adhoc

completed
2026-09-22T17:17:21.560063+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
195.8 s
total steps
265
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see an open red-lined safe, a yellow object on its right, and two soft toys in front and to the left. I’m positioning the right gripper above the yellow object first.
move_to
right_x0.3700right_y0.2200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3916, -0.0196, -0.0372, 0.9993, -0.0212, 0.7929, 0.6075, -0.3969, -0.0193, -0.0254, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0008 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.4154, 10.2906, 1.9658, -0.0562, 0.2076, -0.0904, -0.5949, -1.388, 9.6889, 1.9316, -0.0464, 0.1099, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.22,"right_z":0.15,"right_gripper":1},"note":"I see an open red-lined safe, a yellow object on its right, and two soft toys in front and to the left. I’m positioning the right gripper above the yellow object first."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe yellow object is just right of the gripper’s centerline and still ahead of the fingertips in the wrist view. I’m shifting slightly right and forward while lowering to grasp its middle.
move_to
right_x0.3950right_y0.2020right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0193, -0.0383, 0.9992, 0.7609, 1.5581, 0.9657, -0.2024, 0.5819, 0.4389, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1749 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3585 right_y=0.2122 right_z=0.1338 right_yaw=0.0373 right_pitch=-0.0573 right_roll=-0.0475 right_gripper=0.9996 state[joint_eff]: [0.1299, -1.5111, 7.0496, 1.8339, -0.0708, -0.0171, -0.022, 0.3077, -6.5299, 8.9231, 1.746, 0.5055, 0.2418, -0.0562] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.202,"right_z":0.04},"note":"The yellow object is just right of the gripper’s centerline and still ahead of the fingertips in the wrist view. I’m shifting slightly right and forward while lowering to grasp its middle."})
tool
executing move_to over 7 steps (0.7s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe yellow object remains visible above the fingertip region and a little to the right. I’m making one small forward/right correction before closing.
move_to
right_x0.4300right_y0.1860right_z0.0230
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4133, -0.0189, -0.0387, 0.9992, 0.6678, 1.8076, 0.8429, 0.1532, 0.5217, 0.3695, 0.9996] state[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1732 left_yaw=0.0002 left_pitch=-0.0244 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3856 right_y=0.1966 right_z=0.0397 right_yaw=0.0261 right_pitch=-0.1 right_roll=-0.0794 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.2786, 7.0085, 1.7558, -0.0415, -0.0513, -0.0122, -0.212, -7.0085, 5.0393, 1.5653, 0.0806, -0.0122, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.186,"right_z":0.023},"note":"The yellow object remains visible above the fingertip region and a little to the right. I’m making one small forward/right correction before closing."})
tool
executing move_to over 4 steps (0.4s)
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 yellow object is now centered between the open jaws at table height. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.5728, 1.9198, 0.9115, 0.205, 0.4644, 0.3073, 0.9996] state[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1702 left_yaw=0.0005 left_pitch=-0.0397 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4192 right_y=0.1805 right_z=0.0209 right_yaw=0.0093 right_pitch=-0.1193 right_roll=-0.0885 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.306, 7.0085, 1.8144, -0.0562, -0.0513, -0.0122, -0.1162, -8.1436, 7.159, 1.7656, 0.1783, 0.022, -0.0122] 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":{"right_gripper":0},"note":"The yellow object is now centered between the open jaws at table height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe jaws stopped at about half their opening, consistent with gripping the yellow object. I’m lifting it a short distance to check that it comes with the gripper.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.5636, 1.9434, 0.9203, 0.2054, 0.4469, 0.2836, 0.5009] state[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1687 left_yaw=0.0005 left_pitch=-0.0473 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4208 right_y=0.1799 right_z=0.0128 right_yaw=0.0257 right_pitch=-0.1395 right_roll=-0.1033 right_gripper=0.5009 state[joint_eff]: [-0.1709, -1.0325, 7.0085, 1.7851, -0.0757, -0.0659, -0.0122, 0.0479, -9.1556, 7.0769, 1.7802, 0.1587, -0.0269, 0.9353] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The jaws stopped at about half their opening, consistent with gripping the yellow object. I’m lifting it a short distance to check that it comes with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe yellow object has lifted with the gripper. I’m carrying it above the open safe, while restoring the idle left arm to its parked height.
move_to
right_x0.4300right_y0.3450right_z0.1900left_x0.2930left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4522, -0.0193, -0.0387, 0.9992, 0.5636, 1.7702, 1.0508, -0.1249, 0.4431, 0.2794, 0.5016] state[eef_state]: left_x=0.2852 left_y=0.0016 left_z=0.1649 left_yaw=0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4179 right_y=0.1787 right_z=0.0829 right_yaw=0.0289 right_pitch=-0.1641 right_roll=-0.1178 right_gripper=0.5016 state[joint_eff]: [-0.0479, -1.1009, 7.0222, 1.8535, -0.0855, -0.0513, -0.0122, -0.2256, -10.359, 8.3214, 1.6777, 0.2027, -0.0122, 0.6764] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.345,"right_z":0.19,"left_x":0.293,"left_y":0,"left_z":0.18},"note":"The yellow object has lifted with the gripper. I’m carrying it above the open safe, while restoring the idle left arm to its parked height."})
tool
executing move_to over 14 steps (1.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe yellow object is above the red-lined compartment and clear of its rim. I’m lowering it into the safe before releasing it.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8417, 0.6426, -0.5095, -0.0227, -0.054, 0.9992, 0.8524, 2.1757, 2.0663, -0.8597, 0.5922, 0.5117, 0.5019] state[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1589 left_yaw=0.0051 left_pitch=-0.1284 left_roll=-0.0084 left_gripper=0.9992 right_x=0.4288 right_y=0.3462 right_z=0.1836 right_yaw=0.0672 right_pitch=-0.1759 right_roll=-0.1173 right_gripper=0.5019 state[joint_eff]: [-0.2256, -1.0051, 10.2222, 1.9365, -0.0952, 0.0269, -0.0122, 0.4308, -11.7265, 8.0342, 0.9499, 0.5592, 0.2466, 0.6911] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The yellow object is above the red-lined compartment and clear of its rim. I’m lowering it into the safe before releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe yellow object is lowered within the safe’s compartment. I’m opening the jaws to leave it inside.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8452, 0.6422, -0.5182, -0.0219, -0.057, 0.9992, 0.8551, 2.1929, 1.6909, -0.5133, 0.5869, 0.5129, 0.5037] state[eef_state]: left_x=0.2823 left_y=0.0002 left_z=0.1561 left_yaw=0.0062 left_pitch=-0.1411 left_roll=-0.0108 left_gripper=0.9992 right_x=0.4202 right_y=0.3396 right_z=0.0769 right_yaw=0.0664 right_pitch=-0.2116 right_roll=-0.1466 right_gripper=0.5037 state[joint_eff]: [-0.2256, -1.7709, 7.0222, 1.7021, 0.0024, -0.0317, -0.0122, -0.294, -10.4957, 6.6256, 1.6239, 0.2711, -0.0269, 0.5592] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is lowered within the safe’s compartment. I’m opening the jaws to leave it inside."})
tool
executing move_to over 5 steps (0.5s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe yellow object is resting freely inside the safe. I’m lifting the empty gripper straight clear of the rim.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8455, 0.6422, -0.5259, -0.0223, -0.0574, 0.9992, 0.8555, 2.2147, 1.6733, -0.5159, 0.5827, 0.5053, 0.9948] state[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1546 left_yaw=0.0068 left_pitch=-0.149 left_roll=-0.0106 left_gripper=0.9992 right_x=0.4158 right_y=0.3358 right_z=0.0589 right_yaw=0.0668 right_pitch=-0.2444 right_roll=-0.18 right_gripper=0.9948 state[joint_eff]: [-0.1026, -1.4974, 6.9949, 1.6484, -0.0757, -0.0708, -0.0122, -0.212, -14.2974, 7.706, 1.1844, 0.2662, 0.0513, -0.232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22},"note":"The yellow object is resting freely inside the safe. I’m lifting the empty gripper straight clear of the rim."})
tool
executing move_to over 11 steps (1.1s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe yellow object is safely inside. I’m moving above the brown toy in front of the safe to collect it next.
move_to
right_x0.2350right_y0.3000right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.8471, 0.6422, -0.54, -0.0219, -0.0574, 0.9992, 0.8562, 2.2238, 2.3093, -1.1217, 0.5652, 0.4976, 0.9953] state[eef_state]: left_x=0.2788 left_y=0.0003 left_z=0.1517 left_yaw=0.0066 left_pitch=-0.1647 left_roll=-0.0104 left_gripper=0.9992 right_x=0.4168 right_y=0.3415 right_z=0.2138 right_yaw=0.087 right_pitch=-0.2408 right_roll=-0.159 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.6205, 6.9402, 1.6923, -0.0513, -0.0562, -0.0122, -0.253, -10.9333, 7.3368, 1.0183, 0.4811, 0.0464, 0.0464] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.235,"right_y":0.30,"right_z":0.14},"note":"The yellow object is safely inside. I’m moving above the brown toy in front of the safe to collect it next."})
tool
executing move_to over 14 steps (1.4s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe brown toy lies slightly left of the jaw centerline. I’m centering over its torso and lowering the gripper for a soft-body grasp.
move_to
right_x0.2750right_y0.3400right_z0.0350right_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]: [-0.0254, 0.849, 0.6411, -0.5587, -0.0219, -0.0578, 0.9992, 1.1854, 1.7374, 1.3262, -0.8867, 0.6769, 0.833, 0.9954] state[eef_state]: left_x=0.2755 left_y=0.0005 left_z=0.1473 left_yaw=0.0073 left_pitch=-0.1864 left_roll=-0.0099 left_gripper=0.9992 right_x=0.2376 right_y=0.301 right_z=0.1295 right_yaw=0.1092 right_pitch=-0.2839 right_roll=-0.2088 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.6342, 6.9402, 1.7607, -0.0659, -0.0659, -0.0122, 0.4034, -10.1538, 6.5983, 0.9158, 0.4957, 0.1197, -0.0073] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.275,"right_y":0.34,"right_z":0.035,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The brown toy lies slightly left of the jaw centerline. I’m centering over its torso and lowering the gripper for a soft-body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe brown toy’s torso is between the jaws at grasp height. I’m closing around the plush body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5671, -0.0223, -0.0574, 0.9992, 1.1969, 1.9839, 1.1015, -0.2611, 0.8589, 0.9253, 0.9954] state[eef_state]: left_x=0.2741 left_y=0.0005 left_z=0.1458 left_yaw=0.0071 left_pitch=-0.1948 left_roll=-0.0091 left_gripper=0.9992 right_x=0.269 right_y=0.3293 right_z=0.0341 right_yaw=0.0179 right_pitch=-0.0562 right_roll=-0.0736 right_gripper=0.9954 state[joint_eff]: [-0.1162, -1.4427, 6.8718, 1.6239, -0.0366, -0.0464, -0.0122, 0.2393, -8.4444, 5.1624, 1.0281, 0.4274, 0.1343, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown toy’s torso is between the jaws at grasp height. I’m closing around the plush body."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe gripper closed empty, so it was just short of the brown toy’s body. I’m reopening and advancing three centimeters for a second grasp.
move_to
right_gripper1.0000right_x0.3050right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0254, 0.849, 0.6411, -0.5823, -0.0223, -0.0574, 0.9992, 1.1965, 1.9953, 1.0946, -0.2443, 0.8677, 0.9211, 0.0097] state[eef_state]: left_x=0.2714 left_y=0.0006 left_z=0.1432 left_yaw=0.0076 left_pitch=-0.2101 left_roll=-0.0086 left_gripper=0.9992 right_x=0.2698 right_y=0.3281 right_z=0.0301 right_yaw=0.0159 right_pitch=-0.0496 right_roll=-0.0815 right_gripper=0.0097 state[joint_eff]: [0.0615, -1.0188, 6.8308, 1.6484, -0.0708, -0.0415, -0.0122, -0.0752, -10.7145, 5.9692, 0.7985, 0.2369, 0.0171, 0.7204] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.305,"right_z":0.02},"note":"The gripper closed empty, so it was just short of the brown toy’s body. I’m reopening and advancing three centimeters for a second grasp."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe brown plush body now fills the space between the fingertips. I’m closing again around its torso.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5854, -0.0219, -0.0578, 0.9992, 1.1133, 2.0277, 1.0966, -0.1417, 0.8486, 0.8185, 0.9945] state[eef_state]: left_x=0.2709 left_y=0.0005 left_z=0.1426 left_yaw=0.0071 left_pitch=-0.2131 left_roll=-0.009 left_gripper=0.9992 right_x=0.3012 right_y=0.3199 right_z=0.0241 right_yaw=0.0008 right_pitch=-0.0402 right_roll=-0.0918 right_gripper=0.9945 state[joint_eff]: [-0.0479, -1.4427, 6.8991, 1.5214, -0.0366, -0.0513, -0.0122, -0.3214, -7.6239, 7.4051, 1.1502, 0.1245, -0.1832, -0.2271] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush body now fills the space between the fingertips. I’m closing again around its torso."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe second close is also empty, so I’m clearing the right arm rather than repeating the same approach. I’m bringing the left arm above the beige toy while uncovering the brown toy for a fresh overhead assessment.
move_to
right_x0.2400right_y0.0800right_z0.1800right_gripper1.0000left_x0.3800left_y-0.1900left_z0.1400left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5884, -0.0223, -0.0574, 0.9992, 1.1114, 2.0293, 1.1004, -0.1387, 0.8379, 0.8124, 0.0085] state[eef_state]: left_x=0.2704 left_y=0.0006 left_z=0.1421 left_yaw=0.0072 left_pitch=-0.2162 left_roll=-0.0084 left_gripper=0.9992 right_x=0.3017 right_y=0.3219 right_z=0.0236 right_yaw=0.0078 right_pitch=-0.0465 right_roll=-0.0878 right_gripper=0.0085 state[joint_eff]: [-0.3487, -1.4564, 6.8308, 1.58, -0.0757, -0.0317, -0.0122, -0.1983, -10.0718, 4.9436, 1.0623, 0.4127, 0.0366, 0.5934] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.24,"right_y":0.08,"right_z":0.18,"right_gripper":1,"left_x":0.38,"left_y":-0.19,"left_z":0.14,"left_pitch":0,"left_roll":0},"note":"The second close is also empty, so I’m clearing the right arm rather than repeating the same approach. I’m bringing the left arm above the beige toy while uncovering the brown toy for a fresh overhead assessment."})
tool
executing move_to over 21 steps (2.1s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe beige toy is to the left of the jaw centerline beside the safe. I’m shifting left and descending around its body without moving farther forward.
move_to
left_x0.3800left_y-0.1450left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6937, 1.5349, 0.8856, -0.1474, -0.551, -0.4709, 0.9992, 0.7219, 0.7982, 0.6487, -0.6651, 0.6136, 0.4274, 0.9973] state[eef_state]: left_x=0.3661 left_y=-0.1795 left_z=0.1179 left_yaw=-0.002 left_pitch=-0.0758 left_roll=0.0355 left_gripper=0.9992 right_x=0.2406 right_y=0.0811 right_z=0.168 right_yaw=-0.019 right_pitch=-0.0572 right_roll=-0.087 right_gripper=0.9973 state[joint_eff]: [-0.5128, -6.6393, 9.3744, 1.7998, -0.3932, 0.0513, -0.0122, -0.1026, -0.9368, 9.0325, 1.7509, 0.3346, -0.022, 0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.145,"left_z":0.015},"note":"The beige toy is to the left of the jaw centerline beside the safe. I’m shifting left and descending around its body without moving farther forward."})
tool
executing move_to over 7 steps (0.7s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe beige toy remains left of the open jaws, so the previous lateral correction was not enough. I’m moving another few centimeters left to center on its narrow body.
move_to
left_y-0.1000left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5762, 1.7538, 0.6586, 0.3252, -0.4847, -0.4053, 0.9991, 0.7208, 0.804, 0.6487, -0.7013, 0.5938, 0.4114, 0.9988] state[eef_state]: left_x=0.379 left_y=-0.1438 left_z=0.0238 left_yaw=0.0282 left_pitch=-0.0843 left_roll=0.0339 left_gripper=0.9991 right_x=0.2357 right_y=0.0802 right_z=0.1601 right_yaw=0.0006 right_pitch=-0.0991 right_roll=-0.1168 right_gripper=0.9988 state[joint_eff]: [0.1846, -5.7094, 3.3436, 1.0427, 0.0269, 0.2711, -0.0171, -0.1436, -1.4291, 6.6803, 1.746, 0.4176, 0.1099, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.1,"left_z":0.005},"note":"The beige toy remains left of the open jaws, so the previous lateral correction was not enough. I’m moving another few centimeters left to center on its narrow body."})
tool
executing move_to over 4 steps (0.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe safe wall is on the right of the gripper, and the beige toy’s torso is still on the left. I’m moving away from the wall and slightly back to straddle the torso.
move_to
left_y-0.0550left_x0.3700left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4534, 1.7672, 0.5701, 0.5083, -0.4164, -0.3443, 0.9991, 0.7208, 0.8043, 0.6487, -0.7204, 0.5861, 0.4103, 0.9989] state[eef_state]: left_x=0.3886 left_y=-0.1059 left_z=0.0177 left_yaw=0.0614 left_pitch=-0.0404 left_roll=0.001 left_gripper=0.9991 right_x=0.2329 right_y=0.0793 right_z=0.1567 right_yaw=0.0053 right_pitch=-0.1177 right_roll=-0.1261 right_gripper=0.9989 state[joint_eff]: [0.2803, -7.0496, 3.2068, 1.0379, -0.0366, 0.3101, -0.0122, 0.0615, -0.9504, 6.8034, 1.58, 0.3101, -0.0317, -0.0024] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.055,"left_x":0.37,"left_z":0.005},"note":"The safe wall is on the right of the gripper, and the beige toy’s torso is still on the left. I’m moving away from the wall and slightly back to straddle the torso."})
tool
executing move_to over 5 steps (0.5s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe left arm did not track the last sideways move at table height. I’m lifting clear before repositioning, rather than dragging the fingertips against the surface.
move_to
left_z0.0950left_y-0.0550left_x0.3700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4362, 1.7672, 0.5549, 0.5388, -0.3958, -0.3256, 0.9991, 0.7208, 0.8089, 0.6483, -0.7319, 0.585, 0.4076, 0.9989] state[eef_state]: left_x=0.3892 left_y=-0.1023 left_z=0.0173 left_yaw=0.0516 left_pitch=-0.0333 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2315 right_y=0.0783 right_z=0.154 right_yaw=0.0062 right_pitch=-0.1308 right_roll=-0.1384 right_gripper=0.9989 state[joint_eff]: [-0.1709, -6.9949, 3.4667, 1.2723, -0.0611, 0.2173, -0.0122, -0.0342, -1.3333, 6.8308, 1.4432, 0.2271, -0.0024, -0.0122] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095,"left_y":-0.055,"left_x":0.37},"note":"The left arm did not track the last sideways move at table height. I’m lifting clear before repositioning, rather than dragging the fingertips against the surface."})
tool
executing move_to over 6 steps (0.6s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe left arm is still stationary despite the lift command. I’m trying a straight retreat upward and toward its base, with a slightly narrower jaw opening to clear the safe edge.
move_to
left_x0.3400left_y-0.1030left_z0.1800left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4362, 1.7672, 0.5549, 0.5385, -0.3958, -0.3252, 0.9991, 0.7208, 0.8093, 0.6483, -0.7433, 0.5819, 0.4072, 0.9989] state[eef_state]: left_x=0.3891 left_y=-0.1023 left_z=0.0173 left_yaw=0.0514 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9991 right_x=0.2299 right_y=0.0775 right_z=0.1521 right_yaw=0.0075 right_pitch=-0.1414 right_roll=-0.1446 right_gripper=0.9989 state[joint_eff]: [-0.0205, -6.7897, 3.4667, 1.2967, -0.0366, 0.2369, -0.0073, -0.0752, -0.9641, 6.5983, 1.3993, 0.2125, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.103,"left_z":0.18,"left_gripper":0.7},"note":"The left arm is still stationary despite the lift command. I’m trying a straight retreat upward and toward its base, with a slightly narrower jaw opening to clear the safe edge."})
tool
executing move_to over 11 steps (1.1s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe left gripper is clear again, and the beige toy is visible just left of center. I’m approaching its upper body from above, away from the safe wall.
move_to
left_x0.4050left_y-0.0700left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5255, 1.2118, 0.7788, -0.2737, -0.4519, -0.395, 0.7014, 0.7208, 0.8116, 0.6483, -0.7658, 0.5816, 0.4072, 0.9989] state[eef_state]: left_x=0.3425 left_y=-0.1053 left_z=0.1623 left_yaw=0.0455 left_pitch=-0.0439 left_roll=-0.0115 left_gripper=0.7014 right_x=0.227 right_y=0.0751 right_z=0.1486 right_yaw=0.0053 right_pitch=-0.1603 right_roll=-0.1608 right_gripper=0.9989 state[joint_eff]: [-0.4855, -5.094, 9.5385, 1.746, -0.2955, 0.0611, -0.0024, -0.1709, -0.9504, 6.7761, 1.4823, 0.2271, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.07,"left_z":0.035,"left_gripper":1},"note":"The left gripper is clear again, and the beige toy is visible just left of center. I’m approaching its upper body from above, away from the safe wall."})
tool
executing move_to over 9 steps (0.9s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe beige toy’s torso is now between the fingertips. I’m closing the jaws to grasp 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]: [-0.3061, 1.6684, 0.5945, 0.3698, -0.297, -0.2764, 0.9982, 0.7208, 0.8158, 0.6483, -0.7883, 0.5785, 0.4068, 0.9989] state[eef_state]: left_x=0.3957 left_y=-0.0671 left_z=0.0334 left_yaw=0.0757 left_pitch=-0.0875 left_roll=-0.0071 left_gripper=0.9982 right_x=0.224 right_y=0.073 right_z=0.1447 right_yaw=0.0046 right_pitch=-0.1821 right_roll=-0.177 right_gripper=0.9989 state[joint_eff]: [0.3624, -5.9282, 5.2855, 1.1306, -0.1197, 0.2613, -0.0855, -0.0479, -1.1009, 6.5709, 1.5018, 0.2711, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The beige toy’s torso is now between the fingertips. I’m closing the jaws to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe jaws closed beside the beige toy rather than around it. I’m reopening and shifting left toward the torso, with a small forward correction.
move_to
left_gripper1.0000left_y-0.0250left_x0.4150left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3122, 1.6772, 0.5938, 0.3847, -0.2848, -0.281, 0.0191, 0.7204, 0.8177, 0.6483, -0.7959, 0.5781, 0.4068, 0.9989] state[eef_state]: left_x=0.3964 left_y=-0.072 left_z=0.0322 left_yaw=0.062 left_pitch=-0.0854 left_roll=-0.02 left_gripper=0.0191 right_x=0.223 right_y=0.0721 right_z=0.1433 right_yaw=0.0033 right_pitch=-0.1895 right_roll=-0.1832 right_gripper=0.9989 state[joint_eff]: [0.4171, -7.4872, 5.4632, 1.453, -0.2271, 0.0415, 0.8913, -0.0615, -0.6359, 6.5846, 1.3016, 0.2515, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":-0.025,"left_x":0.415,"left_z":0.025},"note":"The jaws closed beside the beige toy rather than around it. I’m reopening and shifting left toward the torso, with a small forward correction."})
tool
executing move_to over 10 steps (1.0s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe beige toy has rotated slightly as the open jaws moved around it. I’m closing on the body now that it lies across the jaw opening.
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]: [-0.1406, 1.7252, 0.5941, 0.4126, -0.1669, -0.1867, 0.9953, 0.7208, 0.8173, 0.6483, -0.8139, 0.5777, 0.4072, 0.9989] state[eef_state]: left_x=0.4038 left_y=-0.0239 left_z=0.0161 left_yaw=0.085 left_pitch=-0.1265 left_roll=-0.0145 left_gripper=0.9953 right_x=0.2205 right_y=0.0701 right_z=0.1412 right_yaw=0.0014 right_pitch=-0.2029 right_roll=-0.1944 right_gripper=0.9989 state[joint_eff]: [0.5265, -6.188, 6.3111, 2.0, 0.0513, 0.1929, -0.1441, -0.0615, -0.8957, 6.5983, 1.3895, 0.2173, -0.022, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The beige toy has rotated slightly as the open jaws moved around it. I’m closing on the body now that it lies across the jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe gripper has a very narrow hold, possibly on the toy’s fabric. I’m lifting vertically to verify whether the toy is secured before moving it over the safe.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1471, 1.7309, 0.5934, 0.4053, -0.1532, -0.189, 0.0437, 0.7204, 0.8177, 0.6483, -0.836, 0.5777, 0.4068, 0.9989] state[eef_state]: left_x=0.4016 left_y=-0.0286 left_z=0.012 left_yaw=0.0687 left_pitch=-0.1419 left_roll=-0.0222 left_gripper=0.0437 right_x=0.2175 right_y=0.0673 right_z=0.1385 right_yaw=-0.0019 right_pitch=-0.2198 right_roll=-0.2099 right_gripper=0.9989 state[joint_eff]: [0.2256, -7.5556, 4.9709, 1.7216, 0.0904, 0.0415, 1.116, -0.0342, -0.5265, 6.5026, 1.4432, 0.2076, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The gripper has a very narrow hold, possibly on the toy’s fabric. I’m lifting vertically to verify whether the toy is secured before moving it over the safe."})
tool
executing move_to over 10 steps (1.0s)
step 241
assistant
agent noteThe lift moved the safe rather than the beige toy, so the narrow hold was on the safe’s edge. I’m releasing it immediately; both plush toys are still outside.
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]: [-0.1444, 1.4494, 0.873, -0.3599, -0.173, -0.1783, 0.047, 0.7204, 0.8177, 0.6483, -0.852, 0.5777, 0.4068, 0.9989] state[eef_state]: left_x=0.3719 left_y=-0.0197 left_z=0.0944 left_yaw=0.0935 left_pitch=-0.3376 left_roll=0.0472 left_gripper=0.047 right_x=0.2153 right_y=0.0654 right_z=0.1366 right_yaw=-0.0044 right_pitch=-0.2318 right_roll=-0.2208 right_gripper=0.9989 state[joint_eff]: [-0.2667, -10.1402, 11.7812, 2.5812, 0.0855, -0.1538, 1.0281, -0.0479, -0.8547, 6.4752, 1.3309, 0.2271, -0.0708, -0.0122] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The lift moved the safe rather than the beige toy, so the narrow hold was on the safe’s edge. I’m releasing it immediately; both plush toys are still outside."})
tool
executing move_to over 10 steps (1.0s)
step 251
assistant
agent noteThe safe is back on the table with the yellow object inside, but both plush toys remain outside. I’m retracting both grippers to clear the safe and leave the scene safe for operator assistance.
move_to
left_x0.2900left_y0.0000left_z0.2200left_pitch0.0000left_roll0.0000right_x0.2930right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.149, 1.4494, 0.8406, -0.3748, -0.1757, -0.1879, 0.9953, 0.7208, 0.8173, 0.6483, -0.8597, 0.5777, 0.4068, 0.9989] state[eef_state]: left_x=0.3597 left_y=-0.0191 left_z=0.0802 left_yaw=0.1011 left_pitch=-0.3827 left_roll=0.0557 left_gripper=0.9953 right_x=0.2142 right_y=0.0645 right_z=0.1358 right_yaw=-0.0051 right_pitch=-0.2373 right_roll=-0.2257 right_gripper=0.9989 state[joint_eff]: [0.3214, -5.9282, 8.9641, 1.4237, -0.0952, 0.0464, -0.0904, -0.0615, -0.841, 6.4752, 1.1941, 0.2418, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.22,"left_pitch":0,"left_roll":0,"right_x":0.293,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The safe is back on the table with the yellow object inside, but both plush toys remain outside. I’m retracting both grippers to clear the safe and leave the scene safe for operator assistance."})
tool
executing move_to over 13 steps (1.3s)
step 264
assistant
agent noteThe yellow object is inside the safe, but repeated grasps of the two plush toys were unsuccessful. One narrow grasp caught and moved the safe’s edge instead of the beige toy. I released it and retracted both arms; the safe remains open because the remaining objects are outside. Operator assistance is needed to continue reliably.
give_up
hindsightNear the safe, a narrow nonzero gripper reading can indicate grasping the safe’s thin edge rather than toy fabric; verify the identity of what lifts immediately. Low sideways movements near its rim stalled, while retracting upward and toward the base cleared the gripper. The successful yellow-object grasp was around right_x=0.42, right_y=0.18, right_z=0.02, and placement around right_x=0.42, right_y=0.34, right_z=0.07 before the safe shifted.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1413, 0.8364, 0.7635, -0.5552, -0.1955, -0.1757, 0.9963, -0.0051, 0.8032, 0.6518, -0.5587, 0.0418, -0.009, 0.9989] state[eef_state]: left_x=0.2913 left_y=-0.0032 left_z=0.2071 left_yaw=0.1002 left_pitch=-0.0344 left_roll=-0.0093 left_gripper=0.9963 right_x=0.275 right_y=-0.0052 right_z=0.1637 right_yaw=-0.0443 right_pitch=-0.1273 right_roll=-0.0248 right_gripper=0.9989 state[joint_eff]: [0.4444, -1.4427, 8.2803, 1.8926, -0.1538, 0.1587, 0.0952, -0.1709, -1.3333, 10.6598, 2.1514, -0.0952, -0.1099, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The yellow object is inside the safe, but repeated grasps of the two plush toys were unsuccessful. One narrow grasp caught and moved the safe’s edge instead of the beige toy. I released it and retracted both arms; the safe remains open because the remaining objects are outside. Operator assistance is needed to continue reliably.","hindsight":"Near the safe, a narrow nonzero gripper reading can indicate grasping the safe’s thin edge rather than toy fabric; verify the identity of what lifts immediately. Low sideways movements near its rim stalled, while retracting upward and toward the base cleared the gripper. The successful yellow-object grasp was around right_x=0.42, right_y=0.18, right_z=0.02, and placement around right_x=0.42, right_y=0.34, right_z=0.07 before the safe shifted."})
tool
give_up: The yellow object is inside the safe, but repeated grasps of the two plush toys were unsuccessful. One narrow grasp caught and moved the safe’s edge instead of the beige toy. I released it and retracted both arms; the safe remains open because the remaining objects are outside. Operator assistance is needed to continue reliably.
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 · 7.571 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3916, -0.0196, -0.0372, 0.9993, -0.0212, 0.7929, 0.6075, -0.3969, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0008 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4154, 10.2906, 1.9658, -0.0562, 0.2076, -0.0904, -0.5949, -1.388, 9.6889, 1.9316, -0.0464, 0.1099, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17be5e7fd0b2c2d415d7ba47f7f27308014a58b27e89d5e8665224898b0de5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304ca67b1b0ddcc4a35167e8fb639d71abfdcfe8df58fec83c87faea30a054ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea182a8ccca197691fdfcceea29f2cc6bfa8cee58de3d50efbe998796ff6374",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.558 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrgxBHEScP0ija9_1QoN1ZS3dwE5ZvNO1dXOpTUtmJki3NZn7IJFnU1abfeD5OkIjVcnS5b1WBa1PIdBHHQrGujtDkfUTb7RthXCSFQHJ0h4ZX3DzUQBaPMYdIs_wdgfPWkUZBRJBL4Vi-fAx5CPpwR84gu6wOvcMM4GZ5VN37AywuBvpld_YaIVhBXVA-Pln8tLvl-FvULAfAvUpzb-llYEFYoAEEJ-3UCHMsDCDXFRfL4iBQMmYp2LeALIqS_vbsf4qfsuXF0d1bvcCiZQcamiNyUnbgS86ckuqAxpckdN8c0GXZk-GvxJGvKFnKCj-hZn03wQSPO3wJwo4l6ee-TyQmQHYIAZOb_ppBlH1ZHLpxx6VMzzghQjdHzFJdiCRhe9ZMdKkGQXPKPyTrBtBxWdiBX9l3g-fZZ5e2avUEXd7rSJ2xfjPXOYOJVxfpNVO8H0yaVA4X9RbRnbxASpsy0Sp--o1IMxZ7wGeoBXZFhM-Wo3Q7QMUCUks6WP47Myw9N8RH6jzu52uhhli-4Pq41KGrIBA_2V0kiKqJyEW7Gu6hBHQEJrwR10jDjDuXBG5-cVpPeYho-L30moAN2I453azyLV0tYeS2IvVj_Fyx46F3S8tfq7GdP0tJjF6gYeImummtbgS0gMv-7vlVTOFKFdEsKpSj90xoCkK6fGZf3gCipYLhQX5SHAsLd4PVZe5tJClMPDac-eL7Iqgk-QNs5O0aBHI-AdVh7d4YiJKNLXXl-w2fGvEzFGFMCWHqoLImZnT_Z2cAv3Ym85UMry59efNN6yt5cm2XyzncIZlGVLdJAkoJpxyAgswA8bq6MLa0VayQg4cI4bxCVNJWhysyb8NYTL1yvkkZQiqsCUs2PILwgTwAUMwYsnXkKFzU1r1nCGPEIgdN-eR12iQFyUCvyluBXtvSxBKdLI74LgLvBWpFEtbyjdhDqAtZplighMHBgsZSAGN-W7_LK42lhHbL5T-sZcHBBVz7qjxPOhMg8RIW4jIyp1eh3ViMI5Snn9tZtNuioBFufRsmRcugnEw_4Qy67Ko1lFh-Hym9BTAl2E3b50UpkzNGDtw8J7VA0EE2Mby8Ttft8bh4oL9Jdcr4z7x2tO56bb2MWxIvo2miPulQnv6TcSKj6NXEF7I0rMsN5Bl40_BguUjV6njrPgoh0Y5VzeKghHz9yEVX0-A2ICHZqbnGXzTXaNI66LO0vRrweBmCSQrissyT93afTRrw_8xQ_Om381PznC5xfvJq5Aierq2vQfwuFCK4nKVSmlRVLn_Ws8FJXx7ysBBaVemD_TYY9KmsvHcpb4Me19Pg9Lj-uMOQ2flKu29bLV1GrknSJcMoHQpg-fDL-VeWRuTP1p7tKXsYFraGJ85t3dGY1vMoJYrsNaPy7hhV-2uiAuTqmUYyNRcDlVJGjR999JXRoCKjkeQw1Kper9MlLVc8PFWLkSfXhlsLpXZc0i44q0VOMpwc4kK9acXM7II58Gw3uaC_G-v2PjsmT0BpK-pRf9pT6GcQDv6p_RLC0dPt9wuIj7JWpWIKj0YuFpTRwEj9QHD7fMcMxo2KEiVz8Dgzdg1AWNGZ5ruVRJ2WhqUcWL5fNS",
  "id": "rs_027d158e5d6f0fee016ab2b82b41a087d0b9d0f89f5534b7b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.22,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see an open red-lined safe, a yellow object on its right, and two soft toys in front and to the left. I’m positioning the right gripper above the yellow object first.\"}",
  "call_id": "call_rcXytSZtxkgXjS5ciUCJopYU",
  "id": "fc_027d158e5d6f0fee016ab2b82ef71087d0b479efbee208e7e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rcXytSZtxkgXjS5ciUCJopYU",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0193, -0.0383, 0.9992, 0.7609, 1.5581, 0.9657, -0.2024, 0.5819, 0.4389, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1749 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3585 right_y=0.2122 right_z=0.1338 right_yaw=0.0373 right_pitch=-0.0573 right_roll=-0.0475 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.5111, 7.0496, 1.8339, -0.0708, -0.0171, -0.022, 0.3077, -6.5299, 8.9231, 1.746, 0.5055, 0.2418, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ef316c54969fc689f4c71b68236d08560f9f7fbfc322d8cce741ae20f9ebd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f061aaaee2bb4bb65e6a026f112c752e3f9ce283c0a654ea705e2b68ccea3c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbfd6dd2ad99220a185637c40cb654540be616c0aabc195529b0ff3cfa7627a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.287 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3916, -0.0196, -0.0372, 0.9993, -0.0212, 0.7929, 0.6075, -0.3969, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0008 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4154, 10.2906, 1.9658, -0.0562, 0.2076, -0.0904, -0.5949, -1.388, 9.6889, 1.9316, -0.0464, 0.1099, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrg5r50URZxS46EAj2fazhyWcx4m3STRWpdw7ezXBZCBJcDIuj65m-1hzpF5cGGeEqKwgsaAn8Gn5jNo92z6DiMh16yRWSOVPh9mLCP8oLa0mRmo6314aZezo1l4vtUbn0RXu8A7NYyZbFnudsbY903A9yWbWbOHH4prO6CIdLkdEqS7eM5fgmNL0GrB17UG-37VQ23T8U9wQbYH6idpDm3asEelTowCaaAMZ1D_m5LEcIBNd_4ErKhkdjV2S21UogNJDFsiyciwjbnihlHUAl-wN2lqtZZq_vNxeqKKz-olXnwNriDzwa6ghotUve_aauKElfBOUkFRBx0srA1Ge2nEizlA-2zX9Jk0dHfch52dJsCNjgBgz19kmoOZnM2eYbz4_FsLoeJCEM7BjVhdZDv9GmNR7TpU55nVWxkns8Y-2KbVNmkWP6il-tw5_kgYRmCj7OCYihAS3OYq6oG-QuLnHZa1m73F3rQl7Czoo49oLSZd5FqSt-KbtVLF3AHqMQTGKRHfbh_k2t-Q9EtcOm9akyjSE5K0mtdAYAERe-AJ8am_KgQf93ou3W-okTfPAbxInTLTKJNsbf-PA2MLd-nero7SUDIwJWE48y6VgfflyfDZCo50q1AgGeSRQSGbQ_5E-SLWV-E3B8lsKlz5d_8QQZlPPrNDRf1RQ_uQfUdsdRQ9_3QNvPpXch2jGcN_ELJ5Z3hZsOB97wSIlWczK2dqhZgM7YVy5Sm9pCWC3l2we0xgtD_XpnYA1csV71ppbwcHxkvmDn7sE9S-fCz3zkHw2x3Pzp4ce7ZYE2l8opndFq64Q9fNFX3EzwlzNfpRdMAfVrrQECGsUf1NZF_O0SFLYoC9t-KDam9OZAOUa2Py4lhDm_8RGgGPVuAfap-b9wFKrU8ogoyMVLxwUTrcHWZrdNQojk2W1_2l8WAxvdLJjbS6JYh-7kaaUxlBoRvA65a17y6wsT5oqSYxc3CkKLL5mBXB6NwXh_Q9xU6m_XRLa0MIGAtXRESMz6AebMra3CYRZy-wvB5JS9h5q7F8O25VPjybZtahP7kSbEptS2MKuoGlpYIQlsVd3NlDkqRTYrVFEHG_mcwiOOTiZasooPtyJJnk3WZjNirMsbwmVy9S5o78bCg51MgkBnPMy4f-IlxHgokPiDEnHK8K6kRfnEI1G-LRhdoaB8OgUAHsM6eaQTWxTSDHxtvU1lBVCSMe_5DiuKeg0maBkynZoEX3plBUqiZJc2StNOyY-aTUbqDyzWn8vmVs3x0cZQtyjbNX5FNtSmbTJcCwE7FCRYwLplXOFFoGZ2E8CjibcJ7-zNKv81s=",
  "id": "rs_027d158e5d6f0fee016ab2b836810c87d08e408544905a2240",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.202,\"right_z\":0.04},\"note\":\"The yellow object is just right of the gripper’s centerline and still ahead of the fingertips in the wrist view. I’m shifting slightly right and forward while lowering to grasp its middle.\"}",
  "call_id": "call_x0W14slxvJSvYbiS8uvQHavw",
  "id": "fc_027d158e5d6f0fee016ab2b837d45487d0a9ac66dc0033ab04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x0W14slxvJSvYbiS8uvQHavw",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4133, -0.0189, -0.0387, 0.9992, 0.6678, 1.8076, 0.8429, 0.1532, 0.5217, 0.3695, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1732 left_yaw=0.0002 left_pitch=-0.0244 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3856 right_y=0.1966 right_z=0.0397 right_yaw=0.0261 right_pitch=-0.1 right_roll=-0.0794 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2786, 7.0085, 1.7558, -0.0415, -0.0513, -0.0122, -0.212, -7.0085, 5.0393, 1.5653, 0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd64b574837912bc579cb14fcbf8b70113e4f69d46a9754d5b0190a91e244af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381fe99ba37591f89129cef97183b7eec707f85800c495fce7af1b2581b603aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410efbb1002b2863ae25715e1f53c03dd467a715096d5f78ee981c477a6e19f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.787 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0193, -0.0383, 0.9992, 0.7609, 1.5581, 0.9657, -0.2024, 0.5819, 0.4389, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1749 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3585 right_y=0.2122 right_z=0.1338 right_yaw=0.0373 right_pitch=-0.0573 right_roll=-0.0475 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.5111, 7.0496, 1.8339, -0.0708, -0.0171, -0.022, 0.3077, -6.5299, 8.9231, 1.746, 0.5055, 0.2418, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhAKb8hjWSJimYMG_EVMwDMWAq2Dylx1RBTjshiyjJW7CI0DUrvZAlUAzqZTWwjk8Dph8U7YDLAXacCz9txMotj0bKeuMvgq3GxjrrdLOyRO5M-1puxsKonXHB1igOeByAk3VtiJ_cRC7yaWjs0Gij_4Xy0StbBd4McrAvqzxOyLW-YIWjU_3V-E626qpC6JmbV4vzhxGW1ji9SpeJLKbLG3jaukxH1qcuonszmLXqis1Rfmhr5urkIr1dG3LIgvrD29y7rlU4ogA2D1uKsVnISb4glQULVC6RGqAhfLqLBkkV7pOaIbc6EvLAwqxrOrCW2ChVXRC66tjXqlnxss2vf3Jeog-78bDVe1wadYUlgzGKtlCTFs75IuHsRoBeyfovofu6fU88pVz88rc1vvh7YcdQfYWMK2v6pyrap_Rg7hAmbnFNCdEkqf7p7NMsMvm5V9L-C5QKxaYAcjaWGK824MR86wm1zUjyezAcUL3SO_Sh9dDkFMDGuZrQAdp_mDTkx9YL-XzR9S_en532wsLTsftz3AvlR4DumbnvO65Qjy6w1GgUNPpMCLE5CDLpFGSoLtE8Ns5_cCyHtimjE4OOrU7CgMCOdsVqrp_nUJ_D1MI_jAlkCiSkcGFRYpOpWFp3DmJExNq_crb0RKznkuDfpLu5tbS4E97MldhxCohyrGgokdJtTeVJY6GMih4kzLmbecPUBKIX7OiBp6oHK3ZLh1NRn5Dz4g6qBP76NrYcDmcTEJ51Qgcon0J3jo2ID007TtivwoCmjSl1Bt5iGl7Uc3YinsPoOgjTkVdz7GuDG06cYJf0QsJEKNM1KCgJIX6M92_6tlXz_X2kWeXLQwN19uclDnKmEojwQQFTE8tOnZHw1-wTyI9Rad_M9h1ttwrNEFCtBxh7B5NBi0vXW9pV1dtZrUWKlwNuqH8wd9STeSrmu9K_pZyqob4gW5wXNpa4WQ-BgltliSsEl_a8a72b_IC_XQp1Z8ffXu7RAGP2Wn378NlQdG_VZnmuEIPWliu3w_tQmNARmot0SPfGe_gvr2bKbHdwlcIami98ECgTPQWAQtSggItvF_9soyGz4IgYUUyi5cDko6CPSpLsAgJii9rVyC2USM3DWyoYV3CsjgqiKqpW7ZiPvDXrsoGajkcS9YBuimKH7ANcNLitVM-WIjKr7IByrPxhTGRXIoDLfAIgXcFhZrA_qQ0Xw6QOSP_pcIQnN29sqIiPS2BLARKbO6jZpYY4-FqZZCoHXqEqHMHRrGVO8qaOuou7NAfI6wWaN2b8F8HWD2800O_Ovu7K-MNSlBj9tAwP8VV_BQGFpjkRctdAEoKrX-2b2OXl5S2BY-v3cAgRs0OhfNI4_N2w4hMactVpF27mx-ypcDkvgR7jtESjBqcfDT-SutlmudNTNw9hqD5PPRxGWodsIVRE1TqkEWU_HuiGoa5GLbAqYhnhTvGJcClmZ-TH7c1tYULGBenQPD3-Ty2jGOBe3-ucHtKXxDagFx_LE9a64UimsefLJv2pt0gDgv19jCfWgaGdKiYEdIKdwtvC2zhY6U4d4GoNaU2DIm_ZAaQL_HQY8_Ic4gXEUt-gZRzepm3HltCJYz8QysFSRTOegcxczhKQNWg==",
  "id": "rs_027d158e5d6f0fee016ab2b83be2b487d0880762156e04e714",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.186,\"right_z\":0.023},\"note\":\"The yellow object remains visible above the fingertip region and a little to the right. I’m making one small forward/right correction before closing.\"}",
  "call_id": "call_aBEfTc2tQp5XtOs2tMcqWMCx",
  "id": "fc_027d158e5d6f0fee016ab2b83f08cc87d0a6400b701ec8070b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aBEfTc2tQp5XtOs2tMcqWMCx",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.5728, 1.9198, 0.9115, 0.205, 0.4644, 0.3073, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1702 left_yaw=0.0005 left_pitch=-0.0397 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4192 right_y=0.1805 right_z=0.0209 right_yaw=0.0093 right_pitch=-0.1193 right_roll=-0.0885 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.306, 7.0085, 1.8144, -0.0562, -0.0513, -0.0122, -0.1162, -8.1436, 7.159, 1.7656, 0.1783, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821653378f1db1a97d6cfe0cc9aa5afd26dc6435d87773672e12eda810332d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa793991780daf47e23f285116d7773edb694b64daca536301e43a5967e09eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f52af98ef52e97fc86fbf2fb79d8382c3051e33ca98181b02555f70522f40f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.334 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4133, -0.0189, -0.0387, 0.9992, 0.6678, 1.8076, 0.8429, 0.1532, 0.5217, 0.3695, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1732 left_yaw=0.0002 left_pitch=-0.0244 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3856 right_y=0.1966 right_z=0.0397 right_yaw=0.0261 right_pitch=-0.1 right_roll=-0.0794 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2786, 7.0085, 1.7558, -0.0415, -0.0513, -0.0122, -0.212, -7.0085, 5.0393, 1.5653, 0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now centered between the open jaws at table height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_2cL8I50OqTNKk96qrcS6zlSY",
  "id": "fc_027d158e5d6f0fee016ab2b84371d887d0821a8fef6fd7ad80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2cL8I50OqTNKk96qrcS6zlSY",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.5636, 1.9434, 0.9203, 0.2054, 0.4469, 0.2836, 0.5009]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1687 left_yaw=0.0005 left_pitch=-0.0473 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4208 right_y=0.1799 right_z=0.0128 right_yaw=0.0257 right_pitch=-0.1395 right_roll=-0.1033 right_gripper=0.5009\nstate[joint_eff]: [-0.1709, -1.0325, 7.0085, 1.7851, -0.0757, -0.0659, -0.0122, 0.0479, -9.1556, 7.0769, 1.7802, 0.1587, -0.0269, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1112d3a8a2a56576a19ed78258f1f7b5b508a47c9980145ef3d3dcea7197f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e87c0cd5c6b9febbb88e40871172f256e3a64a32b604c6c68f5efa3188affb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375b9fd08692efa37e4ce43aab72b4a606d77a4f9e8e07023ccce9afdd6df45b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 6.449 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4282, -0.0193, -0.0387, 0.9992, 0.5728, 1.9198, 0.9115, 0.205, 0.4644, 0.3073, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1702 left_yaw=0.0005 left_pitch=-0.0397 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4192 right_y=0.1805 right_z=0.0209 right_yaw=0.0093 right_pitch=-0.1193 right_roll=-0.0885 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.306, 7.0085, 1.8144, -0.0562, -0.0513, -0.0122, -0.1162, -8.1436, 7.159, 1.7656, 0.1783, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The jaws stopped at about half their opening, consistent with gripping the yellow object. I’m lifting it a short distance to check that it comes with the gripper.\"}",
  "call_id": "call_aqeMOmxsNctM4g2u41Ub0VeB",
  "id": "fc_027d158e5d6f0fee016ab2b8474fa887d08a9075d17e20f355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aqeMOmxsNctM4g2u41Ub0VeB",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4522, -0.0193, -0.0387, 0.9992, 0.5636, 1.7702, 1.0508, -0.1249, 0.4431, 0.2794, 0.5016]\nstate[eef_state]: left_x=0.2852 left_y=0.0016 left_z=0.1649 left_yaw=0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4179 right_y=0.1787 right_z=0.0829 right_yaw=0.0289 right_pitch=-0.1641 right_roll=-0.1178 right_gripper=0.5016\nstate[joint_eff]: [-0.0479, -1.1009, 7.0222, 1.8535, -0.0855, -0.0513, -0.0122, -0.2256, -10.359, 8.3214, 1.6777, 0.2027, -0.0122, 0.6764]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43f376a1837cb642c5ea8f4a84b3209c76edc10557eba664b0d2a190c84e7dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320f50e830e155ff8495fc55d7cdf21117e9874bca76b0f9b8d37025a8bb9cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3b4cc3579e163d93047f2cf2dec0810c070d32dc50f2d160845687e7fd1c96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.479 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.5636, 1.9434, 0.9203, 0.2054, 0.4469, 0.2836, 0.5009]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1687 left_yaw=0.0005 left_pitch=-0.0473 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4208 right_y=0.1799 right_z=0.0128 right_yaw=0.0257 right_pitch=-0.1395 right_roll=-0.1033 right_gripper=0.5009\nstate[joint_eff]: [-0.1709, -1.0325, 7.0085, 1.7851, -0.0757, -0.0659, -0.0122, 0.0479, -9.1556, 7.0769, 1.7802, 0.1587, -0.0269, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhPQCtKJpYetw-yiuCLIovX4ZTvp3MgNsMcCyd23rQa-QpFFWs-T314iEXtLLvrCRVxMGDllguPIdJfHLcJ4JkFYMygKlazbyN0wFbfOOzYuyT132Ud72GoKyCOEF0Wgy2y2N8rIBgeJtfUF8DaoIAzXxCgHwP1Zalht56JBB6VUeorDYQ2Vm-pOrkReCC-B09hZjcDIRtxeOpUx6gNPAjsoIlV_UbcLe5AI8hNyZ-UqPTaq5__PnNPainafcNBNGnkF0RtnTKyOzAsKuZ7tu00YqBn3ry_6eqsAJuxWMLMJtHBA_s6RVWOITFTMLnvDelwkb-o2Br-uV04MKPEHmnbnxTg-oTQvnST5HVgD3ZnyrwVSlfiJHQ602c0MBg7Ayqpc6ziA184ZGoBjOrvRcIL044iYXUU1r2NbVgKhwZPK4o0mkUI9TiLRq2cdqrYG_ZWwV0Q2wJbkbGpxh7bEBeQmFcQgfBAy2eFUKc-v-_F1sa420EDS5SgN9SqBADMJ5azOtZ0Au67XZ9xpeBWUsaqX-YAlki6PwNgQydf7eJAPV-Yhbf8hc_hGsvg93CzSOmt2ncouvlk2Ha9m1J46-h3rKc0nsFUJYSC34i4PYU54LrPJmewDUVbRJ50kGPzTkuTIr_tGW22uNxJOGv9jNctKnpKfZ6hGADmaQ8lFyqsb9kC6XhOzNb2HKt8-4Z3utoExAd6F-JPdAgsjq5BRIxvTyedx2Ac0NsKK83NTJy0usdqFggXPBLMcHC1yujjIb00VmieDz4SVeD7hhs8J7uafFND-Jf9iCLFSjFuuGtsDG_s0kBu4ZWytCZV_aSDllhH757zMvJ1fo5Q1AQ66vkZi4lkYVAlJ1hV92sfwC6NsUTalddjDfUx3s3pFbSMHCG6PutSKkwjs_dbGRdEDhO2p-c6Z_GBRk4KoU0_fzrRWH8UM9WxOrRMYYJDCOQN1699uSJ8f2gJPOq61wztR7Qrv8Li3_o2y4bqVMVfGL8BVsn5jnUWPxrBjk2CRSPqSdaNWrhMPMFvs-oZEAyRhlcYr-lPoQluaxfZktDSa01ntJ6Gm48SSVarzLBWlda6nsdPxgrOMboi1lqU19zuqAljPaeXm_Y24M8m8ZwNMTvb8yruKP-L6Ts0DxAfBwCBkdWUOHeMEfEQtofSSOi1w-d0yXodd2Jgwlrpilcve8ACIbH-wGqy6qs_nXu2cY8ryvuvhCj8Y7aGBv8NGkQY7hrR0lew1NNd6bwrlNrMWXzEAWp2BLaZhUXuCKfHIvcDNnnsjdxiWEkYe4Nek2wpNUhDia3N9p3WQVTXq9nj4w0tgGhF80L1ZoS5NmAbu1JVwyt0",
  "id": "rs_027d158e5d6f0fee016ab2b84befd087d085ffc4a1fe060603",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.345,\"right_z\":0.19,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The yellow object has lifted with the gripper. I’m carrying it above the open safe, while restoring the idle left arm to its parked height.\"}",
  "call_id": "call_nGUod1qoC1q8BSEVU8mgoeRv",
  "id": "fc_027d158e5d6f0fee016ab2b84d864887d0860512b1e6b127eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nGUod1qoC1q8BSEVU8mgoeRv",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8417, 0.6426, -0.5095, -0.0227, -0.054, 0.9992, 0.8524, 2.1757, 2.0663, -0.8597, 0.5922, 0.5117, 0.5019]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1589 left_yaw=0.0051 left_pitch=-0.1284 left_roll=-0.0084 left_gripper=0.9992 right_x=0.4288 right_y=0.3462 right_z=0.1836 right_yaw=0.0672 right_pitch=-0.1759 right_roll=-0.1173 right_gripper=0.5019\nstate[joint_eff]: [-0.2256, -1.0051, 10.2222, 1.9365, -0.0952, 0.0269, -0.0122, 0.4308, -11.7265, 8.0342, 0.9499, 0.5592, 0.2466, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d2e6eb3fad8faa17f52a603396ec4efe4b1dcc0fe9ba09feee9e34a64b2343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050032dfbe551f1d3588d51534c154fef38112cb110008b8408637433a0b576a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c7a5a986d68e3c5e51c96be3e8014696ed88e696aa4f815cf0667142ea8720",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.764 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]: [-0.0189, 0.7994, 0.6064, -0.4522, -0.0193, -0.0387, 0.9992, 0.5636, 1.7702, 1.0508, -0.1249, 0.4431, 0.2794, 0.5016]\nstate[eef_state]: left_x=0.2852 left_y=0.0016 left_z=0.1649 left_yaw=0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4179 right_y=0.1787 right_z=0.0829 right_yaw=0.0289 right_pitch=-0.1641 right_roll=-0.1178 right_gripper=0.5016\nstate[joint_eff]: [-0.0479, -1.1009, 7.0222, 1.8535, -0.0855, -0.0513, -0.0122, -0.2256, -10.359, 8.3214, 1.6777, 0.2027, -0.0122, 0.6764]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhUa8xnWos6aTK57jPE6NrCc7dXNWMO8O8-5SxOy7g01mNcw9GfKcxRm4qK34cxF1JqwL1dNSC2C3RSdzgJBz2LMbPPA8ygTV4bykf_4n6mt_QTwC0Fcm1nY8KvadBUIjyv6gMQgjVVZca9iiyyuf9xAIzL3EvzECegvpJ2qYI2SajaK0F2t6iUfSgfbK412ULDNS-uqakl-4ynADlKVDnlhwgInpWO394GY3UfAHjztgOZ8uqyEAJdES6Ujlrg5mt8W4JTvhzfOrlALaw1u8i59AyLtoVmfn9AdIR_s8rgrsgjlrrqs_PzHMvEXyPdYZnlv6aq4ZcO4q2x-b1I3CLfveRWTbqme1bu7qEzp_cYtpRliJXz7-wtGjNr7AYI5HzX3SZ0iucMx72IoFDyopBIZshCASCUJ1liA1pLl5KBlZA3v5uVe17EYlWEFPyLm6yVB3ml65Ao2AyRZUz4ggjQAWboBaXB0W3NclHSiKWyT6fso6WCpv87xMYAqa_HPirOPH-anabsbboM6g_EJMjRDkojcznGT5oN6O_Iyt3Rw2IQQQelWBLliY4LkdqiXvP9Wru__46eLUkARBtuVvp5l3fyN6CL1bZHjqJpvK5T9HkKzs5mW_6amQkx7An33aI5GgW6GFX3BLX5ANXCIcYrBVenKE8YnLWFkEYYbKaJWSmeu7TwJIhKf8tUgNoC557CDqyeSJ3NVgqChOYe2VjcjB_zVTOk9GRLD_KjgUJSkRoSREnXUkuWirvfGADtoYMBMu-HkR3BEkchHTxqAYzMJv1n8JYt6ZgGG1NdZ1HLvIL1QrAuzoz8OvB2uWCuM23CgY3ASIuhEDvxJKB7l4HL2BeZAL86K5OGm_vWxTDeXcay4J8OpMERun1nP3u2UDDuvrJyr9wzicso1cdY-Bm-Za3DwA8epz6h7D3D3mO40OaXaTA9skuQd4Xlea1M6oQm2y06V9QPPq_GN3SNvrivlOy6C_eLqLIPRYcyuRx1bDjDwWSFsoK1Z9yWiF3s39ka-EARyarLFVrpNqro51BxTVDpUZ_TUOBGBfdP6TdIR1U_j0uwIYa0A_pC1aVaGYID0qih0zdT5UDJgpJU5yUPr9c-_2yxV3hjuSNAIOWKSrJ7AW83cq8L9VOU2NQjteOCifxOOyeos9KuobC5uzV6LXgp2btQaIKggQGd_tYIfh-GQaouVO3GQxBhmRKU5nUG",
  "id": "rs_027d158e5d6f0fee016ab2b853587887d08b863bb79028df2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The yellow object is above the red-lined compartment and clear of its rim. I’m lowering it into the safe before releasing it.\"}",
  "call_id": "call_jiCBJgOR2ASid1eK2cs4GUBI",
  "id": "fc_027d158e5d6f0fee016ab2b853916487d087b9a38891f5c42d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jiCBJgOR2ASid1eK2cs4GUBI",
  "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]: [-0.0257, 0.8452, 0.6422, -0.5182, -0.0219, -0.057, 0.9992, 0.8551, 2.1929, 1.6909, -0.5133, 0.5869, 0.5129, 0.5037]\nstate[eef_state]: left_x=0.2823 left_y=0.0002 left_z=0.1561 left_yaw=0.0062 left_pitch=-0.1411 left_roll=-0.0108 left_gripper=0.9992 right_x=0.4202 right_y=0.3396 right_z=0.0769 right_yaw=0.0664 right_pitch=-0.2116 right_roll=-0.1466 right_gripper=0.5037\nstate[joint_eff]: [-0.2256, -1.7709, 7.0222, 1.7021, 0.0024, -0.0317, -0.0122, -0.294, -10.4957, 6.6256, 1.6239, 0.2711, -0.0269, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e62ea1cb30599d47db6273e0633f5c27af2181efc47cc178b5502888bd973ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a0feb19e924db5c921edba52baf5b2e04e6fa8ae9763c437ec55f0da4ffc6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f98600a40a33d4246ae16bf779bacf865d9681b6912966043d3f240ed4fb527",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.388 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8417, 0.6426, -0.5095, -0.0227, -0.054, 0.9992, 0.8524, 2.1757, 2.0663, -0.8597, 0.5922, 0.5117, 0.5019]\nstate[eef_state]: left_x=0.2837 left_y=0.0003 left_z=0.1589 left_yaw=0.0051 left_pitch=-0.1284 left_roll=-0.0084 left_gripper=0.9992 right_x=0.4288 right_y=0.3462 right_z=0.1836 right_yaw=0.0672 right_pitch=-0.1759 right_roll=-0.1173 right_gripper=0.5019\nstate[joint_eff]: [-0.2256, -1.0051, 10.2222, 1.9365, -0.0952, 0.0269, -0.0122, 0.4308, -11.7265, 8.0342, 0.9499, 0.5592, 0.2466, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is lowered within the safe’s compartment. I’m opening the jaws to leave it inside.\"}",
  "call_id": "call_jNYoYXV2GNAXbnTxAdzj0hWM",
  "id": "fc_027d158e5d6f0fee016ab2b857f9e087d08ba8fc9a00c58a46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jNYoYXV2GNAXbnTxAdzj0hWM",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8455, 0.6422, -0.5259, -0.0223, -0.0574, 0.9992, 0.8555, 2.2147, 1.6733, -0.5159, 0.5827, 0.5053, 0.9948]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1546 left_yaw=0.0068 left_pitch=-0.149 left_roll=-0.0106 left_gripper=0.9992 right_x=0.4158 right_y=0.3358 right_z=0.0589 right_yaw=0.0668 right_pitch=-0.2444 right_roll=-0.18 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.4974, 6.9949, 1.6484, -0.0757, -0.0708, -0.0122, -0.212, -14.2974, 7.706, 1.1844, 0.2662, 0.0513, -0.232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862dea06db5d3245fdeb03604e8effd2feef0f2eefb13c555726cd40fb6c4e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c79481cd0b3fc77ca079b44620452414e0b8806539948c9f41b7e82fc79f0a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b59ddebc1b57c64cf305f466e18feeb79695379fff478efb4eb087d1da1943",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.412 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8452, 0.6422, -0.5182, -0.0219, -0.057, 0.9992, 0.8551, 2.1929, 1.6909, -0.5133, 0.5869, 0.5129, 0.5037]\nstate[eef_state]: left_x=0.2823 left_y=0.0002 left_z=0.1561 left_yaw=0.0062 left_pitch=-0.1411 left_roll=-0.0108 left_gripper=0.9992 right_x=0.4202 right_y=0.3396 right_z=0.0769 right_yaw=0.0664 right_pitch=-0.2116 right_roll=-0.1466 right_gripper=0.5037\nstate[joint_eff]: [-0.2256, -1.7709, 7.0222, 1.7021, 0.0024, -0.0317, -0.0122, -0.294, -10.4957, 6.6256, 1.6239, 0.2711, -0.0269, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22},\"note\":\"The yellow object is resting freely inside the safe. I’m lifting the empty gripper straight clear of the rim.\"}",
  "call_id": "call_gHmOhbLxYUPmDA0FoEhegMSi",
  "id": "fc_027d158e5d6f0fee016ab2b85d8fc087d0bd0a473c9a74c0ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gHmOhbLxYUPmDA0FoEhegMSi",
  "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]: [-0.0257, 0.8471, 0.6422, -0.54, -0.0219, -0.0574, 0.9992, 0.8562, 2.2238, 2.3093, -1.1217, 0.5652, 0.4976, 0.9953]\nstate[eef_state]: left_x=0.2788 left_y=0.0003 left_z=0.1517 left_yaw=0.0066 left_pitch=-0.1647 left_roll=-0.0104 left_gripper=0.9992 right_x=0.4168 right_y=0.3415 right_z=0.2138 right_yaw=0.087 right_pitch=-0.2408 right_roll=-0.159 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.6205, 6.9402, 1.6923, -0.0513, -0.0562, -0.0122, -0.253, -10.9333, 7.3368, 1.0183, 0.4811, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9736be981121d8ab5d0a9fe8d0003acd72d69560d7635f6f7100c03c9a687915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35d78e6342ca192e02a13a23745cd925867475969724d1c16cb0ecda7a1f1fef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363f8c6669af37a4298e21338789604261ffc6c9317037fa91bf36e86e3f2859",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 8.601 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8455, 0.6422, -0.5259, -0.0223, -0.0574, 0.9992, 0.8555, 2.2147, 1.6733, -0.5159, 0.5827, 0.5053, 0.9948]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1546 left_yaw=0.0068 left_pitch=-0.149 left_roll=-0.0106 left_gripper=0.9992 right_x=0.4158 right_y=0.3358 right_z=0.0589 right_yaw=0.0668 right_pitch=-0.2444 right_roll=-0.18 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.4974, 6.9949, 1.6484, -0.0757, -0.0708, -0.0122, -0.212, -14.2974, 7.706, 1.1844, 0.2662, 0.0513, -0.232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhl261qLq04lUQAVdI7MN0mYQ4FIt6mfS9_W9Sp6kzfF1OQ382Z7S5mtBC18ggejY9ZVhh3LpSA66At6Rr_KFL8T0y629mLjEsMYFDCNH9rSolWhGx5Q_-kJYk9DAeK7u4WNYzIvlRr4HaXsUlT5rtIn2C_XhkzDU2Q9AVnwLL9G3VVPWqvkKVcUqPorchts__9uDjJgPADSNEjwIRUHd0e_fSA_ni0ZGQWliM1LRTXefqVjcB0oqT_0j2qFduv4RmoUVEMTNXGo4L2z7CvCW3jaT8H2C335QSUXG10OwwnwAo0L0_ypCI5OgpaKm5Lb0YDMy_4YJmsWqmgLH1QxRWb8wHJOBnNHernoV7Ti5rQzxfcNjf4fayWYVLz9d2lm_d72s7vPzfBXuskK_tCZy6tD0MT5rTqauuvhv5vwGk5REQ4FLUFQosT1i6ha5YOxgjsweF5BtmbPDcjSNi1_jyWd0hNL1-1f2c8aKVlr3vSZyBRvkdmMUudupRbXUmQZE2yf7ecl4hg5tnYjpDoFNk3RY6efTXWyelTOJBu5BsPA7JXRzwCbXZo2gY_lCQa4-WZ498GshilpMVQB4Qqj9-4zEw8gvW4PRnzCVopS67GY3l4MRfGBGvHNBefy8rpJ-9l651cnt3yADQObUPVNU_Rad60T73tM4u7zVP8PgQt0rZC-zabNr8jNUzmKMhlxZlJu_GeHC3e--JiYyTEeAKcgQOYcJ9sPs8SAxu4ySVETQBBj1b-fqF6ywqsmbsWlZ6P-BGChT-uWDVJnLlVsdj5Zw8HtQfmDdo8rLcl0JYWrJ-ZP8KvTDCBflX_SGFspWHd28m86JLNpbCsPhbrX8Q9EErf4trWP9qzBdf60XKW7BjF1hMsoKRFWrJ0QlgcsVeELibTAgD9FqkT-opPSNQVSxg9WBStyyj081IxZ5l4tLh-7IojsxoYhud938g4WEunLYV6B7YQz5fI5ng6v87YmGBHToJR2VMUjoYRuP5LiG170acu3KGY2fgf3P0GTKkcMCzan2hvtPIUhb15e_IM-Kpn3TF4wTgaVhrBhCnLtLieOmpSpipVNYKrnDvT4n-3GfUWd_2ama9Df6lZtLGB1vxXLR8-MY5UYqFHUNr4IQo9kbDvJL42D0RbyKvu_loc94ccei0qoZ9j4V-HM0s-3dDy79Fym_ftoQCjkc0cUDP6Hhtc0LXfdKxRA2RoC8XAjHp8wMuh7K__bPQ0-sAJQ9uHAaVO2QVbI35oe1cfL3vQCXFb5iSMM-mwd39wDbSbXUoZlLRKgOth855sZWRQhZPQawlYIP9aIFMXCF0_WPMKqonlBOS3pf_bacAZEZzWM9bT88rqu10Uj9ZvjRRg9XcV0YMB8aA87jusiz-S0eBOPnWF-SD6gvIWdNjMk42wUCBLkCj3F86sE4jut1zMSajUCU-JmiR-VlpNYRRsFpA=",
  "id": "rs_027d158e5d6f0fee016ab2b861b36487d08d48d175576d3b5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.235,\"right_y\":0.30,\"right_z\":0.14},\"note\":\"The yellow object is safely inside. I’m moving above the brown toy in front of the safe to collect it next.\"}",
  "call_id": "call_y5orqfls87X4AViCbBXBiNVu",
  "id": "fc_027d158e5d6f0fee016ab2b863c26c87d0ad3c4bba276e06e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y5orqfls87X4AViCbBXBiNVu",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.849, 0.6411, -0.5587, -0.0219, -0.0578, 0.9992, 1.1854, 1.7374, 1.3262, -0.8867, 0.6769, 0.833, 0.9954]\nstate[eef_state]: left_x=0.2755 left_y=0.0005 left_z=0.1473 left_yaw=0.0073 left_pitch=-0.1864 left_roll=-0.0099 left_gripper=0.9992 right_x=0.2376 right_y=0.301 right_z=0.1295 right_yaw=0.1092 right_pitch=-0.2839 right_roll=-0.2088 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.6342, 6.9402, 1.7607, -0.0659, -0.0659, -0.0122, 0.4034, -10.1538, 6.5983, 0.9158, 0.4957, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2ae6241202af5685b8ab979c6b4f3a306101e76dd9a888b08814f73c4c719b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e66623ef3bb0e34c394697e758ffb9bb4147e9b6dcec847625b3183d05ea27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71cccf263c0d1dd42f1edfab636a41be6f6451f39fe21db9bc5b45fad4f34dbe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.258 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]: [-0.0257, 0.8471, 0.6422, -0.54, -0.0219, -0.0574, 0.9992, 0.8562, 2.2238, 2.3093, -1.1217, 0.5652, 0.4976, 0.9953]\nstate[eef_state]: left_x=0.2788 left_y=0.0003 left_z=0.1517 left_yaw=0.0066 left_pitch=-0.1647 left_roll=-0.0104 left_gripper=0.9992 right_x=0.4168 right_y=0.3415 right_z=0.2138 right_yaw=0.087 right_pitch=-0.2408 right_roll=-0.159 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.6205, 6.9402, 1.6923, -0.0513, -0.0562, -0.0122, -0.253, -10.9333, 7.3368, 1.0183, 0.4811, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhvrQvB8jahazlfbwSoo8i8-dTOai4Yuk-iCnwVQ_or3pq4tzFSxKD5zVQXMt_IgGH7iYYMPSDmXwZMC-kj5hGbhiGoSz5wEWeR9tCz0Tg5QQIOYoGonjhs8VBV_9zSekTEZOwIQHoupuQnb_Rv6SG6z_VeAxhO6yQFzG0DpZ9fF5xgPb4YvdCgaVL7h0Z26vnrF2aawK1_qzrtsS_zHUhc3vB1MOFTtrtYFh091IjEIbLfVRoIXm_NXHV0fagv6YwBfSzaZos4kB9Ako0BceD8QegL_2WwuldMyyJFTXYwjivtNyKbEh7AgNRaTHiwTZoqDVUtOdVpdmMc7z9w8C_yfd8zFfC_r8UyRja0pOBq7BUouwbmW2bTu-YJlXwYTJ1Zgbz5PqDHj63NtfS391tJKwdvh6Kfm2tcPJ2WgPGK5z_sAL9uSqQZ7LBs67IuBpH0jz_UTif6EVnFCf6EsyaQZXuXA8VGrqTwLxgJogz_jxG0qr5DlvP5QtvGxLslT9xrBmk0V8TKgPug4eFVWPDG4aintAK0-InLX_K3gsXyhfQQXOx_cQK3D2hoOLl7ZVncRAoTlvjeOJnW5YTH0mZCxosHKREr8YeREgnBi7yQmPIvupfdewTXwJWCja4_nmZZX_zRb8yC5wChCiKhLdHkPkr-9ZrpdexmVC7J8UwTRQEEsIUYKbnYG7kaoFlRoHvQ21AchA6vNlqceWr5LOJaSmaSHDumZWYFlYlVh4wuTCBP7BbiB8IhVRlcPLohvbtVorkHbQ7HQxzzUU7iMBtkHoQf7wS7mSpcp7ACGlF3-W1BDvCU0RshzoyJs_3_uPm-O9FIlamKQ4sp_fp-J9PfStvmIdQshFcs9QiMs7b7i06mQXPRHnIoBC8D7RdbvaJSVhUZcxkfE2uoWwEJb--0PWtwI_GZsFJmCcC9vun04wGz5OcdBrUSPH-1HbE1PfK2ZW2J5Yzxys-YKzkdtHhChdy3myBqA7ydvEhvNbc9mY8_xFzNrElZC11bEmnfgZFtoC-2R8_DqYLZYu4WP-hIXNvM82wnjCTLVbxPXEk_xF1BSQYOBzBSRjGSU9t1sehPKpyiDk6DdaAfcoa3RTrpDWjlWDrGcECcLmatJIv_mPmOiOxerkLewfBzB08s6D20b2CUiVlAY7Yb7r2P7ej9GdZtWRvFD98oZ6JRWi9--HE7Yd9yCD9SNHj2RuuuAZzMYSPtRJq0Ax19Bt5J0WwwHZKdoZzlzxojnkZl1eMj-8S36UdABfRIwhajiJLP8ZadXnBkAe-avvFhrgBkAQhg3lZ_0q2UAF7_w62KBNML0jCICZs9Ayn63gN_Hs5kpAtWfAtECRXOOGdP3GgWWoeZ6gGLa_Xgqw3VCvk5gGLnf4I=",
  "id": "rs_027d158e5d6f0fee016ab2b86a754c87d0ab44d6a079c493db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.34,\"right_z\":0.035,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The brown toy lies slightly left of the jaw centerline. I’m centering over its torso and lowering the gripper for a soft-body grasp.\"}",
  "call_id": "call_P5DcX6CyQpjsgs3ukfOKrKRT",
  "id": "fc_027d158e5d6f0fee016ab2b86cabd087d0a5dd8438873a3264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P5DcX6CyQpjsgs3ukfOKrKRT",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5671, -0.0223, -0.0574, 0.9992, 1.1969, 1.9839, 1.1015, -0.2611, 0.8589, 0.9253, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0005 left_z=0.1458 left_yaw=0.0071 left_pitch=-0.1948 left_roll=-0.0091 left_gripper=0.9992 right_x=0.269 right_y=0.3293 right_z=0.0341 right_yaw=0.0179 right_pitch=-0.0562 right_roll=-0.0736 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -1.4427, 6.8718, 1.6239, -0.0366, -0.0464, -0.0122, 0.2393, -8.4444, 5.1624, 1.0281, 0.4274, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7721f39b37766d1486959d518f04937f771475e548ca5b1d38526168d1be14b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60748bf1ab525034b9ccf267936c34fb0028d53941feff0fe3858f675b7f0bab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307ed6b0d933f4b90d58f3d5f19aed94882f7ffc891ef63aac6eda1cb20bde89",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.998 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.849, 0.6411, -0.5587, -0.0219, -0.0578, 0.9992, 1.1854, 1.7374, 1.3262, -0.8867, 0.6769, 0.833, 0.9954]\nstate[eef_state]: left_x=0.2755 left_y=0.0005 left_z=0.1473 left_yaw=0.0073 left_pitch=-0.1864 left_roll=-0.0099 left_gripper=0.9992 right_x=0.2376 right_y=0.301 right_z=0.1295 right_yaw=0.1092 right_pitch=-0.2839 right_roll=-0.2088 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.6342, 6.9402, 1.7607, -0.0659, -0.0659, -0.0122, 0.4034, -10.1538, 6.5983, 0.9158, 0.4957, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy’s torso is between the jaws at grasp height. I’m closing around the plush body.\"}",
  "call_id": "call_hrK3wVRN3rGg4tyPNFQAGkyx",
  "id": "fc_027d158e5d6f0fee016ab2b873588887d0b70b4e0539129dc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hrK3wVRN3rGg4tyPNFQAGkyx",
  "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]: [-0.0254, 0.849, 0.6411, -0.5823, -0.0223, -0.0574, 0.9992, 1.1965, 1.9953, 1.0946, -0.2443, 0.8677, 0.9211, 0.0097]\nstate[eef_state]: left_x=0.2714 left_y=0.0006 left_z=0.1432 left_yaw=0.0076 left_pitch=-0.2101 left_roll=-0.0086 left_gripper=0.9992 right_x=0.2698 right_y=0.3281 right_z=0.0301 right_yaw=0.0159 right_pitch=-0.0496 right_roll=-0.0815 right_gripper=0.0097\nstate[joint_eff]: [0.0615, -1.0188, 6.8308, 1.6484, -0.0708, -0.0415, -0.0122, -0.0752, -10.7145, 5.9692, 0.7985, 0.2369, 0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36c83868733724ba5195298735e12e48607905597b41d276b8b853c8611fc5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9579fbfbbe71678e7e18d5842300f2e5355f6fa582d635564ce3d864da417ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3735f46852b9999e1b8d2c79ff0a7e015774d1e3556ec504dfeff17b4e36c27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.154 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5671, -0.0223, -0.0574, 0.9992, 1.1969, 1.9839, 1.1015, -0.2611, 0.8589, 0.9253, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0005 left_z=0.1458 left_yaw=0.0071 left_pitch=-0.1948 left_roll=-0.0091 left_gripper=0.9992 right_x=0.269 right_y=0.3293 right_z=0.0341 right_yaw=0.0179 right_pitch=-0.0562 right_roll=-0.0736 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -1.4427, 6.8718, 1.6239, -0.0366, -0.0464, -0.0122, 0.2393, -8.4444, 5.1624, 1.0281, 0.4274, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrh7blP3gYMgJBm7ysVLgIyb56w7x-D9rTKKNPTYF9DaS39Z06zpDFXDGpde4Y8Sck-_LIf7sSrKBTW2eOiUybU1lEY_X-J20ejMJ3P3IjwYMJzwASw14wrmGUjgl9PN0bapei9n74UexkY25YECQvVfZ8qfwcrJt4JJhQYidzxapXUe32jR4HTAPbdQNeQaFa9GEVvEaI4WDWwIVePgciTFXHKloI0CvcZRXC3x0EY5mtXDAShxpkPgkuWz5ErRBfGGS5_vi1ScELzqq7QGrfXx8KQXtVA9TEi0Qx6RXw_PwhLRgyV908pPJ8h5WFB99vo6GG6W13AYEIqxDgAh4xlPcQY9iJ1Xdl7L4XmGwiyCJ3rmA8VBtMKwwJqUr46AS1lmzjcIEAWQhf6A_iiA_F5zn1rf9EHOMI_3gOug_8UTw83Rnk8wtFlaNkz3jtIncWbIFB3siQC8X3y2ubywDiaS3nFHEyo6LhOVsvXBhxXEwHi_RM8saQevIrVJeCyHBaXaDlJY8s7UpvibjE49I9TdTRTzrbFomjhEfW_ZuZKqWm9jKIxTxmJJxvGGXeKv_GoKS6tC--2eOTXo2P9Ql-4mdVDk0N4taggeu9-twLNyXu-LyVAQ9Jk9wNwAILCu3Cw-jduw_bNoO0M3eQFA2UF3LtpyAgd_h2jKB9VsmyrULjKt6S38tPqWdvxpdZrMg-zgftAoyw1GlF2d1J91z5M-dDmOsEk_L962M_gqIsSxKNOgc682yVOnOYmFqxXUWQV3SKYYMCYjjpX61BY-o7G0a704zdXFrpMgkh5F2UdgdnOxyLVALezgde0k0JOaxFZ9PMSkeYhjPo4HPUAZM_T8dJHBG4nBOTj-CA6f49ebHzrxmxguh5_CzzPe7pU1-XwJCwn6i6_urYxFnb9b2J3vXdTIqG_ZzXVUas8XdE6R2QwPfumkSf6bRrpZcG6Yw-zl2vw1lhgLZjFaQiDmmP4U-6m1ileJ-YCmVT4eJ1bqnJ7GuHMnY4SmQMo974i9Ia38em5ykzcTsPDLK_bkroxNLb7oCLHDyPmtqHd302wG_-laVIY_dx8lk4COoyZyM3dzP7KX0ZNftzSRLIS9dCI5Ti_izPYiLYNbVmzJnjGnKlynm3obkGGpGJ7BM0O5MEZBFqdM_t4wLnso-GFY9VIWAVWUH7L2nRN42e_WtLGAsbCW9RLhaRB64eQW51gAPXOeKaybL8WDtJ9cAOmkXQ36J0izMX92sPti7HAEXF5JusI=",
  "id": "rs_027d158e5d6f0fee016ab2b8790c0487d0ab8c03d0ea8d0c42",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.305,\"right_z\":0.02},\"note\":\"The gripper closed empty, so it was just short of the brown toy’s body. I’m reopening and advancing three centimeters for a second grasp.\"}",
  "call_id": "call_v70bvH9YOu4M6aGhYgWaKCYu",
  "id": "fc_027d158e5d6f0fee016ab2b879d31887d0a7bc2799abf1a0cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v70bvH9YOu4M6aGhYgWaKCYu",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5854, -0.0219, -0.0578, 0.9992, 1.1133, 2.0277, 1.0966, -0.1417, 0.8486, 0.8185, 0.9945]\nstate[eef_state]: left_x=0.2709 left_y=0.0005 left_z=0.1426 left_yaw=0.0071 left_pitch=-0.2131 left_roll=-0.009 left_gripper=0.9992 right_x=0.3012 right_y=0.3199 right_z=0.0241 right_yaw=0.0008 right_pitch=-0.0402 right_roll=-0.0918 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -1.4427, 6.8991, 1.5214, -0.0366, -0.0513, -0.0122, -0.3214, -7.6239, 7.4051, 1.1502, 0.1245, -0.1832, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97380143c6a1cfb31c1a8982d745432f40257968e08e3ca4e826ac7824fb4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e802a8d9045125de35a0228b66d2afe588cddecb3e553a5d8358b66d91ca61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1193456fe4038c416b90b02b0882bb9d87ff20015acfb42c3626e07024778e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 6.631 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.849, 0.6411, -0.5823, -0.0223, -0.0574, 0.9992, 1.1965, 1.9953, 1.0946, -0.2443, 0.8677, 0.9211, 0.0097]\nstate[eef_state]: left_x=0.2714 left_y=0.0006 left_z=0.1432 left_yaw=0.0076 left_pitch=-0.2101 left_roll=-0.0086 left_gripper=0.9992 right_x=0.2698 right_y=0.3281 right_z=0.0301 right_yaw=0.0159 right_pitch=-0.0496 right_roll=-0.0815 right_gripper=0.0097\nstate[joint_eff]: [0.0615, -1.0188, 6.8308, 1.6484, -0.0708, -0.0415, -0.0122, -0.0752, -10.7145, 5.9692, 0.7985, 0.2369, 0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush body now fills the space between the fingertips. I’m closing again around its torso.\"}",
  "call_id": "call_0XwVBcRxjOUuUThsMLR1ol2o",
  "id": "fc_027d158e5d6f0fee016ab2b87f44d087d0b63c2d0632832232",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0XwVBcRxjOUuUThsMLR1ol2o",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5884, -0.0223, -0.0574, 0.9992, 1.1114, 2.0293, 1.1004, -0.1387, 0.8379, 0.8124, 0.0085]\nstate[eef_state]: left_x=0.2704 left_y=0.0006 left_z=0.1421 left_yaw=0.0072 left_pitch=-0.2162 left_roll=-0.0084 left_gripper=0.9992 right_x=0.3017 right_y=0.3219 right_z=0.0236 right_yaw=0.0078 right_pitch=-0.0465 right_roll=-0.0878 right_gripper=0.0085\nstate[joint_eff]: [-0.3487, -1.4564, 6.8308, 1.58, -0.0757, -0.0317, -0.0122, -0.1983, -10.0718, 4.9436, 1.0623, 0.4127, 0.0366, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3efd585f7e3fd6410d3fd5cba3b89911aceb74ebfa5468971ac59c1e17fa4fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b73eb67029b7a0bb0fe67c00bb71be3aeacd1442abe94363b7054a0b595159",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7952c6d5cab4391f04ae55bff3a673bbc1fa00a44664ecdf5a72f8eeea6ce19",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.57 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.849, 0.6411, -0.5854, -0.0219, -0.0578, 0.9992, 1.1133, 2.0277, 1.0966, -0.1417, 0.8486, 0.8185, 0.9945]\nstate[eef_state]: left_x=0.2709 left_y=0.0005 left_z=0.1426 left_yaw=0.0071 left_pitch=-0.2131 left_roll=-0.009 left_gripper=0.9992 right_x=0.3012 right_y=0.3199 right_z=0.0241 right_yaw=0.0008 right_pitch=-0.0402 right_roll=-0.0918 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -1.4427, 6.8991, 1.5214, -0.0366, -0.0513, -0.0122, -0.3214, -7.6239, 7.4051, 1.1502, 0.1245, -0.1832, -0.2271]\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": "gAAAAABqsriHGj51ToXq10JEAO0vRKiQOneLCQbJ3PybVhjRca1ZjsngE_R3nHWu2h5hgpQP5Lqbm4RcN1SgPiJYmSCtTE3sohQzvIUzRiNi6t88fd1sGs9JiJT16rcaM5Nzl6FSRFcDJqsNZXRCbD0LHGcZyAitBxOQU4oa8Yx3juF5keoN5tNUbF_Snuj1KqPfuFo1_t3dF5dM55RxLkfP1SorQDRw6NEINrPwmTVTXTTIQBj1ajcTt8V_1c61BrKgZ9VhuEfjUBuiTVSDsPWE4Cf5I20aIHueI2PF8xUJNY4eTk8Y06aaeITuu0kKojZen38MD7KyqogBPR6HC91Me-tB-QcbFsQCYSeYSMo4oXZgg4bw2DYkI8am6JgW0Xu-S7Z8J4hsBsi8civQkqDLWrLUenD70rnLqYZUkC7tNDR2TyPsnZJdzroMcmy-k3aShDerG23Kv_L7uSz2s3YXfcFw-LTD68Vqt2RQaunAEWtzOsMeKYOtVAsuVHiZMtA2clAbZKC7MQU48IIDwHwmpDZeX3Q60SjZvu2cD3VLSZHzZXeTA5UOrcZbe7x_lAsJJL8zq0qr-E23bf5mdsUIfpA9ZpR_dwf3EYQuddp9bcz48Ogdgr0OkC8f07rupzqpVhn3qC252BQUxfeKMo4xhu41B8smPhe_8s6XYdK-qH4Il2MlBTCg_5bu_HyFKpu76SgxsL2EwS_upsSfy5mAi2Krdz8pWgf1LOeE7HsbBHTpdZppoTAae5iRDNVV_-WCH01zaZsce4HOw9rczT6J_0XQT9KwhqjFLXZqJW7tUUPfOYxfkLRvL56zxRTg25rf6eeZN14d0sz22i1Qu3J4wH8pq_L2jcvIW6GSwwcud2TeszoB5VYXiUswHjbYFf6tyIjxIt4IdjoizuAooMsUX0l3pdU3i7-0hR2UnyVAF-77trYEKFWsRyylUyTm-DsQtfGn-hvueajg1ucYhDLa68D2uJs5-siOJpeo0p0iVD2oSmqhT_gnFPMeZ18PU-6Zf5PYUw5lC-gHtWvbcmHZAwZEZ_mIkmjglORUHDo032lENZlZ022cUHaPcOPqHVt0DUtfvnkrZ2s0aM4vjfuElUk6HjL1FqZ33e6fYTEVbozvVpcmF5w7W8GPyVVtlGnKD3NkjxpO5MW2Ll0hIo0PGKMKI4rzGxBx2iVG1-pO2NKJvEzxAEuM45mcVaOfMpT78QbQ4THxI6_lBf-uuoe3FE5tJmtOPDbyI31WEWAbMOLlI1m6XvJpjBgs7P2XIk473ObvSHz8Nla0sysPeRUvSB2TTQnM1DGxF_qrAHEnbVOONiSc9AZltF8VvQ2ecn7TRW6HdyynGnz_tjh5_5zAjVOoDeUfvlLx0rFg8P5YZIerdlfVpKMTz8csOU4vuBk02XUbGb36Jaca7e4CbKW3cqYafrxcuJCyjv9VtWtHocX2qVqckNKuxquNm6iq71E_TdPqIcD3ToqsX2wg4Lg8ltX21H21LX-r7MAP191W_4ou5UfKjJY=",
  "id": "rs_027d158e5d6f0fee016ab2b8834f9487d08bf414fdfe5c9cb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.08,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.38,\"left_y\":-0.19,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The second close is also empty, so I’m clearing the right arm rather than repeating the same approach. I’m bringing the left arm above the beige toy while uncovering the brown toy for a fresh overhead assessment.\"}",
  "call_id": "call_bgnqHkgUaPyBxS74cv63HMyi",
  "id": "fc_027d158e5d6f0fee016ab2b8854d6087d0888ff444a41ca6c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bgnqHkgUaPyBxS74cv63HMyi",
  "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]: [-0.6937, 1.5349, 0.8856, -0.1474, -0.551, -0.4709, 0.9992, 0.7219, 0.7982, 0.6487, -0.6651, 0.6136, 0.4274, 0.9973]\nstate[eef_state]: left_x=0.3661 left_y=-0.1795 left_z=0.1179 left_yaw=-0.002 left_pitch=-0.0758 left_roll=0.0355 left_gripper=0.9992 right_x=0.2406 right_y=0.0811 right_z=0.168 right_yaw=-0.019 right_pitch=-0.0572 right_roll=-0.087 right_gripper=0.9973\nstate[joint_eff]: [-0.5128, -6.6393, 9.3744, 1.7998, -0.3932, 0.0513, -0.0122, -0.1026, -0.9368, 9.0325, 1.7509, 0.3346, -0.022, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1a70166982daab482d9e17e9cc3616ce9ddca4cbfd284d1e37c39ae2de24be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d156e647b1db8108942ecc218e2c57f83f359a3a34442c6e40f6d8cba450798d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed44157d5fcf4dc68405ff179478062bcd083eacf2bd812bbd83437a80000acb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 6.14 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]: [-0.0257, 0.849, 0.6411, -0.5884, -0.0223, -0.0574, 0.9992, 1.1114, 2.0293, 1.1004, -0.1387, 0.8379, 0.8124, 0.0085]\nstate[eef_state]: left_x=0.2704 left_y=0.0006 left_z=0.1421 left_yaw=0.0072 left_pitch=-0.2162 left_roll=-0.0084 left_gripper=0.9992 right_x=0.3017 right_y=0.3219 right_z=0.0236 right_yaw=0.0078 right_pitch=-0.0465 right_roll=-0.0878 right_gripper=0.0085\nstate[joint_eff]: [-0.3487, -1.4564, 6.8308, 1.58, -0.0757, -0.0317, -0.0122, -0.1983, -10.0718, 4.9436, 1.0623, 0.4127, 0.0366, 0.5934]\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": "gAAAAABqsriQtgJkNibXHNFQ2hMMZ7MZe91SQ97A-dJJEeqOfBqOMf95fpeCg7Tuc4eH4r01aJzm2b1gs4eEcphbvHStb-ln2XCug8v3Mb-VE061CIRWG3Siq5PJuIf9AjFaF03AsGs4UzlgOBWlfKWqS-rVDYT1TvsfPzlPdVmdU-r0y-nwnkB-jWps-0Ns2EltNOs7ePbGKsT0GO2gVvsNCulS0CuG2NDB_DGg6YR0uozU-vN_x2efDsJa9_kfaHRa_aoMSIKqeFossrsVn-t8BnKuBCKYjc0Ya2vSv3L31q7VltzujemNwcGj_FlcZTgN_3pzWRU5drTPEGw4Py0XrJa6_p0NUeqE-cWAdmkejLEzX8-Rpfoljoe4uSa62WBN5E8TdngQGWRSAocHThSpD5JMXZfiSCSS8k36LznYr6LhpCNzMU8J34iaWK-AKUased8cQsZRyW0N_cjhndEfZQhyXOExQ2EFRsdX-aqG8wMuQ-2wgCwDp7aAAJilcfwdC5Vb2m8Tdf60lLotF4eD5wwUelQBis2y8NxVEif6I8F_LliD_os5Ju_n8bmsCENqCEuHAI2-mD-9BSZA7MrtE6KwXH5xG0p_wOFyltGB2MVNjPMPSyNpgAlU8J6U3dUNt75QaZiW6I1HeypjFNtPFkIh7TbolE7MLKQVQcJFnG2uuL5skKUr38TA2bvGCaQTNJoEvUT8DKMe_xZ7-L2_7vYGyI5mXMjRm4mmFHtKSgQwLEhe_Avl7X_AHSxGm9jMlT2Wu_fpbi4Poqc7taCFygUgBr0n6JBJ9rfThivx0i4JeAFw-BLfgGZIvKZQviOg9cnM3XAnJtfTpBN719EJCvykiD9HDbkWhA5ztkhZglArZcyXIs3vBjHgvfpw-FPICRqD13lTItb7Hs13z9l9w0nzzr2TH7RapcsrjlTo-K78xAKOW7FsqReafKpNFOQPYZT9Ujtdejir47EvMKU8g0Cz5sdfDcSzcZmgsbo5J2hC1m0Y5crjEHieg85LY7QBlVhUyrlXw5nfFMDqiwmT-wOFpqMslCx1pt3bLS8a74YOeRS5fixT3StKxXYeuFZ2IWz5MRJijm09PrPqjNCx5Ev-bhARX6K8Ib4xeupxiq5hbocW7UJwLT1SB2rGa7LOBA2rMVnLoQIt7VHPJYPdshwMOVTGNYuj7AbCrRv44YjCbkf5zj8ey8x7zE4_TYRPbrurkyHpy1RLe3ZvxxTX8tIBuzArhRit3nMiH2VnJkBh3wZqu0wRRMBwHT835_wDV4gqcT5M-zjJllNz8uvV1L2rYfuDsoweG-c9jBMzk2So0J3W4UiwIQklpOcPo_mrClCZ_7MCn0gnL0fngoUPyFnFbz2uUGTMd8z28ryrDPXDdM2p91Iho1P_PuGY-dMz4dAXly6I",
  "id": "rs_027d158e5d6f0fee016ab2b88c442887d0b76cdc3e631b63e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.145,\"left_z\":0.015},\"note\":\"The beige toy is to the left of the jaw centerline beside the safe. I’m shifting left and descending around its body without moving farther forward.\"}",
  "call_id": "call_dEUZghKRxlWhh3hE4Y2G66jP",
  "id": "fc_027d158e5d6f0fee016ab2b88ef05487d08bab043c5d125c77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dEUZghKRxlWhh3hE4Y2G66jP",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5762, 1.7538, 0.6586, 0.3252, -0.4847, -0.4053, 0.9991, 0.7208, 0.804, 0.6487, -0.7013, 0.5938, 0.4114, 0.9988]\nstate[eef_state]: left_x=0.379 left_y=-0.1438 left_z=0.0238 left_yaw=0.0282 left_pitch=-0.0843 left_roll=0.0339 left_gripper=0.9991 right_x=0.2357 right_y=0.0802 right_z=0.1601 right_yaw=0.0006 right_pitch=-0.0991 right_roll=-0.1168 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -5.7094, 3.3436, 1.0427, 0.0269, 0.2711, -0.0171, -0.1436, -1.4291, 6.6803, 1.746, 0.4176, 0.1099, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f22d8f5b503e60513d16ea5297b5502b4b2a04e32878afee5bec839edda44e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:523d162228fb699baa59ebff1c3435c99270e4b9eae8160d77a1c24d120ca459",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63fb2f2706aab4747723854309360f1ecedcd3f13248c49c02f83f24cedd675",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 8.707 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6937, 1.5349, 0.8856, -0.1474, -0.551, -0.4709, 0.9992, 0.7219, 0.7982, 0.6487, -0.6651, 0.6136, 0.4274, 0.9973]\nstate[eef_state]: left_x=0.3661 left_y=-0.1795 left_z=0.1179 left_yaw=-0.002 left_pitch=-0.0758 left_roll=0.0355 left_gripper=0.9992 right_x=0.2406 right_y=0.0811 right_z=0.168 right_yaw=-0.019 right_pitch=-0.0572 right_roll=-0.087 right_gripper=0.9973\nstate[joint_eff]: [-0.5128, -6.6393, 9.3744, 1.7998, -0.3932, 0.0513, -0.0122, -0.1026, -0.9368, 9.0325, 1.7509, 0.3346, -0.022, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriXMrj0KYiLPv8PZRywxZR0hJK_VAKoQCGqDoLtmFMmjpoJ7xzux4RXddzV2ZVo2gydiMeF_y8ymxOmpbyYUthWalUNqEunKzZ9ytT2-a-pI1vs6hL5XP9F3UvDCAYeNfjnjghvgO_o2A9I2Z31qBnsvabVQE8erC04ho_09Mj-so9CNRUGHWRWrBIArwvm2P_gMM8KdzE7vL6F7wCY61KgLEOy83X3jYIGDAY9mADkFVHaEkR0PTupPX7rDZNpmmas5NcYYDnrREVfae2Hcl3pNmvippjf5NT-6_0nGvcKyE5NFR4ZIh7PX9XpsfcDhJNkgHxPZ0sce3ugGy5tND7KeZ2HTh24M7bmaNtwmEscxjNSxESFevx5AfsLh-0fNN22jbY5wmgT7vsbkYSyEVy3TfBou7XH2h-EkSl9BGg-GC-TQ1-_UPJdyZLQpIwZ3VgS_GCs6IfNIRAquvkw4mw7AyQskdIg-o2p5FgqjK00dNfPtoZoMlVem5xuqJ02l4VP9jZQ31PRGYgW9OHNnfMMkEbpRX4CE9hOrLPJfeCMUJS3j4M7tEtWej-Gy95qhx8IoYU20m4_nOpPTU67m23o6wbrLRjFun2pR-pca7qUoy58vfCPjfyUOJCds2jVBRgmu8x34g0NNdU9Yu6_s_PkOHHN8UrXx1obtaE3IfIb12CNX5uh56VldF3ACvaIoFaiZvXSjzrl1DWYofuYQnz4M6TbC4wJ2zHNisOj6_eFXoWP1al0h0-89kBMAJCWOyeAB3KxeBZYDBOiVEi0KQUccrrrOg4hylcJT2qtkCOlmRi9TxQKZISk-V3PO74zxRhLcMYyIMuwIBcRAt-2FlbGUvCZrd0F21LCTbn5c8rqQ1hngyFicr37tC8b-FIcl3z30zWsA2frqTPtTiwQHMRHX6ulcbUshcCXgZxuyugOstg0wnoNMLmdQxrpuIIXz_eQl99lA8bmeHLsqu93wjvJFCBC3MAVQpDH3TAseUw4R_nG91uANys-5AvLV2RmrUtQajJsJN0ay4uBjf9IFaLmqoTue2SOzFD1PW9NfLO2h5Kcy3sOJvzRvAP9-QBQdB5tU1foCX-DP6T1XOPxqCFG81yN6jW7FP7cgh7094BGjJvWkMBdGBE3__HoIDNQ6bIJcFJmexUp8ywueAPNTBzTgGuge_lZ1Rq1yF5AxKAyiVIbIb17nrqPn7fiVuwgNPMUG6m0N5J4d1ProbFvmqzPwGqvYDS8mLdf7LI0G8kBWoGLzoz0f7S__GJ0ekN0kePkn9OWzEgg_iM0kUIUNbDdwA==",
  "id": "rs_027d158e5d6f0fee016ab2b893f03c87d09b44fa1ee06457f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.1,\"left_z\":0.005},\"note\":\"The beige toy remains left of the open jaws, so the previous lateral correction was not enough. I’m moving another few centimeters left to center on its narrow body.\"}",
  "call_id": "call_pDsftx1mAlky9CCQkopbpzwn",
  "id": "fc_027d158e5d6f0fee016ab2b8954c0c87d0bc0d40eb5253ec35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pDsftx1mAlky9CCQkopbpzwn",
  "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]: [-0.4534, 1.7672, 0.5701, 0.5083, -0.4164, -0.3443, 0.9991, 0.7208, 0.8043, 0.6487, -0.7204, 0.5861, 0.4103, 0.9989]\nstate[eef_state]: left_x=0.3886 left_y=-0.1059 left_z=0.0177 left_yaw=0.0614 left_pitch=-0.0404 left_roll=0.001 left_gripper=0.9991 right_x=0.2329 right_y=0.0793 right_z=0.1567 right_yaw=0.0053 right_pitch=-0.1177 right_roll=-0.1261 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -7.0496, 3.2068, 1.0379, -0.0366, 0.3101, -0.0122, 0.0615, -0.9504, 6.8034, 1.58, 0.3101, -0.0317, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d31f7e76bdcd0101d8854c359fbbc17c91962ee2469f0e7afba89c48242a01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2517f56f51fde53db719b7a469b45ead7c3af85afd47df4da78941e91c61947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73c6121a831768ec1b084a4dccedc3f04b254baf85984b2381f4650817a8e1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.925 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5762, 1.7538, 0.6586, 0.3252, -0.4847, -0.4053, 0.9991, 0.7208, 0.804, 0.6487, -0.7013, 0.5938, 0.4114, 0.9988]\nstate[eef_state]: left_x=0.379 left_y=-0.1438 left_z=0.0238 left_yaw=0.0282 left_pitch=-0.0843 left_roll=0.0339 left_gripper=0.9991 right_x=0.2357 right_y=0.0802 right_z=0.1601 right_yaw=0.0006 right_pitch=-0.0991 right_roll=-0.1168 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -5.7094, 3.3436, 1.0427, 0.0269, 0.2711, -0.0171, -0.1436, -1.4291, 6.6803, 1.746, 0.4176, 0.1099, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrigcrhU6xZFhWLsqVw5OJXJOqfFryIOSfhCPtRF5KJ5JKWUpltIzb1Oup5WDt-GUz9FER2R2nUFvDdXdPdtrjXjKdn2r9wLr0BV_hlDGIQ4skL82w8xKiBhMG9at6k-AORHPbqI3pb-gEe6Hg2yStv1imBHR3TCzn70ZQGVKMDjUR5Re6JXUtvljg0FC7QGZry8EhfKWQ3RkKRxym7H6FNCMWBYgXKJf9poGszT-gl4sGs9d9VrU_NTYZRSTyoiA_tebxCYCZnvsUzEbrZWtbrC54jCCAkLsE2korjW86sJeFfehfU43eGP1skKVLpoZ7Md-fiiH3D2nJr1vUFcEuz3D5-DrqmZTppCiFkoLvdtRKnck3PykxfcuR8XJcA-D3bVdC5u5afo3iwE_GIGnQSWTGXSMoP4sf3qHOW0laG5Mw_dBuvlPhNc72orzyF05pk13GXTphJUKj-vzyGi2Zp1EJ6z_aw-92zGOhJH0j9ulM_O_R7d-cTJOD7RKf75iFg60K3-cUdT2BQAZGGJ8RkH0-bn7wYMMJsu6QSHUF2vH_wILO3xh-i9RcTpX751PZnXdxuODOOmYs7ufrndytHIw1cEMwVsmX1ncTNORl5DbD-GXsv4yIYkE35b5-v4LQvsQiDxOHOutWhvzsRfGirYCuu2mvw3BLDPHE0Tt7LhQpaYGpW8-KH9bwY46AUQ-N_BgIpmd6EhJJIQVReItwnfLyfudu7QcY_b-RM-KXrY5PqjZWVQ53GcCiAlvoQv2yX5lKJMViYtT4TVbi-SiX12N6eTErVjq6BcoHmA3ew1_bW5a7UIv4waZH-XWGEiOhrgSfIqiHliNHpo0mCCPtKUSbHK6YXbP1mZZMaY9WeV9lgDn28eL_IRt7wLVvevhY2LbMPpMAGOlr1qnGTF_e7SKekuw3jOJGswA62ZphsADJNja8phDxWeeapNCI3jkfCWI_pOH_F0IZETkbq45UIuZBTG_h_RDvWyguxG_pQFr4FLKNG8JC9iVCkzxBJI_rKW0RlMQm8sB-wx2C-kXhPEnAZRGl83PER5iJ0yexixlxGPjOLNJGWT4QBDYQ-5NJaFYG8fklZr2Dj6en2wjsmHL_HQXFjecYbB_O_RVd724OR_BCa64V6kX98GNpK97-MZ_EPu8WjjZQWZbWtmx8rexaheVAEa_ECjE1hJTJ4BKIJhYFH-nIsoEBUrBQY2iyfJTHefWNS1zTwBF2k1QJmVpGX7TTRWBIRG2N_MsbHyEg5yxjVsm8fqOLshpdvs4BoOpfxv1BuTGPJzPiTS9m-QlsslRrWGx17ASiEk-5-V-hi5LDm75J68rv_GdmWi2IBk9_2w6ygi6lp-Dmeu5nHEtNwrTwMO0VQVplFTlfJEVaApvbI901Bn0eHTg9RyhPY8e7ND38NdIPcuMCsgt8AugZYwfyjM4yCH7xkYXGTjeKg=",
  "id": "rs_027d158e5d6f0fee016ab2b89acbf087d085354b16360397eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.055,\"left_x\":0.37,\"left_z\":0.005},\"note\":\"The safe wall is on the right of the gripper, and the beige toy’s torso is still on the left. I’m moving away from the wall and slightly back to straddle the torso.\"}",
  "call_id": "call_eE8dzCHeixSYF5u1peeL6p6p",
  "id": "fc_027d158e5d6f0fee016ab2b89e176087d0ac3632352e553462",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eE8dzCHeixSYF5u1peeL6p6p",
  "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]: [-0.4362, 1.7672, 0.5549, 0.5388, -0.3958, -0.3256, 0.9991, 0.7208, 0.8089, 0.6483, -0.7319, 0.585, 0.4076, 0.9989]\nstate[eef_state]: left_x=0.3892 left_y=-0.1023 left_z=0.0173 left_yaw=0.0516 left_pitch=-0.0333 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2315 right_y=0.0783 right_z=0.154 right_yaw=0.0062 right_pitch=-0.1308 right_roll=-0.1384 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.9949, 3.4667, 1.2723, -0.0611, 0.2173, -0.0122, -0.0342, -1.3333, 6.8308, 1.4432, 0.2271, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65fbfa910cf4f9ed2a6214c8626910fd563d69f9e6aa6209537b5f88830ef8e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:542335f40375922a54702e73c250776298326308230d13ad422ff0e047566a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caefdf43bc628a40df6af94913e462ee4e87bafc282f64c550e00cb1c3d51812",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 5.024 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4534, 1.7672, 0.5701, 0.5083, -0.4164, -0.3443, 0.9991, 0.7208, 0.8043, 0.6487, -0.7204, 0.5861, 0.4103, 0.9989]\nstate[eef_state]: left_x=0.3886 left_y=-0.1059 left_z=0.0177 left_yaw=0.0614 left_pitch=-0.0404 left_roll=0.001 left_gripper=0.9991 right_x=0.2329 right_y=0.0793 right_z=0.1567 right_yaw=0.0053 right_pitch=-0.1177 right_roll=-0.1261 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -7.0496, 3.2068, 1.0379, -0.0366, 0.3101, -0.0122, 0.0615, -0.9504, 6.8034, 1.58, 0.3101, -0.0317, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrill39fPK2VrbY_xG9hzofUyRjrSr9I1wG2iFZE_-tIgyRlvsJQOQuSWkstrhUGQAOGkHB0U3GycnYxgwaNCFxnlf-6ClZSxFHRFCQv3hOaBEgY0ohGcFjiw_QdAjcK-lPXO7DIFhjbDVK9weccPGalswcutDzhwRROm8jyldjGXIG55orGEOFALSYEVd9j2El9h9h9RGeOfZwxRCNIU3DmAwNHYFIOVgGvx9OXC1HxdtLZkYMmJk-oELJc8EnGRe57zhcTWUNwtx_-4MzoaW2oM0nEMe-AfdBVH_OUXgf7Qu7Q-ZK-nmSA3v-A0LQDPB02Mb2bevCx1y4YN-6UsdCZW2r6uODn9OgIX9pNizAHyTT0_PeakkJEKiYSkWHJY47GVH8DBpxBoe4cnKT90wHJszDFQv3zTqccaEocBcsf3c6pBf8A_JISCcC642yaI4ijjk37dN5syYdogO_fNRbjo4OT-L8_SqpYvtTE6UOpCILj3J96MQalD3bVrAtNQaSKudNsxMha3UNiDkgR5kkdfawT9LybztuiDf4rL8d3iN5zdcsoT7mucmZD_laajdVHNJc-ogDeTKlavkqphax7E7dfJDNGhzLTVFsD6lxl7OEm-wRjzD7O_i67UgY98hEX6u4fXJ9HxO8-lK5TMOGIdzD1ygW3BozphfeFrn6ssLv3uidyFlUhwfWG7xrt7q_WNKB22wm6x7y8JvydUQhH_1ShhrKMVF3DWoViozB8BlLS2igiu8k7-kQWDTUDlOjgDDLMGkEXiQGQ5UPyGXe03R-0kOLc91WYRqv2bSPLO6Hje5ErYSwioeBPYkSHxgjC81VedReVO2NkWo3CIYxCfYAIVhu23JKyP3nGmDiwsR6j1HoCDkqirmRkKt-Gx2qR2_hUzISe9mlrBt7MOdOAbpjZopK5QCLHHINwqS0M2ICIISZT0jaU89S4N2CsYXN8s93EVPEaCDQ4eRUSv-G4RbyR6KyOP-SPPBJu4ffofxwLbV4dfOcbirTk0kwTOtEcuhuoKcJ-XlL6UX_Nn29PU1MCSnOagF2ncC0b38nHaNNsQXIvaMlzD9iXQOthiYQ74AfuXBzZUKmP0D_DgUV-C2maWAyKfAcbMe4Fash8KyqoAl-gt5x9Qn0aH4PNwZ5-5LFVOpzQUr0id_4Qa4VWDjDnSggfhQAZeYeQMXPgc_E7w3HK5Pzbl_dg1bi6wOpoRD_jf_LK8gmo1DQQKWhxbA==",
  "id": "rs_027d158e5d6f0fee016ab2b8a345bc87d0a365a0d5e7bb077b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"left_y\":-0.055,\"left_x\":0.37},\"note\":\"The left arm did not track the last sideways move at table height. I’m lifting clear before repositioning, rather than dragging the fingertips against the surface.\"}",
  "call_id": "call_pYmuMoeRIJhDggIEF13Y7KOt",
  "id": "fc_027d158e5d6f0fee016ab2b8a3a68487d09ac5992cdadf5271",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pYmuMoeRIJhDggIEF13Y7KOt",
  "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]: [-0.4362, 1.7672, 0.5549, 0.5385, -0.3958, -0.3252, 0.9991, 0.7208, 0.8093, 0.6483, -0.7433, 0.5819, 0.4072, 0.9989]\nstate[eef_state]: left_x=0.3891 left_y=-0.1023 left_z=0.0173 left_yaw=0.0514 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9991 right_x=0.2299 right_y=0.0775 right_z=0.1521 right_yaw=0.0075 right_pitch=-0.1414 right_roll=-0.1446 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -6.7897, 3.4667, 1.2967, -0.0366, 0.2369, -0.0073, -0.0752, -0.9641, 6.5983, 1.3993, 0.2125, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e546e82ee66764056ca472997388c3dd7161f6be9cf68382fac246ee11d1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c00287fe70d56ca9edc3cfa75e88035f8e32199cef3755d566fceca8abe5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5312fb10361049ca9891ad90f68ec8f75f32ddf4d49adb76631c184029802c6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 7.175 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4362, 1.7672, 0.5549, 0.5388, -0.3958, -0.3256, 0.9991, 0.7208, 0.8089, 0.6483, -0.7319, 0.585, 0.4076, 0.9989]\nstate[eef_state]: left_x=0.3892 left_y=-0.1023 left_z=0.0173 left_yaw=0.0516 left_pitch=-0.0333 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2315 right_y=0.0783 right_z=0.154 right_yaw=0.0062 right_pitch=-0.1308 right_roll=-0.1384 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.9949, 3.4667, 1.2723, -0.0611, 0.2173, -0.0122, -0.0342, -1.3333, 6.8308, 1.4432, 0.2271, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrirpZSwLIKGs7KUkeFc024IzsX4eP7s00Z2Ge3JBX915Nqji2uJr2XyeQmSrWjjZYI3QPWLGZCE0fncQPOfDJVD1th952vACkrIpOZQ94WFnkxSMgQyAl47PLvFug0cGjQ1lNh1kH1c_kYVSa-7phy0SieNGgLklEkpz0P6CduGEB_cKgcMbgcgEnjapnqmBPcqAlSiKTnxejDqFqTEiYuJIqx6ZJRB_aDYYC0YYiqcjmgQDRNnixeqzun8mEfQfcdR6BJxDx7gV0fq5OyQOGKIiJgByB06UYYipvKVCkRp08KUKfpt5qaFU1OFc1VAEgxhaOQ5MmlAAYzEpMF2TkKE0LT8nBZ2YJHi8ugrt5aZsjRp1xORxpG16tF4KDAuR3wAyRi0yu6HbpOBb-W4xa9Gbd-JBT3uCBZrfivGxly09pXKcqurh8Auw54UvHQ9hMJA2AHvZeVCxtExx-Xcw9LGakmrEq9IoevaZ-e5mi9fP3pz7hOaLnqIS1X1iuMQa4jJvqpgx7EshO6g9FREzjIXdjBjfUDeXW_GhmYK1vGWl7juUjIEW0X0GtwALgbATvcOop3Fu47zNPnfy6zqr93BU3HfuaMOVcOvn8DxRSRMJSuUUzGX1XXlFH3kLb9ZROjDM2rlzE_3rXshRkRbW8YPf4SlhAWM48wXY04AmakcbM5-BGf0TCdAjUCHQcQ_GMc2Lo5_hwkuQdwQ-cnGuW1l5lZP1cRxEP3GQ-boSAEMN6txSpMo9VlQ8dbUnri_Q3lHDdH4FHdkyPFHxGZO0giNARe3Y3Z5r5DnzAueY1Kr1T8rzrR45V-lR0Dh_WmnxsVpcgtnES78n-gCXF-uBdcOmNapl91Gcm-6Zfy4-NVwTLkOvfnD-DwpreZGgr4buvAapNBMcxycPqZmmb_c8JKBruMePLzH_1kjn3nFZLSaXuVXgJX5Tzc0mX7QrK4IQkK0b5e_j-sYiwcMK81lTKKNnTPAqirUTgQnaPUEueLvc-2Z0ylqD2kCc2Axuza3LleZRHIjj4U6o1mbF91uOuY1ibrQK6S2xTQSI5DDi4orNWH2-qeZ4lvJ2yPqQdF7uPYTWCuM-UTWfRFLSM0nyp4Gc0UHv9tV7MrYLzeBEQ92U1vbQvcpg8xjNxeUf-OSfRAndqny3Dks2uUBhVb6IOSPx6vB8_MHHn7oE5ZLgrzsNhYZHEF8AiRIiD8QK4pTci1-E4_tsX36aK64Fo0zzp9gqiJmJA9bDxUx9pbTakxUE4UkxYXLL1GKDAqLpV_6p7EH",
  "id": "rs_027d158e5d6f0fee016ab2b8a8ad4087d0bb25ba85a2cacc74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.103,\"left_z\":0.18,\"left_gripper\":0.7},\"note\":\"The left arm is still stationary despite the lift command. I’m trying a straight retreat upward and toward its base, with a slightly narrower jaw opening to clear the safe edge.\"}",
  "call_id": "call_GAqoQpDlIynOIfKXGEvJg1qa",
  "id": "fc_027d158e5d6f0fee016ab2b8a9429c87d087d76dfed3044436",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GAqoQpDlIynOIfKXGEvJg1qa",
  "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]: [-0.5255, 1.2118, 0.7788, -0.2737, -0.4519, -0.395, 0.7014, 0.7208, 0.8116, 0.6483, -0.7658, 0.5816, 0.4072, 0.9989]\nstate[eef_state]: left_x=0.3425 left_y=-0.1053 left_z=0.1623 left_yaw=0.0455 left_pitch=-0.0439 left_roll=-0.0115 left_gripper=0.7014 right_x=0.227 right_y=0.0751 right_z=0.1486 right_yaw=0.0053 right_pitch=-0.1603 right_roll=-0.1608 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -5.094, 9.5385, 1.746, -0.2955, 0.0611, -0.0024, -0.1709, -0.9504, 6.7761, 1.4823, 0.2271, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2325ec382a38cda9f6f8b434e8a887df581a68e6fa6c0af47c37f73aa5afc7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:391860a5d33c435520c2aabb3e9d1c4c97031160bd8107026e4dc60ec34af230",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beae7cb162585fab1f6762636dd0b94614814ced5ee67f6551272969c0876d89",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4362, 1.7672, 0.5549, 0.5385, -0.3958, -0.3252, 0.9991, 0.7208, 0.8093, 0.6483, -0.7433, 0.5819, 0.4072, 0.9989]\nstate[eef_state]: left_x=0.3891 left_y=-0.1023 left_z=0.0173 left_yaw=0.0514 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9991 right_x=0.2299 right_y=0.0775 right_z=0.1521 right_yaw=0.0075 right_pitch=-0.1414 right_roll=-0.1446 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -6.7897, 3.4667, 1.2967, -0.0366, 0.2369, -0.0073, -0.0752, -0.9641, 6.5983, 1.3993, 0.2125, -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": "gAAAAABqsrizwpYWNw91KNtHfCJcImgwz7Pzlsf8IbgMlMMgEAHAqYc3r5lLGUZ7qNclbvvK7tTTDUwUHZB7IHVvfCHhgU4xLvP-KpCZeRmVN3QfDL3i8q1TJaNL-BzAMEWmtq2L8P9iuU-yt8mXd3utFj0KD8cLRMTsyYsRqlYtOnTRB_8qlaSDIwdip3H4jACsr6JoT_3C439U3eNlJdoNaHYa3W1wWrweHqY4P1vxpMrvvSM0UkeBufUTxHGai1J3mhiOM1AHXxFnMPFKQA1Sxg3TdCpmRDf79JBnLe5ovAYcEd--D9Xnj-1HG_Amcxa2FpWAW_h6bd516VrnxmheFKsMeAJ05eNVHvnuJdBecdTizV1cvcPqBbQaK9Qzvq4rRU_9Mpte9WrB_tb3en7rJV95j-9NIo9nweRQWDVj8BwMvk2Bm0abOuflAOAjfxFjXmG98370IgokIJ6qQtYJfxF43Vs-JLxt0zyeZsX7EBUwZS-2Vgp5b6dECfJ7vU_2TUxQm6dZEjRpJlkymfS8R1kSjDBHchc_Zt8leOLi9vLfgFV5QJZMfi5U9px2N9ijt6SzHTitrQpne29SqsFKjKDoPIEXREXgMVv4IfQOmhO5PSMFpPpWmNQzDthYYLq8y5PcxHAtLhC0z91TBpN9sVIKsqRMqVk8sN6urkmsP_rWKYrUB-oZN8UYfxtwy8c0WhhGMEGlZETMixGcqRANmkIb3gDcYPimq2qqMy2d0aT1eIVe0EA6vrxiYeZvpw8hD_rtufMyN-j-LeSoBczjnm3iOe3U1h0zVlkZgphsSrnDRngJrZWBwU7erauc6dPThj6G97tYowJStdkaaRsvRBrutRCZavkUMGzp34QynZyIMbsHPV4rdS66vT3MOgZsfG_H48z0EmbV84FrRdp8PUradpJHBy5jKser1MfExuzyiXYlHzEdxapy1_4iNxlIncfDVSCo3OdISpgkWDjV0e8NlTDVgEL0or7AQoJxomcl7g12LsT28Lo61ZZpKvFGDMFVAXzsQY2YI_pbtFMLJRDhvUqAtm0OWEzDPUIl_W9lkG88KmvUkXh5WCocjo8hlYo_udl5vA0qzUIb-q3E6PbvAU1z5rcdjmgJalMak53H-f0fqGQ6Mn0n4zNonXb2gg7scTNiCui5vv4wauNbIJvBWNNchnQ1xkL21wuPGJbKy2-g9t8n8c09cKZllX3IuQfoKgo6kae503tV2kpd3IYQ1TqI_VoMeU-lBwh6dbkRnXlm0_jHZGaNSwx2mC_ftTpEcwBBCX-PTb7lebeonfUfe6Kz9HlJc7I6jCQ9DrwjDY4BDdYwbw5CcWCQp1Jqk_oRQLBWQCyJw59697xhihwBmSuxLk3eMmPFKd9SanloC0rCImOt5soh9AvOaUWXY4WUicUSGnK_BoCcYlNc3FA6s_p7rYsd_mI5O0Lo1YIeJNh_BrWOp_OT4iOZPQaFFsZxtK-p8t3U32pzOKRb7dizXs_sobHlcJEnwINo7N4aDoiwHdQPgjowUI-H4KMgsRN8p3YuqUfWZ0o6wZQtgIJjeiTTkATvZUwX0C5drvjRHbdOC2Q=",
  "id": "rs_027d158e5d6f0fee016ab2b8aebe5087d0a35b0ade8c2b9ec2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.07,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The left gripper is clear again, and the beige toy is visible just left of center. I’m approaching its upper body from above, away from the safe wall.\"}",
  "call_id": "call_GuV3qtrvAlOXbBRZ8CtuDLLu",
  "id": "fc_027d158e5d6f0fee016ab2b8b1b2f487d0b3c592b6d848720b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GuV3qtrvAlOXbBRZ8CtuDLLu",
  "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]: [-0.3061, 1.6684, 0.5945, 0.3698, -0.297, -0.2764, 0.9982, 0.7208, 0.8158, 0.6483, -0.7883, 0.5785, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.3957 left_y=-0.0671 left_z=0.0334 left_yaw=0.0757 left_pitch=-0.0875 left_roll=-0.0071 left_gripper=0.9982 right_x=0.224 right_y=0.073 right_z=0.1447 right_yaw=0.0046 right_pitch=-0.1821 right_roll=-0.177 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -5.9282, 5.2855, 1.1306, -0.1197, 0.2613, -0.0855, -0.0479, -1.1009, 6.5709, 1.5018, 0.2711, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7048bd0b8f80c099d3f59c9fb36f4509c681f45370ec0a6675d99f72457833a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f69c19946615eba86ddd99eac41217314b9b153a1e76971261a4e513ab878c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c930cfd45762de203b9253edefa6e64caac8b4ad0f7acbb2bb6c1efdf2361bda",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.772 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5255, 1.2118, 0.7788, -0.2737, -0.4519, -0.395, 0.7014, 0.7208, 0.8116, 0.6483, -0.7658, 0.5816, 0.4072, 0.9989]\nstate[eef_state]: left_x=0.3425 left_y=-0.1053 left_z=0.1623 left_yaw=0.0455 left_pitch=-0.0439 left_roll=-0.0115 left_gripper=0.7014 right_x=0.227 right_y=0.0751 right_z=0.1486 right_yaw=0.0053 right_pitch=-0.1603 right_roll=-0.1608 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -5.094, 9.5385, 1.746, -0.2955, 0.0611, -0.0024, -0.1709, -0.9504, 6.7761, 1.4823, 0.2271, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsri3Qroo7zPIwl9gk3iXuSlNuFtbC-ENfYJxhO81C963gjc4QAAZWBgKdeI7wYSAom19spCI8waIMpXBfGO99ZB6jFcJwf9FbGq5ojp3GJJN7OH1Qf-VAhM5yvLs0DaMvBeQCbmaPvgpjyxgNC2iSe3--pJWRGxMrdtxt3PHlRxjozRgSBbvRXcArrzfrA8qQ6C54o_-0nTp-en4Ju5YS_hxneEQ1rJbfEFS3nR8zz0eZBUUdYurBoOJsLAkE3fETfTpNt5u4N7xn23Y8WibVuIjLhR6g5-kKxLjN4RC8_-i8gBRvqvbuEJqxpImLmZ4fG1IIyHGVkZQyYg5uKQScmpaCXzNAnOkJBk0BqmOux7WvDKQ_m2aJnxMT9z7jxho--u2R53p-FWOLts9WtfNKtCUUegU1m_fvQp0MuqftcM-WMSeSgHVSOHVeD0ROv-RFubjerAk4IHjrtg6EAtIkDU-kOh5CLxynXvwLidUjpIC1ZhFjqFxLljxZkf5tCB2A7NNojAuAus0YFSO0BtlzAPXUk0kn07gPpfbRFbegYwhV9kAkcAATFPlnrSPzDwgoJnT3ARcMuF4YLzDmVQzSE4D3AUeFT8cYElp0-GgQiz4kkKwAwu6FEeYYk7qt7Ekxior8khQWtliX3-Eq6B3trThdwoXhYcRbWFuWjfe6LdI_o1ZEeEIwj6lXY7uJuj8w3jZfSzp4ZN1rDx1UHGuoDPRSMeEWqPHZn2tuDmqyHnY2w0v1lZUMK_hK_vq5G70YRUudC-SyPc7NCX2Ik-9QMCki479_hIg8hQkuqMSXHBnGdWSEkmD1GXI4nW8g5oru2E6icp3sfZnAEKfABtdWIkyHl_Co2FiFQAHD6NFpAditzik69_aLVt3X5AAEsF1lmzi77a7j1Tr4KTR80ij7wC4Wtrxrma_FIHYZAzUmoLSuajUOHpElAXMuoxtdybdNXKCJ-JFY5jioodBGnjpirxi9Ocwg1OqfkXRgIxcKk8KP1E6m_bw6jcnYPdhBo8jz1LxXIWsxjczDsOmnrAwm0w2skpkQmaRQemytXKm3TSIb-PBmb2jYQV-X4z6CVeHhHt7pm7bL2JVWAkhdNI_TKUKKHbqiJiW7MM6Ly5P_MQ_ythCLd2UuyoCav4995DGOgG9IBTiiKFk3ABaIkn74DYfmXEKaO0dvkBoDjgNGFl-d-ty7dnQoJ6tcLqGPLNkYQmdZ9KTUAh1JEUk3WX9qBxP_A==",
  "id": "rs_027d158e5d6f0fee016ab2b8b68b2487d0997009be073eeb87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The beige toy’s torso is now between the fingertips. I’m closing the jaws to grasp it.\"}",
  "call_id": "call_wEJNiZhnAvQFtrlqO8a6PLML",
  "id": "fc_027d158e5d6f0fee016ab2b8b706cc87d097d55e9d36d31059",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wEJNiZhnAvQFtrlqO8a6PLML",
  "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]: [-0.3122, 1.6772, 0.5938, 0.3847, -0.2848, -0.281, 0.0191, 0.7204, 0.8177, 0.6483, -0.7959, 0.5781, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.3964 left_y=-0.072 left_z=0.0322 left_yaw=0.062 left_pitch=-0.0854 left_roll=-0.02 left_gripper=0.0191 right_x=0.223 right_y=0.0721 right_z=0.1433 right_yaw=0.0033 right_pitch=-0.1895 right_roll=-0.1832 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -7.4872, 5.4632, 1.453, -0.2271, 0.0415, 0.8913, -0.0615, -0.6359, 6.5846, 1.3016, 0.2515, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9456a1e20a238efecbe7e762e8cf00956cc8a4a5e08085edd007e6688f44f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb272253c7b5c57b94e3d035e4cb9e3943c47a6cbafd6245de0fd6038bc18bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255ba1167baefa15b08176607ca20f976719f80f5de8945c683de68eaa711b21",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 5.005 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3061, 1.6684, 0.5945, 0.3698, -0.297, -0.2764, 0.9982, 0.7208, 0.8158, 0.6483, -0.7883, 0.5785, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.3957 left_y=-0.0671 left_z=0.0334 left_yaw=0.0757 left_pitch=-0.0875 left_roll=-0.0071 left_gripper=0.9982 right_x=0.224 right_y=0.073 right_z=0.1447 right_yaw=0.0046 right_pitch=-0.1821 right_roll=-0.177 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -5.9282, 5.2855, 1.1306, -0.1197, 0.2613, -0.0855, -0.0479, -1.1009, 6.5709, 1.5018, 0.2711, -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"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsri-byNSImVrxSvP1etZmrOgOFdZT7HEenHQiux3INkeTB0WFxoDrH1a9schjZYSSPhqyduCY1MaVvmBZe1mDGbXlbOuc01KiC7anbpXG8RsCSZODNKj4xh00zYXKLmipr3V92hBkJFryuefRrGxuo8ko-tU1HUvGg3Du9RgnepMYJ6oWigFw6UdAXwLOQqILD0MCjtvLjKRZ5-DAtBhl07dpVHXD-GyF5gXD5SJQhbAjZ4UX6x4Cz5GdzgfLeCJsX-6DL8LWyiw3n9m52Dz1_wcUO0Y_tnmXULPiqw5Kf2F1KU9XnNFoq2vzhzr8G8aCui2gGqJyAcZVRYDs_a3LqRoIgCEfjFemZKEZxFeCIPprrKk4Ke4R7UCnksQYQ96hA7sIQ9kAv-Bj68YH8CG832fMwmCgNcY9zYvV1_E9nJ_QDDBPrlC0Ocx1vL3IERJzRO9-sIHsTe4NFE49teZr1UXmHlexJQL5ZuC80apMWmjKXO_W2F5sUuAdbLMpuZeLmC_kFHW2iHUDz9vGG91P09NLzyS3lrDoH6VlX8E1EIohnMt0legp7Al38p2u9xArADo53eIYvuWk6IUZeNWIz-pEDInaMmK3-x6ErJNOudI2a4wJhOgyyvcSuB7r75p-k2txp4t4mfXUrKMxPe6wZiRLJt1wwiFiKxrTA1Xps-R5a5ldqVC12JRbOUki74ANW2NFYGW60OL8N_wWHRi5byPgUFfqP9BC0Y_KmGrax_CdvTHSmKigc7URixVknkOyvSBZvqTzID_AIRNi51fSXsUOoDL_OXICua7m5ffLbo3ZcrS5R7nm4elXw_l_cib4gX-b5VQIRI-t6HpSm7QvYPsjGw5OK0q5UpEgB7IAHUqQ-cuXyrbevDVXvVVivUxW_RoMrk9jg6GIijnME1mPOHzDOoKK85BpLLe9DXOxJS33rPXYG86wZt9jNDhRsJDXBSLrAcOPBvUc1aTRa1ewnP7Cp9L-qYcdKWonJanpR-wUWUV9EsWVIYxGJAnS39rhPDs1aLSg4VLb5yVT1SdHIiOvKVjA_JYs_I6Ywj7h6kJgt-cUkoyy-wvM885s7xkXAPYTxePrXxuKBG7VuqYAiw-HteB0ojDyDtmrMb-6pEeaLukSuqolAA-l9sqGnLxy4y3keRLXJTTOZRLgJ-JcXEqWol22Mb16ousgZblrcggih6hHGBB0DJQ0VgU5YUeoLkWW8x6M9erOouPu5PEw5d0hJ0MMuN9eh1NoJqn3bhJMzwj96NPjnHdltP-YYYGJWXGi2WOrB4ZHehyqcxyjybkh15IfCNJjq8lqa3bSl509VC4FQznQZVJrgN0ZD2q8TV80GcTsBWXUsowoTbIadq-XfbDrkE_AQlCnuve5grCm6o=",
  "id": "rs_027d158e5d6f0fee016ab2b8bb932487d08748ec9783c00569",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.025,\"left_x\":0.415,\"left_z\":0.025},\"note\":\"The jaws closed beside the beige toy rather than around it. I’m reopening and shifting left toward the torso, with a small forward correction.\"}",
  "call_id": "call_MhEPYUxnEdQnhpZPJIYQGBow",
  "id": "fc_027d158e5d6f0fee016ab2b8bcdbcc87d0a6ec7cb45271d091",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MhEPYUxnEdQnhpZPJIYQGBow",
  "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]: [-0.1406, 1.7252, 0.5941, 0.4126, -0.1669, -0.1867, 0.9953, 0.7208, 0.8173, 0.6483, -0.8139, 0.5777, 0.4072, 0.9989]\nstate[eef_state]: left_x=0.4038 left_y=-0.0239 left_z=0.0161 left_yaw=0.085 left_pitch=-0.1265 left_roll=-0.0145 left_gripper=0.9953 right_x=0.2205 right_y=0.0701 right_z=0.1412 right_yaw=0.0014 right_pitch=-0.2029 right_roll=-0.1944 right_gripper=0.9989\nstate[joint_eff]: [0.5265, -6.188, 6.3111, 2.0, 0.0513, 0.1929, -0.1441, -0.0615, -0.8957, 6.5983, 1.3895, 0.2173, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9244a3b34d29667b883d7646b0097a6349f0a06cfa0574cefabc4b359ca7833",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e904de2ca2d1590922b12e1c9fddfba8c64c38a8a0cd922df66f78a73218aa81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef2f5c45f9443f72ac47c196fd7806e247d986b16d0619d4e16f7d778e38a62",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.465 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]: [-0.3122, 1.6772, 0.5938, 0.3847, -0.2848, -0.281, 0.0191, 0.7204, 0.8177, 0.6483, -0.7959, 0.5781, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.3964 left_y=-0.072 left_z=0.0322 left_yaw=0.062 left_pitch=-0.0854 left_roll=-0.02 left_gripper=0.0191 right_x=0.223 right_y=0.0721 right_z=0.1433 right_yaw=0.0033 right_pitch=-0.1895 right_roll=-0.1832 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -7.4872, 5.4632, 1.453, -0.2271, 0.0415, 0.8913, -0.0615, -0.6359, 6.5846, 1.3016, 0.2515, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrjEo8TqFfEX3q6r04UZUFtvOSWfU8fW0aLPcG6HktywXQ8mBMJGrcerPGvfZZ14TETTGwcWaZify5neRqMJUmWojj6rX70lalwcjqCsMHLvzyxvYkMIZxnzrwvrDRHhyM-_tvTrkQx5xefnfO_ShAQXkS5RlbJFoi-4vlT3mQ88OH2Tq41sA6I8mwHRhdmQf8Dp9OrPnOF0SyAfcwazvbNlo9SG5oBY6dFWrIX2lOVHHU4VTArbvMkJZdbqUTO6Dm-NtcvmoIwz1DyVabEd7dYieT_YTGwq0a5P8-NXUFlQoDVo3K010lUBOefpBCbcM5INwjTY9pSrA0nfSveZvivtHmVhaLi86LIyQFLxRjgE7nfRBp4Y38aGNh1bEApHxNZFvu4Uj4Fehm8XZ7FG-V9qc4N47N6xTtmklqAJhQkp66RFgPZUdE8kI1ME8dniLgnhYmFjZokyC0mIWSroju5X8u6Zm3ASNxrlB81xZUWkQ6mVWAAGw_hm5bU19U8YvJUxkkYGEBkzSyfYDMTPyQZ6HHteiR2JT7I3NeqiwT3BlR3DXbU0xfR_HWFOYHNd94wAY7kEyJUBo17KilofEi0m0HGdFWBi7GyGJ584SFQ00N8LI1ZLG2vX3QEmDYmDJsqnKTNfvBUI9MgO4-_BSdauditdUbKvId4n-vwzUJKRQ446bG2NYY9PizuWh5GXPHrUzkEiVbhQevflFRktTYvwfIUUKJTunQH9wCblWVOVbt2Iv3fuZ0nj0fY4eGQbkBUEpweq71qzcxs0kMCLQKo0Ui7ZtFzux_1wyesX3MYipevqudBZl8L1m8L40buJHzvt9mA3wI0OAI8Z92pxZx_d3oayW3CnFn1ctlyKQ0ePmU7HyaumWsXx5NT2iWv7QTsReXhZxCM0Uwz0BEZ4AFRjWazSxxduYp23XWEH_Mq1U7eywJ9CN12QaRXMjrdVMiZRVZSgH4ogdfB-WRte81WA2ndI0jpx2OEwxoNAi57U5AI2QVyr9SdKR-y1q_eh4mDLh4W3xg2k06jtltMZSB5urABpIt1vPkgV7bnS12aOipBrJg4UrPhgJD0f_7BCQsKRPkosSxGffJFWyoBn2rYp6xfPZjcbuEEYppSmegj1V47xxnPlzoMrhzOJ8SIAH1bSIyl-AsH6_Kh8zvQVT1bDd2iROnPYNUQ_8gD5mcnUppSeE0GSU7WaeSrId2vo92RFst563-V_iUOoYNUOVxL7c2oQHJlUTS3fGpP3inuvq04=",
  "id": "rs_027d158e5d6f0fee016ab2b8c1db5087d081e87b31b97bb74b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The beige toy has rotated slightly as the open jaws moved around it. I’m closing on the body now that it lies across the jaw opening.\"}",
  "call_id": "call_3bpt4QUZffumw2CVvC3Api94",
  "id": "fc_027d158e5d6f0fee016ab2b8c2510887d08a11a90bdf207253",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3bpt4QUZffumw2CVvC3Api94",
  "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]: [-0.1471, 1.7309, 0.5934, 0.4053, -0.1532, -0.189, 0.0437, 0.7204, 0.8177, 0.6483, -0.836, 0.5777, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.4016 left_y=-0.0286 left_z=0.012 left_yaw=0.0687 left_pitch=-0.1419 left_roll=-0.0222 left_gripper=0.0437 right_x=0.2175 right_y=0.0673 right_z=0.1385 right_yaw=-0.0019 right_pitch=-0.2198 right_roll=-0.2099 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -7.5556, 4.9709, 1.7216, 0.0904, 0.0415, 1.116, -0.0342, -0.5265, 6.5026, 1.4432, 0.2076, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d354f65219cd17d5449143fb25d7c3c1c54dbc4ee7cad2c22bfe750aa3370971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01846a75e9408f8d28058b3a9443d3d9ba46025d285f40cf43d92ea8780ca060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24974e09bce00877fec14927c73f028256b8ae3e459eb679f120e0869e9a24e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 7.134 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]: [-0.1406, 1.7252, 0.5941, 0.4126, -0.1669, -0.1867, 0.9953, 0.7208, 0.8173, 0.6483, -0.8139, 0.5777, 0.4072, 0.9989]\nstate[eef_state]: left_x=0.4038 left_y=-0.0239 left_z=0.0161 left_yaw=0.085 left_pitch=-0.1265 left_roll=-0.0145 left_gripper=0.9953 right_x=0.2205 right_y=0.0701 right_z=0.1412 right_yaw=0.0014 right_pitch=-0.2029 right_roll=-0.1944 right_gripper=0.9989\nstate[joint_eff]: [0.5265, -6.188, 6.3111, 2.0, 0.0513, 0.1929, -0.1441, -0.0615, -0.8957, 6.5983, 1.3895, 0.2173, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrjK2gZf7dfpIm35JE8zkiBhLt-pYRJVRY9pkcYw9h5YZyeSWMk4a6aSQ1pTtB55gcekoKPkegoUaMjrsSF3fT0pHajX4GM5C1o7oQKBmTVHK8apNjz_94CGA_WboZ2p__gV5uoMZnPVixq9t0XpDVKy_VE7joqWnMZBhsY4Mw2BQ2TKVbHwuflSAmfjIlbJnS-Ynxe-G04_rpehVmMNbsSq5vZvcMLYXobTndJbVNXGKNFpXCrvFNl_WnpnkBnP5WWGXNncKY2rrHcjgvKys8SFqZMf9lmLA07DAzj_I6czh_o6gAGEH5_9v1qxDLDgexEOHm2D6HbIpPDlDm01VQbdWYG5SHVw0hZ9_Jq4DCat-WNuoEkhWZBoyaktpe0K5jK8nU8g-9u5_qEwiHpA3gHsCi2DMxm5PazFQnZSfRPHgKpLspyRt07ktgcG8OEAr30JTC_tSIEDDvnMrVeWkeY3jIZWxbIyzho-1ii6V_UndbD6UmZs0w3xYweVBDwNcPcB25x2-BcdjPXMZd8QVPivYmx_BbdN87IrosujRzdVwCdVwVdL_q8IGN63eC-9P1-vjMiBPT9XM7DilzaaOr-uYtDBpvswQtGK6Ij8SRciDP20kPwq9QRUBeKxWSKgNA0w15edFc0E_-Gdoh9l3_y4Ak8vkHqIqSstD5P1-HaU2MBA-A_iS5kogKDolYnhif09CSa6zCW7I3oImgf8Onr1aFnXXfckgSymrC4wkLPGKcmW1LnEbdn4pra2Kr5iYgsujcgWdTZXrw_942fAosYm8EWGyOYpUCcO9JuGxwdw4nHwkgWWh2boOiER-D_ZqiIp6x3sW5J1jvIzQmDJ_OBLSJv4rHcWlMkY6a-CwdzGJXYNqGUuz7hzQ4d9WezQpgwwcg_eRuMiVPecJEWVdzyRbnYvmNq51YbPA4_QMm5S_Q1X08FzdfyhjcBam8p_jXm-nz3TpeE4JlKJaJZ-7lTuMn0MXe5iykGwUI9fEnYLh2V98twfwge6nO8CE9prX1RoJ3p2fatvLkE2SPG6Y11hUM1UQkdjfY0lGA79PHX_PJ3tqsI3MRnuwy6pcWfL8kVuEVHDGtABdTCOzurXwVSMRrYvSVsYmI4-WYHAVeY8elvbB-HhpwQvh-ofjMfcTkpHyvveUJDp2VxmdmDq3P6JFBa5L28AnyQZXcH2QQ1xDQ61B5leOTg2fFu_4qNssrZM",
  "id": "rs_027d158e5d6f0fee016ab2b8c8f27487d092d50b5ce7f0990f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gripper has a very narrow hold, possibly on the toy’s fabric. I’m lifting vertically to verify whether the toy is secured before moving it over the safe.\"}",
  "call_id": "call_AMyJ4g8zDQTafnfsEA7L4CVE",
  "id": "fc_027d158e5d6f0fee016ab2b8c96b8487d0a332fcddfa222ea6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AMyJ4g8zDQTafnfsEA7L4CVE",
  "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]: [-0.1444, 1.4494, 0.873, -0.3599, -0.173, -0.1783, 0.047, 0.7204, 0.8177, 0.6483, -0.852, 0.5777, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.3719 left_y=-0.0197 left_z=0.0944 left_yaw=0.0935 left_pitch=-0.3376 left_roll=0.0472 left_gripper=0.047 right_x=0.2153 right_y=0.0654 right_z=0.1366 right_yaw=-0.0044 right_pitch=-0.2318 right_roll=-0.2208 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -10.1402, 11.7812, 2.5812, 0.0855, -0.1538, 1.0281, -0.0479, -0.8547, 6.4752, 1.3309, 0.2271, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0afe22da277805b9e0a83ca3e214886f08ab3494038ada279ff2f39075b9f25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38f9f7f00921f713ce25ca8ec37a35131d4248a262b0271c1fad6f8346825c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca0379a0fdc2f7de5718240101ba39c64aaaafcb816228094c7b0a16952a3c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 7.998 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]: [-0.1471, 1.7309, 0.5934, 0.4053, -0.1532, -0.189, 0.0437, 0.7204, 0.8177, 0.6483, -0.836, 0.5777, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.4016 left_y=-0.0286 left_z=0.012 left_yaw=0.0687 left_pitch=-0.1419 left_roll=-0.0222 left_gripper=0.0437 right_x=0.2175 right_y=0.0673 right_z=0.1385 right_yaw=-0.0019 right_pitch=-0.2198 right_roll=-0.2099 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -7.5556, 4.9709, 1.7216, 0.0904, 0.0415, 1.116, -0.0342, -0.5265, 6.5026, 1.4432, 0.2076, -0.0317, -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": "gAAAAABqsrjSxXtV73kByc6f78b8BEYRfCFo7w2xqEGElDTnNtX-rkfeMTJvPPC8p7KddrQUiXDFF4buRZG1izU5TQPLZ9JWEsGF-9wwECC58rldU1U3IxS36H-Rpw-zqPc3H61ddiR9pM-ZCBhBv065OCbt2NwB37YGMmvBDdab0bXgHhKWxpO5y7ZGfMr4i6_ViXiYcIY1XEASWqwDs-DI1U7U635c0EDZaJaLy-uFnndk0xFRBJc9a9yG0rRv-xcgdHaEGXQbRmAJOlFjB5szucsllq7GmsMM9tZcasEqKgI_RR5tFgb5uHXnyhEtXGLw2460MGBd7inOQjArcGw68i4UKlN6FSuEn-Q2PFsDoYHCHKBrcQ1L7QmBrJLOmIViKwQ7N3iZvltKeoNlsVLOdmUi-Prmdj0QTHsVlVfpuqrb6wgkJhbySoAw7bVAFyh5q26-NUcWLLWVa2qLnFH235-eRQpF2OE_igGxDbzpkdQH8mjQEk8f68yFLHwjCXVkbzAQlZYUdlj7cqxncTHHixbR4JSo-6f1-NqxvzWc1Nspe8M-2ME9yEjs2CDtdzsnDdX64R2NFZJ1s3y2Yk8NFcTuQgm6MYeb9C_zsJEqXt-87lUNrRMbfHxRLwWVzu42Bi_LQ8CfuDadKONG7JZKCepA0beNZJVCLOT6G0t-lwwEuXphAOA8rY4I3nXRAuOcllUnOSuFtUAO7YFJ45OqXRzaDVm_kd3SAzrBSKkmFzcwMtdaDLb17EbQbffO0-wsQxhc_ituYGa6Nna66s_sUoA5RYjybCSRQa4Jgo5CvtvyObt6a5EMtfheaUYe9LEXWaPfevQJDY3N4TNFLtOIPcf5UGQQVrxgPnxFLXp9fB7reuUmKexW4VEd53nC7qLq7sH7OsbX8sCNQz-29fdZf0FKFcQEn0fgaonBLpdS5YmqX6l5fDTVqMbcsTLiJa1-aB__8MTySBceSLvMAfwA--5YhFwT0PIJ07wUbIU4WI0o8d0lxj8sZDrmmM2jos-eZz0hNLIjRMaoqBB50HjRuMfUrxaoRr_Ae6ZKxR95o49sgiTZOBnxob3UzxC0E-owCoK8WEnCMgGYsXeffcyyLpQ6R24SUGTLuNxHszFKmfPH-RxQXbMX3nADHvtBcZn7oAz1YZreoBFMwxXwYEOFrsoSuzE8Neu1N9E2CjIiXQ72VEx7HLqqGMTBBCYRWh235UnRJ9ZgHLAGJ8hnaNW17byHnotCLYVRm8mTW4A1ALY21QkpoHy4tO_Th0ojm3D23KkP611J0nGiEz77pcdpLX4iFAGXbZ-vcrpsImEDSJ9sYuarHTq78PkbXrUwzkdPovBAT2QQpgaLpoPO_gol2a7k_cHmEHslQy2GJtUdvHuc1GhIOVGvp0ILTwMPXgkrENGHHM4g1SDLuJ_JR5Vb8cJRf4VYBi5aCMqgbCiu5CGCPEaBPapFnmD2pf8ROve3A1fA5nWngI1ZLZBYkVwLRPXmQAD4d5MeWcnlcqdqYt769CeTjRb4bbWhaGO9nQIdhomQaAOfIok10_QXkUH0ErTmu1KB12d5vKYfYgha7XY5ZhzPz_LqnKT3NNB8ZrJ7zOqZml_5T9KJNJkZwZRkCFv--NCaLxuwzXLLD5H211E_N5yghPAZKbXeScyHZ8DngqOOIQVacrdpqk-r5oL8nx0TVCn9O1h_twjuXEop64KFFn-ZbRG1vmfH_kuvOEvqHOiWJXNxpPkXCMOYLREeo755KfIw-Nh37Is2UPzg6ojhbYjjwgBbsUCiahLjy0-avmF0LvYjsXKex5_8g_ojRgLq_sf4W5eQC0yuZ-GCkpK8xMLrktcYxybCj4cFcbanTX_lmvTwvR5RWndUrvm9dPfm0j1TJA==",
  "id": "rs_027d158e5d6f0fee016ab2b8ce080087d0bacb94f30cbdb3e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The lift moved the safe rather than the beige toy, so the narrow hold was on the safe’s edge. I’m releasing it immediately; both plush toys are still outside.\"}",
  "call_id": "call_GPH0FgV9nYfFkwLacGWZi8BY",
  "id": "fc_027d158e5d6f0fee016ab2b8d1ac4887d0ab8a60ebc43a48dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GPH0FgV9nYfFkwLacGWZi8BY",
  "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]: [-0.149, 1.4494, 0.8406, -0.3748, -0.1757, -0.1879, 0.9953, 0.7208, 0.8173, 0.6483, -0.8597, 0.5777, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.3597 left_y=-0.0191 left_z=0.0802 left_yaw=0.1011 left_pitch=-0.3827 left_roll=0.0557 left_gripper=0.9953 right_x=0.2142 right_y=0.0645 right_z=0.1358 right_yaw=-0.0051 right_pitch=-0.2373 right_roll=-0.2257 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -5.9282, 8.9641, 1.4237, -0.0952, 0.0464, -0.0904, -0.0615, -0.841, 6.4752, 1.1941, 0.2418, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c2d5851d118e01bf5f2cd4721b3c42682f4e27a04332f6b6fd2217272cf6133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79b693e14a424b4ef36a27da073b5415649e43e2241f6036f7cbff6515654a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4514ab47bac132f493f55cf46f28aa54e791589680f59c0c0dcc6f2411cefc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 8.11 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.4494, 0.873, -0.3599, -0.173, -0.1783, 0.047, 0.7204, 0.8177, 0.6483, -0.852, 0.5777, 0.4068, 0.9989]\nstate[eef_state]: left_x=0.3719 left_y=-0.0197 left_z=0.0944 left_yaw=0.0935 left_pitch=-0.3376 left_roll=0.0472 left_gripper=0.047 right_x=0.2153 right_y=0.0654 right_z=0.1366 right_yaw=-0.0044 right_pitch=-0.2318 right_roll=-0.2208 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -10.1402, 11.7812, 2.5812, 0.0855, -0.1538, 1.0281, -0.0479, -0.8547, 6.4752, 1.3309, 0.2271, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrjb9pO9bNcm5GzVFioiRszm9ujGOeBTMoCvQhzMLmVdioBFF_3PXPYtyPprwYtxQIO8UqkKHxeGSQK1ruhobwJE7-c4TZ4xQ5G6T5oQ-VlGxqRi-HjBNn5SRsM9zdfQqe-EqjXmO4j0D8gwhDL6PEOsj_TlgJUrAZ9r73G2YI9h0Ljd6j1rUTRGCO2GBXpc7k-3Pc7mbJhlfaXYK7Jefid4jV1HExv7O_96ALaUTEbaS1x46wT-2v8UA4GY-qWwJ7bzqgxVRD4EJ4ZvtSS-C3BJakod-ngR18mYEp0gZsedk7fDYknK3XyXRdyScJoJ3-3b07UvAXQhh0rXfZAI7KUj13ApC7kBcNI169G51X5-WX9B15qkhn8YnBrNGxP_IDZ9C1juk3sfL9P9tfDnfUfty0Un1skxvnEM3O6WzOJ1hOtC1Xp3PE9VmOgxfKk3EZP9Na2naCQ-DByBwKBn0pd270WsG-JPz6qCqRYFwEzOv8soNUgH0G4IDTaFfmAfcXwgFL8sgiSkeAJTLphScih-4WsyefUqmm8ndDUT2HTRbNy1wqfHWuXVtV0F9fdQlC6jH5uYWHyJ2UW16ddgjW0cuVLrMhDt95wlqNGycyHtg8njBdMYI5Es3UPF7oD5St48Q7_9zNfyX7LhsReVsj7mLtLJSwLLQvxugLZOfaVpYaRgsfwHltOaDjJvPH7lTyle1CLJfCHz-jXEIGWHSmKQbOFQ-FbAbBboplB42FTUPjGPfGpaXPzKh9B0aeL9_psVgulk0LKvTfXDxmGmbgeBS-uWjpGJaGBNQU8ZcWEgivuiHXMiskK3m0Yvj52D0KLjnrdITtw0hwjVCflzGSWp6RXwQxoML8JajBtIfFxvey1xM90nQ6eMrEhxrL_6vEs4zr8wmUnZ0pKEks81ZiQ8nsIMzsCfDpuTaTwHZKY76WByS9Tol1WRr2MfA0gAMXJlxhrKtDGFK5IEEGu8CZTopU7oI4FE-H-EWKxzbQKytA6lSeqn9F7VPGyIKVZxpLrhLv-NlQUSn6-hFqA2Acp4yjedHDvmQqZO-4kIAdRXWqoCQD76FWec69cEhzrm8KO0vfEcFZvJTSjDjBE1sbA9dqz5YqFQG9ucBwrZixh94UbH7yXGsgwDuGbw0y9cUZBTNpwVeVjm5iYeT_9DBuemHEP6SnCNfXB0Q_aZ4WOil184674Ft2oFRY2uAYx8BS9MlSi_nokaaLCYLLX4bAM4GV1j4NjNPjxVm7KFoDY8uakh4kEBXmaoErz5uZVip-UwKv1O4ohx960d04VCKQXyWzgsGzLqWIooHQsx-LQ5N-WWrhJEGbahOP-mS-5eX-4PacRJDCrnXzYXY6eqL4xg6Q==",
  "id": "rs_027d158e5d6f0fee016ab2b8d7341887d094dda4aaad82d27a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The safe is back on the table with the yellow object inside, but both plush toys remain outside. I’m retracting both grippers to clear the safe and leave the scene safe for operator assistance.\"}",
  "call_id": "call_Yk9MXv9UJ3vKlrjK2gpofKGz",
  "id": "fc_027d158e5d6f0fee016ab2b8d8900c87d0a2014071ca511de7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yk9MXv9UJ3vKlrjK2gpofKGz",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1413, 0.8364, 0.7635, -0.5552, -0.1955, -0.1757, 0.9963, -0.0051, 0.8032, 0.6518, -0.5587, 0.0418, -0.009, 0.9989]\nstate[eef_state]: left_x=0.2913 left_y=-0.0032 left_z=0.2071 left_yaw=0.1002 left_pitch=-0.0344 left_roll=-0.0093 left_gripper=0.9963 right_x=0.275 right_y=-0.0052 right_z=0.1637 right_yaw=-0.0443 right_pitch=-0.1273 right_roll=-0.0248 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -1.4427, 8.2803, 1.8926, -0.1538, 0.1587, 0.0952, -0.1709, -1.3333, 10.6598, 2.1514, -0.0952, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e19e0ca8adff9c5f91eb1f233085c1f1bc96f2e2250ccb8758eb657e15da39e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d045462cb3a129a8377af808321cfec4435a1db949748fd39c868a63a0762103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6123a8e88ad772bee775f0b1249e7818b2b3c81714d4b63999c1bef4c3720589",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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