adhoc

completed
2026-09-22T20:16:20.945386+00:00 inspect-robots 0.58.0git unknown
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
74.86 s
total steps
56
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 slim markers on the table. I’ll sort the plush animals into the left basket and the markers into the right, starting with the gray plush.
move_to
left_x0.3400left_y-0.0850left_z0.1500left_gripper1.0000right_x0.2967right_y0.0013right_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]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0219, -0.0261, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0132, -0.0162, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.6479, 9.4154, 1.7802, -0.0366, 0.1343, -0.0562, -0.7316, -1.4564, 9.9077, 1.7509, -0.1001, -0.0171, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.085,"left_z":0.15,"left_gripper":1,"right_x":0.2967,"right_y":0.0013,"right_z":0.19},"note":"I see plush animals and slim markers on the table. I’ll sort the plush animals into the left basket and the markers into the right, starting with the gray plush."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe gray plush is to the left of the open jaws in the wrist view. I’m shifting left and lowering around its body.
move_to
left_x0.3200left_y-0.0400left_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]: [-0.4328, 1.1259, 0.6044, -0.1257, -0.3527, -0.2501, 0.9996, -0.0154, 0.7998, 0.6106, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.333 left_y=-0.0827 left_z=0.1382 left_yaw=-0.0165 left_pitch=-0.0423 left_roll=0.0143 left_gripper=0.9996 right_x=0.2942 right_y=0.0012 right_z=0.1787 right_yaw=-0.001 right_pitch=-0.0218 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0889, -3.7675, 8.1846, 1.8974, -0.2759, -0.0611, -0.0611, -0.3897, -0.8547, 9.2103, 1.6923, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.04,"left_z":0.035},"note":"The gray plush is to the left of the open jaws in the wrist view. I’m shifting left and lowering around its body."})
tool
executing move_to over 7 steps (0.7s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe gray plush’s body remains just ahead and left of the fingertips. I’m moving the open jaws onto its torso before closing.
move_to
left_x0.3700left_y-0.0050left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2455, 1.343, 0.223, 0.4717, -0.2089, -0.1459, 0.9996, -0.0151, 0.8032, 0.6086, -0.3927, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3152 left_y=-0.0375 left_z=0.0283 left_yaw=-0.0041 left_pitch=-0.0729 left_roll=0.0175 left_gripper=0.9996 right_x=0.2942 right_y=0.0013 right_z=0.1769 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0068, -3.7675, 5.2444, 1.8388, -0.0366, 0.0317, -0.0171, -0.2256, -1.4017, 7.4872, 1.7118, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.005,"left_z":0.03},"note":"The gray plush’s body remains just ahead and left of the fingertips. I’m moving the open jaws onto its torso before closing."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe gray plush overlaps the left side of the gripper, so I’m making a final small centering adjustment and closing on its body.
move_to
left_x0.3850left_y0.0250left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0559, 1.5528, 0.3759, 0.4961, -0.0765, -0.0525, 0.9996, -0.0154, 0.8074, 0.6083, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3565 left_y=-0.0028 left_z=0.0179 left_yaw=0.0241 left_pitch=-0.1193 left_roll=0.0163 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1757 right_yaw=-0.001 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1299, -5.2991, 6.4205, 1.9072, 0.0122, 0.0904, -0.0171, -0.3624, -1.4427, 7.1316, 1.7265, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":0.025,"left_z":0.025,"left_gripper":0},"note":"The gray plush overlaps the left side of the gripper, so I’m making a final small centering adjustment and closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper closed empty; the plush is still ahead of the fingertips. I’m reopening and advancing to grasp farther along its torso.
move_to
left_x0.4250left_y0.0250left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0578, 1.6188, 0.4713, 0.4507, -0.0048, 0.0078, 0.0106, -0.0154, 0.8082, 0.6083, -0.3923, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.3765 left_y=0.0262 left_z=0.0188 left_yaw=0.0444 left_pitch=-0.1377 left_roll=0.0178 left_gripper=0.0106 right_x=0.2945 right_y=0.0012 right_z=0.1755 right_yaw=-0.0004 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.4308, -4.9026, 6.9128, 1.7118, 0.0708, 0.0171, 0.8376, -0.3761, -1.0735, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":0.025,"left_z":0.04,"left_gripper":1},"note":"The gripper closed empty; the plush is still ahead of the fingertips. I’m reopening and advancing to grasp farther along its torso."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe gray plush is now beside the fingertips but still left of center. I’m shifting to the leftmost permitted position and closing on its side.
move_to
left_y0.0500left_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]: [0.0479, 1.6958, 0.6666, 0.3214, -0.0154, -0.0078, 0.9962, -0.0154, 0.8101, 0.6083, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4174 left_y=0.0263 left_z=0.0347 left_yaw=0.052 left_pitch=-0.1486 left_roll=0.0127 left_gripper=0.9962 right_x=0.2947 right_y=0.0012 right_z=0.175 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4034, -6.2974, 7.5009, 1.58, -0.022, -0.0171, -0.188, -0.3487, -1.4564, 7.0222, 1.707, -0.022, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.05,"left_gripper":0},"note":"The gray plush is now beside the fingertips but still left of center. I’m shifting to the leftmost permitted position and closing on its side."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe close reading is nearly empty, so I’m lifting slightly to check whether the soft plush was caught before attempting any transport.
move_to
left_z0.1050
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, 1.6966, 0.6724, 0.3149, 0.0307, 0.0345, 0.0106, -0.0151, 0.8101, 0.6083, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.416 left_y=0.0499 left_z=0.0353 left_yaw=0.0656 left_pitch=-0.1499 left_roll=0.0148 left_gripper=0.0106 right_x=0.2947 right_y=0.0013 right_z=0.175 right_yaw=-0.0006 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.5949, -6.4479, 5.7778, 1.6972, 0.1001, 0.0708, 0.6716, -0.3214, -1.2513, 7.0632, 1.7167, -0.0171, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The close reading is nearly empty, so I’m lifting slightly to check whether the soft plush was caught before attempting any transport."})
tool
executing move_to over 5 steps (0.5s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteI identified plush animals and markers, but the gray plush was not secured in either grasp attempt and is now at the left edge, beyond the left arm’s permitted lateral reach. I cannot safely complete the full sorting task without the operator moving it inward. No objects have been placed in the baskets.
give_up
hindsightThe gray plush was farther forward and left than my initial overhead estimate; the approach nudged it toward the outer edge. At left_y=0.05 the plush still lay left of the fingertips, and a lift confirmed the near-zero gripper reading was an empty grasp. Avoid further lateral attempts at that limit; have the operator reposition the plush inward.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1249, 1.5394, 0.7948, 0.0116, 0.0269, 0.0296, 0.0123, -0.0151, 0.8101, 0.6083, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4129 left_y=0.0507 left_z=0.0891 left_yaw=0.0725 left_pitch=-0.1735 left_roll=0.0122 left_gripper=0.0123 right_x=0.2947 right_y=0.0013 right_z=0.175 right_yaw=-0.0006 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2667, -8.1026, 8.3077, 1.4335, 0.022, -0.0024, 0.7155, -0.1573, -1.1009, 7.0359, 1.7558, -0.0513, -0.0171, -0.0171] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I identified plush animals and markers, but the gray plush was not secured in either grasp attempt and is now at the left edge, beyond the left arm’s permitted lateral reach. I cannot safely complete the full sorting task without the operator moving it inward. No objects have been placed in the baskets.","hindsight":"The gray plush was farther forward and left than my initial overhead estimate; the approach nudged it toward the outer edge. At left_y=0.05 the plush still lay left of the fingertips, and a lift confirmed the near-zero gripper reading was an empty grasp. Avoid further lateral attempts at that limit; have the operator reposition the plush inward."})
tool
give_up: I identified plush animals and markers, but the gray plush was not secured in either grasp attempt and is now at the left edge, beyond the left arm’s permitted lateral reach. I cannot safely complete the full sorting task without the operator moving it inward. No objects have been placed in the baskets.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.12 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, 0.7986, 0.6174, -0.3782, -0.0219, -0.0261, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.4154, 1.7802, -0.0366, 0.1343, -0.0562, -0.7316, -1.4564, 9.9077, 1.7509, -0.1001, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed844a5eee64136b0fce129aef9944551d2cd12b7163f76d7a549eebd8eeec6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a61a6691f6f9697ee2c8b2e4a344a865cbb68ed418d30142aade62f2df7604",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5036d7ed0d70b81cf433159ce4283243d63daf4445f8cdcf0791daf8c81fe284",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ed844a5eee64
wire blob b2a61a6691f6
wire blob 5036d7ed0d70
call 1 attempt 0 · /responses · status 200 · 6.38 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsuIt-DLgFXj882KtVjpr0K4ichhhSDD0U48PyI9Cv1nHYaVObFjNxPufGwYV4rP3MvsuhM_vtyuUmqn8Od3dTtPJ8MEdru2yzuYaalYv7TZBzx0s2gnV8rQogtEA3ZynB7kfSvJaKP10E_Q1Iu-q9ubH_OmgS2obeRat4CG9vs799y57OT9eJKdIct6TdLs8fispvuu-eP-_9iEkMn78VT6q-HVPIqTOz9Gg3CWTtql0nqUamF1Rbck27nMKhbi3JM9OODyVK67G_iOB0pdkPMEou7obOFwDc21iQzptX7HrOn2f-JxMMrc2zOFEe57J_EGx7ol1Ghm37IcWCBQuDHUtvG1RodVo5izxXPRM7t0kNSFUy4ckqJFycrhECvq9t5VI_7-c31V6ja8-0qFbwOmHINI-CJPG_jepqw781f8DbeOysVE6XsYUslOvifAbbsZuI-pBIxMx29VjmUvrSTI_HkVutprc6ZanglZXfgQilMe6M4TEBhj2BrvmStAAlL4JSWlOBelH5ghF9xVHpbNxCUVjCE6TYoYQrgFrENpep0UNSBJ7H8RPojCCqORv3CNDixsGKsP7syvMR3uU1sHyG0IMDzrvNlct_1pFaExuWBIIa8ifSwsPoMU4NT7ilqCJKYFmpS_MkMFe75hCCJucdCdrHaw-KFzOAmaAYm7wwFRR2VHNPb5WTeGdyGz2arMLyub-eyry6W3uDfPTcJUEDR6TagSovlPHmQA50-WDx-ywUBOHpBA-ELabJraOGO4WyRqHIWEsmRJExd39H9fEsiCev9XsfIJiriE7aSvf2awwsjQMCBfYmWhB4BZ2T77HDN8LOKys2vQD-zbi1dElGF4gbCoOTDEqpim9gEtxyiE2qZWlwSY9hZXMqtdrMrF8bK14fnVjn5QYWxtabdv1Kksh084D0APz-rrSOtb3WiNKnLxOEdANY8udSgbvU8M816F91GS6J_O8NP2rnTyw_SXgFxiQTvjRy9MHkMjLAgafaL0skJA070M-_xJOOw6unM6XHzOAtRfwPIiCRjMwa1Fn5NMGGsRMEDn9t1xzhOkYSmmRW0pfRstFZFcKu-M3wfFaGolBbI_ybKHLGPHZAlge2NL49bbyV3XAr0CGccKSpWwHKb7Pfqh3_FbzihyPTrHh_H-HH5OzM0PTKyRdxlUCkOFbv-9k-0NOk7pcvT55VgAAJQH1dnDmnmUO1kvXyOVAnIQQu3lmOfwj1P4TMo69SZ3dW0OU4uX5nUjaBbI3YZuvowISLVBRkYbTsM3TqeP3JchYCKkG0joDyEG3dfJ2a6JioDaZEQFabYo11IYCIKiRbFtLkqHf_uTozU-qhx_LG4vSszKqVJfWWYoBuuZhO9zecU_RCFS8VpexVHfyWY3eD3-RZh-2g7T1MDZ2hLPUKGaloXPq-nckCKK_0NqI3mHT5GuAE99TnZ7QEcnCKYqLd_rehh5jM-xWpfS8v4ZkfW_2srFcz2Ih4DOtTIdW73oPN7UUZo8s6PU7MDuUnconpCE_a9fF8OlEwNV3GsOCdc4IuHirNkXQUtm-kf3u-2p8u60CmZWZUpCfYficEFVRtVo-IYKsr-kfxiSgdv19uNS6Bj5IOrtvmMNdhaFpqb0QUOLRmeHy080u9ZOLF2T6ZOLr-0mAlpr18aE2OXObM9R-zZxOvdMpWLoLvXL98uxc3GwBJRNpMucKkoIiIqpbiuaVgSPX2Lp6Og1mPneiEbLKH4ull_iRmrMPRG9fL7Nyp9Zs2M_1yFWjL4uFAjykCj1NKU67kt5rbwoCNXBo1U3PNOv6vIUZDBYiXtt4PXCiLmMzF2mnjn_hqshX_DdrIKYsPccCOFEjOQD3",
  "id": "rs_09f2610af5a87f8c016ab2e22513c887d0b3ebebf412219194",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.085,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.2967,\"right_y\":0.0013,\"right_z\":0.19},\"note\":\"I see plush animals and slim markers on the table. I’ll sort the plush animals into the left basket and the markers into the right, starting with the gray plush.\"}",
  "call_id": "call_gmG1TktmSpxWAPtY6rAfegyo",
  "id": "fc_09f2610af5a87f8c016ab2e22acffc87d08539649b2b0d92aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gmG1TktmSpxWAPtY6rAfegyo",
  "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]: [-0.4328, 1.1259, 0.6044, -0.1257, -0.3527, -0.2501, 0.9996, -0.0154, 0.7998, 0.6106, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.333 left_y=-0.0827 left_z=0.1382 left_yaw=-0.0165 left_pitch=-0.0423 left_roll=0.0143 left_gripper=0.9996 right_x=0.2942 right_y=0.0012 right_z=0.1787 right_yaw=-0.001 right_pitch=-0.0218 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.7675, 8.1846, 1.8974, -0.2759, -0.0611, -0.0611, -0.3897, -0.8547, 9.2103, 1.6923, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88400959525bef5df161c28a4a62febf34ecb5bd075abda26e0b6af336786df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922ef1d5a96e5886e869c7bf8fc0100e40189a34dacedc398e49b254de20b525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb259aca72d8c57af99294371bff4976cc00853503ed796cbcebeec3f2d04d6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c88400959525
wire blob 922ef1d5a96e
wire blob bb259aca72d8
call 2 attempt 0 · /responses · status 200 · 4.493 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, 0.7986, 0.6174, -0.3782, -0.0219, -0.0261, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.4154, 1.7802, -0.0366, 0.1343, -0.0562, -0.7316, -1.4564, 9.9077, 1.7509, -0.1001, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuI1yJ5XcXmOzkaX5amnKhzDbs9IhElPzd_kNkxoUl5EqUMj_tGj8wAXWZe5mL3QBe-oiMxLzgl4RDgQ0tdsxk6q9i8p1JChmDZUdqcqYC7mriOv9zXvPFcP8Y-IySy2wVkzcWvO_eASlZd1IrAZ_26oBqOqM7hxkbF8vJDZrw_Q0jdvUcZ-Ia4AuQkYJerJnqRU-KnXpmeQYrwdq9_zUwV_SCYUPePvhOfYSTpy4MA8uI85LbZA5N0GjXuAyNFhgEGW8bI3C_rWDvAa26IcJqg8WcFDK5QibNOrryn7d7_4zPGWJuYTeihSTzjT2ZdmKs7fB-gL_f6Y14oZzk1gBsb5shhPJHF7c9DhczNdRfo1fk__DxGOS2eQcIbPsUb_n7Y-gJ25-J2YQ4GDxGnd65AHfXBKidW7g9UqYgG0EOS5j8A_8U9IaPDStG17odLsgotL5maARTY2E2pI-sTk5PCAf7SnDkJmpANfQFMjDNKAs0QBldZdA3kiPLl4jJonlI7rK_cp17feaZMd-IF18eJMYfCJ4ECKHtrWxWLj1vI26Dh20tDApt0UQiVBKhGicAYKb8i-urK2Hnw875BMtRt1J4znyGwpHYyceqAdhMWyy99fZ735b9KuCPdtQTYcrzGb7ydDgpaJcWHHk1ufV4IHu_4QLl9od-7BS0mzuLWDV_sV7Ad3G7xo1d8l9uewt7G_VKkK98sFwq20CHphc3ZHGHQKjtjp8DA5voJ8PTkmrwnVmAnTiDIgtcFBA29rC0iyfqLFtmIo6htpsP8IK27sCxbedlq4Z4iduWTIJ7_vfdeZuh8oh-YSzaltp6Yl8yEN5F1H-yGsdxgAme3zh9rC4SrfUItTy5wSMiaQJZunQbBOqd4AXyYjMEBfc5elFEC8y9ZMAN9QG2af4qfF0ri6mEuzraQKjfCvBqnHAkYE1QZwkcaIA96KonDzw9SY-K3kKa2-wxXeK6WO9DR_LzsPydQ_vn7YKclLduKt-K49sHFzAJ2YICsfr6AaGcRdKvvyZVlL4t01FPUi8momy9-2ep0XtFpqy5XExfei7GE3jq5epPu0_yE8cnz-6tU8zhHZrFYovtOR9d4eMG9Y9nx-pZ6Grk_7YsDlFO4E-gSnhg7sDbIP0YZY0jTsDFcD3iqcotQcDzuDglHxIqWfMjbnsX5PegmbZKZkT56m5wdU8oE1H9ir6Lpy0epAV2QHT_lpG1_BtkJxwAsTvCnPpnMFlUdJjKgJTG94LV4rMj-eQRoBsuuTBsyLbV5XaQAGFbCJv9iX95r_Q-9HoPrK9-BYlEo03VAsEGXnTINzGh-wkbME6cQNmDq_a2yLOM8H0WyOwGluYKPNxo1fm9zFFm6H7gDq3Uc9VF5DnEfSCV4B7njHswD5kZKGdykRyWRGSK0KsXU6khIwYkPiukHkC4kaQVbqJJRCX5JGCciW9hZwDFODUXO9HdssfsHllpr2mTQF",
  "id": "rs_09f2610af5a87f8c016ab2e230c21c87d0a49782d631f6134b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.04,\"left_z\":0.035},\"note\":\"The gray plush is to the left of the open jaws in the wrist view. I’m shifting left and lowering around its body.\"}",
  "call_id": "call_IWpfqQOWJBkf6yB2ooNmgqsJ",
  "id": "fc_09f2610af5a87f8c016ab2e233b7ec87d09ab372219b290058",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IWpfqQOWJBkf6yB2ooNmgqsJ",
  "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]: [-0.2455, 1.343, 0.223, 0.4717, -0.2089, -0.1459, 0.9996, -0.0151, 0.8032, 0.6086, -0.3927, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=-0.0375 left_z=0.0283 left_yaw=-0.0041 left_pitch=-0.0729 left_roll=0.0175 left_gripper=0.9996 right_x=0.2942 right_y=0.0013 right_z=0.1769 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.7675, 5.2444, 1.8388, -0.0366, 0.0317, -0.0171, -0.2256, -1.4017, 7.4872, 1.7118, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41d4842b7121170ecf8271c9c96fa58b25be3fbed56378bd684e0085e5b4244c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060234e38dbabaa7d4e7c1e5d064908574d3d48ea458988dd8f2671007577dbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78884a9f95548a701d2f1ab363beba109774b6c59f12651b2947094726dfeea1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 41d4842b7121
wire blob 060234e38dba
wire blob 78884a9f9554
call 3 attempt 0 · /responses · status 200 · 6.423 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]: [-0.4328, 1.1259, 0.6044, -0.1257, -0.3527, -0.2501, 0.9996, -0.0154, 0.7998, 0.6106, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.333 left_y=-0.0827 left_z=0.1382 left_yaw=-0.0165 left_pitch=-0.0423 left_roll=0.0143 left_gripper=0.9996 right_x=0.2942 right_y=0.0012 right_z=0.1787 right_yaw=-0.001 right_pitch=-0.0218 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.7675, 8.1846, 1.8974, -0.2759, -0.0611, -0.0611, -0.3897, -0.8547, 9.2103, 1.6923, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuI7nskwP0-MCYUK8tVT_r3Fk4ZDA8KhpvyaiBJekbMsrZwn4OPV5Ij6hxqapf6bPu5ubbER_P3CQVjSyJ9f1NrXtalK-WFJW5elJDO7CSSXdEJGa6JJVMkyqFK_LjMdCdZGo7wOE3UqJF46DZv78dJUE9iFBAabBhxNWn_JZJH_cpBUCZr4-r3-Wv2Ul5X_k7CNYLotNTmTnulSFb9RXfLBV3_hrlc30Dj3JKso976uMab1e5Y9UbKQiLMSAE677aih7f09gv_7gf0vUPGeWk0ezJOCuU8kmpMjL2abFxrep0iOTuOF5wZ83OzQWXJGQYVM7vlk0ln6oQD3OXAiwSJslelkC0b6vurjv25QHuKSde6oYcqoCZdXQxiwBK8iKN3ekU2GzbrAcWc6twJ-mv8VZKARJ0wL37_XvFazEgoyxbOMxR0DvVs7ZvZXm0vqTARi83X8pvHUF_fJu6EDsJl9HGuN3rhf3qmu0_kKOkfGNcy-p1OEGkBTdz7TU5BOzNcFwgekZ3wjXTUFU1tRUZnuqpughZ__ZeLXVzZsRtSvvOkHaTV3NNcfbgkGxdkO7rdlUmql5NrAjNYBMUZyrymAJlYyKe6JUVb5Uah5vOgjQHmka7sjhcmS9kQL9yr4_FezS8UJ6hfqIgKbHgejesSYlKSN3xjhTlYJgHbd40CDlBehwJ5jjh2FccMogDINFx9LyPJ_mWkc5C1Qb5r0SLyp08rdB7n-Jp3NckvLY12TqBJtLXlTqTVxeFHKGCJJSvGNxhvNkNo9lavpvCpGoZxNNZcOW0mdznCs6XOhJDm01DM_38kyl8s8tCblS3ZjlchU4b13iiZZQAs6sYZngxjlXSomNyPcG-3vNDhGoueX5spU3ENxh1i743p4tDY6gusDsIerq_ZsZ246xZpnFastghktf4Dc0RpuxeRzscHJjwnH4jAADp1YT99z1tIYzS5-qhaSloXU5xwF7Mo_gD_jn0id2l5oQk24PD4STtJ2y7vVlD5xt0M0xB1_2USX3EcNabQ1DyHTXkcb7bnAeyDGgVN3zjJNl97IloI9SLCYj4rnff8wG2FJpCa-vf5gZ9ZEmZMB1e4iITs8ANoJllekJIBr_6rKHhZWypWMSkCJL0fxU4egfNh2kVxMPgS4d0LS-aXEC7rx0ivcciFdprDvwUI_HYbzSvjEoqq2Cc-AbCzkCGhPd9nKZIy8lPBHlqo_tFzhmkwIw-G9zORKmpmaCj83UPW0f9au-EmlmWOe18UIp8ZlJhkmFOw5mOGSiCvcBS4ItddFujudsyvOmVn6ZXnsM20IWtb1I6GTYP23yRg=",
  "id": "rs_09f2610af5a87f8c016ab2e23919c087d0ab54655ae26ed0cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.005,\"left_z\":0.03},\"note\":\"The gray plush’s body remains just ahead and left of the fingertips. I’m moving the open jaws onto its torso before closing.\"}",
  "call_id": "call_P7ilGFJkWLy2h2ntRSdukgeo",
  "id": "fc_09f2610af5a87f8c016ab2e23a98fc87d0a9becbcecd394146",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P7ilGFJkWLy2h2ntRSdukgeo",
  "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]: [-0.0559, 1.5528, 0.3759, 0.4961, -0.0765, -0.0525, 0.9996, -0.0154, 0.8074, 0.6083, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3565 left_y=-0.0028 left_z=0.0179 left_yaw=0.0241 left_pitch=-0.1193 left_roll=0.0163 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1757 right_yaw=-0.001 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.2991, 6.4205, 1.9072, 0.0122, 0.0904, -0.0171, -0.3624, -1.4427, 7.1316, 1.7265, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e873845c93a76e295adce8860e5281d10a0837c5a1f610fe6a4ca9ecc331854c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038b316e532fd2ce5440f7cdf92f6581e43150b49df1068348209f6a3199539f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1d64f926a1775a20639b008a61a1ca6d6e5c4de5816de120815bd02d3b2cce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e873845c93a7
wire blob 038b316e532f
wire blob 8a1d64f926a1
call 4 attempt 0 · /responses · status 200 · 4.917 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]: [-0.2455, 1.343, 0.223, 0.4717, -0.2089, -0.1459, 0.9996, -0.0151, 0.8032, 0.6086, -0.3927, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=-0.0375 left_z=0.0283 left_yaw=-0.0041 left_pitch=-0.0729 left_roll=0.0175 left_gripper=0.9996 right_x=0.2942 right_y=0.0013 right_z=0.1769 right_yaw=-0.0004 right_pitch=-0.0271 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -3.7675, 5.2444, 1.8388, -0.0366, 0.0317, -0.0171, -0.2256, -1.4017, 7.4872, 1.7118, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuJC5wQG-M_9wn9l19KAi09mRpKlagh4bGI7yBcEchX9MIQUnNIDQj2ZopgCxZG9Pj7tONP0QMsTWdDGRdOQgmXwQ-ePbofihQ6Rywuac3dv0hfapBbxfQMuoDLNnjWaz6ibycN0uJw24ugOb0FfJI2cwUT92-i3BcuccyZT5atYWnI1y7Bq0iZjMH9hvm8eSDXKK-09H-Y9oWlKwmlhtRlqkDOvZ2CkWRZomu9yA9wuL3dOIEa3raJSQkxZ_5jz3TQ0KdXOUuujzXaWBG6zXVjwzjavve7CDPGW2V6Ni4IGItmeZiDRoSOY9ybXXjoZGraB3_kFTExrN_SPY1brIRYZpfrhuFN_LFxcaD2Ai5Wg-9bkwAPrZgI52Hc-ci45-sVBjkEXGjMXouvcz8evIapL6aYPB1wo0l-nfNBJ4OExXdoWWYK_PVUZWtmP-49Ig3tTBOJlGmlMVlwOgOu9V2voeUjuCLIu5Q5HsMDCwqk-OErHe8fN-OqFC9o0N57K1zjnyr819_Lwzq2oNIL4-UdaNECwM7P2kJ0TRn1xDeZMsexn9_joavuZv4zH8jH3M0Wfd8kSAiqpio9IV383TXJC2uhI739r5wwzM4YFteQyLTzwvYK-RqSrVIh2Pa5bs1vU7NaoMfGJts7ZtGNsKV8KPgHJUmyNbKecbFoHkng40bMfNHhJ5ovUdn40_sC1MumEFoOkjPtOoqPoPoSRnsVDp8NfVV69R9nrvRJh9BozQJdy27WwKKvw78BPo1S1bKOGAG4qOP1xHAPJI60TQrhj8LpxUUvKHsZhehGqDuI4Mae4zOryEsHoQ3XVEFPloRRCg-D2kUcLFY9kfMPNxWWrmeKlbyACvhI4_14iOWpT-spDgcQitG6qIq7MMGe58Wg9z81YoWtTMbiTxBhuhFdpjDkiKIGxI1qDQXYsffZ4chxaYmgbyulH1XGsJqwmb3nod2dnrMd0oKt8Ly1aT1zfGTYvZkmhB48FObU6Xmq6NQ63T32PgQhdduz0ubqiVSpExq38XXgN-3Kxrj2Jvof13dzZ4b6Yk_POVtzESki7Ae10krN1Ju6cR9Gqji-bKMQt7G5bj0LkRLtTl0DNS8lO5NcdP0tYukX3YrWzYJYhcSQ9GYU2YwRImBMlpdtPk8DDBrwenzp2d_yfae6sTPpOLCAX9mKMVONNqRec3aaHXq6QCVjit_kZcl5IYXn0fS5HbIqBJ8JhJWM55Xr_mdfpgS6W24YKV-5hQNk4H9NAFDmi6UOm_5CQJBCigDKn6aH1",
  "id": "rs_09f2610af5a87f8c016ab2e23f65a487d0904ef1c3708f7dc1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":0.025,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The gray plush overlaps the left side of the gripper, so I’m making a final small centering adjustment and closing on its body.\"}",
  "call_id": "call_pXYnfhdLEoL6aRDY5LI3egPF",
  "id": "fc_09f2610af5a87f8c016ab2e240a47887d0aefeb341ca21ccd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pXYnfhdLEoL6aRDY5LI3egPF",
  "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]: [0.0578, 1.6188, 0.4713, 0.4507, -0.0048, 0.0078, 0.0106, -0.0154, 0.8082, 0.6083, -0.3923, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=0.0262 left_z=0.0188 left_yaw=0.0444 left_pitch=-0.1377 left_roll=0.0178 left_gripper=0.0106 right_x=0.2945 right_y=0.0012 right_z=0.1755 right_yaw=-0.0004 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -4.9026, 6.9128, 1.7118, 0.0708, 0.0171, 0.8376, -0.3761, -1.0735, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b8658b1985e695bcb7c8983d082852888861d27c5a174a44ded3e3194811bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed8112073a3dc9cef30a3e5e725f5aaefd837e2bcbb5c719ee199b01ef170e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b80d9cd5690c803324cad4f1f6fff309798739e265ca31100143a5a4cce2c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 53b8658b1985
wire blob bed8112073a3
wire blob 02b80d9cd569
call 5 attempt 0 · /responses · status 200 · 5.74 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]: [-0.0559, 1.5528, 0.3759, 0.4961, -0.0765, -0.0525, 0.9996, -0.0154, 0.8074, 0.6083, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3565 left_y=-0.0028 left_z=0.0179 left_yaw=0.0241 left_pitch=-0.1193 left_roll=0.0163 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1757 right_yaw=-0.001 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.2991, 6.4205, 1.9072, 0.0122, 0.0904, -0.0171, -0.3624, -1.4427, 7.1316, 1.7265, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuJIyDff6ef0X-Ony7rq7my-HZkUVQ7SYKHDhfccOhIbYrx3-dsOfBAnOoahZGaJsk71HsfSyzdQgL4pR2UkvPWzFnjCLYU24PvxPly15HDFHgzHrsVZYJw56B5O5Y2EvSbb4AFyd6B9WfO9-7tSDpu-kMbBwyqLPW-XdIkYSeS4-MpFuubW94jNhiM3WyoWyjMVql9T_OfWIJsSNSrQUA9DQRpaBIp2biKjXFdlFaGEEVio1YgW3j7pvVyXp5VG_npdhmy0ccKB_S9uAqS9NfkxURLOqbfqskK_rUVEF3JxJYSPnc5saBIARgwG2U5sQVJAMYVsGMy-8MBdvhxPO08TMw6BUplN_ow1dzsKnK5ky99CjPTR9lMfFBkkbnTTHskwqywNz1itfFd3F6nb7EvSvIw2z4vAJDRC1IeDhfnTWHUu7xUT93SHpFFwH6QARrUtofge_8-HYx3ohfiVoGn0p-OcbYUHIZweRmNVllURMN1YoPQH7ICSef4Qg8oc0a1AdqSoBlfFhkuHjcUxbTME3nzaqwfZmJZ4PyHRIIxyVOt4Nd_V6Yqz33SHUeQBH-BNvWuu82xi_VlxCp2igB2q2WfLxezZa4KpTa2iEUSREhQ-qbcA4rbjKjZXb-4FLMkNz7xmrGOzA5si7SC09Nz5FdZuGr7oVQ4c6YBeOliKA9X2SiU_h_CrF8JNcjDSU_ieZBGxPnVWjOkYwurlKJtNGGEDX5mtLjxDBCiLcbnw9yfVybcNtehAd4rwb-0O-slof91uoc4awM0mOYBF3yFqePHmzwfDCnhugw4x6qQ2Bas2nscDhPs1Ip_wMrNLWW0ecmeLTFY8_--pQM4P92DdNwstjfzAUvMYWkzsA7przDF-vVmHITiIYWWN1qwXTbP8bkY8RzaurQd0IkP3ZTI6tPm8FyseVEwnQMLnwf_8FFekVH4tLd_mQIkdFsholH-Dxj9HtaOFOxVs_owApHSp72SkEoSxP7Ls7BDFAR6H4BPcUuPXnQhL7VLtmVLv36w3EJmg6NsX6KZu1WKm4QXOamru5--L-bvqCHuRJcpTezyKutCRuXWRxW2j6utSezCMSVMKBBbJAWtpDlYs1f5bII4G-Qbc8FY0Q5hM2_0cNG7JaFoAOkMsHLC-s2u7a3aS9yWQdvXN6fLIUEYDc3DZQXCpRWJBozHwdAhzi0Vi-Ctir16rzi6rswfQZ5zBAFN6nC4u8E1HCRnfMm9WgLXHynpKZsCfsdsoSFV8o00z5cax6kRQq14rViiHvNhdYYZaXcejYZb5xu7CcMPagR9pZmXHSJsef17O3cOlePsCB68=",
  "id": "rs_09f2610af5a87f8c016ab2e245ca8087d0b0cb0c9a5731c4ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":0.025,\"left_z\":0.04,\"left_gripper\":1},\"note\":\"The gripper closed empty; the plush is still ahead of the fingertips. I’m reopening and advancing to grasp farther along its torso.\"}",
  "call_id": "call_e9FSVpysAIenjpj41K2iTCpd",
  "id": "fc_09f2610af5a87f8c016ab2e246e39087d08abdd5c0c67e61ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e9FSVpysAIenjpj41K2iTCpd",
  "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]: [0.0479, 1.6958, 0.6666, 0.3214, -0.0154, -0.0078, 0.9962, -0.0154, 0.8101, 0.6083, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4174 left_y=0.0263 left_z=0.0347 left_yaw=0.052 left_pitch=-0.1486 left_roll=0.0127 left_gripper=0.9962 right_x=0.2947 right_y=0.0012 right_z=0.175 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.2974, 7.5009, 1.58, -0.022, -0.0171, -0.188, -0.3487, -1.4564, 7.0222, 1.707, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f64287961ec678aa5cbcb3e186756d374a33845fb66b017685695c9631549c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc30459978dd4b3218f42555a4acdd53e6a7b85f81d351a3ef9a73710e3ab92c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796ca1e4c5b1cfce4ae9d033e26c801368c6afd19776d9e35c7cdde40c36c8b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 86f64287961e
wire blob bc30459978dd
wire blob 796ca1e4c5b1
call 6 attempt 0 · /responses · status 200 · 8.524 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]: [0.0578, 1.6188, 0.4713, 0.4507, -0.0048, 0.0078, 0.0106, -0.0154, 0.8082, 0.6083, -0.3923, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=0.0262 left_z=0.0188 left_yaw=0.0444 left_pitch=-0.1377 left_roll=0.0178 left_gripper=0.0106 right_x=0.2945 right_y=0.0012 right_z=0.1755 right_yaw=-0.0004 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -4.9026, 6.9128, 1.7118, 0.0708, 0.0171, 0.8376, -0.3761, -1.0735, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuJPGrKXSqyBylzcPo7NdeVB_9-ul0biNQIJ9WBHrRXTTiuaKJw24pnB7KzKyeF0ZtMaQjpyXZcuoZJHpDgkwxX6WklF7Ux6VUCTYYlvq91MIUjfQuEljywD6KjyjnqJrciw9Db9fRqPS0GN1U58mozCIGdJrFxgbuwSO_nT1KtMZo3R8k4pX-YLxbUpPuKmuGVhQHz68iaFEKS6PczWbQvDW_6I9kqzGhfoxb7dooCa37wXQaa73A3YiqGg4J9_nWkropa-ZVNVdxYK6pwJ8ogU8j-bgl8akBpwSYCqahM6pBEAFFkp5R9SEONnwd8a6tV_OPRK7K_I5JTM2Kn8mob_dnN2uw_V8BPaMpQadAtjYHK_NNYmTQVKk4msEVyjZiuGNW-Cx9pNsQjpluC_KApUAokhp4F8jXRquBVOIq_oOIXRBOTY9-eVP7hE-SEDomPSMsUbGZkTQOaAxyaZENZrxDCcsvnEM_yCDJ8zAsojxi11skvuxX-YQBNUDkViBmJgCXCC9O5IKcZrDRgJMf7cofuuyCwPrYI29DOPtigdU02F9CfMsV7g2VRg1sRWF51CAjV_vdznPb2AwZzXwjbj18lqNJJxr86vKADDb-757SDvx9H4p6w55MvFV3QdlWSyoGndeXKiCG3tCxXOoKUMGbEMSAMls7ust-w5f-frAfIrzGOlNoU4Fl6a1lHUdC2bsR8QSZ1lvgUdt1buK5ry7yT5ns9oLfonLCM8yLTZxfHyk9N1MN1fX8yMSQPVbhad8Z8912TTSFBgYBHLxhOJ5vUpHLuoX7xYVFtpzvy1DunljQcmglledvQ_FPHVEKEYISrtXm6AtuH0QegvNR8qKidu4KgLqFnQ8wbV34T95B-LalmObxEsfrH8MBRbIzFe1o_jWaFusP5DyJGntWQO8lKacEhGhTTxyB4YHJHFA4acPsOjkQ38_B-C0ibWYroakcm1QtnxjN4mdm1sZyGQmLmcZUVCMwfq1hBttO9QqfiNz6L2Bmd_JfhgMVpbq-a4UTSk8g-K99hQi7N4cM25e99ZjeZk-UQi4M0AbluuyWGxe5V4gfq8bLeSR_4jhmpVTovHKLs94wpuyZxgLQFd0zuCSygovVBUFofu_f9m6i8sWEmQ_gFOL77T2uRc0499tEvySX40_5YNjRKNLKyx0bVnmDO0hgEYTDxpuZ9ugNsZ6SdG2cPIoUmV4Bdcti9lqDw4kqB55_Za41gaeDB35pRgr4OTIccQH7mzoYCpXijGNMZE85mvYjugxwDPcDgvwDZm4HiGJfFAxM-Zp8KOdav3ajw1E_T77BS0G6FK5Ek=",
  "id": "rs_09f2610af5a87f8c016ab2e24c1cc887d094f6ef0403eb0242",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.05,\"left_gripper\":0},\"note\":\"The gray plush is now beside the fingertips but still left of center. I’m shifting to the leftmost permitted position and closing on its side.\"}",
  "call_id": "call_vWCVwEgFLo5VmaXL6PE6mWdI",
  "id": "fc_09f2610af5a87f8c016ab2e24df56887d0aaca1cc227d2f272",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vWCVwEgFLo5VmaXL6PE6mWdI",
  "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]: [0.1238, 1.6966, 0.6724, 0.3149, 0.0307, 0.0345, 0.0106, -0.0151, 0.8101, 0.6083, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=0.0499 left_z=0.0353 left_yaw=0.0656 left_pitch=-0.1499 left_roll=0.0148 left_gripper=0.0106 right_x=0.2947 right_y=0.0013 right_z=0.175 right_yaw=-0.0006 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -6.4479, 5.7778, 1.6972, 0.1001, 0.0708, 0.6716, -0.3214, -1.2513, 7.0632, 1.7167, -0.0171, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc5bfb90fb0911b2cf54f7323be12aeef3b40f345878a80fff9ab8441416748",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e351540eddb06a99cc66b1d839aa9511784620700f64c87d899b070f5ef7c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd8ba103281ac185bc4e92bd5ac8e0eb9059b757582c2f19033ec12f160cc20",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5cc5bfb90fb0
wire blob 4e351540eddb
wire blob 2dd8ba103281
call 7 attempt 0 · /responses · status 200 · 11.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0479, 1.6958, 0.6666, 0.3214, -0.0154, -0.0078, 0.9962, -0.0154, 0.8101, 0.6083, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4174 left_y=0.0263 left_z=0.0347 left_yaw=0.052 left_pitch=-0.1486 left_roll=0.0127 left_gripper=0.9962 right_x=0.2947 right_y=0.0012 right_z=0.175 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.2974, 7.5009, 1.58, -0.022, -0.0171, -0.188, -0.3487, -1.4564, 7.0222, 1.707, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuJYqtt1cZ5rUbhULJ05IzLfc-gJActQnLy9gQmC0PhZz18xfoIPjUOdI-5_XdBajLMdE8GcqASaVDuxt7QC7SLA25DqXxYpLmMLd8bf5cf8_kZRXdGH2LniiGgWiXGEVdTkDc_yY-iDlxUyFbxEMQ8z-tTn_2XHr1J4yGQSgQAo32qXRhVDfg_GgHo74Aoi8fVptBmppGvcgHcninhTBav6t9NL06vtdwy_BB4vopPqcUsn4TVULmRBOB0bZ0PWNnXXzOwvSYK4ZLh0UK8oykMixxx-59SeUJL3Ib_HCBa0sa1RvHtxAYVUcTJburBZYlETUmkO5U3ZWgk4wjZzhq_saTiZ5KMrNI2tLJYoVU50RPLghYcOvbjpcI0FlKDJsFRYFi9vTy8IaPtlRdx1F6DPlqdWpZj3DCMc4dlWKtEVv4n71B58IIo_SGvz3RKWNf6fPCdefiVUITT-ZSEDoladXithA1tz31q8lMWOXN6fSC5jws34BuqojjmXpJ3vtWy7pp_zR66IUaEXwPkeOAyRX5KP7SZKQz9UVHasTSBqVa22somioqAVwUYTvpiGpqHSDWH8GXym7-wNdY93joY9EDrPTPO12erGvyQKNOrelIVGuFLAit5JjB8y-gbG-pAaVSdhnW2LupZxfuOBdrPS5MTmuscX-9ZT29PqaV40sWgM7CrHn0H8F6578orAw_uVgDbViMPJhBLz1mPnVif9-CT5AQd4Vv2sVLoFCOeyqj8YrAHEprQYqD74zHbuA_JCHFGAmtNAlc76m2pEJjBOJyzRuJr1bAuuXoWBx1peHA9SIxNfm1x2icz03Mk7GdNR_bAj4HyMBeEm-CC9fy0azMA3hEOK2FUrJGjxS7ofBz_QsFJYHlCMqr13wffmpQ4f2fmnRBOA_5m9KhDPs5Fz-Zh8cUZDMuFmh1oEMpsD_c2sFjwzhJpcGaKGzzp9B1Y6xI5M0cK3TYZBUboXqAhDpenTvH3D05nVdrU2Ktv7Le1bvGnyqCXLjhRCaLbQxAnw2XA2HeTmL5Ty1_bKUe6VCHZ1UQ58ZugMulVjMF5WXzC8yJD81czirWbQ8bDeDMHI7aFL8JDUqbhhMizKjazfJ3uiY9K5EVclqCuBB-b3r9QMCuTc7fKXbR1YKMQE1U64ELkNWf81qH4gWJQm-YguFdBjqEMFeWK1UC7eudWmx13eEfYz3h019K7FM9JpsvC-5fzJi2LWlUSEIsI8KEUpaqIJBNTCCttbBP2YI6ir5FqqbARCOJHfsWT8h9qM0cTacSoAt96VqK6sQnlhSsl0wWuHiElYAO77k7yf7vqypg2sPfDoAfnzEEO9HMueUj5rP2KMYBYD_-_yXRsPYHOGk8Epd7qrb0-x0VE8tXPiZNq5or60rWMNE872RJXp8eiNyb7oGYf2q2tx3vC4BqXQY-WCbnt5cBf4b3b5nu-V_MWVpgGy2R6kYSkfNKFmQxyaJ5GNcTU-UoV4ODDu2IHKoOPI1ONTqnZspmLPHrrsH8ADvbcLhLDK8NXtlV27mYxEufS23WFhjpHYQLs2C02_A9K2P4kvaf9zZx1hdas7lR4p_-K4Dk9ZK5tyVc5SrynkjeQIBhimc8-MSn7vFC5x7-eEIHzf5Y98wSsVpY1cD7Lo3T6X7mwciKCMmwpP2XVtVMkITWwHVpPnqhhDmiwpcbT4hTmObuFxcT6yW33yKvuSlm-d1glV5vpGYVSjxTJKL4fizwJOCwDotKRKzfKBUjmxhL8eoF2Or0_VDgpPRdkk6joFK_vf0Cxg1JNr3qGrFBL9Y1jqw15y0K8_UfcJXoXkdmvGHebAAiRF4XGlTqNganJ-D8N77T-BZBttmP7IGKSwnxTZgC1UUnSNVCqNow2BYf42Xz7hnBooZ2JPtO8Aub3MD2MpwpY868cS-tfHNeakdRS-n1NDNzEHUV2Ns2GVY2AaNHpvffheHJI13ojCdq4AgsB2fMOc2I0KmP_xw0n0jkUS5PIp5Ts3L1G62XmQlBid7rVYhxAgAxnu9LhEa_Pn9ryuTseyLh8o7XPQjXwX6Vs3Ms_4BWc0VOwFwA==",
  "id": "rs_09f2610af5a87f8c016ab2e252795487d08de3aa64ee1f4ce7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The close reading is nearly empty, so I’m lifting slightly to check whether the soft plush was caught before attempting any transport.\"}",
  "call_id": "call_QEyagzCJm3X2tasyccBqt85W",
  "id": "fc_09f2610af5a87f8c016ab2e2577dec87d08d49452c8c2bbea8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QEyagzCJm3X2tasyccBqt85W",
  "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]: [0.1249, 1.5394, 0.7948, 0.0116, 0.0269, 0.0296, 0.0123, -0.0151, 0.8101, 0.6083, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4129 left_y=0.0507 left_z=0.0891 left_yaw=0.0725 left_pitch=-0.1735 left_roll=0.0122 left_gripper=0.0123 right_x=0.2947 right_y=0.0013 right_z=0.175 right_yaw=-0.0006 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.1026, 8.3077, 1.4335, 0.022, -0.0024, 0.7155, -0.1573, -1.1009, 7.0359, 1.7558, -0.0513, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb04a13d608da59e08e4e97b0189885e2a71e6aeacdab57b47529dc6475f253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:789a8aa3fb41ea8ab7f1b182c6d8d1061a402c0b9e52c7116632c946ab7d4f43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb5e7291f6ffc71812a4f972a6bab1b24073e0a4ee905eb6992df984f26ec9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ffb04a13d608
wire blob 789a8aa3fb41
wire blob 2bb5e7291f6f