adhoc

completed
2026-09-22T16:13:27.942494+00:00 inspect-robots 0.58.0git unknown
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
94.3 s
total steps
73
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open, with a light-colored plush toy to its left, a brown teddy in front, and a yellow object to its right. I’m bringing the left gripper above the light-colored toy first.
move_to
left_x0.3600left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6041, -0.3855, -0.0189, -0.0341, 0.9977, -0.02, 0.7929, 0.6075, -0.3965, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.2929 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4718, -1.4291, 10.2496, 1.9219, -0.0415, 0.1392, -0.2515, -0.4444, -1.3197, 9.6752, 1.9219, -0.0366, 0.0122, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.12,"left_z":0.15,"left_gripper":1},"note":"The safe is open, with a light-colored plush toy to its left, a brown teddy in front, and a yellow object to its right. I’m bringing the left gripper above the light-colored toy first."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe light-colored toy is visible just left of the wrist-camera jaw column. I’m shifting left and lowering the open jaws around its body, away from the safe’s rim.
move_to
left_x0.3450left_y-0.0850left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5201, 1.2781, 0.6991, -0.1448, -0.4068, -0.318, 0.9977, -0.0212, 0.7975, 0.6132, -0.4324, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3453 left_y=-0.1131 left_z=0.1272 left_yaw=-0.0235 left_pitch=-0.0808 left_roll=0.032 left_gripper=0.9977 right_x=0.2889 right_y=0.001 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0347 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.1983, -5.2171, 9.1419, 1.7411, -0.315, 0.0415, -0.2515, 0.0615, -1.5658, 6.5299, 2.0586, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.085,"left_z":0.035},"note":"The light-colored toy is visible just left of the wrist-camera jaw column. I’m shifting left and lowering the open jaws around its body, away from the safe’s rim."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe toy remains to the left and ahead of the fingertips rather than between them. I’m making a small forward-left correction before closing.
move_to
left_x0.3800left_y-0.0500left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4198, 1.4757, 0.4301, 0.2474, -0.3439, -0.2626, 0.9972, -0.0212, 0.8005, 0.6094, -0.4549, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3314 left_y=-0.0788 left_z=0.0238 left_yaw=0.0002 left_pitch=-0.1684 left_roll=0.0686 left_gripper=0.9972 right_x=0.2853 right_y=0.0011 right_z=0.1655 right_yaw=-0.0013 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [0.2393, -5.4222, 5.1761, 1.873, -0.0073, 0.0757, -0.0659, -0.0342, -1.4838, 7.6786, 1.9072, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.05,"left_z":0.02},"note":"The toy remains to the left and ahead of the fingertips rather than between them. I’m making a small forward-left correction before closing."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe safe’s wall is on the right of the wrist view, and the white toy is still under the left jaw. I’m sliding a few centimeters farther left to center the grasp on the toy rather than the safe.
move_to
left_y-0.0050left_x0.3750left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2569, 1.6203, 0.5224, 0.3111, -0.2489, -0.1802, 0.9972, -0.0212, 0.8043, 0.6094, -0.4793, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3684 left_y=-0.0481 left_z=0.0142 left_yaw=0.0391 left_pitch=-0.1845 left_roll=0.0614 left_gripper=0.9972 right_x=0.2818 right_y=0.0012 right_z=0.1597 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.2256, -5.8598, 6.7487, 1.6142, -0.0513, 0.1978, -0.022, -0.0615, -1.4838, 6.9538, 1.8974, -0.0611, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.005,"left_x":0.375,"left_z":0.015},"note":"The safe’s wall is on the right of the wrist view, and the white toy is still under the left jaw. I’m sliding a few centimeters farther left to center the grasp on the toy rather than the safe."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe toy appears to have shifted outward during the low approach. I’m lifting and moving over it so the next descent brackets it from above; I’m also restoring the idle arm to its parked height.
move_to
left_y0.0300left_z0.0850right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1017, 1.6321, 0.5266, 0.3183, -0.1528, -0.0967, 0.9971, -0.0212, 0.8043, 0.6094, -0.5003, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.3737 left_y=-0.0075 left_z=0.0103 left_yaw=0.0673 left_pitch=-0.2035 left_roll=0.0553 left_gripper=0.9971 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0013 right_pitch=-0.1133 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [0.2803, -7.4598, 4.3829, 1.6972, -0.0073, 0.1245, -0.0171, -0.0205, -1.2239, 6.9538, 1.8242, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.03,"left_z":0.085,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The toy appears to have shifted outward during the low approach. I’m lifting and moving over it so the next descent brackets it from above; I’m also restoring the idle arm to its parked height."})
tool
executing move_to over 5 steps (0.5s)
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 last lift did not track: the fingertips stayed at table height. I’m retracting slightly while lifting to clear the safe and avoid forcing the arm sideways.
move_to
left_x0.3200left_y0.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0834, 1.6306, 0.522, 0.3141, -0.1337, -0.0631, 0.9971, -0.0242, 0.8814, 0.6872, -0.5755, -0.0204, -0.0265, 0.9996] state[eef_state]: left_x=0.3716 left_y=-0.0038 left_z=0.0082 left_yaw=0.051 left_pitch=-0.2139 left_roll=0.0671 left_gripper=0.9971 right_x=0.2814 right_y=0.0004 right_z=0.1558 right_yaw=0.0003 right_pitch=-0.1876 right_roll=-0.0009 right_gripper=0.9996 state[joint_eff]: [0.1846, -7.3231, 4.5607, 1.7216, 0.0464, 0.0562, -0.0073, -0.5128, -1.7162, 9.4017, 1.8877, -0.0757, -0.0269, -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":{"left_x":0.32,"left_y":0,"left_z":0.15},"note":"The last lift did not track: the fingertips stayed at table height. I’m retracting slightly while lifting to clear the safe and avoid forcing the arm sideways."})
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 arm has cleared the table, and the small white toy is now visible beneath the wrist, just left of center. I’m descending directly over it for a top-down grasp.
move_to
left_x0.3800left_y0.0180left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 1.063, 0.7609, -0.2127, -0.1349, -0.0677, 0.9971, -0.0238, 0.8864, 0.6861, -0.6125, -0.0204, -0.0265, 0.9996] state[eef_state]: left_x=0.3579 left_y=-0.0029 left_z=0.2066 left_yaw=0.0505 left_pitch=0.0635 left_roll=0.0266 left_gripper=0.9971 right_x=0.2749 right_y=0.0006 right_z=0.1476 right_yaw=0.0009 right_pitch=-0.2307 right_roll=0.0001 right_gripper=0.9996 state[joint_eff]: [-0.1709, -0.2256, 6.2701, 1.1306, -0.0806, 0.0073, -0.0073, -0.3897, -2.0991, 6.9812, 1.8779, -0.0611, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.38,"left_y":0.018,"left_z":0.035},"note":"The arm has cleared the table, and the small white toy is now visible beneath the wrist, just left of center. I’m descending directly over it for a top-down grasp."})
tool
executing move_to over 12 steps (1.2s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe white toy is at fingertip depth but remains slightly to the left. I’m making the final small leftward adjustment and closing on its soft body.
move_to
left_y0.0480left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0082, 1.6173, 0.3637, 0.6529, -0.0631, -0.0334, 0.9971, -0.0238, 0.8898, 0.6857, -0.6365, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.369 left_y=0.0178 left_z=0.0226 left_yaw=0.0642 left_pitch=-0.0261 left_roll=0.0262 left_gripper=0.9971 right_x=0.2706 right_y=0.0007 right_z=0.1426 right_yaw=0.0008 right_pitch=-0.2586 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [0.5128, -5.5726, 3.9726, 1.5751, 0.1148, 0.2173, -0.0122, -0.1162, -1.8803, 6.9812, 1.7021, -0.0562, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.048,"left_z":0.025,"left_gripper":0},"note":"The white toy is at fingertip depth but remains slightly to the left. I’m making the final small leftward adjustment and closing on its soft body."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe close was empty, and the toy is near the arm’s outer workspace edge. I’m trying one open-gripper adjustment forward at the allowed edge to catch the toy’s accessible side.
move_to
left_x0.3980left_y0.0500left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.1333, 1.6283, 0.3599, 0.6422, 0.0265, 0.0292, 0.0115, -0.0238, 0.8902, 0.6857, -0.6575, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3623 left_y=0.0475 left_z=0.0151 left_yaw=0.08 left_pitch=-0.0528 left_roll=0.0258 left_gripper=0.0115 right_x=0.2667 right_y=0.0008 right_z=0.1391 right_yaw=0.0009 right_pitch=-0.2799 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.5265, -6.8444, 5.8325, 1.6777, 0.0659, 0.0513, 0.9695, -0.1709, -1.4974, 7.0359, 1.6337, -0.0611, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.398,"left_y":0.05,"left_z":0.03,"left_gripper":1},"note":"The close was empty, and the toy is near the arm’s outer workspace edge. I’m trying one open-gripper adjustment forward at the allowed edge to catch the toy’s accessible side."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe white toy is now outside the left arm’s accessible outer edge. The grasp was empty, and the final approach at left_y = 0.05 still leaves the toy outside the jaws. The other arm cannot reach this side of the table. Please move the white toy inward before retrying; the safe remains open and the objects have not been placed inside.
give_up
hindsightFor this arrangement, the white toy lies very close to the left arm’s outer y limit. Low lateral corrections can push it beyond reach; lift fully before repositioning, and verify that a downward approach brackets it before closing. The attempted grasp at left_y about 0.05 was empty, with the toy still outside the left jaw.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.1287, 1.6703, 0.4915, 0.5194, 0.0177, 0.0143, 0.9954, -0.0238, 0.894, 0.6846, -0.6762, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3871 left_y=0.0506 left_z=0.0202 left_yaw=0.0908 left_pitch=-0.086 left_roll=0.0176 left_gripper=0.9954 right_x=0.263 right_y=0.0009 right_z=0.1347 right_yaw=0.0011 right_pitch=-0.3036 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [-0.5265, -5.5179, 7.0085, 1.8632, -0.0366, 0.0611, -0.1099, -0.3077, -1.9624, 6.9949, 1.6484, -0.0855, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The white toy is now outside the left arm’s accessible outer edge. The grasp was empty, and the final approach at left_y = 0.05 still leaves the toy outside the jaws. The other arm cannot reach this side of the table. Please move the white toy inward before retrying; the safe remains open and the objects have not been placed inside.","hindsight":"For this arrangement, the white toy lies very close to the left arm’s outer y limit. Low lateral corrections can push it beyond reach; lift fully before repositioning, and verify that a downward approach brackets it before closing. The attempted grasp at left_y about 0.05 was empty, with the toy still outside the left jaw."})
tool
give_up: The white toy is now outside the left arm’s accessible outer edge. The grasp was empty, and the final approach at left_y = 0.05 still leaves the toy outside the jaws. The other arm cannot reach this side of the table. Please move the white toy inward before retrying; the safe remains open and the objects have not been placed inside.
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 · 12.37 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6041, -0.3855, -0.0189, -0.0341, 0.9977, -0.02, 0.7929, 0.6075, -0.3965, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.2929 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.4291, 10.2496, 1.9219, -0.0415, 0.1392, -0.2515, -0.4444, -1.3197, 9.6752, 1.9219, -0.0366, 0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416661fcb9988798e20b2489ccb0209a3541a9cd0a19c9b630bccb9a82777655",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd62e59b8ceb483f525046146b4921af825ee523f4f4ebf763cf02dcacf65af3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f3fcc89310d16ecc1fc3aa25207335b28573fcad062b2247e2b1746cd2dff3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 416661fcb998
wire blob fd62e59b8ceb
wire blob b7f3fcc89310
call 1 attempt 0 · /responses · status 200 · 7.3 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsqk80kz2cfxiSTg1B7m2dTF0tS7cxbzGsYewoFt5xY7yb-dv7jus4mA7cRov_wAxQGHT-iIdCYWb2_U0m5KfbjkwY-K0-dzfXRzmkhSaifZN0Q0vJh0Kp1Nui-CN23B-GJ8wl1BgCVeCmSwXzFn_9gg64lvB_mIiPZh2gouYYOx20f83169Gu6Hd284pbjUzyPv4yhJ0COu1w_KL6Yn2ynGwqh0rJRFEVwXixTfhpIrjgM2mvSHJHLi0U8hXoIUV6aVZMWBXgziWGfp-Ed4XWRdgf_x-wobhhB5Y-xw9HwPRmd79y9SuiFQXl8vIyUFEwx1h0ugRWdXPYzAvzm24r-1IkUIvdyVsO0yfNACZwKTdU6qb3UGoC_m5pW-BBgSkt-7VRUoqox3sks1mZUvl0QFe3WRn1wyOKGBy8BXY-v1Oz_DZJsJkRL1atfP1TLz8S74ACnvF0SiCvRiNNHY1JAGBQcx0EjgUH8IAB3yaEbjLWfLbURqB5ehiXUzQMKlyvOmAb8bPP2JtdCcMS3ejpe6b1fOdf11vFaeJfOAgfIDSL9__HItqbGFSj6XWZIEQGO53LqlK0wHhehQzLsAI5d09FyEjFjNmcxOfRzkY4H6t9WIVPWr7mLCn1Y-gXW3wLBj1zuRd712lgTnf8R25DS9_F3CAS13IPU_7ljE5PJIe7YlUFeLx2o5BgwfzAlauIKedmXn_XVYc2EsM3MuK2wcyUGyc7Zo-Jue302tZpksb5BOrwGtYB6YM7cUckbTyizbajsst8L_giTc21iD0FIhnfy0zak5ujlpa915pMAfrK3EU5v94RzBlYGZonO0SyrIteIVKCMgKTgKF9yP9EonJiDr6ImcIN8kfKVJCTewhl7dmtkFnH_l8YNKL3ShwPpVBSRAqfjpkx_qB8hlMJnJgUb51QvAO4TePXTOfAAAGqUVa5gfq56HmSgCVxDZrBmIK2vbjxeLN2mh6ioiNyN3tn_Vzode_TGjFu1fImlpuQGEsgqX7gTgGYNg67jtkctRLzArY_xCuKpP10XJ1p5f1ghf1tXBc9ZCz4uQa1ugLsJTlNwkseQ2tszcSUHEb-jglfOKiZ3KB16IhqMRL6B31hinjmQtv81Sv8LhPLALiI29hSEb6x2AIq-OKcE8o0yM0JUIKLeSwpiwj9Gedc_bmaqO9miVnciHFnMJ4ZescY5JUz8sDXEZL9C7SUYjr2hsPUThkExuNV-dNmC3Np10vtufc2xFLca7cq08UnVPFDbZA0-gNnSdWT29bD9hyd-C61n-e6fvphjkSDHO9SstUPriqXbWdbuGUvPbbX77pN7I-UEFP64_LWSU4fOBvp5SzIxm6_TOSkuSXkQFAaU4kBtpStkZipZRPP7jVrQJEy3bN4FaxpFrUJphLyv74NQWN7CI9WbJxSG4qA-7XowCz8uMo2vgPkZih6KFhW8_6UxuaVilUKUL7qa1-hC2MUUJEl4hLSFE185p9jp6D_VnYezw02Gj_Pe7S_OjPmpdgtFDvd_bwBvFanTJt-4e77B-w1_kIcpeEFUsXUWFwsXtZWE72wyInT77Pj-yG4KAwuxYbhI5TuAmgN9ed12XqBO9EZL4_kLFhpug6QGH559GqM5CLuCg3Mz9PPyuXGRCd976LC9k1pAEVD621fIxm5UxO8o64FgrGis59ipRDnMUkDQ6euIzRZKBnvimsz7785W8UVt3JmrraUZ2OUABHLY5pyn5EHlNTZbiLA9ql_83dwO0cHb2N3W6gXrXA8Wme-u2jTfCDdAvGpKs8O92Lbi-WoqlJkwRM_OV5ijF_60Gpf8a20xsIVNKXr8nYYr3bGemI0oRoiwYsls8sEn7nugF30RH4UPbaff5DJRtrgBr_GjhwQWefqaPV67LfoHkbQOmPYqJlxGy7eLKKTAmd3TosVDy7NqzqkDDVEIh8llcwPOP-UUIRvsmY08oK7cimGyprMYd83LHycubNVuI55yT-cTQwEDfsBAVNhzlg2NSX4TRLhcF5gBJqc0wuoFSxkjRSgt6x6LUrkVJE9ZmT0IH-m5s_0WhMNSAiMorglW6QpQZfQ85Zn6wY5GC0Oc1CgYYQ0UKombSX62ITbFefy0Ib",
  "id": "rs_06fa6831aa293191016ab2a932fc9487d0860af446be067e3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The safe is open, with a light-colored plush toy to its left, a brown teddy in front, and a yellow object to its right. I’m bringing the left gripper above the light-colored toy first.\"}",
  "call_id": "call_TS8WrohvXQITWpA9uujLt4R5",
  "id": "fc_06fa6831aa293191016ab2a93a245887d094c733a6840920f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TS8WrohvXQITWpA9uujLt4R5",
  "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]: [-0.5201, 1.2781, 0.6991, -0.1448, -0.4068, -0.318, 0.9977, -0.0212, 0.7975, 0.6132, -0.4324, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3453 left_y=-0.1131 left_z=0.1272 left_yaw=-0.0235 left_pitch=-0.0808 left_roll=0.032 left_gripper=0.9977 right_x=0.2889 right_y=0.001 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0347 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.2171, 9.1419, 1.7411, -0.315, 0.0415, -0.2515, 0.0615, -1.5658, 6.5299, 2.0586, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3008175a2926f6d8c8ffba5b9ce24ce35c0eed4b3d34a8636fa520b9de7effd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2630eddff59b70e6d72feeebf821cc81f25fd2cad89b0ac023709091f92af014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c77a4547d84308278c4430fd1b754a18ab5b2214fbdb23710e4aaec8f934114",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3008175a2926
wire blob 2630eddff59b
wire blob 5c77a4547d84
call 2 attempt 0 · /responses · status 200 · 6.877 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6041, -0.3855, -0.0189, -0.0341, 0.9977, -0.02, 0.7929, 0.6075, -0.3965, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.2929 right_y=0.0013 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.4291, 10.2496, 1.9219, -0.0415, 0.1392, -0.2515, -0.4444, -1.3197, 9.6752, 1.9219, -0.0366, 0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlEkPMPmxFBaxBtTr8qtybat7D7_oFqmwhXZzAhVNGCU87cPQi0_H3MfMhl5bhUfnV6QWDVRhu05dBdpkYsxbq__dW5EDPf_Mu-WU-JEZWEVFaRITabicKFOTiJq3Nm3FmC6V2EpCESEWUg6GK2fvI3hNZblg2AC-AwjGBo9H2Qh8NFSoqk66GKS7qgzu3YvcoYZwJ3HwFD0umk2h0LCjZNRUZPn4VVcpGaZw-CLD_F9Lnx8Q1bAkbb1KSj4HgQJKaYSOdJGP9JocSnA6ZTAMT1mdg59XyLesBdoQmEQZUin26rkuW_DTxkerbxD6eL3ynzzSjjW1R6ecDXdZ7pgIO1lYA9pzWDsXMakc1ekI8AfU2i5RkveomjEHFm8NAfoiBEBd0QFBYHEYMuiZBPzqppkoig1YNKx9eAlbqiXEBk5-qWYlYYSUvUymPdwj5JcULnA5FJmLLvUDjJXl_5O76bW5-8jdVL8eGrLrD6bZ2gRq5myXckRCR02mw2U8YB8GccsgZlMt_g_x4kQE_PVA9qvI15V2FjYSORpyAFhlyffuXr3-h3gusFpKzj0_KakaXCkwKU_2u4nIpTwAdkT_5ounYmF1wKoF60qW-SWxJql3wrz5hxn9vClkO5_QFDtFU6QQpTnfte559wTrF3Ey4yGK7bpN2jwyPDHP7jXvw9LasRNZnou981yMxbgl1Et-0ZsjPl1XMtiFh3vgBLdSkiRrbV4a9yFmMuBEofKgHfarjyeCJ_6vzvR9HxrHABLP0QHJVkfh_Vp88xb6Z3mabPPJCnRLVRn-NhjyAh2xzKh-LXsQlBqr9yjhMMS7IRjiPJcLDk-ARhnxjtjvYKJrbWS6m7ECnSsV_XcUQe2yCVIOHMStrmg8tUQL2CXOmjRWbfa9V_CqC1QVpETGt6-yX6cw6mbLeD1Z0XH958GWHXDUAyDdHYXU_WO-5oa_yTIL5nMBqpcSd-O1Wi0H5GqPe7x5buzUM6R0BWT0KAlzH34tv0GQfJPory2sVJLG64y6JSWUbSmC1-YYyB14lYlx3ErcPKnF_wVkhAzoLSG2Czacz9mm7rDF-3EkQCxSCa28QfNmUeB1scnhUKfT2GpSBVuWPjIjHqYdy1jdvgQIYpKJncIK3AE17qU_DCD5C31vyTKIKc4wKoXnZ8GNmwyIAsokbNciN-J-mp_WNQQvzuUHfNfh_Y8KJ_CQHn_WfE8l-EBy2HLn_AsnvGqqYFU1EHGUicqGCGydRQlnmRPRRcwunV3CjyPH-pByrFlCzkosfNgg3sWAH_TjLwMOGfVLjC1n-dgDIBQXt3GXqOpsthzbFasHtYzVKMhb3bCKvtrkdinlzuaFtcLu-xpYP6dMzaGpHXQzaWt1iOOQ-pTBw7_LN4Eb1_-LmSAcCrv0jv4wDqKpwiWkJDAd0CV2UfmVvRRxfX1SQWipHrIxmbR3WPNbIl8Dzpd3AXIhyrrmjLdNzl",
  "id": "rs_06fa6831aa293191016ab2a940ba0487d08a0108473f196754",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.085,\"left_z\":0.035},\"note\":\"The light-colored toy is visible just left of the wrist-camera jaw column. I’m shifting left and lowering the open jaws around its body, away from the safe’s rim.\"}",
  "call_id": "call_EZxCUQXlrUyX3Q3AaE44f1FO",
  "id": "fc_06fa6831aa293191016ab2a942dd6087d08e6b53e454652409",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EZxCUQXlrUyX3Q3AaE44f1FO",
  "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]: [-0.4198, 1.4757, 0.4301, 0.2474, -0.3439, -0.2626, 0.9972, -0.0212, 0.8005, 0.6094, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3314 left_y=-0.0788 left_z=0.0238 left_yaw=0.0002 left_pitch=-0.1684 left_roll=0.0686 left_gripper=0.9972 right_x=0.2853 right_y=0.0011 right_z=0.1655 right_yaw=-0.0013 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -5.4222, 5.1761, 1.873, -0.0073, 0.0757, -0.0659, -0.0342, -1.4838, 7.6786, 1.9072, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280bc2208b6b6e00799ed7c52d4269209e70bc7bceb5677a5c8dc45e60b5f7d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf13d2ed42354c0871f375ed13e8d77fe3b776c56a018b38dce2736111fdea2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2bd073c50329bfee66643f5e75cacf598f10ec84f6646336342d5020f859549",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 280bc2208b6b
wire blob 2bf13d2ed423
wire blob f2bd073c5032
call 3 attempt 0 · /responses · status 200 · 7.362 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]: [-0.5201, 1.2781, 0.6991, -0.1448, -0.4068, -0.318, 0.9977, -0.0212, 0.7975, 0.6132, -0.4324, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3453 left_y=-0.1131 left_z=0.1272 left_yaw=-0.0235 left_pitch=-0.0808 left_roll=0.032 left_gripper=0.9977 right_x=0.2889 right_y=0.001 right_z=0.1725 right_yaw=-0.0013 right_pitch=-0.0347 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -5.2171, 9.1419, 1.7411, -0.315, 0.0415, -0.2515, 0.0615, -1.5658, 6.5299, 2.0586, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlMoI_DDuLPxBnRj55-kOS75r8tc-A_dJNVbSBNNEpDAX2m8Ub8PyBStb59lL1eARRFRqjiBwEdaZCFIjqoJ9e_nczoGI30RAco5Fmba-ibDd_sprTpcJCzcqO0iAByDJucf19RSb1hxv6dq43i113p4hZOzlAM73nGn5PM2VQZC6J5JBuPkkxnW3XBZ9s3q7dk0GtekjDHLwAmU4WYD40QjKt-hXqIsNxNHT9pkCF-CFIzG71THX_cVB_7Yq3sZRBibmP_XCoIumOf6ATtIJFhvCNmaD3FBKQnI_c8C-B0dwydc7nwNJUzHFN9hbxbiGSYMYvaghLlnlOPLr8TzM67ct6fWUU2rusEQ9xC4StQERUjQET6KujqqTs4o4ljByIHo5Iigabq3nLOItwV729-5034ATnrGCFFMqNjCCol7d9rqDy3VxngzZYCDyoQmk1nf8ZEtEW9TJWJzP3QgNDLSAaQpMBOld88rZkixrCF3wodS1PR35WuE-XnXYlMMdAP6LI5Dityryfs7iIu_BkvF2HQVukezpbbRbM5Q_biJlJg0tD2dV6HiP_gn2ZsbEXymiVJyBNYyJJt9mHyzgZcX3yK4ckhMTh0Wfl07yvTcBB4khaT03TJDn9VqW2626TqocOQ_So-GKE2nro-Mv5W20xh-Euh3MkXB9mmb3u4ZpgSxTzbixTE79z0Vh3iFgBmuscrFbd14_sApWCsDisAWygBXcOq_nJ1W3-hAJw85IObpQ6VcBgYqxbnmFP-X7BkxeF3iE317BvUmTzQBe2Aeq-f1F2vFv_SeEStqLzRBow3Z6BXluHLIVAwHq1nF1YY9aoQVy1E5RdlpAWg0N-TzT0FPqieXFcp0NqUbpysGc7HrMsMzbidpcu7lpSriEkBwnAsi8pP0I03ZPdX1eNbZXQuE0nYBzH6-9GdXXyLTK-6jLmitkE7kfNP1eOyFQ1hZgU64KHXxOXzgZ5pmf9RX-PQuCA5-Jt_TImi5lP1A47oos4jOuvB4BjYGWjU_0PdByStAiABDtkcPI7KVU14y3a5lvrZNsGmr2gfaia0_nj5Hkkm9zUNdyCCkJPk_t-isf7xDXw3ewi4MsHMF4lAQbF6RaOGVpNmIMzQY23XmfqconwunXZApzvimlViM83EqmCumHqdt2FzpGiEGz2KGTG2DKHqzWwM-ZhAq1tm3BKHtGHC5hs_ubj459tMBDMhvzXtYPpwknujS9aWv8pMr9Q9S_6X6RDHH-IXL6tMODxwpUKMiT2mA_3ty3A8Ca7CRC840p-WC026R_Fd3Fnm7fTGRl96S26Xq1Ad14E6B8PgmbssKFeZy1R7yjYrSV-W0Xk4D_shixZbCmADsrNzSmO-1iAM62P0Xhol9G7Ejor7lXXJ9vZPOVG9PRe4yGu-ZXiscMCZ2kIUvoFuqNK3LmrrcMn7jlqKKA2oMq3tK_eipXRv9YddGrCNCdLXojcuo9hM79cozAhwVrPgVwJ-3XzHgK2LmbT6N1EWt8vKlcc=",
  "id": "rs_06fa6831aa293191016ab2a947dca887d0a5aafa7c6b1043b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.05,\"left_z\":0.02},\"note\":\"The toy remains to the left and ahead of the fingertips rather than between them. I’m making a small forward-left correction before closing.\"}",
  "call_id": "call_QkO8vprRsC3FevK48D7E9oUX",
  "id": "fc_06fa6831aa293191016ab2a94ab10487d0b2c92291fa8a6612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QkO8vprRsC3FevK48D7E9oUX",
  "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]: [-0.2569, 1.6203, 0.5224, 0.3111, -0.2489, -0.1802, 0.9972, -0.0212, 0.8043, 0.6094, -0.4793, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3684 left_y=-0.0481 left_z=0.0142 left_yaw=0.0391 left_pitch=-0.1845 left_roll=0.0614 left_gripper=0.9972 right_x=0.2818 right_y=0.0012 right_z=0.1597 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -5.8598, 6.7487, 1.6142, -0.0513, 0.1978, -0.022, -0.0615, -1.4838, 6.9538, 1.8974, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39a18f218055e67f2e81b9c710a996e386a14da788ecbbb14992c6642b4c2df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70a9fe5443b9d6db0d2d7e53194c588ef491f3da41fd7e436b009d3c9c2ae72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63514742671583e4eb6e72bd04d0bbcb0fd852d0a4c3aad8c39b30907c90b951",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f39a18f21805
wire blob f70a9fe5443b
wire blob 635147426715
call 4 attempt 0 · /responses · status 200 · 7.208 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]: [-0.4198, 1.4757, 0.4301, 0.2474, -0.3439, -0.2626, 0.9972, -0.0212, 0.8005, 0.6094, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3314 left_y=-0.0788 left_z=0.0238 left_yaw=0.0002 left_pitch=-0.1684 left_roll=0.0686 left_gripper=0.9972 right_x=0.2853 right_y=0.0011 right_z=0.1655 right_yaw=-0.0013 right_pitch=-0.0641 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -5.4222, 5.1761, 1.873, -0.0073, 0.0757, -0.0659, -0.0342, -1.4838, 7.6786, 1.9072, -0.0464, -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": "gAAAAABqsqlTKsPLcO40UcV1NNTsvEF2hFgbnOQUzTxOKUIaf9fOVEYV7ym20yDMGiy52gj1Fh1yo62_xeeswBoVbOpqwKP2CPFiTqW_lZw2mnZyPEXvh6J9-VVZBAioMSL8LbcJfTGI-BP5tor3-8FKnyGwflyHTQb1YlFu24F86H5ODkEGskB-dWSfpl0stXUwsmzlVZM7igVpHN-6EmsVZ0t8RPVe90tVeZi5jkukr1Xax0jqSPtB2DhQqXBibfbIHA8oiSFNmQ4fe5Cekw2Em03v7DAfRZh_TQfHslQJDI_saaEPPUzCYdS0J18hF6i2hPLGLZPwGK-05NhIivNmab4rpmZKyRcxfaAwjd2VuWsKlyo-HDwBxoyldQ1Um-GR2jkQe_vXJI1PjuYTd-xIYNDI4FvXxJ_hu7E3gIUi6wQJ-5KsNaOKlNLG8Gq5G7bf6YgIcFh7MfwlG6PKlnKsdgFztjV-Rffr-2ix535LDfOzhVWT8cCYoPtF3YjXXkaEXjlr2wNYZTor6reHO7y1PygXbqSgOJTdDMMRiXVDO84wsGq4-4BQ4RStCNPVWOXxLvSOIljABhhItJmcqKYg2F1V7mdLHG7X4QZWUaclUW4TrToBYUCgZfrghjrPquI6V0EoX_jVRKCYhCGvp4h5PK7SbTvTUCWVnV49znA-7Q10xSuR0MI8sThogUPUH3o4K__NiGsluKIojcgWlAnO_ERW7u3WHYYtr3pIwdUHJFwv88vW214nTQV4I-vUBaukSuAVo1z8zTLwQoYfHz-VGyGDGBnHHBuapRgMUNGdNhTKwPkS_rTEBjJp-BdEVCDhoV2vC_YHZCGkhSsG4-X5dbLJahkdOWDvjjMKfgH6Lv8V7ZT4WQ7cjUKbbX0MWVgpXmK4bPQ0DSKUxp5yRth0XDe1LbOx7goItXqs-Ui1ucWm_WC2Ktass69_N8v1DbWsV-XhpllMNXus4gdQyMOnLNgfV6XJMU2UC3jxrB2D1wIvKnABaQm_DWWBKsrn8U2NLfaRl3oNyD_TnscrCJfm6EnN4lC8xQnqZwPFeF5vzr4t4hEuaNgOMJfEtTkP6lEyCrsjP320c7vsKrmuxVgb8C7B6vJVI_XSDjbHUCe7wNwxXH1w0MIZcq-9CEvtX8y9rtng-Tdnb-DPY_bkqaEOt64H7xDRmZfJntToMgXwqLMZ2ucpgc0D67M90mOQ69FHj-k6u3WYShNIW9qgX4IKs1MegnNlIASn3i3SHkkcMcUFDKEBq3ZloSFknaPWHtW4fA1ODN8sarwdVlWIlwn3Vcz7FceME-zz_ZL2ifKAp-Iv2jRt-kkm-iy11pUuYZkhCLC-Vpj4sdQ64Dte-FIJYG2caSnp_g==",
  "id": "rs_06fa6831aa293191016ab2a94f1d3087d081955c024b3fc2ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.005,\"left_x\":0.375,\"left_z\":0.015},\"note\":\"The safe’s wall is on the right of the wrist view, and the white toy is still under the left jaw. I’m sliding a few centimeters farther left to center the grasp on the toy rather than the safe.\"}",
  "call_id": "call_KIja9kjbQA0oN0u4TlcxrQAP",
  "id": "fc_06fa6831aa293191016ab2a950b43487d0b6958d226f6fbf01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KIja9kjbQA0oN0u4TlcxrQAP",
  "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]: [-0.1017, 1.6321, 0.5266, 0.3183, -0.1528, -0.0967, 0.9971, -0.0212, 0.8043, 0.6094, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.0075 left_z=0.0103 left_yaw=0.0673 left_pitch=-0.2035 left_roll=0.0553 left_gripper=0.9971 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0013 right_pitch=-0.1133 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.4598, 4.3829, 1.6972, -0.0073, 0.1245, -0.0171, -0.0205, -1.2239, 6.9538, 1.8242, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e839d4dd69f5e6dc8b71bf9c9c98d410d09308c3a6d83212730c902386685b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f3c703288696e0546c9a3aadd9815aa8971c81354f1bab327cbd8d6683f206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace77b35daf3e8350a6b5d0ed640d8eb31b0a2190933ed2f35d2dda7893677ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7e839d4dd69f
wire blob 03f3c7032886
wire blob ace77b35daf3
call 5 attempt 0 · /responses · status 200 · 6.209 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]: [-0.2569, 1.6203, 0.5224, 0.3111, -0.2489, -0.1802, 0.9972, -0.0212, 0.8043, 0.6094, -0.4793, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3684 left_y=-0.0481 left_z=0.0142 left_yaw=0.0391 left_pitch=-0.1845 left_roll=0.0614 left_gripper=0.9972 right_x=0.2818 right_y=0.0012 right_z=0.1597 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -5.8598, 6.7487, 1.6142, -0.0513, 0.1978, -0.022, -0.0615, -1.4838, 6.9538, 1.8974, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlbd_UBoit1grPofOJh5A3JLBG1a-gRPSDnZ3RD-IztBmm5hJFbODyWi7jgckLjE2ioQoo7K5f1PSkEgZFkaDXWfe3p5zWzKXS_ieTjKcBvP4TSkW7H5IxbK5FgP2t7FciNUcSwf-1X1aQiIr9szEfkVyu7KBpWStA70NZdmp_1SFphH74urnxgw7Y3PfgYpMxCwF_lljDgT16LHvBJ5WK8Qb5KrdOEQ0sLYQ8Jh63Lr-rvCOiuXJiRH2aKhlI9ueil6lfDmli6Rrx9WL_vDdeEorZvDMc9Ee3gHRG3aP0jEw7mMDVsoC9wGTZ3XYN7l2PDFBBEhiFJgtMAwxQ4hLzNctg56e-cSW6GgHkSndKC8zTcS_uLF1FCY2wuZLkDla94648Q17HYVVTSrfumkE_4ufEoHn_bF4pnYVTylXTvyD_c7SE1Gb7ER5fWvgGdTJkluVFtG6UpGXF-hyU1ppRUyQtMilLqBPEmNqZKT9t1dh6TzAdRuu5vNpj29TzQ9UZusYhgGrDbZ1yARJ1Iusntt3Llp9ZmM-phSRoC2eZWuiYyepJXcgov-Fgck3z8Cr1pOj5-lTjeGKS-hbiMvAoSrlU5fK0ilv9aHCF_7QgNOIJcfQK2V2fHfmMuBZFH0L7KKjkG87erKrcITTgIpD4lNFh2qNIAEPiJtBOgakhH9Wtvubyo7pAnRH1LTm8Dt866UsQ_kOfyMIFV7RCcXSeCTl8J97pJGsVo3fXcvWr7fLCiuMjDBY-1chbPDCgcOnnv7H2ZI3uhwJNHoqCabpqZ3RxPOpb0YR9T43MntD4Qrd1HCIxY0tLQzzaeCXUTy5XG5kvuo7V2zkZ9IivMQtcOyEW61j0bGeriIs6ofixTEIHRbXkdUt800HKBKkCH47rOvHB9VdSeX7EqYYcu5y2sZAr9Mgwd3XWMEDSrYQRJ_dPiFimWaB3O-67yQl-5g4Z2mpvqVQHk6ZTD4vo9wSRD9rrLnvoTQhT0sZm28-9TjaDeRsb3w6OqUfy8NDx3BM3Rp711ps-ijJWpi0_M64SVVgQOexo8pcxPfGMuls2lBsIcNVj5ZNCVSKHrkZtzTRwpeUdnqIX7GRQs5-ns6Od5xzYzJ5nwETCXdvjji-mywXMcIYvrTAcDCxsrT32w2MCkGAcmGzYTMMAvrSJ7l-Pwrox51DEjd1382Zz1VyEP53XpXxXr4rRrEbwfpslOP53bZEJjIHsaM_mLMR1KF8UnkVSrBD3HYHJQu5mSxkxQCoGCh5pc3hPpBbZTmxgI-AU7FKCFil0TUgCThVqUIN3nXFVznV9KJOwzJjwCjbnvLWyRmBdkgYqRe4bqVdvsNouCEefDe5hYRzOFIMUTMyvNdbe2uQLChIaXcQUraPNV09t7hLwG4YD4k7mlk2byNj6r0vlpgQbkum8hBm4Uk6NMN9HfKd14Tn_laYtvWOMmtReQBuIUD-z0ndTTT6el2KqGXIpalpK78hVdx5kCRqGQ8afLUJPYPyOUrT3AG4ZOZZ0=",
  "id": "rs_06fa6831aa293191016ab2a955e86887d0922fbd9277009ca3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.03,\"left_z\":0.085,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The toy appears to have shifted outward during the low approach. I’m lifting and moving over it so the next descent brackets it from above; I’m also restoring the idle arm to its parked height.\"}",
  "call_id": "call_b7FqAkyfihUTL3VAdz8p3vfh",
  "id": "fc_06fa6831aa293191016ab2a95910a487d095b22d238d397d7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b7FqAkyfihUTL3VAdz8p3vfh",
  "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]: [-0.0834, 1.6306, 0.522, 0.3141, -0.1337, -0.0631, 0.9971, -0.0242, 0.8814, 0.6872, -0.5755, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3716 left_y=-0.0038 left_z=0.0082 left_yaw=0.051 left_pitch=-0.2139 left_roll=0.0671 left_gripper=0.9971 right_x=0.2814 right_y=0.0004 right_z=0.1558 right_yaw=0.0003 right_pitch=-0.1876 right_roll=-0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.3231, 4.5607, 1.7216, 0.0464, 0.0562, -0.0073, -0.5128, -1.7162, 9.4017, 1.8877, -0.0757, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0335e5e7cf5540c9ec5af547ef5a046a65e30eabd7f88561553d836cbc8d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e200ed5d500e507118fca2c4655237e52d163b7ba9b4f84f6aa0ce95e5d9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06e0944759608640e174fbb46879559f6c19b55a4152598852c13dda36545f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 4b0335e5e7cf
wire blob b4e200ed5d50
wire blob e06e09447596
call 6 attempt 0 · /responses · status 200 · 6.706 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1017, 1.6321, 0.5266, 0.3183, -0.1528, -0.0967, 0.9971, -0.0212, 0.8043, 0.6094, -0.5003, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3737 left_y=-0.0075 left_z=0.0103 left_yaw=0.0673 left_pitch=-0.2035 left_roll=0.0553 left_gripper=0.9971 right_x=0.2785 right_y=0.0012 right_z=0.1557 right_yaw=-0.0013 right_pitch=-0.1133 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.4598, 4.3829, 1.6972, -0.0073, 0.1245, -0.0171, -0.0205, -1.2239, 6.9538, 1.8242, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlhEt6VcfeYA1VWUQZad_gN0LvIwSfcp3wfgfMoIT9UAuMjLIquiWyXDr6Gyl3eH6MvAQx5TnJCCcVNGyRuHJa9JKXtfm0RJOw8KNWrFUaanMuXDBMsk6tJ6XTDtLhO5cpnGHKPvj5nCmXLwqG6Z2KEEYlfBbnqZ-OH_SitWIpib3TQN5o82U_syYy9aCWq8Qu-odcqb_MaCKlhJsInHc_IAQ0wiIMJXFP9B9eHyl-iVMxQ9GdO8bLA6xiRSAlEY-h9yuYmA8q4vcji7kqRe_z-L31WQwGDAnv3rKSrduePNwgj5D6NBGa5Z0zq03Y0W-9opolsSi2q9sRokEvgcxBxD_kyeCQ_ZtZT-9-oiC-Jsa8ElsMg6uG4vQKSJlndsCzes-tiHt79Sibh7Ec78jMVA_HQwS794mXtS39HXV3Zj4Zp763WeXQCds9RYL1u6YkZB1DMYQ0-5EW2NIZy61zh2WKMVf3m7xtlgHVhjwy0p82RoPEjcragYeXydjnFQyUXiyF5Tyha2JyM0k5Uy2ZuflhgWKpiOCTLx5fWYxMTP4Pk59ZrwFbpoWF0nBupMKDajfIINm5Ncg9XL1elodWoMOH9GlVcBBlJ4PLU-4hJDFDtAOvUlBOD6iCwC7PsTA7z9s8zhzDjLjFHul5lwqg21n6odJ0yqsz66wdIZVzjUcE4c6aTyNW0Vbkp_BvF3Nv2QLv6uzxM7ez_L48UZH_-hOrUe83a2C_Z37gkdV-4sjTkSAtFsnRAv6MRdwPhi9StTTNzqMhh0foXKXBJtoofiF6ZMAcPx5cyCTeods3Q7pZVSkyrR8NvDlmbD_uBSWRqzM0KrwAhg_91Byeo9csGMxuVB6NtBGSiiAqJpCwfo3reEESJC5ZGaEbyq53tP1Xhfh6ov2jDuw_NP6Vz1q3Qv7OKkFajB0Q98cJvZg45kyGpf2Jc3a5Vn7usPu-ziOQdnxriNWIAtrVhkPWf153PrYrU4C7WOF3pH1T_c7cfZFLVOOAE1UwJ5UaZLovjGeKvSAGh49j24L1x_MEvSfEETNRa1iRuW-QHvGpsQFjS8Ruu2O6VX2LXc1eveQKussePZF8Y9aKvm2bb4BpIFvCbrp1Hby-sg2AATUCHaSkxUNlMTrlLHCe9D96MC4ItrnsZRag-6OUuWFaovL-wcBVa3d6AmXwP1TOkP4VwzmPvJXPZqmOOI9iJHKOTz8WYIevol40Zfpn4aOGhoNFd9Yv3q66Pr8waP7WYbyJPnaN-BU6mFi8XnausSdGMWLUf68Iu9mvwnxtivAGR4sSx2fiRAq0426olm4TkNqq_TaFqC1_JBjR2vhfNvG8JX9NXK-pNEEd6niULeYWfBrKwh5Jqy8dKeF8MnZ0TmWLDSgjSq4-_U4E-wRXCPJ2mP7CnKWaMeTgR9hwkLD1jkuUbRnPBK1c5BV6GXSo--9x8hDACizs=",
  "id": "rs_06fa6831aa293191016ab2a95ddf0487d0a581555985fa9127",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0,\"left_z\":0.15},\"note\":\"The last lift did not track: the fingertips stayed at table height. I’m retracting slightly while lifting to clear the safe and avoid forcing the arm sideways.\"}",
  "call_id": "call_WHmPZtiGKLrk03fwFjWJD4yb",
  "id": "fc_06fa6831aa293191016ab2a95fe5f087d0bd41393c20121f70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WHmPZtiGKLrk03fwFjWJD4yb",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 1.063, 0.7609, -0.2127, -0.1349, -0.0677, 0.9971, -0.0238, 0.8864, 0.6861, -0.6125, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=-0.0029 left_z=0.2066 left_yaw=0.0505 left_pitch=0.0635 left_roll=0.0266 left_gripper=0.9971 right_x=0.2749 right_y=0.0006 right_z=0.1476 right_yaw=0.0009 right_pitch=-0.2307 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.2256, 6.2701, 1.1306, -0.0806, 0.0073, -0.0073, -0.3897, -2.0991, 6.9812, 1.8779, -0.0611, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735f7297fb02da63d628e57cd5f494467800d0221f43301eca23f420c6f0b1a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125f1dbfce70861db6151a670a6598f33778c02dcd41a258ab6821faf7c4f9b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a40203b9c149ba8e10b90caaf6a928e3d2c774d45d0f5bc4998ff3b0ecf0cb8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 735f7297fb02
wire blob 125f1dbfce70
wire blob 0a40203b9c14
call 7 attempt 0 · /responses · status 200 · 6.818 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0834, 1.6306, 0.522, 0.3141, -0.1337, -0.0631, 0.9971, -0.0242, 0.8814, 0.6872, -0.5755, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3716 left_y=-0.0038 left_z=0.0082 left_yaw=0.051 left_pitch=-0.2139 left_roll=0.0671 left_gripper=0.9971 right_x=0.2814 right_y=0.0004 right_z=0.1558 right_yaw=0.0003 right_pitch=-0.1876 right_roll=-0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.3231, 4.5607, 1.7216, 0.0464, 0.0562, -0.0073, -0.5128, -1.7162, 9.4017, 1.8877, -0.0757, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlpOxgP_6vW2LX7yW_fnaxZOylP0sklcIdiaXImGZs40KTxvZeNZvAzCjk1azPOJu_eYbg0XNu6DUp2PzC7XO_ln27w8-LnZc6wOz40NUeLsalbkAHs6DkRjtroit6JnBIOHdEDBweuLHh1tmD4I7KKSKlkSSQ2f2D6Qc-wP_TJQidXnrkF8kvCrdpl327a9uSKq38r9WUa4jYh32Z4ocauMF-A0UcnNpCvn8CQJtx-5ba1eQMlpSeI5MCoxoLkZHRC2A6EEwUyRwPZE0X6bxeTtBRnZqZz0pi_jZYPZwmSJZDT6XcUFADw_892Bv_xSPzHwsbPcQIHn6palujmIWUFx8dtC4y0y3QDtNlgOfr9Cgh3cv0DHpOwkEnbEwT455cJUvbuQV_gscjDRB_bXgJNR8Q7nSlIOMpKX-BMQ_lmKrO9pTwpGg865q3vByS1XSPMKAJ04Gwmmb6BoGAlESdXZyD3mx9cwVC9hS88pARuFhjhtjS-QqivYOnFRYzoJ5QJYe2W9H6bhe5WeLW3dFYwAmoQpceEa1eBrR16xEPUg-7HXVtoOQcu_Z04m5JXjw8SYbDWMO1E_4dKa50lkNsIx5vF1i15mwfVMLX1dSjscBxbWwwMleUddbYJWhFb9mSfhWzlig56Osu_fBn8J7693C1h7MVfxmvPqFWfTIAeotg08s-xAUESB_gXyQYgwhnINLJpLpdtX3fjUR0hohy7rML21elaQMMsgbpGqJMVMyTFVWBWmschbeo03D-824y3NaDh7m9QUTot-5yyHra90Il79HnMi3eXTol7M36GQdOT0PfTkm95wvMTsC5PLwRSpFSF9WF8CRJgeqa-lveM8U8KiA758LOPrXlpljaW5zxNPn6K1TZKKBGXNeBQtlvXIHMT15wGKxKQxFYDRAtSjVi3AXY1rdN1c_0DH8DVaS88Llxwpo5zFTd6xMqQn2YClz75CZyigDrJhr_vKq1QBExn6t37SV72nbrEOSH36XHlreT1Hc52ZHWL0GM01LZXwj9zW4AcPnIQ9Didbe_qSsLqijaGsEWBdkOqaB9mpi2u26msQiAdHlsbRpNuJHdImafCdgJKrPPahNLqp8jmG1qys1X6MBcNZdh7k3UlImMk4oC-kXxpcblVZxcxPJEe3GhNJ0k3CMzfSUOWwZ0LaDpZVB30wdwHRwrPXlh8-_v-jzQ5amEsVo-xgDHCUK6JZEoRLVL7jTRU1XexOLVeoO55PKhyeSvpldWARdARcM7IfCFREXI1oZ7zQbbFahh2EvKOEQclvXaZZ8CaZ6rlsBVXkcXEiuPS4i7axQPKcz9AEh8f-ASu1awz47MYMyGxjAPJMdliRV0Bk6cYfSzqQOalTbKWVc6g7px9LNrTvBcDnV36VgW5qjD6pzp0uvFsRp21T2qsilaTtPJ-tIPWGlxT2hTSrJKDoqvJ7-SmCW1Uk-YxWB3doTCJ0cEeqXGju884BYHG71cpMx1OYv-N9Q==",
  "id": "rs_06fa6831aa293191016ab2a964ef8087d09a83cb792119f27a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":0.018,\"left_z\":0.035},\"note\":\"The arm has cleared the table, and the small white toy is now visible beneath the wrist, just left of center. I’m descending directly over it for a top-down grasp.\"}",
  "call_id": "call_Tek4tpi1VpbJxM2JHlTL1qLC",
  "id": "fc_06fa6831aa293191016ab2a967312887d0ad723bba31c5a8d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tek4tpi1VpbJxM2JHlTL1qLC",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0082, 1.6173, 0.3637, 0.6529, -0.0631, -0.0334, 0.9971, -0.0238, 0.8898, 0.6857, -0.6365, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.369 left_y=0.0178 left_z=0.0226 left_yaw=0.0642 left_pitch=-0.0261 left_roll=0.0262 left_gripper=0.9971 right_x=0.2706 right_y=0.0007 right_z=0.1426 right_yaw=0.0008 right_pitch=-0.2586 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -5.5726, 3.9726, 1.5751, 0.1148, 0.2173, -0.0122, -0.1162, -1.8803, 6.9812, 1.7021, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c1501f283983623dfd74277a580748b21aedd0420fe76dbe331e457642e147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e4a597955b05b96b549487744c5d502126d18e74a4e194937b60a69cfcac27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e6f06d0d25951857c71ee70cc16d85253d48de63da702c967b566b2e4392c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob d3c1501f2839
wire blob 36e4a597955b
wire blob d4e6f06d0d25
call 8 attempt 0 · /responses · status 200 · 9.915 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 1.063, 0.7609, -0.2127, -0.1349, -0.0677, 0.9971, -0.0238, 0.8864, 0.6861, -0.6125, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=-0.0029 left_z=0.2066 left_yaw=0.0505 left_pitch=0.0635 left_roll=0.0266 left_gripper=0.9971 right_x=0.2749 right_y=0.0006 right_z=0.1476 right_yaw=0.0009 right_pitch=-0.2307 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.2256, 6.2701, 1.1306, -0.0806, 0.0073, -0.0073, -0.3897, -2.0991, 6.9812, 1.8779, -0.0611, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlxpaH4p6XrO2LGDAkuu7MNs7fIQDD4B9zswZuaYATRHj0S9F7E6gu86NmLZjGBWS8gf1Vl2mkaQfe3SuoS9caJu22QrBilwpvq5Ml6eVimwAgo0DQQHH4WwHD5VbriyUbb00PoS_19P_H6oVsh1YMLKaEU--Z3l2CPo7k3VwfsO9taX940YpUlZ6zOsVHnzRL8VuUsxk8xfQFcd9LH_j_WLD7LkeBwr3aiGDaIkeKViehI3so7Z3tbdv-lk7unCixo_rN6DacA_8CWRc6sMZns968BoyEEjtCV3kdMaa7_pUDgw7Uv4W4nQqcGx5BtNkg-rsnoneVNL_MsP1JEQAJPL41eLEbf8dzpaX_5qcYjOfTGg7wWNJvydgZtPRl5xte_sHNLEohbtc-a0WW09l5WfTfvcRMk_MK3vglCCbwG-uWywnY9V1Xant6agAKKnUOPT8idHr5kP2q0xwS1neIG5QjGAZ1_C7hdpg03QNvlgQZqGIR4-2FCFLebofuke1Hv0fU2yqFK5xcSPyiG1MxxJbOMO_LNBPOQio0-Z76LvxiTYEF-gOBqNWvRSgFoY9VrJbulMs2-6WyRoBIFMLOwtsBOBsaTQaKmz8Paj4BVjDzt2KWJcUgzI8plTao_RTAcncpaPF1_ftF8dF92TxHupWpQgb_WmtBhgjd6okOA7BWzOAfa91YujLrjS33gpP-4BpElfUj-WuwLzQqtufiUBHM6aU19iet-zxIvKcLnAk_ZxKPlHgQfvzhMuSmjfUEwy_SNRTwhiX-hp29QOt-Wboc4aqHChn-8iVWnfMj0Uv70DuBI1oKuN5WQDIUJjslC8yjUvIghyApzMP36OIsP0ZQxmXmAAlK6tRfQx5SfD15rjLuryJQF1ma7w9Yi2nZtt5kwTEBO1-CN_UJO5FbKUmYvPsBxPIpq31Od4NveXnmFX9oDj-COqS7eD_XmGyPxCAn_P32R74xTFn4czqxRb369hYSGRdWNRydHtS_a3HBlmR5mkU07MtnsJEBjuGY_i5ecF1iBJERipDpegZqJWG53SHyAOax5_FnFkktQCPQvLhCjp2mdfwNjc2GmYyqqVOdDbakBSTRuEhFbCksa5WYrdcU0Z1fqTzttgzkcrkixTdqCTDS0cjNIMBq4PASYG-Jwb2mmtrWur2J1Y1rTq5ZpaeV_vXa5NU9I-jwyZhIlaB-h0ihl_XFLmTAS6BvYSKe2pN5AUvcAFyTOmwEy5XHa20ZT7gvRtXZn81AqcP05QGsc3emJDHM9BHVTkj69xLhDovhwLbRj_YmP4PxYxvKxAE44fUj7nd3rsPlkBIudJlHNpkaekhuHsXUzgPfypmjLhYpe-UoEXVH1ud3hzAgF5vuA0pXotbyhla1r_zEbi8aDQHV_zxsUcsCE1muBOdnD72vuAHfn3OPPei3Rn3BSvO7HlPctfL0EbI20VbP81lp9-bn-Ks5t4b4zpZ_-",
  "id": "rs_06fa6831aa293191016ab2a96d04f487d0814f741c9b09856d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.048,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The white toy is at fingertip depth but remains slightly to the left. I’m making the final small leftward adjustment and closing on its soft body.\"}",
  "call_id": "call_ULgKavIwXTZiFfLntJbaOblS",
  "id": "fc_06fa6831aa293191016ab2a96fc2c887d096e819d8023fdb91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ULgKavIwXTZiFfLntJbaOblS",
  "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]: [0.1333, 1.6283, 0.3599, 0.6422, 0.0265, 0.0292, 0.0115, -0.0238, 0.8902, 0.6857, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3623 left_y=0.0475 left_z=0.0151 left_yaw=0.08 left_pitch=-0.0528 left_roll=0.0258 left_gripper=0.0115 right_x=0.2667 right_y=0.0008 right_z=0.1391 right_yaw=0.0009 right_pitch=-0.2799 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -6.8444, 5.8325, 1.6777, 0.0659, 0.0513, 0.9695, -0.1709, -1.4974, 7.0359, 1.6337, -0.0611, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a99f5ee709ffb562a00ec1e8e3f04fa09e0a7b3b38025849f2c6b31c013144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b202538181abc9d708b3d7222d643e1d33cdf6f97bdc4fe7fba303a7ac863341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9bbf61d96011550816738eaab2384f964010ea983b1b942a6390b79f240c64",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c4a99f5ee709
wire blob b202538181ab
wire blob bf9bbf61d960
call 9 attempt 0 · /responses · status 200 · 8.97 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0082, 1.6173, 0.3637, 0.6529, -0.0631, -0.0334, 0.9971, -0.0238, 0.8898, 0.6857, -0.6365, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.369 left_y=0.0178 left_z=0.0226 left_yaw=0.0642 left_pitch=-0.0261 left_roll=0.0262 left_gripper=0.9971 right_x=0.2706 right_y=0.0007 right_z=0.1426 right_yaw=0.0008 right_pitch=-0.2586 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -5.5726, 3.9726, 1.5751, 0.1148, 0.2173, -0.0122, -0.1162, -1.8803, 6.9812, 1.7021, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsql8HltZBbnWqJ7aDX_XkZRAJJVuZyJ7X8f4nn58-Y6_9oxaIw-l-eicQkjaeI4pX-QaVEcmdmnuEjTRTU_bEIWldF99AmjkNxMxbHR0DLl8eUoheoCMXT_OMdggcVeYYxzZ2Rx_4QKkNvXmGApGDEez-HurZRnUkhXUfNmyTiJiILc_HgpCU37WUUO82lhsJDOYocoV26v7mbmF-C0YLW3rjBHcZolPyUlN2MaY4tvvqhhBi8v-fth2SZwgw5JSWhYb1b7OQlIh4njwA4Mfzsgfm7Su4DIJ7IByDIlxXwCEtayFMQA6eDg9H7ry3-VNsQiA2PiyP_bJYoqZZzsv8l4ctL9ZRywqJP7DHw6lH-Q7qLB_sp6N5Yr2r8fVpxY-Ua3bnuMT6kGV23Fvq8dq6NuSCQLUnGJMqQO6xxaGzZfX6MZLb5EyhCNTbA3Xq_Do8xMkTv7qPOLLM2OWcBjB-P2yOLQCKkxc8Ltanngxd7W1-z8NKBGNy1ydK_ZPJeKGAxyK0MBbGls_tvCVh7HN72FL_bG4Z5jGkaw-VwYDNXLBQH4qR_lpsi3bNa18lKmtx4AkWC7EtjIrUuJcT-khzZct71tZemLZ7OdfGFaeo9XmsP7Exfz46wK4uw1pp3vbdgNyXzUXXEKyJi6oVLGz2OyhIU1pTCIIkB2ZP6p7VP8TqnZh3qdxnFpMFjVhPIJfhXL8pdJEH0L-6EUc29ibrQcbvBW_84gKe83NTPYIcDn8k9ghCQxv_RZLApYLZdNA1DQ-NVG1MTFchmjo6-FRherfrvqjJzz8PJpjbz-MtbAzJ5Uinj25b61lMg-SGSnFXUX04MHxL6YY-hfdI3B0tgpL5lp1I0TIrm1Z2Xfu_9YZRnfno4jLz1fsYBJ4G2lIYVBtzpCWeHMeWSH1b_YxLkAvHq7aPH0NSr7T1hIMK941liQLBpTaFhLOlWnOwUQ7up_zuUPXcIynGCDy28K71O2dj_NY4cGZ5SON6Q3M1-sFGDgmnhRLspm0z9_6ppgKjZp8Uw2fKIaK_9wGd7LoReg1SacOyEARVxwYVJO_t1qA2cxnk-qBdxHPpZo8x0Ze-LFY-B70tak0qtmWqHYiT-fGWUIUVAi6I0SWvuOzNm-WoJbfbLye-lj3FBmlcshBlOV9zpWn51gK4LwEvMdh40VjUKmVKbGfCEeNL9G3QlbqkT3AdWe4_vswxPqzM4nf23p_LePqmQL3NTy6twlWW6N05h8a62UzTxKl253Lx-joeHyGmT7PeGXnDiV42litbnB769BLVTp66_nmIYqqUu5lruKnRmWqY6IGAnaPPCwLalr_YmPj6kDM2xzlkl51Rzma8m5hoaqV3VdxN3VGyHVGnJNruMDBKtyZP4REP3T7WcNlzc6jZDhLBXu_dR14KJbd8TUOe2nnF0pItYwLLGcO57jERKeCkxkO2iqMXjzr0JS3PVrQjs83u-MI7AiIRGPBtF6_mnHyUdtXtpfjgrt4mrgMpoc96NOsVR7AUf78LLU3aU7FpoOgAHLeKlk_cv2uo5O_UsbiErRfgQVwavm1icTVE3quYtyzmNS6Z7VyTEaWI0kkgfcpsbVJaCPdfMdxTxIb9m5ZJTs_A8s88Mr9TT0WksNHDMb6mvSqlJCDcQQZHBPl6EExhgNkbEvoek_4zvxAPL3l2bL6T6de9BjQ0EFXwV8swa4kKgZ8ScEs7xKo029fADUMBZClimgfsPImxk4y511IWeH9rVBeMwZZqXLid3dsK1Q0jm7e4mjndZIstA2UfZhAohYnBFS5hjFLNdvGxBq9ySWW0rzfbsYbl-qXQkUyzD8UJjwQq_XN7whwpux8bcLfs9ojzX1kV2qD",
  "id": "rs_06fa6831aa293191016ab2a974f17487d09e9926b741ad8f91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.398,\"left_y\":0.05,\"left_z\":0.03,\"left_gripper\":1},\"note\":\"The close was empty, and the toy is near the arm’s outer workspace edge. I’m trying one open-gripper adjustment forward at the allowed edge to catch the toy’s accessible side.\"}",
  "call_id": "call_pIXUK54sxO5dc8D7CDKTxZMR",
  "id": "fc_06fa6831aa293191016ab2a97a0ebc87d09a1025420daca954",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pIXUK54sxO5dc8D7CDKTxZMR",
  "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]: [0.1287, 1.6703, 0.4915, 0.5194, 0.0177, 0.0143, 0.9954, -0.0238, 0.894, 0.6846, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3871 left_y=0.0506 left_z=0.0202 left_yaw=0.0908 left_pitch=-0.086 left_roll=0.0176 left_gripper=0.9954 right_x=0.263 right_y=0.0009 right_z=0.1347 right_yaw=0.0011 right_pitch=-0.3036 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.5179, 7.0085, 1.8632, -0.0366, 0.0611, -0.1099, -0.3077, -1.9624, 6.9949, 1.6484, -0.0855, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511350f285dec9c30843684d7c4f8fefdbbe98e67317fdb5441030155b0dc29a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b89c326d63ef9bdedba34768ca87682b6f239df465f35157f24ccc4a5e163b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5b4251178123f27bf4ac990c8a1a629076de931c7fb64ed81e96f77c08de36",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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