adhoc

completed
2026-09-22T20:26:43.371306+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
318.7 s
total steps
414
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and marker pens. I’ll sort the plush animals into the left basket and the pens into the right basket, starting with the rightmost pen.
move_to
right_x0.3300right_y0.1200right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3801, -0.0216, -0.0299, 0.9996, -0.0154, 0.7986, 0.6109, -0.3706, -0.0189, -0.0261, 0.9993] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1841 left_yaw=-0.0008 left_pitch=-0.0 left_roll=-0.0007 left_gripper=0.9996 right_x=0.2972 right_y=0.0023 right_z=0.1838 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993 state[joint_eff]: [-0.5402, -1.7983, 9.388, 1.7607, -0.0269, 0.149, -0.0562, -0.7043, -1.6479, 9.7709, 1.7411, -0.0562, 0.1099, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.12,"right_z":0.14,"right_gripper":1},"note":"I see plush animals and marker pens. I’ll sort the plush animals into the left basket and the pens into the right basket, starting with the rightmost pen."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe black-capped pen is to the right of the jaw column in the wrist view. I’m shifting toward it and lowering the open jaws to table height.
move_to
right_x0.3500right_y0.0750right_z0.0030
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6159, -0.3809, -0.0219, -0.0345, 0.9996, 0.5613, 1.1889, 0.5861, -0.0906, 0.4381, 0.2821, 0.9993] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0057 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3211 right_y=0.1176 right_z=0.1206 right_yaw=0.0294 right_pitch=-0.0591 right_roll=-0.0357 right_gripper=0.9993 state[joint_eff]: [-0.212, -1.5521, 7.1453, 1.7118, -0.0708, -0.0317, -0.0122, 0.1846, -4.1504, 9.347, 1.8632, 0.4029, 0.105, -0.0855] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.075,"right_z":0.003},"note":"The black-capped pen is to the right of the jaw column in the wrist view. I’m shifting toward it and lowering the open jaws to table height."})
tool
executing move_to over 8 steps (0.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe pen is still right of the fingertips, so I’m making a small lateral correction before closing.
move_to
right_y0.0500right_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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0216, -0.0376, 0.9996, 0.3321, 1.6653, 0.3485, 0.7128, 0.2516, 0.1452, 0.9992] state[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1815 left_yaw=0.0036 left_pitch=-0.0084 left_roll=-0.007 left_gripper=0.9996 right_x=0.3565 right_y=0.0802 right_z=0.0159 right_yaw=0.0277 right_pitch=-0.0243 right_roll=-0.0096 right_gripper=0.9992 state[joint_eff]: [-0.0479, -1.1556, 7.1726, 1.8144, -0.0171, -0.0317, -0.0122, -0.4718, -4.1915, 3.3983, 1.0134, 0.2027, -0.232, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.05,"right_z":-0.01},"note":"The pen is still right of the fingertips, so I’m making a small lateral correction before closing."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe pen is now centered between the jaws. I’m closing to grasp its barrel.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.2024, 1.7947, 0.3092, 0.9939, 0.1268, 0.0887, 0.9992] state[eef_state]: left_x=0.2972 left_y=0.0018 left_z=0.1803 left_yaw=0.0038 left_pitch=-0.0126 left_roll=-0.0072 left_gripper=0.9996 right_x=0.3718 right_y=0.0571 right_z=0.0148 right_yaw=0.0326 right_pitch=0.0704 right_roll=0.0314 right_gripper=0.9992 state[joint_eff]: [-0.1299, -1.6752, 7.1316, 1.7021, -0.0171, -0.0073, -0.0171, -0.3487, -4.2735, 2.0444, 1.243, 0.1343, -0.2564, -0.0073] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen is now centered between the jaws. I’m closing to grasp its barrel."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe jaw opening indicates a pen-sized object is held. I’m lifting a short distance to confirm the grasp.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8116, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.2024, 1.7863, 0.3103, 0.9829, 0.1192, 0.0856, 0.1472] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0042 left_pitch=-0.0133 left_roll=-0.007 left_gripper=0.9996 right_x=0.3716 right_y=0.0585 right_z=0.0157 right_yaw=0.0407 right_pitch=0.0684 right_roll=0.032 right_gripper=0.1472 state[joint_eff]: [-0.0615, -1.3333, 7.2547, 1.7314, -0.0513, -0.0122, -0.0171, -0.2803, -5.4906, 3.5077, 1.8974, 0.0806, -0.022, 1.0085] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The jaw opening indicates a pen-sized object is held. I’m lifting a short distance to confirm the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe pen lifted with the gripper. I’m carrying it above the near half of the right basket.
move_to
right_x0.5300right_y0.1800right_z0.2200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8135, 0.6147, -0.3801, -0.0219, -0.038, 0.9996, 0.2024, 1.4109, 0.3809, 0.5217, 0.1184, 0.0818, 0.1523] state[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1795 left_yaw=0.0042 left_pitch=-0.0152 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3661 right_y=0.0575 right_z=0.0742 right_yaw=0.0435 right_pitch=0.0534 right_roll=0.0265 right_gripper=0.1523 state[joint_eff]: [-0.1026, -1.5111, 7.1453, 1.7509, -0.0317, -0.0513, -0.0171, -0.3487, -5.4359, 7.8701, 1.7021, 0.0171, -0.0269, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.18,"right_z":0.22,"right_pitch":0.3},"note":"The pen lifted with the gripper. I’m carrying it above the near half of the right basket."})
tool
executing move_to over 13 steps (1.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe held pen is over the right basket’s opening. I’m releasing it into the 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]: [-0.0189, 0.8173, 0.6121, -0.3805, -0.0219, -0.038, 0.9996, 0.4244, 1.8446, 1.2388, 0.2871, 0.3328, 0.104, 0.1542] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1771 left_yaw=0.0042 left_pitch=-0.0221 left_roll=-0.0068 left_gripper=0.9996 right_x=0.5256 right_y=0.1781 right_z=0.2019 right_yaw=0.0617 right_pitch=0.2574 right_roll=0.0122 right_gripper=0.1542 state[joint_eff]: [-0.1983, -1.4974, 7.2821, 1.7118, -0.0855, -0.0366, -0.0171, 0.3624, -10.1538, 9.5248, 1.9414, 0.2515, -0.022, 1.0281] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The held pen is over the right basket’s opening. I’m releasing it into the basket."})
tool
executing move_to over 9 steps (0.9s)
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 first pen is visible inside the right basket. I’m moving above the blue pen next.
move_to
right_x0.3600right_y0.1400right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8173, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.4244, 1.8446, 1.2369, 0.281, 0.3294, 0.0956, 0.9951] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0228 left_roll=-0.0066 left_gripper=0.9996 right_x=0.5248 right_y=0.1784 right_z=0.1996 right_yaw=0.07 right_pitch=0.2496 right_roll=0.002 right_gripper=0.9951 state[joint_eff]: [-0.2256, -1.1419, 7.1179, 1.7656, -0.0513, -0.0611, -0.0122, -0.0205, -9.853, 7.0359, 1.9219, 0.0317, 0.0708, -0.1685] 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":{"right_x":0.36,"right_y":0.14,"right_z":0.12,"right_pitch":0},"note":"The first pen is visible inside the right basket. I’m moving above the blue pen next."})
tool
executing move_to over 13 steps (1.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe blue pen is slightly left of the jaw center. I’m aligning laterally and lowering around its barrel.
move_to
right_y0.1680right_z-0.0070
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8242, 0.6113, -0.3809, -0.0223, -0.038, 0.9996, 0.5243, 1.3911, 0.6525, 0.1383, 0.3592, 0.2184, 0.9959] state[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1748 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3659 right_y=0.144 right_z=0.1183 right_yaw=0.0918 right_pitch=0.001 right_roll=-0.0034 right_gripper=0.9959 state[joint_eff]: [-0.0889, -1.388, 7.2, 1.7265, -0.0562, 0.0024, -0.0171, 0.5265, -6.3795, 6.6803, 1.7753, 0.3101, 0.0855, 0.0708] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.168,"right_z":-0.007},"note":"The blue pen is slightly left of the jaw center. I’m aligning laterally and lowering around its barrel."})
tool
executing move_to over 9 steps (0.9s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe blue pen is centered between the open jaws. I’m closing on it and refreshing the idle arm’s parked height.
move_to
right_gripper0.0000left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8303, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.5964, 1.8984, 0.5182, 0.8501, 0.4156, 0.2703, 0.996] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.037 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3775 right_y=0.1744 right_z=0.0158 right_yaw=0.0885 right_pitch=0.0763 right_roll=0.0465 right_gripper=0.996 state[joint_eff]: [-0.0615, -1.935, 7.1179, 1.6972, -0.0366, -0.0757, -0.0171, 0.3897, -5.6, 3.0017, 1.1941, 0.1734, -0.0659, -0.0024] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.3,"left_y":0,"left_z":0.19},"note":"The blue pen is centered between the open jaws. I’m closing on it and refreshing the idle arm’s parked height."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe gripper has closed to the blue pen’s thickness. I’m lifting to check that it is secure.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 0.8444, 0.6453, -0.4339, -0.0257, -0.0452, 0.9996, 0.5953, 1.8961, 0.5175, 0.8494, 0.4076, 0.2668, 0.1602] state[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1739 left_yaw=0.0018 left_pitch=-0.0693 left_roll=-0.0093 left_gripper=0.9996 right_x=0.3773 right_y=0.1753 right_z=0.016 right_yaw=0.0958 right_pitch=0.0752 right_roll=0.0474 right_gripper=0.1602 state[joint_eff]: [-0.212, -1.4974, 10.4137, 1.6386, -0.1099, -0.022, -0.0122, -0.1709, -7.3915, 3.9863, 1.7167, 0.1685, -0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The gripper has closed to the blue pen’s thickness. I’m lifting to check that it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe blue pen is off the table and held securely. I’m carrying it to the same right basket.
move_to
right_x0.5300right_y0.1800right_z0.2200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 0.8444, 0.6453, -0.4335, -0.0254, -0.0452, 0.9996, 0.5953, 1.6001, 0.58, 0.4736, 0.3996, 0.2661, 0.1602] state[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.174 left_yaw=0.0015 left_pitch=-0.0689 left_roll=-0.0095 left_gripper=0.9996 right_x=0.3728 right_y=0.1738 right_z=0.0777 right_yaw=0.1034 right_pitch=0.0581 right_roll=0.0422 right_gripper=0.1602 state[joint_eff]: [-0.0752, -1.4017, 7.2274, 1.6777, -0.0611, -0.022, -0.0171, -0.2393, -7.2684, 7.9521, 1.6679, 0.1832, -0.0611, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.18,"right_z":0.22,"right_pitch":0.3},"note":"The blue pen is off the table and held securely. I’m carrying it to the same right basket."})
tool
executing move_to over 13 steps (1.3s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteI’m releasing the blue pen into the right basket while bringing the left arm above the yellow pen.
move_to
right_gripper1.0000left_x0.3600left_y-0.1050left_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]: [-0.0284, 0.8452, 0.6449, -0.4335, -0.0257, -0.0456, 0.9996, 0.4053, 1.8328, 1.2201, 0.2958, 0.252, 0.0921, 0.1602] state[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0701 left_roll=-0.0096 left_gripper=0.9996 right_x=0.5239 right_y=0.1808 right_z=0.2003 right_yaw=0.1196 right_pitch=0.2514 right_roll=0.0259 right_gripper=0.1602 state[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.6728, -0.0855, -0.0464, -0.0171, -0.6085, -10.1812, 9.306, 2.0244, 0.0513, 0.0171, 1.033] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_x":0.36,"left_y":-0.105,"left_z":0.13},"note":"I’m releasing the blue pen into the right basket while bringing the left arm above the yellow pen."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe yellow pen is left of the jaw center, so I’m correcting and lowering. The blue pen appears to have landed near the basket’s front edge; I’ll check and recover it after clearing the nearby objects.
move_to
left_y-0.0650left_z-0.0080right_x0.3000right_y0.0000right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4629, 1.3071, 0.6811, -0.1207, -0.3592, -0.313, 0.9995, 0.4053, 1.8332, 1.2182, 0.2878, 0.2489, 0.0853, 0.9985] state[eef_state]: left_x=0.3495 left_y=-0.101 left_z=0.1122 left_yaw=-0.0068 left_pitch=-0.1259 left_roll=0.0123 left_gripper=0.9995 right_x=0.523 right_y=0.1809 right_z=0.1973 right_yaw=0.1267 right_pitch=0.2413 right_roll=0.0171 right_gripper=0.9985 state[joint_eff]: [-0.2667, -5.3812, 9.2923, 1.6288, -0.2076, -0.0611, -0.0171, -0.1846, -9.6205, 7.1043, 1.9316, 0.0562, 0.0269, -0.1538] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.065,"left_z":-0.008,"right_x":0.3,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"The yellow pen is left of the jaw center, so I’m correcting and lowering. The blue pen appears to have landed near the basket’s front edge; I’ll check and recover it after clearing the nearby objects."})
tool
executing move_to over 18 steps (1.8s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe yellow pen remains left of the fingers, and the descent stopped high near the plush toy. I’m moving slightly back and left to center on the pen without pressing on the toy.
move_to
left_x0.3500left_y-0.0250left_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]: [-0.3241, 1.6566, 0.4065, 0.6746, -0.2535, -0.2588, 0.9995, -0.1402, 0.8593, 0.6922, -0.3599, -0.1967, -0.12, 0.9984] state[eef_state]: left_x=0.3747 left_y=-0.0753 left_z=0.0304 left_yaw=0.0118 left_pitch=0.0076 left_roll=-0.0697 left_gripper=0.9995 right_x=0.3119 right_y=-0.0055 right_z=0.2082 right_yaw=0.075 right_pitch=0.0423 right_roll=0.0064 right_gripper=0.9984 state[joint_eff]: [0.3761, -3.5897, 1.7162, 0.4957, -0.2418, 0.4615, -0.0122, -0.1846, -1.6068, 7.0496, 1.8877, -0.2466, -0.0562, -0.0171] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.025,"left_z":-0.008},"note":"The yellow pen remains left of the fingers, and the descent stopped high near the plush toy. I’m moving slightly back and left to center on the pen without pressing on the toy."})
tool
executing move_to over 5 steps (0.5s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe yellow pen is now centered at the fingertips. I’m closing the jaws around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1345, 1.7824, 0.2672, 1.0283, -0.1284, -0.2024, 0.9995, -0.1432, 0.8639, 0.6914, -0.3836, -0.2104, -0.1349, 0.9984] state[eef_state]: left_x=0.3661 left_y=-0.0231 left_z=0.0142 left_yaw=0.0668 left_pitch=0.0783 left_roll=-0.1053 left_gripper=0.9995 right_x=0.3092 right_y=-0.0037 right_z=0.2018 right_yaw=0.0912 right_pitch=0.0157 right_roll=0.0069 right_gripper=0.9984 state[joint_eff]: [-0.5675, -4.8752, 1.9214, 1.7021, 0.1832, 0.0562, -0.0122, 0.0342, -2.0855, 7.0632, 1.9414, 0.0464, 0.1148, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The yellow pen is now centered at the fingertips. I’m closing the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
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 jaw opening matches the pen barrel. I’m lifting the yellow pen to confirm it clears the table.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1234, 1.8084, 0.2428, 1.0542, -0.0959, -0.1501, 0.1596, -0.144, 0.8639, 0.6914, -0.3843, -0.2111, -0.1352, 0.9984] state[eef_state]: left_x=0.3578 left_y=-0.0237 left_z=0.0037 left_yaw=0.0223 left_pitch=0.0537 left_roll=-0.0704 left_gripper=0.1596 right_x=0.3091 right_y=-0.0038 right_z=0.2017 right_yaw=0.0913 right_pitch=0.0151 right_roll=0.0071 right_gripper=0.9984 state[joint_eff]: [-0.1162, -4.9162, 2.3043, 1.536, 0.0757, -0.0513, 1.072, 0.0479, -1.7436, 7.0222, 1.7216, -0.105, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_z":0.10},"note":"The jaw opening matches the pen barrel. I’m lifting the yellow pen to confirm it clears the table."})
tool
executing move_to over 7 steps (0.7s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe yellow pen lifted successfully. I’m moving it over the left side of the pen basket, keeping it well above the rim.
move_to
left_x0.5400left_y-0.3900left_z0.2400left_pitch0.4000
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]: [-0.1238, 1.2758, 0.3664, 0.4294, -0.0967, -0.1566, 0.1601, -0.144, 0.8696, 0.6907, -0.3847, -0.2111, -0.1356, 0.9984] state[eef_state]: left_x=0.3592 left_y=-0.0239 left_z=0.0947 left_yaw=0.0263 left_pitch=0.0845 left_roll=-0.0804 left_gripper=0.1601 right_x=0.3095 right_y=-0.0038 right_z=0.1996 right_yaw=0.0915 right_pitch=0.0084 right_roll=0.0084 right_gripper=0.9984 state[joint_eff]: [-0.1299, -4.3692, 8.4581, 1.7265, -0.0415, 0.0757, 1.0379, -0.0342, -2.2222, 7.241, 1.7363, -0.1148, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.39,"left_z":0.24,"left_pitch":0.4},"note":"The yellow pen lifted successfully. I’m moving it over the left side of the pen basket, keeping it well above the rim."})
tool
executing move_to over 33 steps (3.3s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe pen is near the basket’s front-left rim. I’m moving farther over the opening before releasing so it does not fall short.
move_to
left_x0.5800left_y-0.4000left_z0.2100left_pitch0.5000
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]: [-0.8158, 2.3692, 2.0556, 0.0704, -0.7925, -0.2939, 0.1601, -0.144, 0.8745, 0.6907, -0.3862, -0.2111, -0.1356, 0.9984] state[eef_state]: left_x=0.5392 left_y=-0.3842 left_z=0.2312 left_yaw=0.0433 left_pitch=0.3914 left_roll=-0.1074 left_gripper=0.1601 right_x=0.3097 right_y=-0.0039 right_z=0.1979 right_yaw=0.0915 right_pitch=0.0021 right_roll=0.0099 right_gripper=0.9984 state[joint_eff]: [-0.6496, -14.188, 8.5265, 1.4969, -0.1636, 0.188, 1.0281, -0.0615, -2.0171, 7.0496, 1.7314, -0.0757, 0.0024, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_y":-0.4,"left_z":0.21,"left_pitch":0.5},"note":"The pen is near the basket’s front-left rim. I’m moving farther over the opening before releasing so it does not fall short."})
tool
executing move_to over 4 steps (0.4s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe yellow pen is now over the basket interior. I’m releasing it with the other pens.
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]: [-0.7876, 2.5755, 2.2246, 0.1856, -0.7967, -0.2249, 0.1601, -0.144, 0.8764, 0.6907, -0.3862, -0.2111, -0.1356, 0.9984] state[eef_state]: left_x=0.5752 left_y=-0.3936 left_z=0.1941 left_yaw=0.0613 left_pitch=0.4465 left_roll=-0.0962 left_gripper=0.1601 right_x=0.3099 right_y=-0.0039 right_z=0.1973 right_yaw=0.0915 right_pitch=0.0003 right_roll=0.0104 right_gripper=0.9984 state[joint_eff]: [-0.1299, -16.4991, 9.4564, 1.873, 0.0562, 0.2369, 1.0281, -0.1436, -1.935, 7.0085, 1.6923, -0.1245, -0.0513, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow pen is now over the basket interior. I’m releasing it with the other pens."})
tool
executing move_to over 9 steps (0.9s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe yellow pen is in the right basket. I’m positioning the left arm over the gray plush and the right arm over the blue pen that fell short; these work areas are well separated.
move_to
left_x0.3900left_y0.0350left_z0.1200left_pitch0.0000right_x0.3900right_y0.2000right_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]: [-0.7841, 2.6259, 2.2356, 0.2268, -0.7868, -0.1909, 0.9955, -0.144, 0.8772, 0.6907, -0.3847, -0.2111, -0.1356, 0.9984] state[eef_state]: left_x=0.5805 left_y=-0.3973 left_z=0.173 left_yaw=0.0361 left_pitch=0.4477 left_roll=-0.0616 left_gripper=0.9955 right_x=0.3101 right_y=-0.0039 right_z=0.1974 right_yaw=0.0915 right_pitch=0.001 right_roll=0.0102 right_gripper=0.9984 state[joint_eff]: [-0.1436, -18.0308, 9.7436, 1.8046, 0.0073, 0.1099, -0.2271, -0.0479, -1.7436, 7.0222, 1.7314, -0.1343, -0.0171, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":0.035,"left_z":0.12,"left_pitch":0,"right_x":0.39,"right_y":0.2,"right_z":0.12},"note":"The yellow pen is in the right basket. I’m positioning the left arm over the gray plush and the right arm over the blue pen that fell short; these work areas are well separated."})
tool
executing move_to over 39 steps (3.9s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
right_cam
camera right_cam step 243
assistant
agent noteThe gray plush is beneath the left fingers, and the blue pen is just left of the right jaw center. I’m lowering both open grippers onto their separate targets.
move_to
left_z0.0200right_y0.2130right_z-0.0070
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]: [0.1078, 1.3724, 0.6266, 0.1905, 0.049, -0.0586, 0.9968, 0.6319, 1.5814, 0.8108, 0.0906, 0.4191, 0.2783, 0.9984] state[eef_state]: left_x=0.3965 left_y=0.0378 left_z=0.1189 left_yaw=0.0818 left_pitch=0.0082 left_roll=-0.0624 left_gripper=0.9968 right_x=0.3796 right_y=0.1933 right_z=0.103 right_yaw=0.1178 right_pitch=-0.0536 right_roll=-0.0216 right_gripper=0.9984 state[joint_eff]: [0.0889, -7.5282, 6.106, 1.5751, 0.2027, 0.0659, 0.1148, 0.6496, -6.8034, 9.1419, 1.7411, 0.4176, 0.2027, -0.0171] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.02,"right_y":0.213,"right_z":-0.007},"note":"The gray plush is beneath the left fingers, and the blue pen is just left of the right jaw center. I’m lowering both open grippers onto their separate targets."})
tool
executing move_to over 8 steps (0.8s)
step 251
top_cam
camera top_cam step 251
left_cam
camera left_cam step 251
right_cam
camera right_cam step 251
assistant
agent noteI’m closing around the gray plush while making a final small centering correction on the blue pen.
move_to
left_gripper0.0000right_y0.2000right_z-0.0070
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]: [0.1062, 1.7, 0.4747, 0.7662, 0.0238, -0.036, 0.9968, 0.6743, 1.9205, 0.7189, 0.5594, 0.4534, 0.3164, 0.9983] state[eef_state]: left_x=0.4125 left_y=0.0434 left_z=0.0545 left_yaw=0.0895 left_pitch=0.1045 left_roll=-0.0284 left_gripper=0.9968 right_x=0.3884 right_y=0.216 right_z=0.0162 right_yaw=0.1128 right_pitch=-0.0106 right_roll=0.0113 right_gripper=0.9983 state[joint_eff]: [-0.0752, -3.8496, 2.4, 0.5348, 0.2222, -0.3834, -0.0122, 0.7863, -5.6274, 4.0547, 0.4957, 0.0855, -0.0806, -0.022] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_y":0.2,"right_z":-0.007},"note":"I’m closing around the gray plush while making a final small centering correction on the blue pen."})
tool
executing move_to over 10 steps (1.0s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteThe left gripper closed empty, so I’m opening and moving back toward the plush’s thicker body. The blue pen is aligned, so I’m grasping it with the right hand.
move_to
left_gripper1.0000left_x0.3500left_y0.0350left_z0.0650right_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]: [0.1078, 1.7054, 0.4736, 0.8284, 0.004, -0.038, 0.034, 0.6395, 1.9625, 0.6785, 0.728, 0.4171, 0.3073, 0.9981] state[eef_state]: left_x=0.4179 left_y=0.0481 left_z=0.0659 left_yaw=0.1089 left_pitch=0.1601 left_roll=-0.0213 left_gripper=0.034 right_x=0.3972 right_y=0.2107 right_z=0.0159 right_yaw=0.1116 right_pitch=0.0528 right_roll=0.0656 right_gripper=0.9981 state[joint_eff]: [-0.2667, -6.9949, 5.0667, 1.2772, 0.2466, 0.0366, 1.0085, -0.8274, -6.0239, 3.0017, 1.2918, 0.1001, -0.1636, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.35,"left_y":0.035,"left_z":0.065,"right_gripper":0},"note":"The left gripper closed empty, so I’m opening and moving back toward the plush’s thicker body. The blue pen is aligned, so I’m grasping it with the right hand."})
tool
executing move_to over 10 steps (1.0s)
step 271
assistant
agent noteThe left fingers are now over the gray plush’s body; I’m lowering around it. At the same time, I’m lifting the blue pen to verify the second grasp.
move_to
left_z0.0050left_y0.0450right_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0788, 1.4719, 0.2272, 0.8543, -0.0051, -0.046, 0.995, 0.6399, 1.9686, 0.6758, 0.7464, 0.4107, 0.3077, 0.158] state[eef_state]: left_x=0.3562 left_y=0.0326 left_z=0.0681 left_yaw=0.0921 left_pitch=0.173 left_roll=-0.0253 left_gripper=0.995 right_x=0.3974 right_y=0.2124 right_z=0.0158 right_yaw=0.1169 right_pitch=0.0594 right_roll=0.0737 right_gripper=0.158 state[joint_eff]: [-0.335, -4.8342, 4.4239, 1.6972, -0.1929, -0.0806, -0.0073, -0.3761, -9.1282, 4.547, 1.5311, 0.1197, -0.0171, 1.0183] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.005,"left_y":0.045,"right_z":0.09},"note":"The left fingers are now over the gray plush’s body; I’m lowering around it. At the same time, I’m lifting the blue pen to verify the second grasp."})
tool
executing move_to over 5 steps (0.5s)
step 276
assistant
agent noteThe blue pen lifted successfully, so I’m carrying it farther into the right basket this time. I’m also closing the left gripper around the gray plush.
move_to
left_gripper0.0000right_x0.5800right_y0.2000right_z0.2200right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1272, 1.9331, 0.2161, 1.4666, 0.025, 0.0116, 0.9967, 0.6403, 1.7416, 0.7277, 0.4763, 0.4023, 0.3069, 0.1623] state[eef_state]: left_x=0.3735 left_y=0.0469 left_z=0.0468 left_yaw=0.0819 left_pitch=0.3128 left_roll=0.0235 left_gripper=0.9967 right_x=0.3962 right_y=0.2134 right_z=0.0769 right_yaw=0.1243 right_pitch=0.0649 right_roll=0.0811 right_gripper=0.1623 state[joint_eff]: [0.8821, -3.7949, 0.8274, -0.105, 0.1978, -0.5201, 0.1538, -0.212, -9.0598, 8.0342, 1.7118, 0.1636, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0,"right_x":0.58,"right_y":0.2,"right_z":0.22,"right_pitch":0.5},"note":"The blue pen lifted successfully, so I’m carrying it farther into the right basket this time. I’m also closing the left gripper around the gray plush."})
tool
executing move_to over 15 steps (1.5s)
step 291
assistant
agent noteThe blue pen is well over the basket interior, so I’m releasing it. The left gripper has caught part of the gray plush; I’m lifting gently to see whether it is secure.
move_to
left_z0.1400right_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]: [0.1287, 1.9198, 0.2176, 1.5158, 0.0147, 0.0105, 0.0729, 0.3969, 2.0483, 1.3109, 0.6041, 0.2203, 0.0738, 0.1623] state[eef_state]: left_x=0.3771 left_y=0.0498 left_z=0.0639 left_yaw=0.0924 left_pitch=0.3768 left_roll=0.0275 left_gripper=0.0729 right_x=0.5702 right_y=0.2011 right_z=0.1942 right_yaw=0.1325 right_pitch=0.4266 right_roll=0.0669 right_gripper=0.1623 state[joint_eff]: [-0.3077, -4.9846, 2.1949, 1.4383, 0.0806, -0.0317, 0.6374, -0.6769, -11.6171, 8.7453, 2.1416, -0.0464, -0.0024, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14,"right_gripper":1},"note":"The blue pen is well over the basket interior, so I’m releasing it. The left gripper has caught part of the gray plush; I’m lifting gently to see whether it is secure."})
tool
executing move_to over 9 steps (0.9s)
step 300
assistant
agent noteThe gray plush is moving with the left gripper. I’m carrying it above the left basket while parking the right arm clear of the workspace.
move_to
left_x0.5400left_y-0.1300left_z0.2600left_pitch0.3000right_x0.3000right_y0.0000right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1287, 1.4002, 0.2699, 0.9333, 0.0109, 0.0071, 0.075, 0.3931, 2.0556, 1.3136, 0.5957, 0.2077, 0.0681, 0.9952] state[eef_state]: left_x=0.3728 left_y=0.0499 left_z=0.1281 left_yaw=0.098 left_pitch=0.3662 left_roll=0.0243 left_gripper=0.075 right_x=0.5712 right_y=0.2013 right_z=0.1891 right_yaw=0.1451 right_pitch=0.4139 right_roll=0.059 right_gripper=0.9952 state[joint_eff]: [-0.212, -5.135, 7.706, 2.044, -0.0073, 0.0024, 0.2076, 0.294, -12.1778, 6.4889, 2.0049, 0.0855, -0.0366, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.13,"left_z":0.26,"left_pitch":0.3,"right_x":0.3,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"The gray plush is moving with the left gripper. I’m carrying it above the left basket while parking the right arm clear of the workspace."})
tool
executing move_to over 21 steps (2.1s)
step 321
assistant
agent noteI’m lowering the gray plush farther over the left basket and bringing the right arm toward the remaining tan plush.
move_to
left_x0.5800left_z0.2000left_pitch0.5000right_x0.3300right_y0.3400right_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]: [-0.3862, 1.8118, 1.3518, 0.1337, -0.4763, -0.1383, 0.0762, -0.1802, 0.87, 0.6807, -0.3462, -0.2695, -0.1169, 0.9963] state[eef_state]: left_x=0.5362 left_y=-0.1268 left_z=0.2408 left_yaw=0.0874 left_pitch=0.2741 left_roll=0.0331 left_gripper=0.0762 right_x=0.3126 right_y=-0.0055 right_z=0.2042 right_yaw=0.0946 right_pitch=0.043 right_roll=0.0469 right_gripper=0.9963 state[joint_eff]: [-0.5265, -10.5094, 9.5521, 1.7949, -0.3101, 0.0317, 0.1099, -0.2667, -1.6205, 8.4718, 1.8877, -0.2418, -0.0659, 0.0952] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_z":0.2,"left_pitch":0.5,"right_x":0.33,"right_y":0.34,"right_z":0.14},"note":"I’m lowering the gray plush farther over the left basket and bringing the right arm toward the remaining tan plush."})
tool
executing move_to over 29 steps (2.9s)
step 350
assistant
agent noteI’m releasing the gray plush into the left basket. The remaining tan plush is under the right hand, so I’m lowering around its body.
move_to
left_gripper1.0000right_x0.3500right_y0.3500right_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]: [-0.363, 2.0464, 1.277, 0.659, -0.4862, -0.0338, 0.0764, 1.0412, 1.7851, 1.1339, -0.1226, 0.7334, 0.5854, 0.9964] state[eef_state]: left_x=0.5763 left_y=-0.1268 left_z=0.1947 left_yaw=0.0973 left_pitch=0.4652 left_roll=0.041 left_gripper=0.0764 right_x=0.327 right_y=0.3317 right_z=0.1286 right_yaw=0.1232 right_pitch=0.012 right_roll=0.0171 right_gripper=0.9964 state[joint_eff]: [0.5675, -10.3863, 6.6667, 2.1514, 0.149, 0.0611, 0.0024, 0.6496, -8.8, 8.8547, 1.3748, 0.5885, 0.2125, 0.0024] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.35,"right_y":0.35,"right_z":0.035},"note":"I’m releasing the gray plush into the left basket. The remaining tan plush is under the right hand, so I’m lowering around its body."})
tool
executing move_to over 10 steps (1.0s)
step 360
assistant
agent noteThe gray plush has been released. I’m closing on the tan plush and moving the left arm away to clear the basket.
move_to
right_gripper0.0000left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3592, 2.0552, 1.277, 0.6647, -0.4797, -0.0399, 0.9954, 1.0168, 2.0228, 1.1061, 0.1963, 0.7341, 0.5499, 0.9964] state[eef_state]: left_x=0.5777 left_y=-0.126 left_z=0.191 left_yaw=0.098 left_pitch=0.4624 left_roll=0.035 left_gripper=0.9954 right_x=0.3519 right_y=0.3507 right_z=0.059 right_yaw=0.1158 right_pitch=0.0459 right_roll=0.0283 right_gripper=0.9964 state[joint_eff]: [-0.5812, -12.1778, 6.5436, 1.7753, -0.1343, 0.1685, 0.0073, -0.5949, -6.7897, 5.2444, 1.243, 0.0171, 0.1832, -0.0122] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.3,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"The gray plush has been released. I’m closing on the tan plush and moving the left arm away to clear the basket."})
tool
executing move_to over 22 steps (2.2s)
step 382
assistant
agent noteThe jaws have closed around a substantial part of the tan plush. I’m lifting it to confirm it is secure before carrying it.
move_to
right_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]: [-0.1585, 0.8658, 0.6933, -0.3515, -0.2638, -0.1421, 0.9967, 1.0168, 2.0243, 1.1061, 0.2188, 0.7521, 0.5236, 0.3299] state[eef_state]: left_x=0.313 left_y=0.0002 left_z=0.2099 left_yaw=0.1241 left_pitch=0.0591 left_roll=0.0205 left_gripper=0.9967 right_x=0.3545 right_y=0.3505 right_z=0.0631 right_yaw=0.1157 right_pitch=0.0686 right_roll=0.0144 right_gripper=0.3299 state[joint_eff]: [0.2256, -1.935, 7.1453, 1.8339, -0.0171, 0.1343, 0.1294, -0.3624, -10.6051, 5.7368, 1.3407, 0.0269, 0.232, 0.7497] camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The jaws have closed around a substantial part of the tan plush. I’m lifting it to confirm it is secure before carrying it."})
tool
executing move_to over 6 steps (0.6s)
step 388
assistant
agent noteThe tan plush lifted with the gripper. I’m carrying it over the right side of the plush basket, with extra height to clear the rim and the gray toy.
move_to
right_x0.5800right_y0.4000right_z0.2700right_pitch0.5000
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]: [-0.1593, 0.8715, 0.6926, -0.3729, -0.2543, -0.1436, 0.9968, 1.0168, 1.9171, 1.2221, -0.0578, 0.7319, 0.5163, 0.3317] state[eef_state]: left_x=0.311 left_y=-0.0013 left_z=0.2033 left_yaw=0.1158 left_pitch=0.031 left_roll=0.0222 left_gripper=0.9968 right_x=0.3516 right_y=0.3508 right_z=0.1119 right_yaw=0.1362 right_pitch=0.0246 right_roll=-0.0251 right_gripper=0.3317 state[joint_eff]: [-0.1436, -2.1949, 7.3504, 1.9219, -0.2222, -0.0415, 0.0024, -0.2667, -13.9009, 9.1966, 1.5116, 0.4615, 0.0562, 0.1734] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.58,"right_y":0.4,"right_z":0.27,"right_pitch":0.5},"note":"The tan plush lifted with the gripper. I’m carrying it over the right side of the plush basket, with extra height to clear the rim and the gray toy."})
tool
executing move_to over 18 steps (1.8s)
step 406
assistant
agent noteThe tan plush is above the left basket, so I’m releasing it. A smaller brown plush remains on the table and still needs sorting.
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]: [-0.1593, 0.8761, 0.6926, -0.3782, -0.2535, -0.1432, 0.9968, 0.754, 2.4844, 2.2433, 0.0898, 0.6106, 0.0208, 0.3338] state[eef_state]: left_x=0.3107 left_y=-0.0014 left_z=0.2009 left_yaw=0.1149 left_pitch=0.0214 left_roll=0.0248 left_gripper=0.9968 right_x=0.5727 right_y=0.4038 right_z=0.2409 right_yaw=0.1603 right_pitch=0.434 right_roll=-0.0541 right_gripper=0.3338 state[joint_eff]: [-0.0889, -2.0855, 7.0222, 1.8046, -0.1245, -0.022, -0.0122, -0.7179, -15.5829, 9.5932, 1.9756, 0.2027, -0.0464, 0.2076] camera 'top_cam' (step 406): [image omitted: streamed camera frame] camera 'left_cam' (step 406): [image omitted: streamed camera frame] camera 'right_cam' (step 406): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The tan plush is above the left basket, so I’m releasing it. A smaller brown plush remains on the table and still needs sorting."})
tool
executing move_to over 7 steps (0.7s)
step 413
assistant
agent noteThe objects are plush animals and marker pens. I placed the three pens in the right basket and the gray and tan plush animals in the left basket, but a smaller brown plush remains on the table. The trial’s action budget is exhausted, so sorting is incomplete.
give_up
hindsightPens released at x≈0.53 can fall short of the basket when their barrels extend toward the base; x≈0.58 with forward pitch provided better placement. The gray plush was graspable around x≈0.35, y≈0.045 in the left frame, whereas a farther-forward grasp caught nothing. Count overlapping plush animals carefully at the start: a small brown plush was hidden beside the large tan animal.
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]: [-0.1593, 0.8772, 0.6922, -0.379, -0.2535, -0.1432, 0.9968, 0.746, 2.495, 2.2169, 0.091, 0.5968, 0.0113, 0.995] state[eef_state]: left_x=0.3107 left_y=-0.0014 left_z=0.2002 left_yaw=0.1149 left_pitch=0.0192 left_roll=0.0254 left_gripper=0.9968 right_x=0.5757 right_y=0.4017 right_z=0.2215 right_yaw=0.1793 right_pitch=0.4025 right_roll=-0.0838 right_gripper=0.995 state[joint_eff]: [-0.1026, -1.8803, 7.0359, 1.7118, -0.1197, -0.0513, -0.0122, 0.1846, -17.3333, 6.8855, 1.9609, 0.105, 0.0171, -0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 413): [image omitted: streamed camera frame] camera 'left_cam' (step 413): [image omitted: streamed camera frame] camera 'right_cam' (step 413): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The objects are plush animals and marker pens. I placed the three pens in the right basket and the gray and tan plush animals in the left basket, but a smaller brown plush remains on the table. The trial’s action budget is exhausted, so sorting is incomplete.","hindsight":"Pens released at x≈0.53 can fall short of the basket when their barrels extend toward the base; x≈0.58 with forward pitch provided better placement. The gray plush was graspable around x≈0.35, y≈0.045 in the left frame, whereas a farther-forward grasp caught nothing. Count overlapping plush animals carefully at the start: a small brown plush was hidden beside the large tan animal."})
tool
give_up: The objects are plush animals and marker pens. I placed the three pens in the right basket and the gray and tan plush animals in the left basket, but a smaller brown plush remains on the table. The trial’s action budget is exhausted, so sorting is incomplete.
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 · 14.14 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3801, -0.0216, -0.0299, 0.9996, -0.0154, 0.7986, 0.6109, -0.3706, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1841 left_yaw=-0.0008 left_pitch=-0.0 left_roll=-0.0007 left_gripper=0.9996 right_x=0.2972 right_y=0.0023 right_z=0.1838 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.7983, 9.388, 1.7607, -0.0269, 0.149, -0.0562, -0.7043, -1.6479, 9.7709, 1.7411, -0.0562, 0.1099, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb6b1c065f771db6cebbb1068a84973b4de75827efcb26574c147729976624d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5175639680c661fac42a50cbd014eb8f548e2ad521440a9a5890bbb9ced6a2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977cc83dfca6e46ffd4d1030f24cae47b87f231e5ada90afcfad801137e4f21e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 6.279 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsuSf1pwEJkuHmw36cFcXYg6eeDJsEo0xoHAfSJksn5gvUh6F172A1su8q0H5KlEVmdXrNXNuIQuSO2Jf6wUStuiPcYJ27bJoyI9vaAVfhx2HT3GOffjhFFx8WTTfBxzmylnkYCCiH6gxvzn_PCM1MJfdj39LmRg24JMZDpLAzjo0ZAyh9L6IQ30pj_XNQj7lAlrvXtBI8ex_v9JWPnA1MB1o5bhD7k27CGyhT7zaTS3YuNmDV1AfZPteJ0skUOZU3ENcoekiN1wzXpFNoUqWlfnwsfbqXF8VTjNIQeaFyWM9QaSO0t4rk0-hKjC5ZeGh4OIAPK2eZMYiSuNyYydNXTz0RkFWEL7GyZf6eC9k5iECU4xA9mPVXnjwdCkorWgoAtgX1UKXlrgRqj_Esb2-PTMiTSojonnwr_yEtD_X64nQNxN4i0CBDwt7BxE1Fgx81uPbK6JuZaCzL_MIMW1U3gle_PS7hdpE_zpR2CbfaJps-TyN7vzYSRTj_XbdfORW2Ob7VtQIkr6IprPq0kzUgtU7uI1nwSt8GHFvxRpreSeaAzxn_w9kQhN191lPFmV70nzH55rtSPBwT_88YPlf5qRMNXdoz1Q-rFvjogIo19BzbKXOfcN0-RdEUtbKDSMRnMiI-ixpWsVUcW8W56LGefuPz1vK0tE4GafTTTB8ufU9njzcwCorkKpdMEvoT3lUcH2ouolZnVCp_GhVubhTOBVZgfyJCgVaTXrsZdPsFncqM3VfmYFLSiESkX4GY2BqSpcjDRMeIyun-6POvumlFKdt0XtNljdO3zGXoDpV53SaoGBvY3Gzdi2-SYmat0GBELIfgb5KQNbdPxrkj37NKdOwDxHJRpe0_4ghq5NacXDYldwaJNQ3EhyaiOY8WnhQCejexvrreB6TyTqz0tYQ6wucBZqvHbyJVGuKewWdYaHNXP1I1F9tynPm20OZT32wE0Bf55yDldU3SC5Z38P5MTPBMRyMiyjcXdadT4DgJXRU4T1NP235jcF3bDo4b6SuofhApFqpRFVRS3Xu-ZZY0OqW1ufPUSoGrsK8KytkUAmT-WkExwtSqBrGKtAlev0RwdSPJktl1dZVyUnG7P_vzN5Hs87g906hro9j6uyYeLpkNgxFhmtwDuyldwCT7R8wTHBXx_l2OQ4RCz7oo7qYzbWw8jVHC0HYgX_z8HSvNifQ42jRHALAPkFwWUA0wedYQ_bGK6rdK6JPTS0kURxE1UNa5s6DA6HF2w8y_iczrYmT4pNzPACLVPJfql7q2ZQhz4E3XRTaFWyETedeWWQ0JVnc1l_GIGBmKIr182aCzcMkDOJc9qGPk-HeYGgTRBj4g4JHTYHH1s7H0RJHSAqKyaF2nJhOwu9YepFq9DUfaiG6C1dUjg-vtkVoU0hRr370DzGanyd3kzvbyazdIbRy3XK3F2S4cvy11npmtbPMGXlwrwEpsA6nmfezuDVStrxkm9eollVNarO4Ii_fdw_dKatBgOY4K0B47uWaEfqwHmS7YXL7VtiSTaAAmHM1KtGdpYFxF-_R-V8Lu5Y0SMTw4VAETBzt7AAfquzhO_FAj92wpb_bd40V3mFzPLYBplM1OzMoAI715jb5jZrC9tUA7qdxJwUPK_SFj-JkUZMrIvB3zpGrO-TDBv1iZvdI27d4IZ8CkAQjyUlqJz5wllvLjxnBwlUjh7ijo6at8XV1z-usiau4vlOJhE-NTjLrpPJTiWgcGCbrCQr4B9Hyoe_WR6yJILExiUTRuDzytyUEbsCcdO4Z0qIL9rGZzepiCuAQj0ADKQph9bV21bsKq6EjLILuua80tkq8FjehwJ9Z_AHizT8UO1g78zNW-sni7LXgr-jfkNe0Txk0YHsu0xTPW1Qd8LOiPcxmlzRlKB-9rCimYqFboVodRu1XOtxP7sWVIeTDTfMfTWZVqknkM1z_9-oG9O3ICzxxUbnpEquN7RkKzmzLSAvCgku5PRmIhvtIgtajXNqha-jr_rr-vn4TP2Zygc-BYfUpnY6sdKebi5mnVv8CkIxjRIpYOYnCyz5zO3tXJNHKEExAsVW4jIlx9eSLFk9_5h7hkDovK5kD_pjabImw5oQsidsYmDhKgNaGyFNvwjvr59UKSiIQePcnxYpoi9Lug8b77PVkVsV96Ju3csmbQ5x7EW3IhrYYwH1iylY1kA9jXbkKsv7w5ugwx3voChUQy6knxTnisxprqj826p_QHoMiBIsEaCnhKZQjbIcJguYzGD-_8XtXvHkJTbsbqC3hEuSO7-xGYOES1h39gLXJsNlrxl9KYXKT8xVy8nTQSYd5TRQg65PVlkQSpxJw1480lml5PTWoLm1GQ1IYZ1OyR_gkp5PoJeE3RTPND6sUgZ68J1pSvWcwv6lkIkAV4Q==",
  "id": "rs_0b25b765aaf553b6016ab2e493c45087d0971b4b6598e6da95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.12,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"I see plush animals and marker pens. I’ll sort the plush animals into the left basket and the pens into the right basket, starting with the rightmost pen.\"}",
  "call_id": "call_2u2puE5q12D58RJWOgQKjNy5",
  "id": "fc_0b25b765aaf553b6016ab2e49dbbd487d08fc167265c1c52cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2u2puE5q12D58RJWOgQKjNy5",
  "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]: [-0.0189, 0.8043, 0.6159, -0.3809, -0.0219, -0.0345, 0.9996, 0.5613, 1.1889, 0.5861, -0.0906, 0.4381, 0.2821, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0057 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3211 right_y=0.1176 right_z=0.1206 right_yaw=0.0294 right_pitch=-0.0591 right_roll=-0.0357 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5521, 7.1453, 1.7118, -0.0708, -0.0317, -0.0122, 0.1846, -4.1504, 9.347, 1.8632, 0.4029, 0.105, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98fdcb45f9f5bd9cd636f9f1945c8d030e706060b25105dda4ba65804d2f8b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec99d28e6b322b3c8e5d3ffa2945fb2998ae727a081583048e5de7986fe109b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b9c65e8a90dc996ac9ae18b1b0e9168f17c4472504c39daeb15c576caacadf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 7.165 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.617, -0.3801, -0.0216, -0.0299, 0.9996, -0.0154, 0.7986, 0.6109, -0.3706, -0.0189, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1841 left_yaw=-0.0008 left_pitch=-0.0 left_roll=-0.0007 left_gripper=0.9996 right_x=0.2972 right_y=0.0023 right_z=0.1838 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.7983, 9.388, 1.7607, -0.0269, 0.149, -0.0562, -0.7043, -1.6479, 9.7709, 1.7411, -0.0562, 0.1099, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuSoWlTOIAoFAGrSVHb6p7owfIGuQo5YXlm8IMOPabgvsWudOQwuS00MZBaukPAGU7YW1ER7vofxFkkrTHd8Up9OGoBJ34OrepFSqWiD00RQwmZ1QhM5FVObNEWWZQ0XQBV97hKIHCMw1NstAhJFyhyDefOt4nAcCFUPrhb7XpqdMStgUepo_J0WYyw3FzwNUcYRVkLabE921PbycDl50Gn25Qf39_jQ_psiBbLH2U2yms_xPZKYQBChCGCbm8Tx2HAJNex2_3TxFrT8Zq0HxYCXuOI-5lM-O6PF7F-CvQ0QHpJU5hBZcQlQzjhL7kh6_dHKU1kj3AVtERwfqt_VXT8_AmI0_8kTah8f0AdeZkhmjx6kob6njC0uuywloGen3I05e07PJi0rUOwxvdPb2RFBSs3F4TxHveJJdS3AvVQZ6G5JKeTmCWZHbtFaJzKtZ1vfWYOJ7OJcFPOjiFbm3V7Q9-lpdmi1-rDPccHc8a5_xvcIUAxamtmoOcaIim4Qj3FmxDonD46qmHp0s7cUuQ_S8qsbuasOnuyOIvWxAkVxznIpQVxWCl_j7orkF84FR9to__uCRylJnIbQKFNRlgj2uB7rDNJJPj57hW1FWWwF3kQK1boTih4rm2vQKG1byhx-Z8I0rqIRbtevyIfRMCiaYUUB-VLx-a5z1iMP4tzAtUP2OREj3u0EcV4G1w4hqyupfJcnWK-_0rs9F93_SllP212z6wlKFHAWOlz627joRDzVJgbCyl-e0jwbqOacXvr-TGu0mNuKvfKgBp37a-BWW1Z2n5GJSPznvGalApPKelIPvYDs7UV7zyf74hJtDdIpn_XVpLti6K_keM2jF2eu9aIOyWKWHnuAgdp-12JjFguyPfUsBexswGuSAOtqZOwY1rVG3-jnHZrsEI202KUNVXT7KAcJqwu23gN7LlH5TD7-IYA-hgGmW0pX6o_nC4qGhoOCwFHsKghRmpun8SSbPwW8Slvf4JNOcjJ2Sp3KPrqglSmwOqU5QG58YHz3g9qbmX0nJZsmof1rGtQnMUM5_NrNFo8arXjcFiKaCamyL3ugoduhaGfxpYn0Q30sSabP78nTiEaEwStVdLuOlY2qOH5Yxh2wZ0RMli2tA83BpjrAsCL6NwhQBnawZDkEE64xAakpZeCSszwxpv3lWES15ljP65JBc46hoLLMcX3lFwTKGCNeV57Qg_OPDn8-e7NWQqBmEfufMPiUdD-_9SBDnmY-4MKmB7VY1FSnxhn7lTQk-pzMH8nsetgfUwSVCqC2e7T8Bilx8VQDssadtRrwPDCATLvaWTU8r0cQrntaVKJKy2UZdryAinabWsSs61qOsPorDcvENuNKhIGmyp_UyWm1aIkI585ykLhNYAupSyM9Qm1cGYb6AmaAWrgf3pCCid57Qft81rTK_NvkyXp7Rkbqqrb7tYst_M8Bs7LYEFoxcb9iFS86uRk7_6u3Rti9sw8pF-OdeISogJeVINXITymthvpn-Mr6tmaoYPvdV0qHOduZtIHXom5e1tg1v7IXDJNg2fDul4l3Os8nJEP_-t_jOgUjjVQmcysFLUJR83E=",
  "id": "rs_0b25b765aaf553b6016ab2e4a3f85887d08f99dfb46f983797",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.075,\"right_z\":0.003},\"note\":\"The black-capped pen is to the right of the jaw column in the wrist view. I’m shifting toward it and lowering the open jaws to table height.\"}",
  "call_id": "call_ET9lqiVioJlBxuu1dlqo0nC0",
  "id": "fc_0b25b765aaf553b6016ab2e4a6ab9887d08d26ef7e637338da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ET9lqiVioJlBxuu1dlqo0nC0",
  "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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0216, -0.0376, 0.9996, 0.3321, 1.6653, 0.3485, 0.7128, 0.2516, 0.1452, 0.9992]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1815 left_yaw=0.0036 left_pitch=-0.0084 left_roll=-0.007 left_gripper=0.9996 right_x=0.3565 right_y=0.0802 right_z=0.0159 right_yaw=0.0277 right_pitch=-0.0243 right_roll=-0.0096 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.1556, 7.1726, 1.8144, -0.0171, -0.0317, -0.0122, -0.4718, -4.1915, 3.3983, 1.0134, 0.2027, -0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b064bb81362907f09c468c342022cf0c10cc326fcf4a8aa5ae552f1a4424b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a122bd96cd72e73b8515bab62a7de61b9506e4da8f76b5df8dd637493c175020",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5bf52a97e0d5ca1a92740e534c2a9c182dfd8440b332756fe899f6b6edbdc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 7.795 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]: [-0.0189, 0.8043, 0.6159, -0.3809, -0.0219, -0.0345, 0.9996, 0.5613, 1.1889, 0.5861, -0.0906, 0.4381, 0.2821, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0057 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3211 right_y=0.1176 right_z=0.1206 right_yaw=0.0294 right_pitch=-0.0591 right_roll=-0.0357 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5521, 7.1453, 1.7118, -0.0708, -0.0317, -0.0122, 0.1846, -4.1504, 9.347, 1.8632, 0.4029, 0.105, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuSxCatyUj9gv49xtc1aLJ5Bn1VeMmItgqqyWOHWC16oNaXtpKLZO6aOepJxRf3GbajcbTe2r9Q7nKwlP_sBaSqhXUePDMdABEsRZUJH9LqJR5enrUqEhqjNkaRij8ZxB0HEkrT7-5YQ0onBkRY2zV4ic8VY8CzyRATobNF3aB3JWuaZro7E_qD8mt8wRIHzFj9xcPNic5e5uInFbRU8nZOmJH8WPGY3NO_AuOrUoIL8WxoT-oc7K45RJqWDQ_GJ5tjMmtsb3m3LaZGMU5mrpjLSEzWasCco1lo6P_CwnY6ZZbSZs8wA2XBG13IkvYRNfAY6Kq_-UCTuQ-92ze5Q-T4Rgr3Gk7z3YPG0pNrcSmisJ5wH3qA29zFNBwW9czFsakeNDiJFcXELCsTqEc31cGs1Jsf16ghuSWjcLusFrNntW5JNLXUVfrQyux4x-yrkbmxg0KqbqZGAf-RS3AduMiNYrqI-Lw-lahfItHDgmTr7E6C11yQCoFWk9Vb4cs6sRv_5szoFz5sP-iOp1p2QqoCEQORb8LeWC2EUceOczUnv-d4jdm2JcJMBSA6pIk3VfHcz0PzEScnvffqeQ6hHc9CMevr8bAyTTt_Y6udl-RsSWSbeJe1IT4FcPyyrsl-LHdYcIJ7u4Z9i_L_rLAo3UvWKfMz9nHBC_kdPkZfXbpgmwsxR9lSMLhB9K2uWsnfvvdlUZ75KDKxOEVlpfS8odAtG4Z36YAqEyNzOU66T1xD11ABexn6HbyUSIPF7Ti9l5nreIEvKnm2JHe9DzUsSwSYTZvnKQdQYWWqALmTftZMO99dGT7p9KObSeCbvAoDxhjnollTsHP34MWrohl4jgaA0yQlugo3a-mJSOU4DoOMuzCn-n-oCPq-EoB3lwyMt6XbuUe8OTxisgtUG6MbcX5zqpzB5RzjA8_YlxdAaklOOzHdguwnPC-8kHK_9LHOnQfgwnPrBdXcgUnHxut1cjAgwpPPebU34wfqKlXSmU_SUMf7jXF1LUIgz-6JGGDwRcuH97e_lQyI6ZlhHdg_m2IbVI9t7hjk56B2zPSlm3u3O_72ikEVA3wkaOcQRtIwJpHNEC_0fkz9zxUlbXyxofTt7owdbCuhBgDpwPX2osmtcdeVKO48EFXLYg8TKoVqPnExCB37D5g24GjNXIoFQDiAvuLIgPXh3ubO8U-cWG0zokpblSi0kNXoCD-d0QREuLuMpYV6qnUsgsXLrk8r60MRnyGPD95Prfe9XLJc6MiBcNX9GRfQKBCMvP-ywKkK5Ynpqk54OtHfP4c2ZcGYIqnOwVTPraVgX5FXZ_UyZ-QBpVyJeZwsmh6Hi_O-JM1qG5SneJJohYWL2YrPTkbOuvUTTeCUM_GyWAn17dhGZA72GSuPL_jRAJNalI_2DQWNa7yI-9vNBXMpgEnEpZU3APA5x320ykUB92F-2uXRjkM1l155TKdCdNvjBC1lAKog3vkcMo8EpvQjhGBVpEx3WSYA4-6JWNNZL5x0d9U_mwxWXaMYzopAjFeSSVY2YJ3dysVqkztGnqU1kGEwNYC4ovQVYYA==",
  "id": "rs_0b25b765aaf553b6016ab2e4ae2ecc87d0ad1e065c37832390",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.05,\"right_z\":-0.01},\"note\":\"The pen is still right of the fingertips, so I’m making a small lateral correction before closing.\"}",
  "call_id": "call_SG8RLR6kyJ3krVuvz6ZiPsor",
  "id": "fc_0b25b765aaf553b6016ab2e4b0cb7487d0ab5de8efd8ea0fbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SG8RLR6kyJ3krVuvz6ZiPsor",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.2024, 1.7947, 0.3092, 0.9939, 0.1268, 0.0887, 0.9992]\nstate[eef_state]: left_x=0.2972 left_y=0.0018 left_z=0.1803 left_yaw=0.0038 left_pitch=-0.0126 left_roll=-0.0072 left_gripper=0.9996 right_x=0.3718 right_y=0.0571 right_z=0.0148 right_yaw=0.0326 right_pitch=0.0704 right_roll=0.0314 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -1.6752, 7.1316, 1.7021, -0.0171, -0.0073, -0.0171, -0.3487, -4.2735, 2.0444, 1.243, 0.1343, -0.2564, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76889b46f976a46b92cbe6f392c2b0d0a8c089335d681096fe3ef88270cae9be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e769c4dc5668b2fc8836e2109a302ba0a1e63e70e18e912181efc252a3be85b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5735ff23b887f0059cfbd09ab10f39b881e22733211a94fae7bccc198027a80e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.626 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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0216, -0.0376, 0.9996, 0.3321, 1.6653, 0.3485, 0.7128, 0.2516, 0.1452, 0.9992]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1815 left_yaw=0.0036 left_pitch=-0.0084 left_roll=-0.007 left_gripper=0.9996 right_x=0.3565 right_y=0.0802 right_z=0.0159 right_yaw=0.0277 right_pitch=-0.0243 right_roll=-0.0096 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.1556, 7.1726, 1.8144, -0.0171, -0.0317, -0.0122, -0.4718, -4.1915, 3.3983, 1.0134, 0.2027, -0.232, -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": "gAAAAABqsuS6creikM0650EvUmr78TNnCt3GoGnmpRoVSEg2ToKrbPb-Q-Pd50GnQW0qEKDHqtKKWFUNWjEqi0zhtSlR5r5s9MGIEGsejDn-oqCIdVHo5M0nZPjaOMEahWrq1qqcPG2SDHT01zfL_vidIlQflOgSLGpeQ0qMHHGxA8zYohxWt6v8EFT7NnUtvTMmy-dG4QvqNcbjbUQbt58SKSavcgBehcKtO0BpCju2LmCX6-ImucY0F7cIfKtV_gIDpyN83wfJ9raysIW9Por_UFCq9F7eLV4qGXsoV9j5jAPIhDYPUGe4vBBh2KJ97BCPFPP34RFwAX-WYZ9eHROfRs4sfnjWoRkUULmxT8fcZXXHH976L3uFaWNRedBxEP9nPK7isa6kJu2fhsIvCr6TsLAY1xSjvNoz2qaht0-W932iQ6VqaAZj6E-0Yt41t7SIfcjvOHviFvTMkEJAZbOiycnUJOdI8a9FONs6P1xcNbpLK5YGL705hTe3jDw3Ywmc4rWdMA9nk8Olrvb7C7lhYYpm0y5Gqc_ByKCfoOhmSgsZKYWcS9YcvNXUKyC43L2ULfT87uCELy-xEoRiCraFHd8pEPHwqi4BGU05pe98RgGJUmCxqdGLQMcV2w7N6wmT76reFjOoCdgYLgoKQQqk7XTr5XZVBs693zyKP1JyZ_1hi9FsGB7cn2SXl06o_iH1IGQ1ImMxAics99rzxVaniiRpRKr63mPVfh58u21cXstNef4AEJ2PQRWjyElJdscHsScojFOzMsVsPHSUplsnMt2XYtTysA2PM7HCkcWaFdPat1bqqRJITjpXCbl2IuqHo0w-XqSyF3CeHxz-K0z9zGQ2QTadfHTj0FYOw5E1gdg3PqrsetO4GF9UwaWaFEB7nSRNVMNmhOQmlLBeLuTzItnUutCrZ-JQNHJCLkDg78_9EPYDde0vGOWB4oYeP1vBuC0hsDMMGp5SfatSplqO89KaZhb-z4XwaaY6PTSByAztt9V-pqgruqHtrDrexDTRSbTUym1fKNS48LR27aNeVoyzYO7-fbZ1NveShTU3IJcRL6OSgCjcY7oW2xsGw-uyMCu0ccHPI6-Ob1zlk5zoKvkenICcwIaP1hEdISBSx9APTkkzxivlnQ0ND2UfHR2nzG3WdI6_wt93nJ0qdKGZwDeJX6_3m2o2eZlfE076vbmKwFyR_lCdEM5-W8GNIWrS56Li3vASzVWOykQEyBIwxnVpEF7zA2svhZpRpB45tntbMPW_JD6N2bb70iTFlzImHZa6kCMyDko0dLkVbu6UilfrFsVAuA==",
  "id": "rs_0b25b765aaf553b6016ab2e4b8da4c87d0b8883adc9dd260e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is now centered between the jaws. I’m closing to grasp its barrel.\"}",
  "call_id": "call_L8K3KndjeNaIYoe5oYPV3nre",
  "id": "fc_0b25b765aaf553b6016ab2e4b9f23c87d0b8e102d836f6a4b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L8K3KndjeNaIYoe5oYPV3nre",
  "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]: [-0.0189, 0.8116, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.2024, 1.7863, 0.3103, 0.9829, 0.1192, 0.0856, 0.1472]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0042 left_pitch=-0.0133 left_roll=-0.007 left_gripper=0.9996 right_x=0.3716 right_y=0.0585 right_z=0.0157 right_yaw=0.0407 right_pitch=0.0684 right_roll=0.032 right_gripper=0.1472\nstate[joint_eff]: [-0.0615, -1.3333, 7.2547, 1.7314, -0.0513, -0.0122, -0.0171, -0.2803, -5.4906, 3.5077, 1.8974, 0.0806, -0.022, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568a141edec167b9f263f8f26c9d7968adf68a51009fe4cceb1291dffa433097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97c449da8970d50a8b5f94c9662e6e3cac96181ebcb4c5ec9efd01848e8c08f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bf7463834a7da6805baf8712fa17cc76c838aa75518345ab478da64b72f7f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 7.436 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.2024, 1.7947, 0.3092, 0.9939, 0.1268, 0.0887, 0.9992]\nstate[eef_state]: left_x=0.2972 left_y=0.0018 left_z=0.1803 left_yaw=0.0038 left_pitch=-0.0126 left_roll=-0.0072 left_gripper=0.9996 right_x=0.3718 right_y=0.0571 right_z=0.0148 right_yaw=0.0326 right_pitch=0.0704 right_roll=0.0314 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -1.6752, 7.1316, 1.7021, -0.0171, -0.0073, -0.0171, -0.3487, -4.2735, 2.0444, 1.243, 0.1343, -0.2564, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The jaw opening indicates a pen-sized object is held. I’m lifting a short distance to confirm the grasp.\"}",
  "call_id": "call_tPs7xRYZqm7eCjXDvkRVwJfQ",
  "id": "fc_0b25b765aaf553b6016ab2e4bf132887d09829e8961204217f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tPs7xRYZqm7eCjXDvkRVwJfQ",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6147, -0.3801, -0.0219, -0.038, 0.9996, 0.2024, 1.4109, 0.3809, 0.5217, 0.1184, 0.0818, 0.1523]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1795 left_yaw=0.0042 left_pitch=-0.0152 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3661 right_y=0.0575 right_z=0.0742 right_yaw=0.0435 right_pitch=0.0534 right_roll=0.0265 right_gripper=0.1523\nstate[joint_eff]: [-0.1026, -1.5111, 7.1453, 1.7509, -0.0317, -0.0513, -0.0171, -0.3487, -5.4359, 7.8701, 1.7021, 0.0171, -0.0269, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b058b81e12a533db3a7adef1ecc922dfda688c3f69cb30c87832b0755f069b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba1577f731365430641c7f58e01677c44132860e773d6669580e94694f90abe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25a6f2eb6d79bb7695e287103d125c1d7814a00e24cf45eba5a2cedd1e714e1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 6.226 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.2024, 1.7863, 0.3103, 0.9829, 0.1192, 0.0856, 0.1472]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0042 left_pitch=-0.0133 left_roll=-0.007 left_gripper=0.9996 right_x=0.3716 right_y=0.0585 right_z=0.0157 right_yaw=0.0407 right_pitch=0.0684 right_roll=0.032 right_gripper=0.1472\nstate[joint_eff]: [-0.0615, -1.3333, 7.2547, 1.7314, -0.0513, -0.0122, -0.0171, -0.2803, -5.4906, 3.5077, 1.8974, 0.0806, -0.022, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuTJYm7njvCZyBAVWGdHkH5HjeRcA3Qm68l2WFQGOocijOyZM7hXsANkuOneR21rKsimD4fIpVkBZMzVZEri2Ou2DX3--kEbkWXrWf69cuqlcCDY-8-GkAbgxFzxMJx9HGNMYPvjLkaRx4HqgPTXe9EBnUJTf3bRt-a1SfyO0VdgweJYi93oPZOGpbYX1kLpvAnPqQpcaTY_G52w62X8Ltk3ruQxfUNnyO9fnAw_BLoyzSnTI6cnst7cqwySbsmVFl1EsB8muR21cO30L6t4qA9LGgFfX7lVNOPeNpGccXZu9D6TLxds2M_EYetZvuFzAHTVMeCeKDOlXx442cQEWuYtPb2nZ6rK5s6G0YsyKsj6aO10eg6710ZQoSSIa4SEXVzT4jsdcIdpxkSEZj7OQ_K0HwwD5h6TqlN3SL6Roz5qWGWs4fIW06VazWk6yooRX_C7B8lucon64_LP3n_-v266Q77-gyudb5LXVMKZ8TIoC4nJjX0M71hpR_aK9hBrRsiAoP3M1iv7-iUOHyDNEnVttgQk5l7xmT7QtEoE_R4h0VfzSo731r-7DtS1T2hPWGz7j4JyHar6cogAZ0F7JVdJjd5PKpbH5trRnuLDBzUX0lNs0v5_Z-3AbIVOyIq5mcy-kqZyHT6JLNhqYSEPnTwq9zt9bwG6OFxfMuLRKhOLR4s4Q05RSihyEDZ2J-7cfA3g2f1ielLAY9Ir4LHa5buE2zgQvMh6fdTphmm5uLr31vM_sRQmLKtrnH18r5ZII-VZQWdMJR0R6Ye-KzRnLdntVDPhJhlCcPsLzh7tb50MHFqiGGsFEx_JU1WgYwlzwe50YqT3S__N11ov0cwIj0dlWzDbFf5rHZ1JXV_O_eaU2BWMmoD_8xQLBIVdgATssSQnXS4WtvfBBUMAiJ6Eh9u-Y-y8QULCrsZHqHCPQARFNRfApj5w8bNG9SlOpDEvmk9BGy2h3JjVCRmTRmJC3ApJraLX5Z69aTUmloi1yomcybdId6m_9ZFECwXAa87TrB_kVcGDw39KQ-E1t3WBJxpaqHfaJ8WBLdMBqDwhmh6acAqE-AVJTgp1yfOQueP5PqNMOwNQhI54X-TFUqRfd2rvGcEAO4NIMPoCxJj6-d_142FWaaEb8SY2cOJy0Ff80hV7KGEkGkzJA8vuIXVZ_-rl8tEf6MjHJuLgGiwjxeVrulgswtJHbojW26Kxdpx7fsbORzaXvba0gqtNNj7PaW1aKhM6p0JKGxLV8HWJqI06HRUMzqYgzkLTAnT7BAU5VaWl6fCndcp5639Uu6AhNdnUxcVD7dKVtg8YUbO4lKelcxiMMD8H227Vnt6zF6XqQyw49RNn8P-XQY5o6uKWKEevnqBcWJIynmSwx4q1G2bMWMhPUqEN35lYn4B6we3a69ZJCD_3P2qd0n2FRLd8I0qXMSmHWtIHDNwVf_ICpY4Mg6mChllinl8spq6oUKrITjED",
  "id": "rs_0b25b765aaf553b6016ab2e4c3bee887d080463009d502df1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.18,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The pen lifted with the gripper. I’m carrying it above the near half of the right basket.\"}",
  "call_id": "call_1ADwiVnEvb82FO8aZe2Z7u4U",
  "id": "fc_0b25b765aaf553b6016ab2e4c73bc887d086a50d5be0cb8c53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1ADwiVnEvb82FO8aZe2Z7u4U",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6121, -0.3805, -0.0219, -0.038, 0.9996, 0.4244, 1.8446, 1.2388, 0.2871, 0.3328, 0.104, 0.1542]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1771 left_yaw=0.0042 left_pitch=-0.0221 left_roll=-0.0068 left_gripper=0.9996 right_x=0.5256 right_y=0.1781 right_z=0.2019 right_yaw=0.0617 right_pitch=0.2574 right_roll=0.0122 right_gripper=0.1542\nstate[joint_eff]: [-0.1983, -1.4974, 7.2821, 1.7118, -0.0855, -0.0366, -0.0171, 0.3624, -10.1538, 9.5248, 1.9414, 0.2515, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbaa3f66883e9d1880fab1edb08d75408e539995fd99e62d86e8236e085f0179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b386127acf894701b015ea0149ab49453c3da14c5eb2095a969627a5a5e9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2e9a03419918c892de9f077bde4f9ebd1b3e1579a248d544e35e8e66df5c0d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 8.145 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6147, -0.3801, -0.0219, -0.038, 0.9996, 0.2024, 1.4109, 0.3809, 0.5217, 0.1184, 0.0818, 0.1523]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1795 left_yaw=0.0042 left_pitch=-0.0152 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3661 right_y=0.0575 right_z=0.0742 right_yaw=0.0435 right_pitch=0.0534 right_roll=0.0265 right_gripper=0.1523\nstate[joint_eff]: [-0.1026, -1.5111, 7.1453, 1.7509, -0.0317, -0.0513, -0.0171, -0.3487, -5.4359, 7.8701, 1.7021, 0.0171, -0.0269, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuTTxqjGxVGpyD7cORQ3fmrrGFF-P4T2EKFS_g7YY3k6NaH4-fIsqyZgVuiigcMzGqY0IpylfbCkm_vuU94ih_JgkXSTuXEIF_6GfiFjr2itLAo_y9_5FKMiwqmoxl6HMbDh8xreBVk6l98P7oTlYhemphHTKrftfaMkKxojJW-t17psPDHSwmIdiyyBOd64HuEwtwHXIttxEKrUkEplI_aHt5Bh8kNZGXGuEaIylf6K3BAQw_oUeqtDkpR841wn-oAO6GqXHWEGKbfD1pEgwW-lP5zKzSwlDBJ37gFEYNZYtbDRcEmYeCdLhez00L4fSSjZ830wUGide2GaBVTuNAtsQ958WOOM-IOAQL-_uFQu5ZAt0l8mcd7tiEDiNVDItVASDfws_vvKr-J8exArLLT9xW14qFcq8tvCggXNbNyMGWXigxnLGkADycA7xoeZ20OJ_nxwIiQn2KikcAiAVUeX80D3brOByo09O9D8xWdhqefAmIE9OVDentjxu97k6ej8dEEh8tJdXNXf0xhVQIUoYHNBIWhoLOTNktWm70tGJmnHUDQPGfEJxEhzVHJNQbvpno22o_oYAht8MAk7cl-Zgu4OnQhhoPp_4y7wJ1uMROEMD7OUc0Ubf2Kk9qxbPqHOTEEGTKmwya_KBfl0Od54LkKwnVW6YWIZEyBYXvOIqDSAjaxx288rWMQf-IUC88KSCaZX0HG-SNrwOqmP3zKFIyhMRppdpysFgGp-G-qZsEi_bJ-LSmcWAhZWCjJSi5jfCdan_T4toGcrKDWAMUr069PvJlr7Xb_ZCfZ0vzca07O3iZ_ccHpMJ3QnTPbBOyVThO_1wpCoVk1JdXPjeUIhwxRyQ_E_MA_0a2ncRC4w4BL-UUfJ1L-qL8wyw9yM-9U3fS4_hYOvzCwsz2qqlTcho6FdkG9xDeIf6pyPCQYa2Q28WpWP5B4NaUvaGsA-kkO8L30nLFLWthWEeIIveKDMr4v_LRt8Nlnb7qB2x6U6tuocbtE9BliZ1LKRPJLKGkt0lINSeI9OQZGdWqYrBzSVg0haVO-kHzYHNg0_h19k5erdylOxcKIwcPfK2YqsA211d3mwXNVOSXjk0t0NaCijSjjoY8IIK2L9Eusz5Aa-Mjcz-LF6kRySWu4-jpqZ7mYRFktrt0uuG04jnQMRc2oqPu_BcFZ07ZCWbPFYwOIekpp6aMd3Vx6jnTUSpzeNUe6Tykfpzjv9FsqRxL_1Sj-pyWuC6uxZAvFKFc5EF5hKY8R0wriSxJIZ0IMDjPlDSBFG",
  "id": "rs_0b25b765aaf553b6016ab2e4d17e7087d0a7d17cecfb919946",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held pen is over the right basket’s opening. I’m releasing it into the basket.\"}",
  "call_id": "call_2nziegIk76ZVxsDeyutjVGak",
  "id": "fc_0b25b765aaf553b6016ab2e4d2a0b087d0865eb890078056e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2nziegIk76ZVxsDeyutjVGak",
  "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]: [-0.0189, 0.8173, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.4244, 1.8446, 1.2369, 0.281, 0.3294, 0.0956, 0.9951]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0228 left_roll=-0.0066 left_gripper=0.9996 right_x=0.5248 right_y=0.1784 right_z=0.1996 right_yaw=0.07 right_pitch=0.2496 right_roll=0.002 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.1419, 7.1179, 1.7656, -0.0513, -0.0611, -0.0122, -0.0205, -9.853, 7.0359, 1.9219, 0.0317, 0.0708, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a75ab848faac21c911d7c910f669e7d5d52f5905c45b517ee5a4a59ee97c6a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0c04042fd46f807f69a086749f26455821664b07c17cfcf1ce8f3fc17f74b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc56cb06bca19e3148651c74ebce15409e629893daa9fabe545c8e2de812a428",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.661 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6121, -0.3805, -0.0219, -0.038, 0.9996, 0.4244, 1.8446, 1.2388, 0.2871, 0.3328, 0.104, 0.1542]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1771 left_yaw=0.0042 left_pitch=-0.0221 left_roll=-0.0068 left_gripper=0.9996 right_x=0.5256 right_y=0.1781 right_z=0.2019 right_yaw=0.0617 right_pitch=0.2574 right_roll=0.0122 right_gripper=0.1542\nstate[joint_eff]: [-0.1983, -1.4974, 7.2821, 1.7118, -0.0855, -0.0366, -0.0171, 0.3624, -10.1538, 9.5248, 1.9414, 0.2515, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuTcuQAxjZbaudWaoAsWBLJlcfdWcwhZw1LaLrYajfyWkGQnJ-ImX5jtSSSFeSL6WlnnRt-dZWOLd3d3VOVT6DkZXYRBx4dq3lzSsRH46PqruCj_VMf5ASldmOuUUVeUHVtcPrGdp-q3rzPWJ7uHLbsmgR6aKlZZ7S6EZWA8bSrAke4xiBCQLbI-rGhVnweGPPd0rUOC9wi8oipZx13pPMet_ZVCSrKgpotZUppjFCYvFDyhanKn6KtRNoSEthAv7UjSbF-xygxqyPdlV3qCUi8Rbhv75celpzkMoM8r9WuQAAFcUGXl_SNEEOr_L-B7KJSaFoFQOsNvVjaCJC0K2AMa1y4v_8jmmOzKYqkQ2ahOkFYlaN2jlPCuzri_X5klJUU1coVclkn2bbavmD_3ehPEpPwRxnfFwQoDlq8ME5fIoqmQIR8jMBRiIbOKdwDg1Pc5D8oXz7ZtEdndg5JqcnP2-0E1GsujFQ3rlpj81Mcs6f3AP1mZFJiYHa4abb67W1Uo2m2wI98l5PRloTJU4X7U44I7BnR-opYuTXau13qwLFQCE1trurSVuLUlGo-QG4S2b9hl1SlXMlzTKwdawJqjhrhUfa66pnExWGFqPzjd-8xfsNsQ_1jfuRmtaCO4TS8ot0_frAcm3Cg6gC0VVAqp4rv8GTkrY0-70de0D9AuTCf8O5yba9OScAD4Nb1XKxqktImRr10X7WOyLS5Xikp8dgnv9_7K7cutWSxeWB6dabCosYNohHqtXynjzN3k-xZMcIhPQr4_KxnBpTQpwprxcCvjed7OWMEz0tLk8leyb0vNOza9SMW_bW8ggedBY6esf8nIK5QcgfccensKjouVGx9RUdBfJUBLPrVgfjV7ODQCvpRED2uOTop3s73QpuO-mFK2z8LN4KuolLqkx3rV1jEAmxmNRuY05x3ktaFU9HBQFjH3_bsFsvVDeHChAkjayyyVn_f-08vnfZHznOeX8p8LOEjXJiLgyty8Pwhg27XoD6GYsZh3ve2k52SOdTEX2mQBK3wNudd2QxApQSPDJR5NVXz-ojcR2mOkCAuvYcmf29rDG1DUltBZm---7tp0lLaV63tO8bZ5YigrolD7btg8gGxAT571WgPtLSbIAm36Mw3nOySiFv7HzB7pyfm8AMD4_eIna-r3uutCgDqnJyqkyGDSIgaIckmuv8ab4785W_DShJAR4W8rkz0dTfy2kTXvW5Vy3cTKC5qz5s6w66-NNKQEEv9YHzvXxUXVYTCFWaDnSVm70cY7x7Aky1sGhQCUdI8zk0O3i-Miz_vGrrm6oVR_A3BgwR4FmILAjNeW8dGbjlgbv1JkwcHXEhSJ-XwCrSqEz2yq7xNbAE_EshbXR8mF5xkoabDaZIOgC_weZbjcKc6AjL6VUrAxB68D5AdbWLugZKsHdnGG_u1ekXALhp7XFuG8FpMxTWVZWXWl7Z1RuKVC3s4KCfYSChaUmA_1ZS2XIYw07tCLXE7JGrN96b5JNqecoX6pCVJ94-1E6pRtpxtjX3ORmjfPx4EP4BqrBi0mbNOEwjmxNQKSykLN_z0g52CPod3tv8l7EFUieQPDGej0JHaQIReqrDunQNfubTxCJ40bHd2PGMGMqPBgYojDXRh5DLWenYEuxPImTwYsX9x_1XcBv4A3rX2rL1nc1yjk6M72uL1mY-nOVA==",
  "id": "rs_0b25b765aaf553b6016ab2e4d6c55487d0b83dfe96b8e7b1d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.14,\"right_z\":0.12,\"right_pitch\":0},\"note\":\"The first pen is visible inside the right basket. I’m moving above the blue pen next.\"}",
  "call_id": "call_rEJ3iQROygNEiF5bpvmwk1Bh",
  "id": "fc_0b25b765aaf553b6016ab2e4dafcdc87d0af36c2cef54c98b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rEJ3iQROygNEiF5bpvmwk1Bh",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8242, 0.6113, -0.3809, -0.0223, -0.038, 0.9996, 0.5243, 1.3911, 0.6525, 0.1383, 0.3592, 0.2184, 0.9959]\nstate[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1748 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3659 right_y=0.144 right_z=0.1183 right_yaw=0.0918 right_pitch=0.001 right_roll=-0.0034 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.388, 7.2, 1.7265, -0.0562, 0.0024, -0.0171, 0.5265, -6.3795, 6.6803, 1.7753, 0.3101, 0.0855, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71eba6528875099e81bf4e24ea2c21ec0130409251b41113994a7f5dccea7b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf6ed8e4974ee5ae82eac95dafc814f08a41bb1084e77ca24ac2ed91aefd021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115a07218d13a9257f09f3a9e597559e23c533f1c6eafd38007f50639a90258e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.991 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.4244, 1.8446, 1.2369, 0.281, 0.3294, 0.0956, 0.9951]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0228 left_roll=-0.0066 left_gripper=0.9996 right_x=0.5248 right_y=0.1784 right_z=0.1996 right_yaw=0.07 right_pitch=0.2496 right_roll=0.002 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.1419, 7.1179, 1.7656, -0.0513, -0.0611, -0.0122, -0.0205, -9.853, 7.0359, 1.9219, 0.0317, 0.0708, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuTmpHyFiSNiyTuD8CU8jFjtd-LuEvKEdAcWqPp1F4zhHJ5UYpbk7fVEtIdMO1h23KbviRNydP1kvLb-sVA6xgHtEZxpWrzUf2poinsaWUZWLhjaIAuxlbh99KxHNLq6n0So71DcqIz9g0W6Zj0Qojztd2wkeut--NU6RVKWrBZ628tE2HlK8LZep-LJjl-CHVKu5LArhPpa7E1OQjX0Wk1h-CaoIlkrGGlyOp7F5Yg8aqbHWCr9UzMH9mES4HgDQTC-DXDH8b0rkzDH_8gMxUO2PMc67sVCX6iGQDIis1h1F9xNoYSuwxmRXH9upAIdzQugHqLtq_CoT9Per5tBS65__FYQF2QNJuhBaCdHvKtzz9frsolxy3DXYV3agWsuDrO1d1-v6NC1WfEZ99F564LCF9fThZUEKStwLy1yb0v1d-tQ1lsuv8iyJZhpdVhXK4FR8qz17c7IxRyhbb4d-YMN3cTaKb9y7rv0HoiiivftKZ5R-vvWJRQ56eiJkzJJpvej0I-kILONr86CV2l6-IO9UalAQIx7m3P99B320vL98zsK-vVrQ4iSiySQdv9eRlnNTc6iZ0TDxP46yNwEg6vrD7gFG4jvw5TM8vwlfMFpx_wVkIzbORLh1eICoMFutRJhQ0ksuaYAp4Cyqe6bdM32PheMU0Jt0f3TuPUzIDDGKGa_7dQ7prYFiv_I36tJB6aJaCs85Lof7ACBq62u1l3cc4Nr_JTZ4Zj3cX5O-nibYdRnvbo_6S6ZMK03IbR-DA39Vx2hJ9Ar9v0iZkcKVbWbZu4prln-wIwfVeEj4a0Ckm3CHRlgVSTB0Hn97qEpX34csOZZ056T3Vsu8JVOZr0Tg6plx3GWKCHNmws973nnxxxcjVwkgVRkif8XHHdFTLi01nstUaITO7_PVtQjfyWhQlq-vH9hNxYti1G3km0F-8UeG_FKlCeJeNV4AxiEedtxcxjob2qVQ5Uxno3nTEWP8fSUySBNGZfv9yb0z9NA8fqciy7_HQh8gkKD-SeLdwSPkbG56D2ikyXTBCpkut_CNRJw6Bx14oJiIK1FW3CL6fUIkOTTTzPTAPXHmACqW2nD0kLI7FiuCdfWqZdL-vLEYhToCQILz8HmUSaP9_zGLtgvC0hi3pxIs6QL79-R_wvIQXvFBUqHEiDbQHXMIC-l7BJiOTHyAAXAbXBflwhK9Tna5mOy6txDqq6jshdwdm4TczYnV8KzJxOEikuFalorswEDfQywO8drUgTQp7pzLEg7Th0ld3hCWYvjxvI3pTcTLJsRX6KMbwThML9EaY-xftktYNcSGQRUJgTXgRhA8fvpuwXntZKICRduUHa00lbiXA3IcGaWX5SSHXBwrkzR6U0QjvahFtF08cQ2whUO5yuY3vIzJ4SwKpjPoX7-YlTvHZuNjegATOTq7Vx7XDQu-PxVcvGPW4BBqhy6bvAFDCE=",
  "id": "rs_0b25b765aaf553b6016ab2e4e3086487d0a0971f548889e526",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.168,\"right_z\":-0.007},\"note\":\"The blue pen is slightly left of the jaw center. I’m aligning laterally and lowering around its barrel.\"}",
  "call_id": "call_3U2zNWtESfjt4HiKKQKC0GHD",
  "id": "fc_0b25b765aaf553b6016ab2e4e5337887d09f582e0cc9be030f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3U2zNWtESfjt4HiKKQKC0GHD",
  "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]: [-0.0189, 0.8303, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.5964, 1.8984, 0.5182, 0.8501, 0.4156, 0.2703, 0.996]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.037 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3775 right_y=0.1744 right_z=0.0158 right_yaw=0.0885 right_pitch=0.0763 right_roll=0.0465 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.935, 7.1179, 1.6972, -0.0366, -0.0757, -0.0171, 0.3897, -5.6, 3.0017, 1.1941, 0.1734, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a943e79b02d24a72595fc3334dab3752e74f5d00d6f5b3061cfede5aa5f83b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b44c4460c2d4dd639b55133c6043b23fd529b41143dd35a5dec766b2fdb25a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b9eb13b2ddad0638a445fb3f1a9c7eef466010f9994a63e1a468836be91dd2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.522 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8242, 0.6113, -0.3809, -0.0223, -0.038, 0.9996, 0.5243, 1.3911, 0.6525, 0.1383, 0.3592, 0.2184, 0.9959]\nstate[eef_state]: left_x=0.2975 left_y=0.0019 left_z=0.1748 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3659 right_y=0.144 right_z=0.1183 right_yaw=0.0918 right_pitch=0.001 right_roll=-0.0034 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.388, 7.2, 1.7265, -0.0562, 0.0024, -0.0171, 0.5265, -6.3795, 6.6803, 1.7753, 0.3101, 0.0855, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.19},\"note\":\"The blue pen is centered between the open jaws. I’m closing on it and refreshing the idle arm’s parked height.\"}",
  "call_id": "call_0iwCGPP3SbevhFcwrcGjU3r7",
  "id": "fc_0b25b765aaf553b6016ab2e4ed292487d080a458c104a18deb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0iwCGPP3SbevhFcwrcGjU3r7",
  "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]: [-0.0284, 0.8444, 0.6453, -0.4339, -0.0257, -0.0452, 0.9996, 0.5953, 1.8961, 0.5175, 0.8494, 0.4076, 0.2668, 0.1602]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1739 left_yaw=0.0018 left_pitch=-0.0693 left_roll=-0.0093 left_gripper=0.9996 right_x=0.3773 right_y=0.1753 right_z=0.016 right_yaw=0.0958 right_pitch=0.0752 right_roll=0.0474 right_gripper=0.1602\nstate[joint_eff]: [-0.212, -1.4974, 10.4137, 1.6386, -0.1099, -0.022, -0.0122, -0.1709, -7.3915, 3.9863, 1.7167, 0.1685, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c30836195b4e69e3bfc49bbaee22de9bd5c1eae776ae185e653775c536f3ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780963bbadac6469c43a969d07c860f376d9ff2eb2c3da1e0a9978b030f85e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec684c24f154d6ee33b0dd25e449b473a8a0614141d4f4a825bbcf89b3ebd35",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.751 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.5964, 1.8984, 0.5182, 0.8501, 0.4156, 0.2703, 0.996]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.037 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3775 right_y=0.1744 right_z=0.0158 right_yaw=0.0885 right_pitch=0.0763 right_roll=0.0465 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.935, 7.1179, 1.6972, -0.0366, -0.0757, -0.0171, 0.3897, -5.6, 3.0017, 1.1941, 0.1734, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper has closed to the blue pen’s thickness. I’m lifting to check that it is secure.\"}",
  "call_id": "call_05r9aFN7KTvqcsh788yakuyM",
  "id": "fc_0b25b765aaf553b6016ab2e4f5e22c87d0a2040631c42c0987",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_05r9aFN7KTvqcsh788yakuyM",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8444, 0.6453, -0.4335, -0.0254, -0.0452, 0.9996, 0.5953, 1.6001, 0.58, 0.4736, 0.3996, 0.2661, 0.1602]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.174 left_yaw=0.0015 left_pitch=-0.0689 left_roll=-0.0095 left_gripper=0.9996 right_x=0.3728 right_y=0.1738 right_z=0.0777 right_yaw=0.1034 right_pitch=0.0581 right_roll=0.0422 right_gripper=0.1602\nstate[joint_eff]: [-0.0752, -1.4017, 7.2274, 1.6777, -0.0611, -0.022, -0.0171, -0.2393, -7.2684, 7.9521, 1.6679, 0.1832, -0.0611, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f57940a1fc2caa24a71e404035f45a505bf370b5608e73a0b1436ca48da9c3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226b635c25c2bf059e9cb9d89dd9f4aedbb160a2403e53cf81afe073d6b3d5a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638160b8cfce75736797323286b78f1cc757f88ce8e770ccfea6c82dcb65a2bd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.183 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8444, 0.6453, -0.4339, -0.0257, -0.0452, 0.9996, 0.5953, 1.8961, 0.5175, 0.8494, 0.4076, 0.2668, 0.1602]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1739 left_yaw=0.0018 left_pitch=-0.0693 left_roll=-0.0093 left_gripper=0.9996 right_x=0.3773 right_y=0.1753 right_z=0.016 right_yaw=0.0958 right_pitch=0.0752 right_roll=0.0474 right_gripper=0.1602\nstate[joint_eff]: [-0.212, -1.4974, 10.4137, 1.6386, -0.1099, -0.022, -0.0122, -0.1709, -7.3915, 3.9863, 1.7167, 0.1685, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.18,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The blue pen is off the table and held securely. I’m carrying it to the same right basket.\"}",
  "call_id": "call_WP39OzTxUekVU27fShbICybn",
  "id": "fc_0b25b765aaf553b6016ab2e4facd6887d0b8c385bcbafd3973",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WP39OzTxUekVU27fShbICybn",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8452, 0.6449, -0.4335, -0.0257, -0.0456, 0.9996, 0.4053, 1.8328, 1.2201, 0.2958, 0.252, 0.0921, 0.1602]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0701 left_roll=-0.0096 left_gripper=0.9996 right_x=0.5239 right_y=0.1808 right_z=0.2003 right_yaw=0.1196 right_pitch=0.2514 right_roll=0.0259 right_gripper=0.1602\nstate[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.6728, -0.0855, -0.0464, -0.0171, -0.6085, -10.1812, 9.306, 2.0244, 0.0513, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0397a24ddeeeb81bed47099fd9371e28003c29a440ca0e6bed8932be472ea52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68375a293de6a5f60ff8a5a0204487cdf5c02523916f3122fb4b46598cbd1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5454cd38c4b5de4dc53195de61d88104dab7ba19197c198cc4c098e0b28873d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 10.76 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8444, 0.6453, -0.4335, -0.0254, -0.0452, 0.9996, 0.5953, 1.6001, 0.58, 0.4736, 0.3996, 0.2661, 0.1602]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.174 left_yaw=0.0015 left_pitch=-0.0689 left_roll=-0.0095 left_gripper=0.9996 right_x=0.3728 right_y=0.1738 right_z=0.0777 right_yaw=0.1034 right_pitch=0.0581 right_roll=0.0422 right_gripper=0.1602\nstate[joint_eff]: [-0.0752, -1.4017, 7.2274, 1.6777, -0.0611, -0.022, -0.0171, -0.2393, -7.2684, 7.9521, 1.6679, 0.1832, -0.0611, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuUIgFbETw9VSi6heCbW8rH6Ei9zJNAduQXXCzeGwbJNDYHPDwKPoHB0nhnsxkszTTHKeHaUnDDPBNgdfKoDn38c6N4Q2X6WIG1RdpIPMnzP1CCCdPzAQuw7U8Y817uq1iJ0NLhIQ7cJ4h5j1xrz-qCsboIMUFwyxaC3W56EMAMvyX9B11W32nEYY082U-2AFlQ27_EZSxuJLAGUDamzf8R5Lb80TOcgccXfFa3YTuPA4x2Nka1X0eF1jusspMTe1UK_IU3H78Eb5Qm8swYlxBYEcyRC3d7YqS3LLjfzaUtZ3NWQfQ47r65RXpgor8mHJymva2DIYRPlLnWMZ6Jl2VK_6rXP8bG-xa90LhMbUq041Xigc10JU-LO7cb8iOCNqAdjjRkSpX0zJfhPwD81lu1KT_kTQ_VgCUJHA-REEJRaV_OibxK0nFf8vAUaqqpfFUJRERaTxwJwcmXydFIbfUlEh2C6GcAWGZBhwA6eKQLhpqv0A5-qrglNHqMieO97qSXcYQPnzbx9u9nJBbdIv6jxnplF1AG88sxGJV4tsRyeLXkMPt9T9zATd_unzdxoM9h7BveX9RR-WEiY0ZsAkmStYrjmoaZtIVcH2SgCHovpngQvRfloJMMMx2R5bPIir7Fca_5m77q7vRQwKpPXE0TDDAcqwFVbzIW7UsX-UBA5nbkzPBVJqfGGtPCKzXeTF13_ToX__n5rMSToOQb4d9zrKK3Q1mhhXrB_i4tyQ8dfWPtXEkwj7Gh6_yh4xP8NPIKGpUN7sJEdeREqWGHOy3A03g71iHqFMvgJ1ITt1biYfsX_yo2SXOFFI88HlPJnXyvmYD61YHTRLaR2jQ1onSsB9NZWJyNK5sJtrm3kLv0AdoWAlXGD22SQwhavuASSeotf7FMFbcoCX5-W6C6vr9TLt66cvcXemfn0ABcHiNAjAF4rHiR5buWTwb0o1x6suU9bZ_BGuq-957BM1tKBB-fXbAiBLxmtWxdgebNxULFebONX3mj5Y4FZVQR7OxOrtalOfxdGL1dM3Zg4Cc6zlQLlKI4eHR4qQN4ApSB9MyRTYofi3QmthO4CpB-_RIkWVo0p42GaUgaXNuHpdTexaU12skVyoHcoW-F8JuLltKv3iHa3OKNYGkr36ILCQk8hxKvdNoM8rEyIXk6aE86Zx5Wwqz8hQBH6jhWNU6fVxDWbpXJ-bbGujIMq-iKdn5Jl6Ryw288woFtxzOimn4eDOf35cy3O6E52Cw1stmqV1Z5Y3aMAq0E5_iYs26uDQSKIlohrYF9XLTCzgU_gDYKYCTtXTSGizIdo-qlFkkRw9UWKkHC4t_hakNBlzHDL45bGEPAtquh7oMDcAUuocOECNRlL9a8j9r-WEvbEc4tHVlUDvMR72E2TSUnrGpdGRsJtNrFxddtaw0SKXZUX2qW4mP7A6DATP6RnEq-EdjUZE9jAMcb2Es3oMRF8gaeH1zXiTIFJntyCJZi_bYZdcCGvnz0SmRduEtfibEJpoHpsPBNs2TVNqN9txdY4DwSjpdKBX7tN",
  "id": "rs_0b25b765aaf553b6016ab2e50376bc87d0ba0da0bbd97eaebf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.36,\"left_y\":-0.105,\"left_z\":0.13},\"note\":\"I’m releasing the blue pen into the right basket while bringing the left arm above the yellow pen.\"}",
  "call_id": "call_7bl7pZik7HsC1Qcs2Mg58X1T",
  "id": "fc_0b25b765aaf553b6016ab2e506a83487d08abc2109eff27252",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7bl7pZik7HsC1Qcs2Mg58X1T",
  "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]: [-0.4629, 1.3071, 0.6811, -0.1207, -0.3592, -0.313, 0.9995, 0.4053, 1.8332, 1.2182, 0.2878, 0.2489, 0.0853, 0.9985]\nstate[eef_state]: left_x=0.3495 left_y=-0.101 left_z=0.1122 left_yaw=-0.0068 left_pitch=-0.1259 left_roll=0.0123 left_gripper=0.9995 right_x=0.523 right_y=0.1809 right_z=0.1973 right_yaw=0.1267 right_pitch=0.2413 right_roll=0.0171 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -5.3812, 9.2923, 1.6288, -0.2076, -0.0611, -0.0171, -0.1846, -9.6205, 7.1043, 1.9316, 0.0562, 0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cce46e3bf0adf8cc9c9b1acb82c399f9032662437d99c69aa3521740f257582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1860f09af672e4749f2a7b0edb085bd2101ef5ec1ccd96dfd21a5494170632dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1109fb7af6e520ac43e1561bd8f6e0defb45ee7c233519f9bd8a7410ae1eea2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 8.449 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]: [-0.0284, 0.8452, 0.6449, -0.4335, -0.0257, -0.0456, 0.9996, 0.4053, 1.8328, 1.2201, 0.2958, 0.252, 0.0921, 0.1602]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0701 left_roll=-0.0096 left_gripper=0.9996 right_x=0.5239 right_y=0.1808 right_z=0.2003 right_yaw=0.1196 right_pitch=0.2514 right_roll=0.0259 right_gripper=0.1602\nstate[joint_eff]: [-0.2393, -1.4838, 7.0359, 1.6728, -0.0855, -0.0464, -0.0171, -0.6085, -10.1812, 9.306, 2.0244, 0.0513, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuUWaqsrWOLA8UGdA5skMyZFB30fA9MUfv-8bwVKx3b_2cBDUt7Q-Ef5AMqJleLCctpSUEndjeotR8ZpU4iMSGTbT_g0iTzLRdPn8VqGT_VnJqLh4U8HTWPrYwsJwuNzGXlP7eTUu_RssyAqY6Rnfm-AlzZSR3wPSaR3CKe1k-vrSfTMq5_DBlQTa_6z86PhHmHzkr2e3wc8iaNxuAqTty3VUVCV6-k2E_cjrXG9AcPP_B_daqZVpd9fI2g3DsP5xWu-NkVLqbHiVqi4EXjHih_0-BMf96WbgjHkO5UTBLxP3vZIMoCbfbFzfHuBX7d4kuNUUx8sy4Ulm3tzFYE5NZcaAKTiwefXbujfrsUHlj7iRSghDn7ln1rbJtuTt_g-WiAB1JX6G4NvubcxMWBBTf6Dgn26OesDjYCM9_Yq_CEfaghm1AnILGnYq88lkR9EaGo1XKwBnxKx_tT74k-Npq39hPstlkpsw-FbYsubAMeWhWyGLJbp0ATvo4ewsgVnXlqThYug3fc6OFsFnB5MG8DhI8Q3zyLXVsz6xbQ8YqmoyYV7EE3HkirmGDkjREHZf5NzN7QevUsek3guC5bltWnU3SMAcjLr9HycJ2haIvSkN6Lz5dmzgiYxwmBlPFC607ZfPOjf0CHLQkuOOW8a8PxdTQyQuJMQhOzhuffNQXWgIrZ63Heqt8cM3CMACpY_dYbwdtpKR2MYGMqtkcMGbyOZnuWpDXE7swoNjfhg-4jlbCURXodYBQPSRT1r1QpYqAwaYpGxxxkhOV88w_W1p1Kzb8o--aL-4SukKp3Zj3FyT9281K05-Wxko21xUvzozGnTtzRa8DOxA2ucaNIhMIEboRLJa52PZt32TSTtGL5yrgtWRkHp8GQhbItuKAgU_QHfde2GWnyaz5Mg95_egFgA2IYr41mVdpLC3LLCYThLvJreAnkbHRlpGh12BfRd-3ieBHjydhKI_XPEsXUqZk6pp9kR_JBCZTITWWz17GQUiQytKzcWqwaqhZPxC18k-8g66aEhhk9i7kWk-mySRiZCm_0Vx-SPZCsu_PNc-1c4Edpu6LDtW8MWCSSlzozSgBql1XQFG8pdQzh2UcqWSOKM01VK4ek30yZLAztWX_EgPT07DlG4PBHOOviiGLfAkuGZrWV2m7UcgXZ71E6dtwK0IYiZNvKz6y0RpNvCrmsvNV0BLPbQR_7vigNDfk9jtMyXb052EJF8_GuePAjBvBJIlPtmRrAke1WHt3ZFTZjmFP9WM6RSJmP7dR2k0v-O0hqZhCJaQ5hn-DmmSVLSTLXbpGscLExoq3XEjpvrSVnux1TeM9hQZ4eXpRGaV65jirY2f-Kj3RyGbfrOzY-EYO7hUeNlWQ185Lnva5vt8HAJPlwmF7BP3strxS6P6SkMWNyQ1KuyoX0N1TZP1mFzxJh4A4jaLjWTLMPHOp43TFNR08Xy1kFL-vW1b2Dy62VdjP29Bxb6a_JeMFuXPy_MKqFSeP25UwUca8HHVae70SvXmpUyyVnwFhb1pCzh05XDbbsXK_eH_GaYNrRDIDFzZb0oJLZgzvZzDMvvq9VKrCNW-wrKOexPI3JPFrfrK7WipuQLPrkB6e1rM5WHIF-inkznI4boCUo6OIHvGcZoxz7U973qLSDNqHzWBQnOrlUiuyGMM9EMVlELfbiSVwCMgVSuLj9DdQfu-15X63h6yfemSRZhKrG5RmyrUOUvLvWEA7j1L6Omrd6dcqSZcxrdSDWQE3o28YeOm5veHrCCyU8SWHLJbZGeZxCdLxUw0N0LR5iHxV7mltXKddDUx2G-rYog1YyyL7ePrAa14Xs9VzF7nQMlNBm-2zmYGoLG_-8150j_C9i2twA_0lPCMx6WAUKBsbZrNtB0fF2vSD5R3Y2dCgbgt6NW8vEwL-1uoRPx8Ydd1fLFazBviYl6Gm6BGBaLanWTFEQEbh3Fgir_t13I0UygjmSvdxCVcaceroqGkEd_",
  "id": "rs_0b25b765aaf553b6016ab2e50f030487d0915d2f70e37f83cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.065,\"left_z\":-0.008,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The yellow pen is left of the jaw center, so I’m correcting and lowering. The blue pen appears to have landed near the basket’s front edge; I’ll check and recover it after clearing the nearby objects.\"}",
  "call_id": "call_6oYC7X1TMFVLGcIJKPrRtdS8",
  "id": "fc_0b25b765aaf553b6016ab2e5147b7487d0931d6fa37d83ab44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6oYC7X1TMFVLGcIJKPrRtdS8",
  "output": "executing move_to over 18 steps (1.8s)",
  "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]: [-0.3241, 1.6566, 0.4065, 0.6746, -0.2535, -0.2588, 0.9995, -0.1402, 0.8593, 0.6922, -0.3599, -0.1967, -0.12, 0.9984]\nstate[eef_state]: left_x=0.3747 left_y=-0.0753 left_z=0.0304 left_yaw=0.0118 left_pitch=0.0076 left_roll=-0.0697 left_gripper=0.9995 right_x=0.3119 right_y=-0.0055 right_z=0.2082 right_yaw=0.075 right_pitch=0.0423 right_roll=0.0064 right_gripper=0.9984\nstate[joint_eff]: [0.3761, -3.5897, 1.7162, 0.4957, -0.2418, 0.4615, -0.0122, -0.1846, -1.6068, 7.0496, 1.8877, -0.2466, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c94e9fd04b937b9f376bd0633ede400cd8cf37de8725f352a5e1bddca996c872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eadcafc889586ba7fe1fb06047cccd9b953f8b9bc8c643694f235eccfe414bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03edf26e748d2d37d3bb3df193e0152281d5044f7f80a65524ee0d49d3efd94f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.3 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]: [-0.4629, 1.3071, 0.6811, -0.1207, -0.3592, -0.313, 0.9995, 0.4053, 1.8332, 1.2182, 0.2878, 0.2489, 0.0853, 0.9985]\nstate[eef_state]: left_x=0.3495 left_y=-0.101 left_z=0.1122 left_yaw=-0.0068 left_pitch=-0.1259 left_roll=0.0123 left_gripper=0.9995 right_x=0.523 right_y=0.1809 right_z=0.1973 right_yaw=0.1267 right_pitch=0.2413 right_roll=0.0171 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -5.3812, 9.2923, 1.6288, -0.2076, -0.0611, -0.0171, -0.1846, -9.6205, 7.1043, 1.9316, 0.0562, 0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuUiqFgULV-HsbgnM4dNdP48i3Et8VhGROFehN0uEYOIEAAO_fG2B8uarn7_eJnP0Kg02zM0q0dbv_kKhSiufMfKKglMsOExvr4NErTyOKU-nsSsnFkHSVXTE0q46h8wSFNq7lPYSS1mRvkxK8RwB0ml57zQOOlh-kwYH-f7OaMJAcwhFIp83Y139-fYY3aduIWphSvzI-h6Uzz3fz7V2ptlH2SnWA2m0APcQkk0R-kTqd0lD1hcFuSxstAlGIbT74bMatBBKK3PvTc6jdpOaAEYZQluIEOCJ4ohunKncgBK8LKbvwwErvfNvyeuqeevG-7aD2vUr65jqORY0CfZrX-MI8s9qaOcWytiDaB87qjhrdXWZtZL9Vfljkd5V5lzbcEatWrdUKyYhSIcKZ1mn_CVZpKW-gMmmo3Zo8_JOy9fBDmywI35pv8YWc9hcCgujYJgBMPGoya67aYrEmcZy42n83DTfPU8n6gZkhO17G-uIl0nWRPiQsK_u71w4U2RmMVsbejS0AuCL3g-SwwwSYZNPLtRvKaJbA5Q2IGOTodaUWbeD_YkXed-UI6MtUDTiiuJBlgpY9vahi35jMk8O3A3z5wDTomIoCQEnImWUkea6OkPqvGcb2gtPvNkH2IvcpHHfMEazaaAuPi_kQRp14O7lligGhnLzHu5hJylMHdbl2Dr0RyiW5CWeRXYiP_Kffvb3O2qh7fwpMFOp6bV_0Chjqz1BukUQGF0alj9lRSFLclXW6Brfd1rQeDpwRtoZpz1sQFbHKw0B2FkzIJftvwb-YKreckHGtzO_0lDwjqJgLoBjVbbZyI4TVzbnsuTR_8AB-OWAcrWQX_vGnRtKLDGb9W-iSNpYKJdiuGVrnSOww9ffolXxsC3tPR82pCptKk54CcgTxwSxt30jBe3s9OjIpUz9Su19QrzRSVfcVIzwEQFZwHH8v1xjdHlOY3Juus6mkCXROnmrefZ5-rdoQ6_V_bJpzVsy8MppA52ArlhMRHl7Aa2VTmUsUOylDGNT8OPqVGiJ5RU8KMu5lmt0Orb-zy6cnP22QMmMiZq8cPBDNPkcX5kKCy-7S35JF6VGZu2q0ZbdgdncAwpbBg9iEUx4JzOZsW_DKum0ppxhQU1DVGOdOnj1XCBvhk31sPW_uQSOtjA48HrnFv_CMxfmoQ1dvA-2BQCcb49c4ViA_AddOshNESA3wq1baIRhAo5WdyGGZH8h1w9YBqcWYZVe65rY5wjAodmpngdlDctuiw5U7Y2VyIji7bg0PvtwwAguSzVQg2QyLhhj3LMfD5X0P73a1OIJC-7ZYvLOnZ2jL60uMS0H6_5F8aI4vFNulzY1z_R2Ipbb7OTBi6B8CgsK5sT6gEuN4bZxjgCm2JWzAAYPPfbmf64MEVYj8TEg9RkbL9jJjUhJj2l2J3g7UM1uax3LcaXelKULzDbdDzRN7og5oAKvwxs0epMZaF-x03YJ-7n1zwFLn2opIWoOhlKdjprmKxahLA5xjlvjQf0O3TWI7oQAmcNNzBMRB0q42NXAjCiYONWvreSLGqssi21HrnwIw==",
  "id": "rs_0b25b765aaf553b6016ab2e51d531887d082c80e330fc56625",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.025,\"left_z\":-0.008},\"note\":\"The yellow pen remains left of the fingers, and the descent stopped high near the plush toy. I’m moving slightly back and left to center on the pen without pressing on the toy.\"}",
  "call_id": "call_X72RSLD2Cy0ljHbdwgSJsNWM",
  "id": "fc_0b25b765aaf553b6016ab2e52078e087d0af278273af69f115",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X72RSLD2Cy0ljHbdwgSJsNWM",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1345, 1.7824, 0.2672, 1.0283, -0.1284, -0.2024, 0.9995, -0.1432, 0.8639, 0.6914, -0.3836, -0.2104, -0.1349, 0.9984]\nstate[eef_state]: left_x=0.3661 left_y=-0.0231 left_z=0.0142 left_yaw=0.0668 left_pitch=0.0783 left_roll=-0.1053 left_gripper=0.9995 right_x=0.3092 right_y=-0.0037 right_z=0.2018 right_yaw=0.0912 right_pitch=0.0157 right_roll=0.0069 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -4.8752, 1.9214, 1.7021, 0.1832, 0.0562, -0.0122, 0.0342, -2.0855, 7.0632, 1.9414, 0.0464, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe158748fe7594398e9414d53ecab3c0356f3b77496ee9c4bd98a6702365ae48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f2995284b9529db44810cc74244c1d81c720142536ca5a85b6abbb9c67c81d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabee65bf5426611a1c0d562c2eab2307b90b56982a82c08d4ee6ce4eb643039",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 8.251 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.6566, 0.4065, 0.6746, -0.2535, -0.2588, 0.9995, -0.1402, 0.8593, 0.6922, -0.3599, -0.1967, -0.12, 0.9984]\nstate[eef_state]: left_x=0.3747 left_y=-0.0753 left_z=0.0304 left_yaw=0.0118 left_pitch=0.0076 left_roll=-0.0697 left_gripper=0.9995 right_x=0.3119 right_y=-0.0055 right_z=0.2082 right_yaw=0.075 right_pitch=0.0423 right_roll=0.0064 right_gripper=0.9984\nstate[joint_eff]: [0.3761, -3.5897, 1.7162, 0.4957, -0.2418, 0.4615, -0.0122, -0.1846, -1.6068, 7.0496, 1.8877, -0.2466, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The yellow pen is now centered at the fingertips. I’m closing the jaws around it.\"}",
  "call_id": "call_YhssyhlN64JLfA7JA0TI90qD",
  "id": "fc_0b25b765aaf553b6016ab2e527889487d0a6b44222fca5ff21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YhssyhlN64JLfA7JA0TI90qD",
  "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]: [-0.1234, 1.8084, 0.2428, 1.0542, -0.0959, -0.1501, 0.1596, -0.144, 0.8639, 0.6914, -0.3843, -0.2111, -0.1352, 0.9984]\nstate[eef_state]: left_x=0.3578 left_y=-0.0237 left_z=0.0037 left_yaw=0.0223 left_pitch=0.0537 left_roll=-0.0704 left_gripper=0.1596 right_x=0.3091 right_y=-0.0038 right_z=0.2017 right_yaw=0.0913 right_pitch=0.0151 right_roll=0.0071 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -4.9162, 2.3043, 1.536, 0.0757, -0.0513, 1.072, 0.0479, -1.7436, 7.0222, 1.7216, -0.105, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7b49bf83905d8cb63000a88e3146c276df41f31a2e33687ea562ca46bb94f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82980afa2f7105acdb9fb85233a940c43580244486a8d0ab486663dfbbe49e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b21d80d957ce96e813233d7a32a99587925ef6c3ff10c6ca503bd23a582a27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 8.43 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1345, 1.7824, 0.2672, 1.0283, -0.1284, -0.2024, 0.9995, -0.1432, 0.8639, 0.6914, -0.3836, -0.2104, -0.1349, 0.9984]\nstate[eef_state]: left_x=0.3661 left_y=-0.0231 left_z=0.0142 left_yaw=0.0668 left_pitch=0.0783 left_roll=-0.1053 left_gripper=0.9995 right_x=0.3092 right_y=-0.0037 right_z=0.2018 right_yaw=0.0912 right_pitch=0.0157 right_roll=0.0069 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -4.8752, 1.9214, 1.7021, 0.1832, 0.0562, -0.0122, 0.0342, -2.0855, 7.0632, 1.9414, 0.0464, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuUx-iDsutdIQH5hGzO-kgWJdqjnzJ5JXGYBzkfEukixNHRcAjK4BWPCL1FR_3xQeXKjEkTuJXDf7Qa0v1kkhCHbscXjldeVL7VeDu41uDOr-6OfaZ-Cur6d5BUSDoScK0Iyyfb1c5GlwGGlbshYlPdM8jiOGzdpnP6MW22PH1D-To_8HOQn1ADbvbont804YwuNFgiOxyJ5ILuvFUq-UErtk6el8SyB4BpOtMWa1Sukn5klKgMzU-VfrUT062ARzbqFsaqo7MwsIOKKaWA7BQx_F2zFr4h0WgMscJULd4WmE0nWElCn9NmVd9UrquSeTS8r7X2f1oT66Dil7UiQODNlYen_NxgyH4VJhecSo8HZkIAQYxjpwHSb6SoxY7tb7SymrS3AvYSRI2U29xJmsbH5OJ6O6QxTqj-93K8u80nOm1ow7neINKbbSVD3H4zGd9K73feMahi6mARFrWotWOijZPnvtxv9boNmMeo5fkBITXvmGczpQ1SWMGC9c3zXomoIybaKv66SM4k142sJ2FlAwvv2oZkheO5-BG9nbgkBsYUtMGldeDBdRGZHavD0FamwopyvQL7JS4ni0UZvFgu4zB1zdHgkIPKHjE7F3ZaAB0ZcyM_fviRp_TGgt7AecGELblMpqfaVsHJN3JgH9agMjzTWyZrYPed86DDZC3e_II8cNwULVhboAa7zS8H8Rs6PvKMyDmYPy-kT3DuB8Z4W-rgyYiRv83YkpdXf0kc6iAIxKjhBQTgBsfiCxifcRFDXEGR6J3aSQLS3IxbMFJ9qP5Iuo0DP1R8B-NazDjPlj5nYr4ixUg7TmcYREP_ffHaGzHpnefxXMcbKi9KCViP_C73wzKgtq5dz3pqmN2kYIN3MCM2R400i-aGLvtZv-_29So-6iT9KEaGPlZeVRMT0UUFxfXSl511bmGNOkicQT4iNxmm6ZIERhdlRlgss59mr8nE3gQ6NVd8dMRDLfckSKX7U9q1aguE2CgRGOnokpuvHIMw9CLYr2CZOM0tEAmzTb8EihIOxCI6AzyrLyRILKw33-7_47L-1An7irAOUqCrCCm016UL2pLMJaTLGKhK35T4LoCx3sp51ccCVScTHAQhibJ6Zv3d2q8I80w5x0c7SV2_6LZETUUIUDV3CTvf4M2e4DgTPJE5vFRB_p4cUPIR17m9cQwa8-ANTRnBMUEjHFSgHoaOrsdX66vZin5B8hgC9Qi-lAGSf6LnTfRIjc5ZndJWWzGDBczzGrjEVetae0iiXbWVBGLSI-AdpOL743ufAfQZYyp7m8T5RnNuFa0utsMO1lZmFv-Tca6OplGUAMThEn4r0CbNtj1t3llLg3UkWKHNNesK6wfiwzZmQQQvHx5hUZheUleHpkWy4-WG4JfWveZCNOSJUGJQ7oFPSu_v-no7vPZiDcBlJq3aZiOte0HrO51lsNyJRFYGojV-sEZm_DlMsY8OIbfuM6JMW4Jdp-0Dd3hKYqG2fCnD94B-WM0sUT_MUYyuX4tgjW5FRqfwMr6DqHLqclOnk8xArjdEfxHFDRFsUlM5vE4g7cXblhiMLtabzM-eNDEjRUWnW8zYgFRapZpRNZrUp4R1P6w1kSviCC2AvjAfh3Um-A3J16cKWC4lqBuFWA1QDnNZEElFsoBYS1eahCgaxMkScA_OnscLddkJukPtRWr_yMkwzlQRVLvRzdUJq8J3agmlMDptK54-K7IPFQPmF-7Phqs6O7lyx3nfJzN__O5adNDQqNeJ1JZWj5s5ZuuWYgZ6cPNMjLwtl4bP287dzMWgWRbi6XWKe6Er_RO5_N5Us2A==",
  "id": "rs_0b25b765aaf553b6016ab2e52bb63c87d0a53a050bfea4d274",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The jaw opening matches the pen barrel. I’m lifting the yellow pen to confirm it clears the table.\"}",
  "call_id": "call_JBcvicsef6257ci0tXsQDs3m",
  "id": "fc_0b25b765aaf553b6016ab2e530675487d0bff4170e15deac86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JBcvicsef6257ci0tXsQDs3m",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1238, 1.2758, 0.3664, 0.4294, -0.0967, -0.1566, 0.1601, -0.144, 0.8696, 0.6907, -0.3847, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.3592 left_y=-0.0239 left_z=0.0947 left_yaw=0.0263 left_pitch=0.0845 left_roll=-0.0804 left_gripper=0.1601 right_x=0.3095 right_y=-0.0038 right_z=0.1996 right_yaw=0.0915 right_pitch=0.0084 right_roll=0.0084 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3692, 8.4581, 1.7265, -0.0415, 0.0757, 1.0379, -0.0342, -2.2222, 7.241, 1.7363, -0.1148, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8b71c8e10737e55738c65498dbd8a0d9aaba326457c809a62215cedcca4d70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9991fd40091eb16ef616f0054d51e74d02df090d9c97a98e82fc4f1a154182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1789c442a3d1f52eae5cd91cd3d7665a0ebd51d118199530ac29726ced9bcd80",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.083 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1234, 1.8084, 0.2428, 1.0542, -0.0959, -0.1501, 0.1596, -0.144, 0.8639, 0.6914, -0.3843, -0.2111, -0.1352, 0.9984]\nstate[eef_state]: left_x=0.3578 left_y=-0.0237 left_z=0.0037 left_yaw=0.0223 left_pitch=0.0537 left_roll=-0.0704 left_gripper=0.1596 right_x=0.3091 right_y=-0.0038 right_z=0.2017 right_yaw=0.0913 right_pitch=0.0151 right_roll=0.0071 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -4.9162, 2.3043, 1.536, 0.0757, -0.0513, 1.072, 0.0479, -1.7436, 7.0222, 1.7216, -0.105, -0.0171, -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": "gAAAAABqsuU6ziQvqLie1XVJs-R-yS797XStQ1Mdn5gW1FhYNGSiJ9TbrmdGPThNJHFmCalFtv1wsoSqzhBViCvTJm5XDHWPGZWm1mmITTrXkcFU5jg5o5y2Ypwfd3f8TzK92j0u_eT374845L31yvzvgZ49dFAjA_FjxqWbe4nZWBMT1eYOfGP6mQ_X8ufvUx7Ul4pjUF9RJUpscjx1pkK_bKIRl2NJ855w3HPGkTMPVXF4CjJxwy7DYGhWjW9GKOFHeSGMwn4W2Zf2SBybR-U_LTwofQLIs1F3So1UIuwLxqk-sIH-kwwUmt7CHY_J-bAhEoqK49tlDPUs0HiQsVNM0YrGPPzKPJPakouh5MVloSkBQH6fTP0vxPgcQ8qPkPUnU5_BUh2sw8XTgV0ps322KMHglXQYw4xyacEiWigtl3jv-hhG3hk0mUWaHLAPt4QnoYwrWSUigXhTAosTdBnHXTSG4W-x4Jnk_sBGW2Qy0G1SKRjxhMkT8HrtemOMV_n601M7gWnAY1lOjvWzzpS37E1Gq1RsnCEt9akLqHvr4DuBTrzZ8CCVcSAqo_NhhlV8AReJtEZ08bTNE5uK_LYAtwF2_Qbu01FRjtHcpU_D1WHl9SYFyuxJOBzSPZtZV6pulT_HR7nMP_OYK6unlZf9pwRIIour3Kr3r0Wc1C-K__k0I_G9BrXUAgbM5sdZCbcaQWsdiLPrW7xmhuKgoSI6UwjfoaSqzo3yN_TlRBMZvC12TQZYVm0tjBowS3fpWfKa6_yTFmJaFdUoDDA-VOUbB4bDkfaIki2iR8tub4cXsipWZ_-k9Ewm3m-2gvnhcB9s-ZCU8bBA_y3xlw3zRVLEjrL8D22TcjtBR5Y53b-GCtMqL3dBJXW-zCCZAYySH6hvfOEU5DKT8SQGcTzB2LpbY-G9OVetsZd40dD8sdwPSfKEv06TplUTePwnnhW-y7VPkmxCwUIS156Tw-f3sDvyp1G7-ZKCSqzbsiAgUdOqHS-9BRR6h9OInga6eY_l0Tj7m2ePJh4SRj3yp1MaKX8IrEs3MT2owZG3Js_biSMaou7AYJ2KGOq-myyB844_pBHFI7JVQJCbEHZ3Gx-Rj7K1kDbwSm0iR083q_zwvJhTET8s2ijTazDhFwpXT6sfuAdg4cCAoxNrkJEsLR1ydjOn3ifVPsAFzyT6fXfvZgaeV014krFPEu4lv2i4PbrDDbfAGsCzCZ0U093vwL9Ii1lJlHiVmWRaCnJW56lqgbzDdO9Q8I39LIbFJBmIzMTlj4wV7C9xJHE1AQh6mYxc5oTbesTDO1xiNRVo3MX6yoUrEgxNP0fBF90S7wIPdMzUVuPFPZfeQeYOzvwZecz4f-bDFfcRaAUkdhKz6c7ALFjt58I5jsNQ_RXNsFk6HAoS_smn3waQ1-1M4_3i2WUHpCtRu6iXx-ryjlzMfyew0TO2M8gmu9ErkfarfpJx4vak-Kn3QAG4chBj_SBOU-Z_rb6LXb1aizv8ETPEejPmM6ZEeC5J_V2afV9kVRy_1J0uMYtksLAH1v49JE4meEJWVgzdEkZomLqJDYWJzPfr9TQL4_WmeEEuIM93Vf6WnxL0W7eQvXvcTWvPCvjm5oKSgq54yRs5TxGDo5Sikwp6cu437q19zDmhT5KkQLqT2N9AEkL3nYXFMMvQBZ64x6m_pcbyxrKB91KnWMsWX0SGkgOyC-klddtO7aUIkyfk4v3UlDJyjlf3RwM6n9dUETAG4-9WOg1O2XC64YWEkRokdVNVqYrhXLmcfC58Uk_rjOIjxfzpRLLmrIq-FyEPF0AfZ6vKw109CtahmMBvolnhPXC74QML4opXfZlPylngkonZV2G4MDruk6eUT3yyXt_mmUev2sjGee19o4tuH4UtXjnzuPu2RtSbMTo=",
  "id": "rs_0b25b765aaf553b6016ab2e534c7e887d080908e623752c301",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.39,\"left_z\":0.24,\"left_pitch\":0.4},\"note\":\"The yellow pen lifted successfully. I’m moving it over the left side of the pen basket, keeping it well above the rim.\"}",
  "call_id": "call_RcR5tJl5ekaSZfr5tAuoBbNJ",
  "id": "fc_0b25b765aaf553b6016ab2e5393dc887d0a07f97bcebdf9312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RcR5tJl5ekaSZfr5tAuoBbNJ",
  "output": "executing move_to over 33 steps (3.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8158, 2.3692, 2.0556, 0.0704, -0.7925, -0.2939, 0.1601, -0.144, 0.8745, 0.6907, -0.3862, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.5392 left_y=-0.3842 left_z=0.2312 left_yaw=0.0433 left_pitch=0.3914 left_roll=-0.1074 left_gripper=0.1601 right_x=0.3097 right_y=-0.0039 right_z=0.1979 right_yaw=0.0915 right_pitch=0.0021 right_roll=0.0099 right_gripper=0.9984\nstate[joint_eff]: [-0.6496, -14.188, 8.5265, 1.4969, -0.1636, 0.188, 1.0281, -0.0615, -2.0171, 7.0496, 1.7314, -0.0757, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471dfc0e13f08d327a0e0c9ce0a3ae075c334e2293228299c63ceffa3dda0a25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:907091f44b9c87d4a267dacc17d6cdc515b62273cc2702bbb44eab32e2728381",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e1fa255e5e70ac7e662967d6a4587caf4ca5fd9e704c348f27a8562d145386",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.21 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1238, 1.2758, 0.3664, 0.4294, -0.0967, -0.1566, 0.1601, -0.144, 0.8696, 0.6907, -0.3847, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.3592 left_y=-0.0239 left_z=0.0947 left_yaw=0.0263 left_pitch=0.0845 left_roll=-0.0804 left_gripper=0.1601 right_x=0.3095 right_y=-0.0038 right_z=0.1996 right_yaw=0.0915 right_pitch=0.0084 right_roll=0.0084 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3692, 8.4581, 1.7265, -0.0415, 0.0757, 1.0379, -0.0342, -2.2222, 7.241, 1.7363, -0.1148, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuVC54tdNR4zDGI6s4vVIatFF6tJ5iH5SqQUgSZdwEX-9ZF_t8-rdhAMB8u4lvb2bWQ0cfjxzNVIPb9P9wMElBQZQkSeW6r1U3bQ84Ny_nFgcQzLv8rZOBzTImO94jdurP3yj2k5aud0kHS3d8IcNOQK43uCQBOqi9ISEehqutOA1Tl3cYIsx5ElYBvd0FaRMSeMKy1eT_fxqgUSZjeypImL6v5sGMvQR2_46yP9-NdXgiUOM-dWs38AToFMdKzuNcxToovnmGDSEPu_rQwCS5dHbzVkALSaESDUldQHr5qadMpGS-og-ttcAGSAQ5StPfOZWAADLoOrmQjTSlYJ2ETDXKvNrzRr7psJKLCnecoDwDSqTf9QM4R1sCmBkqXzXfur9dGdESOGKlvmGcgsgB9FUA0qN2AV3hlWPjnAnhrLIyXODmYUwukdCE8RAtG8CuHHkVEbZDcpUqE_-4oudcPlLc9JvdeiBHAjAmUoLLYPQecWCu-NZqjZJr5eaX54H-E2gWZJspJzLW22aHPDi-M2G2No3CqAcCzs1yNVGiL9Byv6fyh_v-xSPvKB-0lEMRH3HK-3zM2jG41zGoPJ4v3cbrcb_fiN_SJ9sYCV02B1GYxnDCUpbdwHT_sjpOHuvCBhersYgMt_yBaA77Y2Ju3tHWQCTdeggquqM94IG4xZ97-BeObd29mwId5dt1jZJPFOo2kUyEDuNAy9Mdt4yfm5KVNRcLuU1Mp6ccmxxh_2iLU6s2O2DC1hOJsNC00BSNrRpaxWnoEmLzmDHNuqxblbpsSWu4naANnqfclOAgnBHkVTUqtHbIjgDNyVmEZijDFLTeTvl3AI2G7XpJ7wfEyf1VUFZ4jyImaYBqTNg46PWWRtFCOgUMgjrfpnvhvNArvwtHZz9bXuQ8_WX_5E9NW3L3qNhAagpXfObYgTGsMGHLDY9KORhxt3beNIotBKpt9LCrx1tFvvdKbX25suJAvSHS4p-7uxNhlnsrdiKE7uxwjtVKHdwfB-7TWYmGhmseDKoPHe6mBimgthegaoJDga1fTNKXGWhSAFFqm1V3cOX1GeE0gkh1UwBwlFImF_YyVsuMsaOnqxMFAuvJVLwFFEOBvUN_DFIzw9VMyXfAaSHgUzroflYu8p4U6h-L-u-5YR8S2_xgjdvZ6a0roeZtHKKtHTtJGXyBxqimybfWFHGc0AIuf2DnUwGCXjqbdQOAOnDzV25ElTx09XuV5K7DqovNG9BsDScPBopbcibu4WseZPwG07EoUWdQng3VdIoukJ",
  "id": "rs_0b25b765aaf553b6016ab2e54068bc87d0a25b540412c77209",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_y\":-0.4,\"left_z\":0.21,\"left_pitch\":0.5},\"note\":\"The pen is near the basket’s front-left rim. I’m moving farther over the opening before releasing so it does not fall short.\"}",
  "call_id": "call_ADuS6jl44jP0oPfJrmij8QXU",
  "id": "fc_0b25b765aaf553b6016ab2e5412a4887d0b25c1d8caaa6730a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ADuS6jl44jP0oPfJrmij8QXU",
  "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]: [-0.7876, 2.5755, 2.2246, 0.1856, -0.7967, -0.2249, 0.1601, -0.144, 0.8764, 0.6907, -0.3862, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.5752 left_y=-0.3936 left_z=0.1941 left_yaw=0.0613 left_pitch=0.4465 left_roll=-0.0962 left_gripper=0.1601 right_x=0.3099 right_y=-0.0039 right_z=0.1973 right_yaw=0.0915 right_pitch=0.0003 right_roll=0.0104 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -16.4991, 9.4564, 1.873, 0.0562, 0.2369, 1.0281, -0.1436, -1.935, 7.0085, 1.6923, -0.1245, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b44026e9bb9923a46f3d6fc0a0c83bb5997c5e53e9a68c45f406e2f49cd90bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:080860758715fec0ff801eca8fb4986008c2194b51e004ccdc2163b9424b29c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b58fe786b9780579b1a992938678290744196136c4203626ea21edbd17b3856",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 9.98 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8158, 2.3692, 2.0556, 0.0704, -0.7925, -0.2939, 0.1601, -0.144, 0.8745, 0.6907, -0.3862, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.5392 left_y=-0.3842 left_z=0.2312 left_yaw=0.0433 left_pitch=0.3914 left_roll=-0.1074 left_gripper=0.1601 right_x=0.3097 right_y=-0.0039 right_z=0.1979 right_yaw=0.0915 right_pitch=0.0021 right_roll=0.0099 right_gripper=0.9984\nstate[joint_eff]: [-0.6496, -14.188, 8.5265, 1.4969, -0.1636, 0.188, 1.0281, -0.0615, -2.0171, 7.0496, 1.7314, -0.0757, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow pen is now over the basket interior. I’m releasing it with the other pens.\"}",
  "call_id": "call_AGy8Jao23lUPZfHGgVBt34Dh",
  "id": "fc_0b25b765aaf553b6016ab2e54580a487d0a18eb4dd9db8e7c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AGy8Jao23lUPZfHGgVBt34Dh",
  "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]: [-0.7841, 2.6259, 2.2356, 0.2268, -0.7868, -0.1909, 0.9955, -0.144, 0.8772, 0.6907, -0.3847, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.5805 left_y=-0.3973 left_z=0.173 left_yaw=0.0361 left_pitch=0.4477 left_roll=-0.0616 left_gripper=0.9955 right_x=0.3101 right_y=-0.0039 right_z=0.1974 right_yaw=0.0915 right_pitch=0.001 right_roll=0.0102 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -18.0308, 9.7436, 1.8046, 0.0073, 0.1099, -0.2271, -0.0479, -1.7436, 7.0222, 1.7314, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4016a0d8b23adc61a6e22c723d941898c70b0bc4bd5c01430774148e206c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be896f64d2c17655e6893a35e3e6525185d9173ecd6b1142afcbb8dd9edbbee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07aae5f0f6a094dd65870122fb57b0359105c7c8526dc3e1fd5bcdff86eea546",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 8.683 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7876, 2.5755, 2.2246, 0.1856, -0.7967, -0.2249, 0.1601, -0.144, 0.8764, 0.6907, -0.3862, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.5752 left_y=-0.3936 left_z=0.1941 left_yaw=0.0613 left_pitch=0.4465 left_roll=-0.0962 left_gripper=0.1601 right_x=0.3099 right_y=-0.0039 right_z=0.1973 right_yaw=0.0915 right_pitch=0.0003 right_roll=0.0104 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -16.4991, 9.4564, 1.873, 0.0562, 0.2369, 1.0281, -0.1436, -1.935, 7.0085, 1.6923, -0.1245, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuVRHZ4NFAtt1YDtMat-H48CyxhTmknY65i7Dwjp2XQq1fKpOXiOk4LDS9-ycKthdvDmdY50NTD_cezfS-i3O7LUsIKKwv10OOSsQUfP6Z2Lkhn1RmNaNK_0bMEodw5cf03xZ5nvgd5n-uPIC7Ff-zIEpAp6LfAAzCl39YePTKdwh0sIoQA_XPK2OiNcrWjobo5OmHSm3ZpgTMyXzkIYBU7eSFnler1ZEXrbY2ozrwxHVsTJVAxrwxH1BaTUsoapGurTBq6xCz3h3iSDwXbCqsRVbfHstdrSQPHmRnTYby14y4ji0_-Ia2-QD00lDqpSamUn2hybbjz9UGmla8PpzcjLaXE6KLa9Bkrg6QXRBPEHhCKwABdRF9dO_7PT2fb-2D8L0QNTIvjyudzfJDKco_YbHtA8gK2E1q-bwdfV-9QAEpwhzg5ksN47ScNlp28nDtcnyj5hFUaGGoHiwq-T1eU5JuISgmSdnWygGgTpbNaSuzHKJ2F4qRK5R21GMPH3P9ycCTC0XySypWBQuWbRraJQ_N8vT0B0AkLxrgorHVfPZOwNr03ltkC3BMTbgD-VkyiPkHEI1caLC8wbjGiR1flk4O5ap7NzidIAWpx_5HbCNjIHqTjw_KB0WItdYqlvxIRrybl71_qvd20bCw-Ebtom9jZ6gZsSiV9xCIBxjE4Rcutm3NyWn6IGdvwka1TBlvQfLY917Amm6oW4-4ynPjzDMLCrHg4V1Sc4AwYluHMIq0eMwO_9YQP8kPbiGvJFqh-DrfCY9qJNfwGM27nLXQlVdmEl8I9a3xpLtrbljz1hIbfSutsaPoEUQt5XADkIYt7hgAlioqK6aHMfjYmBP0ymS6GpUgcFHI2heKg5YEe8sPNHx4muvGmFuEych3QkThPBCz56DcKxABGTlJnNK_PCqQmjO9EtRMl2cvRf2gI3actqUBD9MEpC8UEGo0WCXWXTmzxYhpCD66fLNN6OXMR4KmSmru_EkQ8NLRARNzunBM2BPplOzNm6pG8NbR1viHfNDdgGs2DloCPcmvhgqgPsX3EwSmIMxJ799lJ6ts8PdGMbJ4VNPBPCRv350hmva7yQ_Anv245gSOxAAhj0nBpl5dVgXDyfIRnkMOTJrKxlO1HvwFktFnzakcHNN3QEDpXmLZjTeERlW0YxudjPqX8xlMDy5-Tv4FvRsUSiG1MnUrNM7iVvsCZnmbI5fxw6JCN-mNDGGBfBUVsXXb5z6SxMQEaz5mTDfBsyv-rcNqRzdck_x_WpfafvZUYtCTHVN5I94UFTwiriyVgrAUZSeXwdfF2VMi8qE8cvrWRCxy3cDGgYWKQUhKCbpK37Ll0uVa7QXfFG5HduKg-FQILPqeQoTjFEGwMFzuiZNdOpXYzDfcqgbWA1wF3kuxQyle7FWqc3RWujfeAm0q-Dqp3p3rKEKdrO9fITKL0u61kQdo7nSwPQCH68y8OfJQPx0NhgqaD7J0ompiOhQ6nD3AwFuR74y4vO2_jYkv234NuoAnBj62FcOVIAGgqSTPQx9vH1SJ_XTS6xwZ8SUxwD_TvjMb9FLuHGi3g8SZ5OaqsHcZTlubxfndbWEytm6ogw5fDRBWn_ykKEah83nOnGD_5Du9fnQ_C59fBjRsZ2uO4aHfhQ0K-3RWJrVlt5GLQNkWeMnnvA6N0qvWIY4qtKRP6_AyyfvIyBqtYMhJiW6nUKwaFj-xU90MEkUGvv6nW1q2tlOE4TbppqlxbyLIB_Px63mevS9alIIzCra8GwFUTqkAnanLdNmEOmVWKRkby_3HoRSVEibf0V60LQARzXmqveBdV7qfEec7hSvM4QkZ-TGRJhNeciy0GntYrXY6tzACq_sayf",
  "id": "rs_0b25b765aaf553b6016ab2e54a18c487d087c2099761225ae2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0.035,\"left_z\":0.12,\"left_pitch\":0,\"right_x\":0.39,\"right_y\":0.2,\"right_z\":0.12},\"note\":\"The yellow pen is in the right basket. I’m positioning the left arm over the gray plush and the right arm over the blue pen that fell short; these work areas are well separated.\"}",
  "call_id": "call_4U9Q5j7JDGxX0SUhhIn6WMY0",
  "id": "fc_0b25b765aaf553b6016ab2e54f139487d08e6b32cb6747f5e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4U9Q5j7JDGxX0SUhhIn6WMY0",
  "output": "executing move_to over 39 steps (3.9s)",
  "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]: [0.1078, 1.3724, 0.6266, 0.1905, 0.049, -0.0586, 0.9968, 0.6319, 1.5814, 0.8108, 0.0906, 0.4191, 0.2783, 0.9984]\nstate[eef_state]: left_x=0.3965 left_y=0.0378 left_z=0.1189 left_yaw=0.0818 left_pitch=0.0082 left_roll=-0.0624 left_gripper=0.9968 right_x=0.3796 right_y=0.1933 right_z=0.103 right_yaw=0.1178 right_pitch=-0.0536 right_roll=-0.0216 right_gripper=0.9984\nstate[joint_eff]: [0.0889, -7.5282, 6.106, 1.5751, 0.2027, 0.0659, 0.1148, 0.6496, -6.8034, 9.1419, 1.7411, 0.4176, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096eb716f9947d68d4241737a26cd712786653a394a4373e9cfeb4b785d007e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf791c701e19e6ca4f154f288f42a30127fccc213443e5160b7dbef37086e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb50fdfd23cc8aa3b8f9fdb3b85e2c007605e581d73c68b6f15601bfd7ae7d1c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.353 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7841, 2.6259, 2.2356, 0.2268, -0.7868, -0.1909, 0.9955, -0.144, 0.8772, 0.6907, -0.3847, -0.2111, -0.1356, 0.9984]\nstate[eef_state]: left_x=0.5805 left_y=-0.3973 left_z=0.173 left_yaw=0.0361 left_pitch=0.4477 left_roll=-0.0616 left_gripper=0.9955 right_x=0.3101 right_y=-0.0039 right_z=0.1974 right_yaw=0.0915 right_pitch=0.001 right_roll=0.0102 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -18.0308, 9.7436, 1.8046, 0.0073, 0.1099, -0.2271, -0.0479, -1.7436, 7.0222, 1.7314, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuVdgxL-C8aW9RKg5D_xcTwU7oUNfbDXn7U1Xg1HPrYJKjIbT6A_snNdyoIuMpozeB03plWHfbXONmZwhUlQqWILMucoR_SoXiTPDeKR7HQ53s5wd8VWkL2rmla6v3vG70s62CpSjrsn2rxzuim6y4hhRubEajjVEspuaaGbJCFFtHo4umeKoTfIiCIoalU9pu_CPFHek_5F4P1DA4n9VnJW_CKioqCR1q2nQXWlCCS0mn4LOBST3zfC1NGUc9coLknYVO7d-_1RyFyvujMDSJReuOHv64KMK-GMbVtKP_UUfLGuVKO3cVrTbuZl55eOwLwPRkf5iImdeUlnKPQ0oRVuhSm5OXD_sFyhDySuTXCkaJP3ASRmnl3u7dA1GwaYWTD6-SnIeqMGPiWBY6OzGmjDx7DmFHvjLUKHvdrzcau_Ln3g4sN3pwt4DLT62Mwfl0BXOi4nBtcwhMliuPchCaAvr-kPjV7rWS-K4qJFWF9EFS5arPr8EZ-XWi-2rHEZ3ZauCvMMreBykSfeKHHPqYXwQZXVxmXaBdfWgLpXl-RwbRekdwzHc21yudAck2pjM6ts4OPYRLBueU-kHoaBIGKCn8BapdjOac3-dADldmh22UvydX_dfd3xoaVBdxhyp5JzRttsE2cnVM8V21ECWU1qFvYWSVa8b5oIQFsQauoTWZmRKVnfIx_Y-orSGHxb5dKUC4gRWdl5VJ0m2izfn3tB3h7mFonT30fWVGCRCBYvcco4y2pDKLp0YAhUncpKeLk3AezUCSImoffLLD_X2mFu4bZ--jhh6WEAymvCY7sP3Of_aEpeFYGjmhREFEOGAnF3LPMC5o6W29K8PmtyycTvDU4aF-EzRd9kXta8QNTjBocZ6wBo3VqjSALvhIB-AAi6VWG_vXwwjdNAWqJBfUb2vx477pXIH4hxo1szzKo3mM4PA9RR1N4XyyucrQJClXCC-IlDzWDBOeN48KRv93AqbZpABQSk5mSXB-hk_BKJhA_FW5hFx7UsGF4hGC_YODdqk5lgtPzenztw0yH5h9OpkcffSZTSBsrTnFMWnjdo1064vCwKldIiBNxterE7TFbAgnoFz0ZgH0-5PgGhMkH4d6-OnAoBSd67siHv02vfCfut4ufEQgpflQI3CQK3wgZEFsra2NXKHj1dCG31O0OLdnJxX7xC1LkywE5H-ec6y0giZPQ8ZaPye9fE6nY6iCQEp_P0e76oiQo81FO1f3W8w5B8qSuz_JStPVV7cXRhaXUj6DXvfQn4cTDGXkLHigYcP5S35pjYhQ8gQf8LT3pB9o383J_k2JPCxMa_Abk3KN4r7hlMZsgiq81UNjR8eA02HntTDg-YUR_P-3omwwPK3bYDunyEkD1lJ4ia2I5UHXO44-4cybT3CA0ptsE0arM6XH0gRNwP1c1gtoVJKFRTY5CsTeNn0GBnSUzMor6ibGzZpB_GluAqsgesXlcZtZatULtCbl2UfZa2srnOQUxgjsIPAgaZodSjZHLdvG75jshMqjY370kFM9537ltRpVT1cu1gBqc1cSEdsQkltNWjDg==",
  "id": "rs_0b25b765aaf553b6016ab2e55816dc87d082543e6fff55a0c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.02,\"right_y\":0.213,\"right_z\":-0.007},\"note\":\"The gray plush is beneath the left fingers, and the blue pen is just left of the right jaw center. I’m lowering both open grippers onto their separate targets.\"}",
  "call_id": "call_MX1jIFphj4UzYLyG542VZaJl",
  "id": "fc_0b25b765aaf553b6016ab2e55bf4dc87d09a1507fc2db37210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MX1jIFphj4UzYLyG542VZaJl",
  "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]: [0.1062, 1.7, 0.4747, 0.7662, 0.0238, -0.036, 0.9968, 0.6743, 1.9205, 0.7189, 0.5594, 0.4534, 0.3164, 0.9983]\nstate[eef_state]: left_x=0.4125 left_y=0.0434 left_z=0.0545 left_yaw=0.0895 left_pitch=0.1045 left_roll=-0.0284 left_gripper=0.9968 right_x=0.3884 right_y=0.216 right_z=0.0162 right_yaw=0.1128 right_pitch=-0.0106 right_roll=0.0113 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -3.8496, 2.4, 0.5348, 0.2222, -0.3834, -0.0122, 0.7863, -5.6274, 4.0547, 0.4957, 0.0855, -0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39646182a72230d9d7671b0d36d77f400759057b5b9b60024e1e3e744519be0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e7f69259a01c33a90bad9a19fe6d8cb59e92e1fe25ce1dec90ea4e67fc8f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b58e68eee15985066abadb60f777de151aa62a2f87cfd61cdf2dd2ac1a79bc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 7.353 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1078, 1.3724, 0.6266, 0.1905, 0.049, -0.0586, 0.9968, 0.6319, 1.5814, 0.8108, 0.0906, 0.4191, 0.2783, 0.9984]\nstate[eef_state]: left_x=0.3965 left_y=0.0378 left_z=0.1189 left_yaw=0.0818 left_pitch=0.0082 left_roll=-0.0624 left_gripper=0.9968 right_x=0.3796 right_y=0.1933 right_z=0.103 right_yaw=0.1178 right_pitch=-0.0536 right_roll=-0.0216 right_gripper=0.9984\nstate[joint_eff]: [0.0889, -7.5282, 6.106, 1.5751, 0.2027, 0.0659, 0.1148, 0.6496, -6.8034, 9.1419, 1.7411, 0.4176, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuVi0S7JgmnQ06c2muF9mZcFVeZFQSayL8VOYwBvIr-OacLStDfUcvD1msNRpeovlR0C8xaFnce2AQY8hZALwABUwslYp1SIrG_AshKBBj3-DreH5QAS_G6Um-bJkHkAjLiuGQhO1PkxIIzdGVKxQHFFz5xc51Q1hj2fpEnC756OfXLEYg2SuPtl7MYnwLjityD_xTY-34wNM5-VSzq5g32oTRc0JMSFrNpkqLvoQQIMq7q7YmHBoqHiENhOO-R0JPIW30PrbW3o0GAwJ3Dngg6Gm9wCu1hpuVRHk9ewIWyPCoW7WGXZgt0LKA45rKaeQ6oAO1Fe5zZu3nVRqsHqxs7zsjOnpNsUrwuEi9KXsitlNqNyBA9_HHrKzRoThjljtjx2We-seE2mKdvLE3zWBfIi601pzWC5Y2CTZNGLGtn1ZN50BCyXwejIlyr_5tEo3nTgZKM4nq3dWT7ypd1Jq6Vqby_j-9vcAvOc0vq_uMG8CdQRECIwPcFlSUgrhHPRMM0zWCqXzXBaQuV1rH28QLoZWBjT0dinu-eANZ-9-BCA3ki8ZaBZOncCGz-OIMjrEMx2W53trhctMrSc2EXDbc0Cmz9ET5Hehm5opD3CZf97gstUP9dr0y_HNAu2voW81hXsEoCtxqQlKXQb8faMgH5CqZgQjVGrudySaJUW3_JyFKlhLjioxF--o0ytJSknm8z3YjfnIU-F7vlB0ssNBHSHotp6ymCn-MbHG5MeilIM2mKUc1NT-FLAR-ffdMn1M8vEb6QRk20T132WKWJmi8zqwLd3TsQpabBfqbugwZEN35gp1hIZT0DMKvYq5kFoL6cAQnrm56CiKGy6MZtG55tcg4WqjM9p1PmcpZ_q_pfVBZEtSbIgYa9XpMKrA-CW4S5yr38kgP7Z1xohGz7rSuZ_oG-gUfC4WR3fQhHZgRtBvvZzYWwPLxVOOnzVPl1PlGXqXyvwwISUQ_jhXuHcqM5SHWUvbKfg3C2KB2cdMLI8Mu2nMlvtT32jEsGktZrDyn4fzBN15VfiWzmzObTdVvijxvznW6kad3mFdrei9yTvKG7pXVF9IhzZqB5meOE6Q38EIfol5NDeNjPFxJbAZU6DGWN4c3iLxyT-KG9wntddmpNpiHgkKvYFsCZ6xDUCGH2jQ2p3D5i2yqkIJzDqj9VAdtOchgdRaalkH342Hp14cmJX1ch_AfFBwfDvWjI6QNlZzXxV8LcJo18QNzy3K_y8woxTQ1PS1lbvxAgELLj1krXZitaOkm44DrrDqsxyAWPVbyF6-UzSbAKI-dXHRRdSAA==",
  "id": "rs_0b25b765aaf553b6016ab2e560ce2887d0b136fd46ec511b54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_y\":0.2,\"right_z\":-0.007},\"note\":\"I’m closing around the gray plush while making a final small centering correction on the blue pen.\"}",
  "call_id": "call_aRwmPgizjqliG92b2FKMSJUA",
  "id": "fc_0b25b765aaf553b6016ab2e561e37487d0b8c8c7cdd34a9081",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aRwmPgizjqliG92b2FKMSJUA",
  "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]: [0.1078, 1.7054, 0.4736, 0.8284, 0.004, -0.038, 0.034, 0.6395, 1.9625, 0.6785, 0.728, 0.4171, 0.3073, 0.9981]\nstate[eef_state]: left_x=0.4179 left_y=0.0481 left_z=0.0659 left_yaw=0.1089 left_pitch=0.1601 left_roll=-0.0213 left_gripper=0.034 right_x=0.3972 right_y=0.2107 right_z=0.0159 right_yaw=0.1116 right_pitch=0.0528 right_roll=0.0656 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -6.9949, 5.0667, 1.2772, 0.2466, 0.0366, 1.0085, -0.8274, -6.0239, 3.0017, 1.2918, 0.1001, -0.1636, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:433b90ffaa2e69650ef80bc8a78ff2e9b44117002a9475735c20b63003d064f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca0e1ab6a94b2ee84c811d58a976080a0795ac94322ea9f7dcfa0cf4a12bcdd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e8e8a5b17524e2656ad6039c2fdec02c2b814c906db44627846dc668d2a83e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 6.122 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1062, 1.7, 0.4747, 0.7662, 0.0238, -0.036, 0.9968, 0.6743, 1.9205, 0.7189, 0.5594, 0.4534, 0.3164, 0.9983]\nstate[eef_state]: left_x=0.4125 left_y=0.0434 left_z=0.0545 left_yaw=0.0895 left_pitch=0.1045 left_roll=-0.0284 left_gripper=0.9968 right_x=0.3884 right_y=0.216 right_z=0.0162 right_yaw=0.1128 right_pitch=-0.0106 right_roll=0.0113 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -3.8496, 2.4, 0.5348, 0.2222, -0.3834, -0.0122, 0.7863, -5.6274, 4.0547, 0.4957, 0.0855, -0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuVrezmn1hpTg6WnKAe3PHktDIicTn3BYF4VFoNjCv2euJ8jRIahMKQhL32Sg-xtEvU5NX_j644oT0YfFKa7nHNFmCcjulgACDH6Trv0m9uPRHdLBnctXlRDzUI9u7q1K52q0NysJ4tFB_YIUYPlOB50j6VJ5R-X6teu7C93oySmGizAxJriuvRoE3XkIXkM4KFNZjxZ1_NJDYF1AXlcI1verLsDQ8Tu7VZ2EVGmjT147Vx296RupFAhAldKDR9wR8nh2WKu8k5JqyinsPVCb1zBrs7oQdntyRIT7jMPJ-13RI8AnjEGsu6CPpwt2C8nuCfawaeieJDx-Bw0oOSKhNik0BcN5aTM_XaktDDepu8H0mmdjLG1QxzfFwThQIa5wfPpZADBKi_TxRoc4ffRZ-CRnL5aZGN9P4Ye6DvUamfgsAbzzsy40TqscMH9kmdxO58THujb18vKpsQUIllKuKWx3afIzP_8ijpM1Hm1g8SllqvAhM2UA6sKE6lZOUGpi1_Nq-r3krbNykxYeQTg7za17vpTQnzjwtTDt8HzgNtTi3b38eFSNZaTBtuRBRO5w4xSkqgyizTdLYTDFHDC28h_r8-2MqutjWmFQgQsB2pa0zFyesXS5wtZtDJvAtYRfYgegBARFzeCqsU0IoAj7mEGAfnyD8JGB1My4diTE5OetgIaBbGPhfTxPK47xtJziq_5WuAxZjG7sJaqhimY7Qgnv9uIiSplgf4_kuE4axYxVW9uN1C9Zvfoe-1nwOZ_7p-Lx5tq8uAp15_kHb9pS5H8un9b9psgru08dn6d9nmVCC_UTGjHQwQjMDFdxSkg1HIklTw3tAPJO9fHsTPH_1Q4R5HX5S0BspunoqSFW34jtgLtVL3Vjr73YCrTkP00e2ahadBegK92VM3ynDXQRUVg_xUQnD868Z45rm11eMMyvGpSkRUudWdb7NRJV6JP0Z5hIjthZec_dYNrIF740mNhq93NIIKd-MbMIMwTT4eCTsoGbEZfhSQy-RyLgPoZhUJrjX1xkUHTVyY6fkQO29TdtaryMcAfZejKzLFB3xoVuW9ygKq9zGtJt-u1-2nwLy4lXr-kG9R5V65Q4eWjoqE4CKZABXeWgihUDTvgYWxGa1so9uBTaa1sL0U7gVlrqZ8qRPzFK2nP1uwN5f6JW-AqhcsG6pPHoKoxE28NW3YH6qLBxBmlkNba6S8EttxZAV8JWaD6gTgQYNmNeUMFubXzoTkUKx4Wrkzu_yVigOHNzEDzT3LdmpIhqPcfjefl78vKzwMVztrnE-hbk17FkY9W37hzHql0-jNq78tcGJnCS_TYavlJ_yA-gTEvUnHC0GT3ftO8f2kumVgLHkh3-hFywoHV-h37zk7XQ7Z8o8kLNLfkvrCnOVZR80n4j8Q4YZroUH0b24mXMRzzbxBF1xqMxDWGqPVJ3arMWX2ASqVE7EKyIzkuDOvJxPatcGxiho7D17ADD3_u7AfMj5x3CbLwMEjqtYq17x6nt_2wPcsoYVQ=",
  "id": "rs_0b25b765aaf553b6016ab2e566f5b887d0bd8de3e303a3f64e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_y\":0.035,\"left_z\":0.065,\"right_gripper\":0},\"note\":\"The left gripper closed empty, so I’m opening and moving back toward the plush’s thicker body. The blue pen is aligned, so I’m grasping it with the right hand.\"}",
  "call_id": "call_AxZQkF89hYhA70tSqbWLyUWa",
  "id": "fc_0b25b765aaf553b6016ab2e5694df887d0bf5829b419ea9046",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AxZQkF89hYhA70tSqbWLyUWa",
  "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]: [0.0788, 1.4719, 0.2272, 0.8543, -0.0051, -0.046, 0.995, 0.6399, 1.9686, 0.6758, 0.7464, 0.4107, 0.3077, 0.158]\nstate[eef_state]: left_x=0.3562 left_y=0.0326 left_z=0.0681 left_yaw=0.0921 left_pitch=0.173 left_roll=-0.0253 left_gripper=0.995 right_x=0.3974 right_y=0.2124 right_z=0.0158 right_yaw=0.1169 right_pitch=0.0594 right_roll=0.0737 right_gripper=0.158\nstate[joint_eff]: [-0.335, -4.8342, 4.4239, 1.6972, -0.1929, -0.0806, -0.0073, -0.3761, -9.1282, 4.547, 1.5311, 0.1197, -0.0171, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc11e98b1917e9f3037a3c78ec53f68290612c9eb561ea54a69bfff68f0a2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd74101e9738620592dc6a5a57859880b977d7a724267fe99f0d18ec4ee78bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb324cc728c62a6166c803fe1122c4389bdbe11c86f994c3dad5f958d0484481",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 4.661 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1078, 1.7054, 0.4736, 0.8284, 0.004, -0.038, 0.034, 0.6395, 1.9625, 0.6785, 0.728, 0.4171, 0.3073, 0.9981]\nstate[eef_state]: left_x=0.4179 left_y=0.0481 left_z=0.0659 left_yaw=0.1089 left_pitch=0.1601 left_roll=-0.0213 left_gripper=0.034 right_x=0.3972 right_y=0.2107 right_z=0.0159 right_yaw=0.1116 right_pitch=0.0528 right_roll=0.0656 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -6.9949, 5.0667, 1.2772, 0.2466, 0.0366, 1.0085, -0.8274, -6.0239, 3.0017, 1.2918, 0.1001, -0.1636, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuVybY13EOg1RhUVdVBbLMJKYa6qH2fx6zWU0Zv3Ki5kJ2FCvAol2_grwUBAwk6K4IuC2nNvHPfUunGMK8kGqvmOctyukEtsgt8ss6VBZSEaOG1Ucv0K9TeSATSA1NIkan7cIXOCaGgvUdKoyneDt4I75r3WUm4sXTxfKf64lPyOXYuId5tm7DljQtTt5ju1L_GHOqcCaRWVxcV_jr7M_n5O2_o75LumKbyAmRoxqv6CHkYNYsfuLpqRf3ndTJmOc_KMt1nhnxmofofLBK1caCpgb7d2XKcWgG25GgcauQf5gzgLtNcU6sbcoU40sqbgJflN_2k9tMnuITj9l1_UViNwn3kIgGXohF0930MNP-BcvFVCkmsAB4kzO8jdeQxW-DvripZ3bmjaliZ3U21up-wgeomqsIYx3cxDGbYCMcX1hYbGvZY1OArPg9cSxZBGhZ4l0GJXyIRpdQ383-vPbI5XPACRELdW7XrWUGObn5ZlzzhBiWYv2VJBbNkPMgvY4qQKZqkzTY20jI0fw8cf_vQEFL4d9owxb24jcqSkVoWpud_WLG_OtY9916LUXaE3u4RFaqiv3kLqy4oAENyLzMrrRjh_0y81w1uNDhVj8VgdL8-OpWfJxqwIDTkY2JUP4a3-LtnXzq_MCHVCSBqps1EnrOAQ7uyVXwSKOE_zUIcCpvDH5_iNEV4uBtrwzW6MFygcke0B2o58BwRlnh8hxsb2ecS7_kRpHiZb0EPeujf7by92WOQXqjfVlqW-BEsX1n0QPJLj8Gp0ED1nmfBHse1hIGYJ2FWCWSDsnGHgOwLyi0cm7fb0IdI_dy62-QtIs03J-aFzDFbfJXgUER7KZbWJYDNFXNa1THyjLfS7Kk2D8-_novvbbwJP5sQjdkaxf9_iiW9_urwsow4q5U9DzEvYZXcWZ7H6TGPnlMZ99nw8Se2I1uIi4-17xfyu-euZYfvsIAXoh1QcuvzDsOl8jBGQeAU8Wxfhe4Fjrax_KGrjB4OBwuiEEV44cvxuetSiohci_Oj0v87CeE5Zl-m0sfL2hryO4ctRoBm4EsaPLUnlrmuoKcHZS6d0eg5e57zaogbXFX4fp2c9e-JxbuB4C4Osu0D0jZ9lEbKeX_jPFxhe78GdCSWXt0EBTl8ySG_56qin7UR5q4yjHx-YEFH4Wd-STtE07e2ry1T0vSJ3p-ANd8q3dSumi_7yzrjQjv27cdRIutd0mC2CnMSwJk0Uh84VdCbiQ2gxgiMYlhCycGBjhp2pB9ynNfzOj5ULAoeBeteELVFlIbEY1aDEK_h0hJxXJL6-uE91VtiqB1dHoSbrb8o=",
  "id": "rs_0b25b765aaf553b6016ab2e56f26fc87d0bf0b2b4be0cbccbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_y\":0.045,\"right_z\":0.09},\"note\":\"The left fingers are now over the gray plush’s body; I’m lowering around it. At the same time, I’m lifting the blue pen to verify the second grasp.\"}",
  "call_id": "call_GaaKCdhYtu7g5vdfIePU7AX8",
  "id": "fc_0b25b765aaf553b6016ab2e570b3b887d090a2b8726a4cf5bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GaaKCdhYtu7g5vdfIePU7AX8",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1272, 1.9331, 0.2161, 1.4666, 0.025, 0.0116, 0.9967, 0.6403, 1.7416, 0.7277, 0.4763, 0.4023, 0.3069, 0.1623]\nstate[eef_state]: left_x=0.3735 left_y=0.0469 left_z=0.0468 left_yaw=0.0819 left_pitch=0.3128 left_roll=0.0235 left_gripper=0.9967 right_x=0.3962 right_y=0.2134 right_z=0.0769 right_yaw=0.1243 right_pitch=0.0649 right_roll=0.0811 right_gripper=0.1623\nstate[joint_eff]: [0.8821, -3.7949, 0.8274, -0.105, 0.1978, -0.5201, 0.1538, -0.212, -9.0598, 8.0342, 1.7118, 0.1636, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a6348f010b3827da942c6a7c2ba5d4d60e3153394dd1f010e5fa38f0df6a17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb6ada83371176190fc0bfc3a91055526c1509445901c3a5c99547b103a6250",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def00c61c4ac810234cd03975585ff470155b6d7a524f912469077ddf16126bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 5.723 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0788, 1.4719, 0.2272, 0.8543, -0.0051, -0.046, 0.995, 0.6399, 1.9686, 0.6758, 0.7464, 0.4107, 0.3077, 0.158]\nstate[eef_state]: left_x=0.3562 left_y=0.0326 left_z=0.0681 left_yaw=0.0921 left_pitch=0.173 left_roll=-0.0253 left_gripper=0.995 right_x=0.3974 right_y=0.2124 right_z=0.0158 right_yaw=0.1169 right_pitch=0.0594 right_roll=0.0737 right_gripper=0.158\nstate[joint_eff]: [-0.335, -4.8342, 4.4239, 1.6972, -0.1929, -0.0806, -0.0073, -0.3761, -9.1282, 4.547, 1.5311, 0.1197, -0.0171, 1.0183]\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": "gAAAAABqsuV3pdBgJLFRvsiPeVnfD8WlCgPt1bfIKENa-j3GRUAgQDGNC3XRri9WQ8RRSq6Bw95pPkkJQooNE78fRyd-WTAJtoUqUH7pwVNa5M4b_VfINv2Jk-y7BTQBwnasIagrbDLIqVeowZeMNFS94HdROJCi5RO1U0pqn8l0-KPEq2i57kqmb3Ob4CCJ635twmBwtIlEhUjXUsSsXjGUZdNsRmmOCqwnRXmFkM7Dxnk2nQQmmK7tsX243tM7jgS7vLyEb7mXz3ipcXd6c7aVwSHsyHN0UrnE2qKh0z1o8Z_yvGefZnvYwN05E1U_hYWLHR3ETRVr4tLZ_vefmIS47B5GOVZOBlui6pGgGlHKk4L4odDjTdXZrdeJtZ-nwqf5nLRh6m5QRHFrmpCr9GC320loEslj27w906yb6MPipG2xFmodYzDXFdlQhzmEsbbfaf6CLRk4bN89EZAHGfxupW07bqr8RXYjPyanDIcxhiqVB9ExL5lD7_LX61CM8bt8bCn2RP5WV26aXRDkFfb06c7-9Pr8iCN2X8gxxXw6IwKwd58zPEc3sBxk5NRj2TX0noFd2dbjl6wzV-bhIVL-UhEcUFyYmRVE7R_BcxVZPt5BqbzRKRVcaOdX65sXgdJrpnFUaGucr6BLHOOWX0a2xZZg2K0sZmdTbqPEib4HmDwZ8nnNFDAP8r3cwtd6IviU9TA4ESh1uSXFd6LybdL3p6iUB01a1QJ-hU3I7vRZmy82ETqwvGfBQ0L2gM7y43y_e-x_7X658nj5aGwmuqunaeohB6Rc0Lny5Sa8aEhC3axfErKOmTw08yEr81wn4YVZHB5p9msZxua-wOa8JxBDpgfWJtXs2TI_WLumv8oq3PQMhw00Ff51TXdfU4KXw446NI8SPHLPYPyT0psDbMQ3y5Iu7vUg0SR1uGlZ7Gjm-StMLVQt-_yg-euXTjqEcdVlY7Ydb1pRDErvP6ah-iBFNjepAf_Pj_BVgOCylav5FWhIvpVOBdnHsniAdAP05VdZN8wNIdQAHH1FAFTYi1v_ve7TGj7T3pA_hYgRRyyjXCLQvmaT5bVb6xhYuHXIPYJkXmVE6YmD2OyRHwBgmRzzE8vPAkWRvKMaEzFgG0_PysreY1dvcfN0UzMkVpQEmUBumxUypd1GL8iLw1uw0L_LufwEkjinPLnkx8tweS1HK6eTNvXegIGJy6tf8oslNKkd-VtqFjEvJw6IgAkv_uiy7WgHTBFBNtexkhZqvCZi_NDUpbbj8gA=",
  "id": "rs_0b25b765aaf553b6016ab2e574f51487d09d679e601a085dea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.58,\"right_y\":0.2,\"right_z\":0.22,\"right_pitch\":0.5},\"note\":\"The blue pen lifted successfully, so I’m carrying it farther into the right basket this time. I’m also closing the left gripper around the gray plush.\"}",
  "call_id": "call_wiHQyJZx0iT0ikajSzfqIic8",
  "id": "fc_0b25b765aaf553b6016ab2e575ecb887d0b4ede7b5c0c4bc8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wiHQyJZx0iT0ikajSzfqIic8",
  "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]: [0.1287, 1.9198, 0.2176, 1.5158, 0.0147, 0.0105, 0.0729, 0.3969, 2.0483, 1.3109, 0.6041, 0.2203, 0.0738, 0.1623]\nstate[eef_state]: left_x=0.3771 left_y=0.0498 left_z=0.0639 left_yaw=0.0924 left_pitch=0.3768 left_roll=0.0275 left_gripper=0.0729 right_x=0.5702 right_y=0.2011 right_z=0.1942 right_yaw=0.1325 right_pitch=0.4266 right_roll=0.0669 right_gripper=0.1623\nstate[joint_eff]: [-0.3077, -4.9846, 2.1949, 1.4383, 0.0806, -0.0317, 0.6374, -0.6769, -11.6171, 8.7453, 2.1416, -0.0464, -0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa4d58ae3da2f8a5e2737eea6c9c1e9f76f0cb2ac3f56974f1401be04d028b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c7846db2634e3c079378b088489c5d5378c839934d433fbf8f765c360e1a67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70cd831beea91c263c0597411d4f91ca100c63186a86b9fe99022aeaf41e4800",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 10.44 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1272, 1.9331, 0.2161, 1.4666, 0.025, 0.0116, 0.9967, 0.6403, 1.7416, 0.7277, 0.4763, 0.4023, 0.3069, 0.1623]\nstate[eef_state]: left_x=0.3735 left_y=0.0469 left_z=0.0468 left_yaw=0.0819 left_pitch=0.3128 left_roll=0.0235 left_gripper=0.9967 right_x=0.3962 right_y=0.2134 right_z=0.0769 right_yaw=0.1243 right_pitch=0.0649 right_roll=0.0811 right_gripper=0.1623\nstate[joint_eff]: [0.8821, -3.7949, 0.8274, -0.105, 0.1978, -0.5201, 0.1538, -0.212, -9.0598, 8.0342, 1.7118, 0.1636, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuV-gDV9CI-UzyQ9z8eUk_QB1KqNNkp5sCxdLFb6PYEhrpOi423a-AY2bk1BWDRsZxbVv8ZWRijExNisOX-fm-7jvQ78010SPT-4u5QmWOkjypLsJOrRq1gYdwDuXoD3FU236wWCVaHUv_7PPZnwC3bbyWD6Wloj7XkkCGtz-jB7q4XeeKmNuhxTSOC-3hUssHJ_yX7ys4vr9bWkwVguYJ_ab5rGucOXvmAdBwlzRN17Evk9_lzAFtqtPF88lV7eQWI9shuNCpgJMFj0tPRFodConjjDS4txeOTFBfEW2TdPGYmtsG-vXS2TyYBwKaA1j-R8CFD4TnRxUd2n2fz9swqzgawLaixaIcXfJsXs-nrzEvkW5YeFB5GcyNJN92eLNO7gv2YVKg6bFhMD3b1G94P8xgDHeHUxxDZJZA83PHsz5gxC4VLHZfmEjoF6_Rb12rcoOBZKVqyjpvshdVE98pTt3IeiGJY45u6EvPj_x4F8MSmgWskQNrZVIpAnQCnxoA85Yn6pNbpAz8UtyktwYO2vPGNKn1-s43D5vhplz4Mq5A59Vhiv6Gw66XhOFDNUWhd75k0tUeducuI0Pnr1ql5UQPJRKZ8mEzops6hBKhx0mOD67-Rs3TAZZ0pdriaOxhgW8jmzsFSjQyhVfMw90KKGiGinno1hPglDGqVcYgcb_RsYo1QzGOijMKTtfZzMHjkbZYe8SA_6b6OaWRi5T5PxWgVA8jwTwZ0JWBmn3YdGhpDpW2fXwUgjsm1tsXtRzwb1PfIHGAlCNunA6WMk7brGhV1TWSgFGcFptGUyTZm_P1kt4IGlxuojKB0x8ZhKxSTuTL9H6XUlRN8aW3hWbGMJvcFQNZ9tklrZFAtJ2T--5urzU391BohT24knAXonF2nfaSheJKBPNJ4Xr2vwrWOee5SP9lFYRVn-uTfK2xjztB9OmeTa__qKFvHktsOgIob6CoycRkTRSkgrFuEKtO5Rmpo-ebHUIsTvXdVB0SXzRLg9yScRNaAF1FyjYH-wmxagZ4r4IbTh_tr8DlVmaGW-p8L0-ccEIsmIxP3yDq5lW8GYLYXuQ7w9XHWZnlCcM2tQcTbVLvyUaVCvmW4mMkLptLS2AyCNSDpL32SdU5HXKiYEyjMPwTzj6ZYcqFnm71IN5mJ0bKpmIBd9ADUgqdAlbM8nGYvRLpOZGNhyGyV9fKVTe7X-y-bDoJ0iArMWx5d8Xpj6QGvX1lQ8K2PEBKBi9YAg6XzTig-wCN1APfV8Q4A=",
  "id": "rs_0b25b765aaf553b6016ab2e57b5b4887d09e0ab3708f9deb6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"right_gripper\":1},\"note\":\"The blue pen is well over the basket interior, so I’m releasing it. The left gripper has caught part of the gray plush; I’m lifting gently to see whether it is secure.\"}",
  "call_id": "call_acG6fZAoFP5jF5EZ1BQsk2qe",
  "id": "fc_0b25b765aaf553b6016ab2e57c548887d0b5927626df2bebc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_acG6fZAoFP5jF5EZ1BQsk2qe",
  "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]: [0.1287, 1.4002, 0.2699, 0.9333, 0.0109, 0.0071, 0.075, 0.3931, 2.0556, 1.3136, 0.5957, 0.2077, 0.0681, 0.9952]\nstate[eef_state]: left_x=0.3728 left_y=0.0499 left_z=0.1281 left_yaw=0.098 left_pitch=0.3662 left_roll=0.0243 left_gripper=0.075 right_x=0.5712 right_y=0.2013 right_z=0.1891 right_yaw=0.1451 right_pitch=0.4139 right_roll=0.059 right_gripper=0.9952\nstate[joint_eff]: [-0.212, -5.135, 7.706, 2.044, -0.0073, 0.0024, 0.2076, 0.294, -12.1778, 6.4889, 2.0049, 0.0855, -0.0366, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f88b6deabc77d9cf59bee51c188ae45acff3ff504b71d2b022e3aebb7263883",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461cfb49186bc921faa705e9b62d69b5b4e8f7842c1c3195b4c642ea40fa782e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43efdbb0a1f9faaed785f3549b0b8a2dabb22416e94c0255aee6eb480db880f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 8.603 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1287, 1.9198, 0.2176, 1.5158, 0.0147, 0.0105, 0.0729, 0.3969, 2.0483, 1.3109, 0.6041, 0.2203, 0.0738, 0.1623]\nstate[eef_state]: left_x=0.3771 left_y=0.0498 left_z=0.0639 left_yaw=0.0924 left_pitch=0.3768 left_roll=0.0275 left_gripper=0.0729 right_x=0.5702 right_y=0.2011 right_z=0.1942 right_yaw=0.1325 right_pitch=0.4266 right_roll=0.0669 right_gripper=0.1623\nstate[joint_eff]: [-0.3077, -4.9846, 2.1949, 1.4383, 0.0806, -0.0317, 0.6374, -0.6769, -11.6171, 8.7453, 2.1416, -0.0464, -0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuWJaAeODqW8agySCq3tloq_WbN271VcRsQuvftsfIof1pYhrgxmcBQMpEw4iFRK_jraNmC-nKhqSFnduBWyQOg0iEB-KesBpV0aOqSi_QfJbffBukcTEBMhI-rWhzz329VV_Zr0QXSaQNpL-AGLqC9t0RRxiHfhb93CBzIEcVnFdlXN3Wx1A50sEAqNqDHqrMDfrbcrTWS8zYQNkpMlv-BQb7OssyjXJtVDRRkoC7NSR84fmJH3CPS4wdg9KITJvpEP7dLY7yB9PrDpNlghpH2TgnVS0wpP1gkTCP-APdzG8z0MKOGpyC502B1Z1m2lhYY0G4DCzGVcMDmpdXEMzwPg5EVGOgZrXGXWlbJ8tqzcKDN_C53n1lflP335G1hDXDrwxGAg4Eut2_PRc0HL4Y-lRTh4vM15hp817XAjYTW9RX3gLm5fLRiRqpSkhsFA3Jmi9JXlD_r_ckhP10GzagpTz-Z3n7k35Dv0dRkfwROBmftCpOdiwty80W3fs8jhGMRfLCvujuEOnHiCSrFlJEz5G0b3Km-W5I3i1V0vNOxnHWxGmYhP82GPFx92kofR6CjozG-kxz7yQAvUTKuhdo6vgSU7lgNeV_opIx5-a188ulKwOSTCwK05UiBVfCRYhnyf1IuHEAkK_t9L7DrApe2g1B3JbWnxCY0OUBq20gVJdzXA1bDpvBImLWsw0c2Si3kK8M1PJsBpBpjUijkhXL_lHoKre0w9pgv988iRRHz5QbR_FllDJpiQ6gU15hv9Ezx8Qq4bTnChHdY5f0oA73_Rf8OO6vdctD0vaK3DcliRrZDaJX4swqPPp1EzVhiCyflQAwTJlf4lYIs7T2ocj_vPoDHn9hBnlNo1k-Q_5ufSHFEB2Yv8u5tecqMISqvvi43GR695cx3_jwB-jgylTIr14QmtZMrZuo45T9KiEgjR8krCL7RJca58-RISJ3gYNV80-eAyUlMlO7smhsFLfHktHvNdEI2ZXfuH8P8rVGz1yd2bi00F_MgjJor_Y_ozbrXF_t7zEPUBTbTPf2mxgX1Nu-YJnvh0vQllV-v0WcZ-gcMcUjs1Y11__tHXcK8yQJm77gLLi3p1e4fs3XkV8-xSJYO1Gt0yBkt4L8SzamrtE6BRwNEPVR9ovmnXgQ3aQI7vpv-WFNJwpurg1mcElM6OayhvEA4IeuCO1RvnGtSF8Y2oIxSi9Ghos6d_HJFYW7Yg5rea7OMcHel0rEZqh6xFS0b-GGcR0uFK4yLJ53k3BWSfplHpB7-I34jUMUDYY5qLVaECkDFxF74m-l2KtIMuqMc_E5FDvGdWibqc8bO46mAvpmKGvCyFVT1Mh4gjnhABqsTzydkTrRmiXNWds3SbgA==",
  "id": "rs_0b25b765aaf553b6016ab2e585fe3087d0a5167727702b089f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.13,\"left_z\":0.26,\"left_pitch\":0.3,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The gray plush is moving with the left gripper. I’m carrying it above the left basket while parking the right arm clear of the workspace.\"}",
  "call_id": "call_kLtUjAHOqNr9vZmodrw4H5wx",
  "id": "fc_0b25b765aaf553b6016ab2e587727c87d0a422039f72d47c85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kLtUjAHOqNr9vZmodrw4H5wx",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3862, 1.8118, 1.3518, 0.1337, -0.4763, -0.1383, 0.0762, -0.1802, 0.87, 0.6807, -0.3462, -0.2695, -0.1169, 0.9963]\nstate[eef_state]: left_x=0.5362 left_y=-0.1268 left_z=0.2408 left_yaw=0.0874 left_pitch=0.2741 left_roll=0.0331 left_gripper=0.0762 right_x=0.3126 right_y=-0.0055 right_z=0.2042 right_yaw=0.0946 right_pitch=0.043 right_roll=0.0469 right_gripper=0.9963\nstate[joint_eff]: [-0.5265, -10.5094, 9.5521, 1.7949, -0.3101, 0.0317, 0.1099, -0.2667, -1.6205, 8.4718, 1.8877, -0.2418, -0.0659, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3d2a1eb019e8e9fa659066281aa54e407ba36f9bc2d9edaaa76de48aa37aa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444fdad8b8af183105cb87c14790fc4bdac517cd5e8ce4566b710d47c45f83d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daba041bdc67d434c5c863f768bba0ae392a5b241ef48b75dd73ddefc4a69ed7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 7.44 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 104 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1287, 1.4002, 0.2699, 0.9333, 0.0109, 0.0071, 0.075, 0.3931, 2.0556, 1.3136, 0.5957, 0.2077, 0.0681, 0.9952]\nstate[eef_state]: left_x=0.3728 left_y=0.0499 left_z=0.1281 left_yaw=0.098 left_pitch=0.3662 left_roll=0.0243 left_gripper=0.075 right_x=0.5712 right_y=0.2013 right_z=0.1891 right_yaw=0.1451 right_pitch=0.4139 right_roll=0.059 right_gripper=0.9952\nstate[joint_eff]: [-0.212, -5.135, 7.706, 2.044, -0.0073, 0.0024, 0.2076, 0.294, -12.1778, 6.4889, 2.0049, 0.0855, -0.0366, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuWU2r9gPe_AOiTqV94aFjyWg1u4zBI8pbUjB0CTMmm6NC5T476i-gJ2uQDzk4Klv5jXtizDjHoB10E3b-LlWwgdpQwpJ8_d7XOn73tbloIZ0EiaC6oOYB_KdNuUUaG-y3f-OviU6qDvAAr8hHc3vG0SB1r0lTmfhWnXsyIfefsKsirSs4gI1w30RAw45-MUBQeklY9Gk4TKEQafdTDPTqR62sE4vqcxJp_vykHbSSyhel2nfEJHkjekdx4fVS7oCJcFTUfy5c9JGOO5LcXAcVoSAe9PgPLzW18UiMyUqk8wEowZt9z5vXxYvdL8hYlIgAW_cHkTc2fuQnD1c7chqHMpYO2DirS7Y6U2YOkY1y315r0qje1_Hv3_HEsTuSMOPrWgZa-WpwhGZ5mPcezmOTWJ5M__9YVyFCAn5QADMNyTG2st273DMQ0bQAJIcEP8M9Mxoz-Dq2ZHEBYcn06aZXoATXd3fLb65PPv0gznrcXOKdHPRgAVRm_aACAHQ_Nck0Tu7DVzBTMf92GhT1yTIUbJKx51QmMrj3T2CkqzrUrfUl7q6RETjPR2C92e2um6ICptqgqfw3Dpb-palk7GKtMRj_nRuPiHcInumjxyHjIU-3trlqrkuI0X9A4PLv-ONKPfm-eCitSIrE9yjiyoRWciGT3-mZviokPRd0l3okUZUlUmq4oVzeMtJA7Hdc78a8ECexLjTXVu8nZprud8qyijjW7tNWFTJHkbmkdxLHjLSGaiHXV4bHl58_hjtpXGsvd8gMxwj2CLRNMbGtIaQI7MyOlixyQMIKaTgxTcYSfuKep7qgD1taIYI--5JV2gLNE37z3QrjPBCf7lzDASKAEn05Z7M83LuNOf6qHcU8Cbt-DTOuztBxRU1av8QBFv4-BYywP_bzIK638q2JCL6bYNuIrbepYX_al1W8kn7BVKIYy1mWnpl8RellW0t6moHLvC0vDyuQLfE5waHBgb2scZR3r5oHGI0hECMjxvuRvN8QhxvP3wfkQzsdxuyO0VJ8h_0hycHinsb_xNvdjNauYzcXOfJEhinR6yom3EchaZX9AXqzoCNO0O2XwmKKoslpSvT00nvYuOSyki24fN0CFVS6wz1q5AEfRvG8T6B-adPm9MmkbqyYHl4-rHxNDfs2ei4fxC7PwBDtQX4NzXl89msWB8wmCCzFqCJ4lWZHRNBDaya2XA-O7Qbu0Gqla3Q0s2-GBbw4GFpt5Wuv6dKO1Sv6eqCDopO1LKR_3ImWbZJxccvvHHO5zO3dBAkjrv9NSi8Fi_hSoE9UbIyTVU5NNDsw==",
  "id": "rs_0b25b765aaf553b6016ab2e591a24c87d0b7f531ab913a33a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_z\":0.2,\"left_pitch\":0.5,\"right_x\":0.33,\"right_y\":0.34,\"right_z\":0.14},\"note\":\"I’m lowering the gray plush farther over the left basket and bringing the right arm toward the remaining tan plush.\"}",
  "call_id": "call_wl71QnsWi7KiI84qeHBtXxQV",
  "id": "fc_0b25b765aaf553b6016ab2e592a1ec87d08ba0977c9aa23c6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wl71QnsWi7KiI84qeHBtXxQV",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 2.0464, 1.277, 0.659, -0.4862, -0.0338, 0.0764, 1.0412, 1.7851, 1.1339, -0.1226, 0.7334, 0.5854, 0.9964]\nstate[eef_state]: left_x=0.5763 left_y=-0.1268 left_z=0.1947 left_yaw=0.0973 left_pitch=0.4652 left_roll=0.041 left_gripper=0.0764 right_x=0.327 right_y=0.3317 right_z=0.1286 right_yaw=0.1232 right_pitch=0.012 right_roll=0.0171 right_gripper=0.9964\nstate[joint_eff]: [0.5675, -10.3863, 6.6667, 2.1514, 0.149, 0.0611, 0.0024, 0.6496, -8.8, 8.8547, 1.3748, 0.5885, 0.2125, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b393baf7c23b4b5f19a797348baabd2996a54d80bfdd102a8894cf077cd7be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb2c40b06de55e99aa9141eeccd800f9871e3f50cddde418f7b2442803d9b00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eef4cb3172c052715e15ed7272135eb31d3605268774b8ac35fdd35a1aacf18",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 5.247 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3862, 1.8118, 1.3518, 0.1337, -0.4763, -0.1383, 0.0762, -0.1802, 0.87, 0.6807, -0.3462, -0.2695, -0.1169, 0.9963]\nstate[eef_state]: left_x=0.5362 left_y=-0.1268 left_z=0.2408 left_yaw=0.0874 left_pitch=0.2741 left_roll=0.0331 left_gripper=0.0762 right_x=0.3126 right_y=-0.0055 right_z=0.2042 right_yaw=0.0946 right_pitch=0.043 right_roll=0.0469 right_gripper=0.9963\nstate[joint_eff]: [-0.5265, -10.5094, 9.5521, 1.7949, -0.3101, 0.0317, 0.1099, -0.2667, -1.6205, 8.4718, 1.8877, -0.2418, -0.0659, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuWeTcp1P8VL4YoL2teUvcvkp4FGXP9aEtAQpXVigqgW-h5Gboqwezmx8i-r5WsGbeUalrkS8-EVJBh4mKJqIYO5WQqIX4SE5RRD9e1tDZ9rXUXkQYK-6nmf9z9fZwXJvLjbbjeSCFr_vyFoJoNwYHWdgKbAqJCq11f3I-76z91Czt7sBp7qiYEmj9wwo55SudKO6xjur30s6HTGTSArZxzka8SAUJ31zOHou4VnO_AA3HIKoPDbsx2cU-xd2a6EjYWQf86Mi4TidlXlvErixaITFfG_5BwVKLgusZCvfOXguxeLDAs4BfrhkKe80rd8hvCmmen3JZtx9l30VEyj1VEhbpGD9txwArYR5rsD0Pti59yqZjCcjXIEA1hsVo2B7qbtad3CMkJdVtpFXeFAR1yNbk7EKeEgnAfLAWAOKRHzTsoP3iHnzMt9JqVLVVDmSWd92fipuCXcLLuUOoseckVykApw1TcRoEQyuHMcEKIUlpkessvUxjoBQhc6mGbOsWEdsYV111m7WNWRvS1iEAgfIYHy5h6WIvn-OruTU_waXoXQKGYQQqD1MDKSyuGR-BZzJDBY2kt0BRWLnhqN9kvpGLMJvwv6zVDXHF5gm6Qn60pbM3UQW4mOStBPi7HLmRQuf2AAsFlQSN1UrQDjtlx25puSfTGvg6y6NYTS7tQYYG7tTBuQNd7qA_p7q-52slmOXijLviB9OVQ2TTuOowyCyIor4UgiyJGzCWoh9PnV6KKlTmA6Yxjk32_BNjpZl46d7HjbzwA0IsFaFZYfl47IukdzC33iadVnUUjDIYRmSLrc-27SKPt2d0YAP1Ps8kYV6pTcvk1uMMMX-NOKbd8dXoAma70HXm755G0fPNTd1Otow2ga-eA_zFxAU1pcXyYXajP4VXGQ6OvGpke4E9xm2Y_8tXFVnYw1HjWS_aDP-QL0vViZmjVek4xegxtUBozghk5I8kLSIB1kfogEWoHpZ5Z7QjFuEpfCnIuFnjpd2CUsA3ydQ4HkSsjr7PmXI2oAJ9TzcZgfEzSma5mK2ntEHFqrowbC-sHXdATBwNL3Zer1E4RIQ4khyR-Ey4aAVOjVxj2kayMvBHEZNk6LGlzjAIHm2-BpYSbvGzSma_3zWQk5fvn0TZdQiO1yPOgIuEBllDnGTa-VEotSx77x43uJKAd1-2TQclEzkb8sYwSpZeRPp-pPZZpjNkfOWJypqW7VmVdjlPGYmeRJY7g7eUGkJ-dRD2ggASYOp5h2CfP_6rzqVbSQ0FG-EKtNqLPNBiktYqPqqYzgLl6LwIsUhHJkdEmvGelXG-4B2_h0VCkeo7W5Wg30N2wjY2hHXHnL3HFAm2Ve4dKlXEz2vqzfknQkux6MmCTwiKuCw20za5_D8GxNHFGtzmFekpg91NQunQvu-tz6b-kLu3E4dypAuKRq-NTV2fU0BvSawJ9HL5GE8jc=",
  "id": "rs_0b25b765aaf553b6016ab2e59abe1887d099cd79ec527532a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.35,\"right_y\":0.35,\"right_z\":0.035},\"note\":\"I’m releasing the gray plush into the left basket. The remaining tan plush is under the right hand, so I’m lowering around its body.\"}",
  "call_id": "call_eoVZAv4bqqxM9NmUc4KgNGRk",
  "id": "fc_0b25b765aaf553b6016ab2e59d393887d09e35d383cac24416",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eoVZAv4bqqxM9NmUc4KgNGRk",
  "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]: [-0.3592, 2.0552, 1.277, 0.6647, -0.4797, -0.0399, 0.9954, 1.0168, 2.0228, 1.1061, 0.1963, 0.7341, 0.5499, 0.9964]\nstate[eef_state]: left_x=0.5777 left_y=-0.126 left_z=0.191 left_yaw=0.098 left_pitch=0.4624 left_roll=0.035 left_gripper=0.9954 right_x=0.3519 right_y=0.3507 right_z=0.059 right_yaw=0.1158 right_pitch=0.0459 right_roll=0.0283 right_gripper=0.9964\nstate[joint_eff]: [-0.5812, -12.1778, 6.5436, 1.7753, -0.1343, 0.1685, 0.0073, -0.5949, -6.7897, 5.2444, 1.243, 0.0171, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7bfb0818ce5891d9bb0bec5f5016e313c89f18e13ab6631e4d2134db4b99f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d20f5fec9785814b7ef81b07afcfc673d3b1a6a0b31211b3effa5d6b3adfea89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c08a63455fe5e9b58d0139194c281d7aa130e438138f28aae557ac806737a29",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 7.676 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 2.0464, 1.277, 0.659, -0.4862, -0.0338, 0.0764, 1.0412, 1.7851, 1.1339, -0.1226, 0.7334, 0.5854, 0.9964]\nstate[eef_state]: left_x=0.5763 left_y=-0.1268 left_z=0.1947 left_yaw=0.0973 left_pitch=0.4652 left_roll=0.041 left_gripper=0.0764 right_x=0.327 right_y=0.3317 right_z=0.1286 right_yaw=0.1232 right_pitch=0.012 right_roll=0.0171 right_gripper=0.9964\nstate[joint_eff]: [0.5675, -10.3863, 6.6667, 2.1514, 0.149, 0.0611, 0.0024, 0.6496, -8.8, 8.8547, 1.3748, 0.5885, 0.2125, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The gray plush has been released. I’m closing on the tan plush and moving the left arm away to clear the basket.\"}",
  "call_id": "call_OfmcpLt5yGiDOuoS12CwzYnD",
  "id": "fc_0b25b765aaf553b6016ab2e5a3412c87d09fa50e7823c23b99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OfmcpLt5yGiDOuoS12CwzYnD",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1585, 0.8658, 0.6933, -0.3515, -0.2638, -0.1421, 0.9967, 1.0168, 2.0243, 1.1061, 0.2188, 0.7521, 0.5236, 0.3299]\nstate[eef_state]: left_x=0.313 left_y=0.0002 left_z=0.2099 left_yaw=0.1241 left_pitch=0.0591 left_roll=0.0205 left_gripper=0.9967 right_x=0.3545 right_y=0.3505 right_z=0.0631 right_yaw=0.1157 right_pitch=0.0686 right_roll=0.0144 right_gripper=0.3299\nstate[joint_eff]: [0.2256, -1.935, 7.1453, 1.8339, -0.0171, 0.1343, 0.1294, -0.3624, -10.6051, 5.7368, 1.3407, 0.0269, 0.232, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:771df2d84e2d4b3d4e12c2eed6f28f89f9ae3f8cddad6b8c4b83d0d2fa51fed5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b5a38c21c925e2d0073565cfdea94a35763735f070cb0290069005abbf3ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30b125b4450b3f4d9499d00b231b99bcf77e86dcc250719bb7fcb4455475c8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 5.27 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 116 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3592, 2.0552, 1.277, 0.6647, -0.4797, -0.0399, 0.9954, 1.0168, 2.0228, 1.1061, 0.1963, 0.7341, 0.5499, 0.9964]\nstate[eef_state]: left_x=0.5777 left_y=-0.126 left_z=0.191 left_yaw=0.098 left_pitch=0.4624 left_roll=0.035 left_gripper=0.9954 right_x=0.3519 right_y=0.3507 right_z=0.059 right_yaw=0.1158 right_pitch=0.0459 right_roll=0.0283 right_gripper=0.9964\nstate[joint_eff]: [-0.5812, -12.1778, 6.5436, 1.7753, -0.1343, 0.1685, 0.0073, -0.5949, -6.7897, 5.2444, 1.243, 0.0171, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuWujjVexIo7-MTX16nzoDk_qKLaWUc140RMWo8K8vE4eaXL8n1EHZuVuSKnKvE4rHQPo1t82CJS9UJ8ONNSvpfZWnlE3xtS2S-75Pn6QRSMZUzpILnXoLj3xASeJP0CWS2fcAD0Lh1kvqSnT6ukSxqB4ED8YYbhE56I5sWUswbcU07E8XdIrQRdaioUX4S6ZB5veOK1YnO_L8hbdpd0Ii5YfouTj06lnq3O2_S3nhz3e3rTrrfWIUnULwsucD1E0tHagL2DN_2hSA-vwWP1232-_LnLU7Jf4_w4mHDQi6nMzMX2pbVVxLBXOP31qKbh7vqQMiANEIks5JW_YTRHntm9Rr1_ua92zF0QTC2XvbsUPlmWJT6kWXHEJjdoKJc3J1P3M-G5RFJr72Qn7dkOGlCUlWzNN2c39fxVd8Y8a9AY5QOS6dYStSOcYBomSqcT7sfwOICP8xpp7EpQuSl87vE9k9lDaPa3br2XmfFLWjOhK9s5U1SRYWbSKwMV-_2gXqzu8j7VyZVkhE9bRT9Yg-SLVSh1PIoKN3EXNf00R8gsJ9aBRhEkqAuAKoXHBULu9sQfLfqS5-3DGH_64laEEHOetN5TgCFr51HnWzGIO_0iXRjGJuG4E3A2_wqoEp3ZAsJCQsPZ6H218Kjxn-ZCnL-NJ6YMZHK-eBQou4vpX_9TXDOHXHHq6q1TtmM7jBFfOiYDZdP8H7W0VK9TNQ4umVo3Yonu855c1n7sCVFNU6h0p5lrnZng4ItbhyySnowtmC9aE_0dp1gzVjkcd-6lv2HWfdJrtnIFIEBiT2h_sgay69XciU4WWBvbCHdSz6-wiA4TjmGO1k16y_dma9m2qOq8JINKduFO28GjbSV4FVhzfHSmg7bfkcFgZwqPfc50dR5vH--pWgTmgqurCFd5f1zIzhxYssoNxsgSohMvoAYdkqsfI39Icf5UgLp4AVnoEWyQk7ax5ljGu7kOAOuNHr3PLIc7RuT0BmJo0pgi1Z1oAZMecBnfhcvOS4gcyOG9dA9hG1GiYhgnU61ysD_V0ThzXFf07SIlOJUCAmbqSRPpucm_lIdJ5-d5OerUEZpdZB5xTK0evLsmlkJ0urMumEvy3Tp5WaYKuXF1j93n-i7tPss3BzYyp6wqKKGvdD-tIFEfVQL_0nCfzFYCzLqmHVuawKXcd3j3TuX4qoGUyyE3GthUMhwPQK0Q_FXO7KC4BA07VmZ-LUe37NsCDJMb-cPD_tfTOGoe6iRFoywKkCo8D-1ench1J7vS9tFLsO3PsvyprHE7aoKm3amvFD-ZXQvVM2v9F9VNFhoYw_ZRmi1grJeZLy-A9racu46ZSZm1n1wvlHdeeizmqd-BLp1_slrkmRCd9sA03Qg-q2TBtaG1WfrPG8D-1kce_k59ITI-WbN6CrFPy4n2kelJjUbMH0W4j_G_NuKml0R7-4jDBBJb-gInLRdeMAVvTGNvvtgNCQ6F1RV4rTdZvv_ghf3rQnTjNzEciXhUo-tlBAg6mLJRbMD5WHwkhVEITnx5fC69qi8Us2ySNPTRjyJ7-LYp-TkIF7_QVulBFmre91r9V7UffV4E7rtCS0J6pwPrPGCNQwzUxuK4xC-cES46-pymA5D_wI28lLWfanTG-39d3i4oJMh2GUiKCqm-451uVJa5_KTZuiKXpzhjRQ-DOvhQdRvsPvh3AYOYGe3brsxnZDLDbUfA5OWhJI37nUFtMNeaxRDxSOrFjwSWhhxDK72NnPNCJYM9swwOdXK-mbOT0d8rOje2Z1QcxjV_CBv4mYXkMjfb9SJjZT5Lm-HeKC_O_tagzg==",
  "id": "rs_0b25b765aaf553b6016ab2e5a9672487d09d4d057bfdeb140f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The jaws have closed around a substantial part of the tan plush. I’m lifting it to confirm it is secure before carrying it.\"}",
  "call_id": "call_gPayLIpL6m598NKcYndMvrTc",
  "id": "fc_0b25b765aaf553b6016ab2e5ad9aec87d0ba1b5181d9530d30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gPayLIpL6m598NKcYndMvrTc",
  "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]: [-0.1593, 0.8715, 0.6926, -0.3729, -0.2543, -0.1436, 0.9968, 1.0168, 1.9171, 1.2221, -0.0578, 0.7319, 0.5163, 0.3317]\nstate[eef_state]: left_x=0.311 left_y=-0.0013 left_z=0.2033 left_yaw=0.1158 left_pitch=0.031 left_roll=0.0222 left_gripper=0.9968 right_x=0.3516 right_y=0.3508 right_z=0.1119 right_yaw=0.1362 right_pitch=0.0246 right_roll=-0.0251 right_gripper=0.3317\nstate[joint_eff]: [-0.1436, -2.1949, 7.3504, 1.9219, -0.2222, -0.0415, 0.0024, -0.2667, -13.9009, 9.1966, 1.5116, 0.4615, 0.0562, 0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c77e4a7ded32bad6ad580c13ec763061d5956ad90c0626c87afb182ac0e9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7e2bc051679bceacd22324407a20db0ab95191c61519b241b020e89c9b3ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f81e69b0eb4777908943c34d2dc0d62f147b9bde5a1c9b840ae94d8339cb2b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 8.518 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 119 changed as sent

message 119 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]: [-0.1585, 0.8658, 0.6933, -0.3515, -0.2638, -0.1421, 0.9967, 1.0168, 2.0243, 1.1061, 0.2188, 0.7521, 0.5236, 0.3299]\nstate[eef_state]: left_x=0.313 left_y=0.0002 left_z=0.2099 left_yaw=0.1241 left_pitch=0.0591 left_roll=0.0205 left_gripper=0.9967 right_x=0.3545 right_y=0.3505 right_z=0.0631 right_yaw=0.1157 right_pitch=0.0686 right_roll=0.0144 right_gripper=0.3299\nstate[joint_eff]: [0.2256, -1.935, 7.1453, 1.8339, -0.0171, 0.1343, 0.1294, -0.3624, -10.6051, 5.7368, 1.3407, 0.0269, 0.232, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.4,\"right_z\":0.27,\"right_pitch\":0.5},\"note\":\"The tan plush lifted with the gripper. I’m carrying it over the right side of the plush basket, with extra height to clear the rim and the gray toy.\"}",
  "call_id": "call_O97RSedItMzshesd6Rzx49ZV",
  "id": "fc_0b25b765aaf553b6016ab2e5b285b087d0bd173051333c30a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O97RSedItMzshesd6Rzx49ZV",
  "output": "executing move_to over 18 steps (1.8s)",
  "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]: [-0.1593, 0.8761, 0.6926, -0.3782, -0.2535, -0.1432, 0.9968, 0.754, 2.4844, 2.2433, 0.0898, 0.6106, 0.0208, 0.3338]\nstate[eef_state]: left_x=0.3107 left_y=-0.0014 left_z=0.2009 left_yaw=0.1149 left_pitch=0.0214 left_roll=0.0248 left_gripper=0.9968 right_x=0.5727 right_y=0.4038 right_z=0.2409 right_yaw=0.1603 right_pitch=0.434 right_roll=-0.0541 right_gripper=0.3338\nstate[joint_eff]: [-0.0889, -2.0855, 7.0222, 1.8046, -0.1245, -0.022, -0.0122, -0.7179, -15.5829, 9.5932, 1.9756, 0.2027, -0.0464, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7288a67571a987db9beaa4bc9a04551ae607aa8673a5916fba76daafffb3dd3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c7067e4d25171d05577e481e49a4ad703ca0dc05cdcf19573607a0a5b5004e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1bf413304a8bab3a6cbd9b48812cda745e42d6a73945b2665e0bbbc0adb608",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 7.688 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 123 changed as sent

message 123 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]: [-0.1593, 0.8715, 0.6926, -0.3729, -0.2543, -0.1436, 0.9968, 1.0168, 1.9171, 1.2221, -0.0578, 0.7319, 0.5163, 0.3317]\nstate[eef_state]: left_x=0.311 left_y=-0.0013 left_z=0.2033 left_yaw=0.1158 left_pitch=0.031 left_roll=0.0222 left_gripper=0.9968 right_x=0.3516 right_y=0.3508 right_z=0.1119 right_yaw=0.1362 right_pitch=0.0246 right_roll=-0.0251 right_gripper=0.3317\nstate[joint_eff]: [-0.1436, -2.1949, 7.3504, 1.9219, -0.2222, -0.0415, 0.0024, -0.2667, -13.9009, 9.1966, 1.5116, 0.4615, 0.0562, 0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuW-Tskjf7TKX2MGip1pHAtRimbCFHMCqjhvILm-es-Z26vQlXGOQ4hN5JkQ5TJnIs_inKrd8qTztC_BGiYu-aSYDJSZTOX6aOYAo9Qw-hXQ5-wVCazEeb1uySJ_l0Yi3SnNKiTtu6bSVO3RvCaTzdGuSsYRDoWg9riv8igs8OKpGanfPTtuJwimplqK5jyjRC7Yrrg9KOJX-FCEvSGkQNXSFDAlB8k0llBGXW9VWNFUUvwCnVqP9iTEFfguWCKkZlrToWufw7ZDb7YPv9fZ99pwj4aa0xfPTjf_-OEnJ4TStYj-2AMbJcn7IdsbCq3DUzUi_bQ8FPbN38A3fElWNCrfhMDouvUPaxmgr_Qe8TcP-7P-VVE8JMCVLwnoeebzaF76uLEgd3jhcSLknllrbDF4NiFZqWn4Nsx3Q6WE-4MC4LvtVQlgycFlyqTiiHytzdQY1nA3TPLhR39m97FpuMhd_hMcBrH5nx-OP2e8whoIhikk8uasl9JXVBxLntfmjc9NqZAO0Mqyb_cr1zT_HuzxnEFOjq3VIMp1fBJ_ecKcM34xMTkzVuY7wpcZcjwxTP6Q1ErTOUSOGc0HMeUsZgKPW752rc1ATgh_tnMfpsOz3Rm2c9jnyYLufs_Q1jwavWGOqJfvDuU7fQHxjfwV0MeyxHTGzlMxsDVCs9le_riOvIlWw86IErnM6EVMymr_3kuaAIfCFzMvgy0rjnAp512XqVAUxAmdKxvjZ2QhuSabKBEUqphhRNW5v_eUKB3lNwYQRCxchyQ8k-_8iat1A3aptJlQwB1dDVpbJ--EELmt0d1gQuOnpkstBI2_vKYjSuOQDFBBTx97JhFo6UB1ztoKwOOZQsMy1e4dqIEn6rjNJxfRsXAv445xjjhGYPz5HGMEj-afsTfNoOxIqD3H6pI-hmOegHTXKQJ20iJ27JnfiygkbvoJaPwloozcd4knmeQzJGP7fNJqBM-9dyE0yJ21H-DpATGhC3VC-o2CHDW4skwWyYckQKDzpcCmaNYwHgpzWLxehyYXZ7jy3ABF5SrCDZbaybNLMUmDFAw6ld4cJx3QugoZ2SjXeDfJs9B4nMO0fuaPqK0L18V62zq4XJfWFAZdB5ZrkBxWx0O9CzCkKEX5NOj7miLPNXu1ZNCwHGc8wgB9imM6CHNv0sNRHZC-fW0VMV1Mh5SHYQoOJRO6o5AAzGlCFh33rp7ru_iGHu-COXiEyK8V449pvzkbQ0oiWTV13j-1uSbwwJiQ3B_kXrrxL3lgVhGXEbFT1c7aYE6YmnHu_S7kHLe5sb_Dshwqyrk-8WtIYolJgAtqtcn1QZdUJaoJEKf6yCTUZxFSDLctFjCY_xzQbFUuU0HtmH5Kq_ZoECcHdVaBYXzFtKE0XH7F6kFd6FRUbCd-Pyaee3YMcXKL9XlNfS5_80BCGyvopiXj1tPzQ6HY4Jsfgv8X5RUpTM04IuaDJG7AVs3KgJuwz0rh38rzJ5kB2cgqRhOuoU3GXVg1IJ6Dcfjs-4c1V0LHLLifETLp8uzd7osyJF7WnTyq4O-XuJ8N3zjYiRxUdGu6v4bwDZs6J42fdijv3_B_SJho8_-TAA465_5wcx909BSdIaW-bXEwOvwXjrgrlbLbXUZuFRl2bAdayhl13j7KP_j9rq3RU5hCf2pNhl4a9_hJTCqc3shd8AAgT_fotKEy0d3tDYnh-uZKADTuwCe5965nALhYfCuncg9Hg3-7MBGbh4xgd2DjWIKJK1bUAA==",
  "id": "rs_0b25b765aaf553b6016ab2e5b9163887d0a6d2a3dcbfc8ab6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The tan plush is above the left basket, so I’m releasing it. A smaller brown plush remains on the table and still needs sorting.\"}",
  "call_id": "call_ySuQ3tsKazlBve7KKEHXXEKP",
  "id": "fc_0b25b765aaf553b6016ab2e5bca43087d09cb2ccbd34031033",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ySuQ3tsKazlBve7KKEHXXEKP",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1593, 0.8772, 0.6922, -0.379, -0.2535, -0.1432, 0.9968, 0.746, 2.495, 2.2169, 0.091, 0.5968, 0.0113, 0.995]\nstate[eef_state]: left_x=0.3107 left_y=-0.0014 left_z=0.2002 left_yaw=0.1149 left_pitch=0.0192 left_roll=0.0254 left_gripper=0.9968 right_x=0.5757 right_y=0.4017 right_z=0.2215 right_yaw=0.1793 right_pitch=0.4025 right_roll=-0.0838 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.8803, 7.0359, 1.7118, -0.1197, -0.0513, -0.0122, 0.1846, -17.3333, 6.8855, 1.9609, 0.105, 0.0171, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd365802dae67c7e6f7fd996a7240ba6177e15b28a262cbb6d32e675b9fe0be8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db2164ae219a5d0186413be84647f30f159d045ddc9fd9a3c2ec5504763366a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111569e78928ab30a4198e6e22cdd0593c6b57ce930be87bb54e4b2e247f0b2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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