adhoc

completed
2026-09-22T16:20:12.660746+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
285.9 s
total steps
381
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open, with a white plush on its left, a brown plush in front, and a yellow object on its right. I am positioning the left gripper over the white plush first.
move_to
left_x0.3500left_y-0.1150left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7933, 0.6056, -0.3882, -0.0193, -0.0231, 0.9979, -0.0212, 0.7952, 0.609, -0.4038, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9979 right_x=0.2923 right_y=0.0009 right_z=0.177 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4581, -1.3333, 10.2085, 1.9609, -0.0806, 0.0708, -0.232, -0.2667, -1.4974, 9.5521, 2.0879, -0.0464, 0.1001, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.115,"left_z":0.14},"note":"The safe is open, with a white plush on its left, a brown plush in front, and a yellow object on its right. I am positioning the left gripper over the white plush first."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe white plush is left of the jaw column in the wrist view. I am shifting left and forward while lowering toward its body, clear of the safe wall.
move_to
left_x0.3750left_y-0.0800left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5232, 1.2465, 0.6392, -0.1299, -0.4072, -0.3077, 0.9974, -0.0212, 0.8005, 0.6151, -0.4335, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.3342 left_y=-0.1078 left_z=0.1157 left_yaw=-0.0257 left_pitch=-0.0902 left_roll=0.0377 left_gripper=0.9974 right_x=0.2892 right_y=0.0009 right_z=0.1723 right_yaw=0.0001 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.1709, -4.6564, 8.9368, 1.9609, -0.3199, -0.0513, -0.0611, -0.1846, -1.6752, 6.7214, 1.9707, -0.022, -0.0513, -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":0.375,"left_y":-0.08,"left_z":0.055},"note":"The white plush is left of the jaw column in the wrist view. I am shifting left and forward while lowering toward its body, clear of the safe wall."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe plush remains slightly left and ahead of the fingertips. I am making a final small alignment and lowering the jaws around its torso.
move_to
left_x0.3950left_y-0.0550left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.358, 1.5021, 0.5594, 0.1307, -0.3183, -0.2272, 0.9974, -0.0212, 0.8032, 0.6151, -0.4553, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.356 left_y=-0.0703 left_z=0.04 left_yaw=0.0283 left_pitch=-0.187 left_roll=0.0746 left_gripper=0.9974 right_x=0.2862 right_y=0.0009 right_z=0.1673 right_yaw=-0.0004 right_pitch=-0.0538 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [0.1709, -7.1043, 5.8872, 2.0488, -0.0415, 0.0855, -0.022, -0.0752, -1.4017, 7.0769, 1.8584, -0.0415, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.055,"left_z":0.015},"note":"The plush remains slightly left and ahead of the fingertips. I am making a final small alignment and lowering the jaws around its torso."})
tool
executing move_to over 3 steps (0.3s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe fingertips have reached the table before centering on the plush. I am lifting slightly and moving farther forward and left so the jaws can surround its body rather than catch its edge.
move_to
left_x0.4250left_y-0.0250left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.329, 1.5738, 0.548, 0.2356, -0.2935, -0.1951, 0.9974, -0.0212, 0.8051, 0.6151, -0.4717, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3654 left_y=-0.067 left_z=0.0278 left_yaw=0.0179 left_pitch=-0.1745 left_roll=0.0735 left_gripper=0.9974 right_x=0.2838 right_y=0.0011 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0721 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [0.1573, -5.9966, 5.2718, 1.7705, -0.3004, -0.0464, -0.0171, -0.1026, -1.2786, 7.1863, 1.9072, -0.0269, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.025,"left_z":0.08},"note":"The fingertips have reached the table before centering on the plush. I am lifting slightly and moving farther forward and left so the jaws can surround its body rather than catch its edge."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe left arm did not track that target, so I will retreat upward and inward instead of forcing it. I am also restoring the idle right arm to its parked height.
move_to
left_x0.3300left_y-0.0600left_z0.1800right_x0.2920right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3283, 1.5764, 0.5476, 0.2363, -0.3008, -0.1955, 0.9974, -0.0212, 0.8055, 0.6151, -0.4995, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3654 left_y=-0.0654 left_z=0.0271 left_yaw=0.025 left_pitch=-0.1749 left_roll=0.0789 left_gripper=0.9974 right_x=0.2795 right_y=0.0012 right_z=0.1581 right_yaw=0.0003 right_pitch=-0.1003 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.0752, -6.2838, 5.135, 1.7607, -0.188, 0.0024, -0.0171, -0.2256, -1.2513, 6.9812, 1.9023, -0.0269, -0.022, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.06,"left_z":0.18,"right_x":0.292,"right_y":0,"right_z":0.18},"note":"The left arm did not track that target, so I will retreat upward and inward instead of forcing it. I am also restoring the idle right arm to its parked height."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteFrom the raised view, the white plush is still ahead of the grasp point. I am approaching farther forward with a slight forward tool tilt to improve reach.
move_to
left_x0.4350left_y-0.0450left_z0.1200left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3542, 1.1809, 0.8406, -0.4599, -0.3115, -0.2192, 0.9974, -0.0219, 0.8722, 0.6884, -0.5732, -0.0204, -0.0273, 0.9996] state[eef_state]: left_x=0.3358 left_y=-0.0626 left_z=0.1602 left_yaw=0.0213 left_pitch=-0.1782 left_roll=0.0714 left_gripper=0.9974 right_x=0.2815 right_y=0.001 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.1674 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.4171, -6.1333, 10.3316, 1.8388, -0.2711, -0.022, -0.0171, -0.4991, -1.265, 9.6615, 1.9023, -0.0952, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.045,"left_z":0.12,"left_pitch":0.2},"note":"From the raised view, the white plush is still ahead of the grasp point. I am approaching farther forward with a slight forward tool tilt to improve reach."})
tool
executing move_to over 13 steps (1.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe white plush now reaches the fingertip region of the wrist image. I am lowering around its middle with a small sideways correction.
move_to
left_x0.4450left_y-0.0250left_z0.0250left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2218, 1.56, 0.6212, 0.4259, -0.2802, -0.0731, 0.9974, -0.0238, 0.8753, 0.6888, -0.6121, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4207 left_y=-0.0411 left_z=0.0962 left_yaw=0.0432 left_pitch=0.0823 left_roll=0.0817 left_gripper=0.9974 right_x=0.275 right_y=0.0005 right_z=0.1516 right_yaw=-0.0021 right_pitch=-0.209 right_roll=0.0037 right_gripper=0.9996 state[joint_eff]: [0.3077, -6.7214, 5.8188, 2.293, 0.1001, 0.2027, -0.0171, -0.0342, -1.8393, 6.7897, 1.917, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.025,"left_z":0.025,"left_pitch":0.2},"note":"The white plush now reaches the fingertip region of the wrist image. I am lowering around its middle with a small sideways correction."})
tool
executing move_to over 5 steps (0.5s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe white plush is between the open fingers at table level. I will close the jaws to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1616, 1.9656, 0.5491, 0.9264, -0.2657, -0.0292, 0.9974, -0.0238, 0.878, 0.688, -0.6353, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.4333 left_y=-0.02 left_z=0.0098 left_yaw=0.0681 left_pitch=0.1004 left_roll=0.1083 left_gripper=0.9974 right_x=0.2708 right_y=0.0006 right_z=0.1467 right_yaw=-0.002 right_pitch=-0.2357 right_roll=0.0043 right_gripper=0.9996 state[joint_eff]: [0.4444, -7.5282, 4.3829, 1.4872, 0.2662, 0.0562, -0.0171, -0.294, -1.812, 6.8718, 1.7167, -0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white plush is between the open fingers at table level. I will close the jaws to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe closed width indicates an empty grasp; the plush is just beyond the fingertips. I will reopen and move 2.5 cm forward for one corrected attempt.
move_to
left_x0.4700left_y-0.0250left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.9926, 0.5488, 1.0767, -0.2504, -0.0265, 0.0121, -0.0238, 0.8791, 0.688, -0.6575, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4459 left_y=-0.0223 left_z=0.031 left_yaw=0.0634 left_pitch=0.2186 left_roll=0.0768 left_gripper=0.0121 right_x=0.2668 right_y=0.0008 right_z=0.1427 right_yaw=-0.0017 right_pitch=-0.259 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [0.0068, -7.3641, 3.8222, 1.746, 0.1538, 0.0513, 1.033, -0.1299, -1.4838, 6.9949, 1.6825, -0.0708, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.025,"left_z":0,"left_gripper":1},"note":"The closed width indicates an empty grasp; the plush is just beyond the fingertips. I will reopen and move 2.5 cm forward for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe plush body is now within the finger span, slightly left of center. I am centering sideways and closing around it.
move_to
left_y0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1574, 2.1456, 0.6487, 1.2015, -0.2584, -0.0219, 0.9954, -0.0238, 0.8825, 0.6861, -0.6788, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4739 left_y=-0.0259 left_z=0.0238 left_yaw=0.0708 left_pitch=0.2889 left_roll=0.0674 left_gripper=0.9954 right_x=0.2625 right_y=0.0009 right_z=0.1377 right_yaw=-0.0013 right_pitch=-0.2857 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [0.0205, -6.3248, 4.1641, 1.3602, 0.0269, -0.0464, 0.0366, -0.0342, -1.8393, 6.8855, 1.5995, -0.0415, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0,"left_gripper":0},"note":"The plush body is now within the finger span, slightly left of center. I am centering sideways and closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe second white-plush attempt is also empty, so I am clearing the left arm to reassess its position. Meanwhile, the right arm will approach the yellow object beside the safe.
move_to
left_x0.3200left_y0.0000left_z0.2200left_pitch0.0000left_gripper1.0000right_x0.4600right_y0.1800right_z0.1600right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0803, 2.1525, 0.646, 1.2533, -0.202, -0.0055, 0.0108, -0.0238, 0.8848, 0.6861, -0.6998, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4779 left_y=0.0007 left_z=0.0313 left_yaw=0.0916 left_pitch=0.3267 left_roll=0.0595 left_gripper=0.0108 right_x=0.2586 right_y=0.001 right_z=0.1338 right_yaw=-0.0014 right_pitch=-0.3089 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.4991, -9.935, 2.6325, 1.5507, 0.0757, 0.0122, 0.862, -0.2256, -1.7573, 7.0632, 1.5849, -0.022, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0,"left_z":0.22,"left_pitch":0,"left_gripper":1,"right_x":0.46,"right_y":0.18,"right_z":0.16,"right_pitch":0.2},"note":"The second white-plush attempt is also empty, so I am clearing the left arm to reassess its position. Meanwhile, the right arm will approach the yellow object beside the safe."})
tool
executing move_to over 17 steps (1.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe yellow object is aligned near the right jaw column. I am moving slightly forward and lowering to grasp its narrow middle.
move_to
right_x0.4800right_y0.1850right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1307, 0.9649, 0.7681, -0.3649, -0.2173, -0.0906, 0.9961, 0.5297, 1.6966, 0.9573, 0.1642, 0.4454, 0.2096, 0.9996] state[eef_state]: left_x=0.3298 left_y=-0.0013 left_z=0.2109 left_yaw=0.0909 left_pitch=0.0278 left_roll=0.0469 left_gripper=0.9961 right_x=0.4399 right_y=0.1735 right_z=0.1285 right_yaw=0.0374 right_pitch=0.0759 right_roll=-0.0434 right_gripper=0.9996 state[joint_eff]: [-0.4444, -2.8786, 9.7846, 1.8632, -0.1343, 0.105, -0.1538, 0.0889, -8.1436, 8.8274, 2.1661, 0.3199, 0.0024, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.185,"right_z":0.045},"note":"The yellow object is aligned near the right jaw column. I am moving slightly forward and lowering to grasp its narrow middle."})
tool
executing move_to over 6 steps (0.6s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe yellow object fills the space between the right fingertips. I will close gently to its approximate width to avoid squeezing it out sideways.
move_to
right_gripper0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 0.971, 0.77, -0.4038, -0.2211, -0.0952, 0.996, 0.5034, 2.0087, 0.9733, 0.3786, 0.4225, 0.1978, 0.9996] state[eef_state]: left_x=0.3254 left_y=-0.0003 left_z=0.2021 left_yaw=0.0958 left_pitch=-0.0136 left_roll=0.0547 left_gripper=0.996 right_x=0.464 right_y=0.1769 right_z=0.03 right_yaw=0.0373 right_pitch=-0.003 right_roll=-0.0794 right_gripper=0.9996 state[joint_eff]: [-0.294, -2.9333, 6.9949, 2.0586, -0.0855, -0.0073, -0.0269, -0.2256, -9.894, 7.9521, 1.8877, 0.1392, -0.105, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.28},"note":"The yellow object fills the space between the right fingertips. I will close gently to its approximate width to avoid squeezing it out sideways."})
tool
executing move_to over 8 steps (0.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe right gripper has stopped at a substantial width, consistent with holding the yellow object. I will lift a short distance to check that it follows.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 0.9714, 0.7673, -0.4061, -0.2211, -0.0982, 0.996, 0.5037, 2.0258, 0.9764, 0.4259, 0.4217, 0.1841, 0.4665] state[eef_state]: left_x=0.3247 left_y=-0.0002 left_z=0.2003 left_yaw=0.0974 left_pitch=-0.0187 left_roll=0.0534 left_gripper=0.996 right_x=0.4693 right_y=0.1802 right_z=0.0317 right_yaw=0.0457 right_pitch=0.0259 right_roll=-0.0757 right_gripper=0.4665 state[joint_eff]: [-0.0068, -2.5094, 7.241, 1.707, -0.0806, 0.0024, -0.0122, -0.3624, -9.6752, 7.2821, 1.9805, 0.1148, 0.0464, 0.8034] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The right gripper has stopped at a substantial width, consistent with holding the yellow object. I will lift a short distance to check that it follows."})
tool
executing move_to over 6 steps (0.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe yellow object has lifted with the gripper. I am carrying it upward and across to the center of the open safe.
move_to
right_x0.4700right_y0.3250right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1299, 0.9733, 0.7673, -0.4091, -0.2207, -0.0986, 0.996, 0.5045, 1.8645, 1.0641, 0.1757, 0.4126, 0.1837, 0.4689] state[eef_state]: left_x=0.3245 left_y=0.0002 left_z=0.1991 left_yaw=0.0989 left_pitch=-0.0235 left_roll=0.054 left_gripper=0.996 right_x=0.4688 right_y=0.182 right_z=0.0952 right_yaw=0.054 right_pitch=0.0225 right_roll=-0.0717 right_gripper=0.4689 state[joint_eff]: [-0.0889, -2.6462, 7.0085, 1.7167, -0.149, -0.0415, -0.0171, -0.1846, -10.3316, 7.6103, 1.7558, 0.2271, -0.0122, 0.232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.325,"right_z":0.21},"note":"The yellow object has lifted with the gripper. I am carrying it upward and across to the center of the open safe."})
tool
executing move_to over 12 steps (1.2s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe yellow object is above the safe's red-lined compartment. I am lowering it into the compartment, away from the rear hinge.
move_to
right_x0.4500right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1314, 0.976, 0.7662, -0.4278, -0.2211, -0.102, 0.996, 0.7761, 2.0689, 1.8275, -0.4866, 0.5941, 0.3458, 0.4719] state[eef_state]: left_x=0.3219 left_y=0.0001 left_z=0.1942 left_yaw=0.0997 left_pitch=-0.0453 left_roll=0.0565 left_gripper=0.996 right_x=0.4664 right_y=0.3243 right_z=0.1997 right_yaw=0.0955 right_pitch=0.0032 right_roll=-0.087 right_gripper=0.4719 state[joint_eff]: [-0.1983, -2.6735, 7.0769, 1.8242, -0.1538, -0.0317, -0.0122, 0.1709, -11.2342, 8.7726, 1.6044, 0.4518, 0.2418, 0.2955] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_z":0.085},"note":"The yellow object is above the safe's red-lined compartment. I am lowering it into the compartment, away from the rear hinge."})
tool
executing move_to over 8 steps (0.8s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe yellow object is inside the safe opening at a low height. I will release it onto the lining.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1307, 0.976, 0.7654, -0.4351, -0.2211, -0.1062, 0.996, 0.7979, 2.1059, 1.4601, -0.1486, 0.6025, 0.3565, 0.4736] state[eef_state]: left_x=0.3208 left_y=0.0005 left_z=0.1924 left_yaw=0.1029 left_pitch=-0.0529 left_roll=0.0549 left_gripper=0.996 right_x=0.4444 right_y=0.3174 right_z=0.0859 right_yaw=0.1043 right_pitch=-0.0439 right_roll=-0.1248 right_gripper=0.4736 state[joint_eff]: [-0.1299, -2.4547, 7.0906, 1.7607, -0.1538, -0.0317, -0.0171, 0.5265, -10.6462, 6.6803, 1.8291, 0.3101, 0.0562, 0.1636] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow object is inside the safe opening at a low height. I will release it onto the lining."})
tool
executing move_to over 6 steps (0.6s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe yellow object rests inside the safe. I am parking the right arm and approaching the white plush from farther forward with more tilt, using its now-clear overhead position.
move_to
right_x0.2900right_y0.0000right_z0.2200left_x0.5050left_y-0.0250left_z0.1200left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1307, 0.976, 0.7654, -0.4503, -0.2211, -0.1093, 0.996, 0.7994, 2.1231, 1.4399, -0.157, 0.6014, 0.3496, 0.9949] state[eef_state]: left_x=0.3185 left_y=0.0008 left_z=0.1895 left_yaw=0.1047 left_pitch=-0.0677 left_roll=0.056 left_gripper=0.996 right_x=0.4389 right_y=0.3131 right_z=0.0681 right_yaw=0.1087 right_pitch=-0.0802 right_roll=-0.1589 right_gripper=0.9949 state[joint_eff]: [-0.1846, -2.5094, 6.9675, 1.8437, -0.1245, 0.0171, -0.0122, -0.1299, -13.2581, 7.8838, 1.4921, 0.1978, 0.1001, 0.0269] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.22,"left_x":0.505,"left_y":-0.025,"left_z":0.12,"left_pitch":0.5},"note":"The yellow object rests inside the safe. I am parking the right arm and approaching the white plush from farther forward with more tilt, using its now-clear overhead position."})
tool
executing move_to over 27 steps (2.7s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe white plush is now directly below the fingertips rather than ahead of them. I will descend vertically around its body.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.985, 0.72, 1.0817, -0.3046, -0.0063, 0.996, 0.0006, 0.8852, 0.8143, -0.6456, 0.0467, -0.1783, 0.9967] state[eef_state]: left_x=0.4949 left_y=-0.0209 left_z=0.0949 left_yaw=0.1135 left_pitch=0.3997 left_roll=0.0655 left_gripper=0.996 right_x=0.2875 right_y=-0.0045 right_z=0.197 right_yaw=0.0509 right_pitch=-0.1347 right_roll=-0.157 right_gripper=0.9967 state[joint_eff]: [-0.253, -8.9094, 6.4205, 2.3858, 0.0464, 0.188, -0.0171, -0.1162, -2.2085, 10.5368, 2.0488, -0.1197, -0.0562, 0.1685] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The white plush is now directly below the fingertips rather than ahead of them. I will descend vertically around its body."})
tool
executing move_to over 4 steps (0.4s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe plush body is at the fingertip line, with its metal ring visible beyond it. I am closing the jaws around the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 2.22, 0.7216, 1.2472, -0.305, -0.0025, 0.996, 0.0006, 0.8898, 0.8124, -0.6765, 0.0338, -0.197, 0.9968] state[eef_state]: left_x=0.4913 left_y=-0.0202 left_z=0.0232 left_yaw=0.1048 left_pitch=0.334 left_roll=0.0887 left_gripper=0.996 right_x=0.2826 right_y=-0.0022 right_z=0.1893 right_yaw=0.0726 right_pitch=-0.1731 right_roll=-0.1599 right_gripper=0.9968 state[joint_eff]: [-0.0752, -10.6735, 3.6308, 2.0879, -0.0464, -0.2711, -0.0171, -0.2256, -2.0034, 7.1043, 1.8388, 0.1148, 0.1978, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush body is at the fingertip line, with its metal ring visible beyond it. I am closing the jaws around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe jaws closed empty beside the plush, which is offset to the left in the close-up. I will reopen and correct sideways while lowering the grasp point.
move_to
left_x0.4900left_y0.0300left_z0.0050left_gripper1.0000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1558, 2.2288, 0.7223, 1.3071, -0.326, -0.0029, 0.0169, 0.0006, 0.8902, 0.8124, -0.6846, 0.0391, -0.1955, 0.9968] state[eef_state]: left_x=0.4935 left_y=-0.0166 left_z=0.0335 left_yaw=0.1298 left_pitch=0.3852 left_roll=0.0782 left_gripper=0.0169 right_x=0.2812 right_y=-0.0032 right_z=0.1878 right_yaw=0.0673 right_pitch=-0.1816 right_roll=-0.1619 right_gripper=0.9968 state[joint_eff]: [-0.2256, -10.3863, 3.5487, 1.2772, 0.1587, -0.0024, 1.0769, -0.0479, -1.5932, 6.7897, 1.6093, -0.0513, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":0.03,"left_z":0.005,"left_gripper":1,"left_pitch":0.3},"note":"The jaws closed empty beside the plush, which is offset to the left in the close-up. I will reopen and correct sideways while lowering the grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe white plush is now visibly between the open fingers. I will make a small centering adjustment and close.
move_to
left_y0.0150left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0219, 2.2276, 0.72, 1.3098, -0.2043, -0.004, 0.9956, 0.0006, 0.8948, 0.812, -0.7021, 0.0364, -0.1993, 0.9968] state[eef_state]: left_x=0.4959 left_y=0.0286 left_z=0.0328 left_yaw=0.1546 left_pitch=0.3813 left_roll=0.0514 left_gripper=0.9956 right_x=0.2785 right_y=-0.0027 right_z=0.1833 right_yaw=0.072 right_pitch=-0.2043 right_roll=-0.1612 right_gripper=0.9968 state[joint_eff]: [0.4308, -6.6803, 3.453, 1.4774, -0.0611, 0.1343, -0.1099, -0.1573, -1.9077, 6.7761, 1.6777, 0.0269, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.015,"left_gripper":0},"note":"The white plush is now visibly between the open fingers. I will make a small centering adjustment and close."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe white plush is too low beneath the tilted jaws for a secure grasp. I am lifting slightly and making the tool more vertical before another table-level approach.
move_to
left_x0.4750left_y0.0050left_z0.0750left_pitch-0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0605, 2.2322, 0.7208, 1.3334, -0.2413, -0.0116, 0.0109, 0.0006, 0.8948, 0.8124, -0.7242, 0.0364, -0.1993, 0.9968] state[eef_state]: left_x=0.4965 left_y=0.0158 left_z=0.0368 left_yaw=0.1557 left_pitch=0.4023 left_roll=0.0464 left_gripper=0.0109 right_x=0.2746 right_y=-0.0027 right_z=0.1797 right_yaw=0.0724 right_pitch=-0.2259 right_roll=-0.1596 right_gripper=0.9968 state[joint_eff]: [-0.4034, -10.0991, 3.4803, 1.6435, -0.0366, -0.0366, 0.9206, -0.1846, -1.6615, 6.9128, 1.7118, -0.0171, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":0.005,"left_z":0.075,"left_pitch":-0.15,"left_gripper":1},"note":"The white plush is too low beneath the tilted jaws for a secure grasp. I am lifting slightly and making the tool more vertical before another table-level approach."})
tool
executing move_to over 19 steps (1.9s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteWith the tool more vertical, the plush is centered clearly between the jaws. I am lowering to table level around its torso.
move_to
left_x0.4900left_z0.0000left_pitch-0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.065, 1.8339, 0.971, 0.0959, -0.2138, -0.1287, 0.9966, 0.0006, 0.8948, 0.812, -0.7399, 0.0364, -0.1997, 0.9968] state[eef_state]: left_x=0.4701 left_y=0.0105 left_z=0.0515 left_yaw=0.178 left_pitch=-0.1712 left_roll=0.0616 left_gripper=0.9966 right_x=0.2718 right_y=-0.0027 right_z=0.1769 right_yaw=0.0729 right_pitch=-0.242 right_roll=-0.1586 right_gripper=0.9968 state[joint_eff]: [-0.4171, -12.1641, 8.5538, 1.6972, -0.0562, 0.0806, -0.2662, -0.1436, -1.6479, 6.735, 1.663, -0.0073, -0.0513, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_z":0,"left_pitch":-0.15},"note":"With the tool more vertical, the plush is centered clearly between the jaws. I am lowering to table level around its torso."})
tool
executing move_to over 4 steps (0.4s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe grasp point has reached table height and the plush is centered in the jaw opening. I will close around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.065, 1.9999, 0.9752, 0.2512, -0.2092, -0.1436, 0.9961, 0.0006, 0.8963, 0.812, -0.7479, 0.0372, -0.2024, 0.9968] state[eef_state]: left_x=0.4838 left_y=0.0089 left_z=0.0043 left_yaw=0.1826 left_pitch=-0.1777 left_roll=0.049 left_gripper=0.9961 right_x=0.2704 right_y=-0.0028 right_z=0.1751 right_yaw=0.0739 right_pitch=-0.2517 right_roll=-0.1604 right_gripper=0.9968 state[joint_eff]: [-0.0342, -7.7197, 5.6821, 1.3065, -0.1636, 0.1294, -0.0757, -0.1983, -1.6752, 6.8855, 1.5409, -0.0024, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The grasp point has reached table height and the plush is centered in the jaw opening. I will close around it."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteThe gripper now holds about 3 cm of material, indicating a real grasp. I will lift the white plush to verify it is secure.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.065, 2.0121, 0.9752, 0.2855, -0.218, -0.1509, 0.3056, 0.0006, 0.8967, 0.812, -0.7689, 0.0368, -0.2024, 0.9968] state[eef_state]: left_x=0.4881 left_y=0.0101 left_z=0.0049 left_yaw=0.193 left_pitch=-0.1546 left_roll=0.044 left_gripper=0.3056 right_x=0.2666 right_y=-0.0028 right_z=0.1716 right_yaw=0.0746 right_pitch=-0.273 right_roll=-0.1584 right_gripper=0.9968 state[joint_eff]: [-0.1436, -10.9333, 5.3128, 1.2234, -0.0708, 0.0171, 0.7399, -0.0615, -1.6479, 6.7761, 1.6777, 0.0073, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The gripper now holds about 3 cm of material, indicating a real grasp. I will lift the white plush to verify it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 243
assistant
agent noteThe white plush follows the left gripper. I will carry it above the safe's empty left side, beside the yellow object.
move_to
left_x0.4500left_y-0.2700left_z0.2200left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.065, 1.8782, 1.0466, 0.0372, -0.2211, -0.1589, 0.306, 0.0006, 0.8967, 0.812, -0.7879, 0.0372, -0.2024, 0.9968] state[eef_state]: left_x=0.481 left_y=0.0111 left_z=0.0502 left_yaw=0.202 left_pitch=-0.1954 left_roll=0.0515 left_gripper=0.306 right_x=0.263 right_y=-0.0028 right_z=0.1685 right_yaw=0.0747 right_pitch=-0.2921 right_roll=-0.1573 right_gripper=0.9968 state[joint_eff]: [-0.253, -11.5897, 8.9231, 1.7314, -0.1148, 0.0317, 0.022, -0.1573, -1.4017, 6.6393, 1.6288, -0.0317, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.27,"left_z":0.22,"left_pitch":0.15},"note":"The white plush follows the left gripper. I will carry it above the safe's empty left side, beside the yellow object."})
tool
executing move_to over 25 steps (2.5s)
step 268
assistant
agent noteThe white plush is positioned over the safe compartment. I am lowering it gently inside before releasing it.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8062, 1.953, 1.6135, -0.4263, -0.8703, -0.5816, 0.308, 0.0006, 0.9012, 0.812, -0.7929, 0.0368, -0.2028, 0.9968] state[eef_state]: left_x=0.4476 left_y=-0.2664 left_z=0.2046 left_yaw=0.1803 left_pitch=0.1114 left_roll=0.0571 left_gripper=0.308 right_x=0.2623 right_y=-0.0028 right_z=0.1666 right_yaw=0.0755 right_pitch=-0.3016 right_roll=-0.1565 right_gripper=0.9968 state[joint_eff]: [-0.3487, -10.441, 9.1419, 1.3651, -0.6276, 0.0269, 0.2027, -0.1846, -1.9077, 6.6393, 1.4579, 0.0171, -0.0513, -0.0122] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The white plush is positioned over the safe compartment. I am lowering it gently inside before releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 277
assistant
agent noteThe white plush is inside the safe, so I will release it. The right arm is approaching the brown plush in front, remaining clear of the left gripper.
move_to
left_gripper1.0000right_x0.2550right_y0.3000right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8085, 2.0899, 1.3262, -0.0528, -0.865, -0.585, 0.3095, 0.0006, 0.9016, 0.812, -0.7959, 0.0368, -0.2028, 0.9968] state[eef_state]: left_x=0.4423 left_y=-0.2634 left_z=0.0807 left_yaw=0.1723 left_pitch=0.0803 left_roll=0.0943 left_gripper=0.3095 right_x=0.2617 right_y=-0.0028 right_z=0.1661 right_yaw=0.0756 right_pitch=-0.305 right_roll=-0.1562 right_gripper=0.9968 state[joint_eff]: [-0.0068, -10.8786, 5.6, 1.6679, -0.3687, 0.0122, 0.1343, -0.0342, -1.4974, 7.0496, 1.4432, 0.0073, -0.0317, -0.0073] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.255,"right_y":0.30,"right_z":0.12,"right_pitch":0},"note":"The white plush is inside the safe, so I will release it. The right arm is approaching the brown plush in front, remaining clear of the left gripper."})
tool
executing move_to over 26 steps (2.6s)
step 303
assistant
agent noteThe white plush has been released beside the yellow object. I am withdrawing the left arm and lowering the right fingers around the brown plush's torso.
move_to
left_x0.3000left_y0.0000left_z0.2300right_x0.2550right_y0.3250right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7399, 2.1113, 1.2999, -0.0658, -0.8577, -0.5858, 0.9967, 1.1408, 1.6512, 1.0225, -0.6434, 0.9943, 0.9108, 0.9968] state[eef_state]: left_x=0.452 left_y=-0.2268 left_z=0.0594 left_yaw=0.2336 left_pitch=0.0419 left_roll=0.141 left_gripper=0.9967 right_x=0.2662 right_y=0.2338 right_z=0.1208 right_yaw=-0.0813 right_pitch=0.0217 right_roll=-0.251 right_gripper=0.9968 state[joint_eff]: [-5.7504, -12.9846, 7.9385, 1.4188, -0.4713, -0.0122, -0.2857, 6.3795, -3.0291, 10.9607, 2.2637, -0.7106, -1.4481, -0.0073] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.23,"right_x":0.255,"right_y":0.325,"right_z":0.03},"note":"The white plush has been released beside the yellow object. I am withdrawing the left arm and lowering the right fingers around the brown plush's torso."})
tool
executing move_to over 21 steps (2.1s)
step 324
assistant
agent noteThe brown plush fills the right gripper opening at torso height. I will close securely around its body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3447, 0.9295, 0.8028, -0.5156, -0.5903, -0.2611, 0.9964, 1.2621, 2.1185, 1.2716, -0.6418, 1.0073, 1.1206, 0.9969] state[eef_state]: left_x=0.304 left_y=-0.0009 left_z=0.2224 left_yaw=0.2701 left_pitch=0.0495 left_roll=0.1251 left_gripper=0.9964 right_x=0.2537 right_y=0.3159 right_z=0.0299 right_yaw=-0.073 right_pitch=0.0019 right_roll=-0.2866 right_gripper=0.9969 state[joint_eff]: [0.0342, -1.9487, 8.7316, 1.79, -0.1197, 0.1832, -0.0415, 0.6632, -9.0188, 6.9402, 0.5543, 0.5934, 0.2027, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush fills the right gripper opening at torso height. I will close securely around its body."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteThe brown plush remained ahead of an empty close. I will reopen and advance the grasp point onto the center of its body.
move_to
right_x0.3000right_y0.3200right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3454, 0.934, 0.8028, -0.5392, -0.5728, -0.2665, 0.9964, 1.2621, 2.1246, 1.2751, -0.6491, 1.0138, 1.1149, 0.0182] state[eef_state]: left_x=0.3019 left_y=-0.0031 left_z=0.2161 left_yaw=0.2581 left_pitch=0.0206 left_roll=0.1279 left_gripper=0.9964 right_x=0.2541 right_y=0.315 right_z=0.0293 right_yaw=-0.0704 right_pitch=0.0049 right_roll=-0.3025 right_gripper=0.0182 state[joint_eff]: [-0.1162, -2.3726, 6.8581, 1.7656, -0.4225, -0.0122, -0.0171, -0.1573, -10.7692, 4.6427, 0.4225, 0.3687, 0.0073, 0.6667] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.32,"right_z":0.035,"right_gripper":1},"note":"The brown plush remained ahead of an empty close. I will reopen and advance the grasp point onto the center of its body."})
tool
executing move_to over 10 steps (1.0s)
step 344
assistant
agent noteThe fingers now straddle the brown plush's middle. I will close for the corrected grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3454, 0.934, 0.8028, -0.548, -0.5716, -0.2703, 0.9963, 1.1625, 2.1254, 1.2987, -0.5594, 0.9871, 0.9306, 0.9948] state[eef_state]: left_x=0.3008 left_y=-0.0029 left_z=0.2145 left_yaw=0.2592 left_pitch=0.0133 left_roll=0.1291 left_gripper=0.9963 right_x=0.2907 right_y=0.3098 right_z=0.0324 right_yaw=-0.0683 right_pitch=-0.0203 right_roll=-0.3395 right_gripper=0.9948 state[joint_eff]: [-0.3214, -1.9214, 6.9538, 1.6337, -0.2125, -0.0122, -0.022, -0.6906, -9.1145, 7.8154, 0.8474, 0.5836, -0.0171, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers now straddle the brown plush's middle. I will close for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 354
assistant
agent noteThe corrected brown-plush grasp was also empty. I am withdrawing both arms to safe parked positions; the safe will remain open because the brown plush is still outside.
move_to
right_x0.2900right_y0.0000right_z0.2200right_gripper1.0000left_x0.2900left_y0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3454, 0.934, 0.8028, -0.5621, -0.5716, -0.2703, 0.9961, 1.1587, 2.1265, 1.3003, -0.5632, 0.9791, 0.9199, 0.0086] state[eef_state]: left_x=0.299 left_y=-0.0022 left_z=0.2121 left_yaw=0.2591 left_pitch=0.0017 left_roll=0.1371 left_gripper=0.9961 right_x=0.2911 right_y=0.3089 right_z=0.0311 right_yaw=-0.0651 right_pitch=-0.0309 right_roll=-0.3488 right_gripper=0.0086 state[joint_eff]: [-0.0889, -1.8667, 7.0085, 1.6679, -0.2076, -0.0366, -0.0415, 0.0205, -10.8513, 4.9846, 0.5836, 0.4762, 0.1148, 0.6618] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.22,"right_gripper":1,"left_x":0.29,"left_y":0,"left_z":0.22},"note":"The corrected brown-plush grasp was also empty. I am withdrawing both arms to safe parked positions; the safe will remain open because the brown plush is still outside."})
tool
executing move_to over 26 steps (2.6s)
step 380
assistant
agent notePartial completion: the white plush and yellow object are inside the safe. Repeated grasps of the brown plush were empty, and the motion budget is exhausted. Both arms are parked; the safe remains open with the brown plush outside.
give_up
hindsightThe white plush was successfully grasped near left x=0.49, y=0.01, z=0 with pitch=-0.15; forward pitch left the actual grasp point about 3 cm above the table and repeatedly missed it. The safe compartment is near x=0.45, left y=-0.27/right y=0.32; release height around z=0.08 worked. The brown plush remained ahead of the right fingertips even at x=0.29, y=0.31; its next approach needs a fresh overhead estimate rather than another close at that pose.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3466, 0.9119, 0.8028, -0.6197, -0.5716, -0.2745, 0.996, 0.2821, 0.8909, 0.7727, -0.6186, 0.5056, -0.0547, 0.9977] state[eef_state]: left_x=0.2892 left_y=0.001 left_z=0.2082 left_yaw=0.2605 left_pitch=-0.0271 left_roll=0.1538 left_gripper=0.996 right_x=0.283 right_y=-0.0033 right_z=0.1972 right_yaw=-0.1143 right_pitch=-0.084 right_roll=-0.3659 right_gripper=0.9977 state[joint_eff]: [-0.4171, -2.7829, 8.4581, 1.5897, -0.3101, -0.0708, -0.022, -0.1573, -2.3726, 9.7846, 1.8535, 0.2173, -0.0171, -0.0415] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partial completion: the white plush and yellow object are inside the safe. Repeated grasps of the brown plush were empty, and the motion budget is exhausted. Both arms are parked; the safe remains open with the brown plush outside.","hindsight":"The white plush was successfully grasped near left x=0.49, y=0.01, z=0 with pitch=-0.15; forward pitch left the actual grasp point about 3 cm above the table and repeatedly missed it. The safe compartment is near x=0.45, left y=-0.27/right y=0.32; release height around z=0.08 worked. The brown plush remained ahead of the right fingertips even at x=0.29, y=0.31; its next approach needs a fresh overhead estimate rather than another close at that pose."})
tool
give_up: Partial completion: the white plush and yellow object are inside the safe. Repeated grasps of the brown plush were empty, and the motion budget is exhausted. Both arms are parked; the safe remains open with the brown plush outside.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.154 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, 0.7933, 0.6056, -0.3882, -0.0193, -0.0231, 0.9979, -0.0212, 0.7952, 0.609, -0.4038, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9979 right_x=0.2923 right_y=0.0009 right_z=0.177 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.3333, 10.2085, 1.9609, -0.0806, 0.0708, -0.232, -0.2667, -1.4974, 9.5521, 2.0879, -0.0464, 0.1001, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2db1ccbb0806bbb71880f8cde3e0bcb370ec6e0caa63ba21f79f71fe8b5fba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9332f5a60235e3b724984b0d1dbd3979a911c9456871c9d0ff9f1f8b49a6eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87695b374f67a0032b9992fddff8e48a83d2d70bd7843a5653618437508e74c7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.075 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrMz3x3fEKeXhjKCtahCvMD1V9NJQ8ui1dSPYPXm8iivtQSEEGqu2J9e32FFbFTxJRhJ8mPg4RttjQsAy3onTPx9oarRUuxMc2R_SHfwjIaHtYZKsaDNTTq1mDOpLeycNheiV76xKiqH1pTDYz8KD8cUP8KsDzxl4m0YZFGIv7GlRtUito_zRx0hYMdusXDpO29IRT50Mm7ZJb4sDz9l7ZhjJ1-Byp8h1kTtf308jLEc9LUiZzpnR9G5yWzIVkzl2VHuQmW1ziaLlZOyHZpyfVdFPKNSxcCU9Fbw-25y5ASAF8vTcNamtPzRSl5wV1QB777Cy58HaXRkevxHBCM2hS0rGWlPCPS8buAsk8-E8a9qrecTAXY6ZAhTfelxcfTOzWO4mVeeT5B91DSatSr-nL6RzNSImY-4d8vFNriyu7l4DokgNiDx_S7hz1luZfcA0vadH_axZlT-oqa-le2PSyct8NAZvH2fkLu6aRSjL6fMYPeE3dzm8pVxuan6TZO6m4a32kDjc9G7EOAx-ZcEYMbHtxIc5sCEhc5qjaNDpqDANdqR4f98Dq790_lGowWJslgIy2_KdN6Kk-snolLh9W5XF2sNtoxcdfMUMZcjiIJ97R5M7Unm7NxdBO_U-ytHW15i8PMcZWUvn8JEIMus1GNgtrX-cT5MQjgEPNv9F_L4YUgAr6E2abBfqpYpD0c0FxYWMGfJL3w7feWMtsjht7svs-4ucNA7rfykRUiTZTxWN_6QY_rANEMAwoM52U8_6Qu87PVziCk2uO20P7xU4J9wIyvXQpO5qjtHTtKLVGQ82gSnnBwdkPLIcgCKXxe7KQsLW4tVl9aJg76FvvUQiKP8x22kAa0dsbzesw6OSk5ijTh0AtYjfyCqVpEQz5HZ7BNNWm3d6r0Vs1L68gEa_8hG4WBAkH7E_fcRGWjdUioLEmmeq3kJsLCITPqWVzKfL71VtgoInCM29Ud5o6GDOc2ohJaFI1qTsQcIPBcAt6lzJvmHBWn5sDd1tspi-Vj5Lex_DtANlnGVDzWjxP3wfDvpBmCdzLTs52rbq0DB_05eEWJc_qR0YOlTeO5kaVLMsfnCf_bihgTeH73MraHMQLRO6p5IVCo8T5lsqZled-Ub8sNAWaVQcxVhwxPjROvGvbsCBl5d6MImW7Qyx9PruqjdRy-26CWlXmXCYaSU5BG6-Cl174r4VxKej0jvw4OdCAKRsEvpYWEKX0mLbP22EPMnKZWpyq3jIQEQrcoNgZSV9micoc9JWivi9jM2iwgLZ1zypbDvHBPT37CYrUyfU9CHoYQrg9D5pBmhkhOSbqMcsg6Mn4QOUa5MEVpsv04PxJNRf0eougsbYGE_9D08ipogNPt2MFChyWIBfeWTOZBRxUECPdJuTn0LnEbk5_odxY-ILW792MUnahGF9c2TrUcYU2TIh1XAv0sL1d5MZvJ4EBuSFFhcrHzhcpVvNp-mxbCOdv9JbKRN-RUk3AFx4rtMH9iTtPk292ck5wqSaD1QACMl8lbWWwTdOfR6f-kXYCBoLYC7EPnstMKuQOTE5U_9b74qikmASNS5uNmEJ6Dvy_SfnYnA2v8cdEg92xqI1SgPK6GNijWlc12ETxYmSpDcOS7ggckgL2otcvXOcOjymfQbbtHmVMFANfJgDz1rm7bDPgcoC6MdRaqB9wTnVdRKA==",
  "id": "rs_06f05438e7e1833a016ab2aac714a087d0b588c3c7f30f6e07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.115,\"left_z\":0.14},\"note\":\"The safe is open, with a white plush on its left, a brown plush in front, and a yellow object on its right. I am positioning the left gripper over the white plush first.\"}",
  "call_id": "call_0m3oRdayOlCFZbWMDaxo7HE1",
  "id": "fc_06f05438e7e1833a016ab2aacaf1fc87d082125dca20b95164",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0m3oRdayOlCFZbWMDaxo7HE1",
  "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]: [-0.5232, 1.2465, 0.6392, -0.1299, -0.4072, -0.3077, 0.9974, -0.0212, 0.8005, 0.6151, -0.4335, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3342 left_y=-0.1078 left_z=0.1157 left_yaw=-0.0257 left_pitch=-0.0902 left_roll=0.0377 left_gripper=0.9974 right_x=0.2892 right_y=0.0009 right_z=0.1723 right_yaw=0.0001 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -4.6564, 8.9368, 1.9609, -0.3199, -0.0513, -0.0611, -0.1846, -1.6752, 6.7214, 1.9707, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981089f3ef9cc1d7d6e4b18ff573b4e288c28ca760f5a7d4f108718af102b5bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab89a2add6b1795c2cc1227d2fd3049cbc27d8ecab212e0ffb63da79fa726b11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e721e939a0e08cce8b9854b62e91f8aa7dbdcf4b6c02eb09049ffb0415bd24",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.929 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, 0.7933, 0.6056, -0.3882, -0.0193, -0.0231, 0.9979, -0.0212, 0.7952, 0.609, -0.4038, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9979 right_x=0.2923 right_y=0.0009 right_z=0.177 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.3333, 10.2085, 1.9609, -0.0806, 0.0708, -0.232, -0.2667, -1.4974, 9.5521, 2.0879, -0.0464, 0.1001, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrSLrVHvpTm8e2XiQPYDm4sy7mXEbCTu3DbhbGsY9HWP6smtWINNQQPjEENdeFNsWVyuAxuFtKncAgsRsiDzpy2v2ah8r9TV6ifwzhmS7zOwZbInJ4tJ2k-VJyjfdU8gxEeihCWZiGZXdxu28LzuF6FNFSTGpELembS9ZiNbfjqUYVz_La5yNIdvVIKJmaZKH__vr7aI2E8M0SLlijN1IUhpIYfYz_LP3bufIuxPfgomHkGhtocNQ_OIIw68bqyl5yX8Jz5X5HBpWyyonbOCpJFYruc6R-K60Sj3-jvJ8IUsBuUOwLJBGOaGq_bueclCdxrFwCxpBZ8KKdj07jILxKIDEfZTEvEzUIkX7aoYaw2p328D4Gfop4guBAWk06xtcjdnuH5ZE2HyCVE0mu23LGp9D95tiKeHUAhFa66I1O7tRrK01ykQVBGKTDSJJETqRGpq_h2YpZ82z5QzQp5Ci3cWMzBvPoS15lBUhrSwh4OOXzpsSlvLj0AHLmOqQWO6VNaAR8l9Ejlije87IaExOwf58F-ogML854SmbHYxUbojPdmFEQs7xHjHK6NSxiNh0OaTYIjxt0HPMMy3Ucrso1S1sSju-h99i0_Q_rtNLrxFVTKY3R620Q3XH-ifmLkDir9VMYl9e-J3A7lTG89kJMQ66ygaj9l7GK0ad1nT2ib5f2xnPS1-RNDd1WcTRxINvf3Dmsy8ix-fcCQXxeuNeQPpxpNSwveEjYqsjTUECQYG9l6T5Nh0ocJk_k2NBskr-RAN1lYVQFxGNfL__QyyVAxBtWJ2uFHldH8Y98kOiumEVn6Gv4OapXauqCMqnxr6HIajVMjEldoHNjogJ4iOuqGAxXFIjteeIfOhOkFQtX3aLtYZUUAEafIIsuqIxlmM3SCUlbzpgBdO2CPiKzRv8z_CYgSw_Jrcq0mtsqPntaVL0wyjMeAGOrm-WUKNyn4wnfvLe2dfdoSdEg1_HLmZwSKwGAw3QNHW1xi3JHiW0mX1fZX-LP_h6JSAbJafpEyBndWSpgV0vHubb72ea_2XEPQkk7qzqpKTBQyz5xOjYXLS89cDko6wK2edV_Yg0TfY9KGu4RAS-pQPMS3nzPznqthc98tSbFZGpY3bxJlhM0YV3gqsCZ5br3yUpCYslJH371dOAAUbMNHDRqwNu50IpdKH97snaplvfuXTc9O4YZL0wtgoINTU_GL4RTu5_8ATXQ7278_Dr2ZcSBP6PUVTrEwrZ66HzIlpYxQUqLqJy1ymnF2qXOh68YMnw6NhRKNamSQLauB2TixDT3IqrDuSY0JHS5y6QZ4V4XDxu6cJPk7md4=",
  "id": "rs_06f05438e7e1833a016ab2aacfe49487d0bd8abd8d3284dd4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.08,\"left_z\":0.055},\"note\":\"The white plush is left of the jaw column in the wrist view. I am shifting left and forward while lowering toward its body, clear of the safe wall.\"}",
  "call_id": "call_srtWj3ynvAWauNNOaRpsSmLV",
  "id": "fc_06f05438e7e1833a016ab2aad1086087d0b53a27e700bfa822",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_srtWj3ynvAWauNNOaRpsSmLV",
  "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]: [-0.358, 1.5021, 0.5594, 0.1307, -0.3183, -0.2272, 0.9974, -0.0212, 0.8032, 0.6151, -0.4553, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.356 left_y=-0.0703 left_z=0.04 left_yaw=0.0283 left_pitch=-0.187 left_roll=0.0746 left_gripper=0.9974 right_x=0.2862 right_y=0.0009 right_z=0.1673 right_yaw=-0.0004 right_pitch=-0.0538 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -7.1043, 5.8872, 2.0488, -0.0415, 0.0855, -0.022, -0.0752, -1.4017, 7.0769, 1.8584, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cdebe20859d1ee9996bae29bd8e2f9f4bf5153881d73e3503e96234a55c5b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98a6d38ff162d82cf01d05396ec9374adfc2be39f420dcc7c1b1c4f5fe5c6a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7a924968462c4bcdb855b82361ff6c8527c9ec148b79e12d7ecbb4396ebc0ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.73 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]: [-0.5232, 1.2465, 0.6392, -0.1299, -0.4072, -0.3077, 0.9974, -0.0212, 0.8005, 0.6151, -0.4335, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3342 left_y=-0.1078 left_z=0.1157 left_yaw=-0.0257 left_pitch=-0.0902 left_roll=0.0377 left_gripper=0.9974 right_x=0.2892 right_y=0.0009 right_z=0.1723 right_yaw=0.0001 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -4.6564, 8.9368, 1.9609, -0.3199, -0.0513, -0.0611, -0.1846, -1.6752, 6.7214, 1.9707, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrYo7OqldXDKmVnWhcxTS7VfLk2lMXUb1wLsUMDsc2Rx0JuAvOdMmsMZPzG0vP9694Zk1yEStQXFyJKorwaTt7i85gZdvJfolKCaMz5rCADwBwKqvg87EtFp6J1R6In9Y6UnDFKAqMSvYtsZ2qyOOBw_4ywuYS4IzEf9fAweCK57urlMelsw0wFc91sDZCJI61L9P_9sGB6vwssjBaaanBjGs9ockqb38G2iYlyTG6Pyg_QiJpjnxCPn6xCKAZhWd6vuPVdsuBCVEuS2Ybd5St6NkrLvJGyLhSIo5SFOyhF7C2yfO5h6PFMK2UDsi58BdS7dNUkpMLshATLDR2p-5zIr6B1hofYJCT-K-CTRH0oZ6kI4gXlfxkvvuyug2Ww173xhT9IEaI4zbSeDs_tNPTkA3OcLS2T8k-YCYsBe3M5ziTUJceaxalUEbXrnh0z98Kmx6JSiOGZdVPRLQeyWmwOpRyfAxDJMr96QOI0kiPJho5NNGvaWhvMV_VcqKqNbNiEi86WuDE7eNy3fF8PGLPdosSdCOhW6FqlKUsOnibqDAxuOQxqPsI9ttpiQnDcgakqV4PWpLEJ0VhHt2kSx6MOTAday2XMCiu-0HOL13YBsWvqcMxyuPGeuNcT5uVUn_HDKhH1hG44GnWjE-PM3V22xAcysZSZFSqu8xrK-D3ByUL0jLcauet9A69nxcgCqiN2A4KhjdekQerHwyJKpEUb-BS5PCJa2QyaHpLWCnUZTmNuY7-ZUeLcYX5cBKiC3HiiMYSD1JE4HUQD8-d7YULSLh94b9s33qkyjtPQawqiPux2PkHsAMHwWu8FGcyeqb3mK890SNFA8lycUVNlGYpQfKGv3Hnt6_0gHk2Bm9EK8YZIAdpETv7Rp_FVzErgKSc2GijJucMP9rHDwvz5TYhjP8IQ5cikoa-UEEN4Y25BhgDG2Ll5iRR47D8TJZbjdBQpbb1c7uDZFwXxQAybUiNe6100UKnX7JxfoQfFlPiyXgNhEGbosyWIFfTpiYinGnqys0SbWdWDdfKdxmuStN3I7r5qlwKLJ9JU7jJ05H3XIR5MW3cjl7vIvhJpS_hjuLQO-o64i2Dkvbzvk8qjCYE_PudwbTvgamD_KfbmjMA4Ib-Mlh10plyL7qnOwP10-jhpgaxKaLDF56wA1RRfgWEji5pP5JpUoFIHS7TZOd3tlrcDXW98WOjiQ8xjg3yWyBdgf7yJmD0aMUxgZpOqFCtYCtC4wOoXhIR_DfzOl6vpE3TbQE8j2jL9_q5qIkOKDA-OaiH06wQkBy9w1B6RenKvhQ==",
  "id": "rs_06f05438e7e1833a016ab2aad59d0c87d0987428d20275fa36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.055,\"left_z\":0.015},\"note\":\"The plush remains slightly left and ahead of the fingertips. I am making a final small alignment and lowering the jaws around its torso.\"}",
  "call_id": "call_rZucVKIrA24NMPxUat30Ei6f",
  "id": "fc_06f05438e7e1833a016ab2aad72ffc87d09c4285d113576588",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rZucVKIrA24NMPxUat30Ei6f",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.329, 1.5738, 0.548, 0.2356, -0.2935, -0.1951, 0.9974, -0.0212, 0.8051, 0.6151, -0.4717, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.067 left_z=0.0278 left_yaw=0.0179 left_pitch=-0.1745 left_roll=0.0735 left_gripper=0.9974 right_x=0.2838 right_y=0.0011 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0721 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.9966, 5.2718, 1.7705, -0.3004, -0.0464, -0.0171, -0.1026, -1.2786, 7.1863, 1.9072, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3540ec98f619cc62228508781d4561fc11b4cfc83adf4d9922850c830450d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba97c431a03f4ac9ea96f524bb19bcbc5bd2ba87f2916379ce2dc41d411bcca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e25c95c5c0a7384c265af1d6a40a704d96fd1415f50f5ff7c5dca7d4ffba1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.848 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]: [-0.358, 1.5021, 0.5594, 0.1307, -0.3183, -0.2272, 0.9974, -0.0212, 0.8032, 0.6151, -0.4553, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.356 left_y=-0.0703 left_z=0.04 left_yaw=0.0283 left_pitch=-0.187 left_roll=0.0746 left_gripper=0.9974 right_x=0.2862 right_y=0.0009 right_z=0.1673 right_yaw=-0.0004 right_pitch=-0.0538 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -7.1043, 5.8872, 2.0488, -0.0415, 0.0855, -0.022, -0.0752, -1.4017, 7.0769, 1.8584, -0.0415, -0.0171, -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": "gAAAAABqsqreM4JRKZneZWJOvbE2lqHuPCkbe-V7zXHurrRxUqH4aympUvKPUERI-WBI1faGxtO3JtWC-vSBTTtB2LFlh5innpQBxI8U5je_Jo6ZZuRC0IoXOdEqGz4TertCvGxWyyikV8YA1yr3ew8ZkiT2253Xf1kKiwmP_zW14maQOTqXeWP6YdBCczKb6RXHXViBZ7SH0qAzXsjS21IwgKNFJHu52sr4aUUwvxayxjxgFzFgTTnZodh7d52Mvm7XQp0lSpiy1D52aIZddiG2pLgpuoU7bPWkDI2kRvugeZmXVFpwyp0TvNliDA1O6cS_G5F0V6Mvp1LHoXI5HJDH2GVjRdLW5yP3Z9yZ-mV1J1eyQQ6rH2DiqMP9MxNTkVaG0zEpYek1jmeVtCLgxkYN4u1gg4YRYT705NJMbG_4MKWPg8erME8mqXiFW7rBQZ3ZydOxuFJ7VOJQF1w8NrvqhUPB0kcQ9bJKIB8DBeTzMZyuGhVceUzpFhz00lZ7iIcksf38MFcA1Vv6HAuIV6K7SlquKn95h6vRICcptfOUvah5h8cJsibUuv5ITyQyZrD6KK_1nP6fe7AeA_5sSRRKNdMtzVNVY27urQML1QEn0C2ROht3-5wmDtq9h-PldNYHlvAO0I0BKotBGfQRrZotbeug0cboKJUaMZX9_tt-aott-NEUjvWD6NUypIVh7xuYuxxVN6_gHCmD_V2RO1lJSvPbgM-uvMApQJXSE5h2zdK83FGB3lkqzf4AZQfCZkFp-LqCj9Vj66CffUk-vg9afgpVd6D_dO77fHfBpig4sgxwo28et9TvnKKQNrCwH47H2cwlmHahb2XEySuf2Ys80b5Rn2SuZGSq0cV9JFLK5DJp21DH_mADGsAxbx9H5U4pTsa0Uu_WpxBBmp_tnoxdwuO8kK74p3XS3wxqqFaXdNMIDFs01m7N3FC7hSCb1UJE7qo4yW4_xVI1Gx_Td7jeB0e1tRklK-vg_o3lfGwm9Wh48U2nmbq9MkRR0JmfmrJcvjRMF28BVZE17QoDHeA0MRqC_LmEtTfpWnzAFPFChgSHY5tv3HV1JdDn2BkMo--ZjOYFkwECvjOM1kQszTMQQrIju6CEidTIr5fkf97DwL_n2IVNm7aX00VFjFXR43elKPH-MK_jaX_zb1XJBPllfvAU-DvyOJ_EO1GSc19VN6v-HK_OzNZ0ViP-Af5Jksygqc4t-pCvwVxJqcHIY5_RSAat5kDVw6iTNG8Omc7gca5douoaIxFj_QdEkTYvsEBdrLdYZArd6HBp65uJ17BFVpl5fq762A5IfWMLhJopxiEjHpIE1pXmVm0HloWZu87b4XkuQ3qtBCO8FQr4P7vMIHiKg_Y2-MKLFLRBwdZ_8U6Xqe_Qz5FkBYHdC3PDC_askvr1CxPN",
  "id": "rs_06f05438e7e1833a016ab2aadad4e887d0ae5da66fad90c070",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.025,\"left_z\":0.08},\"note\":\"The fingertips have reached the table before centering on the plush. I am lifting slightly and moving farther forward and left so the jaws can surround its body rather than catch its edge.\"}",
  "call_id": "call_Po4MkI5uVkZIsHrm7BZ0tSAS",
  "id": "fc_06f05438e7e1833a016ab2aadc452c87d0bd41992ddfc10c24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Po4MkI5uVkZIsHrm7BZ0tSAS",
  "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]: [-0.3283, 1.5764, 0.5476, 0.2363, -0.3008, -0.1955, 0.9974, -0.0212, 0.8055, 0.6151, -0.4995, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.0654 left_z=0.0271 left_yaw=0.025 left_pitch=-0.1749 left_roll=0.0789 left_gripper=0.9974 right_x=0.2795 right_y=0.0012 right_z=0.1581 right_yaw=0.0003 right_pitch=-0.1003 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.2838, 5.135, 1.7607, -0.188, 0.0024, -0.0171, -0.2256, -1.2513, 6.9812, 1.9023, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b0c1c441f97fde8a73427d1d0fec3a21a25a6dce39073a860ee6f69c82e6e37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895a11cfea7c2b1021824f9aa7bf4431a356a0124b2e7bca970ecd76d65329b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c5c756073139ffb5a408ef4a76490cc275ded27b0d5b3387cc31d97aede07e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.387 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]: [-0.329, 1.5738, 0.548, 0.2356, -0.2935, -0.1951, 0.9974, -0.0212, 0.8051, 0.6151, -0.4717, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.067 left_z=0.0278 left_yaw=0.0179 left_pitch=-0.1745 left_roll=0.0735 left_gripper=0.9974 right_x=0.2838 right_y=0.0011 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0721 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.9966, 5.2718, 1.7705, -0.3004, -0.0464, -0.0171, -0.1026, -1.2786, 7.1863, 1.9072, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrker03mfdFjLoCOcg5fPF9_VlRYw5ZrYUHb4-leU61_Djnxm-jEhpdq87vqUFbxoJVYlxGAxCjtsgx0CRdxm-uT43rkR1C1NuW7p8vx23_r9rhXZIrGiW88Kym3taJOKJL4Q9FGihNCDsvz4uDi2HuRG7cn-gjhBGfT4G_6J7YM378_7fSL6JDotB1ZC2ufre5wLGoVHF3ulmDiAAQL98o-bjriqmkLq3bs8WtdeUf6Ixl9rwif8vplN_MVeduHIaY9nIw1TR1FwRHDth6c8MqtdIgzyrte95BgwEsXJxj2NtOQdZJtN6s4EQkJq2CEVlLhw8S7PWZen7Og6dTLtrKXm1BvKEr8FKT_QAxLzuZfdcdPu_DVuzTTfRohRqAkGOlscDvVLYUHu7KbmcAzDSmN5yw77tY-ne88g0Pkt0Xt7nZi59rt1KN5ZVQa8IbbD1y6x6OgZasCZ4bu5Ae9-QrbZ8a1wQyQ8mXUI3vK6NurDIHRxJ4P91zN8L-V-5D4p-6t0WiNid3xGV9oGQ-E7MYkkuw2omX-k26CTRWl_6jg48mUT5L_dDBU7z15F8wsYWgD1Z8jcHdwYNttxddA6Bd9Pvc_5p4wrAuiLGASKMCL3yDfccESUIOQcGtYF9wfIbT3A3rXzpRQiWsbTmCASdOkCkWjwQ-Rjj2hTV-Mj6SiZ8JHr8HmMy3rlJqp0hFGqBCNjiZhMk3f-qWeRm7AlTAqokos5w7BHO2CZoe4Mga3LAhoevr0uhyQ8LH-gfWCOAelyKhXaMFzgvEgN2GrcRfqRzEYBk0PUf_ZtXDtcc8ShfptjKPVXb-C59P396hpKS2uDNrMTMWOF3OhFkNCT81HBV_b1I0zn4Ocnh9OFD5Um4jfbz7kzSHnUQRVaoIsJSdyZdpBgtOVTAHSFG1GuSI2UV0VksmD1HtJPzqupiIovw-4Z8N_4N8AqieaEpsVsrM2uGUMvDvPN5HoYEGkhQuxI71yYTfwawPm7elgQWH3qs7w9nDd2wRnbpqezLmnrwJ-Oz_glfoq0NiCYm_NmDEdwWz5fTkMzqZMZ6wfbXkWgvh8b9S_bI5xAG6HnvhRcELnK07ylfOlmCqs7n0dzLF1gSillOSki2BWo6xZBbaLMrj6gDWFTNKPnKYjnChYGOnnqSgmob_28vD2Z1jqPEKj68iIRQtOi37O-dkFXyxP43_gmkeo47cUpGgqjHTFfnlrl4NFXxfDMR6KKFM2rPx7ZCEXRtYuSWBhoTwVYd_SOLuFWsJoWFxJ1FN3AuwMUbZKhetvPo1Pgt2Qb7PXeHDoOmwM8250dS6WTxd-xIABdHBsjWKN-Hp51RQ4eS5rA7htO9PY61RYqx9jMMRiBWc0KrDAMPGMurLqCV9w8i35OY=",
  "id": "rs_06f05438e7e1833a016ab2aae0c37c87d087d52f2ea016d292",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.06,\"left_z\":0.18,\"right_x\":0.292,\"right_y\":0,\"right_z\":0.18},\"note\":\"The left arm did not track that target, so I will retreat upward and inward instead of forcing it. I am also restoring the idle right arm to its parked height.\"}",
  "call_id": "call_MkFNbGb2j6BOTL9vQmFcHnPi",
  "id": "fc_06f05438e7e1833a016ab2aae23b7887d09a94e348916fde3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MkFNbGb2j6BOTL9vQmFcHnPi",
  "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]: [-0.3542, 1.1809, 0.8406, -0.4599, -0.3115, -0.2192, 0.9974, -0.0219, 0.8722, 0.6884, -0.5732, -0.0204, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0626 left_z=0.1602 left_yaw=0.0213 left_pitch=-0.1782 left_roll=0.0714 left_gripper=0.9974 right_x=0.2815 right_y=0.001 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.1674 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -6.1333, 10.3316, 1.8388, -0.2711, -0.022, -0.0171, -0.4991, -1.265, 9.6615, 1.9023, -0.0952, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485d7aaf234400657e255d14e94dbd39ff52f386beab046d21b6b7a7863c3f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15111fca339f76fa0f0eef14c48248ca1d7588de592d2834fb6a0b945d8a93af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238a6cdb76af70a36b2bcc018ac3aea554b88eb8a1ea46cad5da99dcc2d25098",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.708 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]: [-0.3283, 1.5764, 0.5476, 0.2363, -0.3008, -0.1955, 0.9974, -0.0212, 0.8055, 0.6151, -0.4995, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.0654 left_z=0.0271 left_yaw=0.025 left_pitch=-0.1749 left_roll=0.0789 left_gripper=0.9974 right_x=0.2795 right_y=0.0012 right_z=0.1581 right_yaw=0.0003 right_pitch=-0.1003 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.2838, 5.135, 1.7607, -0.188, 0.0024, -0.0171, -0.2256, -1.2513, 6.9812, 1.9023, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrrelxz6Ici2Sf9OBWxKFT9I4-NuH9nBB26tNOsPoF_97DfAPYZkzbw-Rt_z1jZClR2WFaP62Dwt71Y7z-R9Gnw2NJPMUKmqrMNQyMvMdoxViUrYL-TQGgwoqFXJHCttw6gW146BsZInHnwBBhWSMl-mO8n_jloA7bj-6vc2ZcJGtirfrI_pVufqYwEehSRg9PtpP4zdvFFqVeBQvLykacGT-7L_dA3Sn1wR7AMjJ6HTCSU5J6DqTss0BpeyAgGCIVjDiBoAHL375vc7zzkUtfgV4ONg1hJY8Y8jcJIn1L1CEpoLhfmCixofQSHELN85GH12RmgZbwjuDn8JKvT28QmmFJPbXPyQWzJe6bbnjiBI3cumYI0y-T9MKCehtXDbBjFP36kAQue27B0plX8ALeVO1smzslla2zdbmGx3FuP7_XOz6bWZzFVz_7J-CGgegDCpEt4GeGD3s7MBidO_-F8IFucv7_cY6h28yE_NDYLc35-YSW3EG1o5xrqzjaMgknxrQDbcuOAilubsgcxy3XgxzdFZb9nc4jtr_jXrZG2C0ywHN4oCx-0jjhDsxXASspV603kciAvSY7acKdGPrrQGA4lSL5xe20-ydjmWWwcyKpXCFkOfXFnkGsevPyYLnRLs8fQNxx1JXo_jgE7s1iPBDFspOE3r3bHENFuXWNiP0iCRite5SBL0CiM5Gbyk5bI_VTdQSAAleKz64qMiAu6lIs1mt8uBKsGJHe4xV8vXYlkznh3eE49toLPhr_Du_YlRmgpkvUAZwGjxXbK2iJMB-a8V_z5hqhxJWtKdB26LsoTejJtIfWcRui_BkjI2CP32rvPbo_EWdh8HY_seekbik2ZI5T3KfJ5mQQLWrBESzfEzmL7laXIHotrENhaoXiLW5e4lVeq1Np5ZEsE94fhdW1yzmvKVITrLDm0R8Ywcf87L8H2LQ8wSSI60j5khinXOuXSay1chiadZCkpWrOFLjNlOGrp_Q6pkJfuEiFr8-p9MbrLk-xXuRM_u-VwsZF1fSkLqS4OSRvrOs55eVIcNqd4YzjUhvsqnIPwFs1B9t1WuAii_KChMpbi-LBZKExULjaS2N_QpKKtWP-ysb9xJy7DuLdEVVv6E_uupjyWhcedolMxGfKWAH_yF7BHBtv8NdPW0neRBUjY-1b0UagGSGKYCReDm7sb2qq2JBndvxzRDwmIFT12rdidYBe_5mvdokyKq7N6wQF99HkQfIHlNjiwxIyMevIVl1x5ZUsGGz8Ggr_0xGXdSI9tNZonHN0ktT0AeA24DQ0tY4BkX6HaIjDmQJly_sjYPRohm6ttjO9OXbbfAZTeDj9tHQQpBhOjr7HN_Sfj9erwKsZ6qwyOcYzyXXsmiWhaBXnwGtLXrwe55lP5JldvHRQz4-Z--pNHvP05I86Qyiff5h-RBPN0xg==",
  "id": "rs_06f05438e7e1833a016ab2aae80d5887d093d6c0d927524300",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.045,\"left_z\":0.12,\"left_pitch\":0.2},\"note\":\"From the raised view, the white plush is still ahead of the grasp point. I am approaching farther forward with a slight forward tool tilt to improve reach.\"}",
  "call_id": "call_N7a1INK365aiCrAbXaurqrc0",
  "id": "fc_06f05438e7e1833a016ab2aae9db9087d0878b8626f4c6d56b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N7a1INK365aiCrAbXaurqrc0",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2218, 1.56, 0.6212, 0.4259, -0.2802, -0.0731, 0.9974, -0.0238, 0.8753, 0.6888, -0.6121, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4207 left_y=-0.0411 left_z=0.0962 left_yaw=0.0432 left_pitch=0.0823 left_roll=0.0817 left_gripper=0.9974 right_x=0.275 right_y=0.0005 right_z=0.1516 right_yaw=-0.0021 right_pitch=-0.209 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -6.7214, 5.8188, 2.293, 0.1001, 0.2027, -0.0171, -0.0342, -1.8393, 6.7897, 1.917, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048f4db8293930efb67c1efaa300ab274b8b5f4217d995e27166ba712dc67d79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee8bc5eaa2a638a5861e3adb69280f2ef80bc89f2cecd6cf6ca02f58d3bd391",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca6432d210bf4179ef370a1ad356f1541a13d5ee6c54a75ecfc6c01327b3750",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.667 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]: [-0.3542, 1.1809, 0.8406, -0.4599, -0.3115, -0.2192, 0.9974, -0.0219, 0.8722, 0.6884, -0.5732, -0.0204, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0626 left_z=0.1602 left_yaw=0.0213 left_pitch=-0.1782 left_roll=0.0714 left_gripper=0.9974 right_x=0.2815 right_y=0.001 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.1674 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -6.1333, 10.3316, 1.8388, -0.2711, -0.022, -0.0171, -0.4991, -1.265, 9.6615, 1.9023, -0.0952, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqryRrmCcAgHPqOphTHR_XINsfatfhL2Ylim1AXcU2zYt4ni2K1P1LncmN-os1Xvr9zXDuAh3WwUgogFwGMT697WrhzLNwbuTrFBD1vW1QOhM63RVRzFUIHC_6bfSa4mjov6E4mTXvnqai45cpPLkdk91QGZEyG27OZpE4XVeUqYWvTKxkcxvEbaxL3g0JepG10nRGhUeb0YQ0CtcL0cGuTtN1hbye8SvyRylFs1teRMzQeywvVs7EU-MOsMi7VlAqc94K-kY88GR0E3TxrNgDx3uDY8fl9lzDMtswx91TcCuM-FSf9vj7eqVmL6F9vFGBO_BqDDtno3Gl7GFg-9Ey4POH_fy9A8p9RJZ9FpcOEsjT2TC4TYC50e2ksqHImhnEsFl3m36BDaJenYMs_OBrufBlnFJLEeXO5cMcuQJCsVRC75Fe1Km_YvvYjNuOyZEFTM1G90qLzPtuu_5rUgfO6vnBmI-zO8Mll-wFzfoRzoefn_B17Z_bV-yi3KW7LaalqV7olWByQSNSEsAuDX65_XoDwkIeIqk8X6RMxP7H_MuUU6UWGNM-8RjgD9TEgjcutW3dE-UtVv1UiZSXz3X5XfcdBuZ--seAVtbLhxdCSgYfaqhhiw2F_O2xjW1ql62-mDubdGtMpFM-2LraqdRCyFvwz2Ly9Br_IRr9kHVedfsmHqjBMNMAoe-Eub_VfA6aYddHDhhhN64Cky1Ba8oXNsEmocXB0oEYj8sMwJuIAceKsLsgqizhgR5_te7pzigMpsSonN8C4vnxuVJui7zo7GEF6zdG5-JKAYDVXE8G0iCLr8rgpzdXVxxm4f2nxMFMaMALUBpDhx6ar_qj0c1hmt3uOFPXUeC0FO6EOmzNL9nhsQAHlnnh5LHb8IyfwLXW82BsK1DBS38Z4-KbD8Yfcq0OoMvYMaDDx929qRd_2oPlwLHqKpEdFLBbLtTxJbUzs0vukSpiwdSnOKmTXy4UVr8cyPgPtEgBQqXNg6uE6xaE7XSiY-1ONG4VRQP1Fs9U6VuN_57WKODjJoMqLfCdaAV2x6aP2TuD6zGotMUfXjKylXjKFT1xnXTWxrehUiky12jFcOS9NlpswR9rAxrkJzoDAciCfipFcyABqpUvT0wTpUzthYJWulbZ3vNG0UyVtEY4D9WgY82ovu2X1q6ds2eRU78yc-Pg6QJj1-PbiR7_XIMCOy0OYuZ1QT8FAs_PhfOjYAC_cwLGyf_KxLBasUgtctY91IDFo-617vaCkyJRzamgWIyUXQbtHwbQAz4QRg-WSYzIy7H4BZ7k_L2oJ8zg==",
  "id": "rs_06f05438e7e1833a016ab2aaef241487d0824cc041b03a12a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.025,\"left_z\":0.025,\"left_pitch\":0.2},\"note\":\"The white plush now reaches the fingertip region of the wrist image. I am lowering around its middle with a small sideways correction.\"}",
  "call_id": "call_fHrFOLlrJWVyQyJRYFoqZwZM",
  "id": "fc_06f05438e7e1833a016ab2aaf01da487d0a983dace201571be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fHrFOLlrJWVyQyJRYFoqZwZM",
  "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]: [-0.1616, 1.9656, 0.5491, 0.9264, -0.2657, -0.0292, 0.9974, -0.0238, 0.878, 0.688, -0.6353, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4333 left_y=-0.02 left_z=0.0098 left_yaw=0.0681 left_pitch=0.1004 left_roll=0.1083 left_gripper=0.9974 right_x=0.2708 right_y=0.0006 right_z=0.1467 right_yaw=-0.002 right_pitch=-0.2357 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -7.5282, 4.3829, 1.4872, 0.2662, 0.0562, -0.0171, -0.294, -1.812, 6.8718, 1.7167, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f0ec0740612b43cd9061277c93aafc4b883ad9467f74ebc43a6e5854380337",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c18085ecacb4d8264c7181e3c015b9847c2d295d9cbf3223505946f7b7abaad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ef9d4a9902c864a4b5f0674f3c9ff4994bfa6493790a41ac76728301d73455",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.488 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]: [-0.2218, 1.56, 0.6212, 0.4259, -0.2802, -0.0731, 0.9974, -0.0238, 0.8753, 0.6888, -0.6121, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4207 left_y=-0.0411 left_z=0.0962 left_yaw=0.0432 left_pitch=0.0823 left_roll=0.0817 left_gripper=0.9974 right_x=0.275 right_y=0.0005 right_z=0.1516 right_yaw=-0.0021 right_pitch=-0.209 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -6.7214, 5.8188, 2.293, 0.1001, 0.2027, -0.0171, -0.0342, -1.8393, 6.7897, 1.917, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush is between the open fingers at table level. I will close the jaws to grasp it.\"}",
  "call_id": "call_fknu0FjZUDVKXsdMMkuPxRzJ",
  "id": "fc_06f05438e7e1833a016ab2aaf57f4487d090d786fb2a8c7194",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fknu0FjZUDVKXsdMMkuPxRzJ",
  "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]: [-0.1562, 1.9926, 0.5488, 1.0767, -0.2504, -0.0265, 0.0121, -0.0238, 0.8791, 0.688, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4459 left_y=-0.0223 left_z=0.031 left_yaw=0.0634 left_pitch=0.2186 left_roll=0.0768 left_gripper=0.0121 right_x=0.2668 right_y=0.0008 right_z=0.1427 right_yaw=-0.0017 right_pitch=-0.259 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -7.3641, 3.8222, 1.746, 0.1538, 0.0513, 1.033, -0.1299, -1.4838, 6.9949, 1.6825, -0.0708, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460335c075cbf70bd318bc66671c679905ae0fbd18a8f73bba6b2b7979cc5008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b28f2f4aff4875949b180e2cd30304292bc86864c60e8b70bfdfda787690016",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3fcb0e79755e113975c7cdfdde26d20435c08e523de69ec6af74f0d0ff0fa2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 6.914 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]: [-0.1616, 1.9656, 0.5491, 0.9264, -0.2657, -0.0292, 0.9974, -0.0238, 0.878, 0.688, -0.6353, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4333 left_y=-0.02 left_z=0.0098 left_yaw=0.0681 left_pitch=0.1004 left_roll=0.1083 left_gripper=0.9974 right_x=0.2708 right_y=0.0006 right_z=0.1467 right_yaw=-0.002 right_pitch=-0.2357 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -7.5282, 4.3829, 1.4872, 0.2662, 0.0562, -0.0171, -0.294, -1.812, 6.8718, 1.7167, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqr-ZrDv__XNvo1IFIdqwGCO3ZnTsI90zm05-Iq6En4NdQocIVvl-kbtmdBaHVwhU8g319oNFCcYu-T2hiWwFaodOfsMaB26qiYcQ7gImb1pvMQcScVSrRrHjqiuDWq3uVCbNatXCrZHDmopolhZjVM2dFDjGbIuIbRNw7G1jjalECrChJC1bEZejaQ6hghpn83MDIl92CDNF2Pd3UuAj6m4r-f_3yvJ47VwubEH0pIjcsHciKSfp2VJ9LsaO-1GJlyb64gV2T4G68_zyR0IOwfORF4SLVjSMGp-arfaIoNhLXbKGtlUTWV3srhJI2h7rLnDxn86-M8eHtn7ml2PAD_LWA-maX3ajBhqtCk0Ek_5qbHhn8YEz_5P5mMOP-lpzOTeEbO8U3w-jWsI2ayLRldt8n4oAZYxb-GXV5ULqKmUN1jTz2kneHKM-YeNp4PBEaMvrbyZKz8McDf-Hg-2akqIZVBivqpNeST4GGBYjLy7GFxZFLEDJ8PNeksVgF5F5x4hG90NYjzfDXKgDnlKBOPUPyCgqK5Z0i_m27hC0RGgwLMQxAsJJ4YaohMw1RyUcFVA1zhutND_aoyk6CTFYXFjK1B23VPbHHSGi_LPjuhbTL_pLiMG8Wo-QrH_iSJZL4PqQYW72Unc0G0R2SXru1IVCX6IwK8I8SRgQ8KDQPAGHps9vT0Uf688dgXweaM1-H_d0Gk8j_s6gBZqCHxLmUBXrgX6RYBKWFrXSGYctzd59TWGtHkAQi9saY-8xepHLoCj9yl6xAAA9ZooejaBUK1svtPYUAlo1Fy1UF-__jiRO6KGbFIGi3gUyg0dbc23R6NeyZ9yYnPXtpznikgjAe65JR4ryWsC8Zn-X8KmdgTREffpCfAOdTA8n9lsz0I8BPMRmxfhCYoClQHHHqtvhh4atH24jf3hzCDPZh1z_tEJ_ng2hbzL1ce4zALt47B5T2B43dt68GflQRaJMc0XqPVnhnmTjnoDCV4wvhro7e4z93d21sFFXM_OdQ2WNk4Ro9XzmKaN4RVHzzp-dKB_E15D4n6bwiKFXkr2wjUyCkGD67mSaKbYi7CBCHne26V1PP6Hf2EhDgmuiAUC4VIKNwWSuNUpKj37i_vyXvYwJNwqqe8hGOAQYUbQUYcTy2M625eNivuManr3cJ4PdaVllny7S3Zq2zAT3o4v5fRvajiuA6bbDf6GNWdzluTUSXzcKtZVXdYyDUwFiSqjzxpVhmMayqwUpTxkyriTlhPjx5dCTW3I-G3KDup6dwimYIn6nqCZt9hUQhuWfhTT8XyueSxeiVOPmzb11VuP9cOFqoROvdOJo482pfk53QbxtUmIvNkl",
  "id": "rs_06f05438e7e1833a016ab2aafaeaac87d08d5518cf31211930",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.025,\"left_z\":0,\"left_gripper\":1},\"note\":\"The closed width indicates an empty grasp; the plush is just beyond the fingertips. I will reopen and move 2.5 cm forward for one corrected attempt.\"}",
  "call_id": "call_UiCh4F4ERdWAQN56zOBPoXLl",
  "id": "fc_06f05438e7e1833a016ab2aafc757087d0864c70e0e8fe6967",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UiCh4F4ERdWAQN56zOBPoXLl",
  "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]: [-0.1574, 2.1456, 0.6487, 1.2015, -0.2584, -0.0219, 0.9954, -0.0238, 0.8825, 0.6861, -0.6788, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4739 left_y=-0.0259 left_z=0.0238 left_yaw=0.0708 left_pitch=0.2889 left_roll=0.0674 left_gripper=0.9954 right_x=0.2625 right_y=0.0009 right_z=0.1377 right_yaw=-0.0013 right_pitch=-0.2857 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -6.3248, 4.1641, 1.3602, 0.0269, -0.0464, 0.0366, -0.0342, -1.8393, 6.8855, 1.5995, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:080e2acf6f52641f7c646d24615e48315492ccc5ba32ea542eaca4fdb7fead3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9a418c24a78db93c4f8e9724bb2381628a4bdebd10159ad8836ec59d20b20c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2da8aa5f11aa7a832d36b2f1c9d47f448f106ceddc10a5b350a291d0b4940e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.16 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.9926, 0.5488, 1.0767, -0.2504, -0.0265, 0.0121, -0.0238, 0.8791, 0.688, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4459 left_y=-0.0223 left_z=0.031 left_yaw=0.0634 left_pitch=0.2186 left_roll=0.0768 left_gripper=0.0121 right_x=0.2668 right_y=0.0008 right_z=0.1427 right_yaw=-0.0017 right_pitch=-0.259 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -7.3641, 3.8222, 1.746, 0.1538, 0.0513, 1.033, -0.1299, -1.4838, 6.9949, 1.6825, -0.0708, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqsGgikh8SeAYU75gqfnaOmW-6EGD9ZBg7PqaF-qAf6wwwjmC_XnWnrkdXVDmPmJ76wutcOLFWyIV-Wj2zBWAOGvx2ETPpw29vTRY2J8Sl2fGtKi4EKzglrESOdzo1F8EGW1hNvM50Ks7RL4aDEaE-fS-ncaqPVzWs6o2GmhqkP3JCHiei4MxGFsYZMLXdvhcQinQkv5Ih7MHM-B2cEW5m4wlSQ0qnvFRaddtSUfyPYQ2Fw1iwB_UVUwflbjTykMNmITWApb4GoUM3RDNHgrYJVFoEBbs85QsI4SPBoyZhnTDzlaB_MFORPdi71XaLeR1R96T2YKc5Xivb8EQLeVV-f_N3P4-5MkW1NGydPpjwMB_EMw0W8e-FCB7bJz1F0FFFSZk41Q-rFF3TtwqJwKsKa_Ni1QGmU2wailZPLby95j3kzuixsSCR04nEac3uCh2Hy4-2zJ3YtS6Nmex2urFH7U1ij_fL8-YQ3DHRX24jy15CeUe1Ofnd9dI7yaWYEbbsKbAkOP-dPgMOANros3RfmrMiuVtTXPnwI1d4MjWrXClZc3ctY0tDmb0d4MqY0ZhUdNBrAfepKz4WXHFZCkEk_-vBreZ7ts_oa1YTiHqPFwDjoA9PMTQDOohKHEc2x6DU585w0RqS_4O-IXpnjqCO7yFxaseVlG85qNCScy-0SGKj2SnDlK9PzgmnWHclHNT3p6VMYUz89dg1N2OoNZ0GvnuYD3Qm-LcqIjfbdKKKYxPqm-c-fQ1Rgf5s8hThQHnT0yIO-xbBQeAaEmvfzvPTmBUKEJG36v0sqA0MbF0Nrgcqz1z12StDKbI9OofIqGxfhY1RSIZVJEQw-khtjhvmJ6TOixhAcVasAFeDA3EKMUAOgxJgJf_D76inEyBFSQFRxw_9Mo5FksoEEiSzm8g61WqISf5ABD6O3aFoC1WGFcDe7VgMMvehRo52TDhz7sJRwIs1BSqx-KRHDdR_6Vt8nqR_POysy6iWh2hu48FR-hnzCSXUOu0KW5Crxkqfc-qPgu2FejyJaEX1LuSrhmhG2e3soHWoHZJ9Xif2I6i7KDTuFxoNCCUj4o4fA6kk626Ge6EuC5CZ_ASP92kAf62N38C5u_QaprOVx9f5IWlCLCbyJBs68pJLLi03l9lrzoxoC6UqvtLAIzigLfGlugAnJYlQrFRG49zgrY8a8Lx48kQENfHSOsoJSR1Orw9s0euqiFtgMZwCYQEVldc0wjFAIXo7EEYSpovWEutq36k1MD6FEXny4r1GeuEYiW-xF58pJtjtLCWowaxdnyGNX4dZY-XqXe55fsV6zgzNDpO43EE4Oh6khYyUzm-7GOSUEDBu_IqOSNGuJHoj8tcOX3gqd-cw==",
  "id": "rs_06f05438e7e1833a016ab2ab02f3f887d0af2423b579603534",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0,\"left_gripper\":0},\"note\":\"The plush body is now within the finger span, slightly left of center. I am centering sideways and closing around it.\"}",
  "call_id": "call_stR2p9ZxDZR9tViwhdey7QIa",
  "id": "fc_06f05438e7e1833a016ab2ab04cb8087d09407e863e752a2cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_stR2p9ZxDZR9tViwhdey7QIa",
  "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]: [-0.0803, 2.1525, 0.646, 1.2533, -0.202, -0.0055, 0.0108, -0.0238, 0.8848, 0.6861, -0.6998, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4779 left_y=0.0007 left_z=0.0313 left_yaw=0.0916 left_pitch=0.3267 left_roll=0.0595 left_gripper=0.0108 right_x=0.2586 right_y=0.001 right_z=0.1338 right_yaw=-0.0014 right_pitch=-0.3089 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -9.935, 2.6325, 1.5507, 0.0757, 0.0122, 0.862, -0.2256, -1.7573, 7.0632, 1.5849, -0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e6dc89028b76b9b6e70ee592d1c30f771613b027430dc63b51bdec313822e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0bfe434b6108bf655f61a6dea7db0ae635a49176957290eaece661db9a6203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91fc76e55a5c51c602e5c91b5463e5161315f0e91ceb3f8c16c1ca0b2da8d139",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.075 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1574, 2.1456, 0.6487, 1.2015, -0.2584, -0.0219, 0.9954, -0.0238, 0.8825, 0.6861, -0.6788, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4739 left_y=-0.0259 left_z=0.0238 left_yaw=0.0708 left_pitch=0.2889 left_roll=0.0674 left_gripper=0.9954 right_x=0.2625 right_y=0.0009 right_z=0.1377 right_yaw=-0.0013 right_pitch=-0.2857 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -6.3248, 4.1641, 1.3602, 0.0269, -0.0464, 0.0366, -0.0342, -1.8393, 6.8855, 1.5995, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqsOcrRSxaO8W5gWKhTyv6HCdZrIBsY-9nxY9xSlfU3ILTGihrubho6ZenJRqtP2J0mbTFZEP1wtSeIgXPxw8kKPkdhzwgoTKlKWcCNM4DcAJ2PndTOZ7vbMVvt2UoaW6_R4KQAwYVuKmk3j7ghwvYD5OBi7tdqGrJ4SUwqTXaeH_d2NxHsw2VH-csHJ6FIwVV22lw2dvRSgVYQtY51fXRDUfkEO5xRg2YSEQVSUINO-kgXQXl4zuGF8VG88H_xA6TrQ8WTGcbcPIOKQy-Xo4rcY0E45S8TwCFQiwpyeYpNhkfk_fLXoPxmcDcvpoi44NZKFmMvcUGqI29PGL0TwJ9kqAV34MRXDxmN_vJB5AxDhTHvFfwtdgassgY9UwCa6op1vOR8uHTf6c9pjHiqEEIrYyNtg8lsjd9zUJkSjHury8fwYLaoBs4P8qO3_-aDPxMLp0TVvGtsCxcNAS6GMYtBMOiMq6bSarOKyoeGCdFydXQYlluoRJNEJ9MyWAKWbKaQr5kbIEygmPNOpjn_4FPmFEeEh4eQR2IS-FQ88M3RUZNbLyhlrnn8ykL-iAFBJ8pngtiLKGtFs-5GkOcJYf3AJf8-9sWLgOhjC1VPdvAp8en9l-GaMIRIGHHu2GtOzovvU7tJ2Yjz1kJ_IKRnlJPK1wEGG0VLiSYfTOR74rTfDB0X3dkDjDnsxSDODakPyD8SxCmz0DUipeEf0E7btnw_32d1Mk7VjbTf-MVps79GrkZAocnLZLeKz-cgksK2XpCGYLrdPux630uJMfxHjrpb5E-wa8oSjlPobbkUBwjVsY8hmc4NkspXS1I7yMynDkZNmEx7OyrNGmeI7sYS353jYnCSxUvKckq7Z0iIAzxUYH9CBidHZSMQfBO3-E1kMsFeVMuX_7-rylLuWpffoqHs9u1sTwPJqcuWy2ENeySrlVKEJ5ha1DBRyOoL4ejIQyDkIxYnRcpYr8CtoUvOmf_HdWkJYu2Fuzm_KPh-iuBH5PIrl27TxAauADB_pwikwCcejwSIBde9qKTfDRWNCa-w69JN4Zl8MzEmKuBP5odL9vGPKd9GCNBJzyxNWPMw4peUImeV13GUmbQ7Kd5R1MvrIRrsIz21Bk_501gifFLdLAqF4kesb6NT8U-E6AoeTVE455S86bOf8gKUDJuSKTA_b_oCRXRM4bntZYohCIznkQHlTzAWGlQi2LGvUp2U6O6Z4skWZ8dkblN2hX-YH1Fq2wh78Zvz4b8IkLwyu9IMjs2EI-z7mFrZFaJq4obd0oF2H2jO5prWEs_GxRdyiXXZj-229yLxrlbIBzSSl1AykwyNgn7ZqoAwrkMfyUMtjeCbGfcofkQGamcbjbg3sB4j8GidP9uacR0BgVAvLP0LCbbA9gFG0v0E4nPAYv0uun44XiYucmSiqPEN9e9BrhUW8l9g8uTYqHtxFcc_ryxaod2o=",
  "id": "rs_06f05438e7e1833a016ab2ab09393c87d0bb9eeecbd58bf440",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"left_gripper\":1,\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.16,\"right_pitch\":0.2},\"note\":\"The second white-plush attempt is also empty, so I am clearing the left arm to reassess its position. Meanwhile, the right arm will approach the yellow object beside the safe.\"}",
  "call_id": "call_T4uYVcIr0MCAQw73ec1E75jU",
  "id": "fc_06f05438e7e1833a016ab2ab0b95b887d086e008609503a054",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T4uYVcIr0MCAQw73ec1E75jU",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.9649, 0.7681, -0.3649, -0.2173, -0.0906, 0.9961, 0.5297, 1.6966, 0.9573, 0.1642, 0.4454, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.3298 left_y=-0.0013 left_z=0.2109 left_yaw=0.0909 left_pitch=0.0278 left_roll=0.0469 left_gripper=0.9961 right_x=0.4399 right_y=0.1735 right_z=0.1285 right_yaw=0.0374 right_pitch=0.0759 right_roll=-0.0434 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -2.8786, 9.7846, 1.8632, -0.1343, 0.105, -0.1538, 0.0889, -8.1436, 8.8274, 2.1661, 0.3199, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353caeeddaeac3e4e3225da4871ad87ed2b495b2b4903fd4a27ef67a2a60cce2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c356f892dc7301af1cf22d43c2f55242acfbdb0ca20d5f9b7b02ebba84e33145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a13094da33c8c7576e770dbf7342a61332650379617cb7e65c901e49c8eca7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.34 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0803, 2.1525, 0.646, 1.2533, -0.202, -0.0055, 0.0108, -0.0238, 0.8848, 0.6861, -0.6998, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4779 left_y=0.0007 left_z=0.0313 left_yaw=0.0916 left_pitch=0.3267 left_roll=0.0595 left_gripper=0.0108 right_x=0.2586 right_y=0.001 right_z=0.1338 right_yaw=-0.0014 right_pitch=-0.3089 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -9.935, 2.6325, 1.5507, 0.0757, 0.0122, 0.862, -0.2256, -1.7573, 7.0632, 1.5849, -0.022, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqsUyMXq-Jx_jEs0dNjGgIyQ9XSjB9SZAz1K3J9RrMPXIpP6oIYMjt11qnkOw3fETFnFRKfAlHetsXFqItRWnX4H7iABS3IreCuWqBHgI278xVtMwizNrzQemg8A2UtY_silSx49_RDhfGPZnwBx0XqBujnP7r578PzkskRB_PKOZRfBQ4uW8Ws-LTB7m2S5a8nOWogQBjIxEtwyt1dH30EVuGYN938RBjr4ruIm-pdQVJqEWDSDvHOuFu_XcINRf5605N-QuXJ9aMikBSgcCIN5UJHhBCWjQJ7VkI6klH2ntyLKsDtq28bAatHypnvWsKVZfCIMfYGGhyl6bxXFzC_D4iHWC06ZT33dpepVWEBe_46n25R4-YZjXibClDl8jxntEiG4QTw0umivNZ_fyb5nTXXDUxik5-45nZuufcZr80mXASyWzG7E85vGdgDSTPFYtxvvnkOLkHrxCFRRFOGSCG3ilcC9XbZnxk8UKjFUkCiUKOkadesSFyS9yMr9dCl0TWy6pOuUFsLOLKgXH6PzOp8P1eK9DHzILCv0SAPdYWehBbTxC6VAlUY57rR2HAxZ3EdSoLYVoH4RLQZ9h-m-5ev5KOK-I3_pTpB6McbzXliNSkaEdK9C8n3Fm7e43zuXmwwU418qFdaFw9mGDFPr2BWIyb6t0dYLUVg4xEe1CN7o6hrc8LA9XENx__vv-jpcqldHCI73ORVKIHakcjNsOGE3p01SCZ6eZGQB6LBFhm-mUaienhS7HsUEmmvd7ZzuqyQMNVfbPkg9h8qos4mlACkXpU0aSMX0h0XcEhSQfdxB0M8egyo-ChjJepBdq4KM2AELbDgKyfE1lWNfZtOQs9rYIxHmkr01sowtx9-fLMREmFFYQFx3gUmJOusHhNMMHyo7kmdZAYHxOYKVO4avQHkmpYyURW-FGHynUqlGevsUqM4tqE3fi0DIwAISKwMZkvPSLmtmZQMMxVuyNL042nwm0bChRPonFdqtosPSyrhIPaTaBXZDqj6L_VaTQqBUqxjSqEha0Cgj0G3zoUs9NrU7o0U06IVup3p9-qxyJITFEFgOO_-030K5fnKJ-Khn1yPIRWBr81viNDDPWdc15OKmEc_1_jLixBTSwh1a3gLMkGkwLSeDG-VZlmIgph5d0PZL08eiiV41he8o1MzdzrpHnXIT8JP7_TeLcFGoWVfnK6AOhyHekuNAyO8j0-hebvBmBnifok5fsAa5tsp-EH7t4iGW2CKEvGeBZ-IudCM=",
  "id": "rs_06f05438e7e1833a016ab2ab123f3c87d0891fae19d2e99508",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.185,\"right_z\":0.045},\"note\":\"The yellow object is aligned near the right jaw column. I am moving slightly forward and lowering to grasp its narrow middle.\"}",
  "call_id": "call_QOyyPVDeDHRqHqGxIqMBONz2",
  "id": "fc_06f05438e7e1833a016ab2ab136dd087d0a334b803e5024c21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QOyyPVDeDHRqHqGxIqMBONz2",
  "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]: [-0.1314, 0.971, 0.77, -0.4038, -0.2211, -0.0952, 0.996, 0.5034, 2.0087, 0.9733, 0.3786, 0.4225, 0.1978, 0.9996]\nstate[eef_state]: left_x=0.3254 left_y=-0.0003 left_z=0.2021 left_yaw=0.0958 left_pitch=-0.0136 left_roll=0.0547 left_gripper=0.996 right_x=0.464 right_y=0.1769 right_z=0.03 right_yaw=0.0373 right_pitch=-0.003 right_roll=-0.0794 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -2.9333, 6.9949, 2.0586, -0.0855, -0.0073, -0.0269, -0.2256, -9.894, 7.9521, 1.8877, 0.1392, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ddc44007a8faefb28aee8d669a2d372f87b5da2e3423d44ff9a5adc612b962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac9c7781ec1eef333d6ac3e6f3a32dfb5bdbc4255cfe6d653df51af080602bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8689cd4ace03b2c3b5e6d0184619e558b7f28e8d41b8462e64802a0f82656c5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.013 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.9649, 0.7681, -0.3649, -0.2173, -0.0906, 0.9961, 0.5297, 1.6966, 0.9573, 0.1642, 0.4454, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.3298 left_y=-0.0013 left_z=0.2109 left_yaw=0.0909 left_pitch=0.0278 left_roll=0.0469 left_gripper=0.9961 right_x=0.4399 right_y=0.1735 right_z=0.1285 right_yaw=0.0374 right_pitch=0.0759 right_roll=-0.0434 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -2.8786, 9.7846, 1.8632, -0.1343, 0.105, -0.1538, 0.0889, -8.1436, 8.8274, 2.1661, 0.3199, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqsarIqtAmi6ZXmmPCSTS-2EOG6L4VacB2s2zrXsV7MKtu3Iob33t5NXjDTIuD6dWnC7lyD8Y5lB6ehBAvP_QOUbED73gv3Vawl8RKYtUR_BA1jzuZfHoFtzQ2T7SCKThcYIADBKtw_pd02yMYAiEQUM9sGuCXRDGxBdQ-cZUAYptN0B054UsUgQN5J0SZlA2snLFRIzcw3ZR2ovhNcbR9FFLpBffBxB59Zw5heVyo3D1dTDVO_JSuo29dU9xkqb__R7NtGmY8uyi6fVmlxjLEC-eyV403yH73YhZ9oJORtNfNOxpBeKLOLpIiE5rhe47KT48QG-Gr76boo0xlMPExNap5021keIWGasHNuWrV7VooIyaUKhuZ9ZuFPwgRU2KXmYRP5wNTwr982RGoYO84rIfnVtoqHs_CvlldQ1YOeVdnAhL1h2xFK1jlBJK_Gwi4oFRpoGoIoZUDaVXH83FAJJJ66XqNvJ174zm75KChsQN01LxXR6A5uNo77wsqVQus7nY_b7NnLPPE8lgEFL8vgoHCfbBGCBlPJMNZwSgBLzE1kvnXIbIVHCMvo-HlWQwdZJtR6xlYqLCy2tM0lKP2V6x_EAtaYSOaX0BFZ38oKS7EY_m00DlAkBshUERoydqw7aah0EBK_3iTOee5jCErn7aIa-KLjfb2TZvLcPNIFtxQG_8d98pdAo2X962rbqSZv_bMPKRbq1xHxVCpC22U9gvgTAhG--vrDl7kLizzanQMEulOWR7MLGS3mfK9xWRqfijPCbFd70WxDJM3L6QC-Cxgjogto1cWC3U8liMAtixjk_vOj8WkfIxDow13_aZR-8cQFB36b_HBZN3ViddpBuVXX4agPTQoccpXRp-f0hjszB4GOtVlTZIfau05svZrzL2gIMNQZ-JwawxLFL24NCycHWNeEB9LEKtVQfGwImtG3rPGvoVHxvbJRyWbdEntiXn4y3x6o_0FNmZ_QQfxiR9q0A-uJ4WyptUp9w2wmSeYWF8R_b1g92pocmtVmXxYpMvlF1ZWokgNmREftMvaieyLutTnj0Viv4oXrNMcgCKDhPWRS1Agu3VFtyAUXKRLIynxltbRmcMdnXMBGHotgzhPiPsBXS5Qq4sT740ZWRu0s8vNVaxCyo2yKjexniaz28Pw2UZ1sYAKIHx6Qc_j_mt4oy_B5S89TJFTPYaeGKJgdDxG90evvCalmeZpusIc3xL4EdzfhKb9Xp_Fk_S_e3PQ==",
  "id": "rs_06f05438e7e1833a016ab2ab18ac1887d0b5db2cfc5f4d6c5d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.28},\"note\":\"The yellow object fills the space between the right fingertips. I will close gently to its approximate width to avoid squeezing it out sideways.\"}",
  "call_id": "call_JcESqQxjuc6qCb9cBgEJPnvk",
  "id": "fc_06f05438e7e1833a016ab2ab194fd087d09451174ed740e3c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JcESqQxjuc6qCb9cBgEJPnvk",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 0.9714, 0.7673, -0.4061, -0.2211, -0.0982, 0.996, 0.5037, 2.0258, 0.9764, 0.4259, 0.4217, 0.1841, 0.4665]\nstate[eef_state]: left_x=0.3247 left_y=-0.0002 left_z=0.2003 left_yaw=0.0974 left_pitch=-0.0187 left_roll=0.0534 left_gripper=0.996 right_x=0.4693 right_y=0.1802 right_z=0.0317 right_yaw=0.0457 right_pitch=0.0259 right_roll=-0.0757 right_gripper=0.4665\nstate[joint_eff]: [-0.0068, -2.5094, 7.241, 1.707, -0.0806, 0.0024, -0.0122, -0.3624, -9.6752, 7.2821, 1.9805, 0.1148, 0.0464, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7a181853de9b157d8a7cf5f3c076d9129562dd24dc3ed1f2d967dfc395e3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd1407c0a2af10305852eded2319c51b9f2c3d6f006bd488c1a8f13f318d7b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f743707d25541fe6c6f90088365870d0f258f9ef3ddce455eea9add076d40f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.713 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 0.971, 0.77, -0.4038, -0.2211, -0.0952, 0.996, 0.5034, 2.0087, 0.9733, 0.3786, 0.4225, 0.1978, 0.9996]\nstate[eef_state]: left_x=0.3254 left_y=-0.0003 left_z=0.2021 left_yaw=0.0958 left_pitch=-0.0136 left_roll=0.0547 left_gripper=0.996 right_x=0.464 right_y=0.1769 right_z=0.03 right_yaw=0.0373 right_pitch=-0.003 right_roll=-0.0794 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -2.9333, 6.9949, 2.0586, -0.0855, -0.0073, -0.0269, -0.2256, -9.894, 7.9521, 1.8877, 0.1392, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The right gripper has stopped at a substantial width, consistent with holding the yellow object. I will lift a short distance to check that it follows.\"}",
  "call_id": "call_ktdKzpOGrks49thuAyAlHq4X",
  "id": "fc_06f05438e7e1833a016ab2ab1dee2087d0aa90bb557c7c2be9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ktdKzpOGrks49thuAyAlHq4X",
  "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]: [-0.1299, 0.9733, 0.7673, -0.4091, -0.2207, -0.0986, 0.996, 0.5045, 1.8645, 1.0641, 0.1757, 0.4126, 0.1837, 0.4689]\nstate[eef_state]: left_x=0.3245 left_y=0.0002 left_z=0.1991 left_yaw=0.0989 left_pitch=-0.0235 left_roll=0.054 left_gripper=0.996 right_x=0.4688 right_y=0.182 right_z=0.0952 right_yaw=0.054 right_pitch=0.0225 right_roll=-0.0717 right_gripper=0.4689\nstate[joint_eff]: [-0.0889, -2.6462, 7.0085, 1.7167, -0.149, -0.0415, -0.0171, -0.1846, -10.3316, 7.6103, 1.7558, 0.2271, -0.0122, 0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8867bb7970b4f01cec0599d2682b644e7fea6de3258fa1dff5a1e5d8a6aae7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab5b6aa3a856b642cb5fee287b7f2ad0f6d228c38754468dc096327c2e8ce84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0919742d2ec21eace42207a9e5308ea355738fc00a3f3a1ff3cc9aa1d9559298",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.327 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 0.9714, 0.7673, -0.4061, -0.2211, -0.0982, 0.996, 0.5037, 2.0258, 0.9764, 0.4259, 0.4217, 0.1841, 0.4665]\nstate[eef_state]: left_x=0.3247 left_y=-0.0002 left_z=0.2003 left_yaw=0.0974 left_pitch=-0.0187 left_roll=0.0534 left_gripper=0.996 right_x=0.4693 right_y=0.1802 right_z=0.0317 right_yaw=0.0457 right_pitch=0.0259 right_roll=-0.0757 right_gripper=0.4665\nstate[joint_eff]: [-0.0068, -2.5094, 7.241, 1.707, -0.0806, 0.0024, -0.0122, -0.3624, -9.6752, 7.2821, 1.9805, 0.1148, 0.0464, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqsmEL8VxwWFck3NmndI4y99TXD7N_S4nwE7-W28K40EQSRcCt7eY_LfuuABDVwbzsoQydXvYeWHsfBMm6Z_W1LCfOxOMsGm5GTvVPDX3Z7AwbD0GBTySEnkxLhTMHjBrDLNHlCBf6sUSGGdM5XbOxAQygQ-vHEgDXvND8uYPbjcYMxqttWZEI4oxozHIlcqusZ_R7orz2lKsUQD8vatE8yrV_OdfbzmfhSsDGmsH8WPOABS9CYKo--N6P8cDRXqCr1TD4pW6SntF0akuJlVXqW1_QpYDgVXbalP65TEtr3-pmt9emQUGvL9l15e9Ft8aO3PDzU1IVkPyGT1x_7S_eZHi8Y9KePpqpkDhwlgTmSDA3bnQTjCg6G9w5J-sCh0dkkYnXBtJevSqHnrVfn98Q8bvfLq28l5mzFJQV9NjAbX8zpWfPCFHqAkOM3_67pliuN8iP3yLxSzlom9jI2ZatkZQ7bxRuUGrnvUFKDB9-lzOu_wJS-AgCOc0FEuheJOSHcMoFAhimameubgmolSpAeRXiz-vMt0C_dNxAnJMVs1qB8HB9-E3iqRC6fvJMuksdAlBe8uvxtD0NQ12PtDvDft3qGGX3L7uQ1l3wfrG4NHVx1JUbwyeaO2wksJ3am1hchzyiDSwWlID6z95wh4DpVjj2k8soXHq_5cAY2YbWq02NWSF9RbDMlgsER57bHjT36V8Xy_YgBHF3CojSEuNLomPIsJN11HuB7B8Ms3DYI4TH0aKO7VVu5GmUvxWPI-2MkoJgodLelMi1eEuVbY3rT54TQXkn5xq9bwylnFMnzp7fbFFVmV-vvFdhJ2lRFcwWtrnl7QUz0WZC9zP3m4ZM3RizjburLKGc8c06mmPajc6_MgWeWCxjF3nhBjn_GSiyhuLm6zFqGcXPouKEdWd69qfRCjYYf6XQHIyZKuKimnz4fexl_2k_tQPgvhZYzNf_kBjAv0dbtj1pr8rjrX1DYzj6hOpDDGTVduedGLdQxFxJwr0dOGCK_VGTi4pBZQ0Xcn38U1Hwa7vJNaD-tkkEtW6xVdbH6XimJunG4rcTHprjG0KIoMwvSpHeBxSgbbluQ7rC_c_i2u9WPvsEXXe3DodWoTUKuxP5F1eRu8GuQgKIXeY8af0MSJE4NEANjAbKE2CTDpYdzduKNmUnKYjRsMVl7qmmzO4Upl9TStDN4fSHrvGza-s93RIUDJ9gdFUPTnkKxqDYx2d2uVhK9OPcK7GoUzyIul2X9CzGG_Q7hXHJztIVi_b789Lb_jwjHGlyKPqN0Sh67AdecLDvRi_a_frreHEsNxEy5quduEDeVo_FAGuRhvkUNz58BTyp9PDsLiw2kNr03HfeBIbKPnMsxdgTN8m3G2mkQIhBI4i2fZDeg=",
  "id": "rs_06f05438e7e1833a016ab2ab22c1b487d0978ae10bd763cd28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.325,\"right_z\":0.21},\"note\":\"The yellow object has lifted with the gripper. I am carrying it upward and across to the center of the open safe.\"}",
  "call_id": "call_YjMqbwMAUI0XY0nwLEuAMfTo",
  "id": "fc_06f05438e7e1833a016ab2ab24fa4487d0bb8135f757aaf4a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YjMqbwMAUI0XY0nwLEuAMfTo",
  "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]: [-0.1314, 0.976, 0.7662, -0.4278, -0.2211, -0.102, 0.996, 0.7761, 2.0689, 1.8275, -0.4866, 0.5941, 0.3458, 0.4719]\nstate[eef_state]: left_x=0.3219 left_y=0.0001 left_z=0.1942 left_yaw=0.0997 left_pitch=-0.0453 left_roll=0.0565 left_gripper=0.996 right_x=0.4664 right_y=0.3243 right_z=0.1997 right_yaw=0.0955 right_pitch=0.0032 right_roll=-0.087 right_gripper=0.4719\nstate[joint_eff]: [-0.1983, -2.6735, 7.0769, 1.8242, -0.1538, -0.0317, -0.0122, 0.1709, -11.2342, 8.7726, 1.6044, 0.4518, 0.2418, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef17955d94cb499ea3fbd05e559daa55cec2c2a8270bf20f0a382c7efcc8db78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc5f63301a245f1142a2760245d229cf28eba2627b52afdbcb8433f184e44a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9ceb802e417720d07309e8bd9e911ba8f630801f8e4380a00f1fd72495504f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.686 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1299, 0.9733, 0.7673, -0.4091, -0.2207, -0.0986, 0.996, 0.5045, 1.8645, 1.0641, 0.1757, 0.4126, 0.1837, 0.4689]\nstate[eef_state]: left_x=0.3245 left_y=0.0002 left_z=0.1991 left_yaw=0.0989 left_pitch=-0.0235 left_roll=0.054 left_gripper=0.996 right_x=0.4688 right_y=0.182 right_z=0.0952 right_yaw=0.054 right_pitch=0.0225 right_roll=-0.0717 right_gripper=0.4689\nstate[joint_eff]: [-0.0889, -2.6462, 7.0085, 1.7167, -0.149, -0.0415, -0.0171, -0.1846, -10.3316, 7.6103, 1.7558, 0.2271, -0.0122, 0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.085},\"note\":\"The yellow object is above the safe's red-lined compartment. I am lowering it into the compartment, away from the rear hinge.\"}",
  "call_id": "call_VASOzj7tK7tW3PIhMb4YoyFV",
  "id": "fc_06f05438e7e1833a016ab2ab2c758487d09b9aa4275778659e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VASOzj7tK7tW3PIhMb4YoyFV",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.976, 0.7654, -0.4351, -0.2211, -0.1062, 0.996, 0.7979, 2.1059, 1.4601, -0.1486, 0.6025, 0.3565, 0.4736]\nstate[eef_state]: left_x=0.3208 left_y=0.0005 left_z=0.1924 left_yaw=0.1029 left_pitch=-0.0529 left_roll=0.0549 left_gripper=0.996 right_x=0.4444 right_y=0.3174 right_z=0.0859 right_yaw=0.1043 right_pitch=-0.0439 right_roll=-0.1248 right_gripper=0.4736\nstate[joint_eff]: [-0.1299, -2.4547, 7.0906, 1.7607, -0.1538, -0.0317, -0.0171, 0.5265, -10.6462, 6.6803, 1.8291, 0.3101, 0.0562, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e800e7045e52a1f686f5d50c4cb83f537ce603ad451a94c9d5a71470b89691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d4976dfa819f45c6fa936dd6b54b92983e880a89a04b68fa6feb1175fe6b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792b74df8e4e3e67ecd2af721e87913eb90f25d716537dcaeb52991119952df4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 8.72 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1314, 0.976, 0.7662, -0.4278, -0.2211, -0.102, 0.996, 0.7761, 2.0689, 1.8275, -0.4866, 0.5941, 0.3458, 0.4719]\nstate[eef_state]: left_x=0.3219 left_y=0.0001 left_z=0.1942 left_yaw=0.0997 left_pitch=-0.0453 left_roll=0.0565 left_gripper=0.996 right_x=0.4664 right_y=0.3243 right_z=0.1997 right_yaw=0.0955 right_pitch=0.0032 right_roll=-0.087 right_gripper=0.4719\nstate[joint_eff]: [-0.1983, -2.6735, 7.0769, 1.8242, -0.1538, -0.0317, -0.0122, 0.1709, -11.2342, 8.7726, 1.6044, 0.4518, 0.2418, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is inside the safe opening at a low height. I will release it onto the lining.\"}",
  "call_id": "call_Pa17SWaZBhxcwowzTk9vsP9G",
  "id": "fc_06f05438e7e1833a016ab2ab310acc87d0aa611823f81f7480",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pa17SWaZBhxcwowzTk9vsP9G",
  "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]: [-0.1307, 0.976, 0.7654, -0.4503, -0.2211, -0.1093, 0.996, 0.7994, 2.1231, 1.4399, -0.157, 0.6014, 0.3496, 0.9949]\nstate[eef_state]: left_x=0.3185 left_y=0.0008 left_z=0.1895 left_yaw=0.1047 left_pitch=-0.0677 left_roll=0.056 left_gripper=0.996 right_x=0.4389 right_y=0.3131 right_z=0.0681 right_yaw=0.1087 right_pitch=-0.0802 right_roll=-0.1589 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -2.5094, 6.9675, 1.8437, -0.1245, 0.0171, -0.0122, -0.1299, -13.2581, 7.8838, 1.4921, 0.1978, 0.1001, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e75cc9dabb39fb5c468de4536c2c8472f84be1e5ffc0e842392014a2082908",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31982adebee11fbeece351e238648d774311e2cad50007b6e879965fc6d6b607",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d009ea5c51c193c4b16162cc6498b5c9bda5e8ff8e2211e75450c6af9a6d94",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.098 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.976, 0.7654, -0.4351, -0.2211, -0.1062, 0.996, 0.7979, 2.1059, 1.4601, -0.1486, 0.6025, 0.3565, 0.4736]\nstate[eef_state]: left_x=0.3208 left_y=0.0005 left_z=0.1924 left_yaw=0.1029 left_pitch=-0.0529 left_roll=0.0549 left_gripper=0.996 right_x=0.4444 right_y=0.3174 right_z=0.0859 right_yaw=0.1043 right_pitch=-0.0439 right_roll=-0.1248 right_gripper=0.4736\nstate[joint_eff]: [-0.1299, -2.4547, 7.0906, 1.7607, -0.1538, -0.0317, -0.0171, 0.5265, -10.6462, 6.6803, 1.8291, 0.3101, 0.0562, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqs79uvG0gT0Z--hvu1B5LY55_Gt74kCWB0qaVgVOX0ciA9DFAKZ5ZZfwQI1ePOut3HEHVkISwP50vsxk6kypowH0dgaWhJA4Bxs2COtYmQyn6VjVRlYFEtp0NgMZTUsdjyVhd6MyZqdASk1PYEuqPNduzuRjBMwihM9ueUoQhYoi3oD32w6I2Gs0tcY4U7ThUlVe8RcwEpNCYpLyCzPqod3OIndGHZaOVDU-FpxY6bAI4n3xbSj4_hXvz8NWiATg4bqnQyKUTV8lYs4-xlpNUYtbSndQTSxYgcBRXgjNTuVft0C-_Xobuyj5HoBTLhpnlLLdOQBDwvVNJO6WWFSH5TV9vgcuPsg_kMCLYV6Zklby0hvnBkqgcP6Y9owxf5AmYOE-h7xzrT5qNpuxNl0UDK_V8Xzle6lhG5zZ6JDADQMvb5O5xlg3zKlImnxBULNrJAakO4x1l6UNf0GPgYNCz-b38DU8PnVFMnCQISqulnKuRWBryeKVAGRULq3S7UOIZNTcQx60EGO8iS2VNXOldxYuMSZqQgtJ2zdO2O2zFH2uBaed9MiEYslMTq6U5-JBTtrojXGPmfyLfBUotRoL3qGsdal3mbnrYkujD7fjEJ7U-KMwWD0TMhQw0aDBlAPUuEnmKBxJtX_b1P2ex4rwY6GLibw4EcPH9k-Sm8wUbIvCo3_xsLKtFIpjpqLlclNXraTjORDhM-1bxgs6yE9kcooKblvOjII0aurhK8orgq0b9yDi2n0DE1A-4Em2mb1z9bIJhvVBacuorzCHvdliO85zu5RLIP6CU8PwtLXXxnhUrQdekq1pTK9llJHUqUBHQvNIgFlmPpFYJiWhlOVWtcgQGzc1_TFfTKd3fPNM5sjHEZgrveOQbQAra_2TeNk0CI7-M7rTrRMtmmpxL1C17627xeLjucYPTQGLuse9ZXTxUWZtIo18Bg6ZmHdp_A04hChgHNvMIGp1NO2dXvsz8n9PCEcX6Mfb9s_kLNycCmcmYihvkH7nrazXrFt-Gh4tFpX_ZYQRx3hOVTr4IEP-6TmJu6O6SAIpCmphCGqvufC_g-UVEfH-dqAcNT_kC6RxPTEOUyl_zkRrGkcJQ_71MHLb0iln0-Zu-Ts3sDjYlsc6t06I5cFMblTwOYAHmXPoNOebhVglXdm0ae6u3jdwcIjr2DtZP2CdRzH6uM_2w3x2SsHAMViDA20KwIOr59KeO47SVzvFZedOPxABar55I3Q1Uux4sa_PYkp-wTfyzzDoNcKd78lallvgs8U0fW4JDaE3J5O-aK2N4VEBIKwY5NTx-MfMJ5yIDPkt0Fu1uyQiTD1NVFlub8MetitBemK453qb96v6yjzQKzW_EgWZ6hlCAfeoWMaJfI579v4b4dvOH00mp0mogI3J9qRcdtYVhOJvk3pXvBMzL5xf4yNK13EEswr71y1hJ9aCzU1vIUWuKxFllgxYRT-pdohxoeh_66gZ_Ep03zoHBZHcf88oUylEg==",
  "id": "rs_06f05438e7e1833a016ab2ab366fd887d09bc38ae583475e0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.505,\"left_y\":-0.025,\"left_z\":0.12,\"left_pitch\":0.5},\"note\":\"The yellow object rests inside the safe. I am parking the right arm and approaching the white plush from farther forward with more tilt, using its now-clear overhead position.\"}",
  "call_id": "call_xrwB3AQpX6HZTAv1T20m4Wmd",
  "id": "fc_06f05438e7e1833a016ab2ab39698487d0b83c8247549799c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xrwB3AQpX6HZTAv1T20m4Wmd",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.985, 0.72, 1.0817, -0.3046, -0.0063, 0.996, 0.0006, 0.8852, 0.8143, -0.6456, 0.0467, -0.1783, 0.9967]\nstate[eef_state]: left_x=0.4949 left_y=-0.0209 left_z=0.0949 left_yaw=0.1135 left_pitch=0.3997 left_roll=0.0655 left_gripper=0.996 right_x=0.2875 right_y=-0.0045 right_z=0.197 right_yaw=0.0509 right_pitch=-0.1347 right_roll=-0.157 right_gripper=0.9967\nstate[joint_eff]: [-0.253, -8.9094, 6.4205, 2.3858, 0.0464, 0.188, -0.0171, -0.1162, -2.2085, 10.5368, 2.0488, -0.1197, -0.0562, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6da44e82822edd83a76dfe1691bdbe80fc3dff6c8b04a8129272c88d601c461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e552c3a014a112d7414ef3cf3ebb2535bcbc5fa1e4f22eca94e1cc9379e70a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fdc8b0dfbf0e4ea8e086247dbd27e4246796208505253d2adfbec4cd391a135",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.275 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.976, 0.7654, -0.4503, -0.2211, -0.1093, 0.996, 0.7994, 2.1231, 1.4399, -0.157, 0.6014, 0.3496, 0.9949]\nstate[eef_state]: left_x=0.3185 left_y=0.0008 left_z=0.1895 left_yaw=0.1047 left_pitch=-0.0677 left_roll=0.056 left_gripper=0.996 right_x=0.4389 right_y=0.3131 right_z=0.0681 right_yaw=0.1087 right_pitch=-0.0802 right_roll=-0.1589 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -2.5094, 6.9675, 1.8437, -0.1245, 0.0171, -0.0122, -0.1299, -13.2581, 7.8838, 1.4921, 0.1978, 0.1001, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqtCmao9OIu3zRGPN7u1o_JxuN6lIyE_yQZQzgigl-jhvQrWtVEbCCan5F8vOf2WqSrMi0jb1f-KqxC3osJRzvga9ObvAO9RAiO4ko9U99X_IP0HVEFXidlJ9h9HG1KgDPJJJ5i4XojIMuBVDc-sIV-IoRfD51mkkeQZX0N8H5jCCD3Dq5tEL4roGrfWYyIOS7HuoRLOUBjF0lH34b9HHPxdaUK3ByGkXVzebPgYKIbE8UOX_43DVTl9f2U7Q62nOtLIhHarf_YDxcfQlrEKXA8zMydwdNKvBcVC6hjjtsiAZYD9kel_9CsWwMSQQJt3KuiZJaUygFEKnHsS_eOwDtVghiz0IiQsbUulkAl7G4V3Dk-esM0T3e7FXvXC4k_LOMd9sIYTc6PHTZMR6PyBU6M36PSwMUwhtx6MsbT7MwEXBNHbP69wYfDcfu5drobt-4hLB0hS6Aw_nPkf05qaOXC5093wRxq9hMMnVtxyQ6Le1aEu7dMOO1k-GnOF1r0aU2-C9gznR50iw7HpGudKdsvzC3K_D_FmkFJW1pSptSyK8IDnRrDbJV1YKwzHOQeJ5ioWA5Q3sKNY17ROuOpla_dXu3d2UKeLmXaZhOZFH6P4TnjaiQZwhp_kloStTbfTqvi45SHpuL4-cyrjlCBdFe2yZl6fn3pnUjTiR77Mt9h6RsJh4cGYTUUrR4S6RNhD8gYT7bP6mGrhl6lod0IIdhyNzkSsyDPpCmXMt3qnXn5LjxZMbs3zzU2agv8BSArZNvKjeE8FOAE7ML8GRt79l48Twr5qL1hAHEa1A9Vvvvjce5zFtD4BkjpKLaqsH_HCBAYYRyFfm5qz_BXZDRCAhUZZUTIL3J09HkXRdsvy7lBXLeIute2pNLPtw4TtpglNeszhyZ-NDJRpmSmHtqiuaJYoSc90duDlO35I8KGrvGB_3-mU4gESjIzdt13PckDwIxAtlxhfjp-Uhtc3SK6CY1udXvDe4pqdrtABGWnzt84VZH0Rhwgb-KoErlg9A8pdIPpbaM6HjnqoXXZvSujkGc9wEhH0ogE91Kn5k4jRaLy-5WPbT06vHOjmRTmw8wLoJhm99WbI7ltEsb6m0HimWkbhgHrhY86GCV1rbQu5fTPjvc3n76keG_gbAH7IHmUtaQj0e7KDXjJT9XQH6F2aPbwoz3XDBdF-E9_bA0g9y4DaWhGA3l43AqG9RE0qlXDVec9054-HwQ4f5S9MefXolugvpQ==",
  "id": "rs_06f05438e7e1833a016ab2ab40a54487d0a178af29e5c1f625",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The white plush is now directly below the fingertips rather than ahead of them. I will descend vertically around its body.\"}",
  "call_id": "call_shsFLFECAOhUryvdIg5H1dTr",
  "id": "fc_06f05438e7e1833a016ab2ab413b0c87d0bb371c4c9b10e68f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_shsFLFECAOhUryvdIg5H1dTr",
  "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]: [-0.1566, 2.22, 0.7216, 1.2472, -0.305, -0.0025, 0.996, 0.0006, 0.8898, 0.8124, -0.6765, 0.0338, -0.197, 0.9968]\nstate[eef_state]: left_x=0.4913 left_y=-0.0202 left_z=0.0232 left_yaw=0.1048 left_pitch=0.334 left_roll=0.0887 left_gripper=0.996 right_x=0.2826 right_y=-0.0022 right_z=0.1893 right_yaw=0.0726 right_pitch=-0.1731 right_roll=-0.1599 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -10.6735, 3.6308, 2.0879, -0.0464, -0.2711, -0.0171, -0.2256, -2.0034, 7.1043, 1.8388, 0.1148, 0.1978, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c05e9b7f039ddd28a119f4dba6e11789ba0feb8f535e1f1f46f327c692b185a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c31e35e4f390953238731be96ebf284ac42266fc4cc81fb4ab0cb8e57b602c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a5b77a25a2a2c374b8a71a4c43db8579ec05749e38ee4504e0e6a8c88f86f2d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 21.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.985, 0.72, 1.0817, -0.3046, -0.0063, 0.996, 0.0006, 0.8852, 0.8143, -0.6456, 0.0467, -0.1783, 0.9967]\nstate[eef_state]: left_x=0.4949 left_y=-0.0209 left_z=0.0949 left_yaw=0.1135 left_pitch=0.3997 left_roll=0.0655 left_gripper=0.996 right_x=0.2875 right_y=-0.0045 right_z=0.197 right_yaw=0.0509 right_pitch=-0.1347 right_roll=-0.157 right_gripper=0.9967\nstate[joint_eff]: [-0.253, -8.9094, 6.4205, 2.3858, 0.0464, 0.188, -0.0171, -0.1162, -2.2085, 10.5368, 2.0488, -0.1197, -0.0562, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush body is at the fingertip line, with its metal ring visible beyond it. I am closing the jaws around the soft body.\"}",
  "call_id": "call_AHNHMw1IiZfkL5n4ABOc9tIv",
  "id": "fc_06f05438e7e1833a016ab2ab45119887d0880853a0088902be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AHNHMw1IiZfkL5n4ABOc9tIv",
  "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]: [-0.1558, 2.2288, 0.7223, 1.3071, -0.326, -0.0029, 0.0169, 0.0006, 0.8902, 0.8124, -0.6846, 0.0391, -0.1955, 0.9968]\nstate[eef_state]: left_x=0.4935 left_y=-0.0166 left_z=0.0335 left_yaw=0.1298 left_pitch=0.3852 left_roll=0.0782 left_gripper=0.0169 right_x=0.2812 right_y=-0.0032 right_z=0.1878 right_yaw=0.0673 right_pitch=-0.1816 right_roll=-0.1619 right_gripper=0.9968\nstate[joint_eff]: [-0.2256, -10.3863, 3.5487, 1.2772, 0.1587, -0.0024, 1.0769, -0.0479, -1.5932, 6.7897, 1.6093, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72f0a41828c2f0e32aff9c24515bbcc80c2f365353e6176c44ca05e7414d7794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fae8975d850abb41770269bc8a07c02925ad6b4c120aec87d3808851c2b583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4431e0c9eb20266235d5c3c89ea32b8d4d90d90876fc49446b42231033595ccd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 23.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 2.22, 0.7216, 1.2472, -0.305, -0.0025, 0.996, 0.0006, 0.8898, 0.8124, -0.6765, 0.0338, -0.197, 0.9968]\nstate[eef_state]: left_x=0.4913 left_y=-0.0202 left_z=0.0232 left_yaw=0.1048 left_pitch=0.334 left_roll=0.0887 left_gripper=0.996 right_x=0.2826 right_y=-0.0022 right_z=0.1893 right_yaw=0.0726 right_pitch=-0.1731 right_roll=-0.1599 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -10.6735, 3.6308, 2.0879, -0.0464, -0.2711, -0.0171, -0.2256, -2.0034, 7.1043, 1.8388, 0.1148, 0.1978, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqtdPIdfDj_StkCtx4Y2WDDZ8OL7-iIXf_XF-rF-oDhFPb-Z_qNvr6DYG1CC_KIPhfMwb77kvWFm9KekA0zaD76yGh3og6KejsBwdVfFRGRuQHG0uSrtZlf1hef01i3wq77LjqTj9apA3W02RWNDtjLtNYPdtyK36wkZa5rzwoN2Qg_wuJcNBLYGfdpgFzNHhkvuh2lLZ4rVFR9EVPTT-lItrlvCv8bTvtsGcy1IU9t6GryYGXGJX785dudt_Cj7VV6mrBz3YVJNiR2syNtvq2kEmJIMTWghvu1emT4i2FVmgFdwb_d76yLCA6bMYyJ1MOOt7Vfg3B3TaWK4qnQ1p-7SDQNdkiOLpE7zfcMNGRI2F41c31zc4VsI0yrjVc5HexPBk3BMRri39Lj8vvSlP6ldo6jpOpgMJrSn6hFaL5RBRcoTOVWkuRIj4_YS7SluWkAukKDjQvMRt8mAKqsVHuWIHjTLl4uwQI8U8btFEGMwxZwrWha7FFuY_bQrSYYXmYEl1lOIiqVpRmS7HNpizX0xrmj38nHHmNRkdJDdH8IIXQn9X1cIqsuXZL6iaZrPCvbILaofSvWkoHjT141Ay5oDg_Iph3FxcUy3IPKRVXODAwsW-NYinvRsjDHYvoeuL8NizFTV4c3m248Xxz1YDWyuNNrONce6k5K3c_97RNystcMoTI8gelbrxRnZyuBn9BfEbYhMN4R0plHwUbEuNf7r_Y2JXLNw9nV0iV02HfVYutBgvBHZSPNUj5XHMqPjqJApTgerD2TPlizwR3L755JWNix_J1JZwE78QcSzuPfp7K8StS6FYG9xanPvSouQ8K3itgQpa91UISI66FFMr1r-6Tu8_-lJGLzCBdr15cVGmZikPiDzfgs83yjkYb_qD24tD3ro-B52PtdpAGszj1TCccixDr7NetjXq-DSTWQ7dm8mQNu22-JZZGW-ZaJ-Vckj8S5Ajin83tupZnDuGMYTuK0TcX8KtWDA9J9_QkPusO2onZ1uSeAIjup92P1uOULo50uMx8_5PBnBbUgI-5ljl6zcxf0JkgK9L5h_28cvIWtHoec5eKeci3WgTIWEA3UiJS_TAjqZ0sRt-qxLw7U_uzZ-784Sv8_r_w8bkLZt1pzBHLnsnZxvO6AcCAPgUSZc03ER6jMCfsXISVKuG8vHV1sn32JWEKdmeR8j7YqOD_Dj35881A1nsHq7hoFUoc1Hy2JhBbreT0Gacq8Mmjp0_kNJo8kOFCKb6LyLBIM7t-GT2u0GrJtx7Uoi7Z7mjWsQkUigTGmcNvw16BLCkyTelBaPl-b-3L1ji0o9XoIJXo-WdTxVonGd2-whmQL9oYzZer-sMZiFXHUrcXo-F-yXQWA2YMT3klEmhk9-oT6qIT6GTZb2chp6W96jPxxGRiRqtrWsuh4ZUq3iWB7QDH0ZTppPElSE4R8d0aXSxAzpsWUNdqp2QBH3o_U7-70TjqUXxxq0Ph7mIlMGtaHebiUk54o2Sf2KTqEJNFSE0rNm4ZWHDT63a0w0FLA28znGIpjcD4LMMrVXqGfp3QG_reJVS2WE3LPYIeOJvgDWyGYaGkU=",
  "id": "rs_06f05438e7e1833a016ab2ab54c0c487d0b9a28aef38b1ec84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":0.03,\"left_z\":0.005,\"left_gripper\":1,\"left_pitch\":0.3},\"note\":\"The jaws closed empty beside the plush, which is offset to the left in the close-up. I will reopen and correct sideways while lowering the grasp point.\"}",
  "call_id": "call_CZAmSDCK0E7JwcRIpb2zyc79",
  "id": "fc_06f05438e7e1833a016ab2ab5cd76487d08dabb1b5071e9fbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CZAmSDCK0E7JwcRIpb2zyc79",
  "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]: [-0.0219, 2.2276, 0.72, 1.3098, -0.2043, -0.004, 0.9956, 0.0006, 0.8948, 0.812, -0.7021, 0.0364, -0.1993, 0.9968]\nstate[eef_state]: left_x=0.4959 left_y=0.0286 left_z=0.0328 left_yaw=0.1546 left_pitch=0.3813 left_roll=0.0514 left_gripper=0.9956 right_x=0.2785 right_y=-0.0027 right_z=0.1833 right_yaw=0.072 right_pitch=-0.2043 right_roll=-0.1612 right_gripper=0.9968\nstate[joint_eff]: [0.4308, -6.6803, 3.453, 1.4774, -0.0611, 0.1343, -0.1099, -0.1573, -1.9077, 6.7761, 1.6777, 0.0269, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1cbeffa53606af139d215c8adf2a3b28d1223ea3d7559e60470f507a98e652",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea1265344e75e3be8a58a30c1610522b45147b9bf5c9b0f4060671b1f3fe47b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9ca878b47bed6fb96b1cf086dca8a9a9ad2de132cc29311d7e4eabe166a7b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 8.737 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1558, 2.2288, 0.7223, 1.3071, -0.326, -0.0029, 0.0169, 0.0006, 0.8902, 0.8124, -0.6846, 0.0391, -0.1955, 0.9968]\nstate[eef_state]: left_x=0.4935 left_y=-0.0166 left_z=0.0335 left_yaw=0.1298 left_pitch=0.3852 left_roll=0.0782 left_gripper=0.0169 right_x=0.2812 right_y=-0.0032 right_z=0.1878 right_yaw=0.0673 right_pitch=-0.1816 right_roll=-0.1619 right_gripper=0.9968\nstate[joint_eff]: [-0.2256, -10.3863, 3.5487, 1.2772, 0.1587, -0.0024, 1.0769, -0.0479, -1.5932, 6.7897, 1.6093, -0.0513, -0.0562, -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": "gAAAAABqsqt1pnVHUSlLDKNjeed_qKCUxow6yiDtIDez3S4M3vxKRQhhkHsy-QlwGwHnuQumgnB7IidXxWV5QsCOjGZejqiWV_lMJMtE7vFZaKcjNxW47DNEgggHeVfCMpL16C4Koe3iHJ6ibfmyBVKTpcICihm3A_1RboCE0EOvC39h3Jr8Vn5B9gyZALPONrN6XFnkZWY6QlfyIP-Df7bw1ZkKZvcWHmgLT_CIrZtT6ZdrBXAXynrf9cvG4kzC11JhwXc8hBrDddJOGg0fGrpHo_St9mxNrGljp_sePsy-q8jk5mCbgh7VuZ-OL8zGB3BtRDZOi4Jar7ajjITGx8-JPaX7MqUoN22Tn_bHPTh1ToCuowgySaWU0cyzxRtzoKxBS0besxjeMyYaLoT5fDL3tcq2cac4Xb27198nUGoyIpikO_QyTnO78VkwtwkeVT9F2eCN3Ljef-LHma70YSiKm1FvFE-9WY0mxsvssCt8k-cITA65G-zLBCbyGHKdNudQO0AYnKvLCakf9oFUwPtqkDdEio-Y8UOArywys2Poft_NaM06TIAgU39RE6Xcf4JglMyyjC0my0dstB7EgCazATFyxFoYyIhM0M_5iMh4HFZy79G826Z9qDqqxgq6L8_aiwI1aL2Z6uwsEjzNmTYI_VyyIT-HS82xzIlxYDMqip1ZYqt8PNJPvKKHX0_2Ai6Fvb0FqGSwBYXi8xwxAyu-Yze1XGb28BsiMIJ5UnjyabUurHEg949_DyVfBbWvVn7xh7fa2KC7rUBvEnWm-pzRn11A86op5Vt3Fy4y_4Yhd_P4zezCfbA-37HhYf1wbtG3RBOVlA9y8R1i7Utn7NwPPveSeV5P1mhls2GSowapkdNzGFLzl65Wx9z7090bKK2gHANWDVvJbu6MiIRbZClVrrt67Ptm86uwBdZBzFO6dKXX1SFZLZJsbzNXvC6OUBKGC0ECdQwRcAlA1k9hx5ZIG5WbdrGJevQ6BvO3NuOHwF2D3feqn6_FilIhWbCQ_xseDVmsw79Yir6FPw8ahtYDV7TAL4Tw0k4_9DkndzhMN4u76VllPJrhoUL1dVmMzBe48GDmqRgvwFJrADZclkwow77st-sLZATaTfDwhNdfQR4GChUdJ3eL-lQ2Scpqi07jkTtrypPGQa8kNrDeecqTR7dQKlMf73eWpVDsGQWuG5XkviElxp88QJz8S96Apl42C8D1Xbu-cAhYhsdw2NtShIKVWTqyvgaZiGts2ZMsAGcgbwfGgVGjH7rqEKoJpkz8LYLgTLnWD3cc8GvjlKsHqABmbbva1blkXhNmt487T0xB58q16241ba3dzHmUMqHK0ybf0DLf-ktc0cAVS6Yzqv8mzpsb8TCMDbLX6rSRCeiQgb_3ZtfJymo03y7B2Vqz0prZb4NkH35E0RbEowgBg215ic-5hg==",
  "id": "rs_06f05438e7e1833a016ab2ab72880487d0a433d661a02cf083",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.015,\"left_gripper\":0},\"note\":\"The white plush is now visibly between the open fingers. I will make a small centering adjustment and close.\"}",
  "call_id": "call_IzIlw10u1zWljzLDKTfZ06OI",
  "id": "fc_06f05438e7e1833a016ab2ab74c6cc87d0bee2374b8d561500",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IzIlw10u1zWljzLDKTfZ06OI",
  "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]: [-0.0605, 2.2322, 0.7208, 1.3334, -0.2413, -0.0116, 0.0109, 0.0006, 0.8948, 0.8124, -0.7242, 0.0364, -0.1993, 0.9968]\nstate[eef_state]: left_x=0.4965 left_y=0.0158 left_z=0.0368 left_yaw=0.1557 left_pitch=0.4023 left_roll=0.0464 left_gripper=0.0109 right_x=0.2746 right_y=-0.0027 right_z=0.1797 right_yaw=0.0724 right_pitch=-0.2259 right_roll=-0.1596 right_gripper=0.9968\nstate[joint_eff]: [-0.4034, -10.0991, 3.4803, 1.6435, -0.0366, -0.0366, 0.9206, -0.1846, -1.6615, 6.9128, 1.7118, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84059b0e2c0523da094c965437dbb7be0df7e2703fa15d1180b8a74a3893fa22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7675666b3147fa4b669c29c932fff8473eb2a8401cc7ac886fea5df9e73857c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04348ad9ff403f815e48de7cfdc1223e0b20af93f0e6fff8dfd826435524ec7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.661 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0219, 2.2276, 0.72, 1.3098, -0.2043, -0.004, 0.9956, 0.0006, 0.8948, 0.812, -0.7021, 0.0364, -0.1993, 0.9968]\nstate[eef_state]: left_x=0.4959 left_y=0.0286 left_z=0.0328 left_yaw=0.1546 left_pitch=0.3813 left_roll=0.0514 left_gripper=0.9956 right_x=0.2785 right_y=-0.0027 right_z=0.1833 right_yaw=0.072 right_pitch=-0.2043 right_roll=-0.1612 right_gripper=0.9968\nstate[joint_eff]: [0.4308, -6.6803, 3.453, 1.4774, -0.0611, 0.1343, -0.1099, -0.1573, -1.9077, 6.7761, 1.6777, 0.0269, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqt_Yl7VY_eHWupi9B125aqIdl9qf-9NNjuOz2lBEbaeL15WmdJcI4n3NdEzVwitmwryZI0raGRaJV5D5jqVOR7wY6o8ycaJP4D1BBFy68pww0aHjiIc8p0k5Ym775EsyimL_qDF3SedGNrC0BVmIlFLENXnZxFOXrfAfl5jar-5tC7Lqoom2VbhDtpP3ji9vtaB0khNNovYRTl444BAdIn54UzttdJ_qL4hMDKkHOVqdRuHTR7uxVHj58CujW9jSnpD9o9ZDxIU1WevgLh0z91R8Nx6pxGoK_M7mNth_AJXyGLvmpjhi-satUKKRuXwbvRDVXrY3g_DoiaZBDH_8z8zDBxSacFSX5wt5sBojLt0ynz9fAQN14kZKBC_Ax13hc_ZVLYRvOJVxhuKlMrtNOvX7AcudgQ_ar2Ds-ZiMI8YwgGMNoLBAaj4O7U6QmmTFnTZilDzxBgk9olCHKJ9r-KGyf-dDtRloEQu7FczBKm4Zp91v4FTB6W07Mary-3pePzsMyNr90V8pwpt3m-Hk3_R4kN9hdeZd_GNyyprrpNd_FYMp3_TWxw03rkfw1olbGLBVbRjCTQO_m-7nNm5OZOJTq7T4mzZi35kw4n7WvJTtEH8ZhkuNtJfSBhWxG0xHtbPk8Fdb2Fw5B7pGY2dLza2a3Rwf4fRikteQYb8u2-B-OPVf6iLyFz0Bimmq05Zye8cW1zbORsAgsfmFJRr64yVxM5SAeeDbpwK_d05yG7uh7ZBjK4lm55ykJQd0VGRSVLN1DGwNfWuq60qKI19DRVtqshWxnAPsRa8n0X3PpfgzZtAMAU1264AL8I1Q3NozDKcPwsA43T4DGmvj88oimAWsDGz18yr85zljeW8sRoLROZlc5xM2a5JSXHXR8ecNGhG0r27ACwkPbGgactU-taxsTlFw1sikFKBMrurd7NfdMYcksL1dics6G65t6X_8i-ezS-3twKDlARM8Pu4A9Ou55OTqfZXvxiqlWZoD2htn0jkLK-FPcpkrLqiL2ju9T4ugMHBN0NBoHXwFX7_jIs-NGUGIUt3ARjhow84a0dpd1pkTbwPeqPfqXu1xHGbuTb-xhJ8U3Ye53PDZ87axlMgQuiQJp-Hko-fl39jT2cvqs9uAL4R04V7wFbtbjB4vFuijsFbI5g7yCHb8rujuP0a3GWwj9tjyBCdeTYDe3cBvCWrcdpMyEKk1qIXbzsQcGIhivazpyGhgn1ud4FFVRoHzk0UfBV9EX9Jxo3AbrTqxukjpp1rnV3-k6FPnVs-SsH7xG4bwB1MfHfUwPYifi_ntOUW3RVswXLDML2l1TDl6Mo46BHnY4z6uanHEkISlcV4I0g687eVdZQGiekpztpal341pNpZJEmej-IM7vqq_kCIrLaltfq4JmA51LEtix6tDkX2tjoJbIZ7Tp-MDbXrpFhsjKHi_5lKclXmCmxhrVoKXqFSDwIp_nBITKnFw3utwDAsMtJ8aoxjYp50vxGyRLZGP1ItsScYHS3HqCedSCsrWd_hAV03KQ117Ankl6X7fZ2cN3GHcy7ja6qAbrJvSv1EGzZ-jaK3iStke63TOtbmNZzONmYa-ynwhueMN7Ow-11mYDjZ4-FjA6WuZ5JgZ4AQLsJoe8WL7v7uFX7vOJ5aMPveB2wb018dy8H2SEpycOKvjZMStQUiM06yn6mmwnXAw6VSTLWrsJqE0Gtn-p4=",
  "id": "rs_06f05438e7e1833a016ab2ab79c21087d0be036ff33cee7492",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":0.005,\"left_z\":0.075,\"left_pitch\":-0.15,\"left_gripper\":1},\"note\":\"The white plush is too low beneath the tilted jaws for a secure grasp. I am lifting slightly and making the tool more vertical before another table-level approach.\"}",
  "call_id": "call_KnLS5bNjNoWFQhLD6QcKgNNN",
  "id": "fc_06f05438e7e1833a016ab2ab7d632087d0af0f6263e0baa487",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KnLS5bNjNoWFQhLD6QcKgNNN",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.065, 1.8339, 0.971, 0.0959, -0.2138, -0.1287, 0.9966, 0.0006, 0.8948, 0.812, -0.7399, 0.0364, -0.1997, 0.9968]\nstate[eef_state]: left_x=0.4701 left_y=0.0105 left_z=0.0515 left_yaw=0.178 left_pitch=-0.1712 left_roll=0.0616 left_gripper=0.9966 right_x=0.2718 right_y=-0.0027 right_z=0.1769 right_yaw=0.0729 right_pitch=-0.242 right_roll=-0.1586 right_gripper=0.9968\nstate[joint_eff]: [-0.4171, -12.1641, 8.5538, 1.6972, -0.0562, 0.0806, -0.2662, -0.1436, -1.6479, 6.735, 1.663, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171940ea80199a8cfc518fd3c726be217f029a26fad66b396a596b95ba16550e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181ebfa4ae5042ab3f1ef97029ca42921c4f93a1d6fa0721606e46c46144c76a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5018332357430bdba39e1e048f79bfcb41dbf11ae69bcb53713f52535adbebfa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.621 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0605, 2.2322, 0.7208, 1.3334, -0.2413, -0.0116, 0.0109, 0.0006, 0.8948, 0.8124, -0.7242, 0.0364, -0.1993, 0.9968]\nstate[eef_state]: left_x=0.4965 left_y=0.0158 left_z=0.0368 left_yaw=0.1557 left_pitch=0.4023 left_roll=0.0464 left_gripper=0.0109 right_x=0.2746 right_y=-0.0027 right_z=0.1797 right_yaw=0.0724 right_pitch=-0.2259 right_roll=-0.1596 right_gripper=0.9968\nstate[joint_eff]: [-0.4034, -10.0991, 3.4803, 1.6435, -0.0366, -0.0366, 0.9206, -0.1846, -1.6615, 6.9128, 1.7118, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsquG4UxKrh5W7FZKvETLKvmZZHYutQxUBVZ9gwVcDSzbRa6bMJ_lRQPq1o9iLpby9KMwMZUqdSvWJCauFN544VIHnzqPgcIVUnkIXz7WY33LjK46AiE0NLFjspgzCTaWcUAUbm6ArWC76rJ5Kl6ZbSooRf5LZubXyUd_qc-SAEmLup9RwS4L_G7RAUcM3SpeRrcG2eoyOLjkkul2pNzHlwJ7RU-GaZM_jzb6E1oXmF_5uWdO2YpWx8kLYNyNtTbIWwfY1WnCCV3WZ8tH9VxGs28oo4gXawUo-su49ogzljhQI260NeCt2REznX0AZsk5sXmMP-usktmkfnS7iE-P7RdYAWFbuSzo_uKI179NACoeEyYW874PyX_-NDos2rrnuENZ_nx9SaKMI4q3VRD7Wl1SYphbZN3HWnMVXwNqusqipg7pQHvgyUzN2FAuOuc3GLue_p90LDMZwmf5C3j-aIceFUzpUVFCpgdg40FNdRhMIsj_axV2sUKRSO-KQ9-t16XGI2KZyypyiXgjt7Yr1xNwsSxa-3oHH464n5n961QD14F77mzXCDUqR11nIe4_0rOpqxUWzUSrG4S5R3A0-N_YShbFdy9IEy_st3R6NSVOR60BZSJ9U6UPawThyhvbTIRTu8JqZRZDcKKgyvxru2iLSF-SVJqVC6fkevEF5DjxQsOt1uti4z2Eqm-MgoQMdA8K4uDL5iWn2X3OGaprzlxB7lXLg9mclpEGvVyRgeStK81e2fr6Hon-siXiEZxVul7KuUG0yigcMdD3v57SES6G3rmc_8i8OGxtjMWDuEPDCbtTRolJo5N0zAiP-GWph4a-QW5Ich5QwKSO8HIM2GIAETn9WfutZlDs_lqln8k9BABcGBXnobpAzEP2eHlQ5GV5GjCQP8uk3YrIrhKVYeJKuFOvHuz6J5hMzSDz2de-ot2n9RO6mKKcIqTzehYURo5Pmc0kCL_VQvdDBMDAOTmXrrlAg9SNvuTz8w_FdCbvW51qsqayjykEDkCOo7akmffPtHQ-dABAOGNVf_EdcwVIwcrs4pFzJbhx2jOokBIizkHbw_tVaho9P_pD7ZUU_LKbJ7V1cAo_TayST_Nh1kMRkIrI-tYEPN6Chb0PMPkCEQlEqzVix0qHDA4MKlFDRmhocQeLarpfhC4ZMl8QPdxdYlkuGDdmwCPga8YxjTzr97uMSNnyMi5L4qMoJ_fWwqJMWK0-c_i-azTljLubR51SnA==",
  "id": "rs_06f05438e7e1833a016ab2ab83e95487d0868fac09d5bc3595",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0,\"left_pitch\":-0.15},\"note\":\"With the tool more vertical, the plush is centered clearly between the jaws. I am lowering to table level around its torso.\"}",
  "call_id": "call_e7AfCWBT90vLprWHX1pnfKWu",
  "id": "fc_06f05438e7e1833a016ab2ab84705887d0b1cbc1357a8daa79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e7AfCWBT90vLprWHX1pnfKWu",
  "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]: [-0.065, 1.9999, 0.9752, 0.2512, -0.2092, -0.1436, 0.9961, 0.0006, 0.8963, 0.812, -0.7479, 0.0372, -0.2024, 0.9968]\nstate[eef_state]: left_x=0.4838 left_y=0.0089 left_z=0.0043 left_yaw=0.1826 left_pitch=-0.1777 left_roll=0.049 left_gripper=0.9961 right_x=0.2704 right_y=-0.0028 right_z=0.1751 right_yaw=0.0739 right_pitch=-0.2517 right_roll=-0.1604 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -7.7197, 5.6821, 1.3065, -0.1636, 0.1294, -0.0757, -0.1983, -1.6752, 6.8855, 1.5409, -0.0024, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb36665300e1d8a9c11d0038e15e310ce2aea0446c075aaf9b79ef423bfba09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0970efbb01e7cac3936127e7b8e4be1cd3651165399761f44b30d21b4a3f3a5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43aab8f7dc3bc56eae9733e69934a44e171dd2b4ba03ba658d7a7fba767a023d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 4.279 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.065, 1.8339, 0.971, 0.0959, -0.2138, -0.1287, 0.9966, 0.0006, 0.8948, 0.812, -0.7399, 0.0364, -0.1997, 0.9968]\nstate[eef_state]: left_x=0.4701 left_y=0.0105 left_z=0.0515 left_yaw=0.178 left_pitch=-0.1712 left_roll=0.0616 left_gripper=0.9966 right_x=0.2718 right_y=-0.0027 right_z=0.1769 right_yaw=0.0729 right_pitch=-0.242 right_roll=-0.1586 right_gripper=0.9968\nstate[joint_eff]: [-0.4171, -12.1641, 8.5538, 1.6972, -0.0562, 0.0806, -0.2662, -0.1436, -1.6479, 6.735, 1.663, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The grasp point has reached table height and the plush is centered in the jaw opening. I will close around it.\"}",
  "call_id": "call_xEUgrQzYhX9cXMhmqfuJoywV",
  "id": "fc_06f05438e7e1833a016ab2ab89b65c87d0a24245a66602603e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xEUgrQzYhX9cXMhmqfuJoywV",
  "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]: [-0.065, 2.0121, 0.9752, 0.2855, -0.218, -0.1509, 0.3056, 0.0006, 0.8967, 0.812, -0.7689, 0.0368, -0.2024, 0.9968]\nstate[eef_state]: left_x=0.4881 left_y=0.0101 left_z=0.0049 left_yaw=0.193 left_pitch=-0.1546 left_roll=0.044 left_gripper=0.3056 right_x=0.2666 right_y=-0.0028 right_z=0.1716 right_yaw=0.0746 right_pitch=-0.273 right_roll=-0.1584 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -10.9333, 5.3128, 1.2234, -0.0708, 0.0171, 0.7399, -0.0615, -1.6479, 6.7761, 1.6777, 0.0073, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c05f9a67459c5e82d3783f321099bdc749883b690aa1572209eab9b96723605",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51bc239c986b428dcedec0e5504105275d8520972388d1dce48328c32408f87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1077721065c7327895cbd786ae1957d04dc7040ef9a6d3debbbdd44eb4da589b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 7.393 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.065, 1.9999, 0.9752, 0.2512, -0.2092, -0.1436, 0.9961, 0.0006, 0.8963, 0.812, -0.7479, 0.0372, -0.2024, 0.9968]\nstate[eef_state]: left_x=0.4838 left_y=0.0089 left_z=0.0043 left_yaw=0.1826 left_pitch=-0.1777 left_roll=0.049 left_gripper=0.9961 right_x=0.2704 right_y=-0.0028 right_z=0.1751 right_yaw=0.0739 right_pitch=-0.2517 right_roll=-0.1604 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -7.7197, 5.6821, 1.3065, -0.1636, 0.1294, -0.0757, -0.1983, -1.6752, 6.8855, 1.5409, -0.0024, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The gripper now holds about 3 cm of material, indicating a real grasp. I will lift the white plush to verify it is secure.\"}",
  "call_id": "call_k90Yi60d1IJ6vH8CmnGMhMKR",
  "id": "fc_06f05438e7e1833a016ab2ab8ecd8487d08be1bdcbda9b4dff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k90Yi60d1IJ6vH8CmnGMhMKR",
  "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]: [-0.065, 1.8782, 1.0466, 0.0372, -0.2211, -0.1589, 0.306, 0.0006, 0.8967, 0.812, -0.7879, 0.0372, -0.2024, 0.9968]\nstate[eef_state]: left_x=0.481 left_y=0.0111 left_z=0.0502 left_yaw=0.202 left_pitch=-0.1954 left_roll=0.0515 left_gripper=0.306 right_x=0.263 right_y=-0.0028 right_z=0.1685 right_yaw=0.0747 right_pitch=-0.2921 right_roll=-0.1573 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -11.5897, 8.9231, 1.7314, -0.1148, 0.0317, 0.022, -0.1573, -1.4017, 6.6393, 1.6288, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2095351b012be4addeb042da002f862ce5a9f21e0b4bcbab6c199c9b5912b59b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22dd71e1b1be31ae95a45d687564088068be2cd03c3c15b9c6f1793bbf00ec3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdfd2c1bb1cb3e0711cd94b8044d542b1ca430c4ec6f7e59e4f1c21039954fed",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.645 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.065, 2.0121, 0.9752, 0.2855, -0.218, -0.1509, 0.3056, 0.0006, 0.8967, 0.812, -0.7689, 0.0368, -0.2024, 0.9968]\nstate[eef_state]: left_x=0.4881 left_y=0.0101 left_z=0.0049 left_yaw=0.193 left_pitch=-0.1546 left_roll=0.044 left_gripper=0.3056 right_x=0.2666 right_y=-0.0028 right_z=0.1716 right_yaw=0.0746 right_pitch=-0.273 right_roll=-0.1584 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -10.9333, 5.3128, 1.2234, -0.0708, 0.0171, 0.7399, -0.0615, -1.6479, 6.7761, 1.6777, 0.0073, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsquYQYp3UbMWX5c51Y7r7MsB5W5a261clEORLnAU-orhXUZfqEOWP9S7OXGaYTS7TJLHoFNwqwMdQEvUb4HtShYGzEJbH47qR9eQCV01Xz0DHLH7HitQIK-IBt-Wd6XypDQCS7pWRz9QhfhO_h14KBmREcMOFAnzmung6sNeIaRlE5wJ4AUkm19G7CIzQHkVN14MNEkI8awYTHcwvid052HWEbIo_qrxMuVdoStt3wv73ID1JfOSWgQ_hYtGz_wQCf5orKmXC9JX37riSongHwLlxG8PZhSuG2iSA_9DL6Rynf7I9O4BPStHx8XjnQJoUIB4UZ9y9j7tYMhAbtsW_V9VGSIa8aVmAVuxex2Shr--M26HwiyfzGnBx37_Vi_ksgu0dKs94kbvjxgvIQmE0ny4-rrsvCKzqw0kaz08XTALA50sYboNI4wY7WV1CqWNf_SVHn2YGUr_fc3v7_cVIdKcwWv4ab26eHJual4nAdAw45cQtdx60FXRBdgBuGf4Kro8DrahwmGf5M1xo7-Jocl05lcoGlm0b01RUaf629cuItWT5zdMmU5EiFhgL0FwBP_0JtxClhZAVxamhV3xBqPHujjhUdrQrGcOtIy5UKtUTCtheHEZEjRVsOzCqJPDDa_OCMRQzmEQL1-JTSO496iJKKgyMb4wxlNf1F38WbW0clxsD5-2G9F_CKlmIoml47EbhH0uvdkBBEXr930ITWSAFayjYc2JJ-putklZfPSLL7JPTXwaCelgRsCTTeM6m2hVqeG3O_zlBg7Zm0BmyZ62rpQCahYLd-tQOmrCPDgsh6iHcXcEQrHXP9gWdc89ugfYx0YwmroyW44huDSBxDELFjQHQnIZReB5uct8W8Dk67muD6O7RgbbSNqLeNr0WpLPbkaYYzS58mVmGonGsNsSBebQOS9Igv1smU6VFGB9dBzjPsm6g9Pt9VYWCzpavhIUN3bQef3dVac9oG4Ep6OTCFQqo8R5xfsevuJH4SCjbN4-3o78ojV7LYWARBQWNl4dv9mzUFbLSl6e6-cVl7d5sg0vpC40USuxO2I-qfvvzxw7GOltp3HmjjH57jfBtMG5Us60OB6TscGGzk2xpmSI1CmwMXutDtaC8YrHiKPyQ71g7E13NOzQ0mYKclFLrObfreGB6LfpgMMML8GyssXk22kFjgQ8r4mv63JIKnocsn_IjL-tfr1HjK33rG2pYh_-vSd3Ln3fVgxpnmZNPIy_BRWkNmGh7hkXLkgGayE2oZn3zC6ogyA6eeQ_c6SIqYuWAemKRXnFNpAE-iDkdvaOQ_gjgP0qpmrKNnr4oYS_zndjnilvNiisEo_FfcidZ8HEIiJwgvyp1ihBOEMIS4FVBalwko7gsiiidqiwyH24bMY=",
  "id": "rs_06f05438e7e1833a016ab2ab94cf7487d09511eb9cce4e3fd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.27,\"left_z\":0.22,\"left_pitch\":0.15},\"note\":\"The white plush follows the left gripper. I will carry it above the safe's empty left side, beside the yellow object.\"}",
  "call_id": "call_mAsdtPqRtpVjN23SrQXc6Hfa",
  "id": "fc_06f05438e7e1833a016ab2ab96703087d098493fe4234b2a39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mAsdtPqRtpVjN23SrQXc6Hfa",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8062, 1.953, 1.6135, -0.4263, -0.8703, -0.5816, 0.308, 0.0006, 0.9012, 0.812, -0.7929, 0.0368, -0.2028, 0.9968]\nstate[eef_state]: left_x=0.4476 left_y=-0.2664 left_z=0.2046 left_yaw=0.1803 left_pitch=0.1114 left_roll=0.0571 left_gripper=0.308 right_x=0.2623 right_y=-0.0028 right_z=0.1666 right_yaw=0.0755 right_pitch=-0.3016 right_roll=-0.1565 right_gripper=0.9968\nstate[joint_eff]: [-0.3487, -10.441, 9.1419, 1.3651, -0.6276, 0.0269, 0.2027, -0.1846, -1.9077, 6.6393, 1.4579, 0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444ff675825fd59cf3ea4b6f1301795056ba85ffb39229da8bbbacb967559c81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54495b1261535057320340832fba1ba091109bb58c2cd3dc4b85db3c2754676f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f220b22499c29870676a054dedddee1c2656b1e487141421d6df1e77c09fc4fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 8.151 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.065, 1.8782, 1.0466, 0.0372, -0.2211, -0.1589, 0.306, 0.0006, 0.8967, 0.812, -0.7879, 0.0372, -0.2024, 0.9968]\nstate[eef_state]: left_x=0.481 left_y=0.0111 left_z=0.0502 left_yaw=0.202 left_pitch=-0.1954 left_roll=0.0515 left_gripper=0.306 right_x=0.263 right_y=-0.0028 right_z=0.1685 right_yaw=0.0747 right_pitch=-0.2921 right_roll=-0.1573 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -11.5897, 8.9231, 1.7314, -0.1148, 0.0317, 0.022, -0.1573, -1.4017, 6.6393, 1.6288, -0.0317, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsque1eNJcWdXexeEfS5RRKbfcw0eNissD8xf-P-uQz0Z3rfNjmXFk7vE2XRwNk9A4J1OgT5IMs_GrKxCudrYzlZSqgJmSLJSEZX2DT-JGf3KV9wN9YGwry1voIAJHCq9cKk1oXNRxt8VRIg9HWGwvemhxWBEcKqDD1SZ2coJhXkv_RRAO0O_9lAzPTJSxXDTiHkSjuGpafPfep4LZt-tKlEcz7brScmPCTzS_8Xl6d-89r1qNK82RbJYb5QDraggmN_VM64ShH7ohWY-jFFmoz3y3b7GotUFrqMWzCCh1VKhVn075VMe-mJEyruiVsfY9falTH2waJQkDtoKgVwMQcLhJc90X6WTDUzI67jR8znJuEWJrHP6JXokZbUwuwoZkqVGzJZEK4SbWlEMRJSHOOYzX3wVFEW4FdVQ-B8qMlM18qXn_m4dyLolkfVtY-XVbll7sp8qMmCn0QJO_S04j3lIsMQzev-etKqx7KkfiR5hSzaGRhplr8Fpp7Jks6r_QR9mZ7iW2VqVLRb52xMKA5liXZlX9ien3fvrqkO8iVTuFG7YP-2vsRboNDvAAmFeuSxEaISe5FVvvH233kAONLfflv4R62fUtVmzeK7LfQ9L_qpEb6lGWN51OPlljHUIuNq7eXMDpLDsCA6N7lhEePYL8P1Cp75QwBil2eCH3UMEUPxN1hmjeM8CsTQ0YQOmPrTAfX0QgOPMaNA0f22FDWXjI85z3d-dTeeZ-3fQLSc2CWcNXNBUHoBbu5DjyeuVmVRBtHThBN7w-jjl-OX0h8pRPnrg1Aj7hJ5dS-fhTL2Pt8PPNWIrZn2kUeRPk5FBnkQQidgdsih-MxHwn1GrGuGDBTfErLLtKdEU_5yB7lxzmlsGML1WwojGbZcxujYUKRvznSUs6H7tb-S_5r1mLU0PXfeiTK9PNHBCofU1pumOV_mPO8YRCH46niCk11WX801A8lqGaXwtSyt0ZIm3uCrer4NYv0TsULqznl3QzNk8pOpgoMw8x5N41aKRhed7kId_liKsUoA9BJiNMqV6fNIFRLvPUoiqUm3b5SpT5R1NtZ5HH45J-glDUnDJ2ISktNhfpn7Br9WESmJrXWPISKlbnBP8-pzo8LmrgwasytMRqfEYwWE04FLTFuqHIv4wcYBNNMiKOO4spbNL8WCR7EVlP1ouWjUL0NTwt2WkC0lYqlKicyvITsR9WrfsGYq-Neyk",
  "id": "rs_06f05438e7e1833a016ab2ab9c924c87d094b7842a28990d0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The white plush is positioned over the safe compartment. I am lowering it gently inside before releasing it.\"}",
  "call_id": "call_9tOXPYJAXdsOzjhNZzaeRXL9",
  "id": "fc_06f05438e7e1833a016ab2ab9d0e3487d08272a1c5d9c3e5a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9tOXPYJAXdsOzjhNZzaeRXL9",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8085, 2.0899, 1.3262, -0.0528, -0.865, -0.585, 0.3095, 0.0006, 0.9016, 0.812, -0.7959, 0.0368, -0.2028, 0.9968]\nstate[eef_state]: left_x=0.4423 left_y=-0.2634 left_z=0.0807 left_yaw=0.1723 left_pitch=0.0803 left_roll=0.0943 left_gripper=0.3095 right_x=0.2617 right_y=-0.0028 right_z=0.1661 right_yaw=0.0756 right_pitch=-0.305 right_roll=-0.1562 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -10.8786, 5.6, 1.6679, -0.3687, 0.0122, 0.1343, -0.0342, -1.4974, 7.0496, 1.4432, 0.0073, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0e39cb9679ad590f11d34c9b79dec986dcfc608040eb0bab0c12e3c2560e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7172a76dafaaffd2096736c5423381473533920241d18870bc01c229a2f557d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c596760c83682ca60e0aa294c3c5577daf406c91811822d372a18640cf78f25",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 7.344 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8062, 1.953, 1.6135, -0.4263, -0.8703, -0.5816, 0.308, 0.0006, 0.9012, 0.812, -0.7929, 0.0368, -0.2028, 0.9968]\nstate[eef_state]: left_x=0.4476 left_y=-0.2664 left_z=0.2046 left_yaw=0.1803 left_pitch=0.1114 left_roll=0.0571 left_gripper=0.308 right_x=0.2623 right_y=-0.0028 right_z=0.1666 right_yaw=0.0755 right_pitch=-0.3016 right_roll=-0.1565 right_gripper=0.9968\nstate[joint_eff]: [-0.3487, -10.441, 9.1419, 1.3651, -0.6276, 0.0269, 0.2027, -0.1846, -1.9077, 6.6393, 1.4579, 0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.255,\"right_y\":0.30,\"right_z\":0.12,\"right_pitch\":0},\"note\":\"The white plush is inside the safe, so I will release it. The right arm is approaching the brown plush in front, remaining clear of the left gripper.\"}",
  "call_id": "call_RnAIehZcbTJnggbK7jgcDh7q",
  "id": "fc_06f05438e7e1833a016ab2aba55e0c87d09a6dfa7e9dee47c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RnAIehZcbTJnggbK7jgcDh7q",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7399, 2.1113, 1.2999, -0.0658, -0.8577, -0.5858, 0.9967, 1.1408, 1.6512, 1.0225, -0.6434, 0.9943, 0.9108, 0.9968]\nstate[eef_state]: left_x=0.452 left_y=-0.2268 left_z=0.0594 left_yaw=0.2336 left_pitch=0.0419 left_roll=0.141 left_gripper=0.9967 right_x=0.2662 right_y=0.2338 right_z=0.1208 right_yaw=-0.0813 right_pitch=0.0217 right_roll=-0.251 right_gripper=0.9968\nstate[joint_eff]: [-5.7504, -12.9846, 7.9385, 1.4188, -0.4713, -0.0122, -0.2857, 6.3795, -3.0291, 10.9607, 2.2637, -0.7106, -1.4481, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2666896d452b32ec1a179d6134fe4cd7b58f48164970b0ad0f11ee20a18fb813",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bb6190ac8856dedb90885e3eeadbddc2b8db283093fd51fd79450a2eecba24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2764db29abbac10c485c1c37058c4272dc3e6735b178b5488e8321ec91769b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 5.775 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 107 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8085, 2.0899, 1.3262, -0.0528, -0.865, -0.585, 0.3095, 0.0006, 0.9016, 0.812, -0.7959, 0.0368, -0.2028, 0.9968]\nstate[eef_state]: left_x=0.4423 left_y=-0.2634 left_z=0.0807 left_yaw=0.1723 left_pitch=0.0803 left_roll=0.0943 left_gripper=0.3095 right_x=0.2617 right_y=-0.0028 right_z=0.1661 right_yaw=0.0756 right_pitch=-0.305 right_roll=-0.1562 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -10.8786, 5.6, 1.6679, -0.3687, 0.0122, 0.1343, -0.0342, -1.4974, 7.0496, 1.4432, 0.0073, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsquwTzW752KBAzQ_sTu3TtnXrwXCn8zdjH5yGnxRIkOsyC1Pg97VdlABsW_amp-IIWYq-6ST8epXz_dQsgVDUI9IGXEn8u6Mf-Umbo3qXxpA_kLTOuL35eKsQWFOK1kXAAQ-Lt_o-bdmOSJp7lLiKzS2frJrVkUwrJ64szFQ5diDA8W7q919Tf6P2Td2oKcLQH_4kDbxv1BCvIX1eZE2BCPYbWGq9KbANXYg9KveN3eHikE2fiAgqISTK-Sd_oU-MntK_HnImsORdpGtjGnFc39p7B8p6YfXzF0aahVFuTJ1Pnc7O90RrNE3cHV1pJ4CUwM1DV07ke8sqHHfBWBKhezpr2kMZ05V-iq7amge2R3bY79slms_LDfMGfG7HGgbpRSwm6HpuHcyJpBb6xynLjwHZlm3PoDsDwhTSC3DCoC0aXxbY6SDISNcn0BC9jXDQfczC80D70i58aLRIrl-l71D8whU-DNAVh_ofd3JGfsLvgDfNCppgj0T3Ddv_MFiXng78UOk5Bg3Ljwk9lbonUcuU16o6ltJK_qIqx3JBkoAylfidjDjbeBf_YONfY5cywd8Ca3HfxTQIyp1Gqyc4BBaZxyBiBNc_xJ6vomIgzQDbUD4OwxqGFrEDO4XBxhz_EGy2rFcubu8FXutssjGPB3YtJ0vuDTRqGL4MQ81zOTRqcpRJC0_WkAsSQNmli88KDQr4mH7RRljCNtbhKPnK5NmMNmKYqWKP_3j8gu7UMPFP9K4fpKo24Ent0zDYm1w2b5V07eeXEqbydh-p02UBkPl7Kz8bQmwtSNhH3EarPbZwbRROdxfRjJzOzm12e-oYU_ZfUJ6ptTCNB_6AdMA3c5PIX0qyuQnG43GY8golCoEcT0IqtAYshKOPYhO93tNho10-GQ6DVEb6fKNNPHbKf93rLpaIHnMyNDeTdt74OuUW-Pbabu81VMDbMRKcKz7pxQm9JbuzEZwf7cbLWvt6EgLd3MHF56SN6_0gPCLFIA6_q_sU8mKhts-I1Ry5-tHdAO6re8CWOcKGz9o8oRtOI7G4vIUDyBNk6UhfI-YYeb0plgsc0WSHavSnhUCiefLxn0efURxRm13IGGM9XskfdcwaFw60I_YZan6hZX-GXexc35UuUqtvH-yid_VKQP82__zmgo0jNItVPsokggJ5JJxtMpDLcruYX9De6rMh8nwJNLiIpLGipDkv9sUfL2AhP6tSI0Ph8JZzEy3qZBc8cbt1JdXQrYLukriR52t5Uzio32294kjWzPZaX4xYAks5SfVm0dnebxDAP3dF86YU-JEM34ngY3Awx6DOitiYJl0y_Jn_D6oV5jb5iMjxmxd0la15SQypz87qm1Elatx1_qth3XHxtuCQ708ZQDd-Mg54ummCzWHmSz9vuoF7rFBB2_EpFAR3fgVD_yFUIhxecNG3-M3yuylG5K7f5YeXx8rWgC_camkPbA3hCT9e72yW47r",
  "id": "rs_06f05438e7e1833a016ab2abacff9887d0b0bcd96b7ce1320f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.255,\"right_y\":0.325,\"right_z\":0.03},\"note\":\"The white plush has been released beside the yellow object. I am withdrawing the left arm and lowering the right fingers around the brown plush's torso.\"}",
  "call_id": "call_suYeq6EOyCOeYOWoW1JcxQCT",
  "id": "fc_06f05438e7e1833a016ab2abaf3d2887d08df3ced60c0c7395",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_suYeq6EOyCOeYOWoW1JcxQCT",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3447, 0.9295, 0.8028, -0.5156, -0.5903, -0.2611, 0.9964, 1.2621, 2.1185, 1.2716, -0.6418, 1.0073, 1.1206, 0.9969]\nstate[eef_state]: left_x=0.304 left_y=-0.0009 left_z=0.2224 left_yaw=0.2701 left_pitch=0.0495 left_roll=0.1251 left_gripper=0.9964 right_x=0.2537 right_y=0.3159 right_z=0.0299 right_yaw=-0.073 right_pitch=0.0019 right_roll=-0.2866 right_gripper=0.9969\nstate[joint_eff]: [0.0342, -1.9487, 8.7316, 1.79, -0.1197, 0.1832, -0.0415, 0.6632, -9.0188, 6.9402, 0.5543, 0.5934, 0.2027, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84da0b1b92df340a210a4e5eac33129426b7903fee843bb90d875ca4ad78e7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016362a8072dfb765c49195e9dd0c8bb6068bace99e270765a457e13611c8368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564ebfbc35a284c6164766f881f3c1801794960ac16d054cfdfce5f3a6eea8da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 5.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 110 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7399, 2.1113, 1.2999, -0.0658, -0.8577, -0.5858, 0.9967, 1.1408, 1.6512, 1.0225, -0.6434, 0.9943, 0.9108, 0.9968]\nstate[eef_state]: left_x=0.452 left_y=-0.2268 left_z=0.0594 left_yaw=0.2336 left_pitch=0.0419 left_roll=0.141 left_gripper=0.9967 right_x=0.2662 right_y=0.2338 right_z=0.1208 right_yaw=-0.0813 right_pitch=0.0217 right_roll=-0.251 right_gripper=0.9968\nstate[joint_eff]: [-5.7504, -12.9846, 7.9385, 1.4188, -0.4713, -0.0122, -0.2857, 6.3795, -3.0291, 10.9607, 2.2637, -0.7106, -1.4481, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush fills the right gripper opening at torso height. I will close securely around its body.\"}",
  "call_id": "call_6kn3EaSUftgZsOAzYa6FcG8j",
  "id": "fc_06f05438e7e1833a016ab2abb7cc7c87d09498161801837372",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6kn3EaSUftgZsOAzYa6FcG8j",
  "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]: [-0.3454, 0.934, 0.8028, -0.5392, -0.5728, -0.2665, 0.9964, 1.2621, 2.1246, 1.2751, -0.6491, 1.0138, 1.1149, 0.0182]\nstate[eef_state]: left_x=0.3019 left_y=-0.0031 left_z=0.2161 left_yaw=0.2581 left_pitch=0.0206 left_roll=0.1279 left_gripper=0.9964 right_x=0.2541 right_y=0.315 right_z=0.0293 right_yaw=-0.0704 right_pitch=0.0049 right_roll=-0.3025 right_gripper=0.0182\nstate[joint_eff]: [-0.1162, -2.3726, 6.8581, 1.7656, -0.4225, -0.0122, -0.0171, -0.1573, -10.7692, 4.6427, 0.4225, 0.3687, 0.0073, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f0d45532a3c856a79b9f4eebd1fbd36c2501b2c64d7024b6b4c7aa7bda124e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a634132536db7aa07121ca668ad42927becea0122df23feca046f5d087cb7093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c3acd335f4d34b3951266a75f7155e5f946a0a6b885edb8dacca518b449263",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 4.424 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 114 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3447, 0.9295, 0.8028, -0.5156, -0.5903, -0.2611, 0.9964, 1.2621, 2.1185, 1.2716, -0.6418, 1.0073, 1.1206, 0.9969]\nstate[eef_state]: left_x=0.304 left_y=-0.0009 left_z=0.2224 left_yaw=0.2701 left_pitch=0.0495 left_roll=0.1251 left_gripper=0.9964 right_x=0.2537 right_y=0.3159 right_z=0.0299 right_yaw=-0.073 right_pitch=0.0019 right_roll=-0.2866 right_gripper=0.9969\nstate[joint_eff]: [0.0342, -1.9487, 8.7316, 1.79, -0.1197, 0.1832, -0.0415, 0.6632, -9.0188, 6.9402, 0.5543, 0.5934, 0.2027, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqu_8nlTbewTC3YPZNrqqGWKvC_xWslG-SBzNLeX6QEIM6pKgocnum1X49IK7Pdaa28ZiaNp1jH0haxWZP_bu5bHVB_NLp4uDgInjdI3KD8J_xGtu82iSc-GLDMZh28NwoPsKcGmhkfc326V7rEH0B_yfuV1cOJIIBHgE6vdh9CBcA1gLl6SKkTWeud28rK3PNUMKCGpyaU822DorenAzIcWuVtTedXTipKHg6DF33NLw_szDj88es50_AQ2D-ipY3maSuUbPVqPmDmqVqSvbKzvL5KuOEc1PSMjni8SU9jDLYcuLCIo4B1cSakYXUlmtVUHtjM4rTFMtTYGMuDLlO8RJi-0IfoTu_B9xYd5vJm7pqVqso22sW9ypJaW4gzB8E2-0fmH6aSDqBqNR6uDDvNx9lkjT5UmwnXZWaBHW5dfvi3vRKRGqZJkW4_74nk7h0nAD8bnHpJe583gmrb2JFlP32APUJpo8ouyWK9lqJeiHDMGwzivd0cWjvBu1RhdVKBN_wmJaMc4QPpQUAGLo0txQdWw1_g8E1u7JOnvk_FOwuyKyFX40U0DPqgRk1bc5bZ3mSGVVfX4-ec37KY4VtuOXAFtQNzzTdTX8AKvA7fsHBvTgB_x5wqVKjBQ-7Z7GKgxzN4FDq0xHHSCvmoCENLbusqsINcSsnWcdVfBnJOmZvLe0NnBTaY2ERLXh26iA2ScuP6PrMOE-JGxUTDFmu0Q_zeHBgujFmnifiutq1j2UO1DHeuaDWeV7ERy4uVdmnVH6oPaMORe5ctl5R-atJiigaycOhD8omGLsQcoeKzvO1zj7lKaYR0Wm0RB_-1e2mHrzqNZiszI6mKn6AsoPDPQCf8DZgyFNQgClYTPEvvcWfBrnUNPTSMhzz_2Che0v5NLHjAbGuuh8W76nXZX6amXTmb0n8ARdqWUBbeR4Y2lPzgu5t3Nn0jxURE0zr8M6hGTHJpcHCP7JJtNXSTxUS4fVdzDY9U1o0I8Or-jaWGQV9JF6YYOlRf-brpMJMIjDPkEa7CJ7L3ZcR0ZpKmmKBsvU81AA8C3WPtXz5wqp_X68--GiTDkJ1aDvTMn_O7syC4Tg2kd0dTQe9cqA4WN9WVoRfCZBzrWhms5GUgfPhTbEPODD0zZ1mBgYfDk-yDyiklFhQDTfU2jxQynYBLjc5VbREiXNIMzQaZ3M7yVoJipk2UvkgVp08Fn0TiMUKueN594Qnlig4nO4hT-MbqMDpEww2alpCSzIGmz0yR9mcmw_dbYRXfzWc5nv89-D0Gbkz2aV2GDC2BUWXlM0C7k3lD7sS1-iI6btJo9gDJBjSNKaZU=",
  "id": "rs_06f05438e7e1833a016ab2abbc7c3087d0b001606b3e7448ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.32,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The brown plush remained ahead of an empty close. I will reopen and advance the grasp point onto the center of its body.\"}",
  "call_id": "call_iU8qw9sI0E1oD97HPyCpFjZQ",
  "id": "fc_06f05438e7e1833a016ab2abbd816c87d0b7becf5ad34bea6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iU8qw9sI0E1oD97HPyCpFjZQ",
  "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]: [-0.3454, 0.934, 0.8028, -0.548, -0.5716, -0.2703, 0.9963, 1.1625, 2.1254, 1.2987, -0.5594, 0.9871, 0.9306, 0.9948]\nstate[eef_state]: left_x=0.3008 left_y=-0.0029 left_z=0.2145 left_yaw=0.2592 left_pitch=0.0133 left_roll=0.1291 left_gripper=0.9963 right_x=0.2907 right_y=0.3098 right_z=0.0324 right_yaw=-0.0683 right_pitch=-0.0203 right_roll=-0.3395 right_gripper=0.9948\nstate[joint_eff]: [-0.3214, -1.9214, 6.9538, 1.6337, -0.2125, -0.0122, -0.022, -0.6906, -9.1145, 7.8154, 0.8474, 0.5836, -0.0171, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84bb6bfac2244e8a54069eada9a768818ca472f5df56e4fade2b187c457aa883",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0c1180ce014dd8efd886e0f7bdf063552033aa1fc6d26b68bbebb9bcd65b43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805a27204c9754c1eb7aa8aa943ca34a54d76d004ed69fdddb481940b0b9f506",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 10.44 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 117 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3454, 0.934, 0.8028, -0.5392, -0.5728, -0.2665, 0.9964, 1.2621, 2.1246, 1.2751, -0.6491, 1.0138, 1.1149, 0.0182]\nstate[eef_state]: left_x=0.3019 left_y=-0.0031 left_z=0.2161 left_yaw=0.2581 left_pitch=0.0206 left_roll=0.1279 left_gripper=0.9964 right_x=0.2541 right_y=0.315 right_z=0.0293 right_yaw=-0.0704 right_pitch=0.0049 right_roll=-0.3025 right_gripper=0.0182\nstate[joint_eff]: [-0.1162, -2.3726, 6.8581, 1.7656, -0.4225, -0.0122, -0.0171, -0.1573, -10.7692, 4.6427, 0.4225, 0.3687, 0.0073, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now straddle the brown plush's middle. I will close for the corrected grasp.\"}",
  "call_id": "call_l7ykHarxTJitWqkUuMpOD0vE",
  "id": "fc_06f05438e7e1833a016ab2abc3d4a887d0928b554b6e956be6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l7ykHarxTJitWqkUuMpOD0vE",
  "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]: [-0.3454, 0.934, 0.8028, -0.5621, -0.5716, -0.2703, 0.9961, 1.1587, 2.1265, 1.3003, -0.5632, 0.9791, 0.9199, 0.0086]\nstate[eef_state]: left_x=0.299 left_y=-0.0022 left_z=0.2121 left_yaw=0.2591 left_pitch=0.0017 left_roll=0.1371 left_gripper=0.9961 right_x=0.2911 right_y=0.3089 right_z=0.0311 right_yaw=-0.0651 right_pitch=-0.0309 right_roll=-0.3488 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -1.8667, 7.0085, 1.6679, -0.2076, -0.0366, -0.0415, 0.0205, -10.8513, 4.9846, 0.5836, 0.4762, 0.1148, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec4ab4604de2f06c4bbef55200f47c8a9f09c8eb70f96f8cd819a779f8fcd43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8908c7c5212e422fd464ca8b82415a51ba065c6729d752ccb60e6849a73cbd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f90763d1303efdee3de2edfb54505b803d21ba79c21fae18c747e8b2c4647aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 7.69 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 121 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3454, 0.934, 0.8028, -0.548, -0.5716, -0.2703, 0.9963, 1.1625, 2.1254, 1.2987, -0.5594, 0.9871, 0.9306, 0.9948]\nstate[eef_state]: left_x=0.3008 left_y=-0.0029 left_z=0.2145 left_yaw=0.2592 left_pitch=0.0133 left_roll=0.1291 left_gripper=0.9963 right_x=0.2907 right_y=0.3098 right_z=0.0324 right_yaw=-0.0683 right_pitch=-0.0203 right_roll=-0.3395 right_gripper=0.9948\nstate[joint_eff]: [-0.3214, -1.9214, 6.9538, 1.6337, -0.2125, -0.0122, -0.022, -0.6906, -9.1145, 7.8154, 0.8474, 0.5836, -0.0171, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqvQogOp0wquPtbVCGzFi2oepyYW7aTZW8CZa2RFBzbBRlCSwEnqXb6lOOj0cHzbUO8BbfDBvLWGZ0awyG0Ac4eG6sO43yqgUlRT5KOdhdyEQf9oD5xlcAWX1O6Ykj6cNsEjlmzBnnwBEOMYUtzsXDuE_lt40s0tcBmT226e1i2-JNG4p6UJk1WS1Hljn4Gf9LkJ93-BIx76GVVcnCZAxGYn77QRMeYpIPNCS6VhfKDr0I0geuajDfufSl5RJ6nMo4jW0z7idLz_W3QtUdt-26xN8YdzegNPwURXd_soZWFRu0q9S00HBR9EI2w4mQn7tOCAUrRwTA0D58BIcZ6Vo6S1mmjUtlgIgsf7e6fomaOWhfgMFjQsY34cfzytJIlY8bnZTT6NCrvseFjHmVL-XuIX_dVlHFEFJEJNAOMVgvxspCmFP358vrxv1mJy3hTWcJ_UMZzJlkl2DFjusKZmT8cqCvVyePrwDXV3kT-OFPG5v_jUlyJuMHKNzsZI3orQ344RWNU-oVfk70Mulo4Z1425N4HDBMvzjE8yb6vFepZHBcDjexaobQYQJuxaE8KOXyef9-QMi4Q0nzWXq4ZGQQNQO7zpuGTQ6hP-uMB031UgKbiANQ42RVC-BemJ3U2Q3JDbVIGnNml0Mx0RrDC0D5mAvB1Hj3Kn-v1OIPRaKABfY2hqZ3-97yeovzHPm3KcFRdmYwXOEZ4YHQjzs2wUIWw8xHOAgA0Mk3Cyi-zeJGkO2QR84LIVwaII9ELkxQwUVsv2NRnKruB0Ivn8VwakFlh2-K4FDh_89MBKKi7sbUh-FI042u98_k3SpCoyzfbrq6h-4KzoNWLsbja1l1o-IH_3ExMMudT-t5WvZgzxsnCAdbVAV9-bZ0TmjO83ZhWljJZLQol5LxHyA42oC9ZWMBIZunsUoyBxOnj4yge7u7Frz0eT5K-eCiHNfXxNtZALUD1L6ikSSP986lvKe5JntJSMQA2PMeRy_dkutc5DC8B6n3yjkZQ0bKt_vwRPGri0DgFu3Q4CkGZazT15khe9awkI3tLR8EHlhVX5-7-Hkj_bi37sruXIPtbRn5zEFt6t1cTFL2Cl-uH6zWrkjyHUYDeCko210CYCXZMm0j5W8vXShUZID4jIMViT5o3iSsJuZ2inNaHJurLJx1AH590hRRnpUQoZiSBPv1AbrXVvdBUx0F-eKrgsMS-FMuoInZk6XgtwgYb1cOCVe4SgFO-4ETxv82i3bRZsV8TKp4umqeh6kuzq9zbCct8ZJtbV1ELJ4A1gwo-HqSJUzPdydjoFTLnmJoOlcD0AtCrEN_11nb8yUWuBgbQ_LpFpBJnIRvydSSpt_GFYlp6vGtP4AaTh8zWymcHhpFz-TTADh4nLfT6qI3Oj1YpWW2XHZHo1HvZYQPFao5dDlpQ-RxREexxYyr_bR5QyA-B3OwiOS0HPM7igM1bOHx08tC4abYHY2h-BH8LyxrJ1_K15OgV1lRdDvLbbs9w4dDz7l_vfaVJ6yW2gPR6BtatV1HtSUqPN7525b8jHO1f9hEs8Y1JCfJ7EyMs0eWzbZ89fk3MM06onPiIMKK-CFrNRzVtL6GD8nZyAeNvbCb8cnwhF8CHN09HtLgOLSQxP8-NMQrKG01vYZpPb7Uin-2Eqw0t_JIVl9TgEGbHD",
  "id": "rs_06f05438e7e1833a016ab2abcb62cc87d0ae32fb3233b5348f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22},\"note\":\"The corrected brown-plush grasp was also empty. I am withdrawing both arms to safe parked positions; the safe will remain open because the brown plush is still outside.\"}",
  "call_id": "call_oYOxd9WG5RTF1fxK3MoKEPil",
  "id": "fc_06f05438e7e1833a016ab2abce14a087d0845a6d411b32d2c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oYOxd9WG5RTF1fxK3MoKEPil",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3466, 0.9119, 0.8028, -0.6197, -0.5716, -0.2745, 0.996, 0.2821, 0.8909, 0.7727, -0.6186, 0.5056, -0.0547, 0.9977]\nstate[eef_state]: left_x=0.2892 left_y=0.001 left_z=0.2082 left_yaw=0.2605 left_pitch=-0.0271 left_roll=0.1538 left_gripper=0.996 right_x=0.283 right_y=-0.0033 right_z=0.1972 right_yaw=-0.1143 right_pitch=-0.084 right_roll=-0.3659 right_gripper=0.9977\nstate[joint_eff]: [-0.4171, -2.7829, 8.4581, 1.5897, -0.3101, -0.0708, -0.022, -0.1573, -2.3726, 9.7846, 1.8535, 0.2173, -0.0171, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7eee2f4c11a131037cb353907f4ff8d594ddf42ccd866fd56f97a3c79eb38b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca255c1979960c2db630f8476048b86276ee7300114d6efb69b0b4b2bd3d081f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0990bdde67bb3cda1e7c6c01b7dfb14fe8f1e80378f59aa47c15f743e6e69143",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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