adhoc

completed
2026-09-22T20:18:21.995680+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
257.7 s
total steps
340
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 stuffed animals and writing instruments. I’ll sort the animals into the left basket and the pens into the right, starting with the white pen.
move_to
right_x0.3100right_y0.1900right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8005, 0.6174, -0.3779, -0.0223, -0.0154, 0.9996, -0.0154, 0.7986, 0.6109, -0.3744, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.5248, 9.5932, 1.7802, -0.0317, -0.022, -0.0562, -0.7043, -1.6479, 9.7846, 1.7509, -0.1148, 0.0415, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.19,"right_z":0.10},"note":"I see stuffed animals and writing instruments. I’ll sort the animals into the left basket and the pens into the right, starting with the white pen."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe two long pens lie side by side in front of the right gripper. I’m lowering across their middles so they can be collected together if both fit between the jaws.
move_to
right_x0.3500right_y0.1750right_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8047, 0.6167, -0.3805, -0.0223, -0.0158, 0.9996, 0.8482, 1.4296, 0.6159, -0.0006, 0.664, 0.5087, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3027 right_y=0.1842 right_z=0.0845 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0444 right_gripper=0.9998 state[joint_eff]: [-0.1299, -1.2786, 7.2547, 1.7363, -0.0513, -0.0806, -0.0122, 0.253, -5.2991, 8.4855, 1.5702, 0.5543, 0.1392, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.175,"right_z":0.005},"note":"The two long pens lie side by side in front of the right gripper. I’m lowering across their middles so they can be collected together if both fit between the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteAt table height, the white pen is still to the right of the jaw center. I’m shifting right and lowering the last centimeter to put the jaws around it.
move_to
right_y0.1400right_z-0.0120
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8104, 0.6155, -0.3798, -0.0223, -0.0154, 0.9996, 0.7025, 1.7912, 0.5667, 0.5106, 0.564, 0.3958, 0.9998] state[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1808 left_yaw=0.0004 left_pitch=-0.0137 left_roll=0.0003 left_gripper=0.9996 right_x=0.3512 right_y=0.1783 right_z=0.016 right_yaw=0.0188 right_pitch=-0.0245 right_roll=-0.0187 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.3607, 7.159, 1.7851, -0.0415, -0.0659, -0.0122, -0.4308, -5.3675, 4.6701, 0.9011, 0.1148, -0.2418, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.14,"right_z":-0.012},"note":"At table height, the white pen is still to the right of the jaw center. I’m shifting right and lowering the last centimeter to put the jaws around it."})
tool
executing move_to over 4 steps (0.4s)
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 blue pen is now between the jaws, while the white pen has moved farther right. I’ll secure the blue pen alone rather than chase both at once.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3801, -0.0223, -0.0158, 0.9996, 0.5884, 1.8507, 0.4568, 0.8314, 0.4774, 0.3286, 0.9998] state[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1804 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3652 right_y=0.1504 right_z=0.0142 right_yaw=0.0076 right_pitch=0.0678 right_roll=0.0548 right_gripper=0.9998 state[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.7021, -0.0611, -0.0806, -0.0122, -0.7043, -4.8205, 2.5231, 1.0427, 0.0708, -0.2466, -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":{"right_gripper":0},"note":"The blue pen is now between the jaws, while the white pen has moved farther right. I’ll secure the blue pen alone rather than chase both at once."})
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 closed jaw spacing is about 1.4 cm, consistent with holding the pen. I’ll lift it slightly to confirm it moves with the gripper.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8146, 0.614, -0.3801, -0.0223, -0.0154, 0.9996, 0.5877, 1.8519, 0.4549, 0.8318, 0.4698, 0.3065, 0.1471] state[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1788 left_yaw=0.0011 left_pitch=-0.0198 left_roll=0.0004 left_gripper=0.9996 right_x=0.3645 right_y=0.151 right_z=0.013 right_yaw=0.025 right_pitch=0.0638 right_roll=0.0373 right_gripper=0.1471 state[joint_eff]: [-0.2256, -1.6615, 7.1453, 1.7265, -0.0269, -0.0171, -0.0171, -0.294, -5.0667, 2.6462, 0.9939, 0.1197, -0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The closed jaw spacing is about 1.4 cm, consistent with holding the pen. I’ll lift it slightly to confirm it moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe blue pen lifted with the gripper. I’m carrying it above the right basket, keeping it clear of the basket rim.
move_to
right_x0.5200right_y0.1800right_z0.2300left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8173, 0.6125, -0.3805, -0.0223, -0.0154, 0.9996, 0.5877, 1.541, 0.5217, 0.4389, 0.4591, 0.3054, 0.1526] state[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1773 left_yaw=0.0012 left_pitch=-0.0244 left_roll=0.0005 left_gripper=0.9996 right_x=0.36 right_y=0.1501 right_z=0.0735 right_yaw=0.0347 right_pitch=0.0479 right_roll=0.0331 right_gripper=0.1526 state[joint_eff]: [-0.1573, -1.4564, 7.6103, 1.7265, -0.0464, -0.0366, -0.0122, -0.1846, -6.8171, 7.747, 1.6142, 0.2613, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.18,"right_z":0.23,"left_z":0.19},"note":"The blue pen lifted with the gripper. I’m carrying it above the right basket, keeping it clear of the basket rim."})
tool
executing move_to over 13 steps (1.3s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe pen is over the front portion of the right basket. I’ll move a little farther inward and lower it before releasing.
move_to
right_x0.5600right_z0.1700
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]: [-0.0181, 0.8257, 0.6342, -0.4297, -0.0223, -0.0158, 0.9996, 0.4362, 1.8519, 1.5291, -0.2531, 0.3199, 0.2123, 0.1561] state[eef_state]: left_x=0.2938 left_y=0.0022 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.5152 right_y=0.1828 right_z=0.2155 right_yaw=0.0473 right_pitch=0.0187 right_roll=0.0226 right_gripper=0.1561 state[joint_eff]: [-0.1162, -1.7846, 9.9487, 1.6923, -0.0269, -0.0611, -0.0122, -0.8957, -10.5231, 9.5385, 1.7753, 0.0757, -0.0659, 1.0281] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_z":0.17},"note":"The pen is over the front portion of the right basket. I’ll move a little farther inward and lower it before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe blue pen is aligned inside the right basket. I’m opening the jaws to drop 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]: [-0.0181, 0.8284, 0.6338, -0.4301, -0.0223, -0.0158, 0.9996, 0.3977, 2.0369, 1.5631, -0.1596, 0.2752, 0.186, 0.1562] state[eef_state]: left_x=0.2938 left_y=0.0022 left_z=0.1739 left_yaw=0.0014 left_pitch=-0.0637 left_roll=0.0009 left_gripper=0.9996 right_x=0.5498 right_y=0.1828 right_z=0.1475 right_yaw=0.0595 right_pitch=-0.044 right_roll=0.0037 right_gripper=0.1562 state[joint_eff]: [-0.212, -1.6479, 7.0496, 1.663, -0.0806, -0.0806, -0.0122, -0.5265, -12.0274, 9.5658, 1.9414, 0.1099, -0.0415, 1.033] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue pen is aligned inside the right basket. I’m opening the jaws to drop it into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe blue pen is resting in the right basket. Next I’m approaching the white pen, which is now near the right edge of the work area.
move_to
right_x0.3600right_y0.0550right_z0.0950
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]: [-0.0181, 0.8284, 0.6338, -0.4305, -0.0227, -0.0158, 0.9996, 0.3977, 2.0369, 1.5635, -0.1562, 0.2756, 0.1791, 0.9955] state[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.1738 left_yaw=0.0017 left_pitch=-0.0641 left_roll=0.0012 left_gripper=0.9996 right_x=0.5503 right_y=0.1829 right_z=0.1483 right_yaw=0.0629 right_pitch=-0.0403 right_roll=-0.0009 right_gripper=0.9955 state[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.6777, -0.0708, -0.0806, -0.0122, -0.6906, -12.0274, 9.5521, 1.9023, 0.1832, 0.0122, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.055,"right_z":0.095},"note":"The blue pen is resting in the right basket. Next I’m approaching the white pen, which is now near the right edge of the work area."})
tool
executing move_to over 15 steps (1.5s)
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 basket shifted during the retreat, but the blue pen remains inside it. The white pen is below the gripper; I’ll descend straight down without moving back toward the basket.
move_to
right_x0.3800right_y0.0550right_z0.0000
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]: [-0.0181, 0.8322, 0.6315, -0.4328, -0.0223, -0.0158, 0.9996, 0.2077, 1.3037, 0.54, 0.2375, 0.1215, 0.091, 0.9963] state[eef_state]: left_x=0.2933 left_y=0.0022 left_z=0.1713 left_yaw=0.0014 left_pitch=-0.0725 left_roll=0.0011 left_gripper=0.9996 right_x=0.3766 right_y=0.0612 right_z=0.1174 right_yaw=0.0494 right_pitch=0.0398 right_roll=0.0314 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.7709, 7.2, 1.7558, -0.0659, -0.0708, -0.0171, -0.3487, -3.6718, 5.5453, 1.2527, 0.0611, -0.2466, 0.0708] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.055,"right_z":0.0},"note":"The basket shifted during the retreat, but the blue pen remains inside it. The white pen is below the gripper; I’ll descend straight down without moving back toward the basket."})
tool
executing move_to over 8 steps (0.8s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe descent stopped against the shifted basket rather than reaching the pen. I’m lifting and backing away to clear the rim before trying a safer approach.
move_to
right_x0.3200right_y0.0400right_z0.2300
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]: [-0.0181, 0.836, 0.6315, -0.4328, -0.0223, -0.0158, 0.9996, 0.181, 1.7527, 0.4145, 1.1847, 0.0681, 0.165, 0.9965] state[eef_state]: left_x=0.2936 left_y=0.0022 left_z=0.1703 left_yaw=0.0014 left_pitch=-0.0763 left_roll=0.0012 left_gripper=0.9996 right_x=0.4209 right_y=0.0684 right_z=0.1097 right_yaw=0.0154 right_pitch=0.4008 right_roll=0.182 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.7846, 7.0085, 1.6874, -0.0366, -0.0562, -0.0122, -0.4718, 0.3761, -0.4308, -1.4237, 0.3492, -0.9695, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.04,"right_z":0.23},"note":"The descent stopped against the shifted basket rather than reaching the pen. I’m lifting and backing away to clear the rim before trying a safer approach."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe right arm is clear of the basket, and the white pen lies closer to the front edge than the previous approach. I’m moving to its midpoint from the front.
move_to
right_x0.2850right_y0.0700right_z0.0450right_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]: [-0.0181, 0.8379, 0.6312, -0.4339, -0.0223, -0.0158, 0.9996, 0.1501, 1.169, 0.2958, 0.6651, 0.0353, 0.1722, 0.9965] state[eef_state]: left_x=0.2935 left_y=0.0022 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0797 left_roll=0.0012 left_gripper=0.9996 right_x=0.358 right_y=0.0515 right_z=0.155 right_yaw=0.0136 right_pitch=0.3453 right_roll=0.1871 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.5932, 7.0222, 1.6777, -0.0317, -0.0464, -0.0122, -0.5538, -3.3162, 6.5299, 2.0977, -0.0415, -0.0806, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.07,"right_z":0.045,"right_pitch":0,"right_roll":0},"note":"The right arm is clear of the basket, and the white pen lies closer to the front edge than the previous approach. I’m moving to its midpoint from the front."})
tool
executing move_to over 12 steps (1.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe white pen is visible just right of the jaw centerline. I’ll move a few centimeters forward and right while lowering around its near end.
move_to
right_x0.3150right_y0.0450right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0174, 0.8421, 0.6312, -0.4335, -0.0227, -0.0158, 0.9996, 0.4274, 1.1408, 0.1452, 0.4118, 0.2974, 0.2028, 0.9966] state[eef_state]: left_x=0.2937 left_y=0.0025 left_z=0.1683 left_yaw=0.0025 left_pitch=-0.0835 left_roll=0.0015 left_gripper=0.9996 right_x=0.2867 right_y=0.0777 right_z=0.0475 right_yaw=0.0623 right_pitch=0.0068 right_roll=0.023 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.8256, 7.241, 1.6581, -0.0806, -0.0708, -0.0171, 0.2667, -1.9624, 5.6821, 1.7216, 0.2955, 0.0659, -0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.045,"right_z":-0.005},"note":"The white pen is visible just right of the jaw centerline. I’ll move a few centimeters forward and right while lowering around its near end."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe white pen now runs between the jaws. I’ll close around it gently through the gripper’s normal controlled motion.
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]: [-0.0174, 0.849, 0.63, -0.4339, -0.0227, -0.0158, 0.9996, 0.2066, 1.6455, 0.1253, 0.9947, 0.1421, 0.1184, 0.9968] state[eef_state]: left_x=0.2939 left_y=0.0025 left_z=0.1658 left_yaw=0.0025 left_pitch=-0.0919 left_roll=0.0017 left_gripper=0.9996 right_x=0.3216 right_y=0.0455 right_z=0.0109 right_yaw=0.0162 right_pitch=0.0418 right_roll=0.0451 right_gripper=0.9968 state[joint_eff]: [-0.1026, -2.0171, 7.1179, 1.6532, -0.0513, -0.0317, -0.0171, -0.4308, -3.3299, 1.4701, -0.1832, -0.0659, -0.0952, 0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The white pen now runs between the jaws. I’ll close around it gently through the gripper’s normal controlled motion."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe jaw spacing indicates a secure hold on the white pen. I’m lifting straight up to verify the grasp and fully clear the basket rim.
move_to
right_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]: [-0.0174, 0.8501, 0.6292, -0.4332, -0.0227, -0.0158, 0.9996, 0.2035, 1.6527, 0.1204, 1.0248, 0.1299, 0.112, 0.1484] state[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0931 left_roll=0.0017 left_gripper=0.9996 right_x=0.3226 right_y=0.0469 right_z=0.0136 right_yaw=0.0267 right_pitch=0.0585 right_roll=0.0487 right_gripper=0.1484 state[joint_eff]: [-0.253, -1.6479, 7.0769, 1.6777, -0.0659, -0.0269, -0.0171, 0.0752, -5.053, 3.5077, 1.4774, 0.1587, -0.0024, 1.0085] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22},"note":"The jaw spacing indicates a secure hold on the white pen. I’m lifting straight up to verify the grasp and fully clear the basket rim."})
tool
executing move_to over 14 steps (1.4s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe white pen lifted successfully. I’m carrying it over the shifted right basket while bringing the left gripper toward the gray stuffed animal, well away from the right arm.
move_to
right_x0.4700right_y0.2000right_z0.2400left_x0.3300left_y-0.0750left_z0.0800
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]: [-0.0174, 0.8558, 0.6281, -0.4332, -0.0223, -0.0158, 0.9996, 0.2035, 0.9257, 0.6926, -0.2764, 0.1261, 0.1081, 0.1527] state[eef_state]: left_x=0.2941 left_y=0.0024 left_z=0.1632 left_yaw=0.0022 left_pitch=-0.0999 left_roll=0.0016 left_gripper=0.9996 right_x=0.3248 right_y=0.048 right_z=0.2053 right_yaw=0.032 right_pitch=0.0564 right_roll=0.0468 right_gripper=0.1527 state[joint_eff]: [-0.1436, -1.812, 7.3368, 1.6581, -0.0513, -0.0269, -0.0122, -0.1299, -2.8239, 9.6205, 1.7851, 0.0513, 0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.2,"right_z":0.24,"left_x":0.33,"left_y":-0.075,"left_z":0.08},"note":"The white pen lifted successfully. I’m carrying it over the shifted right basket while bringing the left gripper toward the gray stuffed animal, well away from the right arm."})
tool
executing move_to over 13 steps (1.3s)
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 white pen is directly above the right basket, so I’ll release it. The gray animal is left of the other gripper; I’m centering that gripper around its body.
move_to
right_gripper1.0000left_x0.3600left_y-0.0150left_z0.0150
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]: [-0.3916, 1.2297, 0.4755, 0.0109, -0.2935, -0.2409, 0.9995, 0.5251, 1.697, 1.372, -0.2661, 0.3786, 0.2558, 0.1527] state[eef_state]: left_x=0.3236 left_y=-0.0744 left_z=0.0751 left_yaw=-0.0202 left_pitch=-0.1441 left_roll=0.0147 left_gripper=0.9995 right_x=0.4629 right_y=0.1968 right_z=0.2222 right_yaw=0.0646 right_pitch=0.0176 right_roll=0.024 right_gripper=0.1527 state[joint_eff]: [-0.1983, -4.3282, 5.7504, 1.6532, -0.3199, -0.0806, -0.0171, 0.7179, -9.1966, 9.0598, 1.6288, 0.3932, 0.2369, 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_gripper":1,"left_x":0.36,"left_y":-0.015,"left_z":0.015},"note":"The white pen is directly above the right basket, so I’ll release it. The gray animal is left of the other gripper; I’m centering that gripper around its body."})
tool
executing move_to over 9 steps (0.9s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteBoth long pens are now in the right basket. I’m parking the right arm high and shifting the left jaws farther left to surround the gray animal instead of pinching its edge.
move_to
left_y0.0250left_z0.0250right_x0.3000right_y0.0000right_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]: [-0.094, 1.5562, 0.4137, 0.3912, -0.0948, -0.065, 0.9995, 0.5282, 1.7168, 1.3705, -0.2768, 0.3737, 0.2481, 0.9952] state[eef_state]: left_x=0.3526 left_y=-0.0129 left_z=0.0103 left_yaw=0.0148 left_pitch=-0.1866 left_roll=0.017 left_gripper=0.9995 right_x=0.4624 right_y=0.1993 right_z=0.2097 right_yaw=0.0758 right_pitch=-0.0123 right_roll=0.006 right_gripper=0.9952 state[joint_eff]: [0.1709, -5.559, 4.5744, 1.8926, 0.1587, 0.1734, -0.0073, -0.3214, -10.4274, 7.1179, 1.7656, 0.0904, -0.0073, -0.188] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.025,"left_z":0.025,"right_x":0.3,"right_y":0,"right_z":0.25},"note":"Both long pens are now in the right basket. I’m parking the right arm high and shifting the left jaws farther left to surround the gray animal instead of pinching its edge."})
tool
executing move_to over 17 steps (1.7s)
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 left jaws now straddle the gray animal’s lower body. I’ll close to hold the soft body securely.
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]: [0.0669, 1.5169, 0.416, 0.3161, 0.0166, 0.0341, 0.9995, -0.0692, 0.8993, 0.9146, -0.5747, -0.0765, -0.0605, 0.9963] state[eef_state]: left_x=0.344 left_y=0.0237 left_z=0.0101 left_yaw=0.0259 left_pitch=-0.2241 left_roll=0.0122 left_gripper=0.9995 right_x=0.3091 right_y=-0.0043 right_z=0.2519 right_yaw=0.0207 right_pitch=0.0045 right_roll=0.0024 right_gripper=0.9963 state[joint_eff]: [0.4581, -7.2547, 7.4735, 1.4628, -0.0464, 0.0806, -0.0073, -0.294, -1.9761, 6.9402, 1.8681, -0.2173, -0.0708, 0.1001] 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":{"left_gripper":0},"note":"The left jaws now straddle the gray animal’s lower body. I’ll close to hold the soft body securely."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe jaws closed empty; the animal is farther forward and left than the first estimate. I’m reopening and moving toward its center for one corrected attempt.
move_to
left_gripper1.0000left_x0.4050left_y0.0500left_z0.0400left_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]: [0.0669, 1.5127, 0.4183, 0.3069, 0.0231, 0.0307, 0.012, -0.0711, 0.9062, 0.9092, -0.5907, -0.0864, -0.078, 0.9964] state[eef_state]: left_x=0.3437 left_y=0.0226 left_z=0.0107 left_yaw=0.0221 left_pitch=-0.2265 left_roll=0.0049 left_gripper=0.012 right_x=0.3075 right_y=-0.003 right_z=0.2443 right_yaw=0.0365 right_pitch=-0.0231 right_roll=-0.0042 right_gripper=0.9964 state[joint_eff]: [-0.1573, -4.9299, 4.8889, 1.6532, -0.0904, 0.0073, 0.9597, -0.0342, -2.1949, 7.241, 1.8681, 0.0366, 0.1587, 0.0024] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.405,"left_y":0.05,"left_z":0.04,"left_pitch":0},"note":"The jaws closed empty; the animal is farther forward and left than the first estimate. I’m reopening and moving toward its center for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe corrected approach places the gray animal within the left jaw span. I’ll close once more and check whether it is actually held.
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]: [0.1509, 1.6737, 0.4877, 0.5564, 0.1005, 0.0601, 0.9953, -0.0711, 0.9089, 0.9077, -0.5915, -0.0872, -0.0757, 0.9964] state[eef_state]: left_x=0.3912 left_y=0.0452 left_z=0.0254 left_yaw=0.0257 left_pitch=-0.0651 left_roll=-0.0098 left_gripper=0.9953 right_x=0.3076 right_y=-0.0029 right_z=0.2427 right_yaw=0.036 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9964 state[joint_eff]: [0.7863, -5.8051, 6.7487, 1.8926, 0.0171, 0.0562, -0.1538, -0.1162, -2.0581, 6.9538, 1.7265, -0.0464, -0.0855, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The corrected approach places the gray animal within the left jaw span. I’ll close once more and check whether it is actually held."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe gray animal is beyond the left gripper’s sideways limit, and the second grasp was empty. I’ll leave it rather than press against the edge, and sort the reachable brown animals next.
move_to
left_x0.3100left_y-0.2100left_z0.1400left_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]: [0.1513, 1.6802, 0.4919, 0.5621, 0.1043, 0.0528, 0.0115, -0.0711, 0.9092, 0.9077, -0.5919, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.3929 left_y=0.0449 left_z=0.0256 left_yaw=0.0268 left_pitch=-0.0614 left_roll=-0.0175 left_gripper=0.0115 right_x=0.3076 right_y=-0.0028 right_z=0.2425 right_yaw=0.0361 right_pitch=-0.0287 right_roll=-0.0007 right_gripper=0.9964 state[joint_eff]: [-0.1573, -7.0222, 4.6017, 1.6581, 0.0122, 0.0464, 0.9744, -0.1573, -1.5658, 7.1453, 1.7363, -0.0855, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.21,"left_z":0.14,"left_gripper":1},"note":"The gray animal is beyond the left gripper’s sideways limit, and the second grasp was empty. I’ll leave it rather than press against the edge, and sort the reachable brown animals next."})
tool
executing move_to over 23 steps (2.3s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe small brown animal is just left and forward of the left gripper. I’ll lower around its torso, keeping clear of the larger animal beside it.
move_to
left_x0.3450left_y-0.1700left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9081, 1.4326, 0.8558, -0.2775, -0.6777, -0.6609, 0.9982, -0.0711, 0.9108, 0.9073, -0.5934, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.3105 left_y=-0.212 left_z=0.1337 left_yaw=-0.0099 left_pitch=-0.0672 left_roll=-0.0292 left_gripper=0.9982 right_x=0.3076 right_y=-0.0028 right_z=0.2416 right_yaw=0.0361 right_pitch=-0.0322 right_roll=-0.0004 right_gripper=0.9964 state[joint_eff]: [-0.1299, -5.4906, 8.2393, 1.0525, -0.4615, -0.0122, -0.0464, -0.0205, -1.9624, 7.0359, 1.7265, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.17,"left_z":0.03},"note":"The small brown animal is just left and forward of the left gripper. I’ll lower around its torso, keeping clear of the larger animal beside it."})
tool
executing move_to over 7 steps (0.7s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
assistant
agent noteThe small brown animal’s body lies between the jaws. I’ll close on its soft torso.
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]: [-0.7143, 1.6558, 0.5846, 0.2462, -0.5652, -0.5156, 0.9982, -0.0715, 0.9108, 0.9073, -0.593, -0.0875, -0.0757, 0.9964] state[eef_state]: left_x=0.3373 left_y=-0.1625 left_z=0.0278 left_yaw=0.0241 left_pitch=-0.1084 left_roll=0.0081 left_gripper=0.9982 right_x=0.3076 right_y=-0.003 right_z=0.2417 right_yaw=0.0359 right_pitch=-0.0318 right_roll=-0.0007 right_gripper=0.9964 state[joint_eff]: [0.1709, -6.5573, 4.6427, 1.4969, -0.0806, -0.0073, -0.0073, -0.1846, -1.8393, 6.8034, 1.7314, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The small brown animal’s body lies between the jaws. I’ll close on its soft torso."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteThe jaws have stopped on material rather than closing empty. I’m lifting straight up to confirm the small animal is held.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7128, 1.6737, 0.5739, 0.2779, -0.5694, -0.5228, 0.1197, -0.0711, 0.9108, 0.9073, -0.5934, -0.0872, -0.0753, 0.9964] state[eef_state]: left_x=0.3376 left_y=-0.1612 left_z=0.0233 left_yaw=0.0324 left_pitch=-0.104 left_roll=0.0026 left_gripper=0.1197 right_x=0.3076 right_y=-0.0029 right_z=0.2416 right_yaw=0.0358 right_pitch=-0.0322 right_roll=-0.0006 right_gripper=0.9964 state[joint_eff]: [-0.335, -8.0479, 5.7641, 1.1648, -0.2418, 0.0659, 0.9255, -0.1026, -1.6615, 6.9675, 1.6825, -0.0708, -0.0562, -0.0122] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22},"note":"The jaws have stopped on material rather than closing empty. I’m lifting straight up to confirm the small animal is held."})
tool
executing move_to over 13 steps (1.3s)
step 260
assistant
agent noteThe narrow jaw spacing and visible yellow shaft suggest I picked up the yellow pen beside the animal, not the animal itself. I’m moving it over the writing-instrument basket instead.
move_to
left_x0.4400left_y-0.4000left_z0.2700
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]: [-0.712, 1.3731, 1.0885, -0.5755, -0.561, -0.5243, 0.1216, -0.0711, 0.9108, 0.9073, -0.5934, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.3389 left_y=-0.1636 left_z=0.1933 left_yaw=0.0309 left_pitch=-0.1363 left_roll=0.0227 left_gripper=0.1216 right_x=0.3076 right_y=-0.0028 right_z=0.2416 right_yaw=0.0361 right_pitch=-0.0322 right_roll=-0.0004 right_gripper=0.9964 state[joint_eff]: [-0.1983, -8.0205, 9.3333, 1.4432, -0.3297, -0.0464, 1.0281, -0.1573, -1.7983, 6.9265, 1.7216, -0.0952, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.44,"left_y":-0.4,"left_z":0.27},"note":"The narrow jaw spacing and visible yellow shaft suggest I picked up the yellow pen beside the animal, not the animal itself. I’m moving it over the writing-instrument basket instead."})
tool
executing move_to over 22 steps (2.2s)
step 282
assistant
agent noteThe new overhead view confirms the brown animal moved with the gripper and the yellow pen stayed on the table. I’m correcting the destination to the left basket without releasing it.
move_to
left_x0.5400left_y-0.1700left_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]: [-0.9226, 2.5542, 2.8582, -1.3834, -0.6662, -0.7341, 0.1233, -0.0711, 0.9146, 0.9028, -0.5938, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.4244 left_y=-0.3736 left_z=0.2048 left_yaw=0.0329 left_pitch=-0.2087 left_roll=0.09 left_gripper=0.1233 right_x=0.3076 right_y=-0.0028 right_z=0.2384 right_yaw=0.0361 right_pitch=-0.0409 right_roll=0.0006 right_gripper=0.9964 state[joint_eff]: [-0.6085, -17.0735, 8.3761, 1.2234, -0.6178, 0.0366, 0.7839, -0.0342, -2.1949, 7.1726, 1.6728, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.17,"left_z":0.25},"note":"The new overhead view confirms the brown animal moved with the gripper and the yellow pen stayed on the table. I’m correcting the destination to the left basket without releasing it."})
tool
executing move_to over 19 steps (1.9s)
step 301
assistant
agent noteThe animal hangs to the right of the grasp point, and the left basket has shifted left. I’m moving farther left so the hanging body, not just the gripper, is over the opening.
move_to
left_y-0.0650left_x0.5600left_z0.2300
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]: [-0.4232, 2.6553, 3.1123, -1.4502, -0.4046, -0.3271, 0.1252, -0.0711, 0.9184, 0.8997, -0.5934, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.5531 left_y=-0.169 left_z=0.2027 left_yaw=0.1128 left_pitch=-0.3277 left_roll=0.1435 left_gripper=0.1252 right_x=0.3079 right_y=-0.0029 right_z=0.236 right_yaw=0.0362 right_pitch=-0.0473 right_roll=0.0013 right_gripper=0.9964 state[joint_eff]: [0.0068, -19.9863, 7.4462, 1.6288, -0.2418, 0.2369, 0.5348, -0.1026, -1.8393, 7.0769, 1.6777, -0.0659, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.065,"left_x":0.56,"left_z":0.23},"note":"The animal hangs to the right of the grasp point, and the left basket has shifted left. I’m moving farther left so the hanging body, not just the gripper, is over the opening."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteThe brown animal is over the left basket, with the tan animal apparently caught alongside it. I’ll open the jaws so the soft toys can settle into the basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2237, 2.6499, 3.1123, -1.4807, -0.2852, -0.1802, 0.1262, -0.0711, 0.9203, 0.8982, -0.5934, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.5686 left_y=-0.0747 left_z=0.1958 left_yaw=0.1348 left_pitch=-0.4065 left_roll=0.1525 left_gripper=0.1262 right_x=0.308 right_y=-0.0029 right_z=0.2347 right_yaw=0.0362 right_pitch=-0.0507 right_roll=0.0016 right_gripper=0.9964 state[joint_eff]: [0.3897, -18.1949, 7.3915, 1.2186, -0.1929, 0.2271, 0.9158, -0.212, -1.894, 7.1043, 1.663, -0.0806, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The brown animal is over the left basket, with the tan animal apparently caught alongside it. I’ll open the jaws so the soft toys can settle into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 320
assistant
agent noteThe small brown animal is inside the left basket, but the tan animal is resting across its right rim. I’m lifting away to avoid dragging either basket and to check what remains unsorted.
move_to
left_x0.3200left_y-0.0200left_z0.3000
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]: [-0.2256, 2.6499, 3.1115, -1.4887, -0.2836, -0.1909, 0.9955, -0.0715, 0.9203, 0.8982, -0.5934, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.5668 left_y=-0.0757 left_z=0.1945 left_yaw=0.139 left_pitch=-0.4143 left_roll=0.1479 left_gripper=0.9955 right_x=0.308 right_y=-0.003 right_z=0.2347 right_yaw=0.0358 right_pitch=-0.0507 right_roll=0.0016 right_gripper=0.9964 state[joint_eff]: [-0.0342, -13.8462, 5.2855, 1.3016, -0.1929, 0.0611, -0.1392, -0.2256, -1.7162, 6.8581, 1.6923, -0.0708, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.32,"left_y":-0.02,"left_z":0.3},"note":"The small brown animal is inside the left basket, but the tan animal is resting across its right rim. I’m lifting away to avoid dragging either basket and to check what remains unsorted."})
tool
executing move_to over 19 steps (1.9s)
step 339
assistant
agent notePartially sorted: the blue and white pens are in the right basket, and the small brown stuffed animal is in the left basket. The yellow pen and two larger stuffed animals remain outside. The gray animal is at the left workspace boundary and two grasp attempts failed; I cannot safely complete the full task in this trial.
give_up
hindsightRaise vertically clear of basket rims before retreating; diagonal retreats can snag and shift these lightweight baskets. Soft toys can be picked up by a narrow appendage, so a 0.12 gripper reading does not distinguish a toy from a pen. Adjacent toys can catch on one another during transport. Verify the object moved in the overhead view before choosing its destination.
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]: [-0.2268, 1.4353, 1.7302, -1.3018, -0.2836, -0.1982, 0.9968, -0.0715, 0.9257, 0.8944, -0.5934, -0.0875, -0.0753, 0.9964] state[eef_state]: left_x=0.3329 left_y=-0.0224 left_z=0.2998 left_yaw=0.1389 left_pitch=-0.3948 left_roll=0.1356 left_gripper=0.9968 right_x=0.3083 right_y=-0.003 right_z=0.2315 right_yaw=0.0358 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9964 state[joint_eff]: [-0.4581, -6.2838, 5.5726, 1.2625, -0.1832, 0.0073, 0.1148, -0.0479, -2.4274, 7.1316, 1.6679, -0.0562, -0.0269, -0.0171] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially sorted: the blue and white pens are in the right basket, and the small brown stuffed animal is in the left basket. The yellow pen and two larger stuffed animals remain outside. The gray animal is at the left workspace boundary and two grasp attempts failed; I cannot safely complete the full task in this trial.","hindsight":"Raise vertically clear of basket rims before retreating; diagonal retreats can snag and shift these lightweight baskets. Soft toys can be picked up by a narrow appendage, so a 0.12 gripper reading does not distinguish a toy from a pen. Adjacent toys can catch on one another during transport. Verify the object moved in the overhead view before choosing its destination."})
tool
give_up: Partially sorted: the blue and white pens are in the right basket, and the small brown stuffed animal is in the left basket. The yellow pen and two larger stuffed animals remain outside. The gray animal is at the left workspace boundary and two grasp attempts failed; I cannot safely complete the full task in this trial.
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 · 9.613 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6174, -0.3779, -0.0223, -0.0154, 0.9996, -0.0154, 0.7986, 0.6109, -0.3744, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.5248, 9.5932, 1.7802, -0.0317, -0.022, -0.0562, -0.7043, -1.6479, 9.7846, 1.7509, -0.1148, 0.0415, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b148b58cc1dd721970ab0ee0bfb37f11394345f95c2f792f845b41eb2f9fc735",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f964d2b553015c77e435a4ecce25031aa491ad0373acc139291281cb0a4b87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187d5484a5e6e3d2f4d9ffa8eb46ebd02db935a77f299178fb51c5d4376797f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 8.174 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsuKlNhz74NCLWYOBBYasT0MlsVEKR9IuqbICzQ--BbNrywiFYQcFExWy1v0HkpQRCdKlvsJVhMNMa_TCc4sW4YCwzqp6jvGW4Q3dlGmnUZLzvegT4uJlkEKW4JoRPlI7htjBlYWc1i76n9GAwa2KHnvo2L8oANT52JHGtIGANpto7Zf5pM_KKfNd1aroowc7gBI4ARAD_2jVwxOPuGKvDou_QSMDXgI-bHU-7LYUhXGsSmWad70KCpvC5YK5lrpSJhNNE-YjIW4M04idk1X3lwKw209nf2ZEKw1TSHPburFC-_PR6OhvRXq6faSLXR9aKn5k3bD887GIronF03Xr6jPdUF6-zGNOPJ1APvxmspv5ENwnbGK538XJMBvBmHPwvL3JQRk2TVIC_HzkfxGYHadh0sjKTqEHcqSx7sc3ljM5ACDb3F_Op7pT7A5uLUC7JadH6moJzvQ6KqMqRegqINZ-zh-jrbzKjSyebv7pmNLP6xQj3KZHX3Y6rSf7yQMdIZ-JZPE4zc-koJRNHDQcrODrphRl6gd6XILMEbWVxxuktgeF9VTnLMn9zT4t0aXHuO8eDPoZdTn11IRgNJI1hffrH164lOdAWaKqQ_WTPQKHNUCOkXEERZwXtlE-4WnZw-cQOEf0PWs0NRdtUBtT3jKoLCjPSeoyOwoKTS7bvwCPP_2r5BUVio4Sa8ZjO6_njVTAstI8hJKoVC5piSdhEVkMSIUC0Nr00-lfk6yVK7mizTiw5dUSt1DOb3PFQpxehAwQHjgiNiMqIDzMXKWIeurp4vGVKo7wAVrtjtXILjNEmQ6JHlc2ecyJmWOiTrrFNm6TN50_jJZYt5vD9dvOoODqHUGZGebl2F-yDwcn2nlbeDxdPQvmlWhcSTNpDsEfJEdHsVfc6Pz7p1aG3o2HWhoe5UUb9rz_9t46XII0XknUhid_qQeZ08_cYXGVJPEt2qQWTSkarJ0yVy5gbFONtBcQzd8X9LLLtVXcpK0UmSftAxDJHtSUpksHwLSifnE5eSbxzvojM68GtLyFElBrjkVA-wXJxI1TIrSO9_WY7HXbFjcZDSxD7nSMoB2dCcripZ5anbEETtAr9dnP_8LGI1AdUyMIo8x4Ju0cVW7cItRljjVtDpHRia8-CjT2Uz7nLKIqkLlDbguiYIwEpfjtJtyHFcEQFfAxtJCgYm9-FNpN4VQWip4UBFeh3YQUOIgi1_DRgFsUcyR2kNMGPGdma-g7NyKX96JEYZEm-6-1KJwmFPyODw40dnJCHJhrqhJAFFpZdjnN7x4uT0mdi6KAmvFiYnGEpGfr8HvhxMvfGweVNHjh7iS9hlCYkR4EUqoDKdyXI6FUT6SSK33NGSbqUK0-Ig-12Vlefv-wekF0MJD5yJCHIAhKQLy6bvbRW0YwbuE0ieW5YhIFQAWhvQ33tQ3qOqd8VYATH2LmaN1oGPlh7q4ZcjVLoLmCGuS6lR_48kh7nhUgg70djQd565QB39v37t8nrubdhEErvTgFV-LldjmhGqMmc56ebEQ2M4IG06Ovs39ssOdU5wrWwCt6J1ctS4g6SlCXwnpENUnRSLk-5RFzApTkl4fwjLW82YAlsDfjc0unWTdgj3wPgSpQ2i5a_HajxlHRVcJmcpKiohs-VZbqyuqvecvFbR8fT_OxxlypV9VxmtPS5qs5OwO1GZSFjxYIMxW6Gv-1f6TmQCjS0Kt4FF2tAj10w018hnr084ygtmP4RJm8IhGds_7UWAraJKf_mPVjcLN9sEt6C-63KhGGN8AfeHdMLmse_Oqb7yI_F6cLALtsgo01RBmBU8SKX5QTKVaLyKa5pIZlRnI_AQbvZeMA0FGir1Y3EXYQEMin",
  "id": "rs_086d7d192ce0b831016ab2e29dfd8487d0870f7f2cb0adc035",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.19,\"right_z\":0.10},\"note\":\"I see stuffed animals and writing instruments. I’ll sort the animals into the left basket and the pens into the right, starting with the white pen.\"}",
  "call_id": "call_ay873zNzCIjhprIG33ZNkWdj",
  "id": "fc_086d7d192ce0b831016ab2e2a3df4087d0b6aeaf41408d3624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ay873zNzCIjhprIG33ZNkWdj",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8047, 0.6167, -0.3805, -0.0223, -0.0158, 0.9996, 0.8482, 1.4296, 0.6159, -0.0006, 0.664, 0.5087, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3027 right_y=0.1842 right_z=0.0845 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0444 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.2786, 7.2547, 1.7363, -0.0513, -0.0806, -0.0122, 0.253, -5.2991, 8.4855, 1.5702, 0.5543, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9067e07d2adf7c5e33f279f7e29bb25d56f6779c70d400af464c32fdb0ce9e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4af4ae771baca37ff8217ccbf286581d6a7e077c30bf5c33239ca127bf48b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c25519e7644188fec65788e83de6ec4cd5731bdc6456636caef5c3594e7b48c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.983 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6174, -0.3779, -0.0223, -0.0154, 0.9996, -0.0154, 0.7986, 0.6109, -0.3744, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.183 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.5248, 9.5932, 1.7802, -0.0317, -0.022, -0.0562, -0.7043, -1.6479, 9.7846, 1.7509, -0.1148, 0.0415, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuKxe4DiqlKAy1i6mvqoAtPohT9lB2s43jS3U_Ib217MXLaG3fiHMn-c0oz_orudXyh1qNdlFoMfnaE0qq9aekZPX9ylrxZBMaQTTMiGO5CaLrMdkbWxtpeSs-BR0SM4pi1t-MGdtymXoqJTmn20sjKcaP_WUXx-O98NKLrrQ6sk8IC6ve1DBVFdYZUrrAYERPvzHGU1Mh6NPo69vEYyjV8BqTRreO7Te37tSVWntnwX8G8hG-xLQgVRe-TtJdI-kGtct4m-YN6rBsDuggCsqdfv9yhKDS9Iw1QHy9hkqgLM6rZZ4CdifkjiFo8Bt9_Q6E7D-sqyGGBmAMz4hsnECflSc8c8Rui2uVp5qGaDJwuxIQTNbRCPQ6umUmyKuG40SXa0s4KG8qs_mFSi8NoqUo8VV63X59RZKow_EIZrQK1-3AyyznRonaGjgUKCcXiqgx2ouk3YacYEoRQLStnHZRttueIGJauQ37I2OtCMLwyW_Sd5BuH8BTKwSXcCz8sY_CWbLCYn4mxnQOUj1Au5OFRUbD9VgfIMX75mMt69ZbKZsIXHV-69m07lMenDEZpIZslx4KHfSQVxTOXy5CInzXw44tXv7E6LglOjuud-NtS4Y9mUBiAy8-tWYWrcAYaSHckCC2dB5NnPiY2-Wy0yB1cIQqdUnMvckYzVbxiDHoPkW83yfjbSuyLB6r1ZMKcbfikqgMVqQVks0JWD54n8QkajJZPzpeJYA6WGHaGYDgxP4M69VEoIowlouTGPfrQIEZF2ibDdrIeGQCuHToRa0w5jmPndwBFzicvS_TuxLtttlwZ484h7EhxgPKMLA7N2B-jRulPp9r7XrphKdU-ZevfFFIpdrRDYnFTYPHPKvFt1lDCqsHP8pOSBRSGOJZArXbTWaDjmTNNxTGhdCeaRxDupIS4F9ZWRiEPMrtvc_GBoPA2O4VO6SviguDlEhEoiEbJ7n_srzKE8eadjO4bVdtgkO1E_4-q3irB2xSJXPiqruA_0TYUdH0eJWa4I9HvHJHmJR3ksW1036nwK9Qb7wgMjP-Lkrt6Mr-FYte85xuuKpJqZHlq2SCmdFPe0HpXHaJOiA2_qtROHlFg21pzj7yJqWOThPbpGa_pgrqyjebt2vlTcXmZygI_fE-YcRCvxrFX0Iu25tZN8fkxAcKZ4Ke0GKUV8j4lvx-Na0mND0czRNb8qLtHqhCSqjeSmFrHo2ltcMUBWxx-Ufd6zYVQWtaaoXMeCSKS2idZihN26f3E0aH_qOeTswDvmNOnT9vEA8BAjOorIoBEPkP7LGmEw8rvpf2IMyT2ivVU__gQmuV-JwEL4JiNAXERqYd6FnD5XcuzhxFLNgybj_DtbPRE9uJSczd5TYROhoGAwRmTR8pTBjKfihVdf4VlAEVuHR8_ow1WLJw_nVLWNFYLN17P1wTiekwo85vMWdFX9eNfILtLmxgcNHr9prlfzdLb2-EmImcUr6z03otluTQAXVYDjhV9lnejbM6H_6c_c06wFBMLLwpD8cu5UEWXGl7fUZMz5VZ_JED0FCzR4y9LgIvaCEAd4D16iljnVaDVHIDPZCG8GtKu3ajloPh4t_k8m6es1V9NfCPsuOeqkD_fTjkGmrgtEeHrVqGGtcnKwehxkLdCt3BWUU7nL500TVo50B6tgE-wf457ROtUd2K0xGohmVVFs--XGYj32dbt3KNPIuTNPw5E=",
  "id": "rs_086d7d192ce0b831016ab2e2abbfb487d097d50631c2a761ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.175,\"right_z\":0.005},\"note\":\"The two long pens lie side by side in front of the right gripper. I’m lowering across their middles so they can be collected together if both fit between the jaws.\"}",
  "call_id": "call_axSfJ6HWGBYvem4uEbVEf0jV",
  "id": "fc_086d7d192ce0b831016ab2e2afc1ac87d0b073e91c01d4e4bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_axSfJ6HWGBYvem4uEbVEf0jV",
  "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]: [-0.0189, 0.8104, 0.6155, -0.3798, -0.0223, -0.0154, 0.9996, 0.7025, 1.7912, 0.5667, 0.5106, 0.564, 0.3958, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1808 left_yaw=0.0004 left_pitch=-0.0137 left_roll=0.0003 left_gripper=0.9996 right_x=0.3512 right_y=0.1783 right_z=0.016 right_yaw=0.0188 right_pitch=-0.0245 right_roll=-0.0187 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.3607, 7.159, 1.7851, -0.0415, -0.0659, -0.0122, -0.4308, -5.3675, 4.6701, 0.9011, 0.1148, -0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:797e119b0edb06b4a7320f7c1027894c6fd88124ceed29a141560f3c92a37c92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281ab97d13720b4f36f56e3bf4e3e7093cb5a347d3f4477766f5057054e5b562",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32a14d7cf1d9f4605a347772ff642f9bd6901bcc19958026046b1ab3e14c16d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.378 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]: [-0.0193, 0.8047, 0.6167, -0.3805, -0.0223, -0.0158, 0.9996, 0.8482, 1.4296, 0.6159, -0.0006, 0.664, 0.5087, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9996 right_x=0.3027 right_y=0.1842 right_z=0.0845 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0444 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.2786, 7.2547, 1.7363, -0.0513, -0.0806, -0.0122, 0.253, -5.2991, 8.4855, 1.5702, 0.5543, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuK4UbXLZYydiiCzp_FJsjToy46EoLbg5DMafzOTUb-QUgme5TznjrbfFULj6q4CKQbvepsgD4GmnP4J0psSui10A-oQf5urEXwyrstQPE8JxRkVrDrlAOR9zyL4MxyPEPR9HxwLVMB_l8gRQpd0zQB7iA66vMp3m6W57rVia71TZpyO8v27OTzPw8k1l0MxsrMyr0ezeqOTudjNGXDCcgXAACt_uANI8hpWQRBG8YjswXcIdc6bNlKfsYUW28xIHAJQUn4vz3Sh-6Gxn6eeRP5fwbk50kxOtkGSK4vfaUc-IF0AMbue9nz-JnbTkXqIegJvFHggs02ebZqKyFV2wEVfBFWMLtucYC-nU9rYZdmwn91lO-jcJiIAMQPx641kAsX7lL6znSQ1kb5UF1Zeu7udiYdL1Esr7g3RAAPIQKgisnPaMQlksgon-SE7xEBoqCMteI2_k9nNXQIr1nY-8ReAog5_us8uR5-q7cOdXhHjOaz6fxbZNEnxHs5A3NfGdVGYnP-BY4kFi3Z0vjSQnxDIpaTvwB_di6jYWZ3uR8COPnvbA9DQQ1PT77SGv95o6wZCY5H97qdVIs9SWHFIZfduLwcHRGLEYQlYV00YqiBoWBXjue8tFQUpAIAZ7e7n4HCzwPLe4xhXUtLE5EflXMC5D-6jvJECMvXgCZ0hxC37aMdsmek6xfY8xbpovOgWNjIoCWfzTTPQdkFoH3rUuEUmp3sB_Ug8Wv8nwVgUzs8ZPNJicpSGY2z3ZGlNQm5-xi-LoZ3XHDbiOvv9TgWftFI83vATSus6UbAnJMTHL5j986ILB1gJWh25ZW1eS-fofiFD7nLg3qPeGySOOjtnlec0EdF8H5VYyDWvnYX3wSMfz3GfzM8_G3LyOOPMISohOB9W41Z7Q0L1s2vjZ1C5j2GdqQc3rIFLoF8rFXEzNcfXo9KMLhSbCIy-y6rvz-eCoJxXUOA0byWZQRyrftjjwXMHKx8FIPhg6Yi0ZutyUKkt2aZ60Wz1Q9gr8jZZM7em_ndd5l1O-eve0ZrI_ZfISsVt-BFrzYcpo-kptdLYnUyHr7yY_njiVnKjm5jSJOPgQnTyAIW-SBvFH1qoGnTkf2ezoRhtlFkrpU4Nfg9HnFa35wu1LMf43AHN2YcuiOy7x-OjVES-joaCZgn4d5PEy8_9f48iLNGsVGw22eDHnztz3O5GA8gB1VSjTdU80rl5FdczsHs4DlRBYWH-to1V0lfpoJExtIEW4mRC5tOm0XbLC-mJ6ko0QZXSCftnOlpfgQAkpY47GRL3kAc2jNUNpADRB0tFEX-GLvfUn1DoHBISPVmXNhGoiHfPHukhUqae4NbA5EYuSsqT2VQresg6xEumxfQBqrM2KfgnE-b853CJ7Mdrken8sRwNdK2d30NdMX6PZ4ayBS8_0n7iIddm5zl0pQ==",
  "id": "rs_086d7d192ce0b831016ab2e2b4b5b887d0914af7f28deb9a35",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.14,\"right_z\":-0.012},\"note\":\"At table height, the white pen is still to the right of the jaw center. I’m shifting right and lowering the last centimeter to put the jaws around it.\"}",
  "call_id": "call_2oNuVDwwfgGQtQ4VrmmkVOkE",
  "id": "fc_086d7d192ce0b831016ab2e2b7192887d09c03c10888c9a0ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2oNuVDwwfgGQtQ4VrmmkVOkE",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3801, -0.0223, -0.0158, 0.9996, 0.5884, 1.8507, 0.4568, 0.8314, 0.4774, 0.3286, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1804 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3652 right_y=0.1504 right_z=0.0142 right_yaw=0.0076 right_pitch=0.0678 right_roll=0.0548 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.7021, -0.0611, -0.0806, -0.0122, -0.7043, -4.8205, 2.5231, 1.0427, 0.0708, -0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc644f1a2d1d18d49927734f8862c43989d01c7e8ee18b49fb438a1e4a460e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b50bd41e7c4feb23ae05626393d9cda39c897ac55e7cedc6768986f890a5fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceac4d8538a3cb10460bad0a6ba07e400458548a2c6cd686348ea8c3e280a8ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.509 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6155, -0.3798, -0.0223, -0.0154, 0.9996, 0.7025, 1.7912, 0.5667, 0.5106, 0.564, 0.3958, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1808 left_yaw=0.0004 left_pitch=-0.0137 left_roll=0.0003 left_gripper=0.9996 right_x=0.3512 right_y=0.1783 right_z=0.016 right_yaw=0.0188 right_pitch=-0.0245 right_roll=-0.0187 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.3607, 7.159, 1.7851, -0.0415, -0.0659, -0.0122, -0.4308, -5.3675, 4.6701, 0.9011, 0.1148, -0.2418, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuK_XwUCZPTxpDccq1mqaGYF2HWIRHW77CfPhhVPmdeFzRXCKn6fNRx6sAgIVlNKrptIM5CkIBTG38Lr1WvmE3GFYdMyCWUin3nvEptJMvnr9eUr8xeV4z_1_9N8HZxaQilCwT9t8CiGGCgfO9fSw0dc3pEn-n1IuBThfNz5FtvQgUuyDteEhBgRisrnBjmHGy-aIkJe8I00a7ixypLT8XjOtU-in5N79y5N3gfL_mdzTsBZnh7qEkoh5q7v23QkdEgCFDbyX6nD8Ee3soQfqqgnFl8c1evtxW4Y-o1t7JGz5fBJrciyS1Bzus_1hIFtVYMRCj2C217Di5CdroVVDrLhm05KMvdH80fQNfwuk9Ty8Cjdrr5ltN87719c-vxOVAe9XBj95vXrKSaZj_dGa-fw8-vHyt1DvxXLJRvMCCczU3J7RUgdhATMK84ZPh291Erjo941WTMB5ZyYxG0sOcC27RYpUlqywrHXzKrsZbwDg_ASsI95rbnZuX0sEA9Au7y9N4X0FqkMSwM_iMYab4ZBLWf3GciU3GGDRVKT90YTCaheOApWVuvszVq-pdqiQL3D6SFfsp-xQ5-rliY9CDDJH4U_bi3uH-HR6Q71kqrM2AncbgBy1ODXHJ6zMl3WTE5-73Ebi_PwWRTsIKQosGoIS4S119XO3f3SRk-S4dHW2NWy8TtWYl1PXSV1ls_XvfNFVoEm5lMmTOUl2yUOhFwYUxnxO90CC41ZMuxCSWOn5VVAyCQCh4xO0cE52cYqa1DcqDKGVfj9a3XDeO659Pdgx5YHEuOs8S4z3p_EdkpyJwb0Mi-z53Z_dA6iMIyoARIm00SA66pKXg0xZmX4VlumWPYiCRKMvkgEHPGtOt58AF_B-YW8Izd_5fRIbLYDrLNcMcvxJzk9VO9CYhEtnT9jybPfKieObGlFntkdvezeGJd7mYDM9NcScd8BVVYgMDR9TWr2mfKzcjW0tQo96Y9IsNOP1rnZzDsuItUgRepaniOQ6SAlRgYI7o2G2tLY961hDZPbdivyf2i1Kn_4-n2YPMfAMUqV2cCUHqmd3x2FJaDterLKxCQhajEZvYuF88LLeHQ8e2OxlBzuTjhuzgi5tGis7vUI59lm-yE8RdwCgO8wft9m2858VBGDlKRWdYpbxhh0jVUbwh_ft3tla0qcVGimUQ1hs_ecmDjcFGZ-f92UMK2AWLG1FzWz51mVAUn_huHjBLz38X0EPfutTVQhLwQaLVQduZWFVvt3Ksl4kwRxQDS9SQvWL0K7IYs5vAT32HxBQFTG-SvqIp24GSYzTfgdsEkFsEi8uogVuEL19LI=",
  "id": "rs_086d7d192ce0b831016ab2e2bcee9087d0ac0271175ca5368f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue pen is now between the jaws, while the white pen has moved farther right. I’ll secure the blue pen alone rather than chase both at once.\"}",
  "call_id": "call_bZZ0yZJIxh6tWPTbjNjIxKDO",
  "id": "fc_086d7d192ce0b831016ab2e2bddbf087d0908473b73499f442",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bZZ0yZJIxh6tWPTbjNjIxKDO",
  "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]: [-0.0181, 0.8146, 0.614, -0.3801, -0.0223, -0.0154, 0.9996, 0.5877, 1.8519, 0.4549, 0.8318, 0.4698, 0.3065, 0.1471]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1788 left_yaw=0.0011 left_pitch=-0.0198 left_roll=0.0004 left_gripper=0.9996 right_x=0.3645 right_y=0.151 right_z=0.013 right_yaw=0.025 right_pitch=0.0638 right_roll=0.0373 right_gripper=0.1471\nstate[joint_eff]: [-0.2256, -1.6615, 7.1453, 1.7265, -0.0269, -0.0171, -0.0171, -0.294, -5.0667, 2.6462, 0.9939, 0.1197, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9213922209a850910252d4aab786e66a39101b451df69566ce6f713b911ec02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9986087cd2d243ade869caf22194a538c3950560bec2822ee29d7fcc305abfdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83662e39f658f28c616883e087af3bcfb038df4c36001c81ae93bcc884483a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.353 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3801, -0.0223, -0.0158, 0.9996, 0.5884, 1.8507, 0.4568, 0.8314, 0.4774, 0.3286, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1804 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3652 right_y=0.1504 right_z=0.0142 right_yaw=0.0076 right_pitch=0.0678 right_roll=0.0548 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.3607, 7.1316, 1.7021, -0.0611, -0.0806, -0.0122, -0.7043, -4.8205, 2.5231, 1.0427, 0.0708, -0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The closed jaw spacing is about 1.4 cm, consistent with holding the pen. I’ll lift it slightly to confirm it moves with the gripper.\"}",
  "call_id": "call_5mq8TivUUcr9cR0carYDyxdx",
  "id": "fc_086d7d192ce0b831016ab2e2cc073087d08ac07d102e2bc374",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5mq8TivUUcr9cR0carYDyxdx",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6125, -0.3805, -0.0223, -0.0154, 0.9996, 0.5877, 1.541, 0.5217, 0.4389, 0.4591, 0.3054, 0.1526]\nstate[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1773 left_yaw=0.0012 left_pitch=-0.0244 left_roll=0.0005 left_gripper=0.9996 right_x=0.36 right_y=0.1501 right_z=0.0735 right_yaw=0.0347 right_pitch=0.0479 right_roll=0.0331 right_gripper=0.1526\nstate[joint_eff]: [-0.1573, -1.4564, 7.6103, 1.7265, -0.0464, -0.0366, -0.0122, -0.1846, -6.8171, 7.747, 1.6142, 0.2613, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de2cdbb917a96b372fac94513d7719215493b5f7fb39ada17ea2b78285da3143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42bff182a61fe4ffed6d58a4ae788935dc0b29216c9c2e3dc0a73bf0bfb6bfbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f7f5566f951c55c3e74c7359f872906908b109d750e40c76a2682ade820fca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 9.398 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]: [-0.0181, 0.8146, 0.614, -0.3801, -0.0223, -0.0154, 0.9996, 0.5877, 1.8519, 0.4549, 0.8318, 0.4698, 0.3065, 0.1471]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1788 left_yaw=0.0011 left_pitch=-0.0198 left_roll=0.0004 left_gripper=0.9996 right_x=0.3645 right_y=0.151 right_z=0.013 right_yaw=0.025 right_pitch=0.0638 right_roll=0.0373 right_gripper=0.1471\nstate[joint_eff]: [-0.2256, -1.6615, 7.1453, 1.7265, -0.0269, -0.0171, -0.0171, -0.294, -5.0667, 2.6462, 0.9939, 0.1197, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.18,\"right_z\":0.23,\"left_z\":0.19},\"note\":\"The blue pen lifted with the gripper. I’m carrying it above the right basket, keeping it clear of the basket rim.\"}",
  "call_id": "call_Ms04rQL4Gkf4nkdUYrRTi8lv",
  "id": "fc_086d7d192ce0b831016ab2e2d11af887d09eb7c05ae8828898",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ms04rQL4Gkf4nkdUYrRTi8lv",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8257, 0.6342, -0.4297, -0.0223, -0.0158, 0.9996, 0.4362, 1.8519, 1.5291, -0.2531, 0.3199, 0.2123, 0.1561]\nstate[eef_state]: left_x=0.2938 left_y=0.0022 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.5152 right_y=0.1828 right_z=0.2155 right_yaw=0.0473 right_pitch=0.0187 right_roll=0.0226 right_gripper=0.1561\nstate[joint_eff]: [-0.1162, -1.7846, 9.9487, 1.6923, -0.0269, -0.0611, -0.0122, -0.8957, -10.5231, 9.5385, 1.7753, 0.0757, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c18e136e5a9dda607b8e31d410df306e32e0a5c511c16c4ff0254b8f67a88d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdfb434d1a89eaa195a392cb416da3a7451caf0bd444673e84d45fcf618dd9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3ca7fff5dfb0221dcfdf5d4d41bbebd9ee7a2dea20f0a9f2db646a977f8c4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.861 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6125, -0.3805, -0.0223, -0.0154, 0.9996, 0.5877, 1.541, 0.5217, 0.4389, 0.4591, 0.3054, 0.1526]\nstate[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1773 left_yaw=0.0012 left_pitch=-0.0244 left_roll=0.0005 left_gripper=0.9996 right_x=0.36 right_y=0.1501 right_z=0.0735 right_yaw=0.0347 right_pitch=0.0479 right_roll=0.0331 right_gripper=0.1526\nstate[joint_eff]: [-0.1573, -1.4564, 7.6103, 1.7265, -0.0464, -0.0366, -0.0122, -0.1846, -6.8171, 7.747, 1.6142, 0.2613, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuLhqDGO6xdJjns9lVdzhfpAFMx47OrlzhDcnMzQzFInekUILFhmZcDsu0z5EnnWdkzPT2OP_AP4tgmWoDguNXWnzQv7Eg-W_Nmdh_258WWncOrwSyxTcHIe-9Fk7Wv2zL6hKInYcmlD5C9Z67bsm4bZhciMsbR12mCzEHb5ra61fVcW1meRSL-a4UMMrpWMLHG4-S7muIdGFLxGfJ5sJeiKbm-dfuWN0n1nsKaeE7apT5d9UOyjHrqdq8pvAezbv7VoBVfrrDfXSk2YPOS4Yw7IisJT4D_fv3qfBmDZU6L62F-fRVVNZ8D7cbqBxQ33HozsqNtc4h7lt_NMIOuQRDDagy34NgvS8cVDlmqVckAZ2F4IsxxsjRTAi5x-s4y4sDczYVWLMqE38htAqnnLeGQ42_wJPxVFnCj-N5JFcze0hWImE6vRnsA9Ru0RcMMSipVaW0G18cLC9ThPyOV6_3pyM69Uvgcnm2Zxp219_ah099DEzZ8oqST1lyHSihWp9Nzk4mxVdaqrUqs9K9FovbETcy7dhLv7W1TLZW9ZDHCdivuCB17FPiqWntpTNiaOVf-WU_My1emgi_jUoVQZBji43XwQ5wmbQ0Y9xgfLtSg5kS3wsghz-yLV4SgC6uMcMS1GOsMv4AR7to3_hj3uaztp2FVI-Nx1yHKtJ17JTZUANJ8VhxyW2PypNG-Yknc_ZtRoGIO_XNrWxaUyQs-iZYhU_Qmr3EIX-PrEFQJVMF8sbzsEFXmYnxkMTr9cGD88LFQ2SnUHeMiYSMIlFCQ4jcw-mNigP8Vd8D2cWG02P_3aEFcn2USrC31AxuQqnntZgNkgomkj-SUGgHq5gOORdcwn95Nxqh1lc6TdIZ3zeZKtNCGSYWSARx3ky5GGDgytV_X_YzlO9PSMRm8u3U8wlIy3ITwU8v7L4h2u4EFsIEb5IcSG8ICOO9hzG0SBmarZvx5qFv8G1-xylDopZi_9XNaBx51snp_vxZqZvqlelrRmCohyWdPHtO6XXngmb4lHTYHtogbCTbwM-fS_7rso1RCq4uAh-yO3Uk5KxWOu3JO4FZyLa1tF8Gs0-HAlRmcWFLJzA-mF1As32qHrL3qn58TjNm-RDxvryFB_g_CJPwsq1VXwrr_9Oj6euJINV0BeBlVNS8FKNnrqiFX560jyqZ4MahRco6MKHMpTg5lV-0D1wOiFrkFQX3GJyj4DAQite3xueEtY1vQhoMDBcrYv3jAyzn9dllDLdZHIqqvlThWz9orm_FPAlPC9fEmKDawq2g5zaiXZO-K1VF7YAlJWFzcgHN_zIT_lUtIVVAlQkBoPMEeOY1W2nhXuZic01AFYf_AOnGaEgZpFs8otvFNmOUsBaIjaFy2i4bYr01X9pRWLMjtkcczFW3dD4A11OnTzuBmQZqKfgcWL3IpZQ8UZijmyoJN8naROF8XbtvIuBGKA-ONb_TbgpFyKl9BZ8J4N87iFJycyN9Gpqa_dgLadMWgsmRAtrTByOBwQnZR7l5sqlx8Mu6ttYQYCL4H9U-i4yKZ8Jgz_ovpba28MD8qXu932o_N-Ct4yvUMeuxgH5Gg1CPw=",
  "id": "rs_086d7d192ce0b831016ab2e2dce1e487d09318ee3d5a289f39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_z\":0.17},\"note\":\"The pen is over the front portion of the right basket. I’ll move a little farther inward and lower it before releasing.\"}",
  "call_id": "call_WG4EUOVrlqkyayeyhWDjIbKK",
  "id": "fc_086d7d192ce0b831016ab2e2dfc3c487d0b0c21f7f604e9540",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WG4EUOVrlqkyayeyhWDjIbKK",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8284, 0.6338, -0.4301, -0.0223, -0.0158, 0.9996, 0.3977, 2.0369, 1.5631, -0.1596, 0.2752, 0.186, 0.1562]\nstate[eef_state]: left_x=0.2938 left_y=0.0022 left_z=0.1739 left_yaw=0.0014 left_pitch=-0.0637 left_roll=0.0009 left_gripper=0.9996 right_x=0.5498 right_y=0.1828 right_z=0.1475 right_yaw=0.0595 right_pitch=-0.044 right_roll=0.0037 right_gripper=0.1562\nstate[joint_eff]: [-0.212, -1.6479, 7.0496, 1.663, -0.0806, -0.0806, -0.0122, -0.5265, -12.0274, 9.5658, 1.9414, 0.1099, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a380518cb0e380afc456a263786ee41bee3e419330f900dbf0621405e66e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe00e7e49556f5ffdd26aa4c8119c7933ff84bb4cc0af866b88ce1f2fecb98ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b90f683cf25e63acf0009ed1275092ccbbfb77c05ed4baee324a3686a3fbaf6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.183 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8257, 0.6342, -0.4297, -0.0223, -0.0158, 0.9996, 0.4362, 1.8519, 1.5291, -0.2531, 0.3199, 0.2123, 0.1561]\nstate[eef_state]: left_x=0.2938 left_y=0.0022 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.5152 right_y=0.1828 right_z=0.2155 right_yaw=0.0473 right_pitch=0.0187 right_roll=0.0226 right_gripper=0.1561\nstate[joint_eff]: [-0.1162, -1.7846, 9.9487, 1.6923, -0.0269, -0.0611, -0.0122, -0.8957, -10.5231, 9.5385, 1.7753, 0.0757, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue pen is aligned inside the right basket. I’m opening the jaws to drop it into the basket.\"}",
  "call_id": "call_FutqCbl3BxVCbdjtEflYVp8V",
  "id": "fc_086d7d192ce0b831016ab2e2e6888887d09edb904cb33ff93a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FutqCbl3BxVCbdjtEflYVp8V",
  "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]: [-0.0181, 0.8284, 0.6338, -0.4305, -0.0227, -0.0158, 0.9996, 0.3977, 2.0369, 1.5635, -0.1562, 0.2756, 0.1791, 0.9955]\nstate[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.1738 left_yaw=0.0017 left_pitch=-0.0641 left_roll=0.0012 left_gripper=0.9996 right_x=0.5503 right_y=0.1829 right_z=0.1483 right_yaw=0.0629 right_pitch=-0.0403 right_roll=-0.0009 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.6777, -0.0708, -0.0806, -0.0122, -0.6906, -12.0274, 9.5521, 1.9023, 0.1832, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ff7c6295875cf848881033b2296e37ccb2883073a2ba3b97f44cf271a2b96f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77a353a875a4191945bfce6376809cb0cf537a426500215e3659293874d096d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40701b74bbbc17874bbb69d4f5632840924c20c2bd93e8cb400595c55407b87e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 8.857 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 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]: [-0.0181, 0.8284, 0.6338, -0.4301, -0.0223, -0.0158, 0.9996, 0.3977, 2.0369, 1.5631, -0.1596, 0.2752, 0.186, 0.1562]\nstate[eef_state]: left_x=0.2938 left_y=0.0022 left_z=0.1739 left_yaw=0.0014 left_pitch=-0.0637 left_roll=0.0009 left_gripper=0.9996 right_x=0.5498 right_y=0.1828 right_z=0.1475 right_yaw=0.0595 right_pitch=-0.044 right_roll=0.0037 right_gripper=0.1562\nstate[joint_eff]: [-0.212, -1.6479, 7.0496, 1.663, -0.0806, -0.0806, -0.0122, -0.5265, -12.0274, 9.5658, 1.9414, 0.1099, -0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuLvQ7QFv8MgGSL6-5WDbU1Ryl45EzVr1QpQ7euPADsIvdZLy52r2iKYlJh3386LkZEZnA-seeX6Q9SxHoB6L2tGikP0of8kJNBbqMfxA2owvL80LUNp3ym5rQKkrK4xIdEj4iwYIwND2Zy3n8go7LwgfuGtReh-BX1zbFgMzVT8em_fV2pwAH7PwIddyDBQHDGMlqdneM_f08EdloXyxn9RpUZ_QUkE5wYmF5812POMYvDj6TLIjePWM4N1OWLwymsEk623Nz2naw6fVr7KZxhcTyunhxbOBXx4xelI_AsNL0S9Q-dFOdIi-b6lVD8etdHeHgEJOn_MYX4PmdyRTceYMEVbL8FcABDyWdsYx8OoeA5pOf7yrVqOTBgKsWtygD__djPHPzZffqzsVT4hZlpi0CGj9E46CMZzReODazHOwnpcyfF-9cenzqUiPvdmG8sJGB1SsVX0FhOsy9lRhEB3wGAYfqVXmd-i3qo_kOx_UAGvakFh_nmt_YcsYxKwjA7T0Yp1lvKh2z90PVmoBxa6gMJcfRZDi49fJB-oPFQn8uxvoib1sJoN96vR_5kFxfKO3lsfqlGfllkTzCwVDmjI96-7QLQw9812UISbv6MRSJuKXet2wUoG75esOPyVg4WD2glcD2shYkhYaCMXvzuDzV7g9xjDatuR-ahK3vDx_4zJCS1G3rIEoMwb02PNeli4Z2JpvSCSE6yoBV5fhVfwZtcHjcohvdXUiFY-eImnX7smcCuOZR-vrCMM7JTof949hglcaUl916c2wXA2j_nnUa0aOlveJjytheVvpPfjNo-PitJyR9gXuxWCGlQAiGuIWZrJ9__Ev-bRKT97-l73_dQnl1r-8tOtHwO3N-N-JTpCylSsy_prptQ4fR-nuoTK1bmknkbg89oRmN-OtZps7A6ZVhjcAoY7Rh0mQb1j-1UbW1kYD1x6quV-STQtl_sfdlGn7Mzw4scKt7THeSYvn1usL7OcTJgzbw7KVjb7UyBYJnh14H5gAIHYDkF6U_sHJQDLmZaFUnJZHiwS4ZRMVGeieAppYPhiGM02p10fJZeSHj4cP_nbxYAafJIq03_1BkqcB-SfU_d8EGBxRWB-_XjGQiOSad-Yli269OIuxSnQ0AN34VsOLfwZQEQmPZ1w5wiIewl17SeLEagEPBHPK1cpc3B54B7PQSVnQ39R6aoIWyTksjwua8KCP4gB21ILfi1ngDDoorrBNvD4Yxlm5yU4POsxunOTfru2P6uQcN4=",
  "id": "rs_086d7d192ce0b831016ab2e2ecddb887d0b3e3ae403d814c06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.055,\"right_z\":0.095},\"note\":\"The blue pen is resting in the right basket. Next I’m approaching the white pen, which is now near the right edge of the work area.\"}",
  "call_id": "call_H34scvE2MejtXDUBdREBaCUI",
  "id": "fc_086d7d192ce0b831016ab2e2edae8c87d085008700226f9ca2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H34scvE2MejtXDUBdREBaCUI",
  "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]: [-0.0181, 0.8322, 0.6315, -0.4328, -0.0223, -0.0158, 0.9996, 0.2077, 1.3037, 0.54, 0.2375, 0.1215, 0.091, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0022 left_z=0.1713 left_yaw=0.0014 left_pitch=-0.0725 left_roll=0.0011 left_gripper=0.9996 right_x=0.3766 right_y=0.0612 right_z=0.1174 right_yaw=0.0494 right_pitch=0.0398 right_roll=0.0314 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.7709, 7.2, 1.7558, -0.0659, -0.0708, -0.0171, -0.3487, -3.6718, 5.5453, 1.2527, 0.0611, -0.2466, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f81ca2051224973e132f159c22333c5ed4b503db59ed0768d6954f952850d58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8563032148158f036b610c87aec2631fce08210a9931eedceea3668a7a4fec7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36044d350b8a8ecb98e1421cc9f54bdfc814b9e3e673bcb82c7ba2345fcf5656",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.658 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8284, 0.6338, -0.4305, -0.0227, -0.0158, 0.9996, 0.3977, 2.0369, 1.5635, -0.1562, 0.2756, 0.1791, 0.9955]\nstate[eef_state]: left_x=0.2938 left_y=0.0023 left_z=0.1738 left_yaw=0.0017 left_pitch=-0.0641 left_roll=0.0012 left_gripper=0.9996 right_x=0.5503 right_y=0.1829 right_z=0.1483 right_yaw=0.0629 right_pitch=-0.0403 right_roll=-0.0009 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.6777, -0.0708, -0.0806, -0.0122, -0.6906, -12.0274, 9.5521, 1.9023, 0.1832, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuL5CxjH1VT64baK_irnPpFIgPVQAudUS86CJug0D21LXHbeqH2T1FHclDhuzcJZvVxIpNaFA-nx2bdTtCgImcpJ-YYD9U-5TcYWjG8FLA-2pKDbZRVwj4FpwXsVykZfd6cs3NCaFRVSPb9o8jWWV849iu6_2tuihwaigyLLRS0cqoaRu-hNTdNDW4mKp5ishbpG4_PV9LKQGtEpVSFXrfP3aanEbKdtY7I9kWqLxCQJzS7AuHrIdb7wd7pqtVUTa2HrorgCGh3yFm_K46vak73_2dBMUiJBijc4-bI3jWR6LyK6IUCFZpvo-fK9AeBBxkYMj6XDqAb9DfQ_BWd536XH4oivG17_nTX7_6Xsbl4oJZkk3O5oFLHXZ4J77rXbgP5XrZH_fSfvkKDr1BAh7rj0ohdNqD95pxNjkef-o-QYzfy3Lz9WnveHQjTNJbTTKgQrObVsP6X5iAhlDMK6iJxJhSGGdB-23IRQMdQHv0hcKa9sX3IdGdXzEjSogkFO0Ew-s7KPy6oU2RBaOjG0kXCjBVibcFqR6ee77wT91UQpABInH_nQfpJqYrOrobVWnjT4lNdOKipRJdZNa_Idvyi5Dd3kohftgxKrsZrJ42kRx5-FOeS4I4woiURlsyXaN_cWPAhMvg7RcGr9vV-TwtruHSiACymIvXV-JrW5cI1IzNo6eMfsQJjgz2g8kvkCPt6LVVF7ALUvz7hbgj81kWg1aTAjfxrH2D8d_sPLUp1bgm-wpfPmRv58x7H1Doe3gEIRD78ttEXdRmuajZmSAjOO4wk1WaHNFBTsanf_9gLI_-oUn6BtDGC6Ho4zDodmkhQjFWTyk-q_Ak7WaRkg5gwUj5S-ZZTO3XtEXsCmKR_uyhvitfC2gzQoyvtmUpcRrUHFc32-a5uCLFnu2QXaEGLUAnlJ8iSc_dY_1tbhigOiky1V_R69cw7MPgkCpK3z97epQCh9Jalgf7JX-Z4EWz3Mk_yHo62Xk9h3-NgWQ-qzvbCKcyMJN7tMGuNcBrcDMWYn3KsT6VJubBpI6xxvdaHh-H1Lj0GRoayEkl6qDReZVmidhSoXsEuKKGwrUVFaUQ4_u8GsG7X1CoPDphVmm7kuVlgibvtjbKojv4G5xjAEGA5fMa97LhBU_Gpt59C1Rg3lPHYrI7OwQaAN2qpZyUQgF1iskQH3JJj-UdOXO2ms9iOgWJy8mD8x_fYhnXyTyYF4HhIg5-AUDqeSJfblDne8RiMNhZXG1RaHFE3nAJvVMHxZyjxyMgHtlqZzt8JJ7g__LOaB9A5kaeJTWexwFHHO8jVte9s763tu8G1pwOHUovgyZmhMNh8U2npj1pSLMAvmTjQdbzs5TvbbdeA0dcGLyeQVmPb9gTLNUk1BCMNmgv6IIc85mR76SvGatRAktEYLV1gDavGSrI0jLPx6FFMjf5VrWSFS6PS_eQ_EKcACMCtzCtywYmlTVC6QrplNifESPjd3h8MZ5QznsKe-CnyTMUF3x9LwG-w12RGRqAPGgdY5mU6wfGm3y2BiANXC6TE1Rq57OF9ehutyh4wEMuapr7S_ZZUCv-0Yf4bQXweVIFldWdG50S08Lf4Q13KMrmiUHEDkzxkFLwJzbKOmylkBSA==",
  "id": "rs_086d7d192ce0b831016ab2e2f3223887d0bc72c4699ce29f14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.055,\"right_z\":0.0},\"note\":\"The basket shifted during the retreat, but the blue pen remains inside it. The white pen is below the gripper; I’ll descend straight down without moving back toward the basket.\"}",
  "call_id": "call_MtraSmvSuU6tZJ5lieFbmKhF",
  "id": "fc_086d7d192ce0b831016ab2e2f7660c87d088b703a753c911a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MtraSmvSuU6tZJ5lieFbmKhF",
  "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]: [-0.0181, 0.836, 0.6315, -0.4328, -0.0223, -0.0158, 0.9996, 0.181, 1.7527, 0.4145, 1.1847, 0.0681, 0.165, 0.9965]\nstate[eef_state]: left_x=0.2936 left_y=0.0022 left_z=0.1703 left_yaw=0.0014 left_pitch=-0.0763 left_roll=0.0012 left_gripper=0.9996 right_x=0.4209 right_y=0.0684 right_z=0.1097 right_yaw=0.0154 right_pitch=0.4008 right_roll=0.182 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.7846, 7.0085, 1.6874, -0.0366, -0.0562, -0.0122, -0.4718, 0.3761, -0.4308, -1.4237, 0.3492, -0.9695, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471160e3692a184f5e5a1841e6a4f9507d84e03a5da3b896033de2bc83f199cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31cc6e933803ccbe421baebd922c4d42ab21693496e1132c4dabd2757c83bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d720616b818409bfdd30f6353b6f8a9793f8212ad9372a426a42c5bb72cfae29",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.573 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.6315, -0.4328, -0.0223, -0.0158, 0.9996, 0.2077, 1.3037, 0.54, 0.2375, 0.1215, 0.091, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0022 left_z=0.1713 left_yaw=0.0014 left_pitch=-0.0725 left_roll=0.0011 left_gripper=0.9996 right_x=0.3766 right_y=0.0612 right_z=0.1174 right_yaw=0.0494 right_pitch=0.0398 right_roll=0.0314 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.7709, 7.2, 1.7558, -0.0659, -0.0708, -0.0171, -0.3487, -3.6718, 5.5453, 1.2527, 0.0611, -0.2466, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuL_KbjmSX3VdQFoxSUvglm1G7TqyW4mdf5NmCzyASptpafDIeVKLV6t0rLBan-xjGLD740c39Fg5LIl2AAJuSvkdJAoyl6epuNyX-QMU-_F6B049rerpuhEhk2SR9-CrNfgEBLTu_YjfKRfWSSgXW57-2dv2yE-NVreib_MEMYDfb5HOGf5_nDsm9ZOXsK8x5eoiFXASfz0RZ_LhvpXBxqN3R-FO_Y2_mViNtbGUVZt37xvw3hX-DFRXMtrTae7NMasByMzK-jHyF6i4PYoznLMLLBhgg1j7ZxLR6pa743d10Bpg8eKX8RFolFPS5_ULrQLieJF7gdqtPlLdj-WAqg1DgqrVeIJ0--T0Dn7u0o_HmbpimR3HUVWD9tSCDG7haVTl-KCf_9xSQehfz-gcale7hIBjkRKBulUuwU00mtM4KRdZvBbTgxfE2nVuFsjamJbnj-nZ5abDX29QcniRoTm7pp2d4Tt7QDhfxVx3oVwrvMmszN5l4fZBk-JH-xBRgldfcy17y-6muK-QdH3HmxiCWW0BC5ymaJoKe9n3JJyMcLHHHandfVlQaSbULSe6mtnHGTXl0pjiIyE09Ms2oGbKE5AlCKjyBjTr7DYpxZJrFOwBYcLxgzPDyVb9hxRmPWRxMIvLYBmyABgII6ogtikDGf5QjtzPKcNiA3I3KJTc-OQbwIdx-JHY-2lCbc1Hr4Ga-bx22FXa1-H16YeoMd74Bs41DHU2GqHYUZ3EGWmiG3I4-iheSVuT225Bqc7IJD7vKXl27V6wXb3KiLBZtkoadb5PydaJTrxzBHIUsUXPxa8Jxp2ro2iclxqzE0lfnwSrGiMWTNybmd9aHlpgu3mFhxF8TrFqaPCeU1KhPluAUGb1x4E69RgIx6_GYUkZLKkZCN-om_pgGrRyq7LQoKEOYlUfBhPovMkhlZVhRU42izmC_OTewG_FfMzyxEK3889Mvi1X2LaSMO72jNhs2WTXW4jpg19Fu9kTa-nEcyjdZgZU-LeL3LY3JsJVdaszVTdEwrUS34TWE9SHGkp4ftSGwzQsqN9vmwhRoyDj6xOKpo2jviaK2lmKk69L7QbKhrBurbUQ26UGNFjzvjcizd37ynFnHbLx9KP2o9B_bzmWMfB8kr6maENx-s2DPO9z2CElmgWLSMfv67cYOiHOs2dCGR14L8hDX8WjsSwAW05by7r7Y_Tq4hUzmgfZuHqVXA8T9XK_GSbyom5cXtLxYLINPqxAg0Dq5U2rz1RYU48SY9GyNGd8HcE6nuOr0EY-JzP",
  "id": "rs_086d7d192ce0b831016ab2e2fc934487d08ddfe261b6140612",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.04,\"right_z\":0.23},\"note\":\"The descent stopped against the shifted basket rather than reaching the pen. I’m lifting and backing away to clear the rim before trying a safer approach.\"}",
  "call_id": "call_vhCcYvzy2PM37v1g9MDUUHxZ",
  "id": "fc_086d7d192ce0b831016ab2e2fda80887d0b18006fecf3564fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vhCcYvzy2PM37v1g9MDUUHxZ",
  "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]: [-0.0181, 0.8379, 0.6312, -0.4339, -0.0223, -0.0158, 0.9996, 0.1501, 1.169, 0.2958, 0.6651, 0.0353, 0.1722, 0.9965]\nstate[eef_state]: left_x=0.2935 left_y=0.0022 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0797 left_roll=0.0012 left_gripper=0.9996 right_x=0.358 right_y=0.0515 right_z=0.155 right_yaw=0.0136 right_pitch=0.3453 right_roll=0.1871 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.5932, 7.0222, 1.6777, -0.0317, -0.0464, -0.0122, -0.5538, -3.3162, 6.5299, 2.0977, -0.0415, -0.0806, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b366f7e8168ff4a71c7c06b78340429681f751a15e016d9be7d12d28dd06481",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cdfb0c43f14eff637b3e71c487f8d23cb54b0a9aa42cd34ead48a1f3f4113eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b9ca9cb73f8949d947ec6fc876ae40eddfac20e88a731580be363d0ef5d711",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 5.564 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.836, 0.6315, -0.4328, -0.0223, -0.0158, 0.9996, 0.181, 1.7527, 0.4145, 1.1847, 0.0681, 0.165, 0.9965]\nstate[eef_state]: left_x=0.2936 left_y=0.0022 left_z=0.1703 left_yaw=0.0014 left_pitch=-0.0763 left_roll=0.0012 left_gripper=0.9996 right_x=0.4209 right_y=0.0684 right_z=0.1097 right_yaw=0.0154 right_pitch=0.4008 right_roll=0.182 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.7846, 7.0085, 1.6874, -0.0366, -0.0562, -0.0122, -0.4718, 0.3761, -0.4308, -1.4237, 0.3492, -0.9695, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuMGiOuEyTy6mVVmX1n__J9ePoI2A5D4udM1Bg16bLWfbdxRWiKel7siTI4tVqzk2QU_BFHlKg51gW6lE_1Ts_toYN2D5I4JSD1gwhtObsL3yrMjRfptO4niC7tuktiTOggJ0KqIMJazDXJWC0-SNVsTRuU7ZQBaePGAAuoruHXh9p1hZ4Ny-Xb8V7BU3tP0TwQHS-UuXIQ97WetA9cy7eRjMdZBcOFzk1wkjPo3dj511rcup8bOahO107mNvjtFzKs7hiLcZ7V4mBsFx0XR_FOdTz2HwVongWwQ6kVNy7R-4fQOq1JaDESseBwTmTfm0K1b11QU_jGE153TYPu_NXGyez_CHWj4W0vUACdeZRzihEfv35wkFwqZLmB6XxoOJU2igd5NOeu2e2KSGR2kH7FXuQ8bn4_y9KXdXYzfjCWpnWeatNumNswcK3QH3wVbBAy1yUG1LvV0K9wATBWXI8f3oJcw8Xaw6SLoEnbp9momT3rSPdfCp5Nb6nKy8qEYawh3aS_DLAznKqzk1mEzNjP-1Wx0Bk-z-4XUYV0JVKKcOmD27XMRacMGw-VkjVur0pZ1E8TRl4Gm1PZg_oo99dWIsASaQxyMnNs9cgKHWDydvtKN9wsd1wHKjuMiP3G7Bqrfr4UjjRwLjh3BYnAB3zyNHERWBiQ8X5JZcNP8NNpJqOjS355fN9dF8MNeWiXR207IbxOTRcz06wJbks2bUuotb1kl_e1I3W4ZKiy6_5tcKVafXdENdrHfsTh_kfWO438suVpkbNTFiRJKWlJAGN50QxDaFrmzfPVb-bEBNPgHZjTZNNkr-K5QU-qDD0ydbPM9n4yCgA8LH7bZsEPijB36MdT81YWDMrXiFdNLyTeAIBWT9BICp0yn5FTFs1yEQOcb7hSNZoIUbN2T8mG3XAFaF2cFiBySkTg4ML0iXBVUg9vSX1SsgSeBPuZy-lSrof_rWve-fmcRBtwMVpB3PQBhsUY8vZ91IW-gfi5Tl2z8G3qSLwxxZc8TLrOXDONTrTGTHlnQwKwGT9zoCgouzH_8MiMRkM4rWMtNbZ_wVCJvS3G2UUHv0B0jaXpK377RN_q_p3k-DeT8V0IPmcpp3ZiMbshflymtKbvTPJNy9K3VwFwPRKzs2NnzerRIrcotRk5XU51EkkKUHnTjGBtaFQgxFsHnGocDIPkTdfSV44UuR9ExY9IJfNLDZhymH-Oyf07i7x4deT_qoDm1K6FgK3saqg==",
  "id": "rs_086d7d192ce0b831016ab2e302ee0887d0a1dbf0e1cd61853d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.07,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right arm is clear of the basket, and the white pen lies closer to the front edge than the previous approach. I’m moving to its midpoint from the front.\"}",
  "call_id": "call_i70JfsatC8yRgdVBNZ1H2Hmb",
  "id": "fc_086d7d192ce0b831016ab2e303e67c87d0960c9bc47bb59b13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i70JfsatC8yRgdVBNZ1H2Hmb",
  "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]: [-0.0174, 0.8421, 0.6312, -0.4335, -0.0227, -0.0158, 0.9996, 0.4274, 1.1408, 0.1452, 0.4118, 0.2974, 0.2028, 0.9966]\nstate[eef_state]: left_x=0.2937 left_y=0.0025 left_z=0.1683 left_yaw=0.0025 left_pitch=-0.0835 left_roll=0.0015 left_gripper=0.9996 right_x=0.2867 right_y=0.0777 right_z=0.0475 right_yaw=0.0623 right_pitch=0.0068 right_roll=0.023 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.8256, 7.241, 1.6581, -0.0806, -0.0708, -0.0171, 0.2667, -1.9624, 5.6821, 1.7216, 0.2955, 0.0659, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777361da4f4790783926bcfe121fe2694285086ff3d8ee9b55190388298052da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ead8d592574024bb7653b8d150981fbc55f1d84ebeec3cc1b52c4fd38c49f96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2e5d1a59e9175e88eeaac32bbe7719cf2a84a392651d0c4f5d0ddcda604bc5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.025 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8379, 0.6312, -0.4339, -0.0223, -0.0158, 0.9996, 0.1501, 1.169, 0.2958, 0.6651, 0.0353, 0.1722, 0.9965]\nstate[eef_state]: left_x=0.2935 left_y=0.0022 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0797 left_roll=0.0012 left_gripper=0.9996 right_x=0.358 right_y=0.0515 right_z=0.155 right_yaw=0.0136 right_pitch=0.3453 right_roll=0.1871 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.5932, 7.0222, 1.6777, -0.0317, -0.0464, -0.0122, -0.5538, -3.3162, 6.5299, 2.0977, -0.0415, -0.0806, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuMN1p3TndMXOvT6zlY4JLKDc3UASRUDpNrS1ztBBPnj9L-hmh4lneBX09ggOJrDUXNJKiKuqNd-hRDmPxeB7HkO6QdfIxIEVf6GWCEcxMphLXov_P-TsSolEsPmHm6du1ejEHPzNAreh2UF3mdVznVZT7122paAlaLZwunRZJXpPc_IeDsE5dgAEP62i4_UengWFsGqppxFQmTTV1y43soyHj7690qNm4YNSw-OZdItneBZJkFQavZS_8lZIgGLTTQsDGeXE_7_-hWCNifFFpzsZYlgn5DgJEkV3I2JiEQMbhkJ_z7kgCH9N7rMEBcj4uctKwkZTE7cKDc_Y9s_TbBvz_hXMOki8BRHRKBiHkgW2zFk1fL8PJb4NfbppThDvrUb137WFWO5L-LzVPL1TjKj88F1Lfz47mwPo_4LCwmrmJAyVoWTOXHNX2RwKblokUq7-7Rp9EeH4_xi8lcklfzEyUzqEz0dIb41A7WDU-AMJIXfMjYCouA6pWPjusy0YJz0XbgJ0_dcW6UwzW6_WSbeWmYsq-vOnfKffZCG_px9OxYjV3h_LjU0-EhwtX9I9Du_-wOYkdAfcfDT5wM7TecpEnJzTVt81_uUKxzlJqyRmxdM9HcTemQO0UqnI0qv4RAYmrGTQh7xdryj8j9IV5gd73_gX4iqGwtJvC3_jgExzkfVTUyfieVVkGHnXw7X4ZsymWFEyZraJiRC9rfqYYsRWXipDNfCTK98Y8liesTfQPfhs1gQJi311T3cIS3zXNIfJ8-B632LOBEAIjX_a774526uXp1ocRGn_gk9KopzE9VSI7k9NvAxJarjrzjlQO6oMusTuEWmg39FgqoPdjiuXlzOXNd3OO4tUAReDXGRAwpb6xGuI-wkhffDPtv3npzXwiVJl4hBZCPUnb6T-HUE09OOzVkBDMH5O_7xGmeWLA4L-jJU2M_oAJfKkHWIaY7j0soV4d_jDDuclbLc-tnYb5zNeNIUQO-sYCTV5dTuSjLjmAjMbNFp8-uwuOChTzmGeGxiuTaaWCqFoFR-6QLsM_kxynMv98-RFslIv8WHkEjSnDB_-mBGDopoO7z6xBqCp36MRjbhlAIdEs8YF5OK57XZXs0AkwLKOCBknKaKVgEnDMSgbZDlYVuirtEpiDz4kYGWW4XQPfywLgSMU1xlqYNIKrXWTbdmxizVIUDhSXWItQZWFWu8rkz3enMuRFfV9Azo858U_rxiAgYjnzVakYgWXHQkRGL5KWdxGyOdMxrUBVJa-QJZHDifX81sHgWIsYWcH7Mwnmwyg-PIdENB7w==",
  "id": "rs_086d7d192ce0b831016ab2e309cd9c87d095951eaf36744962",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.045,\"right_z\":-0.005},\"note\":\"The white pen is visible just right of the jaw centerline. I’ll move a few centimeters forward and right while lowering around its near end.\"}",
  "call_id": "call_6MqUSPryKY4M0ui4yd1gDPp6",
  "id": "fc_086d7d192ce0b831016ab2e30b35e087d0a8bb9712f1cac05f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6MqUSPryKY4M0ui4yd1gDPp6",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.849, 0.63, -0.4339, -0.0227, -0.0158, 0.9996, 0.2066, 1.6455, 0.1253, 0.9947, 0.1421, 0.1184, 0.9968]\nstate[eef_state]: left_x=0.2939 left_y=0.0025 left_z=0.1658 left_yaw=0.0025 left_pitch=-0.0919 left_roll=0.0017 left_gripper=0.9996 right_x=0.3216 right_y=0.0455 right_z=0.0109 right_yaw=0.0162 right_pitch=0.0418 right_roll=0.0451 right_gripper=0.9968\nstate[joint_eff]: [-0.1026, -2.0171, 7.1179, 1.6532, -0.0513, -0.0317, -0.0171, -0.4308, -3.3299, 1.4701, -0.1832, -0.0659, -0.0952, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1993cf14110785ed69496a817a213b7afbee973d4dfa0a2ace5238b39aae4b32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faaad0a6841969d66ddba922f5c29a337a0b9b5b9c3bdd61d94b718b3e39c8e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651cdf64592ee0529cddfebbb45068df5d63511d54f9017a30abd4a8afd568b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.334 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.8421, 0.6312, -0.4335, -0.0227, -0.0158, 0.9996, 0.4274, 1.1408, 0.1452, 0.4118, 0.2974, 0.2028, 0.9966]\nstate[eef_state]: left_x=0.2937 left_y=0.0025 left_z=0.1683 left_yaw=0.0025 left_pitch=-0.0835 left_roll=0.0015 left_gripper=0.9996 right_x=0.2867 right_y=0.0777 right_z=0.0475 right_yaw=0.0623 right_pitch=0.0068 right_roll=0.023 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.8256, 7.241, 1.6581, -0.0806, -0.0708, -0.0171, 0.2667, -1.9624, 5.6821, 1.7216, 0.2955, 0.0659, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The white pen now runs between the jaws. I’ll close around it gently through the gripper’s normal controlled motion.\"}",
  "call_id": "call_6JZ242ZYV6guAuLB2WYEFdPs",
  "id": "fc_086d7d192ce0b831016ab2e30f3c6087d098c60b446e6aa137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6JZ242ZYV6guAuLB2WYEFdPs",
  "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]: [-0.0174, 0.8501, 0.6292, -0.4332, -0.0227, -0.0158, 0.9996, 0.2035, 1.6527, 0.1204, 1.0248, 0.1299, 0.112, 0.1484]\nstate[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0931 left_roll=0.0017 left_gripper=0.9996 right_x=0.3226 right_y=0.0469 right_z=0.0136 right_yaw=0.0267 right_pitch=0.0585 right_roll=0.0487 right_gripper=0.1484\nstate[joint_eff]: [-0.253, -1.6479, 7.0769, 1.6777, -0.0659, -0.0269, -0.0171, 0.0752, -5.053, 3.5077, 1.4774, 0.1587, -0.0024, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db5fcc03267351bed6613c8d79ed83fb212e594b08099711b0f71ecf3ce707d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837fb38b5d9ea7c925c73a98d087b4c872bfe3f4e333373ba9c2db2ca9a93f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bcb917d755a36bce5f16816cc42c91b07e3c0533011597b72ad5ab88db4467",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 5.968 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.849, 0.63, -0.4339, -0.0227, -0.0158, 0.9996, 0.2066, 1.6455, 0.1253, 0.9947, 0.1421, 0.1184, 0.9968]\nstate[eef_state]: left_x=0.2939 left_y=0.0025 left_z=0.1658 left_yaw=0.0025 left_pitch=-0.0919 left_roll=0.0017 left_gripper=0.9996 right_x=0.3216 right_y=0.0455 right_z=0.0109 right_yaw=0.0162 right_pitch=0.0418 right_roll=0.0451 right_gripper=0.9968\nstate[joint_eff]: [-0.1026, -2.0171, 7.1179, 1.6532, -0.0513, -0.0317, -0.0171, -0.4308, -3.3299, 1.4701, -0.1832, -0.0659, -0.0952, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22},\"note\":\"The jaw spacing indicates a secure hold on the white pen. I’m lifting straight up to verify the grasp and fully clear the basket rim.\"}",
  "call_id": "call_EPDy76YwlH4EVTD53vvM5wks",
  "id": "fc_086d7d192ce0b831016ab2e313862c87d09165576e080957ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EPDy76YwlH4EVTD53vvM5wks",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.8558, 0.6281, -0.4332, -0.0223, -0.0158, 0.9996, 0.2035, 0.9257, 0.6926, -0.2764, 0.1261, 0.1081, 0.1527]\nstate[eef_state]: left_x=0.2941 left_y=0.0024 left_z=0.1632 left_yaw=0.0022 left_pitch=-0.0999 left_roll=0.0016 left_gripper=0.9996 right_x=0.3248 right_y=0.048 right_z=0.2053 right_yaw=0.032 right_pitch=0.0564 right_roll=0.0468 right_gripper=0.1527\nstate[joint_eff]: [-0.1436, -1.812, 7.3368, 1.6581, -0.0513, -0.0269, -0.0122, -0.1299, -2.8239, 9.6205, 1.7851, 0.0513, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b6638906cc55f6101902db5f948c4126dbf2e646e8a7f971d7cd3c7d826a19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e65c1ca791b5fc48644e7bc6e1776c1147d14f238fa17e8ea5c8f64623a67bbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:578f60adf927b54d86c1ed6fd34ff49c39948e27156550644934baa80106a6e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 7.561 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]: [-0.0174, 0.8501, 0.6292, -0.4332, -0.0227, -0.0158, 0.9996, 0.2035, 1.6527, 0.1204, 1.0248, 0.1299, 0.112, 0.1484]\nstate[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0931 left_roll=0.0017 left_gripper=0.9996 right_x=0.3226 right_y=0.0469 right_z=0.0136 right_yaw=0.0267 right_pitch=0.0585 right_roll=0.0487 right_gripper=0.1484\nstate[joint_eff]: [-0.253, -1.6479, 7.0769, 1.6777, -0.0659, -0.0269, -0.0171, 0.0752, -5.053, 3.5077, 1.4774, 0.1587, -0.0024, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuMbEJmfDU2iS-6709gdTz9BnODNX6rkPT7DFIMjI78oG4guOfuIxAwdollYBOI18a68MnmDVwEmG2EZcy_Zk-KFG65nxJ5xxdVO4K6jl7EUbOI9yaqMe7j0TuoqRraVtvtACNGVYOwk68Cv1fIDHi2piXWMnndoBN8ODfUEcbWAtWP9CJ1H63_c8dQqOIJuF5J6TaLvhS31upCaZasq5MSw--oxS7iESrDTWfvuzCcMR9jHkRy2qOd3mr4I1mjJyZ7tIBHO7kHpOR0Teaioqzo4B09ARJzOvtp3xCVVsRk2ksseThMcLFrnPYYbrTBN9E270KBQ1qdgqT7ajK39RgehSPUcX3efK2JNB5zdv388ge-weHVrhO9qSvleBeWjKJv5Zwh9kBCZSMVjk-kxrSXv4UdBrW8uVCOxNtLV_S1Wb4WjLYFSK-8towqSxFCdFhQo82c1LSLC-WV7CX2JwGWxLte0Lvf5uR91mHmzHCPh6M3Z3jxzMW99k6QCpEfAdmySNSMYDnGrRprPpg3Iwg5YUsmHpult92JR3PzkaQOCI8WxJH41DZCrEWUeBF8XmZuLm7w7JnNIS7ciqG0NsVnBtRFEUoElDvQNvS2UX62-mwTG1jxYkNyQeV0BEmUET_Uk5DcmMEIBMC5IUXvV4RAk4SDFl1v9TjsHO-haF1Q9q0cGGiG6QBvPdf-_OihJ1LpvpNNmWc8MPRYECDdz8xIAO88FJ3IurThvfFJY-B-_I8JQacHGck76KnmnQQn0ETYD94ZArxLDnVnn_5cdvA975eVX6m2-XXSRSiUqa9-KDu10maxa95zopY4MszxVo5DL3SUhUT7q-degsMZVupgvywQ2obhpCnTNQ3chgdH-XqL6Jq9qPdQRU7_qLBK6FlxOlYOCx2V-mvLZIARJNxUK_71rTj3ajwgZELPzXnHl6DFQpd5RN5oPeNPXC6e2bQDniWAy2ADpQaL7lJSBP-cfA34lsifr9Z5EEAeiDHPM9lS74VpZe8PO2482BxdEfp5EVshxyE5j2mPumBJeE9meeX6EYGm13f-KOtfCdx-wuVSzd-ZLsQKMjEkXdUJ0HTOaTLB1LfGoRqPvHrNyHdXmYiijxexuWyw3WMuK2Ny70zo5QcYUODO0qgVgQfe0MrFQ6Rp8UhfWs-9az3oCLTXuuUEK7jaM3i_m4ZY6y14Y0TbMV54X58aWMnrEm9rBwJ6IjKUU5nWYEyW4e5HpMfikK2Z-D4loPTMXFQTSPVUHkds=",
  "id": "rs_086d7d192ce0b831016ab2e319068487d08c288b0468ff0bfe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.2,\"right_z\":0.24,\"left_x\":0.33,\"left_y\":-0.075,\"left_z\":0.08},\"note\":\"The white pen lifted successfully. I’m carrying it over the shifted right basket while bringing the left gripper toward the gray stuffed animal, well away from the right arm.\"}",
  "call_id": "call_stmUWQF3SjOF3A2kTcMeO2Az",
  "id": "fc_086d7d192ce0b831016ab2e319f1f087d0bc2a3eef8df0bf5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_stmUWQF3SjOF3A2kTcMeO2Az",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3916, 1.2297, 0.4755, 0.0109, -0.2935, -0.2409, 0.9995, 0.5251, 1.697, 1.372, -0.2661, 0.3786, 0.2558, 0.1527]\nstate[eef_state]: left_x=0.3236 left_y=-0.0744 left_z=0.0751 left_yaw=-0.0202 left_pitch=-0.1441 left_roll=0.0147 left_gripper=0.9995 right_x=0.4629 right_y=0.1968 right_z=0.2222 right_yaw=0.0646 right_pitch=0.0176 right_roll=0.024 right_gripper=0.1527\nstate[joint_eff]: [-0.1983, -4.3282, 5.7504, 1.6532, -0.3199, -0.0806, -0.0171, 0.7179, -9.1966, 9.0598, 1.6288, 0.3932, 0.2369, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04135f2f5c4b8bab37f413bcb2332ec9c1095272f1c5ec560c3a833f387f515c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75729146fa2f37c23313f23bfb56ab83a9053d9cef17ec257b3ba0f14d694268",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bba6562d8f790b7e1ccde125ef2eab2906baeafe8fc7a12aaf9a5efe5b26f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 6.024 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]: [-0.0174, 0.8558, 0.6281, -0.4332, -0.0223, -0.0158, 0.9996, 0.2035, 0.9257, 0.6926, -0.2764, 0.1261, 0.1081, 0.1527]\nstate[eef_state]: left_x=0.2941 left_y=0.0024 left_z=0.1632 left_yaw=0.0022 left_pitch=-0.0999 left_roll=0.0016 left_gripper=0.9996 right_x=0.3248 right_y=0.048 right_z=0.2053 right_yaw=0.032 right_pitch=0.0564 right_roll=0.0468 right_gripper=0.1527\nstate[joint_eff]: [-0.1436, -1.812, 7.3368, 1.6581, -0.0513, -0.0269, -0.0122, -0.1299, -2.8239, 9.6205, 1.7851, 0.0513, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuMkQrzBJl04y9rDQxAJ_AMtgsCeJFcB_4u58SNsBmfjdtlCu7c5tGuHJbBSh54hrnEnaqpTzIEQEmE8pppYnFmxUzugynaIm_uBJ1FmlLMMr-O7djCHUrDFD4T_dgJGl4qM9wkT5XbHlvVcBEXr8E6KkEntPCPVwoBV2kCWFtttD7pBNFtgWbsThAFE8funboW_waEG_dENIbwH2REUUhCWckIoCEhtkmBAHic2j0ZyvTXvZ7-c6dKH3YtgO8P5q0hGvPOu8GVBkZ3RtzOva-893F_BvVrOFAkrc6kd9tLTaUSeUfO4Y0Xk9v_7zheasR1ghnMmDxyeQmZil1QMRkxVb9OoWjrkga7IUkakZ69AjdFvQ-bBHhjTDfV_YwFTPLRftZmUfBUs3rDvbNh0CTkoBBPn2_Uqda3vxHZXwiKYJhijYZUtjicvnZPCv0L9wxH_idBShiig6LrkGKJtI_lJULY5MCrSh7TyukjMqrN2kAZGnFgFnfOSut0RRhaJOjc5ywo_JRnTvAaxKTTidu7mJ5V4WewoX8Z0w5DvNpKuHWYdJBibIBlSTksZ3sSSdFyXMhKcDnT5QgT-kaICSa6GVONdTkT6xm8pD96-t0Xg62Wj6p-TWJhni8yuZW8VfZt8Cd5Xnl_P6Zhac5--u5gtL8GyD1eYiVVdhNCRvVUoTnLD7IhbBTdGbAFuhtmh5d7dWYmzjmN2P7asWtpuQNVc7eqWoSvIKiXhMBChAgM7V77NAQTWmSca94PUBKgvFTTilffhZTSzDDiq-GhzIqF_hFGjtXq5y1y09M6tvDLxXBxBlP72IQ7bXeftCqZa2PM8jdW27iXnhNzOye89yI3wuR7pdZWWz0sH6EnCG9BwqMZbxcH7-l9TmChd5jXPpoDAjINQO0XQl2VEc4XtHwUBkiRuaWd6jTjRUtEEFr5di7ZDbOtxeNZnRd2Olm6wdO6F-lwc4gYXIl_i7FX7Lmg_mJ94UdzmPBGw1QQc7nNFYYPWFLSUeqRC_f4ROrbkhPJk-Rq678O52j3pfCeaxvFZLB10z0N5q2cp5AAU017nvounZkx6ulyfloSLKpcmGXwOomvFRmK5ehekCTldd-42R4Xtz99ZUcT7o92sfnEhtR2bxQl82F3tCLslKfY100FJzSEx4f7LetwxPsdVxdeenF9KHcGZ0bHoGEkBseIbh80f1k5AyeCmMPY2sB9pzB7-sH8prrbJeNzbA6N6MseGs6KYgbdh5RVkTEsU9xVfzM95_ROSmRqg90WRVTkEx3CE3j4dtnozqohoVAPnq17CGg==",
  "id": "rs_086d7d192ce0b831016ab2e3224ba487d0bb671ccc60282bf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.36,\"left_y\":-0.015,\"left_z\":0.015},\"note\":\"The white pen is directly above the right basket, so I’ll release it. The gray animal is left of the other gripper; I’m centering that gripper around its body.\"}",
  "call_id": "call_ZBMenHJ8sHpLn674lM7WdJjz",
  "id": "fc_086d7d192ce0b831016ab2e32351c887d086f3695313105b1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZBMenHJ8sHpLn674lM7WdJjz",
  "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]: [-0.094, 1.5562, 0.4137, 0.3912, -0.0948, -0.065, 0.9995, 0.5282, 1.7168, 1.3705, -0.2768, 0.3737, 0.2481, 0.9952]\nstate[eef_state]: left_x=0.3526 left_y=-0.0129 left_z=0.0103 left_yaw=0.0148 left_pitch=-0.1866 left_roll=0.017 left_gripper=0.9995 right_x=0.4624 right_y=0.1993 right_z=0.2097 right_yaw=0.0758 right_pitch=-0.0123 right_roll=0.006 right_gripper=0.9952\nstate[joint_eff]: [0.1709, -5.559, 4.5744, 1.8926, 0.1587, 0.1734, -0.0073, -0.3214, -10.4274, 7.1179, 1.7656, 0.0904, -0.0073, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2fccb0650acf636251feed6df13ca4cc0d945da8d30e8c7db250ba93fd7566",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bd19df5d636df96c23e2e526501821ae5d618a57870527a4bbe20d3b3f3bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e1ac649b5018800a7816aee4a6efcd7c67e706ae3fcd5ef304ecb1e620c53f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 15.85 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]: [-0.3916, 1.2297, 0.4755, 0.0109, -0.2935, -0.2409, 0.9995, 0.5251, 1.697, 1.372, -0.2661, 0.3786, 0.2558, 0.1527]\nstate[eef_state]: left_x=0.3236 left_y=-0.0744 left_z=0.0751 left_yaw=-0.0202 left_pitch=-0.1441 left_roll=0.0147 left_gripper=0.9995 right_x=0.4629 right_y=0.1968 right_z=0.2222 right_yaw=0.0646 right_pitch=0.0176 right_roll=0.024 right_gripper=0.1527\nstate[joint_eff]: [-0.1983, -4.3282, 5.7504, 1.6532, -0.3199, -0.0806, -0.0171, 0.7179, -9.1966, 9.0598, 1.6288, 0.3932, 0.2369, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuMrWHwRlNxfc3BgaqTJ78hhAnoS-Mqufegmt6QFmKD-NuYYUjTJgtFaYibLSCt00htN9FgUiUHQPy5Mwd9XUwgNRjDaI3_yaqG4WUyyyh2wGg32wCh84CaoFUeWzo79qHInnW6DxAAWnRw_pPqdy-R4jIgJdOEtUWK_ToPe_p1hiQJ01Oehcte4okZ6ivg5PS0pD3_eiJeUiz6uco2Cc2kPFHeIg9afoHCuJ-U2i4lxXTxnSgY3FxUJQrUMrFt6oiXJRH0xhUopv1lrWiB4ahUcPE0Npyos4yhsXA50BmiNRIUX9jMf0VFvCL3t8rCcdXaHEARko9KrNv4GLrExfnoqn6_MsJq2ban8Y5e3bhK5IqZtc8xmNFqdKwNuLwbJ6z9YpIMVBZFdh4ucyp6wkveNjZltIIlZB4bfGo0Y6FxU7OY3n7f3LQPkH69VpJggTfswrpuBLga1ZeyixIsmVTrKPUkaSxg-unQDRsEiA2yO-fKYXweGVc24RngNv-NUMlpjwOyV2pX1Sk_MTGD8xWnWuBWXap7zjKHVp5OaJAdlxhyX5_gBcKgDtP4VBOAqcNQwVsi8XnfMFTNe8QX78Ha2eJB4NDoN4RX6u3Z3bcmjLoB7agBC54anYcrkVjAmYyvkykINdugpYUwnnJnhZZSEosqiDoBEznlVGUIY1yXmRrf6pZwb4wJUjKhzcr3AR6r0nDnwC7rcfMJWDoWDDHOeCukoBCxFae9_eIUay5YLLc0d2v5_OgPmn8Lz4xoUN9r-l6509cAVm7hoUt6WFrXphiPg-dqk0kldv633FIpdpWAjHqdnuBgpjZ-naCsx1vK65pi1HRFrKu1z6R-efP_JECP0UDHe_LkFxg_54iP7h3wGjGtmv4De5sxiZcGh76aapPtkiYZoMKBC5KYjBlJGALYkXXMF6KdhhY0UXP2_KoEBxacxy-l_WdeYTTEzGcRbe5qAXXfsJxtm2zaKyg8RgCAZuumniNyHlJ1kL2-TiTLqX8P-jauvlxat2mSaIwpu7ncxGScvVLb4hrFZCu5fq4xBJAfttNnTN2WYyw_FP-wdqT9UgwgUidogILW38FtYPzairKYDTJ5b7ZNVyT0pvSD2R8ThYMFScHosvIA9D23B5IGdIcsWAhbHsZVc26Qxzsh-HSmjpCsi1CyoNnz51ZYCj0XeFGK_pUCiDA-K_mkr5j8NNyDZBjxOO8lBuCJOOyenssXBDkVO0Ox19sca4w==",
  "id": "rs_086d7d192ce0b831016ab2e329a03087d0b6273b35582e4037",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.025,\"left_z\":0.025,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.25},\"note\":\"Both long pens are now in the right basket. I’m parking the right arm high and shifting the left jaws farther left to surround the gray animal instead of pinching its edge.\"}",
  "call_id": "call_cYEUFNKNnH344gLHSzZSH7gd",
  "id": "fc_086d7d192ce0b831016ab2e329f6d887d0afab1717dd06d2c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cYEUFNKNnH344gLHSzZSH7gd",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0669, 1.5169, 0.416, 0.3161, 0.0166, 0.0341, 0.9995, -0.0692, 0.8993, 0.9146, -0.5747, -0.0765, -0.0605, 0.9963]\nstate[eef_state]: left_x=0.344 left_y=0.0237 left_z=0.0101 left_yaw=0.0259 left_pitch=-0.2241 left_roll=0.0122 left_gripper=0.9995 right_x=0.3091 right_y=-0.0043 right_z=0.2519 right_yaw=0.0207 right_pitch=0.0045 right_roll=0.0024 right_gripper=0.9963\nstate[joint_eff]: [0.4581, -7.2547, 7.4735, 1.4628, -0.0464, 0.0806, -0.0073, -0.294, -1.9761, 6.9402, 1.8681, -0.2173, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533dafcf850dfd4a00a5abecbd8467a61ebffc487794aa8d3ae81a932fa5d8ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ddc88c008c9fd620ae2f708382f8c92a5ffe0f0f591dae1ecbc564fca4f67e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56b0cc99e3fd2ed05c2b95e5db8e0cf880d8fbdf20b281ac4a0b9a0f1fa1166",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.532 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]: [-0.094, 1.5562, 0.4137, 0.3912, -0.0948, -0.065, 0.9995, 0.5282, 1.7168, 1.3705, -0.2768, 0.3737, 0.2481, 0.9952]\nstate[eef_state]: left_x=0.3526 left_y=-0.0129 left_z=0.0103 left_yaw=0.0148 left_pitch=-0.1866 left_roll=0.017 left_gripper=0.9995 right_x=0.4624 right_y=0.1993 right_z=0.2097 right_yaw=0.0758 right_pitch=-0.0123 right_roll=0.006 right_gripper=0.9952\nstate[joint_eff]: [0.1709, -5.559, 4.5744, 1.8926, 0.1587, 0.1734, -0.0073, -0.3214, -10.4274, 7.1179, 1.7656, 0.0904, -0.0073, -0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuM86E81m-bjCBdvWYkEie3uSFeX7B2snF1uV7Fa4FsKl3salwgFn1bB2bFrl2J9VuOxVNz9jJ1zkHGl0_0PWQmchgF2hhKr1g5eqnoAgqnAJ3sU2xzX7_FtCHUuzZevgRoXfK9_M8ai68v_ro8nufE5i9tJ2mHRFFbgfhp4JWJSoBoxPgpe7pDJEOduGXdZHsSKZRryQfUJde3O69VrqVwDf2VJ1T9Wx0sYeV44ITuzTJ-rmvmN5V0e7AYApXf8PcLnVR9p14xnpVhDvamU4_DijnLpzTIvmMcW3yJ0JTGWkL0NIHq9Zfk3OsSTGnfxg9_td2ipCoRCAKJ3QJWsMV-v8F2rDDmtOw24o7W4pSeRNVKdGeh-O0Zl3OPDICbNmbIpuCFnVFrabDHTOsyNmbJCW8aDtEGdbhk9Ibe_u-VWK7zcoGLlvyCn2Zp1C3HjtwOEyp2oNLSlzuzq96QQVVcJNode5XWI-KDn41JMYq5abegjdST809VgWXAwuOBx8f7KA7q-pYlezBqb3J0NDdNgTi_DC17cqQk-MBMubA9FJ2-_ObPlqYveo6J3GGhzfFPh-DDhhZO9k7GIqrzMFATOe3SIxD2t2vm4iEuvwJd0G7FGyX0e_p3rs2jSm-afo9wkdtMD4WO0xHP9aI_GxmpSy7fuXZ9MU973zdZtGZ3CfRVgdNEln0IrF4DlxWvyo4AoTm2trmOqNNu10XpUCvCZ0AIgOWu7-ib_XgaYId8-Ruaibb7zWGZcgrGflnZ4RX6d5Rvm27-HZ475_S1pEFXjzNKPiCxi5NjcVCCxbsZKZkPu5m2GvXrrG8r-mlRLAX9N4VA1oFsHc8CbWIxN04OkAbOunT-JrnBEt16jptaC-hGw8TiQGE00tRoitFXLRAdn-tvazYsAQLyMNsMOcMnFAJIEdVzuTJcVzR9W1MuX6y6t5g8I-XEiuNBFZAcAvc1ROTmGtBQYLBfVcnvsNAMah_1OdBGZ1iCVNVd6h7CgLY0-6eMTE-vxIdXWDbvoJL8SD478eS8mWWTtemQuGp0KDxMgWPC94p2bALs8VSSWpMgOM846G4VB7pHU6ag_FSwLm8wIaYhj_zvx9DKGhOKkSxBOQyXmMhuW8p_6lv2whlx8TdpcNSQiPB99lXfNZ45YYrvoa-0jtxkcaIIxk6LbusoYhkQ-RlwlB7ofbQ_HsvjpFI1XEpZuZk20BxyHdaliYFpcMJIK10rXVcUtL2Eo2b5iMFIQ7x0YuLQ7bGir_mY=",
  "id": "rs_086d7d192ce0b831016ab2e33ad90087d0b4d7fee31525d9ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws now straddle the gray animal’s lower body. I’ll close to hold the soft body securely.\"}",
  "call_id": "call_AqzPvkKAkN0BBGYZRWMZGSmO",
  "id": "fc_086d7d192ce0b831016ab2e33b4cf087d0b08a831f84741680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AqzPvkKAkN0BBGYZRWMZGSmO",
  "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]: [0.0669, 1.5127, 0.4183, 0.3069, 0.0231, 0.0307, 0.012, -0.0711, 0.9062, 0.9092, -0.5907, -0.0864, -0.078, 0.9964]\nstate[eef_state]: left_x=0.3437 left_y=0.0226 left_z=0.0107 left_yaw=0.0221 left_pitch=-0.2265 left_roll=0.0049 left_gripper=0.012 right_x=0.3075 right_y=-0.003 right_z=0.2443 right_yaw=0.0365 right_pitch=-0.0231 right_roll=-0.0042 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -4.9299, 4.8889, 1.6532, -0.0904, 0.0073, 0.9597, -0.0342, -2.1949, 7.241, 1.8681, 0.0366, 0.1587, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc111c4b4c548442ad8e7bba1fe574dc1ba8741cf33cb99ea6406bd95aadab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214ae070200b19bc347f230ede5ec846e4e9a1e15f5040209b13d98d7fcd2728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03beaca4699ab24c5add10deb0e55076937223a17e454860d168fc598b1a699c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.678 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]: [0.0669, 1.5169, 0.416, 0.3161, 0.0166, 0.0341, 0.9995, -0.0692, 0.8993, 0.9146, -0.5747, -0.0765, -0.0605, 0.9963]\nstate[eef_state]: left_x=0.344 left_y=0.0237 left_z=0.0101 left_yaw=0.0259 left_pitch=-0.2241 left_roll=0.0122 left_gripper=0.9995 right_x=0.3091 right_y=-0.0043 right_z=0.2519 right_yaw=0.0207 right_pitch=0.0045 right_roll=0.0024 right_gripper=0.9963\nstate[joint_eff]: [0.4581, -7.2547, 7.4735, 1.4628, -0.0464, 0.0806, -0.0073, -0.294, -1.9761, 6.9402, 1.8681, -0.2173, -0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuNEGjS2cEzMlF8GP73mYKkRErlKBJVzc0T6G-5vJndVTcok38aHIb0sQ2qKDd-E03bKt34H8IJd1KLl58vLRW0HLimtjafl7errSn4QeXqOpf-H72NBW8cIpEiDEO27cGDwFC-RrA2LzbRUz4bJLzHqoa506k1apGQkP7yZNtHpwG-x5rDzNAo3oboffQF5TddhemNUAP1XU_T8bCzeGw2PYo-z_tO-blHjv7kU-dOOEhqz3lav3srPpqN9SWazfG8woHc5eKUOP7y_zJvWe8NVC5kxoJibKKSU4a-Zqbu_prLuEOdT02DOTKmkjxkYZOlWNYRgJHSNlKZfZNeBkf5h08RvVXHj88OmRJu379Q8dWcwVqy5wm9Vv3Ka0VSdw2hKW2NsDyiM8haxYgNV63L1ZNglI7nCuui5coen5zibGcsgeUp8uHX74mylXVXFgP4MLsmMddhLRlWhqI-eXWB9609qhV8T-cbqV8LWn_SoXqk2BFoYZKbROQOEocDPHQYv5EdaWZox4kBk8yJjZ25eyrFik5supbdFHtqukGCEfIJjC5YbI-Fs-RpSU6BBv07hEfCt3DaVU98d0CK5Fcj09l89AEizFZf_ifIAlWMbROdUsrjjuM7nxdg5vWslk1Lw0H9pbSDb9WFUteB0gMu2pS3sS4g7PJNHQ5fdIXUnjvnqSZLu1Tj7qtvmHH4m_Jh-1OCBWkWbo6CJ9ojOQ53eJxPqQ44DYDSqN0nqot7X8fHTkKa6U5SeRE8yu0gwGOGbZsrNJaX_6PQDkErxk-bMb55C93UFaFJ5F-D2YYczKMPkgkEJmyIBBvhFoHT_gWEQHpDF0tCpmaXJ6BYCqCjTuXCOgJ8ZMlWcN0FCbhGE-ST4csM0C0qHkv_zF25OnwkllSGLQV3vaC0bSTgGd6_7P1mt3sPYlXxNsjCTyOhbi1Y8XLj4DgAPPwqang-jGeXQ9z5FJByNbQvNlrjMVR5m7nctmO2Z6QzoADsZWBp2DDHLszd1i9wTDMmPZvxW8BbGpFt2e9iRGydAd_G54TwSbfrBfr2hTc7DBPlTOH-0VrHnm7Uk_cd7ZbLWXkyQYBfd4JvMydjSTVMsFXnblMjPTl43JRTRQKRC93jc7Twec7yfqzLdzg9HVYPIfVTGaAaN94fOZkHV0REqe72vPD7g4JrSEfSGOuywrXL5WQLjlfcyQpTwHKOVPosw96w0K3RWnK1A-qQ6Ben2A96Gc4OfSoBeemliDybUX6m2Og3BaMSl7qOu971GtfEbw9SY11jh1ojbAyX18U6qMNwsipmKAUYIeKlQPDUxt7lvddhoyy8=",
  "id": "rs_086d7d192ce0b831016ab2e3419b8487d0acf9e578e2266b38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.405,\"left_y\":0.05,\"left_z\":0.04,\"left_pitch\":0},\"note\":\"The jaws closed empty; the animal is farther forward and left than the first estimate. I’m reopening and moving toward its center for one corrected attempt.\"}",
  "call_id": "call_WAjManMiC5nseoOwcgoCGKua",
  "id": "fc_086d7d192ce0b831016ab2e342e50487d095b5a73cad9af100",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WAjManMiC5nseoOwcgoCGKua",
  "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]: [0.1509, 1.6737, 0.4877, 0.5564, 0.1005, 0.0601, 0.9953, -0.0711, 0.9089, 0.9077, -0.5915, -0.0872, -0.0757, 0.9964]\nstate[eef_state]: left_x=0.3912 left_y=0.0452 left_z=0.0254 left_yaw=0.0257 left_pitch=-0.0651 left_roll=-0.0098 left_gripper=0.9953 right_x=0.3076 right_y=-0.0029 right_z=0.2427 right_yaw=0.036 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9964\nstate[joint_eff]: [0.7863, -5.8051, 6.7487, 1.8926, 0.0171, 0.0562, -0.1538, -0.1162, -2.0581, 6.9538, 1.7265, -0.0464, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccce7e43e9bfbfbeb7d25e5fa5b8648121412218c7df1bf42ad29f2dffcb3e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2eaf1219ecdff53cf53ff5c8df1a654b055ccd38b2adb9349bf2945febdef5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad977ba0bada2925e7f8adb8a809b6188ae1689aa64f8dcc3f66bd762fb5905",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.39 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]: [0.0669, 1.5127, 0.4183, 0.3069, 0.0231, 0.0307, 0.012, -0.0711, 0.9062, 0.9092, -0.5907, -0.0864, -0.078, 0.9964]\nstate[eef_state]: left_x=0.3437 left_y=0.0226 left_z=0.0107 left_yaw=0.0221 left_pitch=-0.2265 left_roll=0.0049 left_gripper=0.012 right_x=0.3075 right_y=-0.003 right_z=0.2443 right_yaw=0.0365 right_pitch=-0.0231 right_roll=-0.0042 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -4.9299, 4.8889, 1.6532, -0.0904, 0.0073, 0.9597, -0.0342, -2.1949, 7.241, 1.8681, 0.0366, 0.1587, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuNL_GahpHZDz-wAo4C8SuUs0VP4iu1PLoysQ8CdH0T0Djn7aUKqZMcw4W2VxZs_U8Xe59UhIkkVM6f7UdL44RmsRZcwaqe7o-TnY59JeCivaeXNrGlKkLsyslV4vG6UrkN80DP4jhFdFf-EuZjefvzU7M2gZtsCgoVnPL1QxN-qUhTKERaV0wuUngpeWMEyVqaO_fe5WrG43l1XkLSReEtADgiJSkdBf-FNyQ8JR9vB1CkolgJ8wSDT69Z0fIMqjF79C_oF8hkj7yfkLoArHhHctECxRKc_W5YkW0YBuJnrTcFz5Zcd3ROOIAe2wgeo5p9un8WeIGcW9qWX84tmJyfUyTRxe3CdIrbWiN6nY2aJEZpxBUEwx6MlyahhRPgn7EESlbMcYBab2zkWMh2Vu0RDhiDDZWvlwE2uaWCQrwzJChjeicN0JFuX10T77lXdl-UqRoJlw6GbIPkvsfcQYXQqHLoTq0iYJsaimMToyK2zr3LKEzpQpKQDJgEL1rZJ5D8hTJpg54oTS6bHQAkNdSekfIlmUlIrVmKyZqlmRfQ5UtGpTaHBXHeh8qr9P56hUGyqBqTjaH0jKpOJeo63iCvht260f1AIvrBqaA8VZAjE-FOaMlQhV_UYe0dWINhfpNtY86LAHlpxor4kSrOhOl_yyQm9VJ0z8EIBn8TNp3KOtpPJkpGE9AOfsp5RLgU7hjYG1u2eITQlOyswIsgBCrSSmfwe2Bd1jBo4upeuSTKtOxVKSYncfcoyNvp-YbJGNp9POM1b_-2GbthleLMC8z1PsXoJs2sfqbBlRCba8gw1eflrrm0h44kmhV3hEkikTKwYv0ogcDNA7Zd2E-Vp8rcOxODvTTbA20aHSXE6MSNSbC4hB9rfz_jrG5NvU8IKJbt6tOvtyv_BAIek5FXLIoCqW9xTNegjk7pHkGFwBVCYI3q4oBOZbLkWPFdLtwHaOT41dZPZMJ6dCKwWPaz4xOoewALjH5toiR7V3NEkAdjHMV0qz6EbaI0TNX0MN31HcLjWKWC6EsIsDtMcuN3iDvwtAE66fcMneta7nNp80_8mL9-V-wlO4fZKF40YZgnAqb4k2chOg7qtCWqnOGd_neXk4Xp3ZL50mdd4ufM-jxnQ1fig4SGVsvHv2H53JxOg9TaoBD7mPTBlIHP_j-6_BzI3r2yxKpON2suRKUfhriEBwqxpC7VEBzdCPAeRKbJJ6A_OhbZGMCeAd5PPHIlG75CVlF3HJ0tJPjHvEleIkJ15y7730OKuOlm3fCZhkOZy25yqURAQUHpX1J7NfuLdcuDYgg==",
  "id": "rs_086d7d192ce0b831016ab2e349257c87d090b710303c02e19c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The corrected approach places the gray animal within the left jaw span. I’ll close once more and check whether it is actually held.\"}",
  "call_id": "call_p2kJLfAoXPkDTxUp7PJ4HmMo",
  "id": "fc_086d7d192ce0b831016ab2e34a38e087d097e68ab6b98ac0e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p2kJLfAoXPkDTxUp7PJ4HmMo",
  "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]: [0.1513, 1.6802, 0.4919, 0.5621, 0.1043, 0.0528, 0.0115, -0.0711, 0.9092, 0.9077, -0.5919, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3929 left_y=0.0449 left_z=0.0256 left_yaw=0.0268 left_pitch=-0.0614 left_roll=-0.0175 left_gripper=0.0115 right_x=0.3076 right_y=-0.0028 right_z=0.2425 right_yaw=0.0361 right_pitch=-0.0287 right_roll=-0.0007 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -7.0222, 4.6017, 1.6581, 0.0122, 0.0464, 0.9744, -0.1573, -1.5658, 7.1453, 1.7363, -0.0855, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d2d74e1cce239ff7588a4a2839b929c7182075099c3332af248b1dd009ab41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ce190b5a7220d291e814014c77a92c3f3a2003c5bcdbb07e8142cf63b024e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4576076a0cc26765561af2cc5eca457e67265e60b120142797c9b0839420171e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.995 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]: [0.1509, 1.6737, 0.4877, 0.5564, 0.1005, 0.0601, 0.9953, -0.0711, 0.9089, 0.9077, -0.5915, -0.0872, -0.0757, 0.9964]\nstate[eef_state]: left_x=0.3912 left_y=0.0452 left_z=0.0254 left_yaw=0.0257 left_pitch=-0.0651 left_roll=-0.0098 left_gripper=0.9953 right_x=0.3076 right_y=-0.0029 right_z=0.2427 right_yaw=0.036 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9964\nstate[joint_eff]: [0.7863, -5.8051, 6.7487, 1.8926, 0.0171, 0.0562, -0.1538, -0.1162, -2.0581, 6.9538, 1.7265, -0.0464, -0.0855, -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": "gAAAAABqsuNRLxMbRQSoASqRN5gY-6Qrsw8O_Brg1R0FnNhSGWULUMtZ7BCF1cu6XuV_6wxgmvAvJ6rDHQ6fhQau3AhbHejkKWUZPNX6xzrng5KDLXPb7IM-oRXO0-CVUzmmW_b86_k6LXjnkVaxisx4Pnd-GifAnOeq2ugL3BzQ4qfFE5HRXdU5pLlwQVBv2tIrH_RXBrv9azaFE26tUDZ6c_ICgpKs3R7wBVVWz_vgGbotE5hjVyNhoSb-emJy9OX_tVaAJ1Lz7Q2-I59hkSigNFntxCn3rbkEaIAdXFm6vc7_ving96xVqhQX5NX0H4nXWvoa7BvOgSXFoz7HeG5HsyNHz0HBN79w0pmMVl2WdkKBvtduq_ksoZIYLoH0hUi_pVSPdz9ra30f_dE93IPn5k__eGIDT4pkNM28VCyrWi51AkntdEhzWdjI49YUtWpKLYIWaiWJIMrLrEu66w0zaOKRXZOW5XsJHjy3wN5Y5ldRt9m9YExpGuZQZrfB7l0GvtROHaueogDJYbw5wlh2gGxiECCbmGqd9lWbByX7yT83QdYGkj2hkj8sM1mCYjKFLcg8xcndiCVbgEvyjiTuIi1i6Db2u42un-eLhdQhxHlg9i_ZIfiDoYCa7Fd_0dsCkX5AJrbp--UWsa4iivcUuSfrkptS7-imqxYGuYumFU2ww3bOk7rGp6BR8N6KVsk4snWd26G-iYtItRfaoafskc1m9z3J0VTXuZLrTaks1qyMpuQF1FM0EmknsfvjaJsIG1Hi6HliFtagKHDVBd-dqw5-RZYOsy6ajSmU7EA3GciiXBkAV-c9KAEGRriEagqkbEhuzJMnA0wDVzp23pU9W6Fzynjvez2jkXrk1Jp9RjsPNGVrRDPXhVBt2yw5CMNVBNc17o2c1ild2s9cB8uoXW2NSyd6jkSEJoSAqwkkQqC6XoIvcbMz239AOcIDHBn2r-UgIngbzKu0KW8WpfdrF5ChJVwiTORLOC-1OpdCORxtGSdRyQcIewdIs0LMSeoJ-83dZkRjlVD0VGrCnbcdLEz068Boy8yUShtlmwVQlAG0JipwyrFT2gWHADkBIplMQ90adZhKsHxeFbAQuZYyY0HrtnEQt9brYeXwXPjCMbwsUWN6euUj19KvQW-5ecfcKkG_nNlXybzsT7yk_nSyzPuOXOkTcVI7qRP3SUqKd1wcfSLZMkDGodvPogbd2_nw-Fc4W7q0hTDqfvHLOYgToA_-PlqYZWHGuEYhxqHQHuIs8LnhUrI-xnlDVKKi0RIfNZ62xghT5DVUQGdvqzDOESzQf0JAa7BWtIlAdhtyFHZDF7Ai_awPkxXI_EkiA1-PYAQpw0E9lUO0twXUEtEhNLziq66GtQ==",
  "id": "rs_086d7d192ce0b831016ab2e34e9ac487d09d8b8af52c7116ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.21,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The gray animal is beyond the left gripper’s sideways limit, and the second grasp was empty. I’ll leave it rather than press against the edge, and sort the reachable brown animals next.\"}",
  "call_id": "call_x2SXOpDGu9yQv0yV5D7Nmcst",
  "id": "fc_086d7d192ce0b831016ab2e34f759487d09529fefd96857164",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x2SXOpDGu9yQv0yV5D7Nmcst",
  "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]: [-0.9081, 1.4326, 0.8558, -0.2775, -0.6777, -0.6609, 0.9982, -0.0711, 0.9108, 0.9073, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3105 left_y=-0.212 left_z=0.1337 left_yaw=-0.0099 left_pitch=-0.0672 left_roll=-0.0292 left_gripper=0.9982 right_x=0.3076 right_y=-0.0028 right_z=0.2416 right_yaw=0.0361 right_pitch=-0.0322 right_roll=-0.0004 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -5.4906, 8.2393, 1.0525, -0.4615, -0.0122, -0.0464, -0.0205, -1.9624, 7.0359, 1.7265, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c816bf04573da5b85d483add764b7c8d71376e9dcb8759aa1a7bc701d66df4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81c26758b69d957884870c4a815382e85c6779a58596ac2f1f90b2428ff5296b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d30382dd6765f42f6719ffc69fec8167db764754364abff9cabcee868bf250",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.648 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]: [0.1513, 1.6802, 0.4919, 0.5621, 0.1043, 0.0528, 0.0115, -0.0711, 0.9092, 0.9077, -0.5919, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3929 left_y=0.0449 left_z=0.0256 left_yaw=0.0268 left_pitch=-0.0614 left_roll=-0.0175 left_gripper=0.0115 right_x=0.3076 right_y=-0.0028 right_z=0.2425 right_yaw=0.0361 right_pitch=-0.0287 right_roll=-0.0007 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -7.0222, 4.6017, 1.6581, 0.0122, 0.0464, 0.9744, -0.1573, -1.5658, 7.1453, 1.7363, -0.0855, -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": "gAAAAABqsuNbtU-j9jRKhgrClaks1lgUlmcuKUhCdR4Ic5J0GOfjcyhjpeMx2IluBg-zBzdD3Pqp4jZHK9Ggdg8QQs8jPVs9oda3aqpCchO6pw_GDZ-nNp9kKb9UHNbVeonMWec1H_gI5kiNfXWtBqPKsdIMnnvRC_In7ZPDVkQLR9EYLRnmVzjhE4DA6xiwJwlJuuad-jHHcDC01_AH4NLipOajApPzZAYmoaqySNdbgrxZj6G7wctqs07dy1kvClnFWkKAbxENig4I4M6hQk0eUWvBweOtielP4OABF4tawW0wd4o8PXNXeoIim6zduGsUUqeVhvLc_qFCmIey1AcROd7MNmBwfDZXAmkcqqA7s4yHTCSDU_PYXPjOCVKYV7bdTmV2K8zjDBRgQCs-ipzB5VA9TT9EnF7HpNp7dYUWN6zCuqke47UN2B03ogEMPjbKPINXQrkRUoYlD0ixyhI1VgQO1LaKMzR7VJQmWYChQveaZ5NKfG94z-ufTseyER1IZ1gekXIrQZCqAi8YXDzPHLeeR9NY621DW8nTkdAArmAK6IO33nc_10GGXlVzb2zio2ht2YB8eDbBypqb8wvdA74Ci_uhgAZJkiPiFjXLALa0xzpIzbINiyfewJY65p5GWyKzr8BcI9dVWITtJgGukfXQhKn2KwMixqw_3-Fy-Aaaq3da9EU-cgwnqVYht-ZB0j_32P3DV_wzo-A6bdRPU2zhzXJepRgUe2w7AVZlgS4jf77rml1WB-_rKMA9PebarMzlMI4vJok_Ve0S1g5TX2lvPLNTkgmZ_3KJ_VZDblPMoebFC5AK3yIJYjTH4JQVbMXD-1r2XQYjQXAD8SAu0Q1hNBIRBg3j0RBfXJhWP0xuuX8vpVmXXiKNOXvhsNU5BPiprryjA6HnmdPytQTsm_SYUTJs-A08LTMEYvRPo3JnqYtPYsyuM4tZNLMXr9vVgSMSRPGTrWfrZJh-gillJkmLQG6cr2MRCoZxeVHAtZAOScrvwsBfkvYL-eJhm0PL9AYUvAtePaIsUTF6Ft8w9AGlCUX-3l_EMofRR55MgiNgxYkDFm-DaLmzQ6ikJGgzcuv1ez659NohDfwVjEOMof8JchthrUlhq7hbYWrxlpSjbscg8xfT99a0HXMyv5_pY0ntUUlfnYIbEsKIeWRB4VueWpdxmEeG-ikW6nQJJampwf7CWOzxfwum_1fzBzAMjiWXThZZrOtsSHlnAxsvvhQKcPtZPczo6RO20vlQn66crVdAUWbqQtkNkUfYmGhUamzAIX7wF1FMraPLFKBo7KmiYRhix49F3wtVnDN7YM4lzez5yA1zD3o8zuCoSC2u57LhrM0tCTIXOM564nl2att0cx0I6Q==",
  "id": "rs_086d7d192ce0b831016ab2e3578aa487d09387817c85592df9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.17,\"left_z\":0.03},\"note\":\"The small brown animal is just left and forward of the left gripper. I’ll lower around its torso, keeping clear of the larger animal beside it.\"}",
  "call_id": "call_nB7Om7rPAbrCQTxPXBIuunp2",
  "id": "fc_086d7d192ce0b831016ab2e35a18f487d0a8737ff9b579e0bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nB7Om7rPAbrCQTxPXBIuunp2",
  "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]: [-0.7143, 1.6558, 0.5846, 0.2462, -0.5652, -0.5156, 0.9982, -0.0715, 0.9108, 0.9073, -0.593, -0.0875, -0.0757, 0.9964]\nstate[eef_state]: left_x=0.3373 left_y=-0.1625 left_z=0.0278 left_yaw=0.0241 left_pitch=-0.1084 left_roll=0.0081 left_gripper=0.9982 right_x=0.3076 right_y=-0.003 right_z=0.2417 right_yaw=0.0359 right_pitch=-0.0318 right_roll=-0.0007 right_gripper=0.9964\nstate[joint_eff]: [0.1709, -6.5573, 4.6427, 1.4969, -0.0806, -0.0073, -0.0073, -0.1846, -1.8393, 6.8034, 1.7314, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad4c2ac51b0bb48fa1f732f3462c8c53f547999dd17c6c51e303e6a287e38c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856d229c8cdd68fe9cb4de32d5c92818d8f13b8241b150eddbc73eb7e1e505e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a4c4e0c2772274cb47a1a46cb7ffc2d5522d4fadb5d2aabba72511d8efcc77",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 6.028 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]: [-0.9081, 1.4326, 0.8558, -0.2775, -0.6777, -0.6609, 0.9982, -0.0711, 0.9108, 0.9073, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3105 left_y=-0.212 left_z=0.1337 left_yaw=-0.0099 left_pitch=-0.0672 left_roll=-0.0292 left_gripper=0.9982 right_x=0.3076 right_y=-0.0028 right_z=0.2416 right_yaw=0.0361 right_pitch=-0.0322 right_roll=-0.0004 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -5.4906, 8.2393, 1.0525, -0.4615, -0.0122, -0.0464, -0.0205, -1.9624, 7.0359, 1.7265, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small brown animal’s body lies between the jaws. I’ll close on its soft torso.\"}",
  "call_id": "call_sxqthFGPivBa0OpOqYXQaEak",
  "id": "fc_086d7d192ce0b831016ab2e3600bfc87d0888ff1df172408f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sxqthFGPivBa0OpOqYXQaEak",
  "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]: [-0.7128, 1.6737, 0.5739, 0.2779, -0.5694, -0.5228, 0.1197, -0.0711, 0.9108, 0.9073, -0.5934, -0.0872, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3376 left_y=-0.1612 left_z=0.0233 left_yaw=0.0324 left_pitch=-0.104 left_roll=0.0026 left_gripper=0.1197 right_x=0.3076 right_y=-0.0029 right_z=0.2416 right_yaw=0.0358 right_pitch=-0.0322 right_roll=-0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -8.0479, 5.7641, 1.1648, -0.2418, 0.0659, 0.9255, -0.1026, -1.6615, 6.9675, 1.6825, -0.0708, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2fe9b5cf1772bd587170738d4af1d6be880f2b7278152977cb3b373edd09521",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b84c9bbc65b4a851bed25fb55618c1d5de04b1ee6482108aa8f0841413746d80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd56f420f95c42752eaed726a7f0d6401859aab5ac2ea38b56248202ffc6c4c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 6.988 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]: [-0.7143, 1.6558, 0.5846, 0.2462, -0.5652, -0.5156, 0.9982, -0.0715, 0.9108, 0.9073, -0.593, -0.0875, -0.0757, 0.9964]\nstate[eef_state]: left_x=0.3373 left_y=-0.1625 left_z=0.0278 left_yaw=0.0241 left_pitch=-0.1084 left_roll=0.0081 left_gripper=0.9982 right_x=0.3076 right_y=-0.003 right_z=0.2417 right_yaw=0.0359 right_pitch=-0.0318 right_roll=-0.0007 right_gripper=0.9964\nstate[joint_eff]: [0.1709, -6.5573, 4.6427, 1.4969, -0.0806, -0.0073, -0.0073, -0.1846, -1.8393, 6.8034, 1.7314, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The jaws have stopped on material rather than closing empty. I’m lifting straight up to confirm the small animal is held.\"}",
  "call_id": "call_F1K80Ly2PjlRtxU19tTTsVqP",
  "id": "fc_086d7d192ce0b831016ab2e36683e487d0817ecae7bbef7a86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F1K80Ly2PjlRtxU19tTTsVqP",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.712, 1.3731, 1.0885, -0.5755, -0.561, -0.5243, 0.1216, -0.0711, 0.9108, 0.9073, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3389 left_y=-0.1636 left_z=0.1933 left_yaw=0.0309 left_pitch=-0.1363 left_roll=0.0227 left_gripper=0.1216 right_x=0.3076 right_y=-0.0028 right_z=0.2416 right_yaw=0.0361 right_pitch=-0.0322 right_roll=-0.0004 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -8.0205, 9.3333, 1.4432, -0.3297, -0.0464, 1.0281, -0.1573, -1.7983, 6.9265, 1.7216, -0.0952, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede8eeb0a39c1c0842917a22edc05ff579a4fb8e8d0da94a51a32033ceca0b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cb9df1bfd7c2365ef102e7a22e7278a5208b0544c40c0478bda25514155676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456d3443b8ad9619db0b71075ae57fed5374e2ed82d4f9e12fc6da02af882c28",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 5.31 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.6737, 0.5739, 0.2779, -0.5694, -0.5228, 0.1197, -0.0711, 0.9108, 0.9073, -0.5934, -0.0872, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3376 left_y=-0.1612 left_z=0.0233 left_yaw=0.0324 left_pitch=-0.104 left_roll=0.0026 left_gripper=0.1197 right_x=0.3076 right_y=-0.0029 right_z=0.2416 right_yaw=0.0358 right_pitch=-0.0322 right_roll=-0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -8.0479, 5.7641, 1.1648, -0.2418, 0.0659, 0.9255, -0.1026, -1.6615, 6.9675, 1.6825, -0.0708, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuNwPNJsjkhJib9I7ZuBplAg2AoMlzeWRUwpmDjVHVI6b2w36EEPsWXMD2khOvC9YdqvAmYNc5WCpHBveETTQ5px_-pQ5c9bGjMBeghbaiS9AsdRnpSPEMTy-nYMn6GRecrWvancF8iQVyC6YaaXPRen6q6PMXk00EkWZ_tvg9rAQLgOVcQe9MUj3o1a8RHPqyiH9aa5nVxnETVUwTTqUN7cFyUzGn6XMjrNK009R_dw5ImagaLUDaAGzicZRYolyDgQHFe2-Jx0QAPQdEq-yzriGlAdr2Rhyum6zPf5A2_He7sFzMLj2zZHqDFtThf5GSjW-qa2bq-bAQ5G6xv5fq1F016bJe8GwGMaLU1qYoYOS32rwNuhY1MvE_9jWcLx1ukij1hWpF_yg8102JWFGKFgl4W7LC3oyYe8a7E7CMx7vixvHqUUhkQldN04fvrSGR0DWLLyyPDDoFITV0TjUBmbjCqqKNfYesKHK8qQhT9bQiBnlmtBJXRPuyuoLBtm-yxcDjMnQHJa_xy5ad65Y1EwlPp4UKme_Ghx6dZLHsQ2H6G34LkWySDmADMlW2Sda72jyHucIhbRdor0JqBmKneesGAre2uhDTf2jUdq4WLvlkfsBaU6lSuZ2XlpBZGLTsigMbyXrCiyNGjalXIMMZId-hwk1ncbTuPqjSQ0gpKE5rheV7OO_vjqQXYfE6cZ_qiDmWcoIlyF1g54uotNZ0GpHOdXSuMI-wqoGExkNR2GPQN6Hv9qvYpMQynbNn-z5HOJq2ym0OM922SM9GoofDUPXvFYAcFEJpTSPs84yiSZcFB-ihSoJJuzqyoxylec3Yywssyox_o98S9_uNUBMdWTTtQ0wS2mgMkeZLXlaDI4CqHilg-VoXd8RMjFyBDCGmkoynXeyriQ1e9QbLcwe_N9-iMG6Qzl166z0SH7E35wZmyeD4t9gftUzBvdrAL9remTmnaZlUK37L3ExhO64OLZBwzm2DKZCgIyw3hsnvdtp9uYX1xpskleENpeemOVI1C0BjGeqNVi4HuLvDoH3fXnDgN5huBHygakuXOy_7rC7G_GMK7NLdnYlfGoaSm2HyM5E2RhCUxPknASPOiglBNJu6fZw-o0IKQlOBsD46_MjFP_HBKKQRTKA1C2bokm-uDsVq6GMmD0Ea0AK9-TAbD3aortGtUYTnhm2ZrfilU6CFXC83IQDREKr3hjXJve5aKs31oW-tf6ROY8VMmeSXPjGS8Mzoi2PJziQw_KSyzDbyj5LOfFmFkSy_R3oJKNGJmwQSvFNWm4azrjzdtO8qD3ZV9JHQfvfxoptxnuJJa0wAIkDfgwlmxYeTQoxK6iwyIJ4qGywofof5Evo_AnOIAJsjvBwRoIQgAB5CFlfJRwtxRbQOuvxVRHokPz9PCuDuc9r9sSeiB-PFKHQRC6XJcpPo8l1s7QPS0ThiEm5WL-X8ni2vVu26g0WtGXVJ3aTQKfb7LfxEUhGvzy6TNYnh3wrXxvBUrS-_NybalH1VYHhWSNyA-mhf240p5pKJMf7IDWvIeChOAcANGfkPiJF2oLkuP0GOUcpQPmIEBDNdy5mZcmdZZ3XN43MyozW2t6JAhlPSWWkqPs7kYcl9hfd7pWmg==",
  "id": "rs_086d7d192ce0b831016ab2e36b1be087d0aa5edddd046d33f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.4,\"left_z\":0.27},\"note\":\"The narrow jaw spacing and visible yellow shaft suggest I picked up the yellow pen beside the animal, not the animal itself. I’m moving it over the writing-instrument basket instead.\"}",
  "call_id": "call_D9aDI5QsCZWaLM8H4QHs2pPd",
  "id": "fc_086d7d192ce0b831016ab2e36df8e487d09cdc6035802ecff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D9aDI5QsCZWaLM8H4QHs2pPd",
  "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]: [-0.9226, 2.5542, 2.8582, -1.3834, -0.6662, -0.7341, 0.1233, -0.0711, 0.9146, 0.9028, -0.5938, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.4244 left_y=-0.3736 left_z=0.2048 left_yaw=0.0329 left_pitch=-0.2087 left_roll=0.09 left_gripper=0.1233 right_x=0.3076 right_y=-0.0028 right_z=0.2384 right_yaw=0.0361 right_pitch=-0.0409 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -17.0735, 8.3761, 1.2234, -0.6178, 0.0366, 0.7839, -0.0342, -2.1949, 7.1726, 1.6728, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f7210ba4cd9bc6e1c1256b402de2133205057fe955cb2b062f27c3bd934dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb33af28ba2431abe8d362cf5b031461cfcbf91683f30fda9171fc833c6b85f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1168eed38409bab2a8e09a1b3de9b640e16e695d051e3102033e2b106d3681b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.895 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.712, 1.3731, 1.0885, -0.5755, -0.561, -0.5243, 0.1216, -0.0711, 0.9108, 0.9073, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3389 left_y=-0.1636 left_z=0.1933 left_yaw=0.0309 left_pitch=-0.1363 left_roll=0.0227 left_gripper=0.1216 right_x=0.3076 right_y=-0.0028 right_z=0.2416 right_yaw=0.0361 right_pitch=-0.0322 right_roll=-0.0004 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -8.0205, 9.3333, 1.4432, -0.3297, -0.0464, 1.0281, -0.1573, -1.7983, 6.9265, 1.7216, -0.0952, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuN3F-cRDWdzDu51mOFAK_l4qyRfnKR9SguX2QVGm5HrdQR5rbKYaqax3NVkOUIere4LbMUI32txXqoa1_Hxn4HcFFjDBSCnsclgDBF5vTa__XtwRc3tugjSyggItT0AbsYgoTPG2htAdnsTC9-F2PpGSwuvfD_y8cRoo8fe9qgWWMEqUCGvEAt2337k5fvbn_XW_TyGTj3cCpShlVd4B_Dmd5M_tadxKLsel3AZpn3o43NKV6Bol7TjhuU7ubzMLjwJAjJfp5pcUd72I1JDn9Ziqj2dYIMxC67olsVqqAPzOenZxo6Zf0nFc28FJTtFIYlRFh9KRFHXnjy2RWnnsQetECcCWC_QwhzVkD6f6hIRvEozLdnyYK1d-b7575UXxBX_SyXcYQnfDtS3JyXAuOf_tkJaBr1Y5ICRtuDCntiUNnB9B1sglstByYYBOm74Bx58SOhgVLGshYCso7DOyB2CgBOneBrrwvWH9tgSjF0AOHKmKuS6SOEj94p1VL64PSYxuIjY7WsAKXbcJEXVfalCs9M4iEirWRYtRnQwk6k1duVj5UQDJAgxLFQxhO6krGo9N4riWJTDCQFi7ybaKqWgQwI6jTSjUmFme8VJuMN-IvUFIgcX04ZXFiMQDFhAIwiWL8QVSaOk5_-DF8X6spnrUFH-sFKWn-XPR8vh9IIYWcFFe9ZrGpQWUeisMM9T3Kx9gFhx2vZX3a-M4NGt0dRkBG4lGykhrCkMAoSf-5jRibYXG7qaLRzW25JKEV-WCyka5QMOYvuvdhSvh3eRyPefptkuPVqtdXRdEkpKgRCst-cGsdFDRMMz9vSPXD0q1J_ODXHuQOCru82Tid9jukwK2yHGSooLHotU59VOv8djesND38WBpfq2n41hnVzvlzZ0elwkVrXgtJUYd5qA6bKFTJShmV5dKxFFjoi8ueiZ0lz4-GM48VlTzyKucmUTvMLxoSaBiQfBVUUczRPD6_W7kUsr7d27iIDiWKG2QOr6Ktd597b11tWSinC2S-ofFYQyfH5BAGJ8tRu-GqIWUbJ6gPbl3i7cNDimTwX9tJ-qGj3Dg96TGZpIgIFJPrS92IBB-nbvHqqoBrHyp6_tUUOyTcvAYKEcx-ec06mltnXefm-4irnI8bdotF66hqUDSrG0tu4r4yR7lOA0hJpQALbA6ntDGBwQ1WtPUVjvVvdmU3XWjSz4QV97t3mLaX2LQkIeLY5O03Ern66YS97DBPUVfS7naCbOIS6fzn8bPtAgyZTXdOUiDT2tZI0BsRhl-sh4Ih_Uf_0jFmG3m4BId637d5p7XEY9B_3NUMVbsCogShGLKJu5iqptqdadJFGWt7ezYpFgEL37qjGzrvq5C1fcPg==",
  "id": "rs_086d7d192ce0b831016ab2e374a54087d09a14e57cf679f720",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.17,\"left_z\":0.25},\"note\":\"The new overhead view confirms the brown animal moved with the gripper and the yellow pen stayed on the table. I’m correcting the destination to the left basket without releasing it.\"}",
  "call_id": "call_aQi4801NrWI6g8fNuBGPtLEl",
  "id": "fc_086d7d192ce0b831016ab2e3759d5c87d09e0b48851f5dc63a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aQi4801NrWI6g8fNuBGPtLEl",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4232, 2.6553, 3.1123, -1.4502, -0.4046, -0.3271, 0.1252, -0.0711, 0.9184, 0.8997, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.5531 left_y=-0.169 left_z=0.2027 left_yaw=0.1128 left_pitch=-0.3277 left_roll=0.1435 left_gripper=0.1252 right_x=0.3079 right_y=-0.0029 right_z=0.236 right_yaw=0.0362 right_pitch=-0.0473 right_roll=0.0013 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -19.9863, 7.4462, 1.6288, -0.2418, 0.2369, 0.5348, -0.1026, -1.8393, 7.0769, 1.6777, -0.0659, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472e809c6b26ccbc4dccc4637f2bb8e4d546abb2f02b610114ba49ee556fa9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f9da808e986b8c751e672e37c62c452d7c39acaee9b8bc3f446583821e7879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c190d1520aba77b82d796671a1267ab916d890e408f4ee7257dc9531ecbe1840",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 5.017 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9226, 2.5542, 2.8582, -1.3834, -0.6662, -0.7341, 0.1233, -0.0711, 0.9146, 0.9028, -0.5938, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.4244 left_y=-0.3736 left_z=0.2048 left_yaw=0.0329 left_pitch=-0.2087 left_roll=0.09 left_gripper=0.1233 right_x=0.3076 right_y=-0.0028 right_z=0.2384 right_yaw=0.0361 right_pitch=-0.0409 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -17.0735, 8.3761, 1.2234, -0.6178, 0.0366, 0.7839, -0.0342, -2.1949, 7.1726, 1.6728, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuN_c-1PPyBB-NqkfBnbcmsxBLT3FmzOMx3WzjQj5ISIq39wtr37udfWmxv4M1ARvA4jv8AaHRn73NDIee4ssc_hA0NkSR_MldX5In29fDWX8XwUZlL1ROb1IjkI5VclsMeO5ngXc5RxW1PGQ48oOqrXy9tZE11JXcAx5ZkqUZ4-X3RvCmNb9m5uB6exS5-YQdVKwUgfOeWdskI9ZDaKxyCmZX0o4sLmGOZYwjN1Kpl4--ocwmsGGrSX8vnV6pB-_vIm0KV5rTBY8GQJApOwOXpMz-0kQVy0_MCTuGYWYeZJogi-oemLDxeExLqTjpeClRwwBhD2smBtbRVa-zlCNcQ6wh97O7FcILF7Ow5zJxQqi2uzuZlyt26tLsbBQrJ5DbSATlaKSwJaDi9_x5u9i2-SRLmolAOjI17do2I9Ys_wnbdlh2MApXlsrsjoidCk6AkACgCqw6_L9GVu6QsFdMOrWi_KSFgkERpyU1a-NTS2-TUddo2ozeB5IYxSbC1EOb9UuZYBGMZ0yXIWcyb7IpDNznpk7FDtzPhl7NmkqeSTMI5xyFowqRtFNGk0C5YF0fMDjcNjt_VmZZckukqE6oSlhPw4Nvx2AgAK1B2Dn6Wr-VhZa-93YFyeszH3Qzevz5-x33S6h0QRyuKDlrnLM6yI_DKkL6h80yjllMWGz7yZsYNT7ZHMRB4qFxWyQ2wR_eKaqNB74AvtdV0lITUWS6my9dh6Pait4i4ukoesXmkZJ02vv2pLCeNowWT7aH7GWcHt5ZvsqZgi4bFvzXsOhCTWQdqeIqSjkEaE9YzR8Qe-11zOMSt3IcJem-GcydNhYTeunPnck-51FFDIxKeu4IPAeDpVtbrWxNIHzf2WiVMgolP3sPRY_GAmM8C3WxcIaJ1I0o7kAA6zvYkUCopr7ZNp7cHVfkSHb1vIw9itWzTASYwv-IXbC11yElrmgP4n7NZNKTr0smt_LKzv_GL28haMlAZYlocmmZdWQiRGUJ68kLsJEVpYCxCcBmQFRDbbbRekwFLnJgcYmAso5_451NKBo7s59BdznCawKKAuAT1wD8M9t_dyaaRK2VVkqvQC2gfYK4N3B6aVLrHMOezItgCget00tqgpKmkNx29W_8_tv852m7I1_dnbak0Cbg7UsMSlnFbxV26yyi4mQ4Cw0zswXkrJVrSzPz2_78CacBh5locR3Ytya8JrRHAzS4ZpBu9EakxuvBQpfp4ClVr0b9wzKZ_ybBh75yoQWqo46VGaVExi2fULRPVlGKXsGTMuTij7z_0kODXjfLN8-3o9aH_xAXOPaHtaJjErspz5bldosRsYWrFL7ydfWSq_1lDTZob-vySZ88l1n48cEm6bL-MGMA9WiAe5LsGNBfNMCrMH2vU=",
  "id": "rs_086d7d192ce0b831016ab2e37c2ce087d0bd06ea7015ab0c26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.065,\"left_x\":0.56,\"left_z\":0.23},\"note\":\"The animal hangs to the right of the grasp point, and the left basket has shifted left. I’m moving farther left so the hanging body, not just the gripper, is over the opening.\"}",
  "call_id": "call_wi41GJqz0rhLQCMxnNkQm75b",
  "id": "fc_086d7d192ce0b831016ab2e37d871887d097fc3bcce357fff0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wi41GJqz0rhLQCMxnNkQm75b",
  "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]: [-0.2237, 2.6499, 3.1123, -1.4807, -0.2852, -0.1802, 0.1262, -0.0711, 0.9203, 0.8982, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.5686 left_y=-0.0747 left_z=0.1958 left_yaw=0.1348 left_pitch=-0.4065 left_roll=0.1525 left_gripper=0.1262 right_x=0.308 right_y=-0.0029 right_z=0.2347 right_yaw=0.0362 right_pitch=-0.0507 right_roll=0.0016 right_gripper=0.9964\nstate[joint_eff]: [0.3897, -18.1949, 7.3915, 1.2186, -0.1929, 0.2271, 0.9158, -0.212, -1.894, 7.1043, 1.663, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc349653771c895b73e11c9753addbd153a88087658a4122b9ac6a89ac687035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e677cf7e131509b976ff2295260ab98e3b835f4f1495238abeeefbbbc8d984be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95fc453c34bf0f02516537c3fe7b7ded2b34010b2fbc45f743937a4f7f183e63",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.156 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4232, 2.6553, 3.1123, -1.4502, -0.4046, -0.3271, 0.1252, -0.0711, 0.9184, 0.8997, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.5531 left_y=-0.169 left_z=0.2027 left_yaw=0.1128 left_pitch=-0.3277 left_roll=0.1435 left_gripper=0.1252 right_x=0.3079 right_y=-0.0029 right_z=0.236 right_yaw=0.0362 right_pitch=-0.0473 right_roll=0.0013 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -19.9863, 7.4462, 1.6288, -0.2418, 0.2369, 0.5348, -0.1026, -1.8393, 7.0769, 1.6777, -0.0659, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuOFi_cV14e4jOSAGvWPiTOdlRMhc-GuFSa_F0RWEjktYlzLGVcnxXf17TfjM61PWUbPAoRr1ojjRQ4KH7cC8pPzTY4yHIClTIm2ctGHbqw89VFauLYu7XhfkumrOw9X6QtFk4QZhXta-HjVf1mx8vWCTn1_P1B-KS3nf_ZVg2D48mMC2g7XZYVc7Dc3e71fSi3b5HfV5oXmhI2mNKh2srzD0fVZ5onS1ZUOzb5NYRCESOEVvh8SoimrnUafdFKiyH7hYeMWS_TWg5vFo8uhdMAFw6dIDjI_w4h4gu-50t5y_LM3j8HrK4jE5lPEe9ldOCyJq82_8yZlxkiJvS6F9DczwffKqHpOyyRv7NU9HoiDZF50-_rdQUMhe3lhG776ST1RWAP-K_tNC83GspdN7hCQjIzazTYxlEuO_aEFZlpzPnIDdXwZslm5h1gWy1T1fahB5aFfPNiB8QTYwkWcNG_WgxceAGjccqshkwfLxGGOs345zMhaSu6k0XlzeNe7MSxrKqyrgBsiVqvpmEE9wFwoD_jca6GzpDhUjXJHicn6Nxj_sKeNLXN3zbNOgHpmmrcxbIfnbkahnadb71ua_QM7FBv-Cajyl4Yu5p58_uKqsRi3kzjn3FlsPGgpSDTVFV05azp053d5oxSmdNuHcF4-T8PeWYUReFFmQAx8GrVFuJyn3VsYHeJel1SyeG470LH4oA0LH-xX43BpxPyd9cYK_MqzIv-K_Fn-MihUupEONzwsXTGk2TB7yTO4RMWqyP8B0xqdfkWsGnoVHPo0hx9nPlYPEb84DCmjeDxv-APeW_82hgVEuBDfUVeWwrtjOCCaga2zBqan8l3KxqS-B0VpbbJQWE5V4J9ouYEtxCu_B2EDPjwpvyrkIbbgjBlZtwAemmxPc4BNGKCDMk-RkEw9RpjghrsJZJNFFZdbGJ9w23UgMa8y-NcJJtVReN-yf6SmF_tvDrEmMTMNT18XmrbwwhNQKqfjQSDmi7xr9kN2W9oRtyxLBawM49MbG4yXi7tBKK5aDPGcc9WvThfXeF7Bfuofz2I3dWbsx--tE5byN8TwHQsq9CEjYf2B6UnIEdFt0dVHVy4AKTJk2B14iU1IzPEBBRDLirZrn9oWxbX7HFKnGy3_uNsGL9MOoVQmVbcBN46uWMy0DJdu5IfS4iDXtWq3fZj6PipqzENbx8FZyb_PS04ht9oixTpoutdkR33l5EXYXDCuvxy4kQgJXqLgSfwV1XRsCjJUEW7r-ZsbQSqZ2U3wt2uh6BQu0nOsI90XYQxhZfIJHVXSS6-KOOuUDAc4yxs8yme-7td-KtB0JG5pSe60t1_tD-LT-gDmtXQf",
  "id": "rs_086d7d192ce0b831016ab2e382871887d0a3a059f37d7586fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown animal is over the left basket, with the tan animal apparently caught alongside it. I’ll open the jaws so the soft toys can settle into the basket.\"}",
  "call_id": "call_7ZVq8JFlYxQQt7XHFy0RY7bP",
  "id": "fc_086d7d192ce0b831016ab2e383f0a887d0afb3f65710dc03fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7ZVq8JFlYxQQt7XHFy0RY7bP",
  "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]: [-0.2256, 2.6499, 3.1115, -1.4887, -0.2836, -0.1909, 0.9955, -0.0715, 0.9203, 0.8982, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.5668 left_y=-0.0757 left_z=0.1945 left_yaw=0.139 left_pitch=-0.4143 left_roll=0.1479 left_gripper=0.9955 right_x=0.308 right_y=-0.003 right_z=0.2347 right_yaw=0.0358 right_pitch=-0.0507 right_roll=0.0016 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -13.8462, 5.2855, 1.3016, -0.1929, 0.0611, -0.1392, -0.2256, -1.7162, 6.8581, 1.6923, -0.0708, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbd9b4e76737b0fb65d1849fbcbf3fb5f10354155db7aa1dc03612c081da682",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5023fd365d4622477813cf5823013ef53060195f6ad5b988386b8b48470a8f64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c4332367d9c8f8b60d8dda57536ee99d7723cee76dee6db442608466da68633",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 7.6 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 107 changed as sent

message 107 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]: [-0.2237, 2.6499, 3.1123, -1.4807, -0.2852, -0.1802, 0.1262, -0.0711, 0.9203, 0.8982, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.5686 left_y=-0.0747 left_z=0.1958 left_yaw=0.1348 left_pitch=-0.4065 left_roll=0.1525 left_gripper=0.1262 right_x=0.308 right_y=-0.0029 right_z=0.2347 right_yaw=0.0362 right_pitch=-0.0507 right_roll=0.0016 right_gripper=0.9964\nstate[joint_eff]: [0.3897, -18.1949, 7.3915, 1.2186, -0.1929, 0.2271, 0.9158, -0.212, -1.894, 7.1043, 1.663, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuOLptrh5_7aHbpWoxb0eMRcF-ajE8DXEauW-3127nhAVRKd6cpyGzBJ68mg5hSP9DYXJ8VyIOAmbiLBKKnkCKH6wnjagRyaMrdbMZ4xf90ii6zlbcVMJXdxcorXAdtgu6EB6qfavhE9FGvcNU1go5GjivbLaiQphTuRLi3I0niTqPOUbeyggs2yDTiVa_4rgkn6_dnVg9fRCkbjg9FPMnfwm2x_LUHBNQhdr9AlkwlTL7auz3xAy2vDglYAZaGikrg8mjE__7HvLu0dnPITZNADTIHOtpgQTxtdn1qjjm4Ne3mfZsXNRa4Ki487bzPqQf-PfUM_JUfce7qX1yaFaVl0r4iyO39wkOEfGd6QOqGpo0VuqaUj0S3oXnoz68dbsAK-lwnqSqBMoOIHFMCGtZpmo0mpUPRoh2vdkBro-yZTBNZQrSdPg7nlDaxEJYMyO1j-kXL929horXthKWlZmg5nXAST2osYjrINjaOk6JrzdKhFXl7jiYPVSQRXXOrvJn_J_Cu7PEFEjLH0Bd46H4W3sprnauAWF06zksk378f5oIrxyEKk_DY8tiTs7BBBxk8Rq0Kqq8pR14Ow6-bskjsGl5e1ibaPHiHUtOWXExKekfNgxlNyWHbdZzinaPkRzAhbMfp8xzTGthu-TL8bXLbFk4wYpVCsoNwIwgCB-4wCRe_8uXVdYn1TaKwq2OEn-96fw0qtOujEQLBdKZiCXTcemX1SvlBTAk3InqB8TsRlyaeWVBGe51UPUlabylch4bZoYMyJ_n0k4eG1c0AghoNM7evNtyuyX8vIAV0I4DyFHDgmSiTamiAKVHySPB51hSmzwjxOlIZPDBFqfmfjYWydwNQvnTj2x-_ZbJfAjE5jP6FJFeKpa63b7KX1_JZG99SY_IqwT5xo6Szi7lKe_2jkq7UI_7CdP2iJxo4dEP4EBmkexOxs7E2agCsamLuL4W10O7sH0lzToYLtK7xexUb6bUod_qbhWrFUXki49cGYUzf_bDJbnQhkQfGmFHz7aa_VfPuFQmSbqVEXcpHvrncbPW0ycX3LxDlRPnXPw1cX9E483s8Wh6IrU39FTv742MZZx3nyppTyxVkHt_GaTTx_pR1nD5aS7hLM2-xi6pBSWAo2LRM2VYUFbolMliqtZsUn5GLhAvYW_eLkKaRyIUluhWQ-LUbj7nlDrsQYY89Ig2_i5cogL9D-xO8FEVnYjXaC6xMa9lcZrHx8SXMWOYgiyamQAMiWghuPyqYb-ZMnYATuc8isJGeecklDUfMLNH36",
  "id": "rs_086d7d192ce0b831016ab2e388814487d0b70f57cdf9c7c531",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.02,\"left_z\":0.3},\"note\":\"The small brown animal is inside the left basket, but the tan animal is resting across its right rim. I’m lifting away to avoid dragging either basket and to check what remains unsorted.\"}",
  "call_id": "call_wS3BdqekWGBYbbqv2Ex0HPcQ",
  "id": "fc_086d7d192ce0b831016ab2e389399887d08a5fd6486f6d231a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wS3BdqekWGBYbbqv2Ex0HPcQ",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2268, 1.4353, 1.7302, -1.3018, -0.2836, -0.1982, 0.9968, -0.0715, 0.9257, 0.8944, -0.5934, -0.0875, -0.0753, 0.9964]\nstate[eef_state]: left_x=0.3329 left_y=-0.0224 left_z=0.2998 left_yaw=0.1389 left_pitch=-0.3948 left_roll=0.1356 left_gripper=0.9968 right_x=0.3083 right_y=-0.003 right_z=0.2315 right_yaw=0.0358 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -6.2838, 5.5726, 1.2625, -0.1832, 0.0073, 0.1148, -0.0479, -2.4274, 7.1316, 1.6679, -0.0562, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688f6f40484a5c40c168e80d3d9f577814c9c2f8d914d21f922ef5b25b213ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e375425d4588a695d28cde45f3462b23b3b17557cbb195784e782cc36e2cf4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74fba4943555e9e7a24bb099a263644427385dfaf2a60e467c959934b5e9f375",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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