adhoc

completed
2026-09-22T20:02:25.732221+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
265.7 s
total steps
315
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 animals and writing instruments. I will sort the plush animals into the left basket and the pens into the right basket, starting with the gray plush on the left.
move_to
left_x0.3200left_y-0.0850left_z0.0550left_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]: [-0.0273, 0.8013, 0.6174, -0.3794, -0.0219, -0.033, 0.9994, -0.0154, 0.7986, 0.6109, -0.3698, -0.0109, -0.0254, 0.9998] state[eef_state]: left_x=0.297 left_y=-0.0006 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2973 right_y=0.0009 right_z=0.184 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.2256, -1.7026, 9.265, 1.7851, -0.0024, 0.149, -0.0806, -0.7726, -1.6342, 9.8256, 1.663, -0.1099, 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":0.32,"left_y":-0.085,"left_z":0.055,"left_gripper":1},"note":"I see plush animals and writing instruments. I will sort the plush animals into the left basket and the pens into the right basket, starting with the gray plush on the left."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe gray plush is left and slightly forward of the fingertips. I am centering the open jaws over its body before closing.
move_to
left_x0.3650left_y-0.0250left_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]: [-0.4816, 1.3277, 0.2962, 0.3759, -0.3897, -0.2867, 0.9993, -0.0189, 0.8032, 0.6086, -0.3737, -0.0109, -0.0235, 0.9998] state[eef_state]: left_x=0.3154 left_y=-0.0851 left_z=0.0466 left_yaw=-0.0112 left_pitch=-0.0361 left_roll=0.0139 left_gripper=0.9993 right_x=0.2968 right_y=-0.0001 right_z=0.1809 right_yaw=-0.0044 right_pitch=-0.0107 right_roll=0.0018 right_gripper=0.9998 state[joint_eff]: [0.0342, -4.3556, 5.6, 1.79, -0.2857, -0.0806, -0.0806, 0.2256, -1.6479, 7.241, 1.7558, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.025,"left_z":0.025},"note":"The gray plush is left and slightly forward of the fingertips. I am centering the open jaws over its body before closing."})
tool
executing move_to over 6 steps (0.6s)
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 gray plush remains just outside the left jaw. I am shifting a little farther left and forward to grasp its thicker torso.
move_to
left_x0.4050left_y0.0120left_z0.0300
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]: [-0.1249, 1.5936, 0.3386, 0.6044, -0.1265, -0.0929, 0.9993, -0.0196, 0.8078, 0.6079, -0.3779, -0.0109, -0.0231, 0.9998] state[eef_state]: left_x=0.3549 left_y=-0.0185 left_z=0.0132 left_yaw=0.0231 left_pitch=-0.0815 left_roll=0.0177 left_gripper=0.9993 right_x=0.2965 right_y=-0.0003 right_z=0.1784 right_yaw=-0.0054 right_pitch=-0.0202 right_roll=0.0022 right_gripper=0.9998 state[joint_eff]: [-0.0752, -5.0256, 6.0103, 1.9512, 0.1099, 0.1001, -0.0122, -0.1026, -1.6752, 7.1316, 1.7656, -0.0122, -0.0269, -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":0.405,"left_y":0.012,"left_z":0.03},"note":"The gray plush remains just outside the left jaw. I am shifting a little farther left and forward to grasp its thicker torso."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe jaws now straddle the gray plush's body. I am closing 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]: [0.0067, 1.6722, 0.5205, 0.5068, -0.0433, -0.0364, 0.9993, -0.02, 0.812, 0.6079, -0.3779, -0.0105, -0.0231, 0.9998] state[eef_state]: left_x=0.3983 left_y=0.0139 left_z=0.0272 left_yaw=0.054 left_pitch=-0.0811 left_roll=0.0124 left_gripper=0.9993 right_x=0.2967 right_y=-0.0005 right_z=0.1772 right_yaw=-0.0061 right_pitch=-0.0244 right_roll=0.0021 right_gripper=0.9998 state[joint_eff]: [0.1573, -5.9966, 6.3932, 1.5556, 0.1197, 0.1392, -0.0171, -0.0615, -1.4701, 7.0632, 1.7314, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the gray plush's body. I am closing to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper closed empty; the plush is still to the left of the fingertips. I am reopening and moving to the leftmost reachable position for one corrected grasp.
move_to
left_x0.4300left_y0.0500left_z0.0400left_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]: [0.009, 1.6794, 0.5243, 0.4908, -0.0448, -0.0406, 0.0102, -0.02, 0.8127, 0.6075, -0.3782, -0.0105, -0.0235, 0.9998] state[eef_state]: left_x=0.3966 left_y=0.0151 left_z=0.0227 left_yaw=0.0599 left_pitch=-0.1005 left_roll=0.0109 left_gripper=0.0102 right_x=0.2967 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0059 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.159, 4.6154, 1.7998, -0.0122, 0.0171, 0.8864, -0.1162, -1.2376, 7.0769, 1.7411, -0.022, -0.0806, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":0.05,"left_z":0.04,"left_gripper":1},"note":"The gripper closed empty; the plush is still to the left of the fingertips. I am reopening and moving to the leftmost reachable position for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gray plush overlaps the open jaws at the workspace edge. I am trying the corrected grasp.
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]: [0.1215, 1.7203, 0.6659, 0.3782, 0.0315, 0.0097, 0.9983, -0.0196, 0.8146, 0.6075, -0.3843, -0.0109, -0.0235, 0.9998] state[eef_state]: left_x=0.4221 left_y=0.0495 left_z=0.0354 left_yaw=0.0805 left_pitch=-0.1127 left_roll=0.003 left_gripper=0.9983 right_x=0.296 right_y=-0.0003 right_z=0.175 right_yaw=-0.0052 right_pitch=-0.0339 right_roll=0.0021 right_gripper=0.9998 state[joint_eff]: [0.3897, -6.2427, 7.4872, 1.5702, 0.1587, 0.2027, 0.0122, -0.0342, -1.4701, 7.0359, 1.8046, -0.0122, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush overlaps the open jaws at the workspace edge. I am trying the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe gray plush is beyond the left-side reach limit, so I will leave it rather than push against the fence. I am moving to the reachable brown plush near the middle.
move_to
left_x0.3500left_y-0.1700left_z0.1100left_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]: [0.1223, 1.7283, 0.6712, 0.3744, 0.0269, 0.0048, 0.0102, -0.02, 0.8146, 0.6075, -0.3847, -0.0109, -0.0235, 0.9998] state[eef_state]: left_x=0.4225 left_y=0.0507 left_z=0.0334 left_yaw=0.0878 left_pitch=-0.1193 left_roll=0.0018 left_gripper=0.0102 right_x=0.2959 right_y=-0.0004 right_z=0.1749 right_yaw=-0.0056 right_pitch=-0.0343 right_roll=0.0021 right_gripper=0.9998 state[joint_eff]: [-0.1026, -8.0889, 5.094, 1.7558, 0.0562, 0.0122, 0.8718, -0.1299, -1.388, 7.0085, 1.7705, -0.0415, -0.0415, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.11,"left_gripper":1},"note":"The gray plush is beyond the left-side reach limit, so I will leave it rather than push against the fence. I am moving to the reachable brown plush near the middle."})
tool
executing move_to over 20 steps (2.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe brown plush is centered between the jaws in the wrist view. I am lowering around its torso.
move_to
left_z0.0280
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]: [-0.7155, 1.5005, 0.8295, -0.1841, -0.5659, -0.5797, 0.9985, -0.02, 0.8177, 0.6075, -0.3847, -0.0101, -0.0231, 0.9998] state[eef_state]: left_x=0.3472 left_y=-0.1715 left_z=0.1047 left_yaw=0.0593 left_pitch=-0.1275 left_roll=-0.006 left_gripper=0.9985 right_x=0.2961 right_y=-0.0006 right_z=0.1741 right_yaw=-0.0064 right_pitch=-0.0374 right_roll=0.002 right_gripper=0.9998 state[joint_eff]: [0.2256, -5.6137, 8.4308, 1.3553, -0.4371, -0.0952, -0.1343, -0.1299, -1.4427, 7.0632, 1.7265, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.028},"note":"The brown plush is centered between the jaws in the wrist view. I am lowering around its torso."})
tool
executing move_to over 5 steps (0.5s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe open fingers are around the brown plush's sides. I am closing on its 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]: [-0.7185, 1.7004, 0.6659, 0.1528, -0.5686, -0.5915, 0.9981, -0.02, 0.8185, 0.6075, -0.3847, -0.0109, -0.0231, 0.9998] state[eef_state]: left_x=0.3436 left_y=-0.1693 left_z=0.025 left_yaw=0.0672 left_pitch=-0.1451 left_roll=0.0053 left_gripper=0.9981 right_x=0.2961 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0058 right_pitch=-0.0381 right_roll=0.0025 right_gripper=0.9998 state[joint_eff]: [0.1709, -6.9402, 5.2855, 1.58, -0.2808, 0.0757, -0.0659, -0.3487, -1.1829, 7.0359, 1.7656, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers are around the brown plush's sides. I am closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe gripper has stopped above the empty-close width. I am lifting to check that the brown plush comes with it and to clear the basket rim.
move_to
left_z0.2000
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]: [-0.7185, 1.7004, 0.6655, 0.1631, -0.577, -0.5922, 0.115, -0.02, 0.8249, 0.6067, -0.3855, -0.0105, -0.0235, 0.9998] state[eef_state]: left_x=0.3452 left_y=-0.1691 left_z=0.0269 left_yaw=0.0726 left_pitch=-0.1335 left_roll=0.0022 left_gripper=0.115 right_x=0.2963 right_y=-0.0005 right_z=0.1716 right_yaw=-0.0059 right_pitch=-0.0462 right_roll=0.0021 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.0769, 5.3128, 1.2674, -0.1978, -0.0269, 0.8816, -0.1436, -1.9214, 7.1043, 1.6923, -0.0366, -0.0708, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The gripper has stopped above the empty-close width. I am lifting to check that the brown plush comes with it and to clear the basket rim."})
tool
executing move_to over 12 steps (1.2s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe brown plush has lifted from the table. I am carrying it over the left basket.
move_to
left_x0.5400left_y-0.1700left_z0.2400left_pitch0.1500
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]: [-0.7189, 1.438, 1.1202, -0.5846, -0.569, -0.6006, 0.1165, -0.0196, 0.8303, 0.6067, -0.3847, -0.0109, -0.0235, 0.9998] state[eef_state]: left_x=0.3451 left_y=-0.1708 left_z=0.1825 left_yaw=0.0742 left_pitch=-0.1593 left_roll=0.0133 left_gripper=0.1165 right_x=0.2967 right_y=-0.0003 right_z=0.1702 right_yaw=-0.0052 right_pitch=-0.0507 right_roll=0.0024 right_gripper=0.9998 state[joint_eff]: [-0.3487, -8.1026, 8.841, 1.2186, -0.315, 0.0366, 0.7546, -0.0342, -1.5385, 7.2547, 1.7411, -0.0366, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.17,"left_z":0.24,"left_pitch":0.15},"note":"The brown plush has lifted from the table. I am carrying it over the left basket."})
tool
executing move_to over 15 steps (1.5s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe brown plush is above the left basket opening. I am lowering it into the basket before releasing.
move_to
left_z0.1500
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]: [-0.4603, 1.9068, 1.5562, -0.1925, -0.4965, -0.2611, 0.1177, -0.02, 0.8314, 0.6067, -0.3923, -0.0109, -0.0235, 0.9998] state[eef_state]: left_x=0.5325 left_y=-0.1661 left_z=0.2171 left_yaw=0.0849 left_pitch=0.0912 left_roll=0.0338 left_gripper=0.1177 right_x=0.2957 right_y=-0.0004 right_z=0.1684 right_yaw=-0.0056 right_pitch=-0.0595 right_roll=0.0025 right_gripper=0.9998 state[joint_eff]: [-0.1983, -10.6735, 10.0581, 2.0244, -0.0659, 0.149, 0.6081, -0.0752, -1.5658, 7.0496, 1.7411, -0.0366, -0.0415, -0.0171] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The brown plush is above the left basket opening. I am lowering it into the basket before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe brown plush is inside the left basket. I am opening the jaws to leave it there.
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]: [-0.4603, 1.964, 1.3647, 0.0292, -0.4938, -0.2619, 0.1209, -0.02, 0.836, 0.6018, -0.3923, -0.0105, -0.0235, 0.9998] state[eef_state]: left_x=0.5292 left_y=-0.1649 left_z=0.1456 left_yaw=0.082 left_pitch=0.0673 left_roll=0.046 left_gripper=0.1209 right_x=0.2953 right_y=-0.0005 right_z=0.1649 right_yaw=-0.0059 right_pitch=-0.069 right_roll=0.0024 right_gripper=0.9998 state[joint_eff]: [-0.2667, -10.7556, 6.735, 1.9902, -0.2466, -0.0562, 0.3346, -0.0479, -1.894, 7.3915, 1.7265, -0.0171, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown plush is inside the left basket. I am opening the jaws to leave it there."})
tool
executing move_to over 9 steps (0.9s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteI have released the brown plush and am moving clear to check its placement while approaching the tan plush.
move_to
left_x0.3600left_y-0.3000left_z0.1700left_pitch0.0000
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]: [-0.4603, 1.964, 1.3624, 0.0196, -0.4938, -0.2691, 0.9952, -0.02, 0.8387, 0.601, -0.3935, -0.0101, -0.0235, 0.9998] state[eef_state]: left_x=0.5277 left_y=-0.1642 left_z=0.1428 left_yaw=0.0855 left_pitch=0.0573 left_roll=0.0458 left_gripper=0.9952 right_x=0.2951 right_y=-0.0005 right_z=0.1636 right_yaw=-0.0062 right_pitch=-0.0736 right_roll=0.0022 right_gripper=0.9998 state[joint_eff]: [-0.3214, -10.9744, 7.1043, 1.8046, -0.2515, 0.0073, -0.1538, -0.2393, -1.6752, 7.2, 1.6679, -0.0171, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.30,"left_z":0.17,"left_pitch":0},"note":"I have released the brown plush and am moving clear to check its placement while approaching the tan plush."})
tool
executing move_to over 13 steps (1.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe brown plush is confirmed in the left basket. The tan bear is slightly right of the jaws, so I am centering and lowering onto its torso.
move_to
left_x0.3650left_y-0.3250left_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]: [-0.9726, 1.8572, 1.3884, -0.4557, -0.8127, -0.7174, 0.9964, -0.02, 0.8417, 0.5972, -0.3992, -0.0105, -0.0235, 0.9998] state[eef_state]: left_x=0.3656 left_y=-0.3022 left_z=0.1553 left_yaw=0.045 left_pitch=-0.0189 left_roll=0.057 left_gripper=0.9964 right_x=0.2939 right_y=-0.0004 right_z=0.1599 right_yaw=-0.0059 right_pitch=-0.0862 right_roll=0.0026 right_gripper=0.9998 state[joint_eff]: [-0.1846, -10.5368, 8.7726, 1.1746, -0.5543, -0.0464, 0.1197, -0.3624, -1.5795, 7.3231, 1.746, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.325,"left_z":0.035},"note":"The brown plush is confirmed in the left basket. The tan bear is slightly right of the jaws, so I am centering and lowering onto its torso."})
tool
executing move_to over 8 steps (0.8s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe descent has stopped against the soft bear, with its torso between the jaws. I am closing without pressing farther down.
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]: [-0.9981, 2.064, 1.2747, -0.1081, -0.8616, -0.7563, 0.9966, -0.0196, 0.8471, 0.5972, -0.4049, -0.0109, -0.0231, 0.9998] state[eef_state]: left_x=0.3734 left_y=-0.3252 left_z=0.0683 left_yaw=0.0702 left_pitch=0.0289 left_roll=0.02 left_gripper=0.9966 right_x=0.2933 right_y=-0.0003 right_z=0.1573 right_yaw=-0.0053 right_pitch=-0.0973 right_roll=0.0033 right_gripper=0.9998 state[joint_eff]: [-0.6632, -7.6513, 3.6991, 0.8523, 0.0464, -0.0366, 0.0024, -0.0752, -1.935, 7.1453, 1.7607, -0.0269, -0.022, -0.0171] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent has stopped against the soft bear, with its torso between the jaws. I am closing without pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe bear is held at a nonempty gripper width. I am lifting it clear of the table to verify the grasp.
move_to
left_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]: [-0.9981, 2.0663, 1.2697, -0.0734, -0.8867, -0.7567, 0.1154, -0.02, 0.8474, 0.5964, -0.408, -0.0105, -0.0231, 0.9998] state[eef_state]: left_x=0.3765 left_y=-0.3247 left_z=0.0723 left_yaw=0.087 left_pitch=0.059 left_roll=0.0047 left_gripper=0.1154 right_x=0.2927 right_y=-0.0004 right_z=0.1562 right_yaw=-0.006 right_pitch=-0.1015 right_roll=0.0032 right_gripper=0.9998 state[joint_eff]: [-0.3077, -11.0701, 6.2701, 0.9499, -0.0904, -0.0269, 0.9206, -0.1436, -1.4564, 7.0496, 1.7216, -0.0269, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.24},"note":"The bear is held at a nonempty gripper width. I am lifting it clear of the table to verify the grasp."})
tool
executing move_to over 11 steps (1.1s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe tan bear has lifted with the gripper. I am carrying it over the same basket as the brown plush.
move_to
left_x0.5450left_y-0.1700left_z0.2500left_pitch0.1500
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]: [-0.9985, 1.9598, 1.6875, -0.6422, -0.8791, -0.7639, 0.1151, -0.02, 0.8474, 0.5964, -0.4084, -0.0109, -0.0231, 0.9998] state[eef_state]: left_x=0.3794 left_y=-0.3311 left_z=0.2035 left_yaw=0.084 left_pitch=0.033 left_roll=0.0351 left_gripper=0.1151 right_x=0.2927 right_y=-0.0004 right_z=0.1562 right_yaw=-0.0057 right_pitch=-0.1018 right_roll=0.0034 right_gripper=0.9998 state[joint_eff]: [-0.3077, -14.4068, 9.2513, 1.3016, -0.4225, 0.0415, 0.7985, -0.0615, -1.388, 6.9949, 1.7021, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.545,"left_y":-0.17,"left_z":0.25,"left_pitch":0.15},"note":"The tan bear has lifted with the gripper. I am carrying it over the same basket as the brown plush."})
tool
executing move_to over 15 steps (1.5s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe bear hangs to the right of the grasp point, so I am shifting left as I lower it to keep its body within the basket opening.
move_to
left_x0.5700left_y-0.1100left_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]: [-0.4774, 1.9251, 1.6142, -0.2718, -0.5415, -0.2779, 0.1166, -0.02, 0.849, 0.5964, -0.4084, -0.0109, -0.0231, 0.9998] state[eef_state]: left_x=0.5304 left_y=-0.1679 left_z=0.2201 left_yaw=0.1114 left_pitch=0.071 left_roll=0.0606 left_gripper=0.1166 right_x=0.2927 right_y=-0.0004 right_z=0.1558 right_yaw=-0.0057 right_pitch=-0.1034 right_roll=0.0034 right_gripper=0.9998 state[joint_eff]: [0.3487, -10.1812, 10.4821, 2.0, -0.1734, 0.1929, 0.525, -0.1436, -1.7026, 7.0085, 1.6337, -0.0611, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.57,"left_y":-0.11,"left_z":0.16},"note":"The bear hangs to the right of the grasp point, so I am shifting left as I lower it to keep its body within the basket opening."})
tool
executing move_to over 6 steps (0.6s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe tan bear is lowered over the plush basket. I am releasing it.
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]: [-0.3244, 2.0037, 1.4994, -0.0853, -0.4286, -0.2119, 0.1173, -0.0196, 0.8501, 0.5964, -0.4084, -0.0105, -0.0231, 0.9998] state[eef_state]: left_x=0.5612 left_y=-0.1075 left_z=0.1577 left_yaw=0.1377 left_pitch=0.0316 left_roll=0.0676 left_gripper=0.1173 right_x=0.2928 right_y=-0.0003 right_z=0.1554 right_yaw=-0.0057 right_pitch=-0.1045 right_roll=0.0032 right_gripper=0.9998 state[joint_eff]: [0.1709, -10.3316, 6.6393, 1.9756, -0.1197, 0.2173, 0.0611, -0.1162, -1.5521, 7.2, 1.6386, -0.022, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The tan bear is lowered over the plush basket. I am releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe tan bear fell short of the basket and will need another placement. I am parking the left arm and approaching the two adjacent markers with the right arm.
move_to
left_x0.2970left_y0.0000left_z0.2200left_pitch0.0000right_x0.3500right_y0.1050right_z0.0800right_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]: [-0.3202, 2.0201, 1.491, -0.0887, -0.4217, -0.2176, 0.9951, -0.02, 0.8501, 0.5964, -0.4084, -0.0105, -0.0231, 0.9998] state[eef_state]: left_x=0.5602 left_y=-0.1059 left_z=0.1441 left_yaw=0.1391 left_pitch=0.0047 left_roll=0.0718 left_gripper=0.9951 right_x=0.2928 right_y=-0.0004 right_z=0.1554 right_yaw=-0.006 right_pitch=-0.1045 right_roll=0.0032 right_gripper=0.9998 state[joint_eff]: [-0.5675, -12.8615, 7.6376, 1.663, -0.232, 0.0024, -0.1783, -0.1709, -1.4564, 7.159, 1.707, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":0,"left_z":0.22,"left_pitch":0,"right_x":0.35,"right_y":0.105,"right_z":0.08,"right_gripper":1},"note":"The tan bear fell short of the basket and will need another placement. I am parking the left arm and approaching the two adjacent markers with the right arm."})
tool
executing move_to over 21 steps (2.1s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteBoth markers lie lengthwise in front of the right gripper. I am advancing to their midsections and lowering the jaws around the pair.
move_to
right_x0.4050right_y0.0820right_z0.0050
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]: [-0.2089, 0.8753, 0.7887, -0.4698, -0.3389, -0.1642, 0.9964, 0.4416, 1.3769, 0.54, 0.057, 0.326, 0.2531, 0.9998] state[eef_state]: left_x=0.3076 left_y=-0.0015 left_z=0.2284 left_yaw=0.1546 left_pitch=0.041 left_roll=0.051 left_gripper=0.9964 right_x=0.336 right_y=0.1002 right_z=0.0625 right_yaw=0.0192 right_pitch=-0.1719 right_roll=-0.0261 right_gripper=0.9998 state[joint_eff]: [0.2393, -1.388, 6.4615, 1.8291, -0.0806, 0.0659, 0.1294, 0.4308, -5.2308, 8.6632, 1.7705, 0.359, 0.2076, -0.0366] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.082,"right_z":0.005},"note":"Both markers lie lengthwise in front of the right gripper. I am advancing to their midsections and lowering the jaws around the pair."})
tool
executing move_to over 6 steps (0.6s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe marker pair is slightly right of the jaw center, and the fingertips are still above table level. I am making a small lateral correction and lowering to grasp the barrels.
move_to
right_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]: [-0.2081, 0.8787, 0.7883, -0.4824, -0.3359, -0.1654, 0.9966, 0.2932, 1.7538, 0.638, 0.3836, 0.2157, 0.1638, 0.9998] state[eef_state]: left_x=0.3064 left_y=-0.0015 left_z=0.2247 left_yaw=0.1532 left_pitch=0.0251 left_roll=0.0543 left_gripper=0.9966 right_x=0.4025 right_y=0.0858 right_z=0.0158 right_yaw=0.0134 right_pitch=-0.1541 right_roll=-0.0055 right_gripper=0.9998 state[joint_eff]: [-0.0752, -1.935, 6.9538, 1.8632, -0.1538, -0.0611, 0.0024, -0.4171, -5.9009, 4.7111, 0.8962, 0.1734, -0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.06,"right_z":-0.008},"note":"The marker pair is slightly right of the jaw center, and the fingertips are still above table level. I am making a small lateral correction and lowering to grasp the barrels."})
tool
executing move_to over 3 steps (0.3s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
assistant
agent noteThe fingers are at table contact around the markers. I am closing to gather the two barrels.
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]: [-0.2077, 0.8791, 0.7883, -0.4847, -0.3359, -0.168, 0.9966, 0.2199, 1.7947, 0.6052, 0.5297, 0.1501, 0.1295, 0.9998] state[eef_state]: left_x=0.3062 left_y=-0.0014 left_z=0.2241 left_yaw=0.155 left_pitch=0.0227 left_roll=0.053 left_gripper=0.9966 right_x=0.4139 right_y=0.0691 right_z=0.0145 right_yaw=0.0161 right_pitch=-0.0937 right_roll=0.0263 right_gripper=0.9998 state[joint_eff]: [-0.0479, -1.7162, 7.0906, 1.7705, -0.1587, -0.022, -0.0122, -0.3214, -4.6427, 3.2752, 0.9011, 0.3248, -0.2515, -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":{"right_gripper":0},"note":"The fingers are at table contact around the markers. I am closing to gather the two barrels."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteThe gripper width indicates a marker-sized grasp. I am lifting to see which marker is secured.
move_to
right_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]: [-0.2077, 0.8822, 0.7883, -0.4847, -0.3359, -0.1719, 0.9966, 0.207, 1.8069, 0.5934, 0.5781, 0.1406, 0.104, 0.1572] state[eef_state]: left_x=0.3065 left_y=-0.0014 left_z=0.2233 left_yaw=0.157 left_pitch=0.0199 left_roll=0.0508 left_gripper=0.9966 right_x=0.4163 right_y=0.0658 right_z=0.0149 right_yaw=0.0252 right_pitch=-0.0706 right_roll=0.0161 right_gripper=0.1572 state[joint_eff]: [-0.1573, -2.0034, 7.0359, 1.7118, -0.149, -0.022, -0.0073, -0.3487, -5.5453, 3.8359, 1.1551, 0.1197, -0.0513, 1.0867] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The gripper width indicates a marker-sized grasp. I am lifting to see which marker is secured."})
tool
executing move_to over 12 steps (1.2s)
step 249
assistant
agent noteThe blue marker has lifted; the black-and-white marker remains on the table. I am carrying the blue marker over the right basket.
move_to
right_x0.5850right_y0.2500right_z0.2100right_pitch0.2000
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]: [-0.2077, 0.8837, 0.7883, -0.485, -0.3359, -0.1722, 0.9966, 0.2073, 1.4246, 0.96, -0.1848, 0.1368, 0.1005, 0.1586] state[eef_state]: left_x=0.3066 left_y=-0.0015 left_z=0.2228 left_yaw=0.1572 left_pitch=0.0182 left_roll=0.0511 left_gripper=0.9966 right_x=0.4179 right_y=0.067 right_z=0.169 right_yaw=0.0304 right_pitch=-0.0849 right_roll=0.013 right_gripper=0.1586 state[joint_eff]: [0.0068, -1.7573, 7.2, 1.7216, -0.1441, -0.0513, -0.0122, -0.3761, -8.0752, 9.6889, 1.5653, 0.0464, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.585,"right_y":0.25,"right_z":0.21,"right_pitch":0.2},"note":"The blue marker has lifted; the black-and-white marker remains on the table. I am carrying the blue marker over the right basket."})
tool
executing move_to over 16 steps (1.6s)
step 265
assistant
agent noteThe blue marker is centered over the right basket. I am lowering it inside the rim.
move_to
right_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]: [-0.2077, 0.889, 0.7883, -0.4858, -0.3359, -0.1726, 0.9966, 0.5125, 2.1574, 1.7573, -0.0547, 0.4156, 0.1646, 0.1586] state[eef_state]: left_x=0.3071 left_y=-0.0016 left_z=0.2211 left_yaw=0.1574 left_pitch=0.0125 left_roll=0.053 left_gripper=0.9966 right_x=0.5766 right_y=0.2467 right_z=0.1901 right_yaw=0.0648 right_pitch=0.1438 right_roll=-0.0113 right_gripper=0.1586 state[joint_eff]: [-0.0068, -2.1949, 6.9812, 1.7021, -0.1538, -0.0611, -0.0073, 0.4171, -12.9709, 9.2923, 1.7705, 0.4078, 0.105, 1.0379] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The blue marker is centered over the right basket. I am lowering it inside the rim."})
tool
executing move_to over 4 steps (0.4s)
step 269
assistant
agent noteThe blue marker is lowered into the writing-instrument basket. I am releasing it.
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]: [-0.2077, 0.8902, 0.7883, -0.485, -0.3359, -0.1726, 0.9966, 0.5159, 2.2116, 1.6238, 0.0807, 0.411, 0.1642, 0.1586] state[eef_state]: left_x=0.3073 left_y=-0.0016 left_z=0.221 left_yaw=0.1574 left_pitch=0.0121 left_roll=0.0531 left_gripper=0.9966 right_x=0.5706 right_y=0.2466 right_z=0.1252 right_yaw=0.075 right_pitch=0.0956 right_roll=-0.0323 right_gripper=0.1586 state[joint_eff]: [-0.1162, -1.894, 7.1863, 1.7167, -0.1441, -0.0708, -0.0073, -0.335, -12.7795, 6.9538, 1.9707, 0.1587, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue marker is lowered into the writing-instrument basket. I am releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 278
assistant
agent noteThe blue marker is in the right basket. I am parking the right arm and lowering the left gripper around the yellow writing instrument.
move_to
right_x0.2970right_y0.0000right_z0.2200right_pitch0.0000left_x0.3500left_y-0.1050left_z0.0050
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]: [-0.2081, 0.8902, 0.7883, -0.485, -0.3359, -0.173, 0.9966, 0.5159, 2.2162, 1.6161, 0.1371, 0.4103, 0.1577, 0.9957] state[eef_state]: left_x=0.3073 left_y=-0.0017 left_z=0.221 left_yaw=0.1572 left_pitch=0.0121 left_roll=0.0528 left_gripper=0.9966 right_x=0.5746 right_y=0.249 right_z=0.1306 right_yaw=0.0769 right_pitch=0.1354 right_roll=-0.0189 right_gripper=0.9957 state[joint_eff]: [-0.0752, -1.6615, 7.1316, 1.6532, -0.1832, -0.0611, -0.0073, -0.4308, -12.7385, 6.6393, 1.9023, 0.0513, -0.0024, -0.1685] 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":{"right_x":0.297,"right_y":0,"right_z":0.22,"right_pitch":0,"left_x":0.35,"left_y":-0.105,"left_z":0.005},"note":"The blue marker is in the right basket. I am parking the right arm and lowering the left gripper around the yellow writing instrument."})
tool
executing move_to over 22 steps (2.2s)
step 300
assistant
agent noteThe clear overhead view shows the blue marker fell short of the right basket, and the tan bear is also outside its basket. I am lifting the left arm away; the remaining placements cannot be completed reliably within the current reach limits.
move_to
left_x0.2970left_y0.0000left_z0.2200left_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]: [-0.5926, 1.7615, 0.429, 0.5854, -0.6331, -0.4324, 0.9967, -0.0566, 0.8459, 0.7498, -0.4198, -0.0578, -0.0772, 0.9964] state[eef_state]: left_x=0.3442 left_y=-0.1014 left_z=0.0031 left_yaw=0.1473 left_pitch=-0.0183 left_roll=0.0737 left_gripper=0.9967 right_x=0.3094 right_y=-0.0037 right_z=0.2244 right_yaw=0.0261 right_pitch=0.0423 right_roll=-0.0227 right_gripper=0.9964 state[joint_eff]: [-0.3214, -5.559, 4.6974, 0.8864, -0.2906, 0.0708, -0.0073, -0.5128, -1.6342, 8.0615, 1.707, -0.0317, -0.1197, 0.0659] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.297,"left_y":0,"left_z":0.22,"left_gripper":1},"note":"The clear overhead view shows the blue marker fell short of the right basket, and the tan bear is also outside its basket. I am lifting the left arm away; the remaining placements cannot be completed reliably within the current reach limits."})
tool
executing move_to over 14 steps (1.4s)
step 314
assistant
agent noteI identified the two categories as plush animals and writing instruments. Only the brown plush is confirmed in the left basket. The tan bear and blue marker fell short of their baskets; the gray plush, yellow instrument, and black-and-white marker remain on the table. I could not complete the placements reliably within the current reach limits, and both arms are now raised clear. Moving the baskets closer and the gray plush away from the left edge would help.
give_up
hindsightThe basket openings are farther forward than they appear in the oblique overhead view. Releasing at left x≈0.56 or right x≈0.575 did not reliably place objects inside: the tan bear and blue marker landed in front. Verify every release after retracting; being visually over the front rim is insufficient. The gray plush was not secured at left y=0.05, x≈0.42, z≈0.03, so its reachable grasp location remains uncertain.
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]: [-0.2214, 0.8814, 0.7574, -0.4786, -0.3676, -0.197, 0.9986, -0.0582, 0.8528, 0.7456, -0.4438, -0.0677, -0.0933, 0.9965] state[eef_state]: left_x=0.3038 left_y=0.0003 left_z=0.212 left_yaw=0.1827 left_pitch=0.0049 left_roll=0.0547 left_gripper=0.9986 right_x=0.3067 right_y=-0.0023 right_z=0.2155 right_yaw=0.0414 right_pitch=0.0075 right_roll=-0.0283 right_gripper=0.9965 state[joint_eff]: [0.1709, -2.3863, 8.8957, 1.6288, -0.1099, 0.1343, -0.1587, -0.0615, -2.1538, 7.6376, 1.9658, 0.0562, 0.1245, -0.0073] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I identified the two categories as plush animals and writing instruments. Only the brown plush is confirmed in the left basket. The tan bear and blue marker fell short of their baskets; the gray plush, yellow instrument, and black-and-white marker remain on the table. I could not complete the placements reliably within the current reach limits, and both arms are now raised clear. Moving the baskets closer and the gray plush away from the left edge would help.","hindsight":"The basket openings are farther forward than they appear in the oblique overhead view. Releasing at left x≈0.56 or right x≈0.575 did not reliably place objects inside: the tan bear and blue marker landed in front. Verify every release after retracting; being visually over the front rim is insufficient. The gray plush was not secured at left y=0.05, x≈0.42, z≈0.03, so its reachable grasp location remains uncertain."})
tool
give_up: I identified the two categories as plush animals and writing instruments. Only the brown plush is confirmed in the left basket. The tan bear and blue marker fell short of their baskets; the gray plush, yellow instrument, and black-and-white marker remain on the table. I could not complete the placements reliably within the current reach limits, and both arms are now raised clear. Moving the baskets closer and the gray plush away from the left edge would help.
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 · 11.44 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]: [-0.0273, 0.8013, 0.6174, -0.3794, -0.0219, -0.033, 0.9994, -0.0154, 0.7986, 0.6109, -0.3698, -0.0109, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=-0.0006 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2973 right_y=0.0009 right_z=0.184 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -1.7026, 9.265, 1.7851, -0.0024, 0.149, -0.0806, -0.7726, -1.6342, 9.8256, 1.663, -0.1099, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d1bf777901176abd84e4d6286025108af49bec0052e55ad490176f91ec69bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506cd33ec3589b68005fe2cb20c8f80ff5bfe70462e13268d8de3474cc79f04d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8539aaa9ca1a5b504ed57a72c816a875250a855dfa08e3e5f5a05be556d89f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.992 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqst7rTptWlHkxAmnKuDneeJ8DrdZpJ_Y7i3EWXXSg6w434noh0H6CvJKNOgtYJSW7KJiqQtNRaXA1jxbwqFEQkrYULUiwzzrJapyFCXcLM7QXjQJ63ZXfZ990NgN5UJHsdyv7kbdU5BjsoC5jSAaox89UojgbZVdzFJFCltmsI-_ErJ9NCOj_dAxwZBdWdLFJ_TzKrUJ5eCb-nawLPXk_KeS78qhMg-3_Nw2XVkbLY6WcpGiInZ4gTriJlZ8PrEr-0V0ZUVTxYfROTSP29I1Yh0p287eu_pWsisZGYgk6GPgA18-VaEO57Pp9wNZ8NQ6ZY06RPfl6Tp6CS_PE4r6GmIT2FMzKucItFWoEJ3Ws887yNJ2HE2QiNPi0qCU8qe5jCNCrIKI13Wg5Z5RCV8wTZw6CxHI_oNJkAJC2pjeHkiUmQ2x3hN1Mm-d23hdcLxDD5tGV_vLXKq7hjyb26m8kz8GKrHQEoDbB7sc2j4j_MJRYzF44E13HYz_CbwAakuL1W16ZqmIiB9kLFJVZ2XDQhd5JFNJ6ORFeUFWI53_wGyvbUSEO31d6D1s5E3KXq16EE4kaIrTGREIFRK2r_-rSFrMe78C6PPxl0KHdycg6hb0eHOeupzk13GjokKuUgEHoRYoUtIqEOLZ-0_sVrciQ6ZidXIBaYy9Hbcys_PkD7Xf_eeJlszdTgrchDgEJjqoefsDQaCBTV_sycUdsoo9UPOjvfMP0g0i8b48Jm_pxALrjTXliSl5W7B4AOSw5odUhlceNI2wWfCuX9fUyyKKgdWGCKQONe4DbVr7di_a-5bn3S76fBjilsFCvkbxk3f0tm2ddbQUFwitpQZA9bISS9Yi45grPomqdUZBxqbgyqCaz-1u0pPaN8PgTqAMrkfqb4C7E4d4sd5Uvvf8RPtusfgCeb6bNVosrQs3JLU_zktIAb2bR6TQzHF0jka65SokbAbAadklC_uQBd7cWxSrFDN9lLL9K9zhZi2uFHXMO6Ne_kJy67SfxrivI3Vat__6buPpjIm065Pu0Hnydu186YVS3j_g4QaQ3a_SRD2XldSk6ACJrlNaqGksyz1QLHN-SUut7pTovI9Xbks-ka7_UDYS-V3ImgkFnEhdmlh_JXurh0pH0ZBbxX7-2DlSNunzyJzrpRCVuuHOlR1pRrZdJZ7RGjp6UOEKZlygXivYCSf6Kk3WUN1AqgE0R_F_1tto8PIyoMF_gYia80X4M6dsHM7NX-RIkBW8QRBos3Qe2F5TTORNeqs2Q16RSff0HSOKMnYJXyXOdGk2lb5Qkk6LnR6nczomgyO8ayWE1B-wAhhp6NIudPerSkthN_Ma2qfYi2vrVzqGXTIe_6BA_if6OhvdFI6Vvz9vkq4Jm07hKbPIRKCKlTlshuyzNn-6gh-2Ox9JkE0PbqzMnGIJXtn5Bj5a6ldPqF3eQirqUxVekPXyruk04yxp2lbWf6DSiQG0e10vNOtF2lzeEJsOGm3CaAG-5-Wp9u58tV7RBpzJypwBShZ2GkNuxP7G79bOaWdOgyWSntRbxarazeQxZ6vZxeM6rQPzlZn_GYk5sRRemiHeJqUPEqtSf881q2jpZhBIWVOk1TeB8LCMaGm0gIoNAzcprmHavWZHvEyni0Hnf7T2nWsZ5JpOZxVQeth3AJY8ERxyFKpwos_MdxmZB52ByGrdyUzx6LlvELmMIX4Vh1b2hpjLI0wXYVq7DHhLuaXbEQnQzu0K6zTTIMetT-fuQMpiao6btEURXVLTqS1HETKO7Yy14LVvTeFpc4Yh9yct7PRbPmQRjkF3PutPTN_a9RCGtMyr5AoXKu4khNxOFLo_efmKUzFdL_EzBy2-Vj9WE3pYQSnJmqrYubz4B2l9MfYYQjqDPo3VDy1byrjlJw3qE5dqfUCdntviEfHnrp1wurraa",
  "id": "rs_01cb6d3f208b9d85016ab2dee25c3c87d0b7297e4c69ff1f15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.085,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"I see plush animals and writing instruments. I will sort the plush animals into the left basket and the pens into the right basket, starting with the gray plush on the left.\"}",
  "call_id": "call_mw3Rpi03F0K6jZrFmK1qvXtV",
  "id": "fc_01cb6d3f208b9d85016ab2dee967f887d098a137b6ebdb954a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mw3Rpi03F0K6jZrFmK1qvXtV",
  "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]: [-0.4816, 1.3277, 0.2962, 0.3759, -0.3897, -0.2867, 0.9993, -0.0189, 0.8032, 0.6086, -0.3737, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3154 left_y=-0.0851 left_z=0.0466 left_yaw=-0.0112 left_pitch=-0.0361 left_roll=0.0139 left_gripper=0.9993 right_x=0.2968 right_y=-0.0001 right_z=0.1809 right_yaw=-0.0044 right_pitch=-0.0107 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -4.3556, 5.6, 1.79, -0.2857, -0.0806, -0.0806, 0.2256, -1.6479, 7.241, 1.7558, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c5fcfe1ae5413b8bae8d57bc9e6e0ff264dfb51a7f97b8b383f8d0b356a298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257ea9bd8f4314aafa36766afb9a21f46ff64d15624be4e9a5622b426b3f6ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1675fb4bc3803c2444167a9dc319298168e20af62158de88251ce5d34771d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 7.716 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]: [-0.0273, 0.8013, 0.6174, -0.3794, -0.0219, -0.033, 0.9994, -0.0154, 0.7986, 0.6109, -0.3698, -0.0109, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=-0.0006 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2973 right_y=0.0009 right_z=0.184 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -1.7026, 9.265, 1.7851, -0.0024, 0.149, -0.0806, -0.7726, -1.6342, 9.8256, 1.663, -0.1099, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst70P8GXy8SUNt-EBWbYdAxlOlzQVR4Lmbj55CD3ULxeZOg5JcXQ-wpletw78NDQDdmizTM5ftFYbsFW-BNKripGuLTT8mLHZRtU4VxSTqPpNny9HFEQJOh6gHFRWVb2cHTiD1DuRcXpx5e-UOIB3KWZs1NtWEhHDNTvDE9qFGW44S4jLMx8lytIEN8rx9IfTQJZLVtw8cgemPEyjDwqOhTmIxndYZjW_IsiQqcyM3sxUCLK6nxMLZ_QvbWWcc83FYK1c58CYVXYjh2X2OtFUbGMBc-J6yz6TwjU3V48u0No-qcjEumVNvCGr7O2YljUBaEUM--RCVcEZ-ANfuG6hh_kYMBs5FZ1uTcyVUz-_bdpVJLmH_W8e4wyk-grcjC71O5e51XOdIG2EgpWxuO3L8S180eOn1NihXypN6JjkEb7ocDhte3DvSjK8bc_0Jj0RJ9fcnUpiKxpCtTvu0jhFnfczZOq5QAbgAZ12Hask-ABeylO9F631f9w6WFaJflHus3aCISYwFIRLw1SmcW5uMqoTj8Ae-uBwZuOOqmEwFKTHBmpmy0lk3jU2PfC6yuli5SFtreRP87yyB8TtKgsqRnSMjNfe-PTlMZvcMDvzio6dlCjLcv2YQMQS9YQLdRkNEgFaoGdcp5z2RAbpomLatQIIeam9Bq0mcvoWXSH2udKcUGnElBo60e8jW6TOwb4dd_wWTYbL2e_0bJvJkWxTRYisuVLrTc6D_GjQpBhvDot06btHv1mHv6HcNJ1CbNQiUiHq258dcTPQNzuJtMe0nSLzqRe90jPzw-X9wdqKwOrE0LrvnIkP1FPs0N6AVvgu1ZlfTteNVWJtTzoF6SxDOeLfxwHKnMFxMMQmt5v5qSJh8r7AqpQKRNsuNKdl-aPq5uXvAn6DoN6mWXloLHkTy1xYxzNe71tk49k_Q71zvszZ0AP3ncgk4gcllguMtbIX6P_f7sM6j8EJJSb1eOJt6TTpO6XAHuudKdvXHEuIkzOX5rW8ao0JBM1ewW8j9MJX0cUSzFo8ElRvAnE1YAq--4F4MkCSQKhyntwRus5mUBYKPahdvKp-LNmcKtxNN8s4HUJ9ccFz0BIm5JeOWhv0Rknbpx_aNVEj7aAXoOyk-joeLYSV9_0eQFbSg9O1De-zkJGInH7fiY7ZS7GJViLfldV-xJQ4i3btbeq5E6pZ2IVeSLi0OvNM5nRC4iFTFbvaYScrl40OudHNNfxqmTBKgEHOWsZdCErfhfct5zl_iBTtCADDpP1s5iBmygse0W0aMMP0SoULYtGhiwbDznDXRo1MQ==",
  "id": "rs_01cb6d3f208b9d85016ab2def133fc87d0a44ea80e5c3ee09b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.025,\"left_z\":0.025},\"note\":\"The gray plush is left and slightly forward of the fingertips. I am centering the open jaws over its body before closing.\"}",
  "call_id": "call_430JypRZgRInoope9PFFy17G",
  "id": "fc_01cb6d3f208b9d85016ab2def2911087d0a5e0554babf329c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_430JypRZgRInoope9PFFy17G",
  "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]: [-0.1249, 1.5936, 0.3386, 0.6044, -0.1265, -0.0929, 0.9993, -0.0196, 0.8078, 0.6079, -0.3779, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3549 left_y=-0.0185 left_z=0.0132 left_yaw=0.0231 left_pitch=-0.0815 left_roll=0.0177 left_gripper=0.9993 right_x=0.2965 right_y=-0.0003 right_z=0.1784 right_yaw=-0.0054 right_pitch=-0.0202 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.0256, 6.0103, 1.9512, 0.1099, 0.1001, -0.0122, -0.1026, -1.6752, 7.1316, 1.7656, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3524c67fc3bdcc01fed073934bd0bd6858253ce095d2ff809b1a459f06724d47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3666d57c34a7c5e1a324a7faae09ff1935d36638af91746ae63b489ab8a149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9d298e036373cb3f2d2ad018413d43215abd30031ff81c4f6ade0798865a96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.765 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]: [-0.4816, 1.3277, 0.2962, 0.3759, -0.3897, -0.2867, 0.9993, -0.0189, 0.8032, 0.6086, -0.3737, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3154 left_y=-0.0851 left_z=0.0466 left_yaw=-0.0112 left_pitch=-0.0361 left_roll=0.0139 left_gripper=0.9993 right_x=0.2968 right_y=-0.0001 right_z=0.1809 right_yaw=-0.0044 right_pitch=-0.0107 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -4.3556, 5.6, 1.79, -0.2857, -0.0806, -0.0806, 0.2256, -1.6479, 7.241, 1.7558, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst79ecb4bM4L9a7PfuJFFGu1LfdI-o57RjjQZY2J23vKxcNxfAkpgX8zX1YmWh0dtZFw_TrHIjf7TozGsiaWz2JEHTQfB-hbGhIEUeA_7wgQ4Uvb0Xly6PHe_yOCP3oyyaFs3AzQ07-gfgppatuEtky1-gd7akTXF70W3jZ09rLIrS0u0rsYwZhhmUubuqprk0xK2ExAsyPqlBiWEyO3YjHh8wy3wuSCk7YdfqiP8SvfG318j-hFW4wz-7ztH8-imVKwhWh-ZVxUISG0AOODgryCn3c-Kl4ZSssPRmXAFJQT_D8KZnuWA7kZswJFvB1jS-DSE_D500zCZn8dyDdg3-53FdHzVmH2h7EJTPT4uRZ3vryW3K30sj1_zEmhuPl5g-ibIEZuYKSRMwtxrF37aSOzs9VxVt_ZhehIMa7IjpMaAE0usc_NXECDE2gp7b9MTBGVQWgRHbU_h9GR_JTcizMP-IwOv_5TXRc82WB64ymK2nvbUme2L3MOo62ItcWGQ6Hz-IH1V8DcLywu8pUAvdtd0YopFs_fbJnm-J5ykTHjaQN9oASnbWmXmE-7i6xCfqS6PXkOdxCKZS4MumqoLuWB5l-MTtaDSRdCPRMIQ6Dp-E75wTMWDP-qaqMx6e-4dzfqUVbz1bOgXwvy36AkS7JUlS916BKvj2CVvhvz7XhGdFmbRfd5pGU96Z6TX31bF8BvIUdzj-0wL9qwwZ91xGHcSeb8Nqpjw3FoUHeKFj0XWM60_L9I8hdetondIc_HA9vByh5gBV9HRO1X2dmKjYDqehFKN4qj-O8Q1h9YHN1KBbNJ1mbnpyT9wIJIkJx166T04HoOvpQ8HSGW5icvD1zaZGythKjt8SVLaxVsraCmwOnIx8UtjP9a81gRpZJoG_zF-NP6hC_1CyiLuGhJFzirSxenLVHVBuqSbEr_YKmPR0RUV8Z2KVWqEaWN000Mxwg37GXMIuR3-k8koOzJzrHhRogelJ3g5LgeMCdvN0M6yTC6-A_aveMv7_o12vMVJcqdv9s3AGeHY_G4neT982Uz77-7RLODrenL0OrAR0EiP-M2HWvE-aHcN1VlcIBLu4HIdmyLfM6-8iWVB40V3VuKz5X8FcFvkPB0gNg-r_q0B1Lqs2n03UQWRJR9nDDws_TeAswieCt99bkJJhU5gwAftOWsIDIt6MfH3pRjWrMqovza_pRGUCzvwoqH_J4tKmGKMzsCmptFOPReBCKq5qbOrwuuBlJzQIdFfywNxHpxoUOwxyoO5Xu0XP_YFs97cSNi5Pp_Ei66gZnD7hos1-HsEOZ2PPvZ9abhcD7ITuJeWLM=",
  "id": "rs_01cb6d3f208b9d85016ab2defa6fc487d0b901fa1505018731",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.012,\"left_z\":0.03},\"note\":\"The gray plush remains just outside the left jaw. I am shifting a little farther left and forward to grasp its thicker torso.\"}",
  "call_id": "call_yH8Z8tOrsBLH0kV540zGwjYY",
  "id": "fc_01cb6d3f208b9d85016ab2defbd63087d0bbe526e596cfeb99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yH8Z8tOrsBLH0kV540zGwjYY",
  "output": "executing move_to over 4 steps (0.4s)",
  "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]: [0.0067, 1.6722, 0.5205, 0.5068, -0.0433, -0.0364, 0.9993, -0.02, 0.812, 0.6079, -0.3779, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3983 left_y=0.0139 left_z=0.0272 left_yaw=0.054 left_pitch=-0.0811 left_roll=0.0124 left_gripper=0.9993 right_x=0.2967 right_y=-0.0005 right_z=0.1772 right_yaw=-0.0061 right_pitch=-0.0244 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -5.9966, 6.3932, 1.5556, 0.1197, 0.1392, -0.0171, -0.0615, -1.4701, 7.0632, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273edd3b336e197d356e53c3e37480a2130fbb68c606cc16e690736b7b5f8044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af92f337bcc6b347e28dab9474effb31e3f5256be70d6d14293a41deeefc267a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d44712f48db46c23de53a614b678568c46bf813e75ebc524db27b116304ee07",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 7.895 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]: [-0.1249, 1.5936, 0.3386, 0.6044, -0.1265, -0.0929, 0.9993, -0.0196, 0.8078, 0.6079, -0.3779, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3549 left_y=-0.0185 left_z=0.0132 left_yaw=0.0231 left_pitch=-0.0815 left_roll=0.0177 left_gripper=0.9993 right_x=0.2965 right_y=-0.0003 right_z=0.1784 right_yaw=-0.0054 right_pitch=-0.0202 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.0256, 6.0103, 1.9512, 0.1099, 0.1001, -0.0122, -0.1026, -1.6752, 7.1316, 1.7656, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the gray plush's body. I am closing to secure it.\"}",
  "call_id": "call_N1Rluj6w6m23kPG8zuBsTwyo",
  "id": "fc_01cb6d3f208b9d85016ab2df00452487d0be9b6cceaab79b3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N1Rluj6w6m23kPG8zuBsTwyo",
  "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]: [0.009, 1.6794, 0.5243, 0.4908, -0.0448, -0.0406, 0.0102, -0.02, 0.8127, 0.6075, -0.3782, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3966 left_y=0.0151 left_z=0.0227 left_yaw=0.0599 left_pitch=-0.1005 left_roll=0.0109 left_gripper=0.0102 right_x=0.2967 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0059 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.159, 4.6154, 1.7998, -0.0122, 0.0171, 0.8864, -0.1162, -1.2376, 7.0769, 1.7411, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5dfb9b6aa4dd0022ca9a2257887b3e56de64d4cca63a8aa09d5278ae4343cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c504496e5815ede0594050f7ec3bdca2e2802983394e44e9e7e64a6de5ece784",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c27cb390662e6a249b3c76ef2c22e4a949d57a5fe73cae770f590b73e570dfbf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.273 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0067, 1.6722, 0.5205, 0.5068, -0.0433, -0.0364, 0.9993, -0.02, 0.812, 0.6079, -0.3779, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3983 left_y=0.0139 left_z=0.0272 left_yaw=0.054 left_pitch=-0.0811 left_roll=0.0124 left_gripper=0.9993 right_x=0.2967 right_y=-0.0005 right_z=0.1772 right_yaw=-0.0061 right_pitch=-0.0244 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -5.9966, 6.3932, 1.5556, 0.1197, 0.1392, -0.0171, -0.0615, -1.4701, 7.0632, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst8KArGyVdC6XHwUC9acW5aSmQ3mbRXSBiBZQPpm2Y_llW8DFHG8bxTRk2OqPBnpNP_l-qK2i7yA0XvPbTnNADc7-5RJxEwnt9sNWTijwEJ2PKM6-aNRaZ8DQUFycCnonBzj2CCmYfCKLt1L4c4oLH4BkG6rY_X8RWBRDlmXZ0cM-IVhgeUNOU4sp-f23QFJ-ON2kkT-WIjDsbtN3FyCXjN9dQ7No6bylMFnSCNi2XQXiIc4DDBx-d3wyJVYY3TBbwkl48arLzctPwystmECnDR884s1dqBqb9WH7y2lqqS9FUjmbb9lnailJQ_sXQu9YXcfC7wLuuym8Soc5fBlLyR6s0NWjFhChzrkKZsaeAam_D6HKTbkTqTA4W8qQM9he6SmXpConWE__XKYcgQu-qr-A0Sh4vcVdKOOogyTeulRCCAMzQBwIZ6A0iYhp_q1zeRTCfZ1KDF0VWijvuQawc00Z4PlNRINpDxiXAKRJE7lNeLGVAbelslN4ClqeyP1RmuHghaFuvY3BZHdtSVewFPeMuQpo-gFh7KaCmll7OdpTOra27oA7N-1oJwWpWcv0qEJC33KFExoDdt9rZQM5QEKTdfaZaaMMrFtxe5YlDonDDsyKvI7ae5GlIGnY_KCJPbvKW9qdC2Z8a_PhgJY2Z1ymTU5d9Mr9hZU1RoU8gd2YcaR8sEFnlfF8PPrTTWsUigH4i0GiDcz__J-hmLX4tGdwuFCIJNRTdBqWC0-rFMn0iUQE5GgC864HhBreRm1EbPsAHFgHDQr3TXs6PuSzJAJJAEOi75rACqsoOWZFKe7Y2Dx59YGzUalbJEuVhXYfe6YaaCMsW-buWAH7s6OBrcw6sle3ymb_tjAByvKpVKWVVBICJq5Kbfyx7pMXOnnY4djfAlrR87CRwXYO3netC690yeuPhWrLtBvRxMl9Xrt7f4MrVdBpO6fCHtK6-E3AD8sr3pYuwzrRgPzXQeaxAcnEVg0IyVcNUeFR5HTdTrsN-Pn4fN8Q28HG-4wSZ2rXH95L6n-wyEThWcS9dpUOmyIiwy0772nBhZ2UAUECgGofFhI83O9L9EYmmmCflEc669sSq6d4gDP2A34WI2j5VZHwRleztC1KjTqSmvN-MVxXC2JgHzdlwSeT5tRV0UC_Fi7p27iNNcDv6o8SIBbSRz2GWcsI_PI2-LnHnu1LhGTzhG3qdIaQWGZzb_3D7-4L6fHKZVYGZ1qIYgeg2yS2QDfUzSdTvRf1llPNcLznKFTDTBlU3FN5dWZfkxlyG073CTAV9Xqj0qeeomNf3XBpr1upPOQQLMq9d29AhDzKWf-ch0=",
  "id": "rs_01cb6d3f208b9d85016ab2df07142c87d0b410bb396b94a879",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":0.05,\"left_z\":0.04,\"left_gripper\":1},\"note\":\"The gripper closed empty; the plush is still to the left of the fingertips. I am reopening and moving to the leftmost reachable position for one corrected grasp.\"}",
  "call_id": "call_k00HLLylIw9simr53fW2tzHH",
  "id": "fc_01cb6d3f208b9d85016ab2df084c2487d0ace2ba4ff6829796",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k00HLLylIw9simr53fW2tzHH",
  "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]: [0.1215, 1.7203, 0.6659, 0.3782, 0.0315, 0.0097, 0.9983, -0.0196, 0.8146, 0.6075, -0.3843, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4221 left_y=0.0495 left_z=0.0354 left_yaw=0.0805 left_pitch=-0.1127 left_roll=0.003 left_gripper=0.9983 right_x=0.296 right_y=-0.0003 right_z=0.175 right_yaw=-0.0052 right_pitch=-0.0339 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.2427, 7.4872, 1.5702, 0.1587, 0.2027, 0.0122, -0.0342, -1.4701, 7.0359, 1.8046, -0.0122, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e55c07923ec1233f24ebba374b7bf503ff0955766803d8ffcb9292581fb8d32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c380f43b2a92489eb39c60672d7ce24d170dbd6e1a4c8c325a95116ca7e793b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c751082dfb673ca7cc1d600b4d2b767bea4801a13512a241030c297c3756eed",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 9.308 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.009, 1.6794, 0.5243, 0.4908, -0.0448, -0.0406, 0.0102, -0.02, 0.8127, 0.6075, -0.3782, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3966 left_y=0.0151 left_z=0.0227 left_yaw=0.0599 left_pitch=-0.1005 left_roll=0.0109 left_gripper=0.0102 right_x=0.2967 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0059 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.159, 4.6154, 1.7998, -0.0122, 0.0171, 0.8864, -0.1162, -1.2376, 7.0769, 1.7411, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush overlaps the open jaws at the workspace edge. I am trying the corrected grasp.\"}",
  "call_id": "call_Gf8PfYHXOv0wKJFJdb8BiS6n",
  "id": "fc_01cb6d3f208b9d85016ab2df0dc81c87d0bdbdb98e229c9f50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Gf8PfYHXOv0wKJFJdb8BiS6n",
  "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]: [0.1223, 1.7283, 0.6712, 0.3744, 0.0269, 0.0048, 0.0102, -0.02, 0.8146, 0.6075, -0.3847, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4225 left_y=0.0507 left_z=0.0334 left_yaw=0.0878 left_pitch=-0.1193 left_roll=0.0018 left_gripper=0.0102 right_x=0.2959 right_y=-0.0004 right_z=0.1749 right_yaw=-0.0056 right_pitch=-0.0343 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.0889, 5.094, 1.7558, 0.0562, 0.0122, 0.8718, -0.1299, -1.388, 7.0085, 1.7705, -0.0415, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a3a7b474f58503233c9abbad72123c3d5dddb7f349b0ca650ac18e15258ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801d8a7ff15e24e53c2b6a287d3a9846a5bd3192610a490e2bf91e9229b7720f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec60b89745979c3b415a78c99e8f2518f255b2186b26514700fc39cc66dba2f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.308 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 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]: [0.1215, 1.7203, 0.6659, 0.3782, 0.0315, 0.0097, 0.9983, -0.0196, 0.8146, 0.6075, -0.3843, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4221 left_y=0.0495 left_z=0.0354 left_yaw=0.0805 left_pitch=-0.1127 left_roll=0.003 left_gripper=0.9983 right_x=0.296 right_y=-0.0003 right_z=0.175 right_yaw=-0.0052 right_pitch=-0.0339 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.2427, 7.4872, 1.5702, 0.1587, 0.2027, 0.0122, -0.0342, -1.4701, 7.0359, 1.8046, -0.0122, -0.0757, -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": "gAAAAABqst8YsPU5CBEwmNbpSooR5g0mPtZOjyTCbhrCr78GOrR65FtoXMiexyYT0NGuBUVtsUWGUASIxKoq8Xm89bXz97iLincdTKSW0pCwODKQHmRuVDrMmRUzYGuXsssQJkT3ui0KhyjFFuGP8QpVEqda30Vk3gEeBSg7SXo-hl0T26YOaHQXeRFKRhPUQBsbzy4xDfo70fiiQAUE2KFbv7OLCu8J-YeD8tjxhGnDzDDHmwqqF9SeOYT83WPvmKqdZuo2ScEebtDL37rUiMHdu_Lr6RWf0rjflVThpPB-lkdkFYryGcmlb5y8eCuRJJXo_bvY4F5xpgOzuQCO2dlDWRsSJLGktw4Cch9z2xMtEZdh6pNt6ccJggxnup7oJF5G5RGCHhqO22__rhmfPrsUF6aLv79POtUBkIGnA4yzHT8EV_6DtqDcNzjduBn50njIOaoDcoHWwmtB3MvGrA0Uvj9pGIQ8FI--0mjwiLhUBsSo-WaryhgXmHOHmxn7_hMUQlrUCaeUgeP8goSqescxPb9oEFy7mgzHZ5-GH8HUjQSnhFmpLh701alNr8MEwtf0KQ5c9uMF4FMOEtO6uEjwqTNr20DjluPRm5Kl5aW6SnWMr_jSqCSz49k7n6vPjMVHjRoSuoSJtgcuCWUNgZkdpAcA3qwRKvON0REs8N4QKC4Sg2WKbfspo8d71lY6SSSsaKb05LPM8tQwn_5yLb7K-ZWIARnKu3CKYNxGglpDLpSiYuY0jJ1tg1IyEP_b6k7dhSQUN8zV3PedSnhL_ilyjkBd3YhU76m2ipAkcoWVwq2cG8YpK6z50NMDpAPS13vdwDHbh0fQ_Y8BDtNNz6w9ik5yHOA7VDqvlJIqPReJ0Cfqj5q0iZ4kr1LhycXf7hzR3M289QzD7k3xIkkyvhf7BXbHOdGXCVmm4akRhhk9wh6P9d9v4DzXa18cpWs1pUAPxjlhQa2NjANz4VqAH5X1-mQl51_Nn2j6pDyCNFfzXB2qGyjUILrVXerO-5rYc6fB8efrMx19wvNv6mGxUvkSLNbPjopWP3kgke0siwSjkHHi7xnrvqjGttr4L4PeUWprri97jWlmeIQx-V55RKbYwdgIprjldc_zqV6niRQEiIN-AzXTlKR1n72L-S_X2092RgnOFNI139f3sXSxNt3rUj5kK2Qf7haPMFGV3ZnljWElgeNeXEOU0_63V8t_qtuHlawZGGaYZJkR3HeMAhgJH1qJQw8JL1JzDcbjJdvqZGqZ8fKZtf9x5iG6lUROBSBa0Di1CJZGFkJvwUgGogTwO4qAdB9X83j8qIlmgz27bJgI2G89s2Xiby2GyTzuIf6jXEOLkmV-EaNgtzdvGg9uf-gjgFY9Z_5IWFk-LJOGpepgrHNcpfUL7TvF4ZhOKLdZcO7t9Pm9WJFIEj-eYRxpud_IpPQi2XbPUcFjmBL2KnA1DyMSUckhmu4KCo2sCW8HyRwGwPgGeW6Pa68uUocDyJ1uu4suqex3rBs_qR1JkixidNAPSYAeNHjFMJmqOknZJE0Crk3mvL_KTSHPpCdx4ixUU4vY131cW9xbDWcSpKUim4kW0qJh4vnFCAoTkMF197UmUx44GNbb19StRFv9jvHOHrSkti-5fhOl5Os50tn0zYHpBGpghw8NKCyrXzQZFF3G4Vm0Dj7etDFi2Tcwb91M0RRZrQzwPQTlxViWSvWPbOEWZ_oLsY8Q3sLDOSGM1PX1na7U89Jb7g5RRufom4LAt77IDwWQgSlL36ZxV1V1XhV7O7cjBArkqyNZB_AYMAUZA804gQlpdLtD1Lb4yNaMo8Nm9rGwK9U2417VsQ4P9ErxjAc=",
  "id": "rs_01cb6d3f208b9d85016ab2df12382c87d0a6fdd2f712939ead",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.11,\"left_gripper\":1},\"note\":\"The gray plush is beyond the left-side reach limit, so I will leave it rather than push against the fence. I am moving to the reachable brown plush near the middle.\"}",
  "call_id": "call_v5FWwPZjyoRh88mQjRkVxwFJ",
  "id": "fc_01cb6d3f208b9d85016ab2df16355887d097573f6c80967bfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v5FWwPZjyoRh88mQjRkVxwFJ",
  "output": "executing move_to over 20 steps (2.0s)",
  "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]: [-0.7155, 1.5005, 0.8295, -0.1841, -0.5659, -0.5797, 0.9985, -0.02, 0.8177, 0.6075, -0.3847, -0.0101, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3472 left_y=-0.1715 left_z=0.1047 left_yaw=0.0593 left_pitch=-0.1275 left_roll=-0.006 left_gripper=0.9985 right_x=0.2961 right_y=-0.0006 right_z=0.1741 right_yaw=-0.0064 right_pitch=-0.0374 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.6137, 8.4308, 1.3553, -0.4371, -0.0952, -0.1343, -0.1299, -1.4427, 7.0632, 1.7265, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5d2bc76a37cb1fb4af54e1adb410bf0d84c1cffeffbe5cac10b09d20c7da47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f000d171c33d8ce507b5b0a5d07b6da3e2934662aa5a28216b4e03a3747181a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2241101e65d07abdd8500d1daea1aebaeb957788cf84b34ff1594f24d400fcd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 4.319 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]: [0.1223, 1.7283, 0.6712, 0.3744, 0.0269, 0.0048, 0.0102, -0.02, 0.8146, 0.6075, -0.3847, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4225 left_y=0.0507 left_z=0.0334 left_yaw=0.0878 left_pitch=-0.1193 left_roll=0.0018 left_gripper=0.0102 right_x=0.2959 right_y=-0.0004 right_z=0.1749 right_yaw=-0.0056 right_pitch=-0.0343 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.0889, 5.094, 1.7558, 0.0562, 0.0122, 0.8718, -0.1299, -1.388, 7.0085, 1.7705, -0.0415, -0.0415, -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": "gAAAAABqst8h5i2R4DhZ_EHknEqWkXJ-A_uWeOUHdNLbOUpmz9_NAIkO-2zyXhfYdKQMEucbkEsfdH02_LUSBzD_OYW4BRN4epZIbMdkXqFL7SXc0Ze_kukWd2hb-S_mCLbehnHge_lgxJQptstGKCI6YKmaBiCfDcMZsSE0WfQffRI7XfMyYIk2NrUdfiTpcbjWKlOb3v26vD-EJJh2W6OaBd5MD7QoK1Bh5zStXJY_DBHo50CLJssnE1C8S-YCoaLYQv0Dx4lj0_yuG6zTXeZS1-v3eIjNoXNIc5hy2VZ-5FZNjtG1pWQ2lIPpDKtK4qnylzTZQCcL346TYEydt9HxlqYlW7QP0zjvp_EzXi4PD1R7aynuQIetlnAE3AjSKOBT_Zwn-lOrNcjSteeujTNFA1uEiKnLuB6vIR0xPttyYhiveR3V3oG8raB6WPiKDaI-1ao7E5udQ_aqeILbLfHguS651qZVY2DmM_mS_cf6mv-SZQ4afJg9KAdhtzvRzKc2BWopyT0Ti6_m6dTYC9xA_TzYPcuGKOKpLj54pjwlYvTyykNToc8bFcE7aUAZfFkJEr3wTyZKHthde_n_djmIN99K6Kae0s6Q3IiyqQ9npZghA46I1BZPGfggcAr7CunKcM_IhgOth4RBqmKCiEPAypIZ-0-GLQqWUBU7Fin0Bc70hInrK2cOo4zdub9cgTYEOde5PGfNY3k5O4yTsiM8zfGQg-j6IMvQpw4bNlhHHEdd_vtboWUSEEIbb0YJgikTXaE3gdIHostUAEdn5mjkTsjsIB-OJlrgU6bPxMtL4KHi1_myP-DIyEa1DEw9p1o7k-ZXWoYTInj26HLVn1P8FLKNRegcT3a4w2OX22QL9Ke_1NS8_DGw6xEiH9EgqiouhAOR4ZzhLHbZrJXZ3FBKrDhPed0oud6i8V7nF7uJZ97XI1feenLbTUnZBll2DAGSIs6W0MWyQO14XDJPTYzdOxuw0TFQg3zel4ClJwScXUSRWhs01d9q6aeWzrJiyrWAa015E3sTc9i02hfXYqRY_B7Ye7D1xMSw9sVUb5nvEZ3J7IJaPPUMNkzWdPqPIg1rD6sty_bQg83oLwHhHVlYyDA0xO5_BGnFvmjaElMdKXMReZmUBOfnKS9YKZ6BLHns_QVY4OAxoRYJJs9feQ8ghZ-5HLka3DqdSRLQU0-cXaGGjSINGGnQs3-AEJk6FJow38G83QBuLkudYHmUEZwG9zIrNxFtFb7xc7QUprEFfpVCzxaDhBs=",
  "id": "rs_01cb6d3f208b9d85016ab2df1fdc5087d080cec6b7bd8813db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.028},\"note\":\"The brown plush is centered between the jaws in the wrist view. I am lowering around its torso.\"}",
  "call_id": "call_bSwwdjW1U41SrdvvOxxANpKQ",
  "id": "fc_01cb6d3f208b9d85016ab2df2077d487d0ab0c9160b1ea560e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bSwwdjW1U41SrdvvOxxANpKQ",
  "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]: [-0.7185, 1.7004, 0.6659, 0.1528, -0.5686, -0.5915, 0.9981, -0.02, 0.8185, 0.6075, -0.3847, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3436 left_y=-0.1693 left_z=0.025 left_yaw=0.0672 left_pitch=-0.1451 left_roll=0.0053 left_gripper=0.9981 right_x=0.2961 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0058 right_pitch=-0.0381 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -6.9402, 5.2855, 1.58, -0.2808, 0.0757, -0.0659, -0.3487, -1.1829, 7.0359, 1.7656, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4ee67210f6bbce96d3dc3db80923e9d3c32154fcf78b3a4abf6161a921e00c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d9ed5ab934a2d112f4f786fc3adb836ccf240261e1af00cadd7f21c7e50208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b7b230c37d1c8ab6fcba1d7fabb3a47a5727469723bb4ce0b3a8d28d73aef5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.539 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7155, 1.5005, 0.8295, -0.1841, -0.5659, -0.5797, 0.9985, -0.02, 0.8177, 0.6075, -0.3847, -0.0101, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3472 left_y=-0.1715 left_z=0.1047 left_yaw=0.0593 left_pitch=-0.1275 left_roll=-0.006 left_gripper=0.9985 right_x=0.2961 right_y=-0.0006 right_z=0.1741 right_yaw=-0.0064 right_pitch=-0.0374 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.6137, 8.4308, 1.3553, -0.4371, -0.0952, -0.1343, -0.1299, -1.4427, 7.0632, 1.7265, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers are around the brown plush's sides. I am closing on its body.\"}",
  "call_id": "call_XhaE5ZlfDySAWMNW8PUWvtun",
  "id": "fc_01cb6d3f208b9d85016ab2df2631b087d0b556ac10aa81e349",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XhaE5ZlfDySAWMNW8PUWvtun",
  "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]: [-0.7185, 1.7004, 0.6655, 0.1631, -0.577, -0.5922, 0.115, -0.02, 0.8249, 0.6067, -0.3855, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=-0.1691 left_z=0.0269 left_yaw=0.0726 left_pitch=-0.1335 left_roll=0.0022 left_gripper=0.115 right_x=0.2963 right_y=-0.0005 right_z=0.1716 right_yaw=-0.0059 right_pitch=-0.0462 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.0769, 5.3128, 1.2674, -0.1978, -0.0269, 0.8816, -0.1436, -1.9214, 7.1043, 1.6923, -0.0366, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fde74c63a000d5436b06783da3689d3b6125b40acdef77db7048d1ed11483c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee7a4bba0999c2e76acccab030da8c457fd2632dd1d5abdadd87a0ab23b01ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba4bd77fd55f2c17ec690ebb8e0417153e3740a7899e0c80ad6a4c4417e6069b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.451 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7185, 1.7004, 0.6659, 0.1528, -0.5686, -0.5915, 0.9981, -0.02, 0.8185, 0.6075, -0.3847, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3436 left_y=-0.1693 left_z=0.025 left_yaw=0.0672 left_pitch=-0.1451 left_roll=0.0053 left_gripper=0.9981 right_x=0.2961 right_y=-0.0004 right_z=0.1739 right_yaw=-0.0058 right_pitch=-0.0381 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -6.9402, 5.2855, 1.58, -0.2808, 0.0757, -0.0659, -0.3487, -1.1829, 7.0359, 1.7656, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The gripper has stopped above the empty-close width. I am lifting to check that the brown plush comes with it and to clear the basket rim.\"}",
  "call_id": "call_giJSq081JwtlM8tsUUd32cJH",
  "id": "fc_01cb6d3f208b9d85016ab2df29f4a487d081e0e58dcf403940",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_giJSq081JwtlM8tsUUd32cJH",
  "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]: [-0.7189, 1.438, 1.1202, -0.5846, -0.569, -0.6006, 0.1165, -0.0196, 0.8303, 0.6067, -0.3847, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3451 left_y=-0.1708 left_z=0.1825 left_yaw=0.0742 left_pitch=-0.1593 left_roll=0.0133 left_gripper=0.1165 right_x=0.2967 right_y=-0.0003 right_z=0.1702 right_yaw=-0.0052 right_pitch=-0.0507 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.1026, 8.841, 1.2186, -0.315, 0.0366, 0.7546, -0.0342, -1.5385, 7.2547, 1.7411, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f659def811e2c30c2d94485ddfbb01dbbdc681ccb016b185e551392c3b273d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219df977548487c3799407a2223126c382435de2dd3a89cdcebed841c54dc90b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccc6503877bfa058d76ab36e53c06ee1ef5b2ced0e7df26dbf61d2077e35b1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.804 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]: [-0.7185, 1.7004, 0.6655, 0.1631, -0.577, -0.5922, 0.115, -0.02, 0.8249, 0.6067, -0.3855, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=-0.1691 left_z=0.0269 left_yaw=0.0726 left_pitch=-0.1335 left_roll=0.0022 left_gripper=0.115 right_x=0.2963 right_y=-0.0005 right_z=0.1716 right_yaw=-0.0059 right_pitch=-0.0462 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.0769, 5.3128, 1.2674, -0.1978, -0.0269, 0.8816, -0.1436, -1.9214, 7.1043, 1.6923, -0.0366, -0.0708, -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": "gAAAAABqst8y9wnxwlF1_FSNTB1E76APS4y0pvFK7kSEqAJDm-5BCWLfTquiKEUdA_zF-y8K-heq5zq0LoPRRWZj5tGANMAtQeSpUOzLA_aUmmE_jmM-yY5MAqziYKGtpSMoNBfiYycT5xkACXJDqDIetLzwmG1uw5CcXtTDSDKRhP6-6zgXYQ0DKJSyIe9sX7iivhTIu-ItMnqsHlchK6pyRAOjkgW-ngJrSiSda7aCdhX95b8eiL5q8xpV9fVG3_ddP0myAzd7OuTq5ge1zuGOggVv3yefHuWfTg6vbsiRwDVtXq81FzZHTLlj2lBd4gSawfVgZaG_LSpvg4jmRyLozpWEcDSLrvIdrGpWGXLptO1RyyuW1DJDpdRn8jU3yCz2_e1grCbk5-zd9sgIqTJsJIW_lAS0H6FIQ20kkqrSFyTFCKyFliuybh7wyBVIV1uM-oJbYAFsrlxqju5h_lNBb9IXhXW4h1sRt__b9o9oOAy5MkEVUUxFjV3YXkgd-Zz7e0i5q21lmBNqxCJFXipgIPBQtgBcHm6QkdFKUX0OXXnxzcGd6L3MH0wcGsV2YrEfIwdG1_jIrrSeL-C_Jx_x_dOIzbkXbZjk4vYSPXvHZkfLVjZk6Ce_vjOVnq5Pvk7EM_r4xl7EU-b_EnMw2gxSX1wrN8-Cn7Lv2ot8UUjbdODYkCCdbtdwWKSqj41fuR7n5z7Diaviiv4y2DMBLG9V6DtU8kxqyrDAIOTtULHLDdckh2926A8tbNsDvOUcIXdjptG_6QGuihj01iOo2fYFkkovsCAy5Dzf9S2k4Imuv1NcWpFUi_in6YJpauJ33UVYeLKYsnJAemLXHffQgqZw62VKHJZgK3qfJGye_UeWNwsO34sV268eWzSlmfpEWjILI7fX4vpebBiGdhcek1JHz26MUvMT4vDgzwndoqnr6dH0qtQmsmVdiP9t9aj8Ac91J1eXO1wrJthkop8yqEm89JFPzWeD187SKrD-mCQIH0Taptc9R3FwUa0DM6neXOgors5EEdNCQYGRqv8ADvrTMxJyW3gQNvNWen6q-5lgeIJ7jspPZ2OpICfZDe-Mcpyw3LaSqqx5C60852J6PgYvgGgD5CrHcv-MWE1ZsVy8WeXpG2n54qGX19iA_9e89u1EE9J2bFMdWKQbaBJiKcWNWde0nAKjSmJ7_J7HQWf4bAmPXLHsZSF4BRVZxhrPNwRsi-3snXHLftKOw72JSND-aKOsnQ6A4BZ7m3YjDVQSfOVBRSXulnkLHAETnseQR0o6Jzu3SKAo",
  "id": "rs_01cb6d3f208b9d85016ab2df309c6c87d08c78303a97e35163",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.17,\"left_z\":0.24,\"left_pitch\":0.15},\"note\":\"The brown plush has lifted from the table. I am carrying it over the left basket.\"}",
  "call_id": "call_fq8ftDewBgEb9FRxt7uHkbMD",
  "id": "fc_01cb6d3f208b9d85016ab2df311be487d093943757f003e16d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fq8ftDewBgEb9FRxt7uHkbMD",
  "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]: [-0.4603, 1.9068, 1.5562, -0.1925, -0.4965, -0.2611, 0.1177, -0.02, 0.8314, 0.6067, -0.3923, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5325 left_y=-0.1661 left_z=0.2171 left_yaw=0.0849 left_pitch=0.0912 left_roll=0.0338 left_gripper=0.1177 right_x=0.2957 right_y=-0.0004 right_z=0.1684 right_yaw=-0.0056 right_pitch=-0.0595 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -10.6735, 10.0581, 2.0244, -0.0659, 0.149, 0.6081, -0.0752, -1.5658, 7.0496, 1.7411, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece0c4b177605d0b724f223bbf95fb8d0a3a657314965f57daa305a91eff55ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b51f353806079ba50ea43256424279c6dca2c5f4d608d69bed148a79339fac2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b6ce0a92337c6dd6351714249728c4ce9d0cf09fa37ca5ebb8ef3aab692728",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.097 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7189, 1.438, 1.1202, -0.5846, -0.569, -0.6006, 0.1165, -0.0196, 0.8303, 0.6067, -0.3847, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3451 left_y=-0.1708 left_z=0.1825 left_yaw=0.0742 left_pitch=-0.1593 left_roll=0.0133 left_gripper=0.1165 right_x=0.2967 right_y=-0.0003 right_z=0.1702 right_yaw=-0.0052 right_pitch=-0.0507 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -8.1026, 8.841, 1.2186, -0.315, 0.0366, 0.7546, -0.0342, -1.5385, 7.2547, 1.7411, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The brown plush is above the left basket opening. I am lowering it into the basket before releasing.\"}",
  "call_id": "call_ozhhn9LRXNnlZFY1deyOP8Ys",
  "id": "fc_01cb6d3f208b9d85016ab2df44d3d887d0a670ea2886d11217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ozhhn9LRXNnlZFY1deyOP8Ys",
  "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]: [-0.4603, 1.964, 1.3647, 0.0292, -0.4938, -0.2619, 0.1209, -0.02, 0.836, 0.6018, -0.3923, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5292 left_y=-0.1649 left_z=0.1456 left_yaw=0.082 left_pitch=0.0673 left_roll=0.046 left_gripper=0.1209 right_x=0.2953 right_y=-0.0005 right_z=0.1649 right_yaw=-0.0059 right_pitch=-0.069 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.7556, 6.735, 1.9902, -0.2466, -0.0562, 0.3346, -0.0479, -1.894, 7.3915, 1.7265, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:301cff4dfa7334e0c59ecb1d4140237185ef0ff378dfa6b8ec89bb94aa4ee5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd428f5c9af05f2f98e73e86ca5b7303290533a0f5adef18e32a56f1ee3440a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908675386ab353f5bb20de24106f1dc11d7af69bf887ec90d4c3d5b3d858bc86",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 11.46 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.9068, 1.5562, -0.1925, -0.4965, -0.2611, 0.1177, -0.02, 0.8314, 0.6067, -0.3923, -0.0109, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5325 left_y=-0.1661 left_z=0.2171 left_yaw=0.0849 left_pitch=0.0912 left_roll=0.0338 left_gripper=0.1177 right_x=0.2957 right_y=-0.0004 right_z=0.1684 right_yaw=-0.0056 right_pitch=-0.0595 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -10.6735, 10.0581, 2.0244, -0.0659, 0.149, 0.6081, -0.0752, -1.5658, 7.0496, 1.7411, -0.0366, -0.0415, -0.0171]",
      "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 left basket. I am opening the jaws to leave it there.\"}",
  "call_id": "call_KzpX7MIJAsUtvrWgzBBfK8rU",
  "id": "fc_01cb6d3f208b9d85016ab2df4bd6d487d093ece85809f1bc36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KzpX7MIJAsUtvrWgzBBfK8rU",
  "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]: [-0.4603, 1.964, 1.3624, 0.0196, -0.4938, -0.2691, 0.9952, -0.02, 0.8387, 0.601, -0.3935, -0.0101, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5277 left_y=-0.1642 left_z=0.1428 left_yaw=0.0855 left_pitch=0.0573 left_roll=0.0458 left_gripper=0.9952 right_x=0.2951 right_y=-0.0005 right_z=0.1636 right_yaw=-0.0062 right_pitch=-0.0736 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -10.9744, 7.1043, 1.8046, -0.2515, 0.0073, -0.1538, -0.2393, -1.6752, 7.2, 1.6679, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4449e22c8f9b4b4406fba158014376cc0af3ec9d66ada260091e97bd95ccca8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce802a2f173eb7ea58b805b61721d537de9de44a62918f1a00af93b1d50941b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071384939763cd71267a1d76dea8fd02e5118425e220c989aab92df544f1866e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 9.654 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.964, 1.3647, 0.0292, -0.4938, -0.2619, 0.1209, -0.02, 0.836, 0.6018, -0.3923, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5292 left_y=-0.1649 left_z=0.1456 left_yaw=0.082 left_pitch=0.0673 left_roll=0.046 left_gripper=0.1209 right_x=0.2953 right_y=-0.0005 right_z=0.1649 right_yaw=-0.0059 right_pitch=-0.069 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.7556, 6.735, 1.9902, -0.2466, -0.0562, 0.3346, -0.0479, -1.894, 7.3915, 1.7265, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst9Z03j-OVlkfM-wFF18Cxjqb4TMRAONUuMZ0WN4G-1ayXL0460FDMphLKNAXUlwbU00PCtXvAfzwFX1k15wgqKJzc93SB9skGuc5zs93-mrgs6JX6bUIGHLKIFQ5KcwYnC1KwL54NUslmo5f1gRY713oRtF2WpYcWQZYXvoqHAz00m9ejQ-aYSjbC2UX_NrriXPl0YkF9IeIfP7fwpQsA0VRBKGAFo3cIfj6kUcsEP46Fyk0h4zx1VTHPuabzR5g1yWs-ifuWjacOGZkwnr9MoV3byy1HdwExc-IhRhJ4BLi_W2PNu1Yr9emZiHAh0O07xNpukjjVdZV8BU38coG8QrOd2Z_-AYY5fAXGrAkRUY0XpA9692rQNEftEcONRECMXumtgpsYJw2GKedQ4WllOmL-g9bHfSMezIX1KeslIPs5qseKgW1vqIVGISkjGy8b5eSGEbXBs_Sw11SpuM6tpDUYM7EqeOZjEKUajCAHEfkE0lickq3YoPZMOKzx_A8fS_8OzMLPjd5MW-ulLNkm91Ae2BRF8fnl8X9-Cz-C0cF1HdmiTOJYjFgpKVvp60HFnZMq8GDBoHqyaVhMkZRbaQi8NPwFteSrQArYfFRajWP18WkWYpf0T15IN4Uk3HVQMq5sPqblssA20YAjzF8V6WonkXyFTEcOJIqkBmjbTO5EzRxvaBVtLlBI8X_FwWXxbQYUIw4iW0UdkQNeg2c3TvSnotMCAlMtpoYmLP6HCcQaF4odo0BSfBQYPLVedzgS_X11Mg1xpTWPKPjFs_p8mcK4hIS_QGf6OM6R3VzV2zCChZ3ndsldrc8Z1bG0nhyY6a-qKFp67LQzuhYk49RKH-qVU7xL5oDKf0H9LtBJiIdGWyiDECUUTyaARj7ws9sFmvTfgMKqgmEohC-35RpioUISdlgr5Z3qbLpJg1-wn4kmgFOJHtlGGq4cyU2iRXF1nh7BkgUfgn8d55hoQOk6OSI9eZMwbW_CxSv_cme-6cr4_u4YRjrUEfDVcd0bzTFwthoVTIbtnTL28EBkz_pPDP5jYXfaZ9Qn2upnNAFYScLzv9oUH8QHkbAVnp7Vl0kZMfBVkWLYXotNjcZhFSgK1xl_zXSBzMaodBr687qU170BOeMaRQ8ZQevoCwS_N7ZmOS2boMeL4NxeZdXJ-IyNreCa2Oi59M42BhtcK6okj2JWrZTrqqvtzsTVYXUP1p_MA5m1i-dObr-EYs5J3QoIkl0QXQV4MFwDv0c7iAk0V03qJqOU__xa5AML0TmMLY4j-Puta5HUEHzbWFcDyMwM9IoT3n0DPTxzLkiJJZHIBAWSFlWmdU0UzK0ZDW6Eh2brxGVlsiM3MyORXZvbtpIpmyyiu1vcGhUi1a_IFMj66oxl53NVKGR0LqsE6zPcZMPFBC-LxjbqC3W-yYKk8Sh65znuCEpIo0CJ-KZ3_iLm59V5VvNyTwyD83LFQYGIhjT16y6C10CEPyHpRbghto932RsIVZTK4yyvf-37HxdalbxuEJstBpPPrbhrQu2PfJLjarKrtYKohIR8ycx-aqcUIQ6uO1C7Vrh9heuiNfIoP79dNY2LlNLG2N3WFWOv0DWDc09GWsBroZJYblJnruIS7ZMn42Ofd2mSAh5pjDcXWxhrNSfaLK74GsMYTeVoQ8Vf95JSQrDKf1l1uWOM-j_Dtdw3NGZVj6ib4LPAuansBsYZQNegMBwOxaA8bTL3-dEG52XMM1H72Z0i-En3vlDf3MROMlU7Qm-Qd6Yqm5wK5h9acTUvuOuM5LgUSfxeRZXQ4yETXwrPb8SODUK9Wj0N6crw==",
  "id": "rs_01cb6d3f208b9d85016ab2df521e8087d0a49f51dd82eb5baf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.30,\"left_z\":0.17,\"left_pitch\":0},\"note\":\"I have released the brown plush and am moving clear to check its placement while approaching the tan plush.\"}",
  "call_id": "call_wQCdsYwo1RMFnVpWh0swoUD5",
  "id": "fc_01cb6d3f208b9d85016ab2df5789c887d0a17d169e454d18d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wQCdsYwo1RMFnVpWh0swoUD5",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.9726, 1.8572, 1.3884, -0.4557, -0.8127, -0.7174, 0.9964, -0.02, 0.8417, 0.5972, -0.3992, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3656 left_y=-0.3022 left_z=0.1553 left_yaw=0.045 left_pitch=-0.0189 left_roll=0.057 left_gripper=0.9964 right_x=0.2939 right_y=-0.0004 right_z=0.1599 right_yaw=-0.0059 right_pitch=-0.0862 right_roll=0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -10.5368, 8.7726, 1.1746, -0.5543, -0.0464, 0.1197, -0.3624, -1.5795, 7.3231, 1.746, -0.0171, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc2e0bcefe8957ed3dacc51560ccf51fc0b490724195b664082b8fb901d2cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b5a900e0bcfd9ceb512815ed94ce7997930dfc3b101e7ca7c21d6983cd7e05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217266b3585c3b41aa6a6da9bcef4a96c3ab222c9c36bc03eba05e9bfe4df51c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.019 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 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]: [-0.4603, 1.964, 1.3624, 0.0196, -0.4938, -0.2691, 0.9952, -0.02, 0.8387, 0.601, -0.3935, -0.0101, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5277 left_y=-0.1642 left_z=0.1428 left_yaw=0.0855 left_pitch=0.0573 left_roll=0.0458 left_gripper=0.9952 right_x=0.2951 right_y=-0.0005 right_z=0.1636 right_yaw=-0.0062 right_pitch=-0.0736 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -10.9744, 7.1043, 1.8046, -0.2515, 0.0073, -0.1538, -0.2393, -1.6752, 7.2, 1.6679, -0.0171, -0.0513, -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": "gAAAAABqst9nxWmnLUr0q_oc0BoRQNnAbevWOn3OGlluQx6bKs-CfmwtA9-dCnnuRYA0_n75f4IQSPuGri-qIzuMbO02NfsBz5PPbrCvT4cGc5wX7Kp17apYpJ0XCbEo390Hhmf43aeqo2nWp-8JAoDtW7bP6yU4h51HX8tXoM8UWxhYYeK2AJkTtpsMQ1WBHOrbo9kXkEsnSyUB2e9lPpNhk9b9dkAlDsQ3VftmtHeoUBQ9-Myz7L4DiIUIVYb0bPbBSc0ObgWT-al1N-h2_KGThUyBO6pBMszTiBp0aiydKqc4YN3eTJiquONv2tDvrQUzjMnIFIghQ5vKWsegbeIWTdNzL3QvoePKDSFNbRnkEDEXFjZ-MXafZITX-SazwYtPvLwD0dJKw60ceHBFq9j1bZPOUS6l8P_FZoWAl7Zh6LN79Jn2PnBlqipLhiOvZZRxCF8mPiWFX-AdJ3tn-Lt1JyZEw1pDK_hMEtFIsw10xW3ChzKkPkYRgUITxdnpeJB5LnKFtuyezdxGepCQYs5-2BIgTWg46jVANj38Ax4NZ-XIIH_Tn_TTdU78a2YBQ2WhWrM4jWwEXPRqpQZK9vpyMszdp6wIEO2bdg6G5ral4Db9EvuGFD-pM5-ugHYXNc_UY9_UNmt1TGe23Qw8_345enNsd-buDfZ6nCh7Y_7MH038kcdSQ-hyEI3X7R7i8xj4WJMwLFMT5ZkYQmH6uhkW_CWcggSKyk_O7NlsLTa7oOMnpSeW-OVO0yU-FhNxzOmP3AYbx8IROM0daAFmXZQ7LNVOadz-yNnbN4IzzZ83miFYaxMVa_wPlAueZDYE8KXamK6XUcCuRX4JTOC5CoerV22P9Nrem8GCLjP0mtyCAnDHCiCqhsHs5LqpNeplFfS54wDoHB9la0MptEpaFEKGyQ_7PmYbIvsMyYWWZbEF9LD4qbt5DZrdzV2yQVrMnzaOn1WfwwiZPRwHDxs2YU1C4l5xUQwTxJivNEN49dRoaAWOvOC1nlWnLpzKQJmFBWQzjJYwoskA1qw3JlQBNRUdvaFmopCnHFLzEViw2ZtzlKv7ppLKmHV2poi7DElooGOSpWJ_mXNGWJqt4IYUaA5UxmvUS1hGXTk2WqPPRLfcGHjkekRrO0L4bLwJ1PsMUxoU9_xuPKu9ht4wuolGQILfyLEmg89ztnA2AqQzFgybMXg0zMKTpmDZVxEOGyXMHRJ1xUqwHZPWYv0u2gUc2PF4vtJmz3JYtddWTSUacNSmmyfXSvwQOIAG2O-DQ2-NcJ-kquetsR4oJJpTroDIn9YVBj7GYQYrgly2ZQu-zU1ZA_hsX_0nBySp3guiCYs75wVwawCkXQhKmhNCTFAUCNFjqfqNEf3uSKDDNzSGH3mm5TJiUTWJqub3bWtDKHDHpQo255rLYGgq0WI8uJdOYaOxEk-TbWPnpbp86L-OUW-kzTuvBlvbN-tQTcA538_siOyJvQfNRnbkcr7nKhKmUla-YPXlKbF7rOfKkz32GyTk97GJCJTNuhyUJOfTrkLhx5LKZj92rP1qEBzcC_kCkge9nWExBSXSMXLW90ZBrw5yq2CgBpvbJQczfW5gDdHvuGVAkLXHMDjrFUsHzr-pKGGrenBqvSdlHbALqCm4AqCjYa6UygC0RamVr-UE-7mN-JPlC3uiRKFCsTizBWwxRTNTGmt9gbGwVFdvMjhSKV3oZBDmt6ZhNfZ0TMxKBsdFddIOFT4cPSNsmF2xmoxnhQFUfQd5RVDNJL1K7hHXDG3yOqQ15BkRPsN6GHAefxZsmq69set1ZmoGy2iivTfkrcoVOhK16bmwhmc5KIvt3pwVSIK8isYhzVTwt1l8F6u7MBCpVL5X-fVZnoBJVc7ggIJ4Y484A7JupaaLW2vTETdYpAblzT2LWLBcK8N_FWAKIiUuakWQuWcribDBeug7DqfeS-0j95HOG7xWrrlcapKyELiaLBTwPnifH3A3kCaeGBx1KpMI9vXEXMRogLYLT9irzfu4XSI7QmGeD2Y3QHJonOp4SrpL0qw=",
  "id": "rs_01cb6d3f208b9d85016ab2df5fd96887d090639ed4cdc541ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.325,\"left_z\":0.035},\"note\":\"The brown plush is confirmed in the left basket. The tan bear is slightly right of the jaws, so I am centering and lowering onto its torso.\"}",
  "call_id": "call_MzviECop29N5sQrc9X9u0Y3B",
  "id": "fc_01cb6d3f208b9d85016ab2df663da087d092cf689b1887d450",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MzviECop29N5sQrc9X9u0Y3B",
  "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]: [-0.9981, 2.064, 1.2747, -0.1081, -0.8616, -0.7563, 0.9966, -0.0196, 0.8471, 0.5972, -0.4049, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3734 left_y=-0.3252 left_z=0.0683 left_yaw=0.0702 left_pitch=0.0289 left_roll=0.02 left_gripper=0.9966 right_x=0.2933 right_y=-0.0003 right_z=0.1573 right_yaw=-0.0053 right_pitch=-0.0973 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -7.6513, 3.6991, 0.8523, 0.0464, -0.0366, 0.0024, -0.0752, -1.935, 7.1453, 1.7607, -0.0269, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec9ff3d39c9903c1cc6f6e80032d272dd015d184915e2dd9e6fb9850b911242",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1761feeebe24638d9bc7e1c51e7b4ca07498d6104060fd6845aefb8f7c174f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0583d36efb255bfe8b6b10d2627909f20801ede1fe35a571a0ab2a025c663d9a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 5.004 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9726, 1.8572, 1.3884, -0.4557, -0.8127, -0.7174, 0.9964, -0.02, 0.8417, 0.5972, -0.3992, -0.0105, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3656 left_y=-0.3022 left_z=0.1553 left_yaw=0.045 left_pitch=-0.0189 left_roll=0.057 left_gripper=0.9964 right_x=0.2939 right_y=-0.0004 right_z=0.1599 right_yaw=-0.0059 right_pitch=-0.0862 right_roll=0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -10.5368, 8.7726, 1.1746, -0.5543, -0.0464, 0.1197, -0.3624, -1.5795, 7.3231, 1.746, -0.0171, -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 descent has stopped against the soft bear, with its torso between the jaws. I am closing without pressing farther down.\"}",
  "call_id": "call_YhFfRQcYpQJb2RzgUNSqX2J6",
  "id": "fc_01cb6d3f208b9d85016ab2df6af29887d08d083885bf8d76f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YhFfRQcYpQJb2RzgUNSqX2J6",
  "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]: [-0.9981, 2.0663, 1.2697, -0.0734, -0.8867, -0.7567, 0.1154, -0.02, 0.8474, 0.5964, -0.408, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=-0.3247 left_z=0.0723 left_yaw=0.087 left_pitch=0.059 left_roll=0.0047 left_gripper=0.1154 right_x=0.2927 right_y=-0.0004 right_z=0.1562 right_yaw=-0.006 right_pitch=-0.1015 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.0701, 6.2701, 0.9499, -0.0904, -0.0269, 0.9206, -0.1436, -1.4564, 7.0496, 1.7216, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703ff174bb3fd64e2821bf1f73ec12c76d0fa9f0330aa1b0b4643d706cc7e47c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84cc4872939dac4712d91df7c611b009d2d907d7c843c61f97aea4a38e3ee041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6589966838b036e69c65889cc8496e80d1446d25a5ee0b4fe8689431c33b1e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.705 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9981, 2.064, 1.2747, -0.1081, -0.8616, -0.7563, 0.9966, -0.0196, 0.8471, 0.5972, -0.4049, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3734 left_y=-0.3252 left_z=0.0683 left_yaw=0.0702 left_pitch=0.0289 left_roll=0.02 left_gripper=0.9966 right_x=0.2933 right_y=-0.0003 right_z=0.1573 right_yaw=-0.0053 right_pitch=-0.0973 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -7.6513, 3.6991, 0.8523, 0.0464, -0.0366, 0.0024, -0.0752, -1.935, 7.1453, 1.7607, -0.0269, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.24},\"note\":\"The bear is held at a nonempty gripper width. I am lifting it clear of the table to verify the grasp.\"}",
  "call_id": "call_23YfuZY3g3P0BqTTwpdBNFKc",
  "id": "fc_01cb6d3f208b9d85016ab2df70eb9487d0a084c949454dd2fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_23YfuZY3g3P0BqTTwpdBNFKc",
  "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]: [-0.9985, 1.9598, 1.6875, -0.6422, -0.8791, -0.7639, 0.1151, -0.02, 0.8474, 0.5964, -0.4084, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3794 left_y=-0.3311 left_z=0.2035 left_yaw=0.084 left_pitch=0.033 left_roll=0.0351 left_gripper=0.1151 right_x=0.2927 right_y=-0.0004 right_z=0.1562 right_yaw=-0.0057 right_pitch=-0.1018 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -14.4068, 9.2513, 1.3016, -0.4225, 0.0415, 0.7985, -0.0615, -1.388, 6.9949, 1.7021, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73dd8b42048d45f3eed6ede358996728feba76bd4197db7e05aae1604b711b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c828aece4147ff49f55009816c55c8e1c01466550cd563b201721b0e2259d911",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c80f9e5f39a8eedeacef486713d1f05d4418fefdca2d75df1777c0ce0b83ee3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.65 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]: [-0.9981, 2.0663, 1.2697, -0.0734, -0.8867, -0.7567, 0.1154, -0.02, 0.8474, 0.5964, -0.408, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=-0.3247 left_z=0.0723 left_yaw=0.087 left_pitch=0.059 left_roll=0.0047 left_gripper=0.1154 right_x=0.2927 right_y=-0.0004 right_z=0.1562 right_yaw=-0.006 right_pitch=-0.1015 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.0701, 6.2701, 0.9499, -0.0904, -0.0269, 0.9206, -0.1436, -1.4564, 7.0496, 1.7216, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.545,\"left_y\":-0.17,\"left_z\":0.25,\"left_pitch\":0.15},\"note\":\"The tan bear has lifted with the gripper. I am carrying it over the same basket as the brown plush.\"}",
  "call_id": "call_aTxbIYSy6fyWg5XYiJadvfZP",
  "id": "fc_01cb6d3f208b9d85016ab2df769c7c87d098bd4c58e38e9600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aTxbIYSy6fyWg5XYiJadvfZP",
  "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]: [-0.4774, 1.9251, 1.6142, -0.2718, -0.5415, -0.2779, 0.1166, -0.02, 0.849, 0.5964, -0.4084, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5304 left_y=-0.1679 left_z=0.2201 left_yaw=0.1114 left_pitch=0.071 left_roll=0.0606 left_gripper=0.1166 right_x=0.2927 right_y=-0.0004 right_z=0.1558 right_yaw=-0.0057 right_pitch=-0.1034 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.1812, 10.4821, 2.0, -0.1734, 0.1929, 0.525, -0.1436, -1.7026, 7.0085, 1.6337, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f64afb5fd7f6c92072f34f7a690b38a7d9c3a653f91f99f6320d14e91e0a12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a662aa4ebef52b756d6e9acdc02b3c0182f0b161b1835ee91ecf893c14d57bc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37560125a96a6f6967addec8ac6e26cdd8cb78bccce538ba01396737922c32fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 6.346 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]: [-0.9985, 1.9598, 1.6875, -0.6422, -0.8791, -0.7639, 0.1151, -0.02, 0.8474, 0.5964, -0.4084, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3794 left_y=-0.3311 left_z=0.2035 left_yaw=0.084 left_pitch=0.033 left_roll=0.0351 left_gripper=0.1151 right_x=0.2927 right_y=-0.0004 right_z=0.1562 right_yaw=-0.0057 right_pitch=-0.1018 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -14.4068, 9.2513, 1.3016, -0.4225, 0.0415, 0.7985, -0.0615, -1.388, 6.9949, 1.7021, -0.0269, -0.0513, -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": "gAAAAABqst9_51A7gJEeYP2U1LKMCLHLEqgJfAupN2F-L-rGcmpxqVC_ExVzjneo5RE0oiDUe44vi-iuLAUTzUe8_aWx7xXZUGcaC4p4_s8sMFXqF6cjSwdsKdxkFu30NCRisGZLe4tnwYWKFWTt6NX8aw6r_53-hyK8t6TezzdOV-PWBdr_PeYejACoP3lktJlZIQbXRnmQYLvWcVNZ7wcnften4-cJgjh5XQOKH1vE15mS-2kCyo9S4DnLUJIKOPV_pse6fToqepv9z2GNZwouMCvOq_-2zsn5h4mJhCKd_qByshmfrmR_TZgFL-fJn7F1iCi8vTzPMM3qyBLl8fYaevLz19lpcTqb4BjuG40js8tbey8NMfDorkNZrcDAbOn46QGBlPDjWWaglHqciEEnm_5aiUxp6nSKWXBssMGc0jvWWT1liEtrzIcimghRoIcWtTJt_yEUV9nr58xaJji0zcaiaa36ZnMcZhwnk0lK19qcdhHzD1xTFJqiMJX7_7cj1AExNSughs-hg3d2Otr5QOxpznfy1uHHeb6fHjITovSuCIak2EHg92qMgpVtCJwdnXKWyUSRbB92wJ57QStlMZXc6EBnv0q-9vLohWt0ypWSKrTpeY1gEM-3Mpk6pGPiUqlAvGI70WN2m9xaeGftYt7rucn6lJkRptFzJz_WkC1QxwTVCixZTJ2yiFxfHMXXXUy56_m-AGWn5O9-hFvILHEXxIyj3E-STZtjEqi3NM-2nQbnt3KcF9ULHUL90a0Jjz7615BnL4S-rcjs8LfFRP722TEbw34UPWAIgq1xqD4uLRw8nUnXPX9loRME_bwCipfYYi2EL7ZPQQeAveTPqkK7s3XxhLBWLkkUOIwWgxFghW3SRvROHW6jzoKqQwJ8Nsqzi0vLL8Jkbm070IKPm6XX7t46RwkqUJTuKoqvjz8AR36C1rKox7EFEyW2QxrSJ785mJiwQvM_RjJu1b0z4HZYR8Sk1COWiZg9QSbGhjq6yY-qIzInhrt2Xo2GmirgArOacftQJdcY3yqJ886P9TLl2bgNueijeKdlypr4BRvJ5gnCNAbIQm9Sol59DzZP5tO9uKdF6r0pRXP9rQlTA_kIwi89MYI9-jarVxaCdbgxMEBGPtghbRBPI9pwh2HYTzIoJYB_IRd_THhoye-SYdrwHoPf0RRwV8uEanZVBV6Rf_6Q5r3MNcT6G27ko_THlBi6jQk7VXeKESSeAe-00EBnNqQc6MdbodttwTGGH99al89rVvmYaNbv0aJh62JlRyYtjD3MtDwcEZD61uvdh9fYC2NvWnWJfsRf2s8uW8zAyzdvKuuGR9BMxEjore5f_46maNhpgyJVPjIrdIK_TE0CfasriFAr76lGOwWn94MThcQ5eVU=",
  "id": "rs_01cb6d3f208b9d85016ab2df7bfd2087d088768315f6226ac8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.57,\"left_y\":-0.11,\"left_z\":0.16},\"note\":\"The bear hangs to the right of the grasp point, so I am shifting left as I lower it to keep its body within the basket opening.\"}",
  "call_id": "call_MvWWfnWnAvNHPKp9FbUj2XoQ",
  "id": "fc_01cb6d3f208b9d85016ab2df7d741087d091f689b35fd9af20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MvWWfnWnAvNHPKp9FbUj2XoQ",
  "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]: [-0.3244, 2.0037, 1.4994, -0.0853, -0.4286, -0.2119, 0.1173, -0.0196, 0.8501, 0.5964, -0.4084, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5612 left_y=-0.1075 left_z=0.1577 left_yaw=0.1377 left_pitch=0.0316 left_roll=0.0676 left_gripper=0.1173 right_x=0.2928 right_y=-0.0003 right_z=0.1554 right_yaw=-0.0057 right_pitch=-0.1045 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -10.3316, 6.6393, 1.9756, -0.1197, 0.2173, 0.0611, -0.1162, -1.5521, 7.2, 1.6386, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12046c754c226d685340a2d85f0922ce0a2780c88420c4e2be46ae44eba0d51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429df0b6a1767d75e2f41593fa30277af6a9aac8a0efff47398b0e6dbf4f13d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8385da7b5a9be31c3c7127d70204a6418075c640b7117ba96482d4f9503b58",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 10.57 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 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]: [-0.4774, 1.9251, 1.6142, -0.2718, -0.5415, -0.2779, 0.1166, -0.02, 0.849, 0.5964, -0.4084, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5304 left_y=-0.1679 left_z=0.2201 left_yaw=0.1114 left_pitch=0.071 left_roll=0.0606 left_gripper=0.1166 right_x=0.2927 right_y=-0.0004 right_z=0.1558 right_yaw=-0.0057 right_pitch=-0.1034 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.1812, 10.4821, 2.0, -0.1734, 0.1929, 0.525, -0.1436, -1.7026, 7.0085, 1.6337, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan bear is lowered over the plush basket. I am releasing it.\"}",
  "call_id": "call_23Iizkfm9yYTYM2WbRahyQKu",
  "id": "fc_01cb6d3f208b9d85016ab2df853ce487d081da179ea9501d80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_23Iizkfm9yYTYM2WbRahyQKu",
  "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]: [-0.3202, 2.0201, 1.491, -0.0887, -0.4217, -0.2176, 0.9951, -0.02, 0.8501, 0.5964, -0.4084, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5602 left_y=-0.1059 left_z=0.1441 left_yaw=0.1391 left_pitch=0.0047 left_roll=0.0718 left_gripper=0.9951 right_x=0.2928 right_y=-0.0004 right_z=0.1554 right_yaw=-0.006 right_pitch=-0.1045 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -12.8615, 7.6376, 1.663, -0.232, 0.0024, -0.1783, -0.1709, -1.4564, 7.159, 1.707, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aadc80f0a5fa6aca085559dd4417f070e48aac8a7e31aa5e1bebaeaa12228d72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0199198c83150032f088b8a97d19e8719d09a8963e7e313046d1277bfd1cf06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a37bf750774f1583ce457520abe2e6b98c969a09bdd3d24fbb91de5648c5472",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 6.182 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 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]: [-0.3244, 2.0037, 1.4994, -0.0853, -0.4286, -0.2119, 0.1173, -0.0196, 0.8501, 0.5964, -0.4084, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5612 left_y=-0.1075 left_z=0.1577 left_yaw=0.1377 left_pitch=0.0316 left_roll=0.0676 left_gripper=0.1173 right_x=0.2928 right_y=-0.0003 right_z=0.1554 right_yaw=-0.0057 right_pitch=-0.1045 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -10.3316, 6.6393, 1.9756, -0.1197, 0.2173, 0.0611, -0.1162, -1.5521, 7.2, 1.6386, -0.022, -0.0366, -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": "gAAAAABqst-Rjshrt_nAfWDJMRMb1qpVozR7c9IHYxUpHBfN5TKAzBKsGI5vLQbiGe9SOV8tdYfUuUSedE2it970fgN5Z4GK-5RE5aYQsb73G47V3yNjwPm1FurfQI7_pz8JnfuhlSfad0UgMQiA9DYqfl3g5IRCRoUdFLaotgR6QOUAvAXYBZcrtzC-vxLQiD6pBNndLQurhvIwp6AJLbm8LxwJD2jvcOR8eckTwbwcQsfj8jNp7mYSeK4ik4_oZmYLPlRsUf3XAMSy1_WcrliLcsi_N1BdlZa1gSnz0mYwedbBENv38BYv4gMuCbRL_oIUJ4sQ8pj3NBO7oshHMVqQaZ0eaC-Qq2rmJLZYZCmnfgggU2mdRyxjt38U9Kt0grKHRBYT8zyEiBzJ6NRJGycJHxDnef8IpEpHUqDca9Ab74aETNqc6-pzBKNOi3rm2-aDSfQiBXZFxpHBUQWVao6_XnNN1f_demLc4kUKVnHvcH44h79l0fR8ojavXsK5XpAwqNRcQ_Y7z3JU6pc5DX4BZLM7B4XeQmUv9vHBxBc0mBKGLJpDaKdFhyCCnahWci39qEPqz09Wq8T2BGHY0tPquVqHjmSsJpX3aeI6vVO83vrkXRqiQNAkRWdWy14S9jUVhwe5sp0ayzV7ofUQP-WYyooc4g7ExasmblHBpvufatLuFB4UPbymdknZvGAqnWFjrtJybwyhRXDeCp7GBdEs1eMmtjgpDk2tteYEenmibEaICx9AM17t71DQKR0J2iTKpCXEftLXBNTWuYxpr2YheNqwExA58H3nSHTMVOSFq6RrMkZhaYqCcbA2YTmBM6-yX-uYS6gmqdBmFdyZxYxVKOkSj-TK6u6-1HLniQpHY7O9sM81YKIcyVu4lrDt9lr8MUb_ohVuA7oJjIC1OCVMFim9Hm-5lkY_QMMWlpE1Fvb5u7vg56Ee5lxoWxTOWy4pa7U9xfqNG8zKnLcx5nPHDQM8Yq08x_WSo13t4ZldNMy15SEzAi8W8vaebjTkYsSUH8ax97T7ITRrY_xFW76G_27g8dn08uwFyWM4RGmrc3Q756hK4kKLNFmMPTb5Gdxn0nMwKGLm2xXL2G0_eB9X7cTPco5Ix2D5vRK6UtFceWBNzkE2bTGE00D496NVmJInjsHPqLlXz8DWjGLJTiY1dA7oITE4RLY72SOCms_XTEPeowCMXANNsnmeppWBAqUO26lgEm-JmbEjfguZzZLJtEt1YCl9QcuhtzLkFFw5N13YaKbH-_PHO9S2XOJrF3X75WDr8DbjCB_6iquSLjOmT3XW0AwVIqxCMPsEyz6h8cQIYGXC7GDAgzpBanHlPVMVS7kmvBvK8FhmuO98nub2j7knHOG_pdvM2RSdemGda6dtj4l5wcqGtC-RpUprbyBiUtgaS-0w81eiBcGTzCM_cPTkZheMxPaiUaRV-sd9FmUZSZa5HftO-2XGxjIjrs8AYibG0ME-IlZjgIv6J4SyEh6XqwGepEl3cCe3ADOmdceMk8DZUhHs5xhHnmw_7k1W8Czv7-T5-c2UA7Wv_4XA1_5wxOVxqTY3zfNrh1Nc8vBhXo0ffqr9Yi7omZT5nIN83ePTVmQXmMaU2U4-cAdWAsGWatcEQJDpbkV71PRE_db46-zXMdc5r9Sj9DhttLeHNNpb0-Njo4Cisdn9WSGTwVJpy87R22bTvoy1v1d4KDvHNOE5t7miquLv9knuC-CHG3K44o1Q",
  "id": "rs_01cb6d3f208b9d85016ab2df8b44b087d0b97763ef53f19ee2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"right_x\":0.35,\"right_y\":0.105,\"right_z\":0.08,\"right_gripper\":1},\"note\":\"The tan bear fell short of the basket and will need another placement. I am parking the left arm and approaching the two adjacent markers with the right arm.\"}",
  "call_id": "call_t2PE8uun5EVBzkfaHm4uXPXM",
  "id": "fc_01cb6d3f208b9d85016ab2df8f271087d0818083c30477245f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t2PE8uun5EVBzkfaHm4uXPXM",
  "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]: [-0.2089, 0.8753, 0.7887, -0.4698, -0.3389, -0.1642, 0.9964, 0.4416, 1.3769, 0.54, 0.057, 0.326, 0.2531, 0.9998]\nstate[eef_state]: left_x=0.3076 left_y=-0.0015 left_z=0.2284 left_yaw=0.1546 left_pitch=0.041 left_roll=0.051 left_gripper=0.9964 right_x=0.336 right_y=0.1002 right_z=0.0625 right_yaw=0.0192 right_pitch=-0.1719 right_roll=-0.0261 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.388, 6.4615, 1.8291, -0.0806, 0.0659, 0.1294, 0.4308, -5.2308, 8.6632, 1.7705, 0.359, 0.2076, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37f481c603a5a63eb59b93ec699c2c5a2bd0deb9eb27908016d5845baa54de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66d1cf3521d2dddb2564c88d3ec6fee6a2a2fc28b7639ba9f0c7b2cf211cbff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31cb54b24fbc5b0d15a6d3dfe60ce171f6c32c01dee97a4f7624b21bacea8485",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 6.927 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3202, 2.0201, 1.491, -0.0887, -0.4217, -0.2176, 0.9951, -0.02, 0.8501, 0.5964, -0.4084, -0.0105, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5602 left_y=-0.1059 left_z=0.1441 left_yaw=0.1391 left_pitch=0.0047 left_roll=0.0718 left_gripper=0.9951 right_x=0.2928 right_y=-0.0004 right_z=0.1554 right_yaw=-0.006 right_pitch=-0.1045 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -12.8615, 7.6376, 1.663, -0.232, 0.0024, -0.1783, -0.1709, -1.4564, 7.159, 1.707, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst-ZUV38l15d9Ex-B1sXIwMGmi1r6E-lVOxfglX3V8wFcfDPKfg1DWMBrlGipKopyMIw7uE2_-po15u54IHCGSHSF0SQSr3bVMXaHQ6d-1tpdZj89LqOnwbhIX4pimVMtTKLl5WNHxzqh8jOAjUXTamC9sm6oztluvmDsTq6Q8uvj0tdc9X0hnsam2gzzDyP16JT1uqm3H_fk-4a3bpESFOZSlte2ZHKadyqFptcDwW4JMQB7B8GIZm34Gmo9Ca9k9G2S8cDe2aTa33H3GubSRnvwP1Q-gIwncspYMsBhFM0ESbYWpRTjr9w7gPiPhJ_r289ATDPsfZqUNKFcIEHyoEu-se_c0mE82-iQCOcc0dnhfP0xmmJL2J1Vn0FAEqbYvXzi3ZoiCKlYjobUWXlpwNtvhX5yacL41bsC1jo9rujdkAfw7ok5-n6_bFQQDF7LSQex1fD0Q9mJEGBeIcHViasoJPYnf1CXVKZGJE28QBJstAaZK_1aufGabjn81cvaagSPogL858aqHY4U3N4DJ1xSQJoHaNKKklBgtnCdfXNy7n_RMQHWL9Lpfq6G0xczpsuvLKKzPyiV-VxPArZODgBjwIZuWj_9KcvfnTKw6em0DKz-0SQgtMPeFgzibf8kr4Ne15HdQTXeOS-f3L-_9vSMSnYhO0fVoTrf_Q0sk7g2OOfPMdcLm4HVNXDRG2lk5MCtfOLGs9Kh5sD9MgLyQtseIQdgM8_OKAobSXXePMYlAmhrRhqLyVCALxdmEXw42_IyC-xoRiYh_26C_J-qiwsBp0WZ0bmPo49gSpEDMAlB3UzKA-r6Uive4vzdejvzXkNgZEKdOtwHp_A7n7_3yDDkyUXG7q_nfbAG-IW77k9PbUsA23FWHhQ4UCQiQppLXZ1apyQSj_GvrIxsag5Fg9F3uey_CsvIU-ETS1_x5AhAGJFHnnLLVtoPr9bpe-tBtQNLqhEfZOwtY4wIgwAJdvFvMEobSA1FrZJ7MQX4ImX-JcIepnWfQLgMwkkjp2bw4pz5P8kM1mhhfD5tWKsvfpt2eLu1qbJ6ESKlMyq6sNCE_O0kdDXG2PNidPeU5h1XuAIGls19uoHVTtuYfzzAwQJ0coEEk-L2eGnzLFaf3sSKF4BnP-FlxvVjpj55ECUbvX2sOBLQmiXynXr89K4klu0-OEAWueDc4QTmWsMsFZ63HtfVmXd_91PjA2IBIniNJQpD1PW38VAPYFZl8bYXQpgr2dPW7ZjuSMddsIpQ-qtYbM0LL_pLsYxxcNKqhBcvmbTeHtsp_NLjZ4IcgMmMGYpezVL5G5doZ9WKB5x4b3JRRjjWZz84fVUZCPU-2m8N1xC",
  "id": "rs_01cb6d3f208b9d85016ab2df96cd6487d0b088c6a201b24118",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.082,\"right_z\":0.005},\"note\":\"Both markers lie lengthwise in front of the right gripper. I am advancing to their midsections and lowering the jaws around the pair.\"}",
  "call_id": "call_cnUeKwLZXH9zuAMsGcW9nuvx",
  "id": "fc_01cb6d3f208b9d85016ab2df98176487d08c974d828aaca6a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cnUeKwLZXH9zuAMsGcW9nuvx",
  "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]: [-0.2081, 0.8787, 0.7883, -0.4824, -0.3359, -0.1654, 0.9966, 0.2932, 1.7538, 0.638, 0.3836, 0.2157, 0.1638, 0.9998]\nstate[eef_state]: left_x=0.3064 left_y=-0.0015 left_z=0.2247 left_yaw=0.1532 left_pitch=0.0251 left_roll=0.0543 left_gripper=0.9966 right_x=0.4025 right_y=0.0858 right_z=0.0158 right_yaw=0.0134 right_pitch=-0.1541 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.935, 6.9538, 1.8632, -0.1538, -0.0611, 0.0024, -0.4171, -5.9009, 4.7111, 0.8962, 0.1734, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2153b70f71820f3fc99b53fd2477db3dd7d0139a0344d6cd27122d7bfed1d5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6c427457e9c3e772dc4f5a12d466d11ba9bfae03862839078bd68c9f28966a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ca531e55fc57604225071068fdcb5881659e50b628a98486b1d231ae88f315",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.84 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2089, 0.8753, 0.7887, -0.4698, -0.3389, -0.1642, 0.9964, 0.4416, 1.3769, 0.54, 0.057, 0.326, 0.2531, 0.9998]\nstate[eef_state]: left_x=0.3076 left_y=-0.0015 left_z=0.2284 left_yaw=0.1546 left_pitch=0.041 left_roll=0.051 left_gripper=0.9964 right_x=0.336 right_y=0.1002 right_z=0.0625 right_yaw=0.0192 right_pitch=-0.1719 right_roll=-0.0261 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.388, 6.4615, 1.8291, -0.0806, 0.0659, 0.1294, 0.4308, -5.2308, 8.6632, 1.7705, 0.359, 0.2076, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst-h93rXvEF2pierBRM7bswrWaWUVGB664k5kku4fygLJFQQVfLy9HDlnxK1dW2qekfqF_y_SUPhbRfZriQHgPGCYddv-YEeDSobU7339bCckW7ATOUK6b4uKMCgZzn0OAsZTp3KEEXzmWJgRJrqZndW0_NfL9uJtXmG5jfeDSNQDDI4kVf9CXBRjLkYRc53FR-v_acwXZbOxGTgEnEm8CxLgHSSvzDNtRISsWAz40pvG-xDYEKqqGyhTCG0fzrMTpMVDwmTHu36NVOEB-SI6tOpK2TYDWl5uypbiTp4oFKDExwYdJoxFLEkBKqYLucjj43Ezb5ZOakcAJLquG00Y1EqZ5vVegpk-OgiZ4BK7QsFImHLgmWVAmxV-DWmO7LuuKSWcB8SBSXEIqzigmWLxs-sxmTE_ADVMkZacH3y__TWeFKgg8vba04ocbBZKutQ1IRwdBuCcH1WXd-Urv0GE0U7TxcI6cPtyVhXx6-g7WdffTVnAK7YCYbCgl6Srb43_bpd1zrumO-HHobu7MZEPcyhRwHgCpVpGIJsniosVGvY6xireYhQfXEO-pAPQi5aeI_9-AuM5QF9S1tRSlJm4jRKj0ExpXBu8zebQLrMCCUnvSvzqg7OAM0a5WWhrnEz4C-ZtOId_iVYLZEjZewl1kA3_tKyk5B5WZqvcqpskTdFx_L3aga7zdUEaQCizEAf7nvO1sxPui7ScXSihs0_EZ_Xp0km6MgwQISujXLLjsx8Q6qSIieKELOgZFZdeg7X4s5A2o2CAQYjEbLb7RrxdWGpebqcf09QH0x7e84FeT7fo76OJ_q9Lo_5rhOK4E1mbtS9uGmyfgtIuhYLLUZ7nQ-iv9CRbm-ep_dvgbRV6VU69_oWnfqEiMVQcDvanKTnQ7zzMjIXVRM4WUHdo_j-il2DrTo-denz5wXyUUeKZ0tqfmkPPq0KGDFUVdjGq3CvVoSb3C13iez_0FgrzQDRUQy-mU2Tdd5T2n2OxVXCKoU-3POokXogE5dTfR_pHRWfIM5FJnpwm21qpP09Nb7kv7-YgV4B6sY_yKNAIGZa5641gwxZOlO8lC7dy2HapAH_E-heSKDG4q7qrRhR6VaRKg_sgGEzSCArtD9roqqohQAtC0osq2Fau0NOyTqlcKDGbjY0hKU8xZUL5AIvEDixpIt-m0ddAa3Bvl6h5OyP55t6RahlbMJq52A44mD2iYVShrj8W1vISAIm7UJwzkORN8FZPCe9YSAb6MrdVxhiAgAPa0B2bggxLJPQ_2IRJHWZtD3LWNWyB6iQDJ5YhwCr-FNu_A==",
  "id": "rs_01cb6d3f208b9d85016ab2df9d563087d0869a2da9a14f7d08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.06,\"right_z\":-0.008},\"note\":\"The marker pair is slightly right of the jaw center, and the fingertips are still above table level. I am making a small lateral correction and lowering to grasp the barrels.\"}",
  "call_id": "call_FgDPKCkTvViwqSS6iFnl9BCQ",
  "id": "fc_01cb6d3f208b9d85016ab2df9eb79087d0a14f4411b4e099e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FgDPKCkTvViwqSS6iFnl9BCQ",
  "output": "executing move_to over 3 steps (0.3s)",
  "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]: [-0.2077, 0.8791, 0.7883, -0.4847, -0.3359, -0.168, 0.9966, 0.2199, 1.7947, 0.6052, 0.5297, 0.1501, 0.1295, 0.9998]\nstate[eef_state]: left_x=0.3062 left_y=-0.0014 left_z=0.2241 left_yaw=0.155 left_pitch=0.0227 left_roll=0.053 left_gripper=0.9966 right_x=0.4139 right_y=0.0691 right_z=0.0145 right_yaw=0.0161 right_pitch=-0.0937 right_roll=0.0263 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7162, 7.0906, 1.7705, -0.1587, -0.022, -0.0122, -0.3214, -4.6427, 3.2752, 0.9011, 0.3248, -0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32d320cc66570e4c643fe7e7d32cb3e89aefab4e2d22dcdb5dbffcaaf505483c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac423eb7b580ec31bcdfdda06ef69cf523fdd0d75382302f3e3e976ec23a6013",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a4bbf24d4624f6c2011f7b03842349a66672e459262d4caa499f68580c2ced",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.644 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2081, 0.8787, 0.7883, -0.4824, -0.3359, -0.1654, 0.9966, 0.2932, 1.7538, 0.638, 0.3836, 0.2157, 0.1638, 0.9998]\nstate[eef_state]: left_x=0.3064 left_y=-0.0015 left_z=0.2247 left_yaw=0.1532 left_pitch=0.0251 left_roll=0.0543 left_gripper=0.9966 right_x=0.4025 right_y=0.0858 right_z=0.0158 right_yaw=0.0134 right_pitch=-0.1541 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.935, 6.9538, 1.8632, -0.1538, -0.0611, 0.0024, -0.4171, -5.9009, 4.7111, 0.8962, 0.1734, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are at table contact around the markers. I am closing to gather the two barrels.\"}",
  "call_id": "call_sTR3Scw6uYSCbK1YJsx9BXPM",
  "id": "fc_01cb6d3f208b9d85016ab2dfa4050887d091bd1f617a4a736d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sTR3Scw6uYSCbK1YJsx9BXPM",
  "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]: [-0.2077, 0.8822, 0.7883, -0.4847, -0.3359, -0.1719, 0.9966, 0.207, 1.8069, 0.5934, 0.5781, 0.1406, 0.104, 0.1572]\nstate[eef_state]: left_x=0.3065 left_y=-0.0014 left_z=0.2233 left_yaw=0.157 left_pitch=0.0199 left_roll=0.0508 left_gripper=0.9966 right_x=0.4163 right_y=0.0658 right_z=0.0149 right_yaw=0.0252 right_pitch=-0.0706 right_roll=0.0161 right_gripper=0.1572\nstate[joint_eff]: [-0.1573, -2.0034, 7.0359, 1.7118, -0.149, -0.022, -0.0073, -0.3487, -5.5453, 3.8359, 1.1551, 0.1197, -0.0513, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cea82c893b9db0659ca2a1eb0ea67b2be04dd610a34b53a2bf82ea4d88f7ed4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f1861db4c3fe458055714e5c6911207e6820e39c2bfa43c584141ebcd23cc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134693062e9f2f4be5674010bd89cbf8486e5b4af9f134ebf5e0a5a1ef6ec614",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 8.189 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]: [-0.2077, 0.8791, 0.7883, -0.4847, -0.3359, -0.168, 0.9966, 0.2199, 1.7947, 0.6052, 0.5297, 0.1501, 0.1295, 0.9998]\nstate[eef_state]: left_x=0.3062 left_y=-0.0014 left_z=0.2241 left_yaw=0.155 left_pitch=0.0227 left_roll=0.053 left_gripper=0.9966 right_x=0.4139 right_y=0.0691 right_z=0.0145 right_yaw=0.0161 right_pitch=-0.0937 right_roll=0.0263 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7162, 7.0906, 1.7705, -0.1587, -0.022, -0.0122, -0.3214, -4.6427, 3.2752, 0.9011, 0.3248, -0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The gripper width indicates a marker-sized grasp. I am lifting to see which marker is secured.\"}",
  "call_id": "call_FPB6vgEjNlNyfi2K75oKM5aa",
  "id": "fc_01cb6d3f208b9d85016ab2dfa8d9ac87d0a344956d89b8fafb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FPB6vgEjNlNyfi2K75oKM5aa",
  "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]: [-0.2077, 0.8837, 0.7883, -0.485, -0.3359, -0.1722, 0.9966, 0.2073, 1.4246, 0.96, -0.1848, 0.1368, 0.1005, 0.1586]\nstate[eef_state]: left_x=0.3066 left_y=-0.0015 left_z=0.2228 left_yaw=0.1572 left_pitch=0.0182 left_roll=0.0511 left_gripper=0.9966 right_x=0.4179 right_y=0.067 right_z=0.169 right_yaw=0.0304 right_pitch=-0.0849 right_roll=0.013 right_gripper=0.1586\nstate[joint_eff]: [0.0068, -1.7573, 7.2, 1.7216, -0.1441, -0.0513, -0.0122, -0.3761, -8.0752, 9.6889, 1.5653, 0.0464, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54785af6dc7d73509fca22256c6bba32879393541b6dae621d176d98b27b7376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1406e5abfea210c5affca7d8e281c52bb2c5e28e6bb2b2836ae559342d992181",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62b92f8304a24dba3a5aca62e3c5ffdc75aca3fd834ade1eb816e59f24941b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.503 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]: [-0.2077, 0.8822, 0.7883, -0.4847, -0.3359, -0.1719, 0.9966, 0.207, 1.8069, 0.5934, 0.5781, 0.1406, 0.104, 0.1572]\nstate[eef_state]: left_x=0.3065 left_y=-0.0014 left_z=0.2233 left_yaw=0.157 left_pitch=0.0199 left_roll=0.0508 left_gripper=0.9966 right_x=0.4163 right_y=0.0658 right_z=0.0149 right_yaw=0.0252 right_pitch=-0.0706 right_roll=0.0161 right_gripper=0.1572\nstate[joint_eff]: [-0.1573, -2.0034, 7.0359, 1.7118, -0.149, -0.022, -0.0073, -0.3487, -5.5453, 3.8359, 1.1551, 0.1197, -0.0513, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst-zVajHfH4ZZkKuHFrHXn8grRRbW0Z8mbfO7-oPFkBpZNzsFmHEwSCw4mAbWu3XbJLaXDJ837BMbVQUh5i9I3zcDolDPWeK2NuoqABeN_ex5vLTXQxyCEIYyPkh-kbvUmSU1MYGghZjyR6CqnWHhsfKeNP45vGeayCySlJ3MscbNCH_mt1CoWXSgvJhd0sIPtbyLxU68iCowifXDnicJxtAfDB_IdSliSKf4_sytmVdZy1srbgGetliHgxHf3BFcUDJz8aLiL34pYb7xtzdLfkOujRVSP7BEbesoMtICniqktytFR-ewUEK7ggHyKenPw_aJ7DBVq1ZCaLhbbL0hRUgBA-D-q_mquNpIj4bpQKuFSkMDi5IRXtZnY8vWXcqHIre8FnSCcGj2X8X0uudDGWArTP_u5OSySU6wjqcSm3Nrz161T0xgpSqvK9pAOk8v_-raPeS9RG1N9lhKHlNRstHC-I3UUvRbFK_mOYkrZbWz3dbGveqx5N-hB6nDst2Ptn9KySSz8A3ZMRtvJb1jbLdcGycG2lsPsJhP5t9yTMowVIzZQqZvVmXfEgX0UzbeVnI0Pn2xQiGMU7hyQUopW7qawLkygdfe50Yq1AFTWVW45esiBsrX9pWPsWNlzBwWjvmpWz4mjvzSwWKTbdYnquDBpc6JPUe77DZjcG3VJSy-QqeSngp52GLgpb0V5UR2zUmYpcVajcy857SSQVxSfaZZpC-mfarTveHDYME1KAzBcLNEcsKU0deekKX8e112pb_Uh-So_2-yvkwcVVMKDo7ix8Px7Km7nsjqjinaF-fFbNOBe_J6ps4TDFDphrrO7GolVcRNkZYYEZ13jBkEWbk6jkJPpPYaRkjhBj86JcBFgeyivPwHoowwI0XRCVLGUlFl24tC10BzByy9rcUAs4WYTy6X6T75pSrmCjnv5-V0s7y2tkou87ET9oGiz9t272fxqRYuSq86BSEvZAab9VlgDFw4unSsg9Oxhc98KnTOt5OeJ4F32dFhRL0ZiE_smIMpA-ImCBHwjo3rN0mvVjEzZkFzbFYJnmY3QGx1OGNY4dbsyKXBOLqC-FGmy8HFUth3rI3TzDJbOoXuiyXIdNc9mOqNto_oV3GH3DyVBOWcFZK3f4HTFkbSXhNnCdKrQK6Hi94lgShzt2lvFMk1lFfPt_tvlMotpKU8mhh5SK_18rGbI7SAslIHiDnq9jn3jM4rWYAKGujxpSnE2q5ykkp98EByfamc3foRBiTnIiaUSkiP4t7T9Wla_B4lGfHvuQ5sD-TpUjScygXJ0GLWohDtafCvG3tmB_usHoooZPo09kT0QFBjQBSoAHjr43pWBhUGBslQfK9lgImnsKvziUSqWgu7ehDdD9i4ZHqbt-0OZ7qJv7SbOKJzXgHAJIv69PnUvLEVMLwG8h6yYrEa4BzdxY4g1B5Su_OkQjhHRmxLmFDHfB6qs4EUMgdle7nyyz4biLKX7Ku9iDqEu11xrnTzUeLOXoNy3EdaCDvK6vmdpZqTA_VsSBxmXK5VoUpHBqr8qGWotZ1JJvQTz2V01GuzkRDEAe5ld5KbIRYNRZfAesPB7b_BPzCB5urObQUZEvV",
  "id": "rs_01cb6d3f208b9d85016ab2dfae80fc87d0ad8aa8fc383a6c52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.585,\"right_y\":0.25,\"right_z\":0.21,\"right_pitch\":0.2},\"note\":\"The blue marker has lifted; the black-and-white marker remains on the table. I am carrying the blue marker over the right basket.\"}",
  "call_id": "call_aH1xkZuuoTvzWQxxtUNQWBvp",
  "id": "fc_01cb6d3f208b9d85016ab2dfb1746c87d09d2affd28af17175",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aH1xkZuuoTvzWQxxtUNQWBvp",
  "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]: [-0.2077, 0.889, 0.7883, -0.4858, -0.3359, -0.1726, 0.9966, 0.5125, 2.1574, 1.7573, -0.0547, 0.4156, 0.1646, 0.1586]\nstate[eef_state]: left_x=0.3071 left_y=-0.0016 left_z=0.2211 left_yaw=0.1574 left_pitch=0.0125 left_roll=0.053 left_gripper=0.9966 right_x=0.5766 right_y=0.2467 right_z=0.1901 right_yaw=0.0648 right_pitch=0.1438 right_roll=-0.0113 right_gripper=0.1586\nstate[joint_eff]: [-0.0068, -2.1949, 6.9812, 1.7021, -0.1538, -0.0611, -0.0073, 0.4171, -12.9709, 9.2923, 1.7705, 0.4078, 0.105, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098788f7bc3cf04c07c130841c2edfd8720332e54306083d825343165af5afc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5687630561e03f2c434cce066a3c560dd216989359960a404c2fd25261c69a08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9363b859b73f017225251b312085872e2d68b0e514b791e06394f0d43a7338",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.054 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2077, 0.8837, 0.7883, -0.485, -0.3359, -0.1722, 0.9966, 0.2073, 1.4246, 0.96, -0.1848, 0.1368, 0.1005, 0.1586]\nstate[eef_state]: left_x=0.3066 left_y=-0.0015 left_z=0.2228 left_yaw=0.1572 left_pitch=0.0182 left_roll=0.0511 left_gripper=0.9966 right_x=0.4179 right_y=0.067 right_z=0.169 right_yaw=0.0304 right_pitch=-0.0849 right_roll=0.013 right_gripper=0.1586\nstate[joint_eff]: [0.0068, -1.7573, 7.2, 1.7216, -0.1441, -0.0513, -0.0122, -0.3761, -8.0752, 9.6889, 1.5653, 0.0464, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The blue marker is centered over the right basket. I am lowering it inside the rim.\"}",
  "call_id": "call_dS2AHWrIM2KyZJuvi9WmZhdw",
  "id": "fc_01cb6d3f208b9d85016ab2dfb927c487d0b4deee3af46818b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dS2AHWrIM2KyZJuvi9WmZhdw",
  "output": "executing move_to over 4 steps (0.4s)",
  "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]: [-0.2077, 0.8902, 0.7883, -0.485, -0.3359, -0.1726, 0.9966, 0.5159, 2.2116, 1.6238, 0.0807, 0.411, 0.1642, 0.1586]\nstate[eef_state]: left_x=0.3073 left_y=-0.0016 left_z=0.221 left_yaw=0.1574 left_pitch=0.0121 left_roll=0.0531 left_gripper=0.9966 right_x=0.5706 right_y=0.2466 right_z=0.1252 right_yaw=0.075 right_pitch=0.0956 right_roll=-0.0323 right_gripper=0.1586\nstate[joint_eff]: [-0.1162, -1.894, 7.1863, 1.7167, -0.1441, -0.0708, -0.0073, -0.335, -12.7795, 6.9538, 1.9707, 0.1587, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90797507e872f24f59a77422f51242ec9b42ee59f665a62cae90e76687178837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a4bb34ecd1e9b947a94007f4556c03ea55701a7eabb5e0b67a340a29659ceb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851d938909bba0b1aec388a228ebfdbc302cd21a7abdf57084661eaaef3ef3cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 11.26 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]: [-0.2077, 0.889, 0.7883, -0.4858, -0.3359, -0.1726, 0.9966, 0.5125, 2.1574, 1.7573, -0.0547, 0.4156, 0.1646, 0.1586]\nstate[eef_state]: left_x=0.3071 left_y=-0.0016 left_z=0.2211 left_yaw=0.1574 left_pitch=0.0125 left_roll=0.053 left_gripper=0.9966 right_x=0.5766 right_y=0.2467 right_z=0.1901 right_yaw=0.0648 right_pitch=0.1438 right_roll=-0.0113 right_gripper=0.1586\nstate[joint_eff]: [-0.0068, -2.1949, 6.9812, 1.7021, -0.1538, -0.0611, -0.0073, 0.4171, -12.9709, 9.2923, 1.7705, 0.4078, 0.105, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue marker is lowered into the writing-instrument basket. I am releasing it.\"}",
  "call_id": "call_48TtqG0ZKPLqZJPyj2TORBQU",
  "id": "fc_01cb6d3f208b9d85016ab2dfbc812487d0857e5a1b26e6c877",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_48TtqG0ZKPLqZJPyj2TORBQU",
  "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]: [-0.2081, 0.8902, 0.7883, -0.485, -0.3359, -0.173, 0.9966, 0.5159, 2.2162, 1.6161, 0.1371, 0.4103, 0.1577, 0.9957]\nstate[eef_state]: left_x=0.3073 left_y=-0.0017 left_z=0.221 left_yaw=0.1572 left_pitch=0.0121 left_roll=0.0528 left_gripper=0.9966 right_x=0.5746 right_y=0.249 right_z=0.1306 right_yaw=0.0769 right_pitch=0.1354 right_roll=-0.0189 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.6615, 7.1316, 1.6532, -0.1832, -0.0611, -0.0073, -0.4308, -12.7385, 6.6393, 1.9023, 0.0513, -0.0024, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8f7fa56a9e0666390861db15ce7d2dd25acee224b26ffa1924ec02e31c804a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b177177329c81ddf70a867acb9ad0c3eda999867d90d44ce52715abe0edffab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4175673fbefd16bdd7f748a68b10edc5084a2b46c2c411205f1a7eefbdc85cf3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 11.45 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 97 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]: [-0.2077, 0.8902, 0.7883, -0.485, -0.3359, -0.1726, 0.9966, 0.5159, 2.2116, 1.6238, 0.0807, 0.411, 0.1642, 0.1586]\nstate[eef_state]: left_x=0.3073 left_y=-0.0016 left_z=0.221 left_yaw=0.1574 left_pitch=0.0121 left_roll=0.0531 left_gripper=0.9966 right_x=0.5706 right_y=0.2466 right_z=0.1252 right_yaw=0.075 right_pitch=0.0956 right_roll=-0.0323 right_gripper=0.1586\nstate[joint_eff]: [-0.1162, -1.894, 7.1863, 1.7167, -0.1441, -0.0708, -0.0073, -0.335, -12.7795, 6.9538, 1.9707, 0.1587, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst_JBX9y04gHxkMpguM8K5pTbF7vEwqM_AeSIP_LZThv_j4ZTSHTzWWv9stO4PQxKzNkWiqNtW89RNPm5b2ZdA_H5kVMlIvqsH6QTIAfP_Jy5TSxJSZKEI3yRvrw80kdmJWxAz65oDfQBbQ5T6DqonPYWlWXnk9kw-ZEVBh-IAsddlZYZT6KmuajQ2cjRtHzmb3jSZ5QrRkE0eEnXYtXM5UHl7ZTlLehZ_woZR4WYJXtyyye05NNs1wF9Rvmc2bw3HzVj1ZKnS7RYsegg5LFMtE_0up5xigmH7e-XRMhuSuKDy6-shUlw7X2plf2tWrSUKHe349p6v8wrRLP92mWSBy5xYd5aubRjHT-wtMPFa8d-cuKFoiHiTqPCTgi-_p_8lFprQzpx3s7CBalzhaTM6jTg-cTDcpK_YBL8FQtE7hRo2qz97JFBBvAE8tXDBCztd1VpzKSaOZ6E5Ip6k4oPuxgIiGWsc2Fg6PAsb6myUFkpYXeTnqYjqpFDJeQEpCTBh46dUf7nfLKqhnSaFTRELCOQRxKcbr0zhG6HMNd-2XmvnKKl5esakq05hAtNcLQp1M1OeO-vQOLJELAcVPDzk245qJ014rb2fl9iRoWU9sC7txGCbSlJff5hEpoHXCiinH4mK6f10qm-g1IrBv3aMh3B0XVCeK_Vqr5YZ_gtLnyoYbkrAlCRLaoEKlpLvqfzVayiWDkrFJUmXtxIhWBvFFv6Amqgjq8XAIYIeNbIGc5C-j4Gmf7x59nnVlIjJXGR6O-sC5ZR7nMLf2m9CIwy9e9-4Zk4Wc7awVLYAhaLAZ0J8wdlrybo312Cjclr3KfQRX9mtfPNjqad8S2qcxlf_3G3YgTgfBmJnuJ7q6Mm94zUNd5ThzwRnOXUxyzoO8bq-7W1UJwCx_o5Wag1vaVAxvK7KiMF2-3b4_pyCaBrL33TarsLwWf4DQ_NKZPMWturSS-3DV9NWuFJzGzX8fu8qdSBNPDx-A8LZZO9KGFfrL6jhGVeF6JspWZQ9sJDvS-v_dte7GcPjK-zH3OVg4AT9JVZFGUdXcJ2JFNc_r5d3XqTZQU8zb5ZFQauufs8pGpqKMXJCL5uqsya6NYToKZ1OnqoY0eFjwQ9wlFh3j8XcE4Xw3DpAmwVeCy8JCPzCmSZiFWra8aRJgx0T0XcXV9LYK-o_FfUmQY3KN-xDgMIVSlAt6pqBgv6nOgdjMd_4iGL_v8USr_RVI0NTQWY_SWCuPz33uO0CYz67K9gEyFEEmjMCO1MAcl6aYA-3QCKzYUTa6KXRdesgs7kZYclsum3bqiw5UcqF6hZ1fOhjpyrQSBN4EjuSBFqu6o7_i0K--lCs565IHoK6E3iEc8jKnbqT4pRA-G6UMA6g4FnKADUoVqOTflC4nD44HhzvqRU8JzOqqlSxfeOvoF1Gd7unGohOXd71CY8FzNII_2F0CxULpkzwZsK0lLwJ5AOwzVthLIxGJHV-h__gFc1wtFIlFdI9N9lp9dueaH50v0dwDmFM8XcNR1uLQ4yq9bpzfdSCbZE6ttUwyKn_ikt3qrcBbsZJ26dXmN6jrQMPLO-CciRiyBqEnFNC7k6zQGVBNLmSgHideGU0Fuxnvx63lWeYxY80ocgN6Q6-FM7sxLvWmKl1TLwVj1D0OHglLKB2TD_UohTchnkXsFV1cLAKJ6SaCHr8AzOasylHkhxYefg1y_a0GzPoNIFEhhAGP7wmPYu2onon8fvliL7a0pi7lioIiMmA3rGqyM4-fOWF0L9akWyJ-KkPkvon9FT0iE9K-OhRX23_eSYVqimkSou-iNMcBUYoaGwYJKgPA6KVzikfvWXRIalS0fgL4e0w51XIB-J_E19OB65wVCdlU6y1tNkjxQKtF4hg==",
  "id": "rs_01cb6d3f208b9d85016ab2dfc28efc87d0b3b8bfd3a4a1dc8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"left_x\":0.35,\"left_y\":-0.105,\"left_z\":0.005},\"note\":\"The blue marker is in the right basket. I am parking the right arm and lowering the left gripper around the yellow writing instrument.\"}",
  "call_id": "call_65kAPAPMURYUsrPbEGqC8itp",
  "id": "fc_01cb6d3f208b9d85016ab2dfc7ded087d0b2b31ac772bbda39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_65kAPAPMURYUsrPbEGqC8itp",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [-0.5926, 1.7615, 0.429, 0.5854, -0.6331, -0.4324, 0.9967, -0.0566, 0.8459, 0.7498, -0.4198, -0.0578, -0.0772, 0.9964]\nstate[eef_state]: left_x=0.3442 left_y=-0.1014 left_z=0.0031 left_yaw=0.1473 left_pitch=-0.0183 left_roll=0.0737 left_gripper=0.9967 right_x=0.3094 right_y=-0.0037 right_z=0.2244 right_yaw=0.0261 right_pitch=0.0423 right_roll=-0.0227 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -5.559, 4.6974, 0.8864, -0.2906, 0.0708, -0.0073, -0.5128, -1.6342, 8.0615, 1.707, -0.0317, -0.1197, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4115155a9e42537508485073ae96b03eee5e47774ad2d7dd86f29207003426b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a094276eb9f85d700633aa4250a6a3f5adfaed8d259e2be8f21831e5713e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73bed43938b32c7091eb3af5120671b7bb1ec1c6147911b136455dd14ce2369a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 7.921 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 100 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]: [-0.2081, 0.8902, 0.7883, -0.485, -0.3359, -0.173, 0.9966, 0.5159, 2.2162, 1.6161, 0.1371, 0.4103, 0.1577, 0.9957]\nstate[eef_state]: left_x=0.3073 left_y=-0.0017 left_z=0.221 left_yaw=0.1572 left_pitch=0.0121 left_roll=0.0528 left_gripper=0.9966 right_x=0.5746 right_y=0.249 right_z=0.1306 right_yaw=0.0769 right_pitch=0.1354 right_roll=-0.0189 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.6615, 7.1316, 1.6532, -0.1832, -0.0611, -0.0073, -0.4308, -12.7385, 6.6393, 1.9023, 0.0513, -0.0024, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst_WBqiAQjLnDIjffks8WihQ5RJR4WNMSX4sD300XumHTLu0ZbPVtAza2DbFT_nzs2426b9JNHkoJa-mAkgrYJiTy9toG4IbtW6O934Qz9E7xsZ4sjlH_O2NuVWmFdorqsyDwzCSolAntHGSFn3RZgw4vwqXD8DA81dd9gysYzT0T6WqwLFpa5dnEBq_YP_5sTFxucwfe2_UvNC6cpIUs2A-0rHmtNPndx-wJlsf4eGFvN5iIN76hb0WOIZ0d242PaHm2Ndaf2yrNPJurCJ3mGSYPG2AWJ7BZ5IJnYcF965gsqRhQ9sqrqYP4BL8B_k7irxSChAp-nQBt6uhIvc3tNOvPx5FGeoxag5XtiHIVFWvnJbkDwNlz3Swc09LSPZtUt5hHjPUmHo3luuApOPV6EoslG9RP45K1tigl5IjI9C2WBKbNTYvA5W7SjJ8zQan-e4DyPAYtEYX2j0D-5mw_T67_FLnHTVrCzX9qxbiagO99j_8mtS7d4khBC8iM-Cr378e5GIXd1L5iHHq6HwHBIP13kxCSe7U3AuwrUMbd-fgSyJf3jAqSGBirx0T44BmBVOWg968KyfjtnS_6GqHmASJXu2rqkXntU3lC4e517AwVVvuu9rhRxfNpW0cmenWC_roVek17J3w8ZaBcZ2wNEeeTJPbByu77YJfVNGXJgZzjN56WBlkkQ3SbqrBLaFCS0rIaL-hTJlO_iaHubklAcx6o0wfV4rCFcgyOlTCE-fYkThwRQQev_5oKhMq1ceYcrffN-OkxWz1P4gKcoFTM06o2Zfyi2S_3e0Yjwx75USmoQySMvp_6ppSQOSwuF-PJz2fuMrZeKHL-ktpvP4vYNg1GRqm3KwDTW87fsoJYrTrANTQz7PciZOk2fkoHYf8brhwMJtXjAK_PQQXAvC5H08hT7Z3x_oiEIBrbOJOXPPHUF3rOp80en9vOC4plhL45rTYP5ZhOFscY7g8BxbzKSGpwyCMj_uMzmoMASIuG-4eKlFGkhHVIv5mvAUxuH2lBF0PwLb7eMSaw1w8e-q1aMksvaq7HmZ6cWAoV2-ZvLuSFQB6epYqP5yz6igEAtQvYliyjj4Yaj3qdYLlIvDbHCRBeaummJpzsG2NaVVaTMA6g9251yXf1d49eoJCE0wt0XYralcz0QHFs5zwr0wMNBt8edUK6F_LBdMIJom6YvgMPerYU2PSGYsDQozDB_TO_XZtyRwDCjSen2O3Vn_RTKFbhIXI0hfcX17aCFaQrNyJ--l-8RHEAC9ckove_jsDKTnUf86psGROgxms0RtlhqOoYxC1HlEo6cmdlc3bQKEeaUGpx4JWHSlS7JNJWac3r8NpI0qUgnjzjrJ7zY76GPwDQN6KlDu_szx2l5f3AXNWNtGTpK3JM9xEIwAQxfjnfb9zLZ5bvCrFZxrY1n_KBGpTDYwT2ssk6holLcNq2_GgyvdbW0jFlP9iTbEXWZggIotrNt00d6uBd_rJvsizZTOFZb81JFJmiAvD92RZ3Jt3iyjtaFtkYeFasEqaID7ezsr0eRBnef-0Mp4fLFW1gTXi5PqhPVwY3zR-sv9IlTzaCchZVrODRU4krS05yP6xhdeyH1tpcRoiAa6UFmyVVgA3AwAlyNcKBQpZVqtmaV0t0x97F8u1T2UWzRH41PLiQ6jMFdpHJTr7iNJtKIoBFKw0E6mRzHyMiClFSV3L0h-czZ2EO7HhY8444tupbQRkjtvC_8_UF-Q54aO5HMeohjPl3smT81Fc8BwVmjTf_B_Yq29PE5Huw7JShhPXJ_rwyxW4veBT-NsQ5_RzAPMyx-LzGRGJXu76g4tvenkpj45TIPdhBuoLqg0h-ESzQMUe7cCW6Oy0_qcvGb6k5n7DR4KTa5NsppRGOt17hA2TWOy5e-4q_CcqdtQhgopM9OCxuvTwX8ICcmLNOrdwev1Nvt3jFcQJILJTIwYiIbHjNul8kNCGqzItelPQ6H_57bqOuTqZfMyIFNOm10WnDaquSM6lR2v3kCrrtLQjEB010SbYNpo=",
  "id": "rs_01cb6d3f208b9d85016ab2dfceba8087d08e37ff10e4402e29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.297,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":1},\"note\":\"The clear overhead view shows the blue marker fell short of the right basket, and the tan bear is also outside its basket. I am lifting the left arm away; the remaining placements cannot be completed reliably within the current reach limits.\"}",
  "call_id": "call_AaPto17P3y79ThLzVypowPI2",
  "id": "fc_01cb6d3f208b9d85016ab2dfd4ab1c87d0884c246ee2a11f79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AaPto17P3y79ThLzVypowPI2",
  "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]: [-0.2214, 0.8814, 0.7574, -0.4786, -0.3676, -0.197, 0.9986, -0.0582, 0.8528, 0.7456, -0.4438, -0.0677, -0.0933, 0.9965]\nstate[eef_state]: left_x=0.3038 left_y=0.0003 left_z=0.212 left_yaw=0.1827 left_pitch=0.0049 left_roll=0.0547 left_gripper=0.9986 right_x=0.3067 right_y=-0.0023 right_z=0.2155 right_yaw=0.0414 right_pitch=0.0075 right_roll=-0.0283 right_gripper=0.9965\nstate[joint_eff]: [0.1709, -2.3863, 8.8957, 1.6288, -0.1099, 0.1343, -0.1587, -0.0615, -2.1538, 7.6376, 1.9658, 0.0562, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad327dea6512180eb53842fbc2f5f6ace25883fa3e3cddae22e565d884e5c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6daa19f995b7e2fb7f31a2e7888741a6a875357ab3bb69b35d7e672660a6165",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618b513a2e1b4995e8398cab17156bb794996aaad901e68270dc5d5baaa9d53f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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