adhoc

completed
2026-09-22T18:02:12.392512+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
283.4 s
total steps
352
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see a brown plush toy, a white plush toy, and a yellow object beside an open red-lined safe. I’ll bring the right gripper above the brown toy first.
move_to
right_x0.2400right_y0.2500right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6083, -0.3962, -0.02, -0.0254, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.1786 right_yaw=0.0003 right_pitch=0.0008 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5949, -1.4154, 10.2769, 1.9365, -0.0366, 0.1929, -0.0904, -0.5812, -1.5111, 9.6068, 1.9072, -0.0513, 0.1148, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.24,"right_y":0.25,"right_z":0.17,"right_gripper":1},"note":"I see a brown plush toy, a white plush toy, and a yellow object beside an open red-lined safe. I’ll bring the right gripper above the brown toy first."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe brown toy is centered between the open jaws in the wrist view. I’ll move slightly forward and lower to grasp its body.
move_to
right_x0.2700right_y0.2500right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4053, -0.0193, -0.038, 0.9992, 1.1938, 1.42, 0.9745, -0.6529, 0.8536, 0.8822, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1748 left_yaw=0.0017 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2353 right_y=0.2424 right_z=0.1559 right_yaw=0.0427 right_pitch=-0.044 right_roll=-0.0654 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.7573, 6.7761, 1.8486, -0.0708, -0.0366, -0.022, 0.253, -5.6, 8.4308, 1.1502, 0.6374, 0.1587, -0.0513] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.25,"right_z":0.035},"note":"The brown toy is centered between the open jaws in the wrist view. I’ll move slightly forward and lower to grasp its body."})
tool
executing move_to over 8 steps (0.8s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe jaws are down on either side of the brown toy’s body. I’ll close them to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4133, -0.0193, -0.0383, 0.9992, 1.0939, 1.7042, 0.7242, -0.1066, 0.8005, 0.7662, 0.9996] state[eef_state]: left_x=0.2909 left_y=0.0015 left_z=0.1729 left_yaw=0.0023 left_pitch=-0.0263 left_roll=-0.003 left_gripper=0.9992 right_x=0.2615 right_y=0.2377 right_z=0.0328 right_yaw=0.0329 right_pitch=-0.0867 right_roll=-0.1263 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.347, 7.0085, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -6.7487, 5.053, 1.2332, 0.4664, -0.0904, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are down on either side of the brown toy’s body. I’ll close them to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper closed almost completely, so the first grasp likely missed the toy. I’ll reopen and shift a little farther forward over its body for a second attempt.
move_to
right_gripper1.0000right_x0.2950right_y0.2550right_z0.0400left_x0.2930left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 1.0916, 1.7241, 0.7147, -0.1074, 0.7887, 0.7593, 0.0081] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0023 left_pitch=-0.0408 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2587 right_y=0.2339 right_z=0.0227 right_yaw=0.0376 right_pitch=-0.1112 right_roll=-0.1529 right_gripper=0.0081 state[joint_eff]: [-0.0615, -1.1145, 7.2137, 1.8095, -0.0464, -0.022, -0.0122, -0.1573, -8.6496, 5.8325, 1.0232, 0.4322, 0.0513, 0.6129] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.295,"right_y":0.255,"right_z":0.04,"left_x":0.293,"left_y":0,"left_z":0.18},"note":"The gripper closed almost completely, so the first grasp likely missed the toy. I’ll reopen and shift a little farther forward over its body for a second attempt."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe open jaws now overlap the brown toy farther up its body. I’ll close again and check whether the grasp holds.
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]: [-0.0257, 0.8238, 0.6151, -0.4614, -0.0227, -0.0463, 0.9992, 1.0252, 1.776, 0.8444, -0.1589, 0.7437, 0.6724, 0.9945] state[eef_state]: left_x=0.2863 left_y=0.0002 left_z=0.1606 left_yaw=0.0028 left_pitch=-0.0903 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2862 right_y=0.248 right_z=0.0323 right_yaw=0.0446 right_pitch=-0.1392 right_roll=-0.1757 right_gripper=0.9945 state[joint_eff]: [-0.2803, -0.8684, 10.2359, 1.8632, -0.1245, -0.0464, -0.0122, -0.6769, -6.694, 7.4325, 1.2381, 0.398, -0.0122, -0.0415] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws now overlap the brown toy farther up its body. I’ll close again and check whether the grasp holds."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe second close was also nearly empty; the overhead view shows the toy’s body to the right of the grasp point. I’ll lift and realign over that body rather than repeat the same approach.
move_to
right_x0.3200right_y0.1950right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8257, 0.6201, -0.4744, -0.0223, -0.0532, 0.9992, 1.0245, 1.7805, 0.8459, -0.1665, 0.7399, 0.6655, 0.0175] state[eef_state]: left_x=0.2851 left_y=0.0002 left_z=0.1598 left_yaw=0.0063 left_pitch=-0.1002 left_roll=-0.0111 left_gripper=0.9992 right_x=0.2855 right_y=0.2472 right_z=0.0301 right_yaw=0.0484 right_pitch=-0.1487 right_roll=-0.1879 right_gripper=0.0175 state[joint_eff]: [-0.1436, -1.4838, 6.8034, 1.7753, -0.0415, 0.0073, -0.0122, -0.294, -8.2256, 5.1077, 1.1355, 0.3932, 0.0464, 0.7155] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.195,"right_z":0.12,"right_gripper":1},"note":"The second close was also nearly empty; the overhead view shows the toy’s body to the right of the grasp point. I’ll lift and realign over that body rather than repeat the same approach."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe brown toy is now under the front of the gripper, with its body slightly left of center. I’ll correct leftward and lower to table level so the jaws surround the plush rather than pass above it.
move_to
right_x0.3150right_y0.2250right_z0.0050right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8257, 0.6201, -0.4805, -0.0223, -0.0566, 0.9992, 0.8307, 1.5234, 0.8879, -0.387, 0.6346, 0.4587, 0.9945] state[eef_state]: left_x=0.2842 left_y=0.0002 left_z=0.1586 left_yaw=0.0082 left_pitch=-0.1064 left_roll=-0.0136 left_gripper=0.9992 right_x=0.3113 right_y=0.1909 right_z=0.0975 right_yaw=0.0397 right_pitch=-0.1927 right_roll=-0.2205 right_gripper=0.9945 state[joint_eff]: [-0.3624, -1.2513, 6.9675, 1.6874, -0.0562, 0.0122, -0.0122, -0.3077, -8.0205, 8.8547, 1.37, 0.2808, -0.0122, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.225,"right_z":0.005,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The brown toy is now under the front of the gripper, with its body slightly left of center. I’ll correct leftward and lower to table level so the jaws surround the plush rather than pass above it."})
tool
executing move_to over 7 steps (0.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe brown plush fills the space between the jaws at table level. I’ll close around it now.
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]: [-0.0257, 0.8257, 0.6201, -0.4969, -0.0223, -0.057, 0.9992, 0.9161, 1.8088, 0.6464, 0.2989, 0.73, 0.59, 0.9953] state[eef_state]: left_x=0.2816 left_y=0.0003 left_z=0.1555 left_yaw=0.0085 left_pitch=-0.1228 left_roll=-0.0133 left_gripper=0.9992 right_x=0.3133 right_y=0.2206 right_z=0.0144 right_yaw=0.0041 right_pitch=-0.0203 right_roll=-0.0495 right_gripper=0.9953 state[joint_eff]: [-0.2803, -1.2376, 6.9675, 1.7851, -0.0513, -0.0122, -0.0122, -0.212, -5.4906, 3.453, 0.7253, 0.0366, -0.0171, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush fills the space between the jaws at table level. I’ll close around it now."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe jaws have closed narrowly, possibly around a thin part of the plush. I’ll lift a few centimeters to check whether the toy follows before transporting it.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8257, 0.6197, -0.5133, -0.0223, -0.0574, 0.9992, 0.9207, 1.8042, 0.6411, 0.3454, 0.7444, 0.585, 0.0281] state[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1523 left_yaw=0.0088 left_pitch=-0.1395 left_roll=-0.013 left_gripper=0.9992 right_x=0.3164 right_y=0.2243 right_z=0.0219 right_yaw=0.0018 right_pitch=0.0161 right_roll=-0.024 right_gripper=0.0281 state[joint_eff]: [-0.2256, -1.2923, 6.9128, 1.7656, -0.0611, -0.0708, -0.0122, -0.7316, -7.1453, 5.0393, 0.906, 0.1343, 0.022, 1.9658] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The jaws have closed narrowly, possibly around a thin part of the plush. I’ll lift a few centimeters to check whether the toy follows before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe toy stayed on the table, and the wrist view shows its main body still ahead of the fingertips. I’ll move forward over the center of the body with the jaws open.
move_to
right_x0.3900right_y0.2450right_z0.0350right_gripper1.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8257, 0.6197, -0.5186, -0.0223, -0.0574, 0.9992, 0.9211, 1.6321, 0.709, 0.0734, 0.7288, 0.5797, 0.0404] state[eef_state]: left_x=0.278 left_y=0.0004 left_z=0.1513 left_yaw=0.0088 left_pitch=-0.1449 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3117 right_y=0.2218 right_z=0.0648 right_yaw=0.0156 right_pitch=-0.0128 right_roll=-0.0467 right_gripper=0.0404 state[joint_eff]: [-0.2256, -1.3333, 6.8855, 1.663, -0.0806, -0.0562, -0.0122, -0.3077, -8.0889, 8.0752, 1.6386, 0.3785, 0.0171, 1.033] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.245,"right_z":0.035,"right_gripper":1,"right_pitch":0,"right_roll":0},"note":"The toy stayed on the table, and the wrist view shows its main body still ahead of the fingertips. I’ll move forward over the center of the body with the jaws open."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe plush’s thick body is slightly left of the jaw center. I’ll make a small leftward adjustment before closing.
move_to
right_x0.4050right_y0.2800right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8295, 0.6197, -0.5331, -0.0223, -0.0574, 0.9992, 0.7853, 1.9079, 0.8745, 0.263, 0.6189, 0.4713, 0.9948] state[eef_state]: left_x=0.2757 left_y=0.0004 left_z=0.1477 left_yaw=0.0089 left_pitch=-0.1632 left_roll=-0.0122 left_gripper=0.9992 right_x=0.3796 right_y=0.2397 right_z=0.0325 right_yaw=0.0172 right_pitch=-0.0207 right_roll=-0.024 right_gripper=0.9948 state[joint_eff]: [-0.1573, -1.6479, 6.9265, 1.6972, -0.0659, -0.0562, -0.0171, -0.6632, -7.4735, 7.0906, 1.4139, 0.2564, -0.0171, -0.2369] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.28,"right_z":0.025},"note":"The plush’s thick body is slightly left of the jaw center. I’ll make a small leftward adjustment before closing."})
tool
executing move_to over 4 steps (0.4s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe jaws now straddle the brown toy near the safe’s front edge. I’ll grip its body.
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]: [-0.0257, 0.8318, 0.6201, -0.5407, -0.0223, -0.0574, 0.9992, 0.815, 2.0346, 1.0561, 0.2214, 0.6243, 0.4789, 0.9953] state[eef_state]: left_x=0.2746 left_y=0.0005 left_z=0.1459 left_yaw=0.0089 left_pitch=-0.1727 left_roll=-0.0118 left_gripper=0.9992 right_x=0.4016 right_y=0.2809 right_z=0.0319 right_yaw=0.039 right_pitch=-0.0085 right_roll=-0.011 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.5521, 7.0632, 1.6093, -0.0659, -0.0366, -0.0122, -0.294, -8.8957, 6.2291, 1.2772, 0.3004, 0.0562, 0.0415] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now straddle the brown toy near the safe’s front edge. I’ll grip its body."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe brown toy has slid against the front of the safe rather than being captured. I’ll approach its upper body from above, farther forward and left.
move_to
right_gripper1.0000right_x0.4500right_y0.3200right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8322, 0.6201, -0.5591, -0.0223, -0.057, 0.9992, 0.8177, 2.046, 1.066, 0.2314, 0.6167, 0.4744, 0.026] state[eef_state]: left_x=0.2715 left_y=0.0005 left_z=0.1425 left_yaw=0.0089 left_pitch=-0.1914 left_roll=-0.0109 left_gripper=0.9992 right_x=0.403 right_y=0.2858 right_z=0.031 right_yaw=0.0498 right_pitch=-0.0061 right_roll=-0.0052 right_gripper=0.026 state[joint_eff]: [-0.1162, -1.3607, 7.0769, 1.7363, -0.0659, -0.022, -0.0122, -0.5538, -11.2615, 4.7111, 1.3504, 0.2808, 0.0171, 1.1648] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.45,"right_y":0.32,"right_z":0.065},"note":"The brown toy has slid against the front of the safe rather than being captured. I’ll approach its upper body from above, farther forward and left."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe brown plush is directly beneath the open jaws now. I’ll lower slightly and close around it.
move_to
right_z0.0250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8322, 0.6201, -0.5701, -0.0223, -0.0574, 0.9992, 0.7971, 2.1288, 1.3602, 0.0032, 0.5926, 0.4465, 0.9945] state[eef_state]: left_x=0.2696 left_y=0.0006 left_z=0.1406 left_yaw=0.0091 left_pitch=-0.2024 left_roll=-0.0108 left_gripper=0.9992 right_x=0.4411 right_y=0.3155 right_z=0.0588 right_yaw=0.062 right_pitch=-0.0299 right_roll=-0.0276 right_gripper=0.9945 state[joint_eff]: [-0.2803, -1.3197, 6.9949, 1.6581, -0.0122, -0.0611, -0.0122, -0.6632, -10.359, 7.9248, 1.7021, 0.3053, 0.0317, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_gripper":0},"note":"The brown plush is directly beneath the open jaws now. I’ll lower slightly and close around it."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThat close was empty too, and the safe’s rim is limiting access. I’ll lift clear and uncover the toy to reassess its position.
move_to
right_z0.2200right_x0.3500right_y0.1500right_gripper1.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8322, 0.6197, -0.5846, -0.0219, -0.0574, 0.9992, 0.7971, 2.1792, 1.3338, 0.0795, 0.5865, 0.4446, 0.0082] state[eef_state]: left_x=0.267 left_y=0.0006 left_z=0.1379 left_yaw=0.0089 left_pitch=-0.2173 left_roll=-0.0105 left_gripper=0.9992 right_x=0.4412 right_y=0.3169 right_z=0.0347 right_yaw=0.0676 right_pitch=-0.033 right_roll=-0.0263 right_gripper=0.0082 state[joint_eff]: [-0.335, -1.0735, 7.0769, 1.6435, 0.0024, -0.0562, -0.0122, -0.294, -10.1538, 4.8752, 1.6874, 0.2418, 0.0171, 0.6081] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22,"right_x":0.35,"right_y":0.15,"right_gripper":1,"right_pitch":0,"right_roll":0},"note":"That close was empty too, and the safe’s rim is limiting access. I’ll lift clear and uncover the toy to reassess its position."})
tool
executing move_to over 14 steps (1.4s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteWith the arm clear, the brown toy is lying flat just in front of the safe. I’ll lower open jaws all the way to table level around its torso; the previous grasps were too high.
move_to
right_x0.4300right_y0.3250right_z-0.0150right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.836, 0.6197, -0.5922, -0.0219, -0.0574, 0.9992, 0.5991, 1.2922, 0.9867, -0.3611, 0.4435, 0.305, 0.9959] state[eef_state]: left_x=0.2657 left_y=0.0006 left_z=0.1356 left_yaw=0.009 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.9992 right_x=0.3543 right_y=0.1545 right_z=0.2075 right_yaw=0.0576 right_pitch=-0.01 right_roll=-0.0068 right_gripper=0.9959 state[joint_eff]: [-0.1709, -1.4017, 6.8034, 1.6288, -0.0562, -0.0415, -0.0122, -0.2256, -5.6, 8.0752, 1.9414, 0.0611, -0.022, -0.1197] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.325,"right_z":-0.015,"right_pitch":0,"right_roll":0},"note":"With the arm clear, the brown toy is lying flat just in front of the safe. I’ll lower open jaws all the way to table level around its torso; the previous grasps were too high."})
tool
executing move_to over 15 steps (1.5s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe plush has shifted left of the gripper. I’ll slide the open jaws left to center them around the body while staying low.
move_to
right_y0.3850right_x0.4250right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8417, 0.6197, -0.6079, -0.0219, -0.0574, 0.9992, 0.8272, 2.2375, 1.2465, 0.2989, 0.6258, 0.4763, 0.9972] state[eef_state]: left_x=0.263 left_y=0.0007 left_z=0.1316 left_yaw=0.0092 left_pitch=-0.2501 left_roll=-0.0094 left_gripper=0.9992 right_x=0.4336 right_y=0.3239 right_z=0.0114 right_yaw=0.0509 right_pitch=0.0385 right_roll=0.0315 right_gripper=0.9972 state[joint_eff]: [-0.1573, -1.7709, 7.0906, 1.6386, -0.0317, -0.0415, -0.0122, 0.3077, -8.9778, 5.1624, 0.7888, 0.1441, -0.1245, 0.1197] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.385,"right_x":0.425,"right_z":0.005},"note":"The plush has shifted left of the gripper. I’ll slide the open jaws left to center them around the body while staying low."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe toy and safe have shifted left, close to the right arm’s sideways limit. I’ll withdraw the right arm and use the left arm for a straighter approach to the plush toys.
move_to
right_x0.3000right_y0.0000right_z0.2000left_x0.4000left_y-0.2300left_z0.1600left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8433, 0.6201, -0.6147, -0.0219, -0.0574, 0.9992, 0.9215, 2.3428, 1.4624, 0.1764, 0.6968, 0.5438, 0.9973] state[eef_state]: left_x=0.2618 left_y=0.0007 left_z=0.1302 left_yaw=0.0093 left_pitch=-0.2581 left_roll=-0.0091 left_gripper=0.9992 right_x=0.428 right_y=0.3822 right_z=0.0176 right_yaw=0.0556 right_pitch=0.0622 right_roll=0.0499 right_gripper=0.9973 state[joint_eff]: [-0.1846, -1.4564, 6.8444, 1.5458, -0.0464, -0.0513, -0.0122, 0.3897, -10.6735, 7.3231, 1.3358, 0.2515, 0.0806, 0.0073] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"left_x":0.4,"left_y":-0.23,"left_z":0.16,"left_pitch":0,"left_roll":0,"left_gripper":1},"note":"The toy and safe have shifted left, close to the right arm’s sideways limit. I’ll withdraw the right arm and use the left arm for a straighter approach to the plush toys."})
tool
executing move_to over 32 steps (3.2s)
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 left wrist view shows the brown toy’s torso centered below the jaws. I’ll lower vertically around its torso without pushing it farther.
move_to
left_x0.3900left_y-0.2250left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7471, 1.6688, 1.1137, -0.2508, -0.5964, -0.5144, 0.9993, -0.0902, 0.8143, 0.6003, -0.3637, -0.099, -0.0135, 0.9974] state[eef_state]: left_x=0.3893 left_y=-0.2205 left_z=0.1408 left_yaw=0.0042 left_pitch=-0.0605 left_roll=0.0291 left_gripper=0.9993 right_x=0.2977 right_y=-0.0058 right_z=0.1765 right_yaw=-0.0093 right_pitch=0.007 right_roll=0.0531 right_gripper=0.9974 state[joint_eff]: [-0.6632, -7.8701, 9.4017, 1.6386, -0.4615, 0.0317, -0.0904, -0.1573, -2.1675, 10.0171, 2.0781, -0.188, -0.0611, -0.0073] 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":{"left_x":0.39,"left_y":-0.225,"left_z":0.025},"note":"The left wrist view shows the brown toy’s torso centered below the jaws. I’ll lower vertically around its torso without pushing it farther."})
tool
executing move_to over 8 steps (0.8s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe jaws are aligned across the brown plush’s torso. I’ll close the left gripper to secure it.
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]: [-0.7525, 1.903, 0.9104, 0.1299, -0.5987, -0.5182, 0.9992, -0.091, 0.8181, 0.5999, -0.3882, -0.1089, -0.033, 0.9974] state[eef_state]: left_x=0.385 left_y=-0.2191 left_z=0.0252 left_yaw=0.0057 left_pitch=-0.1006 left_roll=0.0664 left_gripper=0.9992 right_x=0.2946 right_y=-0.004 right_z=0.1704 right_yaw=0.0089 right_pitch=-0.0205 right_roll=0.045 right_gripper=0.9974 state[joint_eff]: [-0.294, -8.8137, 4.8615, 1.5702, -0.2613, -0.0611, -0.0171, 0.0205, -1.6615, 7.0632, 1.9267, 0.0464, 0.2027, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are aligned across the brown plush’s torso. I’ll close the left gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe gripper stopped slightly open on the plush. I’ll lift gently to verify that it is held.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7525, 1.924, 0.8989, 0.1261, -0.5995, -0.5255, 0.0404, -0.091, 0.8181, 0.5999, -0.4103, -0.1093, -0.0341, 0.9974] state[eef_state]: left_x=0.3802 left_y=-0.2145 left_z=0.0126 left_yaw=0.0131 left_pitch=-0.1261 left_roll=0.0864 left_gripper=0.0404 right_x=0.2914 right_y=-0.0036 right_z=0.1659 right_yaw=0.0099 right_pitch=-0.0424 right_roll=0.0465 right_gripper=0.9974 state[joint_eff]: [-0.253, -10.5231, 6.0513, 1.3895, -0.232, -0.0073, 0.8962, -0.0752, -1.265, 7.0906, 1.873, -0.0513, -0.0122, -0.0171] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The gripper stopped slightly open on the plush. I’ll lift gently to verify that it is held."})
tool
executing move_to over 5 steps (0.5s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe toy has not clearly lifted, and its thick torso remains ahead of the fingertips. I’ll reopen and place the jaws farther forward over the torso.
move_to
left_x0.4500left_y-0.1950left_z0.0200left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7525, 1.7836, 0.989, -0.1417, -0.5983, -0.5362, 0.0404, -0.091, 0.8192, 0.5999, -0.4332, -0.1097, -0.0341, 0.9974] state[eef_state]: left_x=0.3758 left_y=-0.2106 left_z=0.0634 left_yaw=0.0218 left_pitch=-0.153 left_roll=0.1039 left_gripper=0.0404 right_x=0.2881 right_y=-0.0033 right_z=0.1611 right_yaw=0.0103 right_pitch=-0.0663 right_roll=0.0492 right_gripper=0.9974 state[joint_eff]: [-0.2803, -10.7282, 8.7179, 1.5018, -0.3394, 0.0611, 1.0281, -0.0342, -1.2513, 6.9675, 1.9316, -0.1001, -0.0366, -0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.195,"left_z":0.02,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The toy has not clearly lifted, and its thick torso remains ahead of the fingertips. I’ll reopen and place the jaws farther forward over the torso."})
tool
executing move_to over 10 steps (1.0s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe brown torso is now between the fingertips rather than beyond them. I’ll close around it.
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]: [-0.6018, 2.0094, 0.9485, 0.3176, -0.5308, -0.4248, 0.9953, -0.091, 0.8227, 0.5999, -0.4549, -0.1097, -0.0349, 0.9974] state[eef_state]: left_x=0.4384 left_y=-0.1882 left_z=0.0161 left_yaw=0.0495 left_pitch=-0.044 left_roll=0.0261 left_gripper=0.9953 right_x=0.285 right_y=-0.003 right_z=0.156 right_yaw=0.011 right_pitch=-0.0913 right_roll=0.0511 right_gripper=0.9974 state[joint_eff]: [0.4444, -7.9658, 6.1607, 1.6239, -0.0122, 0.2027, -0.1343, -0.0068, -1.6479, 6.9402, 1.8535, -0.0757, -0.0659, -0.0171] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown torso is now between the fingertips rather than beyond them. I’ll close around it."})
tool
executing move_to over 10 steps (1.0s)
step 245
top_cam
camera top_cam step 245
left_cam
camera left_cam step 245
assistant
agent noteThe gripper is holding a measurable thickness of plush. I’ll lift it clear and check that the brown toy rises with the jaws.
move_to
left_z0.1200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5972, 2.0251, 0.9485, 0.3298, -0.5358, -0.4274, 0.1149, -0.091, 0.823, 0.5999, -0.4782, -0.1097, -0.0345, 0.9974] state[eef_state]: left_x=0.4396 left_y=-0.1856 left_z=0.0114 left_yaw=0.0594 left_pitch=-0.0446 left_roll=0.0286 left_gripper=0.1149 right_x=0.2814 right_y=-0.0027 right_z=0.1515 right_yaw=0.011 right_pitch=-0.1149 right_roll=0.0538 right_gripper=0.9974 state[joint_eff]: [-0.4171, -11.1658, 5.094, 1.4042, -0.2125, 0.022, 0.8718, -0.0205, -1.1829, 7.1043, 1.8193, -0.0855, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_pitch":0,"left_roll":0},"note":"The gripper is holding a measurable thickness of plush. I’ll lift it clear and check that the brown toy rises with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 253
assistant
agent noteThe brown toy has lifted with the gripper. I’ll carry it up and forward over the open red compartment.
move_to
left_x0.5600left_y-0.2750left_z0.2200left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5968, 1.8084, 1.0286, 0.0177, -0.5354, -0.4355, 0.1147, -0.091, 0.8284, 0.5999, -0.5007, -0.1101, -0.0345, 0.9974] state[eef_state]: left_x=0.4325 left_y=-0.1806 left_z=0.0859 left_yaw=0.0643 left_pitch=-0.0567 left_roll=0.0313 left_gripper=0.1147 right_x=0.278 right_y=-0.0023 right_z=0.1459 right_yaw=0.0117 right_pitch=-0.1425 right_roll=0.057 right_gripper=0.9974 state[joint_eff]: [-0.3624, -11.4256, 9.3197, 1.8632, -0.3346, 0.0464, 0.779, -0.0479, -1.7983, 7.0906, 1.8144, -0.0806, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_y":-0.275,"left_z":0.22,"left_pitch":0.25},"note":"The brown toy has lifted with the gripper. I’ll carry it up and forward over the open red compartment."})
tool
executing move_to over 11 steps (1.1s)
step 264
assistant
agent noteThe brown toy is above the safe’s red-lined compartment. I’ll lower it into the compartment before releasing.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6365, 2.1731, 1.7924, -0.131, -0.6601, -0.3138, 0.1172, -0.091, 0.8333, 0.5999, -0.5266, -0.1101, -0.0345, 0.9974] state[eef_state]: left_x=0.5508 left_y=-0.268 left_z=0.1917 left_yaw=0.0648 left_pitch=0.1818 left_roll=0.0378 left_gripper=0.1172 right_x=0.2738 right_y=-0.0019 right_z=0.14 right_yaw=0.0122 right_pitch=-0.1733 right_roll=0.0602 right_gripper=0.9974 state[joint_eff]: [-0.6769, -13.1897, 9.1829, 1.8437, -0.4274, 0.2466, 0.5495, -0.335, -1.5385, 6.8855, 1.8046, -0.0757, -0.0366, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The brown toy is above the safe’s red-lined compartment. I’ll lower it into the compartment before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 270
assistant
agent noteThe brown toy is resting in the open compartment. I’ll release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6399, 2.265, 1.6077, 0.065, -0.6556, -0.3153, 0.1198, -0.091, 0.8345, 0.5999, -0.5537, -0.1097, -0.0345, 0.9974] state[eef_state]: left_x=0.5429 left_y=-0.2654 left_z=0.0956 left_yaw=0.0508 left_pitch=0.1185 left_roll=0.0867 left_gripper=0.1198 right_x=0.2692 right_y=-0.0015 right_z=0.1349 right_yaw=0.0124 right_pitch=-0.2014 right_roll=0.0629 right_gripper=0.9974 state[joint_eff]: [0.1573, -12.7795, 6.5846, 2.0733, -0.2759, -0.0073, 0.5739, -0.0752, -1.2239, 7.1043, 1.7851, -0.1001, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown toy is resting in the open compartment. I’ll release it."})
tool
executing move_to over 9 steps (0.9s)
step 279
assistant
agent noteThe brown toy is inside the safe; the white toy and yellow object remain on the table. I’ll clear the safe with the left arm and position the right gripper above the yellow object.
move_to
left_x0.4200left_y-0.1150left_z0.1300left_pitch0.0000left_roll0.0000right_x0.4900right_y0.1050right_z0.1200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6399, 2.2761, 1.5955, 0.0559, -0.6556, -0.3222, 0.9952, -0.091, 0.8349, 0.5999, -0.5861, -0.1097, -0.0345, 0.9973] state[eef_state]: left_x=0.5396 left_y=-0.263 left_z=0.0828 left_yaw=0.0523 left_pitch=0.0939 left_roll=0.1013 left_gripper=0.9952 right_x=0.2635 right_y=-0.001 right_z=0.1293 right_yaw=0.0132 right_pitch=-0.234 right_roll=0.0663 right_gripper=0.9973 state[joint_eff]: [-0.1436, -14.0376, 7.5966, 1.6581, -0.2808, 0.0024, -0.1343, -0.1709, -1.3607, 6.9812, 1.8584, -0.0659, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.115,"left_z":0.13,"left_pitch":0,"left_roll":0,"right_x":0.49,"right_y":0.105,"right_z":0.12,"right_pitch":0,"right_roll":0},"note":"The brown toy is inside the safe; the white toy and yellow object remain on the table. I’ll clear the safe with the left arm and position the right gripper above the yellow object."})
tool
executing move_to over 18 steps (1.8s)
step 297
assistant
agent noteThe white toy is slightly left of the left jaw center, and the yellow object is centered under the right jaws. I’ll lower both open grippers around the remaining objects.
move_to
left_x0.4200left_y-0.0850left_z0.0050right_x0.4900right_y0.1050right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4454, 1.5871, 0.8825, 0.0471, -0.4309, -0.3214, 0.9963, 0.2802, 1.7596, 1.0298, 0.0399, 0.194, 0.1169, 0.9974] state[eef_state]: left_x=0.4236 left_y=-0.1165 left_z=0.1222 left_yaw=0.07 left_pitch=-0.0092 left_roll=0.01 left_gripper=0.9963 right_x=0.4697 right_y=0.1035 right_z=0.0979 right_yaw=0.0441 right_pitch=-0.0921 right_roll=-0.0225 right_gripper=0.9974 state[joint_eff]: [0.2393, -8.4444, 6.1607, 1.8095, -0.0659, 0.0757, 0.105, -0.0342, -8.6769, 8.6769, 1.956, 0.1929, 0.1245, -0.0073] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.085,"left_z":0.005,"right_x":0.49,"right_y":0.105,"right_z":0.015},"note":"The white toy is slightly left of the left jaw center, and the yellow object is centered under the right jaws. I’ll lower both open grippers around the remaining objects."})
tool
executing move_to over 8 steps (0.8s)
step 305
assistant
agent noteThe left jaws surround the white plush. The right arm stopped above its requested height, so I’ll shorten its reach slightly while closing on the yellow object.
move_to
left_gripper0.0000right_x0.4650right_z0.0250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3603, 1.8786, 0.6331, 0.5488, -0.3733, -0.2802, 0.9965, 0.2794, 1.8179, 1.0058, 0.0887, 0.1905, 0.1127, 0.9974] state[eef_state]: left_x=0.4124 left_y=-0.0827 left_z=0.0002 left_yaw=0.0871 left_pitch=-0.0613 left_roll=0.0299 left_gripper=0.9965 right_x=0.4689 right_y=0.1035 right_z=0.0704 right_yaw=0.0477 right_pitch=-0.1253 right_roll=-0.0314 right_gripper=0.9974 state[joint_eff]: [0.3897, -7.4188, 4.041, 1.0574, -0.0024, 0.1001, 0.0024, -0.2667, -9.0872, 6.6393, 1.8828, 0.0366, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.465,"right_z":0.025,"right_gripper":0},"note":"The left jaws surround the white plush. The right arm stopped above its requested height, so I’ll shorten its reach slightly while closing on the yellow object."})
tool
executing move_to over 10 steps (1.0s)
step 315
assistant
agent noteThe left gripper has a substantial hold on the white plush, while the yellow-object grasp was empty. I’ll lift the white toy and clear the right gripper.
move_to
left_z0.1800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3592, 1.8809, 0.6292, 0.5903, -0.3862, -0.2852, 0.2245, 0.2806, 1.9045, 0.9222, 0.2199, 0.1886, 0.1089, 0.008] state[eef_state]: left_x=0.4169 left_y=-0.0816 left_z=0.0062 left_yaw=0.1007 left_pitch=-0.0258 left_roll=0.0176 left_gripper=0.2245 right_x=0.4585 right_y=0.1014 right_z=0.0229 right_yaw=0.0512 right_pitch=-0.1635 right_roll=-0.042 right_gripper=0.008 state[joint_eff]: [-0.1436, -8.1573, 4.8889, 1.2381, -0.0464, 0.0269, 1.0281, 0.0342, -7.6239, 5.3265, 1.8779, 0.149, 0.0464, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18,"right_z":0.15,"right_gripper":1},"note":"The left gripper has a substantial hold on the white plush, while the yellow-object grasp was empty. I’ll lift the white toy and clear the right gripper."})
tool
executing move_to over 12 steps (1.2s)
step 327
assistant
agent noteThe white plush lifted successfully. I’ll carry it over the safe beside the brown toy.
move_to
left_x0.5400left_y-0.2600left_z0.2100left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3592, 1.4807, 0.955, -0.1734, -0.3859, -0.2962, 0.2281, 0.2806, 1.7023, 1.1648, -0.284, 0.1867, 0.1005, 0.9954] state[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.1536 left_yaw=0.1072 left_pitch=-0.0595 left_roll=0.0253 left_gripper=0.2281 right_x=0.4518 right_y=0.0998 right_z=0.1216 right_yaw=0.0549 right_pitch=-0.2217 right_roll=-0.0603 right_gripper=0.9954 state[joint_eff]: [-0.0479, -8.8684, 9.5795, 1.7118, -0.2027, 0.0855, 1.033, -0.0889, -10.6325, 9.3197, 1.6777, 0.0513, 0.0366, 0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.26,"left_z":0.21,"left_pitch":0.2},"note":"The white plush lifted successfully. I’ll carry it over the safe beside the brown toy."})
tool
executing move_to over 16 steps (1.6s)
step 343
assistant
agent noteThe white plush is over the open compartment. I’ll lower and release it into the safe.
move_to
left_z0.1150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6407, 2.1006, 1.7096, -0.1791, -0.6796, -0.3702, 0.2296, 0.2802, 1.6981, 1.1713, -0.3199, 0.1867, 0.1009, 0.9968] state[eef_state]: left_x=0.5316 left_y=-0.2534 left_z=0.1901 left_yaw=0.101 left_pitch=0.1459 left_roll=0.0321 left_gripper=0.2296 right_x=0.4472 right_y=0.0983 right_z=0.1202 right_yaw=0.053 right_pitch=-0.2462 right_roll=-0.0659 right_gripper=0.9968 state[joint_eff]: [-0.4171, -11.9863, 9.5385, 1.8046, -0.4176, 0.2515, 1.033, -0.1573, -8.1846, 6.1333, 1.7656, 0.0806, -0.0464, 0.1294] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.115,"left_gripper":1},"note":"The white plush is over the open compartment. I’ll lower and release it into the safe."})
tool
executing move_to over 8 steps (0.8s)
step 351
assistant
agent noteI placed the brown and white plush toys into the safe, but could not complete the remaining yellow-object grasp within this trial. The yellow object remains outside and the safe is still open.
give_up
hindsightThe plush toys required table-level grasps around their thick torsos; closes at z≈0.03 repeatedly missed thin portions and pushed them. The left arm successfully grasped the brown toy at approximately x=0.45, y=-0.195, z=0.02 and the white toy at x=0.42, y=-0.085, z=0.005 after they shifted. The safe also slid during missed approaches, so its position must be rechecked. Explicitly resetting pitch and roll helped counter substantial orientation drift.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6456, 2.1571, 1.5482, 0.0311, -0.6849, -0.3717, 0.9952, 0.2802, 1.6981, 1.1713, -0.3397, 0.1867, 0.1013, 0.9969] state[eef_state]: left_x=0.5285 left_y=-0.2537 left_z=0.1282 left_yaw=0.1003 left_pitch=0.1422 left_roll=0.0381 left_gripper=0.9952 right_x=0.4437 right_y=0.0973 right_z=0.117 right_yaw=0.0516 right_pitch=-0.2655 right_roll=-0.0702 right_gripper=0.9969 state[joint_eff]: [0.335, -10.7009, 5.8462, 1.8046, -0.2027, -0.0122, -0.0269, -0.1846, -8.3214, 6.5983, 1.6288, 0.0415, -0.0464, 0.0024] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed the brown and white plush toys into the safe, but could not complete the remaining yellow-object grasp within this trial. The yellow object remains outside and the safe is still open.","hindsight":"The plush toys required table-level grasps around their thick torsos; closes at z≈0.03 repeatedly missed thin portions and pushed them. The left arm successfully grasped the brown toy at approximately x=0.45, y=-0.195, z=0.02 and the white toy at x=0.42, y=-0.085, z=0.005 after they shifted. The safe also slid during missed approaches, so its position must be rechecked. Explicitly resetting pitch and roll helped counter substantial orientation drift."})
tool
give_up: I placed the brown and white plush toys into the safe, but could not complete the remaining yellow-object grasp within this trial. The yellow object remains outside and the safe is still open.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.088 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]: [-0.0189, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6083, -0.3962, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.1786 right_yaw=0.0003 right_pitch=0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4154, 10.2769, 1.9365, -0.0366, 0.1929, -0.0904, -0.5812, -1.5111, 9.6068, 1.9072, -0.0513, 0.1148, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90029b0f2e4c070db5124f418bc918aa21581ffbe26473856f2704110c602b56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc6246a51b7d2d15cad413bf0dde357aa58af8cf37e16b91ba34fa44d787a4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597e1a0273ff1a254fd80cf2130e51cc09914574611ec4eb860bc289209e47ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.671 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssK0LfNp9R1VqoMewFdY1oj33HxNJEUGv9wZxbxul7no2mzPgHG1hLH5FVltfoQ617sg5UtqrzIe38tvDaY-7ShfmGjFF5bubOim581EscF-4qJf70KC6XLcatYcmyOrk0Px9f87GR8eCu5trBaJeaMcYQxzBaSX7k_f2J5OUciI88wyMB5IngQB0b4Is6weCZAJikMYrpSVGYvEY8IrVhQFdMr8ghZkZhtP2uULMJTEuocMAHR6MutmZTBcnz0Z3398mqQ3soXSOYCWu_p6Jji35AhF2n3JuEyRYGolheR6V9mjMdukwXG9sjatseI5lTcR0p4eUT8Vq3thPgS0D9UsdIaV1E3kRZi7s0H8Qff7Z9-J0ywMR2qeljjf3rFzVMFolTkLCF8y5AAHzlWtpYCW9MZ0Bqn7EZeHAi9_V2Jr1iqBFwaPhC86ZzWwvqGeHKMpXPMAHn0DmqBOmOXA62YesdyPSqc2AuFcyEGngU0t7e4G_HjUwp6NOJK4Oxro6b8bmohMbn1D4Cu9ts4CxqBJf_F_qJtGJA-3ep1eSXxccjWZc7ZSqHzCx4_2mxyRNkdsh7pGRUqBsCG7DxR_JHXoxQ5FgG-I1qtqptoGR32w6R2LXtIia85kMVLlY3MMx8y30AJWCQ1SfSK8wdq4i_cZe3sVQp4u6H8g3U7h4EDKyCgojAosu2vfo8Z-HKe6rJwVmPNaX3IZZlQpYLMEcO42c_SXme5B76ihPF24esRADHT_j-znlT0LoC-KPY5UXGJCpBq_Jp0UPWzv5NBuEnk1tLIVzioZMkjrmtRaEa4ejpcQO8RfEQq1JwlUNZeD3YXvS1Fwp0rVXfOiAHiJl49yCCXpSOGWSZ8y_9cZz2TzqvpwKdUY93zafYV0kSjwwhpVQSO2CPg0Dh4yvsqwWALmfqfMaDn56EDxMlqkX9d3GKehRQZifigNnlSqFFdlL4jZiIqtKbqhW-o0P6TvQjuVcWNJEZrU7R9hJD_fwb9bKqJ9_8Xixeac2WRTX6tX0tvhypij_mcBwmd_Fi8TCfXDV1GNz6bcYCmU1Ag7KHOfwLFK4LjkdRzRBsTWtCu_o5G-baoV83QeUOxxldvDo5URok_zcNpI9V0FeMVGFX2NqoB91aTCpW7G0n8grLWz3PwBO5__vggR74vfUn5fWiHTGuKeF0RLABPaELecR58-Gd5H_afcNiTzVVmQONABBcbM229TYFLUNJFCJtibhWNLtcJqHRlQdE_FEIzFPaNTN-gRhlDh_F3c6H74ApP20xI--4OoQPQz4GPZe22QbPVHo38SdrSB2Ax6k3RoSz_yGEbTy4v3PVv_7y4hHb1RkdH18mxuEf37X9R9Rj3yFRf7huFn4pr5dMmxnrl4Bo7VnV7EixJAMMlyBJsSzK-rN2ApOpATGY70iJ771oingbnXv8OpB831Brz62fsVPHkfEBBtOJWCkGnro7IsDxEeCgROL3Al7FkvpcvCpYCLWGjpVXTrjcpYS8GEcKkw3U-rraaRHpUWRb3rmZiLGiRYGn3Pc-Fp9QK2QJkQcB9AT7fdz8TqhTZT4j1KkN1KiVwWehmq3x00jk1B91J8W878UpdsDvM9kJ6Ywf5f1mu2LEIMS2MkLL2ZX8smVwxzedNCriQnUjKdQqXCNo5CBr3tZLUO9ptUc38X_MAb-HpYh-oKOQ==",
  "id": "rs_075908f82c08f063016ab2c2aede4c87d086c7eae3b09684bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.25,\"right_z\":0.17,\"right_gripper\":1},\"note\":\"I see a brown plush toy, a white plush toy, and a yellow object beside an open red-lined safe. I’ll bring the right gripper above the brown toy first.\"}",
  "call_id": "call_bBl3Uk1zX6kM0cl6p2CXIFH6",
  "id": "fc_075908f82c08f063016ab2c2b2dc3887d0815457521a63a961",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bBl3Uk1zX6kM0cl6p2CXIFH6",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4053, -0.0193, -0.038, 0.9992, 1.1938, 1.42, 0.9745, -0.6529, 0.8536, 0.8822, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1748 left_yaw=0.0017 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2353 right_y=0.2424 right_z=0.1559 right_yaw=0.0427 right_pitch=-0.044 right_roll=-0.0654 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7573, 6.7761, 1.8486, -0.0708, -0.0366, -0.022, 0.253, -5.6, 8.4308, 1.1502, 0.6374, 0.1587, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516d4a79b59e479bddb4419150e713733b0ea2ff833ef357f3bf0676e3b73171",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54f83cd9fbc00af7d86079983b0a7cd7b03402291691d4a87fe5503b6f6a076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ddb74f55ef810ac85290b5765cd931f948cbf30f8fda0e3ebc21d28fc1729a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 3.539 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]: [-0.0189, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6083, -0.3962, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.1786 right_yaw=0.0003 right_pitch=0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4154, 10.2769, 1.9365, -0.0366, 0.1929, -0.0904, -0.5812, -1.5111, 9.6068, 1.9072, -0.0513, 0.1148, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssK79elRLTZ2AdfEaFVpGwoVlj9Q7IK7_eauigc3mg8iqlcy_NoImz3UhReumTSLlh28SHkZWFJgUoXM79Vf61XEsBfqv5y_zEbHOxqd0uJ_UWXMA-OTJxpAOKnDrRqv17umnbKu6re8sE09FOr9NT_PQmom4JKL_FGl1P-55lpxD2E8iPRlEsiC9VBexiTURpz02r9AWPS4_T2HbwtmqfdnMhDCMMIFe7UJSHZT8GyRx3dsffPq0Utjwg4D8IJ6HRCvVS1GeX00_aTDehxwm8gbeF2kyapafFTSThtfNEE6zun7lByYbkRJ9SyFVsvnZqBnikjausMofqBo459yb6HswSFOau4mXqCzRHYfz4w6T7c3RzIj5UUloKayH55AXqi5gX1kZ2DSjRPx0qXGN1CADFP7CKfqU-vkyKcSB3M80cJPP2nXj6v-BW796fkd3CdIPgdUPc_p7vcAOx2Qi9SrL0j3QthHFTlQZpD32v4ah5nH9ElSq2ZBLTVFWrRhvNVc4lVsImV4SmSsp7FfYJwnMswE1U60BYCw2MWmncgZHnMfAgdk4rdNa_o8EQ68nI4aOD3tSxvg1HANaZgjZ51peo0ggC6B9xE6PoJM5qzQhpkx4lnQdMqCNr1-pieh12bjAldEHKNCfu3fKqUVHGdA5CzNzw00NWAHK1UImoey49w0-63qaiWZsJLUyNeE32zxVJzar0QdfuIHRTsBUo3rdzwTJb0FJ25tpDB-fR9yxK3Z4elFGgv_UM16hjdgztFgFFU9XGkX_1qkHmYDQ2ImLymqsUO0ozcxwRW1NNR49OOEjwDzymjFL8wsxKmRdZcPlw4O4mofcM0NsfObxl4ZX9hvO7IVhupFbNicDUIow2sHh61Yk90BGBOkXlJdCf1Hhbd8K7WKBPXshhvm36E25TC5QE4D_5yp3syoCLSbljxTEMW0yntUj9Orla8X2xQ84jorqfNPzSbxAw_ybUDbrBIoQnlzdFVKMduSYJ4K4EkQGkwl0jJ7Z2gmcnTyynl_vUA1686rwfDouuOa5Dw4Lxl2y1fEaI92iX-IMsObyf_OqkBqc6ag8SOIde76nbC4AZuJ_wSSMgTfY3_JeUtZX_-PQfwAwkyx1L19ho958vJGoMhzNQFmsL7PgbRSrfcvAMruNcPCz_vlvYyrgqGHeXZBWwWmUqT2e5S0LefXjpxyL4uxtrK_tVCHaHiu31IKhgY5FIYivOXGD8BjJO-zKuLxphzHPT29sotO-q_ytFDjP-9EplZI3z4ouQMRLtpQrZTQB2IlghNFU6_hVobheA==",
  "id": "rs_075908f82c08f063016ab2c2b88e8887d08815ef7637a96af6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.25,\"right_z\":0.035},\"note\":\"The brown toy is centered between the open jaws in the wrist view. I’ll move slightly forward and lower to grasp its body.\"}",
  "call_id": "call_WoqPjvsMgi79PvVyAGdYSzTZ",
  "id": "fc_075908f82c08f063016ab2c2b96fcc87d090e941885a95151e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WoqPjvsMgi79PvVyAGdYSzTZ",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4133, -0.0193, -0.0383, 0.9992, 1.0939, 1.7042, 0.7242, -0.1066, 0.8005, 0.7662, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0015 left_z=0.1729 left_yaw=0.0023 left_pitch=-0.0263 left_roll=-0.003 left_gripper=0.9992 right_x=0.2615 right_y=0.2377 right_z=0.0328 right_yaw=0.0329 right_pitch=-0.0867 right_roll=-0.1263 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.347, 7.0085, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -6.7487, 5.053, 1.2332, 0.4664, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4cd200def140a7223714e11f9b4b50250fba6e6e27305dd8e3f8bbf099dbb89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15c88b8862bceff98ba1092716eafee6d8cad10d393e3c34c03e7d1d9efd3f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8fa1606eca4f716eee107fb9e608bfc657c39ade7106ab6f104b42fb38110d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.738 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]: [-0.0193, 0.7982, 0.6067, -0.4053, -0.0193, -0.038, 0.9992, 1.1938, 1.42, 0.9745, -0.6529, 0.8536, 0.8822, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1748 left_yaw=0.0017 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2353 right_y=0.2424 right_z=0.1559 right_yaw=0.0427 right_pitch=-0.044 right_roll=-0.0654 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7573, 6.7761, 1.8486, -0.0708, -0.0366, -0.022, 0.253, -5.6, 8.4308, 1.1502, 0.6374, 0.1587, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are down on either side of the brown toy’s body. I’ll close them to secure it.\"}",
  "call_id": "call_tL4pwHeUuJy1iyC8rwz6KZgu",
  "id": "fc_075908f82c08f063016ab2c2be415c87d0a4bff783f67c02ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tL4pwHeUuJy1iyC8rwz6KZgu",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 1.0916, 1.7241, 0.7147, -0.1074, 0.7887, 0.7593, 0.0081]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0023 left_pitch=-0.0408 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2587 right_y=0.2339 right_z=0.0227 right_yaw=0.0376 right_pitch=-0.1112 right_roll=-0.1529 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.1145, 7.2137, 1.8095, -0.0464, -0.022, -0.0122, -0.1573, -8.6496, 5.8325, 1.0232, 0.4322, 0.0513, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078baf82a31ab6605124233cea9844c451e7b0b772b2b41b09a120423d62a2a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950f43de667bf82397d262bc190c5e36ddcdaa3860e2bf30632c0caddafc67b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3dd90b8dc4926b365d67720ed0fb35c9baccb42bcc0029ab09d3afa276da6cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.545 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4133, -0.0193, -0.0383, 0.9992, 1.0939, 1.7042, 0.7242, -0.1066, 0.8005, 0.7662, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0015 left_z=0.1729 left_yaw=0.0023 left_pitch=-0.0263 left_roll=-0.003 left_gripper=0.9992 right_x=0.2615 right_y=0.2377 right_z=0.0328 right_yaw=0.0329 right_pitch=-0.0867 right_roll=-0.1263 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.347, 7.0085, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -6.7487, 5.053, 1.2332, 0.4664, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLF1xlcr8DdpE5YZSrdMHVRoyxvimk9laUvoHqBHwgLt7LkjQ2QSgxsEHKty3OVx-oDBN2Oxvs3sfaA80Y8JR1XNleu_zlmveqQOpq9C3K2BPzSMqb_6zQsUC4HZf4CbWCo3lVu0emfI35jIqIM0Ukxy6jXpr0L2MGoHuV3m7DKMtqTgr8PZ9DwkLVGmhjvwvtUmSw872TRLaxNzMYI8Dn2VIzfQMQuNHm3683fZh5TC_S6xPDrh4eoHOiSY7rkeVQWMbfc63hgPI_nIvNF4y4AYtpHh2IHeytIjqxVkuWkYwv-6mgVaJIixEbx8cpflzb3iQc0beVyF3SQ6DZXSYVqbmu-6REsLvkcG9ZGdBdG05TJBr8cEORNDrj0Br8ZM0Gq7TMb2FGoal-8DYqG4PXQluvw1PwEztG9fRSCbcVoGcCJgojrUdpAbWdDllIxtwUbj-IPHOZ28uEq_Pz_nHqaMbTgBKoce8QzgrCnv1NOrks9cWuXU5qlb81FzeSmGBPEyif9iRsq04-EgM4eu75iJrGdA-Cec15M4rk-p-nsdXPu-tRWZxFY_4lEukfwaolKOZyfdD95Y9VtXyzgtdyugQTZRLN1YOWuxF3z9FbKo0V1p-pGvUDek1UgyvqMv727bN0m1LAg53jOUG3U2CJSBl-n25dfNBpRKHjnqHrL1Zl42rvvSF-7z2a-3FCDfr8IhSh9q8Voq4UdgSukJye6l407kMLBMfSFIuGqEnBKVVjdqBeYw-vO6CxIy1tNo7RXe41F8YWPpaznOKzQ32MwkSKRTR3yny9LzUcicyatXsa4QklOY8HAh_Tp9nRf-bMqGL6pjxAzWcYdEwdB4sKfyE__b3GmffcwEeEhbn2CvBEuv_uZxpVBNgfjiUA6d3LpxuwYfMjw_A40M7gYmGylGULimRNVka89uoZ9h1gs6EhadT6l3BL57GcnILPSPVWUf34sZlWsY6sofpFgfydAiAWl-JUsmqzP_F0alksy8o1uSQxEWklF-PB9RBygqM0-D56p7goPc82UlbjPml8MXfZIsSSrwFToUsE27tDaQ3CN6Zwzoxzqr-Axe0toVKxXnM6g9EsB-uVGo37okZw3ZUAbpeASazhA2Ay-xC5-FIL-1rWlLLwx-HteBXVrls8LW7CRckkoMY2AELOi9DtYH7CftDNt2nzjeMzOJbGLohZ_yiQAzzKygPCy7cvSRnP4dWqKLim69osTxdirANHnz0FC3h6HeILJ1jPSN_BrlR0=",
  "id": "rs_075908f82c08f063016ab2c2c2376487d08eed20162d1bf9d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.295,\"right_y\":0.255,\"right_z\":0.04,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The gripper closed almost completely, so the first grasp likely missed the toy. I’ll reopen and shift a little farther forward over its body for a second attempt.\"}",
  "call_id": "call_IGqUJv5ShvTJDtY4jkDSXVFE",
  "id": "fc_075908f82c08f063016ab2c2c32aa887d0982912fcc911d061",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IGqUJv5ShvTJDtY4jkDSXVFE",
  "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]: [-0.0257, 0.8238, 0.6151, -0.4614, -0.0227, -0.0463, 0.9992, 1.0252, 1.776, 0.8444, -0.1589, 0.7437, 0.6724, 0.9945]\nstate[eef_state]: left_x=0.2863 left_y=0.0002 left_z=0.1606 left_yaw=0.0028 left_pitch=-0.0903 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2862 right_y=0.248 right_z=0.0323 right_yaw=0.0446 right_pitch=-0.1392 right_roll=-0.1757 right_gripper=0.9945\nstate[joint_eff]: [-0.2803, -0.8684, 10.2359, 1.8632, -0.1245, -0.0464, -0.0122, -0.6769, -6.694, 7.4325, 1.2381, 0.398, -0.0122, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9151ccacc5d6249bfbc20b73ce82af5446c08b7bc5bfa6c6bf7edd75c73a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f3e4eb744dbc2910280ce625a970e2f3c7bd1416a26d30ce9d7afb4caea6ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d89b08f99dbc4e50f05d19eaad3e4eb9d16c323483c55cd751f9a0822a3d56",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 7.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 1.0916, 1.7241, 0.7147, -0.1074, 0.7887, 0.7593, 0.0081]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0023 left_pitch=-0.0408 left_roll=-0.0026 left_gripper=0.9992 right_x=0.2587 right_y=0.2339 right_z=0.0227 right_yaw=0.0376 right_pitch=-0.1112 right_roll=-0.1529 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.1145, 7.2137, 1.8095, -0.0464, -0.022, -0.0122, -0.1573, -8.6496, 5.8325, 1.0232, 0.4322, 0.0513, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now overlap the brown toy farther up its body. I’ll close again and check whether the grasp holds.\"}",
  "call_id": "call_gBXhHq8gQxIgklGfEfxWqPLf",
  "id": "fc_075908f82c08f063016ab2c2c848a487d08261ff994f9d6ad4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gBXhHq8gQxIgklGfEfxWqPLf",
  "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]: [-0.0257, 0.8257, 0.6201, -0.4744, -0.0223, -0.0532, 0.9992, 1.0245, 1.7805, 0.8459, -0.1665, 0.7399, 0.6655, 0.0175]\nstate[eef_state]: left_x=0.2851 left_y=0.0002 left_z=0.1598 left_yaw=0.0063 left_pitch=-0.1002 left_roll=-0.0111 left_gripper=0.9992 right_x=0.2855 right_y=0.2472 right_z=0.0301 right_yaw=0.0484 right_pitch=-0.1487 right_roll=-0.1879 right_gripper=0.0175\nstate[joint_eff]: [-0.1436, -1.4838, 6.8034, 1.7753, -0.0415, 0.0073, -0.0122, -0.294, -8.2256, 5.1077, 1.1355, 0.3932, 0.0464, 0.7155]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdfbd96539ef063a491856ce842fea412bc70bbd7b841627c5df16b9b9bff32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe279edc8977d5fd09aff6ffb44f4760f03507eaa51dae0d82bc338c4b034409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ff13c96336f9e38d3c02a740fcd186a48f14335ec326fbc41f2289190982fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 7.813 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8238, 0.6151, -0.4614, -0.0227, -0.0463, 0.9992, 1.0252, 1.776, 0.8444, -0.1589, 0.7437, 0.6724, 0.9945]\nstate[eef_state]: left_x=0.2863 left_y=0.0002 left_z=0.1606 left_yaw=0.0028 left_pitch=-0.0903 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2862 right_y=0.248 right_z=0.0323 right_yaw=0.0446 right_pitch=-0.1392 right_roll=-0.1757 right_gripper=0.9945\nstate[joint_eff]: [-0.2803, -0.8684, 10.2359, 1.8632, -0.1245, -0.0464, -0.0122, -0.6769, -6.694, 7.4325, 1.2381, 0.398, -0.0122, -0.0415]\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": "gAAAAABqssLRp1ipUVyyfPSeNTrU0m_ohBWl5lwYn5VJb4DJI1DqY8lmiPIUoBuD-_M4zLRBnvu947f7ygFwNoJhGGmqAjvj1ssR32x8CNJvL9Kmbm40MUAY4lbsYr1iHNY-82YzQWVDO2c1la2Iiz_B3IIHuauTYIJrtbVdE8_sXw5ES9cyXz-hpqf0APjzHzw8t4leCy82QGV3Qn6El_EHQmdfu4ZyJMD_isQWQESqgMRWnSLvf-Fcy6hHy-OgoGN3hH_mraSdA2NOrzLBrGNiw71IAARixT7GN17_aW01deFZf1hzAJpF_xoAbrjFTXH37Iu0DW-jytWvOVN8T-dAWwlMkmL1CXMDr4jbWOFaEf8MJ-hVKVjl58K2L3wgBYKyL3VHCZh1uKxXv_4YB1qZkzwCBBv1vUa8lDKYkLpMp7hw-5tSk-tFFdtwZmOuXJuJXJnp2y4HO496iCxYznzYKSf6cpFjl-NXtjuSkezaLNLToisvQxgenPhQVlIhG783Znv8gFX1mTZ2CP43g2UNxLA1JcjS4pmkyAvPnkTMAN3a_q6bbxASSMxoRtjHZSrPN41qqC588akBzs-XoMzDLd0pp9Pzj74Zkufn10JWrZcUV4SLSkNypNOThcFUFhvr_ij8mH7bo3YT04xCug5kgJUYIIcajVFbenzv_4sa4F4BnyqbNyIQXW7qGNPp-lvp80ksdSSn2JZ4w2lPZydn9GkZW07r2aDmnVj84Vf0b2ZQUJl6EA9PUor4yvNVIhlSUB4UD6dYFC4KanhDwQIIrwOrtEI0iOZReh0sN22EXI01CLNLyw-MYupzClRrEwRDLjpKvDLPdEgbxT7R9XBmETstPMS3NGSD1eSq2CIE5VAGrhzF_ism-ax6RyAwkz6EBoOk_QWSNuxZHUBx65lgZzR0Cb9xBHufsz_GqR70X9lVi4VtGKEy1nYQDD2-e8FhCzTUQk8npkg4xKOW70tyeghzKGXZ4e90iM3rX72G8OQqMXS0NOon2qDKV_-ido0ApnXwCRTw68RSxjT2cWmf-cI9otw2t3o3QV6Vsj1Hpg9rGQ4gmq76IgrerQnt7a1hS55rCnQSOn_Bq-KqLexEyySvsqeXqivGjifnqOgTjQDPYAxfJjUgxkarkgKpJq5fjUXczIDKYy87Kp5VMGr_l2DPpOHvqbS4ea0wRGyNGRS3xnGHv2MwlP9ZxqqoEb_lFzYCWcH1SN0a_T0mZqtnT3gedAPbV1_S2T5TaGOlMCHc8hlN688atAk3cgOaMkxH3GAxz2OgYTQMulBqymyzkBklS89HQ9e9aGqaOV56pOE42TkDJ_XqTJ8kR7rJCZAEWcM_fge8ZRafSqAy5QDBPkBqrG9-5KDjQgRZ_ezB4SfoPHMwwXeAinD5DrBZHeZj_Hr-R9G-fWdRoRJCGmzWzmBx0NYiNcuGysZK0-ocUJaSBPhoh5DaN0Ns-d8zToL1-Q8Xkmtp",
  "id": "rs_075908f82c08f063016ab2c2cce85887d0956dfc260ce64642",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.195,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The second close was also nearly empty; the overhead view shows the toy’s body to the right of the grasp point. I’ll lift and realign over that body rather than repeat the same approach.\"}",
  "call_id": "call_K1UGiKrEosuafX2jyQbMryby",
  "id": "fc_075908f82c08f063016ab2c2cf93c487d09860ec84865a4526",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K1UGiKrEosuafX2jyQbMryby",
  "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]: [-0.0257, 0.8257, 0.6201, -0.4805, -0.0223, -0.0566, 0.9992, 0.8307, 1.5234, 0.8879, -0.387, 0.6346, 0.4587, 0.9945]\nstate[eef_state]: left_x=0.2842 left_y=0.0002 left_z=0.1586 left_yaw=0.0082 left_pitch=-0.1064 left_roll=-0.0136 left_gripper=0.9992 right_x=0.3113 right_y=0.1909 right_z=0.0975 right_yaw=0.0397 right_pitch=-0.1927 right_roll=-0.2205 right_gripper=0.9945\nstate[joint_eff]: [-0.3624, -1.2513, 6.9675, 1.6874, -0.0562, 0.0122, -0.0122, -0.3077, -8.0205, 8.8547, 1.37, 0.2808, -0.0122, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c882a6657b97a87856236ca76b8eba50bcb883c27db57420ed024be4140854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fadbb4ce6bcefe39326076cc09239c0303e571dd16d9d6afec8be3f398ae233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f0ea387ea22d32b13a7e6649d9086bcd97d793309617ef69e0eb284111714f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.975 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8257, 0.6201, -0.4744, -0.0223, -0.0532, 0.9992, 1.0245, 1.7805, 0.8459, -0.1665, 0.7399, 0.6655, 0.0175]\nstate[eef_state]: left_x=0.2851 left_y=0.0002 left_z=0.1598 left_yaw=0.0063 left_pitch=-0.1002 left_roll=-0.0111 left_gripper=0.9992 right_x=0.2855 right_y=0.2472 right_z=0.0301 right_yaw=0.0484 right_pitch=-0.1487 right_roll=-0.1879 right_gripper=0.0175\nstate[joint_eff]: [-0.1436, -1.4838, 6.8034, 1.7753, -0.0415, 0.0073, -0.0122, -0.294, -8.2256, 5.1077, 1.1355, 0.3932, 0.0464, 0.7155]\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": "gAAAAABqssLaRdM7j-Is5HLEs_tmCyx4G1sBJ-IkX8rHGTcNWFTQA8y2pjkqjx-Fx7Sid954_80dKbf09EYSOS0qEEJOUUejicX028deIlS2VX_ZLuoLRQs0Qua0Td3xupIQNmIhejwygHg8l_ESvtJzrIc9WFhSDJKd1pPhlgaMJrGgURw-B7uua6z-ozFIP6IrXwIhM5WUscY-zUJldKgnSHVLFiEQglWu1Z4TnkT3cntSe-MDvI9ktIvzd5q4ysRwj17YbChLSQrGaWt4gYI-z0f43SV6b_Ynf1GzKoskmCBSL8rO-QsIfFxJfQ5f1bwdPWPdgFegoPOP3CCai7qKeVVzM14nOC2HWtyQ0pvBX4vg29RpEyV1Jk6Mg-J3nWlpqi8poW89cX9UqPSkgwEhuhLvA9bxXPGfzTVH39FkyQDsm7VzC6sRrdFbARyQdphm1SRKh_jHoblYwje55web8XIhjMam2kyUjp-P1N7rVvedfk4YtWRz3MGa_o1tabDVsG03MMIHPohsiB-YDqwWIwLJGNw1CqT3B2VfPWVnSvKZauytE07egcZbDEe7ZVCmg3NDRx1Xkd5Pga5jTNtLiT2bVxnicNH4ERLkArmI1RFlEYY6S0fNOOkAaDaPcHOKO3-C8a-HgILk7fzf0YmtrIOKb88IjhqDwSkUjV_nBTN16Nn6_D-ntU3S4j21SKu2X1awx7MmS0MwiQG_OCGrzp53gsguCPB5J4KRJXz4ZGXX_Tf0A7UIMC5s8-AZxG7Nf2eW6M4hkADeTmgnAUsb9cPozKZwBj-u9L92pIXfVUmwCDwDoBOCRGJNp2wmA-V2HKO085Df_9pd1Pu7YwZrDzzNV4MIAQsWk5az9Kai5H_qx6R2M9XkUvEOCNx4FtNi4Xg6Vk1hHhKbNz9dl6tjRC_9JDGI0SWaEhKZXFm_0H15GMrKgnkPtQnw6TLO5VQ-S6uMyqeHsF5dpvSi2vELmCFJxpvx-9hBfNDkC0aYRfASzPsMNY1qKVlZUhV_VftrPSAJZHAIvoAyM2q3788z5hHflRz7kjjJrg8BNET7r45EThU9rERy2VX61n91Os7eoWYK6wsVjCVrzpHjuD6-qs1HC3dx-qljSFFe6JzmaDTM33-O2yn2iQgcxc6tn3OroDI_y60JAvd_rzC22XOmptVH4FhqvK7V235vNXGC4c6jpQSJIMrL7RGdzj6IpkDXzfxzoq2_GXvaJxHzEUL6PNt1fzqsRN_mGzHMGB1dCpwSks-yV2fKruQzsedYcQCnMquiRk29rCh1SK9F4gjpNh6yZTrVa2X35NMNISy7zBF-XP3NkaEM9LuK9NJd-g5urIjfDxcL6UfkrgAifpKJX2ailN380JvPkn9TBv0O3gCDq4hnqSqoFODg_XsPx8_B9Q4Z3MMQAUWG3sfrJsCJBaYNG8__TUf24BVnY90NBO6Rr4woYjJv7OttV-SJHqBqHgTRNaVJRMHpvfwirYIhlq7TPTcsYnBaFdU-R3R40AW6qxK5_fOT3VSgo2VTpWUcWE38lNT2M9q1wbJKShUB8XhST3UraQ==",
  "id": "rs_075908f82c08f063016ab2c2d44ccc87d097b046ed6a278dae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.225,\"right_z\":0.005,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The brown toy is now under the front of the gripper, with its body slightly left of center. I’ll correct leftward and lower to table level so the jaws surround the plush rather than pass above it.\"}",
  "call_id": "call_602tyoaFP8nCIO8OZ3KYzZub",
  "id": "fc_075908f82c08f063016ab2c2d7c57487d0aec557192b2c4551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_602tyoaFP8nCIO8OZ3KYzZub",
  "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]: [-0.0257, 0.8257, 0.6201, -0.4969, -0.0223, -0.057, 0.9992, 0.9161, 1.8088, 0.6464, 0.2989, 0.73, 0.59, 0.9953]\nstate[eef_state]: left_x=0.2816 left_y=0.0003 left_z=0.1555 left_yaw=0.0085 left_pitch=-0.1228 left_roll=-0.0133 left_gripper=0.9992 right_x=0.3133 right_y=0.2206 right_z=0.0144 right_yaw=0.0041 right_pitch=-0.0203 right_roll=-0.0495 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -1.2376, 6.9675, 1.7851, -0.0513, -0.0122, -0.0122, -0.212, -5.4906, 3.453, 0.7253, 0.0366, -0.0171, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17409de3b0d886b4e6cf2a5eef56e74bce722f6abd2dabc1e404b76621a9609b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcba8b98711a0f45df96e682cafff9dedcffc596ac5fc130954094cb1ad6fb44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79427ad690ff8e9de125892139944a2eaee78a58e95ab6de14c113895d14de3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.897 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8257, 0.6201, -0.4805, -0.0223, -0.0566, 0.9992, 0.8307, 1.5234, 0.8879, -0.387, 0.6346, 0.4587, 0.9945]\nstate[eef_state]: left_x=0.2842 left_y=0.0002 left_z=0.1586 left_yaw=0.0082 left_pitch=-0.1064 left_roll=-0.0136 left_gripper=0.9992 right_x=0.3113 right_y=0.1909 right_z=0.0975 right_yaw=0.0397 right_pitch=-0.1927 right_roll=-0.2205 right_gripper=0.9945\nstate[joint_eff]: [-0.3624, -1.2513, 6.9675, 1.6874, -0.0562, 0.0122, -0.0122, -0.3077, -8.0205, 8.8547, 1.37, 0.2808, -0.0122, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush fills the space between the jaws at table level. I’ll close around it now.\"}",
  "call_id": "call_hnDuRgwwbiuYxkosGPKyox3z",
  "id": "fc_075908f82c08f063016ab2c2dd71ac87d0ac0b509101980c22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hnDuRgwwbiuYxkosGPKyox3z",
  "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]: [-0.0257, 0.8257, 0.6197, -0.5133, -0.0223, -0.0574, 0.9992, 0.9207, 1.8042, 0.6411, 0.3454, 0.7444, 0.585, 0.0281]\nstate[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1523 left_yaw=0.0088 left_pitch=-0.1395 left_roll=-0.013 left_gripper=0.9992 right_x=0.3164 right_y=0.2243 right_z=0.0219 right_yaw=0.0018 right_pitch=0.0161 right_roll=-0.024 right_gripper=0.0281\nstate[joint_eff]: [-0.2256, -1.2923, 6.9128, 1.7656, -0.0611, -0.0708, -0.0122, -0.7316, -7.1453, 5.0393, 0.906, 0.1343, 0.022, 1.9658]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b8670eb4151b55263288ac2f802f7ea494226bd7459e82b5fbc180ee777f910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1182c9ed25d437bec3c254ce15078343ce7f2153f15347892d00a1481a739139",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2266d7567b0022a10b8a777996dac63ed4f9047270c5b6816ca061ddff121750",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.954 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8257, 0.6201, -0.4969, -0.0223, -0.057, 0.9992, 0.9161, 1.8088, 0.6464, 0.2989, 0.73, 0.59, 0.9953]\nstate[eef_state]: left_x=0.2816 left_y=0.0003 left_z=0.1555 left_yaw=0.0085 left_pitch=-0.1228 left_roll=-0.0133 left_gripper=0.9992 right_x=0.3133 right_y=0.2206 right_z=0.0144 right_yaw=0.0041 right_pitch=-0.0203 right_roll=-0.0495 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -1.2376, 6.9675, 1.7851, -0.0513, -0.0122, -0.0122, -0.212, -5.4906, 3.453, 0.7253, 0.0366, -0.0171, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLkDhkFBWBhlmm3lLiiuBv4QJKAFvGDK8bQnx4kqgBgFeLCe80C0R_fm-V5Sbk46gzRbGQP3HYKfcBis4nG_cv8JSWDNSqMpeMgKAYVc3g5t_IdlLb4eBq9e5sR2nvlixBiqWWDAgQf1Go02LfhVVkuEwY61c_ma3utptAHGt0TwHedMm1-wwbYwAgiXQ-i4DilPoUYHptMO2mR_Za3SbvWpJlNcD4u1Aa6TQQR5QHkEFY0mTScRQKFW27qmi9LvkVrtwocDBRPfCk9eOWB5Ys2ttxXXjmZK5leJhtEHW4I4CcZKoDJfIPnAsVkkrg3-j8Em9PUJ9kKa6gPycsRRhaOgpy4FTdT7c5IrzirTGTNglWjWqm0OcgNekuEbr0SIze0UEPetZ9D7DaOSXvHpBtMUc9Y2_nl1xh9mBz09uo8CPFBufM8KPUv6j-mBaaiFRAV5_1ODrdnQMp7ln3fFxJOj8TQpwIYMQ1yuOv-jUy5mJc3LYMShSuaRl3VlCDP9ju1htTy-71NjqE6tmtSGTiuU4aH6RD8WdY4t0-N_oGF5j3iStyhNyW0A1qR-fvTtKoSTHilkD0GdKqWRaxZFM7HecmWPZjdGyjHFHem8t1XEyc9MF9NvBrvscOfxSLRmphdSBAdfFU-lFCzxx1-BfZvoq_DCw5Jw4lASvj71zgnJ4Pso9JyyRHdUs50JPt-jumVwmvZyXGy2V1Too9TnaYH8f3kOaDHo4jKbNksNMjeRHzc7LeYH_xyPnbPn35xn02G_JS2naZDTiFZHnCxrdcVMh4sgGXjkMmFpm-x2OebpsgT6TG8TYMEgNFaJH73w_wqif9yZg99IIhy9fB0OgyAL2MOrRgL9Fdj61nAekJ70iYBQegozvCfK3_TJ7HT7mFZn2uc31NjpthqdPFMc9uHaFTH13FunId5NQLpabP0DfD-7a12Q2D1ZNkNsZKWE42gk8OyuO3h_sZFBHKCwlcgALmAaKL9T1mQK1n4AJ9juX0zhl4WGevOm5fMIVU8TD_286T446l1YCYPWXxitSEUz9HurARipLkZ9ivXIDhPq_9WOfH9ZrN9gtQtCwDbRN8WoJ36wa61SMaG2TxZgEks_x4O8rJUQs_bs9-zqHWzkgOrloLxUIeAPT-j5QrYGy7fRLU65C6kVe4M2Eb1XFgLClEQi9Xqhwb0lwBZZBzv46QY9C7ZtpccPn7K-K_Vs0KFkoKmXEgb6TLOjYE7AjrIzA==",
  "id": "rs_075908f82c08f063016ab2c2e23f7487d094a7960919c0b30c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The jaws have closed narrowly, possibly around a thin part of the plush. I’ll lift a few centimeters to check whether the toy follows before transporting it.\"}",
  "call_id": "call_otOIYhryK0PsBGjDebLbtWAU",
  "id": "fc_075908f82c08f063016ab2c2e2f63c87d099b69ef25a95937f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_otOIYhryK0PsBGjDebLbtWAU",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8257, 0.6197, -0.5186, -0.0223, -0.0574, 0.9992, 0.9211, 1.6321, 0.709, 0.0734, 0.7288, 0.5797, 0.0404]\nstate[eef_state]: left_x=0.278 left_y=0.0004 left_z=0.1513 left_yaw=0.0088 left_pitch=-0.1449 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3117 right_y=0.2218 right_z=0.0648 right_yaw=0.0156 right_pitch=-0.0128 right_roll=-0.0467 right_gripper=0.0404\nstate[joint_eff]: [-0.2256, -1.3333, 6.8855, 1.663, -0.0806, -0.0562, -0.0122, -0.3077, -8.0889, 8.0752, 1.6386, 0.3785, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acdca5370b3d968bcff764284e6ab8d537143c63c0596495273dd8c1f38f37b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc425167a466b88f1d6a0d07162210140b31fa36de23fde6294d37e6ac72ece7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981db9387d348a0c26251891c5d7636babeac49805ea5ae9d25b12b8dec46b47",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 8.186 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8257, 0.6197, -0.5133, -0.0223, -0.0574, 0.9992, 0.9207, 1.8042, 0.6411, 0.3454, 0.7444, 0.585, 0.0281]\nstate[eef_state]: left_x=0.2789 left_y=0.0003 left_z=0.1523 left_yaw=0.0088 left_pitch=-0.1395 left_roll=-0.013 left_gripper=0.9992 right_x=0.3164 right_y=0.2243 right_z=0.0219 right_yaw=0.0018 right_pitch=0.0161 right_roll=-0.024 right_gripper=0.0281\nstate[joint_eff]: [-0.2256, -1.2923, 6.9128, 1.7656, -0.0611, -0.0708, -0.0122, -0.7316, -7.1453, 5.0393, 0.906, 0.1343, 0.022, 1.9658]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLrcX057yfjiVp7KUcqv5piirvkNflVVLZB9eu3iJhe2JACSOR1QdVsq3baYhfmdOtMsl9NCn3IH57Fx7KYb8c1_Uxy4tARSS8mTfCCNubhynPeQ6lVEbcuq5-5Ep-l_DRVZqdrjuXq3rGCGNjmpymuBfGAfEc-O3OxbXMla_mpWxVF-5gaFvIMQBl1mKRStmlT2vl7zy3V9j4E1QQPYog_iKAyY24lnJnC_X05dOz_jGwNDrFnX6Ywv2n3SFBbTcunAqQ3S_4ni_1thmYtXnLFIMxBia-Q9VpKgxd711MSVnk4V4K9vguFvX4Mtn0UejhpGgLjD-YW6z-eHlK_0YnD-7O3HK9EwGFbz_YttSMhJWQz5ovUezW8h7SJIJsjyFHhssYIzI9kS-OuSpQywl6312iDalYR2-tgFZh6CrjJzVBu-s9Xlu_k1SRDkJ9c4LVkVDENYtqOld2a1TrO-5Ox9rbqodFd89IadG8kRc4gDDb6IATexpAdYFve3TDfRGDQEnQrxnXvkVdBGi1u9h1VIqwdQK34LCplXzgH2jWR-0xUlXj0TXqhgXooGcxm_fNXfVuD_CEHt8Md6snZiYmPDApg2IxIEHu_Fg8m8eZ1lqcl99Xjke17W20wzrPB_J8wb7UuUG9IXE01HVFZsBd1FhQprGa3jz_V8jRHWywEfCSpddCSwIVmcHSFGY0_2Ttr0XrgNuuvme5cYon8jfViYcLTo3h2_H9ZCGor6iRzI6HO8869CM7HFYNl8-XMEwB70W81bPxcvq_yBa-2mwg8yzwbUdPMnbzo0iZZ19n3y2jItE4pZ3hnJWjTHiIeF1vpZkPYe8pXov41WdKTlPcW9KWbwwChmW-dTQYiseD5w8F5BQHvLt__4OA2DF8xeDgDQOdyv-o48jW7GgcAutEgPaBwxIAjjO9AC2FhdN2qcr90i8LsP8v7aA6AwonqpoqFR4wmSLomd0jPoDP0dHeIJ-e7LRIlGym1MYJs274iv-NnGwPn3FPfqu18lUOE96a9pJAES55odu8PH5CBDjNPGFTp29lFNslrn83CI3_GF_WaRVT79a_Z5SESRFVCCmv_NINh9AiD79TJKzhO_CF4-Ov1PzWZ6E7vD7_yLtcYp7TOJMdxTj2WZZfRGysrIcxCZi-iUxOsClfbudd_RYBBls8OvkJADWjJAyenipgD2hUEpSkADiI1KNjVPwNajsFParhyXVmTFodT1n9N-Zh-HLZCYgtj9tidO0YYBbf2RHSxD3Ymvi68nhrwe4n-FHoWNhAxaotv1uTXjanlv2YIQyzN4MusXxGDmAT_K9ME5HM=",
  "id": "rs_075908f82c08f063016ab2c2e7aacc87d09217229e579298ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.245,\"right_z\":0.035,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The toy stayed on the table, and the wrist view shows its main body still ahead of the fingertips. I’ll move forward over the center of the body with the jaws open.\"}",
  "call_id": "call_q60e0o57ShK5xtDM9uHV15HH",
  "id": "fc_075908f82c08f063016ab2c2e8eef487d08fd4c133ebfaac6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q60e0o57ShK5xtDM9uHV15HH",
  "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]: [-0.0257, 0.8295, 0.6197, -0.5331, -0.0223, -0.0574, 0.9992, 0.7853, 1.9079, 0.8745, 0.263, 0.6189, 0.4713, 0.9948]\nstate[eef_state]: left_x=0.2757 left_y=0.0004 left_z=0.1477 left_yaw=0.0089 left_pitch=-0.1632 left_roll=-0.0122 left_gripper=0.9992 right_x=0.3796 right_y=0.2397 right_z=0.0325 right_yaw=0.0172 right_pitch=-0.0207 right_roll=-0.024 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -1.6479, 6.9265, 1.6972, -0.0659, -0.0562, -0.0171, -0.6632, -7.4735, 7.0906, 1.4139, 0.2564, -0.0171, -0.2369]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46defb845b9b67dcb2c28abdac589e1276906dc05d7f8e4b14fc77985607094a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f5229f71b5d84985e31f41c43fe740117618fa2cc8648bfe828da858ff0d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fedaa0f3a13c28abf3fd99e3f7d48096a47c5838f72a4bdde27b97614b2ba3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.934 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8257, 0.6197, -0.5186, -0.0223, -0.0574, 0.9992, 0.9211, 1.6321, 0.709, 0.0734, 0.7288, 0.5797, 0.0404]\nstate[eef_state]: left_x=0.278 left_y=0.0004 left_z=0.1513 left_yaw=0.0088 left_pitch=-0.1449 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3117 right_y=0.2218 right_z=0.0648 right_yaw=0.0156 right_pitch=-0.0128 right_roll=-0.0467 right_gripper=0.0404\nstate[joint_eff]: [-0.2256, -1.3333, 6.8855, 1.663, -0.0806, -0.0562, -0.0122, -0.3077, -8.0889, 8.0752, 1.6386, 0.3785, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssL0gt1YnWA91uLkzMGAhoQcvvLi_VcCqvm7xGe5xBfE6ALLfTAZAb-7JGo_Ske2rY87wfOcmvfGdCRI09GUoo77oRWH8oeswbW6DqPlQEh7Iwy6bD_R6mDOzXU2CwFJlERSYrUUxb6XLgj0NaT_mMJO13LNI-qqj8CpltlEF197SKPNT2fAmjLB8B8L-KLsN9LbPUzfCbCD0LcxcfFgbAj_r5anGNgLyPr59F_jRY6iHa95XivVDpoWjXD56VPBF2RtPe7qEzgcD2zstOjDkMpYgH11SD4goJE53Q3HQ0MRKYV90WjXiJ2jEG2wK5zBcy5D0Q5rtTDhIBL4-kMpxueQJlSULNsKG3XEJVsO4EjHJ34BYI5GLguFPIHf8yJsLnJs-dFfpYm8NAvq1Y7RafRlZ87dNHh3P_IlaxXV2A8GRDRb9gFP2MXsH0PzfOIPNIYPQU3lT7ilXFn1h5HYo-PzV56wXJR5uw17KZ0ZL-pJ-RYLHFtc3bHHnp4HpQa2tpTbCRvnJV7-FsFThYR4-TWh_xU-PTiDdxC0OWI84CMNrPzJ8zTpO4eToZuh_4zGwNLkHSdhamyajbO9cVQyyub7K4nM3L7pyVJOa_D3hrv8Dzs6V0hllmU_mZahLQjpqpKqqnCUivwJDjUnLVuhPiVa-2q9C71VuVVrCH7d52J30UzNooAqCLoOCn1o8Lsmg9ifa3tNr_Bn5I4GGTXFheggG1BfAikzdyamoUQ-KUJexXJ2VDN1_8l43dYBe-UW4RYlpd6q4vqIX6B_TfzZGnoIopjxyQTpGPOAQcOsHCIW-l7mPZJaEkTd705rIUPIzRMl8h7uHvk_u1DrlPtFd3TxWpIRIvvmQIUM_eBF1JpCn6nvMvdr-hsaSV9Duu67zHj5ku6rg5XLlsvgV8XgUvuMQ19612tIse6H0zR-gaNgdFOzjznjjpvlXFpp1Eb6Op8t-KJvk6WDAQ-N4EcqZx8Q_Tbr1BOptZCqTi3c4XZ9X2YuDwQiNrkZ07M28cgQn0Vy08yLfLbS_kasDGd3U1smtDsJpGokSAxmcmDEU7EShLmMdYyRzrZUdtEMyr3d7BY4cNfVIX19oYR9ppv_UDETzI9EZWeVzX_-LjQ8V592OMGEVCwoFtQx4SdHOpdTuX-cbJKg5pSJhKy-SJL1STg16b9ctfKMspNd8k4aGa-TgS1Q4RxaGi9jFQYsnPikxlWea2lf6x-Bq9cCYnFVmJH1ZQOwhlCLavaZ6gBATjiDuXY=",
  "id": "rs_075908f82c08f063016ab2c2f0975c87d0ac7decb33f72c47f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.28,\"right_z\":0.025},\"note\":\"The plush’s thick body is slightly left of the jaw center. I’ll make a small leftward adjustment before closing.\"}",
  "call_id": "call_1WfOrexLrtI3NcSz7QitQBsf",
  "id": "fc_075908f82c08f063016ab2c2f1d6c487d0b3f498df9b358672",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1WfOrexLrtI3NcSz7QitQBsf",
  "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]: [-0.0257, 0.8318, 0.6201, -0.5407, -0.0223, -0.0574, 0.9992, 0.815, 2.0346, 1.0561, 0.2214, 0.6243, 0.4789, 0.9953]\nstate[eef_state]: left_x=0.2746 left_y=0.0005 left_z=0.1459 left_yaw=0.0089 left_pitch=-0.1727 left_roll=-0.0118 left_gripper=0.9992 right_x=0.4016 right_y=0.2809 right_z=0.0319 right_yaw=0.039 right_pitch=-0.0085 right_roll=-0.011 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.5521, 7.0632, 1.6093, -0.0659, -0.0366, -0.0122, -0.294, -8.8957, 6.2291, 1.2772, 0.3004, 0.0562, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86515822f471d776ef1ea562c1b688d7d1c10873e35b40d4543fb40548571491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc66d494a55a7e995fb0d0cec565ec21da846fb2ad4366c83caa2cd5e3f8b358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7069251953e98ee8df0755f3cde6b2c5dd93c0d949f9451550203d80f0f58c45",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 5.134 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]: [-0.0257, 0.8295, 0.6197, -0.5331, -0.0223, -0.0574, 0.9992, 0.7853, 1.9079, 0.8745, 0.263, 0.6189, 0.4713, 0.9948]\nstate[eef_state]: left_x=0.2757 left_y=0.0004 left_z=0.1477 left_yaw=0.0089 left_pitch=-0.1632 left_roll=-0.0122 left_gripper=0.9992 right_x=0.3796 right_y=0.2397 right_z=0.0325 right_yaw=0.0172 right_pitch=-0.0207 right_roll=-0.024 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -1.6479, 6.9265, 1.6972, -0.0659, -0.0562, -0.0171, -0.6632, -7.4735, 7.0906, 1.4139, 0.2564, -0.0171, -0.2369]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the brown toy near the safe’s front edge. I’ll grip its body.\"}",
  "call_id": "call_kIijpnZP1EpSk9pgUsEfBdiu",
  "id": "fc_075908f82c08f063016ab2c2f7bb9c87d084ea9cb214213c28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kIijpnZP1EpSk9pgUsEfBdiu",
  "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]: [-0.0257, 0.8322, 0.6201, -0.5591, -0.0223, -0.057, 0.9992, 0.8177, 2.046, 1.066, 0.2314, 0.6167, 0.4744, 0.026]\nstate[eef_state]: left_x=0.2715 left_y=0.0005 left_z=0.1425 left_yaw=0.0089 left_pitch=-0.1914 left_roll=-0.0109 left_gripper=0.9992 right_x=0.403 right_y=0.2858 right_z=0.031 right_yaw=0.0498 right_pitch=-0.0061 right_roll=-0.0052 right_gripper=0.026\nstate[joint_eff]: [-0.1162, -1.3607, 7.0769, 1.7363, -0.0659, -0.022, -0.0122, -0.5538, -11.2615, 4.7111, 1.3504, 0.2808, 0.0171, 1.1648]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179bad4b7666fb411f418783b840f5a404ed1fbe98c1ca5cf897cd14a86521c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dbddb7a32c0b762f8811466968ffb8b003ffa004529b6f2487b34db90d7595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccc3f9d8ac34e4c6dc1aad9ce018e21fbd7090e176535110c8b013727492fac",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.072 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]: [-0.0257, 0.8318, 0.6201, -0.5407, -0.0223, -0.0574, 0.9992, 0.815, 2.0346, 1.0561, 0.2214, 0.6243, 0.4789, 0.9953]\nstate[eef_state]: left_x=0.2746 left_y=0.0005 left_z=0.1459 left_yaw=0.0089 left_pitch=-0.1727 left_roll=-0.0118 left_gripper=0.9992 right_x=0.4016 right_y=0.2809 right_z=0.0319 right_yaw=0.039 right_pitch=-0.0085 right_roll=-0.011 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.5521, 7.0632, 1.6093, -0.0659, -0.0366, -0.0122, -0.294, -8.8957, 6.2291, 1.2772, 0.3004, 0.0562, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMBJNM80ogqEjVdk_NXtnS6Gwr-kj4hCel6ay53m_gYNasfjYVR98xlYhzzpoqgjd0FBwjV6Ze1wTEXpqqcLNeHXSon02qTK0QJRM_UMTezaOBa2wWAqmNiiffVclGo41WoLSFWMT1ox7R6idgRtAdxBeyHaYxK_JM9Nnz5yvGmup1EMaZnas26yMo4avXVFNusnkBqMTp0D16B5yzKDKgJEJNTMHSm-mWmIcLsp89qvz_y1FWqCCjDsqb9BRdAzaVdwWf3cIaH28-Cso3kbHT_uVMu5DNj9C--XNNdsphfBdhq94cchCXUjhetgYQ861mmSTDE6AwzrbiFcewB7BYs8I-nKOgj3cCv3RbkXiLbNureI2NN6gzIeL9XTdLbMX1kwQfmfX9CHz-I_lcyxRalkaBD55UapQbSNn8stOvSVXLB_NnSMSk8RNghRk1kshvZdUT6aazfKqu7gNZNT32Firwot9YP1BZuWpA1qSE98PTUvak0GPBQFKqfOxgYS8mEICnbp3JCxk-afiS2fJF_sbpvyloxoRYgAAI9agfEspqGgDVyS8XuafifvymUTM-zMHFiXvqs5Pu6xGYUx9VLCy_vCEGKoI_bVPzkVaeBH7qlDpM1eX_jvTc5pYdLnri4Ru1E_6bAJ_XP2fYvd_wcDdR6tydIX8iEAB1aR5n-c5p9vLb-d1RKzjFXLmZUPZVBzd_GmnY4e6xRkITXfTNy5iqwS7IqLD9vZmWl5p-bPbzUJ8MA9FGOTaOamitNY7kxk4_UKzwokgpjm_VtjnDMqIQsHRemAVs9ZODeS2t_tVs8HmDW3jmnScdGUMoFq1pM34aSFew_PPUKdaFCpLlPvh0Rvd4GRQ_5pow_WuOnx6AwXU_ICychZxWSEcXOc2y_I2EM6zbP1yMoRnaC4p7-KgCyRA4Eyh4nPwD3Lg83-5xNx9U63hBpH59IpW7a35E1KYrCyut-C0Pl7jct1WiuO1bvNtPTH0HVdY4BCsji4f-KJ0sF35vrdwbdrQx1HOcMki7tQ5xexl5onRPIuuDZjnr9LBoLRHFXCkgY_ItG6nvLS7XwPhr2Wl0wz9FR-i_sHlXTejncwdjITV8598FjMBa7nuJ_xWU0c9sTndmZjTgqIafDQ8Yx0gOdv8Az4orUSmdOMLEaEs71p9trgD_J5-1Zaw3TpcNusa8UNpWAOq1VtNPOAmKvhSJSqvkFoiBDM5l09NEvrv3QNmAmtvSzUraa6DHFjOdc19AsYhRx9WaJcFaaZaIy5qoThLAjLf9JTR6FBVkQjXVTCIMvZwaSnh4woD1m4ZoevpHOmdpecB8=",
  "id": "rs_075908f82c08f063016ab2c2fe556887d0942fd477357740ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.45,\"right_y\":0.32,\"right_z\":0.065},\"note\":\"The brown toy has slid against the front of the safe rather than being captured. I’ll approach its upper body from above, farther forward and left.\"}",
  "call_id": "call_F5krXZzKggPYuKlld4lFxCIj",
  "id": "fc_075908f82c08f063016ab2c2ff89b887d0a7573aefb5293644",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F5krXZzKggPYuKlld4lFxCIj",
  "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]: [-0.0257, 0.8322, 0.6201, -0.5701, -0.0223, -0.0574, 0.9992, 0.7971, 2.1288, 1.3602, 0.0032, 0.5926, 0.4465, 0.9945]\nstate[eef_state]: left_x=0.2696 left_y=0.0006 left_z=0.1406 left_yaw=0.0091 left_pitch=-0.2024 left_roll=-0.0108 left_gripper=0.9992 right_x=0.4411 right_y=0.3155 right_z=0.0588 right_yaw=0.062 right_pitch=-0.0299 right_roll=-0.0276 right_gripper=0.9945\nstate[joint_eff]: [-0.2803, -1.3197, 6.9949, 1.6581, -0.0122, -0.0611, -0.0122, -0.6632, -10.359, 7.9248, 1.7021, 0.3053, 0.0317, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c2658aa48a4c024521188999bf71536aa22d96a450b0e741a7c12fabb3570c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402bb2d97cf8da33cf1d34cb80661dfa751588821ce9694c33556b5a8161da9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e01414d6065b8a8f871b2fcb0e488ec28cb7a920b4636cadd21431e8827c10",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.336 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8322, 0.6201, -0.5591, -0.0223, -0.057, 0.9992, 0.8177, 2.046, 1.066, 0.2314, 0.6167, 0.4744, 0.026]\nstate[eef_state]: left_x=0.2715 left_y=0.0005 left_z=0.1425 left_yaw=0.0089 left_pitch=-0.1914 left_roll=-0.0109 left_gripper=0.9992 right_x=0.403 right_y=0.2858 right_z=0.031 right_yaw=0.0498 right_pitch=-0.0061 right_roll=-0.0052 right_gripper=0.026\nstate[joint_eff]: [-0.1162, -1.3607, 7.0769, 1.7363, -0.0659, -0.022, -0.0122, -0.5538, -11.2615, 4.7111, 1.3504, 0.2808, 0.0171, 1.1648]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMGYhzqOSgCBxJIcJ-cE4xUokgpQKCovfxM02Sd8mLz3P150UqdKb57b8NgdANlbWQzzcBw0JvGRCNOsL3tbPJ_RdDcHSTnvDXJHtGJxSmSgV7CjQE_Pi2PruSafayApa79hIck8KzngwhZB6R6zsPKaGpkycoMxOprIzW3ekaCZG3PtffaOtxc2liQ74uXm3qbrlsjkno2HTkRBagCu52QV6KTofkqxIBiOW6voFc0ylmz2fEDelpkXUF2R-L3v9G54LGt4RmCy7RszRf5J9cf_Wj5f5aKS-KkXHU2ENkeRngEKNdxCQwPAq7t0RahhEElHX3GBNlGaHroF7vmQwIJjnrVIGxGLJqLB8l1TC8F8IIOZATMYy_kCJjgbyz4jYT-L58R7Qm_4_igrrgoETx3olUV3nd_ltW5bwTi3z95mlKacRjWhka_HYmn_ufgZi8cCIbWC5aSknp6rik9XPfXL9RZIkg186GO5mFVIpyLAHWcXUyF2EJrLmIg_V95qRNADK46MhvwngUan1QityOi96ztLr8TJvd3i0w0K2M03gwkveiKAStp7EYSLtWZ0z963UyRYwwG2KSmnXqqJvEU6xXlPXHrmVbJyKWJ8PsbywXL8UE-kf9bQDDrfk9IUrV8KpUdBXpIp6L4geISqPaf6S0AgAONSlC_2j51UdmoGDTmFWz19UsP7qT6AEhPhAgOtXgnm7RI5KdB-fQhlB03-EY80ZA88EnRUQ6ewbo8tCW7Uktgx6BeHgmQDQX5wKbRaPt_GhfygOS3iVkdzBj_YFGCPd_npSGx9CVNquxihYfJk1awP7p4R2QgvOd3a2vzdeOH-V7bsgE_RzUB2cQbySPKS2muApXfwHmWKHd_5cCF-u5YBpmvKtsxvh-pEFPjhXmf3A6apc3AZCAnPJcebit34eXDA_i0MuYvrgQ7vF8eJb918OV-JyNPs0PISsKIykWY-RszzbwI44Uj4Z0zRVxtUrs1w_SHjP0EslleayNkVDVBu3pii-fG4VDoWoQ2Mrd0W-mDsEh1YvFVbQMMQOxH9I4C5nd_N4w96gKcoZn4g0gnOWZdvl1RXBKYOFSspxADK-p01QmeniK6v8GIzdh3WMyKGXrDkNkP1b9bp7_7D6cVlf3Rq1TkTIw6yCBRoJJnvqAYxkzWh-KPnp23IwqgKTpwOZUfCEgTQFaBB1MVgPW0LqEOB2013MgOlD4_",
  "id": "rs_075908f82c08f063016ab2c304df5c87d0b336ee0d9d46d70a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_gripper\":0},\"note\":\"The brown plush is directly beneath the open jaws now. I’ll lower slightly and close around it.\"}",
  "call_id": "call_UybZXrKz46zk6C94WdHqC879",
  "id": "fc_075908f82c08f063016ab2c3053de887d0822f816227be8310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UybZXrKz46zk6C94WdHqC879",
  "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]: [-0.0257, 0.8322, 0.6197, -0.5846, -0.0219, -0.0574, 0.9992, 0.7971, 2.1792, 1.3338, 0.0795, 0.5865, 0.4446, 0.0082]\nstate[eef_state]: left_x=0.267 left_y=0.0006 left_z=0.1379 left_yaw=0.0089 left_pitch=-0.2173 left_roll=-0.0105 left_gripper=0.9992 right_x=0.4412 right_y=0.3169 right_z=0.0347 right_yaw=0.0676 right_pitch=-0.033 right_roll=-0.0263 right_gripper=0.0082\nstate[joint_eff]: [-0.335, -1.0735, 7.0769, 1.6435, 0.0024, -0.0562, -0.0122, -0.294, -10.1538, 4.8752, 1.6874, 0.2418, 0.0171, 0.6081]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a6787320484b5f01419a82792dafc8c2d6d036a5438c2078ec44d463da8b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6830fb404b17fef769a9a7ec08dfc1d7723aaaa9a83a25f162cda0e23440c0af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85519edd7be4e93bdf89aab92828715405e3375e3895eba077831b497fe25ab6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 9.086 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]: [-0.0257, 0.8322, 0.6201, -0.5701, -0.0223, -0.0574, 0.9992, 0.7971, 2.1288, 1.3602, 0.0032, 0.5926, 0.4465, 0.9945]\nstate[eef_state]: left_x=0.2696 left_y=0.0006 left_z=0.1406 left_yaw=0.0091 left_pitch=-0.2024 left_roll=-0.0108 left_gripper=0.9992 right_x=0.4411 right_y=0.3155 right_z=0.0588 right_yaw=0.062 right_pitch=-0.0299 right_roll=-0.0276 right_gripper=0.9945\nstate[joint_eff]: [-0.2803, -1.3197, 6.9949, 1.6581, -0.0122, -0.0611, -0.0122, -0.6632, -10.359, 7.9248, 1.7021, 0.3053, 0.0317, -0.1441]\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": "gAAAAABqssMMx2g96BzuDTKLTT7L3R67h5p9YYHOxismkB7b-O7vTVIstvlw_y_lveVgRirnYNinWd8MRwiJzTGQJOF3LX3Euf-QBW0D5IItB5H-nnwLlH8XLCtcHnnkVe4SzyBcxKvY894bw7oR4SIxgnpPK9ARtPgVgfuPPZZh8BcNeZx4_-dLy_iSIiK-TbMVDAhZCjWJJbOFWNiheRlmHf9n0pLfdiCe6vQZuffGqpzluAxgOiPltXcoxL8mfWxR5wd-x4yzLgS-uuGBQ_k_cRP6d-5Xw6n6yebD_yKgv4k0RVB9ZCWkipIQHHZwWBwliSs5kRoXHD7bD0fTZT4AfkvkcPRRr7G2nESF6XMadSQ4ZKH2v55ZwDPA4QHXH1UIEQ1o6hXT35efQqYFfPQ752nNS6tNMboh2QQPLKNAxrLMWtLWRR7yyjP6doJUIBO51DyQB7rQbv0Knl4KJ84qUebDq1wMGvTjrAmRo6aykE1oQXmLSPI542OYvXNxd7LPt69UzHqCmAGoxpgM4nDBYSbzAxsk7vgx_LCcofE_8BMv1b9ZQJw5NmMb20yC4EgSg2uG_hgMJVFkfJ7GLxMr-DF45_3OWTozrHjiimfGHLF0xSUQdYWIBYHW3M_Zfvj2RM6ef-F_4FDZh5TdvqpzR5doelfRhauxcCtxvR4Cc-2PBpfQPlOe4a-lz3ZKYBtTr-CcsYG1cCOTbGZxh0dq9pYS0AIHtt2dMvDMnNDhGuu3crP3a0aCaslrM0IFRgH55CxdnMDZzqedPzsH-5vkdfWPkONEOQY0W115le55Bxp4ek_1vGqDsKYyFKSEcmXWjh8CNp1mf4VuEg8PufJkVf960RQjW1YW-ZMGaZYT9Jo2rpOeQ5nXOm63oLqrHZ8U-Am3qpqAGhVHMoasQQk1dNtMIvMIrXrAJ_OC-xvYU16NabRMt2OQcz6r86saamYAiXBg6owe2CXWwTJBz58ocH9_1lExJRM3DPpbb-4CRy3a5_6IOl4M-MMypx_-T8vOWs8iL-vcx9yc-Dg7USnpTT14bncxwyC-SIqJkOOzdc8RnP36nWKJ04tOwOND19DhMgzGCDKYXejvtObqeb-KhIaZobY4JiLC-LQDmXt8Ibt5_wLVH5R0mXcXrEmh1kG7iEsXUQPdXPvUPMf7eXgxDfNQQq6ojh2pFvWNNlC50rOf8Qwjpx3rHI5K3PKcqlh9tJWbUjATfcfAeZsOpviH9s_UMAChGnQ-a_ybTJEqAJMit47W83A=",
  "id": "rs_075908f82c08f063016ab2c3099cc087d08f21cfb0a367a362",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_x\":0.35,\"right_y\":0.15,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"That close was empty too, and the safe’s rim is limiting access. I’ll lift clear and uncover the toy to reassess its position.\"}",
  "call_id": "call_GvPkkIxSD5nRlbo38NApU79J",
  "id": "fc_075908f82c08f063016ab2c30a3fb887d09ea570405d6eec28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GvPkkIxSD5nRlbo38NApU79J",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.836, 0.6197, -0.5922, -0.0219, -0.0574, 0.9992, 0.5991, 1.2922, 0.9867, -0.3611, 0.4435, 0.305, 0.9959]\nstate[eef_state]: left_x=0.2657 left_y=0.0006 left_z=0.1356 left_yaw=0.009 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.9992 right_x=0.3543 right_y=0.1545 right_z=0.2075 right_yaw=0.0576 right_pitch=-0.01 right_roll=-0.0068 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4017, 6.8034, 1.6288, -0.0562, -0.0415, -0.0122, -0.2256, -5.6, 8.0752, 1.9414, 0.0611, -0.022, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3324f42aa6ecfe5597ea9d14641605e8369d5adcc1cc0476cda6d1250dd54e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a52b84c5e7067f0f748771da9667791011f87ea0c1b9b2d4c6892dc9f2774c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50da81ddd0d72ffa10747149487725369bf2a4e952f16beea8a35f40250bec9b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 8.777 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]: [-0.0257, 0.8322, 0.6197, -0.5846, -0.0219, -0.0574, 0.9992, 0.7971, 2.1792, 1.3338, 0.0795, 0.5865, 0.4446, 0.0082]\nstate[eef_state]: left_x=0.267 left_y=0.0006 left_z=0.1379 left_yaw=0.0089 left_pitch=-0.2173 left_roll=-0.0105 left_gripper=0.9992 right_x=0.4412 right_y=0.3169 right_z=0.0347 right_yaw=0.0676 right_pitch=-0.033 right_roll=-0.0263 right_gripper=0.0082\nstate[joint_eff]: [-0.335, -1.0735, 7.0769, 1.6435, 0.0024, -0.0562, -0.0122, -0.294, -10.1538, 4.8752, 1.6874, 0.2418, 0.0171, 0.6081]\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": "gAAAAABqssMXAlGPjSOiuDKO8VBqwj69aj2u433X4MZb_-qVpXjTT6R_ZTwLSukgKtHQzCw_z0hxE8ff8y_Uo8p2lNdMZinHCFbEulSEG0PDtOpddsAYYRBBpDpyLJ0RgWR5nnnpLFTDfwVE1ipWvtiXUhwauQgv6D-BuDMc_KdWe-Sv4MpWwTwaZ7j2WWEkrRnmhQMZ0SkVMdTzvlrNig2o6ZZ3BeZt2_rrXCVOEAvfesb-bQt0prvvEOeQWnemqxwIeuUyUmXQdAFcfKDFVpymCGuIys7fMyl0J2Olq0x-Gf1Rk8EbG_wNX3SCbh_X6Bx6iFnCmeykHOIdm0t7Ot6RwBbL5W-m-uEmuFUPpZsaRdaP2wVbpok4JBN2Rejg1k7RF1TpGzyCLxm8zNvtZ5akLJ7oic4YyoK421Y3OVF4KwLL4wFbBtmKHNvxfWgWnVSa3F9V2BOVNcG2nEmiHmuebQtLsgmttLxKAdpypu1w3k8g9-YoSeU4u3ktGtD0cQbCrIR0M7MSMf-aI5umzZLKdiwb7ibihNXqJMHO9lSfdPoTUIz60SvYN8_ZNZUFnyQ89YZezC-BYuVc3yo5y74ZoKKAH4lUkUDLgZi-dr-8ExZGrAf8klz6EBXsNmEBnFhNaCvt-HwwOFPUzNid10og4U8xfc5laUCkl7RWS8kh9O810fIkJ1EWohVBJSfTcXiyFrX9M1rPyDUOBDDs0He5vGMaZnulDh4_Vi1utAO_FGJpyTVgcqzSUXV06bFMgRoc1YWomT9fGHBPS3ENFQv0ifAigcoOZF9wyd1P5yVvIqsetQrXYzq-Ww2WLQSbALpn-dSl5UVlGC3z0YE0MMe-4ATM8T7whZt1wGUoQMKsN90gig_V7XcvgYPZbzZICm4zD6eu5nLKFRBo1mJ4ElGeX9Kou52qw3IZsMHhPWtzPahawWDUOiQ0rckpEEcjIuxFOAhK-ZGkgJU0Zw7Buloe-Jxc2Uc8MLeVVH3whOeD-c3pS-x5TRmdF2Kgd2Iz0hX6CwZIDXJx575b5OQ38dzptdk6bQTkOMJdkIfVlV1c5taGNU9YsvCj7As7M7pvrqrDNIL9M5Kfir14FeZf6eZlqXpRk8Chi1HW5MxGB6-4eCeNpvuSkb-1WD8MOr4xSuKozCLyB-9e9yUmKlQS3osftp_fykOfmj5wSDESvG9iB_CFuZibxKhCaOlbVE9-Q6rTsMOT_xDD9uofFcrNxs4663GpQTH31mVNrx7oUKitnGRWuL7x2oB3Q1-cZbv8wfQx7VdSdxupw2zgRyQUZCVBpYOcqWU79N5Q5TJqZFqZ4fCnw6ZodI-ZTdAFDmxYT7KZYuaRiYPsV-Iu2GOyDox7RgXrj9PL55UCCMGtkn4NE_e-qWVCHEfmPtGoLV3KtTyCfJFq9itd9hI0dBi9Al5whdsO69T8ylGroLJ7ttgZcJ7X1wW_nwk=",
  "id": "rs_075908f82c08f063016ab2c3117fd087d0a4c700b6f94a0ef0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.325,\"right_z\":-0.015,\"right_pitch\":0,\"right_roll\":0},\"note\":\"With the arm clear, the brown toy is lying flat just in front of the safe. I’ll lower open jaws all the way to table level around its torso; the previous grasps were too high.\"}",
  "call_id": "call_2i1djXejCZm7tzYvwTQvvxRD",
  "id": "fc_075908f82c08f063016ab2c31491a087d08a75b8432f654a08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2i1djXejCZm7tzYvwTQvvxRD",
  "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]: [-0.0257, 0.8417, 0.6197, -0.6079, -0.0219, -0.0574, 0.9992, 0.8272, 2.2375, 1.2465, 0.2989, 0.6258, 0.4763, 0.9972]\nstate[eef_state]: left_x=0.263 left_y=0.0007 left_z=0.1316 left_yaw=0.0092 left_pitch=-0.2501 left_roll=-0.0094 left_gripper=0.9992 right_x=0.4336 right_y=0.3239 right_z=0.0114 right_yaw=0.0509 right_pitch=0.0385 right_roll=0.0315 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.7709, 7.0906, 1.6386, -0.0317, -0.0415, -0.0122, 0.3077, -8.9778, 5.1624, 0.7888, 0.1441, -0.1245, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04c5c0e2226e042a286afa1855f2b0f7c40f7bb617a5c402725761fdfd8e7c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c128654e74100e68f0ab9eed07d2f7b547eca56bb0f541c1b8ad1767cf19bf89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6948a3cc228dde8c2c852ab6e0dfd938a1e58d339d4e502a1af05e839141ca51",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 9.395 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]: [-0.0257, 0.836, 0.6197, -0.5922, -0.0219, -0.0574, 0.9992, 0.5991, 1.2922, 0.9867, -0.3611, 0.4435, 0.305, 0.9959]\nstate[eef_state]: left_x=0.2657 left_y=0.0006 left_z=0.1356 left_yaw=0.009 left_pitch=-0.2287 left_roll=-0.0101 left_gripper=0.9992 right_x=0.3543 right_y=0.1545 right_z=0.2075 right_yaw=0.0576 right_pitch=-0.01 right_roll=-0.0068 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4017, 6.8034, 1.6288, -0.0562, -0.0415, -0.0122, -0.2256, -5.6, 8.0752, 1.9414, 0.0611, -0.022, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMhrV1QtigAgbkclhYCciqumtTMCOMNrmB7qE_2hktdEGMDmnEnkMZR7sfkp2yUB79jZbNKooyZXZ8myCqGCBSiUps0O793Oi77gDTyF7BAWk5xNHgCk4derf0YWQ7wXdpLVtRO9HXQ1ic_c9w0jHAoBkBNcabxYznp1GadTMUNsesImwx52LmBhGQmvMcpnsu-m9rWr3VK_d30VYNq_0XPnSetIlPb2ynoUAnSI1Q3tpUsfQGzKRog2JhJoHlUm3o18XHA0_cIucXwgLR0PPvuxN5XTmhad1mmfOyM19_GgvcqjwsZHFh6XjyijRZQfcbguX0hp3VBTM48jeETk8WgNrq_Jb4i9tvQH7ONR6vZ-CWKnkScll-3TJFXweq8dT0PLPNR4SyMJaqCBNjcrwAX2uUQMh8ZM4-58HX5uPW4wzDFXa8lzTk71S039fIwIcXjCLKY1yTuKDRc3L2W6RmDp-Hu2-rs6yMXqEbmQd4xnWwiSh7ZeE2cypStBvuVUGqX3M4jKCSRynM26Iwhn9zY4jNTF5IUxuXbJ04iHdRSZXniyea9U6n8UCmw_Vda84lxUckFUKFhJE0yuwJEByeKptcPS7moj3MMRZTK_YYWP94BM1PnZ0MUG4AvqZDkD0AhaHyVtKmjsYzdf7NtWcYqvaMvuUCDrEupMi1oA8JewdH4COf5snPulZQuGXpToNXVQbY7wlpOWHYIYi9pZps4JIGrxhixuQs_XT8VW96EIxS5eQFABJTUqnfLumhcGdTLm5SzDkQZezWnjpECRFpVvIbPlDGxqKghl6WL8VJ5xySrzbghNjoslUT5N1u61N2hD__MoKkAKjki8xdK6zJPwqQj9rn6Ib0w4tmL5v5XZ2hoGzV87IeTxd9rB-e5qN342wnAmUTHBcCRcbOn5roEAI4N6tGw5sp497DahoY7oU1v588XwV8gZXvKIAH_maMFHBfJV4JPtwUYSaVylG8OK323XdczkYH6g4ZN54_r4Zmlm1CMU9wJDx3swfGOXRot1nVNySioXfX-gYUU7iWahYijxAxiaH0cEQZS4XVcFrTiBDkHuuUsUmGReXubQcPOtR1Ww296R-KM6ZhPDFfeIv3ar56t6nlx2_DW_x06iIuKirUuO4cpPPUf-57CnejPEuYpVoWt5lKyr3uVQl6P161UQrObFGZCZ7ETD0Bsd_oX1T0IPEcFoC9dfeFa1BnlMPXBQt6gtsjRULcXT7ANaASfO8SXYe565S2fr63LGA8=",
  "id": "rs_075908f82c08f063016ab2c31f0e0487d082b3d021d6fa7edc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.385,\"right_x\":0.425,\"right_z\":0.005},\"note\":\"The plush has shifted left of the gripper. I’ll slide the open jaws left to center them around the body while staying low.\"}",
  "call_id": "call_w7Jv0zwU6ovWdWGMctkHqSe7",
  "id": "fc_075908f82c08f063016ab2c31fc99087d0b3104c1e00f73a4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w7Jv0zwU6ovWdWGMctkHqSe7",
  "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]: [-0.0257, 0.8433, 0.6201, -0.6147, -0.0219, -0.0574, 0.9992, 0.9215, 2.3428, 1.4624, 0.1764, 0.6968, 0.5438, 0.9973]\nstate[eef_state]: left_x=0.2618 left_y=0.0007 left_z=0.1302 left_yaw=0.0093 left_pitch=-0.2581 left_roll=-0.0091 left_gripper=0.9992 right_x=0.428 right_y=0.3822 right_z=0.0176 right_yaw=0.0556 right_pitch=0.0622 right_roll=0.0499 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.4564, 6.8444, 1.5458, -0.0464, -0.0513, -0.0122, 0.3897, -10.6735, 7.3231, 1.3358, 0.2515, 0.0806, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ad7371398468e956db35a9bd6f3accfcacd7549efc9279a1e8065b21c9f2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95b48a8a4409dbbb623db1b06a1a51b1851c46d0c305e781a8ba1326ae354a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee158d4596b9ed0492f02d193c4eff1164795e68e979403ab45af208fa7b7ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 10.38 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]: [-0.0257, 0.8417, 0.6197, -0.6079, -0.0219, -0.0574, 0.9992, 0.8272, 2.2375, 1.2465, 0.2989, 0.6258, 0.4763, 0.9972]\nstate[eef_state]: left_x=0.263 left_y=0.0007 left_z=0.1316 left_yaw=0.0092 left_pitch=-0.2501 left_roll=-0.0094 left_gripper=0.9992 right_x=0.4336 right_y=0.3239 right_z=0.0114 right_yaw=0.0509 right_pitch=0.0385 right_roll=0.0315 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.7709, 7.0906, 1.6386, -0.0317, -0.0415, -0.0122, 0.3077, -8.9778, 5.1624, 0.7888, 0.1441, -0.1245, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMreO3tx0sBjfbc1dZj2udTVpIdYl1HEIJyf1v5dTmJCpPpOtA5P4bJKpYpYvoQW1MMksuiv47oK361YvRG8oCZyJqI2IFBaOHVxbqmNyEBJcMpPelR-gyWK5S_O5arJnSG22SbNtcaHXmPLPuPkvxHFmdEM1MpTuspPbkdWvy1DW4HLUkgsobE4wCp_2s5iEI0HWk1iHJUpI69wfYmV0VQpbeq9bUppZeNpTwvkd5WAjV_qzSuyN-UwakqACgylp0ol2Ef_mEdcSIwvjLNxLMcxKzDC3yqd7K2-85w5pmw9viIDoSy9c4I4rlcAL2pNZfKmwVRU_WZjFBTeW_3UrHY9dD4vnP6H1iENqhSqDmIXokmig4DLSM0jPrTaZaxfuyppUbI_FJLSua83de7u-WFreBvcTNGftTo1H99Prp27b1JPMpspBCbvyKUKIPL_qoxf0R0lic47YhQfCsE_njIoH6eNBFCpo-uEbTqhLLD9sBCMWwms-wnVC-evWu6bS1ASm0trB5okSAIjZSF-5qo_S7Lz8Y6Vje1VYUSAhZq82nJVNvSHAbCio3EUeyQZCVwuiXj0L8Rk08Vow6nLykO3CDmBTYdh4pOBufqb6kmCzFjgZdVhLHWTPXu_ZkE5YqHOS_hJELQKhf4dD1NPFJr3OrCi2JT6kLzNhXnOqyBloHWxc2oF72DWKFlXvIGs8QwE7zOn6rmvg1jMVBLJqBV4ruX44ddjHPZtmNhdaTUGH6TEwgL6_1l_6OomKAGpzCZMAMOETavyPV-OxwRTiQdOUT3e93KkOkUuk98m6klQmSgb-rR_uS28DNB0flUKk6qdSCswVFfY01WF5PgHz6pBWhzTd35tKK_Ss3IvCcT1_EiWo1T4beFPcljTuzGNL6_5jeM60t3eZGFyRBFt3z4iHPXoq5GOKVFYY94SJKnNpf6E5NfUqch5P2vpQJKC2VQZpsHJs7UjMhMDfOzP5Xx4QYarsxpKRkMwwvAIXtZ7b7tDnIPWCxGNpZFrKfXEUtQzR0t8IdjLiCt4zaVNBii0XoaoXkBMU7PX0RyhUY2Y428_W00wPnoPLczp4-Nv7a9JyLmfinH6AHF_lVWy7ld5LDkMLbhy84Z5GaESzEoZU9U0nSCRacXFVC6GHBHrelAsxGI5RbfrVR0VOJtpU_9oLCUGAkkf1pQsnPZA7JweZxd8oCLyT-HEYd8Aq1CHoHYuNklpXDKoQwJLinNw0kttLp_ha1EmaX9FjzSD9tOnpv9GUJPBngCBlffzjI52jspyJM5-lMXQFPK77hFl1Hb4qYU81LkpnJ8c5NPVfw1omha4895m-KVjMEijjVdip4MQaav2gXwR_W2sNtJK84oG0WAL0FYNZxP9pjcUBwUDSWFwPRsBATAiodv2MacYQTyD1bjzWCayKDM3lWKz1XFCupfbkLnmz83TQrB8sPnQbzvjqOVka56n2H13sOKdTVjS9fG4-v4sm2X813bS7qPiYdX3sQmJH7XSzhdwL0Y5VUhmoGBcjmdQPXZbhznNBsp",
  "id": "rs_075908f82c08f063016ab2c325c60087d09853fe823a9949d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.4,\"left_y\":-0.23,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The toy and safe have shifted left, close to the right arm’s sideways limit. I’ll withdraw the right arm and use the left arm for a straighter approach to the plush toys.\"}",
  "call_id": "call_DMHXJ7DUdsu4njZ8lIdMuZ99",
  "id": "fc_075908f82c08f063016ab2c328befc87d0abbb60e63eda734e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DMHXJ7DUdsu4njZ8lIdMuZ99",
  "output": "executing move_to over 32 steps (3.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7471, 1.6688, 1.1137, -0.2508, -0.5964, -0.5144, 0.9993, -0.0902, 0.8143, 0.6003, -0.3637, -0.099, -0.0135, 0.9974]\nstate[eef_state]: left_x=0.3893 left_y=-0.2205 left_z=0.1408 left_yaw=0.0042 left_pitch=-0.0605 left_roll=0.0291 left_gripper=0.9993 right_x=0.2977 right_y=-0.0058 right_z=0.1765 right_yaw=-0.0093 right_pitch=0.007 right_roll=0.0531 right_gripper=0.9974\nstate[joint_eff]: [-0.6632, -7.8701, 9.4017, 1.6386, -0.4615, 0.0317, -0.0904, -0.1573, -2.1675, 10.0171, 2.0781, -0.188, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80f7c00c34f5cd96bcea452bb87535f80b1600e4ffd969438f327c12b1e3869",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725abbac772026a9cb719e1cf1d1a49b4f9089d29b65c4da988827ce466829b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ddb66cb18e92ba60e0528e2c285545012eddbc63f81d9b1f60b107aacc4c8f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 5.014 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8433, 0.6201, -0.6147, -0.0219, -0.0574, 0.9992, 0.9215, 2.3428, 1.4624, 0.1764, 0.6968, 0.5438, 0.9973]\nstate[eef_state]: left_x=0.2618 left_y=0.0007 left_z=0.1302 left_yaw=0.0093 left_pitch=-0.2581 left_roll=-0.0091 left_gripper=0.9992 right_x=0.428 right_y=0.3822 right_z=0.0176 right_yaw=0.0556 right_pitch=0.0622 right_roll=0.0499 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.4564, 6.8444, 1.5458, -0.0464, -0.0513, -0.0122, 0.3897, -10.6735, 7.3231, 1.3358, 0.2515, 0.0806, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssM4C99MhJ5QpMturCzbuqCNb9brVrqwqz1aRMchkhFIgtZ_zmZdv1tCq33FEAQdtB_nz0A7O7h68Bzo_M-6etBgAvvkXbLkCuZ2PJDrvj-GY2pDXLSUzSaJlh_XxOCn777MJJRQrESi0vLEpDILaJp7a6fzvBqpXYmikXTPw51sOncvSHLK1vUXOPLJ_c7d6bztqx3TssSJxp6G0cwvHfurrcSaLc7IApTBroEfhlU96G4d2daskb7m9e7-goNwVzDR860sRmHbC9jNj0f0HA4SooqMjQBufHRmjDGHtdmEDoa3QWmU8-9kKCczchX3PoSiit6ieeJ_UMWjeArK4JKy9N8FEws9VwTfR0fyDdhGP_FHzMkZIUQ68i80B-9vg73UjwFMTu-3EElmbMhgVat6BDTTahIkD0duo05ATYEiMad1dM0AdfHu4mP-EcRNxXCop0Vje5GT-q5U21obilHOQc9uSx7hwoaLnva7coX4dhsqJoi4RfmZzayA5XXeKl10Q08Ow_WEDxj1-WQSQ4DumvjvsdbPOsQ2S3KH3eSzf2G4LxF2zAHW5fSQ9OgQxvXpY-Esa9Z8sO17Lcii5x5pR4oUlFIezeUxl6Fo9n1C1O3Bij336y-4hsSLCvaK7zSjpGdpYwOXz-pCFBjUkLM8xIuhsL99wK-uCscMEzE-955BjWbtv0_cNX7E4RWg42lREdCycomvr3Sus4Yl5XcROHqH2pHJc-ozpQR_A_i610dIfN6Hhepx1A-TortpYXsVm2RSFuQopL5eoy8E5DHAdplicLV7jJuI1Fo6qGOrrSNXIXh6EKSZWtu3pHupnCTwOvmER2BMn-ey4n-EAvUlJA9v1ho49mTiAT6kupwIFFdspHgErXPbFW-fLLcumjKfoS5FLWh-i6Y1JgNSk1lvOR27YGppebaZvpGGsNt7jmXI4EDua1OmUfDxSxsUdVHPWU3bbxsFqk3Jy0FpF8-1F6dVUfrjp4ifvrMmWPE2OMdKQWGDMrHBB3XLYiScom-LJ_UsJLXu9SD3fv2jBCHNuARbNQur4z5XlgNFt-4VusyrMMaUG5J_TCn2XOCBmvyNBkr0Na2KwHrAD8GxYeqgmT7lp0Xt7geathBzfYSI44v7hYuFl6bQ_J-hGdsl_Ak7GxmSGRrjxmoraR8nASWcTWwfoIhap2Uz_DEl-CMyxvuHqd61DhAWzVqUuOrJzTxd6_KLOW1I86NU7LgDYGWJz1_lbhtZINQ4le6vxPT_uq0_Cax9o2A06AI9DHQFExNUuX_9m1PTRopvR0osK-3CR2TrIPS_Yv3oY3kOWHGlQTbSdnLLDmQt5pkh-iYkB2coaugQCVdFaHTI9fGGW1NtyQ==",
  "id": "rs_075908f82c08f063016ab2c33626d087d080eb0f6660ce1cef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.225,\"left_z\":0.025},\"note\":\"The left wrist view shows the brown toy’s torso centered below the jaws. I’ll lower vertically around its torso without pushing it farther.\"}",
  "call_id": "call_D995BpN35uSR9y3dKzXDBcO9",
  "id": "fc_075908f82c08f063016ab2c3374dac87d0beab8525c519c1b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D995BpN35uSR9y3dKzXDBcO9",
  "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]: [-0.7525, 1.903, 0.9104, 0.1299, -0.5987, -0.5182, 0.9992, -0.091, 0.8181, 0.5999, -0.3882, -0.1089, -0.033, 0.9974]\nstate[eef_state]: left_x=0.385 left_y=-0.2191 left_z=0.0252 left_yaw=0.0057 left_pitch=-0.1006 left_roll=0.0664 left_gripper=0.9992 right_x=0.2946 right_y=-0.004 right_z=0.1704 right_yaw=0.0089 right_pitch=-0.0205 right_roll=0.045 right_gripper=0.9974\nstate[joint_eff]: [-0.294, -8.8137, 4.8615, 1.5702, -0.2613, -0.0611, -0.0171, 0.0205, -1.6615, 7.0632, 1.9267, 0.0464, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342139c7387be2d4259645f03d604370274389eaf4e96f7ea453c5959877a4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdd7f118d8aeb51a6356bc1dad12f9732fc68edb550f488fcea3734d8983b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b158428a626abb713d61ad53fb166ed6202e5bde0c13c802bc64ef0b3c8d0aca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.773 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7471, 1.6688, 1.1137, -0.2508, -0.5964, -0.5144, 0.9993, -0.0902, 0.8143, 0.6003, -0.3637, -0.099, -0.0135, 0.9974]\nstate[eef_state]: left_x=0.3893 left_y=-0.2205 left_z=0.1408 left_yaw=0.0042 left_pitch=-0.0605 left_roll=0.0291 left_gripper=0.9993 right_x=0.2977 right_y=-0.0058 right_z=0.1765 right_yaw=-0.0093 right_pitch=0.007 right_roll=0.0531 right_gripper=0.9974\nstate[joint_eff]: [-0.6632, -7.8701, 9.4017, 1.6386, -0.4615, 0.0317, -0.0904, -0.1573, -2.1675, 10.0171, 2.0781, -0.188, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are aligned across the brown plush’s torso. I’ll close the left gripper to secure it.\"}",
  "call_id": "call_KjspdPhLp1Kp2ScHVfFMVDtU",
  "id": "fc_075908f82c08f063016ab2c33d2f6087d0a823a352891c2f9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KjspdPhLp1Kp2ScHVfFMVDtU",
  "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]: [-0.7525, 1.924, 0.8989, 0.1261, -0.5995, -0.5255, 0.0404, -0.091, 0.8181, 0.5999, -0.4103, -0.1093, -0.0341, 0.9974]\nstate[eef_state]: left_x=0.3802 left_y=-0.2145 left_z=0.0126 left_yaw=0.0131 left_pitch=-0.1261 left_roll=0.0864 left_gripper=0.0404 right_x=0.2914 right_y=-0.0036 right_z=0.1659 right_yaw=0.0099 right_pitch=-0.0424 right_roll=0.0465 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -10.5231, 6.0513, 1.3895, -0.232, -0.0073, 0.8962, -0.0752, -1.265, 7.0906, 1.873, -0.0513, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ecfc99719adc16d6eeaaa7a25f9c66dfc35a116442463a66046fe7d04b08918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d2ecbabd898eef46acaec018ea62ffbc560454603935d211d5532c7dd8fd39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cb1d1d2f0a22cf7198011f583954632525c61af2058ac6c0ac8c5765ed469c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 6.221 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7525, 1.903, 0.9104, 0.1299, -0.5987, -0.5182, 0.9992, -0.091, 0.8181, 0.5999, -0.3882, -0.1089, -0.033, 0.9974]\nstate[eef_state]: left_x=0.385 left_y=-0.2191 left_z=0.0252 left_yaw=0.0057 left_pitch=-0.1006 left_roll=0.0664 left_gripper=0.9992 right_x=0.2946 right_y=-0.004 right_z=0.1704 right_yaw=0.0089 right_pitch=-0.0205 right_roll=0.045 right_gripper=0.9974\nstate[joint_eff]: [-0.294, -8.8137, 4.8615, 1.5702, -0.2613, -0.0611, -0.0171, 0.0205, -1.6615, 7.0632, 1.9267, 0.0464, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The gripper stopped slightly open on the plush. I’ll lift gently to verify that it is held.\"}",
  "call_id": "call_tyfXhnmEuTwThT0yI7HyaJje",
  "id": "fc_075908f82c08f063016ab2c342267c87d0ae7c2e4081318d18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tyfXhnmEuTwThT0yI7HyaJje",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7525, 1.7836, 0.989, -0.1417, -0.5983, -0.5362, 0.0404, -0.091, 0.8192, 0.5999, -0.4332, -0.1097, -0.0341, 0.9974]\nstate[eef_state]: left_x=0.3758 left_y=-0.2106 left_z=0.0634 left_yaw=0.0218 left_pitch=-0.153 left_roll=0.1039 left_gripper=0.0404 right_x=0.2881 right_y=-0.0033 right_z=0.1611 right_yaw=0.0103 right_pitch=-0.0663 right_roll=0.0492 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -10.7282, 8.7179, 1.5018, -0.3394, 0.0611, 1.0281, -0.0342, -1.2513, 6.9675, 1.9316, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbd75e25b5a39ebfedff94a87e9cf87bee61b1e7c0fe784a5850fe0482fb785",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:107690df47fd0dee895a8165651b2d4bdfed8c4288fd583ef75bc8f857a946b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1af0c45312d4b686321435869e3d893824185aefc07b6b8059a5734bcc0d2e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.149 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7525, 1.924, 0.8989, 0.1261, -0.5995, -0.5255, 0.0404, -0.091, 0.8181, 0.5999, -0.4103, -0.1093, -0.0341, 0.9974]\nstate[eef_state]: left_x=0.3802 left_y=-0.2145 left_z=0.0126 left_yaw=0.0131 left_pitch=-0.1261 left_roll=0.0864 left_gripper=0.0404 right_x=0.2914 right_y=-0.0036 right_z=0.1659 right_yaw=0.0099 right_pitch=-0.0424 right_roll=0.0465 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -10.5231, 6.0513, 1.3895, -0.232, -0.0073, 0.8962, -0.0752, -1.265, 7.0906, 1.873, -0.0513, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssNJBBsfzMPiBjBmh6ng02RcMQqfaShiCSsc3WtcfdwboPJu1u1fmQpO-RGllwuaL6x9nC0LoMXm4yYSiJuiCe0msMTMYCw1XyV2PfAwKP7V-Da5jwJLM0jNxNagp7d49MGHaFLvx8Wi-2YLbAzL6UgHndtWguLIwuuD1Wp62hA8OA7i3ITsAMWXXcRaiKOCorxpGXTc8pFyXLl8Trll8AIPX71mCnbIpiFZaBslWMbftRgFfmEMW9ijJQNmQRAmIBGB0Jc3beTDAAll80lEFjBVm0nXfuliXLzPWQnATNC0ztInUCXH_RYP0uu59X4SoFl24DeBI2fSWVrEBE1v966594KOv2n1Y2hUW-oXJB1KG93F16gf8DX2a3T0-l8azJ8eaIVkEHBSJHizb7CRQjKnyMAON-JSWqMtFvQCXgZk5FKQugRkrqZ5jcJjNS3pe-QTgBNLyLL8JRPpOAcwtM5oELzNQcJJKR5sX0uXJdfo2Mz-bYbUn1iLtBLYQVkn6-fMPAlnKxK4QWzsheaGVPSUonlD-XAxvcj7V_qJ-XOT4tDnUkj44chIMGPzk-OVWGtUL-ufPTVUjcWvEaXzeSSoRfCxCxhHbvnjXrKECcPIAo48ybAKFGNh8VSZ3UXmd4m8fEKNW56ub1T9sEKcKjegkhnkAvR-CF6O1t6-9N-yZ4wO8vDpYhoof-7lJ9bgfFo8uYhg4o6dGbatWi-BxMw0hCjKLJhnCM_njG3L7oqTnoO4xjCXNCQVQOWmLsnDX3Y7Fc6WPYx5lCkdWo55nVXryFCnutJizflp0Fr4aI8smETFnGodI-UZEjsCAqs6xe4If2x9y6rqcxBTPA18vGA93ZBtDHkMLGbABCLDyBFLGPINS57TWNM2tV0dDiR768w3lqaLNylGKITMw9YnkxewfwWqv2VSOQQP_NuKlHkjquj9w6uymNbHwnedtFKwKcaG_qPkK94bbfa-K03zJZWX6fk7UgQ2rPIy2xkOJtBXY28idy26ol1pHILqDbg5IN3biSyNc_II6_nzhJV06HCjkOJhyZdeWJqVwjB-WJqxZIckgQzpP2w9qfAj_9FDSd48jI_26yF6rEqEqMGWZ4pM3qCVIytIkAkX5kFfrKurPgtOYx3Q_LQWc8YsfHTCREv8jNbjodahtyDMfWv36fZAfpnUsu5zWxrVcx8zqLb6zvHLdodCiF3g6QrlDIcwAHHDiPO1CAoTcgyXe50doOGBwAPTast_7WOYZDLAeEYMBoj_cZIsLZitjp2jtooClmSHX_7FBAFuePnAgQqvlH5aGKy4tkgful0vYrXIBVfv8mK2RIY1TDsOhKJgcaJftTOiCMr2pWgr2GGQ-r5MU4RuuEqYAXZRcLenRu1d45lR_qg=",
  "id": "rs_075908f82c08f063016ab2c345f22c87d0af5747c7cccc2b32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.195,\"left_z\":0.02,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The toy has not clearly lifted, and its thick torso remains ahead of the fingertips. I’ll reopen and place the jaws farther forward over the torso.\"}",
  "call_id": "call_hpEHiIW7w2xCVum1bGNQPVT5",
  "id": "fc_075908f82c08f063016ab2c347e0ac87d0bd16108fe29db419",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hpEHiIW7w2xCVum1bGNQPVT5",
  "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]: [-0.6018, 2.0094, 0.9485, 0.3176, -0.5308, -0.4248, 0.9953, -0.091, 0.8227, 0.5999, -0.4549, -0.1097, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.4384 left_y=-0.1882 left_z=0.0161 left_yaw=0.0495 left_pitch=-0.044 left_roll=0.0261 left_gripper=0.9953 right_x=0.285 right_y=-0.003 right_z=0.156 right_yaw=0.011 right_pitch=-0.0913 right_roll=0.0511 right_gripper=0.9974\nstate[joint_eff]: [0.4444, -7.9658, 6.1607, 1.6239, -0.0122, 0.2027, -0.1343, -0.0068, -1.6479, 6.9402, 1.8535, -0.0757, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6657f9b48985a6c8bb0a6ef62f2f13dff1af5480862b7ec08ee3d1de4bf389b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213d8d473fd98bc700de1b906bac4d3940ac34b982cae212245445cbfe3994d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2835ca52ffc6ef68eeb1156b69b5740a1f9dcb6b2a4084d3b431d81c82b205",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 5.036 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7525, 1.7836, 0.989, -0.1417, -0.5983, -0.5362, 0.0404, -0.091, 0.8192, 0.5999, -0.4332, -0.1097, -0.0341, 0.9974]\nstate[eef_state]: left_x=0.3758 left_y=-0.2106 left_z=0.0634 left_yaw=0.0218 left_pitch=-0.153 left_roll=0.1039 left_gripper=0.0404 right_x=0.2881 right_y=-0.0033 right_z=0.1611 right_yaw=0.0103 right_pitch=-0.0663 right_roll=0.0492 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -10.7282, 8.7179, 1.5018, -0.3394, 0.0611, 1.0281, -0.0342, -1.2513, 6.9675, 1.9316, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown torso is now between the fingertips rather than beyond them. I’ll close around it.\"}",
  "call_id": "call_ZuhRNfvtz7xwjgRo6WVjZuA9",
  "id": "fc_075908f82c08f063016ab2c34d905087d0a0e75bc23239cf29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZuhRNfvtz7xwjgRo6WVjZuA9",
  "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]: [-0.5972, 2.0251, 0.9485, 0.3298, -0.5358, -0.4274, 0.1149, -0.091, 0.823, 0.5999, -0.4782, -0.1097, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.4396 left_y=-0.1856 left_z=0.0114 left_yaw=0.0594 left_pitch=-0.0446 left_roll=0.0286 left_gripper=0.1149 right_x=0.2814 right_y=-0.0027 right_z=0.1515 right_yaw=0.011 right_pitch=-0.1149 right_roll=0.0538 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -11.1658, 5.094, 1.4042, -0.2125, 0.022, 0.8718, -0.0205, -1.1829, 7.1043, 1.8193, -0.0855, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe26857d7525053cf710f3c7fad01c5dbd0394a3d8e08f2934454a331e2580a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b0a503ca7b278fdfb46a5c355e1572364cd38d904ac73909f7eb27cf3225fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb869ffc8bb01194bed44404551f8afa60b5b50cfe5a76b91ce3417ebbb2e47",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 6.897 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6018, 2.0094, 0.9485, 0.3176, -0.5308, -0.4248, 0.9953, -0.091, 0.8227, 0.5999, -0.4549, -0.1097, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.4384 left_y=-0.1882 left_z=0.0161 left_yaw=0.0495 left_pitch=-0.044 left_roll=0.0261 left_gripper=0.9953 right_x=0.285 right_y=-0.003 right_z=0.156 right_yaw=0.011 right_pitch=-0.0913 right_roll=0.0511 right_gripper=0.9974\nstate[joint_eff]: [0.4444, -7.9658, 6.1607, 1.6239, -0.0122, 0.2027, -0.1343, -0.0068, -1.6479, 6.9402, 1.8535, -0.0757, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The gripper is holding a measurable thickness of plush. I’ll lift it clear and check that the brown toy rises with the jaws.\"}",
  "call_id": "call_7taeBl6WhbMT80NNztMdmLOW",
  "id": "fc_075908f82c08f063016ab2c3535af887d0ba1ebcd167cdd402",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7taeBl6WhbMT80NNztMdmLOW",
  "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]: [-0.5968, 1.8084, 1.0286, 0.0177, -0.5354, -0.4355, 0.1147, -0.091, 0.8284, 0.5999, -0.5007, -0.1101, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.4325 left_y=-0.1806 left_z=0.0859 left_yaw=0.0643 left_pitch=-0.0567 left_roll=0.0313 left_gripper=0.1147 right_x=0.278 right_y=-0.0023 right_z=0.1459 right_yaw=0.0117 right_pitch=-0.1425 right_roll=0.057 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -11.4256, 9.3197, 1.8632, -0.3346, 0.0464, 0.779, -0.0479, -1.7983, 7.0906, 1.8144, -0.0806, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd32ef33651c7715f712db780f419addfd3d81d0735daa930480391fa6360fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9df44b8cd4a4d438dcc93c2b4942791b078c9e18520407b5b14edb619f9bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ff6c0807e37697a6735b42631a49dd3434795b924418c3b49cc3c49220c015",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.341 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]: [-0.5972, 2.0251, 0.9485, 0.3298, -0.5358, -0.4274, 0.1149, -0.091, 0.823, 0.5999, -0.4782, -0.1097, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.4396 left_y=-0.1856 left_z=0.0114 left_yaw=0.0594 left_pitch=-0.0446 left_roll=0.0286 left_gripper=0.1149 right_x=0.2814 right_y=-0.0027 right_z=0.1515 right_yaw=0.011 right_pitch=-0.1149 right_roll=0.0538 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -11.1658, 5.094, 1.4042, -0.2125, 0.022, 0.8718, -0.0205, -1.1829, 7.1043, 1.8193, -0.0855, -0.0611, -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": "gAAAAABqssNcoKux8VjyQNVeYqE0DyUCqANUBEtHGjtXZs4gxY1YaT2zZM7V_10Gr_EN22eIuY05wwakZvgvYkgC1pSZiRsHXUmt3TzGSs36JouFTZQCTt2qd79T4wISyqFfUT4RA7agP6EnF5YHxQyjpXyd6_Nf8IR1U7mE3A0gss2-f3YRYYtore6YiBI3L8zkXu3zCWfPufyc_wfKDrc_Iwvs_dT0CIHXndT83GAwXseb9rtm7yWpMOPvXjdZix1h0DsKeegajbbqEZ08iHyV1P2HiU4kjjUWgl8ifBuFFTC4_4fMabxCLUx6aDn36mfYF8NsjuG0nf42MMvWRmxjnRl6aasxRYqTqf8mpgT07qe8ZUZ2B_5FNhP0ZnCF4Y9oOG6DwNDKDho1crasU1szZ6nBWEHsEqH-Jn-XSV-uOyAfOXbkJ8q3O5HCabCoZs5nyU3NJGO-Cxdnj9r6gzQrDh1Cw1BdOSwZrjsxCTHl3_7Jnut9M9BkiBY0cn_KCvzjhtpMcpgtLYD7XCYVIG22ZmyKLHfwsDB98S6QDAut8xw4z51JasAm0Fy_QGCn2APtt6hJDIDCKkrxcD5ZVOVIN6NH4mB3xEfK5CxRL0VVBu3V1SdgKw-bmdwi0BAJ_7PlBNU271eyxer2ayzNnJsuru1nw-UGuUTxJOpiOZ1ix6vRWsLJDNwQGpCFSwUANM3myOgktLHzw98dylm0unh7uqJvwJqf48ojM8U4cMCPpd2gAdezeAW18o_U1cqe6rIAwET4qL87iq9JN4LELQM2PvciVEiSZLTJtRECO0zusznEco0O6MOCswFIg-zDjzmRSC6EuJ6f-VcxUfaqKMPCMifyux5ZdT_AqON2GYp8UNa1_qzE7PZcW4g1VCK60RS3MC39KJDv8HY3k8JXcXufMBZZZFEPhbRuq1jrOGtgCuCarkXVqau3nXEtRsQ3E6Qu9fAgjbHZiJ9QUYv6bGlR7xEkHP-O7aDz5i-MOwcbo6pBomRwJaRoIT6vDmVCcSt34lDSPUFRIDAlnIKvP3ULH_-XD6GHHyOCJDquGQohZUF521GHqrI2Kw-tIBiN7VQqqd-ezIL1MihMxvMvGsaNnSusQn88NHUbICm0BKX5AEn1ASapbp7zLswGsEUBNfN9mOYFDsvRscSFw0JNZdl_8vrIbjv9iPwVvmJ7H-aUcr0-10oDltR6Rj6BUJx0c46J438g-71d3yxU6rHVdB8NSiykNRF4kvxKnCRlKVVbf1RXW7vWc5HRFdbZQnzZCQL5oKexKnOs",
  "id": "rs_075908f82c08f063016ab2c35a0f9487d0b7cc30c133ede8e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.275,\"left_z\":0.22,\"left_pitch\":0.25},\"note\":\"The brown toy has lifted with the gripper. I’ll carry it up and forward over the open red compartment.\"}",
  "call_id": "call_W9czLzZvE2HMCtyDpE7P6FBp",
  "id": "fc_075908f82c08f063016ab2c35ae5fc87d0bd2296ccd74f007c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W9czLzZvE2HMCtyDpE7P6FBp",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6365, 2.1731, 1.7924, -0.131, -0.6601, -0.3138, 0.1172, -0.091, 0.8333, 0.5999, -0.5266, -0.1101, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.5508 left_y=-0.268 left_z=0.1917 left_yaw=0.0648 left_pitch=0.1818 left_roll=0.0378 left_gripper=0.1172 right_x=0.2738 right_y=-0.0019 right_z=0.14 right_yaw=0.0122 right_pitch=-0.1733 right_roll=0.0602 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -13.1897, 9.1829, 1.8437, -0.4274, 0.2466, 0.5495, -0.335, -1.5385, 6.8855, 1.8046, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10d1dc5813a1d7af6f6bf82f7b80d389d266a0ff5fd9b5210ad2c6960c44537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac42fa5c5f00b593cf896a4321a20f8c24aed5be99d0d97ee89ed05628b4279a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a530971411a19cdf5a4cec8df4ce47cff247b19502b3444507a3f46d9d24fa6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 4.567 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]: [-0.5968, 1.8084, 1.0286, 0.0177, -0.5354, -0.4355, 0.1147, -0.091, 0.8284, 0.5999, -0.5007, -0.1101, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.4325 left_y=-0.1806 left_z=0.0859 left_yaw=0.0643 left_pitch=-0.0567 left_roll=0.0313 left_gripper=0.1147 right_x=0.278 right_y=-0.0023 right_z=0.1459 right_yaw=0.0117 right_pitch=-0.1425 right_roll=0.057 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -11.4256, 9.3197, 1.8632, -0.3346, 0.0464, 0.779, -0.0479, -1.7983, 7.0906, 1.8144, -0.0806, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssNiKHSdxKs3z4joXP30u2QaKk6y8MSkNlcYriG-qCqt8FplfBQ3d7Y1-iLjT_Eua8DqR3F9_AqqkCBq29ECrlqB6CePCNI3OE7uVBPLP7FlI6X_vW3HkBbNKf3r40IGBnsbX6go7GHL4MJKqFW-q2ReCFAZ8yb3iUMzPhbYMmBU1jVMU1Ia6_KZxnwh_3EDrTmaE5Mp75IigCu82utbJpTlGKacejNuOX1JtsIZH-XVqnlxcC29gjVQh23jwkS_ptlFV_LPJrGE6J0WcqytjczxwdhcuIFC8RBHw4WwPU1DgS2iDN5AEp81zqRmKfq-o3qUeVwrzMhECcOlFmLsR6NimJay0Yap-PWgagboDxdS69GQTQ2L_mpxWNanON3GIfvhF2ZBXCsdj8zAlLJjM0EFYnIEQ_Cm2a_lWNl83mk9hfxZnqF_Do3Ma7BNmFu3IJN3hw52fI0ZediNi_XhvjJUtlrq5A39oTpJu4GjTxXpSeXXjlrM8T9oztNURpd5Oau76vPssRJ6tWbTIdaq70Bg2_mGhOUPnqGUzyercM36Ag4iyeW4rb0NFeNJ5soEwdPZUT1dVl3VDlvxH0zC1hsqEUZLJ1WG_eCTJ0VP2O0WVqcCZjjstZzf_L0SUaetylD4qKpJyPlhArow4EGvaJP-u8Uz2AKk5WwCzu1gXUZ8Kzgv6YAK22gOy3PQR52xq2Tec95DY0OxY26dPDPNogk5nEbbPxw4tptOYC6M5uOZNz_9d7_gtZtcsmYVtsYj3FPhKKqlBH44t2tRUs3fhO9Vn35UfhDQ634XVA53lGHb52Fa1QYQm9ngtXPa2Ggy56sdF5E_Ssn4kJo0CemiSUqcNSkgioB1wIgoKws7eA3_CJfaTm6mUOTKESlt7-kWvE9hCHT-KhhagFvTQuTKd4kD5fBiv1Bm3ccT-pbDwmi72cyvQuXwcuBwxdqxd8hijulDs2J29QSkSpgHuPulycB2OKIiRaVbx7lCiYTAXSa1Gbf70AA8I-JapyqpdD7nbqZX1z-6vSQegy9gaEPK9fnyseMu99DCvde_Ows1t9rFIWA8Ph07izHXlWlQ1Q8oLwy95mTCkaOG_5rZOrdpGYw7tBNFyr5vZf6k5ciPZLe99MnFu_rKfZUdy-rc0YqwVUtiif9wTZy0_vq3fpbLc7KT2I4phB7-z4YsGWmwAlOHP958vybbVU5bWaEpBXVRKPhS",
  "id": "rs_075908f82c08f063016ab2c361844c87d0bb7381aa5effde3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The brown toy is above the safe’s red-lined compartment. I’ll lower it into the compartment before releasing.\"}",
  "call_id": "call_7usj4yBDWhqkSv3X0WCHxEvF",
  "id": "fc_075908f82c08f063016ab2c361c57487d08c8a698e2eca6e60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7usj4yBDWhqkSv3X0WCHxEvF",
  "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]: [-0.6399, 2.265, 1.6077, 0.065, -0.6556, -0.3153, 0.1198, -0.091, 0.8345, 0.5999, -0.5537, -0.1097, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.5429 left_y=-0.2654 left_z=0.0956 left_yaw=0.0508 left_pitch=0.1185 left_roll=0.0867 left_gripper=0.1198 right_x=0.2692 right_y=-0.0015 right_z=0.1349 right_yaw=0.0124 right_pitch=-0.2014 right_roll=0.0629 right_gripper=0.9974\nstate[joint_eff]: [0.1573, -12.7795, 6.5846, 2.0733, -0.2759, -0.0073, 0.5739, -0.0752, -1.2239, 7.1043, 1.7851, -0.1001, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d035638908c71d8ad064a165a5ebce23aa079d5f41e14b9c4157e263f7af7083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d2acd031b52ff0a25842b06ae916882243924c038ca75b0d3875d908bb745a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b0ac067d66a0371e16199761b191b85526e13e195c205e649607b4e4fb81e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 15.92 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]: [-0.6365, 2.1731, 1.7924, -0.131, -0.6601, -0.3138, 0.1172, -0.091, 0.8333, 0.5999, -0.5266, -0.1101, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.5508 left_y=-0.268 left_z=0.1917 left_yaw=0.0648 left_pitch=0.1818 left_roll=0.0378 left_gripper=0.1172 right_x=0.2738 right_y=-0.0019 right_z=0.14 right_yaw=0.0122 right_pitch=-0.1733 right_roll=0.0602 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -13.1897, 9.1829, 1.8437, -0.4274, 0.2466, 0.5495, -0.335, -1.5385, 6.8855, 1.8046, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown toy is resting in the open compartment. I’ll release it.\"}",
  "call_id": "call_yCOpshb1nSHrOB910nrHZYTr",
  "id": "fc_075908f82c08f063016ab2c366f73087d08386bc5c3d3451e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yCOpshb1nSHrOB910nrHZYTr",
  "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]: [-0.6399, 2.2761, 1.5955, 0.0559, -0.6556, -0.3222, 0.9952, -0.091, 0.8349, 0.5999, -0.5861, -0.1097, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.5396 left_y=-0.263 left_z=0.0828 left_yaw=0.0523 left_pitch=0.0939 left_roll=0.1013 left_gripper=0.9952 right_x=0.2635 right_y=-0.001 right_z=0.1293 right_yaw=0.0132 right_pitch=-0.234 right_roll=0.0663 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -14.0376, 7.5966, 1.6581, -0.2808, 0.0024, -0.1343, -0.1709, -1.3607, 6.9812, 1.8584, -0.0659, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c49241952c465c39475db74eff1482a9cd4e98722ad7f7977f86c4ef038c6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1fb255c13d987d78ff1b773525b63ebb8bdefa6f017f3c275dea866b3d70465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63cd1f9f4060ab03661d52d121154acd13a3451742a80edf8c6da25f252b9511",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 8.074 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]: [-0.6399, 2.265, 1.6077, 0.065, -0.6556, -0.3153, 0.1198, -0.091, 0.8345, 0.5999, -0.5537, -0.1097, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.5429 left_y=-0.2654 left_z=0.0956 left_yaw=0.0508 left_pitch=0.1185 left_roll=0.0867 left_gripper=0.1198 right_x=0.2692 right_y=-0.0015 right_z=0.1349 right_yaw=0.0124 right_pitch=-0.2014 right_roll=0.0629 right_gripper=0.9974\nstate[joint_eff]: [0.1573, -12.7795, 6.5846, 2.0733, -0.2759, -0.0073, 0.5739, -0.0752, -1.2239, 7.1043, 1.7851, -0.1001, -0.0708, -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": "gAAAAABqssN4JAlOM-i7gt-nRQ868IT5mCMqd4t0jE46fX_7NKKl8fQaUmI6TKe3-VH8qTN1FGiJOdpIaxOwwB8KlvPr-LzW2refk5n1lXG-9tgVDz_e6GNfucz9q-NIoYZnyj3oayOAFdwLcGzl0Wdfav4HMFueHy-BMjYPDYwQsmTUvOBHVAoOqZEls1C58jC3m-b5ZRxSfqUk-KhA7O-nWfntolfpADSm66g6EnTviConTT7VohTWyFXpZi2Vnig-q5JJkTbNa8H-WfFnPS9ouGCg1nVz7p5ZND-5y7PH_JcfP0DC953Ix9opH2XPtV48Xr4n7FNIxRZfsIbsusNIFbOlINagAJS1YbVbfkyrdzsL1es0honbY7tK1QKDlW8JP_rI9nuYfXVEsAEHekNlsZeo2MKdKrLYA_N1SVA1IIn1EglY0EB3AqkdiRZODm6an4QNf7XDdyOURHGSnb4-O9pcWZQtZOgd9Uv1YplXzq78wbNgf69QUW5Q_0bWY5FQYBoS24UyuiNuc3TpcoaYr_ZX_vzwH2ILAxIurYVh55sr5U5YPvkqpnWr8ZOA9W1hvMoryaAuKrRGA3-Ql_bLINPrPMuD2qSBBd7k28eFvC3BhCb03YqYzYgYomdJy2N1BWfinXajV4IMa62ItB4mwipm_-QbsoskD5u01D0Nq6dZqQZL9nW67mhNQ9P6K69tc8YMg8-n7dqlAnWVaVPTaeJ7Cs5LsZhK7Q1y6_-DPyHHHW4sksBlqMRIqhCJ-0XF8veOcR589DDaCSsxeIxnu1CiiwkA3np9tVul4LLjUlGP1qevtjkQRAimgVA2P7Ka6FyW9OuGJvpKnEZob1HDVUdQxFM0KwBqE3G5uQ4qHegzrdgxoduHaHwxNIS6zwwS53_BIw7mqh52sAEtW1LnciMxneb2ZPd0D35zka0gIM4mYxWMC6lITVKW_aVRZ3Y4OVDY0bb1HD6L91QZ5Csmi3s7RvObF5EfEmb-0ErgEbRSnOpYeUqtjQ4ClBOBoPHUZQHEkjYbtx5uj2mAUJnljKfdtS2DdoZgISphykqTxqo9I1sgFV-x1o7FmfwO5TmhAygVINHaCpTLMZZ5m6A7WlVRj9xVhtwfE95M2KVmKtWyDz9gmsqDVmqQ-a0GZ8QXT9TdkMcJhKa8GGDB2_qjKJhXlYvwfYHSkxysvGpvhprsIoF2sKfXD2xG-Ubxcxhukp2rJXfTde4KIjcBvGmSqyF28ylSJqwsI0Wl6SMw_qlbCqhmcctRvuDteDc5eLQyygXgOSjTxm2y_finhQ57S454W0GDckc5WgpfJf9d-Qxouzlx7kt2rCCet83UWQftv8JYoR8gdgHohxsmMGxp623K1KQDgQACzOaVCmOEjApYGZDsitm3fFqq4CiG7Yy1kQ21xhezF6n-2ggGoZPPHOdXtnSxZPXlRj5g4WMfdizpvc8-_C_-aF0TXJg22KgVowIjlxwI7lXdl80aEdyn9AHR1qUWabyvsDrQ5a8RHZ5ZFGuSyfY=",
  "id": "rs_075908f82c08f063016ab2c37410dc87d0b9d4cb68cf6329c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.115,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.49,\"right_y\":0.105,\"right_z\":0.12,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown toy is inside the safe; the white toy and yellow object remain on the table. I’ll clear the safe with the left arm and position the right gripper above the yellow object.\"}",
  "call_id": "call_QB05AjNnlTgAIsuuLzjIVslL",
  "id": "fc_075908f82c08f063016ab2c37677b487d0b564e043b4addee6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QB05AjNnlTgAIsuuLzjIVslL",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4454, 1.5871, 0.8825, 0.0471, -0.4309, -0.3214, 0.9963, 0.2802, 1.7596, 1.0298, 0.0399, 0.194, 0.1169, 0.9974]\nstate[eef_state]: left_x=0.4236 left_y=-0.1165 left_z=0.1222 left_yaw=0.07 left_pitch=-0.0092 left_roll=0.01 left_gripper=0.9963 right_x=0.4697 right_y=0.1035 right_z=0.0979 right_yaw=0.0441 right_pitch=-0.0921 right_roll=-0.0225 right_gripper=0.9974\nstate[joint_eff]: [0.2393, -8.4444, 6.1607, 1.8095, -0.0659, 0.0757, 0.105, -0.0342, -8.6769, 8.6769, 1.956, 0.1929, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:119719a411952219d56f036302356d34728cd4ca24290422eabb52c13942cdf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e6b0329c36353b0d9597ae8bd531bcb5a5653f75108ddfe4e68d8f4a1f5aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e59b2c20e8b8258e144e0017d00a90fe531cc44bfc70013b21923a8386cc92",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.946 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 101 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6399, 2.2761, 1.5955, 0.0559, -0.6556, -0.3222, 0.9952, -0.091, 0.8349, 0.5999, -0.5861, -0.1097, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.5396 left_y=-0.263 left_z=0.0828 left_yaw=0.0523 left_pitch=0.0939 left_roll=0.1013 left_gripper=0.9952 right_x=0.2635 right_y=-0.001 right_z=0.1293 right_yaw=0.0132 right_pitch=-0.234 right_roll=0.0663 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -14.0376, 7.5966, 1.6581, -0.2808, 0.0024, -0.1343, -0.1709, -1.3607, 6.9812, 1.8584, -0.0659, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssOCrN-vTUON0aSR_Dh915QBhFQKxcyOtOG56XpTFCnSvaX2QEwI4Le-zKH7gMYpkbMPGZ2t6nOsz5LtWeyuoIBLnFSw8ybaBDHOnb_8tkbImnYln0sIa_joUHhNUbdsiYr_NMDEPzfd7ENcY8FBpjMDavybpPjqrC3JothQGmXC87jy_HcAoszRv8wAyj1vXUWk2mKXwoWUxMZXaKElIghzNnAH-sdxymRhMLQ6UhfbzKbkdKkqlTGCSTt-1ou63hbco0kAW6y9eCcoxdjw2Rb8EFQwX3rnYgvrj8ufrKuI7VMuELHYMCXSBHbFl247wOujp05AWr0_CHla9ojNTVItRJ8IQ33lO9EIPAGSMEs2mMwYBiSXM44SGqth2rEHebeZD51LNtVystYpxs-uudvS3DUpkhXFBv5T6Bv1Y3kjZ1VIqOZlMKyT-j3ufz3tPWMNjXXNfLCkuHcEw_oZHhceFc22oGtKyXO3SNw0LBg-dvoMzViTE6O_2_Ci0o7YVY-MRi2CWgtPXzXqY2qKq3m4H5Oq9HpSxiuqxTV4ueVIJomFpPNDybmgOXNe5dyjAXeUv_zQL6D7IEwzlUnFDGVu03WaPR_2-W6oqeVMdh3quA9syDaxbbFRrpMW3MAHPRKM_EgkpNHAJO73RnnkogHZx-jTPg5gIs69zF61kB5BciQFcHB82AhtrOPfvdpJivti3_M4fpnknJH7NKUftoc8IqO2LfbqqTFBBtxSfgsWa9vzH7Mq6mdtqc4dRc4thIs2BG4Gh1wvW0S18K6Xyk6GTujy9g7G2jjWKk9gImHMV2MDhM1wrvNkNrLL0iBCKp1BbS8bOwbQ5OCXe5-ssPs6_d1MKvIlm9wUcppRz4EuHlpgnzrScuDMJSrCQnwGuDyN0hW28poHGJ3OY37O-gUrbTjnMqo6fX5p5Dg936ghrbeC01Cg4Nuw8kmVkXI1E4JGdmd1eb7a_n6_0F0Qy7jEEgQ-qcsrrYzyuMBPoSWMJW7zIUmGBsOGqMhdhO5At9aicNbr3ulwprh6xV1r-ksqCgWaEQfpQlVVmoV1Nri0KTsOBPhBjtjJxasVbsoEcMMu2itFlzuSgaPW84gQc9Bgh9rxp3gonQwE-l9Lz3ScnPXpyw-qnXNuJr_NLPVPYxGOXd4cAX0G5GcIih6rOWHWtEj5UsZbXba32SN-nWHqrOefLvOIvQt6e-WN7JF6yn6xW1jVzXrFRayAmoFcIq_dQtV4pU9nVM01kCMb7pPg5oeFOL-_eDDgCGVx07T38CGzP86dVBc5w2qg-mhrWhvEAoCZqEVMkgPEOJTrDsiX2obM7Q-ugeYvhd1E8A9tmx0j",
  "id": "rs_075908f82c08f063016ab2c37f6be887d0ba0853fc99dd7f63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.085,\"left_z\":0.005,\"right_x\":0.49,\"right_y\":0.105,\"right_z\":0.015},\"note\":\"The white toy is slightly left of the left jaw center, and the yellow object is centered under the right jaws. I’ll lower both open grippers around the remaining objects.\"}",
  "call_id": "call_OtvTSC8LuTbrucTFFyIsRXOi",
  "id": "fc_075908f82c08f063016ab2c380c76c87d0a302eec1d62f79ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OtvTSC8LuTbrucTFFyIsRXOi",
  "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]: [-0.3603, 1.8786, 0.6331, 0.5488, -0.3733, -0.2802, 0.9965, 0.2794, 1.8179, 1.0058, 0.0887, 0.1905, 0.1127, 0.9974]\nstate[eef_state]: left_x=0.4124 left_y=-0.0827 left_z=0.0002 left_yaw=0.0871 left_pitch=-0.0613 left_roll=0.0299 left_gripper=0.9965 right_x=0.4689 right_y=0.1035 right_z=0.0704 right_yaw=0.0477 right_pitch=-0.1253 right_roll=-0.0314 right_gripper=0.9974\nstate[joint_eff]: [0.3897, -7.4188, 4.041, 1.0574, -0.0024, 0.1001, 0.0024, -0.2667, -9.0872, 6.6393, 1.8828, 0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b66d73acf274205b75a7ebde846c7e3895f496ff64835907fd25e0d7a2b6f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647d370c6c53e78e6701e76a7f429de5d9251a8a1e0490c696c31ee9036ccf84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38132e27f8406988c24bc2d35ba7491e9449dce2c83903777445d00f4c0e49b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 5.834 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4454, 1.5871, 0.8825, 0.0471, -0.4309, -0.3214, 0.9963, 0.2802, 1.7596, 1.0298, 0.0399, 0.194, 0.1169, 0.9974]\nstate[eef_state]: left_x=0.4236 left_y=-0.1165 left_z=0.1222 left_yaw=0.07 left_pitch=-0.0092 left_roll=0.01 left_gripper=0.9963 right_x=0.4697 right_y=0.1035 right_z=0.0979 right_yaw=0.0441 right_pitch=-0.0921 right_roll=-0.0225 right_gripper=0.9974\nstate[joint_eff]: [0.2393, -8.4444, 6.1607, 1.8095, -0.0659, 0.0757, 0.105, -0.0342, -8.6769, 8.6769, 1.956, 0.1929, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.465,\"right_z\":0.025,\"right_gripper\":0},\"note\":\"The left jaws surround the white plush. The right arm stopped above its requested height, so I’ll shorten its reach slightly while closing on the yellow object.\"}",
  "call_id": "call_T7W3evFxIvdnuZ5y4bXMLAlR",
  "id": "fc_075908f82c08f063016ab2c386a30087d0a24aa2953c6b9da4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T7W3evFxIvdnuZ5y4bXMLAlR",
  "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]: [-0.3592, 1.8809, 0.6292, 0.5903, -0.3862, -0.2852, 0.2245, 0.2806, 1.9045, 0.9222, 0.2199, 0.1886, 0.1089, 0.008]\nstate[eef_state]: left_x=0.4169 left_y=-0.0816 left_z=0.0062 left_yaw=0.1007 left_pitch=-0.0258 left_roll=0.0176 left_gripper=0.2245 right_x=0.4585 right_y=0.1014 right_z=0.0229 right_yaw=0.0512 right_pitch=-0.1635 right_roll=-0.042 right_gripper=0.008\nstate[joint_eff]: [-0.1436, -8.1573, 4.8889, 1.2381, -0.0464, 0.0269, 1.0281, 0.0342, -7.6239, 5.3265, 1.8779, 0.149, 0.0464, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16334b67bfa5f7575367067ff3d97756527bea956ed2a220a3999206d84c2ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dcb5253e9b6d971a431467a085430993bfc40d6bfe8addcd83ec474cdb75294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6718a7e738c2a5a938633ac79e83a90134c7df10cfe25cb5d5e7bd40865a461d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 32.69 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3603, 1.8786, 0.6331, 0.5488, -0.3733, -0.2802, 0.9965, 0.2794, 1.8179, 1.0058, 0.0887, 0.1905, 0.1127, 0.9974]\nstate[eef_state]: left_x=0.4124 left_y=-0.0827 left_z=0.0002 left_yaw=0.0871 left_pitch=-0.0613 left_roll=0.0299 left_gripper=0.9965 right_x=0.4689 right_y=0.1035 right_z=0.0704 right_yaw=0.0477 right_pitch=-0.1253 right_roll=-0.0314 right_gripper=0.9974\nstate[joint_eff]: [0.3897, -7.4188, 4.041, 1.0574, -0.0024, 0.1001, 0.0024, -0.2667, -9.0872, 6.6393, 1.8828, 0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssOQguP0eXhKARLXCoprm5_tub_1nkJbolkHhjQDQk_F4LZWOrNYHo9290slOPvb7HIT6nhOPzWlM4BhA3mp3j32h59tQfJjskteckhxYy9buEXwChWj-bhXazL-HuW191McjjUOJ6uwewkyVRzN_P6fDrWZwAgchr0uT1WCyZjU1VxlUTLaF4DtdSurxO8mave6p2dSk7KVQIff3Wiynkj4DVdlFS5gWJXNkot9xwfp783YgHukY_lS22e9WX2vY8XqFSq19aSItLhJZJtUk06IwQJDRg2CO__mNc8Xq5ME3Ln_IQY-5XtIdshO2jPHrZ0l8AGY_Ip-udLqzovLq2e1Mw1rrVptQjBzf_755OGc6YdJ8dYmXl15PN2rAl9mmHC6h8066cflfG162KUdupsGFDiUBST0kyJ2Y-i-FM63l7seQHL4kH5jVvmDTL8F55T53UPjnRfb29J5HJXnE0je0jsB4f5byYWwQEtspz3bd__vJOPmfxAIANsx0hUripcwIv3F3kpHCBrPPe74wrVGycnb9LcyRDnRWBUSb-Waga-FTmuwi_mnOBqrb1u04tmDqE1MoWQWrjp5Wo9a4SU6ph_xse7IA8f22RUgOIW9lNkRyoiUSF9SFDn0sGAaY6m-g8AE3QGP4T3TznqLVaCOYHVD_jNngqNaUkXYwMNWD1jB2-0i23umFr9296RFbXsbYpLSNMcz32HNrXPUx16BtK8LC_sZAZoL39fRDfFtV0YmjzflJxeBQKnKELkz0vMOwGPv5kSh07zLnJgsDU6_h41VHoatdMeOwMqmuFtrwzVdeCcvs8xG2dSa1Zmp6HkIjJHg_OkSi8dLmTRGohLTbRKrwk0WmDnOBRB4DNwV59gr1vbOlHZ5SQ1C6EbEB6GP8p-loBikmr-SH1LRUk1g9oFjp6Kueug7OodoayVSmBRW2IRAztdBjP7hGyPp6yADWRln42WbUqZ1Rv8Xx6q9j1rL_NviVYKRUBLKOQvOP4MuDr8eryEL5zHRLBV7f2xP1e7rZkA6QiTQLsfzUdAmVOhSa1X76h2aVzPrCPAPvt9akgcxz2fZi9oqqOdUiqlTR1P5kRfYq3E46CyKUHKm1I6PH5aalW1Z7H1ZbKNWgIC2tMYJNN8Sd9YCubQp84Yf9KU0-4G8KTTn6ML2uIXFeT3TDfBLhv4DAL-r2tU0LH5TXUzQ4DlCmlRqoBNGT46CYdgJyjS7xevAsZQT2-1H_qNB04YT5mCxc09d9qgnV_rjuxS6YS9DLA9h_Alhnf4QxdF1NUDjNM4LI9KBUSJdlg==",
  "id": "rs_075908f82c08f063016ab2c38c86c487d0a392cacbb8bdd4be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The left gripper has a substantial hold on the white plush, while the yellow-object grasp was empty. I’ll lift the white toy and clear the right gripper.\"}",
  "call_id": "call_yGOSOVBcExjVPLLnF97c18uo",
  "id": "fc_075908f82c08f063016ab2c38dee1c87d0af0ca5b470c70659",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yGOSOVBcExjVPLLnF97c18uo",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3592, 1.4807, 0.955, -0.1734, -0.3859, -0.2962, 0.2281, 0.2806, 1.7023, 1.1648, -0.284, 0.1867, 0.1005, 0.9954]\nstate[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.1536 left_yaw=0.1072 left_pitch=-0.0595 left_roll=0.0253 left_gripper=0.2281 right_x=0.4518 right_y=0.0998 right_z=0.1216 right_yaw=0.0549 right_pitch=-0.2217 right_roll=-0.0603 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -8.8684, 9.5795, 1.7118, -0.2027, 0.0855, 1.033, -0.0889, -10.6325, 9.3197, 1.6777, 0.0513, 0.0366, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96153ba0b86d69ec883b9fc2c08c1740e8948d5b5360f1968e042d475340dc68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35c6f4d8a471e26da9497a535a44138ebfe4a10b99d823d86f51cb638ff8396a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f2dcdb8df2bd4dc35d7b6e2ffefe587c611d180f9ed5ae598cbffe678b31a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 4.211 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3592, 1.8809, 0.6292, 0.5903, -0.3862, -0.2852, 0.2245, 0.2806, 1.9045, 0.9222, 0.2199, 0.1886, 0.1089, 0.008]\nstate[eef_state]: left_x=0.4169 left_y=-0.0816 left_z=0.0062 left_yaw=0.1007 left_pitch=-0.0258 left_roll=0.0176 left_gripper=0.2245 right_x=0.4585 right_y=0.1014 right_z=0.0229 right_yaw=0.0512 right_pitch=-0.1635 right_roll=-0.042 right_gripper=0.008\nstate[joint_eff]: [-0.1436, -8.1573, 4.8889, 1.2381, -0.0464, 0.0269, 1.0281, 0.0342, -7.6239, 5.3265, 1.8779, 0.149, 0.0464, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssOxA1FQ7xHEdA5O7EWV2uOXj3S8r30dmfVRDQwnmrITRjhv99XRdgsZ9PaLtCfG4CfPbQff-8xNwo-IFXdKqfy7qM6CfudjFjBDxFsLVMHUrlI8n2nQWi4ofDxaI3_b7HnOnb_LXbz663qqZHifnPczSNGW-J699LC-h7on5ADedaEoICUJpACokJ8wTsawpKlCmA0GxN8nXQu_In60h2xYaR1G2NCLzd0Y_YWLoTXpneDOyRg7KdCCa9TtwGkDt4crJb7yJMnC9E_1MiT5aY-W4pKbUr3HcQyQEPj5B2uEqVLhPpBHjC0VQEBM5AzRNl8UZsG44KDjcmPH-izZBuUmA83tgyJUU3drnJI9dkcRrXvzLUsZkaNT3U7U1Zq6H9TM9hqrfmPP1N95ViF3-JnxgWMV9qLtu7imGh2SyxEjX5mwEEfOw9qQqH7tSHqmbGRbSJ5pqrEx92zicMs__bR5Vep_xVSI77nBmX5ZZpGFHn1xFQGGbQ1v17OsQeH9nImS7bIRCBulJl3wPPD_eMmFQA3ta4FQ6nLpysZXQpke0F5UcUEtodOaShQ06V0iOW2JvYweCGzvjGB66VENxmbadRGq-CcB92QOlRlBSaabZA1Ub9XC1jetyCea0dZKemPd2juNMQQYBlQTexUdT6mO-yOzeUbm0DZXsoCdz-4zkISJTcxQGATU1OaB6-GuZNSYxQsuSsvB_HCgfx4Hp33ALyZh6G_0NGXkJLqw6z4L-U52mJx9fMNtc1RidS8RBV2aADxT3pN5KwSnCrZiNnu-xoZt3pEcq_RM2Ydr7ciYDEVpbPfs1Z4y06m65oxWLOweo8pten0_YeBWIdBhyxLj20gBSkokyWb6IFozB4KwqY300B1C4CFrI6BsYfTcA7F0ko_BzDZ_QM-qCVnc0dAh0GiLBVpJnyFpy_saOpySkjFQEdVKnH8qggNwMWtUmWlQPwwJTDs8IAdATrkbtRrj6IIrqOhsWHo2uH7o4NFzC254bExX012AHvEuq8iqdB5L8U53ez9czEj6wSfxzaGTeuzylU37Wpq1SLINGP6CQn7EBgKq2NDKk8sLvwLNemILD9CuOXwS9ZlVfeGC8aYWCt5f6Grw9ifG0KB2k6rIWGEuWkWCKvScnEiI3Yvh1E5cBuHS40fTRFzuOgIeR8dmgE9m39-W_Is1WuoV0NhQ5xzW6i5chWWzaAeLQFBrTw-OCt9E9RpRBxRST8MzdSMoIKy2bs7im3jIBtJSff8dAUk=",
  "id": "rs_075908f82c08f063016ab2c3af6b7c87d093410ebaf5914e36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.26,\"left_z\":0.21,\"left_pitch\":0.2},\"note\":\"The white plush lifted successfully. I’ll carry it over the safe beside the brown toy.\"}",
  "call_id": "call_ujm2oj7v7SqyoRCmhEQClTvJ",
  "id": "fc_075908f82c08f063016ab2c3b0188c87d08551a58cfd4b256a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ujm2oj7v7SqyoRCmhEQClTvJ",
  "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]: [-0.6407, 2.1006, 1.7096, -0.1791, -0.6796, -0.3702, 0.2296, 0.2802, 1.6981, 1.1713, -0.3199, 0.1867, 0.1009, 0.9968]\nstate[eef_state]: left_x=0.5316 left_y=-0.2534 left_z=0.1901 left_yaw=0.101 left_pitch=0.1459 left_roll=0.0321 left_gripper=0.2296 right_x=0.4472 right_y=0.0983 right_z=0.1202 right_yaw=0.053 right_pitch=-0.2462 right_roll=-0.0659 right_gripper=0.9968\nstate[joint_eff]: [-0.4171, -11.9863, 9.5385, 1.8046, -0.4176, 0.2515, 1.033, -0.1573, -8.1846, 6.1333, 1.7656, 0.0806, -0.0464, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78507d635ea85155fd4a1a9aa986c0c6ff035af153de51e8019221eb7cb392ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c400bfb97e4c4e0cdb7150f15466a4cc9582aef50f39089aad6ee74746033674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f645c4332d900a280c8f293fd579eb9b7eb5efa4b35a598481f47af45efd3ac5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 7.47 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 116 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3592, 1.4807, 0.955, -0.1734, -0.3859, -0.2962, 0.2281, 0.2806, 1.7023, 1.1648, -0.284, 0.1867, 0.1005, 0.9954]\nstate[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.1536 left_yaw=0.1072 left_pitch=-0.0595 left_roll=0.0253 left_gripper=0.2281 right_x=0.4518 right_y=0.0998 right_z=0.1216 right_yaw=0.0549 right_pitch=-0.2217 right_roll=-0.0603 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -8.8684, 9.5795, 1.7118, -0.2027, 0.0855, 1.033, -0.0889, -10.6325, 9.3197, 1.6777, 0.0513, 0.0366, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssO3enC2f8JpRRGVlHRyZy8hFKjQDxfzP5PgHJLk6fBWUaIrGnNCD8i_WUzzoMxgVjTApSsLANgbivn4M_oI1Pm00b3_2gUJc5ns9lzf0OBI8hoRqAi0YpSCwCvW8ZFCvoZDKWnSVtvanO9eDa8iuAf7i0BnxPEmDfPWjRoAP3BqCoLQOSiBFgDJ5D7iiUraeZ_Lsk9YxQabFqOwkDEGwPkMwB5fDilfQgs36Zu8INwOOt3clItwz3Yk1FoEe2xJCShXUeb2BEFDlmF2qwHtfWveCdnhvBITC5t_-Yq0zyR_vfN48g5g5pCoeY4RVGkwkaFt2XZhwNX8668drZQt0YXBFgl3GxcSLEGx4pHuXHFKnfYs1fKSWrnINrZIloeLFGiD28jxSZnDaVbA6NTVcku3Sq1QOfJNMhzMTegnDFwdyAEOnSfXGpWqerCRUknCEFcgBgu9fNBNsSJxaQqqf-3OECUlu_-HHywWdErwo3ShZ7Xd1WMWEKeFiTdcreozTJyb8vngJPPnkIAGosEOle4vXVkC5Ingsi76NSkSfnZJQsxpxFDz30qMd2loyHue2T55HS7LrILVg_lx9ZS69QqBRibXwzyeTHcKXw2lMwTbP0UU74i5hXKybYQxBK4_iSZhwd9BEKU6yHCFnMN2TcPFmbpoI-EE2wkpavT_ODtLhnE6vtHgX2YBmLtyk5WDfxLLpEieLrXDzpsP1hmSYeUXGQ3l7ZuejJVBymlPEuP8F19H0xq-RbYgJHCPxlGUQf7pUxovpkAtRdiFzmQftIdmdFuBIMo587PUbaoKILP1cxZ2tKdKC5C7IexYWFw0aevBTEUvSvYa6su7XVsWBRA-mrxaxfkRYv8xYfPkLYMYlFw7qqpFNYZaG6cWE0JR7Zd4H_xm3SA5j7Q1i8hez2XmwZE-9lk3kZhiWXjdBGH_NwWO3Cbqame_bYuAKoS6EtuxmfTGQjo0ZpE-3re4swIaooi1OekTPK0KKiJknokCoMsBOKNgSw9f_clZ5Ho81h2NZN2_pKkmogy-63ZQ6Py9l_OjVUqOzC5wmC8dwl09gKFQ5kioOBI2qYG-6um19rMF6o3bEU2MxWDYSsYv3mI1iRBUxZZy0DFJ7Qqbw8N33HYEKZkAJccIH9ApHPRH3iERf82ZC3uv-ZCYJSgLFr5G1yXNpicZU_o9WOjbNbNaHmliiUs_1VAnPpCVmi03G6nQsyXlDYWJ00PaF4nKwYu8PQ==",
  "id": "rs_075908f82c08f063016ab2c3b5d61c87d0b6101350402a22ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.115,\"left_gripper\":1},\"note\":\"The white plush is over the open compartment. I’ll lower and release it into the safe.\"}",
  "call_id": "call_jTOlEy6IKJvj1n2rJObVOM1J",
  "id": "fc_075908f82c08f063016ab2c3b659d887d09cb9218cae665782",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jTOlEy6IKJvj1n2rJObVOM1J",
  "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]: [-0.6456, 2.1571, 1.5482, 0.0311, -0.6849, -0.3717, 0.9952, 0.2802, 1.6981, 1.1713, -0.3397, 0.1867, 0.1013, 0.9969]\nstate[eef_state]: left_x=0.5285 left_y=-0.2537 left_z=0.1282 left_yaw=0.1003 left_pitch=0.1422 left_roll=0.0381 left_gripper=0.9952 right_x=0.4437 right_y=0.0973 right_z=0.117 right_yaw=0.0516 right_pitch=-0.2655 right_roll=-0.0702 right_gripper=0.9969\nstate[joint_eff]: [0.335, -10.7009, 5.8462, 1.8046, -0.2027, -0.0122, -0.0269, -0.1846, -8.3214, 6.5983, 1.6288, 0.0415, -0.0464, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348f52264647bf1774715ed20ebec83d446bd21c05edbc9397580abd8529f967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fffb8708a6353284f8abf601cb960b6771964516e69979376e5d34d0aab773db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f69811d398affb3224f2b76d901d8ba92baddd2f28f81fe7d17a4404af7959",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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