adhoc

completed
2026-09-22T16:48:10.316989+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
271.3 s
total steps
423
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open in the middle, with a white plush on its left, a brown plush in front, and a yellow object on its right. I’m bringing the left gripper above the white plush first.
move_to
left_x0.4000left_y-0.1200left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6071, -0.3962, -0.0193, -0.0334, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0008 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.3744, 10.2906, 2.0049, -0.0855, 0.1783, -0.0904, -0.3897, -1.4017, 9.7162, 1.9219, -0.0659, 0.1685, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.12,"left_z":0.14},"note":"The safe is open in the middle, with a white plush on its left, a brown plush in front, and a yellow object on its right. I’m bringing the left gripper above the white plush first."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe white plush is just left of the jaw column in the wrist view. I’ll shift slightly left and forward while lowering the fingers around its body.
move_to
left_x0.4250left_y-0.1050left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4488, 1.4391, 0.7803, -0.0616, -0.3553, -0.2794, 0.9992, -0.0208, 0.7967, 0.6094, -0.4328, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3823 left_y=-0.1119 left_z=0.1158 left_yaw=-0.0151 left_pitch=-0.0877 left_roll=0.03 left_gripper=0.9992 right_x=0.2883 right_y=0.0009 right_z=0.1709 right_yaw=0.0005 right_pitch=-0.0378 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.3487, -6.5846, 9.1145, 1.8584, -0.2711, -0.0708, -0.022, -0.0615, -1.4427, 6.8034, 2.0244, -0.0073, -0.0122, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.105,"left_z":0.025},"note":"The white plush is just left of the jaw column in the wrist view. I’ll shift slightly left and forward while lowering the fingers around its body."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe plush remains left of the fingers and its body is still ahead of the grasp point. I’m making a small forward-and-left correction before closing.
move_to
left_x0.4500left_y-0.0830left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3752, 1.7893, 0.7261, 0.2707, -0.3111, -0.2447, 0.9992, -0.0208, 0.8005, 0.609, -0.4549, -0.0189, -0.0345, 0.9996] state[eef_state]: left_x=0.4083 left_y=-0.0988 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.1669 left_roll=0.0574 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1653 right_yaw=0.0007 right_pitch=-0.0641 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [0.4034, -7.6103, 5.6957, 1.746, -0.1001, 0.1099, -0.0122, -0.0479, -1.5248, 6.9949, 1.9219, -0.0122, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.083,"left_z":0.015},"note":"The plush remains left of the fingers and its body is still ahead of the grasp point. I’m making a small forward-and-left correction before closing."})
tool
executing move_to over 4 steps (0.4s)
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 plush’s lower body is between the open fingers. I’ll advance slightly to grasp more of its body and close the jaws.
move_to
left_x0.4850left_y-0.0640left_z0.0200left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2916, 1.8816, 0.8326, 0.2523, -0.2737, -0.2127, 0.9992, -0.0208, 0.8024, 0.6056, -0.4667, -0.0189, -0.0345, 0.9996] state[eef_state]: left_x=0.4389 left_y=-0.0782 left_z=0.0093 left_yaw=0.0427 left_pitch=-0.1813 left_roll=0.0572 left_gripper=0.9992 right_x=0.2831 right_y=0.001 right_z=0.161 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [-0.0479, -8.3214, 7.1863, 1.4969, 0.022, 0.2662, -0.0122, -0.0615, -1.3607, 7.4872, 1.9023, -0.0269, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.485,"left_y":-0.064,"left_z":0.02,"left_gripper":0.05},"note":"The plush’s lower body is between the open fingers. I’ll advance slightly to grasp more of its body and close the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe fingers appear to have caught the white plush near its lower end, though the grasp is narrow. I’ll lift gently to check that it follows and restore the idle arm’s safe height.
move_to
left_x0.4250left_z0.1000right_x0.2930right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2825, 1.8954, 0.8463, 0.231, -0.255, -0.1905, 0.0598, -0.0208, 0.8024, 0.6056, -0.4973, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.439 left_y=-0.0773 left_z=0.004 left_yaw=0.0254 left_pitch=-0.2066 left_roll=0.0672 left_gripper=0.0598 right_x=0.2783 right_y=0.0011 right_z=0.1551 right_yaw=0.0006 right_pitch=-0.1118 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [-0.2667, -8.841, 7.0632, 1.6777, -0.0073, 0.1197, 0.6374, -0.0068, -1.2239, 6.9265, 1.9463, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_z":0.1,"right_x":0.293,"right_y":0,"right_z":0.2},"note":"The fingers appear to have caught the white plush near its lower end, though the grasp is narrow. I’ll lift gently to check that it follows and restore the idle arm’s safe height."})
tool
executing move_to over 7 steps (0.7s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe white plush moved with the gripper during the lift. I’m carrying it toward the open safe at a height that clears the rim.
move_to
left_x0.4300left_y-0.2900left_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2905, 1.6634, 0.9298, -0.1356, -0.2565, -0.2077, 0.062, -0.0212, 0.8913, 0.775, -0.6342, -0.0193, -0.0422, 0.9996] state[eef_state]: left_x=0.4183 left_y=-0.0745 left_z=0.0715 left_yaw=0.032 left_pitch=-0.2542 left_roll=0.0724 left_gripper=0.062 right_x=0.285 right_y=0.001 right_z=0.1804 right_yaw=0.0052 right_pitch=-0.1682 right_roll=-0.0029 right_gripper=0.9996 state[joint_eff]: [-0.4718, -9.935, 9.2923, 1.746, -0.2271, 0.022, 0.2173, -0.5128, -1.5658, 9.1966, 1.8242, -0.0806, 0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.29,"left_z":0.23},"note":"The white plush moved with the gripper during the lift. I’m carrying it toward the open safe at a height that clears the rim."})
tool
executing move_to over 20 steps (2.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe plush is over the safe, but slightly toward its left side. I’ll center it and lower it into the red-lined compartment.
move_to
left_x0.4300left_y-0.3300left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7666, 2.1109, 2.1662, -1.0866, -0.5133, -0.6319, 0.0635, -0.0227, 0.8955, 0.7795, -0.6609, -0.0193, -0.0452, 0.9996] state[eef_state]: left_x=0.4315 left_y=-0.2902 left_z=0.2199 left_yaw=0.0179 left_pitch=-0.2659 left_roll=0.0516 left_gripper=0.0635 right_x=0.2813 right_y=0.0006 right_z=0.1765 right_yaw=0.0055 right_pitch=-0.1945 right_roll=-0.0044 right_gripper=0.9996 state[joint_eff]: [-0.5812, -11.3299, 8.1573, 0.823, -0.4469, 0.0952, 0.1392, -0.1162, -1.9624, 6.4615, 1.7998, -0.0659, -0.0122, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.33,"left_z":0.075},"note":"The plush is over the safe, but slightly toward its left side. I’ll center it and lower it into the red-lined compartment."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe white plush is now lying within the safe’s rim. I’m opening the fingers to leave it in the compartment.
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]: [-0.8253, 2.2097, 1.7763, -0.6689, -0.5228, -0.6868, 0.0648, -0.0227, 0.8959, 0.7795, -0.6788, -0.0189, -0.0452, 0.9996] state[eef_state]: left_x=0.424 left_y=-0.324 left_z=0.0766 left_yaw=0.0119 left_pitch=-0.3067 left_roll=0.0741 left_gripper=0.0648 right_x=0.2782 right_y=0.0006 right_z=0.1733 right_yaw=0.0053 right_pitch=-0.2128 right_roll=-0.0042 right_gripper=0.9996 state[joint_eff]: [-0.5402, -12.3145, 6.5436, 1.2869, -0.5201, -0.1441, 0.1245, -0.0752, -1.5521, 6.7761, 1.6728, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white plush is now lying within the safe’s rim. I’m opening the fingers to leave it in the compartment."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe white plush has been released inside the safe. I’m lifting clear and moving above the brown plush in front of it.
move_to
left_x0.2600left_y-0.3200left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8299, 2.228, 1.7603, -0.6743, -0.5205, -0.6899, 0.9952, -0.0227, 0.8959, 0.7795, -0.6991, -0.0189, -0.0452, 0.9996] state[eef_state]: left_x=0.4183 left_y=-0.3219 left_z=0.0611 left_yaw=0.0175 left_pitch=-0.3345 left_roll=0.1019 left_gripper=0.9952 right_x=0.2746 right_y=0.0007 right_z=0.1698 right_yaw=0.0054 right_pitch=-0.233 right_roll=-0.0036 right_gripper=0.9996 state[joint_eff]: [0.1299, -13.9829, 7.5419, 1.0525, -0.359, -0.0317, -0.0708, -0.0479, -1.6889, 6.7624, 1.707, -0.0171, -0.0366, -0.0073] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.32,"left_z":0.17},"note":"The white plush has been released inside the safe. I’m lifting clear and moving above the brown plush in front of it."})
tool
executing move_to over 13 steps (1.3s)
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 brown plush fills the wrist view, with its torso centered between the jaws. I’ll lower around its soft body for a secure grasp.
move_to
left_x0.2850left_y-0.3250left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1393, 1.9099, 1.6558, -1.0863, -0.6003, -1.008, 0.9963, -0.0227, 0.9005, 0.7795, -0.7242, -0.0189, -0.0456, 0.9996] state[eef_state]: left_x=0.265 left_y=-0.3285 left_z=0.1475 left_yaw=-0.0056 left_pitch=-0.3602 left_roll=0.1194 left_gripper=0.9963 right_x=0.2703 right_y=0.0008 right_z=0.1645 right_yaw=0.0058 right_pitch=-0.2628 right_roll=-0.003 right_gripper=0.9996 state[joint_eff]: [-0.212, -12.3966, 8.7043, 0.5592, -0.6374, -0.1343, 0.1001, 0.0615, -1.7573, 6.9538, 1.7167, -0.0708, -0.0513, -0.0073] 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":{"left_x":0.285,"left_y":-0.325,"left_z":0.035},"note":"The brown plush fills the wrist view, with its torso centered between the jaws. I’ll lower around its soft body for a secure grasp."})
tool
executing move_to over 8 steps (0.8s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe fingers are alongside the brown plush’s torso. I’m closing them before a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.095, 1.9995, 1.3602, -0.7052, -0.588, -0.9596, 0.9965, -0.0231, 0.9009, 0.7795, -0.7406, -0.0189, -0.0456, 0.9996] state[eef_state]: left_x=0.2784 left_y=-0.3186 left_z=0.0427 left_yaw=0.0071 left_pitch=-0.3764 left_roll=0.1483 left_gripper=0.9965 right_x=0.2673 right_y=0.0008 right_z=0.1617 right_yaw=0.0056 right_pitch=-0.2795 right_roll=-0.0025 right_gripper=0.9996 state[joint_eff]: [0.4034, -9.0735, 5.7094, 0.7888, -0.3443, 0.0073, -0.0024, -0.1299, -1.6889, 6.7214, 1.5702, -0.022, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are alongside the brown plush’s torso. I’m closing them before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe gripper closed almost fully, so that attempt missed the body. I’ll reopen and move farther forward to surround the thicker torso rather than the lower edge.
move_to
left_gripper1.0000left_x0.3300left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0924, 2.0193, 1.3529, -0.7078, -0.5877, -0.9604, 0.0084, -0.0231, 0.9016, 0.7795, -0.7551, -0.0189, -0.0452, 0.9996] state[eef_state]: left_x=0.2772 left_y=-0.314 left_z=0.0328 left_yaw=0.0208 left_pitch=-0.3899 left_roll=0.1763 left_gripper=0.0084 right_x=0.2646 right_y=0.0008 right_z=0.1592 right_yaw=0.0055 right_pitch=-0.2948 right_roll=-0.0018 right_gripper=0.9996 state[joint_eff]: [-0.3214, -11.8632, 6.2427, 0.6422, -0.3492, -0.0073, 0.5983, -0.1983, -1.7162, 6.7897, 1.58, -0.0073, -0.0464, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.33,"left_z":0.055},"note":"The gripper closed almost fully, so that attempt missed the body. I’ll reopen and move farther forward to surround the thicker torso rather than the lower edge."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe brown plush’s body is now between the fingers. I’ll close again at this corrected position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9833, 2.0556, 1.4845, -0.7559, -0.561, -0.8589, 0.9951, -0.0227, 0.9016, 0.7795, -0.7738, -0.0189, -0.0456, 0.9996] state[eef_state]: left_x=0.322 left_y=-0.3076 left_z=0.0506 left_yaw=0.0424 left_pitch=-0.4002 left_roll=0.1799 left_gripper=0.9951 right_x=0.261 right_y=0.001 right_z=0.1563 right_yaw=0.0063 right_pitch=-0.3135 right_roll=-0.0015 right_gripper=0.9996 state[joint_eff]: [0.253, -9.1966, 8.6222, 0.8425, -0.3346, 0.1832, -0.1392, -0.0342, -1.5248, 6.7761, 1.5556, -0.0464, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush’s body is now between the fingers. I’ll close again at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe second close was also empty; the plush shifted to the right of the jaw. I’m lifting away to inspect its position clearly before choosing a new grasp.
move_to
left_x0.2500left_y-0.1800left_z0.1900left_gripper1.0000right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9821, 2.0556, 1.4906, -0.7643, -0.5575, -0.868, 0.0082, -0.0231, 0.9016, 0.7795, -0.7914, -0.0189, -0.0452, 0.9996] state[eef_state]: left_x=0.322 left_y=-0.3075 left_z=0.0517 left_yaw=0.0482 left_pitch=-0.4033 left_roll=0.1746 left_gripper=0.0082 right_x=0.2576 right_y=0.001 right_z=0.1536 right_yaw=0.0058 right_pitch=-0.331 right_roll=-0.0007 right_gripper=0.9996 state[joint_eff]: [-0.1846, -10.8786, 5.4085, 0.7399, -0.3199, 0.0562, 0.6178, -0.1983, -1.6068, 6.8581, 1.5897, -0.022, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.18,"left_z":0.19,"left_gripper":1,"right_x":0.3,"right_y":0,"right_z":0.2},"note":"The second close was also empty; the plush shifted to the right of the jaw. I’m lifting away to inspect its position clearly before choosing a new grasp."})
tool
executing move_to over 12 steps (1.2s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe overhead view shows the brown plush to the right of my previous grasp point. I’ll approach its central body from that corrected lateral position.
move_to
left_x0.2850left_y-0.3900left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9443, 1.4689, 1.3022, -1.1229, -0.5419, -0.8333, 0.996, -0.0227, 1.0992, 1.0153, -0.8928, -0.0189, -0.0498, 0.9996] state[eef_state]: left_x=0.2561 left_y=-0.1924 left_z=0.1806 left_yaw=0.0439 left_pitch=-0.3982 left_roll=0.1505 left_gripper=0.996 right_x=0.2874 right_y=0.0004 right_z=0.1821 right_yaw=0.0097 right_pitch=-0.3943 right_roll=-0.0015 right_gripper=0.9996 state[joint_eff]: [0.4718, -6.8171, 6.9675, 0.8181, -0.3639, 0.1148, 0.0073, 0.0342, -2.441, 9.2786, 1.58, -0.0806, 0.0024, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.39,"left_z":0.04},"note":"The overhead view shows the brown plush to the right of my previous grasp point. I’ll approach its central body from that corrected lateral position."})
tool
executing move_to over 18 steps (1.8s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe plush’s broad torso now sits directly between the fingers. I’m closing on the fabric at this centered position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.145, 2.2654, 1.7756, -0.9611, -0.5659, -1.0763, 0.997, -0.0227, 1.1053, 1.0206, -0.9085, -0.0189, -0.0494, 0.9996] state[eef_state]: left_x=0.2793 left_y=-0.3778 left_z=0.0351 left_yaw=0.0597 left_pitch=-0.429 left_roll=0.1736 left_gripper=0.997 right_x=0.2855 right_y=0.0004 right_z=0.1804 right_yaw=0.0097 right_pitch=-0.4107 right_roll=-0.0007 right_gripper=0.9996 state[joint_eff]: [-0.6359, -12.3692, 8.0068, 0.4713, -0.5788, 0.0855, 0.0904, -0.1026, -3.5624, 6.065, 1.4188, -0.0659, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush’s broad torso now sits directly between the fingers. I’m closing on the fabric at this centered position."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe fingers are still closing below the plush rather than through its body. I’ll reopen, move forward toward the torso, and straighten the wrist for the next grasp.
move_to
left_x0.3600left_y-0.3700left_z0.0600left_pitch0.0000left_roll0.0000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1503, 2.286, 1.7798, -0.9653, -0.5617, -1.0794, 0.0085, -0.0227, 1.1053, 1.0206, -0.9264, -0.0189, -0.0498, 0.9996] state[eef_state]: left_x=0.2761 left_y=-0.3783 left_z=0.0267 left_yaw=0.064 left_pitch=-0.4398 left_roll=0.1914 left_gripper=0.0085 right_x=0.2818 right_y=0.0005 right_z=0.1781 right_yaw=0.0101 right_pitch=-0.4286 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [0.2667, -14.188, 5.4496, 0.5055, -0.3639, -0.0171, 0.6227, -0.0615, -3.0564, 6.6667, 1.3895, -0.0562, -0.0366, -0.0073] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.37,"left_z":0.06,"left_pitch":0,"left_roll":0,"left_yaw":0,"left_gripper":1},"note":"The fingers are still closing below the plush rather than through its body. I’ll reopen, move forward toward the torso, and straighten the wrist for the next grasp."})
tool
executing move_to over 15 steps (1.5s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe corrected reach places the fingers around the plush’s torso rather than behind it. I’ll close and then test the hold.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.071, 2.1838, 1.4185, -0.2943, -0.786, -0.8467, 0.997, -0.0231, 1.1053, 1.0206, -0.9489, -0.0189, -0.0498, 0.9996] state[eef_state]: left_x=0.3455 left_y=-0.3645 left_z=0.0316 left_yaw=0.0002 left_pitch=-0.086 left_roll=0.0591 left_gripper=0.997 right_x=0.277 right_y=0.0005 right_z=0.1752 right_yaw=0.0101 right_pitch=-0.4511 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [0.7863, -14.6803, 5.7641, 1.3553, -0.6081, 0.1685, -0.022, -0.1026, -3.0291, 6.5026, 1.3944, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The corrected reach places the fingers around the plush’s torso rather than behind it. I’ll close and then test the hold."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe jaw opening is very narrow, so the hold may only be on fabric. I’ll lift a short distance and check whether the plush follows before transporting it.
move_to
left_z0.1300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0721, 2.1841, 1.4071, -0.284, -0.7902, -0.8494, 0.0205, -0.0227, 1.1057, 1.0206, -0.9676, -0.0189, -0.0525, 0.9996] state[eef_state]: left_x=0.3446 left_y=-0.3629 left_z=0.0293 left_yaw=0.0028 left_pitch=-0.0834 left_roll=0.0601 left_gripper=0.0205 right_x=0.273 right_y=0.0007 right_z=0.1727 right_yaw=0.0125 right_pitch=-0.4702 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [0.0068, -11.7949, 6.6393, 0.9841, -0.3394, -0.0122, 0.862, -0.1026, -2.8376, 6.4205, 1.3944, -0.0659, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13,"left_pitch":0,"left_roll":0},"note":"The jaw opening is very narrow, so the hold may only be on fabric. I’ll lift a short distance and check whether the plush follows before transporting it."})
tool
executing move_to over 7 steps (0.7s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe brown plush rose with the gripper, confirming a fabric hold. I’ll carry it above the safe with extra clearance for its hanging limbs.
move_to
left_x0.4600left_y-0.3200left_z0.2500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0798, 2.0563, 1.4525, -0.429, -0.8066, -0.8497, 0.0249, -0.0227, 1.1084, 1.0206, -0.9791, -0.0189, -0.0528, 0.9996] state[eef_state]: left_x=0.3408 left_y=-0.3592 left_z=0.0907 left_yaw=0.0023 left_pitch=-0.0575 left_roll=0.0416 left_gripper=0.0249 right_x=0.2707 right_y=0.0008 right_z=0.1707 right_yaw=0.013 right_pitch=-0.4843 right_roll=0.0001 right_gripper=0.9996 state[joint_eff]: [-0.6359, -14.653, 8.8684, 1.1062, -0.6813, 0.1197, 1.033, -0.0615, -2.988, 6.4205, 1.2772, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.32,"left_z":0.25,"left_pitch":0,"left_roll":0},"note":"The brown plush rose with the gripper, confirming a fabric hold. I’ll carry it above the safe with extra clearance for its hanging limbs."})
tool
executing move_to over 11 steps (1.1s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe brown plush is above the safe’s opening. I’ll lower it onto the white plush while keeping the fingers inside the rim.
move_to
left_x0.4650left_y-0.3300left_z0.0900left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8158, 2.0701, 2.001, -0.7101, -0.6678, -0.5976, 0.0249, -0.0227, 1.1103, 1.0206, -0.9939, -0.0189, -0.0525, 0.9996] state[eef_state]: left_x=0.4548 left_y=-0.3185 left_z=0.2402 left_yaw=0.0321 left_pitch=-0.005 left_roll=-0.0227 left_gripper=0.0249 right_x=0.2676 right_y=0.0008 right_z=0.1685 right_yaw=0.013 right_pitch=-0.501 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [0.1436, -10.5641, 8.9504, 1.3358, -0.2418, 0.2759, 1.0281, -0.0205, -3.0974, 6.3795, 1.2332, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.33,"left_z":0.09,"left_pitch":0,"left_roll":0},"note":"The brown plush is above the safe’s opening. I’ll lower it onto the white plush while keeping the fingers inside the rim."})
tool
executing move_to over 10 steps (1.0s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe brown plush is supported inside the safe. I’ll release it before moving to the yellow object.
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]: [-0.8177, 2.1868, 1.6157, -0.2604, -0.6659, -0.59, 0.0272, -0.0227, 1.111, 1.0206, -1.013, -0.0189, -0.0528, 0.9996] state[eef_state]: left_x=0.4597 left_y=-0.3256 left_z=0.0912 left_yaw=0.0256 left_pitch=-0.0407 left_roll=0.0218 left_gripper=0.0272 right_x=0.2635 right_y=0.0009 right_z=0.1661 right_yaw=0.0137 right_pitch=-0.5209 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.4444, -12.2188, 6.2291, 1.6386, -0.4664, 0.0269, 1.0232, -0.0752, -2.8103, 6.3658, 1.2918, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown plush is supported inside the safe. I’ll release it before moving to the yellow object."})
tool
executing move_to over 10 steps (1.0s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteBoth plush toys are now in the safe, and only the yellow object remains outside. I’m parking the left arm and bringing the right gripper above the yellow object.
move_to
left_x0.2900left_y0.0000left_z0.2100left_pitch0.0000left_roll0.0000right_x0.4600right_y0.1500right_z0.1500right_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]: [-0.8177, 2.2074, 1.5978, -0.2691, -0.6659, -0.5934, 0.9952, -0.0227, 1.111, 1.0206, -1.0237, -0.0189, -0.0528, 0.9996] state[eef_state]: left_x=0.4553 left_y=-0.321 left_z=0.0724 left_yaw=0.0294 left_pitch=-0.072 left_roll=0.0545 left_gripper=0.9952 right_x=0.2611 right_y=0.001 right_z=0.1649 right_yaw=0.0139 right_pitch=-0.5315 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.335, -14.0786, 7.9385, 1.4335, -0.3639, -0.0122, -0.1294, -0.1846, -2.906, 6.3385, 1.1941, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.21,"left_pitch":0,"left_roll":0,"right_x":0.46,"right_y":0.15,"right_z":0.15,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"Both plush toys are now in the safe, and only the yellow object remains outside. I’m parking the left arm and bringing the right gripper above the yellow object."})
tool
executing move_to over 29 steps (2.9s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteThe yellow object is slightly right of the jaw column. I’ll correct sideways and lower around it; the brown plush also needs to be tucked farther inside before closing the safe.
move_to
right_x0.4900right_y0.1370right_z0.0250right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0872, 0.8131, 0.7238, -0.4969, -0.1486, -0.1261, 0.9963, 0.4332, 1.6798, 1.0744, -0.1215, 0.3298, 0.2111, 0.9996] state[eef_state]: left_x=0.2935 left_y=0.0042 left_z=0.2065 left_yaw=0.0905 left_pitch=0.0007 left_roll=-0.0055 left_gripper=0.9963 right_x=0.4415 right_y=0.1451 right_z=0.1269 right_yaw=0.0286 right_pitch=-0.0982 right_roll=-0.0381 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.4838, 7.8427, 1.9756, 0.1001, 0.1538, 0.1001, 0.3077, -7.665, 9.2376, 1.9609, 0.3492, 0.1392, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.137,"right_z":0.025,"right_pitch":0,"right_roll":0},"note":"The yellow object is slightly right of the jaw column. I’ll correct sideways and lower around it; the brown plush also needs to be tucked farther inside before closing the safe."})
tool
executing move_to over 7 steps (0.7s)
step 268
assistant
agent noteThe yellow object is between the fingers but still slightly off-center. I’ll shift right and close gently around its narrow middle.
move_to
right_y0.1150right_x0.4950right_gripper0.2500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0856, 0.8181, 0.7238, -0.5285, -0.1429, -0.1284, 0.9965, 0.3573, 1.9923, 0.9722, 0.3687, 0.2905, 0.1768, 0.9996] state[eef_state]: left_x=0.2896 left_y=0.004 left_z=0.1987 left_yaw=0.0886 left_pitch=-0.0359 left_roll=-0.0042 left_gripper=0.9965 right_x=0.4828 right_y=0.13 right_z=0.0306 right_yaw=0.0054 right_pitch=-0.0376 right_roll=-0.0143 right_gripper=0.9996 state[joint_eff]: [-0.3761, -1.6615, 6.8991, 1.9658, -0.105, -0.0122, 0.0024, 0.2256, -7.3504, 5.3538, 1.2527, -0.0464, -0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.115,"right_x":0.495,"right_gripper":0.25,"right_pitch":0,"right_roll":0},"note":"The yellow object is between the fingers but still slightly off-center. I’ll shift right and close gently around its narrow middle."})
tool
executing move_to over 8 steps (0.8s)
step 276
assistant
agent noteThe gripper has stopped at a substantial opening around the yellow object. I’ll lift it briefly to confirm the grasp.
move_to
right_z0.1000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0856, 0.8188, 0.7238, -0.5404, -0.1432, -0.1352, 0.9965, 0.3122, 2.0212, 0.9691, 0.4011, 0.2527, 0.1497, 0.473] state[eef_state]: left_x=0.2879 left_y=0.0042 left_z=0.1961 left_yaw=0.0928 left_pitch=-0.0483 left_roll=-0.0073 left_gripper=0.9965 right_x=0.4887 right_y=0.1151 right_z=0.0207 right_yaw=0.0062 right_pitch=-0.0448 right_roll=-0.0145 right_gripper=0.473 state[joint_eff]: [-0.1436, -1.347, 6.8855, 1.7949, -0.1197, 0.0464, -0.0122, -0.5402, -10.441, 5.1214, 2.1563, 0.0366, -0.0708, 1.0281] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"right_pitch":0,"right_roll":0},"note":"The gripper has stopped at a substantial opening around the yellow object. I’ll lift it briefly to confirm the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 282
assistant
agent noteThe yellow object is held securely. I’ll carry it above the rear half of the safe, leaving room to tuck in the brown plush at the front.
move_to
right_x0.5550right_y0.3200right_z0.2300right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0853, 0.8207, 0.7238, -0.5591, -0.1432, -0.1356, 0.9965, 0.3084, 1.8633, 1.0027, 0.1944, 0.2462, 0.1455, 0.4774] state[eef_state]: left_x=0.2853 left_y=0.0045 left_z=0.192 left_yaw=0.0936 left_pitch=-0.0685 left_roll=-0.004 left_gripper=0.9965 right_x=0.4801 right_y=0.1115 right_z=0.0691 right_yaw=0.0098 right_pitch=-0.0606 right_roll=-0.0186 right_gripper=0.4774 state[joint_eff]: [-0.0889, -1.2923, 6.8718, 1.8486, -0.1245, -0.0024, -0.0073, 0.1983, -11.3709, 9.1145, 1.9707, 0.1538, 0.0024, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.555,"right_y":0.32,"right_z":0.23,"right_pitch":0,"right_roll":0},"note":"The yellow object is held securely. I’ll carry it above the rear half of the safe, leaving room to tuck in the brown plush at the front."})
tool
executing move_to over 18 steps (1.8s)
step 300
assistant
agent noteThe yellow object is above the compartment near the back. I’ll lower it inside without touching the upright lid.
move_to
right_x0.5300right_z0.0950right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8242, 0.7238, -0.585, -0.1429, -0.1398, 0.9965, 0.6502, 2.4371, 2.5183, -0.7547, 0.4965, 0.3454, 0.4774] state[eef_state]: left_x=0.2816 left_y=0.005 left_z=0.1861 left_yaw=0.0967 left_pitch=-0.0975 left_roll=-0.0023 left_gripper=0.9965 right_x=0.5556 right_y=0.3214 right_z=0.2222 right_yaw=0.0407 right_pitch=0.0017 right_roll=0.0024 right_gripper=0.4774 state[joint_eff]: [-0.1299, -1.2923, 6.8581, 1.8632, -0.0952, -0.022, -0.0073, 0.4581, -12.2462, 6.6256, 0.7937, 0.3443, 0.1734, 1.0281] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_z":0.095,"right_pitch":0,"right_roll":0},"note":"The yellow object is above the compartment near the back. I’ll lower it inside without touching the upright lid."})
tool
executing move_to over 9 steps (0.9s)
step 309
assistant
agent noteThe yellow object is resting within the safe. I’m opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8253, 0.7238, -0.5922, -0.1432, -0.1429, 0.9969, 0.6762, 2.3486, 1.8111, -0.2443, 0.5102, 0.3519, 0.4774] state[eef_state]: left_x=0.2806 left_y=0.0051 left_z=0.1844 left_yaw=0.0989 left_pitch=-0.1057 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5241 right_y=0.3145 right_z=0.0684 right_yaw=0.05 right_pitch=-0.0812 right_roll=-0.0626 right_gripper=0.4774 state[joint_eff]: [-0.0342, -1.265, 6.8444, 1.6825, -0.105, -0.0269, 0.0269, 0.5812, -16.4991, 6.7214, 1.5897, 0.2466, 0.0904, 1.0281] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is resting within the safe. I’m opening the gripper to release it."})
tool
executing move_to over 6 steps (0.6s)
step 315
assistant
agent noteThe brown plush is draped over the front rim. I’ll reposition the right gripper around its exposed body so I can tuck it fully inside.
move_to
right_x0.3900right_y0.3100right_z0.1000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8257, 0.7238, -0.5926, -0.1432, -0.1429, 0.997, 0.6769, 2.3486, 1.795, -0.2539, 0.5045, 0.3481, 0.995] state[eef_state]: left_x=0.2806 left_y=0.0051 left_z=0.1842 left_yaw=0.0989 left_pitch=-0.1064 left_roll=-0.0027 left_gripper=0.997 right_x=0.5194 right_y=0.3125 right_z=0.0601 right_yaw=0.0558 right_pitch=-0.1045 right_roll=-0.0772 right_gripper=0.995 state[joint_eff]: [-0.1983, -0.9641, 6.9812, 1.5995, -0.1294, -0.0415, -0.0024, -0.1162, -13.8462, 7.8427, 1.5116, 0.2222, -0.0464, -0.0952] 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":{"right_x":0.39,"right_y":0.31,"right_z":0.1,"right_pitch":0,"right_roll":0},"note":"The brown plush is draped over the front rim. I’ll reposition the right gripper around its exposed body so I can tuck it fully inside."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent noteThe exposed brown fabric is centered at the fingers. I’ll grasp it near the rim, then lift and move it deeper into the safe.
move_to
right_x0.4150right_z0.0500right_gripper0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8299, 0.7238, -0.6075, -0.1432, -0.1432, 0.9971, 0.8734, 1.969, 1.2282, -0.0895, 0.6254, 0.4839, 0.9967] state[eef_state]: left_x=0.2785 left_y=0.0053 left_z=0.1804 left_yaw=0.0995 left_pitch=-0.1252 left_roll=0.0005 left_gripper=0.9971 right_x=0.3897 right_y=0.3096 right_z=0.077 right_yaw=0.088 right_pitch=-0.0601 right_roll=-0.0523 right_gripper=0.9967 state[joint_eff]: [-0.0205, -1.2239, 6.8444, 1.8095, -0.0952, -0.0464, -0.0073, 0.212, -12.5333, 6.7897, 1.6679, 0.4127, 0.1783, 0.1636] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_z":0.05,"right_gripper":0,"right_pitch":0,"right_roll":0},"note":"The exposed brown fabric is centered at the fingers. I’ll grasp it near the rim, then lift and move it deeper into the safe."})
tool
executing move_to over 10 steps (1.0s)
step 335
assistant
agent noteThe fingers have caught a fold of the brown plush. I’ll lift that fold inward to pull its hanging portion off the front rim.
move_to
right_x0.4900right_z0.1500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8303, 0.7238, -0.6147, -0.1432, -0.1432, 0.9971, 0.8364, 2.0377, 1.1885, 0.1013, 0.6048, 0.4412, 0.0386] state[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1789 left_yaw=0.0997 left_pitch=-0.1327 left_roll=0.0019 left_gripper=0.9971 right_x=0.4095 right_y=0.309 right_z=0.0571 right_yaw=0.0914 right_pitch=-0.0116 right_roll=-0.0195 right_gripper=0.0386 state[joint_eff]: [-0.0615, -1.3197, 6.8444, 1.6679, -0.0952, -0.0317, -0.0171, -0.8821, -8.4991, 5.4085, 1.8584, 0.1245, 0.1294, 0.9695] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_z":0.15,"right_pitch":0,"right_roll":0},"note":"The fingers have caught a fold of the brown plush. I’ll lift that fold inward to pull its hanging portion off the front rim."})
tool
executing move_to over 7 steps (0.7s)
step 342
assistant
agent noteThe hanging part has lifted clear of the rim. I’ll lower the plush farther back so it stays entirely within the compartment.
move_to
right_x0.5250right_z0.0900right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8318, 0.7238, -0.6331, -0.1429, -0.1432, 0.997, 0.7105, 2.075, 1.5986, -0.2134, 0.5056, 0.3573, 0.042] state[eef_state]: left_x=0.2745 left_y=0.0056 left_z=0.1752 left_yaw=0.0999 left_pitch=-0.1522 left_roll=0.0053 left_gripper=0.997 right_x=0.4826 right_y=0.3071 right_z=0.1413 right_yaw=0.0873 right_pitch=-0.0083 right_roll=-0.0019 right_gripper=0.042 state[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.7656, -0.0952, -0.0317, -0.0122, -0.5538, -10.8786, 8.3897, 1.619, 0.1294, -0.0904, 1.033] camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_z":0.09,"right_pitch":0,"right_roll":0},"note":"The hanging part has lifted clear of the rim. I’ll lower the plush farther back so it stays entirely within the compartment."})
tool
executing move_to over 4 steps (0.4s)
step 346
assistant
agent noteThe brown plush is now tucked behind the front rim. I’ll release it before reaching for the lid.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8341, 0.7238, -0.6376, -0.1429, -0.1432, 0.9971, 0.664, 2.2318, 1.6253, -0.1398, 0.4625, 0.3202, 0.042] state[eef_state]: left_x=0.2739 left_y=0.0056 left_z=0.1738 left_yaw=0.1001 left_pitch=-0.159 left_roll=0.0066 left_gripper=0.9971 right_x=0.5072 right_y=0.3014 right_z=0.0753 right_yaw=0.0933 right_pitch=-0.0713 right_roll=-0.0403 right_gripper=0.042 state[joint_eff]: [-0.1162, -1.4974, 6.9538, 1.58, -0.0806, -0.0708, -0.0073, -0.5812, -12.8205, 10.1265, 1.6484, 0.3004, -0.0073, 1.033] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brown plush is now tucked behind the front rim. I’ll release it before reaching for the lid."})
tool
executing move_to over 10 steps (1.0s)
step 356
assistant
agent noteAll three objects are inside the safe. I’m lifting clear and positioning the closed fingers near the top edge of the upright lid to bring it forward.
move_to
right_x0.5900right_y0.3200right_z0.3100right_pitch0.4000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.836, 0.7238, -0.6376, -0.1432, -0.1432, 0.9971, 0.6617, 2.2574, 1.6329, -0.0902, 0.4469, 0.3054, 0.9946] state[eef_state]: left_x=0.274 left_y=0.0057 left_z=0.1733 left_yaw=0.1005 left_pitch=-0.1608 left_roll=0.0072 left_gripper=0.9971 right_x=0.5138 right_y=0.3079 right_z=0.0714 right_yaw=0.1124 right_pitch=-0.0503 right_roll=-0.0265 right_gripper=0.9946 state[joint_eff]: [-0.0479, -1.4701, 6.8581, 1.5995, -0.0952, -0.0171, -0.0171, -0.8957, -13.2581, 9.1829, 1.7216, 0.2662, 0.0073, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.32,"right_z":0.31,"right_pitch":0.4,"right_roll":0,"right_gripper":0},"note":"All three objects are inside the safe. I’m lifting clear and positioning the closed fingers near the top edge of the upright lid to bring it forward."})
tool
executing move_to over 16 steps (1.6s)
step 372
assistant
agent noteThe gripper is above the lid’s upper edge. I’ll open the fingers and lower them around that edge to guide the lid closed.
move_to
right_x0.6000right_z0.2450right_gripper1.0000right_pitch0.4000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.836, 0.7238, -0.6533, -0.1429, -0.1432, 0.9971, 0.6224, 2.2822, 2.2158, -0.1844, 0.4808, 0.0921, 0.0075] state[eef_state]: left_x=0.2713 left_y=0.0059 left_z=0.1705 left_yaw=0.1007 left_pitch=-0.1762 left_roll=0.0099 left_gripper=0.9971 right_x=0.5823 right_y=0.3217 right_z=0.2996 right_yaw=0.1294 right_pitch=0.3603 right_roll=-0.0046 right_gripper=0.0075 state[joint_eff]: [-0.1573, -1.2239, 6.8034, 1.6679, -0.0952, -0.0269, -0.0171, -0.6769, -12.0274, 8.7043, 2.0, 0.1636, -0.1001, 0.4811] camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_z":0.245,"right_gripper":1,"right_pitch":0.4,"right_roll":0},"note":"The gripper is above the lid’s upper edge. I’ll open the fingers and lower them around that edge to guide the lid closed."})
tool
executing move_to over 10 steps (1.0s)
step 382
assistant
agent noteThe fingers are at the lid’s upper edge. I’ll close them and draw the edge forward and down toward the safe’s front rim.
move_to
right_gripper0.0000right_x0.4600right_z0.1150right_pitch0.1000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8368, 0.7238, -0.6678, -0.1429, -0.1432, 0.9971, 0.606, 2.3081, 2.0396, 0.0185, 0.4667, 0.07, 0.9945] state[eef_state]: left_x=0.2689 left_y=0.0061 left_z=0.1678 left_yaw=0.1012 left_pitch=-0.1912 left_roll=0.0127 left_gripper=0.9971 right_x=0.5944 right_y=0.3196 right_z=0.2441 right_yaw=0.1383 right_pitch=0.3593 right_roll=-0.024 right_gripper=0.9945 state[joint_eff]: [-0.0615, -1.0325, 7.0085, 1.663, -0.0757, -0.0513, -0.0122, -0.5812, -12.1368, 7.3504, 2.3321, -0.0513, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_x":0.46,"right_z":0.115,"right_pitch":0.1,"right_roll":0},"note":"The fingers are at the lid’s upper edge. I’ll close them and draw the edge forward and down toward the safe’s front rim."})
tool
executing move_to over 11 steps (1.1s)
step 393
assistant
agent noteThe lid has rotated forward but is not yet flat. I’ll release the edge and guide it farther down with the fingers.
move_to
right_x0.4200right_z0.0700right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8417, 0.7238, -0.6865, -0.1432, -0.1432, 0.997, 0.7506, 2.0003, 1.401, 0.2573, 0.5957, 0.2459, 0.2858] state[eef_state]: left_x=0.2659 left_y=0.0064 left_z=0.1634 left_yaw=0.1024 left_pitch=-0.2144 left_roll=0.0175 left_gripper=0.997 right_x=0.4821 right_y=0.319 right_z=0.191 right_yaw=0.085 right_pitch=0.2994 right_roll=0.0704 right_gripper=0.2858 state[joint_eff]: [-0.212, -1.2923, 6.7761, 1.7021, -0.1343, -0.0659, -0.0171, 0.3897, -7.1316, 4.2872, 0.5543, -0.4322, 0.2759, 0.7253] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_z":0.07,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The lid has rotated forward but is not yet flat. I’ll release the edge and guide it farther down with the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 403
assistant
agent noteThe lid is partly lowered, but the compartment is still open. I’ll move the closed fingers above its outer surface for a gentle downward press.
move_to
right_x0.5200right_z0.2100right_gripper0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8425, 0.7238, -0.6956, -0.1432, -0.1432, 0.997, 0.8303, 2.0323, 1.2701, 0.0608, 0.5945, 0.4187, 0.9946] state[eef_state]: left_x=0.2643 left_y=0.0065 left_z=0.1616 left_yaw=0.1028 left_pitch=-0.2242 left_roll=0.0194 left_gripper=0.997 right_x=0.4223 right_y=0.3207 right_z=0.0831 right_yaw=0.1053 right_pitch=0.0183 right_roll=-0.0021 right_gripper=0.9946 state[joint_eff]: [-0.0615, -1.3197, 6.7487, 1.5995, -0.1294, -0.0757, -0.0073, 0.335, -8.9915, 6.0239, 1.7705, 0.232, 0.1294, -0.0806] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_z":0.21,"right_gripper":0,"right_pitch":0,"right_roll":0},"note":"The lid is partly lowered, but the compartment is still open. I’ll move the closed fingers above its outer surface for a gentle downward press."})
tool
executing move_to over 10 steps (1.0s)
step 413
assistant
agent noteThe fingers are over the metal lid. I’ll press downward gently to seat it against the safe’s rim.
move_to
right_x0.4900right_z0.0800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.8471, 0.7238, -0.7109, -0.1429, -0.1432, 0.9971, 0.6842, 2.1811, 2.0003, -0.474, 0.4732, 0.3214, 0.0081] state[eef_state]: left_x=0.2618 left_y=0.0067 left_z=0.158 left_yaw=0.1034 left_pitch=-0.2437 left_roll=0.0229 left_gripper=0.9971 right_x=0.5163 right_y=0.3218 right_z=0.205 right_yaw=0.106 right_pitch=0.0093 right_roll=0.0046 right_gripper=0.0081 state[joint_eff]: [-0.0615, -1.6205, 6.8444, 1.7118, -0.0659, -0.0366, -0.0073, -0.5128, -12.0137, 8.4171, 1.4969, 0.1099, 0.0611, 0.5788] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 413): [image omitted: streamed camera frame] camera 'left_cam' (step 413): [image omitted: streamed camera frame] camera 'right_cam' (step 413): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_z":0.08,"right_pitch":0,"right_roll":0},"note":"The fingers are over the metal lid. I’ll press downward gently to seat it against the safe’s rim."})
tool
executing move_to over 9 steps (0.9s)
step 422
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 0.849, 0.7238, -0.7197, -0.1432, -0.1432, 0.9971, 0.7124, 2.1635, 1.5658, -0.0185, 0.5049, 0.3336, 0.0101] state[eef_state]: left_x=0.2603 left_y=0.0069 left_z=0.1561 left_yaw=0.1042 left_pitch=-0.2542 left_roll=0.0252 left_gripper=0.9971 right_x=0.4979 right_y=0.3219 right_z=0.113 right_yaw=0.1019 right_pitch=0.0516 right_roll=0.021 right_gripper=0.0101 state[joint_eff]: [-0.1162, -1.1282, 6.735, 1.5751, -0.1245, -0.0415, -0.0122, 0.7179, -9.4017, 5.2444, 1.1355, 0.0611, 0.1636, 0.1978] camera 'top_cam' (step 422): [image omitted: streamed camera frame] camera 'left_cam' (step 422): [image omitted: streamed camera frame] camera 'right_cam' (step 422): [image omitted: streamed camera frame]
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 · 8.586 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6071, -0.3962, -0.0193, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0008 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.2906, 2.0049, -0.0855, 0.1783, -0.0904, -0.3897, -1.4017, 9.7162, 1.9219, -0.0659, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0787284a74b231428955efd2d838935df7ef5e241251ae30313aee0f17bbb7a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9b3171840a6d7fe5736742abd2da1d0ef5d1065a8182d33462b9769d655214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3073248c5c96d016fa31258ed6aabb654c1dd91d0e868920bd8011257484e0d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.633 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrFazbBUaKAqUnts3I5SV3T-AQiAjrlX2dDrS2xHPw1o-keuQl3hgcnuNB7gLGA5reG9_Z_vkTKfT0TRjS2WNwY8lQby_lu5MI1yOdfkpN5s6arL9lIFrSDo5P-P7Jgz-4QxdIcjIq_A_cCT6gTnCvVfFE8HvJSbwJtTHuDDITcBhRU8xl1nOgteFldKSh4DQYnRD5YYPNLeZL5Maro2zVbXeIXGuRz--ZEa8oMspIZJwILRZQdDaI8fq-SIf2-04MG7meyY0rY-Ki0jUXuwlpmHR_Yp6j637bBrsjOwysqJRUvY1alVXlA6mEutctnMJdoslON_WpCPh05XRPTbnWKIuv1ss9xgJp51Vd4kdvv4M-jzcarnhYdsSog2Rr3UzEn7jjjLyNRY30DHSDDV217EGiV7W3I3bkqjFajRdLk3FK1UbPJC3M4pbTof3NTK3T1Oim94lu4HL32tGcXIGNV5YTvQfwvoLNNbNIapfHlEPfvRjFDZAbQ3Yfu6f-noSQQJ89jzQLf1O6zd6r1orp8roGTnEYCsbua6tkehcGlLmsRXNqLZD6zLUvaXxRVPKi4KKDvoicKZJACCy1_MBOyJVdjWPdeiuqPHU1rc8uMIgqhVrrsJ5zkOA_atEvTzXqYpFlxwphAis_CQHO6ESibV63bfMKy2YaVJahjJJVd2BmVhjXyFFeIiwSxmpQ2s64y1cd9d5e2VU4OrSpIHEftHZcJUZu4LCkhl_Fd4oi_RuiwEO7QPKCOOlnT26KXQKgqR812kyayD_FXVCaGwrDM0p9r62z4fdkhLYieYKrHibrePSeblsRzdpXCBJsCZOBRTBTRIZT1E9aBBkjPMHi5cU6Okp1tENMOin5n1wOAwarPxc_kkkjAHIfOBE5xyxciU1Nr0utV_I1li_UMqJJ4t054_VoMHHX2Mjj-wlB7UCplhkraGvi_yqaGrEKaDwTRbSJsVKcLi9ZxXtETGCsQCT2JFjQ8WwlSHU1eXgsOQaWi5gw4mxu1gF9dAP6SdwLzTARAmgZy_i_yc9krHobiJG3zHO9wQd7GT9kWLMxTNsg9AT78eH3tyOXKmKxZ1oGq54kPv0UvqEjMJ7fJSc9i0pJDD0ql7l33EOLHC-_H-0G_XDdsRYJ3bhFuTP0jFRK3LndMG9uQEFIMnJdYZcDfFpoIuQbrc7p4bgWQgWCULFv8apkUkrVosTn7KOrMCOS862LFVNODipDx1yDT0oY36p-h0hGfPcXVoGxUtIVDrTVu4zbdkUmmXmrK7Ed_3eiWA5J2atzBIJVZD769Gxx_qSP7M7UQ60LptPjkxzXxAOBjEetaZ09b8VmV6BRD-QWwDpx__JiBhlVq2fXi7VejNXCqs9g_YTuYF9eQ67JXnSeWYWesPwgVBft2I_GoGMic0jJn9Q1upi7kLG1IAPBkF_nzb7hp6EmPOwvshvsRqsxZ6Er4or1y2xsc7hXNgiztkinJAMllUXx6jKVhbThkj0ObH-E00TI2E6aCE3glSvDlwQkXUvRIZSd-xkd7pCozwITeoBxAnCuNhH8-EtnXdDjDrpEw_KX0k8qRrsB5lHFvtEQiIvvUWBRv-F4BZhEx6",
  "id": "rs_04ba48e32384966c016ab2b154989c87d0859872ffb4afabc9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.14},\"note\":\"The safe is open in the middle, with a white plush on its left, a brown plush in front, and a yellow object on its right. I’m bringing the left gripper above the white plush first.\"}",
  "call_id": "call_jr6pKlbnm4fTNAsNpk6MyyXk",
  "id": "fc_04ba48e32384966c016ab2b158d84c87d08cd292254d0a6e82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jr6pKlbnm4fTNAsNpk6MyyXk",
  "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]: [-0.4488, 1.4391, 0.7803, -0.0616, -0.3553, -0.2794, 0.9992, -0.0208, 0.7967, 0.6094, -0.4328, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3823 left_y=-0.1119 left_z=0.1158 left_yaw=-0.0151 left_pitch=-0.0877 left_roll=0.03 left_gripper=0.9992 right_x=0.2883 right_y=0.0009 right_z=0.1709 right_yaw=0.0005 right_pitch=-0.0378 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.5846, 9.1145, 1.8584, -0.2711, -0.0708, -0.022, -0.0615, -1.4427, 6.8034, 2.0244, -0.0073, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a092e97515bb3df529ba597c144a3f0655dcb85a9b33dab0d1ca1f1311f08313",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79db2f1fa9ea6d499524d3f8d6d0713a5d933178e142caaa3cd52d8a40dcdc81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e262a0deb860e6ed50eb49db8e5bff606558e5fbb4a4d4881f39615c57c9a038",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.163 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6071, -0.3962, -0.0193, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0008 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.2906, 2.0049, -0.0855, 0.1783, -0.0904, -0.3897, -1.4017, 9.7162, 1.9219, -0.0659, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrFh-c9tfTrm3FXtO3Sqga3OemMQa4uGuBUDCH2Sd6zmxmYNJ0XI1cMVGITXtV2wC2vBuQ95bheqW1KFA1ktoHL-MeZlVxwyQBimDIMwcoETEUnUtI2vAjFXT2kZOIyUhb-z0J6m_sysUuDiA13MrvivLa_TAn8hnjr8rAAB3jgT2XhBxXcYT0soPumHLsxK0vAJ7Xh6fdDGCeNkK54ByF-5GGz68HuFqQs_MdJnV2KGkU79c_cGK8Edzyw_uPk3o57nhFBPFNmR3t4BS4LWiO9YjaEk4_HXYABSNp6CTdGNMPmKAfKD7t-wkOs7Q5t5UMVH9YM5BrU50ENHunuBITI3FdQbk-dvb0qTkfcrMWbuv9tFWh7aLETCMXAvyIq8qxfvxXs4F_IFQ2RyPk1vf15qKveM0TeJ8_r0o0w59kUuI2oP1sZd_f13wcm1s499RWW03jrXtTwz2h0quxps-FjAzibfOowSui84YZgd71I3sJPk-GJ5f9tYVbUBugYIJsLGTSVgEKMNg8L6WFbEN0iqJUHhULMZijl9kg8eeq8n3-JxN05TjofPs-bThTPWzJH-tDIoap48e85ls6tGgL4oHwNqj55b50Z1apAPBd7aqNAcd4oGGxbCaLvqar106lYSUuuvB8I9Vcf4LwF6bcr64Aw4vvwQ5Gdz8U2i-YKmFWA6WWXpN6mVoUyBhzkBjZj8h-5TIjp9a-bc2w8uslQkD3WvvOmzvg0ju2_h1b5QdwlLsNQvLmm1vDlAJoYE7myXiPEh2b2iiSEQfQ5iyvGN7DSM_8uSvuw-WH9mNBHLHZcottetNLNM11dnykgrOF0XwUlp921mZB4_iguH122E556rcpCRPL3m3px1aYQEhfwbUQvpdo0fPui-KD4WB8BwC-Pit8tME5-CzkuM91fTfY4JbbrZHojCbGhvgq7tyXdpSVrQjbY85vG6Yr81PgMp1W9hjZRcjHvk8awsOhgVIPa5vzGR7UXRowyM5n1HJOWNOC014pL-7sAURjVRVKfPbn0rlIuDBVKJJ03N3alaSdlhfstqGDqv3iM3_PRjrLS4s0T-r4oTKeWS-6awVL3etueM8ki5oJufit9JhKqV1B2DPeIg_98fS10FOTVUcZxX38M5Di1NXXzruIoHicQ-mcbjKtT0wgDLbVeb9RRduiVagsmb9ginBKj4HcQ9ogEBVsNN2NxXT6on1kAkX6u2UffAo1qjNVX_pPMk-RUiNS9Q4eZ3_-zt-KAKBL-3FQiF1qtP4A6T18lsN6nxvC37OKP0u8t5R0KmrNUJHnrvqQ==",
  "id": "rs_04ba48e32384966c016ab2b15e628887d0ae976be24bd888a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.105,\"left_z\":0.025},\"note\":\"The white plush is just left of the jaw column in the wrist view. I’ll shift slightly left and forward while lowering the fingers around its body.\"}",
  "call_id": "call_pBswsPZursm6bPpMu2F448ug",
  "id": "fc_04ba48e32384966c016ab2b1601b6487d089514e6326abd5d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pBswsPZursm6bPpMu2F448ug",
  "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]: [-0.3752, 1.7893, 0.7261, 0.2707, -0.3111, -0.2447, 0.9992, -0.0208, 0.8005, 0.609, -0.4549, -0.0189, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4083 left_y=-0.0988 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.1669 left_roll=0.0574 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1653 right_yaw=0.0007 right_pitch=-0.0641 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.6103, 5.6957, 1.746, -0.1001, 0.1099, -0.0122, -0.0479, -1.5248, 6.9949, 1.9219, -0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c783676931877f0d5a323a5c6431e73901f48c61def3662fa2e59aa4644138fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d379128314b21244391adaf3523b8d0ca2f0ec0d4b7956fd46759ccaf5900cc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011aca490d162f5e9bfad9f1f27f1b4c19626598566949b9ca5187fffb53f04b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 8.89 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]: [-0.4488, 1.4391, 0.7803, -0.0616, -0.3553, -0.2794, 0.9992, -0.0208, 0.7967, 0.6094, -0.4328, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3823 left_y=-0.1119 left_z=0.1158 left_yaw=-0.0151 left_pitch=-0.0877 left_roll=0.03 left_gripper=0.9992 right_x=0.2883 right_y=0.0009 right_z=0.1709 right_yaw=0.0005 right_pitch=-0.0378 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.5846, 9.1145, 1.8584, -0.2711, -0.0708, -0.022, -0.0615, -1.4427, 6.8034, 2.0244, -0.0073, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrFoeEaZ3tbGW9_EPB0ayTcGrhuZz4pWgmWL4E4kC1YAQ6-Cid2cbDCid2-GgeawVNLMccECNgLoeLCaPGEvKK1oEHxMtWjx_QUGcTyijLWtj7D89Y3zMB30l1p-lqPANZEiOoHPx5KhAiecUhs2nfh8XM3bgP9mUN1TvRQaI_HB73trmkl51LVcs5t27oKTmxYCWi8Dw7Me7ywQc1SlT4MHiE64bpdXjIoOkvG2A0DRyKlW6VLmr57UxW19hCoO7n-QZlz4gpA-bPhrJa1U-k8JrwjnGkGdDUvZ1356dS1iHrnxi5WIsbHEBWrKb-DjPgkZe-ma0EhITZCyMAJgfBnySvWefkZS7hSIdZ22OAl8U1Sz5sPDYEa4ZO9FtMvY1nx29zrHynlxtbr1BA4XOz1bvufcdINLXJotgsWnxm4EPTG4ejikE1mZpB8xwhGbjx9nuhIqYIyaIOnLLd3-LoWOjrIwy4kjJ5r0ZNkktHyj6DVX0wI3XpHVfm6z6-mfxEFqbjq11o6wyFr5cBik8WNN68UcICM2HScxBidBIEjxnUFv3daysfMyvWyFLvg6UUtiCAqjmUvYawQwn7LbbrQVKC-xY_SZLINqa1prOMdMigJBiAV4doPeFrfYAVrjFQjDHXzpRiGUhwDugzkGEkvFCfmenITXyoIjED0eFbkDMoQRwz0RKI7bLZgwyJls4gdMc8IkG_Tl7PCCR8dTlmKiBExYgDidBNejoqN_E1HsHyil6YxU7uwdIzIwzQOHbSV0nQknAyQkBaPZmX9OP4TeZtmZjoM7oAU78a9NA2PXmRAHFb4TJlvb3H9vhZ0HDwcthCKiKdCfOqsDqQghYRHUO5fjmCGXL1GBsg2Uro-RUAyxcMPmem463Jicxn-72Vv9ds4SCpZATRyVw92RHA_UiRJXvoq7X-TogxsihaN1icewVYPh4GBzfeDMYdrI_4mbnLQgWn6BT-wsnHeplUqYpVjVuZAjhGFGPX3O-EltZvnSi1a28_z-fvxCS3ZLOifdT_odctkFqB8aGheBcZv17Cyy4KGRgihjvn6ZYraO5w4m3kXGxUo04OkLU4o5ZDAZkpWQQWkJW79VMbDrcQqW57b8vFKYpAAqLSQGO_mN8T9JGA3a97CaqR4Fg4UrFFCW4m2Jyaq94Kyc4PW0iPetUHJt5evrNT5uXM_2neRusyLtvmQxFtSMP0TMtEUHJyuFok2a0n41H234T8hf08KksQThmQm8BEiujvET8UiS-CeqVATft3sL-e9pb2BnRuLbHWHb9mPLEnGkQLJMvUcz8IacAnqXqclMF5PYF_BYLTYCZpb4-i_REJRb-X1F27PrgIF2ykl3ZMP4QDtj_6PNE9VBdKZ-yeKAAcqgJlawAX_qhYv5gr-Nt7JaW5XS-LB9",
  "id": "rs_04ba48e32384966c016ab2b164d16887d0a8f04878351fcbea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.083,\"left_z\":0.015},\"note\":\"The plush remains left of the fingers and its body is still ahead of the grasp point. I’m making a small forward-and-left correction before closing.\"}",
  "call_id": "call_hHKZUHZeTF49BLa8EVGQMRmp",
  "id": "fc_04ba48e32384966c016ab2b166868487d09abbbe68c67d0bd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hHKZUHZeTF49BLa8EVGQMRmp",
  "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]: [-0.2916, 1.8816, 0.8326, 0.2523, -0.2737, -0.2127, 0.9992, -0.0208, 0.8024, 0.6056, -0.4667, -0.0189, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.0782 left_z=0.0093 left_yaw=0.0427 left_pitch=-0.1813 left_roll=0.0572 left_gripper=0.9992 right_x=0.2831 right_y=0.001 right_z=0.161 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.3214, 7.1863, 1.4969, 0.022, 0.2662, -0.0122, -0.0615, -1.3607, 7.4872, 1.9023, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188b6d9f08afb88cba9a3cbeeee6519aea7a6b1c02e725367de23ce6168ead42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1ed6d85c869846400cfcc307a871987682d5ed25f1fa539c47136275972ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe793aa7d7f0943b2d1997e9d146a5395e43495c5760399b43888f04322c0d3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.574 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]: [-0.3752, 1.7893, 0.7261, 0.2707, -0.3111, -0.2447, 0.9992, -0.0208, 0.8005, 0.609, -0.4549, -0.0189, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4083 left_y=-0.0988 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.1669 left_roll=0.0574 left_gripper=0.9992 right_x=0.2852 right_y=0.001 right_z=0.1653 right_yaw=0.0007 right_pitch=-0.0641 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.6103, 5.6957, 1.746, -0.1001, 0.1099, -0.0122, -0.0479, -1.5248, 6.9949, 1.9219, -0.0122, -0.0269, -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": "gAAAAABqsrFxfe2ItMkj8y15J7_RHrcJl6QRI-1wX14RdtxjsG273gQ0fHZMawtRUaQcjtamn9Sj1HkODnaTMVMDzEdjEjLkIqrj1skgurBz-v-oNjQYbbiXbg_QLA8W_ienhsNfYNEpuiK6EizsLfHZc-L3a9piYx1n2Bp5Srvjq9JzpUUAVP8ebFkOQUi64aBOToUMoDiGqI4a-UqynrvVkTjCu2HO9x2fack3x3iuI1H1thgEACqwavlh0VsMEm3VdVIGpiaFxPyC5cytG98j7PRd_09CoePODlZ_IqulQ8VlnLnPlv3NSKxGJuVS8qOQXY-esJFkbrQMrgkmYhVCgdRxBAp20dRw4y-W4iVTePRgcMzsEkkU5wkvhrYR0dBi_rJFYI31ai3hYlUOEges9kwQml0TIT7MWTWUK5L9qdJEdh53MrhBI25NRbBDyWDTUGCqGq5ky88nr-3jRb7EcEz0kbWanUpuCdmF4rc9lxWGIsIP4GvHyt0ZeUjrILT0GpUWPUSTjhZLNd7sbZZ5lh1So0IFEt7wAODK6lU_PADNJoZ83XX8KL1wzJfmQeS85_zN-OU9C63_MS94YGtC5tlXtNRJhiOgHc1Oqg9d_yGVed6YryNsLsdYoAysJml00SYlFhLdSzuEykkfl7-MEMVBy3SVHvACf47Jx-sx_XcXwCflTIrGKgXXwzXbkewa2wZ1VfOkQUBLxd2E9Qm-A1j2EG2TVAmRsrnAKfZX2zy2twIkpImfLwzp6IVRUKwh15DJroLHUaF2CskIVq3uImeEWbaVaQyrK84bRmnkwTSeOrCM23pSUV_CjPYtdBp55htf53Bq-GeUvWNkwRW7lJ_TYCNdLPRQhq-S0s-S_nf4Ep_j2uvkHNuUyWJeW2xwyhs6gRpnS9iE6My5uiuyn3MdhwySJmFPf79w4sQK1nRm6YvyS9omA2NreSZ4i5Oa8Or5BRMxKb15Up6UAKFBrhsvnW2h91f3Gad-l0YX-i8g4DWCGl8x7ysWOmQwDWVfOc95_SM9NHbHdWGEMeFnKdDPTmaeTkn2zPU5SiP6rKkjLVCbxtZZzs0qlOu_3CsdbdXrVyYbIDMJmZ7TiJ0_kuESKGwUU30b9z-YZ3hOUU4prDR7BjFr2HqE8dfXxqkFRxVIBcmC1e-0Wx0Pqqt8qmDvK3k5-W-JtzFuHlp7ykyVkji-D7Ei8G5VNG3MEl_rDRhErpTziUej_QYugUlSjpcP6wr9_Q04LirWTaVsxgwARAVbU2Mc4fdQjhUyTWXQntFZDYUqblEnjXbqH9SgrTMivbtr1Z3b-NWDtwlEezuhoCipT40Cgtfo1EV0KbwSa1KwIESfIVxAtqcRXcuvIQCR6lJc9E0X1uAuVIATO45c93SDR9KAmc26OnqXSBh3IGXtZHle",
  "id": "rs_04ba48e32384966c016ab2b16dfadc87d0b69ee7ab796addbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.064,\"left_z\":0.02,\"left_gripper\":0.05},\"note\":\"The plush’s lower body is between the open fingers. I’ll advance slightly to grasp more of its body and close the jaws.\"}",
  "call_id": "call_jDtwP4NzjJqPmnHsRnuUG2Ri",
  "id": "fc_04ba48e32384966c016ab2b170037c87d0af4e6da756705244",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jDtwP4NzjJqPmnHsRnuUG2Ri",
  "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]: [-0.2825, 1.8954, 0.8463, 0.231, -0.255, -0.1905, 0.0598, -0.0208, 0.8024, 0.6056, -0.4973, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.439 left_y=-0.0773 left_z=0.004 left_yaw=0.0254 left_pitch=-0.2066 left_roll=0.0672 left_gripper=0.0598 right_x=0.2783 right_y=0.0011 right_z=0.1551 right_yaw=0.0006 right_pitch=-0.1118 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.841, 7.0632, 1.6777, -0.0073, 0.1197, 0.6374, -0.0068, -1.2239, 6.9265, 1.9463, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0fd165299a71161c3d2b1b0d0547d64f8cb1ed951dac50d29875d54b0b9fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba46535dc23430bb96a6c5705fd264cfa481dc459699b08c18dc7435e174dd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c21a6023f5a8dedecf5708d743bc997a482cfc348f3e91231dc664a913751fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.595 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2916, 1.8816, 0.8326, 0.2523, -0.2737, -0.2127, 0.9992, -0.0208, 0.8024, 0.6056, -0.4667, -0.0189, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.0782 left_z=0.0093 left_yaw=0.0427 left_pitch=-0.1813 left_roll=0.0572 left_gripper=0.9992 right_x=0.2831 right_y=0.001 right_z=0.161 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -8.3214, 7.1863, 1.4969, 0.022, 0.2662, -0.0122, -0.0615, -1.3607, 7.4872, 1.9023, -0.0269, -0.0464, -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": "gAAAAABqsrF4yq-ooE2gmgWAdSbbZ6oSIO94KiSbYjVGhckdRXR2Ta5pkFdnNmoQhx__kRnyyeDueCVOHxsuEptq2skBOGJ8oGOfRzq7wNZt5EineSvgTszgPP491in5dZ0IH0Qtqgwn9C2V-T2QORuivb4Mmbfzdz3TLIEAsBMibLyjgj568hWknRXFsUB0sjKnYhBb9_D1wB73IuSFaASfawCoeQS07RbUrEdUgI6CA9b8DxzbRepQ3rtythJjal7wxBs1ZdlT-kcI_vVpyiTAkqWCdBVxmhtSJCXEGI9FNimI6-dRdZzWrVcLaQHjpPNSfss78XeU5rs7YO3qknYrBRb6oXFWxNr5QvfD_SWBMml4bWvbNZIEc_LjBSPx-NS1VPHsYPSihylDuoc2kL0PvlNT418ctRILVwayG8qyuBoSsd5U7VJNmI8GurHcZR7awhKAfn-_7m70Zo-S8zJ8he27pZBPlL0e4am7nAJm3M6CXPMJyAHLfIw3E2E-vyNFqx1c11_x8WfkxRXeTspeNIJVqn4bpO18SpJjVYKQt06XppMO2vszY-JBT4ve9iJNU4uOL_aviCdpA4Zm7sRQSvqlnoAMji40mfLToNY8lxAUCrR0FP0n9giUkWQBTEHWfBZQB2YchMpHOKj01a4bQ3BsVl82teFpLHfvofvDirMb_bVJ09a1T1ixwtegBZ3lxk7rj9vDHDCSUFwOG1In6Pmcv0EeQvv2WohiVr8LIhwOPJHiMgI5iX-KskVHBBKacpNCtptV-KpB7j78RuHFr_we1d0EhekATQE4rLFHB2RcA66_vl6HmUiDTtJqFmhnj9_lS_gmp2Y31TGExX4CiwGqoDeVkYjcatp2hqDNFOa_k1hhHeRIlHcAgC_rqDHC9BMqXbn6a1fxmJ1CY_DQ3Ez4HXH62xHgMD4Aa7l7xrpWLwwiYY45DhyXeBaav2I0E76BKAFEg3swYjtMemYbJsTHXgv7YFOoDpNkb1mHobeR6dfTh0SU5lliE0XAJL009nF_QZyAnj4jVggHHTcQZzpK5O-3XZSPTHYuSRFtgIL6cp00X5oEscCHaGumFK-cjuXP3YHjnj0BXrldwrur4DxT5MW4oZmvo0e7nQzUpDTNpTDVk0h8NZ0Zmbqy4zrLLSLztC2_roch0IsFMv-awujZweJmaM0dLQaTkuHkklpmLLM4a7bBg7vBRE3AZYW5TlaQGWbF",
  "id": "rs_04ba48e32384966c016ab2b174f48087d0b53951c32eb69219",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_z\":0.1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The fingers appear to have caught the white plush near its lower end, though the grasp is narrow. I’ll lift gently to check that it follows and restore the idle arm’s safe height.\"}",
  "call_id": "call_yY0lXAijHWfnJj7fuYCxb0v7",
  "id": "fc_04ba48e32384966c016ab2b17560ac87d08c0725d2eb0ced31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yY0lXAijHWfnJj7fuYCxb0v7",
  "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]: [-0.2905, 1.6634, 0.9298, -0.1356, -0.2565, -0.2077, 0.062, -0.0212, 0.8913, 0.775, -0.6342, -0.0193, -0.0422, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.0745 left_z=0.0715 left_yaw=0.032 left_pitch=-0.2542 left_roll=0.0724 left_gripper=0.062 right_x=0.285 right_y=0.001 right_z=0.1804 right_yaw=0.0052 right_pitch=-0.1682 right_roll=-0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -9.935, 9.2923, 1.746, -0.2271, 0.022, 0.2173, -0.5128, -1.5658, 9.1966, 1.8242, -0.0806, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418bcb5d597f10f0f33bd5a0a23777ddb3951c2b226dd90f7f4e5f0a1601d241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7c09fd0a00334e64b3bc74e1528b7f79045d46d8a5de93018cb968cd58fc9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a15be4d926d4f73010f0af474eaffd707bcc1c2555d204d791fab30ba165ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.118 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2825, 1.8954, 0.8463, 0.231, -0.255, -0.1905, 0.0598, -0.0208, 0.8024, 0.6056, -0.4973, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.439 left_y=-0.0773 left_z=0.004 left_yaw=0.0254 left_pitch=-0.2066 left_roll=0.0672 left_gripper=0.0598 right_x=0.2783 right_y=0.0011 right_z=0.1551 right_yaw=0.0006 right_pitch=-0.1118 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -8.841, 7.0632, 1.6777, -0.0073, 0.1197, 0.6374, -0.0068, -1.2239, 6.9265, 1.9463, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrF-ouOXe83uH9SsLzSblZi0F4FoJTTgRnwXHNW3tgUIzVX1unFT4WGT2cLPHTcUjCLPwNuHAvAA62E2Ldkq5GFsdqnjtzVizBobU3ZkkQvX-Zw2SANnyiyljpaeOboNV22K0JeyFFEhDUcGq4COOM8zXRn_z5MjYGSHcUKfs2Bnvk6zn31Q83SJZlLYMRlIml5Nu0UUfMEXGk5EAdqEaOvrJ9sof9ykSIdsD3SZ8UTLyrzCgXkk1Sauz7Cye5nRmkMc6Koe0yGzIuMtI5vLTQRKtHMcMY7UwGa8-T3XudHnNLwhH3pt5Y_Qukz1TGEKEKprAQpt7kXW7lBsv_CIeznr8tlEVTDjmZG4Hk7j2PIlNXenhXbOzfw860cwjKA0ZSd2hTb5I_AVrnHo4aBvJnTcmubdo6cIdI9cdqjniELoC5re_PNQ2B0uyJeq7pgFV5H9BT8FmWlb93sEYh1E8spm6elnTrrMQtHZ86CgHiwamMJLso_ekNOdx7BulUzLCvjakTts87pqMdItdw-ps8NKX4UHXfzztZfvHL6WCgBGzxQfNzwEIpkBqosn6AP5WMxOAMk7tVsCEN6-EO7nuj8abNreZk2_y9i9vX7RWcPZDRq_pJSer91VEYWUqLKaz4J5vt1QxkM0m8XA-2RgcGBNibsOBQ77x5K-wA8qK458-y1Upn6bxUhKdnwZgdRiduJUjTcp03mqQfsfHxldqzbwtw3ZxggMctCdizASHNZDD4FvB2IMwNGjF2HXWaYyAUFQLsW_vo0-lo_nF7iGLJA533MbsPhwRIa5AasEzLz1TRwd3D9SKEzAWfKgeaSaZ3vRZjEHgD9GvoKNwsmlQt8Sit_DwzWeXGtnHU4qvUXuFDPbZ4mqh_-tEE_4tegdCLEp2r4kAInWhBXHcjVhosYmKrZILoytU5npNqGJ4mXuEmo4_DsNW8jHf16LUseA5JhwgULey6VlEHu1r_iBS65G2_gjHTzMi2ULu_MRWxSkfPjaDmx0T8duVD0AWUYFhXZ7HmdJEByGLrxCjiBrqfqc1tF8qAuSyqBpc-qxLfY9X-TLivi22wJqeoxD3uv9GJ9HE5tgB1ZMUXhjD_fsDNPO05QYUOp7TuReWOepu0XZDHUxNPRlMlveLBFdA-_DEZz40UqkfikTVJ_Js2PR93DgvkR5XTkt9Nkr62ENWS5euWhbSm51dgXTFgaCmMLi3AsC4ORwgVoCEUaeoAkwp4gu3PM5sjzS4AVxoNhlZrsbCeG1OHO-v0Z0idAjzTC9dE-wZTArnRDqCpBe51n8e6nwHQ==",
  "id": "rs_04ba48e32384966c016ab2b17bfbcc87d0aa00d402815fd576",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.29,\"left_z\":0.23},\"note\":\"The white plush moved with the gripper during the lift. I’m carrying it toward the open safe at a height that clears the rim.\"}",
  "call_id": "call_kErXTw0bc6Jxwzvd4F93Yinz",
  "id": "fc_04ba48e32384966c016ab2b17cd61c87d090492b8ce3f1392a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kErXTw0bc6Jxwzvd4F93Yinz",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7666, 2.1109, 2.1662, -1.0866, -0.5133, -0.6319, 0.0635, -0.0227, 0.8955, 0.7795, -0.6609, -0.0193, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4315 left_y=-0.2902 left_z=0.2199 left_yaw=0.0179 left_pitch=-0.2659 left_roll=0.0516 left_gripper=0.0635 right_x=0.2813 right_y=0.0006 right_z=0.1765 right_yaw=0.0055 right_pitch=-0.1945 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.3299, 8.1573, 0.823, -0.4469, 0.0952, 0.1392, -0.1162, -1.9624, 6.4615, 1.7998, -0.0659, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33dfe0182913a58a5d305d455c6afc3e6146590fc7d60654ded4e3ed76dab320",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776a8b8ef88bf8dedb5888e339ec80625857a0ee15f8d2cce459973f6010ca51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067c46aef27a8517e2fbcea68e484fc528c86e8e0af0533ae81970cfe2f0d2eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.484 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2905, 1.6634, 0.9298, -0.1356, -0.2565, -0.2077, 0.062, -0.0212, 0.8913, 0.775, -0.6342, -0.0193, -0.0422, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.0745 left_z=0.0715 left_yaw=0.032 left_pitch=-0.2542 left_roll=0.0724 left_gripper=0.062 right_x=0.285 right_y=0.001 right_z=0.1804 right_yaw=0.0052 right_pitch=-0.1682 right_roll=-0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -9.935, 9.2923, 1.746, -0.2271, 0.022, 0.2173, -0.5128, -1.5658, 9.1966, 1.8242, -0.0806, 0.0269, -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": "gAAAAABqsrGGzxpbWZ1gjRfddd-pExXwH9LhFQ3Rfeq7nx0-7o7ej22wnV0FVxX6hMmkg8jszFnRmqqctGX90U3YMxwAMEzCRT5k__dANoEOAWx12MjKKhTj61KFR8XVlAaeBa5CQyLgVlYwIuFYjnXDW97UdlQiId8iGm_YMqyaHNq_Wca5xXPx6bLda-iFyMuttiONSSa62MBKOvXAlUjQzm-nmFw8f_9AiIM4m_xsgI0RBrEqzDuhsByaVq7YSaiTbrNo9fqZIkX0luEQJzHg_-UTdyB5Xp9qddMqOY4RDXIsMV_zi3IQurj3EGcv68_csxESfDhhmBq7c30VsNxv9DBYqWyVINtMeJLSiqQcVhV3iLX5h_L0ZOZ_eWdVRJkcwmWF2iv7rYX_Rk0o4wwoMqr7R6RwzlMkLwmFPRLHC6dEKAwAXZR0rsRfFu90WJ9sSPWptTw4l5nwO6ft3XkdgA4hjmizsOLFzrov6b9mT7iz0Iabp1CQLPlTy12AARvNTq3xDVlwIgNBPhSs91t2PNYlGskOfIl-9YWaCG-wHLxj9KMriFauLeNeuVUSiMRGR2t3000l4DMQN6gO2u7u6JNRfGhkl3lB7-qsM928g0dtfLbtAIhylj0N26LsP0e-l5PMAnlcJgXzk0sE6C-YFIRgUqX4zHPPTWbv9mp4R1h5j6ySt_FRT-Q2z4bnQ-G_GlR__eDuByqEVW70QR1snAWwuW821mbX3DheeVeh-gbb1j8KSPl8LkOKUmafHgeIowSnS2H6CR7ZAaW1B4rYtNkakwzjVFI_FaT_681vOll6-eSuMTmjGg6e4xDvtU9aoVx792jm9A9xH_ynu9zZcY3wVai7PWBrfiK1F2QWd2emJmPy0a7fg7-YBrB-hyU2jdNBNqUAFvX9gHzqXQjXgX_RP1z6oAsxF2sk38V4tJWVqtzr03BiuGR6e-at1jLYM2dV8Pft3G6PJ8JSDWeXs4Na80WfbHolEMsMJgGGq_Aab1K_rhGZZcoWMUmHGaoakmiGTAgtHJW3YTfo_mhEDHyyVG5eHy6DX_JvEqUKGa5hpBMW81_k1pyph2swwY5piQSZfOQNRdoYO5xgaDBdWH4Y7m6TcqPv5lZZOA-s8_-tjtE0So7MRc5CSthTspu_WzeXoB00mtGdulo1ap8vRL2u-VJ8ozsXfl3a_f_dFmkXUttuK1wAQR4nOzZDzTrzoPsEBjzew4CmNEX5D6AZVExbWmsMcPS7NJfp37bwRm6BXQ4aUvlhWkM98eU9vbFXmadNho7Fll2cPINQdl01sbZgbVw6asWh6MYCHRzjunLDWPSZxahrMksaae2WyjtWBQ3ba7m9JsHt8BKzCMVzAuIgLlBWPV4rKkfbSIJISEww3NRgp1lko7Fj09AwduBLMD4rxWCURjBkQ9Rl6S1y3vcg-URgdM5gM5Kp9JqVzZC6X23Z7r5vAcWboFMeIyFr-MRVn-Ve",
  "id": "rs_04ba48e32384966c016ab2b182774c87d08f45bb047474afff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.33,\"left_z\":0.075},\"note\":\"The plush is over the safe, but slightly toward its left side. I’ll center it and lower it into the red-lined compartment.\"}",
  "call_id": "call_JlOZvoeueapP7seqqzKyNLMB",
  "id": "fc_04ba48e32384966c016ab2b1848ce087d0a66f9667947c85af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JlOZvoeueapP7seqqzKyNLMB",
  "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]: [-0.8253, 2.2097, 1.7763, -0.6689, -0.5228, -0.6868, 0.0648, -0.0227, 0.8959, 0.7795, -0.6788, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.324 left_z=0.0766 left_yaw=0.0119 left_pitch=-0.3067 left_roll=0.0741 left_gripper=0.0648 right_x=0.2782 right_y=0.0006 right_z=0.1733 right_yaw=0.0053 right_pitch=-0.2128 right_roll=-0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -12.3145, 6.5436, 1.2869, -0.5201, -0.1441, 0.1245, -0.0752, -1.5521, 6.7761, 1.6728, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb49d62d583b35fff870357d9c1d0324af73fada18d496dfbb438166a4be0cb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e3914552a6f19b9ecfd2a4b0391a819f675e1825b706c3104cea49430a3287",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa91a9f0758d209308a57afbf934c8e55c06d6b83e583835831741ec00bd74db",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.092 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7666, 2.1109, 2.1662, -1.0866, -0.5133, -0.6319, 0.0635, -0.0227, 0.8955, 0.7795, -0.6609, -0.0193, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4315 left_y=-0.2902 left_z=0.2199 left_yaw=0.0179 left_pitch=-0.2659 left_roll=0.0516 left_gripper=0.0635 right_x=0.2813 right_y=0.0006 right_z=0.1765 right_yaw=0.0055 right_pitch=-0.1945 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.3299, 8.1573, 0.823, -0.4469, 0.0952, 0.1392, -0.1162, -1.9624, 6.4615, 1.7998, -0.0659, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is now lying within the safe’s rim. I’m opening the fingers to leave it in the compartment.\"}",
  "call_id": "call_NdvjarpKpsa95qaz6z7MYmdY",
  "id": "fc_04ba48e32384966c016ab2b1892a4887d0b039184467dd3fe2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NdvjarpKpsa95qaz6z7MYmdY",
  "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]: [-0.8299, 2.228, 1.7603, -0.6743, -0.5205, -0.6899, 0.9952, -0.0227, 0.8959, 0.7795, -0.6991, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.3219 left_z=0.0611 left_yaw=0.0175 left_pitch=-0.3345 left_roll=0.1019 left_gripper=0.9952 right_x=0.2746 right_y=0.0007 right_z=0.1698 right_yaw=0.0054 right_pitch=-0.233 right_roll=-0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -13.9829, 7.5419, 1.0525, -0.359, -0.0317, -0.0708, -0.0479, -1.6889, 6.7624, 1.707, -0.0171, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46eeeff0045b100f36bb0d71a7e541dee493aeb31e53d1bb5514c1f0b55ae0cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23f996ca3778d135fe2377cd83cf013d2341bb4d4da3c12817d7705aefafcf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1796b5a66d482cb91ea2801e45e1564aeef4c16b7e5ef9a015c88589379713a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.361 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8253, 2.2097, 1.7763, -0.6689, -0.5228, -0.6868, 0.0648, -0.0227, 0.8959, 0.7795, -0.6788, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.324 left_z=0.0766 left_yaw=0.0119 left_pitch=-0.3067 left_roll=0.0741 left_gripper=0.0648 right_x=0.2782 right_y=0.0006 right_z=0.1733 right_yaw=0.0053 right_pitch=-0.2128 right_roll=-0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -12.3145, 6.5436, 1.2869, -0.5201, -0.1441, 0.1245, -0.0752, -1.5521, 6.7761, 1.6728, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGR2rf-6G0_DWwSPfsv_Ku54dCPPNCTNTV-gowQDkW2tR83jWp6uO27w8XlpdndKYwsG63s5aGthqcBtlpLHSXfTQfJtzptU8qjlwVCR1a1BACEeGz2yiftpdYDjpUCm9hTZzI0i75w49TXe1MZY1NQD8rzAGUA-CIkWIlgTxo4FS2q4uvExpmp17ProH5q9nCCpvGap9Rv4gwKEyOmQ1Nu3RiMn_sGRwZ2uTiNqLJPthanF6Dn_7K_EEQ8MB4fplGBOSQzxaUZaRPj0WVevLga5Ki9JIvgNnkQaLFuIrzYZhbz7XfxjKrIhhkjhEs_VnntSt0SWYGHu5ymyN8ajfmSo2hPsAngCr7zh8vCLTrET4HwmumlaxtGeACGa_RvqTWV2vYesRSpBSrKCtROaOglHeiZ8k81x6nsEKURiyXtRK3WARDAD2OLf2DieR6LvvC-q2iZlbGbRVOkbCTMr0v20CIugUF9zCfDDyYWeU2OgrFmbua5NDNbxJ-uCGVtq-vjyAZXJTXmOcyI0Ff2qxFdRRzzDgZMRvr_iwLAtBlKJpn6CfPyvIeuWrBdKz26QWSsdIeLrG9YJFflqtjcajOGBsXoTFanoYIHpfLpOinz0AcNZyzbClZsaXDLnttmxvAxfbPZ5IaWREvz_SXCt0wffQcDX0MRleVSyxnLt3vK2IUpfw35UzGDFMOA6KA2SkKrxtVEXffm6lswExFqh-tW3DH624rQusvJ3XhGeXQL-rPoI_IVxXxkMTQRJnCEAWUgEW8rcjGpvmuZi_z27U8oZTAdE_KlafabNdt7rogyrBBO_zBsczggbJpDqdGuBvB-aZrZc4zI3aUo1V_kGdFBHqNEvZEMjpe-jKrDCf0F6H7YPeIm-P4M9vf2hJvCyhVAuc63tJaQpxNXh6MKfRJVt9iOpEFXepi9tMvnsrayeWJgd00_7e2_pauyzpmg4sR5c_eJ5v1NcAlBzPJutjs98FETixgsk0kjIlIJiLrSE5XeRuW6PkA3YoFbojELgrIQftMwgyZY6FnLzx94XT6QOswCQh9M-xYY7U0gqdGlFCS3cL6QS1OTNHFpBGA_xpnP0D2fdSgJnqo7t_yDarwYoxXaSWINOGKFz4iBHAsswaX4e8GTsynVRKlNPWJdPSbcKjsE170TWm7LE_QyQkofpO77kpw_dOq16vkwbQuEllFDXvvCBJ8-mLz9ogd_dibf_kKkHI5VFtHjxTYY32p_He7ZtEzM3kVCGvAyDl2DePA8ZeHxiSswWUwpocsDSnodB8aqwgiT9uN5SxstFMDxnFdg3NWK3r23JUOknKTGzt85fXvrNFBMVcsJbN0sejZIkmO8BnYmo0gCHD8MHB24uw==",
  "id": "rs_04ba48e32384966c016ab2b18e39fc87d0986e1c4ef13d75ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.32,\"left_z\":0.17},\"note\":\"The white plush has been released inside the safe. I’m lifting clear and moving above the brown plush in front of it.\"}",
  "call_id": "call_ORXAERVHsQESwyjnrhEBxLjV",
  "id": "fc_04ba48e32384966c016ab2b190467c87d0b202240f9024ea84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ORXAERVHsQESwyjnrhEBxLjV",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1393, 1.9099, 1.6558, -1.0863, -0.6003, -1.008, 0.9963, -0.0227, 0.9005, 0.7795, -0.7242, -0.0189, -0.0456, 0.9996]\nstate[eef_state]: left_x=0.265 left_y=-0.3285 left_z=0.1475 left_yaw=-0.0056 left_pitch=-0.3602 left_roll=0.1194 left_gripper=0.9963 right_x=0.2703 right_y=0.0008 right_z=0.1645 right_yaw=0.0058 right_pitch=-0.2628 right_roll=-0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -12.3966, 8.7043, 0.5592, -0.6374, -0.1343, 0.1001, 0.0615, -1.7573, 6.9538, 1.7167, -0.0708, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ed9defb67d1dd0ebd6619ac27f1689eddc92d98a446e450efecf3b22d1a719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d71bfaf9594a3c94aff0dc3d64b192313125e822d6ff99b32dffb29141693d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6590ce169fa3d0b27ff701a18b0c1149c84de2ec5cbc7ae791906b67e3d2f8a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.802 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8299, 2.228, 1.7603, -0.6743, -0.5205, -0.6899, 0.9952, -0.0227, 0.8959, 0.7795, -0.6991, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.3219 left_z=0.0611 left_yaw=0.0175 left_pitch=-0.3345 left_roll=0.1019 left_gripper=0.9952 right_x=0.2746 right_y=0.0007 right_z=0.1698 right_yaw=0.0054 right_pitch=-0.233 right_roll=-0.0036 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -13.9829, 7.5419, 1.0525, -0.359, -0.0317, -0.0708, -0.0479, -1.6889, 6.7624, 1.707, -0.0171, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGYp1grtyfOyE7DZl2L0FLxtMKJ9i5runejMmLnkuKnd2kFesk1Cs1ogwrbM8dpzdfqAMJup94pMJxn_AYJqvLKctDEDXiplmUkxSOwIlZuJc7hU2Z9SD78go9d7xE5E1iUvoBLbYjYvRCMt9vvtCiv1RRfEsLYT4sb8LpRbiy3Wx65YVTBonKC3xYamUXsK0M9v-o4OhD_sqY03413vqIv7HUrkgY0F9NaN4kRDevOh0GJmyNRGyq654hnknkMnqf9DnTe4l8kT3CQukgtggxA4Fy0yG6UHet_i3jIKqlQdcmRUfNFREIah5xHiM89PHDseaI1NvDKIZoK-dCY8xJIRrXEt5U9_ZQaJubVBC0deoM3pFqu2ygLV6YKkwwMSVoL0ozGI9qh8luWmpIa852rb5GXYdJ7d4x9VIuNfHow-qgZgAo8MhnWDJIILrvxWuRPQCvkBqoOCDhrOcoJMDo5l42mFnUi8Wyxvq565tZb5XRGEGS78sJO2CuZr2I3zObm6PIZ9BCQhnKvyBIePgzvdt9CkUU_AnqXR56ufHOfF8O2BBWvATwYk7a7y7mnfa09aGsfQhAzrWBi8YpyFzMQlpEVT0AMlIRH_keuD3S_CMi9QFbFK3jW5h7v1Nw_KLFQtyymkekqdPa0yOoas2-VK7MVR9HR9dcYq2msUvdJDCZ7gY8w2oFSxxIKOsIsVgW-ytg_4KhP465z-v4k8hBGsODPhj8XZDa_LUp8Pd5revabL9ux4M9-JhxNGo9_lQBSOWdmFU5VYIV5bTkl3gWCeBCzgj6vbcl6dzTNvrmqmUm3lGXVreX6S3gmaPs_PZRbpilzbfIPeo3rqKyPrO5MSrvGwlIymNL1siW47VAbQZoLvIdzbgD2zmXa4v1ZZk_6r9VKmTP506_c6qjIpNDRtCdgGTc2mrSqhhRj_XhUEG9aIAXSGU9zK5wHL_ACG_92VEPmRFaiq4624Aywi44j3VI97eeRErb1Z1xAvZpKSSksakYBp-dFX_3W2d5s_SMwOzRXrD9aPNPtsWKvEmBni1IvQDoTqPtn6jQ0SCF7--d7sX2jN7jIhpoG61bz4lwxI8zbIUdgmDr0Y8FedRCbnJjotO_iev_thRUwCJ4vomJNcF84iXlDr9ACC_aT-jysngP-7PT7AEk-7fIR5NP4tQEKTq2IEQaGHsEocy3lhPhfCJzAk_JN1KtNFWcln4J2DCmnTQVX6mORTI6oZNvIHOwLlbnynAdYPeTq5dT8ITiQwz0tBoCG6-XouZfmVBBnG2C4QRBiM-T5fJuG6mF3tjQ126hEd2dGc5SgBiE6F50=",
  "id": "rs_04ba48e32384966c016ab2b195092887d0a25332daec335560",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.325,\"left_z\":0.035},\"note\":\"The brown plush fills the wrist view, with its torso centered between the jaws. I’ll lower around its soft body for a secure grasp.\"}",
  "call_id": "call_RbTyDDKj0Ro9uL7YRpYHHooQ",
  "id": "fc_04ba48e32384966c016ab2b196624887d09bfde386372ea1fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RbTyDDKj0Ro9uL7YRpYHHooQ",
  "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]: [-1.095, 1.9995, 1.3602, -0.7052, -0.588, -0.9596, 0.9965, -0.0231, 0.9009, 0.7795, -0.7406, -0.0189, -0.0456, 0.9996]\nstate[eef_state]: left_x=0.2784 left_y=-0.3186 left_z=0.0427 left_yaw=0.0071 left_pitch=-0.3764 left_roll=0.1483 left_gripper=0.9965 right_x=0.2673 right_y=0.0008 right_z=0.1617 right_yaw=0.0056 right_pitch=-0.2795 right_roll=-0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.0735, 5.7094, 0.7888, -0.3443, 0.0073, -0.0024, -0.1299, -1.6889, 6.7214, 1.5702, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0df748613106b14a61b9ce7f0d8f8d0e4b690129700136a9186236fe4df5414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbc94318feec7ba662058b74f637ab41073f8e749f0e463f3c6f0d260e00af0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540f0878934a8a9ec23f880864aaee8c9e6d0ede4b68ba6974b9cc70d8cb1ab3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.232 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1393, 1.9099, 1.6558, -1.0863, -0.6003, -1.008, 0.9963, -0.0227, 0.9005, 0.7795, -0.7242, -0.0189, -0.0456, 0.9996]\nstate[eef_state]: left_x=0.265 left_y=-0.3285 left_z=0.1475 left_yaw=-0.0056 left_pitch=-0.3602 left_roll=0.1194 left_gripper=0.9963 right_x=0.2703 right_y=0.0008 right_z=0.1645 right_yaw=0.0058 right_pitch=-0.2628 right_roll=-0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -12.3966, 8.7043, 0.5592, -0.6374, -0.1343, 0.1001, 0.0615, -1.7573, 6.9538, 1.7167, -0.0708, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are alongside the brown plush’s torso. I’m closing them before a short test lift.\"}",
  "call_id": "call_bwgv80RyC86fxKqRZS9G89s8",
  "id": "fc_04ba48e32384966c016ab2b19b953887d0aeef46b57c61b7b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bwgv80RyC86fxKqRZS9G89s8",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0924, 2.0193, 1.3529, -0.7078, -0.5877, -0.9604, 0.0084, -0.0231, 0.9016, 0.7795, -0.7551, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2772 left_y=-0.314 left_z=0.0328 left_yaw=0.0208 left_pitch=-0.3899 left_roll=0.1763 left_gripper=0.0084 right_x=0.2646 right_y=0.0008 right_z=0.1592 right_yaw=0.0055 right_pitch=-0.2948 right_roll=-0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -11.8632, 6.2427, 0.6422, -0.3492, -0.0073, 0.5983, -0.1983, -1.7162, 6.7897, 1.58, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7558133012aca8c6fdf8129bcd9da78fc0cf340f76bb211314d6fcf1064be84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb8e0faef2292904789b8e715535b3e249d3c2ee9f74cb455bfa45ea3a694e30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2f439fdaa0d4351e2bd57670890d83a68c235677bcc2aa6011ffd85573a812",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.05 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.095, 1.9995, 1.3602, -0.7052, -0.588, -0.9596, 0.9965, -0.0231, 0.9009, 0.7795, -0.7406, -0.0189, -0.0456, 0.9996]\nstate[eef_state]: left_x=0.2784 left_y=-0.3186 left_z=0.0427 left_yaw=0.0071 left_pitch=-0.3764 left_roll=0.1483 left_gripper=0.9965 right_x=0.2673 right_y=0.0008 right_z=0.1617 right_yaw=0.0056 right_pitch=-0.2795 right_roll=-0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -9.0735, 5.7094, 0.7888, -0.3443, 0.0073, -0.0024, -0.1299, -1.6889, 6.7214, 1.5702, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGigMEmQ2gnXLy6LzxAX7C4fKE3XpPs1khG-LTLTVopG62aOQox2bJ3xz6xPagtk5_VhEbI3Ly3wqX2HyPEA64vg0xfmz7tXtiHg4Iqq4OsY431sSfoSZkEwGH2ndEvuX9f4Vzzb5ogU1TlW_qB1U1iY4C9tWTW52so7s4JMMUjYKNX-WJ3-w68OiRb94TMBWxaupQEbjD07_9CgHfdJ9zFLgwVY8RgP2EKSbwVNqmF_8VZ-4CROJzKKXuQd5dTL60PX33xRZk3gvTYlyPVEMG2ei2G-OTt7Y4RJM_RR0NBgjNbd14Eflisbi5FZkIEahUgCdRWGLU8z_et7Hlr-6dvbB57ANioSpdsZDWaNBe6EkPaUTToZcYj3eXqOR0BUakMsql6ncO-eM7JhzfVWz4OopnRMnqyFiRa14J7HsgXSfdk4Tgr5Iyyup992D8j9mFDNAmObeAGvY0aJ4VPnN_c1MqJ5_MEgoF8HqvCFlNN3lU3V45htz9ZsCdq5iOd0MZpn5_uMjrcMLfdFe2onIrS3XYmSDX2CbXgwol4jyI4a-aJuhRNmM0jv48XbNd0vBt7ZsBy00tS0huY4MLE0LHQxBzuRTpaQ9cUftYVlL8dAmqkuX23pG5cgCOyzIAxx8z4HzJdtv4nXHeyRT5ibT59Ab3y5exS-Uw_sfNqGlbCSar8qUQMUAvm2juCZnY9rMcra7OeiSRIxjLxa-hMUpoa3KtGuLK0VcJ4J9nysRtvo0H0c81mXe0EZD8tyD_j4kyUImKLoGf-vaFu0R3nIyjESvDms4Ovwr50ifeVwBTMsW9a7lVYzoawHWtPe_2rK90DafdoJldS9Y84F7ApIc6wltgTS6dCog_8_CfuIRMjpoQHFOM1GZ4iWj-oJipra2WrrvTDBDm6ROq3Ud3jpieartFV5vibJhHSDq13vRDcWcXZmLtnsxgC5Gje3P0VYOCjfzOFFUQKAqkBhgw3az3pDxiQJ0pLRBcDa_EHsx9_AuWuipQDoD2zSADRbnFGrUxeEEdBlq3R-tWoq0k16iL_auRXcSi60j034kBWqnyhRT9atjbP9anK9xtfO3LlEsZ_-bsUE-g5KjWiE6lIKlGFl_SlnEex2W4aAFFg2xyWo_wF8gOLWFDOa1vrecCsXGfuB1JJMNto1Gy63QUjFqncG2zO-_ccipctxKg33GmdF2LiuVo6hq8q9OzvgGOiTY2WhI78bIJ27OSvx472lrNpBnNMS6KL3TQVJ8c2uC84KAXkHjgvdkBDm6GXVePxHGR74yJp18ffYUOgKl1BhKdrvw==",
  "id": "rs_04ba48e32384966c016ab2b1a067ac87d0919dc5d860e20023",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.33,\"left_z\":0.055},\"note\":\"The gripper closed almost fully, so that attempt missed the body. I’ll reopen and move farther forward to surround the thicker torso rather than the lower edge.\"}",
  "call_id": "call_DwNhpRBWBrvNAYg7Iu8I9l47",
  "id": "fc_04ba48e32384966c016ab2b1a1225087d08b846427ea33121f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DwNhpRBWBrvNAYg7Iu8I9l47",
  "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]: [-0.9833, 2.0556, 1.4845, -0.7559, -0.561, -0.8589, 0.9951, -0.0227, 0.9016, 0.7795, -0.7738, -0.0189, -0.0456, 0.9996]\nstate[eef_state]: left_x=0.322 left_y=-0.3076 left_z=0.0506 left_yaw=0.0424 left_pitch=-0.4002 left_roll=0.1799 left_gripper=0.9951 right_x=0.261 right_y=0.001 right_z=0.1563 right_yaw=0.0063 right_pitch=-0.3135 right_roll=-0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.253, -9.1966, 8.6222, 0.8425, -0.3346, 0.1832, -0.1392, -0.0342, -1.5248, 6.7761, 1.5556, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e2244d813f48985fc39517d1ec701b8c21f990d11d51146d9ef1d7b5477b3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b437a07d87541ebca04c81a222dfec0de1bf664c5fcd94c7787610fbdf3b2c76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e0d1e450b9378efaa70b54c82be95a478c75b45ec03c48dec18855f9ef61b89",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 6.095 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0924, 2.0193, 1.3529, -0.7078, -0.5877, -0.9604, 0.0084, -0.0231, 0.9016, 0.7795, -0.7551, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2772 left_y=-0.314 left_z=0.0328 left_yaw=0.0208 left_pitch=-0.3899 left_roll=0.1763 left_gripper=0.0084 right_x=0.2646 right_y=0.0008 right_z=0.1592 right_yaw=0.0055 right_pitch=-0.2948 right_roll=-0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -11.8632, 6.2427, 0.6422, -0.3492, -0.0073, 0.5983, -0.1983, -1.7162, 6.7897, 1.58, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGnjQyIeV06CcPjNLJ5dxZsJf9o-0qoPKMt9-pQLhFNxZb9wTZg_WDKtLHCr-DxZFUrN8-p-LbxtVKM-0KzajotmRtxdGBvpi_6SiEwVX4IGh-iXe8dQzuJQAyazFr15DCo9FqeMoEJqOvsumDmpnVeE9TYq4eLV1yGa6MIZtZ8l09ELwql1ZUzay6XojGURTxGV1srbLPEV8pBBUV_-4YDLwrtto9EgyqV1hBpQtZa1afgS_bMFdFIdrn3lHvZ4wyvcaztzJCnpQBP6VEVcuwV02_8XblPm3L2my_ujGd7vcZpLRN7cPk0U-0ojOyMP3q9dvRiqRHd_nf24myarQd1GtM0dbW5dkCxmYECFhYHjXGqsTMCD4RP1BlZk3vn3TvgLUx-1ambND88OQkrzd5fJlSX4XX1QCf-V0c6G5PHi4ESqz1b_nqfeJtuxv2nSu_E9yYJgpSe97o0YWul21CI_-3MoB8QCflhjz8br4jh2wGhJTRNs4txyNKEN8EAr_Wm-LmdwrCfpcoatZmXRoIV_KHAfJuQQ1NLYLavEsYKTVZHcdj6yqBGfJVx3QJjBIi5yRjpppdUWMIj3XD2sshoBnx0CGx7eJ8l80lhY_fJ_O3JvKVOGcieOVgMhvWY1EXA0qL_HwMi9ILfxaoei0FR4LwA4wq19YYZs-DtJCzRQjIdrgLBngILF182RntoLxhnN0eYHcz8s1ZmYjWM6xxipgtQrjDzHznkt93ZE5UcoakYKVxd9X0b29_u0Ec42mJiE5_aJqGSf3AVJ6_70FTeB7VI202SX8xeQ4CVI0XULqE9DnzR7L_EpRxX_JtFDpfcatYQP2nkJSWAex9-W6avDDLWn2QoN3fSxUjp1ZjsPkpLp2_3MW13S6BLTSz7aYr4WekVuU4-ezjh-0MDHZjxVkr4qiVBBkC5chKY7pztbSencLklUjcYK_zTaanhAMabkCkL8GWfdp0GkebMC5TL670NI0obWWaliE1zMmK8g79PoAAqJH33EaZ37qlniRiMAF18MknYL77z3AmgkrMahcGep-yQTTqUIRWfOoAAG-JuPRh6dwJ5gGI2J2k-sMWT1ug25lvaWejUnNBmNxNony76YCAUEInHGTubMy8Hzi6tzturFdF6Cv25ZtqIdRMy7gLVEpKifi7fUeG8KN8MPJ1Nneplk85ATxms_8okZxo9ztvFvSy5Gh7IdCf0L57ykzWnni0_p3O6HdYF7vBwiMG_3fmWQEn1-26Y8ic8_ImUaxS76BiN4vBw9-hYsy7X",
  "id": "rs_04ba48e32384966c016ab2b1a5f79887d0b79cc439da1c5df5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s body is now between the fingers. I’ll close again at this corrected position.\"}",
  "call_id": "call_K7vGnrtK1AGa5H89OES4Xchg",
  "id": "fc_04ba48e32384966c016ab2b1a726a887d0930dae9e079285d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K7vGnrtK1AGa5H89OES4Xchg",
  "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]: [-0.9821, 2.0556, 1.4906, -0.7643, -0.5575, -0.868, 0.0082, -0.0231, 0.9016, 0.7795, -0.7914, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.322 left_y=-0.3075 left_z=0.0517 left_yaw=0.0482 left_pitch=-0.4033 left_roll=0.1746 left_gripper=0.0082 right_x=0.2576 right_y=0.001 right_z=0.1536 right_yaw=0.0058 right_pitch=-0.331 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.8786, 5.4085, 0.7399, -0.3199, 0.0562, 0.6178, -0.1983, -1.6068, 6.8581, 1.5897, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fcd544c86bd2cf71b643b3531a0ccb5761f4ff3fcb1049bb0b5f895bbad45cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f824343b14e1008f516979c76eb3989464262e90a094a6c7cd17914bb372ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ddd5d3fdd3460e0f5440473697c70a15e1f0adce09fad60ceab255e6a111cc8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.849 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9833, 2.0556, 1.4845, -0.7559, -0.561, -0.8589, 0.9951, -0.0227, 0.9016, 0.7795, -0.7738, -0.0189, -0.0456, 0.9996]\nstate[eef_state]: left_x=0.322 left_y=-0.3076 left_z=0.0506 left_yaw=0.0424 left_pitch=-0.4002 left_roll=0.1799 left_gripper=0.9951 right_x=0.261 right_y=0.001 right_z=0.1563 right_yaw=0.0063 right_pitch=-0.3135 right_roll=-0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.253, -9.1966, 8.6222, 0.8425, -0.3346, 0.1832, -0.1392, -0.0342, -1.5248, 6.7761, 1.5556, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGuQZ1UJXOTcEJTBRj_rOrgvi59ZIMb3VgscBztiCpkHVQukfmu8mybrawCVspX-8Ur0n0__lczjpCX1IYFSX7sgr4un6YLIcvFyQGdNq9c42d02jKfbvJh4zFn4xm8JIHj9Jp5OV6LOHSE-dDdawWqe7NrYelCwoEm1jvn6xN4oUT0MJ5qj8svCpV4kd-hrIQM9qKsxz8iaggbkPQxE1wPlhM-BI0CDwNkG1L4i3ap7QoGsMusOfleDCqV2UC3JSp_ARE-paRqbcHO_C5aP1zARgjXcFpQ6leoUpmwiShjuhZybB-ZkjXO1dAeWo_cvdgz5xVxocwYAetdr0WJusDuLcO5xCVKwgx7VeGZ1Yx-wbouJexPTz-3aD7oNOGgvArpjZeeG8NJGn2Gd_0c_pg6-SDMrCEE8DXQ1bFKZ4yLlM8nhf4P11WwQXeb9Fyx6siPensR3fRNSS3lCI5OtZ0s6OFKtyaKtQHFYMW4vII1NZIAlCRrtoDtbm4XdqCezXangef7rlZgoRE3DIbdSLYjcd4o7D8oQxdhv_PgmMT_4dBGjxmCRV4Y6-PwRqrSIT9toLAR-5-pc47sGGMi6XhR7pm8uxhLjP7pruKORsDmaqsAbzIOZJRkjgLTG4EFYxcS9bEjm7xnVhJ1ybcXXFVTKrobuKeoVlGtnEbmswBYeq8bYZvrJRRBniHb54CvU6jfcQLceC4-2KGIHj_7NX0lbAhZDPysFAAYSE1iUWpjDXd_n_WwBSHMEDSKx7jjOMMSFIzRqXpfNxzUQlfACFjfz-nntYNgHW6JjU2KPh6Wo11AooekZrThfwAodvW1HKAno5PGaj9DX9Yqoml-ibDLtWzobiMViHPcKDGnKRo5gACk1UAgrGp4aUD1sk_AKjHGb7Tl8DOCcoI6kKWJcbde9mBAq0SWPjbS0xc9-exwz3ei3-6bFGdF6_BnT8eo2D_BA20aWZ_f8JsNaUs3ziY5hP6hc6_SX1rcD4DmDx83Djrj48mcOKsZfxoNTMbD-_xS3jV-7g0fv7NvVSeC6a6VerVLX8RyyZ0mAZg4mdOjn6XdTSsv80GXNfKu78V9aZq5qRw3jbQ-4qetW-uNnB9O8hOfjgPMyOxImww1saIDhgRXorlhQmvOqO29s6oN9s165KRMVqBPQ1Fr9rtRNoc1uxR6bKQXNuPkWFmG2jC2oE_1jY2vQapWCpxBmonbB1NJTT0klUq0ODXgXeiie5nv0fn1nTwzr8nK7VdCTyTE0Dxb4G2lYt0FQTDKAzREawPzxwD9OYqoF7Y2dP1M5UqkTHG3nYG4ZgIYIae3NNcVr3eFNuBPlbRVsDrQsXUS0CMPcbKVz89etanxICf5gD50_g2JJDfV_1iVd7oeA7ih6RQ=",
  "id": "rs_04ba48e32384966c016ab2b1ab4ea887d09eaecc74f7dc4c87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.18,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2},\"note\":\"The second close was also empty; the plush shifted to the right of the jaw. I’m lifting away to inspect its position clearly before choosing a new grasp.\"}",
  "call_id": "call_1h2IAdLaistXTK3o3pHfihuz",
  "id": "fc_04ba48e32384966c016ab2b1acb7e487d09971f90e0b70b13d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1h2IAdLaistXTK3o3pHfihuz",
  "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]: [-0.9443, 1.4689, 1.3022, -1.1229, -0.5419, -0.8333, 0.996, -0.0227, 1.0992, 1.0153, -0.8928, -0.0189, -0.0498, 0.9996]\nstate[eef_state]: left_x=0.2561 left_y=-0.1924 left_z=0.1806 left_yaw=0.0439 left_pitch=-0.3982 left_roll=0.1505 left_gripper=0.996 right_x=0.2874 right_y=0.0004 right_z=0.1821 right_yaw=0.0097 right_pitch=-0.3943 right_roll=-0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.8171, 6.9675, 0.8181, -0.3639, 0.1148, 0.0073, 0.0342, -2.441, 9.2786, 1.58, -0.0806, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd7280a2b76f7a9dcf1673ae274391155e9a9f10e33d3ccd30579db510e3633",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3735de45f6e491ea8d8afb356d7a590513a51161e536cfadf26a94313d443b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40dab7fa0b8ddba6ec3dbb9e29145477e6a35658b2f728fc93498c5c4331a9d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.399 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9821, 2.0556, 1.4906, -0.7643, -0.5575, -0.868, 0.0082, -0.0231, 0.9016, 0.7795, -0.7914, -0.0189, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.322 left_y=-0.3075 left_z=0.0517 left_yaw=0.0482 left_pitch=-0.4033 left_roll=0.1746 left_gripper=0.0082 right_x=0.2576 right_y=0.001 right_z=0.1536 right_yaw=0.0058 right_pitch=-0.331 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.8786, 5.4085, 0.7399, -0.3199, 0.0562, 0.6178, -0.1983, -1.6068, 6.8581, 1.5897, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrG1_VdEbelEUIeWjhEqDvhM8cCfYPy8RiVlquoq85UnsrLnggGhs1gSDbS-gZCgEVXaxeKKCzel2ktr8f5TYXaEXrrvIvzVNWIJYFfPZLpDn8gd-rcBJa_a6bfNYZovw8wBIZryfwuYHVv2O1P2TvQ1oDa47ynwYFeKXFSQNMmjQqRnAuslONd-jdAe3E6U2FI3m7dVJ7jWBVDtnB-6Q7hDLVJAZYPCmO857O0aFpOsF6hZybsdbl9zuvNmmWFTDpgUbGMiZql8PvqDC8MyBjJ4VgSlHtHicEKcG5Co5y-YTDLunGzu79lj49mMdLKg2BWR2HnKfunIAVuYA1Ojx9XbLOccCfJIdrtZknPDHxnxPtDxyEkFrmFZGDzKVITPwqY-2qDKWmQm1neV-Qbt2N7DIqCjhfZfeotp2-wzm-O1x3gV9oBstbbUiFwuG_wLiBcFh6_09XAYDkDaE0qnpJ__PXCt37K-QTiXCsHh0AfUBadiQAcXuK_UP7frSlSQom6s94f4W2VkjjUnF8oCwbp83qtKNCWHo_1Qk2J7Xnf-lmQvFs00r298mzHYYbXKxkwwZkGLAPUssqp_o-WAHFHEqwMTJqwbp7jgUF62Nw684OobntNdT6R5InxajxRey0bzVnKKb-JJoJfOogbGc-qwJr3f7aWhaHjsuuVKQDmZY7GcLBVujCnEHUOf6dKRXN0wABG3Ji5LnSpR_o9yQAx_8sCDcBNrgWVSanwkZkrTkKTzIhJkBAM9c1tNioxWkbmGJg8u0imWMUI-m-EAArN5p4BpUU2xSYVNSGLhaPLRPEGL3G3xMpQj00vI1E946NjPHHGN3kSuDLryCSqCmnAmRRlUr5jf3D0ONDSFWzzWkijwK2lFNYgMQ7C5s5e67OCs2xIeXPxIUn2jpZjOmFMcSZRztEmn9JqASc_wIeYcnlW-RBew0iNqf6JbH1XhSJVs-wN0d9RKttmHJSiA2rHB5htc3g3aJ7SPHwlkYIQQoV1hz0zn_vkiPVXlNGedhBayyvN5MYvhxADVg1RifIntBuP5q4RtfV_Pn_wXgkvgsB0WShmHynlEZ5ftIBV7nTJjRk37HVn053hDBklH-HjDRrxe5OoeXqFy2V_DkO2vAt6HmgKPgIvx_luNTHngF3hzo1bLNC3j6lmqz5PqfIRK9F_uSx_VmtRVM1XXftSDGnflvlPc-V-KUCIBD5heXP0blnv_dc7b40bAln8cDI9QuHDQ1BS_SnTrbRQAVyc5TsCFCiC5lIjK77sbkmIaLloW5dymS5YbYWCZc1j0Vigp05yKLGrQC7Dt9D2c0aygi2c=",
  "id": "rs_04ba48e32384966c016ab2b1b264ec87d08e08fd2303fd6c0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.39,\"left_z\":0.04},\"note\":\"The overhead view shows the brown plush to the right of my previous grasp point. I’ll approach its central body from that corrected lateral position.\"}",
  "call_id": "call_QdcEAeZG3uc9SkvekREnVjlD",
  "id": "fc_04ba48e32384966c016ab2b1b4279c87d084057544b3e4074f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QdcEAeZG3uc9SkvekREnVjlD",
  "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]: [-1.145, 2.2654, 1.7756, -0.9611, -0.5659, -1.0763, 0.997, -0.0227, 1.1053, 1.0206, -0.9085, -0.0189, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=-0.3778 left_z=0.0351 left_yaw=0.0597 left_pitch=-0.429 left_roll=0.1736 left_gripper=0.997 right_x=0.2855 right_y=0.0004 right_z=0.1804 right_yaw=0.0097 right_pitch=-0.4107 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.3692, 8.0068, 0.4713, -0.5788, 0.0855, 0.0904, -0.1026, -3.5624, 6.065, 1.4188, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d399f83e1dafab20a09490e2a4fa8d98a2cf7f8dffed01ae1b54c5d0c8d5e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee160193f9a1ca62d629b2136967ec76affd3f435516113acfa06fb3ff5d44d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d87a54e5117e027aff9a9085ba965e4d582fa922f293950162fc3d97b90d23",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 7.173 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9443, 1.4689, 1.3022, -1.1229, -0.5419, -0.8333, 0.996, -0.0227, 1.0992, 1.0153, -0.8928, -0.0189, -0.0498, 0.9996]\nstate[eef_state]: left_x=0.2561 left_y=-0.1924 left_z=0.1806 left_yaw=0.0439 left_pitch=-0.3982 left_roll=0.1505 left_gripper=0.996 right_x=0.2874 right_y=0.0004 right_z=0.1821 right_yaw=0.0097 right_pitch=-0.3943 right_roll=-0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.8171, 6.9675, 0.8181, -0.3639, 0.1148, 0.0073, 0.0342, -2.441, 9.2786, 1.58, -0.0806, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s broad torso now sits directly between the fingers. I’m closing on the fabric at this centered position.\"}",
  "call_id": "call_gexVOZvsKz97DyNIg6jQzorJ",
  "id": "fc_04ba48e32384966c016ab2b1bb858c87d0bb4d1470bace0075",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gexVOZvsKz97DyNIg6jQzorJ",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1503, 2.286, 1.7798, -0.9653, -0.5617, -1.0794, 0.0085, -0.0227, 1.1053, 1.0206, -0.9264, -0.0189, -0.0498, 0.9996]\nstate[eef_state]: left_x=0.2761 left_y=-0.3783 left_z=0.0267 left_yaw=0.064 left_pitch=-0.4398 left_roll=0.1914 left_gripper=0.0085 right_x=0.2818 right_y=0.0005 right_z=0.1781 right_yaw=0.0101 right_pitch=-0.4286 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -14.188, 5.4496, 0.5055, -0.3639, -0.0171, 0.6227, -0.0615, -3.0564, 6.6667, 1.3895, -0.0562, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a44c3d79d2b15108221a025ac5bc2b719af5e90e66d9c1801b0bfca394475a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f9744fdd0182233e33b3506f38b9d6301eed5f458059eb594f6355d9ee3c44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639cdd74a50b879d710d1b04e6c0722371f4f466252d1184bceb3e75f553d269",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.583 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.145, 2.2654, 1.7756, -0.9611, -0.5659, -1.0763, 0.997, -0.0227, 1.1053, 1.0206, -0.9085, -0.0189, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=-0.3778 left_z=0.0351 left_yaw=0.0597 left_pitch=-0.429 left_roll=0.1736 left_gripper=0.997 right_x=0.2855 right_y=0.0004 right_z=0.1804 right_yaw=0.0097 right_pitch=-0.4107 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.3692, 8.0068, 0.4713, -0.5788, 0.0855, 0.0904, -0.1026, -3.5624, 6.065, 1.4188, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHFvoxl8ggA-mtfLK8MdO2uLWZUQEuYHWVZVvkULs0_gN2glUW8Jrcm9EsaAGKxCEFcxepNvMS7oSZGdOKbvEIPoJVAVK3UuucWDB0EaexWOiZjrod4n29lNdIS0UyJjC8y46T-9_rxCn-6n7gkcnwR6RsbzevWYp4tuK6AuK6sDkrsRSXiD63g2-aJTGayuuqRA9MB-LTBDrdqSE7YiNfHTfqDrl2ZqIo3DBYeuZ7doCG4usRY2goTEoBjrdHbQl3vrC4331MZiPxteEr14V7_h4_uDu2LXztqLw5q2SPAI977je_UBpNS6_xPW1FxrwV2OW2pNMrQwomslLv0tRtcNhzG0fOfchC62__cuVHaDZfRoi2tzk6XqXeDWoBZB-hA2csPgueRVoQ8TIaxP1jCUDbFmKtUYn3kHpbTLOVNeCutXvpMuTpheWtpknHemRPp1o4RswwJYYOUrrSuqshR_tsCJuIFWFbyKdGOMwkNwvRpA1Wn8Jfd6A1_Id4kI-89be7kPNNxvppJbwRbEhdX-k26HGFd3dPubln-tXZySMcYDUyGiYRj-OZM6c8uKvugJHX194g4PSgHhfFK4Ke0CyztFP4l9dgb4PQeCk35tBRfffVSMgKVmTuSTpXXHnNy-a1b_KWTNkNmYjy4SfiRHpS7cT-_udL6UbOrWmFLRuYksXrsvDJ6Bkc4cpk0ejya3c3s7agTw3Z3ljweb0d0bhuw8PGooVFyWXTGj7CrLXgoctueCiodSZDloO77_NCFFXW_5ExCBFR1YH-HcJSAyJrm__ogChmVMt6Dk55ruiv_lrIZUqT-Ffm3CdQuzGeZ-QacoGG-LKLabgs3P95kFLHYzqevEl2UMByzPIQtu8npNyTwOz36KXDkpE12Qah1k_ic2BKJVzrLsHVIrMLpWB3T6Up82MMbr0LNrxa3FRYsj0BH0Tuuyz4GssIGO2A1un-Z1_F3JWS4TaU3i1MW_gwXRfHJ2p9SGo0pT2bnRp4DrYzGhHkvxhCVo_hDvpzTugPFZByHmIoM0MiTdBPbE8Cz3KkbIz7tOnc6ZGeR2GL0P0cDW1xb41BsttbmDdghgWFosWZojeYxZ5n-lCqzr0bkEDTsDqn2OK1msB-7PuIsa_gZcQPOslljPAW53ZrWfc6jjYH3LOo1sy4SjPQIlLLH847mGo5KrXiUfMKZToL4o6nbej__lD9RNVx6yqEqsapUejcT-FDWcu3mAcy3CNrAu-DYqhLkNdBuXeFvwV1IHyKiM0o5JoA9ogQArsDhHy6RHC6dtakwpR6v2HmzouOBWEsj67G--gXaFadG35nfR7oZwqUvpJ0Tbyf95HATJBDXomo18EnjFoou21x7uvUGT5UJETvs_hrVsIVdXUMQZFdbz6HyLvX0MPNrzuEZpYZwLXfu0yY97pTgwRYXs_qTbf6ZAkAZ2tf7LagXvpCKUkkg3OTOBpbCL-MDPHVPdJrjVGew_qYLLdRtrzT63mO3VX2VbD52tpwAQc9JIrjH5DDT4PrVq03EtPPaUCLNbL1EK6rgyGH8X8wC5OdoFPTgDmoFajTGB_vOOV4jZjE=",
  "id": "rs_04ba48e32384966c016ab2b1bfdfa087d0b3fee9ce97b817c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.37,\"left_z\":0.06,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The fingers are still closing below the plush rather than through its body. I’ll reopen, move forward toward the torso, and straighten the wrist for the next grasp.\"}",
  "call_id": "call_u5Y07P7DXS2FwCxRkwK107y5",
  "id": "fc_04ba48e32384966c016ab2b1c2ae3487d0bc4c6298dbbd5649",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u5Y07P7DXS2FwCxRkwK107y5",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.071, 2.1838, 1.4185, -0.2943, -0.786, -0.8467, 0.997, -0.0231, 1.1053, 1.0206, -0.9489, -0.0189, -0.0498, 0.9996]\nstate[eef_state]: left_x=0.3455 left_y=-0.3645 left_z=0.0316 left_yaw=0.0002 left_pitch=-0.086 left_roll=0.0591 left_gripper=0.997 right_x=0.277 right_y=0.0005 right_z=0.1752 right_yaw=0.0101 right_pitch=-0.4511 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.7863, -14.6803, 5.7641, 1.3553, -0.6081, 0.1685, -0.022, -0.1026, -3.0291, 6.5026, 1.3944, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124b2240e432c5265d4003045b85f8c736bbc6098a45f334e2fa41547625d7d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8d0eec7655cf0a1d3a192662ff309b3c0038e2e023adf87a1eb333ad3057b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dffa8126b838606ea3ae53d2684400c02d777a6a328d3cea479895a8bbd5008",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.907 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1503, 2.286, 1.7798, -0.9653, -0.5617, -1.0794, 0.0085, -0.0227, 1.1053, 1.0206, -0.9264, -0.0189, -0.0498, 0.9996]\nstate[eef_state]: left_x=0.2761 left_y=-0.3783 left_z=0.0267 left_yaw=0.064 left_pitch=-0.4398 left_roll=0.1914 left_gripper=0.0085 right_x=0.2818 right_y=0.0005 right_z=0.1781 right_yaw=0.0101 right_pitch=-0.4286 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -14.188, 5.4496, 0.5055, -0.3639, -0.0171, 0.6227, -0.0615, -3.0564, 6.6667, 1.3895, -0.0562, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The corrected reach places the fingers around the plush’s torso rather than behind it. I’ll close and then test the hold.\"}",
  "call_id": "call_HbwZnOFsgddker88ihPOUmFm",
  "id": "fc_04ba48e32384966c016ab2b1c99c6087d08dee7cb5d55bf786",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HbwZnOFsgddker88ihPOUmFm",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0721, 2.1841, 1.4071, -0.284, -0.7902, -0.8494, 0.0205, -0.0227, 1.1057, 1.0206, -0.9676, -0.0189, -0.0525, 0.9996]\nstate[eef_state]: left_x=0.3446 left_y=-0.3629 left_z=0.0293 left_yaw=0.0028 left_pitch=-0.0834 left_roll=0.0601 left_gripper=0.0205 right_x=0.273 right_y=0.0007 right_z=0.1727 right_yaw=0.0125 right_pitch=-0.4702 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -11.7949, 6.6393, 0.9841, -0.3394, -0.0122, 0.862, -0.1026, -2.8376, 6.4205, 1.3944, -0.0659, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911b4d8557d7c277d3d980278ef374a301337b9854821419c2adadcbf3bfab01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f828d79da4cfd0594e4bf5777567081b05d50d4c301ee5fcdcfd20ad6ae901d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf2162528e1d9e1395cc4cf50cac6f5e550e79b00a9fdcb6a027d44f13d93e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.357 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.071, 2.1838, 1.4185, -0.2943, -0.786, -0.8467, 0.997, -0.0231, 1.1053, 1.0206, -0.9489, -0.0189, -0.0498, 0.9996]\nstate[eef_state]: left_x=0.3455 left_y=-0.3645 left_z=0.0316 left_yaw=0.0002 left_pitch=-0.086 left_roll=0.0591 left_gripper=0.997 right_x=0.277 right_y=0.0005 right_z=0.1752 right_yaw=0.0101 right_pitch=-0.4511 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.7863, -14.6803, 5.7641, 1.3553, -0.6081, 0.1685, -0.022, -0.1026, -3.0291, 6.5026, 1.3944, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHRVtRffX5-WsRvg7RpZ3DMp4NuJUZKLRrwlHFHrjQOkMGGOfnNG46ZQwUJFBENsCGFUM4bgG5A3IspkAIS7Cf_mBlYWDAQcesntYxvOSx1oyIEQtHaI19HMAleTt6KHVJiWYsl2giWZyqTZARoH9O9eEIyIvFqDWGSX2AQn8MGMD6HFmgk6Zq-tLGit5yd3Rbu0F3RqkDwzWPkQdCi_1RSYWYyhTD0VfNkZkLtU5r8El-SFafKsE4H2tKgZ_TE4mOmxQEHaXmz0huQ3zu-DWmgQyuXl6NMSzRbpVD3JnXAhSs6D3o-eAaI0ecj_lMTlZG9JTCs55_mcvy_7RFdCpEd2LP8ig0lXAD8yicmxza0C6Sa6T2afzzXB8u2PSOXxx3C6-Y9UyP9UROvjQoBH6YUJRFqxwe3KooGYyb7WwKz_wm5wlHkeBnm4f1oKPG2pfCQ2EhLi8MgDUazmHRk9qQF-PnZh-tGiQkmTQxnmxyjwuBWk0oXQXrJGxX9EwDZ2cv25977uv8c1Te8frWwTjd3BCzFI764T_vxemwWJs5tzn2fm2UyknbsnrRG64qXUSCylrdDhwZCBgxbA55eKV5WRthhTNbAzwwY7yyizcLAdiFtI8umt4zjQ7iQX0jP0n8hoVu8E078Jflyl4LAn4lkMpo7Ep6228RDC6ukf1of8ehucjX_a2ck63c1faq9N_2iTEFtGv2qEHnYLFY-RKpVjUvfNv90jJU7FNWEuNlmKo-V93ju1JGCj1nbBF1-L-rNfq8LgUb23rI7rBWFGcKpjZng2dagGFyUI8qfhYM0CUi5YjfKt-XQ_s1ONdJF-ui6Iz2o9lYylSm8xkpoRkLIevSEhcJ_DkFgVFXh2RcpZdXYiNj0T1b7Hu-QvrNSikwh6q8fC5FGxtxHj4iZNDgD8Wb_7XY1NM_Qil87ELgzH1p_8k0J5u2dzZENWle0VknT-apjknDQXH4MyNsrYeByIj5-mbEA_-NGaJSMAVsySLYDDrxe14BguIUl_AIEYutLhIxAe8UQtmg9S2YPC7JLfhuNcWZ5di5ujv6Hr-oZfd8wCYtIAvZi5OqQwyTxz0UEp5uzsFQ78BCBTUekyOJvT4jhU11S8UVS7AR1gnQVMKIv4aorgl8YyQzdIwCjtyywOBcW4t4QmmbsR2BgzkNCMBG3epP8JujVFtbMg9O6Q8bMTm2SQoXZ9GFED3RGkIZJa5xTtQTHRbbxLcGbjSv4ywH3MH-aWNgji_RlMhye22Y=",
  "id": "rs_04ba48e32384966c016ab2b1cfc90887d09f70d24acdb96ede",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The jaw opening is very narrow, so the hold may only be on fabric. I’ll lift a short distance and check whether the plush follows before transporting it.\"}",
  "call_id": "call_yrSDh5hqMKBMyxjSHcCsFErg",
  "id": "fc_04ba48e32384966c016ab2b1d0a2fc87d0adc3eef5ab320e5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yrSDh5hqMKBMyxjSHcCsFErg",
  "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]: [-1.0798, 2.0563, 1.4525, -0.429, -0.8066, -0.8497, 0.0249, -0.0227, 1.1084, 1.0206, -0.9791, -0.0189, -0.0528, 0.9996]\nstate[eef_state]: left_x=0.3408 left_y=-0.3592 left_z=0.0907 left_yaw=0.0023 left_pitch=-0.0575 left_roll=0.0416 left_gripper=0.0249 right_x=0.2707 right_y=0.0008 right_z=0.1707 right_yaw=0.013 right_pitch=-0.4843 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -14.653, 8.8684, 1.1062, -0.6813, 0.1197, 1.033, -0.0615, -2.988, 6.4205, 1.2772, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06e9f51e906cbdbe1d10f4925657ce124c0b97be1c13cac6ef865626a3b6fc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c12e4fbb29405cd91e7f4b1ad5a4087680af403308d7c563f87be382114a65c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58878ffa86cd495e4140255c575d23420c7c48779df5b1f7affe8bea5493a465",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 4.785 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]: [-1.0721, 2.1841, 1.4071, -0.284, -0.7902, -0.8494, 0.0205, -0.0227, 1.1057, 1.0206, -0.9676, -0.0189, -0.0525, 0.9996]\nstate[eef_state]: left_x=0.3446 left_y=-0.3629 left_z=0.0293 left_yaw=0.0028 left_pitch=-0.0834 left_roll=0.0601 left_gripper=0.0205 right_x=0.273 right_y=0.0007 right_z=0.1727 right_yaw=0.0125 right_pitch=-0.4702 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -11.7949, 6.6393, 0.9841, -0.3394, -0.0122, 0.862, -0.1026, -2.8376, 6.4205, 1.3944, -0.0659, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHWKpAmu1HiWDJm1Ox7hk1DLCYxWriAdgTm-6gRtpXh6LSd8JiPN-fmWdwGCTLqPXBUbykRpd79f_z1KbYqHhICXlr-fy8Bqheq7lX-rMg8LVtOKcrtipr4abmfnufKJg-vwAcDON8jI-MQBfe4wlEW0F8souXpuz2_Ni3pzecIHFwAC0wyl7mqgQ6gitvPY15RKbfRmf3orRVFvpzNiDItfBWcmlPAwispHrCC1V8DPTXl5XnwG1QQJxUv464wLAn_ZLPasPwzaYp-De6ogx_T6SnUB1fHigUrAftTCrzNiQW7suXaOWB23aaNEi8bp_NXm76HgbTHHw5EunJGWAYCXNdKGFpglWAEvxEN9V4nqs_xd8qLCF4KMbddwm1QNuvAuppQVb69qhdUmFnbw-sJVmI46v4zlsBal8mBd7mQhAO-FnkgNeY9u2w5YkNpOxbGOu6UL38OPTk6GMUqrqZ9BjdC4hwniGfBhcUdWacN3g_TM8IGkIChz3yvSvEHzlJ2FGVWCoexmmIFPpUrzD-PsgUtKFV-7MdJq2sW4YmfoFWRkJAbwi33mwgJUDo_7IM2FjEJXYB8pLhPlfdKQPQp8kYt5HWtu5naQOaMF0TVfqUaYOH4BkXuZGoTsyUCIg8T7MG5RzcPQtlWDqPca-PEyQI5-fqdcVH0DLGBD8CZDS54vnHL_1eiVkvhJV4HZi0SvVdZDVBnjpESpqZR-pwROaGrSUCP-w7FclVXbsTVAsv58cBFlS6pKOUwnLYBBQiomlFG5-hlh45wD_yOtC4xKXTHA1ArJSUB_4hcJudmLoSeLdch2jxE3zEnu6Z69pxRfuIQt8zRWKyhEb8fe6eqbr75DAyJbfCl-9djvcyNCjYZFAN_pjeaqcYhI04opPphPMf_1Yf-lHf0oKY3m3X3EuQQDFjo3LxViab2pHCImOm6KNgdcvcpDs36JLV_YM0PiXgEfPa6kr3u5YiVaN6dkS5wdsdWwpGifxSNJdsas8q_z6PVM5KZbpph5y05LInyPZf_yoO4aCtllvr67lRYyLomZOHLu2B2k_-28qcEFeooW_mPBHyVGkRVv3aBKsu2FwRnLB4lWDLoGfhJr6gHmmDkwbVrYH2H3jzpALm1w6Ra9X69v9b9t11PyRZbJnzSOMSArnH0TrTLTX65fouzFzC0L_PYgLgWvjurWXTdHk8=",
  "id": "rs_04ba48e32384966c016ab2b1d4fa9487d0b5cd0ebab5546998",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.32,\"left_z\":0.25,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The brown plush rose with the gripper, confirming a fabric hold. I’ll carry it above the safe with extra clearance for its hanging limbs.\"}",
  "call_id": "call_fS78GJkuUDeSkJjbMFK47dPy",
  "id": "fc_04ba48e32384966c016ab2b1d539f487d0843939e4682c9dc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fS78GJkuUDeSkJjbMFK47dPy",
  "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]: [-0.8158, 2.0701, 2.001, -0.7101, -0.6678, -0.5976, 0.0249, -0.0227, 1.1103, 1.0206, -0.9939, -0.0189, -0.0525, 0.9996]\nstate[eef_state]: left_x=0.4548 left_y=-0.3185 left_z=0.2402 left_yaw=0.0321 left_pitch=-0.005 left_roll=-0.0227 left_gripper=0.0249 right_x=0.2676 right_y=0.0008 right_z=0.1685 right_yaw=0.013 right_pitch=-0.501 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -10.5641, 8.9504, 1.3358, -0.2418, 0.2759, 1.0281, -0.0205, -3.0974, 6.3795, 1.2332, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1671abfc1acaabbfa78c852623a3d80204a1689c6aa2b9a7537506765fcf7e55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc4eff4db7889e4967e32bbf66dedd5598d11f431a43e40aa0fa38bdfd103f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc085686a816b299bab689b1f77b22f1e476f6e7f4d271b032b54d989e0b2e67",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.252 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]: [-1.0798, 2.0563, 1.4525, -0.429, -0.8066, -0.8497, 0.0249, -0.0227, 1.1084, 1.0206, -0.9791, -0.0189, -0.0528, 0.9996]\nstate[eef_state]: left_x=0.3408 left_y=-0.3592 left_z=0.0907 left_yaw=0.0023 left_pitch=-0.0575 left_roll=0.0416 left_gripper=0.0249 right_x=0.2707 right_y=0.0008 right_z=0.1707 right_yaw=0.013 right_pitch=-0.4843 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -14.653, 8.8684, 1.1062, -0.6813, 0.1197, 1.033, -0.0615, -2.988, 6.4205, 1.2772, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.33,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The brown plush is above the safe’s opening. I’ll lower it onto the white plush while keeping the fingers inside the rim.\"}",
  "call_id": "call_38oPZSfe6pVsQxs0hq9yvBaY",
  "id": "fc_04ba48e32384966c016ab2b1db308087d08f455773f5a76a3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_38oPZSfe6pVsQxs0hq9yvBaY",
  "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]: [-0.8177, 2.1868, 1.6157, -0.2604, -0.6659, -0.59, 0.0272, -0.0227, 1.111, 1.0206, -1.013, -0.0189, -0.0528, 0.9996]\nstate[eef_state]: left_x=0.4597 left_y=-0.3256 left_z=0.0912 left_yaw=0.0256 left_pitch=-0.0407 left_roll=0.0218 left_gripper=0.0272 right_x=0.2635 right_y=0.0009 right_z=0.1661 right_yaw=0.0137 right_pitch=-0.5209 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -12.2188, 6.2291, 1.6386, -0.4664, 0.0269, 1.0232, -0.0752, -2.8103, 6.3658, 1.2918, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2625ee91182dd9ddae7cc813def402367d79f2ee44ed5d81eab66e824dc89a7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664340ea352fad8410e49158ac1f1bbe2032aff7a6be35b92f64195002b5b5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77af02f7bb320717667ede742771aeb1e7786777cd1526a33fceaf935ba48bd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.452 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8158, 2.0701, 2.001, -0.7101, -0.6678, -0.5976, 0.0249, -0.0227, 1.1103, 1.0206, -0.9939, -0.0189, -0.0525, 0.9996]\nstate[eef_state]: left_x=0.4548 left_y=-0.3185 left_z=0.2402 left_yaw=0.0321 left_pitch=-0.005 left_roll=-0.0227 left_gripper=0.0249 right_x=0.2676 right_y=0.0008 right_z=0.1685 right_yaw=0.013 right_pitch=-0.501 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -10.5641, 8.9504, 1.3358, -0.2418, 0.2759, 1.0281, -0.0205, -3.0974, 6.3795, 1.2332, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is supported inside the safe. I’ll release it before moving to the yellow object.\"}",
  "call_id": "call_bkAp3pJ09EZ8crPcvbcfxOyX",
  "id": "fc_04ba48e32384966c016ab2b1dff21887d0b1d580e44dbb6381",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bkAp3pJ09EZ8crPcvbcfxOyX",
  "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]: [-0.8177, 2.2074, 1.5978, -0.2691, -0.6659, -0.5934, 0.9952, -0.0227, 1.111, 1.0206, -1.0237, -0.0189, -0.0528, 0.9996]\nstate[eef_state]: left_x=0.4553 left_y=-0.321 left_z=0.0724 left_yaw=0.0294 left_pitch=-0.072 left_roll=0.0545 left_gripper=0.9952 right_x=0.2611 right_y=0.001 right_z=0.1649 right_yaw=0.0139 right_pitch=-0.5315 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -14.0786, 7.9385, 1.4335, -0.3639, -0.0122, -0.1294, -0.1846, -2.906, 6.3385, 1.1941, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f537ab8a7bb03d5754b3e78fa7bedda415e0534b7aeef3e846f600e4e1022453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2175cf500b0389a28f334b4fa6cc89114735ac1e55dfee6537cbc6625b285168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5971e70fb3647fba58f0366a7f3249a3aa91bf63a9758627abe182de624da15c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 7.054 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8177, 2.1868, 1.6157, -0.2604, -0.6659, -0.59, 0.0272, -0.0227, 1.111, 1.0206, -1.013, -0.0189, -0.0528, 0.9996]\nstate[eef_state]: left_x=0.4597 left_y=-0.3256 left_z=0.0912 left_yaw=0.0256 left_pitch=-0.0407 left_roll=0.0218 left_gripper=0.0272 right_x=0.2635 right_y=0.0009 right_z=0.1661 right_yaw=0.0137 right_pitch=-0.5209 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -12.2188, 6.2291, 1.6386, -0.4664, 0.0269, 1.0232, -0.0752, -2.8103, 6.3658, 1.2918, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHpgCNggZ13-KM-6CQowqMRK7bR-g9N2VUYvZfJXhrxUrqN16K2g0wHRXwmPAxaJZxqlAXvY_cDtja7XC3-x7ysIzpszRg3ywbVj0aeG3BFA9AZEf3vsvF-6iV2JqMdwExbVvfwDsU3XZ6gVw5OT75-qZmE0rFSZcztn4btHoUADV8bDaPQ9S-cPQZx4-xAYa4D9fL0-veW5304cOL2c3-h0l8kNwplJG5n0ce2ZkPHkk_160sdhUXVqvXcr8LToVU2kdYF8b1I34YzsSyce8W3uEaU8dX_3aPZyphsvhJAHDK2Ii1GMSL8ednzqAXaCOZfGAeejYNJB-XPSQF74v6tVYoW_RRY9CX-d8_Y7pDjeR5AWeM3ruPmfxHWpM1Ka2mC6kU74gSM4CZMyOb5JF5MLXHTAIctDimTwlEh9d0UMRFWcegIGrSrBUAexzY9ApMDydoXedc1jwM12UmMhGq3rV6hduwELuuyYc_CjE1bOT2G_Vx9EcN8oCIQHuuCU4q0_omqhcHLUwImr3V0HyBMITtSHHLtGUr-gbyauViiTW9BhsbpNyqyLRYEARqZ9JygYIv32Bm1EuU3O5JJepAiY2FI55bL3PatZ4gpcpw1PRAocXV_09S5Qtrdt5jay0J8cdoLiJScVjOxSk2A44Jtgsx8C7Ng7IwDY_QqrmcVCTt5ptidUe1Ga37geEBTVbJlpysrKIpb4Auj9cLzAB7Nntb4k-Bx9LBI6c9CyYe5RwA3iO-PUVF_LfsO4XX_zDYK7_rob-t17ewO2XRorowcDnh1lfwRHytFp2903ws0Kr4_anp9S2DaOvbrH0_lzLh7S2ouvmvtTjwqkdxuLVELZmL410MhC2Ai9PhbO-jO1ZObwS4tGOpI2M9eJXD-9_idzN_fIG9WLwGqvA6oCMnOm-wkhoJQRmNELLBselcf17xcRKaxl8wjyovLVINeZj2YPXrvXGsV0-qXZpK86JiFQ93apG9QL9yhsKvGHOZnbXy698zAync2RT81qaJMgHCpM-6AHtOgq65xD9hmvWwIMG82KxZVRJpOqJvlxQ1HS5Sa4LpgNP9Vh-iFjityhHQMX2ljVKKFzoBmlAnDT63e3nm-7WBw0I_A7Gtm7CZKvfa5H1bubK7l85CxrtDeUHqXz8u2OA2Jqa3JrGMDEXWmmGRtkiNGbPPqrF_gc1UkLSBFknKShgfZE5umhzhTEPMjyebnfkoqBv-QG9ZXrG47m7PwlS1YNjfc4YWU_pJdX9FFVoSnZFX_yvzbB96AB68_rO-lz2CB1qMZNyYL_wtLaNGur5VBTuqcKvYkoU8mJtykemGiArYMkL2oZDe634dC",
  "id": "rs_04ba48e32384966c016ab2b1e5a3e487d09a7e17f6e86a6051",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.21,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"Both plush toys are now in the safe, and only the yellow object remains outside. I’m parking the left arm and bringing the right gripper above the yellow object.\"}",
  "call_id": "call_inCEnapeFvG5xBYauk5QrUfB",
  "id": "fc_04ba48e32384966c016ab2b1e6f7d087d0a07a58c053a68230",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_inCEnapeFvG5xBYauk5QrUfB",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0872, 0.8131, 0.7238, -0.4969, -0.1486, -0.1261, 0.9963, 0.4332, 1.6798, 1.0744, -0.1215, 0.3298, 0.2111, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0042 left_z=0.2065 left_yaw=0.0905 left_pitch=0.0007 left_roll=-0.0055 left_gripper=0.9963 right_x=0.4415 right_y=0.1451 right_z=0.1269 right_yaw=0.0286 right_pitch=-0.0982 right_roll=-0.0381 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4838, 7.8427, 1.9756, 0.1001, 0.1538, 0.1001, 0.3077, -7.665, 9.2376, 1.9609, 0.3492, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac9f9aab79d7904e3f7284c57c0ae370a7866fe1e614166c52c59fb03809c51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc04eb61464ed982727facfb8954a794e92ebc419d8c7df1aebff8dd3aa98312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2468931a823de2ff69a6df322d117aa97c3791af96c48234ee92fee69d08f0a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.745 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]: [-0.8177, 2.2074, 1.5978, -0.2691, -0.6659, -0.5934, 0.9952, -0.0227, 1.111, 1.0206, -1.0237, -0.0189, -0.0528, 0.9996]\nstate[eef_state]: left_x=0.4553 left_y=-0.321 left_z=0.0724 left_yaw=0.0294 left_pitch=-0.072 left_roll=0.0545 left_gripper=0.9952 right_x=0.2611 right_y=0.001 right_z=0.1649 right_yaw=0.0139 right_pitch=-0.5315 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -14.0786, 7.9385, 1.4335, -0.3639, -0.0122, -0.1294, -0.1846, -2.906, 6.3385, 1.1941, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHzwjPzw_N6jnp2pZFdoSYfiOK7N6Mdfml5i5iaYJYHLp6BEC4RiQ6ysUvxlNXdb74g2bILrvUjVVxrlELdr-PdANZAIEidpNHI5D8cKmDYRGUYfpRPgn_0TzPGH9LxYgFFvNUxjFYUWXnFNldRYZlecuqIm9NlgHnSasHVG64APTimnAj58pvyqV5xu1nEAgjuJMAd5WRvwCN8oukcFEkJwCbyp7qCf7bfeNl7Ycwo1yfQLqtTWF1i7Htm8mJVdW-5LaL1ZWWUKb7PFqVLBxQa7fgJCVljuomY27MJeK0Mmcw6NPtHPrq8XrvklXWP3fJE_Ax2HwKwqQKPjw6EXApoBAz1VPtyJQuVfesCnJ05jXhEj6WCQzhZBo4pkYodotU4g0laQYDDpm9HYdRXwY-a1be1UQXPJVFO-F29tTP86IEyc39PPOKfmQfjs8ml5lIf4_pyAgJVqhCAWWDAw9okq-w43ZeW5Y9XNmLdWgp3x2G693w964raHeT8ez9vlCV0Iyprh4aUOzRTuovs3pJ-7bliWxEqjX5H9KsCzAEfeLd6Fy-uDGc8OhswvWU0Se9NfdpsDYpppA1eAtakY3UpAzvBJ_h5SM9YzeZASeE5ZiQPdCrUobFOjooJjaPwI1FS0jbiOLCTwJT1k5DmjIJ2SP__eLD77XldkcYASqxeRqXK3KZ3F2MmpY9esTh9rkXoR0wf_aF1W_CYvLKZrgCRm35i3kPACFDPX2CunY0g2sTVbVw_96dcjV8meIyRvGPddRrOCCCUMU9IiugXDh3zDzLW9FjPgbV8NFcgML4XxBd5tXRgTK4vfsQENue76XY7v2En6mqMUiodQxDucVt_o9VUTXzVxArsnEqZzDHYM9ceBdgexzcOilS7pcLQhSKo0kBIzNuMJvm83R1G7EDLc5jyeasCL7z71FKXqmVJdxFLx7qAj-gIH47oWVSgQYvjG0F2yOixMkmcgsiq1kCA6tT5Nw32TGfQD7APqAsjbbHjsi2k3j4s9NHNZzbm88H51RO4-lzyxdoSLuFeGeS_yfD0-9GHStxzkxQSlIjAxiqeeRJe_2FY4KiJ0ErrKby9-r7CyA_QdnvZXNFUcLB341P1Xbt_XlnOVOc7vex9q_C8IHZrowAVLWDNZ7zORfVzwAhrChnYISutO7XVfITnPGz52gdeLrAu8-JjBxDSY1k0JscjiGMyyDOnzRht20fFmBrKccjFqiF_pXOk_LdwDFqCwl_3hpzsleVjraqKLCjrGzo4CGbfrTjy3NaVOuLw82qWG6F4fBz3pcSbqjYHmrdIOH4bkbn4zgkW3xQmAc-Fmwe8k2pAsFHocx7OVqc5rkxWCRKxQnEYCEIR9UmiALhxcXNSltkbuk_6uesZt9AW7yo4HHHzkQZB-LhzcIjn",
  "id": "rs_04ba48e32384966c016ab2b1ef8c5c87d0a1aca5f0448436d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.137,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object is slightly right of the jaw column. I’ll correct sideways and lower around it; the brown plush also needs to be tucked farther inside before closing the safe.\"}",
  "call_id": "call_YgJgE5JCmAHoNgDH0uPslDnJ",
  "id": "fc_04ba48e32384966c016ab2b1f1680487d0ab61c8d83448ba7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YgJgE5JCmAHoNgDH0uPslDnJ",
  "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]: [-0.0856, 0.8181, 0.7238, -0.5285, -0.1429, -0.1284, 0.9965, 0.3573, 1.9923, 0.9722, 0.3687, 0.2905, 0.1768, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.004 left_z=0.1987 left_yaw=0.0886 left_pitch=-0.0359 left_roll=-0.0042 left_gripper=0.9965 right_x=0.4828 right_y=0.13 right_z=0.0306 right_yaw=0.0054 right_pitch=-0.0376 right_roll=-0.0143 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.6615, 6.8991, 1.9658, -0.105, -0.0122, 0.0024, 0.2256, -7.3504, 5.3538, 1.2527, -0.0464, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9cdcf9f346f3dd6ce25b725ad36e0963338dc457cfba33fc87c5591d7e5b1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3373771212eaa1e221712a283fd1b3f86e80bd340ccd46301f29f34a2c831aec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97139d3fde958777eb0a384248fea07b1faa1106fcd9b0a0097b0dc7a9911d3b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 5.457 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0872, 0.8131, 0.7238, -0.4969, -0.1486, -0.1261, 0.9963, 0.4332, 1.6798, 1.0744, -0.1215, 0.3298, 0.2111, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0042 left_z=0.2065 left_yaw=0.0905 left_pitch=0.0007 left_roll=-0.0055 left_gripper=0.9963 right_x=0.4415 right_y=0.1451 right_z=0.1269 right_yaw=0.0286 right_pitch=-0.0982 right_roll=-0.0381 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4838, 7.8427, 1.9756, 0.1001, 0.1538, 0.1001, 0.3077, -7.665, 9.2376, 1.9609, 0.3492, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrH4zB_CYTW3KvQ2BWDV4Nppwg-FenqUjEDyYXX7d6BrPB-Pq-sauOK9WUjZt3JDqcLrRaFNUDFCxlB9L1Er_MEFPp6Pw-e3iokXZByNRaQDJNA-KnIBsPCHsD6D5af2-vf0WQgFei4TMhvZICgQITVFXfXXIpU7jZVgr2-YYNbeFasX4XjUsdPOgXP9A-PQehfD5J-5ptL_OxJ-wjnA2RYuzbWyA8tIaUY8KSJzWOKhIdBIeaH-DODHrYWbablp-E6C0Eb3r1IrGBwFPlZOOceDXUsb0eqE-0fOioVtAOPqCF9qImcDoD-qJSXBLwsqX7V6MY9dh1-ug_1Dquis-A7YlLjIdMr15Xyc-6y_C3WOT5zVmdwX8wTQWW1UqqirR6w14QVVM6gDNXLTP4s7Lm0FrK13XPhXBZBYJR67-22bzfOKNg_pTUnIo9AIrlW4K4q6M9EnRjCXNMTgBuR31yUdYur0bNWrHYuWxJK5gj5iSBpzMVgSJ5_IjweIweqfA9MxAd8_h1Nq0cr_c7xJWqvaQ2SraT4SrpiBrz0cPYyCkz7Z6TzsazAyHvT-8Nh3Xp-7nxoOUvJAnPpj_G53R7HzYQEGK9RRqT_9d88JrItturpUHO4AbXIQfFMlyPa_OeGovzlPf2uKHRN_IZ9pbyO4z_aahyFsucpzSwMiA_XValTiHiBd4kF4nVhhQz0V5upzVpgYrd8zdDWE9O15XYvWcGKCj3KCeZE-zKMy8xqzx1r_9wP_EaxncNfmNThVGmj_xtY7mqMhzOF49tK3xwq75moKiK5_3eaXWKPDFPCcSsYaUfrNXUcPOd251_dEXlX8YhTEh9grkwLlUl3RqURtGk7DrcjqsHSLzqKvCvsR--snOXQ7BPsBdXX_bRRHZCRGwbKfXj8bpXnNdWxJMKxJ2YdRvxTT-Q1RcJdb-4cuANOKCEOULmb2HKtlJjMtzFex6XyyGbBZDdZqvWmA66dKBlm4m_fel7WVfHqnTRJOpPYqwqeVExL2rxjW_01TKdUisfQIgUX-9kOqVdUZKSQB4pM_y023DAstd_Dutgjh1dJNr0z1h-u2-gHDxptojnlt0T6_xnD7T2wThdz0Et8RkagXvBhwdZxYX8vf6kFRHWYIbukfSRFc_wHfQEAALhCdpCaPvTISrX_uN1SUtWrFbcPfEuhKJJiat1Cv2ZSbCjH9uOHRoeAUOcqLrvn2FcllHQud_hHJdquFSeCWLp0Vm8GrYvIZA72SHPY5h_etsRifQgcXCJ9HRroYd2pYviIO",
  "id": "rs_04ba48e32384966c016ab2b1f5fc7887d08161905e6161cf50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.115,\"right_x\":0.495,\"right_gripper\":0.25,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object is between the fingers but still slightly off-center. I’ll shift right and close gently around its narrow middle.\"}",
  "call_id": "call_7gnu24ZQTGZdkYEEzud9Ab4w",
  "id": "fc_04ba48e32384966c016ab2b1f6ae9887d092a6a8c4a072087f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7gnu24ZQTGZdkYEEzud9Ab4w",
  "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]: [-0.0856, 0.8188, 0.7238, -0.5404, -0.1432, -0.1352, 0.9965, 0.3122, 2.0212, 0.9691, 0.4011, 0.2527, 0.1497, 0.473]\nstate[eef_state]: left_x=0.2879 left_y=0.0042 left_z=0.1961 left_yaw=0.0928 left_pitch=-0.0483 left_roll=-0.0073 left_gripper=0.9965 right_x=0.4887 right_y=0.1151 right_z=0.0207 right_yaw=0.0062 right_pitch=-0.0448 right_roll=-0.0145 right_gripper=0.473\nstate[joint_eff]: [-0.1436, -1.347, 6.8855, 1.7949, -0.1197, 0.0464, -0.0122, -0.5402, -10.441, 5.1214, 2.1563, 0.0366, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa4a02745ac5c202476c7fbd81cab23472ec14dd77c48a63e61bcb793ac6d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f0a56078b84bcaca47553c92321ecae4a495ce2d187a2c4599e5951e428bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae36d94c9163752304a311499c8fe059c72c77d7887ea658ea8bdc836acbaadd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 8.124 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.8181, 0.7238, -0.5285, -0.1429, -0.1284, 0.9965, 0.3573, 1.9923, 0.9722, 0.3687, 0.2905, 0.1768, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=0.004 left_z=0.1987 left_yaw=0.0886 left_pitch=-0.0359 left_roll=-0.0042 left_gripper=0.9965 right_x=0.4828 right_y=0.13 right_z=0.0306 right_yaw=0.0054 right_pitch=-0.0376 right_roll=-0.0143 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.6615, 6.8991, 1.9658, -0.105, -0.0122, 0.0024, 0.2256, -7.3504, 5.3538, 1.2527, -0.0464, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper has stopped at a substantial opening around the yellow object. I’ll lift it briefly to confirm the grasp.\"}",
  "call_id": "call_ZLPbS1PhTthLxHgL8eNfC28u",
  "id": "fc_04ba48e32384966c016ab2b1fc5fa087d0a942bc6bf1105f21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZLPbS1PhTthLxHgL8eNfC28u",
  "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]: [-0.0853, 0.8207, 0.7238, -0.5591, -0.1432, -0.1356, 0.9965, 0.3084, 1.8633, 1.0027, 0.1944, 0.2462, 0.1455, 0.4774]\nstate[eef_state]: left_x=0.2853 left_y=0.0045 left_z=0.192 left_yaw=0.0936 left_pitch=-0.0685 left_roll=-0.004 left_gripper=0.9965 right_x=0.4801 right_y=0.1115 right_z=0.0691 right_yaw=0.0098 right_pitch=-0.0606 right_roll=-0.0186 right_gripper=0.4774\nstate[joint_eff]: [-0.0889, -1.2923, 6.8718, 1.8486, -0.1245, -0.0024, -0.0073, 0.1983, -11.3709, 9.1145, 1.9707, 0.1538, 0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ea3b24c0c20afc292177df48db0dd380daae4fe2157c8059eb0f6fc6f62f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f29562283bc0fe52e87effc0b9eadbfcd4a63a77946ced78fc64f126b6ce10d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fa6ef72a8ea29799d9d60cee12e5395c2ff9586c819784e64927427fd6f552",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.947 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.8188, 0.7238, -0.5404, -0.1432, -0.1352, 0.9965, 0.3122, 2.0212, 0.9691, 0.4011, 0.2527, 0.1497, 0.473]\nstate[eef_state]: left_x=0.2879 left_y=0.0042 left_z=0.1961 left_yaw=0.0928 left_pitch=-0.0483 left_roll=-0.0073 left_gripper=0.9965 right_x=0.4887 right_y=0.1151 right_z=0.0207 right_yaw=0.0062 right_pitch=-0.0448 right_roll=-0.0145 right_gripper=0.473\nstate[joint_eff]: [-0.1436, -1.347, 6.8855, 1.7949, -0.1197, 0.0464, -0.0122, -0.5402, -10.441, 5.1214, 2.1563, 0.0366, -0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrIHTUaB0Ihs9NsuXp5Dre3fl9QB3t2fNncYu_GppposGRtbfRXwJ37GAiuPaxaEjupu0Ti1Y2wULa2L0gFWpFALoMk68gwhBr6AzSQl75aJXtG0JpVd01bkYPupfFDska79b6O8BgnyMvg1HOyVh9hqwJoHGwIvtzBS5lf2_Ge1z87iQpau8su4nRdRWneYjUugsCzXMcjvrEsyhkQFtT0FDLzyTdMGx4xsbyys5jiYTuY8oqafkEWaxG6sdm0UUvGDRI854DkpnZJFQyce3Z38Hep93m5yMXie6QhM5iyzipg8oeYgLwV7S4jVVp1t6egPr3bKaQw8vxSQmr03MxxV5iN-TPD2VIzSPcENH5doVh-P3LQV49Rp1hazy1Q65BcRTqphiQCe4hspBMohLWNfgCLIe8kIbL5PU0MoSIJezWSo9geqnINmZeAnLGqqPAOJJ9OuDaXPmhwS3pjGYPnl1jlTPpt-3D0fKxrmeSHm7gqQufLW22MXLYJ65bn5ALHNVkL-WKRdu-dUONuQ4cCVwNNe9jhUtd09ZKxyD8D___4alMa4_NSUAsoT2dHrQ5vk8gv8aCdCSe9DYkXV8Rs965xKz5NXeoVZcXb3AOwFTBprX7V00a6D2rDFXdpEPbFWl_kojcdFvDggfIsRvhKxcORdnK_AI_CgyDlTzhazg9AAP2jlvOPSSLYds7L4U5e6PqvjaSu-OZXgGzKvaJbphTBcbj_b05Dc9UkVglqtBvGUqoiYNfFuTc49DAWUB0QIPsZGFW8_gjx9Rnsbd_HNAmb9ghmOORDvt5xxXmvsC8ZM6vjJ9hTs-r99Cs1wAh3lDnT8cs_gJtjiNtsLy5rNZvXhyluVJR0OI2EXCzJqmddbebSB0B7GNKtPq6tWvgRwbMCDIKD5wxx-f2DWVKXO6Sy2CfC5ZVBXS1YZDigpyJFLy1JQhM7jM7IK3_wio_7loOOk-xG9G5TaGsNqy1TxG7MkDCyB-xxUomv_upRTAXWV6oQJRblRMUTpx6m15iApFueQW_OZav7PeO0PrRQTuLMGgbj7_EeXALAYsH2OncSQgVcwI3gbK_qOyBA57hWW5Kd5jYh0TwDVJZZFbBV9NFvpj4aUN_H6Pe_7Ok4wUV18tttUV1NLDT1W02CSxJSjVvVEicUniEpJ9wRqykMUcFxbZL92AhoZ4l7nSqOormz5E-v5lwGXCjbWi2idx8Z96vYTkXAIsYwuAS1hsVt64HoxmNkHbE8KL-CoshDiHB3Wbq8DCSNj2H99hMk23HYaBkL3qa0qATU6zmGhnBrW9pRkYFpF4QH1NOsM_j6vRHahJ5NbZEqHhKlR2D9AUrJ_uXtEH-aLDea3MliQ7KN0kCTgimgr2YSaHx0lAsOhJNrEQiyDqxosrT6cH1wIzACQqPQWi-QSmRjAgMStab_va0LCTQNhtOElOnGgjt4MGe0Hxuzwgqjjkn_X3HKqGODTD_bPj89rkcNeOg2pV7dFNin7tpO-G_hVYzV0PVb0hLePkIvapbszMT6Cl7D5qlAuH8jwYcqflEs2-nC_1iWSxVDnyhuM-DgFzPmjbp9kxig=",
  "id": "rs_04ba48e32384966c016ab2b201dee487d09d1da9305443ac9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.32,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object is held securely. I’ll carry it above the rear half of the safe, leaving room to tuck in the brown plush at the front.\"}",
  "call_id": "call_08nNN0fDwN1HjhpSla0rENpp",
  "id": "fc_04ba48e32384966c016ab2b205604087d0bb3575a8095b79a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_08nNN0fDwN1HjhpSla0rENpp",
  "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]: [-0.0845, 0.8242, 0.7238, -0.585, -0.1429, -0.1398, 0.9965, 0.6502, 2.4371, 2.5183, -0.7547, 0.4965, 0.3454, 0.4774]\nstate[eef_state]: left_x=0.2816 left_y=0.005 left_z=0.1861 left_yaw=0.0967 left_pitch=-0.0975 left_roll=-0.0023 left_gripper=0.9965 right_x=0.5556 right_y=0.3214 right_z=0.2222 right_yaw=0.0407 right_pitch=0.0017 right_roll=0.0024 right_gripper=0.4774\nstate[joint_eff]: [-0.1299, -1.2923, 6.8581, 1.8632, -0.0952, -0.022, -0.0073, 0.4581, -12.2462, 6.6256, 0.7937, 0.3443, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43bad03363def2a9c8ad8851c1f3a07d01bd8116f2364a21d41fda200d456072",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd78735670b986cb77435d3b989a2d81c63234343fbffcaefa4f7d2a489ac12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855ae00cfd798430423f9976f7c6d5a88a3a3ec0ea6aee6f4e8860107ce30481",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.386 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.8207, 0.7238, -0.5591, -0.1432, -0.1356, 0.9965, 0.3084, 1.8633, 1.0027, 0.1944, 0.2462, 0.1455, 0.4774]\nstate[eef_state]: left_x=0.2853 left_y=0.0045 left_z=0.192 left_yaw=0.0936 left_pitch=-0.0685 left_roll=-0.004 left_gripper=0.9965 right_x=0.4801 right_y=0.1115 right_z=0.0691 right_yaw=0.0098 right_pitch=-0.0606 right_roll=-0.0186 right_gripper=0.4774\nstate[joint_eff]: [-0.0889, -1.2923, 6.8718, 1.8486, -0.1245, -0.0024, -0.0073, 0.1983, -11.3709, 9.1145, 1.9707, 0.1538, 0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_z\":0.095,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object is above the compartment near the back. I’ll lower it inside without touching the upright lid.\"}",
  "call_id": "call_bQzaOJitvM02EULNT5GMRSX3",
  "id": "fc_04ba48e32384966c016ab2b20b7f3887d0984a7452b319a918",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bQzaOJitvM02EULNT5GMRSX3",
  "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]: [-0.0845, 0.8253, 0.7238, -0.5922, -0.1432, -0.1429, 0.9969, 0.6762, 2.3486, 1.8111, -0.2443, 0.5102, 0.3519, 0.4774]\nstate[eef_state]: left_x=0.2806 left_y=0.0051 left_z=0.1844 left_yaw=0.0989 left_pitch=-0.1057 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5241 right_y=0.3145 right_z=0.0684 right_yaw=0.05 right_pitch=-0.0812 right_roll=-0.0626 right_gripper=0.4774\nstate[joint_eff]: [-0.0342, -1.265, 6.8444, 1.6825, -0.105, -0.0269, 0.0269, 0.5812, -16.4991, 6.7214, 1.5897, 0.2466, 0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94bc96d931e68b04c001cbd47f69e511e8eaabf187505a6be7b4222f9b4771b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764edf4ac3261459d926b786f99bafc2fee8dcd67a37c96615d57a4114443b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce39a35cf922c746e9e92a6423b6a72042659efda8fe519a75baf7ca2953599",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 5.422 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8242, 0.7238, -0.585, -0.1429, -0.1398, 0.9965, 0.6502, 2.4371, 2.5183, -0.7547, 0.4965, 0.3454, 0.4774]\nstate[eef_state]: left_x=0.2816 left_y=0.005 left_z=0.1861 left_yaw=0.0967 left_pitch=-0.0975 left_roll=-0.0023 left_gripper=0.9965 right_x=0.5556 right_y=0.3214 right_z=0.2222 right_yaw=0.0407 right_pitch=0.0017 right_roll=0.0024 right_gripper=0.4774\nstate[joint_eff]: [-0.1299, -1.2923, 6.8581, 1.8632, -0.0952, -0.022, -0.0073, 0.4581, -12.2462, 6.6256, 0.7937, 0.3443, 0.1734, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is resting within the safe. I’m opening the gripper to release it.\"}",
  "call_id": "call_QqBzARaPYu95F76PueSBxsCK",
  "id": "fc_04ba48e32384966c016ab2b211121887d0938775cfc307e44c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QqBzARaPYu95F76PueSBxsCK",
  "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]: [-0.0845, 0.8257, 0.7238, -0.5926, -0.1432, -0.1429, 0.997, 0.6769, 2.3486, 1.795, -0.2539, 0.5045, 0.3481, 0.995]\nstate[eef_state]: left_x=0.2806 left_y=0.0051 left_z=0.1842 left_yaw=0.0989 left_pitch=-0.1064 left_roll=-0.0027 left_gripper=0.997 right_x=0.5194 right_y=0.3125 right_z=0.0601 right_yaw=0.0558 right_pitch=-0.1045 right_roll=-0.0772 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -0.9641, 6.9812, 1.5995, -0.1294, -0.0415, -0.0024, -0.1162, -13.8462, 7.8427, 1.5116, 0.2222, -0.0464, -0.0952]\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,$blob:ddaf11b239404cd2e6ab08c508b48140e94ca16c012cd6037208954c9fdbd507",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d91546a498fbf83fb7f214f0d0857c0094db29c5c35c2c6dca3c438b1f5f50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e9d5ec4a9cc213ea92eef56a0e95c25d4acc5591ee3a2f2f4f1c146baec035",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 5.658 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8253, 0.7238, -0.5922, -0.1432, -0.1429, 0.9969, 0.6762, 2.3486, 1.8111, -0.2443, 0.5102, 0.3519, 0.4774]\nstate[eef_state]: left_x=0.2806 left_y=0.0051 left_z=0.1844 left_yaw=0.0989 left_pitch=-0.1057 left_roll=-0.0029 left_gripper=0.9969 right_x=0.5241 right_y=0.3145 right_z=0.0684 right_yaw=0.05 right_pitch=-0.0812 right_roll=-0.0626 right_gripper=0.4774\nstate[joint_eff]: [-0.0342, -1.265, 6.8444, 1.6825, -0.105, -0.0269, 0.0269, 0.5812, -16.4991, 6.7214, 1.5897, 0.2466, 0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrIYpyxQEaMSWMfUeOjITuYFxh9L8f3alL8dtDDE-TtUcfaWcT3dDYTHbeWTAUT1rnMxmgcLoHmu4vhr2z56dXgkkqvEsG-IIWEnLGDYOxct_cr-3-2AI1yKTZrPonz1plT6y7lLW5TMGM4LBYhbiF-13U_XWqThJrUSa9s83HsY1cyxM66Kl8-SfBbgL1HoMuLkO7BUbfgkcXaFlXAMAMgXLubuxmK386uDPA_I8uw_7Uznm9bd8tMPMv6poE8qGPtRlZIFuLsydz5-_wbH408t8AFvrNvAwm7ONe4O0egiAa1Uddo8E111OVOxKGdIahYttd6FG97qvix2GwElJSl8T8hVj5lIfez-6mPvVW7-A01u4dyDxR0-RNtA2CWyZfOov_fJXKoWE7CeekZ7QVBSe_zxPjGcWw4ndQisi3FIjWJi8m2VhCaSmzoY33bRfaRX9fNRmCljqVlQX2y6ztb7jNZwXSqHGc2WgRJmOULrJFmROvaCpsasrQerJXbTeLzWdDGEMbEtJKmDt-O-9rlHWqhScN5Ukm4vnF1IxCUbP5fveBhlWH5cWjowgTALHaOKloiE6UkSpAUEBB3W20N_8XFh0pDLBq_Z4Uz7YTZ1ot9cQ5xa_Z5sajs_TuvwpIR6E8sbS7z20vvkZl--Cb8zMteFYAem3V2Ni8LDSf3gadzfVI70LcixdfR66kqnmelfI7eShgNKP7hi3vi3IlWXsV9HTt72UcNfvjUNYxa4YDT5M08Ob-gHIVWqqCbTssrvluoqmpmXP4xcJ8tG9b4_mrsb237RIsBqTSWaSjlh-eex9zZ_cUttZdWJMRybpAwvOIv-6NgEj3oyi8JqK7LgOtrR0VSLjj6omZwzmdudYVYfxIcOmlqwPIhXuc30R-QF4DFbo3lBDr97Mex5T5_7VbauHTBWMJivBcIxD4XUgqSqq3kljiZIgxNzDWwyfErVatfBNdZ6f1Vq2U-gIcdxyU7cnHrjDe6-rwHEuaKFn9eYvke26nfJ0KlDiyXAwz566pgrgvnDnpnusqOA2uBgsrUGFBngAfH5rUcLqy6XMPMF0Qo55_4D3Is-aNOyDW738RsXWrteVeOVF6PK69epYop5T4Y3ncTd0a3bq2i1Ggv5P1wYipfula2e657focqZzOVNCYjeGG2o4OlHZEGH_1uONPC9lDNk4Iah7rGD5AAmvRS6DvFDOseqC_FKUR4ayWgPV3dW1MQ8akOag2fX5h2DsTlXOXPxEiZSKY_HiYUgY2XFBtkT_dkj0rlSgw33j62Tfbf3tjAQZhWEn8nCMS_Hxj4Jfv5GtW0AQKEwJai9xH7ANpjdCpjbClCAFX3eeKxs0PbdgUBUCf217Hbmhg==",
  "id": "rs_04ba48e32384966c016ab2b21530e487d0a49a40182eb9c397",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.31,\"right_z\":0.1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown plush is draped over the front rim. I’ll reposition the right gripper around its exposed body so I can tuck it fully inside.\"}",
  "call_id": "call_uqT0vebuIVuwp9kf4aC7joUG",
  "id": "fc_04ba48e32384966c016ab2b216317487d09c54464f2e0f34bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uqT0vebuIVuwp9kf4aC7joUG",
  "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]: [-0.0845, 0.8299, 0.7238, -0.6075, -0.1432, -0.1432, 0.9971, 0.8734, 1.969, 1.2282, -0.0895, 0.6254, 0.4839, 0.9967]\nstate[eef_state]: left_x=0.2785 left_y=0.0053 left_z=0.1804 left_yaw=0.0995 left_pitch=-0.1252 left_roll=0.0005 left_gripper=0.9971 right_x=0.3897 right_y=0.3096 right_z=0.077 right_yaw=0.088 right_pitch=-0.0601 right_roll=-0.0523 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.2239, 6.8444, 1.8095, -0.0952, -0.0464, -0.0073, 0.212, -12.5333, 6.7897, 1.6679, 0.4127, 0.1783, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829246b41af2b94ee2aa41188ceb37cccdbf5c77b4f1d30a895e00588b850cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08622a4d3782dddaf0d24982cafc72d505ef955ee9e298a3f337f26ca64e6c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ee0a0f96717fb6f395f8ecc45406dfc80862e6bc7526f72deab14d58797df7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.455 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]: [-0.0845, 0.8257, 0.7238, -0.5926, -0.1432, -0.1429, 0.997, 0.6769, 2.3486, 1.795, -0.2539, 0.5045, 0.3481, 0.995]\nstate[eef_state]: left_x=0.2806 left_y=0.0051 left_z=0.1842 left_yaw=0.0989 left_pitch=-0.1064 left_roll=-0.0027 left_gripper=0.997 right_x=0.5194 right_y=0.3125 right_z=0.0601 right_yaw=0.0558 right_pitch=-0.1045 right_roll=-0.0772 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -0.9641, 6.9812, 1.5995, -0.1294, -0.0415, -0.0024, -0.1162, -13.8462, 7.8427, 1.5116, 0.2222, -0.0464, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrIevCmDUDZK0uBzZIcNuTHA8r0t_rTvczin9mITX8oSh4uWM4Wo-Lig0YVWrGFxfhnBo2s7ON_B_C8sGuK-1E4Y6u_tlRxgHpH-df7QgjNh-tNlLVfxWaTx9k4wVWcakUJ7gMfvXk28HrkkMD7ShfWy7EkS8DPPf66qhaZUltWsfpq0tM8G9jDa33xPE-5f64rUxkdE6MfI_DIKtXNeP1U7DfSbzTcUa25ppEea9Vnq842Opm0WvhrZOYD4Qeu0S9gIh3FXe3nwBeMKLzut-8GKJcGrDSTMx56MD8SZVrmLpYIr7r-q_zHNx84OxV4j_N2pRTb_QVClOwZ7DYKMIBuoZDfieEc3TAylx9bHkRUXwk4UhYPaHPEFMj5yZFWK_gsA21xsu0GuldkFv4nAXO8fYsIlckDGpzUWJSyyjMPQmUMKmtk1tirroX2paH-DjqFxbJrMz_4qpIa6UaUkwIPIjKIp1vGuE3xNE0jlj_iC5xM6WNlZwseIgwtJTl9vvla_5wc5j_8UdNRdvYzNi5TrDsMmBuPwBvzd3-FFy-8U39-VT0I7SLrNHJbs0A-xDngAjm-5AZy_hAbMKFTty724xD0HPYvGoj1l6qkdZBg5kBgibjRcalbM4j-uAbAPeE6ee6_kw3epbrND0IJJbx_B0EmLanrKdMUUgTcrNuQxsnUJRxGyK5YTyTsb1C0yzaIJRgZm-P1LjzX_vJJ99Ypdmry-g6VxSgjE6msEPvaGqVq_WfQWXPvZC-w1yzD-QGkt45sZl2ReA7PCYmN6sECHf8LyJTyu0OwJN6mY_ywiVkK7XMhwxQNZBAMtus-SZo_YnpLkzG1xLSNkh0MQoC3UyeeCD5Mf32KuSAwT1SV3qQCrKbdD2jCBKKmjfk_bESoJ2TEoLy8kYOAbvGVCHgvuul0pzTR21hQP9WArjOhFFJnszJo9Z5ie6T7npD-9XKtwu-NdIKWo6956Z-J3X001f5cq5ejUzM_LamJM8blQjOzFWorcSGe1y00cqOYciAmLrYNZNP3oAONLnNQWVoe9rRerAsb-jkG1Q3kc_uwVNDLmPMqAFMrLk8S8mKN6zPy-4vbZN9e8p2ndU3ysXhs7PmbuJ_e71mxdgUhb9UklfJC9Lx7vvwCNnmIpAC4c7sJjCIMtj5-wMSd4O6svAzsY3fa2QEwGDs4WKTrTlWz324oBZ-H4SV25TxId9PBKQYGG5_8_spaIxHXyI0AwVQfSWqsXR4w2VfyTHZuh-dwg8ABLbD65M7Y85-AHfMm6A214",
  "id": "rs_04ba48e32384966c016ab2b21c15e887d084e1ded1b6d761ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_z\":0.05,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The exposed brown fabric is centered at the fingers. I’ll grasp it near the rim, then lift and move it deeper into the safe.\"}",
  "call_id": "call_GgNDwqWUdVIDpUUL5ScIsIdW",
  "id": "fc_04ba48e32384966c016ab2b21cf89087d08dfae8b850e62f71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GgNDwqWUdVIDpUUL5ScIsIdW",
  "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]: [-0.0845, 0.8303, 0.7238, -0.6147, -0.1432, -0.1432, 0.9971, 0.8364, 2.0377, 1.1885, 0.1013, 0.6048, 0.4412, 0.0386]\nstate[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1789 left_yaw=0.0997 left_pitch=-0.1327 left_roll=0.0019 left_gripper=0.9971 right_x=0.4095 right_y=0.309 right_z=0.0571 right_yaw=0.0914 right_pitch=-0.0116 right_roll=-0.0195 right_gripper=0.0386\nstate[joint_eff]: [-0.0615, -1.3197, 6.8444, 1.6679, -0.0952, -0.0317, -0.0171, -0.8821, -8.4991, 5.4085, 1.8584, 0.1245, 0.1294, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b9abf48a8d0a9cca7c7152e7e497be5978d2892859e4aea7ac25c2fddd36c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34acb77f0903a2e7ab7e9561015850462a2c6c9d2a719573a0def360c6ef9ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165a8cbce00fb03eac3b22b79bc75fbcbb781b4d578663863f3c054253e22dcd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 4.061 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 113 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8299, 0.7238, -0.6075, -0.1432, -0.1432, 0.9971, 0.8734, 1.969, 1.2282, -0.0895, 0.6254, 0.4839, 0.9967]\nstate[eef_state]: left_x=0.2785 left_y=0.0053 left_z=0.1804 left_yaw=0.0995 left_pitch=-0.1252 left_roll=0.0005 left_gripper=0.9971 right_x=0.3897 right_y=0.3096 right_z=0.077 right_yaw=0.088 right_pitch=-0.0601 right_roll=-0.0523 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.2239, 6.8444, 1.8095, -0.0952, -0.0464, -0.0073, 0.212, -12.5333, 6.7897, 1.6679, 0.4127, 0.1783, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The fingers have caught a fold of the brown plush. I’ll lift that fold inward to pull its hanging portion off the front rim.\"}",
  "call_id": "call_z34dju9WsZFSiDJWjpqjl6nK",
  "id": "fc_04ba48e32384966c016ab2b222500887d0a51c1bd5604d34a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z34dju9WsZFSiDJWjpqjl6nK",
  "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]: [-0.0845, 0.8318, 0.7238, -0.6331, -0.1429, -0.1432, 0.997, 0.7105, 2.075, 1.5986, -0.2134, 0.5056, 0.3573, 0.042]\nstate[eef_state]: left_x=0.2745 left_y=0.0056 left_z=0.1752 left_yaw=0.0999 left_pitch=-0.1522 left_roll=0.0053 left_gripper=0.997 right_x=0.4826 right_y=0.3071 right_z=0.1413 right_yaw=0.0873 right_pitch=-0.0083 right_roll=-0.0019 right_gripper=0.042\nstate[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.7656, -0.0952, -0.0317, -0.0122, -0.5538, -10.8786, 8.3897, 1.619, 0.1294, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7519b569eda5b4bd72e311d815b17683be27edbc60a8e28c8dc24d987a55e63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf95ef88ad6997d74304cc3b3372677374ae4b7c69b801a3b7bf942a59069ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:030da3686cd068d80a73892c9f7303a5b7bf5ad2d94eeebe1aa89665ef4e20a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 4.037 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 117 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8303, 0.7238, -0.6147, -0.1432, -0.1432, 0.9971, 0.8364, 2.0377, 1.1885, 0.1013, 0.6048, 0.4412, 0.0386]\nstate[eef_state]: left_x=0.2774 left_y=0.0054 left_z=0.1789 left_yaw=0.0997 left_pitch=-0.1327 left_roll=0.0019 left_gripper=0.9971 right_x=0.4095 right_y=0.309 right_z=0.0571 right_yaw=0.0914 right_pitch=-0.0116 right_roll=-0.0195 right_gripper=0.0386\nstate[joint_eff]: [-0.0615, -1.3197, 6.8444, 1.6679, -0.0952, -0.0317, -0.0171, -0.8821, -8.4991, 5.4085, 1.8584, 0.1245, 0.1294, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrIoUjvPHJbl8g5GMJt4zYEYItAOAmaPcJm2oyCwWfe8Ww8rz3UhYwOttRSVKpfYotFAT8ZkhHnaChVSzIDSZjllFUsRdVwg-UJOfSdnsqBtvLAKUezEIAwWz8btjm3QVhXbbyso7KX70GwH451RvUrY2PFImT4F-U-nlWEP9MOowc72KwmL64k0CDvQWWlq5FDNnKKqDPJg_2Iij3SzFI9oxMlR1cFSLz_GdWg2k-OR_ew0GB3zJ-ZBERZCVw0VJTtetlPCeKEIALBRdm43e8EQItCaRYUxNq_UAIDSBbcuEH0vEBBnLL0QwCBoo591kuDGdQ_U6QLX1b21kuNrz3OfWknPMLKVE_kd5TELfXy75upI1aQ8sMzCeFr4P7YuJw2ydQBjySP7Aooswn_fcHl_80qZg9DMmnDfWmQhxks5vzEjB9UX1zbYxoB9qIQ3IQ0gS37h31L-5hprXXPFefhXZEVg6vCSQ23hMj6G3ahYHOfY9JGj5WLayJ1jnAR1o-RAj0fgN6RfNxldFdb5osVzroG722DLCBXJwfynWFFYqEzMiTismq7RgekwEdkPm9AoRaipqAad6rN7ETE8nIrV_1m9s17tnVnER1gq91IkthSPYbfuT_eeDx_NpxOyDRXQv4C38Ngd0h362_GmbWwOpUGsBLd8d_m5RwBNiyOOX9RAOG_D3jlVowwvsuEpWpxKpR8DwEONW-K9dIMslGf1xc6nupC0p_1Zaz-AwTlyqkz9KQQ3wHhOcHzLIKfruG24UPxNvY8bO-PjKiYdzFu4G-xiJcIvqTAkhn1GqyoXnCKpvMIehf5BKYo7J_M9asTlD0Pw_oVFBs9xRkudNTPtN1uqbBL9QVSWJEXPp_-dy4y6GcHpEXUqk5dN25or0H9-lq_juXOOoVpY1O3GLCbbaG8913jpHe_j2-0HGF9lwYq2xOBgQrzGjpRMG8UKQEV4Ck0_djz-zsHUSrkoHF7NSu4H4xV98mh9_j9PRB-7YXNtMwTb_L1A1ArSz4Ihi7ygm0kKfEz6gAiagFH5FIjBudQX5wz3jhJ0nRTrQYMAfnHM5LFVeRZT9GDiWGPa9UAtJFREDXU_1GgWHTf-NP81kqPX-jDaOf6HjOpoaRoZRLSEY5RXiM8QqmzHA6PWYs1zSvdbQPJwuOx3Rn2ePKVkiT6uuRCUNMoeu-SInGx8D5_FlNCecjwQC3U5uLyF8sQl",
  "id": "rs_04ba48e32384966c016ab2b226da5487d08d4f2e34410713ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_z\":0.09,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The hanging part has lifted clear of the rim. I’ll lower the plush farther back so it stays entirely within the compartment.\"}",
  "call_id": "call_fDkoVAKtRJxp8zdx5jmmLDye",
  "id": "fc_04ba48e32384966c016ab2b2275a8487d0abc676d6dc16719d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fDkoVAKtRJxp8zdx5jmmLDye",
  "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]: [-0.0845, 0.8341, 0.7238, -0.6376, -0.1429, -0.1432, 0.9971, 0.664, 2.2318, 1.6253, -0.1398, 0.4625, 0.3202, 0.042]\nstate[eef_state]: left_x=0.2739 left_y=0.0056 left_z=0.1738 left_yaw=0.1001 left_pitch=-0.159 left_roll=0.0066 left_gripper=0.9971 right_x=0.5072 right_y=0.3014 right_z=0.0753 right_yaw=0.0933 right_pitch=-0.0713 right_roll=-0.0403 right_gripper=0.042\nstate[joint_eff]: [-0.1162, -1.4974, 6.9538, 1.58, -0.0806, -0.0708, -0.0073, -0.5812, -12.8205, 10.1265, 1.6484, 0.3004, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c631347ae033b6eb421692fb075f84f0bc23d16df6bc9b299513e499ef4ddaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fabab9ef558dc4144a5c627348383f921faf8be6c892c36a0f91c02ed444bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d45d15672d873d5ec3d86c0e4328b628ac3cf52baf96cae512dc1980e7d6fe1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 7.538 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 120 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8318, 0.7238, -0.6331, -0.1429, -0.1432, 0.997, 0.7105, 2.075, 1.5986, -0.2134, 0.5056, 0.3573, 0.042]\nstate[eef_state]: left_x=0.2745 left_y=0.0056 left_z=0.1752 left_yaw=0.0999 left_pitch=-0.1522 left_roll=0.0053 left_gripper=0.997 right_x=0.4826 right_y=0.3071 right_z=0.1413 right_yaw=0.0873 right_pitch=-0.0083 right_roll=-0.0019 right_gripper=0.042\nstate[joint_eff]: [-0.0752, -1.4154, 6.8034, 1.7656, -0.0952, -0.0317, -0.0122, -0.5538, -10.8786, 8.3897, 1.619, 0.1294, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is now tucked behind the front rim. I’ll release it before reaching for the lid.\"}",
  "call_id": "call_owRuH0bBpLmejppZCtCZAtNe",
  "id": "fc_04ba48e32384966c016ab2b22c731487d08a4b501b1c32b196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_owRuH0bBpLmejppZCtCZAtNe",
  "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]: [-0.0845, 0.836, 0.7238, -0.6376, -0.1432, -0.1432, 0.9971, 0.6617, 2.2574, 1.6329, -0.0902, 0.4469, 0.3054, 0.9946]\nstate[eef_state]: left_x=0.274 left_y=0.0057 left_z=0.1733 left_yaw=0.1005 left_pitch=-0.1608 left_roll=0.0072 left_gripper=0.9971 right_x=0.5138 right_y=0.3079 right_z=0.0714 right_yaw=0.1124 right_pitch=-0.0503 right_roll=-0.0265 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.4701, 6.8581, 1.5995, -0.0952, -0.0171, -0.0171, -0.8957, -13.2581, 9.1829, 1.7216, 0.2662, 0.0073, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c1abf28483bbb29c356c456e4c24375a2806a44085303fb01ac66a4c5074d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a7873d5f287364b1cdef343ab1bd4de2b6b122567d87ab9bc985e397f3ba89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27afd5f83250f62f735ccc2b2dd44660d772fbd0e2b46fc8028548972cbbd3a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 6.889 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 124 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8341, 0.7238, -0.6376, -0.1429, -0.1432, 0.9971, 0.664, 2.2318, 1.6253, -0.1398, 0.4625, 0.3202, 0.042]\nstate[eef_state]: left_x=0.2739 left_y=0.0056 left_z=0.1738 left_yaw=0.1001 left_pitch=-0.159 left_roll=0.0066 left_gripper=0.9971 right_x=0.5072 right_y=0.3014 right_z=0.0753 right_yaw=0.0933 right_pitch=-0.0713 right_roll=-0.0403 right_gripper=0.042\nstate[joint_eff]: [-0.1162, -1.4974, 6.9538, 1.58, -0.0806, -0.0708, -0.0073, -0.5812, -12.8205, 10.1265, 1.6484, 0.3004, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrI1VTSKIxrVYw0CHn2kGCQ-KYiuW8cXo0ljzBJFP4yoHSMebx8gFJwXk4J5UV_jD454OzLuk19LlR-Hj1gVnb-m09LqBo8VtlyYXsKv8klAPqFZV03PfhcLB2ycKyXgkxBsFfgIKCVJiie3JSYKjH2JP_YN6_Mis5UoiPiSe5AgkBHiyvBmjnHxyijS2Oh56k4NQAAO4QCw5w2qOAaPUPJQUtc2V7pdvNTLJ4-XMjs70k1tYt_SJYBNUJu0ZIRblUZAMCYEaLPOrPNkneH5WeMJoUOTWZ8JVqpbSlR3mPzGkEQZt7k4_4WeLwN9je1YPovblJp5HKETqYVoIYK2cMKgcxIL9nNedBhF1KqI0NmfFfToW4spJoD3yx7G6KYQd69sbSZCRxzFHZ2nn8A4SbcQ6bCnjhe9mUBQKVm0Te-iRd8kGoQtkiNqIYIOSCNidvnNdfIYBPM--xM0ZihD7-j6MZ9nBQVJ1QE9DOt6QioHRo0hdQ3L2fhsBojxPBAwLFJeYfCPkfg1Qfe7JTykwW3VHD-zsCFxbSmY_Qj0iwgXHEFEv856FXoaGVbt8wJsPO2q0-EJuxKsWEpSElpwYaO5xsCUYMm-OqbHwTKiEx97PgOnZk7utzwZ5JWAzed7WQsDqIh2Z2-RaSSb-GCKEtOJ-9BdPjnOUCSUxLyFN6b_NoBHiNZMGMvU_xneQpUvZqjQQs7D8AFyPeH0tN1ZJxgxyTfQJdg8Rqgs-dTCpZnh7u9Dt-Kkl5MojPhxqEAz4uvWoPmfvWUHpsOM7ZQ5MwYj701o9xWKBtUqwCer-DStLQ2CzjFBoPVLocSVyHKBdoSqgQEnbYD8OW1o3Ojhx78y6vOTFm1RIacPbt4_nutwVZNDqthdUUgD_sd-NO1L1HdLTpBbIBC94-JYmvN3W8Oeh50LUv5lWwBHzaKiT_Sj3_eUfa40L8nftd9VSBogPbegWDP5Ujdo2MoUc4NJG62xe1_4XOADOtOetguCj1Veoaf8S1dxR3Y4TKTqaMLqMLw0CSx5Ig96wzUhMUGuHP2TX3wgvO8AYNvqMVw8Y12rfnJwUvO5IZLIe0tnQbKKymsp3sZe9aEcbLSyqLwwUGaEQIgWew-GWYo_UvVsylA3ffZaLNEzsSWKibm2HSrK9SUxDYgpMDr7cWOmq-H2f4su5JUVllrwEL1PuhZM6CQ0ulCvAlUnCvXQuf2sT6YW6WJDgDlCzLHSdxrRImQ1hwHasBuiPtGYNIMv3yFSYSG6VZwokVw44-rVl4zd8NsI1ZX63repQ3YH5EE0QWs_qEW7liBYz4XTlhRg8unj0ZyEVyMnYi01idx20fSNPFgRdqoGp8wihWT12zHBfmd-9dhl0DSqw3IjSxm8yy0P6TxixCECVlfDWWdC-WgPrw5Bm1y6jqiDoCRUo0T4ekPjuLvm77xXeOqC9-BzcikfIKeq61jgcA7ADCHpoPEQPyzs0VeV6BfNgoVHWLW9yB9FGeYuBNJPVclcIkKCSTNCWchLVaDS_6iZE3USlHM-x7SgKjuiedM8z8BmFVmm--IO68F0ifRqzn2jMfZ_-tC5klalOBrTud03WD3czEPTiRSI9EsJ5RAFWGkann8h_1JKodf_Vg==",
  "id": "rs_04ba48e32384966c016ab2b230679087d0baab4b64cf3125de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.32,\"right_z\":0.31,\"right_pitch\":0.4,\"right_roll\":0,\"right_gripper\":0},\"note\":\"All three objects are inside the safe. I’m lifting clear and positioning the closed fingers near the top edge of the upright lid to bring it forward.\"}",
  "call_id": "call_ayWw5wocYZFsqrgKxAivrT63",
  "id": "fc_04ba48e32384966c016ab2b233fe7487d08f3179fa821ffbf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ayWw5wocYZFsqrgKxAivrT63",
  "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]: [-0.0845, 0.836, 0.7238, -0.6533, -0.1429, -0.1432, 0.9971, 0.6224, 2.2822, 2.2158, -0.1844, 0.4808, 0.0921, 0.0075]\nstate[eef_state]: left_x=0.2713 left_y=0.0059 left_z=0.1705 left_yaw=0.1007 left_pitch=-0.1762 left_roll=0.0099 left_gripper=0.9971 right_x=0.5823 right_y=0.3217 right_z=0.2996 right_yaw=0.1294 right_pitch=0.3603 right_roll=-0.0046 right_gripper=0.0075\nstate[joint_eff]: [-0.1573, -1.2239, 6.8034, 1.6679, -0.0952, -0.0269, -0.0171, -0.6769, -12.0274, 8.7043, 2.0, 0.1636, -0.1001, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a900f41a38d49561f31dc456c1ac80ad90f5d4abb7518fdbe199cf6260c3fb51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d038004ce3e2226654f2c82c3dd74413b89d3951979b0b48e4496d25e02a05dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d7630cf27185b68e34ec6a51ae333131d887b95c6d4165add4249bd8f5b2dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 5.878 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 127 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.836, 0.7238, -0.6376, -0.1432, -0.1432, 0.9971, 0.6617, 2.2574, 1.6329, -0.0902, 0.4469, 0.3054, 0.9946]\nstate[eef_state]: left_x=0.274 left_y=0.0057 left_z=0.1733 left_yaw=0.1005 left_pitch=-0.1608 left_roll=0.0072 left_gripper=0.9971 right_x=0.5138 right_y=0.3079 right_z=0.0714 right_yaw=0.1124 right_pitch=-0.0503 right_roll=-0.0265 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.4701, 6.8581, 1.5995, -0.0952, -0.0171, -0.0171, -0.8957, -13.2581, 9.1829, 1.7216, 0.2662, 0.0073, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrI-VJbM-2jXsHRzbU3OSdEaQaZ-TpqYbg_6vB9FfVX-ZosT7mKNKYY1bIwMaGKrw8ZQ0LGbjWm64KAIcrbpfk4yL0FQ2KAyOlrQAU4XWGZ1qw9DgrbrN7QevyhWHv_aZwA8aEsbFLNXqeDYluSKhXV27_hhdMDN4FlVjdwXLtedH1uYU3yhAschJTVikkiTyAy3owYeVzSDwtE-4tMEC0AkWuJKZOgQLLiwowud4fVhQBaqoGZE3nn22J657QzuB3xHscF3HYGDOljHM6HkImVPpvz3zOQFdCS0TcrojDaoAo5ux9QWDEO5EkTP9ebVSfJm1uF1rg3IzXq5Nd-4Yle7Z5BO7Jv8AbvvhhHxIwe-aaVCeadPfsO_IdsEDa0H15BLF3yNK2JCpxYBBKe04qEXMmWbFEZpmbqPuif0hGdTZXH1znqVAypCOXtGhIXyToZRZWa1O4P9oHkelsHgGauyrsjit3aRsYTzcJbEa0RKhOi9-uyq2L1h4YiY9D9vRRNuE_iy4bVFmSIwtzn5NVGJnzi7VMBIBdaCemsII2CurewmcEw1guDrCmKaNOHC0KWJnu20uPJSq0NpLAeA0RY8cVs6SjewJwM7s_g1nLdcpFfPpTiEjTlIwcyVQoubbFhXAyHcBZiqWWvLweQpV2-lyZneUedUv7hW00e7aHLWNiTWvCmDKbNvNHSAytUR7fbbAtRTK_0ArvA09dimRk2-FxeiSXE6_bJGwuxWUvuhGBJp9cbSBnTEmeQFlqcN-Wvo7k59pAPBQLm8n_KbwrROQTUrgQcrr2ng_bvfquuq8USOUDPRP86G8f3ckOfMzkbHAPMJU3UPzT7N85YsGq6B_gcEMOZMbdCuUDERW409WyWdU29omAKGt4G99Mh84MS8GNZAkp1N3rmMaOg8GmmRWTi1CptbSzP2gD1C2pyW8C3JGFnhzMdO9RBKsdo_041gB29GGxV6cGgvb1PkeALpwKFDHHJxxp02M2Yls8ruYflfQzyKY3AXQUKWCgkG9187zjOXMq45g-1wloDoTK3Xb0Ip_Pb-J4SAMNMLFWyeFgcbroKZuTNatxSKEuIR-OT1tSbXm6pFrj8hKknrNvkG4LfcGH_CEsTMznsN_GAPAd5oVJt3YNj2iMOI6hyRqF1Gnp4cOnjSHjsVMU_NImEDQU7pfxGp28izat2zTfauiKabruPQeQJ2pmOXCR_W7HdXImZQUJRtKLAB2EOkx75Vz43dl3WXoUl0kQUKIxA_NALqtt8PwvheXkItmiUnsVJR6DiEcVWP_xq_FQQH-UCf38-7bpFITTDhXHLfevQgO-byYdkc4Z1bw7q_Sg_48ufYUkhdTe4ajRSyqCr8HAJ-1aMgHRskU4c4VcZXAdQQe1SziNRU1KOrVCMlkjgoDRFVJSdWdZl3btvv7L7nDtEvrKfc5fF88FRx1pdgqAq4Ss_VwEQN0VzZSMwTUb5qdso5zZWX1ErWr2KGExN-i3_R0iB56BlclIxXOuS756Y2Qc2Cz6hYNwKIgDV7njH0pqm9K23-kXIrwTVQLE0YP4OAjepuZyk6lR2fSSfboQUzoQ5b_O-7aMDYBNL3lHpv71-WKjTIzRHn8wKQyN16zfVgFmpT8UMqCcwnMiY8U8OVpqY9aaM30jQ3IaDjPrHMPmWmrEKRHKmpLzm5alZgzkijqPtlJhunouHhE7su7sPcI57z1paReAQcT5KWfreQreeq",
  "id": "rs_04ba48e32384966c016ab2b2395ee487d0969fbd4269621b5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_z\":0.245,\"right_gripper\":1,\"right_pitch\":0.4,\"right_roll\":0},\"note\":\"The gripper is above the lid’s upper edge. I’ll open the fingers and lower them around that edge to guide the lid closed.\"}",
  "call_id": "call_LI9eF3IWNKzoC1abBALICFuS",
  "id": "fc_04ba48e32384966c016ab2b23cd3b887d08493f0dae1b9f356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LI9eF3IWNKzoC1abBALICFuS",
  "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]: [-0.0845, 0.8368, 0.7238, -0.6678, -0.1429, -0.1432, 0.9971, 0.606, 2.3081, 2.0396, 0.0185, 0.4667, 0.07, 0.9945]\nstate[eef_state]: left_x=0.2689 left_y=0.0061 left_z=0.1678 left_yaw=0.1012 left_pitch=-0.1912 left_roll=0.0127 left_gripper=0.9971 right_x=0.5944 right_y=0.3196 right_z=0.2441 right_yaw=0.1383 right_pitch=0.3593 right_roll=-0.024 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.0325, 7.0085, 1.663, -0.0757, -0.0513, -0.0122, -0.5812, -12.1368, 7.3504, 2.3321, -0.0513, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd3e610fd3dc511ead3ed9ac7f408b54c04314a048b5a6d027b06d3db1eb559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971251d1a2c975ca4053ae176bbc149c9c78056f384872cbec6284f8b6c70b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb80a2d091b1573e0e285f0a63c5b0a5be664a4cd5c0a155eefeb27a7c357a3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 5.886 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 131 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.836, 0.7238, -0.6533, -0.1429, -0.1432, 0.9971, 0.6224, 2.2822, 2.2158, -0.1844, 0.4808, 0.0921, 0.0075]\nstate[eef_state]: left_x=0.2713 left_y=0.0059 left_z=0.1705 left_yaw=0.1007 left_pitch=-0.1762 left_roll=0.0099 left_gripper=0.9971 right_x=0.5823 right_y=0.3217 right_z=0.2996 right_yaw=0.1294 right_pitch=0.3603 right_roll=-0.0046 right_gripper=0.0075\nstate[joint_eff]: [-0.1573, -1.2239, 6.8034, 1.6679, -0.0952, -0.0269, -0.0171, -0.6769, -12.0274, 8.7043, 2.0, 0.1636, -0.1001, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_x\":0.46,\"right_z\":0.115,\"right_pitch\":0.1,\"right_roll\":0},\"note\":\"The fingers are at the lid’s upper edge. I’ll close them and draw the edge forward and down toward the safe’s front rim.\"}",
  "call_id": "call_Hrr7u7dXGN5Iu2KRQO19JcWh",
  "id": "fc_04ba48e32384966c016ab2b24319f487d0b874178ae111b2b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hrr7u7dXGN5Iu2KRQO19JcWh",
  "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]: [-0.0845, 0.8417, 0.7238, -0.6865, -0.1432, -0.1432, 0.997, 0.7506, 2.0003, 1.401, 0.2573, 0.5957, 0.2459, 0.2858]\nstate[eef_state]: left_x=0.2659 left_y=0.0064 left_z=0.1634 left_yaw=0.1024 left_pitch=-0.2144 left_roll=0.0175 left_gripper=0.997 right_x=0.4821 right_y=0.319 right_z=0.191 right_yaw=0.085 right_pitch=0.2994 right_roll=0.0704 right_gripper=0.2858\nstate[joint_eff]: [-0.212, -1.2923, 6.7761, 1.7021, -0.1343, -0.0659, -0.0171, 0.3897, -7.1316, 4.2872, 0.5543, -0.4322, 0.2759, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a1643307bdf6d3b5d50f22c82b6a89707d54cfc00d1fbea50da8c11114f5b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca84aa0119d072a81ec524566678ac1a5801935cdb649007345fe981bddcea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ff57dd336238536ca02ff0b966628330f2a3d150f060113a82a9b0926acda71",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 5.153 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 135 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8368, 0.7238, -0.6678, -0.1429, -0.1432, 0.9971, 0.606, 2.3081, 2.0396, 0.0185, 0.4667, 0.07, 0.9945]\nstate[eef_state]: left_x=0.2689 left_y=0.0061 left_z=0.1678 left_yaw=0.1012 left_pitch=-0.1912 left_roll=0.0127 left_gripper=0.9971 right_x=0.5944 right_y=0.3196 right_z=0.2441 right_yaw=0.1383 right_pitch=0.3593 right_roll=-0.024 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.0325, 7.0085, 1.663, -0.0757, -0.0513, -0.0122, -0.5812, -12.1368, 7.3504, 2.3321, -0.0513, -0.0269, -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": "gAAAAABqsrJLS-OYdVHLWmIaFpWrnwkXNZRahA2a7kALhtqAZ9buw9tzvkSl82YxtPH_ZBUcvaC4AN_DBLS1o-sF0fn9q8W1po7y-9EZujEYUkb4qboCD6CTP51ivLCGGHAVeltTCjpopfqZceOCqxw8fPkRuT6On_1-b43Be_bAQAcUSbexrMZxpbu8j9zHNQNCCmky8-692GORxmoARDS1gRMlxIQ1ns87AdIZhP6vPQzC9QHuzPI8wY2Sit9SxEs8vgGYWlcudmLvezMcdkXR_mLPgeX3npZM292OHuuCyugXyDSCnHyVMMZVy492luHbWe1V762tb49i5-gvxf9NVB8-CfxC1WPVQ6HULkygaQ4veGX0duYdZKpYhvyFyZ-RMFI1AcGx8IT_fuRAevvO0evJ7EOx4mNM0x_kQVRo8L13fomsb1uNdBqQx_x27Yl-OSc0g7KhCbKGSf_1D0WeWWO2OWbaeZv6IFj3CMNu62Z-urBcWHO9fYl3fKlDKa-B_QSvZtIXhIt2eiFazWvCorCxW-gUkL6RL2sp6UlDryblHju6RB6AReu6X9tuZgy2fqKtLjS2jf5GWrmL9uG767hgZwHJc0mN-Wu_yqf_vaDLZmNC9ETC4mM7NGwzAUpPK68WD-15doiUtZKWVEl17SjCtoa83JzxzUnSWiSemRCFiZzEzTR_4phcl75tAp_WmDACZl-tvZic1CE1e9s1O-Gsp1_-16dRjy8uRKfcFbOiYCxWxyHvrVbFZWAs9p89HEEHWoMg52OpDIFOHX-ileFUrmuW1zEswPjJPhjrNAzAGY05j30VoryxpiJeLkx4SNDlphiayBVWcyXC0udSwMyIvRf_BVdzvDIiVFcWWRmjIv0k3dgj8sSNhAlmCbvLIWGm2L6skaKRPMC097UVAToDm5JsrZZdaqh4QPVHrAQG7Jqjq0hBKvjHA9jSFA1JdJwqHpoXQl8MgpaKOU3wg6XkiYmQRPPqWdmfe83OUbOIc9cSnDNzHlQba1ZZnrkqIVGml6iI7hAyCdJqKojbUnNcFoINTDMXm8_vmE3S6K4SE8IbvlAHg7CrYeQ0pkYCa16AHd76DdN7TQyX5rmKN2nY4eOpSmXNalvEBe6Zi-nGiAJHFT4JJLSrTTuv8hpLj229eIKh5Yx7syRQKWXkSgaV8IcqEM1iyjyU3QRFZvnhOz-vO1CgaFSa58Xxu5wgqQYCa9MRajgPrRC0zq4cy07B53X24wkaZMA_DErNlBdEG_VvNVFT0oPaYlNjG99ROI12kkMw",
  "id": "rs_04ba48e32384966c016ab2b2484cdc87d0b5f39660ab0d7af4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.07,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The lid has rotated forward but is not yet flat. I’ll release the edge and guide it farther down with the fingers.\"}",
  "call_id": "call_3KUe8cgiwNoC5d1SZmTOskkB",
  "id": "fc_04ba48e32384966c016ab2b249a85087d0a520471eb9cc598d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3KUe8cgiwNoC5d1SZmTOskkB",
  "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]: [-0.0845, 0.8425, 0.7238, -0.6956, -0.1432, -0.1432, 0.997, 0.8303, 2.0323, 1.2701, 0.0608, 0.5945, 0.4187, 0.9946]\nstate[eef_state]: left_x=0.2643 left_y=0.0065 left_z=0.1616 left_yaw=0.1028 left_pitch=-0.2242 left_roll=0.0194 left_gripper=0.997 right_x=0.4223 right_y=0.3207 right_z=0.0831 right_yaw=0.1053 right_pitch=0.0183 right_roll=-0.0021 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.3197, 6.7487, 1.5995, -0.1294, -0.0757, -0.0073, 0.335, -8.9915, 6.0239, 1.7705, 0.232, 0.1294, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60802697cad95e6360da810760986f63d6ca6661b8b9ce6401dddb36235a0d2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1158cee93bdab448a30ff86b07966156251f0c0b4115d24b94669e3b86c053d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83dec58b9faef081a6f0a1f1b14ecb07d678055d6335931ca914bb5f9a195d9b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 5.806 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 138 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8417, 0.7238, -0.6865, -0.1432, -0.1432, 0.997, 0.7506, 2.0003, 1.401, 0.2573, 0.5957, 0.2459, 0.2858]\nstate[eef_state]: left_x=0.2659 left_y=0.0064 left_z=0.1634 left_yaw=0.1024 left_pitch=-0.2144 left_roll=0.0175 left_gripper=0.997 right_x=0.4821 right_y=0.319 right_z=0.191 right_yaw=0.085 right_pitch=0.2994 right_roll=0.0704 right_gripper=0.2858\nstate[joint_eff]: [-0.212, -1.2923, 6.7761, 1.7021, -0.1343, -0.0659, -0.0171, 0.3897, -7.1316, 4.2872, 0.5543, -0.4322, 0.2759, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrJR9VRN_sTDpwOMd7NU55VXxD3EyHcSWT-0GfUmdOZdQ69L0qNLRnrwrV0vdQ_mmb6XTz4g_aRW2v0TMEk43RaXk9it1c9xGDxoluqHr1Zkh3Nr_Oc3XeIh9Ytql4I3Iy_VFJwcTZAGROaprf32uVentIX_vqOFDLdjmIpU1H78Gn7vpykXjrh-ok0QK4cV3GMQ-A4YGDbIvwIDbjecRyKTYq-KFOuW0wKAfK8fL_U8JATtyzoB328q2wLchRKkEPwwrNyxZFwCn4KqFBH_1R1l2PYC1whSpZGptOwJGES40dk7TlfSWiawejYwd4r_tQQs455PFUGr2xTLOWmKPqPAKykFumB-SQdE9RNA5cHlkrx6EPJj37tkxcAvq4ryPjJVvC3hApKg_W0NSBu_YyZot4FMSdMebl6Mia0GGNrppubYSmDqU7b3XpG6I4JLULfJ1aUJLhoAaRSpIhf1ps-cw-cpehEEtClVg589pdYZpFQCk67FoItT551la0NkINZc_iLs-7XcV-z37KCIYP0Vk5PkWnsAz_72giogxTr8TDNY06dZDpzyKydeimnNzuiU-1YzcqLEmzBugaQWH1Q-pYDjZSyJDxXTOxaY92FoyRXnEw1a61jqNtyfuIetbBAeUJDkglbv5W_4OYVEY45Qwc7XfEtsgD5XUCEx9aw6OpL_rZ02fels1vakRnjgFrSJTVHZMo3a9L9IvwK0c0KRbNo4BMuc3yOr9WFU1zVNWPZDO7W6Vhf7MjkUxKylCk88mkZu1lqmMgmhUPT_QTy0o8Qpwj5BuKbIkHaiiYXasnDfVX6DYW5u_JBv1k1x_tGRDe14NIPT8RrdHwN2uxlpp2GIzAnOUepQ3PRLEwuOwdrfYrPF-zaj0J-b6zg6zA9peq_JSf_At4hk860dKXh3tLYwMYYCO8sJnBH9Lo0j0WW2FGmszuRLHt26QCRW_b7kRI5PCnzYBZUM3aFaIsHhAtJ0WSdsDOl33k7iTob4sLCsBb1xuI1ZexFBi9sZgPn440wi9k8v680KtX6cox-OJEE4ZjRce50E7yN2pMLU4vFu8lpkWQq19XCyiFHA8Tb94QLxKjNKXZo1P4sDbVl2eiKuDrceIDy9I6Sbr1uJuPV5vgnw1J2j437BbXR7ilk2SJT1s5jCySJto0VIn9sk3_kBk-sET-XWls5ktQQQBDbzahxmeVNSmrEzEGgxvVe-TQ1puFmU_atmcux323gzlYqB42Dfmyggg_QgL3qOQPo=",
  "id": "rs_04ba48e32384966c016ab2b24f946087d08258d6d3bb2bb55b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_z\":0.21,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The lid is partly lowered, but the compartment is still open. I’ll move the closed fingers above its outer surface for a gentle downward press.\"}",
  "call_id": "call_oe2tG4USwFSiOicZpY2mmALm",
  "id": "fc_04ba48e32384966c016ab2b25024cc87d0a053051ca18defc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oe2tG4USwFSiOicZpY2mmALm",
  "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]: [-0.0845, 0.8471, 0.7238, -0.7109, -0.1429, -0.1432, 0.9971, 0.6842, 2.1811, 2.0003, -0.474, 0.4732, 0.3214, 0.0081]\nstate[eef_state]: left_x=0.2618 left_y=0.0067 left_z=0.158 left_yaw=0.1034 left_pitch=-0.2437 left_roll=0.0229 left_gripper=0.9971 right_x=0.5163 right_y=0.3218 right_z=0.205 right_yaw=0.106 right_pitch=0.0093 right_roll=0.0046 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.6205, 6.8444, 1.7118, -0.0659, -0.0366, -0.0073, -0.5128, -12.0137, 8.4171, 1.4969, 0.1099, 0.0611, 0.5788]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f927af3cf2b872575fb143fe02e18c692746469dfbde2e8a71dac5d6df639b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2fd315b38523ceccc985803c49aa58b7232a721580e1bba560dfae7580b1a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc6c6fcf683d157a9dc89cf789fce6f5f8aff17cc5cdb77726d5bcb4b4facf6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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