adhoc

completed
2026-09-22T19:42:18.385078+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
298.8 s
total steps
369
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 two object types: plush animals and marker pens. I’ll sort animals into the left basket and pens into the right basket, starting with the white-and-black pen on the right.
move_to
right_x0.2900right_y0.1200right_z0.0750right_gripper1.0000left_x0.2967left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0189, -0.025, 0.9993] state[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1849 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0023 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.2786, 9.306, 1.7656, -0.0269, 0.1734, -0.0562, -0.8684, -1.4154, 9.7846, 1.7167, -0.0611, 0.1245, -0.0855] 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":0.12,"right_z":0.075,"right_gripper":1,"left_x":0.2967,"left_y":0,"left_z":0.19},"note":"I see two object types: plush animals and marker pens. I’ll sort animals into the left basket and pens into the right basket, starting with the white-and-black pen on the right."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe white-and-black pen is just right of the jaw centerline in the wrist view. I’m shifting right and lowering to straddle its shaft at table level.
move_to
right_x0.2950right_y0.0880right_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0238, 0.8043, 0.617, -0.3901, -0.0223, -0.0341, 0.9996, 0.6811, 1.2007, 0.3435, 0.1497, 0.5312, 0.3687, 0.9993] state[eef_state]: left_x=0.2957 left_y=0.0005 left_z=0.181 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9996 right_x=0.2866 right_y=0.1218 right_z=0.0678 right_yaw=0.0305 right_pitch=-0.0351 right_roll=-0.0225 right_gripper=0.9993 state[joint_eff]: [-0.4581, -1.4427, 8.6906, 1.6923, -0.0513, 0.0073, -0.0171, -0.1162, -3.7128, 5.7778, 1.7216, 0.3541, 0.1587, -0.0855] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.088,"right_z":0.005},"note":"The white-and-black pen is just right of the jaw centerline in the wrist view. I’m shifting right and lowering to straddle its shaft at table level."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe pen shaft is still slightly right of the closing centerline. I’m making a final small lateral correction and closing gently at table height.
move_to
right_y0.0650right_z-0.0080right_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]: [-0.0246, 0.8066, 0.617, -0.4015, -0.0223, -0.0376, 0.9995, 0.5053, 1.5108, 0.1745, 0.709, 0.3946, 0.263, 0.9993] state[eef_state]: left_x=0.2943 left_y=0.0003 left_z=0.178 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.006 left_gripper=0.9995 right_x=0.301 right_y=0.093 right_z=0.0145 right_yaw=0.021 right_pitch=-0.013 right_roll=0.0035 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.265, 7.2, 1.8681, -0.0562, -0.0073, -0.0171, -0.4171, -3.2479, 2.6188, 0.9841, 0.1148, -0.1587, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.065,"right_z":-0.008,"right_gripper":0},"note":"The pen shaft is still slightly right of the closing centerline. I’m making a final small lateral correction and closing gently at table height."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper stopped at about 1.3 cm, consistent with a marker shaft. I’m lifting a short distance to verify the pen came off the table.
move_to
right_x0.3100right_z0.0750
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]: [-0.0246, 0.8097, 0.617, -0.4034, -0.0219, -0.038, 0.9995, 0.3641, 1.6821, 0.1127, 1.0603, 0.2745, 0.1783, 0.1377] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1768 left_yaw=0.0022 left_pitch=-0.0355 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3143 right_y=0.0724 right_z=0.0126 right_yaw=0.0233 right_pitch=0.0707 right_roll=0.0371 right_gripper=0.1377 state[joint_eff]: [-0.0342, -1.5521, 7.159, 1.7216, -0.0415, -0.0611, -0.0073, -0.8274, -3.2479, 1.6205, 1.2186, 0.0122, -0.0611, 1.0281] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_z":0.075},"note":"The gripper stopped at about 1.3 cm, consistent with a marker shaft. I’m lifting a short distance to verify the pen came off the table."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe pen stayed fixed relative to the jaws during the lift, confirming the grasp. I’m carrying it above the right basket with clearance over the rim.
move_to
right_x0.4900right_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]: [-0.0246, 0.8146, 0.6167, -0.4038, -0.0219, -0.0383, 0.9995, 0.3668, 1.1519, 0.1936, 0.448, 0.268, 0.1757, 0.1377] state[eef_state]: left_x=0.2945 left_y=0.0002 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.0065 left_gripper=0.9995 right_x=0.3072 right_y=0.0718 right_z=0.07 right_yaw=0.0329 right_pitch=0.0687 right_roll=0.0373 right_gripper=0.1377 state[joint_eff]: [-0.0342, -1.7573, 7.0496, 1.7216, -0.0708, -0.0806, -0.0073, 0.3624, -3.0017, 7.9795, 1.7265, 0.232, 0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.18,"right_z":0.22},"note":"The pen stayed fixed relative to the jaws during the lift, confirming the grasp. I’m carrying it above the right basket with clearance over the rim."})
tool
executing move_to over 15 steps (1.5s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe held marker is over the interior of the right basket. I’m lowering slightly and releasing it inside.
move_to
right_z0.1550right_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]: [-0.0246, 0.8173, 0.6163, -0.4038, -0.0223, -0.038, 0.9995, 0.458, 1.7432, 1.3327, -0.1608, 0.3317, 0.2096, 0.1377] state[eef_state]: left_x=0.2946 left_y=0.0003 left_z=0.1743 left_yaw=0.0026 left_pitch=-0.0442 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4844 right_y=0.1786 right_z=0.2013 right_yaw=0.0538 right_pitch=0.0229 right_roll=0.0143 right_gripper=0.1377 state[joint_eff]: [-0.0615, -1.5795, 7.2547, 1.7363, -0.0513, -0.0513, -0.0073, 0.0615, -9.4974, 9.5658, 1.8632, 0.2125, 0.1343, 1.0281] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.155,"right_gripper":1},"note":"The held marker is over the interior of the right basket. I’m lowering slightly and releasing it inside."})
tool
executing move_to over 9 steps (0.9s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe first marker is visible inside the right basket. I’m moving to the blue marker beside the tan plush animal.
move_to
right_x0.2900right_y0.2050right_z0.0900
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]: [-0.0246, 0.8173, 0.6163, -0.4038, -0.0219, -0.038, 0.9995, 0.458, 1.7794, 1.2003, -0.0101, 0.3279, 0.202, 0.9983] state[eef_state]: left_x=0.2946 left_y=0.0002 left_z=0.1743 left_yaw=0.0023 left_pitch=-0.0442 left_roll=-0.0061 left_gripper=0.9995 right_x=0.481 right_y=0.1777 right_z=0.1547 right_yaw=0.0611 right_pitch=0.0057 right_roll=0.0027 right_gripper=0.9983 state[joint_eff]: [-0.2393, -1.3197, 7.1726, 1.7314, -0.0464, -0.0659, -0.0073, -0.1983, -8.2803, 6.9812, 2.0293, 0.1001, 0.0366, -0.0024] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.205,"right_z":0.09},"note":"The first marker is visible inside the right basket. I’m moving to the blue marker beside the tan plush animal."})
tool
executing move_to over 15 steps (1.5s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe blue marker is aligned with the jaw column. I’m lowering around its shaft before closing.
move_to
right_x0.3020right_y0.2000right_z0.0000
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]: [-0.0246, 0.8238, 0.6159, -0.4038, -0.0223, -0.038, 0.9995, 0.9207, 1.4334, 0.5903, 0.1017, 0.6727, 0.511, 0.998] state[eef_state]: left_x=0.2949 left_y=0.0003 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9995 right_x=0.2938 right_y=0.2104 right_z=0.09 right_yaw=0.0869 right_pitch=0.0032 right_roll=0.0048 right_gripper=0.998 state[joint_eff]: [-0.1573, -1.8256, 7.159, 1.6874, -0.0513, -0.0464, -0.0122, 0.253, -6.2974, 5.6684, 1.2674, 0.4371, 0.0708, -0.0415] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.302,"right_y":0.2,"right_z":0},"note":"The blue marker is aligned with the jaw column. I’m lowering around its shaft before closing."})
tool
executing move_to over 6 steps (0.6s)
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 noteAt table height the blue shaft lies slightly right of center. I’m shifting about 2 cm right and closing around it.
move_to
right_y0.1830right_z-0.0080right_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]: [-0.0246, 0.8268, 0.6159, -0.4038, -0.0223, -0.038, 0.9995, 0.8745, 1.7809, 0.4438, 0.6579, 0.6437, 0.4789, 0.9979] state[eef_state]: left_x=0.2951 left_y=0.0003 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0541 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3061 right_y=0.2065 right_z=0.0131 right_yaw=0.0787 right_pitch=0.0326 right_roll=0.0356 right_gripper=0.9979 state[joint_eff]: [-0.0752, -1.2103, 7.0085, 1.7314, -0.0415, -0.0757, -0.0122, -0.8547, -4.547, 2.6051, 1.0818, 0.0757, -0.1978, -0.022] 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":{"right_y":0.183,"right_z":-0.008,"right_gripper":0},"note":"At table height the blue shaft lies slightly right of center. I’m shifting about 2 cm right and closing 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 opening is about 1.4 cm, matching the blue marker. I’m lifting to confirm it is secure.
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]: [-0.0246, 0.8268, 0.6159, -0.4038, -0.0219, -0.038, 0.9995, 0.8173, 1.8423, 0.3717, 0.8936, 0.6052, 0.4374, 0.1493] state[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1715 left_yaw=0.0023 left_pitch=-0.0541 left_roll=-0.0059 left_gripper=0.9995 right_x=0.314 right_y=0.1931 right_z=0.0113 right_yaw=0.0693 right_pitch=0.0917 right_roll=0.0867 right_gripper=0.1493 state[joint_eff]: [-0.0889, -1.4154, 7.0769, 1.7314, -0.0513, -0.0611, -0.0122, -0.8274, -3.9316, 2.1265, 1.1746, 0.0855, -0.0659, 0.9939] 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":{"right_z":0.08},"note":"The gripper opening is about 1.4 cm, matching the blue marker. I’m lifting to confirm it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe blue marker lifted with the gripper. I’m carrying it to the marker basket and maintaining the idle arm’s parked height.
move_to
right_x0.4900right_y0.1800right_z0.2200left_x0.2967left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0246, 0.8284, 0.6159, -0.4038, -0.0219, -0.038, 0.9995, 0.8165, 1.4929, 0.4324, 0.4736, 0.5903, 0.4305, 0.1541] state[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1711 left_yaw=0.0023 left_pitch=-0.0557 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3102 right_y=0.1918 right_z=0.0708 right_yaw=0.0847 right_pitch=0.0792 right_roll=0.0799 right_gripper=0.1541 state[joint_eff]: [-0.1436, -1.5111, 7.0359, 1.7021, -0.0562, -0.0317, -0.0122, -0.0342, -5.7094, 7.5282, 1.5214, 0.3004, 0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.18,"right_z":0.22,"left_x":0.2967,"left_y":0,"left_z":0.19},"note":"The blue marker lifted with the gripper. I’m carrying it to the marker basket and maintaining the idle arm’s parked height."})
tool
executing move_to over 14 steps (1.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe blue marker is above the same basket as the first pen. I’m releasing it into that basket.
move_to
right_z0.1550right_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]: [-0.0246, 0.8444, 0.6567, -0.4709, -0.0223, -0.0414, 0.9995, 0.437, 1.7214, 1.2968, -0.1162, 0.2558, 0.2127, 0.155] state[eef_state]: left_x=0.2919 left_y=0.0003 left_z=0.1718 left_yaw=0.0045 left_pitch=-0.098 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4834 right_y=0.1804 right_z=0.2029 right_yaw=0.0942 right_pitch=0.0366 right_roll=0.0654 right_gripper=0.155 state[joint_eff]: [-0.1026, -1.6068, 10.0171, 1.7021, -0.0366, 0.0171, -0.0073, -0.5812, -9.2513, 9.2923, 1.9072, 0.0415, -0.0366, 1.0281] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.155,"right_gripper":1},"note":"The blue marker is above the same basket as the first pen. I’m releasing it into that basket."})
tool
executing move_to over 9 steps (0.9s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteBoth collected markers are in the right basket. I’m parking the right arm and approaching the remaining yellow marker with the left arm.
move_to
right_x0.3000right_y0.0000right_z0.2000left_x0.3200left_y-0.1300left_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]: [-0.0246, 0.8444, 0.6563, -0.4709, -0.0223, -0.0448, 0.9995, 0.437, 1.7611, 1.1675, 0.0422, 0.2489, 0.2085, 0.9982] state[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.1716 left_yaw=0.0064 left_pitch=-0.0984 left_roll=-0.0099 left_gripper=0.9995 right_x=0.481 right_y=0.1806 right_z=0.1577 right_yaw=0.1023 right_pitch=0.0255 right_roll=0.0616 right_gripper=0.9982 state[joint_eff]: [-0.0068, -1.1692, 7.2, 1.7216, -0.0611, 0.0024, -0.0073, -0.1026, -8.0752, 6.2291, 1.9658, 0.1099, 0.0269, -0.0317] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"left_x":0.32,"left_y":-0.13,"left_z":0.08},"note":"Both collected markers are in the right basket. I’m parking the right arm and approaching the remaining yellow marker with the left arm."})
tool
executing move_to over 16 steps (1.6s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe yellow marker is left of the jaw centerline. I’m shifting left to align its shaft and descending to table height.
move_to
left_y-0.0850left_x0.3200left_z0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
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]: [-0.6453, 1.3338, 0.527, -0.0059, -0.4755, -0.4503, 0.9995, -0.1741, 0.8246, 0.6643, -0.384, -0.2459, -0.0952, 0.998] state[eef_state]: left_x=0.3121 left_y=-0.1292 left_z=0.0684 left_yaw=-0.0145 left_pitch=-0.1415 left_roll=0.0115 left_gripper=0.9995 right_x=0.3025 right_y=-0.0059 right_z=0.2012 right_yaw=0.0702 right_pitch=0.0323 right_roll=0.0558 right_gripper=0.998 state[joint_eff]: [-0.1162, -4.4376, 7.1863, 1.7167, -0.4322, -0.149, -0.0122, 0.0889, -1.6889, 7.1863, 1.6923, -0.149, -0.0806, -0.0366] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.085,"left_x":0.32,"left_z":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The yellow marker is left of the jaw centerline. I’m shifting left to align its shaft and descending to table height."})
tool
executing move_to over 5 steps (0.5s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe yellow shaft is still just left of the fingertips. I’m correcting left by about 3 cm and closing around it.
move_to
left_y-0.0520left_z-0.0080left_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]: [-0.4873, 1.684, 0.2283, 0.8307, -0.4187, -0.3195, 0.9995, -0.1722, 0.8303, 0.664, -0.4072, -0.2539, -0.1055, 0.9979] state[eef_state]: left_x=0.3228 left_y=-0.0858 left_z=0.0025 left_yaw=0.0208 left_pitch=-0.0036 left_roll=-0.0157 left_gripper=0.9995 right_x=0.2999 right_y=-0.0035 right_z=0.1948 right_yaw=0.0842 right_pitch=0.0053 right_roll=0.0583 right_gripper=0.9979 state[joint_eff]: [0.212, -3.6171, 2.3726, 1.3358, -0.0806, 0.2466, -0.0122, -0.4991, -1.6615, 7.0769, 1.9951, -0.0269, 0.0317, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.052,"left_z":-0.008,"left_gripper":0},"note":"The yellow shaft is still just left of the fingertips. I’m correcting left by about 3 cm and closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe jaws stopped at roughly 2 cm, consistent with the thicker yellow marker. I’m lifting to verify it is held.
move_to
left_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]: [-0.3256, 1.7348, 0.1791, 1.0622, -0.3054, -0.2314, 0.2161, -0.1722, 0.8303, 0.6636, -0.408, -0.2527, -0.1055, 0.9979] state[eef_state]: left_x=0.3375 left_y=-0.0541 left_z=0.0156 left_yaw=0.0441 left_pitch=0.0911 left_roll=-0.0494 left_gripper=0.2161 right_x=0.2998 right_y=-0.0037 right_z=0.1945 right_yaw=0.0832 right_pitch=0.004 right_roll=0.058 right_gripper=0.9979 state[joint_eff]: [0.2256, -3.2889, 1.935, 1.2137, 0.0855, 0.0806, 1.0281, -0.1026, -1.4564, 7.3915, 1.7216, -0.1636, -0.0611, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085},"note":"The jaws stopped at roughly 2 cm, consistent with the thicker yellow marker. I’m lifting to verify it is held."})
tool
executing move_to over 5 steps (0.5s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe yellow marker has lifted off the table. I’m carrying it toward the near-left interior of the marker basket, within the left arm’s reach.
move_to
left_x0.4900left_y-0.3900left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3256, 1.2514, 0.2749, 0.4854, -0.3061, -0.2356, 0.2175, -0.1722, 0.8341, 0.6636, -0.4095, -0.2523, -0.1055, 0.9979] state[eef_state]: left_x=0.3351 left_y=-0.0532 left_z=0.0809 left_yaw=0.047 left_pitch=0.0933 left_roll=-0.0536 left_gripper=0.2175 right_x=0.2999 right_y=-0.0038 right_z=0.1931 right_yaw=0.0829 right_pitch=-0.0012 right_roll=0.0592 right_gripper=0.9979 state[joint_eff]: [-0.1026, -4.0821, 7.747, 1.5995, -0.105, -0.0171, 0.7937, -0.1026, -1.7709, 7.0359, 1.7411, -0.1001, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.39,"left_z":0.24},"note":"The yellow marker has lifted off the table. I’m carrying it toward the near-left interior of the marker basket, within the left arm’s reach."})
tool
executing move_to over 30 steps (3.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe new view shows plush fabric moving with the left gripper, while the yellow marker remains on the table. I’m correcting the destination to the left basket for the grasped plush animal.
move_to
left_x0.4900left_y-0.1400left_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]: [-0.8707, 2.402, 2.4149, -0.6601, -0.7593, -0.5995, 0.2197, -0.1715, 0.8379, 0.6628, -0.4103, -0.2523, -0.1059, 0.9979] state[eef_state]: left_x=0.4936 left_y=-0.3916 left_z=0.2338 left_yaw=0.0531 left_pitch=0.1056 left_roll=-0.0938 left_gripper=0.2197 right_x=0.3 right_y=-0.0036 right_z=0.1916 right_yaw=0.0839 right_pitch=-0.0064 right_roll=0.0602 right_gripper=0.9979 state[joint_eff]: [-0.5949, -14.653, 7.5829, 0.9206, -0.4029, 0.1245, 0.823, -0.1162, -1.7709, 7.0632, 1.7167, -0.105, -0.0464, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.14,"left_z":0.23},"note":"The new view shows plush fabric moving with the left gripper, while the yellow marker remains on the table. I’m correcting the destination to the left basket for the grasped plush animal."})
tool
executing move_to over 23 steps (2.3s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe grasped plush is now over the left basket. I’m releasing it there, keeping the two categories separate.
move_to
left_z0.1600left_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]: [-0.4194, 1.7206, 1.3094, -0.1394, -0.3962, -0.3351, 0.2218, -0.1715, 0.8379, 0.6628, -0.4099, -0.2527, -0.1059, 0.9979] state[eef_state]: left_x=0.492 left_y=-0.1408 left_z=0.2083 left_yaw=0.0794 left_pitch=0.0552 left_roll=-0.076 left_gripper=0.2218 right_x=0.3001 right_y=-0.0035 right_z=0.1916 right_yaw=0.0842 right_pitch=-0.0059 right_roll=0.0603 right_gripper=0.9979 state[joint_eff]: [0.1573, -11.8496, 6.8308, 2.0293, -0.0611, 0.2125, 0.6716, -0.0615, -1.306, 7.0359, 1.707, -0.1538, -0.0562, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_gripper":1},"note":"The grasped plush is now over the left basket. I’m releasing it there, keeping the two categories separate."})
tool
executing move_to over 8 steps (0.8s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe first plush is in the left basket; two tan plush animals remain in the center. I’m approaching the nearer tan animal with the right arm while parking the left arm.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.2450right_y0.3300right_z0.0550
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]: [-0.4206, 1.7576, 1.1816, 0.0135, -0.3882, -0.3405, 0.9953, -0.1715, 0.8379, 0.6628, -0.4103, -0.2527, -0.1059, 0.9979] state[eef_state]: left_x=0.4897 left_y=-0.1419 left_z=0.1639 left_yaw=0.0742 left_pitch=0.0426 left_roll=-0.0788 left_gripper=0.9953 right_x=0.3 right_y=-0.0035 right_z=0.1916 right_yaw=0.0842 right_pitch=-0.0063 right_roll=0.0604 right_gripper=0.9979 state[joint_eff]: [-0.1299, -8.1709, 6.2017, 1.7216, -0.2613, 0.0513, 0.0024, -0.0752, -1.3197, 7.2684, 1.6825, -0.1245, -0.0562, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":0,"left_z":0.2,"right_x":0.245,"right_y":0.33,"right_z":0.055},"note":"The first plush is in the left basket; two tan plush animals remain in the center. I’m approaching the nearer tan animal with the right arm while parking the left arm."})
tool
executing move_to over 28 steps (2.8s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe nearer tan plush lies between the open jaws. I’m lowering slightly and grasping its body.
move_to
right_z0.0250right_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]: [-0.0662, 0.8074, 0.6456, -0.3325, -0.1062, -0.1738, 0.9967, 1.2407, 1.8187, 0.8856, -0.0391, 0.8455, 0.8669, 0.9979] state[eef_state]: left_x=0.3062 left_y=0.0021 left_z=0.2061 left_yaw=0.1045 left_pitch=0.0672 left_roll=-0.0891 left_gripper=0.9967 right_x=0.2462 right_y=0.3219 right_z=0.0522 right_yaw=0.1007 right_pitch=-0.0211 right_roll=0.0403 right_gripper=0.9979 state[joint_eff]: [0.1983, -1.3744, 6.8308, 1.7021, 0.0415, 0.0708, 0.1294, 0.759, -8.1026, 6.9949, 0.9988, 0.5885, 0.1392, -0.0171] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_gripper":0},"note":"The nearer tan plush lies between the open jaws. I’m lowering slightly and grasping its body."})
tool
executing move_to over 10 steps (1.0s)
step 248
top_cam
camera top_cam step 248
left_cam
camera left_cam step 248
right_cam
camera right_cam step 248
assistant
agent noteThe close was empty; the tan animal is forward and left of the fingertips. I’m reopening and moving onto its torso for a corrected grasp.
move_to
right_gripper1.0000right_x0.2850right_y0.3600right_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0639, 0.8135, 0.643, -0.3473, -0.0971, -0.1753, 0.9968, 1.2415, 1.8812, 0.857, 0.0727, 0.8333, 0.868, 0.0121] state[eef_state]: left_x=0.3048 left_y=0.0013 left_z=0.1999 left_yaw=0.0996 left_pitch=0.0431 left_roll=-0.0909 left_gripper=0.9968 right_x=0.2461 right_y=0.3269 right_z=0.0316 right_yaw=0.1083 right_pitch=-0.0215 right_roll=0.0642 right_gripper=0.0121 state[joint_eff]: [-0.2393, -1.894, 7.2547, 1.8974, -0.1343, -0.0611, -0.0122, -0.2256, -7.0496, 4.4239, 1.1258, 0.3932, -0.0513, 0.8816] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.285,"right_y":0.36,"right_z":0.035},"note":"The close was empty; the tan animal is forward and left of the fingertips. I’m reopening and moving onto its torso for a corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 258
top_cam
camera top_cam step 258
left_cam
camera left_cam step 258
right_cam
camera right_cam step 258
assistant
agent noteThe jaws now surround the tan plush’s torso. I’m closing to secure 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]: [-0.0639, 0.8135, 0.643, -0.3519, -0.0967, -0.1757, 0.9968, 1.1755, 1.99, 1.0168, 0.065, 0.7906, 0.7895, 0.9948] state[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.1989 left_yaw=0.0995 left_pitch=0.0385 left_roll=-0.0907 left_gripper=0.9968 right_x=0.2799 right_y=0.354 right_z=0.0313 right_yaw=0.1109 right_pitch=-0.0294 right_roll=0.053 right_gripper=0.9948 state[joint_eff]: [-0.0479, -1.1966, 7.0496, 1.8339, -0.1001, -0.022, -0.0073, -0.7179, -8.8684, 7.2957, 1.2381, 0.359, 0.0073, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now surround the tan plush’s torso. I’m closing to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 268
top_cam
camera top_cam step 268
left_cam
camera left_cam step 268
right_cam
camera right_cam step 268
assistant
agent noteThe second right-arm grasp was also empty; the overhead view shows the plush farther left than the jaws. I’m switching to the left arm for a better-centered approach.
move_to
right_x0.3000right_y0.0000right_z0.2000right_gripper1.0000left_x0.3300left_y-0.2500left_z0.0450left_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]: [-0.0639, 0.8135, 0.643, -0.3523, -0.0967, -0.1757, 0.9968, 1.1721, 1.9919, 1.0199, 0.065, 0.775, 0.7853, 0.0112] state[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.1988 left_yaw=0.0995 left_pitch=0.0381 left_roll=-0.0906 left_gripper=0.9968 right_x=0.2801 right_y=0.3557 right_z=0.0299 right_yaw=0.1195 right_pitch=-0.0394 right_roll=0.0565 right_gripper=0.0112 state[joint_eff]: [-0.1573, -1.4017, 7.2137, 1.8095, -0.0904, -0.0415, -0.0122, 0.1709, -9.9077, 5.1761, 1.2918, 0.4469, 0.0611, 0.9158] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"right_gripper":1,"left_x":0.33,"left_y":-0.25,"left_z":0.045,"left_gripper":1},"note":"The second right-arm grasp was also empty; the overhead view shows the plush farther left than the jaws. I’m switching to the left arm for a better-centered approach."})
tool
executing move_to over 30 steps (3.0s)
step 298
assistant
agent noteThe plush shifted to the right during the approach. Its body is visible beside the fingertips, so I’m aligning over that body and closing.
move_to
left_x0.3100left_y-0.3100left_z0.0150left_pitch0.0000left_roll0.0000left_yaw0.0000left_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]: [-0.9646, 1.7996, 0.7921, 0.2352, -0.8814, -0.7856, 0.9984, -0.1474, 0.8696, 0.693, -0.4618, -0.2008, -0.0902, 0.9979] state[eef_state]: left_x=0.3384 left_y=-0.2426 left_z=0.0669 left_yaw=0.1361 left_pitch=0.0972 left_roll=-0.1126 left_gripper=0.9984 right_x=0.2993 right_y=-0.0052 right_z=0.185 right_yaw=0.0568 right_pitch=-0.0653 right_roll=0.0564 right_gripper=0.9979 state[joint_eff]: [-0.9915, -5.6684, 4.9299, 1.116, 0.1538, -0.1343, -0.1734, -0.1846, -1.5658, 9.7436, 1.6044, -0.2369, -0.0073, -0.1245] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.31,"left_z":0.015,"left_pitch":0,"left_roll":0,"left_yaw":0,"left_gripper":0},"note":"The plush shifted to the right during the approach. Its body is visible beside the fingertips, so I’m aligning over that body and closing."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThe plush was contacted by the outside of the gripper rather than captured. I’m lifting and moving forward-right so the open fingertips approach from above instead of pushing it.
move_to
left_x0.3700left_y-0.3700left_z0.1000left_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]: [-1.0805, 1.9644, 0.9764, 0.1692, -0.9463, -0.8127, 0.011, -0.1497, 0.8734, 0.6926, -0.4778, -0.2104, -0.1051, 0.9979] state[eef_state]: left_x=0.3295 left_y=-0.3055 left_z=0.0578 left_yaw=0.0733 left_pitch=0.1178 left_roll=-0.0748 left_gripper=0.011 right_x=0.2972 right_y=-0.0039 right_z=0.1809 right_yaw=0.0708 right_pitch=-0.0833 right_roll=0.0543 right_gripper=0.9979 state[joint_eff]: [-1.8393, -4.9026, 4.4786, 0.6325, 0.5397, -0.2271, 0.8767, -0.0205, -1.9897, 6.9949, 1.7705, -0.0464, 0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.37,"left_z":0.10,"left_gripper":1},"note":"The plush was contacted by the outside of the gripper rather than captured. I’m lifting and moving forward-right so the open fingertips approach from above instead of pushing it."})
tool
executing move_to over 10 steps (1.0s)
step 318
assistant
agent noteThe open gripper is now above the tan plush rather than behind it. I’m lowering onto its torso.
move_to
left_x0.3900left_y-0.3900left_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]: [-1.0691, 2.1006, 1.3708, -0.0715, -0.9421, -0.8127, 0.9953, -0.1497, 0.8734, 0.6926, -0.4789, -0.2108, -0.1055, 0.9979] state[eef_state]: left_x=0.3675 left_y=-0.3654 left_z=0.0964 left_yaw=0.0839 left_pitch=0.1221 left_roll=-0.0922 left_gripper=0.9953 right_x=0.297 right_y=-0.0038 right_z=0.1806 right_yaw=0.0713 right_pitch=-0.0844 right_roll=0.0545 right_gripper=0.9979 state[joint_eff]: [-0.2393, -10.5231, 7.8017, 1.1404, -0.3834, 0.1099, -0.1538, -0.1709, -1.7162, 6.9265, 1.6337, -0.0806, -0.0659, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.39,"left_z":0.025},"note":"The open gripper is now above the tan plush rather than behind it. I’m lowering onto its torso."})
tool
executing move_to over 5 steps (0.5s)
step 323
assistant
agent noteThe fingertips are down around the tan plush. I’m closing while holding this 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]: [-1.0454, 2.3222, 1.4471, 0.0662, -0.9428, -0.8085, 0.9967, -0.1497, 0.8753, 0.6926, -0.4789, -0.2111, -0.1059, 0.9979] state[eef_state]: left_x=0.3893 left_y=-0.3793 left_z=0.0296 left_yaw=0.105 left_pitch=0.1197 left_roll=-0.0812 left_gripper=0.9967 right_x=0.2971 right_y=-0.0038 right_z=0.1801 right_yaw=0.0719 right_pitch=-0.0862 right_roll=0.0548 right_gripper=0.9979 state[joint_eff]: [-0.4034, -11.6718, 6.9128, 1.2039, -0.2418, 0.0952, 0.1343, -0.0068, -1.853, 7.1179, 1.6484, -0.1197, -0.0708, -0.0073] 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":{"left_gripper":0},"note":"The fingertips are down around the tan plush. I’m closing while holding this position."})
tool
executing move_to over 10 steps (1.0s)
step 333
assistant
agent noteThe latest close is empty, so I won’t drag or carry the animal. I’m parking both arms clear of the objects to leave the workspace safe and check the remaining items.
move_to
left_x0.3000left_y0.0000left_z0.2000left_gripper1.0000right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0439, 2.3341, 1.4563, 0.099, -0.9424, -0.7998, 0.0104, -0.1497, 0.8753, 0.6926, -0.4789, -0.2111, -0.1059, 0.9979] state[eef_state]: left_x=0.3927 left_y=-0.3836 left_z=0.0306 left_yaw=0.1051 left_pitch=0.1322 left_roll=-0.101 left_gripper=0.0104 right_x=0.2971 right_y=-0.0038 right_z=0.1801 right_yaw=0.0719 right_pitch=-0.0862 right_roll=0.0548 right_gripper=0.9979 state[joint_eff]: [-0.9504, -11.5487, 6.8991, 1.326, -0.2564, 0.0317, 0.823, -0.1983, -1.7299, 6.9675, 1.6337, -0.1245, -0.0611, -0.0073] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"left_gripper":1,"right_x":0.3,"right_y":0,"right_z":0.2},"note":"The latest close is empty, so I won’t drag or carry the animal. I’m parking both arms clear of the objects to leave the workspace safe and check the remaining items."})
tool
executing move_to over 35 steps (3.5s)
step 368
assistant
agent noteSorting is incomplete. Two marker pens are in the right basket and one small brown plush animal is in the left basket. The yellow marker, gray plush, and larger tan plush remain on the table. Repeated attempts to grasp the tan plush were empty and displaced it, so I stopped with both arms parked rather than continuing unreliable contact.
give_up
hindsightCheck object identity after every lift, not just gripper width: the left arm grasped a small brown plush while targeting the yellow marker. A nonzero opening alone did not identify the object. The large tan plush was repeatedly pushed by the gripper exterior; after empty grasps, clear the overhead view before re-estimating its position rather than relying on an occluded wrist view. Verified right-basket release pose was approximately right_x=0.49, right_y=0.18, right_z=0.155; left-basket release pose was left_x=0.49, left_y=-0.14, left_z=0.16.
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]: [-0.112, 0.7471, 0.5102, -0.2058, -0.1997, -0.2279, 0.9987, -0.1295, 0.894, 0.7399, -0.5354, -0.202, -0.1051, 0.9979] state[eef_state]: left_x=0.301 left_y=0.005 left_z=0.1882 left_yaw=0.1682 left_pitch=0.1241 left_roll=-0.108 left_gripper=0.9987 right_x=0.2962 right_y=0.0008 right_z=0.185 right_yaw=0.0846 right_pitch=-0.1146 right_roll=0.0559 right_gripper=0.9979 state[joint_eff]: [0.0479, -1.4427, 9.935, 1.8193, 0.0757, 0.1685, 0.0073, 0.6359, -1.5795, 10.0718, 1.5702, -0.0024, 0.1294, -0.0122] camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Sorting is incomplete. Two marker pens are in the right basket and one small brown plush animal is in the left basket. The yellow marker, gray plush, and larger tan plush remain on the table. Repeated attempts to grasp the tan plush were empty and displaced it, so I stopped with both arms parked rather than continuing unreliable contact.","hindsight":"Check object identity after every lift, not just gripper width: the left arm grasped a small brown plush while targeting the yellow marker. A nonzero opening alone did not identify the object. The large tan plush was repeatedly pushed by the gripper exterior; after empty grasps, clear the overhead view before re-estimating its position rather than relying on an occluded wrist view. Verified right-basket release pose was approximately right_x=0.49, right_y=0.18, right_z=0.155; left-basket release pose was left_x=0.49, left_y=-0.14, left_z=0.16."})
tool
give_up: Sorting is incomplete. Two marker pens are in the right basket and one small brown plush animal is in the left basket. The yellow marker, gray plush, and larger tan plush remain on the table. Repeated attempts to grasp the tan plush were empty and displaced it, so I stopped with both arms parked rather than continuing unreliable contact.
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 · 16.13 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]: [-0.0227, 0.7986, 0.6174, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0189, -0.025, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1849 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0023 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2786, 9.306, 1.7656, -0.0269, 0.1734, -0.0562, -0.8684, -1.4154, 9.7846, 1.7167, -0.0611, 0.1245, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0094d2e8ddb2cd2e2bca471c1e9fc103f89bac486e1975dac8a2314bd9e2664",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568b7fa790bb8353a54aaf29082a648328db540a1be081cac5278269df1fd222",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4650bb94ab85b6f66dc0139a5ae0ca4b30e606e1318c04cffa5f248e5fc24056",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.23 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsto48zDGIeUV2G_QtE7TYA_5FzcQvnMV6YtUqb6G-xAD_nFhAd6E8IIrVsA-SNX87Irbw2TW44QhTyeE-UUH7zsPkgdVi-yxUkrJBDA3ODo0jIkcs-z03f0L0vjpRUsg1AVzP5cUs5hSBhxfnr3zoAk9YY24U6ywh8hbASioz5SsvjYCkmZJNKWUNgX1ArP6OdV5r3vo22yK7_mDKKA4C3Mo77QCqxlzcgMKCB8CypXMQrfN8BYOMb3uPiODXEixAfkiMfZjHeIfc1G803uYsrkYcShM2shVGOsiKhpeCjN3Dsorwyzfg9ZjQ-JMuScGrC0LFi3meOHJ_APECR_Lo75ecaFBwr9J_Fi8WBximgfXjHx_dxZBUpzFCHhVngSKXuFy_fzEcCfM8OH_mpmqRwIjy0JqoeF-5EI1FSXyQ0BNfnBumLpGHMxLX5m6a0UTvj2nbU_gvviLV3sL0KJFhnIp8UljeqNw61UqvpCOuAVArwAcYnyHjY5FxHG5IDi0BarBZ6iCsLslj-lut6Tr4xYsjDwun_AFCSJtK2vXN8H-kyovo4nABXpap6oPGBBI6ql0NJ8V2xuvuFnKhUFiJkA79RNFx7h6_FAM_HXz-jAVOWSMT_hhG0NMshOkru_fLW3c2c5k7MJ5iRHReHsQWWFn2wspZ6CgiQhDYIP7oIpYd9ArRk0E0mEniqXz7yb9GYCNxkDNogOpUZE5aFo3H5pqAy50dnlIn2FGgfKyhbwa8wz1XESOwhxk-cNkGb4hPKtUFFsjtF_SbuzNVnIgma_BFwk4wRyPD83LH_C6PzCSqetWE8Wu8M9OXfeeKilXe5CGS-rFb-ISNgIXIqw27axiBq-stEa2d1lrpstWh5IATMggJv51EQhra-1aoNdYOeqSEa0kFsDJ7q8_zfTdsyEe5lzJ9MN4DWShnrnQS4ZYXXvp39mNQtrYuDW0OMk16ia0NKILFenbfla3st6jhDb5Wz_98Yyghat5aeJFpKB-_b72kzpQz_c2K4BfALDhkf1796pDv9XY1FXy4AtidFnOtjFahzlBFLPcLXQNor3dZ2S6r0FSeqULLKO9LWnF-OrJZgTRVcKPb3avtxWsfmjdcnwPSqXUf_PMUulUDXw5Yo3fBo5JGLZyBka4waxDF0vNGmK-LhL0JPZxWnvw2qDsvx4b0xStaep-OaZm1Zcl6NuoSANk-a_AfT27oaI6BuD7PnG8jMHg0SnAkFEbQdyXnebI3mf0T2uznlDglS--bE0rizCIzQJl-XGqIdQsJEqwA6Z-VomGNQ65PA7BZkJtpNQhCVw2mOiiK-CWPEd9ZsRBU7IO96ICujJB_QwFOsA1tp600swMM9x-ASrglLOhqWkIpo8dxIkLujxuYAL2v3LRMYY6DsILhcV-y9kRbDpvdpoTYvTawIl9xMsgvQtwOa-yPnPITCRxmfmL4w8Vw_sE5uscEd_5pifN7yf04GNFBs59l9uPs-wHXeLP62uoB4oM33mtlkEGTYPs-ex96Hgw2P0QLZcSdEYNKz_jH1c7SJ0gQd_7iKYeHTGmxqDgfJ0R6-JxlKjSij3tv7birFH4xeD5qBMnUbmAuhmrP0YB4mgx0feA5qrBC9DQw5TUVvelcqvv6Un3THj811sj15xzKLabCKA3wUkwSbapA_oswdqz20pg9HhvZ5fLup8zpJyHdEKE-jPm2_rXHZ_jWUgT5WPU1hWc1BA0Z1POgWQFWKM09m-zNit3p4iQJ__IaSDZHr1JVUSHf6mBeEspOvwJPVpaz_fA2VIxIqmaCEKsFTna8YFYBdqmZ0C5ISAn2iI2r3laxYPhC3MbZMfZNlu4YWeEWsyBvKlic9mrOdPkuRotS8-HTftAtVil2stsncJY_UXNT0W_7bbr10-BMPrnwHNGP9_ljJRF-xdI_0_7jaYujehfSVuNSfvb9Kje23OFVf93COa69ao9AWD-3hPKRyTeGoudAmoYBlZrGfJwgr7mLIQA9QhC5EoJKjvjLU5FsCDkxkd1Pl6hWKaDGEsk1aPATggz4KEYyhKN9TWbSA_jAZ9L_kJiNPqYiFozQ-vAVM9jT6gAwlgvcz8vMvaATL98GKpMtugw41o2I6Vtn0KjH0LJ0Dwd0g_ezFY3Eq-kGBuJKsppuiEk-Sg_dyY_d25gu2Pee4YHLhd4fKLMdi-gjwusXfWQAmgiajiclq7ZMAToSL7wK86eDTClv-w9mIIkemgEIrhwLry56QX2vfepNz72n2Wjg0P6OAiTF-Held3hCKM6GiJGDgmtW6lE7YDfIamFQhT83jsWzngB",
  "id": "rs_0366db2dfd1dbd64016ab2da2bd67c87d089e3cdd60b42b9f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.12,\"right_z\":0.075,\"right_gripper\":1,\"left_x\":0.2967,\"left_y\":0,\"left_z\":0.19},\"note\":\"I see two object types: plush animals and marker pens. I’ll sort animals into the left basket and pens into the right basket, starting with the white-and-black pen on the right.\"}",
  "call_id": "call_LqR1nzx7PWYMLa1aeufd0PIs",
  "id": "fc_0366db2dfd1dbd64016ab2da35cb4487d08a4e0a40c1eefde9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LqR1nzx7PWYMLa1aeufd0PIs",
  "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]: [-0.0238, 0.8043, 0.617, -0.3901, -0.0223, -0.0341, 0.9996, 0.6811, 1.2007, 0.3435, 0.1497, 0.5312, 0.3687, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0005 left_z=0.181 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9996 right_x=0.2866 right_y=0.1218 right_z=0.0678 right_yaw=0.0305 right_pitch=-0.0351 right_roll=-0.0225 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -1.4427, 8.6906, 1.6923, -0.0513, 0.0073, -0.0171, -0.1162, -3.7128, 5.7778, 1.7216, 0.3541, 0.1587, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb86f9b262ef6ad2ed5219f498030c2a57162f926248da29a941950aa3a3fff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e5aa763359d7a2bfd5bda0948612c87dcb563b4865b9d135ac9ef9967a8ea1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58a6c831736ef0a7825bd58fe26468bfcacc3b410d3de3d1e4586823c412432",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.731 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]: [-0.0227, 0.7986, 0.6174, -0.3798, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0189, -0.025, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1849 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0023 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2786, 9.306, 1.7656, -0.0269, 0.1734, -0.0562, -0.8684, -1.4154, 9.7846, 1.7167, -0.0611, 0.1245, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstpFoEOOia5lazADl69QLj0LV21wRsnOMHLzGw2oKBgCdR2MVv8l_IPVw3TnpdcxAn2VhCmsyGLqVL4kXlJaJ8ch8hD3QpnE2h2QqXH5pKPH5scE3HoWmGAs3dVQs5sgyAiODDz9g8RHdmSvkWSN1ZOOQT4KyucGbX9QjCDFMx5bo4A8ccghb7Tq0xZgmdSKGpXmfvLDIkYZ-L0G-6gpaQikSnymTAfVAOG7-nAX3LI2qss-7TzYLoYXVWUx0wxHDB3wLlfQfcL2H3gooGUkBh4miEeV8moGKVMGsNpxrqVcfKt-rrb51nD3LpW-zRUBXVSYf0yrbULm5aBxEh5mgtc5nZPTRcGGOTEPy493iYInlyzMfQXKpvwhJcfGuo_Ig9CK_t4qCuJZS_Jr6e-H2UVIHJf58ptcsTqFk_JqKMF3PCtvex41lWxKsjQnqpHEzkB5xeTC5vu6SzsHRuoFnN_w3sEXIuAriohIZgg3Ri7v8ne-f6DJltx-E8GdpJIax4BLenVYIWhgabfGM2CA11m_emi-fH16rUbd0p9lQ5j_1qSLryQtMCQo2NY49eIeS4WcHCMH3edyQ9pgT2LlAD1zi7tU3gZ-2izMtkIqQNhHO_fuJ3iDecdosdzZjQprfBx1VmIahYEtKp4BI0SC5_z88fxtLW7j-gQill1sgFNNR9BVipaG66cna5cOv-S06nUOtHKeMb3XPb49FLQfDNiTuOY4LZqqAgb8IyFs8q-Hdn5Z7kSgepm8OiAp_hSfWvtCCtLcwLiW93o3dYNOSPeCPtmzevSWuiapld9KRHWOZOBJQetBALVRZi00Abd5PSlMfqJohaMqeRW_ZYOFdbUGKURC_NTIqlIEPk4Nyxr-ON0M3TboSgy8zt9RhSop2_6G9fJhf1YB6kK5SDe7NYqko-f8XzV5rNYb6QVwQvingGMta7xDh66MjGnY9bIArwpWqugdoZMJrtLG1FVVxGvVhq_uhYq2RhxxORXp_YU83dxCFLhCqkQuHmAIQhWvBE03VYQev4aVZJu4NF3jUe25Uz6Pj2rPPzZ5YY1WElcrBvuyVnZmBCyuPZ4qttRNxCs_fhTJyZBjOobXK65j2tHZxLc45kAGVj0tikWMW1lDTG7KuY21cmo33aloYisUoqX_Dtj0mpWLyd9eKKSfm1JSUD6XORe_YXdJoci_OUxvWOpV8gY96PqWN1Ul1qH-LEsmuDZ_HOtrY7YIuP81oYpuURNVl85kzRZxfjtr1EoDROKy_ewc6Es0ntinC6ByLWnIKPX2z4WX3CDdXzxunu2li9zcKobdoIYwlacMNUf5ohxtaQmhmrZMi60qsNqlMTops6PDbES4CwOdpbJJoqzI07B_gpU9oCBnBPCs1WdBarraXptQhz_ye8uJXjedyQg53TOGKcjMRikXV5xiJVDZd-rh1dUnd1LUwkpn9JV4ZGOQGsaha2NCxHI0HyNQskUhFBKJbmKaEfTrX7cPm6gIdwwu8TnHdFzq5Vqm1qUZaQhKf6IRRLh9bjlT6VbZSmh7bHbiJncwZx8onu2ZeYbkPN8_PVTn5-6uomX0cnP6BomBaFVCn-KyC3UjgBrTPsCU0URuc2sAHJ0uW667kHU2mAO6O3dHhw7Iwsf4LYr0_pxVv2K3HlwCaKdCpsf_hyRYspGKnayssRKYoMKhAZPz9cMraWBNUGllQugZw86q03JEbBsk7GCVzKq-e2jEyHvu",
  "id": "rs_0366db2dfd1dbd64016ab2da3ed0b487d08934a849ce67e7d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.088,\"right_z\":0.005},\"note\":\"The white-and-black pen is just right of the jaw centerline in the wrist view. I’m shifting right and lowering to straddle its shaft at table level.\"}",
  "call_id": "call_YH7Dj68XBa17XI84lZIdq7ZJ",
  "id": "fc_0366db2dfd1dbd64016ab2da43cc7c87d0b01021a4cb91d9b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YH7Dj68XBa17XI84lZIdq7ZJ",
  "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]: [-0.0246, 0.8066, 0.617, -0.4015, -0.0223, -0.0376, 0.9995, 0.5053, 1.5108, 0.1745, 0.709, 0.3946, 0.263, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0003 left_z=0.178 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.006 left_gripper=0.9995 right_x=0.301 right_y=0.093 right_z=0.0145 right_yaw=0.021 right_pitch=-0.013 right_roll=0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.265, 7.2, 1.8681, -0.0562, -0.0073, -0.0171, -0.4171, -3.2479, 2.6188, 0.9841, 0.1148, -0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1e372ff6eeb123111567cc2ad039b17bd4a7a4028a1676e8f0a40aa65a97d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07932a059cb0d524b11b3493864e1d97dfd72149f99687ce0a0220cbe7ae733",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a7bc329ef0048d3cacab8d64c3f0f3bc4f680217339af668f1a3879ddf57c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.836 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]: [-0.0238, 0.8043, 0.617, -0.3901, -0.0223, -0.0341, 0.9996, 0.6811, 1.2007, 0.3435, 0.1497, 0.5312, 0.3687, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0005 left_z=0.181 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9996 right_x=0.2866 right_y=0.1218 right_z=0.0678 right_yaw=0.0305 right_pitch=-0.0351 right_roll=-0.0225 right_gripper=0.9993\nstate[joint_eff]: [-0.4581, -1.4427, 8.6906, 1.6923, -0.0513, 0.0073, -0.0171, -0.1162, -3.7128, 5.7778, 1.7216, 0.3541, 0.1587, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstpMUf8PYinoyFjJrCOzK8Zb-EWPqyNLeDAdFsEN7jurClL0k3FLlsGQ3Y1J6RPEkKDbG-xRWTCOCndiLGlueDPNbJBGpgpLGpWpwheBtbrkvLK4bvc3TtHi-He5aa6Wwu7ELSUfwqY03XUO2ZpaNb5733hsFfeq6U1injCgPb-vzjb_4bNZcXA9EJN4ZeNlpL0OVA1ZiA7Z3p6ou2k-FrKTgcMpoGm612N8ojKPdOHJFGYV3Ll-pacBMfurZEJ_a0nrvPrKRjwyjlX8kjDGi0Nd8ydZMZ37HxryjyWeGz2vnOVj-INT2mmXy-EVIIfujkhvetE6zGVn3OqjHEPKq-gMwcLBl37_e7sZg5_B5_D9Sn3i91HF4R5zaI7iI0osL0LepxyFj0BTSgD0Cs8pHqjaMd1PDhELewU3Mu3awsq-kRWYaRFKe_BEXyVuASF2lrZuVw4thd_-SO4IhCS7-4fG9c-CkH85yyG33ZhL4x2IFPPwAaKuIZjaMxhFG-HSeZ8WqiDUWlgMzySZw9Z8Doo7dvJi0VsyAIbjM7UtBFPSTFeSayvNTAQroztNzefPFg-38be8w4o8kPgxSmYRrMJsu0_PblPv0dVp8MY-8K8gRrEFBdpVUNBRdAttuPGmrYZc_NpVRcnjtZP_eiiQ2Bg922jjQAwFn5aryQyXNRx2Rs3BoMCNWqKj7WNbVKYor3xXrY4p5h_OMvLXsFlds4qcp_rGiNaxf5e_FVxBlI8nA_5QkvgM80-6iAhDHsoo9LSoCfOxoDNFRmeyHAC0hbSjeLoeUPrwGtx82EAwGV1eAz3rJkklkcvJxghCFHLUK9Xv4WfCIIwpsPUKOBTpLby2GwwW5LOPgI3O-4_h8cMMo3G9UIJYC49k25wuypwpwRJi3Cwij-CBkLwFLnlLaBf4f6R9cLLybwGWbweu8GJNntyp9ZrdAopdyLkoYjjUWlPw9sEuun1wxRjuwPsYLN-uT7Rfo_q_LrXnAJi-3u6Zjrc8wqZRGCbysKUvxpP4GGyz8E8oPv_hNwJgNSYzjx20iBF9FLBwKQmrihQ4wiiaDm6SdxT5upmOaMG_LOjKWBfH5sW6f89CJrrZicHMjaEWxCBJuJxwbEnPVjfFY9HT2HUH8pl77-xk1nV6-NYLfsa6qvrnaMphSwHXXAWBwszQPsb_v9YxXp3u5paPrB3ANAwKF_2C2PxAM9-6Ogd7b4XiCwqZdIAOWFeYvuzn7ySKx3WFMerEW6CQihlb-Ge7CNfq6sp-6RD3fEeRkk4_t5L1oTSOsqgp5mYjtjStzIYJUFJjbCBD1Uy9gZ-Dzvww5IyecPGRXmwQmiryCMuPtOYWiLOmlmesE-1v0hLBHJXena9k2-Tj9ugPCyCHQpLr63KbMBGj7L_5XiDn_DOq4Y5NKO9xBQJb89D9VtQEwdEGTGHbeV9eA57SVmQMtKMqrazi_L4lvFr76y3_hQWYRpYJ6H0t0v-AzxXtJiceJUV13f_TFl6c603L7mq_ASbtr0o=",
  "id": "rs_0366db2dfd1dbd64016ab2da48811c87d09f4d6c2fe219b4d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.065,\"right_z\":-0.008,\"right_gripper\":0},\"note\":\"The pen shaft is still slightly right of the closing centerline. I’m making a final small lateral correction and closing gently at table height.\"}",
  "call_id": "call_W9J2GST3KuIZpKbF0Jpcy8I1",
  "id": "fc_0366db2dfd1dbd64016ab2da4a79d887d088cae0ce13ebad51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W9J2GST3KuIZpKbF0Jpcy8I1",
  "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]: [-0.0246, 0.8097, 0.617, -0.4034, -0.0219, -0.038, 0.9995, 0.3641, 1.6821, 0.1127, 1.0603, 0.2745, 0.1783, 0.1377]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1768 left_yaw=0.0022 left_pitch=-0.0355 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3143 right_y=0.0724 right_z=0.0126 right_yaw=0.0233 right_pitch=0.0707 right_roll=0.0371 right_gripper=0.1377\nstate[joint_eff]: [-0.0342, -1.5521, 7.159, 1.7216, -0.0415, -0.0611, -0.0073, -0.8274, -3.2479, 1.6205, 1.2186, 0.0122, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f36446cb7fdc2f9a8953379dcbb9996f6b3c0f7481842d2bfc27ae752d9c1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6823ba11c202162d8b334ef12c696c54203338d33cf11914d7eb5a4997612834",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7914482480b86cd45912f371ce360bf6751b51719444f3207a934d5c34e80610",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 6.481 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]: [-0.0246, 0.8066, 0.617, -0.4015, -0.0223, -0.0376, 0.9995, 0.5053, 1.5108, 0.1745, 0.709, 0.3946, 0.263, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0003 left_z=0.178 left_yaw=0.0024 left_pitch=-0.0305 left_roll=-0.006 left_gripper=0.9995 right_x=0.301 right_y=0.093 right_z=0.0145 right_yaw=0.021 right_pitch=-0.013 right_roll=0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.265, 7.2, 1.8681, -0.0562, -0.0073, -0.0171, -0.4171, -3.2479, 2.6188, 0.9841, 0.1148, -0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstpTbzv4e3W0mfScmaPGpHxmwyQ_oV40Sl2zuD7x1ycN-k8MXLDYED4kBQ-9bxNXHstPUFcJQY7K3d2a9UhqUrdb83AtbpZRydh5CMbxNNbvS8TmkR0a051Cc5l3snwP5UBkT38bILFBACTcR78oKtMVPPI9zm2jvIdtPj0vHdy2z2TOluQTSYyLsKk-YJbY_n2ad2WbNu48CY4t0_o5O4SeglM1uEyiNI6Gt1KcAXY55s8GMwdBGn8zoO3ETfNXzMKmOMoucpnqBchZdti3duBgty2byirpdagXuHznQfSu7t8Y8ILlfzwt8QCJeooFCtVGN8eYmpgkVQff_oq6r79RZkekSXdWSpINWyNImvicoxyY4ogRj_c_kzTzDLAsooUaiBoM0Pp-Mic6nnu9ja5nqrnaE9td6gSwf-zXQUjjef3dzYOP0_YZDPlhU69q8kCTCLK2YV3hB7AO6J0BrGhg8rECyliVlwOwB1gNOOErFgg0tZ_VPRo_oxyg6V872CWW6FstRq7eHGEb_3zDTveaPRpcLU1sQfZePTEL6h6K1aP9dyiHFQiCXeGQm7NgJj5yWoX7WH-q1ep6nvvx7RL-QcMjlInLJEbkI9JUxG4rqZx8TwY_HP5I2R5SX1fNe6jXzsMA5dJFI2eG9l6bj6R58ktLBqSfvWAJico6mEAmQMoJHP27-at_SAPHuqrFukmFF9ru2_TaFpE0fv9arF0P9_RK_C2QWvMTJ3hIY75czfK1b9bvVBDMYC7dJYBbjvgfP8p04JR01QloceRtmtYjsa7J7EFQwFiT8wCWJtl9DyQJMBCZ8ev6-QfZ3rBefw2iX_yc2vmCohfS8RJWDYeakLokObMkiyfj34o3uxMBDq_WwrYcCWz7psF-RiyWfrqmss8J7PN2bU5b0Qaz9YVTJbU-r9ytJIcC-h5RgbpS9Vuo73M4sQowlPL1Bg3eVoLJ40rOWq6vzD2ywdCJMaAgp4KqVFAWYj7xwQKXm3kEk1WdqXzqbhJd7QvTfzikCrNYUteicqrlMZpJ-lVdXuF_xu6qrQsHWKNS0k-CeI3j0qzZVNps35mQdQp1sVp139rhJPMkbP3ZaWl_iftMRdn63ramAwHBYYNgldnkmVFwHzOuaPNYcF7xZw-bz2mJqVmPhos8lzSWv-kGoDg2b5kFvEEJ19KVhk22SvXS_MCkfT_5eLERK1DP_JeuFowZvUezSK0y1-0jgqgRyQU6ZoC0MUqKT7rwsR6ZAqmjOhQwqHo=",
  "id": "rs_0366db2dfd1dbd64016ab2da50801087d0a1a3fe11f3eaa57d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_z\":0.075},\"note\":\"The gripper stopped at about 1.3 cm, consistent with a marker shaft. I’m lifting a short distance to verify the pen came off the table.\"}",
  "call_id": "call_twqewx71nhew374zo8x2Ng26",
  "id": "fc_0366db2dfd1dbd64016ab2da52047487d0b1a40a50fdef8f7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_twqewx71nhew374zo8x2Ng26",
  "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]: [-0.0246, 0.8146, 0.6167, -0.4038, -0.0219, -0.0383, 0.9995, 0.3668, 1.1519, 0.1936, 0.448, 0.268, 0.1757, 0.1377]\nstate[eef_state]: left_x=0.2945 left_y=0.0002 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.0065 left_gripper=0.9995 right_x=0.3072 right_y=0.0718 right_z=0.07 right_yaw=0.0329 right_pitch=0.0687 right_roll=0.0373 right_gripper=0.1377\nstate[joint_eff]: [-0.0342, -1.7573, 7.0496, 1.7216, -0.0708, -0.0806, -0.0073, 0.3624, -3.0017, 7.9795, 1.7265, 0.232, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f739057d15e0e3f4b53327d6b1f63a7a58b7b5f046b35e258e2ab103f848af9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67023b641b605477e0e2ff8a868cef431390ea5e444722db0a693582f6d0790a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ec33b124546273ae05a7c428ec4748e10c5cb82eebec8c5271ac4b48741d34",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.067 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8097, 0.617, -0.4034, -0.0219, -0.038, 0.9995, 0.3641, 1.6821, 0.1127, 1.0603, 0.2745, 0.1783, 0.1377]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1768 left_yaw=0.0022 left_pitch=-0.0355 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3143 right_y=0.0724 right_z=0.0126 right_yaw=0.0233 right_pitch=0.0707 right_roll=0.0371 right_gripper=0.1377\nstate[joint_eff]: [-0.0342, -1.5521, 7.159, 1.7216, -0.0415, -0.0611, -0.0073, -0.8274, -3.2479, 1.6205, 1.2186, 0.0122, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstpaVDGAXsLRmHxwO6sGua8hQRh0lLst8cWbUL4ZC1jUJwfqtxkWaHyGTnnK2h2xxES1fLuJVD2j0EyC-T1fMvptK-3BvmOp8f4nIYKL-cIlJMxrvvxqzf4uttSE7nluYo-CmPRKOmXWEDkTIOTxNM7pdhmLW07XqoS0USaHwT7bZRAj-S8ubwPnC8YTU7M7geFl9h-TzwY4TJEg8PTSejHVHix6AiQBxeoLz_eA7eT4N64DxKuW6DirlDbAPAxhJ9UJAMe8_I_kTkTtCSjFDRalmszHQJBCi2RXlLzRiotP0lPOwDv1IlF7jNPTJ1UXNk0tfCXwiPt6mRf3Xb3Fje-gknsUCUvG8gUfLls-zrs9-2uCEpvEuUS1rjp1L3aY3VlCq-0qe5Hh26ObdB0MW3n-Q-BaQzvoALBlBpEkaWZXl4cdoGZwMPDGCFzo3_z94EKgkpBOAFgPvnDSIZztFZt3ckBQm6VYVSvNflo-aRKwkPhfRd02OPFEXNagD3EaQ6WJpgyCF7kg5OwnFXmVosGGY5vRhj3YUeigtdz1pcjQTuiYudWqZwhagrXD1Sm7raC3Ggso9twV_j2nXgZ2uzPQYV7_SpNtR3408rW1Og2W9PCPEbGFEajupuO-pXmTiytUCi6ZRY-OSeoMeaGCsAgiLx6By5dgUfT1dYF7_AKcZ6laCgc2xz0lm65VSry1J4pY5eVuK8PjxLuZfJnNh3MOVj7_rOl1YwSO0KiPV4ak-rOt_erHTGkg_IWRAVmqQnpptgp_y-IEaPNmyf2Y7lcvRZUYzvAOnCH7HfWGmFZWpuNDZazdrPUSi4pUF9yfBkKFmsSjLHfEu5VyDt8zXU0sWPFCMA_2wPXJ98PUXpn0NSeIUkyKeH4_OWTYi9wzbbFEY__pzENP5Ax2KyF_UWRtTmtZ-kZwxWslBCpRYdx3wpVyI-tu8RTx8_S-u1Q6bvI4Pe_e3YDYKh7iucUWKY94pxBInd1rfTUtgOJDHmWAfE-xL9hfHQbu698MG9JUacElIlEBa0Y3-S6ip5jGSLE3b2Fv9usc5KvqjVonZtcqsuvzhsdtuBURnCBUmboeLS6dXprSJfZ7IXgxX4hukw8BR910vLfuXnVwx553e00X_J-0sRvbB-EYvaB2e7qNvQsKU-gnUtAUTai8UpQxKdkuX4iafPPiESjSpnWaS9y4n6mlftM79zDocgF22Yd9KMoP1ZeU9iB2Ow3cyE_zhoWtITcbRGylvzFSuJS9b4zJIRxsgVYvurv6inr8n63JILncBBoXbeXplZ2sPl4FYM32R5Tj-mGKkEleRUEzHhfjTtBj_mGhoEu1bND0YxUkZqFef1nwvx1VQzIP0FYk9fwA-CqLV_tNJfeHqMYX0dFWTBpD2xnfIlQx5OCmMwIsZJSqNNpr2jjlwORRP7cNUS7Ruw==",
  "id": "rs_0366db2dfd1dbd64016ab2da56e81c87d083f393204c2a7cc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.22},\"note\":\"The pen stayed fixed relative to the jaws during the lift, confirming the grasp. I’m carrying it above the right basket with clearance over the rim.\"}",
  "call_id": "call_6hvIuAeKuIeuObHuc2gmTw8p",
  "id": "fc_0366db2dfd1dbd64016ab2da58e18c87d0abd613b1a1239ba5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6hvIuAeKuIeuObHuc2gmTw8p",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8173, 0.6163, -0.4038, -0.0223, -0.038, 0.9995, 0.458, 1.7432, 1.3327, -0.1608, 0.3317, 0.2096, 0.1377]\nstate[eef_state]: left_x=0.2946 left_y=0.0003 left_z=0.1743 left_yaw=0.0026 left_pitch=-0.0442 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4844 right_y=0.1786 right_z=0.2013 right_yaw=0.0538 right_pitch=0.0229 right_roll=0.0143 right_gripper=0.1377\nstate[joint_eff]: [-0.0615, -1.5795, 7.2547, 1.7363, -0.0513, -0.0513, -0.0073, 0.0615, -9.4974, 9.5658, 1.8632, 0.2125, 0.1343, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9315a558ef0563f566e54251f8fed4efc7f0c85c1364caf89c3517afe682ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d0305092c54aad99fb2f78855a812deeb5870586b9ec393838b8bd1ab5ce83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e5a07783a477488c1a79a5962ef4464d1310259915672e156f481f32b2d229",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 7.971 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8146, 0.6167, -0.4038, -0.0219, -0.0383, 0.9995, 0.3668, 1.1519, 0.1936, 0.448, 0.268, 0.1757, 0.1377]\nstate[eef_state]: left_x=0.2945 left_y=0.0002 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0412 left_roll=-0.0065 left_gripper=0.9995 right_x=0.3072 right_y=0.0718 right_z=0.07 right_yaw=0.0329 right_pitch=0.0687 right_roll=0.0373 right_gripper=0.1377\nstate[joint_eff]: [-0.0342, -1.7573, 7.0496, 1.7216, -0.0708, -0.0806, -0.0073, 0.3624, -3.0017, 7.9795, 1.7265, 0.232, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.155,\"right_gripper\":1},\"note\":\"The held marker is over the interior of the right basket. I’m lowering slightly and releasing it inside.\"}",
  "call_id": "call_UAvasRWOnO9xRf1mlKR8zovM",
  "id": "fc_0366db2dfd1dbd64016ab2da62f8b487d0bcf97b2fdc6245ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UAvasRWOnO9xRf1mlKR8zovM",
  "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]: [-0.0246, 0.8173, 0.6163, -0.4038, -0.0219, -0.038, 0.9995, 0.458, 1.7794, 1.2003, -0.0101, 0.3279, 0.202, 0.9983]\nstate[eef_state]: left_x=0.2946 left_y=0.0002 left_z=0.1743 left_yaw=0.0023 left_pitch=-0.0442 left_roll=-0.0061 left_gripper=0.9995 right_x=0.481 right_y=0.1777 right_z=0.1547 right_yaw=0.0611 right_pitch=0.0057 right_roll=0.0027 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -1.3197, 7.1726, 1.7314, -0.0464, -0.0659, -0.0073, -0.1983, -8.2803, 6.9812, 2.0293, 0.1001, 0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203b261827a46b5b0956e311647fba4e129c7ba5865f3f37fd8cce716a4f44c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3ba1bbb464bb8a2d69adfa241e98d49f5cd78c4658660b7828db8df5ec72d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d2087c8e696952d81f325da28455104ed3ad7a685c971e8887bffab4b49445",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.275 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8173, 0.6163, -0.4038, -0.0223, -0.038, 0.9995, 0.458, 1.7432, 1.3327, -0.1608, 0.3317, 0.2096, 0.1377]\nstate[eef_state]: left_x=0.2946 left_y=0.0003 left_z=0.1743 left_yaw=0.0026 left_pitch=-0.0442 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4844 right_y=0.1786 right_z=0.2013 right_yaw=0.0538 right_pitch=0.0229 right_roll=0.0143 right_gripper=0.1377\nstate[joint_eff]: [-0.0615, -1.5795, 7.2547, 1.7363, -0.0513, -0.0513, -0.0073, 0.0615, -9.4974, 9.5658, 1.8632, 0.2125, 0.1343, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstptcHdCyeSwBqB8qoKygStb2xdmgW4vmEGutC_Y5vW8_SNPwMM8R1PwPnZMDZpPNGRUrffAEQEDY2D_Z2Rs8a80-a5jiVz0icCituR9Z4lQI05C9YhoRTlBD7eottIotGZEan96g4vAlJJbm3SWbb7jzrighQo0ir5pdd5npnjPN2vQJKI4qL1kIx45vEeaB3FOTO_R1Zell_bKEe1CikWJuwn1SriQG_jHv3rawhbJSsDkz_ERXHM3ivQO3zrGtWkbfUvg5fjp9eJyspYylCtgiYt2SSYu0Ph2eZHV0zLwKrKWDWpVvZOL_HeaHDMx9p2VlxSwxXJxGVLZ1GXpiT4k5bXV7FaiVrUjdvJkuqUxNkcCaGlyD9-sMc4DUlMKmT3gvA3soiuHf0QtmyK4IpWq1TgIvx1qlgxyU9fWxmTPdeucxiUZWaMtD2HM5EncjiEazeOb_AP28EmSTKKmo_HO_kHny-jtRkIEWO9sOFlAlM0lNjPkmwF3l28maNrwnjk4KttYbj6LwaBbBmB8X7ccOORlDQt5f84fdBAEgwEuDE_yFm8wql8OaAVIZ-sCMK5Lo-10s8QlkkQudcLnHk3SYCls63eNLMzataznirBJN_sAKh_1pV4SjVBIhfNUJwEIyPvdeHWFdmHRDepWKcYLZpYgAU7h9oXDoPiwe7Wlq1x0VOOYjaIqyxXfMkP-G4iXrbHYdfVTcHdrqTyoZYBvtAIEL2jd8QEd96Ebzdu5f06qPuJ9PcilRE2QA4DzxhjbO7OgLJHC5SH2gu40dgsApze4sdv8xDPGLAIDBkqTNicKTYGYa4LUyap8_XKQ9yYXVA93uK9b7Xdt-5UPOj_7CSPMrnczF8JV-kXh1upHqYrcZmjQ9HVN7PcyL0lnfDYi-Ck_owzWOVUTFLc5BAosYxdTh4p98GPlnMP1cXyE7ixSyMRhs8nrz2_KX2PR_JTAehV_85KU_bvTcK7-uWtmn1MiCBimBhgLddLRpA2mMNgHQKFlGm4PIJc0JGZiAKr7cBQseJzbY17C2xPtLuEcnP83Yy82r_5lYLfIo8OTD-Hx0BZ071bCCC6iD3_SLg7fwm4PcMU_KMoztaNLXvfHAuiELfS8oN1EX_yxr591sNm4-w3djRODiicTXLkX-jTJzdKOTUq7ZZWeGa5BoX6JYHeix6g_aKQ12B-nM1yWLGXsQqojqsSt1y2Tf0drB_kGqbhpLtJilv60dhceva_3FZu9RC9osycFLoyUMQwPkM7wGZNdthP5MYNgQeIo1BgQyv-MgF9iDfTmBodT_66Q-eH05MLZO4i0WfW1D7XNu44zykFPUJmpsSfEnny1ehbgZpJrUBmYzUBa0GwNv06jbJRrCZmsAC-FEd0FaXwmSR0tGIdUgiiGCoFpx4xcj-EQ31zlzAbwkw2HP6EXql-2mAJNSRZFPNJ2BySDiWK_SqeIvDVipBWkjBXVNSjXIutYBZRFBI_Box5OQCg-NMo_90_Tr0cI0WInxbKGRxRy7XoQtRZZMhbOv5S4FnzzCb5_bBYyF7vl3Ocwyln1O62uP_LITHjM-K08TXx27fpMG9qn1TeCfc1IoUZo9bhcf_6-lEzlFwq2thI3fa-dMMysdCeAhYqdBXbEGjO18EBL2es3Fz1s3NXKyOkSI0Qrt8LwqnyhvQ1_Er-z2_LDkmc4yDcTKR7zUb3td9_e8yr3zXWvjfpkmg_fm4lHFVDAB0zT",
  "id": "rs_0366db2dfd1dbd64016ab2da6839fc87d0b1e352c218ac99d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.205,\"right_z\":0.09},\"note\":\"The first marker is visible inside the right basket. I’m moving to the blue marker beside the tan plush animal.\"}",
  "call_id": "call_e6Edg9OQaWgHD260gSAZFrwR",
  "id": "fc_0366db2dfd1dbd64016ab2da6c970c87d0b03db72a237daf1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e6Edg9OQaWgHD260gSAZFrwR",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8238, 0.6159, -0.4038, -0.0223, -0.038, 0.9995, 0.9207, 1.4334, 0.5903, 0.1017, 0.6727, 0.511, 0.998]\nstate[eef_state]: left_x=0.2949 left_y=0.0003 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9995 right_x=0.2938 right_y=0.2104 right_z=0.09 right_yaw=0.0869 right_pitch=0.0032 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -1.8256, 7.159, 1.6874, -0.0513, -0.0464, -0.0122, 0.253, -6.2974, 5.6684, 1.2674, 0.4371, 0.0708, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2d32fd08161aea5652efec7f00a45af73c2bd6fe028ce53501bfa050def4eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c185fc91824cf6fff5e54a2297aeda9ca9134dc4a815148bc1759b831b09bf7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3164c25b34cc1da7b4e24b45896373604599721786ef523354021c4d2377543f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.6 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 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]: [-0.0246, 0.8173, 0.6163, -0.4038, -0.0219, -0.038, 0.9995, 0.458, 1.7794, 1.2003, -0.0101, 0.3279, 0.202, 0.9983]\nstate[eef_state]: left_x=0.2946 left_y=0.0002 left_z=0.1743 left_yaw=0.0023 left_pitch=-0.0442 left_roll=-0.0061 left_gripper=0.9995 right_x=0.481 right_y=0.1777 right_z=0.1547 right_yaw=0.0611 right_pitch=0.0057 right_roll=0.0027 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -1.3197, 7.1726, 1.7314, -0.0464, -0.0659, -0.0073, -0.1983, -8.2803, 6.9812, 2.0293, 0.1001, 0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstp3VMGgOUDVAlhu8cIZAQJNMFQAoYiWYDhfFHusz5LfggRUfTwXXR4fq3X8qFgx4Y71gPfACGVByGIpwfq7bZoz3y3dWYUsEG6_BsesVaKTDCTvQ-QLP2R2dFH30vgJL2AtZGsQJUtjqhsSgk-VWAtj0z_uFvI6ZbhyCjW9L5im7wj8Q6GyftG4H5rWAh7sqp7dNeYbDF-zHTLX5SqdZd9AFM563Odm3BmfLnUzJ3YZsfZASZ7alIqVIFB1qzdl8b2SnEfrk3-mbJwKGPbEevY8NPMcxVjUX1fpQmA05Uq1Hy8TQwfINNHamVkhwafuZ8PmhGK4TmvB3onTroVepkVgUG3HAeT3gpmkxi1uwZtDlgq_4N48otTkS6DfnKPyifMpgEukZIcZHlBxcoL2JmfMjOCl3mejZowdI8HeL1KrunwpoNNtJnWbcbsMpx_zx7IcKhFtsftSscRIviR-J24bRlKWwcCulQ1ubeCNwLw9AGQHa85UQAxBRkmsYdrX4Xh41c1KK7Fs8G41QKxU9UwM6nC2YZhTmQZNaGfdZKu6zdEVJxWOzmdvEVuPpqglDew8MXmyFoSWuVu8UHK0X7lnoT1UcGt82tjSDEsv9Df6dTWunj6bcmSUa67T2gyEJot1NVWt674I0O2Dzw0JjtSZ0iq0eR4pvIFSOdC0Sq-RoZgSDMhNS83XJnfnZiIGu4k-1UdxqyLbHQIhgZkDhkEONIsxjmYUe42A4eWL9sG5t_Al5WM0KZO_SEgCa083hKSieJMi_O70fubBqZOE2yrqvoFS63SXBx3Ik4UFTW4qsNp4UEL5pCxL42veZTUNKiOQzslK21QP6WMQsAKdVUKQG-X_8Bq_4JNank7I1cK9aVf5uhbeLl6ReR9oghmyND2DzGTy0bOl1gGg4faoh7jwIx-CvJoF57-4y3fYEnOOSozUCPRFFnE8kljl3tqPC1RMaNd2nCQvs288juw14ZhGsiBhoTRLKeyyVTVTS0BDe5rPIQPYShUpqrRA1ZCTowu3_mk1yro6VSeP8GdkiI2gRdR8SR-fokptY00jRdxrTKywqsm1y_m-2wl_GvEg0dD_gXX6iTuIYjWpqK9lvhqsh89chdIHTtnXSqr12a8kLJ6CRsfWbClI2t2-baDeuc6PBpy_sYT6lxJ5QADIaTqdNSy-z9SC5h6zV8NSIeqEu9A9IWxvtwW6elkQQItKUzcpjBBRUhUppiFX0AYFuac3dUBzSmX1HJ_226AICP8VYtw=",
  "id": "rs_0366db2dfd1dbd64016ab2da74be4887d0ba57bb670d928fcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.302,\"right_y\":0.2,\"right_z\":0},\"note\":\"The blue marker is aligned with the jaw column. I’m lowering around its shaft before closing.\"}",
  "call_id": "call_iZSgg7oIjEGh5a5i6hONRXvg",
  "id": "fc_0366db2dfd1dbd64016ab2da75d84887d0bc498fbfc8f5334c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iZSgg7oIjEGh5a5i6hONRXvg",
  "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]: [-0.0246, 0.8268, 0.6159, -0.4038, -0.0223, -0.038, 0.9995, 0.8745, 1.7809, 0.4438, 0.6579, 0.6437, 0.4789, 0.9979]\nstate[eef_state]: left_x=0.2951 left_y=0.0003 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0541 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3061 right_y=0.2065 right_z=0.0131 right_yaw=0.0787 right_pitch=0.0326 right_roll=0.0356 right_gripper=0.9979\nstate[joint_eff]: [-0.0752, -1.2103, 7.0085, 1.7314, -0.0415, -0.0757, -0.0122, -0.8547, -4.547, 2.6051, 1.0818, 0.0757, -0.1978, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7fe17f58d626b509d4f431d0aea64f70be0acf640523d1882190a6665e5514",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60938c6c8b8d81f0084ac822031ca6384e6720b11da216652bf8e60eee95331a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d35c053c0be6d133094e16973cef439a7479a920301e2a47fe641f09dcea007",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.239 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 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]: [-0.0246, 0.8238, 0.6159, -0.4038, -0.0223, -0.038, 0.9995, 0.9207, 1.4334, 0.5903, 0.1017, 0.6727, 0.511, 0.998]\nstate[eef_state]: left_x=0.2949 left_y=0.0003 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9995 right_x=0.2938 right_y=0.2104 right_z=0.09 right_yaw=0.0869 right_pitch=0.0032 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -1.8256, 7.159, 1.6874, -0.0513, -0.0464, -0.0122, 0.253, -6.2974, 5.6684, 1.2674, 0.4371, 0.0708, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstp-wp_a75LDDIc_Fz7E42EARXy2-UwzwnM-EfkvR5kdKPqa5_P6aCoCoe1Yh9OdN1nc82XRswCsIywje9YreU-z0wTk_cVJ8_XIPOO6bUUIg1yDa4E_z-eP8VXUwz5IkF3Gnj1c-fPFD6YTYkPctJcROvQtjyy9oQZrrT7sctZE6DROgE3ASLNsrUc85g6EcunwHxG1oF1oO9bAvqB28zMEtLgNOACohNuzAiZPf9eyAi9QQc-XVOzNXjh9ZlLxqAC9H_lAB9G0hu-CsOtkq95agiQx7Vp8SayrigWGsiHCTNZo_hH5XVh06ZgI73990KGkdy865q5C9J6vQiwnPeQfyWUSslOKVnvT3irBzpDV3RAcYXpj8jQTEzDsAR4K9DVt7KXWfopf3Sn-lFNPSgVbT0UiyEKwBGYxAgiPyP9TUvFf07AYCXIt2xMLrBccOjTOe0xg4o_pzMIHoo6sh42pcWMiSlcAWfVgxvLplxrrHBSKmyd3caEwILyrs9BFmG_vIO_xjmQe6QusxMCYQWc_W4XkfIIN61iRLB8m4EywpUWu00px5evGxNuBYChtLrOXkWuKvnklCceFTh09PeTNzNX0stNIv7Sb-UpVRwYZATVNABWyy5LfTEyfnVDO-NIWyaQVPTWg4gYtqnjwaAGYNeADwzT8fzFI4JSdoJLSFCEIVviCUNGV2j3WM0SfH93jXuiRzPuE-Bf6sEq3PjEaih3qxe79XQ-84nQ6gYyUA6qk9QlOOKrRMzXhDBBjyfgn2UjTInvMKsat4p3RPZWFGHHGYce5waR0GWwaahulxH7heV4UJVWOaYhFAE-N8KZqGEOSXI7gXuywJVaEH70uG7tRwey27IA3LO6NmxP7YIT4exBObUkTL4cbgMP5LdrtGSeV98WnRsvrJdFUuZE3XJKZo36bGJ6gWA-nrAYDuwK8mFhwd3szuVC9EMBqJgUyi3656IYLUDfek4aZUsfYr36W4mbCuf3RCnSO6vPmj0XBtVEh34tGDJ3nt7HGm8INUpCXLivY3pMtrPdnEEs85_g2o61kA7BfefNg1Hf60De01qbOHx7da-e6DPUqAeVMbfMKLHPW-HSYtWsm-QgbGFRbwPTIoULuohN8S_3Hnic3SbTQnQEfDfTmN_7r1TbQh50DDdIWbjZb0Az9PIRyjTqXVTH8VOTRKZkILCj1SJBSjFg-T6omPQ9yPXc9pb5KziqNTKCWXnD2MmfNR5XHrQ==",
  "id": "rs_0366db2dfd1dbd64016ab2da7c026c87d086edf55d99a54c79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.183,\"right_z\":-0.008,\"right_gripper\":0},\"note\":\"At table height the blue shaft lies slightly right of center. I’m shifting about 2 cm right and closing around it.\"}",
  "call_id": "call_uwwroAT7pBtJ2tKoHgCnOaFs",
  "id": "fc_0366db2dfd1dbd64016ab2da7c828c87d0bfad5c1bd9b1ca7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uwwroAT7pBtJ2tKoHgCnOaFs",
  "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]: [-0.0246, 0.8268, 0.6159, -0.4038, -0.0219, -0.038, 0.9995, 0.8173, 1.8423, 0.3717, 0.8936, 0.6052, 0.4374, 0.1493]\nstate[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1715 left_yaw=0.0023 left_pitch=-0.0541 left_roll=-0.0059 left_gripper=0.9995 right_x=0.314 right_y=0.1931 right_z=0.0113 right_yaw=0.0693 right_pitch=0.0917 right_roll=0.0867 right_gripper=0.1493\nstate[joint_eff]: [-0.0889, -1.4154, 7.0769, 1.7314, -0.0513, -0.0611, -0.0122, -0.8274, -3.9316, 2.1265, 1.1746, 0.0855, -0.0659, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b4ecbbed6729d457cc3ba9020b9e50f766ff5b624aaabc8820f098402d19948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1180435929b4224722a6aa22f514b9a59010dcc89c21d10364eb1d29a3176bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7325a01b1265a7afd4edb88265ca6ab18f5f5d9a74900ff4671449f32a5bc5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.789 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8268, 0.6159, -0.4038, -0.0223, -0.038, 0.9995, 0.8745, 1.7809, 0.4438, 0.6579, 0.6437, 0.4789, 0.9979]\nstate[eef_state]: left_x=0.2951 left_y=0.0003 left_z=0.1715 left_yaw=0.0026 left_pitch=-0.0541 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3061 right_y=0.2065 right_z=0.0131 right_yaw=0.0787 right_pitch=0.0326 right_roll=0.0356 right_gripper=0.9979\nstate[joint_eff]: [-0.0752, -1.2103, 7.0085, 1.7314, -0.0415, -0.0757, -0.0122, -0.8547, -4.547, 2.6051, 1.0818, 0.0757, -0.1978, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper opening is about 1.4 cm, matching the blue marker. I’m lifting to confirm it is secure.\"}",
  "call_id": "call_fvVeMTGXBOEpwN8B4rwwmsY5",
  "id": "fc_0366db2dfd1dbd64016ab2da81d52087d0bb98b9a52cf5e343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fvVeMTGXBOEpwN8B4rwwmsY5",
  "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]: [-0.0246, 0.8284, 0.6159, -0.4038, -0.0219, -0.038, 0.9995, 0.8165, 1.4929, 0.4324, 0.4736, 0.5903, 0.4305, 0.1541]\nstate[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1711 left_yaw=0.0023 left_pitch=-0.0557 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3102 right_y=0.1918 right_z=0.0708 right_yaw=0.0847 right_pitch=0.0792 right_roll=0.0799 right_gripper=0.1541\nstate[joint_eff]: [-0.1436, -1.5111, 7.0359, 1.7021, -0.0562, -0.0317, -0.0122, -0.0342, -5.7094, 7.5282, 1.5214, 0.3004, 0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb67a45254a2a0e7653d36f11f1249f98ade77ec0876e7df8f437d113de296be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a000174df673233af85e22539bb0ce121d92917f96c07924e2194f566d7e54bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707461bd2150632949f0d88af9d1058a8b2360e7cb58c37272071b479c30c7d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.033 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8268, 0.6159, -0.4038, -0.0219, -0.038, 0.9995, 0.8173, 1.8423, 0.3717, 0.8936, 0.6052, 0.4374, 0.1493]\nstate[eef_state]: left_x=0.2951 left_y=0.0002 left_z=0.1715 left_yaw=0.0023 left_pitch=-0.0541 left_roll=-0.0059 left_gripper=0.9995 right_x=0.314 right_y=0.1931 right_z=0.0113 right_yaw=0.0693 right_pitch=0.0917 right_roll=0.0867 right_gripper=0.1493\nstate[joint_eff]: [-0.0889, -1.4154, 7.0769, 1.7314, -0.0513, -0.0611, -0.0122, -0.8274, -3.9316, 2.1265, 1.1746, 0.0855, -0.0659, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.22,\"left_x\":0.2967,\"left_y\":0,\"left_z\":0.19},\"note\":\"The blue marker lifted with the gripper. I’m carrying it to the marker basket and maintaining the idle arm’s parked height.\"}",
  "call_id": "call_YL3vaW682ffEtpM4W1CpL1cp",
  "id": "fc_0366db2dfd1dbd64016ab2da88970487d09f895a2878bd8422",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YL3vaW682ffEtpM4W1CpL1cp",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8444, 0.6567, -0.4709, -0.0223, -0.0414, 0.9995, 0.437, 1.7214, 1.2968, -0.1162, 0.2558, 0.2127, 0.155]\nstate[eef_state]: left_x=0.2919 left_y=0.0003 left_z=0.1718 left_yaw=0.0045 left_pitch=-0.098 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4834 right_y=0.1804 right_z=0.2029 right_yaw=0.0942 right_pitch=0.0366 right_roll=0.0654 right_gripper=0.155\nstate[joint_eff]: [-0.1026, -1.6068, 10.0171, 1.7021, -0.0366, 0.0171, -0.0073, -0.5812, -9.2513, 9.2923, 1.9072, 0.0415, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84db65b70ce3882fa2432110091715d8849a104855c5cfbcab53a39175cbc2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02892a90be7db05404079f8a864b4f762d1471f041fd813d591bb1640cc681ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59916f03eaa6d0550b1f2437904ad75834d026dd9edf19c3a3b17aa13a78d351",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 11.48 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 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]: [-0.0246, 0.8284, 0.6159, -0.4038, -0.0219, -0.038, 0.9995, 0.8165, 1.4929, 0.4324, 0.4736, 0.5903, 0.4305, 0.1541]\nstate[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1711 left_yaw=0.0023 left_pitch=-0.0557 left_roll=-0.0058 left_gripper=0.9995 right_x=0.3102 right_y=0.1918 right_z=0.0708 right_yaw=0.0847 right_pitch=0.0792 right_roll=0.0799 right_gripper=0.1541\nstate[joint_eff]: [-0.1436, -1.5111, 7.0359, 1.7021, -0.0562, -0.0317, -0.0122, -0.0342, -5.7094, 7.5282, 1.5214, 0.3004, 0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.155,\"right_gripper\":1},\"note\":\"The blue marker is above the same basket as the first pen. I’m releasing it into that basket.\"}",
  "call_id": "call_wA3xttpcgS4GMJH6gAWlqsLO",
  "id": "fc_0366db2dfd1dbd64016ab2da99657487d0ac52eab53f19d504",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wA3xttpcgS4GMJH6gAWlqsLO",
  "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]: [-0.0246, 0.8444, 0.6563, -0.4709, -0.0223, -0.0448, 0.9995, 0.437, 1.7611, 1.1675, 0.0422, 0.2489, 0.2085, 0.9982]\nstate[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.1716 left_yaw=0.0064 left_pitch=-0.0984 left_roll=-0.0099 left_gripper=0.9995 right_x=0.481 right_y=0.1806 right_z=0.1577 right_yaw=0.1023 right_pitch=0.0255 right_roll=0.0616 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.1692, 7.2, 1.7216, -0.0611, 0.0024, -0.0073, -0.1026, -8.0752, 6.2291, 1.9658, 0.1099, 0.0269, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a7d2dd485f0413b4d1e13c6388dba55556bf5c915fe5e64bca4f968202b31a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01498ec4f8d1ebcf1851e391d90e1b68ad42edd18b3d4a715c34f455041a97cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bec1c650eec2f60316ae7fb09b80f6ced7dd6d8cf89d676932d1ff79cb69a1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.925 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]: [-0.0246, 0.8444, 0.6567, -0.4709, -0.0223, -0.0414, 0.9995, 0.437, 1.7214, 1.2968, -0.1162, 0.2558, 0.2127, 0.155]\nstate[eef_state]: left_x=0.2919 left_y=0.0003 left_z=0.1718 left_yaw=0.0045 left_pitch=-0.098 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4834 right_y=0.1804 right_z=0.2029 right_yaw=0.0942 right_pitch=0.0366 right_roll=0.0654 right_gripper=0.155\nstate[joint_eff]: [-0.1026, -1.6068, 10.0171, 1.7021, -0.0366, 0.0171, -0.0073, -0.5812, -9.2513, 9.2923, 1.9072, 0.0415, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstqn0tUPm8-ZdvsoX31Au-gLYLtoPAxyQ7HOshcSBe1iSeZSQV-yRRMyeQplcmYnWGVxBRG5IKjhjaUaA9_6Tja0Eovu7poMYVM1SpyUrg0TwxjSMaGTYP5BAIyPtDLOwLE8FjKP6aTtn_IT4UvYzT19cy4MGfo4OvHPzj7Kjd0tqgUdNlNQK6KzmH8_WkSCkSPCvVkZW0tgh3rBe0AkvrhylxbdqazNjqvOdPXSdmXwC62DhW2TrEJq8U9mr7jfe2vZFh3AzlHTXm3p6bQAG_cY9TgxkhcS2cPHeSS-7w1KNbPWCHGZfSsxgAH8IQlCiBJFOkUkHIcPUvW9PUGL9uPZeqbZp-n5p5l7uhIRs8z_9efzw3PCLAAGcxVuuvNPDH41toqc6lPj5oByuzutWvQBdoSBqDC_IR50qsfXLsKL7zt5VPj1jQ8I-4wZgohluLwU0KDsYJ-RTskLnkGbKFfKd6mtmaDs2PZt2z89RGjmQynAcb_UD9qZ8yFoARsSfpSiSG0aNdRvoegQJKf-ECAZeixY25i7rVJHGmhmmEi_vIwj89XcgvM-YksqO8bYnKeLxGrUWB48iZk5IR0qcDZhsU6evR76mnBpqgTyAQRXzHbhXBs72BZtJwDNNGyrklUD6wbnRx-ixV-9QPPI2Dn-bqH0DNjAyAbzIfGPWI6h2NHohY0zEc_X8vqhptA6_H3tlu6yuq7jsp5ObBYrW8rYDIfgABEVjvkG4jPPK3dz6OsZ0IHkFWCOU8XnlNmWq5jgCbge10hWP6-LGHe_tdw2BGnQhWHg_ZRmr2of3lgqaitpz4zh-Od-c4IuRauXVSFBSS9s0AlW_VEUOq2pgc9UiMhHaABzeDYsQt0hisfin07u6OUukFBRmCUh-t1rZqVd5TaQsB0kwfgQFXvXZm4_qSsUpZi4MxzxvIT4Fe6gNaTRArfHeRWQ3fGDzwKMqZ8eNn8jZYr9oPH1v-nt45bJtWYynbO8tQrCndOp-5jqmThIrpklyAKpnOoDckwxV_LuazzndgQTLBhSkJLWVCThgoeASH28RzNZwzASmM6qtsLMmW1TXSem-hVHgH4hxFf2OSk1xH86kAe27NG9rVHN67DCohFDUTrEXi3me8Y5K0VMgyUg9mWAIdOYwfB8MaSsXdSAV-op0ntN2zhNmUYOvXe-Yk005IEePNGC9V2bhDHo2UZ-g8XoV5KtSCEUmg9WICeT2yiTJfphfDWkZHJDhRivSqJIgIfCpwZZUz_B4qw970YeL5_rm4oG-RFM4he_RECwOuPizH1-DEk4OCgzrUL7wUO3OW0ULUUMn3bFL4pk6iKI8rT7JUEEd8XrqGs7-8g34N7eln2sL5NLvhKo00HI5kXtYNt934EWMPMgqVrU0J8KCZrL7k-VZKY22hj92dTH1N_cqYk73rhRY9w-bF3JxJEWbl_G_LYSNBM54c8zAsVkIMvOmJ7K2wAGRL9WuojbQbmKw1q7ARccjKuIx_8ItxLe_6oveU2rKSaPqcOQpipuR-4GbZl0a7OjCgFWH6CFpNolN9XIbUClkbbYUTXklWPc0xljcq_QJTY1gqrE4AN9atDtuJFQ8jpl5fGjYpoBv2mLvR7RZF4m2m4w3QLleA_GT55Qv2rkFpCpzSILdSLAKUFE5Ei98uPgpKhfAPl77zlNnRJpYXppTJ8luCpce8AnzkIlhTGdTQWXY4o=",
  "id": "rs_0366db2dfd1dbd64016ab2da9f8ea487d0a51edf5c66f669ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.32,\"left_y\":-0.13,\"left_z\":0.08},\"note\":\"Both collected markers are in the right basket. I’m parking the right arm and approaching the remaining yellow marker with the left arm.\"}",
  "call_id": "call_gTEzTvKMmzfFTaTw5tYStNMr",
  "id": "fc_0366db2dfd1dbd64016ab2daa4fae087d081c4f7d91c53e402",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gTEzTvKMmzfFTaTw5tYStNMr",
  "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]: [-0.6453, 1.3338, 0.527, -0.0059, -0.4755, -0.4503, 0.9995, -0.1741, 0.8246, 0.6643, -0.384, -0.2459, -0.0952, 0.998]\nstate[eef_state]: left_x=0.3121 left_y=-0.1292 left_z=0.0684 left_yaw=-0.0145 left_pitch=-0.1415 left_roll=0.0115 left_gripper=0.9995 right_x=0.3025 right_y=-0.0059 right_z=0.2012 right_yaw=0.0702 right_pitch=0.0323 right_roll=0.0558 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -4.4376, 7.1863, 1.7167, -0.4322, -0.149, -0.0122, 0.0889, -1.6889, 7.1863, 1.6923, -0.149, -0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c7eaa64c11d9a9dd74b1d8a2d88abdb2944475619bde526f33cd89320b1467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0339606cc3190fe1683d8de866b343c6aca258b390c111bb4c3b298a30a4917f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd9350c0a50ac222b9563d87f16a6fe71070ce50a868ae555570c15b0ad8193",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 8.781 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8444, 0.6563, -0.4709, -0.0223, -0.0448, 0.9995, 0.437, 1.7611, 1.1675, 0.0422, 0.2489, 0.2085, 0.9982]\nstate[eef_state]: left_x=0.2918 left_y=0.0004 left_z=0.1716 left_yaw=0.0064 left_pitch=-0.0984 left_roll=-0.0099 left_gripper=0.9995 right_x=0.481 right_y=0.1806 right_z=0.1577 right_yaw=0.1023 right_pitch=0.0255 right_roll=0.0616 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.1692, 7.2, 1.7216, -0.0611, 0.0024, -0.0073, -0.1026, -8.0752, 6.2291, 1.9658, 0.1099, 0.0269, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstqyq9ikd6ZOw_TOP2ctLIuFa-OhFhXD2lBq5ZoA168y-tuIdAvHEXLxlKHXTODBVAIN_kHYRR3jzimdLBnJGHd4mEVcHUiHR57fTLDn0me3Bomq_o0h07wujGMBTUu39rsh7Zx1KqhEmR0b2Qi_G6qgm_PoiS_qmtlF6UPBAdfVHtCGD34ke6UIpnPqVn6OGihL-zuYFj5VZACIlYMh-Ntmmo0esfzyG14ykCLFl5UC06NR0Apnjg9onOpVpo3ja4ucHI8c0a7zdUoLVfjWXR8kkgcpmbZW4GxKsBCQMoDXPTECozWEj76bSS_g2ONkK1Gs6MdlSJMqS_cxreLUj2Z2i47TApU-dHkQ9ZmakQFYlFZBu7Yut0UGupJnLddJN1IgsmGEo6dvqbf8Dr_HcjX24b22SXQ9xISjf8bHY-kfSEHB1eLzEVe7SNRelWA-bNHTJmD9Xu6E3SWozb5LbmtzvNJoEaErCgpc8YJwXOHANjx3JDruzn2p_q24oJgwGYdIKvIEwtwgiNBaCNF3RGj9qN0CnHBbsb0HvVtRF6auPmuvzocoK1a5_sUnUcSA5uxi7biG2DDiVKynZeRTHMJYbkKMghBnlFmvz7ZhEty4A0xAP9Z7axs6-3xfgmEfTDdxKO49fLUl1ub49PWTfBeaau1MnbTUZrZuMUdIPYyhF3w7xLh0djBBgoUv7cmTKLgxDeqKcdMmHcxOQz3CH2hC1ca5ZwoCNrpr10sKClob8TjK5qHYlKeCr1cYhoYN9kYSy2KaZyhlz7tjsNjfuB9j-FTFx9VVfkOhIeexz0dEyEwi9_IS3kz_k5S0wUEfkn5B-MtnFZDZ7ZQG2jBOb1ycp12XnoxiR8PUXslaUHbtLmITS7dyGdG4rkeFwIC1CG-_ks5Hy_88nJkrGnwx82Us56XIPOh2f8gdpKM0Pqy0BWDHD0NepxU1BkVcnUYY0v3fcDZ2D50DasQd1yvumHcMZHn3fni0psEanXhztFyjCFgNb3YIC8Ny0BohWWlBrHjj_FALiERGsYLWmGqF5KF_c3ukirnwCO7rdrL-oV-mDOLn9wMqPZZqpUO_BKRdOv-tBR3PnOcCDTRXSDLt_Siyh7f-73Cc0uxlubLb1lMhNM5oKDM1jKJnSwa0VttICJULYJ3wUFpw7YAJddn9OiUbKlZ_CFoUi2YmU0hUf3FdzlRuIbzFLKwqk7HGPVk-3aT20Zrc2KhHRbw7Q8jdW1Op1Tzk7b6GxTxddG6fHzxqTi-_iNZKfpil7Ga34HSyPfr0b_f1ST6saMj38voZNuf94gLIeVqXW84hhiCIdoAMHrQwUNS8dYMa08Os6b5pranI",
  "id": "rs_0366db2dfd1dbd64016ab2daaf43b487d088a528162ed46842",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.085,\"left_x\":0.32,\"left_z\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The yellow marker is left of the jaw centerline. I’m shifting left to align its shaft and descending to table height.\"}",
  "call_id": "call_dtquiPQKQp1X1Dp6spye4MuL",
  "id": "fc_0366db2dfd1dbd64016ab2dab0036087d091b7fb3e0d6fad0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dtquiPQKQp1X1Dp6spye4MuL",
  "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]: [-0.4873, 1.684, 0.2283, 0.8307, -0.4187, -0.3195, 0.9995, -0.1722, 0.8303, 0.664, -0.4072, -0.2539, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3228 left_y=-0.0858 left_z=0.0025 left_yaw=0.0208 left_pitch=-0.0036 left_roll=-0.0157 left_gripper=0.9995 right_x=0.2999 right_y=-0.0035 right_z=0.1948 right_yaw=0.0842 right_pitch=0.0053 right_roll=0.0583 right_gripper=0.9979\nstate[joint_eff]: [0.212, -3.6171, 2.3726, 1.3358, -0.0806, 0.2466, -0.0122, -0.4991, -1.6615, 7.0769, 1.9951, -0.0269, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02a5722a37ee5979f0b9cbbe009d467a0d2b4fef3c5e84cf9c24ecb4d63e392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2046f071a6d33f1a8c94ad9f4fec20a2642317013e17f192c931e9c261e784",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65994d75201f9b9da7e202fefdb8d062351afb2f7a8ef71c526923114d5baa8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.983 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]: [-0.6453, 1.3338, 0.527, -0.0059, -0.4755, -0.4503, 0.9995, -0.1741, 0.8246, 0.6643, -0.384, -0.2459, -0.0952, 0.998]\nstate[eef_state]: left_x=0.3121 left_y=-0.1292 left_z=0.0684 left_yaw=-0.0145 left_pitch=-0.1415 left_roll=0.0115 left_gripper=0.9995 right_x=0.3025 right_y=-0.0059 right_z=0.2012 right_yaw=0.0702 right_pitch=0.0323 right_roll=0.0558 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -4.4376, 7.1863, 1.7167, -0.4322, -0.149, -0.0122, 0.0889, -1.6889, 7.1863, 1.6923, -0.149, -0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstq8PEeuyoHJqjaSPpE6-1vRrEiyk6BcMFg-kQwzSD5J59Vo9YB4htK4tci1rE0b-VygHVDk3xKIDN121lokIytyIfjW08FjekfZ_J6u7c4e0vwoy12vmXmrWAXyN0Wssa9E-1Ef_IEGeiVlgZo_kjjRnILdczBEgQe6sLzmq3Em1wAeg_8yU45m14YLBs8lVJGXN3bY8XqRdy4Qf8-XD01kW854-pw4ZzlFh5IIOg2RMY80X3lEFXk4mnDh5hTMUVOibg2uZafGCGxNpNqZ26-rWz3L2H0LSMAlNNJVLjZpD74i51PbAH4_dB-f8fYoQDoyp_-UVD6tLLAbnrOBC75vamawS5iZh3hbo78c5Q3qOpkEfiJFxhBwm6oopSnJRc4kMzy0xwJQL3PXrJIo2_A0QszWATymYo-nAKuoP0V4Xxs_0xrBBgbPLhcQ0njo36arqXVsrsI0CWQkjXYCQU4MWEniJheAGsUWWmAqiJKxsjJB_up2O4OHP0a0__sT8Uf_G5AFuaZR6XPPkfUm1mhPVLwu_BAlG1K9ANneKWMAdcaV3u2Bv79COe-O43CkVc4nqojdgcv8nGMrjfWJKkmxqasPOPYrYamJsKnVscm3sG2eWOxQDHgllsaQJtzwoNYbxJPLTbfu_hd8Ox55hbW-eXPJICyOYThgu-afJGrze87sEMINO4j9M1tsOiJ6SM-0wb__3Mpj9ip0tSz8NoMaEN5-sFvPpQc68Zj3hbne60B8nHp_wG-u1PuHWosWWNT7fdQ7fMz-LVwguzFUJoLAposIBmbgXDZN4GcQmkduDYh2pk5HEn4Esdap__zPonytjwTh7Ipn4N8tpPRmpNnS3Ph27yOOb-K3ak-dv3rxnpIxbEJeismSnkL2gZzE06QDhEMVhMudpmuFJD7vZ3Nhs_1rqWAI2-v6ByWfLHZh01agRKr2BUxG2pRxAmrqJwcNLZp7ij-qgCJ6Bp8eqkOcjn5pVxFZ5Wf3M_xCtLsoZBap3ZUSMYesoaziBkJ2TkKXKJSQaoTrOgd2jrI2wF2o7MiO2Q3h6ykSfqmQ62r3vNLqoDh4cpJzUI1PWw6HlzxfhueP_svrqyFScb1hAa9Z7Inznze8V5BEM7w5OSjEovuAtZZRTOLrlzMdxkg0RDF3VuBuohymbAaamXKTnUk1WLa9jtqrF2v-ugXdaJ9uAC1JAV3lqCyVQ0A2aVNG2k0g5TcRwSts9zIO-51_jXKIfg==",
  "id": "rs_0366db2dfd1dbd64016ab2daba6cac87d0b3b4741e5644bf27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.052,\"left_z\":-0.008,\"left_gripper\":0},\"note\":\"The yellow shaft is still just left of the fingertips. I’m correcting left by about 3 cm and closing around it.\"}",
  "call_id": "call_1i5Zs5Begffw0rubo69aVPqi",
  "id": "fc_0366db2dfd1dbd64016ab2dabac60087d0aca930ba885df194",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1i5Zs5Begffw0rubo69aVPqi",
  "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]: [-0.3256, 1.7348, 0.1791, 1.0622, -0.3054, -0.2314, 0.2161, -0.1722, 0.8303, 0.6636, -0.408, -0.2527, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3375 left_y=-0.0541 left_z=0.0156 left_yaw=0.0441 left_pitch=0.0911 left_roll=-0.0494 left_gripper=0.2161 right_x=0.2998 right_y=-0.0037 right_z=0.1945 right_yaw=0.0832 right_pitch=0.004 right_roll=0.058 right_gripper=0.9979\nstate[joint_eff]: [0.2256, -3.2889, 1.935, 1.2137, 0.0855, 0.0806, 1.0281, -0.1026, -1.4564, 7.3915, 1.7216, -0.1636, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2917f51253a056fa37fe67829c817b02cf33c56c550a7ee068cd57e2469588dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cd0b40d584f1c01b8ed597c35bb7e0b7dd4065e3b113959cc1ebb01916e327",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae47271a3f6ca872a12c3eb130d151c3eae7f2c4253f3ca5b42aae5a5b14a008",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 9.708 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]: [-0.4873, 1.684, 0.2283, 0.8307, -0.4187, -0.3195, 0.9995, -0.1722, 0.8303, 0.664, -0.4072, -0.2539, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3228 left_y=-0.0858 left_z=0.0025 left_yaw=0.0208 left_pitch=-0.0036 left_roll=-0.0157 left_gripper=0.9995 right_x=0.2999 right_y=-0.0035 right_z=0.1948 right_yaw=0.0842 right_pitch=0.0053 right_roll=0.0583 right_gripper=0.9979\nstate[joint_eff]: [0.212, -3.6171, 2.3726, 1.3358, -0.0806, 0.2466, -0.0122, -0.4991, -1.6615, 7.0769, 1.9951, -0.0269, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The jaws stopped at roughly 2 cm, consistent with the thicker yellow marker. I’m lifting to verify it is held.\"}",
  "call_id": "call_o2MEsivMnDPa9mah3QmfkK5s",
  "id": "fc_0366db2dfd1dbd64016ab2dac2079087d093211a568752f3dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o2MEsivMnDPa9mah3QmfkK5s",
  "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]: [-0.3256, 1.2514, 0.2749, 0.4854, -0.3061, -0.2356, 0.2175, -0.1722, 0.8341, 0.6636, -0.4095, -0.2523, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3351 left_y=-0.0532 left_z=0.0809 left_yaw=0.047 left_pitch=0.0933 left_roll=-0.0536 left_gripper=0.2175 right_x=0.2999 right_y=-0.0038 right_z=0.1931 right_yaw=0.0829 right_pitch=-0.0012 right_roll=0.0592 right_gripper=0.9979\nstate[joint_eff]: [-0.1026, -4.0821, 7.747, 1.5995, -0.105, -0.0171, 0.7937, -0.1026, -1.7709, 7.0359, 1.7411, -0.1001, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ce450180721da1e266d5cfd8f095cd33f0884a347dc9ec6d05d81092080f42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb48defdee7e69d42372f3ebbd05a59f199f936c0b4b245b83e37653cc70aaac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b444b5b08cdeb2bc870aa4cc5328526a11a1fd7b98c57d2c44331ec867779153",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 12.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 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]: [-0.3256, 1.7348, 0.1791, 1.0622, -0.3054, -0.2314, 0.2161, -0.1722, 0.8303, 0.6636, -0.408, -0.2527, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3375 left_y=-0.0541 left_z=0.0156 left_yaw=0.0441 left_pitch=0.0911 left_roll=-0.0494 left_gripper=0.2161 right_x=0.2998 right_y=-0.0037 right_z=0.1945 right_yaw=0.0832 right_pitch=0.004 right_roll=0.058 right_gripper=0.9979\nstate[joint_eff]: [0.2256, -3.2889, 1.935, 1.2137, 0.0855, 0.0806, 1.0281, -0.1026, -1.4564, 7.3915, 1.7216, -0.1636, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstrOd2vR8qU6YfpJ4gpC4ki-1pNBx1R9ztLwfZLtUXZ1QNILeTqxcz4ybp07XuRYFyOT-FU-_yjvVhHazSxq7-5uD_xDkGZR1WeOGgzMeP0-H2UO0kmRAZd9BRPI2t3vgLETWeFg1PED9fzdJbjzbmkbyX3AbwEj_9hGUPCP5-qUSmT8a-yr637qUfZ9fwRwsIxNbnlA8F7IfoAYDrU2QEmKUqDGl1DlvQYL1tI5jcUGynwOM4iR64GQElCBXgjs4ImomqSRE6eMw4r61xry3ALSxzm_oSzbOJWIHI2elmlhUY3lvZ19KQuwE79Bl0NWSHqxxb4DnPKLcA_nMSj3_LbZoDe_PzskO2Nquif_z4KyXP83sBE3Y9mxw9Ui1DvhJ4ggcIEtVPgqN5iYSJyattDpCSoWwc2zU5H6GHzsvC7lrZGvkS3UP1vez8wLZocYe7CHnKC8b19UsFalaPIeOnpNYY10lSodyCPKCfpFkVur_kTjWJ5xnjQW8Y2LoJDAA4AOa6HvbYwX2M6YVuXRA2yP3dGI7iqeddnHeyb9Ygk0pQ7XaVQhVN8R6wK8Krn4Jif53eNFxxA1vgkQ5Rru0EiNEn1VuQq821CW1d1FGaz2zeA9xjnyti2wdCYFdd81P6Cx0ufVe3sSbBN8Y6GawOgMYauK7gKWf1Qad8Phc3pgN-KX3_h5st0L796E2G7KyEviED1Y4vYMiHlwBhmvmMjFDnIsfK1QgbriHJkV9nPU2NJDf5ut-myTlnoMTRBez5lwXHYPM8Hp1cwjgFPp4HbfyuCqNRRYEjnChdIux66cOE1-t2hpcV45RyLVqFXBzA4NEXQgWuX7WL1Nh_-P0CyH5nKisvKRiJ9bPInEjnDibiXRufQrcyOuXixjv6LefvGLH-JArLJAwrU8a7NZmKnI8m3vaKKCt1gdOWdQiy7ATmf3QTxUjGwFJYk7OJeSi7tcHjag9lqUgEsLdVSm3yqlJfR8Vd8fcuDLqAla_XKfWzzbD1yii2KMgXI5TN_e6lyKKSWI4exbTrF5c2Zq0cGWXjhevaIWaUvwQbD21TyioGYWKQYAKZyze4-ifduWyZ4FFGQBP-JK0Iq7pQuDd1kN535KD0qVdWqPXSg7SYiByEznR_xD0cT68YZZzyBET4XIH_W-G_oBIMDYbhHK7ccsgWeutCDYP50C94b11FC7SDdp7zYNQSchhYoCYwH4jnCmC7Ru1oL6q_VM0IRAsUUCtR6icyYR-lpKobvFAvfOjBTEN4NTKECA4OZxZlHutlsiPpnFeceW4XYEXZjpZfKtmqNK2is3jEFf665X919ssBi0fENHd6RIih2zXQzu7YbgqUvrydfoSBtGpgjybDVpjbmsTPTzxA-mo_HrYpih7w5NT4ciPH2P56cH6TSnnZ8zpOFTGtfbWiSM_FTgIAvpOcI888SMUlrvISrrlcCVpyYfJ7YS5Jq3t27YrF6376Vy9fRHp-3yL9sEMMXRB7SMt7Nvhd2cmUx_0kTKzDDKHENc4pI26Wn_8EyR4wG21ltDDLLtXEKXLgEyLHIN-xLrd6ltCMrhVLHFiE-I08gkngppoLWuKwy1mD3X8Yn__QicrbTJ9rM1tuTyHpws0Znvba-DjSIJ89blTOwC3vxar6fYJEa7bdsJ6-iYxIBn2Sd5o2644qPH2Q3MN1occZc3eNhCh_ne49ftC5FRfYcOSYrYDWHXNGZzfxYaSj66EYhR19JJpmNZ3HC6yx8Er6PIKVb-4zF5k11iWJNkVnv6yP7tgXzgVekfTslHzACDnPaDdafvDnSmHYJYZHHReeBgyqfU8LK4UEi6mIKjglgzgS8=",
  "id": "rs_0366db2dfd1dbd64016ab2dac7acc087d080453fe892ade310",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.39,\"left_z\":0.24},\"note\":\"The yellow marker has lifted off the table. I’m carrying it toward the near-left interior of the marker basket, within the left arm’s reach.\"}",
  "call_id": "call_nBzFLLAd3XqE2V05cOPVZSWf",
  "id": "fc_0366db2dfd1dbd64016ab2dacd8c2487d0a966ec055c883083",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBzFLLAd3XqE2V05cOPVZSWf",
  "output": "executing move_to over 30 steps (3.0s)",
  "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]: [-0.8707, 2.402, 2.4149, -0.6601, -0.7593, -0.5995, 0.2197, -0.1715, 0.8379, 0.6628, -0.4103, -0.2523, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.4936 left_y=-0.3916 left_z=0.2338 left_yaw=0.0531 left_pitch=0.1056 left_roll=-0.0938 left_gripper=0.2197 right_x=0.3 right_y=-0.0036 right_z=0.1916 right_yaw=0.0839 right_pitch=-0.0064 right_roll=0.0602 right_gripper=0.9979\nstate[joint_eff]: [-0.5949, -14.653, 7.5829, 0.9206, -0.4029, 0.1245, 0.823, -0.1162, -1.7709, 7.0632, 1.7167, -0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df7e10b192ba9f31888e49ae97c99bf8f489f90e71ead0f71130bbdc5fddad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4383c0f7eca8a22930d08540b3a8ba0e60a1e70f99a398cb06252617f30e1ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:399ac84a09c55b55fad10a2e0513d03b6921d311a71a5c1f13580ccf7fd68699",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 7.112 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3256, 1.2514, 0.2749, 0.4854, -0.3061, -0.2356, 0.2175, -0.1722, 0.8341, 0.6636, -0.4095, -0.2523, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3351 left_y=-0.0532 left_z=0.0809 left_yaw=0.047 left_pitch=0.0933 left_roll=-0.0536 left_gripper=0.2175 right_x=0.2999 right_y=-0.0038 right_z=0.1931 right_yaw=0.0829 right_pitch=-0.0012 right_roll=0.0592 right_gripper=0.9979\nstate[joint_eff]: [-0.1026, -4.0821, 7.747, 1.5995, -0.105, -0.0171, 0.7937, -0.1026, -1.7709, 7.0359, 1.7411, -0.1001, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstrh_tb-7oe6iuNhVFZRC2hMC6KuWCZKOEIjsBAE-vW4JhdsUaeH7XbEw8e-J3fjKs0kNSQWHbG4r-BH4U9V6SIl54Z1oRltVMn7ajB3FoBfEaJAS6VMlwiFM_2O0FC0dqKruewsRzk09pPmZj03G-5mV2zGnLI3k6tiJrGXKoJbhn7GIDsEYrs3OEW67aLAgd3yJ13bBK0NFrSIOXJPu9r-gn7nOXDPaVUt9P0mB_r0O7nosjkniJoBEzYOSlbkeJbr8WZIgvXwQHRzkwB0YOmG2FSNL2azw2zypitR6FGxKBlICmzdNOilfXRk-7gGtUXKAmEQiS3OPiQdRYzySA3QcXXEY1JtBp_cHtwTFU-4VKALBpOQOc1HrEK7xrzT0HIIEdTumKbYXaLtd5FlBSpGIQNrRmKQ5uDwKkJgCj7EfERaFASpFTcAMmeanmtgM6dG10w48M3LUGzzO8YW54uttqqgs1blh0G1XXmD-Rx60r5K2_QP88CXDaI1zI6ySa7QVtB-TU1-2BdxVyedafsO0PzyZ-4ikc26IOiaDNlnPStXyMZy6H1qIL5ATSeLb3lc0vakyYJ92PU3_ZKqutDXIqS8VzJThQbKHj7qzbKTjp5_14BkYc68e6ElFkFDCkZyXIl2IKpXzBqqDXUPot-DlMrgVLyfIOtLZOMdrsj9g2c0dWFfqhbOH02SCZ8LTjaP3JAKANS98q58Uz06Wsursp6UcD-NiB3FomLV8z8dBdB1IuyVFftHsXBGm2KMudj3kF0fyTSoB63K1qfK14mZVXu9Usyz8iqrcUU_UqYL8yi-8Pyl8G1tHqNSLPDCy8npS8j2ikH7KoFvYmwPVyHRO1dRPP2hM3-1j_oxESBtimMS_bTRS9QZDm5-bNn9jZSyJIR3fEo7BB58FuYTStWBa7_bKPGNXapfRDY7ELIp82aYEgMPOBNBEPiiHZEUuQuAawAf_RrLlOks9_KoqOwJl_JYCMEun5PkBbB4cd6uP7gZ-exJNSuQzWkDoaHhl6RYN3caKcF8H-I9RnPX8NDY1BKGc_IYK8bd2nArVsDEByy6tqkpdrLZAjsuZOfVcDzAF7l3oo69ah29o1NB-nl4D2U4W4yLGqYHZ8gj-Ak9ZJFyWcVZChX-8d9gOmej56ltU60yCsBtl2VP6x3BZunjWrT1hXWWzE8jgSzC9WKzeLALXVqeXXf7Canc2H4dSBLo01fq92UTyTxe7v21OHyYUzuMVDbVjlaFlQF7X5xCHUAHlIqrmy9bAErJ8i3k7BpymijZicR5TuM7puzfBZw9xlFEUejHQBNu2APT4uQ2NW1sAQmhE8mbl3zePwd0zWSun94WWp8HMZnPvjHcWzWLr9_rDBENTLLVyQ5TmrxwfYiuBuDpUQiLQGuifho0R6scTn2B4-N6VOUch5Upm30cUbWkrZ7txcHTPV0qzcQNDIK2EewHL6PH2jBX8PyzV4nCYrHJG-pwXDbupDptVIahjA1lOgtlNOlFpnzp-xIFBx0CP3EzlBvzScOSOzbeNukgP-7TN5ZZR1tZ78WEIjPsWkyAeSb3yXbDssXTT29GKTqn4CXyEVfJtgmFS0S2KrfGYCy-VFA0hjZxkQaQ9VujlpG9bEpc-cYPbjb1BzXRMhzDn-jcInQxybTpOpUjmQLPP411exgv_Jczde4T5Kki1MoWi7G_xvk-0vdY93w8A2KwQBpu0mdzGJU3pXBIG5gg370EsBeaHPJsYtKJfezAuY1n3sgfxs4DBnVqKwySRGcdMOFh0bE0Y2rwAXhKyx-bMZXL4_kfHA7VmwgSGAnr1Vpkg1PLr-6jQ5NPAP3tVcOo1UoOl6MTfVDOpHUI4VVEl0Nwzj9tYSx0JBRY_nOzdViAxrUegFHWNu0E-XW78LHx2WujYVYaWKUKwEg6IASdUqNLHBfjsLmlfzCUd1E9zxcrC7DaLOsdyBpRuQ327leo3KTUHgUSz3WAiez21reKAIRvtNbl03xhMRFGRuHkHB2gM1aqjK1h7aF4gJuE0HFNfk6HP5u1vNzlQFDPZMZQLBdzd0WSXYcOLSDSJzRuAkULJ1bNNzMfg0Uy5a2ER07qFC5cPFTwfFQLPZBFulok4ckoI0FU0OUQd-AkwkbRADrp7qGjPkkGo03PQSIOG7-PQaIwpKKGEUlQyolVg7WwrvDSFbcko4VIBMh5dUnaPWx8PYbXFshV_JCGnC_ZL1ztkSAYKPPZC_ZoUxas1ZfoffhoUjW6Q4NtsncFqPrB7PNryC5oXIAUypintpkqhwdv0_whR4afya8o0H-B7usqzEcxr4UCXAe76GsgRadGRkmHC_ElG_PkqpNfkN8n7eKIrHRLTEcS9QMteqk7DwL5DVjvL-g1KCgDCINry1GowjT9mbqSIZI52bPVsvuazp70qPe-sklzM7fFWgmoolaqJIi3OZ5SaPphjwZon_haRWicyQmsKBcxzTLQitfT2oUzkzwmlS_42oPQxGabjK6GrGjslbB8YZFBfdPNU-1FE8_cu0I37I-0XJ6j4E_FpWp3FH_qQqmDvbiBnbiNFFebgkEPz0kOLHmMhMKTCCGXHSly3nbLLuIUMdV19aQHz5GnWBAooo8JZQ3sA1Y_4ycP",
  "id": "rs_0366db2dfd1dbd64016ab2dad71aac87d0baafaf665139d41a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.14,\"left_z\":0.23},\"note\":\"The new view shows plush fabric moving with the left gripper, while the yellow marker remains on the table. I’m correcting the destination to the left basket for the grasped plush animal.\"}",
  "call_id": "call_uQHVXwwSzbwJSuJVFvnlxlIH",
  "id": "fc_0366db2dfd1dbd64016ab2dadf594487d08e81b5b66f491ba2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uQHVXwwSzbwJSuJVFvnlxlIH",
  "output": "executing move_to over 23 steps (2.3s)",
  "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]: [-0.4194, 1.7206, 1.3094, -0.1394, -0.3962, -0.3351, 0.2218, -0.1715, 0.8379, 0.6628, -0.4099, -0.2527, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.492 left_y=-0.1408 left_z=0.2083 left_yaw=0.0794 left_pitch=0.0552 left_roll=-0.076 left_gripper=0.2218 right_x=0.3001 right_y=-0.0035 right_z=0.1916 right_yaw=0.0842 right_pitch=-0.0059 right_roll=0.0603 right_gripper=0.9979\nstate[joint_eff]: [0.1573, -11.8496, 6.8308, 2.0293, -0.0611, 0.2125, 0.6716, -0.0615, -1.306, 7.0359, 1.707, -0.1538, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79b9894688cb98bab46dad425fcf958b1d64a88184e064f281f076b12282633",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc653ac02176b6ee30911aa3472b90df2959a56b069f036caaa1054fd941e94e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5fe1ef3b22a5a666b279440bfa815db724fdc0074d1c46d8f58cee593bfc9f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.734 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8707, 2.402, 2.4149, -0.6601, -0.7593, -0.5995, 0.2197, -0.1715, 0.8379, 0.6628, -0.4103, -0.2523, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.4936 left_y=-0.3916 left_z=0.2338 left_yaw=0.0531 left_pitch=0.1056 left_roll=-0.0938 left_gripper=0.2197 right_x=0.3 right_y=-0.0036 right_z=0.1916 right_yaw=0.0839 right_pitch=-0.0064 right_roll=0.0602 right_gripper=0.9979\nstate[joint_eff]: [-0.5949, -14.653, 7.5829, 0.9206, -0.4029, 0.1245, 0.823, -0.1162, -1.7709, 7.0632, 1.7167, -0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstrqQ03PP9WkS-bpcQzkOpDcoMUEWRntnABCqVij-X2vXUu70-EbHjyTAFkmlTmY9AAeBt8tTpqS6ElsXLfaDzWxMevk8zNfHxQJdDrgjPg_7T_Brt_WffaxZCbOdzg6Ef5XN6SIZboqoL9yN02oW0ymI6V_6Szzb9GJ36DFUwtsYiqkxxKpDoa6-kLRSknYPLlAPIfaeey8E8GMNrnm6G0aV7ThHMt9rQtjz5LqZ-A2cSNsJCa1cIpkqovQQD-hCSfetO4eIHQeKF0io7hQjoxN92c3SGwGxdKQgEI_-EpBZQJUFLJbEZ2dm2qWJghjotGb0mhvPcYiA_Rv_OK_-ts0pVcZdZXkvJ8T0xN1vtIpMY-pzU0LVkeUxaEEJFJbO74rz2SxBno25VMjZ5fF9urSpQX4EFuHLtrldd7xlorM2AwQFvD2MCbt7P9KrToNkaBRS1CD8UnuIxySs6LchXchfxqwe2OesJahOmQWOA-UZOcOhCGBQt7j8HPnjA6rHMelSevF3bDGJbhEzpu5nZNbZmz8Ig5uHq27JD8QRNEkHtrmJCeKY0tKa8aoSa3IduF5uwjVhIZycO-5usanpZvyh6etuJIfy42-CEgYDW_T3fmCbI4rApmtSvH7vXzSMTXaFuaX8M_pkZ1NwzJeRBNs-Qfilo9jxm7lM2LdK7aWXAgyJ7CFGvaOw1It_qshI1K1Fsez8vvXytHS-BW8VaRX0ZQA_bI0UlLSR50TZ7oRlu7J9Y6gBP8Tni90AXw2zIusUiHjENEZ_lWdLqRZe_UD4Bs8FBoM1J0n8dXtGvtMdLbnbX1tXz5ljA803lQluSovM4l6MusrfUEgaKn_blbpvas2n6OEwMOcvQoWrPC0H5WA471vhf24oDmbQblM4n7ZUP--Ec-fUqq6H9pR3YxsNxteGWMsMoq59VTv5uyZpeDecYZhLbo6CmUYxuoj6fMq5A95-4jUD951q9osaAAPEzdbXN7w6TQUfzDPJ44bMImTGHiQQMHnPV_-a9sPp6TFlmTlqLMj9Lc4UMZrBzTIgHGsDaPUo1y6BVrGZz6Aazbh-6I7tX2SQXVOC2zCs-i3ZLKw_TtbJUD0OPKWq-l200IUy-3V0wsrQO7VzU2Siif0AenK_6QitqZlebHXzh1W8IMYbRXHXrETaYOYwwzgCzG278oVC40V2V8-PCUudIRe0ZVjOMvusDiQPFO99_gq2aBqovg07_O-Cqw4573bN_AjJzp0-ZBSDc3lXm6nr1MhylRMiVcx76ZJ9OjNtWBGWLauFPu5qPxxYYyJ40OIP_lQ07m99xvnLpg2idBdjMhRAY9Y748Uy_ebJvD3MLyx",
  "id": "rs_0366db2dfd1dbd64016ab2dae79bd087d088717be89392a18b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The grasped plush is now over the left basket. I’m releasing it there, keeping the two categories separate.\"}",
  "call_id": "call_qqbKGcbMEeOzVBbLl85tCKfc",
  "id": "fc_0366db2dfd1dbd64016ab2dae8f8b887d0b1670234b7e4b519",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qqbKGcbMEeOzVBbLl85tCKfc",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4206, 1.7576, 1.1816, 0.0135, -0.3882, -0.3405, 0.9953, -0.1715, 0.8379, 0.6628, -0.4103, -0.2527, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.4897 left_y=-0.1419 left_z=0.1639 left_yaw=0.0742 left_pitch=0.0426 left_roll=-0.0788 left_gripper=0.9953 right_x=0.3 right_y=-0.0035 right_z=0.1916 right_yaw=0.0842 right_pitch=-0.0063 right_roll=0.0604 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -8.1709, 6.2017, 1.7216, -0.2613, 0.0513, 0.0024, -0.0752, -1.3197, 7.2684, 1.6825, -0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfda9cdee61fa246e6934aeb48ac41ecd32214b260fd1e4c49b99fe86dcfe8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577f910c086752c01b80354b519491852f94e6e63d616ba8e4922c13669f79e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70cd3feeeeef728485187c280bbd59766262530a0abcff29c6f1cbce213f1ef2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.793 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4194, 1.7206, 1.3094, -0.1394, -0.3962, -0.3351, 0.2218, -0.1715, 0.8379, 0.6628, -0.4099, -0.2527, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.492 left_y=-0.1408 left_z=0.2083 left_yaw=0.0794 left_pitch=0.0552 left_roll=-0.076 left_gripper=0.2218 right_x=0.3001 right_y=-0.0035 right_z=0.1916 right_yaw=0.0842 right_pitch=-0.0059 right_roll=0.0603 right_gripper=0.9979\nstate[joint_eff]: [0.1573, -11.8496, 6.8308, 2.0293, -0.0611, 0.2125, 0.6716, -0.0615, -1.306, 7.0359, 1.707, -0.1538, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstr1TfiYDralVmjYaAnZ6K5D8FMoCoehkdeoeFxyuuvOdL_DlKt4xQf7cTESJ6rZGap-irSkOok3IhvydEszFE4DQbYu8kSpGAD8mKL--9nEcb1GwyWGdxGqF7eam7NpR6nzf-XBJoZ9MX3MF-3ZBRUcZvAA7ftBjLQ2nPvYhV_F2XQTVsv-bfvY0Lf-gaWUIj2T4SVd0GB2WM4Dakmyo8aEkc5_Z_pimWhNG3Ew8GBtHBbqHAdFcaY0oum6QX19iIoEw7xKiJhDMoF-ZbrhFrsrX7CPQKL0OfGneSSBqlvrvULnA_ukXZXNck40tFSUOrHqRYt8PDDB6zYBwddKMjCeBMV39nG4JoEm8uzYu4QgM7fXPQiSLQrHNZKg3GXfQF--CWWWLbsut0CGrCSmefhomfsKXwSmsyKyTs9XqqiJLdRFqX1h9f1ye3dq-3YAnf7mrobMBMGZIII0El4ySjKcToQyCIx0zLF2CNBrn5ZxxfHb4xelycAcGt0dW-swdAsO9J6mxhIt7fdq_RczaJ-eju9IQPYzPORQGt1aKyfPTEZNE4rmYnZDdJECmXVDCJCEvjEyxxM4FN_fWaYAoi_gAxNsJRxK1zM4sYQC0EHptwjZtDGBXOM4Thst0sVCEcOT0KmbLhnqgJzRylpAkX0nKxRV7PX5Knhg-AQKhih4Gm4koK2fvmIBS2mWM9SS52Vi0c2uP_hM2bzAsg551b5RjqZ9bM_rZDD9JJ1WM-DMh3dLwrAzIdLnCwA08-V7ST-KHbw_5HJkMaN6p52nxRdAQqNwthdnYWAR9GcPqfkHmDSKm9rraCDmGKwKxLM4UXCEWF1OwubV9T5tgNlQT6c909L9fH-7J_nnwd10K3nxGQUxu4ABGLgUlPyQpUy-8ZqqkvSgb_ne0kd5u0H1rQSSEyqYPWise47jLBOkMOTkxAkS1uKcNUaTQJHh1V38up-0E6RPUIrsme4ZL9XGdThID6ZU-4QpXYwPBcUDnath8wfwBJFz8PEMT7f06maEWCFsYh7l82HnkKm5ee33rVr4bEjeD7yKoCjh19ZJ-sxIF7flLGCiaAx7QtAwkPuEY3X5N_aNTbvLhMFszH8j9wza5U3W8Xb07xoF9_D8yYPaV8T5TgA3FH7Ku7HOusN-jyo8Y8KnrpD9Y10DQMPIiIEsqDJBhJpGcfhAxqmpl7Z7Ee6aIaBHjr7DfKG4anAb8cgrswo1KMZuEYwgurN1rKPDOteK0yuyPe2EP6NqFxXiHtG8MBkaLFSWdyYY32mk18lGP-Lh7CHCntLZuVT_OAerGJYeT2evowLoh_ulMnULyeZQJ3kFrf1bbSTRLvYmr9tUjA0V_F4LF28oerFCaiqfAvKLzOGIaIxUW508-xpmgaaX89QONmiF-Kx4p0DQOjZhaGOYOPRPJnM7Th21XGP5XzNoF-QonSH4bp-aLKp_kTNiui3dsWr3bee9yp4nbzTQ-srO45DJfr99ANsEl3UVZy3Jr6fZAuidrzuwIErJHR1dx6-p71SnVntdgf9GepVwCbWlu1yEsjmMpoOkbdAZk781acGgdBjTHRZApH3gN_hi6AF6s7tjzH9BnX5GcUxysQ2MOYYS6nxfm5FfUh6Xm_KGIUhiuSpum8n7wpTjjzJQsIrVCmwdVQjfKBOhHLzvAmjbRMdc2ZLOKKTVX-jrfl5IwpP1M2qUbpz2C1GXRPBch6ml2rjtxPa2jh_nTxBZtp2KupUrzUn1qE4OGnwVcCA9frWWxZkTbtbfUEiSLWGK4ie0CvYqsMWA4IO3Mcbv",
  "id": "rs_0366db2dfd1dbd64016ab2daeec8d087d0a36e274d8ecb09bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.245,\"right_y\":0.33,\"right_z\":0.055},\"note\":\"The first plush is in the left basket; two tan plush animals remain in the center. I’m approaching the nearer tan animal with the right arm while parking the left arm.\"}",
  "call_id": "call_Z2OMm0Hwygaf8GXiX8ecYyLL",
  "id": "fc_0366db2dfd1dbd64016ab2daf340d887d0946d26f4869a9bda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z2OMm0Hwygaf8GXiX8ecYyLL",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0662, 0.8074, 0.6456, -0.3325, -0.1062, -0.1738, 0.9967, 1.2407, 1.8187, 0.8856, -0.0391, 0.8455, 0.8669, 0.9979]\nstate[eef_state]: left_x=0.3062 left_y=0.0021 left_z=0.2061 left_yaw=0.1045 left_pitch=0.0672 left_roll=-0.0891 left_gripper=0.9967 right_x=0.2462 right_y=0.3219 right_z=0.0522 right_yaw=0.1007 right_pitch=-0.0211 right_roll=0.0403 right_gripper=0.9979\nstate[joint_eff]: [0.1983, -1.3744, 6.8308, 1.7021, 0.0415, 0.0708, 0.1294, 0.759, -8.1026, 6.9949, 0.9988, 0.5885, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22cbbe24d538719f3665febefbee7b7c770907a1afd5b8e12a886e07318fa79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331d769e7e705117d859be1335e18c6a56eb2acbe5573dc7a625b9068bff8982",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363ed3f54350e216c017f913229aeee356ca8c0c0bb34ebb283c8c5fa5b60da6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.466 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 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]: [-0.4206, 1.7576, 1.1816, 0.0135, -0.3882, -0.3405, 0.9953, -0.1715, 0.8379, 0.6628, -0.4103, -0.2527, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.4897 left_y=-0.1419 left_z=0.1639 left_yaw=0.0742 left_pitch=0.0426 left_roll=-0.0788 left_gripper=0.9953 right_x=0.3 right_y=-0.0035 right_z=0.1916 right_yaw=0.0842 right_pitch=-0.0063 right_roll=0.0604 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -8.1709, 6.2017, 1.7216, -0.2613, 0.0513, 0.0024, -0.0752, -1.3197, 7.2684, 1.6825, -0.1245, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstr-TW8DcEVpBkRsLlkSbsT3MTqGl1m9hqZCHkgwS-pYeHmyfkHBiJJujxp8-LCYKKaw0pCeqMCWI-R1FWRGUv3wNnhp5pA52Uw2NTpVt3HIQRNdua3t3NBJMh_WCb6qEdKqgzwFZhLZH6ohGZvwS_V4mOdpNqP1bPjA3CVP8Qww8baFQXogXlPUwtznorIlDxcG5gSIa82qaDvCyl6KzbIXMDnw2f2R9-Ecmis5cPbv-j5nLRjbffBcf27NtNEANi6cOF--B4GcwQwx6aOIqBbhwueWt_xmf2EKXxSiKvZuxpXp156g0brjyFKunFvjFjhTHiyGxAIj5V9UKOy_0NUfhfmKo2pZl4Xat5TqcZgrP7y7K7gScHXstZu4eglq2FK22a5pyzwRC6c_fJBfNidBjx7JOtrMGFIFYG28XKvEvxYvmB4Elvn8R1M33yKjTLIt5OGohOxwi2oKC4v3C5UXWSf2BCVo5OvrvT3LCwALWsvbD2vjT28olbdwZygAMvZMQUydcZttnc20VC3qP9U1s9uVQvMD77DE_J9YM7vZz6ijfkaMbcSpkZaJLxN8NxfPx6ESxJr6SGMTp-h8wLYn95c5bXRu2tncqzMPU9hNRZlD-iF3E3kZCLyEUIxRUHoYfPtwRst6ClOvbSt_0nkU6YdqYigOCzBcah-iXYdQjOu5erNzMI9OTM5TMB2Yz_bujpk6yrf-zUszDdwn6vQ51LFQo75LNl-T1rud9JRkFce1fvLvrl5CpyauwM2ONRUAqNs_lrb9EYUa2R9hnkF0ctxj9pAcDicAnvB5njLxXCF3u_c6V6pmf89zCyIBrzFJjbdbH9KlVlqXaPyGfdeFyOYWYRItw9eMIL5jxR1vvfyNSD2BA1wZmLQVIWaLMdFLYzWCyByze2ctkWmpsg2l0E_-Pc3kFaCfR3x4qKPZrR860hoH5HVPHG73k6U3Lw0IAYmqBprz8nw7W0XsJWw1047TSQCwsxzUqNLxmy7nS9Wi1h73mx5K-koXeo_l37p1oJ1f6TR0Nz_0ixiI9QPZIfiX5Ce7TaVUgCEMl7vnVkxuWaOM2kJtpYEEywW7jE-iBLp0FGuD4mFa3Zhqct5qI7qxw3DgtFjVohxs-RVOW0x20A61Tyum2CtxNCMrKVVJzSbxSAG5Kxt81KMbe3NiuIaj3Bfd1P8CvA0Bv8PEezhaStae0C2zT2SNnJOOLwrYeq6XcEgXoe3MO6SX0l4o6eubfxnqgTenI-Y6Bv1UJJ6ZZjOsokijCp5BdzCqOby6EPGwo4Yqt6F405fpXfgGOmzRUuFiw3UHsSr_DZuZTOKviNUD2Qrx8KNCnIE2X_7cIAluI50xloF7lThbYq7H9v4OWdYKOT4zFcmIxGkeGoIamJ9H0cIrg-HEgzufsjC29nZfJ4bRJc561e1EbFjoBaql3eQ94rf1iNTS3AYoDa3BlmMd9u8mCSBCnr2W-8BP1EJgbV5uZWroU2N6JI3l-iDdtI48gYRXgl9kbA6LrXhqnQoL3MkH538Oj02Pr7sgjWG-aYGQZAyp2ZdEb3uwwt7ZWMwaSIY35T6VqleOUq4=",
  "id": "rs_0366db2dfd1dbd64016ab2dafa188087d0aa9f81752c46fbc9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_gripper\":0},\"note\":\"The nearer tan plush lies between the open jaws. I’m lowering slightly and grasping its body.\"}",
  "call_id": "call_NNjxZePdfjCBOBNaVyhUeamN",
  "id": "fc_0366db2dfd1dbd64016ab2dafd3db887d0ac26483cb1daf704",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NNjxZePdfjCBOBNaVyhUeamN",
  "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]: [-0.0639, 0.8135, 0.643, -0.3473, -0.0971, -0.1753, 0.9968, 1.2415, 1.8812, 0.857, 0.0727, 0.8333, 0.868, 0.0121]\nstate[eef_state]: left_x=0.3048 left_y=0.0013 left_z=0.1999 left_yaw=0.0996 left_pitch=0.0431 left_roll=-0.0909 left_gripper=0.9968 right_x=0.2461 right_y=0.3269 right_z=0.0316 right_yaw=0.1083 right_pitch=-0.0215 right_roll=0.0642 right_gripper=0.0121\nstate[joint_eff]: [-0.2393, -1.894, 7.2547, 1.8974, -0.1343, -0.0611, -0.0122, -0.2256, -7.0496, 4.4239, 1.1258, 0.3932, -0.0513, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dddfb85c9f83c597fb0d789082c3f8ecbd8ee8f92e93f63a4982c29f784685d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e374fc4c477f666be1c220dddeb390463fba6b47ead840d5faa7a6f3dca770b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38740ced1d24473bbebac8d9f65d9ec9474820bb1510f709c93ff9101ebe2fdb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.436 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0662, 0.8074, 0.6456, -0.3325, -0.1062, -0.1738, 0.9967, 1.2407, 1.8187, 0.8856, -0.0391, 0.8455, 0.8669, 0.9979]\nstate[eef_state]: left_x=0.3062 left_y=0.0021 left_z=0.2061 left_yaw=0.1045 left_pitch=0.0672 left_roll=-0.0891 left_gripper=0.9967 right_x=0.2462 right_y=0.3219 right_z=0.0522 right_yaw=0.1007 right_pitch=-0.0211 right_roll=0.0403 right_gripper=0.9979\nstate[joint_eff]: [0.1983, -1.3744, 6.8308, 1.7021, 0.0415, 0.0708, 0.1294, 0.759, -8.1026, 6.9949, 0.9988, 0.5885, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstsEcamenypimsGWi-z47RHbrESQ84C4dTCNvnAHWWakodwhhTPRPtRjHsPbadzqO1upn_oMHI0RbCm5xeV7JFo0vISUc4WwlmS2RxqRvLALeBnZCZf7Tw45LF3heLmkDVFtXyT90CE5US-H3qutxkNjygn2HPJXkNMVWN8LcmWHfIXVYKZQiW5fYEMUsRqcmdk5FBV3BLVgqQ7JCkG5m48IUZBhYzOhf0_VVHU0h4vYjw8cC4MHGox9KittAm1WLIwUQgXtU3sOmipFTaNPlFRjimvW5mlRWgQdQknNMHj6CpJanfAfRft5FC3E7nLqkB5QOgcCPYEIalqpmNZD52sd4kmGadHkriMcYVkmr_xkX4ySNIXnqtwpAeR5Q39kC2W7RMpj9NQIRDk1IFLY6_1qoldapBm430cmSzNVEsnsRgUokAdpgbStBiOvNh-bSgOFENt9ARnKnnHlZ-hHeGRVe4IEr-HSXP3HRk-_k4yBoY8AE3SJ7WNgpd1ROrEkUPKXRMl86gI_NzYXKBQKx9GZZqsGdKrPqcYiHksPb4SViWHkj3FJCJ6ZhtiTuFgGzRdpg2i3epiEVmPgmRY9p__h4rBv5LLJzGl7aNl1bYQOeRrrWlPTA7LAb7BLz3V4u2Cug96dUq0RiGxnNkM0mhooldADgcLq577RxvriU3Tumj5z4RxRwm5iXullly8NqhNestkljPTkFN1AIEphKn5MzvZGywKtehy9-9-p0EE3ct80y3b8ZZi4U-fd9t4x99M7hRvXHo73Rg73A-PyNBTgj9feGOLPK76B-Hixa3jT-nzdDSt0LHXrEMdGpzlEdnrl_K2zkqxM7b-Cx4YnXMEiDn-y4ZhUeKyNrCgchqcV_kXudQdlubRxA3ZSP4grwL2-vht9SYB251etxosBiKD56BLtQLR4xwZtL1Z7wpzSQeBE6_WP9kHqhN5DOXJzByErrC_GmR4lhvyFqs1cMNJpTNSO1UzjVrH82yEFqhkqQYAUUP1PZM8iFP4Ib-ej2mGfTu7bX24ICFuUFTpwkOioYvle6pxAlfWd2Y6qXZFnQlxDSv8zFlhVFO0gm-7Vz0SrfdLqJfmOXN8nZei9NplOhS4I4qGPQzFSDuXREgMQplxqZqNdPxRmarawEkWd8EBZmKVUJPzQ6KKFyL-NJCm2F6eMn_LXMRDnI3uE3emDNelC-FXQ77HIAwfaNJ512QIq1J-a8w6SiD-9TDiNOZtsKg==",
  "id": "rs_0366db2dfd1dbd64016ab2db01c41c87d0851c95f7f95df11e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.285,\"right_y\":0.36,\"right_z\":0.035},\"note\":\"The close was empty; the tan animal is forward and left of the fingertips. I’m reopening and moving onto its torso for a corrected grasp.\"}",
  "call_id": "call_p8fg4rSVj8glWysldCCW7W1h",
  "id": "fc_0366db2dfd1dbd64016ab2db023cf487d09d89752a26376624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p8fg4rSVj8glWysldCCW7W1h",
  "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]: [-0.0639, 0.8135, 0.643, -0.3519, -0.0967, -0.1757, 0.9968, 1.1755, 1.99, 1.0168, 0.065, 0.7906, 0.7895, 0.9948]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.1989 left_yaw=0.0995 left_pitch=0.0385 left_roll=-0.0907 left_gripper=0.9968 right_x=0.2799 right_y=0.354 right_z=0.0313 right_yaw=0.1109 right_pitch=-0.0294 right_roll=0.053 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.1966, 7.0496, 1.8339, -0.1001, -0.022, -0.0073, -0.7179, -8.8684, 7.2957, 1.2381, 0.359, 0.0073, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627322bf22acf310ad3b3c293f59616388d6ebe7c12dc381c08bbc8beded75c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2456bfa5d0ac03bc7339b701b0925c7b628336826ac7b272517215bb1c2c2eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb6fc081c4c377e4332372d453c6627a116c1640e0a6692e2ceb130a90d8304",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 8.995 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0639, 0.8135, 0.643, -0.3473, -0.0971, -0.1753, 0.9968, 1.2415, 1.8812, 0.857, 0.0727, 0.8333, 0.868, 0.0121]\nstate[eef_state]: left_x=0.3048 left_y=0.0013 left_z=0.1999 left_yaw=0.0996 left_pitch=0.0431 left_roll=-0.0909 left_gripper=0.9968 right_x=0.2461 right_y=0.3269 right_z=0.0316 right_yaw=0.1083 right_pitch=-0.0215 right_roll=0.0642 right_gripper=0.0121\nstate[joint_eff]: [-0.2393, -1.894, 7.2547, 1.8974, -0.1343, -0.0611, -0.0122, -0.2256, -7.0496, 4.4239, 1.1258, 0.3932, -0.0513, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now surround the tan plush’s torso. I’m closing to secure it.\"}",
  "call_id": "call_dX068Sb4EN8Ab9jIfAW8sbbR",
  "id": "fc_0366db2dfd1dbd64016ab2db07772487d093d078e804e5e3b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dX068Sb4EN8Ab9jIfAW8sbbR",
  "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]: [-0.0639, 0.8135, 0.643, -0.3523, -0.0967, -0.1757, 0.9968, 1.1721, 1.9919, 1.0199, 0.065, 0.775, 0.7853, 0.0112]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.1988 left_yaw=0.0995 left_pitch=0.0381 left_roll=-0.0906 left_gripper=0.9968 right_x=0.2801 right_y=0.3557 right_z=0.0299 right_yaw=0.1195 right_pitch=-0.0394 right_roll=0.0565 right_gripper=0.0112\nstate[joint_eff]: [-0.1573, -1.4017, 7.2137, 1.8095, -0.0904, -0.0415, -0.0122, 0.1709, -9.9077, 5.1761, 1.2918, 0.4469, 0.0611, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46198354e619a387f27fd920c95c1d1d70a10b2e409dcfd131e0ab96fc20742a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1375ed0e23dbf8d92c405f3389992dbe7bc7bc9afed9c15e540cb0a35c3c59ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad1b013274c8659269875060da06cc2192b28a50013ed216d6a5b14a644b366",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 6.711 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0639, 0.8135, 0.643, -0.3519, -0.0967, -0.1757, 0.9968, 1.1755, 1.99, 1.0168, 0.065, 0.7906, 0.7895, 0.9948]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.1989 left_yaw=0.0995 left_pitch=0.0385 left_roll=-0.0907 left_gripper=0.9968 right_x=0.2799 right_y=0.354 right_z=0.0313 right_yaw=0.1109 right_pitch=-0.0294 right_roll=0.053 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -1.1966, 7.0496, 1.8339, -0.1001, -0.022, -0.0073, -0.7179, -8.8684, 7.2957, 1.2381, 0.359, 0.0073, -0.149]\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": "gAAAAABqstsSsDZZi1X1a_JyXbAWzYBrfyhC0DKGI2Q4u7JW7-9sIIC9frJ9453H6nugDR1EJ9iqiFj1fKlZwTQGXB5SuruX_KhvDFvhSkO6JxadZFKqJMEVl1N4zUhXuNxIUl5KbXvW8Z1bbNVkY7OMV_ggfxQp7_ksDaB18I1WMPhnghJKXi1M7n3X6YUmxfL4211ykFv7gLGmh8yXcdUe9Inl3GVUlaGt_7xeMkZgbOsPileMNDvpAu8XTX0hvlpGl7bNjRxefvcQW1x_VFnrVUGJ79FoHYYxB_E7nz0ano32EcSqEKinhhnjwh89NVTbhDooXnFZT-COhqlnHK7KHpjsTEbH_ssP844s35Nn3rR9PUvP-oJl6XcmaWJqVvG651CLBKEulx7yF0j4gQgyY2CAKkYvgqno_g19h1tgYn2NdDW_wiVgwPVa-XpVdx4apbyg8yBM_TWrFHaQRy3x_RUGyG0flQkPCt9bty12xrcdDs1UyMdnrg8Yaa16hGbDHivkXq2tiSD_87jTtyQGeMttz2VnTmQjpvlJ-EBIPz9v0u4d7AYXN8OvsxfkO7YJXaU6jks4Vq-xrkuhxW38H_F5SwLHBcEjO99Z8-bmgz5JCqPXxjVICfra-kempGeDwMjyBf6tdslKNpuzKyozzwFTcAwYLdcdqnvkWsYFpYj5cu54551Jb2oO8Xg2dF9WepkgOWdc2dnRyPYLJDep9KZOgvTrcqDTJdaSoyP61Z5p30euMqPjkNsooQm_TQW65k-PnvzqK50LY6O9mzBT2hnEq4EHeOrXSl2DRa4xfwhWkXCcQaARsOO7bz3WCh8OPB2dc-FXegq0lTtDrOzPSDjKi5SbDjVMD5kq8RT-rt_gBeEMSRmmquUjMea4bBkNhCPgywNnghP1Q7JlC-wIAanJydFEjBCP-xClTBVRHeo-8m6evgM6UU8trkBUcpSgmFtqR66cleqfrwqnpLsCzm2X2st627vZZGfqP4xe19NiGiGc_JrcyghX3Vuz8Jo8rmlcCYmPOEFLOg4-o-tulOfr_2hMY5qSo0CLqoEJ0DY-mweF-Bj5yVGFzl7bRzk3abiIlHXbApHbhYpvTcYuH3uQEKVBPtxMnGlBVSCmd7Do9PW042J_2zF-pBXGLCjljfI1AsYm0flAKuJh4RFy6QH-01OvTUnvPWfzchCv3ghwz6uEOVOm11aAuruHLV7fEqXyqKAvLxt9_-aR704cNF0M_N40HBfhDrJ6tvDws0xZ71qjPySR9jXWtecrcj1_JxxitmCPCnA4TBT6NQfQg9KcPJh2PZ-OA_s-doDRaRpWvfYrAOnvflFAELXy4dDJGc1DS36203OOaiWRY9by8toUH2ABbzxoVKw4MJke4womwFCFE6ZshWJ5fsfYJpbt0Gq9D9-EXQTTUKyPumLO0FgDA4wFAhvrScrqYdGf3j7vPzyA43KgXTbsHLs_BoziSVKa4ReJxrZUlkVZHqJ4iLioBxe02Q3hZdVkVkHo9LYMtb9wP2DDBq4FKkkfMkaDmwW3y2GDCy84a7Tb76Sx3ygKk5t_S0PJ17nXroV_J6ndA0AlTxDEIOQAcJQp2ex88vrHwoL9BN4twfxYQHfnk2QOmTBZI8xqlCQv8i_-8Eyz7ZzOcJwWSuXsnJqT2Dk45hzqjEvTlZrxlx6VH2O8kjCbUgKJ1VdF4GQ8qzTvYHbHvCr8vqIsCFbEGATrheoC6ZyqKrc8PPxJkeOolLfEnwPedqcvVL3kU3TvmhLfJ7yHIKsl77LfBXfU1PGSIqt44MMNLHfzUChdj4XV45plr5iNqNtw-_Laiur6PRDJWXN8xqAa8D-YXPU6Tc6qTuZ8w4h9leqj",
  "id": "rs_0366db2dfd1dbd64016ab2db0b27f487d0905f0685de0d5f23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.33,\"left_y\":-0.25,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"The second right-arm grasp was also empty; the overhead view shows the plush farther left than the jaws. I’m switching to the left arm for a better-centered approach.\"}",
  "call_id": "call_F6dIIkTcoYNCNy2qglkKPTuM",
  "id": "fc_0366db2dfd1dbd64016ab2db0fecdc87d08dce530bc92445ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F6dIIkTcoYNCNy2qglkKPTuM",
  "output": "executing move_to over 30 steps (3.0s)",
  "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]: [-0.9646, 1.7996, 0.7921, 0.2352, -0.8814, -0.7856, 0.9984, -0.1474, 0.8696, 0.693, -0.4618, -0.2008, -0.0902, 0.9979]\nstate[eef_state]: left_x=0.3384 left_y=-0.2426 left_z=0.0669 left_yaw=0.1361 left_pitch=0.0972 left_roll=-0.1126 left_gripper=0.9984 right_x=0.2993 right_y=-0.0052 right_z=0.185 right_yaw=0.0568 right_pitch=-0.0653 right_roll=0.0564 right_gripper=0.9979\nstate[joint_eff]: [-0.9915, -5.6684, 4.9299, 1.116, 0.1538, -0.1343, -0.1734, -0.1846, -1.5658, 9.7436, 1.6044, -0.2369, -0.0073, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e8e762b02fd8465aebb705daddef93514f6fb7b1d871a8ffc0d879f495e3ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386fab208a718bdc2adef02e83785ceff36a204d39d947864d73d37a9e9f4969",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055d9a45d3bc74cfcfec27a7dca5f60e1cde0caf60046d93abe4fd9ec69a8606",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 12.63 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 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]: [-0.0639, 0.8135, 0.643, -0.3523, -0.0967, -0.1757, 0.9968, 1.1721, 1.9919, 1.0199, 0.065, 0.775, 0.7853, 0.0112]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.1988 left_yaw=0.0995 left_pitch=0.0381 left_roll=-0.0906 left_gripper=0.9968 right_x=0.2801 right_y=0.3557 right_z=0.0299 right_yaw=0.1195 right_pitch=-0.0394 right_roll=0.0565 right_gripper=0.0112\nstate[joint_eff]: [-0.1573, -1.4017, 7.2137, 1.8095, -0.0904, -0.0415, -0.0122, 0.1709, -9.9077, 5.1761, 1.2918, 0.4469, 0.0611, 0.9158]\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": "gAAAAABqstsb14r_C2GZBBc55x_yxag82FmhkJ9tgbbBCs7PQu4SX7nhRLV0tTuHBcnBtR9sYkbj2Kzdx3Skjmuw7rhcns1xYg-iZuY2mpJJi1a0OLP5fstDPJSpQjehbMQcHIaFiGjzqX2Rii9vUkeEj06v_mU8wucqpkmVcGzv2Ur4uecWancwMu-6rSkEFnCFq8BS0lu-hnJmmSUh3UzKBsLn7za1S9khe8seVIZE840Il4Cy_YMLbNk5fVxhM8YIrawtUAq4G_CxPTBthynCXyaW8NXyxK66KmkVdIFHXDuxowdtgvVEKtUrUvSDiP2kaCc8YVI9RvdKdl3vCfzB6FFfmnLRoq2Qkakl2qV0XmqyifROhIU11Moj9dR0bgMr5Bwip6H3xivO54nkrvWvSVaxPBK6rUffgulR2Fh1F8xZ_DfOLbmdNXEqBIEdGRX-Zf36y2TS2fnVOn7tCTUM68e5AcbXrd2zcbvyRj_RnDFHuKzLzLsSNCjjRPe8sXjeyen8ay4vqybx3DHm7ncgj1QTYaFy6cH9eK4dTxbbyqk4x75Li043lM9atEwdzekv2pvySUpTTUBox26d_F0q1hJkLP_0BNJ81XWDCkw0kC6H6pDLD010emXwJ52qjA0YToUST7pstUGtkOOQsZSfDZ8L69F7bfkuIK0mrbkbY0svsBfmYocKXGR-iFgQoHpKLko4iL2MTtASAiH6GmxcXsMbozRpOIo3xTFFzvTbcUJioZSWry4Cgvth3xXKy-J4OxVUIDyy7gvh58A1gsZSAfuWQ5_Cilq8v-DU18f3-lNLKaN3EvCm8L-Rq_x9q77gSl6UW09QEjIPiMsRuDYjoMgY1d44QmnUIW5B33Kxs3GVcNiepX771tNvsYK4E2fwLMYE2xXJePZ5iR7jqMf_Op08Qu50OvBCKCo2IWNROwNs_hZuA6kl2EVylJ7KXTd15UAjCAlN9UoinUnJhaYYiczvsZzXPT7gLqcilp2qwldY1a9UfMqF4oGS2PqqT1iZZp0IFYNL-GEDdanxYnJ0GeqKIe20EMH4Gijr0gpAi2NWeaLt3DVevYhi4mWm8bzNyV3Ib8D7Rs1xrAHxsTGvkhGQ9MT520uqVl2ZErX81FDacgAhXqiVrA-3kxfkX1OVepTuBtAALlnU7ZW0vju-hokG1s9F9Hji6W1mhhpkZdesugu5ub7OKyYIunAWyX5U8WX_iKpBAHUhXrmqoZESxNAIev9bhO1pXhvNSP2MbWl0ofSCFOnVlBysDKB02X6nZsUQ9bQbigE8mQqxCXot1pyP2YrmnngdcX8PaBz_qZW970IgKLOggLTCox7V5nOrIhhEBYmT1Oc5kreNJIYiiDjWGF_Ivrnec0hEAaMLh61Luzj4BQn-xOvA5c3Z0a30BJr8H5SY_llcO_xjp_-ohTTJ3rgmXCn-rUuX2QwErfLBrsU8lzzyL5VcoDBd2Tmob20c4YQm",
  "id": "rs_0366db2dfd1dbd64016ab2db17f74087d0bdb935e31523ddb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.31,\"left_z\":0.015,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":0},\"note\":\"The plush shifted to the right during the approach. Its body is visible beside the fingertips, so I’m aligning over that body and closing.\"}",
  "call_id": "call_GUPKcTjcteamvz9UcPlTqYvQ",
  "id": "fc_0366db2dfd1dbd64016ab2db1a1c5487d094080930913e3d06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GUPKcTjcteamvz9UcPlTqYvQ",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0805, 1.9644, 0.9764, 0.1692, -0.9463, -0.8127, 0.011, -0.1497, 0.8734, 0.6926, -0.4778, -0.2104, -0.1051, 0.9979]\nstate[eef_state]: left_x=0.3295 left_y=-0.3055 left_z=0.0578 left_yaw=0.0733 left_pitch=0.1178 left_roll=-0.0748 left_gripper=0.011 right_x=0.2972 right_y=-0.0039 right_z=0.1809 right_yaw=0.0708 right_pitch=-0.0833 right_roll=0.0543 right_gripper=0.9979\nstate[joint_eff]: [-1.8393, -4.9026, 4.4786, 0.6325, 0.5397, -0.2271, 0.8767, -0.0205, -1.9897, 6.9949, 1.7705, -0.0464, 0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd841869ee918155ff21d6cfa74173a88f4330d9c46df2797317770faef4b180",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220ceb79d57cf5b6816d2625ff12e246512d3d6407122e426ffe437ba963a1f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6857dd8573129f7cf9c459859e7afd666d172b8cc79a701f3808e944f4a20ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.656 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 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]: [-0.9646, 1.7996, 0.7921, 0.2352, -0.8814, -0.7856, 0.9984, -0.1474, 0.8696, 0.693, -0.4618, -0.2008, -0.0902, 0.9979]\nstate[eef_state]: left_x=0.3384 left_y=-0.2426 left_z=0.0669 left_yaw=0.1361 left_pitch=0.0972 left_roll=-0.1126 left_gripper=0.9984 right_x=0.2993 right_y=-0.0052 right_z=0.185 right_yaw=0.0568 right_pitch=-0.0653 right_roll=0.0564 right_gripper=0.9979\nstate[joint_eff]: [-0.9915, -5.6684, 4.9299, 1.116, 0.1538, -0.1343, -0.1734, -0.1846, -1.5658, 9.7436, 1.6044, -0.2369, -0.0073, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstspDRQGR7CdNhexM7BRDaHXalSbdbSKNOLOoCFxrt_Fa3PnCvgvj3e4fXNf68gkorXF4Rfp27VRW1vIla1s-ptldXSRI4gsNl7NuppFx3hLf4wBZW4MZx_oZIC22p3N7S2JyXTwah4T2TyLQyFBMkfaQ9JcdOYxHqAV_SHX0sjq42IC4aoLC2ltAeEhtvCenYayW6DCp-9-k-e2vXSH094IYM3D7bJWCuhWtAX9MA9XY8NRGtY4MCEpiAlOxysBBI1pNQbDbm4c_F2BDnz9Jog43Hnbp-330uzdDIXKyjZR-8HTZSfCl6x2RckPn2rd-z0oJcKZnGTjQnTTa6kOl8tX2unxd4UXzWVdx0QsYGe_i4IgmQ3taXkuUc7-nzcBnO3rFwJkuG7PL1pLfeP3bGDD2kUEKMaIzc27urMVP3FiqNptTn0W-ZL4NHmCe50Ibho1zS0E1UUoF4y0sh9Xjq2XR9K0_iDZR_cmAI24IgY-lHLV9fQDhlt-N8cscmFpFWfdJxuri-F33viCgJjvAyiwwJxJcbOQjefrsFCoZWr0le39yN8yx1A3gbPl22Fi1ccuPKDdPV9NRTagVGjN7ARFFwP05BXyLLxQ2d3NDEGdIzbPf6uxJWNj9VsiROHySydGTdIKipd-tiO5fiehy73LJWa-NznO708xi-iHpgPzI5yHj8XffQOY2oW3jfk2Qv3Rt75B2emXlnBihfbyhk6aXkmEnk9cm9QuYgfnERt4JV_H_2cQImwlJ8eT7TBWSwtNwSmkMnn6QeeNPIRWhes8LYpXG2_K7FKr1qa4pWe-o-3DqYX-w0eUy-0nbwr6wzQ5k3IYMqZD7VlgMClYAkygW-vFIDOa_VHSy-yg3YAK4DAksdiN1VZQwMYLjwe2mScY45xVraH1_sMfI87StHiNQF4sYngCWtkKfsUKXSDr-ZqlJ8mMaooSU5bhPpoVPCrgpwRRSDpySkJg3v-AyN1D5KaLEqbgwkFp6dbdTkbdlCA0s9O9OhuwIjjs93Ts0PTWEolcoyyz3UuZ5oEd6h_6ukq62HPtaB6XhE0yIVeDGeNASfPpYtQgPM4E-8CvdBwNScp_dXKYShkYcianDHi0XiTWyXUAKT_sKhCcj9f6wIb615f9TZhaO3JJHYiPvwgFEQ5cuRWQtRLcUvzE9n6ewYCWBw0sGE_1SgtN75gEuP1S85-o5tnGWm3PC4qIFqli69GgC_PkKC_-dC0fwsU8HJI7S4t5vOvYu9Hu7JvLX38uRQ1ShPoZlXKOM0EKLIJtwBd4SRq1W4xJb6JnE-o_23G-Sqnf0b44ERwXerB_EkFV9YcGO-YLwgCgPx9KaL8EpDDOizbC1SjkNsXEH2dzbeRi9OIdeRC1aEqxOqEX0Gk6aSG7uj-IdEjwvZJymzvyJJunoJyoRilwrUvQPcxfC8tCCNO3OJjT6L_QHoN_B58Pj-_f8XnUzYcsyR7gr_AD5L9MHWQTYeZN-8Wrst3qmK1y3oMzTdqMAO_0gz3pQabapxkAb8bJe2sjSW118GHV_kT2oZW0Jtc8kcCo0z61Ff4eZIRIYBxpovf-SHRBC034P-hQn-SpQ7N13OIrX4Gi-H_C4ULpBrg0pndN_Sm_Eg==",
  "id": "rs_0366db2dfd1dbd64016ab2db23448087d09108506b4524dd99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.37,\"left_z\":0.10,\"left_gripper\":1},\"note\":\"The plush was contacted by the outside of the gripper rather than captured. I’m lifting and moving forward-right so the open fingertips approach from above instead of pushing it.\"}",
  "call_id": "call_Pp5ihVoj03kL04Fbrd8YnHWh",
  "id": "fc_0366db2dfd1dbd64016ab2db26a16887d0856774a033ccf08c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pp5ihVoj03kL04Fbrd8YnHWh",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0691, 2.1006, 1.3708, -0.0715, -0.9421, -0.8127, 0.9953, -0.1497, 0.8734, 0.6926, -0.4789, -0.2108, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3675 left_y=-0.3654 left_z=0.0964 left_yaw=0.0839 left_pitch=0.1221 left_roll=-0.0922 left_gripper=0.9953 right_x=0.297 right_y=-0.0038 right_z=0.1806 right_yaw=0.0713 right_pitch=-0.0844 right_roll=0.0545 right_gripper=0.9979\nstate[joint_eff]: [-0.2393, -10.5231, 7.8017, 1.1404, -0.3834, 0.1099, -0.1538, -0.1709, -1.7162, 6.9265, 1.6337, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5facce733da3cb4326475c144e624609a91bed88827c7fb20d94e2fb6be7a42b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d9624e49930d32a8c8117b30586007d4314409b0c6366ab3ed4276394ec6de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b81ed33ebfd6264e9884c60cbc6749b3c906ffb15f330ca4429a56729653fb4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.451 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0805, 1.9644, 0.9764, 0.1692, -0.9463, -0.8127, 0.011, -0.1497, 0.8734, 0.6926, -0.4778, -0.2104, -0.1051, 0.9979]\nstate[eef_state]: left_x=0.3295 left_y=-0.3055 left_z=0.0578 left_yaw=0.0733 left_pitch=0.1178 left_roll=-0.0748 left_gripper=0.011 right_x=0.2972 right_y=-0.0039 right_z=0.1809 right_yaw=0.0708 right_pitch=-0.0833 right_roll=0.0543 right_gripper=0.9979\nstate[joint_eff]: [-1.8393, -4.9026, 4.4786, 0.6325, 0.5397, -0.2271, 0.8767, -0.0205, -1.9897, 6.9949, 1.7705, -0.0464, 0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqstsvwv6B-X0Vs7eGhgX-yakFHtGb68A2asBIrk8O8Ygtj1ESNpgIgh4Q8BKEBJO7pjww0dbehd2GYCCEKmX3ooy8hJAV9hP0Ar6C4ajcfBzBiq4oeTWpQAntL02dc87JBzQcfEy2eiqyQoYCFl8eLqXJxIuvCy8hZ0RGtGC9_Bd0_8l8lY23HJRovW9d63p67Dq1RtfM-M_VMs-EdmzLP75xFeN_rZU9VsH7GZkMqUBwYXtvhR7-LOo7_Z0D2Ls5erRMTuv3o3C87AIrQuG4xbe9XksEfLhTN23jgBuuHzqFhBb9zNQZheaofEvO79_aSunoYusJsHE4GGV9p2Z308DruAoHsJeCA-k_qOooKcEUrVVck0VLuvZm5tMHxwYqrCkK1yscCSRU8wC9Lnk8f2qJQ4FrbiZfkojfrghrXvlrdo5hF7w9PhzxRiaGCxB1aDK177RF-cnrsDy0UFtxMqWaNMq7qvI5IWgwuK_4KBI6qJuUQWL0WhVHs-FumDzBCYcOTqXne5nsnbgld4l93InDGNZK5QpCnMBapz1RAq_d1PxXX57TELh8bHssK45JpeA6PTPqw7JbJnpx4GLhAbOFGKv1oSYxJjp02_K5m3_puXUU6qcUUKW-1VVPCNBcm0syiUYqTsXwRMt0vMAEYIeQ7mZpjpy8DXv9Ckzann6Ae_pndkFfOFqm85O42T51HB0z2V40POiYnUHUb90B0WXR9HscpeXRcRouOx-L9M2wjE6h1Se0cZ2wfjbo2bzRzfjyTSuMHkpo4FNKtV-w4SzKRwaW1mFliCZHebrwu6nGFFo6V_xvFCJL3bRNYSoB9ijFqXhFr2ZfYmOq7FDeprR02_cCqHutL57JNGTVyxrLS7PErvl2FCf9upUmLtiboJ1Te-Xs-x4NaJLG18XnLAGcxV7H8UXS2OEDy1iLIAG9nrNS-6sT2gK82R-OefLAp2Pk6UCYhV4rVf5oK8CuE0ePET1PzzA4UQ9KWxtzjaQOTYm5Ay-s7o61yRcjfN0rwatzCTzjNRq58rbnBsseoyn4OVxsIfDLdN3zHoXpNKTSWjiuQCL8no-kjD1JGipireXFMrx2-Hx9m_1-AXiEAHcMWgW-N14jJAby_qi1nIFuv1N4pEGGX41VrK3c838FyCu4ammtdOX2a8gQL1k2IerD3Uo9pvGQ1hLlq7aVz8hghiLUIrh_vnEuXqwyXxelj4wg1SsowBXJq3Wu8rhaKYKO748FLwpNEIdVxEpgQ6NRLxJrHJLCjclUxU6ZS7lFoCJWiQH2LExkHIgRyRMS7323G49xMtEx4CBKfytFb-IN1hI=",
  "id": "rs_0366db2dfd1dbd64016ab2db2cd09087d0894ca66be46f5775",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.39,\"left_z\":0.025},\"note\":\"The open gripper is now above the tan plush rather than behind it. I’m lowering onto its torso.\"}",
  "call_id": "call_ZoPtekSy3100sKfp9W87NwZW",
  "id": "fc_0366db2dfd1dbd64016ab2db2dedf087d08e2a551d32a98d91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZoPtekSy3100sKfp9W87NwZW",
  "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]: [-1.0454, 2.3222, 1.4471, 0.0662, -0.9428, -0.8085, 0.9967, -0.1497, 0.8753, 0.6926, -0.4789, -0.2111, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.3893 left_y=-0.3793 left_z=0.0296 left_yaw=0.105 left_pitch=0.1197 left_roll=-0.0812 left_gripper=0.9967 right_x=0.2971 right_y=-0.0038 right_z=0.1801 right_yaw=0.0719 right_pitch=-0.0862 right_roll=0.0548 right_gripper=0.9979\nstate[joint_eff]: [-0.4034, -11.6718, 6.9128, 1.2039, -0.2418, 0.0952, 0.1343, -0.0068, -1.853, 7.1179, 1.6484, -0.1197, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24781481e000cd2ccb94f30b71ff6dbcf0237336a4eff0563d087add4fbc0c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d3e4a6fb88847947a271e8456509166bc98b6e07a74f41f975b133c985d1de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd716543ad2a21715d0c471d211a0d926fbe030166678b9f2586666994429cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 8.472 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0691, 2.1006, 1.3708, -0.0715, -0.9421, -0.8127, 0.9953, -0.1497, 0.8734, 0.6926, -0.4789, -0.2108, -0.1055, 0.9979]\nstate[eef_state]: left_x=0.3675 left_y=-0.3654 left_z=0.0964 left_yaw=0.0839 left_pitch=0.1221 left_roll=-0.0922 left_gripper=0.9953 right_x=0.297 right_y=-0.0038 right_z=0.1806 right_yaw=0.0713 right_pitch=-0.0844 right_roll=0.0545 right_gripper=0.9979\nstate[joint_eff]: [-0.2393, -10.5231, 7.8017, 1.1404, -0.3834, 0.1099, -0.1538, -0.1709, -1.7162, 6.9265, 1.6337, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are down around the tan plush. I’m closing while holding this position.\"}",
  "call_id": "call_vVAXb1ZLbbJwRD8At4bK8g3w",
  "id": "fc_0366db2dfd1dbd64016ab2db31c4e087d093e5ea5f3587ff87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vVAXb1ZLbbJwRD8At4bK8g3w",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0439, 2.3341, 1.4563, 0.099, -0.9424, -0.7998, 0.0104, -0.1497, 0.8753, 0.6926, -0.4789, -0.2111, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.3927 left_y=-0.3836 left_z=0.0306 left_yaw=0.1051 left_pitch=0.1322 left_roll=-0.101 left_gripper=0.0104 right_x=0.2971 right_y=-0.0038 right_z=0.1801 right_yaw=0.0719 right_pitch=-0.0862 right_roll=0.0548 right_gripper=0.9979\nstate[joint_eff]: [-0.9504, -11.5487, 6.8991, 1.326, -0.2564, 0.0317, 0.823, -0.1983, -1.7299, 6.9675, 1.6337, -0.1245, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf434030afc9769ae834ce868b00057e34e7c0ed14d6db770af53b115e4c25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736ed879216443ec90d0c52de60e56cd858b8debd25d8cd193ec9748d7e9977a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf329715e582cca6cfbbcb35cdbd2df593511800015813f1ca06dd69e01d239",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 10.34 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 104 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0454, 2.3222, 1.4471, 0.0662, -0.9428, -0.8085, 0.9967, -0.1497, 0.8753, 0.6926, -0.4789, -0.2111, -0.1059, 0.9979]\nstate[eef_state]: left_x=0.3893 left_y=-0.3793 left_z=0.0296 left_yaw=0.105 left_pitch=0.1197 left_roll=-0.0812 left_gripper=0.9967 right_x=0.2971 right_y=-0.0038 right_z=0.1801 right_yaw=0.0719 right_pitch=-0.0862 right_roll=0.0548 right_gripper=0.9979\nstate[joint_eff]: [-0.4034, -11.6718, 6.9128, 1.2039, -0.2418, 0.0952, 0.1343, -0.0068, -1.853, 7.1179, 1.6484, -0.1197, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsts8yGODJ2ewisLV1N_e40GC9eijNTt2xe6qQ6dsHMzxYdB2iNrJomrbIHwTmvcTYnQsctdpFs81rNf2lJxzsbthpDKoRxzUAsHFSHOzKpbqkluFoNM3OPQkFzzTSezTIGe3HNlmpr37jabfEUVmoGv4ubYeudN_nUnonllGU608OJgfxcSHEmggBwKeOnURqrcHQ_KGSZ_GwMq3kDdeiCog6lC51lMnbe8VYSJl5GurOsdeq3wxy0DnK63SEJ5kd_UPM7uxZi1oyM1eFzUPwrfAVbBs7krZTBYkXT1WMGPvnF61vGZqQNKaNtIOpVCpdCAUB1krLmfNV4TfGYYhigjCOcL41NVNBVsc3AS6aBpQGhOulfBsOcVq3FlAFW5OXVRO-qqgv4WOHb06P48HxiIL5pkLA02mws0vXJlr8UtUMkM4_H3rbkPP1ul04QQwZ0HAsX2gR_5-9wGP56gO9EbPZeqK36tQPuONqzyiTzy5FWDms1Ui6_OlCiZf0auo9nTRwL2haTjt94eBAMnTmzznoCsh9Yjgp8V63lR4DOXNFqoTlROWUR_b9YmpGEQ5ije1vOiLglekncjl9PhsHUbF97A8WzI_ONdnnjGImXTG2sTXnLpFB70GXXdCFJ5Ue1VJFR4Yoiw3ToD65lhdBTgx7eHsQP1wh0bq_fg1_Je09HxLQRQaIeG9rUgwyM7sXFNPbuZj9lp8PrEWGdJD3THnfSh1STuarKzMWq4dChXtE9CFFxU5ILGVF12cDxYmSeWLC_SMekvihqcoH52LebcsNhX9KpDi09W6aWm5te-kbGav_NkZZpgU2w54y1DXOyHKaGHJr-O6KtoUjcklGMcf9gfKLkmPdxNZojLgiOFM71O18iAK-PKUSDjOe7ugWPNHVUJYkL5Jwmle4X_X-EWGJgQuQToMrexbk0THLNfmjKIsaqGEYdzl3j3o1mfZL1VoAnbVN_FM9rfDjJnwtxspkmhBo7jM3YkfHzYd0BruWVsPuLxfbKfzpyjzhfmBG5Yxw0Vj9Kv4kkOyVeh241yOy7rlLDH56PsQm1ccHrbhXO9kVD70u-IB7zv7DWKsyLV8nhI-HYNGPlSiGpiVutyCKlvvDm0lteoLesW-082uMnmsF_p4cgh7ZLUmLP7DcfFb5Bd61E8S0r52NpoNHrXJgJ26mbzhUFODlW6gMRRj1VJskBZdeEbv6XF15nOIPFhV7HL3KFMGiwXLZc0tddCXyBztsfnCmJACOWD8RdfJVWSN6pI7GQJ_lXl8IA7Pv5Y2bxDUl2Vk5T5UT3_pxNnO3Vbz_N0EysmZml9UGPUDHko7fth5T38MFaNGnwhVrQR2O9xqCb7N9fZzRFUvUH7uQWIUEHg3PmB9hxr3U9D0ezbdnvS9W8bOn1RaPPKoTyKWlKg-qq1VG9Pc77xYH9aRHAhVSVlmeqZv9lBVcoqaZIsBGFA5-UdJ6vZ-wbRgypFyfJ3exrl_C4yGubJjDBVTeM5GtdP5n_HzQLYGiSlZDP_vR9MgrgTfEqJmsOF1gAgF",
  "id": "rs_0366db2dfd1dbd64016ab2db37818887d0b118a6f9b57f0b67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2},\"note\":\"The latest close is empty, so I won’t drag or carry the animal. I’m parking both arms clear of the objects to leave the workspace safe and check the remaining items.\"}",
  "call_id": "call_VsCpq6uuMfG1Y1eKa6tw9qcY",
  "id": "fc_0366db2dfd1dbd64016ab2db39af5487d0aafd2dc9fcafe3ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VsCpq6uuMfG1Y1eKa6tw9qcY",
  "output": "executing move_to over 35 steps (3.5s)",
  "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]: [-0.112, 0.7471, 0.5102, -0.2058, -0.1997, -0.2279, 0.9987, -0.1295, 0.894, 0.7399, -0.5354, -0.202, -0.1051, 0.9979]\nstate[eef_state]: left_x=0.301 left_y=0.005 left_z=0.1882 left_yaw=0.1682 left_pitch=0.1241 left_roll=-0.108 left_gripper=0.9987 right_x=0.2962 right_y=0.0008 right_z=0.185 right_yaw=0.0846 right_pitch=-0.1146 right_roll=0.0559 right_gripper=0.9979\nstate[joint_eff]: [0.0479, -1.4427, 9.935, 1.8193, 0.0757, 0.1685, 0.0073, 0.6359, -1.5795, 10.0718, 1.5702, -0.0024, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aab9bf9d44fdf80ebb892ff7fdd2fb5d304c2001c35b843c70af3fe37ccd7920",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de2f8413dbf3d42529b60a142d55afcac4ecfa6210a7a515bb58fa5d8615ab93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba918f5ae60699ded647fd0a76a06752a52133773604c130ff8af75d2521bd3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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