adhoc

completed
2026-09-22T19:56:47.968983+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
273.9 s
total steps
353
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 slender pens/markers. I’ll sort the plush toys into the left basket and the pens into the right basket, starting with the rightmost pen.
move_to
right_x0.2900right_y0.1350right_z0.1000right_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]: [-0.0193, 0.8005, 0.617, -0.3798, -0.0219, -0.0158, 0.9996, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0265, 0.9994] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5538, -1.7983, 9.5658, 1.7705, -0.0366, -0.0122, -0.0562, -0.7863, -1.6342, 9.9624, 1.6679, -0.1099, 0.0855, -0.0757] 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":{"right_x":0.29,"right_y":0.135,"right_z":0.10,"right_gripper":1},"note":"I see plush animals and slender pens/markers. I’ll sort the plush toys into the left basket and the pens into the right basket, starting with the rightmost pen."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe wrist view shows two pens, with the white-bodied pen just right of the jaw center. I’m shifting slightly right and forward while lowering to grasp its barrel.
move_to
right_x0.3300right_y0.1200right_z0.0020
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]: [-0.0231, 0.8043, 0.6159, -0.3805, -0.0223, -0.0189, 0.9996, 0.7464, 1.1782, 0.4496, -0.0059, 0.5873, 0.4198, 0.9994] state[eef_state]: left_x=0.2969 left_y=0.0007 left_z=0.1825 left_yaw=-0.0019 left_pitch=-0.0057 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2865 right_y=0.1365 right_z=0.0922 right_yaw=0.0299 right_pitch=-0.0338 right_roll=-0.0208 right_gripper=0.9994 state[joint_eff]: [0.1026, -1.5795, 7.1453, 1.7265, -0.0366, -0.0171, -0.0122, 0.335, -3.8632, 6.5162, 1.7265, 0.4078, 0.1099, -0.0708] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.12,"right_z":0.002},"note":"The wrist view shows two pens, with the white-bodied pen just right of the jaw center. I’m shifting slightly right and forward while lowering to grasp its barrel."})
tool
executing move_to over 6 steps (0.6s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe white pen is between the open jaws at table level. I’ll close gently around the barrel and check the gripper reading.
move_to
right_z-0.0100right_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]: [-0.0231, 0.8108, 0.6151, -0.3798, -0.0219, -0.0193, 0.9996, 0.5617, 1.6871, 0.3454, 0.7151, 0.4477, 0.2981, 0.9994] state[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1805 left_yaw=-0.002 left_pitch=-0.0122 left_roll=-0.0026 left_gripper=0.9996 right_x=0.3355 right_y=0.1251 right_z=0.0149 right_yaw=0.0208 right_pitch=0.0013 right_roll=0.0114 right_gripper=0.9994 state[joint_eff]: [-0.0479, -1.3197, 7.241, 1.7949, -0.0366, -0.0659, -0.0171, -0.4444, -4.465, 3.4803, 0.8816, 0.1001, -0.2466, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.01,"right_gripper":0},"note":"The white pen is between the open jaws at table level. I’ll close gently around the barrel and check the gripper reading."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper stopped at a nonempty width, apparently enclosing both adjacent pens. I’ll lift a few centimeters to verify that they are secure.
move_to
right_z0.0850
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]: [-0.0231, 0.8116, 0.6151, -0.3805, -0.0223, -0.0193, 0.9996, 0.5617, 1.8236, 0.3428, 0.9482, 0.4599, 0.2916, 0.3124] state[eef_state]: left_x=0.2973 left_y=0.0007 left_z=0.1801 left_yaw=-0.0017 left_pitch=-0.0137 left_roll=-0.0024 left_gripper=0.9996 right_x=0.3485 right_y=0.1309 right_z=0.0132 right_yaw=0.0121 right_pitch=0.0851 right_roll=0.0488 right_gripper=0.3124 state[joint_eff]: [-0.1846, -1.4154, 7.0769, 1.7167, -0.0317, -0.0562, -0.0122, -0.3077, -4.2462, 2.3863, 1.1453, -0.0024, 0.0269, 1.0281] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The gripper stopped at a nonempty width, apparently enclosing both adjacent pens. I’ll lift a few centimeters to verify that they are secure."})
tool
executing move_to over 5 steps (0.5s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteBoth pens rose together and remain captured. I’m lifting them above the right basket’s rim and moving toward its opening.
move_to
right_x0.4800right_y0.1800right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8154, 0.6151, -0.3805, -0.0223, -0.0193, 0.9996, 0.5617, 1.4452, 0.4164, 0.4889, 0.4408, 0.2909, 0.3154] state[eef_state]: left_x=0.2975 left_y=0.0007 left_z=0.1791 left_yaw=-0.0017 left_pitch=-0.0175 left_roll=-0.0023 left_gripper=0.9996 right_x=0.3446 right_y=0.1321 right_z=0.077 right_yaw=0.0286 right_pitch=0.0739 right_roll=0.0527 right_gripper=0.3154 state[joint_eff]: [-0.2256, -1.7026, 7.0222, 1.707, -0.0415, -0.0513, -0.0171, -0.0889, -5.6547, 7.5966, 1.7363, 0.2808, -0.0122, 0.9499] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.18,"right_z":0.22},"note":"Both pens rose together and remain captured. I’m lifting them above the right basket’s rim and moving toward its opening."})
tool
executing move_to over 11 steps (1.1s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe two pens are above the right basket’s opening. I’ll lower slightly and release them inside.
move_to
right_z0.1450right_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]: [-0.0231, 0.8192, 0.6151, -0.3805, -0.0223, -0.0189, 0.9996, 0.482, 1.7107, 1.2911, -0.1329, 0.3565, 0.239, 0.3184] state[eef_state]: left_x=0.2978 left_y=0.0007 left_z=0.178 left_yaw=-0.0019 left_pitch=-0.0213 left_roll=-0.0019 left_gripper=0.9996 right_x=0.475 right_y=0.183 right_z=0.2049 right_yaw=0.0465 right_pitch=0.0436 right_roll=0.0401 right_gripper=0.3184 state[joint_eff]: [-0.2256, -1.6068, 7.2684, 1.707, -0.0317, -0.0513, -0.0171, -0.5812, -9.3333, 9.4564, 1.7118, 0.1783, 0.0366, 0.6178] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.145,"right_gripper":1},"note":"The two pens are above the right basket’s opening. I’ll lower slightly and release them inside."})
tool
executing move_to over 7 steps (0.7s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe released pens are in the right basket. I’m parking the right arm and positioning the left gripper over the yellow pen beside the plush toys.
move_to
right_x0.2970right_y0.0000right_z0.2000left_x0.3200left_y-0.1800left_z0.1100
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]: [-0.0231, 0.8192, 0.614, -0.3805, -0.0216, -0.0193, 0.9996, 0.4824, 1.7699, 1.1229, 0.0738, 0.3534, 0.239, 0.9987] state[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1775 left_yaw=-0.0023 left_pitch=-0.0225 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4715 right_y=0.1819 right_z=0.1433 right_yaw=0.0497 right_pitch=0.0242 right_roll=0.0329 right_gripper=0.9987 state[joint_eff]: [-0.1026, -1.388, 7.1316, 1.6923, -0.0269, -0.0464, -0.0122, -0.294, -8.3487, 6.6667, 1.9902, 0.1197, -0.0317, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.297,"right_y":0,"right_z":0.2,"left_x":0.32,"left_y":-0.18,"left_z":0.11},"note":"The released pens are in the right basket. I’m parking the right arm and positioning the left gripper over the yellow pen beside the plush toys."})
tool
executing move_to over 17 steps (1.7s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe yellow pen is left of the jaw center in the wrist view. I’ll align over its barrel and descend to table level; another dark pen remains beside the toys for a later pass.
move_to
left_x0.3500left_y-0.1500left_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]: [-0.8227, 1.4014, 0.6575, -0.0731, -0.6357, -0.5365, 0.9995, -0.0982, 0.7971, 0.6529, -0.3855, -0.1143, -0.0517, 0.9986] state[eef_state]: left_x=0.312 left_y=-0.1767 left_z=0.0959 left_yaw=-0.0221 left_pitch=-0.0641 left_roll=0.0234 left_gripper=0.9995 right_x=0.2996 right_y=-0.0057 right_z=0.2011 right_yaw=0.0173 right_pitch=0.0322 right_roll=0.0293 right_gripper=0.9986 state[joint_eff]: [0.0342, -4.9026, 8.5128, 1.58, -0.5299, -0.1245, -0.022, -0.0068, -1.5111, 7.3231, 1.6825, -0.0708, -0.0659, -0.0171] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.15,"left_z":-0.008},"note":"The yellow pen is left of the jaw center in the wrist view. I’ll align over its barrel and descend to table level; another dark pen remains beside the toys for a later pass."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe yellow barrel is still slightly left of center. I’ll make a small lateral correction and close around it.
move_to
left_y-0.1280left_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]: [-0.6388, 1.8198, 0.5095, 0.6449, -0.5301, -0.4149, 0.9995, -0.0986, 0.8013, 0.6525, -0.4068, -0.1207, -0.0639, 0.9986] state[eef_state]: left_x=0.3615 left_y=-0.1527 left_z=0.0093 left_yaw=0.0135 left_pitch=0.0012 left_roll=-0.0297 left_gripper=0.9995 right_x=0.2972 right_y=-0.0044 right_z=0.1953 right_yaw=0.0288 right_pitch=0.007 right_roll=0.0253 right_gripper=0.9986 state[joint_eff]: [-0.3761, -6.0239, 3.1795, 1.1453, 0.0122, 0.2125, -0.0171, -0.1299, -1.4017, 7.0632, 1.9853, -0.0024, 0.0513, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.128,"left_gripper":0},"note":"The yellow barrel is still slightly left of center. I’ll make a small lateral correction and close around it."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe gripper reads about 1.5 cm wide, consistent with the yellow marker. I’ll lift it to verify the grasp.
move_to
left_z0.0800
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]: [-0.5629, 1.8156, 0.4568, 0.6964, -0.4812, -0.3729, 0.1548, -0.0986, 0.8024, 0.6525, -0.4084, -0.1215, -0.0643, 0.9986] state[eef_state]: left_x=0.361 left_y=-0.1269 left_z=0.002 left_yaw=0.0284 left_pitch=-0.0135 left_roll=-0.0206 left_gripper=0.1548 right_x=0.2971 right_y=-0.0043 right_z=0.1947 right_yaw=0.0296 right_pitch=0.0044 right_roll=0.0258 right_gripper=0.9986 state[joint_eff]: [0.2667, -9.0051, 3.3436, 1.6337, -0.1245, 0.0904, 1.0672, -0.1846, -1.1009, 7.0085, 1.7656, -0.1001, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The gripper reads about 1.5 cm wide, consistent with the yellow marker. I’ll lift it to verify the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe yellow marker lifted securely. I’ll carry it above the left side of the right basket, which is reachable by the left arm.
move_to
left_x0.4900left_y-0.3900left_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5613, 1.4998, 0.5499, 0.2718, -0.4713, -0.3748, 0.1577, -0.0986, 0.8051, 0.6521, -0.4103, -0.1215, -0.065, 0.9986] state[eef_state]: left_x=0.3577 left_y=-0.126 left_z=0.0684 left_yaw=0.0233 left_pitch=-0.03 left_roll=-0.0186 left_gripper=0.1577 right_x=0.297 right_y=-0.0043 right_z=0.1934 right_yaw=0.03 right_pitch=-0.0005 right_roll=0.0257 right_gripper=0.9986 state[joint_eff]: [-0.3214, -6.5436, 7.7197, 1.4481, -0.3053, -0.0073, 1.033, -0.0205, -1.347, 7.2, 1.7656, -0.0757, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.39,"left_z":0.23},"note":"The yellow marker lifted securely. I’ll carry it above the left side of the right basket, which is reachable by the left arm."})
tool
executing move_to over 24 steps (2.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe arm reached less height than commanded, but the yellow marker is already over the basket interior beside the silver pen. I’ll release it here without pushing farther.
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]: [-0.8539, 2.7079, 2.756, -1.1469, -0.6888, -0.622, 0.1642, -0.0986, 0.8078, 0.6521, -0.4103, -0.1215, -0.065, 0.9986] state[eef_state]: left_x=0.4784 left_y=-0.3726 left_z=0.1109 left_yaw=0.0573 left_pitch=-0.2113 left_roll=0.201 left_gripper=0.1642 right_x=0.2972 right_y=-0.0043 right_z=0.1927 right_yaw=0.03 right_pitch=-0.0032 right_roll=0.0261 right_gripper=0.9986 state[joint_eff]: [-0.1162, -17.3333, 8.2393, 0.8034, -0.3932, 0.0708, 1.0281, -0.0615, -1.4154, 7.0085, 1.707, -0.0757, -0.0659, -0.0073] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The arm reached less height than commanded, but the yellow marker is already over the basket interior beside the silver pen. I’ll release it here without pushing farther."})
tool
executing move_to over 9 steps (0.9s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe yellow marker is now inside the pen basket. I’ll park the left arm and approach the remaining dark pen next to the rightmost plush toy.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.3300right_y0.1850right_z0.0950
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]: [-0.8501, 2.7998, 2.957, -1.3087, -0.7029, -0.6369, 0.9954, -0.0986, 0.8097, 0.6521, -0.4103, -0.1215, -0.0647, 0.9986] state[eef_state]: left_x=0.4743 left_y=-0.3616 left_z=0.1111 left_yaw=0.0863 left_pitch=-0.231 left_roll=0.241 left_gripper=0.9954 right_x=0.2974 right_y=-0.0043 right_z=0.1921 right_yaw=0.0298 right_pitch=-0.0051 right_roll=0.0266 right_gripper=0.9986 state[joint_eff]: [-0.5675, -15.3641, 7.4325, 0.6862, -0.2857, 0.1538, -0.2418, -0.1573, -1.4701, 6.9949, 1.7607, -0.0904, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"right_x":0.33,"right_y":0.185,"right_z":0.095},"note":"The yellow marker is now inside the pen basket. I’ll park the left arm and approach the remaining dark pen next to the rightmost plush toy."})
tool
executing move_to over 33 steps (3.3s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe dark pen runs along the wrist-camera jaw column. I’ll advance slightly and lower onto the middle of its barrel.
move_to
right_x0.3550right_y0.1900right_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]: [-0.2264, 1.0546, 0.9417, -0.7216, -0.3744, -0.0731, 0.9967, 0.7532, 1.4483, 0.5964, 0.1017, 0.5606, 0.4248, 0.9986] state[eef_state]: left_x=0.3051 left_y=-0.0003 left_z=0.2 left_yaw=0.1275 left_pitch=-0.2185 left_roll=0.2285 left_gripper=0.9967 right_x=0.3208 right_y=0.177 right_z=0.0795 right_yaw=0.054 right_pitch=-0.0574 right_roll=-0.0132 right_gripper=0.9986 state[joint_eff]: [0.0068, -3.6581, 6.3932, 1.2918, -0.1245, 0.1294, 0.1148, 0.6222, -5.1624, 8.5538, 1.6825, 0.442, 0.1734, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.19,"right_z":-0.008},"note":"The dark pen runs along the wrist-camera jaw column. I’ll advance slightly and lower onto the middle of its barrel."})
tool
executing move_to over 6 steps (0.6s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe pen is between the jaws at table height. I’ll close to capture it.
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]: [-0.2268, 1.0592, 0.9401, -0.7364, -0.3626, -0.0681, 0.9968, 0.7116, 1.842, 0.5961, 0.5655, 0.5423, 0.4049, 0.9985] state[eef_state]: left_x=0.3028 left_y=-0.0019 left_z=0.1952 left_yaw=0.1164 left_pitch=-0.2419 left_roll=0.231 left_gripper=0.9968 right_x=0.3586 right_y=0.1936 right_z=0.0142 right_yaw=0.0386 right_pitch=-0.0109 right_roll=0.0239 right_gripper=0.9985 state[joint_eff]: [-0.0889, -3.2205, 6.9402, 1.6044, -0.2808, -0.105, -0.0122, -0.841, -4.8342, 3.6171, 0.359, -0.0415, -0.2222, -0.022] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen is between the jaws at table height. I’ll close to capture it."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe closed width matches a marker barrel. I’ll lift it clear of the table to confirm it is held.
move_to
right_z0.0800
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]: [-0.226, 1.0595, 0.9401, -0.7391, -0.3649, -0.0711, 0.9968, 0.7074, 1.8606, 0.601, 0.593, 0.5392, 0.4011, 0.147] state[eef_state]: left_x=0.3024 left_y=-0.0012 left_z=0.1948 left_yaw=0.1209 left_pitch=-0.2438 left_roll=0.2315 left_gripper=0.9968 right_x=0.3621 right_y=0.195 right_z=0.0132 right_yaw=0.0388 right_pitch=-0.0013 right_roll=0.0307 right_gripper=0.147 state[joint_eff]: [-0.2256, -2.7009, 6.8034, 1.4432, -0.2027, 0.0024, -0.0122, 0.0479, -9.0325, 4.4239, 1.2918, 0.1587, -0.0366, 0.9988] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The closed width matches a marker barrel. I’ll lift it clear of the table to confirm it is held."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe remaining marker rose with the jaws. I’ll carry it over the right basket with the other pens.
move_to
right_x0.4800right_y0.1800right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2256, 1.0595, 0.9401, -0.7399, -0.3649, -0.0715, 0.9968, 0.7074, 1.647, 0.6617, 0.3317, 0.5304, 0.3996, 0.1517] state[eef_state]: left_x=0.3022 left_y=-0.001 left_z=0.1947 left_yaw=0.1216 left_pitch=-0.2444 left_roll=0.2315 left_gripper=0.9968 right_x=0.3614 right_y=0.1962 right_z=0.0691 right_yaw=0.0465 right_pitch=0.0056 right_roll=0.0416 right_gripper=0.1517 state[joint_eff]: [0.0479, -2.7282, 6.7214, 1.4432, -0.2076, -0.0611, -0.0122, -0.212, -7.9521, 7.9521, 1.453, 0.2173, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.18,"right_z":0.22},"note":"The remaining marker rose with the jaws. I’ll carry it over the right basket with the other pens."})
tool
executing move_to over 10 steps (1.0s)
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 marker projects into the right basket. I’ll release it from above the opening.
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]: [-0.2256, 1.0603, 0.9401, -0.741, -0.3653, -0.0711, 0.9968, 0.4759, 1.7195, 1.3373, -0.2207, 0.3382, 0.2527, 0.1531] state[eef_state]: left_x=0.3021 left_y=-0.0009 left_z=0.1943 left_yaw=0.1219 left_pitch=-0.2462 left_roll=0.2327 left_gripper=0.9968 right_x=0.4731 right_y=0.182 right_z=0.2033 right_yaw=0.0486 right_pitch=-0.0066 right_roll=0.0399 right_gripper=0.1531 state[joint_eff]: [-0.335, -2.7966, 6.7077, 1.4042, -0.2173, -0.0366, -0.0073, -0.5128, -8.8821, 9.2103, 1.4823, 0.2515, -0.0464, 1.0379] 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":{"right_gripper":1},"note":"The marker projects into the right basket. I’ll release it from above the opening."})
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 noteTwo pens are inside, but the last marker fell short after the basket shifted backward; I’ll recover it shortly. First I’ll grasp the gray plush toy for the left basket.
move_to
right_x0.3000right_y0.0000right_z0.2000left_x0.2800left_y-0.0550left_z0.0750left_yaw0.0000left_pitch0.0000left_roll0.0000
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]: [-0.2256, 1.0603, 0.9401, -0.7403, -0.3653, -0.0711, 0.9968, 0.4717, 1.7271, 1.335, -0.234, 0.3283, 0.2462, 0.9957] state[eef_state]: left_x=0.3022 left_y=-0.001 left_z=0.1945 left_yaw=0.1218 left_pitch=-0.2455 left_roll=0.2325 left_gripper=0.9968 right_x=0.4722 right_y=0.181 right_z=0.1957 right_yaw=0.0559 right_pitch=-0.0301 right_roll=0.0301 right_gripper=0.9957 state[joint_eff]: [-0.1846, -2.865, 6.9128, 1.3748, -0.1832, -0.0171, -0.0122, 0.1162, -9.5521, 7.159, 1.7998, 0.188, -0.022, -0.1587] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"left_x":0.28,"left_y":-0.055,"left_z":0.075,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"Two pens are inside, but the last marker fell short after the basket shifted backward; I’ll recover it shortly. First I’ll grasp the gray plush toy for the left basket."})
tool
executing move_to over 16 steps (1.6s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe gray toy’s torso is ahead and left of the fingertips. I’ll center the jaws over its soft body and lower for a secure grasp.
move_to
left_x0.3400left_y-0.0150left_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]: [-0.4259, 0.9066, 0.2352, 0.0059, -0.3618, -0.231, 0.9968, -0.0658, 0.8707, 0.7219, -0.4221, -0.0727, -0.0322, 0.9965] state[eef_state]: left_x=0.2747 left_y=-0.052 left_z=0.0693 left_yaw=-0.0066 left_pitch=-0.0531 left_roll=0.034 left_gripper=0.9968 right_x=0.3089 right_y=-0.0039 right_z=0.204 right_yaw=0.0041 right_pitch=-0.0112 right_roll=0.0281 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.2376, 6.3111, 1.7509, -0.1392, -0.1294, -0.0122, -0.2803, -1.935, 6.8308, 1.7656, -0.2222, -0.1148, 0.0757] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.015,"left_z":0.025},"note":"The gray toy’s torso is ahead and left of the fingertips. I’ll center the jaws over its soft body and lower for a secure grasp."})
tool
executing move_to over 6 steps (0.6s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe plush shifted slightly, leaving its lower body beside the jaw center. I’ll adjust left and close around that soft section.
move_to
left_y0.0150left_z0.0250left_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]: [-0.1272, 1.4456, 0.2436, 0.4667, -0.1574, -0.0776, 0.9969, -0.0711, 0.8757, 0.7113, -0.4435, -0.0864, -0.0456, 0.9966] state[eef_state]: left_x=0.3142 left_y=-0.0087 left_z=0.0031 left_yaw=0.0416 left_pitch=-0.1623 left_roll=0.0483 left_gripper=0.9969 right_x=0.3051 right_y=-0.0029 right_z=0.1935 right_yaw=0.0176 right_pitch=-0.0473 right_roll=0.0275 right_gripper=0.9966 state[joint_eff]: [0.1162, -5.094, 6.5709, 1.8828, 0.0122, 0.1294, -0.0073, 0.335, -1.5658, 8.1436, 1.956, 0.0659, 0.0513, -0.0024] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.015,"left_z":0.025,"left_gripper":0},"note":"The plush shifted slightly, leaving its lower body beside the jaw center. I’ll adjust left and close around that soft section."})
tool
executing move_to over 10 steps (1.0s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe gripper closed empty behind the toy. I’ll reopen and reach farther forward over its torso before retrying.
move_to
left_x0.3900left_y0.0120left_z0.0450left_pitch0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0032, 1.3258, 0.2581, 0.321, -0.0803, -0.0067, 0.0102, -0.0711, 0.8772, 0.7113, -0.445, -0.0872, -0.046, 0.9966] state[eef_state]: left_x=0.3075 left_y=0.0168 left_z=0.0153 left_yaw=0.0615 left_pitch=-0.182 left_roll=0.0507 left_gripper=0.0102 right_x=0.305 right_y=-0.0027 right_z=0.1927 right_yaw=0.0184 right_pitch=-0.0502 right_roll=0.0279 right_gripper=0.9966 state[joint_eff]: [0.1983, -4.5333, 7.5829, 1.4725, 0.0611, 0.1538, 0.8376, -0.0479, -1.7026, 6.9812, 1.6874, -0.0269, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":0.012,"left_z":0.045,"left_pitch":0.15,"left_gripper":1},"note":"The gripper closed empty behind the toy. I’ll reopen and reach farther forward over its torso before retrying."})
tool
executing move_to over 12 steps (1.2s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteThe low approach pushed the gray toy forward. I’ll raise the jaws and move over its thicker torso rather than its flat legs.
move_to
left_x0.4050left_y0.0280left_z0.0700
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]: [-0.0277, 1.7077, 0.3176, 0.8799, -0.1127, -0.0105, 0.9956, -0.0715, 0.8795, 0.7113, -0.4454, -0.0875, -0.0463, 0.9966] state[eef_state]: left_x=0.3741 left_y=0.0131 left_z=0.0235 left_yaw=0.0656 left_pitch=0.0554 left_roll=0.048 left_gripper=0.9956 right_x=0.3052 right_y=-0.0028 right_z=0.192 right_yaw=0.0186 right_pitch=-0.0529 right_roll=0.0281 right_gripper=0.9966 state[joint_eff]: [-0.5675, -5.8325, 5.5453, 2.0293, -0.0952, 0.1538, -0.1392, -0.1436, -1.7846, 6.9812, 1.707, -0.0659, -0.0562, -0.0073] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":0.028,"left_z":0.07},"note":"The low approach pushed the gray toy forward. I’ll raise the jaws and move over its thicker torso rather than its flat legs."})
tool
executing move_to over 3 steps (0.3s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
assistant
agent noteThe jaws now straddle the gray plush’s torso. I’ll close around the fabric.
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]: [0.0296, 1.6135, 0.4522, 0.6743, -0.0856, -0.0021, 0.9967, -0.0715, 0.8799, 0.7113, -0.4454, -0.0875, -0.0463, 0.9966] state[eef_state]: left_x=0.4008 left_y=0.0306 left_z=0.06 left_yaw=0.0955 left_pitch=0.0773 left_roll=0.0406 left_gripper=0.9967 right_x=0.3052 right_y=-0.0028 right_z=0.1919 right_yaw=0.0186 right_pitch=-0.0533 right_roll=0.0281 right_gripper=0.9966 state[joint_eff]: [-0.4308, -7.3231, 5.9556, 1.6972, 0.1832, 0.1685, 0.105, -0.1846, -1.8256, 6.9675, 1.663, -0.0611, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the gray plush’s torso. I’ll close around the fabric."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteThat close was also empty; the overhead view shows the toy still farther forward than the grasp point. I’ll reposition over its body using the overhead location rather than the wrist view.
move_to
left_x0.4800left_y0.0250left_z0.0650left_gripper1.0000left_pitch0.3000
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]: [0.0303, 1.6142, 0.4522, 0.6521, -0.0818, -0.0071, 0.0102, -0.0715, 0.8803, 0.7113, -0.4454, -0.0875, -0.049, 0.9966] state[eef_state]: left_x=0.3982 left_y=0.0301 left_z=0.0548 left_yaw=0.0956 left_pitch=0.0545 left_roll=0.0359 left_gripper=0.0102 right_x=0.3052 right_y=-0.0028 right_z=0.1918 right_yaw=0.02 right_pitch=-0.0536 right_roll=0.026 right_gripper=0.9966 state[joint_eff]: [-0.2393, -5.9966, 4.9983, 2.0293, -0.0513, 0.0366, 0.8523, -0.1162, -1.8256, 6.9538, 1.6972, -0.1001, -0.0317, -0.0073] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":0.025,"left_z":0.065,"left_gripper":1,"left_pitch":0.3},"note":"That close was also empty; the overhead view shows the toy still farther forward than the grasp point. I’ll reposition over its body using the overhead location rather than the wrist view."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteThe gripper now overlaps the gray toy’s body in the overhead view. I’ll close at this corrected position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.009, 1.977, 0.6228, 0.997, -0.1158, -0.0124, 0.9952, -0.0715, 0.8818, 0.7113, -0.4458, -0.0872, -0.049, 0.9966] state[eef_state]: left_x=0.4656 left_y=0.0282 left_z=0.0425 left_yaw=0.1078 left_pitch=0.2079 left_roll=0.0327 left_gripper=0.9952 right_x=0.3053 right_y=-0.0029 right_z=0.1913 right_yaw=0.0197 right_pitch=-0.0555 right_roll=0.0259 right_gripper=0.9966 state[joint_eff]: [-0.5812, -8.2393, 6.0513, 2.293, -0.0757, 0.1197, -0.0806, -0.1709, -1.894, 6.9675, 1.6874, -0.0659, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gripper now overlaps the gray toy’s body in the overhead view. I’ll close at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteThe gray toy has shifted against the outer edge and remains ungrasped, so I’ll stop pursuing it there. I’m returning to the dropped marker to finish the pen sorting safely.
move_to
left_x0.3000left_y0.0000left_z0.2200left_gripper1.0000right_x0.4200right_y0.1900right_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]: [0.009, 1.9907, 0.6243, 0.9916, -0.1196, -0.0147, 0.0106, -0.0715, 0.8829, 0.7113, -0.4454, -0.0875, -0.0494, 0.9966] state[eef_state]: left_x=0.4645 left_y=0.0288 left_z=0.0357 left_yaw=0.112 left_pitch=0.1906 left_roll=0.0337 left_gripper=0.0106 right_x=0.3054 right_y=-0.0028 right_z=0.191 right_yaw=0.0202 right_pitch=-0.0563 right_roll=0.0259 right_gripper=0.9966 state[joint_eff]: [-0.1709, -9.6479, 4.1368, 1.9121, -0.0171, -0.0171, 0.8181, -0.1162, -1.894, 7.1453, 1.6874, -0.0708, -0.0757, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.22,"left_gripper":1,"right_x":0.42,"right_y":0.19,"right_z":0.03},"note":"The gray toy has shifted against the outer edge and remains ungrasped, so I’ll stop pursuing it there. I’m returning to the dropped marker to finish the pen sorting safely."})
tool
executing move_to over 17 steps (1.7s)
step 291
assistant
agent noteThe dropped marker lies between the jaws near its lower end. I’ll close around the barrel.
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]: [-0.181, 0.749, 0.5381, -0.1459, -0.2745, -0.0837, 0.9975, 0.5694, 1.8805, 0.8021, 0.3347, 0.4015, 0.3225, 0.9966] state[eef_state]: left_x=0.3083 left_y=-0.0041 left_z=0.2155 left_yaw=0.0937 left_pitch=0.2199 left_roll=0.0198 left_gripper=0.9975 right_x=0.4063 right_y=0.1823 right_z=0.0185 right_yaw=0.0493 right_pitch=-0.1145 right_roll=-0.0027 right_gripper=0.9966 state[joint_eff]: [-0.2393, -0.8821, 9.6205, 1.8437, -0.2759, -0.0171, -0.0024, 0.2803, -8.6496, 7.0222, 1.2039, 0.2564, -0.0904, -0.0073] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The dropped marker lies between the jaws near its lower end. I’ll close around the barrel."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteThe marker is captured at a nonempty width. I’ll lift it and then place it farther forward into the shifted basket.
move_to
right_z0.1000
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]: [-0.1837, 0.7544, 0.5411, -0.1635, -0.2848, -0.0898, 0.9981, 0.5739, 1.8999, 0.8097, 0.35, 0.3996, 0.3183, 0.1375] state[eef_state]: left_x=0.3074 left_y=-0.003 left_z=0.2116 left_yaw=0.102 left_pitch=0.202 left_roll=0.0232 left_gripper=0.9981 right_x=0.408 right_y=0.1862 right_z=0.0154 right_yaw=0.0578 right_pitch=-0.1122 right_roll=-0.0031 right_gripper=0.1375 state[joint_eff]: [0.0068, -1.3197, 6.9128, 1.9707, -0.0366, -0.0073, 0.0464, -0.4444, -10.2769, 4.465, 1.4188, 0.105, 0.022, 1.1111] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10},"note":"The marker is captured at a nonempty width. I’ll lift it and then place it farther forward into the shifted basket."})
tool
executing move_to over 6 steps (0.6s)
step 307
assistant
agent noteThe marker lifted successfully. Since the basket moved away from the arms, I’ll reach farther forward with a slight tool tilt to put the marker fully over its opening.
move_to
right_x0.5650right_y0.2050right_z0.2200right_pitch0.3500
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]: [-0.1837, 0.7582, 0.5411, -0.1642, -0.2852, -0.0902, 0.9982, 0.5739, 1.7157, 0.9169, 0.0513, 0.3885, 0.3145, 0.1381] state[eef_state]: left_x=0.3077 left_y=-0.003 left_z=0.2104 left_yaw=0.1023 left_pitch=0.1976 left_roll=0.0243 left_gripper=0.9982 right_x=0.4067 right_y=0.1875 right_z=0.0809 right_yaw=0.0684 right_pitch=-0.1222 right_roll=-0.0031 right_gripper=0.1381 state[joint_eff]: [-0.0615, -1.4291, 7.1316, 1.8926, -0.0708, -0.0269, -0.0073, -0.1573, -9.9624, 8.4308, 1.4921, 0.2027, 0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.565,"right_y":0.205,"right_z":0.22,"right_pitch":0.35},"note":"The marker lifted successfully. Since the basket moved away from the arms, I’ll reach farther forward with a slight tool tilt to put the marker fully over its opening."})
tool
executing move_to over 16 steps (1.6s)
step 323
assistant
agent noteThe marker is now centered over the basket alongside the yellow and silver pens. I’ll release it here.
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]: [-0.1837, 0.7593, 0.5411, -0.1711, -0.2852, -0.0902, 0.9982, 0.458, 1.9907, 1.3891, 0.2882, 0.3717, 0.0738, 0.1381] state[eef_state]: left_x=0.3072 left_y=-0.0029 left_z=0.2086 left_yaw=0.1019 left_pitch=0.19 left_roll=0.0266 left_gripper=0.9982 right_x=0.5533 right_y=0.2052 right_z=0.1917 right_yaw=0.0837 right_pitch=0.2667 right_roll=-0.0245 right_gripper=0.1381 state[joint_eff]: [-0.0615, -1.1966, 7.159, 1.873, -0.1148, -0.0659, -0.022, -0.6359, -11.0564, 9.4701, 2.1172, 0.0904, -0.0171, 1.0281] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The marker is now centered over the basket alongside the yellow and silver pens. I’ll release it here."})
tool
executing move_to over 9 steps (0.9s)
step 332
assistant
agent noteAll three pens are visible inside the right basket. I’m moving both arms clear; the plush toys are still on the table and have not been sorted.
move_to
right_x0.3000right_y0.0000right_z0.2200left_x0.3000left_y0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1837, 0.7593, 0.5411, -0.1711, -0.2852, -0.0902, 0.9982, 0.4568, 1.9976, 1.3922, 0.2821, 0.3656, 0.0673, 0.9951] state[eef_state]: left_x=0.3072 left_y=-0.0029 left_z=0.2086 left_yaw=0.1019 left_pitch=0.19 left_roll=0.0266 left_gripper=0.9982 right_x=0.554 right_y=0.2059 right_z=0.1878 right_yaw=0.0924 right_pitch=0.2567 right_roll=-0.0328 right_gripper=0.9951 state[joint_eff]: [-0.0889, -1.1145, 7.1453, 1.8291, -0.1001, -0.0562, -0.022, 0.0205, -11.9726, 6.7897, 1.917, 0.0659, -0.0024, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.22,"left_x":0.3,"left_y":0,"left_z":0.22},"note":"All three pens are visible inside the right basket. I’m moving both arms clear; the plush toys are still on the table and have not been sorted."})
tool
executing move_to over 20 steps (2.0s)
step 352
assistant
agent notePartially completed: identified plush animals and pens/markers, and placed all three pens into the right basket. The plush toys remain on the table; repeated empty grasps shifted the gray toy toward the outer edge, and the remaining action budget is insufficient to finish safely. Both arms are parked clear.
give_up
hindsightThe right basket shifted farther forward during pen handling; releasing at right_x=0.48 dropped a marker short, while right_x=0.565, right_y=0.205, right_z=0.22 with pitch=0.35 successfully placed it inside. Low approaches to the gray plush pushed it forward rather than grasping it; use a raised approach over the torso and verify its overhead position before descending. Nonempty gripper widths around 0.14–0.16 held these markers securely.
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]: [-0.1799, 0.7311, 0.5488, -0.2348, -0.2848, -0.0898, 0.9982, -0.0925, 0.7013, 0.5053, -0.0696, -0.1051, -0.0856, 0.996] state[eef_state]: left_x=0.2993 left_y=-0.0003 left_z=0.206 left_yaw=0.1038 left_pitch=0.1632 left_roll=0.0347 left_gripper=0.9982 right_x=0.3084 right_y=-0.0064 right_z=0.2292 right_yaw=0.0388 right_pitch=0.2936 right_roll=-0.0388 right_gripper=0.996 state[joint_eff]: [0.4171, -1.2103, 9.9077, 1.8291, 0.0073, 0.0122, -0.022, -0.1983, -0.3897, 6.9812, 2.0293, -0.2271, -0.0562, 0.0806] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: identified plush animals and pens/markers, and placed all three pens into the right basket. The plush toys remain on the table; repeated empty grasps shifted the gray toy toward the outer edge, and the remaining action budget is insufficient to finish safely. Both arms are parked clear.","hindsight":"The right basket shifted farther forward during pen handling; releasing at right_x=0.48 dropped a marker short, while right_x=0.565, right_y=0.205, right_z=0.22 with pitch=0.35 successfully placed it inside. Low approaches to the gray plush pushed it forward rather than grasping it; use a raised approach over the torso and verify its overhead position before descending. Nonempty gripper widths around 0.14–0.16 held these markers securely."})
tool
give_up: Partially completed: identified plush animals and pens/markers, and placed all three pens into the right basket. The plush toys remain on the table; repeated empty grasps shifted the gray toy toward the outer edge, and the remaining action budget is insufficient to finish safely. Both arms are parked clear.
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 · 10.53 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]: [-0.0193, 0.8005, 0.617, -0.3798, -0.0219, -0.0158, 0.9996, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.7983, 9.5658, 1.7705, -0.0366, -0.0122, -0.0562, -0.7863, -1.6342, 9.9624, 1.6679, -0.1099, 0.0855, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf37b264e5e98575f551c97d0a5e3dda1968adbe6f18b1217a7fe26d3f46bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a07686674d1748175a9870d2a7dab41085aec2dbbcc9bfa93e2554dc569a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52275c8ba4a36d6dbe588e21daef7d4b7b6663d027760adf9bb95d0cf9708b2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.789 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqst2YO_xrAecdyc60tW6RhRW4X3a3FtqC2E78FtdaVlsCtxH9XXkkaYN30bzb9Duovj0qbWZWz2X3ECigWN0E83rv7Ob9-VXaQCha-pihtq4jgAY59OZfb3TV6QFQZJ4mt7SxDJRIP2YdFPqx7a6oAEfhgkdSeBMA6mWAtgKpnVNFEpysKpYRjGy8rgblf5jVGgiciXvmUnjQuMKHo8odz0tUK4mflsKS7e24kg2CNwVcPZwuwYW2fgcb2PCBhNHKfZLp_wzn7scGp5oywXLx_7O4nQktKNBVZHpoU3l_cSGgHdhbOnAOErhv9dqab4ujDGF4x5HAN8I5FxCXC45BFOoC4BragXhPvhe1X5XN3Eg1Y_YQfJnjCADhGuV9QYYOv_AVYOSVU8PitMgfF0DGA580RS3GShBbpcsFhr2J1UCqLlLOTcwgrFy1AnsnVWUjIwJB702jRBo9oUROxMKOzVl5JChMssCBu0bSMda610vkXxJeK31p8G8TRTOAuTYZzUSPL_g3dnHxjer96XgXi9U28UtXF9rZvABqXjvKLQXh_FIUE15ESq-Ips4qpwLkPmYLQvL28FOoD4jp18pAb4oFXOvqAGpw4QfcoRMXsSpd_pvaAIECvuKDsh0lCOSeZ3x0P1t8dYvlWTaj3f0_1hCtqVDj19DSuaYoxtb3jkT9u7WBznFm_2F6HJZwf-rge-i7vlW3vhJdRAlNNvgoEYrdtRxP1sAdCzaIZuvoKSwxhaAzQCEv0dtwQX56g0ukAe95HoJXaCAqAicFX-2E1Qws8pM-zcGwjmwZtXu1j8lEMuUn7l8waZ7SdvD7GUX984UHcJdfqU5ww_g12x9oHS7tclvFHOszb8DyxNMeBwru1w_d2RIwCM_0z7m1sR34i31PYJkXtYDU1HsjBIua7P0OIdL-i7NexIJMbTgcyCdyCf5-Lder-ljCfPWh6hNKnKQy5UVIdT1XOPkVIevD7ceD1wGQk6ccb5mS3k3LkLf0_5pY4Q2EdCretN3-HRaso8B6sfZ3s_ZCKvcI8E9qUmiqjPbx_6xqy_eJmdtXhTYLtTBDVc7pUovb4zQf_CAXjpYQ-peJ2PWQCn9dTiMyESZDZVQ75Xko6WzI1n4l_DtG4P8OHZsuXeA1BXcikeNI4Pwi31MwWeIiPJCdVI9dx8sJdRIoilR6mvlM78AFR-XfUo6YQrtKWLa8wnCavuF4aW7za4-NghwUwfU_babIumoPK8TfnLR2u4gf-_JAi-TzwyJCqbFM-cwhcgS-_BE7EAZBSO6S17Ab0qoVt23z3do6YB8BOf0yc2M4cs-tzWYrNBNXR8sWFhoLK4bqZ5o8A2M4mmqLG57ldBy2oCispDZIlmdllyl_WAzwXp3a8xBkbYtQ-NlGYwCHDeSP4G16ctnclg4VsUBBUL-cfqvIR29azcWlK8of6zATZq-OjLk3AKHJkP3FhESZDKzM2zN-phmG9dZEIDZQLyu7q1LusV1Ihk6-AnUujR29RLv0s-GgEs4bIXkV497K75NWwNPsAdGHVKxjQdtpJ32YoYDamJX3dtEryek0MpHiFbIWUKa9XFFKJfSF2CuVzMSZowM_tZA-DBtLluFIcm5suSUfP8TpzVytGhUc3cPwB1BfMj4yuti8NLh-CDrqUtWb3b1RYt25BxE2emkFINDdT0aodqNPfIfLtfBcVHqHQAxTkd18UD1_fkrMtddFZMzSWHJ5GmA2JC374bw71guPXs3RkIdY3v0HixI1ud4R7Z9UpDg57EgCP4OpvZRw6zNzVUsnVHvUaGmIhMNy77_nFAS0l25grBcM0GrtUax7sQHYcTFxzBnw_x9mMtKAkpMve-cjHWxoW5n_KYK8-wsymuLl7kUN2P9Ix6WhDaal8xbidDoah0jD5h1KpyUQZEnBRiIsJqwv-g2QqC9Rw2EvhQVG-HC4GcQifBC-GgKogvMslbAeHbi58rMx8qMTWqhmJB0X1V6nN70Wr7jOqCDwIMGmyFq5Tw==",
  "id": "rs_0302c5591910dd52016ab2dd90289087d0aed77fcbf78629e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.135,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"I see plush animals and slender pens/markers. I’ll sort the plush toys into the left basket and the pens into the right basket, starting with the rightmost pen.\"}",
  "call_id": "call_NwkOcye1H8qwLWdA8yEuh3na",
  "id": "fc_0302c5591910dd52016ab2dd9649c487d0b02f1a957b42519f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NwkOcye1H8qwLWdA8yEuh3na",
  "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]: [-0.0231, 0.8043, 0.6159, -0.3805, -0.0223, -0.0189, 0.9996, 0.7464, 1.1782, 0.4496, -0.0059, 0.5873, 0.4198, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0007 left_z=0.1825 left_yaw=-0.0019 left_pitch=-0.0057 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2865 right_y=0.1365 right_z=0.0922 right_yaw=0.0299 right_pitch=-0.0338 right_roll=-0.0208 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.5795, 7.1453, 1.7265, -0.0366, -0.0171, -0.0122, 0.335, -3.8632, 6.5162, 1.7265, 0.4078, 0.1099, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54afbcf65b029906689df496abac4cc701377c63e78806ff8e5cab18016c92b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da21d3168b4d412c7219bf8beccbc4e53bedd6b8fa68f4008b7374724fbc38a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d161a35973b99f65631bd69211bc24806d7361382e11803e25ed8be073c1e8f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 3.843 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]: [-0.0193, 0.8005, 0.617, -0.3798, -0.0219, -0.0158, 0.9996, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.7983, 9.5658, 1.7705, -0.0366, -0.0122, -0.0562, -0.7863, -1.6342, 9.9624, 1.6679, -0.1099, 0.0855, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst2jLN8Pt2ZDcL-QpySAl8VU84uzR8xlpRH1IIaJ1Zzt20eKESxMeiz4KHk3TK--pgvfvloLka4iPxUBYaRW05NZ10jm1ULc_bswq_CoWipGIpP4OAGgEn9CeAPIXG62XAn-feY4iz2Zq0xxAFV00YlGH2mOdePBpx2AI5JI0x7KR7whz0zUXPySq7voeLatOD7a-mlbBm5GXghWgXQwR7YEkFC1PmNlhQbXSjIqfii6HnVV_5B4YrQoGW_GhejJAnBsw9eOyCb7eQNBxs2XE_oYmWxGuomj8-p1NdmH9UxtG14U9Ld9jUB0Z3BUcpFiYk_Rh-9yOGscCNPjYlX8VIlaCIVZkopFh0dRjlF2SRgyXYKPt1R0u3ZK53eEm6jXEZK8QOOmKG6NmnOv0yLkIe9c2GK53qmgdAdPdKF-6zuyOUWPjMV3pVSYBlizldrhqxpc5KhysPoMQnHif30q8INlPwFDwkIu_ifs8L7I4V57zugg-ML1VzaHhY43Orh70RU-WjNUpdidlvzyiJs80yacFpOuLcMWpL7V1hXyehPvNqyMz_eQPXceyyW4BpBl7GVJu5z1XcoNplyoOmiWnJC_dLbUQOomggjuXVJZNrXnyqn29YFtIaZZnyCZp6LyDf7MljPcVK9rWiEJLVwv7b6vdx6ya67_uLz_pO2hcSnR9sYzUD4h-ycx1PMg8R3T4mxqoscLFbcm9_JtmIflwBLWfiLjeVooiXamCTZx-vmW-ooCNhzJyf3Wd1finfoVviDWoSgkJ6DyzivKRlmE60vp_DHLqU6m-15EYGNMBkAcx-HRfuo_g2SLEHx0K3Otkq510nZqZMULoDq_5xaPhjfX_acMMZYCzB5rR52LeY7_EXN_DPpVFfGg0IkfWdo-WVjEpP0LcNRx42XXvubHgbVeVBGOfD8lcyopg5kSVE6zA97FtY83PmpgS9y0DHHEHUiXuAfEod58SrAtxoWCYPioNBq3ZNsBd8G9cBSX1RxgQR8wWMN_P2wkG5eZIK2YrspIavnWAlVl1-aOqxXVifMdzvK9d-kokzqI-6uVx4XTTi8sjAazQjMfne1peBJTGAgMWJZV1o2Y-H1NRkw5BNLEfHlEYjaCLsupiwl-CO11MtzmpKbICDLQpIVU5GKQheqidyo8EZoNPpAIa1qeM_qIeCFL-AluyA_Ego7d37uNNgv2b7ENqNHtS2i6QEm4iiWQLqjQcLWqcDVMyiragEvacE5cP_x6p0gCT9ZxlkCTi8NBe-ao5l1bKHCVhMFH9eizl-byMselFyNxkYrn1ImWgdR2JhI274PkVfld9JIaGAUE6ftA-GhkddOo01xDBYzt--S8rOZm15s9UjmFnVml7b_s4vlqC2ljvyS9IJueu1Zl0sclmt0KdT_9IlF-5JNUzpYhy2reQz5dDsOCP4eTNne2DAV97xlpqn3gf6CDPF2NtADVbz_BtcAyLORsumVY4Wscnh1oY5oX711oSy-Q2XMGhwzXtoYV8ZSPgkq9-NOF20w8gvcqhlXXEM_A9SJf0v5WgRAsIddu0q5nbBxVxCDqyyyLZxPkPUS-hGR-m5s=",
  "id": "rs_0302c5591910dd52016ab2dd9dc36087d08e1b94c012116e53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.12,\"right_z\":0.002},\"note\":\"The wrist view shows two pens, with the white-bodied pen just right of the jaw center. I’m shifting slightly right and forward while lowering to grasp its barrel.\"}",
  "call_id": "call_RajXN97bGxuDAdUm2GR0tQJy",
  "id": "fc_0302c5591910dd52016ab2dda18cb887d0b748b0314dc8c83c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RajXN97bGxuDAdUm2GR0tQJy",
  "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]: [-0.0231, 0.8108, 0.6151, -0.3798, -0.0219, -0.0193, 0.9996, 0.5617, 1.6871, 0.3454, 0.7151, 0.4477, 0.2981, 0.9994]\nstate[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1805 left_yaw=-0.002 left_pitch=-0.0122 left_roll=-0.0026 left_gripper=0.9996 right_x=0.3355 right_y=0.1251 right_z=0.0149 right_yaw=0.0208 right_pitch=0.0013 right_roll=0.0114 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3197, 7.241, 1.7949, -0.0366, -0.0659, -0.0171, -0.4444, -4.465, 3.4803, 0.8816, 0.1001, -0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9395411446b760a4b684039f920a3c8e514f11e4d2a103ee44da150f7fb079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62ff973143c79b26fe27c1ca66769f743dbba138a0e79b1f5578443a056b01b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5f6970dc57491faaa79abaeb22532aff37fd247106e059df51fae864022197",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.557 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]: [-0.0231, 0.8043, 0.6159, -0.3805, -0.0223, -0.0189, 0.9996, 0.7464, 1.1782, 0.4496, -0.0059, 0.5873, 0.4198, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0007 left_z=0.1825 left_yaw=-0.0019 left_pitch=-0.0057 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2865 right_y=0.1365 right_z=0.0922 right_yaw=0.0299 right_pitch=-0.0338 right_roll=-0.0208 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.5795, 7.1453, 1.7265, -0.0366, -0.0171, -0.0122, 0.335, -3.8632, 6.5162, 1.7265, 0.4078, 0.1099, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.01,\"right_gripper\":0},\"note\":\"The white pen is between the open jaws at table level. I’ll close gently around the barrel and check the gripper reading.\"}",
  "call_id": "call_upn9wVJSuM2ohi2J7HENeyFQ",
  "id": "fc_0302c5591910dd52016ab2dda7a52087d0b2848cc5d8a11c06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_upn9wVJSuM2ohi2J7HENeyFQ",
  "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]: [-0.0231, 0.8116, 0.6151, -0.3805, -0.0223, -0.0193, 0.9996, 0.5617, 1.8236, 0.3428, 0.9482, 0.4599, 0.2916, 0.3124]\nstate[eef_state]: left_x=0.2973 left_y=0.0007 left_z=0.1801 left_yaw=-0.0017 left_pitch=-0.0137 left_roll=-0.0024 left_gripper=0.9996 right_x=0.3485 right_y=0.1309 right_z=0.0132 right_yaw=0.0121 right_pitch=0.0851 right_roll=0.0488 right_gripper=0.3124\nstate[joint_eff]: [-0.1846, -1.4154, 7.0769, 1.7167, -0.0317, -0.0562, -0.0122, -0.3077, -4.2462, 2.3863, 1.1453, -0.0024, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6797b6debfd1061617f74e25f49165f18e4e8c100262cb581ef56e026405e0d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be4b6416ac177368cb00906849802249cbad622f18013d7206fb592a28298664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09195cacd0ea9d0774620b5cf6dc1e498bb9ebaafbb7807a45f7acf102fa01a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 7.135 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]: [-0.0231, 0.8108, 0.6151, -0.3798, -0.0219, -0.0193, 0.9996, 0.5617, 1.6871, 0.3454, 0.7151, 0.4477, 0.2981, 0.9994]\nstate[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1805 left_yaw=-0.002 left_pitch=-0.0122 left_roll=-0.0026 left_gripper=0.9996 right_x=0.3355 right_y=0.1251 right_z=0.0149 right_yaw=0.0208 right_pitch=0.0013 right_roll=0.0114 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3197, 7.241, 1.7949, -0.0366, -0.0659, -0.0171, -0.4444, -4.465, 3.4803, 0.8816, 0.1001, -0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper stopped at a nonempty width, apparently enclosing both adjacent pens. I’ll lift a few centimeters to verify that they are secure.\"}",
  "call_id": "call_krmOyJNBsDfixMN9w7ujdNg7",
  "id": "fc_0302c5591910dd52016ab2ddadc0a087d08ef90a074500f298",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_krmOyJNBsDfixMN9w7ujdNg7",
  "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]: [-0.0231, 0.8154, 0.6151, -0.3805, -0.0223, -0.0193, 0.9996, 0.5617, 1.4452, 0.4164, 0.4889, 0.4408, 0.2909, 0.3154]\nstate[eef_state]: left_x=0.2975 left_y=0.0007 left_z=0.1791 left_yaw=-0.0017 left_pitch=-0.0175 left_roll=-0.0023 left_gripper=0.9996 right_x=0.3446 right_y=0.1321 right_z=0.077 right_yaw=0.0286 right_pitch=0.0739 right_roll=0.0527 right_gripper=0.3154\nstate[joint_eff]: [-0.2256, -1.7026, 7.0222, 1.707, -0.0415, -0.0513, -0.0171, -0.0889, -5.6547, 7.5966, 1.7363, 0.2808, -0.0122, 0.9499]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf8fe1f14d15501dbd31c3c3d8471699cfbab2163761b4095d1f8e4973067e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ed40fecba34503e46868895128a6c9685e82d4d2c2f928c083ef789ed74692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c86092e6c62a8549e55dcab29eccbb4415b3d00d390161ebd768d5c401156bd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.414 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8116, 0.6151, -0.3805, -0.0223, -0.0193, 0.9996, 0.5617, 1.8236, 0.3428, 0.9482, 0.4599, 0.2916, 0.3124]\nstate[eef_state]: left_x=0.2973 left_y=0.0007 left_z=0.1801 left_yaw=-0.0017 left_pitch=-0.0137 left_roll=-0.0024 left_gripper=0.9996 right_x=0.3485 right_y=0.1309 right_z=0.0132 right_yaw=0.0121 right_pitch=0.0851 right_roll=0.0488 right_gripper=0.3124\nstate[joint_eff]: [-0.1846, -1.4154, 7.0769, 1.7167, -0.0317, -0.0562, -0.0122, -0.3077, -4.2462, 2.3863, 1.1453, -0.0024, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst23twGs0_0UsXTzgNIotfMq050WFJegDfwb05vfRdqcg59UCtH0F_4yjL3aBpZAZfqUOMfBnkapz8gkEAHiS2un86Gbgv-jmgBKXUqWVvmspj7vqehPMhvKxgFvhPhhy38kWj-F4-j-yeGwtyCq7zSCLBKl3c0z1HdsC_RBtQHm4JxObXEpKKulcUmxnyUasWh7IHyBR1up2KdU4itNdB9eh70iJy8UQ496pQTj9s5GdcWQHa4qPNiIuCYS6Y4Gpb_gbgWlX5SOURgQ1iHI31cbJBC-2a8arLWxulkYfVapPfdgZeaEcmETt4qNMuAd5PR_R-NXVrBcin6UZBs55E7rJsHN2N1cAh4hLHoqZk1d1B-G8htuov0DXmgnv4ztEBKcohIAlx5V7qbJbWmObH8gzy_gHJ9m_A1I5fXHo3S4onR5IhECt1bvOLG6c1ejD4-YNxqibF-6f20T0HUT7q_ITvnVSfh48e597btv1uklvzs9oP9Z16h_AkGgqvccPMFYpudYDq5oxjKNhDX1OlKxJYdpsdNWEm6kYNRkbM-1_zu8CXPaIPb-21jp3jRv0EXpy_o_4RMx5VruaAZgr8gFlpRSAWYbBkTwOnYgEdbPktVMxPjix-PETDcFtTKV_eTJQki6rpgy5dG550K2jKIbtqfiB0unDR8omubiaD-e3Iab054oiSPmWRGBokh_I4LyEanKeLCsCYQSDV5VyJoixbjJABTc0-CKlDFONV4_Bp1uZh1khPHzKFnP8UaQ9xMghQeYon2EYgD3IXP94Kjgf-iOCElsShofPmisLn6H78cSdUg2jndZY1QbvhWSFXA-9x5cqUz0RBjyV8a3UoCqvZQbujHufYtv7HnH7TJQFMdLPgDNepueU_Tf7XIQh1iw4_QXLb20oOMo3jAap3NzSukeduYnT2EMailXhl0iTi_aMbBFIo-LMyQDQ-aSRgEKG-3PJkB8KmeInVeG2CF-WKC4GVLkMaYZlk3mTCflMnvQSbWf-XAVe2tIxkGRfS3eok6-dyd9IS8XGHZPa8JNY-XrxIXf8LqH7UX3cuVlKJwT8XwE9QtPfVcGvKfB1ETMWHIXWkdPknri-ij0ms8mgQC4f0XI5t0dbrPl8SPoYbs0v39iHyZLU0YIx5Ks6MTXCwBg9UgrQdfQ7GvKE9gcbgTo75ByB4OejkJZuJlSAHvVCBPuKxHJWxbkOoz0fXpxJbnDNiQ5phfgmoCrud56UCyeFqofPnPLw6xSyjM1rH-gu0vn33tiXIJ87Gljs-lZq82ESkTqpoLzjjCVdlCsZX1IeYQDp6PGaeMuayGbVVSu874xYWAhb8QFIP6hTJdyHUqskLPcJNvbpKagrtxfkKz9wLeInUheTlfnU280RTQ=",
  "id": "rs_0302c5591910dd52016ab2ddb4129087d09758b576f0881bc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.18,\"right_z\":0.22},\"note\":\"Both pens rose together and remain captured. I’m lifting them above the right basket’s rim and moving toward its opening.\"}",
  "call_id": "call_Nb1DE26RuLC7XedwQP545XFv",
  "id": "fc_0302c5591910dd52016ab2ddb5cb0087d0bfb96eafdc88500b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nb1DE26RuLC7XedwQP545XFv",
  "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]: [-0.0231, 0.8192, 0.6151, -0.3805, -0.0223, -0.0189, 0.9996, 0.482, 1.7107, 1.2911, -0.1329, 0.3565, 0.239, 0.3184]\nstate[eef_state]: left_x=0.2978 left_y=0.0007 left_z=0.178 left_yaw=-0.0019 left_pitch=-0.0213 left_roll=-0.0019 left_gripper=0.9996 right_x=0.475 right_y=0.183 right_z=0.2049 right_yaw=0.0465 right_pitch=0.0436 right_roll=0.0401 right_gripper=0.3184\nstate[joint_eff]: [-0.2256, -1.6068, 7.2684, 1.707, -0.0317, -0.0513, -0.0171, -0.5812, -9.3333, 9.4564, 1.7118, 0.1783, 0.0366, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef5edd42ebee29498d2493a44684ab102163da835ebfdd8a761b0a064a7a03a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e39d838e1f485aea446ee98780981d0250ccc3364d564131e922e0b68902b13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81753e5125d425f68f93751ad6c610cbd13c23c94ae81aa2be243c09c3a4449",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.977 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8154, 0.6151, -0.3805, -0.0223, -0.0193, 0.9996, 0.5617, 1.4452, 0.4164, 0.4889, 0.4408, 0.2909, 0.3154]\nstate[eef_state]: left_x=0.2975 left_y=0.0007 left_z=0.1791 left_yaw=-0.0017 left_pitch=-0.0175 left_roll=-0.0023 left_gripper=0.9996 right_x=0.3446 right_y=0.1321 right_z=0.077 right_yaw=0.0286 right_pitch=0.0739 right_roll=0.0527 right_gripper=0.3154\nstate[joint_eff]: [-0.2256, -1.7026, 7.0222, 1.707, -0.0415, -0.0513, -0.0171, -0.0889, -5.6547, 7.5966, 1.7363, 0.2808, -0.0122, 0.9499]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst3BgVa8MVr4YyyTSkJ2jjcI09ARm5W_cvqiD4LjV9WeYzyotKEYj86Iduw1tVA3rndRqBhRsM7O6_yXF4iUwzljZwzxSQJSo1EnAwRTCIiATJjZsrrF2TaB2EUSodp-wsLdfppqU0yQDRvH4cVEJTLJB_aB2DPNViHwOPOSC9kaWws7zGUj7e00DYa8daiUucmK2T7OOwdA9pBAR22MjfyVxeMNNh9UyLsNY2aQ3Sg_Nodbq8iLq9FoJAbD-ibfC_dUOkP1JhiB8Bfz2T9FryvcvJOFalxMz07cxr76i4ueE95GCqwOcuJ7-0NiPd4l0ELpLLlNmrYks-GCt3oYzq44ceRm94W3F0Nltd3j9JdqY1cJkpDDSuAF8EWt7yI2vf4oznjxJvjT9hgE32joSvFIcg4nLt6BusQ6QMBpU5_MFlGjklEJj7q9atU-g3sAPpPbWoJIQhFmW78OxFnvxF034J_SKARFG-3dJlX6q7bv4CchkBimVoskTGppOWCUT1rsGjxYhD4HyrDJ_BpD8_PxHV-Br9Qix8z8h2sIWyve4KY6XzCsstso6zmFOOYKHX5C1WLZuQ6x4BCvnx2wjk6mhCHJZ6s2iuSJhTSYVsKR4OgsYBQJYzwcg4ko2COhMuVV47VXxcQZCw9FqiezOiACcVXJ4deWE5Bqp45cg1fonBNmsFRyzJO4rfIBB8pRkXBnsTQgZuPi503eAEdcEkzFdgmvKn9RfS-72SLfhM98J2KUn7M3ONbXXC5LHU2xPBLxigAnMUwy1vr7RJITlIRxTi-VAPCAXYvtmHFBAtIdXlUZo1RkN_j4yHpMnrqTyHSSXnZqvW_Bf7-WbuIdvGLssZluBPq895gy0I0_WV3Vo0zlrZWk4qsEVAxbhAzfC_eRx3QzDKBCAOhpGLnuCkTVESB9QxGnpV4RKTPhd5TFvfVdUtc1M0plfyPxdUIaCQ0KMO48s-5nbTQN-WmGG5Ng30n3h1qhLPwg1tfEISiJw8yOkABOUd7IF6C-UIS-3mbtnoTVykdT_EibsjZPzKjVdjz86qdkIo066p2RJDu54Sx06wvzy8VUJcomOi1zPbcMjbbqNXjCGtAm-7luOuIVyHk1qmB1vxU0tZhmEv9uyqi-AWy1TGuXL5RHGl9rBU88rNXxRQgNB6-b83-8b36UV91bO0cwBpdmyaphhCw7cAM8QtqLhVLp_IaXzvZIsm2JSqwv9qFsvKrZ2QRAyglTxkfvjOXBxLYBmg7pX4EYYLHW1-vi8RwRLoBqaumHzQ5igMr5kKaZHCIcuo6cYDDYHyD9YKI17PzLcsswqH1cYF77Ci-m-XSWkPYv6EDO-NgwiNGBoVgNR5z10bwvtgTJt5-To7RueI1jHUsahrbbOkJ_Si65IALNGp9JQYrobSqI",
  "id": "rs_0302c5591910dd52016ab2ddbdd8e087d098789e6662c7c52e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.145,\"right_gripper\":1},\"note\":\"The two pens are above the right basket’s opening. I’ll lower slightly and release them inside.\"}",
  "call_id": "call_vmIi3eYQE7DCQcqds6JOWtWE",
  "id": "fc_0302c5591910dd52016ab2ddbfe7c087d0a26748745ad4625f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vmIi3eYQE7DCQcqds6JOWtWE",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8192, 0.614, -0.3805, -0.0216, -0.0193, 0.9996, 0.4824, 1.7699, 1.1229, 0.0738, 0.3534, 0.239, 0.9987]\nstate[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1775 left_yaw=-0.0023 left_pitch=-0.0225 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4715 right_y=0.1819 right_z=0.1433 right_yaw=0.0497 right_pitch=0.0242 right_roll=0.0329 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -1.388, 7.1316, 1.6923, -0.0269, -0.0464, -0.0122, -0.294, -8.3487, 6.6667, 1.9902, 0.1197, -0.0317, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7510038e8037b31f06d27725b26f740c7c696d74256b977e7a959867e7a959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b1875add2b4f6951b21add4dba5be55cbae1c490b30f3228f09f2ba5ae3685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da7258b1f0fc6f60100e1e5676018bf01d711f198eff2059030e7324c927b71",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.658 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8192, 0.6151, -0.3805, -0.0223, -0.0189, 0.9996, 0.482, 1.7107, 1.2911, -0.1329, 0.3565, 0.239, 0.3184]\nstate[eef_state]: left_x=0.2978 left_y=0.0007 left_z=0.178 left_yaw=-0.0019 left_pitch=-0.0213 left_roll=-0.0019 left_gripper=0.9996 right_x=0.475 right_y=0.183 right_z=0.2049 right_yaw=0.0465 right_pitch=0.0436 right_roll=0.0401 right_gripper=0.3184\nstate[joint_eff]: [-0.2256, -1.6068, 7.2684, 1.707, -0.0317, -0.0513, -0.0171, -0.5812, -9.3333, 9.4564, 1.7118, 0.1783, 0.0366, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst3J3nsgRNVP_OVwBVTF-IiCIwpNEjw7TzxBL9uojvRLzjDWS23XImJynZVEimv0it8wTd5WEycuwnV3Hsllhy1OqhlNuWFcQW07oHDlWsHF-EiEtPO5O_LQYvLNhRnoL4lQfPHHWZaeO7F7CuTbfSiH0XaGGBrV3F4dfxWdi5Cc7F1B9IzCP94JVTTKqyCBfCGMsgaXouOZbMa6MG0wKANVs3D7O35m41ERMF83XpsRusckXXYeSCmiDJCOfrpobTV86wTTkYx6qIR2aXxXofCrzvkcjuaeMojREOMDYdxfao56xH0p5zrSXKbRbNuijkCjOCT_X1bEpqMjLUe27_mIDplrZnMpYYRkAGhegNOEOz_4cg5w3CneZg-DdFZdlJp0FZPM9w5c5sDvgT7kbQ2XdHe8bWUwORfLA0x8T-26er4hOmTJxXW2uKdhjps9Z8Qyco2JNLQhZ4g7-PZnl4zY2xYNZfAmlJ4MSREV9PuIqowfsFLKqyzmwnixrVpAOxnCWfqk23kqPs6bTrOKPNx6Rr0KiSm2raj1mzO26Igpv4vgvW0TALM15ot5GuQ7VwWkqzxiMmxvrTJeUzDJ6aaK7PDuuITwRXDIpP4NZK1yjCF-93fXsQ-jhOZIbxc52xak1FzFdktQ0A28euz8BO0CS9j3g2XrXafUmrz6kdnRlJmK0Xam2Qw__4MPINQLN-SwFf2mz093zSE1A_nBmPJECWrmUWxcROWMB7e1nMkFWF-ha_vdnToCxnqogivKA2myKZDLV-iRKaLGArWG4NZ6M9GcU-edyW9Be9KhoW0FLSjFgOTJtc9Ltfk7chhKHz0B8ZBmgQyXsH7DOgRv3AD3ifgn7iaUWAnVsenr7Y8FXdikTSWLsIlcS1yRoGjCryOKl4jYA-1tDtdLYRrlp7uEOjhVQO0OmMMOJr4TXvZJAT3pUZjVymG2KpOJFqK_m85FC-7LjAgx477yqWq7eyZe9bVliHTO-yTktaY4l94AQ0oNSrW3RLtEa3QDTEemoCWR3w8__PjyZrP7l-Qt8sz4kLu8BmhvHc24NMmHapoBsb5G1Je6hacnZv_3L85CjIwOrGKaQEvV1z3f0Ja1fMW4O2GL9cTa9O2pgFGr_rC_0YjAco4qEEEKMMZ6QLjjlwZ_FZzvawLIzuV861xG3Mzj5nI4_eetNpkuDuj1g_ybIL-nq74QmhZJXlUUYNbr64coavit3ZwJoYiST7dY7wrMiYS4fPrvk3ppVbfJXDpMgj0pv4F_W0C6gsgiqkhlVCbekiAdBgo1Wna_t-uPg2DmUYQQjtfv1QnPKB8_eT8qIKbp3qHeGjgXhJyaQPgWOCVGpbQzx1rmWSIRK8oPLuQ_SJcFSnzW7lduWfyGcq2I-Tyoha2_cRaxEPUM1lAhpkNXfZokqEoZmLF43GtpD0jLyHOAieJ14DMh5Qszn6EVEps6M7ridZMp8eAFaKGF5Se9Lg12-mYuEarS6WqP3gnlG8EB3tRHW_cGUKma50NtmK4L5dVYn2cMzWCeq9dBVGILu5eHGEqqxIZzumMWObbyRP3YH_FrPIgudTUetP2otFlx8NZKMVs59ZzYcgZMhlEX",
  "id": "rs_0302c5591910dd52016ab2ddc4360487d0865757bfe6f2061c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.11},\"note\":\"The released pens are in the right basket. I’m parking the right arm and positioning the left gripper over the yellow pen beside the plush toys.\"}",
  "call_id": "call_WLjcxCIxblQXmV7SAwP7rnnh",
  "id": "fc_0302c5591910dd52016ab2ddc77da087d0a098525948b5fb9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WLjcxCIxblQXmV7SAwP7rnnh",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8227, 1.4014, 0.6575, -0.0731, -0.6357, -0.5365, 0.9995, -0.0982, 0.7971, 0.6529, -0.3855, -0.1143, -0.0517, 0.9986]\nstate[eef_state]: left_x=0.312 left_y=-0.1767 left_z=0.0959 left_yaw=-0.0221 left_pitch=-0.0641 left_roll=0.0234 left_gripper=0.9995 right_x=0.2996 right_y=-0.0057 right_z=0.2011 right_yaw=0.0173 right_pitch=0.0322 right_roll=0.0293 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -4.9026, 8.5128, 1.58, -0.5299, -0.1245, -0.022, -0.0068, -1.5111, 7.3231, 1.6825, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28023b331c6f6af2913ab304bf3b520b5ff02d1c52d0a303b7c03a5638b2685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0004b2bc823f9ae5477ec47b8ce0531a50dc393801f60705791da18cfba6b8f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006ecd590d86650511fce768c3d7371e55cb00575ee02e38e0ab64b13e1c8d07",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.59 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]: [-0.0231, 0.8192, 0.614, -0.3805, -0.0216, -0.0193, 0.9996, 0.4824, 1.7699, 1.1229, 0.0738, 0.3534, 0.239, 0.9987]\nstate[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1775 left_yaw=-0.0023 left_pitch=-0.0225 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4715 right_y=0.1819 right_z=0.1433 right_yaw=0.0497 right_pitch=0.0242 right_roll=0.0329 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -1.388, 7.1316, 1.6923, -0.0269, -0.0464, -0.0122, -0.294, -8.3487, 6.6667, 1.9902, 0.1197, -0.0317, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst3U0x0S5HqgHBrGGaDBgWQT7X7uudagQTtn-oEbo_jb6gQDfRQKDF_gBrh6qFjiVH6CvAE4cSo29YZ1FRwg-4_evUyAuy5yhV9fpySudFk_7IvZg23GgqoH9kcwW8Jn2HAi7VF94RuLrKQMTZNqMYAJCcgoD6tIpiJD7OPUectazLlLRzl-yBGxcT_M6liKy3Dbpdk1LYwjb7rHtHRgLWDtEljiK-1_MYMgDvQlThRd8MFI8-rg_uIhemSuruwclARTXZnJNB8QW3i0K9yM7N1JMAzkgHK85agMHyT2hpaTTbik9l_lXgv6h6DOHYhF4wj8YwpNWMEwMhEl3VGPDZLnjUSqcWt9_CufNvoAsMfPbHO7XbwgAp5iSKiAGRy4VL6G_dKy1vdQbs7enHWKYSEO3IhgodTLn1c5OwpF_O3VDOPvLUwzyWpwPqSURUKy7wWIIPakG6dPv_gxJzzk05Yp5oMyzRix0wRKsOQvOJo9okN0xjr1IptQyfBoyRHO9qTldqHfOA_Owkpce4l2i4RIoupN-jA336BPPsKFZgt9NKREHwWNdOzGuoboGK_cKYiGZRuZ6UmtYgTX00oYWHjzAuI3opGtoNW4Cq1yN5GXyb57nNURtnmCNu3euqghv9ea4PXCB_D_8ti9Rkc4p2Fd208V0dNeuMjoBKmsR4fXlYkDvG1FcqqLbufjU91r845GAMCdUhlPfPTk1AWIOiqIlTvrWfNRfsUfsHuptzrp18DEYHD0FOuVo8P8AYsMkEQBaLvxOIpKrEV3YgPKBMW0e_YYre06jRqcorP5Yg191eVAqGzyycPikNk4jKbHtSkie27Ilo66_dFv6SYp9ZqRswJWebqpPuJof28Yxscm1oMSZDRhIYtWNwZxUA9JiPag0Y1gtPnahfsPR4-xaO_xb98-uF-lgDcGMbu5xsPulBQ8IW7rd6UGFXbsua6def8s265G4jH4w1P_FKbfNo90I1NjPH9F94VLmsHUKmXyrb3ZlWY7LtnHF0ZejeGOZcuTOQRuPI1MW2_cXMhx2ASOYCq-x4x-lSYRkqeIgAwlfZDeE0bqfpHs1aKDyFYws7_bsw3BqDbToWWN2ARk-XlO932DjksfpAAgSc8RHEwlNUi706OlAKaqrpT54Q-p4RIZow6Jze4_Bheg7J2gNFR9JBEGSaYFtnGLFdURrYtkqVwwXTjdBHZzDd_TKwu26Q9RI84-3KyACj4M0DXNBbr00vA_gTjBZ8hO0rHJB2ddzu6aL4dX7eRYZCJydQxarrhOvLps1J7i-AZ80XaN2cKFXZrCFnN_sp-h4eXmgtDAyZ4jvLaaGE8j0TzOygkb2_zfuJQ-31rIzqtcONfpuc3XMKMQLUgpHC8r5csE8SwLyP0yH0Nu47SISGAnECCMMlYqJi03uMroiAmudt1dF2nFC65sCuO4-X3mtRPAh_Nik_TYBT40IeQ1AYG9Rx-LhS9znFqLZ20nowOQGfRhioTO1w==",
  "id": "rs_0302c5591910dd52016ab2ddcfb02487d0ba9a4bbe66eab6ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":-0.008},\"note\":\"The yellow pen is left of the jaw center in the wrist view. I’ll align over its barrel and descend to table level; another dark pen remains beside the toys for a later pass.\"}",
  "call_id": "call_6slVfltsuqZrjMha0BGqHxc3",
  "id": "fc_0302c5591910dd52016ab2ddd1f4ac87d0823e97b99034dee7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6slVfltsuqZrjMha0BGqHxc3",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6388, 1.8198, 0.5095, 0.6449, -0.5301, -0.4149, 0.9995, -0.0986, 0.8013, 0.6525, -0.4068, -0.1207, -0.0639, 0.9986]\nstate[eef_state]: left_x=0.3615 left_y=-0.1527 left_z=0.0093 left_yaw=0.0135 left_pitch=0.0012 left_roll=-0.0297 left_gripper=0.9995 right_x=0.2972 right_y=-0.0044 right_z=0.1953 right_yaw=0.0288 right_pitch=0.007 right_roll=0.0253 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -6.0239, 3.1795, 1.1453, 0.0122, 0.2125, -0.0171, -0.1299, -1.4017, 7.0632, 1.9853, -0.0024, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c6e77b0e791c4a8e9595bcdfac16168a44398d38a63eab1f9a7621c97c5889",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b22823c5babf0181ca79bf9e9b4349623b1d801f15a16dbefe501974403b6f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cf789be855f4f3f659c2412697fa91fed28db895bf185ac950b66ec9afe1e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.38 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]: [-0.8227, 1.4014, 0.6575, -0.0731, -0.6357, -0.5365, 0.9995, -0.0982, 0.7971, 0.6529, -0.3855, -0.1143, -0.0517, 0.9986]\nstate[eef_state]: left_x=0.312 left_y=-0.1767 left_z=0.0959 left_yaw=-0.0221 left_pitch=-0.0641 left_roll=0.0234 left_gripper=0.9995 right_x=0.2996 right_y=-0.0057 right_z=0.2011 right_yaw=0.0173 right_pitch=0.0322 right_roll=0.0293 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -4.9026, 8.5128, 1.58, -0.5299, -0.1245, -0.022, -0.0068, -1.5111, 7.3231, 1.6825, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst3cZm5VYFG7yvNDDSny676-9ox67G9H0CsltAIy3j5TpQUXDYvifE2XHcahlSERiSK-gGj2fmmhnQlMn7naWJlZkuh2D1OrA-mTixDoc-Essw8GeepLG9P9l4ZXNFBwSV8VJxXK1bcat2bk7rZEkUPYVB1PcObN9ykjObhf0o6uuEC3NK1Ebw7fPNYeS23upk8JVsKAf7bgUigcbwRNUPzuDyMWGL-mDJ3uFkl3utHr_Y0lpP7K5NDSCvP24zN_HHXAm3ZIHD1OlMs8og-KkIwxhrYye4kr_7tDwX80lRlj2mLNcfyCoLZ5JCj_2fU56brWlqJeVGjkfV_GQKNR7oCBD7grqarW9gxdtgJIqGNVBpmlYBJJ9YL9IwmngV9HwaKwL07bZA1hHgUCdGx50tjf9txTc0zw3U-tFms7adbM_oZbuznMCpTpxTuXo8Y65enjApcqWbcVjHN-oTbfvsGqjO8sERxVJhH40eL1oM_q7guNHmyH53uSbwCy4Dw_AqPMy2q7pe0Ah1LA6Xw0D90s6Yf-NRZHzugp0_nECdnV9zFdu92ICQ9qppCeSfRrweKFDV3nYh3YfMvU-j-T5hsTMSpqo8T05ZcAWVkjkmY7naYwhTDbCMSZrk0soeWCuZPdxFou5yZ2Le88eI3Ltvv6Gu7yl18ITe6qeTWJgv1-iNUzJhGQWeutKncozmXl7ETFBuN1kTa8s1aj6WC0kJn391Svo4E42jOUXPtZqTJpKb2BB90KtQMWgAFcui4oIti0UpZ-lFrFA1y-HdFEXj4pefHzG1JdhlV3aB1IVh9FgSKmZ6v96aQoFYPcvSFhbIgOjhuGu4PDe8QmSwAWaLxr-2pKWjAlD4k4d9EdfLvPjlTbAITjoysFVkbwfNu5EtbecLeSv6sdeKL46Y_HbemM_cbo9o-6TehP3k93rAYLqHfx__9wOo6qCAsLVb5fesDXVwc-r3UYszjHRAqtvCFCwZuNgjgAGYqxja3OOyMLk-ttlDex36dkNCa95PeyON6TMt224Reowz_oDnPYO22P4ykOdCZ46BVk4GPk0FEk41Qxe_mIBR2JQSNagYtu8pNuMiFRUdWk9Q4KBaJD1UCF_-SvLDZHjyS1Z_KjYqBMp-UXo1YD-qmjQx4Z_ob9RirhhzZgjWgXkNaIZB61Jp8zN1hag0yPVll3eofZKahQl6tIYQV3PzbY9SzEIgb4gg51-OxP-YiYsJZS16u2pCYHG3fwTxzL_gqZu_6IZbYQEBE=",
  "id": "rs_0302c5591910dd52016ab2dddab9d887d0b0d62fe204868c61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.128,\"left_gripper\":0},\"note\":\"The yellow barrel is still slightly left of center. I’ll make a small lateral correction and close around it.\"}",
  "call_id": "call_FCKSJ0KxtvWq9ARqqKLSs3q9",
  "id": "fc_0302c5591910dd52016ab2dddb751887d0998690500872bbe7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FCKSJ0KxtvWq9ARqqKLSs3q9",
  "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]: [-0.5629, 1.8156, 0.4568, 0.6964, -0.4812, -0.3729, 0.1548, -0.0986, 0.8024, 0.6525, -0.4084, -0.1215, -0.0643, 0.9986]\nstate[eef_state]: left_x=0.361 left_y=-0.1269 left_z=0.002 left_yaw=0.0284 left_pitch=-0.0135 left_roll=-0.0206 left_gripper=0.1548 right_x=0.2971 right_y=-0.0043 right_z=0.1947 right_yaw=0.0296 right_pitch=0.0044 right_roll=0.0258 right_gripper=0.9986\nstate[joint_eff]: [0.2667, -9.0051, 3.3436, 1.6337, -0.1245, 0.0904, 1.0672, -0.1846, -1.1009, 7.0085, 1.7656, -0.1001, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff35c4ec349167bbda00df78cb48a72f128a9e3e221b305d2654cb090cd99f54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151402db8aa0b2eb0e63f04f4baa2f8f9e7ffe8810c89dd4d3a69db3badb7b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d8d8df135f512ee078c913faec155a4922e21836326599e586773283634fda",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.854 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]: [-0.6388, 1.8198, 0.5095, 0.6449, -0.5301, -0.4149, 0.9995, -0.0986, 0.8013, 0.6525, -0.4068, -0.1207, -0.0639, 0.9986]\nstate[eef_state]: left_x=0.3615 left_y=-0.1527 left_z=0.0093 left_yaw=0.0135 left_pitch=0.0012 left_roll=-0.0297 left_gripper=0.9995 right_x=0.2972 right_y=-0.0044 right_z=0.1953 right_yaw=0.0288 right_pitch=0.007 right_roll=0.0253 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -6.0239, 3.1795, 1.1453, 0.0122, 0.2125, -0.0171, -0.1299, -1.4017, 7.0632, 1.9853, -0.0024, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The gripper reads about 1.5 cm wide, consistent with the yellow marker. I’ll lift it to verify the grasp.\"}",
  "call_id": "call_3NydiSeBGgd6egCluyuh4tH4",
  "id": "fc_0302c5591910dd52016ab2dde0322887d089a0841e44827e23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3NydiSeBGgd6egCluyuh4tH4",
  "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]: [-0.5613, 1.4998, 0.5499, 0.2718, -0.4713, -0.3748, 0.1577, -0.0986, 0.8051, 0.6521, -0.4103, -0.1215, -0.065, 0.9986]\nstate[eef_state]: left_x=0.3577 left_y=-0.126 left_z=0.0684 left_yaw=0.0233 left_pitch=-0.03 left_roll=-0.0186 left_gripper=0.1577 right_x=0.297 right_y=-0.0043 right_z=0.1934 right_yaw=0.03 right_pitch=-0.0005 right_roll=0.0257 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -6.5436, 7.7197, 1.4481, -0.3053, -0.0073, 1.033, -0.0205, -1.347, 7.2, 1.7656, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2c15bf5cf2887c5c9acfcff6cd1558888992a92aedd8da1c269b7c29d22e73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b57bae63eec8992a3bbf3e246a4d804a42ebfc0b33be265d00a9120595c5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052f024f058a6072de1183cff1ec4c96c31d08cd00dada90fbad3b257104104c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.997 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 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]: [-0.5629, 1.8156, 0.4568, 0.6964, -0.4812, -0.3729, 0.1548, -0.0986, 0.8024, 0.6525, -0.4084, -0.1215, -0.0643, 0.9986]\nstate[eef_state]: left_x=0.361 left_y=-0.1269 left_z=0.002 left_yaw=0.0284 left_pitch=-0.0135 left_roll=-0.0206 left_gripper=0.1548 right_x=0.2971 right_y=-0.0043 right_z=0.1947 right_yaw=0.0296 right_pitch=0.0044 right_roll=0.0258 right_gripper=0.9986\nstate[joint_eff]: [0.2667, -9.0051, 3.3436, 1.6337, -0.1245, 0.0904, 1.0672, -0.1846, -1.1009, 7.0085, 1.7656, -0.1001, 0.0024, -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": "gAAAAABqst3nlTXITC3kvhbHXoFkndJyov0MQ41PE2GsE3MZ5FibAXYlYTCIaoFeFsbOPLOXgKd6ZAg2Lfkd_V1wUkNoaGt15eiImgjahqMKMuhfBGuYbGTVf0gF___0k-nXbzmp_eJEh9kBHxmw9-75zUeMDaExSFC44D9DK0U0i5W-jXLcaLoThhKwiOALgUXuc9EP29Jfb4VJrxrSul90n3002jJOINYBj9-qxsgK_d6moNF8RBo4UTgluShH5Df6wOaZhPX4v2fGoBjyxBI8l-GXkp8u9qbJIGK7ZI7X4Y_MFvnRQUVSAqEWxUOlcpvhz9XBLn8zCbKLsannbk3VnV2l4WlwJCucJQw5EwvCsbjgkJ9O3A5FPz-krToXeRlbonYpnJEGaBxlplUnJHijYLV2M0I_EupHoINayTFVWIVgwl5JSlUe6NYBIsOLvpQn_HLSUvdHcRAvNKKD7OAT5QM2bJJXl1LZMPzCtyfuH00rVs54yE7UUdj1t9_CM0r6mJsW2edgb5W5i_ELPInyGhYKbEz2DsuV6w83kHb1-cBlTfbG7BtZ2KY1-UNeMUS-7ZUuCzh6Oj2d2sZr7nwPyr-3D7AhIHbG10Uoo45yBMqrfF4bev2Ui0zYwNyqq8OZ9NoPdToC7EMjDZbh_bPqWNZXSMMeZzBrhH14k6svye0S8D5jRneEVnyGgekVc3-pz_JN-LuOgQgf3vAu9sv7y1DQYTQEzi0r_6BWFQ-vWS5AMAlj0mk1NGwj1OIvIfP67I2XqFvkok2AdF1YI53HzNDHPYZMJl0M-B3-6zVf5ijRxi4bhWytSiZ94LClAi68hpywO7XStmwN7fjaIrMhtK_ZMhH73GZEeM2a5rKros_zZ0aR2PlMqLBR8H4nrto4h2hZmRy0LQb9nwYpXC7iHRRzM3magdMPVoU7TyKj6U7rbUNCf859-ejAwjkNuqI_Hsj1NKQR4CRm2i_rIB010o0cswkNmKqJZgJDHs55VweKhnpDJsqFnuS_WFTjE7RIQH-KqvrFVuo02ayXXFC31I80uxRUTSDenY9kwpQiOgLskR18oFnd13z-8U8Rq_tSPl2ZJ8zQwzRuGA1auLn51ZRfBHzojNGdPxJ-ps8zKxhOGpjdl0ZdQNfLs4m38v5vw3E3tq-QecIAw-zLQDLGYI9jQbNHk961HVF0b5l5k09KHYpmxjNWWhi3I3w3AUc-Sjg5wpg4gokA7UOvFoOjmemItrJj73K3SAJdhew_eLhmol6rLPeWapDd6Fe2CyYTrfIQScNtiYeWdwDVloYTrbb3vSvrx-HmO3wR8M9ef46kZNy-F1wxO3mHtFM8MiToJIeI80h-DwEOThPxVCRbdtXeg3Ep9w==",
  "id": "rs_0302c5591910dd52016ab2dde43c2087d09625e63c9d061437",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.39,\"left_z\":0.23},\"note\":\"The yellow marker lifted securely. I’ll carry it above the left side of the right basket, which is reachable by the left arm.\"}",
  "call_id": "call_jqFxxNWtaHvGtQEuFAl5EmTt",
  "id": "fc_0302c5591910dd52016ab2dde5c32087d0ad6655ef98bb6adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jqFxxNWtaHvGtQEuFAl5EmTt",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.8539, 2.7079, 2.756, -1.1469, -0.6888, -0.622, 0.1642, -0.0986, 0.8078, 0.6521, -0.4103, -0.1215, -0.065, 0.9986]\nstate[eef_state]: left_x=0.4784 left_y=-0.3726 left_z=0.1109 left_yaw=0.0573 left_pitch=-0.2113 left_roll=0.201 left_gripper=0.1642 right_x=0.2972 right_y=-0.0043 right_z=0.1927 right_yaw=0.03 right_pitch=-0.0032 right_roll=0.0261 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -17.3333, 8.2393, 0.8034, -0.3932, 0.0708, 1.0281, -0.0615, -1.4154, 7.0085, 1.707, -0.0757, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c192d09c467e4c25791d7345f7b2a0237d2427a624a8a001ce525d6f0eb026",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d39ed8c06e7b6c705a12c8516c55507bc24165300bd07fa59c418db4f65120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:103c8cbf24a0bf9c08f7d1a96d6526228a55fc4c421cb79a4528b7efd6c7e6a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.002 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.4998, 0.5499, 0.2718, -0.4713, -0.3748, 0.1577, -0.0986, 0.8051, 0.6521, -0.4103, -0.1215, -0.065, 0.9986]\nstate[eef_state]: left_x=0.3577 left_y=-0.126 left_z=0.0684 left_yaw=0.0233 left_pitch=-0.03 left_roll=-0.0186 left_gripper=0.1577 right_x=0.297 right_y=-0.0043 right_z=0.1934 right_yaw=0.03 right_pitch=-0.0005 right_roll=0.0257 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -6.5436, 7.7197, 1.4481, -0.3053, -0.0073, 1.033, -0.0205, -1.347, 7.2, 1.7656, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst3yF6e7I2SseCVBI1rx5Y6EANtDfuXD1smBQZ4BKgWfhiE5mcW6TlolqCVdTguWr29g-dFlL7WaFZEbCzpOGSOIEYXB_tcTNroNBKQX_qz5WP5TyMkfVe9lyn_AMZWW7t1SDrpoc48zRpLniWlKnbQKTm4EtVxOX2Z70kHdANB2nQRbO45hgcJNroMvzzJB75cVMnVQFENiN68HXk7vB_EWWeBvSm5i3Hol5JrGDwLK0oFsuwWVn6X9qx4bwqs7mLRKgXsuaReh2L8l_QHTfbwmpr8MVI-m642RL5bXF7M3NzfvpTRmvU4obGfv6AIq6QDu7inRElKDpeAD6Rv7wB_KNIuYcOZ92EDkH70B3AK42slmNeWK3dLseqUX26RHWVcd09uGJ0ICXOvtqcKI8avHXrOxE2mHCnOEnaa4cBadtLG8_weqlyRvAQHodfcOumIOE2DQQgzYcPtpIbQgtysudN1jq0rQfkSTaJUEEsGbh9B7OjNfyTa_VbXm_bI1gb38ys8ZdCsSGwW9xSIJlJYXewn0uMUAolAzi04Om9aDjuMefON_TdjVN1v_NBNTE9B5htCvIv6j6LwGF2lpGaJV0nTpTKQs_0H0x8Xds26eegkEjKi5kWWeVpc0OUnMq-xgWdSaKb0wP4srjaCLlrAahpLxiZU3KpTOI0yR7ac696v0FFwRLJD5gdCYhx23zVP7iKayeW7d1FstosTDWOLI0n2yTdoV-yz_urupgImQ0dyOE6jk-PgbTMP0nr6QvjrsZBaIpYb_irb9NXy5sViKM-o9n4h0kEGVzwtlq-ThFUMykGOWFu7I0QeHczcoHXmHuOnSbKd1m4mjG7v-UCsv1FNA1qpn39Hlb-MAxsh3c8wRVTfUoY1r0kIt0-u7ESG0xzrp_eu7QNL3oFZMBa3Be9aBw1iKkWorHCX9y8pZjv5Yq12Q8RxdI-5eot021sfVoS3P9MG5QrBux84IIVKPycHVSJxNi37-xCWKfDv3tFkOMXmYptqZLiNOSggfAj7TB8nzhFajFin1IRpzPYepcuinxLTYtA2QL47uAvX1uAaTy9QDZTAI3oQ3mg51ZLt7WSBBI73KQRtT9munAEvGMTihv6a2es_yTE2Zkp5mJqErQDR5Ow5rR1AODDtz5pZTpA6h-7C9CfBObksQBv4RCk4y4ES4doPHlC06lDjT3_w28ycTmP36qgYkxT9GDIgTyu0JMifwlz_oUmCF0qDqkmz-Ek4Ah--KCo2FgzUDz5T_Q0R63joyoJbckBH8E-AZlE0DH4nTLsBacUXeTlA-bPQsRshZriHZAbLsSI5MI1pVgyI8H1FOiRHdDowBz33XrYHIqm_H4-HNlVHNCmEZLQ==",
  "id": "rs_0302c5591910dd52016ab2ddee765487d094751c98667f160c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The arm reached less height than commanded, but the yellow marker is already over the basket interior beside the silver pen. I’ll release it here without pushing farther.\"}",
  "call_id": "call_41sqUHba2Fi3jB6MTTB9jPrj",
  "id": "fc_0302c5591910dd52016ab2ddf0722c87d08fb57d88cd727a57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_41sqUHba2Fi3jB6MTTB9jPrj",
  "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]: [-0.8501, 2.7998, 2.957, -1.3087, -0.7029, -0.6369, 0.9954, -0.0986, 0.8097, 0.6521, -0.4103, -0.1215, -0.0647, 0.9986]\nstate[eef_state]: left_x=0.4743 left_y=-0.3616 left_z=0.1111 left_yaw=0.0863 left_pitch=-0.231 left_roll=0.241 left_gripper=0.9954 right_x=0.2974 right_y=-0.0043 right_z=0.1921 right_yaw=0.0298 right_pitch=-0.0051 right_roll=0.0266 right_gripper=0.9986\nstate[joint_eff]: [-0.5675, -15.3641, 7.4325, 0.6862, -0.2857, 0.1538, -0.2418, -0.1573, -1.4701, 6.9949, 1.7607, -0.0904, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1dfcd1307bb05f8058e673297bde28f6df30b89e0c6c893b634625ee54792fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba54de3dab3dadd2be4a799ae840a619bdcaf0cca35cd1dcaa281f08908c14d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90f7cdb3b978157b56b035858c7506627935bf113d3140447d4792dd53f1206",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.224 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8539, 2.7079, 2.756, -1.1469, -0.6888, -0.622, 0.1642, -0.0986, 0.8078, 0.6521, -0.4103, -0.1215, -0.065, 0.9986]\nstate[eef_state]: left_x=0.4784 left_y=-0.3726 left_z=0.1109 left_yaw=0.0573 left_pitch=-0.2113 left_roll=0.201 left_gripper=0.1642 right_x=0.2972 right_y=-0.0043 right_z=0.1927 right_yaw=0.03 right_pitch=-0.0032 right_roll=0.0261 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -17.3333, 8.2393, 0.8034, -0.3932, 0.0708, 1.0281, -0.0615, -1.4154, 7.0085, 1.707, -0.0757, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.33,\"right_y\":0.185,\"right_z\":0.095},\"note\":\"The yellow marker is now inside the pen basket. I’ll park the left arm and approach the remaining dark pen next to the rightmost plush toy.\"}",
  "call_id": "call_guJWN1USBdDgDSrI5URH0ElZ",
  "id": "fc_0302c5591910dd52016ab2ddf7360c87d08bf1b16e6c0d77bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_guJWN1USBdDgDSrI5URH0ElZ",
  "output": "executing move_to over 33 steps (3.3s)",
  "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]: [-0.2264, 1.0546, 0.9417, -0.7216, -0.3744, -0.0731, 0.9967, 0.7532, 1.4483, 0.5964, 0.1017, 0.5606, 0.4248, 0.9986]\nstate[eef_state]: left_x=0.3051 left_y=-0.0003 left_z=0.2 left_yaw=0.1275 left_pitch=-0.2185 left_roll=0.2285 left_gripper=0.9967 right_x=0.3208 right_y=0.177 right_z=0.0795 right_yaw=0.054 right_pitch=-0.0574 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -3.6581, 6.3932, 1.2918, -0.1245, 0.1294, 0.1148, 0.6222, -5.1624, 8.5538, 1.6825, 0.442, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15d24e402c7b46a3cf4f192137ec03a7477b9067fdba16e099a18576a7dd23b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc12ab156f619ed11e4ba4aba631afbd5d5b6eef9d3becfb860281f3f8b9ebe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f6a65892475d9989f4454562db1012c8189c5d4a703b65519ef472088da74e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.353 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8501, 2.7998, 2.957, -1.3087, -0.7029, -0.6369, 0.9954, -0.0986, 0.8097, 0.6521, -0.4103, -0.1215, -0.0647, 0.9986]\nstate[eef_state]: left_x=0.4743 left_y=-0.3616 left_z=0.1111 left_yaw=0.0863 left_pitch=-0.231 left_roll=0.241 left_gripper=0.9954 right_x=0.2974 right_y=-0.0043 right_z=0.1921 right_yaw=0.0298 right_pitch=-0.0051 right_roll=0.0266 right_gripper=0.9986\nstate[joint_eff]: [-0.5675, -15.3641, 7.4325, 0.6862, -0.2857, 0.1538, -0.2418, -0.1573, -1.4701, 6.9949, 1.7607, -0.0904, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst4Lq3_myTlT99zXMyZ2zok3XIP-BkZ0kp0DGcIqar3ZaKIxOy8kmDq6pWtEM2cwJ9Iqj4hqCUGIuzeTXheH2uJiX1--VKL-ILpbMR8FY4AwzTtl7DErEZ-AkeDAQ2P2SMZEQOolSLhz7_MzVu-yWgutHZ2vurkQqo4OwFw3vXz7A68cxpVtYlx7uHgkIocJPjRgyBjgv81Lw_2Ws5sZqj6NEv3GTSkI4vkGk2nfEdhZAZAfGa12d03qNFWIMp5ZRX1VNLrRBIHc9KellOTif-kdTCoRkF6Ds5djCm6MP1UDNKVO9yj9agwfjzfs863I4JpR9spV5F1NjWZlI7X2cSDy2g9k1r4LBdvLcOtrdybu39RSuImeYb1C5LC4asOv-D6ahFXVjztioIBGHYzV-sOsZirYotXwSIOHcqOLJTkQ0mqShXsqGyTZjB32lg4b8paXsQKtLBhu_Pz47GAsp3GkAds2q2pcO9Codkyh7sJllJwCNXIAL6cUr-XLY0-IfoRCu_Ubcscu6105EZ5anfKLm_GQjA-4nLI6i6bEl956n6H1tQVKOeokXgUx8Z4QHU4I9k29zXhKq7OcLYLuPdzOOK4yNV1PlIhbtmuX-FW2Qj1niZZvyQDmpIQlJAMH3K8JUUr6IzQDH8m1CBbBq8UC7EuwmoVxSvns4HAgy0OUvzXSwH2pobvd4QM9rtxsnzcRl0oWbJXuVGQtg2mMNOOrjvbeF8_Yn7pP54L_zzzuOruDp03M0mrdoaG3Me_0804znVA3WhkFL6TMrM8znzO0TRL4l1f4aUjjBbQvawfYrtRW9fSW9dMvondU62nA2G-xxkzqUb7wboaC541Tn7sV3chVwM3rXaaf2SybbTLMCV7Kc-ga7_6QcYW96xaCdoQAeHJIrPNUcX_d67NTM2fHJS8ccGQdplMQi4w8TSlR_HKTy6ELBfOCqRfh2Q1vsraoqCXpSyMENhTsdhZAs1w5LEwmh6WYX7BkRoBJ_XLUu9PS91rFVl6YEUhg89r1-T0xEBC9yjs_afJr_7naGIf0KZKKahDNGg4XsCAQVHMW0QlXLkKCoqykH3hkdt5wlWvxYa0PsuwWV0FslSzJDmJnSSStql_hIvhhuSnmoC7Vcq1yo23XJW7bwS35qQziIClduwMa5gE7WEaEWpQod_7A8wutLpVFGorcBJzn73uM5Q-NjD6PEDXiAj3DapECFVu0ndN7AjmGkF6AYpZJGNxLFYNS2JsUngl_R-2zpm0yyoHvl0wuS4vW8y2dwD_VfRa9",
  "id": "rs_0302c5591910dd52016ab2de090cc487d08fa68b3cf59b0bd8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.19,\"right_z\":-0.008},\"note\":\"The dark pen runs along the wrist-camera jaw column. I’ll advance slightly and lower onto the middle of its barrel.\"}",
  "call_id": "call_NspwgBYP3ZHlM8htwKAV45Dd",
  "id": "fc_0302c5591910dd52016ab2de0a3a2487d09c59f19684a53438",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NspwgBYP3ZHlM8htwKAV45Dd",
  "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]: [-0.2268, 1.0592, 0.9401, -0.7364, -0.3626, -0.0681, 0.9968, 0.7116, 1.842, 0.5961, 0.5655, 0.5423, 0.4049, 0.9985]\nstate[eef_state]: left_x=0.3028 left_y=-0.0019 left_z=0.1952 left_yaw=0.1164 left_pitch=-0.2419 left_roll=0.231 left_gripper=0.9968 right_x=0.3586 right_y=0.1936 right_z=0.0142 right_yaw=0.0386 right_pitch=-0.0109 right_roll=0.0239 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -3.2205, 6.9402, 1.6044, -0.2808, -0.105, -0.0122, -0.841, -4.8342, 3.6171, 0.359, -0.0415, -0.2222, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf7db73a88e744db58165fca65ede34c2ff89fe29e4d97e2c88227b857dd87e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e2776e83618019345b28a5af3f6743a71a6cb8d60546bc85712654fb8c53dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597c1e3d1f23de45e2b45d2c4c3a4e747bd68fa2e4c6631b50c9dc3d71f2a6fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.84 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2264, 1.0546, 0.9417, -0.7216, -0.3744, -0.0731, 0.9967, 0.7532, 1.4483, 0.5964, 0.1017, 0.5606, 0.4248, 0.9986]\nstate[eef_state]: left_x=0.3051 left_y=-0.0003 left_z=0.2 left_yaw=0.1275 left_pitch=-0.2185 left_roll=0.2285 left_gripper=0.9967 right_x=0.3208 right_y=0.177 right_z=0.0795 right_yaw=0.054 right_pitch=-0.0574 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -3.6581, 6.3932, 1.2918, -0.1245, 0.1294, 0.1148, 0.6222, -5.1624, 8.5538, 1.6825, 0.442, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is between the jaws at table height. I’ll close to capture it.\"}",
  "call_id": "call_klVsXfIynsQEJufku6CQ15d2",
  "id": "fc_0302c5591910dd52016ab2de0e4f9887d0853b6072e31cae3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_klVsXfIynsQEJufku6CQ15d2",
  "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]: [-0.226, 1.0595, 0.9401, -0.7391, -0.3649, -0.0711, 0.9968, 0.7074, 1.8606, 0.601, 0.593, 0.5392, 0.4011, 0.147]\nstate[eef_state]: left_x=0.3024 left_y=-0.0012 left_z=0.1948 left_yaw=0.1209 left_pitch=-0.2438 left_roll=0.2315 left_gripper=0.9968 right_x=0.3621 right_y=0.195 right_z=0.0132 right_yaw=0.0388 right_pitch=-0.0013 right_roll=0.0307 right_gripper=0.147\nstate[joint_eff]: [-0.2256, -2.7009, 6.8034, 1.4432, -0.2027, 0.0024, -0.0122, 0.0479, -9.0325, 4.4239, 1.2918, 0.1587, -0.0366, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908e132836da50988ab6626e0672e97dda852d087b8c547e266f730fa7b503f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce97f4bb87852fe1a1168eb016a561dd99ee44068f4330d4681146e5dd0699f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0320e6041e75f629efd8b07f591cfe92187767594187919c38c2d57476571af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.496 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 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]: [-0.2268, 1.0592, 0.9401, -0.7364, -0.3626, -0.0681, 0.9968, 0.7116, 1.842, 0.5961, 0.5655, 0.5423, 0.4049, 0.9985]\nstate[eef_state]: left_x=0.3028 left_y=-0.0019 left_z=0.1952 left_yaw=0.1164 left_pitch=-0.2419 left_roll=0.231 left_gripper=0.9968 right_x=0.3586 right_y=0.1936 right_z=0.0142 right_yaw=0.0386 right_pitch=-0.0109 right_roll=0.0239 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -3.2205, 6.9402, 1.6044, -0.2808, -0.105, -0.0122, -0.841, -4.8342, 3.6171, 0.359, -0.0415, -0.2222, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The closed width matches a marker barrel. I’ll lift it clear of the table to confirm it is held.\"}",
  "call_id": "call_2C22hQMfF4Pp4IXAxXMBiGxC",
  "id": "fc_0302c5591910dd52016ab2de12ec1487d0999868ec64d7cb43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2C22hQMfF4Pp4IXAxXMBiGxC",
  "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]: [-0.2256, 1.0595, 0.9401, -0.7399, -0.3649, -0.0715, 0.9968, 0.7074, 1.647, 0.6617, 0.3317, 0.5304, 0.3996, 0.1517]\nstate[eef_state]: left_x=0.3022 left_y=-0.001 left_z=0.1947 left_yaw=0.1216 left_pitch=-0.2444 left_roll=0.2315 left_gripper=0.9968 right_x=0.3614 right_y=0.1962 right_z=0.0691 right_yaw=0.0465 right_pitch=0.0056 right_roll=0.0416 right_gripper=0.1517\nstate[joint_eff]: [0.0479, -2.7282, 6.7214, 1.4432, -0.2076, -0.0611, -0.0122, -0.212, -7.9521, 7.9521, 1.453, 0.2173, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86fe4a4bd7134ea768c976dfde4ed46ff044f50683504be08d5d14d6c1eddc6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7ea61691cb6e3f831c16cac61e04b2e9649a3368b24763eda3b3287fb9ff36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd4ae381dd09d6d08f663ea53a0f33d3064fbca17a8d8f0cab0b6183e17bfd0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.434 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.226, 1.0595, 0.9401, -0.7391, -0.3649, -0.0711, 0.9968, 0.7074, 1.8606, 0.601, 0.593, 0.5392, 0.4011, 0.147]\nstate[eef_state]: left_x=0.3024 left_y=-0.0012 left_z=0.1948 left_yaw=0.1209 left_pitch=-0.2438 left_roll=0.2315 left_gripper=0.9968 right_x=0.3621 right_y=0.195 right_z=0.0132 right_yaw=0.0388 right_pitch=-0.0013 right_roll=0.0307 right_gripper=0.147\nstate[joint_eff]: [-0.2256, -2.7009, 6.8034, 1.4432, -0.2027, 0.0024, -0.0122, 0.0479, -9.0325, 4.4239, 1.2918, 0.1587, -0.0366, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.18,\"right_z\":0.22},\"note\":\"The remaining marker rose with the jaws. I’ll carry it over the right basket with the other pens.\"}",
  "call_id": "call_mysHGzkxIVRPn5hg5qvWx1dK",
  "id": "fc_0302c5591910dd52016ab2de179da087d0b54a36d7246164bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mysHGzkxIVRPn5hg5qvWx1dK",
  "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]: [-0.2256, 1.0603, 0.9401, -0.741, -0.3653, -0.0711, 0.9968, 0.4759, 1.7195, 1.3373, -0.2207, 0.3382, 0.2527, 0.1531]\nstate[eef_state]: left_x=0.3021 left_y=-0.0009 left_z=0.1943 left_yaw=0.1219 left_pitch=-0.2462 left_roll=0.2327 left_gripper=0.9968 right_x=0.4731 right_y=0.182 right_z=0.2033 right_yaw=0.0486 right_pitch=-0.0066 right_roll=0.0399 right_gripper=0.1531\nstate[joint_eff]: [-0.335, -2.7966, 6.7077, 1.4042, -0.2173, -0.0366, -0.0073, -0.5128, -8.8821, 9.2103, 1.4823, 0.2515, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79932dbb5dda8ee981641e6e71a155f746a420c758a296fab5fbc5db6eb8017",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e97f4de5f2e800ccfb5a5d61ddc8668f21f1381602104504a8c023490acf9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754091217f9647b641b9e819ecc66cb265738aac541b8051a75d5a4ddf4eb312",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 9.756 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2256, 1.0595, 0.9401, -0.7399, -0.3649, -0.0715, 0.9968, 0.7074, 1.647, 0.6617, 0.3317, 0.5304, 0.3996, 0.1517]\nstate[eef_state]: left_x=0.3022 left_y=-0.001 left_z=0.1947 left_yaw=0.1216 left_pitch=-0.2444 left_roll=0.2315 left_gripper=0.9968 right_x=0.3614 right_y=0.1962 right_z=0.0691 right_yaw=0.0465 right_pitch=0.0056 right_roll=0.0416 right_gripper=0.1517\nstate[joint_eff]: [0.0479, -2.7282, 6.7214, 1.4432, -0.2076, -0.0611, -0.0122, -0.212, -7.9521, 7.9521, 1.453, 0.2173, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst4fmNRpVc93b-EHoAyqG_wmuW3t-_6OaFodtgA3bcVgNUrCW8KA-5WZM4ba-Fc21EAEqrys2QKxb9Qw1T-_LjJcLeu2vn8E0hJndaMdzLe6xlDJ_i_gWf_H14XLxj61HD8vxh7nTmefZl0ocIxPqfth5wk9M15rcOncEzxP9yGEx4pEiDD6ORt87hjBxo7B9kaNJTL3veFgYp_9akV8hmRr5uMm5yZuJa-yLz9nogdi8bgZjBTpqPMuy3CBLuuskXjK9Db5XKlhKxn-t9uLy2LV083H_VH2Kd2EvLeNj-oiw4lSOObZoo9tOmiLwSEt_TVwW_YDrOHaDeLv3RygDXXg2QvYWcBBJ7frnVsDyNGwurSaS8BBMZgULmK1nMjxg44IXrimEv1zgha-NaNp4P6My2PHsyTToeu_4IWwe6g2dn-N1awaDZHfj4_1oVMqnwRzdPSfgw_XPmjzkBX5yOCcY4HakuE6vn0HkVSF3zuyotgXYITAup64EuIG3fmSBfbFTw-tpCMEY1a0_CgpKl97hqYYMW6ZH0oHOcfcvg-UiffW40c05rCVOObau5e-58IpdD_soy_lugKYVn9Km-Klh1RQHGD0IEpAzGKiYCPR1SmhYV7ZOpgIEL84c25_MHwLAUDYSZ9uYsnhMYXy2fsz0vccrHY_HxsMcz1bgFUktJVh-GNK---QVQnBG_RLcl0eVG-yRlEYCivdDuagVbjrIIvzTSYDpqkMmAdJtxxFz35MClcsuz6XVBDwN-7LUbptpuumDUZgpfjm40sRtNspGbXvnK_SrAaV3fR00V3dq7XXzofDwYl-VGirmVqyx_KAfNtXY2W7zUjkEtUP4DsRZeika2Xdk0mfejAeR3y1eaIYiqkpBfWRdRtYwcgqPHjnGVkya4iC6jlD6w5K7Gzu0DOxTlgbu5fJoO7yjmZ4_O_nc_basJTlkY_5cFojuLR9I_X09gc-i8fWMY8MyNWHH_UbGGnfG4NYy42KFgJ0f21EmYOiKiBzVDmB4KQnnX5X4uxqdXfzJ0PsM6rALxwT9tHdqAamq4B1abYjb092nBYflk_06OsLDv95vjdFx7TOSFNlgiPWOkzSWUQsi4XQPsbw3MKoNoLTYqoDGODVyeJr3rC_GtFwYAAWALWudBJK7iboaSMk8r9U8gkbM9Pt_Fr9XwNpNr_i7T2gvKPNJ4We19KoeNq18DXu58z3QFcxF-fWZy0qMhTie8MZvHpCriqsyyywkI9NGk_YPBLtZmTCgDYCf3xpROcvuaK7HDg8",
  "id": "rs_0302c5591910dd52016ab2de1d1a0087d099c1fcfed35025f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The marker projects into the right basket. I’ll release it from above the opening.\"}",
  "call_id": "call_zMYgNZ0RV46sT0DO9lJNpdYc",
  "id": "fc_0302c5591910dd52016ab2de1e101087d0af5c5c59d25536d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zMYgNZ0RV46sT0DO9lJNpdYc",
  "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]: [-0.2256, 1.0603, 0.9401, -0.7403, -0.3653, -0.0711, 0.9968, 0.4717, 1.7271, 1.335, -0.234, 0.3283, 0.2462, 0.9957]\nstate[eef_state]: left_x=0.3022 left_y=-0.001 left_z=0.1945 left_yaw=0.1218 left_pitch=-0.2455 left_roll=0.2325 left_gripper=0.9968 right_x=0.4722 right_y=0.181 right_z=0.1957 right_yaw=0.0559 right_pitch=-0.0301 right_roll=0.0301 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -2.865, 6.9128, 1.3748, -0.1832, -0.0171, -0.0122, 0.1162, -9.5521, 7.159, 1.7998, 0.188, -0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25452e136d912070c9a023706e1e26ae7043d3f50806c92b682ba12172aa2b85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601e2346d1cfe8c75d28acb81ae8bd1598641ac17c5618a35d03f6d225654c84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03207afa613f4d17aaf47de7a83113c8922205929c5cf82c0c05c0100e4a8815",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.332 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2256, 1.0603, 0.9401, -0.741, -0.3653, -0.0711, 0.9968, 0.4759, 1.7195, 1.3373, -0.2207, 0.3382, 0.2527, 0.1531]\nstate[eef_state]: left_x=0.3021 left_y=-0.0009 left_z=0.1943 left_yaw=0.1219 left_pitch=-0.2462 left_roll=0.2327 left_gripper=0.9968 right_x=0.4731 right_y=0.182 right_z=0.2033 right_yaw=0.0486 right_pitch=-0.0066 right_roll=0.0399 right_gripper=0.1531\nstate[joint_eff]: [-0.335, -2.7966, 6.7077, 1.4042, -0.2173, -0.0366, -0.0073, -0.5128, -8.8821, 9.2103, 1.4823, 0.2515, -0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst4pm8dsw7b5Oks7C7dnUZHhT6Bfv_PkbGtmHiGRGz31GJJc-ywNlSnOnguN4NXp_7C2_EN_QIQGfBXokHZskQmzKVruo8sTyy4HXeHc9x3ZG5Rm66WwcmLGauK5bxdsosk0KVO6qpEefGad1P1fp1LpggzFWG90AI6Z2Upq8Kct3YjLTx6Gkkm1bNEVHlkCOrPkBmU-z8WK89jXFwq42Ti2rH-Xx4kJ7UUI5gL1Xu_C1vr8NjzEUSXe9RxYCpuMeBWakd8TpQ4CxfNp7FrBzb-Ukl7HCh37oVvQd_kfVHCvWc046OelU20H9QjU3A3U9rhSmccV1qb5oD5xHjjSQsypxeDHlzUSmb8S17S-A6t7OqhaFyTabtDsTn08XQ0AZRd4C5OpRHtYFGoMboQ_O4OumQXCAhdFJLo4gja3-K6MC6p_t8oUvYjXm8K7q3GpPUpN3eTVautj879-YQ89ndTNRw3J8jTHbKjOSurGpP73Matsae-DOirKKfi55BxDU_1DlYq_Je6ITdmSyToJrwdDUXuvStTLr6GZBCiJyJqhoSORrbbddEz7RkfaA117SNDcIL9e78jp1nKOHWEGf0IiHxPaywpph2GoSdq8SFROjFHyGuWISKk-W24xmd-TA_k5ch7SjyKE9kOQ5s0jXNCuH7Zxte0QTsTYbDuQtGl5iF0pjmRytTOnwf4S1wWtHCFL5lrr0zEkpYorz95XjGyiLnW-T11F2dn9S0dp5LOkJynukEsZBpXkSRiErGaIfNDnVLmnotdPbFMJb6nRjbY2_7JY3fF75lAAYi_9vj7gKwigM4-DOfL5hI-7IKPhZI8SMA4_O6cX_FRjFHeyPnbkXBDzqMRxiGLiG3h6mMUsoLirh5lm2Rv1xJZImwQJYQYM64J78KQHadmwYObJjCdWkxjSWZ87B46gthz3_tsaBj4OW3VcgasOU16kgav2xM_h-CFcGTS6bBRNxIgHCg8ZC6EwIWG1VBRQe_3hjdYcFRInjOQEwiiKghkLz1u6qGxAz_MLbVPLcjbjZOK0vrkZcSwyIJsKYLumpdNfbV6gPbaAQ_zWoS9UvbAcBswtm17W1GZ2FRH4LvI1E8KCqtZLPu3FQI-L0P9xfHCdHfYEDPoYuHJbk9uLPzXwQtbhiFgi10ORVNmeM8-CgouaWagUQliqVFBScIK7mxJ_GmgxPXNYFpcVNciMNKbBavrB8ZVyTnR4MTfeiWdquGCB48ZvpxlBOqUiVXcDV5gdbMlq7tEKCE1PyIrVMzgXOW3DOu0mpaTdchVe4K_qZr2ZNPuSIfp-fMfGtatme0j3yT5NA2V7baZwATwsQsiWUeKIFHcz0AF15lLOb9EmvtZRFohIfiRRcr3RbyeeyinPkxdAGjSQXtNy9qUW4SDtnyq4rl69FBqTpmE1x0R-brfANV3GgoZ8Z72FPDgdHNxa4xv6avdG0GNvVggqFpY58XASoVriaIp1Mc76W-1g87MrgUiyDFBx1xGgiMqUQMJ8IODbNzFVLSM0YrsiFmoCOt_2SQBNLO-mq1nOH1VJRjrO5xgYym6N8AWdySKsic5nLsYMsow_rCRhav-8S12HufIiv8Z6NeeW8JOAPhQLgSSn_rZbD7RcWL8R7QjXhxdYvSbJxBuBZjN2brJwS77x2k95qsDcSR2zHLza1QfQ57myMVcVrj7aH-VfTJpdEOr8C8PgcHyWQthCul8Qzs3Eo62wNR7Tgzngk3qyGtmZSKobPrWCFx_qQOjc3CFilV5-0jZmIz4PN5QZAwMl2xrZYNTPg0weYvkj38GeQ7of-ghzSsnKgg==",
  "id": "rs_0302c5591910dd52016ab2de22842c87d0bcb130712ac31f8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.28,\"left_y\":-0.055,\"left_z\":0.075,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Two pens are inside, but the last marker fell short after the basket shifted backward; I’ll recover it shortly. First I’ll grasp the gray plush toy for the left basket.\"}",
  "call_id": "call_S9GqT9PWnxdiOk9aWMimG0qy",
  "id": "fc_0302c5591910dd52016ab2de273f9087d09196dafe3bcc388f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S9GqT9PWnxdiOk9aWMimG0qy",
  "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]: [-0.4259, 0.9066, 0.2352, 0.0059, -0.3618, -0.231, 0.9968, -0.0658, 0.8707, 0.7219, -0.4221, -0.0727, -0.0322, 0.9965]\nstate[eef_state]: left_x=0.2747 left_y=-0.052 left_z=0.0693 left_yaw=-0.0066 left_pitch=-0.0531 left_roll=0.034 left_gripper=0.9968 right_x=0.3089 right_y=-0.0039 right_z=0.204 right_yaw=0.0041 right_pitch=-0.0112 right_roll=0.0281 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.2376, 6.3111, 1.7509, -0.1392, -0.1294, -0.0122, -0.2803, -1.935, 6.8308, 1.7656, -0.2222, -0.1148, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca29d25ed56715a10ef7220c188d07c1176a6aab13bb1e7f5cbe78c1b4788da4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb587c8103e93beace5ae41ed024233fd4189b9f7b4a06e9cce6ff024b269b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9074a493ec4417108bad43c4627868d1731590bb5c29fc9ca5edda09ba7c9f94",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.484 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 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]: [-0.2256, 1.0603, 0.9401, -0.7403, -0.3653, -0.0711, 0.9968, 0.4717, 1.7271, 1.335, -0.234, 0.3283, 0.2462, 0.9957]\nstate[eef_state]: left_x=0.3022 left_y=-0.001 left_z=0.1945 left_yaw=0.1218 left_pitch=-0.2455 left_roll=0.2325 left_gripper=0.9968 right_x=0.4722 right_y=0.181 right_z=0.1957 right_yaw=0.0559 right_pitch=-0.0301 right_roll=0.0301 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -2.865, 6.9128, 1.3748, -0.1832, -0.0171, -0.0122, 0.1162, -9.5521, 7.159, 1.7998, 0.188, -0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst4y8U45H-brmFr_4pgH01Hl06qUNgZzjACrs8egP9DvNo42ZdGReRcfTzLKdKyO-NmCy22Bt9FhwOiEaETVMml_n5cPGxqRaQ8CthmbBzOc3MPpvdZHAL4KofSSscsdpcUmpI9pldrpM4BT63DpaiSF9y8-rkkAY9UGvKm2H6OJtekiH6LT7BrvgcW3h5zC_s0posDHX8Dxqyw67hFOddCowC6gNDYu-wqrfc_aS7nsJI3o1I8uBz_Uz9is4sdJuQyci8SrMNMuSkcrixzdZXX5QkE2JXv3TPrsfCLGuNYizM9wB-XUjYK7pEwP3wumAy6gq0eS6wjcM-6LfhifPxJfCk08U2awJldggBpLwi8W25iFCj4Zr21NDHsJ2DEUNrHlEB4JYI1RmxsSqrdxBncWYXQfThMM-Z4LyVwpchljyYbMKQXGnSluyDjmCVz-f1-X7Ic92dIZF9jr3DTmC67cjsJkvt8fN5TRsCZ1STGNKvE7EvDs_omEVtMPBfzN0gnN8ngQBrJVKXKieUYgNZ8wRKDAi9gRGxOf1a06w41MAvByf-IYYfLBZCvfAycCrxdA11FlJHYCfKBNHG1zd3Yd-WFfNiWOnEWsIhLA9C9i3n4z6ziD2U5Upj_StvtPSKz5Nbc-qMt75WK1W2poBrqCSTTjuUMV2NLWZ_6vZfdr4R93gojosL4mXmLMWoUmVdlJS0L4nrvD6NcPk6csuhdhtABTvNZdcCg4uU6MywIMJG4gz0C5CNn53Hzluk2646AOLsadKTFfCYIbpaI4-nb2byaY2QZWsckoJ-cyWMRqzQWEAg22Ie5XiTj5thQPJfIQldqg_m4jVPk66wlgLQOh_1bT8Qhl0reRwUZuA9FpEbRolY2DFUgvrCQoYdprR3VwYaSFi3_R_fuL2vggCe0_doR2m1TJ3Su3KEDUxAeeWrPPhbQxLCUdmXXforKL2BLn22Y4767Pqw398BmlrJNbxV5Nseoavc-VedQmbVU0SR_t3eT3kUc8l45cg5zriDFcyu62SKYsHjgeH5XM-7vdaEiQgEhJaSdQJ1W0Bpes8zmTbRl_8BKwW-kDS1C6ovvuAyJi0rIR-C8K6GgVnnmQt2NZbxZ5o0SihxtudvoXJ6ANE99Fn7cAR5NJkYDsFbLF9nEZTszwt1OWjOUhYf5Jn2HDlVspuFcsnYqRpmbQW8dAcFg5FD0xpnlNuQCSHLqjBkJ5D5LKbO2vIi6xIuD33Kkkio2Z3gB52J8IKbE090jsKQoOoO8UFz1YShiwyqUM9p0A3wbq_vzWR3HnIO0y_f3edKnya6b9Cy2fEkg9GS-xHa21gjg-OGnxql5Wp0LfnQ5Nta5KpgXWCTVdk_I5fw==",
  "id": "rs_0302c5591910dd52016ab2de2e404887d09d08eedec5366511",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.015,\"left_z\":0.025},\"note\":\"The gray toy’s torso is ahead and left of the fingertips. I’ll center the jaws over its soft body and lower for a secure grasp.\"}",
  "call_id": "call_O7H6WWKxf7joUi8AJ3x5Zt70",
  "id": "fc_0302c5591910dd52016ab2de31076087d0bb7491e9148a4248",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O7H6WWKxf7joUi8AJ3x5Zt70",
  "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]: [-0.1272, 1.4456, 0.2436, 0.4667, -0.1574, -0.0776, 0.9969, -0.0711, 0.8757, 0.7113, -0.4435, -0.0864, -0.0456, 0.9966]\nstate[eef_state]: left_x=0.3142 left_y=-0.0087 left_z=0.0031 left_yaw=0.0416 left_pitch=-0.1623 left_roll=0.0483 left_gripper=0.9969 right_x=0.3051 right_y=-0.0029 right_z=0.1935 right_yaw=0.0176 right_pitch=-0.0473 right_roll=0.0275 right_gripper=0.9966\nstate[joint_eff]: [0.1162, -5.094, 6.5709, 1.8828, 0.0122, 0.1294, -0.0073, 0.335, -1.5658, 8.1436, 1.956, 0.0659, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d120db180ef7eff097376f56f82ab957aa3d7371659eb8212b934c5cf924e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f7f3c8fee5c09f5229b5462f78d48ac41b3ffea43d9ca2384d865bd367a07f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fddf4376d6ea46032cb17e3d3cc44b9115e22b708f74c84ae86d8065d643e2ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 7.796 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4259, 0.9066, 0.2352, 0.0059, -0.3618, -0.231, 0.9968, -0.0658, 0.8707, 0.7219, -0.4221, -0.0727, -0.0322, 0.9965]\nstate[eef_state]: left_x=0.2747 left_y=-0.052 left_z=0.0693 left_yaw=-0.0066 left_pitch=-0.0531 left_roll=0.034 left_gripper=0.9968 right_x=0.3089 right_y=-0.0039 right_z=0.204 right_yaw=0.0041 right_pitch=-0.0112 right_roll=0.0281 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.2376, 6.3111, 1.7509, -0.1392, -0.1294, -0.0122, -0.2803, -1.935, 6.8308, 1.7656, -0.2222, -0.1148, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst44FllLNQLP_l8loP7tbU2U7KEeOgr3seVMXqwrZHy4Yiawbh4FK9rgLH6iT9oDay5q8HpqhEvPPJTihlrYS6s2sfHvCLn11yEh8FYWjxij1ZH7F9Xz02HcgqgUwjY8iSEit5XmugwycPeo20e1pKGSNlbBE9cXxziNT57U_zWnepfaWnaAlUeaYSeceJoS3eh3rx6KUqC17GcHxe4rrKyhW2vtmRMos0KQuzQIUVklMH_6RtgJTxMvZEV2Vi3AdB8x80_A8q45fkJrkfRR3upkl1VILZza6-OXP3MRHeg577qvcAVHBOUqKQ3eU8JeYRu2Lx082RpHWTb1V1etq49nmANnkrFnWeuOC1Rc18_CFZtac7kMhzUlLya6fn5DqdnptHYxde9tp1ttwpgRt4FaMEtspjxd5Qz9Y4o7D99gjBnjVBdBAXuAYzJn-CsR9aHePyztLUo1YHvD4Nfie8wFCKp7eaEIDgajSmfTBUUyNqLhpTEzLgw0Eoz3ZBUjGILQfWwx5SVDyh_XZzjw0G_iRmPM22MonreVlGGOBs_ZkFWg11Zv5iUJM8io_tGQohjjV02j6B1lgmUjv0TQvlivPE7Krz5MfynDeXfDAYaWYz_TlVohYXOcr8sj5LqPJtXTkHROsn4m-eFQJ8zYc01hn5rzLfFU2FKuB_GAHKNMcUDiUf_iPyGQlzlhUzMnwIs2lGTz7np0lSl5O5qCY5utYW64Eb59Pv0e57XNNBZ50KOR7f4_3oriEaL_H4BCVI_ActonCg6w-LKKE0emqxYItmNZwDSLhENm0bQlnqU9J_FVs6k70KdcK1CTC7nf6q1HnMEntUgklv4vdUplVOtt-U9xtXfOAQB7YtqtVmBonKprngeI3liFnaCO-GHfBekWCRdo2npiwOndi1tFxmuaeTFpukPQgegyfZKrRvurBnZ3-9TYQqCyMjDAlR1-ZKlqEqHXGLY6fuSHeKkfQM2bmwAocnbmtSfKguJCKfAHOFqG95YodF6UHAO0u7v3ZAGKN3cJoMmb4vaCb5B_1yq-w8zbmuxrYXinYFaNtCQNcOMPGVZMkVIp17DFISP0kohH5GP0-69hodEMOcyxwVWATModsj67hrv-FnBTMdXLQUuljjcclsbglnHXFQPa8t5_3hBDgBqpGCucu6Xt9ryELsSZe9jdC1Z2IJBCUMVPLjoFt3ay5JwMfuWf9RWA--TgpB6f2m6F4b0G8BToyiVHGGZYp7gL-RmMJyt3JGMSD4HTU32bKVkZbs-7utnRGcknbR09j6ATlNurP_2z8jHNanZrw1NL3YTeuTnKdXNYlGgBnhL_2pmpnj4qUGy433h4",
  "id": "rs_0302c5591910dd52016ab2de3650c487d09a507b18b8a7ed1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.015,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The plush shifted slightly, leaving its lower body beside the jaw center. I’ll adjust left and close around that soft section.\"}",
  "call_id": "call_RtEDVUvTtGEz1S1wqXOrVfFU",
  "id": "fc_0302c5591910dd52016ab2de3769d087d0960c835069df13a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RtEDVUvTtGEz1S1wqXOrVfFU",
  "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]: [-0.0032, 1.3258, 0.2581, 0.321, -0.0803, -0.0067, 0.0102, -0.0711, 0.8772, 0.7113, -0.445, -0.0872, -0.046, 0.9966]\nstate[eef_state]: left_x=0.3075 left_y=0.0168 left_z=0.0153 left_yaw=0.0615 left_pitch=-0.182 left_roll=0.0507 left_gripper=0.0102 right_x=0.305 right_y=-0.0027 right_z=0.1927 right_yaw=0.0184 right_pitch=-0.0502 right_roll=0.0279 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -4.5333, 7.5829, 1.4725, 0.0611, 0.1538, 0.8376, -0.0479, -1.7026, 6.9812, 1.6874, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280fdedeef9272d5600a177d2d290299c57eabc013f6ca11841d11ad76c7c38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3dbb3822f9100c68940a8d8b09e363a1202fe1290c3f6d3e91a46c96f71455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f89f5a4840c68469d52eba4533035895700b7baa665fae6286178c4b00d9fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.951 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1272, 1.4456, 0.2436, 0.4667, -0.1574, -0.0776, 0.9969, -0.0711, 0.8757, 0.7113, -0.4435, -0.0864, -0.0456, 0.9966]\nstate[eef_state]: left_x=0.3142 left_y=-0.0087 left_z=0.0031 left_yaw=0.0416 left_pitch=-0.1623 left_roll=0.0483 left_gripper=0.9969 right_x=0.3051 right_y=-0.0029 right_z=0.1935 right_yaw=0.0176 right_pitch=-0.0473 right_roll=0.0275 right_gripper=0.9966\nstate[joint_eff]: [0.1162, -5.094, 6.5709, 1.8828, 0.0122, 0.1294, -0.0073, 0.335, -1.5658, 8.1436, 1.956, 0.0659, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst5BCGhMRI5ceUudB4R8904dvLd_Jl70sI0bIaiwdd6hz6A39IlVy-u0XrUTeaQDhHzmuodFaKdkQFFTTSj7lTWgp9xHgeT_B-6DT9BPu4nBdDVo2DaM5h8ojN9gXH5C6SuG8wPsOBmPfYsbq4v3RyzPXful5_COv0Lb8irF5-PfqP8QKDLLQnuKf6RXVuaAT8mpbhsA46eMV_flLSGjlqWMHyW9FyuBXXHvUKCC-qp28QMg3qoZx-IkpsPSY4SwQMiM1zZDSSUBqok5t_eMhogl1tdDEGxSRcwzTzcWhI8NYJx1Cj3b3XIci_ev_FszLIeQi1YJUCKC2SjxEXsQBtWNW_6lglTuIc_n13FtdXd70BMWMJeqGgbMyAu2ligv91xnFeJ99uftMOOSJIdheQbUH5R0cfF3AfkEvHIeHmv0Uk2uLIaqSNbaSzeHHDk7eFpJzHvIdQAB6tXnmVOvCsrQH7n23G1c4hi2Q6u3GZKPZf3dujXyV7S7T63SVlHZWoDGGWNaicRvWswGPrWm-QVkLjxSV1GXRu_tXeux1myvI_dLKsqCJ4Hwpda32nVpt_oSgn5KUu-3xXR-_GZuEz0FcfVvg2e6oLw2eDdyp9JCG-XCEmBUoXHnLNciJIFd_1Eb57rExi1XHR83LQoJ4ehLfqfAmoy1xTP0qGNfTa4UMXR5yO7wXxElFRYW4gZ5i9lbCuhnx1CV5QjEUIxE2ZZ1XGZP_wPHgXMvctgZ4B-0OBJDLHkFiCSpYqW9n9FkMaON-xyUW9dILBz4eVRPlDNKGdsvSsy_O1EnwB4yF0_X337hmBeYFRQiqSuWV1hj3wQ80kh9D7K-GQPTJdFa6BPUDf6dIbXC3oT7N6Zj8qETAdLvjizoMmZSemBOXHK_VCfdWOg8AfmGdqnfp7Z_lZQTiZixDQZDOs8bUhHPiENrSJbnzNkVXeZb91Qb6x_2KaDGgt2sn0KALL7ptdMBUWEWvSZKJxfO9pizoflUq3uAnffZlBr1prKOHmbXAUULP4d2R4ABIccKaaCph-dfinsdZ7tRfIfn6_3hl4t_k1930K-iKXcQ8HxLftcIRNLBiUquK5DFk_lz_CGiwmTrOUTdMgRK7zGbOIWnyqLjINll3iAkRlxkBolD40pzsCkiHO5CPfhxArRhpdJH7TqjCG0NkU1jC5xr_r_KRxHJdEuJSXM9ZKVDURgjfBfdUrjWPpPxAStNZlFrL6wPdwyV_nJdLkElqb86qYYm1mO9dDG_qfdiJpX7m98HXVUXr9OFqmrYOPk-hGWOjy78WlVSiDe_sSUaFATs9oirQkm3wstJjF7FHq9kGdXk5Nr5ytyknFNx",
  "id": "rs_0302c5591910dd52016ab2de3da70487d094d8e9dc3781aa46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0.012,\"left_z\":0.045,\"left_pitch\":0.15,\"left_gripper\":1},\"note\":\"The gripper closed empty behind the toy. I’ll reopen and reach farther forward over its torso before retrying.\"}",
  "call_id": "call_S1Q5MK3f6I1XiY4znmYaZqIx",
  "id": "fc_0302c5591910dd52016ab2de3f926487d09b954e4df713556f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S1Q5MK3f6I1XiY4znmYaZqIx",
  "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]: [-0.0277, 1.7077, 0.3176, 0.8799, -0.1127, -0.0105, 0.9956, -0.0715, 0.8795, 0.7113, -0.4454, -0.0875, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.3741 left_y=0.0131 left_z=0.0235 left_yaw=0.0656 left_pitch=0.0554 left_roll=0.048 left_gripper=0.9956 right_x=0.3052 right_y=-0.0028 right_z=0.192 right_yaw=0.0186 right_pitch=-0.0529 right_roll=0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -5.8325, 5.5453, 2.0293, -0.0952, 0.1538, -0.1392, -0.1436, -1.7846, 6.9812, 1.707, -0.0659, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611b69ad8836e6bc835bdae04ee70dfce84e8048c97f54f85b2f07dce0c25dce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a8f750bff648eaae0aee8e0c836c7ea7d7bd55b2b60fa4fd3cae8a25cdb0262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f79ba4c31fb0ed20134bdfcdafe560a2d4ba1f1aafa675108e11b0df0ce020e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.384 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0032, 1.3258, 0.2581, 0.321, -0.0803, -0.0067, 0.0102, -0.0711, 0.8772, 0.7113, -0.445, -0.0872, -0.046, 0.9966]\nstate[eef_state]: left_x=0.3075 left_y=0.0168 left_z=0.0153 left_yaw=0.0615 left_pitch=-0.182 left_roll=0.0507 left_gripper=0.0102 right_x=0.305 right_y=-0.0027 right_z=0.1927 right_yaw=0.0184 right_pitch=-0.0502 right_roll=0.0279 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -4.5333, 7.5829, 1.4725, 0.0611, 0.1538, 0.8376, -0.0479, -1.7026, 6.9812, 1.6874, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst5KOqtPv2ktqo_l4_BiRQZqrdWurYGHWcV1IFYlndXYSJEmNQh9zmDbVLFVSfND0Mhn7JzDJpkV_QZZfoVaLEPc8cwfEtHpdH7OPx6fS6FxoIia3mTSgInwVrjdiHBmIfGVPAE3CgSq1uMzW2HATho_gogyTsCg1-3W4eIXb3hdGg0njPITTnBh8w-0nrhrxKOdv3LxeqMbyE3SLCWR8JMzXOeU77AC-R3FNyOFrjdA9xUFyt-vwZBhdnv630uBq6ZUyXFufggdo0-8Jxcrk1Dm0GsuUMJeF3dgxadmmugKS8A2A0YFXEEfTCThlArXUcfGkbx0-5ouyy3QVqEvudvmEhLic_7motJmVEqL9GhbxrMF486N0m1VEHLmLjaYumNEfK7dbBD8LmQAZSLAMDFepQsLkUMvz54gixk72Bx1B0mplkd-n0-Pn6zUOsUOLXFBBvk_LCWZ_K1aMZ3aQZfEbJe_r1udYb0pbBwY_znXk3fm0K5wrK1CoDGZhpT3Ch1l4r_7gesP7vhxPCKCa4I82s9UAjydTJM-9g5vwua9d5L9okrjdqwd9aoDMBBz5Y4Elay4liLd8TIzME5uMEh7SJmQsgWNVF5Pl-QKwFpjcbcZreq_PfIcEOXYhun8SNec45dvWtjDH6ODUyl5kJsHvxf_El3f-CdIQIK_pYfc1yO19O7OuCMj12V9KvxfdzkSYdhYJ9omojj2Bk2gtb_ocy12PqnzTGJzSyxU6FlbYo7k8k8oThKb0iqmRbrcENqr2VKrLHzDkw1cfYdBHLMBuxem7eh7KQj5H-sPzj1dZxQVpWh4LyZC-Zw-PgU38qf60LRddOvnWMb0MXlIeeVswVx7jpdBN1kK3lmdJFa9gzkGmZznz4djyGXQSVYChpzknZw8_TdqmMVJoJDrT6s3heB1GQlcd-fHr9xv7gVI5mESi15Icd4PhWnbxFLfj3emizTeySOymKp6GhMf1v9I2tD7YpaRfxr9M9Q3kXg596L76EMqom5_g4o6tBuB0KGWEEYGGOYnpU2lvwAlgioyOkL1AiTLujtYEiqsxRB3axido-emHs03MRNXqINrHw5oeG9jwh7EL1I-6KqsvnQXLvvap8wXF6t6Hj4h5-coogtcQC-fRnNP5IkrREqwPSPzNTcKINQDa5SnwPpuq-YbBJzkb-L87HqHNiK4hKjUp61gllBzHJR1ho7c_MWIBGOWnjo1496qUJdF7gkUEB3KLPvUDHJAl7L_R5O152GlwF48icl8enM4VobDYPMLIiSztzlQBo4JqYc3ivsrUEcQ2MMH1k3aDaFxhzBhDDJ1FGcmMIcEn5Xh5ff9DgWoCTt1kA5jwu_WI5-5rl0PqOww-E5_OoD5f0PgFDn6LnHoN_JxbyZ1n-dfzKtWLRM6dZ1kLgVreU5GgCnh8gsSw-b7oX6NJJdmdIPS3zWL_gHsX2DsuxV8rCWoEAqdjeFRNlH39954eTTfB1kFUq41qsbtDw==",
  "id": "rs_0302c5591910dd52016ab2de4573b887d0ac069a4d90df2efc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.028,\"left_z\":0.07},\"note\":\"The low approach pushed the gray toy forward. I’ll raise the jaws and move over its thicker torso rather than its flat legs.\"}",
  "call_id": "call_zXMXwJFM0nTgF2dg41bpgw87",
  "id": "fc_0302c5591910dd52016ab2de48841087d0b142e3515d8a189d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zXMXwJFM0nTgF2dg41bpgw87",
  "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]: [0.0296, 1.6135, 0.4522, 0.6743, -0.0856, -0.0021, 0.9967, -0.0715, 0.8799, 0.7113, -0.4454, -0.0875, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.4008 left_y=0.0306 left_z=0.06 left_yaw=0.0955 left_pitch=0.0773 left_roll=0.0406 left_gripper=0.9967 right_x=0.3052 right_y=-0.0028 right_z=0.1919 right_yaw=0.0186 right_pitch=-0.0533 right_roll=0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -7.3231, 5.9556, 1.6972, 0.1832, 0.1685, 0.105, -0.1846, -1.8256, 6.9675, 1.663, -0.0611, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c780c2eef8ad433dc8484eaa546b5cef83822c1419346a9c42447c1ce8ba96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a403fcc8efa81c94bc7301a81ba3c979f19fc6e71b5be60462d94f71b51fbf4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754ed4efd5861d51b007e83d2f6d7874e2565406961e91b5d905f8c0d6a719d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.233 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 83 changed as sent

message 83 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]: [-0.0277, 1.7077, 0.3176, 0.8799, -0.1127, -0.0105, 0.9956, -0.0715, 0.8795, 0.7113, -0.4454, -0.0875, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.3741 left_y=0.0131 left_z=0.0235 left_yaw=0.0656 left_pitch=0.0554 left_roll=0.048 left_gripper=0.9956 right_x=0.3052 right_y=-0.0028 right_z=0.192 right_yaw=0.0186 right_pitch=-0.0529 right_roll=0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -5.8325, 5.5453, 2.0293, -0.0952, 0.1538, -0.1392, -0.1436, -1.7846, 6.9812, 1.707, -0.0659, -0.0562, -0.0073]",
      "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 torso. I’ll close around the fabric.\"}",
  "call_id": "call_te2aA6kz8CAkGUSIskaHi2JO",
  "id": "fc_0302c5591910dd52016ab2de4e271487d0a67b18913de77bf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_te2aA6kz8CAkGUSIskaHi2JO",
  "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]: [0.0303, 1.6142, 0.4522, 0.6521, -0.0818, -0.0071, 0.0102, -0.0715, 0.8803, 0.7113, -0.4454, -0.0875, -0.049, 0.9966]\nstate[eef_state]: left_x=0.3982 left_y=0.0301 left_z=0.0548 left_yaw=0.0956 left_pitch=0.0545 left_roll=0.0359 left_gripper=0.0102 right_x=0.3052 right_y=-0.0028 right_z=0.1918 right_yaw=0.02 right_pitch=-0.0536 right_roll=0.026 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -5.9966, 4.9983, 2.0293, -0.0513, 0.0366, 0.8523, -0.1162, -1.8256, 6.9538, 1.6972, -0.1001, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857683df0d5b7aaadb189276ecfe266fb8609b59299d7dcc97a071715e3831df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d857ab803c82c7919068d24335517afbcc1a5703c409d38bc22e44f46d5b5aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75af750c3b432d731820e9f47d1f5ad57305f93b3c11352ca68bf43b69012ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.679 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]: [0.0296, 1.6135, 0.4522, 0.6743, -0.0856, -0.0021, 0.9967, -0.0715, 0.8799, 0.7113, -0.4454, -0.0875, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.4008 left_y=0.0306 left_z=0.06 left_yaw=0.0955 left_pitch=0.0773 left_roll=0.0406 left_gripper=0.9967 right_x=0.3052 right_y=-0.0028 right_z=0.1919 right_yaw=0.0186 right_pitch=-0.0533 right_roll=0.0281 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -7.3231, 5.9556, 1.6972, 0.1832, 0.1685, 0.105, -0.1846, -1.8256, 6.9675, 1.663, -0.0611, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst5XHI9oalaZm6FAwFJrdPqmMu4VWlGTWkQr5TCDUOoUT7iXHns-mc6_Ao_voCmlmFgtduwwU4H7p1qH-BW5Zdoa0fBPbpNLBeDp-cYgQ3aa8KV4puozC71-G3U7idmWEg2cpt2I4tmwDC_uhDI6441tV-tXynM-v1772jQOIoa4YHRa2GEKfVKyywoUqY58KKuqEQcmEc2SPCByGJPHA8lqA2N11UYqZL9M_5CJFqILyOlaHq0BWDCofL0s-7Z8oSDO7w0k06iQUM070-MX-mrsIzgwSGC9q8BDJHsvmBKWJP38KBad22sQp30ZhX4w6Ft-5CTPwR53n8aQUSyd4Z0wZ1ytO0ziKVdJi54syhYlTvv1uQXA4elsoV3Wmsc_6BTXBKImoumIHeCCxCHflqAwd265cinAtRVMjwFPLi85JFJVbf_dC__0Y4wcaEFcXFjOygrU4RAgqaT2nEUol93gMuKbjHg2J0fO8BujkjGnw48JNxaESyhYLyZiwlXzA1e-xTca-KUsUD7QZXusfMCMTAza9XEtCE2C5oPnN9RaM4-WOA4CPhTMua6BiWHXtPkNeCtL06BD0V53oe-laYnqPkwIA5ZdMEKwj1HQPrIRZ6JBwxufGCI70QG_LF-pqhkpX51QoJKdtm-VlH7AiAFlu3tUgVYuMrAycJXd9nYbWcI3JZHoFMGuxm3VqKfBvWHTWCQsUsSbQK7OfOYO1AcDJIDoaHGCQxgAEBqPvLO_130XajFBGzgGv4on3wSpzFGpzTvoYM4mV2ddg4kOn_JwfwKpwRi3DuegBJUapgn72ERXm7Rgo44_5oKs2jXX7XUQo3pRZc5TytZgdSdnYbuL_jMJID--WkqdfittCfF6tKaIHZY56RLTCiD9HTSrSXIpf1tnk9nBu10LoY-myPFXRIl7KAY5ovNwll3JClS1uyDuinZxTZPZiiQgXXyASmqKCso98jSW-D7Ghj-_K3ynARbgAV07J6GwHrgD-XcAA8InsTC4xvOoWAa0qmJ7IyLexaftuT51dCUdKNgWOnT_fL_JEqPYxg_tKZKSuOPcBdkyyPD1ujmyxRlHZh4lS9zNxkEn6sIMovooiKTgB7aYlA-lcwkORpUUSQfLpXEpDzc6TjFIRlTMbxn7GYTdETMWeYbGtq_GWlViti3nUfxiuvXugH0o9fmAJMkos1u5nRep4ClDJQIt8O5sAss3nNs0FeT7iEPWQkd03DPJh0FP1HTADMc0N4Bu8r2bqXbL5RDktoVSPeHX0NUvbMTu8XSo0tyBiUoUyC_YWOsL76tqwectN3bKGmRjZW-wGfp79Ge3vMIPOs-P005aDBF3f4wT9VIZ83z2EMOzd5ZA-Ken4i_t0YZs5ENTRJBjFNrYn1o=",
  "id": "rs_0302c5591910dd52016ab2de53923c87d0b9171c278a408ae7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":0.025,\"left_z\":0.065,\"left_gripper\":1,\"left_pitch\":0.3},\"note\":\"That close was also empty; the overhead view shows the toy still farther forward than the grasp point. I’ll reposition over its body using the overhead location rather than the wrist view.\"}",
  "call_id": "call_vAdJ62I2gIX8G0jIAGjarHQY",
  "id": "fc_0302c5591910dd52016ab2de555e6087d092a05bd94d437959",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vAdJ62I2gIX8G0jIAGjarHQY",
  "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, 1.977, 0.6228, 0.997, -0.1158, -0.0124, 0.9952, -0.0715, 0.8818, 0.7113, -0.4458, -0.0872, -0.049, 0.9966]\nstate[eef_state]: left_x=0.4656 left_y=0.0282 left_z=0.0425 left_yaw=0.1078 left_pitch=0.2079 left_roll=0.0327 left_gripper=0.9952 right_x=0.3053 right_y=-0.0029 right_z=0.1913 right_yaw=0.0197 right_pitch=-0.0555 right_roll=0.0259 right_gripper=0.9966\nstate[joint_eff]: [-0.5812, -8.2393, 6.0513, 2.293, -0.0757, 0.1197, -0.0806, -0.1709, -1.894, 6.9675, 1.6874, -0.0659, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:795c7cf353a1c4d117b508e5a3e62abc1454e972536715683944394f2225eb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1d75b0d06c7bc0cb00b4235f4137b5ae2fd878f354e65ab62b4934a156df35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb2df75e3839bee029dcee8e19bae4d2f845e8b3fcd33dc3722c8387e6fc4d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 10.36 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]: [0.0303, 1.6142, 0.4522, 0.6521, -0.0818, -0.0071, 0.0102, -0.0715, 0.8803, 0.7113, -0.4454, -0.0875, -0.049, 0.9966]\nstate[eef_state]: left_x=0.3982 left_y=0.0301 left_z=0.0548 left_yaw=0.0956 left_pitch=0.0545 left_roll=0.0359 left_gripper=0.0102 right_x=0.3052 right_y=-0.0028 right_z=0.1918 right_yaw=0.02 right_pitch=-0.0536 right_roll=0.026 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -5.9966, 4.9983, 2.0293, -0.0513, 0.0366, 0.8523, -0.1162, -1.8256, 6.9538, 1.6972, -0.1001, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper now overlaps the gray toy’s body in the overhead view. I’ll close at this corrected position.\"}",
  "call_id": "call_gmYRI0chTtVo4ohAndQpM8uP",
  "id": "fc_0302c5591910dd52016ab2de5ddd6487d0a620bd50acd6b68b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gmYRI0chTtVo4ohAndQpM8uP",
  "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, 1.9907, 0.6243, 0.9916, -0.1196, -0.0147, 0.0106, -0.0715, 0.8829, 0.7113, -0.4454, -0.0875, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.4645 left_y=0.0288 left_z=0.0357 left_yaw=0.112 left_pitch=0.1906 left_roll=0.0337 left_gripper=0.0106 right_x=0.3054 right_y=-0.0028 right_z=0.191 right_yaw=0.0202 right_pitch=-0.0563 right_roll=0.0259 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -9.6479, 4.1368, 1.9121, -0.0171, -0.0171, 0.8181, -0.1162, -1.894, 7.1453, 1.6874, -0.0708, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd02581ce32576c85e4b65e7ae404812de234d19a62852cb57d742bd739d640",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b780a63cbf740617de733c743a2debdcac20470e3be60fc04bc47123ef9fdb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34a5bc1d8e26c91bc11c415868fd4e3da504d7ec3928dff400d82fd600afe0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.633 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]: [0.009, 1.977, 0.6228, 0.997, -0.1158, -0.0124, 0.9952, -0.0715, 0.8818, 0.7113, -0.4458, -0.0872, -0.049, 0.9966]\nstate[eef_state]: left_x=0.4656 left_y=0.0282 left_z=0.0425 left_yaw=0.1078 left_pitch=0.2079 left_roll=0.0327 left_gripper=0.9952 right_x=0.3053 right_y=-0.0029 right_z=0.1913 right_yaw=0.0197 right_pitch=-0.0555 right_roll=0.0259 right_gripper=0.9966\nstate[joint_eff]: [-0.5812, -8.2393, 6.0513, 2.293, -0.0757, 0.1197, -0.0806, -0.1709, -1.894, 6.9675, 1.6874, -0.0659, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst5qAMJfZBktOywalGG5P9u5LwQCr5Bw23f717ttTauIygzr5X3ft9ci71Id_-qPTeUgWePolE5eu88SriOWtSK0Jigqwjpu2COK4c2jbkeE-MjUHB_iWbSJ2FMpNUbiPrTeN0EOY_CHdHaxMg-l5NYYJ4t0btV3J1eMjLLuArZa89EgVlQLrNDFOoXgQglXC0_YJFeAvT9-J36nq2MoXB2fyHMRPJavjW10YlKL86kbpeIm4Sh_LGNLrUg3Qgm8oErc0Zd-xK2TNINpCIu-nFskFqM4pr98gkPCYeEX90NSySxQ_CKE-iXj5b6msebRj7CycNhhnA3PtEjKTgB7QTpO_ncN-MXo8GQNnb7xH2ibVacw7mOOVzCyx0e5mKpwQtWyPM9B7jD3FZDW5BzwtL-_HBmDqppqEwY9Bnd6reUSd0fpz9h8qaCY3esjGPHGyezGGJs7b3IL9S-F7SNI2P47PTwNHZhpdd16Ycx8PRS26LTtCK-5MGW2UiFQnRUR_vOOSVhmxde-_4XDY7sugKYZvoCebAgkIUgxnqJGevI1wYyBHYgO0WE0ct_Ud5luyPr-KkOTHgTuLF9-SLG3xWHxts-aad8nok-ny4UK7vSAF8tISIjvfygvYZFPgJxK92S8qqGBcpOFWvDzBh9gevK5gr0W4sQMyJsKFxRGJXXlDEqeJpy0OZcCfzd2tUW_uYZ557m9D0n5bKjerGksVAtpDKdKvyRqH0FAtxdJ0zOHz3ouFJx9NNe4M92d-C09lDZJRqTL2fXCbFFNaDGi8JcVEE47d13Cn1kbvFKvrFtEmbka9P3q2JkFMz-m3gewSb8BuXP89NGperGfl02woXprEicvgEsTHQ51tl67yhOpuX62qbJ3o0vt1ImVuqVS-PXD8045c5H6OBZSp4K9zzUbdGB-LKV8LIgpau5Dj4SObsNOtU8Bb5OSmPTG1URU1StRdIKaIesXq0BAtayyac6BqeNfthv65WFWFCVT_F7PIOBpYGbMfaFmkz6NgwJZxLWcmdVjKv_DeVWxnO8578mxADVFs1xRKUNpvKlR71bjXX-gmkQ-Suq8M2EHsBRPGK7NgQe76lpJhanVHx7mkZvhwhBmj2QP05vuIORfjMbi7rYRtwa7UMfU-ZQSPgkbh2Fmzq6XToXAKXE1zIuBnWIvPeTcEFKn31A2t8UyfI_aTDk5_Yi7_C8DJgLVwpqwwLhndWmOUqKmRP1xdfvkBVG6FKTy_ZjX5TsF9vYQKWhx-ZKtxNEGHc2M9gcCpEqW38Fis-RvrYlhQfevAVO6adFVRiD4ZYUTlonNVhxqaO1Qaw57Bq0oTirgfJjDUky_zxoWoFMrIjYT-ghYCYRvvdWTF1zKNFLo8oy9cYqTX2wFZbOcRn1P5D7zMDK6z07YHOspGNMk3VnqolimmMRlZ7_Cklirl8loS2hNf7f1NVhHuXW9GvSgk0iqlL-_spDUTnohmZDANiW2O6lJyvxUBXLieGJkpE946XbfiFpBZGeRsWPi38uuMWYJxAeJh1kp5Vek",
  "id": "rs_0302c5591910dd52016ab2de64b19c87d095de7a68aa2d18cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.42,\"right_y\":0.19,\"right_z\":0.03},\"note\":\"The gray toy has shifted against the outer edge and remains ungrasped, so I’ll stop pursuing it there. I’m returning to the dropped marker to finish the pen sorting safely.\"}",
  "call_id": "call_pKrZYvTD503aEjhRfPSvZ63B",
  "id": "fc_0302c5591910dd52016ab2de66d3e487d0a598fdee10d9544e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pKrZYvTD503aEjhRfPSvZ63B",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.181, 0.749, 0.5381, -0.1459, -0.2745, -0.0837, 0.9975, 0.5694, 1.8805, 0.8021, 0.3347, 0.4015, 0.3225, 0.9966]\nstate[eef_state]: left_x=0.3083 left_y=-0.0041 left_z=0.2155 left_yaw=0.0937 left_pitch=0.2199 left_roll=0.0198 left_gripper=0.9975 right_x=0.4063 right_y=0.1823 right_z=0.0185 right_yaw=0.0493 right_pitch=-0.1145 right_roll=-0.0027 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -0.8821, 9.6205, 1.8437, -0.2759, -0.0171, -0.0024, 0.2803, -8.6496, 7.0222, 1.2039, 0.2564, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c22934d878126bde032c2504abfd22e71d1fdb158c87db70cb12557f0c53dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f721e13171f365e60346b3c2744eade4a04fa6bb623ab58b31da60c378f33b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22111bc51f09857b3dd56c77d157177a314c8e608290e25ccbde281163c71ca1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 5.391 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]: [0.009, 1.9907, 0.6243, 0.9916, -0.1196, -0.0147, 0.0106, -0.0715, 0.8829, 0.7113, -0.4454, -0.0875, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.4645 left_y=0.0288 left_z=0.0357 left_yaw=0.112 left_pitch=0.1906 left_roll=0.0337 left_gripper=0.0106 right_x=0.3054 right_y=-0.0028 right_z=0.191 right_yaw=0.0202 right_pitch=-0.0563 right_roll=0.0259 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -9.6479, 4.1368, 1.9121, -0.0171, -0.0171, 0.8181, -0.1162, -1.894, 7.1453, 1.6874, -0.0708, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst5xfrN64gc1OVvcdgiBuYKp3qDe8IyaBvhSdWtqnmftnDzBFjUX1KDEw-0yWLaqGFaYb4FhJDtOXTJ18llzPcvnHs7Wja6a2Yd11GhY3oSo0DkxCchef92aFN30bc5UOekG0k6FZsGanZhaLcMwfKOOufZR6bW2AemAw4KjV91oHLJZMYf9yjl2wyjMkUVeMwJ7YFMpRPY_SLLhfl23WjVAdItFKlZXLl-baSvw-zXIuXDXQG0UcMzbSnZJn9T0O2JD5MrK08zfgY1AIcp8Wy4ICYGFSmBaq-CfyiThIjTp9n33B3Q-zvdIMSUMiQeHXKGPl3-3Pn3bHAgTULFTdoLgf7_pRCDf-u05R7ZyzQhlGaikF2iYCXt8m85Buf53exIhn3utSG3vtmRfknJc2LA0HXDPvsLgdQLnmVzxhvoMzSpsbmmqlEXfC0joaQSo8LMaBsCkpqkoPwtDBlWp69x9J53tL5ZZT1P0amD393zh04af3L0H_z3kcrUTWMNbHE5wWMwNJIQe0um3y6nm8N60sS_cOfr0EiluB-hiBKHREJBVVyyEGtOSDjFXf8EKaR3yD-C32WnKZ1IdLbp6luZyy4JAHWh1VqdBDZmbu_tT1IBI2Yrld8GZF5d6dEpXzheOnB8KNhzMnIKLx8-qyDO4X6xYCWy1FuQtotS7UQMNR3g6IJbJPZLRHZffycev2lyD0GBBzu-QwN5dvIMEy-Gzo7sp3fGCD_UfJgYmppD7QLNxxHYMaHwMX6dVUrCtAlmN7iPYyP9lt-JIZ2GbwRA8HJOBupFW30e7qpOiDQdrQ4DvraHUXfegAavH6S5_em8FQ9GnXr6wSCa9NG7j25Qfd8HJRJncc-kASOluOE-PNY_Z5F0PjSBOoyoCGTm31KApoxVTR2uvJl7GqfcZ_gYnyDc_8R1UgLzsWdbh4qXzQ3aPorb0CD9D2gEfkvz_r63vWm23nCFNZGpcoqWy0mV2EGMm2PMGEOSZ2DXxrEmOatOpcXoALvEePvR1IC2deZ0IDbrzk6S1HoeN8-AHfVNd8lGBxMbPu91V-OaOr-WNcMs4VZ8QvalUb6o_7mKbRTDaD150pk53otAO7dS6Vhy1HpfM-Tgn_XwN0wz27XrnZLjoUSZobna8Mt7w7VvSvqPOzthMuel1nUqJItxvWF9S-N2rXk7Mz4-sKcR8rr7nssZAKAgj_f8z69CN6sgx5MLQsqcDJmyFrIGL-4Jg8TrZ8JBXgqWZai5pnSF-5sUPGxtaHILJWK_qagaVTmuK3ZcxBwat-ieZBrBQi9BOalaLVlnedsd-5MirPWDSzC8AzwQ=",
  "id": "rs_0302c5591910dd52016ab2de6ede6c87d08c87ad669d5ce29f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dropped marker lies between the jaws near its lower end. I’ll close around the barrel.\"}",
  "call_id": "call_zC6MG6vKXl31cYQ7Cbg7eIwM",
  "id": "fc_0302c5591910dd52016ab2de70861487d084314c2b3719f8d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zC6MG6vKXl31cYQ7Cbg7eIwM",
  "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]: [-0.1837, 0.7544, 0.5411, -0.1635, -0.2848, -0.0898, 0.9981, 0.5739, 1.8999, 0.8097, 0.35, 0.3996, 0.3183, 0.1375]\nstate[eef_state]: left_x=0.3074 left_y=-0.003 left_z=0.2116 left_yaw=0.102 left_pitch=0.202 left_roll=0.0232 left_gripper=0.9981 right_x=0.408 right_y=0.1862 right_z=0.0154 right_yaw=0.0578 right_pitch=-0.1122 right_roll=-0.0031 right_gripper=0.1375\nstate[joint_eff]: [0.0068, -1.3197, 6.9128, 1.9707, -0.0366, -0.0073, 0.0464, -0.4444, -10.2769, 4.465, 1.4188, 0.105, 0.022, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfca27cf5c41aaa16a121ce5b711cbeb18c5007767c5dacb6fd39ada987bc4c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8583a44f4cea1d464406cb7edfd0a2776885710fb09877062f08e00bb5cbadab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1e3850558b783b5b4d333e1b9102e98687e29d24bc970a86180475af00a5fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.741 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 101 changed as sent

message 101 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]: [-0.181, 0.749, 0.5381, -0.1459, -0.2745, -0.0837, 0.9975, 0.5694, 1.8805, 0.8021, 0.3347, 0.4015, 0.3225, 0.9966]\nstate[eef_state]: left_x=0.3083 left_y=-0.0041 left_z=0.2155 left_yaw=0.0937 left_pitch=0.2199 left_roll=0.0198 left_gripper=0.9975 right_x=0.4063 right_y=0.1823 right_z=0.0185 right_yaw=0.0493 right_pitch=-0.1145 right_roll=-0.0027 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -0.8821, 9.6205, 1.8437, -0.2759, -0.0171, -0.0024, 0.2803, -8.6496, 7.0222, 1.2039, 0.2564, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10},\"note\":\"The marker is captured at a nonempty width. I’ll lift it and then place it farther forward into the shifted basket.\"}",
  "call_id": "call_3TQrRT7qYy3ShyWAIOpprfRF",
  "id": "fc_0302c5591910dd52016ab2de76903087d0a3bbb66c6ac5aba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3TQrRT7qYy3ShyWAIOpprfRF",
  "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]: [-0.1837, 0.7582, 0.5411, -0.1642, -0.2852, -0.0902, 0.9982, 0.5739, 1.7157, 0.9169, 0.0513, 0.3885, 0.3145, 0.1381]\nstate[eef_state]: left_x=0.3077 left_y=-0.003 left_z=0.2104 left_yaw=0.1023 left_pitch=0.1976 left_roll=0.0243 left_gripper=0.9982 right_x=0.4067 right_y=0.1875 right_z=0.0809 right_yaw=0.0684 right_pitch=-0.1222 right_roll=-0.0031 right_gripper=0.1381\nstate[joint_eff]: [-0.0615, -1.4291, 7.1316, 1.8926, -0.0708, -0.0269, -0.0073, -0.1573, -9.9624, 8.4308, 1.4921, 0.2027, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268e3d88ddd849955ae2ea7d3552a373fead0198fd98f653580157363f084e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97518b3571444ba7c497a4d28c30aa8728b82a3cc5fcfaf573143e8ea1fb2a6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e5df36477d552bcd7593475f56825d67efd6546f54570cd39e7fcfe5ef5c78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 6.359 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1837, 0.7544, 0.5411, -0.1635, -0.2848, -0.0898, 0.9981, 0.5739, 1.8999, 0.8097, 0.35, 0.3996, 0.3183, 0.1375]\nstate[eef_state]: left_x=0.3074 left_y=-0.003 left_z=0.2116 left_yaw=0.102 left_pitch=0.202 left_roll=0.0232 left_gripper=0.9981 right_x=0.408 right_y=0.1862 right_z=0.0154 right_yaw=0.0578 right_pitch=-0.1122 right_roll=-0.0031 right_gripper=0.1375\nstate[joint_eff]: [0.0068, -1.3197, 6.9128, 1.9707, -0.0366, -0.0073, 0.0464, -0.4444, -10.2769, 4.465, 1.4188, 0.105, 0.022, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst5-jkIZdbwcpNRWTzuT4jIjyb_KAjDC5TAbgVHlyIQUU9DiPSWBJpDKMiCASD2sKf8W3POi5uAiCViAYBmvcyeIxxyowkpv9R-xelM0urRSncLFAI17FC7yH8s4luS4DrDXnyK8uzmHDOZ-eUvIOgT-swc9-Nw0IwbxiqYRcCqNdk8X0AnYSbzWIne_TBaB3JdTis5URkzkPt7w9TQszWdTwGk_txNTdGSe3s1OZsJhJOOYN2wE_HCeZsMLJi2ETjXfAkVFCySxegRhGLS1DZ_di3q-njXMgQDjwauPf9Ng8gn83RHZsKJlm0x7_iSIjzyCRUIFFIZ9pNH4boGKR_A8_5UMA4A9SwF9iJN79vDB4Cy41BI6fygrAGcT-gi5-9HRhTVyET8m6dhlj6AhyBe0R39mzO31YYSCRvILu8wjdQ-QR3XjgHcNpOGwBFX8HnPPWHu2nM8v3zNii4xd2Sy_3CThlEbouCvLOEdUzckd_siv_z3IHJFsfX57T81Qy1mv7YZG43gfxCIN0EJOnLvkUtZvnlH0gsczpO6h29qpC7ba4LPeGieKPqjR_m3y2dfNazIDtNK9YvZmV7NE7uVFAWExA7uLjEbP39NXWvQqBCzEUpeWjMn2sDd6I_bzIbtQezRewmy3CXEexhVje4zIo4jB-FbMmYxCgkBluL21PIEvg2ol9gf9NSe6Z7GbrKZ-KY9EWkOmMDLMRGWWJ5t0qzb7fsEmaO70AkJYMp6YvXLbBNZzAQKLg6TQEmAh1opMIXWqxFGaDirecbPpBkX1BC2WdJZNIntfTXTD6KCZX6mscIAmQQ-4kaHVTEwDziZJ_XqjCMUyiZc3AWMIRH5cofD1nbkGACbdWeKPc5gi08KMlqU3_NtJLD4sWuq20hhFVVNgVuPL4LQq7Pf5zJaj5p-NBwQ_A6rbivZXmvgGu2dcToFufNfVwtAeRHp8qQ3b-jRGksnsQ5J0FOFQmUzyDqVuet0uBXM1QcUFsKZrI3xvZF1SgudsqGQP06V94Zx_HVAMBcp7dS3afv3RnnJfU67KOhjDgUbbiRenX-hNSn5cM8bDIBDrE2sA0iGA2vBtODBVNlRYclAVMV6SguqzDRQD9DRrFeiHQNhmmNcWSlrO8GOTo9i2TPB06zz0nHPNhWukOV-p6ssqlU0GiKr3Yc-uM_Oxj8WM2b49Nghhv4Fnrj8G5vnbtMBVwMfz15E_iZ-yiZrrdNupEpHVQpOzPXIR3liKbNvqlXCiHxZR0hNNjCEs7djhvpWqOxJbBslAjXpGQGbaYLeff2kcCTjUL3nITJS9qqxanoB0h26CCxU=",
  "id": "rs_0302c5591910dd52016ab2de7b077887d08b6a224e268f515b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.205,\"right_z\":0.22,\"right_pitch\":0.35},\"note\":\"The marker lifted successfully. Since the basket moved away from the arms, I’ll reach farther forward with a slight tool tilt to put the marker fully over its opening.\"}",
  "call_id": "call_Y9hhA1Mf6ivztPJuB9fy1WqS",
  "id": "fc_0302c5591910dd52016ab2de7ba24c87d0a4a8a86703064d93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y9hhA1Mf6ivztPJuB9fy1WqS",
  "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]: [-0.1837, 0.7593, 0.5411, -0.1711, -0.2852, -0.0902, 0.9982, 0.458, 1.9907, 1.3891, 0.2882, 0.3717, 0.0738, 0.1381]\nstate[eef_state]: left_x=0.3072 left_y=-0.0029 left_z=0.2086 left_yaw=0.1019 left_pitch=0.19 left_roll=0.0266 left_gripper=0.9982 right_x=0.5533 right_y=0.2052 right_z=0.1917 right_yaw=0.0837 right_pitch=0.2667 right_roll=-0.0245 right_gripper=0.1381\nstate[joint_eff]: [-0.0615, -1.1966, 7.159, 1.873, -0.1148, -0.0659, -0.022, -0.6359, -11.0564, 9.4701, 2.1172, 0.0904, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ad75bba743697798e134aa6bb9fc0352682d1144ff79402b710f1e8d0e0876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2f9f1ec80ef4c32953c7c19a2c58d6c96573380ad1834696bcef1a2e399f41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df17c4ecc6e5ff475b19a190e09c3255a49854fba15abfc7196b78056e5db604",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.129 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1837, 0.7582, 0.5411, -0.1642, -0.2852, -0.0902, 0.9982, 0.5739, 1.7157, 0.9169, 0.0513, 0.3885, 0.3145, 0.1381]\nstate[eef_state]: left_x=0.3077 left_y=-0.003 left_z=0.2104 left_yaw=0.1023 left_pitch=0.1976 left_roll=0.0243 left_gripper=0.9982 right_x=0.4067 right_y=0.1875 right_z=0.0809 right_yaw=0.0684 right_pitch=-0.1222 right_roll=-0.0031 right_gripper=0.1381\nstate[joint_eff]: [-0.0615, -1.4291, 7.1316, 1.8926, -0.0708, -0.0269, -0.0073, -0.1573, -9.9624, 8.4308, 1.4921, 0.2027, 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"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst6FAIxLlY1y3J7-6pVTmX5xbmrK9638fmIefuWJtd7BeFGGDo6XUJLcrWKzSaEE8Qynt4jd1E4syTDEuxLQzAlUAlFpSIlNzCHvd3KsNQzOcTY5UBDAZv3mXkKMiZOKwKDE88V7sTuZ_7WYJkTSrQadYhMo3uwhPLd6o5M_0fKuHppXl101qR4esJ44Xi4z1rdlNxfpyRRQeArNjZf1TeVC5YhPkjMzn_vShH5DpGF9ISn8C0jo1HmGEvC-jJzYeU0g-Ih_nD6OIznTsHzQ8u6TKLj32ac3MzuAF36ZJa4BWs1lkC99P7UXKCUyFg1ZH4Y4UzYrjulY0hbY46CSuv23LobKliuQTcEAwghIuCwJXSzY1YQJaJyCVEPS-7hFFxhRDTAJtpClg86ctvws5BY64BEVUEymBzhtoA1WyREhLe17KrzzCSd6Jy5NXgs6vCHbohoESue-cMJK3k6Azcz77PnO32ofHTr01lT1h7dicOlBUUgzBlKWcA2pBuoeBY7yH8EJiXiWC5En4PirT_JoZzs9RFuWWsIPU0_jTK6Z5lzF4yxRssnlHfN5CGqki2g1XoCk3Dp9di6d67Bs_p_tA0Ft0U1aQNc62jpzSa-WgUhuYL0OgEt7ZdSp-jmHGzFGxg2XRoKp60e3cO7Fy52Thfu8zaiNNdFryVmbL94dmwlpr9qjAuHO69IHwg-hIMLDpm-20M7Vic0tov0xXOn5viQCEmZzEJvEhjGfCmPI3d0f88KlLvzTeijPV4sKbi7u2CoXQkof7MWVydsnT5MShQ-6EiHiiwsCHIuUwU86WDa2RgwuONBOYLlxcvDeCuFJhYAiK9wY5Xb8FZ3kuK1LyER9pj9pwFpztT9AmsN3lJ3jhiYIz1N9KMynh3H0S8YmuV8bYX8vS0HVRaxGuUPcmP1Ap0ZPnbizB1CGK5ikvv6XftPBD2hqJtNdwu457-fAg0eCVyk834wezdo3zRSd0wmX41PrlD-GmxaC7oKRQoQqdXBdOfxpR_8fUStdOHqDY_loCdbe3xPhKMoLWuOZlT2t9q3Q5xmOy9EbAM085sZntkiuii9XcT3zsc0dY4jvwXDNuAP_HAas_GVmL_43643NHxyZFndg2PcPDCA9EVJdeK4R3jImSI7EtIwJ8EMrESfS35Df31fVD7wDrI3v0l2gYf9JY9R5MreDeWvcYvQssY7N8OcYKMemxIV7ab6e",
  "id": "rs_0302c5591910dd52016ab2de844c2c87d0a22fdc293e9be760",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The marker is now centered over the basket alongside the yellow and silver pens. I’ll release it here.\"}",
  "call_id": "call_6NJYXouqjW00dvpbU1IdvcUM",
  "id": "fc_0302c5591910dd52016ab2de84cb6087d08acd6f893e1147d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6NJYXouqjW00dvpbU1IdvcUM",
  "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]: [-0.1837, 0.7593, 0.5411, -0.1711, -0.2852, -0.0902, 0.9982, 0.4568, 1.9976, 1.3922, 0.2821, 0.3656, 0.0673, 0.9951]\nstate[eef_state]: left_x=0.3072 left_y=-0.0029 left_z=0.2086 left_yaw=0.1019 left_pitch=0.19 left_roll=0.0266 left_gripper=0.9982 right_x=0.554 right_y=0.2059 right_z=0.1878 right_yaw=0.0924 right_pitch=0.2567 right_roll=-0.0328 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.1145, 7.1453, 1.8291, -0.1001, -0.0562, -0.022, 0.0205, -11.9726, 6.7897, 1.917, 0.0659, -0.0024, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a26078aa41dc7e459ec6677e3edfbf98b52a3e397ef85f8ab590e59b36560a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93824b28a3152d69a5b0014af0477790d8f8c97128fcf4b9fcc4ed0473b9d59e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0aefce8ba02c904831081f25498379328fd00d0a9d96a64630f3242c6beffd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 9.006 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1837, 0.7593, 0.5411, -0.1711, -0.2852, -0.0902, 0.9982, 0.458, 1.9907, 1.3891, 0.2882, 0.3717, 0.0738, 0.1381]\nstate[eef_state]: left_x=0.3072 left_y=-0.0029 left_z=0.2086 left_yaw=0.1019 left_pitch=0.19 left_roll=0.0266 left_gripper=0.9982 right_x=0.5533 right_y=0.2052 right_z=0.1917 right_yaw=0.0837 right_pitch=0.2667 right_roll=-0.0245 right_gripper=0.1381\nstate[joint_eff]: [-0.0615, -1.1966, 7.159, 1.873, -0.1148, -0.0659, -0.022, -0.6359, -11.0564, 9.4701, 2.1172, 0.0904, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqst6LCs7FP-cffJFXhCqI02NcwkmRh0hUI5csF4BiiWfsyRKFi-2d5prgmT6YeieF9ihKREU3NvjB0ducRFAL55Ykd0C4TAJw68qZR0-w63-mNwj9_RXOZ5cdP6xqiErTrAQhPwe7_K9iMI7SZxZjgZC2Pptpl_D71KNS-LpPpTk7ZRKCdI3MslOy0nV2EoKBATeilm8yttMfAp-PTKCFwzr2K7MzILhcht11hoE7onbnTxrG8qmAXHbRkB8uMuqKokTlV7JXpDb37rbK-2hL7JBwopaiiZhTJvcqD9q0oA5xjj4k7zQYUSzXzgITywQGpb5kn7_rKnoRQt8EQOQaNQJbaACWnc0f3l5Ukqi6FoRfJMbW_o9VMAlwWDJIdhdY-k8dZZK5jVOk5n0pZzkJh8IBWqLsX9GLORUhQfwh7rDRlsWErJF74kjt9rnIh-G0dJcMcUqRNwDhPUzu2SjFua7cg7E4oZ51XRn2F4hlsbw5IRsI2FifKsWRQ3q3aKe8ygoLKH6DUekvBa14yJxM24HpQCnFeXZcy9Mv_s03Gd8PbiIol_-lhZD-_yXnsg3dfR9aIqAcvtyqvdxeyPczU9oWgP_i6Fm-r9ZdispuoLS_odou1zHOvd52Sg7CkFXrV-TAtdOwynD4-zkCFE5zRVvbs3YOh46LatvyVH4Dr8qCfMioE1jPEzCDmSsOmfeKZR9kdKNz1e4k-zCOzyjCjx-3Euxs_HlbS1N1RO22PmtzZ5MLMBec0cKNIXsNakMShKCw9vUThvxCUdBE3WSk2JOSmZ6gZYY4XDyyEdnpsQ2UdvSzd_4Bkc2b91iweBD1d1C-XRS22ktJ5JLnac0RGgSN9mnKxBOcxgtALm9Hd3pEnLyskB3rpa_1P79-b5aIuFToVbYoXeHsY-FMJt30Hf5QuvPoxQ1AVBW9V9xSi8g4gOZrn-Mk-8YffQqc_oJA6urdzlWhWv8LWcxlYdYjAnMgAyPQTDIvAcaQDqxI3j17wGZbV5hTlFyVxjDIGiBaU4YRZjT9H7gLQ4lzqKcC3m6K_G4KIO9eRzUZQyXz_Y-tL00PM9PRO3jAffSkE8izL7GxhHrJlC-OD_pTNX9Zbmzh-4JY0YzqXaXM4lwg59qU5SIL5Ivk_NAdphFx5gjO_92H85EBpdRz7SO2mjNPVFh9BH08-_1T9sF6udj-tLrOXVe031ruPth5d6P-3TMNUXvP",
  "id": "rs_0302c5591910dd52016ab2de8994b487d088743b6884b287eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22},\"note\":\"All three pens are visible inside the right basket. I’m moving both arms clear; the plush toys are still on the table and have not been sorted.\"}",
  "call_id": "call_mebkvSpt0Ie9ZYGjkAWH7wtA",
  "id": "fc_0302c5591910dd52016ab2de8a155087d08c814a8d2a1520e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mebkvSpt0Ie9ZYGjkAWH7wtA",
  "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]: [-0.1799, 0.7311, 0.5488, -0.2348, -0.2848, -0.0898, 0.9982, -0.0925, 0.7013, 0.5053, -0.0696, -0.1051, -0.0856, 0.996]\nstate[eef_state]: left_x=0.2993 left_y=-0.0003 left_z=0.206 left_yaw=0.1038 left_pitch=0.1632 left_roll=0.0347 left_gripper=0.9982 right_x=0.3084 right_y=-0.0064 right_z=0.2292 right_yaw=0.0388 right_pitch=0.2936 right_roll=-0.0388 right_gripper=0.996\nstate[joint_eff]: [0.4171, -1.2103, 9.9077, 1.8291, 0.0073, 0.0122, -0.022, -0.1983, -0.3897, 6.9812, 2.0293, -0.2271, -0.0562, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e99d4b3d021c2c683ba1520964112d9ec2d15e44c240c2d3eaabc30ef08132e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c634aab180f341cee340622d01862b32232942279edcad98822476b4f7027cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f9220ed06a43c0df018aaa9cdcd9a6e31ca62437c19350a069ead81d4180c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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