adhoc

completed
2026-09-22T17:56:59.520469+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
medium
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
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
275.8 s
total steps
441
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 noteI see an open red-lined safe with a brown plush, a white plush, and a yellow object outside it. I’m bringing the right gripper above the yellow object first.
move_to
right_x0.4300right_y0.1500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3916, -0.0193, -0.0372, 0.9993, -0.0212, 0.7952, 0.609, -0.403, -0.0196, -0.0185, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1772 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.6085, -1.3607, 10.2222, 1.9609, -0.0806, 0.1783, -0.0904, -0.4171, -1.5248, 9.5248, 2.0879, -0.0366, 0.0122, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.15,"right_z":0.15,"right_gripper":1},"note":"I see an open red-lined safe with a brown plush, a white plush, and a yellow object outside it. I’m bringing the right gripper above the yellow object first."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe yellow object is visible just to the right of the right gripper’s jaw column. I’m shifting slightly right and forward while lowering to grasp its middle.
move_to
right_x0.4500right_y0.1300right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9992, 0.4694, 1.5791, 0.9665, -0.1078, 0.3557, 0.2405, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.001 left_pitch=-0.0164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4136 right_y=0.1448 right_z=0.1289 right_yaw=0.0358 right_pitch=-0.0785 right_roll=-0.0405 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.4564, 6.8581, 1.8632, -0.0708, -0.0024, -0.022, 0.1026, -7.8017, 8.6085, 1.9414, 0.2564, 0.2173, -0.0513] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.13,"right_z":0.045},"note":"The yellow object is visible just to the right of the right gripper’s jaw column. I’m shifting slightly right and forward while lowering to grasp its middle."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe yellow object is still a little right of center and ahead of the fingertips. I’m making a small alignment correction before closing around it.
move_to
right_x0.4750right_y0.1110right_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4114, -0.0189, -0.0383, 0.9992, 0.3882, 1.8294, 0.8917, 0.1513, 0.2977, 0.1909, 0.9996] state[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1738 left_yaw=0.0007 left_pitch=-0.0221 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4345 right_y=0.1256 right_z=0.0362 right_yaw=0.0259 right_pitch=-0.156 right_roll=-0.0674 right_gripper=0.9996 state[joint_eff]: [-0.2803, -1.2103, 7.0085, 1.7949, -0.0269, -0.0024, -0.0122, -0.6906, -8.1026, 5.9556, 1.7998, 0.188, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.111,"right_z":0.018},"note":"The yellow object is still a little right of center and ahead of the fingertips. I’m making a small alignment correction before closing around it."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe yellow object is now centered between the jaw paths at table height. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.799, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3233, 1.9541, 0.9791, 0.1974, 0.2306, 0.1478, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0007 left_pitch=-0.04 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4653 right_y=0.1171 right_z=0.018 right_yaw=0.0406 right_pitch=-0.164 right_roll=-0.0511 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.3607, 7.0085, 1.8584, -0.0171, -0.0171, -0.0122, -0.7453, -8.5402, 7.1043, 1.5897, 0.3394, -0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is now centered between the jaw paths at table height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe gripper has stopped at about a 5 cm opening, consistent with holding the yellow object. I’m lifting it slightly to verify the grasp before carrying it over the safe.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3233, 1.9617, 0.9882, 0.1959, 0.2199, 0.1459, 0.5288] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0009 left_pitch=-0.0481 left_roll=-0.0005 left_gripper=0.9992 right_x=0.467 right_y=0.1196 right_z=0.0173 right_yaw=0.0504 right_pitch=-0.1661 right_roll=-0.0452 right_gripper=0.5288 state[joint_eff]: [-0.0752, -1.2923, 6.9812, 1.7753, -0.0708, -0.0415, -0.0122, -0.1026, -10.1402, 5.0256, 1.5018, 0.1392, -0.0122, 1.033] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The gripper has stopped at about a 5 cm opening, consistent with holding the yellow object. I’m lifting it slightly to verify the grasp before carrying it over the safe."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe first lift rose less than commanded, so I’m retracting slightly away from the safe wall while raising to a clear carrying height.
move_to
right_x0.4300right_y0.1000right_z0.1900right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4534, -0.0189, -0.0383, 0.9992, 0.3233, 1.861, 1.0668, -0.099, 0.2203, 0.1379, 0.5287] state[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1649 left_yaw=0.0007 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9992 right_x=0.4493 right_y=0.1136 right_z=0.0435 right_yaw=0.0476 right_pitch=-0.2776 right_roll=-0.0832 right_gripper=0.5287 state[joint_eff]: [-0.1846, -1.0598, 7.2137, 1.873, -0.0317, -0.0269, -0.0122, -0.0889, -12.9709, 9.3333, 2.2686, 0.0415, 0.0904, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.1,"right_z":0.19,"right_pitch":0},"note":"The first lift rose less than commanded, so I’m retracting slightly away from the safe wall while raising to a clear carrying height."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe arm is not lifting and the safe is shifting, so this grasp may also be catching the safe’s edge. I’m releasing before repositioning farther from the wall.
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]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3241, 1.8156, 1.037, -0.1673, 0.2203, 0.131, 0.5321] state[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0009 left_pitch=-0.0709 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4305 right_y=0.1077 right_z=0.0423 right_yaw=0.0479 right_pitch=-0.3286 right_roll=-0.1028 right_gripper=0.5321 state[joint_eff]: [-0.1162, -1.2376, 6.9675, 1.6874, -0.0562, -0.0317, -0.0122, -0.0889, -12.3829, 6.5436, 1.8535, 0.1538, -0.0904, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The arm is not lifting and the safe is shifting, so this grasp may also be catching the safe’s edge. I’m releasing before repositioning farther from the wall."})
tool
executing move_to over 5 steps (0.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe yellow object sits very close to the safe’s right wall. I’m moving outward and turning the jaws so they can grasp along the wall rather than pinch the wall itself.
move_to
right_x0.4300right_y0.0750right_z0.1500right_yaw1.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4629, -0.0189, -0.0383, 0.9992, 0.3298, 1.7798, 1.0, -0.1421, 0.226, 0.1226, 0.9948] state[eef_state]: left_x=0.2837 left_y=0.0016 left_z=0.163 left_yaw=0.0007 left_pitch=-0.0755 left_roll=0.0003 left_gripper=0.9992 right_x=0.4257 right_y=0.1076 right_z=0.0478 right_yaw=0.0558 right_pitch=-0.3047 right_roll=-0.106 right_gripper=0.9948 state[joint_eff]: [-0.335, -1.1145, 6.9675, 1.6825, -0.0806, -0.0317, -0.0122, -0.5675, -7.0085, 6.6256, 1.453, 0.0806, 0.0171, -0.2564] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.075,"right_z":0.15,"right_yaw":1.3},"note":"The yellow object sits very close to the safe’s right wall. I’m moving outward and turning the jaws so they can grasp along the wall rather than pinch the wall itself."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe wrist remains constrained beside the safe despite the new target. I’m withdrawing diagonally toward the right arm’s home area to clear the obstruction.
move_to
right_x0.3200right_y0.0200right_z0.2300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.474, -0.0193, -0.0387, 0.9992, 0.268, 1.7519, 0.9943, -0.1677, 0.0921, -0.0483, 0.9966] state[eef_state]: left_x=0.282 left_y=0.0017 left_z=0.1609 left_yaw=0.0013 left_pitch=-0.0866 left_roll=0.0005 left_gripper=0.9992 right_x=0.4226 right_y=0.1029 right_z=0.0506 right_yaw=0.2091 right_pitch=-0.3355 right_roll=-0.1064 right_gripper=0.9966 state[joint_eff]: [-0.335, -1.1692, 6.9402, 1.7558, -0.0806, -0.0513, -0.0122, -0.2667, -9.9487, 6.2017, 1.4823, -0.0317, -0.0024, 0.1783] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.02,"right_z":0.23,"right_yaw":0},"note":"The wrist remains constrained beside the safe despite the new target. I’m withdrawing diagonally toward the right arm’s home area to clear the obstruction."})
tool
executing move_to over 12 steps (1.2s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe arm is clear again, and the yellow object remains outside the safe. I’m approaching from the open right side with the jaws rotated lengthwise, while refreshing the left arm’s parked pose.
move_to
right_x0.4150right_y0.1000right_z0.1400right_yaw1.5700right_pitch0.0000left_x0.2930left_y0.0000left_z0.1780
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4946, -0.0189, -0.0387, 0.9992, 0.131, 1.2518, 1.2022, -0.907, 0.1192, -0.0151, 0.9968] state[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1559 left_yaw=0.001 left_pitch=-0.111 left_roll=0.0007 left_gripper=0.9992 right_x=0.3259 right_y=0.0254 right_z=0.21 right_yaw=0.0278 right_pitch=-0.363 right_roll=-0.1114 right_gripper=0.9968 state[joint_eff]: [-0.0615, -1.3607, 7.0085, 1.8193, -0.0269, -0.0464, -0.0122, -0.2803, -5.3675, 8.841, 1.7021, 0.1832, 0.105, 0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.10,"right_z":0.14,"right_yaw":1.57,"right_pitch":0,"left_x":0.293,"left_y":0,"left_z":0.178},"note":"The arm is clear again, and the yellow object remains outside the safe. I’m approaching from the open right side with the jaws rotated lengthwise, while refreshing the left arm’s parked pose."})
tool
executing move_to over 13 steps (1.3s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe rotated view shows the yellow object close to the jaw centerline. I’m lowering just outside the safe’s right wall for a clean grasp.
move_to
right_x0.4150right_y0.1150right_z0.0230right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0223, 0.8761, 0.6762, -0.5594, -0.0196, -0.0536, 0.9992, -0.131, 2.0888, 1.7245, -1.1088, -0.9112, -1.5852, 0.9973] state[eef_state]: left_x=0.2821 left_y=0.0008 left_z=0.1553 left_yaw=0.0067 left_pitch=-0.1792 left_roll=-0.0083 left_gripper=0.9992 right_x=0.4334 right_y=0.0873 right_z=0.1328 right_yaw=1.4351 right_pitch=-0.0708 right_roll=-0.1055 right_gripper=0.9973 state[joint_eff]: [-0.7316, -1.4154, 10.5231, 1.8144, -0.105, 0.0904, -0.0122, 0.5265, -11.5897, 5.9282, -0.4469, -0.7448, -0.1001, 0.0366] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.115,"right_z":0.023,"right_yaw":1.57},"note":"The rotated view shows the yellow object close to the jaw centerline. I’m lowering just outside the safe’s right wall for a clean grasp."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe yellow object is centered directly at the fingertips, with the safe wall beyond it. I’m closing the jaws around the object.
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]: [-0.0246, 0.878, 0.6796, -0.5709, -0.0219, -0.0566, 0.9992, -0.0746, 2.2173, 1.512, -0.8814, -0.9085, -1.6833, 0.9973] state[eef_state]: left_x=0.2808 left_y=0.0006 left_z=0.1542 left_yaw=0.0081 left_pitch=-0.1891 left_roll=-0.0087 left_gripper=0.9992 right_x=0.411 right_y=0.1126 right_z=0.0311 right_yaw=1.5542 right_pitch=-0.075 right_roll=-0.0691 right_gripper=0.9973 state[joint_eff]: [-0.1573, -1.7983, 6.7761, 1.6239, -0.0513, 0.0366, -0.0122, 0.2667, -10.5778, 5.3675, 0.4225, -0.5299, -0.1832, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object is centered directly at the fingertips, with the safe wall beyond it. I’m closing the jaws around the object."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe jaw opening indicates a substantial object between the fingers. I’m lifting a short distance to confirm that the yellow object comes free of the tabletop.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5846, -0.0219, -0.057, 0.9992, -0.0731, 2.2349, 1.5005, -0.873, -0.9051, -1.6901, 0.7156] state[eef_state]: left_x=0.2784 left_y=0.0006 left_z=0.1518 left_yaw=0.0084 left_pitch=-0.2028 left_roll=-0.0085 left_gripper=0.9992 right_x=0.4074 right_y=0.1131 right_z=0.0214 right_yaw=1.5612 right_pitch=-0.0774 right_roll=-0.0537 right_gripper=0.7156 state[joint_eff]: [-0.0615, -1.4701, 6.8718, 1.6337, -0.0855, -0.0464, -0.0122, -0.1983, -12.9436, 5.9966, 0.1148, -0.5153, 0.0415, 1.0281] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The jaw opening indicates a substantial object between the fingers. I’m lifting a short distance to confirm that the yellow object comes free of the tabletop."})
tool
executing move_to over 6 steps (0.6s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe yellow object has lifted with the jaws. I’m raising it above the safe’s rim before moving inward.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0246, 0.878, 0.6796, -0.588, -0.0219, -0.057, 0.9992, -0.0731, 2.1628, 1.6245, -1.0763, -0.8936, -1.6939, 0.7055] state[eef_state]: left_x=0.2778 left_y=0.0006 left_z=0.1512 left_yaw=0.0085 left_pitch=-0.2063 left_roll=-0.0084 left_gripper=0.9992 right_x=0.4095 right_y=0.1117 right_z=0.0766 right_yaw=1.5645 right_pitch=-0.0884 right_roll=-0.0487 right_gripper=0.7055 state[joint_eff]: [-0.1162, -1.6615, 6.8444, 1.5409, -0.0073, -0.0611, -0.0122, -0.3214, -13.2308, 7.4598, 0.0122, -0.5983, 0.0513, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The yellow object has lifted with the jaws. I’m raising it above the safe’s rim before moving inward."})
tool
executing move_to over 8 steps (0.8s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe yellow object is clear of the rim. I’m carrying it over the middle of the red-lined compartment.
move_to
right_x0.4450right_y0.2750right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5922, -0.0219, -0.0574, 0.9992, -0.0731, 2.138, 2.0205, -1.4609, -0.8749, -1.7016, 0.7065] state[eef_state]: left_x=0.2771 left_y=0.0006 left_z=0.1505 left_yaw=0.0087 left_pitch=-0.2104 left_roll=-0.0085 left_gripper=0.9992 right_x=0.4197 right_y=0.1088 right_z=0.1824 right_yaw=1.5657 right_pitch=-0.1098 right_roll=-0.0897 right_gripper=0.7065 state[joint_eff]: [-0.0068, -1.6479, 6.9675, 1.6044, -0.0806, -0.0415, -0.0122, -0.212, -11.8632, 7.0496, -0.0757, -0.6227, 0.0269, 0.3785] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.275,"right_z":0.2},"note":"The yellow object is clear of the rim. I’m carrying it over the middle of the red-lined compartment."})
tool
executing move_to over 14 steps (1.4s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe yellow object is positioned over the safe interior. I’m lowering it into the compartment before releasing it.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.025, 0.8814, 0.6796, -0.6044, -0.0219, -0.0574, 0.9992, 0.2955, 2.2276, 2.2074, -1.1843, -0.7956, -1.2018, 0.7086] state[eef_state]: left_x=0.2751 left_y=0.0006 left_z=0.1475 left_yaw=0.0084 left_pitch=-0.2261 left_roll=-0.008 left_gripper=0.9992 right_x=0.4374 right_y=0.2688 right_z=0.1954 right_yaw=1.5922 right_pitch=-0.1262 right_roll=-0.0909 right_gripper=0.7086 state[joint_eff]: [-0.1436, -1.935, 7.2684, 1.6825, -0.0708, -0.0269, -0.0122, 0.1983, -11.2068, 8.3624, 0.8669, -0.4225, 0.1245, 0.5934] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The yellow object is positioned over the safe interior. I’m lowering it into the compartment before releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe yellow object is inside the safe below the rim. I’m opening the gripper to leave it there.
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]: [-0.025, 0.8818, 0.6796, -0.6113, -0.0219, -0.0574, 0.9992, 0.297, 2.2143, 1.7657, -0.8028, -0.7815, -1.1969, 0.7092] state[eef_state]: left_x=0.2738 left_y=0.0006 left_z=0.1462 left_yaw=0.0085 left_pitch=-0.2333 left_roll=-0.0077 left_gripper=0.9992 right_x=0.4277 right_y=0.2647 right_z=0.0856 right_yaw=1.592 right_pitch=-0.1515 right_roll=-0.0452 right_gripper=0.7092 state[joint_eff]: [-0.3487, -1.6479, 6.8171, 1.5702, -0.0659, -0.0562, -0.0122, -0.4581, -10.7282, 6.5983, 0.9792, -0.5348, -0.0757, 0.6325] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is inside the safe below the rim. I’m opening the gripper to leave it there."})
tool
executing move_to over 3 steps (0.3s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe yellow object has been released inside. I’m lifting the right hand clear while bringing the left hand above the white plush beside the safe.
move_to
right_z0.2200left_x0.4050left_y-0.1950left_z0.1300left_gripper1.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0246, 0.8818, 0.6796, -0.6113, -0.0219, -0.057, 0.9992, 0.2974, 2.2257, 1.7485, -0.7872, -0.7773, -1.2034, 0.9945] state[eef_state]: left_x=0.2738 left_y=0.0007 left_z=0.1462 left_yaw=0.0087 left_pitch=-0.2333 left_roll=-0.0074 left_gripper=0.9992 right_x=0.4264 right_y=0.264 right_z=0.0754 right_yaw=1.5965 right_pitch=-0.159 right_roll=-0.0385 right_gripper=0.9945 state[joint_eff]: [-0.1846, -1.6205, 6.8308, 1.5165, -0.0855, -0.022, -0.0122, -0.0752, -13.3675, 7.4325, 0.7741, -0.4518, 0.0464, -0.2173] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22,"left_x":0.405,"left_y":-0.195,"left_z":0.13,"left_gripper":1,"left_pitch":0},"note":"The yellow object has been released inside. I’m lifting the right hand clear while bringing the left hand above the white plush beside the safe."})
tool
executing move_to over 18 steps (1.8s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe white plush is slightly left of the left jaw centerline. I’m aligning and lowering onto its body, and parking the right arm away from the work area.
move_to
left_x0.4160left_y-0.1630left_z0.0250right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6552, 1.6318, 0.9379, -0.0944, -0.5167, -0.4484, 0.9993, 0.2977, 2.2593, 2.3844, -1.3556, -0.7662, -1.2045, 0.9953] state[eef_state]: left_x=0.3888 left_y=-0.1842 left_z=0.1065 left_yaw=-0.0012 left_pitch=-0.0849 left_roll=0.0292 left_gripper=0.9993 right_x=0.4306 right_y=0.264 right_z=0.2201 right_yaw=1.5883 right_pitch=-0.1599 right_roll=-0.0753 right_gripper=0.9953 state[joint_eff]: [-0.3487, -7.8701, 9.1282, 1.7558, -0.3932, 0.0611, -0.0904, -0.3077, -10.5504, 7.4188, 0.5836, -0.5006, -0.0073, 0.0659] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.416,"left_y":-0.163,"left_z":0.025,"right_x":0.3,"right_y":0,"right_z":0.2,"right_yaw":0},"note":"The white plush is slightly left of the left jaw centerline. I’m aligning and lowering onto its body, and parking the right arm away from the work area."})
tool
executing move_to over 23 steps (2.3s)
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 plush’s body is still left of the fingertip centerline. I’m shifting a few centimeters left and closing around its soft torso.
move_to
left_y-0.1280left_x0.4200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5552, 1.8519, 0.8276, 0.252, -0.4641, -0.3931, 0.9992, 0.0242, 0.9836, 0.8791, -0.6704, 0.0029, -0.1143, 0.9954] state[eef_state]: left_x=0.4134 left_y=-0.1592 left_z=0.0285 left_yaw=0.0274 left_pitch=-0.0944 left_roll=0.0331 left_gripper=0.9992 right_x=0.2999 right_y=0.0103 right_z=0.1934 right_yaw=0.0804 right_pitch=-0.1886 right_roll=-0.0819 right_gripper=0.9954 state[joint_eff]: [0.4581, -7.2274, 4.9162, 1.7607, -0.022, 0.1978, -0.0171, -0.3624, -2.9744, 7.2684, 1.9072, 0.0122, 0.149, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.128,"left_x":0.42,"left_gripper":0},"note":"The plush’s body is still left of the fingertip centerline. I’m shifting a few centimeters left and closing around its soft torso."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe gripper closed empty, and the plush’s torso lies just behind the fingertip contact point. I’m reopening and shifting back slightly for a lower grasp on the body.
move_to
left_gripper1.0000left_x0.3950left_y-0.1190left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4686, 1.8435, 0.794, 0.3096, -0.4141, -0.337, 0.0196, 0.0212, 0.9863, 0.8764, -0.6788, 0.0071, -0.1154, 0.9954] state[eef_state]: left_x=0.4231 left_y=-0.1305 left_z=0.0275 left_yaw=0.0426 left_pitch=-0.0857 left_roll=0.0309 left_gripper=0.0196 right_x=0.2983 right_y=0.0087 right_z=0.1901 right_yaw=0.0746 right_pitch=-0.2025 right_roll=-0.085 right_gripper=0.9954 state[joint_eff]: [0.6085, -9.853, 4.465, 1.4676, 0.0024, 0.0366, 0.8864, 0.1573, -2.5778, 6.9675, 1.6044, -0.0659, -0.022, -0.0122] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.395,"left_y":-0.119,"left_z":0.005},"note":"The gripper closed empty, and the plush’s torso lies just behind the fingertip contact point. I’m reopening and shifting back slightly for a lower grasp on the body."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe plush’s torso now fills the space between the open fingers. I’m closing around it at table level.
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]: [-0.4736, 1.8435, 0.6525, 0.4274, -0.416, -0.3489, 0.9955, 0.0204, 0.9863, 0.8764, -0.6819, 0.0074, -0.1154, 0.9954] state[eef_state]: left_x=0.3947 left_y=-0.118 left_z=0.0009 left_yaw=0.0468 left_pitch=-0.1054 left_roll=0.0345 left_gripper=0.9955 right_x=0.2977 right_y=0.0084 right_z=0.1895 right_yaw=0.0736 right_pitch=-0.2056 right_roll=-0.0851 right_gripper=0.9954 state[joint_eff]: [-0.5402, -8.5675, 4.1504, 1.5067, -0.2808, 0.1294, -0.149, -0.0342, -2.3726, 6.7624, 1.5556, -0.0073, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush’s torso now fills the space between the open fingers. I’m closing around it at table level."})
tool
executing move_to over 10 steps (1.0s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe plush compressed almost fully, so the jaw reading alone is inconclusive. I’m making a short lift to see whether it is actually secured.
move_to
left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.477, 1.8439, 0.6476, 0.4255, -0.4156, -0.3531, 0.0379, 0.0204, 0.9863, 0.8764, -0.701, 0.0067, -0.1158, 0.9954] state[eef_state]: left_x=0.3924 left_y=-0.1185 left_z=-0.0011 left_yaw=0.0458 left_pitch=-0.1117 left_roll=0.0346 left_gripper=0.0379 right_x=0.2944 right_y=0.0084 right_z=0.1863 right_yaw=0.0747 right_pitch=-0.2246 right_roll=-0.0837 right_gripper=0.9954 state[joint_eff]: [0.1983, -7.665, 5.0393, 1.5653, -0.1392, 0.1832, 1.2137, -0.0205, -2.3863, 6.7487, 1.6679, -0.0415, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.075},"note":"The plush compressed almost fully, so the jaw reading alone is inconclusive. I’m making a short lift to see whether it is actually secured."})
tool
executing move_to over 5 steps (0.5s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe white plush moved upward with the left hand, confirming a light grip on its lower end. I’m lifting it clear of the safe rim.
move_to
left_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.477, 1.6356, 0.7303, 0.1215, -0.4152, -0.3607, 0.0381, 0.02, 0.9863, 0.8764, -0.7204, 0.0067, -0.1154, 0.9954] state[eef_state]: left_x=0.3895 left_y=-0.1171 left_z=0.0564 left_yaw=0.0504 left_pitch=-0.1229 left_roll=0.0351 left_gripper=0.0381 right_x=0.2908 right_y=0.0082 right_z=0.183 right_yaw=0.0743 right_pitch=-0.244 right_roll=-0.0824 right_gripper=0.9954 state[joint_eff]: [-0.1162, -8.3487, 8.2803, 1.5995, -0.2027, 0.0415, 1.033, -0.1573, -2.3453, 7.0496, 1.707, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23},"note":"The white plush moved upward with the left hand, confirming a light grip on its lower end. I’m lifting it clear of the safe rim."})
tool
executing move_to over 12 steps (1.2s)
step 231
top_cam
camera top_cam step 231
assistant
agent noteThe white plush is securely lifted. I’m moving it over the left side of the safe, beside the yellow object.
move_to
left_x0.4300left_y-0.3300left_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.477, 1.462, 1.219, -0.5869, -0.4149, -0.3717, 0.0381, 0.02, 0.9863, 0.8764, -0.7315, 0.0071, -0.1158, 0.9954] state[eef_state]: left_x=0.3897 left_y=-0.1172 left_z=0.2029 left_yaw=0.0596 left_pitch=-0.1626 left_roll=0.0501 left_gripper=0.0381 right_x=0.2888 right_y=0.0081 right_z=0.1811 right_yaw=0.0744 right_pitch=-0.2551 right_roll=-0.0823 right_gripper=0.9954 state[joint_eff]: [-0.0479, -8.6769, 9.3197, 1.7118, -0.1832, 0.0611, 1.0379, -0.0479, -2.3453, 6.8991, 1.5995, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.33,"left_z":0.21},"note":"The white plush is securely lifted. I’m moving it over the left side of the safe, beside the yellow object."})
tool
executing move_to over 19 steps (1.9s)
step 250
assistant
agent noteThe white plush is over the compartment. I’m lowering it so it settles inside rather than landing on the rim.
move_to
left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8509, 2.1773, 2.1483, -0.9955, -0.6193, -0.7238, 0.0415, 0.02, 0.9863, 0.8764, -0.746, 0.0074, -0.1158, 0.9954] state[eef_state]: left_x=0.4281 left_y=-0.3272 left_z=0.1991 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0453 left_gripper=0.0415 right_x=0.2861 right_y=0.008 right_z=0.1788 right_yaw=0.0742 right_pitch=-0.2696 right_roll=-0.0818 right_gripper=0.9954 state[joint_eff]: [-0.7316, -12.2188, 8.3624, 0.9451, -0.6471, 0.0708, 1.033, -0.1573, -2.3316, 6.694, 1.5946, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.075},"note":"The white plush is over the compartment. I’m lowering it so it settles inside rather than landing on the rim."})
tool
executing move_to over 9 steps (0.9s)
step 259
assistant
agent noteThe white plush is resting inside the safe beside the yellow object. I’m releasing it.
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]: [-0.8551, 2.1799, 1.6943, -0.5831, -0.6102, -0.7269, 0.0422, 0.02, 0.9863, 0.8764, -0.749, 0.0071, -0.1158, 0.9954] state[eef_state]: left_x=0.4197 left_y=-0.323 left_z=0.079 left_yaw=0.0504 left_pitch=-0.224 left_roll=0.0736 left_gripper=0.0422 right_x=0.2856 right_y=0.0081 right_z=0.1783 right_yaw=0.0746 right_pitch=-0.2726 right_roll=-0.0813 right_gripper=0.9954 state[joint_eff]: [0.2393, -10.8923, 6.3385, 1.4286, -0.398, -0.0317, 1.0281, -0.1436, -2.0855, 6.9265, 1.4774, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white plush is resting inside the safe beside the yellow object. I’m releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteTwo objects are now inside; the brown plush remains in front. I’m clearing the left hand upward and approaching the brown plush with the right hand.
move_to
left_z0.2400right_x0.2550right_y0.2850right_z0.1300right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8562, 2.1956, 1.6817, -0.5858, -0.6102, -0.7349, 0.9952, 0.02, 0.9886, 0.8764, -0.7696, 0.0071, -0.1158, 0.9954] state[eef_state]: left_x=0.4165 left_y=-0.3202 left_z=0.0667 left_yaw=0.0595 left_pitch=-0.2426 left_roll=0.093 left_gripper=0.9952 right_x=0.2818 right_y=0.008 right_z=0.1744 right_yaw=0.075 right_pitch=-0.2955 right_roll=-0.08 right_gripper=0.9954 state[joint_eff]: [-0.1162, -13.4769, 7.3368, 1.0965, -0.3687, 0.0122, -0.0122, -0.0615, -2.4684, 6.7897, 1.5995, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.24,"right_x":0.255,"right_y":0.285,"right_z":0.13,"right_pitch":0,"right_gripper":1},"note":"Two objects are now inside; the brown plush remains in front. I’m clearing the left hand upward and approaching the brown plush with the right hand."})
tool
executing move_to over 24 steps (2.4s)
step 293
assistant
agent noteThe brown plush’s torso is slightly left of the right gripper. I’m lowering around its body while parking the left arm clear of the safe.
move_to
left_x0.2900left_y0.0000left_z0.2000right_x0.2500right_y0.3150right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8562, 2.2898, 2.5256, -1.3262, -0.6025, -0.7467, 0.9964, 1.1854, 1.5909, 0.9752, -0.4736, 0.8246, 0.7734, 0.999] state[eef_state]: left_x=0.4176 left_y=-0.3231 left_z=0.2351 left_yaw=0.0599 left_pitch=-0.2418 left_roll=0.073 left_gripper=0.9964 right_x=0.2477 right_y=0.275 right_z=0.1152 right_yaw=0.1126 right_pitch=-0.0632 right_roll=-0.139 right_gripper=0.999 state[joint_eff]: [-0.1436, -11.3162, 8.1436, 0.9255, -0.3785, 0.0952, 0.1099, 0.212, -7.0085, 8.1846, 1.2039, 0.7253, 0.2076, -0.1148] 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":{"left_x":0.29,"left_y":0,"left_z":0.2,"right_x":0.25,"right_y":0.315,"right_z":0.025},"note":"The brown plush’s torso is slightly left of the right gripper. I’m lowering around its body while parking the left arm clear of the safe."})
tool
executing move_to over 29 steps (2.9s)
step 322
assistant
agent noteThe brown plush’s torso is between the fingers at table level. I’m closing around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1352, 1.0161, 0.9543, -0.8001, -0.2039, -0.1516, 0.9965, 1.2182, 1.903, 0.955, -0.1978, 0.8227, 0.8066, 0.999] state[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1968 left_yaw=0.1091 left_pitch=-0.2606 left_roll=0.0715 left_gripper=0.9965 right_x=0.248 right_y=0.3095 right_z=0.0244 right_yaw=0.1243 right_pitch=-0.0885 right_roll=-0.162 right_gripper=0.999 state[joint_eff]: [0.4171, -3.2615, 6.4479, 1.6337, -0.0415, 0.1197, 0.0073, 0.3761, -7.2274, 6.2154, 1.199, 0.4957, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush’s torso is between the fingers at table level. I’m closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 332
assistant
agent noteThe plush is highly compressible, so I’m checking the grasp with a short lift before transporting it.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0172, 0.9466, -0.8085, -0.1959, -0.1509, 0.9966, 1.2179, 1.9114, 0.955, -0.2035, 0.8192, 0.8021, 0.0346] state[eef_state]: left_x=0.2876 left_y=-0.001 left_z=0.1919 left_yaw=0.1022 left_pitch=-0.2787 left_roll=0.0701 left_gripper=0.9966 right_x=0.2472 right_y=0.3081 right_z=0.0206 right_yaw=0.1268 right_pitch=-0.0982 right_roll=-0.1767 right_gripper=0.0346 state[joint_eff]: [-0.0205, -2.5641, 7.2547, 1.4676, -0.2369, -0.0806, -0.0073, -0.1846, -9.4291, 5.2034, 0.989, 0.4029, 0.0269, 0.8327] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The plush is highly compressible, so I’m checking the grasp with a short lift before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 337
assistant
agent noteThe brown plush has risen with the gripper. I’m lifting it above the safe’s front rim.
move_to
right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0172, 0.9466, -0.812, -0.1982, -0.1539, 0.9966, 1.2163, 1.7962, 1.0523, -0.4355, 0.8001, 0.8005, 0.0346] state[eef_state]: left_x=0.287 left_y=-0.0005 left_z=0.1914 left_yaw=0.1061 left_pitch=-0.2815 left_roll=0.0707 left_gripper=0.9966 right_x=0.2451 right_y=0.3076 right_z=0.0692 right_yaw=0.1325 right_pitch=-0.123 right_roll=-0.187 right_gripper=0.0346 state[joint_eff]: [-0.1299, -2.4547, 6.653, 1.4042, -0.1001, -0.0171, -0.0171, 0.0615, -10.2222, 7.4188, 1.0574, 0.5104, -0.0171, 1.0281] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.24},"note":"The brown plush has risen with the gripper. I’m lifting it above the safe’s front rim."})
tool
executing move_to over 12 steps (1.2s)
step 349
assistant
agent noteThe brown plush is clear of the front wall. I’m carrying it over the open right-hand portion of the compartment.
move_to
right_x0.4450right_y0.2850right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.021, 0.9466, -0.8181, -0.1982, -0.1547, 0.997, 1.2163, 1.7004, 1.5753, -1.0706, 0.7704, 0.7933, 0.0348] state[eef_state]: left_x=0.2861 left_y=-0.0004 left_z=0.1894 left_yaw=0.1073 left_pitch=-0.2911 left_roll=0.0726 left_gripper=0.997 right_x=0.2428 right_y=0.3119 right_z=0.2197 right_yaw=0.1474 right_pitch=-0.1558 right_roll=-0.1938 right_gripper=0.0348 state[joint_eff]: [-0.1983, -2.8103, 6.8034, 1.4335, -0.1245, -0.0415, 0.0269, -0.294, -8.759, 8.4991, 0.9792, 0.6325, 0.0562, 0.7399] camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.285,"right_z":0.22},"note":"The brown plush is clear of the front wall. I’m carrying it over the open right-hand portion of the compartment."})
tool
executing move_to over 16 steps (1.6s)
step 365
assistant
agent noteThe brown plush hangs inside the safe opening. I’m lowering slightly and releasing it onto the other objects.
move_to
right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0214, 0.9466, -0.8272, -0.1986, -0.1585, 0.997, 0.7406, 1.9835, 1.8648, -0.8337, 0.5152, 0.2874, 0.0348] state[eef_state]: left_x=0.2844 left_y=-0.0001 left_z=0.188 left_yaw=0.1105 left_pitch=-0.3001 left_roll=0.0728 left_gripper=0.997 right_x=0.4298 right_y=0.2799 right_z=0.2022 right_yaw=0.1403 right_pitch=-0.2182 right_roll=-0.225 right_gripper=0.0348 state[joint_eff]: [-0.1573, -2.3316, 6.612, 1.5116, -0.1538, -0.022, -0.0122, -0.3624, -10.6188, 9.1009, 1.5849, 0.3492, -0.0366, 0.9792] camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13,"right_gripper":1},"note":"The brown plush hangs inside the safe opening. I’m lowering slightly and releasing it onto the other objects."})
tool
executing move_to over 10 steps (1.0s)
step 375
assistant
agent noteAll three objects are in the compartment. I’m moving above the raised lid’s upper edge to fold it down over them.
move_to
right_x0.5750right_y0.2800right_z0.2900right_gripper0.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0214, 0.9466, -0.8352, -0.1986, -0.1616, 0.997, 0.7403, 1.9862, 1.5925, -0.6083, 0.5034, 0.2798, 0.9946] state[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.1868 left_yaw=0.1128 left_pitch=-0.3078 left_roll=0.0728 left_gripper=0.997 right_x=0.4219 right_y=0.2749 right_z=0.1257 right_yaw=0.1459 right_pitch=-0.2657 right_roll=-0.2507 right_gripper=0.9946 state[joint_eff]: [0.0205, -2.4, 6.5846, 1.4579, -0.1685, -0.0171, -0.0122, -0.0205, -10.7419, 6.7487, 1.6142, 0.2857, 0.022, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 375): [image omitted: streamed camera frame] camera 'left_cam' (step 375): [image omitted: streamed camera frame] camera 'right_cam' (step 375): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_y":0.28,"right_z":0.29,"right_gripper":0,"right_pitch":0.3},"note":"All three objects are in the compartment. I’m moving above the raised lid’s upper edge to fold it down over them."})
tool
executing move_to over 19 steps (1.9s)
step 394
assistant
agent noteThe lid is still upright. I’m positioning the closed fingertips against its upper edge to start bringing it forward.
move_to
right_x0.6000right_y0.2800right_z0.2350right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0214, 0.9466, -0.8459, -0.1986, -0.1623, 0.9971, 0.6041, 2.183, 2.0529, -0.2859, 0.5568, -0.0624, 0.0077] state[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1852 left_yaw=0.1141 left_pitch=-0.3181 left_roll=0.0751 left_gripper=0.9971 right_x=0.5645 right_y=0.2805 right_z=0.267 right_yaw=0.1651 right_pitch=0.2174 right_roll=-0.2747 right_gripper=0.0077 state[joint_eff]: [-0.1573, -2.4684, 6.5709, 1.4628, -0.1245, -0.0415, -0.0073, -0.7453, -12.1368, 9.2786, 2.1172, 0.1783, 0.0122, 0.6862] 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":{"right_x":0.6,"right_y":0.28,"right_z":0.235,"right_pitch":0.4},"note":"The lid is still upright. I’m positioning the closed fingertips against its upper edge to start bringing it forward."})
tool
executing move_to over 7 steps (0.7s)
step 401
assistant
agent noteThe fingertips are at the lid’s upper edge. I’m sweeping them forward and downward to rotate the lid toward the closed position.
move_to
right_x0.4600right_z0.1600right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0218, 0.9466, -0.8528, -0.1982, -0.1654, 0.9971, 0.5766, 2.2524, 1.8912, 0.0593, 0.5476, -0.1471, 0.0096] state[eef_state]: left_x=0.2796 left_y=0.0005 left_z=0.1841 left_yaw=0.1162 left_pitch=-0.325 left_roll=0.0747 left_gripper=0.9971 right_x=0.5913 right_y=0.2791 right_z=0.2211 right_yaw=0.1798 right_pitch=0.3071 right_roll=-0.3063 right_gripper=0.0096 state[joint_eff]: [-0.0342, -2.2769, 6.5709, 1.453, -0.1392, -0.022, -0.0122, -0.7179, -12.465, 6.8855, 2.2882, 0.0562, -0.0269, 0.1734] 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":{"right_x":0.46,"right_z":0.16,"right_pitch":0.2},"note":"The fingertips are at the lid’s upper edge. I’m sweeping them forward and downward to rotate the lid toward the closed position."})
tool
executing move_to over 11 steps (1.1s)
step 412
assistant
agent noteThe first sweep missed the lid, which remains upright. I’m approaching its top edge from higher up with the fingers open.
move_to
right_x0.6000right_z0.3600right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0218, 0.9466, -0.8646, -0.1986, -0.1658, 0.9971, 0.7395, 1.9774, 1.2781, 0.1528, 0.6594, -0.0399, 0.0104] state[eef_state]: left_x=0.2773 left_y=0.0009 left_z=0.1824 left_yaw=0.1177 left_pitch=-0.3364 left_roll=0.0779 left_gripper=0.9971 right_x=0.462 right_y=0.2798 right_z=0.1339 right_yaw=0.2151 right_pitch=0.1277 right_roll=-0.3579 right_gripper=0.0104 state[joint_eff]: [-0.1162, -2.4684, 6.5573, 1.4676, -0.1587, -0.0562, -0.0171, 0.1709, -12.9846, 7.0359, 2.0293, 0.3639, 0.1343, 0.0659] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.6,"right_z":0.36,"right_pitch":0,"right_gripper":1},"note":"The first sweep missed the lid, which remains upright. I’m approaching its top edge from higher up with the fingers open."})
tool
executing move_to over 15 steps (1.5s)
step 427
assistant
agent noteThe open fingers now straddle the lid’s upper region. I’m closing and drawing that edge forward and down.
move_to
right_x0.5000right_y0.2800right_z0.1600right_gripper0.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0264, 0.9466, -0.8757, -0.1982, -0.1661, 0.9971, 0.5526, 2.4996, 2.8727, -1.0706, 0.4732, -0.1238, 0.996] state[eef_state]: left_x=0.2754 left_y=0.001 left_z=0.1796 left_yaw=0.119 left_pitch=-0.3516 left_roll=0.0815 left_gripper=0.9971 right_x=0.5613 right_y=0.2558 right_z=0.2694 right_yaw=0.2227 right_pitch=-0.0711 right_roll=-0.3926 right_gripper=0.996 state[joint_eff]: [-0.0479, -2.8376, 6.5709, 1.453, -0.1343, -0.0415, -0.0122, -0.4034, -17.2786, 8.212, 1.9512, 0.1441, 0.0317, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.28,"right_z":0.16,"right_gripper":0,"right_pitch":0.3},"note":"The open fingers now straddle the lid’s upper region. I’m closing and drawing that edge forward and down."})
tool
executing move_to over 13 steps (1.3s)
step 440
assistant
agent noteI placed the three objects into the safe, but the brown plush is protruding over the front rim and I could not safely close the lid. The right arm stopped tracking near the lid, so I’m stopping rather than forcing it.
give_up
hindsightThe yellow object was close enough to the safe’s side wall that a sideways grasp caught the wall; rotating the jaws about 90 degrees enabled a clean grasp. Soft plush grips can read about 0.035 yet still hold, so verify with a short lift. The lid’s upper edge was near an awkward reach limit, and commanded sweeping motions did not reliably contact or close it. Place the plush toys deeper inside, clear of the front rim, before attempting closure.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 1.0264, 0.9466, -0.8764, -0.1982, -0.1661, 0.9971, 0.5888, 2.5755, 3.0711, -1.0985, 0.5591, -0.1616, 0.0081] state[eef_state]: left_x=0.2752 left_y=0.0011 left_z=0.1795 left_yaw=0.1191 left_pitch=-0.3523 left_roll=0.0817 left_gripper=0.9971 right_x=0.5582 right_y=0.2644 right_z=0.2984 right_yaw=0.2094 right_pitch=0.0272 right_roll=-0.4395 right_gripper=0.0081 state[joint_eff]: [0.0068, -2.4821, 6.8581, 1.2821, -0.1343, -0.0611, -0.0171, 6.7077, -10.988, 5.1761, 1.1893, 0.0317, -0.0415, 0.5153] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 440): [image omitted: streamed camera frame] camera 'left_cam' (step 440): [image omitted: streamed camera frame] camera 'right_cam' (step 440): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed the three objects into the safe, but the brown plush is protruding over the front rim and I could not safely close the lid. The right arm stopped tracking near the lid, so I’m stopping rather than forcing it.","hindsight":"The yellow object was close enough to the safe’s side wall that a sideways grasp caught the wall; rotating the jaws about 90 degrees enabled a clean grasp. Soft plush grips can read about 0.035 yet still hold, so verify with a short lift. The lid’s upper edge was near an awkward reach limit, and commanded sweeping motions did not reliably contact or close it. Place the plush toys deeper inside, clear of the front rim, before attempting closure."})
tool
give_up: I placed the three objects into the safe, but the brown plush is protruding over the front rim and I could not safely close the lid. The right arm stopped tracking near the lid, so I’m stopping rather than forcing it.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.961 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "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.",
  "role": "system"
}
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3916, -0.0193, -0.0372, 0.9993, -0.0212, 0.7952, 0.609, -0.403, -0.0196, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1772 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.3607, 10.2222, 1.9609, -0.0806, 0.1783, -0.0904, -0.4171, -1.5248, 9.5248, 2.0879, -0.0366, 0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e4cb848b3805e6e51324313a4ef6c101c574b8dfb1c947aa21699e5b07af01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcaaf8a5d82e4df94e5e13e19b259c493b8bf295d55d68160bf4613f8485073a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfc8ab613ed38eb98bcc32dd704b2ec3d2490368fe2dbf20bf53f7fb2c9493c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.56 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssF9n1kKj5le9p5c3ikdC91_ZQyWbSTDgtoP-JXDD53FqmVbw5aS959kEaWefOhj4wvNgO234opqc-E-VePWRiD9YwW366XJeaZXXVBVbn1G_mEBudb4Xqoaq386udekfUZ13jmYP-ueXGucIwN3hFlrjS_OA7X04wcaawEKc1CYMehx2ozuaiQfe3bMI8EZEv812nbl8iTuXe51oiOx9kKVxkWxgfvT7IqIJRGzOktVo0OZoDyj8pyzXlcmfZUcvKgH-p_l39RxoCSuZcBdAEQisy4yO1VOSkq9eTOWDbaxJlYKPRqn8yJ642o6G7dbAuOHrc1wClF3zhVP1HRkOfHNVFCBT2NxLC2s1-bw9Vs5PienxdNvAaoxy1JAmls4-zAdxlLY0R5-zdExNTQIYcimIqwcrs9v2-xyEMX1X8KKVP3IrB840IhWHPwtB3Ymj66sAprPhCm5imlASwePhNcSukTf-EZlRRboCokNH6J4V0A4fJTNh1BvbVdBvwpYDeWPa-_5zkI32p_WSKp97zbFqB7OPPaJM0eQEU7_qb8JZaM4-fSH2mQ_ExFyswfCMB6mbnpjnySQvYysxrJG5D8YzoqvO1grtvO8BNE_LzYYqR1wWetFGiWusN3YlroNQ1wAlI9JGIT6OZ1t8Lt73RfQmkrti4EeYqKy280VwGtvywg-xtDMtxowvADPfRvXoZ9V7Nu4S54iiy3Q2nZZKFIk3s8pgUeZMoBGhd6j-7Pdvvl4FlUOXwc9ogYlr34GX6ydTLLbcgai6LB4_0SUtYmVWuknC5HieFCjgR_m2MFFEikuUPX1-Tk78InKC5giDN6Q_WH6GnsSh1fLJBSlxyLc7JfW7LBLpcBTz81WGchNehl5GiOi-zfVpG7Ubw2H5CjTWonJhlR6sJm4y1rQN02DuZiWsONqqg5NYzQctkPPhwuu8i6TzgP2YrlMM7QvNEsewgHuEpRyGfgBSL-5Z_yTWzsdNCoZCFT9QgUxoI4mQlf8GTtv_ZwE1GMEUqRAoytIxGksoZdgT9ibR04hUGpCCBVDEj1PJw9FYmCQ1muYIEuyPLnnloo-HR08qqg-ppnG6o0PZnxn4hbOJcptEV3q9NMaUWkbIRYSCySykDl7qimR_7sYDcq8_LzQyYMkN0Gla6DUbdpsjpFnkj3yF0aJu44s9B9IBKuY_8DBkk2QHoq6VP25ozNOJdDcadkmYT5Gb48XQaO0bkbu5IPaEsnJ7i7hjT-Ta3p-mKi4AL2nVq5UKVs9VQFhpEgWK-uqSf4wY6XIyiikTaGbq6iyGMo5DSYiGqbTFc_xCw89qOZiHSO31WXKavQFqLlwufHgh_8euGgDbL_evqmXZFy65-zZxu383fCb0e8gB8ooNSxMUY_eKdFEo8zn6WZzsnHq8Nv1iel60SRtDAqdOokKDtvnXQAXPkOzlsvoEIZAr0PEuOqwydWnTNNjnGQbGlENIPaOuzC8UX2l6flQ0nXXKB5EZ6aKKrhN9SBU1XmIonKLtu64Yp8HLpRWWP2KzrFf5NS_LS9bha-iWtyc1anP5yGGUVn3I5CSqHUEhrBaeRJBfa0-GuRrUBw2ccZOSoy5iPKimBEDk0m9pkK9-5VtyGO1PIVgxaHYmtRGOBpAopWvPHdQuxpYUbEk_yONGVhYW2yuA8Ju-kdaj02oUXlgcD1j57ROWAELiQhrccR54Rps6Z4wzluAldzAMq0XiQAlTdF5KIwiNOHFSYXMpv4l850AYlo_vmF9iT2lMWjd8Pr27jNEYYzd1MLiG2gLioVhDgXiRCgTa33DdG-yH3Lh91ECASYr_yKX-RruRIBuxX8qy-YTbyEfSp1HZl2HRGDdXB8D6lVOBMlSu2GMDPy0f_wCP2md3x_FteprmnHOGj6ULMY_0ElQ8IowMWPFK8HCzw-TMNI1bWBv29xA8ZRdjegnxw==",
  "id": "rs_049a87ca16d8073d016ab2c175d30c87d09492b9a337557fb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see an open red-lined safe with a brown plush, a white plush, and a yellow object outside it. I’m bringing the right gripper above the yellow object first.\"}",
  "call_id": "call_IY8dGq890VWrsBNvWIioI7TZ",
  "id": "fc_049a87ca16d8073d016ab2c17bc47487d0a333769362cc4713",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IY8dGq890VWrsBNvWIioI7TZ",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9992, 0.4694, 1.5791, 0.9665, -0.1078, 0.3557, 0.2405, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.001 left_pitch=-0.0164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4136 right_y=0.1448 right_z=0.1289 right_yaw=0.0358 right_pitch=-0.0785 right_roll=-0.0405 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.4564, 6.8581, 1.8632, -0.0708, -0.0024, -0.022, 0.1026, -7.8017, 8.6085, 1.9414, 0.2564, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f7c73679eb142887fcdb4ea605a5d3187c923b3dcea0db0b7e557fdad6b420",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777e0af3647077062e1a7c4ba405b05906ee0bd7d260f05148579dafd2652c91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1cb9a32423f3c477d6982c34d80337234e1ab874dc1f75c1a7eda54166b530f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.012 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3916, -0.0193, -0.0372, 0.9993, -0.0212, 0.7952, 0.609, -0.403, -0.0196, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1772 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.3607, 10.2222, 1.9609, -0.0806, 0.1783, -0.0904, -0.4171, -1.5248, 9.5248, 2.0879, -0.0366, 0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGERmwlwKf1SuzkjgGOKzayJCIFdTPgCG8hr4yVSlOfB2GmXvuVLtn9YVviWnQexB1o8N0Firg3332jidZ3p-QmfScmr7Xl73TAqadDTgDBAACadmKfUWTaPGfSndXdoyG8ov4QU0Ztbmb7IwnDfWA73_BqSVY0cowxIuiFPXz9mNAW7j5vosj29ffCVddfdldbHizZp2IHhdku0j58ae2vv_FO9u89Zuz8-O2Vaq3foosTArtoBVdi1fVP-jEVIrdAkJbe4D8obm_59i_gKWZR6mPA8zIRCFWHQ8GShoDMY3xP1slvkIuHUEmvU0QYqGxo0KAPwS_F5S2Wn6gx88z77zBBgpb791Zir7ZLAK4aClGjQSmLv4nr7FPI-J-C0fw6qsVrm126Jlw5ZHkyT0yX-QoAVpf1-QqW6ColXf8ZeL1LzYCeC6ykmIMuoc5rkjINog-2Umkc1sozeUx_urfbuJWnMHv0gfoDgJltplPxh8-DDgLJJS-f_Kq6Thb6seCHraPr6fakcO5HnyPJ8Klaf9mEEFAkY2Ky09SP_vTlpEv3tXSNR5Ivmk_4U8nkdo8p6Ge4eQZHhLgE_cHOUtAGkxGBgedbe9kvSlZl-z4okPhM87miFsLCRpT5HmMiJdd_RUiqYMZjkJaTQHpVCKNbJs7x5XyTFAty1nS3AmYoS-OwpocRlh3JPlLCqRsuiyfakcEu_VL0WonC2Gm0Ga9A4cvY3DEnORpGmhODJwVVSLdGYnPeIDIQcNDGnTZq5Y1_S8Aqjyzl0yw1vw8gB0dUG4Ne_FJWuArz-zPFBqFrpYNe5t7H4pQhCDsRYchjw9q9SeDOe9OZdycmt_mroNc8cB4jnCQHWWzg29zm6HgRVOYQ6Il04nhpxzaIjMA4euN6Vlym7gPfWyHLdbChBHhxaM8nRIZ7rrmyjs7sLoJ0WLGhNJe65uKFmvqDMtRsAWe1fB_KyrnLLZ17WMzRC9U_aSoVg1eVH-nlLOfoV2mgYd3IzNYlaEvGdSzqJc5zYggyoowO-a3Jsce568Ql_KJYVbfEB1W3hh1avhQI63yJfcrB6jecUbnz4dgDaj-0r61zNpq6RwieeGx5qXfslTDh8OXBLaJX4iZDHHbABUyKTGeDtctzLlSZFN7si5VBTPwbfqPorAdoE8OobzuLi4wx3540bNjXGctSSHHp8ENfdizDaqasv_R4AY7JQjxpJu85KRb6MIEZb65n_3SdQYTbl3FO80cfh8kALV1duE7j-ZR9oZBYbNzSNtA4yxJmUMl5WgXERm8Wtjn9jBYhsiWzjJVTLwqGJYPgNiShDfz2r-dBPxuU2y4zHCVolyt8L6wrtKJLjdSf7GL3wUfO1GAgl5iWk2iJljcHuCRmvGPvZyw0wscDGDx87JJb8-aX565nDyLDrvvERMA5_4N4fSiuDGVoES6SrorYCW7lgkeFrjcNcjQK-ncN0c0ccFm7WQixZOODbiAakQCYOjacBeGpYvus7USgRHj_d65siH3QzhNbC2C86jkd-C1ithd0IcbfUoREgQtlffsxMuYq5A9gQQ==",
  "id": "rs_049a87ca16d8073d016ab2c180e34087d0a026c10bb471bc6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.13,\"right_z\":0.045},\"note\":\"The yellow object is visible just to the right of the right gripper’s jaw column. I’m shifting slightly right and forward while lowering to grasp its middle.\"}",
  "call_id": "call_X6NjIzxVWaL4jAwU4qnhc3vC",
  "id": "fc_049a87ca16d8073d016ab2c182eeac87d0b8953c3145363a7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X6NjIzxVWaL4jAwU4qnhc3vC",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4114, -0.0189, -0.0383, 0.9992, 0.3882, 1.8294, 0.8917, 0.1513, 0.2977, 0.1909, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1738 left_yaw=0.0007 left_pitch=-0.0221 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4345 right_y=0.1256 right_z=0.0362 right_yaw=0.0259 right_pitch=-0.156 right_roll=-0.0674 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.2103, 7.0085, 1.7949, -0.0269, -0.0024, -0.0122, -0.6906, -8.1026, 5.9556, 1.7998, 0.188, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2898523339ee66ff6666960c7ea169b8bc596652916046422fb07c4f2e71ce9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40f3784c3f8982fcd9bc8030c9c560ff11dd429d797feb24ecf0e8dcb68f606",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9d17fb8d3e2f327d374d7b9751af2a99da4ffd7222fdf1ef44b3dad0b4282e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.155 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 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]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0193, -0.0383, 0.9992, 0.4694, 1.5791, 0.9665, -0.1078, 0.3557, 0.2405, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.001 left_pitch=-0.0164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4136 right_y=0.1448 right_z=0.1289 right_yaw=0.0358 right_pitch=-0.0785 right_roll=-0.0405 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.4564, 6.8581, 1.8632, -0.0708, -0.0024, -0.022, 0.1026, -7.8017, 8.6085, 1.9414, 0.2564, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGJULOASXoQGLalmB1_okdpDLW9ZJ59_AXirR-yVbl3QzOArGIk2OEkTDqM5f2kZXDTHKBUfsJHIruqodUQGTJfLa_2lnZI9yXaWYQ2jMyoK3ZeTeHMwCGt9dWOmOxOJpgvyt7GOlujImgWcKLFmw3KOHerDi0r3_2xCtkPRVZIhhFPHPAIoyeLVVP_VN1ktxMqWHO_cojYZx_q3bQr7R87F4gWrJvgGnGgV419LY2yG_Kz2K4aKFrQ3nvJBRPnZhf4t4QRHGAx8TnK97hezq9GMsciBjGKfD1XvvnGy9M0gvcGHJxpMAW3gMcdVrRmDtxbrSKePZFfzVarNSy7ykLkiVOx2iy8xE2yacfYhCnw0uOq0Spd2TPTDKzIGSAhAN_QjIYotkUlUzX2mSLFGy7UhGreeFee9M3RlTlyL9UlvAVEafiYbSObVp6YGi0xc4ii60CTATwoxBihVG7HQroEPsMviTKDUtpqveWxMBpchbK6e0QUkgZ4ueEPUqXyUKNDjhb7TU-maV5C9r6OIbh9qrLouWekZmP8zpmW05SasgnUX8YiMCGM9ExwpFUEViKenD0JrwCwruJaTcDR6ysXo18rfEH7VkJu2zgMtiOi8lhfb1c82bmH1KbRR5ykJUpr2t967vq602c1BWTWYh1hUq22B_izImO2aoDpTBQYHMerp1hFQgzbBk-StV9cxUtvqlwm_KT7DS-N6JNBn7_otx_hRcarcVLZAEfWnC6_kM56_6-VpjmT5_7qXVibTakV1fHqxeea4lTw5tg_oZkcP7FT7kRdtL_iex8qlwK5HhCBjc1YVhfdiIIJDhgOZg-0qPhpWkLpRbr4iW_G_qOQcRnhv3uwVeTnxaVeh71rNrfo9G-DbHvZ6NfeP_yvkY7TTWfZNwAHjC5fqW87AQzv4mkNkDfwjls9Bc9EyPtJVHfczsNsYRwYNmCqWStzy6O1R2Lmg-IqcKRIFLgk_T6ZGfFlDr1pOBbv3S4_7KUM7py9JjW48SBAf_X21H-TK7YMmc8fPH5Ha5Ih-Uj7gK-5M6MJ613sdFRoq7jMzFi3qnHiWwXad-zR-59EeWbCQMwO60dSDfry5inKkDHzsyzVN2PDKlOfinjg9dUnFJOoK67kMOOfdJ0_XWjhz51nkzOsdVM_Nx2dLY5YlfamDgvT1mVe9uN5PwuZ7YlwsO7Z1sIparkrrp3CHkmOM6F8hRUDFl4nkn1aeIa3UsC6P01oL6zr7gsMPqGAMiueJ0GTWe1Ft-NvCPb39yBertPFzaf47A84_lI7Gu4Gy3SEPUlq0BwNv3G_07e9HKRdXSoPTsX1v1zhlnGza1xcqgLcVo-aYYPyl7wpsogimGjFSBF_kJacTBEdK7ct0dGAvv1PgiM=",
  "id": "rs_049a87ca16d8073d016ab2c1867ab887d0bfef8d5bce4b81a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.111,\"right_z\":0.018},\"note\":\"The yellow object is still a little right of center and ahead of the fingertips. I’m making a small alignment correction before closing around it.\"}",
  "call_id": "call_HY2uXF7eBZGs3ymUeMsz8wNZ",
  "id": "fc_049a87ca16d8073d016ab2c18866f087d085318c084d8051e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HY2uXF7eBZGs3ymUeMsz8wNZ",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.799, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3233, 1.9541, 0.9791, 0.1974, 0.2306, 0.1478, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0007 left_pitch=-0.04 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4653 right_y=0.1171 right_z=0.018 right_yaw=0.0406 right_pitch=-0.164 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3607, 7.0085, 1.8584, -0.0171, -0.0171, -0.0122, -0.7453, -8.5402, 7.1043, 1.5897, 0.3394, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45808fcb7d1a8d391535c46571168b8a3339f57e85da75af229f6bf8d9151789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fac7801d475c9182034f5751f461b138d53118116566cd6e3e5454b2258ec62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd599366ccc7a775642cacd0d54f967f522c8a1f347b25a982d71241be698d71",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.699 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 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]: [-0.0189, 0.7975, 0.6067, -0.4114, -0.0189, -0.0383, 0.9992, 0.3882, 1.8294, 0.8917, 0.1513, 0.2977, 0.1909, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1738 left_yaw=0.0007 left_pitch=-0.0221 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4345 right_y=0.1256 right_z=0.0362 right_yaw=0.0259 right_pitch=-0.156 right_roll=-0.0674 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.2103, 7.0085, 1.7949, -0.0269, -0.0024, -0.0122, -0.6906, -8.1026, 5.9556, 1.7998, 0.188, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now centered between the jaw paths at table height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_3hyf1bWcnABnedku7UvVXhU6",
  "id": "fc_049a87ca16d8073d016ab2c18c01c887d0aa48133690639c9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hyf1bWcnABnedku7UvVXhU6",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3233, 1.9617, 0.9882, 0.1959, 0.2199, 0.1459, 0.5288]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0009 left_pitch=-0.0481 left_roll=-0.0005 left_gripper=0.9992 right_x=0.467 right_y=0.1196 right_z=0.0173 right_yaw=0.0504 right_pitch=-0.1661 right_roll=-0.0452 right_gripper=0.5288\nstate[joint_eff]: [-0.0752, -1.2923, 6.9812, 1.7753, -0.0708, -0.0415, -0.0122, -0.1026, -10.1402, 5.0256, 1.5018, 0.1392, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e830042a168291f48ebf5cfe348a535cd658e87563fd1e93d5394e6c838452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307e1ef8be7bcc1883eb7b7e9915a98470790443fde05e985e81f0e10fabe41e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c7d5cb2f97a916d6a50c311971d6756b09d1055307fc6767ab708722aec9765",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.849 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 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]: [-0.0189, 0.799, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3233, 1.9541, 0.9791, 0.1974, 0.2306, 0.1478, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0007 left_pitch=-0.04 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4653 right_y=0.1171 right_z=0.018 right_yaw=0.0406 right_pitch=-0.164 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3607, 7.0085, 1.8584, -0.0171, -0.0171, -0.0122, -0.7453, -8.5402, 7.1043, 1.5897, 0.3394, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGRK9M7mGT3odn303UFWMwmmAia99SaEQrbq32_8jOLpbfsEPczRCfj-tQVAVfgf4NnszDJ9kl63MCHFXc_0vGUyz8cCKvivqtEG0-gFWlsp86vKO0x5nRch-WT48SKeBiPajkG85MzceqmwsJzTyv00wiGvFejBw2htqngtdhi9aypiBVxyA9hYewjblOmmxAWwiql_2qey05lQFcpLGkSXTQBTNALdVxWbinssFmW8bbXlscEWurQ0X-JddZzE_gwKZJvKOX4WeJaVrT0aAcSWfi7P7kjDCWxMBUkXd1SGeHVfkJWfWzYxyemG2XJwKmoeJVDgB0kCaF-La4jK8nM3E2jND6Gc_BcL_JqV-VKcMy9EhzcfVVdkXL2COBpxLaYSfKaGP6injrIYNudeY_e7pIbBHL1fJJOz0vW0kIas4huLlSQi7xuzNYiodCddqcQwcnWDTbchWMOc1SzMhQYp75q-l4mOKqSiUQ_BCPsuqrsbfmUVpY5zc1eRw-FIt0pbylQrR2Qy6F1Mdtb_DIGTGsro0ymcqCxfF1eZyvSTouwJw6U_S3rDl_gOqzFaoF84MqePQF4YyuvKEOHjI4cw6plI6OhTOhKuwo-BA6ChohedGMBvwcm9wKe3pbEBdEBD4XRWLp1EpqTA8eDKQ8tjpwsz0xu4LUHmqYikmCfDufJ5KTCNm7RyU3tQH9PPNPkvchRhuhLlFQC6KLoBBGPW6vP3k3jWRI7Kb7YR-Sto4kXcdnlt05hpazelw7wC9gf-xe_r1Gup08A3iV8FpNR2CaKfEuGlmWJ4DSiDHBPR4pnenjyx5wl513LDTqYefwYGUvZMJejBboePXztBc0JmbxnuajEFkwx1HJnMQiVhPDQHfHZy4pTtncA6WK-4qCthmrjFH_xtwUDkgb_qufgeOWF2c_XIS45Eamns4mkVzGnCKHTADAaxBiiBrjQgd6D7Vy6ddzYAdHkeIzXi0T-nEGa7VA59eDNFooxWpj7EkkiDPlRjj3isN7LbH00mKq8OR5fB4IwAgmMaYk-ykuZiYEa82W9ebNYjRGLCl6dXspxIkPoaUSkBUHXnrloj1dfJ-ZXVJWME6bZIRuL8NR_UUJJ3pV0u_jQyCr-hwBXUtostt31Yy6zmlGKE_kV6TD73Yo_p4APAPF6LfwKRf0lrsPK02A2LTkvIMQavMiYz9kUStRvqZDVp_IqbFKRFpz_",
  "id": "rs_049a87ca16d8073d016ab2c1901a4487d0ae7d5af8333cbee0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper has stopped at about a 5 cm opening, consistent with holding the yellow object. I’m lifting it slightly to verify the grasp before carrying it over the safe.\"}",
  "call_id": "call_fN0dKMwUIm880hmq611ZzCFg",
  "id": "fc_049a87ca16d8073d016ab2c190807087d0ad9f8240042892fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fN0dKMwUIm880hmq611ZzCFg",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4534, -0.0189, -0.0383, 0.9992, 0.3233, 1.861, 1.0668, -0.099, 0.2203, 0.1379, 0.5287]\nstate[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1649 left_yaw=0.0007 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9992 right_x=0.4493 right_y=0.1136 right_z=0.0435 right_yaw=0.0476 right_pitch=-0.2776 right_roll=-0.0832 right_gripper=0.5287\nstate[joint_eff]: [-0.1846, -1.0598, 7.2137, 1.873, -0.0317, -0.0269, -0.0122, -0.0889, -12.9709, 9.3333, 2.2686, 0.0415, 0.0904, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:396575d15ea74fcb64ae7c6678048c3a58b969eda2b36b6c688d5de79eeb2897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e535158b25f6043065b94e85f47c323d066fe74cc4a199660ed90e43371809d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8936f6a2b0689f70f9d84161ddad21b7b8fae610154164052a6b7acc6af1394d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.242 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3233, 1.9617, 0.9882, 0.1959, 0.2199, 0.1459, 0.5288]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0009 left_pitch=-0.0481 left_roll=-0.0005 left_gripper=0.9992 right_x=0.467 right_y=0.1196 right_z=0.0173 right_yaw=0.0504 right_pitch=-0.1661 right_roll=-0.0452 right_gripper=0.5288\nstate[joint_eff]: [-0.0752, -1.2923, 6.9812, 1.7753, -0.0708, -0.0415, -0.0122, -0.1026, -10.1402, 5.0256, 1.5018, 0.1392, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGXYuoL-jlfhNHXrJhEoz1A7h77ImtYyxl3ZbNLrcZJuSZvqFzsLM953jnNEQMisHVSZfGBIHwqwlp8Q-nLB9kEEzrJcm-csJZEHMyVOMUUPkUJFERypma6H50nUd9kU6DLcZEspUlV3meqTub9a7el9igskE7dUKPuFdqzhbzZVfgdP8-r3ODrGuHvgfYbKZRV_PS1xFoKUdJnmKHhdrIvheNdMymMTw03-Rs-sTdK2yugdKJ4OxKeDk0ETMBI2Xq-CerHUZDyqiyqICv9Cl-UYtXkBbwSe3o4Y_LX87FQUAVi0aetb2B1WTHQt82d9m3Ie6gDxCgJp7vxil61C1iihMV37_dsPJu7GHrlD5Bme8rxmDGz-PZ0ddOe32qWXuua5WPdlqjR-6tTifGfhAOpADBst4SkNxrHKRoEf-FZRj88QshS9Js2HAu9C4lVg4ERCv7T4mKL3yb8b3euhpcdEBEJOCTxHuZej8OtIt-yB1NuIfHPGymxNvR-hc-D3VcEZqJswg2Sj_2acqVez7nz5tl1adPLvqgQ7aAC8Nm_Frz7HTxdz4jd6QPimI1lF9sDqShQiK__uUjxBg_yQeIjgB5wgJEfD2U17S5aL0OPtdqHMczlgk_Px56Dp3MAY9JNzYEA1pzzQGwEXglYa1_qZkocPHETeieOZ5BHAa2IIb4l3lYaYNqPMYylQCTxsvQgZC9ZnXDIa-oMNYH--DkTUrzUVe_rb9LVjwpG1mj52KnNGQOaYP_K871igDy3gthbC94yRsESNqialM1TtWIXuLh_NxaVMz9YpFt7wUm2hLCxPUPxgperaEHbSqP0xR3EJ7afsdpfvcvFL1FdejGqkicjXmwDFsoYPQNiKZD_4ZOMiHE4XsT52X4bZr810S63oO456cFDKXIha8J5M4-KTDlvnJxRCey5rHhI58WKUULs8Vdhm__NKrw0DfqDNort76X8CSL_enABDlrH4UacE220fqgiJzVgvyv_T3nSpgqCbtv4GOEcTBIEt66VtEwWrhlwuEzK1UF04Q1cDKbb9vyZBLdIH0w2kdhDCFQmX8o1f0f-7ph9b4UWqzKDvW5HtbQ3Frpdlta-htg5zbdowgx83fowATVvGm9-L0hIeQhkHM30Sjp-TqxZY6QVpk0Ap08Y-ZhgVBPrWfpLwSNAJy4acNc_QOpjuVgDh9yj7s8e098Nftln9catb1vaDFo08LequinW7TMnzBt31_I8Zeab0GbJWeDTxmBMxXlYD9LrmTK1wC9eV3073thbtyNe1luEHJAM5a-rm9M7opryFEQObBCBasd9D57dASV0ZCjQl0_9wYlUUrRDnoXONS5nCvmnFN-kOOoGnjSrMmYAkzN2V-C-3TG1fA9AaF5epXQ=",
  "id": "rs_049a87ca16d8073d016ab2c19408c087d0858d87ee6a2ab8c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.1,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The first lift rose less than commanded, so I’m retracting slightly away from the safe wall while raising to a clear carrying height.\"}",
  "call_id": "call_o6PyQfeIlPQeidjZyYrOETnX",
  "id": "fc_049a87ca16d8073d016ab2c1954b4087d0b12e6130ddd441e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o6PyQfeIlPQeidjZyYrOETnX",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3241, 1.8156, 1.037, -0.1673, 0.2203, 0.131, 0.5321]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0009 left_pitch=-0.0709 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4305 right_y=0.1077 right_z=0.0423 right_yaw=0.0479 right_pitch=-0.3286 right_roll=-0.1028 right_gripper=0.5321\nstate[joint_eff]: [-0.1162, -1.2376, 6.9675, 1.6874, -0.0562, -0.0317, -0.0122, -0.0889, -12.3829, 6.5436, 1.8535, 0.1538, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a95d27512c5f513d759eca6f7440e02ad398b01628979e8246d497422842dad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb87cc5fac02e18520302a005cc733fcfb4883dea99b2d3b71fb7acf61b68816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7efdd75d7fdbc982fb1221a0f083130c83b9c342665623ed6095f33001e632",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 8.054 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4534, -0.0189, -0.0383, 0.9992, 0.3233, 1.861, 1.0668, -0.099, 0.2203, 0.1379, 0.5287]\nstate[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1649 left_yaw=0.0007 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9992 right_x=0.4493 right_y=0.1136 right_z=0.0435 right_yaw=0.0476 right_pitch=-0.2776 right_roll=-0.0832 right_gripper=0.5287\nstate[joint_eff]: [-0.1846, -1.0598, 7.2137, 1.873, -0.0317, -0.0269, -0.0122, -0.0889, -12.9709, 9.3333, 2.2686, 0.0415, 0.0904, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGcUstZm0UzlO6q8HfgC78-xGafL3aD8xdaZ7w0J_D76hfps1MFIseEkxytLpQn4R7w32omyaaf6RxJ9iktwmlB2kMRrLkRPG9S3bP_FdFeyzTsgyntyNpDxGx5OlWZ7V-kmie4uhxrF0oa3_vveEIbnZUS_kaY1L2Y8GIPJhnMVw5e-HuQtnLO8UGMpyT88Vd_WRu72hoARV33tcUoPjpJPA9pgAf2lt9zei-T5wiL3vQtIWCaqScPpqJFCy8njxXF4zWUFr9nCZTqQGnzsQT1u2dmZOLrIH8DWm_g0qHJdBxBnEuvJ9YsW-7NsGO1tnkDjaSHgPOC5qWow-t51FaRqECCPB5oZvfmmO-jAYNdjOXqNzEstLQVbXVwR3MwnjdsVccES7dfyHwGEIJuKqwlwaZ-U3hQI1UpOznJargO3OSDtZRKf-jpbI79YZ7CeZYIPaB-BbQgBVBS21GlgQPl26vj5JDPUGybT3UBL_Wk2kXPbUQhrdjjETHXkVJ3djFw4PakNkxGwH8HTxj9DMzV3U_k0omfC60Gz-pttAgadJIbrbb3k5aSz2_PHWvYqBetmj9f3vtqgYJfK8778fwBzYtTlAwDNAb3AnGymDPsbV8tb0omqN_t7JEOjBl8m-Vmr2EpNpDj5EmVxUVD0zsRqBNsE-wcFt-WpwwnZm2vSUyDkSwuXGAjHdLQ-rHnxk8tueo1eL8OnQXmkWGoPC81TFMDg3bBNQ-ELHF5K7mESiRvt1aMYsx5yl6dQQhvVIqzZRjkAXO4oIPCRng8A8_0OxqP244pywJMs9CJAr3ong8gnNlYXysEnymD70IeX5oP2AJ88_lzsdbRPxF_wrGkf5_i57Bg_zu97V6OKizirhRtRaTz8qbSc1omZ0_l8av6VJPY1SEly-kn9P8ItZuFKD23g3luBuToKmr514_sqKNZm_57OQa8-XXNFrgWVL0N9tWOK_RdXodD0_1YjzKPSJJEYhygJtrU2RmkfxCktQGmEbCyu6yIkPshRS-TP4870oOdtheDPTI-HHnIswQFtGWmrCaM5Vmswg9GTWoBmLrCv71XUhhVvWksOMtZ2gWk8JgT-1Dp9oqAwIpovJZLUwnY9PkXrqOIox5gQs-EgFspG9KqHAmdv1A5uNP1wtYikg2-rgfHd90euoi8REBuLPwb6J2wicrGiZ6FYVY0TcXiLxLsHgHgdQrfgAmAOTnjX8HWlCAqHi77x9CaT2VW17aVciJ-wktTy58Tp4OgrUV4-FbI-4qWEKRaGrzhRiOeeUMf-Fa8Wj4YKnaPuCxKCbI5qGeP-KKRSAeBKdTsDP7cUoOM6pJph4JQheUmoT4rc5aDanzE9ZXR6RDY1x9Gt4o8q9525LOCY9q2PHQpzO8=",
  "id": "rs_049a87ca16d8073d016ab2c199f58487d0b392c1171d9fd4dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The arm is not lifting and the safe is shifting, so this grasp may also be catching the safe’s edge. I’m releasing before repositioning farther from the wall.\"}",
  "call_id": "call_ozkhK1pDwO4X1czOHJVCMRpY",
  "id": "fc_049a87ca16d8073d016ab2c19ae74087d09efa1629930a506e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ozkhK1pDwO4X1czOHJVCMRpY",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4629, -0.0189, -0.0383, 0.9992, 0.3298, 1.7798, 1.0, -0.1421, 0.226, 0.1226, 0.9948]\nstate[eef_state]: left_x=0.2837 left_y=0.0016 left_z=0.163 left_yaw=0.0007 left_pitch=-0.0755 left_roll=0.0003 left_gripper=0.9992 right_x=0.4257 right_y=0.1076 right_z=0.0478 right_yaw=0.0558 right_pitch=-0.3047 right_roll=-0.106 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.1145, 6.9675, 1.6825, -0.0806, -0.0317, -0.0122, -0.5675, -7.0085, 6.6256, 1.453, 0.0806, 0.0171, -0.2564]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6a0a890b175043cbfcaa83fb376b6c7d56c914eae2ea7afde48a31913ce004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9570dd7b052972a25cfcb3ac28161e56fb0a9004de2a29d56df8835565d955b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f06e65d41e1003557f49e8a9f2936da0912f6adea964a6d9d96bf3abbea529",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.862 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 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]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3241, 1.8156, 1.037, -0.1673, 0.2203, 0.131, 0.5321]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0009 left_pitch=-0.0709 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4305 right_y=0.1077 right_z=0.0423 right_yaw=0.0479 right_pitch=-0.3286 right_roll=-0.1028 right_gripper=0.5321\nstate[joint_eff]: [-0.1162, -1.2376, 6.9675, 1.6874, -0.0562, -0.0317, -0.0122, -0.0889, -12.3829, 6.5436, 1.8535, 0.1538, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGkrtzw7vvq2p3--EPMXe3dFUCT3p9gv9FVhdddr-ZKQKkqfhLJGnPCexNwILCTbv9AWxw-n26--y1MetjaDotL6tGaOS7PCGqzqeiEkK-vq6gKeOTBBlOwxB2G1mCcgbaOXh4TMFAZhGqbgqaj0GfgP-eY8Xqz9hPzQLnV8R_DnvRs8EWZZCjgEg8jz4Jw_bUyTKQQ56IHua87c2f3zdlUuLx3-_OKkwLO_oRjRRzezfpTT8-lmmv8ehMKYRlhWzDVKE6JvV3qrY7hcuAVxujcQounSG3EVXI8C0u3004sCEZhHq5m-ErxXoglMeNOjXxCwtYikWHla0NE9zRVCexe8GDdMUMBETgPDtbRKaOBLEfQDX3pkCQtLchyO7s3Ou6W84hS6NjCdU43hvloLWqN7mAKTuP_5piBCGyqujZo1EiRyE0NSb5lBRVeNRJfnhSOnEnDIU16BfdswUo7uwCgTG4hb6QslVZBi6fcNGok9D199M5K7izkAUMR3APcxtKodqbLn-mhy5jNxgHJ9_93-Sc80gD9hVgBScySNjtH7Y5efyAtAfgcG38zURDMNGi4NA6H1EouRpf3J9HHVuMXlLqKWt2puCtMPbcqeNboSVO4gQmiyPrX4Ih7O6F1-P3hsU7jAswvAF4SedrLg8zGG4GOcxoENyCREu_gqzRogQIE5uG10eEFH6QXcyv4qszlhhzlnx3pP3EleP4Gphr-iq-7ybv6YGstgprsM3EAYXoq54MQXNEr2WjP3hc1VpuBfiYoJBkhAFDBpK1yXuaUlBTVam327M4cYUG-_LqxpM6hz9WYWK1dvtbZN1eaWGU4spoaBTxbfnLQf8h4sqBtPuQBI-lBzGU-gyDiEeRiTrfJNYQnVGNa9vA7ZNfaEdc6H2a5KiQfNLe_uOYiCBCfh51LVTkMz6xPBQ7MFCzTnM_uqy2dgrZIA-edznphBY6vSMhVAhhatuItsFl5PyBcuwMbh_OoWDcdpiiwKAWtEU2TNHtNfcg2RvUyHRr-X4PrWBta1j3HIDrtQSYZaqf7RN6OCB4YAW0rQr2fMCTp_loiWw3zj09SSUv8lFP08wC30YB8dfRXP5TMTlWB1GoQCYdZCYWDuGxqmgOT7n6LvGqggxyaVHT0iZxeozkBq_LGRzqdsiT09fdOvRuw9K7HgN26YLPdG_MgjEf7x3PCBshARppj-8bAaZS1lWWeLmrPcmJPKA-3e-xkr0jOZVGD2f1WwhCW2AajGpJIGmPxFQRJtXo2I4lQxNRzd1fQirMJwv7MYBv8rVS1zpXS3A94c1547VsivGiFGlOqwdIaYqvY7O1xgnklK64LLMkahvMCVY-qMkvicswZYzqT15Lz56X9Bx7MerFV0nRdirp0qgT9iH9F7UXJPJPFyCsEY1yjFMn2eRqiUoJoRnk28SGQZj5CDX-W4fHAEzKRA6Fga2jK9vnLiLuFiIbHaT5P8nS6wynir1WkTQcKIYvJ0D4YbqZWfv-ZXCuF6jM5oRDOEPhvkMakP8SafMs89Li1HCHABnkJqH4LeDhiU0v8lH1Ae1vWzKaHtUC6A7t98ZREXYDwOehwd401e8_hsqBvw7g9IXTocJqp9tZuSTX-el0YZr4qHpdSHBgQbDXr0hHUVPY7HasgMRGpFberASmiK43pKzgmeT04D9bFdI3Cqij2Z0ag8khgg6hNz1wX58ieSVhzq6dz4u65Cb4o8gDey4WUzfw8LecS0hgZru0VwONiRxW4xjj7cBOCCA90K9Au4U-Mv99oUYPxBPiF0FhqONDausyyfBHXjGU3LCO0N9Cj5Oq53D_JaIiPQeyjoQVy5P6K8E1gDQtjZTPQHUIthe_f05yGbE1OXcEI_Rdbie_eaYGOBtuuZf7SNE_kEZ8BSCipnzu0E7GJ87c8Bekay6PE",
  "id": "rs_049a87ca16d8073d016ab2c19eadf887d09151f1544b5fbd34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.075,\"right_z\":0.15,\"right_yaw\":1.3},\"note\":\"The yellow object sits very close to the safe’s right wall. I’m moving outward and turning the jaws so they can grasp along the wall rather than pinch the wall itself.\"}",
  "call_id": "call_ApD5Ql8RWI8rJ1kILofz3920",
  "id": "fc_049a87ca16d8073d016ab2c1a2d7a887d0b677bd71967209b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ApD5Ql8RWI8rJ1kILofz3920",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.474, -0.0193, -0.0387, 0.9992, 0.268, 1.7519, 0.9943, -0.1677, 0.0921, -0.0483, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=0.0017 left_z=0.1609 left_yaw=0.0013 left_pitch=-0.0866 left_roll=0.0005 left_gripper=0.9992 right_x=0.4226 right_y=0.1029 right_z=0.0506 right_yaw=0.2091 right_pitch=-0.3355 right_roll=-0.1064 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -1.1692, 6.9402, 1.7558, -0.0806, -0.0513, -0.0122, -0.2667, -9.9487, 6.2017, 1.4823, -0.0317, -0.0024, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976ddd61854857d6f64915df5eec661057b7d461a7c36a7ed381f21ada93ff5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d150e340a67cde7dbb2dbe7b474a7df61ec4f87022f13d33d99e50c6f3c7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fda8594179fe9df8129f8cb65263ea2221798b3c74c8acf5742b1e2f0206b17",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 6.55 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4629, -0.0189, -0.0383, 0.9992, 0.3298, 1.7798, 1.0, -0.1421, 0.226, 0.1226, 0.9948]\nstate[eef_state]: left_x=0.2837 left_y=0.0016 left_z=0.163 left_yaw=0.0007 left_pitch=-0.0755 left_roll=0.0003 left_gripper=0.9992 right_x=0.4257 right_y=0.1076 right_z=0.0478 right_yaw=0.0558 right_pitch=-0.3047 right_roll=-0.106 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.1145, 6.9675, 1.6825, -0.0806, -0.0317, -0.0122, -0.5675, -7.0085, 6.6256, 1.453, 0.0806, 0.0171, -0.2564]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGqRqyyEdhxzGa9qCV2ib6mFdWtWQCYfNgK-HKPXKfZPTG-zJ6oSd7H6HH8ctkGNjxNZkMGdzyMX4D-lCB6MiYocDa2vCPBUeGDU24WwmShHJdbIrpNRlWbcyyrLnFyYrYKXA0fr9epmC1aC-mJxc5Z1Q5S7971Si3RQ_cVvf8wgmt5cljNTndLRmdahXfZW6yV71B1aqVeMqWPuwF4BQ5sTTzUqK1sKzj6PY1wOxw4MjfD0emOE9TxgNE3t_aW0XTs2K7KCHvSl3gKpcFoqzSk10Wz0zru3Kf4bVkTWX1m7G_mU2Ehcwh1fTij4Msn_pEKeD-QJfX91oh4RiUuPwlyL8iMWSlADXbZ8rSPpuRU6E3ABAr3CX8sOfXJID7U4WFvA1R3OEMbsIDQD3b2HE5UB-r3Z1Q20EuBjpeTZVAD81tlh5WLAC7JS5133-v0ksfRnJ54VqFO7rbDQUHaYbqSN7cOOwIpK94-YE0tLdSnoKY3uBUxpIBI8S_5C0RnOSU-BkkeO93FC_TeEUNAGW1A9aMeIgpSiLGXBjhcqUSZAEb1KivxOtPlWt41Nh0eGaSqeb9B2xlFnqCi6K98r5Pb68490ryC2mJdUu6AJVACEuinm9U78lZOGtUqAogVxOx8TSM4AhCKhO2FMxwiSOqridSHoS88LjJqM1lYM_rGLcE66nPLvB9oNtBxiOg95hgKCFryzFNd0PYKH-opB39p_dBxSzNXtOyq9N0wKSoRctzrjPAWkZl-seX3ou_HiD3YaG7O59YJSNNPzPJUUYo45xJ27RTt74yVjqXmBfnai8FMRPulW6Xi5ciGN-JhmYUB6zFHc2wDys_ukpNRv_EXp9oTGc_ISAy4CcHztmqyHfZ1jKO07g6k35DR-8ejkDFN8jwGdFx9wej7HR8y_CPLMB3cnk2cOYOo6MTAA7voPKeJLLk2ZPEwRtd5COUREii-Ft_zWMA95sqI-k5pYhgZKjLS5I4LCG0-T_j6_Fh7A3Th3HfRHrYZFJgFxXIvscI4OOWDvMwfBArTe-j3CAdYnn8HetbtPDKGnLWEfUWk3oD3-33gUVkYvbvl8-eZ1v8WCkPRgztrCU_4PTNGE6HidtQAq6RyQ-7DV2NajSL6Wjhvn0dZ8saWZTU8s5vXihVbWEmrwFTWY2pQGM0aqjKPxOqDnUIgoNYu45JXUtc5fuQwsoRbCqN8QetWGe62kznnzVFf24kdq3PLcxUvqjTjMOPsgrEh-eK2O0CgT3_0REkGIfVp0cAdYmtPJR8GGupmpmZvGAYJO5adIdKK_YlNlwayUD1cJ4uyCDcRrWNDJSiQHnTX7yYiobAlwwU3Iysb",
  "id": "rs_049a87ca16d8073d016ab2c1a764a887d089778385357579b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.02,\"right_z\":0.23,\"right_yaw\":0},\"note\":\"The wrist remains constrained beside the safe despite the new target. I’m withdrawing diagonally toward the right arm’s home area to clear the obstruction.\"}",
  "call_id": "call_GOMJeVVkuCtXTf7ThM6Bg1u6",
  "id": "fc_049a87ca16d8073d016ab2c1a89f9887d0a50df06b3446b995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GOMJeVVkuCtXTf7ThM6Bg1u6",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4946, -0.0189, -0.0387, 0.9992, 0.131, 1.2518, 1.2022, -0.907, 0.1192, -0.0151, 0.9968]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1559 left_yaw=0.001 left_pitch=-0.111 left_roll=0.0007 left_gripper=0.9992 right_x=0.3259 right_y=0.0254 right_z=0.21 right_yaw=0.0278 right_pitch=-0.363 right_roll=-0.1114 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3607, 7.0085, 1.8193, -0.0269, -0.0464, -0.0122, -0.2803, -5.3675, 8.841, 1.7021, 0.1832, 0.105, 0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0c81aa3768901bb2d62b2ebdaaed9e86c1e87345ca1470a630e83adff7d5e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ca98d9257037bd7624cd88636ac8e47f9398ff09e4fd8d15f3eecb3ceffcde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2dd4eb2eedb6456bc4c0859ff26f41bf09527ad6e082786a6fdfcae43657bcd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.138 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.474, -0.0193, -0.0387, 0.9992, 0.268, 1.7519, 0.9943, -0.1677, 0.0921, -0.0483, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=0.0017 left_z=0.1609 left_yaw=0.0013 left_pitch=-0.0866 left_roll=0.0005 left_gripper=0.9992 right_x=0.4226 right_y=0.1029 right_z=0.0506 right_yaw=0.2091 right_pitch=-0.3355 right_roll=-0.1064 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -1.1692, 6.9402, 1.7558, -0.0806, -0.0513, -0.0122, -0.2667, -9.9487, 6.2017, 1.4823, -0.0317, -0.0024, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssGymF3sPxUnlH1TB0yCuBq6pu1Tb6vT6eQNoZcA5Z9zzWpVDz7dCK0PrCu_FHw6sJnnOpfwPEyJwMLTcAdktAOXDoqXXy1gIs1WnzNwYTysypISOLjMYse2MiT6n-5rfKxe9lse-slgDL8Av1yy6dUerOmNYaiCg6xC6r7mT_Dz8U2QY2iaBFBb9D27V5orSc9TwFsgtJqlHWippv6mT8FftTDgYisJzvrc6z_b4Rz9uiLy6gM-qRZ6x5q6OaXhOej7zGzMHCC_PLSc1jirCwBeK0aqaAuu8AEFpAGEXsQn8eptG80KuZn_5NNNQMKmxNwdIeApfmUUqEgMOtIFBjXFnpWOGEN0X3vk1z_HJ9eOS03JfVTGJ-xtzMsutc78fU9EqtXn-R8fLanDRUeGBRIevpt_N0q3JR2T4jg7voa8VWq0-ua4cJVLdUEGNvgJ3kQZhQ7okZTjYjYJAtRXMw-KbJ2b-SJtFsvLI2tHa8EO7q_19ZGR22We5Dhp8Lrh1DWK6dx1GnmQMn7xih9xvMSMJqp_sYtH3jmOWJAhN3tem-I3XZjT8N3wdHMgM6apPmVcfDwoQAVdGJFiRQ4zDB5n6N16TDJM0j0CHJMEf6um2-G7SGGLICj39ykGCifPN-l7xQ3glsPBGWzMhJuXVs7hm88onu2ko-E33OM5aM9BgujZxfQP4qDNcM8ZDHGKIGVeCnyM9dC_WI0Oa-iTvqiWIrRbcdqEn5VQBIsYdnU0N79hhMTcIwXASwmevMmzOMPr1B7A1pk9lVEmYM5xclMBmGrwdgu0hNi-drnC7cQ9SZYzsOQo8QbBtvPrw_5kygZ7GD6Tl4b-cXh9rk_L2tcc96xD2xZIMWkl8rYv3Z5YShh6b0p0Diu5z6szwfWnPu3ZRxclt2WJFRW2Cel_NWbmCvYxuNIUw2UiY2QBudntL8zlFBmRvKZEZMK3tXcQ_Eofspv3idWkQDffzfv2SG0EQAIjsRIhcHiA6Blk7xqVqABBHg7396RSEz_8lUtW3sAfOn3Q4wKfhvgtIgue8lV4WDlY_PFlBsKchWLepq8clFNLaGd387xQcuKqCH1j5BwsLuvXGmxGpJCc8v2KBrRFD9_z2UgXFrdk_5zleQnaJV0NV_FXdVna9GwHoLO1E_IHUsZKe6L_TBB07aTNBR-Vkvy0YqCwDbGPmK1FRb2T2Tu7czth3xfMyG83k9jYDth92O8jmKQ9QuTBK5Sv975bmeuZZYI1N8vI91f-98s1YqIJXKlGWT2xFVfJziQRPNVnoEr5kAcqv3efQ2MTfncQPBtZoQEw22sjNxz3G6Ck2ngDfDpy8IfKmpsS4WzjmaKvleaCY07iRWW61PFJZxjsMbWas13KKH2jXcP9vhevddxMeobIV1TWilH4NtZ3TCQsKANuBpu3YUgJReqBStY3wQ==",
  "id": "rs_049a87ca16d8073d016ab2c1ad72b087d0b6a20a515733544e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.10,\"right_z\":0.14,\"right_yaw\":1.57,\"right_pitch\":0,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.178},\"note\":\"The arm is clear again, and the yellow object remains outside the safe. I’m approaching from the open right side with the jaws rotated lengthwise, while refreshing the left arm’s parked pose.\"}",
  "call_id": "call_RfhIHY6BN6dVuwzP0YIoKF1d",
  "id": "fc_049a87ca16d8073d016ab2c1af728487d0ae8d4ca2b3b8842d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RfhIHY6BN6dVuwzP0YIoKF1d",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0223, 0.8761, 0.6762, -0.5594, -0.0196, -0.0536, 0.9992, -0.131, 2.0888, 1.7245, -1.1088, -0.9112, -1.5852, 0.9973]\nstate[eef_state]: left_x=0.2821 left_y=0.0008 left_z=0.1553 left_yaw=0.0067 left_pitch=-0.1792 left_roll=-0.0083 left_gripper=0.9992 right_x=0.4334 right_y=0.0873 right_z=0.1328 right_yaw=1.4351 right_pitch=-0.0708 right_roll=-0.1055 right_gripper=0.9973\nstate[joint_eff]: [-0.7316, -1.4154, 10.5231, 1.8144, -0.105, 0.0904, -0.0122, 0.5265, -11.5897, 5.9282, -0.4469, -0.7448, -0.1001, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:262c1c8d1b64a664c1844c461a7ac82776a71fc616728369d55f53ac4ee3bc7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a23cb3adf8111af2d46248bc17f7591912c75b81fb4f3358526ea55e835552d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cac4069f3a59be7e45465bc23e4f752024099b8210e546e42498ed6385f35d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.095 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 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, 0.8032, 0.6067, -0.4946, -0.0189, -0.0387, 0.9992, 0.131, 1.2518, 1.2022, -0.907, 0.1192, -0.0151, 0.9968]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1559 left_yaw=0.001 left_pitch=-0.111 left_roll=0.0007 left_gripper=0.9992 right_x=0.3259 right_y=0.0254 right_z=0.21 right_yaw=0.0278 right_pitch=-0.363 right_roll=-0.1114 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3607, 7.0085, 1.8193, -0.0269, -0.0464, -0.0122, -0.2803, -5.3675, 8.841, 1.7021, 0.1832, 0.105, 0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssG5Yo7HDpqgFAoGMnioZaOD2XT4zZvDqI8mRsrk7JC2mUBGzSdr1qzvKJ80F4y0DXWB1FBVVAgDh_0KfnI9Q2hECZm_aDTpHT_sVNDbAjgKMJDknXN7rR3CBBPPtGKqnb7w363xMqdsErpOq9ZkU8Y6GoK1ApgPWysx0BnAANzXoZmfdEqiHkshoM3BwZ3lFOHNEQYGYzRI8hStz0Z0Ee-cAAOHgWfBZgiqp3_Q5wDW8GW1d9fkkLpzzrHpIEUnQpl9DVR0ktovhL2XvIJfciO7_pXOXn0ds47TNYW31xvPdRt1MmPzgEFfP_SdsAe7XZWZfsEoHPnIpRst5eKYl3ONpYCkEO2dsqdt5FXgVX7XryAyURidzNYNzCK7XIN1YuK90B9LEbOpnA7xy-r84VMSSH380I56lRM3Pu7w27peBbWmkx7pWowVeVHe4L3IXj3JFTsW52JBY0AV_gI8QOZwdV6sgqwC-nLK1bHiF-fNqBWdf8o3n1xBDTTVKya1Bw9pgQLXImsnRVgNATvxf2Y25MfCgoH-uESChnLISjgi26Em4mTTQzWb9rl4lQaMVjfQcDkwIPoOyrOYHRBFb-TTvs616REPisS20Ye-dxkpU8XYwMViUUPM4p_voCrKLtrqoBHZZQCN21sqsjMKrbLjrYzJaTp3K69wcNNLoTIzZA0o9HWhb6-W31C8PLV36-luEU9e3MPUK--UwUuDh6BMr6_HuXCwVGTR_iOR3bI0aAlW_Uk4zCrh586vTs8JHdHYhAwfCTzb_z-6bwlf88km-b7u7b9AtDWzrMWTHViAqwhIt4_I_HWAi_pGDTqCe2CfSS4DcSifvZ1hzkduO37xN4RbJD1ZRzE7e4VUk1NMMJ8zmhbrMkUXVBO6vaWIKTa5_LvBolspVEa2bT7p4j7I6fDdaEyXUSo6axc2BZWK6Hv9VFw11BqNnzjXVaMYnyAid9oSa1RFzc3m-dPGw8u3s3u1ttLdrKl-qeVnBwYddhAjczCQV51VQTPvqVUkcC-jL5EpgPwibkrDV7otVMS4518bj44P1diC9Qc68G9Bv1_mgMz3abc4PXvRPejnmsNaoP9ZAO8vuHrHzY_CMZU-Dt_zGEhhhRIrnGQdgH-OcSKuDX1l0fuXB8Xd3m2Bgyfuf0-CzY0x2DBmi861aJqXRWl6-tVP2yo9WrHYp6H_G8FX9t4URiKDMdIZR9vYptvryAmm_lFGvI2D1ANphl53CmQiIx8-iZpxLIrpvEEDr7ejwrgSrLFSXRM5xcqo174rigcvSM02CChfvDbJEw5_U_MVahcJLd1eE2z2a1_orxjnhaIwFW2NkqxwvAUPvaEZvNfwyVoIbI-gmMKkpGAcuFSdzyEQhQKGHuCRJuqsOVoUlo6_myFEMBqrMemU-IIw",
  "id": "rs_049a87ca16d8073d016ab2c1b5a28487d0a20d92c5ac4a32c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.115,\"right_z\":0.023,\"right_yaw\":1.57},\"note\":\"The rotated view shows the yellow object close to the jaw centerline. I’m lowering just outside the safe’s right wall for a clean grasp.\"}",
  "call_id": "call_COXCBimboci0hjc11jfOw6Yr",
  "id": "fc_049a87ca16d8073d016ab2c1b74c5887d0b7f773c2be738029",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_COXCBimboci0hjc11jfOw6Yr",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5709, -0.0219, -0.0566, 0.9992, -0.0746, 2.2173, 1.512, -0.8814, -0.9085, -1.6833, 0.9973]\nstate[eef_state]: left_x=0.2808 left_y=0.0006 left_z=0.1542 left_yaw=0.0081 left_pitch=-0.1891 left_roll=-0.0087 left_gripper=0.9992 right_x=0.411 right_y=0.1126 right_z=0.0311 right_yaw=1.5542 right_pitch=-0.075 right_roll=-0.0691 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.7983, 6.7761, 1.6239, -0.0513, 0.0366, -0.0122, 0.2667, -10.5778, 5.3675, 0.4225, -0.5299, -0.1832, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9dbb8dafa19dd458f3bc587339340454612d33324403aad7f326703e01a5877",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dcfce9aa79434900461cc70b6462412aa7965786742065d6eeb74fae357297",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f08991678fc2b7acd92ccdbff6e5b04d03ea522e673fc92993d67002ed1c2a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.39 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0223, 0.8761, 0.6762, -0.5594, -0.0196, -0.0536, 0.9992, -0.131, 2.0888, 1.7245, -1.1088, -0.9112, -1.5852, 0.9973]\nstate[eef_state]: left_x=0.2821 left_y=0.0008 left_z=0.1553 left_yaw=0.0067 left_pitch=-0.1792 left_roll=-0.0083 left_gripper=0.9992 right_x=0.4334 right_y=0.0873 right_z=0.1328 right_yaw=1.4351 right_pitch=-0.0708 right_roll=-0.1055 right_gripper=0.9973\nstate[joint_eff]: [-0.7316, -1.4154, 10.5231, 1.8144, -0.105, 0.0904, -0.0122, 0.5265, -11.5897, 5.9282, -0.4469, -0.7448, -0.1001, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssG9dKiX_1Xrvnm03nWj9SpyceVd3VTkRNwwH6N1RVuZYhE73gYds0NM71c_TUOt1qprcME4jXkqdgp2TK6LXwB7yQBoca1q3Aq5GSvRfvR-CCqOWe6PQyBVR4jbd784kHNivGa9Nmqlmv_cMc7gr88wm0TBgJYT6Gx4rzUvsR5yvGVuMQM6iNyv4SV9XbL5Fbv6A_HdNLm3RTUpuh0i4mMiMo-yuDJgELW15rCeacSewqQ3o8qhpEan9qA3SI1xBpAGQY315pMun_3RQiBkTOjTUuvXgMKJ6znWTAX-o9e6PicKvqxcrmrnCXVNF8nJKP-Qs-Nk1nWViZbPVzqb2jcXUR0j8SSfuHlAsdlHkSWb3-WO3nZs_CtAubiJ6e2J8g8t1DVk2slBPlUHj0GS1XKddW7Hydy33GqhCm_Ydp__1HP00RzMq6jyrKhY3e8ZeSQtJZ7UF-37x9rYRJO6rt-ulyzw3IBCAQRvB8Gs5ICT94m5LeGl_9KOP8_UQ2OeFzo9hKQr2mpSd2fSAfWqqE8UwNSp4KyhbdbsspWVN6FU7ZSFXv-XzBZHE5XvOfcsOyECBPzYoQjHnQHPc25kx4wKJfEOYvvNUH61gFGeSYTIfr3_VSSTIa5yT_tAiehXiKMDJiHU_3GAHQHEuduFnlhDI8a5x0o2wpcgNGvo3NVE1QzOZExJuM--vtRAY-wHSJ1Apa_mXxY0o3Qym1-siUBv00UAIrYi_nUc4qh5ewC_E5XFG-Ti4_9aw9kJexVlUEBT7Bo0yIBk7C_3OB34earKa53k0Rec5FKE9v7R5J9j8sTo6XbkFui3vUQ1uZx2BHeGIKvKe6qc1gSMISuCqHJbU5Dccf0PMeU2_SOI6qeu-xHEBg2A056lrff940iqSPdxo_f73R1AYZXvNZ-Hd2j0TVThDLHwxsFVr4t-qqgUsyD_v4P4mJnw-wmr5U7KwfJAbQc6dwr32F4Ncg3k6-VXsuUs-5MeiCNWY1RGyMZX8kWYKhMx9ozn99Bu2TsnehqxHo7i7iiaCNFUH6F_JIT3QWyGyoZRysH_kqShN-yzOnGUZ3JNm54M1tuBZq6kVdYvdLzLS6zlAGWccCVPrqGyP3df5gaGS16ZyjnTBX0foW1vZqxPwZygya0oNbkTNrTS7RdhHwLjksjK1J02PfduwcnuRS9Cy3kvWsZdKOh2cuNGpvbVs6GX3HbvNu6E7LFCMfda-1hVwL00jIbdrEi_Fw==",
  "id": "rs_049a87ca16d8073d016ab2c1bbb38487d08f57c0c8e7ce825a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is centered directly at the fingertips, with the safe wall beyond it. I’m closing the jaws around the object.\"}",
  "call_id": "call_9PWiqjbFMX1JUGDUpz8s6bvZ",
  "id": "fc_049a87ca16d8073d016ab2c1bc0bf487d094e1b35b6abf16c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9PWiqjbFMX1JUGDUpz8s6bvZ",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5846, -0.0219, -0.057, 0.9992, -0.0731, 2.2349, 1.5005, -0.873, -0.9051, -1.6901, 0.7156]\nstate[eef_state]: left_x=0.2784 left_y=0.0006 left_z=0.1518 left_yaw=0.0084 left_pitch=-0.2028 left_roll=-0.0085 left_gripper=0.9992 right_x=0.4074 right_y=0.1131 right_z=0.0214 right_yaw=1.5612 right_pitch=-0.0774 right_roll=-0.0537 right_gripper=0.7156\nstate[joint_eff]: [-0.0615, -1.4701, 6.8718, 1.6337, -0.0855, -0.0464, -0.0122, -0.1983, -12.9436, 5.9966, 0.1148, -0.5153, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d22edd1fd52216149205dd7c9f29b3405ca50050a1ed2377eb50919d9e01e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520e9c3434ee0ced772f12c8d2b63fad0d008fca5bc04b7063b4f63f2ca9abba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282906dc480ba2e433ed20f55118f91e398e9173eeafe1f9696b18965b7811b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 3.961 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5709, -0.0219, -0.0566, 0.9992, -0.0746, 2.2173, 1.512, -0.8814, -0.9085, -1.6833, 0.9973]\nstate[eef_state]: left_x=0.2808 left_y=0.0006 left_z=0.1542 left_yaw=0.0081 left_pitch=-0.1891 left_roll=-0.0087 left_gripper=0.9992 right_x=0.411 right_y=0.1126 right_z=0.0311 right_yaw=1.5542 right_pitch=-0.075 right_roll=-0.0691 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.7983, 6.7761, 1.6239, -0.0513, 0.0366, -0.0122, 0.2667, -10.5778, 5.3675, 0.4225, -0.5299, -0.1832, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The jaw opening indicates a substantial object between the fingers. I’m lifting a short distance to confirm that the yellow object comes free of the tabletop.\"}",
  "call_id": "call_dkDNAL8o2lB24ShSSj6iBLsa",
  "id": "fc_049a87ca16d8073d016ab2c1c13a7887d09225988703197259",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dkDNAL8o2lB24ShSSj6iBLsa",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.588, -0.0219, -0.057, 0.9992, -0.0731, 2.1628, 1.6245, -1.0763, -0.8936, -1.6939, 0.7055]\nstate[eef_state]: left_x=0.2778 left_y=0.0006 left_z=0.1512 left_yaw=0.0085 left_pitch=-0.2063 left_roll=-0.0084 left_gripper=0.9992 right_x=0.4095 right_y=0.1117 right_z=0.0766 right_yaw=1.5645 right_pitch=-0.0884 right_roll=-0.0487 right_gripper=0.7055\nstate[joint_eff]: [-0.1162, -1.6615, 6.8444, 1.5409, -0.0073, -0.0611, -0.0122, -0.3214, -13.2308, 7.4598, 0.0122, -0.5983, 0.0513, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab4819adc8165f07b5fadf0398e214defc9328610b838de6a0a0b6de3b5ea46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21622756e9617e5f6b878d3a4148758c201c0ec3575f908191762463c90ab45a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03fcba5459e994c4e83b511eeccfe0cb5a6ee036295eb75a0119b28a6252d65e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.122 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5846, -0.0219, -0.057, 0.9992, -0.0731, 2.2349, 1.5005, -0.873, -0.9051, -1.6901, 0.7156]\nstate[eef_state]: left_x=0.2784 left_y=0.0006 left_z=0.1518 left_yaw=0.0084 left_pitch=-0.2028 left_roll=-0.0085 left_gripper=0.9992 right_x=0.4074 right_y=0.1131 right_z=0.0214 right_yaw=1.5612 right_pitch=-0.0774 right_roll=-0.0537 right_gripper=0.7156\nstate[joint_eff]: [-0.0615, -1.4701, 6.8718, 1.6337, -0.0855, -0.0464, -0.0122, -0.1983, -12.9436, 5.9966, 0.1148, -0.5153, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssHH9TxFc3POhmNLSneIxmqQwgkpCjZFT0VBA1nr6Q87PJ9RN4Wp14phcy5o2mnqi3MsetzZTbE771i78Vw94n3fYSvp5y9WQSv_igypgPBnQyJNRMZgUmIucWeSIfYdNxwAQpsEQbbcRBg5MLv9wU7qLdH3vpIo4Jtc8wKe5A_fH5DjERymX1HucHAkjD27EtHzLuZnQvIDjFDmg-hV2llxUxhyObELFNSVHhNqbjzlp5Mkca84stRKvEzTJlgu9mmviq7nlAFlURjBjLJ51mVpBX-dukWGSdRgb0nrk-Q0lX1-ecG2ApEE_jieqYcQ_1HvWF1x5c01NQsXP2hpL9Wn0BYckH4wOPNzEgJXY3pJ3jp4wqJkMbfDxUvfYN6Vwy8g0NPJtbusFbRKn1yxTDeqFmlgp6_-VXBmhQ5fnLy9CbN-MVTLC1SWHUUp4W-AnRhpTXLIQ9mphdVdlHTaB2Mllq8dD5MuGZ5SrzrPRPy7YQz223QA-IJMPE8QV5FNj7oDD1Kc9XE8XWd3yxBgxLjymnzcwO8cf4mroFsG0HUhRPGyuL9DTr9M5KmZiXibiuKxw8qgsh1n4qrJANDQkEMHRXHkGKIkoXfgu88pYU8Uukc6qU6ElFgaT6KeiWHLYY-ZhNuZD654MqTNNWsYh2NVgE1JfucLH67rCH-7zzb-9hAula4L2rZq6r8wJrNnn01sRZWo09dyeGvUR2mXIPVETFcQTsX6RASHOwvttFbeLhOZPE91TLANQ5feFly8TkKdXo5qbGJWnrt25zTOYzGsMzOSjGsLoSxkrhKbnbCvCmm4-t0eZSaJIk4laKIPknkxJj3GjkfnPctXUFumj7q3TyBC7WFYUR8RXcRncvN8GVE0wW49-9q-7yYHgur_NG7MyH4hKaA9pSbmrMjVWGanjRan-8nKd0WvyzDoKxVPOXlrjf7BZ6PpRYU7CtPpDfbiblPsfC-hv68J5ECz9bAsUBAJoANi6aps0KDnS5ggYekWQzREUCfMoipKMsClGe4pBtROevkxwo54Kb_-UMbP6saCmjSHnSqc4H1XqIT9c9GIYEUBNJA6pbb_yiUBwYiZ4OFzNm5or1XQ0huqJ-6LxSxFnzcw8OyDj22W6_Co_-saOAz7IJ46vFbcnuH-NonJUSQGLeS6rpSrfuZZEMryipfJkHN5bVeeJC10kFiHw-7KhPxASIr2DbVkTc0IQ1VHfAHjkIunTHsBRABolZnZ1RVWmlBpvH84VjXq1UZmXGvJGokhR23QiqiWot9Mr8ywK-Jgjqx8S_LT8s1fFdcM1w==",
  "id": "rs_049a87ca16d8073d016ab2c1c4f5e487d0a6109908eb593fa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The yellow object has lifted with the jaws. I’m raising it above the safe’s rim before moving inward.\"}",
  "call_id": "call_5ZbPQH8tGY7hdtA3zRxp0W7p",
  "id": "fc_049a87ca16d8073d016ab2c1c5f5a887d084b928e6da7ee2bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5ZbPQH8tGY7hdtA3zRxp0W7p",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5922, -0.0219, -0.0574, 0.9992, -0.0731, 2.138, 2.0205, -1.4609, -0.8749, -1.7016, 0.7065]\nstate[eef_state]: left_x=0.2771 left_y=0.0006 left_z=0.1505 left_yaw=0.0087 left_pitch=-0.2104 left_roll=-0.0085 left_gripper=0.9992 right_x=0.4197 right_y=0.1088 right_z=0.1824 right_yaw=1.5657 right_pitch=-0.1098 right_roll=-0.0897 right_gripper=0.7065\nstate[joint_eff]: [-0.0068, -1.6479, 6.9675, 1.6044, -0.0806, -0.0415, -0.0122, -0.212, -11.8632, 7.0496, -0.0757, -0.6227, 0.0269, 0.3785]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66fe6e33af15a1d8a621d41176c4708db499e55920db98c224b3251293b0216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737c6a8fb4f09ffca1a7d4ede86e68d1cc460c8a2bb6040a12b89340ef6f275c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27a57dcbdbdb2eaef7ae098b002c53f54e225753e628de809f4cc498277b728",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.811 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.588, -0.0219, -0.057, 0.9992, -0.0731, 2.1628, 1.6245, -1.0763, -0.8936, -1.6939, 0.7055]\nstate[eef_state]: left_x=0.2778 left_y=0.0006 left_z=0.1512 left_yaw=0.0085 left_pitch=-0.2063 left_roll=-0.0084 left_gripper=0.9992 right_x=0.4095 right_y=0.1117 right_z=0.0766 right_yaw=1.5645 right_pitch=-0.0884 right_roll=-0.0487 right_gripper=0.7055\nstate[joint_eff]: [-0.1162, -1.6615, 6.8444, 1.5409, -0.0073, -0.0611, -0.0122, -0.3214, -13.2308, 7.4598, 0.0122, -0.5983, 0.0513, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.275,\"right_z\":0.2},\"note\":\"The yellow object is clear of the rim. I’m carrying it over the middle of the red-lined compartment.\"}",
  "call_id": "call_8XgaH4K5ediG6vRQ3wltfzhF",
  "id": "fc_049a87ca16d8073d016ab2c1cba30487d0ac1aa124f405d94d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8XgaH4K5ediG6vRQ3wltfzhF",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.025, 0.8814, 0.6796, -0.6044, -0.0219, -0.0574, 0.9992, 0.2955, 2.2276, 2.2074, -1.1843, -0.7956, -1.2018, 0.7086]\nstate[eef_state]: left_x=0.2751 left_y=0.0006 left_z=0.1475 left_yaw=0.0084 left_pitch=-0.2261 left_roll=-0.008 left_gripper=0.9992 right_x=0.4374 right_y=0.2688 right_z=0.1954 right_yaw=1.5922 right_pitch=-0.1262 right_roll=-0.0909 right_gripper=0.7086\nstate[joint_eff]: [-0.1436, -1.935, 7.2684, 1.6825, -0.0708, -0.0269, -0.0122, 0.1983, -11.2068, 8.3624, 0.8669, -0.4225, 0.1245, 0.5934]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0badcfb89d50e4b54c375bf9d0cce59704e88e0c3d6f4c22afd4f08e33a9623a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6149e18a39d75dac48b5d46aed117e7e65d9940ec3e950e65bc630bf449d1b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b919aebaebd096b88ecd20d694e5a8072615a10b039e94df92f940289629b9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.704 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.878, 0.6796, -0.5922, -0.0219, -0.0574, 0.9992, -0.0731, 2.138, 2.0205, -1.4609, -0.8749, -1.7016, 0.7065]\nstate[eef_state]: left_x=0.2771 left_y=0.0006 left_z=0.1505 left_yaw=0.0087 left_pitch=-0.2104 left_roll=-0.0085 left_gripper=0.9992 right_x=0.4197 right_y=0.1088 right_z=0.1824 right_yaw=1.5657 right_pitch=-0.1098 right_roll=-0.0897 right_gripper=0.7065\nstate[joint_eff]: [-0.0068, -1.6479, 6.9675, 1.6044, -0.0806, -0.0415, -0.0122, -0.212, -11.8632, 7.0496, -0.0757, -0.6227, 0.0269, 0.3785]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The yellow object is positioned over the safe interior. I’m lowering it into the compartment before releasing it.\"}",
  "call_id": "call_LUEScpP2c37VUa25wbk4I5oD",
  "id": "fc_049a87ca16d8073d016ab2c1d12a9c87d0a8422c846dfb1cc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LUEScpP2c37VUa25wbk4I5oD",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.025, 0.8818, 0.6796, -0.6113, -0.0219, -0.0574, 0.9992, 0.297, 2.2143, 1.7657, -0.8028, -0.7815, -1.1969, 0.7092]\nstate[eef_state]: left_x=0.2738 left_y=0.0006 left_z=0.1462 left_yaw=0.0085 left_pitch=-0.2333 left_roll=-0.0077 left_gripper=0.9992 right_x=0.4277 right_y=0.2647 right_z=0.0856 right_yaw=1.592 right_pitch=-0.1515 right_roll=-0.0452 right_gripper=0.7092\nstate[joint_eff]: [-0.3487, -1.6479, 6.8171, 1.5702, -0.0659, -0.0562, -0.0122, -0.4581, -10.7282, 6.5983, 0.9792, -0.5348, -0.0757, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f33c9a6b821b087e8ce661c4e9611345b1afdeb1ec9606dd43b17b316e497bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d9905aac4581a8f111436845a6f3011c132b9425827cee5c29dfbf60bf3684",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d2e9c3ef94b9996d72da7e8fa1c76dfa45ccff9578aee30f3b247ba244ba95c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.809 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 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]: [-0.025, 0.8814, 0.6796, -0.6044, -0.0219, -0.0574, 0.9992, 0.2955, 2.2276, 2.2074, -1.1843, -0.7956, -1.2018, 0.7086]\nstate[eef_state]: left_x=0.2751 left_y=0.0006 left_z=0.1475 left_yaw=0.0084 left_pitch=-0.2261 left_roll=-0.008 left_gripper=0.9992 right_x=0.4374 right_y=0.2688 right_z=0.1954 right_yaw=1.5922 right_pitch=-0.1262 right_roll=-0.0909 right_gripper=0.7086\nstate[joint_eff]: [-0.1436, -1.935, 7.2684, 1.6825, -0.0708, -0.0269, -0.0122, 0.1983, -11.2068, 8.3624, 0.8669, -0.4225, 0.1245, 0.5934]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is inside the safe below the rim. I’m opening the gripper to leave it there.\"}",
  "call_id": "call_kz1wMt1ep7FIrd7PQj74kayM",
  "id": "fc_049a87ca16d8073d016ab2c1d4939887d0800d5dd031faa8a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kz1wMt1ep7FIrd7PQj74kayM",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.8818, 0.6796, -0.6113, -0.0219, -0.057, 0.9992, 0.2974, 2.2257, 1.7485, -0.7872, -0.7773, -1.2034, 0.9945]\nstate[eef_state]: left_x=0.2738 left_y=0.0007 left_z=0.1462 left_yaw=0.0087 left_pitch=-0.2333 left_roll=-0.0074 left_gripper=0.9992 right_x=0.4264 right_y=0.264 right_z=0.0754 right_yaw=1.5965 right_pitch=-0.159 right_roll=-0.0385 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -1.6205, 6.8308, 1.5165, -0.0855, -0.022, -0.0122, -0.0752, -13.3675, 7.4325, 0.7741, -0.4518, 0.0464, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10154bcb3b724e42d397c9d6ffe29bf2907bfd0598442e3b9760a65baa1f751e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2196e9918d89ef492fce0e90367dff86d2707645befbbf009bd412b8dab3bc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0bb34224d1c0796a73a74c86a3d1d2ce99021858958c9fdceb21214e0ce5a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.199 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.025, 0.8818, 0.6796, -0.6113, -0.0219, -0.0574, 0.9992, 0.297, 2.2143, 1.7657, -0.8028, -0.7815, -1.1969, 0.7092]\nstate[eef_state]: left_x=0.2738 left_y=0.0006 left_z=0.1462 left_yaw=0.0085 left_pitch=-0.2333 left_roll=-0.0077 left_gripper=0.9992 right_x=0.4277 right_y=0.2647 right_z=0.0856 right_yaw=1.592 right_pitch=-0.1515 right_roll=-0.0452 right_gripper=0.7092\nstate[joint_eff]: [-0.3487, -1.6479, 6.8171, 1.5702, -0.0659, -0.0562, -0.0122, -0.4581, -10.7282, 6.5983, 0.9792, -0.5348, -0.0757, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssHaMjzuQfxXod1sw55teqweHLMdUwhO1I1eEvVzXKppWhdsP9mNUC0YOov2bL5wZz2la6EANiQ-zycKvsa0v735an3m7YHIdGVEsa11jGIFDeVDzyfOi7ZQ_8K8C1Lk0ffD45gT4pRIRmn4ULmUEuepIbSCLhHPQ6D8wIXJbdtvH8ikerVAUveKO29Txh4z54t7JgJNRO52HeHHbVmdXLJDs8MpuwBae3mAlC-WBfHS0mXxcrhIJAcpnaur-zdTkdooVHIzoA6Fqtb1N-E5yOSA4zJy30tW8YE8ddnoTB7Vm9e3uNzs8NjZ2vqB59U5E0gSeNCoiBQTPJ_t2I19BRSIYMIyBTKtxBvFo0uy5_VnNYFGGE-2TnQsEgv3RYsfriSsT0KAn94bQC9sIG1gNkbj23hkdYdmLb1mJV88f-16TWxSaJfG2Vdv9xb4ORfqk7qVpRspufKIAe5K4fzuHkPKKvvg4gDqwq95HB-mWMSrVqUmbeqnmfs3AVFeSGaV6-UlRb-6Cr9zRgktkBZoxH7Dm-9yevZPFxHwRkHAlm0L6ADFsMQJdsXr51-ILVmInyKYgMtWKrv2HQyYeinnEot8P130f4tZPOQYVl3P953K0zPPXnWNZn8MzsM9Ct_Jx6FZ9wf9JodJRZn71USzNNM5xh0lB_6PwaYCDen552GGPEtRP3eS4oYDhZLWTjypgVxttk1WeckcEhDc-ESpVX6G6lwE7bO8opr0JOcMZEkLtZCpMuQyGvDpbtSyd4W8TzetTWQXAHZG-QfZ1LwjW1V67kswYhF634WrNX1q6TRktRHTXihpQjxLrd3VfzDXtpw9nZqk5r0gxNhiDASXGHCzhqcy92_ljNIENkK3HjnImqWDcm2QyDp1apP6Ejq2Sny6Yp-sIv9lo9LL_iV7xcFh8qCFF0z0UaIxNCmzi-VcRW67YyK3lj4tA1II8SU4YePzxlqryyyLUFYotz1MH10Hd7Fga6ceEiviPCh02-oFuaUCHvPbn9dOqmjuzBvXZ7Yhkja0zQqaRF8KKpdZPdQjrqh4kpX5tWqBfL6yW_8mnJZVibJV8wxWfPtIZZp_31YHiforHDB00NooRjm_Rts8Z7E9X7gqvuLTJplRQ6X8t_g1CAvF57ttCdtYmiN1jAUJaO1BwPbpL1aTim_m2aLze9s_kzWDOsetT_HdLW09_4RLj1APOcNfAnOA-1niC39dP3_sroZsrIAkjAGM2o0eQ7bDXlE5bFuhm6BpBWo4diHL6saK-k5eH3M-GG5EMQYZ",
  "id": "rs_049a87ca16d8073d016ab2c1d7c60087d088d775cafa133f73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"left_x\":0.405,\"left_y\":-0.195,\"left_z\":0.13,\"left_gripper\":1,\"left_pitch\":0},\"note\":\"The yellow object has been released inside. I’m lifting the right hand clear while bringing the left hand above the white plush beside the safe.\"}",
  "call_id": "call_x0s1P2sR9MxmIq05YEaVM2og",
  "id": "fc_049a87ca16d8073d016ab2c1d8949887d0ba7c3ca9eb1caffd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x0s1P2sR9MxmIq05YEaVM2og",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6552, 1.6318, 0.9379, -0.0944, -0.5167, -0.4484, 0.9993, 0.2977, 2.2593, 2.3844, -1.3556, -0.7662, -1.2045, 0.9953]\nstate[eef_state]: left_x=0.3888 left_y=-0.1842 left_z=0.1065 left_yaw=-0.0012 left_pitch=-0.0849 left_roll=0.0292 left_gripper=0.9993 right_x=0.4306 right_y=0.264 right_z=0.2201 right_yaw=1.5883 right_pitch=-0.1599 right_roll=-0.0753 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -7.8701, 9.1282, 1.7558, -0.3932, 0.0611, -0.0904, -0.3077, -10.5504, 7.4188, 0.5836, -0.5006, -0.0073, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05bfb7bf420d4f9fc025c055bb8fd0a79eb66c95ff999b64593949a1843d41c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d9239b433bca73ac8d288983270fe87109d83733cdba8cfd88c4dd6a6bf896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3185a6fbd55c34b398b01ee0521de683fcc3336a1e153d4726063b2229df1743",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.229 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 0.8818, 0.6796, -0.6113, -0.0219, -0.057, 0.9992, 0.2974, 2.2257, 1.7485, -0.7872, -0.7773, -1.2034, 0.9945]\nstate[eef_state]: left_x=0.2738 left_y=0.0007 left_z=0.1462 left_yaw=0.0087 left_pitch=-0.2333 left_roll=-0.0074 left_gripper=0.9992 right_x=0.4264 right_y=0.264 right_z=0.0754 right_yaw=1.5965 right_pitch=-0.159 right_roll=-0.0385 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -1.6205, 6.8308, 1.5165, -0.0855, -0.022, -0.0122, -0.0752, -13.3675, 7.4325, 0.7741, -0.4518, 0.0464, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssHiuHk4za1REUTab7NBgvWyirIIvCsdM-ZCfbpZ7Kga1uRvIAG6cw2wKa_996YINHJKefUstDxI9thAwXMvz1RHbEKVN7CTzPSZFWhi4PU7TtK2EWd1wXRdX8CnhacMyreak5CtYknsRqTuJhsGTaWJRhbo0qEfgIQ1RmXlmF2HgPvO7jBPVYLsc-az33IIsrII3G57-0U051YdY4h3yPIvy7FUGyTSCfPBkfNUA6sOGC9tfVm1wVNOHlcc7yq-VrYaavxnD_1SzfFf22RlpRuaIqQHsGgr_AqDjoxswze_LNDl3IfL4TW_hlshbxNSCFGM2LpGfDmL0KIcTvLfQEi82kOd6YA0-HKV7uio8GdYGdsJ9fzHkf2ifwadquu6UQFAk0X4iXX_UBH9bCW106XSO9i4HfLApFO31ZZZcSLwma3g62yBxjTc3yDuI8IlrQPYkDccu2T1bsSDiKmkaGphoppgoMHDgfyVGYmB2m-qBwHYjnNp2uHVZwnfi5KGTpJM0bgBwOrzJod3yYKwvBPbhU2ESyJwQohT7VUSNWashN7NyvjkGNXtYZ052gaZHeR_wg6RC_R2DhMniwQE_fF5MvvtHclcjqM90UP4-MUsUqxjwQ4GEm26dfrpqO85TVfzNE3AFYJRthKOJZaqagKrOsob_rvAWQZo_ufsXdP1BluNdTC3BmoO6LjaUPoBjNwEg4K8Xx0b8Q44sZFSWPfEEDTGRk2IrXVMQ7pxzzocyHRJrZSxR9zp67ScTByAGnK9TR4rZQ-2jYyX05aYzGfvpEYFiK8GK3gPsAQ0KBeD9cMAPS6C1xXbd2lognChnBIWN-GejOcBSww45kN0n6GGQg5gOwHHaiKLMOUrb95ldtQNXzPlSXfwe8tH-UAsQGC_L9ZIXrzM2WOfndk5J3AZjUS-sA9b1UxZ9rmBHWXlxbXkpGTeo5TJsu2AqUNRTEAgk05nvXLyf-Iyh3zYL0Eousg0eVxGODfFmuYkEOAN5RmE2ND5dwVPNEdi47NKsvppEuzk01TgUZ-yzOUN9jbfPz4QGhWpSuNgna_Y6V1v3Lxn7BPXtye58eYJNa706Jz5hMjIBUjNL8elbTpJ28_sP30S0UyOc9zJReB8CueDcGL68_BeBWRr6aJyhfrSaV12ZifInbjoF4U1NIz8hlwQm21030izHn8h4xLlP4BLKDJll-h5i-1wK8sJCXnhQLvijOt7_gF8hMWZx1UpGUdUhc3Xw0IzFkdsFqkkBGMJuWz_TfQH73sKcJR9F_42Dl96",
  "id": "rs_049a87ca16d8073d016ab2c1df623c87d0b3b9b5eda66c8d39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.416,\"left_y\":-0.163,\"left_z\":0.025,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0},\"note\":\"The white plush is slightly left of the left jaw centerline. I’m aligning and lowering onto its body, and parking the right arm away from the work area.\"}",
  "call_id": "call_NUpZgYpTnTut14Uxx9ynj0sd",
  "id": "fc_049a87ca16d8073d016ab2c1e0e7cc87d08e4dca36fb959f64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NUpZgYpTnTut14Uxx9ynj0sd",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 1.8519, 0.8276, 0.252, -0.4641, -0.3931, 0.9992, 0.0242, 0.9836, 0.8791, -0.6704, 0.0029, -0.1143, 0.9954]\nstate[eef_state]: left_x=0.4134 left_y=-0.1592 left_z=0.0285 left_yaw=0.0274 left_pitch=-0.0944 left_roll=0.0331 left_gripper=0.9992 right_x=0.2999 right_y=0.0103 right_z=0.1934 right_yaw=0.0804 right_pitch=-0.1886 right_roll=-0.0819 right_gripper=0.9954\nstate[joint_eff]: [0.4581, -7.2274, 4.9162, 1.7607, -0.022, 0.1978, -0.0171, -0.3624, -2.9744, 7.2684, 1.9072, 0.0122, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beaac926ac5d9f839daeac674b51f8a68889b704c1fdd1a8cf71c43543f16e98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c25a1cd85cfb8bc00fb3a052944265cb619952f0e935317ab4bd1e15d6e7b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e2f64796c76f13783f5c704493c868eb221032c23f0a939b76d52a83c6a669",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 7.621 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6552, 1.6318, 0.9379, -0.0944, -0.5167, -0.4484, 0.9993, 0.2977, 2.2593, 2.3844, -1.3556, -0.7662, -1.2045, 0.9953]\nstate[eef_state]: left_x=0.3888 left_y=-0.1842 left_z=0.1065 left_yaw=-0.0012 left_pitch=-0.0849 left_roll=0.0292 left_gripper=0.9993 right_x=0.4306 right_y=0.264 right_z=0.2201 right_yaw=1.5883 right_pitch=-0.1599 right_roll=-0.0753 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -7.8701, 9.1282, 1.7558, -0.3932, 0.0611, -0.0904, -0.3077, -10.5504, 7.4188, 0.5836, -0.5006, -0.0073, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssHo0Yuuvb7yzChL5L4p6q9Vrll31K4pdAehIKOkfa9KU9P9xiDjwU_UZeCgSslo61V1JBxPorzO8pR7pDbp-4xCU4lslsVwNynESYW4fGLzQnaN3yzfEV8Z9GZO1_1XwIQFVZlRSssH9gIvnXo29xZl5-Fl90W1t-27rsLEFNX4AQf58tJ4rB8H4gQJ9PqtbVlWoAI1rF9YGCEEfYjdCl71ryDyRcAnTEGnyR95XwkMvCJoDpZmL9ibTAuzAWHbFO0JQfP8_kUc5b0l_SiMgb447WaqKOrR6BR4Ea6cik0HHPcEr8jxFhguvdggzV7K7_S2qTeb-byr84bl3_N06yYy2n8HDAcEFAFXl7sryWToj99xIq38wlQM2aYMLRbZtYWLNCKIOmpvBgiNQh3-VASQkiBluYdnL6UfYTv7H-sqnpeQ32qU-YMbmH21L4hN0w0fBB6p16aC3FqNEq3h3HKzMqrZtAi2nMoUTo1mxdSotMhF3gy_GvVOVcb73YH51eKMprolrtETryulCVOse4-iklBeg7HwsrbzUdZVGFFnRrxpvIXASDq2EPfZS9qGCZTOgeNqCj-cJVHKk0JSuo2RbkKb2eqsafX7njt1T6-rhBmEmGaMcPD871E2mUVjNYiybPbxWUJsbEvw_1H4IUs0mOmT_vdkQkhBfah1Ie0wbcB7HF3QrcLhOQUqvcYTjxolAirBUjC1y-JY65cWm1McSDgQ_OFtL93kjRJIDfbJTtYfXv8j1Lr_rFeBR2gbLyIQm0RqopW2JjqGDIWNyd_idOerj6JNqaXogVVCtQ7JID89DoitpXL2v3akzf2-opta95KUCf7nJfgziVBRZ4DD7JaLAqI1Tu-sksZSgBnxm6mEV_XZJe-l55hkzQwZsh6Q1bCfqzrpK2GW_3uL0R8udAmLwbk2ILY891Bz6_HcWi1pj1Hkp76gynnDeZb35VMsXrQYAQ816D-s_n1LPx0keAjmgJiYcUn3TR8Mk-0bOvnW2KySDa3OMpiE-_8QwB6R5aK82HBfhxprWzVBExFsR4jr5k2tYfRTeFRDjKmC51ZJJSs0C-bKlCx1rxdhaODHXMmbWY2QMoWVE_gN_mWB0Lq47CJOdKNBYDabImsM8RNe9U-XcBzpJ8EU_u9GkLw4cQBJuwMWUpGDBGHsoCi-P5J0alDOMv3Zd8XFRYcaLKg_sc5hwKVCdA3G3ge12WQWnFN92O1e3YqPJp_YjTmPtxvUz7Vt6wQmfpD0UbX782FJr2p-m8yGc_JQsorP1AMIy4N-yVUiEZlpNgJ9e983dFPRu-HMKQ4cCtASgAWOLFc=",
  "id": "rs_049a87ca16d8073d016ab2c1e69b4087d0b296c56ef77390d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.128,\"left_x\":0.42,\"left_gripper\":0},\"note\":\"The plush’s body is still left of the fingertip centerline. I’m shifting a few centimeters left and closing around its soft torso.\"}",
  "call_id": "call_QEYi8glDluCrDqc9iNpszXwC",
  "id": "fc_049a87ca16d8073d016ab2c1e72e1c87d08643825a1053166f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QEYi8glDluCrDqc9iNpszXwC",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4686, 1.8435, 0.794, 0.3096, -0.4141, -0.337, 0.0196, 0.0212, 0.9863, 0.8764, -0.6788, 0.0071, -0.1154, 0.9954]\nstate[eef_state]: left_x=0.4231 left_y=-0.1305 left_z=0.0275 left_yaw=0.0426 left_pitch=-0.0857 left_roll=0.0309 left_gripper=0.0196 right_x=0.2983 right_y=0.0087 right_z=0.1901 right_yaw=0.0746 right_pitch=-0.2025 right_roll=-0.085 right_gripper=0.9954\nstate[joint_eff]: [0.6085, -9.853, 4.465, 1.4676, 0.0024, 0.0366, 0.8864, 0.1573, -2.5778, 6.9675, 1.6044, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a3f3eacb4edff66b569d8eba53078c2c51769f4b79224aaf1407eac1cb2f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c66fca149f816bfea92f45f1b91f5febbbf87bcda09c11ddf18e51088198442",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b7b9b1ece59bcc443c98788f3b62cedb91d0bae41229aa81af92e917bb3531",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.789 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 1.8519, 0.8276, 0.252, -0.4641, -0.3931, 0.9992, 0.0242, 0.9836, 0.8791, -0.6704, 0.0029, -0.1143, 0.9954]\nstate[eef_state]: left_x=0.4134 left_y=-0.1592 left_z=0.0285 left_yaw=0.0274 left_pitch=-0.0944 left_roll=0.0331 left_gripper=0.9992 right_x=0.2999 right_y=0.0103 right_z=0.1934 right_yaw=0.0804 right_pitch=-0.1886 right_roll=-0.0819 right_gripper=0.9954\nstate[joint_eff]: [0.4581, -7.2274, 4.9162, 1.7607, -0.022, 0.1978, -0.0171, -0.3624, -2.9744, 7.2684, 1.9072, 0.0122, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssHxfQ9JwE0knVd9VNZ_6E05_dgddUdLttcJzNRlGtAU4p3dOtUJeNQjOiVx5Da3YHD93giUvoIiyqnEwpgoRPIm0RvlI0SkyTYNB0ekXPyi6XXBoGMtmapRO8MC3iJBHmupOMP5br0uxeAj0Eh-srsRqifZ9WWp8hVIdWGwtrHrRgcGLTIfZVCtkrcGliyPyp_remBVIgmfgb7fNs_fmDLKCxX_lW786f-vyXy-yKbXvUyu8GCBbiZio9UO3j8holNspEeBHfsiYa7tWFi622iijEd1ZiLZrWEoWLir8B4rwCmL3hVxa5tSraAGB3xDV7J71c5L7zIzunqMeqeV1L3kagpaaTCOfD08il8Aaj_AmJ2Rxb6VQqdV3gTsSnmuSP8y-v0AHtFTUIfS-ddtsJEzLH7SIWgomHXMyvTSgViz5BGKyz4-55cWaSETAvPKzP_XBEVN16WD3bu_0BEHG62DWsYq2-W2atXM8qW_o08YhKFpE6Mgia0GJFQhvK7Pcjsbx-jL5OBuBpSIfEnjbb3IrRbjkBOsZQJU5nbZ2LZdCSYUiBaZK4so5V7j3tLV7hRnh3R6TIk7xF0TbPdK6EiOlt0P88sOeePyviTD07L-poVnGaQUgODAmDfwbyjyxi3-7Y27depSUWr5GuZLN3JGgh6cigrM5g6OSFUnWTcX2NtSybuivFyP1SVwyE57qkBWcHBQGTewZX_APcLiMfjRPXx3A-Ofa6CYlh8VMybYVzV16yDuLslTppiPYeJcnAGJNVbuEmvgLz9XRZzFNcKY-OsFhFuY1nv_YS1oiyVkOS5c6VrGsOJM1vOFYGNKLpFpsuk-eMv1BldlaT4j7tknBwGqxO57UOPdKDlbETxWGMMtuAYT-PpDXplPHW0aVTM1mx9EyC4MXEpLLRypGXFYW7lohbkNQSsG8mOTFvL3ulIfFrcU__ocyHbaagL-IE2JqX4Ez5bSazOwodcpAQxQ_PjpvTbpz4XsYYT9TZfkHaCm6hV8mPIXHlI4VQgjLGGuvjQ_kyJpyHulyz70NLqegXAOwAQq84MGASLnrB8XLDpUkh7SJCG5gflgyrl-dAyoVUwSXOwO19zDcYyFrop3sFdSNKscOOMfhkfxHFRPr6xFfxVJ-8SX9Mh1I0yxKvYLjcb4Hj090YFhsgIwM2_n2XtNv0GZfnh3TiYn-fjNf7GphcAfJjbfYl2k2HZosTzNxeU6ex8MVzoM4PdxDdDGAoSD86v5uXuD7EVm5wBQk46JbBRz1yT79KIwtbuZ6F5GhGqOdmEP_AxtPycEGKSMBp0EEzfhpY8ER-ZJQylCDaA5pQzXBZ89BWvwgRsa4MhvihBlTkhHd7t7l3HqzCpQr3mloNlecSbI6ml87LFMC-RcsoBjFtEQlKws-d4IUx5OkeXTzpAvnYdDr-g9_7M0Vllj2tk71VWMh0ykGFuK9gny86MiPFlO1bBBi-2Rabg2DRrX4C6g7TEZveyzfx7ksBzW-HnVyb219OTe1vRco5Ne30p26LBMmP2K0RC7SrodYtdiBcImoGThlxHE9MJCyGRVuegQLjP-5NcwhE8nLojkA3HY3oeocH3X1DXUU1Q_mMbJHia1Znp0TX8R8NhSKGrWhi9-35zyhYisw_qgkWdIKabBhBNZvXJne9xIH-17vF7ttwpqCe9U6D5EObynKw==",
  "id": "rs_049a87ca16d8073d016ab2c1eb88ac87d09d130f1d7af199ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.395,\"left_y\":-0.119,\"left_z\":0.005},\"note\":\"The gripper closed empty, and the plush’s torso lies just behind the fingertip contact point. I’m reopening and shifting back slightly for a lower grasp on the body.\"}",
  "call_id": "call_7ZI6COUzFRXiJPzyJRIY6yQd",
  "id": "fc_049a87ca16d8073d016ab2c1ef6b6887d0a64e2859b0cd6e5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7ZI6COUzFRXiJPzyJRIY6yQd",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4736, 1.8435, 0.6525, 0.4274, -0.416, -0.3489, 0.9955, 0.0204, 0.9863, 0.8764, -0.6819, 0.0074, -0.1154, 0.9954]\nstate[eef_state]: left_x=0.3947 left_y=-0.118 left_z=0.0009 left_yaw=0.0468 left_pitch=-0.1054 left_roll=0.0345 left_gripper=0.9955 right_x=0.2977 right_y=0.0084 right_z=0.1895 right_yaw=0.0736 right_pitch=-0.2056 right_roll=-0.0851 right_gripper=0.9954\nstate[joint_eff]: [-0.5402, -8.5675, 4.1504, 1.5067, -0.2808, 0.1294, -0.149, -0.0342, -2.3726, 6.7624, 1.5556, -0.0073, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef239e43abb268716cd98898d8888b3ef0ac78ef2ecc06b79056a1bc4713425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62263ac0ab356ce1d7004f84569b647292c447a13f437df3e09bb0a5c47286fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa3b08b4ef51a324d9a05ea1ab8c3eee48bc21cc477125b6a135acf4a78a501",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.471 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4686, 1.8435, 0.794, 0.3096, -0.4141, -0.337, 0.0196, 0.0212, 0.9863, 0.8764, -0.6788, 0.0071, -0.1154, 0.9954]\nstate[eef_state]: left_x=0.4231 left_y=-0.1305 left_z=0.0275 left_yaw=0.0426 left_pitch=-0.0857 left_roll=0.0309 left_gripper=0.0196 right_x=0.2983 right_y=0.0087 right_z=0.1901 right_yaw=0.0746 right_pitch=-0.2025 right_roll=-0.085 right_gripper=0.9954\nstate[joint_eff]: [0.6085, -9.853, 4.465, 1.4676, 0.0024, 0.0366, 0.8864, 0.1573, -2.5778, 6.9675, 1.6044, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s torso now fills the space between the open fingers. I’m closing around it at table level.\"}",
  "call_id": "call_t983gVXeCPujdxA5TwqMQ5lg",
  "id": "fc_049a87ca16d8073d016ab2c1f4e23c87d08258eafa7e1456ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t983gVXeCPujdxA5TwqMQ5lg",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 1.8439, 0.6476, 0.4255, -0.4156, -0.3531, 0.0379, 0.0204, 0.9863, 0.8764, -0.701, 0.0067, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.3924 left_y=-0.1185 left_z=-0.0011 left_yaw=0.0458 left_pitch=-0.1117 left_roll=0.0346 left_gripper=0.0379 right_x=0.2944 right_y=0.0084 right_z=0.1863 right_yaw=0.0747 right_pitch=-0.2246 right_roll=-0.0837 right_gripper=0.9954\nstate[joint_eff]: [0.1983, -7.665, 5.0393, 1.5653, -0.1392, 0.1832, 1.2137, -0.0205, -2.3863, 6.7487, 1.6679, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6226319f086c4e30530a912bb26a4451e939036ce07f3b5d8858ed8bda21501c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1d33b03f4d964c560597d4aae7491e8b5927bf0ba3325e5559966ecb8619e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861ce1ef33747f103fec91bb695aabae17bae93cbbfad50becc6f7ba2283f9d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 5.231 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4736, 1.8435, 0.6525, 0.4274, -0.416, -0.3489, 0.9955, 0.0204, 0.9863, 0.8764, -0.6819, 0.0074, -0.1154, 0.9954]\nstate[eef_state]: left_x=0.3947 left_y=-0.118 left_z=0.0009 left_yaw=0.0468 left_pitch=-0.1054 left_roll=0.0345 left_gripper=0.9955 right_x=0.2977 right_y=0.0084 right_z=0.1895 right_yaw=0.0736 right_pitch=-0.2056 right_roll=-0.0851 right_gripper=0.9954\nstate[joint_eff]: [-0.5402, -8.5675, 4.1504, 1.5067, -0.2808, 0.1294, -0.149, -0.0342, -2.3726, 6.7624, 1.5556, -0.0073, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssH7nqG-4pTV6Zh2AWL5lXqYi6GHOQk85-rDU6i9tPZJlVpvmOUVL2VSl6N8HrbkpsClbAAIlDPo_0q1EpKjjRhg_eB0dDt9mPfozToIx4dtMltCJ278yUT2rtBvqWi6_z0SK0ukyqSsV49ieF6z6VX954hAuDmusr-DRlOaCft2lCQQYYRKVsSVU1Q3Ps7jKNr_6Kqf62r6T4_wd3fel1tDX0mqv6I5_zFUCUC1fx9r8SrcF6oAp-tENps5uGsMk3m81v77lJH8BQyrtqtJeQ6E54iGtjQRiBf6FkA0Ghau3fVNPGoU2VxIoiQZsZQnSD1_Xc-ZFrpkpQatr-SavMuDie9jcnAr9ZO3ep7-6CUyoeJf8Q8W2CxcXBETTWF5vE5qj8nu7abTPHY4zzn5bYkSXKZIxVsZmMqV-6hQyB7BJiVdTQaYGmfYdUHITMexYoXCOoV9IgGs-xOyxQErdV08Lva6uCDmVOjc_EdfKgCrJbq8WzQdLXRGcI56gy3mQezgJpIKD_mjy9DYIGvcJuFzTn7zHVYZGkidQUwQHnwKhhe35p9ZDhZIcKtYqDOMmFvUGVea5VtY6nUeUP4uEkEN8qWhksdOTxxIuG0Bcy-_QDqEV7ry2hg6o0dhoig18km94tzY-kMUuxIJjFEVZ5fmztGid9GdcqCenain8hDfOp7GBsiQtR5F5u3yVDBNNNfDGs8tgcEVHQ4S_KkLo-ucIF1xUWnGWy7n0jGEex9QisDOQ_yYelsdWBPGbrjxi7YSJeqmS0gszsCkGRD9fQEHq0tUGjFLH2P4VUgrQBhWoFYSg2mhb6mzeY6BsKUal-VGuGHLIWj0kGnNXeuqbvZKZYk6bNBImJij_LuCq6YYYRvemmlevWh6dRzDaeiKr6jk3L2k2tGBqL_N_LxnR2zAJxv8K04oQ54r8EO82MVTU7teTkCundRE8b-qEyNJXxOY9rTshcx01anMQPIcFJIKjkQz_HMxm6hnxh2pgBTHNXIi5sc6JGO-U4_pPkXQTofTaNPWFcma_uSndIOAIBTpjvfCUyyKT8OtqeKC8yDEnzR3xHMLlAhqk06IyO6dyvHxGgSKFM1NUDbBid2F9pRObhRkOK2Rhf7G3_VO8ovas4oOCGGn5km2AOY47mX43ulxMgi4cIjQ86Gu18da0Kj7j3J3-Dh2YksWuahPBCsk99zBenXoOGikBmDMyHrnYpkKek4rnbh5MxOjQmhCs8cIrg==",
  "id": "rs_049a87ca16d8073d016ab2c1f95c3487d0b02011b6c5c89155",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The plush compressed almost fully, so the jaw reading alone is inconclusive. I’m making a short lift to see whether it is actually secured.\"}",
  "call_id": "call_QCq65oHzWI9qbVUjxcyONz0G",
  "id": "fc_049a87ca16d8073d016ab2c1f9fe9087d0b681319be4f56cd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QCq65oHzWI9qbVUjxcyONz0G",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 1.6356, 0.7303, 0.1215, -0.4152, -0.3607, 0.0381, 0.02, 0.9863, 0.8764, -0.7204, 0.0067, -0.1154, 0.9954]\nstate[eef_state]: left_x=0.3895 left_y=-0.1171 left_z=0.0564 left_yaw=0.0504 left_pitch=-0.1229 left_roll=0.0351 left_gripper=0.0381 right_x=0.2908 right_y=0.0082 right_z=0.183 right_yaw=0.0743 right_pitch=-0.244 right_roll=-0.0824 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -8.3487, 8.2803, 1.5995, -0.2027, 0.0415, 1.033, -0.1573, -2.3453, 7.0496, 1.707, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534092b18abf7940ec53b5f051541d62afeab133f9a67fa4196f4eea2cda03c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea76f676f38bb3b48b60ccba11f1364911603033893fd7ee6eff5c05dd10bf22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3957c16b40ddd37574063b5814e9ad434de92e369131a859932d33ab79d6972",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.969 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 1.8439, 0.6476, 0.4255, -0.4156, -0.3531, 0.0379, 0.0204, 0.9863, 0.8764, -0.701, 0.0067, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.3924 left_y=-0.1185 left_z=-0.0011 left_yaw=0.0458 left_pitch=-0.1117 left_roll=0.0346 left_gripper=0.0379 right_x=0.2944 right_y=0.0084 right_z=0.1863 right_yaw=0.0747 right_pitch=-0.2246 right_roll=-0.0837 right_gripper=0.9954\nstate[joint_eff]: [0.1983, -7.665, 5.0393, 1.5653, -0.1392, 0.1832, 1.2137, -0.0205, -2.3863, 6.7487, 1.6679, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssIB2GSdqkhMK6dN4CPTzovsiRqoX7wW8GrYDbJCP8BnVIzQm3wOE1rqREzYRMywTHCSlFelXZWiHtm6OrtJJmZY5V4E47V5580IZ6tcUvATlYfMyTAtciAjMi9a5Uj4VhgRzUpxkPlajFPnFqSLda5uM9EcRjRyPNGpEL8_agiyXP0PVnGTsHqWgNWjecM3viSprX2jowOEDBJ9p6LgpRa7rAdMI8bbuJ4uA-h3XkEcS7EGmgB_P4i9RJC_ECC6a0YT3OZucBKrqQdvIdt8lJVmu8po2W9Xg5zXY7SJrfwsjc0q9ZON_d463Z4iqjDNAIBZQ0rc9xrF2lkl0wacl2AhD2bm-NZeX1ZZkriNrn9Y41iGGSJ5EdQfaQlul0fc_Z2GM-0bVI3PZRhw6bC9nlq8mRCp9puD6w1yD0rlGZsvqH0v2o_4nTLo0OsKGY30LDBo0LagmQCqMV7eOWfb1WYjRDHhuSFZBs8J0Fi6pCuwD_64atj7pSVmWoH4BMdKz5j1qGzb1_SUQB9lmmO7EKhm6cEGQC7s7LKs-54g2JoZSjpMlGkEJY7eQegO-N6cgOLtyx9ybOSUftnnROHcIobMXIj0OBaq0J7uIkzJNBiPKl6rhwWLn80aSbNggMwj6PrNf5JkfYg-MrlJEhayVg6vmur1s7CBQSBQINaQ4cluOGxch0EGdRdzIstCb8lwHYNYC6J64stMUZCbGheduXPKEUm3mbffflVwcaaMwPLuc-8jjUMdDnHscGfCISGZQYHPAoAGVc3POTA_RYvZxAlRDsNwzGt-CpudyjF0F6RJ3S8kKvHKF7RkyhusDAjJ3ZTrVDKqGVgI9KyJD76wQimsUgPdztAQhHqlQ1yX-Cw17QIh4El3cHK51tU_-IRfX6rv7pbyNzLk_bJoP71LWAUm2huN2LPjn5CaGIz566gnM2tV-GZ9Xdmm_Q68XFVMQRz_Ki9bPHPdj8z0kU3hU5-5h8zRRS5uQjaCa6KRKz81WOYdsg-FNfy58dxFk0EURRCl94Frxb0MLXqMZ9Itb7kTlv3yQiH5wtsrlwmbJBF-MKfrEM7TC2cpCyZtEJ5HYi_f9UFQmK7Y0iXyCP6SVrlZJpHw5CvbT4FPHx3eQkFN2cH3Wj2T4yui4e_kw1eIRZ5H0VBZ79KXSRr0z9iZ-7jHoRISjSf1iXH6W5TzS6NKeWAK8PahZcbHG_5XKN76PMH1Tigri-HEk0LpgrzHfALcdA==",
  "id": "rs_049a87ca16d8073d016ab2c1fef39487d0b5958cd64abe31db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The white plush moved upward with the left hand, confirming a light grip on its lower end. I’m lifting it clear of the safe rim.\"}",
  "call_id": "call_kwdMBukE2hrWuTNg6IxzSTEm",
  "id": "fc_049a87ca16d8073d016ab2c1ff75d487d0849db4eb6d024c1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kwdMBukE2hrWuTNg6IxzSTEm",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 1.462, 1.219, -0.5869, -0.4149, -0.3717, 0.0381, 0.02, 0.9863, 0.8764, -0.7315, 0.0071, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.3897 left_y=-0.1172 left_z=0.2029 left_yaw=0.0596 left_pitch=-0.1626 left_roll=0.0501 left_gripper=0.0381 right_x=0.2888 right_y=0.0081 right_z=0.1811 right_yaw=0.0744 right_pitch=-0.2551 right_roll=-0.0823 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -8.6769, 9.3197, 1.7118, -0.1832, 0.0611, 1.0379, -0.0479, -2.3453, 6.8991, 1.5995, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3242a0d44a0ebd16a2199366a90563d997d051f3d3b4849567d57520497a83f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8bde755fa79246370792275a3a57a93156b6cbe758ce230a181a046c504ea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86028cc1ebc928c9cf854fafaa1d378121673426bb614209bf07fb9067193ba9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 5.839 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 1.6356, 0.7303, 0.1215, -0.4152, -0.3607, 0.0381, 0.02, 0.9863, 0.8764, -0.7204, 0.0067, -0.1154, 0.9954]\nstate[eef_state]: left_x=0.3895 left_y=-0.1171 left_z=0.0564 left_yaw=0.0504 left_pitch=-0.1229 left_roll=0.0351 left_gripper=0.0381 right_x=0.2908 right_y=0.0082 right_z=0.183 right_yaw=0.0743 right_pitch=-0.244 right_roll=-0.0824 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -8.3487, 8.2803, 1.5995, -0.2027, 0.0415, 1.033, -0.1573, -2.3453, 7.0496, 1.707, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.33,\"left_z\":0.21},\"note\":\"The white plush is securely lifted. I’m moving it over the left side of the safe, beside the yellow object.\"}",
  "call_id": "call_ECYO2xZa31yTR9v4FXh70CTA",
  "id": "fc_049a87ca16d8073d016ab2c20515c887d0a50826399bff19b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ECYO2xZa31yTR9v4FXh70CTA",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8509, 2.1773, 2.1483, -0.9955, -0.6193, -0.7238, 0.0415, 0.02, 0.9863, 0.8764, -0.746, 0.0074, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.4281 left_y=-0.3272 left_z=0.1991 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0453 left_gripper=0.0415 right_x=0.2861 right_y=0.008 right_z=0.1788 right_yaw=0.0742 right_pitch=-0.2696 right_roll=-0.0818 right_gripper=0.9954\nstate[joint_eff]: [-0.7316, -12.2188, 8.3624, 0.9451, -0.6471, 0.0708, 1.033, -0.1573, -2.3316, 6.694, 1.5946, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3b82d73f5f907d45939a4e10c9e8a6155dfd771000d75ae64634480ee038de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182a0dc02856cf526d7922531a44c554be5a312d521bb0e5b143df47f6341140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc32cc5c4cf9107034f67f63ce6ed860ee7ae3514185d3cbfca9fc8ac02cce68",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 10.47 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 1.462, 1.219, -0.5869, -0.4149, -0.3717, 0.0381, 0.02, 0.9863, 0.8764, -0.7315, 0.0071, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.3897 left_y=-0.1172 left_z=0.2029 left_yaw=0.0596 left_pitch=-0.1626 left_roll=0.0501 left_gripper=0.0381 right_x=0.2888 right_y=0.0081 right_z=0.1811 right_yaw=0.0744 right_pitch=-0.2551 right_roll=-0.0823 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -8.6769, 9.3197, 1.7118, -0.1832, 0.0611, 1.0379, -0.0479, -2.3453, 6.8991, 1.5995, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssINwC2fHVjGGAay33HxChKBLY-78gIv0Sgfunvtn82Hp0RAI0oTOxTUM1fuduC1F8zC5i99OBlHVBc9IWhFxdYYaA7H3IB0RmU7pzs5ESttUn55uMx8celZssYD-pmuFZpwU17b-XoMrhjOtoLNWXDrRmZzyiVAdsqCi-VPzsKKgyBkKXm5EcbRAvspV76zH--cRqwjtG7v4mQMvqFF9jlRpqhV8bCD5qE4Ka1ppoz-juYDUz4X6uyS_pAJnhcDn31e9vsrRhEG8OTSw66X9veNa1Ky-4-zLLKuPmJQyUv7tzHZPCspFjiY8_cXBlHEkqEs6F-9N9P85xyaOgNQe23nieDcyn4bzpd1zAPMWfr1MZnEnzZd02QmOfM82jeSEhUsBu8wI61wUzrqKvkUu4VulH_j0Z-R9sU0QUTRcOgIJrbhrfR0kS-erRV-0j7P-j1IcCLNkEN486tfbeLrZT_VF3cG613UuPrKSXmKO-0YSXCbvpzbzD_LzcqMS2quKQbL1GQD9dT3l-ujy49Y1M8IU_D7Y3MxGSVyIxcwLwRRCZbb_DOoAzMtjLS80ReEUr-XRbwGjVKhrVgGbYpkf9oD9EB6hRaEhApHG7VJZ_wabqHvIQelZMk-ImKBeaDu56gpqfnoptBzSNMmpIsr5SjUFPJE9eH_0E5b2kwGWgETf3Fu04nJASrVcBkl6DIKyUTGtQ2Fo9f-C_aOe1Cstv1pOMpJD07CHAa1dnbF6BndEFRo4mM6pDF5jcIehugmgm3qEAiklCAd33nzi82farKCe1hzob2_l3rVV3a0o8ry7vnkNS_X2PozrfPWIJi9KuwhvFbX5jbLNr4YTbJ1jSzDSKnjm5Q9VtLWtYTgT809pciLYf8kmlyV31oA3QhhYXMj5lUEZ5Q0-oBj_vWS8FKSSx0-DbZtCmmtZR8lMwJcklXCW7SXQkx8R3TZy15peM9h7OeAEXydH1mMnBLKZj5E_WHSwFPG9jGWW7ONA2hYGexBR7W8XLslZBD6Ntxu25yEMTrftx_QA1fBCWszB0YNXJlo6G98vmTRb-NlOBpYxLmfh5Zsdr5e9LpwSYthw-sOpV4-TjqrwOwVs9O5Q7ZfPKkUafo9uspiCCBTqgRqNLNURy6vp_c1TIcblJRNyw39xLl9nnpw290YNq2KAS7TvVPR5uroayb-3rgJuI5R6zivEPaYFuFQJECIxoG1uJn7oWOyFX6nsNH3EasBf6KQ4u4JFMht3I64d7RWWkb8M5Xzhdl5OW6ZkdoM3XYLpyAN0wUxmtb49DY3MkA7C7_V1g==",
  "id": "rs_049a87ca16d8073d016ab2c20bbf6c87d0915ff061a307347b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The white plush is over the compartment. I’m lowering it so it settles inside rather than landing on the rim.\"}",
  "call_id": "call_P8JfAJjtaAVijIOe9lCFlO2u",
  "id": "fc_049a87ca16d8073d016ab2c20ca23487d09357bae011458091",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P8JfAJjtaAVijIOe9lCFlO2u",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8551, 2.1799, 1.6943, -0.5831, -0.6102, -0.7269, 0.0422, 0.02, 0.9863, 0.8764, -0.749, 0.0071, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.4197 left_y=-0.323 left_z=0.079 left_yaw=0.0504 left_pitch=-0.224 left_roll=0.0736 left_gripper=0.0422 right_x=0.2856 right_y=0.0081 right_z=0.1783 right_yaw=0.0746 right_pitch=-0.2726 right_roll=-0.0813 right_gripper=0.9954\nstate[joint_eff]: [0.2393, -10.8923, 6.3385, 1.4286, -0.398, -0.0317, 1.0281, -0.1436, -2.0855, 6.9265, 1.4774, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a5bbd7dadf99a557a9b9d32427b6c77001ba63f1794196fbc2ec08a068053b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db19ce98f47f1163f7227861d6346754f87e8c69761f0a93a8f043171dc91786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72cdb05b9f45eb532cb2aebfc4aa2649b93e7d2368fd352b249a5bc1ac47153",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.846 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8509, 2.1773, 2.1483, -0.9955, -0.6193, -0.7238, 0.0415, 0.02, 0.9863, 0.8764, -0.746, 0.0074, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.4281 left_y=-0.3272 left_z=0.1991 left_yaw=0.0512 left_pitch=-0.1905 left_roll=0.0453 left_gripper=0.0415 right_x=0.2861 right_y=0.008 right_z=0.1788 right_yaw=0.0742 right_pitch=-0.2696 right_roll=-0.0818 right_gripper=0.9954\nstate[joint_eff]: [-0.7316, -12.2188, 8.3624, 0.9451, -0.6471, 0.0708, 1.033, -0.1573, -2.3316, 6.694, 1.5946, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is resting inside the safe beside the yellow object. I’m releasing it.\"}",
  "call_id": "call_nfsAyQjBlSCtJSzXr8SIZMpt",
  "id": "fc_049a87ca16d8073d016ab2c2185b4087d083dbc5b5e0bcd1a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nfsAyQjBlSCtJSzXr8SIZMpt",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8562, 2.1956, 1.6817, -0.5858, -0.6102, -0.7349, 0.9952, 0.02, 0.9886, 0.8764, -0.7696, 0.0071, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.4165 left_y=-0.3202 left_z=0.0667 left_yaw=0.0595 left_pitch=-0.2426 left_roll=0.093 left_gripper=0.9952 right_x=0.2818 right_y=0.008 right_z=0.1744 right_yaw=0.075 right_pitch=-0.2955 right_roll=-0.08 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -13.4769, 7.3368, 1.0965, -0.3687, 0.0122, -0.0122, -0.0615, -2.4684, 6.7897, 1.5995, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8448c03ba25c8e1e5c898d77a3a2792b8aff7607e842b1ca20c7a195a48c3a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52af8da3c66a141e19732b9a1afdc28c5a8112d9a70249db2e47b32b9fe184a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1365bb5617f69ab08b9b58ec9351a34b8c2242cb577b5a3ee1b7780ff41431e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 8.17 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8551, 2.1799, 1.6943, -0.5831, -0.6102, -0.7269, 0.0422, 0.02, 0.9863, 0.8764, -0.749, 0.0071, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.4197 left_y=-0.323 left_z=0.079 left_yaw=0.0504 left_pitch=-0.224 left_roll=0.0736 left_gripper=0.0422 right_x=0.2856 right_y=0.0081 right_z=0.1783 right_yaw=0.0746 right_pitch=-0.2726 right_roll=-0.0813 right_gripper=0.9954\nstate[joint_eff]: [0.2393, -10.8923, 6.3385, 1.4286, -0.398, -0.0317, 1.0281, -0.1436, -2.0855, 6.9265, 1.4774, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssIgj2iYy48lTHASP08wRi5jqN0TsF01W4vpQPPo1gnfzit7cEp6DIjnNWT3dnusctNU43CKjEDlh5BkIdga2nXkA-xhNKevDJEj6bA5Sbm9KQtcP94sNqe16FBI2EP-a9SIxE2eBaObUHyLYdxzECfE6ncP9CWcj-sEoKo1s3Ms5FZuGozcVzUQA_LRAef_mPnE7Se9eUXSL3F8NL7zp9RnSf49p2bdxheu3P_HdtKgU1Baern4elAlQ-1KA_7r3FHKDII8iTmhXUOPr9pc7rKGg_oHq-366ma3_v0e756mn8pnUdflzUhfoZwSdGABvPQbiMfVj1O3dDbOLrkdy07WXc-EvQsLVOdOUbzUQBU84wAZiAM9vVc9aWunqnKt0cdyR7WX8ZOr1K1mx1bsSjp1Nqo5-emVkoHEYvfUOwwBYvA9_B2JpYYHsuYXaqS40Ax7F3xW2k-Afx-DCR7ct3DFFlJ2FYFJ_1PZZyN79aR8xzVPT1lHjVxqj_tmVZqlALJ5whA_aoEWLj07iPBZ33FSnq6w9VKurGf0UWxvyvoMEwPPBBd3oeXdEmiHhZf_ZmV-p4Bfmz0_VEw-qEgnisvke3WHH-Qyq7WE-9AgD13Fi4x9Ph8wUoeygrfgP97F9i80qS8n1oO2pCxW7FnBkfIarnvcFFZCyWVBFRAQP-XUSLH_XTAQ20PzO7h8WNeR9gyC5aO1zEDCHJl0nxfTcVfw5XSnrSC5ICNH1BR2YawPRMqKxJpQR19-YFBmpTeeeFc8rG57IBrovm4fos6RCzUK5TY45gTwLNBGGFE-6Sv_II5Nj9N-76QtYsa79rIIq4CAn_SnGwkk4ddnx6rV0cmtWm3NID6DZKqgkcqgN4DX6RA3_zA1myV5dh2nbAiXf08F3TKOKih7juMFPej-UUJT7ggCzs2QrISV6CWyZClTdEYnAKrpUXqK4QRsQGT9yBxVSjT29Yg-_g_ucR5SUJMXWGStCD1Th-xJf1eVG5rKt4LMR9WrW06H9ii7SrGf7GuekyUWqV4RaI4yDoJXf4Dx8PbYucgeWZ_z65bA6TV1iK6sfa3TbCVptzG63MZxhxOeDIQLK-nJ-f8Yk4n04YqkfX4GekLzEltZYWUAX7httYjdEjAFY9jakTr8HMfeV4IHKvQ2OgvPLiSv0RRJ-C1Dv46UiS2Wat909YDBXESWItZqEv848jcXhhsh5WOwFm_X9CDlLhikytN-X6wBCGac0ms8Q0Yi1bRVUnNq5H3uMOHt3POOak4PN1tEbvxPfLymF8MmxWk3bIImPU_GXdL_rdWPa90fI9bU036gFpmN64NkkSSvEghfR7HmZxkCvINipLmQ69NTaxy6PXx-OvQygg==",
  "id": "rs_049a87ca16d8073d016ab2c21c92b487d0853296c3e9237eec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.24,\"right_x\":0.255,\"right_y\":0.285,\"right_z\":0.13,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"Two objects are now inside; the brown plush remains in front. I’m clearing the left hand upward and approaching the brown plush with the right hand.\"}",
  "call_id": "call_UVI3flqgmbrpnghaaNlW6R1a",
  "id": "fc_049a87ca16d8073d016ab2c21e2eec87d0a2f4849a6a0e9ff1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UVI3flqgmbrpnghaaNlW6R1a",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8562, 2.2898, 2.5256, -1.3262, -0.6025, -0.7467, 0.9964, 1.1854, 1.5909, 0.9752, -0.4736, 0.8246, 0.7734, 0.999]\nstate[eef_state]: left_x=0.4176 left_y=-0.3231 left_z=0.2351 left_yaw=0.0599 left_pitch=-0.2418 left_roll=0.073 left_gripper=0.9964 right_x=0.2477 right_y=0.275 right_z=0.1152 right_yaw=0.1126 right_pitch=-0.0632 right_roll=-0.139 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -11.3162, 8.1436, 0.9255, -0.3785, 0.0952, 0.1099, 0.212, -7.0085, 8.1846, 1.2039, 0.7253, 0.2076, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06edad998399b76ef4b7a8032438946e8f0c6edaa465593a706f9f652076b159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c225944b9d5e4ddf9460db4e1bb4a65b172bd0c0da9855707bcca6901b76cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc303004a79853497c14be997750fcb835573d16859f50ea62c41ab6a5f7c4f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.996 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8562, 2.1956, 1.6817, -0.5858, -0.6102, -0.7349, 0.9952, 0.02, 0.9886, 0.8764, -0.7696, 0.0071, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.4165 left_y=-0.3202 left_z=0.0667 left_yaw=0.0595 left_pitch=-0.2426 left_roll=0.093 left_gripper=0.9952 right_x=0.2818 right_y=0.008 right_z=0.1744 right_yaw=0.075 right_pitch=-0.2955 right_roll=-0.08 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -13.4769, 7.3368, 1.0965, -0.3687, 0.0122, -0.0122, -0.0615, -2.4684, 6.7897, 1.5995, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssIq1ZN1L974HUbubOCG8676Vkk5L004xVWSMddm5OxeGNvMi4IBUMEKA8YDRthb143O7Nmkrmu8zPJcS6JeCE54y9CAGijtBF484s7hvvB8EI2QMf201iuyr6HhQvYBoVRMcJW_TN1hBz0ZxHKyc0Rp--lh-_hJ-c2nfyYvNhszaAxho3Q_O4mWwmMM3sGbDOGhwBz-umq5-astspfpyWXHatw39ZnwmnaXIY3NTK1Iftz9NjTFicniSt12UREQnPksHVS2sShk6eZUv6aNDIddmmKF3G712tfIEARk_YoCtWj45Ro8KKDBVCXwpnCq-OC9iI9AVzCxcoptaAOE0ScpCLuI9W4p9KCrtS0VfqUio_bJcFd6lHaZSUFoiU_OICWSvqvsyDG9PPkxFOtdjkaYFLCS7OWumsTkA121bVIUr_4aeYsfMtQlUadU8JCSDb3mA5PoK7IqNJDJm8xOKpKmkvyIPSFkEy0wcg0vxnksoTSGe50snKBIxD9omPsXO6kzEgMeDW1aYjmPMciIfK5b-vA1bumrQL4Nw8jGETIsMVDVQmYDlquA5Przj39XeTKO4tIHiBlrZ_oKOhJzy_qFuUB4e8OkdI2Ak2KDyD7YRbtlvwgRScFoDVwbexzGc_bFe9uw8FCeEov36JpoYs_sEWZigECTTWGSHZhPBvaChrYye0UGf6Db2Yrc4COqCStVvMIcb3I88XDKvYsGAwD0uFnJFyhYW21hA7MRqX9CQB6tdYhn0wrEjLv4oIjnAjJzN5VfvWbvHWkRkhsHs1wwEpOW2MgBBQrSoqj0safN0bzxlHuG0duBCNywqZhxFh2YnoJ1WyOEJbOPErmB2q7CFqAbU336Dtqt-F_cxXTRQJFMCDi6rDYnJC2a7fhN5GEpTdqv-7ovLuwlriveMIZuyilDDFEZB4CXzPYvHLJ4McQjzR8M5PqPkafhFcXF9uZy-5flYPZO91f8aIFULgGk4F11Z-bu3XkAhZ2C4dP9Ps7B51YNbuzQYdVetMxL2GHczlMO4DGGJsVfs1KOppsStCUP_m6fEQmPZpyQ-yzXItTrgL0--tdNycRBndSQu5zscE-2QGgsRjGdZCFc6gfzIaAxLdFkOx6YjBTsUWu2K0j-Xy2CyIl73mTsu9WOYgaZOeFoACACnNQ2eY0GxYjefs_JjMGe7L430kBDCM1DtGMDyj07QuekFNBQO9GI1D0D8tkj-23ghsUWQa4Hqhh6gV9Lpmk-vIkPJSM336zsndk=",
  "id": "rs_049a87ca16d8073d016ab2c227d7fc87d0b6d419770a6d003e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.25,\"right_y\":0.315,\"right_z\":0.025},\"note\":\"The brown plush’s torso is slightly left of the right gripper. I’m lowering around its body while parking the left arm clear of the safe.\"}",
  "call_id": "call_zFuFvydfu8KUt3XwSxoj3A9k",
  "id": "fc_049a87ca16d8073d016ab2c228e65c87d0ae59c16fcb25ff7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zFuFvydfu8KUt3XwSxoj3A9k",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1352, 1.0161, 0.9543, -0.8001, -0.2039, -0.1516, 0.9965, 1.2182, 1.903, 0.955, -0.1978, 0.8227, 0.8066, 0.999]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1968 left_yaw=0.1091 left_pitch=-0.2606 left_roll=0.0715 left_gripper=0.9965 right_x=0.248 right_y=0.3095 right_z=0.0244 right_yaw=0.1243 right_pitch=-0.0885 right_roll=-0.162 right_gripper=0.999\nstate[joint_eff]: [0.4171, -3.2615, 6.4479, 1.6337, -0.0415, 0.1197, 0.0073, 0.3761, -7.2274, 6.2154, 1.199, 0.4957, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec02278f4b491a686c57c819439ff576e106a9ae675c957dd01b4a8058c7788",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfeb527d9d29a1c627627b782f6fc01e0e0bbe4bfa5a95b2e0588b48621f94d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2259980a7bea1eee9af6feb5865801427f23c97a7ffc5bcab20263325975d8a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 6.382 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8562, 2.2898, 2.5256, -1.3262, -0.6025, -0.7467, 0.9964, 1.1854, 1.5909, 0.9752, -0.4736, 0.8246, 0.7734, 0.999]\nstate[eef_state]: left_x=0.4176 left_y=-0.3231 left_z=0.2351 left_yaw=0.0599 left_pitch=-0.2418 left_roll=0.073 left_gripper=0.9964 right_x=0.2477 right_y=0.275 right_z=0.1152 right_yaw=0.1126 right_pitch=-0.0632 right_roll=-0.139 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -11.3162, 8.1436, 0.9255, -0.3785, 0.0952, 0.1099, 0.212, -7.0085, 8.1846, 1.2039, 0.7253, 0.2076, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s torso is between the fingers at table level. I’m closing around it.\"}",
  "call_id": "call_97xkvdzJjSgsljY6AFxeslhH",
  "id": "fc_049a87ca16d8073d016ab2c231b7ac87d0b604464cb88906e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_97xkvdzJjSgsljY6AFxeslhH",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0172, 0.9466, -0.8085, -0.1959, -0.1509, 0.9966, 1.2179, 1.9114, 0.955, -0.2035, 0.8192, 0.8021, 0.0346]\nstate[eef_state]: left_x=0.2876 left_y=-0.001 left_z=0.1919 left_yaw=0.1022 left_pitch=-0.2787 left_roll=0.0701 left_gripper=0.9966 right_x=0.2472 right_y=0.3081 right_z=0.0206 right_yaw=0.1268 right_pitch=-0.0982 right_roll=-0.1767 right_gripper=0.0346\nstate[joint_eff]: [-0.0205, -2.5641, 7.2547, 1.4676, -0.2369, -0.0806, -0.0073, -0.1846, -9.4291, 5.2034, 0.989, 0.4029, 0.0269, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbe297e61d9d75176e5be7e7c9951edf64f1aa2fe1dca2aea5cd8291d71e291",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32d40a413367f8af94c98a12b9214b37200587f27517d957bc3081eee39b330e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb1850772a260d4435c0bd4f7ed7d91f63b5c0dad9e985026dc0509b0d08d0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 5.811 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 110 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1352, 1.0161, 0.9543, -0.8001, -0.2039, -0.1516, 0.9965, 1.2182, 1.903, 0.955, -0.1978, 0.8227, 0.8066, 0.999]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1968 left_yaw=0.1091 left_pitch=-0.2606 left_roll=0.0715 left_gripper=0.9965 right_x=0.248 right_y=0.3095 right_z=0.0244 right_yaw=0.1243 right_pitch=-0.0885 right_roll=-0.162 right_gripper=0.999\nstate[joint_eff]: [0.4171, -3.2615, 6.4479, 1.6337, -0.0415, 0.1197, 0.0073, 0.3761, -7.2274, 6.2154, 1.199, 0.4957, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The plush is highly compressible, so I’m checking the grasp with a short lift before transporting it.\"}",
  "call_id": "call_XKBLQCg3Ph09wRzaaC6C4TPQ",
  "id": "fc_049a87ca16d8073d016ab2c239121087d0b4737965e9e86b0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XKBLQCg3Ph09wRzaaC6C4TPQ",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0172, 0.9466, -0.812, -0.1982, -0.1539, 0.9966, 1.2163, 1.7962, 1.0523, -0.4355, 0.8001, 0.8005, 0.0346]\nstate[eef_state]: left_x=0.287 left_y=-0.0005 left_z=0.1914 left_yaw=0.1061 left_pitch=-0.2815 left_roll=0.0707 left_gripper=0.9966 right_x=0.2451 right_y=0.3076 right_z=0.0692 right_yaw=0.1325 right_pitch=-0.123 right_roll=-0.187 right_gripper=0.0346\nstate[joint_eff]: [-0.1299, -2.4547, 6.653, 1.4042, -0.1001, -0.0171, -0.0171, 0.0615, -10.2222, 7.4188, 1.0574, 0.5104, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc706aa1c8015f8640eab7c3e84cf292fb347d0d3288d4eb134e3c641badaf19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3098848ff9349ba5ca3c5f38940370bc8a316c0f63da82255ec2554286712a54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7d8b243a67f6e6565bf073e6a05623a72691a2f9f5f3c09401e7a041a5860b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 5.395 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 113 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0172, 0.9466, -0.8085, -0.1959, -0.1509, 0.9966, 1.2179, 1.9114, 0.955, -0.2035, 0.8192, 0.8021, 0.0346]\nstate[eef_state]: left_x=0.2876 left_y=-0.001 left_z=0.1919 left_yaw=0.1022 left_pitch=-0.2787 left_roll=0.0701 left_gripper=0.9966 right_x=0.2472 right_y=0.3081 right_z=0.0206 right_yaw=0.1268 right_pitch=-0.0982 right_roll=-0.1767 right_gripper=0.0346\nstate[joint_eff]: [-0.0205, -2.5641, 7.2547, 1.4676, -0.2369, -0.0806, -0.0073, -0.1846, -9.4291, 5.2034, 0.989, 0.4029, 0.0269, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJAxE9bJ6bEgwSfDOH7kKeQhud3XbHfokPq7E_NwLC_SLMabEJj0EWMGXajwlTBSNTNEUDJcTrjGED1fBiiSFUVVzUsKeBIhx_YMsu2WxMh357tTI5_oTcR6PJDEfx89jveIdVEfsX2dHlA47yvdNlAjHxN5U9lIHerVSGOLGNWYcqFhdKrDMbK7SVCFHZQXOcEbMVjC77XfH9OFMx21h7hcnKHkHrctActTO-irJmLIJZ4cl5-WNwGNRcj1fE5jSOhPLbC7JITLaKRTr3F-g7qzGFMhK9R1-1CFAwrvNvOdij1gbY1RMcxiRLlRXAsAyn5IWmjC30YyNLWc6VSZKlMmPvWNrHIXBpKsYF54QXxCi5Z0d30gmjAam2mSsXrRz9sw1S1mx7uFeetK0cT1sv9YoTHmPHSeo4L2cIKwp_mTH4T0BsuqJ1Zzt8_yAb8yXh-wPa2vXrV1mY75f31FraB_Ia0-pzDLHAT31LMlbjs-DSP52OB5D83oTn9ctkGV0_NfDGtACj_E8uYF1ykSpqhjCTs8798ugXHERi-oAhrfrjZY64_x0Hz5GeebjEa_SXRtUSmrUn0gfeeCHlhP_hiImJ1ZVMp3sdIbpN23sasj0-eZB36oSgqgZJEhXaWV0-LnH6YjZQC-O-1gifrj-Fj18xtkjNBDOIxeN0cq0uAQN0IRi83_htD_tHhTdGRvDcfSDtoQ6eU4zUk2iHGDs05kz9y8yO50sP7Q2KhwGlOLoJvXXZxy3Df5Dhges4j0sfKOsWyzp-HXR2AUsOnSliZ-ZVWnXHuYGWudqsRLFmgqVdIRn6fcesIxHT0ro6zGZKq8zB-wXyIK9PgaA-mdWsT0tLI3t9ioD7CS40NWn5-kt87LO5Q4wvY1sKZramhW5XFjaP4QaRNn2BNDLckhwifQX_Mt-Dd8W6cbljT1cd3Hz8vAjJx6sVgeJleDTwsOljcrqiD77RGxl-a5unoWONzOHW1EtqlxX5g7xcznis8ZklEZ17XrsYj2qxEEOQqQ0wXohj32qGnC4_u9QcMStEp08hC4PFYObD6AJcP2mwgH6hy2REHtIDKj-G0a_951-jQSZnYONCXRYMIAGnhoju9okny8shEHtMRE0xEU86SG5f8ToYAnoFyxXis4by__qB5A60Ouan5ozab7TNQRWBSAFwRXDqy5VJ0_og0ASGWHE4Omeh8qykuqEtvRCvoGGI0_NyAYkLTnN0YAbyH3-5bFvl_Vw4lsjWfuRcVJghY67H8-C8J_gdwe39JSMXVdhCtGhyV8f-meL7fRoMCY-SSb51tl6TszBQe4g12ORwL-wDMb-_M6upOQGE6VLa67G9pjlgjldE7SEjrLArz7264wg==",
  "id": "rs_049a87ca16d8073d016ab2c23e5a6487d093e3a17c0db70de0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.24},\"note\":\"The brown plush has risen with the gripper. I’m lifting it above the safe’s front rim.\"}",
  "call_id": "call_2ll4ZHSt2NWH11uu6XmZJoJ4",
  "id": "fc_049a87ca16d8073d016ab2c23fd7ec87d0b699f292ca18b239",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ll4ZHSt2NWH11uu6XmZJoJ4",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.021, 0.9466, -0.8181, -0.1982, -0.1547, 0.997, 1.2163, 1.7004, 1.5753, -1.0706, 0.7704, 0.7933, 0.0348]\nstate[eef_state]: left_x=0.2861 left_y=-0.0004 left_z=0.1894 left_yaw=0.1073 left_pitch=-0.2911 left_roll=0.0726 left_gripper=0.997 right_x=0.2428 right_y=0.3119 right_z=0.2197 right_yaw=0.1474 right_pitch=-0.1558 right_roll=-0.1938 right_gripper=0.0348\nstate[joint_eff]: [-0.1983, -2.8103, 6.8034, 1.4335, -0.1245, -0.0415, 0.0269, -0.294, -8.759, 8.4991, 0.9792, 0.6325, 0.0562, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc73f4e1d28e7421084493118b34b3269a0cee86ac33e498def45e38f4fb70b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f120e31adbeea524648a6cd52921180be6a9c08f051c42a5036f4ce93270491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3890ecffd3b8ce4c1489acf8e669154cbbf9999051d557cc391eb54702e7832",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 4.618 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 116 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]: [-0.136, 1.0172, 0.9466, -0.812, -0.1982, -0.1539, 0.9966, 1.2163, 1.7962, 1.0523, -0.4355, 0.8001, 0.8005, 0.0346]\nstate[eef_state]: left_x=0.287 left_y=-0.0005 left_z=0.1914 left_yaw=0.1061 left_pitch=-0.2815 left_roll=0.0707 left_gripper=0.9966 right_x=0.2451 right_y=0.3076 right_z=0.0692 right_yaw=0.1325 right_pitch=-0.123 right_roll=-0.187 right_gripper=0.0346\nstate[joint_eff]: [-0.1299, -2.4547, 6.653, 1.4042, -0.1001, -0.0171, -0.0171, 0.0615, -10.2222, 7.4188, 1.0574, 0.5104, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.285,\"right_z\":0.22},\"note\":\"The brown plush is clear of the front wall. I’m carrying it over the open right-hand portion of the compartment.\"}",
  "call_id": "call_p5ITmGbQ0yL5DuHIFbPgRICR",
  "id": "fc_049a87ca16d8073d016ab2c24621c087d094c5d3323a7fb7d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p5ITmGbQ0yL5DuHIFbPgRICR",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0214, 0.9466, -0.8272, -0.1986, -0.1585, 0.997, 0.7406, 1.9835, 1.8648, -0.8337, 0.5152, 0.2874, 0.0348]\nstate[eef_state]: left_x=0.2844 left_y=-0.0001 left_z=0.188 left_yaw=0.1105 left_pitch=-0.3001 left_roll=0.0728 left_gripper=0.997 right_x=0.4298 right_y=0.2799 right_z=0.2022 right_yaw=0.1403 right_pitch=-0.2182 right_roll=-0.225 right_gripper=0.0348\nstate[joint_eff]: [-0.1573, -2.3316, 6.612, 1.5116, -0.1538, -0.022, -0.0122, -0.3624, -10.6188, 9.1009, 1.5849, 0.3492, -0.0366, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98058d07a8ed5488f6081edd2ea147320123e1fe181d704cc2cb0211cca38264",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56bc0842ef90d2e045b274f5bb60fbdc86d0043be0f2aa411f10eba9047cf5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e49ace9f9d31e8487d77782f4a9eec99d88e2ca36234a535ce4f238c3f7a6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 6.53 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 120 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]: [-0.136, 1.021, 0.9466, -0.8181, -0.1982, -0.1547, 0.997, 1.2163, 1.7004, 1.5753, -1.0706, 0.7704, 0.7933, 0.0348]\nstate[eef_state]: left_x=0.2861 left_y=-0.0004 left_z=0.1894 left_yaw=0.1073 left_pitch=-0.2911 left_roll=0.0726 left_gripper=0.997 right_x=0.2428 right_y=0.3119 right_z=0.2197 right_yaw=0.1474 right_pitch=-0.1558 right_roll=-0.1938 right_gripper=0.0348\nstate[joint_eff]: [-0.1983, -2.8103, 6.8034, 1.4335, -0.1245, -0.0415, 0.0269, -0.294, -8.759, 8.4991, 0.9792, 0.6325, 0.0562, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJNRK91yr5U8EIJNfqNCWif_FqVZIltMz56F3jK7RSsBA_4vsjFRUvM2AgjLmeOPyoxuH42yXVUThu0trP01UooQxep2v0m351vzGh3aayVR8ep8_vwHZgjFrmNLuWiaZriDII86GrxO0lLKsJGAtsRG0eXq_vhdDD_Gccn_q-pGtgUqhyMJzY0EiFNeTCkUE5Jp2aiCpNMSd8TwuZaFf9lVDt2DaKvBwVjX9wZIS-VFfX9yBtkxjWEHtMOF0XZUZhxVA0CCwG4At7jETQ5h40jE1XBksCeRIBxXsyAfE_mmuCQyQu9ARcrqj8UHFQMDCTYlfJ8GseTTsir-gebuWpKzHFsCPiYPoWQQddE6VeA9JnsOhwtdQ6Aaq86pnSQnQZP4dH7uh9OYqIWgggFSJwSxfVCGYDSC4otbnfL04Zh3M5z4QVGHytMpO_KuJNyne-Lb0hsWHzQjP0rEwSilFba8iBnzFHr48KzIyKqcrcccY6Jxzjj_zU_Pw4aSA0bN_nwi98upy7-fjBMRogkURzR-7GHkp0GdZ6WJhrfia3TiS-8yda4Vtngc3tDJlOwhbmGkdj5qZrj5MLxclP0Og1spcdOQW0dgY8uqvb18tU_n5JndHnoj1HkfsEKn7UZMZ0gezOEJLKpbMRvdqFkXMUc83rbHmaVFhSF_zznwVwkl2GCbaaiV_MqpybLVTTJK2FtMoKUDJNnIyMlLGTtvoM4pv3tiYBEpDh-RDeUaNxv5mQoOMtI3opig6z1YsHnl1Q_ipA601tQJ7Hs5KxMjWr7s6Q0Kl8x93pqq79bSBRBpKKyRL0pr7Rj8kCs-MV1DzMbqC8rw08CbzEJPnggr5Ca8t0__fPp0Y0VEO1v-j2QbL001G-xN04RqbfOmiQDDBRMSu9uPiEAHBuzxs5vyFuU1SdZuoI1pOUvGEW3b7fieAZgdhvWc7v8dB0bW9CSCdFHmIBrFh8MxH9RLQoJPF6FIeVqlUsCtJUVDP7raW2Efargr_8P6hauV82h0dWaos1WNfjDMJ_5QZAJSXC4j6LoB8sUXdfIMeMEOUmLrUpIRJ2orgP3D6sm0mt5t4D15deOcNqTW0pqGtLZWNIXo60kCPEqtuvvO1al9rWbTO0KQdsGx3Gq7-Bolr-Mg3WHXejJydN0TDVAtRMmmN2rjeyBKUHvbXOV-TP8gBSDaG-k7coSsOGqfG8CO3XjlLgf3OFb0JTXtrXl4uz-KTz5mKFuY4LNIDvSe4vFcecMNHLyaQE1Y6CMj7wKG_DK21JSMXpS2KL-i-2apIXC9HPFLx_r2g==",
  "id": "rs_049a87ca16d8073d016ab2c24b315487d087ee7553c11f774a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The brown plush hangs inside the safe opening. I’m lowering slightly and releasing it onto the other objects.\"}",
  "call_id": "call_eRidrysE6jpQwQCQeDtrDX61",
  "id": "fc_049a87ca16d8073d016ab2c24c178487d0ab9372821e7344d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eRidrysE6jpQwQCQeDtrDX61",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0214, 0.9466, -0.8352, -0.1986, -0.1616, 0.997, 0.7403, 1.9862, 1.5925, -0.6083, 0.5034, 0.2798, 0.9946]\nstate[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.1868 left_yaw=0.1128 left_pitch=-0.3078 left_roll=0.0728 left_gripper=0.997 right_x=0.4219 right_y=0.2749 right_z=0.1257 right_yaw=0.1459 right_pitch=-0.2657 right_roll=-0.2507 right_gripper=0.9946\nstate[joint_eff]: [0.0205, -2.4, 6.5846, 1.4579, -0.1685, -0.0171, -0.0122, -0.0205, -10.7419, 6.7487, 1.6142, 0.2857, 0.022, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2d32322e4698c6c8444da7124e160fb7a9bd6f9200928d6e723c46416e1b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9bfe9d753bb8b6efaa492e73c8e17a4871c210fa4fefca633e804622bb4b43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb2881dfdb431e9815bc6e262d234ade282721ff5b6db4f5742db302ef7fc74",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 8.333 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 123 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]: [-0.136, 1.0214, 0.9466, -0.8272, -0.1986, -0.1585, 0.997, 0.7406, 1.9835, 1.8648, -0.8337, 0.5152, 0.2874, 0.0348]\nstate[eef_state]: left_x=0.2844 left_y=-0.0001 left_z=0.188 left_yaw=0.1105 left_pitch=-0.3001 left_roll=0.0728 left_gripper=0.997 right_x=0.4298 right_y=0.2799 right_z=0.2022 right_yaw=0.1403 right_pitch=-0.2182 right_roll=-0.225 right_gripper=0.0348\nstate[joint_eff]: [-0.1573, -2.3316, 6.612, 1.5116, -0.1538, -0.022, -0.0122, -0.3624, -10.6188, 9.1009, 1.5849, 0.3492, -0.0366, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJUrlBYoy56cz52uQmpjwxXIoo9NkIQfGx2_9o6D36JrY_tdX9HAO9hiWcZj460_8Zj0n8jQuiA1nm-rmFvCuSQfwmQLxVFrRxDppRz_iRU2av7kjF7pNhSX8-Wg-j7EBy1cqgehr5wyr7jiwSLsleB3f6TfByAhKEuQQWvYiLlNAnIlUmIQAajvqMAzdIvn1Uw0tfKeoeic6OkJ_tJZyD1XVHSpyXtuFjdf-yp1ctuGnvzhOod84ldq0L_D6GPPaRVWp0v6NBdN6RVv5G0nkDkZUdHd1RkIS6v4123Lk7jT3wtBzq9SZQC8YH1b307v8d5CaLLUe_c338Wh4s52F0vf12jpkf5XDimIiFPRDyyPghFFnTzVQTB7Aq9hkXvlN9eIGKAiRLH3vrK7y0qUWYYYwjdBZwqdIPA9FzeL0DaU5Aw6bzL3WlSZw-I_1Bxvfls-1s_P4rynB5ieAlJyl-qBrbVLgiubxXtjPstrKHx4QQTNPt0NOrRz0ChhRjxJ5f9kbtpVzGXgmpfTGVvCi1Ew8I-r0oc6fuli5zYBEieTzydBL3M64sFz0axvV-kkBLp2p02jS1kcle2RnuZ8nUttk567LXnnVdtdwPYmXUJcW4Jf4q3sHU-bjj2kd_zKOi_odKePw7EY15a4g6mk4oxwUH2Wxi8-ZaiRpwTF_teM8yRR7q8R9yWxskW3K3OTxqJsEA8NfQeSzq2P_ex5hc5hKlhwtRjaa1dmcP3aFjLQr80wzbQejE56mkDU9o44Hhc8S1aRMWYbB41nADtkgGxXXSVgc_l3aNW6Gc7p2UOU75fwQTYc23nR8uHeTLJD7gz_841qfkhon14skvZ6qjLZRqLhYm63H268TZRwpFm43fSY2D64kk5KXyJVa4FluflftpzvBB8izW0exXzmfVffOHlYs_-uJ7tNxCfvGQcEeAl5C8D_47zBjygXsYnxJgLYYBWZv0QI9EuB0K6PEgnInVDNLUhinkAsgnKcbKuMdfIYUyODetZ4xqGKVrzX-ALX5GNU4qnEbDECX6IeSgBNu4hOnFrekOSpovV3fNUZeUfo-NEL3zbJR2l3H4cn8czxM5NwtE11oWTRdvMnHAcfrGdBq2Tqm3JB8N15Vi_8Xk7S5q3miVn6Q0gO-NTpuF4VugQwG35S123_nghiWM5Z81ZDnwh1_JScbE25ZftMYK_ac2PBg1Gfuxse_Ru2VY0ZrcU9JGke9QKm5vLq0kVVpw4kGBzEXY174zWR5haRHq__meoje4KRgau8bheYACtBkVZ1gKTSroiKKVxXmacWe9qta-r8ybaOG6X7-O29Xo=",
  "id": "rs_049a87ca16d8073d016ab2c2513d3887d08eaf06d0233ee1d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.28,\"right_z\":0.29,\"right_gripper\":0,\"right_pitch\":0.3},\"note\":\"All three objects are in the compartment. I’m moving above the raised lid’s upper edge to fold it down over them.\"}",
  "call_id": "call_dxQGY3gbvoXghWEF37DT9za6",
  "id": "fc_049a87ca16d8073d016ab2c2529bf087d083da4bf066b028bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dxQGY3gbvoXghWEF37DT9za6",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0214, 0.9466, -0.8459, -0.1986, -0.1623, 0.9971, 0.6041, 2.183, 2.0529, -0.2859, 0.5568, -0.0624, 0.0077]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1852 left_yaw=0.1141 left_pitch=-0.3181 left_roll=0.0751 left_gripper=0.9971 right_x=0.5645 right_y=0.2805 right_z=0.267 right_yaw=0.1651 right_pitch=0.2174 right_roll=-0.2747 right_gripper=0.0077\nstate[joint_eff]: [-0.1573, -2.4684, 6.5709, 1.4628, -0.1245, -0.0415, -0.0073, -0.7453, -12.1368, 9.2786, 2.1172, 0.1783, 0.0122, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7c8c25a852ad0ce3360900d62439da16545594bdb9c41effca4733c7b5b957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf062c4018950c222bf2e5f82ca697f0193c86364aa1e77c561a482b820d88df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5fdda40c5efd5ade399ca57f1b221e635c81f29d95a66c0ba1f6590c46610d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.751 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 127 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]: [-0.136, 1.0214, 0.9466, -0.8352, -0.1986, -0.1616, 0.997, 0.7403, 1.9862, 1.5925, -0.6083, 0.5034, 0.2798, 0.9946]\nstate[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.1868 left_yaw=0.1128 left_pitch=-0.3078 left_roll=0.0728 left_gripper=0.997 right_x=0.4219 right_y=0.2749 right_z=0.1257 right_yaw=0.1459 right_pitch=-0.2657 right_roll=-0.2507 right_gripper=0.9946\nstate[joint_eff]: [0.0205, -2.4, 6.5846, 1.4579, -0.1685, -0.0171, -0.0122, -0.0205, -10.7419, 6.7487, 1.6142, 0.2857, 0.022, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJfrm_CijokRWfSr4dket09Snv1kbu5GSb4uPDECuIB74-QNQIHC9Rh3oEtge0totg2YVhHaR2QGrao3jvfIWXTPSgOkL3sgHuez6iQxxQTKaOctc12UEyVSak3lgQ1gmwyh0rJprGbkMaYjTOn0DUif5pLaplytXAvPN1dV-7rK161BRhs_i7L23ZAwlCW4IDvYZO9GxnUmBNIcBhA5nGfPlixOHB_d0dBxF56k-mGdaZYaxXa91kKQZ9JcCUPVBM4fkEeM3qX3L5Sxdk-gsCNbfJHtVoVqvWWxMXLsgar0pzcdbxajFB1oP4vaGKup8chWDLTrz8OVSZmnwJBdYi4nLtdt3AH4qNY-XUzgAE8CiKnYRJn2uP6712sdfrrhYd8VFausTWAO7MbyAVLswpwK8T6J0MFZN5c1gDzyrkAX6CRddUb4JLYbePcK0J_v4MLooIYCDDoyrOdnNBs5Ucnvh-lTbQe3uTXvpUXJF5IaiNdCedw-0dQKZl5Oo-S4rJR6OtJ3zUQMha42AYPGesbHYlWTI1dQby0oEqfaAzMRBqntkVWAp9IgFsunzWqFFtNOwQDZ9WTXuZ49AutnQ_rdYk4-v8j0dCLMKquZTl8XvaqAP9nhm-FBQBZVm_NByfPNjttnAnsrjs7fdwnJh4m7oHWPDTMpxd3up_7d4LGeRd7RjDWXPmhjAHvSihXiuXc82XRG_DLlnCAuFd_EtcZz1Cex2UD-UiXXRybV593_h6Sdjj7axiLoY2RGHyzg3Emj2ZP33FE3ehycyLuqpEpKwBDn6UQcaKO2B2qO8fuvBcHLYmmBWaA7MExGrT2xosAAlH6b9gS1z5Nv-5tDjQcwYH0RNt09yCSRmsbcAuWhHn7AmFMs_m-u2jMxRu5mtVxh1JnjGh1Na1AGCILizCH6mycxvkkATDE5I-14sd4PS2vqfgH2eOGSRzFnG56wwaJb62CSCW4Jo1sZ9Bj4gcNnsqP2WpecJ51HZhe8OEMSPkc0L9R0euZDVv8Ue2V7TjSiKdt0QdjVW7Wl4A2ryovu7bGBVQTP7Z6AMxxkpB8ZjRz169ZX1wTgobl3HYUGjFuOwG10CdWp7ATGY4fFIJZatpeM-f9Tk4qGwlH1qKMamvnGRxtYRX3cZlzNTPISKicx3iFTrOUzCSrboIwoiNlAinHxbrsLov2HVRhO53ce5YXvh2QGWmSnRF7J8u6jtlyaPkl0KTwPI-ECJEqsgU7QlCN5yA4B0koiamUAzgNgN0SPJmvdKLfWsmX3f46sVOcjNyrIiO_yEZPdmO0pDY6weROazC3p1xuZ-uW-laokcbuASvodtNdxH3dC5AWQMCjr27yFZ6lx3GtdGU6mfQDGPsZ2PrpQfQx7BkZV14eVSW7Laehj6GxVWB4pt54Vrh1psjsLyQ6KISqfcqtmgfMo9egsVXOcd4NEX8Tr5kkALaa-Na6ZAR7Aa9CCUp-Kt2Ykdt3TVdQ40_el__MbeKQpJ0QiqAiJqHdAdgBxVY7rpqR9HM5m6jEJNbb_Ugys5xBdf4hfQX2wv7oy4svrhJ1ug==",
  "id": "rs_049a87ca16d8073d016ab2c25a4f6087d09ae33e8e226c50bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.28,\"right_z\":0.235,\"right_pitch\":0.4},\"note\":\"The lid is still upright. I’m positioning the closed fingertips against its upper edge to start bringing it forward.\"}",
  "call_id": "call_BZFObiD4H4fB70rLakbkvT2T",
  "id": "fc_049a87ca16d8073d016ab2c25d0d1c87d0bb2bc145bac12774",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BZFObiD4H4fB70rLakbkvT2T",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0218, 0.9466, -0.8528, -0.1982, -0.1654, 0.9971, 0.5766, 2.2524, 1.8912, 0.0593, 0.5476, -0.1471, 0.0096]\nstate[eef_state]: left_x=0.2796 left_y=0.0005 left_z=0.1841 left_yaw=0.1162 left_pitch=-0.325 left_roll=0.0747 left_gripper=0.9971 right_x=0.5913 right_y=0.2791 right_z=0.2211 right_yaw=0.1798 right_pitch=0.3071 right_roll=-0.3063 right_gripper=0.0096\nstate[joint_eff]: [-0.0342, -2.2769, 6.5709, 1.453, -0.1392, -0.022, -0.0122, -0.7179, -12.465, 6.8855, 2.2882, 0.0562, -0.0269, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70024a161a54a36760892a0a9d24488a69339efe9f188772db4720f14ce56d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96f22b52531b40a86cbb90512123964582432866c2c2d4b7a38d26e5e7b3ec5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab37a3b18f1176e27db342c3d98feb3c795e3b6c7007629b3cd3580c7c920e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 9.136 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 131 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]: [-0.136, 1.0214, 0.9466, -0.8459, -0.1986, -0.1623, 0.9971, 0.6041, 2.183, 2.0529, -0.2859, 0.5568, -0.0624, 0.0077]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1852 left_yaw=0.1141 left_pitch=-0.3181 left_roll=0.0751 left_gripper=0.9971 right_x=0.5645 right_y=0.2805 right_z=0.267 right_yaw=0.1651 right_pitch=0.2174 right_roll=-0.2747 right_gripper=0.0077\nstate[joint_eff]: [-0.1573, -2.4684, 6.5709, 1.4628, -0.1245, -0.0415, -0.0073, -0.7453, -12.1368, 9.2786, 2.1172, 0.1783, 0.0122, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJkiyAw9w_qTXR-or5tlgeHhUElSDFPIT7W3fZc4pWi1EJidUBk0EHJtUvDsez7WLmi0gC0uAPUPQcmRVhatjrnZfAqHoWuPJ8eWU-yODDUmhO0zY8tJvWVC-88t5Hr7zlC55eAuyZK7SgUl7qQVXYvD0TAe0fXae5snfoJyjKykEv2xZZap0vsjKZazJiEZfGKLqZXtXlN_UK4Q2K7oyvxlaQU0cJagWmdcEmw1cHsa4Ko_a9ie785-LmYjgfOlAkXPHEC14S7Y_3Odl3iHUW4yM3i712uMlIKo44KXVTnl4fVNoR2mk315FNFNqWQevAkPUE5eE8dUCqxR_Af3He0IeGl-CdpOYVFWquo5TDsKLZlevyAFVABNbFtfVbDGm-4jAyUn4b0jb1KuhTWPBKbHuZY7A-l5odpYJAFIzXD7gsZN7EYWzoyd724rzCeRlQom0JAuzrxRAVD4WpBPtWBIlJKxWg0eJkCumehsiT1PzfWlKJzwLPdcziBB8yiIwtA9sOPPaFyTC3dBAbFKSPc9FnULzCSM-n2iJkTeuexMudS9oMtvqjK-luC69h4ksAodwBtVc6GS1xxawM3F2fTbIjWMCfoqlbnHDZnUwGBBAcz307bUP5XMDN9tb-BW2fsKNBWgiZCeHbnVNEzRQBUbg8rjkKvOao5dIVVF7p6ecqNALMc5HI3XcGM6Wk8EeNvaMPUMENR7tL_AfZ46qcPIQ5r1A8ypZVr9iIQ03DbFCnsBscSnX829v91BJGupy_e0mlqYENK14FOScQMby-mR0DGo4kinwvl8G4e3Ue23lAoRKMrbFibTq5KLzNPREiw_BS0Se0CDt4VkJeHyD4oEQOQd-Kpp2Oq-uuzLFLoO_wVXoJVCGB77cZDvFfnQ3qIzLqnoQZaFnOIOyZvMCAd2nLj4OVDjCvmiYyEYem_cr-tZIWrfWcQwQbZV1SFP8giI7tHvvo2Tb840kfcjff8EpjHvgVT9QAs6_LSwVHDGJr1KPGDgTPRraMwtW7e4DOFmOLKuJdJp-3BY1mcUuQpqNqyN0jZXIuGZVD4TvIOhXeIsunBYGk3E25mEqZAr3cEWbyKjbUf7fCimMXFHokoMp5WY1bq5E_n5fGtPBYcANsfD2BHsmFTuyAYVqa_4TV-PgdSPPAsZ9RBogKkEd6KRo094moI5eKB9VE_vHy7v51quWi7MWitZyPq2C8M6e_C",
  "id": "rs_049a87ca16d8073d016ab2c262a5c087d0a91d65b57c45942e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_z\":0.16,\"right_pitch\":0.2},\"note\":\"The fingertips are at the lid’s upper edge. I’m sweeping them forward and downward to rotate the lid toward the closed position.\"}",
  "call_id": "call_mP6wPAeWoAUKLw9DQDGCLZdm",
  "id": "fc_049a87ca16d8073d016ab2c26320c887d08ad30b9c43970779",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mP6wPAeWoAUKLw9DQDGCLZdm",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0218, 0.9466, -0.8646, -0.1986, -0.1658, 0.9971, 0.7395, 1.9774, 1.2781, 0.1528, 0.6594, -0.0399, 0.0104]\nstate[eef_state]: left_x=0.2773 left_y=0.0009 left_z=0.1824 left_yaw=0.1177 left_pitch=-0.3364 left_roll=0.0779 left_gripper=0.9971 right_x=0.462 right_y=0.2798 right_z=0.1339 right_yaw=0.2151 right_pitch=0.1277 right_roll=-0.3579 right_gripper=0.0104\nstate[joint_eff]: [-0.1162, -2.4684, 6.5573, 1.4676, -0.1587, -0.0562, -0.0171, 0.1709, -12.9846, 7.0359, 2.0293, 0.3639, 0.1343, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fa6833896a8c640b1d57bd4a3091cdec0473d83c72b3ccc66e41ffe8441021",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2a9b499c51f630758978577fe28026a590606fd0c755b79ae10badb98c1ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4990945f0ade1d8d534a0008b3cacefc50faf38fdaaab4d612018572d44afa1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 4.991 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 135 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]: [-0.136, 1.0218, 0.9466, -0.8528, -0.1982, -0.1654, 0.9971, 0.5766, 2.2524, 1.8912, 0.0593, 0.5476, -0.1471, 0.0096]\nstate[eef_state]: left_x=0.2796 left_y=0.0005 left_z=0.1841 left_yaw=0.1162 left_pitch=-0.325 left_roll=0.0747 left_gripper=0.9971 right_x=0.5913 right_y=0.2791 right_z=0.2211 right_yaw=0.1798 right_pitch=0.3071 right_roll=-0.3063 right_gripper=0.0096\nstate[joint_eff]: [-0.0342, -2.2769, 6.5709, 1.453, -0.1392, -0.022, -0.0122, -0.7179, -12.465, 6.8855, 2.2882, 0.0562, -0.0269, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJuAiVwIIe1u7--QsIGf8gSM7085VX8TiNkjqyaOSutw2NW88Fxb47ED8Zd-82y4Da-tSuTccxQ-mxb1nbLnv2vdMQ-JvOmUzbt5FiCgjCvjbs32xseu8yQCdNfjIyz_rEm3VDfvkeE_jDDBl3m9KenuepfVTx6lSrAcahVe59gPAMG6EYRQdV5L8V3jloJ6gR_PIFwa-NwX1ZBbRIBXydsUdw-zPkJQ7GIBw7sUd5DRYHkFetUPa4MnFAsPYqI2NGyIUJc9FsgUMrSWJx4CWjx3E1fH-ZZJppWk1sS8kQ9NX87X9enalUdy3xJWCI11kbIHdBVWSCShv8kD0su8d-LT1mAbO3fYjBgLcTfDmNoOmebknk3Hc9v82bUFI-K45FYf0luONiP8dhkBTL8PzXXoO6HTN-7-VgtZp3_OwKgl__6LFFhX9oG-xZr4JfRV6DcMTaKtFJyrc_jCa3z5-0cPcMMYwQUE12_ObqAKk_WkcAh6HVAJjfwoBMjS4cRAfruNpNn9b2sj3KIZd-HZEfHChdjbkTSues1fSmDU9QXWPMhiWxK7NOXiC6GgzeVsmvRRnRtMtkzrk04Wofu7YYgAVAV1RmGaYP1rPtk4tvVykAtWExw2Cf0V-ZBMp6jvDhzlC4eeM_YnG1cKJND8FhyBdSoK7de0OihoaXsmM_iNsI1TFoB7PjJJ6Y3r1ndW9n44Olhp3A2218w61GicWG1-9rGrQhH34TgbkBGd6vFYYyniM0HZ1T4ECsUxga05hRNsvwBUGbKmYWrZMqXXJrO4H-AZldNhAahPGnLuDRC9xu4bVgoPLmDTh6tqHoz0IGdHXrpVKVj8VE1L9dZoke1qCu986T27-m_Kd2wZfKV2FiuNq7cFrpZJDqccjlQfodG2YrRhKOJYjaREjdM3Otc1NbnZbOKGA7oAbL5PpjVrUpPqjHxiY7jV7ux1lM14c8HJ3xBiL9Cp5pTetmwCY0l3Smips9qD-jHMh6c6kVh2k0__93Bc-PAwpynRbj1NxySqWCwIDGChXi_Y26x8AKdL4h-M8EjNymRdDbXR52n3ixCDl3YSrysJPavZRac3NTj5NIbqfe4rTxQJlKGrn1KM9WLH5V9Wf60f1j8NmewQZVlvGmu4lsFzrvIXGECAluawq8HPEqjHQzVsm6ROzL7BGrKJN6M08bVW5EJs2dQNdcaq9sQp0fJ4VFiAVEFVICDbABt_FhWYndLwN2qkNswOQW2lKmFtotJ2io8n7s4UOSe9jb3tpsKUJiakRRNO3Ct3rxyndO0cKMYKszx3z073gN0C-7Dkt1PfM3Zpc_-GccGzw1ei0dKJZ71T7H1pbLkWwXbUgISfZZeT_8gSbtiUxPPWxbckOuzuMSPKOSNGhKEVA_RfBJEnbxKu6O8o6mfw53mOOSEjHT8TJcCEZZkF9b8VTuQ3NhH-miPXDjPbtnZEbmCTlsvcV1H1bTA2bBQfyhefjUB3F-NxmwUlBBp5190D-KFGXvsIqriComgnu3p4fZGXiChju7NCDFnvzta0VueTK6ncVJfM25GH2ecsGweyUJFQgtRWz1lN-ISADdnZDtYffJm151pPHPWAiihBpkcLF2R4GtTGCoHofSHxdgOQZitbjvBxv-EhEuLKP7c2v6hDlIcetOlOtA4l_Uu3ki_adXicbOOe3g96GEmAyIwUhYTVLz0BXN0jXqLxX-CWkfJKEnC8AoS3k2BGJXDhttrjxpCrN4mfe_LRF6hjgea7-FG8M-oJNgxXYaB1HFrUfTqDzmgihQUw_ydx6Bz6xbomWynNRMFi9XFNFSnkU7Hze90FdS4R4tWchkxVRWPRFrtOrFp2XAfY-9hZeKbpYLfbxIPBmlMKTAu_ds3DXUWkWvG5riK7uiU-_ecOT4=",
  "id": "rs_049a87ca16d8073d016ab2c268492087d09c45161167fba8da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_z\":0.36,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The first sweep missed the lid, which remains upright. I’m approaching its top edge from higher up with the fingers open.\"}",
  "call_id": "call_fdgFHE20Zr8XWXx20lQkcW7R",
  "id": "fc_049a87ca16d8073d016ab2c26d312487d0889e7ebdb668cccf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fdgFHE20Zr8XWXx20lQkcW7R",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0264, 0.9466, -0.8757, -0.1982, -0.1661, 0.9971, 0.5526, 2.4996, 2.8727, -1.0706, 0.4732, -0.1238, 0.996]\nstate[eef_state]: left_x=0.2754 left_y=0.001 left_z=0.1796 left_yaw=0.119 left_pitch=-0.3516 left_roll=0.0815 left_gripper=0.9971 right_x=0.5613 right_y=0.2558 right_z=0.2694 right_yaw=0.2227 right_pitch=-0.0711 right_roll=-0.3926 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -2.8376, 6.5709, 1.453, -0.1343, -0.0415, -0.0122, -0.4034, -17.2786, 8.212, 1.9512, 0.1441, 0.0317, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ad223e366667973214c9c7150f61c6f3ce5ce781ad4a1bbeb3c441ad8c75b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3681a20656ab3b837d0f9dcb6e2893e782447f9933d189bac692436247fb25ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:997eba660c58dca6345d0ebca6b15b1b8044933d009b07ba7f8f339d9f542c18",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 8.859 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 139 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0218, 0.9466, -0.8646, -0.1986, -0.1658, 0.9971, 0.7395, 1.9774, 1.2781, 0.1528, 0.6594, -0.0399, 0.0104]\nstate[eef_state]: left_x=0.2773 left_y=0.0009 left_z=0.1824 left_yaw=0.1177 left_pitch=-0.3364 left_roll=0.0779 left_gripper=0.9971 right_x=0.462 right_y=0.2798 right_z=0.1339 right_yaw=0.2151 right_pitch=0.1277 right_roll=-0.3579 right_gripper=0.0104\nstate[joint_eff]: [-0.1162, -2.4684, 6.5573, 1.4676, -0.1587, -0.0562, -0.0171, 0.1709, -12.9846, 7.0359, 2.0293, 0.3639, 0.1343, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJ1ezcdW2Ujc3F0ywmaZBVxR_p6Cw9Jl__huHNrc2abK14tvO7U9TSN8xWMIRhBs4Xrq7MhsiZbrj4R5asD2sZieFV5F6Lu_6S83XRofFyPdtkYGMDfeDqaY6gfweB0AEcicsmGoOyjqXPYXWv4xC73_pNIyqdCPfNQHMU2roghX9LVm0T9PcXeRDc9IkqX4CVEv4twk4lYIbHa0sI6lzJ4a315lV-blzu8JRw60w9HjEr5m6V3nEf-SrGE-eIwHACHw0mhBjV5vzc7Cg80DdIne8awrkbjLMFHkhiXsX1GDJbcej6msD7h8JBP2UQ9340yJKxm5rB8MC2IDxIMm8Recf5hHbn3k-i-TYbXY8sdLkqBbC8b4kEBK-s3CjvK_pDkgjof5oeYvQa9zCMLiCHdGKiD-Y24wU4u9np61KrK1zGSudNJhq1Ozs0iYoqEv-Ti_vlHndGF1X5uFZOIe2ONKyQWayYzzFvUj6QAD4gXvGS9UvqfKEYKC43xhhpXH4zQFbnoMCty7Codm27wrAybypjDtx4WP_e734GC7bpg1wsJyym0k0hN9QdluiLS49niyCODIyTINpY8frfiA_Vhq9FuweyHnw3D9zJjZv6ixf5JLEzuqBDgfPgDn2C2t7AkaHCYCyc-RWHulCyzfnonYrJZWCHnhUp0mPI9F5fAjJs79GnYRl924kgLfNB--5IupwkR199ZvdfND-ppIjk5MH0CGbM8MLiRCjw8fsmJURrz8WJ8aKG-CqEQdGik2grt6qdcum51gtHXX0xAhujLPGinWgQXjcafn83InKvSdrXkJfOSfzmWQn1jbamsNajUzVGG4sccAaCqHLoU1k8UCyZUWrFNPPZqty3KoUkZrMupXG9jPTDorNpMc7C5BWBZilco0BUQaKIwbL_5QvQtGzeFIJEDmU9k_TO0VkGXL_bHqz3FnT0EZbHU36ggwbB63BDjtL5eyB1wvQAoX_mWCS-P0XrewlSuhdgvzlCm2zmasP_oV9QiWRxkU6zSIWyBHGCPe9y80pBUGDp5oSEpys2dMDS2l4VDqyf-mp5pasIj05gxQisRuano_yf0YbTjbxw1e2vXOQirR008yabnzyleqfQgxVhEfqRkBv6EqYFvGOrATnqFCmpciFPKP_ERLz4Yg1X6ebofnsWI5W-HHq12-PA4D6S3PJhb2rD6OuD2pi-Lcdox3R7qBxBTDCGdwd3TOxkGSbVaXiFxhQASzcOoo6UQ6pH74WdOwtrRD6_jn_7nWFlxYuXKmv9__TgcmgElurjfcb-j91-01U0SAdXfWJ7u1-mwwsjXURv00IqYGQ-nFGy5_PNU8SPly_vQ_WAxZwlNBMcXWT6RY7szQw==",
  "id": "rs_049a87ca16d8073d016ab2c272371887d095cbd696681c5b70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.28,\"right_z\":0.16,\"right_gripper\":0,\"right_pitch\":0.3},\"note\":\"The open fingers now straddle the lid’s upper region. I’m closing and drawing that edge forward and down.\"}",
  "call_id": "call_lYg9WJYXLTdY8Z9WOEMiX7L2",
  "id": "fc_049a87ca16d8073d016ab2c2735e4487d0ba22e440e3881dc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lYg9WJYXLTdY8Z9WOEMiX7L2",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 1.0264, 0.9466, -0.8764, -0.1982, -0.1661, 0.9971, 0.5888, 2.5755, 3.0711, -1.0985, 0.5591, -0.1616, 0.0081]\nstate[eef_state]: left_x=0.2752 left_y=0.0011 left_z=0.1795 left_yaw=0.1191 left_pitch=-0.3523 left_roll=0.0817 left_gripper=0.9971 right_x=0.5582 right_y=0.2644 right_z=0.2984 right_yaw=0.2094 right_pitch=0.0272 right_roll=-0.4395 right_gripper=0.0081\nstate[joint_eff]: [0.0068, -2.4821, 6.8581, 1.2821, -0.1343, -0.0611, -0.0171, 6.7077, -10.988, 5.1761, 1.1893, 0.0317, -0.0415, 0.5153]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460257018fd30d195b2394b895bd020863d35066d1e4dbc785686fbe187c3bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e53bdd47a46e66c8ca90f22b80f8d41922b406f8c4a475b794dd2ee238a76d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b6de200f29febd266312515cb526b8f1964549cf82c5e614e2913b560415d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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