adhoc

completed
2026-09-22T21:56:29.823835+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 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
298.7 s
total steps
333
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 soft animal toys and slender toothbrush-like objects, with two empty baskets. I’ll put the toys in the left basket and the slender objects in the right, starting with the brown toy.
move_to
left_x0.2300left_y-0.1000left_z0.1400left_gripper1.0000right_x0.2970right_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]: [-0.0231, 0.8013, 0.6174, -0.3786, -0.0223, -0.0299, 0.9992, -0.0154, 0.7986, 0.6109, -0.3702, -0.0124, -0.0162, 0.9993] state[eef_state]: left_x=0.2971 left_y=0.0007 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2972 right_y=0.0012 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.1573, -1.8256, 9.4427, 1.7509, -0.0317, 0.1343, -0.1001, -0.7863, -1.5658, 9.7709, 1.6679, -0.0806, -0.0366, -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":{"left_x":0.23,"left_y":-0.10,"left_z":0.14,"left_gripper":1,"right_x":0.297,"right_y":0,"right_z":0.20},"note":"I see soft animal toys and slender toothbrush-like objects, with two empty baskets. I’ll put the toys in the left basket and the slender objects in the right, starting with the brown toy."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe brown toy is centered in the left wrist view, just ahead of the fingertips. I’ll move slightly forward and lower the open jaws around its body.
move_to
left_x0.2650left_y-0.1050left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9222, 0.7639, 0.4915, -0.5316, -0.7265, -0.6292, 0.9992, -0.0154, 0.8082, 0.6392, -0.4339, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.2303 left_y=-0.1037 left_z=0.1411 left_yaw=-0.0124 left_pitch=-0.0061 left_roll=-0.0083 left_gripper=0.9992 right_x=0.2926 right_y=0.0012 right_z=0.1811 right_yaw=0.0035 right_pitch=-0.045 right_roll=-0.0055 right_gripper=0.9993 state[joint_eff]: [-0.0615, -0.8547, 6.0513, 1.3651, -0.5104, -0.0708, -0.1001, -0.6769, -1.4154, 10.1128, 1.7314, -0.0904, -0.0415, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.105,"left_z":0.025},"note":"The brown toy is centered in the left wrist view, just ahead of the fingertips. I’ll move slightly forward and lower the open jaws around its body."})
tool
executing move_to over 8 steps (0.8s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe open jaws now straddle the brown toy’s torso. I’ll close gently around it before checking the lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7483, 1.3033, 0.1394, 0.4213, -0.6014, -0.4866, 0.9991, -0.0154, 0.812, 0.6373, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.262 left_y=-0.1019 left_z=0.0196 left_yaw=-0.0061 left_pitch=-0.0291 left_roll=0.0068 left_gripper=0.9991 right_x=0.2923 right_y=0.0012 right_z=0.1786 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0053 right_gripper=0.9993 state[joint_eff]: [-0.0479, -3.3846, 4.6291, 1.6923, -0.2222, 0.0513, -0.0269, -0.3761, -1.5932, 7.159, 1.6874, -0.0415, -0.0659, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws now straddle the brown toy’s torso. I’ll close gently around it before checking the lift."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe gripper has stopped at about 2 cm of material rather than closing empty. I’ll lift the brown toy clear of the table and confirm it follows.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7483, 1.3033, 0.1398, 0.4351, -0.6056, -0.4866, 0.2009, -0.0151, 0.8127, 0.6365, -0.4362, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.2637 left_y=-0.1027 left_z=0.0222 left_yaw=-0.0031 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.2009 right_x=0.2923 right_y=0.0013 right_z=0.1782 right_yaw=0.0039 right_pitch=-0.0546 right_roll=-0.0053 right_gripper=0.9993 state[joint_eff]: [-0.1026, -2.9744, 4.8752, 1.4139, -0.2271, -0.0513, 0.7888, -0.1846, -1.3607, 7.1179, 1.6923, -0.0366, -0.0464, -0.0171] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The gripper has stopped at about 2 cm of material rather than closing empty. I’ll lift the brown toy clear of the table and confirm it follows."})
tool
executing move_to over 11 steps (1.1s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe brown toy lifted with the gripper. I’ll carry it above the left basket, keeping it high enough to clear the rim.
move_to
left_x0.4700left_y-0.1100left_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]: [-0.7483, 0.8814, 0.6796, -0.5373, -0.5983, -0.49, 0.2028, -0.0154, 0.8158, 0.6357, -0.4366, -0.0116, -0.0235, 0.9993] state[eef_state]: left_x=0.2635 left_y=-0.104 left_z=0.18 left_yaw=-0.0066 left_pitch=-0.028 left_roll=0.0001 left_gripper=0.2028 right_x=0.2923 right_y=0.0011 right_z=0.1769 right_yaw=0.0032 right_pitch=-0.0588 right_roll=-0.0055 right_gripper=0.9993 state[joint_eff]: [-0.0752, -2.0991, 8.6906, 1.3553, -0.3443, -0.0024, 0.1929, -0.3077, -1.2513, 7.2821, 1.6777, -0.0366, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.11,"left_z":0.22},"note":"The brown toy lifted with the gripper. I’ll carry it above the left basket, keeping it high enough to clear the rim."})
tool
executing move_to over 16 steps (1.6s)
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 brown toy is over the left basket’s opening. I’ll lower it toward the basket floor before releasing it.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3367, 1.6253, 1.2789, -0.3267, -0.2867, -0.2272, 0.2043, -0.0151, 0.8192, 0.635, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.4637 left_y=-0.1056 left_z=0.1997 left_yaw=0.015 left_pitch=-0.0787 left_roll=0.0082 left_gripper=0.2043 right_x=0.2924 right_y=0.0013 right_z=0.1756 right_yaw=0.0039 right_pitch=-0.063 right_roll=-0.0052 right_gripper=0.9993 state[joint_eff]: [-0.0615, -8.4718, 9.5932, 1.8291, -0.0415, 0.1685, 0.1392, -0.1846, -1.6068, 7.0906, 1.746, -0.0269, -0.0464, -0.0122] 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":{"left_z":0.15},"note":"The brown toy is over the left basket’s opening. I’ll lower it toward the basket floor before releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe toy is inside the basket opening and close to the floor. I’ll release it here.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.337, 1.6627, 1.1179, -0.1581, -0.284, -0.2321, 0.2065, -0.0151, 0.8211, 0.635, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.459 left_y=-0.1046 left_z=0.1445 left_yaw=0.016 left_pitch=-0.1072 left_roll=0.0129 left_gripper=0.2065 right_x=0.2926 right_y=0.0013 right_z=0.1751 right_yaw=0.0039 right_pitch=-0.0649 right_roll=-0.0051 right_gripper=0.9993 state[joint_eff]: [-0.0479, -8.1846, 6.8308, 1.9023, -0.1978, 0.0171, 0.2222, -0.1299, -1.388, 7.1043, 1.6777, -0.022, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The toy is inside the basket opening and close to the floor. I’ll release it here."})
tool
executing move_to over 8 steps (0.8s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe brown toy is resting in the left basket. Next I’ll position the left gripper over the gray toy near the left edge.
move_to
left_x0.2650left_y0.0050left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3367, 1.6627, 1.1179, -0.1631, -0.2836, -0.2367, 0.9951, -0.0154, 0.8211, 0.635, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.4583 left_y=-0.1042 left_z=0.1436 left_yaw=0.0187 left_pitch=-0.1119 left_roll=0.0108 left_gripper=0.9951 right_x=0.2926 right_y=0.0012 right_z=0.1751 right_yaw=0.0036 right_pitch=-0.0649 right_roll=-0.0051 right_gripper=0.9993 state[joint_eff]: [0.0479, -8.3077, 6.8991, 1.663, -0.1441, -0.022, -0.2711, -0.3487, -1.2239, 7.0632, 1.6679, -0.022, -0.0171, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":0.005,"left_z":0.13},"note":"The brown toy is resting in the left basket. Next I’ll position the left gripper over the gray toy near the left edge."})
tool
executing move_to over 15 steps (1.5s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe gray toy is slightly left of the jaw centerline. I’ll shift left and lower around its soft body, avoiding the yellow slender object beside it.
move_to
left_x0.2750left_y0.0250left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 0.7166, 0.4747, -0.4053, -0.0692, -0.0593, 0.9963, -0.0147, 0.8284, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993] state[eef_state]: left_x=0.2701 left_y=0.0097 left_z=0.1366 left_yaw=0.056 left_pitch=-0.0831 left_roll=0.0068 left_gripper=0.9963 right_x=0.293 right_y=0.0013 right_z=0.1729 right_yaw=0.004 right_pitch=-0.0725 right_roll=-0.0052 right_gripper=0.9993 state[joint_eff]: [-0.2393, -0.1983, 6.5846, 1.7265, 0.2076, 0.1538, 0.1148, -0.3214, -2.0034, 7.1179, 1.7363, -0.022, -0.0122, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":0.025,"left_z":0.025},"note":"The gray toy is slightly left of the jaw centerline. I’ll shift left and lower around its soft body, avoiding the yellow slender object beside it."})
tool
executing move_to over 8 steps (0.8s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe descent stopped against the gray toy, with its body between the jaws. I’ll close here rather than press farther downward.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0887, 1.0473, 0.1165, 0.4107, -0.0143, 0.0292, 0.9964, -0.0147, 0.8314, 0.6346, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0324 left_z=0.0575 left_yaw=0.0735 left_pitch=0.0414 left_roll=0.0464 left_gripper=0.9964 right_x=0.2931 right_y=0.0014 right_z=0.1721 right_yaw=0.0043 right_pitch=-0.0755 right_roll=-0.0049 right_gripper=0.9993 state[joint_eff]: [0.1709, -0.3487, 3.6991, 0.9988, 0.3199, -0.2759, -0.0024, -0.294, -1.6068, 7.1179, 1.6972, -0.0171, -0.0513, -0.0171] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped against the gray toy, with its body between the jaws. I’ll close here rather than press farther downward."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe gray toy shifted forward and the close was empty. I’ll reopen and advance to its new position for one corrected grasp.
move_to
left_x0.3300left_y0.0150left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0887, 1.0397, 0.1322, 0.4313, -0.0242, 0.0273, 0.0096, -0.0147, 0.8314, 0.6346, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.3019 left_y=0.0347 left_z=0.0706 left_yaw=0.0829 left_pitch=0.0853 left_roll=0.0499 left_gripper=0.0096 right_x=0.2931 right_y=0.0014 right_z=0.1721 right_yaw=0.0043 right_pitch=-0.0755 right_roll=-0.0049 right_gripper=0.9993 state[joint_eff]: [-0.0479, -1.306, 4.7795, 1.5751, 0.0562, 0.0171, 0.823, -0.3077, -1.4427, 7.0359, 1.6679, -0.0317, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":0.015,"left_z":0.035,"left_gripper":1},"note":"The gray toy shifted forward and the close was empty. I’ll reopen and advance to its new position for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe gray toy’s body remains left of the open jaws. I’ll move to the leftmost allowed position and align with its near side without approaching the fence further.
move_to
left_y0.0500left_x0.3500left_z0.0450
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]: [-0.0387, 1.504, 0.1329, 0.8524, -0.1314, -0.0303, 0.9985, -0.0147, 0.836, 0.6346, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.3237 left_y=0.0142 left_z=0.0258 left_yaw=0.0769 left_pitch=0.0476 left_roll=0.0526 left_gripper=0.9985 right_x=0.2934 right_y=0.0014 right_z=0.1709 right_yaw=0.0043 right_pitch=-0.0801 right_roll=-0.0048 right_gripper=0.9993 state[joint_eff]: [-0.2256, -3.9863, 4.6564, 1.9316, -0.0904, -0.0611, -0.1734, -0.294, -1.853, 6.9812, 1.6728, -0.0513, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.05,"left_x":0.35,"left_z":0.045},"note":"The gray toy’s body remains left of the open jaws. I’ll move to the leftmost allowed position and align with its near side without approaching the fence further."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe jaws now overlap the gray toy’s near side at the workspace limit. I’ll try to secure that section without pushing the toy toward the fence.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1364, 1.5009, 0.2409, 0.7193, 0.0048, 0.0357, 0.9983, -0.0147, 0.8364, 0.6346, -0.4362, -0.0116, -0.0235, 0.9993] state[eef_state]: left_x=0.3417 left_y=0.0497 left_z=0.0336 left_yaw=0.1016 left_pitch=0.0209 left_roll=0.0418 left_gripper=0.9983 right_x=0.2935 right_y=0.0013 right_z=0.1708 right_yaw=0.004 right_pitch=-0.0801 right_roll=-0.0051 right_gripper=0.9993 state[joint_eff]: [0.335, -5.7641, 6.4889, 1.6825, 0.0659, 0.2027, -0.0415, -0.2256, -1.3333, 6.9812, 1.7509, -0.0317, -0.0611, -0.0171] 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":{"left_gripper":0},"note":"The jaws now overlap the gray toy’s near side at the workspace limit. I’ll try to secure that section without pushing the toy toward the fence."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe gray toy is beyond a secure grasp at the left workspace limit, so I won’t keep pushing it against the fence. I’ll sort the reachable tan toy next.
move_to
left_x0.2600left_y-0.2550left_z0.1700left_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]: [0.1398, 1.4998, 0.2466, 0.6998, 0.0036, 0.0307, 0.0107, -0.0143, 0.8364, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993] state[eef_state]: left_x=0.3411 left_y=0.051 left_z=0.0318 left_yaw=0.1086 left_pitch=0.0084 left_roll=0.0378 left_gripper=0.0107 right_x=0.2934 right_y=0.0014 right_z=0.1708 right_yaw=0.0044 right_pitch=-0.0805 right_roll=-0.005 right_gripper=0.9993 state[joint_eff]: [-0.4855, -4.2872, 4.0957, 1.9316, 0.0024, 0.022, 0.8278, -0.0752, -1.4291, 7.3504, 1.6728, -0.0415, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.255,"left_z":0.17,"left_gripper":1},"note":"The gray toy is beyond a secure grasp at the left workspace limit, so I won’t keep pushing it against the fence. I’ll sort the reachable tan toy next."})
tool
executing move_to over 28 steps (2.8s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe tan toy’s torso is aligned with the left jaws. I’ll lower around its middle, leaving the nearby blue and black toothbrushes untouched.
move_to
left_x0.2750left_y-0.2650left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2007, 1.586, 1.1355, -0.7486, -0.9474, -1.1088, 0.9984, -0.0147, 0.8379, 0.6346, -0.4366, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.2577 left_y=-0.2578 left_z=0.1621 left_yaw=0.0952 left_pitch=-0.0131 left_roll=0.0254 left_gripper=0.9984 right_x=0.2935 right_y=0.0014 right_z=0.1703 right_yaw=0.0043 right_pitch=-0.082 right_roll=-0.0048 right_gripper=0.9993 state[joint_eff]: [-0.1846, -6.8855, 8.1573, 0.5543, -0.735, -0.0562, -0.1783, -0.3624, -1.6205, 6.9675, 1.6532, -0.0562, -0.0513, -0.0171] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.265,"left_z":0.035},"note":"The tan toy’s torso is aligned with the left jaws. I’ll lower around its middle, leaving the nearby blue and black toothbrushes untouched."})
tool
executing move_to over 9 steps (0.9s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe jaws have settled around the tan toy’s torso. I’ll close to secure the soft body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1664, 1.8317, 0.9047, -0.1535, -0.9466, -1.0664, 0.9982, -0.0147, 0.8379, 0.6346, -0.4366, -0.0116, -0.0235, 0.9992] state[eef_state]: left_x=0.2786 left_y=-0.2775 left_z=0.0544 left_yaw=0.107 left_pitch=0.02 left_roll=-0.0527 left_gripper=0.9982 right_x=0.2935 right_y=0.0013 right_z=0.1703 right_yaw=0.004 right_pitch=-0.082 right_roll=-0.005 right_gripper=0.9992 state[joint_eff]: [0.6085, -6.3521, 3.1385, 0.3883, -0.3101, 0.2076, -0.0366, -0.1983, -1.306, 7.0769, 1.663, -0.022, -0.0611, -0.0171] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws have settled around the tan toy’s torso. I’ll close to secure the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe closed gripper indicates a substantial grasp on the tan toy. I’ll lift it above the neighboring objects before carrying it to the toy basket.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1683, 1.8309, 0.9058, -0.1074, -0.9695, -1.0744, 0.2067, -0.0147, 0.8379, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993] state[eef_state]: left_x=0.2824 left_y=-0.2823 left_z=0.0617 left_yaw=0.1221 left_pitch=0.0525 left_roll=-0.1 left_gripper=0.2067 right_x=0.2935 right_y=0.0013 right_z=0.1703 right_yaw=0.004 right_pitch=-0.082 right_roll=-0.005 right_gripper=0.9993 state[joint_eff]: [0.0752, -8.1299, 5.3538, 0.5739, -0.1929, 0.0562, 0.7741, -0.1983, -1.5111, 6.9949, 1.6923, -0.0171, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22},"note":"The closed gripper indicates a substantial grasp on the tan toy. I’ll lift it above the neighboring objects before carrying it to the toy basket."})
tool
executing move_to over 11 steps (1.1s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe tan toy is securely lifted. I’ll carry it over the left basket beside the brown toy.
move_to
left_x0.4550left_y-0.0850left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1671, 1.6596, 1.2869, -0.6857, -0.947, -1.0828, 0.2077, -0.0143, 0.8379, 0.6346, -0.4366, -0.012, -0.0235, 0.9992] state[eef_state]: left_x=0.2838 left_y=-0.2902 left_z=0.1908 left_yaw=0.1156 left_pitch=0.0261 left_roll=-0.0878 left_gripper=0.2077 right_x=0.2935 right_y=0.0015 right_z=0.1703 right_yaw=0.0047 right_pitch=-0.082 right_roll=-0.0048 right_gripper=0.9992 state[joint_eff]: [-0.212, -11.3162, 8.6769, 0.9548, -0.6422, 0.0415, 0.1001, -0.0752, -1.5248, 7.0359, 1.6581, -0.022, -0.0366, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.085,"left_z":0.24},"note":"The tan toy is securely lifted. I’ll carry it over the left basket beside the brown toy."})
tool
executing move_to over 19 steps (1.9s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe large tan toy hangs toward the near edge, and the basket shifted slightly. I’ll move the toy farther over the opening while maintaining rim clearance.
move_to
left_x0.5100left_y-0.0550left_z0.2500
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]: [-0.3294, 1.5124, 1.1995, -0.342, -0.3565, -0.3653, 0.2092, -0.0143, 0.8417, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993] state[eef_state]: left_x=0.4404 left_y=-0.0816 left_z=0.2139 left_yaw=0.153 left_pitch=-0.0465 left_roll=-0.0721 left_gripper=0.2092 right_x=0.2937 right_y=0.0014 right_z=0.1693 right_yaw=0.0044 right_pitch=-0.0858 right_roll=-0.0049 right_gripper=0.9993 state[joint_eff]: [0.0889, -6.5026, 10.3179, 2.1221, -0.1441, 0.1685, 0.1343, -0.0479, -1.7709, 7.0906, 1.6679, -0.022, -0.0513, -0.0073] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.055,"left_z":0.25},"note":"The large tan toy hangs toward the near edge, and the basket shifted slightly. I’ll move the toy farther over the opening while maintaining rim clearance."})
tool
executing move_to over 6 steps (0.6s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe tan toy is now centered farther inside the left basket. I’ll release it onto the brown toy.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2123, 1.7218, 1.5276, -0.4732, -0.2596, -0.3202, 0.2114, -0.0147, 0.8452, 0.6346, -0.437, -0.012, -0.0235, 0.9992] state[eef_state]: left_x=0.5 left_y=-0.0577 left_z=0.2357 left_yaw=0.1665 left_pitch=-0.081 left_roll=-0.0845 left_gripper=0.2114 right_x=0.2939 right_y=0.0014 right_z=0.1683 right_yaw=0.0044 right_pitch=-0.0897 right_roll=-0.0046 right_gripper=0.9992 state[joint_eff]: [0.4991, -8.6222, 8.9368, 1.7314, -0.0952, 0.3297, 0.2222, -0.0889, -1.7709, 6.9949, 1.6777, -0.0513, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The tan toy is now centered farther inside the left basket. I’ll release it onto the brown toy."})
tool
executing move_to over 8 steps (0.8s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe tan toy fell outside the shifted basket, so it is not sorted yet. I’ll park the left arm safely and line up the right gripper with the two adjacent slender objects.
move_to
left_x0.2900left_y0.0000left_z0.2300right_x0.2600right_y0.2000right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2134, 1.7374, 1.5303, -0.4843, -0.2539, -0.3294, 0.9954, -0.0143, 0.8455, 0.6346, -0.437, -0.012, -0.0235, 0.9993] state[eef_state]: left_x=0.5005 left_y=-0.0594 left_z=0.2271 left_yaw=0.1663 left_pitch=-0.105 left_roll=-0.0862 left_gripper=0.9954 right_x=0.2939 right_y=0.0015 right_z=0.1682 right_yaw=0.0047 right_pitch=-0.09 right_roll=-0.0046 right_gripper=0.9993 state[joint_eff]: [-0.0615, -10.1949, 6.7487, 1.7705, -0.1734, 0.0317, -0.2613, -0.0615, -1.5385, 7.0906, 1.6825, -0.0366, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.23,"right_x":0.26,"right_y":0.2,"right_z":0.14},"note":"The tan toy fell outside the shifted basket, so it is not sorted yet. I’ll park the left arm safely and line up the right gripper with the two adjacent slender objects."})
tool
executing move_to over 17 steps (1.7s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe blue and black slender objects lie parallel under the right jaw opening. I’ll lower to table level so the jaws can grip their shafts together.
move_to
right_x0.2600right_y0.2000right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1307, 0.918, 0.9257, -0.667, -0.2008, -0.2935, 0.9963, 1.0012, 1.2861, 0.7689, -0.4671, 0.6979, 0.6979, 0.9992] state[eef_state]: left_x=0.299 left_y=-0.0001 left_z=0.2348 left_yaw=0.1845 left_pitch=-0.0845 left_roll=-0.0999 left_gripper=0.9963 right_x=0.2555 right_y=0.1952 right_z=0.1254 right_yaw=0.0478 right_pitch=-0.1351 right_roll=-0.0483 right_gripper=0.9992 state[joint_eff]: [0.3624, -1.7709, 6.4205, 1.79, 0.0562, 0.2125, 0.0806, 0.1983, -4.9846, 8.8547, 1.1551, 0.6129, 0.149, -0.0171] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.26,"right_y":0.2,"right_z":-0.008},"note":"The blue and black slender objects lie parallel under the right jaw opening. I’ll lower to table level so the jaws can grip their shafts together."})
tool
executing move_to over 9 steps (0.9s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
right_cam
camera right_cam step 240
assistant
agent noteThe fingertips are at table level alongside the two shafts. I’ll close and check whether both objects are secured.
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]: [-0.1295, 0.923, 0.9195, -0.6876, -0.2016, -0.2924, 0.9964, 1.0, 1.6604, 0.5083, 0.2005, 0.7242, 0.7044, 0.9992] state[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.2269 left_yaw=0.1867 left_pitch=-0.1144 left_roll=-0.0887 left_gripper=0.9964 right_x=0.2659 right_y=0.2042 right_z=0.0108 right_yaw=0.0299 right_pitch=-0.0984 right_roll=-0.0286 right_gripper=0.9992 state[joint_eff]: [-0.294, -2.2359, 7.2, 1.8242, -0.1197, -0.0464, -0.0024, -0.1709, -3.6171, 2.2222, 0.2662, -0.2466, -0.1734, -0.0122] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are at table level alongside the two shafts. I’ll close and check whether both objects are secured."})
tool
executing move_to over 10 steps (1.0s)
step 250
top_cam
camera top_cam step 250
assistant
agent noteThe right gripper closed on a marker-sized thickness. I’ll lift to see which marker is held before moving toward the right basket.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1295, 0.923, 0.9195, -0.6899, -0.2016, -0.2955, 0.9964, 1.0, 1.668, 0.4976, 0.2192, 0.7219, 0.6994, 0.1375] state[eef_state]: left_x=0.2956 left_y=0.0008 left_z=0.2264 left_yaw=0.1884 left_pitch=-0.1167 left_roll=-0.0903 left_gripper=0.9964 right_x=0.2649 right_y=0.2032 right_z=0.0077 right_yaw=0.034 right_pitch=-0.0998 right_roll=-0.0312 right_gripper=0.1375 state[joint_eff]: [-0.1026, -1.7846, 6.7077, 1.6093, -0.1392, -0.0269, -0.0073, -0.1162, -6.4615, 5.2855, 1.0427, 0.2906, 0.0122, 1.0476] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The right gripper closed on a marker-sized thickness. I’ll lift to see which marker is held before moving toward the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 262
assistant
agent noteOnly the blue marker lifted; the black marker remains on the table. I’ll carry the blue marker above the right basket.
move_to
right_x0.4400right_y0.2100right_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]: [-0.1291, 0.9237, 0.9195, -0.6926, -0.2016, -0.2958, 0.9964, 1.0, 1.3025, 0.9504, -0.5945, 0.7036, 0.6949, 0.1432] state[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.2257 left_yaw=0.1891 left_pitch=-0.12 left_roll=-0.0896 left_gripper=0.9964 right_x=0.2662 right_y=0.2098 right_z=0.1724 right_yaw=0.0484 right_pitch=-0.1095 right_roll=-0.0225 right_gripper=0.1432 state[joint_eff]: [-0.1846, -1.7983, 6.7761, 1.6825, -0.1245, -0.0366, -0.0122, -0.212, -6.2838, 8.8684, 1.0379, 0.5055, 0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.21,"right_z":0.22},"note":"Only the blue marker lifted; the black marker remains on the table. I’ll carry the blue marker above the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 276
assistant
agent noteThe blue marker is fully over the right basket’s interior. I’ll release it into the marker basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1291, 0.9283, 0.9195, -0.6952, -0.2016, -0.2958, 0.9964, 0.5999, 1.7168, 1.4521, -0.5285, 0.4324, 0.3428, 0.1432] state[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.224 left_yaw=0.1894 left_pitch=-0.1269 left_roll=-0.0873 left_gripper=0.9964 right_x=0.4296 right_y=0.2085 right_z=0.2029 right_yaw=0.0462 right_pitch=-0.1464 right_roll=-0.0394 right_gripper=0.1432 state[joint_eff]: [-0.2256, -2.2496, 6.7214, 1.6044, -0.1245, -0.0269, -0.0073, -0.6496, -8.9504, 9.4017, 1.4872, 0.2173, -0.0659, 1.033] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue marker is fully over the right basket’s interior. I’ll release it into the marker basket."})
tool
executing move_to over 9 steps (0.9s)
step 285
assistant
agent noteThe blue marker is resting in the right basket. I’ll return for the black marker, now isolated on the right side of the table.
move_to
right_x0.2500right_y0.1700right_z0.1200
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]: [-0.1291, 0.9279, 0.9195, -0.6949, -0.2016, -0.2962, 0.9964, 0.5961, 1.7279, 1.4532, -0.5259, 0.4168, 0.337, 0.995] state[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.2241 left_yaw=0.1896 left_pitch=-0.1262 left_roll=-0.0878 left_gripper=0.9964 right_x=0.431 right_y=0.2103 right_z=0.198 right_yaw=0.0573 right_pitch=-0.1586 right_roll=-0.0379 right_gripper=0.995 state[joint_eff]: [-0.0068, -1.8393, 6.735, 1.5897, -0.1441, -0.0562, -0.0122, 0.2803, -9.6889, 6.7761, 1.453, 0.2857, -0.0171, -0.1978] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.17,"right_z":0.12},"note":"The blue marker is resting in the right basket. I’ll return for the black marker, now isolated on the right side of the table."})
tool
executing move_to over 14 steps (1.4s)
step 299
assistant
agent noteThe black-capped marker is slightly right of the jaw centerline. I’ll shift right and lower around the white barrel at table height.
move_to
right_x0.2650right_y0.1550right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1291, 0.9348, 0.9195, -0.6933, -0.2016, -0.2962, 0.9964, 0.9211, 1.198, 0.6998, -0.44, 0.5957, 0.5907, 0.9958] state[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.2226 left_yaw=0.1898 left_pitch=-0.1313 left_roll=-0.0861 left_gripper=0.9964 right_x=0.2549 right_y=0.1776 right_z=0.1192 right_yaw=0.0975 right_pitch=-0.1738 right_roll=-0.0407 right_gripper=0.9958 state[joint_eff]: [-0.0205, -2.4957, 6.7761, 1.5702, -0.1294, -0.0415, -0.0073, 0.253, -4.2325, 6.7897, 1.2381, 0.4664, 0.1343, 0.0708] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.155,"right_z":-0.008},"note":"The black-capped marker is slightly right of the jaw centerline. I’ll shift right and lower around the white barrel at table height."})
tool
executing move_to over 9 steps (0.9s)
step 308
assistant
agent noteThe low view shows the barrel still beside, rather than between, the fingertips. I’ll make a small lateral correction before closing.
move_to
right_y0.1800right_z-0.0120
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]: [-0.1291, 0.9379, 0.9195, -0.6952, -0.2016, -0.2993, 0.9964, 0.82, 1.5063, 0.3576, 0.2993, 0.5499, 0.5159, 0.996] state[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.2214 left_yaw=0.1916 left_pitch=-0.1361 left_roll=-0.0869 left_gripper=0.9964 right_x=0.2722 right_y=0.1617 right_z=0.011 right_yaw=0.0789 right_pitch=-0.1369 right_roll=-0.0089 right_gripper=0.996 state[joint_eff]: [-0.1846, -2.1949, 6.7214, 1.6288, -0.105, -0.0269, -0.0073, -0.6222, -2.4, 1.9487, 0.0855, -0.0317, -0.2173, -0.0024] 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":{"right_y":0.18,"right_z":-0.012},"note":"The low view shows the barrel still beside, rather than between, the fingertips. I’ll make a small lateral correction before closing."})
tool
executing move_to over 2 steps (0.2s)
step 310
assistant
agent noteThe marker is still outside the jaw centerline, and table contact is limiting the correction. I’ll lift slightly and reposition to its right side before lowering again.
move_to
right_x0.2450right_y0.1350right_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]: [-0.1295, 0.939, 0.9195, -0.6952, -0.2016, -0.2996, 0.9964, 0.8532, 1.6161, 0.374, 0.4587, 0.5877, 0.5453, 0.996] state[eef_state]: left_x=0.2965 left_y=0.0007 left_z=0.2211 left_yaw=0.1915 left_pitch=-0.1372 left_roll=-0.0868 left_gripper=0.9964 right_x=0.2827 right_y=0.1803 right_z=0.0102 right_yaw=0.0733 right_pitch=-0.0703 right_roll=0.0401 right_gripper=0.996 state[joint_eff]: [-0.1436, -2.0444, 6.8171, 1.5849, -0.0904, -0.0659, -0.0073, 0.5265, -3.5897, 3.0974, 0.0611, -0.105, -0.1685, -0.0171] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.245,"right_y":0.135,"right_z":0.035},"note":"The marker is still outside the jaw centerline, and table contact is limiting the correction. I’ll lift slightly and reposition to its right side before lowering again."})
tool
executing move_to over 4 steps (0.4s)
step 314
assistant
agent noteThe marker barrel is now centered between the jaw columns. I’ll descend vertically for the grasp.
move_to
right_z-0.0100
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]: [-0.128, 0.9428, 0.9195, -0.693, -0.2024, -0.2996, 0.9964, 0.844, 1.2282, 0.226, 0.2962, 0.5724, 0.5453, 0.996] state[eef_state]: left_x=0.2973 left_y=0.0012 left_z=0.2204 left_yaw=0.1937 left_pitch=-0.1385 left_roll=-0.0859 left_gripper=0.9964 right_x=0.255 right_y=0.1482 right_z=0.0449 right_yaw=0.0782 right_pitch=-0.0221 right_roll=0.1016 right_gripper=0.996 state[joint_eff]: [-0.0615, -1.8393, 6.8444, 1.6142, -0.1148, -0.0366, -0.0073, -0.1026, -1.7436, 5.5453, 1.4335, 0.3101, -0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":-0.01},"note":"The marker barrel is now centered between the jaw columns. I’ll descend vertically for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 318
assistant
agent noteThe black marker slipped sideways during the descent, so I don’t have a safe grasp. I’ll park both arms clear of the objects; the brown toy and blue marker are sorted, but the remaining objects are not.
move_to
right_x0.2970right_y0.0000right_z0.2200left_x0.2970left_y0.0000left_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]: [-0.1276, 0.9482, 0.9192, -0.6952, -0.2016, -0.3031, 0.9964, 0.8444, 1.6032, 0.1631, 0.7601, 0.6155, 0.5488, 0.9961] state[eef_state]: left_x=0.2975 left_y=0.0011 left_z=0.2184 left_yaw=0.1957 left_pitch=-0.1464 left_roll=-0.0864 left_gripper=0.9964 right_x=0.264 right_y=0.149 right_z=0.0062 right_yaw=0.0436 right_pitch=0.0155 right_roll=0.1033 right_gripper=0.9961 state[joint_eff]: [-0.2393, -2.4684, 6.7761, 1.6581, -0.0904, -0.022, -0.0122, -0.0479, -2.5094, 0.8821, 0.1685, -0.7057, 0.105, -0.0024] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.297,"right_y":0,"right_z":0.22,"left_x":0.297,"left_y":0,"left_z":0.24},"note":"The black marker slipped sideways during the descent, so I don’t have a safe grasp. I’ll park both arms clear of the objects; the brown toy and blue marker are sorted, but the remaining objects are not."})
tool
executing move_to over 14 steps (1.4s)
step 332
assistant
agent notePartially completed: identified stuffed animals and markers, and placed the brown animal in the left basket and the blue marker in the right basket. The gray animal is beyond a secure grasp at the left workspace limit, the tan animal fell outside the shifted basket, and the yellow and black markers remain on the table. Repeated positioning attempts moved objects rather than securing them; both arms are now parked clear.
give_up
hindsightLarge plush toys can hang well below and behind the grasp point and catch a basket rim during transport, shifting the basket; verify the entire toy clears the rim, not just the fingertips. On this run, low descents stopped 1–2 cm above the requested table-level target and slid slender markers sideways. Reposition above the table before lateral corrections, and use the overhead view to check whether the object itself moved. The gray toy's outer position exceeded the left arm's secure grasp range at y=0.05.
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]: [-0.1303, 0.9646, 0.9821, -0.7692, -0.202, -0.3092, 0.9964, -0.1074, 0.8097, 0.6903, -0.4259, -0.1287, 0.0299, 0.9963] state[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.2274 left_yaw=0.198 left_pitch=-0.1726 left_roll=-0.0819 left_gripper=0.9964 right_x=0.2993 right_y=-0.0058 right_z=0.2065 right_yaw=-0.0177 right_pitch=0.0146 right_roll=0.0996 right_gripper=0.9963 state[joint_eff]: [-0.4444, -1.4701, 9.5521, 1.7363, -0.2076, -0.0171, -0.0073, -0.212, -1.2376, 9.306, 1.5214, -0.3004, -0.0415, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: identified stuffed animals and markers, and placed the brown animal in the left basket and the blue marker in the right basket. The gray animal is beyond a secure grasp at the left workspace limit, the tan animal fell outside the shifted basket, and the yellow and black markers remain on the table. Repeated positioning attempts moved objects rather than securing them; both arms are now parked clear.","hindsight":"Large plush toys can hang well below and behind the grasp point and catch a basket rim during transport, shifting the basket; verify the entire toy clears the rim, not just the fingertips. On this run, low descents stopped 1–2 cm above the requested table-level target and slid slender markers sideways. Reposition above the table before lateral corrections, and use the overhead view to check whether the object itself moved. The gray toy's outer position exceeded the left arm's secure grasp range at y=0.05."})
tool
give_up: Partially completed: identified stuffed animals and markers, and placed the brown animal in the left basket and the blue marker in the right basket. The gray animal is beyond a secure grasp at the left workspace limit, the tan animal fell outside the shifted basket, and the yellow and black markers remain on the table. Repeated positioning attempts moved objects rather than securing them; both arms are now parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.93 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]: [-0.0231, 0.8013, 0.6174, -0.3786, -0.0223, -0.0299, 0.9992, -0.0154, 0.7986, 0.6109, -0.3702, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0007 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2972 right_y=0.0012 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.8256, 9.4427, 1.7509, -0.0317, 0.1343, -0.1001, -0.7863, -1.5658, 9.7709, 1.6679, -0.0806, -0.0366, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55659c7811e4dfc9885089a940e48686bb09eea689c29463091c664582c49465",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:832d22ce2a6d45e7f2fc5adcbded5695a7b04b7730f342453e46a362312ec77a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:031a96df194e2f6a8df9119f5fbd2142c24e8f12c417372cd9079ecdd5ac60bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.183 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsvmnoRg7b3t6AWRV_MGZwRPyiJNDz_6xEnAkUL0FAZ3y3kPvIMQLu3qiCc6vH7Go1091wpuHnU4DWnAGGNmO2FQyOCMeoL-E2dquldzNTnxvLxF84cDJHfmHJ6Da4zIhtXfq9M7Nh1x3jx1NoIC1znLxsluNKqnAF-qXkVkES30PRPd4-h1f91SJ3eoD_r2TQ4DJMVabwV-CjUQPhn-wDZeJmCCnRrcw-ZrfKZA73e_REMrqhYHH2CBawYlBQ7LelX_JcpZnk58GqDDFIvzfzKRGAKsD9lBXhj_QcTkZp8Galionq5r04xZ_iSkQ_KGmbw2URmmv1Kd2Lpfo1-yo45KyGgX9VZcPA5cbWZ1mt4bK-9aiT5Q4_c-K6d-o642dCUNWDsjyfH2-GQlUieA4gqfISgVPNnAjt6popFeuI9QR8tI2mRUNkwSY-onenBZkzXxBXFkdtkLZ8oGTUbJ1PsG5O4Z3-ajh70jHQRq13Aw-mgX-Kvkb-gh5akzFyvvxbzxeoYZtpl1DYEjHpP_TIdSwQsnM6NABUHQwZCGztlcz32qjdBwcbpsIv-ZeCvJ30KZa02_RBIaKQv-9jQmJmlWgCN8RgNk1GyiCSDr37yytTgF9F2bD3AxthC9iO63M1zhL9xfPnl4uLzBAgr7XQ6I9cHVUupos6f_cfBQL5VMiR3p03Ig-3yyLboemAOPRyh8rkQOuBQTvvvzaL4oa-1-_a4mZDQzoeO2JkdF817rIzM6fOe7KNR9ow1D65990pPQpYdO-7E7oNtmz4WOHGxykOmLUZW5XoQFnIBd5p9XP_XHUFmg4smomFeFbODn3k3rUwHrHfdSmQjJlDD9bOKAB2RJYcrygFun4_T1eR0buiOjnoxI03oMu1opb97T7vbD31xJOWNHT-5Her8LtJ7sGUO0EQZ4QeL2iSg40wglTyvFVGDhp4C_L--ImnbgUDyeLmHKs5qqvMR22MNuEqgft4gQ_7FKjUkn5ONBkH_1D5RJpquQJQ5zaudCxO-U0BCNDlfpRzyIPPhKJKuaZ9rlEdVWkyFmlT2y4_e0Zf5J0UMACeKNYQTP_IjS7N1EAfVGGofnG4EKKQC6Is5CKamNVLoDyoKz5SuW1XY8qM7pnSeMf4MweEfWWDMhbJuzJM8-V0qSt4fxFJovXJkOV_-DW81_XnjWQ2vuF0rNFkZzX8JW62ouHqAgsXVjOvKC5GXRY_9mcqhWshsdweXxGYCqwHtlGTGy38veco5bYHY1toQtio4HwXAEbt_xj2R1f32FgdLrALhx0oaWf4S_1xRgaSWK2LeZ8WaOOFV5WvXig5sf6wdAEwtY4dVnRBs3dsmSR2trWTMlyqnC_LvJrJbZsU9_clUd19gINtve8ke7HR2F_AVl6uHq0pWhPexDkxqtBZgVtMoOhxHX1H9uU8Zw41BvdYzNUgPEL66PoCRN55q9Z2nn0USfMeQ2ZiFlOipntxuEuMprbcnDXqnmPQlI-9_DqfMRVZRpu_97Porbis5-TLJD5jXD93xPE6_3vOcu0EgF7Q8-sEFKL5Yzrid3CHgiS6kn7T_BAQ0nmZUxeirV4tqZCDB3VhyBaHx9OreJ3HU_mYz2MIbv9XDamxwLQgMAmxUya6ug80G9aUFxN8-5vlFCnwV8jp0EtvNvy7vJKE5fzcozzgT2uxj77U3i8AFHIV_-TKLjsTv-jTMB0P9_FSANcUNd1coXoszdT6xGK9bfKu3VGeQG1Ha6Fwjxi6lP38o4QnHcyEKUJdh1H2UKuhNUgr8UWk1_x96YJleBcfJySoCZTuRqTae6CP_hPt0yXMD7T-93VOVssBR_JXgBL0QVlGVOUWWwPsWFY4br-YawCuOeZzjnxtAq4gunGrOLMfsktTYrw5cKUzaOcfJ7TQI_3BwyNp4aFqnwYRRZD6BpI39o1u7E2PwZXujeJVes8_iImpD7CfIXf4dF94f9B8g_xj9sVtKm1LBrLeUWaVCdKSKe6mG_zMBR8UACQ7JiT706FEqFawINcYDHihLHDfmfG5o6dxr3OiOrLD80Kgfuawm_hmPNY-oAnYsuCjg==",
  "id": "rs_0adf18cb03cc70a0016ab2f99f1cfc87d0adc6bcd4d93e6f53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_y\":-0.10,\"left_z\":0.14,\"left_gripper\":1,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see soft animal toys and slender toothbrush-like objects, with two empty baskets. I’ll put the toys in the left basket and the slender objects in the right, starting with the brown toy.\"}",
  "call_id": "call_J3AgIe99iErvv8xamwq27ofR",
  "id": "fc_0adf18cb03cc70a0016ab2f9a5668887d0a8c49e86d0ce0609",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J3AgIe99iErvv8xamwq27ofR",
  "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]: [-0.9222, 0.7639, 0.4915, -0.5316, -0.7265, -0.6292, 0.9992, -0.0154, 0.8082, 0.6392, -0.4339, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2303 left_y=-0.1037 left_z=0.1411 left_yaw=-0.0124 left_pitch=-0.0061 left_roll=-0.0083 left_gripper=0.9992 right_x=0.2926 right_y=0.0012 right_z=0.1811 right_yaw=0.0035 right_pitch=-0.045 right_roll=-0.0055 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -0.8547, 6.0513, 1.3651, -0.5104, -0.0708, -0.1001, -0.6769, -1.4154, 10.1128, 1.7314, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b91bc815751a2399a5778fb5d7d59befcfdcc341c77c18c8c833dbcb003800",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bffe6954d97ab9a96d235e30b724945891a5a2089a8950815ae63f872201de5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233aef0cea0e1d1db2a462cfc14b3d57485b6f0631507133ef85ca34e0213724",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.182 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]: [-0.0231, 0.8013, 0.6174, -0.3786, -0.0223, -0.0299, 0.9992, -0.0154, 0.7986, 0.6109, -0.3702, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0007 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2972 right_y=0.0012 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.8256, 9.4427, 1.7509, -0.0317, 0.1343, -0.1001, -0.7863, -1.5658, 9.7709, 1.6679, -0.0806, -0.0366, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvm0HtBDtNBRWc13CBKTEmuaCyZ0O2rnz970Ju-6s_vRO8DeJuhTikjL-3EV99860WKOcc6ixhL095JdQPgupzxxXMvxi2n7L35dnaqqB-TfNFnmoe1fKZ1x6z0ONARUQ_9jy-lRCJikYa8NuJFKRDTVd5G080dFDmK9xCwAG634eIaOels1_YWQUX8KEo1HvbhehD39wbICkaCvs23AydAgIi45lcAVeqWi7SkPxinct_aYQAc6poocZxVazEGCoLMYuDpLDFCYyDcqb4OcTQeNDU38-MNBhk4z0HeIG2_1nOTTwYtcNmGYHahWM2PbfqdOmHUGgmi6TN5cDptEOqa5va_Gj_y3GgPGU55hwi5O2Db9rs9FfkzKrBY6E4rFeSpI7HZpsCTZks9iHKDlI2La9NmLd8_VUyIU9YcmRyoWIA0gRiRdK8M6OWRftnllaPp_skbVrxCLcb17ivb6NBCpgd_5Kd6oqOD8pWz_VlL9xnnOOiY4_04NIqELUIBmEtwgFZiszBT2lEtoUIxYJNKNGoFbzwZlWCs5vpSQBtUy-hx6ayQkUYH9HJiB7Mypgut4qXarQTv0SCQG9VAXnCLMf_MmElB6pez2w0wM_6Ws8OlWKSjbWQk6AdXRb4cG1ButQxvGkiCdVv-fqXlpTQOuZl5O8sLlTkfuV0jKlVizc47ndZzeix6Dge_wMyH3GqUpbgGEF70IScoNW5VlUAWFROl82Vt_yrLLBUIbpmPGPhT48iNAG54GpJ7Dd69TkL-8fVw8wOBfILDV3tKxCSGPWG5uBNuMgGcfiDslqlI9uOvO2NwbnthrklKO5jiI_0Nsxi8zDxfSc-NSKALjs_QowoW-O_73YWd5OCrmPEIFIuq7rAy7eUy9qHSZu2vWWaGGI2_QVki3FE6_JXUx_QMnoeoXU6RwlnAdn72sYROaIOFV8k6zj4pGm9ezTKRIZ6QU_dSJHXeuJ8gMqu4k5fy3f7Cj-SeT2NHsKGiZfYUBRBGrWvXMJHj5G3NxwdR2O5WIEZf3wtZC79gYVN5sq-Uh_c4-u4jRH4WR4UXSuV-IhtVIftNP_cayX0LGGAoBsjCibAGk_IMH4_PFH5TsnLtrJGMGiB6MqNax7jjjDVftQB9t_4LiqQTZPF37KPUjLuYIt1gm5j0ox_ufsWq3vQ98okgwPsS8QJblOYqctHMawwhkYsxyWho2rvp_xcTHXeNSrG_PM6slag7kYtwVH9HQp5-asIppyxu5XTKBzAfabxxXFmvFPJwL6bq3TGNl1eC5aSZ6QvnqiCSOyKNYXvdI3yHMOyBUiHzHkH7JRcYzAWwjiOguQqUg52snB_iz3deP7XrkLewCaGgItTCp8NeHcrd7eX2MOx2I0MipNkx8lNEYXj7NFmGbOk1xhvkAIf91V0IHdJmRKJFe8xhRUJ3aRb1KlbSQzy0p2totZ4-PSl4RzojEkdoScJtQ8uehuzwaZhfI0lh0HUehfyKIc4v4Fw==",
  "id": "rs_0adf18cb03cc70a0016ab2f9b0191087d08a75bb3184a3d6c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.105,\"left_z\":0.025},\"note\":\"The brown toy is centered in the left wrist view, just ahead of the fingertips. I’ll move slightly forward and lower the open jaws around its body.\"}",
  "call_id": "call_07swlJNRtpy7anNYjsC0v3lY",
  "id": "fc_0adf18cb03cc70a0016ab2f9b299b087d0b1a77d4e7f1c9587",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_07swlJNRtpy7anNYjsC0v3lY",
  "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]: [-0.7483, 1.3033, 0.1394, 0.4213, -0.6014, -0.4866, 0.9991, -0.0154, 0.812, 0.6373, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.262 left_y=-0.1019 left_z=0.0196 left_yaw=-0.0061 left_pitch=-0.0291 left_roll=0.0068 left_gripper=0.9991 right_x=0.2923 right_y=0.0012 right_z=0.1786 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -3.3846, 4.6291, 1.6923, -0.2222, 0.0513, -0.0269, -0.3761, -1.5932, 7.159, 1.6874, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c45813d894f59df5699c233ae1b9226c21640ebd70e9f3cbe55c74b1b5473f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616071a31ea05e4815f3320defcc20c97f5360f77c5cc8cd223ec0fef76741d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2159493bab9a6cfd2728dad853716cb018780d01d8fa10a77229510afa69bbe1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.452 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]: [-0.9222, 0.7639, 0.4915, -0.5316, -0.7265, -0.6292, 0.9992, -0.0154, 0.8082, 0.6392, -0.4339, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2303 left_y=-0.1037 left_z=0.1411 left_yaw=-0.0124 left_pitch=-0.0061 left_roll=-0.0083 left_gripper=0.9992 right_x=0.2926 right_y=0.0012 right_z=0.1811 right_yaw=0.0035 right_pitch=-0.045 right_roll=-0.0055 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -0.8547, 6.0513, 1.3651, -0.5104, -0.0708, -0.1001, -0.6769, -1.4154, 10.1128, 1.7314, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now straddle the brown toy’s torso. I’ll close gently around it before checking the lift.\"}",
  "call_id": "call_A2EVtgHGevbyjcYHpPpT38tf",
  "id": "fc_0adf18cb03cc70a0016ab2f9ba905887d0a664b267182d4619",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A2EVtgHGevbyjcYHpPpT38tf",
  "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]: [-0.7483, 1.3033, 0.1398, 0.4351, -0.6056, -0.4866, 0.2009, -0.0151, 0.8127, 0.6365, -0.4362, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2637 left_y=-0.1027 left_z=0.0222 left_yaw=-0.0031 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.2009 right_x=0.2923 right_y=0.0013 right_z=0.1782 right_yaw=0.0039 right_pitch=-0.0546 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -2.9744, 4.8752, 1.4139, -0.2271, -0.0513, 0.7888, -0.1846, -1.3607, 7.1179, 1.6923, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ecab70d37dbe56872b959e309abdd3b71a54d219a141539b636dde5b76fcda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f97dd47e02c08009e88d38822f15a9530edcbfaea6c8447bfc31a1db0b0b91b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8e4fecfcbfec120113fba7b8c92cfa74bc39b0a95ffa47d7ab718edfd857de",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.092 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]: [-0.7483, 1.3033, 0.1394, 0.4213, -0.6014, -0.4866, 0.9991, -0.0154, 0.812, 0.6373, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.262 left_y=-0.1019 left_z=0.0196 left_yaw=-0.0061 left_pitch=-0.0291 left_roll=0.0068 left_gripper=0.9991 right_x=0.2923 right_y=0.0012 right_z=0.1786 right_yaw=0.0035 right_pitch=-0.0534 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -3.3846, 4.6291, 1.6923, -0.2222, 0.0513, -0.0269, -0.3761, -1.5932, 7.159, 1.6874, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The gripper has stopped at about 2 cm of material rather than closing empty. I’ll lift the brown toy clear of the table and confirm it follows.\"}",
  "call_id": "call_B7G4Tsxr1AJzi1aNaiCfFQpV",
  "id": "fc_0adf18cb03cc70a0016ab2f9bf868887d0924880e209a969fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B7G4Tsxr1AJzi1aNaiCfFQpV",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7483, 0.8814, 0.6796, -0.5373, -0.5983, -0.49, 0.2028, -0.0154, 0.8158, 0.6357, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2635 left_y=-0.104 left_z=0.18 left_yaw=-0.0066 left_pitch=-0.028 left_roll=0.0001 left_gripper=0.2028 right_x=0.2923 right_y=0.0011 right_z=0.1769 right_yaw=0.0032 right_pitch=-0.0588 right_roll=-0.0055 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -2.0991, 8.6906, 1.3553, -0.3443, -0.0024, 0.1929, -0.3077, -1.2513, 7.2821, 1.6777, -0.0366, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083d545152d22668474211482a89b106db00b67714f533fa01283ba7299cb05c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c666fa76018fb8604b18ecb4f66ff13b9a3a53bf24fe66039abba697fe9210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c585b65cce23f8641d5618afe3b0f900b8bfea7e715daefe6add4e8e621f286",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.71 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7483, 1.3033, 0.1398, 0.4351, -0.6056, -0.4866, 0.2009, -0.0151, 0.8127, 0.6365, -0.4362, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2637 left_y=-0.1027 left_z=0.0222 left_yaw=-0.0031 left_pitch=-0.0168 left_roll=-0.0007 left_gripper=0.2009 right_x=0.2923 right_y=0.0013 right_z=0.1782 right_yaw=0.0039 right_pitch=-0.0546 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -2.9744, 4.8752, 1.4139, -0.2271, -0.0513, 0.7888, -0.1846, -1.3607, 7.1179, 1.6923, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvnMcb_-vOjECcTtIikTAKFIY6M5l6i-sRaOMHVO9T_z-ATDBcTM-vC6wh4E_ISFWjzkaeCNM55iqk1Y8GSACr7iseHHAWBSYzFHGjNpdCJfryJC5VWKBQSWpOxwH0nJQLATnFWduNlrJnfDeomjxlirW3AcwvwEqz0NmiL94nZJngGyBB37_qrFlw3wXuGBEUCmprpg7u7RLnTuq6qFbxjU52NVcYZ4_CpGukxOsXL9a-34eqfk2dbVWxu_2qbi6BGEpz-p5ozo6JTihpRmQqove64ySvEM-ox2YQ_GEOPAenbML8RB_8kaQs8LtDkiFw_dynQOAraCqjSJNL-ap-gSmsmQpIR_v4FC019uuoUY7yL9qGdGZ0cw9pLNyzcQIs3Ctb9CRAqw1RRPn4PBR0G41elmZW4zhVc3L9dhAhR9_8O08olO2lw2maa1TwPNp7_NnZAke-Nucrq49ofcmi9wNuLcFfJvCVNcG4QoBK26PghjWapwhAyvFxwe8DzReDueVHKhyoX8Cqg3SysnKxTTqgs4SJFI4pH1gvUdTefLkmaiMqqQZY4z-9lVOvchzY825tybHqVV2UcqcSoLeOYTuXC3tnJE8t_xW-sU1DON_WJX4ZX0-smxsRI5tz3Tlsu4RHYWi_QpglXwKYPi8hCjdqrG3pnWsmm_qhuwrDcDaaXsrOOnrtqaAuZyQiPWY-UaSMzlhRdCTmNzDKXtNJC8aEiHlJNSoy7Jzz2yrR1o6po8bDjxXcIpogHBqMiibqxzdS9eMV98PY3uufc-wwSh1YMAzdiKk9ue6KcMKmyHZPVDWqvgGI9Z5xZjCLJ0XE1dTWrUbMr1CPIGVGyrGDMVekVmkjOyBE1tsW8VuvS70T4z99TfuQ4UQB6KswNZMCe4rKQQYSn1nmCSPCIBYHh_vGhOzhy_WExqLZ5qFAnW6nN7WCcWd1hrVx3yri8FrGT8vgIXgFoYwcExevIfVmjcBoyF-4mRVE0tirn0bATpWEZw1RIZstJaoJZJuorEcI6CRkAMRKR8XzxGyXzM1BekptO3i9KCVXGSITXc6vZcQxt4dbN6vRS7dF49ZoKOW3AlwEiDv9d_LFeU3DUeDCCIbATYr58HpHmDMaEmlWXSk_1PqWVO_dXRwSPY0mE8t8rvDf4LNBUTRP3_G-48tUnan11rztve2O2ablH0aSxYNF9lc3OXG5G7jKrsNZBEGXJwjiU6hIsmOuAw0Rpnzm5tusNPuBSJnbH7ABFo23rbuDj-71SNX5TEamoQz8FhSKNV1ysACjFLMN0UhCZB19cKBp8PEHwYOiBbvXZTYHEK3kiujeHAQgcxhZlgRTWZPY4Dc4OEr0tE_aUfBKk6fCM8PZec8M2DmfvSEbQNf4mRj8WF9WT6ylxWIAtzHnWZHBsaZjG6CWRMYzWcebnvUPKl0uzVxhL0fkxJ5ct-HsYG6TochArwwy2EeRhNNaXqdJqTT1OBCcLKYZBrXmBM4b-4WCIQHliTQstEBzeZhGrY8cfOFTRKZe9v24_YEscfiaVd_4a-nh7K6rHbFttQ0MWhn7IKpkiYkdqzsvl53cjd9Ou037r5fDwb1tw0HGgoappUkxzXXrP0OeuswtUJaFdDOjw0AlfNMM69HRG3sVt-3PY=",
  "id": "rs_0adf18cb03cc70a0016ab2f9c658b887d0852b422c00b1a8fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.11,\"left_z\":0.22},\"note\":\"The brown toy lifted with the gripper. I’ll carry it above the left basket, keeping it high enough to clear the rim.\"}",
  "call_id": "call_poyI0nYIrIpXpj8eGv3SWO4H",
  "id": "fc_0adf18cb03cc70a0016ab2f9caa8b487d089e71572ac5c4435",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_poyI0nYIrIpXpj8eGv3SWO4H",
  "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]: [-0.3367, 1.6253, 1.2789, -0.3267, -0.2867, -0.2272, 0.2043, -0.0151, 0.8192, 0.635, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.4637 left_y=-0.1056 left_z=0.1997 left_yaw=0.015 left_pitch=-0.0787 left_roll=0.0082 left_gripper=0.2043 right_x=0.2924 right_y=0.0013 right_z=0.1756 right_yaw=0.0039 right_pitch=-0.063 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -8.4718, 9.5932, 1.8291, -0.0415, 0.1685, 0.1392, -0.1846, -1.6068, 7.0906, 1.746, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2f979a668b7b39d8b72719b1b1fd1414c3794818978e02a096b190e8095b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f1c324f1105e5ad01255410e0cf25c7363f733ed71a61c5e8f390ba086eb6b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dc0ff83ca6b87f3b70a67bb149d190c928e4758df8c7a0f38ca779b851dc129",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.212 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7483, 0.8814, 0.6796, -0.5373, -0.5983, -0.49, 0.2028, -0.0154, 0.8158, 0.6357, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2635 left_y=-0.104 left_z=0.18 left_yaw=-0.0066 left_pitch=-0.028 left_roll=0.0001 left_gripper=0.2028 right_x=0.2923 right_y=0.0011 right_z=0.1769 right_yaw=0.0032 right_pitch=-0.0588 right_roll=-0.0055 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -2.0991, 8.6906, 1.3553, -0.3443, -0.0024, 0.1929, -0.3077, -1.2513, 7.2821, 1.6777, -0.0366, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvnabn29U-RGOboYNWwlhcDoYVLEgT5_xERCdJpfvTF03z4cr2N5l-Zbv0km6-I3MF5vYfsmUmNAA8mb5vIeiVsvZbjTtYDz96R1iBArsGnJl1ioJUnMZdbvSmvE7k9LmM_ZNSKmDHllW8Aa9OGpNCZEoVsFj9xdIgdWQpRLREUNYX3_kDJZOYqKYXsZRY5eyP1Xcm_mz6fkh-fQbZsiDBQaNQdJQzhr3wuUfM5ZaZW8auwlxh1-4pKas_vgXwPPBEcYmZlbX0YMj3SDqD1hPHVljZizgCNDuh3TKNTrShVm_UP-bE2XmluWNhOPubIvHLSLgkkbX93q4pP8mwZa4CbJ3UTuqSkH5Fp2y2Ac8lRJ7yHTWHHdz-Jv9glibvlq-Wx6fv9Aw9kb6AbpUP-VShfJyt-U4OxrcYdq_9U3zFtUZz_IzXOj0h46fuiu30QdZAmfjHiI2jgik2vzaw8AgAgoeJoDJdNtQYGoN_5y0a4-f5nwCL7Zpc5Vx1Ki73DcRaPa8AuzbN3_IZuD3pbnWG9pVanbtC-PyqgObmdX6fxGWUa-fMiY7RchYCYBPJbs7HYUBZB1Lm6km-mNlNPKn6vJ90lNZpMjZVmv7iMy2kmtnupEDofr1Mv535xur1BCMe83VTx6zq9C7CPWXVM3yQ_D7CAeCb6vOWOt5Eu2YWH27eNVsU84X3Du9JE93GnkdQDvLcnHzCcRDHo1F3nFPlV-8p8H0daCuzRn_DdqYHtBACGT6iXmRyGCnCfbitnFdlxZYcKrOutUr8EEcR0NARNV1WM2WBare3f-OafVUykUN242Z0juMzY0KuJAtH1Q0JGgmJLtbWS2tnFsV6hFZk-nPIpNjBjoRtycpGms1y0MdMBuAJRR4zs-H68VCCHBnvNzQSpvuARlDslXmBCcfZApfPINbdcSnfEa1UqgiMEVsFCE20pkI6QyOIZKpz2pUy5XLAe98gH2oz--e1CDxWuOIXkd3SuzuPlfBz81LdBUnYQH8ls4iFOvqFCnkCYbO19kyKwX0q5u6CD_qmKKvYTLnMzoXij98NGtU47hwvAk9s9abnEnh3RfAh1tyZKhBLZGwdN3RuHADnclVKfYAbWBYm_jT8mjdqiLK848PBaX4J_HTbTs1ISzOanv6tq9c8PNg4of5wjWW1aXe8q5ABcRAp_j4n9fdsy9-_9tZTADdc52s-ptHCXlJd8UTWnpxOv6rkwKJEJyBIHdWbZw59Uk6idTkYD6Hso48uoAWj4DpNVg0qTJlmgNCFJADRSB---BOcdDU1t4560HcIpOpkKTJZQOrAFTLXoX7_0tBhXnBIt9w_A2dre5Yb_TQ6_Q8Q4PE-Lnvk5QSu2QlM5kZ7oM4etJkI7UXBFiif4v319-UkKxaVVXNR-FSlJ5rreW7vY2",
  "id": "rs_0adf18cb03cc70a0016ab2f9d856cc87d09e1798e87172cff5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The brown toy is over the left basket’s opening. I’ll lower it toward the basket floor before releasing it.\"}",
  "call_id": "call_Q7wf3m7yrdtMR7gipMTSMB3K",
  "id": "fc_0adf18cb03cc70a0016ab2f9d9a29c87d08fe3999e16f973a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q7wf3m7yrdtMR7gipMTSMB3K",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.6627, 1.1179, -0.1581, -0.284, -0.2321, 0.2065, -0.0151, 0.8211, 0.635, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1046 left_z=0.1445 left_yaw=0.016 left_pitch=-0.1072 left_roll=0.0129 left_gripper=0.2065 right_x=0.2926 right_y=0.0013 right_z=0.1751 right_yaw=0.0039 right_pitch=-0.0649 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -8.1846, 6.8308, 1.9023, -0.1978, 0.0171, 0.2222, -0.1299, -1.388, 7.1043, 1.6777, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbfa88ed84c027361d6faed95f36d1a5ac8def0f10e5b0c258328f9a0270f15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb5c445d64722437e9486056b117d75cb48d6e242fd5a3b4c3972efddace4e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1338ca00e2a74a630572a317823e952283fc35f0aa886181bdf83d3eedae9cb6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.401 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3367, 1.6253, 1.2789, -0.3267, -0.2867, -0.2272, 0.2043, -0.0151, 0.8192, 0.635, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.4637 left_y=-0.1056 left_z=0.1997 left_yaw=0.015 left_pitch=-0.0787 left_roll=0.0082 left_gripper=0.2043 right_x=0.2924 right_y=0.0013 right_z=0.1756 right_yaw=0.0039 right_pitch=-0.063 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -8.4718, 9.5932, 1.8291, -0.0415, 0.1685, 0.1392, -0.1846, -1.6068, 7.0906, 1.746, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The toy is inside the basket opening and close to the floor. I’ll release it here.\"}",
  "call_id": "call_bs6erp2zqb1dz9pFCCK5U0j4",
  "id": "fc_0adf18cb03cc70a0016ab2f9dfe94087d0b21c21fac006b005",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bs6erp2zqb1dz9pFCCK5U0j4",
  "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]: [-0.3367, 1.6627, 1.1179, -0.1631, -0.2836, -0.2367, 0.9951, -0.0154, 0.8211, 0.635, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.4583 left_y=-0.1042 left_z=0.1436 left_yaw=0.0187 left_pitch=-0.1119 left_roll=0.0108 left_gripper=0.9951 right_x=0.2926 right_y=0.0012 right_z=0.1751 right_yaw=0.0036 right_pitch=-0.0649 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -8.3077, 6.8991, 1.663, -0.1441, -0.022, -0.2711, -0.3487, -1.2239, 7.0632, 1.6679, -0.022, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3cf35d9bd4260c87c9f921799584b8fde632fdd0794d0509de92478111527d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1111cdbdeb78605d464892190712c34747d3a5d8db1922a666c1ab8b7a6f01d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab5429cdd89afcec4048fab9e0f9c44b35884a123d9ecc482dd914fdd150dddf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.354 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.6627, 1.1179, -0.1581, -0.284, -0.2321, 0.2065, -0.0151, 0.8211, 0.635, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.459 left_y=-0.1046 left_z=0.1445 left_yaw=0.016 left_pitch=-0.1072 left_roll=0.0129 left_gripper=0.2065 right_x=0.2926 right_y=0.0013 right_z=0.1751 right_yaw=0.0039 right_pitch=-0.0649 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -8.1846, 6.8308, 1.9023, -0.1978, 0.0171, 0.2222, -0.1299, -1.388, 7.1043, 1.6777, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvnnvfyeOcmIaCYU2CMgn9DSZZAs3FSK6a-RZ0cgphFUBqGkpd0nbuw1k5W6SqUmp-tF6N923U0dkaDVlz6H62sqIQC2qM57xy7pJYQ2Ick50LxRR6B_lYZyRhyxppi2n7S_lt_96GWYsYasHl842GSX61S4jsGDFtMmsXRzS9bRNoIMQ0jY96dMiXd0YFkqK3bg_v0ST4serWPUgM2uc2nrmEfP5kzXtTs-9hATpuwIkz4GXMDCZsGPUVHwomFsASw0VmHWHHkbAujwNV-u-WdynQ4eZXJ3h7Rtg8RKMNfQL4phe8tetsb1Qv9PnCx3rjRmCjXi-l6XR5DiqgIpohOi9TzBSb9p_hKNuvaXkQ9Yo209-B27ZRYe-slEr8HofelGgA9G7CvXvrJVj2acVAIxpaFc7JbYgBf8WXZ0037B-4OH9RSWt84iW_mQX4PrKFQlJkE03CwQdFrL0T5keuOLuckOhhFSKoPAJDbpAwFvnEvUywtgsUmbvwQjfnoD4TjtAPw3TQDn0GJCHBXaDAf2rulOMDW1EYfPZZBQi5wEeSP2FwhZaTUA4z2BK7vW3RNHgo7dHvfqgaP-w2N_5nA2bsHiFtT6fX-Rlr2xS20htchUXkwbrj3KIVEQbQSRJ0YYGFIxOovQLAk3eks99uLnX8q89gZU8AtHkFa8bcvXjkY3CEyZWYf-dSI32Ixt89kEHrZs6WKrzQ2bFyHiRoOWJP03MumE8bDpl4qkfnTTWHiE4H3zDAaNMvWl1IY7T1mrc_rYQva3kPWWoIawi0WYfAyCys663LOIokBZSWtBSNkuwZhFeUY_4gOLyZuxP0brW0EUnRIWX6e2O_owYmmr-IHnOMeGrHHzUjsVJfGsgWrVW94bMw_S560CQCUoat0VFyXv-DFsRlZueWWw8HTlCR5iqbWkVgM7oMfByJE3RtW7oRY9GHDdq5SXYwEzP9avoJdIuBQD-vyJ06wjkz9FNwKak2RNa0pG2rl3DkzdM6WBrJ_0zntBAhlNv3p_dVW8peO_8ME1ZS5lMr9jQFFnpAWD7nHJS6iLd1PXJNOpm7mC6jc_Ibv90sUyzmma9XswyaZQTzHtZJZc7JDC5yaU8zfrr8W8EN61m13XTBsaOvXinph1SNRxUbb43wDq2lP_KwKQYqw8WWwD8g7btyzsfZbE1DV_qErkwmRvZPqyw4rJvIq1atPSKHbuGSAaRr5J1iWk-km_fAr-Hnd-o9mIGtInpT8iqdhlOyIIscPgIGFBgYpe73UjyaqdrSQZ2_BVE0MCsH9ysEXgcUxT2qZV350VYGD-tKC0nAFq_WAX9x_i4xl9HCCGy_JLGGqETFj6ZR42SfNNe8mT7tMp4vVY1RphKybG9TmxcDLdIPzW9IePU8TYRsfPQX1SqsK5WAWhmWbiReH8XRuuubOhDORXUpKB1Dh0_UbqaLB8L6nZ7kI=",
  "id": "rs_0adf18cb03cc70a0016ab2f9e4419087d084eb49932c77ed60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":0.005,\"left_z\":0.13},\"note\":\"The brown toy is resting in the left basket. Next I’ll position the left gripper over the gray toy near the left edge.\"}",
  "call_id": "call_HyUKvaIq542WRzzfvBsVaHiy",
  "id": "fc_0adf18cb03cc70a0016ab2f9e5dd3087d0afd8bed78e318d9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HyUKvaIq542WRzzfvBsVaHiy",
  "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]: [-0.0227, 0.7166, 0.4747, -0.4053, -0.0692, -0.0593, 0.9963, -0.0147, 0.8284, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2701 left_y=0.0097 left_z=0.1366 left_yaw=0.056 left_pitch=-0.0831 left_roll=0.0068 left_gripper=0.9963 right_x=0.293 right_y=0.0013 right_z=0.1729 right_yaw=0.004 right_pitch=-0.0725 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -0.1983, 6.5846, 1.7265, 0.2076, 0.1538, 0.1148, -0.3214, -2.0034, 7.1179, 1.7363, -0.022, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaecf16025e5aec69ceaf3f2181909e8412b6e459b0ec48300634a9e778959ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e745d2c3dbdb11d55620911b31422d75b20731c7b450a1bbd74dcde70a74ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d94bb374cb6d6c6cd144c059315bd8eed4193dfb90a60ae7f77e228058cceda",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 5.855 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3367, 1.6627, 1.1179, -0.1631, -0.2836, -0.2367, 0.9951, -0.0154, 0.8211, 0.635, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.4583 left_y=-0.1042 left_z=0.1436 left_yaw=0.0187 left_pitch=-0.1119 left_roll=0.0108 left_gripper=0.9951 right_x=0.2926 right_y=0.0012 right_z=0.1751 right_yaw=0.0036 right_pitch=-0.0649 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -8.3077, 6.8991, 1.663, -0.1441, -0.022, -0.2711, -0.3487, -1.2239, 7.0632, 1.6679, -0.022, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvnvh8AldJiCl-6UwSVkLBXdBuJVqsaoCba5b83dOTgVDISAK8OTPq4FybgOtaqVCd2LlR4ZoH2cOZzdVcSPCK95tmi5htzqhAhr-UlLv89XijLKeghB0AbTesIJjhZd77G22PyJHJOruMdxO9wlWxUIs4SFbKn6vWAvhxDaB9u95vyxAxvlNhPE0t78zawUuh0Ylfp0MBVSSchNwv3FI6utIaBIDQnqB3eKOp9UFPfF1E8Fl7CCi44FFh8gLg8KMd6yBtg4G1lOlyuusG4y7eLhJ53pfDxVL0MVFK1JtBOdmfPtI4PvPYdV6kPUBW4DbkBN9ah4n6ZYb5MekpbytW467qy9p-9q2QaaThRL93CygCbehLmuookBJ59FR7qS9vK_1VmZR3YzGWof2ZB987sfSDVdKS4Qbkt_rmmNGICLU_caQ5-5C0h5Ms3w9M-2Kau4rvdqlUBsCMuKSz_ivjOweUVIGGzJZFN4bOhUeXzi6z-oO_PZKN8xP6E9JEOg8GkbNneYqAgfc5p1_ys7SVhRhR_0lyxNx0aPtJKXN0wU52pZFXpGUf3SI08YD8fWBVIJ5j0HOAaGMGsorc1bQd2n-rgGozGA0wZ37xtVXLjZNHcVCOggdoKB2_sfitnf5ntxJ5Wr2dYXYA7aRFvCyQ3Q6N_awh3KmpavjLfulX-sin3JZPNOzQrNoV_mE2_TixND-Ng673hQA--WLDyyNht250kZYIlwkGrcRhRyISPdd-e_5wedSm19RRKNw2P_sx576EKkae3Tb2ZzQ_AZu5TF0JZxVXuqtVHbRykzZ5I9VJvf9tSojeUlGBxRUQvDwE2oB2tpH8S9phUaRzObVc2Ur2NVHZM5PGn6x8OVHm7Pur56bUYElIJ9D5g8_YLRvxrTffURCHmULW1MBtRhcc6hfJjs93XD8ci7zGH4i4Yslun6NnsneY3qRE62BkobTQul_3V7TDCkbsSBXrenuhQhXOtqx6jdZh8EsCilbOlG1lyl7obW8IEJUcJ_rFjI-scdudwls1udzE6iaOmtwKg09_3XpDxaGVssAyRoMsfeh0bQRom2QHSO_IPnTVCwJ5DA85AIfHqA0ej6251Hpy-s_otfeYtDYYb7Ord4KFsmfZ5JxzlluiXXqODXSMHfo30cpsFT4RwlV4OyrfCTOhs0xRqITnb7W2yF37a7sFnORGI7NHAN6VKppg-46H3w5Y0E0Xpsk2ZtyHj-zDXy62G28KUTPmxScHoPdyMhmLBM8A78VGok50X0UdfDz9i_xVfj0nVa9XR-6i-so006sTIEMo23D6Pva3R7i83hBCUvNQ4=",
  "id": "rs_0adf18cb03cc70a0016ab2f9ec7c9487d0b144eab7664fb872",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":0.025,\"left_z\":0.025},\"note\":\"The gray toy is slightly left of the jaw centerline. I’ll shift left and lower around its soft body, avoiding the yellow slender object beside it.\"}",
  "call_id": "call_d9BZl2AFsSf0Tje4etK6Mz9Y",
  "id": "fc_0adf18cb03cc70a0016ab2f9ee260487d088dfcdadfabbad83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d9BZl2AFsSf0Tje4etK6Mz9Y",
  "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]: [0.0887, 1.0473, 0.1165, 0.4107, -0.0143, 0.0292, 0.9964, -0.0147, 0.8314, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0324 left_z=0.0575 left_yaw=0.0735 left_pitch=0.0414 left_roll=0.0464 left_gripper=0.9964 right_x=0.2931 right_y=0.0014 right_z=0.1721 right_yaw=0.0043 right_pitch=-0.0755 right_roll=-0.0049 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -0.3487, 3.6991, 0.9988, 0.3199, -0.2759, -0.0024, -0.294, -1.6068, 7.1179, 1.6972, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0961b7677c5ba53de54a3ed96856222774b521e5ea9196c927411535204ef221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81749b210a824adf7e8658030d1894e9202a9dd5a0f534e3933d1eadf0598528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a0e770de187640064e15dfa2702fce0da45cef702f8654b83340db6e21efb5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.583 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.7166, 0.4747, -0.4053, -0.0692, -0.0593, 0.9963, -0.0147, 0.8284, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2701 left_y=0.0097 left_z=0.1366 left_yaw=0.056 left_pitch=-0.0831 left_roll=0.0068 left_gripper=0.9963 right_x=0.293 right_y=0.0013 right_z=0.1729 right_yaw=0.004 right_pitch=-0.0725 right_roll=-0.0052 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -0.1983, 6.5846, 1.7265, 0.2076, 0.1538, 0.1148, -0.3214, -2.0034, 7.1179, 1.7363, -0.022, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped against the gray toy, with its body between the jaws. I’ll close here rather than press farther downward.\"}",
  "call_id": "call_MnOftcwD7Ljhu4pVZOEIzMj8",
  "id": "fc_0adf18cb03cc70a0016ab2f9f721c887d0b258dfefcecd85d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MnOftcwD7Ljhu4pVZOEIzMj8",
  "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]: [0.0887, 1.0397, 0.1322, 0.4313, -0.0242, 0.0273, 0.0096, -0.0147, 0.8314, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3019 left_y=0.0347 left_z=0.0706 left_yaw=0.0829 left_pitch=0.0853 left_roll=0.0499 left_gripper=0.0096 right_x=0.2931 right_y=0.0014 right_z=0.1721 right_yaw=0.0043 right_pitch=-0.0755 right_roll=-0.0049 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.306, 4.7795, 1.5751, 0.0562, 0.0171, 0.823, -0.3077, -1.4427, 7.0359, 1.6679, -0.0317, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9e82104fcfcffe5ad0b5059533cea76b6cabf3f3d05e522649f2f2ee146948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80befca171a82b190c20ef468c620c222f7315e2856398e2334222db9e08838c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c9285fae69d065d29ed6b1a2cb3a65cff26fe74ab2988fdba90b67c455941c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.154 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0887, 1.0473, 0.1165, 0.4107, -0.0143, 0.0292, 0.9964, -0.0147, 0.8314, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0324 left_z=0.0575 left_yaw=0.0735 left_pitch=0.0414 left_roll=0.0464 left_gripper=0.9964 right_x=0.2931 right_y=0.0014 right_z=0.1721 right_yaw=0.0043 right_pitch=-0.0755 right_roll=-0.0049 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -0.3487, 3.6991, 0.9988, 0.3199, -0.2759, -0.0024, -0.294, -1.6068, 7.1179, 1.6972, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvoBK9uvmjCZDCjd4fWrLRJzicM7Qh1Y_NPKyFROdUwW2NS0GZFw3xakR04SGNnwoJ4Ay4a8TXDpNMz6SinzjMnw-hIyfbAs25qPS6ULJP_Nhn7h1O8kkkW6bNdLrbD2RvYlV_U_AHn7t_VOegUHAnp3Vk4k4BhOaniAL9-27qWpaDBtHQwGQVdNqGRhNoce6VCKZWlZbKfctGqv6HOCcm1DKqz3gn2-pIxktY_UhECX7yAX5q-SlMaeDw1dX-qRXRTdJrYyEQaHQrTEzkxzj9e6I6sgLv36UJv1UMeivuZhLcrfvSaeElWfJKENBqDTubqkUVvX4G1sJNrYIwnoYAtPpKhQST2GecP6ArEIT1v0bHeMRLGxCkh8OyzCeOxzGxZWMR9kBMZRR0Fgt7_b_wVKIaOrgAUPPX7QohVgTnKz2PEW2rkAcc-Gs3ovVjvfjJxk1cK2Cs0oeEbFHCJkH0oInV-RcDn-yVaNkCqAXR3arGK_JunJIeRxYK_BwXWHm3m73w72HPffZ8DwIiWgMuM_whgzwI6UUrLOYUXuc7q2HAV47F_tYiYE9FQKqpjFZcX0Fkv8GWABCRF8VOFhL5As6kEi-MXYdoYsGyeyiLmxasQgsi60k8qCUrE4vCzC2GEcGFjXeUsfSDRx0kX07YiusMPEi5qd4GHUi6nzgqBmgmY6uW9jireSZfiGlJBmnUFPndoRAnM3W-w1l99D5cjmpcRxuxAKBBpm2ryihrLAo-8jqgayvAjHyzSa0wOQnrPxAj4gInaDckTSzOTlVGrxdcvrxWVKMqzuMzScP2KJzyJrMSiY8xBNop2SPkC5ned6rrl7-Enp0HjQH3IGC_EaIlvNyqCp2kk5yrJTzLZp2ancRoJvnGZtICFgm8nKzO8TA3niKsRg4x6Ck_epvabqYGOmNx5udvWeEwPz9nZoFR8BXz1Lihy3soCR-EH5SwEyiyTMUghTzMqpYzYnIVKOo8bQmE0nGApmOCIJ_E9Yrvo74HJ292SfgMXZsld2cN1nq3c0bZ8xp22g07l9_qrzU_tAvpM6fwZQtp9n2G5OU6_pDwCBLDGX2inn5GMSBNyOzaKJZ4EuyuzprMiIkI2SN9TBMfzEw2JSLM7LULJYCXsChMZApNz_Y0MPBCkT0ckyURCq3jp5dq61LOPXLlKu6td31mqR2qWIouKZGNbuwTJ9wpN3iW98dn-OYtACMkYM1HK1s5oWcZ0qLpD5sbu3zc6JoLi5mmkLSt89dDjr9esbQjw8xhke5imB9rR_5pGItHrbW_S39E4lDYpcfpsmXkWwMfCp9-DDm61GBCFH0yNA4kXaj5D7MCT0IYaFvzzGI3ohDyNQFuYE9eLBJip-FFtlMQf5VZ0cbecAEZt1q_lHzcemhZmz2ZKeM1AbDrpa",
  "id": "rs_0adf18cb03cc70a0016ab2f9fe7bec87d084b5af99db71ffb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.015,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The gray toy shifted forward and the close was empty. I’ll reopen and advance to its new position for one corrected grasp.\"}",
  "call_id": "call_FHgZUQdMGkR6p52qM30cALVk",
  "id": "fc_0adf18cb03cc70a0016ab2fa003df087d0a1913c5e110d3fb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FHgZUQdMGkR6p52qM30cALVk",
  "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]: [-0.0387, 1.504, 0.1329, 0.8524, -0.1314, -0.0303, 0.9985, -0.0147, 0.836, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3237 left_y=0.0142 left_z=0.0258 left_yaw=0.0769 left_pitch=0.0476 left_roll=0.0526 left_gripper=0.9985 right_x=0.2934 right_y=0.0014 right_z=0.1709 right_yaw=0.0043 right_pitch=-0.0801 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -3.9863, 4.6564, 1.9316, -0.0904, -0.0611, -0.1734, -0.294, -1.853, 6.9812, 1.6728, -0.0513, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb2d9fa4488a336d4e3d3cf1201e126ce19ca84fff6c2aa8efbe02fe5c1dec5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f883aaa9ec9626eae84af6982d2c1349a8a178848afce6859d346554e7c6c08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f0b24065bce6e923f2a9079bcc1a667cbd604aef37fe796a5f9a82fbc77fb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.977 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0887, 1.0397, 0.1322, 0.4313, -0.0242, 0.0273, 0.0096, -0.0147, 0.8314, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3019 left_y=0.0347 left_z=0.0706 left_yaw=0.0829 left_pitch=0.0853 left_roll=0.0499 left_gripper=0.0096 right_x=0.2931 right_y=0.0014 right_z=0.1721 right_yaw=0.0043 right_pitch=-0.0755 right_roll=-0.0049 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.306, 4.7795, 1.5751, 0.0562, 0.0171, 0.823, -0.3077, -1.4427, 7.0359, 1.6679, -0.0317, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvoKC0t1vCU1PKFbKlk5cx-lOrHOS5m7SHG5t1Xw0GlH4Nzv7dNPKGh5pqyCSmi4cfY6M3jAZFGBq6ExWaTADaXvXpLEbAf0_ihVCUlrFKiS2WHsTnUugcP6rtELnMM1-tEqAuaPpAPeQuhiLMyHD1QUCtca6-KM8t62p7sqiQeX93Zf8H7WYiiMTd_P2wmHZEr7EzV_AOefYXirWd1pZFs74Vz0_tWrHYoxRD2N2YahkDpLy5u-BftJyV6LmQzMWFXTzoyYl3jNIq_p8HKGS6NS4Y2Lhb5gzhOHH-am05Rh0oKnLPuoQwZ4rovrVwXJ5a7NhuMEjpLzhtM05DcJjQQgoHbMkzKCzWIdnb56kztquZ8iqd4gg4DenuXCR61_6wQRG8czorHaTyscSJiWGLEgM3geLmakudM-S2CJpTBryR2Etls6p7B0mxnfKUYdDONX5dMopA98kf2orC8NjoMm2GPi99jr0n23qYdwh3m1jkMQWaWnPquRFh5oFsCkB7pLAP3sM6xQGmL39KETY56p-KV-5-i7UPr37n_7xGCrLMAu2vXGqRgr01AaFyYQs2tcXlTy2mw-jW3p_5Yx7VPAADr3yaS1uAHfv-CATnMNvKwm1qRKhgydUxoItB0zTNtnDDhKbaSRQJb2tCQYWycBJIs-c2bAOnvb_Cpzk6gCb0M1N8GuDHGmTiUHlawggF8qfg3hpuwxf8_Ezk-V1o60QfYcA9nSsi7ou4K9UcZDxdvyVRQ30hdG_d53O36QkP_qLVefRsZjJLaPxtMS_dv2NOfRhpLxuoz8s2HOSmuQ1ZKL_gnjV9owmCecjMn7jowp7-f54WAKe0InOi_PN3G7r-izJrNGmR42ACSwZRdLpv29deMtVtXMAR7uAoQhh-46jQtHg_kzbkHG5qR0g9f31C2pfNwikUqu0cf9qSLxcY7nmcb6ggZ0p2x8q68ZvBGBK_mCopoKIyDi_vLcZAjnFcgNGo_Id-3LoxxkLl64h2sgBex0xz6S6Nt8rfw3pkRytedyYP5RQFxwRHn4svNs6z7mNiiEnFC2qJ0gM5qLZQWPGNaPHqDMSy05oToO1sqP9pKXcmr8HeSZMrEanA7O_IJ4tlPuwiw8-z_H5YeKhHWSJ4TsazmrbYxENDHYOQ83P-iUYKzEQY7Yhsgb0nfs1dMZSQELcH-CYUv6lWWoc0tP__jaUrwtmxn7mBT7fD-lKk4sTrYUAhCOckcd4kNVI0vSpgk8cfsYSPJABBc3r5NzQV1crftHDPhFXg2RSV86EJmWyQvy7MehateNOR-0bTy1gbHNBb-juRku1Ymzwc-if0x0tAUePt_eprxlnDFb",
  "id": "rs_0adf18cb03cc70a0016ab2fa062cf887d0ae4181ba643465ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05,\"left_x\":0.35,\"left_z\":0.045},\"note\":\"The gray toy’s body remains left of the open jaws. I’ll move to the leftmost allowed position and align with its near side without approaching the fence further.\"}",
  "call_id": "call_ysSEjxK5N06OjDEYRNPZ5G6y",
  "id": "fc_0adf18cb03cc70a0016ab2fa07f0e487d0bdd97bee69ad3701",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ysSEjxK5N06OjDEYRNPZ5G6y",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1364, 1.5009, 0.2409, 0.7193, 0.0048, 0.0357, 0.9983, -0.0147, 0.8364, 0.6346, -0.4362, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3417 left_y=0.0497 left_z=0.0336 left_yaw=0.1016 left_pitch=0.0209 left_roll=0.0418 left_gripper=0.9983 right_x=0.2935 right_y=0.0013 right_z=0.1708 right_yaw=0.004 right_pitch=-0.0801 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [0.335, -5.7641, 6.4889, 1.6825, 0.0659, 0.2027, -0.0415, -0.2256, -1.3333, 6.9812, 1.7509, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9c72f644e58bf0e33b2e6caef501d2e079f3532a0076bac2a4de7069781ce3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e673b1d6b7c067a085dc803873fa5c3596051a081376c0d587acfebac16443e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd5d2ed5f1f720056a92e209916abb2c5851d022ef055bead623c6315f03674",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 9.08 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0387, 1.504, 0.1329, 0.8524, -0.1314, -0.0303, 0.9985, -0.0147, 0.836, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3237 left_y=0.0142 left_z=0.0258 left_yaw=0.0769 left_pitch=0.0476 left_roll=0.0526 left_gripper=0.9985 right_x=0.2934 right_y=0.0014 right_z=0.1709 right_yaw=0.0043 right_pitch=-0.0801 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -3.9863, 4.6564, 1.9316, -0.0904, -0.0611, -0.1734, -0.294, -1.853, 6.9812, 1.6728, -0.0513, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvoPmoJjRkMMjXE8t3b5lWM1myr_xyFLMQiw0yhIEBv1SMc9fFW5fNZkYOBxgWLqwDJ0jJMf6W-pfP6DaAxHoujWJZyd7VXHubF_R7sT0TuCp4_JkwI-aK6dkb6OsZxrwBNmHR-_QJCGaKYSEyapH0t3ANKv3VoW3IpMgC5I0ImGH36W0jVXOZQ_IWMqn7HswLnsEnG9jRIJ4jOUCa3S59VZ5rND2Fqh_oc8tFWYk14_h7cahQ9SPU2COUD60ATsTZHYvb3ZqhXsBOGU1BjNYFHrB4XrO63Y8oT_sy7cJqvWWsv7RdGsPoLVIkeD7HFuigh7ZsYfTYd31LvKMlUo6eZIvKpjuGWG6lOKhrp3uHXhlHmVnsyDbI10qQEUww8KpxgtSUM0JhKAdwhubo0qBRJ9Cd8Adzk6fRLki7pQL0wheV12b9fenzF-QJWDJuwd7U8Dape7z9UUST2BqITV1EOQIvKu-8rr5guDzN7W3FDeqrF2qBlEL3fCCRYm3QRatB0Gnv8PZThgZTKyiGWkODVym1jZQu0Bl_0prhhBMTOmm0ko_Pr6Hb9DLphcHYJrrRNRZGe2alg8QOoVWCzEcQVWZuj3hWqMaHBhfZBnRJOWDRJCggysYGVqm5-bN2IBeLwSlSxbi7AJWNypI_D7rnheXbABWJR2n0O4fqzLvQnAgul_IVvT0merbX3U2GZWCe981S2kc3ICL31mcH_HIM1IvjoBPDpqy2a-TiKKO-cUwPovikhE2DDaOq8KghknM6qfKaXu4FzsC3aYtKREty1RvFlU0dKuDaMuDNEszOGxRmnTM6Dgi2jRdMx0KN77b_rb0XQmbH6BEgtxFz0qRt2PjYSWFTMVyvgSINnNJPmAWLnNTSx4PgpO_EfIgQDzwNl7QSHDomm_gQ22f3w9kHaaFynAuhvtV58anoK4hHqQHIyCQrOVOuOuLoxAD4s_-z5Wxxl6VZ_UhD1i4yqRuOxyoqikohbJkJs7rG6AXdhxNyMAdPEBmbyBN6FwQSTuNKlW22k84eo3AxCOcPRMOudHc5Rg2QfarrpgfP7PeUvgjjpJIzK9bchOaeFWEwd8tR1_NR-4qYagc8k7k29IwT78S8tzeNo-Bte2hJ4XlVpaNcR253H0Wxt5aQQj9dO1PKZmSz8yB6M4p2MRVVDidSJ3_tZmb16yWFw0gF370UUIpsHvFeUBD7YsOX3vUcR5v0wmSPuITg4WoLNpJdGYmqMTFh6cXogw77rVINPVMOMojCrRfxvGFmMuk4KBNFsja7E8",
  "id": "rs_0adf18cb03cc70a0016ab2fa0d083c87d08ccd9c6eac42ca8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now overlap the gray toy’s near side at the workspace limit. I’ll try to secure that section without pushing the toy toward the fence.\"}",
  "call_id": "call_uyUqmynQnWrPoKO0MfnnePCs",
  "id": "fc_0adf18cb03cc70a0016ab2fa0e693887d0bb0d2f77e3b56ae1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uyUqmynQnWrPoKO0MfnnePCs",
  "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]: [0.1398, 1.4998, 0.2466, 0.6998, 0.0036, 0.0307, 0.0107, -0.0143, 0.8364, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3411 left_y=0.051 left_z=0.0318 left_yaw=0.1086 left_pitch=0.0084 left_roll=0.0378 left_gripper=0.0107 right_x=0.2934 right_y=0.0014 right_z=0.1708 right_yaw=0.0044 right_pitch=-0.0805 right_roll=-0.005 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -4.2872, 4.0957, 1.9316, 0.0024, 0.022, 0.8278, -0.0752, -1.4291, 7.3504, 1.6728, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f497b9c83c2ef3d5adfc8a6765dc04990d86f0f6c563c7952027d3e8e62f43c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8991c400f44cff635b715979fe06c3d4c0a83b5eec951717f5ec3711bdd165c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1d6126c8e48bb568e9ac2636c834ee2d83945f52a232608d0a82ffc839f8a07",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.476 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]: [0.1364, 1.5009, 0.2409, 0.7193, 0.0048, 0.0357, 0.9983, -0.0147, 0.8364, 0.6346, -0.4362, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3417 left_y=0.0497 left_z=0.0336 left_yaw=0.1016 left_pitch=0.0209 left_roll=0.0418 left_gripper=0.9983 right_x=0.2935 right_y=0.0013 right_z=0.1708 right_yaw=0.004 right_pitch=-0.0801 right_roll=-0.0051 right_gripper=0.9993\nstate[joint_eff]: [0.335, -5.7641, 6.4889, 1.6825, 0.0659, 0.2027, -0.0415, -0.2256, -1.3333, 6.9812, 1.7509, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvoZhW0P2JamE_gaBKmvzVh9sHFL57yHM_zGRwrS51QcNL6b2m-NRijZ8hcRJTYXNOyvzAX-1qTjehMdbiHGFr50braSYFvVMdDZ8W1U1N955ednRBdWT4ydlm6oGgJgW-eJLDHddkp4YInKPqA8rnHznN7mJ9q9gZATJh9il67iRebsJpim_hSrzsqXHMKgN1lfFrn7k9wDAe8-XsMPZ9YtSUTF0ipTCzjmK9V1Wu-8tWtayFntBv9IK-cqQbD_RG5MyaHwZkXrlLcjAOM37sY4x6TSQ69wT7ImOwMoFona0W66bv-RTJyGI_oWlLiM80kQcPqz4-GCT3g9ci7ZT7KRx-ru2U5DRMGT7NISczOcrlolMA8trKp-jn9LUY1JJWLbu8diH9DK8grPBmpJ7O_qnZZhqZtDhtehCHo0I09xJ-TKUmjMr6JwxBKMpiQ4ToreZC1y97DPaUR9CM08DD2CX5bY11oqrOthmI0136tgM9u08VuV1YUv5JbTmSvyTMNzDl0f_4zL5cwOxYWvt9IFptPxJtsBoRfjgLi7oMaCUljE9dPumDQ5t4nga2lutpWiqoLqzr6_3ibpBVbCBKyiRkA-G2e5NX2reoPR9yOFATEheI7gE1kE8qEHoG_auiqASHj0TKJkd3WJpeO0sDqeqrdWlOkF28bmnh12cIR7b5Se7t3wvLAsXq9IhKMsbN8uhIBIbyPH8MF8OJrhKDw8YBYQJt40aRhmoIirSJNT68TWq3pZ_1k3yBl4ujz2Fym7_ayTg25juZmoXoth9xDMV0DWu4BnH6yE0ncLp4E_NaZHmYHDLtlduivHBb6ylJgKZHn1ULgxHcIPf5Amp4MZLCPovZ8XRUUvzMJ0RdsVya4V1BYo1CLRKvEZeebMp8bA78lYEE3JSJ7StStccybgQwDXnVBPyAGOA4vg4QRP9wl6amHwmhXzUc-SqZex820cicEgg3zx2PtNa6urCgFZz3DX2z68OxD46isBuXidMNG41GUEmcGZ5AjDV2A-AUDgo1ucijaFrmzvRjrcjnyaH2M4CmoDOAf5sJ5KogeAFJbcHtNYLF4nw0_bjVRwApFfYl-fw44Tu8RriinqQRvnyJYlpI9xFzxpv0OfJ2c-PbHIxbRtKGg_0aGkZCDLIoHeJjHNLdeGD23u01egIDkMPf6Bc-2u4ECv_NNaLiNoeqo_FwLKKzXDlPHQ5vYKCYE3xmBesoB9StKvor-72FDqQNgIb7aDQtOjN-VSCUAHfgq5tzJ_ywc8zYMhCnvf_m1yxFCfdjitjxyc1H-xaBA4QJwOf44aqFsz30g2aC8QV1Di73fniCn99L620qgnKV-NvVQQ6DDhw6vfbyGrcv3znhweP7KKOW75hdXLb5UmxjfhYVXneC6iv1IQUaNKIsmIVk61QS7vDsq6J387VGX18QzC71s_52tMpJ8ApSUhVWIzUoFmrLtrNh0_6H7cQsdSyWVg7abAf9CX8m2L8ihY_c342kmnsg73fpJWuPJvi2UJzjGHTsmurkYDGWNxB0D63K2cd8ChfxgDmpBA76iDBEklS2fAv86raW3XiWThr0L9bMaVlMzS_RXelRRYlHovHA4_o_Xd8isak020oh90bs2-6JTXohePl9Sxe7uo13b3EUBZ6II9q_B_uawj7W5FLhpndOnsiVq83kCxKCnVvQ==",
  "id": "rs_0adf18cb03cc70a0016ab2fa13acb887d09ea2088d66848e9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.255,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"The gray toy is beyond a secure grasp at the left workspace limit, so I won’t keep pushing it against the fence. I’ll sort the reachable tan toy next.\"}",
  "call_id": "call_uvV9IdX7CzcIEDIvfHJrx6jX",
  "id": "fc_0adf18cb03cc70a0016ab2fa1828cc87d09cc15ffa015a4670",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uvV9IdX7CzcIEDIvfHJrx6jX",
  "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]: [-1.2007, 1.586, 1.1355, -0.7486, -0.9474, -1.1088, 0.9984, -0.0147, 0.8379, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2577 left_y=-0.2578 left_z=0.1621 left_yaw=0.0952 left_pitch=-0.0131 left_roll=0.0254 left_gripper=0.9984 right_x=0.2935 right_y=0.0014 right_z=0.1703 right_yaw=0.0043 right_pitch=-0.082 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -6.8855, 8.1573, 0.5543, -0.735, -0.0562, -0.1783, -0.3624, -1.6205, 6.9675, 1.6532, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2695d05fe4bfdc62d5f1bdd65d97a6c8b0e614fec7234cfcb21cff12f05e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1a906eec674e01dc7183163ec1065c473f9bf87ef033ef2a30341dfad76c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd53694a5bc85122e7c2d062809309f5b4dfe1308227f98498f237bdfd4d42aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.887 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]: [0.1398, 1.4998, 0.2466, 0.6998, 0.0036, 0.0307, 0.0107, -0.0143, 0.8364, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.3411 left_y=0.051 left_z=0.0318 left_yaw=0.1086 left_pitch=0.0084 left_roll=0.0378 left_gripper=0.0107 right_x=0.2934 right_y=0.0014 right_z=0.1708 right_yaw=0.0044 right_pitch=-0.0805 right_roll=-0.005 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -4.2872, 4.0957, 1.9316, 0.0024, 0.022, 0.8278, -0.0752, -1.4291, 7.3504, 1.6728, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvolzAv6rxq0k_vDfKdViVd47-5TDxm7yVR2FNa6E7HWiqlGnWpUEZ7Qk_cro9yI6P3CsPS46JV0vpVMHrdpHR2FfnnsPVqG33_uGgiLd0mS6oQ3bQD5DG7QAbmM3Bjt9wISh7n6xcpaECrOac9RsyKHhXTUHx6ADWtme7O3s17Ga0H08QnMpQXMKB5aCIKVJSf2VEvWjwFoFPIL-CEophb1OzoWyuE1vfmnU2JWwXgdBmFQ7pkc6v1RFuzDKu5tpU3pIEjdguyeibPIVx91272EjLaA5PEt-t-dZp1EbWpkLGXekYQAWWJJjh38hj2BC9F-zNbugBwVRk8ttCzEGZbN1CgOsJae5q56hgIByqodD0DZRg8id9JaBxnEtWLDZEYs3-fTWPbwucH90WDKvh2V9g7cfYv36in7ZsJuEMEbwcyStGp4pTy5_A13nkEc8ukb_324wAMTua2Pc8pLOEwOyKenizsDwrPo9GTktGTrs6pFzoW4xDM1uciCFXP9ic3cjkU-N8lxTIazCzwRJWUAEua3fgeYQnLMSqkjctAy7R7zgiSSLTbu8gVQStJyGt0gTuuhY5x1UuTwRvHm_st6xpdIpLGftkjUKkvywNtFnlyo_NYUQmSEXmiTC-Yg5U9Wqs2Bl1CM6sxx6LwQKSQopnl_ToBLcFfHg2J5yWUeffv_AeveLaZXYrGYiU3fc5M7bOkep3JaM4LO7u9RiaemIoUviHWZ7-2O5QvXK5pvniFZlVLIEWY4wwTna319d1pqvO8_bozbcwoH6w1gF93v9onO2wau1rhpU_SAjwxnOCXOLBtPn9sRnUotWEcbaH2Qt5_MykNwndRl5LRy5I2zfjnw1GuZwYrriZXPDQfq37OS5HnVLDlS4bZxK0RP8bFGeuTayeexsEmrQI5qBwNq5Lb3v2kst46Ot02xranbdodlz8bMtDFiASan9rPzJQ6JRz-1CNWZHjT3rkvX0Ir0L2v9TO_wASfTCVrcbiQnhHLL79AtnaKZfEADM6ivrZmFw_yRjmorDEA1aCmF6iLL5EbV_NL-AsgX4xhl3gpc6yJWnscuzXIx2y4tSheJDlGOCtCcGG9aDmb4e9G0lcOnxX2AWndAv4MNGiBRNDm4cNFpE64WWRh0UZ9LyNdeoeb8W_t8TQ0OPL30pGGFYZ6gLCl9o5Hp4xkoeSuxZ6pUBSqZTZqPmyYq9W040ExAlrbtVwqPKPl0W_k5bKSMq2-VcexQDwTVY-pNg0_ceeD9tkRpgBVYKqmho7eimPGTxCxebxzXn8ChWibdcLb1QTVd0bSpSvq4G4ZJ8Q9dSPoJ_hLXsfHjRBkiWd-CvESFmDiUvRo-8B-TgRtgGlcQS6qQsIUVGBAqsOxqKLGkXHGkJfpMpDyueLVvTHqJadYx68Fd",
  "id": "rs_0adf18cb03cc70a0016ab2fa223b2c87d0a81e325dc8716043",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.265,\"left_z\":0.035},\"note\":\"The tan toy’s torso is aligned with the left jaws. I’ll lower around its middle, leaving the nearby blue and black toothbrushes untouched.\"}",
  "call_id": "call_aczkpKelspcUKgyo4UxUv0HL",
  "id": "fc_0adf18cb03cc70a0016ab2fa23b9cc87d0a9eb2de310a0175b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aczkpKelspcUKgyo4UxUv0HL",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1664, 1.8317, 0.9047, -0.1535, -0.9466, -1.0664, 0.9982, -0.0147, 0.8379, 0.6346, -0.4366, -0.0116, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2786 left_y=-0.2775 left_z=0.0544 left_yaw=0.107 left_pitch=0.02 left_roll=-0.0527 left_gripper=0.9982 right_x=0.2935 right_y=0.0013 right_z=0.1703 right_yaw=0.004 right_pitch=-0.082 right_roll=-0.005 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -6.3521, 3.1385, 0.3883, -0.3101, 0.2076, -0.0366, -0.1983, -1.306, 7.0769, 1.663, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48636a77b644eac0e84f99ece45b510f048a6ab0c4e5007e74914b7a67bf45da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1275ad1b55493cace5b2a33fa6a58451a0cfe19ea6f49a7e566e4ddc7b52d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d648f4d1e28f9db911667d8930af24a9b6c5499a4d223b320cbfc43a35f6c30",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.937 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]: [-1.2007, 1.586, 1.1355, -0.7486, -0.9474, -1.1088, 0.9984, -0.0147, 0.8379, 0.6346, -0.4366, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2577 left_y=-0.2578 left_z=0.1621 left_yaw=0.0952 left_pitch=-0.0131 left_roll=0.0254 left_gripper=0.9984 right_x=0.2935 right_y=0.0014 right_z=0.1703 right_yaw=0.0043 right_pitch=-0.082 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -6.8855, 8.1573, 0.5543, -0.735, -0.0562, -0.1783, -0.3624, -1.6205, 6.9675, 1.6532, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws have settled around the tan toy’s torso. I’ll close to secure the soft body.\"}",
  "call_id": "call_VJasVh0buyWH7iAUqcT6uqUK",
  "id": "fc_0adf18cb03cc70a0016ab2fa2a566c87d08a2ab175cf26b508",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VJasVh0buyWH7iAUqcT6uqUK",
  "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]: [-1.1683, 1.8309, 0.9058, -0.1074, -0.9695, -1.0744, 0.2067, -0.0147, 0.8379, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2824 left_y=-0.2823 left_z=0.0617 left_yaw=0.1221 left_pitch=0.0525 left_roll=-0.1 left_gripper=0.2067 right_x=0.2935 right_y=0.0013 right_z=0.1703 right_yaw=0.004 right_pitch=-0.082 right_roll=-0.005 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -8.1299, 5.3538, 0.5739, -0.1929, 0.0562, 0.7741, -0.1983, -1.5111, 6.9949, 1.6923, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5be137d4842741ed23332d1c7459a20e626224ecefc31e56aef99355bddd359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75155e46b5db0a2a05452370304a6e70869ada3f5d42959fed95ef804dbdaece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b824998f9b7ac3317ddb88a1f36c89a96beb3e60c344ae5988a2cc3f245f2ea0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.922 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]: [-1.1664, 1.8317, 0.9047, -0.1535, -0.9466, -1.0664, 0.9982, -0.0147, 0.8379, 0.6346, -0.4366, -0.0116, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2786 left_y=-0.2775 left_z=0.0544 left_yaw=0.107 left_pitch=0.02 left_roll=-0.0527 left_gripper=0.9982 right_x=0.2935 right_y=0.0013 right_z=0.1703 right_yaw=0.004 right_pitch=-0.082 right_roll=-0.005 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -6.3521, 3.1385, 0.3883, -0.3101, 0.2076, -0.0366, -0.1983, -1.306, 7.0769, 1.663, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The closed gripper indicates a substantial grasp on the tan toy. I’ll lift it above the neighboring objects before carrying it to the toy basket.\"}",
  "call_id": "call_7DhENz2R4Nj90bCNW1CvvFWy",
  "id": "fc_0adf18cb03cc70a0016ab2fa32dba487d08ccf0b792b812561",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7DhENz2R4Nj90bCNW1CvvFWy",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1671, 1.6596, 1.2869, -0.6857, -0.947, -1.0828, 0.2077, -0.0143, 0.8379, 0.6346, -0.4366, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2838 left_y=-0.2902 left_z=0.1908 left_yaw=0.1156 left_pitch=0.0261 left_roll=-0.0878 left_gripper=0.2077 right_x=0.2935 right_y=0.0015 right_z=0.1703 right_yaw=0.0047 right_pitch=-0.082 right_roll=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3162, 8.6769, 0.9548, -0.6422, 0.0415, 0.1001, -0.0752, -1.5248, 7.0359, 1.6581, -0.022, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9760b3cfdfb33c3014f4481965cb348c73b357a5c88d58a3f901b465609d3ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d172daa1e6ff4a74a56949c72e6a2afca36655b442f9b7d03f7ef92e87e5fe8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2ddfa81b926f611b6a2babee196c10738c33a840a0008837b3f8db241f0385",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 7.876 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]: [-1.1683, 1.8309, 0.9058, -0.1074, -0.9695, -1.0744, 0.2067, -0.0147, 0.8379, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.2824 left_y=-0.2823 left_z=0.0617 left_yaw=0.1221 left_pitch=0.0525 left_roll=-0.1 left_gripper=0.2067 right_x=0.2935 right_y=0.0013 right_z=0.1703 right_yaw=0.004 right_pitch=-0.082 right_roll=-0.005 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -8.1299, 5.3538, 0.5739, -0.1929, 0.0562, 0.7741, -0.1983, -1.5111, 6.9949, 1.6923, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.085,\"left_z\":0.24},\"note\":\"The tan toy is securely lifted. I’ll carry it over the left basket beside the brown toy.\"}",
  "call_id": "call_kymynZUeRITt0c6iInmlgwZw",
  "id": "fc_0adf18cb03cc70a0016ab2fa37bc1087d0ae23fb370a5521fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kymynZUeRITt0c6iInmlgwZw",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.3294, 1.5124, 1.1995, -0.342, -0.3565, -0.3653, 0.2092, -0.0143, 0.8417, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.4404 left_y=-0.0816 left_z=0.2139 left_yaw=0.153 left_pitch=-0.0465 left_roll=-0.0721 left_gripper=0.2092 right_x=0.2937 right_y=0.0014 right_z=0.1693 right_yaw=0.0044 right_pitch=-0.0858 right_roll=-0.0049 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -6.5026, 10.3179, 2.1221, -0.1441, 0.1685, 0.1343, -0.0479, -1.7709, 7.0906, 1.6679, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1312c4285aa5f3f0ef4e230f2447d42be1a3ad540bd7eb90348bd359435b0355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94feeb9f202a3feaf33d3f81f4d6c835aca9d4891e661504b6ae768e9e975208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3b5a3214a547a5c309f9340975c560167a34e1edd047af50c4c378f9a711e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.781 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1671, 1.6596, 1.2869, -0.6857, -0.947, -1.0828, 0.2077, -0.0143, 0.8379, 0.6346, -0.4366, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.2838 left_y=-0.2902 left_z=0.1908 left_yaw=0.1156 left_pitch=0.0261 left_roll=-0.0878 left_gripper=0.2077 right_x=0.2935 right_y=0.0015 right_z=0.1703 right_yaw=0.0047 right_pitch=-0.082 right_roll=-0.0048 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3162, 8.6769, 0.9548, -0.6422, 0.0415, 0.1001, -0.0752, -1.5248, 7.0359, 1.6581, -0.022, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvpDhOk6xSWLk8M38VWu81eDF78d7JGesSeZxyf09DFldIeY-EUWiHzvo8SqTg2n-jHsEIdQG2ehtpn2mh8b8h_ux95cCf4KLQJvwuTJ4UWCURl9DTv-V2Be3bAJTkD9Ylrz1lVyWA2Ry4pSDgayl__cPr6_0J1dAhaELlppDrdaE49UV1uhkYEdxkNkgtEzz3sM3J9M1fYWKegXXl12jEz8A0kK4vCeaSDUGv0DSZ7sxl0EuxsWofzhiicclIh4oKDHbjxm-ot4kQgglqfUthkUniPH-jlTUkk-64eSslF18alG3kSm3q-sGaqsLvt6ElzO-XET7EvXnG18V3vy2bVg0fbP30COYLEx2sgEAOeMUhFD9FhZSgIeBV8ioZjsrWZs1knJ1asZm4Ri0DWbHew2aNS7vmmxfnhR0wWZ0T7zjjen8-3yiDTYeon-u_X3e1dgtMFdEdxewr3_mBJBxCct592wwJ0PAmNjUOU1vR-LdDXsq9hSpqfF3CJMpoyDFdlaCV8P5EsIaYs1pivICNwiuq9J-RnN3snjNiOGyeO6LFwcMlgYwOjbYJbf4RpilhgVBSU6tOUpqNSZII1aI2W9Dty-_hYztzF1xLzUjnEZ_Lwf7KMyZm1Ee8KIC9IpCMEFWbjyH7RH-BycwQeRLsP3OKxH9XC4Xp8aY01XqIvca80Ke9YRY2Ia0nfbBg57chglWXrABaz_0-ER0265ymuNIHkoebNXpgidSrWO1Y98Cs5V4d8smbS3VJ16WuB7LtJluzLpdUBOz-P642gnDXS0Gwu6XuW2_P7HXFVtks655CToHPEoWeotqOM0oKGX0FSGpB0c-O5S3s61NAvhyWF2P1ZGclL1dDM76hq5jMWXJ_zq0CekzYnLBrQz3CoSVuwsf9bXz5ugaOTVBpQI87B9K7aK4EEjFbdBNZ65fXXemLU0NBOOAp7uf2Keub0Fp3EQZGwKIuwUZW-K-WCl_LVOUG0vd2bC5lovNDbRkm86WxazUs56LRQku1XfxoAuwRZ0GWPKHsu0GUAWfeGDV3LLuyfFzPRJb8SZmAtpqg8MkanOBl5rfwtzYDDap4sIF-bXu0sPmpFfQnsmtyu3J9lGp8UlILQHn50cxANZQ55cKZ4E3S8aCwvh23tHjz4umP6WprLjEA9fJehXYoH9CRoeoFxgRkpHQ2LSh6mGf_iI-xFYrMJxwlvh0d3RRHk_qGir97JTnUxQfGisHhIGI01mT9LPDPazQTb647XS9LjdaGxJbyQ7GsywWudo5uFFaMUwFf3SFeXjaad-49XZ6FRrBCGhW0_WoVnd2nJcy0mqkSe1UQaJK3Zv-wlndbfGXgEQl3IRATDz1s7sl78w4CsKIBRI-82AHrcfuLZl6iTwRjCfFItD4JjzShjEGrztK239CkGxpohKch_oz8ZnCfTwGtb0urKMPbc__d0WDZlIhbNCl_gpwXkcyyoo6zilsLJ2xj5q_5RvHOU0ZzsqJNWPtiXc88s5fvVm-nZYUbAnBNeO9ze-CYsDnJ9-5yo9cCeDKQ51W52T3R7asQ5Vbtv_56_wuCbVLYxz_Xx1s8svZlA=",
  "id": "rs_0adf18cb03cc70a0016ab2fa3d36b087d0a2495ad4c68a364e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.055,\"left_z\":0.25},\"note\":\"The large tan toy hangs toward the near edge, and the basket shifted slightly. I’ll move the toy farther over the opening while maintaining rim clearance.\"}",
  "call_id": "call_jwEGY1aUdIg7NRb6rckxL34p",
  "id": "fc_0adf18cb03cc70a0016ab2fa406ef887d0b0c1736b31fddfdc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jwEGY1aUdIg7NRb6rckxL34p",
  "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]: [-0.2123, 1.7218, 1.5276, -0.4732, -0.2596, -0.3202, 0.2114, -0.0147, 0.8452, 0.6346, -0.437, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.5 left_y=-0.0577 left_z=0.2357 left_yaw=0.1665 left_pitch=-0.081 left_roll=-0.0845 left_gripper=0.2114 right_x=0.2939 right_y=0.0014 right_z=0.1683 right_yaw=0.0044 right_pitch=-0.0897 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -8.6222, 8.9368, 1.7314, -0.0952, 0.3297, 0.2222, -0.0889, -1.7709, 6.9949, 1.6777, -0.0513, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0a7487a33e89d68ea4b599a87f6bd903a9056048728d036b1b06d10c02be68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea44b859887b839f20089994852791e69574a7bae08e7ba9bed0279677ad6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57145ffdef011e38956c7479ca31b1c1c7ead5f14e198536f54fe9e5d127638",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 10.85 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3294, 1.5124, 1.1995, -0.342, -0.3565, -0.3653, 0.2092, -0.0143, 0.8417, 0.6346, -0.4366, -0.0116, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.4404 left_y=-0.0816 left_z=0.2139 left_yaw=0.153 left_pitch=-0.0465 left_roll=-0.0721 left_gripper=0.2092 right_x=0.2937 right_y=0.0014 right_z=0.1693 right_yaw=0.0044 right_pitch=-0.0858 right_roll=-0.0049 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -6.5026, 10.3179, 2.1221, -0.1441, 0.1685, 0.1343, -0.0479, -1.7709, 7.0906, 1.6679, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan toy is now centered farther inside the left basket. I’ll release it onto the brown toy.\"}",
  "call_id": "call_PinYGitLaTEIPFgvYTlRz99g",
  "id": "fc_0adf18cb03cc70a0016ab2fa46085887d0bca5cabe3a5daf6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PinYGitLaTEIPFgvYTlRz99g",
  "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]: [-0.2134, 1.7374, 1.5303, -0.4843, -0.2539, -0.3294, 0.9954, -0.0143, 0.8455, 0.6346, -0.437, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.5005 left_y=-0.0594 left_z=0.2271 left_yaw=0.1663 left_pitch=-0.105 left_roll=-0.0862 left_gripper=0.9954 right_x=0.2939 right_y=0.0015 right_z=0.1682 right_yaw=0.0047 right_pitch=-0.09 right_roll=-0.0046 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -10.1949, 6.7487, 1.7705, -0.1734, 0.0317, -0.2613, -0.0615, -1.5385, 7.0906, 1.6825, -0.0366, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d941cbeff7796e92c224f7f55b388347a9a2fbbe50da34a9e6394205a480dab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1238717c985301a578c906497ba4154c97cf4b009223334cd59950609d9ddf50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecad19099455dc31c1492c02b60b873db3c98334867ec60d638bb0b457dfe84f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.245 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2123, 1.7218, 1.5276, -0.4732, -0.2596, -0.3202, 0.2114, -0.0147, 0.8452, 0.6346, -0.437, -0.012, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.5 left_y=-0.0577 left_z=0.2357 left_yaw=0.1665 left_pitch=-0.081 left_roll=-0.0845 left_gripper=0.2114 right_x=0.2939 right_y=0.0014 right_z=0.1683 right_yaw=0.0044 right_pitch=-0.0897 right_roll=-0.0046 right_gripper=0.9992\nstate[joint_eff]: [0.4991, -8.6222, 8.9368, 1.7314, -0.0952, 0.3297, 0.2222, -0.0889, -1.7709, 6.9949, 1.6777, -0.0513, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvpSX7-0-CqLq_8-mMmFbGvkyygDI9zyNyyWctkyjkQhCs90GgO3BMoJftI6PMVYebYEdL59Y6jeUWxUvfh3YLE-1LqAEdKPxNzevcCQ3A6fAOIYAlkNyGGY74qJ_HiIwEUzVZ-NDAfphzOgr9BQTEDBnR3zy30Qnhp8675ReDxK-l-ekjMnaR-KNxtjTd2K-hOzkxsie4PK4mORmB1apBnUWgK1dZHOA19GLyiLBXgXmRH60ODEQpKH1bXqabTKLgFftMRPjRwZ6P8IQoOLRdi_AKsjT_8kO7rpxtSeLi3D_Lm861L0q7oSEGwQWUYKJ3tm2y_gwJVucRJYcYq834UNhaNvrc2yw376dWxS0g3zk8oKqWteFJNGYTRoax98h6UYtpDis9r5bkUcMX_wSggzhIhfvvlHsPBAvbFPjMgiX9nEBNt_-gialV3N4kwuHFbR3Ee89EWi_ndv810EzxrhKcVrJjh3VZL9qm5kbHBHSHa8x9sAPSQX3lZSCezUVC-oqeAXd7d7z3EoOnzJOPdP1tR6gJ4fJ2AIBAhrDEGH9-DS7ZWbe1BfPuFlkFw8kGDJXxjAHjmDytJnNmCPSD8KUMFxzpig9F0KpppKQUlVB7EcSFZDkbJXJIqJiDbsE3WpQZ5Ze4gOi2E38UN2TerFIphuk7vQ6JCJjQWr0F55haRTSXcKUrwjIabt8z0NFrE8LKeG77BafLFsK_Bn1ype7jR8KvwnrcpuDqVAC5Kqx1G5AyHAhEcQD2aGjU8gBGkMbaA2wUT4DjyHkW503gQVaADVD61pMYDqGoyYdfJZSE8ixz2S6BqwyYsc0rbmCwJ9m8U1yVM8o7ZeveEiXyioeyFGjcCrsflhR31Qpm08sZahT0ObD3oadirTy8QRW-MNq-cOuGizsHpTw5cWTlYsx953bOWgK4_GhYaNvnGGSvO5dxYcSjJojpXkLnHKKFPU6MpES4C2Ha7I9qVzQZ1vaUpuSgrPv46ZJR5WnjQ6xj7Fr0gcPYIzgmYEedPYup2u9-PjWLJ2UbhNnEnOFEbqw-VM-zwaxmAmxszDG8dqsAqHi5jZpQBsuIkXW6Prj6NDnFfVCCeuARNbtd0pdb5DtL4mIZDymY6OjFmlhnhy7Zj561iX8HU6s5XIu0DyyKULCdd59mq9ZxQizcVBfR87f6ZNTIL90f6Y_WrkCxn6ssfFUm1SImYfxpentH78pfARhYkCJfKaUM2MI3MdKV3TtrCH-bistgXctVWH5kpHFSZpDdLT0jHOqclJbzaXpxVJE0FbK7-pG_OclycGJf3lj9sJa22XSPIzs2YAKG7DyZd8g_JRpbmMbgNrCpOIOWciz5nXdio_4XXnDuBqpSoL9cAHPP5qxSsx81G2n0AYTmmfxLGQzUBmxfR3EAjg_qiXpOlEBmvvk4o8CJp7188AfneEOTbsr5FPiMXSj9NNlW98znFyhgwXhOL1ohWpDqond-iCA_q3qIHW8Bwk31e6VxwQoQZuDla-6c7P8PjzhaiLaVtdGjuu63WF9BI_SIAGJmtA4FAtLzSVaoSIyn1_DpaUNAp19GzXMOi6GUCXGgNaQCuusiSSKwSyZcCFSMMWnHVgWtG6yHTA7rmHg8Ve2flsaavBQpiN_iocn7KA0woV-d_GEfbIZEaKgeIyW7YFZze-Jzd-0aKKgh7YCHNwygMOw2W55JW1Hp8c7-8K7Cxfr2UtfEX2y87DAviYD78v-l2pKlGtc_2NDBgQQoJmFPzbZHgf3P85IURbLQYVPMwuLP6HRfho_8w5KwnVRogwh8O04SkI1P_9I-aXikLz6qeHxSzlSgfpMCY6lPy6fQdF6zKt1D584gaN4FGPgepzX8njbTAH0lnYuFYi-E4c9KlUiEBvkhXz_ALcrdNcH_s=",
  "id": "rs_0adf18cb03cc70a0016ab2fa4aae9487d0ba280496992c3bfe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.26,\"right_y\":0.2,\"right_z\":0.14},\"note\":\"The tan toy fell outside the shifted basket, so it is not sorted yet. I’ll park the left arm safely and line up the right gripper with the two adjacent slender objects.\"}",
  "call_id": "call_4n8W8hhsVW7fKznJsGd6nTqB",
  "id": "fc_0adf18cb03cc70a0016ab2fa50a08887d0b6b0f846d08b16e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4n8W8hhsVW7fKznJsGd6nTqB",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1307, 0.918, 0.9257, -0.667, -0.2008, -0.2935, 0.9963, 1.0012, 1.2861, 0.7689, -0.4671, 0.6979, 0.6979, 0.9992]\nstate[eef_state]: left_x=0.299 left_y=-0.0001 left_z=0.2348 left_yaw=0.1845 left_pitch=-0.0845 left_roll=-0.0999 left_gripper=0.9963 right_x=0.2555 right_y=0.1952 right_z=0.1254 right_yaw=0.0478 right_pitch=-0.1351 right_roll=-0.0483 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -1.7709, 6.4205, 1.79, 0.0562, 0.2125, 0.0806, 0.1983, -4.9846, 8.8547, 1.1551, 0.6129, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b372bc8a01c63cf87ea4badb0b8fb8dabb66dc73de12bca5f05ec14dc3e09db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934d9aaa464ef66073c22b3d8d9f8bc35e2b034f61f3c420ebbd19ba7a135e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f4a37222373d584743bf4bceae38048e414be60db13e1efa6d8300c9e3c612",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 6.026 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2134, 1.7374, 1.5303, -0.4843, -0.2539, -0.3294, 0.9954, -0.0143, 0.8455, 0.6346, -0.437, -0.012, -0.0235, 0.9993]\nstate[eef_state]: left_x=0.5005 left_y=-0.0594 left_z=0.2271 left_yaw=0.1663 left_pitch=-0.105 left_roll=-0.0862 left_gripper=0.9954 right_x=0.2939 right_y=0.0015 right_z=0.1682 right_yaw=0.0047 right_pitch=-0.09 right_roll=-0.0046 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -10.1949, 6.7487, 1.7705, -0.1734, 0.0317, -0.2613, -0.0615, -1.5385, 7.0906, 1.6825, -0.0366, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvpZ2tDQKXGcz0KJ8O60M8E8qPKATyI7aPz9Fgc0-08JDLg8cGvNacyj9FLYuoRAm9Hnq72IgjbLLmNYqZKDIk-mdu0EF7gZyeAIm_icraBmfiDUt39eE-a7bduFVWfzURsryrCggeXygA0400ks_4X62MofbxlYH2sSsowJkwxVFBUOEVZJuJ1RJLK9S8z3oYl7Yy1qLNvOajLjsCDLWGKh8jNZ19fWlWuEJkmNSOXOLzST5rxrGyZMB_JxiknTPR7qPiY1NVEkaZnZV4xX9b8Ya806Yl1I5ulN8wD4It1N5HihMcC6nI2mNgm-PnIiEEWIyT7fQR_J0YTzkqEHsP6f6HMePWxmKDsUzwj_iBdWrrbE0txTmcOZa76tu_cx2tZYijMTqkODoSMGjP6RCaInON1yj0yfukBablWHGsy-iAtuTWIcpbqnOXdCcbzJZiehdTJFJqLURTuxrkmTumEp4_VyN53tHC-qsNu1heZnqCiqMsUFV7bEbd4O4EdZQnBVF1RfBnTzq8_O5YvKt1hC1Y-EG-3ly76zvrOavlB5kGwgmRQ10bCiRDJeDmMIdRB7cEWPXcpTbDNgqWoQLzlTLNNs8vwbKnH0k0Otkk36eBQtWuzKc6u8PXhRu2Q11IVqhHcV-kR2ehgl_FHtR-KxdlkxYxh_Utu62IQlEHCD9atE9j8Gqj-q9mLOq09hUokDiz2t6EDcKPy0M_hsYb5qoh2e1_9WhIEddZd26okjEVsKZsoYjHgMZgrnUz9KzyGBzOjlFDxmCHpYYtMbjbfj0sm2pBNCxierVn_u427SjeZo5yReblbmWebq90Wa1PX4QHOrrfVTeHjSGPyJC1Yw_ChmlFu2l5O0K8cvwOpHDnySk_SDpCCMYEWR4_tdgYk13Fbxs1P1pc8PqF2JTlWr2aD3Q8QDgJ6PonSqYFU9pI-sQzsWGxGMR9yvxgXQXly0hDdY8QOgUBQwTqyv9Kw97uhXbBXhzQA4FtB5QwUejBTVims1O8kpslW0NtX2crpzwHareTFyins10ahVfBsN4uO8hX1Xoh598AJHB431tfl--NNQzTX2cbQpTrXAN_A4uDqNwt6f-t1WDzHY_VcrHK0F-pABHVNPHKfxN1sWrhsFdNYcJdTI-0PaRZzuSRBLqNpnGUZnMyXJU__rVbyv2bvvyyFBE15vr-5VyHdO8wPosV3I0i4JG9CujQVVdCzibeHQ2GXQV7Bri2BVYG1eD7ubPW0hDNcgNQraLIPCYfWqJiOcCK7gTgvNTjaCPuv9uQUHRnx8gqHYECN2t_WoZ3fon6q9M0GgJHym6Li-NvjiuHSn2JHXw2zgEZUJvAG3yfUoX0DaDkhqn2996oeg_LRaDrVedYGXvRRBN9kLXoo=",
  "id": "rs_0adf18cb03cc70a0016ab2fa5689c887d0bb7e67f3b7957cd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.2,\"right_z\":-0.008},\"note\":\"The blue and black slender objects lie parallel under the right jaw opening. I’ll lower to table level so the jaws can grip their shafts together.\"}",
  "call_id": "call_PFPJSeMx2Y42aWGooJEkEquI",
  "id": "fc_0adf18cb03cc70a0016ab2fa5808f487d08cd1dc34dfd1915d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PFPJSeMx2Y42aWGooJEkEquI",
  "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]: [-0.1295, 0.923, 0.9195, -0.6876, -0.2016, -0.2924, 0.9964, 1.0, 1.6604, 0.5083, 0.2005, 0.7242, 0.7044, 0.9992]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.2269 left_yaw=0.1867 left_pitch=-0.1144 left_roll=-0.0887 left_gripper=0.9964 right_x=0.2659 right_y=0.2042 right_z=0.0108 right_yaw=0.0299 right_pitch=-0.0984 right_roll=-0.0286 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -2.2359, 7.2, 1.8242, -0.1197, -0.0464, -0.0024, -0.1709, -3.6171, 2.2222, 0.2662, -0.2466, -0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d27336d30f48a69af5f1bcc8c48c6b7380e954683f42d0089cada30f55d9ad6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73afe2b64089d0c3525e90daa83859526be6ec9e4649692e3de0be9dd46d9a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ffe29796d6c20f300b8f9c68b7c4794eb2e6d4603621ff5777a133454fcbd6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 10.07 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1307, 0.918, 0.9257, -0.667, -0.2008, -0.2935, 0.9963, 1.0012, 1.2861, 0.7689, -0.4671, 0.6979, 0.6979, 0.9992]\nstate[eef_state]: left_x=0.299 left_y=-0.0001 left_z=0.2348 left_yaw=0.1845 left_pitch=-0.0845 left_roll=-0.0999 left_gripper=0.9963 right_x=0.2555 right_y=0.1952 right_z=0.1254 right_yaw=0.0478 right_pitch=-0.1351 right_roll=-0.0483 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -1.7709, 6.4205, 1.79, 0.0562, 0.2125, 0.0806, 0.1983, -4.9846, 8.8547, 1.1551, 0.6129, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvpghLOWUFw_cnBup2MYooEvL6Rlhwc0fcrxjbB2tJB90QqEv0gStFPVdNkOxYUQLGt2nlB34uUMQeG_Cq6Jv5sfhZBLIC4JKKfKOjegnlaI4wwyDAd0IzOHrqxJyKN_1xCMgW4y4Ye9RXjKB7wHW1TgR_KbIEA8R45sUx3R4W4hg5-iSfrsLNVf141sNmUxO0Wk0kxn7S2VsZPpLIrXjLoktQV5V6wpsvAIRAyOITHGXNQPcJuhrxF3cNHtIHQWW3v5oefYNL7Wrs6RpBYCg9S9jlfbmCtmgQjSsEnbQH0hcEPn9nbbej6WdzqmwcIfn-cfjugSN8eq8th-nfc90bYxdn-z9-jlfNrWJw3iW4GML5WfivZEWN4Iy7AwJxDYSig2mbqbCFz8pzjKGSyeD978HZrT3rlj2EoHQUfP3Cee4P31dscXYdkmzbY94nNm4NrVTbv17ewip5HhBBp18zf4oCx92twMGKSn1Ngp5etVbMerxt8g5yG_I_2vlYcB965G7GgLGqbWIvImMOYglvk3TvenMZ08u7JkSW9ecfvIi6T_Fsr1QaIT2nkrCKkLXZlZUQg-83yW1pRJxRK2vwLYotP5vgzZhor6xNC5v7lLbouNZXToeflcp-ryIZBtLSt8MKiOSnFJ9vBiRZ8LitV557-aLYlZ-yWrDA26pWBFeP29z3QeW5g51frbzB4SR-MKJ6v-yEbATcvRAnylT61SrUnCnGoGQKrcNjwKMCohqaE7_A3cXgW7fISwAcaEej9plU7RFfHRXjujZPEh3i4EC0ioFuhLTKtyDBt9uviwFrH4qBmGLrb4f2OSdfyrWZ9NA9Xd6qWk9jm7wOMdahPqVekvm9BI5FKzgu_GbhPBakrGIXhffILsWxdGhuGBipawP0qJ3Mr1NvtXLjo9dOpySqRJno661Z2o7d3KXpGRL1PPElcanZZkugRpqyEGYXWtaB2BgXlp6qCmPaVbLdy0qdWMVOLhmqm18KwyYX34658uX7tbgBiDBhrxkt_Y3qal3X0Gu4YUe9yvtdzDrTLkrRTtjl6eOkJ8GOFcyBPape-ZzfoodAn5b1oHCv0TknxgULu_kkHmxgR2wXByFUYIMb7XrnYMiEfdRJI1aQeOAAAFE6A-nnQgGtDwB7fgY9QEXQQkUMvdKpD4pli9Wb9lxRwYdbLWiT9fLVROAqvF6Dr2tn0Vr1eFByjCuhrYHNhic_3TQ2zrE61FAyHftf-j03EZMz2Kv2vtHBSdlheY2vAI2-48DHudsJ0I7vR3Cj0PiO7BmVnn9tUDvlx4FBPRrQ==",
  "id": "rs_0adf18cb03cc70a0016ab2fa5dd95487d099af9ac244b0984a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are at table level alongside the two shafts. I’ll close and check whether both objects are secured.\"}",
  "call_id": "call_wS68gqZHCClZTzRJ65tVPBqG",
  "id": "fc_0adf18cb03cc70a0016ab2fa5f062887d0991e48884957bc68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wS68gqZHCClZTzRJ65tVPBqG",
  "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]: [-0.1295, 0.923, 0.9195, -0.6899, -0.2016, -0.2955, 0.9964, 1.0, 1.668, 0.4976, 0.2192, 0.7219, 0.6994, 0.1375]\nstate[eef_state]: left_x=0.2956 left_y=0.0008 left_z=0.2264 left_yaw=0.1884 left_pitch=-0.1167 left_roll=-0.0903 left_gripper=0.9964 right_x=0.2649 right_y=0.2032 right_z=0.0077 right_yaw=0.034 right_pitch=-0.0998 right_roll=-0.0312 right_gripper=0.1375\nstate[joint_eff]: [-0.1026, -1.7846, 6.7077, 1.6093, -0.1392, -0.0269, -0.0073, -0.1162, -6.4615, 5.2855, 1.0427, 0.2906, 0.0122, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092f865395074a2edb95b2bc7054b0da0baec0b56c7c86ae362ded0fae843fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5932231ec8fe98901699ee0386923181fbd31d236579bc75fbffc995780ae4d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69d09cb6e77fffa45a697dcff4e0fba0e57e3de4f50cb5e4fd306accb1aadb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.21 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1295, 0.923, 0.9195, -0.6876, -0.2016, -0.2924, 0.9964, 1.0, 1.6604, 0.5083, 0.2005, 0.7242, 0.7044, 0.9992]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.2269 left_yaw=0.1867 left_pitch=-0.1144 left_roll=-0.0887 left_gripper=0.9964 right_x=0.2659 right_y=0.2042 right_z=0.0108 right_yaw=0.0299 right_pitch=-0.0984 right_roll=-0.0286 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -2.2359, 7.2, 1.8242, -0.1197, -0.0464, -0.0024, -0.1709, -3.6171, 2.2222, 0.2662, -0.2466, -0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The right gripper closed on a marker-sized thickness. I’ll lift to see which marker is held before moving toward the right basket.\"}",
  "call_id": "call_pBrDVouniIp2H39GbIZzaPZT",
  "id": "fc_0adf18cb03cc70a0016ab2fa69fb1087d08a34c5cf25dfa736",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pBrDVouniIp2H39GbIZzaPZT",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1291, 0.9237, 0.9195, -0.6926, -0.2016, -0.2958, 0.9964, 1.0, 1.3025, 0.9504, -0.5945, 0.7036, 0.6949, 0.1432]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.2257 left_yaw=0.1891 left_pitch=-0.12 left_roll=-0.0896 left_gripper=0.9964 right_x=0.2662 right_y=0.2098 right_z=0.1724 right_yaw=0.0484 right_pitch=-0.1095 right_roll=-0.0225 right_gripper=0.1432\nstate[joint_eff]: [-0.1846, -1.7983, 6.7761, 1.6825, -0.1245, -0.0366, -0.0122, -0.212, -6.2838, 8.8684, 1.0379, 0.5055, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2949d3e982784d7484c9dbab19cc084ff8c11392c3073795913d009d8eb51369",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c06fecc21e41a3933ad42ecf441273e0a58d418cec41d57d5e407afa51008e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f0dcfe96dd7dc49d4ae10bac923906a4b05ac17d2d077b23ddf9fb4ced9313",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 11.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1295, 0.923, 0.9195, -0.6899, -0.2016, -0.2955, 0.9964, 1.0, 1.668, 0.4976, 0.2192, 0.7219, 0.6994, 0.1375]\nstate[eef_state]: left_x=0.2956 left_y=0.0008 left_z=0.2264 left_yaw=0.1884 left_pitch=-0.1167 left_roll=-0.0903 left_gripper=0.9964 right_x=0.2649 right_y=0.2032 right_z=0.0077 right_yaw=0.034 right_pitch=-0.0998 right_roll=-0.0312 right_gripper=0.1375\nstate[joint_eff]: [-0.1026, -1.7846, 6.7077, 1.6093, -0.1392, -0.0269, -0.0073, -0.1162, -6.4615, 5.2855, 1.0427, 0.2906, 0.0122, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvpx1gVekVkPhxVYG743ZjgrJSLj8JVode1giJI3uonF78wDst26JZ-wEF-G-r-om7RUibyUpHhd1uBCj6V5BC41XT67E2MzFDw0Okf8Ctf4iUH0lNjp3-aYh0xNDAVkz746JLDYeLhRn_knZ5BBdAvBUAyWIjFc8NtvZt5V6RPzFE_ILkG8Oi0NMGQ4Jhf-AViv9uBX0V918g2BlqnCSlkgtQy8WSLk7XkykxsQsW3HIzU6O8KcPL-Ejs0ZAGrafkK8qaDpwoyvoQqaAxFji71LDJId9P96xFViiPml-2JnnABL-25OKQFwYYWSSeZqFJR7a1caKoW6A962nwnEKoANNXDX-FBqBpi9AIwh7ASYsj-LddT9NqhiYUTMjZdeAgmAkMsOCIq9lEQlOA87bvI0yuZHh78WCIdT1ti6xM2RW6YK3u7BSKz2wCAIH5w3CQi3P4-zEYlteCs6_UwUboVeNQs15YW3ELPEgXzaiWOTqCF14HYB2latDRYeN1srhOUGLo6d4p9VGEuOBbCi3xUu9Y_pxFXQXXCZ-XVYqSTlyXlL96yOZQsGv9jCM5H683C-h-m6uHdf4iOGk2fyohm-24P6bcMN2C_e4LxMvlMSpQseB5iu9xnQtoWQFIuDCG3-rPQ07T-8iCsOaJ02yhvcBm3nmRGfHb1auRo8Rej0AxEV-KRXbntqrvGD19lj2Wk43cSxVQ6dso9aD1c6l1W2wX5xwPI3S7qtEmrBYmYFMiUL8RwtHdntu_kko6eWBg2ze7QdbziaNOF9gX7e9MGahy6Z0OsEwuu7plBD7QG2MLT2JB61GuqsYGThGCElVztG5E0B4YFfnCDoKVzTv4Bgl67pMtFmmFhhhSzgcS0sgJqisKOcJm2_bhHecy0lx8UJC-I3HTBu0puDRzPswTWAQv1cw1fLJe7H9mDEvRfOoPfLmuXRsSrkSppL8jhps1Yst_IS1RjuliZR5hju6K4LOXdZF6Tkah6iA0SK2qXfo9-4lbKRXD3vCC2LOlHROtxHnmVT5j4x3jo1mOLDYfVR2tw_rn2bfk3NMcAcvsTEh0hMeToqvw6fmU2tVN_iRJ2NE21b7B-Sco7DOr3OhaWiHwPsQlwvs-EfiF124Pac3bySrNJN_V1ASaZbDOhnuijKMZxwM9uoASgD2Mvcaa3Cey5IY3kUOHgnX4ZDIpY7A2Uy5ORXRgiLRRPbiYZEwVLxekTJSPnn5vBahzeNi4LfXWfwFo36FQjehOeEjprN4y8=",
  "id": "rs_0adf18cb03cc70a0016ab2fa6fb58887d0ae8ad6d408c09358",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.21,\"right_z\":0.22},\"note\":\"Only the blue marker lifted; the black marker remains on the table. I’ll carry the blue marker above the right basket.\"}",
  "call_id": "call_wmYojjffl34hSFI3QneSaZzQ",
  "id": "fc_0adf18cb03cc70a0016ab2fa7063f487d08a5e47e9ddb63978",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wmYojjffl34hSFI3QneSaZzQ",
  "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]: [-0.1291, 0.9283, 0.9195, -0.6952, -0.2016, -0.2958, 0.9964, 0.5999, 1.7168, 1.4521, -0.5285, 0.4324, 0.3428, 0.1432]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.224 left_yaw=0.1894 left_pitch=-0.1269 left_roll=-0.0873 left_gripper=0.9964 right_x=0.4296 right_y=0.2085 right_z=0.2029 right_yaw=0.0462 right_pitch=-0.1464 right_roll=-0.0394 right_gripper=0.1432\nstate[joint_eff]: [-0.2256, -2.2496, 6.7214, 1.6044, -0.1245, -0.0269, -0.0073, -0.6496, -8.9504, 9.4017, 1.4872, 0.2173, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7c507bec4b4dc8c57c05acc2490fb31db7800f5b7f8555a8e83c094f9b3f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a516bf42e4ab9ad469accd44554b6c82784e225090c461daa21f59cb501dc0ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3527441c0ac181ae95ab4fb2e6cc03d558b9f3ecb8cb96f61a69ef484c86d28",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 10.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 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]: [-0.1291, 0.9237, 0.9195, -0.6926, -0.2016, -0.2958, 0.9964, 1.0, 1.3025, 0.9504, -0.5945, 0.7036, 0.6949, 0.1432]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.2257 left_yaw=0.1891 left_pitch=-0.12 left_roll=-0.0896 left_gripper=0.9964 right_x=0.2662 right_y=0.2098 right_z=0.1724 right_yaw=0.0484 right_pitch=-0.1095 right_roll=-0.0225 right_gripper=0.1432\nstate[joint_eff]: [-0.1846, -1.7983, 6.7761, 1.6825, -0.1245, -0.0366, -0.0122, -0.212, -6.2838, 8.8684, 1.0379, 0.5055, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvp_6BhPlLYSslfapGHCGd8JlJN63rB0OWxF5d1as5DncNmG32lhnkTj-POm_k_9fGRfN-oGcAmsVE5QpXbNblKiATHxsV4aiPjC1a0BTGyRzG6_V7CzzCZc6aIecuVJIcvX_1JyfRbFjRjsnwSrbc09GggRA-S6DEsIXtbvguWQ3rF9T5L3S-dYOBtU9YA6gS3r1nZXozH-1_qX6878vZiwiJRAiWjhSBbCy0ZtjkAtcAppC0C0HHgPqsY49DfIGHLQQqjL--3T2CVnh_3jA580TJ4P1zTyYGjzEy0wLdWF5gFAtoJ-KqLzSB_YH5-BOXdJtmR8htuBsGvVSxycZSb6IwwcvBexGFN2fNFRjDVqS6iat1BKlXQdUmma32M9mjlOce9bmyr2z6P81OAoV7FOBQYM3rP7ySriplk4-eTNO_MuKFECzaCve-hQMXVSmmxJWgdTHxoWj58s6Sd3aowp19FzvWiPRsov16_mBjg0FIAHeH_jfnFLfu_QP0OAxQCOqT_LI-Sfp4l3gT5vh9yM0ZQO73ZjYkpOFwkJ08t8ZbyAK0cZDMOr2k4J8_8JgS2ykG2JwyHMLATWEAKNanwvSwhSU6stPRTf9uciAos3qf2WI6jMzNS7ezkI0AxAhMKfzf2xTQ1y-O7x5SI1R2aD5VDmmdKHzUtkiqGC3FqROWzDy0eCB4_EnGjFofj6gSXAum1igMeZzaCKQg8UMYJ6gUluuxQrOt2yo_7ac1Y36A05jEhfK3xhkleCpelABlh4YaSaSMm2oS2HjGr2rDt5wrNQKjdW4wWW_Z-NGzb6kJqqh_i5YXf3WPgeHfaTHDO94Bw04LuoqWm7k4fGTVXYbdh0YoQ_12TTYp19dUAkOrGjEkqrwMrKTdq2h6tvnE5RKfe3oalFVJB0Ythoimi42k_hC1Q2dUy1y2_BEEGcSeXddtSKFfXTklnFD1CiwthVN6xGu_AUceZRlMX2gWbMTG-uMcfzODfkTkjq3WzfW0ZL51UiljqwCPBz9rBZu8lPYTwJ0fHcqkTfzzwL4VdGP51g-TnXyp1taNwvIftY2WJeSbBXOwE8UYkvT0HuUqs2bm21UQ1WDUhpA26udUbnSVkzXswwl_RXgM3YgpmfKosNZndtt9uorCnch8hmCdsr5nJLqfEiWGHrVfqTjwVV8-7icBp2vMVdwGfaNwNDnVP0Hpj4N9aqYQOmXomGLlyKsBJRhaPseJbU00o3n4Xb5VxXNqejPSzsbclW6zbmA-9xEPab77OrRExNuecIx-qEMpDO7rbc6HcY_mIqT5V_CO8j0x1ClqTMrdCR69IjkFbZkuGSEm341CH-fUzCkzlA5_AKzM70j-VNDM9GaXhEOph8YozlKNo8ubRtuNY88QfxrTNSv0yKGKV0X5Gboq5pgSNRjxjbwGCsAJ8TI7u22g==",
  "id": "rs_0adf18cb03cc70a0016ab2fa75717087d097a8118f93d8eb93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue marker is fully over the right basket’s interior. I’ll release it into the marker basket.\"}",
  "call_id": "call_Z2aBGVaAgPEIphyWI4CEeLei",
  "id": "fc_0adf18cb03cc70a0016ab2fa770f5487d0b6806de1e2f43621",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z2aBGVaAgPEIphyWI4CEeLei",
  "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]: [-0.1291, 0.9279, 0.9195, -0.6949, -0.2016, -0.2962, 0.9964, 0.5961, 1.7279, 1.4532, -0.5259, 0.4168, 0.337, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.2241 left_yaw=0.1896 left_pitch=-0.1262 left_roll=-0.0878 left_gripper=0.9964 right_x=0.431 right_y=0.2103 right_z=0.198 right_yaw=0.0573 right_pitch=-0.1586 right_roll=-0.0379 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.8393, 6.735, 1.5897, -0.1441, -0.0562, -0.0122, 0.2803, -9.6889, 6.7761, 1.453, 0.2857, -0.0171, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d51416906f7c35aed1b4e3d790d7f5fad47139a3d44569c60559c62e4608173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f73f06f0047e4466363cc02379151cdf8f3306b34c84571d36d6b704b8b96832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da7c69d7999a2cbdf9f94f82ae8991ba23801b839c91166256d7656377aec78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.564 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 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]: [-0.1291, 0.9283, 0.9195, -0.6952, -0.2016, -0.2958, 0.9964, 0.5999, 1.7168, 1.4521, -0.5285, 0.4324, 0.3428, 0.1432]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.224 left_yaw=0.1894 left_pitch=-0.1269 left_roll=-0.0873 left_gripper=0.9964 right_x=0.4296 right_y=0.2085 right_z=0.2029 right_yaw=0.0462 right_pitch=-0.1464 right_roll=-0.0394 right_gripper=0.1432\nstate[joint_eff]: [-0.2256, -2.2496, 6.7214, 1.6044, -0.1245, -0.0269, -0.0073, -0.6496, -8.9504, 9.4017, 1.4872, 0.2173, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvqKZvBdWC87r-J1cqUlRcUxekcLZSzwzsgefAy_M0NvKcJ2WcriYxAoAY8QAzlsaqW7W8ZfYBDvICOynWnf6bl5y2qJopIJ4tIfhWVnzgBIgkqH1NDp2OCBgVRjfkjAheAYr_cGst6evWK1IfRoBNVm1j6TU7JjQkDmqX_L9L_f_Wd7pcuSwgUzaXl8QQ5C-__in0Z3bgkATDbW_YlUOewO5qr68AKWBGzo-Jd6iBP7p1jQYEpapg-tzgEmpGj9BWGNp2Jml202xn37RRQBzavXVmR6iI7bEcIP8hfF6ngWHDMbbTwSgvr3bYb-aXFh3q4cw9ECbXDMV8MTjgbzqd3d8KOoAYLGk8a9cFTXtEbjj8qyWS2dDmjUjzx_Uv7FOGGF6pUPckAmecrmvWofqFyBtPdyj0dtKGO4xisfGLXXkoVA0rCFCin5ESa8obz9K-Bu5SrCzXLcz1ah4qJTuC5yD9JgsxHtAIirsjmSEsOWLr6wfvsFMnUBTfFg_JOb81DIW2EsMHM5xULgu3S3WI5m8zMcaWLQ3aVCk8FjSFq5iOHx4NgM0wYZEzRR9jQaZJS1XLgWpxHOet8yY31nkZ-nCtT-INkGRvS2pS0vpzOlF2sjM6RQUoaJ4HS77TZRhAxzLUbRSgnLsQHxlWMO12Cc8nYuGCJy9_g6U8vf1tPY54nSOXg0tyodw2ACfxpKuiQvYrvxo63IGBXyvUNMcb8Mv3wNaUYSPkte_1zSiA2nVxKg_2DKpNQG4xzV17Zq0z3sfrpb3r-xdB1faxpqrRpT6rxDbsISVZg7ubLGUd50gjTGKuLgOOl55cmyLQ8BE-ogaNh92ll_2d3_crOZIMCZwRxYjXufWf0fL2RJ1MfiGwGBIw7ddZTOgHUWWzqrunv3BDzH82PCoVDViTsro1V7Xb18XxL4akIVIBV_9NKX7xiTdizCkHokrYvmoJCvKXmgWKFL2ruZX5E8hrboAmqaOhsso_FRFEiAjkkMAu-YEFWWZAFzJYuw_Z2AwvRR9o7VCa8SjL7pZevd4Bl9Km-DEqiD9pFYaUbjWRdB9V85HRUqa-awPj66wsNOteZvNCDsTZk-ilKdzHGT9-ljIgr8LSIECSefOdX691_DOhDgBZqd88BHNmVnYYBH01NkjerjKj7G8riTyUugTIo_2QvJsanOGMlOMy8C6dkaU96hgA9c2T6T4t2URZs19DitYEikwTh280Jf9PjiBD_WjsIRGSjAapaDB79R9Lv_65LWaw_y4Z9oke6MsTzi1wcrNdnfQd5WRG8MRsYL5457jn_W4EAEaGfrfngsrIi7UGwJXZFL2S_svm23MgFR-3ZJolgsPAwTVA4h9Y2HWSHkfZUv7E2WSpVKPVt77LZwvqEv75QRBTBMRbFi0tm1fSZ3sfz_dsANfOIArlyaKUOi0DNbFlNJJMrQlje55ru9A_8Q-9eh36UCwKprweWrDXLm410pADh60YtErHW-OSrQDic_2SvGklTiROYwtvqkLaWtxtoG97LYK63gpa6050278EBs4BTP6StrrHHRU07LeMsREKeAMRB028T0XxS3BVenRzo8mkw3KwNsCXVKv1IS6Yf6_at6ud8ckTLdoM5fI2rzRpIpiwF9ZPmAeJpu8oBZQN05dCwA1LZwLOeS5FHYi5bv7ruinJnFk4Lwm20IRTAeYjDGn6S2akwq5EgJtn8TkgMvZh3s5_JZar9f366Uvqdx3JlnAJG9BqW_ZV-c3CB6xPg4dNbPfbxnVfiWQa4Ye-9c7cgOdv0TM6nn0--tuAvHMqrx9NrZnzISeSAgIoCcd3oai6v3lbbftNTGBlgSQRdJSgWWLood_Fini1WCzfHYGB1HznWQEIJ-Gj65Zj8skEcOgbPgjw6x7u5lbNvLPNYGddqyuJOlxPlFL-ZcxKbpfoDZQCq9J3uoZ734MDazED49OMQWbbfWsm6D07D9nI5e1Z5fqETfccWnuWE7e6gwblPsp2Eqy_-3rA_RaeMf7eKbBLkLUDsaCdqpNRpi0AJhUjhKnbtf0bi2p1E6y0_X",
  "id": "rs_0adf18cb03cc70a0016ab2fa82efd087d0b297e65d4ec89808",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.17,\"right_z\":0.12},\"note\":\"The blue marker is resting in the right basket. I’ll return for the black marker, now isolated on the right side of the table.\"}",
  "call_id": "call_iARLpwwnCP8xi4Yewi2dGBoH",
  "id": "fc_0adf18cb03cc70a0016ab2fa894c6487d09dd5be3a45c09e12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iARLpwwnCP8xi4Yewi2dGBoH",
  "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]: [-0.1291, 0.9348, 0.9195, -0.6933, -0.2016, -0.2962, 0.9964, 0.9211, 1.198, 0.6998, -0.44, 0.5957, 0.5907, 0.9958]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.2226 left_yaw=0.1898 left_pitch=-0.1313 left_roll=-0.0861 left_gripper=0.9964 right_x=0.2549 right_y=0.1776 right_z=0.1192 right_yaw=0.0975 right_pitch=-0.1738 right_roll=-0.0407 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -2.4957, 6.7761, 1.5702, -0.1294, -0.0415, -0.0073, 0.253, -4.2325, 6.7897, 1.2381, 0.4664, 0.1343, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e2df29fb47342c78ffcbb9cb76d6da8e60a5aee81963379ae47324ef16ecfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a247435a08019db370cc44f46a843750492d56242e024171aabd907ee51d2071",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c61bd49c8f1ccac3b16a74f35fa9598eeaca2be3e18520854b0c5a7022d2060",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 12.97 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1291, 0.9279, 0.9195, -0.6949, -0.2016, -0.2962, 0.9964, 0.5961, 1.7279, 1.4532, -0.5259, 0.4168, 0.337, 0.995]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.2241 left_yaw=0.1896 left_pitch=-0.1262 left_roll=-0.0878 left_gripper=0.9964 right_x=0.431 right_y=0.2103 right_z=0.198 right_yaw=0.0573 right_pitch=-0.1586 right_roll=-0.0379 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.8393, 6.735, 1.5897, -0.1441, -0.0562, -0.0122, 0.2803, -9.6889, 6.7761, 1.453, 0.2857, -0.0171, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvqQ5xp5FJqMi7EFWr0orAJ2bI6yliWGDVuIikq9DPFxdJEOoqbT-Cf5WIyRYIBrE6U63vuacE4S0SLNB8edlQIld9A41FcJ91lZfms-6L9qfWfQmfUy6zDy4OWbQ7ITOgyj0oe2OafBuwsyFYPv_HrkFttUule2n5R8UH59NnJKxQyGEBmyJ2IOzwRCU1O7xk6eQvAsnxBny87BZerlLYVpP9l1dL2saBGqGp84tKi30dK_t7161DN1u07rLWgLz5Fj0VSntB2sJEfqCcGhmpKgggp0rA1pJTiFCCWDsf6y0EGQ_lwz_E9hoe4T1zkTmBqNgUPXCgsrs3S5SiZNoVB3iTPGU_yD1KeyGvmRpenA_NHNstWifwXvtvQSSJ29rwb91IVCGAincZ4XPf6xg4BkyqRP2ngXH2fQOSqf8PD3j_b7ZqkyWpPhmscSvowZj8mQ8uPUAdiHuD0tRn9m94H1lYFnnaX9GFw9L1AH4kBnr3hlwj1L4ZfJYSQIJxcDrOOeUUo2sV_luc5kc4Nl6nQwYLcmEu189fcDIV3zQXnHLgvM9IYhXyNPJCGuJGiGsYF8iwVQIs3B4KqRVZBfY5lUgdYvEEJnkSH7tpAGxLvLqBBYmcv05D7WyBToSGP14xxoJ9Ii_R_zWOVhrn9FK8wdP3LNvicTlqFRrYiGGuHV1pSsjHGN8iyxi2SUFAi9RsRF8GlUl4jTKyw4rODW-FherD9mJPG5IzxxWYN1y08l0R7TU4B0aLLGVfUF63la3JZ1PnVxUSR4wy_CCGmlecjaL70kcghYnj5vc5Y5ROQDjCAjqtTr0vVbL2EmcUqM3pNEVekle4Q4cf2-sRn9ynDuo30odsm_12eptUmiEk5X_OAVVeO8DHK8GPLlwauuvl98eSkdMaRpGo_uvl0QQsocdoRK5mLPb91vyKaF9OEcjJe5OvaBBXQUNf7YKLDgjbX9qM-KkDnvAqBdZh-edRaGqjpEjHbSf4tG0W5hLoNqCASqCtAf2GcSA73n74YXo4xxtHLwZR-zlJYOTpXSOMIQ1JbScS-ZnnpDjk94UkUAmUJg72fdCt72Mq-_kWa1r84vV9NA_pCuKHqKDcHJfIXZxngHTvaL4foKR0ivuYilk2F4JotnHo5cBwL4cqKktizXjnXMWLmhXMCKfHzNWqN_3Lq0wIUZTr1ct7xzEi4vBNMAPQQ3erwPN7xmxGrhxpbFuKxAY8IWP_r_L_zRkVDkasze_XNt0k9OApg2QoRfUQE=",
  "id": "rs_0adf18cb03cc70a0016ab2fa8e81f487d0ae0370739477c5d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.155,\"right_z\":-0.008},\"note\":\"The black-capped marker is slightly right of the jaw centerline. I’ll shift right and lower around the white barrel at table height.\"}",
  "call_id": "call_MLIe4lIOjz5cKY4TVZsPPi3u",
  "id": "fc_0adf18cb03cc70a0016ab2fa8f11b887d0b20ae60b1d6757dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MLIe4lIOjz5cKY4TVZsPPi3u",
  "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]: [-0.1291, 0.9379, 0.9195, -0.6952, -0.2016, -0.2993, 0.9964, 0.82, 1.5063, 0.3576, 0.2993, 0.5499, 0.5159, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.2214 left_yaw=0.1916 left_pitch=-0.1361 left_roll=-0.0869 left_gripper=0.9964 right_x=0.2722 right_y=0.1617 right_z=0.011 right_yaw=0.0789 right_pitch=-0.1369 right_roll=-0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -2.1949, 6.7214, 1.6288, -0.105, -0.0269, -0.0073, -0.6222, -2.4, 1.9487, 0.0855, -0.0317, -0.2173, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a805fdeeca0dbc7b042d21f08b23c461168f0ff6a09fc6b20584a9ce1ac750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f2f192ac4254fd1f9d29049e42e841f2c09544c01d440f70c200a662678782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b2c661b54d41cbfa30b0ae4ccd634315baafd920f8ffc552a5dada745c560f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 7.971 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 101 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1291, 0.9348, 0.9195, -0.6933, -0.2016, -0.2962, 0.9964, 0.9211, 1.198, 0.6998, -0.44, 0.5957, 0.5907, 0.9958]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.2226 left_yaw=0.1898 left_pitch=-0.1313 left_roll=-0.0861 left_gripper=0.9964 right_x=0.2549 right_y=0.1776 right_z=0.1192 right_yaw=0.0975 right_pitch=-0.1738 right_roll=-0.0407 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -2.4957, 6.7761, 1.5702, -0.1294, -0.0415, -0.0073, 0.253, -4.2325, 6.7897, 1.2381, 0.4664, 0.1343, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvqej5YOhZcW0RFuai9Hh6XWtlbQ3_qOOTikI5lmow081K64dYs7og-KOUsi5H4D6d8VvtegbKc3hfiXA0rD5OqoiDRfdpTbLKqBUtXz88eRcFZ83kIwWdwB0OwdrFEAOetDYydU60E25fHbTAAdd0mRgr17uGbOdZO4yNXthlEyA0t2EjcO4yu6yTmEOZCmS3UY1bHCNVsmoiyt-GuPpSGqCmV4dKGZNwYZ-98XUQKFCsDyCcc1kj8hdwDACrzmf1Tq1BL_-2iHAmQxQeBcEVMQ0KIm59nF_O_MBXv93v1K6mRvH4dVTxoAiPLyQfMZITJwxd90mjpk3Lr1MPffA38xdDO0ls3uItQSOM5wfXkPyUaIlCT3BHkadM-t-n_tLVXwFKcEAiwIMJ91Zwx3idIe7EUaPRNraV0KQ2btBIiQYzxyFrkSUXC_0kKy5obousJM_k_T-KhipBzEedTmf2fOGEEsqRE_8mABBKJNJ2STRhNd4_ojz42h2ETKQQ0F4OKBRJGU0r_MPoVylYyl8hT57BkQt_etfE_tT4KEjAKkn1koVdUmYGlklXwO8CIYpkPBcKpCGqshMCp7p3v4QKf-AomzB5ks9yGezaee3RRa5zkxzPRmc86z7h9Xe9zOdtowwJ9VDO7Bx9q-QHuHiknFAqwaUbRQW9Q5G39f5-RDGfoZRuqHjwwgeFJdWz8cL2efCZgTtlzOM75YD-OWTYNde5_Iy07lVI1uqb7-sRdtAWp82I5awuGQ3Qp13LVD8fqtKb3e0yyCx_Tgo7LOwqdYEEvfSno5U6Qkv3ZDO7xT6l1P39cyxEA1PCrAzYtLoLp0g3PghhQQB1WcLisSzaS2r37ZaU9YsX9hk-II-arsSnC44EZ3TwiDb9XRsuydrzeJ0qZUtgxcWF8NB9k8ExlJ6Z8XFzKadbYMjm6yRhlNGvFUv6FsxOt962jIyp2WB-0v-SjzJYVXHiU9ZN1t2G4Ljvcie3jasXdfUPTwf4fw_Il0ZsG7g-6JTrxB4w_qD2mHqxPADW_xarcNdB_M3cWtlkqDqBwfbqtswGfwvKNB9eOjx2cFx8az7T7Fdo25uFtslJVeFYY4z10WXATrlLmgSVqHpCulEmLLmF4XMc_ykxlHwgZLZgeZ1mq56vTxmn2lZVQjpiT8ZinCqOU6YhH4JoZjR5ABm3kfe5z-9bFxU-_9MhqInisxhNlPXvk9FDg-bGV3JozQcJZaYYVZ-bj__Bm7AgUwhH0gJnFClAjuHHBVzfSOkpK89ujM0BmvL9SjxqA_7kxWSe54e0xyC2__iL_uJuqFWJ62Ew87TPqziXn_LBSmGe3wXQOPaKNOp7lep__LSMWhZk3iJq9LWifc6fnVr8Pt1gAFY2Q6tmDVrN9ZT34NeGYMVCOLQAeAxoK1MYQ7Dn1PPWLQZs36gpFfvxi8M89BF6B5EQ6NbQItejwBw--IXYfZ82wQgGrchrb-GeHP1GsX-j4qNFa0dkEyeZVcTcgeYd20GPgzMDfBjJo1LWl-mTgQwCPevkf5-y20Lsna1rdLNwfKg4k-mObAufT64sVgtdX7zdd6I0WTdh-nVwmpeqQZUnRh5E0_3fWhLzd824MlZuGTOWV9Ur9NYgv6b3sGRbdug5kJR8HArlvSqMdfg5kN85sr_wSqmj2jn7swA8TZhC1-zUVNsxlLmOe05lQJZ1dixT8772cOwd7XtDMMAi7tch_okh0gDdkTX1MHzs3ui5a2O9VQUFwh-k4rHeUmPZAu1RjsHtFVrzo2eqmu4_NZKXmI8OCEsAL4bRyyOZDJ3vtmRp2Uc31CMVaDz3m9l7N-xxpOO1TeuPIc0H3_XLoW5TtHPnoRRYPfGetowGM-1kVt4cDqv8RITDG95nXZj-RIaZkDuVJ8Y-tOSQ0rS50MQ7gImyClfFSV2MRJKjcNbE8qJwUfiDrw6IemumcMcjaz22bfi6FSmaKD_7ykEMcc23DqDc48fxyzMwJWj9xi31uwhIktk4JLPvEo5j5yhZW3LGgO1gHNrjUZt1nP80gErJwfS8zPbkdB5JzNq9Xp8o_KprxXa0wH9g==",
  "id": "rs_0adf18cb03cc70a0016ab2fa93e12c87d0942c16a072f88903",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.18,\"right_z\":-0.012},\"note\":\"The low view shows the barrel still beside, rather than between, the fingertips. I’ll make a small lateral correction before closing.\"}",
  "call_id": "call_XI7p4IcLFG96EYwRSaMr1BY8",
  "id": "fc_0adf18cb03cc70a0016ab2fa9be2a887d08213d0d256765ce2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XI7p4IcLFG96EYwRSaMr1BY8",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1295, 0.939, 0.9195, -0.6952, -0.2016, -0.2996, 0.9964, 0.8532, 1.6161, 0.374, 0.4587, 0.5877, 0.5453, 0.996]\nstate[eef_state]: left_x=0.2965 left_y=0.0007 left_z=0.2211 left_yaw=0.1915 left_pitch=-0.1372 left_roll=-0.0868 left_gripper=0.9964 right_x=0.2827 right_y=0.1803 right_z=0.0102 right_yaw=0.0733 right_pitch=-0.0703 right_roll=0.0401 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -2.0444, 6.8171, 1.5849, -0.0904, -0.0659, -0.0073, 0.5265, -3.5897, 3.0974, 0.0611, -0.105, -0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d9b1f65d8724421f58e988d8a4f27895e861ad223530994007aa40a79dc015",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64b04117222e05668546f07eed4e03086c27c1d4b9b6acb90c71e4fd9e3a6135",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e9851f804f0d8275dde2a0fde51c5b29e7f5c24d895c1a545f46814aab5cdd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 4.487 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1291, 0.9379, 0.9195, -0.6952, -0.2016, -0.2993, 0.9964, 0.82, 1.5063, 0.3576, 0.2993, 0.5499, 0.5159, 0.996]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.2214 left_yaw=0.1916 left_pitch=-0.1361 left_roll=-0.0869 left_gripper=0.9964 right_x=0.2722 right_y=0.1617 right_z=0.011 right_yaw=0.0789 right_pitch=-0.1369 right_roll=-0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -2.1949, 6.7214, 1.6288, -0.105, -0.0269, -0.0073, -0.6222, -2.4, 1.9487, 0.0855, -0.0317, -0.2173, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvqmCxTCuNoJERuFPsAMz4BzO1Bc8MTufwD978rPB-HA85xdUJJ4ZZXmtpk6d0dtFP0B0xcd9clKOoYc52fGAg9L6NixfydtnrT414tjPE4I__oFmbbCZUtcnwxoGCZsb8t5aINGZIERJCACExdD5VC34_23VAPawGdEoI6wKvPaov9Ayb-DMph8xJGvv2GxZZqHqvSjXDsiWAg2OcQzEL-IejsnWJdT7zYJFP0dW5DSn_qokHqSRSJx43fDvh6qhBBVzsIez7rAaa1IbAi-fBHx02P60UXChRcUjDAsC7umw4ri8RLz0_xDfiLyRoxg4ZnL_ExNSDpKDfZllWTSFKNlIvSuuxtanhvpMPmgfupIh9qAJ7qHz4HVXZgshyDWwhmbij5WxFQLkXxV52ZSzq8_xZAJwf7E73EtbfED3CnpqZjBJpnvSkYS-eHZGQYFS07ouyL2T_aO2Jg8XIIcAVNGu3JRHJC-590-k9HA2d8ryDGPuH-Tszl8pYg5yLQpy0BR_32thuueK7hu31WB0uPjAl61jkLlcJZvoTrvhLUD0Wm562kBCw20qDEx4FfnDv5FCwFs9IA1ZOE-AlzQDIXb1CSlseDYWe86Z69Pjl5KR42MRNUosyH8cE-XwtrqxDYQWFnKlCDjzSYBOey7pixCLGtZtCxJqiT2AYxZFUshHjlLN1jGVxrQ841n3HtzY26FNWaoLLTdAlbKQ1-j2lls3zS75NaJpVvB6rWvvYiwxvqH-IP5bm7iaFP2md8KZgTbYEc6Sgyc8uYeCbA40Q4N0PdFPjoCy9FoR2fxyYDHpGXXz3-4UmMlIy3-KhrbrnDDTgFtF09QvqTmYmFqyhs9jcLEoZiagDCsBxhmJtDPcrFq_h06-6LZlNJ_Jex1bqNNJh8aGTwAGEC4OIQyWIHrJi7g2BptFhr1_6gwiOBcOoJYZPoDAY0G6LlqWOigI8adzVD3tpwE3rvzTVnegOcCbJymfuNmEE1gSLi_JM2OUaAavSUmrcPG_amuxS29XTk2ZDOaIjJgf5Dlk-WFRo3Qzo5XZlW2pL6EYUQ978gOyBB8kJxUlZX9260tR_JEVRAQgkWXyNXPj2jDnfBilbOuHCsTc3KGtmWNHUom-ZXZ3jufdFHFKy9LnvisD31T9G67hMvXgM_ZAGlTOxprcyiTMUd0-Duz8UjiE-dh0rbfIfPIWvkWtw6jLSmYcYy562AYQVJ61tP100fG1_DrjRrLNh4QsocXP9KcgkBxpTIOAfwSiTSD1K5CUZlVJa3TAuNSinZ7dEApU4ZUtUtztymFZTsCG18AQuMv9NVaVaMGVQVMhU2WEcAG3qb6PeRC3DmjtblpzRc9mxuYsYjC-2a7gzmB05z2yWKFoI8cEKosdC4-ctt9a9XwJI-G3IMW1sSvs1tWG-s3dJrB-m74OKYW71cAeBYltHLhSLqJYxZi45UbHqSE5Bp1h43CnRBZTN5nHpnuNYVK0V6wgkedKbOmJ-PVCr0Lfyhxce-Jn2Zsvzjf8n_QnxyrE7o7EmLp3vSGgw4zzd3qVULxbZTAwXbcJ9mWinw7EkvdaGMH1klD-sjcqTU3F2zY-iWrjpY6AwunEY39xEDik3Wdrzuq9z15eA==",
  "id": "rs_0adf18cb03cc70a0016ab2faa10e5c87d0afa6dd65f555cbf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_y\":0.135,\"right_z\":0.035},\"note\":\"The marker is still outside the jaw centerline, and table contact is limiting the correction. I’ll lift slightly and reposition to its right side before lowering again.\"}",
  "call_id": "call_lU7ppLLd8JLHaSkkQOWIE7g3",
  "id": "fc_0adf18cb03cc70a0016ab2faa4a00487d0914715e032dad379",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lU7ppLLd8JLHaSkkQOWIE7g3",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.128, 0.9428, 0.9195, -0.693, -0.2024, -0.2996, 0.9964, 0.844, 1.2282, 0.226, 0.2962, 0.5724, 0.5453, 0.996]\nstate[eef_state]: left_x=0.2973 left_y=0.0012 left_z=0.2204 left_yaw=0.1937 left_pitch=-0.1385 left_roll=-0.0859 left_gripper=0.9964 right_x=0.255 right_y=0.1482 right_z=0.0449 right_yaw=0.0782 right_pitch=-0.0221 right_roll=0.1016 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.8393, 6.8444, 1.6142, -0.1148, -0.0366, -0.0073, -0.1026, -1.7436, 5.5453, 1.4335, 0.3101, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f7742779dd10693a21735eed9eb7921a07075e3a1ef01e77f8cb33fa23b934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cdc23be7d9730741906b4b4d98be35bd621af253d545dac4971d6d1770471d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73880313666f53f3aa752f703463be9a9af9a6f3aafcc21ea020af683091cc24",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 7.05 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 109 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]: [-0.1295, 0.939, 0.9195, -0.6952, -0.2016, -0.2996, 0.9964, 0.8532, 1.6161, 0.374, 0.4587, 0.5877, 0.5453, 0.996]\nstate[eef_state]: left_x=0.2965 left_y=0.0007 left_z=0.2211 left_yaw=0.1915 left_pitch=-0.1372 left_roll=-0.0868 left_gripper=0.9964 right_x=0.2827 right_y=0.1803 right_z=0.0102 right_yaw=0.0733 right_pitch=-0.0703 right_roll=0.0401 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -2.0444, 6.8171, 1.5849, -0.0904, -0.0659, -0.0073, 0.5265, -3.5897, 3.0974, 0.0611, -0.105, -0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvqrT-S-zgEjw11czuitMJ8P9CAZDy0JHUqcGVoVPV89q61RIb6mNjOihbMoesnKAD9MXr2aIGv7Y69e3l8LkHtsLVi8DMKs49rqHqy8xrdWhYc3jzajxHOZa5VUxQu99Nrx4nxpo5ak8XaGH4OvGmKbm7r1I42_zQUDc1dy96hwKhbyUfyJS--I4DbCPo5RH_l1JQWMLh1b8QluwKzW00IzTkYkX6lPuU-MCdPMbqpVinYZnFN6FKi-wmRgWxR8rwy5D5hbZZGjPPWLWKiomunGcZ9Te9ejDyEw1E73Lv4jPCgwRZnHNsPdUt_VN0YPA9cbdI4jdepZACapJp81gyMw5We3G68zRxgCWkc79GvcR5FQXhKuCEFtNwutY-5anPnHNMHClZJWqBBAKMGe5Nxu3NIZE_w2x7ueEjSfd1zdxk6mxt5-63vd93jIeWzFhCI0HmxuoJvn-OeijEdzPWIWXDcM1GJaDUx146le8NhUxTDHbREYKKmlDhYq99OUwYlB1xwANrkH6cBmlOylwc6U1HIDNL2aXuYSHQEzFw3Wf0RFxU4qxZ0LqpFMWFSE9WsiDkvvA62d31hs329KJlMqo3tTGODCINf6-l8EqUTgaakempfrXAM1dDGnejdRuexBDNGgRiRuhmiDY16VX_PAxRCeAb0fL3XuljEnjr9pND_80MOIWzMLgjJwcW0EW-Fhbakn-XbBE5Qgy-rtxzGuJFU-cgruSP8D3SxaVEG_eeFSOfvBJ5d235HowJrs49UBm3sDD81pPOoYuA2HftzlgTAFXtasTgQXaJuRhbtkihpZCObnjzXvlHdtG0aF8yd3tkMP11EzTawVuygGNAjVCzFdmziprWlxWp4bIj0_giunyvgLdhFhXSgtNBXv7e8ErfGhN-HaVqHHqX7VxX0f3iwfqcBkO5xOfq2IMHf22xpXb40z1sG-7LsspxVHBiwMvqypSpEgkSZl_yNBS_-TJ6V5DUyr4h6Js2J2NrTUms2nsQ-2Tb6xqnP5WfpxU3HVdFIoYnjitPcrFQNb5rm74rB73jgXV68qIwyz9BEb-nxuMX3OGnRtiSlWKDvt1tWYUKImdMTF29L9KyTf4AabGkq9XyQCMc0r_l4UL_1t7aAigV5oJY_TR6K5NyDCkigMwqxhsY8RG6vCa5W-G38ioWEJxhWqyPlA2hgGZuj6VAE9F8_gFgvl73h00h2Fr_d8",
  "id": "rs_0adf18cb03cc70a0016ab2faa9a34887d08f29995e496ad565",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":-0.01},\"note\":\"The marker barrel is now centered between the jaw columns. I’ll descend vertically for the grasp.\"}",
  "call_id": "call_s2mKzN0yxVxmG81kltQJfaXO",
  "id": "fc_0adf18cb03cc70a0016ab2faaa5dd087d0b8d035de43b95da0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s2mKzN0yxVxmG81kltQJfaXO",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1276, 0.9482, 0.9192, -0.6952, -0.2016, -0.3031, 0.9964, 0.8444, 1.6032, 0.1631, 0.7601, 0.6155, 0.5488, 0.9961]\nstate[eef_state]: left_x=0.2975 left_y=0.0011 left_z=0.2184 left_yaw=0.1957 left_pitch=-0.1464 left_roll=-0.0864 left_gripper=0.9964 right_x=0.264 right_y=0.149 right_z=0.0062 right_yaw=0.0436 right_pitch=0.0155 right_roll=0.1033 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -2.4684, 6.7761, 1.6581, -0.0904, -0.022, -0.0122, -0.0479, -2.5094, 0.8821, 0.1685, -0.7057, 0.105, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39062d1cea2e9cc38ca1cf790cd8aa7836e7cc0c2acce42ff71e27fe72f33584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd31f98874f348bacd3cf70e5c70e487f6fcdc127dcc660dbd7a8d7fc4bdf19a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3678d118e041d5e3567eb5e8ecf116dd8df5832bd0163c71833a47bc98a746ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 9.41 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 113 changed as sent

message 113 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]: [-0.128, 0.9428, 0.9195, -0.693, -0.2024, -0.2996, 0.9964, 0.844, 1.2282, 0.226, 0.2962, 0.5724, 0.5453, 0.996]\nstate[eef_state]: left_x=0.2973 left_y=0.0012 left_z=0.2204 left_yaw=0.1937 left_pitch=-0.1385 left_roll=-0.0859 left_gripper=0.9964 right_x=0.255 right_y=0.1482 right_z=0.0449 right_yaw=0.0782 right_pitch=-0.0221 right_roll=0.1016 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.8393, 6.8444, 1.6142, -0.1148, -0.0366, -0.0073, -0.1026, -1.7436, 5.5453, 1.4335, 0.3101, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsvqydlP0LVbhlJoKe-EUerlj60R2Puvvuw0eX0cR8uePa8MYZXeWczli1gUjpGCUVRXoaDCfLSvAFOdmn_QBpfyNZJ9YQl3WFdWoaAW7PDkFmhuGY9VZE84n1W3S1HJTmF1L08ipZq53lx2o-xu9n-OUVqz6j0_7feYnkFO_lGKOkmT5VOSy7c4-m3C4K1rV7bm_2LqDzucebzyW1qzUMq6O7KwGud4M0f2aD2kwxu38ZFe-HWITyLe0xWEql2ZW4NDPDBsCBfi_tWv_-J0BwWDYnkpbn1PDGbmzuq8B2W3igDy44ksaNNlxvBQIkmv-Nie8vuIg9fvT6KerYD-GQ8qKaEHTe85iOxVPQcWLbrmIzhjus02REj57PpvRKMyLODjbE8huLesUAYyipLALY6O8VB5vemp66g-ncrkb5x5-FfSPn1QXg11151K-2w7DlW3NwSwWoLG43jgGUYVuXKbIn3LXAeW-hg4QRyL57pXnhA4jhRP2PTiDPDYWNkyXrXyL6mWLkxvuuaKnmSrnI58Rum7lcRiXfVQ8DRg-5RG3T0xjuXjZoVtVNSBVP-5MrYbvGnAgjNt6M978vuE4fKA_ezGKaoneBXHLGPbnBAWdiwZOzIdAYm7DTMpTcMB6oheUqDkoIHFGrBbjq_2UlU2OxdSy3sR8o3DGo_sKS3Q514M9YQVSVMffl1Hl5W5taV1-5kNzjJgHYsDzwbqJZGuaVfsRQH6rk_WrZgRbaGWJC3CKt79PugeieTes_5JJ856i0MRiNxO9Yp28JSDspg-c194EoDmgtNUjKW3oykPB-qon09_sGM8bqmp3YH52zolGdn714H3WKsgJIFW_NhEOgrItBuFWxSAHLiwIls7JACLniLg0RQ8GqUKC4PIJsr-V4SmiGU_OXTrOdmq3cdr1tjvKATpZEkMW0gQyvKnJqlKE38s6nzQLXD_4gk4z8n0z2q7vGO7fN3dPOWl_G2CMrhUFe16gqn1pbxob3ZALgCSBlV6K4q5F_mAhSZV25dTKgQOuOSzVbxLIrmvjtiPrFhN_RMFqXoRpDE8JEzf1V6fPPsmgzHCYYvsSKLpohSSMvfv3FmP5u11jPmU0Z2pBuS5IOQtg_-XtRRa0vn8gaW5wEl_EkNCKtYz5cBHU8kp0CcQxBXjod8UWV0JUQZn9OqBkKKTeVx3Lb7M6AgEP_d6B1aZGp39cELK9dGYCE3r220e70sPcTGk49K1QyWtWkgdZ9AlCO1kdsVza_gSrdK4Hg6KWdjwfpHVx92QRpZZ0uTe-18fmN1Td6KIuRImUqfcrCpLmBIIE2TMKYxYyhj_5G7eBz8MOGztRXTB857fzRAN0QAbPOSbv9RgVXF3GaTvSwlvFLx7VSF_hfpVRDF0=",
  "id": "rs_0adf18cb03cc70a0016ab2faae5d0c87d0a3f80a15c1cf5ab2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.297,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.297,\"left_y\":0,\"left_z\":0.24},\"note\":\"The black marker slipped sideways during the descent, so I don’t have a safe grasp. I’ll park both arms clear of the objects; the brown toy and blue marker are sorted, but the remaining objects are not.\"}",
  "call_id": "call_ssilIoDbytqAnHZDGRLPtTAL",
  "id": "fc_0adf18cb03cc70a0016ab2fab00a8087d0b94ca23c53a0bdd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ssilIoDbytqAnHZDGRLPtTAL",
  "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]: [-0.1303, 0.9646, 0.9821, -0.7692, -0.202, -0.3092, 0.9964, -0.1074, 0.8097, 0.6903, -0.4259, -0.1287, 0.0299, 0.9963]\nstate[eef_state]: left_x=0.2938 left_y=0.0009 left_z=0.2274 left_yaw=0.198 left_pitch=-0.1726 left_roll=-0.0819 left_gripper=0.9964 right_x=0.2993 right_y=-0.0058 right_z=0.2065 right_yaw=-0.0177 right_pitch=0.0146 right_roll=0.0996 right_gripper=0.9963\nstate[joint_eff]: [-0.4444, -1.4701, 9.5521, 1.7363, -0.2076, -0.0171, -0.0073, -0.212, -1.2376, 9.306, 1.5214, -0.3004, -0.0415, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5828f382bf52ce0b896d96d989323066017563e53205c74cff76e6ee2dfdb9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67130b0cf3ab12edeca4b753cd930a08925908209b88a56a22d9b886ae76f055",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef796f0848d057a527f97114cf4446e76432c80e41eb192ee909e393c118491",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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