adhoc

completed
2026-09-22T20:46:16.434308+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
314.4 s
total steps
343
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and pens/markers. I’ll sort the plush animals into the left basket and the writing tools into the right basket, starting with the leftmost plush.
move_to
left_x0.2900left_y-0.2000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0223, -0.0261, 0.9992, -0.0208, 0.7986, 0.6109, -0.3779, -0.0189, -0.0254, 0.9996] state[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2962 right_y=0.0008 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.6615, 9.4564, 1.7753, -0.0171, 0.0611, -0.0904, -0.2803, -1.6479, 9.7983, 1.7753, -0.0659, 0.1001, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.20,"left_z":0.15,"left_gripper":1},"note":"I see plush animals and pens/markers. I’ll sort the plush animals into the left basket and the writing tools into the right basket, starting with the leftmost plush."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe small brown plush is left of the jaw column in the wrist view. I’m shifting toward it and lowering around its body.
move_to
left_x0.3050left_y-0.1600left_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]: [-0.9714, 1.3281, 0.7689, -0.3237, -0.7536, -0.6651, 0.9992, -0.0208, 0.8024, 0.6075, -0.3847, -0.0189, -0.0261, 0.9996] state[eef_state]: left_x=0.2846 left_y=-0.196 left_z=0.1356 left_yaw=-0.0245 left_pitch=-0.0398 left_roll=0.034 left_gripper=0.9992 right_x=0.2951 right_y=0.0008 right_z=0.1783 right_yaw=0.0004 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [-0.1436, -5.2034, 8.7043, 1.3944, -0.5397, -0.0757, -0.0952, -0.212, -1.5795, 7.3231, 1.8291, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.16,"left_z":0.025},"note":"The small brown plush is left of the jaw column in the wrist view. I’m shifting toward it and lowering around its body."})
tool
executing move_to over 8 steps (0.8s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe brown plush’s torso is slightly left of the gripper center. I’m making a small correction and closing gently around the soft body.
move_to
left_y-0.1350left_z0.0150left_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]: [-0.8062, 1.5784, 0.4335, 0.3908, -0.6754, -0.5045, 0.9991, -0.0208, 0.8043, 0.6075, -0.3851, -0.0189, -0.0261, 0.9996] state[eef_state]: left_x=0.3104 left_y=-0.1589 left_z=0.0355 left_yaw=-0.0013 left_pitch=-0.0049 left_roll=0.0326 left_gripper=0.9991 right_x=0.2952 right_y=0.0008 right_z=0.1777 right_yaw=0.0004 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [-0.1573, -4.5197, 3.7538, 1.4481, 0.0415, -0.0464, -0.0171, -0.0205, -1.4701, 7.0632, 1.7753, -0.0415, -0.022, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.135,"left_z":0.015,"left_gripper":0},"note":"The brown plush’s torso is slightly left of the gripper center. I’m making a small correction and closing gently around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper closed empty; the brown plush is still just beyond the fingertips. I’m reopening and advancing toward its torso for one corrected grasp.
move_to
left_x0.3550left_y-0.1400left_z0.0250left_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]: [-0.7349, 1.6154, 0.3553, 0.6075, -0.6441, -0.4511, 0.0195, -0.0208, 0.8043, 0.6075, -0.3851, -0.0185, -0.0261, 0.9996] state[eef_state]: left_x=0.3197 left_y=-0.1412 left_z=0.0327 left_yaw=0.0198 left_pitch=0.0524 left_roll=-0.0073 left_gripper=0.0195 right_x=0.2952 right_y=0.0007 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [0.5949, -3.8906, 2.906, 1.1013, -0.0659, 0.0806, 0.8767, -0.1983, -1.2513, 7.2821, 1.7558, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.14,"left_z":0.025,"left_gripper":1},"note":"The gripper closed empty; the brown plush is still just beyond the fingertips. I’m reopening and advancing toward its torso for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe brown plush is now at fingertip depth but off to the left. I’m centering the jaws over its body and closing at table level.
move_to
left_y-0.1100left_z0.0050left_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]: [-0.6399, 1.7317, 0.4377, 0.7277, -0.5968, -0.3805, 0.9986, -0.0208, 0.8085, 0.6067, -0.3912, -0.0189, -0.0265, 0.9996] state[eef_state]: left_x=0.3579 left_y=-0.1382 left_z=0.0375 left_yaw=0.0443 left_pitch=0.0995 left_roll=-0.022 left_gripper=0.9986 right_x=0.2945 right_y=0.0008 right_z=0.1749 right_yaw=0.0006 right_pitch=-0.0275 right_roll=-0.0004 right_gripper=0.9996 state[joint_eff]: [0.0068, -4.9162, 4.8889, 1.37, 0.1294, -0.0415, -0.1685, -0.1436, -1.6479, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.11,"left_z":0.005,"left_gripper":0},"note":"The brown plush is now at fingertip depth but off to the left. I’m centering the jaws over its body and closing at table level."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe jaws are nearly closed, so the grasp may be only a thin part of the plush. I’ll lift a short distance and check whether the toy follows before transporting it.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5514, 1.8671, 0.3698, 1.0351, -0.5343, -0.3267, 0.0351, -0.0208, 0.8101, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996] state[eef_state]: left_x=0.3675 left_y=-0.1162 left_z=0.0257 left_yaw=0.0611 left_pitch=0.1648 left_roll=-0.0608 left_gripper=0.0351 right_x=0.2945 right_y=0.0008 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [0.5675, -4.8205, 2.1128, 1.072, -0.1001, 0.0611, 0.8913, -0.0615, -1.4427, 7.0222, 1.7021, -0.022, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The jaws are nearly closed, so the grasp may be only a thin part of the plush. I’ll lift a short distance and check whether the toy follows before transporting it."})
tool
executing move_to over 6 steps (0.6s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe plush stayed on the table. The overhead view places its head farther forward and toward the center than my previous grasp, so I’m repositioning over that clearer grasp point.
move_to
left_x0.4100left_y-0.1500left_z0.0600left_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]: [-0.551, 1.4654, 0.4465, 0.5488, -0.5343, -0.329, 0.0372, -0.0208, 0.8127, 0.6067, -0.3927, -0.0185, -0.0265, 0.9996] state[eef_state]: left_x=0.3642 left_y=-0.114 left_z=0.0969 left_yaw=0.0619 left_pitch=0.1582 left_roll=-0.0582 left_gripper=0.0372 right_x=0.2946 right_y=0.0007 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [-0.1299, -5.9556, 7.6239, 1.5751, -0.1294, 0.0073, 1.0281, -0.0752, -1.5658, 7.0222, 1.707, -0.0171, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.15,"left_z":0.06,"left_gripper":1},"note":"The plush stayed on the table. The overhead view places its head farther forward and toward the center than my previous grasp, so I’m repositioning over that clearer grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe plush is beneath the open fingers, slightly to their left. I’m centering and closing around its head rather than the flat body.
move_to
left_y-0.1250left_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]: [-0.5694, 1.8069, 0.5964, 0.7067, -0.5541, -0.3443, 0.995, -0.0208, 0.8177, 0.6067, -0.3927, -0.0189, -0.0265, 0.9996] state[eef_state]: left_x=0.4036 left_y=-0.1437 left_z=0.0544 left_yaw=0.0653 left_pitch=0.136 left_roll=-0.0449 left_gripper=0.995 right_x=0.2949 right_y=0.0008 right_z=0.1721 right_yaw=0.0006 right_pitch=-0.0381 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [-0.7179, -6.7897, 6.3248, 1.8046, -0.1783, -0.0073, -0.2125, -0.0615, -1.7709, 7.0085, 1.6923, -0.0366, -0.0611, -0.0171] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125,"left_z":0.025,"left_gripper":0},"note":"The plush is beneath the open fingers, slightly to their left. I’m centering and closing around its head rather than the flat body."})
tool
executing move_to over 10 steps (1.0s)
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 fingers are empty and the brown toy remains just to the right of them in the overhead image. I’m shifting toward the table center to bracket its body.
move_to
left_x0.4300left_y-0.1800left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5156, 1.8927, 0.5537, 0.9569, -0.5266, -0.321, 0.008, -0.0208, 0.8185, 0.6067, -0.3927, -0.0185, -0.0265, 0.9996] state[eef_state]: left_x=0.4154 left_y=-0.1292 left_z=0.0549 left_yaw=0.0966 left_pitch=0.2288 left_roll=-0.1048 left_gripper=0.008 right_x=0.2949 right_y=0.0007 right_z=0.1719 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [0.0068, -5.4085, 2.6051, 1.1502, 0.0513, 0.022, 0.8278, -0.0205, -1.4291, 7.0496, 1.6972, -0.0317, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_x":0.43,"left_y":-0.18,"left_z":0.045,"left_gripper":1},"note":"The fingers are empty and the brown toy remains just to the right of them in the overhead image. I’m shifting toward the table center to bracket its body."})
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 arm stopped short of the lateral target, so I won’t push farther. The toy now lies between the fingers; I’ll close at the current pose and check the jaw opening.
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]: [-0.54, 1.906, 0.5743, 0.9554, -0.5495, -0.3363, 0.995, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996] state[eef_state]: left_x=0.4169 left_y=-0.1382 left_z=0.0566 left_yaw=0.1008 left_pitch=0.2376 left_roll=-0.1161 left_gripper=0.995 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0412 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [-0.1983, -6.5436, 5.0803, 1.6874, -0.1538, 0.0122, -0.1148, -0.212, -1.6068, 7.1863, 1.7607, -0.0415, -0.0708, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). 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":{"left_gripper":0},"note":"The arm stopped short of the lateral target, so I won’t push farther. The toy now lies between the fingers; I’ll close at the current pose and check the jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe left gripper is empty and constrained near the basket, so I’m withdrawing it to a clear pose. I’ll use the right arm to approach the larger plush from the unobstructed side.
move_to
left_x0.3200left_y-0.1200left_z0.2000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.3600right_y0.3200right_z0.1600
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]: [-0.54, 1.9057, 0.5743, 0.9634, -0.5495, -0.3408, 0.0104, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996] state[eef_state]: left_x=0.4175 left_y=-0.1385 left_z=0.0584 left_yaw=0.1046 left_pitch=0.244 left_roll=-0.1257 left_gripper=0.0104 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0412 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [-0.2393, -7.9385, 4.2051, 1.707, -0.105, 0.0269, 0.7741, -0.0615, -1.2103, 7.0496, 1.7118, -0.0317, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_gripper":1,"right_x":0.36,"right_y":0.32,"right_z":0.16},"note":"The left gripper is empty and constrained near the basket, so I’m withdrawing it to a clear pose. I’ll use the right arm to approach the larger plush from the unobstructed side."})
tool
executing move_to over 27 steps (2.7s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe large cream plush is visible ahead and slightly left of the right fingertips. I’m lowering toward its head while parking the left arm away from the workspace.
move_to
right_x0.4100right_y0.3450right_z0.0550left_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]: [-0.6861, 1.1809, 0.8326, -0.382, -0.6365, -0.5095, 0.9983, 0.9607, 1.8381, 1.3621, -0.4236, 0.7113, 0.6483, 0.9995] state[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1876 left_yaw=0.0926 left_pitch=-0.007 left_roll=-0.0069 left_gripper=0.9983 right_x=0.3562 right_y=0.3145 right_z=0.1481 right_yaw=0.0276 right_pitch=-0.0698 right_roll=-0.0214 right_gripper=0.9995 state[joint_eff]: [-0.4444, -5.012, 9.265, 1.3651, -0.3883, 0.0513, 0.0366, 0.253, -9.7026, 8.8821, 1.0916, 0.5983, 0.1245, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.345,"right_z":0.055,"left_x":0.297,"left_y":0,"left_z":0.2},"note":"The large cream plush is visible ahead and slightly left of the right fingertips. I’m lowering toward its head while parking the left arm away from the workspace."})
tool
executing move_to over 12 steps (1.2s)
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 cream plush’s head is between the right fingers, and descent stopped on the soft toy. I’ll close here without pressing lower.
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]: [-0.1448, 0.8349, 0.7013, -0.4343, -0.2443, -0.189, 0.998, 0.9146, 2.1174, 1.4223, -0.1047, 0.6701, 0.6056, 0.9996] state[eef_state]: left_x=0.3009 left_y=0.0029 left_z=0.2048 left_yaw=0.1483 left_pitch=0.0103 left_roll=-0.0202 left_gripper=0.998 right_x=0.407 right_y=0.3545 right_z=0.0773 right_yaw=0.0366 right_pitch=-0.0322 right_roll=0.0415 right_gripper=0.9996 state[joint_eff]: [0.0889, -2.0034, 6.3932, 1.5751, -0.022, 0.1685, -0.0513, -1.5248, -8.9915, 6.8171, 0.9206, 0.2759, -0.232, -0.0073] 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":{"right_gripper":0},"note":"The cream plush’s head is between the right fingers, and descent stopped on the soft toy. I’ll close here without pressing lower."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe right jaws hold roughly 3 cm of material, consistent with the plush. I’m lifting to verify that it comes off the table.
move_to
right_z0.1600
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]: [-0.1463, 0.8387, 0.6914, -0.4412, -0.2321, -0.1871, 0.9979, 0.9157, 2.1292, 1.4277, -0.0696, 0.68, 0.5987, 0.3173] state[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1976 left_yaw=0.1355 left_pitch=-0.0113 left_roll=-0.0191 left_gripper=0.9979 right_x=0.4109 right_y=0.3584 right_z=0.0792 right_yaw=0.0348 right_pitch=-0.0083 right_roll=0.0534 right_gripper=0.3173 state[joint_eff]: [-0.0342, -1.6752, 7.7607, 1.7509, -0.2515, -0.0611, -0.0269, -0.1436, -12.8205, 5.8735, 1.0916, 0.105, 0.0366, 1.0281] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The right jaws hold roughly 3 cm of material, consistent with the plush. I’m lifting to verify that it comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe cream plush lifted with the gripper. To avoid a cross-arm handoff, I’m using the right basket for plush animals and the left basket for pens, carrying the toy toward the right basket.
move_to
right_x0.5000right_y0.1300right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8387, 0.6914, -0.4416, -0.2314, -0.1913, 0.9979, 0.9157, 2.0907, 1.5684, -0.3046, 0.6693, 0.5976, 0.318] state[eef_state]: left_x=0.2994 left_y=0.0005 left_z=0.1975 left_yaw=0.1371 left_pitch=-0.0118 left_roll=-0.023 left_gripper=0.9979 right_x=0.4098 right_y=0.3595 right_z=0.1176 right_yaw=0.0418 right_pitch=-0.0498 right_roll=0.0145 right_gripper=0.318 state[joint_eff]: [-0.1983, -1.2513, 6.9949, 1.7167, -0.1245, -0.0171, -0.0122, -0.3214, -16.4308, 9.5521, 1.2918, 0.3346, -0.0024, 0.5446] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.13,"right_z":0.25},"note":"The cream plush lifted with the gripper. To avoid a cross-arm handoff, I’m using the right basket for plush animals and the left basket for pens, carrying the toy toward the right basket."})
tool
executing move_to over 20 steps (2.0s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe plush is hanging just in front of the right basket. I’m advancing over the basket opening with a slight forward tilt for reach.
move_to
right_x0.5900right_y0.1700right_z0.2400right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8387, 0.6914, -0.4438, -0.2314, -0.1944, 0.9979, 0.3378, 1.7988, 1.5513, -0.4725, 0.244, 0.1783, 0.3187] state[eef_state]: left_x=0.299 left_y=0.0005 left_z=0.197 left_yaw=0.1388 left_pitch=-0.0141 left_roll=-0.0249 left_gripper=0.9979 right_x=0.4975 right_y=0.1333 right_z=0.2082 right_yaw=0.0257 right_pitch=-0.129 right_roll=-0.0134 right_gripper=0.3187 state[joint_eff]: [-0.0342, -1.5111, 6.9675, 1.7753, -0.149, -0.0415, -0.0122, -0.3077, -13.2308, 10.4821, 1.6679, 0.0513, -0.0855, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.17,"right_z":0.24,"right_pitch":0.3},"note":"The plush is hanging just in front of the right basket. I’m advancing over the basket opening with a slight forward tilt for reach."})
tool
executing move_to over 15 steps (1.5s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe held plush is over the right basket opening. I’m releasing it into the basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8387, 0.6914, -0.445, -0.2314, -0.1947, 0.9979, 0.3672, 2.0163, 1.5589, 0.038, 0.3111, 0.0696, 0.319] state[eef_state]: left_x=0.2989 left_y=0.0005 left_z=0.1968 left_yaw=0.139 left_pitch=-0.0152 left_roll=-0.0249 left_gripper=0.9979 right_x=0.5761 right_y=0.1675 right_z=0.199 right_yaw=0.0557 right_pitch=0.1667 right_roll=-0.0489 right_gripper=0.319 state[joint_eff]: [-0.1299, -1.4838, 7.2957, 1.7021, -0.105, -0.0659, -0.0122, -0.0342, -11.453, 11.2068, 2.2247, 0.315, 0.1001, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The held plush is over the right basket opening. I’m releasing it into the basket."})
tool
executing move_to over 7 steps (0.7s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe plush fell in front of the basket rather than inside; its body extended beyond the rim. I’ll regrasp nearer the torso so it can be placed farther into the opening.
move_to
right_x0.4900right_y0.2300right_z0.0500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8387, 0.6914, -0.4446, -0.2314, -0.1944, 0.9979, 0.3664, 2.0254, 1.5494, 0.0353, 0.305, 0.0635, 0.9954] state[eef_state]: left_x=0.2989 left_y=0.0005 left_z=0.1969 left_yaw=0.1388 left_pitch=-0.0148 left_roll=-0.0247 left_gripper=0.9979 right_x=0.5752 right_y=0.1678 right_z=0.1886 right_yaw=0.0644 right_pitch=0.1454 right_roll=-0.0587 right_gripper=0.9954 state[joint_eff]: [-0.0889, -1.2376, 7.0496, 1.7118, -0.1343, -0.0415, -0.0122, 0.0205, -12.3829, 7.8701, 1.7998, 0.0806, -0.022, -0.1734] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.23,"right_z":0.05,"right_pitch":0},"note":"The plush fell in front of the basket rather than inside; its body extended beyond the rim. I’ll regrasp nearer the torso so it can be placed farther into the opening."})
tool
executing move_to over 9 steps (0.9s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe right fingers are positioned around the plush’s torso. I’m closing without further descent, since the toy is already supporting the fingers.
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]: [-0.1463, 0.8417, 0.6914, -0.445, -0.2314, -0.1947, 0.9979, 0.5552, 2.0483, 1.2335, 0.2665, 0.4606, 0.1749, 0.9962] state[eef_state]: left_x=0.2991 left_y=0.0005 left_z=0.196 left_yaw=0.139 left_pitch=-0.0181 left_roll=-0.024 left_gripper=0.9979 right_x=0.5052 right_y=0.2252 right_z=0.0905 right_yaw=0.0682 right_pitch=0.0783 right_roll=-0.068 right_gripper=0.9962 state[joint_eff]: [-0.1573, -1.5248, 6.9949, 1.6825, -0.1099, -0.0659, -0.0122, 0.8547, -6.8444, 3.9726, 1.3553, -0.315, 0.4371, 0.0708] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingers are positioned around the plush’s torso. I’m closing without further descent, since the toy is already supporting the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteThe wrist view shows the fingers caught the basket rim, not the plush. I’ll use that rim grasp to bring the basket slightly closer and make placement reachable.
move_to
right_x0.4400right_y0.1500right_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]: [-0.1463, 0.8444, 0.6914, -0.445, -0.2317, -0.1944, 0.9979, 0.5514, 2.0415, 1.2316, 0.2874, 0.4877, 0.1314, 0.1073] state[eef_state]: left_x=0.2994 left_y=0.0005 left_z=0.1952 left_yaw=0.1391 left_pitch=-0.0206 left_roll=-0.0227 left_gripper=0.9979 right_x=0.5085 right_y=0.2198 right_z=0.0986 right_yaw=0.0644 right_pitch=0.1057 right_roll=-0.107 right_gripper=0.1073 state[joint_eff]: [-0.1983, -1.5795, 6.9949, 1.6728, -0.149, 0.0122, -0.0122, 0.3214, -10.0034, 6.9812, 1.4774, -0.1099, 0.4322, 0.3883] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.15,"right_z":0.11},"note":"The wrist view shows the fingers caught the basket rim, not the plush. I’ll use that rim grasp to bring the basket slightly closer and make placement reachable."})
tool
executing move_to over 6 steps (0.6s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe right basket has moved closer to the work area. I’m releasing its rim before picking up the cream plush again.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8494, 0.6914, -0.4469, -0.2314, -0.1947, 0.9979, 0.4881, 1.7485, 0.8452, 0.3782, 0.4263, 0.099, 0.1069] state[eef_state]: left_x=0.2995 left_y=0.0004 left_z=0.1935 left_yaw=0.139 left_pitch=-0.0272 left_roll=-0.0213 left_gripper=0.9979 right_x=0.4436 right_y=0.1569 right_z=0.101 right_yaw=0.0691 right_pitch=0.088 right_roll=-0.1095 right_gripper=0.1069 state[joint_eff]: [-0.0752, -1.6752, 6.9675, 1.7753, -0.1148, -0.0562, -0.0171, -0.6632, -9.4427, 6.5162, 1.8437, 0.0611, -0.0513, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The right basket has moved closer to the work area. I’m releasing its rim before picking up the cream plush again."})
tool
executing move_to over 9 steps (0.9s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteThe cream plush is immediately left of the repositioned basket. I’m approaching the middle of its body so less of it hangs outside the grasp.
move_to
right_x0.3950right_y0.2850right_z0.0750right_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]: [-0.1463, 0.8501, 0.6914, -0.4492, -0.2314, -0.1944, 0.9979, 0.487, 1.7355, 0.8272, 0.3794, 0.4149, 0.0898, 0.9952] state[eef_state]: left_x=0.2993 left_y=0.0005 left_z=0.1928 left_yaw=0.1389 left_pitch=-0.0302 left_roll=-0.0202 left_gripper=0.9979 right_x=0.4395 right_y=0.1562 right_z=0.0994 right_yaw=0.0824 right_pitch=0.0817 right_roll=-0.1138 right_gripper=0.9952 state[joint_eff]: [-0.0205, -1.6205, 6.9949, 1.6972, -0.1099, -0.0073, -0.0073, -0.0889, -6.9812, 7.6786, 1.6532, 0.1538, 0.022, -0.1587] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.285,"right_z":0.075,"right_pitch":0,"right_roll":0},"note":"The cream plush is immediately left of the repositioned basket. I’m approaching the middle of its body so less of it hangs outside the grasp."})
tool
executing move_to over 11 steps (1.1s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
right_cam
camera right_cam step 244
assistant
agent noteThe cream plush shifted left as I approached. I’m moving forward and left to put its torso between the fingers rather than beside them.
move_to
right_x0.4450right_y0.3400right_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8501, 0.6914, -0.4522, -0.2314, -0.1947, 0.9979, 0.8055, 1.89, 1.0275, 0.1883, 0.6014, 0.3813, 0.9962] state[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1922 left_yaw=0.1391 left_pitch=-0.0331 left_roll=-0.0196 left_gripper=0.9979 right_x=0.3996 right_y=0.2768 right_z=0.0811 right_yaw=0.0992 right_pitch=0.0245 right_roll=-0.0257 right_gripper=0.9962 state[joint_eff]: [-0.1299, -1.5248, 6.9538, 1.7167, -0.1001, -0.0366, -0.0122, 0.9094, -8.0479, 7.7744, 1.3211, 0.1538, 0.2564, 0.0855] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.34,"right_z":0.045},"note":"The cream plush shifted left as I approached. I’m moving forward and left to put its torso between the fingers rather than beside them."})
tool
executing move_to over 6 steps (0.6s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteThe cream plush’s body is now under the right jaws. I’m closing around it at the current height.
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]: [-0.1463, 0.8555, 0.6914, -0.4534, -0.2314, -0.1947, 0.9979, 0.8196, 2.183, 1.3319, 0.1696, 0.6239, 0.3828, 0.9963] state[eef_state]: left_x=0.2991 left_y=0.0005 left_z=0.1905 left_yaw=0.1392 left_pitch=-0.0393 left_roll=-0.0178 left_gripper=0.9979 right_x=0.4442 right_y=0.3298 right_z=0.0491 right_yaw=0.0954 right_pitch=0.0283 right_roll=-0.0398 right_gripper=0.9963 state[joint_eff]: [-0.3214, -2.0444, 6.9675, 1.663, -0.1001, -0.0757, -0.0122, 1.0188, -11.0291, 7.159, 1.4237, 0.2613, 0.1294, -0.0024] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The cream plush’s body is now under the right jaws. I’m closing around it at the current height."})
tool
executing move_to over 10 steps (1.0s)
step 260
top_cam
camera top_cam step 260
left_cam
camera left_cam step 260
assistant
agent noteThe jaws have retained material, but the basket rim is very close. I’m lifting away from the rim to verify which object is held.
move_to
right_z0.1700right_x0.4200right_y0.3700
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]: [-0.1463, 0.8566, 0.6914, -0.4561, -0.2314, -0.1944, 0.9979, 0.8169, 2.1803, 1.3415, 0.1787, 0.6632, 0.3058, 0.2143] state[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1897 left_yaw=0.139 left_pitch=-0.043 left_roll=-0.0164 left_gripper=0.9979 right_x=0.4497 right_y=0.3253 right_z=0.0581 right_yaw=0.1033 right_pitch=0.0575 right_roll=-0.111 right_gripper=0.2143 state[joint_eff]: [-0.1162, -1.4974, 7.2274, 1.7167, -0.1538, -0.0073, -0.0122, -0.0889, -11.8222, 5.2444, 1.4579, -0.2173, 0.7399, 0.7741] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"right_x":0.42,"right_y":0.37},"note":"The jaws have retained material, but the basket rim is very close. I’m lifting away from the rim to verify which object is held."})
tool
executing move_to over 8 steps (0.8s)
step 268
assistant
agent noteThe cream plush is lifted beside the gripper, while the basket is resting on the table. I’m carrying it over the now-closer basket opening.
move_to
right_x0.5500right_y0.2400right_z0.2600right_pitch0.2000right_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]: [-0.1463, 0.8566, 0.6914, -0.4564, -0.2314, -0.1944, 0.9979, 0.923, 2.1349, 1.6268, -0.2535, 0.7204, 0.3687, 0.2144] state[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1896 left_yaw=0.139 left_pitch=-0.0433 left_roll=-0.0163 left_gripper=0.9979 right_x=0.4227 right_y=0.3714 right_z=0.1285 right_yaw=0.1359 right_pitch=0.0131 right_roll=-0.1532 right_gripper=0.2144 state[joint_eff]: [-0.1709, -1.6068, 6.9402, 1.6777, -0.1538, -0.0269, -0.0122, 0.4855, -16.1299, 8.9504, 1.2918, 0.5201, 0.2564, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.24,"right_z":0.26,"right_pitch":0.2,"right_roll":0},"note":"The cream plush is lifted beside the gripper, while the basket is resting on the table. I’m carrying it over the now-closer basket opening."})
tool
executing move_to over 11 steps (1.1s)
step 279
assistant
agent noteThe overhead view shows the plush stayed on the table; the gripper caught the basket instead. I’m releasing the basket and changing to a clear approach with the left arm.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8566, 0.6914, -0.4564, -0.2314, -0.1947, 0.9979, 0.5217, 2.0193, 1.6749, -0.1528, 0.3782, 0.1337, 0.2144] state[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1896 left_yaw=0.1392 left_pitch=-0.0433 left_roll=-0.0166 left_gripper=0.9979 right_x=0.5435 right_y=0.2413 right_z=0.2121 right_yaw=0.1228 right_pitch=0.1056 right_roll=-0.0455 right_gripper=0.2144 state[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6581, -0.0904, -0.0464, -0.0122, -0.2803, -14.5436, 10.4547, 1.9072, 0.1343, -0.0855, -0.0122] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The overhead view shows the plush stayed on the table; the gripper caught the basket instead. I’m releasing the basket and changing to a clear approach with the left arm."})
tool
executing move_to over 8 steps (0.8s)
step 287
assistant
agent noteThe cream plush’s head is clear of the basket rims. I’m parking the right arm and approaching that head with the left gripper.
move_to
right_x0.3000right_y0.0000right_z0.2200right_pitch0.0000left_x0.4600left_y-0.2500left_z0.0900left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 0.8577, 0.6914, -0.4564, -0.2314, -0.1947, 0.9979, 0.5179, 2.0197, 1.6741, -0.1638, 0.3584, 0.1272, 0.9949] state[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1893 left_yaw=0.1392 left_pitch=-0.0444 left_roll=-0.0163 left_gripper=0.9979 right_x=0.5426 right_y=0.2419 right_z=0.2086 right_yaw=0.1394 right_pitch=0.0905 right_roll=-0.0471 right_gripper=0.9949 state[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.7021, -0.1148, -0.0464, -0.0122, 0.2667, -11.8222, 7.1179, 1.8144, 0.2515, 0.0611, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.22,"right_pitch":0,"left_x":0.46,"left_y":-0.25,"left_z":0.09,"left_yaw":0},"note":"The cream plush’s head is clear of the basket rims. I’m parking the right arm and approaching that head with the left gripper."})
tool
executing move_to over 23 steps (2.3s)
step 310
assistant
agent noteThe cream plush is beneath the left fingers and no basket rim crosses the jaw gap. I’m lowering onto the soft body and closing.
move_to
left_z0.0350left_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]: [-0.6727, 1.9656, 1.2163, -0.0128, -0.5362, -0.4652, 0.9978, -0.1028, 0.87, 0.7822, -0.4541, -0.1368, -0.1589, 0.9961] state[eef_state]: left_x=0.4514 left_y=-0.2397 left_z=0.0797 left_yaw=0.0075 left_pitch=-0.0761 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3104 right_y=-0.0042 right_z=0.2258 right_yaw=0.089 right_pitch=0.0283 right_roll=-0.0546 right_gripper=0.9961 state[joint_eff]: [-0.3624, -10.4957, 8.0615, 1.5458, -0.2955, 0.0024, -0.0171, -0.4034, -1.894, 6.9812, 1.7558, -0.188, -0.0513, 0.1099] 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":0.035,"left_gripper":0},"note":"The cream plush is beneath the left fingers and no basket rim crosses the jaw gap. I’m lowering onto the soft body and closing."})
tool
executing move_to over 10 steps (1.0s)
step 320
assistant
agent noteThe latest grasp is empty. I’m stopping further attempts and returning both open grippers to clear parked poses; the objects have not been successfully sorted.
move_to
left_x0.3000left_y0.0000left_z0.2200left_gripper1.0000right_x0.3000right_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]: [-0.6735, 2.048, 1.1622, 0.1234, -0.5388, -0.4686, 0.0099, -0.1051, 0.8753, 0.7769, -0.4774, -0.1421, -0.1787, 0.9962] state[eef_state]: left_x=0.452 left_y=-0.2402 left_z=0.0418 left_yaw=0.0107 left_pitch=-0.0752 left_roll=-0.0012 left_gripper=0.0099 right_x=0.3075 right_y=-0.0037 right_z=0.2171 right_yaw=0.1017 right_pitch=-0.005 right_roll=-0.062 right_gripper=0.9962 state[joint_eff]: [0.0205, -9.8393, 4.8205, 1.6777, -0.1587, 0.0024, 0.779, -0.1846, -2.1675, 7.3778, 1.9609, -0.022, 0.149, -0.0024] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.22,"left_gripper":1,"right_x":0.3,"right_y":0,"right_z":0.22},"note":"The latest grasp is empty. I’m stopping further attempts and returning both open grippers to clear parked poses; the objects have not been successfully sorted."})
tool
executing move_to over 22 steps (2.2s)
step 342
assistant
agent noteI identified the two categories as plush animals and pens/markers, but could not reliably grasp and deposit them within this attempt. No sorting was completed. Both arms are parked with open grippers; the right basket and some plush toys were displaced during attempts.
give_up
hindsightBasket rims can be mistaken for a plush grasp: two retained jaw openings of about 0.11 and 0.21 were actually rim grasps. Verify that the toy itself leaves the table before transport. The right basket was successfully pulled closer by its front rim, but placing a plush held by its head near the front edge left its body outside and it fell back onto the table. Use a torso grasp and center the entire plush above the opening before release.
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]: [-0.0624, 0.9123, 0.8055, -0.5362, -0.1032, -0.0978, 0.9978, -0.0971, 0.8558, 0.7769, -0.5049, -0.139, -0.1795, 0.9962] state[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.2071 left_yaw=0.0638 left_pitch=-0.0797 left_roll=-0.0075 left_gripper=0.9978 right_x=0.3018 right_y=-0.0012 right_z=0.2169 right_yaw=0.1076 right_pitch=-0.0132 right_roll=-0.0627 right_gripper=0.9962 state[joint_eff]: [-0.0615, -2.6325, 9.6615, 1.6874, 0.0757, 0.1734, -0.0317, 0.6906, -2.5641, 7.2957, 1.6435, 0.0171, 0.0611, -0.0122] camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I identified the two categories as plush animals and pens/markers, but could not reliably grasp and deposit them within this attempt. No sorting was completed. Both arms are parked with open grippers; the right basket and some plush toys were displaced during attempts.","hindsight":"Basket rims can be mistaken for a plush grasp: two retained jaw openings of about 0.11 and 0.21 were actually rim grasps. Verify that the toy itself leaves the table before transport. The right basket was successfully pulled closer by its front rim, but placing a plush held by its head near the front edge left its body outside and it fell back onto the table. Use a torso grasp and center the entire plush above the opening before release."})
tool
give_up: I identified the two categories as plush animals and pens/markers, but could not reliably grasp and deposit them within this attempt. No sorting was completed. Both arms are parked with open grippers; the right basket and some plush toys were displaced during attempts.
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 · 12.26 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0223, -0.0261, 0.9992, -0.0208, 0.7986, 0.6109, -0.3779, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2962 right_y=0.0008 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.6615, 9.4564, 1.7753, -0.0171, 0.0611, -0.0904, -0.2803, -1.6479, 9.7983, 1.7753, -0.0659, 0.1001, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6891c5a11b46a5cffa83ed57e5b630e0bb037a03b5ca8e0773200a8d3a41ab57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeda78e8a387e310283ceb66c9fc1a4fb246d83aa4a2b3e5add8a1f9b3b5dfd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7d145eca0638b4b018a59f8f63f698a685599162544ad58a78933d4c61dec9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsukyW5aCm_DuprSDbo_PHbvhAOvwsGstWxc_KG6AcTcccHAdAZm4nO9-Jqgy_VXd9bjuVREC0KBDZT0NSFTEyOfTdfTypNg2uOfCo3uajDnIa023fv5HD89Ej_KNzKVZGFGe5rWc0H_T21DLziImWaby7PI1m4hm2CHgRTaHjPmJMOlRJAuq6DZwi-il3aO_ceWfDmgC9p5kDXQYDF9Ej1s1-PPyHnyn7KPbR5bX2FZ7o8f1JS-7T9JISb5uASG71uJ2SmEhl5I45FYjOTsEN5OMdCXJZHR2KT2TE_7uGhDX895H1mDdSDC8EbBBv1InRb3FyEVINvvo2H5IVnZxhtpiUrMF-JJAqDeQAkejnwKkqLjlrWF_8h2w7uyBfFRUp5_sbTsK0nGFz1BpJTYpu9GdJhtShltStJMxZx_GnOc2O5mNwWMBFkVfD_PUFja-bpIi6YrKM-1P34yYgiwme68a0qJNi8hEXErPd5SmFkIqLyFRnsdD1NhEB0Ty2hdW5eKTQd_LiMvDghlw6Lb2FJaF8E5T4AW-hpVHEvsFYQrCsIPcKchmiclhyrrR671_uhZCOeOQgvDoa4LIHNliF-MSMHNgL4_yFtNp_h266M3_23BYnFHz8wpo3cPXS4Ktu8-opdHBDiv97_NL6VTk4C2A5cBA1JVeTyXKimitQQyZPyAcauTTOx92awfbSx-L7gWy7Zvr5qnXZAEqySgQ7CoI-opT_GDPUIwBYF_Xgm80sZaHKXC_hsqscSdOVrlEySpulZdbj3OT3yejPeHBMSnUIlD3b-8Tesf9eaa6PzStDZHvhpeq82_i2sf9g8uXbppQwtbef1deiHlMtPvVBrD4DucXgl5M48j0VFJM9lfx7HvRI558s66lKZwOZfk-hjDAQsilfinOPy0tI7Z3X6lrPNnujxB1OL4F9xzHJOhBO9qTM2ADOLAXZj248hLpUm-V4LlIsKbA1rceJQPwf2GMNl3_-5HYC04Xua8FY9LRkR-SgLptaSzGrAG4fCI2fkPKplzztv7IcI9ZQdgQuMDKgKVnMyJ-jCG5HB5lwg5m-HiAqA6RjqPq65mskB2te9KNOAfg-Uzx6zb3tO77YkoSLfIg4iB89cemuqUO1yuMe22NumFDAV9mU8p926rnRQdxuB8r3-HDGR7aUnva9Zk_56UOKXvUzEwkIUE7bERtDHoTgvXJzfbDlmz-N6BYn-Gu-hvgv4TUInpq0Ec8iPoL0ovDR4XG7sb0EEccxSSQwbvP9Xw4CH0JlJjo80btd8ejPNzJjU-UPpFQMhmxsRCdHiIR6nhI_ycxuPAQ4TbSCrEcziICdv0TxXZYLh2Tppj5UpSytERXwB1klmPcBI6rQGhqJ2RkFAECrrJLxuH8733l6g9__JM2aFiHBE_WbWoOnzyEUgeEyVVMe-bxcnjdDvFregZrC_VOJX8x24W2_8mfh1TmyIKvXJyBeKZfZ16YkXoz-Unfw0ZfZXwzMMQM0MJP9LyeZX44C2dvPLtv3XjEdBpH6VMiaA3ZnmDmUyAauTErdTCxD7bJFlLmNypp8kD61Y8HlO79RJG_fVNuRYHoUHHJvmgd_JZDVfYRmJijjpg6sFortXrLEbuoTCmzTNhu6q3fNRsf22mL6TO69DbZO-XlmZyGvX4-X0vFgykqME9EAyyndFHwRzkTDplz5LFYCYSelGRKokIEIMJ5ZehjjIVpsJJVrDHHgUOsTHSGkV3sUZ7_P56A1OatTabEddj2WxVxOW2-RuU9XlKQKc3lWeIFKIsPG5hLKJjgz475tVzKcI54f0rM3zs90kPRAGOa5UWOSiKKN9wpBwwX6Tgglx2N9bwICpxn0da53MwTimIyZxSm9B4yecWNJb7XLwLqHBy_rlMgeAoVyJWh-X5bayU98mj6e_fpWXIrZIk2zvD35v9A-0U87J9WN9UxMZixLq5czE1LuzaMVzJYj68gNTjk19sEnI5PSMmPfVv0A3oMVfn-41En1krjGp0SaiRqZ4isfMCuWhW7Z4J1Yz1-G5zdWiNPNqpAWZjD3rrI07rt6lr5Z0SX3TbIIcT3KKMgpnZLRrp7XQChF84rqNGeTFoMKwz0nTACu1q44sICSgAKqtn7qRClRmgBmtjVPPWPXVJnmhR_mIbmTiwX4qm8sEwLwP6EQVL72gJfWZxt",
  "id": "rs_00db06a85b000f94016ab2e928c38c87d09d03cfb48244a94f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.20,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see plush animals and pens/markers. I’ll sort the plush animals into the left basket and the writing tools into the right basket, starting with the leftmost plush.\"}",
  "call_id": "call_Mm33sNtByRzN5aXmla42jQDU",
  "id": "fc_00db06a85b000f94016ab2e930a2b887d0987856ecfc309056",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mm33sNtByRzN5aXmla42jQDU",
  "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]: [-0.9714, 1.3281, 0.7689, -0.3237, -0.7536, -0.6651, 0.9992, -0.0208, 0.8024, 0.6075, -0.3847, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=-0.196 left_z=0.1356 left_yaw=-0.0245 left_pitch=-0.0398 left_roll=0.034 left_gripper=0.9992 right_x=0.2951 right_y=0.0008 right_z=0.1783 right_yaw=0.0004 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.2034, 8.7043, 1.3944, -0.5397, -0.0757, -0.0952, -0.212, -1.5795, 7.3231, 1.8291, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7e301a26f7a1604cdf1a7d3f01a8339e18198df874c798b383c6bf04cb9db0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b4ec8b842d2627aee95d91b06ccbd2d3081d381b2b59fa8b398a27ce692a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc733445e7a1d8bc59eb61320876f54edc3d6e604e824a2d551d56da35fba4fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 7.961 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0223, -0.0261, 0.9992, -0.0208, 0.7986, 0.6109, -0.3779, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2962 right_y=0.0008 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.6615, 9.4564, 1.7753, -0.0171, 0.0611, -0.0904, -0.2803, -1.6479, 9.7983, 1.7753, -0.0659, 0.1001, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsulA9OnCi4Jh10DmcW74SGcem_J6RCFpVU-BavXeStX-G1fKZeg5p1eR4UI4e-NGs_ckqdITu37oQBc_hr5qufoCbtfz--QwrsGHyeto5l6c0VlJSBL-455L72qY3jzhKn8PvbcLMU1HD_oaVN8cpjkeo4qIpzRDPKfi2bm-V0DUtLXHS1BR5xAlBxisrhFyIugHOXGwOos4Tu3b8u6lTE-u1U0aBCOHUbfWD1QTpje6tP8eraorYyMKgzGNP1qNcY9erA6SYq5PgH4VsFJe4nEfW54gFdbfVl6qvxbsebbo-QXDSCElnEjs_93bT48gKikARkSC6U6vSjy7fRWd9l8i6xc13pMYUETsjOEcwlJNiz8WZ5p0xBPEnuDK5fdd16qZTCjcP1uoONXyP4JWkdDPfGnN2RNZitZ3HHUGCeEWktwJ_BrdE-Atj8mronWisRL2ltKeeIip3dOndpmm1jcXIZkcCsM0DQwWT1AyjvSI1WapRccpi-mxvEzmsV0OrglJnrtWJFRyqG4dUjZNsmJkZu1eCSKiSHp1WRQO6GfFw9eWhnnEuYVpkyreQ_sSJg9_YDQmXRC02fMi-x346SS74-DRA8ZMf_TijNpyIvMlhggV-dKtcqr7BAM4I9qfRdNFso82JbNVqqE2NoRxkDSMZdH1z6lSmYYiz2KfhWeHaaz3DWLkRYRf5bHUrWeuGjQUNAXq-00nr785IH73TiMzukg25DcjKYWjSyMo8e_KwLt6VzyTeYc0jCMEyxaAgNwXod0R4gGN-k3Lm9WK17nAMHLLwDSIMzMHJviNt0qVY-dzLayvBcCvaDFAWWeUe2cdNzwiGlaQuWUShdcQB69B0sl1CqWVpDclzkwh0L02aEgJMuSEjRcfXZMMYGc-Fr7QGIQcbrAf_27OWMJdXU26Y-RSYLPN6-TRC8svXxgy3E5zD1CRtMQMdsGZKY0YUKRi6wVrE5-rQwpMzYjuprbm_6WklYLEkv2piLdBirfjnCb9DxypGCvYCuPjXmeVQgqcGrg2XorPZuHYGV6A7bbuKfqRwFL9emuXxL-1GY-r_7zreLBqgWr95LBdR9YQzkbUZ_bCNvoUCKA0nZUif8pxtIO1U75yiB-ljlRn4xUKPQDEXmmmlokVABWs43D9-UFzTeqOuOnneRhL1iKYEigZ7JM17TSpBBXBMk6qP-DZA6kmQkHz1UoIJeoacDqnzVG1XcE18bKPNPFnW2T7Lj_j1rR-7F98_ov90uJHC2mDq3YDGgMSbhi9oRwz_L72xBftv-xTiaQaRFQp_ZGEdysBWam8Jq-iX0hC8CA7yqdYzXPGgxEzztdjifLo0KtryczOaU911VODUJuIi5oN_B6sn0iUJM55NCbAOcdWcUuqzIK58UDY5_Jx0XMXU8VpO0FgS5IavjdQJyKUyP2QaIXlBhaq8ZQrXU_VV2AdA2MD7KSyrARCKPcA9mVN7fAqHmMVpar7jYUSvK4j7F3SHiteO7MhekKvDofxNmiELnji0tY78GTspbL2RjKhPMSaScPri6stuu0v8pt2CmQlVQ6Qp4rDjMxqwHnN79FVp3Ty1nZrO7bA38vLK_keVMyPRVKR_qpImjjo4ABoH2Ycz420Jw==",
  "id": "rs_00db06a85b000f94016ab2e93a9ff087d0af33d145d9fe597d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.16,\"left_z\":0.025},\"note\":\"The small brown plush is left of the jaw column in the wrist view. I’m shifting toward it and lowering around its body.\"}",
  "call_id": "call_a2lA9EKxgvWtnMQW2EBjveBo",
  "id": "fc_00db06a85b000f94016ab2e93eaa7087d098bdf0749ac4a3f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a2lA9EKxgvWtnMQW2EBjveBo",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8062, 1.5784, 0.4335, 0.3908, -0.6754, -0.5045, 0.9991, -0.0208, 0.8043, 0.6075, -0.3851, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3104 left_y=-0.1589 left_z=0.0355 left_yaw=-0.0013 left_pitch=-0.0049 left_roll=0.0326 left_gripper=0.9991 right_x=0.2952 right_y=0.0008 right_z=0.1777 right_yaw=0.0004 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -4.5197, 3.7538, 1.4481, 0.0415, -0.0464, -0.0171, -0.0205, -1.4701, 7.0632, 1.7753, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691ca10d4874d491b6b898eb3e9fa41f594b37f841ebad10ec45edb01547c624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61799d4a1e1348d59f5db36bb91756470371861c6aabc58bb581cc5a265a2a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd662706fb2c5550c2e9ab8dd1355004487e472c3325b567b3d712d6f333f013",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.965 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]: [-0.9714, 1.3281, 0.7689, -0.3237, -0.7536, -0.6651, 0.9992, -0.0208, 0.8024, 0.6075, -0.3847, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=-0.196 left_z=0.1356 left_yaw=-0.0245 left_pitch=-0.0398 left_roll=0.034 left_gripper=0.9992 right_x=0.2951 right_y=0.0008 right_z=0.1783 right_yaw=0.0004 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -5.2034, 8.7043, 1.3944, -0.5397, -0.0757, -0.0952, -0.212, -1.5795, 7.3231, 1.8291, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsulKtHdXqQJFR4MMhSjRhtHTca3Mi7IlpEdckxH_5nybqgp72ImLt49lQae3-OYqtobFyIs2tSlU0l8dqvvrmfA4drLsftceuMYdgKup9-FTrvW1NpLcbB4U3yYQgHL7vIeV6JdPM-3U4WthEzMkYkodgCdDwszbr1pYZA5lHJf1G8pHnWVClc-MzxBDA6C4_TuDnw6nrlillBDoeudDj5c2splt7XNo4l_yF6CmpJkw5kEBufpsGZfPYaPRPYuIkIbPGehHAMAyv3b9El1UyAqKF21ji_2ymyZMpJEZqQyvXLn3DlALyJXzrCQqpVEvB049C0NbLn3C6-JpSxSW0QMY-MfXplt9Gyk5YbcRv3yZIJmyqGB5SJ8alWMSzmMwRp47K21eesBZt2yBSVx8Mf1g4rDMV7JCjOtuCZigV3_BttqIdSwZncvLV4nAr3VVZJWB4kgtTbKEbnW93cXEqmWDoWNdvNOsNzyB9MrjE5PJEt4uphpZRMpAMdvbPpDYiKWfoV4C73caRhZgwak8UHQWnMfNV7bmB8ibGyCqFj2LeOh9tiGdwiRVjXjZKzBqXtSuyeXpl3fqWQLLVOcDwa7UZhZKUuzWkHF3qN5fuRXmEds5vGRVgTrCd4GkKnxMpZz20-s6_i-HvIfwQUBGB1Krb3Adt6oTqNNuKpXX8EJ0dpnhGXi9JDTDQnWMFrDrBe3zK5kfsT9I-__wXDVSXFH5PHtTTc_etJr-GNGZaUvkC6EoEF-TfANNycntniXwxy3Rc2ZPflRlEYCyecFFtF9o2NaXs3DBMVd8yg27AbNFJiffzUy7PhFiD0dSp6Ia9yifsIRwLtbQj1Dzb-ewME24tM9B3NPKDlsYh8dgNE43cz71nw4PvoeAWBCyNyM_j-9qNlfpK202lVcODflZDIgTvDhqL0huD7f_iOUfScig0p0LRv50G4c0UybT0KcO9VszIevxAehdPV88y8zZliZ5n2kG_P1Ohe1H2qB4SnpnmrJljKSgDtwws0LqzTPRqlBYx7rpv7GW-MGohTSo19JkE9VGLjULyVLFdbPmsDFO7VSVGAnY2zCTeUZcLf01kk0kzy8bDU8O2LD3-MgelGkl8rhV-AbjNBTWGnUOp6xlwtkNth4KgLY0QbNq0gwRmeNXTQxgsCj8JLxsQ2rlUBfGV7UVZagDrTc5Klcp17s1RFZF149JvEYnmZSKCFhoc5tjct3KoU94mHci9H2JPWdaxn6Mrf_YQFfA384PQtRPCAhl-1KQIX7VqGB_JtXoi8MuPN26lkvxwRjpNMxEN-hrFvjD4B6mzSv1PoqWacrvQgEK_DM-NuDLQspo6OSRNcBGyCwrnvHpcIboDhzULvXCiDgDzWidPNZ40wF93Qn_K0JUuyD9KQnp7ay1LA_dGb8HxnXBykiJTdWJ5TMIjnRkNIRgdhO_hDk7EyySO2Xm2OIg9IjoW8ZId2wH6DRZF0x_UM1Ub0MQXfS1snKwSNtBpVsqXva_ylu3BI-DrMLN5LMKuxjWlg5asOcGu9T4n8DJa8gZsuVhJrvNfaTCtzCgjPwcICmfRnsqiYXPsSwr3LU=",
  "id": "rs_00db06a85b000f94016ab2e945e2c887d0843dae70735234b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.135,\"left_z\":0.015,\"left_gripper\":0},\"note\":\"The brown plush’s torso is slightly left of the gripper center. I’m making a small correction and closing gently around the soft body.\"}",
  "call_id": "call_J2G0GPOvd2ifE1SIzbDSRSr4",
  "id": "fc_00db06a85b000f94016ab2e949118487d099f944712a8aa6c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J2G0GPOvd2ifE1SIzbDSRSr4",
  "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]: [-0.7349, 1.6154, 0.3553, 0.6075, -0.6441, -0.4511, 0.0195, -0.0208, 0.8043, 0.6075, -0.3851, -0.0185, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3197 left_y=-0.1412 left_z=0.0327 left_yaw=0.0198 left_pitch=0.0524 left_roll=-0.0073 left_gripper=0.0195 right_x=0.2952 right_y=0.0007 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -3.8906, 2.906, 1.1013, -0.0659, 0.0806, 0.8767, -0.1983, -1.2513, 7.2821, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bb4ab425e0b08a1d76e788c65e028eddf467a31f91ee50f51cc4b9f46ae06b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8983f22d355671bb0f2237c11c76d4b04c60740db657e11e8dea2c8e3bf815e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8446c17812e23fc187f7b0a91c71e2996cb8dd0013a448903b4874d095de9d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 6.934 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]: [-0.8062, 1.5784, 0.4335, 0.3908, -0.6754, -0.5045, 0.9991, -0.0208, 0.8043, 0.6075, -0.3851, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3104 left_y=-0.1589 left_z=0.0355 left_yaw=-0.0013 left_pitch=-0.0049 left_roll=0.0326 left_gripper=0.9991 right_x=0.2952 right_y=0.0008 right_z=0.1777 right_yaw=0.0004 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -4.5197, 3.7538, 1.4481, 0.0415, -0.0464, -0.0171, -0.0205, -1.4701, 7.0632, 1.7753, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsulRgmoh59dpGYF86sf2ilblq_62jN9QjIJM0JgdoaX1NpgpA8o8bNU1dUrUit89fCRdsY4ngKA38ah63dC9Q5cJYYFxS0F_uesZd-Vj6PIj2hCNP_f015owlJoj3DeCtS1NIk5FSjn9VXFMm72bqcoTwwMbrM4OaHREJffBt9bMe9d7eO9OevCLAean8JBK4y_oxU7bJak3WQhmzbYOHUoZSenvpM4aaHAFeQrCSiCVFKdLGWNpNcUtNrleZbiR0293NESNZ_1K6oL1IDps4j8DQnuellVo_1QDYp-MIjK-2v1M2spTbMNWF3URRIArzW4jdf8yfEMwwidyJY7D4YUciEwIb7u_Xmp6FdLpipBX2FK4iVnY2a1aIH7Vyk9EB2yKUITDfW2eJx3Fua8NhENDflaJevyAR7bafdHu63YzZ8Axn0EWHPniCvxqf85pdKDr_6MHZOyVLL2RZOGWs0r3Iq-5l5NDjphbAVdxWXlFOgBekQZ_LCvggktsFJFgzyp2fAPRuH4YIuyMgKHCozBi_vyyAUFVhiXPwqM4GncAWDC_CfixoEWHkb31zR8v6JA0t6tedorBJH1xqmNaOfiQDgkJsZjZdBv8hAnmVY5Bm0FF8zqPLVKAfkE0ZG3h6MNCUQra9xstngEPgW7vfr3zIo_UESsx2UEghm7Na6Wcs_XftKavjpaNG-d65kmq_Y40GQ1vlnnJ03DtI2sj5tuMQgkGK598A7geVD-QCJBBCNFqxGZu-ARAPUe_-ejcwPPsdW_QnZ4jo63m5hdwALX0p5FtKmhVbdqhMdf3KpIINq6lyeV3bedL8W9rUwZeSXrEOgjLONzOR3ijSIlrXm0MKZmURIsbVCTbE49UzEEerZUNnXKZCZai8U7xgnzYMGrrFGJkIJKJLLAu-DM9xd8PDtzNqvZ8s8Tb1lgg8S3PKcxvnVF_ggxw4DhEsgbE-t07_0tK_PAqi_umR88EaSZu2p0ab5UDVb_zbZeeClbNbsvb352S1dbpXJvq9bFA1UlgOr4ZLZYohiGdAyiNjtsv49qJaPirvhyiqiD2luhiBQrkfYQignrO-1JbbTGGC9aK2X1YwtUDdqYKRHbHy908GsXHMWoQvMiwrwgeW0QreU2Bzd9DvAFxze468NcuDc7orTxw4renJ9iPmKA5doLty0v7K4dC1bON9Q_uhqPXuYPoBj9Te8slz1f-S-AbrBWePQs2HZiYMTT7YYPz0GIlpvCo7fw68FHK2nhkU2UyAjY=",
  "id": "rs_00db06a85b000f94016ab2e94f37c887d0af7b46a69f34f60b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.14,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The gripper closed empty; the brown plush is still just beyond the fingertips. I’m reopening and advancing toward its torso for one corrected grasp.\"}",
  "call_id": "call_Pkwm2dAvj2RIzodydJvZ6xDc",
  "id": "fc_00db06a85b000f94016ab2e95021dc87d0bd12e4b5715eb910",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pkwm2dAvj2RIzodydJvZ6xDc",
  "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]: [-0.6399, 1.7317, 0.4377, 0.7277, -0.5968, -0.3805, 0.9986, -0.0208, 0.8085, 0.6067, -0.3912, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=-0.1382 left_z=0.0375 left_yaw=0.0443 left_pitch=0.0995 left_roll=-0.022 left_gripper=0.9986 right_x=0.2945 right_y=0.0008 right_z=0.1749 right_yaw=0.0006 right_pitch=-0.0275 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -4.9162, 4.8889, 1.37, 0.1294, -0.0415, -0.1685, -0.1436, -1.6479, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50502e4c41c2363d81713f0f40a141b2e12adf3e33fd156779281a24c6d990e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba0b07d497ecda6fb555f621282e20333f341abc01dfcb86092e05d6fb33cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1d52e71c0d53f1a6dc05ded57ca90cf0820962a16792bac99926edb3a73b74",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.409 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]: [-0.7349, 1.6154, 0.3553, 0.6075, -0.6441, -0.4511, 0.0195, -0.0208, 0.8043, 0.6075, -0.3851, -0.0185, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3197 left_y=-0.1412 left_z=0.0327 left_yaw=0.0198 left_pitch=0.0524 left_roll=-0.0073 left_gripper=0.0195 right_x=0.2952 right_y=0.0007 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -3.8906, 2.906, 1.1013, -0.0659, 0.0806, 0.8767, -0.1983, -1.2513, 7.2821, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsulaj1HBo4Dpy6GbkEG6cqS_9KBg6-BclwLspXixBHxEVcHnk0Yx6g7Aj48mCbPZIoyct5HOAsuQgNQQMee_Y2u4PGheYnq7N4MWVWIaoFyZgwExW1RYJdFDbaVb2ARpEPS9yOqB002QyHbzGrWBnH6uF37cVzqbJrant0ed0pBxtz-jE_I-cSRXTWjdxow-LzNwxGkfzqpVIDqmSyAU39tU9SpXljvch3a62jZZMxj76ZG8dgoh96EvbH3o-7wjAB7u7mjLHEU6M10LARr7Q3G_mmdh-RI4WYZtu2U2zpQcpazoFrb36INtuSTk-cJ6GeJTrQkUqRcic3gt4fFj6iUssJVGkapEiNq9miCLDb6VqRO8AuWH7vXidBgGD_2TeZxsoWPVtV1n4XmUEiIvphpN_33CKOOt8ZBaP2brYjcKS7arhMmmSaliK6YtaH11efJ1YzNej6Wqn5qyOJncRReJlfGbCwBnZ_j5PDuaLfLumeOK6wTfakk46lYE7kMkVuOlPfjDtwo7KuGpbHOdcHgpNn8FtdG0Hs5ZHMsVUtZdgVRiEtQbnqzFGJOoYJyNle8RbTA2CuhCWx7n3a5NZKOyZz2eqEtzQ4aM_HSH2_yW8BGyn59ZjdFQ2zM5jqNISXs2MpyoJhVdUOpBofMyd6qw3Nbc4lvE9h-dPoCYvYvw-AhReDua7-FcS91n3rVbH467gO0AIT5m1bDlFpyTREvN001b5pl29IAycIKukTNDGVxr8av-KZFSgNNn-8v8Snze50iFhDefB8JKkMqdA3hiqaIiVwu_AzF1X7dIkKeDymxx0xVI3KGCkZNb4icW79dejVtNsIfrebLoT5qSRRt5Juyf7bQbMX1dKQwudo-bFISLt3hTSbTYnMRurpgXMv31g7e7nBS3xP3ErwdI7q1gLVoRW8npelqllULzgKr77EOrV1xCishZaUKYr3aKjSkqb2CCzyZGIwGvdyq7B43ttLSyoX_IV-U2iiYrheeyZwtiS5Ul21Z12lwBop_-S6ek-Ld-JetE-zP57CVTT1Sc_MRq73uk3KGTd0-o55YABcUj060XNtyqsHM_g4um1ne-zM1nI66dyLG4quw0FeLqURIbPw8ttz3MkeCk-VP0EHiJmqFxBhTvuC7gAaGKpAsP_GYTbB4x8l_AIIuqL12tl7hi_XsKnFnr_cOVgQW-kC-GUqSmUdiD9mICgUB-M2xzZaHWpEkgUZw6mqWgxqlIw1J0KRuq8HfeklWHNWJGQAH5h44KiUi-V_A7f2TNFh3hAQY2YgmmNYtXKAcTZmL8M0DP7X61dhASlXovjyVJXlDjvNRHrCCpR6HlGFbv2eH4jt6L50RgNygw4SnfDWt3enVJGNnNF7Wtff5zNZ0646u3XeV32vX67uIf9_JDN3j4rZoECiTdGRJCY9ANsRYfTzJvdcYg4DQPlYFhVhfMcfA=",
  "id": "rs_00db06a85b000f94016ab2e956ce0887d0acad900a291a73de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.11,\"left_z\":0.005,\"left_gripper\":0},\"note\":\"The brown plush is now at fingertip depth but off to the left. I’m centering the jaws over its body and closing at table level.\"}",
  "call_id": "call_F1TbhTMKdQjX2W8QR6qiuwkF",
  "id": "fc_00db06a85b000f94016ab2e958fe8c87d0947fe3caaf1895ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F1TbhTMKdQjX2W8QR6qiuwkF",
  "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]: [-0.5514, 1.8671, 0.3698, 1.0351, -0.5343, -0.3267, 0.0351, -0.0208, 0.8101, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3675 left_y=-0.1162 left_z=0.0257 left_yaw=0.0611 left_pitch=0.1648 left_roll=-0.0608 left_gripper=0.0351 right_x=0.2945 right_y=0.0008 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -4.8205, 2.1128, 1.072, -0.1001, 0.0611, 0.8913, -0.0615, -1.4427, 7.0222, 1.7021, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a90b0dc8491d3a5a4854ccb8226cb0b4b9d3bf4da4954b0163c653366c1bc837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a788843dc9420fd34b8a62949860ad7cabdf7d0c0b9854dd75251e3b0a68ed36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b3614e8b70e9e59f4688720a97ff5e38b9d7cc682ac3e4c7ab375f9b33662a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 8.336 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.7317, 0.4377, 0.7277, -0.5968, -0.3805, 0.9986, -0.0208, 0.8085, 0.6067, -0.3912, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3579 left_y=-0.1382 left_z=0.0375 left_yaw=0.0443 left_pitch=0.0995 left_roll=-0.022 left_gripper=0.9986 right_x=0.2945 right_y=0.0008 right_z=0.1749 right_yaw=0.0006 right_pitch=-0.0275 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -4.9162, 4.8889, 1.37, 0.1294, -0.0415, -0.1685, -0.1436, -1.6479, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsulhgSVqTeQCkMkqwA8D5ZQyLggxt6ePyQGix5U3tEZlRCUPb2lyGgSjaN_tlP_DwF3I_5H_IxK1aLMJk4yFOGBPJoGir5eyTSF95HVTVxzhrs2vAZO3GbErfjhDjl26g40vIjbMd0m_AyKZMHqmUGbgOxgu0TrkmcWWxHke88cdFg8Zx4nW3JrDsJKRj2RWTfxgEiBU0Bc1-KdwEDbIeH9xsDij0D6BFTeGEBzyKPH8S_cRxtfJBn9DnxpTR--WL9IQAToBAjrSXPQvwjYBPX7GY829K_n_-U5QmbG0vOPWFewGukIcoWabU4chPVkEUNML4tlUDGVA4okoyNhi52FC7DshRp88ujAyHbyCWkPQy-KW7pRtWQ0RqfRrr1C7lJVXXCHm-gviQNvYF_tBlDQAGDPFXTHQngnkmC_70TDTiCG-SnenQjBt_qNqHEa5Jzq_ANoiF8VQQuObSm6Akak82qtuSpthxUEhbYmKZomuVWjczYrxb5Vzu3uQHZ7wohfxCCzOm1vAbeJVhneRar1qjLzUmP5AcOeSVsntGScfSyT80OQDLqkJe6FRJUJ1XlINaW0KxgGeJKLTN6wiSAI-3korB4N40oa4t7jXoKLvETaVvSKCQTaJ8R-ISFXZZCOp4WVwvtzJiRcd4EgwuTDosek6KxphTpdjvnqjEOwqMAunrKRy_gTEIKH2V8Etjr3vNovOIjRpV7_vKEa63EA8LHRhgblogBjQ8uyKK7OUTvxDbPrLcnof6_hP5wYE8k6dQrmIVBG4m7gLvvBXVXyCRKmoUS0xDyn5rVznZQ4T-ms-2RDXrZmcSaMi0uHWvuMSP0sgg8fm9DMrI4CQI0WRmLZ5Z54hVoSKefm6FJGC9rA_x9hi3Lfh-iv-J9708N4uue3NG4vzP7338-DZrEymDsTX6XQrf5oGDmVd_hrVEiNYTrxxS4sE0_j4E0EZmuZIrm-W0BNpU9XIZ733b5141At8F7ZIvK2Op-Zvv6BFN7AnRqFrzgHZ3b6Am3jarttde2-rFJ6VxxaxMY7kIUH4W5885zOHL2lYl90AlzZKBHgw7zCpwu-xcGb-dVHENNuNjJ5ubuBPpmbE32GdmC8FySvSBj39qEPRMVMQq8eczdhXp5fY9W7iKKNobaISdSEU0q0rMaucDWNuqllkAV0hAd7japLmROAJcot9sSWD0VgEXhEE6WW3_E4ZWlOEwlumTkitDKFCE39EPaSkh-NrROgFww4LkkSX8Mu205hBTtS88KpA2RJ5f8HA5cjcQF3g-TyCI_5DBp8PFTYsUMXKgJuldpBRVH3t5ArwszlOzLYj9DXxwkpLtE0zGwrbvI-gygwc1GkJJNBhaO_A5yosjl-RV9PH5xEal9gEqXdRXmSieIRTsAROYrFtTDqHLZqN",
  "id": "rs_00db06a85b000f94016ab2e95deea087d096f77f0be8d52af2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The jaws are nearly closed, so the grasp may be only a thin part of the plush. I’ll lift a short distance and check whether the toy follows before transporting it.\"}",
  "call_id": "call_XwhkQmDzURIgOZtAom0rJOL6",
  "id": "fc_00db06a85b000f94016ab2e95f4d9c87d0a86bf7b643d1853b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XwhkQmDzURIgOZtAom0rJOL6",
  "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]: [-0.551, 1.4654, 0.4465, 0.5488, -0.5343, -0.329, 0.0372, -0.0208, 0.8127, 0.6067, -0.3927, -0.0185, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3642 left_y=-0.114 left_z=0.0969 left_yaw=0.0619 left_pitch=0.1582 left_roll=-0.0582 left_gripper=0.0372 right_x=0.2946 right_y=0.0007 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.9556, 7.6239, 1.5751, -0.1294, 0.0073, 1.0281, -0.0752, -1.5658, 7.0222, 1.707, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c34084ebf4c5089e28fbce404b54ccfbe111850ef79fddbc200e3e71557a3a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4795a9e13807bf243d18685e62f6aa08bfc3a2edc8a34f7d7382415f5176de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e546de509caf97eb2657fb32cc53f69e586d78055ac732c4fc2fca585fef89",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.721 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5514, 1.8671, 0.3698, 1.0351, -0.5343, -0.3267, 0.0351, -0.0208, 0.8101, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3675 left_y=-0.1162 left_z=0.0257 left_yaw=0.0611 left_pitch=0.1648 left_roll=-0.0608 left_gripper=0.0351 right_x=0.2945 right_y=0.0008 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -4.8205, 2.1128, 1.072, -0.1001, 0.0611, 0.8913, -0.0615, -1.4427, 7.0222, 1.7021, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsulqrrnONCqRHtbopou8AP8fnH9z3awx_9l_eXvoam3acSD0ciY2xe2frtbbyA2HWsFtak6BA1hA7EPchO0Vi_LGFjjorshe6VwV9s3yb7U6cPe0gMoXtMhSiPIRrA0wE5Uk33_wbQrQtXKQ6shxx8uwFRHVEYYkfuqOqe8lnTcqAlTQhHpH9uMPyR1WkI1vIZfaGp2iSN-nMs90v21dvpJ5SrrJuB6IvVyPy9o9b74UhFsmcsft8XBmGKVYpSJtPUAUfu70IzrMA1Zan9_3ZTLbGBdMA5vv28olst7zfQQKxrS9IMMDDeAkXHjx-Lotrdhr6m0Ze07wz2svBpA701Wwqhh-75qCfekLEmQxnZS_j5a3gs2Y3j6LSG7lBFIZivTfS2YltdawnmLvbcFXf64vmKDm2Tmg2oE8pBvEITdny1rxMOoPB1xy7w8oYtgDHGWiL9Wk8T1GzVXGxNp8AC87VubUmYLHAY5D1tbYKjdks3mwp-FDW58WJvP4bsPA-OP4YAnwLg23AM39CV16mk8WLWIvz1flIETAcDt_BcJcssMhzqUrZx5aQ2-b-afZgs6KIYalk-Rh9bUqVDgtMkogh8LxMXe2vbokK6sB3HguLSLrgmHkO0JLjMj_2JwZ2A24y6__GqUQZRnPATGL2bVixpxon2yesNtp8WoqRyVOKAOnCXqpMSz6y5P7CUkacXXygxclJaW1tyFtJ8c-AtF_kpRNu59DupA4MXOVkrDZR_keXb6HbdMBtwXaD5bXkpheGxxxmu18hjrDcQezifbOaxkxw4c_B6mQKOWYQwR4g9mUCjuJo1I1QpJanL2KMbfDVBY0XSSkj7VYix2Ru4XbwHVZZiQUzYpjH0pKuLtXbpMjkHGwsEpVAbhaXeeAOoIojJMOjiM_3JNtbi66vKH4SouJ2LZugZVVuxbiGZb05x1hyPlqVj7vRXQGlfCH1xvoJDDxHkItg7OHJqHrcpoWJX1GyEnBIMr-xbpn18xqprR1zvbvrLLJRmAqlcHwt0YgVFacfgFVoe2RGjYqudxbY8odg_pMytGUVI34kbX-2ZKlW-jKayMBXylxZeQmW-otTawXBXLPABgcOxLMyynun1a_BiyqKH9H8l8uPAOJJM2JYlsHgjDfDC8Xd02ExztJUSTgoGfphNKiMENdc_wbDoF9rrA_0JR49TaussgAwFNaXWEhU8G5xZ-S4McQC45Ij5E8Ay46v8QHYNifceP38iM3jLcHInjJZEsJLbJpO80BcrzJuP1eEbPRKHXrW_MRsRZRN9GxbMXGn-WFwVqaGv4zJuf5LXhKEobq4ADm_xIyAXxrHhRbRVZOEven5ZJxf2vtW59amwGFqVVN5nRCpNOKnA4Z9Tm6FwxRHTQ9ZT7rZVEXsCRF6yvDNUe0zEaEWvG5drZa7uIpIk0r82O-MfkOae_SFLAJbDDnt0k7utRoPeB2UjY8PUb2FhdVqkiVSOqpdJWWVmOORvhLCJLCLkRsC8yuvMqcMV3oeOJrOw3pl587OEYc_V5uGrjso7PFyyjJbRslfQVE7Lr6uOzAL6JkioCfrPxsaXieFRNm1pu-SvBY4gz4VrdnCY9MXfhP5tjGDKlckooA2oMC-wY-F-KY7NkgKginhDOj_yNR1mCLp-cRjIbcEWzGNHzAMWNwYLPQ6NbHUtgbtvAxdOTvKV8adThfg_UDL0w151DH8mZEAJtpzzpALqkj0TpVvwgI",
  "id": "rs_00db06a85b000f94016ab2e964784c87d0968cee91b40cd374",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.15,\"left_z\":0.06,\"left_gripper\":1},\"note\":\"The plush stayed on the table. The overhead view places its head farther forward and toward the center than my previous grasp, so I’m repositioning over that clearer grasp point.\"}",
  "call_id": "call_73cotrzfmFPFeel3MIko3OwL",
  "id": "fc_00db06a85b000f94016ab2e968fc8087d088d367687ef1a053",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_73cotrzfmFPFeel3MIko3OwL",
  "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]: [-0.5694, 1.8069, 0.5964, 0.7067, -0.5541, -0.3443, 0.995, -0.0208, 0.8177, 0.6067, -0.3927, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.1437 left_z=0.0544 left_yaw=0.0653 left_pitch=0.136 left_roll=-0.0449 left_gripper=0.995 right_x=0.2949 right_y=0.0008 right_z=0.1721 right_yaw=0.0006 right_pitch=-0.0381 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -6.7897, 6.3248, 1.8046, -0.1783, -0.0073, -0.2125, -0.0615, -1.7709, 7.0085, 1.6923, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586b3ccb1d698140811b64feb5e4c6a0a943bab1e427d175ffab780a2aff2dee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b55e792572a0e0b8a3fae60df84bcf83945f7e4ff9ce4f6ea5bd66f85a5c035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be80f499676a8e664e0261348e7e2f07225b090aede424448c976efed755bdb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 14.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 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]: [-0.551, 1.4654, 0.4465, 0.5488, -0.5343, -0.329, 0.0372, -0.0208, 0.8127, 0.6067, -0.3927, -0.0185, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3642 left_y=-0.114 left_z=0.0969 left_yaw=0.0619 left_pitch=0.1582 left_roll=-0.0582 left_gripper=0.0372 right_x=0.2946 right_y=0.0007 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.9556, 7.6239, 1.5751, -0.1294, 0.0073, 1.0281, -0.0752, -1.5658, 7.0222, 1.707, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsulxF9lIXALX3YGF6siHc42mVhAxlOsHavNZRYkOhO-DlhFziH0dmi9_T6D9bRp0NwRTZB2D7rhb_XDZHNK4Jx8-74966wUAbKkQTofxKXoaFyzKZIiGfeDIuPAia6tTXD_2wN80x_Mh-7EemnwzYeHEsltWKmvqoXBRLHLsv6MfHlI59CyeGP7bXKJSqXEYFEubCoTFXg1tN8gqqWQ2zeM6yx5Yu04bJEUJo1vbEXruSCTW6Gw_81qKC0hhMGA5X3e-l5O2NULP2r9ddj6lpvwQIgN0Sijd4W8Sa0cjsBchdn6Kjbr5NVwY1uewQb0b1w_HsqSDokRrJ9UUiEHQAwEFzOLwj5w2_GtZgnDgLCuCR8uTmLyzcmXsGsPyMvxZCkK3gTHyGCnqVb3K2CEN3-DwuHfZ2EpM5lTuyLMdjGO-aP-9reKU0h6SipMx1oulBFvQ2Sh_nmfrRo3WyjOo0aOtc1pxIV_YNbPKLqTcyXKMPYfswRjDk2v-bpyiu8O-Acy5LRq2PBqagXDFpicFFfgAHaoDJvcqohu1LzrUq4W5001PglVC3wG-VH45rp5hwKRC_UWPH3HWYJjW83pThAijWdyUvtmSBdbPus83dO0IKMmlf_mZasMi167wfuRNWUW3JFks7_LpGebKdARyxgkNohZRTZnWL0a-PK-NU1U9mURIcN0Q3rwQ6a5gDJ6AkLlsK-oKJ_L12xVwQtELAExbDL7zmJu4xj6b1lhxR58CsQxbkO0ZUqY3ECl-3FxWxStqxUkEVt6GQxslrHiGhncfsnwzwYtP4NfeV15xrmNEvyYUQ_q9OebJ5Hgw_A-k4hw-MlqDtDQOd2ZwxHGg9bTGy3Sr0HJDRlgSn171xB32frjhiKBdc9L8oTMr-9Y2B55-NA3O5Vie55wKrG0_i4doTWn73fwGNAIClY1HZGGtwv5wZmJBXZCTITTM1KbiQ9hYTDkdK5cH3rc0fOGYylPQOc4e0XN0fHL7Op2AS46RzPTmBabZlkszUezdbTz8ijJpG2nEacjwf5h06YkPIpyjJsYAVvnDkRRsS0mLqNV9gEU8JT-RjITEdY45a6nibdhmrv7SNHLtmgpY4M0X4GKtAXTDJ9iL_T7RaOZpDwpCrOdRNnMJR0CTenCgaSmKuihARlQWdo9xW06EkdONV5IlgxtFfZ5_q8c1IIx7idB-l5o9VAJNV_OsMPtruvwJ73xicczbxOokAgQqIgNbsfOrTCrYrCJ-79jKy2_MqL99p4jYpNSh_JLDvFytctcxZGaX",
  "id": "rs_00db06a85b000f94016ab2e96e8fa887d0902aa9093d805b94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The plush is beneath the open fingers, slightly to their left. I’m centering and closing around its head rather than the flat body.\"}",
  "call_id": "call_d9tlAqXMdxUM786FGyO98szH",
  "id": "fc_00db06a85b000f94016ab2e96fac9487d0be0447385234ab20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d9tlAqXMdxUM786FGyO98szH",
  "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]: [-0.5156, 1.8927, 0.5537, 0.9569, -0.5266, -0.321, 0.008, -0.0208, 0.8185, 0.6067, -0.3927, -0.0185, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4154 left_y=-0.1292 left_z=0.0549 left_yaw=0.0966 left_pitch=0.2288 left_roll=-0.1048 left_gripper=0.008 right_x=0.2949 right_y=0.0007 right_z=0.1719 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -5.4085, 2.6051, 1.1502, 0.0513, 0.022, 0.8278, -0.0205, -1.4291, 7.0496, 1.6972, -0.0317, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd4a18c72b7b08a3f0d1e62ce173eb90d9261c2f50f453a49f5cacf2215c651",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939d4b2f8c0fc555afb10c17465847c9e88d932d9633d282a8bb680ffce1996a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce538f39970c8be3ba6f00a10ab3708ff655a44702f1a63990fcb0b1de385e21",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 10.7 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 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]: [-0.5694, 1.8069, 0.5964, 0.7067, -0.5541, -0.3443, 0.995, -0.0208, 0.8177, 0.6067, -0.3927, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.1437 left_z=0.0544 left_yaw=0.0653 left_pitch=0.136 left_roll=-0.0449 left_gripper=0.995 right_x=0.2949 right_y=0.0008 right_z=0.1721 right_yaw=0.0006 right_pitch=-0.0381 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -6.7897, 6.3248, 1.8046, -0.1783, -0.0073, -0.2125, -0.0615, -1.7709, 7.0085, 1.6923, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsumBo8QHV0WmC68ukKj8LLqEJzPoF6Ykj-D08GXelSPJX_I9IE5Y4zM23gjb1uTrj3PgS0mhd3yDaSatgIA9xsr41VNf_ws_TbWdvOQADJ7fxfnS2HOYv-CW-z2evh0-AZNW6F9n4lNGbaHcCmYEvZqauZMbEfoh52mX7QZUBf1ZgZvIA3FNJSXwwPlwu5yk0tRIMvUfxepbzeq0YwxSgWc6fHAiXQb7U3Hy5MsXLrFxvBm8kZXni7kcyPi2ezUnBZn1IhCOS6VYYNinaXmUsUsYFl0J84gqZQ5WC4KVOFK51iNtWlgDeZkIs7wWDh__y5_1nsDPY44109HCjT0_dQ2JXYdkqX14Ew2GqqOBGZh9G2gDa_sXZkDN7tV5lS1TxHtFOxAJflGS3LFqt4UgVyV_ESv7hdXbRfACOQ-dQQ7HKp3OGSa_sILzJ-f2eLyygxR-0wugtUlS6tgmB0GBmYE4Fyhp9hIRkDoIeo0_MO-x-OtbsY0palGQlnMF69Kn4l8JVAfkO9-ATd4C9DBqF30MNSnQYwcvX5GpPTLefaOWxzDZGAmXEAFg2wyCWoFMqe9nQLZinUyAHO3tvcmQbrAwFxydVufcTjQc1SrYgmaS-IpJsk7U96dX55jgea3lse0DWLN3Rj1_rM9oytiehPilUgHLFoQoLaxWmNGjwmwGF2Cd-5OXVgzhdOhECeStG7C7wExPt4LwQZKIQBJLk5W4KES4cu9eqHW6BH0Eoy_EuYdtDcbXoXROeo7jsu4SMd6fu89CJ73kSKGd7SSbeahJCVaAD-4NxFY2TzDa25SfjRlhzvZmxhSpyjTDDVdVoGit0gP4YG9Ntp5omIM4vcYIufhLr2YgHm7MB2p4x9wH2JYZAVtDseKSUU4RO520dNklpWS1_CO2bkHBb6lu747F4KPSMs44sP7n50Vk3q3w99YAcW0yYikkXWsAumllUWQQz5O2EsjaezoPGC7ay1QiGG-0-2PYyw95NEoSgvVeDWyfyyC2noUbkuwGmwI_CWmrT8W43DLtq4wLwWUPySd4ds-S4uzdB39KscI8udqq0YB9k8FzJOMgXUAmBqXkhB7oFmxeKKeCTWvjEC8Sw4RuSeN9LtVFkodyR9BjBoPRpswypwIhBhX02o7yISlU7WFwbFFpjS0a7aPBz3Y0vfb2b0kdjnCzniGKMjFGO76eOTBYcRXkIj50QI4dgtZy7DEyzO_lqthEUwu2zJUuNyNmmTpi4R4Q68f6_k1laifqBEps9HcYLgSwRnsPDZyfOfQcKbW9UTpE5P2Ii__P5XDFH6Ip9xQNvvZ3w47SSTQPA8ZX5IjNl1kvZOM6rAhD67sQYdSux513RNSvVQ946RuAYmxZpKmqlVZe75ezKHPjycqs_nyiELn3DQ-YwKS-Z6tXYgvkNsvBKQSKJ98qZPedZq73fP76KWnXzvRX4MYrMtbklKeBOT-38RYKJx6kCiJUJIv9Q4oDHdDM2WVO80gqxN5wPu6JLQoqtzytlmTLyHY6wZ7O1OCgI7EXwK-DrgzGBCPD7r0dd3SnZLDBz8iCNe5Q4l0_zYAt3iQGr1U87XiHAOmgA0dJDVx3gmR6hUZ1APLhjJM1gWZraw9zzxmB4oL-ELxZezQ_wKdKloo8SymJXcS8h9C-vbtplabDLfxCctglVYCjy5tEruaMFiaPhN9pGu8k_nWcOojkib11FKs83bdsqge7fqtnXpy1h-ZzuIXRV3eRTrJk6eAd82CDj7dpqIXewbuHfwQBSGRteasAvntxgSj6LfR5pTOOb8JjYsucehGuxtb46Dy0DFNYoNVIcW197q0uSbsO0rEd93ktwNQoIsBM6tqTu4dJuSXdfi9wrLc1u-5j9I5iZh4F_MO5KPR6DBGkfMrZ1q8HyeUMlhdmEQ7M-jf5w47uyUYoQmCeLRc34XSazqOZyPtidQxKOAU9JxZMb8RRdz9Fzo_angra0bGRQ51h_lICagy04SjH6xiI6F6VHNhVzWVcxVfchDxFl_qwGrqIUQdCo_AuUnUZNEhCdQ4l6iQeGaBEziktPcfGK9MByFEvVN-94UYiGCNIL-5tPKcUA7_aQtl6bxZ1flIVhwWa_IuxABxIq-bjFJ0OZQPTbdLLvu38X7vcZFKvoGKbLsD_SWrjKlIgYTLPHUV0XnLpx0sL9eAKImErncEMQnnknPJ0SoHLj-2iIGswEupHzaEi-JdQzOUJ7kSRKr_9nZXB_CT_wL49Q-3pOyNVwyA6_FObPDzWYutZ2bHUKfHSFV7iaaSpGvm0vNCVXPN1Uz9mLxPiZrO6_zDA9G3rqTAjs2ihxtXF2RVIX9UcVp8UuE4VveP2rjWgzEKVFbMuyayOitLu1bFW-lHYoKDewvyssNJVQx34Jw==",
  "id": "rs_00db06a85b000f94016ab2e975f4c487d0bf40f5e34e7dde74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.18,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"The fingers are empty and the brown toy remains just to the right of them in the overhead image. I’m shifting toward the table center to bracket its body.\"}",
  "call_id": "call_hBN3hFu4Q7Ev7K1wKtihcCOJ",
  "id": "fc_00db06a85b000f94016ab2e97fc48c87d0b5bae875cfbd7492",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hBN3hFu4Q7Ev7K1wKtihcCOJ",
  "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]: [-0.54, 1.906, 0.5743, 0.9554, -0.5495, -0.3363, 0.995, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4169 left_y=-0.1382 left_z=0.0566 left_yaw=0.1008 left_pitch=0.2376 left_roll=-0.1161 left_gripper=0.995 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0412 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.5436, 5.0803, 1.6874, -0.1538, 0.0122, -0.1148, -0.212, -1.6068, 7.1863, 1.7607, -0.0415, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1e46c186da3018dd6e267c1eaab2bc114c49dab2ef5d06961643b1aae31f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8a864be1e4403937738a4b14c6e9846701474e9b4419b54c62a43be53d5e73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548760c929e9f5ce1916325caf27a7f130e4e1a5b8386efb63d899247ce8d8f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 9.35 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 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]: [-0.5156, 1.8927, 0.5537, 0.9569, -0.5266, -0.321, 0.008, -0.0208, 0.8185, 0.6067, -0.3927, -0.0185, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4154 left_y=-0.1292 left_z=0.0549 left_yaw=0.0966 left_pitch=0.2288 left_roll=-0.1048 left_gripper=0.008 right_x=0.2949 right_y=0.0007 right_z=0.1719 right_yaw=0.0003 right_pitch=-0.0389 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -5.4085, 2.6051, 1.1502, 0.0513, 0.022, 0.8278, -0.0205, -1.4291, 7.0496, 1.6972, -0.0317, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsumO4u2ETeSIIaKdVJ5x3S3WeaHS65voG64DlEWqA6RvSCwIaiBC2uMGw8KlJGy3UATrHAhAQm7pWwrdW7zgcmAnhDo3RS3QgMTG1X6NRV0b45IeIZ2UudyD6lqL5YBxBgbNS6snzfoNssiSqf1636jZBJJzG1Y4jNZEXXF2qs3bIoU4fTQMYJUUAr4bkpV5wEKw-yNHaZz12ZvzjFUyTCRBy_BzEe8Vd-qTFAhYT0SZ5NHh6ib0Dyj84fXAOAiC0onAMYWYotwGc0HX56EDxReil5Vlvz68CX2E41F3KS74Vuq8uxEVVFL_6GmFHj3qZXRcwW2gka3pYMFjb0LFejRCSryOUI0naJAdi-84STtu7QzDaQbZhHQSeYG9aoezewanCIjfRsWhPSxW9v2ipv_cwGtu4wNj6XkMAyGEPXpyTb4jMV6Ycc_rm6EsibuMTiIc6lHQgs-i5gpZQa6IGesEcD0ihvv8rALYhhoc9CCzxwMMgAjcLpWKChAgMVCbFN2nl7dii2KMiPhQmDWPw6dMbhlJx6GeJVMdXDtcEj3baJP7CQaij1SIjYvfxQJuStM_mWo_Zt9-KKuXInnqV04q03yqHzLlqi-THLK4jrglvKl3nTHfLTVUKN99HcAozz7cObhEDQYGqvmPV2FWD_YrDs7sDrY0rRa3kcB_GFBWtCznkOEZD-jRW2yn8k4dYGy_3qRCAJ2k5El89UPaRGdxKCD_6X5wJFib9NUza_8dVbj6kg_JhcrwxGBXSOJddcCJPoSPCNCFMxo1zzn7MnOqvTe3zllduKFm3D563XOs60lPGmEhpSHI3-HOz4GCE9ba8eyTSV9lNGucN5xU1w8OmNCMeZ6v0I0czrGyt-2e44J8zjPc_M7AJV0ve0bM6xl3uX6c2ouypRCd9Ovth6ESHl3WFcxhFByluiz9tJ0pSYB_1YvJb9ocrpji5fPRHQ1hGTH36lmVDJ8sDgK3xXhW7dYcyv9X_TPzRsuDIJkD8VwI7ox5BUSFCuTr-eYaysS3Wqu9DKaetVXUkv6soWsaynSDahtGGoUOXDolq4plf1ccQMndjrB7tZukEtNMGf6sBLuGjl6nVXpoIThyDrB6w9ek7ETrx9Zj5WbEkjUKaX2eDzBfR8Z-aum_aChMHVqdNVPQT9YOFrQVzajnZa-YmTI7lcsr5smyeYK7IqEV1dIIikSx4RQAfipZFKLPKf3p1_hhL62qY7vYNTOUu_AbwWIpLqUy_pgxCHsj5vSlKv-qweQGYTbjuOf0lFlRX-EKYFg8D3ku-zgnISubJHSK6RDnJy1Y7L_N4zfPoS0eCFhFEYbyjUoyiTI1lFxCETzh0u-sRYJSR_MfABlSusK0VmJf3QFxZgDGCrJW6kOWRr96RLJ2OpNAhxItWSxynLs2VPbAsYZ3ubQ_I7DyL4wlz7f-KGW6-VgzMHCe_6vdmJ4YuAPwcJpUlM7nOAAIKR0Q9aOy8ZBmu_r3vLXt7yO1fXNYnDpI1I6emfDLGrYsS0hSMGQ3HUAJJ5ZA6eHC8KR66Dx3nFmHjdo4w4tWq1Mnl4FgJNnULgUeBPbsPOTp0BBwJh1cXm8w3x3_3UFrRWxUcrS82ecNqUFW1cmJ673mqTeRyblPF5DPE-G32XhOocCBqC6nI4sjB-rq8qHK_djlIlz3axuhTUG3rQpkA3JUnolIBNvCVYh7wK2YYiPuo5inI9E69F-paJvfh6h3Dh2wCL04ARIq2gVKf7Ny6k95owqVqgAM-hd2H9Kgx5gSudH-xmrGxdA03jzCuATBJsDtqdzOVEVz_297dBWESyknGPlkDH6FbAOGMtKbR9BHCO_8EJDZchIUyLz7Zv0wn1iU2a2sUPqVSpTk-IP6kGa9Ux_N8PhGyUjCN6NBQaNn9AmCEIxa46LHhxmI8fkdVKh6iZjR9UzHRlQn8OLAVGdPlP1XhFQ2gq65-gqjH407qhbtEnHUhq0S0Ui9MANMctpLaL6NOuonOvKPoyShEI4U6A==",
  "id": "rs_00db06a85b000f94016ab2e9858e5487d080be535571593833",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm stopped short of the lateral target, so I won’t push farther. The toy now lies between the fingers; I’ll close at the current pose and check the jaw opening.\"}",
  "call_id": "call_G1tKJWPzxSu89XSSe99oNOiE",
  "id": "fc_00db06a85b000f94016ab2e98c3d7c87d09a23d6e44b370f0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G1tKJWPzxSu89XSSe99oNOiE",
  "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]: [-0.54, 1.9057, 0.5743, 0.9634, -0.5495, -0.3408, 0.0104, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.1385 left_z=0.0584 left_yaw=0.1046 left_pitch=0.244 left_roll=-0.1257 left_gripper=0.0104 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0412 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.9385, 4.2051, 1.707, -0.105, 0.0269, 0.7741, -0.0615, -1.2103, 7.0496, 1.7118, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ba414b09aa1132c3b35e13193690bdc9b5c2ccdb2fdf78c9aeb929bda3c4b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a985284c22af8738af396d1fdd2980dca41984c41c4deb5eab83f188aee950b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9e611894747c0059ecc1c24d722374bb9881d22fff2352d1bb8d6f2f2b80ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.995 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.906, 0.5743, 0.9554, -0.5495, -0.3363, 0.995, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4169 left_y=-0.1382 left_z=0.0566 left_yaw=0.1008 left_pitch=0.2376 left_roll=-0.1161 left_gripper=0.995 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0412 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.5436, 5.0803, 1.6874, -0.1538, 0.0122, -0.1148, -0.212, -1.6068, 7.1863, 1.7607, -0.0415, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsumYhth0EKMDyEaLpTd0MOnO3kx_hQZqzoL5zMBiIBuxvAGOv1KJDRuqZJqHh_oS2f4Gf5iX2J5m4F3cCeIm8fR-zgWaRUwpO3jUgjGFbZFl051QC2cXRzHS2wNM1TyDkPKZXz6TesZLBfgXCjQ2HycqDVrZwyS-7bTlFJs_RY2mJP2FP6vnthQqd1qVFvGpnlkNb05vdJpf2BXjcUGHQigEmehPQaMuSWf6oq5c1mbYpqayV6s2emh3wI617bi1TisrsGPt1ueQKv47uEfEJjF_oMLywtsh-lEhMOFFzWFMVgo003a1PEWu6LaeFGUCYcArgBGWdUChPzHKErut-uaAqmE4epncxk9zD0K-qmj2cC4pt1Ufb-c3TV8JcT5CalX_Zu5ROnrmnt4cTVWWWC1jfFL1cqcH0Oa39Qh2vwMccoOHdWxUh_oDN8ZbyD_X1n9J2jLs2zBO2Tpknj0ddvAJzdmmrbJRK7gQNrQeDxGdzs1LEROZLwom4Rzlvf-CdtbWFUzqDphqLDcYBerFY7rclmsQhG7nxoEr9YMvzbh5dddKF_uCWQNwd8FOZPJ5xRZaWi1n_u5XJMCc-hpe6RMqMpMU7vEQ4aZJS8vaM5xOxd9LLtsRSJgjp3k39pfK5l2yxNGgjbeLf9D4x4W-drjftkqFDu1QY5tR1bCNFl2eGtewz0MsUSrhFatWqel_7j7bTGJn8Rh9eyM1Len-J2SDcL4q8TsqA3_58v3y5uJviW-7IchfSnyJNjwo0cmbCSGKo-YeLtyL_UUcyHMuuL5tRMat8WHp24SmTfgTZfC--lSUtN561gsIe42AGJyFuJe70jGPLkfmuw7Z2IIghJXAoyBqJgeidNpJLYypqpH2U4xppJq9J8JNhaAxEoG-TxRSFgrI4zXcfnPiwiOk0w6P_oR_R8Q3FFg9Wsi_n0FDnafrQliKysSOv_qj9VWmtAlJQXrE1A9bSm_hPzlLyu8j2bSIIWmP8dbWwbjQCLvRcb2OnIya3rvmKaZobc553MWZOcvfBkgDoMMPJebTxU-CMN5MJRpeV-Yyw4UTMv8n8avHopaU9bDWAzSeB4bhYYB2LM6rfvH22krBnWzvS1Z_m8uCG_Oles9GF0kMxeqB9gfnjyjYN196KjRi3f3zZIIk0xyY0LF9A3G-KW7K3X0USA93RgoAOPi0qy4IStuXH7ju1vw5rj_Fm6ys0Ytm03d4755H2FV_2EdnTCtMQzN6-DHha0mLf48DHn2oE-GzYNpSepOpC4K9DteA1K6KoX8rHCWZtU6zQgWFY_8hrHC1fgdIaoNtjf6_047GA-aq5HOXjCRJfNf7YxIf4zcVqS5_",
  "id": "rs_00db06a85b000f94016ab2e994a65087d09cb3e1fedccdfc91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.36,\"right_y\":0.32,\"right_z\":0.16},\"note\":\"The left gripper is empty and constrained near the basket, so I’m withdrawing it to a clear pose. I’ll use the right arm to approach the larger plush from the unobstructed side.\"}",
  "call_id": "call_Vi3RLrueI6FQOX2bAEQ45YHQ",
  "id": "fc_00db06a85b000f94016ab2e995693c87d08c17905259d66b16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vi3RLrueI6FQOX2bAEQ45YHQ",
  "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]: [-0.6861, 1.1809, 0.8326, -0.382, -0.6365, -0.5095, 0.9983, 0.9607, 1.8381, 1.3621, -0.4236, 0.7113, 0.6483, 0.9995]\nstate[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1876 left_yaw=0.0926 left_pitch=-0.007 left_roll=-0.0069 left_gripper=0.9983 right_x=0.3562 right_y=0.3145 right_z=0.1481 right_yaw=0.0276 right_pitch=-0.0698 right_roll=-0.0214 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -5.012, 9.265, 1.3651, -0.3883, 0.0513, 0.0366, 0.253, -9.7026, 8.8821, 1.0916, 0.5983, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c2859372555391667951095ac5e1add7b33df02001a97bbb5e7dd1021f6b40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be32b2afe8433fe8bb533d4835ba2962a25739d64c65fc1a51ebdc85fc3233be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c60e5f122cf929567ea0ebe370ace481efb0225ec2f489b7a55104367bfab5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.297 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.54, 1.9057, 0.5743, 0.9634, -0.5495, -0.3408, 0.0104, -0.0208, 0.8211, 0.6067, -0.3923, -0.0189, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4175 left_y=-0.1385 left_z=0.0584 left_yaw=0.1046 left_pitch=0.244 left_roll=-0.1257 left_gripper=0.0104 right_x=0.2951 right_y=0.0008 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0412 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.9385, 4.2051, 1.707, -0.105, 0.0269, 0.7741, -0.0615, -1.2103, 7.0496, 1.7118, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsumvc6CEkr5BlruIHczQS5g6f-dPcUDtBQ2miRSbWK12YB1ijtAl3AtCFOjhxH92F4x9WGmjrUL0TNGQBfEWP835YKSLjtAqNRXhvOQBvoffn5ASwaXUpBTpa3XfLyingYTLbrejQG7T5z81LwuZrKNt1G9cA1ebTH16YiOlUIWQ04A1p0Sc7QhTVPbGO7f8Y7bXNOXyxBwG9CdeSYgMpzxbqilg0YGFUx0D45LUhFHl_3PoPGqAYY1BiLTTrVqyJx0l64ZwA3Hg9-cP0E-I4nQBWnJWJYlNzJ2aI2gaHUkm6u_zcZsBhkQJiqMjvGqh86SWHF3QFX5gUqWxs6RrbFk1byMB7tON-ChT9cf3JFqV1VEqCP732wj0d7uCyVgMcaqNW9rygsbOeU-Hr0zYzV1OeUqYap6C3yN7-tRYWLXRcSrRTc3kjdTL77hpTUG90CkqIZujf-r5-iAo_qS-Ctk-FJhJPiNF4PBb6GEdj-1496H3yqcuz9RMtshtIJKXjog-IglvyF69hmqcnElKbmnbaUfVfslGVZ561Mzch_Dl2SbHncQavv76lZOHRCbvlI0cYNJIZEU3RrnnZRzpRRE-qgx8LftM9r9s3R8MVgJL09WOx9Bw5ddIEFkv6iQULjJ6C9faFDB3HSytjDc1Cyi-UgqEb8ZxKQDgEEaiuuptLqxFrN3cJ2JwjQHMK0ZpA_etH1fPQJGVFz1Mar4OkVg-l8X92g7l0DD_gBisTw2JM9j8Eb_cBT037eJQoa7d5wku5pJy2x3NsiVGo32IxLnmKxYN5eXGKTKcUNxfqM9XJv8-zaDrWpEbJq3XwVwevhIPpBbaAiYOS6w-5JnyHJ9ovxpgfqepfStmdUfG1l5baZON5EurJcnXE21XZf-MiTevVQ0zzFwsUYEQn1ZOcQTN5SxJvOXayHlDRBZqaXfAGtKtwG2M4pSmTtdTbwf4yxHngiVunJSNYTpBmVpXQx6xIRcyO_t_FDJwlZgmTh51drZvqfU4P1WbMPbCTtbthzv51eiFow-6BW1gVFEjzq_6mf1RJvWq5vAxrBCRlYSnN_audKQDhvoAJsIj9fFKs4gFcObqEoOPh_9527o-2Luebz75wUXJVgdCAzhNocH5ZUX4Z6_BJemB7CdXaUHhksN1i6i4fXYHJcwVG6pxHhx-JPtRx_1X0hM07mxG6ATRVs6njT-tipQx-x5ALkEDuIh2lDFB8Bw2G3MeoBPyaaqKlhC8VRk2dTKQFTiPp8EE5XlmhMa_WXcXTCuVGgcwJyCc8aMlNNyeWl3dY3uPGLDPavPybT0RUEegWNTVjNkfBsOnEsM-tgE-ZejrYxMMTzPeelpn2i6HHY8hHb5ZppCcyTHPX6Df8wrGmwgVdaffntKRF4ewcNEI4BuHTsJzcD_H",
  "id": "rs_00db06a85b000f94016ab2e9ab82f887d084ef3b64ada4aeeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.345,\"right_z\":0.055,\"left_x\":0.297,\"left_y\":0,\"left_z\":0.2},\"note\":\"The large cream plush is visible ahead and slightly left of the right fingertips. I’m lowering toward its head while parking the left arm away from the workspace.\"}",
  "call_id": "call_cYJgwKdigjnvDeLqjSHgStQt",
  "id": "fc_00db06a85b000f94016ab2e9ade8f487d08d64161f8cc370ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cYJgwKdigjnvDeLqjSHgStQt",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1448, 0.8349, 0.7013, -0.4343, -0.2443, -0.189, 0.998, 0.9146, 2.1174, 1.4223, -0.1047, 0.6701, 0.6056, 0.9996]\nstate[eef_state]: left_x=0.3009 left_y=0.0029 left_z=0.2048 left_yaw=0.1483 left_pitch=0.0103 left_roll=-0.0202 left_gripper=0.998 right_x=0.407 right_y=0.3545 right_z=0.0773 right_yaw=0.0366 right_pitch=-0.0322 right_roll=0.0415 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.0034, 6.3932, 1.5751, -0.022, 0.1685, -0.0513, -1.5248, -8.9915, 6.8171, 0.9206, 0.2759, -0.232, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ddc9d9430dcc1e6ff332b64d07332f864246a0ff393676c0299ed33ffecf17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e254ceb75dad6a0ca58a4528ffd858478d0baa1036a4d28dfbed539cf3d3a77e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759d15381dfb978af7cd119b7a30da28b55eee098257c827e2de6de72403a223",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.771 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6861, 1.1809, 0.8326, -0.382, -0.6365, -0.5095, 0.9983, 0.9607, 1.8381, 1.3621, -0.4236, 0.7113, 0.6483, 0.9995]\nstate[eef_state]: left_x=0.323 left_y=-0.1241 left_z=0.1876 left_yaw=0.0926 left_pitch=-0.007 left_roll=-0.0069 left_gripper=0.9983 right_x=0.3562 right_y=0.3145 right_z=0.1481 right_yaw=0.0276 right_pitch=-0.0698 right_roll=-0.0214 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -5.012, 9.265, 1.3651, -0.3883, 0.0513, 0.0366, 0.253, -9.7026, 8.8821, 1.0916, 0.5983, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsum17JMAxkkNxhsbGXSWy54ugWpQOO1VDXBOf2OnD1kaXIMI4m0VS38622SZbXCYu-GF4KAbj3d1nXfhf02p1993Sd_4C6IpcRV2sckLxr5utjaEsU-yALoqmT8VWlWI8PGluzjFBnssoKPCkcmRdKLq9T_HjadY2pARt_bqkZXiXzfZfHlleF5U86p6K4soaEYIRSOF3aKV9EzCq32nEfYLczXK6RV0ncsniq66YBd6mE4-5um5uvycwbiB8RDswibFh_muOP4o9fLY5CwRDLIrx7Bij4LoeTdnFF529tiHWBrs4NfkhJ6zpdAqp4XHuLHCovarrMv31vS1EiVHa_g1W_RLnU35TxEJIvw5iMK71RDIuJmKFpBjb6oQ0TCyUd2YewZlqTBWactQKnK9vnw32OlNFkqEnjYVQdqbERV8sg4Q4_vhb13AZnxWydrRYh1RiJ4HUvOOaUKvpgeaZfL8VeOKE8dzUHtI-eso3ONvNIPVKcPrzRpOOTWw9rJslzkVr8sSZyjBMS3Vp-COoD25IBpsUsURY0nrFaDYWQmuOXZkNNLrkT4PM73uDXWWpanl3uhw4eIzUp1Gw-qtueF6qxZxJg_rYttRux1Pr5ZuVsnqh8hGPN5kqe_ZFLhq9uPGF9Un1InfEPJW_n5XW11hQD97-kS2Fcg32ZoBxEw_HIWne5rZRm-dEzlph6cqKvlzTCqwH8IVgKZB6PEFDJMXrFFl6anXM759cAgShceg_Nn5yOOIztSQCexQPmJfLpjz_kSTynqQzgy3TTw81gfCOW-ORAVmJ2vQC1FzPmuRzgpGLEB7VS9dD82MHpLeS0xiCqiXP0KDbl70DrProGSE7Uib4ECyDKA30XLTAr96Tpa6aQYqluTRpVU6mty2UPGywl_BC_vkpgoU7OLiOB-2F_S6awnEmR-w8kM_PThR4EvDIx4o50jeYQzdUP5B4KR-glDBPPrKx5Aiay94jkb2LOQJcYO9Yg9gT7vgI-_eOWdczXlpz-cGsfWMayRNcwpo5BPF37NptYgN59UwIY5UX18ESAd--g_0mHUOG6LqpOBIbApEO2FdzrYQefyOVEUbODRPGyqo8kUjCvb1qQQmGZQkQaCBThaISDDlK7bR6Lezopt41zb0Xu1Rx3jLJLuqyLK3t015oWW4Kq93evDW_Oy0x8l2jtBS7unQN79dDO6vEDPlEkYJ56TMD5DtOJZaHL2wGeg_2WYo289Qoi7qsychhWR1BwggODgvg7JPxStiLpN1KjwhbY4Mv4d5NG5uVjcgSbLZAwTITW1KUVVGXN_FQ76-K8VhqzwSOU4sqrP6YuuAYuPB8-j1C19rL5QN",
  "id": "rs_00db06a85b000f94016ab2e9b2d0c087d0aabd6203a357fcf3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream plush’s head is between the right fingers, and descent stopped on the soft toy. I’ll close here without pressing lower.\"}",
  "call_id": "call_WfDZsgensGuFgi0j7jGAAbqR",
  "id": "fc_00db06a85b000f94016ab2e9b40e6887d091f2f4425c0fb335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WfDZsgensGuFgi0j7jGAAbqR",
  "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]: [-0.1463, 0.8387, 0.6914, -0.4412, -0.2321, -0.1871, 0.9979, 0.9157, 2.1292, 1.4277, -0.0696, 0.68, 0.5987, 0.3173]\nstate[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1976 left_yaw=0.1355 left_pitch=-0.0113 left_roll=-0.0191 left_gripper=0.9979 right_x=0.4109 right_y=0.3584 right_z=0.0792 right_yaw=0.0348 right_pitch=-0.0083 right_roll=0.0534 right_gripper=0.3173\nstate[joint_eff]: [-0.0342, -1.6752, 7.7607, 1.7509, -0.2515, -0.0611, -0.0269, -0.1436, -12.8205, 5.8735, 1.0916, 0.105, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17632bd83951d96ccdf6c1e3ec7541357b82172ca890aeb1a69f41e7fc2c778b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2952076bee5543789a8cf9ad6fb53c19943069df62df454ecc658998831c13e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66eb1377eb13e3e1a38eae1bd9d253a3a2c8e34db158d5d480bc5e15009d2e56",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 8.048 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1448, 0.8349, 0.7013, -0.4343, -0.2443, -0.189, 0.998, 0.9146, 2.1174, 1.4223, -0.1047, 0.6701, 0.6056, 0.9996]\nstate[eef_state]: left_x=0.3009 left_y=0.0029 left_z=0.2048 left_yaw=0.1483 left_pitch=0.0103 left_roll=-0.0202 left_gripper=0.998 right_x=0.407 right_y=0.3545 right_z=0.0773 right_yaw=0.0366 right_pitch=-0.0322 right_roll=0.0415 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -2.0034, 6.3932, 1.5751, -0.022, 0.1685, -0.0513, -1.5248, -8.9915, 6.8171, 0.9206, 0.2759, -0.232, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right jaws hold roughly 3 cm of material, consistent with the plush. I’m lifting to verify that it comes off the table.\"}",
  "call_id": "call_vvNCVOiXh1qrRCSleYgf8KIh",
  "id": "fc_00db06a85b000f94016ab2e9b9043087d0913974e64ac53e8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vvNCVOiXh1qrRCSleYgf8KIh",
  "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]: [-0.1463, 0.8387, 0.6914, -0.4416, -0.2314, -0.1913, 0.9979, 0.9157, 2.0907, 1.5684, -0.3046, 0.6693, 0.5976, 0.318]\nstate[eef_state]: left_x=0.2994 left_y=0.0005 left_z=0.1975 left_yaw=0.1371 left_pitch=-0.0118 left_roll=-0.023 left_gripper=0.9979 right_x=0.4098 right_y=0.3595 right_z=0.1176 right_yaw=0.0418 right_pitch=-0.0498 right_roll=0.0145 right_gripper=0.318\nstate[joint_eff]: [-0.1983, -1.2513, 6.9949, 1.7167, -0.1245, -0.0171, -0.0122, -0.3214, -16.4308, 9.5521, 1.2918, 0.3346, -0.0024, 0.5446]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:657ac306e2dcfca4e9eaa15fa6a0a2e2e197f19381b0e58c50413e52fdd89301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e3fc3ad20057568817bb9291af40bbae3fa54ee8b055a537464a63e708480e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc985b911c30bcaf6105b9757b4c4ea953d901728b57ab0440ad428b8388f4fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 7.19 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8387, 0.6914, -0.4412, -0.2321, -0.1871, 0.9979, 0.9157, 2.1292, 1.4277, -0.0696, 0.68, 0.5987, 0.3173]\nstate[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1976 left_yaw=0.1355 left_pitch=-0.0113 left_roll=-0.0191 left_gripper=0.9979 right_x=0.4109 right_y=0.3584 right_z=0.0792 right_yaw=0.0348 right_pitch=-0.0083 right_roll=0.0534 right_gripper=0.3173\nstate[joint_eff]: [-0.0342, -1.6752, 7.7607, 1.7509, -0.2515, -0.0611, -0.0269, -0.1436, -12.8205, 5.8735, 1.0916, 0.105, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsunD2VBi2QUWqMXSXf3r27sJ-vbNVFr8VdHFCzaoc6MHYDSaX7mk8ZhzG5-a__je-NNOUM5AFV630r9oKd-gNPdyOG1i2qPVmlWNkn04gCp4-L3ik7-DceyiN0U_rPO3gdiKhaJsl06iBDHMnM52zSkym-BLqqQ3nzH9keJxZ5QxDPRqQtB8a4P0lMuMAnzsNG-tDh3oS2t7OUBLY6BMt5pF7xywh6KX7_027miXqdG9FY11zgO857v65xhtSneVfe9FLPU0aOUgFetWyoLeQJUXsbK6bVky44CNV-osW-sGG-GLmzzVSb5nnM9axJZ0ZjGcrWyT6R_tLzKZzW6sFJgHyRcR30d0gpX5baSq6y6o62KLWA9UqnVLg2AXPxP-agklzErUfXCQlqLb_FzGjG4YjbKXkzRm9CYWBxgobWmhgXvtWgkgy5rl9FN6sI1hw6tLD4wrKRCDcihKtdxcI94ff07K0VNJb9cyc63uDVQDHw4peCoHtbm5jtfSgaqxmcc_KCzjS2kWcgRp3_lfQlLLhk33CKoLt9L-Tf8qeWZ_fb-0v9HQ-mg1u3h2B6YgmpgMemHppiaMUDDYPw8P5x0jeBy7b0kmcUYKLBo2TXvzqA1Jsb1tSOR9T8RSKjXPA8UegaaVJizEHNnHVZDh_slAhEMCq3RigIrDn4JCyMyIVSzIv0uNphS2ev64jB5_MWEXEFiVEQ30wVs0dZpgdd2cm45WlxmOZIcxEvQoE9FvgldcTzSlLAcuqqADIEQXCP0tkf3O2JgFPKBdo2Iy3AVHe0JJoModR4x2PiE8oLMvgc0y7F6ZJC9i4Nkv315dzBZbUMeDXUQXYTI78NDAdBV1ldVCLLCVvNwveq6RyHp-wwsMusPpfwgsK7LZCabfQyYQQCv7WyVvoDEDVYMYUYuIs_A96kHYxZkWUZlwVmdjB5zRLk8JyDSb7p1PAP7888Ukacx7Alj8IbOQSQKc7gFvpLtzrrHGcSDoa8HXA46JkKJ9Xdrrrbh6L78xy5qSR2plH52-FPAh30YF14iVXNxNnJZd-ltN-3hblEMPvBHufLrBWRdiIp-eUAE6c1BAARkqli1sxmcJ0-GXmjlpiaHjZFOJHCCY7ZjL7BoMw3Kkk_2f2NDr2oFaW-8nAYuS14H3dT8-o-KurJH3tBLZMwD7hgsvXbnx3FHsiWX6C7mFdxGwtO3OuHqc0FskZUh34USYmORznwTW6NFKuqRMdGy6LdvsPi8FH99w7daOS2OMJrIEkebJ5MKvr_G2yaRSujbeXIBIFsZRcnzZx-B6iY40JGX5H3R1cKltzaVdn74lFpm3qq7tbtO1Jjx1KpelKkR7_geys_s1X2ZjgtPbA-UovxQXCegfVytdLV0WReiSp--zqmS27xgv4-U7I5hl-Pr1gRVh8Kjq2dc68iNewRsfFyZPVmXzc0lSOWvdkrt9DWSmBoEwsHsFyU8JDIaGyKvt4GH36clVR-sCVtF50M7sszFjiziIK6PV4BEgPwqFj-foUD5-QK5SnmYtA5tMemu_kl3Ucog-i6UOQDw1ZY49vmzNxR9_XFdjkpFW6P_jNZAJz87RIa3INZWWXGHnAdddeFYejUkEu2NqY9j7mkGIehvaCpdRtoPjybrG-M1b4Y7hST9Xz7uzlaHlCypT3J8Bo9vqNu1s7FAGF3JisnxvZO2SqpeTShEELDP9JxNZYUFHICl0VG8cQS77bwaWILYJG8tSuiSVV660k6NfiidNBvcmGtn8IXGn7DaI_iDgtY4=",
  "id": "rs_00db06a85b000f94016ab2e9bd5f2487d0b8272e6039378d42",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.13,\"right_z\":0.25},\"note\":\"The cream plush lifted with the gripper. To avoid a cross-arm handoff, I’m using the right basket for plush animals and the left basket for pens, carrying the toy toward the right basket.\"}",
  "call_id": "call_uJ1Bzo1hJsRmDb1FrDxwAaCc",
  "id": "fc_00db06a85b000f94016ab2e9c0eaac87d084e890bac01d162a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uJ1Bzo1hJsRmDb1FrDxwAaCc",
  "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]: [-0.1463, 0.8387, 0.6914, -0.4438, -0.2314, -0.1944, 0.9979, 0.3378, 1.7988, 1.5513, -0.4725, 0.244, 0.1783, 0.3187]\nstate[eef_state]: left_x=0.299 left_y=0.0005 left_z=0.197 left_yaw=0.1388 left_pitch=-0.0141 left_roll=-0.0249 left_gripper=0.9979 right_x=0.4975 right_y=0.1333 right_z=0.2082 right_yaw=0.0257 right_pitch=-0.129 right_roll=-0.0134 right_gripper=0.3187\nstate[joint_eff]: [-0.0342, -1.5111, 6.9675, 1.7753, -0.149, -0.0415, -0.0122, -0.3077, -13.2308, 10.4821, 1.6679, 0.0513, -0.0855, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f53964f2f0d605b7e6b49833ba35373ebae2cc7a0ad6f8dc8cae51cfd81c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af06666656794f1af98a666c1dc147559a7ea7d3a8acccf1dea47873db7c9397",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7e2c258e5f2ef4aa444b26f9502b0cced360984b7219d2aecf6c9b72eaf40a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 5.642 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 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]: [-0.1463, 0.8387, 0.6914, -0.4416, -0.2314, -0.1913, 0.9979, 0.9157, 2.0907, 1.5684, -0.3046, 0.6693, 0.5976, 0.318]\nstate[eef_state]: left_x=0.2994 left_y=0.0005 left_z=0.1975 left_yaw=0.1371 left_pitch=-0.0118 left_roll=-0.023 left_gripper=0.9979 right_x=0.4098 right_y=0.3595 right_z=0.1176 right_yaw=0.0418 right_pitch=-0.0498 right_roll=0.0145 right_gripper=0.318\nstate[joint_eff]: [-0.1983, -1.2513, 6.9949, 1.7167, -0.1245, -0.0171, -0.0122, -0.3214, -16.4308, 9.5521, 1.2918, 0.3346, -0.0024, 0.5446]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsunMYPpunkcit27DbFd-YtPnnxZJASgN-r1SwR9vfLWGuJn3r5AGdi3vRfF3krCDe8YSlg1NZYejGXlwFEfyarO_k7zoXewVGJwdkej-CLHWtzUD9a4dlmUIND7m1qlKEXCU27t8FFXY2ZP83oiCkDW7aiBFS8XDhFLIaSQLMtuXyTsEI2kP3jdgptCdBRxGBh0qc9ILx_AFwTg3tnL97rRG5z_g-dF-PCFeYcUyJnarMFCdtOf-Pg4bvNIq6NwwocC7MYvSmcQF3Ty9Bp7jqftK5kRXpyo09LD3MxkJFSV0WgddYV9ecg9fGQq9zPcsXvXIZ1yyX8pe1bKmnuaO1CfO75Im3XPnxqxPhJYPMvpQ96DunwrZ_Yo0bVx6vw5m37gM_LgRenwYT7G5djFHHoe8AFbhPrasAwrkF-P1iAlPd0iLCcI9kgDqUwgtMfjSvitqFBrXKJ2fOBtYWhSiBb5XVFUvw6RsM_I1tXK7a1n_PNq0wwn9jIi5PJLapMrGFyyIdTnhQJ5P3tddOuMziWzC_sHOMMUkTwmZm0hgjsb_JLOOtwMHm9VVI44loQ_29o2FFXiXNtPjOTfRqNoY5Lz2x_379SrYQuwvMMheMXqBAEHMS2Paj0WdWpmXrtxkaP0tWqQOr7CH_ko1g91XxxYaBsLAA6GKpbtOXFPJ2PJGqtHJDD-KCBGYjM4fwMeERSYy56-7iYvxu_ayGCGwyj8efCr4czKU69Q3vXS2qhFajv9TUW7pUzwlnQt2spkViiefxOaeh3It1bx5x_0rjSJqmIeeEn-Me0vW9gfxGUCVg0T29VQSAyRc3iaXWfVVc8aRpRsRY7EZAdzNwy8v3PBPfuVNK0T7A58ZQOQ7ktfJU08HAC3g7eYmukCa-Eixy5ynojHO17U5WZKN-ae0MWmu5iTl5dSY6GLJobyphWgf5s9Ta-PDjWXzVLBqO2GQGoSW5zsUcReTsQmFRmLNW4NgOlIWab5RTflu2Loj7XeXjv48dN5AKt6JDPOXTkL5jq05bOUEUEikuo1Sup4VCpqlb6pDGjSHQ7FS_ur3xdVkFO6RrOVvjNNN6Wqw48ORKkAXHrNsLFvEeD2fA6bx-eqrCytEkSXW7PRQnxHKvBdOJP2Qk0cLLqgDCUqIM4GqYD8CbTL822Kb_uF6mX4Lj3hwXTf0zWohJuGlXDe6B266rxzEFJqlLHSEyaXvBWTDRwGW2xg4zApBlkmVZQQww5fifP2yS4jIjW3d-X8_yy-alMbqnqTxxNH3f3P29VamlH72PfYwEkwH3rXdJw17zVsbm_4cOlu2fEik4iLdrj_JpKhbUIhjWKP2-a6UBwvoEaPL6Wcpn4ZH2auAz3pf3ultfPy0txgZePIi89qJweJc3tgpRB7JkBqitFOZIGrxkgBjBd8kFirloZ41_CQM2WKly0ieic0hfvH48hr2deoiuc7W_QNogIIMjU0yCFA8KP5GrsUSkOq6CCqO5zXXhOnqi0u7Z07Oa4Zdx68NsON0cm0=",
  "id": "rs_00db06a85b000f94016ab2e9c7f07087d0b92a070395a94e64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.17,\"right_z\":0.24,\"right_pitch\":0.3},\"note\":\"The plush is hanging just in front of the right basket. I’m advancing over the basket opening with a slight forward tilt for reach.\"}",
  "call_id": "call_Mune9dPhdkRMicvdYQvlRRrL",
  "id": "fc_00db06a85b000f94016ab2e9ca7ab887d0be7e9072fab21482",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mune9dPhdkRMicvdYQvlRRrL",
  "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]: [-0.1463, 0.8387, 0.6914, -0.445, -0.2314, -0.1947, 0.9979, 0.3672, 2.0163, 1.5589, 0.038, 0.3111, 0.0696, 0.319]\nstate[eef_state]: left_x=0.2989 left_y=0.0005 left_z=0.1968 left_yaw=0.139 left_pitch=-0.0152 left_roll=-0.0249 left_gripper=0.9979 right_x=0.5761 right_y=0.1675 right_z=0.199 right_yaw=0.0557 right_pitch=0.1667 right_roll=-0.0489 right_gripper=0.319\nstate[joint_eff]: [-0.1299, -1.4838, 7.2957, 1.7021, -0.105, -0.0659, -0.0122, -0.0342, -11.453, 11.2068, 2.2247, 0.315, 0.1001, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5efb53e0a5faec004526258c6c9e0386f5139172f26265ae90586725eeb2ee15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0614e3cda8967f2881e770f1035a0961cf552d69d8938797c956d5ba4b87d48b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61825b50f7e3371bda50df077bed8e9891de3cfac5373e19bd7a470e3967e281",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 16.22 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]: [-0.1463, 0.8387, 0.6914, -0.4438, -0.2314, -0.1944, 0.9979, 0.3378, 1.7988, 1.5513, -0.4725, 0.244, 0.1783, 0.3187]\nstate[eef_state]: left_x=0.299 left_y=0.0005 left_z=0.197 left_yaw=0.1388 left_pitch=-0.0141 left_roll=-0.0249 left_gripper=0.9979 right_x=0.4975 right_y=0.1333 right_z=0.2082 right_yaw=0.0257 right_pitch=-0.129 right_roll=-0.0134 right_gripper=0.3187\nstate[joint_eff]: [-0.0342, -1.5111, 6.9675, 1.7753, -0.149, -0.0415, -0.0122, -0.3077, -13.2308, 10.4821, 1.6679, 0.0513, -0.0855, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsunTLcgl6p_UQk4FAIk680td1rNKlD0gkJFh8QUO3P_B5Qr6G76vt_xAJ_iCXqU4DT6z5EMk_kcwV-4QvBN7s_5ROSzwA2mondiDzXtt9FX1OHLaEVI1cs4v_3GKUCPz0gNhIqje_b6o83LeincKgsg7AYnLvtzjGpsP5bRJmgykRX2mWHqbEO7K2UPaJ9ib5vg5izglZigkAUwB32kkyPIMOFVw7R89E1fJROAHGuahlmtWroKrJ42BcZAfQLRGBLLumeKXz1f1YfWqWXydVWKT_6LjG3LfuGCu_4zXsBl6jWx3YteNcOrvudeGkx6S-O9-L9XAfo-LZ-VUz6H3d4gR0sOeqr8nJR06Mq9BtyM_H98pwSvPJ9I12jQtBmGWbP3kGeXVJwUXenD6NhraCps3idOuiupe6czly0lEBcGaQa5lgKW14FxFX-D_tqNJwueQJM0H6stW6XgN_NDk8tZzpTxefk5ZfwBYYuVvHVSK5frbHa11re-2glQTi-CDXpDQXuuAQ7OC3M0w6Ipt_hAtUrbNPnJRaWA3uNHpwAeE3J_vguzkHVQ9t_wh8DtG-qVwSm0kdzxaZ0IoUKbUm6LJu95Gxv-WSePY6VtnpdgtaN1ZC8WRwfbGKdaNZHel_whlVVIyLF5KcgjboH33tAtOUjIWUcYlwqhBMBopOJsTKwqCKz-pEOBYVWLdcxwXbGh9ghbUwwtphoIOCJlZXqg9S_MqbRQWRXffWL5vDhv8nD6p6LPOuUcoLZAsnZB2RA-Cr5foZjf7kC2-ISm8Q2XE0dVTMVQxZDpUPQ5I6HHWZQhCyNu9B1nlyMLjhWRN4CjYD_IBYoPE_vhpwZ-O1TS5vwIvUxL6QY22s-UOG8SH8BMJYGBHZ_METoH9M-lOczk5vPOru1cPsTvzTruh19JhoYu20PJzpx_vCeR2rmm8nlou370e_P_-dljWnGfuBnpzaJqS_cbe_pfKCdmlcGGWsTIJXl4iiIv2CsVK0vMU9DjxdZczeEgio6_3o1gFduKWiquwPpdW0ckoAoU1DtP9WeHvOCftPhUS98MtnAH1bNOAxrmCoUy2qq_W91YZNUCvRJbQTJFrCivj53P5B2ZvWqdVOxzBbi4nTWPEMXGPOy4IzhASxKeLhFLRljXmzrKQK9WNGTB3KsMkk0oHlJhFeHLlKOSZzS8NtrgrWfEPj64GVCjvbto8FV3HTRwwQs06xBE2vcobqv2RMJwa6ndho3me0nvSjrORIXaEgMiBMuW6idsZ4M3eVNjwT99m6W38BobUS4EVVt28y7Bcn7Zas2RcAP7jcRTnxvrEzsMgRC3k8D5AnX4NHXcXtv9SbXoBxBSj4fz1CG3oGoQSyEW8wOjcgfNTuqFsCQPGKTBP_0DEA48GO8_gT-PK8edXEmsgvNU1d3Po5mJZXQRquXQttw==",
  "id": "rs_00db06a85b000f94016ab2e9cfc75887d093300ee0c87dadee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held plush is over the right basket opening. I’m releasing it into the basket.\"}",
  "call_id": "call_LJzizcbSzyotArxWul4KAwMz",
  "id": "fc_00db06a85b000f94016ab2e9d279a887d082bca329036c2a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LJzizcbSzyotArxWul4KAwMz",
  "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]: [-0.1463, 0.8387, 0.6914, -0.4446, -0.2314, -0.1944, 0.9979, 0.3664, 2.0254, 1.5494, 0.0353, 0.305, 0.0635, 0.9954]\nstate[eef_state]: left_x=0.2989 left_y=0.0005 left_z=0.1969 left_yaw=0.1388 left_pitch=-0.0148 left_roll=-0.0247 left_gripper=0.9979 right_x=0.5752 right_y=0.1678 right_z=0.1886 right_yaw=0.0644 right_pitch=0.1454 right_roll=-0.0587 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.2376, 7.0496, 1.7118, -0.1343, -0.0415, -0.0122, 0.0205, -12.3829, 7.8701, 1.7998, 0.0806, -0.022, -0.1734]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d210459c211dad7690fff5ee7f9aab5c65b2b354c7907176a5f93f61de2086f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c13ee274c3265f7473665af0fb971dbc447d6ccfa1f2a3aaa938cd1fd3c20d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c5c6d9331ae43a99d5dfadfdf58ec531362c7be3db3e1445ac2e275f29e390",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.395 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]: [-0.1463, 0.8387, 0.6914, -0.445, -0.2314, -0.1947, 0.9979, 0.3672, 2.0163, 1.5589, 0.038, 0.3111, 0.0696, 0.319]\nstate[eef_state]: left_x=0.2989 left_y=0.0005 left_z=0.1968 left_yaw=0.139 left_pitch=-0.0152 left_roll=-0.0249 left_gripper=0.9979 right_x=0.5761 right_y=0.1675 right_z=0.199 right_yaw=0.0557 right_pitch=0.1667 right_roll=-0.0489 right_gripper=0.319\nstate[joint_eff]: [-0.1299, -1.4838, 7.2957, 1.7021, -0.105, -0.0659, -0.0122, -0.0342, -11.453, 11.2068, 2.2247, 0.315, 0.1001, 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": "gAAAAABqsunkqEtzIEW5KxjXfz1cB8MQzf3bQfanofXP02BO_hlyGD1mQhe_KOZYHrFXWSmr-u_Q7kO4j5Y9OkwevipGL_tTtdkMTSXaEJAPQQhiRCDTINC3__3l7bxdy6_Si4J7af5-6GZEvaDavxdQZgzFnQvpw0NX_nD-e4sJdwWHhPcu55AsYl-caiIvXMhBM_m216BpHGFGYrr7ddlznx741YwwEZ32-h0MBTyfZ0Zb3dYmg_DcvDPGGiPouQ16d0CdsRMnIsMAWRV50mQ5QrADfnjGbkBUIpANguGpNXikm8G6Giy35wLWqIDA5FY-kE4olvXtZl4XlhsxpyTTcBm6KX62rz7f6lMH8ArfTlck8Un2k9-ac0B1fac_DiWD7K5ckIHwZA_SsOfaxos2TvM-GtysfZ2K185A6-ATcWHky9Fo30-Dc4q5h_4WK_JU5tF2tYKV8OecbsN1kRI-DR_w6G5T6MtkW6hRxiRND6hxvtkhBgKFn4xEZB3cfQBVx3N5hrgPWHwAioBL6g-tBjuUmSks0NzJb51wVceuAQykiQVLyLLub7EAJPKyjD3i6nnHB6Wrq55ICYltYjC9JvaXObK6on8fmIoQO4VOG0Pjy63kV8T8-sgd3NTtxQHimJxKGQ3nQdKqOdhSd5I2KvEn2R9bdJd2suj4B4eI6kAynf8K-9Op2ytaAuXj5X_emCXMeyxmBEzy7--EMzIeaAjzg19_LHMdxm4Zg4jUb6R7ux2gu90FYtSc1sjM4abSu6Sx28TKDL6WBMpgEOM7j2w_Y6u8eccz1tQlGBHHIBsGOrKmEWayk3lUT4Li1KWKefHtps3V3b2w0Nr2EU_zu2srfu_nlatfgnPrjHQzoTBxMklCjMTXMs0Jp3dv4Z6v4pvCh0Dy8QgcikyhZWCI4WshEus6g1AWPaO-R1tllC2PzOGJTheEDhXx5sZHQNnWbRuXZC6XJfaf4Kb74D715OLCWqgZFa1kmQI9mznCloxPY9JLWPtzkXAI76517p-1ktZS3naKIyojvHpoE3VWRtu3V-o1aBYY1EbSmJagN-LT-NZkGl59vhZeGrEP9ShOxoifEY6gFsDsU3FopjMjwEBBkzUcYYZrhKJBpQQyFzu_cDeHirYpKu6TpQgYHZFosg5aQtA4WhsLmVhTdbdT4UbZAAkRrz06csUDx7YadERUbPFpm7O2x0uR4ag_HFJsPvGrckcndD0ljqNQd9dZYJ3SuljEVMVj5H_QIRV7ZTwVsHI-RPEKwDAvZUE1Ehp_Cea3_JcTLeNwhtCnHYdw5RtRpKyImlCIBrR9vHZ4l6zXVVCVUpjPasUjICI0OmTfnFTrHnirtgWqXFNcyom_lyMZqt0LpkTaY8fBU_WbM8uVz9X41PY7CKu7Q9IbWPA9l6dOxo5FmpspYWB8o1FwSRhqcSNhTchTnn2fO9ka_RV_QqBJEcYlOheLwyehbQfXQJc14xRBEH2rzAG4R0VyJb3WHDA1B6GKdSt-wpwnPukcDSNT3G6kVia-VAta5MVPhkTnnpPXggWBZMn26T4HK7WcniYILwJLq5H6xQKveJsCx4hz9IyrAN4lmvYys8RO7eshyiqUQlw-JV3jrQ6Bkpuz2x47HoJaQpbY8fadOrObo2vGt75m30BgDU2wwnz8_mZFvXag5_RiRoNAXKHxAwbuE-AxuZVdsuaIvjEA1xx3MX9-2yxu7MqTf5OvktzFvxNVJoP0Rn-DLD2tZFXAcaU6I-Rx8DHeQwDspNj0Wot9yHWxJRzPs7_-SszmOtBFbxICTrrKEU8A5xEXwp6dqhoCXyzG48pY0C78kfo_B0HBHSMeo-N0IQeF01sjXHdnWTXj_WYCurdB6gS3HwnamFtXhAnLY6hI0iZViYM3MQtXFMXj1vqM2geLuhg8QKrzy_YXz-pv7Raa27AyR8vrEz949xJDeY1fhd2RzPndf3ZvjOf32U0vkmtIHbk7a4sdMadMQ51gfwc2tvBm41_kn_rCSEy_6toTDiQfg9JCIoobdW9cg8z80EYZl45zcRJjwjNHUDl2xjcvUZPKG-NQJLTzGzzgMPJTNk0ZrJZz1GCWhWAL5165QOFScV3hGJTFWx6aUsZmPGhK1aWhgeBQvxJ5gGM1A-x9hJlRImJtiun3oY6Cguu-0zlVlpOUDM38ExXHB8Z4OtygLq3bbEfa4vP5AxGilqjzdA7UakjDBCR0ZLP7jbWdnd2mGaqKU0oUWUQ62MUC-_SRUbRvT4hDpile-f7cvWzUiefISCtendy0aBSzobBI5Oiido9unV4qDdZHj8J0yJbmKHRfYlVSIzXVJbZcD8LCRWQAGEH0qgeBIgbfxTrZBjXa7sBL-f-UUBKhSYed4ufzEto8HLaNWVGrzgQSSwVz4u8mZPbCimLwHVFjWVp7TpxkI_FZYhsZk63JL8kV7FQylO5fs566VzUFAukbX0mMO0Psrw5iEPXPSXfZYtMcXrTFCuuTeeylZUVZ5rWdhLthI_b3zH6n6lE_IU90CuOeC07fDgGnfrphwiT3vCcv3PAZYHUbHqgLHATq7LZo8kP__QzJcMc2Mgf4Gs5knE2o5zinQt3bNLMk90ftEx8bqsmFzmZR-vHQifSdKLCwjaepaIhWFsghhAb0hQiuKfHCbEkgPrxoRLZWDRaAm0xDJZacFjEXAgwUVaZCeUXXeM_f79XiuuFArzmswFDV19-H7hV3awgU3B2ABA1gChiNIEJg-VL48YZIPFZ6GLtrCVpH5dYhm_thd4ZiYU2tzKJatmZfVzoH-eEnnSW3I54bY06-pU4rVnvU9kYJBhzPTW1AnGN73eFqBlDHBQSijthvUWXb5qX1p8X2h35TugY=",
  "id": "rs_00db06a85b000f94016ab2e9d6c94487d0aac6eb0be99ba1eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.23,\"right_z\":0.05,\"right_pitch\":0},\"note\":\"The plush fell in front of the basket rather than inside; its body extended beyond the rim. I’ll regrasp nearer the torso so it can be placed farther into the opening.\"}",
  "call_id": "call_BruwxE0KxbvPDGre44gxjybU",
  "id": "fc_00db06a85b000f94016ab2e9e22ec087d093286a420d35640c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BruwxE0KxbvPDGre44gxjybU",
  "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]: [-0.1463, 0.8417, 0.6914, -0.445, -0.2314, -0.1947, 0.9979, 0.5552, 2.0483, 1.2335, 0.2665, 0.4606, 0.1749, 0.9962]\nstate[eef_state]: left_x=0.2991 left_y=0.0005 left_z=0.196 left_yaw=0.139 left_pitch=-0.0181 left_roll=-0.024 left_gripper=0.9979 right_x=0.5052 right_y=0.2252 right_z=0.0905 right_yaw=0.0682 right_pitch=0.0783 right_roll=-0.068 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.5248, 6.9949, 1.6825, -0.1099, -0.0659, -0.0122, 0.8547, -6.8444, 3.9726, 1.3553, -0.315, 0.4371, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390f49f164c807d74c9cc9b37a4aeea841b614062922b86c1e9ab3acf351b5d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c807c1796f231a9fb73c726c1192d6bcf9dff44b8980aa24dbe89666b06eb41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140824ee1892065a0462e01895383e0b164bef69a9384be0473b0ba9d795ce92",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.741 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8387, 0.6914, -0.4446, -0.2314, -0.1944, 0.9979, 0.3664, 2.0254, 1.5494, 0.0353, 0.305, 0.0635, 0.9954]\nstate[eef_state]: left_x=0.2989 left_y=0.0005 left_z=0.1969 left_yaw=0.1388 left_pitch=-0.0148 left_roll=-0.0247 left_gripper=0.9979 right_x=0.5752 right_y=0.1678 right_z=0.1886 right_yaw=0.0644 right_pitch=0.1454 right_roll=-0.0587 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.2376, 7.0496, 1.7118, -0.1343, -0.0415, -0.0122, 0.0205, -12.3829, 7.8701, 1.7998, 0.0806, -0.022, -0.1734]\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": "gAAAAABqsunq937JZfLIzCdlTdeRghUeEusNSEIj2r58Zub5IdBRfr6Ycf1tGRaMiQdz9kMzDcTLXF-OSBP-xLnMwtLfUF1s594SAfWxi0wGQCfWfe8bVJfun5sF0KGqt_s9BdNccilH8knEuCcacEbMlk_dqr-S2C2k5gW9R810wENol-Zhh-CbCeiCedDDXzYgQUbZ8yMIBpuCUdvqJ9b0-Jd_H6pcmVjyFAXUApiQmdV4k1AIl4CNvx32B7B-MBpj915ISHesS4rw-BIyf5rdx_wEa72khQsz3JTKSrxf_WR-Men6GnwwLWEDv2Sw0vu-1AqJqBczF1xclpdUCghWhbC7NfKgZ5Ni5SDBKF7XkiyXoyOVzhw-EyfFAie0sgkwri1iBV_-VdF1AG7wR531HNRlzEJA3s1SmmLpb9S9qk17GkKWkkygX3kEiwFTGIP-BwMjbmYDjnosYeAbhfaoJj8eRzspPVWKv_Q1-wlHdvT7zxN_LS29w9xE6-VA0h_n-TpwqIMDeqA_ROQkHUienZsgYA7axwmSvcx7sO0rup_2FIUZC4DZHaXGvrk9NKgxhGj3-6xJQvmCIso_e1Vh8PksONjhJ8QUty6lR8hDJPB7IyXPWrbbfMoN0JE9mv-oxKlT4i8-2YsFbvVWkM0_HQ6EgSZDRbxBjIwQy905Jsb-3FZDHlhdpzdBvHKVmGIzgu9PoZO-BGyzS4L64rqNiETfuyPA_y9E4CBTYM4PlQgFKBP2M6b5uNHK3xUJ9H1TNPDtwH_DMtxmRiv3BAe-BgiYu_R2XaOWrrwffiGkrvFDRUNulrI0fsibUMzXH1ZrZ6-G7l6xq0Zuh-Tb-Q5ncklrBLFmE5pdkDl-bfmUFC8NkYVyeATt2DMjubRnqKBTDEpHM5oh9iC5hjHhk_F9ZHgcYhx9jVPZJhFOh81-Al1B9YfZ6Bj57DzJVn8X7OrhFswtOk_OMU5HD74dnEgRrQhihF_NUon4NqiXn0HpGEcF8xOF0YpZmMEgYdKDU1pS6NSiO3Kt1XLvhPjdpO8VIO6f2YxmhI03TQBeFmcmMWsQzA7fIMZ_57ivhxjZqX__3NyP4gVROI_14i50ivsm4G8daqtzPl6rypJIqh7xeuAdpXuflycU4AyPT4gv-gf0-cmq93nFuWxCee-T8PRgSxpzUOsF4Dyu_XScc3p9RJPKEfnMhHzasc10mJpweHW060W8G6iDlCKnN758vImCOpIxxZFUVqksK60A2ImMzVae0CNbkB5AqSBfARXEd5U8Ip2KfxIIw3TWJvU4F5HJCJuFC2UhUg==",
  "id": "rs_00db06a85b000f94016ab2e9e7b2c487d096efb4798e3c0a84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers are positioned around the plush’s torso. I’m closing without further descent, since the toy is already supporting the fingers.\"}",
  "call_id": "call_VgRGlnaMJ1EF0VmXQpqlvWpj",
  "id": "fc_00db06a85b000f94016ab2e9e8ff8c87d0b589280497666718",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VgRGlnaMJ1EF0VmXQpqlvWpj",
  "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]: [-0.1463, 0.8444, 0.6914, -0.445, -0.2317, -0.1944, 0.9979, 0.5514, 2.0415, 1.2316, 0.2874, 0.4877, 0.1314, 0.1073]\nstate[eef_state]: left_x=0.2994 left_y=0.0005 left_z=0.1952 left_yaw=0.1391 left_pitch=-0.0206 left_roll=-0.0227 left_gripper=0.9979 right_x=0.5085 right_y=0.2198 right_z=0.0986 right_yaw=0.0644 right_pitch=0.1057 right_roll=-0.107 right_gripper=0.1073\nstate[joint_eff]: [-0.1983, -1.5795, 6.9949, 1.6728, -0.149, 0.0122, -0.0122, 0.3214, -10.0034, 6.9812, 1.4774, -0.1099, 0.4322, 0.3883]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7716534d9a3f92b247d64abc7a94e4541c1e422cbd0c3bab79898015c5362a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207d87a7bd418c3598dabe9b335e3687997a0457746b72769345364573491f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389c69ffe6dcfe52eb1906b187185f90c7be884a218d97b56d4e1a2facdfd057",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 7.139 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8417, 0.6914, -0.445, -0.2314, -0.1947, 0.9979, 0.5552, 2.0483, 1.2335, 0.2665, 0.4606, 0.1749, 0.9962]\nstate[eef_state]: left_x=0.2991 left_y=0.0005 left_z=0.196 left_yaw=0.139 left_pitch=-0.0181 left_roll=-0.024 left_gripper=0.9979 right_x=0.5052 right_y=0.2252 right_z=0.0905 right_yaw=0.0682 right_pitch=0.0783 right_roll=-0.068 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -1.5248, 6.9949, 1.6825, -0.1099, -0.0659, -0.0122, 0.8547, -6.8444, 3.9726, 1.3553, -0.315, 0.4371, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsunweQTdPZY9-Iup5GKdT3RMZ9Mzut31PAzuqOHxIGDeiEZySyqBD0QHLwkP36WReKVmb7uKdfn_xKe1igBcLoWkiGFDIDPQd7YaerQGZAYyoTiTPoZFopNHpQTpLFyCHoKQA9HcD92K_RqcnRqER_ftu7wP2rpDbIVU_BfC-L3TOLgKnM5OKLHceyIxoBwf7o2jc1IO9qTIAGxhMxDeajUnmz57099LUDrsn1QnE_EQosPiay63Q0Kriy6GsQ3YevPY4HXVPBr86JnFEILprb9TU-UWyrxxdBQ77_PP7xr261Sbata6BDXZdEuRkpR63cZVBSjx9Gqe8rAoeLakxK8L1qy8Z7gUYU38NFNDiUiJuExg45MFA1xRycBj2NNj6ggBF8i4EDd_PlwAgBojCy8iMvTvuukhn9yl_Ok3GUUkOJBK-0tI3-u4_VAN0Wf1bDKXSEhxOqGs9m8EyznrYSVaiUqaEOw7kDxSSS6vIjJmxpKuNFy0O3mhLtWQ0jmPmGJcg7g4dyct6qENuaWWD7wOriyE_4eE-g5B4BVPC2OT7_2XYuNDVWq6FuxzUTDDpn_GZ2OFpo0oKAkb2POYQb1bH0YjTI8unOdw5SShSo5p978lIl_CeRMWVqX09STIr6TL8IkRU5Z6cZ8IbO5Q-aeQDZ7hzFAYPLvGuaYg2TMKO8TIIiivECkzoFpB-gZEzFGAB3sBmmUZKBD_Aoq5NPiZHmz5YjJA_oZMvENtHvRqrn_Z6hI6HxzHc-wCbq6atIBKrVAqCyHzYWiQ14eCVNjEQNg-v0IsuJCjqzx__I2SunUtFWFZS9DwHO948rzfHuPzAqFRpImCAmDGwmZpjfPaQTwUEdMEw3Dw6RV0FPDwQIXycpzEopeQYlb-xs2_9NgUR8Cw6PLKvjf7jlYI00Qr6a-8vksbIdli9113TTd0pLM3t-QLTSfosvGqQ8x8XOfvVGmoUCJR3epZylFKz_X3Twe-wnQQP5dB6SQcNNya09dVpSrlU5lsXL2qk2y51JSaYm4r-EpL9p3A77Cx-U3_EcqsAnR8Wm4IBv5aj3fAniusn6WpUkMFs8ouNUzdMopmTWz9u5IVgVZuHbFIUh7LYs4SZAMDJYTYnqvnWapMCNO6J-03VWWAOPhRPmngxs9onwCdNOgsWfZOFzbjUkrL0z4hP5HJJTe3S6UfUQ1E-xrD9C3VB__KMmPBrSQjV6ou2aM5HGdaGGC3SKm0eQju_mbjYGvZw_ZXFeGna5SGUiH-qa5-12aFsF6f0VAJqu-rAwn69KgHf35rU5FDh8xFgcqtOfqcc4rOgHGwlGHzOhw=",
  "id": "rs_00db06a85b000f94016ab2e9ed6a1087d0a4023fc3b01a55cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.15,\"right_z\":0.11},\"note\":\"The wrist view shows the fingers caught the basket rim, not the plush. I’ll use that rim grasp to bring the basket slightly closer and make placement reachable.\"}",
  "call_id": "call_wnPwzEO63xkVvGSqEh19K479",
  "id": "fc_00db06a85b000f94016ab2e9ee64a887d0a3e0888b1318c834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wnPwzEO63xkVvGSqEh19K479",
  "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]: [-0.1463, 0.8494, 0.6914, -0.4469, -0.2314, -0.1947, 0.9979, 0.4881, 1.7485, 0.8452, 0.3782, 0.4263, 0.099, 0.1069]\nstate[eef_state]: left_x=0.2995 left_y=0.0004 left_z=0.1935 left_yaw=0.139 left_pitch=-0.0272 left_roll=-0.0213 left_gripper=0.9979 right_x=0.4436 right_y=0.1569 right_z=0.101 right_yaw=0.0691 right_pitch=0.088 right_roll=-0.1095 right_gripper=0.1069\nstate[joint_eff]: [-0.0752, -1.6752, 6.9675, 1.7753, -0.1148, -0.0562, -0.0171, -0.6632, -9.4427, 6.5162, 1.8437, 0.0611, -0.0513, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30ffb023cd98b2b822ac3205c8677df4ed59e7caeebd3812a6a98d43cc5834e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f7b3293876e3ef84f4e934c4c80828514f8d1cb34a870f2ed37756cf8c3cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b293536766f3277ac8ac9ead33d5a27ed216707ddfce20e7692f9842a40d9a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 6.92 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8444, 0.6914, -0.445, -0.2317, -0.1944, 0.9979, 0.5514, 2.0415, 1.2316, 0.2874, 0.4877, 0.1314, 0.1073]\nstate[eef_state]: left_x=0.2994 left_y=0.0005 left_z=0.1952 left_yaw=0.1391 left_pitch=-0.0206 left_roll=-0.0227 left_gripper=0.9979 right_x=0.5085 right_y=0.2198 right_z=0.0986 right_yaw=0.0644 right_pitch=0.1057 right_roll=-0.107 right_gripper=0.1073\nstate[joint_eff]: [-0.1983, -1.5795, 6.9949, 1.6728, -0.149, 0.0122, -0.0122, 0.3214, -10.0034, 6.9812, 1.4774, -0.1099, 0.4322, 0.3883]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsun3RElTYlkx5YDDKENdy0vpgiqXU0n2wdFTDpxFm7JqSicBLCYJKz0XgkA4FVdPGIVuulC2OH7RP_Vp_WQPReYl7dtmWQv8tWuAasBgFMvon9jW9aGLjsO9E7owI98XrNQW2tmd5AyPvS2kJUFymD9Z-nXw3Ds4_5pqbFT4RtkpfiTtXp9ExdO_1Q9STstR5kEoI_gQiGwR_MnGZQCKnEf4pgahVBG8SPFWnJz8VxQ9Pez3IrNydpFmvjlpyP4RQhDl9J5PeOjxHc1Wo_0vqBQbcg9Lua7EdUUBiEDH9RqIGIzsqxlK9n5L3pn7q6xUA02bWBdMAGSBH2dSHx1qQCNUmthErhMGyxCvBevSX3cxccK-x8X_-h_YTaiaSs67__feZTJpxuoa1xJHnYL009rCFLLvn1gQGakO43R-LYSNduaERIg5e3QcatAy98xHo6V9dtezojSgH8Qr-vpZRHujo3KUPWyCMZk9VnGyMH2HVx_j4yEIbZ0GXwaZUbNjLt7fnf033H5URlqpxLfpkBRLOOaSRTXPbyOMZXkALlef3c4oYS6M_0JzWdWcMONkUN35N6j3woKzs4ljtHFp_BbxPrwgBq4pUFEkXPOS3XX6xyXsHERNiRPpnuWR5nlSuLkvYaHNysnwy5GOPT2XzjmnKpRB8Eo0NtbbqUpzDHIiC5uvlMcDPl2x08KL3erqsUMPHz1uNGj4EubiOHcp9DzS0wVoQAMEsIECaa4598kjLNbVkbu_FIx6oDTSnJIqJGxenBxL3H6Ony5mac_Dq7mh7SgEI6XV3yzNyKuMKKqjT_BbUs8EjKsDBOI1LGKai6p9VIwxpUh3rL18GhZ4VEuKxaH65EIXU5hF50q8C2YK_cU7vbMWbC4dkk1Jm3d4ECPvBcs9Z8CBZwsq3Rq0THhBwwFEDYuX22Fl4lFzMoBqMJhiKVHqfjUurNNvzQxPZ7IpQmdxA8m4jvGIEcyGk3Mia14BDZuDjxHk8UqYP3AB7Dm5IyfrXK_zxpZxWWaPCQta9XzCZQ-BIB3zumPKKbrNDLQuScOcCwfVNFffjaQZHySIBKJi5OZx-TIDZCjIMG31ZQK-FO8TMolFTfEBWnmwho0uFbYEmKQ5Sb6yyvFGY9O3rN_kCoATc3t-ASccRTLkJkc37P_QDiXb7BtnjBHLvlUPHH-gzDyFG1aSQQ3YLTxTO71tww6M5FpG4FnGaZQGMbIQEk6B8CcPKAD7ilQaGvRd9-PFmjsBINMVts5hV50KvTM31vV4Qah3PxYQKGGIYmeI6XT7g9XFVTsM-e08vKBtTPvAY5QBQBCZBIPqQhrTSzwv6H-BFwNTtkpZ1QSSXyOaq1V7ZE4DChM6tl4m03mwWi6q47M__7ViOcHFx5owK5IMygCT_Rck6b_Uxc3p9X89lRo7u8bRAy8m7iq0qzbVv2PziVWpL7EW24WG_LvtMK4gjzz4P8xl2-Agc5Gof1vvOjdXXsbvrehQb_qUvPji8yH5JYrUrJHt0HYDsAFL8VwctJWq_PZw_nn6nj0Fl0grmTSo8-BW-wHGAX6Gm2cS0mGWCutdmzNwlcWGvl_O1TsYwZr94dqTKnsyXI1OYpVvIM7z68AiH9W3Bajr75PgGQEG5wZrL0aFoBW_pB0g50QxINS9gMsbJSYhXp9V9cT-ny1tPvsMgJW4O0HW1g==",
  "id": "rs_00db06a85b000f94016ab2e9f2a21487d090efe8d730b64208",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right basket has moved closer to the work area. I’m releasing its rim before picking up the cream plush again.\"}",
  "call_id": "call_vVQ8mKs0KD5iBgF55Jp8SH9Q",
  "id": "fc_00db06a85b000f94016ab2e9f62f4087d09124076a5669704c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vVQ8mKs0KD5iBgF55Jp8SH9Q",
  "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]: [-0.1463, 0.8501, 0.6914, -0.4492, -0.2314, -0.1944, 0.9979, 0.487, 1.7355, 0.8272, 0.3794, 0.4149, 0.0898, 0.9952]\nstate[eef_state]: left_x=0.2993 left_y=0.0005 left_z=0.1928 left_yaw=0.1389 left_pitch=-0.0302 left_roll=-0.0202 left_gripper=0.9979 right_x=0.4395 right_y=0.1562 right_z=0.0994 right_yaw=0.0824 right_pitch=0.0817 right_roll=-0.1138 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -1.6205, 6.9949, 1.6972, -0.1099, -0.0073, -0.0073, -0.0889, -6.9812, 7.6786, 1.6532, 0.1538, 0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1556edad77fac13f92de2b86fcf9c08aad29c2c6a506883634c285c6108220c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df9a732eaa7349731341d88f2c6eaf0186416976b4eb129913005439268d251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23229daadbcacd1e8c6a26ee5b64fc8b6615da8b9a6abcd6143adc41e2a5e009",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.203 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8494, 0.6914, -0.4469, -0.2314, -0.1947, 0.9979, 0.4881, 1.7485, 0.8452, 0.3782, 0.4263, 0.099, 0.1069]\nstate[eef_state]: left_x=0.2995 left_y=0.0004 left_z=0.1935 left_yaw=0.139 left_pitch=-0.0272 left_roll=-0.0213 left_gripper=0.9979 right_x=0.4436 right_y=0.1569 right_z=0.101 right_yaw=0.0691 right_pitch=0.088 right_roll=-0.1095 right_gripper=0.1069\nstate[joint_eff]: [-0.0752, -1.6752, 6.9675, 1.7753, -0.1148, -0.0562, -0.0171, -0.6632, -9.4427, 6.5162, 1.8437, 0.0611, -0.0513, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsun__07fSy5ZYYxqcFifw9KIFc7szCqtBPn1UyuW6ZSGeWhn6dX3Vvp0Jb33byGMGCeWje9WP3TN2tftXwjIC6_Mo2lA1wEAGtXSLnjsBsZuHNYjQhHgylYbiFLBgz_VBpU_e0TK_RNUB9kf1VT2NJxLy-N26N8YLOA9bRX1vyWqcIP6jGQ33vlGCa0AeUx9dBeiw1JLipISfXF3seu5Id09At27CbZZf1I2CCl5AbFc50EMNQxgpw66qYZLd6lq_lul2rtBhhKWYb8jtuRRGglAG9bzpR8eOn0vQGH62ECTML_qJ0qDzr-JDLqbN4Ejez0QVT08xtHhpTjsZD9-FoFv0cXyHK6xNUQVMe7Lg_gb8nJp5gGFB3CHYushu-p0JYJjBNyfPtyPLTXH_j6zq7S2xKiHa5GJM9kcRB7ZqtMJGp6GkLxpyjKlA6TZeZrYbM_RR_pml48zRJ5O2dRjX5rbFN-ubB7kvRtOf2c7WR4_vZkAxdMH4_0lPcNUXln_nQi-piKctsxEhsL1gvmGVVG01xOjm21W6agxhVh3_hs751Q5fArFcMQQGeCb8kaIkjQMmfhdLxRE_8ZQsBy3DTFYfF0kcj4sW8NSmm_ziOPJs5RQ3JqjnW3ePEvZ8ez5XITZykR2stMuwhrfrKKmKRQkwlkF8txtquzrRrXw7irsJxcTbOJdh4UiA6l6E6AUM8b3bvCrYiaEkkpaABp5nkUzvfsuQKRJ6KvFc5iB5eQI3cqi1DeHR1uLP564oBXImQd2wMpX7qyAlXwi6g-YACtrgiKHnB34HyIMo6DpqTYy0iypSOgOkkbq_-ySKMGYbw5KjAWRTmaZ1wMOA3b-JwCYbrIRrbotJ11U9uQ-PPIGIhPlcm4wjXpjfQzO3lDOZSaqOpHu78BYcFjFJ9MY3A_qOs_hdTMsCcF0q9DTtxuqPPLyBPTvaXS36N6PAZ-djjSyWXq_lVlTfNW6AnxV67wD5CqVQu0qduJM92Z7P6XU8znl2MhkIT3LvbIJBVVMLxhCIkcMwjlhDabrq_kXUG9wbcJP5CcgwYSeK2IbSzc9cX0uWbCnmosXVtLSCaiWwvrdhsZpA9ZqSx8g2-8UVI5z8rH1NP0_qeQF8qnG1Rh8YYoy3GT_2sO0Y6DMQaxbMSvams0inZwR9jMFx6WZ0c1juWHIc1bcKTvUFtpC63Hyd2dSPIBTd7EwuULsT3_p4FhFuNeEJ1HMm9VT55yLY31AKW3nPmWI8lVsaZsS4izjTZStlzipUnwDdIRdKS6mzzro0R_hYBicsxNCiQDN6yT_8KKhdDWLkKIR5riyGTyl_N7McZSfgc2LjzJdgaDvP7v2iWriEjNDrKkvGknQSNKu64z1gKGMSe-VCHXZWCOoFu-sV7Eht_S2XD5Zr8qj0YRRWfQ2rIA9QgoVcrc--iT4OkDqrPPKO_FGvD6mHoPDAnHaDzAIwh7j4QuPJIRlbwbpAvLz-8006hner0gKeoWcB13zxjERsoOtqHk5bDUXLuDKY-K7JE4_Tdl3Yzn4d4TSqsk2HsD1cxz1A9Vtf1_qfcHS9k_OHgcrpE9rNY9_6GI=",
  "id": "rs_00db06a85b000f94016ab2e9fad52087d0934f00d6d86a8a99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.285,\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream plush is immediately left of the repositioned basket. I’m approaching the middle of its body so less of it hangs outside the grasp.\"}",
  "call_id": "call_xqLCkbGgXoSMMDTKUxVeT4AU",
  "id": "fc_00db06a85b000f94016ab2e9fd6c9887d0b0e4c5389c633e45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xqLCkbGgXoSMMDTKUxVeT4AU",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8501, 0.6914, -0.4522, -0.2314, -0.1947, 0.9979, 0.8055, 1.89, 1.0275, 0.1883, 0.6014, 0.3813, 0.9962]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1922 left_yaw=0.1391 left_pitch=-0.0331 left_roll=-0.0196 left_gripper=0.9979 right_x=0.3996 right_y=0.2768 right_z=0.0811 right_yaw=0.0992 right_pitch=0.0245 right_roll=-0.0257 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -1.5248, 6.9538, 1.7167, -0.1001, -0.0366, -0.0122, 0.9094, -8.0479, 7.7744, 1.3211, 0.1538, 0.2564, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76b465931e12f9f9954705973a65373f6474b0245d2066ba6e95b89c15bfb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9652e2ca17d0c8f9610a3783b0b0b172066e85c80402098b2060227ecc6929c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1925287a4e81e7fbdacc9648428bccc53df120f46a375f26c94fb58164043d98",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.673 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8501, 0.6914, -0.4492, -0.2314, -0.1944, 0.9979, 0.487, 1.7355, 0.8272, 0.3794, 0.4149, 0.0898, 0.9952]\nstate[eef_state]: left_x=0.2993 left_y=0.0005 left_z=0.1928 left_yaw=0.1389 left_pitch=-0.0302 left_roll=-0.0202 left_gripper=0.9979 right_x=0.4395 right_y=0.1562 right_z=0.0994 right_yaw=0.0824 right_pitch=0.0817 right_roll=-0.1138 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -1.6205, 6.9949, 1.6972, -0.1099, -0.0073, -0.0073, -0.0889, -6.9812, 7.6786, 1.6532, 0.1538, 0.022, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuoHI2gL0RP2oBUjWBOQwl2lNDxRw7RvUwOv5HuTp8EKpoy_wFE7ZNgiEV2oBTfGoi_6K0U43UOYYGM_Ymflk7zdzszqq_USFxphQc1t8L2Qxq04ZzC4QVDFyR7ikmwvyB3lL3Du0eawm456LyFcuasld3kCMmCuAke1GMPUNpexIeTZnRa2FwflqSFOGSasaUM0mWwZDHofKQZuiMu5csHIIQK6ckfKO5ljdEvOLXnj2Og7woUBwI4deemqXiRlh1iILmjQwaXN4ZOMESpMLwFSWJ-P9DIMZJqrynpGtgv8nOjrYiUlmSTRnzZxWLo16hgMNQ8F-3qMLEkmguhMGQNuSJjIjMVfTQeD_sTupGwGQ7CXjjQsoKFJSXtwcAqQNCnbyr7ox9KfKGCueL4vnM5BjOkRRcfsn5X1TDwZ-I60lrzhQuKm3ZN9MEZI1swprFTJTUBkmZA_F6Z1oW3wW9-0jicjKb-3AwmjBJYFvibskRpgUd_N2lq1wtiS3EaPuh0rBTPj4PFHeEl9kQ2CUHvpQOAQ_neRY5V1snUupQwt1bVpfdv3fTNfk37v14KtPum_016q9d1x8wnL7exJbDCar4Qotd5_i8hJwzWi6AIojaLIZIgWFhA2CKoiuyqQ9BPG7WD2JK1sdqKSAH_2j3TXwUfqvm8hFyobztHspgAsYEuuoB_cuo-PIFVct-1CE2e3834-4B3evuXx4Mct8xAAXukyRNCi_8RTlaji_pZVRN40BbipWgJbehs9RiHYY10V_JSc0gayPLo86vx44gXlmY2SrQcxCChFcZgRKkdgRQP4SJ5nH9_5tXgPsV9-nhO8VQaR1GjVH2yFbKeDWHOjVzqkqgS_cB9uEDoli2ZY39U1rVBx0fK3a8cz0mhw77l_-S-TLy-Lp_F_1hKyCOEEB_CFWtTkEWdDZgc-A6BCBLXtmP5cKw0D65djZnSwg3YVxmlQxhVhABbNCCZJiHLu2K2YJxsLE3MTTO32hyT7tvA0Y4JzBJVN6deZiUqYFFyzoY9HOvRlq21bQC7IUvaXI5X5NDUSHXIZDwasASbih5P90wC9omkYTpF0GSWnUjeNWQCvHJl4ln-EBRnUxN45TPlNUnXN1uuXfYqkWWCpXdX0VGNj_yALoRGQhyQIhUNkrsP8N5ZvSLHzGKgm0c0J4oMo-4Ajm1qLCzTFOKcXlEwUomlhSZ4R7dSPWvIUbeNhZny6pviGo29jDECekFPZMvsf_0BnXrnG_5onmUmznUtN5iojCbHBTgUHDpKfnnNXgnjXZzX94AehNoGSxUQcnqQbzVfVXM8SnhRVUOFzz8I=",
  "id": "rs_00db06a85b000f94016ab2ea0504e487d0a80dfec858c3570f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.34,\"right_z\":0.045},\"note\":\"The cream plush shifted left as I approached. I’m moving forward and left to put its torso between the fingers rather than beside them.\"}",
  "call_id": "call_k4xhsCAXKJzcHJrpQb0SDEzy",
  "id": "fc_00db06a85b000f94016ab2ea06019887d0afd5bdb1e801e879",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k4xhsCAXKJzcHJrpQb0SDEzy",
  "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]: [-0.1463, 0.8555, 0.6914, -0.4534, -0.2314, -0.1947, 0.9979, 0.8196, 2.183, 1.3319, 0.1696, 0.6239, 0.3828, 0.9963]\nstate[eef_state]: left_x=0.2991 left_y=0.0005 left_z=0.1905 left_yaw=0.1392 left_pitch=-0.0393 left_roll=-0.0178 left_gripper=0.9979 right_x=0.4442 right_y=0.3298 right_z=0.0491 right_yaw=0.0954 right_pitch=0.0283 right_roll=-0.0398 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -2.0444, 6.9675, 1.663, -0.1001, -0.0757, -0.0122, 1.0188, -11.0291, 7.159, 1.4237, 0.2613, 0.1294, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff36812dd0a3037dc88d8d41ee6823f0d1381e5904b337f40cb2a22268b813c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3f25c6e63f6b51d89d0ebce03f4c0a9ca38251967050bb3e216adcc7911b11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd21e26f8f9c55a83eef24f9f51a78daffcedfaf77043b99083f3441e16a216f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.118 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8501, 0.6914, -0.4522, -0.2314, -0.1947, 0.9979, 0.8055, 1.89, 1.0275, 0.1883, 0.6014, 0.3813, 0.9962]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1922 left_yaw=0.1391 left_pitch=-0.0331 left_roll=-0.0196 left_gripper=0.9979 right_x=0.3996 right_y=0.2768 right_z=0.0811 right_yaw=0.0992 right_pitch=0.0245 right_roll=-0.0257 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -1.5248, 6.9538, 1.7167, -0.1001, -0.0366, -0.0122, 0.9094, -8.0479, 7.7744, 1.3211, 0.1538, 0.2564, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuoMIjG16pxRX4erhC6GwX7E9aAzjcaLNGx27hcgYoBfSOfQ-gENitVCDJATW9LA31s346zDXNwmw1hw9Mb5e2yLJYeQSOLOsSp4XPvqWWUAAtWhIjzE-R4UlWLArnWcp3u_AAf18FuQVY_JJddulHn_iJ4B7oejJRUGCfuzhldpXt0scvWFo2GX2qGIxoRhY_PwrdAINJVjuk86B4R-_0sbRTO6BVPrsFRqxp1QN9oXCQPeMgK2baNN6GHDfI7x6ygX21faD543yZwQ3SfiPKjcxXknR6Z4dKpN5nFxEaGOYaWQAwgXuwfaxwiTGzoqmsOlKGEZlbLlGJZV_-xpsEKRgQf8nCVV2M62SQQIK3BY-z1k2NZNvntVhfuvriDmcXZh3R1BdBAGQ5QTAV_H7JGOUeNKWRtHnT7RaFVMeQ3PXXT-3RESNTkQTVaGcCMu9NcdIW4dwynXiZUHIEDpf7Tc3AE37wJFn7UT41u10dfxxEWjTvgwxIBW9klEwXYs0c1eLKctEdcHfhK6ppqKN4m2Gb0zcN6tFZt5CY0HIg31JubdBv7tmVDgUQrt2qWrHj283LnL58zJLQlpIcn0T3uZFStTEl2dLQLvvceO_rJ0cWhLM5EB0uHArYS2bm_IeSPmMFBcfn226Z2PyINerRHrmivb1ZbmcOG-XAxW-L6OXVTAspKowKZPDqNtO16Vngoq8BIKGvIe-x5PnedB41sx09BoEbZmMfQqvj-mp25LuFI99D_f3Wf7-nt3o22JPBFMhIPZZ8gLGeBudSXuM8MBD9KJngeFC9kDsUpcGhQ5LGuFqK3xuKtMan752E7l3RZ5rFwJgKrTQbNt8aPfM5tWni9GaAWunN8E-TA9z7ca7faOAr2hZTwgm0cRkC3voD_n3TPbWgxBswYZL6j1C_7ZeEynkcw29xroywCv_UZC2nnQUB_UoqaIajPodTUbZ4YTLy8la63u_Vqp6mj4myU4aREjG6Kh9NUAOyFoAKfip0fcvVXJ0wkPA7MFONouGapiIj_2vL_N4dma3KB1gzu33yy5EAHM0MoX_GHGKEqusxSRxKGE4BBGHrReipUgMe5JevQ7fOAXvIWg256gT9vq64JQ_tFXcp0yHyievVdh5nCYQmxr2wBCtUN7GLwexdtfLCsCteMS9Z0nx8II2iVxrv7FjMHpAxL2lSQZd4LZ2Ix3dNfFp_yK5CStCr_tQDy85oJ3LIfdvpJl33JqGOQuXpVesdyF7w2y0Z0EpfYtkhXuyyZFzTVHZZsgQdFWC8vNBcq1QQx04o7DnK5snD2p08ne1iYLmqEe_hXHCYxpaISbK1_10aNDz0GEacQ6tBWvEl2aUa2bx8etlSbrWrWyiQ==",
  "id": "rs_00db06a85b000f94016ab2ea0aae6087d0ac32e0a123b2e4f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream plush’s body is now under the right jaws. I’m closing around it at the current height.\"}",
  "call_id": "call_gTiblsJV5IWn9AfqPalvzjB6",
  "id": "fc_00db06a85b000f94016ab2ea0bd3cc87d0a5b4b3c32e42b4ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gTiblsJV5IWn9AfqPalvzjB6",
  "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]: [-0.1463, 0.8566, 0.6914, -0.4561, -0.2314, -0.1944, 0.9979, 0.8169, 2.1803, 1.3415, 0.1787, 0.6632, 0.3058, 0.2143]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1897 left_yaw=0.139 left_pitch=-0.043 left_roll=-0.0164 left_gripper=0.9979 right_x=0.4497 right_y=0.3253 right_z=0.0581 right_yaw=0.1033 right_pitch=0.0575 right_roll=-0.111 right_gripper=0.2143\nstate[joint_eff]: [-0.1162, -1.4974, 7.2274, 1.7167, -0.1538, -0.0073, -0.0122, -0.0889, -11.8222, 5.2444, 1.4579, -0.2173, 0.7399, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a3d85458465f67938e0ed539401792f73a813495a08666241611ab2b3b8f4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca42cd75b89e4128e42af2eda6b8a0540b115dce04b4a8f36ae47370e5a51ed2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e6831bf5d2748a7166b77b5375a48890bef1d0719e5ae38be24d8f5b1a9b96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 7.797 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8555, 0.6914, -0.4534, -0.2314, -0.1947, 0.9979, 0.8196, 2.183, 1.3319, 0.1696, 0.6239, 0.3828, 0.9963]\nstate[eef_state]: left_x=0.2991 left_y=0.0005 left_z=0.1905 left_yaw=0.1392 left_pitch=-0.0393 left_roll=-0.0178 left_gripper=0.9979 right_x=0.4442 right_y=0.3298 right_z=0.0491 right_yaw=0.0954 right_pitch=0.0283 right_roll=-0.0398 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -2.0444, 6.9675, 1.663, -0.1001, -0.0757, -0.0122, 1.0188, -11.0291, 7.159, 1.4237, 0.2613, 0.1294, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuoShzo3-3glafpeyjBYnmXwiemj8oqWxvb85frRkTdMDkVlbNgXCgpzTTEhQSCW3QQQQClTgSh4rIR--F7Q-Y3pk9uFkTi_ajlpSsEZK6TRBTpjeghvF32UlUmAyxamEhFHvwD_VY6zKDCXNeTXPkwZcCkueCacMcjQtuWtYsXYJvPHizPaoQEH4dHTNdnJ3uoFX3aHwCY7H4DzFw2mT6z_X3i_E_XFUSJuyD2ijEOncOhqbypUBfEFxXgvgTpyEEjAR1lIE4Yu_jWh3wnrP38PCvdU1Qul6r0R2PUmfPUZohe1mnrHCsksQ--WG-CIzaLjAXhDBgpUqT2uachHoCL2SbSEMNjJpLD2eSlc6vQ0MpKUwRhiuiJjbkt7kzAzVp4acy1d2WeOplUH-hZR8jtsB6HMSiU6epe3wlcIxVpk0TSCGF0NGpDZxIEqdHy8ZyTe6TD7ProkSM86ctrqgm8gxUOdk-GXv_f5Etgb2qu28vtsWryAbtbg-etHX9H8arho437vj9Kqdwih5wJY9UxPdwd3suH9wORU8-TbTV_nKmH9pjr8toHm6QKknb3ZDP0rsg-EaQELXuVEP9xi2RR1ivwaTIRLWTnafBH7kIhO6Mo_jLMDaD-_1WUQLIAsErnM1fCLSrgtQYzsNC-Ap7yTIFiLX8y6WTJJzlZtRPwTAckA1vRAHjFb1PlFpW01hSUJT72J0PDfxpoDxrEq9YPQo4w1SY4OE5d5J9bymrP1kMBgMBpb4NrFhny0b8bUlTnUQqrVOiQ91Or3iTeJpSjhxPrCY5cXzpJX6NDXVLjY2qdKw6SMvW7gWqW5jsANiYSLKgKQdZPwabDkRTOejKMsfLWZWNVu-ZQTF7rAZPHEuQupZmEDNQ4A3tACM7Oz6Hh6mxzyP2FufTeaCNff8P8UUkWEh4gmJ_IVGbNCdlMV-im8anvyi-LjEJWdg7fa6dbG-ms9KRd_dF9flGWHJRYwAjHshz7h8iTXnAYY0NkhaFuIoq3drHVen-HOsyhgCZTJbg3QbQwo1fynKM4kjxu623sOzQQ1Dgh7bRIjnoKkyaydX5bQwKKzc3R5GDCxmyEQSRI9k9oIJC7X1QBA8_jS7Sfjxs7CyyJoDcEe4rdCWG_yJWjMxEHf0IvzCnVZgmK0Wjt3d1B6Yl1oksVY9LpczxUV30gsCRXSKXHUoUNuMLQCVWwiSvhLYEE1t0sOFcgSpWJGPuwQSZI1lpXEjAZKWGKuW93_B1gDWibG-8SgbpbWJW40g1LWXJkv2GeGxHjpZL6VMAJRofU5HUxKCHzubDf0rrDcw1CACQFkwo3Zq9dA-lfuRy4c0lP0W2qSiw2roJ12eUQpE-UD8fmROm8nvNe3mY4dOggRNM-1-tlfPbsgjSi2NHP0SG0qNzTQST5ZvxIFKlgxaKoPINftr49UyETunLr1PZMu0WnmMlgP8xbI0JNXtgJIH0o-VCSSkCGXvmAyK6-y1_wmEYkkxrVB-w==",
  "id": "rs_00db06a85b000f94016ab2ea0fa17087d08ff46d091af518bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_x\":0.42,\"right_y\":0.37},\"note\":\"The jaws have retained material, but the basket rim is very close. I’m lifting away from the rim to verify which object is held.\"}",
  "call_id": "call_ysNvlBukoh8GcuHfQaCuZDbt",
  "id": "fc_00db06a85b000f94016ab2ea118a9087d0a70874a127a39172",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ysNvlBukoh8GcuHfQaCuZDbt",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8566, 0.6914, -0.4564, -0.2314, -0.1944, 0.9979, 0.923, 2.1349, 1.6268, -0.2535, 0.7204, 0.3687, 0.2144]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1896 left_yaw=0.139 left_pitch=-0.0433 left_roll=-0.0163 left_gripper=0.9979 right_x=0.4227 right_y=0.3714 right_z=0.1285 right_yaw=0.1359 right_pitch=0.0131 right_roll=-0.1532 right_gripper=0.2144\nstate[joint_eff]: [-0.1709, -1.6068, 6.9402, 1.6777, -0.1538, -0.0269, -0.0122, 0.4855, -16.1299, 8.9504, 1.2918, 0.5201, 0.2564, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:157bd38a2510aea81ea29103d58321cb608dc795c523d2d9117316fc591eaea5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89568381938043ddddf4e0a25238957bc5f405970a0526918591b0014876f98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab025fe3e624579fa01e016627e30151ca0dd5212f60b3ac0fd02b6c5990758",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 10.87 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8566, 0.6914, -0.4561, -0.2314, -0.1944, 0.9979, 0.8169, 2.1803, 1.3415, 0.1787, 0.6632, 0.3058, 0.2143]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1897 left_yaw=0.139 left_pitch=-0.043 left_roll=-0.0164 left_gripper=0.9979 right_x=0.4497 right_y=0.3253 right_z=0.0581 right_yaw=0.1033 right_pitch=0.0575 right_roll=-0.111 right_gripper=0.2143\nstate[joint_eff]: [-0.1162, -1.4974, 7.2274, 1.7167, -0.1538, -0.0073, -0.0122, -0.0889, -11.8222, 5.2444, 1.4579, -0.2173, 0.7399, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuob5BlJeRfM7-lrrgDZ2c3saCbNjsjcXS2EK_Xx3E6wSDSvo2KsMUNwfAiPDzNAC0HIfUOLZEPrAdpMKYH9ii_YprDBpnGTS3zJi6zCyl16dHFpHucsjbKA24rm-uZbh8kg4znZ4poN2t1NtdREE2_cikb4rDPt3Mqom9yMibdzmiR4-5bd5BJ_D4EVGMKPbfSFMmFiRiReaViiO1h7LMQTjBGePN914AnAEJbuyQ_wojs5ma8MxeFOpB7Z04AmX67uyU9KaMmGLKbtGDJNI9fohEkAwSuWMnZduIV_lZSzpDoBD1tIBhPUJh1qFogySAJ-lpgIp5SyRYBaoqDjKtLYkJ30iQkjBmAviy955CxE-N3pJYOi6RLexZwUVsO1RoT3Lz2VROff7oh0HaBwLMdwhj0o1N0808HwN9HICpVLBNQS-WE2AG0pydKj7mU8vkCRQgIPczezdk9oWbNvjmJv8PKtKr-0qpUXFYoUsM3Xj60pyJP5WiK1F_PlFU0f471uCogYO4t3Dv5GyItTgcqV1fO644vs9l9lp8YnnRCkV2WgLIlSrsFOyX99dHWAKSMqkf4ctX3eGsIe2LLuCKQiSqVBUN4r6VwzR48OfBk8fSZGtHDwleUGiBJ1szoBjp09jCeqcuuxYLgP-SWS3z3-n__cZajBO7ohoAEFl8Dtzbmb06zkoxAajafQrGrrQ5gmbnxUT2y4LB4qRdTWxOV0sP-X7tACuAFa_-RMDmnTUcC7uTA10rDtdj9asYDDeaLY3Uvi10ImHZjkHvWMZ6hxqArFHbkmDBBslQ_tSINb3dgWrvhVDVGIW3AvM0eZVH5ZJdCoF3Yr3eM4IFjCnKS30Sg5hkDhrD9GXALsetQgeV79p55Gqn4tRWezKojSSroiUaR-AlQBfN4hA3KSYRTfi5f31WNhyTHzgeu4HC4vvsI9Zu7aVYNLHE_gvEH2zBqmw4LBvD084QEA4ZaAQi779pxZwT0MEX1XxMnl-Pr6rJqrDpalJ63aYsAT2hInpvwuBcdB_13Yl-lF1XNQHrSwy1RoxQMksRiBG7fs9uLiKKFyWlZKpBchFlLy4vJPmPg0nY0oy-UWE3nJF4OkBY-RoKZ4VC1dHvDVdgruXAOel9BW-0GbFyKUOFTLpmXHKVQSVnhOQ50AdIPH4P8CwAJOJM_nTsYLsVxRqBjYhy7M5aNivCMX4cSDWd9SmoykdXnhceMl7SOooAIuvxJr1hFUbeVD2rVjuxvqrK4hXgAqjTFBFUeUfpNUOoVjy5JZfyYkwP7ewz-cyvZtgsrSbaotHGRF2mo9s1jPe5lJbyDaqlxnRPAHevszs9UInmh1MwRz76oti5X7KECTBgEusgh-PPYYcDgbEGBqajE7yKjJ6dhJnv518y2-WSn_T71E0sS5XQ1jbvl45sHvwtfiOQSsOKSiO3eWO-VIhtRcQD8UActXgbctOkaethYSLB1fEbcKh8Q0joUBDQ_gRdSaOhszxHcNxHjS5daf7HFWgTPuQ8G85UIgX6ss57WCAFAYHX5lDSBU-Q-SvZMXtUqhaxog7K2cUx3cOImVE7uwGDxqQ8s=",
  "id": "rs_00db06a85b000f94016ab2ea15e08887d09749a7043af5dad9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.24,\"right_z\":0.26,\"right_pitch\":0.2,\"right_roll\":0},\"note\":\"The cream plush is lifted beside the gripper, while the basket is resting on the table. I’m carrying it over the now-closer basket opening.\"}",
  "call_id": "call_9m8IaCASax8hHu0rQ3wXC8U5",
  "id": "fc_00db06a85b000f94016ab2ea19c97087d0a348434f2deff3f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9m8IaCASax8hHu0rQ3wXC8U5",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8566, 0.6914, -0.4564, -0.2314, -0.1947, 0.9979, 0.5217, 2.0193, 1.6749, -0.1528, 0.3782, 0.1337, 0.2144]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1896 left_yaw=0.1392 left_pitch=-0.0433 left_roll=-0.0166 left_gripper=0.9979 right_x=0.5435 right_y=0.2413 right_z=0.2121 right_yaw=0.1228 right_pitch=0.1056 right_roll=-0.0455 right_gripper=0.2144\nstate[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6581, -0.0904, -0.0464, -0.0122, -0.2803, -14.5436, 10.4547, 1.9072, 0.1343, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce09b59903242b1c5cabe3d33db320d1df64f6c345a268c4885ce3af7ee83fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a67212b03ff599f280c6bde58dc6d0ff11008dc121f49a83f990fd9ecec7a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9ba459828e01645926a76faf026770176c636d430c60a27fed37648809a7a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 8.386 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 101 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8566, 0.6914, -0.4564, -0.2314, -0.1944, 0.9979, 0.923, 2.1349, 1.6268, -0.2535, 0.7204, 0.3687, 0.2144]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1896 left_yaw=0.139 left_pitch=-0.0433 left_roll=-0.0163 left_gripper=0.9979 right_x=0.4227 right_y=0.3714 right_z=0.1285 right_yaw=0.1359 right_pitch=0.0131 right_roll=-0.1532 right_gripper=0.2144\nstate[joint_eff]: [-0.1709, -1.6068, 6.9402, 1.6777, -0.1538, -0.0269, -0.0122, 0.4855, -16.1299, 8.9504, 1.2918, 0.5201, 0.2564, -0.0024]\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": "gAAAAABqsuonF4vE4l36Mi26_awyGNfIBIOIQC1Qt3FyKpq_5nIziXIHNBXpcvCBDBqPrmSyocrMfyiJioUMjb0dJ5i7TkgDfvXttypfjk_YSM84ObivV6m--POjip1CeyqJEzFNFRVJZgi1gfufoHAIINAkpo8ojCt3INMLTfjxum0t96LuVEo-eXHwgAOQqSh9AtbgiO7ZtBbj-YZx4s0uUaROxePwDYkI5s5wCRt0Bxnl2GSjUExhUbVMTw31d1buHsDSMOsWyqJSVvPcXxyxVNJoXTnzlDqUpzLXafY5tABb9Cd9lPhMfz8VnkCpnCuN8k9UF7NgJ3WNlZzqxSr1MEWvMnO_ZKuSpH8VLOg5pxCKnBH-tB4RiBcEYs_GrNrqcaWnTaI6JEZib0q7rKK1qFiBCZftutdMGzrZ6y0fekXI43Uv_g8JJHDl9TH24WoMAejzx2iTEUeyGBTBZhZMcguiOSODO0neY-O1PqjzSLK7x5fJEDCqV0OGcz_Snxf9La71DmU2B5us9LDUQfHjCKq29KYihuzszJJ7CZFWcH9QyRltV-bAq5LXOotD4LlxFVrxJjXPx-o8xEGvkcSjlZMsHUDqd_gsf7zym1aMd_z1RR1Khyn2oSpEY5foLWOCWBpVSH5ZgW7DoH-0pGJsOckC5-QUJl8mZqr5lBltfBCef62UaIYfSF-CO51rqNqvzGdV8ldO0mc4aljqP-PUFhfLxsPi4BiNUnwwqpl1XYsv79D_ZznXCNVhEFIxuja-4XcYQRcvI4grRvmO8qA0WRLaChUDbahHzn6u_MNVL8IEaTVDe9mZTZgTiqijHEEo4OpDuo8zoAT8HFFeHvJCpakattyMan86hNDNSJOKqE4aJgC38VYiJg_Hu6YAo4I70FvKDo0VOCs9VdBK0AU6oCltzR6EsylHO2YYtxUwwzBAFU3Pq5ut9C7PlMQ3pu_As5Px5SIOnLngAe7c9gpiPAzBEAde-tTPwheL--Fha_O34BBG6kbdpiByCQiYteM9AGoGlfK-aDxshP__LckMM1_HIHtRpSy__A9QM62vH0dZaGkBLRM4dxQBRvYHBVKsqVEOKpaM3XA8AP-2fGmgvb3VirRZ1sox_JLb1nMhBM3TO7Feh0X26bs9EbrUV9Z0dHMYPB0vnuTSWL9ZT71ILxxlUgzCaS67ivbiT3HVlgME2XVEFS4LF9dcHoDmuBiefsFObTP03XAfDT7HtwA8nYIo6YbcKKvFjc7P54xt54u635IIGr8vee19iIot4-J-3dYi3qDMpQlmvpNpeqFOtDpSpBzBoW7FxGU5KQ4jOsDarG-WyvTfMC9MIMDG0ekX5Fm-VCi6VYWgQXEmGYKevNoIgOJhuq6_UH83yMDmwASMoXm0ip0FoQlOP6ItwuEyTCnA0DfWmozaPaguKWTTItXrLdhezisoZwiSGQixLK_lPUUkkKk4zhDPNDR3Q_H-JKH-sVsQXTNJbFrNx7TGJVxc2zx6AHLnclC93peCSovwCJ1oyxJWKSoK41ikM6lfj7uBt7HU7X_W3l_q69oPFe3p02Za72fNQyqHR_rCkSKO-KSzL5nt5yBaMRIobxLmk9caJeDMf2wZTN7xMC0zHCZ5s0gNidd5GV9d2IfpfpUH9v9n4Y4xI2BZMtrK2SzISKSAKB4J6_KgD4AzIq4hAW9BO-RknOk1jb7BHX9T-a0VImHQ5xawuCFF3qTG02icIRoXBHeDTunKMFHPDNbIDyxF_H3EnC0Ei4XtB59nFVO-GcwK5sOsUJX2hNiEV9IzP1wsuwibGuIqiHAAILPrLWyu0oLyizJrGw4MnTjCNKmyRo6DB2UvlTgcQZAW_SGvF4xS2mD1aVztlgWw0AbY8x-sb0l47iSWratnpVj7XCde3gvhyFLEXXpSDKKVBO9LkqNnMvqE88oGpIMMIAyxk5MR8MR44kn-BoqV9a0rY9L9DiNX1lGPN6FnnfcO_1y2p9wN-b_dfeguZhHdd5XyyoRpH1Wx98JQu3yjAoXibOptXEYtmjcmNKricMI7WE7lDx7KtQTMBhafCrKC394X8KxNaoQ5XyK9IoOs80rPQA6cthQpW5evUf3G_mZd1NswNCVUO8OKgjmoc0BQ5BnkQo4HjUMomCT7d83n16kY3ut2H4UPYBjdH1nlNRI_xNZdAwLG9ND1k7K5zh5wH0mPLbWIlCvudn4uc0zJV_MYwaesIdEF6xD-8nWsz7TjmCLJvhPLPCXK",
  "id": "rs_00db06a85b000f94016ab2ea1ef2f887d0bae83ca695263a9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The overhead view shows the plush stayed on the table; the gripper caught the basket instead. I’m releasing the basket and changing to a clear approach with the left arm.\"}",
  "call_id": "call_oMy6UnVwWKkSrYg0DeXpt4uF",
  "id": "fc_00db06a85b000f94016ab2ea26064887d085dcd259199e6669",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oMy6UnVwWKkSrYg0DeXpt4uF",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8577, 0.6914, -0.4564, -0.2314, -0.1947, 0.9979, 0.5179, 2.0197, 1.6741, -0.1638, 0.3584, 0.1272, 0.9949]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1893 left_yaw=0.1392 left_pitch=-0.0444 left_roll=-0.0163 left_gripper=0.9979 right_x=0.5426 right_y=0.2419 right_z=0.2086 right_yaw=0.1394 right_pitch=0.0905 right_roll=-0.0471 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.7021, -0.1148, -0.0464, -0.0122, 0.2667, -11.8222, 7.1179, 1.8144, 0.2515, 0.0611, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5b0acae87fbf0c5bd568f06a25f1ccecfb333672c0b8f48dd4658ea8a559ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d29ec1b9895f5325f97cfef522c0b6ad73f2e68d821ef56d379185dd8325bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38fde716e698df38d70507b8cbef4a5c61969c7f0380d6c68a337a3113d3988",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 8.936 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8566, 0.6914, -0.4564, -0.2314, -0.1947, 0.9979, 0.5217, 2.0193, 1.6749, -0.1528, 0.3782, 0.1337, 0.2144]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1896 left_yaw=0.1392 left_pitch=-0.0433 left_roll=-0.0166 left_gripper=0.9979 right_x=0.5435 right_y=0.2413 right_z=0.2121 right_yaw=0.1228 right_pitch=0.1056 right_roll=-0.0455 right_gripper=0.2144\nstate[joint_eff]: [-0.0479, -1.6068, 6.9538, 1.6581, -0.0904, -0.0464, -0.0122, -0.2803, -14.5436, 10.4547, 1.9072, 0.1343, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuoww2qb7Ky-PG8Hiynn4HTCKGO8UOe1iDQL3JVBsMtLm8nxejNOwpU5peKDoNN-ocCkZt4D9Dc_L_DVFnXk-9O5r_LhPsSu8LLMdb96aKx1R4-wBjM9mEWyVZVlHu6nWVtkNvCAn7Dgow6duOi3RS3Va1nYGh_xupbtWTe4xWDcn_j3G0Imrr2KmZE3lopPpBcAEaGZuJhFEDOnxn4JIvguR3Nbayw-9_p4IQa61GTW8FQetLkjbuOF3P02Ih3Djw3yx8IyNWzTd_jCgCNt7-v17i7BM8xa_9U8IcJdXyvrUbBp7Sr-ivcEYrCytwqBdDQ9Qt0HLdF74BfcNVXNUAthFSRowHKUX-yroKQeZq-NM-J9ub-dR-ch95SiPKV8qU2ZQ9yhFin5D0fOrb4j5rk3XosedxOLlwp5qXp6bxwDu5MbDXLEpLkYUWN9RadVYV7rwuY7WoxJZsxWvmlerASbMwb_hau5WDjHbnjUTfy2iEZiLg1rpFps3eFLSVo1F6xuWfc9-z4wlaIi73Md668AktU015rDduyjG-5iRjF8kNpKzE6n3wyhyuRCvbNt7g4v1BFH30yE9BXwqxWV9RNwYHMC4XHcp3CmEZ-37aJI-Ia_FpRCJoDWfcjhCiwwZArqs12tR40fap3zVVsSa-aq6gu_uRPvsdzjVXicGgjD_mcfSEjM7l9jFnfknZoes3bSgLGGNZy9YmxJk0t3OAXAbGQ2JQXGdhx-NfQYsNnruAoQnEZeJDY0NMXrcdS50dkDFO4TJZYe3hmZ3qxSfPDo2v-ma472gk12IFkxarktseWG4iHUr4CCJrwxteyk3cnBqgq8m_hHSKziwbSIjqX__PWaF9TCn-W3vipYV2R7MX85EA6N7U9K4a7OW9N5OaVxPyZPzk9Ys_YoqcJpJdWWEYpdATirY5Iaxf7L_SZmpkhhFSdP5ID5AcedTYIQYt4tDvH8YcC0MNVXtuKKsYcB_09CRtuo69iAKAjbPkMtqPlMjntcCh-CAjFpYd39kzkoL_NfWOq0RdY0PPBCia1NpKpDI5XxGZ6_xP6_oSE3JT7xQ0YFZLoJYAzIoAtA4zORBkHMCnUUJ1sHSrfl6qD0FnQvMuQxJMON6u4EkkDtL0_2RfLtjah7zL6H0ptB1srR5vFKdPbZQ8vySjRpUAG0xQrkTkIo2mbsdfYH2RoEYSFUkuywV0jKRRvJW4IYJ2NwUU8Fgume-dgj4QODS75BrYTgSWg_0jF-CHyvRu6p7EqrhnaD_HTq1A0cUDFSoM2t9hrqxiijs5BapH6QFlO8BzcUZXlabphC1yeEIgbKkWMZ8ddBMzKlM6HVX9YV6l0OO_VPh5sot4IfzWA8R-vWiboT579gfLZFH_pBZmPaIjk2LoyvgOZWVMZ3WbOLG8vblSoRsgsmhs0dJBVQHyGLbd1_aEe1a4tK2R7uGSth6MedlpB7NocitR3HwBvpYzKNXYu4tQzc2J-QTA7pVLWBLX1PdnuQt66LRHDB3ZKa2YHOl7Dzo-msB22lfql4N9b7XR6DsdGyUN--lRf9X4xI5bDxx_9zeuUO6Qzwe-sJrjBEEZisPzlDNwUZtFfkcz8aPHIZLGHddFB-GuoqpP5_-Kvyd5nW0fCWaX6FqFb_-pw8UGxuWnM0uQIUQ3G-3DF2z9ej4Yn3BOcSFA2z5yxH5g==",
  "id": "rs_00db06a85b000f94016ab2ea2ad90c87d086dfb439cc44d5c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"left_x\":0.46,\"left_y\":-0.25,\"left_z\":0.09,\"left_yaw\":0},\"note\":\"The cream plush’s head is clear of the basket rims. I’m parking the right arm and approaching that head with the left gripper.\"}",
  "call_id": "call_IzDzfJSthfo9zQKMmH7bhZbu",
  "id": "fc_00db06a85b000f94016ab2ea2e7c7887d09b028a4e14c8892a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IzDzfJSthfo9zQKMmH7bhZbu",
  "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]: [-0.6727, 1.9656, 1.2163, -0.0128, -0.5362, -0.4652, 0.9978, -0.1028, 0.87, 0.7822, -0.4541, -0.1368, -0.1589, 0.9961]\nstate[eef_state]: left_x=0.4514 left_y=-0.2397 left_z=0.0797 left_yaw=0.0075 left_pitch=-0.0761 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3104 right_y=-0.0042 right_z=0.2258 right_yaw=0.089 right_pitch=0.0283 right_roll=-0.0546 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -10.4957, 8.0615, 1.5458, -0.2955, 0.0024, -0.0171, -0.4034, -1.894, 6.9812, 1.7558, -0.188, -0.0513, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae6a15f891ccaf52f25c33adb2e508aef235cf73a27e6f6418d8e516e0fc408",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09a931bc0386f62e9010834acc53c9a223985b7e07a4c502e33a79fd8256ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1d8e0ce1e7084f23f5a7909faa58ea83397fe3bbe80f974c9a2d856f4ab11dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 11.7 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 0.8577, 0.6914, -0.4564, -0.2314, -0.1947, 0.9979, 0.5179, 2.0197, 1.6741, -0.1638, 0.3584, 0.1272, 0.9949]\nstate[eef_state]: left_x=0.2988 left_y=0.0005 left_z=0.1893 left_yaw=0.1392 left_pitch=-0.0444 left_roll=-0.0163 left_gripper=0.9979 right_x=0.5426 right_y=0.2419 right_z=0.2086 right_yaw=0.1394 right_pitch=0.0905 right_roll=-0.0471 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -1.6889, 6.9402, 1.7021, -0.1148, -0.0464, -0.0122, 0.2667, -11.8222, 7.1179, 1.8144, 0.2515, 0.0611, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuo7wT_vFOBFxtLFAzZH5HuHmo4ivpfwEc8M0_y9JEGjgwLGNiDbHw88q4M4EzzQ7bvAfWtNkEI9_WnUsaRVaYteUrPkZSUah2PLWoUwDq9_dYNfeco02opYcvu_Bex04y122DykuqKupnz-Cl912YBeMDNhKNHh8JsBbQJhLkSUin_L6FHIM66dmOoRskh5mZgYDmrnYKzVNcbitZ3J1x-pGPuV91SFpDZYKb89m6UW1pubTAFDRjm68hw9tgRvY1lVG8yKjA2etV8CmVwB5NYj31DvTJoIdqM4RNGT6cJlF7k2yq8TXu192eQgiNTxK0rVVgjl-DeGW-SnsTJL14vIHIwd3_CXR0iDWgsv67qJEEjDyrXiIbbo4j5glQvDNvB_7rnxPxtqIJCsU11afRrnAAYFqTq0Ev9P-iAOV14bmGSxykNmTqPQ9yPE04SXc1kuRhJHxj7xY5wFHhc5ISL31sCD2fPow-wE5tC4ZPdLQCAorndp436fEdtw1K6sA0LPnF8TMuB5qT2tQMIV6YMTQxC7tZtGC3MlXYDkyHfTXdfpvQgO-NBW163ctPD4_BXpOsP0zdfPKOz1W2DvOi4s6F1wmPTUOehlpY13nG9ZPW74FebPy_ZcuvHMAe_b2xV_9V_49ZFYH_ug_PTADM5d7iAZb43Az8VDGbK6cVj3R4LSotlJ7WXw7190v1FO2_CYe9MfAzkGO4T-SKHLfdMOPWezkCJXr518WY7mJqlJdk7GQOH36-GglRCWGZ7Aa2eOD4Ojz5wY5eF-euDGPTId9y-4Zy2L3hnnuxXlHe7slpS7jbRamKRLGC8z757V1xM486qndLbZCuipdtuzmZLvckpY0XUliNJlp6OefAWNY--_aZ3EoDFp-naRO5QhGxoZVDyF8jovZEDsvHWE14zgV-locJsB88HJ0R2dIKIt6FAwJet9NT0Cb_haGvozK7uoREvgp7nI7DUVj_-4E8z90zYBpli1CIdTHBW-pJ3x2gorcouy3hsQlTbbE0jM5nIIWQMGK9ihiSvBjmbcYKyH9dl3c5SuCxdAV5D5Rt2ktBuasMBiSWsImFSaCGteQ8PJajq19XBF__PgO_iTdvnu_YyHb8xZVRIaIvrWnDbgK-ZUhok7KQLXdKdPSbldEtidFjuHBovQi2fs540NXydh_V-eT7oLiiTtO5W0_MS3aGdQfP8uYjTePB0PULl3pbKBM3kfd83_rFfRHCz5nPv3VNnQv7rpAIAxxG2v2vee83ikJv9L2R6QWEiHR1_fvmdwtndv68O0F9Bi_quTEQoHdwUaREw7XU9Gc-oLc1pJ0fNPc7O8ckHJb1-0ehAn8ntohExgHfetGcY57lUuZa3gnajhV9LhtUbIRa-AkJbNpW7rmWpKloPwDxiN_jencKJ0cumqxjRT_XBMA-j_rPpKY2CbaNK32QAN3VqdFBs_3BJZJU7Z8mBcxlkAPgFKsgpz",
  "id": "rs_00db06a85b000f94016ab2ea37841c87d0a045c188548c637f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_gripper\":0},\"note\":\"The cream plush is beneath the left fingers and no basket rim crosses the jaw gap. I’m lowering onto the soft body and closing.\"}",
  "call_id": "call_KRgbaMW76QkUbR2cAhLVJzXG",
  "id": "fc_00db06a85b000f94016ab2ea3a1b7487d0836fd432f902e379",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KRgbaMW76QkUbR2cAhLVJzXG",
  "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]: [-0.6735, 2.048, 1.1622, 0.1234, -0.5388, -0.4686, 0.0099, -0.1051, 0.8753, 0.7769, -0.4774, -0.1421, -0.1787, 0.9962]\nstate[eef_state]: left_x=0.452 left_y=-0.2402 left_z=0.0418 left_yaw=0.0107 left_pitch=-0.0752 left_roll=-0.0012 left_gripper=0.0099 right_x=0.3075 right_y=-0.0037 right_z=0.2171 right_yaw=0.1017 right_pitch=-0.005 right_roll=-0.062 right_gripper=0.9962\nstate[joint_eff]: [0.0205, -9.8393, 4.8205, 1.6777, -0.1587, 0.0024, 0.779, -0.1846, -2.1675, 7.3778, 1.9609, -0.022, 0.149, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f1d81f915aedeaeb369812e3c9898abf88f8fbec55386e47ffac5e396da7bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493d89013ef7d93c73939292690be4eb704e12d649bb637d0dc9713a9f625f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eef75693e869b76df93b3ef1863bb101fa767c8fd9b777f51fd4e182d75b852",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 13.44 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 113 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6727, 1.9656, 1.2163, -0.0128, -0.5362, -0.4652, 0.9978, -0.1028, 0.87, 0.7822, -0.4541, -0.1368, -0.1589, 0.9961]\nstate[eef_state]: left_x=0.4514 left_y=-0.2397 left_z=0.0797 left_yaw=0.0075 left_pitch=-0.0761 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3104 right_y=-0.0042 right_z=0.2258 right_yaw=0.089 right_pitch=0.0283 right_roll=-0.0546 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -10.4957, 8.0615, 1.5458, -0.2955, 0.0024, -0.0171, -0.4034, -1.894, 6.9812, 1.7558, -0.188, -0.0513, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsupIp6fCSNfvFSaFzwXiKTt5W17cVZRmKO_WdYxkxKPh3cV6yADtMb9iA-mq4g61CmRHAhlTRVwqilh-gW0CmxIDgwPSilqnWCoYI0nvlaqgDC7LZ6NBnlO_G1FKheVZAxnWHPjYxsqE6LpJgHrrdsoxVu01fgHz3DHQHikv6SEgIjtrfpDCz219Z9DWm8fkdx54Y51IN70LGyMzQUtRMfDQeZ4PMRh0OgJ-QPJnaaXr7_jZv8jxsEUMF7XzFyHgwVMxXSlV-vX4cpFLh0dHTowvXnpW8s0OTFSsU3nswNPLt3YnkkDYvZslqIsFu3JPw3mT777DO_7njkRQYS6_J6yLaY-juzpReBoGkZEJVA-oy4MKH3P-M8R8jWrNLaA8NzG0kjwxyREBCWRhqYcG_7TgN_lXpPXyzkgrEWYC4sLME1OVizakAEzcXpsFuYqZ01WTRVVVhHBjNBC3iud-D0VAoeKhaySlwADgilsUlUP3kI_UDa34Tj2c9mL1O0QJ6jMKkDpGnZ_GXVmuuhA6ZAws99K0cH0hmWnCTKHPURO1CQwyKFgrRY1UnP7YdmAp69wboGwZ92QdlR65fopTAucN6OIC6EZmlSfOQSmUY91Pmp1RYjmhQxN8lWi0A_ag9WZuFucGsEW__bv4zQIwsKP9kSXtEPGVYs5T9WIEGMbmGrCZSeivrfvfczum9-5gR8hTMkLYNXEX5jtya8bGjWJ5HBW68qn5fLoW8JuZG-o8dAO3Nswcg1_MBM92h9jFIRW5ufqrbJKiQJZkOVagl8toDSKRsD5Cyb0lmuVTWOzhGBldzG41KZNnH6bycl4KgI7O4AFwFk3fq8g0phKXAAOWS2Re3yeswXJVB6VHCzLkzuE3rudMbBEmsSWHTpEaP4r6ZcroSFG3wnUNmijFTsBB5QAqKE2x2Gztz0y2T1FMMC8NpzO7_jJIGIo8qnVNurKdAF69oW_7yXJkqzAG5s5kmhcPu_FGJNelNgWWhrd8HNfRwG1DIZnu_IeHR0O0BSCZzBtkGZSvDe-dcJH13ryV3yDGv1kmoUay_9awp-RzPz9uoSLpiiUP5q3tglng26-C6fmSXKydEBIr2jSXOOwObpdiYGp7K_8JV4NhhEf7yC_HQSP9CS5VwuCT_QUJklSvs25CnvH2dEPCTyu6Li78nOWH1s5nhVI53ktPeTGUGzfYtEfL6hQGhgKNMBJLY1Pt9EBB8esjP13P_BgPhnPmK0GhEzKUYyHUq36kQqf0ePFiuWEMdF-1wKSS_iNMSlEKPR5sQKqk4gvKQcgMTygzACrRE5lHmJuyS6fZhdAMFIzPHRszXCiMDCOxuSBHOV1Ax7ztsf3hBLmK4tq_Nz3utQXtYwNO0z4cVRutMDVpo_SF-Y9CgQs2io8oV2RLOdRMcY9Js0I9uQSsxCjxVimjLhiZGtx18f-SDBsB1iPEMX6DCo0AhgId6guffWrKNomSIvNR9gagIRg3njpuX9viPB30ETjT-FxLLgxSb7OCFayYqBp6vn_FWhPHkNV2uy2gZ2AUXn0xkqZomLsYeyWeMltBgJxqIbBB5vC56gmh8pcflsG27cypRzd3_EdBtUaCvWZzk0TQdi23mp9Wv8EddYyPee_9orBsHTtjhZHlSnl7TXHYqcyVmrgjGHpAgBjoZW9egeT9U5kSBE2ncYplnaiOemtiPmCuGqXHYXn7ecGjtYswuLWhJq8vSlwX1qo0TXRr4j1RpE6Dlw00uGlT1prXax6PSODBlVIhwUmTf0damQ82-5HNvmWXZj4xmKjOBXwB2ZgxXc6ZYJUPYxnArxH9tuhEAJ2OoIH4ovTlwmhOHyMLkbWK7xceliizHYi-HyL1QZXHb5b3orF4DCYQqBXHz_JnIGZn4V1XEdmH_5Lox2zHb1wEW-fpTgHLdFfNi6I9xc7v2_mdQ8bWKjicfc785VdaqCqeCOhepuQ940g=",
  "id": "rs_00db06a85b000f94016ab2ea40bf2087d08958e9187d365315",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22},\"note\":\"The latest grasp is empty. I’m stopping further attempts and returning both open grippers to clear parked poses; the objects have not been successfully sorted.\"}",
  "call_id": "call_NwNkgoMS8SHsjOtLcVie7Kmv",
  "id": "fc_00db06a85b000f94016ab2ea4602d487d098c679fd562b6483",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NwNkgoMS8SHsjOtLcVie7Kmv",
  "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]: [-0.0624, 0.9123, 0.8055, -0.5362, -0.1032, -0.0978, 0.9978, -0.0971, 0.8558, 0.7769, -0.5049, -0.139, -0.1795, 0.9962]\nstate[eef_state]: left_x=0.306 left_y=0.0027 left_z=0.2071 left_yaw=0.0638 left_pitch=-0.0797 left_roll=-0.0075 left_gripper=0.9978 right_x=0.3018 right_y=-0.0012 right_z=0.2169 right_yaw=0.1076 right_pitch=-0.0132 right_roll=-0.0627 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -2.6325, 9.6615, 1.6874, 0.0757, 0.1734, -0.0317, 0.6906, -2.5641, 7.2957, 1.6435, 0.0171, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea3a98be0330830ca94d74ce1793186b678631bf063219bdff9257fd3e1d9ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba263c1dcdad4410911cedfa5bb5779ecad4c9ee21c2fc8b7634fa04d2d9e5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6268bc268ae933955d534f369329497cc065a8a3d6a0b283eab0bf25e07762",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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