adhoc

completed
2026-09-22T20:33:06.252888+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
299.6 s
total steps
370
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 noteThe table contains plush animals and slim pen-like objects. I’ll sort the plush toys into the left basket and the pens into the right, starting with the blue pen.
move_to
right_x0.3400right_y0.1600right_z0.0900right_gripper1.0000left_x0.2970left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8001, 0.6174, -0.3779, -0.0219, -0.0261, 0.9996, -0.0154, 0.7986, 0.6109, -0.3695, -0.0132, -0.0162, 0.9992] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2973 right_y=0.0013 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4581, -1.7983, 9.2513, 1.7656, -0.0562, 0.0904, -0.0562, -1.0462, -1.6342, 9.7983, 1.6581, -0.1099, -0.0171, -0.0952] 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":0.34,"right_y":0.16,"right_z":0.09,"right_gripper":1,"left_x":0.297,"left_y":0,"left_z":0.20},"note":"The table contains plush animals and slim pen-like objects. I’ll sort the plush toys into the left basket and the pens into the right, starting with the blue pen."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe blue pen is centered between the right gripper’s jaws in the wrist view. I’m lowering to table level to grasp its narrow body.
move_to
right_x0.3400right_y0.1600right_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]: [-0.0284, 0.8108, 0.6472, -0.4332, -0.0257, -0.0376, 0.9996, 0.6815, 1.4555, 0.5636, 0.1627, 0.5423, 0.3832, 0.9992] state[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1842 left_yaw=-0.0002 left_pitch=-0.0361 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3312 right_y=0.1558 right_z=0.0739 right_yaw=0.0235 right_pitch=-0.0506 right_roll=-0.0336 right_gripper=0.9992 state[joint_eff]: [-0.4034, -1.7026, 9.7573, 1.6923, -0.105, -0.0073, -0.0122, 0.1162, -5.7368, 7.9521, 1.7167, 0.4029, 0.149, -0.0952] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.16,"right_z":-0.008},"note":"The blue pen is centered between the right gripper’s jaws in the wrist view. I’m lowering to table level to grasp its narrow body."})
tool
executing move_to over 6 steps (0.6s)
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 descent shifted the blue pen slightly to the right of the jaw center. I’m correcting sideways and closing around it at table level.
move_to
right_x0.3300right_y0.1400right_z-0.0120right_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]: [-0.0284, 0.8162, 0.6468, -0.4332, -0.0254, -0.038, 0.9996, 0.6785, 1.8141, 0.4931, 0.6868, 0.5415, 0.3855, 0.9992] state[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1825 left_yaw=-0.0003 left_pitch=-0.0419 left_roll=-0.007 left_gripper=0.9996 right_x=0.3514 right_y=0.1709 right_z=0.0146 right_yaw=0.0206 right_pitch=0.0243 right_roll=0.0268 right_gripper=0.9992 state[joint_eff]: [-0.1436, -1.7436, 7.4051, 1.6777, -0.0366, -0.0757, -0.0171, -0.6906, -4.9162, 2.9607, 1.1111, 0.0806, -0.1441, -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":{"right_x":0.33,"right_y":0.14,"right_z":-0.012,"right_gripper":0},"note":"The descent shifted the blue pen slightly to the right of the jaw center. I’m correcting sideways and closing around it at table level."})
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 has stopped at a pen-sized opening rather than closing empty. I’ll lift a short distance to confirm that the blue pen is secured.
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, 0.8165, 0.646, -0.4332, -0.0254, -0.038, 0.9996, 0.6392, 1.8668, 0.3492, 1.0008, 0.5117, 0.3561, 0.1511] state[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1821 left_yaw=-0.0003 left_pitch=-0.043 left_roll=-0.007 left_gripper=0.9996 right_x=0.3424 right_y=0.1512 right_z=0.0125 right_yaw=0.0163 right_pitch=0.1097 right_roll=0.0842 right_gripper=0.1511 state[joint_eff]: [-0.0479, -1.3744, 7.2957, 1.6777, -0.0659, -0.0757, -0.0171, -0.4855, -4.506, 1.6479, 1.116, 0.0171, -0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The gripper has stopped at a pen-sized opening rather than closing empty. I’ll lift a short distance to confirm that the blue pen is secured."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe blue pen moved with the gripper. I’m carrying it above the right basket, keeping it high enough to clear the rim.
move_to
right_x0.5400right_y0.1900right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 0.8173, 0.6453, -0.4335, -0.0254, -0.038, 0.9996, 0.6392, 1.4567, 0.4229, 0.5106, 0.4938, 0.3553, 0.1568] state[eef_state]: left_x=0.2941 left_y=-0.0003 left_z=0.1815 left_yaw=-0.0003 left_pitch=-0.0449 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3387 right_y=0.1519 right_z=0.0819 right_yaw=0.0319 right_pitch=0.0993 right_roll=0.087 right_gripper=0.1568 state[joint_eff]: [-0.0615, -0.8684, 7.0906, 1.6972, -0.0269, -0.0806, -0.0122, -0.3761, -5.6684, 7.5419, 1.6337, 0.3053, -0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.19,"right_z":0.24},"note":"The blue pen moved with the gripper. I’m carrying it above the right basket, keeping it high enough to clear the rim."})
tool
executing move_to over 16 steps (1.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe blue pen is positioned over the right basket’s interior. I’m lowering slightly and releasing it into that basket.
move_to
right_z0.1600right_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]: [-0.0284, 0.8238, 0.6449, -0.4332, -0.0254, -0.038, 0.9996, 0.4297, 1.906, 1.5871, -0.2016, 0.3012, 0.2398, 0.1588] state[eef_state]: left_x=0.2945 left_y=-0.0003 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9996 right_x=0.5345 right_y=0.1913 right_z=0.2229 right_yaw=0.0439 right_pitch=0.0607 right_roll=0.0699 right_gripper=0.1588 state[joint_eff]: [-0.212, -1.894, 7.0222, 1.6679, -0.0708, -0.0464, -0.0122, -0.4718, -10.6872, 9.5932, 1.8291, 0.1294, -0.0073, 1.033] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"right_gripper":1},"note":"The blue pen is positioned over the right basket’s interior. I’m lowering slightly and releasing it into that basket."})
tool
executing move_to over 9 steps (0.9s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe blue pen is visible inside the right basket. Next I’m approaching the white-and-black pen on the right side of the table.
move_to
right_x0.3400right_y0.0470right_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, 0.8249, 0.6445, -0.4335, -0.0254, -0.038, 0.9996, 0.4297, 1.9499, 1.3987, 0.0055, 0.3008, 0.2394, 0.9985] state[eef_state]: left_x=0.2945 left_y=-0.0003 left_z=0.179 left_yaw=-0.0003 left_pitch=-0.0533 left_roll=-0.0067 left_gripper=0.9996 right_x=0.5313 right_y=0.1899 right_z=0.1563 right_yaw=0.0448 right_pitch=0.0373 right_roll=0.0603 right_gripper=0.9985 state[joint_eff]: [-0.1983, -1.4838, 7.0769, 1.7021, -0.0855, -0.0415, -0.0122, -0.3214, -10.4547, 6.7214, 2.044, 0.149, -0.0366, -0.1685] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.047,"right_z":0.09},"note":"The blue pen is visible inside the right basket. Next I’m approaching the white-and-black pen on the right side of the table."})
tool
executing move_to over 15 steps (1.5s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe white-and-black pen is just right of the jaw column. I’m adjusting slightly right and descending to grasp it near its middle.
move_to
right_x0.3300right_y0.0350right_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]: [-0.0284, 0.8314, 0.6441, -0.4332, -0.0257, -0.038, 0.9996, 0.1749, 1.2236, 0.3573, 0.3271, 0.0971, 0.1196, 0.9984] state[eef_state]: left_x=0.2949 left_y=-0.0002 left_z=0.1771 left_yaw=0.0 left_pitch=-0.0598 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3428 right_y=0.0468 right_z=0.0863 right_yaw=0.025 right_pitch=0.0196 right_roll=0.0599 right_gripper=0.9984 state[joint_eff]: [-0.0889, -1.4564, 7.0359, 1.746, -0.0757, -0.0659, -0.0122, -0.1846, -3.6718, 6.653, 1.9951, -0.1245, -0.0562, -0.022] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.035,"right_z":-0.01},"note":"The white-and-black pen is just right of the jaw column. I’m adjusting slightly right and descending to grasp it near its middle."})
tool
executing move_to over 7 steps (0.7s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe pen’s shaft is now between the open fingers. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8371, 0.643, -0.4332, -0.0254, -0.038, 0.9996, 0.1287, 1.8198, 0.1616, 1.2201, 0.0662, 0.0704, 0.998] state[eef_state]: left_x=0.2951 left_y=-0.0007 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0666 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3449 right_y=0.0365 right_z=0.0142 right_yaw=0.0304 right_pitch=0.1194 right_roll=0.0433 right_gripper=0.998 state[joint_eff]: [-0.1162, -1.9214, 7.1043, 1.6972, -0.0806, -0.0513, -0.0122, -0.5812, -3.7675, 1.2923, 1.1941, -0.1538, 0.188, -0.0611] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pen’s shaft is now between the open fingers. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe right gripper’s opening indicates a secure pen grasp, so I’m making a short verification lift. I’m also positioning the left gripper near the gray plush toy for the next sort.
move_to
right_z0.0850left_x0.2900left_y-0.0200left_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]: [-0.0296, 0.8379, 0.643, -0.4332, -0.0254, -0.038, 0.9996, 0.1295, 1.8114, 0.1623, 1.2125, 0.0662, 0.0669, 0.1454] state[eef_state]: left_x=0.2952 left_y=-0.0007 left_z=0.1748 left_yaw=-0.0014 left_pitch=-0.0674 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3451 right_y=0.0368 right_z=0.0155 right_yaw=0.0329 right_pitch=0.121 right_roll=0.0403 right_gripper=0.1454 state[joint_eff]: [-0.1573, -1.4974, 7.0359, 1.6777, -0.0366, -0.0611, -0.0122, -0.3761, -4.2462, 2.4547, 1.8681, 0.0122, 0.0024, 0.9988] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085,"left_x":0.29,"left_y":-0.02,"left_z":0.12},"note":"The right gripper’s opening indicates a secure pen grasp, so I’m making a short verification lift. I’m also positioning the left gripper near the gray plush toy for the next sort."})
tool
executing move_to over 5 steps (0.5s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe white-and-black pen lifted with the right gripper; I’m carrying it to the pen basket. The gray plush is left of the other gripper’s center, so I’m aligning over its torso.
move_to
right_x0.5400right_y0.1900right_z0.2400left_x0.3200left_y0.0200left_z0.0650
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]: [-0.1623, 0.8398, 0.4294, -0.252, -0.12, -0.1101, 0.9996, 0.1295, 1.2789, 0.2432, 0.5961, 0.0654, 0.0662, 0.1503] state[eef_state]: left_x=0.2862 left_y=-0.0218 left_z=0.115 left_yaw=-0.0152 left_pitch=-0.0964 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3418 right_y=0.0365 right_z=0.08 right_yaw=0.034 right_pitch=0.118 right_roll=0.0396 right_gripper=0.1503 state[joint_eff]: [0.0479, -1.6205, 6.6256, 1.8535, -0.1636, -0.1001, -0.0171, -0.0889, -4.1641, 7.4462, 1.8242, -0.0464, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.19,"right_z":0.24,"left_x":0.32,"left_y":0.02,"left_z":0.065},"note":"The white-and-black pen lifted with the right gripper; I’m carrying it to the pen basket. The gray plush is left of the other gripper’s center, so I’m aligning over its torso."})
tool
executing move_to over 16 steps (1.6s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe second pen is above the right basket, ready to release. The left fingers straddle the gray plush’s torso, so I’m lowering and closing gently around it.
move_to
right_z0.1600right_gripper1.0000left_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]: [0.0917, 1.1484, 0.3561, 0.1379, 0.065, 0.0353, 0.9996, 0.4248, 1.89, 1.5299, -0.1421, 0.3172, 0.1818, 0.1523] state[eef_state]: left_x=0.3215 left_y=0.0217 left_z=0.0707 left_yaw=0.004 left_pitch=-0.0924 left_roll=-0.0024 left_gripper=0.9996 right_x=0.5333 right_y=0.1847 right_z=0.2181 right_yaw=0.0557 right_pitch=0.082 right_roll=0.018 right_gripper=0.1523 state[joint_eff]: [0.4034, -2.4684, 5.094, 1.7851, 0.1783, 0.0904, -0.0171, 0.8547, -11.1248, 9.1419, 1.6288, 0.2515, 0.1538, 1.0281] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"right_gripper":1,"left_z":0.025,"left_gripper":0},"note":"The second pen is above the right basket, ready to release. The left fingers straddle the gray plush’s torso, so I’m lowering and closing gently around it."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteBoth pens are now in the right basket. The gray-plush grasp closed empty, so I’m reopening and shifting toward its body while parking the right arm clear.
move_to
left_x0.3400left_y0.0500left_z0.0700left_gripper1.0000right_x0.2970right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0948, 1.3396, 0.276, 0.5205, 0.054, 0.0338, 0.0173, 0.4263, 1.9282, 1.367, 0.0383, 0.3099, 0.1764, 0.9962] state[eef_state]: left_x=0.3412 left_y=0.0265 left_z=0.0568 left_yaw=0.0175 left_pitch=0.0182 left_roll=0.0118 left_gripper=0.0173 right_x=0.5292 right_y=0.1851 right_z=0.1609 right_yaw=0.0666 right_pitch=0.0615 right_roll=0.0092 right_gripper=0.9962 state[joint_eff]: [-0.4444, -1.812, 2.9197, 0.8523, 0.0806, 0.0073, 0.7546, -0.1436, -9.7162, 7.0222, 2.0244, 0.1197, -0.0122, -0.1294] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.05,"left_z":0.07,"left_gripper":1,"right_x":0.297,"right_y":0,"right_z":0.2},"note":"Both pens are now in the right basket. The gray-plush grasp closed empty, so I’m reopening and shifting toward its body while parking the right arm clear."})
tool
executing move_to over 18 steps (1.8s)
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 gray plush fills the left side of the wrist view, and the gripper is now at its outer sideways limit. I’m lowering the open fingers around the nearer part of its torso before closing.
move_to
left_x0.3200left_y0.0500left_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2077, 1.2915, 0.3035, 0.4564, 0.1436, 0.0868, 0.9975, -0.0772, 0.7918, 0.6186, -0.289, -0.0868, -0.046, 0.9971] state[eef_state]: left_x=0.3405 left_y=0.0496 left_z=0.0703 left_yaw=0.0264 left_pitch=0.0347 left_roll=0.0134 left_gripper=0.9975 right_x=0.3072 right_y=-0.0048 right_z=0.2072 right_yaw=0.0168 right_pitch=0.0968 right_roll=0.0047 right_gripper=0.9971 state[joint_eff]: [0.7316, -4.2735, 7.0906, 1.453, 0.1294, 0.0952, 0.0122, -0.294, -0.9504, 7.0769, 1.8681, -0.1294, -0.0513, 0.0757] approver: 1 step(s) modified (delta_clamped). 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_x":0.32,"left_y":0.05,"left_z":-0.005},"note":"The gray plush fills the left side of the wrist view, and the gripper is now at its outer sideways limit. I’m lowering the open fingers around the nearer part of its torso before closing."})
tool
executing move_to over 5 steps (0.5s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe left descent has stopped against the plush at about four centimeters above the table. I’m closing around the body without pressing farther down.
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]: [0.2272, 1.7031, 0.1631, 1.15, 0.1497, 0.1314, 0.9981, -0.0788, 0.7967, 0.6132, -0.3164, -0.1028, -0.0601, 0.9971] state[eef_state]: left_x=0.3451 left_y=0.0564 left_z=0.0378 left_yaw=0.0139 left_pitch=0.1727 left_roll=0.0788 left_gripper=0.9981 right_x=0.3039 right_y=-0.0022 right_z=0.1974 right_yaw=0.0361 right_pitch=0.06 right_roll=0.0035 right_gripper=0.9971 state[joint_eff]: [0.4171, -2.0581, 0.294, -0.5983, 0.1148, -0.5153, 0.0513, 0.1573, -1.4701, 7.5009, 2.0684, 0.0708, 0.1441, -0.0024] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left descent has stopped against the plush at about four centimeters above the table. I’m closing around the body without pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe left gripper now holds a substantial thickness of plush. I’m lifting to verify that the gray toy is secure before moving it to the left basket.
move_to
left_z0.1500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1947, 1.6859, 0.1646, 1.2201, 0.1085, 0.1265, 0.4155, -0.0788, 0.7975, 0.6132, -0.321, -0.0986, -0.0612, 0.9971] state[eef_state]: left_x=0.3535 left_y=0.0539 left_z=0.0599 left_yaw=0.0162 left_pitch=0.2574 left_roll=0.1058 left_gripper=0.4155 right_x=0.3035 right_y=-0.0029 right_z=0.1962 right_yaw=0.0331 right_pitch=0.0545 right_roll=0.001 right_gripper=0.9971 state[joint_eff]: [-0.1299, -3.9043, 2.7556, 1.2234, 0.0659, -0.149, 1.0281, -0.0752, -1.3607, 7.0906, 1.8388, -0.1441, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"left_pitch":0,"left_roll":0},"note":"The left gripper now holds a substantial thickness of plush. I’m lifting to verify that the gray toy is secure before moving it to the left basket."})
tool
executing move_to over 9 steps (0.9s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe gray plush is lifting with the jaws. I’m carrying it high over the left basket so its hanging limbs clear the rim.
move_to
left_x0.5400left_y-0.1900left_z0.2800
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]: [0.2016, 1.1553, 0.5644, 0.0582, 0.136, 0.0868, 0.4168, -0.0788, 0.8024, 0.6132, -0.3252, -0.0982, -0.0643, 0.9971] state[eef_state]: left_x=0.3584 left_y=0.0525 left_z=0.1426 left_yaw=0.0267 left_pitch=0.0329 left_roll=0.017 left_gripper=0.4168 right_x=0.3034 right_y=-0.003 right_z=0.1939 right_yaw=0.0344 right_pitch=0.0454 right_roll=-0.0008 right_gripper=0.9971 state[joint_eff]: [0.253, -5.7915, 8.5949, 1.7851, 0.188, -0.0122, 0.6471, -0.1026, -1.5248, 7.1863, 1.8242, -0.0708, -0.0269, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.19,"left_z":0.28},"note":"The gray plush is lifting with the jaws. I’m carrying it high over the left basket so its hanging limbs clear the rim."})
tool
executing move_to over 22 steps (2.2s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe gray plush is over the left basket’s opening. I’m lowering it toward the interior and releasing it.
move_to
left_z0.1900left_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]: [-0.4728, 1.9907, 1.9182, -0.5388, -0.4225, -0.2729, 0.4186, -0.0788, 0.8051, 0.6132, -0.326, -0.0982, -0.0647, 0.9971] state[eef_state]: left_x=0.5383 left_y=-0.19 left_z=0.2626 left_yaw=0.012 left_pitch=0.0093 left_roll=0.0165 left_gripper=0.4186 right_x=0.3035 right_y=-0.003 right_z=0.193 right_yaw=0.0345 right_pitch=0.042 right_roll=-0.0007 right_gripper=0.9971 state[joint_eff]: [-0.212, -12.0957, 8.5128, 1.3309, -0.3101, -0.0464, 0.6276, -0.1983, -1.5385, 7.241, 1.7558, -0.1001, -0.0171, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19,"left_gripper":1},"note":"The gray plush is over the left basket’s opening. I’m lowering it toward the interior and releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe gray plush has been released into the left basket. I’m approaching the yellow pen with the left arm and the larger tan plush with the right arm, keeping the grippers separated.
move_to
left_x0.3200left_y-0.0750left_z0.0800right_x0.3400right_y0.3100right_z0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4717, 1.9896, 1.6409, -0.3153, -0.4194, -0.2813, 0.9954, -0.0788, 0.8082, 0.6132, -0.3252, -0.0982, -0.0647, 0.9972] state[eef_state]: left_x=0.5336 left_y=-0.1874 left_z=0.1834 left_yaw=0.0154 left_pitch=-0.0379 left_roll=0.0324 left_gripper=0.9954 right_x=0.3038 right_y=-0.003 right_z=0.1923 right_yaw=0.0345 right_pitch=0.0397 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [-0.335, -11.8769, 6.6256, 1.7265, -0.2711, 0.0513, -0.105, -0.1846, -1.5111, 7.2137, 1.746, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.075,"left_z":0.08,"right_x":0.34,"right_y":0.31,"right_z":0.11},"note":"The gray plush has been released into the left basket. I’m approaching the yellow pen with the left arm and the larger tan plush with the right arm, keeping the grippers separated."})
tool
executing move_to over 27 steps (2.7s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe gray plush appears caught on the open left fingers rather than settled in the basket. I’m returning it over the basket with a slight wrist tilt, while aligning the right fingers around the tan plush’s torso.
move_to
left_x0.5400left_y-0.1900left_z0.2500left_roll0.5000right_x0.3200right_y0.3500right_z0.0500
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]: [-0.4603, 1.2228, 0.4084, 0.1287, -0.4107, -0.2802, 0.9967, 0.9977, 1.8042, 1.05, -0.0475, 0.7788, 0.5941, 0.9972] state[eef_state]: left_x=0.3209 left_y=-0.0764 left_z=0.0764 left_yaw=0.0197 left_pitch=-0.0598 left_roll=0.0386 left_gripper=0.9967 right_x=0.3382 right_y=0.3018 right_z=0.1043 right_yaw=0.0543 right_pitch=0.0201 right_roll=-0.022 right_gripper=0.9972 state[joint_eff]: [0.212, -4.1368, 6.065, 1.8144, -0.1099, 0.0562, 0.1148, 0.7179, -8.3214, 8.0068, 1.3162, 0.5592, 0.1441, -0.0122] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.19,"left_z":0.25,"left_roll":0.5,"right_x":0.32,"right_y":0.35,"right_z":0.05},"note":"The gray plush appears caught on the open left fingers rather than settled in the basket. I’m returning it over the basket with a slight wrist tilt, while aligning the right fingers around the tan plush’s torso."})
tool
executing move_to over 17 steps (1.7s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteI’m moving the left arm clear to check where the gray toy settled. The tan plush is still left of the right jaw center, so I’m shifting inward before closing.
move_to
left_x0.2900left_y0.0000left_z0.2300left_roll0.0000right_y0.3800right_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5461, 2.1284, 2.0621, -0.6498, -0.6922, -0.0162, 0.9968, 1.0832, 1.9892, 1.1404, 0.0486, 0.8951, 0.7097, 0.9972] state[eef_state]: left_x=0.5421 left_y=-0.1933 left_z=0.2445 left_yaw=0.0208 left_pitch=-0.0292 left_roll=0.4291 left_gripper=0.9968 right_x=0.3341 right_y=0.3435 right_z=0.0796 right_yaw=-0.0001 right_pitch=0.0914 right_roll=0.0366 right_gripper=0.9972 state[joint_eff]: [-0.5538, -12.6291, 7.3915, 0.8425, -0.4127, 0.1685, -0.0073, 1.9077, -6.4615, 6.0786, 0.8864, -0.1734, -0.0024, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.23,"left_roll":0,"right_y":0.38,"right_z":0.025},"note":"I’m moving the left arm clear to check where the gray toy settled. The tan plush is still left of the right jaw center, so I’m shifting inward before closing."})
tool
executing move_to over 20 steps (2.0s)
step 257
top_cam
camera top_cam step 257
left_cam
camera left_cam step 257
right_cam
camera right_cam step 257
assistant
agent noteThe gray plush is on the table in front of the left basket, so it still needs sorting. I’m approaching it again while closing the right gripper around the tan plush.
move_to
right_gripper0.0000left_x0.4050left_y-0.0550left_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, 0.8486, 0.8444, -0.5636, -0.144, -0.0837, 0.9969, 1.1069, 2.1544, 1.2663, 0.1978, 0.981, 0.7647, 0.9972] state[eef_state]: left_x=0.2987 left_y=0.0054 left_z=0.2375 left_yaw=0.074 left_pitch=-0.001 left_roll=0.0169 left_gripper=0.9969 right_x=0.3502 right_y=0.3799 right_z=0.073 right_yaw=-0.0794 right_pitch=0.1877 right_roll=0.1629 right_gripper=0.9972 state[joint_eff]: [0.1436, -1.265, 6.7487, 1.7998, 0.0757, 0.1587, -0.0073, 1.5521, -6.2154, 5.2581, 0.6422, -0.2466, -0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.405,"left_y":-0.055,"left_z":0.09},"note":"The gray plush is on the table in front of the left basket, so it still needs sorting. I’m approaching it again while closing the right gripper around the tan plush."})
tool
executing move_to over 10 steps (1.0s)
step 267
top_cam
camera top_cam step 267
left_cam
camera left_cam step 267
right_cam
camera right_cam step 267
assistant
agent noteThe right grasp was empty and the tan toy has shifted toward the left side, so I’m parking that arm. I’m centering the left fingers lower around the gray toy’s body for a firmer grasp.
move_to
left_y-0.0350left_z0.0050right_x0.2970right_y0.0000right_z0.2200right_gripper1.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2707, 1.4948, 0.6231, 0.1898, -0.2962, -0.1848, 0.9969, 1.1049, 2.1525, 1.2675, 0.26, 0.9871, 0.7734, 0.0298] state[eef_state]: left_x=0.3898 left_y=-0.0509 left_z=0.0758 left_yaw=0.0647 left_pitch=-0.0877 left_roll=0.0476 left_gripper=0.9969 right_x=0.3542 right_y=0.3844 right_z=0.0832 right_yaw=-0.1029 right_pitch=0.2141 right_roll=0.2319 right_gripper=0.0298 state[joint_eff]: [-0.5402, -6.9949, 6.8171, 1.6679, -0.1294, -0.149, -0.022, -0.0205, -11.3983, 5.6821, 0.5934, 0.1538, -0.4615, 0.5348] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.035,"left_z":0.005,"right_x":0.297,"right_y":0,"right_z":0.22,"right_gripper":1,"right_pitch":0,"right_roll":0},"note":"The right grasp was empty and the tan toy has shifted toward the left side, so I’m parking that arm. I’m centering the left fingers lower around the gray toy’s body for a firmer grasp."})
tool
executing move_to over 33 steps (3.3s)
step 300
top_cam
camera top_cam step 300
left_cam
camera left_cam step 300
assistant
agent noteThe open fingers are now down alongside the gray plush rather than above it. I’m closing on its torso before testing another lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2169, 1.7199, 0.5175, 0.6876, -0.3077, -0.1272, 0.9969, 0.1059, 0.8368, 0.725, -0.474, 0.2146, 0.136, 0.998] state[eef_state]: left_x=0.4138 left_y=-0.0327 left_z=0.0489 left_yaw=0.0969 left_pitch=0.0709 left_roll=0.049 left_gripper=0.9969 right_x=0.2976 right_y=-0.0026 right_z=0.2063 right_yaw=-0.1519 right_pitch=-0.0135 right_roll=0.0031 right_gripper=0.998 state[joint_eff]: [0.4581, -3.3162, 2.6735, 0.7106, 0.486, -0.1978, -0.022, -0.1846, -1.812, 9.935, 1.6288, -0.022, 0.0073, -0.1148] 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_gripper":0},"note":"The open fingers are now down alongside the gray plush rather than above it. I’m closing on its torso before testing another lift."})
tool
executing move_to over 10 steps (1.0s)
step 310
assistant
agent noteThe gray plush is caught between the fingers with a nonempty opening. I’m lifting it straight up to check the grip before transporting it.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2134, 1.7073, 0.5282, 0.7216, -0.334, -0.128, 0.1939, 0.1036, 0.8417, 0.7261, -0.4973, 0.2008, 0.12, 0.9979] state[eef_state]: left_x=0.4212 left_y=-0.0284 left_z=0.0655 left_yaw=0.1247 left_pitch=0.1291 left_roll=0.0416 left_gripper=0.1939 right_x=0.2952 right_y=-0.0011 right_z=0.2005 right_yaw=-0.1344 right_pitch=-0.0417 right_roll=-0.0094 right_gripper=0.9979 state[joint_eff]: [-0.6496, -5.7641, 4.1231, 1.4139, 0.1392, -0.0659, 0.7253, 0.0752, -1.853, 6.8308, 1.8974, 0.1636, 0.149, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The gray plush is caught between the fingers with a nonempty opening. I’m lifting it straight up to check the grip before transporting it."})
tool
executing move_to over 6 steps (0.6s)
step 316
assistant
agent noteThe gray toy has lifted with the gripper. I’m moving it over the middle of the left basket before opening the fingers.
move_to
left_x0.5600left_y-0.1800left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2134, 1.4681, 0.6537, 0.3367, -0.3374, -0.1314, 0.1958, 0.1036, 0.8444, 0.7261, -0.5003, 0.1974, 0.1192, 0.9979] state[eef_state]: left_x=0.4189 left_y=-0.0273 left_z=0.1289 left_yaw=0.1287 left_pitch=0.1107 left_roll=0.0468 left_gripper=0.1958 right_x=0.295 right_y=-0.0006 right_z=0.1991 right_yaw=-0.1312 right_pitch=-0.0477 right_roll=-0.0095 right_gripper=0.9979 state[joint_eff]: [-0.2256, -7.7744, 9.0598, 2.0195, -0.1197, -0.0366, 0.1783, -0.1983, -1.6752, 6.9538, 1.6972, 0.0904, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_y":-0.18,"left_z":0.26},"note":"The gray toy has lifted with the gripper. I’m moving it over the middle of the left basket before opening the fingers."})
tool
executing move_to over 14 steps (1.4s)
step 330
assistant
agent noteThe gray toy hangs toward the near edge of the basket. I’m shifting farther over the opening so it will fall inside rather than beside the rim.
move_to
left_x0.6000left_y-0.2400left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4713, 2.0304, 1.8362, -0.384, -0.5739, -0.2707, 0.1972, 0.1036, 0.8482, 0.7261, -0.5049, 0.197, 0.1188, 0.9979] state[eef_state]: left_x=0.555 left_y=-0.1711 left_z=0.241 left_yaw=0.1353 left_pitch=0.0816 left_roll=0.0738 left_gripper=0.1972 right_x=0.2947 right_y=-0.0005 right_z=0.1972 right_yaw=-0.1307 right_pitch=-0.056 right_roll=-0.0115 right_gripper=0.9979 state[joint_eff]: [-0.5538, -11.9453, 8.6085, 1.5946, -0.1685, -0.0611, 0.1343, -0.0068, -1.7846, 6.9949, 1.6825, 0.0611, -0.0513, -0.0122] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.6,"left_y":-0.24,"left_z":0.22},"note":"The gray toy hangs toward the near edge of the basket. I’m shifting farther over the opening so it will fall inside rather than beside the rim."})
tool
executing move_to over 7 steps (0.7s)
step 337
assistant
agent noteThe gray plush is now positioned farther inside the left basket’s boundary. I’m opening the fingers to let it settle into the basket.
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]: [-0.5472, 2.3867, 2.3104, -0.6048, -0.6483, -0.3195, 0.1987, 0.1036, 0.852, 0.7261, -0.5049, 0.197, 0.1188, 0.9979] state[eef_state]: left_x=0.5912 left_y=-0.2311 left_z=0.2014 left_yaw=0.1401 left_pitch=0.0287 left_roll=0.1282 left_gripper=0.1987 right_x=0.295 right_y=-0.0005 right_z=0.1961 right_yaw=-0.1308 right_pitch=-0.0597 right_roll=-0.0124 right_gripper=0.9979 state[joint_eff]: [-0.1846, -14.0239, 9.0051, 1.8388, -0.1929, 0.0024, 0.1343, -0.0889, -1.7983, 6.9265, 1.6532, 0.0464, -0.0513, -0.0122] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray plush is now positioned farther inside the left basket’s boundary. I’m opening the fingers to let it settle into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 346
assistant
agent noteThe gray toy fell in front of the left basket even at the arm’s maximum forward target. I’m parking both arms to inspect the remaining objects and avoid pushing anything farther toward the table edge.
move_to
left_x0.3000left_y0.0000left_z0.2300left_pitch0.0000left_roll0.0000right_x0.2970right_y0.0000right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5457, 2.4046, 2.3127, -0.6144, -0.6476, -0.3302, 0.9954, 0.1036, 0.8539, 0.7261, -0.5045, 0.197, 0.1188, 0.9979] state[eef_state]: left_x=0.5919 left_y=-0.2305 left_z=0.1899 left_yaw=0.1464 left_pitch=0.0098 left_roll=0.1347 left_gripper=0.9954 right_x=0.2952 right_y=-0.0005 right_z=0.1957 right_yaw=-0.1308 right_pitch=-0.0612 right_roll=-0.0127 right_gripper=0.9979 state[joint_eff]: [-0.2667, -15.7607, 6.5983, 1.6532, -0.2564, 0.0415, -0.1636, -0.0615, -1.4427, 6.9265, 1.6874, 0.0269, -0.0122, -0.0122] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.23,"left_pitch":0,"left_roll":0,"right_x":0.297,"right_y":0,"right_z":0.22},"note":"The gray toy fell in front of the left basket even at the arm’s maximum forward target. I’m parking both arms to inspect the remaining objects and avoid pushing anything farther toward the table edge."})
tool
executing move_to over 23 steps (2.3s)
step 369
assistant
agent noteIdentified the two categories as plush toys and pens/markers. The blue and white-and-black pens are in the right basket, but the three plush toys remain outside the left basket and the yellow pen is at the far-left table edge. Repeated plush placements fell short of the basket even at maximum forward reach; I cannot reliably finish without repositioning the basket and edge-side pen. Both arms are parked clear.
give_up
hindsightVerify the object's landing after retracting: a successful grasp and an open gripper above the apparent basket outline do not prove placement, especially with the oblique camera and a plush hanging toward the base. On this layout, the left basket needs to be brought closer before depositing large plush toys; x=0.60 at z≈0.20 still left the hanging gray toy short of its near rim. Descend with jaws open before closing on plush, since simultaneous descent-and-close produced empty grasps and pushed objects sideways.
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]: [-0.1894, 0.8894, 0.8303, -0.5018, -0.3222, -0.2222, 0.9967, 0.1036, 0.8799, 0.7937, -0.5865, 0.197, 0.1154, 0.9979] state[eef_state]: left_x=0.309 left_y=0.0014 left_z=0.2362 left_yaw=0.1862 left_pitch=0.0315 left_roll=-0.0114 left_gripper=0.9967 right_x=0.2931 right_y=-0.0007 right_z=0.2027 right_yaw=-0.1297 right_pitch=-0.1005 right_roll=-0.0249 right_gripper=0.9979 state[joint_eff]: [0.1573, -1.5248, 7.0496, 1.8681, -0.0171, 0.1685, 0.1245, -0.0889, -1.4974, 10.359, 1.6337, 0.0024, 0.0073, -0.0122] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Identified the two categories as plush toys and pens/markers. The blue and white-and-black pens are in the right basket, but the three plush toys remain outside the left basket and the yellow pen is at the far-left table edge. Repeated plush placements fell short of the basket even at maximum forward reach; I cannot reliably finish without repositioning the basket and edge-side pen. Both arms are parked clear.","hindsight":"Verify the object's landing after retracting: a successful grasp and an open gripper above the apparent basket outline do not prove placement, especially with the oblique camera and a plush hanging toward the base. On this layout, the left basket needs to be brought closer before depositing large plush toys; x=0.60 at z≈0.20 still left the hanging gray toy short of its near rim. Descend with jaws open before closing on plush, since simultaneous descent-and-close produced empty grasps and pushed objects sideways."})
tool
give_up: Identified the two categories as plush toys and pens/markers. The blue and white-and-black pens are in the right basket, but the three plush toys remain outside the left basket and the yellow pen is at the far-left table edge. Repeated plush placements fell short of the basket even at maximum forward reach; I cannot reliably finish without repositioning the basket and edge-side pen. Both arms are parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 13.7 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]: [-0.0189, 0.8001, 0.6174, -0.3779, -0.0219, -0.0261, 0.9996, -0.0154, 0.7986, 0.6109, -0.3695, -0.0132, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2973 right_y=0.0013 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -1.7983, 9.2513, 1.7656, -0.0562, 0.0904, -0.0562, -1.0462, -1.6342, 9.7983, 1.6581, -0.1099, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5835910886eddb4341b45f99f90a81a919fbf6f5edcdbcbc52b332e3b563c314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6816ba9031e3c3a18cebebd5e63cac58ce71438d20bbf1e0d4fcd938238a6e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c138519c10a22402a2ff7f9f4a70952097d7a3bb3a8e2fa03dc76d32f42220c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.829 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsuYdv2fACwezxwjffNwnU0cDnO4aGBmSTUEGRa_qHudZJwtnzRhf8WvwrN9HE65z3IYhcSwYqb6MlJH_OXEsf2AgzEqTlNRbCJk8o7gd3pa36pXeC3GzNJm0RkWutHanFi9GMjMKMernsWIwNzNJHH6H2dhPKkO6nNn8jm78nC6LEHncndJEFe9stDWEjj_4S1DVrm_YHD3s5tBfUpomW1KyQlQ1n-Kds3o087uw2flmuVCW1WdxO4cMDCYWbV3alXVTjWxsE7Gcy6YwIHprWbE5UfSGGwcnfJR6yYoK3ZC_KLkEA-ekiM9EPvkr2FypUIzEFAjeKGgcNpkTNUTZUZYnR4YMdkirN0z86CZ2KRRTMCR9RQzQ5wOA6W7OCLRItDaLyH1mPbi3fuXNx_j5XIKABh32iwUKNk-V-soVWuHQC1diDA35drGDWGum83vDOs48OsEuufz5aImAuxADe6ZC404ib-8RKINKZCRYQX52buYWs270q9Ar1RDxrvU__LXIReYmUyseeoiU59ceU_u5D6smmKPbc6_MrX6STGbOMDJPCQeOMrMy-0GBRezg-VIPZ0Rttk_nyGmn_n-H5--uG7YU_JFBw_rrUOxY1qWHORYrCwoWhgb7tGkZvGiP9jDkHpYOBGMJ_KRY4tnhHH6RBRH5sbBYv-_kPHzF3TKW0mYeOSVgHcMEXA5brYLF0LqzIHZv5TKQWAX25eNNObV5_4QQgYAWqn4HfJn_Rbp_AuoOz9xF-gAcdejGXmYaNBbABgjiY9o5OuVT_AcJE--ne-g6nHFzmaPYq8Oo3Vacg87XcNoXEYscUPwh1kMMQrTNM3Jpz5_PJuB3L7eTKyp2jwzTwga96ckW83B5deyFPG4Aid96ybPSsXWmlQSedKGKUKT0CyVF61PQEhVM7rSjhfT1WSkrmjf-z_fU7I5NvqZzpQguqhMeifdoD_dDNhf8ge0UQEEO4GYDfEY35osrvIdPtwpX1FoCxk_bx6qN8_61R9DYKuykm5Ha_4xgUTGYI1ouK-7C_xOw45RWcimyWnd13Uit_Pq9XUDXxwaa_wAh_znUYOlEiiCGsm3xLYBWoTvT02Fa3y9H0gZideCUXxhnldK3GJc8TsONCYGPHn2UgplZ1mS5KG7MDOCNlOxF4_d6bu_AgDl5uDP__l2INyaa32W63Z8e2dYlDGZXHRzdQ5X8Uh47F490_as78vFjN3vqg_ulpO5W-iVjP1Fn0u4mwX-UEmo6eOxgbGRKMsB4VqaJ9iqkgF4-NqOloxliWrjattRlH-qfqTqjM0MIPA26CVVfeeZKEIO833kGG6t_CnKlJ4dypomNYyGZDT_m9myKPemA_IAPiMIDOix0JfYGZhGC0y1ucRcGsPZumCu62V906BcYEqWYvY0Aar34aEUd6otdKOUV683BzE2j9wSYUnN4l2kuVx077rVgucZBXywDRCgTO_9GDR-TZzJFbvxw1cqD7UUPcVuQKMYVdAgFS6PrDG2QC7fkPVfQdN1hVm4EEJXMC_Igev862TKAYHjUBsiPpCe7Qsiz9_S7dGPMOJ3mSdqddKbTeLrHRWs5If1MwYhMbdgvFTcjJ09azK5algd-fkKbHADIyPeCCKSmEcmp0gCy5gwieTVAr1P2n1z_BBN0jm7SIEANlvESjn2smQ4PoI7LpSeYi2cy_6QLej7ONGmrYM4v1jDi8OuoLB9KXkusDg4qSw9SSWO-oLQKLnBnzkg-WHCXDw-2teB4_lR-aH5Xd7DiUamJrY4uV8RMFPl0aWfupWv7x72lgh2xapy-_hgi--11QzwUh35Yz6or2ii2u9V1UWIpaJoqSD3h1IZEonQ6KdEZ_4IT2XVXn8zPZuc_UqxVUpoKUzri7c9_xwKfA7S1sxyM_tq2mHAGXE9AqVuKIhVMyF9y_RRFMton2ZZcz-tyF9v8KBxHGBhoRV9qukbnODwb4ms_F-PKQ4RYB2dbkXFt4p7E705OEvHhkt4mzB-BRIpImWIQBosAaKgBARCMMZvtdvh7vxA9KnkI1oEpUNdoe8WptxlLaLu7GBxITcULuHU722qWf0fdRBsDJTb5nkkCOSGs7KKoHP37X076EuISvYiX_ipv7BxXudgnv4hJLKeGwQcw7VwlXdh-o2HHojTEIHoDj8sZYfVOn70JSmXouBA1MFFHFGwKGreMxqUwa9VYdAqAC77LMZIhwJ9K74WMYDVPPj3EyaVDFoQPVh23PagJ72-W9mFJ9MmhizmPAl5_F8eO02rVs3odHQQjGhW1sxk=",
  "id": "rs_0d1420d2caca7e63016ab2e6124f4c87d080c8dc6fc178345c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.16,\"right_z\":0.09,\"right_gripper\":1,\"left_x\":0.297,\"left_y\":0,\"left_z\":0.20},\"note\":\"The table contains plush animals and slim pen-like objects. I’ll sort the plush toys into the left basket and the pens into the right, starting with the blue pen.\"}",
  "call_id": "call_Oarpri268FS6udniSOUxQvBd",
  "id": "fc_0d1420d2caca7e63016ab2e61b3f3887d08ae2a9739ea21a0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Oarpri268FS6udniSOUxQvBd",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8108, 0.6472, -0.4332, -0.0257, -0.0376, 0.9996, 0.6815, 1.4555, 0.5636, 0.1627, 0.5423, 0.3832, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1842 left_yaw=-0.0002 left_pitch=-0.0361 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3312 right_y=0.1558 right_z=0.0739 right_yaw=0.0235 right_pitch=-0.0506 right_roll=-0.0336 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.7026, 9.7573, 1.6923, -0.105, -0.0073, -0.0122, 0.1162, -5.7368, 7.9521, 1.7167, 0.4029, 0.149, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de5bb39a800d44959c6c5e53b76fc76fc0a0c9690bf38f507123899d41c47be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bb07696f4aca308bc566026f0e3a934d6cc574e10bdf1138725d6d28d46abe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d65fdf6084f200543ea3defeeea72a4397aaa18ddd2dfeddfbee43354abf780",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 7.469 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]: [-0.0189, 0.8001, 0.6174, -0.3779, -0.0219, -0.0261, 0.9996, -0.0154, 0.7986, 0.6109, -0.3695, -0.0132, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2973 right_y=0.0013 right_z=0.1841 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -1.7983, 9.2513, 1.7656, -0.0562, 0.0904, -0.0562, -1.0462, -1.6342, 9.7983, 1.6581, -0.1099, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuYrPteP0m95mevN8biiQxgk8TpqONdNPG3fEOKSW_JSFGIet-eQ93OEJPjwz15KI1DRc4gtvuOOyub7QX9Ht5qHDLqL1utyJNgG7pb1CJY7WAQpvSdrKowNpyXT5NnZ-6-JTDSr1-bxXWwSdmdyjPqDHA9biuQ0BxqKN_Y08lbUqAIdJE7pSxjX9TaW2BvOJK0VCs0oNae86jI6SYD4u71FLHA6CPl8-I6a-zVmG4CgBQZYWZw-0REpPnKP3r6-PBR1qabP1otTtiQvg165RqTTsv72DKlI79zz0sVnR2yfI1pjhVNt4ooczW2ox4kHnLWmWWBWPd1Trwj401p_2K6iclReWEm20YICUizewMsRAo8xvRND3g_Ig0ajIFyFqVsKgqPA5EloUlCrxtRKepouO3bBrGTdTvCx75BoR9FmQuyxBtW4cOCK0jL4Zim5h83WUYsMKNcXRfWnGpWcS3Vyi4uobx7OKFgbK_jOpmtIc38sH3y2ZTYoDEO5ZXLMXpAmjj6cIrkPRFvloD2MRGXQoa2KL4bFeCnW3563HIoG3wUIiElCrpOoFvA8oiI6LAeA652Y7Q6yKS0xNnZgC8rmaHrlPrN2wDJVctFWKyRoCe2xQCLOkdleCG3iTgYpRP1xAQQ2XMABSKOprF00S6mg7fMN12fIRAgEv2853Ja1oEIK-BrxTaWKz9PZvWXS5_dqcW5ODH5fgn6qPF95PUXFPEbrurGLMWL0FTTuV475I859qMLhFmLtat7Gvpc-ujeI_idSuaU96-onShXFAHKNBTsWm73C0xjEsOjMwHfEJYqYkinwSPBDxQR3fUWsxls7sIIcxsB1pCwsKpU8ygzz1Nc0UN5_n7sxMPWwxMkoDaToyBDT4WrjIzD3IP730NX1Vpa-ca9oPhySXjH1h2fZQazmHLTcj6r8_g4VkD3iq6ymiISHIc9rObDLfgE6_U6QvEynZuK09Ep0SAY6k1ntGHbWeUIz74H2D5QZVN6J7qSanZ6GhthS-7Q50K0QsGHqa1zfNwPGcy-z1Dq3CPPHr20ReyzLRLu4HS0dOQz-4LP2bamxFtl_VK5vVZ57qnb6QFHBYo1G9gSvKsSEWgM_Taj6rVvTO7SRin01wK9zQkQ4JGhdkMo9HT_LoarVy8qXBmFf5_JLxvAXUsD1PBOLxPJPHbFaFj8-AKpwo04wJsPKwtDiX751F3FMdJOKRam-N1v8wSwu84uGske6yGekyBDGUqJ_0JFereFkZGC1SJgmGROYWhuzu3Bp9Epd7cG0AKBNSmHG_5Ub4BheN2cVhA==",
  "id": "rs_0d1420d2caca7e63016ab2e628f20087d08875a6708931545b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.16,\"right_z\":-0.008},\"note\":\"The blue pen is centered between the right gripper’s jaws in the wrist view. I’m lowering to table level to grasp its narrow body.\"}",
  "call_id": "call_twpjPZkM6HkUkWp6i1pUeoMu",
  "id": "fc_0d1420d2caca7e63016ab2e62a261887d0881a88ad5a40f699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_twpjPZkM6HkUkWp6i1pUeoMu",
  "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]: [-0.0284, 0.8162, 0.6468, -0.4332, -0.0254, -0.038, 0.9996, 0.6785, 1.8141, 0.4931, 0.6868, 0.5415, 0.3855, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1825 left_yaw=-0.0003 left_pitch=-0.0419 left_roll=-0.007 left_gripper=0.9996 right_x=0.3514 right_y=0.1709 right_z=0.0146 right_yaw=0.0206 right_pitch=0.0243 right_roll=0.0268 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.7436, 7.4051, 1.6777, -0.0366, -0.0757, -0.0171, -0.6906, -4.9162, 2.9607, 1.1111, 0.0806, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521c8622d83c8fbf2f125e83a5d86d16a2bd9bbf05ca90a0055c2e1b7b5446bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c35faaea97fd59a1a8864d4fab3828fa9b45c53275194db8f8a66ae3d1a646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c607bd20a958eb4d9a3f7222a2d2caa969494b4bc1d6641cf6b63b64af0ed97f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.062 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]: [-0.0284, 0.8108, 0.6472, -0.4332, -0.0257, -0.0376, 0.9996, 0.6815, 1.4555, 0.5636, 0.1627, 0.5423, 0.3832, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1842 left_yaw=-0.0002 left_pitch=-0.0361 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3312 right_y=0.1558 right_z=0.0739 right_yaw=0.0235 right_pitch=-0.0506 right_roll=-0.0336 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -1.7026, 9.7573, 1.6923, -0.105, -0.0073, -0.0122, 0.1162, -5.7368, 7.9521, 1.7167, 0.4029, 0.149, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuY1rFU1wJjidfjNIAZUEKaKyKDN8F0ULbFvuSOs-ABwkwHNOGQOZ6QtQkcNOAsoLRqE8fY-dDMalExINYbcDMlNOjC16EPp-_aPB-KLEIYlk8_4Qh5lwu9xYLV1FFC3dQssK6ggVvl2LUsCgs_FzGAclrOL6KNcRYniFv2apMW77SAiD1sUPJEDwNHhVkrgD9SJuZHgWrwLm5NL3dOIk6WoSt51l2Tef_CftvJi5zFfgPKGA4WswxUcK3FpTJQDDk8djlSpswAYAvxvekz0d8OtoFuhyhV6wgkY_ato_qWmj3_Me5Eh02xlVzqdp8n7oPINH1p64ySbOAMwlTwSgGwrXj0-q_W5OqsAcPAXasmezHpxH9wiGH2zsOQLf0TabFw4xU_Nk5QKWWAZicQJUNARHCphhl4PfERDazMIgxqkw2UZVsq2klnxHWC39xIBY_6fwNedw4988EhYnHHGkhBzpA3nnOheX7Pibo-PqmbiPetU2fzeypdphBh0dR1qkfB2TwUxOPHy1ZGJnBK-osX98uY62ytwCyaZlXzJPIkRYs9JhKfxXHf03TCaENuWr27JE4hJ4THMpBabOJvnqKAfkOcV95C770aZVjk5kQTrASw5LaxahntBauhIUIByq6ulzkVTBEhfif4QvlykEjKOfmxvcuPxdFuMqgT1ZRzk6uqVE3TDY8NkjUn9laHfvFr26HoHYGc1bBpV0Rq2IHxc-NxBKgHAkJcSVdKPLqSULOzP17fjcRCwfj2enuMTJM0tKWjBMyE0Ops4Jfd4Ooi5LUdt_KdPA8peOV9eVYSjqJRl1p9XMDlv8GUw5HnUzLtNkJKaBpW9XbRgA7gxJ4L7AXs1I38_PGK9Ue3IIkpmfxBUkeytp8ll5N6DVJV7RZRJqH0gWBoTK492ONWaErSZHnAVcBH7mnfs1LV_ruJXtKSGJwP-1799mhuLFBtG47b-s3D8_VJJdkVnsaihDrhC_6-mazbJrkueOOHPpkQZ3JlL7MNaLLJqJtCPjtlnPF1YZbE2onD_0ZD_BP6rVq5r4OTglZH9pJlTEFAOUSVlx6qmGq9mM-d9QHcZI45T3ZNHAv8X-TDp7_VUmD7UD4aF87MwIiCeQUvYdVTbVR3QVbCGCIJY8on7u2UKaXam8U3qhqt7M97Q2a37IGTegpwMciu3RkyxeDCq8Iyqn67CmFli_8l08RpnGEuzexdliBlfgxG6Ej7LzaQEPDeYiFM0QsdBvwuoXSzDnYi_PWU5csL-XNmtLz1ZdHBG72T6s8r-fGNozmt05oH32FN29Kg-ZmGpPm_LqckX7J19Ie98VOe_9dsbJ4IAVlOsScrpU4RwHuT7L9tbWg9dOVmTA-D-c72g5lCqPC7gCbMuTq1k97o50d15vyPvdg7K1HTOBdZbc1fIw1g5b92t8lyK1KaXsA==",
  "id": "rs_0d1420d2caca7e63016ab2e631359487d0be31e1ffa817edcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.14,\"right_z\":-0.012,\"right_gripper\":0},\"note\":\"The descent shifted the blue pen slightly to the right of the jaw center. I’m correcting sideways and closing around it at table level.\"}",
  "call_id": "call_jeL6iPyX7GcCqXk2jrIh573d",
  "id": "fc_0d1420d2caca7e63016ab2e6333c7487d0ba7504cf158c2a75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jeL6iPyX7GcCqXk2jrIh573d",
  "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, 0.8165, 0.646, -0.4332, -0.0254, -0.038, 0.9996, 0.6392, 1.8668, 0.3492, 1.0008, 0.5117, 0.3561, 0.1511]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1821 left_yaw=-0.0003 left_pitch=-0.043 left_roll=-0.007 left_gripper=0.9996 right_x=0.3424 right_y=0.1512 right_z=0.0125 right_yaw=0.0163 right_pitch=0.1097 right_roll=0.0842 right_gripper=0.1511\nstate[joint_eff]: [-0.0479, -1.3744, 7.2957, 1.6777, -0.0659, -0.0757, -0.0171, -0.4855, -4.506, 1.6479, 1.116, 0.0171, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf4958bbe5dac15a7b0354465dd0ff3af248354a825525b34202c4394a42cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143e66fbe76c74b400e11f22edaae456d9b870230e1d8810239c905a3dbbda5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c7c04e674ddbd10d354cd01e0a6fb22dba032799e01206a016def6b58545b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 6.817 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]: [-0.0284, 0.8162, 0.6468, -0.4332, -0.0254, -0.038, 0.9996, 0.6785, 1.8141, 0.4931, 0.6868, 0.5415, 0.3855, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1825 left_yaw=-0.0003 left_pitch=-0.0419 left_roll=-0.007 left_gripper=0.9996 right_x=0.3514 right_y=0.1709 right_z=0.0146 right_yaw=0.0206 right_pitch=0.0243 right_roll=0.0268 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.7436, 7.4051, 1.6777, -0.0366, -0.0757, -0.0171, -0.6906, -4.9162, 2.9607, 1.1111, 0.0806, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper has stopped at a pen-sized opening rather than closing empty. I’ll lift a short distance to confirm that the blue pen is secured.\"}",
  "call_id": "call_Dr2iZ7tDrHjr4XhTQKmNzveQ",
  "id": "fc_0d1420d2caca7e63016ab2e639a88887d09f2ad5c45c23621f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dr2iZ7tDrHjr4XhTQKmNzveQ",
  "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, 0.8173, 0.6453, -0.4335, -0.0254, -0.038, 0.9996, 0.6392, 1.4567, 0.4229, 0.5106, 0.4938, 0.3553, 0.1568]\nstate[eef_state]: left_x=0.2941 left_y=-0.0003 left_z=0.1815 left_yaw=-0.0003 left_pitch=-0.0449 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3387 right_y=0.1519 right_z=0.0819 right_yaw=0.0319 right_pitch=0.0993 right_roll=0.087 right_gripper=0.1568\nstate[joint_eff]: [-0.0615, -0.8684, 7.0906, 1.6972, -0.0269, -0.0806, -0.0122, -0.3761, -5.6684, 7.5419, 1.6337, 0.3053, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc83edf1310e495e833084f4889938404b038675001255b8d6a237bbbe49ebb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94190b5fb9a4b521eb40ff9934d96577a47a3ba5524622baa0fb713e27386ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655c97d04f00d96ae953f3f4b00c45ef68ee427816f9ef661697190bfe82c7b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 11.66 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]: [-0.0284, 0.8165, 0.646, -0.4332, -0.0254, -0.038, 0.9996, 0.6392, 1.8668, 0.3492, 1.0008, 0.5117, 0.3561, 0.1511]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1821 left_yaw=-0.0003 left_pitch=-0.043 left_roll=-0.007 left_gripper=0.9996 right_x=0.3424 right_y=0.1512 right_z=0.0125 right_yaw=0.0163 right_pitch=0.1097 right_roll=0.0842 right_gripper=0.1511\nstate[joint_eff]: [-0.0479, -1.3744, 7.2957, 1.6777, -0.0659, -0.0757, -0.0171, -0.4855, -4.506, 1.6479, 1.116, 0.0171, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuZDaCI_PfxjIZIOOxX_W6R5Pzh9j6VRnQDnZJ9iJI-_3rYSut6fqIbFKLNTxgo1q38xvTdZ9wOopi9JaxTQik5o0JUsztoOlk5yf6GqPqwwh2mMnOD_RIX_m2TeropS5X8Z5C2_2YunC8WfGiFwyGgRFpbDTVz4ZPrzwhHuOYb47sSh37Oy6tIso1Tks-5fX4hh_wb1txU2tYjPrUWX77ha6EC3-vfe8a5c52y9dheO2GaLiZ54A0MfgVlOQq425UVyccl4gukoqp-1ykJf0HEjKuLZ6ZdigMppM3v6oT911qkxhwEDL1MJdiTiYK-udBKbQhI7IVpoOVGQPV8OeCthcAtQpkfnHrHkOFMWQ3bAo1q-1fi2kUC-iDMIAAeDTxvJAkg9L_SxtkmWYBkkiIDOciA27z-_Yb2zQLvICDmJ-_d1MOs8lXtdUCG2VZOikuyfz3CD3vJDd0oJWraAi1-KoZsXhNybeaq5GqIJuCK59EVvs80gfWOgicy-nArPFtMn3r5v7xYkGfxpU8FOZ-nSNsw91ioKHqd1Z45x1e8n-hrV321XtfyCa36tjMPrWSYIxBUxqKpnhI-wSC6XyoiU7_RobykvI2gJDK4nevgmhZGahMYnpfV3pfUB-4VwJhfWlnzcceI0ew9l1Jn-J9CbAMP2zueZxXDE8Cc7e6-m_6Zu72KVXeKtioBvVhASr2EJrdTA9lZWG2UAGSSf_bs1W0zdxSonhHCvg0l6Zzp7lIboayJbk3wRk2Uy8pus_ilaPp42BTXx4sRCFUn_pZSDBT0G2Uvp5YwIJROD2DzaRJu6s4yMjsyErbn1BqL7zx7vgIi3PY1IKyiK50cDZ9POZBetHLpIZubXQ81lEc65sEGWmplJv-R40R3Q9m-qqvRVlDIqa8lysc-piia3WZ8GsWAzQI0iEQjewJwc_1RtEi6h0OB6k3AvQ_TRijDWzAq7pejXgzzu9_Ot85VQUhkOPHPwG4QCcEC_b2IyYJtxXN8xw8lQxHjqw9_F6ZA72l59BFxnjkjrHvbeepvue5rZE2h8Gdc0J0vwMMmM_S-2t_N6bCuPMTPsVVSq0ah5N9z0NReezjsh9E8eziTGHb4a5X_FGtEqZSi0fXqwOVuv6pJeV2d-zrBXevV1ngsYU65iNJ-W_Gm6QQXQNyOleO_IdkF1twjPMoNJch4Vl-106wY2sHdk08FvHZmyjWIfBwhHWRsYQXgDvl3Yc9fH8XgJu-LWGMZPRJFWw7m9J8pvTVlv_Z3V9S2Ni_YqBBMGmJLgPamE-93TJnYu5RjAHqsSUaKkRIVyuoc-vB4lMsCiMWSS4MwqSebhbMOH7cs-aIvvE2ixkL-TNp8nzZi36G9Q_OI6R9kc5EBTTM_mFWUEaCzjAXahZe7UmpGayfGjEwJZIav85DicHC58S59DWzNVRYuuU9Fof5EBA9Tnj4hsBAfC4gAh_AywIB1WGaASQ-KUQiZO9impzWctRW2W9qTM0Q==",
  "id": "rs_0d1420d2caca7e63016ab2e63f378887d082cc5156c51b12ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.19,\"right_z\":0.24},\"note\":\"The blue pen moved with the gripper. I’m carrying it above the right basket, keeping it high enough to clear the rim.\"}",
  "call_id": "call_88pEaJnw1w3wRGgheQ8Og9ya",
  "id": "fc_0d1420d2caca7e63016ab2e641e80487d09773547d1d8757c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_88pEaJnw1w3wRGgheQ8Og9ya",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 0.8238, 0.6449, -0.4332, -0.0254, -0.038, 0.9996, 0.4297, 1.906, 1.5871, -0.2016, 0.3012, 0.2398, 0.1588]\nstate[eef_state]: left_x=0.2945 left_y=-0.0003 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9996 right_x=0.5345 right_y=0.1913 right_z=0.2229 right_yaw=0.0439 right_pitch=0.0607 right_roll=0.0699 right_gripper=0.1588\nstate[joint_eff]: [-0.212, -1.894, 7.0222, 1.6679, -0.0708, -0.0464, -0.0122, -0.4718, -10.6872, 9.5932, 1.8291, 0.1294, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac9eda342debce642adad4797351b52e17a945732d3239e88d297dba8131c63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5b56ec9b25aef698a64ee2f25ce6fb94db2571315d7c58b971d5b62f0c2fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0634db8177fbd65575096c9d8d341abb0fb58774fae82927a7d5d638d152b492",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 7.966 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 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, 0.8173, 0.6453, -0.4335, -0.0254, -0.038, 0.9996, 0.6392, 1.4567, 0.4229, 0.5106, 0.4938, 0.3553, 0.1568]\nstate[eef_state]: left_x=0.2941 left_y=-0.0003 left_z=0.1815 left_yaw=-0.0003 left_pitch=-0.0449 left_roll=-0.0069 left_gripper=0.9996 right_x=0.3387 right_y=0.1519 right_z=0.0819 right_yaw=0.0319 right_pitch=0.0993 right_roll=0.087 right_gripper=0.1568\nstate[joint_eff]: [-0.0615, -0.8684, 7.0906, 1.6972, -0.0269, -0.0806, -0.0122, -0.3761, -5.6684, 7.5419, 1.6337, 0.3053, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuZUR5rSFhifOzvzt6yazDvNi_IwwO1JgYO0jv9_6Hp6a2jdm6s4hRSdWEDTbiNVkKByej3evXykoldBkOnUn_szptjB4pZrA9wSuByeqoyRp28irncmWxMwF1rxh5fXV2hhQepFk8N4VINF_UT6ni00HDv4GqOxysV6nn3sDpHBUDm9BG-UBIdGHW34ITcoDAUrKuaeA36MwFJFdQioi4IyJ8H_QnKUZ4SebTwAGVJ7hp-bFjIOFUtJM6-BS_gjDrKEVetFo9F3lT2GmY1v_lF4V3j0Tg3WlVvAgKVoGxw50cGes49un-El254mi_rtnPRjIABYlYv-95EAe0IATU8oYgTrWxSyDZSTomnaZVSiQDzIBd4r-qKfIWYJwrOes4XkixmFIGzLTdJzYwYLP7TwyPwUTpxVR6M-pMdsvY_fMB5IYGQNkFGIWHlT574lVNWMiLEG9mOC1gC69ulNbPvcbjMoKMQs2TK6zKqn087vvqJPVsiyIFoqYGzpwLJsBLnoTPPo4oJc8vLfXzoOypAbGY1rz22wGL9smgMkajiJhsVU8cPkbpK5zS57OkObk3Uf3TzVEll7to-15vIiQsjQ16l-YIybRranPpKjAhwSErxVhmyl7RrOlsIYbZhbkYCoPpC3YMqhGqj9CrlCouFn8CIWbqr2CIeTZ4x8ZDK68-vW-nemjY4o0rIGAjaE5Mxq78wTmvhJPjh0XlB-bTdADhQvWK_UeWLmjE_yg0LCwtIIJtV1SOzGYIMUbCVA-WzQcwu6_rJRWEFb_lpL2bus79eXtrgp_HsgqdYEoAWfv-2pgS77JcmP2LTPyWoFj3gSrpuymQNJo-jJwldB2bckzS0KUN3rkIMO8h3Nwq1YCE5U8VZbaD42sA4NyKxYKUHxJKUiZ_txL3kikGzVIhvDyZ0MFN8KL8OlKaUJKX_qeEp2A4vCTVk4KVHelYM7J-vFXxv192lsR2CAMCxqfzznduTnd8Whk_G3SNaVB3J1Dpz8Ci4U3JfP_GlPy1yY1cXd4QxGMrqLgqdJQuK5VuevKWW2o3OoA2OsYG8I-HF7uf0tQna7Tt9WQPqNb88BERJ0gFzGZortq69L0a5qeFjxk3omDjolPVbzTrsBKYmNmXXYevJ9gWNnJx2slaZJeyvFVEcYvcFLIuGazCLNalX05-MiRTuPeG5Xn2QfF1DZtr2wS1Ep34J1_vM_EDkF7M2vII4MplJZ9TLPv_PA83CO1Inz2qfLhA5uFmA4CpeWRJiJbL9Xif0giakWXjwWv8Z8nBRcFjQ2PCO4c8sgKWCmhvoCzw4nhKuhqsEUnO_vDAc=",
  "id": "rs_0d1420d2caca7e63016ab2e651222487d0b7df2549bab7b17a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The blue pen is positioned over the right basket’s interior. I’m lowering slightly and releasing it into that basket.\"}",
  "call_id": "call_u1zxvU9MdRa3OM0pcL2qxVO3",
  "id": "fc_0d1420d2caca7e63016ab2e651ec9087d0a251e25db757a239",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u1zxvU9MdRa3OM0pcL2qxVO3",
  "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]: [-0.0284, 0.8249, 0.6445, -0.4335, -0.0254, -0.038, 0.9996, 0.4297, 1.9499, 1.3987, 0.0055, 0.3008, 0.2394, 0.9985]\nstate[eef_state]: left_x=0.2945 left_y=-0.0003 left_z=0.179 left_yaw=-0.0003 left_pitch=-0.0533 left_roll=-0.0067 left_gripper=0.9996 right_x=0.5313 right_y=0.1899 right_z=0.1563 right_yaw=0.0448 right_pitch=0.0373 right_roll=0.0603 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.4838, 7.0769, 1.7021, -0.0855, -0.0415, -0.0122, -0.3214, -10.4547, 6.7214, 2.044, 0.149, -0.0366, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108b8ccc1ad6d88d5b744773c6ab45af5974fd19210870a4a9d328ed6c111e6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c493a2cde2a8d918ea2d2b9131d18e4eda4cc1417e528c05a6e906bfc6d0ce4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2baca9bfdd2886a5c9e16dc54406420d123e88b8473cddf1f35c8d9e63fad4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.409 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]: [-0.0284, 0.8238, 0.6449, -0.4332, -0.0254, -0.038, 0.9996, 0.4297, 1.906, 1.5871, -0.2016, 0.3012, 0.2398, 0.1588]\nstate[eef_state]: left_x=0.2945 left_y=-0.0003 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9996 right_x=0.5345 right_y=0.1913 right_z=0.2229 right_yaw=0.0439 right_pitch=0.0607 right_roll=0.0699 right_gripper=0.1588\nstate[joint_eff]: [-0.212, -1.894, 7.0222, 1.6679, -0.0708, -0.0464, -0.0122, -0.4718, -10.6872, 9.5932, 1.8291, 0.1294, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuZeslW3vArjs68zMrW1Aih1HFP2jsXEMXRqF7WwPgAvDOYcv-GUlOEei15iwLYJFuQFxgGzJxJ8CiGd9yeaOG9CHZRKPq6yYZbJodwic285LeVo140n5wXTpa9fmbuZzTWc9L7ZWtN3C21DlSxnAUobzq0L9OjO-p0OQzRW-qbT39r8G3RPuvhnOoReOnifgaXV-ZPIpgoU9tSoXQi8tC00IDlr4ElRhuzuf80dpglKOYb7PSYJGZ3eR3U7Rhdpq7Qd7PXWEy6QEN3zY9TWOu7x7Xe3uL3CF7P1tV1YB7JjQJHtzfZHf0hOEGakNkUeI_ES-YHafa_cRh6WWdkB0lJO0MSnoioUND63F4dqsk6-H1_Y1UHwbP5x4L-GvqJsB2w6O2LbzSYJPxcx69GKXIjIXc_LyEph7w64qcYJ6LVaNChJ3PdSvz0WEJ9jVV0briskf1k6dPwuvfEf-MhY6ELofMFI-CIzthLgp8q50eebJgVHgg_aAPg9xRYQmfr6zxrmEaq03r0iZFCBqZkWR7kKxWfuXW9uFEUPdKhgni-HXGNHLMjLsdw9MEM6IY1iPCoCV7Jxa7805uBtb-tudsG-HJjC-k4zZ6NC5eKJc0V2M9XKs__244gBAh0rK6u5THQYU5SFteuGSxxrUbOrdnuQf3hBZtEXI9hvPF5bzX2jnT1E-s2MXEgIzZJj98uiURIYWmABj5sRBnIAQM99EjzHDuTeRbvpIpZBcnA5pxZl_Jm6cpjt16f0d1yg7WilFtBrR24PiCh8wr1kqXnLTATKuQt7-MjxOn3b3XhnfLXV3y_zYX-xqxehyDrZDc6zX6iHCqB99k2YVDE5_wtsul_1WhewRLbjTzOGbtada6aG_igeF194LBH_MSzEjSnj3oFxPViHWqlw0wLkur28EIxnV2UjjBTE9q7B7Ge7XFOBuOMfN0PrOcxsNwfl0CExV59tHL8mcBiLWg931hgJ4qh1aE5yBeKRCmRPBtge8IFCgyfk4kbMJYY5J1xmGzNkVokawXALshjNWynDNSa98FwiB47XfWtwDIBfR_7WydvFwaEK0gJsSKxCVxe4jAxbjMvxSsH6R9WdUxOU_Lq5j7nrezrTXEIfZHg5SjOxD_b0gwTJJbbobREOKS9CptJEE02KERssx539jZXlBKL_qXNGanpOcS3aEmCJ1HOxIUc1aUrnexYA4AhZQVoSADCD8NRjWl8hs1oHyLM0INM1j3yWN4__B2Z6J4zjE7LIRgmU7nHnaA5vxG3aAg1C0qArney_SSMP7jmnLjgLDpBIq5mlnjhbbLTnlo6on09HN1iGwCo-JnIYc-t3k5S4RnHosiZdm0bzzQZYsQoSWyAWvbT0jnXlUvqGirMEqRY1mQSWP11wDotWsToh6YogMdXNlAOpSvGCdiTK4HNFGEmF4_K3b-HFvmMipJJ9s6F-pfyEri3QtCzYgLmCghKRBzhhz3CDR778u1el19xW5rjY6qnnyydZlnC_-V7j1LYXVJpVCO0oXTxzkv-uTHDVwzbzGOlr40-hIPdVJQ-p8SKvQpNzYJY3LjSogI3RKX5jrwrQv_rR3iXRfvx8sR1Os319rMZzU51VyLDiFQOy3Nw_kjZfQQ==",
  "id": "rs_0d1420d2caca7e63016ab2e6590a4087d08e4fc153191f15e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.047,\"right_z\":0.09},\"note\":\"The blue pen is visible inside the right basket. Next I’m approaching the white-and-black pen on the right side of the table.\"}",
  "call_id": "call_ETnc76NcqmdWGpsCY6inEMyk",
  "id": "fc_0d1420d2caca7e63016ab2e65cac3087d0874bfd150e275e96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ETnc76NcqmdWGpsCY6inEMyk",
  "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]: [-0.0284, 0.8314, 0.6441, -0.4332, -0.0257, -0.038, 0.9996, 0.1749, 1.2236, 0.3573, 0.3271, 0.0971, 0.1196, 0.9984]\nstate[eef_state]: left_x=0.2949 left_y=-0.0002 left_z=0.1771 left_yaw=0.0 left_pitch=-0.0598 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3428 right_y=0.0468 right_z=0.0863 right_yaw=0.025 right_pitch=0.0196 right_roll=0.0599 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.4564, 7.0359, 1.746, -0.0757, -0.0659, -0.0122, -0.1846, -3.6718, 6.653, 1.9951, -0.1245, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7672551ecc2f84aa7efc5ddab3f073d2f13f70b66285081ae9d3b6ce6d17e37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55dc144d11b30f72fba2d0493939c28e64ba492831f43662648a916e9b832bea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cc5e397f633727f53dca3efe219fc96c45b0ed7fd66bb52f89e6063ab4639e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.196 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]: [-0.0284, 0.8249, 0.6445, -0.4335, -0.0254, -0.038, 0.9996, 0.4297, 1.9499, 1.3987, 0.0055, 0.3008, 0.2394, 0.9985]\nstate[eef_state]: left_x=0.2945 left_y=-0.0003 left_z=0.179 left_yaw=-0.0003 left_pitch=-0.0533 left_roll=-0.0067 left_gripper=0.9996 right_x=0.5313 right_y=0.1899 right_z=0.1563 right_yaw=0.0448 right_pitch=0.0373 right_roll=0.0603 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.4838, 7.0769, 1.7021, -0.0855, -0.0415, -0.0122, -0.3214, -10.4547, 6.7214, 2.044, 0.149, -0.0366, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuZpOm6PW14w19Rn-g3Jtlfe9OWtjCsL2YUOcRx7jTZhLIJ87P23mYN4Q5kH2KRefm_3H6hvxArs9KWvaLnSp0IGvRNDLHw9ZSCAKFd8vnr8S04hLXHCxjhqNBnU8dRqBYqoYZJpNTrz-5DPDwHxLyaQE0SqBrD9v3mP1eXj8Kqig4ur3UZz0VweSWvjGE9yL3stwVfNM0NvOfW5eDGhMqAdTJ7CM-5yggJHWjLW6YqrthjwBr9XSksHM_vzY80KyRoF32QLlf79AA05sYuO4YuLqHmOTp7OD7qd5OtJXZFZKV413WCWOJ5M3Kpdcmb8hC6GDCSqhD5a8hlHcmLovNqMZkyw_SnqdXMVsUYs3INbXvn2CHW1fbDLChj2jvzVgEIkedOCg3jKTWaFrZj3-hlfoGu8mbYy8aHC2FxmuCOL1Gr7ndm5XrbP_LmymSljKdLJIIBUjUgtljXrciFVvcttCrQYPuK6Nq1s4FbXS4c477tvjZEnbKDUEW437nI3WSsgLVItp0Zweuk0Ruu2mT6iLwJlAQ_WopvGxN0QMghZhf2aNqUn4CHn_bSM9wl_ZMlZeajTO-qqI0mFYMFt9lA8ulOZrw5uxWBevUFiuM5J9eAcbc6sgb_JoCF9ioKRzuXplWuPUPB3VEBcN81OqaiSjJh3j1DGvQzFUcG0Jhw_D0JB79h9VU-vpTE5U_ssZ2kv1udF7FPR173tMFEsj2NIAdAkmgnM1j384Xfijmwa3IES-qJ67RTA3lUoUeuFlO4H6hKxDfRJLO7jTWCjKUGTO9P-BVTQ2jvsrclglVyiGF9snjVZZfbFnZPp0HX7YoFVm1PACm5AyLsNF3EnNwD3wZH7xLcUvrhq3mgl3dCk_pMIJZePW10Q4v3zQTsF2UG0qJUydxCm_SbydeQ6db3FjsGfMjyfmEP0R0dTLhq4PdxGdPgAvgBFk7E4paVX-nHw1Vu0FTuhBCU9nINbdHTYpjCQo0wXJj-MXVrelyVSXgqdR_HTO1SQYejP7BwE7WnjGOT6P_ZOZjZxWQUaDkblY0yEQ60IzAN7qSv-ERPmsPqCADbeI_nqEdToFk5hHEX-bqiOcy317m-HL26YZSSxpavtjgmSGYIgCw5NcjiMyOkZJ6IaWvG0_mdC9E_L_F7Bhd1jA_-FybHTG5wRv-Uq0tI-1tGkeGds05eSCZO74M3Du0_vFIJEOE8w9SKAUAbAYvjl3b268d2eXcO5XSrixQ==",
  "id": "rs_0d1420d2caca7e63016ab2e6673c5087d085446992dc659fff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.035,\"right_z\":-0.01},\"note\":\"The white-and-black pen is just right of the jaw column. I’m adjusting slightly right and descending to grasp it near its middle.\"}",
  "call_id": "call_84WbQgJW58b37bwFE0bNIGk1",
  "id": "fc_0d1420d2caca7e63016ab2e667e79887d0b7ca42eb9f52f23f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_84WbQgJW58b37bwFE0bNIGk1",
  "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]: [-0.0296, 0.8371, 0.643, -0.4332, -0.0254, -0.038, 0.9996, 0.1287, 1.8198, 0.1616, 1.2201, 0.0662, 0.0704, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=-0.0007 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0666 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3449 right_y=0.0365 right_z=0.0142 right_yaw=0.0304 right_pitch=0.1194 right_roll=0.0433 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -1.9214, 7.1043, 1.6972, -0.0806, -0.0513, -0.0122, -0.5812, -3.7675, 1.2923, 1.1941, -0.1538, 0.188, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bd50aecc8b015c831d0aab8e5bca5a85ee6bee9b303de5e1bce0fdbe6e84696",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50965188866aed87ce700f94df387f372c5ad74d7f1cf530adf5fa80e7fb155e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917fdfcc7635a19ee041bf479153f24fe68e673683cbf97d80761a378531d627",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 5.523 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]: [-0.0284, 0.8314, 0.6441, -0.4332, -0.0257, -0.038, 0.9996, 0.1749, 1.2236, 0.3573, 0.3271, 0.0971, 0.1196, 0.9984]\nstate[eef_state]: left_x=0.2949 left_y=-0.0002 left_z=0.1771 left_yaw=0.0 left_pitch=-0.0598 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3428 right_y=0.0468 right_z=0.0863 right_yaw=0.025 right_pitch=0.0196 right_roll=0.0599 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.4564, 7.0359, 1.746, -0.0757, -0.0659, -0.0122, -0.1846, -3.6718, 6.653, 1.9951, -0.1245, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen’s shaft is now between the open fingers. I’m closing the gripper to secure it.\"}",
  "call_id": "call_XEHdLO0PAkcBFj4Jybav9s4H",
  "id": "fc_0d1420d2caca7e63016ab2e66f58e887d0a8ed7b58d14cae85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XEHdLO0PAkcBFj4Jybav9s4H",
  "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]: [-0.0296, 0.8379, 0.643, -0.4332, -0.0254, -0.038, 0.9996, 0.1295, 1.8114, 0.1623, 1.2125, 0.0662, 0.0669, 0.1454]\nstate[eef_state]: left_x=0.2952 left_y=-0.0007 left_z=0.1748 left_yaw=-0.0014 left_pitch=-0.0674 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3451 right_y=0.0368 right_z=0.0155 right_yaw=0.0329 right_pitch=0.121 right_roll=0.0403 right_gripper=0.1454\nstate[joint_eff]: [-0.1573, -1.4974, 7.0359, 1.6777, -0.0366, -0.0611, -0.0122, -0.3761, -4.2462, 2.4547, 1.8681, 0.0122, 0.0024, 0.9988]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343f8f885a7bbfa0b2eff5e52d70a1ba461fe27aa7fc62d2c5733a5cf4533afa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d11171a97b0cff1614b0b87162d90f0c91d02df51a3b5ee4d4f6317a787be0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8a0b37c2e332369cf38183276a389d7955abe6d1354cdf287e7baf67acf8f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 8.732 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]: [-0.0296, 0.8371, 0.643, -0.4332, -0.0254, -0.038, 0.9996, 0.1287, 1.8198, 0.1616, 1.2201, 0.0662, 0.0704, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=-0.0007 left_z=0.175 left_yaw=-0.0014 left_pitch=-0.0666 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3449 right_y=0.0365 right_z=0.0142 right_yaw=0.0304 right_pitch=0.1194 right_roll=0.0433 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -1.9214, 7.1043, 1.6972, -0.0806, -0.0513, -0.0122, -0.5812, -3.7675, 1.2923, 1.1941, -0.1538, 0.188, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085,\"left_x\":0.29,\"left_y\":-0.02,\"left_z\":0.12},\"note\":\"The right gripper’s opening indicates a secure pen grasp, so I’m making a short verification lift. I’m also positioning the left gripper near the gray plush toy for the next sort.\"}",
  "call_id": "call_Ou6taUUOKoDoJIBCCY7AMN8a",
  "id": "fc_0d1420d2caca7e63016ab2e674d94887d08802e060014e9813",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ou6taUUOKoDoJIBCCY7AMN8a",
  "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]: [-0.1623, 0.8398, 0.4294, -0.252, -0.12, -0.1101, 0.9996, 0.1295, 1.2789, 0.2432, 0.5961, 0.0654, 0.0662, 0.1503]\nstate[eef_state]: left_x=0.2862 left_y=-0.0218 left_z=0.115 left_yaw=-0.0152 left_pitch=-0.0964 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3418 right_y=0.0365 right_z=0.08 right_yaw=0.034 right_pitch=0.118 right_roll=0.0396 right_gripper=0.1503\nstate[joint_eff]: [0.0479, -1.6205, 6.6256, 1.8535, -0.1636, -0.1001, -0.0171, -0.0889, -4.1641, 7.4462, 1.8242, -0.0464, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:673eb2214adc55f0894d8e02ab73f51144100e5b010023bc3849808df87ca120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c82b95ef95a69aebbb05615ad3eb6b71c2116e17459d161ff15d333bc17848c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8b5da044d08f347e9e61107bed5bad7656acebe3af062d7e7642c92ddd2a41",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 5.141 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8379, 0.643, -0.4332, -0.0254, -0.038, 0.9996, 0.1295, 1.8114, 0.1623, 1.2125, 0.0662, 0.0669, 0.1454]\nstate[eef_state]: left_x=0.2952 left_y=-0.0007 left_z=0.1748 left_yaw=-0.0014 left_pitch=-0.0674 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3451 right_y=0.0368 right_z=0.0155 right_yaw=0.0329 right_pitch=0.121 right_roll=0.0403 right_gripper=0.1454\nstate[joint_eff]: [-0.1573, -1.4974, 7.0359, 1.6777, -0.0366, -0.0611, -0.0122, -0.3761, -4.2462, 2.4547, 1.8681, 0.0122, 0.0024, 0.9988]\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": "gAAAAABqsuaBfUtZYbIWXX7GyZYL71UP18uENI05uBfSMDbM26hR0Ln8dNU5c0i3mkoxyc9CjxgMK8hgqF5iYvtPErUkLR_dmM8KfZ2oFQ3seudpTraSn4-3lvdHX1vxLKL1GHtUNW8Una5To-a3bcdcgl96C_TxGaUyMe9fBHckzCLfEY_C-pu8dKlnHZU7G1NUzX0fgEj2YdOHV8q7nB73p8bemyoIxAg-lucmUvtA3NSP03Fx4OqkQTWzzW4rRbPO8Yo32nzepi4vn-pRWlWL5ByuVPYBn4l0YeELrXQY7QFZWe3BWNAmJsze19LwFOb2v-ht_s9I-0FxodnUTktt18HZG3s48adnJc2rg1xEvWorKs1kPIKxT7F-lM60Q--y-CbfQUe0lB9lslVSg40CnCoqTWX_PvND1g0W7vj2ohP8ebfFdVsmxCvlpT6BA0OMViAFgN8npLNEHJ1Y5BVSFbKK0FABqTQ_2xSEWFNWZ43xiWFByl-k59nGH2DI4KUpq1j-jFsUGwgo_E9yACOcLY-_mSM8L5o-gKPY9FzkFYFjZZaYaK_O082IqlkTcJVR4HWUTR1ZMxPnFIKLcAnyKHc8f86YCtoozmmn81lAI_iu37_ZxkE7QIMjAcemfzMDExkJ6erEm6FbRxM07T3p7wukwJ9gfgmY5H_Kq5KLGVthZ0ri47ZqhOD-RpUyab9TZ2JTodpH82dQjgon7Mb_00sSORCb0VStZsA004VZtBf7tAB_LSwajTh7oa0Z9osU4YLZ8_b0QrjQvlFc5tPLGwdHQ5J85t1nOFueNaUKpqiHr1CvmZfe-poUhl7zzksTwryaR6vZ1j-BrpdcMNmthFmIRKXuwOlJ4KFDdglDEN0mCmMpmBdRbT5muJLWd0Hx4dzwYLg86kjyqJRjaRxOYsElyx630TkR1c9iBALU7I8sPMIcxmjjI9USjkaTg74-vUe5kcRO1yDDecaRSCMs7ifXD4cBmW-RzUl2ypGIQEBL7CRB3JaUAccrOVW9lHMi3xJDoOs0OHTITFQk-vI2t25HaDLEfQfgJKMTIxF_Xzwf5mnF7aSMAP01U90fQqmt-UzIXbYwbS159pNx_w3NJS1DLW6VY-MChFavLlyOzw-dq1hHGTlq47iL-t-kg75xH-d0bVU96iDBWc_0IMEgVS1aNM1H2-ZvpHe-RsonAZOlSX6L0EpW8EQEmp6ATZy8jpeHRyxknSVYoQprXHwhRA7BuZSUyDfl0dOsPOe-DcdV8ae0CI839A9qPnNDaC6qg9yyOGpcPmagEA3IwF3nV3-vnozuE9vHtSZ82IoWtDNTZAXZvJvWG3dlE5zS-jYu71w0f6YfdYCn0MlDaRgJvbz1kmgzi8Elwb6GHtc79vWFqaTD-yx2PU7caKzKQ1d-AdOhASvtFKaZyYFPoa034wLnEKdly83FGP4o00U57xQ-qF_MOczKgU5RWgeh4tDkKbP2aZR3UpGpCbSlF9m4Zj2XctKspuOTkDvbkH2UiIfh-t9ZXpZ_zrmwW0mygAHCaZPrstmE02EV7IpsXPJrw14wpE8jI2axZX0U-mNV0CPttNhBq_R1doi3cjZRoQCk3i5PMcbWOnLebFF9fgUV_DVMITLBsyLt0G478HDG5N0OwHnO1o41f6dB_swS_OUlPFuuUUGR",
  "id": "rs_0d1420d2caca7e63016ab2e67bc0fc87d0b6a8154aec08b59c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.19,\"right_z\":0.24,\"left_x\":0.32,\"left_y\":0.02,\"left_z\":0.065},\"note\":\"The white-and-black pen lifted with the right gripper; I’m carrying it to the pen basket. The gray plush is left of the other gripper’s center, so I’m aligning over its torso.\"}",
  "call_id": "call_rqbTzMU12CO2Pt0WotCvxG0J",
  "id": "fc_0d1420d2caca7e63016ab2e67fd33887d0aed93ed327a7e21d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rqbTzMU12CO2Pt0WotCvxG0J",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0917, 1.1484, 0.3561, 0.1379, 0.065, 0.0353, 0.9996, 0.4248, 1.89, 1.5299, -0.1421, 0.3172, 0.1818, 0.1523]\nstate[eef_state]: left_x=0.3215 left_y=0.0217 left_z=0.0707 left_yaw=0.004 left_pitch=-0.0924 left_roll=-0.0024 left_gripper=0.9996 right_x=0.5333 right_y=0.1847 right_z=0.2181 right_yaw=0.0557 right_pitch=0.082 right_roll=0.018 right_gripper=0.1523\nstate[joint_eff]: [0.4034, -2.4684, 5.094, 1.7851, 0.1783, 0.0904, -0.0171, 0.8547, -11.1248, 9.1419, 1.6288, 0.2515, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0d38030b4ae0c76d015a1d01da3aee815b720e01214a3dd252d2e10d1c28aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a31d2bf8d4c92378ffdc957200a10ad2b3f5478b490af4697cc404717ae39d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff91d9276a349eb5fbe060017d60e07d9d57fa55788ee7204c229356cde6884",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 6.671 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1623, 0.8398, 0.4294, -0.252, -0.12, -0.1101, 0.9996, 0.1295, 1.2789, 0.2432, 0.5961, 0.0654, 0.0662, 0.1503]\nstate[eef_state]: left_x=0.2862 left_y=-0.0218 left_z=0.115 left_yaw=-0.0152 left_pitch=-0.0964 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3418 right_y=0.0365 right_z=0.08 right_yaw=0.034 right_pitch=0.118 right_roll=0.0396 right_gripper=0.1503\nstate[joint_eff]: [0.0479, -1.6205, 6.6256, 1.8535, -0.1636, -0.1001, -0.0171, -0.0889, -4.1641, 7.4462, 1.8242, -0.0464, -0.0464, 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": "gAAAAABqsuaL_ocJC8TeWFUSSK9p17ES-9-PUyvZLdGNECXzUfHRyBTP0qt_fo0rDyF1ZnEo-wvXcIj_yQhRp2QM2I3b7MXSaBVbZ9tq1BVUvWWwytu9D_LbK2iJ1E4tsw2UmWDoFYVPrjFFPzpBgEZvvJ3kTNVNkqDo_oXMc8DJIlXhCPPcSabGw3fEw4LNxU7W-2qxpBAH20T02ZLidkOhCQfFP-lhcy9khi_OUZcE975UDMGImDpbvcuaw25TJJRIWjZEbP6CopO_AHrTebWVk1vwERLT1M4tkDIdbsNppB-6vdFVAbKWql-s_il1Dx6d-nFYCa_rJTKQZFZOC9Z1uzmB_7NxfARhifXsokS5Pq75m4V-tjYcZ6P9Ltd2cNlY4w64VEG55kt-MtzLCOfl-mq33io4og8YY0CWMnrngkbeiVqm15aRnDN3K9ZjNHHxJ0tg2XoLAqpGay99Lw74eXygbUoQ3QcYBJLCA0c1Gdr8ANW_pR-EIzO-Sku73rpRbXMF_0dcnCJRmmxLGpfYYYfw0ehfbSKrlCR7q6yNKujdbRTnf5o3sElUZoWNnYNn6EwNRc4Ha3vJLhNq2fdTRiuObAdXcuSnMloVYC_P6uBxuNKJDdsHThI9LIYKmM3Ej41MZQZbWMg9ddjUDBHaAV7uIVwd_76qnJYaY5_EOCVdwi2mUegWV8DbK-e6EkmjD8qpuhpmTobBf-POKEJDEWgtp_qq5t1OY5DJHtz9hhYxo8oCRwvtL-5CjhZQqSY7TEprJ_D4O4yIVgAe5PUoR7Nzl34CrfudV1JYwvpW6uHyisxKmwGKzWiQ_hf7wA9AMmBdSGDTI0yhdkjlTXs8ElfI_hr_Y-WS6alTcRWBwO-12H-xXBU8hUxQdiI-l8iS9wrXqNs60RH1_aSMwiFU36gP_fS3ZfQtmMlOg0HKFTF1nVUzOheuyzPq678zGOH1cHl6gRC9Z_sIZiTl0McwR5YGXEzhtr_SW0d4yEpU8NR7o7f9Q9-626aHjNwliusFp1l5Dtd0Bif05qjngqq5BZc5I9S6jpNYStoADfyomHWdl0Jam5hcU31PZVB6hqZKc7IFvZBMYpH1jrXD7tB25SqsLAm0ua59zuxHYJn3qrdrrBRzI-k1LsrtsyTjlhiVfB1-9doO38z1ZWl7QbmJgNny7mgd0mKUwiNPgWb8CXEjqsUKSIwzASTXg26YfwibBGC0m7htw8I3Q84Mjd-UCEK9GrMREU-_iK7QobvORPVcppNNClUnAv_aTYYdRj20g_vM6fY4hJ8tKPTB0prBHHKqaaI0Eg==",
  "id": "rs_0d1420d2caca7e63016ab2e6880f5c87d0ae51ea90403823ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_gripper\":1,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The second pen is above the right basket, ready to release. The left fingers straddle the gray plush’s torso, so I’m lowering and closing gently around it.\"}",
  "call_id": "call_tCbdAocekQi59FGfsCsFLkqI",
  "id": "fc_0d1420d2caca7e63016ab2e689867087d09c1773a2f4c1b68f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tCbdAocekQi59FGfsCsFLkqI",
  "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]: [0.0948, 1.3396, 0.276, 0.5205, 0.054, 0.0338, 0.0173, 0.4263, 1.9282, 1.367, 0.0383, 0.3099, 0.1764, 0.9962]\nstate[eef_state]: left_x=0.3412 left_y=0.0265 left_z=0.0568 left_yaw=0.0175 left_pitch=0.0182 left_roll=0.0118 left_gripper=0.0173 right_x=0.5292 right_y=0.1851 right_z=0.1609 right_yaw=0.0666 right_pitch=0.0615 right_roll=0.0092 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -1.812, 2.9197, 0.8523, 0.0806, 0.0073, 0.7546, -0.1436, -9.7162, 7.0222, 2.0244, 0.1197, -0.0122, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a6dd356fd353384acd71b5bf2dd7f62d7735137a6d7b33248d41a719f6490e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8bfb66d94196c2bd4979cc83f916657a1c5dbd707c37e514bb0b824588a3dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ccbbe0cf04c94e85ef7b0d0ecfbad16a7aaa1b0d7a8e8f6df691b120077ca1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 9.604 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]: [0.0917, 1.1484, 0.3561, 0.1379, 0.065, 0.0353, 0.9996, 0.4248, 1.89, 1.5299, -0.1421, 0.3172, 0.1818, 0.1523]\nstate[eef_state]: left_x=0.3215 left_y=0.0217 left_z=0.0707 left_yaw=0.004 left_pitch=-0.0924 left_roll=-0.0024 left_gripper=0.9996 right_x=0.5333 right_y=0.1847 right_z=0.2181 right_yaw=0.0557 right_pitch=0.082 right_roll=0.018 right_gripper=0.1523\nstate[joint_eff]: [0.4034, -2.4684, 5.094, 1.7851, 0.1783, 0.0904, -0.0171, 0.8547, -11.1248, 9.1419, 1.6288, 0.2515, 0.1538, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuaSyMbUzALcMBCKYjydFbr0HTd6sGmcq_T3gWCFKWVxfwbbDOSQDaviQ69_TSFmnHxuZnr4WlFd1wRFpS5X_6QNQGlCrQsNJo3IDC77K68RBSP6lSqyS0tO4cjK5PLwkHWT9dowBrp2mTz3EfM_jmAwZj3pYvsxWWJXHpBd5_IBj5jYiGh5AxswKSHDJVpAbpwOXX7b5OUjX4DJXj3U5yVuQ8VH20i-82W_p5VT_egKOEASDF3sCRruhdmEBoAtUdKa9d300q9mCAp4_wKBRDTZ0M0EcEbP7m0Bv-FwbdZzn62OvqKGRHsPwnefZVx4XkJEc7mqSd_Fh4T0GYX6HZ7INT7k-jyFhQ64-045FDk3zrGXkV--_n2Z6b4Kv-50DUF9GIn0pJSGrzhUeTy5-fsJjDGwQQhXabl7AlKJriJMoR6aiiu3aZPX-tn5nY_G66vlFmmrgYG0tPQ-8E7p5iQywQTo4zbgKh-eN9f8LDQjdGoTeoNndUdjD30yvVYdcoF8hqtesmUL6fnQ0z3y13FCqmoF6Oug3wqz6q7T88l46tLIgncYiHojTAwpt5SYI_GW4KEBoOspEiMyeycLF_yICCMPgJEq_EA2Wle33RFZc0s73kdS5xoraboX7ZOUqu8Q504PBtFvefjuAeTQ7Xd3RQMrAj9brM3tobRZuinKXFHn2PdseH1ToBq51G1V10jkAZteUNbsGWfEXHvuf5ts0ZwpTIuw0yCapy9O434YH0AepBzCtHteSF2t_mPkGHLAqQSBRlX6yPjhM1AKg7V2r1UkxWS4JtGLYfYpmTd2X9pJKTNJmQHbKt60vm-tsuI7JsR0S6nLJ8eTi-jQhqVdZiLphwTG7nDR79Z9vyACaQ4HQqRVjaXz54F2wB-Ro-l5M5crJ_sVWxG_p9JDr6dqvfOrb9IgXM2r43G8N3coyAQqe4W9I8iW7a6hpFhH4H9slqRrqwD4mIDf0irR0uYXr-1hVRFqZNimJ7IvwxTUdmfq1tFOOYBByN6A4dTf6IzG8I3DNoSgu8EEHZWk8JLmLbXt_3z2bzvUfd39PNmvWt5KFc7L4NliYVXwZMqynF7dKk5duiC1TjaDTVkDDL9oyk_6DmYngPtKA1MqcrgoM0mM51rCnijxmruNDEDi3FE0iV7z1a-CLqnBH8rUZ3uktLAg8VzWJkzuYk2mP8t3BlgugjNhjbBNwoqfShM3yV4leu9pQuaDnTR_tuDjPiinWcnCOEqeGbwNIT2ZqxdKb7AXatPgxwjIYX2xxTZ79kt6ku-TLmSsrHxOE0O4TwctqeRHExKX7zkMfmNH7tM3Ybz3RnQaFJ0dODhNrOnL76w83DnwBvPEOBM_9hiTMonX4N9T-pAHTR0YbLEGiNxhgA8=",
  "id": "rs_0d1420d2caca7e63016ab2e68ee1ec87d094cb6b926e49a051",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.05,\"left_z\":0.07,\"left_gripper\":1,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.2},\"note\":\"Both pens are now in the right basket. The gray-plush grasp closed empty, so I’m reopening and shifting toward its body while parking the right arm clear.\"}",
  "call_id": "call_44BhsNSIJoRYaAS3ENVDsPEv",
  "id": "fc_0d1420d2caca7e63016ab2e690b63c87d08bce85b0bc007c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_44BhsNSIJoRYaAS3ENVDsPEv",
  "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]: [0.2077, 1.2915, 0.3035, 0.4564, 0.1436, 0.0868, 0.9975, -0.0772, 0.7918, 0.6186, -0.289, -0.0868, -0.046, 0.9971]\nstate[eef_state]: left_x=0.3405 left_y=0.0496 left_z=0.0703 left_yaw=0.0264 left_pitch=0.0347 left_roll=0.0134 left_gripper=0.9975 right_x=0.3072 right_y=-0.0048 right_z=0.2072 right_yaw=0.0168 right_pitch=0.0968 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [0.7316, -4.2735, 7.0906, 1.453, 0.1294, 0.0952, 0.0122, -0.294, -0.9504, 7.0769, 1.8681, -0.1294, -0.0513, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0db574877b5b3a8287fd4ef6d6e021616f3e427df901e49ee8c011ba3111b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102060e5ac949159fce4e15e9a5c15bd1d16496da7ccfba113a04c52f3f31283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217b86c9ecd7f1e04198bd5471a25d4a4a6e11cbbc5392a31731e4877f23df91",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.695 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0948, 1.3396, 0.276, 0.5205, 0.054, 0.0338, 0.0173, 0.4263, 1.9282, 1.367, 0.0383, 0.3099, 0.1764, 0.9962]\nstate[eef_state]: left_x=0.3412 left_y=0.0265 left_z=0.0568 left_yaw=0.0175 left_pitch=0.0182 left_roll=0.0118 left_gripper=0.0173 right_x=0.5292 right_y=0.1851 right_z=0.1609 right_yaw=0.0666 right_pitch=0.0615 right_roll=0.0092 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -1.812, 2.9197, 0.8523, 0.0806, 0.0073, 0.7546, -0.1436, -9.7162, 7.0222, 2.0244, 0.1197, -0.0122, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuae6E419o67jrphI3NGDTBXL4btr-3ISyrWwl1gxbcFeeJytM5K7o-AT3l6b3nSl3mPfRl4t2NFSKisj39vRNl59nYgZzQ_NXC8F708mJDqX5WKhlUGlCVBxu1mLwFa-HSnz1XfaeHHowjQ7_Ks5d_0Gzm5REL27e6R-SggFRtgRcUtCWHVCdiQmXi1RDRUpy3Z1MrqAxiIl5yErHBAEUsP0dgW9anVaYCLwrF7JW7rQVPDXI-sfug-ACUXO5xGAfChtkejtaSM40WvOuxKulUkbJpDud8MRxfEjuAqjzUeDaq5uu5DxCssuY2tgw_Nj2iFRyPKm6fh5DeNznBu6gqTxx7uAJOtjN4DATnNBzUxDhgQeE3mQr0UiOMxhlJw4rgUnCRSSDzenv-_eEJxF7hrn0jt4pGXZSYk5p7act3vjLP4Cx3M975soa1DvRAbtwCgeHcFliaTm3b1EiSC4kT9_IncTTpFuusbDEn4nyuFg4ZVznOLd1XuR4Rdr9there3l6zs8DJp9j7DSKBJtBBmZv1oCb0BQQTu7FyWPS9FXPwgmw0NmwPADm6S4PgJw5FOrKfToRqqb_-SvnVBihwdyrji2-pSZi3k84rns2tSmuzUU_1m2xhZFwZBGlClVSFIHvZ1UaT3A7dyW7GMTMlS9fthRAuES_pd5eLmidSS-xYVNwd3ebsMiWcypc0PWrY4hE1_q7FIZUn8Ui4oeJN5kXCCq7DCuZ5VHq8F7VrV6iN7laJN4V35RKJuwlE7KTbVqTQaD9Lq7LXrtguhMYnS1IRnREgjdwG-Up3wYYFMh0pn9Ti0k2nInTjLpN1u7OjawP7jdE9AkzR4nAfaOHH5zS5I-OSeOg55LE8kbntCbvTeU4t44_3LLjwF4DdhvU4LYgC0z4EJcKBxIdXktGbhllw55l4p18YE_ToppAUDICjDG1iScVh6vRWFxO8AOa4BtrOAwn38zN39LIF8iY-ZNEJm92l9qLoMASJUKGtcjUxsQJHMW5s32-8ZDxGjTrzIGtEItMW4DZJisGHgY3Syldhk0rxFrK6QoZ6jyapE7SWvWkx3OYIvn7wlYoUTV8Tyc1wzTeigmXnQaiYyf2ctU7Px51tWGa3Zl-KI9-mQ_K0AWmKJCUgtD8QoTGwTn4KPhEWYjUe6w5-r0F6QFQoQnW29iUG-aDHwXSZpOrPMXzA2JMx6tRvWYW6M238B9xsOVFSRSMZD7pHiej8V-OExaMEWZ-PLEvybDCGOFmCc31_Uk84_RAYoWqBcR-gKKfHZQOB9ND1WL8jibtTwNaarXYPnsnL93fHaHO9IjiAqAXif07ko0o9AgYv2GEFi4HL680AnswsZ0CRoH3GtdahBF-EsR2BODSFQ4ip5pdBvmk_SVOG2Ur2OVManqIpNlOaK25HzFKb5TmO37K1Xqns15XhLl4BWrFYsAgN3GCUA2VHdrOzNoveVeuZih7WH7IXqrLHRXMlJyyx9ItCeXZWCU6rGmK569DH3nT5SRrK-APka9cc20Y9tBWAczZ0PMWuFhT49tEvCEcNMrdqwuI6S9MfCVqjNIBlyL6ehw4hzBjyXzQGKdqZtIF42v6J5qUB7Ry21IHH-EMKUW4WykAdNNbrKgTobqehCVKSzso9ZSoWrYXVTMRYHgD4YskhttJZAq0a0noc8I-PTnDDOMmLbyUROZAkz5Kxa_wOAjSbFS3owH3H0qbzZGCdTZem60gZFScRTNEuoUP3obdirxjswYCPzLwbVwZjItxKiEyZrYDmUJzrHEaqALjAH9fT2AKexNOOMvgqX_86_Lo9mhTM34pwy7kpItEF3VKvmcuJxSdr81ineEHvhVxx9op5BEtlyjxRHShZXnD4VrLs8fhVztCLD7q0MaULUolT_orPc7UDwEBENXC1UHEZE-tijx-VH",
  "id": "rs_0d1420d2caca7e63016ab2e697481887d0a0dc69af1549412f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.05,\"left_z\":-0.005},\"note\":\"The gray plush fills the left side of the wrist view, and the gripper is now at its outer sideways limit. I’m lowering the open fingers around the nearer part of its torso before closing.\"}",
  "call_id": "call_4cpEUHrTJI186KNfZBNG1PsI",
  "id": "fc_0d1420d2caca7e63016ab2e69c3d3c87d0bc18a076088aeda2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4cpEUHrTJI186KNfZBNG1PsI",
  "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]: [0.2272, 1.7031, 0.1631, 1.15, 0.1497, 0.1314, 0.9981, -0.0788, 0.7967, 0.6132, -0.3164, -0.1028, -0.0601, 0.9971]\nstate[eef_state]: left_x=0.3451 left_y=0.0564 left_z=0.0378 left_yaw=0.0139 left_pitch=0.1727 left_roll=0.0788 left_gripper=0.9981 right_x=0.3039 right_y=-0.0022 right_z=0.1974 right_yaw=0.0361 right_pitch=0.06 right_roll=0.0035 right_gripper=0.9971\nstate[joint_eff]: [0.4171, -2.0581, 0.294, -0.5983, 0.1148, -0.5153, 0.0513, 0.1573, -1.4701, 7.5009, 2.0684, 0.0708, 0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861e9b9e4f80e3a2c5fc20d49fffef0b2c904d8867c111a34f913969a6ab84f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7132a768d6b8a3a7f79ee0ad1f2a6f14595b817b7fb5979b055718894ed46d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853804fda06b08d1eeffd1dbaf554252b6afd0d88a52f0a387ce8713621e4155",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.129 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 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]: [0.2077, 1.2915, 0.3035, 0.4564, 0.1436, 0.0868, 0.9975, -0.0772, 0.7918, 0.6186, -0.289, -0.0868, -0.046, 0.9971]\nstate[eef_state]: left_x=0.3405 left_y=0.0496 left_z=0.0703 left_yaw=0.0264 left_pitch=0.0347 left_roll=0.0134 left_gripper=0.9975 right_x=0.3072 right_y=-0.0048 right_z=0.2072 right_yaw=0.0168 right_pitch=0.0968 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [0.7316, -4.2735, 7.0906, 1.453, 0.1294, 0.0952, 0.0122, -0.294, -0.9504, 7.0769, 1.8681, -0.1294, -0.0513, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left descent has stopped against the plush at about four centimeters above the table. I’m closing around the body without pressing farther down.\"}",
  "call_id": "call_cEO2ge8krgBbxzlN0M3xZkMC",
  "id": "fc_0d1420d2caca7e63016ab2e6a2764887d099348fffa036fe1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cEO2ge8krgBbxzlN0M3xZkMC",
  "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]: [0.1947, 1.6859, 0.1646, 1.2201, 0.1085, 0.1265, 0.4155, -0.0788, 0.7975, 0.6132, -0.321, -0.0986, -0.0612, 0.9971]\nstate[eef_state]: left_x=0.3535 left_y=0.0539 left_z=0.0599 left_yaw=0.0162 left_pitch=0.2574 left_roll=0.1058 left_gripper=0.4155 right_x=0.3035 right_y=-0.0029 right_z=0.1962 right_yaw=0.0331 right_pitch=0.0545 right_roll=0.001 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -3.9043, 2.7556, 1.2234, 0.0659, -0.149, 1.0281, -0.0752, -1.3607, 7.0906, 1.8388, -0.1441, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c2201a0a2bc787bff3ab677d817230946011ce95abf3307a4b0099433f4467",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e77e199ca3813c218302a1dbd1ae62387ebccb01066e3d81ae89487e61c82b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36cbc08d2b43ecd3e44141d7a1f557d7e9748a7b15a35253e010307bc67785d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.534 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 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]: [0.2272, 1.7031, 0.1631, 1.15, 0.1497, 0.1314, 0.9981, -0.0788, 0.7967, 0.6132, -0.3164, -0.1028, -0.0601, 0.9971]\nstate[eef_state]: left_x=0.3451 left_y=0.0564 left_z=0.0378 left_yaw=0.0139 left_pitch=0.1727 left_roll=0.0788 left_gripper=0.9981 right_x=0.3039 right_y=-0.0022 right_z=0.1974 right_yaw=0.0361 right_pitch=0.06 right_roll=0.0035 right_gripper=0.9971\nstate[joint_eff]: [0.4171, -2.0581, 0.294, -0.5983, 0.1148, -0.5153, 0.0513, 0.1573, -1.4701, 7.5009, 2.0684, 0.0708, 0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left gripper now holds a substantial thickness of plush. I’m lifting to verify that the gray toy is secure before moving it to the left basket.\"}",
  "call_id": "call_ofOugStC6gQwb2H8JTXJncY5",
  "id": "fc_0d1420d2caca7e63016ab2e6a81f2487d0a32ffcba52793cb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ofOugStC6gQwb2H8JTXJncY5",
  "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]: [0.2016, 1.1553, 0.5644, 0.0582, 0.136, 0.0868, 0.4168, -0.0788, 0.8024, 0.6132, -0.3252, -0.0982, -0.0643, 0.9971]\nstate[eef_state]: left_x=0.3584 left_y=0.0525 left_z=0.1426 left_yaw=0.0267 left_pitch=0.0329 left_roll=0.017 left_gripper=0.4168 right_x=0.3034 right_y=-0.003 right_z=0.1939 right_yaw=0.0344 right_pitch=0.0454 right_roll=-0.0008 right_gripper=0.9971\nstate[joint_eff]: [0.253, -5.7915, 8.5949, 1.7851, 0.188, -0.0122, 0.6471, -0.1026, -1.5248, 7.1863, 1.8242, -0.0708, -0.0269, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d6b620890c053c9a4406bb21f51fefeef88032605fa3b21235328938c0759b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19adac16c1acaeaa4706e65eaf35b3d51997aa0977d212339368fca93a4983c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f52ddd8ff0d992d2d92f7f3e29ef57dff800a3fe5f4d0b39de0aebd6d9ddc19",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.56 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]: [0.1947, 1.6859, 0.1646, 1.2201, 0.1085, 0.1265, 0.4155, -0.0788, 0.7975, 0.6132, -0.321, -0.0986, -0.0612, 0.9971]\nstate[eef_state]: left_x=0.3535 left_y=0.0539 left_z=0.0599 left_yaw=0.0162 left_pitch=0.2574 left_roll=0.1058 left_gripper=0.4155 right_x=0.3035 right_y=-0.0029 right_z=0.1962 right_yaw=0.0331 right_pitch=0.0545 right_roll=0.001 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -3.9043, 2.7556, 1.2234, 0.0659, -0.149, 1.0281, -0.0752, -1.3607, 7.0906, 1.8388, -0.1441, -0.0513, -0.0073]\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": "gAAAAABqsuaubEewgzubJpAIics1-YtI-x_3RZ2lvNJjMNc5rhu_YoLM_3M1bMuPdw1QA1pCFt6-XTFnx8lO3vnMqvdkVZK9ch5GT-FmuP45SHLHcMH_QUf6WuGOuGq_2dPYQwvI4LoaLIjEAU2IhS94bEWvrU2fJI8JI32YqUphhGvQF17j4_rwXqelCeiLYqZQEA8t-zxHxq7eN7xbfSRfrVAAhd4lLT8ddqF8ZTKJL_dWsauEBNQ5ws12SiA3Te6Cghzkw97D2qn9CgCnP-qn-V9lml6CKkn4cLhZelZs2itZcgg9IjLwo3Zfwa3ToFzSZJmP6iH5eAkuZMXyIZB2z0iWIfpafezVVxmcuV28XSvsOTN8dEU0U3jgGy4KDLTQmzrUYMRVOnXCnypgZzH9MraDhIfn7R80wlPk9HWISsOoGAJxZaNPDSTjAFJ9dbQXeQKT-hb2WYJYSFuD5XMLq1hP3nLPUm2juyp44O6o2c9AHaCHaJJuA-NILfadEJ3W5j79YMDAmwBqcj8Ml4Zwo9BsrJE0c6VyXIjeYBWOJnGtIzhMsrcYMSKmRbP6c0_AyOPmHWl4SV6p5pBb5ZtEOlMbJFIsOYLoJ5SREVBhAqMumTPsE6y0eNQ22b917AVT4vxJlOZ2e_JSS8eiO-rRTeIS2VsGYEN67Tkrx_ZVZmvK1NdCdP5KyvQgdgZBvmdTx96AF9OeGiu48HvcqCy8Yi7dRERFOoinywNG2gLj7IL1zvER1UNDyeobdvYmMc9q3MvLX-CaFPCetsVFN3rQ8LEkuBgR52pqci-ZgvcJDRRW7HqaNzOwiSUKkxb01SKXdJiHk1_n445VRtyrHx9XaqSnwUPnIivmmarC2rHU9MoYo9kv-n5ZfNST_JR0ZF7EUwkUXr6h4MHQ6qgOMI6WBeKeICVcRe7Kxj07T7ugI8GW0ku2Ksm_kYI5F9C0D2CtsDncGWIyi02e-kXzSuvtQOCrD-UTOX5TQnwK24ZT2UWU05LXMQYQZfnt6jBT0Q53g4WfcVzo84w28CG-B-Bw0xYmK6Zo0AbMPmqcVqqxSxI8f94y25FNSJHMgamOkOn9aK_cEsRIh4xbegBlHSYocHY_r4GHhtozzUmpoU5x3MVRcKF-C3_FqaSTaG8XVn9k3fY6TtWzwQ9u_d2JT1kUlbcGx4ccWeqaXQoNWidTyCw0g02iT1QjJHEeLtQYCr47XVhTUuqPR0vXEZ35QpDaYm9m1utIm_gp7FI6RXXaNQqrvqzmnL7WU-ZoWDsj3djivYmkW20f",
  "id": "rs_0d1420d2caca7e63016ab2e6ac98f887d09f36920f41c788bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.19,\"left_z\":0.28},\"note\":\"The gray plush is lifting with the jaws. I’m carrying it high over the left basket so its hanging limbs clear the rim.\"}",
  "call_id": "call_WHN014ZsozmWMDYdVBdVbhvM",
  "id": "fc_0d1420d2caca7e63016ab2e6ad3bac87d08be99ede2ddecae2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WHN014ZsozmWMDYdVBdVbhvM",
  "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]: [-0.4728, 1.9907, 1.9182, -0.5388, -0.4225, -0.2729, 0.4186, -0.0788, 0.8051, 0.6132, -0.326, -0.0982, -0.0647, 0.9971]\nstate[eef_state]: left_x=0.5383 left_y=-0.19 left_z=0.2626 left_yaw=0.012 left_pitch=0.0093 left_roll=0.0165 left_gripper=0.4186 right_x=0.3035 right_y=-0.003 right_z=0.193 right_yaw=0.0345 right_pitch=0.042 right_roll=-0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -12.0957, 8.5128, 1.3309, -0.3101, -0.0464, 0.6276, -0.1983, -1.5385, 7.241, 1.7558, -0.1001, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e94257818677c5d11e9f9878a41daa96eafbb85cc9f41d2751310de382b93d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98eca6925627a6b06b204de7da4990d6a5cae005c8bbfa8584d7a9480dcddee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4b4382901157e9e3126b1a0546d8e10857d142221298c4623ff3fb93183e158",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 7.608 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]: [0.2016, 1.1553, 0.5644, 0.0582, 0.136, 0.0868, 0.4168, -0.0788, 0.8024, 0.6132, -0.3252, -0.0982, -0.0643, 0.9971]\nstate[eef_state]: left_x=0.3584 left_y=0.0525 left_z=0.1426 left_yaw=0.0267 left_pitch=0.0329 left_roll=0.017 left_gripper=0.4168 right_x=0.3034 right_y=-0.003 right_z=0.1939 right_yaw=0.0344 right_pitch=0.0454 right_roll=-0.0008 right_gripper=0.9971\nstate[joint_eff]: [0.253, -5.7915, 8.5949, 1.7851, 0.188, -0.0122, 0.6471, -0.1026, -1.5248, 7.1863, 1.8242, -0.0708, -0.0269, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The gray plush is over the left basket’s opening. I’m lowering it toward the interior and releasing it.\"}",
  "call_id": "call_yjtTV999NgVlsmspvpaSDHsO",
  "id": "fc_0d1420d2caca7e63016ab2e6b4041887d0ab47cf720ee0f5bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yjtTV999NgVlsmspvpaSDHsO",
  "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]: [-0.4717, 1.9896, 1.6409, -0.3153, -0.4194, -0.2813, 0.9954, -0.0788, 0.8082, 0.6132, -0.3252, -0.0982, -0.0647, 0.9972]\nstate[eef_state]: left_x=0.5336 left_y=-0.1874 left_z=0.1834 left_yaw=0.0154 left_pitch=-0.0379 left_roll=0.0324 left_gripper=0.9954 right_x=0.3038 right_y=-0.003 right_z=0.1923 right_yaw=0.0345 right_pitch=0.0397 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -11.8769, 6.6256, 1.7265, -0.2711, 0.0513, -0.105, -0.1846, -1.5111, 7.2137, 1.746, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53b35ab422a1a36cef81d59e4a2da1fa9d150a6ff30b6b50bda1b06565d5305",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b93171b8df8ac89c2f9ae18d0c485f90168a9ba24b9e8248caf250317e9dc29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e28d15cea959a6512fba3df8113e7f41c59f0f18f0abfdd7b61b17165c718a66",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 11.17 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]: [-0.4728, 1.9907, 1.9182, -0.5388, -0.4225, -0.2729, 0.4186, -0.0788, 0.8051, 0.6132, -0.326, -0.0982, -0.0647, 0.9971]\nstate[eef_state]: left_x=0.5383 left_y=-0.19 left_z=0.2626 left_yaw=0.012 left_pitch=0.0093 left_roll=0.0165 left_gripper=0.4186 right_x=0.3035 right_y=-0.003 right_z=0.193 right_yaw=0.0345 right_pitch=0.042 right_roll=-0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -12.0957, 8.5128, 1.3309, -0.3101, -0.0464, 0.6276, -0.1983, -1.5385, 7.241, 1.7558, -0.1001, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsua9dNEK39VaLsPReVLKS8tL16kBVh3wNtwMGo_-kuD7NfI1TX_hDzQn5-jaMp5F9QboYIt3qt8jfnycyDfYGE8qOL77ECGDn4Hx6m0nTdwzj028Tz3aC5qJb_lZPSpfTZqiZ5HL_Leq_2pLNaRnY9LrSYyRF3w3PUJd1gIuXeqhzDWGuhlcIljup3bibxE2r0N1Jtz0SN44Hiu9wkvs4jGOJJffMNR75P4VJfCRbpCiYowFtV354coVAQfYf65dM6_IYracU5dUXuzZigliTjA1lVei9bxPAHzwo9zuLB4bUBMs1OSQlsUnfU7Mq6uzPglVQzoxkuGp8RK6c5Vyq_E1RkulOTK6-S5lOjYowsdqLk9r7r6DuMwzBIWteoYkRHNTQtjCdbaTArBJds364M3MFAPMKnNLBs171EqusSgb9IbjRYIZkbXknhFDonP2hQXhmoY58n5MWHmAUw_2RomPS1e_VSuem3KmIdXfwv0WkAjOJgxKS8BKXUY9hrfl83FyLHlV44TNiRgoOVW-x8C6X-cKhA-ivqcIOxvfxLrId39luzfKpygZm7Kpavr6QGUTZ4ww-4OV7OIeQf5Ih7jTMme6wsBn9hBI2GqZdvZHMKVN8mJAVRW2o8Rh6h06CQ21jUj0K40jlT-_kKiNuq2fW-vqKkeXElfQnpJfkF2sYL8XsaoZX18mn7mxv3EqcgaDU21EajX9uB6a54Y3rdCrxRLMMotBp2Li7-GB0pee8ZSzpTsrUtSMf5dU9GbGbzv0HAWLkin3RcQbzVUA3fkGrIObTKzHoXdD1I4MYY2oHgwJN1CUqroC_vyCYKOIe7CUTO9pVd7sN6uB0MdQF-dsIXRsKGoeJxU7o1StD-XJlptk0BJ7OieZ08eBx1Km6gAOM3pVwNfhaxKqk0ksD-kUstHqfxZTrvBAsy_6f4JyXSmWwNn5KAcwfOXefDj3BjBtRpkdUH-W4t0yXi0_EtoDLApxvHZr6Kbvikc-ChrHG09n6J-Hso21SLJm_4Sn8X_QWCG5NPjNhG_b75VJAz16z-nu0rGOYlLnmjYeUC-goIhmQ-ddm_yKhwL7BirRp-jJrANaY3525Zss35k1_T9QePq44cla9Wtw91llqxXC0dRhzTpo_70uC8bxPKDf8TRYTpTxP7gUyeS9WMgcikMs64t5z3SFFX1DkwNkumbCEg7z5KuBdDdzb5r7KUd8XdRn8aUK-OMKEBoCfDZpRIsXtB3aHMzJjJhA-zREfGISp5n6PILtrWNZXM71i05Cn9qQCMJGeMotUaL6VFn2kDiyPkHRcg-L2XKkYGx6l3dAmcsbW1JrWJNdMZZqpqKq6gJNpquAAJaJCZuBZfcirIMXDZ5ug-m6OKfoj4QP2F34pLgjGTsM5TJBm3Gd_0iIGntuazV0hfKtyk6EdDhZarRYT3PvlQm21AhOFNA7EdsiWSvzeMOd2RzmkeVwNPA991wPS_AKlUdF_6Zo68HJTDqsgV9o07J41DcZlw0EMwReMorxZgkk4lSDV_Fe9Ky_d993X9JgE_Kpz3_TaHE7X8iUeg==",
  "id": "rs_0d1420d2caca7e63016ab2e6b8255487d0a189503a1180883d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.075,\"left_z\":0.08,\"right_x\":0.34,\"right_y\":0.31,\"right_z\":0.11},\"note\":\"The gray plush has been released into the left basket. I’m approaching the yellow pen with the left arm and the larger tan plush with the right arm, keeping the grippers separated.\"}",
  "call_id": "call_Rg3DAphjGNphO1Ryfg8Q1h3h",
  "id": "fc_0d1420d2caca7e63016ab2e6bb1c8c87d0a95677d9a570c0d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rg3DAphjGNphO1Ryfg8Q1h3h",
  "output": "executing move_to over 27 steps (2.7s)",
  "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]: [-0.4603, 1.2228, 0.4084, 0.1287, -0.4107, -0.2802, 0.9967, 0.9977, 1.8042, 1.05, -0.0475, 0.7788, 0.5941, 0.9972]\nstate[eef_state]: left_x=0.3209 left_y=-0.0764 left_z=0.0764 left_yaw=0.0197 left_pitch=-0.0598 left_roll=0.0386 left_gripper=0.9967 right_x=0.3382 right_y=0.3018 right_z=0.1043 right_yaw=0.0543 right_pitch=0.0201 right_roll=-0.022 right_gripper=0.9972\nstate[joint_eff]: [0.212, -4.1368, 6.065, 1.8144, -0.1099, 0.0562, 0.1148, 0.7179, -8.3214, 8.0068, 1.3162, 0.5592, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec11ec0efe5a418a107fa1d50a2ca146b74cce92073c35a62153b4224118d1b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea7bcbd060780953985b40058e2e01d8bb2c615ffdbdb8344174385058be34c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49eb103f161bf0d42b91171006b73d62ac999b4a17c1a9ffc3b947788e1b75a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 10.29 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 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]: [-0.4717, 1.9896, 1.6409, -0.3153, -0.4194, -0.2813, 0.9954, -0.0788, 0.8082, 0.6132, -0.3252, -0.0982, -0.0647, 0.9972]\nstate[eef_state]: left_x=0.5336 left_y=-0.1874 left_z=0.1834 left_yaw=0.0154 left_pitch=-0.0379 left_roll=0.0324 left_gripper=0.9954 right_x=0.3038 right_y=-0.003 right_z=0.1923 right_yaw=0.0345 right_pitch=0.0397 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -11.8769, 6.6256, 1.7265, -0.2711, 0.0513, -0.105, -0.1846, -1.5111, 7.2137, 1.746, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsubLrm3DA47gEiz-9S6pr33J2SDqvHECW1JF4dL2rT2bkURjg4K4Vp7OjVtK4acVmIWu64zbPl4xPkJFkfJN-c6A3NtD286a1BmWXgjhm6kUnwjMKuGg66n2OSY3WJpTcVq2fOpaZNLMHw6dmgK74hyvkKkv_MvnHtnWxjXv3JqrLQSxcHw6VqU6QxAXfoM1hqrYHyCn_f3GRGu42i1QlRplbEBIQFB-rwKt3atNNIVJA5ee9z1nI5HaT_1BhQByGueJtgqwpbP6yWXz_anAtckBEh0ArsNUcoCv4g4ClzQj4af1fe2LunP0TNIaKJ1wV4scfhPud4TMbJFdxDQ6IHpOdARdh8WIKMFxXmRrnRUXCKEcSPfjPVtlq7HkesfSjHzJSE4PjEFFziYvkxKxs3ljK-jfB8Aq0AUIWEsnXuNaTqjca9zfJdEDHC2Fd0H6ygx_Xufl9KMYIA07N_Vye6-ezohq4ouRzH2V6Qx8_WCrqSnykspv9p6dTzjSlFr2SBJFNQEzUFv-xutma85IllaNK6h2J83IHcpQQnxKaDQmBFdYXde0YdUOHNdnzOJg00xrt0Z5VMGSh4qkJBaGG7czKkqTOcxzoe4mVLzF3F2jkKiN_IYHiaecChvwVT45o8HNnIZ1wCh1PVfQl9_Ii21G2vmxnPolMnuDJ-k9FMGSfq_jt0ktqmU6RhueZfXlzQCBtJAr33TdTg8NXo6V6ZWo4vHnRpQ0M0o6nEtJlYV1I3yHCZI2dKZ3tKHtU-8qdgO9iCHTuB1woJ66sbSAWQByfS4PkcjI__m23n0eLK58dmAay3U6o5LLZnG7VE0JKzpzDMa6i26R6t6xzGaY1kwYhGXISM6EycY8s7MY8VBOuNfDbRN6Z_6PoTal6tz6derQqhsjr_lR8ZHowf-jBxQZGbK15lzu1VxfRCpec_cKQD6Zi3Rpl999djSRKcci9s261XCtII6pGU4VdBnnP20zq9OJa2-wvWDsdmFJL_k-xD0sWNpge3-obj1NNq55c4mfr_Ezmu49-BcAIZ8ef7MP3RvHoAmNU30sKdB6GzMfqQiUdYA1ZbDFnpJ01HNp8UDeNKNy4_3SywlmdGPkjnT8tHkKK-0QO8O685OkwwUaAQCzt18K-jK0EBG_pzJbdedPFBZ3GiHZSWdM90zVTmrawrP9INagkA_ucfnLrXeBi-heNIWSfAw90TpGax1JV_UcmTPE_-M4YGxaqEw_M0meqJzloLsTpv-lDQ6RRo1Gc_hNRfScF4SU9FXrFvULzwMbpoCZ8elbJ4LA-5__9jHElEYBAA_G1XwRacAy7haN1xJDLwRaEkkbPuFlS-jheP-yh4atD6PMQymsrlHd03a6xwd1KlImr-J34xRnd1BQcdCTf3-1gI0gcIyG0xpSb8az9f_XH0SEkWXH4h0CjgHby1kNE0s3eZ7U98zqxCte3APYdO1JY7MenUbsNxuaY8OIbAETyqqXFnJHO9l6unx0BnwzSaMy044DIXl05SLaeiG9vnPzRguLK1h-bJ_CxoIcRQY9QRIQ4h4ZWiLQR9fc2hbQd00a2zx41QSBLYlfBaQO6H8Tj8UTqWWg_0tf_D0FVCBcBGU2ik8jdQHjVjy4vc8iF4YfhdJA5cDWZA0lKJs_u9T1iG9KTTjUNWaUIDE1iBKRi3jRgRC_cPuPy_AhVLHTohdSLk_mRDiZGzVlz_PAEh3DhJEUabKuM2l2rDpkNzj7n6GQDtbJ2VXCYztH2nyeiR2W5o9f3vz4zygxzNp83Tv5I57XqVTpw5Wuo-dHDv2iq2teXD78vw7AH5_Qv1IQur3S-LCyX40FUVyU9nAuCrgUX2RX6ZEGrP43lxTQpozHVSq3LJpcjio5l1KJHU5ioNfXSRj-HiZbnSTx6mKdAGoMD4B0Erp5c5PmBbHzvxB-Yv9tg5CX-djG_-WR1YEWqwKpGO47bB2ER2W0XHWBpH4krlo9W4qQ4-4qRu8TMhBuM9cJsneYllgXPUk1Kh3Yi2bTmQ-0u9Uzboconskbb_XlWf6SOgWWmd5ApG9UqO8G_Y1JKR-ogAli2MJr_v2dpVsRuJfe3g4aeEFrO-LOBf1FdStco4UFoYSXiDlR",
  "id": "rs_0d1420d2caca7e63016ab2e6c2ed9c87d0aff1164da8d13e7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.19,\"left_z\":0.25,\"left_roll\":0.5,\"right_x\":0.32,\"right_y\":0.35,\"right_z\":0.05},\"note\":\"The gray plush appears caught on the open left fingers rather than settled in the basket. I’m returning it over the basket with a slight wrist tilt, while aligning the right fingers around the tan plush’s torso.\"}",
  "call_id": "call_rWs7KccHnSodxDVTjJ9iG03j",
  "id": "fc_0d1420d2caca7e63016ab2e6c88eb087d0a10dd5b38a39b536",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rWs7KccHnSodxDVTjJ9iG03j",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5461, 2.1284, 2.0621, -0.6498, -0.6922, -0.0162, 0.9968, 1.0832, 1.9892, 1.1404, 0.0486, 0.8951, 0.7097, 0.9972]\nstate[eef_state]: left_x=0.5421 left_y=-0.1933 left_z=0.2445 left_yaw=0.0208 left_pitch=-0.0292 left_roll=0.4291 left_gripper=0.9968 right_x=0.3341 right_y=0.3435 right_z=0.0796 right_yaw=-0.0001 right_pitch=0.0914 right_roll=0.0366 right_gripper=0.9972\nstate[joint_eff]: [-0.5538, -12.6291, 7.3915, 0.8425, -0.4127, 0.1685, -0.0073, 1.9077, -6.4615, 6.0786, 0.8864, -0.1734, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0312da11b887b869c161a9f38468b5e213a2e78408c2445ca698533cf8f86fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9aadb6ffe6f5f7afec261437ac4cc7be0349a54e57d0cfb6b0465933cd508f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88984efc96c707c8425eb3c7cb6b074fdd965ed1a435641688f13b5953ef7184",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.201 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 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]: [-0.4603, 1.2228, 0.4084, 0.1287, -0.4107, -0.2802, 0.9967, 0.9977, 1.8042, 1.05, -0.0475, 0.7788, 0.5941, 0.9972]\nstate[eef_state]: left_x=0.3209 left_y=-0.0764 left_z=0.0764 left_yaw=0.0197 left_pitch=-0.0598 left_roll=0.0386 left_gripper=0.9967 right_x=0.3382 right_y=0.3018 right_z=0.1043 right_yaw=0.0543 right_pitch=0.0201 right_roll=-0.022 right_gripper=0.9972\nstate[joint_eff]: [0.212, -4.1368, 6.065, 1.8144, -0.1099, 0.0562, 0.1148, 0.7179, -8.3214, 8.0068, 1.3162, 0.5592, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsubXfxmTFWTIYwOb3-e_z4mWadKoFpwAytfl-9JaujogU8ihsiR8GpH2yJBfQS7omiY9pw_VC1Bv9BupU38D7CsVH3yyR19SSeVq3U_bhwtDw-NiH-2dCRVq5M3LxP5IvETpKwzlPzPoPYqQASlAp1sNJYol_QXOatHvrvr_7kNXs3jj518Dvi_seZ9OlycmvHX5YC4DvMtdxifnkNa7W-6Cq5rKGsrHbzbvTDRTX4VCgrL4X9cINI82HpVYkgkq-PVy4m9oPaR5FO59dzPYB6GuuQnPo8QEWsqCnaSS82nTjhdBNI1lMK4irn1SqDZGrm-Gem9Z3fP7qwjMK0qsWPvYlR8UZ61cmsH3cB7KDX4MvsIJ6Bk3wcVNI3F-ovujzZ_we2BsSXVJeKkU3JIjrc81LhltHP2m3xQPW8y8PrUtwYXp6j_2zQ-msPRYvlASgSCz3JdKCTVgnaQCK74iBgofOcn5cdryva5CVOVeUDV8QDbT1ThJBM9Rjr1fB-rRCfxx-M57m90DCbKJuCKYqa2SCuAI1sw8lE2u4VPCybZKMnkbAsgULdpgzeuBk2pplxWO0V1WXrqooW_pmDqCbEzMewOiCO7NBUdn3Bi-XyiTqrhmm8hiKcHIfXS9Sh9NqiYmBsIMcl6M4nyz4dSyw-Fcr-7vXk-fSLnM5rfN8wMDpT7Yc4C55a9iYxLm3uA3KMaBqECIvGACFEmf4dIC3lcVCGWRsXzCp0y6P2x8h2829GcN4r_8rwxnMM56OunleaflIuP-VMyA-2K2Q6b9G9cqELH0KRcVVgjBqLCyTNPczWxFxqbidZ-Ws8kiLImal-ZNfvMCpdNJ6W-5JV3pQDLbNJ04bwzvgSKF0-4ogT_hDiNd4Eo_KUxyRKM5NzqfOfgnlZOhwUJ1T4Ne3qKSKvKKd2amjLi9Aj-SjBf3XurElponbs-TRpMrmIi13rrWz216XuBVzAjq86-9a47Ng3J22FLtxUrqs6E3FC8SR3H8gE5BA03NYq7aLKKfJE3IGTpPWhODYWRNj1PSCsRANAcI__IY64pBtWer2_Xq-c4Hznv6UFeXK1kPR4qmchEBqGw-LsXtgVMOFEFjkTHwlTDPitfcApBj2LyvNk7UquGe7MwD8iLR7cUG9VtT4HhYmiFJiXcIiTUtT8LuXnMD--U50L-eQjMsD2Q6NIxs-USzNJwIX5WWMfs76aBcLn6zIjCuvZJxggTRsYom12E3njUG_fmrwr8lxlmzErtfnR9Pxi6uE9tJxtWyggMGyFMTAgwVCR9pGHNJ8e0am8e_l6lz23S5mCIZ8OflcLK-ts6DwCJ6FH49wyRSQAyWK4MzEVTywQobMpvNEGw5j0J3gUOrDkpXf55TkcFsmjaNC0u0TuVg87OB2WKKbQLgZsXja4SkFCCPTlXe2052uGwPT0OwnVvTrUD9IsIQoEC7J_cfyJuE4D6I3skz_GOYXvN0HlI0414cgePyAt8ViTjAEmMX5FK-ohBD9attIkhcpPQfOiI9u0cjjob85p6EDACTYMsm0Xkzp9itRPCM7Mw5hfoMlgIFlK5JA1ZAgfQFr1d7e6s2rRRlfCYDI9L97HYYkNLmJDlbm4HflqwCpn--ypMa01zcu8XtbslO8nht999GLP1DNQZXllQ3yveRC0DKkMnaB4xgNXfB1PNdc1IY0MlwpFK5ZpJ3_HJJg2zvtI8AnL9DB4zMXFu4vCIi5KFGk-2rJwGcmUwcYRhoV1mdHiDky2d5UrdNdwTJp3nlpDMVC7pNOPmBFSP0lNYtj_t6ZENUAcH_lHKfxzd79BcEHKPh38TcXMnhNMp4ud5kxcWTAKQ=",
  "id": "rs_0d1420d2caca7e63016ab2e6d01bb887d098ce2e0f018413ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"left_roll\":0,\"right_y\":0.38,\"right_z\":0.025},\"note\":\"I’m moving the left arm clear to check where the gray toy settled. The tan plush is still left of the right jaw center, so I’m shifting inward before closing.\"}",
  "call_id": "call_wk6AMPYYt4gwYDX5NpkahXp2",
  "id": "fc_0d1420d2caca7e63016ab2e6d4f80087d080f5b5764de2f638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wk6AMPYYt4gwYDX5NpkahXp2",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0788, 0.8486, 0.8444, -0.5636, -0.144, -0.0837, 0.9969, 1.1069, 2.1544, 1.2663, 0.1978, 0.981, 0.7647, 0.9972]\nstate[eef_state]: left_x=0.2987 left_y=0.0054 left_z=0.2375 left_yaw=0.074 left_pitch=-0.001 left_roll=0.0169 left_gripper=0.9969 right_x=0.3502 right_y=0.3799 right_z=0.073 right_yaw=-0.0794 right_pitch=0.1877 right_roll=0.1629 right_gripper=0.9972\nstate[joint_eff]: [0.1436, -1.265, 6.7487, 1.7998, 0.0757, 0.1587, -0.0073, 1.5521, -6.2154, 5.2581, 0.6422, -0.2466, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23547833915e2981ce6353148c917ff03b5bff10629ad54116def2a6a88357e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074e2c54c77f6e374eac3526782e029fd21c0cc518ee8ea18976f341fa142a23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790028883785fd364d1bf43a0f1ee3b1497f0eea6de74be9d484594e3b83e01c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 10.03 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]: [-0.5461, 2.1284, 2.0621, -0.6498, -0.6922, -0.0162, 0.9968, 1.0832, 1.9892, 1.1404, 0.0486, 0.8951, 0.7097, 0.9972]\nstate[eef_state]: left_x=0.5421 left_y=-0.1933 left_z=0.2445 left_yaw=0.0208 left_pitch=-0.0292 left_roll=0.4291 left_gripper=0.9968 right_x=0.3341 right_y=0.3435 right_z=0.0796 right_yaw=-0.0001 right_pitch=0.0914 right_roll=0.0366 right_gripper=0.9972\nstate[joint_eff]: [-0.5538, -12.6291, 7.3915, 0.8425, -0.4127, 0.1685, -0.0073, 1.9077, -6.4615, 6.0786, 0.8864, -0.1734, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsubeknZffHyg68_bWuheEnMKrl0ej_dA50h5AtS5VdyubEyfEbOu82nPUdxyn0n_gctEzSMSYxNufxLBrwjbB8q3SwiAx839d3bktAQorydeXf8gBwg1RFEeHsxQG3oZwWTlIK2h0C3mrZvyNxY1VOpsw9uMcgpt9v4MrsgsfqHup4jRfEkj9WV1dN3J96t9R_KXwGSZKvKuAnjIbUfH8Ijrqc5NSW-gWprt4CFAVQu7p-HiOiiPq01wHQVmwReqOVJ_LtZZi8jgeD-GqGsizRROp_VqWCcLyciBbcBiNbrH1bcECsDeZdf5_vppu28-oD96eo-IxbWyVkgLnnu_bAgvoUgWY2Lhk9BHoPnrUaurpfKBehfIHOUhBFtXnufqzWmFV7uwIrv-7EK3W0s85RvpP0_WRiioNxyiUkSl6EHBUyFRdNgSDN59WSv2KvDmjLo5UlYn8smLs6cdHWNFp3rhkbcwv-LGrq0cX_hSLFcOQNk3n2-6o15GZK4frZrlIvry6MnJo0R2z2Vi0tD91jvLznjJV5ydxcAAnXB_TOaGG9VVEMNfXf7pB3DDFgD5_QSSVO67tIHnjITODqpcQRD4BLzzNHdPd-G2vwjkxGLderyXyX-ETXrpETqhoCeZ8I6KAK4g6hgvOkNAirLYsyQ7PW1bSI6f04P81xOwxGmovSSdfLTArkFtgHVM4Vklg9jU7-eAd6q42hRqFbx4LKrWfABN8gzCm045_DQPX2fXwsXd3cZ1ZbDgTux1_4sInVOGYDO9i0098iIIgzVjRefElfB1VH4u1mTAG_XW352pedseuujUAMB17ACg5fbPSNROAkR5FlINHnSya4wGPsjtUxMix26AgsJT0RzsijOi3EVVENZC7bBoOWDMKmySQXAloCbQx9BmgFs4uOnaL6L6n4jLhP2eBhWuwuqJXbuG5bxlSkj-ONDbmrSymrpC4JnvdDkYzo_pIn_b7zUaTdqL0tFDcYoozaY0jmrY3oKin3luHNnYUmfTOQgwAgJTy2Ald4q_biVjSVcayKwxAGrTrn43CN2gevJ9Bx3Szcn5SPIuDWrJ82cBaFISb08zPay9WM5oHt4yq0lCaYAfpv9bhwtJH-aF_f4NT37GzC7tWNn0lWq3MY4ggP_D7j8uygkckKdg6BFIlNe4SdeXUcQdS9LkeEDyxLhsas-AT_jdWES5Yf0DOtMyAL3h5ekDrrMlfWGq1qMdILA_rthhk8yZp3L-HJPFmXrQDHvGkFytzKnqLgteJT4HcPHJi2psnNNl1moGuuiHqO8D4pqIv4jOdlWvnUnybTp8DBoz-n-wVcTX-DJtPf9InDRSWcrGwyDHD7StXFOnliFbpKo8pu52fXhNHczhK1tX6SpEQLLiZTU=",
  "id": "rs_0d1420d2caca7e63016ab2e6db350c87d0b8f81ea96b055bb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.405,\"left_y\":-0.055,\"left_z\":0.09},\"note\":\"The gray plush is on the table in front of the left basket, so it still needs sorting. I’m approaching it again while closing the right gripper around the tan plush.\"}",
  "call_id": "call_qy0exjoyRN29bmTGzRtef3hV",
  "id": "fc_0d1420d2caca7e63016ab2e6dcaf4887d0994f09e850a1b96f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qy0exjoyRN29bmTGzRtef3hV",
  "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]: [-0.2707, 1.4948, 0.6231, 0.1898, -0.2962, -0.1848, 0.9969, 1.1049, 2.1525, 1.2675, 0.26, 0.9871, 0.7734, 0.0298]\nstate[eef_state]: left_x=0.3898 left_y=-0.0509 left_z=0.0758 left_yaw=0.0647 left_pitch=-0.0877 left_roll=0.0476 left_gripper=0.9969 right_x=0.3542 right_y=0.3844 right_z=0.0832 right_yaw=-0.1029 right_pitch=0.2141 right_roll=0.2319 right_gripper=0.0298\nstate[joint_eff]: [-0.5402, -6.9949, 6.8171, 1.6679, -0.1294, -0.149, -0.022, -0.0205, -11.3983, 5.6821, 0.5934, 0.1538, -0.4615, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eefc734d57a54cac8c04ad19dd0c19b35bc63cbd24190a18954a63b782f7004f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ffaca88ce0a9c81147e8df344a80a9743c0b73b9a3c2097ab186d9b370e374f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a0fdb203920151e74adb4110b88ffccb050f49c38e96e2fba76b75b8155f36",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 12.77 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]: [-0.0788, 0.8486, 0.8444, -0.5636, -0.144, -0.0837, 0.9969, 1.1069, 2.1544, 1.2663, 0.1978, 0.981, 0.7647, 0.9972]\nstate[eef_state]: left_x=0.2987 left_y=0.0054 left_z=0.2375 left_yaw=0.074 left_pitch=-0.001 left_roll=0.0169 left_gripper=0.9969 right_x=0.3502 right_y=0.3799 right_z=0.073 right_yaw=-0.0794 right_pitch=0.1877 right_roll=0.1629 right_gripper=0.9972\nstate[joint_eff]: [0.1436, -1.265, 6.7487, 1.7998, 0.0757, 0.1587, -0.0073, 1.5521, -6.2154, 5.2581, 0.6422, -0.2466, -0.105, -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": "gAAAAABqsubppCvZ1uhQrCF7BQa0scNyGXzN13rOP6cBrJG1JKqmtNG_9Uc_8q7lqCXvXb6TSpRJ3saaCyh2Z32G4mm8KW0wlVrFRIUhhsdtLA3OJvC8ke62o9n7FOdgb2MVyzRYlhtQwXk8K1g2dEXKqdj9dL49Oii_p0JAuRagOQEyvD8SAy4W0rCIq1U4zpQB424xEZ8ASKaPwYtbYUKJblcRyYtbxRxaweYxfZ-4up3LNYxqzPSQX31ncJdHI--CjpPohajdkgFHozWL_XmVbxWmkT4-Ae-kY_49wLwE6Mq-RHdyuKvlterkzH9TeepaPYlWi51YVgOPxQGu4iM8idOpqBlLfjKGnUTwwo4GzOXfXERjspyvRYkya9sQto6bfxgx15FNFvxeTEQ2NwJcwiO35BbUntBCHxB7VTfx_gOp5pB6OBXrqB85z2LEniZkY9mq032UCd01yVdYWzOnmjY2nh26e0PlKcVpaVQIILVXCI1PmBxDIDuzJhmsgKLQFYk_vNroNKnLGRakpEsyj6iT2765XTIZr25e9ePzwgsJ6DzRc1veF_wX5iMjOtaL5nfV7l9lIbuG6vUtf8zbWxYXLTd92huVN5AC3mzxSc8Vw1Kl1SXPepG3aVSfH4PBfIoi55gRfgzzi51LbmvRsR3673Op7pX8BqhMbcIkuf2omF2pqaUoyYh9G8AHsacgJIgJ7V1SKes7-wrMXbtXJx5t89qjHGHpxO0LRC4GMD5PYB5OaAIOj3mz2UJmGkuMmBboWdNWgWAgFWOuGVKIO1-zDk5dDYc4Diuzl6IpYEbyZqpq1zpjm1zTMdynl2rhMcLj0GGZQ77iwtaqHWOmFM7Ey76mUTsJNi_3zivx7x42dy6Ejow2YDh41N7NKB5H6HjvSJokGjY7IKwuVup_0bluTbU_pptEoa0sD3hJl5K0Nj1ozpGWTFzWUYMLgb0YiOpaZYy2Sm1yNG-Mt84CzsdN5gpDAXjGHP9gPHlwBb-k4kHYZ8rB6z7NusBPWynAFGKBiMtx8peXAepXSBaNcmQEXjQSV68iY9cml2-0kJc-ypmLvTudJxsCny6IlhFys9bQz4bJNeQrftb89pwsgQXW7oStWnOjSGideBg6MxIatscCoyTffsgH7SlsHkbEggwh-YKWCTAXkjrQKd5_W0qlodWesA-o2VtBrTHXmexXl-DilWoR-jlqsIHBPhqAgKrFLHeMgZhomDE4daxtiws8pJqKqdaVCdAAiVGyV7nK1S0WFvb8inRhUh_MLWrmxrCltf5yPOCn_LSQadBm7hS4gNCHJNX3S4q6xjFPGXFsfEdS4hGdYgZQxcD7XneQUh-E1z78c5rBjCTBlGZC3P8xenIK_ObGQIDSE3a4Wq8IqFBANvRsYxFXRYJbR8K5n8ZsHtpOCudwXCIb-5xstu95LjaYX4c8l1KClElzXorYL0ZcerUuAYJUpNNE02YSY7WbHdfJphwn9BXSgPPjviegEQ6-Nu3jxiPN0mCFUz19xF1C751oLhn65I1QKuPYu1QDDdaKyShQj6zxfsoDwNTui5SvMZRfXbHqkrM7E544_TGBPN6mLeWhlBSczEu6KaLsgqBCXDkLAaCKpWs-aHUPO-q3zy1E0JJMdYfF0Gf3DQwLrdshZizH_CSW8CWOr6H2YIm-CsQ9dLo_Vwn3sHs0Twa6oA==",
  "id": "rs_0d1420d2caca7e63016ab2e6e2cce887d0b1490c80a4d8e110",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.035,\"left_z\":0.005,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right grasp was empty and the tan toy has shifted toward the left side, so I’m parking that arm. I’m centering the left fingers lower around the gray toy’s body for a firmer grasp.\"}",
  "call_id": "call_4pnR3Ho3YKcmvs4PycTkTRHw",
  "id": "fc_0d1420d2caca7e63016ab2e6e6ba4c87d08403b6003c8728f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4pnR3Ho3YKcmvs4PycTkTRHw",
  "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]: [-0.2169, 1.7199, 0.5175, 0.6876, -0.3077, -0.1272, 0.9969, 0.1059, 0.8368, 0.725, -0.474, 0.2146, 0.136, 0.998]\nstate[eef_state]: left_x=0.4138 left_y=-0.0327 left_z=0.0489 left_yaw=0.0969 left_pitch=0.0709 left_roll=0.049 left_gripper=0.9969 right_x=0.2976 right_y=-0.0026 right_z=0.2063 right_yaw=-0.1519 right_pitch=-0.0135 right_roll=0.0031 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.3162, 2.6735, 0.7106, 0.486, -0.1978, -0.022, -0.1846, -1.812, 9.935, 1.6288, -0.022, 0.0073, -0.1148]\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,$blob:801b2465ea6c10f91723f80e8ee8750646ae594f812ffcefd6d2464eef88c4a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff18800ce5f1255341f1b108be1cf7d656bcf2f6132e85eaf83a33d0acfe8f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82f35f1e1de5b8027f415e184d0b382c37895e4166d800fb08a91ba468137c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.558 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]: [-0.2707, 1.4948, 0.6231, 0.1898, -0.2962, -0.1848, 0.9969, 1.1049, 2.1525, 1.2675, 0.26, 0.9871, 0.7734, 0.0298]\nstate[eef_state]: left_x=0.3898 left_y=-0.0509 left_z=0.0758 left_yaw=0.0647 left_pitch=-0.0877 left_roll=0.0476 left_gripper=0.9969 right_x=0.3542 right_y=0.3844 right_z=0.0832 right_yaw=-0.1029 right_pitch=0.2141 right_roll=0.2319 right_gripper=0.0298\nstate[joint_eff]: [-0.5402, -6.9949, 6.8171, 1.6679, -0.1294, -0.149, -0.022, -0.0205, -11.3983, 5.6821, 0.5934, 0.1538, -0.4615, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsub5k_hUSSXHR48UPijF__BVD9lJVW9-_rjryCdWxOPBvGLJN9t7_-GvT3jVEmMDwLDlzAyDJU6_G4ISl4pSlEia3_hMtQlMOoB7PyUUDqbWMCuDfcho79EoVNtRERovCNMEkPTkN_KeZZ0yg5wjQ7sNlhhMsW9r0FwB5AZjWuuVGyD2jfIF3yzgp1xq4FHk3SNH4aiVbfQL6Sxgmw90BvMMbh74TR4eBUHXmPNJ2ulLV__jTfhSLA4GEoqFkPmKOPt-FWVV0NLh1tplEHryFpFSFYUO22yk2HfFJZ5yn_79O3s5ESXRuD6s4eSj9UwCic8ZkWwHmeLAyEUGEYvTfSB3ieJ2T4pWfJCKQWOY5n3sLQoxkrGW1CS02Sdxtwh9jSkU_vD8MPupWXeGq6_4RxXc3YybJYELA8s3Vd0FU4BLLFNzxt1SKvB6NAZpmanATeafSEWUpTnWvPRd7v14gYFful1_PmqFG7a7-Y4hOwL5Yci-zURch67jIw2dTwtFJKO7cEKAWrPwt5IRIPh89To7RFOyjd0Eq08LDDd1KQ2hx8PstuSYhEqfw5qBdLs-wpGlPuWXCE1TR9pychJKvu9zvkTW5peD_2hwA6jKhRmexk_TVnWIlJ1C7Y1XReX3H1B6PFLeerznPF5MojS1rpA2g0fM_rhxuSOKvNk9JZ9MGmE5E_u_aAObOe0bldf0uggXbtGB26D9O-G8xg4XHC2F7Uf-QqlmSUuHvM5wsP7gdSSqMsNuabx94Xvn31BLm7QaujROQ2NAL5NPwIIvBFYyr6dnhvFtYkeRUnmkwGJvCWzzRLNltGONsKgVruvb19uXDfYFQZ-ZibUFFQiKq6UbuvkqVo-kLzEo1AmOJKVpwEAGgq9WZtTWHpeZzbdEAaOHxpKpakbEKpXX5T2EN2PGnflWO2l4E79oEawA7mJQmUCWMWkyoyH5nliO4fYv0ELBaz7f8LcBnRlV5IoxXCBzqDb9PzNiZJvZCGK62-pkQTOPWSGV2aywQMukUWi5Wr-qKINqB-V3NBBtnt-c1hVKYg6L6glh61q8tximjPWSYGw4Q8k-_lK3WYZTxeRX3eBbMSF0L4GTX9hrHpiSiRwOmn1tpD7xVssdN-Wfn11VZFhXaELTX9Xh6lPs-kiXrh7TB-QY9Enmni5Tm3R6e64-wCGXFajMvsuEuf4rHXMC8byc1T7iQ517MVSDnp4B3K7sY9qkq4y2vu-veCkTXDNdLMb8IAV31T_jYc_0POYX0XSjFUAUmYvawxOD4zxzKOwcc3VhxRfURsXRjhG09pLmqLrWvP6VIb-OwxwX--rGf6V0WSZcpUEX5i5V2Qw2IaOM-RRugHNXJuYYkZscUxOXmZy2nIbxYp5Oq5SAHfcVt4dkyk9-VfbqM3Y1qKvpZACf",
  "id": "rs_0d1420d2caca7e63016ab2e6f5819c87d0b968ac0ccc8ad649",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers are now down alongside the gray plush rather than above it. I’m closing on its torso before testing another lift.\"}",
  "call_id": "call_ImE4on6bTyppeHTPtfkxwkHE",
  "id": "fc_0d1420d2caca7e63016ab2e6f7a20887d08b2eb67e92b6cf06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ImE4on6bTyppeHTPtfkxwkHE",
  "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]: [-0.2134, 1.7073, 0.5282, 0.7216, -0.334, -0.128, 0.1939, 0.1036, 0.8417, 0.7261, -0.4973, 0.2008, 0.12, 0.9979]\nstate[eef_state]: left_x=0.4212 left_y=-0.0284 left_z=0.0655 left_yaw=0.1247 left_pitch=0.1291 left_roll=0.0416 left_gripper=0.1939 right_x=0.2952 right_y=-0.0011 right_z=0.2005 right_yaw=-0.1344 right_pitch=-0.0417 right_roll=-0.0094 right_gripper=0.9979\nstate[joint_eff]: [-0.6496, -5.7641, 4.1231, 1.4139, 0.1392, -0.0659, 0.7253, 0.0752, -1.853, 6.8308, 1.8974, 0.1636, 0.149, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765c4bb876ead7cec939faf28b8a8171acf9d8da5ab9181923fc50bdb6566047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2468a03464f0ad1a473d7873dd6d15ca18635b16db6b60468c37a1d7f37a9c7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77e49c5a3b227ca93544b788569b2a393445bdd2e12ee0631618faa61291864",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 7.737 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]: [-0.2169, 1.7199, 0.5175, 0.6876, -0.3077, -0.1272, 0.9969, 0.1059, 0.8368, 0.725, -0.474, 0.2146, 0.136, 0.998]\nstate[eef_state]: left_x=0.4138 left_y=-0.0327 left_z=0.0489 left_yaw=0.0969 left_pitch=0.0709 left_roll=0.049 left_gripper=0.9969 right_x=0.2976 right_y=-0.0026 right_z=0.2063 right_yaw=-0.1519 right_pitch=-0.0135 right_roll=0.0031 right_gripper=0.998\nstate[joint_eff]: [0.4581, -3.3162, 2.6735, 0.7106, 0.486, -0.1978, -0.022, -0.1846, -1.812, 9.935, 1.6288, -0.022, 0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The gray plush is caught between the fingers with a nonempty opening. I’m lifting it straight up to check the grip before transporting it.\"}",
  "call_id": "call_ldW2a2jhKVUmB7xmtEW0KUn1",
  "id": "fc_0d1420d2caca7e63016ab2e6fc453487d0b65de9ba7d28e78e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ldW2a2jhKVUmB7xmtEW0KUn1",
  "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]: [-0.2134, 1.4681, 0.6537, 0.3367, -0.3374, -0.1314, 0.1958, 0.1036, 0.8444, 0.7261, -0.5003, 0.1974, 0.1192, 0.9979]\nstate[eef_state]: left_x=0.4189 left_y=-0.0273 left_z=0.1289 left_yaw=0.1287 left_pitch=0.1107 left_roll=0.0468 left_gripper=0.1958 right_x=0.295 right_y=-0.0006 right_z=0.1991 right_yaw=-0.1312 right_pitch=-0.0477 right_roll=-0.0095 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -7.7744, 9.0598, 2.0195, -0.1197, -0.0366, 0.1783, -0.1983, -1.6752, 6.9538, 1.6972, 0.0904, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cead2fdd3618f89ee27b827f8e7bfb321dbf4c42d033c21b4de32876a68d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f686ef93cc19113cde81a945fd10cfe7fe6150ab520a712e22eaf97c4e8d2a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04c562337d4d8af92ffdffbbbf2a724636041b59ae1fdfecb04badfd7e6944c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 8.836 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]: [-0.2134, 1.7073, 0.5282, 0.7216, -0.334, -0.128, 0.1939, 0.1036, 0.8417, 0.7261, -0.4973, 0.2008, 0.12, 0.9979]\nstate[eef_state]: left_x=0.4212 left_y=-0.0284 left_z=0.0655 left_yaw=0.1247 left_pitch=0.1291 left_roll=0.0416 left_gripper=0.1939 right_x=0.2952 right_y=-0.0011 right_z=0.2005 right_yaw=-0.1344 right_pitch=-0.0417 right_roll=-0.0094 right_gripper=0.9979\nstate[joint_eff]: [-0.6496, -5.7641, 4.1231, 1.4139, 0.1392, -0.0659, 0.7253, 0.0752, -1.853, 6.8308, 1.8974, 0.1636, 0.149, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsucGQ3_jYPIM7iWKisaRAH3zpkQoqLfedUdEJoIMUmcBybURpJAxAWMBSMw4fFJk8Dk662tlK86e6ZTv-KoRh2BUr3qfy_qyvWwBnMDeXndclI2M9S00K-44ckrsXzpYskhGY1wepXOuw0v0qSI7xxtb9ABiSmoX5hYstdtaWf_NDCKOBXyprcZgxBk4XuEHTjRHakf4VX7GX0XuYJS2uyae1PkyWxaluUFjcCC5uEqq4YsI-c782WP8VGv6q28x8fLOpC2euERtla5G1chQXKYZzCjctRTIyHWd_JSpQeZgnX30wHrkJKsl1YjOnXfKFtSi47PVYXNdWtSnTACW5L2BeJWFJfMtwTVobAtOoXvD4kea3-FbH-WjzP1yvfvnz77iB3TAZOBoHLvO1LAKjmuRq90cZyPxLVAszAjsq2wTjQdj8uGW5W9DbPt7LzyxVSJiohKNQiUvI8pFheMWAcQLhorub_zhufqBEIBCumWxy5-injo9m9xFIqTUdCJDsi1ff9Kp5fCMd5nvJnum2vHvLpK-jnB9psyKA9toUGGvz-ELEzCvu9PNH2AAP4FfVSb0wmGCLHAuEdfW8g7X5pt0AXX7flHCjfd0wr4UanxXs81_G3IYip6n3ACbLRaADuH7MdFVyDO7M1IvGCF3dQc0Wo-H9oKH6fNplAARmM3J4Q8-81eBPO26Gd8_Sx-Tk-l0j6lDf_v2_a_gC8R4QLj-8DQgNvBDbgSapJ6aAplRtFBt262a56ijBv9s_iRNHWYVs4qQyOcKJuyWN3CckcET2vyxCgQgYK64fRhY5wfC3jCGPGd08fO_dm-uFg-ByCP2ces34nSGZH5usWN6UbKcpoOUl1Hyf_TuoCxRK6JPD7aIrquuvbhL_uQKrViyYOTpzrYgmwyNjKH6yLHu8m08PEsqK5xcIacaCLEfsOdZW7SLBk2zJPT0zcDGlBQkY_VPbC11UeSglog-0FTF6piPH4qjPZ5Vs0sn1vQHM4RbTk3E7WaMewYMsmv56vfTUzHoQLX94DtzxMv-oyz50nqBtXYM0JA_ASEzNnu7ep8Er-DunzaRKv4gsb0Xz0BpjG-ONU-W1Miska5xGZPBSuR73eHzsihuswBG8lt-mer2SmZGqRU3XV0ppLQ0Nu9QIgW6SCg7ZQxaDPMkVmG6IEHIfYMHdREjKFi6pXFb21ponZpK_YMhlt9XWgUDgJcsIK61k_i-ROvPSVdKOX-4penclc8EBqiMeAoSBqdR32veGbrlXTrzpb31AOGaKhhVDem1UWGqE1WfC40xzWapb1zrFViZ81wrwNl6S3PcJJdlt8RvIReeJM8HKTjUjGuK2T_YsONCCEyhwhkqVqCxWFDhX1ij4MsFlbNnvV_aD7cSzsV9oB3YLMVp0vJ8ADFLPYxmRWQjGS8doASuRebjnJ0FPVEF1kMWuZ5XXo25WUftJCTVtMmmksPfJqzlnAwz1xPo",
  "id": "rs_0d1420d2caca7e63016ab2e70213f887d0afa7c6607a6a1f73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.18,\"left_z\":0.26},\"note\":\"The gray toy has lifted with the gripper. I’m moving it over the middle of the left basket before opening the fingers.\"}",
  "call_id": "call_zmQpYsldJFFinZcxu8aztqvE",
  "id": "fc_0d1420d2caca7e63016ab2e7045f0087d0ad9440c90dbd6aa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zmQpYsldJFFinZcxu8aztqvE",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4713, 2.0304, 1.8362, -0.384, -0.5739, -0.2707, 0.1972, 0.1036, 0.8482, 0.7261, -0.5049, 0.197, 0.1188, 0.9979]\nstate[eef_state]: left_x=0.555 left_y=-0.1711 left_z=0.241 left_yaw=0.1353 left_pitch=0.0816 left_roll=0.0738 left_gripper=0.1972 right_x=0.2947 right_y=-0.0005 right_z=0.1972 right_yaw=-0.1307 right_pitch=-0.056 right_roll=-0.0115 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -11.9453, 8.6085, 1.5946, -0.1685, -0.0611, 0.1343, -0.0068, -1.7846, 6.9949, 1.6825, 0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2efdadd4e05959186edf24e338ddf27edfca1d13d69102a63a0d6031732734c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7410b665d6f764487b1506789e0d03220230e33a05670cfc418e12a572719dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db4f5ad3462d116e38fb6b4a7b38bdbe4ced23f4af700e267014d2f3aac5a04",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.17 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2134, 1.4681, 0.6537, 0.3367, -0.3374, -0.1314, 0.1958, 0.1036, 0.8444, 0.7261, -0.5003, 0.1974, 0.1192, 0.9979]\nstate[eef_state]: left_x=0.4189 left_y=-0.0273 left_z=0.1289 left_yaw=0.1287 left_pitch=0.1107 left_roll=0.0468 left_gripper=0.1958 right_x=0.295 right_y=-0.0006 right_z=0.1991 right_yaw=-0.1312 right_pitch=-0.0477 right_roll=-0.0095 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -7.7744, 9.0598, 2.0195, -0.1197, -0.0366, 0.1783, -0.1983, -1.6752, 6.9538, 1.6972, 0.0904, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsucQLf_BMgzOflEBsvH0HjAHF6U-IajrCnUQYRhQ3cX70KS1x2ViZsSG18S7ynre3FdDHm8FzaXzfozCzfNWdZ8KhLoQQL6OL73aUoelH2AfFGqjFmqLKV73Ut3tNfEqbGWHmWuHnM2Fd6j9BPLF0h-mdTnxWhQxDvqoKSOLpsZUVpqbfN95Xwsjeu3Fbfi2xq3K4QOMIebB4d_tY_9kGzQ2Ah8yBoctMRtyklir29Ny18oq6qaz1CPua0nmZpoMRWN_6BQ5TagKhovl5FGuUL5acjRO_UbZNZEUTlPYh9lJwGULlGllIFJkWAsbjOWDiF_44EKVktNcxXjPWNxuY4yoBTWSlf2BM6FxE8R3b0b5PBSAQUV-63THadUNMXs6m-cs4HkQExYFOVyuCA--1F4uWVECOayVkXKNMNrWoCL1UISOBSF-nNDHcDUYgj1S6U_mBWJu9waQ3v81_PQMaSbbmM1Qs2YvlIe5-IgfXH558HpOrxryCWDgzzAFxYD2Lv7dhYIezrLVbFchVb27JbBUPCsATYWg9ylyMoCo05qSFKFD25a8-dETVDfQ6iOtHyjlyl_iK8Lf9JKHdJcRVR8T7uKLqp-bHCKwmJzy02Md2ewIujis1P-fTXyoVGy_luDY4sWdiXptEx8AYkLXzE7bXswi939ADByw7DujbO2l0FNZCN1lNDHeZHjuHHMMP3a9wFpKyC_j13Fu_oRZhi2xosgrb9wvHEbdcoLzrpVJWC5QNL66vicA_4nkSPNHgHnskTLfpp3xwmzM7GLBbvFG86_O-VIB4hRzTH3g_2FBUFxlVMJGbl-hEGyUkWJqLNEOn-NT0A7jnBuB9SwpdLqePp8Lvg6EZceCrS1C_QqXAma8W6Ag0E742lHlMVFcbcZ4PoPh4Vbk7UVNmaMV_iVa8AWc3y6DqvSZY9NGARfiJbhqOa33RyDJs5Czua3IPV5x7ALMKjhl7Kqmn14nULAbGY5Bgm-SYHKivhmVM2ymaW7vX16tdBu6SChD6ntLgLMBsI4UCauf0xuWZl5Yl_eiw9E-7msxAkkjavZfwX7cJ6Wn97baN0J2bSlE_wc8Tjy-573tZkftvZjd-0PXu7UQF5rXo6yQYtzLTH-_T62xA6FFWs8tsgHO_ouUuPQ_B0sM5dW-HWIdOZ5iDuqgijph1c6aSPYNvOMzNxnNgxoDjJsSc9v66Qsm5sZxtSv4a3eG082GeMKjVb_F77cjdhj4ZfmROOAJ_ABuZLoRVXfm6YjF8JRmb-hevVbRilJHxzVu0SeRiGyqedqkcYTgRELVTEMeXNE1ozasXE6Ub_ldXFDce_V5f7jrcFctHKvoyTat78oreiDY-xUbZjP_k9loiZEvjOyWc30ov9R2uzmiWvNBUDlkvS30E0HxG27xOOPibFfgEkKWv4L8c29w4qQXh-4hquX4c0PHZHbL-UBDP97sVC3zvKN5rYuNbpxUirLKVgE3i7hIMxh0k1Xi6HyM2nLcNPlwXwAlOIqRsvWIWGamkxbsSsxMtoK9uE0S8d2SmX8QRrO04Jh-hqVgH9Xo08BWEZlhelP7_JJNw0dyqB2kd0u0ORjfagf874j1yUFzThBTd7VQCkPfg89B-9c5ofkowVnkm1EeGGdDhlK7t1lp7uqMeZN-LgOTV8PdcbfhW0NG_o8uKHdBIhXjc_e9Iw==",
  "id": "rs_0d1420d2caca7e63016ab2e70a2cb487d0972366065fac6f80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.24,\"left_z\":0.22},\"note\":\"The gray toy hangs toward the near edge of the basket. I’m shifting farther over the opening so it will fall inside rather than beside the rim.\"}",
  "call_id": "call_lNf42HseILwRnVQMxo3buqVI",
  "id": "fc_0d1420d2caca7e63016ab2e70e6fb487d0805aa1766405079c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lNf42HseILwRnVQMxo3buqVI",
  "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]: [-0.5472, 2.3867, 2.3104, -0.6048, -0.6483, -0.3195, 0.1987, 0.1036, 0.852, 0.7261, -0.5049, 0.197, 0.1188, 0.9979]\nstate[eef_state]: left_x=0.5912 left_y=-0.2311 left_z=0.2014 left_yaw=0.1401 left_pitch=0.0287 left_roll=0.1282 left_gripper=0.1987 right_x=0.295 right_y=-0.0005 right_z=0.1961 right_yaw=-0.1308 right_pitch=-0.0597 right_roll=-0.0124 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -14.0239, 9.0051, 1.8388, -0.1929, 0.0024, 0.1343, -0.0889, -1.7983, 6.9265, 1.6532, 0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e126d477a72f5919695418f7b739fb774431f67497d91e8f5a89b3004a179f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d6a88aede71848f67c09aba722e02d8c7b6957ea97016e454c0bdcb63032fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4a7e2cb359a9385d467dadadbd46c936c793844f1e06b0eefd5b2d8f87f83a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 15.31 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 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]: [-0.4713, 2.0304, 1.8362, -0.384, -0.5739, -0.2707, 0.1972, 0.1036, 0.8482, 0.7261, -0.5049, 0.197, 0.1188, 0.9979]\nstate[eef_state]: left_x=0.555 left_y=-0.1711 left_z=0.241 left_yaw=0.1353 left_pitch=0.0816 left_roll=0.0738 left_gripper=0.1972 right_x=0.2947 right_y=-0.0005 right_z=0.1972 right_yaw=-0.1307 right_pitch=-0.056 right_roll=-0.0115 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -11.9453, 8.6085, 1.5946, -0.1685, -0.0611, 0.1343, -0.0068, -1.7846, 6.9949, 1.6825, 0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsucXpdIAwKmJTSh0Crpftxk_Mur6c6o_x_YhfMutFHZSNH1tcZTt1hc8gATDwQTQ72KXnMHmxCAgB4NO6vXc1P1Ww-4ABCW3MJ-6je3ERybJn-9fQFytyB7e9z2Px6p6wbbSJlEBY4CtG4-hFfvPaGiWJ9whzbLGLm0a3JDX7vJAKpyzKUDXpxa4bXP77Hl80_k4CSh8Cg2728ZVSqJzXBSgpW3aBAHD9GJU37mw8jtLY8lxNrg9uEblQV4Y0SeRwHncjPm4GYX-jrGECdqdzxbh1nc9hyT-nTMvNVklVZ98gEVaMNfp2zg_Ezfpw5xEjv1aTFBDshCaNDJAmuch4tNoIXh019AMjMBgHzqF8jfWbYkSb2KSwcksQ8B4ot6Idxt82wO41zq23wjePuORa4qw1c3h0EzjyFg9rg6p2uJgAf4YvtqoUjjVHBQAMkpjIsFBTKuL54_Z0wyHxck_OKppLoaoEQmuvg7uQRx3cJXrkOYbszFRwdNAN7lnQxWnmJZlgOorWqQV67U1-RacK2jhIQKsZIrzs8ijYMM0j7RCUX2r10qfT4M_E7l2HHv64-3u2qDWA9FRNYjipUL0mCZKIxiqg0lAa_Yf0oZKSiZJJ0a6vGgRqjnZMNHlkIpUjV9XAjR55EnRgXwHorYsHByJoXMMliQ-BvXmPk-LVW8GjPtKVp6ZQmsCV96tKJUe9brLJ4t1sL9-7nric60ze-neuLybw4u48dLT5myXdq40zD9Y1Ck3VDbr98kThkxi9Gpfsh6cveEJ3avXyPyC9F_4CH4xHfPpUaZDGKQG0toTtdL318LqRn5QVl2khIzBb0JsMM099Tq5kif5fFWftIlPGrG7BnWZ_jJiuHEsYz9p00ipL7BSNuPr4HU9itF1x2mkRr8FqxLuVomEVrdDBgx5jS9foJkZWz5IJ8q2IjdvSSmubIHlHfc5L3wjB-a-25nn7h580z8iUGz2hC0X_CeRV4JaslmP0JOSxCrpXaT65XotCPZEUYuhQStTylUVRDnUB7q9s2H4Z0BE1kLsgBuhbjeiNvyjCTGVBdh-me10kzdmDWJtxgB0Yjz4hxcrf1w8giyYXpepee_d-wpigfncOLLMknamjQh_xLeGCMh5z9L8ZUkyA30Qqw8TjuEq3hykWBDRz-FeKonuFzNCnCyw3Qj59XrGHNpH5tKmeam3ygGjGejUrgo4xNKy-H8sxxB5xPYbstoUBgmo5oCVNYaYXMpx9JOXwE1gGxoytZF8hkP8jtL7zdwqDx5vCOCIDgcmSZPfh9DM8-YWtaHINNfmBBR9c7FmrF-mA3GMMwHN3wk=",
  "id": "rs_0d1420d2caca7e63016ab2e715264487d08b97f8504ca3318d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray plush is now positioned farther inside the left basket’s boundary. I’m opening the fingers to let it settle into the basket.\"}",
  "call_id": "call_loXtrj2xZN35Fx0jroWZ4tc7",
  "id": "fc_0d1420d2caca7e63016ab2e716031087d08e0e31398925d42a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_loXtrj2xZN35Fx0jroWZ4tc7",
  "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]: [-0.5457, 2.4046, 2.3127, -0.6144, -0.6476, -0.3302, 0.9954, 0.1036, 0.8539, 0.7261, -0.5045, 0.197, 0.1188, 0.9979]\nstate[eef_state]: left_x=0.5919 left_y=-0.2305 left_z=0.1899 left_yaw=0.1464 left_pitch=0.0098 left_roll=0.1347 left_gripper=0.9954 right_x=0.2952 right_y=-0.0005 right_z=0.1957 right_yaw=-0.1308 right_pitch=-0.0612 right_roll=-0.0127 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -15.7607, 6.5983, 1.6532, -0.2564, 0.0415, -0.1636, -0.0615, -1.4427, 6.9265, 1.6874, 0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bca0ea156da9d7ba10b9d59c94fb3eedb14bf0c8cbfcca5670cebf3a5ddd86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f35025bdd81150f7f943af83a11c9a91aedb1985db2dee190303e1d52079d6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea18bb7c1989cddb563e5c2f0bad605e83e0165d4be59c8d688faa8eb6784103",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 9.404 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 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]: [-0.5472, 2.3867, 2.3104, -0.6048, -0.6483, -0.3195, 0.1987, 0.1036, 0.852, 0.7261, -0.5049, 0.197, 0.1188, 0.9979]\nstate[eef_state]: left_x=0.5912 left_y=-0.2311 left_z=0.2014 left_yaw=0.1401 left_pitch=0.0287 left_roll=0.1282 left_gripper=0.1987 right_x=0.295 right_y=-0.0005 right_z=0.1961 right_yaw=-0.1308 right_pitch=-0.0597 right_roll=-0.0124 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -14.0239, 9.0051, 1.8388, -0.1929, 0.0024, 0.1343, -0.0889, -1.7983, 6.9265, 1.6532, 0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsucnB--n1ZWMayzUUnoogqETU4aqm0zLHsIFyNEvXrExUzW8bDHfCNl9j_nndaBH5rZlV6Za3VbecR9NmMbM1Kcbe5EbrxyrlcRRGjA9WI0GnKMtH59GFUvE1YpbdXankuYoZInzcL1in6GstLQnA6h_O35SnmsFJ8mO-JlGs17PpYbL7XvW3mk0diCXQ_OmeBlmIBUxzKbQoyJfgKMbs7TXYDamLJQkZBYwX17-pWig1MsMHJPevFStYjTgvBvF8L2d0BZbRny-ZHlbBpzn7joPi3Qu4jo_7pfvz1D0vVLfqGcDkUuj2hstd2Ndno9OWyVDsSTjCuBOWSKKcxuvLxUKKSh6irMzwsnIx1eAIm62srXT6LO5lTGkhsLa__pfzspb5uGTVPkAjL4jDlvICUn1QgMb9yThJL8PlQKtiiSZS22hZretF2j9QBOiX00YZdNtOk1PzCSKlTlFU7_jJvzCFtxExXRL-18Z6r5y4SDwG7cVvNyLPsQm9GP1ZHX_T6hRiXh20N_fpuOH1jDtqDvOuNrVZhiRTbbsGwhXbxa-5h89SVOHiP0WmECJqXZFTOo6e1KAnJOYT0IkIzsnIn6Lj9xqqLjTk0A4jRfweXjsCwkKadcYyTzAlMLE1MeRXbkj19w57eT3o41EbvqNZI6HUh6AyGUYEA2rRaHNjpU40UQ_NKQ-PMPaCRao5WnYCMoi2WevZHHyqLStgvFtN_V_KRbkSpV2ccVaIsRZ8BfyN4XlUwpL2r8xc848sYgKU0Li67dRSrjE3yK0vIGD9Y9ZbY80XFZGjLEmd_lOrRujwgHJOwZOs4kXhm_Da3mduG1R3C-bhbqBJZnmHaFm2OUEdn1HBoo04CcV_L1lEFofE7zIXCnGMCKPMyU3NkrCReW87h8s-i4VRIErM0SvSsURKoCF2h6ZnGfka6oMVuzTcI7ZJs-4hFF9Y9-d9uhudqtO4ES_vPSdTWeYnLvq80iXTzisUoHNZ8MaMyqATmwk4dD8f24EfUiLEudCm1s50BUNqKPRRoi84BlF4sPLJJ0Q_umWtFRSKvYvYqXKYdY_Zg4vi4VI5OXI-367CvpANymRwjbow0LB1yjo9pok5odmOUwT-tq-LepSWTCiZ7gGLQT7n2CcFKN3pHTKVfjrtyE9rM3bIf5Di1usbCqtF4wv3kYJZ8NeE8oA2mXNlT4zHXGTxbD4mQX_gvNhPP9Jhu89Mck4l3_ezt_OsGOa8oCmzrkfGpPHiUig4dhSFOAs8D6qG5iUgAfGJJp19-ElkOvSGt0UdFxDlZC7jkhG6XRIVlGcNVcFsSxul31wT4U1Nx9k22BOULleDvXRZaesSuc85fucByyuIZ2e_utWlKMy9Sv11V7cLaklnZ7oFwdNPX8AzEBxN_QYxo9HkyPr6aPyIeWRfg_O8hIukbC-X6cYN0xM3Ai5TCC75wYbFHeYNj9tUelS4IBb-ARlPc2HWHFtKncxLhP8MOFsm2LLxcZpMcYBjBMe2pSaRNic5-igN0Pmcif0Z4RcFcnOztrJRtlHnbrPLTAmmjikMcd95vYTUMn9YvhhTojo-q-HlwQ3adc7z05_-bX3ZGX_2is2dNpDQ_p8Wc1Wg8x1YN3aCMxzKqwP3UIwzOnRg6xfmHUgPYFn49YupXQoyiFX0xbyY7Ou_NOm6XwVkGIyqw5XbJ8WJMev7JVXq8lRV5YiojmHcSh-HMDZ-MHj31AlW2UsGL7gehuS1aPnoGHidfs9VRd5H7scl-OvkRwK_zpCEarX_mia_Rjc3QZ0wQjIOTEzEqkJaGlCaVl8s7PiodWBtTalfhxIINPr6TTTKADXWwnjGUv7zZqDRZKEBJduUJEaB-9phD_Yz_wMq93lvGhyQEvD4H_yzs0biCwwaMNFWlb2R4VSg3Pjp1RvySThjsAoo7u0UN9zSLpe6K1joKH6TgpIcxs8lED-ojCL_paqdEn7q7gPSxj4K7vWivyOxVODHri-ETo5MiTE7HomOtTLlGgrR8vEBga_caV5i_wja3-tKlOnyPz8VJ0wJ5z2OdUwFLZfFdHTI-rRyfa70giuXiZbKY-8l4__k99uWruKdHStEB3BJtkW7Job43K9ag0GRvFjoXSGfTu_jBbc0586oC0Ee2kV5PVn1IgrzpXXUnMlOmv6O0k4mpgyh71klwdirsd3qhgCJH4qjxBTPVRuSWNJTmJVss7Erbs6kayO9V_-ZIwl8dJCfvSfhWB3ig2GJsS3GWddonNQZSgXfMKmfD89YaNwXTFz70p26ZCIB1Q7QAc_GXPR2iH39ZF-P5OvFhYD-esoJ6_CL08iEgDIecuOyuYoYx4O2q-uHWxRnHpzvEGJxTx4wWVqVOm1UoyLfNichjOPdRJ-8AIPHL4OBXntMpBHmXA2kvGW9-MC5TsvIKoV6PSorz0ebdEZkhrW9O2X",
  "id": "rs_0d1420d2caca7e63016ab2e71c57dc87d0a0c72f9e29bdbc2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.22},\"note\":\"The gray toy fell in front of the left basket even at the arm’s maximum forward target. I’m parking both arms to inspect the remaining objects and avoid pushing anything farther toward the table edge.\"}",
  "call_id": "call_0INWz5LgAxjurOb6WXD5Ec5F",
  "id": "fc_0d1420d2caca7e63016ab2e724dd4887d081ae343f287e148c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0INWz5LgAxjurOb6WXD5Ec5F",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1894, 0.8894, 0.8303, -0.5018, -0.3222, -0.2222, 0.9967, 0.1036, 0.8799, 0.7937, -0.5865, 0.197, 0.1154, 0.9979]\nstate[eef_state]: left_x=0.309 left_y=0.0014 left_z=0.2362 left_yaw=0.1862 left_pitch=0.0315 left_roll=-0.0114 left_gripper=0.9967 right_x=0.2931 right_y=-0.0007 right_z=0.2027 right_yaw=-0.1297 right_pitch=-0.1005 right_roll=-0.0249 right_gripper=0.9979\nstate[joint_eff]: [0.1573, -1.5248, 7.0496, 1.8681, -0.0171, 0.1685, 0.1245, -0.0889, -1.4974, 10.359, 1.6337, 0.0024, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba06ae80846286437f8a8f30bf8e6b4e95d5f7abc8f4dbbda9f2d1d48ec49410",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f862969684e027d1132b84ec32b4ea919e0de0458734a7bf72b94df0dc8f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40cd223deddee14373c11b3abc2c204d94b42cc9fec8f27bd55b74f1b7dd45d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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