adhoc

completed
2026-09-22T18:47:54.430646+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
358.3 s
total steps
384
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Classify the two types of objects on the table and place them into the two baskets.

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: Classify the two types of objects on the table and place them into the two baskets.
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: Classify the two types of objects on the table and place them into the two baskets.
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 plush animal toys and slim pens/highlighters. I’ll sort the plush toys into the left basket and the writing tools into the right, starting with the small brown toy.
move_to
left_x0.2600left_y-0.1600left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0219, -0.033, 0.9996, -0.0208, 0.7986, 0.6109, -0.3775, -0.0116, -0.0254, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2963 right_y=-0.0005 right_z=0.1824 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.5932, 9.4701, 1.8339, -0.0415, 0.1978, -0.0611, -0.4855, -1.5111, 9.7709, 1.7411, -0.1001, 0.1001, -0.0366] 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":0.26,"left_y":-0.16,"left_z":0.15,"left_gripper":1},"note":"I see plush animal toys and slim pens/highlighters. I’ll sort the plush toys into the left basket and the writing tools into the right, starting with the small brown toy."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe small brown plush is centered just ahead of the left fingertips. I’m lowering around its body, clear of the yellow pen beside it.
move_to
left_x0.2800left_y-0.1800left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9787, 1.1053, 0.6353, -0.4049, -0.7601, -0.6804, 0.9996, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.257 left_y=-0.1576 left_z=0.1385 left_yaw=-0.0227 left_pitch=-0.0286 left_roll=0.0238 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=-0.0006 right_pitch=-0.0092 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.0342, -3.3983, 9.0598, 1.1844, -0.5201, -0.0513, -0.0611, -0.3624, -1.2513, 7.4188, 1.8193, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.18,"left_z":0.025},"note":"The small brown plush is centered just ahead of the left fingertips. I’m lowering around its body, clear of the yellow pen beside it."})
tool
executing move_to over 8 steps (0.8s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe brown plush’s torso lies between the open jaws. I’m closing on its soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9524, 1.5909, 0.4362, 0.2729, -0.7364, -0.6624, 0.9995, -0.0208, 0.7994, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2776 left_y=-0.1793 left_z=0.0211 left_yaw=-0.0213 left_pitch=-0.0478 left_roll=0.0334 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0103 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.1709, -5.8598, 4.0957, 1.4237, -0.4225, 0.0708, -0.0171, -0.3487, -1.3607, 7.0359, 1.7509, -0.022, -0.022, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The brown plush’s torso lies between the open jaws. I’m closing on its soft body."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe jaws stopped above the empty-gripper width, suggesting a grip on the plush. I’m lifting it clear to check that it follows.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9524, 1.5906, 0.4355, 0.2821, -0.7341, -0.6659, 0.1307, -0.0208, 0.8024, 0.6079, -0.3855, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2781 left_y=-0.1806 left_z=0.022 left_yaw=-0.0213 left_pitch=-0.0439 left_roll=0.0225 left_gripper=0.1307 right_x=0.2951 right_y=-0.0006 right_z=0.1783 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.0889, -5.4906, 4.7795, 1.2967, -0.3736, 0.0171, 0.9792, -0.2393, -1.4974, 7.2, 1.7411, -0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The jaws stopped above the empty-gripper width, suggesting a grip on the plush. I’m lifting it clear to check that it follows."})
tool
executing move_to over 11 steps (1.1s)
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 brown plush rose with the gripper. I’m carrying it above the left basket’s opening.
move_to
left_x0.4750left_y-0.1500left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9524, 1.2297, 0.8829, -0.543, -0.7254, -0.6739, 0.1371, -0.0208, 0.8032, 0.6075, -0.3855, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.2781 left_y=-0.1824 left_z=0.1769 left_yaw=-0.0221 left_pitch=-0.0592 left_roll=0.0254 left_gripper=0.1371 right_x=0.2951 right_y=-0.0006 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.1846, -5.3402, 9.388, 1.0427, -0.4518, 0.0464, 1.033, -0.253, -1.3197, 7.2684, 1.7265, -0.0659, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.475,"left_y":-0.15,"left_z":0.23},"note":"The brown plush rose with the gripper. I’m carrying it above the left basket’s opening."})
tool
executing move_to over 16 steps (1.6s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe plush is above the left basket. I’m lowering it toward the basket floor before releasing.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4328, 1.7115, 1.4483, -0.4553, -0.358, -0.2764, 0.1419, -0.0208, 0.8062, 0.6075, -0.3855, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4692 left_y=-0.1446 left_z=0.2127 left_yaw=0.0006 left_pitch=-0.1033 left_roll=0.0313 left_gripper=0.1419 right_x=0.2953 right_y=-0.0007 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.0191 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.253, -8.6222, 9.894, 1.7802, -0.0952, 0.2027, 1.0281, -0.3077, -1.5248, 7.0496, 1.6923, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The plush is above the left basket. I’m lowering it toward the basket floor before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe brown plush is inside the basket opening. I’m opening the jaws to leave it in the toy basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4332, 1.776, 1.1824, -0.1593, -0.358, -0.284, 0.1455, -0.0208, 0.8082, 0.6075, -0.3855, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.4653 left_y=-0.143 left_z=0.1223 left_yaw=0.0061 left_pitch=-0.1342 left_roll=0.04 left_gripper=0.1455 right_x=0.2954 right_y=-0.0006 right_z=0.1765 right_yaw=-0.0003 right_pitch=-0.021 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.0068, -9.7299, 6.7077, 1.7753, -0.1734, 0.0073, 1.033, -0.3624, -1.4564, 7.0496, 1.7314, -0.0122, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown plush is inside the basket opening. I’m opening the jaws to leave it in the toy basket."})
tool
executing move_to over 9 steps (0.9s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe brown toy has been released. I’m moving above the gray plush near the left edge for the next pickup.
move_to
left_x0.2900left_y-0.0350left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4332, 1.776, 1.1824, -0.1635, -0.358, -0.2878, 0.9953, -0.0208, 0.812, 0.6075, -0.3866, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.4647 left_y=-0.1428 left_z=0.1216 left_yaw=0.0083 left_pitch=-0.1379 left_roll=0.0388 left_gripper=0.9953 right_x=0.2955 right_y=-0.0006 right_z=0.1752 right_yaw=-0.0003 right_pitch=-0.026 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.1709, -9.2239, 6.5709, 1.5458, -0.2271, -0.0073, -0.0904, -0.0615, -1.6068, 7.0359, 1.7118, -0.0611, -0.0464, -0.0171] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.035,"left_z":0.16},"note":"The brown toy has been released. I’m moving above the gray plush near the left edge for the next pickup."})
tool
executing move_to over 14 steps (1.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe gray plush is left of the jaw centerline and nearer the table’s front. I’m aligning over its body and lowering, while restoring the idle arm’s parked height.
move_to
left_x0.2550left_y0.0100left_z0.0250right_x0.2960right_y0.0000right_z0.1850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2829, 0.9127, 0.6678, -0.4625, -0.2607, -0.1974, 0.9967, -0.0208, 0.8177, 0.6067, -0.387, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.2959 left_y=-0.0348 left_z=0.1634 left_yaw=0.0276 left_pitch=-0.1178 left_roll=0.0298 left_gripper=0.9967 right_x=0.2957 right_y=-0.0006 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.0328 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.1026, -1.7846, 6.653, 1.7021, 0.0073, 0.1245, 0.1343, -0.253, -1.7573, 7.1316, 1.6923, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":0.01,"left_z":0.025,"right_x":0.296,"right_y":0,"right_z":0.185},"note":"The gray plush is left of the jaw centerline and nearer the table’s front. I’m aligning over its body and lowering, while restoring the idle arm’s parked height."})
tool
executing move_to over 9 steps (0.9s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe descent met the bulky gray plush before reaching the requested height. I’m easing upward slightly and closing around its body rather than pressing down.
move_to
left_x0.2750left_z0.0650left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0162, 0.8501, 0.1005, 0.1902, -0.0731, -0.0139, 0.9969, -0.0208, 0.8211, 0.6231, -0.4335, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.2751 left_y=0.012 left_z=0.0568 left_yaw=0.0365 left_pitch=0.003 left_roll=0.0434 left_gripper=0.9969 right_x=0.2914 right_y=-0.0006 right_z=0.1704 right_yaw=-0.0003 right_pitch=-0.0664 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.3897, 0.5265, 3.9179, 0.9841, 0.1685, -0.1343, 0.0024, 0.0889, -1.3333, 9.5248, 1.707, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_z":0.065,"left_gripper":0},"note":"The descent met the bulky gray plush before reaching the requested height. I’m easing upward slightly and closing around its body rather than pressing down."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe gripper closed empty beside the gray toy. I’m reopening and shifting a few centimeters left and forward to put the torso between the jaws.
move_to
left_x0.2950left_y0.0450left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0151, 0.8417, 0.1188, 0.1722, -0.0738, -0.0151, 0.0127, -0.02, 0.8249, 0.6235, -0.4358, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.2778 left_y=0.0124 left_z=0.0631 left_yaw=0.0389 left_pitch=0.0118 left_roll=0.0424 left_gripper=0.0127 right_x=0.2914 right_y=-0.0005 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0721 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0889, -0.8684, 5.641, 1.7998, -0.0317, -0.0171, 1.1013, -0.0889, -1.6889, 6.9812, 1.7118, -0.0415, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.045,"left_z":0.035,"left_gripper":1},"note":"The gripper closed empty beside the gray toy. I’m reopening and shifting a few centimeters left and forward to put the torso between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe gray plush now overlaps the jaws near its lower body. I’m trying a second grip at this corrected position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.202, 1.2243, 0.0998, 0.5514, 0.1123, 0.0906, 0.9985, -0.02, 0.8295, 0.6201, -0.4362, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.2939 left_y=0.0436 left_z=0.0322 left_yaw=0.0422 left_pitch=-0.008 left_roll=0.0318 left_gripper=0.9985 right_x=0.2911 right_y=-0.0003 right_z=0.1662 right_yaw=0.0005 right_pitch=-0.0805 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.5402, -2.4821, 4.5607, 1.917, -0.022, 0.0317, -0.1441, -0.253, -1.812, 7.2684, 1.6972, -0.0024, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush now overlaps the jaws near its lower body. I’m trying a second grip at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe second gray-toy grip was empty; it is now against the left-side reach limit, so I won’t keep squeezing beside it. I’m switching to the yellow writing tool.
move_to
left_x0.2800left_y-0.1100left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2016, 1.2289, 0.0998, 0.5621, 0.112, 0.0895, 0.0129, -0.02, 0.8299, 0.6197, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.295 left_y=0.0438 left_z=0.0331 left_yaw=0.0427 left_pitch=-0.002 left_roll=0.032 left_gripper=0.0129 right_x=0.291 right_y=-0.0004 right_z=0.1658 right_yaw=0.0002 right_pitch=-0.0816 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0889, -2.6735, 5.4769, 1.6972, -0.0171, -0.0415, 1.16, -0.0752, -1.2923, 7.0085, 1.6581, -0.0317, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.11,"left_z":0.14,"left_gripper":1},"note":"The second gray-toy grip was empty; it is now against the left-side reach limit, so I won’t keep squeezing beside it. I’m switching to the yellow writing tool."})
tool
executing move_to over 14 steps (1.4s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe yellow pen runs front-to-back just left of the jaw center. I’m aligning across its shaft and lowering to table level.
move_to
left_x0.2800left_y-0.0980left_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.765, 1.0157, 0.5346, -0.271, -0.646, -0.4965, 0.9988, -0.02, 0.836, 0.614, -0.437, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.2782 left_y=-0.1147 left_z=0.1321 left_yaw=0.011 left_pitch=-0.0159 left_roll=0.03 left_gripper=0.9988 right_x=0.2904 right_y=-0.0004 right_z=0.1615 right_yaw=0.0002 right_pitch=-0.0938 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.0615, -2.3453, 8.6906, 1.2576, -0.4908, -0.0952, -0.1441, -0.2393, -1.8667, 7.4735, 1.6532, -0.0513, -0.0708, -0.0171] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.098,"left_z":-0.008},"note":"The yellow pen runs front-to-back just left of the jaw center. I’m aligning across its shaft and lowering to table level."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteAt table height the yellow shaft is still slightly left of center. I’m making a small lateral correction while closing across it.
move_to
left_y-0.0770left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6872, 1.6264, 0.152, 0.7712, -0.6022, -0.448, 0.9983, -0.02, 0.8383, 0.6136, -0.4366, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.2842 left_y=-0.0991 left_z=-0.0018 left_yaw=0.0298 left_pitch=-0.0007 left_roll=0.0162 left_gripper=0.9983 right_x=0.2905 right_y=-0.0003 right_z=0.1608 right_yaw=0.0003 right_pitch=-0.0961 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [0.0342, -3.3162, 1.9761, 1.0574, -0.1197, 0.0757, -0.0659, -0.2393, -1.1009, 7.0359, 1.6532, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.077,"left_gripper":0},"note":"At table height the yellow shaft is still slightly left of center. I’m making a small lateral correction while closing across it."})
tool
executing move_to over 10 steps (1.0s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe jaws are holding a pen-sized thickness. I’m lifting the yellow pen to verify the grasp and clear the tabletop.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5835, 1.6112, 0.1062, 0.8444, -0.5339, -0.3828, 0.1636, -0.02, 0.8379, 0.6136, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.287 left_y=-0.0775 left_z=-0.0009 left_yaw=0.0459 left_pitch=0.005 left_roll=0.0112 left_gripper=0.1636 right_x=0.2905 right_y=-0.0004 right_z=0.1609 right_yaw=0.0002 right_pitch=-0.0958 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.1846, -4.8342, 2.4, 1.5702, -0.1001, 0.0708, 1.0037, -0.212, -1.2239, 7.0085, 1.6239, -0.0415, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The jaws are holding a pen-sized thickness. I’m lifting the yellow pen to verify the grasp and clear the tabletop."})
tool
executing move_to over 12 steps (1.2s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe yellow pen is lifted securely. I’m carrying it over the right basket, reserved for writing tools.
move_to
left_x0.4800left_y-0.4000left_z0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5838, 0.9012, 0.6277, -0.3855, -0.5232, -0.382, 0.1729, -0.02, 0.8425, 0.6136, -0.4366, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.2882 left_y=-0.0803 left_z=0.1741 left_yaw=0.0367 left_pitch=0.0024 left_roll=0.0056 left_gripper=0.1729 right_x=0.2907 right_y=-0.0003 right_z=0.1597 right_yaw=0.0005 right_pitch=-0.1003 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1299, -2.5641, 8.5949, 1.3944, -0.3053, -0.0611, 1.0281, -0.0479, -1.7162, 7.0222, 1.6728, -0.0366, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.4,"left_z":0.21},"note":"The yellow pen is lifted securely. I’m carrying it over the right basket, reserved for writing tools."})
tool
executing move_to over 29 steps (2.9s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe yellow pen is over the right basket opening. I’m lowering a short distance and releasing it into that basket.
move_to
left_z0.1550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.889, 2.5397, 2.6083, -0.8867, -0.7547, -0.6636, 0.1785, -0.02, 0.8463, 0.6132, -0.4374, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4836 left_y=-0.3981 left_z=0.1932 left_yaw=0.0538 left_pitch=0.0011 left_roll=-0.0107 left_gripper=0.1785 right_x=0.2907 right_y=-0.0004 right_z=0.1583 right_yaw=0.0002 right_pitch=-0.1053 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.8, -11.959, 4.9436, 0.2418, -0.3883, 0.1636, 1.0281, -0.335, -1.6752, 7.159, 1.6337, 0.0024, -0.0464, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.155,"left_gripper":1},"note":"The yellow pen is over the right basket opening. I’m lowering a short distance and releasing it into that basket."})
tool
executing move_to over 9 steps (0.9s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe yellow pen is visible inside the right basket. I’m moving back above the larger tan plush in the middle of the table.
move_to
left_x0.2900left_y-0.3100left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8909, 2.5191, 2.3383, -0.7086, -0.7479, -0.6731, 0.9882, -0.02, 0.8474, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.481 left_y=-0.3982 left_z=0.126 left_yaw=0.0536 left_pitch=-0.0449 left_roll=0.0361 left_gripper=0.9882 right_x=0.2909 right_y=-0.0004 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.1057 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2256, -18.7009, 6.2017, 1.5067, -0.4225, 0.0757, -0.0562, -0.3487, -1.6068, 6.9812, 1.6337, -0.0366, -0.0415, -0.0171] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.31,"left_z":0.18},"note":"The yellow pen is visible inside the right basket. I’m moving back above the larger tan plush in the middle of the table."})
tool
executing move_to over 15 steps (1.5s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe tan plush’s torso is aligned between the jaws. I’m lowering to grasp its body below the head.
move_to
left_x0.3000left_y-0.3100left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1469, 1.8114, 1.438, -0.7391, -0.8612, -0.9642, 0.9883, -0.02, 0.8513, 0.6132, -0.4362, -0.0109, -0.0261, 0.9997] state[eef_state]: left_x=0.296 left_y=-0.3215 left_z=0.1689 left_yaw=0.0282 left_pitch=-0.0633 left_roll=0.0399 left_gripper=0.9883 right_x=0.2911 right_y=-0.0003 right_z=0.1572 right_yaw=0.0003 right_pitch=-0.1091 right_roll=0.001 right_gripper=0.9997 state[joint_eff]: [-0.2803, -11.0427, 6.2564, 1.0769, -0.6325, -0.1001, 0.0024, -0.2393, -1.4701, 7.0222, 1.707, -0.0366, -0.0317, -0.0171] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.31,"left_z":0.035},"note":"The tan plush’s torso is aligned between the jaws. I’m lowering to grasp its body below the head."})
tool
executing move_to over 9 steps (0.9s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteThe jaws straddle the tan plush’s upper body. I’m closing gently through the soft stuffing to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1198, 1.9335, 1.103, -0.2409, -0.8749, -0.9421, 0.9883, -0.02, 0.8513, 0.6132, -0.4366, -0.0113, -0.0265, 0.9998] state[eef_state]: left_x=0.3044 left_y=-0.3092 left_z=0.0576 left_yaw=0.0481 left_pitch=-0.0365 left_roll=0.0248 left_gripper=0.9883 right_x=0.2911 right_y=-0.0003 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.1095 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1983, -6.653, 3.9726, 0.6716, -0.0952, 0.0904, -0.0073, -0.212, -1.1556, 6.9812, 1.6239, -0.0269, -0.0415, -0.0073] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws straddle the tan plush’s upper body. I’m closing gently through the soft stuffing to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteThe gripper retained a substantial thickness of the tan toy. I’m lifting it to confirm the grasp and clear its dangling limbs.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1206, 1.9411, 1.0996, -0.1967, -0.8864, -0.9512, 0.1985, -0.02, 0.8513, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.3074 left_y=-0.3133 left_z=0.0589 left_yaw=0.0572 left_pitch=-0.0144 left_roll=-0.0096 left_gripper=0.1985 right_x=0.2911 right_y=-0.0004 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.1095 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0068, -10.1949, 5.8188, 0.6374, -0.3199, 0.0464, 0.6618, -0.2256, -1.5385, 7.0359, 1.6777, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22},"note":"The gripper retained a substantial thickness of the tan toy. I’m lifting it to confirm the grasp and clear its dangling limbs."})
tool
executing move_to over 11 steps (1.1s)
step 257
top_cam
camera top_cam step 257
left_cam
camera left_cam step 257
right_cam
camera right_cam step 257
assistant
agent noteThe tan plush lifted with the gripper. I’m carrying it to the left basket alongside the smaller brown toy.
move_to
left_x0.4650left_y-0.1500left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1206, 1.8126, 1.4975, -0.7559, -0.8654, -0.9623, 0.2011, -0.02, 0.8513, 0.6132, -0.4366, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.3085 left_y=-0.3209 left_z=0.1875 left_yaw=0.0534 left_pitch=-0.0438 left_roll=0.0045 left_gripper=0.2011 right_x=0.2911 right_y=-0.0003 right_z=0.1571 right_yaw=0.0005 right_pitch=-0.1095 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.2256, -12.6974, 8.7043, 1.0037, -0.6325, 0.0806, 0.2613, -0.1709, -1.2239, 6.9675, 1.6386, -0.0171, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.15,"left_z":0.24},"note":"The tan plush lifted with the gripper. I’m carrying it to the left basket alongside the smaller brown toy."})
tool
executing move_to over 16 steps (1.6s)
step 273
top_cam
camera top_cam step 273
left_cam
camera left_cam step 273
assistant
agent noteThe larger plush hangs toward the basket’s front edge. I’m moving it farther into the opening and lowering before letting go.
move_to
left_x0.5050left_y-0.1500left_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.485, 1.6943, 1.4353, -0.5152, -0.4633, -0.3916, 0.203, -0.02, 0.8539, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4524 left_y=-0.1451 left_z=0.2099 left_yaw=0.0972 left_pitch=-0.1146 left_roll=0.0306 left_gripper=0.203 right_x=0.2912 right_y=-0.0004 right_z=0.1564 right_yaw=0.0002 right_pitch=-0.1122 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.1162, -9.0188, 10.4274, 1.8388, -0.1392, 0.1734, 0.188, -0.1846, -1.5795, 6.9812, 1.6679, -0.0269, -0.0611, -0.0171] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.505,"left_y":-0.15,"left_z":0.17},"note":"The larger plush hangs toward the basket’s front edge. I’m moving it farther into the opening and lowering before letting go."})
tool
executing move_to over 5 steps (0.5s)
step 278
assistant
agent noteThe tan plush is lowered into the left basket. I’m releasing it with the other toy.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.437, 1.8847, 1.4723, -0.4355, -0.4309, -0.3737, 0.2047, -0.02, 0.8566, 0.6132, -0.437, -0.0109, -0.0265, 0.9998] state[eef_state]: left_x=0.4881 left_y=-0.1426 left_z=0.1471 left_yaw=0.1163 left_pitch=-0.1899 left_roll=0.0643 left_gripper=0.2047 right_x=0.2913 right_y=-0.0003 right_z=0.1556 right_yaw=0.0005 right_pitch=-0.1152 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0068, -10.3863, 10.0991, 1.7949, -0.2613, 0.1538, 0.1587, -0.3077, -1.7983, 6.9675, 1.6044, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The tan plush is lowered into the left basket. I’m releasing it with the other toy."})
tool
executing move_to over 8 steps (0.8s)
step 286
assistant
agent noteThe tan plush has been released in the toy basket. I’m parking the left arm and aligning the right gripper over the two neighboring blue and black writing tools.
move_to
left_x0.3000left_y0.0000left_z0.2300right_x0.2750right_y0.0650right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4332, 1.8927, 1.4853, -0.3958, -0.4297, -0.3664, 0.995, -0.02, 0.8585, 0.6132, -0.4362, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4976 left_y=-0.1451 left_z=0.1546 left_yaw=0.1113 left_pitch=-0.1525 left_roll=0.0454 left_gripper=0.995 right_x=0.2915 right_y=-0.0004 right_z=0.1553 right_yaw=0.0 right_pitch=-0.1163 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [-0.3077, -10.2359, 9.3333, 1.6532, -0.1978, 0.0904, 0.0464, -0.0342, -1.5932, 6.9538, 1.6484, -0.0122, -0.022, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.23,"right_x":0.275,"right_y":0.065,"right_z":0.14},"note":"The tan plush has been released in the toy basket. I’m parking the left arm and aligning the right gripper over the two neighboring blue and black writing tools."})
tool
executing move_to over 16 steps (1.6s)
step 302
assistant
agent noteBoth pens fit within the open jaw span and lie nearly parallel. I’m lowering across their shafts to collect them together.
move_to
right_x0.2900right_y0.0600right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1539, 1.005, 0.9859, -0.6937, -0.2516, -0.1894, 0.9967, 0.4095, 0.8646, 0.5674, -0.4347, 0.2935, 0.2295, 0.9998] state[eef_state]: left_x=0.3108 left_y=-0.0001 left_z=0.2326 left_yaw=0.1448 left_pitch=-0.1249 left_roll=0.032 left_gripper=0.9967 right_x=0.2744 right_y=0.0673 right_z=0.1388 right_yaw=0.034 right_pitch=-0.129 right_roll=-0.0046 right_gripper=0.9998 state[joint_eff]: [0.0205, -2.5641, 6.612, 1.7363, 0.0122, 0.1832, 0.1685, 0.2667, -1.1966, 6.653, 1.6972, 0.2613, 0.1587, -0.0122] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.06,"right_z":-0.008},"note":"Both pens fit within the open jaw span and lie nearly parallel. I’m lowering across their shafts to collect them together."})
tool
executing move_to over 10 steps (1.0s)
step 312
assistant
agent noteThe blue and black shafts lie inside the jaws at table height. I’m closing across both pens.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1539, 1.0126, 0.9852, -0.7128, -0.2394, -0.1944, 0.9969, 0.3378, 1.4048, 0.1825, 0.5426, 0.2306, 0.1982, 0.9997] state[eef_state]: left_x=0.3086 left_y=-0.0019 left_z=0.2263 left_yaw=0.1384 left_pitch=-0.1534 left_roll=0.0284 left_gripper=0.9969 right_x=0.2998 right_y=0.0663 right_z=0.0106 right_yaw=0.0333 right_pitch=-0.0933 right_roll=0.0271 right_gripper=0.9997 state[joint_eff]: [-0.3077, -2.947, 6.9949, 1.8632, -0.2125, -0.0269, 0.0024, -0.8547, -1.5521, 1.7162, -0.1343, 0.0708, -0.3004, -0.0171] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue and black shafts lie inside the jaws at table height. I’m closing across both pens."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteThe gripper holds a combined width consistent with both pens. I’m lifting them clear and checking that they move together.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1539, 1.0138, 0.9852, -0.7174, -0.2386, -0.1944, 0.9969, 0.3389, 1.4086, 0.173, 0.58, 0.2241, 0.1947, 0.3202] state[eef_state]: left_x=0.308 left_y=-0.0019 left_z=0.2251 left_yaw=0.138 left_pitch=-0.159 left_roll=0.0295 left_gripper=0.9969 right_x=0.3012 right_y=0.0684 right_z=0.0134 right_yaw=0.0423 right_pitch=-0.0715 right_roll=0.0353 right_gripper=0.3202 state[joint_eff]: [-0.0889, -2.6188, 6.7214, 1.6093, -0.1245, -0.0415, -0.0122, -0.4308, -4.0547, 5.2855, 1.2576, 0.0904, -0.022, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The gripper holds a combined width consistent with both pens. I’m lifting them clear and checking that they move together."})
tool
executing move_to over 11 steps (1.1s)
step 333
assistant
agent noteBoth pens are suspended in the right gripper. I’m moving them above the right basket with the yellow pen.
move_to
right_x0.4850right_y0.2500right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1535, 1.0203, 0.9852, -0.7177, -0.2386, -0.1947, 0.9969, 0.3389, 0.9432, 0.6556, -0.3588, 0.223, 0.194, 0.3191] state[eef_state]: left_x=0.3087 left_y=-0.0019 left_z=0.2232 left_yaw=0.1389 left_pitch=-0.1656 left_roll=0.0313 left_gripper=0.9969 right_x=0.3046 right_y=0.0698 right_z=0.1679 right_yaw=0.0439 right_pitch=-0.063 right_roll=0.038 right_gripper=0.3191 state[joint_eff]: [-0.0342, -3.0974, 6.8855, 1.5311, -0.1197, -0.0464, -0.0122, -0.253, -2.947, 9.4154, 1.4481, 0.1001, -0.0415, -0.1294] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.25,"right_z":0.22},"note":"Both pens are suspended in the right gripper. I’m moving them above the right basket with the yellow pen."})
tool
executing move_to over 16 steps (1.6s)
step 349
assistant
agent noteThe long pens extend toward the basket’s front rim. I’m advancing farther over the basket and lowering so their full lengths land inside.
move_to
right_x0.5500right_y0.2500right_z0.1550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7193, -0.239, -0.1947, 0.9969, 0.5976, 1.9114, 1.6669, -0.4713, 0.408, 0.3458, 0.319] state[eef_state]: left_x=0.3091 left_y=-0.0019 left_z=0.2211 left_yaw=0.1396 left_pitch=-0.1732 left_roll=0.0339 left_gripper=0.9969 right_x=0.4803 right_y=0.2465 right_z=0.2075 right_yaw=0.0671 right_pitch=-0.0814 right_roll=0.0256 right_gripper=0.319 state[joint_eff]: [-0.1573, -3.1385, 6.9402, 1.5507, -0.149, -0.0513, -0.0122, 0.4991, -10.9744, 8.841, 1.2332, 0.4029, 0.2076, -0.0269] camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.25,"right_z":0.155},"note":"The long pens extend toward the basket’s front rim. I’m advancing farther over the basket and lowering so their full lengths land inside."})
tool
executing move_to over 6 steps (0.6s)
step 355
assistant
agent noteThe gripper is positioned within the writing-tool basket opening. I’m releasing, then I’ll move clear to verify what landed inside.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7189, -0.2386, -0.1944, 0.9969, 0.5293, 2.1593, 1.7805, -0.4057, 0.3508, 0.2955, 0.319] state[eef_state]: left_x=0.3092 left_y=-0.002 left_z=0.2212 left_yaw=0.1391 left_pitch=-0.1729 left_roll=0.0338 left_gripper=0.9969 right_x=0.5325 right_y=0.2453 right_z=0.1302 right_yaw=0.0681 right_pitch=-0.1605 right_roll=-0.012 right_gripper=0.319 state[joint_eff]: [-0.1299, -2.4137, 6.7214, 1.5214, -0.1343, -0.0366, -0.0122, -0.8137, -12.7111, 10.3453, 1.6288, 0.2076, 0.0855, -0.0122] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The gripper is positioned within the writing-tool basket opening. I’m releasing, then I’ll move clear to verify what landed inside."})
tool
executing move_to over 7 steps (0.7s)
step 362
assistant
agent noteI’m withdrawing the right arm to inspect the basket and remaining tabletop objects without the gripper blocking the view.
move_to
right_x0.3000right_y0.0000right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7177, -0.2386, -0.1947, 0.9969, 0.524, 2.1731, 1.7844, -0.4072, 0.3466, 0.2905, 0.9946] state[eef_state]: left_x=0.3094 left_y=-0.002 left_z=0.2214 left_yaw=0.1392 left_pitch=-0.1718 left_roll=0.0332 left_gripper=0.9969 right_x=0.5342 right_y=0.2435 right_z=0.1236 right_yaw=0.068 right_pitch=-0.1721 right_roll=-0.0182 right_gripper=0.9946 state[joint_eff]: [-0.1846, -2.6188, 6.9402, 1.5897, -0.105, -0.0562, -0.0122, 0.0615, -13.9009, 6.4889, 1.5214, 0.0952, 0.022, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.22},"note":"I’m withdrawing the right arm to inspect the basket and remaining tabletop objects without the gripper blocking the view."})
tool
executing move_to over 21 steps (2.1s)
step 383
assistant
agent notePartially completed: the two tan/brown plush toys are in the left basket and the yellow writing tool is in the right basket. The gray plush remains near the left reach boundary, and the blue and black pens remained on the table after the attempted combined pickup. I cannot complete the remaining pickups within this trial.
give_up
hindsightA nonempty gripper reading alone did not verify the combined pen pickup: both pens stayed on the table despite a reading around 0.32. Confirm actual displacement in the overhead view before transporting, and pick slim pens individually. The gray plush shifted toward the left boundary during missed grasps; avoid additional lateral attempts at the fence-side limit. Basket targets near x=0.49, left_y=-0.15 for toys and right_y=0.25 for writing tools worked.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1535, 1.0286, 0.9852, -0.7177, -0.2386, -0.1947, 0.9969, -0.0345, 0.9962, 0.9562, -0.6632, -0.0246, -0.0666, 0.9949] state[eef_state]: left_x=0.3096 left_y=-0.002 left_z=0.2208 left_yaw=0.1393 left_pitch=-0.1736 left_roll=0.0337 left_gripper=0.9969 right_x=0.3121 right_y=-0.0028 right_z=0.2244 right_yaw=0.0195 right_pitch=-0.1382 right_roll=-0.0206 right_gripper=0.9949 state[joint_eff]: [-0.0479, -2.6051, 6.7487, 1.58, -0.149, -0.0122, -0.0122, -0.1436, -2.6051, 6.7214, 1.6337, -0.149, -0.0708, 0.0269] camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: the two tan/brown plush toys are in the left basket and the yellow writing tool is in the right basket. The gray plush remains near the left reach boundary, and the blue and black pens remained on the table after the attempted combined pickup. I cannot complete the remaining pickups within this trial.","hindsight":"A nonempty gripper reading alone did not verify the combined pen pickup: both pens stayed on the table despite a reading around 0.32. Confirm actual displacement in the overhead view before transporting, and pick slim pens individually. The gray plush shifted toward the left boundary during missed grasps; avoid additional lateral attempts at the fence-side limit. Basket targets near x=0.49, left_y=-0.15 for toys and right_y=0.25 for writing tools worked."})
tool
give_up: Partially completed: the two tan/brown plush toys are in the left basket and the yellow writing tool is in the right basket. The gray plush remains near the left reach boundary, and the blue and black pens remained on the table after the attempted combined pickup. I cannot complete the remaining pickups within this trial.
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 · 13.6 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: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0219, -0.033, 0.9996, -0.0208, 0.7986, 0.6109, -0.3775, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2963 right_y=-0.0005 right_z=0.1824 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.5932, 9.4701, 1.8339, -0.0415, 0.1978, -0.0611, -0.4855, -1.5111, 9.7709, 1.7411, -0.1001, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aadcd06f2cba7747498eadecd6fc1af0340d0aac9b6ba953a964a18a78f9c10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557bc11e64c848ae7c0882f196e036203a0380140c421dd2a6e0eae433de7f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86885f978e9efc2d8e86c261add11d5811bf030cf0278cd9066d996032453a96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqss11gmZLyQuicVZUbNYKH1-yLrZ25u19iCpE8iF5AdvME3uN2f6yQBZuNvv0nE33g6rTWWZsQ4wNNvXj-HrNtCuYe-HCmsO0MXCWdavmXEHyHpKELhKBNdefwVMw3mV1I1OS-IPfB8jqB4brVslEJ7LrKvJZaKM_yccDs5XNTEsEdWEQLyac652Rk1ZiZ9vxH8cekZnQI5OIqcPM6yZYWYW2khvEnW5bBrJ7A2mxX8MnhKQdpoHm__qyNZ-scdAafYSR-n7GwShr3XfRFCN0JHcr1nQixrihwn8B_-xr12rYHx7C8A1Cv6rUqwPjZZLHZa3HjC3IOpXFfG9-3ZsZZrNmUOcFC5fy1tpBPSakKBMXSpMO8MWN1-Y3Xb6I3fL4oDVbbwI9nsWA_2K4W1ddMl3rq3Wo3tLQ1UkC55tW82EvQNS1bclxZYkF7Uw6eyMXVaS5N6x7H7BoakUrw-8Ft6u4XNbw1WzNxVJtwffsSgaM5yeoKtRV8EiLq-neWVaSt_LU0ZbWXPFHnCv5iqar2VWCvw0PiRZRFDeoO48KJz4vpFdnFanmZZyNAt27n5acYeKi8W-Xw1FiYYLapQ_U-tFLYDfI_KTtRihwVd49MX6Ixgb-ByaiGp3la6VXUfQhwSm4oyJRIr8HE7lm0XiEZwWsNk7Jr56PVKncRqlWruig-OCxiYutxOaNcKmy99iY-kJ_85b7fb0dbixbnBlGXDwk-5YIlBrFNUq2sjGrQvzhFRkwlZdwJ6hevpQROIZ-YS0M-Cgcm8TXqUI4lIoREGV59nMiYl41vyEvWL0enz3y_p4vUHXcM-SnvIHyJpkVFEwtS9TtYh-GSnPmjpcN1o2deCZkfMCI8xgAb4YbZb8CGh6kojmg8HavUiVmhegVKBzN42JTKUsY0YR6M4rFn2Q65z4c1bLnkM6eWaZe45be7KGWe3pkF6XlvZm73ME8lL41t3YrAJQOZAkN41uRrZU4Hf2bb59-DXFXpogeAuXZ5fe33ulgRLjp7dj_F_a2hV84f8QPrrtJgZH_u72pGleA-HUEU5suTyXG9Siu6o2X9i880avaGBErzcozTyxa-navkmVhaprbyZm5UmwFBbS3Gh8C1Dd6djVxAzYKmCfsGLndmKBSzQGnSZoLv62oyxzwGfaqCns4cfqEVwYt8H2rr-8xzgmDctMfuGyu2YIt2QLq9_DFEquJSHHFhrsZ8jggq3T_b__z4ckkZyIQe6-tuNAYQZdLT3P0vnSbdCoruqcY0kMwWFaIJkqn3Z8io74ZVBED1BfFEfF4PDH-vNhat_C2wvIA19MGzSPcYihZ6YD8U5rmtg0JrzYP5M1i4VG0hFEgvpiZvoqP8Xtql3maymepNNeB3UrhuErcl4uqsrze4K6dkAFTd0y7cv6m2GNRPBwDB8Vy9b2Ksa6yrSNyPxs7AkWW3X4756YraNGiBRbN450oHN4Vc9zVVL7Njt0WenWn3Ogwo0df8NDk0bxQf-WOB_xHOBTso498iedC646whHKddusiX0A4posdq9zgeM15M8PyKia5k_M_O5MCwJo4QphnXe2Mt6PWER-gZB5i7IiMqqzE__pdukkopjcQ75jEl3NuFfYNWwL8yxH0hlfPsM_nfwGaYuKTmBxwgeywNddDk2jP1iZsR4TiuMeUFHSWsm3Pq9ert5OQ1IbP9yCv_1S4F6zkxzF9GK9Dxkz46PhQEBkoLNM73pnQvImrjzQht3oC1jO14_JdcfqLGJ888Q5btucdgYOZnz3_fOC6wSWEOhBbuCuJan1V74p5Ox1zMHq18UqiOp7pR0NK4drbo8INys95kGdNg7akG74gPPUXPt2aZWK0NsWLs7xZUOOWklPR7IPW_Wf9yhF2ifMCD5qOgb5NHxVytdppPcnpZ8AWklMDd7J0CU8VAIuXT1urvi0FznfD3XabYrxoU_q2im1lkHetrLiKZju9Wt_uyNtxjFOEUyET-UWcVJnH-FolvTdL7Bo6qNBjayWgmiFUfCjbEE2sO7-YgA1evFrnS6v0QgIBDX8mpDDrKnBJRX42NqlDcCZTH85l_W4UxBiMmhlOXx1Y_wb-H4ju9LXra2rZETCjl0KGUCqfBxU3wTjwDm47Bbg2GXhbPAViWP4-ucRNXy3glEBun3b4mBOlWCcWQ7pcXoYm9A9i_huajYr7bLjzF1IT0LmhWfZcoQ==",
  "id": "rs_0b2dc6387791ce57016ab2cd6d8bc487d084552baa5617a5cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.16,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see plush animal toys and slim pens/highlighters. I’ll sort the plush toys into the left basket and the writing tools into the right, starting with the small brown toy.\"}",
  "call_id": "call_fJUvOLu7uV1zhadp1MgJCIwe",
  "id": "fc_0b2dc6387791ce57016ab2cd7415a087d0a9e2c54ba6704ad6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fJUvOLu7uV1zhadp1MgJCIwe",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9787, 1.1053, 0.6353, -0.4049, -0.7601, -0.6804, 0.9996, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.257 left_y=-0.1576 left_z=0.1385 left_yaw=-0.0227 left_pitch=-0.0286 left_roll=0.0238 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=-0.0006 right_pitch=-0.0092 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -3.3983, 9.0598, 1.1844, -0.5201, -0.0513, -0.0611, -0.3624, -1.2513, 7.4188, 1.8193, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be411bbd7731df9e88b595a8b5495f542f539ee53db761a9f7d6c85816dad27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ebd7bcbbecf5606e324676ae0647ac7cb57ec7748bc6ccc2cdf1401e28d5000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4156840be9da4c5128f00a7c0e32f22b57711a50418c3239944bef032a7595a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.372 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0219, -0.033, 0.9996, -0.0208, 0.7986, 0.6109, -0.3775, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2963 right_y=-0.0005 right_z=0.1824 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.5932, 9.4701, 1.8339, -0.0415, 0.1978, -0.0611, -0.4855, -1.5111, 9.7709, 1.7411, -0.1001, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss2A_7peWUm1-0ZUpxx92HGJZaFZqVkuINJhAwpufhV5SBeg6FMz8RUshOa2z4YbjfxB-jEITb6AAD0NSs-PFrMo0RcGsC8bglIJRLGcyl9T6BlALqBBZmr716oIiqsBYGWHZEOIfj2QhaeHnQery9lXhsnUu0oOUsn5P9DbRtnTWXa0FUZzMk9kwGbrBsnksjWNrtw7gEUsN_ITIJIrsNSRATbUICFSRxPozyemNzET_zSqRuHJxGAvNrDRx9_reGIM8LV52ySOCxK6ukKHfVJdcX9lYsfKHGqpf6-m7U64fkJsBmiOxYSmu7y4lff1H9eR7Elv1IR43Zzt_O7b9Kn_vLaV3dHZetYNuLGjYQMYftZunsXWA67X3f_ApM_VWxHbUJbWj_9SBbwsM7U6WDHvP6fJKjKULX5Dp1rXfjCFIR5eLFjzERJsS18c4Y3tcoBAIvcmUAvaxvk2DCz4Ddotd9Yy_8aFqtPR44wfQDCrz0zN_pME11TPx7q-6sK9wF_ayvyNpic42CEDjerMFRPzPmYAMVrQUH5MevAEBoSXRxDGCJZc9wgNiuitBNE5oW3ehfCJFG8DJs1Z6c_dbhpR4tIms1x8Bsbz5EsYcZ2LlaqGCHyKpdDd7wcrq8xnqgN-hWLzY6IssSnqBTufekXQZTHYVRi8LSJdF5aMlcJHi2xsu5UkgmMrYyvPSs88tm2Uvbx0nXfOHZ1fUl6qmFAE6KgytlAewwO-hxTsaT82b4zLxeCvXDglgdRXYSy9gBoh-07dS_TElVbBcCHMGicwXB2QbGmfUMG3rRT39JAMQwiBdUrEi91RvzRYIYomtti-O30KDY40RcTzYOXOBPb83oZgvHtVg5_ZQiQeykwPLpJuwq82DAO22AcIi5UCCmnLT9SbrS8RIWT41xQZ4N-yIeuMqPeWNrVweXWVQTuq2NlZ6iZ1FBoum4L6PgsM5e4_z5ZvHJv1US1-WYkR6rZ2RPVHrThCSMky4PzaIFvCdV7UWQ-xPHEiQRCvOFGBEh5zhP46S7TMrXwwzd6F3gXGZ9zisHicX2EF-q9YhX3SiLz10K8dxiYjsBSLqGGajXObOqqCHl_Y1ht5ksTTey2zTAelGwWgAkm1QpBHa3k3QZKT9gqbxpdXNN-opbAE55Y5SAKHThjF3gDfs3wrlv1_cZ-egtGwWbForXxCtoE74psAANcm3mBIiI5TobU3gVfZojIJjgvXI9CzSk4Gu9g1wrI9RBN0d_NajJsaqOidiWux86CbZ8UxIlaIVQzx222ioPTppuG2niz2vIXnbKbQlWcMhDo1koHldSVHlHnMrGgirNvEF4ZL_al1EzL6qNdx3oaScN9O4D4HaRI6nBIMHBJ944jpHwjv3VowMuwtmk2ZScjddqaLzTbCgBxielQoSzZ4Co9k6Qdn1BBk8sFFMB9X1y2e7BO9enup6WMWetzkt_kbdAQPFc5Hgmg5w6zXgK340hq-aSI3zRXd7iUKTPjFyh12zjCSv5vwEE7LISA=",
  "id": "rs_0b2dc6387791ce57016ab2cd7b615487d0b0fa56d505d62046",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.18,\"left_z\":0.025},\"note\":\"The small brown plush is centered just ahead of the left fingertips. I’m lowering around its body, clear of the yellow pen beside it.\"}",
  "call_id": "call_aNgcxYYScMlj3oo379F8Xp2y",
  "id": "fc_0b2dc6387791ce57016ab2cd7e4bc087d0bc6b55fba0e4d7fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aNgcxYYScMlj3oo379F8Xp2y",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 1.5909, 0.4362, 0.2729, -0.7364, -0.6624, 0.9995, -0.0208, 0.7994, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2776 left_y=-0.1793 left_z=0.0211 left_yaw=-0.0213 left_pitch=-0.0478 left_roll=0.0334 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0103 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -5.8598, 4.0957, 1.4237, -0.4225, 0.0708, -0.0171, -0.3487, -1.3607, 7.0359, 1.7509, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7019d4ee15a0a71462adea227a0d3fe65e590868ccddb11400500a7b96abe01b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc62d477b9a24b6dc5f22d62b2129969f128358597d9627afccc92305300bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ecede9521f784fa54e882b438d0ea39f63d62fd4b30fa4ebc73fdcf66471f7b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.11 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9787, 1.1053, 0.6353, -0.4049, -0.7601, -0.6804, 0.9996, -0.0208, 0.7986, 0.6086, -0.3843, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.257 left_y=-0.1576 left_z=0.1385 left_yaw=-0.0227 left_pitch=-0.0286 left_roll=0.0238 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1799 right_yaw=-0.0006 right_pitch=-0.0092 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -3.3983, 9.0598, 1.1844, -0.5201, -0.0513, -0.0611, -0.3624, -1.2513, 7.4188, 1.8193, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s torso lies between the open jaws. I’m closing on its soft body.\"}",
  "call_id": "call_icWqgAFnB4nmSSu3QRu4tDJM",
  "id": "fc_0b2dc6387791ce57016ab2cd85ec2c87d0b81cdce8575013d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_icWqgAFnB4nmSSu3QRu4tDJM",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 1.5906, 0.4355, 0.2821, -0.7341, -0.6659, 0.1307, -0.0208, 0.8024, 0.6079, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2781 left_y=-0.1806 left_z=0.022 left_yaw=-0.0213 left_pitch=-0.0439 left_roll=0.0225 left_gripper=0.1307 right_x=0.2951 right_y=-0.0006 right_z=0.1783 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.4906, 4.7795, 1.2967, -0.3736, 0.0171, 0.9792, -0.2393, -1.4974, 7.2, 1.7411, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d3e57f77676d8adf51f73c67b0dcaffd47822834f1b62ee27e0709f0ef718e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5971109b66003b2abd9438d88dff4a31ba5a27bb781581458b06e8c7d95475a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd852cb2f0f6f6da0ee3ff4d63abb68c90971919f08f9b7158f36843a6245a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.977 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 1.5909, 0.4362, 0.2729, -0.7364, -0.6624, 0.9995, -0.0208, 0.7994, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2776 left_y=-0.1793 left_z=0.0211 left_yaw=-0.0213 left_pitch=-0.0478 left_roll=0.0334 left_gripper=0.9995 right_x=0.2951 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0006 right_pitch=-0.0103 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -5.8598, 4.0957, 1.4237, -0.4225, 0.0708, -0.0171, -0.3487, -1.3607, 7.0359, 1.7509, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The jaws stopped above the empty-gripper width, suggesting a grip on the plush. I’m lifting it clear to check that it follows.\"}",
  "call_id": "call_9CabvFE98a9zqRu2IumvxTLG",
  "id": "fc_0b2dc6387791ce57016ab2cd8a906887d0bdc2b9943421df61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9CabvFE98a9zqRu2IumvxTLG",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 1.2297, 0.8829, -0.543, -0.7254, -0.6739, 0.1371, -0.0208, 0.8032, 0.6075, -0.3855, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2781 left_y=-0.1824 left_z=0.1769 left_yaw=-0.0221 left_pitch=-0.0592 left_roll=0.0254 left_gripper=0.1371 right_x=0.2951 right_y=-0.0006 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.3402, 9.388, 1.0427, -0.4518, 0.0464, 1.033, -0.253, -1.3197, 7.2684, 1.7265, -0.0659, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49634f1fd8c5b3dbedae87043a7d4a9a4524cfd86e21c13ff9f63d751085d686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6bb1c38c84598e035c4c10c24c4b481bef024b7ae66e4f2d29e5a3b33c46eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694e301722886a89a16e05ec1ba6fd5c4e41e67adf360aefbce7c10497ab1a35",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.099 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 1.5906, 0.4355, 0.2821, -0.7341, -0.6659, 0.1307, -0.0208, 0.8024, 0.6079, -0.3855, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2781 left_y=-0.1806 left_z=0.022 left_yaw=-0.0213 left_pitch=-0.0439 left_roll=0.0225 left_gripper=0.1307 right_x=0.2951 right_y=-0.0006 right_z=0.1783 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.4906, 4.7795, 1.2967, -0.3736, 0.0171, 0.9792, -0.2393, -1.4974, 7.2, 1.7411, -0.0122, -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": "gAAAAABqss2V1G3q5g1pyQ2DJvLShiWZ0X3SGYmiH_1MSEV9b5vCcdNMyZbgCAYWBD6rjfbIAXPU-wUXdi-nRl-Rgsfy_fCwuIapQ68v6Npoav47fFaGU8o7LYxad2lY78qWFy053VpdKOVLFEYxFUjfbEa8YfMuyG44x7E8QituyRv6dplql52VD-d6GmAEhngHt0GDea7zoTITAWdiNn2b_j87C4TbvC_omcuNGttbFQA_SeaK8CCKWR2lZKPY7SrJudmXahfl6VmMJnpX112HyulQVGtjz3MwBOaVkAEAb8BebLAYtdMExBXoGMCnuUOsOFI8gfUGArfzMBXVjbmeX8f_OqZ8iIIeYBZnDrxykjOj-0MPebBVuYVfYzMLLyiBd0qu4KibPLHxx38Qs-rk8uiNElay3352sVKOMhEHHgDFJKWr-AIbylb8UHHbhrAZh1eDQu2bl9mfYad_TFjnDfnvHJwUgqMPr61RHeie7ncStNS__JGciq3fqipzaspeseuPq5LCcmTRHoLOOn9oAzCGGvxczB3s3XG_o7XLEztr5RD_PJm_foCURmd4nfrufa0Q9jfPPcP9pzpjVAs9ABC6AVLS1xXhqhmXg46Sh8h8MY2JQYHmnm4_9D1Iw3vTNpu9IRZRD-43GaGydJo2su4EhlPcHPZSr4iFs9C2lhEDKYxRCrjujglx8Kif1UqXhe3nPyPmo5AKV5LYfImXjXR6D1OED5Mu9KtLbXZU8i0OklKPzqbkaXjv-q_zP55JTge_iynm-H0c5nTKuLukOCnMEbP72f5YgZaqvNkp2WyJEG29asMHdHejQjM3ytmHzkwfUAMpcpR9i6ymwIJ5k6tjEBn4l9afRML99D3aK72C_VwDWhkyeHLmGy4XxUuLXWnQvz2UFYs5DJd6mEDKuY7-xy3-Sw1O91VDx-1ZKJwqpKlAfAaSj4PWgq31No4ueQTYxN-qc_RaoTjiYbj9ALJv4hKQl2v5Kf2OiUzwHlmkxuvMyDB7zxcs152ljABsesXq1PldBFo8qIlEJFN7NRJSe6PclVbDs_84o3gsc2WJ7xgv3ewYONPHd7vEojIWW7dtzQfj8156iCKH8fF1OWW-Yld4MdyX1KXbxtSbgWgzQ1qnHLdh0XrHajGNaZD3fAJZQwSL0Ed2033yRjLvojPUPVzafZrnDmLnxB9hfEsoUfyyVL1e03QyyxVtARvosbs7BfbDNTKtOnF_5RqKsgzadP-2kHzb_4VCbXWJXZR1aS4n7gHaEi5D1lByJBQdhTEsXen5-DpqdN033HiBckmqE3sIpBBl5jROKdBBIAmDcbo715WFZoY4AsOlIr-O001jRDZEg_9sqtrnOKOtqvLYvPWMPWr4rSgMq0VrLhfIbAZZM82aVOoe0r-Je1PaQaKjTrItw9ouXiNnPhEtqvyL868wIm9M-gUGn_8LsDkfyUXsHHc=",
  "id": "rs_0b2dc6387791ce57016ab2cd9138fc87d0a0a71bfaa6f90c67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.15,\"left_z\":0.23},\"note\":\"The brown plush rose with the gripper. I’m carrying it above the left basket’s opening.\"}",
  "call_id": "call_PJpZZsUFFP8XGUyjzZm0a4ND",
  "id": "fc_0b2dc6387791ce57016ab2cd94012087d0a6e7935ced9960b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PJpZZsUFFP8XGUyjzZm0a4ND",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 1.7115, 1.4483, -0.4553, -0.358, -0.2764, 0.1419, -0.0208, 0.8062, 0.6075, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4692 left_y=-0.1446 left_z=0.2127 left_yaw=0.0006 left_pitch=-0.1033 left_roll=0.0313 left_gripper=0.1419 right_x=0.2953 right_y=-0.0007 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.0191 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.6222, 9.894, 1.7802, -0.0952, 0.2027, 1.0281, -0.3077, -1.5248, 7.0496, 1.6923, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de1cbd5d54544fd516d2913e74218399bafd2f3ad988f57eac587b6cda9e833",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef11ef86a70e5eda4e3944569ddef16257e50f0789a75de115393480032fb503",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce65e1773eef357a060ecff80f7205b7b41b16a97a0dcc376962553fb288f4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.687 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9524, 1.2297, 0.8829, -0.543, -0.7254, -0.6739, 0.1371, -0.0208, 0.8032, 0.6075, -0.3855, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2781 left_y=-0.1824 left_z=0.1769 left_yaw=-0.0221 left_pitch=-0.0592 left_roll=0.0254 left_gripper=0.1371 right_x=0.2951 right_y=-0.0006 right_z=0.1779 right_yaw=-0.0004 right_pitch=-0.016 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.3402, 9.388, 1.0427, -0.4518, 0.0464, 1.033, -0.253, -1.3197, 7.2684, 1.7265, -0.0659, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss2mD6w4_uGElhctmMIgOb2deBCvJaYxhgDH10TPnfJf989SMDESAiHLX6pMoCf2oZ86N0eTMfolPom0WD00wjZcm7RAXz2AwDf1U6Y42voI0bJ2gNvccntRIslr6OZuiGYoMtcExmmetszZiE8bKi45Wa1L3bJooh32Fe10pYyHWQEvhUTzo30BXTvh8LH8aMx_Zu-rS3Rccf7P6kMyUsoYJ78ALKJVpGkinkYtd1S4hU9hSIUAQ-0T_DXiLEWJlt9CVZYVatJ2LqbwNzCa7omnCGtbrGcTpMH0lnoMgxllh2NwuZfDolyn5Ijbth7wKnBAyzvyCoMzLIWvD1SQJshXRUv_X6XyWMpe1oQ6Z7RxGU2DzwL4POwK54Sv7haXGdSl_ybvueDjqk1APqwiQZHbU-nt-8UCCHdhfOIroOWbGJEy8PMBfQHyb7hI4GCrtpQmcWc25siKq7_cfIFYeA8NB5Ga-9wh1ac8fRrx38WnJJaLD6zFtHQk5DoL0ZU7Td4jojE2fq8s9o8p_bLxOcRsnquVJDehKZvYUQ8BCQiwlREUk6ZoBMY6pbtOtu0AM_s88z9hBnpl8b0LuwAn0MZ0W50I2GcArBZoCI1h_LT8DV6onGtgYZQLaBPdafDj0CkeogE8JyNTmdMuqyD1t6WaF1lk_WQkH9o4nkNOVZdFRde14RVeuFdfKhl-oz-7V5M2uUS9h4zdNq2mNJ38xf7hbaZgBJsZKpMms6yWeUHAZq2705to4SakMa5Jiu5sEXrOqDa94FqTbj7ApRPZJ5_BcqQhNTx1BLWCa-pu09AzaGke7rNIamnnqufE8ybxqyh4LBnnDrw-TnJht4hMMAaDW7Xf9zxiw4xNFpPxhrDgb_RC6ZGJIEI4WjKxHhVPdlY6gFWevTFyaNcaYqr_R52EtNxhQalkCNjoAhoP605WND6KJJTYe97LAXCqvIPZwpLNa_-m4ZiNMRomoIJHKrtZQcWZj8yyjWXTYyafgxdOukFOSxPEA90odHCCr1iKBXXfqmpAJVbivibT8V6WYbUF4VImvRmEPIqtoY61qz5l7iJtba06z5nmmJNjJPdhFF2GhxgMDhrntV5o4L5ykDzNhkJwi_BamFcnvOE77CiyS3Y1JqaceSVQBmre_4IHqrcEXW_u5l9JwghPOl04EYzwuhLkuGP9FOyGc-iMyI2T0P9RHYe3DoaM86z_S9uU46kV-1lJ7CTcJUvGvl_jl45Cv2DLLHAvxt10e9OPHDvqJRA=",
  "id": "rs_0b2dc6387791ce57016ab2cda3cc9c87d08b340039307a5397",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The plush is above the left basket. I’m lowering it toward the basket floor before releasing.\"}",
  "call_id": "call_jRBbGTt17MJL6Nyn4JQBYLgK",
  "id": "fc_0b2dc6387791ce57016ab2cda4bb1c87d0973295f25b5fe32e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jRBbGTt17MJL6Nyn4JQBYLgK",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.776, 1.1824, -0.1593, -0.358, -0.284, 0.1455, -0.0208, 0.8082, 0.6075, -0.3855, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4653 left_y=-0.143 left_z=0.1223 left_yaw=0.0061 left_pitch=-0.1342 left_roll=0.04 left_gripper=0.1455 right_x=0.2954 right_y=-0.0006 right_z=0.1765 right_yaw=-0.0003 right_pitch=-0.021 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.7299, 6.7077, 1.7753, -0.1734, 0.0073, 1.033, -0.3624, -1.4564, 7.0496, 1.7314, -0.0122, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ec03f6dea0b55d04e39e5d6736a5f869825e15892ce118d15a067629199694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844d4d41d279ccf89e0ad81162a65d699641dd868c67b25e0f473caae7fc6ada",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:670d4cbac3e111fa5f79c47ada4cc2981c9d4fbd9e3ad4ec46c7318d7ec5a7af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 5.73 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4328, 1.7115, 1.4483, -0.4553, -0.358, -0.2764, 0.1419, -0.0208, 0.8062, 0.6075, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4692 left_y=-0.1446 left_z=0.2127 left_yaw=0.0006 left_pitch=-0.1033 left_roll=0.0313 left_gripper=0.1419 right_x=0.2953 right_y=-0.0007 right_z=0.1771 right_yaw=-0.0009 right_pitch=-0.0191 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.6222, 9.894, 1.7802, -0.0952, 0.2027, 1.0281, -0.3077, -1.5248, 7.0496, 1.6923, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is inside the basket opening. I’m opening the jaws to leave it in the toy basket.\"}",
  "call_id": "call_2leUl4PLBFZ6eX2Z4jboEbkT",
  "id": "fc_0b2dc6387791ce57016ab2cdabc84487d0966757eb5b3fe666",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2leUl4PLBFZ6eX2Z4jboEbkT",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.776, 1.1824, -0.1635, -0.358, -0.2878, 0.9953, -0.0208, 0.812, 0.6075, -0.3866, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4647 left_y=-0.1428 left_z=0.1216 left_yaw=0.0083 left_pitch=-0.1379 left_roll=0.0388 left_gripper=0.9953 right_x=0.2955 right_y=-0.0006 right_z=0.1752 right_yaw=-0.0003 right_pitch=-0.026 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.2239, 6.5709, 1.5458, -0.2271, -0.0073, -0.0904, -0.0615, -1.6068, 7.0359, 1.7118, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda85ea010bf7c2af63df4cd645a7ba2e306b01330276a585c0bd55fe0de9c14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4015ecf3f6a6c873c5b749cd51e23814564c57f194f9518f9d7585c512d834d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d1a92ce77cbc5fa1df7fc83100525a3b39ed3c768c6dc84fc0a4415b10b701",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 8.649 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.776, 1.1824, -0.1593, -0.358, -0.284, 0.1455, -0.0208, 0.8082, 0.6075, -0.3855, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4653 left_y=-0.143 left_z=0.1223 left_yaw=0.0061 left_pitch=-0.1342 left_roll=0.04 left_gripper=0.1455 right_x=0.2954 right_y=-0.0006 right_z=0.1765 right_yaw=-0.0003 right_pitch=-0.021 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.7299, 6.7077, 1.7753, -0.1734, 0.0073, 1.033, -0.3624, -1.4564, 7.0496, 1.7314, -0.0122, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss2zZiCcwdAVr2dNA67uLGJ8rW79qBadrZO3p17Wytn7uA-NPhiElfO09OWBelm7hOR5LVKlJhkmMjKZy9ax9GMY7II0lWaRFX3mOHg4s7_Omow7jy6iHqJJfmdJjuMe2Qzh6xxxG6zqDF-78P3FBlNXOVcujVL5YZasykFxNjkXpgwVckt5K8yzKq5-ARAuaVLqYvzrRNgo0s57FfZjGqydINvGt4lQcRXti8RiNHjIAsnCcV_0ohPOIxCZs9bywCKLGLwLSoVNO8WAY8Cuj_-dFET324bJ1YpDKndVCCIAeEGsCbLgTwi0Wods8co2AbZWjK2MD3tAiNmGsqUPjgRNszwFkImFwKru0_EG9dS4xiA28NkwGZRxSFTn8TgNS333ZWLoPhUoEc1iFU3KNkpjQo57kD9hhWVCeAv6UYMlOl7CQEn0c3s9O7x3udlGBw95tqmou9ydbbFrmbOu35--oNtWAfnjg9hGT338aSvCmUl4-3gRRdY7MxTkYM2zG2PB2pXnP_MNoGmUOkY5zROrd1LLKzO3ZnpDlr7AhlYC6dgttSl5WFjTFuKwmtieYxKverdQr7l_2jKUlMUvi56-ftWvR61sK-ntigHKqBj9cqoFgTnuPtjkRr85pUx8CmNO4H2VjA58-pLqOFIJfZF3l648PTOdLdq2dNpxYXEN_oPdPPx_rVhRzuKLgcBe6bXKzQABFrXIRr2U4HCPPTffbjkqwM3oNtZtG_wMpfW0rhUPtOdKxHiwC2284_2UYua-yUudTbo7AFQ4dMegcyTUxwc3sHEIDAL5ZxmHkFp_LyqkONDJx5_p6kTPU6HLimEZ8oyZ9oz3srDCIAIH8CHva23Dg-gFu8mgIaeXz-_TpL3SXJRfWdGr2sHvYwE4CGL1zeOEv38FEcJDzGGqCB7AzfayheIKy0q085WkrDqRsLhO6XT-cv1TKjGS5zTDQvBhcDyQO5MXM8JC3P_x9XEOYXDT5WftBB5mzlNLsYcjTRXVbRexOrNt7VDTtPJO18KLyj4jdCRh793gfoexAwQVhYawxA8hX2pROtLOokoENSXtyB5WvTafGz4IDVk5l2TorOFTAk_RghNlH_XxCA6oUYbb30L22smLV38LEKwF7305uuRSQ3o8z-mrHaI5yhM6uVEkP8mUxMQq1f1MmvmJlEU-5ZCuuTimCKbs7zj0P9ZM-36Lxi3jT2pPlgKCosW2JeicgEvBhBluMWPoK030IxHsaRLqDufyqAliMbSnBPboTUJJDikWy9RcibYU4BcVU5SchgQAJJTDDoFpwLAqPDtWZ5RG16hKdpQCipJZ3HxlQH86RsViPMG-8EL5MDUz9rjNxHzw8N6_-sHsAgCXoxnuek0AVBQh_yQ8EoaSMv40r-dgjrjsjTTAIq7_2XKeOMFaOPFQ9iSET4ys0otTmQ==",
  "id": "rs_0b2dc6387791ce57016ab2cdb0217887d095ebe548e8e85926",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.035,\"left_z\":0.16},\"note\":\"The brown toy has been released. I’m moving above the gray plush near the left edge for the next pickup.\"}",
  "call_id": "call_HYr10Xu5VwGdjNw9d4w5gru0",
  "id": "fc_0b2dc6387791ce57016ab2cdb22cd487d099880d3c523d6633",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HYr10Xu5VwGdjNw9d4w5gru0",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 0.9127, 0.6678, -0.4625, -0.2607, -0.1974, 0.9967, -0.0208, 0.8177, 0.6067, -0.387, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=-0.0348 left_z=0.1634 left_yaw=0.0276 left_pitch=-0.1178 left_roll=0.0298 left_gripper=0.9967 right_x=0.2957 right_y=-0.0006 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.0328 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -1.7846, 6.653, 1.7021, 0.0073, 0.1245, 0.1343, -0.253, -1.7573, 7.1316, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0dcf8eeaadedf36bcde23fd3598151c68da07f459af040d6788d3e538865f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6844f2cb4439509cc0424034534ab9e1fdd25c4a7e907bd433259db0c1b345f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d93575829022ba3c741ab5c60d6b6c8e6d933e7775f1763db585aadc3e5f33",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.164 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.776, 1.1824, -0.1635, -0.358, -0.2878, 0.9953, -0.0208, 0.812, 0.6075, -0.3866, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4647 left_y=-0.1428 left_z=0.1216 left_yaw=0.0083 left_pitch=-0.1379 left_roll=0.0388 left_gripper=0.9953 right_x=0.2955 right_y=-0.0006 right_z=0.1752 right_yaw=-0.0003 right_pitch=-0.026 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.2239, 6.5709, 1.5458, -0.2271, -0.0073, -0.0904, -0.0615, -1.6068, 7.0359, 1.7118, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss2_gnrtA0r9iS_4mFaBQp1ugfQcwTGPZSiOAsQX_QsJSu_MI2PcA_gg8ZEm9DLxzit_-Ehq4qONtg-_YVVmtR4BqCUazyJXX-17TeVTYLexl71OR9OmWLV_tsrzbSvV05ucIh0Fijo5CN6oQwR_tYd_fvedKIoifIJZ-KqoYth3ycV-H8Vzx0RAzfHaTYDKLbCbI9wco6i585U_fnfmAZJR5DFZpO_6Th1JSkQmD4SjnKCmWKAl_HxFGewX7oOnMd0uPIdV3zdLY2-pVeVgdhOkjo8zNsEC3ba5dzX0EPwkpZwR5S27tE1lewXXxS7bU7107tc1Zt3KIL4kaVRZ6r6XtBSmITCh7SVGlbaZw0m-qsjYSiqiEoTzIgW0Yb6ENNUHM6QBg1XIsdHhXYEPMBImu4L7u7D4wsGeTXwH-XZ2pJ1M14CSHSUOZ878F788HQSdd8C3rwPrUZZ1VAOZvB3-IVV6Xw-Ll1l0dykfw9lLlXbFZfjCj8c1-u3b5KQSC3-E-NzgO5FKL86X_X-5Ml1M_d0_LFkrtjxnxnbZK2wBkBNdBtHaT0WeCeZAesbkRwHGapWm8VKjfMYwEikjacXjdsik8S3zJCq2q7DAOgYDP-E8S_bGuyARYEG1fIwLQ7aivRWBJhgkf3Q6eGuLPDUQw5y-qegdTVDrEOcYnx7bM_EZLQBbdwqMIhMpr0E5bAasNDZdKUzqBWjl_Y_N3GO5JDHEGUHMU5dIKW-CJ6czDLNRLWLS4vM8pb8qb3P_LcUOh3-6E6JGDRWwmFNqFzcL1YMUfgRuuZ26ZQxGxfvKaQOwWEnBLwbEubdTUiQf7wr4IBI-6fe0pHmc1pKrBKkFKhT4_k8EubMOsvLgOyN7mwkVTuN7mz5h6FzNK4xTLg1dGuOx2xZKmL3aDiqZgwngCwweGnGqAJBsxKYKBiLj4XdJ3Wsm2uyiqi9_A1MZ18X9rXgN6wqx1zZ8aKmKOBoHG4wEs_jmls4CxYWsS7A5ymbfye8hR91H1kkdIOzvTqBHcGU3BUO73ah1zh65Hyu0xDTTrOUUW5WgA-Kewj-cK_UV6HWyk3PUapiPKImG6Nrgc8y4D4gySfCJIHbIOY2gYonyImwc8dZoCjEbIcwww3qoeNAGBR8Qxs2qtRaCHatdZiZUR05sXXkLJ_im6RTaRSW1uMm_vfgLSLt7ggDhMPgPZie4grDBVW8I1OkfhRCVbjhooD2jktKpE4RsexBJ5RFOLjHw2RuXqaJZT6o7nJp89TrRhEprcF0inSLUfxKKOt7inwvNdzNtg1PEabUqbjSRB6pl7rhpch4iaoBSpq_Yz_D5e8d6suQAj20k5_57vdGGHxj4TwcxvquftALba4HSdpeLlvd_3bE03mtf2t7_LqXxiaUompdB9hz8H4mfzvRsLghZs3O2Su-VlN39JyUZKvDZ08PX3WkHxQsSP-IBmRYrfLSrUndw1eLszjD2",
  "id": "rs_0b2dc6387791ce57016ab2cdbac28487d09816071583bebe36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":0.01,\"left_z\":0.025,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185},\"note\":\"The gray plush is left of the jaw centerline and nearer the table’s front. I’m aligning over its body and lowering, while restoring the idle arm’s parked height.\"}",
  "call_id": "call_xaNO7pQv7DHNrLVJv9Am7mZ2",
  "id": "fc_0b2dc6387791ce57016ab2cdbd4de887d08699e13328ffaa8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xaNO7pQv7DHNrLVJv9Am7mZ2",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0162, 0.8501, 0.1005, 0.1902, -0.0731, -0.0139, 0.9969, -0.0208, 0.8211, 0.6231, -0.4335, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2751 left_y=0.012 left_z=0.0568 left_yaw=0.0365 left_pitch=0.003 left_roll=0.0434 left_gripper=0.9969 right_x=0.2914 right_y=-0.0006 right_z=0.1704 right_yaw=-0.0003 right_pitch=-0.0664 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3897, 0.5265, 3.9179, 0.9841, 0.1685, -0.1343, 0.0024, 0.0889, -1.3333, 9.5248, 1.707, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e558454a01f303f3616db86b61181e8a155509dcb76224e00062df06eb8b37d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c9ac36117a80bad51c066d154661593ef8258a08d107a7bb4026d445cf18e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151934c36ae07b769094bee6c9cdfd5ecb76b1ee84df0dce1eefa74641f0cbe8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.617 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 0.9127, 0.6678, -0.4625, -0.2607, -0.1974, 0.9967, -0.0208, 0.8177, 0.6067, -0.387, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=-0.0348 left_z=0.1634 left_yaw=0.0276 left_pitch=-0.1178 left_roll=0.0298 left_gripper=0.9967 right_x=0.2957 right_y=-0.0006 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.0328 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -1.7846, 6.653, 1.7021, 0.0073, 0.1245, 0.1343, -0.253, -1.7573, 7.1316, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss3I5shyx5cbOEPygOTGsSsXcvY2N6OPUBq6RYoD3nYl0LXzA-O5wvnrDRkjnJuWMowQsUwECntRx0dXamMLWgeEkBiqbESGViAlkOEROCC5-alfyrq_jZDcJhNtqWadin50bZYxxzxgTJeOtuXjlquWjf9g02Gd5ExvmBG0obNP8k1ozpSHj8FAi5_zebaqr4U03b_GkaatdCxRThv9hoHbJXtVWZ_vWt1fBz9_AcVK0jhAC9labFaTkIKlLO7-i5TIYFt_OM93W0lM0MIH6berVpK3lqtroEyCSCWTsUblHzX6z5yX-qt8L6SYomSEjbDSJWTs6XDpYAW_Illh0-gchsBN6kLuX9NE6R2x0ATniL28rE_HWWm_iZCDMZhyg33J9qABDQc0VlfKshOOYNkTFVLEWVadBjdoIcjmK8LbiFJK7n70hU7rVXEdUaLv5RQ91inpO3LwRJjIFkRmYl9GnpC1xnSO-Xm7NBI-5sktSaitGSlXEeTjrYargjv9u691ktL1S1GmFnN3QLHG6RZsrCKu2S-T0uFA_YdBqyeuUbol888JQX_-xf-UJMlEsAWdClLi9knJPUYGyhoyEKKoES-kR2Qb50xu5B_qdlsQkEtykqNYIQggnGqLlYim0z_T5NgS4FSpJOGEqT6t-tpiSAMuFziwIwAunlC40LJ3Z5Ma1pU7LHHLZJDrCmFbB-k3_0Wf7RPVTnaq_NSDrA5IwMhH3TjrIsaeMNk1i9i3R5pySxQjUZO1Wft1-MfHEO3aJEU2Dxq7IwVU5IVBtOnKcVwwCsyIUoOV8Q3UxWzehlVo4UaGIAwMQdRe_sBcBbRvc-lWuYGVdZ5C5rcnDMJ2D4raXQHbI4UIYzgMwbDi__XKr0boCGdTaJv6_0_HMTnNMbQu_PeAVBEEvCOVj_JGbdUWImgIUpG1otB4-fGHkp92d5HqU-MMi6Ef-KJIV1YbfXn-8l6lUOm01wQiMZDxy5w824EhcrRmlN9exbmQfpLRtr4QPd9tl3hkZxxCqHJPUetaU5uDLfa_9vgDDr8aMSYq4q8WjfZ1Jjdr4WGNXQMpxS0P95WWzaXoYuASdyx5HP8edqmQHJqkIaIm7_7W1OCCfsiznN8n6brj_HvAoKyYBnADmBuJW4jca5QzX-2j8lRCwBlkC7SHpjzujJeciqETf8CVt4z82wOCtdNmkofxpOmTTjTtU0jTbapBIBDT85q_UQc51Sb64-SzCnzPSyzb5Lnb6Ip6bM1SX52ZoIiQ9X33ZMMqlMibQRyiRmv9grvWpygUw7IDeFdTHcaW30Tib2k5MtXnWYPHpPGzPf5o2KQt8fpjDA_Y5XPhSq_CJk8n9IfBixspUby9mhatQclIr-u7vW06B6bio-sulyNRjgaDUzkUCOMGJG_Ka-tOpWW1hnPX3bx3chW5X_1nAg==",
  "id": "rs_0b2dc6387791ce57016ab2cdc5b4b087d08d15623d17450123",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_z\":0.065,\"left_gripper\":0},\"note\":\"The descent met the bulky gray plush before reaching the requested height. I’m easing upward slightly and closing around its body rather than pressing down.\"}",
  "call_id": "call_Wun5XXc5YSHhkZcZiZEwbPFE",
  "id": "fc_0b2dc6387791ce57016ab2cdc7286487d092bf2be596e19434",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wun5XXc5YSHhkZcZiZEwbPFE",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0151, 0.8417, 0.1188, 0.1722, -0.0738, -0.0151, 0.0127, -0.02, 0.8249, 0.6235, -0.4358, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2778 left_y=0.0124 left_z=0.0631 left_yaw=0.0389 left_pitch=0.0118 left_roll=0.0424 left_gripper=0.0127 right_x=0.2914 right_y=-0.0005 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0721 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -0.8684, 5.641, 1.7998, -0.0317, -0.0171, 1.1013, -0.0889, -1.6889, 6.9812, 1.7118, -0.0415, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c690492a07e9a723a5cfd6a98c57d107cec2619b58f18a46e476df4a2675b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785adbeda7c9c2221a107d84310b356d9e8a42c64c8a30c8e5011d7b989ef1f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e18f676259531bdd356a43f5ad01ba78e95281f7726ab4ac3dbeb33b9b9144",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.181 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0162, 0.8501, 0.1005, 0.1902, -0.0731, -0.0139, 0.9969, -0.0208, 0.8211, 0.6231, -0.4335, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2751 left_y=0.012 left_z=0.0568 left_yaw=0.0365 left_pitch=0.003 left_roll=0.0434 left_gripper=0.9969 right_x=0.2914 right_y=-0.0006 right_z=0.1704 right_yaw=-0.0003 right_pitch=-0.0664 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3897, 0.5265, 3.9179, 0.9841, 0.1685, -0.1343, 0.0024, 0.0889, -1.3333, 9.5248, 1.707, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss3QXKyWkHmzJ4f4ws0Wprn_5D4vVcrNqb5e9wSoSKfJco4ea1xzTEgXPZldW_X3c5OPXPoOBsZtqzc_0TWNsfA-Sltj64ajpYf6YkXNBw6U7A08Ahgc0MANjjW2Si3C27bn40A3TgtbixD8iVlobdP-yGBMnHlzYiRAH9G3wJOFrt2UsEG8Z1fCXD6YCQsO1GTUxrQI7oSw219S61zyA-D1HIHh6ksAsb8qFVyo3jkWEwsbtMqQyY9HpjFl11ANd82-IN2lXslHuanzDv0SXdRvyLHd8t8j3sTQedlnNyR220YE4GS7PQ58E1X5BJl2_pKXl1sGCkP2io6psr7vEYS0Pz1HlXeLUHHbqdF-XZTIAbI5JGV1sGJ5BPseqsPr2rPyDZwH0DJrTD24ADR0HcWTTRXjBWA10rbt1CINLQyHaERRkW-DD6LTunUtQr5b-0aUOY_zNAculG_hh_V9unCjRnTX--DJC_5q1MVqcwizpzxsirxC0a_RzfEoi-8mha8I0TsPcOdnegxEtl9pIoAqXKYPi13tapHtVP-SvOLOIh2ilxwRhQ_Yxmx4HSc_WisyK4vaiBsN-zJBHbKEsEA1eaWr03_Vwdz7_2bWs6VMuUUAGRKaz0ZZCoi_QLBfCLJ-I4Lbbsh5ohtpAHOxGxij6AWzydfyT8ovKWn0DG8ipSns4Ov_BojJeQIFZ8JiLfV-RIq6GIsphyKMby0HI5KiqASTKVErJUEKb39THvTu_nPjaEegqh8qvL7Y64icbq4W934lvW3ejdTA2Gz5xfLCVMSwHQBpD0v9OZlwW7SA7mAwCuygCAQHRYf1wW9NMcJe9rFPv4C1hFBUbTnwRHzo0YRPo3RsIJiO1Y9A2-5ta5aDTFmn1736w6gm2OlU05sA-ycM9tkC4dmaOw5t8_bOdsNXcLqiRh6emU0Hya6wOUNzxAP0rF0wNXMvzbBeUKbihOuDWKcxxdiHBFGEpPv4Gmoa3KWASFip7LaPzgD1mwuzI01AUNVGFg_CTOqRO9WfVQ1ovZmCrGo4xeaLoJLMOt89cgX-mTFx9bJsn9Po1Jqg5V9VBlEGzoi1IFTfYllqs9x8Zz66u0qHFNwKBOKf1LMTprjZPAbyBZJxrTSAPppoYboDfuUvQLZT5fTc8HNMkGJfRTHRaQPeIiYfEfWSx8cFG8MjdnvtT6i0mH6XJj3VMag0kPtcUhTU5JY0g4y9zGPhqorLDKVNO_-4uheVd0Vt0fMjnviB7wbRnX5ag2wtepArO_3LE1KeQL5i4JLHSuSuMDB7QBA-VnvFL4isNp3mI0v5mFXaGx8SUnjbT1Hpb0_hvSt5oxm048YwPbQcQBMIVVCbhl2DPLarklMkIQ==",
  "id": "rs_0b2dc6387791ce57016ab2cdcd192087d0b2a1c22545772a35",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.045,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The gripper closed empty beside the gray toy. I’m reopening and shifting a few centimeters left and forward to put the torso between the jaws.\"}",
  "call_id": "call_fMX4dcBuJsxs5e9CDF5FSXFF",
  "id": "fc_0b2dc6387791ce57016ab2cdcecfe487d0bbd864bd31edfab4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fMX4dcBuJsxs5e9CDF5FSXFF",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.202, 1.2243, 0.0998, 0.5514, 0.1123, 0.0906, 0.9985, -0.02, 0.8295, 0.6201, -0.4362, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2939 left_y=0.0436 left_z=0.0322 left_yaw=0.0422 left_pitch=-0.008 left_roll=0.0318 left_gripper=0.9985 right_x=0.2911 right_y=-0.0003 right_z=0.1662 right_yaw=0.0005 right_pitch=-0.0805 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -2.4821, 4.5607, 1.917, -0.022, 0.0317, -0.1441, -0.253, -1.812, 7.2684, 1.6972, -0.0024, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb1bdc7d3c6749ea56dd49dd4c71944e7c70f5eee1c857702317b889ab08164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c484f4c23a3d67c3294ddac1b86be0bd3f23cc443742df7a41298c09942f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6d59d8ee5b4543a10ec145e8b2209ba31d6540ce2ab77112d1ff8e40713ce4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.416 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0151, 0.8417, 0.1188, 0.1722, -0.0738, -0.0151, 0.0127, -0.02, 0.8249, 0.6235, -0.4358, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2778 left_y=0.0124 left_z=0.0631 left_yaw=0.0389 left_pitch=0.0118 left_roll=0.0424 left_gripper=0.0127 right_x=0.2914 right_y=-0.0005 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0721 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -0.8684, 5.641, 1.7998, -0.0317, -0.0171, 1.1013, -0.0889, -1.6889, 6.9812, 1.7118, -0.0415, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss3XFahfu5cSijVNU0xHMYr4Vv0Bnx5GRKTCbFUm8wzBZGYVsinW-0GyKO3qxuhnwWlYDjNbnKacAVj5HcUtZ0ZgZKB_VfY3TSplh8RLP25szZv8aQQKYrqfL7bCpAFF_66YpE7GhHfdoDCjcGbFuDXL01jhqA-1F5IFduS-J7qlowJQWlozB8RoXBnkBBCZVzY2S2xpbjW_H3ZKNVXBwEAYW1B9iGTtG9OJePslzkro3alXTXQ-30fHt2VikeerpE_GHWJAVWMm-0ZnFCIBw3GhKE6ZhRX-kb76Dd3HUnOV7vQeAKEh5GDuQ0Uaeg7tqPt1gGVSVxbQ3WgOpryXkPSdGjukp3EpQI5Viao_A4JuxZZQzkimck5UO0Zkeqen-KM_bWRHoBSfoQPmr3Ey3GaUTzQ2D_X0pwGg_UfW9Vj9Yr1v1si3INDDgJG5T0wHjsChjeIGJNZfDucugf08-5T49bzQ0Rl30YQc4JOf8lXuqAKOsji7a6WDudNc2jdgrefCzmI64CAb5JbGzDL83ZdSROAkONYuyrhulCO9Ttn3la3qM4RXElKD3UV5I5M6DZq9p0LpNEALJjro3cedpl4ngrATUNNmu8CQdjoGVNmOB3finpA2b5cnjOXau0oxM4SGPmE0bSZP8jsWdfzPWfLlUq8LirAcsNVwKXXIW-Es6hSl8x-y9OH_uZuhywJTzxJASPckPwhepKjSRY7dw3qUFcVfeDQgtSuExEH3oLOBE5rZTPnieUeFQth5ZDfB7FnnKbvWdAf8B9_96vHRC1kEZIu5JVQlgU_EGs93dju3-DUIJ6CjGNdJbwpihiwaKyPddXFpvyUE6iVosdEkGLl10RL_VUA-CoF_oz09hnbvAjF8x3IW249uG9Ow82r6lasvBbDP29wf3au9VtSoafE-RReu8_qZVn7swux31lBnUXUgY8EB04Kehd0EX1dEuTHZHP410G6YAVMs7GVMNQe8R8XuWkVIJsDRSNE1dfEdRqpQOUaEIFkLI7t-2IPSb7j7RZLS0WZEriXlgXNKGLb1cNn8ahD_yjY4UQFpB7TEOXEHCg-0_LQaV9954ZKGpewQO_wTXi_lhimN3eiIuectYBpHjBzx1yEoF5axn-v1pxn3mjLSEq1VgFzNHttiUFS0PRKqLqPLtpx9Lc5JpvM0QftkKk79u9MKosHcqHKy8A4CsYBbn_fSwr6do8eJmLi9FFJq_HaZc4RrbNC7U8tuqWBQMzNuH3t3Y02kJFLvnfDfDIvTkA6R8sHWWwUtKFLKAof5wbSq1T0IQTDRLfcSafwum0-j-kbVKGqHi-lIBB0=",
  "id": "rs_0b2dc6387791ce57016ab2cdd50e5087d0ae1f8adbe989bb25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now overlaps the jaws near its lower body. I’m trying a second grip at this corrected position.\"}",
  "call_id": "call_lQTyJDXkck8d5n3mZ8wijqcX",
  "id": "fc_0b2dc6387791ce57016ab2cdd66b1087d08c96fa10d7a74a0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lQTyJDXkck8d5n3mZ8wijqcX",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2016, 1.2289, 0.0998, 0.5621, 0.112, 0.0895, 0.0129, -0.02, 0.8299, 0.6197, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0438 left_z=0.0331 left_yaw=0.0427 left_pitch=-0.002 left_roll=0.032 left_gripper=0.0129 right_x=0.291 right_y=-0.0004 right_z=0.1658 right_yaw=0.0002 right_pitch=-0.0816 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.6735, 5.4769, 1.6972, -0.0171, -0.0415, 1.16, -0.0752, -1.2923, 7.0085, 1.6581, -0.0317, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0129fc27d3fb11bd3049b0db97b1f6aecb721d5a3475837716896fa73557e7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4a1cb72eef0287d2dee0f270b777cf6fa0f8e1830b0d76c74f1bdd670a81af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad6f7200705843acdba063e816118d21ca7388c6bde83c3bd1b31a54a92e455",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 7.375 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.202, 1.2243, 0.0998, 0.5514, 0.1123, 0.0906, 0.9985, -0.02, 0.8295, 0.6201, -0.4362, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2939 left_y=0.0436 left_z=0.0322 left_yaw=0.0422 left_pitch=-0.008 left_roll=0.0318 left_gripper=0.9985 right_x=0.2911 right_y=-0.0003 right_z=0.1662 right_yaw=0.0005 right_pitch=-0.0805 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -2.4821, 4.5607, 1.917, -0.022, 0.0317, -0.1441, -0.253, -1.812, 7.2684, 1.6972, -0.0024, -0.0708, -0.0171]\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": "gAAAAABqss3fSknjXXXSbAAeTUeyq82svTujxVA_ebLd33B8SEF845cWOOrSMEkRFzc8DJ9Z-2IURh4FbGvAP4HbXj9Z9YokP-TxKLHailtWDmJz-pTDCurM48qMqHVp2ndXiWNFTn79pay4CWCnEPlv1OzdtiF0EmW-L8B06t5ZKZNKJDUGn081qCfe7-PJ5X-HdrG1K31JfB8b9hOqKRsQkasZltGR_3hzZyfZ5PnD23TNBKSZhMev89LEE1K9I05Zl82yQcLew4K_aFBfl2JEDaCmra_-OeQer-W5LtgmhcUVGAfkVaawqNEmJAu-7ZkEjRU2lwWQ9S0uLEwx6WVcLIbqWkg01HQeXVpjCgMCT3zvSiDveLPSEIOymA8tg33Eenv30WniU79J3E6QAZX6RK_TdV06BkzmaByOtlEDkhmUY0XjupzPkCW_kU4KLvFQTAyNLwR0Kb3U6rtoUZq52CUoLiThcYWI45NlW-JQokkBdoVbDSAk43IBDclTXSt_Jr10N3S7E7ussP_7Ild6E8vd7sQ1Z-pivtLDs37JQy75YdSD9TMvjdYddRawFEWpQJDWtozvEyl2zk2tmNXug_5KtHKMW9qic1pJrF0U8e-OAEiMcs0dL7p6trdO6ypZ2jmgXcNjyoWdHOFjU7MOwBsMkKTBiAIbZKWAoARnSXMtmbLHTDVtYQR6tilU-qWYfIS2qBXwqvWlx5wTwyXm3kkQdfgTTRV-3gybH6D6DbWTCDgjL-w56uNO7cesU5xMKsBsiy2OpDiDJ7bhq_70kno2AWiYZlElvKt4GtByMDPDZ8Kf55bzBNfKfw0MQqegOlKaSxLZGto_wCp_GNU8EQ0NapempDU5cuL9DaG5WEBA3EilGIiQIs45aF226fvrPfGS8AwynTmEDdhfDnwkRQwY1loG0XqI2lVP6Z1TK8ta2AXAZkHVnL2Ttk2W-Mry8FdFFDdNPXDz4MdBRX_diRet8Q2J9H4Wk1Zmy8_WrVJid6mSggtPRl5Um-EEOt0FsVDHBzK0i7MauSX9l1MG3m0LW_juojnzww8vtSqphd23vuiXuWP-Qnf6kvPsVv_R3QZiKDYlbauASxmX4YrdIkmObR2287H9pKAqS3PZdd7S8gF4BnzRzoQhkWEAMNvRZqqlv3mmMB7Hc0siQmkLP_gWpM082NGAKXR89YD892yxqDrrRLMS8A9pn2YTljrqkMNnpbKF3HfTjQ7myEmwxGlT0vCTEzJQVnaZsnKSUbbXzk2g6Ngko8_CAApy2l_TuD9VOUmSRXzmXssdI4rSfzhPe_JxfIutNr-SRqrjCxG3a33KU06sZfoWgH6OrY-HGrsRAsXgc0E1eFzqKOUmU8lr8MIEnY8z2ONbd9X_6-4ekRixG3klRrfRLEiWIUAvBDWlbVJhvsKB0NiPhrpJNru7tEM-DZbA4KOaCOKSkv4ngGfIYYU9pkHMA9mrbeC9MpC1GMEKDxbMyCOPJtUMqR7Plt6KIt0JAeNnErOMk74jhZvrObwRIQ4wPvRIyCSqNYc2fQJ9RzjpDU7bkK1NKFyMoct99sFhGzzLlH7noO7PDqp2wmRNoXNhO0Tz2E_whF_MAE0y",
  "id": "rs_0b2dc6387791ce57016ab2cddabc8487d08bcdac4f95535e7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.11,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The second gray-toy grip was empty; it is now against the left-side reach limit, so I won’t keep squeezing beside it. I’m switching to the yellow writing tool.\"}",
  "call_id": "call_qU9SlauJL47PuQwdRPRo2WYU",
  "id": "fc_0b2dc6387791ce57016ab2cddd95b887d08b9474364de06f5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qU9SlauJL47PuQwdRPRo2WYU",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.765, 1.0157, 0.5346, -0.271, -0.646, -0.4965, 0.9988, -0.02, 0.836, 0.614, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2782 left_y=-0.1147 left_z=0.1321 left_yaw=0.011 left_pitch=-0.0159 left_roll=0.03 left_gripper=0.9988 right_x=0.2904 right_y=-0.0004 right_z=0.1615 right_yaw=0.0002 right_pitch=-0.0938 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.3453, 8.6906, 1.2576, -0.4908, -0.0952, -0.1441, -0.2393, -1.8667, 7.4735, 1.6532, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcdc9a2b778fafae44c9d1b3f6d004ab020119688bb540ee67b7038eb59568a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1819465d76520aa6d9752dc786cd622e96bf500391c088a51ce6875d102b9015",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612e59da21a159489113952f76d9ee1a2771ef472f855469c4591310b81607b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 5.184 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2016, 1.2289, 0.0998, 0.5621, 0.112, 0.0895, 0.0129, -0.02, 0.8299, 0.6197, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0438 left_z=0.0331 left_yaw=0.0427 left_pitch=-0.002 left_roll=0.032 left_gripper=0.0129 right_x=0.291 right_y=-0.0004 right_z=0.1658 right_yaw=0.0002 right_pitch=-0.0816 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.6735, 5.4769, 1.6972, -0.0171, -0.0415, 1.16, -0.0752, -1.2923, 7.0085, 1.6581, -0.0317, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss3qF3SQ160fP8YuzcULWkVyO7JvziPit_n6VutrR_Y_cXsBb5ne8bbz9zinN0S-VrbsAnTWUzyNiYa-qzOmk3IsFIE-CipJy3PQfyDYVi8x5JzrYH7qIdBkA44htVPjqzkQg5ZcnekF6YDTKajuifVfwpIrxiOZUgAZUzgGYVFwdQi8bJcUXOOwjhiKbSuhc_mRmGnSwvaNf4B5xx-WLrrlyHNWUO0NYDC_yuq36rhhdBsxe2hc1KpbKnOaCm23xbm2f3f1m_i-zLKOnXxV9ahYso-7HrT1z5AeRzBYuQhbF_2O-00bUYEpTXI21TDmbKZVapQrOIZMmpi6wN5L8HEE5LCYT3aJrZNrGssQjVUoHBKtO6ImmIB5GWhI1Zgw9KVAo2t6hWILfxAuxtlB7sqgFoTC_uRTErXxrgFBcg_htdPTPRgCxY5lHrxYoBo8DuYEiaibumNRbOaYN519PfQWz5zbEoBEM8M6lCOk4zi_4XGrl8oShOMYhcGKdCYewthtnBxb-ZpF5scFmpSw0EY7iH4ktCGxeubylwBCG_MqfANS5Dmooxsp-XONuO5VMR5oir_CvwRJas4NghLBZXxqp6u3PM0CoY-84qZzgIDJQpOcqHu9Y-DZGdmNcbflwqWPYpSnnkSHv5-6pknIP0KDJh2fNDsJz-4ihdn3QPOcSgprym1l9rDnSgXpTWlCVGfzcsc6D8GrLpFVGzsK7GHiEfa9BYlfNcnKC0dcVil4RxSgIFvamBSaPqyAyjnBSmRL-QxAjMczHTlN1CjL4X2LhqZxJQ0cCYizZo_xn2RztnXo1pxJfoS6x2mOkar2hhnIT3Q7wTl1Vr52mKEeKn8ONYtCaSSxmM5oTBSicUxM6lYiaIQZNOwhuUMEPdlnODsqkWQKyorYG4LNAUKI5EmESMZy0tkv-k7ZuLNDNM-ScXA3pLA4rMZcw9R3gL4sYTPwAFNi5m6-0XKebmFhASz09dlaD5z3xIfUV0GJFyCQ-h-vzVR4H8SYHiyYFvTIZwM2kFpUCbJwBzHfsi6wtyZVLW8x_2zhvtqgAvcW00tGcKhcYXwh9HLbwexwiyowkw6sIgLln7jo0JHTZp3prr_LbusZzhJ6pbqhrq4aR3nvyFA5c7_puRWxq74rMV-gIY0t1chGX9xRHvX3Gd2zcygNWzX6eCTRACvjGspl3ty85Sa4rgXwk5PoLrcWO4mIPimbyOdnyjTITvzuHMeTA8mj5l7nCmLvwkx9qrUqPuA3bpHzXKle7UxjZuvESPeQlnyxhqzljWPsE1FCuSGy3ZtTMKdMM8yJ8Z_0bQW2nUYP9V9nYwqr4eoeDQ7ioAK4SDlr",
  "id": "rs_0b2dc6387791ce57016ab2cde7685c87d088aea746e6d038e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.098,\"left_z\":-0.008},\"note\":\"The yellow pen runs front-to-back just left of the jaw center. I’m aligning across its shaft and lowering to table level.\"}",
  "call_id": "call_ad1r6QI4aSWy5DRcPyGkIRPs",
  "id": "fc_0b2dc6387791ce57016ab2cde90a0087d0ae542c2c287ccc1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ad1r6QI4aSWy5DRcPyGkIRPs",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6872, 1.6264, 0.152, 0.7712, -0.6022, -0.448, 0.9983, -0.02, 0.8383, 0.6136, -0.4366, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2842 left_y=-0.0991 left_z=-0.0018 left_yaw=0.0298 left_pitch=-0.0007 left_roll=0.0162 left_gripper=0.9983 right_x=0.2905 right_y=-0.0003 right_z=0.1608 right_yaw=0.0003 right_pitch=-0.0961 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.3162, 1.9761, 1.0574, -0.1197, 0.0757, -0.0659, -0.2393, -1.1009, 7.0359, 1.6532, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edb0160baf9efe1e8de132f0d1001d6af77fad2253ace28e38c9646aa78bbc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf38d9cc7365d4aa6237daf958cfbc049e8114f60b3c644c39c9301a7155189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3f184ff1f622c83a877fca568b794f5539658a4d71b6a188fd78b711617886",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.418 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.765, 1.0157, 0.5346, -0.271, -0.646, -0.4965, 0.9988, -0.02, 0.836, 0.614, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2782 left_y=-0.1147 left_z=0.1321 left_yaw=0.011 left_pitch=-0.0159 left_roll=0.03 left_gripper=0.9988 right_x=0.2904 right_y=-0.0004 right_z=0.1615 right_yaw=0.0002 right_pitch=-0.0938 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.3453, 8.6906, 1.2576, -0.4908, -0.0952, -0.1441, -0.2393, -1.8667, 7.4735, 1.6532, -0.0513, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss3yV2UKvQamotXbnmRz5sGraENblcj-dukrjjvNkWFsqr2xRppGz5ahF2z9S9hhOkM3n4cWoaHk15cF6AwQmxHgZHwKG4bV8V5HsZ7v60rxaSjtPJBJrfG547fafC4Ri44o2xZhN_T4_FKExNTd7JtJgKrJqaMGaFGDU1MX-UTojBpzJqOw8wB233S_JbSAyNsXuAhmpsnCLQjl2BDrhHx6I75iFfUuzaOt7XynF5Fy4pD8PnM_pPOvoz_0Ksys-CTf3IEOjLCPVpdxMCa1XBVs4Fx0JzT-eWslmlHqijOXUWQ24_1lN1FyRWgPtRV_5-oZm6zlaw4bxhTI2zzErRrmzhU0jV3IzkeorId89sV-xscYyGXE4adaNdW1izSmmVvzoo4MOcFTxU1Zh1LvWne5Rx73FaIJvYt_blaUti5xFtzNTUvK9-R1X-Tj0poBVhv5Ncx7U9ELvoN0KJ0Mw9Qo5EBToDgrnPf3bCHD-6sLRjwCCZaUwR96roYv69-jtRC7f9PnSbn2jVIbx2HqzliGuH80fxoJf68YTV6vfjTS6-GRtq99cKlcAQyycNSP4VjlmcheBP0hvSVVBW96MeB95UQJluMHCfga6yMgAflenWm5NiMd-dKuoZY7mXrMKHgzJpNwwiBLTXdaYbSypBGdqLmMCzXmUbOr2qw5sSsEYf0JiMpswlQ4W1cHuQVyvVASS6Wy3bkMTEQXMNKfFVUtVg0Jgf1VglKEztkj_KpHLAxTSZsLlhsW4IiM7gAjbCDvMLjdtzD6g0PirZ0BTxMYHPefUWDar6908b7RzBljvxOHwXoW5z7ewlw3pIlmabAnvJ1iGGWaKuZ5dfMFOQ0jPfPF9kJ6lxDFJAqUdklBv05_KADNrca7pt5BVlxVUgs393WOoI9L1lWQ7TmyT5mJFlqsbgN3-7gV8KLsyRXNOKgSYlbL94vAeQuKWGd-sdXFQRnYtZDFm7n3pBfeTbRctV1eM4XOKCjNDQme6-AdfIxOFJld65UkW3LFTiw7ErVb1gKmW6F9Oh6Ye41Lip_da_LGrofLpLMf4JbsA2-WOJg_pR_IWTC-t9mFcI2TakBIAgbJSCXiS63tL3Gxnmxn0OCEVh9b6qUM8SyfjAMUwJO-NUHFXtMNpJvm1H0c5Jymu5bKI3bOXT-F47210IBSWfamPTeRc12RhQDn4oZX-a76AnKAM8zJqGRqP6xJ_hmRK_q2sI1xM2wCoj4_e-JM1A==",
  "id": "rs_0b2dc6387791ce57016ab2cdf0eaa087d085dbef408d9d2080",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.077,\"left_gripper\":0},\"note\":\"At table height the yellow shaft is still slightly left of center. I’m making a small lateral correction while closing across it.\"}",
  "call_id": "call_3cfJ6DzFpO2RcHiRKlC0y8Vw",
  "id": "fc_0b2dc6387791ce57016ab2cdf18dd887d08c2b8b25ed8f25e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3cfJ6DzFpO2RcHiRKlC0y8Vw",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5835, 1.6112, 0.1062, 0.8444, -0.5339, -0.3828, 0.1636, -0.02, 0.8379, 0.6136, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.287 left_y=-0.0775 left_z=-0.0009 left_yaw=0.0459 left_pitch=0.005 left_roll=0.0112 left_gripper=0.1636 right_x=0.2905 right_y=-0.0004 right_z=0.1609 right_yaw=0.0002 right_pitch=-0.0958 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.8342, 2.4, 1.5702, -0.1001, 0.0708, 1.0037, -0.212, -1.2239, 7.0085, 1.6239, -0.0415, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1cbe714556d08ff09353f2ca21fd7438744c7da3122d8550af301b045407f38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24f7f440e419bca94e149fe30f5c45464925997538a1cb1bf73c86d3f778d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd3eac94a89c26acd241ffe44e9db5bcd3dec0fa445e7bec65534104e096dd6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.85 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6872, 1.6264, 0.152, 0.7712, -0.6022, -0.448, 0.9983, -0.02, 0.8383, 0.6136, -0.4366, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2842 left_y=-0.0991 left_z=-0.0018 left_yaw=0.0298 left_pitch=-0.0007 left_roll=0.0162 left_gripper=0.9983 right_x=0.2905 right_y=-0.0003 right_z=0.1608 right_yaw=0.0003 right_pitch=-0.0961 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.3162, 1.9761, 1.0574, -0.1197, 0.0757, -0.0659, -0.2393, -1.1009, 7.0359, 1.6532, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The jaws are holding a pen-sized thickness. I’m lifting the yellow pen to verify the grasp and clear the tabletop.\"}",
  "call_id": "call_0fedkwdkpfBCUv1YfDUdyfQX",
  "id": "fc_0b2dc6387791ce57016ab2cdf8b9d887d0b7d0fc2ba6b750da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0fedkwdkpfBCUv1YfDUdyfQX",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5838, 0.9012, 0.6277, -0.3855, -0.5232, -0.382, 0.1729, -0.02, 0.8425, 0.6136, -0.4366, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2882 left_y=-0.0803 left_z=0.1741 left_yaw=0.0367 left_pitch=0.0024 left_roll=0.0056 left_gripper=0.1729 right_x=0.2907 right_y=-0.0003 right_z=0.1597 right_yaw=0.0005 right_pitch=-0.1003 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.5641, 8.5949, 1.3944, -0.3053, -0.0611, 1.0281, -0.0479, -1.7162, 7.0222, 1.6728, -0.0366, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb557b8433b19c4ae7c182e00a48c9d65c52c06746fae2f902e2ba93c9ecb38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7470621cd0f57ef88daa2e777c595900e650b4a05d4df0ad3e5ec62c2d7ae105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09bebe1f0ee0856f47cd03ba5844154a9a1d7e29011856780bdde1650793dc6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 8.567 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5835, 1.6112, 0.1062, 0.8444, -0.5339, -0.3828, 0.1636, -0.02, 0.8379, 0.6136, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.287 left_y=-0.0775 left_z=-0.0009 left_yaw=0.0459 left_pitch=0.005 left_roll=0.0112 left_gripper=0.1636 right_x=0.2905 right_y=-0.0004 right_z=0.1609 right_yaw=0.0002 right_pitch=-0.0958 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.8342, 2.4, 1.5702, -0.1001, 0.0708, 1.0037, -0.212, -1.2239, 7.0085, 1.6239, -0.0415, -0.0806, -0.0171]\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": "gAAAAABqss4DrohCBfr4Vwpdzh9vnY7BVDvSclSeZGQ7p4H_jYv2QW-HJtwAVOAE22LvZC5g4izDmVLk_bk-ObkRiwHgNqp9irtAUBjmrG1fQkopjTDIWiD0KlEMK2sQjyVBRK1O5PGqclNnmAhTbOCsdG7dc8F2UQq5S5MMXf5EEtgXNrQVC6Scbkf0c8We9C1503LmkIRgFGuYJcmfVZOBTPNA1LijikKWQ3_alwJpZtwVhGB0grgRW5lTE7NCSe0Qdg_MTMh5lH95gyo3f3I2Jk2leF4_jD65CYIk9gaaX5rDyP85ns2ud3zl5PnDSgrWh8vOOYGtPQP4hTm5JALzOdEZeU0ZARzmMei6t_Ajd7ZPRNgeJFdvB8vBELi0Di3xmL4eYC-YyNc-UYp9o68_Xm3ZCHGXmTbg6F9RoLgcOp8DsL95ohWFPYI2TkqSe-m3JqI4SJY7PaVzwrhTgAZr5T4WGYgfGVlU54VIfzQ09HgIK5hy0eRS7q2klIC_yYOb8vuAZ5VUbhLEo94CRqtTfC2KhUu2TCDCbnJ0O4vqrbQaOZPYIbdyLJ43WOuWahcmT9Hg4l9BmJJ9yVa9nzTfKcUrQ8TwN4EYI7znd6xVsGXLyRJZuqnMx1uB20iqjfp1ZzYPRToEE_wFCevM_TZacG2wfMFnZ8j58Rilh0RL4iba3UDf_0j6-8mKYuhhIr_5u3P13VhVYSldVM7zAeantoLggqhp7y1C92fl5cenxD_99P_VL9LoCD4x5JFgAwJOF-VjOzBVPclLivHDeYFw_7osqgCFK87kIJJfm9txMKCgc1TPcxICwZJn3rbuWbszE3t0F-KgGBovwwr1uhLB4boS7wyfbBgotHaOjIRbfe9-8MSiQty5PAi3oWJX-Fg_U4HMFKUYXDWFVN5P2AeJlqry4vGx1ZzBTvmv8pNfDxFSeBJ7EbxRsAqJ_7jtZzjVKs7v5atznM5eyziqETJ-ufD-5qFTmr3s95mYKlFLJ7k2pRhe5ASUbQNUq3_AW8ZqN6-D0Crb5xPDlPEC490TI1OBG9pr-dtXDKcbsGvrgp8ooUeNLSWAp9oHhxyIf7yrn_S6HGQEKlF-LlrxDptS3AMWaJC13oAT2ghPfYsqNdnslQ8EumMElVmIxlGSrOsU7ofjiv6oFQdxm-lBrKnDR-tgKV3amw7wIcdx3qQu-p4QCJdSjJnX2_qXOXhQA6y_qovfX_I5FkrhL6D1dY6FLP9ESftWMyUwbLYgSRvSNXGvZumg2pW9OT2Yg076ik4ZcQMf5PUl7ubjQS5jkhMoy_j_Zp7wOMcZRYr3NVMDCvzU37wWdmUagIuGKZhqy7Bg5nwmmDWaqvgSBWKFolIU-QLEL1_8Ug==",
  "id": "rs_0b2dc6387791ce57016ab2ce007b8887d0a1feecf4ab8d7e14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.4,\"left_z\":0.21},\"note\":\"The yellow pen is lifted securely. I’m carrying it over the right basket, reserved for writing tools.\"}",
  "call_id": "call_2xF9NyD57aZev1utQGzFuMfM",
  "id": "fc_0b2dc6387791ce57016ab2ce01f34c87d0bfced3afde624b7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2xF9NyD57aZev1utQGzFuMfM",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.889, 2.5397, 2.6083, -0.8867, -0.7547, -0.6636, 0.1785, -0.02, 0.8463, 0.6132, -0.4374, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4836 left_y=-0.3981 left_z=0.1932 left_yaw=0.0538 left_pitch=0.0011 left_roll=-0.0107 left_gripper=0.1785 right_x=0.2907 right_y=-0.0004 right_z=0.1583 right_yaw=0.0002 right_pitch=-0.1053 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -11.959, 4.9436, 0.2418, -0.3883, 0.1636, 1.0281, -0.335, -1.6752, 7.159, 1.6337, 0.0024, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebaaa49e2df0a8a3d391db4d8709fb8e344a0cf80887061297babc0ccd97238",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39da4c36e1120ea0e3d89fdaf090b281b9973b59e83c6a6c266b89b0fe4013d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3559ddd95f08ae8ccf935f0ff9953b90f4e07b7d138088a06d8c7d1f76f3be8e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 32.7 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5838, 0.9012, 0.6277, -0.3855, -0.5232, -0.382, 0.1729, -0.02, 0.8425, 0.6136, -0.4366, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2882 left_y=-0.0803 left_z=0.1741 left_yaw=0.0367 left_pitch=0.0024 left_roll=0.0056 left_gripper=0.1729 right_x=0.2907 right_y=-0.0003 right_z=0.1597 right_yaw=0.0005 right_pitch=-0.1003 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.5641, 8.5949, 1.3944, -0.3053, -0.0611, 1.0281, -0.0479, -1.7162, 7.0222, 1.6728, -0.0366, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss4SLAr-qmtpivUucQ_kQa9v3qvF5r0LObdx_Q2z7z6bwg2UeNtt-QiN3Zbwx2QH5D9sMkeZ8EU_mV5mz2sqbWny4XLH47cB5xWUT8a9DGMDnGAQOwq2wnTHH9-f8YPBkIjeIku9kkfrChqdw27bPqMBCZPKT3LyTakKWds4ouBr-1RjGT2tcWTYY_oLXMPxofyepyWpXP7IhPqZAMC-eRUIHB0bS2uOt3CVgOGFymYjx2wjnbyL6wMKNzcwAjkW-Qn0r_Sl5dpbGRlMhFKfjwOVcw6FH04UoG16iRPsfMJlP1-NiE9bgygF06ryRZUJEGmXKvMzs8piV-J26XvLucpz9DNMZ5p22cB5CbRjWrYm2RFyxiN9od2m2v2bCWclbMCMiBjXbbU-islEVacakQ2BInaFSQ04gdsnApheuPv1BB73AFjuxO6joar_-71lXhRcRIRycJu_HgQq1GfhVJCzF5CDwB279PWZkDg-_jhqmDFvpv2gnpSvHQ7Ye2r3Jn7RkIa0Pj42ct1SBg9WDl1MMUNwco7EhCroLt539lG7Hp4FSK3ZJ8fUeQ-VyNTym-kLLZqXQJPxVBjYgYs8W6YG6hYm3Su_ePfKQPEi8nrVUtXSZMOKnBtab8tWQQE2q-a1Bir1-mr_HHrPnnyY0z9OI-YNO5m58pLHtHMQ36fX5xa9JyKi2Ns9mKGX7pw3S_JIw70rueXevfJsmDeptk4NRPbnUPPvKgerGY8uDT-l5Wl1r-fOEAEgbhyPqMp5X-q0J-1N5M77IOMJldNhF3dkMxc2lTwc5p71DdZ-dAUHwLJQfLK1-jrlmHEgoA5c4M6Kp8Slf-5etHFWcFj087f6K2rHG5dgnp2r_IoV-gNXxojmUOHMHnjpJfqrE35vpEfozik6XmjSILsucwkE-qOAt19Y_xR_l5YjdVSSQLVOg8rxsG7N9xQ2W-CWekSv-9wR7Rq2k2NhFuS-_fuPXwolwlmqIOH_xrHFF0TD3iJegpe33Fr8vrfMjPu0eppH3R8t44HR5AWv4Lk_XMNuGE-8MHd8u3uxS7b14xQYBmJQom70xKNxw6dNzPMvA9MEZtiNwZXf2SIPeNBJC9KzbNhj5GD43xggeVva7hShfUsAL5CkMoymd0vzKrdvDvHyIuJF47vznUJ1EckjqtLaLkB2pAvTMs_4U8m5zAJcnvrb8utU8eHaqKupItGjuqATCoZSDdz7Vtt4k2ROEo2svuF90HdTj4PHn7qHNuXOClCo_7UUy3vatfkpffgwiCqIP053lMx3mE718Cw8--1stoYGeSIDfPOWFs7WYK6Lmx8PqzYT8XZp2DqHNeYTXfIzMJzd",
  "id": "rs_0b2dc6387791ce57016ab2ce101cd087d098026e398902806d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.155,\"left_gripper\":1},\"note\":\"The yellow pen is over the right basket opening. I’m lowering a short distance and releasing it into that basket.\"}",
  "call_id": "call_4UXXw3RDBAI6tKfVuJPywaaa",
  "id": "fc_0b2dc6387791ce57016ab2ce11aac887d0ab2cf04729e1840c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4UXXw3RDBAI6tKfVuJPywaaa",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8909, 2.5191, 2.3383, -0.7086, -0.7479, -0.6731, 0.9882, -0.02, 0.8474, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.481 left_y=-0.3982 left_z=0.126 left_yaw=0.0536 left_pitch=-0.0449 left_roll=0.0361 left_gripper=0.9882 right_x=0.2909 right_y=-0.0004 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.1057 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -18.7009, 6.2017, 1.5067, -0.4225, 0.0757, -0.0562, -0.3487, -1.6068, 6.9812, 1.6337, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e5215c72359c34b7bf00cb8c7ed9e6dfd60fe929b467f6d456b1bb868f3bed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59eb1c2c0c7512d2a913bc6f19c8b2d293f90ae3b0db19c17f6fb89117a35b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862d7879cfcb8b3fb2d618d3db69242a2d392e64496005443551b45842f6d793",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.905 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.889, 2.5397, 2.6083, -0.8867, -0.7547, -0.6636, 0.1785, -0.02, 0.8463, 0.6132, -0.4374, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4836 left_y=-0.3981 left_z=0.1932 left_yaw=0.0538 left_pitch=0.0011 left_roll=-0.0107 left_gripper=0.1785 right_x=0.2907 right_y=-0.0004 right_z=0.1583 right_yaw=0.0002 right_pitch=-0.1053 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -11.959, 4.9436, 0.2418, -0.3883, 0.1636, 1.0281, -0.335, -1.6752, 7.159, 1.6337, 0.0024, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss40-q6ZpDu1Rq4_Mgajf8QXlejRez5bn1MosbLikQP386R_tBTq8Ye5AQM5DdyP9heovSfhRlJyyJRjGtb3wfy0mNGBzvahzAbVdtYOudZhoxpQ3zRpdfC0gD2Kq5CZI0lvxLDe4QGA-TbD-Y7MiDwE67rRu-HYxvNVOwa58w_opAOVO0FmcWGfWllYSCHGccJIPyAvuS7jVExl7Crv8KdkoH86W3tstZXyHCxk3Z2z_Su72jAbC0lQW-j_abPOriKaNeeQLUuK7qzErhssavoNL4wuz4Q0Ww8Nfw_6ZX7NpqTiFsVQog6iwV3KzS4sQuaks_c0S80OIkP4jKt5XuKvmksixYaRuhJ3gC7jz1jBjA5QpLT48TDgb9L7w5BECXZ8ci6HzQXkQlCBcec_-1QJ6pzaIcGEtB_6CR_ApdVrdNyhFodmFCua6ekknW8L5DSx_CnsnPagIZxIVQiVDU0dFUJutjRcqelndrT2o8AluXijbZooA4_VQqGzSf22ChlGDWmVN_SWvjoxF7gYRVNnjk8tKqpHPwFp9006HxqXZzS2zp42DTxVZIlZTnUJUbc6VV1S2Td5Snd7mLpyAASeoS-ZF-UUXXe-TMWdeFZ2nChsw-fg-Y4Ba3Sp46LFgVozr_NB74v3kp8NhQfpXIeGbFqT8VQnJH7WUT7QExUShAMXN1GOtcN1hPNJV_X-wY3BCNJa9ohKCS8HwlWzmMSknW-1NrS0oMi8COPWRenLArye3ILvG8GSw57zTU3dfQXnFUETzifMtte-xvFamvTu3cZGO66jUptcE0DV8MJr4j7yWqbQ7LCJcnMJ4TQ_lBIjhj85aJLk_wvif8TJ1cCMujc2KhyOqRq3Ian6aCm_DH3g2AxKrETjfsUjkXC7RnqO7JOsTuBLLzNJ8IaP0169jsqDb-R41zpNTubc2gKtJ2ncCy45QP5rrgCy8QbrFhvt-Q6byKcQi3HyWjjCwmgzfL6dIZ_UKtN5C_CAdaZowfOWgwuggjA7WcrmEvBan0h2P10-B7ynEOuYSBjW8Lnbzvl02f-xvZrnEVjSdsHdfKZMYgdlI33fAoES02-YuUjY89JeK_ZHh9vXKNcvZq-BkKztzK9TjcgdsVSiTxJvKOEFYt6aCsZVSfTmpbdtKFQGnKfVqhkljRO8BkVVtrrXeJjptJV4LwPnmW4NY97HoUsB38o9umT73pOTF1ioLs5m_3JHdSv0glR_8fayMO8APXdb3QS80ELO7SnUNiGQT4YIjkTiNv2UCNMbaqjvdxUlmbDBjvbXk3Z8GsEnxxshPRCrfiV6VpBRE0uhECpgJqyutWNyuyRAKRbMhbnD_7_PSf_yi8KXaiimR7HL9ZVJwrhNDOlM-JhRIKHipUZ_x5HbxqEPQJQdttc_pwvN53Huv_v5OAxS0W4p1ZykAbDkjQ==",
  "id": "rs_0b2dc6387791ce57016ab2ce317dc887d082ba2b0abe45bf9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.31,\"left_z\":0.18},\"note\":\"The yellow pen is visible inside the right basket. I’m moving back above the larger tan plush in the middle of the table.\"}",
  "call_id": "call_s34JFm0INTldiz3R2MEi18K0",
  "id": "fc_0b2dc6387791ce57016ab2ce33040487d0a11daa4e6c873981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s34JFm0INTldiz3R2MEi18K0",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1469, 1.8114, 1.438, -0.7391, -0.8612, -0.9642, 0.9883, -0.02, 0.8513, 0.6132, -0.4362, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=-0.3215 left_z=0.1689 left_yaw=0.0282 left_pitch=-0.0633 left_roll=0.0399 left_gripper=0.9883 right_x=0.2911 right_y=-0.0003 right_z=0.1572 right_yaw=0.0003 right_pitch=-0.1091 right_roll=0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.0427, 6.2564, 1.0769, -0.6325, -0.1001, 0.0024, -0.2393, -1.4701, 7.0222, 1.707, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4254b8c247c4a2a1530ba3ccab189c0253d3f37103b020284f6f6418341d2cea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a857fc0b410cab792c8ee3f0b23404faf34707f009d08499334f82277406852c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30baf26b38cf2d5e359e7dbbe62a6c51b6e0d524b15185d9541eebc808dc83d9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.993 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8909, 2.5191, 2.3383, -0.7086, -0.7479, -0.6731, 0.9882, -0.02, 0.8474, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.481 left_y=-0.3982 left_z=0.126 left_yaw=0.0536 left_pitch=-0.0449 left_roll=0.0361 left_gripper=0.9882 right_x=0.2909 right_y=-0.0004 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.1057 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -18.7009, 6.2017, 1.5067, -0.4225, 0.0757, -0.0562, -0.3487, -1.6068, 6.9812, 1.6337, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss4_W8zSqqZjWy_Ad_GfuMCCJMlR2dRyPxv2sxooqWjo01BN9i-97z7UmzzXOtpbaBFtDVlQYdFe7R22WCDVK63eHSNktYz_yV7j2TxUdLJltduN5YpL9rXcTm5T2LtvV09oSFoX5XXNfYDdZWr7ZHNkVVvfKJ2eEUk1gzbDRV0KKTTO-YKWuLcE4tofantY06QGy7AktnI5Bq30x8_ho3MTt-8hNimKDgqA9MUF8g9yAltPLXOUQgpYBD07ilJ50s36CDZarUnSWDCvLX65sn_t5YVoRk-M3PU4O_QzqY2avJfHV-0sRF03I4ISKHB9_Gl-HSgp1apvosnlYXE8GjtB9oJf_Nxf4Do-vmA1ysRC4kznAumrModVQz9rZxrEGlsEocFHxVTl9yoWSPOU1CMoEqpibbqR1VOrSkWRBgS5Tyuamfs0BDV3jGXD1siz9SufPpCRNNGPuUOWGtN_T9NZnEN6G1tg9aiPDhqMe1X9_aPJ4TtA6bMfFbKLo8xuRXncOU-qlurgUlYZQV6gKzKMvzp06kYJ1Jc--BV-F20Wzj6IxRq7JgIOkn5ADVuSZoEkT0iU6nDZH0CxsOjDOwbzBtnLFnwhzSQHsf-4a3K6XYIOYXT1ynLFtSBuXNUfIgcNIy411ruel-HI_n82YMypP-1H5fHVVS9E76dcYUwz_8PegzzeA2cwGUVDQ9y5KcdP7N_y3nWxRP7-ughUGXZHpQKpFggaqKO-oL7B9o9Jn4R66b7i3QnXiDVg8qPWzl-ue1Hn2phCADg4HfI2JlYHfbqpVj3CP8ptz-S6W2lKdZQ3wiHo7isNJhUENkUYOjhB27BwSOIVszb1pzniTwxti2kIgD2-tE7mTvfCOUzkMvWEyFWE1cDpvqaNEg5bS-ll9vuUuH-9Z6ZEKtwgsMeW1EltVjPnQ7KG_jq0QzyEmFlX5wLxc9Y3ne9-4LIKmoQ7ZDiC-_dgTN-cWZfDh85qlnmgOLq0GxNF_LFinhR0kjkDT8p_gB8T9f9rBSlUf6QFDSxoxFolaPdqN4Gy5d_g-74im5bwjEdHryytxGu5bjcpWQEPaZTFvZrHO7n6VI64m1Uv1raja90QgvulUU-K4JBpa2Zi4C1yMmlRPWwOwIalNxPHWwBPcNUKd7Q-N_Y5zGE8wgZq5E7icjfkCgwfci9CnRqliGArHJ6-wp5OWlqHlWYRSWADpuv3WmB2GeKqbq60W4e-g1fnbcmWbx08QizwuYXDlXK6YFn-EbRbKiabsxTH9h-cqUTYxKMtWM4_h69eOtwUokJ7qeoiBCi8p9G1zCSLo4f9EsNzgCtgxPZKd3GKypeQEDtOVPfLLUm_iHaGc_nn0P8AsJySI8kblA==",
  "id": "rs_0b2dc6387791ce57016ab2ce3cac7887d0b9da8a3675befc8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.31,\"left_z\":0.035},\"note\":\"The tan plush’s torso is aligned between the jaws. I’m lowering to grasp its body below the head.\"}",
  "call_id": "call_D3yxKtNA49UWKtmPRy9PrVj5",
  "id": "fc_0b2dc6387791ce57016ab2ce3e3e6087d08eb4a1293d3d791b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D3yxKtNA49UWKtmPRy9PrVj5",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1198, 1.9335, 1.103, -0.2409, -0.8749, -0.9421, 0.9883, -0.02, 0.8513, 0.6132, -0.4366, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3044 left_y=-0.3092 left_z=0.0576 left_yaw=0.0481 left_pitch=-0.0365 left_roll=0.0248 left_gripper=0.9883 right_x=0.2911 right_y=-0.0003 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.1095 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.653, 3.9726, 0.6716, -0.0952, 0.0904, -0.0073, -0.212, -1.1556, 6.9812, 1.6239, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343a0e45ea67c61ca72d5a1e1925364d8b6cb32d2d8a54925463e08375c6cd82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db02b6f52661de989d634c2d046192e0619120610f0029a3b5c48c3f639a1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005241d0c6a6184b59af7dee9e7aaeeb82a6e58ff78c4afaff695a4ae6f13a4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.828 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1469, 1.8114, 1.438, -0.7391, -0.8612, -0.9642, 0.9883, -0.02, 0.8513, 0.6132, -0.4362, -0.0109, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.296 left_y=-0.3215 left_z=0.1689 left_yaw=0.0282 left_pitch=-0.0633 left_roll=0.0399 left_gripper=0.9883 right_x=0.2911 right_y=-0.0003 right_z=0.1572 right_yaw=0.0003 right_pitch=-0.1091 right_roll=0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -11.0427, 6.2564, 1.0769, -0.6325, -0.1001, 0.0024, -0.2393, -1.4701, 7.0222, 1.707, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws straddle the tan plush’s upper body. I’m closing gently through the soft stuffing to secure it.\"}",
  "call_id": "call_SEc7aIEQk29NjFJirkrpABeP",
  "id": "fc_0b2dc6387791ce57016ab2ce460f3c87d09c3a56409dd860c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SEc7aIEQk29NjFJirkrpABeP",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1206, 1.9411, 1.0996, -0.1967, -0.8864, -0.9512, 0.1985, -0.02, 0.8513, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3074 left_y=-0.3133 left_z=0.0589 left_yaw=0.0572 left_pitch=-0.0144 left_roll=-0.0096 left_gripper=0.1985 right_x=0.2911 right_y=-0.0004 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.1095 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.1949, 5.8188, 0.6374, -0.3199, 0.0464, 0.6618, -0.2256, -1.5385, 7.0359, 1.6777, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e88ad59e24e006c69ca7a30e5af72246692bfc1cc12adb6878a80d3165fd086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234cdf6b700da1e97cd9796b788ffc7ec76ad19c313c52f469da4cb08000be04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b15066318832d2ad202c22037882b60e6ac2cac6095a2a9fa75686fc3a70d45",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 9.385 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1198, 1.9335, 1.103, -0.2409, -0.8749, -0.9421, 0.9883, -0.02, 0.8513, 0.6132, -0.4366, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3044 left_y=-0.3092 left_z=0.0576 left_yaw=0.0481 left_pitch=-0.0365 left_roll=0.0248 left_gripper=0.9883 right_x=0.2911 right_y=-0.0003 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.1095 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.653, 3.9726, 0.6716, -0.0952, 0.0904, -0.0073, -0.212, -1.1556, 6.9812, 1.6239, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The gripper retained a substantial thickness of the tan toy. I’m lifting it to confirm the grasp and clear its dangling limbs.\"}",
  "call_id": "call_2GERvynofkrMODrrg2cfnxDr",
  "id": "fc_0b2dc6387791ce57016ab2ce4ada5c87d0abe058d32b2bed90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2GERvynofkrMODrrg2cfnxDr",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1206, 1.8126, 1.4975, -0.7559, -0.8654, -0.9623, 0.2011, -0.02, 0.8513, 0.6132, -0.4366, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3085 left_y=-0.3209 left_z=0.1875 left_yaw=0.0534 left_pitch=-0.0438 left_roll=0.0045 left_gripper=0.2011 right_x=0.2911 right_y=-0.0003 right_z=0.1571 right_yaw=0.0005 right_pitch=-0.1095 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -12.6974, 8.7043, 1.0037, -0.6325, 0.0806, 0.2613, -0.1709, -1.2239, 6.9675, 1.6386, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11284a5330cfd7db2accc46b61b8ae93761d013932baac63b012f26bdf98a6e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad7e1ece97ddbfa70c76a98fb18db227f97097f3dad75ebed5cf9b5cd62cc08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600e6198a64adbc6e72b5929e086b9b027cd3bf07a6a07d30dad09d80405dc80",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.738 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1206, 1.9411, 1.0996, -0.1967, -0.8864, -0.9512, 0.1985, -0.02, 0.8513, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3074 left_y=-0.3133 left_z=0.0589 left_yaw=0.0572 left_pitch=-0.0144 left_roll=-0.0096 left_gripper=0.1985 right_x=0.2911 right_y=-0.0004 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.1095 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.1949, 5.8188, 0.6374, -0.3199, 0.0464, 0.6618, -0.2256, -1.5385, 7.0359, 1.6777, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.15,\"left_z\":0.24},\"note\":\"The tan plush lifted with the gripper. I’m carrying it to the left basket alongside the smaller brown toy.\"}",
  "call_id": "call_l5lgMCKEL626WCCX7stVJLdJ",
  "id": "fc_0b2dc6387791ce57016ab2ce551dc087d09137df29d4b0a34c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l5lgMCKEL626WCCX7stVJLdJ",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.485, 1.6943, 1.4353, -0.5152, -0.4633, -0.3916, 0.203, -0.02, 0.8539, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4524 left_y=-0.1451 left_z=0.2099 left_yaw=0.0972 left_pitch=-0.1146 left_roll=0.0306 left_gripper=0.203 right_x=0.2912 right_y=-0.0004 right_z=0.1564 right_yaw=0.0002 right_pitch=-0.1122 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -9.0188, 10.4274, 1.8388, -0.1392, 0.1734, 0.188, -0.1846, -1.5795, 6.9812, 1.6679, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b689f17b28bc540c4f9617a5ac016d3f5559944b89d42202bc234fdd3cd182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2025d6ca6332a278c6a6764abb1408d888dfaf657feaa87701a2b7f0fe82b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f9ec377df80bbe46b8caf067a06f75464861e5d248f2f2eb5f15cd5571bfcc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.56 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1206, 1.8126, 1.4975, -0.7559, -0.8654, -0.9623, 0.2011, -0.02, 0.8513, 0.6132, -0.4366, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3085 left_y=-0.3209 left_z=0.1875 left_yaw=0.0534 left_pitch=-0.0438 left_roll=0.0045 left_gripper=0.2011 right_x=0.2911 right_y=-0.0003 right_z=0.1571 right_yaw=0.0005 right_pitch=-0.1095 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -12.6974, 8.7043, 1.0037, -0.6325, 0.0806, 0.2613, -0.1709, -1.2239, 6.9675, 1.6386, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss5cWFaVBpedXrc5J5exqwz6qcFZR2A3K5fm8T2btBrtk3eade3eRY2cIknMtloI5BH0YMoSP2hHZzspPgDVpzR3r-C5nyqlxilcHDKi_JMzk-HGmqi1Q_Jb2hWakVvzDOtQcVCedLJY0ZYoR0Hc0FjKFbBWJ_NBDnWGXcQrlpnCkBrJr0Qfs1hubN6djqm0jrk3KJUBHQLL6QvmCrlWIz7cCM9UvuuoV2VTEZA6cP56PjrhFVNE_XfAAXWb7C2TvIAGZj-4NpkuT2UDDsYK_-BUPQhpmZ_zfNT6faUZnuFtuPLv7oLDguvwfJaujZSahgjp9ycRlGrH6c4ZCcV367-zpluBI-GWodYlauu8kHkCTa-ea4CBTe_7dEaXDqBli0IBk47GrSi3Ex40Ph9NVrvC0WJ_B4CVKgVft5bnK9qwoM-bGXnCBEwqE5se5JfBGm3Dkc-bXHSjTk6wR5AQd5K4DltTy7xBNDLwJhAXTGh3vONVG7kV09tWdGVS0imvuNkPaLXRxji-ms5a_NpV-sIbiqOCMJ8NuoDWJWmNClIo76qAbeeZDpoQLhNPi6-sRXIbr5wIUYRy2AFTcoiYVYsJax-vg4zw5DQzCkvVYfm8IU2ampWRgIgEnpnA12YVH69THEN9vEGF3hn_mmnCl2lfU95DRLmldmqDoF0BXiQjqMgMWy1WuxZ_o1TXkXxJjXVJP7MMuYwJA6cguwq0E9O7JkV-tTkARoqxtBV4I0EGPj3Z4OTxGdzBLuRRIt3IE5jY23XHfJjMc0YgoAJh9nJkK8YxwzBg4z3rBZ1gGHTkevO-yWh1eVUvw-MvpQGNstCEacjtIAp4WgyUz8anHtBkljuh4QkuhHn62Rl3NLoTrJCqNh3EA64wi7a7SIfW1g-xB6PZ7G2fqhAHBUlP7lv9ij9YOabwmqQq4RKDh-4DKG8NwAmhLjkTFv-uiMCzsvoHXrgy8bpxs_lnBchF1Hc4NtuohKIiqEQILqdMOOkA3TBMSMYFcHTwsL26VJ7VkIEo8ELoSlJgv8TiOvs_1DtXpvigBcWO7lNOKQ2ZILV8mY2sb9xLYBY_mOg-3qMQj1taBRtQVBkwVyaHW4foyN64gJHOu7W0HUn1jwONa7rCpyGCBHPjM1y_esle50-0Js_Wxs-Vc5qXVKkoNPae96RI3s-WBNXacvW5Dm2TeF_6XSqKnGpm9UPP2sAJ2ZvwB4vLk1LdvE6Lmq-LtfBYg3PQq1fa8dSpQdsxpTw8v2GrBIGdk9mGd1mavPHBYB7GdpGC7MOhljgKU1T5bxc_WBThAaZIp9SE_l8z1WDFOWlA9xzTKHjJiPtgEXzKVKna4fwr",
  "id": "rs_0b2dc6387791ce57016ab2ce5a8b6887d0bca774eb97adef73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.15,\"left_z\":0.17},\"note\":\"The larger plush hangs toward the basket’s front edge. I’m moving it farther into the opening and lowering before letting go.\"}",
  "call_id": "call_YoTCr5Nfw9d67h2cmurQ4U6O",
  "id": "fc_0b2dc6387791ce57016ab2ce5b86e887d0ab58dd1a8464c29f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YoTCr5Nfw9d67h2cmurQ4U6O",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.8847, 1.4723, -0.4355, -0.4309, -0.3737, 0.2047, -0.02, 0.8566, 0.6132, -0.437, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4881 left_y=-0.1426 left_z=0.1471 left_yaw=0.1163 left_pitch=-0.1899 left_roll=0.0643 left_gripper=0.2047 right_x=0.2913 right_y=-0.0003 right_z=0.1556 right_yaw=0.0005 right_pitch=-0.1152 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.3863, 10.0991, 1.7949, -0.2613, 0.1538, 0.1587, -0.3077, -1.7983, 6.9675, 1.6044, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce739ab09d2358217bd11900f400ce12f49e35c298eb11b7af8a7fdedb6e175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08f6bd7bf9d85bd4cd25e26721151a99dd66cf5018bb052f6a4b8d3b23033b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d47a67ee7bbd671510b4c464bc364aca0855501d2ea76fd475298a4224f876fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 8.957 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.485, 1.6943, 1.4353, -0.5152, -0.4633, -0.3916, 0.203, -0.02, 0.8539, 0.6132, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4524 left_y=-0.1451 left_z=0.2099 left_yaw=0.0972 left_pitch=-0.1146 left_roll=0.0306 left_gripper=0.203 right_x=0.2912 right_y=-0.0004 right_z=0.1564 right_yaw=0.0002 right_pitch=-0.1122 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -9.0188, 10.4274, 1.8388, -0.1392, 0.1734, 0.188, -0.1846, -1.5795, 6.9812, 1.6679, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan plush is lowered into the left basket. I’m releasing it with the other toy.\"}",
  "call_id": "call_c2CZ4sOHXloylV2uSLkMMjd9",
  "id": "fc_0b2dc6387791ce57016ab2ce60d62487d0bff7e43310d69f3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c2CZ4sOHXloylV2uSLkMMjd9",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.8927, 1.4853, -0.3958, -0.4297, -0.3664, 0.995, -0.02, 0.8585, 0.6132, -0.4362, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4976 left_y=-0.1451 left_z=0.1546 left_yaw=0.1113 left_pitch=-0.1525 left_roll=0.0454 left_gripper=0.995 right_x=0.2915 right_y=-0.0004 right_z=0.1553 right_yaw=0.0 right_pitch=-0.1163 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.2359, 9.3333, 1.6532, -0.1978, 0.0904, 0.0464, -0.0342, -1.5932, 6.9538, 1.6484, -0.0122, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8013cbcddb66ad2ca415feb8a053c7fdbad26e9de7d43c1b47ad8743bb5f13ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48cfd092f1b91c1dac697aa8a9ad0b6cc5c83a4c893f9253a285416edf208e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba250dbb42bed69a5732cf5da085804ab907b2174785d6fcb2fb15b2d7a0cd80",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 9.877 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.8847, 1.4723, -0.4355, -0.4309, -0.3737, 0.2047, -0.02, 0.8566, 0.6132, -0.437, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4881 left_y=-0.1426 left_z=0.1471 left_yaw=0.1163 left_pitch=-0.1899 left_roll=0.0643 left_gripper=0.2047 right_x=0.2913 right_y=-0.0003 right_z=0.1556 right_yaw=0.0005 right_pitch=-0.1152 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.3863, 10.0991, 1.7949, -0.2613, 0.1538, 0.1587, -0.3077, -1.7983, 6.9675, 1.6044, -0.0464, -0.0464, -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": "gAAAAABqss5rEDMuN6KxvsP4KYjhXNttsIZRVSlLTT0VZ-XTTSh71PLefHxC_pLjMwZBS1eoHlJyxOy7Bas2CMlUN6ZOEZvYlbgM0LdY29jUOP5qotF-_Np_NLCTxikiXrkusLjpTxSnH2eLRRVSo7ov5Hy5ANAO7kFndt-cay9IILiqOx8nCKJsTYnpuf6n9tSKb5HGFGqFofwyvRP2UVHzHS0Yq7hImhP1pMv3R2btWrUMNKabL5Zw8v9PJAxoSRXWKySLXve-b9lKw9HKYLKKg_vK14CY_MyM2hEmSg40KVsYUvOHwHswyB1HHoDwIgH0EtTZmg_ri8Xn3OJ3EWtZGcMhO5f29aSyeOqoBaMjhmQQdWlFqXcOSNQNHCwFHXatZSFDNghwMHh7nfotoH9AYDVO7Cdqog3EzFAZmv4S1i5IRBk37X-T5jdpTNK6jcixcg3TtujIu4OFosHWqesOnQ-UGc922G6RC-7qCaBSIcNyfR8tTsh67iZ02040LP32OJtW0VI9WZrsvcg1n3esbcRwxaru01G9_BvJnFdGc1YpxgWkUiYyoV6Z45ZUZTbE17NoxnwHpHMoyKz3ddDt-KzgMd7vdGOOzCsu_PR7T7rBYm61B9G3J3H0DFg8B9c17_6taeSAEf-DSDp9ehmMoCSbsfFFYi1tNaps4TW313l1HDm_a89S_hXK_o634WM_xbqsDDcdUfzOJ-W-pEpZzDHwz4UFA40ee4E1JoIwdsjDHZVs8XDil0Wy8429p_y2KUefCgZxYweQAaxm3-fnnKeecu6Axgo5Kpf9zD0ZnpsiEzWYxD6zPQCiIY_njb0NJ5SS0SMV7EDF1BhgphjpKGeJ01-bAPBhTRqlyjaEOI7dJJXRcQb3IB4erimEKD9FymmYNx0spIagdKZQhPOKlx5k1n2Y0bnIn3UpWm-k3xl_hq7p2aEq-3b3NI9LNuVk64MenxEYyc9HGTwYR_grgIBoV0-yw2tu2bi25TkvKHNWL_r0T3QDGfWEE8u6u1CkFF9KHx0x7fC5gOUeCXr-kIT4sJr_roTVC5Kiwu-GQoaNUwV-pczY4odKvKbgf2znHO1zq274JCb3T4NQr4KdI9t6ryIwLfIIoF_n2WUechrNwp2iwTh9TuQNMZKIZYre8cChwW2iGueeyCpFJx_9NGXZeae2qEt0LP0aXuOtDM5xhJ8FH4sOgAP4NhZXCDJdswQ-jRw8cpNhpR3y_RuU-o3Z4Tpq66u8mNjMQecj8bXjsEzNFz10jtKKFU-jNheiraaWKOlrHkPitmqjN5CjTnOcYlGj0gSct9dZXKhENBQ78b3xsxifmqZNIUa87t-I-F_6Iq-dzburlMaDtxjwzfCOkkxfgLESRUkA1PMo01-XAqjfG8bhZOeYLjLTrgVZxVNm3h8oACg-dCmHgPCX7KGoRicn8Uy0fmxoE5AeFev-k6xzFEQ9lNS1PZ75xqtxQHSPEietEKe-cWr4xJ11nVEdRzV1xkT5Wq8Tv0mI5RUHnao376mdo-XjKrXYTnWqHP1AEhlX33QWs62-Jt1QixN5QNEEAoEuBPNLhRcapBqR3dxELjPKTJ72BpY03ZZWZc7xoIvYkMaNGZ7BnzruEUBB32iJKCGLb4A8HGg_uIl8xK9DYmM=",
  "id": "rs_0b2dc6387791ce57016ab2ce65eba887d0994f39ae14b0dd3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.275,\"right_y\":0.065,\"right_z\":0.14},\"note\":\"The tan plush has been released in the toy basket. I’m parking the left arm and aligning the right gripper over the two neighboring blue and black writing tools.\"}",
  "call_id": "call_q96Urj8kdPEShBc16mAkd3l7",
  "id": "fc_0b2dc6387791ce57016ab2ce698c3c87d081e866156e1d9bb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q96Urj8kdPEShBc16mAkd3l7",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.005, 0.9859, -0.6937, -0.2516, -0.1894, 0.9967, 0.4095, 0.8646, 0.5674, -0.4347, 0.2935, 0.2295, 0.9998]\nstate[eef_state]: left_x=0.3108 left_y=-0.0001 left_z=0.2326 left_yaw=0.1448 left_pitch=-0.1249 left_roll=0.032 left_gripper=0.9967 right_x=0.2744 right_y=0.0673 right_z=0.1388 right_yaw=0.034 right_pitch=-0.129 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -2.5641, 6.612, 1.7363, 0.0122, 0.1832, 0.1685, 0.2667, -1.1966, 6.653, 1.6972, 0.2613, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700368b856985f0f044aa9cceb9e4ec955715031a30fbfd311a5a720a15d2ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ad7c784ef074b4db704f3068205f3b88a15f3b1ed3a883e7da57c97716eea2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fcdcce578d92cd10ce02a804db47b10729d2df5618a554c12e97391a5bd3dc9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.768 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.8927, 1.4853, -0.3958, -0.4297, -0.3664, 0.995, -0.02, 0.8585, 0.6132, -0.4362, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4976 left_y=-0.1451 left_z=0.1546 left_yaw=0.1113 left_pitch=-0.1525 left_roll=0.0454 left_gripper=0.995 right_x=0.2915 right_y=-0.0004 right_z=0.1553 right_yaw=0.0 right_pitch=-0.1163 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.2359, 9.3333, 1.6532, -0.1978, 0.0904, 0.0464, -0.0342, -1.5932, 6.9538, 1.6484, -0.0122, -0.022, -0.0171]\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": "gAAAAABqss53UtYz_LLMAMuaeXNMTU4v3QxXJfxkB5G_bA3Ot9D9_Bfq1AJ_oOWgoqlvRDHoqONKtbCIWH1L9KMQg1r65Em570gtAIk3Q2sYndo0wzIauhCcMNiJs3NV73hS6lixE4E99oOBoTKOYxeJdiW2dx4Xiek75YKbAWEjnyJH1Y7awcqK9wZ-eKfb9QaIglOayvpNBHVtaRQihns2D5eBh3YJuCmswCzmj0m0zXPm4Idq7nm3wQQz9_7PR_NjfDQ-GA-EVsoIzJlINbOGRxf8iHzUk7385euD83WxjylTHPG7CSZFbvEZ4DPsh9plkS_NSRcBp8rNY8-sSeEheMFIm3uu-7CE1dZVpysTJut8es941PK3fc_kZlRtJXrpr7Lk7oUmZnUKmevT0CvNe3w6TWofFUqP4U1LFmlGxegGi0q9NFl2YhSqJbRr4NZg5bFT7BvybNyQIwN4CNFQ-m72iu0rz_ccqQvQynTO6ioTTePthnODjyLdM_rVqAtec-HmXfaWRtcscvE5e7kLSqsGo01M6sTT3-RNHWkgangh8hO-IeFmRla0nxQ7o6l6F64w8BY2N7DNoiL2USiFNwqE5EUdcEYoItH5y9h3SvK_e1Y5Wk7cl3DZuRbj5kogqTAqgAeR2dzMiJWHX4W1hFr1phluhYzjxm_iMa_WC3HG_zwwXZrqKqxVtv3eozJO0Ay2nvweQEcCvT3EcEq2X36RaWbUQ6UC9MGPGp_9CrflwIMWJnzokkG8UChwcrZLTz-GErIrhdE1uNbpZUDcfZgsAfw0h718EltgBrSISVeVa28AgS4yklgBCmc1BRNu1uNtaKNk_T5T8nIeoPp0T7or2MWmMVQx99x88HJjtsqVM0tQ2ynWvnL02_gaHdWHN24FAiEYWxGBfZqxcPt4dqLHV-hZYkXxCVdteYFKxuoFCW4Y-XHW6necRUHf8lxn_8DiUGJ41n-XRZKsDqgYOx2KLfZI-MMZ7fLN2MnsCQAcE6C139yu0Z7Ga7JQD1XAtTy-wOTBfy-Rk72rs-I0oyoLSLX02hawjD5A-M4xwvNEORNrDGTBSPLQTI92GDK44iJUhaDYMfjwfFIgTr--vdvwRR4IZeGr-Xzy6e6w_jj1IjNM-tkGvUKlqR9JwV7_UO_HmbFaGahMvcSoAk70ms5XFHoKwl8HSLFN-1Wb06GBdsHuQpfTEhqKNbHw5P1Jx2tKmsm1fOq4S4L14PGzn7yM2FA7wESo5FfhYGnJkourZDyFTZUQS0C_PHPsV8YbREzqaoHP07AGIC7gyIh6ps9be1cs_T8myQ_tVutJ9ABkh_WMZLfNtunbM55Ks3785XhP4dUZUFpEdAVsCOD249T6K53u1Y5N8oYTV6wS4fJhv0U7CyVuIOE12O6BqgIM-C0saXNzxbc9vJRc6WXQMDv9kFQYs0SyhAZC7umxqlTNNGe6n-Y6nBKXwV9Sxn936jtmKxsL",
  "id": "rs_0b2dc6387791ce57016ab2ce71d6a487d08d45c04e67df1560",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.06,\"right_z\":-0.008},\"note\":\"Both pens fit within the open jaw span and lie nearly parallel. I’m lowering across their shafts to collect them together.\"}",
  "call_id": "call_J5mw4bXtF2HAyTjecBVBxsSs",
  "id": "fc_0b2dc6387791ce57016ab2ce74f33087d0848994a4bc2e0224",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J5mw4bXtF2HAyTjecBVBxsSs",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.0126, 0.9852, -0.7128, -0.2394, -0.1944, 0.9969, 0.3378, 1.4048, 0.1825, 0.5426, 0.2306, 0.1982, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0019 left_z=0.2263 left_yaw=0.1384 left_pitch=-0.1534 left_roll=0.0284 left_gripper=0.9969 right_x=0.2998 right_y=0.0663 right_z=0.0106 right_yaw=0.0333 right_pitch=-0.0933 right_roll=0.0271 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -2.947, 6.9949, 1.8632, -0.2125, -0.0269, 0.0024, -0.8547, -1.5521, 1.7162, -0.1343, 0.0708, -0.3004, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d390e64606f5235d763ac4756213681179eb4594f5616025469594f459de730",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71023f7a4c8f3e624dedeb6a7c09876db3d1b07c9cb26635136eb180aedbb696",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8a18a86aacc4382cf7fa212b607fbf38b4bf495053829395712c57fb8c0ddf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 16.02 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.005, 0.9859, -0.6937, -0.2516, -0.1894, 0.9967, 0.4095, 0.8646, 0.5674, -0.4347, 0.2935, 0.2295, 0.9998]\nstate[eef_state]: left_x=0.3108 left_y=-0.0001 left_z=0.2326 left_yaw=0.1448 left_pitch=-0.1249 left_roll=0.032 left_gripper=0.9967 right_x=0.2744 right_y=0.0673 right_z=0.1388 right_yaw=0.034 right_pitch=-0.129 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -2.5641, 6.612, 1.7363, 0.0122, 0.1832, 0.1685, 0.2667, -1.1966, 6.653, 1.6972, 0.2613, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue and black shafts lie inside the jaws at table height. I’m closing across both pens.\"}",
  "call_id": "call_rKhpTo0Vs4xwIbz0fr8ECI0x",
  "id": "fc_0b2dc6387791ce57016ab2ce7ba5c487d0b75b66230a70acbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rKhpTo0Vs4xwIbz0fr8ECI0x",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.0138, 0.9852, -0.7174, -0.2386, -0.1944, 0.9969, 0.3389, 1.4086, 0.173, 0.58, 0.2241, 0.1947, 0.3202]\nstate[eef_state]: left_x=0.308 left_y=-0.0019 left_z=0.2251 left_yaw=0.138 left_pitch=-0.159 left_roll=0.0295 left_gripper=0.9969 right_x=0.3012 right_y=0.0684 right_z=0.0134 right_yaw=0.0423 right_pitch=-0.0715 right_roll=0.0353 right_gripper=0.3202\nstate[joint_eff]: [-0.0889, -2.6188, 6.7214, 1.6093, -0.1245, -0.0415, -0.0122, -0.4308, -4.0547, 5.2855, 1.2576, 0.0904, -0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf8c70b8dbf42daa48cf83bb58640c6d0b1deb535479c75260e27968d128735",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50797e850e087b4dab7b6d778c3709ac641a983ad89f44ad3715ed9ea0dfc61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f3d08463de48ecf3fc441efb67231d8d6982b8988b18dc92b51f526696f68af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 7.621 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.0126, 0.9852, -0.7128, -0.2394, -0.1944, 0.9969, 0.3378, 1.4048, 0.1825, 0.5426, 0.2306, 0.1982, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0019 left_z=0.2263 left_yaw=0.1384 left_pitch=-0.1534 left_roll=0.0284 left_gripper=0.9969 right_x=0.2998 right_y=0.0663 right_z=0.0106 right_yaw=0.0333 right_pitch=-0.0933 right_roll=0.0271 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -2.947, 6.9949, 1.8632, -0.2125, -0.0269, 0.0024, -0.8547, -1.5521, 1.7162, -0.1343, 0.0708, -0.3004, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The gripper holds a combined width consistent with both pens. I’m lifting them clear and checking that they move together.\"}",
  "call_id": "call_j6o0DAMIQT0puSnqCTvsY2De",
  "id": "fc_0b2dc6387791ce57016ab2ce8c3af887d0ac52894b378a198c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j6o0DAMIQT0puSnqCTvsY2De",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0203, 0.9852, -0.7177, -0.2386, -0.1947, 0.9969, 0.3389, 0.9432, 0.6556, -0.3588, 0.223, 0.194, 0.3191]\nstate[eef_state]: left_x=0.3087 left_y=-0.0019 left_z=0.2232 left_yaw=0.1389 left_pitch=-0.1656 left_roll=0.0313 left_gripper=0.9969 right_x=0.3046 right_y=0.0698 right_z=0.1679 right_yaw=0.0439 right_pitch=-0.063 right_roll=0.038 right_gripper=0.3191\nstate[joint_eff]: [-0.0342, -3.0974, 6.8855, 1.5311, -0.1197, -0.0464, -0.0122, -0.253, -2.947, 9.4154, 1.4481, 0.1001, -0.0415, -0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e351d68138c1c726f2578125aa4b7bc302fa47adbc233cd92c3f6e683741ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc3a4969cc1c61bba85ed7bad2bb909eaf8890f123125b86449847806ca8ad39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98fd5afabbc40f6158c565ec17b6f87e290cf8dcef8f2bd39c908c69587bb548",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 9.042 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.0138, 0.9852, -0.7174, -0.2386, -0.1944, 0.9969, 0.3389, 1.4086, 0.173, 0.58, 0.2241, 0.1947, 0.3202]\nstate[eef_state]: left_x=0.308 left_y=-0.0019 left_z=0.2251 left_yaw=0.138 left_pitch=-0.159 left_roll=0.0295 left_gripper=0.9969 right_x=0.3012 right_y=0.0684 right_z=0.0134 right_yaw=0.0423 right_pitch=-0.0715 right_roll=0.0353 right_gripper=0.3202\nstate[joint_eff]: [-0.0889, -2.6188, 6.7214, 1.6093, -0.1245, -0.0415, -0.0122, -0.4308, -4.0547, 5.2855, 1.2576, 0.0904, -0.022, 1.0281]\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": "gAAAAABqss6WjmeyChe5lVShgHTolgOADt4o8qbas6xmizfL5U8AgHBSGX9Sx7rorQMMtvfTqNJe9FuiSXzl3e0EcD39VZyFU72gP8NR-3hrdsbgbkHcBez0nx21pMCEJ1eiYL3RUlNAHyAXwZg9CnKKDWx0Y7XxwMNbIU3mdkrhQ94q7dAVMyCy4AOzZKRhX0bmO-dtaspKF6PXc9ANrENm8Z2AcO4Dlmc8BrP9YVmO6ZRfRNVgfc057eojMptEqfYTwPiNblZID3RvmCG-kSzG2Z6Tgem7UtxCoI9lKdhGWktSKpWCamwGYBKYp7wRZw6r4eBuLdLw3Of-90RA-VkpxaYzCPmgNiU5KfNBvbAcIoPyasgbCkqimqLc-GBtmdKtXxtx7pT6YmapLD8537Ktf4mpoK3Ddf6466OhDkd2GdbQ-NN5HuntblTygxgT13tgN_4znyrQDFzOD-ovLmJwBRShHr7CV0-rdHR8gDKTBnWLYorDbqWYy4SOm2HDdktQLiK54EUD8H39l2gwoSmP6dU8JRXxJJC5zN4wO9nXPUI2PYL8i2-G5oT22-WNhvqi-JVAZ4awm5EC7swwRBlbOGMj5C_5jt1y0kxtk3IoW0z22joDLLxfd4BiUwzeOYNwyC7DZZ1nPRYBcR1i1tkp2xZIeMNgaUKtO_LGoKdok08VpO6MA8bPGI1DcZm4DOfUUaqubcuAtR4FxvVzILsO2f4IgG5gZqgLXi3joX-eX9qgGOsH-C7GscKolxxdydM6oByKUfmPf3_yUXjsI-qV06beWRFTyn_qECkKV6lWlU0ummjsb3am2rAgc0TLWikmb-qX6R_Vd4T6r8HKo_ISKpiKArVJchQcyR4_JI9YyvwdgbTJAtz4WnW_YMXzVBDENEOapx0D9xqMrtg3q2A1FsENNNV7n98tObA_Q1sW2aw3WQna5-4RkSdOR2R1FWZ8fJgT2yIKJSwV-qXmuobW-obfc893Cx0rCH_5n6hSJX2IgELJQRWu8_CV7qrYOKYNjBkJrambOA1-N2MjOtuNrEtkFvX-Tcab5Ce1PRfqJY-FQ5DwBiUdOUDz5BBArwUqAwoHPRGEIEhTPFDV74IJlRwfziptn8t7QoIzRDQ9U-7dzBvNg4SrCN5t5JNHQfAh1VWC4mR3ODiIAEL6R7YKN2ifpSDCIUBLL2ey_5w2QCKSeA6KHp_5LiRjIjToqrjXIO175mn82DepwWEJFNFWKOqSz4G8m3H0EPdWX4aVINIZ6TLuYvdpXkwOXQAZe5xH_hBjH5OFomUgr0PKbtVni9BMAlW8Kp31s9zy3ynrXKFpXKdUrs6S2PNbu2gcN6sFI2DUnXE5PSGg0y5ZUH3hxCd8SsmaSbIF4KECwV1N7wrrqPIvdJakLIzu4aZa3jzpPbSkTqOBCEPa0aaToCAnBusKCzoM7eIoJ9HorpS3Sk86Yg3CBE572zFzUaVImK6ZovtYnEuti2hPW-Qie8Q0ZqWQEcyJXC3Eevt5861BzaRLkYMI1hE=",
  "id": "rs_0b2dc6387791ce57016ab2ce9272f087d0b0d07609df935bb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.25,\"right_z\":0.22},\"note\":\"Both pens are suspended in the right gripper. I’m moving them above the right basket with the yellow pen.\"}",
  "call_id": "call_lFsROsgPLCuf6HQt635YHgoC",
  "id": "fc_0b2dc6387791ce57016ab2ce94ff7c87d0a2c37da5552face8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lFsROsgPLCuf6HQt635YHgoC",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7193, -0.239, -0.1947, 0.9969, 0.5976, 1.9114, 1.6669, -0.4713, 0.408, 0.3458, 0.319]\nstate[eef_state]: left_x=0.3091 left_y=-0.0019 left_z=0.2211 left_yaw=0.1396 left_pitch=-0.1732 left_roll=0.0339 left_gripper=0.9969 right_x=0.4803 right_y=0.2465 right_z=0.2075 right_yaw=0.0671 right_pitch=-0.0814 right_roll=0.0256 right_gripper=0.319\nstate[joint_eff]: [-0.1573, -3.1385, 6.9402, 1.5507, -0.149, -0.0513, -0.0122, 0.4991, -10.9744, 8.841, 1.2332, 0.4029, 0.2076, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccadfea1127f1b9875deca0cc4bf4efbd61b544eb74d62737c715ff7198b61d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbb2c4cc87f3e1b88eb6875632f2d194518faabe9f88c4eaba0b4491ebf62e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b05dbd5b5359690bbc07ece3e37168260404c629f7fe033244948331c926445",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 13.19 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0203, 0.9852, -0.7177, -0.2386, -0.1947, 0.9969, 0.3389, 0.9432, 0.6556, -0.3588, 0.223, 0.194, 0.3191]\nstate[eef_state]: left_x=0.3087 left_y=-0.0019 left_z=0.2232 left_yaw=0.1389 left_pitch=-0.1656 left_roll=0.0313 left_gripper=0.9969 right_x=0.3046 right_y=0.0698 right_z=0.1679 right_yaw=0.0439 right_pitch=-0.063 right_roll=0.038 right_gripper=0.3191\nstate[joint_eff]: [-0.0342, -3.0974, 6.8855, 1.5311, -0.1197, -0.0464, -0.0122, -0.253, -2.947, 9.4154, 1.4481, 0.1001, -0.0415, -0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss6gaui4Rrm7PWcMuEu5YVQtSnG5KhtxMPSDrgjr9aWloB_mp6Jh4azM_MXOC79Cg2TEGZR8ENx9C0GrEbdw3Uo6HjM5oEkcba2iGyaBmT_qwQfb-3RpMqc2Wp7p5ISCNc9GKju61iCKckOEn28PVOof7y3eOV27Ju6XEErIoWeEldSoblvM0QahVfpa_OcM5f1Ly7PqtqwR-96G3W2wZqov0ZVEHdKKGelrY4OK0X1LBN9YXAP8JjrinGO2GinJfTQ1kI1WpLMsZDfphqNc1HIALAtuMZIIw9Wt2aTRudiNHom_jc7n84yrb4mpF79TQEqz7y3QROlMedpwnfdi_BmqVvJr9uFWI8VVoED-1eoZExrOAPKaYIYBTwkgSTHQsvxryjZyKsrF-69ptGPeH9vj3QyQLPesLieknRAyM8wi520yhiM0dlXyshIvasNICMleye96-exKII7GGgGONvAUkUmfUX_LOt2ebZWDpanPuSOTuZ0MXd37ohzg0b0f4w4xvJhj8AB2Tdk01OhiU5Z6-G1Wz5Crrt1D4uHwIVde3nQUnzZ3O-mCsieszy7Yrhx4l1T3YtAF2reipLUBauYeJ_K8giGSndmoa8RHaGx9v1SALLO151eoU-dT7K8Yqpz1-mCpZUsUjIZq-WwuvixWl1yU93kVsJDgVRR3KcP0qtVGMtPzn1Whx8JWzvaMFLj85-s-rJSTrDY166Sf3wMtYuLdqadtI_G9HIjo8uQyL0andN-3H2FXv0GDKpsEitQ9bEdoAFxXjhoUJhUreSq4RInJWHshBiRQPMJfIq7xg8-jradAdosbFvwT9p9eia_NrX09HLywFmSeTNpB8yh--cnzckLynkTUOPTzFpuJLlSuAeWAyWuPhnQYwnqNuqTd8K6oxM1N27VsJhjeE_41gaON_o-m4rYOD_jctfkG2Pg4n4FCXbCzgg1yb0y1_OrRYcHjscixGLybZCcj1xMhDhGBZejRhHIKtx6QgDemMMIvuFxGpWj4ger-H90kgnth3GJaJulHjZvKfueGhVHuZJb79g_XUmABeCSw6qVMfSJWssnz1lTp_m5Z1vC60m2QcQuzSQz2OIHFmrcTEzLsrMDkJnnS-55aGAqH_v7wtB3DKME6JBOq6jmbGqxnV2Tag5w-SYEaFM2rhA20gbRr_Yuz5czWs4jyN_O17joATowRXoe7uRMGhBeFCgnFmSDSyUoLKJBfCXgBXWnIhRvd_aZmBls6hqBF_cCQd-ywgKobxRxp3wwgTd9DFAEg-0qjyxkq9Iju11NDR2lnZZp_h-e6N2s0Yb1TtUMJS735wZBgLqOT6EYbJ3uDbSTeSBoqpZW1nXKFKMsnW9S0t6SE63ViCww2KHuTKsC9LPlLN5PSNaaKgOKXZQZjhUHmfsM6gsg7EJNgLR5vT-szV9_gKcygNcUff7eYZQB1RI699Szg9J6nHHi-r-0oU-AN7jSKIS1XoNiPV1pj3-lad0XhtNc8XR5fJOSxWVFirtURDHaw2jHW3t8RYaWnCuw_5cKNLG_H-SawLHmgwde_NN5JpxpfDxYLT-4b8iWk1i0LY-CTEIKcXj6hO2S8bv_CBokUpEalyRyNVg8XLOOZR-ZnAVHk2rMQUFbyfjLTJWgEWwqhLHxzLT1Kz0Q4nsSiQPgWARtD5ZCVf_mN_YbT6_6_qja60C3R9P0HYKsOyj0eG4CM9U20GK3oa7SeUOwcEUBP7o8NvFi49Qb9FvPuoo6lb87vT75iXybJGSiBjLvao_w=",
  "id": "rs_0b2dc6387791ce57016ab2ce9a986087d08fbc9df567aec92f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.25,\"right_z\":0.155},\"note\":\"The long pens extend toward the basket’s front rim. I’m advancing farther over the basket and lowering so their full lengths land inside.\"}",
  "call_id": "call_6vtEjagIs1unztkCinN35c4t",
  "id": "fc_0b2dc6387791ce57016ab2ce9f48b487d0b6ae1c3104b3ad30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6vtEjagIs1unztkCinN35c4t",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7189, -0.2386, -0.1944, 0.9969, 0.5293, 2.1593, 1.7805, -0.4057, 0.3508, 0.2955, 0.319]\nstate[eef_state]: left_x=0.3092 left_y=-0.002 left_z=0.2212 left_yaw=0.1391 left_pitch=-0.1729 left_roll=0.0338 left_gripper=0.9969 right_x=0.5325 right_y=0.2453 right_z=0.1302 right_yaw=0.0681 right_pitch=-0.1605 right_roll=-0.012 right_gripper=0.319\nstate[joint_eff]: [-0.1299, -2.4137, 6.7214, 1.5214, -0.1343, -0.0366, -0.0122, -0.8137, -12.7111, 10.3453, 1.6288, 0.2076, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9e276be77af62405213e7bb72bee5cb6ac8d9300ada9c1f7855bca36bbb925",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347fae8e29625a14456cfc7d4ff38623e309d8164aebe3fca0a7bbbea30f4312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74cd1becd93446e8cc89778b29b2024307d0e2ed6eccf7cbf119ef289db884df",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 13.12 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7193, -0.239, -0.1947, 0.9969, 0.5976, 1.9114, 1.6669, -0.4713, 0.408, 0.3458, 0.319]\nstate[eef_state]: left_x=0.3091 left_y=-0.0019 left_z=0.2211 left_yaw=0.1396 left_pitch=-0.1732 left_roll=0.0339 left_gripper=0.9969 right_x=0.4803 right_y=0.2465 right_z=0.2075 right_yaw=0.0671 right_pitch=-0.0814 right_roll=0.0256 right_gripper=0.319\nstate[joint_eff]: [-0.1573, -3.1385, 6.9402, 1.5507, -0.149, -0.0513, -0.0122, 0.4991, -10.9744, 8.841, 1.2332, 0.4029, 0.2076, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss6u8nIqYZbOxeUlkHVToZGqoKyTiouGRhBP352blgIXz6Qk3g3z-O6yxUUgzd8uSUsdEC3ZP_h2jvrRAI8-UzELZc0TdqaiM3yNUSCO0jYqG4z0M37YWRJvBkw3LueFlmHgrrfms1U0vQcuzBcTnKSQjs_JJei-iwCovlZf7sWUFOo5liaEXkr0FIWAMEmpGwLiF5UpPRofGKsdEJED5X2gheqvbxxTStfcCpQ5QOkNn8OyZTe8ikx6FDX0ZxwkKMfpmLnccbdBqWTmaQ9EQZW1itjN5Cp_DkJwnWspoTMWl8vYyUsbdyMEXgW_y_IzJFw9Xq4F-Fmr4McAvfZlKe5S3lpOoI8kT9Ou__wGPXe0f82Vr8yZPe3u_enoQAZO9syU2epkGs2vOZ6i69fjtqt7DN8CD7a50VUtTecaVgY2mU9JTAqgz4qVTcMulZnYnkjfB2X8zKxG_3LtDfo8Ab3WrzLxl32AD8758uJ4HQ20dd_Zn3TibpGeSkP1gWcHpHoRyC-GWpZCpF_XP1PxzywJ23xNyaXHHj_zil1ImSP_Y897sR1i3Kg6DN1i2_ZDHJ-OZVZeXrtm9YZ2-m6qLlAob8PUHLIEbsa07QzycnsHcW58p7XeoCyWhsMKgBk02KwfqrldSmjFJKyA0hJSFIARrli2zVEIjT0PPn_w8N3OtrYAugng2a9lHtCEVbHgTex-jvMomz4FEECD2cdAj3nNGSatgj_1ZO1MpI1hJ0ORDqU7yZzBJZTQb6i9-ezthznqLefoh2WZWKoPtUE8KLBWk80o3L_wQB9w26lTsGjhh6hSvD_pVD-HU9n2H2sJi3grNbCtnDDUHBfHHi4H186a-rug4FjHibGALq0RNOQBIUDWaJ4-DVBCV_XFbc95UVEA1R2aUye5UXI9yGAiI_4EvAMRjzuNer8SbAlq7DMT32SXB2FQoewy2A4ex99lSPbae0C-3ZrpBxNrNRmgRa3zjZS0Pl8iJrdsQt5CPvjL0IpIBU-9AaSnWG-uXSR2t-YR0IQIOgEkp14W7LHD1h5jSyCzpEX2nmDr41aAf6yM1UK56AdtNlAFFm8gWX_J3gfoHOOPp-jrJOIFL3OsVRwIP0MMDeSue3Mwf1ZQ7K73NRVvRCV7CwdpqJ9zmCLiaOSoC7-AyGPm121f_E46ZuzYADciDBbegaOdyFeS2Wr9nt70wdWhEQxEdB7hsopEc2eVKyglcoxtVMdg_IxYCunPisphGLUEwm__EK_6J-q1f-UPKw3iFR_iyiro2wckD0lICec14jzRG3GGd2vSmIjt8r3PYUaQ_l5BaBVNcZ7lDPhDAw8Y9f8bxETnewOTwHGWnrWftAA53h0C_tyw1mmk2Vhp2V48RjM6YA6KS5VqLGU0G__zpUnpy-AaxBCWm6PlYALaWUn3HsRuLDnv0Bc1VXoCSx4gqz1_JIDfPLYomfM03KGLlsmbH3Qr0eW28IwZhwRif17-Y-1JM6GvrN4AWDayyXuPDuOaBa-ZM3kGwAwLGFO40l1hckzUSruve1vo36o1c9JHAtLxV8lxr4SN1G7XpIrcaY8iQQDjam06_QbalySZ0CgbdokIboWtw8rq_PPB6Fx8NZuDjKdH2Pe9pvcJ_rkX-0BIQkb9uqmYZpsqvLyHWl5JgquYQVn-yIb7BQn8lj9P4UY8kCjqDPsSau6dgn2sgk52J5bqgBCkqzQaHb9kqq4fFb9EdxGYOtb0fo7AvoEQlepYN4PvjESpY_ikNvJHZDUr4Vw_zhnsv8Gzm447jWQ2jWOulKolIze6k1kv-uUzaxvf3HegMRMIv43Z5fgTlhwCho9gSc5P_i16cdejYFl9fGbMI94KiKvKT-9jLRF0v40lSKzhzWtkvRkSHxu5BC-fU8ugAx-TPqF3dzO98eeXWFZmao7m87HWnWyfsVxRON2J9YD54vQO-wO0PTy1whg0U33zZLxlmPk5GGNK2aPDO2OeSVPOSeISWGQ3k6VNmbkd0ZNJ6vZhYIu4kAhSoh8cvfJoHPwh8t2oYPtm1AHb8hU-MrRC4-5V",
  "id": "rs_0b2dc6387791ce57016ab2cea6b67887d0b7e429b235b8119c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The gripper is positioned within the writing-tool basket opening. I’m releasing, then I’ll move clear to verify what landed inside.\"}",
  "call_id": "call_6eccvA0TG8WFn6BRBg8bKiHT",
  "id": "fc_0b2dc6387791ce57016ab2cead3a6487d0927dba1a2246a120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6eccvA0TG8WFn6BRBg8bKiHT",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7177, -0.2386, -0.1947, 0.9969, 0.524, 2.1731, 1.7844, -0.4072, 0.3466, 0.2905, 0.9946]\nstate[eef_state]: left_x=0.3094 left_y=-0.002 left_z=0.2214 left_yaw=0.1392 left_pitch=-0.1718 left_roll=0.0332 left_gripper=0.9969 right_x=0.5342 right_y=0.2435 right_z=0.1236 right_yaw=0.068 right_pitch=-0.1721 right_roll=-0.0182 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, -2.6188, 6.9402, 1.5897, -0.105, -0.0562, -0.0122, 0.0615, -13.9009, 6.4889, 1.5214, 0.0952, 0.022, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be03f7d3afb84b31d99dbcda0c389a9792af5afba833584435b0cdd16f18f2ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfcc80f98af7033b30f466678316dab4cafd862f240fa557c30991e1bce33a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ed2d0db9d3afb99b59c307eebe868da69cfc1252b54817b1f4ccc018f7742d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 7.239 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 116 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0267, 0.9852, -0.7189, -0.2386, -0.1944, 0.9969, 0.5293, 2.1593, 1.7805, -0.4057, 0.3508, 0.2955, 0.319]\nstate[eef_state]: left_x=0.3092 left_y=-0.002 left_z=0.2212 left_yaw=0.1391 left_pitch=-0.1729 left_roll=0.0338 left_gripper=0.9969 right_x=0.5325 right_y=0.2453 right_z=0.1302 right_yaw=0.0681 right_pitch=-0.1605 right_roll=-0.012 right_gripper=0.319\nstate[joint_eff]: [-0.1299, -2.4137, 6.7214, 1.5214, -0.1343, -0.0366, -0.0122, -0.8137, -12.7111, 10.3453, 1.6288, 0.2076, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqss68IdOvdwBv_SWPdrHK9JS9OM9mOa4OepaS3h_XgwRc9ru1ewSmY9YjaWiy7X0a8YXTu9Z782fe-MYWmpNODpfA0oMbMSr0c1CvK1pg1hkh0K8BigrcLmZD5m_3msqdiqRXr_zDY9VQepjF4QW2MpXs64Ta9KvDaxR1OxbK26ZHOrEI400sIu9RtoID4ZhAgilb5KWI-UQPRVT9HFLXeMe7BmQ-auu5Y0ikAXEifGOP2EMQl3GSO_Vw_LP5SDaJG-5bnYtWRN9MBvfPIugdmf5SmnfPgm16R_E1ISm6w9vhNUQHvbFQsAvG2aODhx1ED8RARH_eYkKfeEtRoCJNf1GDVYDAj4-VvHJGZVgTOVyufdOk2YSQ8jhBrQE54g5p75nJ8whf8oJdXtKquNhEKYxM1wop3djE2pHbUAXo4RZCjNVFFf9UwbmuL9Z-pTFWe_UPk1pWNQlfy3MI0qxjEOdjIdOIZsr_BotJJVUxPoadChO-w-VMVo_R5yQIr4CJDpasa02_gNtOdFCsQU58KPZbVcK0SAz9Bs2MIxDrCCrS_k8QR279cROUNAElXVY6JlGIquUYImu4jIw6v_wz08n4ynzEbiVavlyIHBjjNNm0OFYM6sY5LLK_bSAZQy8a-DLMIxp4ms2oZDYKgUlC_kVON-yRM9KDs7tS_xFQyzzTZJX7ineFJweAHl3VRCGPy4NA3zVlkYVYNPbymK9bVmQN2vLkSTV-dxlnmLMNIXWE_6sdNivebh5uoxulMNPUlN8ropYeSXqxsbduP-h_ubkNuVESBCRiTYHO0EXz_rQPQuYbyaTSNrSz03Thh7PB5T4Rnq5PDjNcvXZTtWehjBdqiCNqtSsOtmhNIhkr6FbHaf0VsbgzW3rfeDIMrFkp95hH-qKep0CDHgEZCncpljnIFHL1-qyGlXQ0B_2g7TswMmyl4sUotNNy2kuq2v0GuvN0JBdxm6Ike7uhrSryylK4r815WxWGf0Er9Lx_J9GAirBsabQbbomBmSUGCSmge5YwrsceH4UuuSR_1IqeY2bfxx0PP-kcjcvFyyGC343higsHnb793nitE2TLMhF_6jgKZ__qWIUApo0auTkLc-5Fcm6Z9K31POrRxbppLuGoLApz7cIa5WX7OhoBCtGLWHt3DNAN3_Sxw0njWOISEjTjHoljQ26jzyBqAcBmcpB29lm9Cb3xvwPU0KiCpZtNvRxT7EAjQAOuZMfyay8iG9FyuSWYINtCSJelj5ENqKnWF4Hz3mJMkl4N5vSvs7Mo6LFk",
  "id": "rs_0b2dc6387791ce57016ab2ceb9a8bc87d096442041fcebe6f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22},\"note\":\"I’m withdrawing the right arm to inspect the basket and remaining tabletop objects without the gripper blocking the view.\"}",
  "call_id": "call_F77CoiC5aj4G2MMQ2ZRp45FD",
  "id": "fc_0b2dc6387791ce57016ab2cebac0b487d0b8fc9c8bab5d619e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F77CoiC5aj4G2MMQ2ZRp45FD",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1535, 1.0286, 0.9852, -0.7177, -0.2386, -0.1947, 0.9969, -0.0345, 0.9962, 0.9562, -0.6632, -0.0246, -0.0666, 0.9949]\nstate[eef_state]: left_x=0.3096 left_y=-0.002 left_z=0.2208 left_yaw=0.1393 left_pitch=-0.1736 left_roll=0.0337 left_gripper=0.9969 right_x=0.3121 right_y=-0.0028 right_z=0.2244 right_yaw=0.0195 right_pitch=-0.1382 right_roll=-0.0206 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -2.6051, 6.7487, 1.58, -0.149, -0.0122, -0.0122, -0.1436, -2.6051, 6.7214, 1.6337, -0.149, -0.0708, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106e23678039332376dbde1a408ddca71d692a3acd9d798140b628d19ae42af6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce09ae7304462efe747b4d24d477bc09c0bc4b0e4a79dfeb64c28380a40cad9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b3a1bda34a737896e10bb11d995bc49de320c5c7dcf4b4a132492c55fc7803f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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