -0.0261, -0.0452, 0.9995] state[eef_state]: left_x=0.4288 left_y=-0.3007 left_z=0.0671 left_yaw=0.0897 left_pitch=-0.1123 left_roll=0.0719 left_gripper=0.2101 right_x=0.2815 right_y=-0.0 right_z=0.1983 right_yaw=0.0048 right_pitch=0.0489 right_roll=-0.0079 right_gripper=0.9995 state[joint_eff]: [-0.0205, -11.4667, 6.3111, 1.4725, -0.3883, -0.0122, 0.5836, 0.0342, -0.8821, 7.0632, 1.8974, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The pale plush is down inside the red-lined compartment, below the surrounding rim. I’m releasing it there."})
tool
executing move_to over 8 steps (0.8s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe pale plush has dropped into the safe. I’m withdrawing the left arm and bringing the right gripper above the brown plush in front of the safe.
move_to
left_x0.2900left_y0.0000left_z0.2200right_x0.2900right_y0.2200right_z0.1500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8364, 2.1662, 1.4986, -0.3546, -0.6933, -0.6941, 0.9951, -0.0292, 0.7116, 0.627, -0.4549, -0.0261, -0.0456, 0.9995] state[eef_state]: left_x=0.4249 left_y=-0.2968 left_z=0.0504 left_yaw=0.0949 left_pitch=-0.139 left_roll=0.1017 left_gripper=0.9951 right_x=0.2812 right_y=-0.0 right_z=0.1969 right_yaw=0.005 right_pitch=0.0432 right_roll=-0.008 right_gripper=0.9995 state[joint_eff]: [-0.2803, -13.9419, 7.0359, 1.199, -0.398, 0.0122, -0.1392, -0.0342, -0.6222, 7.1179, 1.8339, -0.0562, -0.0562, -0.0073] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.22,"right_x":0.29,"right_y":0.22,"right_z":0.15,"right_pitch":0},"note":"The pale plush has dropped into the safe. I’m withdrawing the left arm and bringing the right gripper above the brown plush in front of the safe."})
tool
executing move_to over 27 steps (2.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe brown plush is centered in the right wrist view, with its body extending beneath the jaw column. I’m moving forward and down to grasp its torso, clear of the safe’s front edge.
move_to
right_x0.3300right_y0.2200right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.9546, 0.8974, -0.72, -0.3031, -0.1719, 0.9963, 0.976, 1.3891, 0.8383, -0.3626, 0.7341, 0.6228, 0.9995] state[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.2061 left_yaw=0.1451 left_pitch=-0.1565 left_roll=0.1004 left_gripper=0.9963 right_x=0.283 right_y=0.2135 right_z=0.1354 right_yaw=0.0383 right_pitch=-0.0467 right_roll=-0.058 right_gripper=0.9995 state[joint_eff]: [0.0479, -2.5368, 9.9761, 1.7021, -0.1099, 0.1294, 0.1099, 0.1162, -5.3128, 8.6359, 1.5116, 0.6129, 0.188, -0.0073] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.22,"right_z":0.025},"note":"The brown plush is centered in the right wrist view, with its body extending beneath the jaw column. I’m moving forward and down to grasp its torso, clear of the safe’s front edge."})
tool
executing move_to over 8 steps (0.8s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe brown plush’s torso is between the low, open fingers. I’m closing around its body before checking that it lifts securely.
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]: [-0.1894, 0.96, 0.897, -0.7418, -0.2928, -0.1726, 0.9965, 0.8612, 1.7561, 0.6987, 0.1455, 0.654, 0.5163, 0.9995] state[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.2005 left_yaw=0.1382 left_pitch=-0.1848 left_roll=0.1018 left_gripper=0.9965 right_x=0.3199 right_y=0.213 right_z=0.0214 right_yaw=0.0341 right_pitch=-0.0992 right_roll=-0.101 right_gripper=0.9995 state[joint_eff]: [-0.2667, -2.4957, 6.694, 1.7314, -0.2271, -0.022, 0.0024, -0.5265, -7.3641, 4.5197, 1.4481, 0.3443, -0.0611, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush’s torso is between the low, open fingers. I’m closing around its body before checking that it lifts securely."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe jaws have a small residual opening, which could be a pinch of the plush’s narrow end. I’m making a short test lift to distinguish a secure grasp from an empty close.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.96, 0.897, -0.7486, -0.2924, -0.173, 0.9965, 0.8577, 1.7741, 0.6945, 0.1474, 0.6537, 0.5087, 0.0452] state[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1993 left_yaw=0.1386 left_pitch=-0.1914 left_roll=0.1036 left_gripper=0.9965 right_x=0.3187 right_y=0.2098 right_z=0.0141 right_yaw=0.0335 right_pitch=-0.1136 right_roll=-0.1217 right_gripper=0.0452 state[joint_eff]: [-0.0479, -2.1128, 6.694, 1.5263, -0.2027, -0.0024, -0.0073, 0.1846, -8.841, 5.2991, 1.2625, 0.2418, 0.1197, 1.2283] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The jaws have a small residual opening, which could be a pinch of the plush’s narrow end. I’m making a short test lift to distinguish a secure grasp from an empty close."})
tool
executing move_to over 5 steps (0.5s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe brown plush rose with the gripper, confirming the narrow-end grasp. I’m carrying it over the right side of the safe, beside the pale plush.
move_to
right_x0.4300right_y0.2800right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.9604, 0.897, -0.7494, -0.2924, -0.173, 0.9965, 0.857, 1.5986, 0.804, -0.1501, 0.6388, 0.5041, 0.0494] state[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1991 left_yaw=0.1386 left_pitch=-0.1925 left_roll=0.1039 left_gripper=0.9965 right_x=0.3165 right_y=0.21 right_z=0.0715 right_yaw=0.0439 right_pitch=-0.1313 right_roll=-0.1262 right_gripper=0.0494 state[joint_eff]: [-0.0615, -2.1265, 6.6667, 1.5018, -0.2027, -0.0611, -0.0073, -0.1983, -8.2393, 8.0068, 1.3993, 0.4127, 0.0073, 1.033] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.28,"right_z":0.21},"note":"The brown plush rose with the gripper, confirming the narrow-end grasp. I’m carrying it over the right side of the safe, beside the pale plush."})
tool
executing move_to over 9 steps (0.9s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe brown plush is above the safe, with its body directed into the compartment. I’m lowering it beside the first plush while watching the rim clearance.
move_to
right_x0.4400right_y0.2950right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.9646, 0.897, -0.7654, -0.2924, -0.173, 0.9965, 0.7658, 1.9278, 1.7195, -0.6903, 0.5735, 0.4103, 0.0494] state[eef_state]: left_x=0.2843 left_y=0.001 left_z=0.1954 left_yaw=0.14 left_pitch=-0.2116 left_roll=0.1106 left_gripper=0.9965 right_x=0.4247 right_y=0.2804 right_z=0.1966 right_yaw=0.0534 right_pitch=-0.1402 right_roll=-0.1275 right_gripper=0.0494 state[joint_eff]: [-0.2256, -2.441, 6.6667, 1.5897, -0.1783, -0.0415, -0.0073, -0.6222, -10.7009, 7.788, 1.0476, 0.2613, 0.0806, 1.0281] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.295,"right_z":0.085},"note":"The brown plush is above the safe, with its body directed into the compartment. I’m lowering it beside the first plush while watching the rim clearance."})
tool
executing move_to over 8 steps (0.8s)
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 brown plush is resting in the safe next to the pale one. I’m opening the fingers to leave it in the compartment.
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]: [-0.189, 0.9653, 0.897, -0.7685, -0.2924, -0.173, 0.9965, 0.7643, 2.0602, 1.4944, -0.3908, 0.5598, 0.4068, 0.0494] state[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1947 left_yaw=0.1406 left_pitch=-0.2152 left_roll=0.1119 left_gripper=0.9965 right_x=0.4304 right_y=0.2876 right_z=0.0849 right_yaw=0.0571 right_pitch=-0.1916 right_roll=-0.1599 right_gripper=0.0494 state[joint_eff]: [-0.0889, -2.1265, 6.6667, 1.4676, -0.1734, -0.0611, -0.0073, -0.1026, -10.4821, 6.7487, 1.5897, 0.3346, -0.0024, 1.0281] 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_gripper":1},"note":"The brown plush is resting in the safe next to the pale one. I’m opening the fingers to leave it in the compartment."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe brown plush has been released, and the yellow object remains on the table to the safe’s right. I’m lifting clear and moving toward the yellow object so the overhead view also reveals the placement.
move_to
right_x0.4900right_y0.1600right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.9661, 0.897, -0.7715, -0.2924, -0.173, 0.9965, 0.7643, 2.0796, 1.4826, -0.3946, 0.5556, 0.3996, 0.9947] state[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.194 left_yaw=0.1405 left_pitch=-0.2188 left_roll=0.1131 left_gripper=0.9965 right_x=0.4269 right_y=0.2851 right_z=0.0703 right_yaw=0.0593 right_pitch=-0.2213 right_roll=-0.1857 right_gripper=0.9947 state[joint_eff]: [-0.0205, -2.1538, 6.6803, 1.4579, -0.1832, -0.0659, -0.0073, -0.1162, -13.1077, 7.2137, 1.2039, 0.2271, -0.0024, -0.105] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.16,"right_z":0.18},"note":"The brown plush has been released, and the yellow object remains on the table to the safe’s right. I’m lifting clear and moving toward the yellow object so the overhead view also reveals the placement."})
tool
executing move_to over 11 steps (1.1s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe yellow object is centered below the right gripper; the brown plush is partly draped over the safe’s front rim and will need tucking in afterward. I’m lowering toward the yellow object with a forward tool tilt to reach it cleanly.
move_to
right_x0.5200right_y0.1600right_z0.0250right_pitch0.3500right_roll0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.9661, 0.897, -0.7723, -0.2924, -0.173, 0.9966, 0.4404, 1.9419, 1.6058, -0.6205, 0.3664, 0.1219, 0.9953] state[eef_state]: left_x=0.2832 left_y=0.0013 left_z=0.1939 left_yaw=0.1409 left_pitch=-0.2195 left_roll=0.1134 left_gripper=0.9966 right_x=0.4798 right_y=0.1601 right_z=0.142 right_yaw=0.0382 right_pitch=-0.3048 right_roll=-0.2203 right_gripper=0.9953 state[joint_eff]: [-0.0342, -2.0991, 6.6667, 1.4579, -0.1636, -0.022, -0.0073, -0.3214, -13.4359, 9.4154, 1.4579, 0.1636, -0.022, 0.0562] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.16,"right_z":0.025,"right_pitch":0.35,"right_roll":0.1},"note":"The yellow object is centered below the right gripper; the brown plush is partly draped over the safe’s front rim and will need tucking in afterward. I’m lowering toward the yellow object with a forward tool tilt to reach it cleanly."})
tool
executing move_to over 22 steps (2.2s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe tilt placed the fingertips slightly beyond the yellow object, which is visible at the bottom-right of the wrist view. I’m correcting back and right while narrowing the jaws gently around it.
move_to
right_x0.4950right_y0.1450right_z0.0050right_gripper0.3800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.7876, -0.2924, -0.173, 0.9966, 0.3882, 2.2543, 0.96, 1.0485, 0.2859, 0.1314, 0.9954] state[eef_state]: left_x=0.2806 left_y=0.0017 left_z=0.1912 left_yaw=0.1418 left_pitch=-0.235 left_roll=0.1188 left_gripper=0.9966 right_x=0.521 right_y=0.1631 right_z=0.0393 right_yaw=0.0448 right_pitch=0.3449 right_roll=0.0845 right_gripper=0.9954 state[joint_eff]: [-0.1709, -2.1538, 6.7897, 1.5409, -0.1441, -0.0366, -0.0073, -0.6906, -7.4462, 4.5607, 1.2625, -0.0708, 0.1197, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.145,"right_z":0.005,"right_gripper":0.38},"note":"The tilt placed the fingertips slightly beyond the yellow object, which is visible at the bottom-right of the wrist view. I’m correcting back and right while narrowing the jaws gently around it."})
tool
executing move_to over 7 steps (0.7s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe arm stopped above the requested height and the yellow object remains just beneath the fingers, so I’m not forcing the descent. I’m straightening the tool and reopening for a more vertical grasp slightly closer to the base.
move_to
right_x0.4850right_y0.1450right_z0.0250right_pitch0.0000right_roll0.0000right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.9668, 0.8967, -0.794, -0.2924, -0.173, 0.997, 0.3782, 2.2822, 0.8639, 1.2999, 0.2611, 0.1356, 0.3848] state[eef_state]: left_x=0.2794 left_y=0.002 left_z=0.1901 left_yaw=0.1427 left_pitch=-0.2412 left_roll=0.121 left_gripper=0.997 right_x=0.5064 right_y=0.156 right_z=0.0507 right_yaw=0.0367 right_pitch=0.4632 right_roll=0.1401 right_gripper=0.3848 state[joint_eff]: [-0.0479, -1.9624, 6.7897, 1.5556, -0.1636, -0.0513, 0.0269, -0.5675, -6.3248, 2.2085, 0.8376, 0.0513, -0.1245, 0.1001] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.145,"right_z":0.025,"right_pitch":0,"right_roll":0,"right_gripper":0.8},"note":"The arm stopped above the requested height and the yellow object remains just beneath the fingers, so I’m not forcing the descent. I’m straightening the tool and reopening for a more vertical grasp slightly closer to the base."})
tool
executing move_to over 16 steps (1.6s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe yellow object now lies between the fingers, slightly left of the jaw center. I’m making a small centering adjustment and closing around its thicker middle.
move_to
right_x0.4950right_y0.1600right_z0.0120right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.8093, -0.2924, -0.173, 0.9971, 0.3782, 2.0449, 0.9485, 0.5613, 0.2909, 0.1688, 0.7978] state[eef_state]: left_x=0.2767 left_y=0.0025 left_z=0.1878 left_yaw=0.1436 left_pitch=-0.2556 left_roll=0.1261 left_gripper=0.9971 right_x=0.4931 right_y=0.1453 right_z=0.0345 right_yaw=0.0303 right_pitch=0.0722 right_roll=0.0185 right_gripper=0.7978 state[joint_eff]: [0.0068, -2.0581, 6.6256, 1.5165, -0.2076, -0.0317, -0.0073, 0.0068, -11.0427, 6.2017, 1.3065, -0.0269, -0.0317, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.16,"right_z":0.012,"right_gripper":0},"note":"The yellow object now lies between the fingers, slightly left of the jaw center. I’m making a small centering adjustment and closing around its thicker middle."})
tool
executing move_to over 8 steps (0.8s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteThe jaws retain about four centimeters of opening around the yellow object. I’m lifting it briefly to confirm the grasp before transferring it into the safe.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.9714, 0.8963, -0.8165, -0.2924, -0.173, 0.9971, 0.4011, 2.0964, 0.9615, 0.651, 0.3218, 0.1768, 0.4258] state[eef_state]: left_x=0.2756 left_y=0.0028 left_z=0.1854 left_yaw=0.145 left_pitch=-0.2671 left_roll=0.1303 left_gripper=0.9971 right_x=0.4999 right_y=0.1552 right_z=0.0332 right_yaw=0.0214 right_pitch=0.1252 right_roll=0.0297 right_gripper=0.4258 state[joint_eff]: [-0.1026, -2.2085, 6.6667, 1.4628, -0.2076, -0.0513, -0.0171, 1.1009, -7.2274, 6.1333, 1.4432, 0.0806, 0.1001, 1.033] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The jaws retain about four centimeters of opening around the yellow object. I’m lifting it briefly to confirm the grasp before transferring it into the safe."})
tool
executing move_to over 5 steps (0.5s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteThe yellow object stayed securely between the jaws during the lift. I’m carrying it above the open part of the safe, farther back than the brown plush’s overhanging limbs.
move_to
right_x0.4800right_y0.3400right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.9733, 0.8963, -0.8204, -0.292, -0.173, 0.9971, 0.4046, 1.9297, 1.0111, 0.392, 0.3164, 0.1753, 0.4301] state[eef_state]: left_x=0.275 left_y=0.0027 left_z=0.1843 left_yaw=0.1448 left_pitch=-0.2726 left_roll=0.1319 left_gripper=0.9971 right_x=0.4936 right_y=0.1555 right_z=0.0815 right_yaw=0.0317 right_pitch=0.0845 right_roll=0.015 right_gripper=0.4301 state[joint_eff]: [-0.0342, -1.9214, 6.7761, 1.409, -0.1978, -0.0513, -0.0122, -0.335, -11.7949, 8.5128, 2.0586, 0.1392, -0.0024, 0.9304] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.34,"right_z":0.2},"note":"The yellow object stayed securely between the jaws during the lift. I’m carrying it above the open part of the safe, farther back than the brown plush’s overhanging limbs."})
tool
executing move_to over 16 steps (1.6s)
step 258
top_cam
camera top_cam step 258
assistant
agent noteThe yellow object is above the back of the compartment, close to the hinge but clear of the upright lid. I’m lowering and centering it inside the rim before release.
move_to
right_x0.4600right_y0.3200right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1886, 0.9783, 0.8963, -0.8349, -0.292, -0.173, 0.9971, 0.8394, 2.1193, 1.7496, -0.2379, 0.5629, 0.3664, 0.4339] state[eef_state]: left_x=0.2727 left_y=0.0034 left_z=0.181 left_yaw=0.1474 left_pitch=-0.291 left_roll=0.1386 left_gripper=0.9971 right_x=0.4603 right_y=0.3772 right_z=0.1796 right_yaw=0.1653 right_pitch=0.0785 right_roll=0.028 right_gripper=0.4339 state[joint_eff]: [-0.1026, -2.2359, 6.6803, 1.4823, -0.1392, -0.0513, -0.0171, -4.0274, -12.0821, 6.9949, 1.3407, 0.652, 0.2125, 0.7009] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.32,"right_z":0.095},"note":"The yellow object is above the back of the compartment, close to the hinge but clear of the upright lid. I’m lowering and centering it inside the rim before release."})
tool
executing move_to over 6 steps (0.6s)
step 264
assistant
agent noteThe yellow object is lowered inside the safe alongside the two plush objects. I’m releasing it, then I’ll reposition the brown plush’s overhanging section before closing the lid.
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]: [-0.1894, 0.9817, 0.8963, -0.8436, -0.292, -0.173, 0.9971, 0.7586, 2.0792, 1.3319, 0.0799, 0.4999, 0.321, 0.4365] state[eef_state]: left_x=0.2713 left_y=0.0034 left_z=0.1789 left_yaw=0.1479 left_pitch=-0.3025 left_roll=0.1428 left_gripper=0.9971 right_x=0.452 right_y=0.3167 right_z=0.0809 right_yaw=0.1603 right_pitch=0.0083 right_roll=-0.0164 right_gripper=0.4365 state[joint_eff]: [-0.1436, -2.3316, 6.5573, 1.409, -0.2076, -0.0611, -0.0171, -0.212, -12.3009, 6.2154, 1.6874, 0.1343, -0.1245, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is lowered inside the safe alongside the two plush objects. I’m releasing it, then I’ll reposition the brown plush’s overhanging section before closing the lid."})
tool
executing move_to over 6 steps (0.6s)
step 270
assistant
agent noteThe yellow object sits at the back of the safe, while the brown plush still extends over the front rim. I’m lifting clear and moving above that overhanging portion to tuck it fully inside.
move_to
right_x0.3600right_y0.2900right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.9817, 0.8963, -0.8509, -0.292, -0.173, 0.9971, 0.7532, 2.0796, 1.3102, 0.0677, 0.485, 0.3149, 0.9947] state[eef_state]: left_x=0.2699 left_y=0.0038 left_z=0.1778 left_yaw=0.1491 left_pitch=-0.3094 left_roll=0.1453 left_gripper=0.9971 right_x=0.4473 right_y=0.3114 right_z=0.0692 right_yaw=0.1697 right_pitch=-0.0255 right_roll=-0.0328 right_gripper=0.9947 state[joint_eff]: [-0.0615, -2.0444, 6.653, 1.3895, -0.1636, -0.0073, -0.0122, 0.2667, -11.494, 8.0752, 1.6972, 0.2515, 0.0024, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.29,"right_z":0.15},"note":"The yellow object sits at the back of the safe, while the brown plush still extends over the front rim. I’m lifting clear and moving above that overhanging portion to tuck it fully inside."})
tool
executing move_to over 7 steps (0.7s)
step 277
assistant
agent noteThe brown plush’s broad body crosses the near rim, with room farther inside beside the yellow object. I’m closing around that overhanging body section for a short inward repositioning.
move_to
right_x0.3900right_y0.2900right_z0.0450right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.9871, 0.8963, -0.8539, -0.292, -0.173, 0.9971, 0.873, 1.7359, 1.1568, -0.1688, 0.5537, 0.3859, 0.9953] state[eef_state]: left_x=0.2697 left_y=0.0038 left_z=0.1761 left_yaw=0.15 left_pitch=-0.3173 left_roll=0.1483 left_gripper=0.9971 right_x=0.3659 right_y=0.2973 right_z=0.1389 right_yaw=0.1971 right_pitch=-0.0347 right_roll=-0.0388 right_gripper=0.9953 state[joint_eff]: [-0.0205, -2.5915, 6.735, 1.3895, -0.188, -0.0659, -0.0171, 0.4034, -9.9761, 6.6393, 1.6777, 0.2808, 0.0659, 0.0562] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.29,"right_z":0.045,"right_gripper":0},"note":"The brown plush’s broad body crosses the near rim, with room farther inside beside the yellow object. I’m closing around that overhanging body section for a short inward repositioning."})
tool
executing move_to over 10 steps (1.0s)
step 287
assistant
agent noteThe pinch closed empty at the plush’s near end, but the closed fingertips are now positioned behind it. I’m gently nudging the soft body upward and farther into the compartment rather than dragging it against the rim.
move_to
right_x0.4650right_y0.3150right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.9882, 0.8963, -0.8558, -0.292, -0.173, 0.9971, 0.8165, 1.9167, 1.0245, 0.1837, 0.5106, 0.3405, 0.0179] state[eef_state]: left_x=0.2694 left_y=0.0039 left_z=0.1755 left_yaw=0.1503 left_pitch=-0.3202 left_roll=0.1493 left_gripper=0.9971 right_x=0.3892 right_y=0.2934 right_z=0.0615 right_yaw=0.1991 right_pitch=-0.0214 right_roll=-0.0294 right_gripper=0.0179 state[joint_eff]: [0.0068, -1.8803, 6.5573, 1.3651, -0.1538, -0.0562, -0.0171, -0.8957, -6.8991, 4.6427, 1.5165, 0.1197, -0.0806, 0.696] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.315,"right_z":0.095},"note":"The pinch closed empty at the plush’s near end, but the closed fingertips are now positioned behind it. I’m gently nudging the soft body upward and farther into the compartment rather than dragging it against the rim."})
tool
executing move_to over 6 steps (0.6s)
step 293
assistant
agent noteThe safe shifted slightly during the nudge, so I’m stopping the push and lifting clear. This will reveal whether the plush is within the rim and give a clear approach to the lid.
move_to
right_x0.4300right_y0.1700right_z0.2600left_x0.2900left_y0.0000left_z0.2200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.9913, 0.8963, -0.87, -0.292, -0.173, 0.9971, 0.733, 2.0609, 1.3617, -0.0284, 0.4389, 0.2798, 0.021] state[eef_state]: left_x=0.2668 left_y=0.0043 left_z=0.1729 left_yaw=0.1519 left_pitch=-0.3364 left_roll=0.1554 left_gripper=0.9971 right_x=0.4508 right_y=0.3097 right_z=0.0803 right_yaw=0.2042 right_pitch=-0.0643 right_roll=-0.0493 right_gripper=0.021 state[joint_eff]: [-0.2667, -2.4, 7.0085, 1.3797, -0.2125, -0.0562, -0.0122, -0.8, -10.7829, 8.212, 2.0391, 0.1636, 0.0659, 1.033] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.17,"right_z":0.26,"left_x":0.29,"left_y":0,"left_z":0.22,"left_pitch":0,"left_roll":0},"note":"The safe shifted slightly during the nudge, so I’m stopping the push and lifting clear. This will reveal whether the plush is within the rim and give a clear approach to the lid."})
tool
executing move_to over 12 steps (1.2s)
step 305
assistant
agent noteThe brown plush actually came up with the closed fingertips; the pale and yellow objects remain inside the safe. I’m moving the brown plush deeper over the compartment so its whole body can settle inside.
move_to
right_x0.5150right_y0.3400right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1883, 0.8391, 0.7948, -0.6376, -0.2913, -0.2146, 0.9971, 0.4664, 1.6127, 1.4166, -0.5499, 0.2443, 0.1051, 0.0226] state[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.2069 left_yaw=0.1562 left_pitch=-0.0675 left_roll=0.0279 left_gripper=0.9971 right_x=0.4289 right_y=0.1721 right_z=0.2231 right_yaw=0.19 right_pitch=-0.138 right_roll=-0.0718 right_gripper=0.0226 state[joint_eff]: [0.4444, -1.853, 6.6256, 2.1026, -0.0366, -0.0073, -0.0122, -0.2667, -9.9624, 9.7436, 2.0977, -0.0366, -0.0122, 1.0281] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.34,"right_z":0.14},"note":"The brown plush actually came up with the closed fingertips; the pale and yellow objects remain inside the safe. I’m moving the brown plush deeper over the compartment so its whole body can settle inside."})
tool
executing move_to over 14 steps (1.4s)
step 319
assistant
agent noteThe brown plush is now over the center of the safe rather than the front lip. I’m opening the gripper so it settles with the other objects.
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]: [-0.1894, 0.8421, 0.7902, -0.6456, -0.289, -0.2184, 0.9971, 0.6876, 2.2898, 2.0212, -0.6056, 0.3779, 0.2401, 0.0246] state[eef_state]: left_x=0.2808 left_y=0.0011 left_z=0.2025 left_yaw=0.1557 left_pitch=-0.0826 left_roll=0.0288 left_gripper=0.9971 right_x=0.4999 right_y=0.3309 right_z=0.1239 right_yaw=0.219 right_pitch=-0.2156 right_roll=-0.1111 right_gripper=0.0246 state[joint_eff]: [-0.1983, -1.5521, 7.1453, 1.6728, -0.1783, -0.0122, -0.0171, 0.2256, -12.9709, 9.1145, 1.8681, 0.2711, 0.2125, 0.8181] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brown plush is now over the center of the safe rather than the front lip. I’m opening the gripper so it settles with the other objects."})
tool
executing move_to over 10 steps (1.0s)
step 329
assistant
agent noteAll three objects are now in the compartment. I’m lifting toward the upright lid’s upper edge, using a forward tilt to reach it without sweeping through the contents.
move_to
right_x0.5650right_y0.3500right_z0.2900right_pitch0.3500right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.8425, 0.7902, -0.6525, -0.289, -0.2184, 0.9971, 0.6926, 2.3154, 2.0212, -0.6315, 0.3775, 0.2359, 0.9947] state[eef_state]: left_x=0.2798 left_y=0.0013 left_z=0.2012 left_yaw=0.1559 left_pitch=-0.0895 left_roll=0.0312 left_gripper=0.9971 right_x=0.4946 right_y=0.3304 right_z=0.1055 right_yaw=0.221 right_pitch=-0.2619 right_roll=-0.1378 right_gripper=0.9947 state[joint_eff]: [-0.0889, -1.347, 6.7487, 1.7021, -0.1636, 0.0024, -0.0122, -0.5128, -15.5556, 6.6667, 1.58, 0.1197, -0.0317, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.565,"right_y":0.35,"right_z":0.29,"right_pitch":0.35,"right_roll":0,"right_gripper":1},"note":"All three objects are now in the compartment. I’m lifting toward the upright lid’s upper edge, using a forward tilt to reach it without sweeping through the contents."})
tool
executing move_to over 21 steps (2.1s)
step 350
assistant
agent noteThe lid’s silver upper edge is directly ahead of the fingertips, but the arm is below the requested height at this reach. I’m turning the open jaws across the lid’s thickness and aligning at the edge rather than forcing the arm higher.
move_to
right_x0.5650right_y0.3450right_z0.2500right_yaw-1.0000right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.8425, 0.7902, -0.6594, -0.289, -0.2188, 0.9971, 0.6662, 2.281, 2.0933, -0.2317, 0.4099, 0.0856, 0.9989] state[eef_state]: left_x=0.2787 left_y=0.0015 left_z=0.1999 left_yaw=0.1563 left_pitch=-0.0959 left_roll=0.0333 left_gripper=0.9971 right_x=0.5572 right_y=0.353 right_z=0.2311 right_yaw=0.2598 right_pitch=0.1986 right_roll=-0.0656 right_gripper=0.9989 state[joint_eff]: [-0.0889, -1.3197, 6.7624, 1.7216, -0.1587, -0.0708, -0.0171, -0.8684, -15.8838, 10.6598, 2.4396, 0.1978, 0.0611, -0.1245] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.565,"right_y":0.345,"right_z":0.25,"right_yaw":-1.0,"right_pitch":0.45},"note":"The lid’s silver upper edge is directly ahead of the fingertips, but the arm is below the requested height at this reach. I’m turning the open jaws across the lid’s thickness and aligning at the edge rather than forcing the arm higher."})
tool
executing move_to over 9 steps (0.9s)
step 359
assistant
agent noteRotating the right wrist at that long reach caused a large position error, so I’m withdrawing it rather than continuing that awkward grasp. I’m bringing the left gripper above the lid to close it with a controlled push.
move_to
right_x0.3000right_y0.0000right_z0.2400right_yaw0.0000right_pitch0.0000right_roll0.0000left_x0.5600left_y-0.2700left_z0.3000left_pitch0.4500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1894, 0.8471, 0.7902, -0.6773, -0.289, -0.2218, 0.9971, 0.6468, 2.7789, 2.8799, -1.1225, 1.372, 0.9047, 0.9989] state[eef_state]: left_x=0.2763 left_y=0.0019 left_z=0.1956 left_yaw=0.1588 left_pitch=-0.117 left_roll=0.0386 left_gripper=0.9971 right_x=0.5485 right_y=0.2017 right_z=0.2007 right_yaw=-0.7684 right_pitch=0.4112 right_roll=-0.0932 right_gripper=0.9989 state[joint_eff]: [-0.1983, -1.4564, 6.7487, 1.8046, -0.1343, -0.0122, -0.0122, -0.8, -14.0923, 7.665, 1.1209, 0.7741, 0.2076, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.24,"right_yaw":0,"right_pitch":0,"right_roll":0,"left_x":0.56,"left_y":-0.27,"left_z":0.3,"left_pitch":0.45,"left_gripper":0},"note":"Rotating the right wrist at that long reach caused a large position error, so I’m withdrawing it rather than continuing that awkward grasp. I’m bringing the left gripper above the lid to close it with a controlled push."})
tool
executing move_to over 25 steps (2.5s)
step 384
assistant
agent noteThe left fingertips are above the lid’s silver top edge, with the contents below it. I’m lowering just behind that edge to establish contact for folding the lid toward the front of the safe.
move_to
left_x0.5850left_y-0.2700left_z0.2350left_pitch0.3500right_x0.3000right_y0.0000right_z0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6632, 2.1574, 1.9072, -0.02, -0.8375, -0.1829, 0.0105, 0.0017, 1.7069, 2.5717, -1.4006, 0.094, 0.0303, 0.9989] state[eef_state]: left_x=0.5559 left_y=-0.2632 left_z=0.2793 left_yaw=0.1633 left_pitch=0.4007 left_roll=0.0457 left_gripper=0.0105 right_x=0.3808 right_y=-0.0123 right_z=0.4735 right_yaw=-0.1063 right_pitch=0.0494 right_roll=-0.0041 right_gripper=0.9989 state[joint_eff]: [-0.7179, -13.4085, 8.7453, 1.7558, -0.1783, 0.232, 0.6081, 1.2923, -8.2256, 6.065, 2.8498, -0.359, 0.0122, -0.0171] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 384): [image omitted: streamed camera frame] camera 'left_cam' (step 384): [image omitted: streamed camera frame] camera 'right_cam' (step 384): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.585,"left_y":-0.27,"left_z":0.235,"left_pitch":0.35,"right_x":0.3,"right_y":0,"right_z":0.32},"note":"The left fingertips are above the lid’s silver top edge, with the contents below it. I’m lowering just behind that edge to establish contact for folding the lid toward the front of the safe."})
tool
executing move_to over 10 steps (1.0s)
step 394
assistant
agent noteThe closed fingertips are in contact with the lid’s upper edge. I’m moving gently toward the base and downward to swing the lid over the contents.
move_to
left_x0.4900left_y-0.2700left_z0.1600left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6418, 2.286, 1.9812, -0.0666, -0.82, -0.2253, 0.0142, 0.0799, 0.96, 1.2324, -0.8585, 0.1471, 0.0566, 0.9988] state[eef_state]: left_x=0.5782 left_y=-0.2664 left_z=0.2261 left_yaw=0.1661 left_pitch=0.329 left_roll=0.0763 left_gripper=0.0142 right_x=0.2934 right_y=0.0011 right_z=0.3167 right_yaw=-0.0866 right_pitch=0.0035 right_roll=-0.0166 right_gripper=0.9988 state[joint_eff]: [0.3624, -12.2188, 9.894, 1.7753, -0.0269, 0.022, 0.6716, 0.5265, 0.0889, 6.5983, 2.2784, 0.2466, 0.1685, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.27,"left_z":0.16,"left_pitch":0.15},"note":"The closed fingertips are in contact with the lid’s upper edge. I’m moving gently toward the base and downward to swing the lid over the contents."})
tool
executing move_to over 7 steps (0.7s)
step 401
assistant
agent noteThe lid stayed upright, so the previous motion did not catch its back edge. I’m repositioning above the nearer left corner, where the tilted lid is within reach, to push it closed from behind.
move_to
left_x0.6000left_y-0.1600left_z0.2800left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7452, 2.1204, 1.6268, -0.1284, -0.8497, -0.4335, 0.0142, 0.0792, 0.9661, 1.2003, -0.8803, 0.1459, 0.0528, 0.9988] state[eef_state]: left_x=0.4995 left_y=-0.2755 left_z=0.1652 left_yaw=0.1553 left_pitch=0.1842 left_roll=0.0772 left_gripper=0.0142 right_x=0.2908 right_y=0.0009 right_z=0.2972 right_yaw=-0.0846 right_pitch=-0.0557 right_roll=-0.0289 right_gripper=0.9988 state[joint_eff]: [-0.1436, -14.2564, 7.0085, 1.6435, -0.2418, -0.0855, 0.7888, 0.0068, -2.1675, 8.7726, 1.8535, 0.0415, -0.0317, -0.0122] camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.6,"left_y":-0.16,"left_z":0.28,"left_pitch":0.45},"note":"The lid stayed upright, so the previous motion did not catch its back edge. I’m repositioning above the nearer left corner, where the tilted lid is within reach, to push it closed from behind."})
tool
executing move_to over 11 steps (1.1s)
step 412
assistant
agent noteThe fingertips are now at the lid’s nearer upper corner, behind the silver edge. I’m guiding that corner forward and down in one slow motion to cover the compartment.
move_to
left_x0.4600left_y-0.2100left_z0.0850left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4526, 2.1147, 1.6882, 0.1196, -0.6674, -0.0956, 0.0166, 0.0792, 0.9672, 1.198, -0.9035, 0.1452, 0.0528, 0.9988] state[eef_state]: left_x=0.5924 left_y=-0.1625 left_z=0.2283 left_yaw=0.1642 left_pitch=0.3369 left_roll=0.1241 left_gripper=0.0166 right_x=0.2874 right_y=0.0008 right_z=0.2914 right_yaw=-0.0842 right_pitch=-0.0821 right_roll=-0.0328 right_gripper=0.9988 state[joint_eff]: [0.3214, -14.6256, 9.812, 2.083, 0.0415, 0.1441, 0.5153, -0.1846, -1.7436, 6.5436, 1.8339, 0.0073, -0.0366, -0.0073] camera 'top_cam' (step 412): [image omitted: streamed camera frame] camera 'left_cam' (step 412): [image omitted: streamed camera frame] camera 'right_cam' (step 412): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.21,"left_z":0.085,"left_pitch":0},"note":"The fingertips are now at the lid’s nearer upper corner, behind the silver edge. I’m guiding that corner forward and down in one slow motion to cover the compartment."})
tool
executing move_to over 12 steps (1.2s)
step 424
assistant
agent noteThe three objects are in the safe, but the lid remains open. My closing motions did not engage the back of the lid reliably, and I cannot safely complete the closure in this attempt.
give_up
hindsightLoad objects well behind the front rim; a plush grasped by one end can drape outside after release. Pushing against this safe can slide it farther away and make the upright lid harder to reach. At long diagonal reach, large wrist-yaw changes caused substantial Cartesian position errors. The attempted forward/down lid motions slid along its interior rather than catching the rear of its upper edge; establish a verified edge grasp or backside contact before attempting closure.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6628, 2.0361, 1.2869, -0.0685, -0.7155, -0.4461, 0.0197, 0.0792, 0.9726, 1.1946, -0.9257, 0.1425, 0.0525, 0.9988] state[eef_state]: left_x=0.466 left_y=-0.2122 left_z=0.0767 left_yaw=0.1354 left_pitch=-0.0107 left_roll=0.1544 left_gripper=0.0197 right_x=0.2848 right_y=0.001 right_z=0.2843 right_yaw=-0.0823 right_pitch=-0.1129 right_roll=-0.0364 right_gripper=0.9988 state[joint_eff]: [-0.4855, -13.4359, 5.9145, 1.4237, -0.5201, -0.0952, 0.3004, -0.1983, -2.1538, 6.5026, 1.8144, 0.0171, -0.0611, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 424): [image omitted: streamed camera frame] camera 'left_cam' (step 424): [image omitted: streamed camera frame] camera 'right_cam' (step 424): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The three objects are in the safe, but the lid remains open. My closing motions did not engage the back of the lid reliably, and I cannot safely complete the closure in this attempt.","hindsight":"Load objects well behind the front rim; a plush grasped by one end can drape outside after release. Pushing against this safe can slide it farther away and make the upright lid harder to reach. At long diagonal reach, large wrist-yaw changes caused substantial Cartesian position errors. The attempted forward/down lid motions slid along its interior rather than catching the rear of its upper edge; establish a verified edge grasp or backside contact before attempting closure."})
tool
give_up: The three objects are in the safe, but the lid remains open. My closing motions did not engage the back of the lid reliably, and I cannot safely complete the closure in this attempt.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.556 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6037, -0.3916, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6075, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0007 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.4564, 10.3726, 1.9365, -0.0952, 0.2125, -0.0366, -0.4444, -1.5795, 9.6752, 1.9414, -0.0659, 0.1538, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fbe10a22e0f4973444fb7a4d4f79b5d65961a5187ffa93242cbe638d1b268fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2804d0be40e5650a8b7e0cb606c9842dae60e87fd71918d025fffcf08c6dc8db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb9c9e50b2f97b17d1bbd54dbe77e949c38ae3a93eee1007e2e25737382f679",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.129 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyV7cxCeo_0rUIl8Hdv3cH7xJ2LC0E0wAcocjW7OGhdWbmJ2NSf_ktv8MpBEGHnfvaE3O3ZyaZ8hm9dxq9RTUjdXInbac_eh2freyUQvbIf1SS071fzIOilmXc01a5YGipLyMnJpgFaj9v2la7sdXr6ftyPVKviJKvLdBPZ1qhRETI0RoKUQ4UF9hfyWQpgizYh9FD4ufKNc7M6NyiVl5M-MSShv2V9Uv_R_hTjNncoh8wIxrJZbTcNKWzZgjtdnocucGXAIY5ywYXHrUFV7hQ_7MiZ_lARdoRd6u3oyH_u_6FRs0dE0i3uKqG4H7L908I1iwM5IaGLwuWiMj6WgyNHjxvAG9uWscbZXcjK5HpUbIC6QAObqjYdIGBBfADJAXKgzVkbg_hTA6JA03_d3zj6uCzVZtS-juL-2tDH8on-T7_JL_r1ZvAqvk6SMRRPNNAnF0AQYwFusmEA2ST78SbW0Qf_718Zo8X9JIrl3vy1VU8btZGocyI7-16vvfWNLpc6Km5AFwGgEkTWYb4UDBRtUf4046jayURY7PUVevA4NdM0jk_K_gmvfq0TkbW8NNpM0H4VBb6B5cn32zj8iyeNXvyOO1J3wLInxKKvHHYMrTr3pU14-UbZ6NTU8A-Rko5CKh-r621QXSX539e5VAbUTvC5OVnhIHH4TiqnQlXesz2Cn_qhPVd31qhL_pDirJsVpSJACsxjWrGQb-fEOut68v0k3BN5DWQ4bgcO2Vv949wFtY3z7hVzsZ6dc8ETT9Z_Ep_wWdxEVcFmszQ7xNgbMwX4mbSo0XZd_52bvvqRii4zJgi-ZaV6YmeTkR-0521FwRZA90VVdiuAwn9q4M7wA-io6HfrU9_ulW9GVhhXCEx8rhhlkccKPDETuDHdD45Q8wvrMIk_wiGji4wgW1oKlOxfVV3X3qM7y4fJK16ZfQehE9U3H7mpoqndHAiQfZC6kSsz5obJA3bglHv-UOLIZZI_kmCkU-kU7fUTe6DaMirrggxsCSAJqWmySJsV6acbNLV0DSRbW10S_v4_zesUxrnAm0Rs0LUzrg7thbjJZawjlVKaeYqwj9v6DWAsIzbqevswvPid7Aq8FQSgvystpNIBQELwMi7qLkdLXtjkih0GwtwNzKVW5ZJ2vyVX3BncbCxunXKzxpqPnF3tyDckZ8hhx6RHX0yoxMLluS_XcF49QtfqbYEQDiYWkAbhEWNYGKkVrhyMbyQI2Kfm8bpIZVVQMr2HNvKHeeYGv20TQgbSkLiPqslT_OANX-WkuWfTrZqG6x_u64oHVKHX8C054qjv4u3rQXIJVq64Dg7yprThe4d9_Mw5e597wPxwJIvkinrZNs93Wc2wD6ReGUIAlMdhYfif0xuthUOEEbqSstRbmcFEKQ66EBF1QT0PLT1NAAmAYwPbqgh84Z6aNJLPycNKSJX_79KzTrLOoVglil3lFDwR2HM9bq9RE_zOkmzrMGU0OstnAZyKveSLBu4-Qdvhr0r7chIqejr9ICPZRdIOgcG7Hjbko2AiL7BDH7ceOtHj_-WzdBsG6hbY5zeHyRun7SARReEVbrxgE7UyRgdaezRH7-Y_iLbyhJz6SGqa1xcoU-mCXFXaYOO7get-H0MOSlfHMjYgaibApe3QoG89O4mWF6KketoH8Ozk7XncfnfUMg-ykngbrygVJiwtJjkMIuO624y7t1UcBCFGprezVaq4vzPJtsKQnhecQDqJxFsxBQdYvdh1KZU4_vTdmPi2XPwmBpogHmDyRBN3dcDaGlKJq0vWRfTqsekvtG461kOkIUfJaI4ot70Z0buJpyrY_d1d5zn6fU-6Dm3tzqwu1Cw-zy_KU4chK8fdW9x8nhyauzcn5MEfLyOkvAHdNnSUqrbuUfJ8iYq7XL9MSTnIxoj3QxqKUbmNcVJ0h0PBuZlYcP7nn0sD1shy0KYlF1lbDDsSXt0LcRQ8PuOCD8DWxXZm4xQQCgHSjtUbQH82948G0muwncoy6UC5CGJlav31FWnPrX6mxLu_GXomIuVzV7p2VWXXABb6yNL3WW4MINrDJ8X8lrnTHcJ95RoV-KBOxCh3mpl4DNBYABUd6tAJa6ypmh5CIPTOx6YRCag0HrWDgB7GP9VvKlTg_9lRZsrec7U-t2jrK5yamZTiArO2YYVgoNVK1GT19IeOAxG3L_JNsEMiyX8NiCoH29blLAnngOetKrWBwfLmOxK9CeiizVvK8OcuQaXywDzQtFrbUV9DQHEcDo4vynCUI0Sh0H0rVJzmAuc5IQetcSbRuerEp9PtQqB1LEVoqQmRc2KgJ7uLbT25g2RkQu6TToYmO9ejrxqqRN0SfypIYUhf2iMH42XXjG21pO1xGuTXaTeAjBQnHhPHh6jG7wCvKs3_l_hVRPG-0L8cq-z28LcoCC2bzbz2NfqQ4qxBL__usk1hI9K5uXh4OnOHPoMIgMu9dl8p5ClKZ7Gj-8rI0GLjeAKauvDtdm03bheoDEP9KVUCxgyCf0Ti9QBIjL4rldw-a0baNZ3RZJx75rJTYE4_LRSt3RWGTimpozXyjeY5Qzo5qJ1UdZdqY5NXdbYxcCJl3z18-096ytdWr7U_nH2SY8vRUpivbMbF0Cmk5IC6KRHqBsHJY6Nmzf9Sb5rSoQeX9WgVSmD_BEPOLoHTRjP6OYb9g4r670gapwRZpfWhl9q7KYheHaWYgefOq12HYqCcMAE4Uk5h_7HTER0tddT6YYk=",
  "id": "rs_0aa5aba580c34d20016ab45c8ea3e087d08211764f2987bf22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The open safe is in the middle, with a pale soft object to its left, a brown plush in front, and a yellow object to its right. I’m bringing the left gripper above the pale object first, keeping the right arm parked.\"}",
  "call_id": "call_CLiOzVuhT4LHyajkq1yZDUsq",
  "id": "fc_0aa5aba580c34d20016ab45c945e9887d084863ef01f8690d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CLiOzVuhT4LHyajkq1yZDUsq",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9237, 1.3411, 0.7872, -0.3378, -0.7017, -0.6422, 0.9997, -0.0238, 0.7994, 0.6151, -0.4328, -0.0193, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.2919 left_y=-0.1913 left_z=0.1318 left_yaw=-0.0259 left_pitch=-0.0562 left_roll=0.0426 left_gripper=0.9997 right_x=0.2892 right_y=0.0001 right_z=0.1728 right_yaw=-0.0015 right_pitch=-0.0343 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.1761, 9.2103, 1.5458, -0.6227, 0.0024, -0.0464, -0.2667, -1.6479, 6.9675, 2.0195, -0.0757, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bcd181fcfec95f6c62d5319eda0f557ce22a26bd321c40f91090a68d8e42be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b791a49b256965764547566bb4aa9c3bc5da1a95f4eb2e5042166d5d66d3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce44a73e18bed117baee721e214432e3d82fdaee300dbb85902504519661c26",
      "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 · 4.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6037, -0.3916, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6075, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0007 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.4564, 10.3726, 1.9365, -0.0952, 0.2125, -0.0366, -0.4444, -1.5795, 9.6752, 1.9414, -0.0659, 0.1538, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9237, 1.3411, 0.7872, -0.3378, -0.7017, -0.6422, 0.9997, -0.0238, 0.7994, 0.6151, -0.4328, -0.0193, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.2919 left_y=-0.1913 left_z=0.1318 left_yaw=-0.0259 left_pitch=-0.0562 left_roll=0.0426 left_gripper=0.9997 right_x=0.2892 right_y=0.0001 right_z=0.1728 right_yaw=-0.0015 right_pitch=-0.0343 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.1761, 9.2103, 1.5458, -0.6227, 0.0024, -0.0464, -0.2667, -1.6479, 6.9675, 2.0195, -0.0757, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bcd181fcfec95f6c62d5319eda0f557ce22a26bd321c40f91090a68d8e42be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b791a49b256965764547566bb4aa9c3bc5da1a95f4eb2e5042166d5d66d3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce44a73e18bed117baee721e214432e3d82fdaee300dbb85902504519661c26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyb724Vejv5BJh5RgHsA8OJkZswGauxgpr0ANzJEMOO7Vear_DpzXZQjMT_39TNm_kKyH2cKYQdy_EXxdkZAB1yrKW6KC3-rHsIt5BGfKqCKd8tVZWhFKxbmXDGL_j4Q8oYuX_7FGFPmfdDoxAJd7XXo9Yfm4a-GizthcBlvp-g5zPwOxR1roj_ywGSk14HT0k7-e3SF4yfIrt4vI7rrJuh7ppibEKdXSmeo1nV_GCvxT5V4RFnoCLx7bfArzPP4JtUD03FPlhnuKi-l_16rBoIyaTSA1cep9yR-hCFXX2x2L1Hz8dBg_fC6cv5imfHClUkigVA4nufgOM0KILzGAVVk872zO9AXDec1kKWv2hJ6TFTneOQDsDivbEKqpHrRjkmjbMhMrZmEGxRXQv9sxawK3P4qrnEOqEKbz7kOgVEZRPm1GU7xph0R-k3EcyLvli_xF4e65_mtd22fntb8-HlZ1po7s4Bxs2IgeBrQuh64N2xxzSOo8WbES9t5OF_lX3HrgA6dJWnfzDWecQzNBbyLl4DPzzuEiQlYBFUroR_W4EeZ5pCEZE2S0QRyjrVm2a4TurNC4jAW2_8hD0WQ-zBAL0HPTqTwKEGsShEuWacplNNH_PySszvvb5BghemkBxkNfdXFqL9WJ-xLWfQBvLrL-1zC0J_aFft43yu0B_j9nN82jXdGLBSCOfcP7BE8XqBhdq2hYgupPw2mrVt2fegmk-TEKYuDTJGWb5JH-l3QG39oAYCs8XmlPH5puZHBYrzcIPZkwK976VCx7UE_bgoyBHp7qelFDCNC-vJHZhK6OI1sNDe3VzdMBLI3So4eESJkLBFq5uyX8WRW6WvZRByRosvAChbLOqVFOVTEbk-LqXio0lwQwFW9mrOrwHG73fSWfx9VPf5e7RGNgaJ8gvhICjVWak4SWIjCcQ3XBVynInXbjgtyFKAiwC2mt0mG0gd_S7XT6IG7mij7kr6_hKjTLleM7N03J0QY_BS0SR_m5GiiNAZEn1kBpuYUDLsygjxvhxsQpKMUu1sPpmbLxz7o5F0gUAH7nx28-zaPrCamYc6R-F5bBuSQuXkM3pxFdEJ0fynanJww4t68a3eExVHj1KaaIjeLWqtCZ1VL50rWQq3ens8vkAumEBRvKMuBYvipLp2mKwO3XN3y361zvqn1oGco6zsigxcbNSZzUFGtf-7MhmID8I5ZbUti_zrUidc2FL-ivB6bx6jR1JS2-axhlAFlvzoziGhF8LXOXxqNC1Y3wRBwPvlogyDzCtKBdltlLlsZ1EmMUdw9v1l31fGB5msaVLfa6b7xGonMVZfKBDDsiJQ56bc0NsMIleOg-U_oZ_R5_wMmeIeM977sR0fR8xqZn65ym4IuTJYAUIKxghW3Q7uWJUpGo-hKBzoy9cvsVO28Zjy3ndbnPrzCogpyrsmbBzmZtAhyaQFTSAB8H1eEg3datLiPRuxzAhMHckiQtGU3_zWNlMtewM90cLsUh__zj2FM7MCyszXgFDW58X3duQNXmi1KHJ1_8twtO2ZDGz8NOMfw1VGX3ejZMGgs-iUHcg6Pw-TEh5-ztou_74=",
  "id": "rs_0aa5aba580c34d20016ab45c98e5b887d091b179b184cb0cbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.2,\"left_z\":0.02},\"note\":\"The pale plush is centered between the jaw columns beside the safe’s left edge. I’m lowering the open gripper with a small forward adjustment to surround its body without contacting the safe.\"}",
  "call_id": "call_Gwf4zxMlk3PnGZ3NQycMsrL0",
  "id": "fc_0aa5aba580c34d20016ab45c9a26d087d09cffa33c078766f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Gwf4zxMlk3PnGZ3NQycMsrL0",
  "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]: [-0.8619, 1.6943, 0.6266, 0.2035, -0.6861, -0.6071, 0.9993, -0.0238, 0.8032, 0.6151, -0.4549, -0.0193, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3204 left_y=-0.1962 left_z=0.0311 left_yaw=0.0051 left_pitch=-0.049 left_roll=0.042 left_gripper=0.9993 right_x=0.2862 right_y=0.0002 right_z=0.1673 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0022 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -5.3675, 3.6171, 0.7106, 0.0366, 0.2125, -0.0562, -0.1983, -1.5521, 6.9675, 1.8974, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9fbbc0ad0060636c1205c803d4545a80ffab77926504dbbeaf7272414ce23c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4145e409214d3f14dd3d9a1c245d6d9cbe6a305a465b31bb6dfd657264e7ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c060143075aebc2702e3a1b3a9476e70e3a359bdf2a27aaf350fd804d69f90d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.24 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]: [-0.9237, 1.3411, 0.7872, -0.3378, -0.7017, -0.6422, 0.9997, -0.0238, 0.7994, 0.6151, -0.4328, -0.0193, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.2919 left_y=-0.1913 left_z=0.1318 left_yaw=-0.0259 left_pitch=-0.0562 left_roll=0.0426 left_gripper=0.9997 right_x=0.2892 right_y=0.0001 right_z=0.1728 right_yaw=-0.0015 right_pitch=-0.0343 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.1761, 9.2103, 1.5458, -0.6227, 0.0024, -0.0464, -0.2667, -1.6479, 6.9675, 2.0195, -0.0757, -0.0269, -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]: [-0.8619, 1.6943, 0.6266, 0.2035, -0.6861, -0.6071, 0.9993, -0.0238, 0.8032, 0.6151, -0.4549, -0.0193, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3204 left_y=-0.1962 left_z=0.0311 left_yaw=0.0051 left_pitch=-0.049 left_roll=0.042 left_gripper=0.9993 right_x=0.2862 right_y=0.0002 right_z=0.1673 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0022 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -5.3675, 3.6171, 0.7106, 0.0366, 0.2125, -0.0562, -0.1983, -1.5521, 6.9675, 1.8974, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9fbbc0ad0060636c1205c803d4545a80ffab77926504dbbeaf7272414ce23c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4145e409214d3f14dd3d9a1c245d6d9cbe6a305a465b31bb6dfd657264e7ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c060143075aebc2702e3a1b3a9476e70e3a359bdf2a27aaf350fd804d69f90d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFygukQVeObVyAN8A6-tuaihOEdnUS5cN40y19zJmduSOyJxbHR4mdJGRJjCUtLB2DKQskEoAj3CJQf0r8fvpGked_sgsZ7yAgtiOUe8jw7jwj6OtBOh54sXHvaZo2IGc_MjPHbYgAnaFJZR2q1zEqy_AnZnEKnwiG7MP56hEParXx7-9bKvchB3pSvMMgXQhZ-hdAnCznfeNfVD6RtVb8j8cbRMd7J75Q0-4RhlixDFuaHnAznIromzCVKBQYR97BWhgGjJtQ1jLNPSuN_sBzEcDvCp2O-GzSlZZoB0I5hvTiL2zYN-Gcj9P5oWROZOH-j8DaU37ENpjTFNYaemICpAq7QbyVCONqzRFoOiJ-mY0yAlR28fZYJxPJf6N3WbkdLOU8-LsvcKVWmBrtUESA0oZIUNrtc8-8ggicHcrZrB7zUVIt_qQizdb5rMRLezUa4d7p_i5AIgL8KwPBNv2Xkvreo8tdpsT3pe5GuIMTQAONK1kdFCmN24OS_KfpCzyT936PBZEgdgEKk7GMb012aUIkZQhtxRDk7cTQ9_nZiyin_ti8o5hOu0iLedL79Zs_RZlQleEtbWPZam4X5AhM457pt4FG0ajWN5Rjtc595R-5tvVA4SwTX69zYqk5lZwDbRL9wiRSSs5bFxRmBpS5DHOeaQhDMJLnGOmTimdFyZo4hxolpgbGshrSwp6d14nHqpKyK8tiJDLc8UDhW0zh2l4X4jsm6HeiV2OnNOxt09K6-YSxls7jHlFqPUhrJGpdY3Ob5l7oFjYv1ROoq1aO8UJIHdGIsoV-zq7dCsoeLJmxm4s03YjSDcp1WpQwtRZBuYkwB-sw6Yu-2nFDmSvGPPLaVTQZBpNS6hXineFkx6Iog0ZDdui2e7bOugI8-pBVK8HWsIzHqWKfgyqM2vAPFICAW3lL1t8UgJ1AdsSw7IAwZmZrHPm0qCaVqNVpblUD2dN7HADrhErT34dlKyFW6n2df9p3iZ1XIiBkD4ff6JawFXkPoEaArfuVbWQAxfUV9JOyerr-mSXkWzEscvT5nFZ1X1FsKpQ6yaqdxYc_5i5watwiOh9K6wZgvDDlMYeZMkZ614ViECPQMx19vEYItr-AQHxYPYZJhRf6hnPnyIR302ITUsZmzBi_gUYZHX1eDLKZGsXOGFJ0H5ObKKmeyC3oz58-uv9ZMmWGyyJXnLxhFGM7MuHlZxHMQPFFR8MBMNVr-b4ck1fvOi8SoViNvmDv22-SpdLIJBRJ5h-d64APbh9tnRZblnTElDv_oHbZPX9vcd0JDlLaDSAjYM-SzsgmLE-pZ_s0KxPg1GQoEGYxCJd_pRBHQ_tv-aLK9o8XHmUQwWCjZrB2UVI-xMYxxhwRFa4SJklxVB-F3Q88NVfpPCbWjqwEv-DJN0B2bYtlo2n51XoX8DY3IXucG29eI0rFgNq3_Zl446MAsjjkffXRzBHFsG2jFNguKaYcTyUbSOKUMrqF19X3ti1wusEJsP2hGxNBhzLteaZzYxkmGdxWMD8rDe8GCroMLqmbPuPdT19XDS0RqLJznWF48AmJIIQg==",
  "id": "rs_0aa5aba580c34d20016ab45c9ddc2487d090c9122c09503a53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.185,\"left_z\":0.015,\"left_gripper\":0},\"note\":\"The open fingers are around the lower half of the pale plush, slightly right of its center. I’m shifting a little left and closing around the soft body.\"}",
  "call_id": "call_D7bKsJXzCB8qLay60lxUyiYR",
  "id": "fc_0aa5aba580c34d20016ab45c9f78e087d09137ecd7726f90bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D7bKsJXzCB8qLay60lxUyiYR",
  "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]: [-0.8364, 1.7157, 0.5819, 0.3367, -0.6933, -0.5877, 0.0127, -0.0238, 0.8036, 0.6151, -0.4782, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3278 left_y=-0.1893 left_z=0.0295 left_yaw=0.0237 left_pitch=-0.0016 left_roll=0.0105 left_gripper=0.0127 right_x=0.2827 right_y=0.0002 right_z=0.1627 right_yaw=-0.0001 right_pitch=-0.0839 right_roll=-0.0018 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.6821, 3.7538, 1.1746, -0.0464, 0.0122, 1.0672, -0.1162, -1.265, 7.1453, 1.8681, -0.0659, -0.0317, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4325d1df0d93facaf9cee1a7d5a95e3f1330e53737768eeaf40581582cf4c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8567c4833dc735fbb4cb3ba650860f1dfaff9b10d53ff3b8c5f628efb664fa20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6b9a12b302a66c92d9359bb687ddbd496fc348ce0ff834eaefe542622b2671",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.505 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6037, -0.3916, -0.0196, -0.0338, 0.9997, -0.0212, 0.7944, 0.6075, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2931 right_y=0.0007 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.4564, 10.3726, 1.9365, -0.0952, 0.2125, -0.0366, -0.4444, -1.5795, 9.6752, 1.9414, -0.0659, 0.1538, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8619, 1.6943, 0.6266, 0.2035, -0.6861, -0.6071, 0.9993, -0.0238, 0.8032, 0.6151, -0.4549, -0.0193, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3204 left_y=-0.1962 left_z=0.0311 left_yaw=0.0051 left_pitch=-0.049 left_roll=0.042 left_gripper=0.9993 right_x=0.2862 right_y=0.0002 right_z=0.1673 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0022 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -5.3675, 3.6171, 0.7106, 0.0366, 0.2125, -0.0562, -0.1983, -1.5521, 6.9675, 1.8974, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8364, 1.7157, 0.5819, 0.3367, -0.6933, -0.5877, 0.0127, -0.0238, 0.8036, 0.6151, -0.4782, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3278 left_y=-0.1893 left_z=0.0295 left_yaw=0.0237 left_pitch=-0.0016 left_roll=0.0105 left_gripper=0.0127 right_x=0.2827 right_y=0.0002 right_z=0.1627 right_yaw=-0.0001 right_pitch=-0.0839 right_roll=-0.0018 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.6821, 3.7538, 1.1746, -0.0464, 0.0122, 1.0672, -0.1162, -1.265, 7.1453, 1.8681, -0.0659, -0.0317, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4325d1df0d93facaf9cee1a7d5a95e3f1330e53737768eeaf40581582cf4c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8567c4833dc735fbb4cb3ba650860f1dfaff9b10d53ff3b8c5f628efb664fa20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6b9a12b302a66c92d9359bb687ddbd496fc348ce0ff834eaefe542622b2671",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFylZV3fIRFokHVtZUj6Bt4UT2KE2FEAS50GWUwkJnXNmOw8Ygxxx1hCr9EwfP8NrFxIxcaBa-7L8VTQTEG8F_Z4RAA0Fx7UOATfDgl7rNLWgbYvaNRB0X3DcQRuvOF5LRtPEXufwY4ozsGYw_vqT7LqFeLXN0wGRo7yJMIi_DlmohFnpa-lwRegIrMF1lYQLXme5z_Z1mEb-nV4RRcR0KHQGUX28AdHAZ5OAHFG8J24oJLbZ1H1wd95Luww1Fhbb3CrfD692G2IrYHNVPkfa-brMGf9m19_bhZHN9cVH9J4_IFeT3EjngoNYBCWmdSbWDP_CcfIKFmRT7OKcdvD9fq99VVkCufhebXUAv8lbYdHR8ASSoJbmCfnfIsN1Rqy9cOXCUDI8f1NKP1nu2LBu6WhL3kOsuZnBc2m7W3dmd_xZC48cpkXVSfi2jgZ6XTKSJlWDfkSYIXLeoQwNv27PCJVxDNgPNYrPHdwsCyU7S5pfXGcisnip3mTaB-cJOY91z8blStVvhxbZahqdpVUJfSgTtSSI7W8PNV0vqS8flRwUzpqMpHoPGP8sZ-oTun4ZB7suDhL0jAzfAJvksjpOF_5VHsrQo8HwP0bInkeXD2_UySQ4tr7FkXn11JzrO5OXQS7u6fofPBgkTEAm5MQBNRkgRQ0eSbcnWjzKsbftPNPf6lYe_ZEkEDr9YsCk_onpRRfVPIqs9oYmUiByH8NvhUylxsUMQQ168GHhyD0QY4j-ACnWoyyAWDNvLU95jCFcK-qgAag8wcmFwle3k5pDbZkxSB78nFGlo43GKKF004E3a72cTR-NnjrzYbEY3NmDv9WwwzHy_SKZKCInyLLz7Gq_QzrtysP6GP-Zrrx-FQDrHV36hx2M4lL9aGbUrEK7j4n6E8CyjA3syC9Yci99v8T9W_mQuhirkId2eK-VYx4BVPNMNYLe-tDnO92vWfKWhJDc3bT-R2Ui8TSCaaGvVM2tjDoLGzWYMc_HaWaWILmMAta2_Na8haiIa0vfO1U0kJ_dlW_dEfMehX0nKWJZATNLibWmP2umbbB-_KF9g3tLH7M8HGAFrL5JfdqYbWjfv7NFlA2fdXBK8nWs8GXczp5Swf_5vUMcPOtDFTwVk7u7oT_QUYXitFhFesPLxu1bNkKBmQXNJ5d8ZmKE6PNxCYZS5OdJhChsUka6VSPJSfRfTaXA2wh54fzICI2evucD0UpdYL6IuG340R1yqRkejBXtpKYQlptB-8o2iVs8G1ZR-37xDgfNWWEJV7qspIXQI3UNI8V7Spt8Mj7EQ0jBR8kqBC4ONyoJYEJRC95Rc-DcQFda5vI15hO6itEDvi-CZJK2jzD9-LJ191fW5usNHpAGpO3KZt3X4e4r68ouHE4iDyxRSj0P1Ql-pYfDLxJP2yAAY7-PyQDwgHi_C12QdNyMXByvGdXnT2hfWuJm3AS4cYt-IVsMP5iJkEy3c5-GyP2qP7t21xisM0uFkGD0b54Bgc9CO3sa4YgHiwdTKtZIgdekRjktC9yVzKfZbTUy8Oua0UjcVwrKTbzpaHFbPDPoNTUB73rSkV5Pd6G9yN-zIBP6mf1Hbyg6i8WaJcj3vZUNDDKWCBDhVs5UyR4YPW9nM45q9Gfg009Dz9LaC_bTxqiuuKxZqz-bxRXbkqq042f",
  "id": "rs_0aa5aba580c34d20016ab45ca2b22087d0bb7cad66190f6689",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.175,\"left_z\":0.055,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper closed almost completely, so the first pinch was empty; the pale plush is still just beyond the fingertips. I’m reopening and moving forward about three centimeters to center the next grasp.\"}",
  "call_id": "call_UNQ1MkfhNevY1AzDVKHGd3VD",
  "id": "fc_0aa5aba580c34d20016ab45ca478f487d0ad9020c0ba6a48d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UNQ1MkfhNevY1AzDVKHGd3VD",
  "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]: [-0.7326, 1.6829, 0.6121, 0.2611, -0.635, -0.5159, 0.995, -0.0238, 0.8604, 0.6586, -0.5472, -0.0185, -0.0422, 0.9996]\nstate[eef_state]: left_x=0.3447 left_y=-0.1643 left_z=0.0345 left_yaw=0.0471 left_pitch=-0.0424 left_roll=0.0501 left_gripper=0.995 right_x=0.2807 right_y=0.0002 right_z=0.154 right_yaw=0.0024 right_pitch=-0.1663 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -8.6496, 7.8838, 1.5556, -0.1245, 0.1343, -0.1441, -0.1573, -1.4017, 10.3863, 1.9707, -0.0366, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cde04ddd19ef062a29bb452ff37e2c725b638ef6d3cd4a1e6114a4a9abdd03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70a88d6764e4ffcce305d8a78f70b8777bf61d257ec216c2be9fb81dda1b349",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0e759936c235e51778d467de4d9e5864a67b28011bde5fdb61104482fab95f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.214 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9237, 1.3411, 0.7872, -0.3378, -0.7017, -0.6422, 0.9997, -0.0238, 0.7994, 0.6151, -0.4328, -0.0193, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.2919 left_y=-0.1913 left_z=0.1318 left_yaw=-0.0259 left_pitch=-0.0562 left_roll=0.0426 left_gripper=0.9997 right_x=0.2892 right_y=0.0001 right_z=0.1728 right_yaw=-0.0015 right_pitch=-0.0343 right_roll=-0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.1761, 9.2103, 1.5458, -0.6227, 0.0024, -0.0464, -0.2667, -1.6479, 6.9675, 2.0195, -0.0757, -0.0269, -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]: [-0.8364, 1.7157, 0.5819, 0.3367, -0.6933, -0.5877, 0.0127, -0.0238, 0.8036, 0.6151, -0.4782, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3278 left_y=-0.1893 left_z=0.0295 left_yaw=0.0237 left_pitch=-0.0016 left_roll=0.0105 left_gripper=0.0127 right_x=0.2827 right_y=0.0002 right_z=0.1627 right_yaw=-0.0001 right_pitch=-0.0839 right_roll=-0.0018 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.6821, 3.7538, 1.1746, -0.0464, 0.0122, 1.0672, -0.1162, -1.265, 7.1453, 1.8681, -0.0659, -0.0317, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7326, 1.6829, 0.6121, 0.2611, -0.635, -0.5159, 0.995, -0.0238, 0.8604, 0.6586, -0.5472, -0.0185, -0.0422, 0.9996]\nstate[eef_state]: left_x=0.3447 left_y=-0.1643 left_z=0.0345 left_yaw=0.0471 left_pitch=-0.0424 left_roll=0.0501 left_gripper=0.995 right_x=0.2807 right_y=0.0002 right_z=0.154 right_yaw=0.0024 right_pitch=-0.1663 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -8.6496, 7.8838, 1.5556, -0.1245, 0.1343, -0.1441, -0.1573, -1.4017, 10.3863, 1.9707, -0.0366, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cde04ddd19ef062a29bb452ff37e2c725b638ef6d3cd4a1e6114a4a9abdd03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70a88d6764e4ffcce305d8a78f70b8777bf61d257ec216c2be9fb81dda1b349",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0e759936c235e51778d467de4d9e5864a67b28011bde5fdb61104482fab95f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyqh77J-pN5V8zUgeugy3J-WuzdG32HRyPNsub795iA7GXzbRcxzYaGBQRf0axMUOLs_-3M3wusTX4OHZEVxZe2Fni_27fVvFElDl7kn-7WeJWbcldsOSrrptwIoOd7Qi3uCl-g5r2fZJPl93HZBvwQ3rOqGCDxI9CI-lZx-rUj2ajLGnnsem4LhPKorVxEvuQEh_8wlTzTHau3lUecHBX800NgM9b18MkF89M_ly_GgEUjn2-sDgO9syQdgBSXGICUo9C9u-eKu5loYsPyQ29A-gnMsM4Uo6qnJnyh6KybJ3oof6-8A07efNlOKFMGxZoG_9Qi6F0X9hHtW2Gvrre2oc6325rp8dcBp8gwqIZ1AocOYziJCz6k3H2o56gllbn31rtFDJdRZvCLiVKCsQuSRVB2YTehXv1LMJSM7h-gFTF70mhvwDvN56yenNisrF96MU1_1DcYjWDTyn1UXpOIt9B5WQuHH4xZ4FdnTKX1KLLKm5nX4Z58nB3to63ZWa2xzRXXbYY3_wHSJyRq7p3Z00hA6e0L87-h8Mjh_W5ct4t-kt5p4qu9gBuH17zb4B16u0qXEqdrk1h9lADoKAqwchsiQ7CmyPskwwwIbDFx_qjgCPCuB2dOvGAUMJ8DIwf_lUxirLk8yve8DM4FtKQQERD0lgj6ozdKvxIasdoeEFcJQMVfj9fJYT6hfQuFL10btHZC0G0vWt35PZCPv2_bCH-5PSKXKOLIPqL5qXGzr5x4__NHoO-9FXSpDfrb0Vw7oXpHcQjl1e6SO9x1vUZ38mqjQfvAFFk03e8HxEwMomiFU_6Z3fpeWZcuT5Ha3xxAe9LucYe73TMwSv-0XwcoUMf80cj10b21nKQkgUTdmmdONWjztdQWC14oQBlcKaoyBqr7zc9zJuF_eEYOJfeoGHDjk-bOKyyx-LlNEC4AovxFpCfEbZRuk4bGg0cb-FTUJ2YmT0o-hCzAv2DdiUwlwCyDrWJ0qJnicY1BLlZE32F7oXYhRl7wlWdKLd2bQ3CD3flfKeTa3wB6n_ZwUEGGCT925iIXlEYTYC5AsbUH-eBjmtyAsyCvVsan_GtOFV1IuBfS48ZbGqahZfpu8d2vcqw7luckhTIvpeLq82R7qzMBpeiCrX_QfrcQuNBC3oc0IxTT8xrAoM_4sK7ZdNdGcRCMQ8iRIMp4jKIl151Ck7PbwywQQyoM-UtuvlpW8MEE7H78zo4JDa-BPEXalAMCYxVcnW7iLRtjvtQW4v_wtuGPF_RlfWGYPbIkPQKjgYSjjT8sSpbiXv6itc_uqyZgYAx3YTRqEnM_onPWuhef2u-unhg13nTyvaKBB-BzLWP-0Bw_GMjCkFOngxMMFI_g_RIZHvzWdl8PFOP-OWBJYFwAzWhxt7oW0-PG0PBjiBgutwY19L4_uJjbCqoW2E1Y7Jdv5FJNEnWHpprZaSRXmrukNmTjB-AVT7zfMcRuTKtHoHn4tATrH-zXu8cVVd5AHrrW5Dg4s1m8wau87jl97hV7sqhUsorV3XWFv9GlEmR4",
  "id": "rs_0aa5aba580c34d20016ab45ca7e2e887d098fdd724a4f16bcb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.15,\"left_z\":0.005},\"note\":\"The plush’s body is now between the open fingers, with its head farther forward. I’m advancing slightly and lowering onto the middle of the body for a firmer pinch.\"}",
  "call_id": "call_rBdEPsknat1OQkhxfHFO7xB1",
  "id": "fc_0aa5aba580c34d20016ab45ca8d91887d0b48bb29b9ecbd137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rBdEPsknat1OQkhxfHFO7xB1",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.8141, 0.6273, 0.4061, -0.6014, -0.466, 0.9962, -0.0238, 0.8642, 0.6617, -0.5686, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3707 left_y=-0.1451 left_z=0.0119 left_yaw=0.0912 left_pitch=-0.0392 left_roll=0.0534 left_gripper=0.9962 right_x=0.2777 right_y=0.0003 right_z=0.1505 right_yaw=0.0043 right_pitch=-0.1884 right_roll=-0.0046 right_gripper=0.9995\nstate[joint_eff]: [-0.8684, -7.9658, 4.5333, 1.7265, 0.1294, -0.0073, 0.1197, -0.1436, -1.5248, 6.8308, 1.7851, -0.0513, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae6a10370f8c268894693708afb7d31ac74e7e3f67e09ef167a320f63de970f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5757af5d53ac741dcd914d92253c4c162e1d4715a5cd01359e6fddad40261c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53f361764a8798a46f09823e0e6ba5ebfffc6cd8e6087ca94c97f71410ca217",
      "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 6 attempt 0 · /responses · status 200 · 2.426 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8619, 1.6943, 0.6266, 0.2035, -0.6861, -0.6071, 0.9993, -0.0238, 0.8032, 0.6151, -0.4549, -0.0193, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3204 left_y=-0.1962 left_z=0.0311 left_yaw=0.0051 left_pitch=-0.049 left_roll=0.042 left_gripper=0.9993 right_x=0.2862 right_y=0.0002 right_z=0.1673 right_yaw=0.0002 right_pitch=-0.0603 right_roll=-0.0022 right_gripper=0.9995\nstate[joint_eff]: [0.0752, -5.3675, 3.6171, 0.7106, 0.0366, 0.2125, -0.0562, -0.1983, -1.5521, 6.9675, 1.8974, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7326, 1.6829, 0.6121, 0.2611, -0.635, -0.5159, 0.995, -0.0238, 0.8604, 0.6586, -0.5472, -0.0185, -0.0422, 0.9996]\nstate[eef_state]: left_x=0.3447 left_y=-0.1643 left_z=0.0345 left_yaw=0.0471 left_pitch=-0.0424 left_roll=0.0501 left_gripper=0.995 right_x=0.2807 right_y=0.0002 right_z=0.154 right_yaw=0.0024 right_pitch=-0.1663 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -8.6496, 7.8838, 1.5556, -0.1245, 0.1343, -0.1441, -0.1573, -1.4017, 10.3863, 1.9707, -0.0366, 0.0317, -0.0122]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.8141, 0.6273, 0.4061, -0.6014, -0.466, 0.9962, -0.0238, 0.8642, 0.6617, -0.5686, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3707 left_y=-0.1451 left_z=0.0119 left_yaw=0.0912 left_pitch=-0.0392 left_roll=0.0534 left_gripper=0.9962 right_x=0.2777 right_y=0.0003 right_z=0.1505 right_yaw=0.0043 right_pitch=-0.1884 right_roll=-0.0046 right_gripper=0.9995\nstate[joint_eff]: [-0.8684, -7.9658, 4.5333, 1.7265, 0.1294, -0.0073, 0.1197, -0.1436, -1.5248, 6.8308, 1.7851, -0.0513, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae6a10370f8c268894693708afb7d31ac74e7e3f67e09ef167a320f63de970f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5757af5d53ac741dcd914d92253c4c162e1d4715a5cd01359e6fddad40261c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53f361764a8798a46f09823e0e6ba5ebfffc6cd8e6087ca94c97f71410ca217",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are at table height around the pale plush’s torso. I’m closing fully, then I’ll check the jaw opening and test the lift.\"}",
  "call_id": "call_hNg9dRFu3OKHC5fHN0HwDrwZ",
  "id": "fc_0aa5aba580c34d20016ab45cabc9dc87d0ae883c5dfdbc8f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hNg9dRFu3OKHC5fHN0HwDrwZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.8286, 0.6224, 0.411, -0.6025, -0.4721, 0.2091, -0.0238, 0.8642, 0.6617, -0.5987, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3688 left_y=-0.1431 left_z=0.006 left_yaw=0.0966 left_pitch=-0.0493 left_roll=0.0587 left_gripper=0.2091 right_x=0.2725 right_y=0.0004 right_z=0.1452 right_yaw=0.0045 right_pitch=-0.2185 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -8.3897, 4.9162, 1.3602, -0.2515, 0.0415, 0.9109, -0.1573, -1.3333, 6.8171, 1.8242, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959bdfdf4dd02eda40d37af7ab4664fbc969388b9329b493b79cee5a44af3201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1d887be0addeb3ec5f261e7f373da286d577b775902abc7fafaa27f1e90935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0259e5c297f8998573fbbfaf1416510df489df553eb8a77de9d603a469ee4a22",
      "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 · 7.516 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 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]: [-0.8364, 1.7157, 0.5819, 0.3367, -0.6933, -0.5877, 0.0127, -0.0238, 0.8036, 0.6151, -0.4782, -0.0189, -0.0376, 0.9995]\nstate[eef_state]: left_x=0.3278 left_y=-0.1893 left_z=0.0295 left_yaw=0.0237 left_pitch=-0.0016 left_roll=0.0105 left_gripper=0.0127 right_x=0.2827 right_y=0.0002 right_z=0.1627 right_yaw=-0.0001 right_pitch=-0.0839 right_roll=-0.0018 right_gripper=0.9995\nstate[joint_eff]: [0.2803, -5.6821, 3.7538, 1.1746, -0.0464, 0.0122, 1.0672, -0.1162, -1.265, 7.1453, 1.8681, -0.0659, -0.0317, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.8141, 0.6273, 0.4061, -0.6014, -0.466, 0.9962, -0.0238, 0.8642, 0.6617, -0.5686, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3707 left_y=-0.1451 left_z=0.0119 left_yaw=0.0912 left_pitch=-0.0392 left_roll=0.0534 left_gripper=0.9962 right_x=0.2777 right_y=0.0003 right_z=0.1505 right_yaw=0.0043 right_pitch=-0.1884 right_roll=-0.0046 right_gripper=0.9995\nstate[joint_eff]: [-0.8684, -7.9658, 4.5333, 1.7265, 0.1294, -0.0073, 0.1197, -0.1436, -1.5248, 6.8308, 1.7851, -0.0513, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.8286, 0.6224, 0.411, -0.6025, -0.4721, 0.2091, -0.0238, 0.8642, 0.6617, -0.5987, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3688 left_y=-0.1431 left_z=0.006 left_yaw=0.0966 left_pitch=-0.0493 left_roll=0.0587 left_gripper=0.2091 right_x=0.2725 right_y=0.0004 right_z=0.1452 right_yaw=0.0045 right_pitch=-0.2185 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -8.3897, 4.9162, 1.3602, -0.2515, 0.0415, 0.9109, -0.1573, -1.3333, 6.8171, 1.8242, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959bdfdf4dd02eda40d37af7ab4664fbc969388b9329b493b79cee5a44af3201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1d887be0addeb3ec5f261e7f373da286d577b775902abc7fafaa27f1e90935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0259e5c297f8998573fbbfaf1416510df489df553eb8a77de9d603a469ee4a22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The closed gripper retains about two centimeters of material, consistent with a grasp of the plush. I’m lifting it a short distance to verify it moves with the fingers.\"}",
  "call_id": "call_99P5j0Q4P6dqOBnwEpQrrigP",
  "id": "fc_0aa5aba580c34d20016ab45caef58087d091928405a1ff6fe5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_99P5j0Q4P6dqOBnwEpQrrigP",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5929, 0.7238, 0.054, -0.5983, -0.4835, 0.2091, -0.0235, 0.8661, 0.6617, -0.617, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=-0.1414 left_z=0.0705 left_yaw=0.1006 left_pitch=-0.0656 left_roll=0.0606 left_gripper=0.2091 right_x=0.2692 right_y=0.0006 right_z=0.1416 right_yaw=0.005 right_pitch=-0.2387 right_roll=-0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -8.2393, 8.6085, 1.5653, -0.359, 0.0708, 0.6716, -0.0889, -1.6889, 6.9949, 1.6679, -0.0562, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ba0b9fef62ea4a28f8217574a4f1011937a5bd41804eeb673c47eeeb2810f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a0cb64835ad5cd7a45bd46cb3a7155132e8e6c3516f40ed91238a3918256c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74c57a9e23dd31dd4ce532e58da7507f9bdc512f299c003ca3a1bcde605f0e5",
      "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 · 3.015 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 28 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7326, 1.6829, 0.6121, 0.2611, -0.635, -0.5159, 0.995, -0.0238, 0.8604, 0.6586, -0.5472, -0.0185, -0.0422, 0.9996]\nstate[eef_state]: left_x=0.3447 left_y=-0.1643 left_z=0.0345 left_yaw=0.0471 left_pitch=-0.0424 left_roll=0.0501 left_gripper=0.995 right_x=0.2807 right_y=0.0002 right_z=0.154 right_yaw=0.0024 right_pitch=-0.1663 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -8.6496, 7.8838, 1.5556, -0.1245, 0.1343, -0.1441, -0.1573, -1.4017, 10.3863, 1.9707, -0.0366, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6353, 1.8286, 0.6224, 0.411, -0.6025, -0.4721, 0.2091, -0.0238, 0.8642, 0.6617, -0.5987, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3688 left_y=-0.1431 left_z=0.006 left_yaw=0.0966 left_pitch=-0.0493 left_roll=0.0587 left_gripper=0.2091 right_x=0.2725 right_y=0.0004 right_z=0.1452 right_yaw=0.0045 right_pitch=-0.2185 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -8.3897, 4.9162, 1.3602, -0.2515, 0.0415, 0.9109, -0.1573, -1.3333, 6.8171, 1.8242, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5929, 0.7238, 0.054, -0.5983, -0.4835, 0.2091, -0.0235, 0.8661, 0.6617, -0.617, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=-0.1414 left_z=0.0705 left_yaw=0.1006 left_pitch=-0.0656 left_roll=0.0606 left_gripper=0.2091 right_x=0.2692 right_y=0.0006 right_z=0.1416 right_yaw=0.005 right_pitch=-0.2387 right_roll=-0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -8.2393, 8.6085, 1.5653, -0.359, 0.0708, 0.6716, -0.0889, -1.6889, 6.9949, 1.6679, -0.0562, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ba0b9fef62ea4a28f8217574a4f1011937a5bd41804eeb673c47eeeb2810f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a0cb64835ad5cd7a45bd46cb3a7155132e8e6c3516f40ed91238a3918256c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74c57a9e23dd31dd4ce532e58da7507f9bdc512f299c003ca3a1bcde605f0e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFy3vaco6gB6e_BUHFZ1ei_whReEnilPJbQQbCK768a7Me-TejIjUfNQKptYzuPyd08QlzScs_Uc5DOZTlfblSgYxV3s_MqkreEzLinxgJJrWSFqgEHrbRxukJ8EcuUhcrDnWzLc5t68IQxzVcnfk_QU_zn_pfT6-CVuugwnOCnUlXs0Io38mlvd8js9ieodRgK8h6S7NWbNkuDortgxPLSwkq9psE2PYf9p7jCRcheS_t48B4WvH51AqPhORo-ABu9FoVXNwMJteUwB4c9MqhphKh6ClNLFHmvJGEmD6xGomTV1Uxs8Evuka4GXRIgfRehh2KvqP5ZCxQABcpddb_iVa5KFqrluI0ao38x1h-4xnbLVgx_kUHgh0iSnWd3flmOAuRphMMHmviBViwFeYKqyKfLN4iHnVnYaSum2dIr0ZvIwfiWrVgp08GtGW4qKh1KZovEJU_rll27KUMm1TqA2t5SlmKh6PLmC8SUbp2EmbkX08KQVly91qX8CkiNNQTN88PSn9CvWwscfCMg0eN3AGLaHDazAb3P04FlTAklBPD_5e0PftEsGIBmefDeaY9iqj7RHIFw__hNx9CVfz0gikOlZQfNw8PjxV_qrVUvPN73dTZFUd-gxtE9IyYXotV6KtbnfK033mbfNrD0BQ6tKOdsYscO-sUzg2vQXctlG9SsUtBASXi2IQTIktk5vxS_9L_6idMNCmp4q3AyfbFdyzhOpZDwNzBP-Y3KoEG3KBYmdPnombO_eZjMbKV7v1xGzq9sKt3gM26pc7PHOK9mCdW78U5FlsH5ymxgwBDdd53ySHa-a5sCxkV10U4MLMKZ4eMw122-JirnVMb2oG9EpEegNt0O_pNy15_hpqHKd3zh0qChpcoP5tD5egNN_6Ly96LqOHHvEwb8UgcBfEA_p3QETFPj0e9purc9mYbk0v_qkb17tyaqR6K1EXvmk_nSQ1IdgD7T2Y3YQWW8ngyTFRdMYoz2owqDWWiSQb2tzazKCbTWnHU1VJgPVNyO-Y7-1VQuU9H-Lgpe5hkibp9EwDqBpIdEn1g6Lrx3CF3loho3KS0lGkqOIWGicsci7Uh81zrl4DElHzjzY67QNEm0RlfNjxci1eIGGF-VIpdZFKdTu12eEYUkK604ttdc2CcaR-6-G-E90bvyMOTrDM6BQPtivJrvwzNbpEHuoNQhjmZnF374OJSiGE8QpUrGLYxvlHOjX3_28Ne57nax0UIceKOv_sSc6LzAA_XE2G8xF__UlG3YFuvt0bgvT2u0J-lY6mWC395gWn8XizM3MWaMKdPN-df4JT3EZgoGmV3EEcBwqJcCaddHvHkNBwld2v0lc7c5yTVHquV2W3borX-ugf3EDEt2vpfcec44UfigRYyIRJlxLR6ZDd0m6MTlKvBkD8CfxRS55F2S5IwixGrV_RAAnfBCXFm1bsn69ZX-TSKNwausPCm3zqy98sQBI6uXcfnyuj5Ry9i_IVUIcjYEh7C49CGwI_AxrChknMv_3kOky4EHakKwVJF-n3Z0tmBIp1xSWhZCz_Bxw67eTA9xURApqfBsbRq6NZ6JDydUjsVXioPGOM203F17tKzrodKgBw1fPseqvV0CxhqlftWWv6vg1ivCCnx2b3ui5HRcUqjCHLwtfWgFITb5wM0q1eTmOp8tbzLBTz-vEyz15F29SoMAPqVzOIy3AhD-jR99b52JH_1QsQyyfm80p4tHwXIamYlenfPG9hlEjOuwTcuMR_DczNtTYpnuGa51u0-CbdWYVaN1p73K98OCNb2RyfYTKk96Ot4yj5C5twPxhh73-6hHf4IA7xgdCU7W6Pntro4O3_UzBOlRo_g_NXy63v4KdPA6d5Gk6J9sZ1pNar6CB_bKdxHpWIDj7VsUfq8ltxf1c-AFLYpzUvEgpZdHr1rJwR3__Mo2alCExCUuHwMX0iX60pUZEfY427tozCtwDUhRvVsFlQwcYJJ7W7hQjKD-Seuojq1KocVO5S4osc_5bX4KjoeXPisXddf7RauyCLfFgG_rn4QW9yzTW07JK6jhXlnJ5l0tFqdn6C22JYto8bNfNYQbN4M9jGkdpi7I6bvq7z5EyEsb3zxYdaXxxzMXQp9ZMmndwbcnsAIhb5mhNgsdva1rFRtRs_kyf3FA3rczMQDHePd4dz4Vik-T4igB4-Jda7bKEUhCY-t2r0xBaLcL63a6RxHG-14W0JKhnhcoNtf2YFCB-5sCoQAXr2qrHZ3Mf_PsgtNg0FTLAYQ4PJCdgfAISHlZpxO9kPYS6lMo=",
  "id": "rs_0aa5aba580c34d20016ab45cb1fe7487d0b5e1140eeb636c6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.29,\"left_z\":0.21,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0.15},\"note\":\"The pale plush stayed fixed in the gripper during the lift. I’m carrying it above the red-lined safe cavity, with extra height to clear the silver rim.\"}",
  "call_id": "call_K33qiK3wVACWLcJ8CrNdKaAI",
  "id": "fc_0aa5aba580c34d20016ab45cb6c3b487d0a829c1415b1b68dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K33qiK3wVACWLcJ8CrNdKaAI",
  "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]: [-0.8307, 1.9808, 1.7687, -0.7216, -0.7029, -0.6834, 0.2099, -0.0277, 0.7044, 0.6277, -0.4355, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.2892 left_z=0.1967 left_yaw=0.0928 left_pitch=-0.08 left_roll=0.0435 left_gripper=0.2099 right_x=0.283 right_y=0.0004 right_z=0.2033 right_yaw=0.0064 right_pitch=0.0706 right_roll=-0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -10.8376, 8.5265, 1.072, -0.6032, 0.0611, 0.5934, -0.4855, -1.0735, 6.612, 2.2735, -0.0952, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6af31a3d9716128ac3e4c92558361ce6af1d95f69845cd5e378aeddf912a07d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37217575ffe7c16f784ab003a5c22dd617c4d2ee80f3d15bce9986c919ad5c94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafb37fa9011af7f14af5b1457314fa15fbd1d711dddf786ef4d625e3fbaadcc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.189 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 28 changed as sent

message 32 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.8141, 0.6273, 0.4061, -0.6014, -0.466, 0.9962, -0.0238, 0.8642, 0.6617, -0.5686, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3707 left_y=-0.1451 left_z=0.0119 left_yaw=0.0912 left_pitch=-0.0392 left_roll=0.0534 left_gripper=0.9962 right_x=0.2777 right_y=0.0003 right_z=0.1505 right_yaw=0.0043 right_pitch=-0.1884 right_roll=-0.0046 right_gripper=0.9995\nstate[joint_eff]: [-0.8684, -7.9658, 4.5333, 1.7265, 0.1294, -0.0073, 0.1197, -0.1436, -1.5248, 6.8308, 1.7851, -0.0513, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5929, 0.7238, 0.054, -0.5983, -0.4835, 0.2091, -0.0235, 0.8661, 0.6617, -0.617, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=-0.1414 left_z=0.0705 left_yaw=0.1006 left_pitch=-0.0656 left_roll=0.0606 left_gripper=0.2091 right_x=0.2692 right_y=0.0006 right_z=0.1416 right_yaw=0.005 right_pitch=-0.2387 right_roll=-0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -8.2393, 8.6085, 1.5653, -0.359, 0.0708, 0.6716, -0.0889, -1.6889, 6.9949, 1.6679, -0.0562, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 1.9808, 1.7687, -0.7216, -0.7029, -0.6834, 0.2099, -0.0277, 0.7044, 0.6277, -0.4355, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.2892 left_z=0.1967 left_yaw=0.0928 left_pitch=-0.08 left_roll=0.0435 left_gripper=0.2099 right_x=0.283 right_y=0.0004 right_z=0.2033 right_yaw=0.0064 right_pitch=0.0706 right_roll=-0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -10.8376, 8.5265, 1.072, -0.6032, 0.0611, 0.5934, -0.4855, -1.0735, 6.612, 2.2735, -0.0952, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6af31a3d9716128ac3e4c92558361ce6af1d95f69845cd5e378aeddf912a07d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37217575ffe7c16f784ab003a5c22dd617c4d2ee80f3d15bce9986c919ad5c94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafb37fa9011af7f14af5b1457314fa15fbd1d711dddf786ef4d625e3fbaadcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFy8BWPF0OjULg_VU1-1AK3wvovGClDstA5hnuWDg01ryWECf5Gg8A2Fw0IKblwCIKutozVNPMBEwLjBExNQHJFIvH9GDr_qYNz5tAbvpfAWEiB4WRrU2uFCM3_0-cjb9jeARSHfHMK2UWaBpWHtV8pSOtDtDJDsgJ6JbpJwZexsps15niS-XSATTOZvjXb3KYOMHaaJhZxlu676oz8zgCqbdCe5wbqt0ZufHH8dSqseRzkuwYulkw0HwqEYf_359axzi_NT_w2aKL3XKiDNN-YN4_8GsXnmSQv16QFLUmPpLxXBoavRVNDZ1iKI7JobBHvIdD3ZorRiVqnBucpKyGBXN7ps4O6FXPS47wsxqkpXRFWfsKGZmUf6D07vKmIzavmEck-7ZiZq8f-b1GhxwHR6DuzGgvVxpIxQkHXUCZeeFHoSKiuRvgLALPqgBROUkxQ4_xG4CrKybqW00eB05x4ZhtZYjS3wecb4-bVGuWd8XePY4IK9vtpXhhRoA4CWRe3_34At43_MINQPlfPK2b-ZkcVQ6pm5hPrpDWBgZk-adR9U6lrRoO8Dpt69N2lkLQFqaLnirlHzJubx68Tm1rTywCMuJkOPy1DDo5OEegYdAfyUO0KhUOPr9AV55lVk0aiA-y_MygTAVOFf6Jorb4GdeEvOemYEAefmigYc4mYGYaakC4gh1DaxnAoD3Ik0X0T_7z97LdovKAY27QjKP375tNbMY4dZWJyW4GCO1yHPNN33gphXHzoR29IyhXV5AGyblb-1DWDMyzQcL4woqhFLu5qhfjRXdwjoEiZbG40TtcGK_Der_w8yksN0L9_4G8NcLlSpqHYX6pcLkEHg1o_jGJMPru7Y7G-Vl7O6q6g9ghLU4DFZWeAZ1QCtwE4Y7uWvMR-JsM-2KP4nN8vQIA2GftUZ6MwucNILByrEsnIwGDezSuNkEwYATDq_6OV3nHfkEkvvKGJIZyGf7IYpcqXhtGqriMaq9Ym5kfPbFEPh6qI2x663OZWSun5qrtcGPR3sL1BqcqF8Hv0qGX-DPAWaZnXXFZEg9Nw5Vc_dPBhUPg-IZvQFYGL19dy4dCpKyuPc4bPNQcAUn9-0FGdrt8m2w2GzT4YCCrM76IDN46i-p97HjliulEeRnv0dD6tZmx4gm4DEyWv5ztgu3BadalsqGCIrvLjdsGugWmCSju2RuMzBFdpUZp__xV-Ptqb9BHkR3SEkCQk5qshgTiJIoSPchge3DEnwQZYqtdRSWYELPa5JlLxeDi-p1w2miidTJw0X5Xz4KW3xyc-L8r90UPOxvynINUdg8Gl3rfq64dU4g2qmsPdGZxskB8YqmgHApqc3uQvg21x26ry7BvkmPUXLo6wPtOEPak-GmhldS9BPpUZ3uouU3tntNnbJideAk-9X",
  "id": "rs_0aa5aba580c34d20016ab45cba7ff487d0acd65fcac379aae1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.305,\"left_z\":0.065},\"note\":\"The plush is suspended over the safe’s red interior. I’m lowering it toward the bottom while keeping the fingers inside the rim.\"}",
  "call_id": "call_FZBtM73vk4xYBoYNo7TGS5aJ",
  "id": "fc_0aa5aba580c34d20016ab45cbb67fc87d09d584588a43576b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FZBtM73vk4xYBoYNo7TGS5aJ",
  "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]: [-0.8364, 2.1422, 1.5105, -0.3481, -0.6956, -0.6899, 0.2101, -0.0292, 0.7097, 0.6273, -0.4515, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4288 left_y=-0.3007 left_z=0.0671 left_yaw=0.0897 left_pitch=-0.1123 left_roll=0.0719 left_gripper=0.2101 right_x=0.2815 right_y=-0.0 right_z=0.1983 right_yaw=0.0048 right_pitch=0.0489 right_roll=-0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -11.4667, 6.3111, 1.4725, -0.3883, -0.0122, 0.5836, 0.0342, -0.8821, 7.0632, 1.8974, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56afd2d3558d0e2d755e55f7f5f6dd812405df22f91ed08b95930c7e7ca9236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df48898b9d8b5fec40fe6f07397ebff637d86a88b9906540d87ece3e6b93f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bee544daec40afb6362cb64893b35ef1f4241de16a47ae515ca251fae871036",
      "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 · 3.81 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.8286, 0.6224, 0.411, -0.6025, -0.4721, 0.2091, -0.0238, 0.8642, 0.6617, -0.5987, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3688 left_y=-0.1431 left_z=0.006 left_yaw=0.0966 left_pitch=-0.0493 left_roll=0.0587 left_gripper=0.2091 right_x=0.2725 right_y=0.0004 right_z=0.1452 right_yaw=0.0045 right_pitch=-0.2185 right_roll=-0.0037 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -8.3897, 4.9162, 1.3602, -0.2515, 0.0415, 0.9109, -0.1573, -1.3333, 6.8171, 1.8242, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 1.9808, 1.7687, -0.7216, -0.7029, -0.6834, 0.2099, -0.0277, 0.7044, 0.6277, -0.4355, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.2892 left_z=0.1967 left_yaw=0.0928 left_pitch=-0.08 left_roll=0.0435 left_gripper=0.2099 right_x=0.283 right_y=0.0004 right_z=0.2033 right_yaw=0.0064 right_pitch=0.0706 right_roll=-0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -10.8376, 8.5265, 1.072, -0.6032, 0.0611, 0.5934, -0.4855, -1.0735, 6.612, 2.2735, -0.0952, 0.022, -0.0073]",
      "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]: [-0.8364, 2.1422, 1.5105, -0.3481, -0.6956, -0.6899, 0.2101, -0.0292, 0.7097, 0.6273, -0.4515, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4288 left_y=-0.3007 left_z=0.0671 left_yaw=0.0897 left_pitch=-0.1123 left_roll=0.0719 left_gripper=0.2101 right_x=0.2815 right_y=-0.0 right_z=0.1983 right_yaw=0.0048 right_pitch=0.0489 right_roll=-0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -11.4667, 6.3111, 1.4725, -0.3883, -0.0122, 0.5836, 0.0342, -0.8821, 7.0632, 1.8974, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56afd2d3558d0e2d755e55f7f5f6dd812405df22f91ed08b95930c7e7ca9236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df48898b9d8b5fec40fe6f07397ebff637d86a88b9906540d87ece3e6b93f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bee544daec40afb6362cb64893b35ef1f4241de16a47ae515ca251fae871036",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pale plush is down inside the red-lined compartment, below the surrounding rim. I’m releasing it there.\"}",
  "call_id": "call_6FcM6DAM6oU2ftKKeYAqjIK8",
  "id": "fc_0aa5aba580c34d20016ab45cc0709887d087f0bc329257453e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6FcM6DAM6oU2ftKKeYAqjIK8",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8364, 2.1662, 1.4986, -0.3546, -0.6933, -0.6941, 0.9951, -0.0292, 0.7116, 0.627, -0.4549, -0.0261, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4249 left_y=-0.2968 left_z=0.0504 left_yaw=0.0949 left_pitch=-0.139 left_roll=0.1017 left_gripper=0.9951 right_x=0.2812 right_y=-0.0 right_z=0.1969 right_yaw=0.005 right_pitch=0.0432 right_roll=-0.008 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -13.9419, 7.0359, 1.199, -0.398, 0.0122, -0.1392, -0.0342, -0.6222, 7.1179, 1.8339, -0.0562, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e16bce645ef0ab313b0b26fb97f3a30e9b48ff810fe74a1273625183e2cc1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b3e6c57cda5d3f59777200e3fab8f9fa352d92accb96498ce83b258b429902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2ef8f7a581c23b5b77180562129c35f4bde28f6b5d7684976085dd7c64f63b",
      "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 · 3.476 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 39 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5929, 0.7238, 0.054, -0.5983, -0.4835, 0.2091, -0.0235, 0.8661, 0.6617, -0.617, -0.0189, -0.0448, 0.9995]\nstate[eef_state]: left_x=0.3655 left_y=-0.1414 left_z=0.0705 left_yaw=0.1006 left_pitch=-0.0656 left_roll=0.0606 left_gripper=0.2091 right_x=0.2692 right_y=0.0006 right_z=0.1416 right_yaw=0.005 right_pitch=-0.2387 right_roll=-0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -8.2393, 8.6085, 1.5653, -0.359, 0.0708, 0.6716, -0.0889, -1.6889, 6.9949, 1.6679, -0.0562, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8364, 2.1422, 1.5105, -0.3481, -0.6956, -0.6899, 0.2101, -0.0292, 0.7097, 0.6273, -0.4515, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4288 left_y=-0.3007 left_z=0.0671 left_yaw=0.0897 left_pitch=-0.1123 left_roll=0.0719 left_gripper=0.2101 right_x=0.2815 right_y=-0.0 right_z=0.1983 right_yaw=0.0048 right_pitch=0.0489 right_roll=-0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -11.4667, 6.3111, 1.4725, -0.3883, -0.0122, 0.5836, 0.0342, -0.8821, 7.0632, 1.8974, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8364, 2.1662, 1.4986, -0.3546, -0.6933, -0.6941, 0.9951, -0.0292, 0.7116, 0.627, -0.4549, -0.0261, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4249 left_y=-0.2968 left_z=0.0504 left_yaw=0.0949 left_pitch=-0.139 left_roll=0.1017 left_gripper=0.9951 right_x=0.2812 right_y=-0.0 right_z=0.1969 right_yaw=0.005 right_pitch=0.0432 right_roll=-0.008 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -13.9419, 7.0359, 1.199, -0.398, 0.0122, -0.1392, -0.0342, -0.6222, 7.1179, 1.8339, -0.0562, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e16bce645ef0ab313b0b26fb97f3a30e9b48ff810fe74a1273625183e2cc1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b3e6c57cda5d3f59777200e3fab8f9fa352d92accb96498ce83b258b429902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2ef8f7a581c23b5b77180562129c35f4bde28f6b5d7684976085dd7c64f63b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzFy-UFkZOCLLTe8_CXv8P52S2DxLgs2dTRtLHXVGAhvYMkmRtgRCUUrxlUpga_nETaVGJ2U8gEXfGiRmTiEfkcb3er9yXnKus4M06fDbMLiEvQhJydGjzx73P4lsVjNeSYdVzf6WgeoSgsNuRKMUq0oRJf-_RtlSR8tD_kqSiDKsE_PFzpZG_W-gROaiaG2Gz8KJHi7xyv-2138ViGnj86JSEjjMvXtO_VuOn8dvm-R3r5vm9G1LCZIug7cYxZWipvPrb6yPqvYA_7dJfWWSxpkIr8rMbvNACtXLsE_4BzcVsnK8F5Dci3T-xR9lOAI0WL5O8Fsg_uW8DoxZajVn4BT-oSX8pIMldzZzMQ0ObQ8KJTlhrHY7CONiU9f5yrfVyw-VXT4DQViqwzWVRqNyRKRNCMD1x1xyeEMWQDA8hWpxypXhMBwocsTdK0MHC2aaPrFxnjZDXBhEoHnucpRlKsZyAfQA_FMLz9r1GcJfSp9TzkdTCgTROVXCl4EE3pnbSm5_NDPCC0yOaLGRI9sF_VAujA38tjUYhmbjytGo7xLsskIX-3pr-TVCcnuEUm5sUbGB83rBNqdUjzvIAj5eY5sh9jQJevOIPsNLcR3lq_tVQ6T9ZjqK3LH-XaKft8F7pNQAdNeyghBhxyOutNn4G8PiA3JIhclqRbcgR24JiCB1dyeel3o0UGg1KQhNkFwgf_PoksF8MrRO0YZtNnHcrai9_VvOzNwSQFbAJFjeD4ZwsY1hkwmhgZs24Fpn2HovRTuvhzaqsui2q3h_iEXsedrZDxFyvcMDJuvz62Ws3Y7YVNvAgnXBn2RVYZyAr9Opul5lwPwKO-PxIeZCOOfTnkMFVpBjHiKmTx0I5GqaSwX5cz26tYPbAt-rbxRaiIKv2Osiz0-mFWBOmsVKd8iUXX2aCfrGM9Z0KT9mHRGUEr-fTnEhwP5QsLhMHygmDXQ5DZvZeg-1bh323nrwYoGUo9MsNSmko6lypPs62-CTMGK1nv0TUpCiW_D6RFfe2ehqRgfmcgPgJ7JAtpwDqwQ4h_ypdGW-LAcJl3-BP8aN9Gn6B6MxcZy992hLwqa5p6luT1wm5TQ1dU9awxKSlKyMhaOSXjMvfjyNyAmHWnOaG3bA14zeH6usodDdtZG6BUTiKIIg8iKvxZbDX9dKoI6X-vlTRxH64HQfCUa0UxqkOf94uAb7PkrGTlZFmTyBXecRlxu7DlBdvzm1zd-HDKA4aOqcLITUrXg4rz1-CP2EVqdFRU1zDL50pxMoxPO4_L_W4NA3abZviKxbE-Tp9Tt64c0j3zKJqAWCfku0arlW2fY9LzDFRxjeiaYEDJDP3NeoVpwLiobN6gkvx1rxEkY3AjPTiS5e6MM_WYmcX0RLSOwoFu5axRp3qLeOcJGNF29SsQn_MQj-WvaX19toU0Y_ySvhJZp7qpww8m1Da-0jPX4fLV21rdVVP51iKepdVztxyiQb_ZQ78aT6R8Nu40O8Dq36zlvOiuoHDbl5rtPHBCITs6p6VARF7yU_SmxL8TucCd",
  "id": "rs_0aa5aba580c34d20016ab45cc353c887d0929a0786e1b89648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22,\"right_x\":0.29,\"right_y\":0.22,\"right_z\":0.15,\"right_pitch\":0},\"note\":\"The pale plush has dropped into the safe. I’m withdrawing the left arm and bringing the right gripper above the brown plush in front of the safe.\"}",
  "call_id": "call_vlDNqqongx9pG7ZBvml6sBbS",
  "id": "fc_0aa5aba580c34d20016ab45cc4e6e087d0bbe97ff39f1c9a8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vlDNqqongx9pG7ZBvml6sBbS",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.189, 0.9546, 0.8974, -0.72, -0.3031, -0.1719, 0.9963, 0.976, 1.3891, 0.8383, -0.3626, 0.7341, 0.6228, 0.9995]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.2061 left_yaw=0.1451 left_pitch=-0.1565 left_roll=0.1004 left_gripper=0.9963 right_x=0.283 right_y=0.2135 right_z=0.1354 right_yaw=0.0383 right_pitch=-0.0467 right_roll=-0.058 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -2.5368, 9.9761, 1.7021, -0.1099, 0.1294, 0.1099, 0.1162, -5.3128, 8.6359, 1.5116, 0.6129, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4220d73702ea80b593ae8cab1740ccc34834a2264425536233c4ffa680ad47a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d295bf4d6d7003162a3f09e5cfbef82cba973ec0d05c43ff406448154c29fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33ed5d2bb6d972887387c6e95b48542023e405a2be918ecaf3ebdff38061e8d",
      "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 · 2.504 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 39 changed as sent

message 43 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8307, 1.9808, 1.7687, -0.7216, -0.7029, -0.6834, 0.2099, -0.0277, 0.7044, 0.6277, -0.4355, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.2892 left_z=0.1967 left_yaw=0.0928 left_pitch=-0.08 left_roll=0.0435 left_gripper=0.2099 right_x=0.283 right_y=0.0004 right_z=0.2033 right_yaw=0.0064 right_pitch=0.0706 right_roll=-0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -10.8376, 8.5265, 1.072, -0.6032, 0.0611, 0.5934, -0.4855, -1.0735, 6.612, 2.2735, -0.0952, 0.022, -0.0073]",
      "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]: [-0.8364, 2.1662, 1.4986, -0.3546, -0.6933, -0.6941, 0.9951, -0.0292, 0.7116, 0.627, -0.4549, -0.0261, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4249 left_y=-0.2968 left_z=0.0504 left_yaw=0.0949 left_pitch=-0.139 left_roll=0.1017 left_gripper=0.9951 right_x=0.2812 right_y=-0.0 right_z=0.1969 right_yaw=0.005 right_pitch=0.0432 right_roll=-0.008 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -13.9419, 7.0359, 1.199, -0.398, 0.0122, -0.1392, -0.0342, -0.6222, 7.1179, 1.8339, -0.0562, -0.0562, -0.0073]",
      "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]: [-0.189, 0.9546, 0.8974, -0.72, -0.3031, -0.1719, 0.9963, 0.976, 1.3891, 0.8383, -0.3626, 0.7341, 0.6228, 0.9995]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.2061 left_yaw=0.1451 left_pitch=-0.1565 left_roll=0.1004 left_gripper=0.9963 right_x=0.283 right_y=0.2135 right_z=0.1354 right_yaw=0.0383 right_pitch=-0.0467 right_roll=-0.058 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -2.5368, 9.9761, 1.7021, -0.1099, 0.1294, 0.1099, 0.1162, -5.3128, 8.6359, 1.5116, 0.6129, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4220d73702ea80b593ae8cab1740ccc34834a2264425536233c4ffa680ad47a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d295bf4d6d7003162a3f09e5cfbef82cba973ec0d05c43ff406448154c29fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33ed5d2bb6d972887387c6e95b48542023e405a2be918ecaf3ebdff38061e8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzL7o1pVoVQ4B1QiF2yIfS6kqanVLH5T_vAc6AGAyHaRXGDi1p_QzOxs_GvHuJ_ZwfZFxCFriQuTxuqIHjP7kC3ii4YZTI3YscnuYjDFGgAWCtbyZ4u00Z1hgLB0xZZEZgGIRMsqEVHwtbZnSyKANnYSCZWpbllLpzFqE6NsEHWgivJr6bo-jO38oZCbLv_y0oU7HRJLt6KYYwMitl2cWKsWQC-xndGvE4KO0FFE11aSLKcXhi4PCuFIFK1DPRRZvZ1E8WWdzZyHX9XEK7ZrNVxKLAkvdxV1qP34hFwuGv_s6V6DK_TonlR2PINzraP2pFeu8MnnVJoAG3imGMdOaoqZJyQt_AldkLCKreHJW21kb4k9iiYj3wyaepTiyF3FZpE4ioyIt4XLZv7mIIGARSd_TW5K7mDcfiG6P-uFO3b5vXONiEfx5tL8USkI9gYayPdA5eslNBAg4Ph6BAuFi4m8QMOEiVIrRuXhCPVoVfax8wfhPnXfPKsE5bxxkSsMcPQo3SJ9_Ru67O11yYXNQaQ-dmSNOa1DDYeOKiro3ZYU9VvBdmVmu9H8MJLpsFmnPE8z3hZAinNC0aTYOArv_KW3Hjo6jTZ2r3Yaf_e1bUXmtU9TEi63oGl-Wyf4OGd6KGdTkmiovFJfnZWKN-gMisozHlwIPyb9_Qv3VAlGE5m77OAP1mQQ_m44KYLMeBfBvqb4O6ZIUZ4LKCcKQqU45WJtHS4ZKChZtYnv2nzMjx1abQ9a1pfHaLQ82hgY347JSLaeuNBh3x0tBldb04qU7VMvR_ulbHKlsoKfGCH-uZstFUIFskFkT3nx4fMVoQq0RH4jA-XejxNJQjs3L1mJGSj0XIlK8Q-bVZ8pVb6igMeLTrjqGPH-nhBLXubVdsDvr4V2uyfujEicsyP5nt49LUsB8ued9KbMluZyUBilDob3I0G5IlOearXm5IjSLhzPmCk2GP_K6MEOI1qKTwCd9eeU5-xxh1lzM-hUU9i6vMZrSOMauXe_scllnqHCAJODWcioNLAKaGhYhq2yU3QCXHMEbayTCAs9HhCaY19zX8Ej59esKRyMxX5cqCC77GQn4WND4tzPfyzmmJSR1kJTY_KeSuyV3dYpRqMxsESzUC0wwwWrzRhQ6MSDklX_lgcE_F0lcbQS9QG4p8F38hYtSgD1-yWl7sGr30csXKYrykb0E9qYA6KO4gcB87idllEcLtKR9uc2FlqBu61wOBF2nMH9SKXdW8VzRAp_4Jnly9YWantTlfM2nb5bj2rFFidLNsE1ASpCEln_Tzjp4wl5G-b9g==",
  "id": "rs_0aa5aba580c34d20016ab45cca9e5c87d0b5c9e6d7893cacff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.22,\"right_z\":0.025},\"note\":\"The brown plush is centered in the right wrist view, with its body extending beneath the jaw column. I’m moving forward and down to grasp its torso, clear of the safe’s front edge.\"}",
  "call_id": "call_r8FVuuiSVpq3yFj7mfyFmLrd",
  "id": "fc_0aa5aba580c34d20016ab45ccaf98087d0bce222eaf5160262",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r8FVuuiSVpq3yFj7mfyFmLrd",
  "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]: [-0.1894, 0.96, 0.897, -0.7418, -0.2928, -0.1726, 0.9965, 0.8612, 1.7561, 0.6987, 0.1455, 0.654, 0.5163, 0.9995]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.2005 left_yaw=0.1382 left_pitch=-0.1848 left_roll=0.1018 left_gripper=0.9965 right_x=0.3199 right_y=0.213 right_z=0.0214 right_yaw=0.0341 right_pitch=-0.0992 right_roll=-0.101 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.4957, 6.694, 1.7314, -0.2271, -0.022, 0.0024, -0.5265, -7.3641, 4.5197, 1.4481, 0.3443, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3f48bd899df0bdc177c96e5bbc4f8b01762c796fd62a35d9c58ac2fcd3bf8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8362de8a84a5af43dabbd633d21b14b60890984bae962dee5c19b809f225295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401761813a3aeed9ca33352ea8291ecd2d3692b58b8c31f2ee9afe6b63867212",
      "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 13 attempt 0 · /responses · status 200 · 2.734 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 43 changed as sent

message 47 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]: [-0.8364, 2.1422, 1.5105, -0.3481, -0.6956, -0.6899, 0.2101, -0.0292, 0.7097, 0.6273, -0.4515, -0.0261, -0.0452, 0.9995]\nstate[eef_state]: left_x=0.4288 left_y=-0.3007 left_z=0.0671 left_yaw=0.0897 left_pitch=-0.1123 left_roll=0.0719 left_gripper=0.2101 right_x=0.2815 right_y=-0.0 right_z=0.1983 right_yaw=0.0048 right_pitch=0.0489 right_roll=-0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -11.4667, 6.3111, 1.4725, -0.3883, -0.0122, 0.5836, 0.0342, -0.8821, 7.0632, 1.8974, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9546, 0.8974, -0.72, -0.3031, -0.1719, 0.9963, 0.976, 1.3891, 0.8383, -0.3626, 0.7341, 0.6228, 0.9995]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.2061 left_yaw=0.1451 left_pitch=-0.1565 left_roll=0.1004 left_gripper=0.9963 right_x=0.283 right_y=0.2135 right_z=0.1354 right_yaw=0.0383 right_pitch=-0.0467 right_roll=-0.058 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -2.5368, 9.9761, 1.7021, -0.1099, 0.1294, 0.1099, 0.1162, -5.3128, 8.6359, 1.5116, 0.6129, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.96, 0.897, -0.7418, -0.2928, -0.1726, 0.9965, 0.8612, 1.7561, 0.6987, 0.1455, 0.654, 0.5163, 0.9995]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.2005 left_yaw=0.1382 left_pitch=-0.1848 left_roll=0.1018 left_gripper=0.9965 right_x=0.3199 right_y=0.213 right_z=0.0214 right_yaw=0.0341 right_pitch=-0.0992 right_roll=-0.101 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.4957, 6.694, 1.7314, -0.2271, -0.022, 0.0024, -0.5265, -7.3641, 4.5197, 1.4481, 0.3443, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3f48bd899df0bdc177c96e5bbc4f8b01762c796fd62a35d9c58ac2fcd3bf8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8362de8a84a5af43dabbd633d21b14b60890984bae962dee5c19b809f225295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401761813a3aeed9ca33352ea8291ecd2d3692b58b8c31f2ee9afe6b63867212",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzPsvJ5DDZFoZvBoUBiPfKs4mty3ZBjLW2HR9IJzJYRNKGw8DBK73KVusXODGSmzMzrM37CoJC6fAA4GhiRFSKuP5ayBxwHfes5TXENTWopSL35_NAgUe7bZhMsHvjN9S7goj6s0v5dvAKMlTqya5RU1sZP6kQPMPqTLrUOydDwoT1agPNdHnqIYckZjNkMiGbimDQlzqRiY9lnGyfH1NVi61_PLHLTeU9mMxaYf6MwRdniYTZ_fQtcAQvP7F4iGVNWolv2ot1MGls79cEdhkrFZkbu2m2esPGVv873zNBO2f4QAcKKgl4KU5jAUNGkP0GPSHIIeF8axQHPvXYsVj6tSIvmFu2Dr5uNunUNgsEMNtohGULi1Rre52PRGMFc8cTgYPQ2yB5WhxB3BslvE9elnucrM6nwt89AoxZFV8NmRebFrjhOmXMVm2yfurB-fAZQCNFN0YjjRoUwTQxPlC-ej06SyPCdEAa7kQZHSZjEJOowoBw-RyD7C55mLZgl1Lovh-X1iYjhWnCCS9WoggFNSKhJRaKCwMvxWeFLFofUDZ4MPfa7xtUXjOd09yW_ogFpY5J-eLQ6sryJaFm2otYJ9q9H_yqOI3zaSwSHIoJ61zRicajlsOfoOlyvgJtgG0Lp-5hB9D_DMEe0z4RKC7g_al6nT_Ll1T1NNDknbKNehTR01Pj1Po__eJQjVmorUwpZ1OwqQk5240VVw3_J9FY4ZYrcd5Lkn7m_-MAtyS64fX3-fdkQH22dcgmiBce-2fkTD66OC_5L8f0Ko0l0rvaL8U7fkGf9gU1wCrnZpDlRY9PHnR4TK4P2m-CwW2_fiG3T-L85NHAUunsgZTaqLbfWB3jb9n1Ubk3S9I8N6AGsuMgIQJktdXS36QAaLCjMvBitriMGoJj0Ee8sL0L65hzFLHOuPGdmYetImI9Oiv3LsjpjGB3CfWRgVExUj5_nA56hf2xIajKer2VolIwaq4HfvzWo6t02hu2mN8No8sU7Z6vCEcXcBMKVf7YvQBUpm4SiPOsR5IqxljSr8m-Ah3x6sgB1I3ntJjNEC9cD3lJKjDRN4Nv9waV_srZQ9VloPGwklYbMZSJUPmiDfrt3ihSfeONYCJuTwAYaJ-hkRFXlxxPcvJFrr6RTRTjiuFkype6VgaXd0PXuOTAWUAeIYJD2LDdn4L_7ZxHZIJLtrh_zXsILsjGZgG8K-00CESFZh35K8PIeK1EVgQXYnqzey-haIllFz5uWtipRXla_XUoj96s=",
  "id": "rs_0aa5aba580c34d20016ab45ccdf84487d082c89288fe0628c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s torso is between the low, open fingers. I’m closing around its body before checking that it lifts securely.\"}",
  "call_id": "call_5Ahkudd2ZZAhoxcgiJz20oGw",
  "id": "fc_0aa5aba580c34d20016ab45cce733087d0b1bd731fd3bdbd31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5Ahkudd2ZZAhoxcgiJz20oGw",
  "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]: [-0.1894, 0.96, 0.897, -0.7486, -0.2924, -0.173, 0.9965, 0.8577, 1.7741, 0.6945, 0.1474, 0.6537, 0.5087, 0.0452]\nstate[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1993 left_yaw=0.1386 left_pitch=-0.1914 left_roll=0.1036 left_gripper=0.9965 right_x=0.3187 right_y=0.2098 right_z=0.0141 right_yaw=0.0335 right_pitch=-0.1136 right_roll=-0.1217 right_gripper=0.0452\nstate[joint_eff]: [-0.0479, -2.1128, 6.694, 1.5263, -0.2027, -0.0024, -0.0073, 0.1846, -8.841, 5.2991, 1.2625, 0.2418, 0.1197, 1.2283]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e961dcc7cd3d73cdb4ee309a9a726b49bc0536bb87af9d90a5899fe26043aef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcce99a18ed71ef729b9285a55a921205ac096024a87ebc23674ed01d9f33cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0ab6f2238d6ef375b6fe56e30f268ccb4d15e3e38022c09c79dacfa0230289",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 4.816 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8364, 2.1662, 1.4986, -0.3546, -0.6933, -0.6941, 0.9951, -0.0292, 0.7116, 0.627, -0.4549, -0.0261, -0.0456, 0.9995]\nstate[eef_state]: left_x=0.4249 left_y=-0.2968 left_z=0.0504 left_yaw=0.0949 left_pitch=-0.139 left_roll=0.1017 left_gripper=0.9951 right_x=0.2812 right_y=-0.0 right_z=0.1969 right_yaw=0.005 right_pitch=0.0432 right_roll=-0.008 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -13.9419, 7.0359, 1.199, -0.398, 0.0122, -0.1392, -0.0342, -0.6222, 7.1179, 1.8339, -0.0562, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.96, 0.897, -0.7418, -0.2928, -0.1726, 0.9965, 0.8612, 1.7561, 0.6987, 0.1455, 0.654, 0.5163, 0.9995]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.2005 left_yaw=0.1382 left_pitch=-0.1848 left_roll=0.1018 left_gripper=0.9965 right_x=0.3199 right_y=0.213 right_z=0.0214 right_yaw=0.0341 right_pitch=-0.0992 right_roll=-0.101 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.4957, 6.694, 1.7314, -0.2271, -0.022, 0.0024, -0.5265, -7.3641, 4.5197, 1.4481, 0.3443, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.96, 0.897, -0.7486, -0.2924, -0.173, 0.9965, 0.8577, 1.7741, 0.6945, 0.1474, 0.6537, 0.5087, 0.0452]\nstate[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1993 left_yaw=0.1386 left_pitch=-0.1914 left_roll=0.1036 left_gripper=0.9965 right_x=0.3187 right_y=0.2098 right_z=0.0141 right_yaw=0.0335 right_pitch=-0.1136 right_roll=-0.1217 right_gripper=0.0452\nstate[joint_eff]: [-0.0479, -2.1128, 6.694, 1.5263, -0.2027, -0.0024, -0.0073, 0.1846, -8.841, 5.2991, 1.2625, 0.2418, 0.1197, 1.2283]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e961dcc7cd3d73cdb4ee309a9a726b49bc0536bb87af9d90a5899fe26043aef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcce99a18ed71ef729b9285a55a921205ac096024a87ebc23674ed01d9f33cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0ab6f2238d6ef375b6fe56e30f268ccb4d15e3e38022c09c79dacfa0230289",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzSW6xPqmre6KeV9e677QQ76qnFeEmSs5FcHXiwcQa8ug07d0kF-T9meOQPmSLZOwOwpdCUpbdHuTznstEyM1BjVgRmi4T8_VQe6P2xIVfcpNlyDpvih3xGvyk113PHBIpts2lH_AxX5-dtvGUo12k0AJnD5txzkP3wZOwy6b1lxmFTgOUV0s31mdjKbOn7J49WInobc2nDTb8l6f3eC7njruJiZUEn-ldY_jnJovYdH_exLu_O_t3sUCVoGy2lVvudOQDrbgmFahofX8an4h6yjAJjn4jxNhyIG4xukTB81nW6TcTwQlir0sUvsUoVjR7-VHRa9QctXNThozA42bEEq8sqaOrNtKYdcx7P52pA_Wlk3_7iLkHqxanhDfv4B_PkwFg2-AGw7KfKhH7eLAEjJS2G4oSV_AjLk_F_1EBTNSgjlp5Dpq6Wra00aQImndSzHFLcxjHEnRRwu-DErzPTmpvEjnOsJ6nuDJTIefZvpL6hiWOekZvLvT2l2f3nhJ45BRhFfPyePCzARNZ4MYCbLrCWA-T5sOCONIvYkIalsnR-AliB2_SKsNWtgcG-P2w49v7LrlJiUd1wy4pRvkdSiXq9uSngG-IMJjtBxveHpCjry-x4wokE59oCUzTpIppFUCTdnvBuVjBezVc-KEiTptsoRRF5XhQ6SKYLkIuLUWhFl-MB75gc_qvyYRO5HqjXDtm6CR7ue6Gy6fQ0Ig-jLffLoIgxvqDSeXrwv-X6rVxnXUrjdntvSUOlkL07yoP4PVWonxIBmcTre4lix2J2VEk_K8cdpU9a2OZgZiTd35SLkjILLqH9YdRoYBHwTzZywG8j2qMh_iGE8zls7wXY9_yc18ByFKkzzZL-PlCkO5hDjiluo5sCtHKEue1Ru-djxpqovOA_SIoCiJtPfy0ZrQh223IeH4F4Pce17SmsvqI2LHzSkyg_QjmAN8Da0v0WgDoeeoNqaYVWoJ6oUqtVIdZFfX5K-LF5IhWHfX1imzxmUkuV4wyL0oTDkrlbCrWHCKlAjXm4bXksykmu55XxTOD0sKrCkZhuVzBXQkDBBHe4KxCdcsqTvjlajzh5uZNoMDWxOrbjBtbGcPhJgieYtD7yMtAwMeQQSUeuqmWvY9XTYteigk0kU3JOteAqOVMLTPUy4i4BadBHPb7G-eaEhsyLSOsH903t1Bno01w_5tPK3gmg1VJHCI4bO-S3mVOZUCRjrQDinabHSiksrz5N60g96c-g6fh409SGShwHmK8=",
  "id": "rs_0aa5aba580c34d20016ab45cd17b7887d0b5d3eec2971399c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws have a small residual opening, which could be a pinch of the plush’s narrow end. I’m making a short test lift to distinguish a secure grasp from an empty close.\"}",
  "call_id": "call_uQ3k4XjS9eEoN63haOBGFAFH",
  "id": "fc_0aa5aba580c34d20016ab45cd1c8a087d09baa4b2174c1386b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uQ3k4XjS9eEoN63haOBGFAFH",
  "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]: [-0.1894, 0.9604, 0.897, -0.7494, -0.2924, -0.173, 0.9965, 0.857, 1.5986, 0.804, -0.1501, 0.6388, 0.5041, 0.0494]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1991 left_yaw=0.1386 left_pitch=-0.1925 left_roll=0.1039 left_gripper=0.9965 right_x=0.3165 right_y=0.21 right_z=0.0715 right_yaw=0.0439 right_pitch=-0.1313 right_roll=-0.1262 right_gripper=0.0494\nstate[joint_eff]: [-0.0615, -2.1265, 6.6667, 1.5018, -0.2027, -0.0611, -0.0073, -0.1983, -8.2393, 8.0068, 1.3993, 0.4127, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08deadfdef2b94d9868fb644826ff6ea6c4d59f34fe232e7c9bc9ef8e937d332",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668eb6702fc0a15db0f5e61ffa44a755ef10e9d5ccd438e4e3cd1624e0c70f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d1eaf202c654683259912538b32db21f0111f79299eb78027dc22f6c6f496",
      "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 15 attempt 0 · /responses · status 200 · 2.513 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9546, 0.8974, -0.72, -0.3031, -0.1719, 0.9963, 0.976, 1.3891, 0.8383, -0.3626, 0.7341, 0.6228, 0.9995]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.2061 left_yaw=0.1451 left_pitch=-0.1565 left_roll=0.1004 left_gripper=0.9963 right_x=0.283 right_y=0.2135 right_z=0.1354 right_yaw=0.0383 right_pitch=-0.0467 right_roll=-0.058 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -2.5368, 9.9761, 1.7021, -0.1099, 0.1294, 0.1099, 0.1162, -5.3128, 8.6359, 1.5116, 0.6129, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.96, 0.897, -0.7486, -0.2924, -0.173, 0.9965, 0.8577, 1.7741, 0.6945, 0.1474, 0.6537, 0.5087, 0.0452]\nstate[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1993 left_yaw=0.1386 left_pitch=-0.1914 left_roll=0.1036 left_gripper=0.9965 right_x=0.3187 right_y=0.2098 right_z=0.0141 right_yaw=0.0335 right_pitch=-0.1136 right_roll=-0.1217 right_gripper=0.0452\nstate[joint_eff]: [-0.0479, -2.1128, 6.694, 1.5263, -0.2027, -0.0024, -0.0073, 0.1846, -8.841, 5.2991, 1.2625, 0.2418, 0.1197, 1.2283]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9604, 0.897, -0.7494, -0.2924, -0.173, 0.9965, 0.857, 1.5986, 0.804, -0.1501, 0.6388, 0.5041, 0.0494]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1991 left_yaw=0.1386 left_pitch=-0.1925 left_roll=0.1039 left_gripper=0.9965 right_x=0.3165 right_y=0.21 right_z=0.0715 right_yaw=0.0439 right_pitch=-0.1313 right_roll=-0.1262 right_gripper=0.0494\nstate[joint_eff]: [-0.0615, -2.1265, 6.6667, 1.5018, -0.2027, -0.0611, -0.0073, -0.1983, -8.2393, 8.0068, 1.3993, 0.4127, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08deadfdef2b94d9868fb644826ff6ea6c4d59f34fe232e7c9bc9ef8e937d332",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668eb6702fc0a15db0f5e61ffa44a755ef10e9d5ccd438e4e3cd1624e0c70f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d1eaf202c654683259912538b32db21f0111f79299eb78027dc22f6c6f496",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzYhhmeGcxa1YWE9DUM-j99b5AXd284wYgiBey9HpfUAM9lK7AOTI11An8rUqvUa5HE3vVzCOWoZrfhr-68Q3czF2--7aE26ZXzRdG7XdsFC5bDv9gu3sWB2uj91YPj52ijAJQ-XNC8ZFuWlQ7ls6Ap1ZDQJvNaJAMbm832eGlyX02GT39Y4mTeZXCI_4KiNCY_kIYCRoBYCxYxFqer0Bxv9XfmBLcDLJoVTxsQ80shYSwPRF4A1w53Rg-EI8PqLbRcbz44z1XvuJhSw03UXQwUCEAKE5RJe1gxKVeFFvecPayBwdEPYhzvy7c1JuB1WlvPMFhv7KrwMQIo4TDtuDrX8M7dxDlDdv86P9uA6GsWUoJ5IjEdxR2Hs3khZEAehiBSOjITOJbBvNZNYcBw17ch-SYA_6N3Poh1E8ECEJxlTKKGlBoLz242bqAImEWWEiR7QNlucL8Au0VG91vJO98E7It5-k2D8HRzWDaQrsOE2B3MwUet2zbsJiBupJBqjcqgQovi6npeF2Ajhsllk5w09VFSYFxiHzgTz8o-kSSQWOyYH__-2ZXhHqdAxgxBniLzscaXYIlejlWe9KAqn_Ur24Pufartuxekk1bPcyVtV357axbRAViZpfNviLg9dIfVnVLWG4FSHSw-BG8RiyjfZoIHvLA3NzpD6tw0VrVzr5l3VxbpHEMSwIArijUDYniyhuv77g8eQpR__LATzr90ac1Y-JqcuT-f5kSzC_P9eXtU9uVPSr0TgI1cd7JqcBSlLOae4_gB7zpzN1rxIffA6xeU3xv1R9ORe9zKqajwB-OwvzimfKVrpI044gNmV50tdzCEyTN1gsEeKGJmsP2T_sJbhwPbEyPFSqF6Ye0UQHYlAsfL_NZCe55I-6H2GlY3p3gjf_w5Zzu_IaTYpMBogR5AbhVTaGOrbSiCEph2vc-JlWwKn0EoKuqgZW_oPSoj617s0DcS43EQp6PhgRMinrZjSYSlP9X5ohocYyN1ufE9EKejWzPLUdR7rViTWO4tJJt3thhHzNT2WaCODm9OcUAqH7Yj9B0vU_94tYS8UvbcbVbDl_fUGrcQ4h_3r9AYKaxby2HFtY0moSaK4FSJCPAvJ1LG1KxkDucO2qYUVfvWGUOqCKd1RzGWXY0w_OFbTYFJfLczRz5yk-kQViurDSFDCaetur8RCXCL7n9XO5W4co3IjYRBG3yuNF_CU_j3vb4F992tRvG11oyYFPf3A5PRkqQhvG0zL2cwsSPaiz4NyCCOadU5FT6PebDTYwy0hrUtB0E_IBks2_KkJ8ivdUrsUBh5YAzPJd9qb-MmlFh9-lFSsSXguq2jH6nX-Rvf5GXTeFczXudXzGSTunJq-3O1c_Dt33ug4lpdF6jkC0UlXnZxb_hdeEDRhQ7pI7lvByIUkTNzKmLkOkrZeGERTIKKf_X8PawFbpXe5iSz9kzt-yQFJP6nwvMMY74QgSj5Jy-hsA96rYDOyQnqRX4Q-cz-x8Ziakf0kkqV0egLp9vU8iinHJeypDCSSkH5cucxVWiBrxXs92tL2pbyKjqSrR4LaZu2x9zbq2JN0D57xkscqs1bwbYWXunIFeBq7Y8ZwizvVSGQ0wYASHDcJp6ON-BHPlhr91s7uoHFH_UaWNK8lGYi68g1A-tyNnelK9u_ptu0p012uvkxZXbCEdDADwYCs5TYTvntWzYcG2K-M4XbxyvcONh5AQFWh0Y1k71zri45Q4JF1qBZLEdDmAgZ2BnpgXVtF3UMKKd4Q6mBZWQ=",
  "id": "rs_0aa5aba580c34d20016ab45cd4ae9487d09a3f84770b23bca0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.28,\"right_z\":0.21},\"note\":\"The brown plush rose with the gripper, confirming the narrow-end grasp. I’m carrying it over the right side of the safe, beside the pale plush.\"}",
  "call_id": "call_MerfExxSHb4aMNgHHIySE55J",
  "id": "fc_0aa5aba580c34d20016ab45cd7146487d096d42c8e4824a8bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MerfExxSHb4aMNgHHIySE55J",
  "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]: [-0.1894, 0.9646, 0.897, -0.7654, -0.2924, -0.173, 0.9965, 0.7658, 1.9278, 1.7195, -0.6903, 0.5735, 0.4103, 0.0494]\nstate[eef_state]: left_x=0.2843 left_y=0.001 left_z=0.1954 left_yaw=0.14 left_pitch=-0.2116 left_roll=0.1106 left_gripper=0.9965 right_x=0.4247 right_y=0.2804 right_z=0.1966 right_yaw=0.0534 right_pitch=-0.1402 right_roll=-0.1275 right_gripper=0.0494\nstate[joint_eff]: [-0.2256, -2.441, 6.6667, 1.5897, -0.1783, -0.0415, -0.0073, -0.6222, -10.7009, 7.788, 1.0476, 0.2613, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b1abb005f0bd0cd049abe173880b252ddf111410f8503816d2cd5425f90054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3517f11723dbda925e342e0017d0cd9161cff71619c5f74f6a8f389548437a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06005bc94ac0dc5ec83523f3ce1e69c55ed785e3a7069c3b1cc449fec92cf171",
      "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 16 attempt 0 · /responses · status 200 · 2.492 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.96, 0.897, -0.7418, -0.2928, -0.1726, 0.9965, 0.8612, 1.7561, 0.6987, 0.1455, 0.654, 0.5163, 0.9995]\nstate[eef_state]: left_x=0.288 left_y=0.0004 left_z=0.2005 left_yaw=0.1382 left_pitch=-0.1848 left_roll=0.1018 left_gripper=0.9965 right_x=0.3199 right_y=0.213 right_z=0.0214 right_yaw=0.0341 right_pitch=-0.0992 right_roll=-0.101 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -2.4957, 6.694, 1.7314, -0.2271, -0.022, 0.0024, -0.5265, -7.3641, 4.5197, 1.4481, 0.3443, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9604, 0.897, -0.7494, -0.2924, -0.173, 0.9965, 0.857, 1.5986, 0.804, -0.1501, 0.6388, 0.5041, 0.0494]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1991 left_yaw=0.1386 left_pitch=-0.1925 left_roll=0.1039 left_gripper=0.9965 right_x=0.3165 right_y=0.21 right_z=0.0715 right_yaw=0.0439 right_pitch=-0.1313 right_roll=-0.1262 right_gripper=0.0494\nstate[joint_eff]: [-0.0615, -2.1265, 6.6667, 1.5018, -0.2027, -0.0611, -0.0073, -0.1983, -8.2393, 8.0068, 1.3993, 0.4127, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9646, 0.897, -0.7654, -0.2924, -0.173, 0.9965, 0.7658, 1.9278, 1.7195, -0.6903, 0.5735, 0.4103, 0.0494]\nstate[eef_state]: left_x=0.2843 left_y=0.001 left_z=0.1954 left_yaw=0.14 left_pitch=-0.2116 left_roll=0.1106 left_gripper=0.9965 right_x=0.4247 right_y=0.2804 right_z=0.1966 right_yaw=0.0534 right_pitch=-0.1402 right_roll=-0.1275 right_gripper=0.0494\nstate[joint_eff]: [-0.2256, -2.441, 6.6667, 1.5897, -0.1783, -0.0415, -0.0073, -0.6222, -10.7009, 7.788, 1.0476, 0.2613, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b1abb005f0bd0cd049abe173880b252ddf111410f8503816d2cd5425f90054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3517f11723dbda925e342e0017d0cd9161cff71619c5f74f6a8f389548437a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06005bc94ac0dc5ec83523f3ce1e69c55ed785e3a7069c3b1cc449fec92cf171",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzb57i5GBSML40MhigIU969rY-yWisUTRDUYwQjxBvuRyMUVPa3FMDLBo05pCic9iBkGF4JF1hkb17bS8iNzoAXT4-YXGTek6CxqnXXFjBwjmc5M1DsKfC9K9id2NZjtHN4-vmspwSRECZCx2hy-4goLt4B9PoWNGGJCsi7bRrt5NUApiHKxuZy_8mo09UzsFo33JIRhjDGHlNGwmj1bIdhcjxtiN3iFSDFma10pK7W8uVBmZfarXX-Fi6X1YVTvkeKdEqGJ47s7B07ulnUZlTkvHo9ts-Ba5gRFQYmxruQdVaMtzRIA3bOLvVxn0ndux49mhs_p2QwRpNS4wIa-7vwmNZ7vGclzmNNZGzGQRcBvCn01VuArzyhC6ixUaCHphJwk5KirYu5N2KCRBHdh3a5JJOVFXknJgwOExBDJBVrMkIzgpDEZIUjWWGPZOSZGGE98HXh3o8Mk3lRjkzw7bLNSHG8Bq5mJsGvihqRdo9cgk4K_tnQyD4agoJ0UH6kYcr-g01POOuGQJVqnZxElJs9V0qjxSpfEwfR6S8q1OEJ0ZrQcYj2zBhZav4oq4ohtBfabl9YCj1Af6kh28pxHbhDeFVvngchU9dyEnB-g13jXblu4gAub7gISoIH8lS0to6f1XTI6Q5o0QsPEVfkMdc7BuMqdV6D2nhQfVrlouxBigtZBsLK1dDB1NxgZfHgLz2yI8At_FHXzCanmDH5TdA9vXGtBt4PvST9jCJZ4gWiqaLiOogUSG4Y7MDpQWfaupdxvOj5EBlQ8xY89Bk80B3MGFNtcdsv-yFvO34ghKC4djMi1qC14M5KDnmz4a5Guk_EfVryZm9ODHS3q9QH3rq843J4cyXkGGtveqAOs4bYiTw-ab80nfZ6-e6GObuZzsN96mqaq2y2oMxxs-vTf-_STsmr7wyvuKDOuT6-1whYRtN6F9Lz8Cda4zZP8kGcVLtU3qnDb10Iat9SbGfrBR1mS1fyYf0oAR14vEtw6C5OGX8RdrUKvJT2duVRRXUUCwx6S7MuG2eQolF5L3KqiFPXCMGFKeikslPxhDZZHyC6Jx-XlRCuW52MBWUJsLZGCKiIgqzUg0AzRVxnwQC1UEVGIRejGp09o8ao1GCoMCXY58qE-yM-hOl75hUhM0iGmiMmxOyaKOJcLt6R_OVUh4645gYQRmmI3o2yv6W0X3kwMybjZ-nITAs2gLerrTjIVeOX4eWOQAt5L4Vrwzn4JsWkk0rWI26mniJxvS-sdky2I-k=",
  "id": "rs_0aa5aba580c34d20016ab45cda5c0487d0aa41c66de74ef865",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.295,\"right_z\":0.085},\"note\":\"The brown plush is above the safe, with its body directed into the compartment. I’m lowering it beside the first plush while watching the rim clearance.\"}",
  "call_id": "call_HrxY8ucD5JEiMUTbqBcBDoNH",
  "id": "fc_0aa5aba580c34d20016ab45cda9c0c87d0bc5d61e1a1cf2dac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HrxY8ucD5JEiMUTbqBcBDoNH",
  "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]: [-0.189, 0.9653, 0.897, -0.7685, -0.2924, -0.173, 0.9965, 0.7643, 2.0602, 1.4944, -0.3908, 0.5598, 0.4068, 0.0494]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1947 left_yaw=0.1406 left_pitch=-0.2152 left_roll=0.1119 left_gripper=0.9965 right_x=0.4304 right_y=0.2876 right_z=0.0849 right_yaw=0.0571 right_pitch=-0.1916 right_roll=-0.1599 right_gripper=0.0494\nstate[joint_eff]: [-0.0889, -2.1265, 6.6667, 1.4676, -0.1734, -0.0611, -0.0073, -0.1026, -10.4821, 6.7487, 1.5897, 0.3346, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa82cf1d422ab272c34d21d642526ab1b87e9541cb737ea83705dc7a8960960",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015bab0875de16d86d176b5dd1ec9642c3b5f828f0d4389864b405dab396e80e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c418a7f131b7995065ace1b8da37fa43e1fa0185e68d3d29e4a7148873984584",
      "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 17 attempt 0 · /responses · status 200 · 7.496 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.96, 0.897, -0.7486, -0.2924, -0.173, 0.9965, 0.8577, 1.7741, 0.6945, 0.1474, 0.6537, 0.5087, 0.0452]\nstate[eef_state]: left_x=0.2868 left_y=0.0005 left_z=0.1993 left_yaw=0.1386 left_pitch=-0.1914 left_roll=0.1036 left_gripper=0.9965 right_x=0.3187 right_y=0.2098 right_z=0.0141 right_yaw=0.0335 right_pitch=-0.1136 right_roll=-0.1217 right_gripper=0.0452\nstate[joint_eff]: [-0.0479, -2.1128, 6.694, 1.5263, -0.2027, -0.0024, -0.0073, 0.1846, -8.841, 5.2991, 1.2625, 0.2418, 0.1197, 1.2283]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9646, 0.897, -0.7654, -0.2924, -0.173, 0.9965, 0.7658, 1.9278, 1.7195, -0.6903, 0.5735, 0.4103, 0.0494]\nstate[eef_state]: left_x=0.2843 left_y=0.001 left_z=0.1954 left_yaw=0.14 left_pitch=-0.2116 left_roll=0.1106 left_gripper=0.9965 right_x=0.4247 right_y=0.2804 right_z=0.1966 right_yaw=0.0534 right_pitch=-0.1402 right_roll=-0.1275 right_gripper=0.0494\nstate[joint_eff]: [-0.2256, -2.441, 6.6667, 1.5897, -0.1783, -0.0415, -0.0073, -0.6222, -10.7009, 7.788, 1.0476, 0.2613, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9653, 0.897, -0.7685, -0.2924, -0.173, 0.9965, 0.7643, 2.0602, 1.4944, -0.3908, 0.5598, 0.4068, 0.0494]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1947 left_yaw=0.1406 left_pitch=-0.2152 left_roll=0.1119 left_gripper=0.9965 right_x=0.4304 right_y=0.2876 right_z=0.0849 right_yaw=0.0571 right_pitch=-0.1916 right_roll=-0.1599 right_gripper=0.0494\nstate[joint_eff]: [-0.0889, -2.1265, 6.6667, 1.4676, -0.1734, -0.0611, -0.0073, -0.1026, -10.4821, 6.7487, 1.5897, 0.3346, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa82cf1d422ab272c34d21d642526ab1b87e9541cb737ea83705dc7a8960960",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015bab0875de16d86d176b5dd1ec9642c3b5f828f0d4389864b405dab396e80e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c418a7f131b7995065ace1b8da37fa43e1fa0185e68d3d29e4a7148873984584",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is resting in the safe next to the pale one. I’m opening the fingers to leave it in the compartment.\"}",
  "call_id": "call_MGRjIWS3Yt6Ujgq3DMQbWtE1",
  "id": "fc_0aa5aba580c34d20016ab45cde0bd887d0b638aad179e38acd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MGRjIWS3Yt6Ujgq3DMQbWtE1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9661, 0.897, -0.7715, -0.2924, -0.173, 0.9965, 0.7643, 2.0796, 1.4826, -0.3946, 0.5556, 0.3996, 0.9947]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.194 left_yaw=0.1405 left_pitch=-0.2188 left_roll=0.1131 left_gripper=0.9965 right_x=0.4269 right_y=0.2851 right_z=0.0703 right_yaw=0.0593 right_pitch=-0.2213 right_roll=-0.1857 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.1538, 6.6803, 1.4579, -0.1832, -0.0659, -0.0073, -0.1162, -13.1077, 7.2137, 1.2039, 0.2271, -0.0024, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31cdc44cc8f9e644cb443692ed1199400afa691cff1c545f6e0e468c47cee337",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb595bb8e9609f27852ee8f77ab7a9d809bcc394d06f9a9542c1b0b86c1f336b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ea21f0d69de9fd8a0aee022582b5b46a97456831b316485d079262ab0c345a",
      "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 · 5.887 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 66 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9604, 0.897, -0.7494, -0.2924, -0.173, 0.9965, 0.857, 1.5986, 0.804, -0.1501, 0.6388, 0.5041, 0.0494]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1991 left_yaw=0.1386 left_pitch=-0.1925 left_roll=0.1039 left_gripper=0.9965 right_x=0.3165 right_y=0.21 right_z=0.0715 right_yaw=0.0439 right_pitch=-0.1313 right_roll=-0.1262 right_gripper=0.0494\nstate[joint_eff]: [-0.0615, -2.1265, 6.6667, 1.5018, -0.2027, -0.0611, -0.0073, -0.1983, -8.2393, 8.0068, 1.3993, 0.4127, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9653, 0.897, -0.7685, -0.2924, -0.173, 0.9965, 0.7643, 2.0602, 1.4944, -0.3908, 0.5598, 0.4068, 0.0494]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1947 left_yaw=0.1406 left_pitch=-0.2152 left_roll=0.1119 left_gripper=0.9965 right_x=0.4304 right_y=0.2876 right_z=0.0849 right_yaw=0.0571 right_pitch=-0.1916 right_roll=-0.1599 right_gripper=0.0494\nstate[joint_eff]: [-0.0889, -2.1265, 6.6667, 1.4676, -0.1734, -0.0611, -0.0073, -0.1026, -10.4821, 6.7487, 1.5897, 0.3346, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9661, 0.897, -0.7715, -0.2924, -0.173, 0.9965, 0.7643, 2.0796, 1.4826, -0.3946, 0.5556, 0.3996, 0.9947]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.194 left_yaw=0.1405 left_pitch=-0.2188 left_roll=0.1131 left_gripper=0.9965 right_x=0.4269 right_y=0.2851 right_z=0.0703 right_yaw=0.0593 right_pitch=-0.2213 right_roll=-0.1857 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.1538, 6.6803, 1.4579, -0.1832, -0.0659, -0.0073, -0.1162, -13.1077, 7.2137, 1.2039, 0.2271, -0.0024, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31cdc44cc8f9e644cb443692ed1199400afa691cff1c545f6e0e468c47cee337",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb595bb8e9609f27852ee8f77ab7a9d809bcc394d06f9a9542c1b0b86c1f336b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ea21f0d69de9fd8a0aee022582b5b46a97456831b316485d079262ab0c345a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFznehZS4YI6fhj4mWZ-BCJPAVAxPDcx3yxS1-3o0nCExYi5luKr-CEsmkcUThXhdGlLM4vbvvDBvmGaFhbOTLrPSNV4Z-Qeu83bGoNiSBPX8NPxVtdMKaao2F0c8rRpkjXINsaZAJCy8644aQ-M4n6NbFC-Ke05q9l7Q6P3NqVr3WOoJiy7NBpZdefHQ0d2y6JLjtKKpnclrIq3AekMv12-eqP18m6ApMsmeGQ_Lxdv-mhONJmqNIfgTAc9_WgeF674HMxNhurWpWlREoYt3TQ5sEO2gu1s1hFveXhs3wL_u9v2Yl02fD0hILvXI0k2B5_Wfv8QH5gXo6HMaNRqUNSyDbtkd8_f-S6ZOKuAtyNyI7LQtTnoWvZxj3OzJrEa00EMl5rAzN1lK39Vlf2bss3dqYSGkUEAvLVrATtwiVFWQmqlZhRxcpT_XZKnGChiu-5p1eArTT0-Mx8o-jhaWE7PFdQSFAirFPClug0w-9E834cGyS7HtD4dAxJ8V3PH01SWlGdLzJcSw4-nOSkYhoV6M2XfVmu1Z8I8Acb861RTs5kP7o3sMtpcj4no39IvG_8tT_xnclypqsv57bDsAUq5mL0uvR6UvM9GFD8ssj4HSqH76MmqOd9gMdYi2ToqkpHTCFsCgnJZ_FlHWilcyHSjAXXzeCccnQthWt4Ju_5iy4zkhIGhw7XMQAkpuiwV5iLS02SRU3y5wKOjaEHBN8tiQd9a2371SjgDCr-YEQLqQ-Rc9l8EridY9nv7v2Blhp-ttRgJfsUi-c9zPHnjvZpKtXZVXAicMII5HFptPkJLqKeRZK-WGQVpX88_RXZJ6rlOYp9U1swI5WlX2wlHSdevve87577Xf3kBATQjilmfXWGF5zuNgdYQ2NTcJhHvU0iOjZyBCkpLR2zRX8j4zaMGiKjFeP3GlUFeZebWiVZZ1ml0Ua6gyEM-rXO7XwfTVJh7F9E1az8HHBGmMeQh4kaMDgORY52pAGSpq6zqcvkBYJWPEEQ6lNmezOkyTLfUxa9FDcU4PvgmyklGbqC68JV6uNwYKfEhXfve8US8UL0GRJkSN1fX2vu_e-5bl4tnPIHv_EESQcogcAHJeCbvajKVWA6daXznLQMijDhrEkP2HQdqJRm5VvlWDDvspCXDg-mNSzs0VFh5JHBBab0vuM0Zk7I8PcBEvogq7AtNj6eWveZFiQuLdU8F7MqRJozVgXy4G8fCCnAfMebR-OPSpxwksFb1fJ7l9byHJ_2SF0n5tresB2KWfXJbnaDQ9GD-Z3gvA3B7Eow2wXvVmvASA7rQC6E1jS9RjUsHxWiw1nQsMHHq5jH-xhxZeuzZ8WbwGDHC4Q0U0I5N0I9N3fWfwvLtrObwY38igQ84Jz0G5ItC6QzQ_pIA1JHmRn867c-K4Gl345nJHdee2ZVD1ZoEKDjCDtiSo7oLKpzto_jCusSM8Cgbyez7mw20Qfe9dvK-ra8oeu0BBD843U8u0gwfkDndr4e7Fc7KopDjX7-hNthtfKp34-1pVOHXJjsAlIqiB4KoKQ3hMNxAo_qD6v8zZLZpr-5FPz0zIQQJBnnqo9qLzRhmrF4xrHp8_Fou8vRAwZlxdp2loODssCAa_p65ZuQOWS6lWDHiywxzM6_n51sX9Zt8xlQXx_fpl3hiFExCKAceDktUXACqBLWqbrb8gBfI1XLliM_h44WXyQ1QB-FSrPpAcYomtcsiH6rBHR5kDAsjyZb-UJx-L5VnnZ0-kcfSFFC_mZEBC33KUJ8EQLQ-nEVFCpjrKK28kcJs7kUzmRU7Zmy4K_N6KjsbTSRJ5gNyfXm5X4lkQn8b7jTxIGFXHTLug3faVuQynYstmpfJCFE3htHqpVGMIqltjSWHpnWXztG-wpeP6HUCCryoG-PI0i68t1kDUwfKIhbCm5_m32-_wT8md_xlI9vz6i_RcKgho2T72EDUN9ygHkRi_Fvxfb-gF6ZVJo2sVn5Tfg_qaQmA21B7NAn67pCKKClXXe97-AK3yNBobb14zfyb2v1GCx2pFydjKNFy0Kr2L2Fnl0g2ovAMwaB6xvVnZMrR70HKDeFrkxK6WM9t9q9s1kQIpha0NOIi9v4wHFs8di6OQIZti_nr0nmcO2TyjXrhjojhbE33XND2oS0LTLCDZOcISr7lZ2yKWCPltpK9CMS0UQgklyIiIRZSRmx4zNjDCDFqFdtJSB3hh5ZOIimF9j-c1VEgzxe4nQlSPCC3X5CN4DZQmu_Kdd3xTPUPbFVtRlHEsUO5yexRTHhFlUhSGWScKHEcvYFNUiurfZelNbYYnns05Ft6Ly-fQBEfQJZE7yQ1wMDV2E0krxoa_rudJCz8npw=",
  "id": "rs_0aa5aba580c34d20016ab45ce1474487d084e041c108ebd6eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.16,\"right_z\":0.18},\"note\":\"The brown plush has been released, and the yellow object remains on the table to the safe’s right. I’m lifting clear and moving toward the yellow object so the overhead view also reveals the placement.\"}",
  "call_id": "call_6JKUfTY5J8hdaXbc1Ws1lSsr",
  "id": "fc_0aa5aba580c34d20016ab45ce5af8087d08ed5e857a5b5862d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6JKUfTY5J8hdaXbc1Ws1lSsr",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9661, 0.897, -0.7723, -0.2924, -0.173, 0.9966, 0.4404, 1.9419, 1.6058, -0.6205, 0.3664, 0.1219, 0.9953]\nstate[eef_state]: left_x=0.2832 left_y=0.0013 left_z=0.1939 left_yaw=0.1409 left_pitch=-0.2195 left_roll=0.1134 left_gripper=0.9966 right_x=0.4798 right_y=0.1601 right_z=0.142 right_yaw=0.0382 right_pitch=-0.3048 right_roll=-0.2203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.0991, 6.6667, 1.4579, -0.1636, -0.022, -0.0073, -0.3214, -13.4359, 9.4154, 1.4579, 0.1636, -0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0ad9b62d1dc9d4cf43acdb6480b367a79b609970eaaf4dab636ccc41512175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139c59daee27baf0be7311911b96b9aa22815f9c895349ef16b55c376aa9232c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3702b1528732360d179ebc7590e10ff5ed6b3568fb703aa40f80c83d237f4cd",
      "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 · 4.616 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 66 changed as sent

message 70 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9646, 0.897, -0.7654, -0.2924, -0.173, 0.9965, 0.7658, 1.9278, 1.7195, -0.6903, 0.5735, 0.4103, 0.0494]\nstate[eef_state]: left_x=0.2843 left_y=0.001 left_z=0.1954 left_yaw=0.14 left_pitch=-0.2116 left_roll=0.1106 left_gripper=0.9965 right_x=0.4247 right_y=0.2804 right_z=0.1966 right_yaw=0.0534 right_pitch=-0.1402 right_roll=-0.1275 right_gripper=0.0494\nstate[joint_eff]: [-0.2256, -2.441, 6.6667, 1.5897, -0.1783, -0.0415, -0.0073, -0.6222, -10.7009, 7.788, 1.0476, 0.2613, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9661, 0.897, -0.7715, -0.2924, -0.173, 0.9965, 0.7643, 2.0796, 1.4826, -0.3946, 0.5556, 0.3996, 0.9947]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.194 left_yaw=0.1405 left_pitch=-0.2188 left_roll=0.1131 left_gripper=0.9965 right_x=0.4269 right_y=0.2851 right_z=0.0703 right_yaw=0.0593 right_pitch=-0.2213 right_roll=-0.1857 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.1538, 6.6803, 1.4579, -0.1832, -0.0659, -0.0073, -0.1162, -13.1077, 7.2137, 1.2039, 0.2271, -0.0024, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9661, 0.897, -0.7723, -0.2924, -0.173, 0.9966, 0.4404, 1.9419, 1.6058, -0.6205, 0.3664, 0.1219, 0.9953]\nstate[eef_state]: left_x=0.2832 left_y=0.0013 left_z=0.1939 left_yaw=0.1409 left_pitch=-0.2195 left_roll=0.1134 left_gripper=0.9966 right_x=0.4798 right_y=0.1601 right_z=0.142 right_yaw=0.0382 right_pitch=-0.3048 right_roll=-0.2203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.0991, 6.6667, 1.4579, -0.1636, -0.022, -0.0073, -0.3214, -13.4359, 9.4154, 1.4579, 0.1636, -0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0ad9b62d1dc9d4cf43acdb6480b367a79b609970eaaf4dab636ccc41512175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139c59daee27baf0be7311911b96b9aa22815f9c895349ef16b55c376aa9232c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3702b1528732360d179ebc7590e10ff5ed6b3568fb703aa40f80c83d237f4cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFztNa25gQn-OIML0acFi7XlKOpbA5PS6opeGbFGfzrgdNVKqaijHMC7_Nps44B8w_T3RmIXNlcT5Rh3GWxR_TDYBpVvYw27mllISdJGazqyu56Z9qW08zXjw2U77uR_uPeR6SDIe3vQYaBjPPr09fBJJkq18BnuYvqKu8oMGQpGy4WtFBxSs0BtxScGFh-6Ydqjs-KeV6LeXaWKc5U2OWB-S5TGNIdymhe_r9ZIhO-dysnggZ6vYJ5VYtzinXfeG5Ajjwfh_UIkYZFxp-AIP2xYr7Uc0G874hXBvjR4UDyTtg_5byVS4efLXLCv9gWnuJQVvXaqQcijfqAK0PmTD9dAbUY_GoCrkqGyrtt7hKslf6GEHuyehxR_dInUD5ok-pivwQIGTuY1OyDgZG6In-YtJNLj4x-ykfokVppTkHphIyPpd6lUbVasJGdv-75et2FvS8ZM788WFIHpC3bUS0pdpI2LYx9PjSIxFRY0R1Aj6Dp6bkqhqd4XSOTski6t-aoASsM2sOIG3DskcKp4H8jJrB4onrZBPnfYgKT6nG7y6wb3sM8tcxAwjIspESAe2VKcCch3_8j_2OiN-z7_GZCAjqXyMouMCDsjXXkYwZ4nPRRP9Z4vzKBb9pwn9ze7eiHu8ZxTvwxtePSa04jflkNDlJG3HdVJuu_K1H2l1aYg8nzSJNAxsf6e5r_LBYIm3gqww0luvgCYOKaWtFeFHdGvrARQ6ucfotWMdvqNL1LKoDBuNevKGWBEC7_4iCIONFcrgoe7qszU4sioNpyqYLHwAakI9e3N0F1naoup8oa2zJBwOCeMIVqiDvBR7hvg6yD_sfRpNtE2PNX3hFHlNhIGHygoOX7-uJvPsePAu1tAeefLD6hDf4t7HukD7RJGXwEKdUSRscHcc30N7-rZfGaf83_9iOgFZwdTHdsKI7qscB-OHFRCqIgzDCPwTKEuoPCly9Cih63K3sGafaJxkReAq9phdzWV3OqOXJppG33GDBVVZR-HYGHMaa2jrDTDftQ2fjUuj4Jkx7KxqEM3lKh2BwGk7IbGKeia9i4vD2R8vAQEffFTGVp8noOB7BZNNuye-nEOMBcYTiDOcMcxSHEl5jlZdAuxYdPDd8X1LPahTV4d72XYheojug3ZdVRnyMFdYsxO0kgKr7w-EPRfyEeCULEyIrr9UIGjRXHwCzOUvdpWoXjNRa7eN-dVIqsVdusphyipy6HCevXAhsfXrFHPCYPGq19BojV2TvOZkRvkz8vGyKlkAim1_FTvCSGXrDid-pvCbmYAQmHS6GNKuX-GZpw78rm1oVJU9IuLHVCqEPArrlUIawkbuwaoHlNX-fjgW9CWxlL-VAq2KwPPHznkNyN-586I8RmHXLMVnoJ0ANI0QVT69B9rBcHkyYGmXWK1mK-feE88dKfKWsKunDwxDzEeVI4gO0BXAdaMEsKib23ndXfTtIit61JTAfGWU5Eb_oaEw2pxmP1ufLN9j6JMEPY4cy7gC1bvD4F4Z7uATQLzvW3P3H4hNAdHjAlnC3WXR5LptRiyCJyI2W1D2fogoQUeRNIBHoLlLIVLWVogu_GRBbcyD-BaPLutckAl4KQatIY2zj2_VAa5Np_roMRrJnS4AbJ-nILFZ54n1F4XZSdul70g5-XmgpQLJgWOKf_-J3BVopKDnaIRptQDrIeFiZC4irfhX4Ewdp3oTHILqUO2uefYPWv86oAHslRUNrDTUX6GQN-tC51DhP5exIbGDQ1VadQhg8HgKZVfKzEOzyh4P7qFuX1HeqyjdCM7L6GEY8a6tcwBeq8ep6-BPO4pyICQp0GD83-BFVSJxrGMBj0wJ-75Fu5OaAd1vomLNDjUTfP2v9JA3VbchlkelYu8SPdPmGu5jAZrozwamVoSXwkY30WFv7fGbHxGkwhvk6Us85njwCbV9uu1tUvq20IMHi4J-2G_kzfOCQKc8xPy40jjSbNMOjE9UUsZhvLgeaq_FPuuuNRs_yaXTh08o3oAmR8faV7rn4QSjUode18VRLjg1E88tp6RV04htYqTYHSJpsihVzNOxbf__hlUMhGLbu00VJealfe4KIknvol49n4SUq9x_AGXf5RK_EtILX4jJAu7JHXurqgOvyw1GptuBmm761lZTBEaA_qH4g5391hEYPdzLcIH5meaeQcZ3T3OYaZTqdohjMUjCsMtx8qhXw==",
  "id": "rs_0aa5aba580c34d20016ab45ce977a487d0a6941451a03d7313",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.16,\"right_z\":0.025,\"right_pitch\":0.35,\"right_roll\":0.1},\"note\":\"The yellow object is centered below the right gripper; the brown plush is partly draped over the safe’s front rim and will need tucking in afterward. I’m lowering toward the yellow object with a forward tool tilt to reach it cleanly.\"}",
  "call_id": "call_v2NyMyzXWAEqWB4fwiuf6uND",
  "id": "fc_0aa5aba580c34d20016ab45cecaa6487d090e1cad7f8d9ac6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v2NyMyzXWAEqWB4fwiuf6uND",
  "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]: [-0.1894, 0.9668, 0.8967, -0.7876, -0.2924, -0.173, 0.9966, 0.3882, 2.2543, 0.96, 1.0485, 0.2859, 0.1314, 0.9954]\nstate[eef_state]: left_x=0.2806 left_y=0.0017 left_z=0.1912 left_yaw=0.1418 left_pitch=-0.235 left_roll=0.1188 left_gripper=0.9966 right_x=0.521 right_y=0.1631 right_z=0.0393 right_yaw=0.0448 right_pitch=0.3449 right_roll=0.0845 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.1538, 6.7897, 1.5409, -0.1441, -0.0366, -0.0073, -0.6906, -7.4462, 4.5607, 1.2625, -0.0708, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec643379ec2cc24dad8c3ae6a2f2e5a80862e966a94e58efeea3920ca37eed2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd9d075ff87e9f75c1162be3c561fb15891d09458bd72d30307c00170593365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497817f2f8601ef154db94368200939e94bee4d1c1c8f584a5c0741e126da43f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 5.325 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 70 changed as sent

message 74 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9653, 0.897, -0.7685, -0.2924, -0.173, 0.9965, 0.7643, 2.0602, 1.4944, -0.3908, 0.5598, 0.4068, 0.0494]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1947 left_yaw=0.1406 left_pitch=-0.2152 left_roll=0.1119 left_gripper=0.9965 right_x=0.4304 right_y=0.2876 right_z=0.0849 right_yaw=0.0571 right_pitch=-0.1916 right_roll=-0.1599 right_gripper=0.0494\nstate[joint_eff]: [-0.0889, -2.1265, 6.6667, 1.4676, -0.1734, -0.0611, -0.0073, -0.1026, -10.4821, 6.7487, 1.5897, 0.3346, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9661, 0.897, -0.7723, -0.2924, -0.173, 0.9966, 0.4404, 1.9419, 1.6058, -0.6205, 0.3664, 0.1219, 0.9953]\nstate[eef_state]: left_x=0.2832 left_y=0.0013 left_z=0.1939 left_yaw=0.1409 left_pitch=-0.2195 left_roll=0.1134 left_gripper=0.9966 right_x=0.4798 right_y=0.1601 right_z=0.142 right_yaw=0.0382 right_pitch=-0.3048 right_roll=-0.2203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.0991, 6.6667, 1.4579, -0.1636, -0.022, -0.0073, -0.3214, -13.4359, 9.4154, 1.4579, 0.1636, -0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.7876, -0.2924, -0.173, 0.9966, 0.3882, 2.2543, 0.96, 1.0485, 0.2859, 0.1314, 0.9954]\nstate[eef_state]: left_x=0.2806 left_y=0.0017 left_z=0.1912 left_yaw=0.1418 left_pitch=-0.235 left_roll=0.1188 left_gripper=0.9966 right_x=0.521 right_y=0.1631 right_z=0.0393 right_yaw=0.0448 right_pitch=0.3449 right_roll=0.0845 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.1538, 6.7897, 1.5409, -0.1441, -0.0366, -0.0073, -0.6906, -7.4462, 4.5607, 1.2625, -0.0708, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec643379ec2cc24dad8c3ae6a2f2e5a80862e966a94e58efeea3920ca37eed2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd9d075ff87e9f75c1162be3c561fb15891d09458bd72d30307c00170593365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497817f2f8601ef154db94368200939e94bee4d1c1c8f584a5c0741e126da43f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFz03Z7wsNPD85VdPhJ0_mH9djZT60zQ6YkQ_ZZOGNu0SkG0VJWDTBTPJR4tkbpiJNTDOyX28R8YgUhVqTABj5UY_FgJQ2kP5K4jh30k2wgOWnSPMjnN64mCXAxaQ8BjyxSNwmbi7Dv-MmfYSDntqyzY6qainUZs7KDzubXszylmoucyNODIarQRORL3-qpTXhzFPpS8yZiDjQsmMwn5ZDgLfabtMfHviX5tBuS1VT1AivQBrP0vRbWVQ2ZBzTlDTNPgb20W-gDsBrGqDmN_XyDZAFuJFKv9nRgwBkiDPbIexmYyzlEG8l106qNdUvDsz7kR2Z524ZY8nLtCIyM0n5BpN4nrCBhe2fVT9MGR9ITlwSwUtD0OV2nd0ihRzb5hlVgfwH-WFRmIfZuT4RF65zyLfaY8DMmdXEWBQk-YbIDpU8CNHRJmFAWamr9kaei8w0XEbqAojxmArJWMvcpxYdAkgiipV7-8OtQ17SQuzTnCkdB_7NMXomnv7O-NLkGHU9n82uYl6IwD8wlTo_kc-V-_64qiiTZDiEaA_F8AF7OP7RtVXGDICllVwC65dH5MkPJD9hTLk5s62VoP8uRoV5_2QBoA749XrDtVnoEkpz7myJXVPXSEgMiZt4xd4yq4WA9FemE58-KZSH_YR8TeAXk-NI7yNCniFJHsybhcnlQcB7GGKMvXfqyMWZsSDgF2LdXL_fAWM6bsTm6zJIAyYmXqoLqylv7VNrPmGm9ttEmYOTgBEpagVO6I0dQuXua8_qIINedUySEobB-CXKc-MWhNSQCThE_hyujuhtEWWbGCeXYwVLk3z_3rPVYi0x1bgp2vq6c0lCr0mQi5Y7E0jHSEAs5pHOIIa_FWIXGOn2lnx_My073SwTm0NlT4Ryy2UFOA4f0EQ98D_TJk1Fs3fDJfHMRnmBrX2ctIiMWy7XlH4D12Gf4k2WX7h-Ue31qmqSDGBy7kN8YI6pY4ctaQbocRKhrQ2oUBj9YKsZ48XPJCP5pC05_Ce9debMdIT26PcM-sip_u_jwXFo-4gvmnoedkMbbFmNoSPXf_Tc7opLLImCoe7PBUg4wK2FBGCI8o_BFfL6KHCXsTEIY8zDuqEFJYcQ84AytPkf2fKmCPSySSK1Y8aHabJ8ANJwPHtVeqGw_olaFUEnMwNr4RhQQgSAUhV0UeJTJlYHhCq_vIRczL0jb6iTKR-E7B6gtwB3dEhqShfgGYrtTpoC6EW4ZM7hKocaPTNkdvI4GIs9UZgfTrFuPB3chIWteukPtAde42tw5iDYetcPrxsU-UAxzKYxbFAkPNKDwL723132uwI2I7jQdk9tTaSjoVFvEtx2amv_TjHEnynoKTK85HgUqwZXzLk9NWjWzuehx0gN7oHOiNCF_N6AsJA8kvk3jQl02bA08wzN9S4OzQ7VY-WsD5TAyi04CYgR4GYRfDERW6-Ayhu1ToB4MLjjq31d59NRqCzrrLAtAQbPcYQqo5zNR9aThUH5hJtQNUuN4oTEZqH_7nRHTe-86BDL8UhHOeEsPFUyyPwjXYw-KSS7RN7NYM5X6TkVPAblyXop4-TAFWhEZ-j35ZkEUieKpYQfXaSrXhWCfOLypNQroFnvVjc6SZl6fVkz-B_A_o04QErEivwVrk25Q8iUMmQnquwwS62ELkw1FjYu4oChDggF9MYwa7AwfyvacBf9fgino4Csh8tpN2bTQ8ePLMoDN2Tnm7AJk4Jdd-vYGua59wF_cFurEjrKgIH8XAuVDbYfPQZAPv5lX3d47PsmWYl5NdUKZJVqGjVO1e",
  "id": "rs_0aa5aba580c34d20016ab45cf16b9087d0840d579644483ebd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.145,\"right_z\":0.005,\"right_gripper\":0.38},\"note\":\"The tilt placed the fingertips slightly beyond the yellow object, which is visible at the bottom-right of the wrist view. I’m correcting back and right while narrowing the jaws gently around it.\"}",
  "call_id": "call_EP4GWrnDGExfgPbVx6DY4RTV",
  "id": "fc_0aa5aba580c34d20016ab45cf3867487d091971323f703e8c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EP4GWrnDGExfgPbVx6DY4RTV",
  "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]: [-0.189, 0.9668, 0.8967, -0.794, -0.2924, -0.173, 0.997, 0.3782, 2.2822, 0.8639, 1.2999, 0.2611, 0.1356, 0.3848]\nstate[eef_state]: left_x=0.2794 left_y=0.002 left_z=0.1901 left_yaw=0.1427 left_pitch=-0.2412 left_roll=0.121 left_gripper=0.997 right_x=0.5064 right_y=0.156 right_z=0.0507 right_yaw=0.0367 right_pitch=0.4632 right_roll=0.1401 right_gripper=0.3848\nstate[joint_eff]: [-0.0479, -1.9624, 6.7897, 1.5556, -0.1636, -0.0513, 0.0269, -0.5675, -6.3248, 2.2085, 0.8376, 0.0513, -0.1245, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbe9413aedbe080c5af6161f75ce31002fc6253c4467a197efc069a333de4bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5933df3fbfc52c8ad6f6780709111298a520d93f718d0a5d49b47fbf648909f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29e508910996fa050132e83948ecb5f6f5dba7d679f25ead36fa11a4179046f",
      "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 21 attempt 0 · /responses · status 200 · 4.994 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9661, 0.897, -0.7715, -0.2924, -0.173, 0.9965, 0.7643, 2.0796, 1.4826, -0.3946, 0.5556, 0.3996, 0.9947]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.194 left_yaw=0.1405 left_pitch=-0.2188 left_roll=0.1131 left_gripper=0.9965 right_x=0.4269 right_y=0.2851 right_z=0.0703 right_yaw=0.0593 right_pitch=-0.2213 right_roll=-0.1857 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.1538, 6.6803, 1.4579, -0.1832, -0.0659, -0.0073, -0.1162, -13.1077, 7.2137, 1.2039, 0.2271, -0.0024, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.7876, -0.2924, -0.173, 0.9966, 0.3882, 2.2543, 0.96, 1.0485, 0.2859, 0.1314, 0.9954]\nstate[eef_state]: left_x=0.2806 left_y=0.0017 left_z=0.1912 left_yaw=0.1418 left_pitch=-0.235 left_roll=0.1188 left_gripper=0.9966 right_x=0.521 right_y=0.1631 right_z=0.0393 right_yaw=0.0448 right_pitch=0.3449 right_roll=0.0845 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.1538, 6.7897, 1.5409, -0.1441, -0.0366, -0.0073, -0.6906, -7.4462, 4.5607, 1.2625, -0.0708, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9668, 0.8967, -0.794, -0.2924, -0.173, 0.997, 0.3782, 2.2822, 0.8639, 1.2999, 0.2611, 0.1356, 0.3848]\nstate[eef_state]: left_x=0.2794 left_y=0.002 left_z=0.1901 left_yaw=0.1427 left_pitch=-0.2412 left_roll=0.121 left_gripper=0.997 right_x=0.5064 right_y=0.156 right_z=0.0507 right_yaw=0.0367 right_pitch=0.4632 right_roll=0.1401 right_gripper=0.3848\nstate[joint_eff]: [-0.0479, -1.9624, 6.7897, 1.5556, -0.1636, -0.0513, 0.0269, -0.5675, -6.3248, 2.2085, 0.8376, 0.0513, -0.1245, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbe9413aedbe080c5af6161f75ce31002fc6253c4467a197efc069a333de4bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5933df3fbfc52c8ad6f6780709111298a520d93f718d0a5d49b47fbf648909f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29e508910996fa050132e83948ecb5f6f5dba7d679f25ead36fa11a4179046f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFz6XecU8qH-oeT4OfZ23IXoZwB_84yY2Zp74IlPrP1NV42kUeU79RlnchLuABbl8TUhU_zlSfNNQ0KrqxfDTsidhEH7ngs2mELZDnfLQ4D21v6gzSoxqFNSzu6sSVkusS-GsaLeOImngu4Ow3ZFZ46_vZCW08f5j8W9QPPbNBQx5Hs-fDpJSiQm8wHZ2mEGiJyCaysAdMLF3f_C9wgdpkDaGkGcNJ7Q3X6oqwNzF9_zoas-FCC_nbq3gQPO6pgIQYzPp9OtChyZQYJsBIimb9x7Xlz-yWKTcsVez9GDmF1uw0nK6sfQ8kilFiaCgkzIvfARPzOmhP9eeGLavroMmmHIV93BRwKf54jCe2xblQE4p3fYTDVLpElfvwttFnf5Hc-DZbpAKS0n1RmrQ7vnee7iLXt9jmCcAmtTxtAIEWXBDa7BWgHdflVNZYTNtv0DOJuLLoyct7rZdjGpkzkNpQQcCJqww18Acu-hlCIPUIHCs68dn34izKUU3gwNT6muwkzeJSWnlwSoFM2_3V396oHbaYqnOG1yOyR9cEq5gF0pNCirKiMzcWha5yfqRfJaz_wKb3I-U1BbX4AwNpg8tcyMrQoWSzSkcdbuAQE_tNJl5SZBkHBuWKFXuimpmy6ygelTotifvOts038rnmqC6IUJHPpmjbGF1TxkJb_a6uGPrXjag1cnHKTErWghOA0C60ubm2hSvZJSJBsCia4P_ciT0K-iCx3LlxBbBkLgxpCRQmbFkZBydXhaEMXaFPTLjZrF3xEIrtps1kLycNXMfateu0gVwIMhvLW8TKqXMUfCkC_NX-S9gJhXQMp0SwFEAYnKzT8U44oXdSSDFM461COsTcLN9dunL-HgV9FxdFAsuAEdEUa2CNpVDHdo_T9f9gADdDnNo4kIAVuuunDn2-wiDJEk1cuGLW0TlJV4Dexyn7REa_HbAdB-PVQmyQNhTqgzfuGWUu89Grjen-X-nzMnNP6kjgj4d59hidDHvH-ZiZTMw-W5ZdTzbht_OPyHGeypd3ivxAh4a_II83nPv8Gf6FsgOcqkw3frdZFxTSMATYXL8uiBUvQDUO-Xj23Lzfl5hFyfItUe_X-vjk50CK8EDRbFbqWD-MW8q37Rrl7Xxcq5LMiXYzWmXxqbTMs8tADQ5aXHDCxBFuaLjP5DW0SIRHZiFRr0QTuKMvfCRiF75Qi7lobK9iaQsr4c9pR-Gdzbc5SinL8K_N0SXwGpPy0gA9aUT2jUFt0Cg-spwItNw821tz8S_1BXZzWfC27y00dU5yhfj5oeMiwljsE9mXCDMBjvQEJA6DvuoLVDarVD4B-Lr8o4pUzCUHU2zNVp2jkwtREm-bpU035clvsfoliNOCJ2fN6Ua1MKul3knQTKU8p_v06lr16xqyrlESyHRDZGaMKxRw2etjQ_w70x5hwsVYWlG1f3R9OCCaRug1gXDZuEY3D-XfBy6K-Uh9UO11j7Sc5Ys01c0btpPn1a6k9AtkU_8tHixPINu_SWTCZtJrx8Zv4kzGzLU_Kdm9i3MRQHDrfgPxLRm1Qw0qTIA6Uwid1HdlrMej5EcszsOFeX84IOjAsqpHn4awkbnRTgcXqyg8QHwzphGzkYEzuHOX1jRnGLEE13GP80cM_e8DahqOsZJOehlw3enC74y57bhx0TYn6qu4kXqc_NZ78lrb1cfU4Zsn6QRE_Sx4LpLX4dN45ryPeBJNbcIuagi-ffnwSnCuH07hQXrW6fGnNW55t79hjURBaKga-V1KgiKcy8TqI-evaMX5TOjf9pNWUBm6Ugb65WYe8_hZ_HmFeFDY9TOAtEDU_vJtAIH0m3RfLACNU=",
  "id": "rs_0aa5aba580c34d20016ab45cf6c86487d08bdc48e8d8b2edc3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.145,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.8},\"note\":\"The arm stopped above the requested height and the yellow object remains just beneath the fingers, so I’m not forcing the descent. I’m straightening the tool and reopening for a more vertical grasp slightly closer to the base.\"}",
  "call_id": "call_01Ys7cujd6Fy33DwJio7YAe9",
  "id": "fc_0aa5aba580c34d20016ab45cf90ea487d090e59e97ac455f00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_01Ys7cujd6Fy33DwJio7YAe9",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.8093, -0.2924, -0.173, 0.9971, 0.3782, 2.0449, 0.9485, 0.5613, 0.2909, 0.1688, 0.7978]\nstate[eef_state]: left_x=0.2767 left_y=0.0025 left_z=0.1878 left_yaw=0.1436 left_pitch=-0.2556 left_roll=0.1261 left_gripper=0.9971 right_x=0.4931 right_y=0.1453 right_z=0.0345 right_yaw=0.0303 right_pitch=0.0722 right_roll=0.0185 right_gripper=0.7978\nstate[joint_eff]: [0.0068, -2.0581, 6.6256, 1.5165, -0.2076, -0.0317, -0.0073, 0.0068, -11.0427, 6.2017, 1.3065, -0.0269, -0.0317, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e33e07f93317a1b87b61efed38128fd9c7e38f81fb44e4aac7707a0816dcda1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22b629cb9aea6509ee21a0807cf8bf76e3ac602ef06ba9eaac602f326ff157c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723b0d5d0cd41b5ea9b2ee6441aa7a4a2d75267c97f2ce3bd8cffce2f9721ce8",
      "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 · 2.148 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9661, 0.897, -0.7723, -0.2924, -0.173, 0.9966, 0.4404, 1.9419, 1.6058, -0.6205, 0.3664, 0.1219, 0.9953]\nstate[eef_state]: left_x=0.2832 left_y=0.0013 left_z=0.1939 left_yaw=0.1409 left_pitch=-0.2195 left_roll=0.1134 left_gripper=0.9966 right_x=0.4798 right_y=0.1601 right_z=0.142 right_yaw=0.0382 right_pitch=-0.3048 right_roll=-0.2203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.0991, 6.6667, 1.4579, -0.1636, -0.022, -0.0073, -0.3214, -13.4359, 9.4154, 1.4579, 0.1636, -0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9668, 0.8967, -0.794, -0.2924, -0.173, 0.997, 0.3782, 2.2822, 0.8639, 1.2999, 0.2611, 0.1356, 0.3848]\nstate[eef_state]: left_x=0.2794 left_y=0.002 left_z=0.1901 left_yaw=0.1427 left_pitch=-0.2412 left_roll=0.121 left_gripper=0.997 right_x=0.5064 right_y=0.156 right_z=0.0507 right_yaw=0.0367 right_pitch=0.4632 right_roll=0.1401 right_gripper=0.3848\nstate[joint_eff]: [-0.0479, -1.9624, 6.7897, 1.5556, -0.1636, -0.0513, 0.0269, -0.5675, -6.3248, 2.2085, 0.8376, 0.0513, -0.1245, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.8093, -0.2924, -0.173, 0.9971, 0.3782, 2.0449, 0.9485, 0.5613, 0.2909, 0.1688, 0.7978]\nstate[eef_state]: left_x=0.2767 left_y=0.0025 left_z=0.1878 left_yaw=0.1436 left_pitch=-0.2556 left_roll=0.1261 left_gripper=0.9971 right_x=0.4931 right_y=0.1453 right_z=0.0345 right_yaw=0.0303 right_pitch=0.0722 right_roll=0.0185 right_gripper=0.7978\nstate[joint_eff]: [0.0068, -2.0581, 6.6256, 1.5165, -0.2076, -0.0317, -0.0073, 0.0068, -11.0427, 6.2017, 1.3065, -0.0269, -0.0317, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e33e07f93317a1b87b61efed38128fd9c7e38f81fb44e4aac7707a0816dcda1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22b629cb9aea6509ee21a0807cf8bf76e3ac602ef06ba9eaac602f326ff157c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723b0d5d0cd41b5ea9b2ee6441aa7a4a2d75267c97f2ce3bd8cffce2f9721ce8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0Bu70k0aIBXq7FHRR_hzbfNZqlNLPgzPsMuNQVwSiGJGjNYXn2ZWgDR0G3nGrnFSjHMQ9Jc4zEsO-aGHdA7TPBXSQkA1Qcfy0qKOomGTCWuk7IT86wA4Yg3zFnz6D3FiSsJV_qJPbZtPzZgmlD_7N3v1fkDjsfG9Q0qeMxoEQpC0TlK5H9T4FYhAJbWp0i7EHQmWAuXtEvDJ8SB6lu_byXk8U-pZ2DX8rOTLd7MNwkz_ry_bzr8wTwiPQGKe2eFt6ZhY4QZlA7iVUdmmiukJuakI1zvxe1Tc_ooDVQb7hf7sc56F-azuys8qf1mMPEZJZ2bk4jB3kS59FWxzMMx3r00jwVm00ke2PNuYCExVZMll69gNbtuQ38juKR0D7WXQTimj_uvYZJwkEKuly4BwNctMNobo82d5EENBqMCW6tpEeulFaiukHvlHCZfG9ONRVT4r4fKwWyK5R2Ilrh3iYQAWdjQRSoXrJt3gQCxXG1zi_2cvZPZ_w5WGucsfNQt0PU_IRNVQWGGCxwSVUzZ8s428bAyd3g4T1ZAqVwIefK8AC8yLCja4C59QCTlpUc-Y47dvs7Vnrqf_pV19mKE3rySwP1Vii8Q0Grq3Nf_rm4Il6V0fmKeedP-vyzAQPi0m67yDf4toQh3DYfBJq0z9wDHXksfbKcm0ox_10obFbUd474MH8_9hSRcqSgCtWrusw9ry_F-YpeA3FEp3dkZV2ULrEdOIkykzF5JvSuclg3g1-9qKiYM762ASc-994w5FC468vfTaIJMaBN0UzxHihV60rdES-ZhjuF2rhF4zE1vMOTElcetQoeKLKPbzsobs4YR3NHa-y89b9hK1c5jGRDa-SNEsM1iyQ_W_QLOSv9P3qXQ31lsHiZZ40luNBnaIP1mgbagfUcwtoB89UlTeZnGKXk3-M411YYrZSal2ZvrRNTe4BHJ3bEeFPFZdgXK2_neE2Wsg6lQwQ5WencZWVowtVSrhcNjiCrDZLYRkPbuE1geu5nqyvtuCUF_gFNA6XTJBCSASMBcbt2LvrN6JSkZiKWgX-x9eyv7TTRFaUQpXG5N8yMegxYb3ZqiddScYBzYFowp1eFqIQK42_0xRCq3sYtlF0WGksEfw2mj_hyARWURez11L1l83rtHN2iezpm-8P3Ii96DlKGhsImwg-Ei_-2Xtw2djdfalJ-D2T57sPcTT7rVWypexQKF4vZ9aANZFK4Gk2R-HCAf6QWCKkNLKk19Mzlp2now4jGBDMY7hVMOBaXyw-wTGd6Cppuaz8OLY3GQx-TIQPn7z_zYkrgFxpCLt1JPHT8xH281XssE1pBrvxrMGeNUClWq2nyvMeUF9W0W2aUGUk495oY2xj6DCxzMl_1S-iLt9FJkB36mCNm3L9uccJZKU2IBD-XR1BOO7fpf6ULD0Q82dhCmgr0JymXPS2IMXnOyhUvT1bL39pbO2Jm-lg8Y5FcMWFjBRgtqlHfViIm6SJ2YC_T9k6Wxw==",
  "id": "rs_0aa5aba580c34d20016ab45cfec90487d09437897ba5f4bc26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.16,\"right_z\":0.012,\"right_gripper\":0},\"note\":\"The yellow object now lies between the fingers, slightly left of the jaw center. I’m making a small centering adjustment and closing around its thicker middle.\"}",
  "call_id": "call_pvCSW8sOAx1uUYHb4yJhjarf",
  "id": "fc_0aa5aba580c34d20016ab45d00285087d0861c8f4307c25b44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pvCSW8sOAx1uUYHb4yJhjarf",
  "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]: [-0.189, 0.9714, 0.8963, -0.8165, -0.2924, -0.173, 0.9971, 0.4011, 2.0964, 0.9615, 0.651, 0.3218, 0.1768, 0.4258]\nstate[eef_state]: left_x=0.2756 left_y=0.0028 left_z=0.1854 left_yaw=0.145 left_pitch=-0.2671 left_roll=0.1303 left_gripper=0.9971 right_x=0.4999 right_y=0.1552 right_z=0.0332 right_yaw=0.0214 right_pitch=0.1252 right_roll=0.0297 right_gripper=0.4258\nstate[joint_eff]: [-0.1026, -2.2085, 6.6667, 1.4628, -0.2076, -0.0513, -0.0171, 1.1009, -7.2274, 6.1333, 1.4432, 0.0806, 0.1001, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4381bbd9c0bc51574c34c9b424fa6dbb34b7f0adc7152b66d8172ee38c106d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e00a738444c148f6f42055ffcd66883ce1ab8778957505731a2e9cd19a5786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d0f5e844b90f96dd3c92c4b1a0fa41abca841cac7a9690c099a28d5ea612c9",
      "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 · 5.143 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.7876, -0.2924, -0.173, 0.9966, 0.3882, 2.2543, 0.96, 1.0485, 0.2859, 0.1314, 0.9954]\nstate[eef_state]: left_x=0.2806 left_y=0.0017 left_z=0.1912 left_yaw=0.1418 left_pitch=-0.235 left_roll=0.1188 left_gripper=0.9966 right_x=0.521 right_y=0.1631 right_z=0.0393 right_yaw=0.0448 right_pitch=0.3449 right_roll=0.0845 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.1538, 6.7897, 1.5409, -0.1441, -0.0366, -0.0073, -0.6906, -7.4462, 4.5607, 1.2625, -0.0708, 0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.8093, -0.2924, -0.173, 0.9971, 0.3782, 2.0449, 0.9485, 0.5613, 0.2909, 0.1688, 0.7978]\nstate[eef_state]: left_x=0.2767 left_y=0.0025 left_z=0.1878 left_yaw=0.1436 left_pitch=-0.2556 left_roll=0.1261 left_gripper=0.9971 right_x=0.4931 right_y=0.1453 right_z=0.0345 right_yaw=0.0303 right_pitch=0.0722 right_roll=0.0185 right_gripper=0.7978\nstate[joint_eff]: [0.0068, -2.0581, 6.6256, 1.5165, -0.2076, -0.0317, -0.0073, 0.0068, -11.0427, 6.2017, 1.3065, -0.0269, -0.0317, -0.0904]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9714, 0.8963, -0.8165, -0.2924, -0.173, 0.9971, 0.4011, 2.0964, 0.9615, 0.651, 0.3218, 0.1768, 0.4258]\nstate[eef_state]: left_x=0.2756 left_y=0.0028 left_z=0.1854 left_yaw=0.145 left_pitch=-0.2671 left_roll=0.1303 left_gripper=0.9971 right_x=0.4999 right_y=0.1552 right_z=0.0332 right_yaw=0.0214 right_pitch=0.1252 right_roll=0.0297 right_gripper=0.4258\nstate[joint_eff]: [-0.1026, -2.2085, 6.6667, 1.4628, -0.2076, -0.0513, -0.0171, 1.1009, -7.2274, 6.1333, 1.4432, 0.0806, 0.1001, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4381bbd9c0bc51574c34c9b424fa6dbb34b7f0adc7152b66d8172ee38c106d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e00a738444c148f6f42055ffcd66883ce1ab8778957505731a2e9cd19a5786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d0f5e844b90f96dd3c92c4b1a0fa41abca841cac7a9690c099a28d5ea612c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The jaws retain about four centimeters of opening around the yellow object. I’m lifting it briefly to confirm the grasp before transferring it into the safe.\"}",
  "call_id": "call_t4vGqJOBqJ08a6AGH12CYjll",
  "id": "fc_0aa5aba580c34d20016ab45d03522887d08fdf8cac7b8472c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t4vGqJOBqJ08a6AGH12CYjll",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9733, 0.8963, -0.8204, -0.292, -0.173, 0.9971, 0.4046, 1.9297, 1.0111, 0.392, 0.3164, 0.1753, 0.4301]\nstate[eef_state]: left_x=0.275 left_y=0.0027 left_z=0.1843 left_yaw=0.1448 left_pitch=-0.2726 left_roll=0.1319 left_gripper=0.9971 right_x=0.4936 right_y=0.1555 right_z=0.0815 right_yaw=0.0317 right_pitch=0.0845 right_roll=0.015 right_gripper=0.4301\nstate[joint_eff]: [-0.0342, -1.9214, 6.7761, 1.409, -0.1978, -0.0513, -0.0122, -0.335, -11.7949, 8.5128, 2.0586, 0.1392, -0.0024, 0.9304]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5169a0ba8f52efb05da894a78ea56c67812fea56d39e8bf3258092bf05b9205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79071ffccbb3444d4bba5a4dcfd543ab58d8f9a5f1516337a62b3a283ea3170d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60f8a2b18728b9d0bd1cea3f46f5b86ac8d358eb24b0ca1b38cb351fce25158",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.339 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 89 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9668, 0.8967, -0.794, -0.2924, -0.173, 0.997, 0.3782, 2.2822, 0.8639, 1.2999, 0.2611, 0.1356, 0.3848]\nstate[eef_state]: left_x=0.2794 left_y=0.002 left_z=0.1901 left_yaw=0.1427 left_pitch=-0.2412 left_roll=0.121 left_gripper=0.997 right_x=0.5064 right_y=0.156 right_z=0.0507 right_yaw=0.0367 right_pitch=0.4632 right_roll=0.1401 right_gripper=0.3848\nstate[joint_eff]: [-0.0479, -1.9624, 6.7897, 1.5556, -0.1636, -0.0513, 0.0269, -0.5675, -6.3248, 2.2085, 0.8376, 0.0513, -0.1245, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9714, 0.8963, -0.8165, -0.2924, -0.173, 0.9971, 0.4011, 2.0964, 0.9615, 0.651, 0.3218, 0.1768, 0.4258]\nstate[eef_state]: left_x=0.2756 left_y=0.0028 left_z=0.1854 left_yaw=0.145 left_pitch=-0.2671 left_roll=0.1303 left_gripper=0.9971 right_x=0.4999 right_y=0.1552 right_z=0.0332 right_yaw=0.0214 right_pitch=0.1252 right_roll=0.0297 right_gripper=0.4258\nstate[joint_eff]: [-0.1026, -2.2085, 6.6667, 1.4628, -0.2076, -0.0513, -0.0171, 1.1009, -7.2274, 6.1333, 1.4432, 0.0806, 0.1001, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9733, 0.8963, -0.8204, -0.292, -0.173, 0.9971, 0.4046, 1.9297, 1.0111, 0.392, 0.3164, 0.1753, 0.4301]\nstate[eef_state]: left_x=0.275 left_y=0.0027 left_z=0.1843 left_yaw=0.1448 left_pitch=-0.2726 left_roll=0.1319 left_gripper=0.9971 right_x=0.4936 right_y=0.1555 right_z=0.0815 right_yaw=0.0317 right_pitch=0.0845 right_roll=0.015 right_gripper=0.4301\nstate[joint_eff]: [-0.0342, -1.9214, 6.7761, 1.409, -0.1978, -0.0513, -0.0122, -0.335, -11.7949, 8.5128, 2.0586, 0.1392, -0.0024, 0.9304]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5169a0ba8f52efb05da894a78ea56c67812fea56d39e8bf3258092bf05b9205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79071ffccbb3444d4bba5a4dcfd543ab58d8f9a5f1516337a62b3a283ea3170d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60f8a2b18728b9d0bd1cea3f46f5b86ac8d358eb24b0ca1b38cb351fce25158",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0JRez_KLXJ1k47eJh91GkDzlgM9lhTrLDzj23kfKVqFMVbkzI1SqSoBRWDb3_xBmkQ9K-URbxbiK-EzABbayixL4-4XTSlgQVfPzr02P7h-Zcle1qw29xLyqiz6UVpVvHOXlRLXROJwrje-i45Ggduyb5euaf5oc5x7qqnukliIin7V9Az6N2Qy0nyKPGeQBJ_tB47COmDWC-tSyKMOO-r_YezKoBbRzI72eFq7wdYMLXOQhhMZw1yYE9k9aC-84kVfpYpCTDNqa-Urn9MM-qUltatJieW0_JwhEOpCvQj-D0TevwCa9lKE__oUI3Ah06UrXmamj2RQrhIeesg6ftNLVYmHdTkoJo0JpDc4w57153vZP1iK5rPn-Jh7c27M7q7257yktxUsFo8luLrLImhGFe5kkxxuEC-eJ2vBTnKH2AtspgdefRHMduwZp2oxtUBXeLLGeQSr-vIbnsatTpRKexO1f8XjG7rfQubwA50UMTSxMj7L0f6DwRXf8HBsWyda9ZofP2KxeCyPmH-vTLVvzUJD8oQr4my91bhHZcZd39q0lRB-25Zl20x_AstnqfXALsDl2ou4aUpaDAtwWDrMlPbqtpWDBGa3lETRvuZr4rARaVEEJ3GrWFgkQSIm4lgTwXdJjvSdy19VzGyz0EB5zM-tbPvFNYfNblGq3gy1kKOS8_Bbw0FKyfLeA8enTs2GUDNx0RpOVEdx8BllqtQjFr64F-MUH7I8QUJnimYaTBjvT6PsMPVKJ57GGKydK4tyDWqsX0nBDhR-XfeTiSBeT4AFFv3My_OdaDJ6s1HTlvIQlK7cxGDPxhlm1D8B-_t3FS93N7xSilRAdTfJZWxUIDBE5aF5Ft7RWrhZlq8nQdoNhXCyP9yMELbk48lytW4eAnLB6O_6gPna8i8c2Ql-iOqpVZbdb5YMLF6daL0ml0mzeTs_gJFaPx-x0SirmAwp9_FSdtaxSyx6hMfFpVMd0-EnneaRpeBAkGe6L5ATK7Q36G07s1Ko6ctqywbgKbdzpJXmQfsKXtkU7X9tdeQdU9i5T0v-dTgWGJG8tD4jIJJHwHjkOHALt4w7Q4qwCfCuw5-8AyTgsma7EPss3h534oQd-HraNOwkP_8dlYQFkP7HL7UlJCEsMyAmz-j9zEvzne0C9A6HDWthJWIK-DHBxnkvIaFz5988i0gZ56-dKUPcPMz0Rhpm7QXX7zM7_sIcp9Q7q8Ndq-QDCJ_O6tpHYzr633psrAuSEyq7pK64Q6gvqggxEKgcj6sRvCwkjhcB30zedTUwIJ3aebIZA9G3kHwfBjbQEZ6mwMvr0DBxQw5kzPNKFgF-qDMtvkx9xELdlSm8jgFbkfoFt3b0aJ5C4yVIGoKe6wSsXb8SgtWxEAhqI5B40adNZVV_IL9JRcXIyWgENFRvHgQWXM1wnahlJiLHSx5k_nqwtEIs-vK34BhV71QlYoM1IyqwepugMlrQ5up1KS1aoUT_W_u2H0PVHp6NvTTCU_TMPwSrF5FkMeOSj8w6Qpj8J-Mcj1PirOMZ8I7OF8wU8ZoxRl9Ygojo8N0hE7Up5JquVYug0gCRNXcyrztWRJhbUb-2FxJ4cC25MnSarO5FQ272UljiUpuSEX5yf5GscQafQWOLmoIbY5ehBZtnD5qzyH9JPpnBZWwc-xnAFZyvy6ZyPNEHe7yb_qM-Q5mXrNV7vDO9gfCX6rBk11vc_RcgHHo8dgvCsRuUkGIWXhQMj0NAYoB6EQzjUL7oKrsSrtud5UeRQ-j0isonk5PY7KUOTQ1GxPspLzhVqbl8ogkQ6-ksGRQMxS81qTCntC2_wv9G-8U7m2K9xHaPHsoMjRM7Tmj68qPai7qfbDmZiDt0YSvJLqujeCSGw==",
  "id": "rs_0aa5aba580c34d20016ab45d06623487d08797a537a7ec4c29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.34,\"right_z\":0.2},\"note\":\"The yellow object stayed securely between the jaws during the lift. I’m carrying it above the open part of the safe, farther back than the brown plush’s overhanging limbs.\"}",
  "call_id": "call_6dOLYaP7dhVPgQa5m88yP2kh",
  "id": "fc_0aa5aba580c34d20016ab45d087f2887d0a49d8d25ea7e0d58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6dOLYaP7dhVPgQa5m88yP2kh",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 0.9783, 0.8963, -0.8349, -0.292, -0.173, 0.9971, 0.8394, 2.1193, 1.7496, -0.2379, 0.5629, 0.3664, 0.4339]\nstate[eef_state]: left_x=0.2727 left_y=0.0034 left_z=0.181 left_yaw=0.1474 left_pitch=-0.291 left_roll=0.1386 left_gripper=0.9971 right_x=0.4603 right_y=0.3772 right_z=0.1796 right_yaw=0.1653 right_pitch=0.0785 right_roll=0.028 right_gripper=0.4339\nstate[joint_eff]: [-0.1026, -2.2359, 6.6803, 1.4823, -0.1392, -0.0513, -0.0171, -4.0274, -12.0821, 6.9949, 1.3407, 0.652, 0.2125, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b466f9731b7338ed8e57f59a58da21b6814b62b3559a74f9f90857a649667b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48fe2c2edef8deb849477c9c3521527eb2835ad3682805f0f56f816e185b894b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c5eb0925dd6cee222b09f21aba9e7a8915a986d98ef2d1e8a4d1adad6f0000",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.51 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 89 changed as sent

message 93 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9668, 0.8967, -0.8093, -0.2924, -0.173, 0.9971, 0.3782, 2.0449, 0.9485, 0.5613, 0.2909, 0.1688, 0.7978]\nstate[eef_state]: left_x=0.2767 left_y=0.0025 left_z=0.1878 left_yaw=0.1436 left_pitch=-0.2556 left_roll=0.1261 left_gripper=0.9971 right_x=0.4931 right_y=0.1453 right_z=0.0345 right_yaw=0.0303 right_pitch=0.0722 right_roll=0.0185 right_gripper=0.7978\nstate[joint_eff]: [0.0068, -2.0581, 6.6256, 1.5165, -0.2076, -0.0317, -0.0073, 0.0068, -11.0427, 6.2017, 1.3065, -0.0269, -0.0317, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9733, 0.8963, -0.8204, -0.292, -0.173, 0.9971, 0.4046, 1.9297, 1.0111, 0.392, 0.3164, 0.1753, 0.4301]\nstate[eef_state]: left_x=0.275 left_y=0.0027 left_z=0.1843 left_yaw=0.1448 left_pitch=-0.2726 left_roll=0.1319 left_gripper=0.9971 right_x=0.4936 right_y=0.1555 right_z=0.0815 right_yaw=0.0317 right_pitch=0.0845 right_roll=0.015 right_gripper=0.4301\nstate[joint_eff]: [-0.0342, -1.9214, 6.7761, 1.409, -0.1978, -0.0513, -0.0122, -0.335, -11.7949, 8.5128, 2.0586, 0.1392, -0.0024, 0.9304]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 0.9783, 0.8963, -0.8349, -0.292, -0.173, 0.9971, 0.8394, 2.1193, 1.7496, -0.2379, 0.5629, 0.3664, 0.4339]\nstate[eef_state]: left_x=0.2727 left_y=0.0034 left_z=0.181 left_yaw=0.1474 left_pitch=-0.291 left_roll=0.1386 left_gripper=0.9971 right_x=0.4603 right_y=0.3772 right_z=0.1796 right_yaw=0.1653 right_pitch=0.0785 right_roll=0.028 right_gripper=0.4339\nstate[joint_eff]: [-0.1026, -2.2359, 6.6803, 1.4823, -0.1392, -0.0513, -0.0171, -4.0274, -12.0821, 6.9949, 1.3407, 0.652, 0.2125, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b466f9731b7338ed8e57f59a58da21b6814b62b3559a74f9f90857a649667b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48fe2c2edef8deb849477c9c3521527eb2835ad3682805f0f56f816e185b894b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c5eb0925dd6cee222b09f21aba9e7a8915a986d98ef2d1e8a4d1adad6f0000",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0OySgKptntzawo-dlIYAKZqJSgsTedzCAGJyc9NVAOMzEseY3_CPQmKqnJ0L_Bv0LHm-9J_eQ0PGpN3RYTG3qhCHuP3HRtu1dk0kzaiXc87ltj0t7SZkP2LtPlL64Z27TRcKGZmt4HAdukw7eZez3zkJm1wCZpz8_Gi67wJ5rAbsa8McQ4q60Mdpi29Uw9RIX1DfUMTBuO8Lp9vx7f0rY8O9gpZqbnY-_-ofKDhdYaNhY6t_OQ6FkRIoEThoLJbLHbxmXjnUXfBl0WsIrs7zauoVbkomlxu6RPAMryGK27V8GvDBEzJwBb1L0fFqv_mni77iG_zISPO9SR4NocbIzOj1BAjLfWW65VurRqc2K3A2KZkWFPL-pP4IvjzFWDej2uwVenGEZf8wGa_utr-3DgitMP4mYETzwDvrgeBHmBsbTi2GQ96waxkGfVkG92OyAKi9G80LFuyvxjYo6LDoSKRoJYmgGA_UAlxY4WQfxj9t2HAoTr0c5hUkNXrUXWHoLfAoG-jJidx0uOa2yI9xrR3K4MYN-CGY0yyWT1hFk3p8aCuLM3PdbCRwnlB1o4AFZpymd51OkgUrN1j9FimciRSSaIydabar9w-coM8TbDzxF75HuodCEKrNjY7RrysDQH1vpDKbvVHCn59f2RIatfjB2yBqZ-lbsl6Cd6gGPYEeBrq77kRqaOE6oW2k86NC7A4oeZ6ZbHRRyeT8SmtNWUZIUQiZaQrqooM4RHTGriVvVxXk5fCwXxa054b3gdq6fyzMFflZxcDPl-1OPoidX1Wfb68R9SdJNt3y1tZdfekWsDcWjt84vrW3b_tygO8goPO6Diy0ky9yKcXEvGLPsEp52Etm4yhJXUghlAXYn_VBN0FIZNR3MPnjBo3kF1rRxT1BAeEGW7nFCxcP8Vv2_T3zXCCDBBBdKZm2ndNn2pm_Ra0sB4xFQbSXlCLBGVkN3jrFZuG-j1Cig5RKnVe_TpBLblO5w1d7XkMmpecgQKQ-p3XVP1GUSMMHtEK83tDPuzB23Bt1Zo8SAJKyhNsSasYF-rdHJ4MgL0UOuFR69ixXOeG0DRx8QpLxinecZrpwpkWDtJZ6SewppEgFN3mqmUpTiVqN3rEXqhD2mxdhEzD7HihfrqPdEAOZY2Qd-SvRiaOKjxZnnRLxyWByFdvz0nhfaUIuleO6f_eZhlIhUuF40Cw8o2xLASKvfC4R_iXw2avWS-LyFdm2ncVN3GBkA-2rbidnsDlqrsUZkeLS7q3IG4Igd0gM6iUvrijLIJ_zTSHmBPPcaw5N6e44XRoakes1ohASXMYNLLlEaNirlcw6SAddqoqMtaplQNEKfJ63lm90-V-V8zuvsMkdQCNVO3OiRWPjln5J6YU1ewUPeoI_9ksrWSw4Yl45SmGpnjVRJt",
  "id": "rs_0aa5aba580c34d20016ab45d0c94c087d09d16447601e8ab86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.32,\"right_z\":0.095},\"note\":\"The yellow object is above the back of the compartment, close to the hinge but clear of the upright lid. I’m lowering and centering it inside the rim before release.\"}",
  "call_id": "call_WAbRJpeK0Vtl4sX53InBnAOz",
  "id": "fc_0aa5aba580c34d20016ab45d0d78a087d0a5967378500cc28e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WAbRJpeK0Vtl4sX53InBnAOz",
  "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]: [-0.1894, 0.9817, 0.8963, -0.8436, -0.292, -0.173, 0.9971, 0.7586, 2.0792, 1.3319, 0.0799, 0.4999, 0.321, 0.4365]\nstate[eef_state]: left_x=0.2713 left_y=0.0034 left_z=0.1789 left_yaw=0.1479 left_pitch=-0.3025 left_roll=0.1428 left_gripper=0.9971 right_x=0.452 right_y=0.3167 right_z=0.0809 right_yaw=0.1603 right_pitch=0.0083 right_roll=-0.0164 right_gripper=0.4365\nstate[joint_eff]: [-0.1436, -2.3316, 6.5573, 1.409, -0.2076, -0.0611, -0.0171, -0.212, -12.3009, 6.2154, 1.6874, 0.1343, -0.1245, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf0b7a097229eecf7042e550c1bc460bace2a99e42899a3da23b532e402b318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb7d2538371c87d20fb9e31d8cecfe8c810251c706340972884c1b2b8f03c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab9b1ebb0ea14d49d38c7d44c900822b5647f28f9bc6ddc7ca67a9c48dac356",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 10.16 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 93 changed as sent

message 97 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9714, 0.8963, -0.8165, -0.2924, -0.173, 0.9971, 0.4011, 2.0964, 0.9615, 0.651, 0.3218, 0.1768, 0.4258]\nstate[eef_state]: left_x=0.2756 left_y=0.0028 left_z=0.1854 left_yaw=0.145 left_pitch=-0.2671 left_roll=0.1303 left_gripper=0.9971 right_x=0.4999 right_y=0.1552 right_z=0.0332 right_yaw=0.0214 right_pitch=0.1252 right_roll=0.0297 right_gripper=0.4258\nstate[joint_eff]: [-0.1026, -2.2085, 6.6667, 1.4628, -0.2076, -0.0513, -0.0171, 1.1009, -7.2274, 6.1333, 1.4432, 0.0806, 0.1001, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 0.9783, 0.8963, -0.8349, -0.292, -0.173, 0.9971, 0.8394, 2.1193, 1.7496, -0.2379, 0.5629, 0.3664, 0.4339]\nstate[eef_state]: left_x=0.2727 left_y=0.0034 left_z=0.181 left_yaw=0.1474 left_pitch=-0.291 left_roll=0.1386 left_gripper=0.9971 right_x=0.4603 right_y=0.3772 right_z=0.1796 right_yaw=0.1653 right_pitch=0.0785 right_roll=0.028 right_gripper=0.4339\nstate[joint_eff]: [-0.1026, -2.2359, 6.6803, 1.4823, -0.1392, -0.0513, -0.0171, -4.0274, -12.0821, 6.9949, 1.3407, 0.652, 0.2125, 0.7009]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9817, 0.8963, -0.8436, -0.292, -0.173, 0.9971, 0.7586, 2.0792, 1.3319, 0.0799, 0.4999, 0.321, 0.4365]\nstate[eef_state]: left_x=0.2713 left_y=0.0034 left_z=0.1789 left_yaw=0.1479 left_pitch=-0.3025 left_roll=0.1428 left_gripper=0.9971 right_x=0.452 right_y=0.3167 right_z=0.0809 right_yaw=0.1603 right_pitch=0.0083 right_roll=-0.0164 right_gripper=0.4365\nstate[joint_eff]: [-0.1436, -2.3316, 6.5573, 1.409, -0.2076, -0.0611, -0.0171, -0.212, -12.3009, 6.2154, 1.6874, 0.1343, -0.1245, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf0b7a097229eecf7042e550c1bc460bace2a99e42899a3da23b532e402b318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb7d2538371c87d20fb9e31d8cecfe8c810251c706340972884c1b2b8f03c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab9b1ebb0ea14d49d38c7d44c900822b5647f28f9bc6ddc7ca67a9c48dac356",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is lowered inside the safe alongside the two plush objects. I’m releasing it, then I’ll reposition the brown plush’s overhanging section before closing the lid.\"}",
  "call_id": "call_nR3OhTZL6YIBuRZuNQW8f6F0",
  "id": "fc_0aa5aba580c34d20016ab45d10ab6487d08371aecd8847ea3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nR3OhTZL6YIBuRZuNQW8f6F0",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9817, 0.8963, -0.8509, -0.292, -0.173, 0.9971, 0.7532, 2.0796, 1.3102, 0.0677, 0.485, 0.3149, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0038 left_z=0.1778 left_yaw=0.1491 left_pitch=-0.3094 left_roll=0.1453 left_gripper=0.9971 right_x=0.4473 right_y=0.3114 right_z=0.0692 right_yaw=0.1697 right_pitch=-0.0255 right_roll=-0.0328 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -2.0444, 6.653, 1.3895, -0.1636, -0.0073, -0.0122, 0.2667, -11.494, 8.0752, 1.6972, 0.2515, 0.0024, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dfe956817fbb33de5578fd99a17ef46b27e9663559a29255acfcfab129b6f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b5ad36763f4ad8e3292ccb02c075c17c732e36d6bc13e38d16ea55af52c87b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385d967c40cafce7e63d3fe96b962ad083450b87469b11bb6a4acb35f650e527",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.664 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 100 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9733, 0.8963, -0.8204, -0.292, -0.173, 0.9971, 0.4046, 1.9297, 1.0111, 0.392, 0.3164, 0.1753, 0.4301]\nstate[eef_state]: left_x=0.275 left_y=0.0027 left_z=0.1843 left_yaw=0.1448 left_pitch=-0.2726 left_roll=0.1319 left_gripper=0.9971 right_x=0.4936 right_y=0.1555 right_z=0.0815 right_yaw=0.0317 right_pitch=0.0845 right_roll=0.015 right_gripper=0.4301\nstate[joint_eff]: [-0.0342, -1.9214, 6.7761, 1.409, -0.1978, -0.0513, -0.0122, -0.335, -11.7949, 8.5128, 2.0586, 0.1392, -0.0024, 0.9304]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9817, 0.8963, -0.8436, -0.292, -0.173, 0.9971, 0.7586, 2.0792, 1.3319, 0.0799, 0.4999, 0.321, 0.4365]\nstate[eef_state]: left_x=0.2713 left_y=0.0034 left_z=0.1789 left_yaw=0.1479 left_pitch=-0.3025 left_roll=0.1428 left_gripper=0.9971 right_x=0.452 right_y=0.3167 right_z=0.0809 right_yaw=0.1603 right_pitch=0.0083 right_roll=-0.0164 right_gripper=0.4365\nstate[joint_eff]: [-0.1436, -2.3316, 6.5573, 1.409, -0.2076, -0.0611, -0.0171, -0.212, -12.3009, 6.2154, 1.6874, 0.1343, -0.1245, 0.7155]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9817, 0.8963, -0.8509, -0.292, -0.173, 0.9971, 0.7532, 2.0796, 1.3102, 0.0677, 0.485, 0.3149, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0038 left_z=0.1778 left_yaw=0.1491 left_pitch=-0.3094 left_roll=0.1453 left_gripper=0.9971 right_x=0.4473 right_y=0.3114 right_z=0.0692 right_yaw=0.1697 right_pitch=-0.0255 right_roll=-0.0328 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -2.0444, 6.653, 1.3895, -0.1636, -0.0073, -0.0122, 0.2667, -11.494, 8.0752, 1.6972, 0.2515, 0.0024, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dfe956817fbb33de5578fd99a17ef46b27e9663559a29255acfcfab129b6f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b5ad36763f4ad8e3292ccb02c075c17c732e36d6bc13e38d16ea55af52c87b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385d967c40cafce7e63d3fe96b962ad083450b87469b11bb6a4acb35f650e527",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0cn7jVBRuPp9_dnImIh4gstz3cMmLIhlvV9qDvMHvkrU_sTbXHLdW9GyGZ12i86U8LxdPyBmOJ5sdj8NV-hLHz8ycyEfID-3ZhRYGRUHleFHP2rxY9MD9nbWqz6hWKZqnCn6AyPbWjb2bjQOCN_KIKbJJaR2gIHjm7VaOTTsWqELTSFzELYr0CVRkDb5mPFx4KPA7eUg6kvTwLTML1Yn53YzCC06XdxqgMxrRXonafjNRTpL5H4y36apTLHFZzc_RrxUN-7cyphrhFTMiqwfV4t-tjUzzZ9eMR_zinDonG4nY00muxtLL-PAZ373TQif8GzLNdVG18ZWpmiiqsa8_S0xooK38yr17_wCqAjhpD4TpIVPNk2cLu0qcDxsownalnufIQxzpjH4difa27oh3IuDEgeE6C78Ua49I4lhenIU6xfi_QasDJ985BBjo7dFrjbwAh0orJiKpUfuZhQoy0nC36Wx-LhedZJo6c2W8OQzh8o7yDq3BEtdZ5J8x-WxTNRZiGkzQEJaML__IVuDZLZsPkTh8PouwWJrGjnMpmIbUFIOscpOM80H4FUegfl-GP_B3-oOpevKTDxNhf4wrD455al-L0is7d1TQhm7chPuG8il_6y4zhAPaRI63HnU0GlVdg9t7jJPKQVGFiZLTLlaVemNs0aP42WoWtpXkXWGpXUTo-QWl9XXVNE4LMSMoAMeNkcC4N5VZnivIf9DEMcDQ-4BK92l-VHeEAaOp_m7GzcnQxkV7ofvktAtKI_pD60_fkG-x3M6TcLjiphUZCT-9OF5uBvhnDZAiVJez2MvCfHSMs_umhMOLpkf37sTbyCB-nJq8V9OKAH6bFm_5XoLaLXKIdtDWoJ2pzv0gmMHDRJZWMPyad_ZgeO3V1rsJvQrOhzzY9dTALVSwGk75uUJYLMlr2NG4ikYgdc2FIZBPyeKuMDl6BYPRhrJ8GjP3nRLERazXMC9c11sEcDMyAwraRK5h_QNc_7GkxhH-AFE4xA-s-PFykV5xr341xH15nJC7_Aqe8A16t36Vth8qSVH61tS2uSInX-SxcKntfQ0wJcqmL0tAQVJwPGuJT0-qeY570o43IFGoXiIg6SP6F0LXo_1zurlGXlkDGO-EnIwh0Iu_IVuTTJ82_ck4TOq1vszebsO604vkx6iwXqXPFnr5PGBMroZptbrSDZEkXVHYPYyRHaK9uV6ntiTSmiU8eGP5QoXJ1Mn19SDvHr-DzfouaP1aXThcwzQWlnlh_37YJWO2SVB9pxTOk4z1OAn3znBp5pw9uUWziwo3LaLTKTwrXnMKp4pyUGr7E8-OntnNPqPRQPMgUZZAZScb6iQnb4ZCch2F6ClDoxn5KDJmQKpS6BE5Xm9GDk1pGEj1muAq2Vr59CAoUmDykrsLUTDu0ZrcVfsSEdMHkghKvRAbOxoxfR1vt05ePJWVvulYWXVpYbFZU6T_Cmpbu8NeIWCBjMd7xS7DSxSB3X6gZtsOkCDApWPILB43lIfFKyiTLKj2NCNJHYH4sUwIO0R3sp639Cm00-kW-9hA-cZndgIngr0FC5O4dzuALSCbvsmBdIMD7pZ8f0EM7JH9ALnQx4eVqcuuJpitdC7igyXv4IKU_ogkiTVR4x5-IjNq4IwJMwVmBDNam8uYvdZHKp4IEUeZ8TgcH1LvhSW7adnPJhDJXiT7CB7WyCm1LYePb9StH3kqrh14wJtGwGc1ZhSyQ2h_66bQvbWLNOX5ch7_xd8ajMTXRfFahy-6RNHbhnR5RA4G7vPdHr8C_liFB59XzrUEmHITssB086yZcIIioFs4Dt-YAvpj7AMSx0clcjJJfUGf2TJPzeTQduI4ralKETmoyJ_vP6DFkuPSvQBxfIDfNcFPRxEomp_s3FTSRaYq4lvqEEkYeekfZj3DHgBGO-TncmGK226488DajdCHHIyJ0shxyle8zKKOWHM_gwh10ai2tM2uS_YAkUTo91yP19hN_r-7KwEChV96i-J_NO15mm6rcXXtiIQvwMj5ej-HxhzIT7gkWw8F3wIYAw2qjLoKNmIvHwRC0PrfMrU_1DeJ_XK6oWyBnue-B7AvkxcI8TeMmE1zSAwUBG0TZxBl6eDnx0Qfm0qiwZzwDlyJ9JIyPp1zYwTKZZGh7WG_pUcRDvRrVKSgGS7ZPERIUFnriKw84Jx7sNwhZP-SCn9SQlKyx6MobgfnFuWaqDliZwvn6e8N9pT9iV4l_V-aytYZ7wCelK2Hd0rDeMmg652DAL05qWzzD8p6FD4L3oyc88XbCy1PZ8nN5D-6gLPi23dZTNE6R10CYRPohizGNVay3-XjpvHsr-FQpmOsj9yn-Y0NSkGZpkxovYD-Me9rivGS7ygJPi80ibfn-K1t8nwIBkKmVGYvsOHzSNq27SNd5Mkn_qx635uaD38BWEHAtr4p8mkehxYU5DUcOoIa5l1XIyjFdPOkJk4HtM3T4XnlQIDiTYaKvlOEA5SKBibVeqrvcgxk5lB_FFzEdF6PFafr7UBmcA_iedqkHASw8FcvuMbsqmwkSLQ6WSy14PgEB4e08cPz7HP6mOhhGSxouyZzkN3QMZcw4Nz7akGaUkxzP_DRQu55Dvj_BtOhZ4heuDuVK5a-zQw0xpERc6yZLaiT1CStaWXHjjw772B-0NTVvCfFcGW5_BK87-3u_c_kJYB2Go9YpgSdrct4kr99dmxI806DUghhNpv9jzoV_bi0rtOa8e8mzU4STKT0ojt6JjmMViojmuQkY9xjyRdAikwhTbPScaJwaxS7GYhWIrQ3co6suf8FYPb-opbRclVblHs3clwp-G0vr6hAc_ksdu3JWH7b0pXPP2gh7kgi_mwlDjjq7mph8ehEwlcZlTJDpuOMABSZBFgVeNUTVTEQbem1UAfsz3hMSqH1LoevLbyqet01R6AqGeXQ7ebSvo0k8cg5XZkPVCF5bbN6Yy71-HRYXYg09rttpUabvmjnzFvUpDrxp9NN_jGnjSCl86fCPHuW3RV-SQxwOWYRCZcLfxcB-TviSh-MqlMtgJpg5kcso8DTWZdEhxU4gZF9QdZku9jhpV3NhAtmgjtG6qiweHCJTND46mg==",
  "id": "rs_0aa5aba580c34d20016ab45d13cb3887d0a2dc67076aff40c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.29,\"right_z\":0.15},\"note\":\"The yellow object sits at the back of the safe, while the brown plush still extends over the front rim. I’m lifting clear and moving above that overhanging portion to tuck it fully inside.\"}",
  "call_id": "call_9xtzggofG4O8sKHwJvPxGnmi",
  "id": "fc_0aa5aba580c34d20016ab45d1b5ca487d0b72c5214486ba4eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9xtzggofG4O8sKHwJvPxGnmi",
  "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]: [-0.189, 0.9871, 0.8963, -0.8539, -0.292, -0.173, 0.9971, 0.873, 1.7359, 1.1568, -0.1688, 0.5537, 0.3859, 0.9953]\nstate[eef_state]: left_x=0.2697 left_y=0.0038 left_z=0.1761 left_yaw=0.15 left_pitch=-0.3173 left_roll=0.1483 left_gripper=0.9971 right_x=0.3659 right_y=0.2973 right_z=0.1389 right_yaw=0.1971 right_pitch=-0.0347 right_roll=-0.0388 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5915, 6.735, 1.3895, -0.188, -0.0659, -0.0171, 0.4034, -9.9761, 6.6393, 1.6777, 0.2808, 0.0659, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7867e57fac4f5bf2a377548fcfc0ce15aac3e6fef8d2b3dde9056fe170eda71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8b21d21bdb60ad3a396b5697f177e3fc9ee8e4815b5f97dc01c63a4f7a8f89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0482faae22bce707644355be7c4a73a89fa7585c7c9baf78bdbdf3d32aa9374",
      "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 · 2.985 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 100 changed as sent

message 104 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 0.9783, 0.8963, -0.8349, -0.292, -0.173, 0.9971, 0.8394, 2.1193, 1.7496, -0.2379, 0.5629, 0.3664, 0.4339]\nstate[eef_state]: left_x=0.2727 left_y=0.0034 left_z=0.181 left_yaw=0.1474 left_pitch=-0.291 left_roll=0.1386 left_gripper=0.9971 right_x=0.4603 right_y=0.3772 right_z=0.1796 right_yaw=0.1653 right_pitch=0.0785 right_roll=0.028 right_gripper=0.4339\nstate[joint_eff]: [-0.1026, -2.2359, 6.6803, 1.4823, -0.1392, -0.0513, -0.0171, -4.0274, -12.0821, 6.9949, 1.3407, 0.652, 0.2125, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9817, 0.8963, -0.8509, -0.292, -0.173, 0.9971, 0.7532, 2.0796, 1.3102, 0.0677, 0.485, 0.3149, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0038 left_z=0.1778 left_yaw=0.1491 left_pitch=-0.3094 left_roll=0.1453 left_gripper=0.9971 right_x=0.4473 right_y=0.3114 right_z=0.0692 right_yaw=0.1697 right_pitch=-0.0255 right_roll=-0.0328 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -2.0444, 6.653, 1.3895, -0.1636, -0.0073, -0.0122, 0.2667, -11.494, 8.0752, 1.6972, 0.2515, 0.0024, -0.0806]\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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9871, 0.8963, -0.8539, -0.292, -0.173, 0.9971, 0.873, 1.7359, 1.1568, -0.1688, 0.5537, 0.3859, 0.9953]\nstate[eef_state]: left_x=0.2697 left_y=0.0038 left_z=0.1761 left_yaw=0.15 left_pitch=-0.3173 left_roll=0.1483 left_gripper=0.9971 right_x=0.3659 right_y=0.2973 right_z=0.1389 right_yaw=0.1971 right_pitch=-0.0347 right_roll=-0.0388 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5915, 6.735, 1.3895, -0.188, -0.0659, -0.0171, 0.4034, -9.9761, 6.6393, 1.6777, 0.2808, 0.0659, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7867e57fac4f5bf2a377548fcfc0ce15aac3e6fef8d2b3dde9056fe170eda71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8b21d21bdb60ad3a396b5697f177e3fc9ee8e4815b5f97dc01c63a4f7a8f89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0482faae22bce707644355be7c4a73a89fa7585c7c9baf78bdbdf3d32aa9374",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0jaUJ_CbCYuCDYFq56vnu9Hhj8Taf-hAKW8QcfB6Bvqmj1S4ew54LfhtzttRm1Gf61cgBEsNkR_vAnLpas74OhBPz5tY6_p2ZuzQKXwdrJh4TQ80BIWSqmFihQStirkFg2IPLWtzN8wpKnsvnLptexp5jatvgG6Xcdb---xk2b5ZGUfxWjy7aEMEe_4RlvqB475amk8R7ZwxdpCJ7B4l8lQPvIK31aYrUppVkoPAHdf6IhNdH3FHQQPuoXYPwzfIAyJOcUSlinxtlmgv1lNacEAhE5P6fp_Bj4E6k5EuuYkZebVZNuNn_krFJ8qyuiol_-LhXmsItkdO2IPeZ7nkyf731rppSCOU5wpm-CS6BstbqCBT4JfU19vXN4_zOgrNLQysRufFkHzhCekmtJGq75nqTC8OgxsXVi5staRKa6JVRoVK_vsYhtiA1LysbIcJpxZBmvThFYDQheQ3PDSm0cF0ZboRgz3NIaJ-tAViLAS22BnZK5FSQF9o7sXfZHNx40eWadv4wf4Dscb7jeWMD9exwAUxsBJr5XNE6brc9jB_onUvegPYcsfy45lxdL4xCtsdW6k0toFhMyYQQL7IvC8qossT1IkqU_Tt-Td1rDOdxlWp4PVsEgG7slUWgjVEOh6xutJMBC2zOAaOiSaM0iI1yvBSJeY9MWTmj67_0Dhchs8JYTB5CXcf3lMJNNRTd3wN9hXIJpC22F5NmO7Eg9MrWs4uk2u7yyQZY93QGFCCFd4HAkSV0uq21rpWQL8T-MSzakkomu-53h7wn-nfNQ__y_OYeNslWtL1UIbTmZr-NEpe5Yz_ShVuXDOSP7tL-9JE4QBNYtG633FMwyABx_67_WfbgxLTbzpZxPGDtsoyR4zB58CPZTsXBvbKff5YQxOHpDpXf-0cnykfumWB9vU_aLBfn7Adaxbbez5MzUuC2xqZjIoFzSUfixO3XKEBqfPNSRtDRU2iuDWoeBSuQi7Xe5Dl9eb97_7xNbd9BhIZcEdtIO87-M2m4XE5OTK4oV6mXoSc1J2rGdNBx8j4xF40zqXe5pY38F83R0y3jeRDIHBzAcU0Wze35QbtmXVZDV0Nj_yjEf9D3sJuPbAIZrQzPHFmG7396Pj3buUkg3eXgOeygwqz3XesF32EQbzwAF6JBGzh5FjkkcwDgU1iMwoktZyfbjY2qUNIh8poVeM3JpJGlS0C2x7THNix2v9EmRQ1bSfS6gODSMUX-aFdupBIMErUmo9KsOiQwAqp-B-oLLvOUOl3D9CvLScz1gh7F20xDAirL6iDtw38cdKO10Tm_4xHc7Akr8bbB-CohvJdVmG-NVCnYinVbxV-MBj5dL3UVkEQx21vEKZmw2TjXK5OyTix1RAxb6KptFXgZBLT5y7JDo0xon3wQ1TGyd55ZVrfr1EdWSGdia4VJptNRO5mu0v46k2yX_97mGeEfcd163_f4KIniRomSGmcICzLdhlrkee_RFfD--m-FLP3CLriZxO5xmQcXOXC1hVIfkvvS6m-9oWnoBUw8yOx_JcC7B",
  "id": "rs_0aa5aba580c34d20016ab45d21175c87d0a8ec6dc8d789d75f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.29,\"right_z\":0.045,\"right_gripper\":0},\"note\":\"The brown plush’s broad body crosses the near rim, with room farther inside beside the yellow object. I’m closing around that overhanging body section for a short inward repositioning.\"}",
  "call_id": "call_8jrkgSm7rg83MpyaLj1aosyx",
  "id": "fc_0aa5aba580c34d20016ab45d224aec87d0a9f04c10163725be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8jrkgSm7rg83MpyaLj1aosyx",
  "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]: [-0.189, 0.9882, 0.8963, -0.8558, -0.292, -0.173, 0.9971, 0.8165, 1.9167, 1.0245, 0.1837, 0.5106, 0.3405, 0.0179]\nstate[eef_state]: left_x=0.2694 left_y=0.0039 left_z=0.1755 left_yaw=0.1503 left_pitch=-0.3202 left_roll=0.1493 left_gripper=0.9971 right_x=0.3892 right_y=0.2934 right_z=0.0615 right_yaw=0.1991 right_pitch=-0.0214 right_roll=-0.0294 right_gripper=0.0179\nstate[joint_eff]: [0.0068, -1.8803, 6.5573, 1.3651, -0.1538, -0.0562, -0.0171, -0.8957, -6.8991, 4.6427, 1.5165, 0.1197, -0.0806, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a1765c8ead1621ea5333f97b3414d73aa3ea1b27e57284c0be5fdcc53c2077",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09322f566a8a0dfe9ac6542a1ba282b9b53344f640b05cef312fbdea8a40004a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e338bdc4552eaa5e53feb5c9e6283d1ccf857af42fb87e10fff4eabf3180ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 4.591 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 104 changed as sent

message 108 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9817, 0.8963, -0.8436, -0.292, -0.173, 0.9971, 0.7586, 2.0792, 1.3319, 0.0799, 0.4999, 0.321, 0.4365]\nstate[eef_state]: left_x=0.2713 left_y=0.0034 left_z=0.1789 left_yaw=0.1479 left_pitch=-0.3025 left_roll=0.1428 left_gripper=0.9971 right_x=0.452 right_y=0.3167 right_z=0.0809 right_yaw=0.1603 right_pitch=0.0083 right_roll=-0.0164 right_gripper=0.4365\nstate[joint_eff]: [-0.1436, -2.3316, 6.5573, 1.409, -0.2076, -0.0611, -0.0171, -0.212, -12.3009, 6.2154, 1.6874, 0.1343, -0.1245, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9871, 0.8963, -0.8539, -0.292, -0.173, 0.9971, 0.873, 1.7359, 1.1568, -0.1688, 0.5537, 0.3859, 0.9953]\nstate[eef_state]: left_x=0.2697 left_y=0.0038 left_z=0.1761 left_yaw=0.15 left_pitch=-0.3173 left_roll=0.1483 left_gripper=0.9971 right_x=0.3659 right_y=0.2973 right_z=0.1389 right_yaw=0.1971 right_pitch=-0.0347 right_roll=-0.0388 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5915, 6.735, 1.3895, -0.188, -0.0659, -0.0171, 0.4034, -9.9761, 6.6393, 1.6777, 0.2808, 0.0659, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9882, 0.8963, -0.8558, -0.292, -0.173, 0.9971, 0.8165, 1.9167, 1.0245, 0.1837, 0.5106, 0.3405, 0.0179]\nstate[eef_state]: left_x=0.2694 left_y=0.0039 left_z=0.1755 left_yaw=0.1503 left_pitch=-0.3202 left_roll=0.1493 left_gripper=0.9971 right_x=0.3892 right_y=0.2934 right_z=0.0615 right_yaw=0.1991 right_pitch=-0.0214 right_roll=-0.0294 right_gripper=0.0179\nstate[joint_eff]: [0.0068, -1.8803, 6.5573, 1.3651, -0.1538, -0.0562, -0.0171, -0.8957, -6.8991, 4.6427, 1.5165, 0.1197, -0.0806, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a1765c8ead1621ea5333f97b3414d73aa3ea1b27e57284c0be5fdcc53c2077",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09322f566a8a0dfe9ac6542a1ba282b9b53344f640b05cef312fbdea8a40004a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e338bdc4552eaa5e53feb5c9e6283d1ccf857af42fb87e10fff4eabf3180ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0nZJisY7inSyFtiTN5hvRugFWX2v4EvvaFflKHiu0XQymVtLdk6FPMowW_jNl1kinZ5r6iLrLpkG2zBRG7AvRJY9ATQk1hCObgogQJhF3R65cA1xqIlvw7wIGReJ6fPxfv6IW_pfCOIA5BuVGdNiVB5gJw4Sa8B6fbz1bmms4BUseWFvFE_LVd2V4dh28AiqdWMKNkdEcQQsOuIbZlJI1g5izV4gGyEjyKNXmJ_Igu26bZ72jVV4lT7deTjK1khlrtJZvEtz23XVMo4Jmg1kSyi1FfEh6MYDZb_XOxXo5J-06QBAbhlb3hcYBve9z7qdk9jGX0XDurEv4_yODu2uQFMm18032WlnDGZUUX4eskso950v_AJv_uhZSXmMsFRNUgfRZN1AyM8Fuhs2gWgTIPC6AAPt41q1FQ7xvDoj93-l0jkZOdo0yIx0BngqWZn8kn6jNE4rOByYJrjr6a17iXiw9FTaw1sOUXfbRCM1HMjiqVSjHpD3YqufgZQTEnNNMdONWSHKsCdUtl6g9s9iKgXWt0ILOVirGPceKDW8R6M-xoIvSVMthc7etjTHTp50RgdUoeAu5J0PzfTsuALCI98UMS4-u0evKIjy7tNpz3PYVqnPQb1goSQqJ0tFYyzTT8DBLC0dFFAiEabsRgpnQI5n54FIMLsAY6-zaSzQNBFg_KVz_QDjHNwKXETKHmEHU8HJzUDlGDozYfySqREpheenfDzvLdhanY7xMcCafFbarZkwwlI8WW83I-bJGlz4sSyKzo1-4JRMeQnruFAbUdHq0Uap0JWeoamj03p-x988L9XqC7jpOmTB26CoQSKEniBslqDQiWYVDDMiTb04WE02EM1mWv1rygC-qwY3ttQ-Zk-W9aJD6TK-a7WUkBSuI-X71iu3-aCeajJT_uh4f8ToK8_DigVT-aXn7_l-8nE_X-mMtGx1MGsz9vNVwG5aTPVY1q2mCuOFe0tNZ-w1c21Gz3qV5D-60bBFa2oKDF4h52-2_9T5-nzqF892IKcis72PJgYUcRp7OpmSE2r-4LSAW9Wkxg6Md8bkwK8PXV1yqbfu9xYxc9SVDctD7OXC4UT8U76b5uTdG0d5VJrHRi10ZtVoIX4hcI_4Qox12gmpJ30nSBy1N2jsbc8XaoWTWk5EIVzcQvkYFrpXnT9hW2w_MGNDcvsAW6IZcFMDTkr718u5puB9kqU2C9DvMxjrf7b3tCmuKOBVBWBNEjPdmJ__dqi8jpt2-At_5MY--Bko_J3G-NhYwdgX-8xajaC9J5TBX4Tx0GFiMgnATN6dEJWQLI5BGjuovfzwvq4gq2H9VvEdZw9A8zbasmXCN6pnxU",
  "id": "rs_0aa5aba580c34d20016ab45d260c0887d0b6656cde6a566ccf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.315,\"right_z\":0.095},\"note\":\"The pinch closed empty at the plush’s near end, but the closed fingertips are now positioned behind it. I’m gently nudging the soft body upward and farther into the compartment rather than dragging it against the rim.\"}",
  "call_id": "call_MjuMHiYwEM85VAnDmLNXI0vs",
  "id": "fc_0aa5aba580c34d20016ab45d268d2087d08a555c1203eec721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MjuMHiYwEM85VAnDmLNXI0vs",
  "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]: [-0.1894, 0.9913, 0.8963, -0.87, -0.292, -0.173, 0.9971, 0.733, 2.0609, 1.3617, -0.0284, 0.4389, 0.2798, 0.021]\nstate[eef_state]: left_x=0.2668 left_y=0.0043 left_z=0.1729 left_yaw=0.1519 left_pitch=-0.3364 left_roll=0.1554 left_gripper=0.9971 right_x=0.4508 right_y=0.3097 right_z=0.0803 right_yaw=0.2042 right_pitch=-0.0643 right_roll=-0.0493 right_gripper=0.021\nstate[joint_eff]: [-0.2667, -2.4, 7.0085, 1.3797, -0.2125, -0.0562, -0.0122, -0.8, -10.7829, 8.212, 2.0391, 0.1636, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ae1f0b26ad8c7937362fbdf89381891c3ac185b25db175b2416d2929c9e46f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68c4b3ec386077881ca6696cb32df8f4ccef1d137463afb86c0377d6a00a772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3979c9b104f5bdecc94d726fda7c064380b026341be1fe82b780e80a02358922",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.284 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9817, 0.8963, -0.8509, -0.292, -0.173, 0.9971, 0.7532, 2.0796, 1.3102, 0.0677, 0.485, 0.3149, 0.9947]\nstate[eef_state]: left_x=0.2699 left_y=0.0038 left_z=0.1778 left_yaw=0.1491 left_pitch=-0.3094 left_roll=0.1453 left_gripper=0.9971 right_x=0.4473 right_y=0.3114 right_z=0.0692 right_yaw=0.1697 right_pitch=-0.0255 right_roll=-0.0328 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -2.0444, 6.653, 1.3895, -0.1636, -0.0073, -0.0122, 0.2667, -11.494, 8.0752, 1.6972, 0.2515, 0.0024, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9882, 0.8963, -0.8558, -0.292, -0.173, 0.9971, 0.8165, 1.9167, 1.0245, 0.1837, 0.5106, 0.3405, 0.0179]\nstate[eef_state]: left_x=0.2694 left_y=0.0039 left_z=0.1755 left_yaw=0.1503 left_pitch=-0.3202 left_roll=0.1493 left_gripper=0.9971 right_x=0.3892 right_y=0.2934 right_z=0.0615 right_yaw=0.1991 right_pitch=-0.0214 right_roll=-0.0294 right_gripper=0.0179\nstate[joint_eff]: [0.0068, -1.8803, 6.5573, 1.3651, -0.1538, -0.0562, -0.0171, -0.8957, -6.8991, 4.6427, 1.5165, 0.1197, -0.0806, 0.696]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9913, 0.8963, -0.87, -0.292, -0.173, 0.9971, 0.733, 2.0609, 1.3617, -0.0284, 0.4389, 0.2798, 0.021]\nstate[eef_state]: left_x=0.2668 left_y=0.0043 left_z=0.1729 left_yaw=0.1519 left_pitch=-0.3364 left_roll=0.1554 left_gripper=0.9971 right_x=0.4508 right_y=0.3097 right_z=0.0803 right_yaw=0.2042 right_pitch=-0.0643 right_roll=-0.0493 right_gripper=0.021\nstate[joint_eff]: [-0.2667, -2.4, 7.0085, 1.3797, -0.2125, -0.0562, -0.0122, -0.8, -10.7829, 8.212, 2.0391, 0.1636, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ae1f0b26ad8c7937362fbdf89381891c3ac185b25db175b2416d2929c9e46f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68c4b3ec386077881ca6696cb32df8f4ccef1d137463afb86c0377d6a00a772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3979c9b104f5bdecc94d726fda7c064380b026341be1fe82b780e80a02358922",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0sJtCDwqV1wNa3DwjdBCE-P7nN1OWfzew6TEc0u3WqSJog9RVC7JAX-N6tl5a1ZjaFLAvqsV3Q6gMe1s7-5MbQiQsuCkptiebJNP3KmI9rnuBLhxApUKsfftbg9m3uUQED9zrohCXfRAfhtXPkTy1w_vIvKHCfuNVjyrBL4FmJpZb2BA_HBv1QB8jVwnOOnJfuI2OilIs_oUzJnOrv3GGc1OYjk5AKqE4KJZVm6jTwsHb9DchEd0ZsCJgW3VnEr3psIZwysmJ-SfFNstZrCqf4c3Ma7FT_-EQ5df4gbjkOzZTlgPF7dK2_m7PpY93z1X0GFZPMhbW-TUbth6itutsMU5P1KaaYcszvPdD0ouT7aBsAkmLHUSNGsMeymybMIBFFLJZzCAQ9Qfo26oqHvK7tMMNYrfk1BSs5x5dPsTtVdM3xJKhRGwMqctscqVwUYqtWlPGD2AHu6frVZQmntyzeGVqw4lgMK3gakBVbSRxFaME6pOm5W_JYNkyKOEK5s0YZbEzCEUBjI9GF0yBTRWlcj4Z6_4Yxt2wVIVP0z0iTuOil_scyYR10CvJkZkNMZlCCWFpEydynPXJx2NjXN5yvtY8k6vxeScItL53s3jpJOhztG3ISjtFMwSMaL4KZBNGnQEyRr4-E8PuFi4zyLG4isUZHSyBv9S85Wxh_c5IsoVrrpnxi-klDbu4YYrc4iliMYdEWxxjmYnySx3PzN-EnwuW2IsjDRIsNoFThHu66ud99HCuYrHMNxeQ6hD-ciWhTqPwSrZ6RWCS94sgWlzzsJjIdH4g-Q0IOHG9DTS77fiK_fOfWOUZEBpZB5tOdRayH9HCXXkimWP8es8HaTX6QrfTW5p7yHWJDYDG9d-k8kBIkcscrM7r9CmS_iLMSiU_O5ea-G5pAboZkVLdK4CohESnfa0yn4Jg1eB5A0vC03oEt3Yx6M9nsvK1eE6idYPG3e7uDTSoeqpb4TiUy2U2urngoU4iI9bG_qibiIuZNVBVHiZUjnbELCv6B3xb2px3FIM4i5O-vWUFADGuRpiQkoYshsDsHgU2TN_Dq02a4QeKNcwTIjzv813R7OPBsaDOqMCIoMAi5qq1R1xNERpogUtS5i0FH5NIMYLDBMCHhybZeiT_L9pFKLFE2CMp8RSj_DjyyCePAMSKiUKzmye7u7dU9LIyg3tyVseswjdMz255y59xJH7gD0q9Ei-9hdlReUAnyU_cMNV_HtNyoT72nnvKcKBxI-l74Cb3PaX6UtlFhl24Lz_mfyuuPLus2l2ABmaLbaQI1Vy7XGQRX7bavbPeD8TlTqq6ALCqWV2ml-MQZIrThs3zCH25tswdvlREcQaFU0SQED04MP700jg9yE2LIhKxvEOHX1g5FkyuLERPkacQ7wUnPXnoM3rwfg3CmpEO6TtRMIhMys3QzxBXzDUqOuZfb3WxAy3WJQ0VgFGdxtFJObN_WGGYVof_ZW1Kcm2vFfn_Mwu_GXlLy3guTOiBRCd-lsS7QPdX9d6PPaWGpvT93wFPAyi6HJenfuplUP2y1eOWUxkDYB79WZaNK3A==",
  "id": "rs_0aa5aba580c34d20016ab45d2976e887d0b69f9d72fbf00a64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.17,\"right_z\":0.26,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The safe shifted slightly during the nudge, so I’m stopping the push and lifting clear. This will reveal whether the plush is within the rim and give a clear approach to the lid.\"}",
  "call_id": "call_M2Pwj6wq9wEUiD7QyYudqgZa",
  "id": "fc_0aa5aba580c34d20016ab45d2a93d887d0acada220b6ff563a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M2Pwj6wq9wEUiD7QyYudqgZa",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "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]: [-0.1883, 0.8391, 0.7948, -0.6376, -0.2913, -0.2146, 0.9971, 0.4664, 1.6127, 1.4166, -0.5499, 0.2443, 0.1051, 0.0226]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.2069 left_yaw=0.1562 left_pitch=-0.0675 left_roll=0.0279 left_gripper=0.9971 right_x=0.4289 right_y=0.1721 right_z=0.2231 right_yaw=0.19 right_pitch=-0.138 right_roll=-0.0718 right_gripper=0.0226\nstate[joint_eff]: [0.4444, -1.853, 6.6256, 2.1026, -0.0366, -0.0073, -0.0122, -0.2667, -9.9624, 9.7436, 2.0977, -0.0366, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722b6c4936de711cf7596f7ff9348b2336606140efac6d60bd1d7c14f45a723f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d58a4cd668c05df39aa0c4b156b98780b117bcb6223ab608ee06bd8ed93514a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13675af1ab7bf225fe8f3ace0e63a297792112868a4529ef45fb2c0e160d5d43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.457 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9871, 0.8963, -0.8539, -0.292, -0.173, 0.9971, 0.873, 1.7359, 1.1568, -0.1688, 0.5537, 0.3859, 0.9953]\nstate[eef_state]: left_x=0.2697 left_y=0.0038 left_z=0.1761 left_yaw=0.15 left_pitch=-0.3173 left_roll=0.1483 left_gripper=0.9971 right_x=0.3659 right_y=0.2973 right_z=0.1389 right_yaw=0.1971 right_pitch=-0.0347 right_roll=-0.0388 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5915, 6.735, 1.3895, -0.188, -0.0659, -0.0171, 0.4034, -9.9761, 6.6393, 1.6777, 0.2808, 0.0659, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9913, 0.8963, -0.87, -0.292, -0.173, 0.9971, 0.733, 2.0609, 1.3617, -0.0284, 0.4389, 0.2798, 0.021]\nstate[eef_state]: left_x=0.2668 left_y=0.0043 left_z=0.1729 left_yaw=0.1519 left_pitch=-0.3364 left_roll=0.1554 left_gripper=0.9971 right_x=0.4508 right_y=0.3097 right_z=0.0803 right_yaw=0.2042 right_pitch=-0.0643 right_roll=-0.0493 right_gripper=0.021\nstate[joint_eff]: [-0.2667, -2.4, 7.0085, 1.3797, -0.2125, -0.0562, -0.0122, -0.8, -10.7829, 8.212, 2.0391, 0.1636, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1883, 0.8391, 0.7948, -0.6376, -0.2913, -0.2146, 0.9971, 0.4664, 1.6127, 1.4166, -0.5499, 0.2443, 0.1051, 0.0226]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.2069 left_yaw=0.1562 left_pitch=-0.0675 left_roll=0.0279 left_gripper=0.9971 right_x=0.4289 right_y=0.1721 right_z=0.2231 right_yaw=0.19 right_pitch=-0.138 right_roll=-0.0718 right_gripper=0.0226\nstate[joint_eff]: [0.4444, -1.853, 6.6256, 2.1026, -0.0366, -0.0073, -0.0122, -0.2667, -9.9624, 9.7436, 2.0977, -0.0366, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722b6c4936de711cf7596f7ff9348b2336606140efac6d60bd1d7c14f45a723f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d58a4cd668c05df39aa0c4b156b98780b117bcb6223ab608ee06bd8ed93514a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13675af1ab7bf225fe8f3ace0e63a297792112868a4529ef45fb2c0e160d5d43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0xJd8gqbR_89PR63ScIRtH_QkQbgAD88pfizWISFAIU0TYd_jd74dP8vw3__9r8ybhIkRWbRy2AamGUxl_XWATEoxw5aZMu1xj8sguxhZoxN5MQWOwSP33j99H4NYLdhd1ikxbcT1hfe9ZhrAjxp2YI8g6lQIG5vXUiWdj_ggCmwUNmm_x2qfSXFU8q_OTiF6qlpftrcvsZZZ1mL2lvjPX517QgcUJ9L1ThzjjZI3jXcT2DBkMIa225JqHEQM5DAazFsujFFvWgiYaXbUExKSLKF_miG_e_iJ24sHmXZYsubZfWRHw6TwR9p86gx2eHbtS8t9xkfeybyRMicaQ1XDsti3jo38TLj2GwAQZ5DvwVoWVNIBbbh3qnkGZid6d83B9lDX9cl63R2M7cxHtzuikM2XA48RyDjnlENLwttb5woFfGbDKn7krPJZsxvpuS5PUeKG7QU3wBPjLHOdxVsERgZFWk8LE3GfsQxHSCuJgWnBDxy2YpS9aTVWFO8AO2xuTWii81hwdmNJ-uc90OkxqC_6RDOZvK8vSZmcQKc0YtVg7O5godCm4Ph5hiE6Tshb1M0W4faARHcAsa3ehGJ_DiheHTnljlJY2OqvemBx60md3y8oMpDxM0WCKLMmJYispDgM5mJ6QI0zV8dsgcidngw3xNZIH8SVad5RdOoskw7CZnLHBjpYkPfrox6PZh2SHiX8YGouYpLdasP7MtXJ36Gc7VgjL73qvule4Nik8AoloAwscn_ZN6Ov1wFSI9qpgk1uK6jymlZKKKx7deHYLsUT_hAZ-f6CnV_5UKztyNAZk0xHR94rmmzAj5HJzy59ms03W-qUSPv52-621OY2XqdtzZ74QLZNuhP83p-q71AWjV_ubPAGiZ3E2cfwkZlZrqFvI0gEKITT1rDdJNB23TE5kZoW_BlMR6qAOkFxngRvOG7NntF8A0ujXTByaRejoIFQRPx10DcW0Sxh0m4SzqePp6ksi4XZaEP_McmTH5wUeatH_zz9VJ41xyZ-wRXtpCXk-BgsadL2dT7AMvTgoqD5t1uvMjdf3RI2QRc7R5eoSxZXHUH1wd5x5eKLhna5bjK73UbUr4DzzUtruYSOwvYViKcJcKx734U_a5iDtNfV6XyKYGuCaHeearDIllFuAtzWXH2daxMjYGwIoyunYPsv5p-3jWgkVblOKK8tSGAzsBa8hZgchfp21YZ7v_FSAQnjPjQDsBPk2-OIPajmti0VdKgrJKEbo2DguCxY4gx4bvKiB0tUqJqxxnhhwOLoaSM3cVaJzb1Au3tAchda9w24s_X7aF93a7Fodz3bdo_hc4_YxxB7WvesklteXpDZf2ZSGayQHp_HKQLpejBnJjOjaFb4YmkIwgVpZ2j2KRrcs0c6UsQXAg2A251OkiyxD3nzZqP0BxyKjFwFzgrfyswmDzFXO5oAxpCrxZllGXJe7FSBxjXee5up0_UaQtOvchcdK2TGcYZBJ28cAKcZdIPrl4iuIbZ1lzED5VspKpt7Zdws6S_o1gugQVNTADBBMLnWh7OrOTLOwSBd68TptI8hmt5LT7MpcOb7HDaxVtrQl0nJKz2AcdXMxgVDsBc-RarSqdrVf0FHtqECOvq6E-_Ktght4fYIqHq-chaK4S6YipVSYqOhmU4M6uFEiHRosRWGpiIb3dcHN7QAkERTFDmlDGpqpWesgPg-arK7dbvMFwuE7A2wg2xMibHUQnpuyxHxWN5aq_enbU-R5VdzsihPZh--Hbh6637hLMDgDk4ZGeRSakxlIuf1Yie-z9XgP",
  "id": "rs_0aa5aba580c34d20016ab45d2f3e5487d0b31e8605ef9c7ccc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.34,\"right_z\":0.14},\"note\":\"The brown plush actually came up with the closed fingertips; the pale and yellow objects remain inside the safe. I’m moving the brown plush deeper over the compartment so its whole body can settle inside.\"}",
  "call_id": "call_4w6MwSJtcqs4iC9uDFRtuSut",
  "id": "fc_0aa5aba580c34d20016ab45d30db4487d0b44c1ccd85f564e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4w6MwSJtcqs4iC9uDFRtuSut",
  "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]: [-0.1894, 0.8421, 0.7902, -0.6456, -0.289, -0.2184, 0.9971, 0.6876, 2.2898, 2.0212, -0.6056, 0.3779, 0.2401, 0.0246]\nstate[eef_state]: left_x=0.2808 left_y=0.0011 left_z=0.2025 left_yaw=0.1557 left_pitch=-0.0826 left_roll=0.0288 left_gripper=0.9971 right_x=0.4999 right_y=0.3309 right_z=0.1239 right_yaw=0.219 right_pitch=-0.2156 right_roll=-0.1111 right_gripper=0.0246\nstate[joint_eff]: [-0.1983, -1.5521, 7.1453, 1.6728, -0.1783, -0.0122, -0.0171, 0.2256, -12.9709, 9.1145, 1.8681, 0.2711, 0.2125, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9ab15464f1568e9282716905b0d9fe17197c2d74d438dedc753282fac8024a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f46067a2e328d0bac5a22c9d8a3596f81e33bc9832fdc8e3eace05c05dc00e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03870a89d59f005bd9c591c735c4df8137d3cd646d345fef52d9fd7148db1907",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.871 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.9882, 0.8963, -0.8558, -0.292, -0.173, 0.9971, 0.8165, 1.9167, 1.0245, 0.1837, 0.5106, 0.3405, 0.0179]\nstate[eef_state]: left_x=0.2694 left_y=0.0039 left_z=0.1755 left_yaw=0.1503 left_pitch=-0.3202 left_roll=0.1493 left_gripper=0.9971 right_x=0.3892 right_y=0.2934 right_z=0.0615 right_yaw=0.1991 right_pitch=-0.0214 right_roll=-0.0294 right_gripper=0.0179\nstate[joint_eff]: [0.0068, -1.8803, 6.5573, 1.3651, -0.1538, -0.0562, -0.0171, -0.8957, -6.8991, 4.6427, 1.5165, 0.1197, -0.0806, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1883, 0.8391, 0.7948, -0.6376, -0.2913, -0.2146, 0.9971, 0.4664, 1.6127, 1.4166, -0.5499, 0.2443, 0.1051, 0.0226]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.2069 left_yaw=0.1562 left_pitch=-0.0675 left_roll=0.0279 left_gripper=0.9971 right_x=0.4289 right_y=0.1721 right_z=0.2231 right_yaw=0.19 right_pitch=-0.138 right_roll=-0.0718 right_gripper=0.0226\nstate[joint_eff]: [0.4444, -1.853, 6.6256, 2.1026, -0.0366, -0.0073, -0.0122, -0.2667, -9.9624, 9.7436, 2.0977, -0.0366, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.8421, 0.7902, -0.6456, -0.289, -0.2184, 0.9971, 0.6876, 2.2898, 2.0212, -0.6056, 0.3779, 0.2401, 0.0246]\nstate[eef_state]: left_x=0.2808 left_y=0.0011 left_z=0.2025 left_yaw=0.1557 left_pitch=-0.0826 left_roll=0.0288 left_gripper=0.9971 right_x=0.4999 right_y=0.3309 right_z=0.1239 right_yaw=0.219 right_pitch=-0.2156 right_roll=-0.1111 right_gripper=0.0246\nstate[joint_eff]: [-0.1983, -1.5521, 7.1453, 1.6728, -0.1783, -0.0122, -0.0171, 0.2256, -12.9709, 9.1145, 1.8681, 0.2711, 0.2125, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9ab15464f1568e9282716905b0d9fe17197c2d74d438dedc753282fac8024a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f46067a2e328d0bac5a22c9d8a3596f81e33bc9832fdc8e3eace05c05dc00e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03870a89d59f005bd9c591c735c4df8137d3cd646d345fef52d9fd7148db1907",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is now over the center of the safe rather than the front lip. I’m opening the gripper so it settles with the other objects.\"}",
  "call_id": "call_Ze5LXuUPtfO03vrT33h4u2Ot",
  "id": "fc_0aa5aba580c34d20016ab45d34f13487d0a044c7f251eb15fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ze5LXuUPtfO03vrT33h4u2Ot",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.8425, 0.7902, -0.6525, -0.289, -0.2184, 0.9971, 0.6926, 2.3154, 2.0212, -0.6315, 0.3775, 0.2359, 0.9947]\nstate[eef_state]: left_x=0.2798 left_y=0.0013 left_z=0.2012 left_yaw=0.1559 left_pitch=-0.0895 left_roll=0.0312 left_gripper=0.9971 right_x=0.4946 right_y=0.3304 right_z=0.1055 right_yaw=0.221 right_pitch=-0.2619 right_roll=-0.1378 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.7021, -0.1636, 0.0024, -0.0122, -0.5128, -15.5556, 6.6667, 1.58, 0.1197, -0.0317, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179a76cf6d8f1b1804d95f1a0385ad387baed8a2d620a84f2746b0f1a2f81994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f072cf52e82e0a251bdee8d5ea724f0e142ba7310e104990950e4da62dfbee0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5237a4268564431e7cf9c3085b1c86909bfcbd4e163cc4d8e4189eaed6c7be97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 7.628 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 123 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.9913, 0.8963, -0.87, -0.292, -0.173, 0.9971, 0.733, 2.0609, 1.3617, -0.0284, 0.4389, 0.2798, 0.021]\nstate[eef_state]: left_x=0.2668 left_y=0.0043 left_z=0.1729 left_yaw=0.1519 left_pitch=-0.3364 left_roll=0.1554 left_gripper=0.9971 right_x=0.4508 right_y=0.3097 right_z=0.0803 right_yaw=0.2042 right_pitch=-0.0643 right_roll=-0.0493 right_gripper=0.021\nstate[joint_eff]: [-0.2667, -2.4, 7.0085, 1.3797, -0.2125, -0.0562, -0.0122, -0.8, -10.7829, 8.212, 2.0391, 0.1636, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.8421, 0.7902, -0.6456, -0.289, -0.2184, 0.9971, 0.6876, 2.2898, 2.0212, -0.6056, 0.3779, 0.2401, 0.0246]\nstate[eef_state]: left_x=0.2808 left_y=0.0011 left_z=0.2025 left_yaw=0.1557 left_pitch=-0.0826 left_roll=0.0288 left_gripper=0.9971 right_x=0.4999 right_y=0.3309 right_z=0.1239 right_yaw=0.219 right_pitch=-0.2156 right_roll=-0.1111 right_gripper=0.0246\nstate[joint_eff]: [-0.1983, -1.5521, 7.1453, 1.6728, -0.1783, -0.0122, -0.0171, 0.2256, -12.9709, 9.1145, 1.8681, 0.2711, 0.2125, 0.8181]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.8425, 0.7902, -0.6525, -0.289, -0.2184, 0.9971, 0.6926, 2.3154, 2.0212, -0.6315, 0.3775, 0.2359, 0.9947]\nstate[eef_state]: left_x=0.2798 left_y=0.0013 left_z=0.2012 left_yaw=0.1559 left_pitch=-0.0895 left_roll=0.0312 left_gripper=0.9971 right_x=0.4946 right_y=0.3304 right_z=0.1055 right_yaw=0.221 right_pitch=-0.2619 right_roll=-0.1378 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.7021, -0.1636, 0.0024, -0.0122, -0.5128, -15.5556, 6.6667, 1.58, 0.1197, -0.0317, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179a76cf6d8f1b1804d95f1a0385ad387baed8a2d620a84f2746b0f1a2f81994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f072cf52e82e0a251bdee8d5ea724f0e142ba7310e104990950e4da62dfbee0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5237a4268564431e7cf9c3085b1c86909bfcbd4e163cc4d8e4189eaed6c7be97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0-UnrBby9k7DbZKLy4-fBsWe50m5jkwqdNS40ZHjrmEU3jgaPAwYLODn7VmSJAdZeAFxU0stq7VV__BwCTP9zJVjwmu43BEG2wPdaZhWtaXUDmG02oVebVz-lBbnxhiT9AW8QQClN8CtAZ8oWM-2U8tLG0HSJ4wDvQLvAeSaMdX7t643kTHIu6uWc1r8ER4mHQOy2U_ML6P_XEK8trxvclbsqC367woA6_CGMVbP0cnTyhaGiEaomedDJaXlf_bvEOO2lS741AySS0wH-qRydFdd0TkVZZH6E_RR4mT4URb-UdC0shzLU2J3rWUfYmyt5XvPG04bqpExhqxziDG2MBFNiHXydWTKGOFzRoWiz_ao6vTs1_496JNZPfFOdliV12ZE04kcsjUOBoG4HcEf2HDOLihrjOP4JIIrrHq8yDB_WiK7_IKzGc8RAcLsjiI7U09LEvnK1Pd74DBECGNFZ6VEKxvZZoGWPSY4kajgLaIt9_wzQrBihlJMdeLXp1hDy3EUi296EDbYVIP6HOJtColv0icEb47KMtKuljftgZw_PWeJ7xLs6czpi0wZ7YojFER71l6IEZi5k5-l_gz3iO05NjDIQiRcYF8ZtX2Vuz105Tum6VhNUu4M1TuKC7_MTtpOzNjIYJqwlZOihiR0G0Nez-_VMNZQRQdpwA7X4-7dkEeHc5or6FpYcYDhZMzvhL9ndWcede-x-cwEEYJicGEJPEwo4TuP_D5LmJhyuPy6qzd9wwq8ueLMHmihsd3AVwjnHr9vBVPi0ghii3sCQHFfpFS2HYsRTtni_jjEXXCfvxW5W7gbAMEOB3-4OCXT2RywC1RHPYkYrgXeESZXU-LWBGHT0Zih59UmtmgHDKonrEE0V7oT-wWhMizc5Hu55spn4gYu68ebTKXQ0YreqLcqrIibQ8FP9i52E5AWorQ6Ebu88w-fNqjrCrQpZEEoC0u6kpbssk44MVQXf2P2lg4LGaA5sT2syVK6iiDN7jlH3mFb3guEPqiJubwLUoxU12XwhPRo-17iLfbIGiufESLNnvCpjJxFp5xu0hhuzxtp9Lgy-TwZIWoVLmmqZeSC8Gi5ae87l-5MVjF4mqWZ1Y-5jbhw735PfkDAt3hud29Q--X_C5fAO3RJoQLgRiV_8a3UAroOuqLxrvXm76dDdKul9BT3FlpTe9JytzbbdjVC_Q61C0cleo_MiVlHS9QTsK0bfeue3XZaNlDc1iC80Mik6XMI4E2uGI8bBv9KnG2gbEnligZIMvmjIDIYjHsyA_cvfvaOwaxyNc1jW-bHaNJiqDjVlIDEO5aPkxXaS0V9gH1h8bwfhrzKVfc175ViXeD0ZfYX3rFiDsc9kwKmLa1x5JaJD5x4neeDPtSw9NF6tNqaz4wyzi7p6xgjOgBJokKJlsZK6ew4tndf0vYkcNTBUWBkOxkF2gBb4PlZyZDLzVzwT4kB1YuWuRdmRWN9THvlDGFngc_xfRlnzq5Ykp1y2fkbbBfDUgxpnLNammY_oTDVYMbysyyFQuFr8b4h1WhlHbuk0r6pYOIVo5M2afAXkToXBeNyHuI0ZywMlrjIgNdAIzHZkbPTm86w612spFjfFPiCyfL9sEwO9C-S3icDcHxdNIjazeC-xcFDICI7skYyZXpmAPneGJxPYQXSVANZkYZlyfoDigVYe1RUQ_-Lb7rA8CVNBdfq8PR5YBoaNGG0ldDU4QX8U1vRYOWZ-DjKV0iFkKFcO5XibY_ob_iuqwO4kF-PDD19dIkS7rO99NVVpCewrw5jowZS-B4dGkT4sJGFezVwt6MLEHhMiVCeQy5X-HG41XNMI640ZZRwmaLuwHvbXnIF8U0RVAo4g3Kx8q400aCekznzKUpX-YD9_EgvCfPD-1cuNuRHKTbelmA-ZbOcyPCIvHhisb39QEBvszQSFvoQ4pDbv-QA-rRrjb7_A6E9MrhZrPbXM3FtxJzZ7ebMxoIjbHGRQ5RDSKwvYDKOrvMSSgI-Njt0jwZ2yF7Rj6Nly4EyNNidObfrRJAYRrkVvcECcd-WnSX4wvr78l_4zw2EJ7N7hkOsXluYbAlaNXwnfUBj_v7vHcW9-TyNfRCaK79KqfTIpFyultUnaMUNaQwQjyY2q1Kzg6ORdrdwV_zdksAT6rOusKGyJx1UTbgS9ptNVp3Ze11uGlV2w2d1b9hEyg9eO4lMgpEHPnNC-hw3K_DWIhnkRQma9IADsyG4XZ03FRmog7OsYoGC-Vjqo-Um_WmFEhh_EBP74rPi-xpAwNN4MQtADyQy30YeYvl2izyRrP9uJOWM_6xuv3T9llhcCz711okcBfRm-462PPMuFqbADShgJvvHRFnytCEBjEE8fXzTN1GYIEH9yx9k_HdxGr3z_5yb8eKWHlI6YnsFIT7zfxsPXQdAA=",
  "id": "rs_0aa5aba580c34d20016ab45d38eee087d0bf9ce701c2dc9c76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.35,\"right_z\":0.29,\"right_pitch\":0.35,\"right_roll\":0,\"right_gripper\":1},\"note\":\"All three objects are now in the compartment. I’m lifting toward the upright lid’s upper edge, using a forward tilt to reach it without sweeping through the contents.\"}",
  "call_id": "call_OlH6nvthW5TCNRAtFzbkXP7c",
  "id": "fc_0aa5aba580c34d20016ab45d3d781487d0b76fe13da0cfadbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OlH6nvthW5TCNRAtFzbkXP7c",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.8425, 0.7902, -0.6594, -0.289, -0.2188, 0.9971, 0.6662, 2.281, 2.0933, -0.2317, 0.4099, 0.0856, 0.9989]\nstate[eef_state]: left_x=0.2787 left_y=0.0015 left_z=0.1999 left_yaw=0.1563 left_pitch=-0.0959 left_roll=0.0333 left_gripper=0.9971 right_x=0.5572 right_y=0.353 right_z=0.2311 right_yaw=0.2598 right_pitch=0.1986 right_roll=-0.0656 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.3197, 6.7624, 1.7216, -0.1587, -0.0708, -0.0171, -0.8684, -15.8838, 10.6598, 2.4396, 0.1978, 0.0611, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab03b0ca37f45f71596b9af772e21eef526a9545e5f105b1cb197a06274cd4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3be1d0b9e1fe914036f1864d6d1fb3e7d28c3e16436754308fdcaf887d3af5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33f943992fabd1c808a388f691ad7f4e5de28a8cdf03501b2c6b3ca93b98890",
      "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 · 6.398 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 123 changed as sent

message 127 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1883, 0.8391, 0.7948, -0.6376, -0.2913, -0.2146, 0.9971, 0.4664, 1.6127, 1.4166, -0.5499, 0.2443, 0.1051, 0.0226]\nstate[eef_state]: left_x=0.2822 left_y=0.0015 left_z=0.2069 left_yaw=0.1562 left_pitch=-0.0675 left_roll=0.0279 left_gripper=0.9971 right_x=0.4289 right_y=0.1721 right_z=0.2231 right_yaw=0.19 right_pitch=-0.138 right_roll=-0.0718 right_gripper=0.0226\nstate[joint_eff]: [0.4444, -1.853, 6.6256, 2.1026, -0.0366, -0.0073, -0.0122, -0.2667, -9.9624, 9.7436, 2.0977, -0.0366, -0.0122, 1.0281]",
      "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]: [-0.1894, 0.8425, 0.7902, -0.6525, -0.289, -0.2184, 0.9971, 0.6926, 2.3154, 2.0212, -0.6315, 0.3775, 0.2359, 0.9947]\nstate[eef_state]: left_x=0.2798 left_y=0.0013 left_z=0.2012 left_yaw=0.1559 left_pitch=-0.0895 left_roll=0.0312 left_gripper=0.9971 right_x=0.4946 right_y=0.3304 right_z=0.1055 right_yaw=0.221 right_pitch=-0.2619 right_roll=-0.1378 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.7021, -0.1636, 0.0024, -0.0122, -0.5128, -15.5556, 6.6667, 1.58, 0.1197, -0.0317, -0.0415]\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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.8425, 0.7902, -0.6594, -0.289, -0.2188, 0.9971, 0.6662, 2.281, 2.0933, -0.2317, 0.4099, 0.0856, 0.9989]\nstate[eef_state]: left_x=0.2787 left_y=0.0015 left_z=0.1999 left_yaw=0.1563 left_pitch=-0.0959 left_roll=0.0333 left_gripper=0.9971 right_x=0.5572 right_y=0.353 right_z=0.2311 right_yaw=0.2598 right_pitch=0.1986 right_roll=-0.0656 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.3197, 6.7624, 1.7216, -0.1587, -0.0708, -0.0171, -0.8684, -15.8838, 10.6598, 2.4396, 0.1978, 0.0611, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab03b0ca37f45f71596b9af772e21eef526a9545e5f105b1cb197a06274cd4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3be1d0b9e1fe914036f1864d6d1fb3e7d28c3e16436754308fdcaf887d3af5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33f943992fabd1c808a388f691ad7f4e5de28a8cdf03501b2c6b3ca93b98890",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1Ipay0oB2YQxQsb57-HiFM_OOLWe1UikEIXfgusv0O9xUZymtbfprVOAbSNnqnITZaM6aE4v-cDE49alYAkbj46xr84WRF8F5nNQq-e7hVKc-BLhPUnJbnyPWC_blsxYJ5WiZGFEY9zyQFsUMS3JH_dw7GPxs8zNdAACsEkTZrGPtCutitFRQOJq4NH178CT6tA-JkqCgU5aDdtjEUWssFeAMyjlHw7tH6Uk_ZHffMTiX4nX2QNCUdg-tIbTXhzJoXyqH8onyFX7a-bbV4Sb3l28z3xoOh7eR188yYw5G79L6n2jLOPnkFNxpsW96UgEgT5NZrkCibXG_ExM4RtrMOKI4DwN7V-uSpaQDONQbD8eEOGeQapJwWBBiL-6YZh4EXXHnffwAzJYyWSA4M1Zo6v4ZcwM_GeZbL4P5kEFzZCE8Vb0YunS05EIfs7tHZsMETZiuUIpiawSO-YeGbvZ9e1Oo61d_a5evboXMVwxt0AN0gD0dWg1NtPmnSTOaf90SlvgkEfdKgXaPctVRu0fpE77k2LnNzoXmh2qLwJwx7005CEmPgwrWxbstzw6xM7Migztpa76BhvH_F0VorlxooYeYD9Eu5fTF8KreahwQvsrKDtF7-udlqJtTmZEpWTb2sky6lGu2lJdTsJ1nQPrAZSkHfFSSEQNl9mVpyf8W7-TnrhNZYp_PgZsr1ciCyA0tKRxvMOFuKcOpKdVqXUcUOB9PpLPbVQRKibtQxh_dPOwNJSWnuDCRmfgmx8mlZNh-5APeABoLqx7cgvIXRCLVDrAXNtkbBO8AawBqebHRETj16cEGNbVgLMGD_En9l0fg5jpCPs3WhqtkqFb8hafANBg5gHviu695DRKKKFz98hTAF5B_pDw28V4WS0BTntEdO99-9Tgm2oCwYVwyMF8-itpMmv-spAcFS1f-vemdQsGq3m3R9sdhVfqhtiwoSjzxo36AFAdueKLyaM52Z5mdHAmsTAR3a-w1DdHh3bGW7dILSw1cXyjT7vhHkpp_Hdj0WnEc3Y90Oo4-WOiQmOhvzi1yUtWN6vRFCBmwxkQLtiZzKYS61TA8VDj41ww0EkgFMsNE5PzDr-nyYBsvm0fXq5Y4-Gfxdys50av59AvNgXHMrMp3-OQMruCjNySQQIdo1MJBPBfw8_MYPbqu-Pf4JLQ6PMmwl3AXDGcEzJjXmUXAw2D2gHSC-8lmmE_6eoOz4a_jdlwkq-4ffknC-mFEXlrbiMLescc9ZgrvFL3Xit6j7LQZ7_0CLu-bL4dDSx17eiWosk0HfJ1fWPvl91vQX9BoGXLf9hh1H-_jtdrUp6PMAqC87wJleuU41lh-Bhy_kOHhvoYfVe8eY6NfjKoWOoI7tzE0G0znzOiaOlF9WTMCzt5y7qrZtky99sJxNOnVh-WpzkIF8tStcXp07dPEcu7FOcTyWNjUPNO7sJGIbSnoT-AvPHy_LWZCEZn02dEgDes-JgcT5UOmtcmv3W-LvtRfwtEVxQoXIElmE7UE0MyU-fQCOnOfQKrwjQRreaCWoRKUCvY5vQ60JZFHlU7mmmueqdKEzHVfAbuoNQ7mzGSCldWL8AgsDBrv2Q52fDgbUHweC1Kn6r8S29_bnidZWxWKNspFTHLji4uMOwRfGg7IuAev7AF_S5Rmg83dyGAniaDEydrOpUIqiygL7hTaWGM1lShXh3Mc_ZoAIe-vsaqx-WW-AO4Q2f4NmkOhLrUC_b3Ob3emMkoaPqYsxp7DLmvNQOKqlvWhxo6EAIHdlirweRY9vWA2HC7MADlsW6R8X-8_DwbMVGk3ObPygentddsnAvKBGxM_W1FOZLeYw2ruEB1Q_P8Vnj594zyE9fbWxzxXcoDruhUsMkIg4Chc_dlOue41RuDIpPwEWAO_bwU1_zFjjHO8MvbiCkVYKoJ_I3aJ-xExnebxqI9EVRBPvQ5RRoBYEpJTbjD3h8EWBb1QRkkXe90TZDVHBvkMuyI1gV9INpfehb9sBZJXoqH-IGuk-tSdjVZGpoISsRJHOOPQrtl8WLGPMsF0vWqIQnYmIKVc8kIM0Oz7qoKRkGsb7X4dvSktUnMTeQk6vp4H3Sq7WI7s9swx1z-rKN7ChVfNqk8mxFFmOJ9AmG0fqW7LkpuuV7kpHDJvpZ5RVrRd2ZOm4SpEE49QyoorZnmxvi0NZRAjC__hEDhhD9JPWWySCDzPgjsvfsEhPCD3PwlE_L0pfLexpPlYmfj3jloS_25G7xsrZQ_FSKWyV8mZcRpwuCzyzPKq9j9DQnDD0YB57qYDqL-vvpRpD_7vbNxDKRqcJFo0ZLpClmdsXrKhZgQJLQR3919MrK4zSaOmc2KISG4mnhHXaO97PE1PQKFLIKtP1qWTSXNQF7OBP9M84DymeB9swTiNtFRoGYRIo4O012yEYtFoD4zbph9eiAWRj_ngO6TBdgx-pnafHz6OyduiZJbUVf2a5A6sh3J-6Ch9OirzrQVU-0OOU5t9LzOwrZfBuY_if5YT8PH99BpApq2En6-oms7PYLI6IINBAyqRBEL8ARptnm1sy6FGPc-GpSnfYj-gwsuUgnAXEhaO74i2murw9anFfsugGXQK8hp3kGFTzW06QsR6aTotTpJLMUaRAE2AQn-edrZnVLBa2QMGGoNWtuVJyokdRMBekEwJihsbA_gZEkFl5DzMDuQKQnwsMhojGNvuXOy26FEpFXrMp5aDbM5mwBNiQOfcEScJrR1g=",
  "id": "rs_0aa5aba580c34d20016ab45d42108487d0a59f63a5003a59c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.345,\"right_z\":0.25,\"right_yaw\":-1.0,\"right_pitch\":0.45},\"note\":\"The lid’s silver upper edge is directly ahead of the fingertips, but the arm is below the requested height at this reach. I’m turning the open jaws across the lid’s thickness and aligning at the edge rather than forcing the arm higher.\"}",
  "call_id": "call_puXFGH8acBaCN8TJbCYXjkBO",
  "id": "fc_0aa5aba580c34d20016ab45d46e1ec87d09332affde81b9b9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_puXFGH8acBaCN8TJbCYXjkBO",
  "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]: [-0.1894, 0.8471, 0.7902, -0.6773, -0.289, -0.2218, 0.9971, 0.6468, 2.7789, 2.8799, -1.1225, 1.372, 0.9047, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0019 left_z=0.1956 left_yaw=0.1588 left_pitch=-0.117 left_roll=0.0386 left_gripper=0.9971 right_x=0.5485 right_y=0.2017 right_z=0.2007 right_yaw=-0.7684 right_pitch=0.4112 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4564, 6.7487, 1.8046, -0.1343, -0.0122, -0.0122, -0.8, -14.0923, 7.665, 1.1209, 0.7741, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f328f5f34bb6a4f3ab77fce5f58b034538daf5719f79beef622527f6efee7cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e016d26670a16e2172e5d6960999074ce65617d327c2b22b997c9b792ae6d672",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a025f17d6d1fae472ac7b3dfa236ed3e8682cfba3e618bee83dc6c107ace99bb",
      "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 · 5.753 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 127 changed as sent

message 131 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 0.8421, 0.7902, -0.6456, -0.289, -0.2184, 0.9971, 0.6876, 2.2898, 2.0212, -0.6056, 0.3779, 0.2401, 0.0246]\nstate[eef_state]: left_x=0.2808 left_y=0.0011 left_z=0.2025 left_yaw=0.1557 left_pitch=-0.0826 left_roll=0.0288 left_gripper=0.9971 right_x=0.4999 right_y=0.3309 right_z=0.1239 right_yaw=0.219 right_pitch=-0.2156 right_roll=-0.1111 right_gripper=0.0246\nstate[joint_eff]: [-0.1983, -1.5521, 7.1453, 1.6728, -0.1783, -0.0122, -0.0171, 0.2256, -12.9709, 9.1145, 1.8681, 0.2711, 0.2125, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1894, 0.8425, 0.7902, -0.6594, -0.289, -0.2188, 0.9971, 0.6662, 2.281, 2.0933, -0.2317, 0.4099, 0.0856, 0.9989]\nstate[eef_state]: left_x=0.2787 left_y=0.0015 left_z=0.1999 left_yaw=0.1563 left_pitch=-0.0959 left_roll=0.0333 left_gripper=0.9971 right_x=0.5572 right_y=0.353 right_z=0.2311 right_yaw=0.2598 right_pitch=0.1986 right_roll=-0.0656 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.3197, 6.7624, 1.7216, -0.1587, -0.0708, -0.0171, -0.8684, -15.8838, 10.6598, 2.4396, 0.1978, 0.0611, -0.1245]",
      "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]: [-0.1894, 0.8471, 0.7902, -0.6773, -0.289, -0.2218, 0.9971, 0.6468, 2.7789, 2.8799, -1.1225, 1.372, 0.9047, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0019 left_z=0.1956 left_yaw=0.1588 left_pitch=-0.117 left_roll=0.0386 left_gripper=0.9971 right_x=0.5485 right_y=0.2017 right_z=0.2007 right_yaw=-0.7684 right_pitch=0.4112 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4564, 6.7487, 1.8046, -0.1343, -0.0122, -0.0122, -0.8, -14.0923, 7.665, 1.1209, 0.7741, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f328f5f34bb6a4f3ab77fce5f58b034538daf5719f79beef622527f6efee7cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e016d26670a16e2172e5d6960999074ce65617d327c2b22b997c9b792ae6d672",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a025f17d6d1fae472ac7b3dfa236ed3e8682cfba3e618bee83dc6c107ace99bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF1PPnoOcsE-Bpghg1VJ89f5QqCV2NMmpRoLo5hbMigULxiu9ww-GKdMWInbBgCL5NPxgwzoNxPpw6_lYP2g_FTk3LQBcF8SvkhlNKSaEGWIjufsHBl3dL65gCGoHN10XpAqI4I6w2X5KaIvPNYxhsSUkYuB1ksStekgQt-C-xe7GMmtr7P0S7CYJYAcnxVyP2mLfp-s2dpAqqpQaRH-scuFA1XEfWURwsipHuY734kBrWdF-F26FiS0e7LbQ-FrDyj0u5iCmPkXIvyMsmlZqtqyCLTd7oohmjts3k--OGLHuQ8ydEwFKgdoAculHRgEgoVvEnb0lFE9l54rYY8NoWhB2K5xrAnIFGsEBObXA2AOlDY_bwF9eJTwMeux9LDMORxy5eNglrIUXRNj3wVieWlznACZXJK_RNekSJCWg1KVQE0-j_MoF9dVb0sAQiXR-TRYyKfPn1ufeOxp53B09Ez96CKKbMZfqUjjh0h87jDycCKrz9FUWVZPZBx05A2UG6unpriLHsyYYJ9fRjFO5ZyYNwGg-i2bO38jFG9ygxGZUdH9C4EnahZg7xp6tnsy1U6ftRTpsk4TKINPTXACCdox-wS0EEAiZbLc9eFKgN3Mm3kSoUYJLsJQy6e5iADZZPuzpXdHqWduPeYHTRlki8ZK3TddBl7kQavRVa7LSJYLNdR1Lmu9JAI3oxAtlhYkp4tXx_8RuNzhyoearqgTqW9Ba3-D0dkvTZ2LCzPSVqd-neIY8PU1I_xQfeWeHBmGGDhbPzNzVDxkQYv_5bDhgcQvLyVaoWaIoRujEYxAXzKv-WdtnGiYGBA5bOJdVDK3brjq4ySHcLjUJMmwDhCxDc7VScAMhnvTBixHoWD_jIy5287rckvajdf5wVN3qYm5sl1PcZ8cfvlG9_frWY2xv6AGGc7MTmrNpnK2X_TL-yzM9hf-GMROo0ELlFjoE1mTdo2HeYIvtwTD_YF9MiWNR6dilWRgz4bS_5-XGI2SKHD41huM7DIczPC38YAi0bULdtL7MNJg9r8rwnlHm7CMrr9w_9QNYXMLplG5NOb9GQI-_9_RA8ggIprulD45BjwS96Qa1-Fl2phPCLvTVhfEGvZ6shahzQBw28mQ8sWTHdCBsuI29aQuER2it73eIFi2D_FiBu_2rr_bIAtmOV8NVKUWdzRIlN7YiFxNroL4gFIUqhy3t1aOIcYgUmG_CDXt2OOYihwfWp0NfIGIax4-69kBK_0Q6Du3aojBHpVLGRFv-pid3a154OQ-AIvDBnC6wlgUduaMBD7nHY6OoKWnMriYIDTEezieGkys6nCecuJBvEujsX7UBwlBVajVaEZNG2FaA-FGzv8XWJAgZ2xirHAmXK_WlSeRtauUOePXhKW0jLq9Y2awgIrsFmR0Hjoazq5DB_sdaVGwIcmQrht3oPTdNA1Rs_E6nxCwV1I8DAYAg1J0tHDpdmrAx8HZ9rsBfbvyGVq2U2baTynKGHMaEg-VyxR6bJww2ql_2Pdjf-T9sB27TucrR-KqDu8QFNUJQm5XbheHC92BbJmU6OksovXxnhfZC6Hk6roQjEcDDupNrwZKyxAn9LBz3UvNDfVCdOrQv5hViyW4j51EvifgZzeZcBdcDagjjPWNeKsBSYqu1fHK7DjzwGj2E-abYpufc8hJDo6h2rWpvxiia17pJYOKATedaiCdXO2EVngChLQ_wRBf1eW3FzcfsqmbopRn0VukHgmosGPWdmnadYRCQ3ng0yk6YnrpHQKYNfRcuQ3jATKqWx4CaOSC8CkxJ10wjzXxzhCol79PJCrnK_5vs4uQr34a3rou9eS_CuZZAfLBeJxyGrDWJgx2H7ygdO1UJiKxlHNxrIvjOdZ3gjOPMJ9wS0ida9uRPmEmv0HxMU8xFIyjXW-ybjy-C3NiMlJzPRv7cxHKBr9KyY020dwkvmRXQHJvkXMCQFyNn0LlU_lMdcKmh9be2SWft4ScUrq6P6IDxTudjt-JGtQ2OsJ9FRPVosh6L1soILVFgZDjnO5XDEDDqw8WbVu85atVTEf8yDMMec_q4bMX3ND1p3lt0vrcVGsKsxs6XoEacrTVe-sawHkJvciJ7B2vp-3DZUrX1v2MiwiejW12gyOKrfpmjO2R3oi0_mO1zlrG-CcZ-rzh5xM=",
  "id": "rs_0aa5aba580c34d20016ab45d4a9c0887d0aec60c032489d335",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.24,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.56,\"left_y\":-0.27,\"left_z\":0.3,\"left_pitch\":0.45,\"left_gripper\":0},\"note\":\"Rotating the right wrist at that long reach caused a large position error, so I’m withdrawing it rather than continuing that awkward grasp. I’m bringing the left gripper above the lid to close it with a controlled push.\"}",
  "call_id": "call_ZdqIV8mUSlwd9Zo0dUsRlAIN",
  "id": "fc_0aa5aba580c34d20016ab45d4de33487d091cbf5f6e578fc2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZdqIV8mUSlwd9Zo0dUsRlAIN",
  "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]: [-0.6632, 2.1574, 1.9072, -0.02, -0.8375, -0.1829, 0.0105, 0.0017, 1.7069, 2.5717, -1.4006, 0.094, 0.0303, 0.9989]\nstate[eef_state]: left_x=0.5559 left_y=-0.2632 left_z=0.2793 left_yaw=0.1633 left_pitch=0.4007 left_roll=0.0457 left_gripper=0.0105 right_x=0.3808 right_y=-0.0123 right_z=0.4735 right_yaw=-0.1063 right_pitch=0.0494 right_roll=-0.0041 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -13.4085, 8.7453, 1.7558, -0.1783, 0.232, 0.6081, 1.2923, -8.2256, 6.065, 2.8498, -0.359, 0.0122, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5920fe91a879d170e8c022db3e4f89338fa2808ec10b59ce0af8bd82247b5468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0001d814cb69e29654264a1c194aaf89713eca8b410d9e426bf4f5e7263f3b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99e91268a8f668d153b6d5dd13f83153b5927372bb9fc989dcbe6fa9dc6be85",
      "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 · 5.838 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]: [-0.1894, 0.8425, 0.7902, -0.6525, -0.289, -0.2184, 0.9971, 0.6926, 2.3154, 2.0212, -0.6315, 0.3775, 0.2359, 0.9947]\nstate[eef_state]: left_x=0.2798 left_y=0.0013 left_z=0.2012 left_yaw=0.1559 left_pitch=-0.0895 left_roll=0.0312 left_gripper=0.9971 right_x=0.4946 right_y=0.3304 right_z=0.1055 right_yaw=0.221 right_pitch=-0.2619 right_roll=-0.1378 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.7021, -0.1636, 0.0024, -0.0122, -0.5128, -15.5556, 6.6667, 1.58, 0.1197, -0.0317, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1894, 0.8471, 0.7902, -0.6773, -0.289, -0.2218, 0.9971, 0.6468, 2.7789, 2.8799, -1.1225, 1.372, 0.9047, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0019 left_z=0.1956 left_yaw=0.1588 left_pitch=-0.117 left_roll=0.0386 left_gripper=0.9971 right_x=0.5485 right_y=0.2017 right_z=0.2007 right_yaw=-0.7684 right_pitch=0.4112 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4564, 6.7487, 1.8046, -0.1343, -0.0122, -0.0122, -0.8, -14.0923, 7.665, 1.1209, 0.7741, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 2.1574, 1.9072, -0.02, -0.8375, -0.1829, 0.0105, 0.0017, 1.7069, 2.5717, -1.4006, 0.094, 0.0303, 0.9989]\nstate[eef_state]: left_x=0.5559 left_y=-0.2632 left_z=0.2793 left_yaw=0.1633 left_pitch=0.4007 left_roll=0.0457 left_gripper=0.0105 right_x=0.3808 right_y=-0.0123 right_z=0.4735 right_yaw=-0.1063 right_pitch=0.0494 right_roll=-0.0041 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -13.4085, 8.7453, 1.7558, -0.1783, 0.232, 0.6081, 1.2923, -8.2256, 6.065, 2.8498, -0.359, 0.0122, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5920fe91a879d170e8c022db3e4f89338fa2808ec10b59ce0af8bd82247b5468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0001d814cb69e29654264a1c194aaf89713eca8b410d9e426bf4f5e7263f3b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99e91268a8f668d153b6d5dd13f83153b5927372bb9fc989dcbe6fa9dc6be85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1Xxvhy6OBoEAZdV3SmOpCHnZ7NXFnvcYzzk8gK_G9vGUZqZM5O1QEcq7JJTKT5SXw9BeAAv3DTQq4TUGMRxmo32N2PWa24nZ4IsrAssYPZyy2ytvwXYgL6quqLyen4uCoK1uhGYkRiMqsd8wMUZ7Q4qTewIMbc_nLHdIrxiwR1VxdSB9FHoFol6HUtpmskfabHy7lDXv0NcZWbf7F_tCcT6cEmCTH4ypV_9XX8oYvdvhwQH4JaGMJLZhAihceEEunPTEMggSYvkv95mPaUY4npyNXaJlXVHNz1Pqvhy-nOKCe-LNNd50F8hv07h4fp1aFWsuco67ACDjQgPfI2-kM79cYQM-B3PynzAQ-O-K0glBZRaFXiR3wwXvSVK7u9keN0Yr0sJDA9DZnaYHOYLv60trW_n8cAzrgtJBGZ4bD_Y_5SxewjNsSdwEWMGLDz2ox7_jH0yNCl9w7XaOvKwVrJbgTrIMDUaavz0LAgzHf5DxJPqQ5oPipeRwMArJb15Nyt725fvRV8NqeHhUmF8c2BKYQ96hlLArUiMptDwcYxBSiIVrp4WhObFB0ZxhuxMUxvxF4HXLM8w_iHTTuT11XiROh5NysQV_XC71W4JNYKwQAyk2ZHp7qYDfPZsBZdGKuIp2l33ozuSsA_1j0hYd-ydEoCI0aEr-J-55-30_n2D6dxTG_RyluJWQN33uR7j3kNPudGwtTIJFPnb4qLFPWRKoU2JpQ0DuMcxGfeTU8swZtvhJxyxomdTTyv4SQ9FDUVN9rXxYnIwXSj3Ol9xEwn2FynePSJTrgG7ykpZu3WINfM1HWavYPxtY-4HdFfVn6sxyjzuwTllQwMEhdvKG24Dw9T-tUYjD6O9KamUfQCiehZcJe1uwbHTHn5zhAnoabU6tYWrRphPdSMGIlA-hox8GJGeQq5Nz1zpndvkKiHWosY1b07J2K60S4N6olQ-0gCyjHZ0qTokfKNN4LlA8CxGfLUOeFAX7XR39PCFTpZCJt7f0T1nt2tbiyYhWn3C03dK9Q7Em7QKQcvf8eLS8lTwUuLcihxcXWHHejE9wkiDj7Mph0mzStzfgUsX9cox6fJC-Pp6erlelBk36nNY9uzp6KZIDeJYzsY9KZM-nkXOd88uilzjByqgGDGDVEJ_rLmaOFPA4rK1KycGD9tde6uezS-Rcn3bKvm-BQbgCkhlTrb-q8pHie-CsSf96obcmGyJxmvDE9phjA4VmF7wzC1omrV4YZHx-4xIEWeMYtiYjZPZfHB7sBIjD8KRJ54rKHF763Ayxw360VGBfaZHNuQYig0UFUVsL3Ac1Pzrr5j4RRRid6oTQOlKsCLMU6aY8vTtQ1RKBlC-dMI4jjTWsYxfhss3Lg_jaUI_DqNiLT2qtkC195Yzjl2jroqsIGcvTzVVso4y8Ohg2VBUsqJ4cO_MKLnxm14xS7UwkwAkHQM1utW2RlXziDcQ7xsdRadRtbj74xanBs0LFJapM2c_0sHQK5kQ3sUaUFa2-tTvSTuTaT0iOKsV4hftAtsXxNQzPnJbJDW5BKSc0s-wD_HYeuOfJ3LQJwIyeqnMxeYqzm-Op1IO6FDI2QKuwiqqAVV7OHhumNI6IitWvN5ZR1rXtj_v8w_irYfJXsIFQAdoZQvLXNxhyzoODtTwJUvTv8emjlHATqcp3ijg0z_sbXnrLINX3kMN6Z2YJS8BJz6aACCeSw9GumDfQlr6uI-3QoC-uH6ivNUS1qZmdxKlgF99DwqeE2cGL2QpT_5pDtsElT9xJ0_lcLSjuwIOVDA9kwdKyFvztMjmOJz5tGIOTSBswe97Fpmqas5pGHo2SedZxMRgxz3BQqLFi1-lDoHcHemIkqXPc0izHhM1fu3jQDbBzbiYadqZgQFayWk13uojyymv5Qk4b55Wert7rnPflg7ONzVu1vs9XSjqainf1yvQHDB3YMDEoWMkUVnilb4rtMDILkRPPD0GnEPh3FoeKqz1ohv5ZJ6lm_n2Y5noai37CQXkDoVj9KqbZYL5YcgQL6HXw1RdoerBKYX4pkMPfjuBVpwLoS9k-0j05D_eWzgvER4gfS3lL2yFmximTBUdF9Bmm2iu1Lb4HjMamOnps6KVzQMCTY_CD8waRtmcdo5LQCxBezOD4d-hADp6VL7VH-aQ-bet-lilF9wjbIfVLYwxEoNixgB6HGquZRJeh-EPEaKkA==",
  "id": "rs_0aa5aba580c34d20016ab45d5361f887d085c0254766940f1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.585,\"left_y\":-0.27,\"left_z\":0.235,\"left_pitch\":0.35,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.32},\"note\":\"The left fingertips are above the lid’s silver top edge, with the contents below it. I’m lowering just behind that edge to establish contact for folding the lid toward the front of the safe.\"}",
  "call_id": "call_a7YrFmImnWVhTrqvwABMjam9",
  "id": "fc_0aa5aba580c34d20016ab45d56665087d09a592c0ee3a4fb87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a7YrFmImnWVhTrqvwABMjam9",
  "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]: [-0.6418, 2.286, 1.9812, -0.0666, -0.82, -0.2253, 0.0142, 0.0799, 0.96, 1.2324, -0.8585, 0.1471, 0.0566, 0.9988]\nstate[eef_state]: left_x=0.5782 left_y=-0.2664 left_z=0.2261 left_yaw=0.1661 left_pitch=0.329 left_roll=0.0763 left_gripper=0.0142 right_x=0.2934 right_y=0.0011 right_z=0.3167 right_yaw=-0.0866 right_pitch=0.0035 right_roll=-0.0166 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -12.2188, 9.894, 1.7753, -0.0269, 0.022, 0.6716, 0.5265, 0.0889, 6.5983, 2.2784, 0.2466, 0.1685, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46af6ecbb2f5a8707ca7157836787e8af6ab43a66ea71b4782ef93c5dbc385be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681d702641c9f2702c7a4e1fd360fded227315305665492aead55f90e5f9834a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b1e2e4caa4b67959c9e001f93646fa1fbcc7cda3c6371b03e0a6551755762d3",
      "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 · 10.66 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]: [-0.1894, 0.8425, 0.7902, -0.6594, -0.289, -0.2188, 0.9971, 0.6662, 2.281, 2.0933, -0.2317, 0.4099, 0.0856, 0.9989]\nstate[eef_state]: left_x=0.2787 left_y=0.0015 left_z=0.1999 left_yaw=0.1563 left_pitch=-0.0959 left_roll=0.0333 left_gripper=0.9971 right_x=0.5572 right_y=0.353 right_z=0.2311 right_yaw=0.2598 right_pitch=0.1986 right_roll=-0.0656 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.3197, 6.7624, 1.7216, -0.1587, -0.0708, -0.0171, -0.8684, -15.8838, 10.6598, 2.4396, 0.1978, 0.0611, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 2.1574, 1.9072, -0.02, -0.8375, -0.1829, 0.0105, 0.0017, 1.7069, 2.5717, -1.4006, 0.094, 0.0303, 0.9989]\nstate[eef_state]: left_x=0.5559 left_y=-0.2632 left_z=0.2793 left_yaw=0.1633 left_pitch=0.4007 left_roll=0.0457 left_gripper=0.0105 right_x=0.3808 right_y=-0.0123 right_z=0.4735 right_yaw=-0.1063 right_pitch=0.0494 right_roll=-0.0041 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -13.4085, 8.7453, 1.7558, -0.1783, 0.232, 0.6081, 1.2923, -8.2256, 6.065, 2.8498, -0.359, 0.0122, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6418, 2.286, 1.9812, -0.0666, -0.82, -0.2253, 0.0142, 0.0799, 0.96, 1.2324, -0.8585, 0.1471, 0.0566, 0.9988]\nstate[eef_state]: left_x=0.5782 left_y=-0.2664 left_z=0.2261 left_yaw=0.1661 left_pitch=0.329 left_roll=0.0763 left_gripper=0.0142 right_x=0.2934 right_y=0.0011 right_z=0.3167 right_yaw=-0.0866 right_pitch=0.0035 right_roll=-0.0166 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -12.2188, 9.894, 1.7753, -0.0269, 0.022, 0.6716, 0.5265, 0.0889, 6.5983, 2.2784, 0.2466, 0.1685, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46af6ecbb2f5a8707ca7157836787e8af6ab43a66ea71b4782ef93c5dbc385be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681d702641c9f2702c7a4e1fd360fded227315305665492aead55f90e5f9834a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b1e2e4caa4b67959c9e001f93646fa1fbcc7cda3c6371b03e0a6551755762d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1e1J1Y-Od3MWL28ypmCfS15cgJQQD1mDPBwC9QiAwpCFle94Fb746rQxFlsG4fNSdf1iTVTqmcq9iRt8EZdETd2ewzNCP4rYdrh-rI_zN7I-TKBlIhf4HLkHACdinxY_BCehDoJtyQwkqkuQubPu6kpyRiDEHp-7qPsSUMrZypREmpZ-1BYHsLNHLPHnU-vRihLIWjZwv2F07bWVKG3P-jvq_lKCw9QaIf-azpFe5Y1wrFGLUlIXS_BetOmcG12yFXto6kCzGPYv1hw801YpgfbxuGhz82aCT46SE6YCRKuLBJMY9Db1ny-MEm4WqUkImQThRaziD2wz_s10_uHHl4qssLEbrcoZ7HqzOOLKKR6wklHNUtimDtHcqhn0oTST07x0xIjdMWp0sTbHR3fOosD29hL56darpf8FV9jixaUvgDeqN7774LHTp7XobpNLv32M9fcvgBD1EzRfAtICU8UAEgjm6gdOhdn69QtI8CBi0LxjpWT4u_jw8Z4ggddrOxknvICXy3T3Gd0gATmibjS0pP_0Sy8xixBDbrey17181QlR3s7lFgTwCNuEq5Tt_Kfd4dibVFexHPPovu7z-LRv62k1z3LDD-hrwqSPVz2NnSkfVegMVEA8m36RG6VVKaQIB5EjWJ4KBs3nYo5snZwSX94qkm_ujcwhDWX8jkq7HNr7i6JrISpicpM3yaVsMzFJPkcugq6haLN-TY2Li9i08rwsJv8ajHsC9r0osRCHP73DR4jHJ1S7AYYfopKQlyQXexLalT6uqI6km2eMWyexmkkNKcVdwZTVZjtEZlexVwnchFD7vlyv6C4N8AqgwPH-eg0Fb5uCbmM5IuYVo2ut7pFf3Dily8LSpARNoRez-S8oRNe4qzlyj4KVGs8t2_Go83gmGQis1SN_1tP95rLbVnA7WP7nI6vK5ITmOwvlIHUvSgdpcH68xjihl50RA3miYENqWT5AOMAkydepKucS5KyOKpZ3jzQV2e1m--sRDGsWiWG5zkh6Sin4hh2NYCpC7g1tTDEeBFF90AwFnAAD18nNDWuqKREThYSqPK8nGR0Jefti8pDWnksDBpBBLvuJch0rjC29adBD96QKrENcmTx0dCisvJQT4jCP4yAtu-iYwJXl_7kzrwPZ5U-P927tl5dgq-viVOZIRPGRwCGLtaYzFm_FVeo2q5oadCmQdOoc_GQ226dFGSD0sRY1AQWcLEt6r3IQd8HZM6NQBRSupOO4yMxqdJ4WZ3k_SlvrxB3W4TlhSavN1iQdZcaHafk43BCHK9mZLXkbKQ2b8P--pkQlF6rejW5itUE5dOMljJPWu5c4DsRYuvujzUmyHEngsyN1AWEu3Pm3-_cEu9lIaRWJKG9Af5ETZHJWG7teBoKG_nvVnp4vgvW_vQclH7pK6zIv8NurANZED87TdcJOt9GlDDquAgoQ8f-bKwDs9EB8lVMbNhXxI3ugOUaOjdNrCOCFgS6gergVJqgDYDxaU3FFuZVTSlaYDw921Rfx0L1rTw0Q_C7jS9NPGvUDYANgcubxjgZlSIbB4abYoKOxCwbSl_D83GoNNFzaeybgM6EahzzhmSLDunBl20RD68Jn-9jxEYwByxBRFJV8_P4sUYE4RjLuxemsu-ncRmFfNty8thFK3i2hakc8yFqVXgatgp9XNu-SVxGURXM7pc2nMfEKIIfh-ve_QJRSJDTZi7HFFDVGqnIMnf9H2WsYlfwtZpYg_A1ZhDtBw4lierAnweT8Z6fePo3QIJafPFG47mRyyTlsDux4a_8sbzpRpV6vrrn0PfgiGcczr9OexdstV5-8OreaumckHlf77g8Dt1N-C1riB3ibLT-LX6Au7eKpC3NjXIo8FXVQ17Qa80E8poPpTcVEobmZoox8gZ0la4YckJt5jWu1RYoOU3i6TXH570jYrpAJSgldvQqqIAcNRKBQqcgp2YeIhReOlleuhg40_L2hg7iLd_oY5-G8raxZIWZAK64uoo0DMxAY4LfQ==",
  "id": "rs_0aa5aba580c34d20016ab45d5b057c87d09b1004e63fa04654",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.27,\"left_z\":0.16,\"left_pitch\":0.15},\"note\":\"The closed fingertips are in contact with the lid’s upper edge. I’m moving gently toward the base and downward to swing the lid over the contents.\"}",
  "call_id": "call_hvwtxf1jSbLoUs6jbR4IsW7s",
  "id": "fc_0aa5aba580c34d20016ab45d5d9c4c87d0b7e416548a0854f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hvwtxf1jSbLoUs6jbR4IsW7s",
  "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]: [-0.7452, 2.1204, 1.6268, -0.1284, -0.8497, -0.4335, 0.0142, 0.0792, 0.9661, 1.2003, -0.8803, 0.1459, 0.0528, 0.9988]\nstate[eef_state]: left_x=0.4995 left_y=-0.2755 left_z=0.1652 left_yaw=0.1553 left_pitch=0.1842 left_roll=0.0772 left_gripper=0.0142 right_x=0.2908 right_y=0.0009 right_z=0.2972 right_yaw=-0.0846 right_pitch=-0.0557 right_roll=-0.0289 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -14.2564, 7.0085, 1.6435, -0.2418, -0.0855, 0.7888, 0.0068, -2.1675, 8.7726, 1.8535, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9ac868937bfa8529e7d7998ad8b75522f402c99688eced85e2ae6bf6c5a44a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e2ea6fe98a086808567aeb63b3a9767a6b6ab4610a3eb011bb61b08405b30e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fbf6e526d931c34c070c7c17ef193d831763ed5c73678838e184f0b68b7983",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.107 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]: [-0.1894, 0.8471, 0.7902, -0.6773, -0.289, -0.2218, 0.9971, 0.6468, 2.7789, 2.8799, -1.1225, 1.372, 0.9047, 0.9989]\nstate[eef_state]: left_x=0.2763 left_y=0.0019 left_z=0.1956 left_yaw=0.1588 left_pitch=-0.117 left_roll=0.0386 left_gripper=0.9971 right_x=0.5485 right_y=0.2017 right_z=0.2007 right_yaw=-0.7684 right_pitch=0.4112 right_roll=-0.0932 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4564, 6.7487, 1.8046, -0.1343, -0.0122, -0.0122, -0.8, -14.0923, 7.665, 1.1209, 0.7741, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6418, 2.286, 1.9812, -0.0666, -0.82, -0.2253, 0.0142, 0.0799, 0.96, 1.2324, -0.8585, 0.1471, 0.0566, 0.9988]\nstate[eef_state]: left_x=0.5782 left_y=-0.2664 left_z=0.2261 left_yaw=0.1661 left_pitch=0.329 left_roll=0.0763 left_gripper=0.0142 right_x=0.2934 right_y=0.0011 right_z=0.3167 right_yaw=-0.0866 right_pitch=0.0035 right_roll=-0.0166 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -12.2188, 9.894, 1.7753, -0.0269, 0.022, 0.6716, 0.5265, 0.0889, 6.5983, 2.2784, 0.2466, 0.1685, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7452, 2.1204, 1.6268, -0.1284, -0.8497, -0.4335, 0.0142, 0.0792, 0.9661, 1.2003, -0.8803, 0.1459, 0.0528, 0.9988]\nstate[eef_state]: left_x=0.4995 left_y=-0.2755 left_z=0.1652 left_yaw=0.1553 left_pitch=0.1842 left_roll=0.0772 left_gripper=0.0142 right_x=0.2908 right_y=0.0009 right_z=0.2972 right_yaw=-0.0846 right_pitch=-0.0557 right_roll=-0.0289 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -14.2564, 7.0085, 1.6435, -0.2418, -0.0855, 0.7888, 0.0068, -2.1675, 8.7726, 1.8535, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9ac868937bfa8529e7d7998ad8b75522f402c99688eced85e2ae6bf6c5a44a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e2ea6fe98a086808567aeb63b3a9767a6b6ab4610a3eb011bb61b08405b30e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fbf6e526d931c34c070c7c17ef193d831763ed5c73678838e184f0b68b7983",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1pjnUc8JbEIgBzagx-0ich72sGIzLlN5BC_xKZ6R7BNfxVcb89jtxql8c79vHui6WMOa7Axvhr_LI1VsOtShzivjdMvr8RBcy0V2T3heGxltTN-i1XU54AZDACR1iWBUMr3qFYXTalWSxx1cTd1JAlpL5lVRWqVscEJoK_2pIjV7-ocNbddENlrXKs1_yNMFwOeXVhTPd6ICMUDGOZ_QCsM1YkEddKxM16greJUspHo6YKTrJ7KzfTnoQgzlq7SxvnsVpoAXvQ5rF1AAtJe_KyCQp-KeP7XsD5bnf73RjY1nu16jOggMf7una02HF8eaI8oIWeRGGTuZ0FGvEMtdGBpbEso3SJA-B3PTBDETT47G9W1KnakFFFfA7kMA1lmeQrLZfeCsVCgK8B--wS1rQaMCVSTmXl1us1IhwzcQ4a9tOoqDWQvJkbnkofNm1SVRmc02wQZjgWuprecgwhdlDMRP9zmCjFZtADj_G8XBf4MMCwUW_V6YyY9g8fSkho8wZ62Po3mm8yrL4u1_xa7qxQMUfEVTJjgu3x1hTAWMClPd_74A6NZBOnte-aTLcRcIlv9QvVRC1o3FvXGrhyIvjYmsUQhrqXdY7JLCIDWPpqxgdz029PjBXGrfIvR7HV_Xg8rBPlQfzv7D8c32NKoBTiMgAQzmqil3xgeDuLHcwRimwZn1e_k1z0DZWEOEu3aVojMfpeVn9-OJy-aBp5wl6tFwT5MgobFpCqF-wabyZkKjVxSTbEUhIZiEfDYkCfAxjtDOgJ8RZWhJSFbyWclBhqw7AZZkRN2xTHO9u5BcPB7nQ6Q-2szgK7zsOkw-x2Ud-Qa51RX6sp8gcRQPvX3J7xplueAUqWwGmXE7YGIzCFnGtVwX5_TKnNnEcHjuds0U9l5tHFgWOdoTWev6LMl_qtW7IUBER8woId00kY807uLTl1VYQaxolBXGVsB76iFpoCJxgZBdxUxehtWLEZLHLXOIpw2I9-UFsFuVHRLrp7a3Ibq1fATTAzbGD9jRAb_LiPCflrtCCF2EmN4-b_SU5xpwLsKHDLA6MbAaX41geZTW8lBpnX4sJtOIXECgkFtpLgVQeHWJ-O41XlYbmmtFS2ePUVVOKf6f_yeY1DMwE-dvDAFiDw058TkQ_P7QPaXMFtIgMWZdcspT26s1pJiF0YaitzImmY9XcrU8m1Ch_OfRscBb9T28ajKDdxb7Vz1czQo4EanssusSW2knmiUVay3dlOI41dwLaOW9quR3VlkOWMdItnVs0-HrN56Xdq6s5Mewn5E63D8xejNKrQDbM4F_2z17L0ecU1Va3t0qjGAmdWi0lin16BX2yLf_9o4X4PPmhFDI731yiHoyHzHIVak1DsukmACNRrhQRUJm-CBe07C0XD2BHzw95ffexHPoEX1gwHluZvVVBxoDfoWOYESZOnGH_bfntt6PhL7JFKpp8Awqqo6y2nNJw7EWleEBmoTEVSt-7XXl4kCwG_ELiXVYXcIRq8MtLl_hU0VUg1Lj10R6dge-N_D4B12Zy1pwc2bqEpLEx1iPjITQsNKPRlgtBWEL4a2x03hcieaGE4trvwhQIz4zjH4qHXzVYfvPozmdubijl31nip7bBtm07QJ9_FjxklWsjUGFoBWNfOUmcJl1CyIi3esU9L0mfEuaTnpooVDxwVKpC8M-h9JrnT9jJr6fWKmQvyRv99Z5MULGtL0Cci8l3clAyFKc_IKmIkAOerFRG4wStKkvxkNUPbEi_QQWGiKKnWc-G_TXz2ywzg3PHViB2Y62MvlCdoMM3IkZrpJb5QEfIttVicmTFv_WW2ofEn9Xi-q8-nQ18rPNES0-CMLHIRHyJhpQpKMoRoKMX4CuwqL8_zH9rYa2Ed33x9yAj7mhw6ZC5GaS35BP_QfxModvsX8eaiHqOeDwMqbR_OhO73FpnZD1I3QLwoyrr4WQ3Yb-ipzYQzWBfJSzjhsgwQ2Gf_7yyKbxCqDRjgBCDK17871l55MnaE6chOOPsZMIpx-MV8nnIddFoGP6r2QNzljMLylvCu8vULMe972eKRh0eHt2enOYvFN_ZLUBaXumpfCIyFuFe0OScjGeREAHccXYPiGFt63gHFwHssGw8T1U309rO42qaqbwkKnyRSwbNPhEUmyckENXW291L2nkU3AuaoRunuKQnwXRbZWXGzN0x6ynNovFoiNgPF8siFo0ocFMIMqBzOR7sUERqQBKb0it-T307FI_crWr73M8asAcySqUmmDaahLVNKqK99q-pTryvSSXtXkx3tqe_zQz0xOVJFUm6v_V3GZIzwLgGN9gWLKh_pOWngtqOtkBdSS74MiLEMPrc4AMe8fRhgk43New4yw_wHgZIeqm2D5Fg4UpYF2QUirpUkc7PXdegMhpl361f1Bq1ByjNkmxP4V09y2z11dNyDuw8uGa8iSUQdyCRe-he-RvLI6I9rYkpQb9BfqGWANJ3delX-q8Rxp1HMvp7Tic_Tbj3SNv4IdBolmahGcCoTk8UU8KQgXq6e7rGo9YK9-BgM9eyITDtDE_vfHwgYh5Y5gipinK9JkZhFKg3AL7kKvUTNfRIiP0d22WAAwGH47Y21brD6E2goWeHZpVrRiuvE6f4Q0CnZBw89DEHhl04fQrOLBjnculPLJIFlKCDzW4aWPSzPSW-RMKH4O_cwGcgI4aobGjiod0MaQr8D2Tn9k8MaBtT35cJi2YCnTp1qKwCV7erk_fIK5VdEeU_aoACFdXpeiXC2jruIJR-I_PLyLYCIL5NIEs302T6Gw5msDqKbnJWRoOMxC89wRS1REW7Fs6XgjlFACTc3TjjvYf7ZN40rYdE8hg7DIxgOMfkbqcsoMqjXRn4Tj8hp3Oq_ci15R6UslamP468rvrGo3VuptpdVVFhBT4m5JEIm0uRA4JbjzB5fe15ereA9EvFLX12us5p0AEC4mF87at80jTBViVUMkuX4FsZfo3OwYa_Uit85ka9jeOGPRX_zZYeXvUaGMtS0XcsdKKBTfPEX9HYxvbVzc-IbD3Gl_G-de-zwPTLrWdRPsvHTL1SD9WKxVGYsAA8h9CjxQ4KAfFqA2kFRCM1YXnUbj9UJqgfVQ_Vrk7vA3TdSrKbsOypEwgWXOW3iS0q5K6VCIIZMpweeT3u8Frs_dnQJqPddqwohqFoagpxn2MoWVI8AoTUykXgIxiM8UBPipt4xDproH5DwqfxaJeyK8Jywr8S7YikA3NYdIb5DqLE8ah4NmhRI8ZCe2JYllkwLJWB2",
  "id": "rs_0aa5aba580c34d20016ab45d60a83c87d0aabdc4fe4fa5affc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.16,\"left_z\":0.28,\"left_pitch\":0.45},\"note\":\"The lid stayed upright, so the previous motion did not catch its back edge. I’m repositioning above the nearer left corner, where the tilted lid is within reach, to push it closed from behind.\"}",
  "call_id": "call_Czjn8GhYoWybtvFZIR5PqYM6",
  "id": "fc_0aa5aba580c34d20016ab45d68930087d09f11301c710c346d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Czjn8GhYoWybtvFZIR5PqYM6",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4526, 2.1147, 1.6882, 0.1196, -0.6674, -0.0956, 0.0166, 0.0792, 0.9672, 1.198, -0.9035, 0.1452, 0.0528, 0.9988]\nstate[eef_state]: left_x=0.5924 left_y=-0.1625 left_z=0.2283 left_yaw=0.1642 left_pitch=0.3369 left_roll=0.1241 left_gripper=0.0166 right_x=0.2874 right_y=0.0008 right_z=0.2914 right_yaw=-0.0842 right_pitch=-0.0821 right_roll=-0.0328 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -14.6256, 9.812, 2.083, 0.0415, 0.1441, 0.5153, -0.1846, -1.7436, 6.5436, 1.8339, 0.0073, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1de6893322c856812be5819f35619cb7391371c8c68db64099a657b03d9c5e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da7715c63907acf4dc481303b479f837c3367a619c539629c09ea3a1fbf9462",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0f7a06a37b15e7558497c565e415bc6f1b5089f2b868325efb4f05ff021866",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 6.048 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 2.1574, 1.9072, -0.02, -0.8375, -0.1829, 0.0105, 0.0017, 1.7069, 2.5717, -1.4006, 0.094, 0.0303, 0.9989]\nstate[eef_state]: left_x=0.5559 left_y=-0.2632 left_z=0.2793 left_yaw=0.1633 left_pitch=0.4007 left_roll=0.0457 left_gripper=0.0105 right_x=0.3808 right_y=-0.0123 right_z=0.4735 right_yaw=-0.1063 right_pitch=0.0494 right_roll=-0.0041 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -13.4085, 8.7453, 1.7558, -0.1783, 0.232, 0.6081, 1.2923, -8.2256, 6.065, 2.8498, -0.359, 0.0122, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7452, 2.1204, 1.6268, -0.1284, -0.8497, -0.4335, 0.0142, 0.0792, 0.9661, 1.2003, -0.8803, 0.1459, 0.0528, 0.9988]\nstate[eef_state]: left_x=0.4995 left_y=-0.2755 left_z=0.1652 left_yaw=0.1553 left_pitch=0.1842 left_roll=0.0772 left_gripper=0.0142 right_x=0.2908 right_y=0.0009 right_z=0.2972 right_yaw=-0.0846 right_pitch=-0.0557 right_roll=-0.0289 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -14.2564, 7.0085, 1.6435, -0.2418, -0.0855, 0.7888, 0.0068, -2.1675, 8.7726, 1.8535, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4526, 2.1147, 1.6882, 0.1196, -0.6674, -0.0956, 0.0166, 0.0792, 0.9672, 1.198, -0.9035, 0.1452, 0.0528, 0.9988]\nstate[eef_state]: left_x=0.5924 left_y=-0.1625 left_z=0.2283 left_yaw=0.1642 left_pitch=0.3369 left_roll=0.1241 left_gripper=0.0166 right_x=0.2874 right_y=0.0008 right_z=0.2914 right_yaw=-0.0842 right_pitch=-0.0821 right_roll=-0.0328 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -14.6256, 9.812, 2.083, 0.0415, 0.1441, 0.5153, -0.1846, -1.7436, 6.5436, 1.8339, 0.0073, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1de6893322c856812be5819f35619cb7391371c8c68db64099a657b03d9c5e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da7715c63907acf4dc481303b479f837c3367a619c539629c09ea3a1fbf9462",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0f7a06a37b15e7558497c565e415bc6f1b5089f2b868325efb4f05ff021866",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF1tOX29bu8rfBvh6befJQAJq9cYNvGXp67ssD10e6WmnQIGx2QPHSddcnqFvEE0tLBX3aQUC7bKZgBOS-6zCdph2UB9aMZ8nbkBZ1BoXMaM7orR_eurCRFkMZOiw7Yo9r86cFSo4KnyBa1zxZE4CcP6biG_2KVc4cVMGJfOjsw5iVpf8eNy7OexsW4CuaAYteV9m_eWmgzdyKGLw2GET1n1JS_xfnUBXyaFfbNSvmgSX1YI2Ifmgd94_Hz36IZtdhwY_ACzFrSZFreis_9qIgSqy5AouUO-g5AYtau8UQ5aVZePqeqfcs1o1gQFlLlw-DUT_ETGtZjMp5vcjVVSsd0NRuH2jmxHJazpWIOJxEASoazYyiWJzuspEtm4ZLv3V-sPBT8ZzZqaDvjulzQPXr91vicztHFizX6Gr3ISGjYULp7troiRBe27KwuLh1IAwZaIBFgptZ3iyMHTGWA1jxE2mb6hvepvq4XQKhQCG1jK3N-8O3nUuRVUArVQewlA-fxL3PaU99yFQfJMAc72r0SNk3TSOxCvtEkFLpfOpc6Ay8CZqNiCdTi9o7yj6koaCIjb0xXOkwbIx9733AcjRoCJHhBVf2_WeKxfTnXxzDMbbAfOG5PXNk01JpoF9skcdBgXhn7MZrSW-DUUwDHTZyx2n7112123zRZKIWipumVw8Y8Z1amom7ByJNZ11wuZavNkm_4TxcZeqWdKhsjZ1o3xKxLzadKEs5AW1MmO-x6DLf3_dF9bSYJEdcIzC6J8EbfsP3s7E8vv6Go7WX_7VzIrUQzfFkPQIishZTshLe4YTRSTo4POcjg0XflGUL5rsuwgm6QeX7CIExOODVfFghF5L89V6Fx5lyQ8MfWRwFGSHiIS3BgNs7k9XTiXJfljPdNL0HBlTE9DyBX9UwpQqMK7rDU2boOBv0gDJ_KoYJPtRuzd0_fl2CbQhqYtFqzrdoN3l4OIEj4lyGIxFgfjvVWpCssKvwlWbtNgFMMGRqaRFDk6qonD1VfEiZ26mU0vn70e2i9u2blZwaAWBemJ6kwCHwCxwIVZdsx13-HxyiAG36pzVS4qu5jIPHaZPWV9cAi6J3iuWYnvjKYjuiqIgQT2utVFaM_HHbvIse7Hd9crJ3DsBT5QUO7Zoky3byJxHxIkWxZaFQ5VFOaEi99RpBIHxW4jBRp1XN2qrwtqkN4SN81x1MfpizuTkrFu5vdxmqra4WkZ9Ho4YZVe6-gLFKwxbp591qCzcZr0EB3_woHUmFeWaVYJZUwr8GlbZn0-01GD4jdzb0JHP_p5ErFDyWaE6TTA6XcqsYpsNFUyAiUL_Ec66XIutirfWQQzR-ZpdEvTfIrtbcSRN7UI_Pp0AaTFwA==",
  "id": "rs_0aa5aba580c34d20016ab45d6c0f1887d0bb4ad3ca643d210b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.21,\"left_z\":0.085,\"left_pitch\":0},\"note\":\"The fingertips are now at the lid’s nearer upper corner, behind the silver edge. I’m guiding that corner forward and down in one slow motion to cover the compartment.\"}",
  "call_id": "call_s8cHn8pt093aRJcXHBAvWk9E",
  "id": "fc_0aa5aba580c34d20016ab45d6cf24c87d0bec7302df95a0fc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s8cHn8pt093aRJcXHBAvWk9E",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "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]: [-0.6628, 2.0361, 1.2869, -0.0685, -0.7155, -0.4461, 0.0197, 0.0792, 0.9726, 1.1946, -0.9257, 0.1425, 0.0525, 0.9988]\nstate[eef_state]: left_x=0.466 left_y=-0.2122 left_z=0.0767 left_yaw=0.1354 left_pitch=-0.0107 left_roll=0.1544 left_gripper=0.0197 right_x=0.2848 right_y=0.001 right_z=0.2843 right_yaw=-0.0823 right_pitch=-0.1129 right_roll=-0.0364 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -13.4359, 5.9145, 1.4237, -0.5201, -0.0952, 0.3004, -0.1983, -2.1538, 6.5026, 1.8144, 0.0171, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 424):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a228543d9e01a0efceccd90f28ba6bbe5d95ab7f6fab7be19aae423f867279",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 424):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c555315369c35d3cc10feb4bef54598896fac036b11464016059fed7b36f47f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 424):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34504b8b26118361a09a33d947817c3db689bc01a2517806f9cbad06599553a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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