adhoc

completed
2026-09-22T16:26:02.678529+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
228.8 s
total steps
316
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, with a white plush toy, a brown plush toy, and a yellow object outside it. I’ll approach the white plush with the left gripper first.
move_to
left_x0.3500left_y-0.1000left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.387, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6071, -0.403, -0.0204, -0.0334, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6359, -1.4291, 10.1265, 1.9463, -0.0708, 0.149, -0.0855, -0.4581, -1.4701, 9.5932, 2.1026, -0.0317, 0.2027, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.10,"left_z":0.15},"note":"The safe is open, with a white plush toy, a brown plush toy, and a yellow object outside it. I’ll approach the white plush with the left gripper first."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe white plush is slightly left of the jaw column in the wrist view. I’ll center the jaws on its body and lower to grasp it.
move_to
left_x0.3650left_y-0.0750left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.466, 1.1988, 0.6453, -0.1665, -0.3622, -0.2813, 0.9992, -0.0212, 0.8005, 0.6094, -0.4332, -0.02, -0.0341, 0.9996] state[eef_state]: left_x=0.3343 left_y=-0.0941 left_z=0.1252 left_yaw=-0.0255 left_pitch=-0.0904 left_roll=0.0326 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [-0.2256, -4.4513, 9.3333, 1.8095, -0.2906, -0.0611, -0.0171, -0.1709, -1.812, 6.8034, 2.0098, -0.0366, -0.0366, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.075,"left_z":0.035},"note":"The white plush is slightly left of the jaw column in the wrist view. I’ll center the jaws on its body and lower to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe plush’s body is still ahead and a little left of the fingertips. I’ll move a few centimeters farther forward and left so the jaws surround its torso.
move_to
left_x0.3950left_y-0.0550left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3447, 1.5288, 0.4854, 0.2474, -0.2874, -0.2184, 0.9992, -0.0208, 0.8043, 0.6075, -0.4549, -0.02, -0.0341, 0.9996] state[eef_state]: left_x=0.3491 left_y=-0.0683 left_z=0.0233 left_yaw=0.0044 left_pitch=-0.182 left_roll=0.0623 left_gripper=0.9992 right_x=0.2852 right_y=0.0012 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.2701, 5.1214, 1.7705, 0.0073, 0.0855, -0.0122, -0.0342, -1.4838, 7.1316, 1.917, -0.0415, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.055,"left_z":0.02},"note":"The plush’s body is still ahead and a little left of the fingertips. I’ll move a few centimeters farther forward and left so the jaws surround its torso."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe white plush’s torso is now between the open fingers. I’ll close the gripper around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2504, 1.6779, 0.5938, 0.2722, -0.242, -0.1757, 0.9992, -0.0212, 0.8066, 0.6075, -0.4763, -0.02, -0.0345, 0.9996] state[eef_state]: left_x=0.3816 left_y=-0.0502 left_z=0.0108 left_yaw=0.0384 left_pitch=-0.2091 left_roll=0.0671 left_gripper=0.9992 right_x=0.2821 right_y=0.0012 right_z=0.1589 right_yaw=0.0004 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.8855, 7.0496, 1.6093, 0.0611, 0.1294, -0.0122, -0.1026, -1.3333, 7.0085, 1.9609, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white plush’s torso is now between the open fingers. I’ll close the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper has stopped above its empty-closed width, suggesting it caught the plush. I’ll lift it to verify the grasp and restore the idle arm to its parked height.
move_to
left_z0.0900right_x0.2920right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2413, 1.6871, 0.6128, 0.2832, -0.2287, -0.1535, 0.1151, -0.0212, 0.8082, 0.6075, -0.5003, -0.02, -0.0341, 0.9996] state[eef_state]: left_x=0.3895 left_y=-0.0509 left_z=0.0154 left_yaw=0.0229 left_pitch=-0.1924 left_roll=0.0679 left_gripper=0.1151 right_x=0.2784 right_y=0.0012 right_z=0.1539 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [-0.0889, -6.735, 6.7761, 1.453, -0.0317, 0.1001, 0.8718, -0.0752, -1.1829, 7.1726, 1.8291, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"right_x":0.292,"right_y":0.001,"right_z":0.18},"note":"The gripper has stopped above its empty-closed width, suggesting it caught the plush. I’ll lift it to verify the grasp and restore the idle arm to its parked height."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe white plush has lifted with the gripper. I’ll raise it above the safe’s rim before moving across.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2413, 1.5078, 0.7288, -0.0303, -0.2291, -0.1627, 0.1167, -0.0212, 0.8825, 0.6945, -0.5812, -0.02, -0.0372, 0.9996] state[eef_state]: left_x=0.3862 left_y=-0.05 left_z=0.0709 left_yaw=0.0293 left_pitch=-0.2096 left_roll=0.0665 left_gripper=0.1167 right_x=0.2816 right_y=0.0012 right_z=0.1576 right_yaw=0.0022 right_pitch=-0.18 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.0889, -7.5145, 8.6906, 1.6923, -0.1685, 0.0611, 0.4225, -0.0889, -1.6889, 9.1556, 1.8681, -0.0366, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22},"note":"The white plush has lifted with the gripper. I’ll raise it above the safe’s rim before moving across."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe plush is clear of the table. I’ll carry it over the open red compartment, staying in front of the upright lid.
move_to
left_x0.4650left_y-0.2800left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2413, 1.396, 1.174, -0.6243, -0.2283, -0.1726, 0.1202, -0.0212, 0.8848, 0.6971, -0.6125, -0.02, -0.0376, 0.9996] state[eef_state]: left_x=0.386 left_y=-0.0501 left_z=0.1954 left_yaw=0.0365 left_pitch=-0.245 left_roll=0.0691 left_gripper=0.1202 right_x=0.2767 right_y=0.0013 right_z=0.1527 right_yaw=0.0025 right_pitch=-0.2109 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [-0.0752, -7.3504, 9.4017, 1.5849, -0.1197, 0.0317, 0.3541, -0.0615, -1.7846, 6.8308, 1.8339, -0.0611, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.28,"left_z":0.22},"note":"The plush is clear of the table. I’ll carry it over the open red compartment, staying in front of the upright lid."})
tool
executing move_to over 21 steps (2.1s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe white plush is above the compartment. I’ll lower it into the safe, moving slightly toward the front to avoid the lid hinge.
move_to
left_x0.4450left_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7006, 2.1769, 2.2215, -1.0565, -0.4915, -0.5678, 0.1225, -0.0212, 0.8883, 0.6971, -0.6353, -0.02, -0.0376, 0.9996] state[eef_state]: left_x=0.4629 left_y=-0.2766 left_z=0.2085 left_yaw=0.0293 left_pitch=-0.2718 left_roll=0.0681 left_gripper=0.1225 right_x=0.2727 right_y=0.0014 right_z=0.1479 right_yaw=0.0027 right_pitch=-0.2372 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.7316, -12.2188, 8.294, 0.9499, -0.4957, -0.0317, 0.2369, -0.1846, -1.9214, 6.8034, 1.6777, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_z":0.085},"note":"The white plush is above the compartment. I’ll lower it into the safe, moving slightly toward the front to avoid the lid hinge."})
tool
executing move_to over 8 steps (0.8s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe white plush is inside the safe’s walls. I’ll release it onto the red interior.
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]: [-0.7189, 2.1326, 1.6413, -0.6235, -0.4915, -0.5865, 0.1253, -0.0212, 0.8906, 0.6971, -0.6575, -0.02, -0.0376, 0.9996] state[eef_state]: left_x=0.4368 left_y=-0.2667 left_z=0.0701 left_yaw=0.0439 left_pitch=-0.3464 left_roll=0.129 left_gripper=0.1253 right_x=0.2687 right_y=0.0014 right_z=0.1437 right_yaw=0.0028 right_pitch=-0.2616 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [-0.8547, -13.9282, 6.2701, 1.4579, -0.3785, -0.1099, 0.2759, -0.1983, -1.6342, 6.7897, 1.6484, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white plush is inside the safe’s walls. I’ll release it onto the red interior."})
tool
executing move_to over 9 steps (0.9s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe white plush is resting in the safe. I’ll lift the left gripper clear and keep the right arm parked before approaching the brown toy.
move_to
left_z0.2300right_x0.2920right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7242, 2.1326, 1.6173, -0.6315, -0.4904, -0.5892, 0.9956, -0.0208, 0.894, 0.6956, -0.6762, -0.02, -0.0376, 0.9996] state[eef_state]: left_x=0.4292 left_y=-0.2638 left_z=0.0611 left_yaw=0.0477 left_pitch=-0.37 left_roll=0.1503 left_gripper=0.9956 right_x=0.265 right_y=0.0016 right_z=0.1392 right_yaw=0.0034 right_pitch=-0.2853 right_roll=0.0031 right_gripper=0.9996 state[joint_eff]: [0.0889, -11.7675, 8.1573, 1.0574, -0.3101, -0.0171, -0.1441, -0.0752, -1.9487, 6.8718, 1.5751, -0.0611, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23,"right_x":0.292,"right_y":0.001,"right_z":0.2},"note":"The white plush is resting in the safe. I’ll lift the left gripper clear and keep the right arm parked before approaching the brown toy."})
tool
executing move_to over 11 steps (1.1s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe brown plush is directly in front of the safe. I’ll bring the left gripper above its body.
move_to
left_x0.2500left_y-0.2700left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.725, 2.1796, 2.3653, -1.2781, -0.4839, -0.6037, 0.9969, -0.0212, 1.0374, 0.9585, -0.8459, -0.02, -0.0448, 0.9996] state[eef_state]: left_x=0.4348 left_y=-0.2706 left_z=0.2319 left_yaw=0.037 left_pitch=-0.3337 left_roll=0.0962 left_gripper=0.9969 right_x=0.2833 right_y=0.0011 right_z=0.183 right_yaw=0.0076 right_pitch=-0.3356 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.253, -10.0581, 6.8171, 0.6667, -0.3736, 0.0952, 0.1245, -0.0889, -2.2085, 9.3744, 1.5311, -0.0415, 0.0317, -0.0073] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.27,"left_z":0.14},"note":"The brown plush is directly in front of the safe. I’ll bring the left gripper above its body."})
tool
executing move_to over 15 steps (1.5s)
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 brown toy’s soft torso is aligned near the jaw column. I’ll lower around its middle, avoiding the wider head on the right.
move_to
left_x0.2850left_y-0.2850left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1023, 1.7149, 1.3518, -0.976, -0.6006, -0.9863, 0.9971, -0.0212, 1.0454, 0.9592, -0.8673, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.2538 left_y=-0.2724 left_z=0.1324 left_yaw=0.0192 left_pitch=-0.3658 left_roll=0.1325 left_gripper=0.9971 right_x=0.2797 right_y=0.0012 right_z=0.178 right_yaw=0.0082 right_pitch=-0.3642 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.4581, -10.2222, 6.065, 0.7741, -0.5934, -0.1343, 0.0073, -0.1026, -3.0291, 6.5573, 1.4969, -0.0513, -0.0513, -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_x":0.285,"left_y":-0.285,"left_z":0.025},"note":"The brown toy’s soft torso is aligned near the jaw column. I’ll lower around its middle, avoiding the wider head on the right."})
tool
executing move_to over 7 steps (0.7s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe fingers are on either side of the brown plush’s torso. I’ll close around the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0458, 1.9068, 1.1824, -0.6209, -0.588, -0.9367, 0.9971, -0.0212, 1.0454, 0.9592, -0.8864, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.2777 left_y=-0.2768 left_z=0.0324 left_yaw=0.0442 left_pitch=-0.3836 left_roll=0.1636 left_gripper=0.9971 right_x=0.2759 right_y=0.0013 right_z=0.1754 right_yaw=0.0084 right_pitch=-0.3832 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [0.4308, -8.4308, 4.9983, 0.779, -0.2906, 0.1538, -0.0122, -0.0205, -2.6188, 6.5709, 1.4579, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are on either side of the brown plush’s torso. I’ll close around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe near-zero gripper width indicates the first close missed the toy. I’ll reopen and move farther forward toward the torso for one corrected attempt.
move_to
left_gripper1.0000left_x0.3150left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0458, 1.9186, 1.177, -0.6071, -0.5892, -0.9432, 0.0134, -0.0212, 1.0458, 0.9592, -0.9043, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.2779 left_y=-0.2768 left_z=0.0275 left_yaw=0.0496 left_pitch=-0.3836 left_roll=0.1634 left_gripper=0.0134 right_x=0.2722 right_y=0.0014 right_z=0.1728 right_yaw=0.0086 right_pitch=-0.4015 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.1846, -10.3179, 6.0103, 0.5201, -0.3443, 0.0464, 1.1551, -0.0752, -2.6188, 6.5162, 1.4237, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.315,"left_z":0.025},"note":"The near-zero gripper width indicates the first close missed the toy. I’ll reopen and move farther forward toward the torso for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe brown plush now fills the space between the fingers farther up its body. I’ll close and check the resulting grasp width.
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]: [-0.963, 1.9644, 1.2312, -0.5804, -0.5865, -0.8711, 0.9948, -0.0212, 1.0458, 0.9592, -0.9207, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.3108 left_y=-0.2693 left_z=0.0265 left_yaw=0.0774 left_pitch=-0.3758 left_roll=0.1741 left_gripper=0.9948 right_x=0.2688 right_y=0.0014 right_z=0.1706 right_yaw=0.0088 right_pitch=-0.4179 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [0.2393, -8.2393, 7.3094, 0.8718, -0.1245, 0.232, 0.0366, -0.1709, -2.5641, 6.5026, 1.409, -0.0513, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush now fills the space between the fingers farther up its body. I’ll close and check the resulting grasp width."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe second close was also empty. I’ll lift and move aside to re-locate the brown toy from the overhead view rather than repeating the same approach.
move_to
left_x0.2200left_y-0.1600left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9615, 1.9648, 1.2312, -0.5842, -0.5804, -0.8757, 0.0123, -0.0212, 1.0466, 0.9592, -0.9485, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.3101 left_y=-0.2688 left_z=0.0256 left_yaw=0.0803 left_pitch=-0.3826 left_roll=0.1719 left_gripper=0.0123 right_x=0.263 right_y=0.0016 right_z=0.1668 right_yaw=0.0092 right_pitch=-0.4465 right_roll=0.0031 right_gripper=0.9996 state[joint_eff]: [-0.1983, -9.8667, 5.6547, 0.696, -0.4371, 0.022, 1.0672, -0.0752, -2.5368, 6.4479, 1.4823, -0.0708, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.16,"left_z":0.18,"left_gripper":1},"note":"The second close was also empty. I’ll lift and move aside to re-locate the brown toy from the overhead view rather than repeating the same approach."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe overhead view shows the brown torso closer to the bases than my previous grasp points. I’ll approach that nearer section and restore the gripper’s upright orientation.
move_to
left_x0.2150left_y-0.2900left_z0.0350left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.008, 1.3514, 1.1362, -1.111, -0.5735, -0.9287, 0.995, -0.0212, 1.0473, 0.9592, -0.9657, -0.0196, -0.0452, 0.9996] state[eef_state]: left_x=0.2268 left_y=-0.1732 left_z=0.1642 left_yaw=0.0644 left_pitch=-0.3878 left_roll=0.1433 left_gripper=0.995 right_x=0.2594 right_y=0.0016 right_z=0.1645 right_yaw=0.0091 right_pitch=-0.4645 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.7179, -5.3128, 8.8137, 0.7106, -0.5543, -0.0562, -0.0269, -0.1026, -2.5778, 6.6667, 1.3846, -0.0415, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.215,"left_y":-0.29,"left_z":0.035,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The overhead view shows the brown torso closer to the bases than my previous grasp points. I’ll approach that nearer section and restore the gripper’s upright orientation."})
tool
executing move_to over 13 steps (1.3s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe jaws now straddle the nearer part of the brown plush. I’ll close on this section.
move_to
left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.3487, 1.8183, 0.8707, -0.3695, -0.9092, -1.206, 0.9963, -0.0208, 1.0473, 0.9592, -0.9714, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.2102 left_y=-0.2817 left_z=0.0313 left_yaw=-0.0121 left_pitch=-0.0635 left_roll=0.0552 left_gripper=0.9963 right_x=0.2581 right_y=0.0018 right_z=0.1638 right_yaw=0.01 right_pitch=-0.4702 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [-0.3077, -8.0615, 4.4239, 0.7546, -0.8181, -0.0073, 0.1245, -0.0889, -2.5231, 6.4205, 1.2186, -0.0513, -0.0269, -0.0122] 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_gripper":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The jaws now straddle the nearer part of the brown plush. I’ll close on this section."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThat close also missed; the visible fingertips are just behind the toy’s body. I’ll move to the middle of the torso and lower fully to table level with the tool upright.
move_to
left_x0.2600left_y-0.2900left_z-0.0100left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.3609, 1.8397, 0.8291, -0.2943, -0.9409, -1.2346, 0.0123, -0.0212, 1.0473, 0.9592, -0.9714, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.2091 left_y=-0.2794 left_z=0.023 left_yaw=-0.0009 left_pitch=-0.0303 left_roll=0.0268 left_gripper=0.0123 right_x=0.2581 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4702 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [-0.4855, -9.2239, 4.2051, 0.8669, -0.7253, -0.022, 1.072, -0.1162, -2.5231, 6.5436, 1.1404, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.29,"left_z":-0.01,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"That close also missed; the visible fingertips are just behind the toy’s body. I’ll move to the middle of the torso and lower fully to table level with the tool upright."})
tool
executing move_to over 10 steps (1.0s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe open fingers are now alongside the brown torso at table height. I’ll close here.
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]: [-1.2228, 1.9778, 0.8177, 0.057, -0.9291, -1.047, 0.9951, -0.0208, 1.0473, 0.9592, -0.9718, -0.0196, -0.0452, 0.9996] state[eef_state]: left_x=0.258 left_y=-0.2857 left_z=-0.003 left_yaw=0.0286 left_pitch=0.0109 left_roll=-0.0144 left_gripper=0.9951 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4706 right_roll=0.0035 right_gripper=0.9996 state[joint_eff]: [0.3214, -6.7077, 4.4239, 1.0134, -0.2125, 0.3394, -0.0904, -0.0889, -2.3316, 6.653, 1.1355, -0.0269, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers are now alongside the brown torso at table height. I’ll close here."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe brown toy remains ahead of the fingertips; the wrist view makes it look closer than it is. I’ll advance to its upper torso while keeping the tool upright.
move_to
left_x0.3500left_y-0.2900left_z0.0250left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2217, 1.9812, 0.8177, 0.0628, -0.9291, -1.0492, 0.0121, -0.0212, 1.0473, 0.9592, -0.9718, -0.02, -0.0448, 0.9996] state[eef_state]: left_x=0.2585 left_y=-0.2859 left_z=-0.0037 left_yaw=0.031 left_pitch=0.0116 left_roll=-0.0185 left_gripper=0.0121 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0094 right_pitch=-0.4706 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.1846, -8.7726, 4.2325, 0.8913, -0.5055, 0.0024, 1.0525, -0.0342, -2.4821, 6.4205, 1.1404, -0.0659, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.29,"left_z":0.025,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The brown toy remains ahead of the fingertips; the wrist view makes it look closer than it is. I’ll advance to its upper torso while keeping the tool upright."})
tool
executing move_to over 10 steps (1.0s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteThe low approach has nudged the plush toward the safe. I’ll raise the jaws to the thicker body and move over it rather than continue underneath it.
move_to
left_x0.3950left_z0.0650left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9863, 1.9816, 0.9329, 0.128, -0.7849, -0.7509, 0.9954, -0.0212, 1.0473, 0.9592, -0.9722, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.3376 left_y=-0.2775 left_z=0.0165 left_yaw=0.0254 left_pitch=-0.0238 left_roll=0.0161 left_gripper=0.9954 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4709 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [0.4034, -7.9521, 7.7197, 1.6386, -0.3199, 0.1441, -0.1294, -0.0752, -2.3043, 6.6393, 1.1258, -0.0855, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_z":0.065,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The low approach has nudged the plush toward the safe. I’ll raise the jaws to the thicker body and move over it rather than continue underneath it."})
tool
executing move_to over 5 steps (0.5s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe brown plush is against the safe’s front edge. I’ll close around its raised body and lift slightly to clear that edge.
move_to
left_gripper0.0000left_z0.0900left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8696, 1.9804, 1.0397, 0.0662, -0.7013, -0.6342, 0.9984, -0.0212, 1.0519, 0.9588, -0.9939, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.3798 left_y=-0.2676 left_z=0.0344 left_yaw=0.0237 left_pitch=-0.0523 left_roll=0.0362 left_gripper=0.9984 right_x=0.2534 right_y=0.0018 right_z=0.16 right_yaw=0.01 right_pitch=-0.4976 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [0.294, -12.2735, 7.9111, 1.4579, -0.315, 0.2222, -0.1783, -0.0205, -2.5094, 6.4342, 1.3553, -0.0708, -0.0611, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":0.09,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The brown plush is against the safe’s front edge. I’ll close around its raised body and lift slightly to clear that edge."})
tool
executing move_to over 10 steps (1.0s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe gripper is still empty and its upward motion was obstructed near the plush and front rim. I’ll open and lift clear before making a top-down approach.
move_to
left_z0.2200left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8513, 1.9747, 1.0611, 0.0669, -0.6918, -0.5907, 0.0125, -0.0212, 1.0519, 0.9588, -1.0107, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.389 left_y=-0.2675 left_z=0.0432 left_yaw=0.0109 left_pitch=-0.0412 left_roll=0.0455 left_gripper=0.0125 right_x=0.2497 right_y=0.0018 right_z=0.1581 right_yaw=0.0103 right_pitch=-0.5144 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.6085, -12.1368, 7.3641, 1.5409, -0.2076, 0.0562, 1.0867, -0.0342, -2.4957, 6.3521, 1.2576, -0.0855, -0.0708, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The gripper is still empty and its upward motion was obstructed near the plush and front rim. I’ll open and lift clear before making a top-down approach."})
tool
executing move_to over 12 steps (1.2s)
step 236
assistant
agent noteWith the arm raised, the brown toy is visible just outside the safe, slightly to the right of the gripper. I’ll descend onto that body from above.
move_to
left_x0.3700left_y-0.3300left_z0.0600left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8509, 1.7588, 1.3922, -0.4637, -0.691, -0.601, 0.9959, -0.0212, 1.0576, 0.9569, -1.0195, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.3898 left_y=-0.2683 left_z=0.1875 left_yaw=0.0159 left_pitch=-0.0307 left_roll=0.0242 left_gripper=0.9959 right_x=0.2477 right_y=0.0019 right_z=0.1551 right_yaw=0.0106 right_pitch=-0.5308 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.0342, -12.1915, 9.4017, 1.4335, -0.2613, 0.188, -0.0659, -0.1299, -2.9744, 6.694, 1.1551, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.33,"left_z":0.06,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"With the arm raised, the brown toy is visible just outside the safe, slightly to the right of the gripper. I’ll descend onto that body from above."})
tool
executing move_to over 9 steps (0.9s)
step 245
assistant
agent noteThe brown plush’s thick body is now between the jaws. I’ll close around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9825, 2.0281, 1.2415, -0.1162, -0.7536, -0.6994, 0.997, -0.0212, 1.0576, 0.9554, -1.0313, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.3673 left_y=-0.3263 left_z=0.0618 left_yaw=-0.0188 left_pitch=-0.0354 left_roll=0.0299 left_gripper=0.997 right_x=0.2447 right_y=0.0019 right_z=0.1533 right_yaw=0.0109 right_pitch=-0.5441 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.3214, -10.6325, 5.3128, 1.4628, -0.6276, -0.149, 0.1001, 0.0479, -2.5094, 6.5162, 1.1355, -0.0415, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush’s thick body is now between the jaws. I’ll close around it."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteThe close passed below the plush without holding it. I’ll move the open jaws higher and farther over its body.
move_to
left_gripper1.0000left_x0.4100left_z0.1150left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9871, 2.0533, 1.2304, -0.1139, -0.7525, -0.7109, 0.0123, -0.0208, 1.0576, 0.9554, -1.0386, -0.02, -0.0448, 0.9996] state[eef_state]: left_x=0.3633 left_y=-0.3245 left_z=0.0469 left_yaw=-0.0166 left_pitch=-0.0551 left_roll=0.0481 left_gripper=0.0123 right_x=0.2431 right_y=0.0021 right_z=0.1526 right_yaw=0.0112 right_pitch=-0.5514 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [0.2803, -12.7932, 6.653, 1.1795, -0.3639, 0.0904, 1.0769, -0.0479, -2.4821, 6.3111, 1.0916, -0.0659, -0.0269, -0.0122] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.41,"left_z":0.115,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The close passed below the plush without holding it. I’ll move the open jaws higher and farther over its body."})
tool
executing move_to over 10 steps (1.0s)
step 265
assistant
agent noteThe open fingers now visibly surround the brown plush’s body. I’ll close in this higher 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]: [-0.9073, 2.0514, 1.372, -0.2115, -0.7322, -0.6563, 0.9949, -0.0212, 1.0576, 0.9554, -1.0389, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.402 left_y=-0.3167 left_z=0.0823 left_yaw=0.0189 left_pitch=-0.043 left_roll=0.0458 left_gripper=0.9949 right_x=0.243 right_y=0.002 right_z=0.1525 right_yaw=0.011 right_pitch=-0.5518 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [0.4855, -14.3248, 9.0188, 1.3895, -0.2906, 0.1832, -0.0806, -0.1299, -2.5094, 6.3248, 1.033, -0.0415, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers now visibly surround the brown plush’s body. I’ll close in this higher position."})
tool
executing move_to over 10 steps (1.0s)
step 275
assistant
agent noteThe gripper is still empty, so the brown plush has not been secured. I’ll open and lift clear rather than risk trapping it in the safe’s rim.
move_to
left_gripper1.0000left_z0.2400left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9039, 2.0518, 1.3743, -0.2249, -0.7292, -0.6636, 0.012, -0.0212, 1.0576, 0.9554, -1.0431, -0.02, -0.0452, 0.9996] state[eef_state]: left_x=0.4019 left_y=-0.3145 left_z=0.081 left_yaw=0.0247 left_pitch=-0.0515 left_roll=0.0476 left_gripper=0.012 right_x=0.2421 right_y=0.002 right_z=0.1521 right_yaw=0.0111 right_pitch=-0.556 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [-0.3761, -11.0154, 6.188, 1.3993, -0.3541, 0.022, 1.072, -0.1709, -2.5094, 6.5709, 1.0623, -0.0562, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.24,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The gripper is still empty, so the brown plush has not been secured. I’ll open and lift clear rather than risk trapping it in the safe’s rim."})
tool
executing move_to over 11 steps (1.1s)
step 286
assistant
agent noteThe white plush is in the safe, but the brown plush and yellow object are still outside. I’ll park both arms clear and leave the lid open so nothing is pinched.
move_to
left_x0.2900left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2920right_y0.0010right_z0.2000right_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]: [-0.9035, 1.94, 1.7061, -0.6334, -0.7216, -0.6514, 0.9959, -0.0212, 1.058, 0.9554, -1.0573, -0.0196, -0.0452, 0.9996] state[eef_state]: left_x=0.4031 left_y=-0.3173 left_z=0.2054 left_yaw=0.0122 left_pitch=-0.0353 left_roll=0.026 left_gripper=0.9959 right_x=0.2389 right_y=0.002 right_z=0.1506 right_yaw=0.011 right_pitch=-0.5705 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [0.0752, -13.7778, 9.4427, 1.4286, -0.3541, 0.1734, -0.1197, -0.1983, -2.5094, 6.2838, 1.1111, -0.0464, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.292,"right_y":0.001,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The white plush is in the safe, but the brown plush and yellow object are still outside. I’ll park both arms clear and leave the lid open so nothing is pinched."})
tool
executing move_to over 29 steps (2.9s)
step 315
assistant
agent noteI placed the white plush in the safe, but repeated attempts to grasp the brown plush were empty and moved it against the front rim. The brown plush and yellow object remain outside. Both arms are parked clear, and I left the safe open to avoid pinching the protruding toy.
give_up
hindsightExplicitly restore yaw, pitch, and roll during repositioning: leaving orientation unspecified across many moves allowed substantial pitch drift in this trial. Empty gripper readings near 0.012 consistently indicated failed brown-plush grasps despite apparently favorable wrist views. Low approaches nudged that plush toward the safe rather than securing it; stop and change approach earlier. The white plush was successfully grasped near left (0.39,-0.05,0.015) and released inside the safe near (0.43,-0.27,0.06).
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0605, 0.8001, 0.6914, -0.4755, -0.104, -0.0963, 0.997, -0.0212, 0.8162, 0.7059, -0.5671, -0.0204, -0.0444, 0.9996] state[eef_state]: left_x=0.2921 left_y=0.0043 left_z=0.1991 left_yaw=0.0636 left_pitch=-0.0061 left_roll=-0.0052 left_gripper=0.997 right_x=0.2817 right_y=0.0012 right_z=0.1826 right_yaw=0.0063 right_pitch=-0.0881 right_roll=-0.0068 right_gripper=0.9996 state[joint_eff]: [0.0615, -1.6615, 6.8308, 1.8926, 0.1392, 0.1392, 0.105, -0.0752, -1.9624, 7.0632, 2.1514, -0.0562, 0.0659, -0.0122] 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
give_up({"reason":"I placed the white plush in the safe, but repeated attempts to grasp the brown plush were empty and moved it against the front rim. The brown plush and yellow object remain outside. Both arms are parked clear, and I left the safe open to avoid pinching the protruding toy.","hindsight":"Explicitly restore yaw, pitch, and roll during repositioning: leaving orientation unspecified across many moves allowed substantial pitch drift in this trial. Empty gripper readings near 0.012 consistently indicated failed brown-plush grasps despite apparently favorable wrist views. Low approaches nudged that plush toward the safe rather than securing it; stop and change approach earlier. The white plush was successfully grasped near left (0.39,-0.05,0.015) and released inside the safe near (0.43,-0.27,0.06)."})
tool
give_up: I placed the white plush in the safe, but repeated attempts to grasp the brown plush were empty and moved it against the front rim. The brown plush and yellow object remain outside. Both arms are parked clear, and I left the safe open to avoid pinching the protruding toy.
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 · 11.91 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.387, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6071, -0.403, -0.0204, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4291, 10.1265, 1.9463, -0.0708, 0.149, -0.0855, -0.4581, -1.4701, 9.5932, 2.1026, -0.0317, 0.2027, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a84cfe6ddf27531115ccb24b40a559ac76a839845016b5c9ce6bec7c407d92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e7e1b780e80f9683b25b161110b4c2cfd6f5be310986da7e267ec15a442871",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:826ef4f7a6d5adcd5c4500a633b77cbe460e90bff0de1c229eccdfb409aea8d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 8.261 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsqwupAoDn4WhLrWmj62fHmdGNFvlNd0gpe-xTqnbyNWCgYwM94oFMymVWAUCLKTED9x6LImTMgTOgyBi80jtyLjVmwkNv1zwqtLdxsM57opwrvtCZRLx9m3f1CWLdCExcPB1rKPBwEMVDhpLfbcALXJpIk4I9yqo0j68jIHyMgFeCkBSw54veQ2gpgBs4wHk9butTZGYICl0bp1AcdUTjRahRXMgamU4P_kMpW-nbkJ0dJmeJ84G4xN71JyLgBuZZQEk3Pn5WYY9gPgcl0XAu96V33dUQ4QwFiQ_W0etPL43HN60-V_chwv7VaGKYZwOSL66-dxJYKrqBWB9fHdcMdS2DB-Y08RaS5gygKQ6HkYWzj1mBg-AEGZT69DTUg6jDbosqmi-QnkSWVgBgYR4U4ijd7QSwl87yW95_LIbS28rP-6vJTVkuxe8bTUsrkywDCwobxuasZGhkCuB16bchv7kEkE1_2gz2pDn7JiFWrhmZN07bUS7ghZu__pYsmEgZWpE064TJstT24CDZW6OHXzoO92zhBT5rtx3COMNrsVTg66Yd-zNlwrzRWHTSJ_igPoCjcP6kmz5Og4A1zkBuoFNsQMFBbGCSc75N1srF1ZuoNBZW0Y83chr4azbfkidchBOqz46GwbqrKVws0q_gERFoHrNaqEFBldHMSW_xRCQ6-4JkEjAaxaK-Z9lgcfjgRMWNkfbsSUiP1ujduHb3Ax37HMer4P7RQ8JIT5a9Tyi7_wisixT_zspK0dDTFEBItDSc1WeFAQvrlzpXM4LPyiTbobI_BlOEqnX_taMO2FdpQxpJbarmVIH4p73E5gWN7BhHxOCMYm91xiPaqpPQehBkYCt16mTS7W7tIHAoGvC5KfvrianCA9f1frWytFGjsEcbaeZksmyB-ELst-c0mVMcmsVWjjB5hZ8VIgrtVih71ZEhiVMLpF_vlmI2XRyBY6Y4fjCNJEPa5MgxsifOIY0Ea4DJoekHZjowTmsrp_yF9y7DqOj-nuWDdLabUKgF8bBNuD1YxgQGpajhMLE_nEi-gZBA_4UvjDDCPT-DDw8xdkPbEwWh8sbRtMLv8Cia-f8m7NDCsqSvB2g7QN-4ejayTjI9wzuR-wFcMUNr4oY_fGR7c3jakmt-t-Wg58mA7nKNl2Z2V3sOg9PbhQPhr9_7u7GXlO8BlT0r6qbkwBklfyb7yb1pE4egB6vo4sppBNgv4fpI3sSiPOlphqj7zkfbDGEvF-AdoqJOUPAmQ5aXvzKN7_TQuIuRZwYLH5ChhrhGZHtubEXpYHYh0vgSBikYNtvpwE0GpqhovLFVV-rXuvqJPyMV-QI-MZV3F7ofikoSzWoIGE3oRgDDvHcUfw6lUoeyBfRAGB8Bahj8AILE5G7S9LM1y-KVMFFBD4Y4j6dlguzwnbif57bh7UKLGwQP33BftLR-WfmjdZxvK96gqJWuszENuP9KfkfiGv0xDkWM2mNheG3UVbI9aeVyJxNuHwclbnw4y4WhpU3Sc1Nxe5virMcZxK0xYINmk4nQrv1hcFD1pZU8i1OFv3zLejv08bkELZQ_5SQMkY1Ca0wICd2x9DYfLNxAhiaqkdAlEDhTJfqn-PGb9Ljs40Gk5M280uYdv5jqlbCJcVlIskwyUbfBjl-UePRuaZimT7LsCRYEdz-FgawLwMW4tWycGkfJuF30PIOJU_y2wacqYezCOR6S2TFskXdk_l9jfUp18-jCLNSvFrccf8Vt2MGDyHwgwbFpQkTC06_S3YxAVhPQ1I=",
  "id": "rs_0b775215cc1582ad016ab2ac273e7487d08697b18a8fe70ca4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.10,\"left_z\":0.15},\"note\":\"The safe is open, with a white plush toy, a brown plush toy, and a yellow object outside it. I’ll approach the white plush with the left gripper first.\"}",
  "call_id": "call_6yavOUVeV0DByzXtlKzG6Ccz",
  "id": "fc_0b775215cc1582ad016ab2ac2cf50087d0b4a740d3c8c3e06f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6yavOUVeV0DByzXtlKzG6Ccz",
  "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]: [-0.466, 1.1988, 0.6453, -0.1665, -0.3622, -0.2813, 0.9992, -0.0212, 0.8005, 0.6094, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3343 left_y=-0.0941 left_z=0.1252 left_yaw=-0.0255 left_pitch=-0.0904 left_roll=0.0326 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -4.4513, 9.3333, 1.8095, -0.2906, -0.0611, -0.0171, -0.1709, -1.812, 6.8034, 2.0098, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac954c3061e8913e3ac0ce8a53f2f3ac2b8e61e4c156b03e255df93feeab641",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9605b8875771166e69a1d412826322bbf3f09f07ed7df848fb4062a95283cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18bc960d7d12a70310ff3cfda716982c434c22fae4afa003d1b783a849156c7b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 7.669 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6048, -0.387, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6071, -0.403, -0.0204, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4291, 10.1265, 1.9463, -0.0708, 0.149, -0.0855, -0.4581, -1.4701, 9.5932, 2.1026, -0.0317, 0.2027, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqw3rk2fNeQ6K0cME3oWEYxLK3bm0x6lFVfZiKf20F55NXh98IPLRmrPlVT43DteYoMOCD5hzY_yUd4Mrd7T6IiwpywOGIg65-uIw3jKcKiw1eVGBfmU1C3SfZSiSt7ez7TTtEL7YI9-Ed_DhEKusJ95Br_vrbpkUcuv_41XVgdSnYHlRtqFI_fb_1GmBcybdQUqlz7aE7CoH54veD6IbFMVoQ3cLsQ-vHI26h91QeAfeAVVYHrZYjeGhAlLO6Ff_BpyTS6rQ4gs4USvI1TMT2YOsKlhekZFG59UI_BYl73KoALk7ZGdu__PWtAkOIfhS9vsmpnAEjrzcsBuF3Je5Zk2jpi-QywQ0ipXtZh5gEeAuIsGyy9R46LsKoIJluf9vbwAIylEU4XsP7ZcUE82CQcVR91nkolmkwjChkeeqmKPFy_1793tuhoQT3ZERu90b33xkd4uu69X5JoneVcd4hBQS2WV47wXXY-tMvH1KtUZ1ait7dccCGku4NTy2Y_PbyPkvJ0-jURLB4iMCL7lAMiyuc0ceHppfhGwZ96gaZgxs1wet7RtuIrhMOZsDgcm7iGuTJ-nl_6HPtUuqYlPrSMzsvDANDQ3dyevpXS48VXStLKxBJEGXZhN8dRsNP__sX7eJ_sCl9NNWXW3c9DtjmnbR47NQjjB-KFEuw2xgS-CrMvS-liSrMm8sKZa4CeyyHTSpeL1HvsibM8lDEAt1LrFToUwYpes5tcL6A0_5yIvK45zuaQlnwFcIP7Ac8aQNa8vgOH1U-tMVcZ0_Ycd6m74XR64gxE8h5Zl5uX09UTPDJ_aZxQWqilRE6DtwLLud_qA37JOoNTBDT6uXgHHYnh4uav73WrNPXY38Im9xx3XN-ftgoFgdC2B1OU-1qv5r1oztz2eJzerUZyZxd7MmSvDwSkWi_7KxbRJnPD0ZXDkUrFFcyERe-mMiGi0mOJZAw3Czt1pVp7Za57J_hDnqXUIyOZSnSIgZzL4S-unr_uZpCoYxW4c3T_am6_OpavUYCl61pkOqoJ8MlBf3vJS4yAavKkuVmmGj0GKAjPNb0VWeOBwG7wBygOuumsNhqt-AdzQKqQ89lxE0QwjAJYW2uuJCx-6mgMzYzcCy4I74AvAuf-rVe3n0iKHFsCCj8mbMT3qD1We6kawuNNJf0e7o5UETEbRQpdIp4yZWkgTR2KDYBMdBLQ_GRCXqAjrmjcfApqIUiogHk3Xn2U-xI5pXvzTOdBUWjVFqJ06GvMrvHaDix6Xc4T4AyB2yDSxwxmIGn-5MgBK1o60aTHHEfpIjS1NXpyvn7ndVLY2s0fPrqOpmckY80fXqJ9p8cIiQczRygs1BlZxOv_aQ8HI0fB7bQsekanVqDUXGD3_B0yBiyEtKF6Fs-oQOS2d3Mg3AyEz9tUhcutjvzHvBQd0JeVoDD8hHA==",
  "id": "rs_0b775215cc1582ad016ab2ac342f5087d0b9e12e850377af16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.075,\"left_z\":0.035},\"note\":\"The white plush is slightly left of the jaw column in the wrist view. I’ll center the jaws on its body and lower to grasp it.\"}",
  "call_id": "call_Iub49dontopxs16uY5i8pQjQ",
  "id": "fc_0b775215cc1582ad016ab2ac35e90c87d0a52f466a621994e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Iub49dontopxs16uY5i8pQjQ",
  "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]: [-0.3447, 1.5288, 0.4854, 0.2474, -0.2874, -0.2184, 0.9992, -0.0208, 0.8043, 0.6075, -0.4549, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.0683 left_z=0.0233 left_yaw=0.0044 left_pitch=-0.182 left_roll=0.0623 left_gripper=0.9992 right_x=0.2852 right_y=0.0012 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2701, 5.1214, 1.7705, 0.0073, 0.0855, -0.0122, -0.0342, -1.4838, 7.1316, 1.917, -0.0415, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bceb02ae567c44a3efb83029c37f71fa18be73eb26938eace3a81332513477c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03bf454658b75575f1a13d0df441a72aa1dc3f362265666204b7ca598273e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f890ff642c5c588595f8a3ea7e493ba526777ab1e750cac849f88c5b509064f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.254 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]: [-0.466, 1.1988, 0.6453, -0.1665, -0.3622, -0.2813, 0.9992, -0.0212, 0.8005, 0.6094, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3343 left_y=-0.0941 left_z=0.1252 left_yaw=-0.0255 left_pitch=-0.0904 left_roll=0.0326 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -4.4513, 9.3333, 1.8095, -0.2906, -0.0611, -0.0171, -0.1709, -1.812, 6.8034, 2.0098, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqw_uH-v2tf5YzOBZ0gU7rb75GLnDyXWJEMcpC7UDUMYW00YphnR2OaLURZ_ZlhNO08pTSGNlHsLgAPg7pUYll-chgqCEN2GYNLo_4zPC_o5NkcA9UkVE0MkLKEMkccvM56NLEdxULnCkSe1Mq6MYLeHbA-ipwr3YozyWPnhNgGq0xtX2LqQ9kUP0-cHUfibwc0M7gpshXU0wEVG2887a5UX83D1KLd0SuVQzoFciL4vsbgmwqg01x00njcxizJnV8BmffNqNjPplClJOQvIwEYJgb08qwwnI2tNVsoLYzRs6ICX4Vtc0w8YD6c0MD3XJ6NEcc6DpWGaGhVIGIKLH8aP_T05QGr9KC3pL5OWp_cMNnurvQ7aMRWv52cu_vw3ncPUZdmk1LcaRBX-HPCcBoPMHPv5sFP8mkMtYo15Gbrwgdar5oLMuV8wQuCsKsDWhOKr1kroYnbdQwjNM7uiImgHavnH4uv1_wG5jSXB8ETNx1jHUKRa0kALo6pKTpbUS8pe8gr92CTTkf_dC6SdTCu2ZHWj5L7LEv8r40gb5dph8H0napemvuhkAT5u_fv2dzGHExRJWmmQo_oMjvvTyS-x2QqPG1ZFXX8gtwcImnplIiEfLJEy1nHnB540LJzSkBHjhOZR6_hpvfap5qmOmNyxjO0vImekH-lGYCnIeAuftjhnk6duShWVqHJpPR2KlMM60H3ap5g2DVEcvcoz3amC5kHnjRlQS9vPfYGK7akLrpsVyIFezmr_gg3odeZ2ks1JQGrA4TqDluzxaPYzV-eQNsxNSlUrkeyeoHYi2Pv_kBBB0-UsiSA8amj9xYC7RjUXz-Zt-VE2w39c4IJWiGv1A7jL3xmOaJFX333Ob-K7l-YfNrErmC5s4ntg0q0IFqMmZqPpqyKv8LloWP0PYU3pBjPdcBKQmKJqcXpL08C8W3GMi8y9nYmeOlQtv8KA1ssCIgl8AS8fjdEVLvBQ_q7oZrun9T5Qz3BFyBDodIJQGwUyYwfkKJT1WYg08IeFJXUSKzGq_gF4crsIB_7qg8mU1usRZmvapKfG-CZ8cN0OncwsUrp39Rimta0-gX7B8jpy0Fk2oX8OYlz-HRQvz6zCyxGzFZwPCzheHYoBbntYf63u2y-19HHYqNRm1i1bvJQWjYTPvAQXMnoLawQ72MMB1pvpNIZNzhRRVNZU84L9gq0AyMnuogypWs9GwlfscdHYb1IW3_pDqk7IRTnb4rvkUKZDlYajMY6t_hipkxsY5QD_btciB4FruvkfCzGNSI046S1j7CTkDtbyd-SYHFnpJKE61sr4jy8MhLDmNQ6aSuPhTO1uaD_MI1X76np9moMUky5aa_qPB_XNHIR-mb40nWxiosrGb6FoNH1_mg4Gp_eaTE4m3VbcezRxQfcG4F9yn3iQQ9koX7HyQ-P-LLGTtQ==",
  "id": "rs_0b775215cc1582ad016ab2ac3c782487d08fa1d7efbdf597e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.055,\"left_z\":0.02},\"note\":\"The plush’s body is still ahead and a little left of the fingertips. I’ll move a few centimeters farther forward and left so the jaws surround its torso.\"}",
  "call_id": "call_8yabpmrumITUbZpmP2KSFNod",
  "id": "fc_0b775215cc1582ad016ab2ac3e631487d0a40211eaccbec3b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8yabpmrumITUbZpmP2KSFNod",
  "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]: [-0.2504, 1.6779, 0.5938, 0.2722, -0.242, -0.1757, 0.9992, -0.0212, 0.8066, 0.6075, -0.4763, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3816 left_y=-0.0502 left_z=0.0108 left_yaw=0.0384 left_pitch=-0.2091 left_roll=0.0671 left_gripper=0.9992 right_x=0.2821 right_y=0.0012 right_z=0.1589 right_yaw=0.0004 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8855, 7.0496, 1.6093, 0.0611, 0.1294, -0.0122, -0.1026, -1.3333, 7.0085, 1.9609, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a087875aa025837c64f13df6144b86917cb7f7353a2e4b33f20cb25794ea9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92fb545201a7dee6eb48e4d809306120fc16e914010ecf244dda924bd34c387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9a25a6b6d86ec7c8c48ff81365685bb8e3298c2af849150a735030df82c1b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.314 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]: [-0.3447, 1.5288, 0.4854, 0.2474, -0.2874, -0.2184, 0.9992, -0.0208, 0.8043, 0.6075, -0.4549, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.0683 left_z=0.0233 left_yaw=0.0044 left_pitch=-0.182 left_roll=0.0623 left_gripper=0.9992 right_x=0.2852 right_y=0.0012 right_z=0.1636 right_yaw=0.0005 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2701, 5.1214, 1.7705, 0.0073, 0.0855, -0.0122, -0.0342, -1.4838, 7.1316, 1.917, -0.0415, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush’s torso is now between the open fingers. I’ll close the gripper around it.\"}",
  "call_id": "call_609f2mtGzWF5l9qqHWS3PrOb",
  "id": "fc_0b775215cc1582ad016ab2ac434f3887d0b4dbe7f4fb5a1c81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_609f2mtGzWF5l9qqHWS3PrOb",
  "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]: [-0.2413, 1.6871, 0.6128, 0.2832, -0.2287, -0.1535, 0.1151, -0.0212, 0.8082, 0.6075, -0.5003, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3895 left_y=-0.0509 left_z=0.0154 left_yaw=0.0229 left_pitch=-0.1924 left_roll=0.0679 left_gripper=0.1151 right_x=0.2784 right_y=0.0012 right_z=0.1539 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.735, 6.7761, 1.453, -0.0317, 0.1001, 0.8718, -0.0752, -1.1829, 7.1726, 1.8291, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9218f4cac46d11e5ec710b32054c1aa9b1341dba6096a3f2d6c96efa97240d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400ba4ddd8f8a424fcb985b9b81168b0a203efdf9012d46482d8857e753a8a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be4c55c13a44f1369191da0aeb27e17c233348f0561c2505e64e58f906ee9ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 6.425 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]: [-0.2504, 1.6779, 0.5938, 0.2722, -0.242, -0.1757, 0.9992, -0.0212, 0.8066, 0.6075, -0.4763, -0.02, -0.0345, 0.9996]\nstate[eef_state]: left_x=0.3816 left_y=-0.0502 left_z=0.0108 left_yaw=0.0384 left_pitch=-0.2091 left_roll=0.0671 left_gripper=0.9992 right_x=0.2821 right_y=0.0012 right_z=0.1589 right_yaw=0.0004 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.8855, 7.0496, 1.6093, 0.0611, 0.1294, -0.0122, -0.1026, -1.3333, 7.0085, 1.9609, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_x\":0.292,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"The gripper has stopped above its empty-closed width, suggesting it caught the plush. I’ll lift it to verify the grasp and restore the idle arm to its parked height.\"}",
  "call_id": "call_t9UOxUVcnsUN2jTn00WQZv1K",
  "id": "fc_0b775215cc1582ad016ab2ac47e7cc87d08a605b03a9440342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t9UOxUVcnsUN2jTn00WQZv1K",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2413, 1.5078, 0.7288, -0.0303, -0.2291, -0.1627, 0.1167, -0.0212, 0.8825, 0.6945, -0.5812, -0.02, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.05 left_z=0.0709 left_yaw=0.0293 left_pitch=-0.2096 left_roll=0.0665 left_gripper=0.1167 right_x=0.2816 right_y=0.0012 right_z=0.1576 right_yaw=0.0022 right_pitch=-0.18 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.5145, 8.6906, 1.6923, -0.1685, 0.0611, 0.4225, -0.0889, -1.6889, 9.1556, 1.8681, -0.0366, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b65e50869013f4c56066b079d50f17a54a3ca100c862d32bcb7ff26299e87e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1346656dcb5e041a7c5300e21e60c62392d8a878e5dc2f0b789aebe3001f9eeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b9cbb33cb78bea30113c5bb150dba25b0f50918fb9917019557b622317ed994",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.214 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2413, 1.6871, 0.6128, 0.2832, -0.2287, -0.1535, 0.1151, -0.0212, 0.8082, 0.6075, -0.5003, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3895 left_y=-0.0509 left_z=0.0154 left_yaw=0.0229 left_pitch=-0.1924 left_roll=0.0679 left_gripper=0.1151 right_x=0.2784 right_y=0.0012 right_z=0.1539 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.735, 6.7761, 1.453, -0.0317, 0.1001, 0.8718, -0.0752, -1.1829, 7.1726, 1.8291, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxQG6zkjmdrsaQQkWBJS55CVJ7iIhrqiEtuI1KfMQ0lS3RsI116rWJ3ZnJeF0JqXVQxhdxKUEJs-malg7Zg34GC6cy2o8-sXUfls_GuKf2jhD8AYsUVwKxumv5yTzjF_EJ-UTH3qyKe6ch-DX5ZYaim5g_3bdgmH8GRyIxv-iNa0-368Q44rqmAvHbk-sq4EXGWjCTUd2iL4HJYfVjQD-1dYFFq5VfqpHW5tU3VSpPzIvJ5ZbaOzcKpRa7nGjmkX5M3ZticV2q0wj1yaqx6qXrSfTM8gxjBr_g7Yf2gzRmIyYVnR9u90NEL5rUkXWmzjv-kV0Jq_bXCq5TvUR4Wlxm93bV7FZhugaj6wnNTp7T6pD5VTGXLTqpmkRdp8mOBy8YUnP45NrsSwbTdnMaHnK7TOQETEeqpwlurmreil-zam7wwl6pJb-mdaskxdJjX1tgi9Cv1CjTrOV7feQJUXyMzIsrLY8ognCNaDB-88Kmxr1wfWkUR0k81XOvjJvzJzwqwEuivIo-t02Tfvnw_n9DYeTx-F03DNhMtXwUQ8VUPqHdMbD_IkAaiLkC8cmiP28N1KhHbj_-_PoBaGUvkvw4j_go36Q-987aWgZVVnpEQdGUjMtkW4-uL7FDMQOJ2bvvnJsH6Oi7SLNeAyb4U-UOTsvOUxyf9Bwodkq8mqlmj8qyAAsgFYUCZXSAJYVbxVaXBwHZK03cjKxVXRVb-6LX_MFRaQHq3UALog5ixCFYowxKZshm7wRcHyWwqFGME1vpiy7Y6cRBZPTPeQ8z59Ge310ZKV1ylrr_3Xco8ZxDyohdO7AWBxHfn8wYBY8u1z8az7j33cG38y7PkQz383xyYE0Svp6wJhhMAkChTs1fWAZm4NFNTqW6yi0IlyIxbhcE8JOGDUiqOAFRfYQ57m91J007Ksxyf5Nqo9JHyDZZKp8k1sPcAzz4nfeMXnKYDUR1QKwbqaGGpOTEELNyQpKfkS3NY19nOcLgB5hXilhz3Ug7sYV9tfn9D98-Z4eUsZnQCpwVGpqTBUzOCsbcA510i5i4Eep6o3mDwvF4fqDft5gOsKiPFT8XBIRxG7dI4CZj_BL1xBxE9LyOUxpN9AXZBjugZ34tIxirOqyKqnJDo2-M0d3nnl9iVvuS8Eubyxh0EqViJCi93NBf2C-gH6Xt5QedgRcPmyX8fwhguxHgCFcZIW9ZzWyRwXK7hjMFqZNOqePGh755edCUQsZ40xhTPfCZG13Qb9ahQbklm8I1AaW4h80rzsZEI5cqGGzkuv7UR1J_c3tSPaeywd1oR2eUe1M0vEpreOGIxng1_95l0onozzzvPJaflMQq0oSe2uhwpTBAYVW2-h7XY6IjnbPRA559DU7A1-PI7-pdcuLl6whqfgVAP0k1HT8kHKNV55Qx5X02Z3o5w8Dx8xOOGg7IRCdfGI1C-INdSof4M8VLHWfTwwfZ1l7-i41kItKOn3XYN7i04jcZm4h6AOp9jcKQ44g==",
  "id": "rs_0b775215cc1582ad016ab2ac4c5e2887d09cae3d016307d1f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The white plush has lifted with the gripper. I’ll raise it above the safe’s rim before moving across.\"}",
  "call_id": "call_kJvYj7RzzsAWiMTCyY8wPw57",
  "id": "fc_0b775215cc1582ad016ab2ac4f4a3487d0add92cf260668420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kJvYj7RzzsAWiMTCyY8wPw57",
  "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]: [-0.2413, 1.396, 1.174, -0.6243, -0.2283, -0.1726, 0.1202, -0.0212, 0.8848, 0.6971, -0.6125, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.386 left_y=-0.0501 left_z=0.1954 left_yaw=0.0365 left_pitch=-0.245 left_roll=0.0691 left_gripper=0.1202 right_x=0.2767 right_y=0.0013 right_z=0.1527 right_yaw=0.0025 right_pitch=-0.2109 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.3504, 9.4017, 1.5849, -0.1197, 0.0317, 0.3541, -0.0615, -1.7846, 6.8308, 1.8339, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6815d577dc0c088b481fe1073ba42e44069dbfc7080c7ac7da45074f6ae429e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12a003603f9e492d2eef0dbcc4a2cd6dd45adf640468dae49434c3631d9522d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f20a8c8f40fca33c42a612c67ca451b3191657f1df9fd91cc21d119102c646",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.626 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2413, 1.5078, 0.7288, -0.0303, -0.2291, -0.1627, 0.1167, -0.0212, 0.8825, 0.6945, -0.5812, -0.02, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.05 left_z=0.0709 left_yaw=0.0293 left_pitch=-0.2096 left_roll=0.0665 left_gripper=0.1167 right_x=0.2816 right_y=0.0012 right_z=0.1576 right_yaw=0.0022 right_pitch=-0.18 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.5145, 8.6906, 1.6923, -0.1685, 0.0611, 0.4225, -0.0889, -1.6889, 9.1556, 1.8681, -0.0366, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.28,\"left_z\":0.22},\"note\":\"The plush is clear of the table. I’ll carry it over the open red compartment, staying in front of the upright lid.\"}",
  "call_id": "call_d1WSC8WguwYBShija3vvqMHq",
  "id": "fc_0b775215cc1582ad016ab2ac53bcb087d0b36325a8c152f680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d1WSC8WguwYBShija3vvqMHq",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 2.1769, 2.2215, -1.0565, -0.4915, -0.5678, 0.1225, -0.0212, 0.8883, 0.6971, -0.6353, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.4629 left_y=-0.2766 left_z=0.2085 left_yaw=0.0293 left_pitch=-0.2718 left_roll=0.0681 left_gripper=0.1225 right_x=0.2727 right_y=0.0014 right_z=0.1479 right_yaw=0.0027 right_pitch=-0.2372 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -12.2188, 8.294, 0.9499, -0.4957, -0.0317, 0.2369, -0.1846, -1.9214, 6.8034, 1.6777, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2809f79ab8c768c072249045419a84ee010c7ca91fa631e2247573431e4fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b34fd306b6b9007a3d56b82932358a90df7f00c5393d992881e129ba6db8d40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d552c15eb900a9ce0c833ea6f41f728e615f478bd96076fa853e466b338eed01",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.64 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2413, 1.396, 1.174, -0.6243, -0.2283, -0.1726, 0.1202, -0.0212, 0.8848, 0.6971, -0.6125, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.386 left_y=-0.0501 left_z=0.1954 left_yaw=0.0365 left_pitch=-0.245 left_roll=0.0691 left_gripper=0.1202 right_x=0.2767 right_y=0.0013 right_z=0.1527 right_yaw=0.0025 right_pitch=-0.2109 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.3504, 9.4017, 1.5849, -0.1197, 0.0317, 0.3541, -0.0615, -1.7846, 6.8308, 1.8339, -0.0611, -0.0611, -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": "gAAAAABqsqxcIfEsQNKnKeOfR-y3u2q6LCLje3fA2W8DHre57q20btGOuKo-SRhVkyoXtYbXMx8i3VmHoCotzEsbg_CwOGksmlFi0x_we2W3RiwP75cDvogUCxInNSJ70nkMwbUKYWX7HJvP1i4ERlAbO3KK6O7oK7tZcKHtwfsfHkBwng6CY-NjUn2e4c1o8DTDZloDymkxUHw9zyG_eBoWLEzGbyQ3uC8A9GPjOPYnwZ_3kNvk7A7chiO78SmqJoqbF7qJ03dQDNnA6tHDcY61I2WPIYD3guXaQ9J2Artg8RT8J5vL66j3IsLShVy1RRvPPgPEFBnv0nYp4h12I_Y9-V3imR2eFCZr-0ubDpFLmyYyqBPO1jdliNo1RLveGXsPaA_zEAy5bW373_Lh_bzWAk0n98dQsgtDOLuKXMTp4vNAWPtpww_HNdU-USlDAXJMHidgDRX2hDLWzIXvNeE0GuM8KI2pAtOfBc-_2aS-LKPCmvM6AsEYwzd3E1n2IWin1pMxbMpF-xBP3xPQtYRqCB71AN15JH10OaUW8-Qc069qFZg4e83ouJjwr0ewXKCJTQO4psk_gXN7GqMWJ5EnwdVvfzWOhpuahfVJN57Z0X7mr5CZG_6aZZV6aVObY_bF_fO7oWvBr1EXb4LGJKB3WqAqrDvS_MAhHeyJVLH43Qp7CD78p1MGsbYvvKNJmOTSCnebaRRWN6_OnmChvDAee6RQReDWPJEAEgZnkxb74cXM6V7HtpFgacnqlZeT-QipT0gpBInR-cB6D4gTTCBNopZp6e4l66xkHCZZaejt_9-uXXnO8o_oBp4AAy8ryKbkIJjFzDLfJV4MVayJCbjVMdTZbZUdC1xMxAb6xJVrjJs_FEg8GVIWZeVgSLhgViiYtn9upo5PRfvQ_nZdA4S7SyuPh44JC1wDnLc55dFCbBMudEIEPSXhOeV46pjozTgBFBUGD4BQAXBCevtzLzwOVEESAuwaMXDztB7IC3iM8cDVeMg-Ug8e4KLO1MBRx0KTz6zQiKK0nMofG2uh71wBa1Ywxb1Ki52STwWVmJO3utwoEgj9eQeHj4tWJBh0mGXvDS8PQCbbevlPcCK_B8veyeBZHPsZr6gl7Mx3f0BtZk8WhVVMX9VdpqQFLDO88pG0cyF7ReaD82mPsbFTRnxliR5Vw4s3DERzLHVYU9wLFYRjkgoXNeR6_sswLSBFFWVdKLauqMFBGvXg-OUkG5hvrfoHkHU1GpOGRWOwQweuOOM805engBexMaHRRKYrzWmy2-2WhFZGz3btAbyC3Zfj6k-mYSl3LA==",
  "id": "rs_0b775215cc1582ad016ab2ac59a75487d087f58a0bd02fdc3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0.085},\"note\":\"The white plush is above the compartment. I’ll lower it into the safe, moving slightly toward the front to avoid the lid hinge.\"}",
  "call_id": "call_aauvIHgWp7lV4y2sqwOg09Bl",
  "id": "fc_0b775215cc1582ad016ab2ac5b387887d0ba80739d6ed62012",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aauvIHgWp7lV4y2sqwOg09Bl",
  "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]: [-0.7189, 2.1326, 1.6413, -0.6235, -0.4915, -0.5865, 0.1253, -0.0212, 0.8906, 0.6971, -0.6575, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.4368 left_y=-0.2667 left_z=0.0701 left_yaw=0.0439 left_pitch=-0.3464 left_roll=0.129 left_gripper=0.1253 right_x=0.2687 right_y=0.0014 right_z=0.1437 right_yaw=0.0028 right_pitch=-0.2616 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -13.9282, 6.2701, 1.4579, -0.3785, -0.1099, 0.2759, -0.1983, -1.6342, 6.7897, 1.6484, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d21f011abf31ade4d7a2b8b94d6046b86064b6916eee1949a094359a800097d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693414116ead1fccafacb7e4def9523092ab91a5ca94e797282247ea56c2b084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01bb5325368281400da15097b4d8975914b8a69969dd933f53616ab1761c7650",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.875 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 2.1769, 2.2215, -1.0565, -0.4915, -0.5678, 0.1225, -0.0212, 0.8883, 0.6971, -0.6353, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.4629 left_y=-0.2766 left_z=0.2085 left_yaw=0.0293 left_pitch=-0.2718 left_roll=0.0681 left_gripper=0.1225 right_x=0.2727 right_y=0.0014 right_z=0.1479 right_yaw=0.0027 right_pitch=-0.2372 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -12.2188, 8.294, 0.9499, -0.4957, -0.0317, 0.2369, -0.1846, -1.9214, 6.8034, 1.6777, -0.022, -0.0415, -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 inside the safe’s walls. I’ll release it onto the red interior.\"}",
  "call_id": "call_9UfZu26erltELtHRrXG17AUi",
  "id": "fc_0b775215cc1582ad016ab2ac63033887d0aae05c3a44f6f6f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9UfZu26erltELtHRrXG17AUi",
  "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]: [-0.7242, 2.1326, 1.6173, -0.6315, -0.4904, -0.5892, 0.9956, -0.0208, 0.894, 0.6956, -0.6762, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.4292 left_y=-0.2638 left_z=0.0611 left_yaw=0.0477 left_pitch=-0.37 left_roll=0.1503 left_gripper=0.9956 right_x=0.265 right_y=0.0016 right_z=0.1392 right_yaw=0.0034 right_pitch=-0.2853 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -11.7675, 8.1573, 1.0574, -0.3101, -0.0171, -0.1441, -0.0752, -1.9487, 6.8718, 1.5751, -0.0611, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921818f4442c05b81f9568d123f6ecaa110496c599bed70e33e15861bd677e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98db33a16d82fb2a74b8091c19fc45726cdefb9a05ae0b3ac8abf23e922c3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd9824934729189588cbfbb5645c9d74f7c2f7f4eb2bcb118c3aef5fc88328a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 5.753 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7189, 2.1326, 1.6413, -0.6235, -0.4915, -0.5865, 0.1253, -0.0212, 0.8906, 0.6971, -0.6575, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.4368 left_y=-0.2667 left_z=0.0701 left_yaw=0.0439 left_pitch=-0.3464 left_roll=0.129 left_gripper=0.1253 right_x=0.2687 right_y=0.0014 right_z=0.1437 right_yaw=0.0028 right_pitch=-0.2616 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -13.9282, 6.2701, 1.4579, -0.3785, -0.1099, 0.2759, -0.1983, -1.6342, 6.7897, 1.6484, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"right_x\":0.292,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The white plush is resting in the safe. I’ll lift the left gripper clear and keep the right arm parked before approaching the brown toy.\"}",
  "call_id": "call_JcdDnPUSq3nPcC5rVwbDeFRv",
  "id": "fc_0b775215cc1582ad016ab2ac685f6887d0bca73141b0e29d11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JcdDnPUSq3nPcC5rVwbDeFRv",
  "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]: [-0.725, 2.1796, 2.3653, -1.2781, -0.4839, -0.6037, 0.9969, -0.0212, 1.0374, 0.9585, -0.8459, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4348 left_y=-0.2706 left_z=0.2319 left_yaw=0.037 left_pitch=-0.3337 left_roll=0.0962 left_gripper=0.9969 right_x=0.2833 right_y=0.0011 right_z=0.183 right_yaw=0.0076 right_pitch=-0.3356 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.0581, 6.8171, 0.6667, -0.3736, 0.0952, 0.1245, -0.0889, -2.2085, 9.3744, 1.5311, -0.0415, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58421bb6a656586bee6bac08d4777e1373876ac860ec38072e5841b006371316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377285436424e78cbdd8d196e094daa8a5db8477422729ded3d0f76a5de7d532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc4fac420bc7aa156035849f808244d95d345f6e580c920280c394fcd769892",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.226 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7242, 2.1326, 1.6173, -0.6315, -0.4904, -0.5892, 0.9956, -0.0208, 0.894, 0.6956, -0.6762, -0.02, -0.0376, 0.9996]\nstate[eef_state]: left_x=0.4292 left_y=-0.2638 left_z=0.0611 left_yaw=0.0477 left_pitch=-0.37 left_roll=0.1503 left_gripper=0.9956 right_x=0.265 right_y=0.0016 right_z=0.1392 right_yaw=0.0034 right_pitch=-0.2853 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -11.7675, 8.1573, 1.0574, -0.3101, -0.0171, -0.1441, -0.0752, -1.9487, 6.8718, 1.5751, -0.0611, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxw2yuWLQzQf9Ed6x_UNyqdHtUNjeJv6GkFICoA9yRt-gnXDa0opLIDQVmsy-cVGYjeK_QlMdGEOruMDGsn7TqkzO3zatIMyBxyPQc6nsijlsU49fnf94SHS5zoY-_Za1KCXQt8ZKLp_b06XRtjtkK_MFxqfZIKgBHSx9b-5-GzBTUK-TrAhPKPORsSw8a3Aq-YKTEs7GVci36NREv4X5FMJ6UHZf92oz0-JBbUe0EsuVnPpBgdteaGITieRD6v4grdNMegNYLZHQCrPlVdoz8lo1zmecNsvYLGm0vZFWfIiUcJ0naevZunpkd-_mK4zca2yN0rd2pgUOLEA4His1Qi8sACQ5FbmHGViF15NIOJf782l9y3z9_tAuJ0oDMfyuMrdJIevN9Fd2gajergHa1K-fQJzv-i1ZxLnHdUI55YHD4FVZgXE7u8cfAmgvN7CflgopJuTZd-Jm5r7udX3vNI_HGeiXjRH0In6Zy6Dcoo6wHmmweE3h4fLTmO94Zu57BgQKkqTZZfnpMVNM6tb3NrApStCGmJLUfSiUe3rqxZlAM1PMTXeUq_eZEt9bSr-lbkn1_KH3sywK1DPnKvtgK_84ovhOzShlY8leUsui1FU9qaCIZhaw_tkItl2yMijWlPyPrdRQKDMD7zkIzkxrUqC_D5qCg3Z41VJtTOYsXVmqXaXcyE9Neb67fNNydK7ltnT7nDvKVCPa3xu8FBDDDiUVjpBeBH7_3XiK-AwCj_OTvExybKsvh06tHtCJBT5gQnXrD_sFCR0a_WD_JPEFJjmSa_u9Ku9mrM_lRVxDM3VUdnCrIttP8EiRHQfMykuJK1nCZFZ3lY5HMlJzEPp8kUQlUYSXLO46hZhM0zVLWl92c7kGkN1wFu8qnzLbZFjYfyR3AhIcPcSJZXsA-_x5w_vovoCS6DCvZ3EQQ3Kz-epnu5KUlUhmGEr8HsJq753FUKt5ZS8PilW7xPcotQEmtxzZFxr6cd5ggE8rN1aT5_Se8d3QceBgXa22WAPo2QQBK03si4spw4gElZNJ49J4k7v0ORgnPYq1wW4KgMUiQHR2oG6CvZqmGMpZtiQfRXCHJAbXAWD2PunUO-BBjzmHAEx6r_8AaG5TA0wuf_0JwNfRRJDfauXpExLySwyeZ3As1ndF00MerbXlEaAyzHI-bDJsK5AL8J4rX0ZqQUVugOHm2x1VrkLXCYVLNwnXTYHm5LBKrNttdowHd6UyKwH3fGUOATPiGO4-_zfA1hD7NBWgwkZ0r8zH0JMCAafrqa1b-DcG-HmbsgsIszzQErm-5fXd9NXJet2cWoQTeXI_uDeANxASv7nmMyNBmI2HOFvXIU",
  "id": "rs_0b775215cc1582ad016ab2ac6cb6a087d0af96170a5841d069",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.27,\"left_z\":0.14},\"note\":\"The brown plush is directly in front of the safe. I’ll bring the left gripper above its body.\"}",
  "call_id": "call_5CMUXNQhPeU3MDy2U41pbzHq",
  "id": "fc_0b775215cc1582ad016ab2ac6ee1fc87d0971fa25736f4a96b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5CMUXNQhPeU3MDy2U41pbzHq",
  "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]: [-1.1023, 1.7149, 1.3518, -0.976, -0.6006, -0.9863, 0.9971, -0.0212, 1.0454, 0.9592, -0.8673, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2538 left_y=-0.2724 left_z=0.1324 left_yaw=0.0192 left_pitch=-0.3658 left_roll=0.1325 left_gripper=0.9971 right_x=0.2797 right_y=0.0012 right_z=0.178 right_yaw=0.0082 right_pitch=-0.3642 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -10.2222, 6.065, 0.7741, -0.5934, -0.1343, 0.0073, -0.1026, -3.0291, 6.5573, 1.4969, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c954bece19a1dd66ad6be758cbb8f07907f083682a3551c3be4bcfbed52bd05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc79aa477abbeae5ba3f9c00596229767bd5a8fb873b072d13ce8234276aeb2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bde88339069ceaf13834539afd3ed059d854486647cd87699eafd5505b271d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.2 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.725, 2.1796, 2.3653, -1.2781, -0.4839, -0.6037, 0.9969, -0.0212, 1.0374, 0.9585, -0.8459, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4348 left_y=-0.2706 left_z=0.2319 left_yaw=0.037 left_pitch=-0.3337 left_roll=0.0962 left_gripper=0.9969 right_x=0.2833 right_y=0.0011 right_z=0.183 right_yaw=0.0076 right_pitch=-0.3356 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.0581, 6.8171, 0.6667, -0.3736, 0.0952, 0.1245, -0.0889, -2.2085, 9.3744, 1.5311, -0.0415, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqx23TFgaSWuIQkq4nNsDqrBQYpdySYw6rFofBNRS6vlee4pt1ZiqwrZT5RLH62cIPXyDz-kj5y6eq7-m6Dkt06O1uvEO_qaCUedVWY0cVH40TiyFdu6r0cE3VFZnfAPpzDd9TGLN-lpDOKMchDX2CLUhnbbTlxBEAWUxGTgNFMm3fyH-cxcPKUw_WzmQ6LCfaKl_6rrO-4gzJnZ0hoYCdcsCJMdBrbEYTNZlU-fN0CoxvGmwVc7qCtDQ-Ny49fTdogxDkbCjFMh-sRi7jmbYG5a9IX09fiHmnzhdUMaiJqZCIwykukq_blitGGIaU8pHdFGe_TM0F1aldWUqJOn69h7G5h1kwqI47b4EDjXKfvVyPBt9ZTptsOi8yaMLEy0k1CkrXhFkA81VZeb4x1ENy8cYwJYCSThqrrfdNDUW2LQX4b_Utz3o-oFHlonx02Kw2LC7kV3kU47kTXVfWPgWmTYdxIRtLRTdG4qJXc2929FhA37VzlYZxLt_dE29MoC7Gd2bMxhUNI36jXDfudCld0Rz7wqDt9ouGkYpVc0RoryKlIEuXSqBzrWV6P9JhK2_92-9zGbnLNYspQieVvaXxjR53ts7Ph3laPCt6ELH38bOftLitHGLc3LNDGFmdyAclvdhoUponzd9uKiCYS3eu4rNpHCpQBgU3VIvAS7Bev2ujw4sB-uPEjQY8cWnmhEPjxYgXohyc9w_y6_Vm10nZ5RRHeiVlfHiZc1M0bsXi6ASMNXmuCT13E1mvbfjycIxXnx4TneqPix_99brpYs0TZTcblrglM_QI-8BjUBzxm4I1dzOH2ta0BNG95RLk-AdPjVPqMBsoSyrgVyDpEpKBHrvwm0sSMVNIU-81x_jEFDrA4bukYXAa8wNUGzd4u-8KHNAiKGckmejFO4PqfiXXwG3k1MctYBbVNX8eO0WQmXErMtQkjjfonvzYGNM1ZFD2WN2sQHeOjpajaYfPQeipXf7UTbUqyf1nxDMWvA61g8j0k-YtHac_AYllAxiiQaCpSEHFWqKZcdjigC7bMbb6mBtAcHVdhhhOyMsUw1wLx5w4HWftErQpeB42y3vXmCAYka31YB6bvmC-Cii08EoLjEsM1SoZT3heQ2dTcPZKKXbJbX7drl55wWVNwtbCyVQIhOQ8rDg_q-1WeEiys2DleFIL5RKzeyw93xk-7JaOSeGPg8OJV3nbVyla5nnSu7A0kiReeQGaoUJduXHBPZ1HcyEEVcpc4OPaQH9Qvha10q24s=",
  "id": "rs_0b775215cc1582ad016ab2ac74085c87d09cb50e2d683fe4ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.285,\"left_z\":0.025},\"note\":\"The brown toy’s soft torso is aligned near the jaw column. I’ll lower around its middle, avoiding the wider head on the right.\"}",
  "call_id": "call_hytfqYp0Bf6AO9U0PcSRouvs",
  "id": "fc_0b775215cc1582ad016ab2ac75356c87d093e2295da86b9fa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hytfqYp0Bf6AO9U0PcSRouvs",
  "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]: [-1.0458, 1.9068, 1.1824, -0.6209, -0.588, -0.9367, 0.9971, -0.0212, 1.0454, 0.9592, -0.8864, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2777 left_y=-0.2768 left_z=0.0324 left_yaw=0.0442 left_pitch=-0.3836 left_roll=0.1636 left_gripper=0.9971 right_x=0.2759 right_y=0.0013 right_z=0.1754 right_yaw=0.0084 right_pitch=-0.3832 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -8.4308, 4.9983, 0.779, -0.2906, 0.1538, -0.0122, -0.0205, -2.6188, 6.5709, 1.4579, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234668dfc70aaf871a132c10dda715c41288b2d1b546a7cb25ce7c252c7c6f80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abcdb3173473a16a686341efc329d257ca03cfde95dc6b0bba0f7e4272a809c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee29359284869a4d18bb411ba97aa813aefa990e36f8776c6dfcc794e37389c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.204 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]: [-1.1023, 1.7149, 1.3518, -0.976, -0.6006, -0.9863, 0.9971, -0.0212, 1.0454, 0.9592, -0.8673, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2538 left_y=-0.2724 left_z=0.1324 left_yaw=0.0192 left_pitch=-0.3658 left_roll=0.1325 left_gripper=0.9971 right_x=0.2797 right_y=0.0012 right_z=0.178 right_yaw=0.0082 right_pitch=-0.3642 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -10.2222, 6.065, 0.7741, -0.5934, -0.1343, 0.0073, -0.1026, -3.0291, 6.5573, 1.4969, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are on either side of the brown plush’s torso. I’ll close around the soft body.\"}",
  "call_id": "call_7Nm0uixEjTSB1IjHow8bF2NK",
  "id": "fc_0b775215cc1582ad016ab2ac7aacf487d0b17a105c4081e1f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Nm0uixEjTSB1IjHow8bF2NK",
  "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]: [-1.0458, 1.9186, 1.177, -0.6071, -0.5892, -0.9432, 0.0134, -0.0212, 1.0458, 0.9592, -0.9043, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2779 left_y=-0.2768 left_z=0.0275 left_yaw=0.0496 left_pitch=-0.3836 left_roll=0.1634 left_gripper=0.0134 right_x=0.2722 right_y=0.0014 right_z=0.1728 right_yaw=0.0086 right_pitch=-0.4015 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.3179, 6.0103, 0.5201, -0.3443, 0.0464, 1.1551, -0.0752, -2.6188, 6.5162, 1.4237, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2538f5fb8e0ed192ff5a25f26bf48179b813e6e43f07cac352acde266606da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a9a9f51c3f7d387753b3eaa0531bfa5b775c69070e4b8e47c83953ad805259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad322621211bf6fc744e8e776210ba8cc5b0e204ba5a12a0b4b9b6427690fa0a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.752 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0458, 1.9068, 1.1824, -0.6209, -0.588, -0.9367, 0.9971, -0.0212, 1.0454, 0.9592, -0.8864, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2777 left_y=-0.2768 left_z=0.0324 left_yaw=0.0442 left_pitch=-0.3836 left_roll=0.1636 left_gripper=0.9971 right_x=0.2759 right_y=0.0013 right_z=0.1754 right_yaw=0.0084 right_pitch=-0.3832 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -8.4308, 4.9983, 0.779, -0.2906, 0.1538, -0.0122, -0.0205, -2.6188, 6.5709, 1.4579, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyCLxiYjJuDZ8Dudet8QkiXG6h6fSBn6kiLlTWXeG921wVUWCalTkheG-NNrQAbRZOWphFs4I3fXjPBNE9lpOQKuamiUGfWuMYboxMoM643xStb6MaEk-eLiGdqbhLAKT5tmWP7ctKTuTAHDGoajWqCbmJLSTUx3TOleDur1yz-kFoaNwJUPoDh1ArWzb8v6TwDsg_QXxHyLzIeyCTOhQDIQf4zo0TCcjLiCrc12pD19bdvyA5ubcvNXLHnZa-TpJf4B989I6jhff5ZnPgtF-kfY6vC2BGXUa4Tq9k16Z-UbKQpMMRvi9b7fNdyEHAgzPrRm9_HhyYA0u-GftWv3fLLEbWxrGlMjB5XrQ4a1g0ei3Vn1h8SwEmcN3pBbXRcOcyZYkx2FKxgucChlUUztKFZNaqhh9Bk-l5M16vZn1DresNw6JrwD8FXx0CIs0XgN5smEnJEpGR4CG6WK5kCBzWDzF3RvmMIJMO1AjfPawfGFgSzidu5SShvG8rRjR-V58qLx8UL6wms_QzyWWrRtXIaeWGHYN_gtPDP6UykIm6N1tQQgSB32Ra3DJL9pwZjX5RnPiSCM7C3vyxMOaGJ8OIaZTw-m5ibLhbV0eVOnckxi-l4t-lbpo_6fRTV4RAYRTR1m7EfTHgAxjp02I_T45IqXWGCmrSaLsvh3ri2y2RI2Yox-vqdpxL9XeQ6GGzdO9mFEYNKVE-4YUVF7Bv6elqSLHsi8Mg45x6UrGUrbj65pu5S0NRPLYJe_e_B7XbSyb3isWKfyl8Hjlnso0TaBLnj3_zdQPVicxED74gJ4xmfeQvGL4tjtaeCnZE-8y3pcwvkA70vBanwLGkzlweMkxvtZIVeL8002ykQgzJsxqZl7lJ4QIEbR5tGwAmynkJ9IdI1gWaTcZXcu73_oG4vjI06k104DCjSjPBlagoLvUbKJ3KQdtUfIoUMeFP9GGTw7ZrL4e35tDOoHqnMCI7yQHG5S8L7wTocdIpsQfMKKjYJ6RfaCtgB4i3CwVKfPCjHp6SuRQziCrtqjuX9dRiKnHv_sVAiL7y3TCNOxxdPhw-hE88wcK1Sb9hjsdw-aDS7muEku0Omm5b4hAZSshUnzG-Yy59-TBwmTG6YVh_84Jh4eJsj-xu5vCLKNYG5QmiS1_bfZb2BEpk39bU0Hgb3j-Kg1V5oQvY5DuLjn9aRtuhqmcyUGCrPXzkBzZmzvKpyjB0L6s4Vm1lP3zAU9zkIOHUve_go5i41a3_zXktKIZKmLPo=",
  "id": "rs_0b775215cc1582ad016ab2ac80b74087d085c0669f52dd2b9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.315,\"left_z\":0.025},\"note\":\"The near-zero gripper width indicates the first close missed the toy. I’ll reopen and move farther forward toward the torso for one corrected attempt.\"}",
  "call_id": "call_mtiorGtKbuvDlwNogDra1Wvm",
  "id": "fc_0b775215cc1582ad016ab2ac81b1b087d0bbee528083d57206",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mtiorGtKbuvDlwNogDra1Wvm",
  "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]: [-0.963, 1.9644, 1.2312, -0.5804, -0.5865, -0.8711, 0.9948, -0.0212, 1.0458, 0.9592, -0.9207, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3108 left_y=-0.2693 left_z=0.0265 left_yaw=0.0774 left_pitch=-0.3758 left_roll=0.1741 left_gripper=0.9948 right_x=0.2688 right_y=0.0014 right_z=0.1706 right_yaw=0.0088 right_pitch=-0.4179 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.2393, 7.3094, 0.8718, -0.1245, 0.232, 0.0366, -0.1709, -2.5641, 6.5026, 1.409, -0.0513, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe801b88184a4c82361440f723638755883baee03c4c0f08c0afda9f773003c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee762fbb3e6ac86a50b0701be1d21ca34e25a3a101aa234662f2cd9143df2012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bac5bd2901adf9b0ab891ba34468a7134d94b03735a8f2e9ecb62d001fe1f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 7.219 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]: [-1.0458, 1.9186, 1.177, -0.6071, -0.5892, -0.9432, 0.0134, -0.0212, 1.0458, 0.9592, -0.9043, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2779 left_y=-0.2768 left_z=0.0275 left_yaw=0.0496 left_pitch=-0.3836 left_roll=0.1634 left_gripper=0.0134 right_x=0.2722 right_y=0.0014 right_z=0.1728 right_yaw=0.0086 right_pitch=-0.4015 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.3179, 6.0103, 0.5201, -0.3443, 0.0464, 1.1551, -0.0752, -2.6188, 6.5162, 1.4237, -0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush now fills the space between the fingers farther up its body. I’ll close and check the resulting grasp width.\"}",
  "call_id": "call_7KQOUjcfjpjH6yPABgdV4suk",
  "id": "fc_0b775215cc1582ad016ab2ac8657d087d0ba603aebe2891fff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7KQOUjcfjpjH6yPABgdV4suk",
  "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]: [-0.9615, 1.9648, 1.2312, -0.5842, -0.5804, -0.8757, 0.0123, -0.0212, 1.0466, 0.9592, -0.9485, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3101 left_y=-0.2688 left_z=0.0256 left_yaw=0.0803 left_pitch=-0.3826 left_roll=0.1719 left_gripper=0.0123 right_x=0.263 right_y=0.0016 right_z=0.1668 right_yaw=0.0092 right_pitch=-0.4465 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -9.8667, 5.6547, 0.696, -0.4371, 0.022, 1.0672, -0.0752, -2.5368, 6.4479, 1.4823, -0.0708, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b0b5ff53f9cd34896c0d2ddb0b4259cce612923537f232f98cb835d41c29bb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd6d85fb4c6786eb3689a06d36ad90637ba6e85936e11502882ab5e093077aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07015e78e8edd6ae3dfc5338bedcc29b070b7be9d234672c84b99805ff30cef3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 8.261 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]: [-0.963, 1.9644, 1.2312, -0.5804, -0.5865, -0.8711, 0.9948, -0.0212, 1.0458, 0.9592, -0.9207, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3108 left_y=-0.2693 left_z=0.0265 left_yaw=0.0774 left_pitch=-0.3758 left_roll=0.1741 left_gripper=0.9948 right_x=0.2688 right_y=0.0014 right_z=0.1706 right_yaw=0.0088 right_pitch=-0.4179 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.2393, 7.3094, 0.8718, -0.1245, 0.232, 0.0366, -0.1709, -2.5641, 6.5026, 1.409, -0.0513, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyPJlM6Y4XnfEzfGEyz84FYpR3hNsZbzwYQq1C6MnVtQ5XU_r-OXC_HDm7q2TtuQEF9IL_1aEsxkLV04q3Jei9vNhcWA7K0JvmTZgQm4Jlh8W9cXzHacvp3AFLfih1ZJOa_GaRFfKEWQsL9_gHBn1meAiyWYQkBTNIOMai6cVjh6xcis3ytwR2RPl86MYJT4Ub8XoBxoqyx76Bd7R9F3I5tl1QY1DEJR9Lh7zYGZjoUpqj6_B6XsekNBNV_Y5bETfH_ltDPu0bjB-ymDkO_ignwYWtUsHfKzCId1PMBSHs04RhihuEZL_m9F6ThTUk1hVZoXemYXnYl7x-HsFRmIhnIv23QVv9gEdMbrrMRfVisa_aN6ufKZlWriNtYRFIoUKW8IRpZRCKdjXceHKyT1LII5oCc8Yr5Ci9I7BvOyutaB9quoNvThNG04qeI-fDUvOLRVyZR-Y6sgFingptrLhOhg5xayLhznOXEkVS7AvnzuMvYfRRB0c_YizwIM93LTdudsUIN3CIRnpAA7jNSr4Il7ztFmjKDKSRdRWEB1VnITlxQ5HJVCxH9yCi-B0OqQZf0E-1I6J8Q52DriZjOrONFQbPoNejx2UP6wZ0O5z4VjMzJV8BQJYPCBy33rmWdXIJjCPC1dCzeUhkmi0X9uyyYQZwAd80wXSZPri2BsKux3V7pWFrmG1--HNt-XMxFeOeno1FVnVcZbb18N7dkVL7oa2OzEshZFgb2_wflGD15iWNTl7J_X3nz5SaaBr8ehhFhYd950THYRS0mg_p6aJmGLY6uCDhV6QY-5Qofk_SFjlIkNBsgVPBdliQmZ3Bcje1UFfHnZL8KBP1dnu9QH32SDlYPx6LXQHfUwW0sDFWRPobXFHr1epsIyktQ6SuzSQ7DKZkudMWvVwn6O76Dnye7TLkgv2xzPDPIEoocgc4gobRDnqlNVyyPxGaJWv4n-6cJXmwCYvvTJhnEwkXUk-sSlIh2nE-GmxkJk_x5wS-u1oXKSSCou6imQtNeGMo7JXK0_zZ4F9q9kLw4tw7RgVWNI3VASCEWq4AwfxLheJg229_k274nF3aPxU68Pmqc270gyqZyi-76dzcKZcBuLVcgWBja2fCJ4Lev0qZMOeMpElZ0FK4jP5r7Xd6cvLW3iyYIj5kxPGOp77D79jCMnACYmSvYRj4RtBlaFRg7pwwge8QF_CslnVHLkRgl2c78b9n0R62VE1Yh-hhv0ZGdhrwtE8wGjBGCvyJmMwhg7HEq0y-vZb-B7F-0mhOmTUuTk91DGmnLEvnqQgxOv0Vp97Ra-k5_x-d8RQ_Rj7F5V6Pnly-m4yPGzjzuiPILXxLmBvSPfJMpajsopaZeRK-fhQTjVNttUKKnsVt2l2yRC_khznM37wD8tFXC1ecDRE-SiKfzaY2rtiLvQGLMhW1SuXwqRhPIlHXMoHSjDTzqrj5tcnd_yvZTu9iRFLMUJMdRZzgg",
  "id": "rs_0b775215cc1582ad016ab2ac8bf81087d093d85489dedcc205",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.16,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The second close was also empty. I’ll lift and move aside to re-locate the brown toy from the overhead view rather than repeating the same approach.\"}",
  "call_id": "call_KicRz2RPY0qKPhCtqfY0PQqV",
  "id": "fc_0b775215cc1582ad016ab2ac8dacb887d08ea6ea537869de08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KicRz2RPY0qKPhCtqfY0PQqV",
  "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]: [-1.008, 1.3514, 1.1362, -1.111, -0.5735, -0.9287, 0.995, -0.0212, 1.0473, 0.9592, -0.9657, -0.0196, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2268 left_y=-0.1732 left_z=0.1642 left_yaw=0.0644 left_pitch=-0.3878 left_roll=0.1433 left_gripper=0.995 right_x=0.2594 right_y=0.0016 right_z=0.1645 right_yaw=0.0091 right_pitch=-0.4645 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -5.3128, 8.8137, 0.7106, -0.5543, -0.0562, -0.0269, -0.1026, -2.5778, 6.6667, 1.3846, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f277ec3ca2d6cabbdc989029a96da99910ca9d6c0933f985385c2f3df78946d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323288d1fca82c278094d6efb43c1ab570617032a24aeff6e76f976d3cb2c24f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c546f0cd373f65afe7a1fd0aad0e233e471d713d812376d4029dfd29ecbad4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.807 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9615, 1.9648, 1.2312, -0.5842, -0.5804, -0.8757, 0.0123, -0.0212, 1.0466, 0.9592, -0.9485, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3101 left_y=-0.2688 left_z=0.0256 left_yaw=0.0803 left_pitch=-0.3826 left_roll=0.1719 left_gripper=0.0123 right_x=0.263 right_y=0.0016 right_z=0.1668 right_yaw=0.0092 right_pitch=-0.4465 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -9.8667, 5.6547, 0.696, -0.4371, 0.022, 1.0672, -0.0752, -2.5368, 6.4479, 1.4823, -0.0708, -0.0659, -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": "gAAAAABqsqyYs162bQb8TqoXBxnla3LZ55Jxw5O1FXrnuSif0-YAUbdnrgWGoAtUp6WeunQnOPt649lMr_3pGIIgspAWfksqlxP9fqbZJBF-_EdFpH1HQma-ElAcDZi_knGAXw4V6P6d9z-YxrENBGlCQvbvsBEp5jg8fED_CNDEwtc7tS_pl_a0rgSKiqjurx70dSlQYj8FB11JmMd3G5jGFTMLtABuXlfsSF9IODo9YeTd-oIM8cRPGQ_W5bH1MXzrrOcpdD6k7yguee5h3gGGiRbysk0BqJA7UL0WJY1JQL18LC1u2I_i3HI_reZYbh3ULPnInDzqrVGSkntiaeIgVKTlrZOYObL9MJ1sWTucD9ovbD8I0faqKPf4hgViZORmuUEpMnJ-JDRp3MfixrGnDoUuaMq3RwfXGi8M9uzrLeRvgYDuLKShoxCN3fkoFkNv60nJV5KuKc68YGzr1dTaKdqzQWpGCMos-fS-QypyPSZX4hTRkf95FtLraRRrhXVFkx0KlXTkvihnwdVar0Ek4fBNEIwUr9J_MqUvvIMCsPVH-64GpvsIy_8W6azFlCIVtR9CN_EDADT92q-uVnTwOYqRL_trpAdLGb_CNCMN7E-7wtkLbPkGeQOikNo2E_rOD16Ahp9k5doudl3wx7Qq8u-gKsKcP46xy535W6UcFMgHp8md66KcS60nurrsF_5CWRdXoup6tK3ft_SVOsGPKVus6OaOUvL6iwTMrQURcx-1HBSeh_XO4oMG7H6iBNwhsD3OIZ2kik6BwcU5YtBx89pHX_8V1IIoTIq7oUZDzayhaFvNoo4pkPqbcizbEcErPgOPyYcmn1arw4YS8cZGznkgbh0iHhMxulQrQ_iVaeXy_RJ1-0gr_iILLhjREJomFkvBY-ks6DmEIgD9n0hiGHG1zr_XIRi7pB15Q_VGEVW15lSoRcJx_kS0Sdo534_d82Rokze9WU5u3_7foblmt2psv6r5oYsrLPpwuF_B8atUGRL29T3xekaoqqs1VTRC_4Q6WCEKCT22SImdU6eVMkNJcNVED4BGe0T3Y2hBhewem9--1zHIgM7zFBaVreCuOpSiIKVUFTpugr7mbqdf5uJr7jhsaXmu9lWJQTyZs-LykNruUpRfLhIejjgdp9TxUU1mKgSMIQJxfGXIequgrRMgaFkaELodR2qJ1Z_Kn6fZvbd6hWxLN57M6LVuFDUcAeVdNXVmKRhlkZcK-f6nw_5k7_C6Gmo1RbbgmqG1jbQRCH8kK-_eXDpn-IGamkHCWaHC1fh3CgavbsrR7sm9HV4QN5K0sjdxtMD5GNzhCrkEx4y6c_n59mKs_GS0aRf01nEHXzp3frzXGBp0km9iJMOfSN81vhTeZGFj1XGfTuKz55NVqigMRnZD5ymtut51petE6gQEePHnC0FYHnqzpLXpFcpFZ0hs29OcHCargr3aTMNEPMsIl1QiYZhK9etWEq_eyYdpiWtWatJF6jZKZJQsrDUe8uQRBQbBLgoHWMlGYvRt2sYOiHi7RZTalVeZpwPyS5eMzVumWyMRW_8Vu8OVymC1qFe5veAuTvwkcCMunmRRxH2nrH3D6NXYD4GMdL9q5DO3apEkNqlP1oOF12S9XYpoi3z8gbuzs90xbGw3uDeT07q5MJBgWxBGQMbWe4_qvqkBM0C1FH4DGpNaRXCeu_QShLoHCYjDe4G6brAnt4xuwujyTLQqn86-In8ctxaTdEb4mxrN4VDHpWHy6_BsOzoFMw==",
  "id": "rs_0b775215cc1582ad016ab2ac92c62087d0bf6b350ab0260cf1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.215,\"left_y\":-0.29,\"left_z\":0.035,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The overhead view shows the brown torso closer to the bases than my previous grasp points. I’ll approach that nearer section and restore the gripper’s upright orientation.\"}",
  "call_id": "call_TQYGzhVipujYxtGDHRy4xJag",
  "id": "fc_0b775215cc1582ad016ab2ac96d7a487d0b7c9fd994d61ca7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TQYGzhVipujYxtGDHRy4xJag",
  "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]: [-1.3487, 1.8183, 0.8707, -0.3695, -0.9092, -1.206, 0.9963, -0.0208, 1.0473, 0.9592, -0.9714, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2102 left_y=-0.2817 left_z=0.0313 left_yaw=-0.0121 left_pitch=-0.0635 left_roll=0.0552 left_gripper=0.9963 right_x=0.2581 right_y=0.0018 right_z=0.1638 right_yaw=0.01 right_pitch=-0.4702 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.0615, 4.4239, 0.7546, -0.8181, -0.0073, 0.1245, -0.0889, -2.5231, 6.4205, 1.2186, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d32a87dd43802bd8fb1e64c71309db27bd4925be5175cd819ac5d133b8247ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cbc0391188b39856eb024eb1088ce2c2be9ef094aecaedcbffc71ac176ee57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b54dd1c743e45b88e603269b6b245652fb9bba3d3902ff58a96963a2f236d6d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.869 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.008, 1.3514, 1.1362, -1.111, -0.5735, -0.9287, 0.995, -0.0212, 1.0473, 0.9592, -0.9657, -0.0196, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2268 left_y=-0.1732 left_z=0.1642 left_yaw=0.0644 left_pitch=-0.3878 left_roll=0.1433 left_gripper=0.995 right_x=0.2594 right_y=0.0016 right_z=0.1645 right_yaw=0.0091 right_pitch=-0.4645 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -5.3128, 8.8137, 0.7106, -0.5543, -0.0562, -0.0269, -0.1026, -2.5778, 6.6667, 1.3846, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The jaws now straddle the nearer part of the brown plush. I’ll close on this section.\"}",
  "call_id": "call_bl34psdYhFMDh8DG1N3AvgdF",
  "id": "fc_0b775215cc1582ad016ab2ac9c942087d08ada9ec534043dc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bl34psdYhFMDh8DG1N3AvgdF",
  "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]: [-1.3609, 1.8397, 0.8291, -0.2943, -0.9409, -1.2346, 0.0123, -0.0212, 1.0473, 0.9592, -0.9714, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2091 left_y=-0.2794 left_z=0.023 left_yaw=-0.0009 left_pitch=-0.0303 left_roll=0.0268 left_gripper=0.0123 right_x=0.2581 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4702 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -9.2239, 4.2051, 0.8669, -0.7253, -0.022, 1.072, -0.1162, -2.5231, 6.5436, 1.1404, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7294f53b921bff6934aad45efe56777f16282edabe733481e2b4b420ea35791",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a99ef1a797a64af8963adb59e228f5a493c796d04ce28cd068152a08f429ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a49e37df7b25f2cbd6e32d99bc46350eb8518c7c904cd0d8631b672eb39587f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.574 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]: [-1.3487, 1.8183, 0.8707, -0.3695, -0.9092, -1.206, 0.9963, -0.0208, 1.0473, 0.9592, -0.9714, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2102 left_y=-0.2817 left_z=0.0313 left_yaw=-0.0121 left_pitch=-0.0635 left_roll=0.0552 left_gripper=0.9963 right_x=0.2581 right_y=0.0018 right_z=0.1638 right_yaw=0.01 right_pitch=-0.4702 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.0615, 4.4239, 0.7546, -0.8181, -0.0073, 0.1245, -0.0889, -2.5231, 6.4205, 1.2186, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqylH5hb4CbC9lKgtMTjP8OE3A7_J-GGwC8cq6zemjDZwQY0JoIw8BNRjXZSaCSVZtNnC3J3k7aj2z4g7Lmtv-_tOFtIXN-wtPsJAdzp-ctkNOhJopatcgyZ5Ndg58POboY5TKlh6ckHE8ZLLm0LuIeCPj2apBCbKGjXm350HGVq06BkIF-YxXsjC0arzGb-CS66TGAtrRuAPpGeuftmmZarW8i60B44xh6kyDAcUlKwMUY9FRihVQj4uWbwVQTHpnbS8iRCkvs57vkgcfUDoSJmwefmmOnKp-wjS3NyLFkrflYVNFDPWxFs_VW1KOb7jJsFPTKrkzSqkQc5XM5eAVHxt34Ywk0q7vWqz2RhC3UEZqDe0x922r0YsqJx-3CN5Ok1cC5m1bonazDWS0usgghDVM6PFJlS0Dxb5JebnOY5xaj1CFhOMpo6T8p8DubawlYDw5VTYabrM9dYCbs3s8TqZ84WM6WVYJMGPaoK6npFuYfNNcIAXnoQLzuhIhPBB1g_hosjXxu-iam0PQsdpaq_gIbYMzCspwTx1_33g6NvDGti3y4eJjxkQbA-phVDO0PjhE0yrI1K5oMpaqKEnPdRg0V4gW_wcqXTHILzjX-Yde8-g9zb8dB8WjFlBif3-k1w_JWNtuyM9-5y7wERx8yjaNyWzZdcNmtQOHcufhy9rFVSMlT3dnGKA1RtWu2yHIRBqe6SsnBJimarYqr8czT9VK2hvaML5kvdALeDwP5MIwBfHhqxe6-qIQKX2rK4-3T57LTloQ0rAm8eXj0XrOL3SSV3sIsEjqngXauHYK6aFH90epAe7k8uo6ECGmWiiphESel5IzWZnHx8e1ex5alo-pgBH6vGuYIwb29DyyHUUMyzLP4V6JRaaY6459sG0AsjreoAU2ZU09QLNJqGQ3Wgljyk7O1v_NNg-mLAL0z5k186wtNu7vDyZpMtlaFgObeoRAguAAIC2EZ4__S6NHzHwjDfNaoBvzeZ2WA_Xt2IA6kTPR0wSuwcfOs8JaIVebKeeZ4VYRqsUaBRW5EKP8GeeqCFSeK-xeAY2JKOMF_R9M78I_xq5tX1XbouG2hzqT4ICYxBySQlaokMlJX3fjuMBI9S_PhExIX66H1NCzZTTMl1ScQNSs5cDiJPtEu2vDuXDY5_l1w65ujWPyvQ4iAOSjlYOEdmn7Rsz1zOOm289d47g8NFSevTJ8r8CAqsqX3u6lZ4LjpMZl3bg3L2d_RzfSTn8SyYB8HMCZyk0W27rZbbWg9WPOqmxfHa52k_3QkCmqPq-beS0HHu6_hKuq1YPCyqrq-RrAVnR-_xQ9nGyEnnHNy2kyb1HA5mTz9T60-kOf6-ONaqTXdud33LcNRQjmlksBhhNFsRIf8Hl-T22AgD6VNShEzvOmbXp14DUHlhZivUyoKsQGkI2KLzmIHgJvwTQGkoIR-cvyGBt_xRChUiLJApeg1qAl5N8m6u0yl4Xuso9vy1TkRanI_N7O_P5w==",
  "id": "rs_0b775215cc1582ad016ab2aca1236887d081a7521233d4fbc2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.29,\"left_z\":-0.01,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"That close also missed; the visible fingertips are just behind the toy’s body. I’ll move to the middle of the torso and lower fully to table level with the tool upright.\"}",
  "call_id": "call_srbiH9UsPXSxNdUHEgk9J388",
  "id": "fc_0b775215cc1582ad016ab2aca3432487d09faaf47d993b409f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_srbiH9UsPXSxNdUHEgk9J388",
  "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]: [-1.2228, 1.9778, 0.8177, 0.057, -0.9291, -1.047, 0.9951, -0.0208, 1.0473, 0.9592, -0.9718, -0.0196, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.258 left_y=-0.2857 left_z=-0.003 left_yaw=0.0286 left_pitch=0.0109 left_roll=-0.0144 left_gripper=0.9951 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4706 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.7077, 4.4239, 1.0134, -0.2125, 0.3394, -0.0904, -0.0889, -2.3316, 6.653, 1.1355, -0.0269, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c5533e1b7a742f8c52cfb76cb59245166050122c42fd7fcd9bc4e7b92b54ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:880ec038a92172c4a761177accbf5f342196cad58b1933cf79e3a875fee2a063",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75977f360f01cc2c71ac26433bf657b0fd2fedc0225ab45202bf4ceae3ad0e32",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 7.98 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.3609, 1.8397, 0.8291, -0.2943, -0.9409, -1.2346, 0.0123, -0.0212, 1.0473, 0.9592, -0.9714, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2091 left_y=-0.2794 left_z=0.023 left_yaw=-0.0009 left_pitch=-0.0303 left_roll=0.0268 left_gripper=0.0123 right_x=0.2581 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4702 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -9.2239, 4.2051, 0.8669, -0.7253, -0.022, 1.072, -0.1162, -2.5231, 6.5436, 1.1404, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers are now alongside the brown torso at table height. I’ll close here.\"}",
  "call_id": "call_M31lUU6rk6v6MKslzeeg5aHp",
  "id": "fc_0b775215cc1582ad016ab2aca8bfc887d0aa578f4014768e67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M31lUU6rk6v6MKslzeeg5aHp",
  "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]: [-1.2217, 1.9812, 0.8177, 0.0628, -0.9291, -1.0492, 0.0121, -0.0212, 1.0473, 0.9592, -0.9718, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.2585 left_y=-0.2859 left_z=-0.0037 left_yaw=0.031 left_pitch=0.0116 left_roll=-0.0185 left_gripper=0.0121 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0094 right_pitch=-0.4706 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.7726, 4.2325, 0.8913, -0.5055, 0.0024, 1.0525, -0.0342, -2.4821, 6.4205, 1.1404, -0.0659, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7a44b83583c70e16066d3208ba4bcfdae5b27c1eeee1fdee12a58c5746fb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908c6a3ced27eb17938972f1ce9e695df2e81f51322b8acd1c710fe59deacb7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:839a777bdb00f2e65966337716b2864139d4f1daff2526954a91b829ddf91b1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 6.443 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]: [-1.2228, 1.9778, 0.8177, 0.057, -0.9291, -1.047, 0.9951, -0.0208, 1.0473, 0.9592, -0.9718, -0.0196, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.258 left_y=-0.2857 left_z=-0.003 left_yaw=0.0286 left_pitch=0.0109 left_roll=-0.0144 left_gripper=0.9951 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4706 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -6.7077, 4.4239, 1.0134, -0.2125, 0.3394, -0.0904, -0.0889, -2.3316, 6.653, 1.1355, -0.0269, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyz_7uuXo7sU5LHxszJUpB9mmskXgifAQ5LRd8wZ6zUDIdck4xp0ZWCKWR7gDuSJR4mgynWAbqkmuyjcMmR08Rc604-DhtFcUBqyFpCJ_6lZD8OvHxNOXNYLjRv_grqqctt74Acqb701GbempcTQk4wtDHYabOHhH6JvWIVcBO5H6mfnGALbws1GJswkBTMz9Z9A3evGeqv6YFlOLsFHowezvoa06djwOXbgVtTTNFpFEcdk8GECdZGR2A_HyvnAJKkecwUHrP3L9sI_dwZd1rV_garWD-Zf42tlwrPDOD0WyKQoXDdOWuAeadEizi66EJF2S4_VI6bmBGIGUGHln2yt67G5HJYfjYHDJ4cM0gfLOkYct6Liuicb7vDO8V_tSvIOmQVtOkK6qbgAkG4ajZURndgTXWIj6EIqLzkJvi7SiGIL_AKIvLZykSItlnscPV-kT8WJpUkEXQTaPYKUayDcZQqse80wJ1RwwFqw6IEWo65-6J8gJE6wGh__RRRw3paO9WGVgyp5Q0rFG8rm7pjZ2odXxeYNwp7iyR7igz6zVC70d0GJUbYq9kgMamLNomJi6nR5MsJC-0vUBZNU4dWW6fr550L1yHpyVWlnsMV-hCY9NzUZHgEYuhDiyXMkIkXKiWJFtYWM5s0Oa1JGyrIk04kRwi9GE9iWgPNmLv06Xs1pzz392eZyBC21eSLxVPG8gWkeMyIWLLZ2yK03XEut9cx-Cet3LJIL6S5U3Nh3GVJdQ5ojBiqRzOSq04MxbSNNIZsrVIQ9BEjR7Z7RghGM2p35DkyI5XLssfYObxv1we81tDPcg7PwzQl1zMstQPLiAjFLExH_R-eNDMHtx4HuwjOLy33GmKznvEaLeIhbwAHH7ZS5yVgXz0U1ZZULHPlDFUS6FogP1QSllnVhrAYJ40T6zLArGeEJlsChkY2xhproTBcQLfOqE7oPCe4bu9UQzt3XPruTwdFkOvogG13vB3qgoY0dUXeaMabb1URMWV7pVsqq-AK4gX7WdWpRKJo4SlW0LUg9aRVy0odaFvH9NB-IAZtWxWAdEse2JAI0nykMkaJ2OmaIH3r52zU59sw6FPzpngxpJF8m9QoNG9bWOLC08anEu9F7VOxexN3LQf-d4Djj8IDmVMeiYZK3daGPmLQvaZ_12dikb5zD7weWoMlNR5pLO5gD2zg0RkJTIcGknFgIGfPuGnDI67lvoYfcMcEVywp8vXhmV6oJf-y61_3UjEw-SRtyIzFL6OT9Kdqs5Lf5K_y01c22XvxbH6dMMtA3zJYhbdTluhzzsjNhbll3F526nwWT41prREbNZwJGOydwTMeFg9Fhx_g7f57JcIPglW1iWPu1sTsnQIwRPmM1FI9OGUaHV8hYOld9ZqTRTMOz2Q8kl01M5nHT-6oy7GAjrnEIiv6reY4KQfkyVGQKpes_69hyhFMr9lYtan7RSfOBq2zNHOK16vsEBvPlsgGqHBF__ARYd1YXp39aVizNJlp2EAM5bzwG2rb-es=",
  "id": "rs_0b775215cc1582ad016ab2acada39487d09c6707f5bc22f3e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.29,\"left_z\":0.025,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The brown toy remains ahead of the fingertips; the wrist view makes it look closer than it is. I’ll advance to its upper torso while keeping the tool upright.\"}",
  "call_id": "call_gdnj67XQHNWRcIYIwgfFbYCR",
  "id": "fc_0b775215cc1582ad016ab2acb1777087d0943096c412ea8eca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gdnj67XQHNWRcIYIwgfFbYCR",
  "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]: [-0.9863, 1.9816, 0.9329, 0.128, -0.7849, -0.7509, 0.9954, -0.0212, 1.0473, 0.9592, -0.9722, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3376 left_y=-0.2775 left_z=0.0165 left_yaw=0.0254 left_pitch=-0.0238 left_roll=0.0161 left_gripper=0.9954 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4709 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.9521, 7.7197, 1.6386, -0.3199, 0.1441, -0.1294, -0.0752, -2.3043, 6.6393, 1.1258, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf23a80c130089ef525dfcfdd28c9745cbabb78df7d6dc33204a951914d0306",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8f523d5cd92d8d03f461bd00d7237aba5f5a499c54b4c263022b6099818524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6ace7ecb1f858d923ec49b4968daccc56878312b7e79945e27adaa24f592a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.267 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2217, 1.9812, 0.8177, 0.0628, -0.9291, -1.0492, 0.0121, -0.0212, 1.0473, 0.9592, -0.9718, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.2585 left_y=-0.2859 left_z=-0.0037 left_yaw=0.031 left_pitch=0.0116 left_roll=-0.0185 left_gripper=0.0121 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0094 right_pitch=-0.4706 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.7726, 4.2325, 0.8913, -0.5055, 0.0024, 1.0525, -0.0342, -2.4821, 6.4205, 1.1404, -0.0659, -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": "gAAAAABqsqy6Gfgnr8_pooR8ZqSyGYRlga77bWJOnsttwXrwp9Oi0Eh-k97ecEOX51tsezZoYUebcf-CfqrXNc10p1tQXiU8CrtkUcAtiaCquZgFxCutoOo1hgzZipBWAzOPaDBgo1-ZuWyKXnXNRfzpWn1ohr0eoGzkHnR75WuYVWubLA2J6cjxsYBG4x8p1swQqsG27SZf4BX9_ZyTsdCTZgM6SAHFBBYnC5VZomVoPzvBFwWnxvKbTwVhGN2chvDv2L02zuqX6_IZGVj2PR1wh9-W-GfmHH96Kw0zP7aw_8vh0b0b5FNXH6LeP-hS6xMv1Cju48Zc23zmfdC4FUgSQodgW0VkEQ5ZYMYIEIfOXDOH-KAauy6pn1JrmNrCu9tSZTUKXkFuYx0THfT5I9ZK12TzCj2vl6v61X3dCu-e3GcrI9cp_PwCC6Pj41sEhFmBnAH6YzvGfwxX9Xyf29W3r499sNnjUKBp0BOfHlQqLtX6ULg0TsnRiFzd__i9z4vq1cpTqCCDwwn2fTo7cg_q0N_a5C2FQd6etwHPuGGCBq25GfUdQ4oClvehZPgjF2q9hKobkRvVtoxHkP0Meyxbe7S3DwR1DsdtEu7jhlks_HlrdU8_zglMpHoYsiJ_4l_l6cDsH71IchYl1CrL8vfHCXso4dFYuO8IHn6E8XBhyaIIQv0R0Sd0aJaMudI5wypuio9eL36IfQEGABnWeckJ9fLOLH91FEWxmiqwtXB9a63OX0a-2UFnz2nxtzLoYpvvgeP97H35MUxGVQo2V_2CpWyup8VUeHufcHzrYPxfy8EDF-vc9BE89kNzRxISpXY6MJLwgG-zjgllZJEMLXAe5Qyrx0u8hvK8-3Aomn8LDtuFQyLhFOolN7BjVa2AWdH1d8vVyNzL_XO1Zq-SntxTEqQOp0gzRmP7m1onAQNceeuFJJETa0i2Zuz3gNK8faiXgBP_0Sg6QVTeVWvxds4WGWiyi1Edk0hGj4Cj8X_35Yvue3DEoh7zouMuf1cr4d5RkCTLmI61wHAZ3eihkqTr_hUc5nkyyPD8wg1wxzVPv2KxvpKhbN2EH6CJvtivFXOyBi06x3dlOAe9evAi2IhsuEuopOLs6_bAJpTgjFkZJYAalfpUb-Kyw6jml6faOwysLoTEU3SrWlFnqP2eRMj0j3hHMaCAvXk-OeomfRBNqdrhFq0XjmC6j626cmJt1XEfJ7JfUakZZqSl4ZhRuGQGMp-ukpYxcexdaKCfnQjpHjG9RP3dvOribUsD7EkB4IYTbzdyqU9AO48daaqRkk0stx_qtcg1iyMbpWlKMV5BuJ--Ke8TJerfnwHGsndjvQNIHB9SYcen",
  "id": "rs_0b775215cc1582ad016ab2acb6b9e087d0b780019fb67b9998",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_z\":0.065,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The low approach has nudged the plush toward the safe. I’ll raise the jaws to the thicker body and move over it rather than continue underneath it.\"}",
  "call_id": "call_7cOkSzoIuXXjvW12BkWDHDo0",
  "id": "fc_0b775215cc1582ad016ab2acb7e7bc87d0b19f7e5f588680d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7cOkSzoIuXXjvW12BkWDHDo0",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8696, 1.9804, 1.0397, 0.0662, -0.7013, -0.6342, 0.9984, -0.0212, 1.0519, 0.9588, -0.9939, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3798 left_y=-0.2676 left_z=0.0344 left_yaw=0.0237 left_pitch=-0.0523 left_roll=0.0362 left_gripper=0.9984 right_x=0.2534 right_y=0.0018 right_z=0.16 right_yaw=0.01 right_pitch=-0.4976 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.294, -12.2735, 7.9111, 1.4579, -0.315, 0.2222, -0.1783, -0.0205, -2.5094, 6.4342, 1.3553, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224433f58f63dab7bfdb2a33823e1c0332db73f6c6ea6ded904387a3f9aa9449",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbe1ee46f938134df90e15b90e64ee93010426eb6b1895843073e5ed76c2d43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f41c41bf96d926acc6fbcaf7e0308f0e8ad6b5947cc5705e8a6e1f0caea625b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.665 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9863, 1.9816, 0.9329, 0.128, -0.7849, -0.7509, 0.9954, -0.0212, 1.0473, 0.9592, -0.9722, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3376 left_y=-0.2775 left_z=0.0165 left_yaw=0.0254 left_pitch=-0.0238 left_roll=0.0161 left_gripper=0.9954 right_x=0.258 right_y=0.0017 right_z=0.1638 right_yaw=0.0096 right_pitch=-0.4709 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -7.9521, 7.7197, 1.6386, -0.3199, 0.1441, -0.1294, -0.0752, -2.3043, 6.6393, 1.1258, -0.0855, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The brown plush is against the safe’s front edge. I’ll close around its raised body and lift slightly to clear that edge.\"}",
  "call_id": "call_Gw1eQtHeJ9Q1Da0GnG2hN7er",
  "id": "fc_0b775215cc1582ad016ab2acbd54f487d08b78fd4ec9c5c39c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Gw1eQtHeJ9Q1Da0GnG2hN7er",
  "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]: [-0.8513, 1.9747, 1.0611, 0.0669, -0.6918, -0.5907, 0.0125, -0.0212, 1.0519, 0.9588, -1.0107, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.389 left_y=-0.2675 left_z=0.0432 left_yaw=0.0109 left_pitch=-0.0412 left_roll=0.0455 left_gripper=0.0125 right_x=0.2497 right_y=0.0018 right_z=0.1581 right_yaw=0.0103 right_pitch=-0.5144 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -12.1368, 7.3641, 1.5409, -0.2076, 0.0562, 1.0867, -0.0342, -2.4957, 6.3521, 1.2576, -0.0855, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303e2519b1bfcacbcd6d8d71626993f7063b05244a07f1ce5f652d54fc477ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a973956748130d965dc7357d30e13bf1fadc51a57c846caf7c8d94a79126dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608fbbec0e0b39fb72ca9b8f6f769b1273209681ac2b7c72b2193cdd1e849589",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.732 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]: [-0.8696, 1.9804, 1.0397, 0.0662, -0.7013, -0.6342, 0.9984, -0.0212, 1.0519, 0.9588, -0.9939, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3798 left_y=-0.2676 left_z=0.0344 left_yaw=0.0237 left_pitch=-0.0523 left_roll=0.0362 left_gripper=0.9984 right_x=0.2534 right_y=0.0018 right_z=0.16 right_yaw=0.01 right_pitch=-0.4976 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [0.294, -12.2735, 7.9111, 1.4579, -0.315, 0.2222, -0.1783, -0.0205, -2.5094, 6.4342, 1.3553, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzGGXkIZL7uyO4A7z2ErgPrc014OWEo4wnzsc7ZfAHQ9TPXC0iCUXWO8rJcbimyIID3H2EQwWvT2yjiAN9O3pW7k19QUoLKg_Tc6PSvh-2B5NO59GqjT_MTQVHxjTGEDdzcdgU4YALTrZR-PAXymtwYcu0miQ6NOctl3uu9uZUINaiMMoDOX6jqxF6f0qjUexVXRCeaemcl81KCONjt0sDzTuQ0hu2fug7W-8-JocFjh-Sh16vFTiDjXmu8l5FLrO4OOLYQXWKZmSfjliIsL5iS0oV9TdGF0F0U4fRu6ocQ78rBo0G_10lwLGfZ8a_L5YRZUMYFhkBt4qeO3cPfV-C9z4dom0ifYT3CfSQPrumGUPU4MxkGzI9rp2rZpPaullOQt6NkuadlovVGHtah6z_py6sAeRvmmYYH_nE9ciUhEiPnCZbn-JkKxwJJXxj7oWt_BtMiOPd0c3WqEMFqFH2O0Ra5yhBxX0JemjG70OyR4iSOWJQVB5hLVMIuIpai66URLa7ulH6mhxWPbL9KrBlYcs3Mo5UIZoTLu2BsfmdDGFna6XIHjqY88FEJpS2R21cPAv6zUTSYM-muvPmZr6PFX0POKFEUYID3Dh8w5ZcpZW6byWWKVfjKEDBKDTAjGJ1GkoKQU7L00jsdNT6YpFIYil8SbvcxYPK4HB9WPZn78y2ro7TXUYo_IMsd2nlINbOXVb5PiDWZDpV6UBS-sPrxtPxAWSv9JxvlllwmtYiHz_ktaBlmfn0JAHgIzJTTXFrL_C9fDy_9TbJPPNLoMYq6gR6XBhotsIvOOY1Q9Ode04mAj410h43txlP4gPR_oWG3LMFhihOCDVQOkJGWWjxhY8nnxNP750BH4CqV8O0yUiejuQCloSvATw9zW-19FB8eVYZMwqyGqDz_ZRpa8iUpTH0R2tqkCG8010gK3UHNXxvOpjtv3csI4AhKQBJLQzKpirsy6rdcRCDcpZYr6gcTuAYgVCj_0TLxCNwlkVRNGQxsP3BzMBA55oa-59_297bQewuPDsGhgcS9tYxd9nu1NIwXQ0mrRY4DPOkArsK-EKqFfv5Uhmg0ZqkeuvxQyZlfvMhL7aEqEqhy80lgFtH1PAm-Np2ys1Zkdc34XArZT8clTa5L31nazbGvMvhfDjsy1T2NpaFb86nPsXjLGvJ2zEIe4Pt9z722FBawucJzXSI2xxN9g3Q6GsXCRrbohd2v5nQD0FYLPzogElWCeDH2_o5wrkvZKenIU3r324r10jxoZA8YXXo17LzkwCeTDhuI1vy9z7B93MdPpf9UJt9GYa4W0PET2YeV4mYIQQonSKTSr36u2jtcx-8vQTe2TzhLIKvzDgSxu1BUCejJpQ3KMxtwys4-qGS8qpumHy2byjmziVj56O5pPZSk1XQQUGICHINq0bK0VwYlEZ8ccDyElQ==",
  "id": "rs_0b775215cc1582ad016ab2acc2907887d081fd565647635b21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The gripper is still empty and its upward motion was obstructed near the plush and front rim. I’ll open and lift clear before making a top-down approach.\"}",
  "call_id": "call_QwHYaX1jC8Q5rZy32BIMa4lw",
  "id": "fc_0b775215cc1582ad016ab2acc4bab887d0b8ecdbce978f0e8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QwHYaX1jC8Q5rZy32BIMa4lw",
  "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]: [-0.8509, 1.7588, 1.3922, -0.4637, -0.691, -0.601, 0.9959, -0.0212, 1.0576, 0.9569, -1.0195, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.2683 left_z=0.1875 left_yaw=0.0159 left_pitch=-0.0307 left_roll=0.0242 left_gripper=0.9959 right_x=0.2477 right_y=0.0019 right_z=0.1551 right_yaw=0.0106 right_pitch=-0.5308 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.1915, 9.4017, 1.4335, -0.2613, 0.188, -0.0659, -0.1299, -2.9744, 6.694, 1.1551, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9404469fa8195d74ec80e6f30173225e7a9b77c42e683e73f37b1cf4a899122a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d15d878f07145fb8794cdf54f4a3c62ab22cfa88c2a829e08b7dceb7d30fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec456eecf33022414512375b081118f67d13a277634d16c6af57c0b0e8d2f196",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.064 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]: [-0.8513, 1.9747, 1.0611, 0.0669, -0.6918, -0.5907, 0.0125, -0.0212, 1.0519, 0.9588, -1.0107, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.389 left_y=-0.2675 left_z=0.0432 left_yaw=0.0109 left_pitch=-0.0412 left_roll=0.0455 left_gripper=0.0125 right_x=0.2497 right_y=0.0018 right_z=0.1581 right_yaw=0.0103 right_pitch=-0.5144 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -12.1368, 7.3641, 1.5409, -0.2076, 0.0562, 1.0867, -0.0342, -2.4957, 6.3521, 1.2576, -0.0855, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzPIS-wkT_739j8gsNySmUEHLK7epTlMVjKp31Rf7MdoxaLPKHS8Ae9G6f41V5GhX9ozv3SjMVoURUblbXzeWCXsdvTWBa3tZPLFRgF0iGVs36u13wlZiqkBiMOH4gChj-wd60tN9ocQM9wNR3rqxvlct8TGEpHKoub4Y8dHlVnqfgSecrK1K371TRqsLrjOaNKLP_50NMph2t8rX70qwiIwiyWLnC3ie6xE3c-MWUN7VP1xOO1i76a_geGePoGMBB0IZYythk2Kk54r0einA6-D1afZU6K0HHU5yxqeqa3WuGNfVWJZ64NXmxW1Bx28F5tQUFoqfM9ksrD-U6TPulTVqYkJ2YXbchPB4Ea3FFqek1QNzX4hDQX1A1g5BoslUNuUttbv-gYbQclOtr7-FCYNYGmnjBK_XIiXmzqQyR6fEs6R1KDrETX1Aq8sgPAImU5YUBgjLeLCORm6MQ3VWiY9AKR34TTljBZEf1NFVwUzI4Qo6wXdrDPIZ4aZaKPP3KKwXPLNKxlNckzz1HeQF2-j6fHcnlK-27sk2ywewKra3dqaM1hyNLIZyix3O227hWGw89ImUp40AwL_cJjYJy0dY-GsWcJI6c0C2-YKkJ-XOChNN5LnCcnQ4UX1DZpD3VfWio0I-oRcrHLG0ICtn20DJvTRVbb2JJsi_DFjwrM_t9JnL2PASJFjztCKs7a1A_pVjA62mJ6P98EPdo7dq2LZ1Vk0xusf9PfGtmrKwyr7QzegvCvagRqYC6Efy6p4sXYNIJV6T3Kk0qryKlPCpFDdFKJd2i62qOqFStHaV5oPvC3rmT4KQiSfpp_FBBUq7MiJwlbwUq1WrZQpczELOMtJ82fZp8gjk5jNglIifHLtXK_lecQwZokbvuP0PjabZYBdT1KYBAVntaQPX5rTI_l2qmVJW9J9O55QvcpdhLgXttE7sn4oLab8cAgjfwvYbLC007S0OrQlCFH7xCBdsQoArpA9lfW6pNWNK-rnEaIQ3GNZcUAGYvc4RXi6-yWZFtPLT6R3mAT79WdOrq_NJUiTHgI-e9uXEsMrwm32sxXZgHwLlfvz5NIywbT6PgI8ssCnc5-9WIJZCYniz8Oxr2-mNYwcGyS9BQrosUcxsYcCA16_xj3qm91Rv4f5stER4VKRXOFMCUr7k9C7lletxhsKGwrUoDb6rhX_6CKVBLtNguV04X7o6bzJQ7StuGQZHsUVt-Wu-Du4mKpuC3ZZQGpdtLBLAW-71KJh1K3YZrfnuP9FGXtzDAncBNr7DTn_KTADwvhfPPr7gBCFAvVcG7YArrnqY29y325uqzjRgANvtchrVTbKE3kCXhY2XE6xMsaCAfvO52DPVgc0MGVbuBzpOIDKOGPPI99dei8AVzyLEK6dvAy3OtKxqku769Q3bZsUZ9It4KlaySpVJDaRV37TEiHfV3KFVbPH1RM0UrvWbtN6MFaK0MmVLLrZ05-f9xd",
  "id": "rs_0b775215cc1582ad016ab2accb2a5c87d0850c25967cf7ebf2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.33,\"left_z\":0.06,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"With the arm raised, the brown toy is visible just outside the safe, slightly to the right of the gripper. I’ll descend onto that body from above.\"}",
  "call_id": "call_N73ipdAVO3tkxwkhDcuVsSgY",
  "id": "fc_0b775215cc1582ad016ab2accd5b3487d0a228eb60b8e782d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N73ipdAVO3tkxwkhDcuVsSgY",
  "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]: [-0.9825, 2.0281, 1.2415, -0.1162, -0.7536, -0.6994, 0.997, -0.0212, 1.0576, 0.9554, -1.0313, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3673 left_y=-0.3263 left_z=0.0618 left_yaw=-0.0188 left_pitch=-0.0354 left_roll=0.0299 left_gripper=0.997 right_x=0.2447 right_y=0.0019 right_z=0.1533 right_yaw=0.0109 right_pitch=-0.5441 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.6325, 5.3128, 1.4628, -0.6276, -0.149, 0.1001, 0.0479, -2.5094, 6.5162, 1.1355, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24b1698f81b251b584c68a2945701930615e627994f7fec416ac677a4ec678f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8815f370763bcb6b93364c284548e59badac5f3e59599022729d17c82a0fd94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e5f73ecf9ad68b631ece91e4df5c0f6ed45d909a61318b15bc705f7cb99d5f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 6.05 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]: [-0.8509, 1.7588, 1.3922, -0.4637, -0.691, -0.601, 0.9959, -0.0212, 1.0576, 0.9569, -1.0195, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.2683 left_z=0.1875 left_yaw=0.0159 left_pitch=-0.0307 left_roll=0.0242 left_gripper=0.9959 right_x=0.2477 right_y=0.0019 right_z=0.1551 right_yaw=0.0106 right_pitch=-0.5308 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.1915, 9.4017, 1.4335, -0.2613, 0.188, -0.0659, -0.1299, -2.9744, 6.694, 1.1551, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s thick body is now between the jaws. I’ll close around it.\"}",
  "call_id": "call_GhuUpTtvBZdtZ7rkzPJoMnWz",
  "id": "fc_0b775215cc1582ad016ab2acd32c9087d08c94cf22a4879d05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GhuUpTtvBZdtZ7rkzPJoMnWz",
  "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]: [-0.9871, 2.0533, 1.2304, -0.1139, -0.7525, -0.7109, 0.0123, -0.0208, 1.0576, 0.9554, -1.0386, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3633 left_y=-0.3245 left_z=0.0469 left_yaw=-0.0166 left_pitch=-0.0551 left_roll=0.0481 left_gripper=0.0123 right_x=0.2431 right_y=0.0021 right_z=0.1526 right_yaw=0.0112 right_pitch=-0.5514 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -12.7932, 6.653, 1.1795, -0.3639, 0.0904, 1.0769, -0.0479, -2.4821, 6.3111, 1.0916, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b111005edd421de65fd7cd4e145576408d1312966d4bbe9454231395c1e6bb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:751520b19154e5dd3aa9e39144af59545bb601a28deb9829aa95dc89d2c575db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c8e830ae8afbffbec79c19438d70882da11c8563fe8e081981297075136a271",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 6.168 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]: [-0.9825, 2.0281, 1.2415, -0.1162, -0.7536, -0.6994, 0.997, -0.0212, 1.0576, 0.9554, -1.0313, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.3673 left_y=-0.3263 left_z=0.0618 left_yaw=-0.0188 left_pitch=-0.0354 left_roll=0.0299 left_gripper=0.997 right_x=0.2447 right_y=0.0019 right_z=0.1533 right_yaw=0.0109 right_pitch=-0.5441 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -10.6325, 5.3128, 1.4628, -0.6276, -0.149, 0.1001, 0.0479, -2.5094, 6.5162, 1.1355, -0.0415, -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": "gAAAAABqsqzbj1OyhZMXKQizKOjPErTjGo2KaAEvWZ_NYrgvmopT5IyqmFy9esBXHlem2b_t4vJE8QluqEaBMHlP2OgyC8XJiAAFTE_4hgCKcH0ATP8H3YdwqfD9_YxoxiA9bkRvNBfPn0JDgKaT6DKoAYrmSCCUn_E-_axhjCaFpdeNyjMRAZK5UeZ1zRmBqmjSxMjcfuo4BddNXCQE4KMnQEdF8CEKG4DyXATcE6h5ZcTIAGdnerPMqcT3pWQiAxuT5cS-JvVS_ZFrj9ekYS2xOGjBYUEEIbT9pODfqpUrICiUJxEMM5-azdXVZga50yv0eEb9rxwwDgOKrM2N3w_skCoEa_9aPKO4e0tMaNfYqaRzjThr-Ltv-yfsKXZ2UMWyqbc0W6wd9Bex0GSArihpgXdOboIoMPiK_SkPvXaYaPH5BpQFhoZOZDavQlQ0NBCqzWVBxy2yHpXU2JyL8a7QZOxHpIU3Hothd7NwyQMnUmSSLM4wCLKh_Rejqwq70aUszdBfz0paQgA4xoFHIwaIEJ9mY6qBpjbYSTyTF2ik2Sm9gctP8tJ3T3zsXAFpldAGt0xARzfWqSjr4oXw7yDYrCsMWP89-DrozLnQDCyNGASe4TYIPR6UEHl2u2F-neaT6ch3h5Hqbi-Wr2XEwr9fTEctkufjc5zPPk1Y9gaeYEJBILoinXdqr64Kt_Q1eV77UlWBXZbuTJKbX7tSF7rxAXmE0M6xUjmKi5A6ztA_eIQejRAExB4A2JnShKTUxJ_aJoDYCT5_NUClmjf8pc_aEMpvPusTu8ZXyrXo4G1SFB4SzYCOvFO9Qwy5TeN5LYvs1b0Nh7mAxQf8WbS2KF2ojfLyS6yARHI2u2zXcVQanIWhqA8ikFkhkUYE7xw3LsXydJRUYDgGtDA4yTWLAiOAio2Je56NOT7pNKPIwAlBWD8i7FJWhAz_e55XLT5Ziq8hCInzQFoMOqaXAMrDpFGhPp1_z6oEgxd8pP2QBAc1vjtyUOC-Z3gIcHyljix5_gyzMq9BEFw6mYQACPcX-6WLHkbZ44wdmrds_6bbUKITt4M5aiz5fFYEkwg8l-0a40mEbmDxDQD4D92GcTJJQvqhipU0tUFS0uEbnoejwThxjxRA2qVFU00pkB0-tMGy_wdIqKDQSxuerDaZwHk5DIm2-i6vQwHNJAxzq6WvtsITMgMarUjCOIvSJDJ4kyOaxgqoUHewOveqF9TkHZZCFqPAduQ9NU4_qhf4OccpJuHe8mRzLKeixMg5agiMeirwna4FUtbc3OKnTv-ojHiUuNcfqSUVAAoUdEuzijSM6zGjM56XsTWwCk2HzZ6IsXZqlJKfnviev1QpncDWBx0YW4MjcytPwDGdMQ==",
  "id": "rs_0b775215cc1582ad016ab2acd80eb087d08eb88867e241ca9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.41,\"left_z\":0.115,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The close passed below the plush without holding it. I’ll move the open jaws higher and farther over its body.\"}",
  "call_id": "call_0qeYgh2AXoy0L4d5sRv8QCq2",
  "id": "fc_0b775215cc1582ad016ab2acd96d6487d0954d6c585e6dd680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0qeYgh2AXoy0L4d5sRv8QCq2",
  "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]: [-0.9073, 2.0514, 1.372, -0.2115, -0.7322, -0.6563, 0.9949, -0.0212, 1.0576, 0.9554, -1.0389, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.402 left_y=-0.3167 left_z=0.0823 left_yaw=0.0189 left_pitch=-0.043 left_roll=0.0458 left_gripper=0.9949 right_x=0.243 right_y=0.002 right_z=0.1525 right_yaw=0.011 right_pitch=-0.5518 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -14.3248, 9.0188, 1.3895, -0.2906, 0.1832, -0.0806, -0.1299, -2.5094, 6.3248, 1.033, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdfa44473639e5bd76993f28d9e823f7516eec3b7e1507930d57c178641989fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35b3ae8b1d66b5d6c90ed5a53e40d29fac126e19c81e4a3f3e4e14754fdc236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae910fbec673bcf8d50ce3d2e94b98f22035dc903fba82558ec0fcbc75127c7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.94 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9871, 2.0533, 1.2304, -0.1139, -0.7525, -0.7109, 0.0123, -0.0208, 1.0576, 0.9554, -1.0386, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3633 left_y=-0.3245 left_z=0.0469 left_yaw=-0.0166 left_pitch=-0.0551 left_roll=0.0481 left_gripper=0.0123 right_x=0.2431 right_y=0.0021 right_z=0.1526 right_yaw=0.0112 right_pitch=-0.5514 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -12.7932, 6.653, 1.1795, -0.3639, 0.0904, 1.0769, -0.0479, -2.4821, 6.3111, 1.0916, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now visibly surround the brown plush’s body. I’ll close in this higher position.\"}",
  "call_id": "call_7eRHJ3URXdWazRU8XVNQgGR0",
  "id": "fc_0b775215cc1582ad016ab2ace1697887d0bccfc32e7b2a2bbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7eRHJ3URXdWazRU8XVNQgGR0",
  "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]: [-0.9039, 2.0518, 1.3743, -0.2249, -0.7292, -0.6636, 0.012, -0.0212, 1.0576, 0.9554, -1.0431, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4019 left_y=-0.3145 left_z=0.081 left_yaw=0.0247 left_pitch=-0.0515 left_roll=0.0476 left_gripper=0.012 right_x=0.2421 right_y=0.002 right_z=0.1521 right_yaw=0.0111 right_pitch=-0.556 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -11.0154, 6.188, 1.3993, -0.3541, 0.022, 1.072, -0.1709, -2.5094, 6.5709, 1.0623, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e2416faa94dc60c2bf8f1a09fafd224d68c3f573447b265991fcbff6965796",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef17f3bcd642a04fb0093ba76308c7fca8403f2d155b9dda0046cd87d37dcb60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c62922871f8c05772b04d3e29bf6472f3ef61eab060e03213fff3613f538475",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.233 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]: [-0.9073, 2.0514, 1.372, -0.2115, -0.7322, -0.6563, 0.9949, -0.0212, 1.0576, 0.9554, -1.0389, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.402 left_y=-0.3167 left_z=0.0823 left_yaw=0.0189 left_pitch=-0.043 left_roll=0.0458 left_gripper=0.9949 right_x=0.243 right_y=0.002 right_z=0.1525 right_yaw=0.011 right_pitch=-0.5518 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -14.3248, 9.0188, 1.3895, -0.2906, 0.1832, -0.0806, -0.1299, -2.5094, 6.3248, 1.033, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzpLomNwpz1WBaqw-qCsst8iwFz22jVQMYJdPzBmZHWS-0BRCvniepE3cgqsy6k0cewgA8GoAwTY-hOPUehVMsnkJo4d8Vklac0t9LwphyZkbj4Zg_9yON8pw7sI8fjZUNCvV6pEmzCk1iZG5EP0C166ZbBrOOg4yRd4XWT2vPy0Fk0a_VsMU1pb2EtoPhkLK5v-xkYAxGmTwAp0gJunJSLobW3kvlpJEcrIf2JzZwdrZU4_NJ5g1q68qCBX5vUizxDboDc0f-pnZNNAw4gNlhbG4kaZ0H1cIftdYMbW5CT89tqUbMaY844KZksTmGIiNGR9web4R4iiQfSTr21s5Azr3ywz_pOK5VaHxerZlDJCSfz41tw2Ye1u2JsDlaSEioOF4h7pWbEiFGH1hhXcKxvNYGPLmnqvzbRgmXIx7CUqP3MdmKfNIiVIAUNCHG-DSfj4MX_0mWnAxEPLnWwV5Bz90oIfLPA5BLTn1aBKrEir7pjgnI9tXlftAnR2wFjmMBMK3pKWtTnqIP6z2gCs-E3dZpWSaxfazZ7_g8oirlT7Ao_eqpfF_Xgbr6X7efuK5avQHPPRcLVO6RBqTMHrWOt_8t2pMYmOVEfIF3kZhJ9Ab1oWqLPZ50Tx6dhtcFwn77Puo85kyVDf5Jo59hyOg-tOZBGci3kd0tDy7X_3yBpEZOxQXZBuGjHIDpmkYmbe_D7dTyuliMtjuepOKOfb3AWkcMGOQhY4wUt3xTPb_1vc1hAUQ65U3D1Z8cmDf9RwEf-rb3E_xt9reeHoZ08Qxoqy_4UtsZcqyZe3jjk_71SSqi5yrNpKOHQK67p_M-TSdOeGWXOJQy2iTIouXHh3GrUzG7VJBo-EAcnEheGHFG29wxZykTdkNDjq61wOH11lv1Pm2xBdWooRy2tgUOgCP6P0fpA__xSGm1tNf-n7WF26txZ82OPu9J8O322JINvpN4EVkhB7QftMfq_jOfhVs-nszjafVT93ShGRoc0qvXvnw_csyfwazXV9o7uTg3yeEGOPaN3OuaDGke8NSwz1-fZ0Yu6rtE-SF0EnwUOJf7vob7g71wnIOYFD_m6UNodlvmxD8uloz8ffUqjmK8wk1L8DqCXsAdcOLCd7RuupYYWg8CR1k0qz7HdUHLYfE6zDkcAjNzGyei5b0wtbi30b1gwc_i-CZcjPSV6_qtqF6lrk6UF3dXp66KA7z8-VcAiZl1RjYKZS_1BqmhctEUJ0dU-FIMz1TIX7INE_qsFXzPFDytUwwlYKmOAPk4XnO67oLCqELayZSFU_iJRbHjw9zU7Jwa07fLb8OTkrbEj8fnLfm2SZA4ongAeMjL7F0G_GCisGX0ZhpAS61swiPgEoJsgQEcPKkBkNIMTBLOP-kprwJ9YpDD9dbqYRr3jjJReg1RzzI8vUy3gkuvgBLImKj9zPF6K1_SwohRpDQ88K0zEvdBnWq6JkSslKigJg6ZzIJJN6Epj6bW-OzIUsG1gkZenLg==",
  "id": "rs_0b775215cc1582ad016ab2ace62fe087d09a2426ffec0e76a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.24,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The gripper is still empty, so the brown plush has not been secured. I’ll open and lift clear rather than risk trapping it in the safe’s rim.\"}",
  "call_id": "call_mHuinXR6Xpegnr9w22xdkuL7",
  "id": "fc_0b775215cc1582ad016ab2ace7a5ec87d0b0a5196f24d92298",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mHuinXR6Xpegnr9w22xdkuL7",
  "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]: [-0.9035, 1.94, 1.7061, -0.6334, -0.7216, -0.6514, 0.9959, -0.0212, 1.058, 0.9554, -1.0573, -0.0196, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4031 left_y=-0.3173 left_z=0.2054 left_yaw=0.0122 left_pitch=-0.0353 left_roll=0.026 left_gripper=0.9959 right_x=0.2389 right_y=0.002 right_z=0.1506 right_yaw=0.011 right_pitch=-0.5705 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -13.7778, 9.4427, 1.4286, -0.3541, 0.1734, -0.1197, -0.1983, -2.5094, 6.2838, 1.1111, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e210db3ca35ac3679a1976cb51022e513d6cf6413fc9306b93709d9ab612b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0d402e55eb6dd6c446f48a08fd11ce1999ff1fe46c8b6d0f53c3b227cb5bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b6593b1ec4b33cfec567b2bc9660d12e21d1276b5d5b3b934b019371b15301",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 10.91 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9039, 2.0518, 1.3743, -0.2249, -0.7292, -0.6636, 0.012, -0.0212, 1.0576, 0.9554, -1.0431, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4019 left_y=-0.3145 left_z=0.081 left_yaw=0.0247 left_pitch=-0.0515 left_roll=0.0476 left_gripper=0.012 right_x=0.2421 right_y=0.002 right_z=0.1521 right_yaw=0.0111 right_pitch=-0.556 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -11.0154, 6.188, 1.3993, -0.3541, 0.022, 1.072, -0.1709, -2.5094, 6.5709, 1.0623, -0.0562, -0.0659, -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": "gAAAAABqsqzxfRf42vNfzQ0wXqqCIXk1MjT6-2O-Y6gkXTEAOR_0F_qxfcbV-JtlK8E6XIekiAaqMx7SwL1gOBzr1RXiG4-lGLocoTZxa9ShpyfD7NjJLC0Cz0RKghgeooSmGHokXoGPWOPLYySzJlYVev7colsRQMsYr577lCEhP5AvShOVE7yTGSHFeCisEu2783WSoL2wWP9WckmHVXOHcoIx-nMMnkzeqMWRfyCF3ZL_W9cGVQUeLqNY7kaDP-bKIn-FBpFFZxYl42kiryJIqOev1MBmfpEBzICypRzXnqhRojg_ZRcacAibOpq1BxKyFQGhCkcZE6PNo7dTHHRsrRh1yg64wJYN1JreeTS3gMum5ytl-w1lZO4-L5u8HePS-NuG3JpuyghOMx9QZaV-0pGI3ZG1ibnfIepkdEmlmnVTW4yYCb31miPT4HKMck4AzeasdUNj2hviX4N9IfvHuyQpBCS-kbgSHqGX2Cghk7ucdTTMOyLPOVFFiTwoLyL-PTaaQ7OZMJ314koSV3iCja8t0UAvh-rgtTRa0Qp2ZZGa7nsVhJYWtQz4YsFoOu011hyQl5nZnXHuv6ZX9DVDcj28Ip9DUjy2E_L4CYyCDh6dfm0G4xAbz4f7A5F5duJVEJBZH2pYeRJYLO3lNKYUuPhGd---6yJoS2V1pcdBFcNEBNpRVA_zqyaDzULo_Gy5R3ZFtdAXFYyaoJB4Xxs4EAMzK4xVab5UTSvX7Y_uC3YG8ZX-ulDSBquu-aVcM5J_sOH0BSPpsiucqAQK_NGgEFshR0vXKXE-ZaJTI09bLTPrNg4zgxMA_Y15gRF5mIo7S5wJZWAn8XDMi-9eOVK2e7H83Y4iw32ijRSIp5uKQaFy9neLCjiougQfhafGRUSwuDEhFNR_NhIM-6igMOY1GqyNTW2A5BEW-JOLs9KL9rshojEUkK-brbpunlJDptc7n9uQwMIBBKbUCkEONYaeaxTDZkShTdBQQ-VG7xSzDMGxMd741Jvnx-0sH1G0y3bpwKd9UgJ0p2Jvw1cWQMtnhud1AYF3-myorht6BBH12qY5qg6YJwXbYRsKS9aGk2ZjS0OBzEiBMkQj2SAfidAixL0TE31foiIWYwxerBPgOWiAw5hWV_LGNXaJOho-5_mOdrqipYJO1bX1GtY9sc1wuWTaoR16DaUyvcUoEAltbi0epie6jzeLF-1LEo8878EpDqwntCoEJ2JukKGXQJXjG_99eNXduQG_AJSVhWbh1RU-qg5Y-KhPvURooUsw6kIeKP0PlPCf2nyllaH_Wqvi5-bDEeCN1c-DNjG0U2AseDecyGFlYLE-2NfdguRvmvvLIxV81U_3kBxZzGC6mQVXfP3bB_ieJ7EMZGWKNZzRuiF9F6M_uIKH-gi5fyKFdUubLaxgIB7F2maOX6OvR1uX6wMR0Kh6NiiZV40GVwNtjLD6264Nz2M=",
  "id": "rs_0b775215cc1582ad016ab2aced6f7c87d0a16e4cf80a73ef5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.292,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The white plush is in the safe, but the brown plush and yellow object are still outside. I’ll park both arms clear and leave the lid open so nothing is pinched.\"}",
  "call_id": "call_P6XmYQ8fvcx9hlzPvPsSyuen",
  "id": "fc_0b775215cc1582ad016ab2aceed03487d08b9b1a0267a4391f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P6XmYQ8fvcx9hlzPvPsSyuen",
  "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]: [-0.0605, 0.8001, 0.6914, -0.4755, -0.104, -0.0963, 0.997, -0.0212, 0.8162, 0.7059, -0.5671, -0.0204, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=0.0043 left_z=0.1991 left_yaw=0.0636 left_pitch=-0.0061 left_roll=-0.0052 left_gripper=0.997 right_x=0.2817 right_y=0.0012 right_z=0.1826 right_yaw=0.0063 right_pitch=-0.0881 right_roll=-0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -1.6615, 6.8308, 1.8926, 0.1392, 0.1392, 0.105, -0.0752, -1.9624, 7.0632, 2.1514, -0.0562, 0.0659, -0.0122]\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,$blob:034fe78f112bdcf55db08e36495d4f45420e98350dc9320144400a7731bd3321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373a5f0736a735e104db21cb89415d8f8e54f4c857e7bb4013f79e8ad8b84a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e3c472e51d34f40e19598b3eed03a956e806990b5db723fa8a5ddfa2bc5ac0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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