adhoc

completed
2026-09-22T16:39:35.111539+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
244 s
total steps
341
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe open red-lined safe is near the back, with a white plush, a brown plush, and a yellow object outside it. I’m positioning the left gripper above the white plush first.
move_to
left_x0.3400left_y-0.1700left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6083, -0.3962, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0008 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.306, 10.1538, 1.9853, -0.0757, 0.1538, -0.0855, -0.4718, -1.4427, 9.6889, 1.917, -0.0024, 0.1099, -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":{"left_x":0.34,"left_y":-0.17,"left_z":0.14,"left_gripper":1},"note":"The open red-lined safe is near the back, with a white plush, a brown plush, and a yellow object outside it. I’m positioning the left gripper above the white plush first."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe white plush is slightly left of the jaw center in the wrist view. I’m shifting left and forward a little while lowering around its body.
move_to
left_x0.3600left_y-0.1530left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7284, 1.3563, 0.7349, -0.1623, -0.5705, -0.469, 0.9993, -0.0212, 0.8005, 0.614, -0.4324, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.3293 left_y=-0.1611 left_z=0.1218 left_yaw=-0.0213 left_pitch=-0.0611 left_roll=0.0372 left_gripper=0.9993 right_x=0.2892 right_y=0.001 right_z=0.172 right_yaw=0.0002 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.5538, -5.0667, 9.2376, 1.6972, -0.4078, -0.022, -0.0904, -0.212, -1.7299, 6.5162, 2.0147, -0.0562, -0.0757, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.153,"left_z":0.025},"note":"The white plush is slightly left of the jaw center in the wrist view. I’m shifting left and forward a little while lowering around its body."})
tool
executing move_to over 7 steps (0.7s)
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 plush’s body is still ahead and left of the fingertips, so the jaws are not yet straddling it. I’m moving a few centimeters forward and left at grasp height.
move_to
left_x0.3970left_y-0.1350left_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6369, 1.6852, 0.5884, 0.2729, -0.5125, -0.4107, 0.9992, -0.0212, 0.8043, 0.6125, -0.4561, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.3492 left_y=-0.1461 left_z=0.0194 left_yaw=-0.0026 left_pitch=-0.1204 left_roll=0.0754 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.3487, -6.6803, 4.547, 1.7363, -0.1245, 0.1099, -0.022, -0.1983, -1.4701, 7.2957, 1.8584, -0.0269, -0.0366, -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":{"left_x":0.397,"left_y":-0.135,"left_z":0.018},"note":"The plush’s body is still ahead and left of the fingertips, so the jaws are not yet straddling it. I’m moving a few centimeters forward and left at grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe open jaws now flank the lower part of the white plush. I’m closing to grasp its body.
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]: [-0.5194, 1.7889, 0.6815, 0.3, -0.4568, -0.3492, 0.9992, -0.0212, 0.8066, 0.6121, -0.4747, -0.0196, -0.0261, 0.9996] state[eef_state]: left_x=0.3863 left_y=-0.127 left_z=0.0124 left_yaw=0.0377 left_pitch=-0.1323 left_roll=0.0796 left_gripper=0.9992 right_x=0.283 right_y=0.0011 right_z=0.1612 right_yaw=-0.0 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [0.0068, -7.3231, 6.8444, 1.5409, -0.0122, 0.1929, -0.0122, -0.0615, -1.4564, 6.9675, 1.9316, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws now flank the lower part of the white plush. I’m closing to grasp its body."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe close appears empty; the plush remains ahead of the fingertips. I’m reopening and moving farther onto its body, while restoring the idle arm to its parked height.
move_to
left_gripper1.0000left_x0.4290left_y-0.1420left_z0.0220right_x0.2930right_y0.0000right_z0.1790
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5182, 1.8008, 0.6853, 0.2901, -0.45, -0.3534, 0.0357, -0.0212, 0.8082, 0.6121, -0.4999, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.385 left_y=-0.1269 left_z=0.0072 left_yaw=0.0372 left_pitch=-0.15 left_roll=0.0816 left_gripper=0.0357 right_x=0.2791 right_y=0.0012 right_z=0.156 right_yaw=0.0003 right_pitch=-0.1137 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.2667, -8.6769, 4.7658, 1.5409, -0.2906, 0.1343, 1.3309, -0.0889, -1.3607, 6.9265, 1.8681, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.429,"left_y":-0.142,"left_z":0.022,"right_x":0.293,"right_y":0,"right_z":0.179},"note":"The close appears empty; the plush remains ahead of the fingertips. I’m reopening and moving farther onto its body, while restoring the idle arm to its parked height."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe plush shifted forward during the approach, and its broad body is still left of the jaw center. I’m raising slightly and centering the jaws around the thicker torso rather than the thin legs.
move_to
left_x0.4630left_y-0.1150left_z0.0420
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4988, 1.8862, 0.86, 0.1658, -0.4404, -0.3492, 0.9952, -0.0223, 0.8822, 0.6937, -0.5743, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4154 left_y=-0.1365 left_z=0.0104 left_yaw=0.05 left_pitch=-0.1838 left_roll=0.0973 left_gripper=0.9952 right_x=0.2826 right_y=0.0008 right_z=0.1586 right_yaw=-0.0004 right_pitch=-0.1804 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.4718, -7.8974, 8.0752, 1.5751, -0.1587, 0.0904, -0.1441, -0.4718, -1.306, 9.4974, 1.8877, -0.0757, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.463,"left_y":-0.115,"left_z":0.042},"note":"The plush shifted forward during the approach, and its broad body is still left of the jaw center. I’m raising slightly and centering the jaws around the thicker torso rather than the thin legs."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe white plush’s torso is now between the jaws. I’m closing again on this thicker section.
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]: [-0.3897, 1.8984, 0.9997, 0.0452, -0.3916, -0.2977, 0.9963, -0.0238, 0.8829, 0.6956, -0.6033, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.4505 left_y=-0.1083 left_z=0.0319 left_yaw=0.0919 left_pitch=-0.199 left_roll=0.0989 left_gripper=0.9963 right_x=0.278 right_y=0.0005 right_z=0.1541 right_yaw=-0.002 right_pitch=-0.2082 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.2803, -8.5128, 7.8564, 1.6093, -0.0366, 0.2173, 0.105, 0.0479, -1.6752, 6.7077, 1.9023, -0.0269, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white plush’s torso is now between the jaws. I’m closing again on this thicker section."})
tool
executing move_to over 10 steps (1.0s)
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 second close was empty, and the wrist image shows the plush lying flat below the fingertips. I’m correcting the grasp height to table level and placing the jaws farther onto its torso.
move_to
left_gripper1.0000left_z-0.0120left_x0.4770left_y-0.1080
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3866, 1.8984, 1.0019, 0.0292, -0.3923, -0.3004, 0.0103, -0.0238, 0.8829, 0.6956, -0.614, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.4489 left_y=-0.106 left_z=0.0303 left_yaw=0.0983 left_pitch=-0.2107 left_roll=0.104 left_gripper=0.0103 right_x=0.2761 right_y=0.0005 right_z=0.1522 right_yaw=-0.0019 right_pitch=-0.2189 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.2803, -9.4017, 5.4906, 1.5751, -0.1538, -0.0024, 0.7985, -0.0889, -1.6615, 6.8308, 1.6044, -0.0415, -0.0366, -0.0122] 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":{"left_gripper":1,"left_z":-0.012,"left_x":0.477,"left_y":-0.108},"note":"The second close was empty, and the wrist image shows the plush lying flat below the fingertips. I’m correcting the grasp height to table level and placing the jaws farther onto its torso."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe fingertips have reached the tabletop and the plush is between the open jaws. I’m closing at this lower height.
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]: [-0.3683, 2.0495, 1.0641, 0.165, -0.4114, -0.3008, 0.9947, -0.0238, 0.8864, 0.6952, -0.635, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.4794 left_y=-0.1055 left_z=0.0057 left_yaw=0.1277 left_pitch=-0.1626 left_roll=0.094 left_gripper=0.9947 right_x=0.2724 right_y=0.0006 right_z=0.1477 right_yaw=-0.0018 right_pitch=-0.2437 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.3077, -7.3094, 6.3932, 1.1306, 0.2076, 0.1197, 0.1099, -0.0752, -1.9214, 6.9402, 1.7167, -0.0366, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips have reached the tabletop and the plush is between the open jaws. I’m closing at this lower height."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe gripper remains open about 1.2 cm after closing, consistent with holding fabric. I’m lifting gently to check that the plush comes with it.
move_to
left_z0.0900left_x0.4600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.366, 2.0533, 1.0668, 0.1802, -0.4316, -0.3031, 0.1274, -0.0238, 0.8867, 0.6952, -0.6575, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.4828 left_y=-0.1021 left_z=0.0084 left_yaw=0.1461 left_pitch=-0.143 left_roll=0.0984 left_gripper=0.1274 right_x=0.2683 right_y=0.0007 right_z=0.1438 right_yaw=-0.0017 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.2667, -10.7419, 5.5179, 1.3065, -0.0415, 0.0073, 0.8816, -0.0205, -1.6752, 6.7487, 1.6532, -0.0464, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_x":0.46},"note":"The gripper remains open about 1.2 cm after closing, consistent with holding fabric. I’m lifting gently to check that the plush comes with it."})
tool
executing move_to over 6 steps (0.6s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe plush moved with the gripper, confirming a grasp. I’m carrying it up and toward the center of the open safe.
move_to
left_z0.2100left_x0.4300left_y-0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3859, 1.8481, 1.0729, -0.0673, -0.4339, -0.3206, 0.1291, -0.0238, 0.8902, 0.6949, -0.6769, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4579 left_y=-0.102 left_z=0.0655 left_yaw=0.1405 left_pitch=-0.1726 left_roll=0.1049 left_gripper=0.1291 right_x=0.2646 right_y=0.0008 right_z=0.1397 right_yaw=-0.0017 right_pitch=-0.2899 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [-0.4718, -11.412, 8.6085, 1.5849, -0.3101, -0.0024, 0.696, -0.0479, -1.388, 6.7761, 1.619, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.21,"left_x":0.43,"left_y":-0.26},"note":"The plush moved with the gripper, confirming a grasp. I’m carrying it up and toward the center of the open safe."})
tool
executing move_to over 15 steps (1.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe open compartment is slightly right of the carried plush. I’m centering it over the red lining and lowering it into the safe.
move_to
left_x0.4150left_y-0.3100left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7574, 2.0006, 1.8717, -0.8886, -0.6273, -0.6682, 0.1298, -0.0238, 0.8902, 0.6949, -0.6926, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.4317 left_y=-0.2605 left_z=0.1988 left_yaw=0.1197 left_pitch=-0.1871 left_roll=0.083 left_gripper=0.1298 right_x=0.2617 right_y=0.0009 right_z=0.1373 right_yaw=-0.0014 right_pitch=-0.3055 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [-0.4171, -10.3726, 9.0051, 0.9499, -0.696, -0.0171, 0.3297, -0.0889, -1.5932, 6.7761, 1.5751, -0.0562, -0.0708, -0.0073] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.31,"left_z":0.075},"note":"The open compartment is slightly right of the carried plush. I’m centering it over the red lining and lowering it into the safe."})
tool
executing move_to over 8 steps (0.8s)
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 white plush is over the safe’s interior, below the rim. I’m releasing it onto the red lining.
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]: [-0.8574, 2.1452, 1.6447, -0.6132, -0.6529, -0.7666, 0.1332, -0.0238, 0.8902, 0.6949, -0.7097, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.4111 left_y=-0.3055 left_z=0.08 left_yaw=0.1054 left_pitch=-0.2223 left_roll=0.1035 left_gripper=0.1332 right_x=0.2584 right_y=0.001 right_z=0.1346 right_yaw=-0.0013 right_pitch=-0.3227 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [-0.5675, -11.2615, 5.9282, 1.2869, -0.6129, -0.1392, 0.3394, -0.1709, -1.6205, 6.7077, 1.5214, -0.0415, -0.0513, -0.0073] 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":{"left_gripper":1},"note":"The white plush is over the safe’s interior, below the rim. I’m releasing it onto the red lining."})
tool
executing move_to over 9 steps (0.9s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe white plush is released inside the safe. I’m lifting the left arm clear and bringing the right gripper above the yellow object beside the safe.
move_to
left_x0.3000left_y-0.2700left_z0.1800right_x0.4250right_y0.1800right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8627, 2.1731, 1.6348, -0.6132, -0.6483, -0.7715, 0.9951, -0.0238, 0.8902, 0.6949, -0.728, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.4067 left_y=-0.3054 left_z=0.063 left_yaw=0.1077 left_pitch=-0.2468 left_roll=0.1295 left_gripper=0.9951 right_x=0.2548 right_y=0.0011 right_z=0.1319 right_yaw=-0.0012 right_pitch=-0.341 right_roll=0.0073 right_gripper=0.9996 state[joint_eff]: [0.2256, -14.3795, 6.9538, 1.0085, -0.4078, -0.0122, -0.0415, -0.1709, -1.4017, 6.694, 1.5507, -0.0366, -0.0513, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.27,"left_z":0.18,"right_x":0.425,"right_y":0.18,"right_z":0.16},"note":"The white plush is released inside the safe. I’m lifting the left arm clear and bringing the right gripper above the yellow object beside the safe."})
tool
executing move_to over 15 steps (1.5s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe yellow object is ahead and slightly right of the right-hand jaw center. I’m lowering toward its middle and parking the left arm out of the way.
move_to
right_x0.4730right_y0.1550right_z0.0300left_x0.2930left_y0.0000left_z0.1790
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0214, 1.8191, 1.544, -1.0073, -0.6792, -0.9504, 0.9963, 0.4988, 1.7565, 1.4441, -0.709, 0.268, 0.3717, 0.9996] state[eef_state]: left_x=0.3044 left_y=-0.2778 left_z=0.1603 left_yaw=0.0938 left_pitch=-0.2743 left_roll=0.1373 left_gripper=0.9963 right_x=0.4122 right_y=0.1754 right_z=0.1483 right_yaw=0.0258 right_pitch=-0.3835 right_roll=-0.0158 right_gripper=0.9996 state[joint_eff]: [-0.4855, -11.3846, 7.706, 0.7448, -0.6764, -0.0904, 0.1099, 0.1573, -8.8957, 8.294, 1.2576, 0.1685, 0.2662, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.473,"right_y":0.155,"right_z":0.03,"left_x":0.293,"left_y":0,"left_z":0.179},"note":"The yellow object is ahead and slightly right of the right-hand jaw center. I’m lowering toward its middle and parking the left arm out of the way."})
tool
executing move_to over 25 steps (2.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe yellow object is at the bottom of the wrist view but still right of center. I’m making a small forward-and-right correction before closing.
move_to
right_x0.4870right_y0.1370right_z0.0140
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1799, 1.0458, 0.9012, -0.7647, -0.2844, -0.1673, 0.9965, 0.3866, 2.0281, 1.3346, -0.3466, 0.2035, 0.2684, 0.9996] state[eef_state]: left_x=0.2909 left_y=0.0011 left_z=0.1756 left_yaw=0.1471 left_pitch=-0.2914 left_roll=0.1349 left_gripper=0.9965 right_x=0.4626 right_y=0.1536 right_z=0.0289 right_yaw=0.027 right_pitch=-0.4241 right_roll=-0.0311 right_gripper=0.9996 state[joint_eff]: [-0.0342, -3.412, 6.0239, 1.58, -0.1001, 0.1294, 0.0073, -0.5265, -9.8393, 6.065, 1.7705, 0.1294, -0.0464, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.487,"right_y":0.137,"right_z":0.014},"note":"The yellow object is at the bottom of the wrist view but still right of center. I’m making a small forward-and-right correction before closing."})
tool
executing move_to over 2 steps (0.2s)
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 yellow object is now under the fingertips. I’m closing partway to hold it without squeezing the rounded shape out sideways.
move_to
right_gripper0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.0416, 0.8967, -0.7654, -0.2596, -0.1387, 0.9965, 0.3653, 2.0632, 1.3613, -0.3256, 0.1814, 0.2409, 0.9996] state[eef_state]: left_x=0.2897 left_y=-0.0005 left_z=0.1738 left_yaw=0.1186 left_pitch=-0.3007 left_roll=0.1351 left_gripper=0.9965 right_x=0.474 right_y=0.151 right_z=0.0237 right_yaw=0.0434 right_pitch=-0.4189 right_roll=-0.023 right_gripper=0.9996 state[joint_eff]: [-0.3897, -1.9624, 7.0769, 1.3993, -0.4029, -0.0659, -0.0122, -2.0034, -8.8, 7.5692, 1.3162, 0.0611, -0.022, -0.0122] 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":{"right_gripper":0.28},"note":"The yellow object is now under the fingertips. I’m closing partway to hold it without squeezing the rounded shape out sideways."})
tool
executing move_to over 8 steps (0.8s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe jaws have closed around the yellow object’s narrow section. I’m tightening gently and lifting to verify that it is held.
move_to
right_z0.1000right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1753, 1.0481, 0.8967, -0.7704, -0.2653, -0.1535, 0.9965, 0.3332, 2.1006, 1.3762, -0.3229, 0.1493, 0.2058, 0.2843] state[eef_state]: left_x=0.2892 left_y=-0.0005 left_z=0.1716 left_yaw=0.1291 left_pitch=-0.3091 left_roll=0.1332 left_gripper=0.9965 right_x=0.479 right_y=0.1418 right_z=0.0105 right_yaw=0.0584 right_pitch=-0.4463 right_roll=-0.0208 right_gripper=0.2843 state[joint_eff]: [0.2256, -3.2068, 6.8581, 1.37, -0.1148, 0.0952, -0.0122, -0.6359, -10.5231, 7.3778, 1.2674, 0.2369, 0.0806, 0.1392] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10,"right_gripper":0.12},"note":"The jaws have closed around the yellow object’s narrow section. I’m tightening gently and lifting to verify that it is held."})
tool
executing move_to over 6 steps (0.6s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe yellow object is still difficult to distinguish from the table in the overhead view. I’m completing the close and lifting higher to check whether it follows.
move_to
right_gripper0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.0481, 0.8967, -0.7708, -0.2657, -0.1551, 0.9966, 0.3336, 2.0281, 1.5513, -0.5888, 0.1383, 0.1978, 0.1221] state[eef_state]: left_x=0.2891 left_y=-0.0007 left_z=0.1715 left_yaw=0.1296 left_pitch=-0.3093 left_roll=0.1326 left_gripper=0.9966 right_x=0.4795 right_y=0.1442 right_z=0.0754 right_yaw=0.0713 right_pitch=-0.4666 right_roll=-0.0204 right_gripper=0.1221 state[joint_eff]: [0.0479, -2.7556, 6.7077, 1.3162, -0.149, -0.0317, -0.0073, -0.3487, -12.7795, 7.8564, 1.2283, 0.1148, 0.0122, 0.0611] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_z":0.18},"note":"The yellow object is still difficult to distinguish from the table in the overhead view. I’m completing the close and lifting higher to check whether it follows."})
tool
executing move_to over 7 steps (0.7s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe gripper is empty and the yellow object remains beside the safe. The overhead view shows that I overshot it forward, so I’m returning toward the near edge of the safe for a table-level grasp.
move_to
right_x0.3900right_y0.1500right_z0.0150right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.0492, 0.8967, -0.7704, -0.2657, -0.1581, 0.9966, 0.3336, 2.0106, 1.8954, -0.9642, 0.1379, 0.1898, 0.0066] state[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1713 left_yaw=0.1314 left_pitch=-0.3098 left_roll=0.1308 left_gripper=0.9966 right_x=0.4776 right_y=0.1436 right_z=0.1664 right_yaw=0.0748 right_pitch=-0.48 right_roll=-0.0284 right_gripper=0.0066 state[joint_eff]: [-0.0068, -2.6872, 6.7761, 1.3748, -0.1783, -0.0122, -0.0122, -0.1709, -10.2769, 8.4718, 1.3748, 0.022, 0.0171, 0.6325] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.15,"right_z":0.015,"right_gripper":1},"note":"The gripper is empty and the yellow object remains beside the safe. The overhead view shows that I overshot it forward, so I’m returning toward the near edge of the safe for a table-level grasp."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe right gripper is now at the yellow object’s table position beside the front-right corner of the safe. I’m closing to grasp 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]: [-0.1761, 1.0512, 0.8967, -0.7708, -0.2657, -0.1616, 0.9966, 0.4305, 1.8568, 1.0641, -0.3851, 0.1684, 0.2626, 0.9944] state[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1707 left_yaw=0.1335 left_pitch=-0.3117 left_roll=0.1292 left_gripper=0.9966 right_x=0.3768 right_y=0.1444 right_z=0.0074 right_yaw=0.0802 right_pitch=-0.5642 right_roll=-0.055 right_gripper=0.9944 state[joint_eff]: [-0.0479, -2.8103, 6.653, 1.3309, -0.1978, -0.0366, -0.0073, 0.1983, -9.6752, 6.6803, 1.3358, 0.2271, 0.1001, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is now at the yellow object’s table position beside the front-right corner of the safe. I’m closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe yellow-object grasp was also empty, so I’m moving the right arm clear to reassess its location. Meanwhile, I’m positioning the left gripper over the brown plush in front of the safe.
move_to
right_x0.2930right_y0.0000right_z0.2000right_gripper1.0000right_pitch0.5000left_x0.2800left_y-0.2800left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1761, 1.0512, 0.8967, -0.7708, -0.2657, -0.1616, 0.9966, 0.4309, 1.8568, 1.0424, -0.387, 0.1638, 0.2615, 0.0086] state[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1707 left_yaw=0.1335 left_pitch=-0.3117 left_roll=0.1292 left_gripper=0.9966 right_x=0.3689 right_y=0.1418 right_z=0.0005 right_yaw=0.0804 right_pitch=-0.5879 right_roll=-0.0605 right_gripper=0.0086 state[joint_eff]: [-0.1299, -2.7556, 6.8308, 1.3358, -0.1587, -0.0415, -0.0122, -0.2393, -8.8547, 7.5966, 0.9597, 0.1343, -0.022, 0.6471] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0,"right_z":0.2,"right_gripper":1,"right_pitch":0.5,"left_x":0.28,"left_y":-0.28,"left_z":0.08},"note":"The yellow-object grasp was also empty, so I’m moving the right arm clear to reassess its location. Meanwhile, I’m positioning the left gripper over the brown plush in front of the safe."})
tool
executing move_to over 37 steps (3.7s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe brown plush’s torso lies just right of the left jaw center, and the yellow object has shifted toward the right edge. I’m centering the left gripper on the brown torso and lowering to grasp height.
move_to
left_x0.2900left_y-0.3200left_z0.0050left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0657, 1.8557, 1.2747, -0.8146, -0.6369, -1.0729, 0.997, -0.0929, 0.58, 0.1951, 0.2329, -0.1127, -0.0792, 0.9984] state[eef_state]: left_x=0.2735 left_y=-0.2701 left_z=0.0724 left_yaw=0.1373 left_pitch=-0.3477 left_roll=0.1475 left_gripper=0.997 right_x=0.2927 right_y=-0.0037 right_z=0.1834 right_yaw=0.0479 right_pitch=0.4306 right_roll=-0.0524 right_gripper=0.9984 state[joint_eff]: [-0.4581, -8.2256, 8.335, 0.6422, -0.6276, 0.0415, 0.0317, -0.1436, -0.2256, 7.2821, 2.42, -0.022, -0.0317, -0.0171] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.32,"left_z":0.005,"left_pitch":0.3},"note":"The brown plush’s torso lies just right of the left jaw center, and the yellow object has shifted toward the right edge. I’m centering the left gripper on the brown torso and lowering to grasp height."})
tool
executing move_to over 22 steps (2.2s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteThe brown plush’s body is between the left jaws. I’m closing on the fabric.
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]: [-1.2434, 2.2448, 1.1767, -0.1425, -1.293, -1.1271, 0.997, -0.0975, 0.5861, 0.1905, 0.2184, -0.1242, -0.0792, 0.9989] state[eef_state]: left_x=0.2919 left_y=-0.3202 left_z=0.0217 left_yaw=0.1707 left_pitch=0.3135 left_roll=0.0948 left_gripper=0.997 right_x=0.2922 right_y=-0.003 right_z=0.176 right_yaw=0.0522 right_pitch=0.4059 right_roll=-0.0464 right_gripper=0.9989 state[joint_eff]: [-0.4718, -8.1846, 4.5744, 0.4957, -0.0415, 0.2808, -0.0073, 0.2256, -0.5675, 7.7607, 2.044, 0.0757, -0.0757, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush’s body is between the left jaws. I’m closing on the fabric."})
tool
executing move_to over 10 steps (1.0s)
step 271
top_cam
camera top_cam step 271
assistant
agent noteThe close missed the brown plush’s thicker body. I’m reopening and advancing onto its torso at a lower height.
move_to
left_gripper1.0000left_x0.3350left_z-0.0080
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2442, 2.2551, 1.177, -0.1219, -1.3136, -1.1305, 0.011, -0.0975, 0.5873, 0.1905, 0.2001, -0.1249, -0.0792, 0.9989] state[eef_state]: left_x=0.2927 left_y=-0.3203 left_z=0.022 left_yaw=0.1818 left_pitch=0.3343 left_roll=0.0832 left_gripper=0.011 right_x=0.2914 right_y=-0.0028 right_z=0.1713 right_yaw=0.0517 right_pitch=0.3867 right_roll=-0.0431 right_gripper=0.9989 state[joint_eff]: [0.0205, -11.8632, 4.6017, 0.5739, -0.3736, 0.0024, 0.862, -0.0205, -0.212, 7.159, 2.0537, -0.0317, -0.0562, -0.0073] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.335,"left_z":-0.008},"note":"The close missed the brown plush’s thicker body. I’m reopening and advancing onto its torso at a lower height."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe jaws now straddle the brown plush’s torso at table level. I’m closing on it before lifting.
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]: [-1.1572, 2.3253, 1.1656, 0.2939, -1.3296, -0.8753, 0.9947, -0.0978, 0.588, 0.1905, 0.1959, -0.1249, -0.0792, 0.999] state[eef_state]: left_x=0.3318 left_y=-0.3202 left_z=0.0184 left_yaw=0.2529 left_pitch=0.3928 left_roll=-0.001 left_gripper=0.9947 right_x=0.2912 right_y=-0.0029 right_z=0.17 right_yaw=0.051 right_pitch=0.3818 right_roll=-0.0423 right_gripper=0.999 state[joint_eff]: [0.9778, -7.5692, 4.9983, 0.7741, 0.188, 0.3785, -0.0611, -0.0068, -0.1299, 7.2684, 1.9902, -0.0708, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the brown plush’s torso at table level. I’m closing on it before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe plush has been nudged forward and the jaws closed behind its torso. I’m repositioning farther forward around the broad body, using the visible torso rather than its trailing legs.
move_to
left_gripper1.0000left_x0.3950left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1587, 2.3314, 1.166, 0.3332, -1.3453, -0.8787, 0.011, -0.0978, 0.588, 0.1905, 0.1955, -0.1249, -0.0792, 0.999] state[eef_state]: left_x=0.3323 left_y=-0.3214 left_z=0.0209 left_yaw=0.2771 left_pitch=0.4093 left_roll=-0.0389 left_gripper=0.011 right_x=0.2912 right_y=-0.0029 right_z=0.17 right_yaw=0.051 right_pitch=0.3814 right_roll=-0.0423 right_gripper=0.999 state[joint_eff]: [-0.0068, -11.959, 4.3419, 0.7399, -0.3297, 0.0171, 0.8132, -0.0615, -0.1573, 7.159, 1.8828, -0.0904, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.395,"left_z":0.005},"note":"The plush has been nudged forward and the jaws closed behind its torso. I’m repositioning farther forward around the broad body, using the visible torso rather than its trailing legs."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteThe brown torso is now visibly between both fingertips. I’m closing once more at this corrected position.
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]: [-1.0405, 2.4287, 1.2449, 0.6662, -1.3006, -0.622, 0.9946, -0.0978, 0.5888, 0.1905, 0.1734, -0.1249, -0.0788, 0.999] state[eef_state]: left_x=0.3876 left_y=-0.3173 left_z=0.0226 left_yaw=0.3494 left_pitch=0.4408 left_roll=-0.1064 left_gripper=0.9946 right_x=0.2901 right_y=-0.0028 right_z=0.1644 right_yaw=0.0494 right_pitch=0.3588 right_roll=-0.0382 right_gripper=0.999 state[joint_eff]: [1.0188, -9.0051, 5.9966, 1.0623, 0.2222, 0.3297, 0.0366, -0.0889, -0.1026, 7.3915, 2.0733, -0.0708, -0.0122, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown torso is now visibly between both fingertips. I’m closing once more at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteThe brown plush still has not been secured, and repeated contact has shifted the safe farther away. I’m withdrawing both arms rather than continuing to push the objects or attempting to close the safe with objects outside.
move_to
left_x0.2930left_y0.0000left_z0.2000left_gripper1.0000right_x0.2930right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0401, 2.4332, 1.2499, 0.6846, -1.3052, -0.6289, 0.0103, -0.0975, 0.5926, 0.1905, 0.1474, -0.1249, -0.0792, 0.999] state[eef_state]: left_x=0.3885 left_y=-0.3182 left_z=0.0241 left_yaw=0.3664 left_pitch=0.4458 left_roll=-0.1339 left_gripper=0.0103 right_x=0.2888 right_y=-0.0025 right_z=0.1572 right_yaw=0.0485 right_pitch=0.3294 right_roll=-0.034 right_gripper=0.999 state[joint_eff]: [-0.0615, -12.4239, 4.0821, 1.1648, -0.2369, 0.0562, 0.8083, -0.0889, -0.4855, 7.159, 2.1709, -0.0269, -0.0122, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0,"left_z":0.2,"left_gripper":1,"right_x":0.293,"right_y":0,"right_z":0.2},"note":"The brown plush still has not been secured, and repeated contact has shifted the safe farther away. I’m withdrawing both arms rather than continuing to push the objects or attempting to close the safe with objects outside."})
tool
executing move_to over 29 steps (2.9s)
step 340
assistant
agent noteI placed the white plush inside the safe, but could not reliably grasp the brown plush or yellow object. Repeated empty grasps shifted the objects and safe, so I withdrew both arms and left the safe open rather than closing it with objects still outside.
give_up
hindsightWrist-image alignment alone was insufficient here: several apparent torso alignments closed empty while nudging the plush forward. Stop and re-localize earlier after empty grasps rather than repeatedly advancing. Tool pitch and yaw readbacks drifted substantially during this trial, changing wrist-camera geometry; explicitly monitor orientation as well as position. The white plush was successfully held only at near-table height, with a settled gripper reading around 0.13.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4374, 0.7269, 0.2558, 0.3454, -0.7776, -0.2806, 0.9977, -0.0776, 0.6006, 0.3172, -0.0372, -0.1165, -0.0792, 0.999] state[eef_state]: left_x=0.2922 left_y=0.0041 left_z=0.2054 left_yaw=0.4443 left_pitch=0.4781 left_roll=-0.1896 left_gripper=0.9977 right_x=0.2885 right_y=0.0018 right_z=0.1731 right_yaw=0.0581 right_pitch=0.2637 right_roll=-0.0268 right_gripper=0.999 state[joint_eff]: [0.1436, -0.253, 7.747, 1.6532, 0.2076, 0.1538, -0.0904, 0.3077, 0.0615, 11.2615, 2.0586, 0.0611, -0.0122, -0.0122] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed the white plush inside the safe, but could not reliably grasp the brown plush or yellow object. Repeated empty grasps shifted the objects and safe, so I withdrew both arms and left the safe open rather than closing it with objects still outside.","hindsight":"Wrist-image alignment alone was insufficient here: several apparent torso alignments closed empty while nudging the plush forward. Stop and re-localize earlier after empty grasps rather than repeatedly advancing. Tool pitch and yaw readbacks drifted substantially during this trial, changing wrist-camera geometry; explicitly monitor orientation as well as position. The white plush was successfully held only at near-table height, with a settled gripper reading around 0.13."})
tool
give_up: I placed the white plush inside the safe, but could not reliably grasp the brown plush or yellow object. Repeated empty grasps shifted the objects and safe, so I withdrew both arms and left the safe open rather than closing it with objects still outside.
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 · 9.545 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, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6083, -0.3962, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0008 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.306, 10.1538, 1.9853, -0.0757, 0.1538, -0.0855, -0.4718, -1.4427, 9.6889, 1.917, -0.0024, 0.1099, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caadc9e17518b56d760dd1431eb2090cdb5f5acc744bd70f250a0b4e9e6cd741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc267626b58863c51444096ffb6d69412c17efc5ef48188932a8fa7aa62cd3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:552d8d03d9c867eec763c49dec1534c76dbba5261cbabeed9ad54eb578a2330b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.754 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9YamFiSNbz1GS2G8egfAJnpV_oHj5-1nFPQgb3_GPXaDdgZ7inasv07MhmoGdvNh9Vl11H1DxwzVqhsR8h4y639zMCHYmOMZm9ZKslssrqxY2XWwamGqsMV1LXe27wBFz9rBFL305bQwJzAFMUsTzzsyVePUEPdt-tZSjx-5kVqGMTVG8-Kh3cATnHer5otJBbycNIDZFqsI8klmQBIbbtE7WVk4rTpgkrnrqwIcUgx0_uDHiOag1NaYZoIlsWdUvs_v2LifrfeX1tsPCv_kZP5vaiwA_58ziKb93ESI4-7ZSV8J--x7Itfoyw-M3KhtLWDew7tbnuVshqA8A4r-bTI-0ZV-QOi8hroSR93buFKHlaQHoMNeyPkYo_tAcXNpZubYPCbe8BqAKMmNDOLdOwmmfdQV9q1-sYehyUp5XGdbFXyatUJ9UUMCKCPaKfE5NwOiCziGv2uoqCdP4_EUnPsQYnjBwUAFdSpVuNMxaNu7eYudu_a4NLauF2AyS799EgFP0Zk81X5Z3AAyu5FCUP1RX22pE1RwlVHEx-RkiUiBiV8z-e9Ij93ORftaJItjuSRualCPGpt1yfHKXHNTyAgWtyFG-ISHrtuZbU67NBMDRgu0Vq-togkxKih1hcbeP29mtVhmH1fSnzjIE5t5fwiUFt-sDRyWf6KY6ouEAoqk2iY-LC1iHFX0EpdWFDy0NQThHscoMhhaJsqj7CShiS_Q3DyO3QnPNiam58vx9SYNJAThHWCscsXlj3vxMZ47m5DFBcJcRNVwA5tNs5Fd7IV1ShAkiLq6kNCoIPLLTiVQBEE1TFAb_GOWGkrAbu_FP61P0WVexsLswEykSwY4FT4MEfHtU1E3MKrKxfzu585ATjfgi80J-795EHire8RHCjyxzSEGINUQ7eI34fuokwziN2J7zsNTU5bqCmy5Del_4il_vY6upwp7Oh0NyaswDzMI8Snfpp8ppdbvif7PLuO1y37Kjghq4lEzsKiJf0PmkwT-L315bH9A0rnHyE9GIvFswn349Ujy9K56yxrpXR9CHHIvKWGSLONXt4S5G9M1QP_R88iwJ4sG7fXkI_3ZK-cg4JoxWa4ggtewWsIYhNIeQciCvDvmY6525gdFSSW--fZ2q_HO7HhnsoH43a1Kl1cAAiELGz-lsxuuNz57DifbsF4UNmVjgWpVWyDJ5PGYK4UxvzIgMUcmIZI8P4niMtiDq9YCUXXPyFmsc5ktNu3ql1x1Ek5qa0SMye-vJ7J-Ya2fgKWISoU4FKbUKYF-DKVGZl9UwP1CsHLAzgWpDOe3Z9FNx0ZMHOubefc2jsSBmHDmBe9Orsk45BSUjldG2HkqUBaysUywWB14oEXSJMqnbIDYsfhftP4-bUSo1lUwkfkJ3MWTPenW8Psp6RaAOrH92oMpoeN9SlOEbK23Gx5Peg98e7G44iO5pPFx6qlxMI_NGQCXTkSOL7h3ao2xeWU6NrJbf0CsYPYee-6ydHFJV85-c2SLbdXazHhU--B7-buDfPOwRzL4q4B3fV8TLvn7vAHfMM7MAZR4Kp76EQ4e5C4tEjOXjC9iH59aogk9n275m3tXkBld17FnGbYphq7bmr8MXwMlD6ch4HwodmHJwxYMqtNgF08cBB4XmyvA_5bty-zmmLl2u0uu0TdzaBnm0fnMaKIwudBz4fsEpEL5uuBh47R3gjr3jQfm_OctaX07R5BZyDjqHrpKs5B01SrWoFE-e30Ho2GeVAOaR2N810eTFKcm-Rn1VWZuf9m90nbUh4qXCJO9zUeXrScfco3BFbU8MVIdl3jdulmNqtnQ==",
  "id": "rs_0e04085871869a99016ab2af51760c87d0bf08043356d140dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.17,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The open red-lined safe is near the back, with a white plush, a brown plush, and a yellow object outside it. I’m positioning the left gripper above the white plush first.\"}",
  "call_id": "call_ZVHgpUNAWTcg4UXgQRstf21W",
  "id": "fc_0e04085871869a99016ab2af56b92887d08708961e6c1ca637",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZVHgpUNAWTcg4UXgQRstf21W",
  "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]: [-0.7284, 1.3563, 0.7349, -0.1623, -0.5705, -0.469, 0.9993, -0.0212, 0.8005, 0.614, -0.4324, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3293 left_y=-0.1611 left_z=0.1218 left_yaw=-0.0213 left_pitch=-0.0611 left_roll=0.0372 left_gripper=0.9993 right_x=0.2892 right_y=0.001 right_z=0.172 right_yaw=0.0002 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.0667, 9.2376, 1.6972, -0.4078, -0.022, -0.0904, -0.212, -1.7299, 6.5162, 2.0147, -0.0562, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d608fe69bafc5e16e2f562ebf38daf5450c2c9b345e0c4d63f774821505222ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c30c201206bac42c8e2c93c45e24b54f02b3416bc042374697a21bc89568a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc5099241900463bdfa3871a2c1b9c053784d7aca929c73d108c8908ddbb1a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.3 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, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6083, -0.3962, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0008 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.306, 10.1538, 1.9853, -0.0757, 0.1538, -0.0855, -0.4718, -1.4427, 9.6889, 1.917, -0.0024, 0.1099, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9gBLpCPs6U4zmfFsXENliPyRtN5sDfgTSKMK32XTpeUjP-oZGJckiuhNeBjMOoOdsmOdNJgoX3wlaOaBls7_Wefg48-oLA9qXGc1Q_ILymaKt5cvYeivS1A_Ffz9HTquKGKDO262R1HatyUExErMwVcgLgqv1DnAUqrVPlFAILMA96RFmDuNSTot8tkfJAs-gRbk4V-V8EgdqVSuMr1_zGVGZZAqGUN8jc-8offFXV8Er8AF7bsNaDzuQ6ZgNJK1OItuUNBczmG0JdViPx8hudtNTpx-H-uRHXLzYqFJwAzzgxeR9uyuMHYiJbc81GZ-XG1Q72urF9rdoBrNwiOHvcT3lDh1slTzhwgmsdfcRFCFw-H99dJOITYtAVgjpJIVTYFWWZcLcwUXSBf_e2SuRnLFr3J9i_wyGJD9fwhyRZfNGNaPiqcC5tZg7J2NapMpv2sy8EQuQnM4T_Jo-wpcpjuBs33K0lMgf5k9KxkV25oQ_dsV7_6izvZBgijb7M2k3Erj0IMKFm1xqNKD98fXcNc0lv_pKPcIsCj1En-4N2xyzIJxeJ6VnN7-ShnEkIpgPOb8Vbnc9yUpl4TQLcF61JV2IQWT6HD3fIG9lFPf-brOl4O3plXaQSdNJTqcLp6WtD23FZhDHhRwKwRG7toRC5dSs60eq6h2do3z03m62CeyUjwdUP_hJi_HTQrb8Pwz6TW-5akKrHEdwjOTTNKoCpSPzreVAZOK1zYfg8_GHhADsx7rTCWKfYYUHfpeqkGVfIEejh7g_PJnNrvl-De7SPbi3R0v-zR-y_uGvZ8TTe9Ls6Y93JBY2TI6aKOSBj9eh34vNKFPWLt4ZIhVse9N-KPy48pw7NzvbogbtJHwQU69QQZDmN6mKhTvQlqa3eeQqZjirk5umxltvOLa4MgTl9eJ-FIVVETUgKnjCIYHRFAb3ONBtchwqvOokwkKrKYOUiIH2H3MukMsRAxgAoMlTUnNlPBb5aJpkBG3G1D-7ykSUI6DukissMn_cWy92ya3Qe7pO_6TkbsHg8XQRmbc3GUJ7GIS42Xze-iU9pJlUCFp21JF6nXHMex0SpRnz9FQQtUP5_bxDb0cmSgrs3K0AJpV5NQqXSjGpUCVd7pvL5KiIJOco6EpNEsjKPeKcwU8vOhVRbFvPW5GH5EiB_CXOmoo8xhaHjxoKYMK2seRBEowfwHJwVXcwi7sZDTYwv-W1cQBsRZsMxBDsZUAIMP5qHPrLXmNZdvK25V_6RH6vTgdKfXDIDHBHrQeBVemS5e3E4axsiQiK-HhA9Jq1LG4IWuQJ2VdcGDuqT8hUwVJtfC_bfhD-fVnn2IAurnHivln6TI9_kB_BgFlu_wAtVT86ejRWcMVDgf-t46biQW6aMExDr8yq1d1T9-SFHy9S6IS1O",
  "id": "rs_0e04085871869a99016ab2af5c26fc87d0bf7db9e98ff7ea38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.153,\"left_z\":0.025},\"note\":\"The white plush is slightly left of the jaw center in the wrist view. I’m shifting left and forward a little while lowering around its body.\"}",
  "call_id": "call_qHXxEzw2vL3FMJI5Ay7QRNr3",
  "id": "fc_0e04085871869a99016ab2af5ea87487d08a572f91f4afb800",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qHXxEzw2vL3FMJI5Ay7QRNr3",
  "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]: [-0.6369, 1.6852, 0.5884, 0.2729, -0.5125, -0.4107, 0.9992, -0.0212, 0.8043, 0.6125, -0.4561, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3492 left_y=-0.1461 left_z=0.0194 left_yaw=-0.0026 left_pitch=-0.1204 left_roll=0.0754 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -6.6803, 4.547, 1.7363, -0.1245, 0.1099, -0.022, -0.1983, -1.4701, 7.2957, 1.8584, -0.0269, -0.0366, -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,$blob:e63d9ef104356a9cc55b00ead84939e7faea3ed24f1fb0ca988a370147ef815f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4004b27edbd6466eb1122092600f40b13a6b5cfffed12ce2ed4f144e7840797",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85adb8ac242e2482192429ead3b413e31ba680ea56cc5778f150ad0eb786046b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.874 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]: [-0.7284, 1.3563, 0.7349, -0.1623, -0.5705, -0.469, 0.9993, -0.0212, 0.8005, 0.614, -0.4324, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3293 left_y=-0.1611 left_z=0.1218 left_yaw=-0.0213 left_pitch=-0.0611 left_roll=0.0372 left_gripper=0.9993 right_x=0.2892 right_y=0.001 right_z=0.172 right_yaw=0.0002 right_pitch=-0.0366 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.0667, 9.2376, 1.6972, -0.4078, -0.022, -0.0904, -0.212, -1.7299, 6.5162, 2.0147, -0.0562, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9nZC3IXlVCziZhRzc2umvjuscCSGkrYhqm84mQZcDhBkKBpVGGoCGhWlsNkJqnuhdl8qSv2t6oc175lqO3zlkkVgcbLdsPk802R9LG67-psePvUPhGT5SMit9Ywv68J0RZ2wSReJPtzfTHm-qpzyXRNOufBV-E9ZQen7s8DmBMpny3t4jVU11tG_l0YGl78x4cUfbhRRMF-bGzC7vVuTj7x7C4WUjYLApj3Zbs9-i2qYQg0t3K4mLtK3XZ15BycfOFiMWVk-1EqtK5mAbEKrrzTXt46zVqJ0tahPY0XBf7zgIMeF4zpZqmfgdClxKcU3rZsA-vUTGTo0Stajg8-zilAvw_3T4DDBnd6QqdgQ74iDrtwVXNvyJHJ0hpQ_LvOiixjL49IXWnboNJTDEZo8cRuCUZy6iFIVFWnsguN9Jx8asMBAZizFSzdxHAMtmO0wBn3JLV2sJ7qyVSVqKhV_dLrFW-TAC_1YHtq1eyp2mVlw75hVOz-mXH5fJowC0o82aq5b1C2P0kGkhjDw6zdvXjU8G8V0TF3bsTX6tCYfOli5EVfwkVN1rUGDJzUQSy5u9YpgufPryifw2RhqVGOhsr-_AMMRmg118X3_Y3AFCI9qktoD3NoxA1FWPIVDue_X3syiq_YnpAsWxPL_1aoOvgq60y2U9LLFMwmfR03HjTwtbslVGRz2U7ASxCDoe5TZJ6toynSB8-4HVQi3WCNJ565JwhkKTtYsmhutpQcAcyllHfqV3yzkZ4xny8a6d5935_eY4H2k8Ip7Woz9SpDZ0W26FitqcywyznM0GEtUUSGPtXxX4JX_Fwruu0wAzKgD-G3kk5r5TAX2PimLSLo8QbsQw99BIglJkOREHAQd_tnlW-v0cicP4N8aSrlYoqcefl3ynA0L3Z1csM0yDc4zZLRXHQFB7r-IsQeVo9tj9SVD7hi_MhG6rwcMRaag8vtNjpW4Nq_DD8GHahF9DuavN64aAvzOE0YMMCtynEgxZh_m5aqT-00x1h3yD-roLIxn9ikuWjPl4jFm3PgO4SNuM2AtwesGqXsZIgAy1AdR-lD5n4YES52ceSdnLLwXpYrSIqQRDYzB2-Hq3r10x3IvfiL9QJm8rlVkdi9oJDPYCM8Gi-V-06WOq_5QAc-3U8NrBux7AICcj0Q4V_uPKCXpdNJ0Nadna3oBDUb7okXurm8y7JwOqaFq2zV4siNayl2gonJSugv7tG_Jc0dHqS96WYo-h5alHU6Dm2e448NA4bBjg3Iq9lanu2iDH7iNjxPQBM8ElYUSlWAkvBvbwu1hjKaA==",
  "id": "rs_0e04085871869a99016ab2af637b0887d0960a09ca557b87a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.135,\"left_z\":0.018},\"note\":\"The plush’s body is still ahead and left of the fingertips, so the jaws are not yet straddling it. I’m moving a few centimeters forward and left at grasp height.\"}",
  "call_id": "call_hvmGWcIbwVeEEv8ev7dOpDNF",
  "id": "fc_0e04085871869a99016ab2af649aa087d0b5a9e4017ede56c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hvmGWcIbwVeEEv8ev7dOpDNF",
  "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]: [-0.5194, 1.7889, 0.6815, 0.3, -0.4568, -0.3492, 0.9992, -0.0212, 0.8066, 0.6121, -0.4747, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3863 left_y=-0.127 left_z=0.0124 left_yaw=0.0377 left_pitch=-0.1323 left_roll=0.0796 left_gripper=0.9992 right_x=0.283 right_y=0.0011 right_z=0.1612 right_yaw=-0.0 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -7.3231, 6.8444, 1.5409, -0.0122, 0.1929, -0.0122, -0.0615, -1.4564, 6.9675, 1.9316, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0819e1d81fe9da3983df9f8f8518f96a1adf63abfd2957cb96726d7adf35967f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6cd162f548fec61ff3b23db5e751c88c62bcb076c053a2ba7939e4ebbfd9d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca76c2ad64db34b8e301751dbc389358228c23661e482d97a32ddd19e6da3f68",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.284 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]: [-0.6369, 1.6852, 0.5884, 0.2729, -0.5125, -0.4107, 0.9992, -0.0212, 0.8043, 0.6125, -0.4561, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3492 left_y=-0.1461 left_z=0.0194 left_yaw=-0.0026 left_pitch=-0.1204 left_roll=0.0754 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0656 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -6.6803, 4.547, 1.7363, -0.1245, 0.1099, -0.022, -0.1983, -1.4701, 7.2957, 1.8584, -0.0269, -0.0366, -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": "gAAAAABqsq9rWj52Ibm2DwPcP_JB6XR_YVWY_4vqOiG14kcLwsEAATYGdKl5XB13VcFNjAxLEstyaUXicDiTF3Y4V1z8AgfDwevwBIRfamp215Ce-8NI_4OE5NZlRTE6QQJ6NSAed8dQGPXPlmAzAe-EkxpIL7jeapDf4L_LZxLZelaDpdQMb8STuXYoGdFwr-3S8olqtW6TxJjNrM5RR3wls0bYw1lW9gaXkfwUimrmkVJymksHNoyFlj3XdaNaIzQr0AjwFIBhg1B91pdjmWUbGPwG2m1Qd3JO8nt1tcUm3MhwW1Wb7NJcOROmJH71BWvF9RB3CZO_GqaBcF1ezSQ36xY7Vr906xGWXKAlb9mgHCnYbioSkEQd7otCUZHJQT86gnlUCtzQ-IokX7NbWP0ijMowUpEaWwIREeXQpmeji4S_onZ_aE5cwb-c5O_fW_veoG8LGXQbsjFGMDn4eljYike56QI5jPrv211yDkVwxQX_Qkl7eXs2SaU73SeGy6l9KeH73-1r-Ctq2Y0Knk3alCK2u-ECZJnz5pczScPVwsP7fIhQfn9OJ_WKA3CThfBHjbLSwoOzfP2qvxypBgxKcOSaNYRypNFud4LiI09pOTtGWTRwIO-S6xLVlmZsfnXkwEIwQ-wu6XrHnCe8ecmE-JzuFGfeZFXT6Awmfe3imduQerBQJsotu41UdMipuCaGon5lYH99u9DcScyC8Kpzl9wujUi3Hgu6BpAgqNFSrBR91MSqKkDmSiZB8btwV_z3gLdwgA1bWu8J9cSsljLBZcLNgT5oxWQMnCP5SumNq6AltE6v0JNoGQA7vmSOv70JtNrduCND0rFY1RDAuETQlhc0YiZtKVVaGHZZ8ezNGh64IhWYHmVixq7GOSzu13kWCCE08QCTHRzoJAHyp38fZUAo6fUZ0LnVuZhOtCGsOwggS5sag2TFwJ7UCTwVuUrDKp2EocWitZn0MtXgPsRXcuIee13fUqDUKARKJ3ZeYmfr6PgtcKyYNwqUbEB0LpiKxrHFibm3mlCdkMsexA3xVyg08rsZ1y0PNUqQEBSAJfMiimPFlRm7PCQNYoyJVWlcjBBFTIPOMuU-fTQNUgCppNo15_zsGg5kc5hZvz378pdXVU4oH59yfN5xH0KO9E5CnsOxaeiEblQbhy3b186PmYoiV9WqzW0b8e7uvjRhxQgvcEKBLlRWMSh_TpgrdRuQre9_Q7-a",
  "id": "rs_0e04085871869a99016ab2af6968f887d09cb192ad8123e5cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now flank the lower part of the white plush. I’m closing to grasp its body.\"}",
  "call_id": "call_pzGwJGMkYUFoBDipFgOWOyA3",
  "id": "fc_0e04085871869a99016ab2af69deb087d0bbd6abfc54df2fb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pzGwJGMkYUFoBDipFgOWOyA3",
  "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]: [-0.5182, 1.8008, 0.6853, 0.2901, -0.45, -0.3534, 0.0357, -0.0212, 0.8082, 0.6121, -0.4999, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.385 left_y=-0.1269 left_z=0.0072 left_yaw=0.0372 left_pitch=-0.15 left_roll=0.0816 left_gripper=0.0357 right_x=0.2791 right_y=0.0012 right_z=0.156 right_yaw=0.0003 right_pitch=-0.1137 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.6769, 4.7658, 1.5409, -0.2906, 0.1343, 1.3309, -0.0889, -1.3607, 6.9265, 1.8681, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8068a7a95098a7375186fae47cdc7d5ac044a590f703c138b1bb0065dab3f43d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcfc3b22961ba9835cd1f871fda1d2db459fd04a1af122f542bab1f3970ec695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57e681832f488a7a9b0ad84556f9a133a3b71e2e670e52c2d388f2879aee038",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 10.2 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]: [-0.5194, 1.7889, 0.6815, 0.3, -0.4568, -0.3492, 0.9992, -0.0212, 0.8066, 0.6121, -0.4747, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3863 left_y=-0.127 left_z=0.0124 left_yaw=0.0377 left_pitch=-0.1323 left_roll=0.0796 left_gripper=0.9992 right_x=0.283 right_y=0.0011 right_z=0.1612 right_yaw=-0.0 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -7.3231, 6.8444, 1.5409, -0.0122, 0.1929, -0.0122, -0.0615, -1.4564, 6.9675, 1.9316, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq9xcqOvLvo8z3f9nqhjQKb9lxwSlPiMWn0_s7zeiiVLSCgLC7VIn1PPGUmYSz0Tr4NKEFfmxDYPqY1XewcsBe0UC6UnDdDU36afKKDXmRvQwnzi8iL39H9uhpMUdqlAPNtPhOkkPa-P2L0JlDf9TGNPbQ64BrbIb6H27SyCroFGQnLFyDQ5Hosz073EmSDfutZtOdcFyacxE9O80MZ61mLtmi_nFKtl-VSwOv87f0vv6_Eq-UHw7x2q7F_U4Dl0QX-jdLu-thjA1iA3egic6JJABXZ_Wk0ovS0ag5JhPKamHwKZrHh-EQKKkGluct1-kZm2mer3GjfCc64O62-utGWsZEZb3P7QeWvps6x52sYDg92z0FGa3H0_exCEQVQnQQAAQQz35mm9rtgrKfu1j-zASlnfKs-SJQpbpq49m7QbgmO_G2dBjio_14CqhCXLSn2CbE_lWvHIVy8q96Iwb5Q3yGz7bpY_3kvV409YxzmEurjuPCo_YZahUT8Cfmf4Uy6M-d8V0m7RFzENGQd5SA-xJHkDOnwbOiSEzZTMImlZElyHIudjGi1d2MV4GK302cHMN5aMpHh0gTu4sQjKpVprWjGZmHi8z09Yn5aBsSvE1tRrBki5xz_Uk_OTJ-T7YJDhZfSK-5tJlyPCEKhKPyPYQCkqrOOXzAfNfFGNSjHTttEbiF2ux8KMbfOmarrI1PGqAXf-QfWnDBPYKmEgbm0qAPJYF4qH1Hq5f3f8KDUR9jlrCPW9wykSzboKaXbH6O5uozJR_a-OmM_PeExGHb_KNxvGxB_m2SM0BV0GttD83C_vYi9cLpRIGN8vK7chX3mZJcvaudmZnAsKjquauKAXbcic-O7Vt-LJ9hNyN2hv7qXD1L3Z6Qr2ztKrknePzHL4W-jaD9aGT4xC7hsvlgltNUj-Ra38CSvbo4jUVqcd-m8zSRpqqDKsjU17KdsO2jigsscSJRTRdVIDLKOxqkx2CXOFnIhHBMpRFHf_sDQuPXhM1R5AQ7C2TN64nuPH0mK5N-7rTqUg75j5rMErmVnXKk2vZ5olJY9PSUQVGcdqSP7ND7CBm4lorbTbAnPgIBRO5DXtm0iFGlQS4rm3Nrbt-Z_XCHwkAkqf0dm4VtRD_r5za9ZzuOplK2G_JgeZ9H6wcyyENv46EX8kFCqSCv-4pWDFymliG3UQ2RD_-9NllXOBv2xSV5590U_eWglfZwdr1jO-LUmS6SxjlgbBw2vSYOqCp_K0JPY1FvXX9rmmg90=",
  "id": "rs_0e04085871869a99016ab2af6e5f6487d0b4db1bab5ca42a0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.429,\"left_y\":-0.142,\"left_z\":0.022,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.179},\"note\":\"The close appears empty; the plush remains ahead of the fingertips. I’m reopening and moving farther onto its body, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_tAroWZgdenXffvzAoVCpPWyB",
  "id": "fc_0e04085871869a99016ab2af6ec3f087d091ff451b88f2f048",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tAroWZgdenXffvzAoVCpPWyB",
  "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]: [-0.4988, 1.8862, 0.86, 0.1658, -0.4404, -0.3492, 0.9952, -0.0223, 0.8822, 0.6937, -0.5743, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4154 left_y=-0.1365 left_z=0.0104 left_yaw=0.05 left_pitch=-0.1838 left_roll=0.0973 left_gripper=0.9952 right_x=0.2826 right_y=0.0008 right_z=0.1586 right_yaw=-0.0004 right_pitch=-0.1804 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.8974, 8.0752, 1.5751, -0.1587, 0.0904, -0.1441, -0.4718, -1.306, 9.4974, 1.8877, -0.0757, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f9039af301dfa5aeaf73431938771291c024709a88fa002faea24ded428d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec561f71745afba616078986f3943793d4d7aa48004ddce3485826ff1d7dcdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3894662ede20c274a5f464f88bb97bb161451666344f7464de8818cbdb1f5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.432 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5182, 1.8008, 0.6853, 0.2901, -0.45, -0.3534, 0.0357, -0.0212, 0.8082, 0.6121, -0.4999, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.385 left_y=-0.1269 left_z=0.0072 left_yaw=0.0372 left_pitch=-0.15 left_roll=0.0816 left_gripper=0.0357 right_x=0.2791 right_y=0.0012 right_z=0.156 right_yaw=0.0003 right_pitch=-0.1137 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.6769, 4.7658, 1.5409, -0.2906, 0.1343, 1.3309, -0.0889, -1.3607, 6.9265, 1.8681, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq98oPdrhsSnYHoczP2IeoZ6M0wK5b5G2Q8CoIRIXhxRqhVu9k8RxUvDj7iw7vb6Il_Xb_aoM5qMj8SA-oGl2lp8rOlY-MM-TxcAz9nbNHCiZlo2F354c7Ef3cWJgRlB8Mo5YGTo59F5OC4s7dOeFvyJIAep4sbSSVZP_2ssBL8UNkON6u5GcEIEOfBzaPJhWPg6cGSlXBECkuRuBtYlm3i6VQAZPeVw9zs4DSdlNuZQOdq9inMpYmM0m8wsTS2hY6-dGnd22i0JiZUaLYrMmEY4dbi_jMKZCG8urSOPT6_lcTVodcvGzVaqLonU3NwtzowhooiMMvx1dumJtFhIzik9ZvXrwBYa-h1Y_nOMwcu4Ht35dCSvR-Yvry45PDGasdSECMqJJUjFlTUpY8dWb0UIW9VZSEBH9xTWipE1b05tHBRhYoNs7TbK93uyZKd6lPJfN1J71ZRN_yFokLRbHEBKmH0Adk0l1ewyytG8e77H3hlL11L6RWn4NRFkyWsxaeEow4JI2LY3wz474DFotZnOKPJUqJNt-5xNAnMLrcKbuIZKAdXjV3RcB_9Tg_-t6i-i1QFGaj2E2RZzO7BLd-oxiy1mNlH8s-bpDE0yESY95OnhnzjSMplYVJ5Ykp1OE30p628dLXWTPXAqikl_pk3sFFcLGsFyfn4aIZ9dcgVQIdeiVSgJl1zZMqS1N33sphN76pcGf9MaRS9wQMiPhK-r7ZdpocTF6NQtgZg_9-FX_KI0_Oyt9XTHaOVBkz2YVvAXGaP5dgdDe_7Yy2Td27sS-4lB8K6rpBzxK50Z-0Si_E4FFIBX6qoRHw5kHQtr_YjglsaOOvpk8tNhzOBJw4UXL95KGuLIgmYfsI8MmPSdR_3mXrX0zTNZ1HTw_T98eraBI9wKZNfLRVDudAZbDTXTqFvLypB09i0HNQqkQeBvg77UWwAkrZLRwiqppwC_q9t978T3FC9Uq5TnBaoJazORzHSypx4UwrtjFbZXbSQzhVLahQ-yAQD_evGSkhRfQpW5VTSeX_aOJbiHFCyhIFS2aPmvrKcRZCTwAsaCeMJd8Fo2HUsV9NwjLRPlE0gnZhQdlBy0lOniDVm812nKgzbwbnSigK9k9iDfxssQF669zGbZ3KdRkLQjpbQU6M-Zp6scXtu7VD_6092_0gajH1ZWUeojg0tMJyrV9fBBsaPhEh1ZyICo32mHwKjwd6TneQqqUq1nWm8ELrcQDcLeRkq7ZySUKdrQPBC4gUHPJYt9V-vckNPKba7Llr9uPC7tH8Thi12pvjl2zJegxhVlMcEcfWuUDmyLWZaw-G1lsdNjh3lgU7DxEINX0d4BPEWWtfW0E7BaSVJaXRqdsg8kwhFCqVdCQh4JXA7CkYC2C-njuIGi5yYif3j1AfFLnANS9DlTu7VTVJLddRzWOTN1aeuzhqtv4qHSJje47PoNTrdSKTq1yvFq71221PpRWf6U8hcQ",
  "id": "rs_0e04085871869a99016ab2af76957887d0a1355435bfdb9e46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.463,\"left_y\":-0.115,\"left_z\":0.042},\"note\":\"The plush shifted forward during the approach, and its broad body is still left of the jaw center. I’m raising slightly and centering the jaws around the thicker torso rather than the thin legs.\"}",
  "call_id": "call_sIILry5z3nGfiP8uW5iKKoFY",
  "id": "fc_0e04085871869a99016ab2af7939e487d087df35b6508ddba2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sIILry5z3nGfiP8uW5iKKoFY",
  "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]: [-0.3897, 1.8984, 0.9997, 0.0452, -0.3916, -0.2977, 0.9963, -0.0238, 0.8829, 0.6956, -0.6033, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4505 left_y=-0.1083 left_z=0.0319 left_yaw=0.0919 left_pitch=-0.199 left_roll=0.0989 left_gripper=0.9963 right_x=0.278 right_y=0.0005 right_z=0.1541 right_yaw=-0.002 right_pitch=-0.2082 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.5128, 7.8564, 1.6093, -0.0366, 0.2173, 0.105, 0.0479, -1.6752, 6.7077, 1.9023, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8584b2f05b3daf6f4a934bde4f7cefceb8b16cb65c36651f0d43258b3874b0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5e2afd22f12eaae0d2adee828f35f22514214145eff7711dd22ef5861e4135",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53511b58b7116669595abf90c82201cf182d7da0f3740d306f751cb0df1b9aa9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 14.49 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4988, 1.8862, 0.86, 0.1658, -0.4404, -0.3492, 0.9952, -0.0223, 0.8822, 0.6937, -0.5743, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4154 left_y=-0.1365 left_z=0.0104 left_yaw=0.05 left_pitch=-0.1838 left_roll=0.0973 left_gripper=0.9952 right_x=0.2826 right_y=0.0008 right_z=0.1586 right_yaw=-0.0004 right_pitch=-0.1804 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.8974, 8.0752, 1.5751, -0.1587, 0.0904, -0.1441, -0.4718, -1.306, 9.4974, 1.8877, -0.0757, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush’s torso is now between the jaws. I’m closing again on this thicker section.\"}",
  "call_id": "call_QeyyHBVLxK8mXdwmxraPCG3X",
  "id": "fc_0e04085871869a99016ab2af81cf1487d09b0f51fa07e99501",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QeyyHBVLxK8mXdwmxraPCG3X",
  "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]: [-0.3866, 1.8984, 1.0019, 0.0292, -0.3923, -0.3004, 0.0103, -0.0238, 0.8829, 0.6956, -0.614, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4489 left_y=-0.106 left_z=0.0303 left_yaw=0.0983 left_pitch=-0.2107 left_roll=0.104 left_gripper=0.0103 right_x=0.2761 right_y=0.0005 right_z=0.1522 right_yaw=-0.0019 right_pitch=-0.2189 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.4017, 5.4906, 1.5751, -0.1538, -0.0024, 0.7985, -0.0889, -1.6615, 6.8308, 1.6044, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9dc4231f7f19fa4066273a5e9c32017795cc06d36100cdb91cda305483c790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9a5b1b58c3e9623b318675d6be730c17444322609693c104c06f5888e6981d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16cdc50bbf92efb61fd65854301f39f310e62452bea830648de20f3bacdd28b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.275 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3897, 1.8984, 0.9997, 0.0452, -0.3916, -0.2977, 0.9963, -0.0238, 0.8829, 0.6956, -0.6033, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4505 left_y=-0.1083 left_z=0.0319 left_yaw=0.0919 left_pitch=-0.199 left_roll=0.0989 left_gripper=0.9963 right_x=0.278 right_y=0.0005 right_z=0.1541 right_yaw=-0.002 right_pitch=-0.2082 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -8.5128, 7.8564, 1.6093, -0.0366, 0.2173, 0.105, 0.0479, -1.6752, 6.7077, 1.9023, -0.0269, -0.0611, -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": "gAAAAABqsq-S6yCNkj9V6kMCVLmhjaICvESXrqFV6KLkqrfrr3pcBlxswr6FNSdQQt_o4SZTuwh8nlP29MCA5Ox8QKvlLtxlONxBeTTwJs-fUX-oBjiISp4uQtR3p3SEevpZa5HtLzmXHoAJfkFpYQr9hPLajMl7VtFpY63h0v-3sWPIIqDzsqzzarDwHWOmUn8AICjchMIeztuw887RUdE22s7M16-v5zhvztUOtom2LPeCs1JQjuoGgqmZo8Z7PTTyQJCl1a1gM57lOP3Bop8K2atBPP5EU_wWi9k_JHbHs72um9eMAEETt7fbXVaTKE1H3GPV7rXXjRirtiQiYZTn9L0Mq4PaxIF3D9x5_DzP7aaE2CSVOvBPax1Zxw2iTfKWL4xKbH8l4NV4-aGnVIKhGAEFroyg5CFQM1ctlKM9JJYLCnVmz8_b1s577_N3k9_cRXbW4AnKePmwIhkgzcV4wi92Gq-GoiPbVQr-y85O9AW8BymYTur03cIM0dpNw6WD7Y8OlaQaO2cTM64hNAsav37ofo5GehEPli7LjeLyhHU3BRITUq9ddLXrr6WPWKoSnWwIqSu3MDUtyhOrH_rmj2XiD9Sh1S4eHBzeb03PKOyGR3vPKdH8w4nfpPs-VoQwUAezVpKlGncsEojzvKLsvk2ovNg5CK9a3m6Ph8UzIkOFu1JSyNQ8rLtPfHTeMn2nR9vKstjhbDXM0y3T10a1ne7pov-9-KpuCrWWOO-sRb0YthbGOxVljExsMU-UXATs2sboJKOWNl5j3q6DCv6ZucywiuzV7PbAUAHCTvJp8Lu0iTvfxyK1Po2iKm3iOkScQsE6i3u362eVsWXpfAB285VIel_wnJPNDc4Z_SqM2NP28-OqupjSXFBWFJgZSCXnVqgAHtU5wqDfxoEyCygFsh3UeyhoU38-5gEHss-jVcmRd2gLSksgZMzVkAw2z8IH7E33CUkpaX64gC5SonfNgz-xPKCSwNFGCbWMXU1fqNn3nEPoSqTJvw7E7G2lm5NmpkdEMDea8_wLFMQymj6pww-XId-M7vb1Mgz8Xcdpw4KAH-nw_t9OOY_ADj1EQ5lUN_WN6NGDt9Fu6Y99qVb3RVMEjDckit8FpJ9eF9bfTQZse5NeBFAEfE1t93k4tcBP2uY73NmIOsBCuj9djt-7fV1t6t47V2Ir3vtpCKzOP0Y_yuP9HhiOZxklP3x-G55-uRidBfuONE9yuKuxvalBg4Qnein4BvfU-XHlTrL3xMyKtUt2vTSo7IAR5p4ssJj4pR0xXFdlvpTnORfqyBwkmbIAw9UM7ZkuGAl0hI4UCf6W6fTgQa5GMBovVqnW8LA_-2_vH6l_gzYBwDyCpyRZYW8k_gztCc_XL5AJuKEwk9OhedJKebJC3MNTGk9ISF7x-sqTcFr8yVgUHT7YEoT2PR6i8QgjH2bhhj28ZqT1bJPJx9UjaJ7uBw4Js1m48z5DanxXCuKYyhyfhbKMzZCyWz3MifDr9GvFrkaUwqP1puKjIJTBxBJ8lU_5CEVX3fMhEHG-FaMNPSb4oVvE0NvNCIE-L5JDfDIYe9aqzFc-8VptPNZKlNK8altpbPCdBkJP_Aq5KmY3Hm2LgtdNHt6in6zvUW9PQTS0VCyqDbLR4ANwl3mPYZk=",
  "id": "rs_0e04085871869a99016ab2af8d15e087d0b0f8a1e93dc64865",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":-0.012,\"left_x\":0.477,\"left_y\":-0.108},\"note\":\"The second close was empty, and the wrist image shows the plush lying flat below the fingertips. I’m correcting the grasp height to table level and placing the jaws farther onto its torso.\"}",
  "call_id": "call_TZOnmXOF7ZagftlvhFjodzf1",
  "id": "fc_0e04085871869a99016ab2af90935087d096e79e3b59b18856",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TZOnmXOF7ZagftlvhFjodzf1",
  "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]: [-0.3683, 2.0495, 1.0641, 0.165, -0.4114, -0.3008, 0.9947, -0.0238, 0.8864, 0.6952, -0.635, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4794 left_y=-0.1055 left_z=0.0057 left_yaw=0.1277 left_pitch=-0.1626 left_roll=0.094 left_gripper=0.9947 right_x=0.2724 right_y=0.0006 right_z=0.1477 right_yaw=-0.0018 right_pitch=-0.2437 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.3094, 6.3932, 1.1306, 0.2076, 0.1197, 0.1099, -0.0752, -1.9214, 6.9402, 1.7167, -0.0366, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74ea97ddaaf3ba5451a06dad25aebf7540822bda029f86448beb8e01dc1ccd82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513a96fdb549140b92cf32b0787ed486346ba8c5962e9800d4c1b8b811afb935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0aa3dad1e6daa24867792ea163c073b852a89184fdb037c8ad646f48bea18b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 4.031 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]: [-0.3866, 1.8984, 1.0019, 0.0292, -0.3923, -0.3004, 0.0103, -0.0238, 0.8829, 0.6956, -0.614, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4489 left_y=-0.106 left_z=0.0303 left_yaw=0.0983 left_pitch=-0.2107 left_roll=0.104 left_gripper=0.0103 right_x=0.2761 right_y=0.0005 right_z=0.1522 right_yaw=-0.0019 right_pitch=-0.2189 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -9.4017, 5.4906, 1.5751, -0.1538, -0.0024, 0.7985, -0.0889, -1.6615, 6.8308, 1.6044, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips have reached the tabletop and the plush is between the open jaws. I’m closing at this lower height.\"}",
  "call_id": "call_gIJa01vE8E1CLhw0wq1R1OEa",
  "id": "fc_0e04085871869a99016ab2af96c38887d0be60c77e90679722",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gIJa01vE8E1CLhw0wq1R1OEa",
  "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]: [-0.366, 2.0533, 1.0668, 0.1802, -0.4316, -0.3031, 0.1274, -0.0238, 0.8867, 0.6952, -0.6575, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4828 left_y=-0.1021 left_z=0.0084 left_yaw=0.1461 left_pitch=-0.143 left_roll=0.0984 left_gripper=0.1274 right_x=0.2683 right_y=0.0007 right_z=0.1438 right_yaw=-0.0017 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -10.7419, 5.5179, 1.3065, -0.0415, 0.0073, 0.8816, -0.0205, -1.6752, 6.7487, 1.6532, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e105ac0fb19e059741da8109ecd53ee611a1878105a07d9df32ac4c9bea70d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9566cbbceaea0c9ebe78ea79e545a66fa8e21e0240d122eef764fca40c62c8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37da33f08812f73fd166ab49110778976d5882be4963236b157cc1225ee3989d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.853 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]: [-0.3683, 2.0495, 1.0641, 0.165, -0.4114, -0.3008, 0.9947, -0.0238, 0.8864, 0.6952, -0.635, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4794 left_y=-0.1055 left_z=0.0057 left_yaw=0.1277 left_pitch=-0.1626 left_roll=0.094 left_gripper=0.9947 right_x=0.2724 right_y=0.0006 right_z=0.1477 right_yaw=-0.0018 right_pitch=-0.2437 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.3094, 6.3932, 1.1306, 0.2076, 0.1197, 0.1099, -0.0752, -1.9214, 6.9402, 1.7167, -0.0366, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_x\":0.46},\"note\":\"The gripper remains open about 1.2 cm after closing, consistent with holding fabric. I’m lifting gently to check that the plush comes with it.\"}",
  "call_id": "call_rcSbemR9maDXCy9MYV9tksov",
  "id": "fc_0e04085871869a99016ab2af9afa6487d0b70fee59dd66767a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rcSbemR9maDXCy9MYV9tksov",
  "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]: [-0.3859, 1.8481, 1.0729, -0.0673, -0.4339, -0.3206, 0.1291, -0.0238, 0.8902, 0.6949, -0.6769, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4579 left_y=-0.102 left_z=0.0655 left_yaw=0.1405 left_pitch=-0.1726 left_roll=0.1049 left_gripper=0.1291 right_x=0.2646 right_y=0.0008 right_z=0.1397 right_yaw=-0.0017 right_pitch=-0.2899 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -11.412, 8.6085, 1.5849, -0.3101, -0.0024, 0.696, -0.0479, -1.388, 6.7761, 1.619, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4484085dfc2e4ed3cda39f532596e0e700333af99ff7f9a74562f6851c10bcb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d77ef3a6244f28010e8fd30820fb65b46a1af194822a4c158bff53a313d888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ecadfd7950a5b7b6de79cfdc2a0a3ab18c64c9a073d81b0c130abe8abea9f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 6.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.366, 2.0533, 1.0668, 0.1802, -0.4316, -0.3031, 0.1274, -0.0238, 0.8867, 0.6952, -0.6575, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4828 left_y=-0.1021 left_z=0.0084 left_yaw=0.1461 left_pitch=-0.143 left_roll=0.0984 left_gripper=0.1274 right_x=0.2683 right_y=0.0007 right_z=0.1438 right_yaw=-0.0017 right_pitch=-0.2666 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -10.7419, 5.5179, 1.3065, -0.0415, 0.0073, 0.8816, -0.0205, -1.6752, 6.7487, 1.6532, -0.0464, -0.0513, -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": "gAAAAABqsq-kxE5x6bp5CzYuvomHDjD-CIcFmvIuk_LPUaqaglOa6SMn-xBvpNZSqm2BPseShLifbT0hFEtJqFRqOTXBYUDdrWlJxLQ3zTrVvyu2Bq0nsGUgcK6OEstQQRa6vrokr3XMz0fvZ59UruDfIbRNAtg-yg4Fya9MIYgH0vIONDJiMxUsQAIQsvzF9vXk2V-Byu2yn5jFpneXYaSBS0FZ1H9I2QPigzG7p_csx2-d05ZmC1G49D_5gOKMYZK7UszuqjO6QkaKfIPHOvkqYRSISViGdao4SnbWJ3g1rdpypXN2LPc0eKcpz_J3phMAUzDnmLuJyngZEPGSuWRntog15o0ITDXnHWKaobE8AbBynufD6xWSYUUOPYAD9oSJB_gL5X75nVEEk8IdNeAgXQC5xkO5aocg-5dOYRD-ufU2GRC1DhpxFvcUaH4DMVSQuA9Wil56a6Odu8t3bL2mfoJqkJlQhLo0sJekVY7TOyOckrwnAbOk5Z8jIOuJo50TssnELrQjVoeVN-u1MsrA3WRWFuIqOLij6-dPKk7WLl7kuRgud8ozFYg2jgXL1zeMuMK0hjIEjwpNnAyEngfqDheryhGhGJTU_4GcgW1Eb3UFvdlLAd6GElgK5mJmSc_ypPQUC86mz2Jkw7do89F0az6FxyDravAbc_7PSuW2e99L1M6riRuCB6grdg0EfVvIdeiIyxz-cKv3n7yPFIERsEEeQ6lfgc91fsr7lUy6Wb0aQD6qxL-oci6LWFeQ54yTRUgdWWKkbkKggn42e63_VXhXAue6kPPrALP44qq7wjD6qG1jZPnVM4pkfnQChzCHtHroFWA-Vr28aM9E4kiwbMoM-eSPOGL3IuaMbaTGMJ3-VXKUbkjkcFLNFKdaZ7vZLTlkOoiXhZjcxdSPzPC9YAM1mMPebGQd2wNRsbr8s3r0EsnmJw16fRd3rLhcK-KNYyvnvq-PvamlgCd1uvVcfuMHwn0jassvNCIKn10qVObV2BNTRTaXjg-tywLhS2I_yeVIpRmKfQ5wd-RhuPCMorMeaq0683WWh_Prg0aF4VITKnuRp9TjpEy_7uvtw5KCpO3Mi0Ao32SV_fgPCJ3ReMCpquffEtITBUtdYoqW79UqCPlIdZrjuMa3NeK0yOcVGIBE57iR2h4VZPb3xqtDaHkuocUxG1f6DqsZ4UDFcDUH6QbtQOFv8jMBIriIClTVq1IlXjIFHA07Byc2D5s_XfZGk9VfzT1ayIdxkRlDgGfyAnKTBLqu-QYXXVcLu4utXog7X5epIICxy_z7uwLxlODKnsYhJQzrZS1Y4LzN454zWlqmpPhBEhMZj-Jbg79QSSnbdFffnNr8XgweJNgqkRte9cQEDhZFIA7dG8qTYQXm_2o0JRr1-i_wAU82An--BdNWvwTq",
  "id": "rs_0e04085871869a99016ab2afa0756087d0b3823b508cf77875",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"left_x\":0.43,\"left_y\":-0.26},\"note\":\"The plush moved with the gripper, confirming a grasp. I’m carrying it up and toward the center of the open safe.\"}",
  "call_id": "call_NjzjK1Vfl6KaV2EOtOwkRgNL",
  "id": "fc_0e04085871869a99016ab2afa35bf887d0947f7b2542a21548",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NjzjK1Vfl6KaV2EOtOwkRgNL",
  "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]: [-0.7574, 2.0006, 1.8717, -0.8886, -0.6273, -0.6682, 0.1298, -0.0238, 0.8902, 0.6949, -0.6926, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4317 left_y=-0.2605 left_z=0.1988 left_yaw=0.1197 left_pitch=-0.1871 left_roll=0.083 left_gripper=0.1298 right_x=0.2617 right_y=0.0009 right_z=0.1373 right_yaw=-0.0014 right_pitch=-0.3055 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.3726, 9.0051, 0.9499, -0.696, -0.0171, 0.3297, -0.0889, -1.5932, 6.7761, 1.5751, -0.0562, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68071d12b2bb49d8f2d9130f1760f6bd91c7899f194fd35a45a0d616183afe34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e432f8810387075b357c37cd5a615e1520c4759c8342e90b2bd31b60b91819",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97cde84c5c6290a7990a78e661c2d965ef3f0ae6010caa98eea4a841765810e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.889 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3859, 1.8481, 1.0729, -0.0673, -0.4339, -0.3206, 0.1291, -0.0238, 0.8902, 0.6949, -0.6769, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4579 left_y=-0.102 left_z=0.0655 left_yaw=0.1405 left_pitch=-0.1726 left_roll=0.1049 left_gripper=0.1291 right_x=0.2646 right_y=0.0008 right_z=0.1397 right_yaw=-0.0017 right_pitch=-0.2899 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -11.412, 8.6085, 1.5849, -0.3101, -0.0024, 0.696, -0.0479, -1.388, 6.7761, 1.619, -0.0269, -0.0366, -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": "gAAAAABqsq-sAifl0H43Qb268tkTVTGKM5f_j3lv_VWZU2Q8VzenyWL3OfpI9t9h9FVoR6U4uMsuv93aGnJMSEqnbBw-HkKYGE5Pbh9E9y88H374if9Dm7WKJ3rHLUX2k8VOfRiyykcoM4Zb3_4wEcEgyD-ibHm8FXlrW88p6xy61oT3kxaUuBoU-akuDoJL3BZK15Hho-onMdIFALCoaiCMSOk-4y1b5Jg3fKIyyiWkxiWz_aNF797YN8gIOe0-pfFhT6xa2TlPv3Plvom29LAjDTR2hZ4baD4jVezQKmLppwg4mz-165K4CHlQ8YowvX6fQCTsiHyblhXHuTYnDnL7Unctj--Zzb9vjF20JoXTZ-r4GtSB3cy1jPnVO8QDeLYaKyHVPM84hs06MoQ7ImKW6Bkk_fI4Ba0qmUXOs2e5TzRsCHc32vBJIcnD-7ZTTlKcy1DiaDPGMzd_qjrlc6MPijFb3O0WCPQ2CDXofoFbaBY_uQomhg6tM5MC4Qtbr-MrsgAMafZBFjGZa4oMZMrS9W5VffGdD4AksDYVK1pjABYlhE5n6FeEHG9-7Sal6hDaC8fcFCgnR4-yota5clr05fNwivVNJgfUPTDJhI6wTiBYiYJSl6jOaTBucWuExgg5PPvGI6fnfOKME9nVYUlFb1YT18sPHZz_KKBC5qy65Wso-q-IOa9524J5LJpVtEtlKaTA2RhxDlNQtTIK052RqgGJ-63LxO2hwwH6lJtm5BO9s3wV1MRFMRsRGCL_YQ6RIng2Ew0mUBVdLihL_yTCMniio-5g44LCK405C2O5Wt166uXexxMlsbCPpMDFWBRjRqszO9OnCeaQxARSaQI7_h4-rxSoIU_CCalURbyLaAS-ntSk66C35W5Ez1sMrl-dO6csTjAIQ3NmlZz-IJtD0agLqv1F6LIo4inEnsqpLaX_zptO4k6L5Ux_pZvFjfIonBKeS-87fX7aQp3P9yowNeHhVDBFyy_UpRqZHTDgsZkG0OD_eGByVQlN2axwKPcqLhrqJdyHNBnafyqlF0c11LS3bVDUTD-IkUcy4olXCvKEfWWVVmR5d5b56klpaLJgBRyR8hfKxTKKe6Qsr-Xyc0U36CzImefpG5HthQAbRY8LD-UHLS8tVaFEQtyb_V_cn3Dxt6Ch2oMmz14basR2FlZ0VfDcdPUNg8IUpjPRfbW5XNZxKwZRC6KNAET-Xe9JA8euJt_VuMA7veloyX_dT-9jt-uQiPxXz1de0x_uDliCRfgY6tKZoM8qmCNqGmKqpfMRhxbPFALLLAgo-RcqiXbquUp_9I9BrZAiY8uw_zYCYWDYagurixWY_4NUpT0Mz4xRq45JtF3tIz28TCvrrBQ7ksd6gbWfvEnuKx6h0bFHmiUj6BY=",
  "id": "rs_0e04085871869a99016ab2afa840a487d082eda0b9126c0a94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.31,\"left_z\":0.075},\"note\":\"The open compartment is slightly right of the carried plush. I’m centering it over the red lining and lowering it into the safe.\"}",
  "call_id": "call_teLhreamXma93p2XCKhFL638",
  "id": "fc_0e04085871869a99016ab2afaa373087d0927599faa43797d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_teLhreamXma93p2XCKhFL638",
  "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]: [-0.8574, 2.1452, 1.6447, -0.6132, -0.6529, -0.7666, 0.1332, -0.0238, 0.8902, 0.6949, -0.7097, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4111 left_y=-0.3055 left_z=0.08 left_yaw=0.1054 left_pitch=-0.2223 left_roll=0.1035 left_gripper=0.1332 right_x=0.2584 right_y=0.001 right_z=0.1346 right_yaw=-0.0013 right_pitch=-0.3227 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.2615, 5.9282, 1.2869, -0.6129, -0.1392, 0.3394, -0.1709, -1.6205, 6.7077, 1.5214, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac853b04e66727099a8ae71fa4f94d8f81090b9ba969bf267b25503ee8aa7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f11c5155919205fe0f883b75ed61e4bd70f030630c765c24220da07350f10ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405b6b303488183e804446fb35b742c1f3f85a460f07dfa2b9207afb36c50e28",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 4.921 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7574, 2.0006, 1.8717, -0.8886, -0.6273, -0.6682, 0.1298, -0.0238, 0.8902, 0.6949, -0.6926, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4317 left_y=-0.2605 left_z=0.1988 left_yaw=0.1197 left_pitch=-0.1871 left_roll=0.083 left_gripper=0.1298 right_x=0.2617 right_y=0.0009 right_z=0.1373 right_yaw=-0.0014 right_pitch=-0.3055 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.3726, 9.0051, 0.9499, -0.696, -0.0171, 0.3297, -0.0889, -1.5932, 6.7761, 1.5751, -0.0562, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is over the safe’s interior, below the rim. I’m releasing it onto the red lining.\"}",
  "call_id": "call_3F3wHWgzsE77cnlVPbhvQWLV",
  "id": "fc_0e04085871869a99016ab2afb02bcc87d092d8ed1854edfd66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3F3wHWgzsE77cnlVPbhvQWLV",
  "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]: [-0.8627, 2.1731, 1.6348, -0.6132, -0.6483, -0.7715, 0.9951, -0.0238, 0.8902, 0.6949, -0.728, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.3054 left_z=0.063 left_yaw=0.1077 left_pitch=-0.2468 left_roll=0.1295 left_gripper=0.9951 right_x=0.2548 right_y=0.0011 right_z=0.1319 right_yaw=-0.0012 right_pitch=-0.341 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -14.3795, 6.9538, 1.0085, -0.4078, -0.0122, -0.0415, -0.1709, -1.4017, 6.694, 1.5507, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6a26ebebc860c086aaadcc5b838bc14e8392220c0149547f648231cc791f98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:075dee6fcedd5d6830db0eb33a40b52e772122cb60fbbb15ae0687bc6b8141f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53616b171b70e6b7d659d2cb31b2de56fc7460e74bd7133a1f4d7cd7fd8beb2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.442 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8574, 2.1452, 1.6447, -0.6132, -0.6529, -0.7666, 0.1332, -0.0238, 0.8902, 0.6949, -0.7097, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4111 left_y=-0.3055 left_z=0.08 left_yaw=0.1054 left_pitch=-0.2223 left_roll=0.1035 left_gripper=0.1332 right_x=0.2584 right_y=0.001 right_z=0.1346 right_yaw=-0.0013 right_pitch=-0.3227 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.2615, 5.9282, 1.2869, -0.6129, -0.1392, 0.3394, -0.1709, -1.6205, 6.7077, 1.5214, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq-3yp_PWWdTJSSOU8xVwrLCcZM4ZnDj2XRo3DgRp8UOcUDuOdJB_FZ-AiTuT-01TXLl5-OaJWh1bDBwl2NCVyWyzGstD1-_jBDDPKF9QRJjqzARL2gRst3q9EoxRYgjkMWCjRVzkNzRRhJ32F6vRX_MV1aomI7wsO5G2zFoItMy_dxf-zlwxRllQnEB3tZVxBWOyzEvbvKMenm13icLP6NfJeCASs3kUztxK9uUo84bdZfp3okQwEqctBm06n4__npm_VP3xbS87lSsrHi1AHLHjHw6O-wsZc6eNQNL4WgPDoVPT6l55tOnNUagqlJOM9clljYUTJ6eSl5Jnizytck-ywUB-gbqWB8H_jAyBJmiuEtZX4Y40K4PO8fA2-o2fHpOZVbnMoVSzT9c0Sv1sKo-MwXUooDcwa_3NYBbDk_lk0E8QTw-g316f3XezO4BxeC9JzVRWFldW9d9NKQrnT_z8dx2wEHZkiRw_V1iBzAJdTpDp2pjikr_yg4xx0wpaGlVy3aFkGKPlY45jtArIOReQW_BPJ510-jPVScHGI-BUsiNqlJKPjGKVypZN4DfNfXISDPfUfs2H3kjwFvX1DxOhKdJ5GvILaSUM5ck1TNEASTAZokrEAi28oBG-G46C1KpX6GenmH0XTaWn6CynLDwyzypkwp69Au8PY6k74zfCVe9xYE5hAmKgl0XCem4LknJjSbpQ0EKxjCvxNtrfWdjtxvv2PWOw4qweMbuK4b3QdQ2ZpIUy48VVbKkGZrb0YyZVMGg7GzjqbznAhRwFb2t2caoSQXFcT8yPCN6w3F-9sFAWuqoWuNWG6HCVQVoiaclkL_JZkInHJaCRZJMH-m2FCiZJTqoUONRPs4Vs-Wey9vny5JhBZrO3mdnZziRIJhH1eoBmc4cGiVxcImOfNgKF3mZVIxeu81mkmenBYei0efFb-nCI-XH1QdjPt9oL-AE_-Qax_c-PJRxWzVXq4zYrRq9Wf-kjoJCMp6Xtnq0hlSA0yAhWMqtNvbUC0AJ5sBiWfTSdbiqfbmsFVyBlLnWc-Zexr7Hya-3t5DTlhSPnq0UhTBh3wIBVlKFFddjRKtE_6x_g3b8QmZOMwDmQ2DeBqKvKbSMs_fXfE1nUBw5YVwhx4NPZVg1byi-0XP2vAl3qK4diKAZChzkMPmOOHtFBbbFE38WA7Z_-qQhbCSsJVuegusXshvDCPzxJZihfLN4Y0wXot6Nnd5kBzEYRHg9ByW2sMknMh6gk_KMOPFNxmo=",
  "id": "rs_0e04085871869a99016ab2afb4d01887d0bce09927c0f839aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.27,\"left_z\":0.18,\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.16},\"note\":\"The white plush is released inside the safe. I’m lifting the left arm clear and bringing the right gripper above the yellow object beside the safe.\"}",
  "call_id": "call_JLZP4pgjxAGSZZSVLHhejjwz",
  "id": "fc_0e04085871869a99016ab2afb591c887d0bd2209cda7f9cf34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JLZP4pgjxAGSZZSVLHhejjwz",
  "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]: [-1.0214, 1.8191, 1.544, -1.0073, -0.6792, -0.9504, 0.9963, 0.4988, 1.7565, 1.4441, -0.709, 0.268, 0.3717, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=-0.2778 left_z=0.1603 left_yaw=0.0938 left_pitch=-0.2743 left_roll=0.1373 left_gripper=0.9963 right_x=0.4122 right_y=0.1754 right_z=0.1483 right_yaw=0.0258 right_pitch=-0.3835 right_roll=-0.0158 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.3846, 7.706, 0.7448, -0.6764, -0.0904, 0.1099, 0.1573, -8.8957, 8.294, 1.2576, 0.1685, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3770847bd303e16ef0b861d1ee3973ddf52384152a9a647a7c72986c0d44fa49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9873a2e45ef86bad91e1dd0d9462527d8e44452a3ea5fdd92e98bacbbe78ee21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66d40812db140e93a3c07b849661b857fbd05946fc322bab289e9121d83a892",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.777 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8627, 2.1731, 1.6348, -0.6132, -0.6483, -0.7715, 0.9951, -0.0238, 0.8902, 0.6949, -0.728, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4067 left_y=-0.3054 left_z=0.063 left_yaw=0.1077 left_pitch=-0.2468 left_roll=0.1295 left_gripper=0.9951 right_x=0.2548 right_y=0.0011 right_z=0.1319 right_yaw=-0.0012 right_pitch=-0.341 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -14.3795, 6.9538, 1.0085, -0.4078, -0.0122, -0.0415, -0.1709, -1.4017, 6.694, 1.5507, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq--Fb65_FLRqZNQnSOKMEtn_GqPHEm8n1aa0KkHjxB-HhYyf7rrQI3LzEXVVx9NadmLcw3NUftOJJ6bQslh-IdL-CtuuQYYZzfcCHi_OXQNsqxivfvhCfhM17pB7ZafITRB0LnxP6aQURDKU3gxWYMCoeRwOZIHZvJ7xJG_FKobk-Ol0m9EjDuJzJW7WDp-aoQrgRUIj5yAdiZ0T2oR10orDs1pZ6gp9__--7dp3JVepr5uB47U0TkBq7otEx41c31B-DPm_jHdMaQjyCGRRkdqJqdfyJK3V5sqHPP3UH7CXZ1FZSil2s-cvQ_KaFFI2dWc3NETJEnupk0uFFPm1IjckLPVBdlZStxgwqsQEwmx_kSP8y4hATUT00d563EnpqNwgRYybVgqRMVEGNFT_uvgbsQKiGeIv3YLT8jMYftyXnskFnqflt5ZdLXt7DOc0c9DkHnonrwZXnI4LU87YW2c2cATYIzEQwdu1ZNY475MIpVkYLeUdR87kGnFd37cFbmzN_99pPl-OS7QjQF6EsOjbEvTZIkupRZgvr-8glM1452zByZLUjgIJmQLnbI1E9hDBQ-KW_Z3DA2iKCzKipAhZtiWZXHy9vDLW5MZAoJ-SDdvYiKw-lyI7P10lKQNF-2RFnkGPA-GSBuU17H9LodLNo6alS7Xw4bg_PPVkSt6rA6UPDv7oYzvy7h0wUv6FtqceJPmZ3GPaZbi9qHIF5VI2l5oITw9o0CO8K1DjXOpR9FveCqgy0yTClKipipiAUpGq3tMxOmZ4peJ2tbfyvTjP0nA1kb0e5S3YQc8Z0Q1AgPBMNeF8ubCmIii4qQpCV5gV_B_wu87ZUxQcst-WMPN-QAwyzPXsCHXJfHl2sqMKLyjH8QVK7ZKXMXGDCTqetSxrzVKbE_F3PqTlsJQYGQnwkENr4wL0Kn0OyKTiL8HOsFNgeV8-0QYQ5CZ2UnPjeQS9eI5Sj_E8wqutnCOFIwl0_Xt_-l2zNphW5IhEblinccu5k3l94zHVXodBmYiKTOEYG03F3EZoUlxEoiCpG2McA8-07vw-a_yIdAcvE7Gpxz4bWLqPKiDy_grtTKW_Vcjv3vg1oL-W_HT8VGMQZH2KfSadAA6xkMpvXk505bdSVAGWu49sp0wVw-CGJ90DmgZwHb3Nlt26DFZpZVBfzJtotCT_cKMs0D3wYKuAwfxig2t5JgbcEaCUwAvaUw9hqxWeygAL2yMwtEKm2ujqzgZVQ==",
  "id": "rs_0e04085871869a99016ab2afbaf1a887d09f773774b7f49889",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.473,\"right_y\":0.155,\"right_z\":0.03,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.179},\"note\":\"The yellow object is ahead and slightly right of the right-hand jaw center. I’m lowering toward its middle and parking the left arm out of the way.\"}",
  "call_id": "call_B3RFtEOsSuFqPDJjbEXvLzYR",
  "id": "fc_0e04085871869a99016ab2afbbb1d887d0a0b3ac789e2af87b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B3RFtEOsSuFqPDJjbEXvLzYR",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1799, 1.0458, 0.9012, -0.7647, -0.2844, -0.1673, 0.9965, 0.3866, 2.0281, 1.3346, -0.3466, 0.2035, 0.2684, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0011 left_z=0.1756 left_yaw=0.1471 left_pitch=-0.2914 left_roll=0.1349 left_gripper=0.9965 right_x=0.4626 right_y=0.1536 right_z=0.0289 right_yaw=0.027 right_pitch=-0.4241 right_roll=-0.0311 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.412, 6.0239, 1.58, -0.1001, 0.1294, 0.0073, -0.5265, -9.8393, 6.065, 1.7705, 0.1294, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fe75c6c8cdc7c2e928c1bb02220943610b7501ac789d366fba2c6de9f8eaa4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d2dcceeb7216a58e72f548040808a5891401d596b8749a28b49b9776a41f35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4972670b34599cc7285f0b3970fd6888d48b196b283b10d4a8f75000f121fe33",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.029 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0214, 1.8191, 1.544, -1.0073, -0.6792, -0.9504, 0.9963, 0.4988, 1.7565, 1.4441, -0.709, 0.268, 0.3717, 0.9996]\nstate[eef_state]: left_x=0.3044 left_y=-0.2778 left_z=0.1603 left_yaw=0.0938 left_pitch=-0.2743 left_roll=0.1373 left_gripper=0.9963 right_x=0.4122 right_y=0.1754 right_z=0.1483 right_yaw=0.0258 right_pitch=-0.3835 right_roll=-0.0158 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.3846, 7.706, 0.7448, -0.6764, -0.0904, 0.1099, 0.1573, -8.8957, 8.294, 1.2576, 0.1685, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq_Fk-NjzuiAhpPQd6_t7rfJgffYlI7ByDq9LFWbNRH5vSQ16xaUbMnKYvmJI7pEQLBT3f5pl2F5_6Fq4tgcUFVvq0uU_g3aHs5N79T4ZW3G7Eqfvx8KQCJ1Aqp1hL6qBahQRNUe6sJCDX1yemS5ooaeS5wKr-BbW_PnAqkmnMFB1cGCaDChs9AWx26b2drNr_bf4T-nFFHP5cQovoRN5s-4si3Zy7btAbMoiYxOSp8TCJERo3pd_npdXwXZGzOEszX1b4UajWvpJjjHH0GJ0g0KuF1TrttmsnCy3uzBr56KJTuF8Ff0b7czyEXn0HBQAddeMhwLJdFpi54kNpJ8JhhITKS3LfvdEOyqdTSGxMY-q25f_keQx9zVXWg8X9NglB5FfFPKowQd_UrEueE8ui3FK5fs6ZGXUx4zdYqcKfjRiU7QUcuGQ9u67L7SPT9zNh8XOm7-2QJPNXZFxzhcBJ5mZjl8FWMTHQaHz_7re_m6IgyeGj8Eqzf3x2gZTUXESDMP9NC4AhR7FR21sd2k8Qlz3fbQkdvzZ4LaPzxzZRZkx3NBjs-L_lZZvtYlvaqUu8D2wM8oMyLIfbE3y6Z5RVt4cxq-MCmmGi2ISNKGMkjX7prwnF6_PJS20SEIxM1BAfhwX2tw2389LgMNSGJC72dkEZOkyVjgxJtnOuwP6kqWSYWMEJ9-OaZ4i00n2c27-wYOTnH3poYOoMtOQegUd5MtsxXa_S1hHbr3FIaODw9a4Ma_o5-NuY18AY5BaV_DIpX8ANvW0cGNZPjLBXgru0cyVqQXCb_sCystY6LPGI8B9KGnOJ8eoL7LgcHJabJPEgrJx0F-sWtBWoxDaesBFuThVyWOOg5NpgJYrVJM8JSTjNYo1a9LOm5IST1-z2z9pmF4wUc1r7fhSA_VHf0x-6Rb64gITGQ04jY7_mhxJ_lO0SoPQ82nLHvjjIEqhVmnu__V41ceMTwELQkw0W330RYWox5a6qoEkf3cF7_nsamqNJKa-XUScj6sL-EL5xdKx_ICs33hVsFBAjHwPCKn5SJqgUnXf6eXglHGXyTj6Sq7hqa4VLpcvutyoMDy-VtZVXE1Y_CmT_RhyD4WUvzL46cm_03ySvZXwFDl-NtE9lV1vr2WQ_9yaJrf95rGePWQmVaBB8Agjd-89IGWujnPpuv8biX1b_AGyWuXQEdvfMiUBe8bz1V_nn708lWF6rKSPQH6F_0VFtgrIoZr73YhRW-WFZ5MqmjuvtbKYnngon2ngNkxQHjIizqZfRyvnqyO-Erz",
  "id": "rs_0e04085871869a99016ab2afc310bc87d08cddd580302b95dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.487,\"right_y\":0.137,\"right_z\":0.014},\"note\":\"The yellow object is at the bottom of the wrist view but still right of center. I’m making a small forward-and-right correction before closing.\"}",
  "call_id": "call_rhkPIARoZTfxzBnjswtMbs4W",
  "id": "fc_0e04085871869a99016ab2afc4459c87d088d07300ca537f4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rhkPIARoZTfxzBnjswtMbs4W",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.0416, 0.8967, -0.7654, -0.2596, -0.1387, 0.9965, 0.3653, 2.0632, 1.3613, -0.3256, 0.1814, 0.2409, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0005 left_z=0.1738 left_yaw=0.1186 left_pitch=-0.3007 left_roll=0.1351 left_gripper=0.9965 right_x=0.474 right_y=0.151 right_z=0.0237 right_yaw=0.0434 right_pitch=-0.4189 right_roll=-0.023 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.9624, 7.0769, 1.3993, -0.4029, -0.0659, -0.0122, -2.0034, -8.8, 7.5692, 1.3162, 0.0611, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fcff6aa2ce5704ad2533828d032ec712a55d2debd69d54d7a485d86df1c915f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3ea9d4fda09c2d2a3995ab4840da0a3edf551354db46a632cc642288fb1ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1e1f986b14146571805b7e815b1de31e16f389885c4f121960833377caf37e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.201 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1799, 1.0458, 0.9012, -0.7647, -0.2844, -0.1673, 0.9965, 0.3866, 2.0281, 1.3346, -0.3466, 0.2035, 0.2684, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0011 left_z=0.1756 left_yaw=0.1471 left_pitch=-0.2914 left_roll=0.1349 left_gripper=0.9965 right_x=0.4626 right_y=0.1536 right_z=0.0289 right_yaw=0.027 right_pitch=-0.4241 right_roll=-0.0311 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.412, 6.0239, 1.58, -0.1001, 0.1294, 0.0073, -0.5265, -9.8393, 6.065, 1.7705, 0.1294, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.28},\"note\":\"The yellow object is now under the fingertips. I’m closing partway to hold it without squeezing the rounded shape out sideways.\"}",
  "call_id": "call_UnxXnh7QrLCrmcjd9qClDfnq",
  "id": "fc_0e04085871869a99016ab2afc8703c87d0bc05e161afd4ad0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UnxXnh7QrLCrmcjd9qClDfnq",
  "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]: [-0.1753, 1.0481, 0.8967, -0.7704, -0.2653, -0.1535, 0.9965, 0.3332, 2.1006, 1.3762, -0.3229, 0.1493, 0.2058, 0.2843]\nstate[eef_state]: left_x=0.2892 left_y=-0.0005 left_z=0.1716 left_yaw=0.1291 left_pitch=-0.3091 left_roll=0.1332 left_gripper=0.9965 right_x=0.479 right_y=0.1418 right_z=0.0105 right_yaw=0.0584 right_pitch=-0.4463 right_roll=-0.0208 right_gripper=0.2843\nstate[joint_eff]: [0.2256, -3.2068, 6.8581, 1.37, -0.1148, 0.0952, -0.0122, -0.6359, -10.5231, 7.3778, 1.2674, 0.2369, 0.0806, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad8706ebcee33fb31284bf8a749b548d8452a76b3f9064ea076aa0410fd886e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3130e494b5b38ab321adf77e77b79596db6c5dc22f407b2a785580082c04ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19fe19a172967f067a406a04170104e99b0517ed873cf119ca85a47f0fabb0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 9.075 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]: [-0.1715, 1.0416, 0.8967, -0.7654, -0.2596, -0.1387, 0.9965, 0.3653, 2.0632, 1.3613, -0.3256, 0.1814, 0.2409, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0005 left_z=0.1738 left_yaw=0.1186 left_pitch=-0.3007 left_roll=0.1351 left_gripper=0.9965 right_x=0.474 right_y=0.151 right_z=0.0237 right_yaw=0.0434 right_pitch=-0.4189 right_roll=-0.023 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.9624, 7.0769, 1.3993, -0.4029, -0.0659, -0.0122, -2.0034, -8.8, 7.5692, 1.3162, 0.0611, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10,\"right_gripper\":0.12},\"note\":\"The jaws have closed around the yellow object’s narrow section. I’m tightening gently and lifting to verify that it is held.\"}",
  "call_id": "call_Azy2GrvIs5TYbdy08glyEsLh",
  "id": "fc_0e04085871869a99016ab2afce241c87d0a6db5f38f02e37f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Azy2GrvIs5TYbdy08glyEsLh",
  "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]: [-0.1761, 1.0481, 0.8967, -0.7708, -0.2657, -0.1551, 0.9966, 0.3336, 2.0281, 1.5513, -0.5888, 0.1383, 0.1978, 0.1221]\nstate[eef_state]: left_x=0.2891 left_y=-0.0007 left_z=0.1715 left_yaw=0.1296 left_pitch=-0.3093 left_roll=0.1326 left_gripper=0.9966 right_x=0.4795 right_y=0.1442 right_z=0.0754 right_yaw=0.0713 right_pitch=-0.4666 right_roll=-0.0204 right_gripper=0.1221\nstate[joint_eff]: [0.0479, -2.7556, 6.7077, 1.3162, -0.149, -0.0317, -0.0073, -0.3487, -12.7795, 7.8564, 1.2283, 0.1148, 0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e25936fd193893022beeaa69d01c33e3d7d4aa6f674f2305a230c231d72dce0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9278ba7d94ef0fb93d53a656fe567570877a80783d4204c570f34eda84ba3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0fffdbd19762a9dde3fc98bc357c4a18d2c6fd8693730c720b96243ea4ff71",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 12.3 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]: [-0.1753, 1.0481, 0.8967, -0.7704, -0.2653, -0.1535, 0.9965, 0.3332, 2.1006, 1.3762, -0.3229, 0.1493, 0.2058, 0.2843]\nstate[eef_state]: left_x=0.2892 left_y=-0.0005 left_z=0.1716 left_yaw=0.1291 left_pitch=-0.3091 left_roll=0.1332 left_gripper=0.9965 right_x=0.479 right_y=0.1418 right_z=0.0105 right_yaw=0.0584 right_pitch=-0.4463 right_roll=-0.0208 right_gripper=0.2843\nstate[joint_eff]: [0.2256, -3.2068, 6.8581, 1.37, -0.1148, 0.0952, -0.0122, -0.6359, -10.5231, 7.3778, 1.2674, 0.2369, 0.0806, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq_Z2tTs28UdBONfnxD0bLdqgWD8iz0lioZ-1MTsJLrZGwPMSLGBJRmrEw44uGwJWNVwkFK9pkSMeMUo5Nfkjcqo8_O99fwmnn5mMXfVdvBGy7ziVdLnIxTOWrL2NwOCZu_ynQ9PZgl7ARD1hEW8xwtHIM49oHzNAlWLNhvX2dG3nMdFkBDcMYaMkrNOVTtBlYp1lsSoNGtAbk7EXjfbFh-APw4dSHh_0ivsLclDfGjdu6GaGBFCLwEOx6u9cxn2moNuaQyl4yKT_Ig4-bXTabGrLI_hzJap8tJdBP350yR54ZiT-w4T5awKp-tAo79S0S5xekeAxyX-J1AKGhyIHBf1c6XGxDfkTnhBPUNTPUHNRDj-mtth5lDVkm-Gmi1mo5ux_yL-Pxn3UtD7yj_qbcqBbOHvFGzBEpzsX0o6ri2VmYac-9mBj36XLq9N7tETuzk-7DYm2yIvoVh2DbnVKR5_OPDOHJWOMfC_z-QqnZ34oN-N_7-HJoa7qFyy3Oz5TAcmEL462yKTtKtQXEOJttYTqwD0bwKlUbz4EQmFJcJL5wBngbPg2gVrj_MPFR4iHHDeG3cjN4Yt9lFDlfrNVkpXbCZugpGoHkkC2zubl7FI2ZIKvDmy1Il3SX_3KeFBuCzvPErPKZ3yxcoJ91KzI-E1VxASObDuzfMcpOw8dkvo6AA1Ttw0iIfg7rZK0zK88rgDd8AGylk9e3JhBZZgNHbNS17h2q-275NogZVuMLrsBQMnUT0vHwHwwWNs-NCDEQUS0DIVYxy3ALEFRuZsfkA6scIyHm4FUK0oApkGGQwVgw5mjYPzN9TNMCvmCBnNYFAjQvY_cnvYCAOJYbsLSYsR4Ou7QcxdA6p1LtQBU4o_oyxXxxtrBy6rL12gNWO93Sdqa73MpZqY_I2pr9Y3c7zXpovi-gpAqfkeXchzi6AhSLiS4ZI7a_0LjbebbfouGNOmnoSDp-aoFncWYzvKybUOjyRpybZ40psldFLnJR6LMila7_d-19y9px3bSblJFBoxoyzJZg6iHQdy2wtfCc8Eio2JQmv7JXtUYR25_jaNEPXBwtt9WLbJVQDv_ULPIdXwe2ppNjgrDoXxTn3U9O-5UfXThUeFM1IBeN7kdlxkakOI3EpOlchwa7l4Q9QqHrYkSo_luhFCML4_aPcEO8QyrtH1wmkNDJAWti8_OTuF0Emw_1O6OzZFhsHXWN2vJONOY-ERQGOSeURxj-K_k5bTq2h5mEdJpLBiRwyOP21yGEfiKFMMQ3yI_Dn-rW8chd6oCjgoygsxIJKcRSh4HANZqipInL2VaefLL7H4mSwHQ9xACHyD-TX-DvY_kFyNNHrMd9ejlVv7DDMHxYzgwMNwVwVke4RdibV9q9vd_ixaVmUpq9kkpeMcwrv7Ke9v8W0BJFwI_9fNCgLoAK5JZgdiGbfiXk07w8_LTtLdq22_m55iv4T6aqcyhrzuF94h_pdRWTKKJD8Sk1eQ_psRxjnd4hadfE0OptUF3H60R8WwqZw4OpcnJZh_KHgf-b3pJM6WsTKhiGqEbxQM6MNjs07Lvz-jk0Vd_4kSE5l1p2zMA5oP3eV6_yPaja_uN70C_inrj05OgW_O3w7-uwu9fqrw4uANn2ElpEA5MW_OxrW1TSzmcPZ2MRPuNuKA23meM6fMRkFgFo7lk-KJyWtys_Z7GSDML_En-JkNmMEFe0lEughYHwoHPSVQcZKpqD_GzENg4Kw__be3Z2Nx55WjHvXPkc8PAAjMdXpvGh0rz5oAWxUtuDUrXINOQqCaLdXNIUQTjIZhzjOX30HX5ttJNVZzBQ==",
  "id": "rs_0e04085871869a99016ab2afd2be3887d0ae86269a55ef4681",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.18},\"note\":\"The yellow object is still difficult to distinguish from the table in the overhead view. I’m completing the close and lifting higher to check whether it follows.\"}",
  "call_id": "call_uHFpoBgrpdrg6XxOYrJqtAk9",
  "id": "fc_0e04085871869a99016ab2afd7a7a487d090ee89f7e4117f93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uHFpoBgrpdrg6XxOYrJqtAk9",
  "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]: [-0.1761, 1.0492, 0.8967, -0.7704, -0.2657, -0.1581, 0.9966, 0.3336, 2.0106, 1.8954, -0.9642, 0.1379, 0.1898, 0.0066]\nstate[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1713 left_yaw=0.1314 left_pitch=-0.3098 left_roll=0.1308 left_gripper=0.9966 right_x=0.4776 right_y=0.1436 right_z=0.1664 right_yaw=0.0748 right_pitch=-0.48 right_roll=-0.0284 right_gripper=0.0066\nstate[joint_eff]: [-0.0068, -2.6872, 6.7761, 1.3748, -0.1783, -0.0122, -0.0122, -0.1709, -10.2769, 8.4718, 1.3748, 0.022, 0.0171, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8be79aead7a5e124c1e577edb2dce235c58c4ff0340caabdc423968a969b40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294a788b127e0c318f4d3ddf99ef233ac018c39ed0566ae4a73a4edb24c40e38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f941dd84aa06d3fa12ed21eb7e3732c155a131b2546374db98e2f70aed950df3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.803 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.0481, 0.8967, -0.7708, -0.2657, -0.1551, 0.9966, 0.3336, 2.0281, 1.5513, -0.5888, 0.1383, 0.1978, 0.1221]\nstate[eef_state]: left_x=0.2891 left_y=-0.0007 left_z=0.1715 left_yaw=0.1296 left_pitch=-0.3093 left_roll=0.1326 left_gripper=0.9966 right_x=0.4795 right_y=0.1442 right_z=0.0754 right_yaw=0.0713 right_pitch=-0.4666 right_roll=-0.0204 right_gripper=0.1221\nstate[joint_eff]: [0.0479, -2.7556, 6.7077, 1.3162, -0.149, -0.0317, -0.0073, -0.3487, -12.7795, 7.8564, 1.2283, 0.1148, 0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq_mgopC8290pIcbGN7LHQSIox8o7_mD4uZohfH3fjNlL51xW4Qq25nuPuF9d60IknPR5iWvgq3yYcRLT4HXv3BN67s3HfJH2iDolsJ00NzUc_35jQ6DPiWiYkEVgvdNzzCZ8PDzhjo8jUBIc7KmQ5Hn1pID56GsttsaQwu7efuSni0wepGiSwPkN1uEgFkUJbaJwORLpNRET04AqSPqTlB7qnLv-Zf-wHKgrbmZGxlGEwNjopMZQNT08Ci7ll4FbLK1gzNVQrNwF8OB1bCYUaBg9cxI7T3R59M_j1lFJSSa34jHeaCA6SJHmGoeVXF3B45HVfNKhCmKQFjmefUeyLCsszBO3fCt8BXqqv58qOtEIyNZyPTE35UZ1rjbQSER1l8JV5yZuvz2aFgEF_xcr9o-5YQy2uM-wc7Ws_0FtWRdXCHaz6pCRODlKkV-rEJ1p_ObiM8k5-qk3UhfcUTjkTrOtIw9GArr6_ui-_6NUCTVG3EA5PysDOfYOZ_1WQAYa5Cq-qV1HqoCvkWdO32VD6NxhUaNLJF1uSpkb6y1fR8cRZnMAPexTrZSLO2fFxcbpKLy1q-FA1eyohbzPh2fCcFudzbStKbmz_HH0TKZ6td9VpLn4y50EKAt7Ro8QXxMuXa28nWpbZaB14ftpKzAEMwin5OsRi2myOAceLLix3B-6waA0rud6iPZ3-6pnAgy5MXV_jKWzBGkt2_W_mMKU_7DdxVDm6Uiu-EBMcTVmPhjeFL_2nvaCJH_6W_J-peLaaSFHn0VAGolTMnfCVoiVjZ26VuUDs0zZAjGVbxaWHP2h-nmImB1k1oRa1ZCHIkasqNSm9dBg_lWutI5-iZDxK-nh83UUJKvzNCpNTUlt70A7sjs40a7-RDAqpzGrz6tUAPfB5xxYcJRsv6rMQg9TT28KnwlQd_IjEiRTVfvYUMjVI6faMFjPYhq-i5vicrglm1ERzJAFxMqUbZs9NdEOZWBLmHlQPKaSDutVuU4vHEm5-n9XOycEtyO2REVCgJ3NNqfEFJAxrsdLoWlQU1dcOPfv4G0zs_1bxdfJwwqBNFtELXCkr_u-KDldi1F_1-RQ3ZuKDnylSEdAYgXMxhKnPatE3c2R3ccxACwW-b4hevvaGkRGifAAw7_sM6A1S3x-bHVHfPy7eKhYXZ8jk2-6INMDopbP-f_BwE9vS3d5Rq9rAmIwkZLZl9JLA_-IoNfd7DAd6yA4LcSZbRmieq3Sg60vVRNkSfqQhgh4MnREQQCk3t56TF858RM2FNwuFncj147UOxhgdxRPHdmDs5GZ6IXDAWfgRWKMPLJPK2pfx7DQpDAMj3sGw7aNs2tN45n6uogIn0Eqm6euyassR-BjTylPs8xqU_28BvR_YYEMsl4GwPhKUKGkD2yLhavqqyr3pI9ihEQGXfO6FfIR5h3J67AxQSwwmYDgCAyIqG0AmmPR_oSo7EH-VManz7xZW4XKsFbf4ceAI_A50Ny2dzjhhwWqG08yskOJ3f_ZbfJclaeYF5SZ9NqPqO6nDv07YrtYDZnQ9ktiz2njWXsLQKp3lE_qAuSehZAjHs9gJ9WpU4i2hp3blfzhZSYPEvxmLcRz_rXYOUL--Hogx78Ler3lfOhVx7kiX8juVZmErtUV4XwYjKrI-BGZCAfTEQG_Kg7oulUBgeNLMLU_osMt1YqvZ1wvlOx-gzMpqo5IUxjNI0CtpnpdKcPChgDzwBO5eCRhO9LL05E-ZHPBjdmuanGKMdM1x0wmfUPa03rcu7Wu_S5GJZ2uxxq6J3uz395BBS265Gxx8hHKS00_pn4XweMW8_JupXnTR8WmO5kd805RLxOt5G1RjrDrhP2y1nmkbN06W9lheF3tnks-X-lOi-p_4xHhCU93WdhRneVapcHbt9Uspg=",
  "id": "rs_0e04085871869a99016ab2afde6f9c87d0a61128b3c2e8ea6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.15,\"right_z\":0.015,\"right_gripper\":1},\"note\":\"The gripper is empty and the yellow object remains beside the safe. The overhead view shows that I overshot it forward, so I’m returning toward the near edge of the safe for a table-level grasp.\"}",
  "call_id": "call_pDrHx4xAwVWZsNNbbOEx5ARx",
  "id": "fc_0e04085871869a99016ab2afe4211c87d0b46eeeb2571edaf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pDrHx4xAwVWZsNNbbOEx5ARx",
  "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]: [-0.1761, 1.0512, 0.8967, -0.7708, -0.2657, -0.1616, 0.9966, 0.4305, 1.8568, 1.0641, -0.3851, 0.1684, 0.2626, 0.9944]\nstate[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1707 left_yaw=0.1335 left_pitch=-0.3117 left_roll=0.1292 left_gripper=0.9966 right_x=0.3768 right_y=0.1444 right_z=0.0074 right_yaw=0.0802 right_pitch=-0.5642 right_roll=-0.055 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -2.8103, 6.653, 1.3309, -0.1978, -0.0366, -0.0073, 0.1983, -9.6752, 6.6803, 1.3358, 0.2271, 0.1001, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e67bc1a3c3a88e351e17fb15fe97a0461dd714c5e1875e482a55df0c9e67782",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea693559cae023fa9f1b302d63448e46cd94868c84fbab3f67767cac036cc361",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30aa5cb72554cb378cb8a992a19a8c69c2dae5782f42a0fdc37267c5ada9072a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 11.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.0492, 0.8967, -0.7704, -0.2657, -0.1581, 0.9966, 0.3336, 2.0106, 1.8954, -0.9642, 0.1379, 0.1898, 0.0066]\nstate[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1713 left_yaw=0.1314 left_pitch=-0.3098 left_roll=0.1308 left_gripper=0.9966 right_x=0.4776 right_y=0.1436 right_z=0.1664 right_yaw=0.0748 right_pitch=-0.48 right_roll=-0.0284 right_gripper=0.0066\nstate[joint_eff]: [-0.0068, -2.6872, 6.7761, 1.3748, -0.1783, -0.0122, -0.0122, -0.1709, -10.2769, 8.4718, 1.3748, 0.022, 0.0171, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is now at the yellow object’s table position beside the front-right corner of the safe. I’m closing to grasp it.\"}",
  "call_id": "call_lY73dLPUUqQLUGFISfLcpdPa",
  "id": "fc_0e04085871869a99016ab2afe98ad087d0af4ccaff97fb952c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lY73dLPUUqQLUGFISfLcpdPa",
  "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]: [-0.1761, 1.0512, 0.8967, -0.7708, -0.2657, -0.1616, 0.9966, 0.4309, 1.8568, 1.0424, -0.387, 0.1638, 0.2615, 0.0086]\nstate[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1707 left_yaw=0.1335 left_pitch=-0.3117 left_roll=0.1292 left_gripper=0.9966 right_x=0.3689 right_y=0.1418 right_z=0.0005 right_yaw=0.0804 right_pitch=-0.5879 right_roll=-0.0605 right_gripper=0.0086\nstate[joint_eff]: [-0.1299, -2.7556, 6.8308, 1.3358, -0.1587, -0.0415, -0.0122, -0.2393, -8.8547, 7.5966, 0.9597, 0.1343, -0.022, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b17009e8a92e233f14a83a6699b5a85d1d2eb24af40f08fb12cb8ec58cfe72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0210dc24b55c9b15ab0618e4c28bc7b37dac2ba8c5f7d0161fe4c042958ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3020b487f1dd9e663dcaa9e4f3a13c252daf73e288f934010296275fb0881d86",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 7.444 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.0512, 0.8967, -0.7708, -0.2657, -0.1616, 0.9966, 0.4305, 1.8568, 1.0641, -0.3851, 0.1684, 0.2626, 0.9944]\nstate[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1707 left_yaw=0.1335 left_pitch=-0.3117 left_roll=0.1292 left_gripper=0.9966 right_x=0.3768 right_y=0.1444 right_z=0.0074 right_yaw=0.0802 right_pitch=-0.5642 right_roll=-0.055 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -2.8103, 6.653, 1.3309, -0.1978, -0.0366, -0.0073, 0.1983, -9.6752, 6.6803, 1.3358, 0.2271, 0.1001, -0.0952]\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": "gAAAAABqsq_3cQrz4QvD2hQ1sDD6gTWunXq8YRXk2ofD_amT4wPDYNO7pdchcWAqTdJXVFID2eNd0buNZLMHtZGoM2BQZr-JXuXfA5rbzmzcVJMHhLnoFuXPf38_O84mOjUGGk_jnbD-JnsDZ_NxZV_MCyb9an7oRTtH0zj61zEGx_K_0QNQJp15nqn6wo1mlzCbzBlUzb_6wpVxJ8Gglw3FItHUHnV8FFTeuDrjWvkimphiNaozp6mSeSPr3UZbzgJ7bUHLpxll5fFV6Twc531YMoEB-dEGVNQaBDsld7SRBpMKQjU__VofaeFiUNPLkRCe7NzolVuMr2mfhlRfMukomN217jbsJpwd8T73fTFqvs60GczkajIq3xv1BYZIhwLl-4wFA63Lr6re7G3h_6Ie-H_jMdXrX34_J8DA95lSK3aWFpw-AOuDmgm_EVfbycUdmsMSECJqOGaCuLvS33_zIBPR1bwFbWs1uEmUlWzk2-GKwQhyfijWoLZnahdpADgZsOZu_kM2kpSiWF6Yjd1bI7UXLnqsmnF_Ge842wkPUeaGSg2nn0VBWyvQ0A19Nie1AtxraK_WY9cmX30VZAyzIfMfTbjTbOlM3RMRCZPVYWWInVPh4sMnTqcLodk4h1RUl428XegtR6T4acqp2Hxy3D73zql1GVmd35RDxf5SiTlUnqVV3zgjA9gdjvHJwYBaUfEuP-9rtDxSZtIzP4FzDlbbP5l1SbkHIC9jFFDqs4tXaMwpHWA4-Ze6ybBfncCI_cZaagfc5TtNonbaCIjmlYA5_ENGlFLlfZ2IbryHNchBx7V8EZ2rQRmG4xDaphU2Cy_domwBYewsnQ1SaBygIF6EImTnhyHzAo5G9AkuPyV5RnIGXpTB7Cogt49kTSg3TwqllYfrK5Kbp62yEz8XYPRiSscxyKE1yEBbiI-q8kMmpodMDu2omhqRQIW6rNWzYfUgL-Yw0NE67BD6igvzqDcGDtCg76q5642LQPmNVOp5vUAQYlVSaI9nrwn988tAuQG9FzSKdEak8f6FbwVq7MJGTocpJvcFLPphniklYcHCpWe9WyZ_pT4H9zP-ZCxK2nBjsyXG85eYgVehm0Xmq1WJacVkXSJfwAFuEosDZyTAWrzsio1tL3KERG1QcB-4_JdwK9El86KJpcfcqQ0TDqDM2cCPMZeJn2-QsKso3XENgxfUZGvtyrv0fFe0JUGTGFwZDgoKx-b-h_qY4T4yyv9PoyZeDiYoV6xRVv7lsN6aYw0wfpbvL2cjWG6DYodddwVZQEyQgUWK86pZVil-Zb6SJ5mLOsROOTL43gn83CTgJtyFVUbHwBxaxoTeBt5wl4WFnNv7pgYocP4_xZ72pSXV9CAmPzFBm8PW7E-qMjTXyUKZBfeS1XlZvDCI_dEwwTup787jfZG6gbJ2tfK-fspKXlZ8ol5CqcB25AO8N9jIQ_Ia3UQ=",
  "id": "rs_0e04085871869a99016ab2aff2214887d0992427b571d0dbd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0.5,\"left_x\":0.28,\"left_y\":-0.28,\"left_z\":0.08},\"note\":\"The yellow-object grasp was also empty, so I’m moving the right arm clear to reassess its location. Meanwhile, I’m positioning the left gripper over the brown plush in front of the safe.\"}",
  "call_id": "call_ra33DnP4fzMaBSG1P6QXKcE1",
  "id": "fc_0e04085871869a99016ab2aff4a23087d087fbb86f86ec5d37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ra33DnP4fzMaBSG1P6QXKcE1",
  "output": "executing move_to over 37 steps (3.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0657, 1.8557, 1.2747, -0.8146, -0.6369, -1.0729, 0.997, -0.0929, 0.58, 0.1951, 0.2329, -0.1127, -0.0792, 0.9984]\nstate[eef_state]: left_x=0.2735 left_y=-0.2701 left_z=0.0724 left_yaw=0.1373 left_pitch=-0.3477 left_roll=0.1475 left_gripper=0.997 right_x=0.2927 right_y=-0.0037 right_z=0.1834 right_yaw=0.0479 right_pitch=0.4306 right_roll=-0.0524 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -8.2256, 8.335, 0.6422, -0.6276, 0.0415, 0.0317, -0.1436, -0.2256, 7.2821, 2.42, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4e9cee7f07baf450d8794ebb923e7a18283078b9c1074d9013261640286c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad1c84c2747a6ed923feb2bd24f5e5a1002264c582c5f60f3122c595dc422f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68d7944e61feca1dacc4f27ae4d92a00f17ee725cdc8fc9178019ac9e39ed20d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.017 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.0512, 0.8967, -0.7708, -0.2657, -0.1616, 0.9966, 0.4309, 1.8568, 1.0424, -0.387, 0.1638, 0.2615, 0.0086]\nstate[eef_state]: left_x=0.2893 left_y=-0.0007 left_z=0.1707 left_yaw=0.1335 left_pitch=-0.3117 left_roll=0.1292 left_gripper=0.9966 right_x=0.3689 right_y=0.1418 right_z=0.0005 right_yaw=0.0804 right_pitch=-0.5879 right_roll=-0.0605 right_gripper=0.0086\nstate[joint_eff]: [-0.1299, -2.7556, 6.8308, 1.3358, -0.1587, -0.0415, -0.0122, -0.2393, -8.8547, 7.5966, 0.9597, 0.1343, -0.022, 0.6471]\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": "gAAAAABqsrACzIF_NUdgHd45UzxeCWNC5OOiQpMvKZB-WLd0TiRrT3KWS2PH0gyH86b7AuxdevG4g-tYc357fhy4OXlAA5VwWFSEQgIehScNhBRRQIdeUtJsT1po0820EQhpsKZblcGp4hsAmjrGZP6FQBnMhBYwh5o2fR2pD3Fgr7U7o59w8iK1sjUo4aiwHIFNVvd7L0edW9KXGb-8D1eAJ6smlznrXHEuwY0QkvPoovzBrgzMyS6rBY6Fp3Su86vhfjunpvh8kP3MLSYRzSdNOopv02_3djamC0AD9UWiGczH-khF1JZeRGvUjQndtbIUqL-DRefhZXlFEh099_TSCGj2PYxLaNuModnGxWK6nWw7J6TQJijFdu62Q2ZZgIsMabbknf6yjuVCOhl0igUIE4odFb85jWL7dTJiL0hSzx61e9R2O4h6juwlh7Za1p4zYELUAQLgoUCWjQavx5XX4kWHSe-WVDA_jX4r0CrdUaPyfTOkfZB6p2ZV1NXzlN7Ga-MbF6KDMnIg57QZgevCHXCzIWcYr5efzmjwDObr0aUYn14QfNaPTltV16o6JQPAmw-bbIwjgSlYI7MIvSkf4rutLwkVoLrbKZmF6wrhx_yz8n2gFg2GVtPntNnOWOc6OH0rmDnU9qU0B3PpT43-HYvfBLoQXB7pi31Zgt27ZNHcwjv7PxPDtKG_R7H4rMkox98WH60ZhMHlLBxtC7tO0xwug3mQ8bYp2wq0AwFMTJbvcHP-0Gh78K3zKzdm07-ZKF4g5i1zRAF58PgrtVg68gnBu1-9QFydDIF47LSHIx8tbQ3aaYI_VmJZkBmGjE3AltAd2ZiwqOxt3zdE-jqX6ATOxbf6o41lBmsRZZcAwL7GgNX_i2gfk_Lny0K7K1MNPvRxQqsaX2Mr0pit_CWFhZwumJ-UShtBnDfaOb9NyJP_l_eY5AURrMq4LaPp_9_zDkxbA0cYBYvlmF77QOjQiP5Jjb_EPulWmhzUp6NIKVBLD340SSRYgR-U1Q5Z53EE8nP_Fa884rPUF9Rf111NBvGnfdP3luTQvDWrxLTxr1IkAEgbV-7rSYMQLIKDbtwMzEl4zC1YQFQXXBOwOpcnm7xgD_XCNgeYeyrTWNa04mgDLyDsfZPq7i_OWbmtBW2ug_Z7j_KwWIrv0SPCB-x7LFCTo13lPRvcyKKudi5hb7H4TorUQ3SAkIhqqXHxtVRHoaA_VStoLypjDtlbYr_PH7mZ3Sw2IpTevlheeTM39YGMAXAxVx7oI5UNO4MoClcjwGX7wioUiEpr2oRnM8SBP68iqiLpAkUO0wjsAzqsRCZM4HxVGG4uS3tq02q4cLUKmz3WUK9bwet8Jr66rs2lQ4krzAByf7zYHIdtTY-aufCxn9Gvl96TUVk22Ox0yAwivxiICpAabj1flGmpiI3raD-YOT-0-giI-ae064ePJv2dxEPIuk4zqk12tiHFhAtDF8XtZsjS",
  "id": "rs_0e04085871869a99016ab2affd7cd487d090eb0c99e142871b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.32,\"left_z\":0.005,\"left_pitch\":0.3},\"note\":\"The brown plush’s torso lies just right of the left jaw center, and the yellow object has shifted toward the right edge. I’m centering the left gripper on the brown torso and lowering to grasp height.\"}",
  "call_id": "call_mTWWqTi4G568ttquJ8SwrpRg",
  "id": "fc_0e04085871869a99016ab2afffe6d887d091d99c37cf6a6f02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mTWWqTi4G568ttquJ8SwrpRg",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2434, 2.2448, 1.1767, -0.1425, -1.293, -1.1271, 0.997, -0.0975, 0.5861, 0.1905, 0.2184, -0.1242, -0.0792, 0.9989]\nstate[eef_state]: left_x=0.2919 left_y=-0.3202 left_z=0.0217 left_yaw=0.1707 left_pitch=0.3135 left_roll=0.0948 left_gripper=0.997 right_x=0.2922 right_y=-0.003 right_z=0.176 right_yaw=0.0522 right_pitch=0.4059 right_roll=-0.0464 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -8.1846, 4.5744, 0.4957, -0.0415, 0.2808, -0.0073, 0.2256, -0.5675, 7.7607, 2.044, 0.0757, -0.0757, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d572b1c9fa54a1cb91ba857baaad039b60fbccaf1c76cb6baf75c834c85276b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd06f78832852b0f148c4f63fa2adeb197e26aa2879875077d47a9430bfe0d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1260e5fda9f541bd7e075c76cd00e31dd795b557012a12d8c06ab559e49e4511",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.537 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 83 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0657, 1.8557, 1.2747, -0.8146, -0.6369, -1.0729, 0.997, -0.0929, 0.58, 0.1951, 0.2329, -0.1127, -0.0792, 0.9984]\nstate[eef_state]: left_x=0.2735 left_y=-0.2701 left_z=0.0724 left_yaw=0.1373 left_pitch=-0.3477 left_roll=0.1475 left_gripper=0.997 right_x=0.2927 right_y=-0.0037 right_z=0.1834 right_yaw=0.0479 right_pitch=0.4306 right_roll=-0.0524 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -8.2256, 8.335, 0.6422, -0.6276, 0.0415, 0.0317, -0.1436, -0.2256, 7.2821, 2.42, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s body is between the left jaws. I’m closing on the fabric.\"}",
  "call_id": "call_nNXZpZkTBMMGSXjuEn1DHbnj",
  "id": "fc_0e04085871869a99016ab2b00740ec87d0b07da84d52643fff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nNXZpZkTBMMGSXjuEn1DHbnj",
  "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]: [-1.2442, 2.2551, 1.177, -0.1219, -1.3136, -1.1305, 0.011, -0.0975, 0.5873, 0.1905, 0.2001, -0.1249, -0.0792, 0.9989]\nstate[eef_state]: left_x=0.2927 left_y=-0.3203 left_z=0.022 left_yaw=0.1818 left_pitch=0.3343 left_roll=0.0832 left_gripper=0.011 right_x=0.2914 right_y=-0.0028 right_z=0.1713 right_yaw=0.0517 right_pitch=0.3867 right_roll=-0.0431 right_gripper=0.9989\nstate[joint_eff]: [0.0205, -11.8632, 4.6017, 0.5739, -0.3736, 0.0024, 0.862, -0.0205, -0.212, 7.159, 2.0537, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab286fe2b322afa41b8af47f6929304e3993101c3a6675e7ecf88abd2373d0e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540571f28104db77b84543705c5eebc1576f1f2c0b46fc2297836bd4c485d390",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0571b655c3bd5dbaa1157baa15d59c009c9ff62d84f65f6ca90a37ba120dd186",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.656 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2434, 2.2448, 1.1767, -0.1425, -1.293, -1.1271, 0.997, -0.0975, 0.5861, 0.1905, 0.2184, -0.1242, -0.0792, 0.9989]\nstate[eef_state]: left_x=0.2919 left_y=-0.3202 left_z=0.0217 left_yaw=0.1707 left_pitch=0.3135 left_roll=0.0948 left_gripper=0.997 right_x=0.2922 right_y=-0.003 right_z=0.176 right_yaw=0.0522 right_pitch=0.4059 right_roll=-0.0464 right_gripper=0.9989\nstate[joint_eff]: [-0.4718, -8.1846, 4.5744, 0.4957, -0.0415, 0.2808, -0.0073, 0.2256, -0.5675, 7.7607, 2.044, 0.0757, -0.0757, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrAOJCkmSQVibATxQRNDB784FGlDZ2YTC5m8iM9CGYXvRjaLcyFUznlTEBCoR1TmDYI5KatQlkbenkmn0kEfpTQwmfKmv1_PNj9plawU5q5p06SGlDjS-Xv-gJZtXYATcCw1xUEiapps6_7H-o4Qmjy5gjTyFNmS260Bh0WSZ6sRUrEVBVfLUt6TTeNZOT3xIhn5TvNS7C8RY6wl5OmGpEgWD8T7qnbs6LGxT9W-N-WtmHhQjry0v1NRfpASCBBf4aZfIzUaUJbUQ2ITVDiL9xZ6GSrRV4a8SVHUmEnQv9yD1EkrcIIIBV5iwYpIaZ1sg9QEekBtP3yWtu7F3Dte1IXHxztEMRY3Warb0-PDW5GjHPNJjUTwqZFu62CQ5JRp-sY7bS_45k78xXCq2To9c-N4ibKcCFg9IFTNRK0SCq8WivCJj6JiYA_gYx2eCtfu-bdy0qNncjzlzGc1crNGICp2_yNZAj5vqldDjKGcLOEerRHr0JtlCcIywEifUcl-irCNdUg4E38iZ0p-bEWW6m23hm6tPaAMBdgZ-MSzr2zS3-l-iMmf00IZjSgVLUpF5NPPVxim2PqGVQMLOadsxlqjeoJ9mai-wLbalNnwR4Xuizyl4ZeqCQcnWEaSaxkMaCjlmYaZ5gv1vwD74bFidWdG7IHl41NRc2nSiRJtRetOPmxPgPIs_FDaTG32byEN8dEIeCFqka3MxQ-Xk80Z6RhbPjTN89UrWI8QLr85la9fCnKidxqQhgpMdFumV09xleKZ91d2WdBVydBQeSfqU9ZVU7DEQXHvDpbGthZc-C5Xwi1tX7CYrFwukJ4PWaI2_RSQa9-VABj0FqcEA_r_C7NTvypyzwAYqkvWg-Y-tABRNgO6IlVEq_GXZWm1p_mvbY0P221aopNQe66dhOqY-1udbN5iNdCmBAB-H4G91sfxufnjodc83Owpm7hn2rRLsz2q7MJulfW_MPBqBcKl-vvqVNu9rh8mApd_HyPD5QbFAaKaoP_f3i07noWnCPYuUVLC3f6tXrKZhQqMDdXQbGmOBoXWLolMJ0dcmKY0PoIRxcqpYTDydNN-qWedf1nQ_fzVVK0tEldGgQclc-EXn8alJE07JkDN90-QxhN5yF-S_P_XZIa2kNeWv5KJIyJmbnJZT18id7jpC3PMJBFZDudXHBr9fUK4Ml2D4jLD15BAz9tluC4_JCjPYZYKaekA_3twPXk4Pue9_3AaxxVxetDeC2az8FKnOSD6zu20OqC92Es=",
  "id": "rs_0e04085871869a99016ab2b00bfd7887d08da18f2fc785ef22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.335,\"left_z\":-0.008},\"note\":\"The close missed the brown plush’s thicker body. I’m reopening and advancing onto its torso at a lower height.\"}",
  "call_id": "call_e0pl1KWGT6LVjKWK6aXkHcYG",
  "id": "fc_0e04085871869a99016ab2b00d03bc87d098d3c55e6e5c937e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e0pl1KWGT6LVjKWK6aXkHcYG",
  "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]: [-1.1572, 2.3253, 1.1656, 0.2939, -1.3296, -0.8753, 0.9947, -0.0978, 0.588, 0.1905, 0.1959, -0.1249, -0.0792, 0.999]\nstate[eef_state]: left_x=0.3318 left_y=-0.3202 left_z=0.0184 left_yaw=0.2529 left_pitch=0.3928 left_roll=-0.001 left_gripper=0.9947 right_x=0.2912 right_y=-0.0029 right_z=0.17 right_yaw=0.051 right_pitch=0.3818 right_roll=-0.0423 right_gripper=0.999\nstate[joint_eff]: [0.9778, -7.5692, 4.9983, 0.7741, 0.188, 0.3785, -0.0611, -0.0068, -0.1299, 7.2684, 1.9902, -0.0708, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d67d5d0239f6edf8f8f30b3bc06388040a019a658aea501a43fade92bc0c34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5158f67f9b4645ae8fb7fd93744b17f0304e1d3e94702d7cb9b7cb9db1e1e771",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc437457fabf8e2d465e9ffa42609561c1b788de2efb6c411fb02185ada91d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 9.811 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2442, 2.2551, 1.177, -0.1219, -1.3136, -1.1305, 0.011, -0.0975, 0.5873, 0.1905, 0.2001, -0.1249, -0.0792, 0.9989]\nstate[eef_state]: left_x=0.2927 left_y=-0.3203 left_z=0.022 left_yaw=0.1818 left_pitch=0.3343 left_roll=0.0832 left_gripper=0.011 right_x=0.2914 right_y=-0.0028 right_z=0.1713 right_yaw=0.0517 right_pitch=0.3867 right_roll=-0.0431 right_gripper=0.9989\nstate[joint_eff]: [0.0205, -11.8632, 4.6017, 0.5739, -0.3736, 0.0024, 0.862, -0.0205, -0.212, 7.159, 2.0537, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrAUZUWGpbtS9EhS0NdcWTy0Zr3cDC5f4TSDDBimiaZ4PdwTJR1K6JDDnWZiCRRooH73RQTFrQH_DF7i6rS8iBTG8mlUp-fTX-JbPsn-SHhV-w3ERMCOKvEvxpSewepdDWqs_mcpODCdBceGqYMHOCChF8AMcXFxpqfmaGZV3kOE7xuy5mIlmO-wbsIeYkZg48T-h9SwkEPI7P92dse8eGVCTcnwXQs3liPXkzFTBTFh7rtM0_zKBrLqgU1ZkWEL5DyyeduavCvUgN3d3vgmJnFBTkxQYhpbxLzWjMhfJAF8Sn7n4EpxyBqin4PiZqXU6caeAs7jpgZXkc2Y9TZesgvyvD4cq8ZOrAvEia92xZg9NoB12BeJDGlFxoE9XbrIMdE_66nlphDUj1AMuDMDctnGOqagvh5NxPJ_MAPPzaim39LcnELve-F-tdHZv_iVMKrk1WP-bJTF5RN-o8h9ezPjUSDv_fEuwur5XhZ0Tv6uzCYBSHGXfGejlj9mFLBtFUT37QKqWck7SnZlcg-jdOe0w5vqnhzzT9fINkKJFRSpsnjqwLiGacWCplk2b_XjgMWRrBolyWZOi8fP1LZGKfQ6FmUIye58TBkc8pe4r-JPj5J1rBnEqcnoa4NplEjygEq8lQ3tiq2kpoBhNj6BSHXw6rEgtnlxd4SmIh1kqMi4gvfbGCkxaUcLeavZ8QbVazDQsTRYx465wPEjEZJ7qBAupdiMY8BR5ReGa7nLqHFV_n__79pqslsMyw22gK_oxBxWxEG06X0wgdNngjJHkKdsvLJwDCSC1znpFPfnaE7KeisLKyCiFbgFCMEmls5bilSWrwIgjRo9lOpQMMi1BkYGVPoMX1yhyZnKEosvoWB1cyeDcUNfTiAi6iQ-BraWuDXRoN9e8Pna_HpsEGdGLxMidxO9YdQSZmNGepNVI8TXIZT41vyA_JW0CU4-mSNEeSjVgbFOQFUQWhzBVw3KMhiYqSb8KuuiMfhXyZ-g6u6XpkuajnREKFQarsU6MaUoLEyPIXkO3HwAHyu2-67zH0jhQVa13tYoE9PIblz0rdkHWEPMAtQcLD9n7eYHSmsaMLXPRxgZW7sdwQjHH50Odo5pIULkqDUn70CvgY027A2jNFQ1kFhpLXNM1TRlNZRYvcYcNa-SJlePCfke--EBK2-E8MFHdkLlMTf8PyvkVb2RG26MWqjBQYX40Kcqyq1rDb05",
  "id": "rs_0e04085871869a99016ab2b012c3cc87d085692cf4a6295ccf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the brown plush’s torso at table level. I’m closing on it before lifting.\"}",
  "call_id": "call_D52eCDuccMJ7IsyXbiceSJKq",
  "id": "fc_0e04085871869a99016ab2b01321b487d0afb40af338464258",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D52eCDuccMJ7IsyXbiceSJKq",
  "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]: [-1.1587, 2.3314, 1.166, 0.3332, -1.3453, -0.8787, 0.011, -0.0978, 0.588, 0.1905, 0.1955, -0.1249, -0.0792, 0.999]\nstate[eef_state]: left_x=0.3323 left_y=-0.3214 left_z=0.0209 left_yaw=0.2771 left_pitch=0.4093 left_roll=-0.0389 left_gripper=0.011 right_x=0.2912 right_y=-0.0029 right_z=0.17 right_yaw=0.051 right_pitch=0.3814 right_roll=-0.0423 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -11.959, 4.3419, 0.7399, -0.3297, 0.0171, 0.8132, -0.0615, -0.1573, 7.159, 1.8828, -0.0904, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5693aef98654b3e0ea9f488e1e5c5bb791aa26eb68fc694d34e8f47cb8ea1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7675e16bdcbfa2bde5f3628a980f1e4b74666e2637a17b656cac9aace18e8957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5e75020795e5a05d7f28895f370f6a4b47935c9fa721c4e2a985023adfed70",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 8.02 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1572, 2.3253, 1.1656, 0.2939, -1.3296, -0.8753, 0.9947, -0.0978, 0.588, 0.1905, 0.1959, -0.1249, -0.0792, 0.999]\nstate[eef_state]: left_x=0.3318 left_y=-0.3202 left_z=0.0184 left_yaw=0.2529 left_pitch=0.3928 left_roll=-0.001 left_gripper=0.9947 right_x=0.2912 right_y=-0.0029 right_z=0.17 right_yaw=0.051 right_pitch=0.3818 right_roll=-0.0423 right_gripper=0.999\nstate[joint_eff]: [0.9778, -7.5692, 4.9983, 0.7741, 0.188, 0.3785, -0.0611, -0.0068, -0.1299, 7.2684, 1.9902, -0.0708, -0.0513, -0.0073]\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": "gAAAAABqsrAf8hIhkK_TBs3BBXz45qdWLdJXmYXt92e_RfYquScZen7hCPWpUR2U8Aj0hKsvpOGbyWpUIC9Lp8FmXRtQwnpa5iECUuClAmx__S7C3_wUtdPNgX9C23IPgEacGPBnEDf-HftINIvzqocF8DD_JWaii5t0FfkFABwFXaOTLiEI7hp03V9ACUKeEBIUoI3m1mJH9zLns5nwp-etyt0Nr_1wr8DnR1lRK8964WhMDiP6gTQok6QEtMLKW_SsSAmqejJBdVbdKxQsu9dja9VUOv8BJraDhsnRV-48P4obAmkAZ-sVm6qMiP9jIvBadHCXbgmf1R9gf_2gU4Z2JoblaypTi8-aWUO_81RiVSQxaWQo26nksCBEHWbsSdN10a1mh0RVHRvQe6Yu_HNqQcezwR3JvrmEyLqclokqPJuVOko4_Al_P0erBdlcpGAcPytz0FdYT0nMX8z_0S2alnWRo3Lg_AnhdDniJYXXK5B91zUQGq2FuyDqGond5Xw4ZCMGCTnKBhprC9MHiynjI52h6h89P5K7JjX7EoPIKjZ-nqB4hBXSNTtItaDOxNPlSPaKn-bFUmVOhTTvrrTYX-aUEnhmv2M0CZwj1y2kK12ZX87gEnHAcbSt1DjwVJsEno9hkXfF9y5l_KwYXFlXlSNFkdHgC9YKw1hCtxh7gQU2dKzsjFXhuHXc6CGks_tp9lGpeHOQYM87IHZ8Yr5DXMY9du2WFlfESj1-4hScu19Uq6Z3CiKWOT69yL5JEp8oBKkwyFFTTmkcdnVkzrcZIyN0aNUX4-qzUjgLwS960BfDX3HUUivteYp1aXFeq1PFGPGRnCB-8oiy37Pzqwt0uVMllYpaAmUkK5SvgXWyM711fP4RPBQjPpmMZHPzaGXsUo_NF5m2G4XCkl9IkCSlfdqKyamrXDQ4sExjQHPT7gqqKLuPIqmOZ_UpkoagE5KntKHdTXA5Bkn_miUMM7A-dj6ozykOGkLDjs7ZCatJapCe2n2erk-WNl4JClFTX8drvI0k2UuGmKolIBDV1JsItLOvewrXKVJY5tWuD6NdlbKEawowV4kfhcK62et8Qd68e4SG0GtjqxxIbff78DNEsCd1AaDl_J5YnD9FICZjZS-1uNCLEwHFoZ8g8rMekPsbpN4_5ZQyE3YBCFNLRbimANsVG57jCTvA5ZWEIcTZ6ejbo1uc1WJOqvK6QryvAr_UQcZldPH7sS1evyMEyQ8o79IDLqWWoMbViYnvnOMkChOsL5g1rHdGSE3z--OKi8gJGVazTvHc2RudQXscgcHilmBvU-Qp2naIbo1SFHpxYzsqN7Diy4cFkXHsldRzHEmMEG1NEoTqSbb3r9f2-aMB9SPVXMnBMdCJYtFlXU1FFnHLUADNodi3V05PGiN051Pi6ccRFTdlpshUswoxU6hkcmQfeW7vGdfqqgO8brSJ0uRT9S_W6T3ByAuf2ffDYlwykIQeA-vuENGlChNCYzkJisvw1jrU4BknkZnGEBDTyTXX4HMI3yjzTrBY1qM_kdoAtc5DHWV9KOaTu7sKMTEcNqwACx-PAb-u-QWa7UEBwmJfvESexD2pEaWKH05W9PmHXWfHe-wnAAcNtYOrWX34oHZVYHPPqp6vpN_nsXOJK_g_jRyeIdNvNB0WKZC-rUTdHHndhugTWCNT3gGJFq0xRw6I5MbETa6hozRIFq1GIzrmCC2yHHodDlbPE4__-BuZtWmYpehV",
  "id": "rs_0e04085871869a99016ab2b0177b0c87d0b15522448f8680ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.395,\"left_z\":0.005},\"note\":\"The plush has been nudged forward and the jaws closed behind its torso. I’m repositioning farther forward around the broad body, using the visible torso rather than its trailing legs.\"}",
  "call_id": "call_dNJayLFphpgEUXRBL31uXtCz",
  "id": "fc_0e04085871869a99016ab2b01ceb3c87d0b3dd5afab814627b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dNJayLFphpgEUXRBL31uXtCz",
  "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]: [-1.0405, 2.4287, 1.2449, 0.6662, -1.3006, -0.622, 0.9946, -0.0978, 0.5888, 0.1905, 0.1734, -0.1249, -0.0788, 0.999]\nstate[eef_state]: left_x=0.3876 left_y=-0.3173 left_z=0.0226 left_yaw=0.3494 left_pitch=0.4408 left_roll=-0.1064 left_gripper=0.9946 right_x=0.2901 right_y=-0.0028 right_z=0.1644 right_yaw=0.0494 right_pitch=0.3588 right_roll=-0.0382 right_gripper=0.999\nstate[joint_eff]: [1.0188, -9.0051, 5.9966, 1.0623, 0.2222, 0.3297, 0.0366, -0.0889, -0.1026, 7.3915, 2.0733, -0.0708, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d633b2faca937caddfbd42a5d977da850639275f1c66354a1bdb8a5b1b5f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d21b822393fa05a059816b57d120fd63116c6a180dd8754149d4027bd83d0b76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57631db04c0c5adbac2371f618464de44622a5c95566506aef952316522c233c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 7.176 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1587, 2.3314, 1.166, 0.3332, -1.3453, -0.8787, 0.011, -0.0978, 0.588, 0.1905, 0.1955, -0.1249, -0.0792, 0.999]\nstate[eef_state]: left_x=0.3323 left_y=-0.3214 left_z=0.0209 left_yaw=0.2771 left_pitch=0.4093 left_roll=-0.0389 left_gripper=0.011 right_x=0.2912 right_y=-0.0029 right_z=0.17 right_yaw=0.051 right_pitch=0.3814 right_roll=-0.0423 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -11.959, 4.3419, 0.7399, -0.3297, 0.0171, 0.8132, -0.0615, -0.1573, 7.159, 1.8828, -0.0904, -0.0562, -0.0171]\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": "gAAAAABqsrAnPts86lBbj3CZGqBN9xDIZ_e2IHnGQMbSc4IBV_v74jt5wF86y-LfzAfv9IaNL7Sdl70nwPFzEDf4UbcH4l3NLRxsGa5dX3J9qyfjM7Ep92vMTvGCpKlcHQogwCGplVEmi8vphGFgv3nXE1I0DNOlNAMXGPeQHn7vkx7XR9iAXo0PcQOo0nKfMB9TQwj6JCwVJsjQjgFjcFnwxRzHpNUKxl0rwhL5_2dRZfIig2UbeHf06qRHZ2UUoVxHDv83udwsJbrK9H-OPW18_hS6RNrzgHk9lXCgtt2nJAofQhiF4-IOHcREjfgOBSDtmLCmb9NeMR5jG6f5SNMPHqmFoeAA5DN81GDTgydMrtBu7HXrs2StWDJYnlZUh7ybqEYLVIB4W7lrBxsMltsF6j2QdJtGd2G_-ta01fTN45bzQ798nSgDwfNkoeddx3d_XOhRWf4u4xXBHCGUrskOmM4YqLbYUfwj9ZL7nrBU6wd6ImzUbkLzGsQHztPiaE7kVnXgSzakGGzHUsId07Rbg74tO8SxkVC9HkEIcS1zxqdbyBvIOVY97F1HLuBVPgySJEELB3vyDkpuL-qHBIhqZ3M8sigx3pdh-CUnDJMVwnfzo8UiXyABgRr5qfLUQtXl4H8DpYF0RDtpRR2O5mHv7aX0SM1fJju-ODeBIC0zjpkxq0xlMyhGCiJIV68_z-Ptaz5Ew_MDuPadTka0DQA3fqQ5KVJEDA2GH3OSE7Y2Zn8sDh91H6Q8K39S4qzOQhRnYwa6LYw5B3_gml97Hy6Wz-vi5bDb57m34Dh-GnUKbDRCdcoIeqY4muAVLiN6yEjwTcCW-xWGGY-H_sX7hCmUOoMzB2phkuTyPPw6Jw3wqhooi27_HLSpLvZSm9qeeDhMGp1LoG-Tyoync6p2rpuSlM2deHmJ5EBe87zY51Qk11ItukDDmy_SZC-uyYTxMLJoVPIIM0NfzZue1s5hOHsTSjEucqAz2Pxffku1KasMOHW9385UEo4mIMkeCTXeyl1_8n5EcLTvxGX9DE7Co-QUCVoPtNSyHup4Dfl7aYOMZah2VjiEGnuk8mYo-qzk17oygSTs8qV07oK971Ho3mnCAz4q-ho70oz7IDIwYHJhQpcsunH-yRMWLs7iUhxZESNfLvslX2S7xqp17xsBeDiqwMOigwqOtx1yaq9mHjciM_uuK3Ei4b6UOs-aZd-IfulZL5M1k2XxRbI7rY3FiQCOa0m8-G9E7cyUrwWIV7FGYyqH2LYkyTktKWRX75VQaNfQdstPHhgwCvklcXWU4nxd3c3NU7nsXENlf8bBZwcgfSuUdkdml6cY_8Rltt4OWWW7GNjb7--V",
  "id": "rs_0e04085871869a99016ab2b025583887d0a3b8c4e8605de8cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown torso is now visibly between both fingertips. I’m closing once more at this corrected position.\"}",
  "call_id": "call_5x8xt5QTu01gz0UlIIW4K5Vz",
  "id": "fc_0e04085871869a99016ab2b0264bd887d09f723a2cbd0ee155",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5x8xt5QTu01gz0UlIIW4K5Vz",
  "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]: [-1.0401, 2.4332, 1.2499, 0.6846, -1.3052, -0.6289, 0.0103, -0.0975, 0.5926, 0.1905, 0.1474, -0.1249, -0.0792, 0.999]\nstate[eef_state]: left_x=0.3885 left_y=-0.3182 left_z=0.0241 left_yaw=0.3664 left_pitch=0.4458 left_roll=-0.1339 left_gripper=0.0103 right_x=0.2888 right_y=-0.0025 right_z=0.1572 right_yaw=0.0485 right_pitch=0.3294 right_roll=-0.034 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -12.4239, 4.0821, 1.1648, -0.2369, 0.0562, 0.8083, -0.0889, -0.4855, 7.159, 2.1709, -0.0269, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc17e6040915ab56acfccab136c8cead4b0c6ab90c109b305da425bf8d4a9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6257cf9bacb4a848f2ebfd5c10e37f649229b31ee1e916ed92ad4176e7f1ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf25d40fb6394d61702acb08e13fc7c92516f0909494690113d37b8fc53f9bfd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 8.067 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]: [-1.0405, 2.4287, 1.2449, 0.6662, -1.3006, -0.622, 0.9946, -0.0978, 0.5888, 0.1905, 0.1734, -0.1249, -0.0788, 0.999]\nstate[eef_state]: left_x=0.3876 left_y=-0.3173 left_z=0.0226 left_yaw=0.3494 left_pitch=0.4408 left_roll=-0.1064 left_gripper=0.9946 right_x=0.2901 right_y=-0.0028 right_z=0.1644 right_yaw=0.0494 right_pitch=0.3588 right_roll=-0.0382 right_gripper=0.999\nstate[joint_eff]: [1.0188, -9.0051, 5.9966, 1.0623, 0.2222, 0.3297, 0.0366, -0.0889, -0.1026, 7.3915, 2.0733, -0.0708, -0.0122, -0.0171]\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": "gAAAAABqsrAw0sDG83wH4RaIA0ZEjj4gSFmBa0WCOEBC4d4WULIZIZiWvM-jRtJBIT15H1urGAjvBwq515n58Qhs-RhksaJH7_vFmS_qkq3jD8GqGWuTRUg6B1xEnsC5vACp6BhT1xPRYzdSYPsXcsvh3jRXfKPzIqD-gAYi4oaGJDl7b5u6mgIpa_1_6HLZ7keu4M76RjRzcjwUHEX8VNy414u4HQx9E_st3C5rNHpmTPunbTn5jYaPsLl9o8grfA_B879Njv6OR6URs1TFUCzvgqRI8U-5x4cdp90S_NwndrFXboPoUQqgf7aHTffJCVW6Zk2x7cYk_5DiNLxJb71L8Nkw29JB_uo4DiN4XJP_-vOLNjzbe7hlRmQobrMNHiLuClLOoqVR7ovYaiEFo4_dZRiVPNNeF5nFGP_JGRhEa0EnbKP5x3l68X3wtm3Gto4_C2yqEcyeZK3ycbWzVBFWebKN_pQoT3SVkKgPyOmguheuGifCWOVKVdMcuM-zwayAWsLxABCp10D0HZBLHnny9zMm02QXGMKmxUhfN-cnigK6GIKxnv61ROLjX0cufu0ZQvLHMFp-s_PKZWy8qRxR8OZRMteXtezzT8nhXfDZFCTicOZia7bbNFZtKc4XfaK4M6wilnGgkTT8LUtGPtZn35KGEg1OLHAoM3g2dV3iu-szYIgq5KR-T_8pApcTO6YzFJwbJgSY-Vzgx6JDLkJg-xD33x4DwdOhRMCrZygaSQpweK1Z9Ax39OeVq3BapIQ-yaPbpLhL3Ks161SECMOQOc0q1d3cv9Gf9KIetXSaW-4h9cur3W0iWQtRiSm2r4RH44XlzePhLG_yLPwdG93p3XaEPtNLKdU-MvY0g-LvllpRgLAWqoib3B8jfmGK-hIaLdePdmcCtuAqMMiLJyLsaYCidOb5PZFHQ2doj40arHtpHr2-nq855ONOQcARGnkThHwdf82m27z0qXe_CYGgjTWrpY1Jpcc0t-F0J_yAXeTYN6sQPr5UBRQEi9o8eSBFYJXLjeXl85V_lwTtgRut-ahzmELIWDBblaXu0phDnegWEJETZ6Q-u5TEX5VeSCGRKYsXtId8KREwJRc8WFhgr6fwaJswHKn56CUiXFd-E-OmsYorw-x91FGG6tKitmJIofEB_o1KmDj75hDnh3MEQdbh9eseEVYFb8WDtCYcd2k77pK0aih7EY89sPLRZ_HQ_bd5umHnb1zTlawd0bPcujKDMz5E35dHRWQoGrCArMU1WusQ8lLM_lazQhf9LGzIIfSBptx368Nj5iv73sMyR-R1CXCw65VxEm1wz6QZw_VT3-dUpF4=",
  "id": "rs_0e04085871869a99016ab2b02ced4887d08ad8ea1fac608b79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The brown plush still has not been secured, and repeated contact has shifted the safe farther away. I’m withdrawing both arms rather than continuing to push the objects or attempting to close the safe with objects outside.\"}",
  "call_id": "call_LwdLFhLnje6JE4uraufV6DuC",
  "id": "fc_0e04085871869a99016ab2b02e3a7487d08a57984bf3b40093",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LwdLFhLnje6JE4uraufV6DuC",
  "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]: [-0.4374, 0.7269, 0.2558, 0.3454, -0.7776, -0.2806, 0.9977, -0.0776, 0.6006, 0.3172, -0.0372, -0.1165, -0.0792, 0.999]\nstate[eef_state]: left_x=0.2922 left_y=0.0041 left_z=0.2054 left_yaw=0.4443 left_pitch=0.4781 left_roll=-0.1896 left_gripper=0.9977 right_x=0.2885 right_y=0.0018 right_z=0.1731 right_yaw=0.0581 right_pitch=0.2637 right_roll=-0.0268 right_gripper=0.999\nstate[joint_eff]: [0.1436, -0.253, 7.747, 1.6532, 0.2076, 0.1538, -0.0904, 0.3077, 0.0615, 11.2615, 2.0586, 0.0611, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e891a1909107bb4117a2e3e7b36cffaa1c916dbf1808e30d6f00ab836327b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a7e06e2877b868811fd1268acfda5ca72e0865a2abd61ccf014df35014f694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b320c137378a9476a1d93fac055e5098106a50087d050617dab790e546a37545",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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