adhoc

completed
2026-09-22T17:23:53.724881+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
212.2 s
total steps
333
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see a white plush, a brown plush, and a yellow object outside the open safe. I’ll approach the white plush first with the left gripper.
move_to
left_x0.3600left_y-0.1800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3901, -0.0193, -0.0338, 0.9993, -0.0204, 0.794, 0.6075, -0.3981, -0.0204, -0.0265, 0.9996] state[eef_state]: left_x=0.2934 left_y=0.0015 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2928 right_y=0.0012 right_z=0.1778 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.4017, 10.1949, 1.9951, -0.0611, 0.1978, -0.0904, -0.6496, -1.4291, 9.6615, 2.0, -0.0415, 0.1245, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.18,"left_z":0.15,"left_gripper":1},"note":"I see a white plush, a brown plush, and a yellow object outside the open safe. I’ll approach the white plush first with the left gripper."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe white plush is slightly left of the jaw column and still ahead of the fingertips in the wrist view. I’ll shift left and forward while lowering to grasp its body.
move_to
left_x0.3850left_y-0.1550left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7086, 1.4292, 0.8318, -0.181, -0.5579, -0.4599, 0.9993, -0.0212, 0.7986, 0.6075, -0.4328, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3485 left_y=-0.1708 left_z=0.1309 left_yaw=-0.0161 left_pitch=-0.0606 left_roll=0.0342 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1695 right_yaw=-0.0005 right_pitch=-0.0393 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.4718, -5.8188, 9.4291, 1.7363, -0.398, -0.1001, -0.0904, -0.0342, -1.5932, 6.9812, 2.0195, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.155,"left_z":0.035},"note":"The white plush is slightly left of the jaw column and still ahead of the fingertips in the wrist view. I’ll shift left and forward while lowering to grasp its body."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe plush remains just beyond the fingertips, with its body left of center. I’ll advance a little farther and align the jaws around its torso.
move_to
left_x0.4300left_y-0.1300left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5926, 1.7218, 0.6872, 0.2256, -0.4862, -0.3893, 0.9992, -0.0212, 0.799, 0.6075, -0.4549, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.3738 left_y=-0.1479 left_z=0.0295 left_yaw=0.0088 left_pitch=-0.118 left_roll=0.0674 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.165 right_yaw=-0.0005 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [0.3487, -7.1316, 5.0667, 1.6874, -0.1099, 0.2027, -0.022, -0.1299, -1.2239, 6.9949, 1.8632, -0.0513, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.13,"left_z":0.015},"note":"The plush remains just beyond the fingertips, with its body left of center. I’ll advance a little farther and align the jaws around its torso."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe plush’s torso is now centered between the fingers. I’ll close the left gripper and restore the idle right arm to its parked height.
move_to
left_gripper0.0000right_x0.2930right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4606, 1.8809, 0.7872, 0.2764, -0.4156, -0.3191, 0.9992, -0.0212, 0.8024, 0.6071, -0.4782, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4139 left_y=-0.1218 left_z=0.0045 left_yaw=0.0483 left_pitch=-0.1552 left_roll=0.0814 left_gripper=0.9992 right_x=0.2815 right_y=0.0012 right_z=0.1594 right_yaw=-0.0005 right_pitch=-0.0889 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [0.4308, -8.0205, 7.159, 1.5458, -0.0806, 0.2369, -0.0122, -0.0752, -1.4974, 6.9675, 1.8486, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The plush’s torso is now centered between the fingers. I’ll close the left gripper and restore the idle right arm to its parked height."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper has stopped at about 2 cm of thickness, consistent with holding the plush. I’ll lift it slightly to verify that it follows the jaws.
move_to
left_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4507, 1.8923, 0.807, 0.3088, -0.3973, -0.2916, 0.2015, -0.0238, 0.8654, 0.667, -0.5583, -0.02, -0.0273, 0.9996] state[eef_state]: left_x=0.4248 left_y=-0.1256 left_z=0.0107 left_yaw=0.026 left_pitch=-0.1267 left_roll=0.0712 left_gripper=0.2015 right_x=0.2804 right_y=0.0004 right_z=0.1543 right_yaw=-0.0027 right_pitch=-0.172 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.0342, -8.3214, 6.6667, 1.4628, -0.0904, 0.0708, 0.8425, -0.3624, -1.2376, 10.0171, 2.0, -0.0806, -0.0659, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085},"note":"The gripper has stopped at about 2 cm of thickness, consistent with holding the plush. I’ll lift it slightly to verify that it follows the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe plush remains caught at the fingers as the arm rises. I’ll lift above the safe’s rim before moving it into the compartment.
move_to
left_z0.2200right_x0.2700right_y0.0000right_z0.2200right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4507, 1.7355, 0.8898, 0.0399, -0.3965, -0.2996, 0.2047, -0.0238, 0.868, 0.667, -0.5903, -0.02, -0.0269, 0.9996] state[eef_state]: left_x=0.4202 left_y=-0.1236 left_z=0.0609 left_yaw=0.0317 left_pitch=-0.1526 left_roll=0.0783 left_gripper=0.2047 right_x=0.275 right_y=0.0006 right_z=0.148 right_yaw=-0.0028 right_pitch=-0.2067 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [-0.0752, -9.9624, 8.6222, 1.6044, -0.2222, 0.0708, 0.315, -0.0342, -1.4838, 6.8308, 1.8144, -0.0415, -0.0317, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22,"right_x":0.27,"right_y":0,"right_z":0.22,"right_pitch":0.2},"note":"The plush remains caught at the fingers as the arm rises. I’ll lift above the safe’s rim before moving it into the compartment."})
tool
executing move_to over 14 steps (1.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe white plush is clearly lifted off the table. I’ll carry it over the open safe, keeping enough height to clear the front rim.
move_to
left_x0.4600left_y-0.2900left_z0.2300left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4507, 1.5944, 1.3251, -0.588, -0.3965, -0.3122, 0.2076, -0.0353, 0.5705, 0.5632, -0.461, -0.0277, -0.0269, 0.9996] state[eef_state]: left_x=0.4192 left_y=-0.1231 left_z=0.1925 left_yaw=0.0429 left_pitch=-0.1975 left_roll=0.0935 left_gripper=0.2076 right_x=0.2637 right_y=-0.0008 right_z=0.2017 right_yaw=-0.0081 right_pitch=0.1164 right_roll=0.0007 right_gripper=0.9996 state[joint_eff]: [-0.0205, -9.7983, 9.5521, 1.4872, -0.2369, 0.0757, 0.2906, -0.5949, -0.2667, 6.8855, 2.3565, -0.149, -0.0269, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.29,"left_z":0.23,"left_pitch":0.15},"note":"The white plush is clearly lifted off the table. I’ll carry it over the open safe, keeping enough height to clear the front rim."})
tool
executing move_to over 15 steps (1.5s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe plush is above the safe’s interior, with the lid upright behind it. I’ll lower it into the compartment before releasing.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7937, 1.945, 1.6234, -0.4053, -0.7563, -0.4244, 0.2112, -0.0349, 0.5751, 0.5613, -0.4816, -0.0269, -0.0269, 0.9996] state[eef_state]: left_x=0.4511 left_y=-0.2806 left_z=0.2054 left_yaw=0.0242 left_pitch=0.068 left_roll=0.1275 left_gripper=0.2112 right_x=0.2616 right_y=-0.0008 right_z=0.1951 right_yaw=-0.0085 right_pitch=0.0893 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.6359, -10.3863, 9.6479, 1.7314, -0.5153, 0.1099, 0.3541, -0.253, 0.1983, 7.0496, 2.0049, -0.0415, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The plush is above the safe’s interior, with the lid upright behind it. I’ll lower it into the compartment before releasing."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe white plush is down inside the red-lined compartment. I’ll open the jaws to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7971, 2.1059, 1.3048, 0.02, -0.7525, -0.424, 0.2133, -0.0349, 0.5781, 0.5613, -0.4999, -0.0273, -0.0269, 0.9996] state[eef_state]: left_x=0.4451 left_y=-0.2777 left_z=0.0649 left_yaw=0.016 left_pitch=0.0289 left_roll=0.1655 left_gripper=0.2133 right_x=0.2596 right_y=-0.0007 right_z=0.1905 right_yaw=-0.0082 right_pitch=0.068 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [0.0752, -10.9333, 5.6821, 1.7265, -0.2808, -0.022, 0.2076, -0.1846, 0.1983, 6.8855, 1.9951, -0.0659, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The white plush is down inside the red-lined compartment. I’ll open the jaws to leave it there."})
tool
executing move_to over 8 steps (0.8s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe white plush has settled inside. I’ll lift the left arm clear while bringing the right gripper toward the brown plush in front of the safe.
move_to
left_z0.2400right_x0.3500right_y0.2800right_z0.1600right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7975, 2.1269, 1.2892, 0.0143, -0.7528, -0.4282, 0.995, -0.0349, 0.5812, 0.5613, -0.5236, -0.0269, -0.0269, 0.9996] state[eef_state]: left_x=0.4405 left_y=-0.2732 left_z=0.0485 left_yaw=0.0177 left_pitch=0.0004 left_roll=0.193 left_gripper=0.995 right_x=0.2569 right_y=-0.0006 right_z=0.1847 right_yaw=-0.0085 right_pitch=0.0413 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [-0.1162, -13.1077, 7.3231, 1.409, -0.3639, -0.0073, 0.0464, -0.0068, 0.0479, 6.9265, 1.9902, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.24,"right_x":0.35,"right_y":0.28,"right_z":0.16,"right_pitch":0.15},"note":"The white plush has settled inside. I’ll lift the left arm clear while bringing the right gripper toward the brown plush in front of the safe."})
tool
executing move_to over 24 steps (2.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe brown plush is beneath the right wrist near the front of the safe. I’ll lower around its body and park the left arm away from the shared workspace.
move_to
left_x0.2900left_y0.0000left_z0.2000left_pitch0.1500right_x0.3200right_y0.2950right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7551, 1.9755, 1.7679, -0.6926, -0.7723, -0.4278, 0.9963, 0.9524, 1.6508, 1.01, -0.1024, 0.865, 0.572, 0.9996] state[eef_state]: left_x=0.4498 left_y=-0.2491 left_z=0.209 left_yaw=0.0738 left_pitch=-0.041 left_roll=0.2595 left_gripper=0.9963 right_x=0.344 right_y=0.2577 right_z=0.1519 right_yaw=-0.0477 right_pitch=0.13 right_roll=-0.0223 right_gripper=0.9996 state[joint_eff]: [-3.9726, -13.094, 10.3316, 1.5604, -0.0757, -0.0024, 0.1197, 1.0462, -5.2444, 9.1829, 1.58, -0.1148, -0.4664, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0.15,"right_x":0.32,"right_y":0.295,"right_z":0.035},"note":"The brown plush is beneath the right wrist near the front of the safe. I’ll lower around its body and park the left arm away from the shared workspace."})
tool
executing move_to over 23 steps (2.3s)
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 brown plush’s body fills the space between the right fingers. I’ll close on its soft torso.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3206, 0.7513, 0.5537, -0.2806, -0.5343, -0.0158, 0.9964, 1.066, 1.9732, 0.9234, 0.1982, 0.9318, 0.6968, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0016 left_z=0.2009 left_yaw=0.1189 left_pitch=0.1523 left_roll=0.2452 left_gripper=0.9964 right_x=0.3207 right_y=0.2946 right_z=0.0404 right_yaw=-0.0354 right_pitch=0.119 right_roll=-0.0283 right_gripper=0.9996 state[joint_eff]: [-0.0615, -0.3897, 6.9812, 1.9219, 0.022, 0.1148, 0.0073, 0.6906, -7.3915, 4.8342, 1.3651, 0.4713, 0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0},"note":"The brown plush’s body fills the space between the right fingers. I’ll close on its soft torso."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe gripper closed almost completely, so it missed the plush. I’ll reopen, move 2.5 cm forward, and lower to catch the body rather than closing above it.
move_to
right_gripper1.0000right_x0.3450right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.757, 0.5419, -0.2924, -0.5205, -0.0124, 0.9965, 1.0657, 1.9789, 0.923, 0.2008, 0.9268, 0.6891, 0.0105] state[eef_state]: left_x=0.2904 left_y=0.0 left_z=0.1912 left_yaw=0.1044 left_pitch=0.1224 left_roll=0.2548 left_gripper=0.9965 right_x=0.3205 right_y=0.295 right_z=0.0378 right_yaw=-0.0282 right_pitch=0.114 right_roll=-0.0365 right_gripper=0.0105 state[joint_eff]: [-0.1299, -1.4291, 8.1026, 1.7998, -0.3492, -0.0757, -0.0073, -0.3487, -9.6615, 4.9709, 1.2381, 0.3443, 0.0562, 0.7839] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.345,"right_z":0.005},"note":"The gripper closed almost completely, so it missed the plush. I’ll reopen, move 2.5 cm forward, and lower to catch the body rather than closing above it."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe open fingers now flank the brown plush at table level. I’ll try the grasp again from this lower, forward position.
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]: [-0.3202, 0.7574, 0.5419, -0.2935, -0.5198, -0.0154, 0.9965, 1.0138, 2.0769, 0.9314, 0.3817, 0.9222, 0.6338, 0.9947] state[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1909 left_yaw=0.1054 left_pitch=0.1213 left_roll=0.2524 left_gripper=0.9965 right_x=0.3446 right_y=0.2937 right_z=0.0223 right_yaw=-0.0571 right_pitch=0.1534 right_roll=-0.004 right_gripper=0.9947 state[joint_eff]: [-0.0479, -1.0051, 7.4325, 1.7167, -0.188, -0.0366, -0.0171, -0.7453, -6.8444, 5.8051, 1.1062, -0.0269, -0.1832, -0.2466] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers now flank the brown plush at table level. I’ll try the grasp again from this lower, forward position."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe second close is also empty. I’ll lift and pull back to expose the brown plush in the overhead view before choosing a new grasp point.
move_to
right_x0.2700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7574, 0.5419, -0.2958, -0.5198, -0.0154, 0.9965, 1.0176, 2.0781, 0.934, 0.4145, 0.9306, 0.6308, 0.0197] state[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1904 left_yaw=0.1052 left_pitch=0.1192 left_roll=0.2533 left_gripper=0.9965 right_x=0.3462 right_y=0.2978 right_z=0.0277 right_yaw=-0.0623 right_pitch=0.1748 right_roll=0.0211 right_gripper=0.0197 state[joint_eff]: [-0.0342, -0.9915, 7.0085, 1.7216, -0.2076, -0.0366, -0.0122, -0.6359, -10.0034, 4.547, 1.0916, 0.1832, 0.0122, 1.2283] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_z":0.15,"right_gripper":1},"note":"The second close is also empty. I’ll lift and pull back to expose the brown plush in the overhead view before choosing a new grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe overhead view shows that the brown plush’s torso lies to the right of my previous grasps, near the safe handle. I’ll shift right and grasp the broader torso away from the handle.
move_to
right_x0.3000right_y0.2350right_z0.0050right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7574, 0.5419, -0.2993, -0.5198, -0.0154, 0.9965, 1.2118, 1.7206, 1.0218, -0.2478, 1.0309, 0.8589, 0.9946] state[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1898 left_yaw=0.1051 left_pitch=0.1161 left_roll=0.2547 left_gripper=0.9965 right_x=0.2719 right_y=0.3034 right_z=0.1309 right_yaw=-0.0257 right_pitch=0.1542 right_roll=0.0004 right_gripper=0.9946 state[joint_eff]: [-0.1983, -0.9915, 7.0222, 1.7021, -0.1685, -0.0415, -0.0122, 0.1436, -9.5385, 8.1846, 1.2918, 0.6227, 0.1685, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.235,"right_z":0.005,"right_pitch":0},"note":"The overhead view shows that the brown plush’s torso lies to the right of my previous grasps, near the safe handle. I’ll shift right and grasp the broader torso away from the handle."})
tool
executing move_to over 9 steps (0.9s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe brown torso is now centered between the fingers, clear of the safe’s metal handle. I’ll close around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7582, 0.5419, -0.2996, -0.5198, -0.0154, 0.9965, 1.005, 1.8282, 0.6758, 0.2554, 0.8204, 0.7406, 0.9953] state[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1895 left_yaw=0.105 left_pitch=0.1151 left_roll=0.2552 left_gripper=0.9965 right_x=0.2993 right_y=0.237 right_z=0.019 right_yaw=-0.0493 right_pitch=0.0223 right_roll=0.0105 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.0598, 7.0222, 1.7118, -0.1636, -0.0269, -0.0122, -0.8, -5.1487, 3.6718, 0.8669, 0.1685, -0.2369, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown torso is now centered between the fingers, clear of the safe’s metal handle. I’ll close around it."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe jaws are still closing behind the plush rather than on it. The wrist view now makes the offset clear; I’ll move forward to the torso and keep the fingertips at table level.
move_to
right_gripper1.0000right_x0.3600right_z-0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7582, 0.5419, -0.2996, -0.5198, -0.0154, 0.9965, 1.0065, 1.8317, 0.6739, 0.3004, 0.8303, 0.7364, 0.0199] state[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1895 left_yaw=0.105 left_pitch=0.1151 left_roll=0.2552 left_gripper=0.9965 right_x=0.3025 right_y=0.2408 right_z=0.0238 right_yaw=-0.0529 right_pitch=0.0486 right_roll=0.0377 right_gripper=0.0199 state[joint_eff]: [-0.1573, -1.0051, 7.3915, 1.707, -0.1978, -0.0562, -0.0122, -0.4308, -7.9248, 4.9026, 0.8474, 0.188, -0.0073, 0.7253] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.36,"right_z":-0.01},"note":"The jaws are still closing behind the plush rather than on it. The wrist view now makes the offset clear; I’ll move forward to the torso and keep the fingertips at table level."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe fingers now surround the brown plush’s body rather than empty space behind it. I’ll close and check the grasp thickness.
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]: [-0.3202, 0.7601, 0.5419, -0.3145, -0.5198, -0.0158, 0.9965, 0.8673, 2.0125, 0.7685, 0.5648, 0.7628, 0.609, 0.9943] state[eef_state]: left_x=0.2883 left_y=0.0006 left_z=0.1861 left_yaw=0.1045 left_pitch=0.0998 left_roll=0.2618 left_gripper=0.9965 right_x=0.3635 right_y=0.2454 right_z=0.0138 right_yaw=-0.0867 right_pitch=0.1095 right_roll=0.102 right_gripper=0.9943 state[joint_eff]: [-0.1983, -1.0872, 7.0085, 1.8828, -0.1929, -0.0611, -0.0122, -0.841, -5.9556, 4.5744, 0.9597, -0.022, -0.2369, -0.2222] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers now surround the brown plush’s body rather than empty space behind it. I’ll close and check the grasp thickness."})
tool
executing move_to over 10 steps (1.0s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe close is very thin, so the grasp is uncertain. I’ll make a short lift to see whether any part of the plush is securely held.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.762, 0.5415, -0.3214, -0.5198, -0.0154, 0.9965, 0.8711, 2.0102, 0.7734, 0.6083, 0.77, 0.6064, 0.0347] state[eef_state]: left_x=0.2876 left_y=0.0008 left_z=0.1842 left_yaw=0.1039 left_pitch=0.0914 left_roll=0.266 left_gripper=0.9965 right_x=0.3674 right_y=0.2511 right_z=0.0235 right_yaw=-0.0921 right_pitch=0.1425 right_roll=0.1389 right_gripper=0.0347 state[joint_eff]: [-0.1846, -0.9778, 7.0769, 1.7607, -0.1832, -0.0366, -0.0122, -0.6359, -8.8137, 4.2325, 1.1697, 0.1685, 0.0855, 1.0623] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The close is very thin, so the grasp is uncertain. I’ll make a short lift to see whether any part of the plush is securely held."})
tool
executing move_to over 5 steps (0.5s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe plush did not rise with the jaws. Its main body is farther forward and slightly right, so I’ll reposition directly over that thicker section.
move_to
right_gripper1.0000right_x0.4150right_y0.2200right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7639, 0.5415, -0.3222, -0.5194, -0.0154, 0.9965, 0.8711, 1.8343, 0.8047, 0.3519, 0.7589, 0.6018, 0.0348] state[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1835 left_yaw=0.1035 left_pitch=0.0889 left_roll=0.2669 left_gripper=0.9965 right_x=0.3613 right_y=0.2461 right_z=0.0637 right_yaw=-0.0762 right_pitch=0.1089 right_roll=0.0982 right_gripper=0.0348 state[joint_eff]: [-0.1846, -0.5949, 7.0906, 1.7021, -0.1929, -0.022, -0.0122, -0.3624, -10.3453, 8.0205, 1.8828, 0.2955, 0.0073, 1.033] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.415,"right_y":0.22,"right_z":0.025},"note":"The plush did not rise with the jaws. Its main body is farther forward and slightly right, so I’ll reposition directly over that thicker section."})
tool
executing move_to over 10 steps (1.0s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteThe brown torso now extends into the jaw opening. I’ll close at this position.
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]: [-0.3202, 0.7639, 0.5415, -0.3374, -0.5198, -0.0158, 0.9965, 0.7101, 1.9953, 0.8093, 0.5606, 0.6331, 0.4858, 0.9943] state[eef_state]: left_x=0.286 left_y=0.0014 left_z=0.1806 left_yaw=0.1035 left_pitch=0.0752 left_roll=0.273 left_gripper=0.9965 right_x=0.406 right_y=0.216 right_z=0.0238 right_yaw=-0.0819 right_pitch=0.0904 right_roll=0.0847 right_gripper=0.9943 state[joint_eff]: [-0.212, -1.0188, 7.1453, 1.8388, -0.1978, -0.0513, -0.0122, -0.5949, -7.1726, 6.7487, 1.6728, 0.2662, -0.0562, 0.0952] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown torso now extends into the jaw opening. I’ll close at this position."})
tool
executing move_to over 10 steps (1.0s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteThe fingers are still behind the plush’s thick body. I’ll advance another 5 cm at table level, staying beside the safe rather than over its handle.
move_to
right_gripper1.0000right_x0.4650right_y0.2200right_z-0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7639, 0.5419, -0.3447, -0.5198, -0.0158, 0.9965, 0.7101, 2.0048, 0.8135, 0.5797, 0.6273, 0.482, 0.009] state[eef_state]: left_x=0.2852 left_y=0.0016 left_z=0.1794 left_yaw=0.1033 left_pitch=0.0689 left_roll=0.2759 left_gripper=0.9965 right_x=0.4081 right_y=0.2188 right_z=0.024 right_yaw=-0.0763 right_pitch=0.0979 right_roll=0.0934 right_gripper=0.009 state[joint_eff]: [-0.1983, -0.8547, 7.0222, 1.7021, -0.2076, -0.0562, -0.0122, -0.0752, -9.935, 4.5197, 1.4286, 0.232, 0.0024, 0.6471] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.465,"right_y":0.22,"right_z":-0.01},"note":"The fingers are still behind the plush’s thick body. I’ll advance another 5 cm at table level, staying beside the safe rather than over its handle."})
tool
executing move_to over 10 steps (1.0s)
step 252
top_cam
camera top_cam step 252
left_cam
camera left_cam step 252
right_cam
camera right_cam step 252
assistant
agent noteThe brown plush has shifted left of the jaw center. I’ll center the gripper on its body and close.
move_to
right_y0.2550right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7639, 0.5419, -0.3485, -0.5198, -0.0154, 0.9965, 0.6205, 2.1887, 0.9955, 0.6659, 0.5747, 0.4171, 0.9945] state[eef_state]: left_x=0.2848 left_y=0.0018 left_z=0.1787 left_yaw=0.103 left_pitch=0.0654 left_roll=0.2778 left_gripper=0.9965 right_x=0.467 right_y=0.2201 right_z=0.0118 right_yaw=-0.0952 right_pitch=0.1441 right_roll=0.1139 right_gripper=0.9945 state[joint_eff]: [-0.0752, -0.9915, 7.1316, 1.6679, -0.2076, -0.0366, -0.0122, -0.6359, -7.6786, 5.2991, 1.4969, 0.0415, 0.0464, -0.0757] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.255,"right_gripper":0},"note":"The brown plush has shifted left of the jaw center. I’ll center the gripper on its body and close."})
tool
executing move_to over 10 steps (1.0s)
step 262
assistant
agent noteThe jaws may have caught a thin part of the plush. I’ll lift clear to check whether it is attached before attempting a transfer.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7666, 0.5419, -0.3599, -0.5198, -0.0158, 0.9965, 0.688, 2.2127, 1.0824, 0.5922, 0.6163, 0.45, 0.0379] state[eef_state]: left_x=0.2836 left_y=0.0022 left_z=0.1759 left_yaw=0.1028 left_pitch=0.0525 left_roll=0.2832 left_gripper=0.9965 right_x=0.465 right_y=0.2547 right_z=0.0178 right_yaw=-0.0783 right_pitch=0.1482 right_roll=0.1208 right_gripper=0.0379 state[joint_eff]: [-0.1026, -1.2376, 6.9812, 1.7656, -0.2125, -0.0415, -0.0122, 0.3897, -8.841, 6.9675, 1.536, 0.3541, 0.105, 0.9451] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The jaws may have caught a thin part of the plush. I’ll lift clear to check whether it is attached before attempting a transfer."})
tool
executing move_to over 12 steps (1.2s)
step 274
assistant
agent noteThe brown plush is hanging from the gripper, so the thin grasp did catch it. I’ll carry it over the safe’s open compartment.
move_to
right_x0.5600right_y0.3400right_z0.2300right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.7704, 0.5415, -0.3756, -0.5194, -0.0158, 0.9965, 0.688, 1.8988, 1.3048, -0.0154, 0.6052, 0.4446, 0.0384] state[eef_state]: left_x=0.2819 left_y=0.0027 left_z=0.1719 left_yaw=0.1022 left_pitch=0.0344 left_roll=0.2912 left_gripper=0.9965 right_x=0.462 right_y=0.2543 right_z=0.1514 right_yaw=-0.0606 right_pitch=0.0926 right_roll=0.0711 right_gripper=0.0384 state[joint_eff]: [-0.0205, -1.2513, 6.9538, 1.7558, -0.1978, -0.0611, -0.0122, -0.0342, -13.4906, 9.3197, 1.9023, 0.2418, 0.0024, 1.033] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.34,"right_z":0.23,"right_pitch":0.3},"note":"The brown plush is hanging from the gripper, so the thin grasp did catch it. I’ll carry it over the safe’s open compartment."})
tool
executing move_to over 8 steps (0.8s)
step 282
assistant
agent noteThe brown plush is above the front edge of the safe. I’ll move slightly deeper and lower it into the compartment.
move_to
right_x0.5900right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3195, 0.7742, 0.5415, -0.3916, -0.5194, -0.0158, 0.9965, 0.7128, 2.3032, 2.0323, -0.16, 0.6666, 0.3191, 0.0384] state[eef_state]: left_x=0.2802 left_y=0.0034 left_z=0.168 left_yaw=0.1027 left_pitch=0.0163 left_roll=0.2993 left_gripper=0.9965 right_x=0.5522 right_y=0.3377 right_z=0.2135 right_yaw=-0.0361 right_pitch=0.249 right_roll=0.0549 right_gripper=0.0384 state[joint_eff]: [-0.0342, -1.265, 7.0085, 1.79, -0.1832, -0.0806, -0.0122, 0.1026, -13.4632, 8.3214, 1.9512, 0.4078, -0.0366, 1.0281] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_z":0.12},"note":"The brown plush is above the front edge of the safe. I’ll move slightly deeper and lower it into the compartment."})
tool
executing move_to over 7 steps (0.7s)
step 289
assistant
agent noteThe brown plush is lowered into the safe alongside the white one. I’ll release it now.
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]: [-0.3202, 0.7761, 0.5415, -0.4038, -0.5194, -0.0158, 0.9965, 0.6697, 2.4825, 2.0003, 0.0006, 0.6289, 0.3012, 0.0384] state[eef_state]: left_x=0.2787 left_y=0.0037 left_z=0.1653 left_yaw=0.1019 left_pitch=0.0034 left_roll=0.3051 left_gripper=0.9965 right_x=0.5817 right_y=0.3326 right_z=0.1148 right_yaw=-0.0304 right_pitch=0.2004 right_roll=0.016 right_gripper=0.0384 state[joint_eff]: [-0.1162, -1.1009, 6.9128, 1.707, -0.2418, -0.0611, -0.0171, -0.4855, -13.4359, 8.335, 2.0879, 0.0904, -0.0952, 1.033] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brown plush is lowered into the safe alongside the white one. I’ll release it now."})
tool
executing move_to over 10 steps (1.0s)
step 299
assistant
agent noteI’ll lift away from the compartment and approach the remaining yellow object on the right.
move_to
right_x0.4600right_y0.1100right_z0.1700right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3206, 0.7815, 0.5415, -0.4202, -0.5194, -0.0158, 0.9965, 0.6701, 2.5027, 1.9968, -0.0269, 0.6277, 0.2955, 0.995] state[eef_state]: left_x=0.2769 left_y=0.0042 left_z=0.1611 left_yaw=0.1016 left_pitch=-0.0164 left_roll=0.314 left_gripper=0.9965 right_x=0.5787 right_y=0.3308 right_z=0.0952 right_yaw=-0.0199 right_pitch=0.1608 right_roll=-0.0222 right_gripper=0.995 state[joint_eff]: [0.1709, -1.4564, 6.9128, 1.79, -0.2125, -0.0708, -0.0122, -0.0342, -16.6496, 7.1043, 1.9902, 0.1734, 0.0317, -0.232] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.11,"right_z":0.17,"right_pitch":0.15},"note":"I’ll lift away from the compartment and approach the remaining yellow object on the right."})
tool
executing move_to over 19 steps (1.9s)
step 318
assistant
agent noteWith the arm clear, I can see the plush toys are protruding over the front of the safe rather than fully inside. I’ll park both arms; closing the lid now would trap them.
move_to
right_x0.2900right_y0.0000right_z0.2200left_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]: [-0.3202, 0.7856, 0.5411, -0.4309, -0.5163, -0.0158, 0.9965, 0.3641, 1.6356, 0.9543, 0.1818, 0.3721, 0.1463, 0.9967] state[eef_state]: left_x=0.2757 left_y=0.0042 left_z=0.1579 left_yaw=0.0997 left_pitch=-0.0311 left_roll=0.3185 left_gripper=0.9965 right_x=0.462 right_y=0.1112 right_z=0.1555 right_yaw=-0.0377 right_pitch=0.1217 right_roll=-0.0323 right_gripper=0.9967 state[joint_eff]: [0.0205, -0.8274, 6.9949, 1.746, -0.1783, -0.0513, -0.0122, -0.212, -9.2103, 7.1726, 2.0195, 0.0024, -0.1148, 0.1587] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.22,"left_x":0.29,"left_y":0,"left_z":0.22},"note":"With the arm clear, I can see the plush toys are protruding over the front of the safe rather than fully inside. I’ll park both arms; closing the lid now would trap them."})
tool
executing move_to over 14 steps (1.4s)
step 332
assistant
agent noteI could not complete the task within this attempt. The plush toys remain protruding over the safe’s front edge, and the yellow object is still on the table. Both arms are parked, and I left the safe open rather than close the lid on the toys.
give_up
hindsightThe soft plush can remain attached even with a gripper reading near 0.038; verify by lifting rather than treating this borderline reading as definitively empty. The hanging length of a plush matters during placement: positioning the grasp point over the compartment did not put the entire toy inside. The safe slid forward during contact, so its placement coordinates needed updating, and the final interior was near the forward reach limit.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3202, 0.8825, 0.7761, -0.6121, -0.5159, -0.0162, 0.9965, 0.0544, 0.7444, 0.6491, -0.3592, 0.1295, 0.0166, 0.9968] state[eef_state]: left_x=0.2856 left_y=0.0009 left_z=0.2024 left_yaw=0.1005 left_pitch=-0.0705 left_roll=0.3356 left_gripper=0.9965 right_x=0.2966 right_y=-0.0031 right_z=0.2198 right_yaw=-0.0748 right_pitch=0.1339 right_roll=-0.0296 right_gripper=0.9968 state[joint_eff]: [0.0068, -1.5111, 9.6342, 1.5458, -0.1978, -0.0513, -0.0122, -0.1436, -0.6906, 7.4735, 2.1172, -0.1294, -0.1441, 0.0073] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task within this attempt. The plush toys remain protruding over the safe’s front edge, and the yellow object is still on the table. Both arms are parked, and I left the safe open rather than close the lid on the toys.","hindsight":"The soft plush can remain attached even with a gripper reading near 0.038; verify by lifting rather than treating this borderline reading as definitively empty. The hanging length of a plush matters during placement: positioning the grasp point over the compartment did not put the entire toy inside. The safe slid forward during contact, so its placement coordinates needed updating, and the final interior was near the forward reach limit."})
tool
give_up: I could not complete the task within this attempt. The plush toys remain protruding over the safe’s front edge, and the yellow object is still on the table. Both arms are parked, and I left the safe open rather than close the lid on the toys.
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 · 8.529 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3901, -0.0193, -0.0338, 0.9993, -0.0204, 0.794, 0.6075, -0.3981, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0015 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2928 right_y=0.0012 right_z=0.1778 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4017, 10.1949, 1.9951, -0.0611, 0.1978, -0.0904, -0.6496, -1.4291, 9.6615, 2.0, -0.0415, 0.1245, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f8b519349a987f75911ab6384948a83afe42e1fa224d6c187e115b274f06be7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ce4263a8f92660de6aacb8ed91c6a30366deb5deb22db8f3766dc86300f6a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2c041993b39c2bb56ce47a7635ee7ee131defc741918b1998f47ed363e462d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.349 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrm6SA60cC0IIWk0RWuXjocKs8HiNmHpCpKECjRaJdap0qLrwHi1FNiUtAHEdJWyNIxBbwAOTnXub1zzlgGDdJtLcD_0JCxD7NN8rzNxQFtkcU3yGG1bUD75nS3HUN4RgAgn2_xSQZ_8C4eWshN2zwCOkjw__WhIh3Z4wes2Tr6tblWCfhi8VDo6TjtOK1ZjgmKeMrs-OOyWvZKaooN7kaRcS3iswRuYHCXeWsL8m_EkCD-aHIQx0Q_WQX9NXC1dYvAkeHorWmPKUjfH1HPe9j7HxDq964NDPDSKi0Mrrr3ET4mk54gY5Q_II0Ozp6KzjfNcPB5Sls2z0tYhGAoiQuBMgpVVmYTNsKoUU8N719pw_SJOxweYW092BlQslzTwFSuu3wP6Riqd0D5xTq2b4e8lFpBQtRmTWmKS5R35U68NVpPuXtbdbX49hn3uHtNwh8mOyc7nsW9SnsYXBefa3_5C8k4ZuW8pZPNSrkS_yIwOohO0STU1RI6HVwnQHQ36E7HPLbxH_QZjHV_bD4b35E0gmWaq7sFFfrgQU1ujaDg91fH9kxtHFep-zZyYlmFZUpgjPZTkd8GhJRdORni6DQlUX7rMr-9LrPiUVJeS5Vev7Dyne6HJZ3hO2ypFmug9Y7QybtWrv0hbXQ-3OD3fQFTbqpfHTM0DLS95PtJL8nl39q7IzNJbfYVRM9WycQkmq_8k4PQK_WjXPZdJF2G-pr2eSpC0RhwY6IN2arip2nGmQL_2W15vgxqkUVJ9cSRcsmy4chw8K9bzN46K05daNMG8TynslsyrvAcBg47UgaKBx8rHRTPBc2-8e4O_Ordz9g5JjWvXoJmymcnqE62G3yyDwZpPtcqa1vOk8mo9zn24wRCs7FZiemjsTiDP8NsZAW2YbfmR5i1W9YdQYB1WbWqLFMLwSA9beqVZ4A9ceFESLSh8AwPlBaDrmInRz4BCRU1Yf5MC-sugq6H2BlAkF9POLu60Hsw70TqHVaAs2KSVOCRQ2BKPAxbwJFDaPL2INW_QmJ8cNojSknqK3yh26WLD0VS9E8Xh--H0Wgi4E-PesFy9l5FJrDiXMNS28fjt-JsmqEsxdBzz8Mn2mMRhaIqmBs8Ggr9fJ3sdMbOGbM_74JP2u_nBuiJ9hz3lG0sEDGZFvEzK82q78b5yBSBSHEH5gV65zSmNSRgZAmP7v7XeblwMNsPP_BYmC7jDW7ZOh7XTBGiliRPO8ZTdnlJdbaXd48suaH7DEHrKRDPUq3oWzoRwffnxWcMMOSgb4W6trHzbTpDmMrVjdpAS7ALjdrFsy9xknDTEsp_ohrsa3ydmRngotLlgdxTLnPm2OPIzNFjatmZXfk1_qDflKiTlTX8ryPhzZbKYfSA79m9L127CgJMb9pVrj48uCYjpDnBhqysuu4ECpT8ZW2RhAvKuqHeH-reR7iKKNndxHbEQU_TEqUp0IRlXcVhg3grHf3JXF3kuHXOHkuURVkdf09xFyx8jIODBfeD8MuBepgGxoSH_Ux5ha0Fot6aqE6bzqDVQfiE2sWjaiwUlidhg3LS1lrM6IX-LNhzII14cFtnEY1e5TigCpN5wNkXfxMNDZo0LsB3E344xOpiY5SEV85DfxJouaBGvJXOJ5T_BH8JQ8qXrytE=",
  "id": "rs_09ffd7f47884d452016ab2b9b3c1f487d0b65235b8b8f7c116",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see a white plush, a brown plush, and a yellow object outside the open safe. I’ll approach the white plush first with the left gripper.\"}",
  "call_id": "call_YeBnvPiue53elMIe3l1hokBM",
  "id": "fc_09ffd7f47884d452016ab2b9b8e3f087d0af4b97e89d2e4497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YeBnvPiue53elMIe3l1hokBM",
  "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]: [-0.7086, 1.4292, 0.8318, -0.181, -0.5579, -0.4599, 0.9993, -0.0212, 0.7986, 0.6075, -0.4328, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3485 left_y=-0.1708 left_z=0.1309 left_yaw=-0.0161 left_pitch=-0.0606 left_roll=0.0342 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1695 right_yaw=-0.0005 right_pitch=-0.0393 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -5.8188, 9.4291, 1.7363, -0.398, -0.1001, -0.0904, -0.0342, -1.5932, 6.9812, 2.0195, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b631f475daf70c164311495ffa09781a037d2f68aee832191c4b4a334c25b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafbf76e40b602fe133fc22984b042b3cf23441eb21310a65a725ec7ea79bc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc8afc6ebdca08ac8d5b9a9ce37b61debce19188f7d166e5d5a4fec927fbbf0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.453 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3901, -0.0193, -0.0338, 0.9993, -0.0204, 0.794, 0.6075, -0.3981, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0015 left_z=0.1784 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2928 right_y=0.0012 right_z=0.1778 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4017, 10.1949, 1.9951, -0.0611, 0.1978, -0.0904, -0.6496, -1.4291, 9.6615, 2.0, -0.0415, 0.1245, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnBicoSLllg4poKFkZNGmdPGkI4XM2xW_x58nuSMiqtqoGlJch3GOjB34LROTd-47nfRzxPgmK-UwNv1KYydf-9T67SbgKz04cNqVdzs6z782X-w76M12jjC12Ns6wmZ6bJ7d0uhArqT3OksafSXWpWIXRnJmRzn_9KDy1t7ciOLcc1gw4_fQR5irguosIF1MRE90Kb_ctEOh9NCz_MBjPVlXiKN8X00fDDeUegRwLraDtqcLcXUaAn6Oa0LXAzm0wqQMgQPM9fo_o_xY9za_yjHQiBgnFaNV9qHuEIQkiulZ5iLJo1qXyFrwrApe8EDJZRMrcIhisj_44odJRIDNZu3NDK0CY6miVGoeGDDO4R0Vn-ZEC-6Bqh90p2SYVnUVSLNtTm7-daV7xeSEiQBQDHzZrKyBBsCeS6Kz1OU1XBV-Q5WIDMtYF8lL9ZMKtjr4AN8irhiYgGBzFe2CmvVlld05XcovcmuD55vEo4IfE7DBhSbXn_tqOunitIT_qVDjsvZr_2wN6KqTr1XfONx6-7sf2YnpZ-ll5k5LYfiJrr0sv9ZQLZ34iA_ZGS-Uppc-9Dtfx-WOMXVvZsFQFPY1U9bf64QepCAcm4Q3B64Rd9roIK0yD0xupKtO_UgEvXmcBvmov5ySNZ7djf77i5-drT3sIuvbc-kcGXKLPPnchlDzjWyDtrIbV4ISYxut5Fx8fcPo7GFNInsVwKUmcjkWm_OWEUlrrvdMUxdVzgyp2UReaPTlS51ZiLmleC_rSNDnmFGUyb3Asgzau4gY0LFcag2B8do0lTdL-Fi4Hik5dUA8BD_x6zBt0sCIUd8wpyd7zUxNcEXPe5zX5nbdr9_p9Z_qmgzYUQ_2JTRgMDzh-kB77SGajXO1Q7PZBH7fO36Au3oovMZuhGHA-mJ5dhxnj8ThE3xfvN-kBj4mfYl7Soc4pJ2pM-UXSdHrcb0oDxUgngAAZTvtNz-ThZpaZN371bDnz57BvHd8e75VqE9dq158YeCjewPQZdCexZ4Mzb0fJU177q4-OnlUQtvSSCB8-ZFeLclgnJOl_072HgCo7t0YZwn2MeEq08n7zDB4PbF1ktJs6dorkYl5ipHBYj5iu-cKL1eS9SH3545AcGmC5NhY87RDT5J7maQqt1Vzuhl9oHX37Z9-_RiAaPfbN0LC-d2s4y_pkiUTTw-rbhpgX9cDD5KY6xXV7uHtn6eOW0oq7c1WtEHSxn_BCV9pI2ktTCn2eIMVKMb8VNFifBSb2LwEELRxeIqIYbvNEq-uM2IWCvQ2EPiazYlv2I6qUylhcMhYRygastrCaMU8jLe5zTq0o=",
  "id": "rs_09ffd7f47884d452016ab2b9be364087d0aac693a5c23db750",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.155,\"left_z\":0.035},\"note\":\"The white plush is slightly left of the jaw column and still ahead of the fingertips in the wrist view. I’ll shift left and forward while lowering to grasp its body.\"}",
  "call_id": "call_VXNiauNpOWtWXjxHaKhSv08Q",
  "id": "fc_09ffd7f47884d452016ab2b9bf6fc487d097854b80f66385da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VXNiauNpOWtWXjxHaKhSv08Q",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5926, 1.7218, 0.6872, 0.2256, -0.4862, -0.3893, 0.9992, -0.0212, 0.799, 0.6075, -0.4549, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3738 left_y=-0.1479 left_z=0.0295 left_yaw=0.0088 left_pitch=-0.118 left_roll=0.0674 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.165 right_yaw=-0.0005 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.1316, 5.0667, 1.6874, -0.1099, 0.2027, -0.022, -0.1299, -1.2239, 6.9949, 1.8632, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcf9ca8d49b4b2f94692483957b574a3a95ca1d8d5751f34651c493f0be008a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd904b0467d2fef55c741a61b012be5071958509d7a677d172bac4403374a1cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a38352f80b78d7d6f0183752c14fb8be5bb62899abdc6bec7f9def40bb9dca3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.696 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]: [-0.7086, 1.4292, 0.8318, -0.181, -0.5579, -0.4599, 0.9993, -0.0212, 0.7986, 0.6075, -0.4328, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3485 left_y=-0.1708 left_z=0.1309 left_yaw=-0.0161 left_pitch=-0.0606 left_roll=0.0342 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1695 right_yaw=-0.0005 right_pitch=-0.0393 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -5.8188, 9.4291, 1.7363, -0.398, -0.1001, -0.0904, -0.0342, -1.5932, 6.9812, 2.0195, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnGKoIKWHa0hlCXGysgKbJ_CwX23RALinEW8sNQBNUEZJEQ6TeYr2tA-vK8vqjSosP-ufHvdo7V_hjG_it8cLK95Vgws5_RqfQx0zX3yVNouPXYJjvkGsRAoBPKQyF_L5NkFO3apAf19HCuRtecuqAxSO-2jRooX-ZY4VCLf8qBZ88rtnDHa0Bv9vSL9PZnNIKPD9zdFa7VDq2Mj7NXKoZcrPGMLdTfMx39uRrilJE8wqmIC-AmP3s_TgAQfdnFAKtzCX3gqNJteaGuv8IXSVd6hDeJOm6D1pE932Jgl-_r9cRUeman-hKxfU1HGpM0ncdlCbcOuaNFvWXZZFHHJnQxo0jLAv-KRUC6NqSmPwSPscK0FtCAl50E2YfOHsrWbjvSKOW_PLqRP51xa8L6RQJVyxxMa7jnI7GyJC-lbGnW7M4ujmjT6-7iWZTopxLx8A4yCkjc56v56T_DD1Y1AdD2Kmo416TNUaqeOd-AhJkRxwyJXbRMp99HeUPdqwbvGfLz3ebzX3WUrAZ1KwUrmG1C1a2f1pX-bBCKJ5PQeYpC3GgDb5NYwp6n4ZaoebcWx3RM4UmMiiT7IFxms-HFXeTTvgHEWMITMpUnbyxPxxtxJnognCa8DBvllpkrwM9sZB_rlNYsRYcayb5yxbz3y3aFX1839s00jyYKPi8kpvxpm4MhGc1CHA13_yCOTWw0KkZQ8Le588OfJWPwvplPeZkUNkO82lTD7uihkpb00GXLHBqoWHuNU_H_CC8PC3vJ7ZrKruyVxPXOD_Lm9Ni9PwdCh9tKWn1SimhhiApyVCRZKnS9inOKmElS6E8RVtUxYq9wiCpDcaxukFElrAdW7haWXhHfXiDTbVRHlwy-u2-GQzpR2XgOAyUJZkv2c4DnytsDhgyxuJ60qZD73O7mryGGhhLsMNfxGVV5ekmJLOz-EYwOI8MUx9xuvkXfeaEB-5m66P45cpb6hiDuF4aoK-BcwasgTmbVqMgmBXWq96ky7d2X5VE42IknBI1Slkq5U7WuC9PgTocE92LbjUIGSFrcKDizsIKXipvocLMMKEtUbumfLhFTAAT-6KVcrD_cjzo4mPIlJesubwSEhuOO4rdSeQ4d9O-RMFt4Z-OpIT1_nfB5mNVrzKaoHWR9jZQgTCplPEWcRRclo0PKA2rToZGgyV_w7OU-a1Fnbn7b8pVAijfnuWksgKt1eDLgroNLSg7TCy9OKc9HcqGc21DR7-9ArRmurwzYLjN6zeV_KgWAxpHkn0Sf9_FWhotQvvqi0DJ2wcQ7nQTI2TCNcCLaqoleLA==",
  "id": "rs_09ffd7f47884d452016ab2b9c3a79087d0ac268d4f672ca408",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.13,\"left_z\":0.015},\"note\":\"The plush remains just beyond the fingertips, with its body left of center. I’ll advance a little farther and align the jaws around its torso.\"}",
  "call_id": "call_rfXLwwbRfib3xeeF40zngPPx",
  "id": "fc_09ffd7f47884d452016ab2b9c4c2dc87d0abeb81ce417cc6a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rfXLwwbRfib3xeeF40zngPPx",
  "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]: [-0.4606, 1.8809, 0.7872, 0.2764, -0.4156, -0.3191, 0.9992, -0.0212, 0.8024, 0.6071, -0.4782, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.1218 left_z=0.0045 left_yaw=0.0483 left_pitch=-0.1552 left_roll=0.0814 left_gripper=0.9992 right_x=0.2815 right_y=0.0012 right_z=0.1594 right_yaw=-0.0005 right_pitch=-0.0889 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -8.0205, 7.159, 1.5458, -0.0806, 0.2369, -0.0122, -0.0752, -1.4974, 6.9675, 1.8486, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b6b1ebc00085061717c71e741d60f6ad2e2044214f5814250c4f7a4a82f6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746215f40854224a4c8442713c1c0449c895e858599a6cec434045089fd70656",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e750c3eebac85edf9a9238466ae499d34619d3334ea8e5341386ac391643431",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.973 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]: [-0.5926, 1.7218, 0.6872, 0.2256, -0.4862, -0.3893, 0.9992, -0.0212, 0.799, 0.6075, -0.4549, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3738 left_y=-0.1479 left_z=0.0295 left_yaw=0.0088 left_pitch=-0.118 left_roll=0.0674 left_gripper=0.9992 right_x=0.285 right_y=0.0011 right_z=0.165 right_yaw=-0.0005 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.1316, 5.0667, 1.6874, -0.1099, 0.2027, -0.022, -0.1299, -1.2239, 6.9949, 1.8632, -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"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The plush’s torso is now centered between the fingers. I’ll close the left gripper and restore the idle right arm to its parked height.\"}",
  "call_id": "call_2IslZ9cHHMaASwwBcKEqPJX5",
  "id": "fc_09ffd7f47884d452016ab2b9c9111887d0b5b6ab05fd74563e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2IslZ9cHHMaASwwBcKEqPJX5",
  "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]: [-0.4507, 1.8923, 0.807, 0.3088, -0.3973, -0.2916, 0.2015, -0.0238, 0.8654, 0.667, -0.5583, -0.02, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.4248 left_y=-0.1256 left_z=0.0107 left_yaw=0.026 left_pitch=-0.1267 left_roll=0.0712 left_gripper=0.2015 right_x=0.2804 right_y=0.0004 right_z=0.1543 right_yaw=-0.0027 right_pitch=-0.172 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.3214, 6.6667, 1.4628, -0.0904, 0.0708, 0.8425, -0.3624, -1.2376, 10.0171, 2.0, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84454f35ce5325e447d3a549e5cf8c58fc5e3a48f4585fd17db4e5e0da9d08cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aeeff7ffd66e052e7cac420c351db0d0f8d7b087d547b7756341734f272f3ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d4a001188bbc39df7de49d9201d24a136334b614f3e87639954a15ce61c99f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 5.685 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]: [-0.4606, 1.8809, 0.7872, 0.2764, -0.4156, -0.3191, 0.9992, -0.0212, 0.8024, 0.6071, -0.4782, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.1218 left_z=0.0045 left_yaw=0.0483 left_pitch=-0.1552 left_roll=0.0814 left_gripper=0.9992 right_x=0.2815 right_y=0.0012 right_z=0.1594 right_yaw=-0.0005 right_pitch=-0.0889 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -8.0205, 7.159, 1.5458, -0.0806, 0.2369, -0.0122, -0.0752, -1.4974, 6.9675, 1.8486, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The gripper has stopped at about 2 cm of thickness, consistent with holding the plush. I’ll lift it slightly to verify that it follows the jaws.\"}",
  "call_id": "call_wEyHYW7Wdp2h82Rzk0mTougN",
  "id": "fc_09ffd7f47884d452016ab2b9ce0cf087d0bfeff8d2f04bef68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wEyHYW7Wdp2h82Rzk0mTougN",
  "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]: [-0.4507, 1.7355, 0.8898, 0.0399, -0.3965, -0.2996, 0.2047, -0.0238, 0.868, 0.667, -0.5903, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4202 left_y=-0.1236 left_z=0.0609 left_yaw=0.0317 left_pitch=-0.1526 left_roll=0.0783 left_gripper=0.2047 right_x=0.275 right_y=0.0006 right_z=0.148 right_yaw=-0.0028 right_pitch=-0.2067 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -9.9624, 8.6222, 1.6044, -0.2222, 0.0708, 0.315, -0.0342, -1.4838, 6.8308, 1.8144, -0.0415, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08fd259c5f4d14c1b866a4c7fac198d292c42d53684ea4cf2c703ed309e15e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162259742b4d88789d1f48ef78db9495dad7c373398551a3fea7dcda159e196c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1cb240db46c3d3971ed4d313d9d4b0214f5e11c52455aac360a34df85558598",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 7.742 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4507, 1.8923, 0.807, 0.3088, -0.3973, -0.2916, 0.2015, -0.0238, 0.8654, 0.667, -0.5583, -0.02, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.4248 left_y=-0.1256 left_z=0.0107 left_yaw=0.026 left_pitch=-0.1267 left_roll=0.0712 left_gripper=0.2015 right_x=0.2804 right_y=0.0004 right_z=0.1543 right_yaw=-0.0027 right_pitch=-0.172 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -8.3214, 6.6667, 1.4628, -0.0904, 0.0708, 0.8425, -0.3624, -1.2376, 10.0171, 2.0, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnVQnnQhxB7HXkbLGkpKRqGD0Zyz2FVfOnCrJU96neQsTX-JUdy25qxW27PLTZiKCzrEKlgtPG53XbKUo2ZEAlVwybn5esaczAE7yg-uIL_t-sxmGbFfNestJ11Ma1bwOG_kw6WVDGF0K05puD8yrUgy4Cm0wgm6-gIb_gcwa8Rt8uXt6GND_fYyJmkT6qfxUBdORxG9z_UU4KTSCkmbLzdnyR5oFWVLqOGg4AhRA0cjq4lAVVURrdFElL8pAWvjvQ5FnjpTQ2q1la2oimh3p3Q1a8e2wQM1o_nEXrC6sqITFqbNNVXiMEE4ABjukhFmKIJ3k0xtv2o-4Mo_Qa04VUSJW72D4oo6gcGjITGdli0fhjp2U20lOTnzvyqPvxGhY0C1_Sio9n6wzZmYG0i0zyWO7UPtHHH2huDUlz8tKRHMjnVupkYVZ6hD1kV00s2puA6vgInJSiDmNXK6a29r-6jUBJ-yAtC6A12Z5U0xgvUgitpkd7TveP1iDkIbzUapLRXNWEdWW96GCJsJFbkIs9eCCHablIKLQ4OX_eazoTKaV9-wwZ4VuJy5yE_3mA0y5q83QkJ6_SsgF6HvieTadeLe0FeMD1S87nxgcyfkdNVlSfUpL4rUVmNTxQMypbNjNTLoyIFg9MG-pgvgcSboi7cNrrCWugqq6Gpw19_iH0V2Jy5m_13krxZ3liJXv2P-MIE8u673deI6rZ9HKu1j4Mf2f9mcsZlbmKJHtUUjNKXCXpYyh22MR1W3QJ1a3ZK4j7Bj00kzY5pE1k6X5OFkaXLVI7pnjCfgpxyehvOnucfl2JwVJKy_6_6K4ok4m4EY3k9PPa9ys5XJR2WBmNRrPDlIiECHXmyic7-AX9ot6KwaLSMTlJEcGXlUBslLhk0WLzvyqJBS70QOZYwWeCUuCFvTwZD7Op5zA5oomp40cyZR6rTyMbVzkDcF_i_yxKWafGTRQO8det9C45Hf09HgDVxMKskh55bOMBdv24N3qe1I22CxBqKyHqdM7ZVr7eUPrRF3X7d7jvvAuoPK5kPPFsBokL-0v6bydVgB5kXgF-NA0NrL7bXLDXisJ1GBxF0OujNylNiHKybhT2ukRdCMSN58JIgyPxlAQuUQGilleZv_u4BGQ0PxoQ4u5Os6ij055V_XoFUIxrDtp4aurkL_UrC-lJ4fb9Z1a1ILmQFITBQl5HIyttPPSZbOBB-a1iEcjkJOC84ia1n2bPrwKu2pKJJ6ndzffoR_KBx9IoOn22OvMhtQEt5oMxduAUes1XnklJrC7o6x3SLN5TmCALviZwlUBaFBywXtRxooJawhhFaThjB-3A-GgBMJUPBiq-SKIIULQJut71vf7LSypHIDWZ_0dL9oT3XB77LQCMq_nmnCw8=",
  "id": "rs_09ffd7f47884d452016ab2b9d229ac87d0a1e2008a49f55bc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22,\"right_x\":0.27,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0.2},\"note\":\"The plush remains caught at the fingers as the arm rises. I’ll lift above the safe’s rim before moving it into the compartment.\"}",
  "call_id": "call_QMgffTgX48iloYztFkS39HOF",
  "id": "fc_09ffd7f47884d452016ab2b9d373c087d08c8d3272b399030b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QMgffTgX48iloYztFkS39HOF",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4507, 1.5944, 1.3251, -0.588, -0.3965, -0.3122, 0.2076, -0.0353, 0.5705, 0.5632, -0.461, -0.0277, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4192 left_y=-0.1231 left_z=0.1925 left_yaw=0.0429 left_pitch=-0.1975 left_roll=0.0935 left_gripper=0.2076 right_x=0.2637 right_y=-0.0008 right_z=0.2017 right_yaw=-0.0081 right_pitch=0.1164 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.7983, 9.5521, 1.4872, -0.2369, 0.0757, 0.2906, -0.5949, -0.2667, 6.8855, 2.3565, -0.149, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b839bc0dae756c8062c4b211ed8d8c76e90d7064e87347537bf8d5d2fb741ac3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd901ee3bd73764a956926a8c5ca0cfe111b44fac801053f10d5df3eda660f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73b215f0dc0deec1996772dbe2800460d72edca8416ea40c49ebac9a24a14e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.784 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4507, 1.7355, 0.8898, 0.0399, -0.3965, -0.2996, 0.2047, -0.0238, 0.868, 0.667, -0.5903, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4202 left_y=-0.1236 left_z=0.0609 left_yaw=0.0317 left_pitch=-0.1526 left_roll=0.0783 left_gripper=0.2047 right_x=0.275 right_y=0.0006 right_z=0.148 right_yaw=-0.0028 right_pitch=-0.2067 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -9.9624, 8.6222, 1.6044, -0.2222, 0.0708, 0.315, -0.0342, -1.4838, 6.8308, 1.8144, -0.0415, -0.0317, -0.0073]\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": "gAAAAABqsrneE4feTur_VI6M8ygdTot2MyKThJ3I2Z3CF2p-n4nkWogkVK0AzrPGRlkl9JVUtyfHKia8uQ-G-8mJCJErQC35Kugcs1EVVozSrBJnBWWxvCOeURXxnxKsl4F8IQmmvwTi0dvEQeL7Jcjdccmn-rC58fnHrCxmw4aTe_fK263u4pxRCQu-0mdgXWhhk91DNp5qSh32xGhR7N_t3knwNUBjiskOoWbISayYuwNGMOhyPdOI_mk3rzRFKL7PBI8_suzkCe0Jg7rik3kdA_cVpZIhLpuYVIolrt56dfzZCyzAzovPyu0yX0Qj8RSe6xVrwyGIC994MdXG7Aiv3mffX-r9Oxngd4CvQ_NE6AZvMuV-cMeRrsl80hD8gXFro68N-4t7reBL64Wnm6gncxys1moJ4OJnsIVReSPHNFYRLZuI-0Z9FzEW8imCYXCa7nwo-DtiBXCzuSSkOc5NQdPtGRbIHEKa67TTRC3i-iTdn_mTIJjZkgLhhfyLMQtfEfzRfoQg6-qKrSgx0ozpxjW-VRViG7qD-wmxGf-ZXFliDHNh2taeTjPug9ztx3Xqk1RmebjokzrzD7GD96pwHNMbS7s1-y2In7xqFtW3125AydhEnYKtA-_94n_R30z7ecpG5ZKXDdwmqo8ZsNWXPCrRB-85D0cXUlQtbQw0vdTBDWVuscx04OjqkGrhK0H7rq5fj9NgLpXXj_roTW2axZybSLf01RkzLVi1f9AGrltvM4bx4tiebWamDU2AXAEI_6-0wqtWxTqwLd8TSWW3jDb-G2lCORGsJFwOqMb-Xj_b1f_ejg3t1b5SDC3g9DYJHdmvZ4KBSRmrrEgJZM5lwZUHiVJDZLQwW0maiHQkHXs2xAEDYmLaZKhKwysNM632z3wUnPLkr4mTPHeWVwP2eJ_e6dqwqAV4aVlf5lFC7S_obNnYlbi2PAYPsx6UBo2Hy9dNpQYcJUgxTpLVcpLkcHNnJL8NEZ-_eUGN3zRMhUs3R5nq2vJQCH3wiF__N9RrXvbCGfK70JQuDq9n35eiqy4VMsRBJrmiEzdC3ZUo_zfUHvd2JHOvByQDPRs-USgtLmQAK1SEUTo0bb_ZZFPC2EWSrNpi_e0NmNW5U3ZdnWje2p7iNSv-Oh8_rh30sn1NFSM_SQEPACADEw-4zLGwwmQjAuKO7s9rSy6RahMkHIIrs1wfYh-T8u12XWJWrDOcPN_GyxO6vreXdPiwWs4lkqQEW_sEvHT8QEe2tB5cHPyO0yDZahLr56O0nQTIzYmwG8Ru76t9oojSUVYZkhM3yUWGGH4_Ksq-MUnqXU1aAfMT07C-JpXvMHImFQjL-jHnc2v9iSjCCAvjE4y354MsNL-O7QCfx7sGc0adGOEnyaoPQIPwSluSslbsukqtvVCNGvGG_ukF",
  "id": "rs_09ffd7f47884d452016ab2b9da610487d097ce841bf33cdd75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.29,\"left_z\":0.23,\"left_pitch\":0.15},\"note\":\"The white plush is clearly lifted off the table. I’ll carry it over the open safe, keeping enough height to clear the front rim.\"}",
  "call_id": "call_uqLxfRbMLRrUTLLI2FKBp45B",
  "id": "fc_09ffd7f47884d452016ab2b9dc76dc87d0b09dbcfbdd4bdd76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uqLxfRbMLRrUTLLI2FKBp45B",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7937, 1.945, 1.6234, -0.4053, -0.7563, -0.4244, 0.2112, -0.0349, 0.5751, 0.5613, -0.4816, -0.0269, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4511 left_y=-0.2806 left_z=0.2054 left_yaw=0.0242 left_pitch=0.068 left_roll=0.1275 left_gripper=0.2112 right_x=0.2616 right_y=-0.0008 right_z=0.1951 right_yaw=-0.0085 right_pitch=0.0893 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -10.3863, 9.6479, 1.7314, -0.5153, 0.1099, 0.3541, -0.253, 0.1983, 7.0496, 2.0049, -0.0415, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7870a71d06c1472ac8cc8b25a42f985b3fe15c7d3daba24e15b8bdc6d39ee137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a2fa4961aca7cd3d6aae64191a1cfd40003eee71dfab198ecf1632c128cf73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a59cdd4959ae15b6db82866a6b5d43432538019eea2937c25429063f564cdf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.465 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4507, 1.5944, 1.3251, -0.588, -0.3965, -0.3122, 0.2076, -0.0353, 0.5705, 0.5632, -0.461, -0.0277, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4192 left_y=-0.1231 left_z=0.1925 left_yaw=0.0429 left_pitch=-0.1975 left_roll=0.0935 left_gripper=0.2076 right_x=0.2637 right_y=-0.0008 right_z=0.2017 right_yaw=-0.0081 right_pitch=0.1164 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -9.7983, 9.5521, 1.4872, -0.2369, 0.0757, 0.2906, -0.5949, -0.2667, 6.8855, 2.3565, -0.149, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnmagDXM2Qiy5bi0ArsL7ZKWAP-4wHYj545ycptucONAq0nt272fXQ4kCqwaj2rxe-FN7mfKv-k5tgrQLVgddIAXZJygIPsrPTC-Ybt3kabY8v1AsMPvItCWrzfJuj3eY84P05lUZkg4WpRAS3owll6-gTw87sNUyrXhZsWMGmIPFLxIfGjf1RjEQO66ydPkZQzLMrNv-KWED5ANQDa-s6pXzvQHQykfmonF8xeAVjz9e8GV1C8PCiAuUr5NHh-c-m8Fpzkqk-Lk0dXKhGbsTrnMPHD51MO7zaBSW0J_q1i1JQTo8jHxFmEm80leuxYDMywSHP7hisRRpGfdbU66tHV3P-oH9IcIrcScmfWGLSKlRX35mnqo7piyrFW8ix-ca608L_H36HQmUJCIxDm-lTUyckpWgChVDXBE3WOqjhHxHg3lscy-xMTJNIVBulHeqaUHp74PcrGIYT9gVPoMdD93e9mT94-qeY0zNSpQdERbanR_orAJxaP7Ex_lRrmNM_34z5f7K9WupL9LSIJTVO_Hu6G5-ETcoiGjJ0DKhlQADTEgrGePWZmbOZj3IuBbgq72Tiv1e33hvQz7L2hzi4w5KIOsUSq3EM0fU3Qd_nsycNh-kbdxdanC31rtbj0iGJA1VIDdn7EDcPHesK81uuJ6eoRNDpfMVQrtk1B32ZQsOWsJA-BzC3q4ey1643BkkSruDWHsTEtnHBdvsXj09HJ0hJv752jrU8nEHqz9J35D06FuB7MvTOn9FwJKVW_xnRc3BSmh1gEtZU2TqNEPvCqa07w7kgr_NkAcbCreIIfT5h2p0_PZA66iSGdkthSTaWzn8TlMH54h2cz0vobbjV9g31FxjV808-r7iz-8R_FIL2wovXGzxzV3p_Ao2uGMwjRQdNszTon0MB1vmd6xxFeb7M_c4Z0MGTe7u4BnKp9B55Tml5hKd1q3qwb47wiIGjaTWSQ8ofa51kDR0VML9-xu_MR2kngxrI138j2zIflSpuAO7xfGk_aTyLwnZX2OIFtvmuZFpsa6_ItbUbn7g3PH6c6jgh7YjOc9ZBqWuo8ZANfLRGd1UViy6cSTajWG3sbu2oKqm7zQBQgvgEq7RvKfQeV7Sj0u2JQDvhktwNytyu_uE8iSKxPmo_hsECtS-1ccAmHTA4fuhZc6XaT8_ic9uL8ACg9wxMbEwnpH0jspv-E4phG9Nzc6mbzjzXxl6ZmE9nPa0bztY90VMecNuQEozLZDtfQYx-TMnB1bFz3ZzQ=",
  "id": "rs_09ffd7f47884d452016ab2b9e4fa8c87d0be0f34cdcd1d7fc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The plush is above the safe’s interior, with the lid upright behind it. I’ll lower it into the compartment before releasing.\"}",
  "call_id": "call_SIp6BiNFwbDDpB8OG2ySD4u8",
  "id": "fc_09ffd7f47884d452016ab2b9e583fc87d0b8cacd52e130f3f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SIp6BiNFwbDDpB8OG2ySD4u8",
  "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]: [-0.7971, 2.1059, 1.3048, 0.02, -0.7525, -0.424, 0.2133, -0.0349, 0.5781, 0.5613, -0.4999, -0.0273, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4451 left_y=-0.2777 left_z=0.0649 left_yaw=0.016 left_pitch=0.0289 left_roll=0.1655 left_gripper=0.2133 right_x=0.2596 right_y=-0.0007 right_z=0.1905 right_yaw=-0.0082 right_pitch=0.068 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.9333, 5.6821, 1.7265, -0.2808, -0.022, 0.2076, -0.1846, 0.1983, 6.8855, 1.9951, -0.0659, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d980c41a414beee3788cf46010f88db5c0292d03fe5a27cf42a5b08439bb062f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab6906b56d82d417e94cccd529338daed9c7523cd45539a90fcb9faf14c6174",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c609df77c4fd640ceb71e20bfa7858c44f86c4ac9af90f7d2886cc3894e86d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.533 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7937, 1.945, 1.6234, -0.4053, -0.7563, -0.4244, 0.2112, -0.0349, 0.5751, 0.5613, -0.4816, -0.0269, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4511 left_y=-0.2806 left_z=0.2054 left_yaw=0.0242 left_pitch=0.068 left_roll=0.1275 left_gripper=0.2112 right_x=0.2616 right_y=-0.0008 right_z=0.1951 right_yaw=-0.0085 right_pitch=0.0893 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -10.3863, 9.6479, 1.7314, -0.5153, 0.1099, 0.3541, -0.253, 0.1983, 7.0496, 2.0049, -0.0415, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is down inside the red-lined compartment. I’ll open the jaws to leave it there.\"}",
  "call_id": "call_Lox0MJWhKOru0ADSxqXaiC1N",
  "id": "fc_09ffd7f47884d452016ab2b9e9e59c87d0b7f0c33140670dff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lox0MJWhKOru0ADSxqXaiC1N",
  "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]: [-0.7975, 2.1269, 1.2892, 0.0143, -0.7528, -0.4282, 0.995, -0.0349, 0.5812, 0.5613, -0.5236, -0.0269, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4405 left_y=-0.2732 left_z=0.0485 left_yaw=0.0177 left_pitch=0.0004 left_roll=0.193 left_gripper=0.995 right_x=0.2569 right_y=-0.0006 right_z=0.1847 right_yaw=-0.0085 right_pitch=0.0413 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -13.1077, 7.3231, 1.409, -0.3639, -0.0073, 0.0464, -0.0068, 0.0479, 6.9265, 1.9902, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f5cca76cd28179baf4e6547bd04113eab6cacb77578df0c6fbd0ef960113a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe41019a127d5b0580a98dad942e2a3d2fe7ec8b9d34439f66722c35a0276594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851ff50b17352729c1a137c8d217b7f22dea83357e8ba10c2fe6a7388864201c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.606 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7971, 2.1059, 1.3048, 0.02, -0.7525, -0.424, 0.2133, -0.0349, 0.5781, 0.5613, -0.4999, -0.0273, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4451 left_y=-0.2777 left_z=0.0649 left_yaw=0.016 left_pitch=0.0289 left_roll=0.1655 left_gripper=0.2133 right_x=0.2596 right_y=-0.0007 right_z=0.1905 right_yaw=-0.0082 right_pitch=0.068 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.9333, 5.6821, 1.7265, -0.2808, -0.022, 0.2076, -0.1846, 0.1983, 6.8855, 1.9951, -0.0659, -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_z\":0.24,\"right_x\":0.35,\"right_y\":0.28,\"right_z\":0.16,\"right_pitch\":0.15},\"note\":\"The white plush has settled inside. I’ll lift the left arm clear while bringing the right gripper toward the brown plush in front of the safe.\"}",
  "call_id": "call_xqFCL5n4nQYVnmP7memJ4MRr",
  "id": "fc_09ffd7f47884d452016ab2b9ede55487d0bc098478a54ffe1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xqFCL5n4nQYVnmP7memJ4MRr",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7551, 1.9755, 1.7679, -0.6926, -0.7723, -0.4278, 0.9963, 0.9524, 1.6508, 1.01, -0.1024, 0.865, 0.572, 0.9996]\nstate[eef_state]: left_x=0.4498 left_y=-0.2491 left_z=0.209 left_yaw=0.0738 left_pitch=-0.041 left_roll=0.2595 left_gripper=0.9963 right_x=0.344 right_y=0.2577 right_z=0.1519 right_yaw=-0.0477 right_pitch=0.13 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [-3.9726, -13.094, 10.3316, 1.5604, -0.0757, -0.0024, 0.1197, 1.0462, -5.2444, 9.1829, 1.58, -0.1148, -0.4664, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d48990f12d914290f5498ab7ce2fad61b737e4345e419177bff52556f032829",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e941e719ef10d1f96b81760b6887f15f1f21f3e28d2f69931a0d8b4f3d828838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f311262a6ab91af20471d5e45413f2554398d16af9803b42b017b0ad3af90f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.403 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7975, 2.1269, 1.2892, 0.0143, -0.7528, -0.4282, 0.995, -0.0349, 0.5812, 0.5613, -0.5236, -0.0269, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4405 left_y=-0.2732 left_z=0.0485 left_yaw=0.0177 left_pitch=0.0004 left_roll=0.193 left_gripper=0.995 right_x=0.2569 right_y=-0.0006 right_z=0.1847 right_yaw=-0.0085 right_pitch=0.0413 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -13.1077, 7.3231, 1.409, -0.3639, -0.0073, 0.0464, -0.0068, 0.0479, 6.9265, 1.9902, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrn4RhHJ3Gg9-tofDWWxGhiIPcUcqQ1YpXo99FhGhlgeHsf9dhQhVv2OV15YmIQIfHiAKQ05OaL0_SH6LiXEGc-HN-ovZjuVrxajJGJk4YwqCzYgDP_Kz9vMUTUQU2mndvhU7LeZ3Xx1bVKpCCslXDiNs3r2Z2zdEMIqgja1_DosMpzMcXS4xsiPcIWa--TcOOO0jcFUtCLhLOQ_AK0wR_srWgp5GbeuMOlGr-H-0HF23kfLw02k1xl1wSxiUT9u0HBYSv63tsfiKKsDjbPqLIYB_g8PeQQ15MXzhkuLhYEcShdwz3A12SopK5XyYp2G_V5dPPrmRG3HKxGHvv22ex1J1JCBV_ZagS3Aq31o3xiCdROvLN9CYh5oRLehS1A6IQ7hMasJFYXnSMKGUXYlRtrXI4sZ5z_V46uDMuptTUgYSHxPwAX3BDxgxeb7cRBbZQVCt1IletwTnqyqpQtEeIBU2mph4n_OMDeLCTKAEfWPYFbhF81qR59Yt2YTrzDDbdT9q6KtoXzll66yAUlcPh81ZRVBSm2VOGLUrE-rZhL3Yb0KVt1FPCXK14eRUr-dbWLsnJv0TBJKPyLqzlqBW2ZAFU9iaw1TZHdzxF3vP3AEQa2V-h_euxcpo4D7RTS6vsZLPs53ZypmNFsgYY7q_h5Y559yXhqDjA0nS65u8_dMTfERnfvRKuwIm97PH0XAdBdMNebELEBLoyDiBszfX2HdNwiFbxyDExqx3TUSUby2nNOPJgAEVV9rN09UqYOaPMf4gHSvBzsnrsHiKasdPtXyGUs75yBJK_CTu4MDqJZax5Tyz9U0joIiOx1sIuOht6ateHtEPC0ANufTS4JzHpEKWimDDBLRx7zNd9Aouve0ASyoOK8Cs3QHBe_2-YXB1BpV6pcFCOktIYfMWqmG3Vl9mZjHtusY1wNtPFGK4mbBFr-WCgurzRR-01b_K-6o8ycMh3xJx9y1-m8l6g4w_srI_54M4lDtmCmCTDWf5LERD6oDV8I7deqW840XNjI8kIusgG3TwxvDTgD6aeWeybmwXFL2b__2GCXpNGLXKqwAEVc7pihLB7U6sgSGhvkmSEE_OLqFzFoD6dV7U-3tv4K1-fOzOtYyLSEDt1Kea4ys7ZJ2Ny7fbyJtNSMvJ6P3dDKV_a8tBAhruyCebF1JTfhlGiaI42GDntOA8pK1nxwxwhAgZo63hjgs-Rkqs-IeA69fQkZ3AsKyqiMdqY6WEwpcYQlLh52lvo9IcgLUqfqS1BI91qLlyjmx6-flE0RlvfBF82_dV9Iq93YTiqAx0xw00TjD8yWBgyZQowtOEZ3HMBMVwNHDr_dmLRpNV1F9YUIn1P6J7racDwWOck3UIs9SqzkKS2BdVL3JkX5Jq8nRY2yIipFUKpacKr61DVdvqxj3",
  "id": "rs_09ffd7f47884d452016ab2b9f4293c87d0b63b910478750820",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0.15,\"right_x\":0.32,\"right_y\":0.295,\"right_z\":0.035},\"note\":\"The brown plush is beneath the right wrist near the front of the safe. I’ll lower around its body and park the left arm away from the shared workspace.\"}",
  "call_id": "call_nv2N5zWdBIDpWzP5Y6Jz4vqH",
  "id": "fc_09ffd7f47884d452016ab2b9f62dc887d0bc55a0a1a50f256d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nv2N5zWdBIDpWzP5Y6Jz4vqH",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3206, 0.7513, 0.5537, -0.2806, -0.5343, -0.0158, 0.9964, 1.066, 1.9732, 0.9234, 0.1982, 0.9318, 0.6968, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0016 left_z=0.2009 left_yaw=0.1189 left_pitch=0.1523 left_roll=0.2452 left_gripper=0.9964 right_x=0.3207 right_y=0.2946 right_z=0.0404 right_yaw=-0.0354 right_pitch=0.119 right_roll=-0.0283 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.3897, 6.9812, 1.9219, 0.022, 0.1148, 0.0073, 0.6906, -7.3915, 4.8342, 1.3651, 0.4713, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe4bb19ddf5c90e3dc7339661925b96054eba75557e3f13da4675dd699fc373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d86443872ac083bcfc84f5a0a9c945196c7bcbb762c1887613b8c17bfb2a937d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba539f47ae5260ce9cdb176e85ef888a3c39be10858654f105a7f6eef60a3f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.594 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7551, 1.9755, 1.7679, -0.6926, -0.7723, -0.4278, 0.9963, 0.9524, 1.6508, 1.01, -0.1024, 0.865, 0.572, 0.9996]\nstate[eef_state]: left_x=0.4498 left_y=-0.2491 left_z=0.209 left_yaw=0.0738 left_pitch=-0.041 left_roll=0.2595 left_gripper=0.9963 right_x=0.344 right_y=0.2577 right_z=0.1519 right_yaw=-0.0477 right_pitch=0.13 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [-3.9726, -13.094, 10.3316, 1.5604, -0.0757, -0.0024, 0.1197, 1.0462, -5.2444, 9.1829, 1.58, -0.1148, -0.4664, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrn-ND95nriLNpK1HmoG4h-3RZmnc7nudw3BH21bUajTGQNejiBPuN46H1fbT6aJgRPl7FaXS8C1Vq-q4KK_xGjIqayt3axB5pUVeOfFuCu-6-guTUjICkK3r9ePZKY3jKPrSr4AUTS5GLzUe6J15v-m--95ym2RWJB3PP0gzipwDL1u15aFUNqNVTrU0PyGZ7EbTsd8cFdRFl-hlmo1MQkLDtXMrBxmBIG-MoRKloBPe_PQtqvnCKyD1W9Bm6psyqwwQfj4Mt8vIx5328_lt_osylgwQlDyFjmVLtI5A1veFrRaCmRiwHZbfqmyyqhcuU7PSKYM030pHpwytTRZfED3aZVTnjaievJotkw5ah6DOXELHcYHIdbl3s4K3Go5mR4jsXFE5bY8GdrQxHgJdVnCOL7gxP2WWcKHAtUdQLiwbtJ2uWgdxA54YmM0QyvTHJfbe0VUC7O6jeAFF7NeaEkzaXQzWvP2qRrP38XdH3XVtLOh7U1lPI0SDVuAj_Ptc8pmhvoOeZ27C9W1RejQ1wTkB6F-dXesgLaScN0uSB-8Emq0TDO9cI_lG-aB1LqYTanA6oWkSJVbFntOIxkaQPtPefm3qvg-1q0P65w0zamQ01XqRDK57uPoC0uf9jkWbIAAMDpObJR_asAKUYBx0LbMg4rVAHzvXsgFxn8w4clpQwf0YjM4-1NAiFy20KqeSdU1oSAmdlsYu6tZdyeipev-zUQa0f5udd9GCDBq50-jOgd0wVPp3sDrV5j35wvN4MJHpInIcsdsEioOXT_5-ZFKMZ_QtM-Q0bQ0GUIE3mugv3LjOte_srxDfP21r7lmQ5aafYb-dgSlj_6eM_31mk4UGS4vkXXy6Gv68YBYkrQahEAqFXg6LBEatRLEjBVhRe8NXrN2h3qDluY1v92UL6XWamTMy6v7EVjUt-SkKTH5-FsrxT48FX-Zy9H5oz1qZ5NFjG9aAvFDm0fzf6UHm5xxP63UD4vrUIon9WkcA6JmMmi_WvVCD9hnAZbVR8YUSPjW3sYud0eQ2VgiBUHKDUn8dSZ7GZeOU3-TJwh992pf8ravrayrhm9HNSOHUO36yW2BpbKgAwx-XFB31mLyiKI0AZBy7oZ4lJZzqkdFqsWKm_i3QFlkC-8f22wCt78grTgaHek_nFYrWo3GSo4Set879Tld3nrtIBjfa-wmxL7xjSn_-X4lrKqXP4URd8b8un18MwCphqvoQGzADZs3jNrWAnRpuXcz-sn1i-Zt7mXusuw=",
  "id": "rs_09ffd7f47884d452016ab2b9fc837887d09de6b4c48beb5e01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s body fills the space between the right fingers. I’ll close on its soft torso.\"}",
  "call_id": "call_PozfAuoI2zhstHIQ5ZOAhKPs",
  "id": "fc_09ffd7f47884d452016ab2b9fd04dc87d098a98503c1e373e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PozfAuoI2zhstHIQ5ZOAhKPs",
  "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]: [-0.3202, 0.757, 0.5419, -0.2924, -0.5205, -0.0124, 0.9965, 1.0657, 1.9789, 0.923, 0.2008, 0.9268, 0.6891, 0.0105]\nstate[eef_state]: left_x=0.2904 left_y=0.0 left_z=0.1912 left_yaw=0.1044 left_pitch=0.1224 left_roll=0.2548 left_gripper=0.9965 right_x=0.3205 right_y=0.295 right_z=0.0378 right_yaw=-0.0282 right_pitch=0.114 right_roll=-0.0365 right_gripper=0.0105\nstate[joint_eff]: [-0.1299, -1.4291, 8.1026, 1.7998, -0.3492, -0.0757, -0.0073, -0.3487, -9.6615, 4.9709, 1.2381, 0.3443, 0.0562, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd2bfc304a6eca41ee2c53e5867b1870aa1a8f28dfc406ae30bf2889b1e760c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b09aece3c9319e8470b3a413d047e2d91ca2049b5faf5801ebb09f415d2d029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a01071cae2891a4ed0478f5c88e80cf198fd57eea20d04a9aad96b188a23c2e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.604 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3206, 0.7513, 0.5537, -0.2806, -0.5343, -0.0158, 0.9964, 1.066, 1.9732, 0.9234, 0.1982, 0.9318, 0.6968, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0016 left_z=0.2009 left_yaw=0.1189 left_pitch=0.1523 left_roll=0.2452 left_gripper=0.9964 right_x=0.3207 right_y=0.2946 right_z=0.0404 right_yaw=-0.0354 right_pitch=0.119 right_roll=-0.0283 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.3897, 6.9812, 1.9219, 0.022, 0.1148, 0.0073, 0.6906, -7.3915, 4.8342, 1.3651, 0.4713, 0.0073, -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": "gAAAAABqsroDH1DjE6Yg4SlWgyrWQxDZ2w7EJ8NmRtVbRkf0w4l9zlF1V8JDJyRxPUqrdhQfJJQ_5GPvgZMeSo95s5GtNys1EQYyOvfSOsQqpnyb3GlLu89pbzgcA9vNqJDdGo9c6Y-evgH7j4kqrKMzaUp2CzvmW4-PsJaTOyhOZZP9kA6m9lz_YSCTD8-iZoH9YZ1Nd53a0sRbVodJBcZhqCvPK0_Fea1ocNt0Ihanh-O55HDfqN_gZFP7vyiASyDp0RQ2Af-iC8epQboCXL5VGPfjAqzJJT9C3kKK7_bY7tRQVZekzjcGBpMlxw9o9-Vi6ox20yxoN-zFPqoB6IJz48crG7RPQ7sn7ckmKUxQsasCJss1pbP1FObS6GN7SbnDz0reA8Co18BPR6wWUZ0Bdxe5WLPe4_04fwaAd7JD0QmTTvN1pmjnnFtl4xyzb1AlK9e4uS10XCUv_PyVByFjF-6jjwYBmEMQ5QAo6mhkpgP-nRoWQnSehHA97ZqI0BxrcrKplnitclSgQjegIL2eaEcVrAFuwVEierRV5CYehW94k19czDkl_2GXvjKvbd6OTSl4JSW7gIaiNiBwZxQ2VTIye0CDeE2WhtZy3VH19ztmvK1NeMACI0m0Sl9ZzngyeKaGjNnMW9IhZm7XZkbEnS4USX1hPyUDjqKMhIvPhNHGKoWkxBqMiuCOs1-kYrTxhbLWUN-xO8BtOJF32eIsrNHXVC1QFknzNBySlfotH8VwEph3s0VHKr3imur_kw8oC_gbBnzFZzu_DXmjKydY5WnLOjMvreGQGfe_ym2TlXUjAMLUfxos_GVOCoVACe_WiKkRQXJ5ZKE4NBpFyRTLTfx8I7QL7Tb-G0I4YVYt2idodOJ0mtWnRdtmXg8lC_kUsz6j1lu_NwqSN-Nvf4_4Wu_F9bSNjYHBFPYuad7ACLur06zgdLLDiuYnU88QobO-3es_fg2a8f1-Ok6acIxajQrBoRHmq4N_uCRa1R-YA0DweQQmawledJ4OU-QPaem1YtlHTDH-AslKuIoPpARNhY5JL9CLyE_RUQrW_OUsrgcywwSIYA3QZTBpjK7PbLOSlFSzwT6p1AKyHTjSHZP_mbIKWOODz0IqhNkGcxZVgBpvXKnwNE8uwK51q_Zk3ccfBF3B7CIZvEjr20Lv4Nl3XlJcO1eKePcixrQcvC9MXBk0VFzO_Vev1qeb0MNUMtX__2Inj3qP",
  "id": "rs_09ffd7f47884d452016ab2ba0156dc87d098018deaf16d94d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.345,\"right_z\":0.005},\"note\":\"The gripper closed almost completely, so it missed the plush. I’ll reopen, move 2.5 cm forward, and lower to catch the body rather than closing above it.\"}",
  "call_id": "call_5VidUcibZNOMTEyFplcZpUMd",
  "id": "fc_09ffd7f47884d452016ab2ba01f67c87d08c65934ad9057de0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5VidUcibZNOMTEyFplcZpUMd",
  "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]: [-0.3202, 0.7574, 0.5419, -0.2935, -0.5198, -0.0154, 0.9965, 1.0138, 2.0769, 0.9314, 0.3817, 0.9222, 0.6338, 0.9947]\nstate[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1909 left_yaw=0.1054 left_pitch=0.1213 left_roll=0.2524 left_gripper=0.9965 right_x=0.3446 right_y=0.2937 right_z=0.0223 right_yaw=-0.0571 right_pitch=0.1534 right_roll=-0.004 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.0051, 7.4325, 1.7167, -0.188, -0.0366, -0.0171, -0.7453, -6.8444, 5.8051, 1.1062, -0.0269, -0.1832, -0.2466]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829d59163e9f20c3942e6500012869ed6e88d62da8f46aa419ae9be6f0bc9798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255b9932921708316ed10161177ed5b41085bcef60a16aa60af825bcf942c07c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fc79917300a7c6b9b81262add837722b7d8aa53094b882d413860623186cd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 6.799 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.757, 0.5419, -0.2924, -0.5205, -0.0124, 0.9965, 1.0657, 1.9789, 0.923, 0.2008, 0.9268, 0.6891, 0.0105]\nstate[eef_state]: left_x=0.2904 left_y=0.0 left_z=0.1912 left_yaw=0.1044 left_pitch=0.1224 left_roll=0.2548 left_gripper=0.9965 right_x=0.3205 right_y=0.295 right_z=0.0378 right_yaw=-0.0282 right_pitch=0.114 right_roll=-0.0365 right_gripper=0.0105\nstate[joint_eff]: [-0.1299, -1.4291, 8.1026, 1.7998, -0.3492, -0.0757, -0.0073, -0.3487, -9.6615, 4.9709, 1.2381, 0.3443, 0.0562, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers now flank the brown plush at table level. I’ll try the grasp again from this lower, forward position.\"}",
  "call_id": "call_wMu6XqpvjACf3kii6d0vTq6s",
  "id": "fc_09ffd7f47884d452016ab2ba08c47887d0bfd8fcff62388724",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wMu6XqpvjACf3kii6d0vTq6s",
  "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]: [-0.3202, 0.7574, 0.5419, -0.2958, -0.5198, -0.0154, 0.9965, 1.0176, 2.0781, 0.934, 0.4145, 0.9306, 0.6308, 0.0197]\nstate[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1904 left_yaw=0.1052 left_pitch=0.1192 left_roll=0.2533 left_gripper=0.9965 right_x=0.3462 right_y=0.2978 right_z=0.0277 right_yaw=-0.0623 right_pitch=0.1748 right_roll=0.0211 right_gripper=0.0197\nstate[joint_eff]: [-0.0342, -0.9915, 7.0085, 1.7216, -0.2076, -0.0366, -0.0122, -0.6359, -10.0034, 4.547, 1.0916, 0.1832, 0.0122, 1.2283]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429e54cd330c0226c899d8dd883a7f0e5867af6ee1f30f0e5525ed852b9792d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4789c8e54d7216d5f9b3264a55c106e1202fff49d908339c2b468f31daa5021a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49a28b255cdca80b81c0c86920fb91c9f3dbafa675e59283553a9a0f1ca6620",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 12.03 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7574, 0.5419, -0.2935, -0.5198, -0.0154, 0.9965, 1.0138, 2.0769, 0.9314, 0.3817, 0.9222, 0.6338, 0.9947]\nstate[eef_state]: left_x=0.2903 left_y=-0.0001 left_z=0.1909 left_yaw=0.1054 left_pitch=0.1213 left_roll=0.2524 left_gripper=0.9965 right_x=0.3446 right_y=0.2937 right_z=0.0223 right_yaw=-0.0571 right_pitch=0.1534 right_roll=-0.004 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.0051, 7.4325, 1.7167, -0.188, -0.0366, -0.0171, -0.7453, -6.8444, 5.8051, 1.1062, -0.0269, -0.1832, -0.2466]\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": "gAAAAABqsroR1Wa_bP9ZvUqoJpzgjJTRvUh0_aX9qMAMmfsmZ_idllPaX6Tbh5waA8KkJFjsLaCTQ_4N1KJRGMHBJOh5S2ceyqtI3NyGg6RKOrR8Gri-Zm8kNLJITRhwnq0oPIIDHQ5s5qAlIllr579E8-XgNf6qJ9y8SXZvq9zQwy_4L4K4bHQMzyq5F8rW1tEDNvbyZGVHv_AQLTuFJwyrVnA4oNydxUQiN5JTutnVfX4MDXh4pZsPie3Q1NjgoLga6ngUTj3GjVbocbzV3oUEZj_GbqCUn0dlJ504HXtgDmONFclOjtXi4IvTzP6o53A54q2YJoH3pY00AkTdwXisTBF2rTlG-KMsqd24t2PMe5TWSMMKoPOnLHQ8l4-jm_7ArTAely4MWa9QW9tPpHGISzSL7MXGW3vzFRPRcAf_YKNPSPOEyHxRxtkh8KRHTHsfxfYL85-XBzks9PmKR-aZE7Aa0yDx4qiTw5qUEBI8HUzTSlHpkis6e6aNxu89NHgJnTzdQdBsvUU4VXbmfelHAyO-ifZUR_d16Pc0M6AMp8tjtdyaaUWte30ER14lnp-PmSjWb1Z5KI1qW_Iz18SuwedW7nDv6WwsJIFNZfetQPRbHhYqHheztnzI-YXQt78i8PK679RklXZSnxUuSsF4jebOElvhEZ0cmYc6LAdUiIAZ53JjHOZMCW3qcnlyKwLeFWmb-jkynmRFr2K5nxGPq6KAwcirMsmFBPjAxzL2z0xZIMmbliAyF8zrI_tJhSmflsOXGtWYDWd_3YcsJrAc1Y198FeXIVv-PpdOPJvWPxbzWArkmKHBCGxxb7E-iA7sf5RlntPR_KXfdnTxswL_flzZ_4LctdWm1vn647Ix-IxWMPbmMxwswAQcMFkcCNAjXACI9Mg5pXJI5xi5vugy9cv-FlrEHznGNQgAY4h5ZXR4O2dEPPCs54lWMMfKyYyDNoz5zgshY3kndpaPFOopXA5JXYSeVigbn7lcKzR_P58qOCVZBvzvXcrTZz0Sd8Oiu7guQ0_2x0N_megt6RhcT5N0PuwWYOOt5sKo8iYkSHQOaxPataaEKVblEw2Jx42DEbG2PbAfJab_LyS2KKErS1-9Ajebbz7WlkJyFArZcOI4b8MG6OZbXKewbXWeRRJf1wB0Nur2bDjC8VDM8N4k9G1xApbf5VbK3gV1vqIXiXwdWJSaSfVRmypeFPT-BqbkQ08qILRYA-i53Z23eiQVBMVjVdkpYGdZBrvjx0YkfDtA3WALD9WHFafhKuf3T1COtbetxiyL0SjJesfdYcClsYnfgycOl8zvQ4mQHggh9c5Xd-viwXImQ2goVqH1K04tV9R04vS4u4VPzCUSkt7BH387XqHUctd9_U0n4_QCaSER3uu4p6bzYK-WTZB65WoFahC7d6HHOqX1hPutDxmUguD2JyIIXAcsaxOEyIpx8qMItG7iSxM=",
  "id": "rs_09ffd7f47884d452016ab2ba0e214087d0b7e8f1973a23a75c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The second close is also empty. I’ll lift and pull back to expose the brown plush in the overhead view before choosing a new grasp point.\"}",
  "call_id": "call_tK7Ss9WBC00lxQt9ZBDFge0e",
  "id": "fc_09ffd7f47884d452016ab2ba10396087d0ac78b3c983e09cb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tK7Ss9WBC00lxQt9ZBDFge0e",
  "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]: [-0.3202, 0.7574, 0.5419, -0.2993, -0.5198, -0.0154, 0.9965, 1.2118, 1.7206, 1.0218, -0.2478, 1.0309, 0.8589, 0.9946]\nstate[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1898 left_yaw=0.1051 left_pitch=0.1161 left_roll=0.2547 left_gripper=0.9965 right_x=0.2719 right_y=0.3034 right_z=0.1309 right_yaw=-0.0257 right_pitch=0.1542 right_roll=0.0004 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -0.9915, 7.0222, 1.7021, -0.1685, -0.0415, -0.0122, 0.1436, -9.5385, 8.1846, 1.2918, 0.6227, 0.1685, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a78bcc5cfe7def751d3b5d284f20e31b6e73e741a0ae960269f327e185a9683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140ed0413043449d9338c8301458081589f297cabf6b2fb85bd427f6debe139b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f6d47bade2ed29c28db540d07853cfe703444e30a066abfae20f4563dea721",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.767 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]: [-0.3202, 0.7574, 0.5419, -0.2958, -0.5198, -0.0154, 0.9965, 1.0176, 2.0781, 0.934, 0.4145, 0.9306, 0.6308, 0.0197]\nstate[eef_state]: left_x=0.2901 left_y=0.0 left_z=0.1904 left_yaw=0.1052 left_pitch=0.1192 left_roll=0.2533 left_gripper=0.9965 right_x=0.3462 right_y=0.2978 right_z=0.0277 right_yaw=-0.0623 right_pitch=0.1748 right_roll=0.0211 right_gripper=0.0197\nstate[joint_eff]: [-0.0342, -0.9915, 7.0085, 1.7216, -0.2076, -0.0366, -0.0122, -0.6359, -10.0034, 4.547, 1.0916, 0.1832, 0.0122, 1.2283]\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": "gAAAAABqsroeYMi-SbZ5sSvr7GHQl-9rkoW0HDaN6E4MYKmV82fPcbWIBHM8xaZU1cSEY0uPRw19fs5R9Q4VWWPTHge6-lHZ3ieSiz-KyJm-yIJSamSTN3Q-fpXG8QGLTklo7_eRIjtmG-3GMQovq4oax6-fY62PBRhB06P4qHtDALFHExZrC3q5XVu1V7QIirTduhYyKuXnlVr4CYELJSjUxWOq-gsM-y8HWVvcKl9Ukc6A4ENbbWWN7S7XVSfyXaZOFpzYLoa2XjuW35GyWdpeVy4UmXO3eaHQvuyQtHjRUn7JGBaL2xNwoSoBr_2vHWqs3QphfVpJoZ-vgommiEZNMyw_zF1v0sfzfzzk6xOoTdE5_4z0WbtbL1rWfxX35Zpu8Alc1NeOR7I_poCoVbFKxt3AnH271-EV2nBlpL9w8_0395iDXMIFklF6fFQ93eL68EHlOop5SsByyvyIjEcv2Vvspgx__FbTLYketU_bSYlFWzlODv8rmAD5SSz9iv0SKjJNTFuqIB8RVLomH2s0icgTAQ-HdOHAy_mr5jOW58H3seTSMf4i1ucbbEje6Bm9MiP1EGICgNdfdTRpCQ_A0ECJk7lKeGyn62WCnlztz6o6xP-xaUctu2IOWanYdGZ3RAszde50h7gpFK2GddRnMRVexqTmWbSqdv3Rx2bIeCKtKk939VuUypTpxnnUt_-L_a-zZiCOMZVfTabbKnZh2yXTPEN2W5GoAlp0Zvor186ifiphk8DgWVYWzwfLM0j7aBXBTu67DMlDVvs-fZPJMByFKkzAkQfKYepIEgAOZKx3uZAn6Ozrfecp4eUPniCpdybjZ94FlHQUsiKOGkoRxfuFfIWgSCB-oQLxrhzIdsz55BBj1RtMqLc8iCUvOgod3L5ht-aZb06orw8s8fdw3fk1h6TQpi5cah1G55-Q3IV4aYpG4J9eV-OmjL9NHxxRTw82zH90DrZAhfExVspWsZ181Rwy304IbQafFs6cc6DAhHVKLSAHNqfd_lsv_FmxhymjOhKZwNx080BgswZdXmlPOKiFRWxWj1g53cFNmylUPzEu5xeUJGgPpXVnLUQa8WVI4mWiF7Vp9Nm7vKPiiTMsPMEQEDpk1nEx9739n8PtORjopHRzasSZ5KgIqSShMpg1sA0uylLyleJkhwwbqd3V_y2GX4LkTVQUDo50aj7jTrb-IxCWfDwdRaensdd3P5oKydYWw7kAhjpDKdqoEXcVv4wdVwrQFRH5zHkExq7vs1FMmzy4vy7HjKcvZCpvEIl4teE1GRGAnaLa_zQS6d9lI_yiRnnmAW9CwBwPnLMOZ2MGdnyExQUufj28XRHvJlfZTBV2p9N5lPszLC9mYVv1l-gAiV59U1wVAMFAkafbxKJivwe4Xr2v5k40n3lnXVqeoq6g6TPUuZMiQkG613QewfbVAvvSouvmT9roAS86BYZAkeqNVhyZQ94Admby3bw7DoifOqCW4JJUFnz0N0nmZtQWYBm_VxiDLJqW-JGGBR1Y30wuwkh1s6JLXMk0cd7dG6kcsPKTGKC1UqBhlqVtIbOj1Uk0evfc1jy2c-gR7ToK3I8Tv1vkhyKGc3mZ4-40I28t28neojpZZXLE6iIe3h906WLYcET1cfoKsuGlXBy3fzPMRRxFSigF8V3t_RnD6XO-7EF2tubnh54ycdYf_4XaIqblfxwhrwmmOEkMqXZxIP_EMc2pCAHA0IT1b3HvxNpQl0M9IFPXSM6keddcpJl9ccFOAAhVO2NgzR5PXwn4AmhWZYn_1qWUcYn6iFjYd6-mK1ep_dYtZV1pkZ1QrmSAwQ==",
  "id": "rs_09ffd7f47884d452016ab2ba16a0cc87d0a303c326f84abf08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.235,\"right_z\":0.005,\"right_pitch\":0},\"note\":\"The overhead view shows that the brown plush’s torso lies to the right of my previous grasps, near the safe handle. I’ll shift right and grasp the broader torso away from the handle.\"}",
  "call_id": "call_Y28F3P7iFMpXXOAmMtXheErr",
  "id": "fc_09ffd7f47884d452016ab2ba1c8af487d095b0356c27c15225",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y28F3P7iFMpXXOAmMtXheErr",
  "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]: [-0.3202, 0.7582, 0.5419, -0.2996, -0.5198, -0.0154, 0.9965, 1.005, 1.8282, 0.6758, 0.2554, 0.8204, 0.7406, 0.9953]\nstate[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1895 left_yaw=0.105 left_pitch=0.1151 left_roll=0.2552 left_gripper=0.9965 right_x=0.2993 right_y=0.237 right_z=0.019 right_yaw=-0.0493 right_pitch=0.0223 right_roll=0.0105 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.0598, 7.0222, 1.7118, -0.1636, -0.0269, -0.0122, -0.8, -5.1487, 3.6718, 0.8669, 0.1685, -0.2369, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc807ab758f4a14cfc8eb870e9e4cbed81cb5455d378c037cf72fcb59b56aeca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd63214f74ec38b1fcf6862275eb11bc6200cd602b717b1938153ccbdc008a3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a12b12d739348d2372878ea3c380a363e5aff386643dd8badb8aadd9263e8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.632 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7574, 0.5419, -0.2993, -0.5198, -0.0154, 0.9965, 1.2118, 1.7206, 1.0218, -0.2478, 1.0309, 0.8589, 0.9946]\nstate[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1898 left_yaw=0.1051 left_pitch=0.1161 left_roll=0.2547 left_gripper=0.9965 right_x=0.2719 right_y=0.3034 right_z=0.1309 right_yaw=-0.0257 right_pitch=0.1542 right_roll=0.0004 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -0.9915, 7.0222, 1.7021, -0.1685, -0.0415, -0.0122, 0.1436, -9.5385, 8.1846, 1.2918, 0.6227, 0.1685, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown torso is now centered between the fingers, clear of the safe’s metal handle. I’ll close around it.\"}",
  "call_id": "call_9g8MU1X7YLL6RjbwNNjaTM2t",
  "id": "fc_09ffd7f47884d452016ab2ba2221fc87d09edeae236cb7ada5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9g8MU1X7YLL6RjbwNNjaTM2t",
  "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]: [-0.3202, 0.7582, 0.5419, -0.2996, -0.5198, -0.0154, 0.9965, 1.0065, 1.8317, 0.6739, 0.3004, 0.8303, 0.7364, 0.0199]\nstate[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1895 left_yaw=0.105 left_pitch=0.1151 left_roll=0.2552 left_gripper=0.9965 right_x=0.3025 right_y=0.2408 right_z=0.0238 right_yaw=-0.0529 right_pitch=0.0486 right_roll=0.0377 right_gripper=0.0199\nstate[joint_eff]: [-0.1573, -1.0051, 7.3915, 1.707, -0.1978, -0.0562, -0.0122, -0.4308, -7.9248, 4.9026, 0.8474, 0.188, -0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbbf1488bf1934beb836ea453aa24d1247eb9abf5d87376bf530843e2205b84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8043759fd61e5e1725fadaaa778d1b7ad60f8f3626ec0aaadc3f6b9b8f23cb0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36b2f5f022e5e601e9a3c8ab04b98dd57b20779c061e5c009647b3b3fa76609f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.742 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7582, 0.5419, -0.2996, -0.5198, -0.0154, 0.9965, 1.005, 1.8282, 0.6758, 0.2554, 0.8204, 0.7406, 0.9953]\nstate[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1895 left_yaw=0.105 left_pitch=0.1151 left_roll=0.2552 left_gripper=0.9965 right_x=0.2993 right_y=0.237 right_z=0.019 right_yaw=-0.0493 right_pitch=0.0223 right_roll=0.0105 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.0598, 7.0222, 1.7118, -0.1636, -0.0269, -0.0122, -0.8, -5.1487, 3.6718, 0.8669, 0.1685, -0.2369, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsropfXVHpVzrHqcjHTYpgCElkkgIy313HB1UhXBTOIwEFdpWKWCJPstK1StEUS8WuFlWqfm69S6UayNPu1MD3xeZSsxEAHjKe6EE-I9YcX-6gOpT7vavfpumRIZIUss-iJnG0nn4KiKGM837dXl8Kl_2W1KOvr53GjqmN0r9KaQ_icGQX96wBKELZZavBfLwAl8D2wTrwXiRwXeK6bpt5oMiMFDzlfVljdEwLDIHdipN0AQ7evUk6YZIKMrds8CicMPAtZBrHTQp3hoMjURYVyLUTuIIbGQox2joEpED1rYqWXPvEMSfV9idJL8o9VO5DIH7aqtWgIki07HIXpsOYIx5rmlOEuCbNuWK5vSpVMGVMvv3BsD9iyzdtbLcUWGz8D--VjPse0UTvMisZSJirc4FMT0qTSOR1r8Qo0Cd14QyarI8XAB9QfslQZ6swprcDlieTSEAntsYz0BZS5vTL53FykrJv96gQIAUF79sYiUQPnM6weYvNmrBBivx-diMF0vsbJNykQ9NrkakmOu6B7CRBCNX4d6Rc2D9Ike5qWvF7Ps7UcWZLVmCHxG0HapJMYmdbCkDHw-dIggn63IA9aDdvO0_g278jF6g9UjZn7y4aeqIh_X4kPRKp288JNIShCfgZW1dBAYCCfuAijAXyOf7i4NXukp3XXJGETDw-Lyb54zrn2ENf-GMOI8j-69yESKVjMwD25dPCxbC0y47OTg969dkuBvRXlrrT6ZLOnYy8WbZDkTEOK1j-SKWrwUquj0kDzrZDcdAN81yhQqmzqXZ_EH-YxbM0yUPtbyXmOkAo5js_I75-iueS9zl2NOMeMUI-ZJbYe6Kj7EmI165B39MVBjn9ePHg-uJVmr85LYsEHQ97RJ5ObRj7jU7_fWMUZQPNzhhIirPxd8ZMRtR0Z4wZ9Uz3qmeMcbxvwd2WmCs2cyJ41494hOw-_bHYjbtQv0BaFpsUzQ4V_hAmKwzAkKkU87ztgdQ10oBQAy93jrKKbqWnqOFGupFqmnEm0KLVsk_D1fOzNL9iAhojlZDgI6IQnDJaZbnXGyZpyxgu_PY3ngB86VxEiG--B9QxV0VkFssmJC8dT-eVdpJexbgi-MmW6tIo7HTZZpkLoJqZdIzAg24DiWj0VwkxX5E5DZOTxRSjGzEx8Td8JLiVZOPcK6W84nKp6a5aZYkorfqm-CtpgIsJ2vRGorlWVoMqy7LFc0Ph8CMvX_YAnydlrZCKRnAyDFO9Ycw-1951WVanZs0ech3yGr55R0OKTOo2ZxaIJ2J",
  "id": "rs_09ffd7f47884d452016ab2ba26966087d08595b3186e6eaf2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.36,\"right_z\":-0.01},\"note\":\"The jaws are still closing behind the plush rather than on it. The wrist view now makes the offset clear; I’ll move forward to the torso and keep the fingertips at table level.\"}",
  "call_id": "call_uPuhfQuQQKi8a3GVds0tuwUH",
  "id": "fc_09ffd7f47884d452016ab2ba28020887d0a7bf4e64bf5cbc3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uPuhfQuQQKi8a3GVds0tuwUH",
  "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]: [-0.3202, 0.7601, 0.5419, -0.3145, -0.5198, -0.0158, 0.9965, 0.8673, 2.0125, 0.7685, 0.5648, 0.7628, 0.609, 0.9943]\nstate[eef_state]: left_x=0.2883 left_y=0.0006 left_z=0.1861 left_yaw=0.1045 left_pitch=0.0998 left_roll=0.2618 left_gripper=0.9965 right_x=0.3635 right_y=0.2454 right_z=0.0138 right_yaw=-0.0867 right_pitch=0.1095 right_roll=0.102 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -1.0872, 7.0085, 1.8828, -0.1929, -0.0611, -0.0122, -0.841, -5.9556, 4.5744, 0.9597, -0.022, -0.2369, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b904c89fcf9b18a90b88dc392640ee41d1f9ce71bbb0b60d4a3c31767b9f571b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40073ee53a43baef8667a93f3b3b714883225b5964619c324f68597a962a7a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c9cecfdd5d6eafadfc9cb205de021084080a07444f829d28ceba595d48f43b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.937 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7582, 0.5419, -0.2996, -0.5198, -0.0154, 0.9965, 1.0065, 1.8317, 0.6739, 0.3004, 0.8303, 0.7364, 0.0199]\nstate[eef_state]: left_x=0.2897 left_y=0.0001 left_z=0.1895 left_yaw=0.105 left_pitch=0.1151 left_roll=0.2552 left_gripper=0.9965 right_x=0.3025 right_y=0.2408 right_z=0.0238 right_yaw=-0.0529 right_pitch=0.0486 right_roll=0.0377 right_gripper=0.0199\nstate[joint_eff]: [-0.1573, -1.0051, 7.3915, 1.707, -0.1978, -0.0562, -0.0122, -0.4308, -7.9248, 4.9026, 0.8474, 0.188, -0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now surround the brown plush’s body rather than empty space behind it. I’ll close and check the grasp thickness.\"}",
  "call_id": "call_8NALpkHuN96Tsr2ZafabaC0W",
  "id": "fc_09ffd7f47884d452016ab2ba2d5f1c87d0a1f838a33f7adb90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8NALpkHuN96Tsr2ZafabaC0W",
  "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]: [-0.3202, 0.762, 0.5415, -0.3214, -0.5198, -0.0154, 0.9965, 0.8711, 2.0102, 0.7734, 0.6083, 0.77, 0.6064, 0.0347]\nstate[eef_state]: left_x=0.2876 left_y=0.0008 left_z=0.1842 left_yaw=0.1039 left_pitch=0.0914 left_roll=0.266 left_gripper=0.9965 right_x=0.3674 right_y=0.2511 right_z=0.0235 right_yaw=-0.0921 right_pitch=0.1425 right_roll=0.1389 right_gripper=0.0347\nstate[joint_eff]: [-0.1846, -0.9778, 7.0769, 1.7607, -0.1832, -0.0366, -0.0122, -0.6359, -8.8137, 4.2325, 1.1697, 0.1685, 0.0855, 1.0623]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee83d19a0eeae7c61f2a3ff7fcfaffde5c3047b554d60948d0c659008facc38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc022bbe4a788f37c6be3195908db7b806b42d83e7d673900bf05fd0a1e1f0ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e435d7ed9772cbfa8a5c5c3366ad9bb5eabd5a63e707df6f5bdf84bfded6b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.753 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7601, 0.5419, -0.3145, -0.5198, -0.0158, 0.9965, 0.8673, 2.0125, 0.7685, 0.5648, 0.7628, 0.609, 0.9943]\nstate[eef_state]: left_x=0.2883 left_y=0.0006 left_z=0.1861 left_yaw=0.1045 left_pitch=0.0998 left_roll=0.2618 left_gripper=0.9965 right_x=0.3635 right_y=0.2454 right_z=0.0138 right_yaw=-0.0867 right_pitch=0.1095 right_roll=0.102 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -1.0872, 7.0085, 1.8828, -0.1929, -0.0611, -0.0122, -0.841, -5.9556, 4.5744, 0.9597, -0.022, -0.2369, -0.2222]\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": "gAAAAABqsrozUTKhY0mHoMPeWCSDxQ6_XIwZMvcex_h0oj_inc4fYwOnrxWhlbiyh-Ya3HkUOrPH2qQVO61Xr_LUDTeZurqUA7dmWt62VZlbnmfIftd0Durs7Q102zME78cCRP0dYVCcyZi_MqEvC_OMXmHW4S76jjRH6Qg46ZlMrnod_8UwSitw_5TOcEc6Ysf3SVBzxT93O7frEi5T-y0HrNHjcLwL7I42YMWoaIZBDVFAL_XpQOpzf4BOd-9Hd3PROGr-gcjiUvH9FXH4ZxVOWbq9qXtY68iPyKI7red2K_IzL0a189LY9X5efQP0WwJEUriZJ5_rGqM57NsgTlbqVGXJcV8hEx12wFi4t7c5w_ybN3dp6CGNbtMPedL9FxfgV7bfGSUEEXY2JbVjl1ifJSEMCJMaolQlr-ciQPCoeiCe-t61hPuBjXAcHtlZ6pZWk0Q4BrPPG_wVi5DEZnuaD4SJaY-8bRfnNY5aBGzOd682zpDDq6CN2dLTNg9vI4ER76E0f7xa2FWGwu1STskiiFqzz2TfkvPsiH1ic-TnZjLAn4wEYyzV8HSNr9lfAFtul1DIfFEzitQYM_rixlE44dcEVfv3-aKzIe6XMkZanQTYgiEfNEWF_xXpAW9yhTEpgjHu2rSQQ1wdSGwTD6xTXcQSYZsF99dkA3uLak2bg90_QIm43EmL9MNHluzZqqqL6zpjt5I4unjJqQJclGxHPG_4Xpfsyj3_Ol0Y-kMhp3jKYUfUBFGtw6dOilUsfyfIW9SFLupNVkRre_n0pF6jG1nVh5BcTMhxU07dNTN_uQkQMW4qQcvHUb8NogS-7l2uoub-VXvaFfk4JxPXxteGWvso8jzbFDbAxZSZy8gdeI54HaI_LsHO74dW8KGoTWXRlxuhZgziP3evVYIR5UQUZkpVxvfoubHur0Iw_q-5N5JAo33ymyfKjr9xFHJdXu_uUsJu1gc_28rEXTix-tNikG9J4TwLl8nY7EW-UQzJnreFtCouSmgy9iOzJhKc30iAVfJ3Ygov_OpjFrqMGYU8nqNPbsZOKpvA4fUilc9O_UJdXHiBZdt2EpexfQJi714W8-NsIDK995nD7TT5WjyTzS5VfqmUVN-IyuT-BWUgdPpKBsMuCzliQ9YwUQUQR-7o48_dlpEpvLbtIO2a7UbsVw38VsxB29IOC4B9xiQF7qgtmQdnodPEfk7Q3OiINTmrU_P_uHS68gHIAsZtm4OvEY4CzNLm1A==",
  "id": "rs_09ffd7f47884d452016ab2ba315cc087d0864b8efcaa70850a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The close is very thin, so the grasp is uncertain. I’ll make a short lift to see whether any part of the plush is securely held.\"}",
  "call_id": "call_LQtcVNKBT6qQ9NF0NpAh03qy",
  "id": "fc_09ffd7f47884d452016ab2ba31dd8c87d0a3c858b3978ebae2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LQtcVNKBT6qQ9NF0NpAh03qy",
  "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]: [-0.3202, 0.7639, 0.5415, -0.3222, -0.5194, -0.0154, 0.9965, 0.8711, 1.8343, 0.8047, 0.3519, 0.7589, 0.6018, 0.0348]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1835 left_yaw=0.1035 left_pitch=0.0889 left_roll=0.2669 left_gripper=0.9965 right_x=0.3613 right_y=0.2461 right_z=0.0637 right_yaw=-0.0762 right_pitch=0.1089 right_roll=0.0982 right_gripper=0.0348\nstate[joint_eff]: [-0.1846, -0.5949, 7.0906, 1.7021, -0.1929, -0.022, -0.0122, -0.3624, -10.3453, 8.0205, 1.8828, 0.2955, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f27d7d73a8c09871f94f6201298e8df88c74b7f86101601d29ace936fc4c68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2b1be464510f7dd8ae0ab5b159473b8663c31a36d3ef579f1cff4de12833c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fe0673b20b2d97d8da46c5dcbb2a54a405fb84eb034497cced48029c110b65",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.98 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.762, 0.5415, -0.3214, -0.5198, -0.0154, 0.9965, 0.8711, 2.0102, 0.7734, 0.6083, 0.77, 0.6064, 0.0347]\nstate[eef_state]: left_x=0.2876 left_y=0.0008 left_z=0.1842 left_yaw=0.1039 left_pitch=0.0914 left_roll=0.266 left_gripper=0.9965 right_x=0.3674 right_y=0.2511 right_z=0.0235 right_yaw=-0.0921 right_pitch=0.1425 right_roll=0.1389 right_gripper=0.0347\nstate[joint_eff]: [-0.1846, -0.9778, 7.0769, 1.7607, -0.1832, -0.0366, -0.0122, -0.6359, -8.8137, 4.2325, 1.1697, 0.1685, 0.0855, 1.0623]\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": "gAAAAABqsro5ViiWN0B2H1mNwYaOgFXctomm1L1WEBa_UpCgHPZ7aN156aMbDXEwfFev3InP5rKWQDdRJ2NErvD42PcfTqbieDzR3yIQvytpqq1dSVOpoEADUpPs6xSkzB8JscYwYhgWtf83kTKeXked0nu_EjoB6MrdNH8dKqmOOrqepGH96KL_Nw3g3JSvahvd6XZnELdth7-MOcqjmUAFZc3rb6gOV1WRMXWjAYIKIdZY76MGpakq_SvqOJKIqIop_B5ZQNCCiEvvQcJTNRJLaGKILZ5-OiG2FquW9fyr-lduW1PM09FP1-kywzpTj36N7PeO618X39UFwzTFdvKdD68OpSpJgPXZJl_MHAp5Ev_sZPOsZ98EEIdYVkcua9zn3n6h_0H4k1ms1KcTrNBmX-iig9cyucHWnofFyps2wO0nF2o3BflM-_chjNsebLhTvO9JCe-KsZpH9hkm0nHeXhl4TNbMwzvgz-klwyEUfwgK1qK07WeMh5iABqTnm2Dz8mPJDXFVlv3iuGyW_1DdETAq1jm0IO3UwpjeQDGuH1CYvB86M9TEzUUmAPsmCaQIe0bj2VdZllfZXB0PfRLK9rHJfBGdKlZgqEZiBzgaGpBKsAu_9qATj_EzvEVWxKIbmrNOWdS2x5jbk_RUouY5mjFrOboQHkbe5N17jxki_blz1V3P49UKBA0RjvwKe5Ct2B9RkQ72HTs__Cee8ginee2PXTJ29dQJDYjIrJpSP0ST9QR-2oQdkS5h4Uaeiur3Op74JJEX-PgZqYqlWX1AHun1LYKuL9us85i89UUaRomHkJXYLoTca_yPJg5LzsjcOQ0WBPP3fi-Vr8bXXf6M74CFR64fi7lLfw19jdOR5DKbeu6LxPHzXak-7Iyl-nvNanSJxtWrpptNBn9gtXXqFRbhzUpX4jZKXrCpHD9GXLHn5haSYSaZxW3AWhmC4lrauLq9_A52RPPkgNBo5tGs02k_MV2gEBKiRantaVbU9PqkQLlZcvEqFZpsbHzRyCEUy_y87zagjSTzzS2xpaUaj3J_UUcVjbutEdgant3CFmdjnD3Mct-2EmrzvOK8Dj7duUWwPgfoncWlmitwTD5zDVvBqoOzI6dYys8wHea_ikan_Y3oMXHXJPPPoKC5SwHZxfY5NHStP2rp0wKVUr8lSvb-gL6K3jfhnx7xyZjAyrtzqaDl30BxKAuQ1aUjBegFGAjAW1ZIpDuUkNyh7a_REsgS_Ux7K4KXW8X1WwMPBdOEooYy7twGZ74yCiCsQFQHjfOmhGQyiuRLGvojtQ8Vbl8Q-LSu6l1xeP-fDr3AopyhPcYtlzCWfQNv6NbS1BUXf4tP3MCIwle6kYInp7ezX7ZPEtuAbg==",
  "id": "rs_09ffd7f47884d452016ab2ba362ce887d0a533d64d5e2a0ec0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.415,\"right_y\":0.22,\"right_z\":0.025},\"note\":\"The plush did not rise with the jaws. Its main body is farther forward and slightly right, so I’ll reposition directly over that thicker section.\"}",
  "call_id": "call_2bNqGas6JrLO7Pk5V0Vy2mit",
  "id": "fc_09ffd7f47884d452016ab2ba37cc6087d0942bef7c602a563a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2bNqGas6JrLO7Pk5V0Vy2mit",
  "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]: [-0.3202, 0.7639, 0.5415, -0.3374, -0.5198, -0.0158, 0.9965, 0.7101, 1.9953, 0.8093, 0.5606, 0.6331, 0.4858, 0.9943]\nstate[eef_state]: left_x=0.286 left_y=0.0014 left_z=0.1806 left_yaw=0.1035 left_pitch=0.0752 left_roll=0.273 left_gripper=0.9965 right_x=0.406 right_y=0.216 right_z=0.0238 right_yaw=-0.0819 right_pitch=0.0904 right_roll=0.0847 right_gripper=0.9943\nstate[joint_eff]: [-0.212, -1.0188, 7.1453, 1.8388, -0.1978, -0.0513, -0.0122, -0.5949, -7.1726, 6.7487, 1.6728, 0.2662, -0.0562, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e04ed9fdf47955212f691966b25375c25785b5e139d703e79f06d2146626fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951fe9f626185cd3959281a5b7e81b08212409dfcdb07b0898533d47d1f95715",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad79a212780ca077d06e3e9af56e42f7c8353b0192582ca610e35f06704f1461",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 8.327 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7639, 0.5415, -0.3222, -0.5194, -0.0154, 0.9965, 0.8711, 1.8343, 0.8047, 0.3519, 0.7589, 0.6018, 0.0348]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1835 left_yaw=0.1035 left_pitch=0.0889 left_roll=0.2669 left_gripper=0.9965 right_x=0.3613 right_y=0.2461 right_z=0.0637 right_yaw=-0.0762 right_pitch=0.1089 right_roll=0.0982 right_gripper=0.0348\nstate[joint_eff]: [-0.1846, -0.5949, 7.0906, 1.7021, -0.1929, -0.022, -0.0122, -0.3624, -10.3453, 8.0205, 1.8828, 0.2955, 0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown torso now extends into the jaw opening. I’ll close at this position.\"}",
  "call_id": "call_FDQUqIvxCYDaPo2kTo1J5UV1",
  "id": "fc_09ffd7f47884d452016ab2ba3d49d887d0ba3ceb1845700a45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FDQUqIvxCYDaPo2kTo1J5UV1",
  "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]: [-0.3202, 0.7639, 0.5419, -0.3447, -0.5198, -0.0158, 0.9965, 0.7101, 2.0048, 0.8135, 0.5797, 0.6273, 0.482, 0.009]\nstate[eef_state]: left_x=0.2852 left_y=0.0016 left_z=0.1794 left_yaw=0.1033 left_pitch=0.0689 left_roll=0.2759 left_gripper=0.9965 right_x=0.4081 right_y=0.2188 right_z=0.024 right_yaw=-0.0763 right_pitch=0.0979 right_roll=0.0934 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -0.8547, 7.0222, 1.7021, -0.2076, -0.0562, -0.0122, -0.0752, -9.935, 4.5197, 1.4286, 0.232, 0.0024, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8636c2d32a37c37a06c91449b6480ec3f6921e83a591052808ddee3c72f3fda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b9119c14d2b185bc3aa910f454ed214b8711b673d5150f58befe9651540eb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf2e9b4b3356e3101ec1a1019eedf93074c084d96c550a7a77e530127d9cbbf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.345 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7639, 0.5415, -0.3374, -0.5198, -0.0158, 0.9965, 0.7101, 1.9953, 0.8093, 0.5606, 0.6331, 0.4858, 0.9943]\nstate[eef_state]: left_x=0.286 left_y=0.0014 left_z=0.1806 left_yaw=0.1035 left_pitch=0.0752 left_roll=0.273 left_gripper=0.9965 right_x=0.406 right_y=0.216 right_z=0.0238 right_yaw=-0.0819 right_pitch=0.0904 right_roll=0.0847 right_gripper=0.9943\nstate[joint_eff]: [-0.212, -1.0188, 7.1453, 1.8388, -0.1978, -0.0513, -0.0122, -0.5949, -7.1726, 6.7487, 1.6728, 0.2662, -0.0562, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpH8MBmhE4Pc4BwSOhb7NASzzSoUiZB5vH8TnDyHnN3mQuWzB14Po9I7rpf_mQ2RD0DOrk6JOBrV7GlLaN6WoZqHtLmO70v6k0-JcfdDws0_CD5zadxRCwoRapoESqx7wE-PsOq5eAbi4QD9NnAKIJtyA4rqEdcz6_n3cSP9u01FAjC1EBmPm8g87CQ7Ag2vgwsLnmb03JCr-FWBzZBBnrzeUmE6AV-ebijYgjs1kzmPBKVsDlD03FCxpoH4W2rzhEQEw3uQAQ4_LZJjkwj-N5TERLl4djRjXWvXOz4KhMSWrFH9kwaAh3hv2cpRAeIX01ib1n6IKpgjuxaOXaOtWOZ0mXF4hveb5HzVyyETJEX9DbPQPc8RIkX1FoeWZbM5UnZF4bgRahp0FFTDjPSLePRfuZM-6pTXxULruMrDc-mLnhcmsOB_39JoFssLUOYUhR8VcOvMew24-6PoYhVhNaTIOuiomPgcxBUNqR7otjNVCaNvfHDfFbPQvcBDdpTggBnewicI0wXO6czx03QMOVqVW-8iWSPIL6BxniEvTgkbHQtvL-INj98cg6nflN2UXZjswCyHRc5emyAlHMUowW3hpVair2KuSNu9-wsi1IrV8hZqHulAKwhaS1CFJSCmjh4gZpT7iID7OTBIo0grw1WfuBQBmhGubkXV9Crx2S5pm0H5MmK9bd0aPj5Y5MFhuwsBlecn46xaUXkw6egpkmcoE1awkb4GsPVTa9FRThzcdGbvKblXLaSyps_AfTq1Nx4CAlr0UUH6EoFoGUbl6P4nt89AVO4LkhJ-SmPE7pxCRKiMpm_fwKafKJWshV5Wwrz9Pe0JeTQ5kQY5KJ4-E-lU2V6Shf2ucVCg71r_CErIeToB0kBSLaXrxwfghncpjgLJHmR8vUhXdUWl7-yyBXn8Vx_h3tB8SBeR4TFXCvXA4vkgbkQKW5JQ8U38wXRwp0LHDvdfW2bGbeEvqaCQejZtwxWC0TM7_uKjBOqKAbqYNXcp1q6XBsf5wNhlnr1IgkhZg8Gl23t15zSNvcHGXvrZ2CHirgbR0r9tLmCGULz89T2tGSrdg5KYDEm3sVMpMrGskF5sWRvuoPTOBHYJQi1QTlJ8ARgKaClXBOZUBQHnPurv5ohooV0nTG2Asvo0aT70qGZZSXGwbex0qGL4k0SnywfZwKsqHLwjqH0S4lXSlkPKE4umQOrZQ_hIE0i4nxu3ZxqoJI8G9y1sFpL9ngp5j-quC0F-phnKOqCTwyntHoxIWnAuWj1d4Ja9p2Xm6EKctyUMZJaMvR-stfTFx65Mz5X5ufnwxSC26747sEsNBrDV1koteuUJjp4Vta7f0ZN7QD5kYX7fuCYatyU-jAkKKBfT1O4t_GyTCrXMxbvt0lk0J31_RRkDHe_FWEweWce7o63vrXJoTKGbpxLnBPXuc4eNggXs79CWVAR5YbhgS8nq0ry53TpM27oSyG-MNcXNS-QkZQ1eAQAM79XQvY3kgFbgwwvbnsJuunn7rIo2wE=",
  "id": "rs_09ffd7f47884d452016ab2ba42ccfc87d0a322e4aee11c2551",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.465,\"right_y\":0.22,\"right_z\":-0.01},\"note\":\"The fingers are still behind the plush’s thick body. I’ll advance another 5 cm at table level, staying beside the safe rather than over its handle.\"}",
  "call_id": "call_cX6G1p6v3wSLslw0rddIVnU3",
  "id": "fc_09ffd7f47884d452016ab2ba45b49c87d084d49604994f04f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cX6G1p6v3wSLslw0rddIVnU3",
  "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]: [-0.3202, 0.7639, 0.5419, -0.3485, -0.5198, -0.0154, 0.9965, 0.6205, 2.1887, 0.9955, 0.6659, 0.5747, 0.4171, 0.9945]\nstate[eef_state]: left_x=0.2848 left_y=0.0018 left_z=0.1787 left_yaw=0.103 left_pitch=0.0654 left_roll=0.2778 left_gripper=0.9965 right_x=0.467 right_y=0.2201 right_z=0.0118 right_yaw=-0.0952 right_pitch=0.1441 right_roll=0.1139 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -0.9915, 7.1316, 1.6679, -0.2076, -0.0366, -0.0122, -0.6359, -7.6786, 5.2991, 1.4969, 0.0415, 0.0464, -0.0757]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5fa586b662391ac3e5ac962c02b1de31a8f1a094ed1ee48692772e70c132b48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e62e005397ece627ec225cdf2b94e5e2777133c4200bf7704f01bca896ba02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a641bad60bc9ab33aaab822fae1375aeb3104458d80253d6b3f209127d1ae5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.885 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7639, 0.5419, -0.3447, -0.5198, -0.0158, 0.9965, 0.7101, 2.0048, 0.8135, 0.5797, 0.6273, 0.482, 0.009]\nstate[eef_state]: left_x=0.2852 left_y=0.0016 left_z=0.1794 left_yaw=0.1033 left_pitch=0.0689 left_roll=0.2759 left_gripper=0.9965 right_x=0.4081 right_y=0.2188 right_z=0.024 right_yaw=-0.0763 right_pitch=0.0979 right_roll=0.0934 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -0.8547, 7.0222, 1.7021, -0.2076, -0.0562, -0.0122, -0.0752, -9.935, 4.5197, 1.4286, 0.232, 0.0024, 0.6471]\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": "gAAAAABqsrpNyyZbi9pgH16Ng5Ahtv9zcROCtZSsUs35socNVzpBI7PxbRm5X04EMIu2SN94nfBFxCe8bU2tFv5T8Lzu9sdhpPpkpAGQ08w7YLn3mRoLXO4pfmT0AqU_XD0ucq2QAG2uuAvTmYzEnV86vAH3i_IqkyU7vsQX_o_Js7ph2dXZ7KTApwcZYpqQuIWHrZgcw7b_sRolHxgwnvgtx2elGCzFkI0bSbCDbMopbxX96ebnWB9XO3zqJq03MkzlfjQ2kW79q2ejs4UYIIqX0jdAvTzD5ze-y0lAeATMYOjQByOeneTkbC_0h7YQqo84YKZ3JKOzU6UQHl4K1Gaj2oqiaRDkka_-jk1orVsZCIfYeSjMUuzEU8Evi4rrFb3oG07Iv0hfkmh7IlycJ9HbFjKEpWIRkFPq0ZS2LnCRLQw3l44tIUHwSg57z1XfVC4_uEcGmOUOcvfktLNKYGrMpH4B73CQmz9EmxWScBeJ7y88WiANdg65J6PpP5fCveqIvhxsTXM1Q1tfUmJIlzI_dkl2u2vCOd9Hdo7APEYvqII7xAymAa5BDJgIYBfBGk694QerxnOtC_4kn-JuhpehZK50IMpk-Mfksvibj7rZccrZNZqch9c5m-RMIx8hLF4tR_-mQgtxKvK3VM8uPN6kS_40WPaeytA9rGib5OaJY1e5wotTul6oIB2341BmUpVPhADWlS8Q7nWs0xF2Jl6FfBnTUHWr-6nbYxJQLk8MRhmVOnTrzAPhNgY4f25d3ivHHVL-gY67ED7uMiDU6DWbYol5fTgqn6jPG8J1F9qJhCudW00HwhdlxM1yw2ln5XpQYoMx62qwth4E4f5R2Z5TNm3QeVKQ1xAlB3C9ovw4V0HATaTJEqa0iY--KAz-fFSgWPrhUHurM5hVqbbzjFvNJ6JtdQxB-31la7f5_IprdZ0zxQmyCCum3WH3yrwo20Qm_9zn2ze3TiCdG6XVgKYwi-bXlE3omz9lEaXz6XwLoiH0USxyYI2jobWEHMPMwvxbJm70SsCtKfqEGWtpXVvvkXZcZEjoRWIs8ZjQht0inyC42wRaCryVWubIUbrZCXwhlNGQbZtFV6bA9dOknNDUDNFrYply7X9W0d6NXGJDa1nLFYU91i3qIjhvrus5JUyrDNm-6Be97wtnHwnv2SACgIn2zpaAfWWRbqqyQf5ZDCtdJkYobeb7c1qfDhHBvmk4z3StzGD7GxWoimKy8kWceHUp-asJuZeLu4Iolk5beVRH909NHG8=",
  "id": "rs_09ffd7f47884d452016ab2ba4af84087d0ac2610c16679393c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.255,\"right_gripper\":0},\"note\":\"The brown plush has shifted left of the jaw center. I’ll center the gripper on its body and close.\"}",
  "call_id": "call_TEtvcVEr1j2pTs0MAEjVKYvH",
  "id": "fc_09ffd7f47884d452016ab2ba4bb81c87d088eb547a506370ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TEtvcVEr1j2pTs0MAEjVKYvH",
  "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]: [-0.3202, 0.7666, 0.5419, -0.3599, -0.5198, -0.0158, 0.9965, 0.688, 2.2127, 1.0824, 0.5922, 0.6163, 0.45, 0.0379]\nstate[eef_state]: left_x=0.2836 left_y=0.0022 left_z=0.1759 left_yaw=0.1028 left_pitch=0.0525 left_roll=0.2832 left_gripper=0.9965 right_x=0.465 right_y=0.2547 right_z=0.0178 right_yaw=-0.0783 right_pitch=0.1482 right_roll=0.1208 right_gripper=0.0379\nstate[joint_eff]: [-0.1026, -1.2376, 6.9812, 1.7656, -0.2125, -0.0415, -0.0122, 0.3897, -8.841, 6.9675, 1.536, 0.3541, 0.105, 0.9451]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8fd4d8dca27ced8ce80d4ecc9b8e5083948fe20065f4af7d190dd55eeb7ad42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c93e0bc9668f4136a12c8de5a19fcf71ca048c653aa5e026ec4deac0d1b5aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444d37b4519239a6e3b78924871bf437b6d472d1ce5e603251ed3ff28b531101",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.485 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7639, 0.5419, -0.3485, -0.5198, -0.0154, 0.9965, 0.6205, 2.1887, 0.9955, 0.6659, 0.5747, 0.4171, 0.9945]\nstate[eef_state]: left_x=0.2848 left_y=0.0018 left_z=0.1787 left_yaw=0.103 left_pitch=0.0654 left_roll=0.2778 left_gripper=0.9965 right_x=0.467 right_y=0.2201 right_z=0.0118 right_yaw=-0.0952 right_pitch=0.1441 right_roll=0.1139 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -0.9915, 7.1316, 1.6679, -0.2076, -0.0366, -0.0122, -0.6359, -7.6786, 5.2991, 1.4969, 0.0415, 0.0464, -0.0757]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpT7OFXtgFY3J5227eU2y1T__J--040G7Abvu1saqbGoYY5CPzLoi3_EU-E_lOfVvFpr-WtpBPJun_XII6CE7Zfc1p_CAs-reriGsGV9_POq44dY2cj0XP5ZalJmWb4Bp6DMfCicjdL_XGOZ7eb9A6U7w3UOTz5RsqI9s0pqyOfb9Oi3StcIrXi-turmDbyKw7zAtDr4V4I03OCqX53BemgrfdVh6NwErQeQnF4uqYNMb-j3aqrTkATuHBFYzW8bP03mU6Ku9eWNhcjfFFCai7wWp-TVsOhYm3yMCCmfycp8lEqml36N1erK4WVAsj2NS8TecrdPNlupERE1cUlTXZgeR7QRQVGcVobleZkgCiynyqHXV7_VPPqxtpIWxABIT2ZTumGFRLr_5VlqVR5EXmd9N5ObzvcmI3jO8hLDvumQGG8MgjF5jFrX6XY8Bmv_X-fm_zoqIhVOZe8nqcWI_FSnOhI1kEj8032mGWaI8eYM3Ec8hFNNqbiXIbW46ah-z2UZefr10YUsRTTVfrHY6Vy5xeHgBkewQpL9thj1ffSRgyONmiSx7O1XG-Xgu90hIGoydVsQFeFiBMnEfUS6ARIYqs4tEpNU1KG1lAOiXOCQ_Xvkrad3cavH_kUg_DDEoPzp6wja8poD-4ownkoLHP2hasKscH-wwfb513VQcARG1f8_4F5zpnKrfqolePBZnCS1O3cJakO-i7W4swMBgN1MhNRoMB1cTXpYvCi4GuwSgGM3OoqDkWTaiSwd7k2budWFxMJz2zldYUQPNV4f63JHvpYCXpb9G6Kn3NXzX_UdzWQWuls7OeK8R6EOrt0sJAxnB0ncCd3vf-w46v2ELs_vLQQJ26xEC8ce85u3KSOz8Wk1qizeW9lSYdl3x7NN1I_5siE1U70yYvg_wHV76MmEkw9_eDzj03ni-GM5e4w5bcLyy0XndJiwoGmU2UYTZX3wdFvaO6bG9FL9LgsFOxpQFeaguLq5S1AIV81ifFqezsRvk5uB4e4_69n4pv_ihDnljAAFUNaW0PGYb7PWxEvhEMSjwv5dqpSIy7ins4-yaO-WiOqqFKLK89yaEnpkbSKIDIed-T8Xej1Ay9SnFmq1ooV1EKNHFcjZY3Asi1iyJDxRL2P2SGSUIJZJ0lUz0EX05Jhdo1PPxWWWoGC4JjJPcMhzYc815fRbxhpas7ASPqqc_YtK-HITnG_yOea9F592ewGQSEdqbdGwQW4P0-Mmx7AMt_d1fR2Zn-BNlzd61XzBy2wEJ9f4RHGNkDDObG337oNq0ZFAu_8IbXdKqo4uH0UbAtzm6JtRfBTVCiY1H4=",
  "id": "rs_09ffd7f47884d452016ab2ba5070f887d097aaf4f1312bed52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The jaws may have caught a thin part of the plush. I’ll lift clear to check whether it is attached before attempting a transfer.\"}",
  "call_id": "call_SNXgcC44wzbbGE89KwGSkrtS",
  "id": "fc_09ffd7f47884d452016ab2ba51921087d09db274cfa10a60b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SNXgcC44wzbbGE89KwGSkrtS",
  "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]: [-0.3202, 0.7704, 0.5415, -0.3756, -0.5194, -0.0158, 0.9965, 0.688, 1.8988, 1.3048, -0.0154, 0.6052, 0.4446, 0.0384]\nstate[eef_state]: left_x=0.2819 left_y=0.0027 left_z=0.1719 left_yaw=0.1022 left_pitch=0.0344 left_roll=0.2912 left_gripper=0.9965 right_x=0.462 right_y=0.2543 right_z=0.1514 right_yaw=-0.0606 right_pitch=0.0926 right_roll=0.0711 right_gripper=0.0384\nstate[joint_eff]: [-0.0205, -1.2513, 6.9538, 1.7558, -0.1978, -0.0611, -0.0122, -0.0342, -13.4906, 9.3197, 1.9023, 0.2418, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0315f75bc52747565fa211a47a16c3f25da80bf2657fe32ce982842698a07e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97deb69159d278ecae9a4a436a4795c7d6415de2dd30486b28b2bd8f11c81f94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb046cb1249a8eb94b492deaecfc86ef7e09ed9f27f1c650a78cf13ae0bffd4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.075 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7666, 0.5419, -0.3599, -0.5198, -0.0158, 0.9965, 0.688, 2.2127, 1.0824, 0.5922, 0.6163, 0.45, 0.0379]\nstate[eef_state]: left_x=0.2836 left_y=0.0022 left_z=0.1759 left_yaw=0.1028 left_pitch=0.0525 left_roll=0.2832 left_gripper=0.9965 right_x=0.465 right_y=0.2547 right_z=0.0178 right_yaw=-0.0783 right_pitch=0.1482 right_roll=0.1208 right_gripper=0.0379\nstate[joint_eff]: [-0.1026, -1.2376, 6.9812, 1.7656, -0.2125, -0.0415, -0.0122, 0.3897, -8.841, 6.9675, 1.536, 0.3541, 0.105, 0.9451]\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": "gAAAAABqsrpbt-crFMmlpHsC6cJjyfPRXQh-dYT_S7MOleyifMNFUEUQR6iIeRfsAIBw5mhl1E2Ak-ybx6nSwypRL6rFdIOuAfeHA5PjQLvJMrWiiKXytru38oS9dJj9lKc0Qh44OdsC1xODPKCgqptB2noHg161Pu-31DFVmwpOwP0xskUyMdv-kYxc9NuW_kaG9AvM9cgoR41XNPcUz1ToFKSYeF2qbhSwTJVBxszasF2dWvdiq1wbXpneH_5IIEl_sUkyGH2H8XmhM9r3TVsRY8OsR59N5bWWE7IS_uNIZJluCE6t8pyZgsuOKV_yK2sH6cosisTHLx8BmR-iOYSbMe5IEYQxW6Mm4A3Vo-q350KmhSj3A5mB6n_ygGeLoyu2t-Wd9dYWSq6rk6gdV4yRRooDdRSgOvUhsAxb1GGm_QR2zcXpk2XinGBLPrVgdyNLscwOnYl9wIm4XPwONHGmWlMb9xaZt-XUqstcBJNORAT2svOtJn9opP0q2KYOttSF51JgCpucOu5RQKRfdX_XNYda-V4K6KZ6fSNEL4wRjAATKG6PvZhqtDrZ4oUfsuOkMHRM8cVDKP8z7vsFUg5Wzve7ByBYh4z4_oYz7plE1G-TZatSlEox2MsIPsTC6B2-tkbdq1i-7Dm3xaoiHmgwAGYvAET2epUbofi8Enm3kJoe8J4kVaRhcVaBaeo1rHh7E2MxJWZufiZk06xJq-UkURuMjSYg_JfB4VMJT2xOi71iYDJkysKCba53Bl6mUEB39YZT7WgKUgq8NRQL4We2w2PBnhTmJmRynJ6tZ8mXfkQUzGaUoae3DqivozjyXT6ZErf25jo6MDefETl3ik_k786X7fLnve1NxflwGNZqbLzLinyJlaXXEfyD6LvkePPMU76_MNbXWlQIwmM2aisYsJr1bXFRguc2PH8RUbc473nfgtSCHC3ADmwuuJRPpFKPa-KJttnb_35VQYbuApjlT5MPCiSpoaFKwDV5YCQaMqvsxx2s1J5WKht7QvQScEqsgBUKMbs2AzQG1IJXXtnp0NvPmvEeiwpoMgOnCTOdWfj3icrKORdzOLW7zfrBPLAZR_3OoNkXRO5k-nWEwcE1wbS3uIwXblfjhOluW3C8uAP93MSbwZxepPHX0-7-cHzX9myYrmwoPjAK5TCi4DHz_YkGu1SZncaMnv11xVlIwfVnWxBV8TnckY8W_89C1ORkUzV9x5xA99UH71Gr6ylPRqUZE4OZxiaGsO1QsWAIAGk3rshPQbvAxYilTVSDCSpl7cFo_gcF",
  "id": "rs_09ffd7f47884d452016ab2ba59295c87d0ab06f0dd8df9ac7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.34,\"right_z\":0.23,\"right_pitch\":0.3},\"note\":\"The brown plush is hanging from the gripper, so the thin grasp did catch it. I’ll carry it over the safe’s open compartment.\"}",
  "call_id": "call_wDqQkjE5CQHQzb3KMHRlltGE",
  "id": "fc_09ffd7f47884d452016ab2ba59fc7887d0893065ed87ececfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wDqQkjE5CQHQzb3KMHRlltGE",
  "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]: [-0.3195, 0.7742, 0.5415, -0.3916, -0.5194, -0.0158, 0.9965, 0.7128, 2.3032, 2.0323, -0.16, 0.6666, 0.3191, 0.0384]\nstate[eef_state]: left_x=0.2802 left_y=0.0034 left_z=0.168 left_yaw=0.1027 left_pitch=0.0163 left_roll=0.2993 left_gripper=0.9965 right_x=0.5522 right_y=0.3377 right_z=0.2135 right_yaw=-0.0361 right_pitch=0.249 right_roll=0.0549 right_gripper=0.0384\nstate[joint_eff]: [-0.0342, -1.265, 7.0085, 1.79, -0.1832, -0.0806, -0.0122, 0.1026, -13.4632, 8.3214, 1.9512, 0.4078, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52de154eed3b3fe8e16c4f30c42369b4fbe029bafdc08de0e901e0a44f93d84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1704a3db78dd58de64bea52f93fbd2d6485818678dd7c6485c7935018888e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db5bb04cbdb0b260fb0c15147e330be7104983716897615a635d2d6639cb94d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.162 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7704, 0.5415, -0.3756, -0.5194, -0.0158, 0.9965, 0.688, 1.8988, 1.3048, -0.0154, 0.6052, 0.4446, 0.0384]\nstate[eef_state]: left_x=0.2819 left_y=0.0027 left_z=0.1719 left_yaw=0.1022 left_pitch=0.0344 left_roll=0.2912 left_gripper=0.9965 right_x=0.462 right_y=0.2543 right_z=0.1514 right_yaw=-0.0606 right_pitch=0.0926 right_roll=0.0711 right_gripper=0.0384\nstate[joint_eff]: [-0.0205, -1.2513, 6.9538, 1.7558, -0.1978, -0.0611, -0.0122, -0.0342, -13.4906, 9.3197, 1.9023, 0.2418, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrph_RbiZT0YGURRw3GKCT-BJ6VTktbBMQz6yvGcYSLgloM9hmGj-P6R94CwoUemiH_Q3CtEQqa_zKBGbKzzkHlIH0WmdRbZOZeoUpEIzs45YywosU1IHnejg4K0SJKj3dUawu2B1Jwwr3WWSQ3llmPLSlZv3mFdpYfP0DH_sAlQ1MsQXPWFV1RbKXkeQIdozCQIzkG-e7AsquHjPetS_pAjFroW-PJ6S0se_PGCXxR4Vvhn3I1qmMA3RYZYNvpf_FqZ2dnk8qP6naJYurq-3CaKlsIPUASEwEwc8q5q-uwZWhoxExuqeoKP4Z_OJfsyazCHqyYGLhavgAlE_hrEEOvijqgW4Imosz_b7gscoFuxFo4frvn_Q9AU2SthSc6VtyIMJrFIKFcWX1pYir5AGUKLYs5TPxWxVqpTw_POgznoqPu17C2qwa8KpDDhYV2CgVDfyZb8-XG9MmUXN5in2TfWE6WtUbiItgiofFPtsyySmlsirtSuradVRLW24JXLM00Zz6eZCJF0IbPzadk85LCD0PYu89S2S99Tgy-_AoAoLSxyfVRIjtUSiN4bWRNa-Io0818h4iPVlrNxnftcXr-uMZv7cf_B-0BL8V7FpkQV1brSXOXYJBNAIPNYrIdctbJJE4LLuqfJg4a9OGVLMZwlQL5QF_ddgaLH_2sp2uhcd-23G97DPGAezCqLqkxQIp86vJyu_spW5A6lzcFEjPudsN-YOnFtRObW5fPkhqumYl_1CfBa1nT8cq_0F-nYvbNEcMCrrxtI0LrmBkfbSvS38h1eIhndS2_QtYT8ZvJaTgi2TyEoxWtDMQ_pCK52kgtvlYqEI-WeigWRmA0Z2vfMKJlcvuE94estnB4eFSQn8dtvPmDfMrUkjW98C3Zy16trPDA1U17-ASPo7bRWG4IKFcPCu1TUXFpS2KS2dnfGje0UxCxpLPIh89jB4xkDPQKYy0XONDwBlCfNALJZ3qZ3Rims7jd0G27T5GCDPIrQjVG-jDGWZSqNkxe4VvHY2uXgoak9M38kNVgIEHigltCgQKWJOAuRBHiUl1WzztTgBVzmw-EkWPUoNnHS6w73--VHU3GYWg7vPvFtGN2C5Nj03ZfZNX6XK-z5MhGr68a20LCHdqDQMW8oQVK65-3QGJ96AaBs15r_vEzJ7oHsa63YDQAWDaTCwt9bQUxAz6xShhxAHLzpTXE7jrmXaIB0UZdzDyn_xl222f_8no1eDbTTM1nUhSQ6SkUcS8Kin9RNfOTyZWkl2cLkj67fAzE7v7-bMhVddpXj29PEfkfWZhAr6A==",
  "id": "rs_09ffd7f47884d452016ab2ba5ed91c87d0b8981ec7177c6acc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_z\":0.12},\"note\":\"The brown plush is above the front edge of the safe. I’ll move slightly deeper and lower it into the compartment.\"}",
  "call_id": "call_3YUXNN3iTB5YOwsOYOfb4qxQ",
  "id": "fc_09ffd7f47884d452016ab2ba5fdc3487d08c5ce8eae8e8feac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3YUXNN3iTB5YOwsOYOfb4qxQ",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7761, 0.5415, -0.4038, -0.5194, -0.0158, 0.9965, 0.6697, 2.4825, 2.0003, 0.0006, 0.6289, 0.3012, 0.0384]\nstate[eef_state]: left_x=0.2787 left_y=0.0037 left_z=0.1653 left_yaw=0.1019 left_pitch=0.0034 left_roll=0.3051 left_gripper=0.9965 right_x=0.5817 right_y=0.3326 right_z=0.1148 right_yaw=-0.0304 right_pitch=0.2004 right_roll=0.016 right_gripper=0.0384\nstate[joint_eff]: [-0.1162, -1.1009, 6.9128, 1.707, -0.2418, -0.0611, -0.0171, -0.4855, -13.4359, 8.335, 2.0879, 0.0904, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92440087eac08112359c7916040e1e49556f5dbf68381d7384305cd36f973fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b9b76b4a66e4340f55b1fcba8840195cec9e2bf6b7e761cfb67a91e58c33b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74803c6294f8f3829f9a53ceb3a304f2d33758fbedc3a0f30d60fee53de2e60a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 5.565 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3195, 0.7742, 0.5415, -0.3916, -0.5194, -0.0158, 0.9965, 0.7128, 2.3032, 2.0323, -0.16, 0.6666, 0.3191, 0.0384]\nstate[eef_state]: left_x=0.2802 left_y=0.0034 left_z=0.168 left_yaw=0.1027 left_pitch=0.0163 left_roll=0.2993 left_gripper=0.9965 right_x=0.5522 right_y=0.3377 right_z=0.2135 right_yaw=-0.0361 right_pitch=0.249 right_roll=0.0549 right_gripper=0.0384\nstate[joint_eff]: [-0.0342, -1.265, 7.0085, 1.79, -0.1832, -0.0806, -0.0122, 0.1026, -13.4632, 8.3214, 1.9512, 0.4078, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpmhxEu7Ytj1E5ONLcvzBV6q75Z0S4oglWI3KQiJlkFu1quK8O6fknA2iOKzgM5f5YcnKiyNgEnhpj1EDuDh1nyoC0q-dgx6YndcGxsPMTkHmu4sCJgRGVIS3faVCmXNaV5PwfGVdz6nqbwZtvmmQJiIsfxWykKyv3y0-2MEMrcRycKepsV1tBtsw0kifz_OX2cYf_2XgECg9xVjrCHmw_nIWu9STMJBKQA2W86Ik_3aFCF47v9b9dveVBOPXq9_TMROtjMm8lctFUGlxseAu56-RPmRRRvTdxhGoYNOMUHxKUu70LSbaXU4f7hKFnn96m1CcHu3PQGazToyDaCUue2KULw01btVT1ta8bR7Z-YN1vefQ4tHntOpW9ya-XXLC0cGOfuGrMeTkJXSXyeDGa9FLiFtpvpOpZKnJD48ZsHYjVOU1BxR63eIwJw43IW60WemjnfX4ab706tS8m86_4gWEFztlklu41PfZFZIq5H33726Ebx5IcrBqA8DpXHKafTFVnMYfxLd9BK-NVzqNRlAmaTkj3-Eoiuwl4p8EbbGa3PFaeRY72Wbhollg_kiK0pEgmdZxqqlPwr9l1o0ZjymxUD812vICwF8dJAo058k_y9rhPJE9t_rhnpS_UEZuErZ84hiArDuU_edPTgVqe5bvFMvRDWD1pM8goMdEHJcVFDya1fQlFCeXms8yKM9n6uparLYFBPemdSZhh6IYxtjENqjpuLuKdM0OXRlnmwO4mwdJ48UKrTTWGBBfv-gboImfn5Lq_TVsQUf7HHSkOATHhjXrOt6FaoUILw9VdJY6A24ZG14x8SyP1kXKOpjeMQPHAsBS1AB7FVTcBA2eMJ9KvflJFNrN11rNajVJUKitEzgvieBjskMLbRwjItKoyYGuCOoctIlF5qrsEZJetDe1z1Kbcq8HNZ8xuEREN6La6_2vZ45LsDXX94SkJekitGzLiOf97iUqvdPY7Y2wlCwCjhzcBI6wNPZOM_IICQGGsUG7O0df_hQ3QS8h8tJXbsdQyYW5xrHTPdXZg9S2NiXQdDQKClOmjKiWoTTqkKlQu_OSmElroI7PMTqNEIJ_Pzd5OKAew3JALngE7jDJjr76HTPEObFIEwezZr7HEnjgHsTyZu1CQnRhm9HCmtCRQ4jfduKPMrWMCpG3MTB1zwhyCSOi8SjFukpyw2_EOpV5A=",
  "id": "rs_09ffd7f47884d452016ab2ba65a21487d0ae5763014d2b7162",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is lowered into the safe alongside the white one. I’ll release it now.\"}",
  "call_id": "call_rYkCRo61hZDg6ESjL5LwSdmW",
  "id": "fc_09ffd7f47884d452016ab2ba65e1a087d09f26aca4f9c35d4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rYkCRo61hZDg6ESjL5LwSdmW",
  "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]: [-0.3206, 0.7815, 0.5415, -0.4202, -0.5194, -0.0158, 0.9965, 0.6701, 2.5027, 1.9968, -0.0269, 0.6277, 0.2955, 0.995]\nstate[eef_state]: left_x=0.2769 left_y=0.0042 left_z=0.1611 left_yaw=0.1016 left_pitch=-0.0164 left_roll=0.314 left_gripper=0.9965 right_x=0.5787 right_y=0.3308 right_z=0.0952 right_yaw=-0.0199 right_pitch=0.1608 right_roll=-0.0222 right_gripper=0.995\nstate[joint_eff]: [0.1709, -1.4564, 6.9128, 1.79, -0.2125, -0.0708, -0.0122, -0.0342, -16.6496, 7.1043, 1.9902, 0.1734, 0.0317, -0.232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c14b94ee18ff63f573b6a869ce409ac361d5387834ae211d936790d12e75fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a41a5ea639f96530f556e439b959a24014a38d59ca814cfbb39a214c6e6f630a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96b9bf7c84e25494426e030c1a8efad95f7cec3a47cf8abd90c8233a498e8fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.784 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.7761, 0.5415, -0.4038, -0.5194, -0.0158, 0.9965, 0.6697, 2.4825, 2.0003, 0.0006, 0.6289, 0.3012, 0.0384]\nstate[eef_state]: left_x=0.2787 left_y=0.0037 left_z=0.1653 left_yaw=0.1019 left_pitch=0.0034 left_roll=0.3051 left_gripper=0.9965 right_x=0.5817 right_y=0.3326 right_z=0.1148 right_yaw=-0.0304 right_pitch=0.2004 right_roll=0.016 right_gripper=0.0384\nstate[joint_eff]: [-0.1162, -1.1009, 6.9128, 1.707, -0.2418, -0.0611, -0.0171, -0.4855, -13.4359, 8.335, 2.0879, 0.0904, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpt80717VuLX_E2k1koyDQ2dSjJrZRoR2JbVyY1O8s-9SC5Yw-iIB0jqLZzjoFirWXnDTNYA_YGbg3ZQ452CcqMHgieUpbfmWsQid_yvMThBPyL9YHYhU9YizHPwI3zq7MsRXDz1THTaYqUqNT2fB_k4273c0YH8kbJnklB7slFIg7L_MaTm8ap7G242aQtZeTjanc7ppJL2bP9UrmnRM6p-lQ9r2qcduCc6rYDOA-epBaE2oRxc0UlUQU_4Im8yI0ZufXdhbUSAewXAp2tPGNC0oZAi0n5DJwY1ZQ3-Isa-q4xic_3TtCeMxIVT5KoayiwrP1kTtCUaTShhMQnqQNlDnXKF7nwFT02s3nHIWFqbm1r2kIpr_7ynnTAyX3SJHA1OY6Gz9EnLjmB67pA7czc_16CcMDwuZDFBSMsyJl6B7hdWIj75bG_GBvd-WPuj5rwgdl7XStECkTSd-BQylaLpPiY-YA_g82sIRQb98J3GZOZhIj5l9Z2kqOTz4zEsnTG7ZL0drND4KgFsAJexesiTzFuu1Cl9iE8S5_Sru1JWcdUKVUqym-saP5NcxbyB3w537l0_LYTIpdU8OEETRedXNizVgz_Rin8FULB24w1O5G4rP3M2MpiPtY3xU3HpGDZ2sLu7p6vmlq2EburP-_pv9M1Igvosz6NfGFKkrdpCM0dw9TyyG1a0m17JX-Ezlc0QDPHSHhEkQMBq3m7Pn800wSB6yINwwYZzWotrHNE2L4dx3sqZZymLiDr8eL5zjEfZ1nXii7DP2FJQC3AHa3IKoKGMVv9-tmdL9DZPE_eq5J36qfjCBvGTN_SP03cgDIOkDLNiz7FEqB6QK4THOZMqXqJsEuNJiHwD3S21g7dUopdy7T0j8MwI-T4ngtylDA2Pbe1tP13TM_0CQxoVh3HYeETqF5MP0OLBozJ0P6SHjZJ6vz7RwMXmlezItMDXjoMN376rOsK1zF5VTrNm2pSVGSTS59z4ARyGneYOOEKzPqqavDBiuTXbG5oGs0QqST2bShgTe28e8GwPpZFRKIw0MtMxM28nKxJfeKXELa8lKdaQ_SoPupdJ_IEz_b5zdWYVYOEwptVUFFygJpNdaqeeNND5ryoBaVe3jjSp-uEoQdNJlO9ED56lnuFU1oHtFjvHFk2ST8_NOq-kC0cULuL_ZvfXrKxykpuUB8u3T6__6iI-Auzb6h-_T2xqAmUvDAom85LJGl8qgV_xVhfXDCAhs2MlQKRD79OSkZJjkI3ixDmuOZkEo94KWmvyBcwshFZ3722hnT96GNq9hdt2ya9DA==",
  "id": "rs_09ffd7f47884d452016ab2ba6a9dc487d0be1b6d62a7e2c86f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.11,\"right_z\":0.17,\"right_pitch\":0.15},\"note\":\"I’ll lift away from the compartment and approach the remaining yellow object on the right.\"}",
  "call_id": "call_AspfZRIzgANtQJIkHAbNyqza",
  "id": "fc_09ffd7f47884d452016ab2ba6bec5887d082acb9c67735f377",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AspfZRIzgANtQJIkHAbNyqza",
  "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]: [-0.3202, 0.7856, 0.5411, -0.4309, -0.5163, -0.0158, 0.9965, 0.3641, 1.6356, 0.9543, 0.1818, 0.3721, 0.1463, 0.9967]\nstate[eef_state]: left_x=0.2757 left_y=0.0042 left_z=0.1579 left_yaw=0.0997 left_pitch=-0.0311 left_roll=0.3185 left_gripper=0.9965 right_x=0.462 right_y=0.1112 right_z=0.1555 right_yaw=-0.0377 right_pitch=0.1217 right_roll=-0.0323 right_gripper=0.9967\nstate[joint_eff]: [0.0205, -0.8274, 6.9949, 1.746, -0.1783, -0.0513, -0.0122, -0.212, -9.2103, 7.1726, 2.0195, 0.0024, -0.1148, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb58eb8e135a849831cd8949ae63d4d8b86a71e487fbc99c3b71253aaf6e6a42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23de11c389f7318835847ca993434c83775b8b7d7878d4dc9ce90b24cbf2854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a2a4e9a722b2fc227a104163e27a903928abd3fc08496043adc27284882ca5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 7.502 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3206, 0.7815, 0.5415, -0.4202, -0.5194, -0.0158, 0.9965, 0.6701, 2.5027, 1.9968, -0.0269, 0.6277, 0.2955, 0.995]\nstate[eef_state]: left_x=0.2769 left_y=0.0042 left_z=0.1611 left_yaw=0.1016 left_pitch=-0.0164 left_roll=0.314 left_gripper=0.9965 right_x=0.5787 right_y=0.3308 right_z=0.0952 right_yaw=-0.0199 right_pitch=0.1608 right_roll=-0.0222 right_gripper=0.995\nstate[joint_eff]: [0.1709, -1.4564, 6.9128, 1.79, -0.2125, -0.0708, -0.0122, -0.0342, -16.6496, 7.1043, 1.9902, 0.1734, 0.0317, -0.232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrp1WwewA2N1gCQQdrW-VUFTOtpJOBS3-RgMhtvcxLv3fm7wDapD3BTy5gTDAfGhrlaDY8w9yhqEdeN1eoM33txnWrk92U7JgcbR6ReXBAIH_BJ9Z3Wep9_p492ghQup1MMp_851Z8OdyLmsKUui5UtgLlVex-Czu1g54xTlUUgc0YVo8IQ1HqF1dh8aiFVkTQh07L8f8kTTuUdupwsJ919NP5KmKWgXfrJts6QEyS21fur_RXrMXr8pIhVtBdRtP6cRkG74q37r8fQyNJM-8EOzb9O7oNDxSbhywieCn1WhMEIWrCM9Vl37AUJi5ymNVuNyuQrJ61Y_7IiKw2ci5yfUtGL3o_9jpfJP5H7tdhmt_KW_2FkkKNUAYMI0vOHRjxKLQREJoU7lUeS_yZY1dlI6OWkJaH3B88gE202uxFjcir_Yf2lAdeUateGh276IR5d8mXn1ZD8eUGraZSV0gZDTptKia73i0qc5AsEEBky_gVGWuGZYpHk1StUqcL0i9TL8kVt-j2p49SeeqwiGAAjsqiWWCsCkxP0Iea5iHTIAQBnd7RcDO4c6NH_hF5Wr3twVXGYm4uBojIP7L1VpjXoOuDuADoSa2VKKqGO6B6KFsdGpbGnV-ZW4NT0DsG-dp98XSIbvatrqD1PcMZb5WuIr7tzIAnsgF2aCeVPsatXDX4bPq30JTEbXDuSVmRSkTsL7S8PJpyN-JYrF2LJcKp7BilrSPy51ups0YCC5Cchq90KI-acGbN16d431is-UN1TX1wM-7khILmHrlTRsdpo1OR_Vc6fifcf9njIPejapHtHIgDK902ye7NVINVvkbT2zcdUdQ_4fNPxmFkEjQSGlIhbyMkHB8F3KCzqF7bucaJXjul5JLocKVnkBP7dZhH-nEyCeN_Dlwh6JugfHlBK60Rr4w7IKWh2Mr4ODKnhPHTvtmPYMMvRvAGqv-c_TYRVlN7U6GC5Ow-MXDJimgAl6kPquOwlvuDVAoXevANu568JosvOWV4hNdVUg9_GPDy_TZc9wGeMpwDhBT4VcaQ6O-uI3iLCEiIUPdLo-L4s4coefZbm0XXvb8Z4abE0zQ6TPBOtvklFfOQhSdjpshInj1o9j8PcLSr5aGeNHHl7UogZacIoLdj5vhFLcOm_Iz29n4jF6c4LirxibffFKi1H6n7ee8dgF2LAZ92izSrMdQJx5c5f9qKOOu17RkQba9xHx-CWjFR1jiVo3Co5lucM8LOOh17jSIFZ1GRJ4JEfVXGHXnEOKk59UIIjSl-gIG7-kVwpWaeTuty5VVOcumxzs30Jhe6gjNuiSKRi6Z_xkCchb7Jksw78LIYZNEymtkmG7Cqo6KLSbq3cPuiiAy2MRIBvJm9EBP0ZO5JnI6kdjPqAztjIhls_N0CsVvsFVniU6",
  "id": "rs_09ffd7f47884d452016ab2ba71443c87d09e803b4685e71be8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22},\"note\":\"With the arm clear, I can see the plush toys are protruding over the front of the safe rather than fully inside. I’ll park both arms; closing the lid now would trap them.\"}",
  "call_id": "call_nXYgfSVo34xCjwiGW3JamS6x",
  "id": "fc_09ffd7f47884d452016ab2ba72f84487d0b4441d05890a344b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nXYgfSVo34xCjwiGW3JamS6x",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 0.8825, 0.7761, -0.6121, -0.5159, -0.0162, 0.9965, 0.0544, 0.7444, 0.6491, -0.3592, 0.1295, 0.0166, 0.9968]\nstate[eef_state]: left_x=0.2856 left_y=0.0009 left_z=0.2024 left_yaw=0.1005 left_pitch=-0.0705 left_roll=0.3356 left_gripper=0.9965 right_x=0.2966 right_y=-0.0031 right_z=0.2198 right_yaw=-0.0748 right_pitch=0.1339 right_roll=-0.0296 right_gripper=0.9968\nstate[joint_eff]: [0.0068, -1.5111, 9.6342, 1.5458, -0.1978, -0.0513, -0.0122, -0.1436, -0.6906, 7.4735, 2.1172, -0.1294, -0.1441, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a27744432cba5efa03711c206fbdb70ab87e8320076c5afda7b1efddc7c8a444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796e59c75e1dfd40c359f7324cdbd3b4dc402612d3c576e12a59dea55a0a3d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a331a6fb8c0f05c98b35ca6add8ab5b10af467813c39009571857e70093b8be",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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