adhoc

completed
2026-09-22T20:40:13.607432+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
306.8 s
total steps
373
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 soft toy animals and several long marker pens. I’ll sort the toys into the left basket and the pens into the right, starting with the gray toy on the left.
move_to
left_x0.2200left_y-0.0750left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.379, -0.0223, -0.0257, 0.9996, -0.0154, 0.7967, 0.6109, -0.384, -0.0132, -0.0162, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1816 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.4017, 9.5795, 1.8291, -0.0171, 0.0806, -0.0562, -0.8, -1.0735, 9.7846, 1.8877, -0.1343, -0.022, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.075,"left_z":0.15},"note":"I see soft toy animals and several long marker pens. I’ll sort the toys into the left basket and the pens into the right, starting with the gray toy on the left."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe gray plush is left of the fingertips; the closer view also shows two brown plush toys beside it. I’m lining the left gripper up with the gray toy’s body and lowering for a grasp.
move_to
left_x0.2850left_y-0.0250left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8589, 0.6075, 0.4915, -0.6422, -0.6735, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9996] state[eef_state]: left_x=0.2199 left_y=-0.0807 left_z=0.151 left_yaw=-0.0292 left_pitch=-0.0074 left_roll=-0.0068 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0057 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [-0.0752, 0.1026, 6.188, 1.5116, -0.315, -0.0855, -0.022, -0.3487, -1.388, 7.2547, 1.7167, -0.0757, -0.0464, -0.0122] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.025,"left_z":0.045},"note":"The gray plush is left of the fingertips; the closer view also shows two brown plush toys beside it. I’m lining the left gripper up with the gray toy’s body and lowering for a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe gray toy’s body is still just ahead and left of the jaw center. I’m making a small correction so the fingers close around the plush rather than beside it.
move_to
left_x0.3200left_y0.0100left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1818, 1.034, 0.1101, 0.3298, -0.1486, -0.1116, 0.9995, -0.0151, 0.8024, 0.6083, -0.3874, -0.012, -0.0162, 0.9996] state[eef_state]: left_x=0.2842 left_y=-0.022 left_z=0.0427 left_yaw=-0.0101 left_pitch=-0.0267 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9996 state[joint_eff]: [-0.1846, -2.1949, 5.053, 1.746, 0.1099, 0.0415, -0.0171, -0.335, -1.5658, 7.0769, 1.7216, -0.0513, -0.0317, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0.01,"left_z":0.025},"note":"The gray toy’s body is still just ahead and left of the jaw center. I’m making a small correction so the fingers close around the plush rather than beside it."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe fingers are at the gray plush’s edge. I’m shifting slightly left and closing around its body.
move_to
left_y0.0450left_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]: [0.0387, 1.4082, 0.1574, 0.6144, 0.0135, -0.0063, 0.9995, -0.0154, 0.8062, 0.6075, -0.3923, -0.0116, -0.0166, 0.9996] state[eef_state]: left_x=0.3095 left_y=0.0132 left_z=0.0123 left_yaw=0.0172 left_pitch=-0.0764 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2943 right_y=0.0011 right_z=0.1756 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=-0.0008 right_gripper=0.9996 state[joint_eff]: [-0.1436, -3.9863, 5.8735, 1.873, 0.1978, 0.1685, -0.022, -0.3624, -1.0462, 7.0769, 1.7656, -0.0269, -0.0806, -0.0073] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.045,"left_gripper":0},"note":"The fingers are at the gray plush’s edge. I’m shifting slightly left and closing around its body."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe gripper closed empty; the plush is farther forward than the fingertips. I’m reopening and advancing along its body for one corrected grasp.
move_to
left_x0.3700left_z0.0350left_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]: [0.2195, 1.4223, 0.1749, 0.635, 0.1387, 0.0875, 0.0106, -0.0151, 0.8082, 0.6075, -0.3923, -0.0116, -0.0162, 0.9996] state[eef_state]: left_x=0.3133 left_y=0.0486 left_z=0.0192 left_yaw=0.0422 left_pitch=-0.0457 left_roll=0.0017 left_gripper=0.0106 right_x=0.2944 right_y=0.0012 right_z=0.1751 right_yaw=-0.0009 right_pitch=-0.0233 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [0.0615, -2.9607, 4.7932, 1.6923, 0.1978, 0.0952, 0.6764, -0.0889, -0.9778, 7.0496, 1.7216, -0.022, -0.0269, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_z":0.035,"left_gripper":1},"note":"The gripper closed empty; the plush is farther forward than the fingertips. I’m reopening and advancing along its body for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gray plush is close to the left workspace boundary, but its near side is between the open fingers. I’ll test this corrected grasp before attempting to lift it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1677, 1.5578, 0.3756, 0.5606, 0.102, 0.0521, 0.9954, -0.0151, 0.8097, 0.6075, -0.3927, -0.012, -0.0162, 0.9996] state[eef_state]: left_x=0.3622 left_y=0.0467 left_z=0.029 left_yaw=0.0401 left_pitch=-0.0578 left_roll=-0.0078 left_gripper=0.9954 right_x=0.2945 right_y=0.0013 right_z=0.1746 right_yaw=-0.0006 right_pitch=-0.0252 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [-0.294, -4.9299, 6.9128, 1.58, -0.0366, 0.022, -0.1099, -0.1983, -1.4427, 7.159, 1.7265, -0.0171, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray plush is close to the left workspace boundary, but its near side is between the open fingers. I’ll test this corrected grasp before attempting to lift it."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe second gray-toy grasp is empty, and that toy is now beyond the left-side reach boundary. I’ll avoid further attempts there and sort the reachable toys and pens, starting with the large brown bear.
move_to
left_x0.3200left_y-0.2700left_z0.1700left_gripper1.0000right_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]: [0.1669, 1.5635, 0.3786, 0.5507, 0.1013, 0.0517, 0.0096, -0.0151, 0.8101, 0.6075, -0.3923, -0.012, -0.0162, 0.9996] state[eef_state]: left_x=0.3613 left_y=0.0464 left_z=0.0261 left_yaw=0.04 left_pitch=-0.0704 left_roll=-0.0092 left_gripper=0.0096 right_x=0.2946 right_y=0.0013 right_z=0.1746 right_yaw=-0.0006 right_pitch=-0.0252 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [-0.0889, -5.9145, 4.7521, 1.7802, 0.0366, -0.0366, 0.7448, -0.212, -1.1692, 7.1863, 1.7167, -0.0415, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.27,"left_z":0.17,"left_gripper":1,"right_z":0.19},"note":"The second gray-toy grasp is empty, and that toy is now beyond the left-side reach boundary. I’ll avoid further attempts there and sort the reachable toys and pens, starting with the large brown bear."})
tool
executing move_to over 29 steps (2.9s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe large bear is centered under the left wrist camera, with its torso at the fingertips. I’m lowering around its torso for a secure grasp.
move_to
left_x0.3300left_z0.0450
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0103, 1.6447, 1.2098, -0.5571, -0.7605, -0.8272, 0.9988, -0.0147, 0.8146, 0.6369, -0.4561, -0.012, -0.02, 0.9996] state[eef_state]: left_x=0.3163 left_y=-0.2682 left_z=0.1608 left_yaw=0.0333 left_pitch=-0.0916 left_roll=-0.0033 left_gripper=0.9988 right_x=0.2896 right_y=0.0015 right_z=0.1738 right_yaw=0.0019 right_pitch=-0.0641 right_roll=-0.0028 right_gripper=0.9996 state[joint_eff]: [-0.1299, -7.6239, 8.4171, 1.1355, -0.5495, 0.0024, -0.1392, -0.3897, -1.2923, 9.6615, 1.8046, -0.0317, -0.0073, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_z":0.045},"note":"The large bear is centered under the left wrist camera, with its torso at the fingertips. I’m lowering around its torso for a secure grasp."})
tool
executing move_to over 8 steps (0.8s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe bear’s torso is between the jaws, and the descent stopped on the soft toy. I’m closing gently through the normal gripper command to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9714, 1.8278, 0.9775, -0.0799, -0.7639, -0.8009, 0.9983, -0.0147, 0.8158, 0.6353, -0.4564, -0.012, -0.02, 0.9996] state[eef_state]: left_x=0.3363 left_y=-0.2692 left_z=0.0645 left_yaw=0.0563 left_pitch=-0.0576 left_roll=-0.034 left_gripper=0.9983 right_x=0.2894 right_y=0.0015 right_z=0.1728 right_yaw=0.0019 right_pitch=-0.0671 right_roll=-0.0027 right_gripper=0.9996 state[joint_eff]: [-0.1162, -6.9402, 4.2872, 0.8816, -0.1245, 0.1001, -0.0562, -0.3624, -0.841, 7.2274, 1.6728, -0.0122, -0.0562, -0.0171] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s torso is between the jaws, and the descent stopped on the soft toy. I’m closing gently through the normal gripper command to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gripper has settled around about 2.7 cm of plush rather than closing empty. I’m lifting the bear to confirm it is held.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9707, 1.8397, 0.9714, -0.0383, -0.7753, -0.8089, 0.2888, -0.0147, 0.8165, 0.635, -0.4595, -0.0116, -0.0204, 0.9996] state[eef_state]: left_x=0.3395 left_y=-0.2708 left_z=0.0639 left_yaw=0.0675 left_pitch=-0.0378 left_roll=-0.0562 left_gripper=0.2888 right_x=0.2889 right_y=0.0014 right_z=0.1718 right_yaw=0.0018 right_pitch=-0.0713 right_roll=-0.0032 right_gripper=0.9996 state[joint_eff]: [-0.3897, -9.812, 6.1607, 0.8181, -0.2906, 0.0366, 0.6716, -0.3624, -1.3744, 7.0632, 1.7216, -0.0415, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14},"note":"The gripper has settled around about 2.7 cm of plush rather than closing empty. I’m lifting the bear to confirm it is held."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe bear rose with the gripper and remains secured. I’m carrying it high toward the left basket so its dangling body clears the rim.
move_to
left_x0.4800left_y-0.1300left_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]: [-0.9707, 1.7485, 1.0973, -0.279, -0.7628, -0.8127, 0.2904, -0.0147, 0.8165, 0.635, -0.4599, -0.0116, -0.0208, 0.9996] state[eef_state]: left_x=0.3387 left_y=-0.2725 left_z=0.1126 left_yaw=0.0627 left_pitch=-0.0585 left_roll=-0.0441 left_gripper=0.2904 right_x=0.2889 right_y=0.0014 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0717 right_roll=-0.0035 right_gripper=0.9996 state[joint_eff]: [-0.3214, -11.2889, 8.6496, 1.1111, -0.4713, 0.0024, 0.1685, -0.212, -1.347, 6.9675, 1.6923, -0.0171, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.13,"left_z":0.27},"note":"The bear rose with the gripper and remains secured. I’m carrying it high toward the left basket so its dangling body clears the rim."})
tool
executing move_to over 13 steps (1.3s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe bear is over the left basket opening. I’m lowering it into the basket while keeping the fingers above the rim.
move_to
left_x0.5000left_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]: [-0.4088, 1.7, 1.5883, -0.5659, -0.3901, -0.3809, 0.2932, -0.0147, 0.8192, 0.635, -0.461, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.4742 left_y=-0.1283 left_z=0.2599 left_yaw=0.1081 left_pitch=-0.0593 left_roll=-0.0593 left_gripper=0.2932 right_x=0.2889 right_y=0.0014 right_z=0.1708 right_yaw=0.0032 right_pitch=-0.0755 right_roll=-0.0053 right_gripper=0.9996 state[joint_eff]: [0.0889, -7.6923, 9.2376, 1.4286, 0.0317, 0.1392, 0.2759, -0.212, -1.4291, 7.0769, 1.6728, -0.0366, -0.0171, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.50,"left_z":0.19},"note":"The bear is over the left basket opening. I’m lowering it into the basket while keeping the fingers above the rim."})
tool
executing move_to over 5 steps (0.5s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe bear’s head still hangs near the basket’s front rim. I’m moving farther over the opening before releasing so the whole toy lands inside.
move_to
left_x0.5600left_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]: [-0.387, 1.7943, 1.4208, -0.3862, -0.3653, -0.3668, 0.2952, -0.0143, 0.8196, 0.635, -0.4599, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.4873 left_y=-0.1266 left_z=0.1742 left_yaw=0.1062 left_pitch=-0.1387 left_roll=-0.0226 left_gripper=0.2952 right_x=0.2891 right_y=0.0015 right_z=0.1709 right_yaw=0.0036 right_pitch=-0.0748 right_roll=-0.0053 right_gripper=0.9996 state[joint_eff]: [0.6085, -9.812, 7.1863, 1.9512, -0.2369, -0.0073, 0.188, -0.1026, -1.388, 6.9675, 1.6874, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_z":0.22},"note":"The bear’s head still hangs near the basket’s front rim. I’m moving farther over the opening before releasing so the whole toy lands inside."})
tool
executing move_to over 6 steps (0.6s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe bear now hangs fully over the left basket. I’m opening the fingers to release it inside.
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]: [-0.3283, 2.0613, 1.9148, -0.614, -0.3325, -0.3489, 0.2974, -0.0147, 0.8242, 0.6346, -0.4622, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.5568 left_y=-0.1249 left_z=0.2052 left_yaw=0.1287 left_pitch=-0.1496 left_roll=-0.0287 left_gripper=0.2974 right_x=0.2889 right_y=0.0015 right_z=0.169 right_yaw=0.0038 right_pitch=-0.082 right_roll=-0.0052 right_gripper=0.9996 state[joint_eff]: [0.0752, -12.3556, 8.4855, 1.2772, -0.0611, 0.1636, 0.2271, -0.212, -1.5658, 7.0085, 1.6972, -0.0415, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bear now hangs fully over the left basket. I’m opening the fingers to release it inside."})
tool
executing move_to over 8 steps (0.8s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe large bear has dropped into the left basket. I’m moving back to the smaller brown plush on the table next.
move_to
left_x0.3400left_y-0.1450left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3256, 2.0758, 1.9182, -0.6193, -0.3355, -0.3584, 0.9954, -0.0147, 0.8249, 0.6346, -0.4603, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.558 left_y=-0.1232 left_z=0.1979 left_yaw=0.1401 left_pitch=-0.1634 left_roll=-0.0267 left_gripper=0.9954 right_x=0.2893 right_y=0.0015 right_z=0.1692 right_yaw=0.0038 right_pitch=-0.0809 right_roll=-0.0052 right_gripper=0.9996 state[joint_eff]: [-0.4444, -12.9983, 6.7487, 1.536, -0.1587, 0.0659, -0.0952, -0.1983, -1.2513, 7.0769, 1.6532, -0.0269, -0.0415, -0.0073] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.145,"left_z":0.15},"note":"The large bear has dropped into the left basket. I’m moving back to the smaller brown plush on the table next."})
tool
executing move_to over 17 steps (1.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe plush is still very close to the wrist camera after opening, so it may be snagged on a finger. I’m returning over the toy basket and turning the open gripper slightly to let it fall free.
move_to
left_x0.5400left_y-0.1300left_z0.2800left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6632, 1.4277, 0.9668, -0.4454, -0.5339, -0.6136, 0.9967, -0.0147, 0.8307, 0.6346, -0.4603, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.3456 left_y=-0.1514 left_z=0.1434 left_yaw=0.1078 left_pitch=-0.1845 left_roll=-0.0206 left_gripper=0.9967 right_x=0.2896 right_y=0.0015 right_z=0.1677 right_yaw=0.0038 right_pitch=-0.0866 right_roll=-0.0051 right_gripper=0.9996 state[joint_eff]: [-0.1026, -7.2547, 6.9265, 1.3748, -0.442, -0.0562, 0.1148, -0.2667, -1.306, 7.0085, 1.6923, -0.0415, -0.0611, -0.0171] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.13,"left_z":0.28,"left_yaw":0.5},"note":"The plush is still very close to the wrist camera after opening, so it may be snagged on a finger. I’m returning over the toy basket and turning the open gripper slightly to let it fall free."})
tool
executing move_to over 15 steps (1.5s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe large bear is now resting in the left basket, clear of the open fingers. I’m approaching the smaller brown toy from above.
move_to
left_x0.3400left_y-0.1350left_z0.1900left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4347, 2.4584, 2.7277, -1.3373, -0.6067, -0.7563, 0.9969, -0.0147, 0.8352, 0.6331, -0.4629, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.5415 left_y=-0.1364 left_z=0.2133 left_yaw=0.4897 left_pitch=-0.2445 left_roll=0.0404 left_gripper=0.9969 right_x=0.2892 right_y=0.0015 right_z=0.1652 right_yaw=0.0038 right_pitch=-0.0954 right_roll=-0.005 right_gripper=0.9996 state[joint_eff]: [0.3487, -13.5453, 6.4068, 0.3492, -0.5104, -0.022, -0.0073, -0.1983, -1.6205, 7.0906, 1.7705, -0.0415, -0.0269, -0.0171] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.135,"left_z":0.19,"left_yaw":0},"note":"The large bear is now resting in the left basket, clear of the open fingers. I’m approaching the smaller brown toy from above."})
tool
executing move_to over 16 steps (1.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe left arm rose much higher than commanded while retracting, so I’m correcting its pose before descending. The large toy is visibly inside the left basket.
move_to
left_x0.3200left_y-0.1300left_z0.2200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5758, 1.647, 2.2044, -1.0054, -0.4286, -0.4675, 0.9969, -0.0147, 0.8391, 0.6327, -0.4603, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.3979 left_y=-0.1666 left_z=0.456 left_yaw=0.024 left_pitch=0.1403 left_roll=-0.2386 left_gripper=0.9969 right_x=0.2898 right_y=0.0015 right_z=0.1645 right_yaw=0.0038 right_pitch=-0.0969 right_roll=-0.0049 right_gripper=0.9996 state[joint_eff]: [-0.5128, -5.3812, 5.8462, 2.5275, -0.0464, 0.1978, -0.022, 0.0205, -1.388, 7.0085, 1.6532, -0.0855, -0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.13,"left_z":0.22,"left_pitch":0,"left_roll":0},"note":"The left arm rose much higher than commanded while retracting, so I’m correcting its pose before descending. The large toy is visibly inside the left basket."})
tool
executing move_to over 16 steps (1.6s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe smaller brown plush is centered below the fingertips. I’m lowering around its body with the jaws open.
move_to
left_x0.3300left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6807, 1.166, 0.9482, -0.5186, -0.5674, -0.4595, 0.9969, -0.0147, 0.8425, 0.6312, -0.4603, -0.012, -0.0238, 0.9996] state[eef_state]: left_x=0.3189 left_y=-0.1315 left_z=0.2133 left_yaw=0.0196 left_pitch=-0.0421 left_roll=0.0044 left_gripper=0.9969 right_x=0.2897 right_y=0.0015 right_z=0.1629 right_yaw=0.004 right_pitch=-0.1019 right_roll=-0.0051 right_gripper=0.9996 state[joint_eff]: [-0.5265, -5.1624, 7.5145, 1.9365, -0.3492, 0.0904, -0.022, -0.335, -1.4974, 7.2821, 1.707, -0.0415, -0.0659, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_z":0.035},"note":"The smaller brown plush is centered below the fingertips. I’m lowering around its body with the jaws open."})
tool
executing move_to over 12 steps (1.2s)
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 small plush’s lower body is between the jaws. I’m closing the gripper around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.651, 1.5337, 0.4473, 0.2817, -0.5438, -0.4442, 0.9969, -0.0143, 0.8444, 0.6308, -0.4606, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.3207 left_y=-0.1249 left_z=0.0276 left_yaw=0.0265 left_pitch=-0.1056 left_roll=0.0475 left_gripper=0.9969 right_x=0.2897 right_y=0.0016 right_z=0.1622 right_yaw=0.0042 right_pitch=-0.1045 right_roll=-0.0048 right_gripper=0.9996 state[joint_eff]: [0.1573, -5.8462, 4.9983, 1.6093, -0.2662, 0.0611, -0.022, -0.0342, -1.6068, 7.0359, 1.6435, -0.0366, -0.0366, -0.0122] 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_gripper":0},"note":"The small plush’s lower body is between the jaws. I’m closing the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe fingers stopped on the small plush rather than closing empty. I’m lifting it clear of the table to verify the grasp.
move_to
left_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]: [-0.651, 1.5444, 0.4358, 0.3065, -0.5468, -0.4446, 0.122, -0.0147, 0.8448, 0.6308, -0.4603, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.3201 left_y=-0.1239 left_z=0.0247 left_yaw=0.0288 left_pitch=-0.1021 left_roll=0.0472 left_gripper=0.122 right_x=0.2898 right_y=0.0015 right_z=0.1621 right_yaw=0.0038 right_pitch=-0.1045 right_roll=-0.0048 right_gripper=0.9996 state[joint_eff]: [-0.0752, -6.1333, 6.0239, 1.1893, -0.2418, -0.0317, 0.9792, -0.3487, -1.2923, 6.9949, 1.663, -0.0562, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The fingers stopped on the small plush rather than closing empty. I’m lifting it clear of the table to verify the grasp."})
tool
executing move_to over 11 steps (1.1s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe small brown plush lifted with the gripper. I’m carrying it over the left basket beside the larger bear.
move_to
left_x0.5300left_y-0.1700left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.651, 1.2228, 0.8753, -0.4515, -0.5426, -0.4454, 0.124, -0.0147, 0.8474, 0.63, -0.4599, -0.0116, -0.0231, 0.9996] state[eef_state]: left_x=0.3241 left_y=-0.1277 left_z=0.1747 left_yaw=0.0259 left_pitch=-0.1016 left_roll=0.0423 left_gripper=0.124 right_x=0.2899 right_y=0.0014 right_z=0.1612 right_yaw=0.0033 right_pitch=-0.1076 right_roll=-0.0047 right_gripper=0.9996 state[joint_eff]: [-0.0889, -6.188, 8.8957, 1.3016, -0.2857, -0.0171, 1.033, -0.0752, -1.6068, 7.0359, 1.6581, -0.0317, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.17,"left_z":0.26},"note":"The small brown plush lifted with the gripper. I’m carrying it over the left basket beside the larger bear."})
tool
executing move_to over 16 steps (1.6s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
right_cam
camera right_cam step 244
assistant
agent noteThe small plush is centered over the toy basket. I’m releasing it there.
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]: [-0.4416, 1.9949, 1.964, -0.7094, -0.3973, -0.3077, 0.1275, -0.0147, 0.8528, 0.63, -0.4622, -0.0116, -0.0235, 0.9996] state[eef_state]: left_x=0.5257 left_y=-0.1689 left_z=0.248 left_yaw=0.0447 left_pitch=-0.1118 left_roll=0.0338 left_gripper=0.1275 right_x=0.2898 right_y=0.0014 right_z=0.1593 right_yaw=0.0035 right_pitch=-0.1152 right_roll=-0.0048 right_gripper=0.9996 state[joint_eff]: [0.5128, -11.4256, 8.2256, 1.326, -0.1343, 0.1734, 1.0281, -0.335, -1.7983, 7.0496, 1.6532, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The small plush is centered over the toy basket. I’m releasing it there."})
tool
executing move_to over 9 steps (0.9s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteThe small plush landed beside the basket rather than inside; it will need another pickup. I’m parking the left arm and aligning the right gripper with the black-capped pen.
move_to
left_x0.2900left_y0.0000left_z0.2300left_pitch0.0000left_roll0.0000right_x0.3000right_y0.0850right_z0.0550
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]: [-0.4397, 2.0155, 1.9648, -0.7315, -0.392, -0.3138, 0.9953, -0.0147, 0.8539, 0.63, -0.4606, -0.012, -0.0235, 0.9996] state[eef_state]: left_x=0.5251 left_y=-0.1685 left_z=0.2335 left_yaw=0.0482 left_pitch=-0.1505 left_roll=0.0456 left_gripper=0.9953 right_x=0.29 right_y=0.0015 right_z=0.1593 right_yaw=0.0038 right_pitch=-0.1148 right_roll=-0.0046 right_gripper=0.9996 state[joint_eff]: [-0.3214, -13.0256, 6.6393, 1.746, -0.2711, 0.0171, 0.0659, -0.3624, -1.6615, 6.9402, 1.6532, -0.0366, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.23,"left_pitch":0,"left_roll":0,"right_x":0.30,"right_y":0.085,"right_z":0.055},"note":"The small plush landed beside the basket rather than inside; it will need another pickup. I’m parking the left arm and aligning the right gripper with the black-capped pen."})
tool
executing move_to over 19 steps (1.9s)
step 272
assistant
agent noteThe black-capped pen is just right of the jaw center. I’m shifting slightly right and lowering to table level to grasp its barrel.
move_to
right_y0.0700right_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]: [-0.1024, 0.8272, 0.8101, -0.5385, -0.1665, -0.123, 0.9967, 0.4496, 1.1965, 0.3626, 0.0639, 0.3183, 0.2638, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0025 left_z=0.2334 left_yaw=0.0904 left_pitch=0.013 left_roll=-0.0074 left_gripper=0.9967 right_x=0.2957 right_y=0.0853 right_z=0.0512 right_yaw=0.0316 right_pitch=-0.1528 right_roll=-0.0176 right_gripper=0.9996 state[joint_eff]: [-0.0342, -0.7726, 7.3504, 1.9414, 0.1099, 0.1294, 0.1343, 0.2256, -3.6855, 5.4496, 1.5702, 0.3004, 0.1001, -0.0171] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.07,"right_z":-0.005},"note":"The black-capped pen is just right of the jaw center. I’m shifting slightly right and lowering to table level to grasp its barrel."})
tool
executing move_to over 4 steps (0.4s)
step 276
assistant
agent noteThe pen barrel remains slightly to the right of center at contact height. I’m correcting that alignment and closing around the barrel.
move_to
right_y0.0520right_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]: [-0.1017, 0.8356, 0.8024, -0.5549, -0.1577, -0.1223, 0.9968, 0.3805, 1.4158, 0.2436, 0.4492, 0.2756, 0.2401, 0.9996] state[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.2242 left_yaw=0.0834 left_pitch=-0.0197 left_roll=-0.0053 left_gripper=0.9968 right_x=0.3041 right_y=0.0737 right_z=0.0116 right_yaw=0.013 right_pitch=-0.1206 right_roll=0.0095 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.8256, 7.4598, 1.8779, -0.188, -0.0317, -0.0024, -0.5128, -1.9214, 2.3726, 0.1685, 0.0659, -0.3394, -0.0122] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.052,"right_gripper":0},"note":"The pen barrel remains slightly to the right of center at contact height. I’m correcting that alignment and closing around the barrel."})
tool
executing move_to over 10 steps (1.0s)
step 286
assistant
agent noteThe gripper is holding a pen-sized thickness, and the barrel is aligned between the fingers. I’m lifting to confirm it clears the table.
move_to
right_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]: [-0.1017, 0.8379, 0.8024, -0.5571, -0.1574, -0.1272, 0.9968, 0.3771, 1.4189, 0.2295, 0.4824, 0.2577, 0.2256, 0.1375] state[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.2231 left_yaw=0.0858 left_pitch=-0.0242 left_roll=-0.0088 left_gripper=0.9968 right_x=0.3036 right_y=0.0757 right_z=0.0116 right_yaw=0.0329 right_pitch=-0.1096 right_roll=0.0149 right_gripper=0.1375 state[joint_eff]: [-0.1846, -1.3607, 7.0496, 1.7363, -0.1343, -0.0171, -0.0122, -0.9641, -4.4103, 5.559, 1.2479, 0.1538, 0.0122, 1.0085] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The gripper is holding a pen-sized thickness, and the barrel is aligned between the fingers. I’m lifting to confirm it clears the table."})
tool
executing move_to over 11 steps (1.1s)
step 297
assistant
agent noteThe black-capped pen lifted with the gripper. I’m carrying it over the right basket, reserved for pens.
move_to
right_x0.5300right_y0.1900right_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]: [-0.1017, 0.8436, 0.8024, -0.5602, -0.157, -0.1307, 0.9968, 0.3756, 1.0012, 0.675, -0.3706, 0.2493, 0.2214, 0.1436] state[eef_state]: left_x=0.2952 left_y=0.0013 left_z=0.2209 left_yaw=0.0873 left_pitch=-0.0329 left_roll=-0.0102 left_gripper=0.9968 right_x=0.3068 right_y=0.078 right_z=0.158 right_yaw=0.041 right_pitch=-0.1016 right_roll=0.0202 right_gripper=0.1436 state[joint_eff]: [-0.1162, -1.7299, 6.8581, 1.7411, -0.0904, -0.0171, -0.0122, -0.1983, -3.412, 9.4017, 1.4286, 0.1392, 0.0366, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.19,"right_z":0.23},"note":"The black-capped pen lifted with the gripper. I’m carrying it over the right basket, reserved for pens."})
tool
executing move_to over 18 steps (1.8s)
step 315
assistant
agent noteThe black-capped pen is above the right basket’s interior. I’m opening the gripper to drop it inside.
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]: [-0.1017, 0.849, 0.8024, -0.5617, -0.157, -0.131, 0.9968, 0.4198, 1.9755, 1.8198, -0.5625, 0.2775, 0.234, 0.1481] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.2191 left_yaw=0.0876 left_pitch=-0.0396 left_roll=-0.0092 left_gripper=0.9968 right_x=0.5261 right_y=0.1857 right_z=0.2182 right_yaw=0.0542 right_pitch=-0.1155 right_roll=0.0053 right_gripper=0.1481 state[joint_eff]: [-0.212, -1.812, 6.9538, 1.6728, -0.0464, -0.0757, -0.0122, 0.5128, -11.2342, 8.8274, 1.2967, 0.1783, 0.1734, 1.033] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The black-capped pen is above the right basket’s interior. I’m opening the gripper to drop it inside."})
tool
executing move_to over 9 steps (0.9s)
step 324
assistant
agent noteThe black-capped pen is lying inside the right basket. I’m moving the open gripper back to the blue pen’s barrel at table level.
move_to
right_x0.2900right_y0.1450right_z0.0050right_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]: [-0.1017, 0.8501, 0.8024, -0.5606, -0.157, -0.131, 0.9968, 0.4187, 1.9957, 1.8194, -0.5785, 0.276, 0.2253, 0.9952] state[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.219 left_yaw=0.0876 left_pitch=-0.0396 left_roll=-0.0092 left_gripper=0.9968 right_x=0.5256 right_y=0.1851 right_z=0.2043 right_yaw=0.0574 right_pitch=-0.1501 right_roll=-0.0136 right_gripper=0.9952 state[joint_eff]: [-0.0752, -1.5385, 7.0632, 1.6679, -0.0757, -0.022, -0.0073, -0.0342, -12.9983, 7.0496, 1.7802, 0.0904, 0.0122, -0.1978] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.145,"right_z":0.005,"right_pitch":0,"right_roll":0},"note":"The black-capped pen is lying inside the right basket. I’m moving the open gripper back to the blue pen’s barrel at table level."})
tool
executing move_to over 19 steps (1.9s)
step 343
assistant
agent noteThe right basket tipped during the approach, so I’m stopping the pen pickup. I’m lifting and moving forward to free the open gripper from the basket rim.
move_to
right_x0.4200right_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]: [-0.1017, 0.8566, 0.8024, -0.5602, -0.157, -0.131, 0.9968, 0.728, 1.6081, 0.3, 0.675, 0.5503, 0.3843, 0.9961] state[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.2173 left_yaw=0.0876 left_pitch=-0.0456 left_roll=-0.0081 left_gripper=0.9968 right_x=0.305 right_y=0.1529 right_z=0.0244 right_yaw=0.0635 right_pitch=0.041 right_roll=0.0222 right_gripper=0.9961 state[joint_eff]: [-0.1162, -1.853, 6.8855, 1.7265, -0.105, -0.0708, -0.0122, 0.6496, -3.0974, 2.4, 0.4029, -0.2613, 0.0073, 0.0855] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_z":0.23},"note":"The right basket tipped during the approach, so I’m stopping the pen pickup. I’m lifting and moving forward to free the open gripper from the basket rim."})
tool
executing move_to over 14 steps (1.4s)
step 357
assistant
agent noteThe right gripper is now above and clear of the shifted basket. I’m parking it away from the rim; the sorting is incomplete, and further basket contact should be avoided.
move_to
right_x0.3000right_y-0.0250right_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]: [-0.1017, 0.8566, 0.8024, -0.561, -0.157, -0.131, 0.9968, 0.4824, 1.454, 1.0927, -0.1947, 0.345, 0.231, 0.9963] state[eef_state]: left_x=0.2965 left_y=0.0011 left_z=0.2172 left_yaw=0.0876 left_pitch=-0.0464 left_roll=-0.008 left_gripper=0.9968 right_x=0.4163 right_y=0.1546 right_z=0.2192 right_yaw=0.0648 right_pitch=0.0497 right_roll=0.0275 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.388, 6.8581, 1.6679, -0.105, -0.0806, -0.0122, -0.6769, -6.1744, 9.4838, 1.5165, 0.0855, 0.0073, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":-0.025,"right_z":0.25},"note":"The right gripper is now above and clear of the shifted basket. I’m parking it away from the rim; the sorting is incomplete, and further basket contact should be avoided."})
tool
executing move_to over 15 steps (1.5s)
step 372
assistant
agent noteSorting is incomplete. The objects are plush animals and marker pens. The large bear is in the left basket, but the smaller toy landed beside it, the gray plush could not be grasped, and the right basket shifted during pen handling. Both arms are now clear; the baskets and remaining objects need repositioning before another attempt.
give_up
hindsightRelease plush toys nearer the basket center because their bodies can hang several centimeters sideways from the grasp point. After releasing into a basket, lift vertically above its rim before retracting; a diagonal withdrawal tipped and displaced the right basket. Explicitly reset pitch and roll when returning from extended reaches: one retraction produced a large unexpected height error. The gray plush was left of the reachable grasp center and two closes were empty; do not keep chasing it toward the workspace boundary.
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]: [-0.1017, 0.8612, 0.8024, -0.5602, -0.157, -0.131, 0.9968, -0.2401, 0.8734, 0.8589, -0.5156, -0.2203, -0.1078, 0.9963] state[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.2161 left_yaw=0.0876 left_pitch=-0.0501 left_roll=-0.0072 left_gripper=0.9968 right_x=0.3069 right_y=-0.0317 right_z=0.2484 right_yaw=-0.0012 right_pitch=0.0535 right_roll=0.0239 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.935, 6.9675, 1.7558, -0.0708, -0.0611, -0.0073, -0.3214, -2.2222, 7.7607, 1.7851, -0.2271, -0.0806, -0.0073] camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Sorting is incomplete. The objects are plush animals and marker pens. The large bear is in the left basket, but the smaller toy landed beside it, the gray plush could not be grasped, and the right basket shifted during pen handling. Both arms are now clear; the baskets and remaining objects need repositioning before another attempt.","hindsight":"Release plush toys nearer the basket center because their bodies can hang several centimeters sideways from the grasp point. After releasing into a basket, lift vertically above its rim before retracting; a diagonal withdrawal tipped and displaced the right basket. Explicitly reset pitch and roll when returning from extended reaches: one retraction produced a large unexpected height error. The gray plush was left of the reachable grasp center and two closes were empty; do not keep chasing it toward the workspace boundary."})
tool
give_up: Sorting is incomplete. The objects are plush animals and marker pens. The large bear is in the left basket, but the smaller toy landed beside it, the gray plush could not be grasped, and the right basket shifted during pen handling. Both arms are now clear; the baskets and remaining objects need repositioning before another attempt.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 14.7 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.379, -0.0223, -0.0257, 0.9996, -0.0154, 0.7967, 0.6109, -0.384, -0.0132, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1816 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4017, 9.5795, 1.8291, -0.0171, 0.0806, -0.0562, -0.8, -1.0735, 9.7846, 1.8877, -0.1343, -0.022, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36fd5a653f3ad376eed85b35bba9873b71fe3df5307456d6d5d9078b402a28a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e7c7769083ec04cc8c89f18ca4b0ca18d6a9ae30d91438b266fddeaed43c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b586e28e1f3e88df4fbbc36ec470fb5872fc4493a94bd915ed90826763addb6e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 11.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsufKMuLIWaaKyRQ5viLLzWrAdSzJGPJrrh64aNPfhERUIaBV1lhVbSDTdarC9T8ROo_aPYJu2SEqeehKpyHKznEmMm_pKc_CnT2BBR_WK8E6mGlESDd0Iv_BnmP0CmpsUTIXVmTJkhhfWG5qJfese6lQZCzKvIYK1A03gw8ADhbUotGebrJbPbqImSB4WziD6HrodrjZ7hFjrzmGYgu5kLxR7_qfVxdq-jHGnnUIG81ofrazLhm1RpQlDo8IUk1NfeLzZxngE6V6oDGuidAzl27l5MzkQu9hBHztvuC2GzBOwqQ2QbynRhj9WFJ77dQgjpA3Fo9cG5QrHzj_XiOXgxREp67ne4_0q17eUDQNYmW-jN_DK1IyMC-dNOfIPPDE8ct1sXA-NezGvSzncEMtKWWL-x7BsIJhPcf1pRvfch1oLYXUxeAgSAYPLjhw1W1oh2saPHRButlkTUmbx7KxVe-ws--fCi5IzKxnWfxvZA7Mz3TOofGROVUMyDlnapKPFX4bt6tULma8QnXc5sfpM36CLCBnbaOKmA0xALLu5X31cryueINwUhyNUavdNhaPbM1_o_vc3jDV4YsXhlDE5VO8YLgwywb8pcfvDmplaVohS0jp3KuVHCS7BDwV6_5UqOw2gpcMfc7CNELChp-iD5bNIi0inccS89J_z13nUmfxZOic893tbjUnR822gDtlhYG_9NcPEiDcXKmf7QQsm-UZzk1RtXGSVapE11TPX3ln-Yb8HOYLHs9cvHcok6V5iqWoGy8W6UCgszjhSwquInmoVUetwQ38ydBgMwqHcfpRhFZe9ck8QrnoJQRqhBiU-ek4MQQ1yDvzR0UkQZiin0bV3nj4aVtHhyUZuSGAz7I5Xp4z-1iJP393GuP_wWosQ50wGIjBmPo6RTUcpV8iODAFRREgu63PzgdUWD-7zEvdypkChaupEAWg-x595PsFhupdM8W_J7_LBtVl68Os5wxc38TgsO73G1GF19ddLv4sMQsDdWNM5CI-_Xtaq2mBi2pr-IxxrpoywZrwr4DbfxdaeOF_dayATUJtqw4cm3RjUBAZbuULthkC6XAeL5RNLlOCeook8y4ogTvyNSJuBcB0OxaFSeo-C-MtxOzHL9a2o6_nA1esoER9zUA4F0PjZ76K_wKuL5SGmLCpIptKhEaWBlYrusdC8hwjgimPnzHPdYXUxe07mMWVYWzeSAmPAKYy21uzNSodTdKSnoqKdcURTPvxUoybRnob8iUhLmzM0gOPrDubJ3L65k0ZT67cDI-HdE_lkMo1YHlD5n-VxDJCLJNSgx-DC7gZV2aAA9gIPxrL4j1MR4WdD4nqXPaY10lpNS3k9RTH0U7iNzsxYZ05t2DM_AgVR2CRzfO0fazUREYDJRSzNkPI270DXL9ngn62ItI8S23G-4Kwr-gH1qVhstUrn0bAwT8Xi4eCte6wbvntv-dcDd-iVMlPmrWDus3QCJf-OPOgPNimoQnCQjBwvHVyx6el-06TAJV0L-6KFOBZufOzX2YMyW6ZUHwBtNjlI0F3oCU9YfxNPekM8pzTxi2d1tsNxs8Jh4fRUFxkfR8s1vsaZca9O2qMJ0S0SfMSsWjAoDWiyPdKaUOiEwNlsDK3vtoCatFzwyZ2qxva3Xupoedpkmio-ETNu3N9CVpmEz04Bz23ZKmok4VccOEcXrnjy8LX0W_S8h6BERuhMmRB8uHBzoZMFydo_OW4p-YYkaXZFTlb-_TJBu5mbwu-52lwbYfMYO8_RtQHx_TFFdA2TcF4LS1lhkYgbNxIqYtUTSPEVsWUwZ4qC1ZoktEOPAde1nzZ05VXDy43-ec2_Bb45ta6BxM8fzoqBHZEQVOOLPerdfG5nu0_EDiZl3olimjoLu46t45GCqa0SOYnroCgmFQ4kma0Ejc4C9LRHYhMAKOSJOwjYC4g07SldZUufJL_Tx4pje18J3c7PocMuFcGhUhna84dR29986g41qXzpci2DeXmxsFpY8MBTZ9em9JwQ6pveWDIvKaPZpKzaQUKDUWKojtloql8jnsgbu7Uqqmq11Clhk6zYlmUu6ikeYuPupdZd61T62OJb9tOZ3u6eEH2Try5wZ1vUR5r3UfVy_1wCYxvugEWfryL83z62g==",
  "id": "rs_0ad09716f164f771016ab2e7bfc5f087d099f5bf7766a0bb9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.075,\"left_z\":0.15},\"note\":\"I see soft toy animals and several long marker pens. I’ll sort the toys into the left basket and the pens into the right, starting with the gray toy on the left.\"}",
  "call_id": "call_QeyJXsvtOGadz4tF50dnkn4n",
  "id": "fc_0ad09716f164f771016ab2e7c8a00087d0ad131422feab01a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QeyJXsvtOGadz4tF50dnkn4n",
  "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]: [-0.8589, 0.6075, 0.4915, -0.6422, -0.6735, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2199 left_y=-0.0807 left_z=0.151 left_yaw=-0.0292 left_pitch=-0.0074 left_roll=-0.0068 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0057 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, 0.1026, 6.188, 1.5116, -0.315, -0.0855, -0.022, -0.3487, -1.388, 7.2547, 1.7167, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7574d3619a150b3c4e5116fdc7539f5618365f828b6ed8004ef65c823f64bf2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6387fc2c453ccee0faded6422effa9e24f1c64e78509c19292dbc6c8fc352a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcdd1511d60cdfee31768667b75b33015a19fcb5ecf2ecf6754b092e00c5e57c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 10.27 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.379, -0.0223, -0.0257, 0.9996, -0.0154, 0.7967, 0.6109, -0.384, -0.0132, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1816 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4017, 9.5795, 1.8291, -0.0171, 0.0806, -0.0562, -0.8, -1.0735, 9.7846, 1.8877, -0.1343, -0.022, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsufXYplxjT73T8JgELx0_YCRjmbuR8UpzuCNZuM7MVNtCNOiTBIeV6GUu3jZpvJa4_5vEWoscyFBeC70CFn7XP7iCEf2AXDHONy9Eq3oSqzzO1oI6VUdAJn_camOKjh2rBzeaOM4N5FXGQUBvRAiDQSPT2AakbIIOipghVZLTQrcfeuKD0W0suYhYtyFDXPNnYqj7FQPErC-7EDjuHU8z7VDknyrxywJWK92R3D5owkdgIvhiJjiDw-eA3eH1-FE6dnGCKPnUMoe9AhjV-lYe8_EHnV1OUzJjqlRIeunxg9bn1W-SJqiQSTVzVnfD_rywBiBtlLm91axPvXmiNxM1UuKzFilJ-oYMa7ltskuGGQDtbNoD-23Tuw82-7zw4qdBj1rARh54rNawy8DpnJ0my_GIPINlu71aWP914fezczoMbBX3Vrm8mqAgTrZ8NeSDPOWeAcVcroHlgJt10fsNFVy7JSAintFgJLWOljn7PcR-LZoLpua3PE2EiMuxIp2tRqv7u0f_aYq4l7sQv_g_5CE7yNifxWscePaOiv9meVshNXTgsoZyeixQ0cjslpFQNB2UnjBKrhhpkt7G9cgazcYjuAy5jA_rFjb2ZPEfkDpoltq93rLOSv7sAFvfUHCdI8_iZnLBg5NT7rEXHVVzOqD4Yfv3MQPgpyma2OAPka69WTGkedEIZFoOvNfn8JcrqS9NUA4GUPh9EAs6cJWUy_enrm3ZmfmzjXIfxjHHDXcxtfvNlDDV29O7JvGYBxz3spQENKReaqI9L_15tJmdheiZPURO_ZhquwhMKCnmS3Npts4kUFbV3QnVAxo667uMIsNS5_qgBM-tQKkf5nE3HmmBXnRgnR2iZAmfYUuXdo68QOhKdi6n7IeFVphWhXYGgn64oGe_2PsD8n_Z2Czk8hhVJZzubMDGOpHLr9YeKpaBWsePIeMll5Rmt5i3cw2Kl0P98mF9C2R-rKQ2y0QX_Ba8ddSXjqSWTWYSNQuP6xrPNOClzMeTKJMlWGQqDuzy5jmS5H8uzk6mhCcO2CvPWQSxYDOiB7_x9TcgXDcLMMZVgApwDoX7EJ6OxIuWV8Fcu_qIZDLiTAaeKZKYP_--L_DlrdgDyugxSzBzuhvBcg0uQhR_xTkrbRUpKjhXk2PSuydxJDjZIxBdQEEIJ45TrjErkAX-dRh7m4sV-Sb5cNG5KkCbTWaMioKY83siWStpuh7977WgSz49x8qLcnB7dErgOpFd0N5crLCzfC5iQ9nHJ0agekgKi5RZiwUlt54lMiv3BDFIaWhaCDh6b1fEvuqeC5LkmJJ-a6WoXYTrUf1EoC32iyRbiHHn2I_-ibTPo_D77HKkZj_twCrcHq8BrSGvHqHzywqH_GD7srOBr1YHQCUc8MQ09FDR31QOcdUOSeARcq9lxqtP1hR_bAX3yr6jPPOtBKpclXPdd2ghso1ffJ4uLg-tdD-aPC8jc00gvEDyqYkz2lgGp1SYU8f5b1x5YXIfl-U755h5kGUEOoTpD6OFSMRsRPQBbFIcYn4wP1AiEGwXMykf8R0s2qUGUh7_3NbXum39vZsCTxv2R8ydySWkLAmZr043a_OdQRTlBKckX5qZ_o7hd3KDqRtBhrc1aROJrUBbCS_8_ae9luW5pwzw0osxNVhn_BWlxhB-AiT",
  "id": "rs_0ad09716f164f771016ab2e7d0e82087d0b10019799c3080dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.025,\"left_z\":0.045},\"note\":\"The gray plush is left of the fingertips; the closer view also shows two brown plush toys beside it. I’m lining the left gripper up with the gray toy’s body and lowering for a grasp.\"}",
  "call_id": "call_yUEle68Xxywup72vj5Cokhn1",
  "id": "fc_0ad09716f164f771016ab2e7d52e5487d09258d64d1e0d1741",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yUEle68Xxywup72vj5Cokhn1",
  "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]: [-0.1818, 1.034, 0.1101, 0.3298, -0.1486, -0.1116, 0.9995, -0.0151, 0.8024, 0.6083, -0.3874, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=-0.022 left_z=0.0427 left_yaw=-0.0101 left_pitch=-0.0267 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.1949, 5.053, 1.746, 0.1099, 0.0415, -0.0171, -0.335, -1.5658, 7.0769, 1.7216, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f115b40f1bb2a5acd03f7f1bd30eccf3705c3e60022b3847a345287eee1240fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d072962e7f40101bf902634cd321e1e5c3ef65144cb9674ec9b2a4266efd877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034de12b6c64f2c10512f25445e30d76c529d910239bbdceb15e7fe64764e87f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.068 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]: [-0.8589, 0.6075, 0.4915, -0.6422, -0.6735, -0.5533, 0.9995, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2199 left_y=-0.0807 left_z=0.151 left_yaw=-0.0292 left_pitch=-0.0074 left_roll=-0.0068 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0057 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, 0.1026, 6.188, 1.5116, -0.315, -0.0855, -0.022, -0.3487, -1.388, 7.2547, 1.7167, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsufj9CXIGGDDL61eiL9ZzxLG3vHF0H2UkgIA1ltV4ZNRkFyhMOCHZYwwnnzpk4_HvqFePkBchlwC0XJjPfdvJj6Ujf7tnhrwGU5uj04oR9fUGIvRhOdLInFEVdMY2N9_iG9npHHPH97rSXxTxVdSVl_XKSIuQeXFyU2qtanBz0ACNdSDxYOAJWuWjpaU220FZE5e4zTrZE6iFWR6m_Ao3QXTTQdds5hxD7AyL4-ZgIbMSb-vlgRHC1-ROUyAheRrynZQj70KdnCTo2aQy0PznOIs1SQcPVqqzP_NyeBNsb3OGXujnOITphm5Gjxd3fk0Z5EBNd13VabfdSAo8-FKPdulfnM47gRCcGDIe5ihJY9Gv9U22BzR9AsvgmKnRGlTxNL7_ZhqYXzJ8buHpQa1oW9L7FKswkgdrX3pGI1qwLYMpRyeGYYgkB7IiihreyZd7p7HIQYS1GhW6H0JRQXBw0_VrO3XTQ6HW4Sc8FzWm2nGhqQf3tjz7UXji8syHKSz0VE1pyxgmM74oyI2Y0NW6HavNTyhBqnqM-8Qb95bhFtjAN_6VR535K6tNu2IOZIdF1GOj0F7f64wDlwyLfolWjm4wGTRcmXz4TbqKhlSJoKZq1AqfQd_BWlvpN6qKQ5ZX2AZno1HUcKX1z5LUb7IuwI1gAMJAJVc3Q0borrRXoKMYwEK9w__Rc3qMBe4C0nLMAU3n0rv2Yv65Lxq4dNGrEQx2TW2P2zj1xYowyIpximaiUmxnM2DXJCNxXhKXBnI5b56fRzXVjK877DY46y0ydqqsG6UGFFoTqPHGW5DcbikQrRSZccQ6UQD3ej2LCO4VowETIO9ObuHiwJZXwuANWXHCyaFCTAAat8FaLEmW2uMP8xxhMpLeOYsjADaIELSLLOGyofzF8eGszUN_ltgVB9tV-hCBAPG1eFqEBLBl_OgTncVS_Xp0_7lmG6Zljsp0AJYkP0YaMs9yBDHSqCnGDcYIZ8Rib7zqCe6-2Xh2rufoKvpgGwBGdZEeQIo_ILMEQc8eRoH5GKNgF3hqWIYb9nmCF1FH7xy6l_zP5GOLlhJAADWf9YdVTdBRATtUeMNGQf7-RdXtZGELzp7xhChsse0xt_kz3FRvYSLFf4Gl5KoHbwK5S9TwfuwFcGN7UIJTaYcAAL7Opd2enS-sAzlX3ITG2IBxFZqG12S1t4FSLMSK9xF3miSFwr16ltfK7QTN1CGLVF68Lh9j6ny6j5aBsL72DRix4Ht_if1jjKeFwhf0Vsr0qvdW8fNCevAdspETqCMQ4exIgLGXJKOzohZf3SMYUaosRr2JU0krsd1XFhTlscG89Hiyv1JTKpjh7Yrl7xBwLY6c5t77o3Wlum88hSKIu-B4Sru6HquVlj5GOnCmoSsJReL-xwqEZHW5a3jqYNyjGqTI3gSEgHeqFp3OtvzN6B8vp8gGpMn9SmfNwpdzW0=",
  "id": "rs_0ad09716f164f771016ab2e7df2fa887d0a8c9bdb3675f5b96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.01,\"left_z\":0.025},\"note\":\"The gray toy’s body is still just ahead and left of the jaw center. I’m making a small correction so the fingers close around the plush rather than beside it.\"}",
  "call_id": "call_S2Ijv4r8wl8qrG3cx6vWReHc",
  "id": "fc_0ad09716f164f771016ab2e7e1ce6c87d08493c6d90f5ac4f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S2Ijv4r8wl8qrG3cx6vWReHc",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0387, 1.4082, 0.1574, 0.6144, 0.0135, -0.0063, 0.9995, -0.0154, 0.8062, 0.6075, -0.3923, -0.0116, -0.0166, 0.9996]\nstate[eef_state]: left_x=0.3095 left_y=0.0132 left_z=0.0123 left_yaw=0.0172 left_pitch=-0.0764 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2943 right_y=0.0011 right_z=0.1756 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -3.9863, 5.8735, 1.873, 0.1978, 0.1685, -0.022, -0.3624, -1.0462, 7.0769, 1.7656, -0.0269, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfa427a27e6b0a35fb3f3b28dd8523968ccadf840396b27a51bf2b51bcb30e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534904d966e1d013952add79508580f1ffde8b9757f2a209dae499be35d75f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94383c6e73122d31b26529122ba493ca500c380cda1218634a509564bd901c90",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.366 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]: [-0.1818, 1.034, 0.1101, 0.3298, -0.1486, -0.1116, 0.9995, -0.0151, 0.8024, 0.6083, -0.3874, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=-0.022 left_z=0.0427 left_yaw=-0.0101 left_pitch=-0.0267 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2949 right_y=0.0013 right_z=0.1781 right_yaw=-0.0006 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.1949, 5.053, 1.746, 0.1099, 0.0415, -0.0171, -0.335, -1.5658, 7.0769, 1.7216, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsufpS0FVYWG99VmWJszEltQBdCzg5i1j-VtitcdfM8cnFM08gYm5cXJxEIcL2BLKWsZ7H7Vx9QEGSZSiannSN8zpbXM2kOvPJSmIsd3iVbirH5DXjjX7knDQq2yYuG31oDXIdRSEnR_KrwP_4SEBbbGgNzoVgEgFa6DWUGEigFsW16T9jFvyRQJ1vFCLufSFCgZuvPgSYGUCYfDmA0WSC3U0dJzprOMBSuz_DHStL7DuoeIDbmFTnyvNwf4KjYxpiJiusTYQwf_zwPTVTH0D7-zfHHIbifw3whzQVyuzhwmgGi0VuaxKkzcHog41rxupAGMr56WN_83a4hg_GdgRxtc-b0X49xM6AkOkB1OzMAfZIy-SQhlViSiZ7gXNNWxMhqd_2ucr6heFqXD09GRtxe5-TLJAusrCwhn5rT62rj5XhyH46DAqMe4Ev-GerzNwLvh4pyYtVq8VjqAz27aFWkDefS1Hl53nid6anaNT2IcI_K2ChtB7pGAfXFMqwUn-XptkF7wpbD4i4Rbg_aOlhSjfYLsOjenDgSUtApU-M_WpXdqI2_svJvNhlGoyShxZDipIb15zuje2Ie0ikGm45QzxZhas7VTH2FEkQ99v9ogoVkDLZfWKUStlaS5XRYsR_MNb_Q5NJsb3i_p4iNVJPRFoFQJqmNvrX-wGMHUd81UemW6kv59TNHJ5pEWXYbf7kt3bhr2w3jAPAH5kDRpqWOjpy8v9M1J16FRTwznSZF3YU7SDkio_zEhkD2rJ-cObYJteJMbh6tx5P1hHyDrOfouxWNcRkh2Hqn6E6Ar2ajaghwZLmUoDMkOsY4jAxJa1yR-QMj8X5SrZ4Yl7TbN7rVOyISbK4qj8mQo-v3i2aeu6Jb6MAiCknwrYPdh23gByXws22HZl_mRrm1nhvQxWDWHqRpkcJex63KG9wUjh6Z-fOnCfaFMhTxwJJUiLSAw5tZg73bgvAwSbSc89jXds0nl8LTLswNubFqft8oLATk5JYE7tQ5eGxsRRoBsGisQ6LXCV3VLv99vITx3fRRiIfXx3ewrykpUTAsXUoXU63loDwYXrg7hhAs-84faCywQ7qSqOm2itUde6PpYYjY6LlsT7x2iS3rAouB-Q68zkIJubKdfUUPhYogk-HEFsIZV80jjC72SSWoBGQfiQDVGmVEaLD4pmRnIAaHcCkda5533h8rfen2Sc46kqyFk_m5OA8lAkVq6A7b293nKC053_7BxAmcFztmleKm_r3iu5TT8ZrOqYPaA2flLJzzVnK2E7uxhbuGZe3wq1RgOAfioDdplHQCcg9TpS0d7sDI9kjYBk31A=",
  "id": "rs_0ad09716f164f771016ab2e7e7639887d096768ac34f52bc3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.045,\"left_gripper\":0},\"note\":\"The fingers are at the gray plush’s edge. I’m shifting slightly left and closing around its body.\"}",
  "call_id": "call_leuu0pqZcBNmMlUOv3wESW56",
  "id": "fc_0ad09716f164f771016ab2e7e8805087d0920c57e2263bfc4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_leuu0pqZcBNmMlUOv3wESW56",
  "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]: [0.2195, 1.4223, 0.1749, 0.635, 0.1387, 0.0875, 0.0106, -0.0151, 0.8082, 0.6075, -0.3923, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3133 left_y=0.0486 left_z=0.0192 left_yaw=0.0422 left_pitch=-0.0457 left_roll=0.0017 left_gripper=0.0106 right_x=0.2944 right_y=0.0012 right_z=0.1751 right_yaw=-0.0009 right_pitch=-0.0233 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -2.9607, 4.7932, 1.6923, 0.1978, 0.0952, 0.6764, -0.0889, -0.9778, 7.0496, 1.7216, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f804609e1bbe12e18206fcb8dd04ee9bb090b114087432523fd627373400b17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f1c5d8de66635985a90cdc3c821858b00c841ad669f69cf69c6ef736ba7a88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc22f725ed3ceea06938e6ca57521e1079bfd07b4abfd2b74d0d0c9e8d7a89ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 12.2 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]: [0.0387, 1.4082, 0.1574, 0.6144, 0.0135, -0.0063, 0.9995, -0.0154, 0.8062, 0.6075, -0.3923, -0.0116, -0.0166, 0.9996]\nstate[eef_state]: left_x=0.3095 left_y=0.0132 left_z=0.0123 left_yaw=0.0172 left_pitch=-0.0764 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2943 right_y=0.0011 right_z=0.1756 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -3.9863, 5.8735, 1.873, 0.1978, 0.1685, -0.022, -0.3624, -1.0462, 7.0769, 1.7656, -0.0269, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsufwpUEhOtjG8NxJqPI5_g6im6z697geuGBgPOeE1Ac9OnEKasi5aeyITTJIu4iBzpzEOnIkGyTp35S3ZqJejDuoGkwkj7boFYBAwWlgHjfkuKZZ44pQ7HON5-spyFNakSQkARRh6ei2roDSB0BqQGaRRZ9Kri2rckVA15HEqy9JYkdk1yhiFEQMMIv6BUI7D8RAFzTWu2iBUtMv0YnOcvagSDQdJ34RkuwhvSYn5h5rol10uPkNEtARyjoQGB39TutR1pm5GWdaBtcO16AhBcjt6hxl4w9C-A5G7Uk4VfnH_aBpDn9myaCBVraY0QDeV2qeh7MO1pn-3-w-53zv12NiOdX0e3XMfN8dc_UWkz4K8ozFKI5FJcYiODtE4qILwfwkwcc_nBESJL0l73bqrrvey6v63hbepQgeD8SicFblP1dCTuxurXzZAeloifVjfVBL-ApeXLCUuYpcIGsfkPzF3UXoajVz6oTOXNsay05EWfkdVs5Go-jebBt-YVA3bSJ4ItfT5KAUn5QXAeOSVOqOFc9Z8s162WJ7Om7c7I8CyDgsC68R1AJWASixnqetZ6IsXyvAk3LHrZQF_eJYqmLenKkbYxOfHcxm08qLRLyRQ8x1xBenlh-k3WLhD4LKneV4iD1aSrUxMOXOOI9rJ8GXbPRJZk607Ce-F5H_-JHtaMDI7P5dhqMtYYVYedLylT_LRDIFNxp8N7QGTHsMzfkbIDVLfcWoTsEzdYUrTRRyirUZY1q-DfzlA7cXLZpdjL26lp7VcPGVzUM3rAiG_6Jg8wSwfMDrnRkxCUXdjYLhgGK8NAF0XqfwuJCXLIlfOAMjaSB2rPm3kdhJcj_4FZUWy6usC6u7G-QIH-rB7Hl76KwQH5Ok5Tv1BvCPpXedTbIJjT73RYL5WLLJT_6KQt9pgNUI4Jsq-FGIs23El6-wQjRKTDQbGBSI27j-aFFlMcSY5JD8BF6EJl2vtAwM2MKiUyc-dj1kibQaRuYQ2MM0dJXhC9s0yfcucK3k3zhOKd4gRfiID5oxoPfyEFBkFX3afQ-A2BpVxmLazBAzkFMAd3E1OZIepFVXMIKr2sWz0BSQPzjODy80_q_cfwyh_o6V7woOuwT8dWLdmY4e6GBV2T3dWnA_nb6f-bDeSO7ialHv_6z7CG-Bt3Q7kFDLXHq4TaYVCo6xCDKV3jYReW1sheBADCEAFRCyl6WC-ngruxw6rcsjAFVq2ShmV3MZtJx1WqNJOcPn-FlUJc0VdjSHzLs=",
  "id": "rs_0ad09716f164f771016ab2e7edf22c87d0870082910828da2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The gripper closed empty; the plush is farther forward than the fingertips. I’m reopening and advancing along its body for one corrected grasp.\"}",
  "call_id": "call_ttBkplzikFvEnSY43qQB899t",
  "id": "fc_0ad09716f164f771016ab2e7ee8f5c87d0b5d28324341481ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ttBkplzikFvEnSY43qQB899t",
  "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]: [0.1677, 1.5578, 0.3756, 0.5606, 0.102, 0.0521, 0.9954, -0.0151, 0.8097, 0.6075, -0.3927, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3622 left_y=0.0467 left_z=0.029 left_yaw=0.0401 left_pitch=-0.0578 left_roll=-0.0078 left_gripper=0.9954 right_x=0.2945 right_y=0.0013 right_z=0.1746 right_yaw=-0.0006 right_pitch=-0.0252 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.9299, 6.9128, 1.58, -0.0366, 0.022, -0.1099, -0.1983, -1.4427, 7.159, 1.7265, -0.0171, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f22b714956cee05930aa366ab7782c7c220d39e86685d54ede753fc000ab07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7967cd726887dac7a12c58f1293bb0811868622dab4ec0538464a7fbdd2c6668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dde672209aa614192475fa794e98310f659bee5eb779b8fa90d248705824caf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 11.23 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]: [0.2195, 1.4223, 0.1749, 0.635, 0.1387, 0.0875, 0.0106, -0.0151, 0.8082, 0.6075, -0.3923, -0.0116, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3133 left_y=0.0486 left_z=0.0192 left_yaw=0.0422 left_pitch=-0.0457 left_roll=0.0017 left_gripper=0.0106 right_x=0.2944 right_y=0.0012 right_z=0.1751 right_yaw=-0.0009 right_pitch=-0.0233 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -2.9607, 4.7932, 1.6923, 0.1978, 0.0952, 0.6764, -0.0889, -0.9778, 7.0496, 1.7216, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuf9-OAx-O7fRj2bq62Di9Sfk_5fhB6iKIfKfuqt9QKJEt0NWJG2XCHuA1kyfTsAMDHpOUretnxMJdwwF_YMcco3Onzg2q3Rzcxo5PnGJM9rsIH1F3t7a5j52njEC_LCd80uYqhEqjtTjJye8_R2QdBjOTvIJz6LxzRzHjZmycifdnoqR3abvevj7qnIn66jC0JtIZMvE3edcluhlA42QQOUwB79wDyAEFCClem1_t8T4EVxtdh3xozNpOiEy_OOQHRxJ6LFHsQ48S1Fq43fcjqP1p31oowedX4iBImDbWv0HUKIIU6_G82HVnDjq85MjIwd7iFkWavncR5LrQtGFNFCGT3qZxlZXxCkPkxWUMv8GFHJX_eeASzauWx1Scy0_6Nfpa0OzHzF7g6qsdqlmoTHAT6C6nkQuhWJn0gLp1Y8Axkxj5DtMaRENZ-DjUFy6vVRU4ZrDqRYE1k8ZqTXlfIhwt7iOcs-_wd0vtwBnyWjOWTj0nhke4gadGK4Pd2JjFNXzJfFMX8j-zRXFDegHZWL87NknQs5Slb-XB7f6olwp3XCuAMuF5wzhA8Qys-4oclwuDgFRBoDWlphPhwHy9j248-uNcxiTEOShm0NOT_qi4MYqw54pEpFGBNE3eImtavtxkBuXV4XfZ0tOTs5FWOEhzwWa35XrNlaIaF1RaTwdx30NRyDBgdh-C2loQoBDdFZovpIQQIjL1vllfDyvQbt-plksov5roXogSEeaMZF1UU3gNeo3wdA4qx3-VUSCRKHdeX0NhINz4wMRqptJoS1x-9PvAD09l3MUlltcVVTSqgJowQEl9f4L803yVIl1i2klwrgELoZHCqyfuSDaq_8Ex93rY2kZPsRbJkTrsz9eqhFtbosa-2wb9dTS0jIJL4uHwenUQhj22fyf8Cu0CjysMZK0gOiFHi62uPZjKE-i1uNXwQBqGM_HB2VVqrgWbGmrNB-FU5Y6lSukVl0g8BfLrvD0Axv_uMWCS80ITiTL9amoJ9bn1eqRpNQJk7Bnn6UEQQe5n88n4yw3m6hRkhCKbtuyoQcJmwX2_6DvctyTdM0Afm3s0eqMUeDKQD8xTF8SS6_O9Xp0IjlbRM17y-vjxgdzuEUb5I8Jpuw2miUWc22X2Av-e4N_2W4WGsYp6EAGTJ7EsshRIgJo-Jl_yk9g0tQyUi84vqT4ZItfGPWUeF7zt_zcHgPDWuCQYlV3YhnBV9plkiTY78ucYX7EhCCyGbol7YcLfB9Qhu8hikhrewGqe1rCRzydqws8GGCVMsj648_UIFN6kXOzBRdQr31LKqEdHtftu12G_SQNHj0aFW7pf0xrq8VSp74qFallvu6kY-WwERX0I2jXGFFP6UmrsWBXUhDP-4ixgARBbdTa6phM56PmvIv4w2gHIiYR2MD6oHSPNmEbqU3x8scnqQxwLmGjRQDXL-uSZnaOj1x4RwX9tA1XNGOp9_Wzm-3vQ9rjGUn5zDQKuAokNLqt5U-MrZQOlHUL056pK2Mm8hgjw33X7Ufh21Ftlz1loMEzQBrQwSlj3vrksI6KO1Iif9F1kMWoUj5J5jIHclOjV3UDAWup5PofO9Ad2Q7XwkY0U24ayjt90Sat9ZF3uU_ypKZXjb5TfEZjtvLjgLO92DEaPBx3vQsxUoOJyRibjiKDjEX0kicCwubTfZShllZ7A5HTzYXsRYi81P1sw2p6GHnuGzNFqerV60P-ESVEpGy15Sk6zxwpXI-0frXCL7lifG841ctj4AgU24iSSyCUTkaV5BGj03hsqZN_jCtiv2AR2-9QSmMc0dM5rRXZB1voZ8eGRwEgtG9TKUPbegdGp_IeF52CnXkgGMLvWAuPkGiGuI0U2q_geXWI2d_w0MM-81XRKLwzHfTVMqVAJPc6jGjwCuplZaOVgp_UPcXhxCIuQpS08YjVcPoArSpucqF-wSiKF8tusVTXAPmtyngKNcvX8c5M-1GUbKXBqLrCJoF0G2Jid4XXM-KGK9hStcKQjQ0EKsBXNyK5xghyVgEdEImoczoFJmyULS9QarTeFYhrzDjHdV-2WOYrsrZTxKTEvxddXEvAI252ry4g7BPW-EY8pJ-43VFSdBci5iTPjDxCWNZ6TWnkON9XKQ-A7OUKFxl43J-CB11oGgA_tX1XMmo1ByzoyschXbIvukD7pryrTGfVByUAd8wFuNyX7j83NH3wGGDmobbCW7tgCdmwpNBtvo=",
  "id": "rs_0ad09716f164f771016ab2e7f330ac87d099b4ba048152bd05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush is close to the left workspace boundary, but its near side is between the open fingers. I’ll test this corrected grasp before attempting to lift it.\"}",
  "call_id": "call_DZD7NqyfvoBT4WXGlHg5uvl3",
  "id": "fc_0ad09716f164f771016ab2e7fb437c87d0aca0cb1345a026d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DZD7NqyfvoBT4WXGlHg5uvl3",
  "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]: [0.1669, 1.5635, 0.3786, 0.5507, 0.1013, 0.0517, 0.0096, -0.0151, 0.8101, 0.6075, -0.3923, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3613 left_y=0.0464 left_z=0.0261 left_yaw=0.04 left_pitch=-0.0704 left_roll=-0.0092 left_gripper=0.0096 right_x=0.2946 right_y=0.0013 right_z=0.1746 right_yaw=-0.0006 right_pitch=-0.0252 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.9145, 4.7521, 1.7802, 0.0366, -0.0366, 0.7448, -0.212, -1.1692, 7.1863, 1.7167, -0.0415, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eeff32094b6270dfde422e07a7f72ae534742c671ff476696631091ad68bf51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c813c964fb9fd74728b794dbe1369cd6352ddd95f0c404f84458969c2371dddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51299acecb95b90f6a7e4dd3159dd6af64df85e834cf17798d348c6e8a28c86c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.477 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1677, 1.5578, 0.3756, 0.5606, 0.102, 0.0521, 0.9954, -0.0151, 0.8097, 0.6075, -0.3927, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3622 left_y=0.0467 left_z=0.029 left_yaw=0.0401 left_pitch=-0.0578 left_roll=-0.0078 left_gripper=0.9954 right_x=0.2945 right_y=0.0013 right_z=0.1746 right_yaw=-0.0006 right_pitch=-0.0252 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -4.9299, 6.9128, 1.58, -0.0366, 0.022, -0.1099, -0.1983, -1.4427, 7.159, 1.7265, -0.0171, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsugJehD6tdkZF3rPIQJsDXIutho3WWybNd78plo041biKLUWVFhCLJY5eb8lYSXad24Eip_EdkKBNgtAId6nRNK_MLls9yDy9Nzc9K_inb0N_-UR9Ap6mWFHcaEuWKh1q5Eg2_2vz-Fi9vg-BWwxU-IaOEZuGBpYa35zJuGJKrb6kwlQMQqohDMyVzp70XFdt_k18fN0a_2rHJUobghVJV1ATZmB6-FPqUXqMh07CNOWF260S3s_ywEjjhxGRPOhANoKuxUNSSJbEan4_PNLF_CyiRFa6Ge7a9iIMEVrNh2gN45WwFy86ft1uLLdO3Pv6sDd2FeP2ete0DlHBveWLTOkeka8McznSKc2QUHDZYYgD4Qng7MunVT5FwhfoORK_AJh2ZgF0H9Wroe6lzgGa74F3JXUvaRLqk1_FxqywJLjk8kLlMONNnCv97nzEvI7Mnqagz-2JKBumoPSkg7UR5Sf0ZcGagxRsjqnOxXUc3W8EwCzzM82zGuoXRmecFzGftiBF7m4ShRswvEohG30PpgFUtfHT7yjf8ldNAAdBGsGKwpGWUeOfTYHBDaaPwjvqKoFRdIg2dci7AvFh6UKbZKSm69SHC92P2s5INc5ejUiz0BlI2XAs_WuJ4xvkEKXLJiIncmGuSW8ZLZGqjpyXl4EpOf8iFOv6AvY3fYfCcYuwOQfskJipg8tMgTkeelSZFwBZy8Kvp9mHjTQoB2BZ7EdnriX8cq_7Z7Vi8oyHPmOs-D8tajUopBJURGr60P2M3HuF3R7Bze9N3rXyqGItGfdrWQPSNMCm8yOm7KiVmcMKbERKyOzrlX7rC2bB717YDN2sYrH2IaBTGbN0-c7Y3G_R5NymS_NxP58fXGCBTmzGSGuKQfDNJH6RDyX2ynTmDDm6TIwn1R1THx4LYfQQJs7sN4yZbdMzWlDb7pnhhN7EshdZMeLIUABzn3Pny0jBrifkMi8GYihKJK7mNv74Sruz95Zz1o6FSy39ILdO4fxsRyhPLZBChe3p4hUboO1w_ZOZl3Zpi4Jb_yQoHFQvKpqP1VjZAku6biPkd5bg3KLs0OOp2OduSnPAC7cjsydY3zZhmhsdDRc3k5DUrCIvZ84gxpA0xA0CGd5pkQbMr29Xt3TYv8U_Oa5hRNgqK-l3BR5cvMbqf6uW2QQ2iMJl75sMthjqtW7L-qPtdeQIr7xJCuuxOpQfyssXiq51WRmEpWktKB7La0jI4M1RXI4vy9lCdMEeoWGHbfJGbo2yXNiO3SVFO1wkr-1dZ3aJSdUn8fMvdugYOC9zm56ACtwg7NYOL24MFWZRW-PvCkZIsiEorrtahJ-dT_UJvgZvzYQq9497Mz8RbxcoRXuyzFTbu_dY620ALfM-PPw8yz9lcGeoO_gFkIAScHDz8AN4Q4OAPmPpIAZtw5G6mx1Uvig6YsJWrKFBwWsfQZvxlaiCw7SOtY-disBgEwVqS6XL4wY-TZSj2ou7wVdWmNKbPFJLpysAyoTQcPjCcmuKz26NaV18wFzy-kfU86_6Ou-YKAbXTIbVrHDwgQAhdLOxKxnT8klE0uw2tkOqH3LkitW6Bu89ldS0x_FlureYb13uGt30xBnIBGmzvnPv8M94daWllLFrjKHLGAQXKPxyDCUcKW5fmCQPRHF4lP1T9xKPBbIPfdZP_Q8QtwF-e-FmNQ-FRmOL5_mB5tx-Zq8MqaA2lxpOQVzvcZZZ1zHL-stolfOpocZ6Eb7N8qvDcGf8XA8Hmgao79CQ-rFO97lYLECG_KQOiMLixUsxugqKIOHP2iPSC66LWwRx6yp0-y5Gr0F71cjKp1Fp-5BNHo2Rof9a7sFqw85oR0muHdjzEe7i3jq6sS_4ohZIPOG_rawLq0sUSDVJxxXmnMm8c1e0OaDPX7suOG_1hHC61VX3hl_E1G-Yc4dtJjZ2t7MEBMeWhoxFQq4bu8tSquMK_6nQ-G2RVvPMYDzwk5J0-tXwzV23Puj1I5dYiBTOrtyEvUbTJqFS7A9WuhOgFvpA7HZXH7aPgAEm2uHZSiYcplrsM3mWRq68Aw9BQMAc9gO1b4ZPC08706U5TbGhx6TQnlcLy2WF9I7-Ytao6G4KzT668tz7ufrMvIRwCaJiYV3IhNaLFhbLKkjaQ2VYSToVf4etjoKuMgI8Fc=",
  "id": "rs_0ad09716f164f771016ab2e800179887d0a6b222bbca97a531",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.27,\"left_z\":0.17,\"left_gripper\":1,\"right_z\":0.19},\"note\":\"The second gray-toy grasp is empty, and that toy is now beyond the left-side reach boundary. I’ll avoid further attempts there and sort the reachable toys and pens, starting with the large brown bear.\"}",
  "call_id": "call_zdVxcmLQEugRz7IiTFNIMrgn",
  "id": "fc_0ad09716f164f771016ab2e80755ec87d09617d218dfe899b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zdVxcmLQEugRz7IiTFNIMrgn",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 1.6447, 1.2098, -0.5571, -0.7605, -0.8272, 0.9988, -0.0147, 0.8146, 0.6369, -0.4561, -0.012, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3163 left_y=-0.2682 left_z=0.1608 left_yaw=0.0333 left_pitch=-0.0916 left_roll=-0.0033 left_gripper=0.9988 right_x=0.2896 right_y=0.0015 right_z=0.1738 right_yaw=0.0019 right_pitch=-0.0641 right_roll=-0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.6239, 8.4171, 1.1355, -0.5495, 0.0024, -0.1392, -0.3897, -1.2923, 9.6615, 1.8046, -0.0317, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363136a016de6bd0ba5f6cdcc2debddc711232e8e0d51555afe8d0587c2b6b42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c92bbe40861279c6498661e1083fc562c524d8d4aff2e6be9e444161f07310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce94a5aba15401d8ea5cfc5aaf46c5b06c4ebc74c7a3270e23367cb430921e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.837 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1669, 1.5635, 0.3786, 0.5507, 0.1013, 0.0517, 0.0096, -0.0151, 0.8101, 0.6075, -0.3923, -0.012, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.3613 left_y=0.0464 left_z=0.0261 left_yaw=0.04 left_pitch=-0.0704 left_roll=-0.0092 left_gripper=0.0096 right_x=0.2946 right_y=0.0013 right_z=0.1746 right_yaw=-0.0006 right_pitch=-0.0252 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.9145, 4.7521, 1.7802, 0.0366, -0.0366, 0.7448, -0.212, -1.1692, 7.1863, 1.7167, -0.0415, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsugfLFDQMZ9YqrpZ3OTObFu7YW2bl5ZfZGyBy_b5WYLY9X2EGR0chXavzAip2jJ5E52FMJtT3EDbjvIP7jxJ7y0AB_1qChOEgEjpuGhZTl47xKHTOjNEziOlIOTGD3zZ_GGRqS-cHcJTkWpO0NxoExfV_oQtXktyIuM06jHZG9xwKRYXeKJWCBEMpZBPtwqpvhEFTNbrIAy8qO5vVHqCq-TTCajWvoYdUrlGrmiGy6VYkJJ4YCsNYPGtz3mJrMAINWvf4O-8sdS06NUQgdXD6DLEvYZXgAYJCfp9aFrSsoyZUqrMk8l1Tc6Q4aGwYte9f1WoVNto5P5xztapdZ19PvMIxQShCV11s-F3TaNUJD_w4CVBjIRMEqCRwR2M6wrnWsHKYJyL3F0ZnJ__W1hpKVlVqeN62wdD_E42Ic3i3tbsEa_ohA5h_N67oFyTQc-5ipPYE6l-XJYiTuMctx0viEO943MqsvZK3YIdxsyrEjlAcOuF7oXLRQPdQyNpTMWx5kICd-gsE93ZLxyFod1bpWCciEz23eu5csTvXH4foDhRmvGj46pN2AvK0h-1g6xYCnqXnKk0MR2FW1GtGrvl2XqlVRh2VA3YxhFzc1BqBwSrrrAEqd3P2tLPxuktlWywuI_8LHKJ3HZn_ZrnfY4SB-y7tGcyzggqd9svpSFe8JiJrcpN5P-OKo6x3SAEQ2wYsT_Rs8mfF6bfTcTySBBQTtX-MIii1C-b2zT8BG7XA1ss31avxELF1XCNKrBQHnu2TXGxFPcSUUkLk-hQglxXZVIcHAo5ZqaUoQH9yVgaFbL0Gjyj-kKuLu8kF33iIT8EvVlNSyIvDUA-SJ2kZKaPnJsOWnvOHouc0mLB5SuLAVc69KPrR5Ts035ZJaoHZ6mH4WaicbzIj8-WKtRcWSOX3Z7wQfa-iF4gTiBcXjFwp3ObJjz1ZkGu49c5KjxP2ZgQBlnRl9WtrRBkHnl6YKjAGdsY4JdI1QzfT2HTIHTvGcFuVAFCoMl_BrG0k4TU9KY_7EJRoXDjAKxuvEsnQ3IVqY6KHoh1nJ5Ct8rjVsYtwP3enTfzx3Eguux9GqJ3rGOmorSkVO5oeEV_4qgMoLoasstMPg44HyL4Gq9r9yrLM3ru2oOS2MIlUnWkhoeb5iiK9-OlIBdip__AjdtwQv7eSD7HbWdFDdd5u1_dSEGdo9wA9fY8tZ4wY7mr76LSIT7meqI8gt2rjOSJmFOwTWp7TbLYOj2DjPrtIIWVncESdu-x0p0=",
  "id": "rs_0ad09716f164f771016ab2e81d2e9487d094c7e1e03a012a81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_z\":0.045},\"note\":\"The large bear is centered under the left wrist camera, with its torso at the fingertips. I’m lowering around its torso for a secure grasp.\"}",
  "call_id": "call_6kXFChZPEmG6S3b8g3d6n0dR",
  "id": "fc_0ad09716f164f771016ab2e81db48c87d0bd53a12bc30e9a8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6kXFChZPEmG6S3b8g3d6n0dR",
  "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]: [-0.9714, 1.8278, 0.9775, -0.0799, -0.7639, -0.8009, 0.9983, -0.0147, 0.8158, 0.6353, -0.4564, -0.012, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3363 left_y=-0.2692 left_z=0.0645 left_yaw=0.0563 left_pitch=-0.0576 left_roll=-0.034 left_gripper=0.9983 right_x=0.2894 right_y=0.0015 right_z=0.1728 right_yaw=0.0019 right_pitch=-0.0671 right_roll=-0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.9402, 4.2872, 0.8816, -0.1245, 0.1001, -0.0562, -0.3624, -0.841, 7.2274, 1.6728, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3c499c9ac375ad4ea91511a81b0d07563e42f14de91f5866b682fc70fb2d89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec933e0de62740df8b6293d69043e2abbd468bf71cbecaa6270d42cfefe1dce0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f02227d500d3f471622ea34630ca667ac2c5c6d6152226fad81f33a55b268e65",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.235 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 1.6447, 1.2098, -0.5571, -0.7605, -0.8272, 0.9988, -0.0147, 0.8146, 0.6369, -0.4561, -0.012, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3163 left_y=-0.2682 left_z=0.1608 left_yaw=0.0333 left_pitch=-0.0916 left_roll=-0.0033 left_gripper=0.9988 right_x=0.2896 right_y=0.0015 right_z=0.1738 right_yaw=0.0019 right_pitch=-0.0641 right_roll=-0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.6239, 8.4171, 1.1355, -0.5495, 0.0024, -0.1392, -0.3897, -1.2923, 9.6615, 1.8046, -0.0317, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s torso is between the jaws, and the descent stopped on the soft toy. I’m closing gently through the normal gripper command to secure it.\"}",
  "call_id": "call_BS3hUB4SGiazf0BWdPm5pOQc",
  "id": "fc_0ad09716f164f771016ab2e8238f9c87d09593484eceb1ac17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BS3hUB4SGiazf0BWdPm5pOQc",
  "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]: [-0.9707, 1.8397, 0.9714, -0.0383, -0.7753, -0.8089, 0.2888, -0.0147, 0.8165, 0.635, -0.4595, -0.0116, -0.0204, 0.9996]\nstate[eef_state]: left_x=0.3395 left_y=-0.2708 left_z=0.0639 left_yaw=0.0675 left_pitch=-0.0378 left_roll=-0.0562 left_gripper=0.2888 right_x=0.2889 right_y=0.0014 right_z=0.1718 right_yaw=0.0018 right_pitch=-0.0713 right_roll=-0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -9.812, 6.1607, 0.8181, -0.2906, 0.0366, 0.6716, -0.3624, -1.3744, 7.0632, 1.7216, -0.0415, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8810e7aaa064797bd0ace2aca13bb72ea3617e7d879ac10a13a15dfad88b73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b869b9ebcd19ea311db0f2ac2b8f2d3612634b41e22efea2b2aef8022b376f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0379fca9f33253f998a82775722f24e9062e358b0355b89a4ba9cbe3f40b0aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.224 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9714, 1.8278, 0.9775, -0.0799, -0.7639, -0.8009, 0.9983, -0.0147, 0.8158, 0.6353, -0.4564, -0.012, -0.02, 0.9996]\nstate[eef_state]: left_x=0.3363 left_y=-0.2692 left_z=0.0645 left_yaw=0.0563 left_pitch=-0.0576 left_roll=-0.034 left_gripper=0.9983 right_x=0.2894 right_y=0.0015 right_z=0.1728 right_yaw=0.0019 right_pitch=-0.0671 right_roll=-0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.9402, 4.2872, 0.8816, -0.1245, 0.1001, -0.0562, -0.3624, -0.841, 7.2274, 1.6728, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The gripper has settled around about 2.7 cm of plush rather than closing empty. I’m lifting the bear to confirm it is held.\"}",
  "call_id": "call_UuVjL6jurPtbdxncYxbOiu8c",
  "id": "fc_0ad09716f164f771016ab2e82c467c87d0bde47651a240a58a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UuVjL6jurPtbdxncYxbOiu8c",
  "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]: [-0.9707, 1.7485, 1.0973, -0.279, -0.7628, -0.8127, 0.2904, -0.0147, 0.8165, 0.635, -0.4599, -0.0116, -0.0208, 0.9996]\nstate[eef_state]: left_x=0.3387 left_y=-0.2725 left_z=0.1126 left_yaw=0.0627 left_pitch=-0.0585 left_roll=-0.0441 left_gripper=0.2904 right_x=0.2889 right_y=0.0014 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0717 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -11.2889, 8.6496, 1.1111, -0.4713, 0.0024, 0.1685, -0.212, -1.347, 6.9675, 1.6923, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f7c852bc91abb319ac95aca36e9e139df673d700eb2e1db2b57c2abf2b1594",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ecc6b153c08e5ae65e784a5de0beae8582c2963fe85407af42319fadb8cd10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8092efb0ebc875812729c0e7f7bba70c5ecf9b3f23884ebed8fde0aa09abf3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.274 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9707, 1.8397, 0.9714, -0.0383, -0.7753, -0.8089, 0.2888, -0.0147, 0.8165, 0.635, -0.4595, -0.0116, -0.0204, 0.9996]\nstate[eef_state]: left_x=0.3395 left_y=-0.2708 left_z=0.0639 left_yaw=0.0675 left_pitch=-0.0378 left_roll=-0.0562 left_gripper=0.2888 right_x=0.2889 right_y=0.0014 right_z=0.1718 right_yaw=0.0018 right_pitch=-0.0713 right_roll=-0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -9.812, 6.1607, 0.8181, -0.2906, 0.0366, 0.6716, -0.3624, -1.3744, 7.0632, 1.7216, -0.0415, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsug1oN0n_TODc-nIQvHFN4rV245OppU_f8Ol-S86uWWNy58FSclDVNz_Nd4qU9lK1jlWMGAx3ogNBVs6dL-Z6kXda2rA5OvS_wh93X_qNv2IKElfKeym431ltMDVeWEzeMvjhTRH34ZWeoO1MEaa1_o6qQEhvLbrtyHnAOqDduT2IdnPiilCe0vSWlchpFBrZnHHlh7bRaRTUL81jYTzTEdKjHdBTaI7_UU9w7kUKWvtCFENAtJoCQWRsTShd29TLuNcEe-WqPoWHyJvWNoKnixJtmSblEP3wImHUwUphq-48f7PGeA7uVVJfZltBD2e6HjTao1zphmTGhzsV2FsRRXTy9xFf4jdb1NunzJjvpj1hk6vhnqQBuOuGwdC1BRdgcF50GwsdFZNgr1pcw0g7y8r_RgwTFZwN4z-YE_YGKO3WkJzJ408XU0F95R3Oy-2Xqy97ms6WSyeY7xAXBZ8EW0_1AsTaQEioUZ2cDrbvtk6tEc3jDvcCuBwvCLFfuIUzJ2XEgfkvRE3thR-yNMtTwWifyzt5yur4QR5HiMTFzrDCpLXVsXH3Y5Y4gh2x5wi6-ci1Z6SB_iNojkk1ujo2rd2TBf-MCaOH4phrpP97fdvGcRr6ENTJncC1elLrGpAGR2GyddLjMzZd9o3SARXKDJvFYlHf3gUdNVsOrjaiOrybq5u_HniTsdJ6RPLHrwjFYpXyjjxFwB3v0EjF_1iL7mCXqnf11a6jIJ95ww7oTj0zR6vKduQLDvg2qHv1EBtsS5SvjyJy2zlltH0FzJKQ13B1qLj2gkl_HyNPp-KLoCsBMbCXabJ3lVMAIbeSnMDZ4UlEtUPnT5LNNNA803tS2ao68XakIW3Cx5_D6JpU1NRI-Sg8omXldlm5L_LKONDe07cIlKgQHBem1ZgFYMfmoJlJlgkH-0ov-z3ITCbtxwIxkmPRpkyHdy6R3m-icnozkyhaGZ1m0Ew-Ml3gCAJ8J59kDzsbziCPmHpKEsCHuSy6GhDRxpEwB4qpqi9F_dxJTF_3dy9THIruBHqGJJAI5G8uWMWJp05BNYrHKv15lBN_rP5kY4YepBATUK8i8PPuwrwEI03hac4Kiaawy-ZGCVZg_VD79bRU3iq6tzHG4OJKvMXFPBuM-QoPILwLMUGvAdIfSgV6qQM4KPSjL_1lhbvUyeOIEyLG7TR7ZD2qP0ARH8cTFsE5UmdGDpsK6SdlvtBWP_Bq6ySpQUQpWO0TDPrjvaoJ37sc2RmWMhkOYbGJvGZVMUXczD9vJINo4YuCjvQ6ngpJmsDe_Kx2ckl0V4Rdw==",
  "id": "rs_0ad09716f164f771016ab2e8324acc87d0a25f3200a392f108",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":0.27},\"note\":\"The bear rose with the gripper and remains secured. I’m carrying it high toward the left basket so its dangling body clears the rim.\"}",
  "call_id": "call_YeQGEa37YBzaHUXVDIbEPo3s",
  "id": "fc_0ad09716f164f771016ab2e833560887d0aceea1a3fe6310f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YeQGEa37YBzaHUXVDIbEPo3s",
  "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]: [-0.4088, 1.7, 1.5883, -0.5659, -0.3901, -0.3809, 0.2932, -0.0147, 0.8192, 0.635, -0.461, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.4742 left_y=-0.1283 left_z=0.2599 left_yaw=0.1081 left_pitch=-0.0593 left_roll=-0.0593 left_gripper=0.2932 right_x=0.2889 right_y=0.0014 right_z=0.1708 right_yaw=0.0032 right_pitch=-0.0755 right_roll=-0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.6923, 9.2376, 1.4286, 0.0317, 0.1392, 0.2759, -0.212, -1.4291, 7.0769, 1.6728, -0.0366, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb34e02bb2b0b905e11fc48e536e135ecc34ac24978567cb2108714f38e405c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5bd209556eaee2eef890ff27feb6334c01620117306ebde61ab46f1f26f3686",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727964a0716d5140d5ff57ba0a1889e4f36997a9765fcd29e8a332f0f4df63cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.73 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9707, 1.7485, 1.0973, -0.279, -0.7628, -0.8127, 0.2904, -0.0147, 0.8165, 0.635, -0.4599, -0.0116, -0.0208, 0.9996]\nstate[eef_state]: left_x=0.3387 left_y=-0.2725 left_z=0.1126 left_yaw=0.0627 left_pitch=-0.0585 left_roll=-0.0441 left_gripper=0.2904 right_x=0.2889 right_y=0.0014 right_z=0.1717 right_yaw=0.002 right_pitch=-0.0717 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -11.2889, 8.6496, 1.1111, -0.4713, 0.0024, 0.1685, -0.212, -1.347, 6.9675, 1.6923, -0.0171, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsug9KM8MjqOGpont6xAdwQJ7psCrpwdxVLu1yBsSjt9u49-GXnZXZVrZU_Ib_CW7ubKXzLRDD3-o0ElR3oGeuJ8eynz_BWibb596vqd9Pmmk0MyixxjOIcJfE3lbXsUIX_v0bvA1WjxtzF-3-tHEK2W1V1JLJ8FWuiQigXfJK02AOC8Zr2WB67uoMPi04XMwBaWmAFMnSMA8zGyWyCB70UUBRVP_vy5ZKmomqULKNX0W_gJnNmql1Ke90ZFstux4dPb5DzcQyCUpbfKPsPFhb2SnTfj0oYwz1sWod_YMNsqN-VwQMaiEwQFFflmElW7rQDkHqlUGKqilAlyQlrZ2tSqVITevfIwdpRcqjXWNsfwcv6dn6qfAD1JYmE0OnQy-RgXisNPKRIZpuXB1K_sqGTDOpF3QJVBTCJ8tF6Qd94-DlhhckX-r7qAJyOb6VOdah1hPbn1OVr9WSv_GmUyhqWexgFt0HPFx7_Vld1SlHeFrvid8mOIq4FSAZuggpfM4_qaQmF1wmDYpOtvW_leZgiMuB57NERtawO7YxbMO9edc118zYxvIaVZlVYszVVK6jOA5F5Lhl0B_b2hatUy7jH_vaS9qWrLVWm05H-l3LkKNAWfgw5hgZUdcok0LFN-5gHnIQUVVifkjMAq05oLyKxS9Bs00sJCicBCwB81NqBfZoU8LQDHmQfVz2-byaswuoqn1UKgA2L3_oVSwDVzBFhZJJSrJqYRoAyHzWR8KILHrnssiNGkOgVAkmMxSaXzgVLzDpzsYwuapj8GSUO1eZYp_hBLMsg_jimzpeBvngVa8STbD47gR6rBvd5NrHo-fcqgxSxDXG3lpt2X2v8QksbirAll0ntwbV6ofZ054v4QLoXUkkT4q9u2ElfXs1yCZ2lcXIhx_znSL6LRFCGGx-GH_8xaVqlT3yo1TuXbwCkdjEgTSerTwb60VB1uLRpwgasg6olUMfC1kRBBkgiaLszlzbEoUNswfMZdFMfWLlw1gWOSuvRRRdzLoFG_5TrJLsd-ASnooBeUNEU56gYUTHnuSAx1K-9HkbDJGzwn0PjxRffUD9oBKJGCMwL1UQI_U_WlVyexIehESN68u1SIo_kXPlWDZk7S6Md4UwZVaTu2LwyPUX5Y5ojBitBr5jhnPCS-hqOqi44IOiD4FuGL7Mt8DXNi65hnoj4_-7j6mg2mlcYQJX-ywwVa79mgJGNPYWki4X_0tl1bQIIsCooMEFUObF8edqApNjd7jZ1YpeW_KMpQIdGzVxi1-61-Ql64QTGqV59cMrH86YOUGp82Idy18mj8vVJjXZy9Yi0GMbxUExsrM8si-BM7COvgL0ALv5GfqoSSCFJ6cuUQ2d0J4MeBZWL5HRRYXlJFEVi_XSLub2r_z6QcfeHGvNLuVankSLshc",
  "id": "rs_0ad09716f164f771016ab2e839002487d09710a4769703a209",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.50,\"left_z\":0.19},\"note\":\"The bear is over the left basket opening. I’m lowering it into the basket while keeping the fingers above the rim.\"}",
  "call_id": "call_NWXZVUzlFwqFdqsyxKQ9rGeL",
  "id": "fc_0ad09716f164f771016ab2e83baf0c87d0afd21a958692340d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NWXZVUzlFwqFdqsyxKQ9rGeL",
  "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]: [-0.387, 1.7943, 1.4208, -0.3862, -0.3653, -0.3668, 0.2952, -0.0143, 0.8196, 0.635, -0.4599, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.1266 left_z=0.1742 left_yaw=0.1062 left_pitch=-0.1387 left_roll=-0.0226 left_gripper=0.2952 right_x=0.2891 right_y=0.0015 right_z=0.1709 right_yaw=0.0036 right_pitch=-0.0748 right_roll=-0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -9.812, 7.1863, 1.9512, -0.2369, -0.0073, 0.188, -0.1026, -1.388, 6.9675, 1.6874, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41680a95623922c27aac6caab022833d182d778ef2a0e4d8fb194b6d095bad6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7af5ba836031eaba2c26d1324c0b63325ed2ac6ab8c572e84f5c2815cb4f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886bac7068f84aff5a30aa30f4aec8420a83fd5afca5ba844ce5671252e625b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.935 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 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]: [-0.4088, 1.7, 1.5883, -0.5659, -0.3901, -0.3809, 0.2932, -0.0147, 0.8192, 0.635, -0.461, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.4742 left_y=-0.1283 left_z=0.2599 left_yaw=0.1081 left_pitch=-0.0593 left_roll=-0.0593 left_gripper=0.2932 right_x=0.2889 right_y=0.0014 right_z=0.1708 right_yaw=0.0032 right_pitch=-0.0755 right_roll=-0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.6923, 9.2376, 1.4286, 0.0317, 0.1392, 0.2759, -0.212, -1.4291, 7.0769, 1.6728, -0.0366, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuhEzB0s8YW9vxkn638udsR1GTipxnjSs2uK25kRuItZ1v2WAcygfRJQDlHCg961HyRjugVyQb4pcA4spia8kj2g18ZoA8nJtFtbczblbgujpoek18hlbPE9FfePl_nbdbYYHG9EQwhYxInL_o_4RFNsOo37V0jNXIreo8ky5VSow40xqOpuNl-DSqj91N4byy0oghcDgECtu7XW4rB1NapfLAUYmP1S4rhHRZqiGYt3lZ8mlTLwarYzwXfdVBtyLcP5evOTniMFv7JiChqcPjb22tFWxXZEfVZ8UeF4Qg_zJ-Y5Q2PiT89490NnfsW2gGeskdUEog03ZAqWgQtGut8-N1mBty72tQE5jqigeV4mFx_u1spbyXXy67jjRxAkYIlcw9_BGRelXavhhKAqvZ22U-yBbZQPe8TK9nwfKQPSlMnPk14FdTMXnewUpOMGa9mIzAl1SnJaJrLkwR12cT0AVYH-uCt4OigynIaulpnuuKFYGfnBDojukdEKtW0Er13uPA-QyqeWz2Fmegy3mNIeUZn1ztiZ5A2PkjgMD1PED6Lf83ZFBvP0TjAiLxOL6PkWnPjU4zKeu64b2dXbXPhE_WYFysraflEMjDIaT0oIwAxzA4hwphiq3g_dt9UpgokxbX5glaHYLRNM6O5nw6Wjk5yQzT4Z4KT36ItdrkjNRFe0KHNed_byMdRjnLTdI8H8a8VivZxDqTnqCAHBF7QWrVrh2kx9tHYqfdMtTBYOwpypmH0TyLIovQn6EBrJV7WyawXKt0KQdDZiho0HvYO4k2GxqrAD8U-TwUSXIlYa4NcVqiipvmp7_BT_-Lz6Rvfo0cBIB_hHqOxU4wqlRig6WwBDrGbFHE2GVP0WvL5SxRvfg7aPh9W5CQ9oakZryEH6KhZEF0Kza1ss_NoyFNBFRJ6U_zuDNh41QT_XciG99eOUk72Mg46y6kLkL-cc5MdEuRh9fxw110XTL1Os3cF5SK8SW1otnOxzSINwyawX3fUixvuoYz1Tsgsw9_OfpW5hC2qmgCXR_I7SEA9nhdtYtpPzz12H1P1Cb6sF-ZwRYhD8_3UoMBrPR8HblYIXne7BMD8dH3dmGDGsx7EJO6lUmAvVMe7XSljCNI6K2aGrCBPN7-tr4TLwtJM9TgDFtI-kltudsueDrsZf2Uyk3TZXY9SeLWIEEgLfFqdD7UlGUm9TkZ_HD8RUKVVRRracVr5FOZFGOGO8Kb3rfUGTlDnC6CGhxdnIPYbIz7bXU-FPs56kA_FIingx9t-ZvL-AMzv2zhlwgmr4EWusATVxE7a9N6lTWRhox9zYitU5KhK3yIFYvBztY0vhnbBme27dRgQkINMIOqBHuz5GzlkUgoqKkpMeopu1-IsN0l_M_YEOLxM=",
  "id": "rs_0ad09716f164f771016ab2e8407b6487d0a47ef4ef326bb0a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_z\":0.22},\"note\":\"The bear’s head still hangs near the basket’s front rim. I’m moving farther over the opening before releasing so the whole toy lands inside.\"}",
  "call_id": "call_c7P4zseIwLckEDNDAYmYB29f",
  "id": "fc_0ad09716f164f771016ab2e842b11887d090f42f5693720db0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c7P4zseIwLckEDNDAYmYB29f",
  "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]: [-0.3283, 2.0613, 1.9148, -0.614, -0.3325, -0.3489, 0.2974, -0.0147, 0.8242, 0.6346, -0.4622, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5568 left_y=-0.1249 left_z=0.2052 left_yaw=0.1287 left_pitch=-0.1496 left_roll=-0.0287 left_gripper=0.2974 right_x=0.2889 right_y=0.0015 right_z=0.169 right_yaw=0.0038 right_pitch=-0.082 right_roll=-0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -12.3556, 8.4855, 1.2772, -0.0611, 0.1636, 0.2271, -0.212, -1.5658, 7.0085, 1.6972, -0.0415, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d66b27c0621af70c03e438241351ca068f7e3cf5b8464d5e06bab8a78e88a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933c42f97c00fb2d418d50e0b8d159eb10f7d31eb75e11b82d8f2ab233cf99e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7af371926f1c434044e02b3af441a401da0bd64e2038c360c0f10d619ad836",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.443 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 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]: [-0.387, 1.7943, 1.4208, -0.3862, -0.3653, -0.3668, 0.2952, -0.0143, 0.8196, 0.635, -0.4599, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.1266 left_z=0.1742 left_yaw=0.1062 left_pitch=-0.1387 left_roll=-0.0226 left_gripper=0.2952 right_x=0.2891 right_y=0.0015 right_z=0.1709 right_yaw=0.0036 right_pitch=-0.0748 right_roll=-0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -9.812, 7.1863, 1.9512, -0.2369, -0.0073, 0.188, -0.1026, -1.388, 6.9675, 1.6874, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bear now hangs fully over the left basket. I’m opening the fingers to release it inside.\"}",
  "call_id": "call_KX4SKXvUeSPvzgtQ89N27xbV",
  "id": "fc_0ad09716f164f771016ab2e846d55087d0aa1729963e924be1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KX4SKXvUeSPvzgtQ89N27xbV",
  "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]: [-0.3256, 2.0758, 1.9182, -0.6193, -0.3355, -0.3584, 0.9954, -0.0147, 0.8249, 0.6346, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.558 left_y=-0.1232 left_z=0.1979 left_yaw=0.1401 left_pitch=-0.1634 left_roll=-0.0267 left_gripper=0.9954 right_x=0.2893 right_y=0.0015 right_z=0.1692 right_yaw=0.0038 right_pitch=-0.0809 right_roll=-0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -12.9983, 6.7487, 1.536, -0.1587, 0.0659, -0.0952, -0.1983, -1.2513, 7.0769, 1.6532, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f3be885796f6c8714db554a0636e0f99659013ae96cd20930a0c03da152339a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19048419e072e3e0be812522da180b2afee513e61637f23075189698c340d9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869092d0ada21351b1bb9abfbc13db527a09fcff9fad0e457a0fdcbf17fcd1d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 11.08 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 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]: [-0.3283, 2.0613, 1.9148, -0.614, -0.3325, -0.3489, 0.2974, -0.0147, 0.8242, 0.6346, -0.4622, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5568 left_y=-0.1249 left_z=0.2052 left_yaw=0.1287 left_pitch=-0.1496 left_roll=-0.0287 left_gripper=0.2974 right_x=0.2889 right_y=0.0015 right_z=0.169 right_yaw=0.0038 right_pitch=-0.082 right_roll=-0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -12.3556, 8.4855, 1.2772, -0.0611, 0.1636, 0.2271, -0.212, -1.5658, 7.0085, 1.6972, -0.0415, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuhOTvoMZo8o1aNJsNp0XZKcNy5ZiRUHiqkvViRNyNlZwAjf5VsRyBC6CebUtMqNPx7NJbqko5SgN6hqO5CduMgrKYO5-KOCBVgWQrmbrMvWZ_ypG-yhfLMuc7NQx8oIoNBlUMoVaNoo5v4JMB8EcJhuHSqGwRX89I6ReJOaTuFV0ef4198hk9_hJzNGDuy42SexqVsvD8CuX-IAQke09GKoRPs2rfiZkJ-tzOfJfFjhqnUnet0BzwzZvcpTBQYwLXmISEx7AMmHSENN1J94oTHGr32p9cDAQaDEVpDauYCcv7NLUoQBefLkl3xHiULtdRwqheQsTq5hZCEH9nleNbwUAWNjHNz3oRGJryVVrnoj3IV40mEgsN9LkBFc_h7ycScEEH0-Fo40slKCALhyEbYnA4q0qq8kD_j6lFVAzA461fhxZKxKF8jDb8l_EQZtDpFM-pBWxXY3bfszGyCsxPzXkWsmeXgcCTBRRJPJknJRegb6TNL4ALFolli3zEwqRIKp80cJsmQkBn-xoLU4CHrDkuo0XOt_Ib3AoTECrmCknLB_rbRhNNeujen8CmXhFrU7w-cMK4CeDZPlIEiP1m27MvS_vv_X_kpn2HqOJqetEwSUUZb9Nf8eaa2MrW9IYFymmV5pPk8_3pZMJaq_09Vd4BltGyKCrcwmMjuW1RZXTZL07UElab1kgVpyQmvC9qfXdIiELVTm134cZaDzxtCe15WvybC1TdPKQInovF8lkQDBPRLd46tixkhAb2xvmh4SyU1E0h07cFpMEnZTyUbOyFktoFn_xkKhaSdVvitpZIgoYjygWhfyVDhCMFhCUGoNLLkvXpD70zZE2ewKvd1RmsGKmalM9ssyY4a1BBnoiX7L8wNvBzYKtGSSKi8JAkbsCjTrPnjXue2NoAygFUDmoD-RxztjSTJn5RkI4NJSAvbN5Mkw54Xt-DvLuPYRPXKrbBot3dHzW4bypTM_0BXBf61CfbtBPHavnmFNOdltsarDRdWPwbLbXHNS3jd7DfnFWbHqp6yAqqlqg-r3TcUJRpHKOxJboHNWuMmnHXXwZj5Qh-trXkQPyNy9c2vq7-8JhVBVc_RM3yKn8BjcqQSBslzVELF6lR5fi6Wms6-B4L_qj1WKTxpRoAgDXR7SNrrwunolFQFmCmScZ6r3KvlLR0PGlW4DSILyjR0H4jKpgBd8Ef_eOygxDzM_BphO_a4HgD4PHcuBVBGvXFTJxeGJCLECpvoLVG15YVLSdFJRj05HVIUf0QCyUaqLrldllghOlPD2gbKblAyb5dfy8yORNCqhhAV6mS6xsw4NsgmJ8VQ=",
  "id": "rs_0ad09716f164f771016ab2e84b602087d091cd1b169e1e04ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.145,\"left_z\":0.15},\"note\":\"The large bear has dropped into the left basket. I’m moving back to the smaller brown plush on the table next.\"}",
  "call_id": "call_YLvuAzSIuyy2T7CWfshidxpB",
  "id": "fc_0ad09716f164f771016ab2e84c9d3487d0a69c499951ce2e98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YLvuAzSIuyy2T7CWfshidxpB",
  "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]: [-0.6632, 1.4277, 0.9668, -0.4454, -0.5339, -0.6136, 0.9967, -0.0147, 0.8307, 0.6346, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3456 left_y=-0.1514 left_z=0.1434 left_yaw=0.1078 left_pitch=-0.1845 left_roll=-0.0206 left_gripper=0.9967 right_x=0.2896 right_y=0.0015 right_z=0.1677 right_yaw=0.0038 right_pitch=-0.0866 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.2547, 6.9265, 1.3748, -0.442, -0.0562, 0.1148, -0.2667, -1.306, 7.0085, 1.6923, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d37687352de2d9e8b30d82ca906da1ccea076915bea707ce3a898ab7974c24ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03428126c5fb1477386fd6810b2b6c4f35efd427768871768cea6d7ea768329f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95ec6877ee6e1d9cfa6c9bc31b1dcedea5250a4fdbdb405237948241901b5eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 6.038 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3256, 2.0758, 1.9182, -0.6193, -0.3355, -0.3584, 0.9954, -0.0147, 0.8249, 0.6346, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.558 left_y=-0.1232 left_z=0.1979 left_yaw=0.1401 left_pitch=-0.1634 left_roll=-0.0267 left_gripper=0.9954 right_x=0.2893 right_y=0.0015 right_z=0.1692 right_yaw=0.0038 right_pitch=-0.0809 right_roll=-0.0052 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -12.9983, 6.7487, 1.536, -0.1587, 0.0659, -0.0952, -0.1983, -1.2513, 7.0769, 1.6532, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuhadwFvAdqIA164gE2A_Zo5zSYUtm-zyZNf1IIzNzyccHlzGnhLcdc2bQTyOL8kvpx85yyoV2ZsY4enfEluHX8HI61j15sSm6uol-H_qtKHkluo5edpwA9q9Pus1WAyq4selmtypsot_sHslA-i2kKtbsiRzqhT2PwYwzkavO4saPognbM3igfk9I_v41jwqUr2ymzgJZEqUvHykZ68YzffSDCDvlE0wUWd1pValR-SBYCOC3KVCb0B2So5-dHeWA8J0V681BS-ueYE08g5Q17Wn9ykE-hVCavlxTZzWsp-eEsHabiuYsZGbRagW1CZjb_xkoahFaIwmZ4fPUCIxOG0UZE0Y7nNqDWvAQCyAEqdJLRIqstWzPQsEKYRavHImc41RTry3-JYVfM-gWVlSxG5kXaNIEYJoxk5vuQvt_KGtaI-WQeFBNOUSH8t5bKP-Cy9IqqT7CCwxBdiicCKZBZx2yFbqqY6Yp8RTSrjQ0Nuo-NNoBPZZKNlZCN0KAu9VU090Uy_KV6Kzp7yH7QxdNLxE3i3CD8RrPIIWh5tnOiIOOl3YpAdZPjHWBAdv9vNvZ9_-blnrnJ-dP0WwtyV-tQc_MKZxRAj257Ok2vexPj0KEeBwvPWWn_G6QQDaOCEZP0D1yWBRwywdgGgDtn1QgNTWnye7qEqFWBMo-TKtol3fjMD5jfPWFpJxyJPUmLQu3i8qSBjLFc-IzbYZcnCV_19xGsYEcd_r8O-I-yKVur1AJ0SdT27AaPtkvT4iBVxJP4A-7E-S8mRw6F6kgozqyCuvTSYtDgka0bgi0B3KFv4biyUWyQW0F0vSbx2XHSOg5MT_OAgwMaRpus0UBKt-Kz2HKQpFtCIjsSwIg_2fpe-oXRRmCFZlBdN8oHaNCsOoxEv53VusbUUaveMOuhuSfVRQEEV4dqvxdh0Fc5it7l3vD4SqSj4PUbPv0QnQHncIsjk_DQokQ1xZfwvvqbhg5DKukmqhKK8GPiXxEiMf4JC5vK_Ranb96P9xfauDTVaOheGstzU4sIeyI_dSEBwTbX8nFxc3y273mQY07RSR1JBQKYL9KnAXBg2LqvHSyoEPWKMnv1kAlRC779CBgNZD_WPsCWfjKd4871xA89FRBkrBcYpVOH8Dal5UKg3504icCgbnx9WMojAarfRgeI7R7fh7ldh98uORcn9pI8zWSLbvwx2IiTBp18SmMbfbXmqGpQd5XAUdtFvFntEDLC3PJ24UPMGhuidgIrq7YiwHVwILGTZaFlRWvy7x6YMCoQADGLwsVXbrXsH2I9L-lYiDFwdEXhG7h4Ny7KPLm27qcC3BQg8XvuTtgATy122uSonjDeIufhNtSsxC6wASNPQTP5XLPZoY8FqfCQhByxvIDTN0uQW2fJLBQGSWEbJ1wckenYIpzpv0JXJxXoF7t4coafHkubIBuje2cM2ghCqG--cEIe4ZbFNjQQgWUxEfEFCSCzW8HCRgi9Q7S0lD86YlG7bywANNtu6Jmd7_Vk0_yDWcmN-jvtwfX6RQ-mM-knMuskdKnkiAetRgrZ0hDIhpgFM1UmtfQoYBOa-xroTH3_5fcvBtd_n8mgoWmHocjwint_5jQggBmu3hVnHDG30Rym_T44OBZiryStjqnjtq6vAJGqCr695p5hZ6-2C6AUoUQQa68hjo01IpVa9w821fToSJexyYnjP3PNPbKE3Ewa_j2hQ5rrsJqtQLDRnMxjRI3zcFPX_IFEzfY2no9Tqf5CP3W2NB68gcQrXpS-z9442DibGXQpf3x26T7drl3d4J9uGhh7tU8mulf8k_scwO06TrE5Wl5oGWgxGHmZ35GvjxheCfoiHK2yIz4OwINcqYwVypBogBaqryZ4w4FmM_iZD2V2pPKBveEdmm9eAjYcqx_P58JtcFo4dUwbH3PnwyQ6SGkrDm8JNfr5lXHw1qKbqKBxfoYfS4c917OFvphnn3cSzmJnfs4BqMe1zRUVH9EUeAkV9xeROPTyAf_NfBj0qu_mFYIMgpqH-FxEhF5BNMevAlil4a42pKEl7gK5gY4vHcICJyG9Clrf0xa7dHkLYaoVTO0ArqXx0dcxjh2hPXgcOHmt6xxKePPSZ_FqH9DNnegDE1375_3p4z2S5yU3oJt6HUrqJSy7BYE0ByCxuh8RDtyMmQiPPctjqSVwjaM8Y95JrjUeI0t8dcnYSxDrNTQ==",
  "id": "rs_0ad09716f164f771016ab2e851c8d087d08f5c82547d43927d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.13,\"left_z\":0.28,\"left_yaw\":0.5},\"note\":\"The plush is still very close to the wrist camera after opening, so it may be snagged on a finger. I’m returning over the toy basket and turning the open gripper slightly to let it fall free.\"}",
  "call_id": "call_iOF5SBLYgUqEANunPDdZT4GV",
  "id": "fc_0ad09716f164f771016ab2e8588ad487d0803287d3ec803366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iOF5SBLYgUqEANunPDdZT4GV",
  "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]: [-0.4347, 2.4584, 2.7277, -1.3373, -0.6067, -0.7563, 0.9969, -0.0147, 0.8352, 0.6331, -0.4629, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5415 left_y=-0.1364 left_z=0.2133 left_yaw=0.4897 left_pitch=-0.2445 left_roll=0.0404 left_gripper=0.9969 right_x=0.2892 right_y=0.0015 right_z=0.1652 right_yaw=0.0038 right_pitch=-0.0954 right_roll=-0.005 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -13.5453, 6.4068, 0.3492, -0.5104, -0.022, -0.0073, -0.1983, -1.6205, 7.0906, 1.7705, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a2e6e724b94ee5bdc65625da20cdaf0e1a14be685b5d8e7692b80e2dad27e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3411416c8ddc77bef074912c1065b5611d24186f8fe89cf8a2bea2fdd5375df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b917d7413772c3607962937820ae3cb4e7324f2eaa87cfeab72abc421825486e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 7.41 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 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]: [-0.6632, 1.4277, 0.9668, -0.4454, -0.5339, -0.6136, 0.9967, -0.0147, 0.8307, 0.6346, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3456 left_y=-0.1514 left_z=0.1434 left_yaw=0.1078 left_pitch=-0.1845 left_roll=-0.0206 left_gripper=0.9967 right_x=0.2896 right_y=0.0015 right_z=0.1677 right_yaw=0.0038 right_pitch=-0.0866 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.2547, 6.9265, 1.3748, -0.442, -0.0562, 0.1148, -0.2667, -1.306, 7.0085, 1.6923, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuhiRTQG1_isEtdxpU9yCpT7yDawRHCuw5QxoKm8AmCuxUS8y4D2aXuTOHC4YGokZwJSgPrqjo_kYSLKQo3TBS7uGdt7zzkzrKtEa7U1-5Y6zkqSvepOv6UC_H6wJ6J05-azaZQ03MvSQycNy62017AaIZqWDUMDb-C-FyGbWD-UOzJVpq1s5xP0km43T48tA6HiacbzttbF3XcXv9ERlSyy7zsrRxjtzft37gdxaggkY_j5OYbX0OhDVFHpgTCqeQocpP_GG8e7xTQMJn8HyDEN3k5pSFpE3CTIuL4nLWUfmmQdrY9ZbuscxFMD52B99AyQh0EFMYfzOO4nFn1ak6sMg3hH7Pj5Jw3vcp35jFIOAkESsCNb-ggFZoDTzkLEtXGcrTwSP3F-ekNkk-SnrC-3RdzZK1bpZzFqBqwC9O682NgzMVLXAfdZrYzVyX09yXGqfiJVYjd1Zo5CVrnzPvJcrv0m3mhHmXpPVPqn6Gt6-4gKfOkgUEA3MspE-afzouFSOi2H4NOleD0zD1XWuXYd3KH1SPvHVvKurNmN7Z_4W10OcFnWycDUCjn3EQDqVs0cdWHBXBgtHkSfI1ErW_dMTgCFKDCqFlsMSBr14Zc-rbVYuxs4NbsZyLkhdnzzSgbFhfRzhuFm81oiabul0GJszdHqdkoDuLtFB85_Ul4MU0tEcsGTQVhbQ-2BYfvttMN4aLDyyJxyTozwEKBWx_1gPy1-CAgjUGJ1dXwDY5v-Su1_YXBrlHs67cI5opuCrFHbNxJsEslq6lTtN_hiz4JiKtmqOmNrlaUfl9QTZUb_vQD4eYMdrREtCyX5fmhggMuIvf3RdpNgSsXOegF9usd1ECeQF6uNTlYmo2EolEFKF6SDZ57A-ky_6fvAkq07dAIlZHw7E45ye05k8FX8ZaNd6PhdOej7sFuT5vStJBk2_VtGXK6a1yoBzK8n59y2xFGjvXGG-eFt1-znc9bYV-SkX8UkK6VPOzNlxf9cZ1nhhrLAVnjCVUYGZfUewZFYaoCGHvmKzIsOCddVLT-438lzPnYftJ1jW6m8OVjwcmunFdRTjwbJc_G-Hu-MWPxk0EaeuY_71kqIlQROx7oQ2dDnXxYlrduk9tpQA6vcIdu0m8Et3m2-dD4g9rvOy0PofBkVO1Jn0PHG0tquxhZa-GWebbe95nNEDtYToGMINKXAhkC5TERUesRi4nhTlXDrCsZCPxB9qKmOFhAmajWd9kJNpYnUkx2x34_FSVWBIqsQFI7TrFE0m89jePq-p5VNLYlGxyoesQR7UHeRErEdJZ2Gsq8LtSqokc1xA23UkaTD7p2cNZq64fWqm8emCxGhjHcBMn5Q_CjsoEloIKlt9Jxa78iD3LPlkm1xVROXwsKF7tY=",
  "id": "rs_0ad09716f164f771016ab2e85f36ec87d0a68d11f1375eb218",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.135,\"left_z\":0.19,\"left_yaw\":0},\"note\":\"The large bear is now resting in the left basket, clear of the open fingers. I’m approaching the smaller brown toy from above.\"}",
  "call_id": "call_UIVaH0KkoYCK8tG9hBewkpIK",
  "id": "fc_0ad09716f164f771016ab2e860a56887d0bb1440b4604c4305",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UIVaH0KkoYCK8tG9hBewkpIK",
  "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]: [-0.5758, 1.647, 2.2044, -1.0054, -0.4286, -0.4675, 0.9969, -0.0147, 0.8391, 0.6327, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3979 left_y=-0.1666 left_z=0.456 left_yaw=0.024 left_pitch=0.1403 left_roll=-0.2386 left_gripper=0.9969 right_x=0.2898 right_y=0.0015 right_z=0.1645 right_yaw=0.0038 right_pitch=-0.0969 right_roll=-0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -5.3812, 5.8462, 2.5275, -0.0464, 0.1978, -0.022, 0.0205, -1.388, 7.0085, 1.6532, -0.0855, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3ac57b59ea72926b7da5cbea6d8fd49e8402098d5193fce5e598117f9ed967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8474cd8fc6696aea54f08182410937748dfc9d01de2cceb25c1d271144a5e848",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a111a20ba1657252ec262d35e62317dee5d7d803804818a931f13b690bd687",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 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]: [-0.4347, 2.4584, 2.7277, -1.3373, -0.6067, -0.7563, 0.9969, -0.0147, 0.8352, 0.6331, -0.4629, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5415 left_y=-0.1364 left_z=0.2133 left_yaw=0.4897 left_pitch=-0.2445 left_roll=0.0404 left_gripper=0.9969 right_x=0.2892 right_y=0.0015 right_z=0.1652 right_yaw=0.0038 right_pitch=-0.0954 right_roll=-0.005 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -13.5453, 6.4068, 0.3492, -0.5104, -0.022, -0.0073, -0.1983, -1.6205, 7.0906, 1.7705, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuhrYpWwJN4viwxseo4BD7ifOlRZTSL6dEY1-7XOa0J5hynh2jX4g4Wcy9GVJ-ZHHQzajo-KGII9Afr7LHpFeS3LmfA7V4dRA4mCj4K76Q3zqHJP4gG_Mi-EqN4-Z0jf2W3anYZZPEV0Mlilr4WwRgR6X9G6sAyEPjBjtSnjWob_fe9n0hnYJ12zJOeIb1p9pt67hnx85aF6qaie7TyYWzQfW0cryz_ioTPci0e9nJ_v0BH0UgnUEGo_dNvyVg5BbrQpxU3kuLSksEd8mUq8tKEmdApvw82R6fyq3IHnQZEh6i92Ytw6OViPdiaANBe_i3yBS7AHOwZiBzIYDrn5J0EvMiTsmMOomBvu_tpIilMQ7VSOhooNM-MYeewyX0wfVgt69-4wVEgq_NQCdnkNdESMpiu5RPjq2QsCYZ01s43q32OM-oc4jmPink4fN6XRFGaRw3mcuD_4FHl3nfxC8BXKbZPwvfbZAXd5c4mQaPnIeg5cXHgbHSeKl4hqdwzFEK0auUq4HD-iaqiLnDYlVeztHT52nvIRAvB4oVpM8mtb-tdmFCnjwiHu-cm2o8BpcitRjFuXpvvSpPKeDS3WdnFEs4HC6b-nZabET1KXmmmcLqgIUM1qQzXvhMnpNH8zzGPO9-O02tSsykgA9AvIKbkl89D1Y7ZpkOQi7HcoxAcQ-hDw3y2-sCANkQXh52I1bPEFmmC7X1g0IYHj-qwxpDATxitYGn0otXWApWgprt7Q2ReuvVOQDolEbXUPRvX4bG4A6qOjH6UkNr1QrU7ufoYm4pTQoYqxbekshL-OwjN9JDMJLR0z60oyap-gYloZlMF5xixxrOWTJJrF-qvPQEMtKGJ_P4FcLsOU08F8_epX1-_XxO9vkIc3sQSwlO_nTWpXZJOQGZ-hPLkF8-7vEV8JY-izyc_YJdEKOb6yjNIvOI7Fq2cYbNoi4SMFaHToM8PXOaNlbxecNeJ5dUDGagEZn1d8s1K1AcOZkS11zoHTjQPMsN5SUe08xxXO1yi--m5xb3N-UiWlXvCtX6vJmMjRL9k6LIPBzrZkqIOu3yXOrMugRXgHXmWaA1qYMDu3og9hZ4YkcHdRnk8cqZY37DHVIZUzxWatNX6CsRFWdfQqbCM-WMnfiWjIXbiMOVgVz5GhJ6Xe5j9Lweb3SLjp-HUi0f1-e13yFhW_9XRQJPQsMO3pQQyUmeClB-421Kty0A0cawBR5E12gMDD3hOFMvpgU4N5Qn-kNMPyuNBpqZjYKF4wTZM2gDSRrTp2AV10rBze78gIrTyu2M0kTeMPCIGFgu5Dv4briYtp6U2kO3x-Uzs=",
  "id": "rs_0ad09716f164f771016ab2e866937c87d0be5008b22311cd66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.13,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm rose much higher than commanded while retracting, so I’m correcting its pose before descending. The large toy is visibly inside the left basket.\"}",
  "call_id": "call_83xD4XkSvG3KkusctZAdnbVO",
  "id": "fc_0ad09716f164f771016ab2e868589487d0819815edde827d6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_83xD4XkSvG3KkusctZAdnbVO",
  "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]: [-0.6807, 1.166, 0.9482, -0.5186, -0.5674, -0.4595, 0.9969, -0.0147, 0.8425, 0.6312, -0.4603, -0.012, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3189 left_y=-0.1315 left_z=0.2133 left_yaw=0.0196 left_pitch=-0.0421 left_roll=0.0044 left_gripper=0.9969 right_x=0.2897 right_y=0.0015 right_z=0.1629 right_yaw=0.004 right_pitch=-0.1019 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.1624, 7.5145, 1.9365, -0.3492, 0.0904, -0.022, -0.335, -1.4974, 7.2821, 1.707, -0.0415, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80221ad1fb48a25d7a6947851170f6c63c2f1a043067077ef87b427a657e6521",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29dee427f3bd7a51360baf1caac1da20b4d344eeb3347e746edb0487fe55c80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2d29a0ba8f86d508363a81315507ac62c6a54f86a2286ac64d5afa9d0032d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.634 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 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]: [-0.5758, 1.647, 2.2044, -1.0054, -0.4286, -0.4675, 0.9969, -0.0147, 0.8391, 0.6327, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3979 left_y=-0.1666 left_z=0.456 left_yaw=0.024 left_pitch=0.1403 left_roll=-0.2386 left_gripper=0.9969 right_x=0.2898 right_y=0.0015 right_z=0.1645 right_yaw=0.0038 right_pitch=-0.0969 right_roll=-0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -5.3812, 5.8462, 2.5275, -0.0464, 0.1978, -0.022, 0.0205, -1.388, 7.0085, 1.6532, -0.0855, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuhxVbt5zJkGQPKuC_bBNHhRE6mf9FbdoeOMHHsTxMcrOiuk51ZPYblwpy8tBerFfG0ry80eJLAmI0UzxMfykx7kYbh5fYtSXTEIMmAxHMuFzoF8pr43irViJwdCuJKSmpRFW2lVrV1S6eLXtaLBOWQN7bhBB3D6DzhdPBZacYwDIcTs1g051KUU8HukXxy19c5wl-Wcc9kCJaSKn09RZDT49-dywSD7yLOIgHCaIW5jnK0YkVwupkmc0sTTxdTUP30jgrbB8Y-LCOi8LKUeft1tGmn6ENRyG5eEELYvKKKMoJnbmqGdiTEERkoEBMgpa0W9LkZi8GQMS02xcRbfFcyhFDQLGzpDKJPGV54pHmt4aVqVrHH8r7WAIYz92LAiNX4-l83t9WcuRBVRRJwi2hW6t30jNHWSaLicPqHWRFTkRQHJSgYB1gfM434OkRKCBADWRuUZX0gZysZDiZIzj7rKIQvYTykmIdzKfkVmjokmYmgoMyInkibpp8lZt7bcHe8HTzeshsvuw7jC7kLEkwSTCaJlnd6CPnoetjXdEQPEbobWpZyGapGRqmKGqQAXGxO39_VJy_ovSYTzfnkRi5u914VZvoG_N8X_9xFXf33F4w6IaTbHzTKrFl2abLad5ufQFmxQ_x0CDakFaT0TE1B-adNl3y-2xZmDrDAc9YNBSUsBb7q2bBRB0W9ALBGuphBcXpdsKPlSX83waa4CZ8cq3pRzW4334Bs5sOjlk2FViXWlvb0J4NoRduUxmim6gBeKShBRtJDJij77x4Xd5Fvcfaz59x4Mhvs-U7kYP141n8VzgP51RTqfhtxJo-qtnotN41d-QNGSsphkJgMS39z58eNDK1mgVfTyA-W811Mc79LsbVmSd64ksCSHUeW99c67hjhIwYXKX7Rj9vdfSSrzrEy-6t3IUUXzYf35gKHqq2l9vpQQU94r-YxYas7YCB_lCl0uqtc9n9UQjuU92_ES8hKz9SPVmHt5hDz6VH9xH9Xumas4lbwOG6GsaoWeGXWOs9iEBH9B5lWpvXjJr2aB3a6AkG9Qo4Atzf0SZWTzFGhJsP_t0XpGFWcDPgAoOZ_VvzVwC92loVVpcywTe8ni-RdMQF9IzjVFB4jis_0pYmVrN2JCC67nsPGY_7pJCUtCoIIyjG8XO3nEH6pwUmGLk4e6ZI917zdccF5clzX-M1ge_eJ8CzMjJseIAQ_PpQ0jyGedAZYbznuooC4ngX-pYL7N6JY6ctatVetmuVEgATFG1mOygE6Jlu-iwRmJmTwh",
  "id": "rs_0ad09716f164f771016ab2e86f545887d08e5e8b0839a39d8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_z\":0.035},\"note\":\"The smaller brown plush is centered below the fingertips. I’m lowering around its body with the jaws open.\"}",
  "call_id": "call_bpVYODFtLcfbWPuzQbXdM571",
  "id": "fc_0ad09716f164f771016ab2e8703a2c87d0875aa8a82726e7a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bpVYODFtLcfbWPuzQbXdM571",
  "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]: [-0.651, 1.5337, 0.4473, 0.2817, -0.5438, -0.4442, 0.9969, -0.0143, 0.8444, 0.6308, -0.4606, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3207 left_y=-0.1249 left_z=0.0276 left_yaw=0.0265 left_pitch=-0.1056 left_roll=0.0475 left_gripper=0.9969 right_x=0.2897 right_y=0.0016 right_z=0.1622 right_yaw=0.0042 right_pitch=-0.1045 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.8462, 4.9983, 1.6093, -0.2662, 0.0611, -0.022, -0.0342, -1.6068, 7.0359, 1.6435, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:753e471ebb81c717b591382bf8a7b3097b7a60e1cfaf289d53fd4f0b6442c130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432a51078839c46f9fd1c7ae573609cd090c14093159047c9a69a24b87d675c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2857f030dae9a61cc06359f43a5158ae79ade1d7c4b2f2c3174a6e6e9f4ab292",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 8.949 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 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]: [-0.6807, 1.166, 0.9482, -0.5186, -0.5674, -0.4595, 0.9969, -0.0147, 0.8425, 0.6312, -0.4603, -0.012, -0.0238, 0.9996]\nstate[eef_state]: left_x=0.3189 left_y=-0.1315 left_z=0.2133 left_yaw=0.0196 left_pitch=-0.0421 left_roll=0.0044 left_gripper=0.9969 right_x=0.2897 right_y=0.0015 right_z=0.1629 right_yaw=0.004 right_pitch=-0.1019 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.1624, 7.5145, 1.9365, -0.3492, 0.0904, -0.022, -0.335, -1.4974, 7.2821, 1.707, -0.0415, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small plush’s lower body is between the jaws. I’m closing the gripper around it.\"}",
  "call_id": "call_k431UOvpR8r7ZiilIPVDL74P",
  "id": "fc_0ad09716f164f771016ab2e8757d4887d08b21a507783cb0b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k431UOvpR8r7ZiilIPVDL74P",
  "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]: [-0.651, 1.5444, 0.4358, 0.3065, -0.5468, -0.4446, 0.122, -0.0147, 0.8448, 0.6308, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3201 left_y=-0.1239 left_z=0.0247 left_yaw=0.0288 left_pitch=-0.1021 left_roll=0.0472 left_gripper=0.122 right_x=0.2898 right_y=0.0015 right_z=0.1621 right_yaw=0.0038 right_pitch=-0.1045 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.1333, 6.0239, 1.1893, -0.2418, -0.0317, 0.9792, -0.3487, -1.2923, 6.9949, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f970fc3a3823dfad6f88b10cf6f9bc55cc83b7a3a14c8c286358140dabc5d18a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccd8022864d308c8dcc11cc5e3b32f0d9421ddd79003aade051d05941c0bfa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8bbae325a6171b1d133a5078e87dfc56678ab0b3af2298683b80caefb0bb8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.505 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 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]: [-0.651, 1.5337, 0.4473, 0.2817, -0.5438, -0.4442, 0.9969, -0.0143, 0.8444, 0.6308, -0.4606, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3207 left_y=-0.1249 left_z=0.0276 left_yaw=0.0265 left_pitch=-0.1056 left_roll=0.0475 left_gripper=0.9969 right_x=0.2897 right_y=0.0016 right_z=0.1622 right_yaw=0.0042 right_pitch=-0.1045 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -5.8462, 4.9983, 1.6093, -0.2662, 0.0611, -0.022, -0.0342, -1.6068, 7.0359, 1.6435, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuiA0JDxJ-y-eXPUefcOdsAo8E4ij8M5cbiKTSuGGHZA3qYbwL0qjib9yUdmySBN_qeY8uz_v06XlmBl6DmpE1yrCTtsxEDX4q6hViT5X-625xCHlgQY5u7zSY6-u8Ri0DJNa1ohDub6xbNIqI0TnSMgOJzCoY8INRUexa2gbmehkN6LmMtaGwVDQAsRVhTPTXmfxMhZBos1GdAkcKppxUTNFRSKDwDjSXbliDKZDkRX2UEv7ItPMrLpV83ra68xz6oM_ng5QlRJkj3SVWjPIwSQxacdCOc9jC7JkTyFVQHP4FWja9Ae1WqTBQY2D5zCFoM5fXB2BsXpRI_aO-hOf4I8X-O4JV8KCU553IJ_tJQoKiqZ0QLYSxZnsDT9T_TRN5FUBjfj7CgGFpiUIFWY4OcsN9YXYG_wpTFC1n-8Q3cYEFV1UIRt7bBZGVQKqsqHICQk1rcTTCKlk38xHYPYRP2ihCeowc6gOjU00tdgdj5hwRt4hA-K8BPH-5WgiBZyK8JfDgLVDAc_h1UAEVkzmZPYMH7_Gwk48F5cjpWrtQceA8p-VJs1oVaNX1N7RNBgZF5CqW_v7qGKSEE5A7yxUtG-Ml9Zu3o3SCscnMWoMY3Vy7KPSlgVJ9zJa3geLPHwnjluIFptfb-ffIFs8opeCHnAyG6Fso5MRlUpa83yoDbGT60BJZPokLJRHKxF_IhYb82QE5lejA4pBslvHl-AsAa5XTE6xapQFmh3N42JcSN9XMiSfDlDKmdEWr-j3o4bUUhHFYW18r-fiWoxt88jkHp9uPKMSoVsoHbXnTZxp5kZBvaedVAAxmAffwJpB1aHXtf2cMBr1yaPMXbh3dBNV2ObM87vVW3AALUYpqh_-JKP_Yf4FJQ4chR4Hbb7_b7Pyyniui7cKq7UwBLQOgQUEcFbzfgHov_tOeU2beUbpDXfcFIW1secX0wL4Ds7s02xgUR5eifZUEc1T5y0IqnLqXvOBo-T3RmsaP0vOHcvNnwvsNKI-ofMn4sjwIKv0-VhgW7zy134JOA70lqC7H16s-j2ZPTx0HOiYJ2sXnXPSz9C6YoubwZMD46BlKNcP3Mm5vfp34gVTCx38r7IXtN3CknM3NfHyOIR2MqH-sORhYfCVMMyGD-NODv_EAlWnZ8kE_Gnk6020LyyHRbAgAUu8roTI9zql6l-OMqouZswLoMuSjb5hBASbw3-BqGCedwIu0izS8hfXbeVYGIhWDn2ggXJGDu32CfZ74FmB2Pi5dOdXmWIYbG8MIqz6HQIovtj12XIuJuBkCEY3UMghZCW200MsVyv6s63Ob4ux3CS_EA1pUCd0e9GA0fWJ40U_HMYHO4llyQMo-ofMYoh7rYOCHhebqGmJZ_IvxkMg-Z3ln-or4B8H5DrPgPECPJpEm5R25-LeG6tk2WSoeGmFfh3eXcgrzphaoOk9J3qxwb9vV7UsmzxJCEPB6SALsjLY8wV2-vYqp5KQz2UvKSWIW00-6xQD6q_dHwtIF58qgeNt_FXimAfn0Lcd9EiKjqi5YjBJM4_D3eP9hvOaasqMehz1HvkgeLDEWG-NOjEY5-Gj-TnIuezwpiyIwInwEm5pEZx0Oi2RAnJqHtI5RJ9xQj_te_zSPwFkKE3_XHEBiY4x1ny_eUZt7X2prFZGdUN4upIB8_tDEbpcAZ2sY496P4ZxP6kR-7AWS7SH-oGJ3bgCowfTqk=",
  "id": "rs_0ad09716f164f771016ab2e879e70c87d083c8d032aedc06a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The fingers stopped on the small plush rather than closing empty. I’m lifting it clear of the table to verify the grasp.\"}",
  "call_id": "call_tEuAqSJ2Lm6Wm8KK9l9qXGFf",
  "id": "fc_0ad09716f164f771016ab2e87ecc1c87d0990e69e97c14a7a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tEuAqSJ2Lm6Wm8KK9l9qXGFf",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.651, 1.2228, 0.8753, -0.4515, -0.5426, -0.4454, 0.124, -0.0147, 0.8474, 0.63, -0.4599, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3241 left_y=-0.1277 left_z=0.1747 left_yaw=0.0259 left_pitch=-0.1016 left_roll=0.0423 left_gripper=0.124 right_x=0.2899 right_y=0.0014 right_z=0.1612 right_yaw=0.0033 right_pitch=-0.1076 right_roll=-0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.188, 8.8957, 1.3016, -0.2857, -0.0171, 1.033, -0.0752, -1.6068, 7.0359, 1.6581, -0.0317, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb2b492b93615fb9c3452fde46a9cf472cd5bf59a94e390025f3f0d1de999cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fddc1c16c3c91858741647ec155d5dd5aceaecbb264e9eff4c484f4f15f102d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a94e779f2a2bd7fcd26c15c279097ce2c05afa1329ee4ec1d7fa3eeffa92e2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.351 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 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]: [-0.651, 1.5444, 0.4358, 0.3065, -0.5468, -0.4446, 0.122, -0.0147, 0.8448, 0.6308, -0.4603, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.3201 left_y=-0.1239 left_z=0.0247 left_yaw=0.0288 left_pitch=-0.1021 left_roll=0.0472 left_gripper=0.122 right_x=0.2898 right_y=0.0015 right_z=0.1621 right_yaw=0.0038 right_pitch=-0.1045 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -6.1333, 6.0239, 1.1893, -0.2418, -0.0317, 0.9792, -0.3487, -1.2923, 6.9949, 1.663, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.17,\"left_z\":0.26},\"note\":\"The small brown plush lifted with the gripper. I’m carrying it over the left basket beside the larger bear.\"}",
  "call_id": "call_XV33nAMvsZgnFWTlP5BlliW9",
  "id": "fc_0ad09716f164f771016ab2e884e4d487d0b4bd958cd1f72238",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XV33nAMvsZgnFWTlP5BlliW9",
  "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]: [-0.4416, 1.9949, 1.964, -0.7094, -0.3973, -0.3077, 0.1275, -0.0147, 0.8528, 0.63, -0.4622, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5257 left_y=-0.1689 left_z=0.248 left_yaw=0.0447 left_pitch=-0.1118 left_roll=0.0338 left_gripper=0.1275 right_x=0.2898 right_y=0.0014 right_z=0.1593 right_yaw=0.0035 right_pitch=-0.1152 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -11.4256, 8.2256, 1.326, -0.1343, 0.1734, 1.0281, -0.335, -1.7983, 7.0496, 1.6532, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a0669abbfb063ff18142db809474a30dcbd949852cbba5c00012fb895d6f89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3145390fd31d79ca6cf3b6a1060b07b4d42e0155b4f319dc2252197a135d2d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ed70c36f278b43fb5d376ac0157c20273f137b4ef8815be630eb7cb2ac6ac1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 11.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 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]: [-0.651, 1.2228, 0.8753, -0.4515, -0.5426, -0.4454, 0.124, -0.0147, 0.8474, 0.63, -0.4599, -0.0116, -0.0231, 0.9996]\nstate[eef_state]: left_x=0.3241 left_y=-0.1277 left_z=0.1747 left_yaw=0.0259 left_pitch=-0.1016 left_roll=0.0423 left_gripper=0.124 right_x=0.2899 right_y=0.0014 right_z=0.1612 right_yaw=0.0033 right_pitch=-0.1076 right_roll=-0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.188, 8.8957, 1.3016, -0.2857, -0.0171, 1.033, -0.0752, -1.6068, 7.0359, 1.6581, -0.0317, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The small plush is centered over the toy basket. I’m releasing it there.\"}",
  "call_id": "call_3Vg1CemBhgaPjT5ZpVK0o3Ug",
  "id": "fc_0ad09716f164f771016ab2e889f67487d08a0f1f6a1c159365",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Vg1CemBhgaPjT5ZpVK0o3Ug",
  "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]: [-0.4397, 2.0155, 1.9648, -0.7315, -0.392, -0.3138, 0.9953, -0.0147, 0.8539, 0.63, -0.4606, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5251 left_y=-0.1685 left_z=0.2335 left_yaw=0.0482 left_pitch=-0.1505 left_roll=0.0456 left_gripper=0.9953 right_x=0.29 right_y=0.0015 right_z=0.1593 right_yaw=0.0038 right_pitch=-0.1148 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -13.0256, 6.6393, 1.746, -0.2711, 0.0171, 0.0659, -0.3624, -1.6615, 6.9402, 1.6532, -0.0366, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de620849f3d3c5480f3e70d3234b801d5e456ea310ab6dbe981fe150b38a9cb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b51d786d00d1eacd4c32ca311bd3c2ea7c7f9528f616c92f9e6c0a7ac9a6a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccadaaf2248108f5ab078f363b75cd9c0614594ca80c8101e9bd3e739d0376dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 6.556 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]: [-0.4416, 1.9949, 1.964, -0.7094, -0.3973, -0.3077, 0.1275, -0.0147, 0.8528, 0.63, -0.4622, -0.0116, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5257 left_y=-0.1689 left_z=0.248 left_yaw=0.0447 left_pitch=-0.1118 left_roll=0.0338 left_gripper=0.1275 right_x=0.2898 right_y=0.0014 right_z=0.1593 right_yaw=0.0035 right_pitch=-0.1152 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -11.4256, 8.2256, 1.326, -0.1343, 0.1734, 1.0281, -0.335, -1.7983, 7.0496, 1.6532, -0.0317, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuiXnWRIGWjuIgAP-YsyWolYxxteMy2ob4JlcASvhUPVs0nWorCpi1WKjjKUm4w2V-QRBFdag1HOLwOsoF743JjDVs9UhrF5SJ002XGU4OBc_MqgJloRjfSvgu8YGVd3-nCHQaIV6aqnzmIxSiownLGH8yS-eFzqhCL5NI_nV-SX1CHCTznTF0em8Zn0GuHU8blcao83hrU6km2Ui2pBb1Zi0phBNL-cPmLwULNKTMuWNtriTpfxFcTfvGAply_tVSZdkqDX1UdbZR5SKzk7Ud4AhtV49KnOQ2IxgfncIxcISIxLIN_OLLob_aNV5n9VXL7_z7ONJiSdyQUkXkRUMi22eT72iyZuM2fpdtSrcdEvHQiP-njhe9wWE1vBIAX_IgA1LVqEr-nhWsVXl6griEaw9eP3KVYEpfvYlzY7plRqYfvkoFNRBfoE0zoSlwf0uCJIViUXQG3eX9UX7O2GAAmIC2D3MHmEPp7tAjVItcmoBm4NfnwgYpESkIxOZhQMJxb3UDHBpTgROvIc2WTzOIcZ_Bq8vGt4uUMVr8gQnscyWP1-DMK4dYScSF8Aa9Vpw8k_Rr1qRMMhee2htZmgEf4nacySW7uSpzAgN-KaLeUEYg5PX51FT-a_iswgk1ssnlDomb7hr5Uyp5cdB86tQLivnEhdW_pFhAAap309gwIgIyJv7zZn_f-A1TxYwd2kUwhY4qgRQ6J4WgTbLnfH1Uyk5lolxJVh1H9VEHB24b6epqT9rzkjwaYNIjGg6Dn0DY_wE2zgtqPkj4PFFgLp0uwHwnVv4IsaVle3o4koi8ypAeslKg3ZiYdUwD-dqIjGNRm5xz5IXjIyq5kVCtPx0D-31C-Xv7MfFDpZy0uB_99bS0nUO1JXI7CNybimuapCFmn0qdqbWtCf_SiV2dG26fjCN3RLvWAW_vZ0JtsYju6cmscFf4FeI65oTTrImD2_m4bW4yingb9RDO21m76oCq-2pGqDWGeyMXECz7WNEoBK9Cj8XFncZA3bRf5u3l6yt0HFyCtDOKPwEZhaxQOHHnrKRsxevUlMcMIBpOXQbG-3t1OjOaHCiuM83VJT6T_WAu-UcSm04wnMZ5-ubw3fzLj0MkNz8zO4Pan7LJ2m3hk0opwRP-ICmkUyQa4L92NaYepXWohCJ-T1046uprLgZlqyFgOMxfFbUbtAPLxEEHOVgW1XMxnyPld-h3GHxmOS672YkYBLbLW6J5D0SuRUP4uRIQ7uF6xdNS_YHTLFoZbhURCqJ4LcNLh-2BDqt5hWSy9id3p8yi2-7StRTdhfQfeBFiiPeCi3gIXtnGAmK6-zfqkS5qR6GD25rO-D0-BSy-d2vBeCKcG_Gl8F2BS2V8Lo7rypFRJ0o7ZdWaU7rhmu5GqaUPUG54t51AsUYN5Sa1Mt6YmXk2xEjb6uYF-DzBDfzcPN46PgBn7dS1JFbIMqwDOVf3eq5OT0scKnhrL8aVWGL6HxUuA_t5iGEqqm3zNrviH_oJLRf_ye356WSVU910LdtGxlUXY1flWvjViZPQcKfvpBrlf0EiRj7UD_oz2wuNzsUg988pwHYssrtCd2aAu94aLs-iVJGnYL7tiFVYo-0piXVfFVU3ZZ_mOnP2YuVbZ41aeY_VAXN0jLjBx2lMHdnr-9DDqKswc15P17ZuIwOIj6ukPmXHoKkf1gQg0wHtplXZAjLQ8byc6oBM0o9MCId8c1jmre3gauQ6XwO7QGlXtXng-0-L_JL37pDTAnlN_gitH3Um_k9DuyuTIFDIo1kQrzNWrduZSc_zpADD-ikI-diXTtw-Y7OR2RXd4RblGReOviJzX3SwxDhYHNrTPBZ34oSrEJQ2an0QHVhdvyl4MWLLaoDQwZRZp20PhnH_UdDCf2ck9ojYYHS5Fdf_MFEyGWuM5wzv1RH9j8LiVjim3eauBk4BrjF5K4YPODFQ==",
  "id": "rs_0ad09716f164f771016ab2e88e28ec87d0954fb6757e97a60d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.30,\"right_y\":0.085,\"right_z\":0.055},\"note\":\"The small plush landed beside the basket rather than inside; it will need another pickup. I’m parking the left arm and aligning the right gripper with the black-capped pen.\"}",
  "call_id": "call_Z2zY90uzH6hI3yv8H8mHBKaw",
  "id": "fc_0ad09716f164f771016ab2e894f67c87d0884fecfa19b88edf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z2zY90uzH6hI3yv8H8mHBKaw",
  "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]: [-0.1024, 0.8272, 0.8101, -0.5385, -0.1665, -0.123, 0.9967, 0.4496, 1.1965, 0.3626, 0.0639, 0.3183, 0.2638, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0025 left_z=0.2334 left_yaw=0.0904 left_pitch=0.013 left_roll=-0.0074 left_gripper=0.9967 right_x=0.2957 right_y=0.0853 right_z=0.0512 right_yaw=0.0316 right_pitch=-0.1528 right_roll=-0.0176 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -0.7726, 7.3504, 1.9414, 0.1099, 0.1294, 0.1343, 0.2256, -3.6855, 5.4496, 1.5702, 0.3004, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff711d91160c8bb5f752a40f8e76eda2e5a1cd0dc5dea6be21c6ef93e878393d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c821a9b77f29bacd3fde82793795d904d7f26e06346fa9fa3594c722c4e1371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03246ecebd25c539387e003fe5b4e5e060307bdc7d36ea5ec61922cd90e7e92",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 7.353 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4397, 2.0155, 1.9648, -0.7315, -0.392, -0.3138, 0.9953, -0.0147, 0.8539, 0.63, -0.4606, -0.012, -0.0235, 0.9996]\nstate[eef_state]: left_x=0.5251 left_y=-0.1685 left_z=0.2335 left_yaw=0.0482 left_pitch=-0.1505 left_roll=0.0456 left_gripper=0.9953 right_x=0.29 right_y=0.0015 right_z=0.1593 right_yaw=0.0038 right_pitch=-0.1148 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -13.0256, 6.6393, 1.746, -0.2711, 0.0171, 0.0659, -0.3624, -1.6615, 6.9402, 1.6532, -0.0366, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuif5rPeeoRLYYJNhczxwLB4z9OqZQRG4crHdtrHD1PM8wdNNJaF0E5-WfNJyuAwC81OOZ8Xu-c7uE1LjJd1mwYcpaX8M4Yj1TmOxW8zALS4BzW9l9cMC_B8hS2XJr6pDVo6poa6-F_ERKCDUk2Sd9312-8Yv5uJAh8X9XshFX8bq1bNnTydH6HPnLSTh-GTLvC1_PEh0ebdi7Rp94WOD2n8HhUb39JqNJlvSgmoTgqLH3yb7y3LZzlW58YLRqjab3upjIQhY27MIbKWUFVUTYGNbfQ3Bsx5kqE6WvhjdShcXr2f5YL_qBz1vGKG3tLoIPifp-u-2FuIOZjlJDrJ1HF6YHuaAOk68lQNM8Ql0K7z46w9x5JBr3qCGt2Izz4Vg6ClFb77blbSHJuMozvFJWo2uV4Xr3B-eKgv-p9i2NMQEysNP2oKIAG-e0Htv3oqT5VCiux9KkABA9DbHNrfzAOlL3KEhrdo59Azh1KJy2DyxiBRqInqF4XNZGzEOXnQ_RBtjJdsYlpkm9ffsWcn77JSwrZqn5NyhAxBuP6tjxLf5JPjLDmkl4sP3MhLWhvBP_myP1jwSoiEpgz3bhUl67vY9zx7y34fBp5rKbDnmY6_BEV_8ZQZgJEgebbKk6s3v8-fGCUA-UKifG94p27Ztw-8MNMQAcSvarZEngcASidbm0E4b4PIQMLXiMCk3rcsTqWM0kYVJ9aRyRFJG1xKAPNS1U6QVJp9Y19eEgEoYqkosjpLdw9xNM3APTINiAUsC7dOjxMSCKthwW0oaxWjRTnaVWPEl0ovXNe4CCNS5LLaPI4_I7MZfzI917qYKY6LMxZPhIksIgwhl3PVGhcNjlcnvixJ27IuJjmcN9u7zBouUDTWCBp7hu078hqFb1q-dcWZHQs9qH2j-fjoxBaASeav5VvHssuk2dYtJQQusdJi4XRkuZNoJLZTOm1223j4htrNCpDjgHTEt0lchOn9iA0MZsQLOSlkOwnXurC2hB6R44x-Jqz4OydH1DjTlw9U34LeGDGK9VVobLXmNM9Hroy3gHSA6k_-aMjD8uo0IXxs0X6AITDQaw7nWPJTWa1Ul9-vEn9VTpr1RVQNqORT7ZSy9UnTkNxzRDgmv2kTia4K6vU91uwZ-mGF1_deNvlfbDJrAewTrzyaCJPzERw8lH2EagUeh7ff00iKqyRFaf-KnWzXiJppz_82kIdgRa9us16e4jyrtauMPoZZan-o0Y1XatzrSjZF2S-5V0Ir63fcEuEJiqDDioBbA6flAZqN99j8JtJHXsbG5ROjFPjLhdFLdhRiR6hT5P-mzGm8QWVZY2rqzocAOBRJgw5GckrV6wJDLlKbUlg8cHStKLFuB_7rZDRiHM4LLutWeqp29DQLIfbr5gkGpW2Ki0ps8EsPWlfK-KjOobgrdbGNUwBjpv5R-td8rEquMIJtL2ZqpYh0q4I=",
  "id": "rs_0ad09716f164f771016ab2e89c1f6c87d0a9bc74ebf5df9418",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.07,\"right_z\":-0.005},\"note\":\"The black-capped pen is just right of the jaw center. I’m shifting slightly right and lowering to table level to grasp its barrel.\"}",
  "call_id": "call_hnreHifEyQ1VVH5SKm22qeTw",
  "id": "fc_0ad09716f164f771016ab2e89e853887d0b1dfd9d15af43f12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hnreHifEyQ1VVH5SKm22qeTw",
  "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]: [-0.1017, 0.8356, 0.8024, -0.5549, -0.1577, -0.1223, 0.9968, 0.3805, 1.4158, 0.2436, 0.4492, 0.2756, 0.2401, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.2242 left_yaw=0.0834 left_pitch=-0.0197 left_roll=-0.0053 left_gripper=0.9968 right_x=0.3041 right_y=0.0737 right_z=0.0116 right_yaw=0.013 right_pitch=-0.1206 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.8256, 7.4598, 1.8779, -0.188, -0.0317, -0.0024, -0.5128, -1.9214, 2.3726, 0.1685, 0.0659, -0.3394, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51453d5ddf31091fc1da6ab0195880cc493bd58c9ec6167e68e0314f4072338c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7949570b78c2cd40a749ce0a6bdf761c337b740a1f98e6990f0c53df3f8220b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd56295e58822851f6eb6a92d92265b12cedd8e5f2a77b2250b6eda5eb34f74",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.451 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]: [-0.1024, 0.8272, 0.8101, -0.5385, -0.1665, -0.123, 0.9967, 0.4496, 1.1965, 0.3626, 0.0639, 0.3183, 0.2638, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0025 left_z=0.2334 left_yaw=0.0904 left_pitch=0.013 left_roll=-0.0074 left_gripper=0.9967 right_x=0.2957 right_y=0.0853 right_z=0.0512 right_yaw=0.0316 right_pitch=-0.1528 right_roll=-0.0176 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -0.7726, 7.3504, 1.9414, 0.1099, 0.1294, 0.1343, 0.2256, -3.6855, 5.4496, 1.5702, 0.3004, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsuinan_jj6chZHoxnRYsR29nVpnv9qPM41x88_w2ij-9w2XFgz1p9FC1VqaAHwQcOOEy_eiDPAB1nLONrSSSJKBOVwvKS9clBq8l6kkrT2H4PbR-cCnMqoefE0-gfBhtB6odufNb-h-qzVpHif8XHWXodxcsjTh8Tfp8vh6M6UFwZCkn4vQwUqxaAHHo6dI6ZnecwpNgcDrL07OZE8wRvfxshihX0zTn9lA5dsmKBU6Lh1BQ_t0RhAZoisozBSf_uwkbd7wde78FuZL4Sh6y1RyNjLCNUPrJsAT2u9WS_3fa9wQZ8W_jAbaAdF6Wzofhj0hmDS_QsTH7oyb1DrGcyX_yV9kwuH41V5GEaX_HVgoBS0oLo-JILxvluk-wx1AZHbbODEeG-lN5P54xandoLjlUr0LSzxlPRoG5dZpflJyUD39zOZKC0Ed_FTjdE0aQgkr8bbbQ8B4o36MO9UgjCNZozO5brTsE0m9nrb9ONjq7eX56AM8PSyN3qGejDyqWZdw35adJzhVfgu0gHRQw6g_bsmOYPbSg3wiy7M8TREpjSe-idtCSkvxm4flNnNV3IlRtEPsFCFrMHQC4khBzuCAznano7TZ8-Gtzslg9S_t4NTBr6WB_5K3rNPB8WyOVLrv1NgCZmXFxAVyQCveEmcxT-jOvqaWZPUZKL-x04ynMWo7Xopp1JxCsEmnPNusKjbrDybTIs1sbizW1cLW_-e73Zz_sKL76HduUmmk5u-jgMJVPhBZESUN-9f97gCat0e1OiM_NdJqq7BrGWgC75J2Ijoh9CNnSV0Qv6sVWwVAeoUvOQiwBI9u5oPBLDfbu9Ty9eDFHLTbYjJo73zOzOXyfTq8xSSm7ToAKNz75wGJC5Rarz5ofpZI-AOG5xdMZtjaqO0vXffX0a-QxXiUQHBh_vsUjegilxGjwAkEOCtVflakzpLGUPjvrX6QrpJkFe2lmFIg5G2243UPHTflYvlL4YWtUwY4Luz2jK-yl3fdDPwuaKeaFaprkptVqamWhZAyRR05Iz9qHZi8rBY_Vfdq6ZDCULGlUhTTWDbHzrZW6DaYIguvBEUho0xbjQYIoQkTIzoSz5yjhZopZmLL4ghAOW3SEhWlM_JYZ9KZ3xJRSV19MHXkT5Btt9IZxcG144QK2_5Wszc0V8YXLDM266a8wmlVIc-hu76rs6SXX0sc0yp8jeZfYUnE1tRAaLYUyNdBWuXgS8IX1y9sv34JPFZei2p1zHk-LEeOH-cU7WK7hQpzCeC9eGDd6eIp3D-_Qe2A3QUZwA1ccn6JwO898rfWTXPoUnXoYD3utTvFZpBo7x3Q7GA13HvtGgjYOqHFzDJ6yFrMWPJBsctOmKUH04vrTi6ffZZTdxSvllKT99jBXuLYuNslm25MJn99asKkcFx5zpAyf6hGBZ0hSxqkTnc0RADWo4bgD9Xjf_mTR5U6I9Ww=",
  "id": "rs_0ad09716f164f771016ab2e8a42d6c87d0a778d1e7e0f16503",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.052,\"right_gripper\":0},\"note\":\"The pen barrel remains slightly to the right of center at contact height. I’m correcting that alignment and closing around the barrel.\"}",
  "call_id": "call_S5qyGPxOltimuBny2ly99FVd",
  "id": "fc_0ad09716f164f771016ab2e8a6194087d0831a96c7fb8f6aa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S5qyGPxOltimuBny2ly99FVd",
  "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]: [-0.1017, 0.8379, 0.8024, -0.5571, -0.1574, -0.1272, 0.9968, 0.3771, 1.4189, 0.2295, 0.4824, 0.2577, 0.2256, 0.1375]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.2231 left_yaw=0.0858 left_pitch=-0.0242 left_roll=-0.0088 left_gripper=0.9968 right_x=0.3036 right_y=0.0757 right_z=0.0116 right_yaw=0.0329 right_pitch=-0.1096 right_roll=0.0149 right_gripper=0.1375\nstate[joint_eff]: [-0.1846, -1.3607, 7.0496, 1.7363, -0.1343, -0.0171, -0.0122, -0.9641, -4.4103, 5.559, 1.2479, 0.1538, 0.0122, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7094631ca8de5e77d8386cfb829ee85069e7e9b0adfbb0a1fe865888a82a600",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4629550bfb746eae711d594f9f59817f92a6d3533fc3f0d291896ed50fd822",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f0fb735818619fa8cb6ce7a74027a82091e724c33412ce3131998838f8fa94",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 9.137 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.8356, 0.8024, -0.5549, -0.1577, -0.1223, 0.9968, 0.3805, 1.4158, 0.2436, 0.4492, 0.2756, 0.2401, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.2242 left_yaw=0.0834 left_pitch=-0.0197 left_roll=-0.0053 left_gripper=0.9968 right_x=0.3041 right_y=0.0737 right_z=0.0116 right_yaw=0.013 right_pitch=-0.1206 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.8256, 7.4598, 1.8779, -0.188, -0.0317, -0.0024, -0.5128, -1.9214, 2.3726, 0.1685, 0.0659, -0.3394, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The gripper is holding a pen-sized thickness, and the barrel is aligned between the fingers. I’m lifting to confirm it clears the table.\"}",
  "call_id": "call_NSV2Rm6SxEN1HFqQ0JXjXYvn",
  "id": "fc_0ad09716f164f771016ab2e8ab038c87d096e60c8b20b84cf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NSV2Rm6SxEN1HFqQ0JXjXYvn",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.8436, 0.8024, -0.5602, -0.157, -0.1307, 0.9968, 0.3756, 1.0012, 0.675, -0.3706, 0.2493, 0.2214, 0.1436]\nstate[eef_state]: left_x=0.2952 left_y=0.0013 left_z=0.2209 left_yaw=0.0873 left_pitch=-0.0329 left_roll=-0.0102 left_gripper=0.9968 right_x=0.3068 right_y=0.078 right_z=0.158 right_yaw=0.041 right_pitch=-0.1016 right_roll=0.0202 right_gripper=0.1436\nstate[joint_eff]: [-0.1162, -1.7299, 6.8581, 1.7411, -0.0904, -0.0171, -0.0122, -0.1983, -3.412, 9.4017, 1.4286, 0.1392, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6558bf1a5f7864ac930f6c6a2220a72628df2c82ea4f8ac732a83a8d5f8728",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f841c8cfdadfd34228efd3982be3e68151147075bfd879921b46ba6372e62bca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad1482ea290c134d37b14eeaedfa3259c0dd96c4c8e505570173bbc58f97000",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.861 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.8379, 0.8024, -0.5571, -0.1574, -0.1272, 0.9968, 0.3771, 1.4189, 0.2295, 0.4824, 0.2577, 0.2256, 0.1375]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.2231 left_yaw=0.0858 left_pitch=-0.0242 left_roll=-0.0088 left_gripper=0.9968 right_x=0.3036 right_y=0.0757 right_z=0.0116 right_yaw=0.0329 right_pitch=-0.1096 right_roll=0.0149 right_gripper=0.1375\nstate[joint_eff]: [-0.1846, -1.3607, 7.0496, 1.7363, -0.1343, -0.0171, -0.0122, -0.9641, -4.4103, 5.559, 1.2479, 0.1538, 0.0122, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsui3iAFdKqMYKUJSvF0hY6AJOP52YOlzWuz_j1DDOCHG1a1UV05xNkHGWV0TKjw9bj5vemLYWAKjmN83RZtN5A2ObwZrbJX8WUv0LcpeBcTxxcrfN2Q-9_1jpyhYq-qLbV-m15knTr35OVcx514cL-AhPOEg1uD78OYlnKEQqTPPrFDcXPKrX_2ofueKYM74QYc7iVbqAZVCC8bpf_abWf0K0hxf72gptCJJtIE1frs39reaQAYxhcc9Rgw6_8Vw2nJlMzu5xQL4EwMoNgh4rlHE5VKYnMTVdMNA8Uj07ERBhdLPkkYHvciCWSrFU3eVZXmz4GF3I0mRwzWepJobNcNRzKY3vyqC0bxmyyYXdEsDqOTuD1b7ZJWV-Y_fSU-nX8doMqiAXVNVlgm7LOWgQmU6uyHkc248i9Ss2GxWZYvPNyZIXLw81YOzJKRhJzHbIGnqKmBbGf3hHzWOMEBKUoxgtI86G-VYgBIs6OtGuf4-KTkGxiArPtbb4olIC3qUSXrfg2uhuZVZUEhQUuJBDymev9zrIrzdwBAEH3SzOZYNnEBfR4Z9s6sICKYIkX6kj06yUe165hzDfj5VC6-iGITkchTIK6oFcm2rBulUcDgaaXnDziOkKsbqkZYQRvGBvPQidh_PVqjGKoWxt_AM0yndAfzE_tsomrHSuVjJwYnPafCGdWSocaO5sTn_AZ2pnkWmMvtufuxGV1OZ1Dxuk6HDjt8wqKY2h4F3T0GMGkj3uZkwvnCYh6v26kHaDgVs1VFvlp31ZpQaERzEO6jk6i8dBAOr57fzxnd5GI8umMwa4O9uG1PynJc79RZehoYn9sTk42Du80UDRWdAr0Zagr-XiFouKKQTKZru9QinzI9ssy9UIKFJmojZ3KCM2yZM49TIrIfTL5gKTu4FJi3ZST-Dc1NBRpLpETvfcrd-wnYKo_QlMgQF-nb2lQTN0KsIvjPTclP1cG1_YwIi4crYikQKhxQOsOQjwiLhT5udgnmcrLDzXtb7CPBGpokhpVdMxXTZZL3JyFuHCz7kY1JpDhczdlC-SRP3WqMjuianJDBuRbBVu-7O-av67XvJ8V9dVhhX_kwjbOUmX7ydU38vy61QIrLH6nFwJIiVAZKGdX0G-P1HGtpALVjv2FjGy9qqkl23foTS5VR5z1jpUahDsGo1mmj9B1lf6AqPxFY9QPsFl9Zu1qN0oN0jfcpxO_YWRuSsDyRU0SfXWXMP6qUQcCxbB5r2jT40rviiYf4neaVeyJxXxE551YBSFPmMuz5eVuLiGC9uv4bSx7OyRdsscZrdOSmo_OsHXdU6WQAy960W-UcRBXc3rWmpTuIQYwX2UY_pq452HBEGQcaM0vkCvoPsLzD7aj74hh-HPmUKQB3lBpIjckPzx37uJUhLfd95dZI4ll90HhAXUsKQNf0CyyY6KQmXNAVeusULiDVEKE2EHGS3iNPS-sA-eJxKHZd0rO4HXx0hGLQM3lR5xLvp8GvaT76tHxb8X7lNNIJPETsj_JJqVElICgG8LAYNB5QorEbsM_DN1wcH1u9CLdea8LDMVWwkfLqGW5b8ePVKIblGZMk8id0mspID63L__e6egI7wApXys0xmHKZQD5J6pROYvsD0P3RC8Qk7NK4zH_8bSxKIXHUPK1mWDk5hyFgfwUmh6UmNCnT7kxrtOFbyChbI6jkDjVSDm9l8ty-FrdNE66dsyXMEVIVxRUJmK5dSU330",
  "id": "rs_0ad09716f164f771016ab2e8b1081887d0944ccfd82bb065d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.19,\"right_z\":0.23},\"note\":\"The black-capped pen lifted with the gripper. I’m carrying it over the right basket, reserved for pens.\"}",
  "call_id": "call_bVFZXAE3n1HET0ooHaEwbOay",
  "id": "fc_0ad09716f164f771016ab2e8b5b5c487d08bff83f8a671897a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bVFZXAE3n1HET0ooHaEwbOay",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1017, 0.849, 0.8024, -0.5617, -0.157, -0.131, 0.9968, 0.4198, 1.9755, 1.8198, -0.5625, 0.2775, 0.234, 0.1481]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.2191 left_yaw=0.0876 left_pitch=-0.0396 left_roll=-0.0092 left_gripper=0.9968 right_x=0.5261 right_y=0.1857 right_z=0.2182 right_yaw=0.0542 right_pitch=-0.1155 right_roll=0.0053 right_gripper=0.1481\nstate[joint_eff]: [-0.212, -1.812, 6.9538, 1.6728, -0.0464, -0.0757, -0.0122, 0.5128, -11.2342, 8.8274, 1.2967, 0.1783, 0.1734, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741da4977fa601e93360995de5dafa0eb27314715f942659052ee85f49c4dc38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c77a983a7f6c50f6a95cac7ebc8a9b5663ec83bb484595283362ff0b1fc705",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5392e7747dd957131433f431d6a6c6755605955c85f82b44ef2728c7e580952",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 9.505 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]: [-0.1017, 0.8436, 0.8024, -0.5602, -0.157, -0.1307, 0.9968, 0.3756, 1.0012, 0.675, -0.3706, 0.2493, 0.2214, 0.1436]\nstate[eef_state]: left_x=0.2952 left_y=0.0013 left_z=0.2209 left_yaw=0.0873 left_pitch=-0.0329 left_roll=-0.0102 left_gripper=0.9968 right_x=0.3068 right_y=0.078 right_z=0.158 right_yaw=0.041 right_pitch=-0.1016 right_roll=0.0202 right_gripper=0.1436\nstate[joint_eff]: [-0.1162, -1.7299, 6.8581, 1.7411, -0.0904, -0.0171, -0.0122, -0.1983, -3.412, 9.4017, 1.4286, 0.1392, 0.0366, 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_gripper\":1},\"note\":\"The black-capped pen is above the right basket’s interior. I’m opening the gripper to drop it inside.\"}",
  "call_id": "call_k1ur0gzxCwvdVXQF5wSYJx7L",
  "id": "fc_0ad09716f164f771016ab2e8bbb2c487d0903aea647e5af184",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k1ur0gzxCwvdVXQF5wSYJx7L",
  "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]: [-0.1017, 0.8501, 0.8024, -0.5606, -0.157, -0.131, 0.9968, 0.4187, 1.9957, 1.8194, -0.5785, 0.276, 0.2253, 0.9952]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.219 left_yaw=0.0876 left_pitch=-0.0396 left_roll=-0.0092 left_gripper=0.9968 right_x=0.5256 right_y=0.1851 right_z=0.2043 right_yaw=0.0574 right_pitch=-0.1501 right_roll=-0.0136 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.5385, 7.0632, 1.6679, -0.0757, -0.022, -0.0073, -0.0342, -12.9983, 7.0496, 1.7802, 0.0904, 0.0122, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1c33885030183fcbd0dbcc975e224f3ced41c2e5d0ecd26e572d61554694e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001e7bb3ebce1d5d6e29b11e1f957cefe15d1e221f2c5b8126fab99713a18956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da468f33a909c7bbba9215497f45ef28d6ec061f2e26080cb759696ee4522775",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 11.01 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]: [-0.1017, 0.849, 0.8024, -0.5617, -0.157, -0.131, 0.9968, 0.4198, 1.9755, 1.8198, -0.5625, 0.2775, 0.234, 0.1481]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.2191 left_yaw=0.0876 left_pitch=-0.0396 left_roll=-0.0092 left_gripper=0.9968 right_x=0.5261 right_y=0.1857 right_z=0.2182 right_yaw=0.0542 right_pitch=-0.1155 right_roll=0.0053 right_gripper=0.1481\nstate[joint_eff]: [-0.212, -1.812, 6.9538, 1.6728, -0.0464, -0.0757, -0.0122, 0.5128, -11.2342, 8.8274, 1.2967, 0.1783, 0.1734, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsujGj4S7zz2EqyZ953D-h6m1G3Y6TGQrK1A4Trwl2zBmZWDC5Z9KvOL4wDyiRLMKJUyu-4GnwxsTLLkdqZLXsMWSfRGDRDAj5IMnOEt9btQzPcdkAidu2wYffR6Na30rup-jjH9S55Ul21rY8FidguBtVK_VMYBeHEfF05wkJsRJwbLZ5_qCLTAIkoDdGH2QIloA5PWNnvkuKpsOJCgxODEY2M0owVnd3xoMvBGcCpjM27uwSiISOXDOs-Iuf_4NTl5dAkBq6keEQLGzkb1t_R9tFKq6nr2Q20UpWyr2KxN_C8pXs4zEuVsbK4AtmUawXs_EuMWLwpImyCO921njVXPqgRpr6GmOganmGfgwHgF2c-RmNQbPCulZay6-7LbSsT45WZ5r5LE5GKht-Dymb_aOgmPeZn5QGtGajASQMkakKnt0s1fXIkpg7GgkJHTehVlNKX_UUJ2lKm5YlKWVveAW1a1yIzZOF8qL-VeQW7A-EY6Uj7gmPpqZmLrTwvdf_MVsuaY5w8nqq6NNkpySvNgpQpvnEXzf6i6QGY-rECQJUa6KH0iYSFJs5qiPWHPprJGE0pU3GpMTpjX8lsiFpSnfiR7TIHf535OMN5jsc-3Bomc8RVgh0ykplpHtJenByiAsq0iKW7njIfHVwWx734eH_-Rqdtwquz2zyB-8H5UrQiYqq4pzk7QXk5-smeqbsnObU8ODDQGNY5MOZDaeXa9Lu-kiF6EDapYthufUgat_cu9ARQeBxKRdEhUo3LPACy1ynBdiZWGXx8wTO2YGy4BafqENUjJgFtjewrEnitrU_nH1U_yeUCYSTTqJGv3EWwwTAgDdirN5hesd_tNw9wjjbTUabxcn-SUmS8j1f6Ptn1SQyEJHgtwSJfY2Pwj7YpkikJPtMIST-eBlu0zd_jtLmWhexmFQ1eVCX4fWVpnRuQBEbbNEoZQFpOzs-1su2VyTRL3uS1p5vAb0bbnpuW1DPzvJd_V2LRbRawKkyWwKV4T7GEFIXESbT5UcZDVnQnBxLsuDYlT_dzIzy9UzH_0-m_1DTEfMsjIxc1S4p-93aCVhFuttV1GLUJCDHHZHv8ej46EGlZT0-b7_wlcf2ATHIAwiruCB084YV3W0n1r-5FpaUJPXU7Wtr1hCxAyqHmCt1ppHh54lWwKZv7q_sXSpAoQV6Lts9L1kV31Rik94Co-hpjsQg6CDTWMh0EP-tGqjOsIXtSjMUhQzRT5rq2QakiNkvaREy4oECqGfSfqjquY654y4J4PFv32NggRk8aA10ip0wO3CCmuj-OkE50rn2_bOqM4ra_xjRqGpPgG5b0YnYdmW_p6rnyClwX6Z9u5q0jKiW5rV3jZ24XdDbDL9bIuIIWyqmjmn5KmCR2vPvHBPJcgOvIZ4U5QccxHp1rXpkg-mzrQmSkblaQN5to59SQkPeNvdufnNnfafRcpXzGKgJk7R6ktN1FXCjfos5CDpJ95cfkvSCu72p0mtjYWlBLbR6Zwv-Vq8jeOiVrJ3AsRlW9q8D9-3s0gflf70FZ1X2vwOLT4wWY1ZAq-maswIgai2zuv3snhohaiy8AZLeBYlEfBlpDfo7OgTMWzSrU7YKdkdYaKRukJvzhTrPP_Ybf5gSBjG6XXIa6z7KazF1cttsdj0IXerq2D7w_TEkesXeSQtD11EiqQ7wSXsn2jPG2Kjx2Vm3k4Lzh1Fi5S50PYNf0oIm2JYlYaaCbA-9z43Wb1m41V570aIkP5qQMvtfL1MfGj530WDeGD126A3Y3uigoriQ6IwPtrAPfiCPUNtn-mWoXOA_OsHLOnh-0FWJNwODtb5nugJeBCI-AqFJoEtLK_m9n3mPcySJj2eAYeF--tdWCAPjRJodLWj90q2-A==",
  "id": "rs_0ad09716f164f771016ab2e8bfd0c487d0a40d2fb8aae4449f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.145,\"right_z\":0.005,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The black-capped pen is lying inside the right basket. I’m moving the open gripper back to the blue pen’s barrel at table level.\"}",
  "call_id": "call_mik4GEVGp4e4ijenPYsOfXCO",
  "id": "fc_0ad09716f164f771016ab2e8c4e14487d0af1a960610a8cc32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mik4GEVGp4e4ijenPYsOfXCO",
  "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]: [-0.1017, 0.8566, 0.8024, -0.5602, -0.157, -0.131, 0.9968, 0.728, 1.6081, 0.3, 0.675, 0.5503, 0.3843, 0.9961]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.2173 left_yaw=0.0876 left_pitch=-0.0456 left_roll=-0.0081 left_gripper=0.9968 right_x=0.305 right_y=0.1529 right_z=0.0244 right_yaw=0.0635 right_pitch=0.041 right_roll=0.0222 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -1.853, 6.8855, 1.7265, -0.105, -0.0708, -0.0122, 0.6496, -3.0974, 2.4, 0.4029, -0.2613, 0.0073, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f681f9a4c0f01fcb657ab916ae2a84de28d9e88fd676f61bd1e92d4424d07e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833c9f64e0e1fc65205c6cac580c04bf638c75787eb1bcd4112e8c604ab8a4bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb1ab5ebf1a93cd0b31c192151daf831d5de04af3eb5dbc0456b8afef2bc3c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 110 changed as sent

message 110 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]: [-0.1017, 0.8501, 0.8024, -0.5606, -0.157, -0.131, 0.9968, 0.4187, 1.9957, 1.8194, -0.5785, 0.276, 0.2253, 0.9952]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.219 left_yaw=0.0876 left_pitch=-0.0396 left_roll=-0.0092 left_gripper=0.9968 right_x=0.5256 right_y=0.1851 right_z=0.2043 right_yaw=0.0574 right_pitch=-0.1501 right_roll=-0.0136 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.5385, 7.0632, 1.6679, -0.0757, -0.022, -0.0073, -0.0342, -12.9983, 7.0496, 1.7802, 0.0904, 0.0122, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsujTp_FrqzpsoQ-xH9pzds3R9TcoCCBmXS_p_wklRkbB2dljzVSg7UupSwscGmq_o3QWMrJm7dNUskOWfZcdFNhR39J8PKTxB0iEbAXGAX640Z5geEp-YTHo9ZR1o2ygFnCyRxniqDzfulnlcNOEMSJw5Twxw2ogpvLxFvWYqvgJU7TfEApPpCVicde0SV9h2_tuWdT-ObFveD_HtKk5x3BKBG0ULpWqPgc-4KIbr8Ddqahb6k6i_UJnsdCVtCRedf1O7J4SkrVou_s-2UJbj8zKU1vMYqy2VznkgkS1WxoO_jSfKp1Uq5qSJKhqPqo3suVabmgSmu0ZIoxKZgqQAPP4sie2rzCTU7vgN-ZYfdGUAHpngDEpNAgjUTW1a6abuI_buwSZRk5BYyInDtT7019sn_Z65DoBg2Z6eLV6PR3NswKope-3ggTjthWXBW3yKrdz3f7rTTO0_F8opflpAb3UvDmUq8YjM4onHNN-LMCKfaWFOBYANy-3B3GSZ-WlBbVUyV158EX_63bDHxVxHUxnYegomoXdhepsNoZQqNfL8jqbbe5y8CxChQssMy_wv7Oy7Drc2J4noDNk4FMYwksS5NjcTXZFoVFwaTHKZSaazFsBWlASMOph5nCL4WfbwHBbrKtzT5IfJ7yTnohA0tWZ0S3SsK_-FoAWzUOnjjQQ7lOPSS95bVM3GLFLqBdi1gkwn_lReMlJ3V5dv6T2pgMGH8a__Y8yuHRREiLCeRXYEr_Ies8WeWGu8-Nast-U94fPtI0gAFEUINu3Oc0FKDG1TcVTgq7BPo69kStyRwHlbxcVSXHWSPmMszdijCpBYOf7FLiZZp9OCDpsbf9UCrHF7yvdgqTtuAWDkm_XzZk9psXVgH35kcoq85N6IYZoD79fAtjVVD6EE_HhREhRWPfh8RR-CntttKi3eLhj1ss_eiPk9yc4UKp05CDD2oC_ntKfsGiF0bJE-Xo2y4m8buBugADVY7bLaQaDTdFAvySeO6w7LrdwBaWReyLdnxOD_6EL0P6ZRxNH3dcFhfJaRhwGIiqOQ-ZwOZ5UgIap2JAxdqm7uk1Hbv_npzJp2XOxQrx4blaGKcR-Zk9btP2qu016c_ZrrALBe69S3C3RQuiBnCuBruQjAzdUOcK4s41aQyvTREnzXVBnJ34vb7EbriHaQgYAKr3p1lp0MCCKWBZLLBguFGIUXhPxRBD9Sgwysnjf0wfkClgsf4oUExpBbQrDyBZhW5K9OnHzkCjTcPxG8ioIg2on_9qJkie2-ahZctABdM6yi04rkLFiwqhIoMl6uaKt3N3N1sYtiol45Ph1B8IvgG2uwBfV5B5FfHloZnMMGDnSFKnuvMvAcAj4o6rr-0a8xSwal5kGagGzRhN0C3SYN6IiOAMYj5BWEN-qMfJQBu2vpAErM4sFAmaII1T7ScMa682xna2Vl9ek5WvbK3QEZntAiqqPGqfp47u6rAeBLNE3NlefmlrqZAD6s9DokLxYNk0zYq8BxM-waqpwc59ThZ29YUZ3_9Iy3ymneftJ-LMN8ip_koEYetRfDpIzNaU0iJdHcsJVSWAbsrTEUVcDiyxANcXZLDD-x8gOZYJvPLRI1xvAcFRq3aIoWyEN44gLPmRVoX2LZb3u-QrfFje1aWVunwKwdJdB_a3Bb7uXY74I5w458OeUPD4b1is4K6rnEQwFX2W9OQlNkU7hlliiHGhtIbj4AYcP7pyWt88DpZ0uGjuLbKzL1yE5or38f0LGD_7h3Y4nshniTna6kNdR2WoCZTKjzA2MxQvYi2QvHScXfeF9UATKL-JkqYstZxkNpmo6UfZJFqLzoG8Imk8aJsuVvB2Xq_Xv31_0EpLszqlmkGBoreD6kpGHJMscTppfRDREFAMy1d93cc7K6owO1EerwOrVQQOY9Eiba649pexcCP5BGUBfYYH3id7xwpfzl2PM26uis5Y18e5xEsNcHFKQJwW1bMx1n0sUbkGzErRJjQXt2FJPziAcHqnIT34HV2JjHaIdMkQQVMy-cewuyXNARazQp0MhAgSfcsZoSAp_-jRqs6Lg9XTY5er_vA==",
  "id": "rs_0ad09716f164f771016ab2e8cc135087d0bc3bafa8ea57d757",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.23},\"note\":\"The right basket tipped during the approach, so I’m stopping the pen pickup. I’m lifting and moving forward to free the open gripper from the basket rim.\"}",
  "call_id": "call_afogoSqd9HhL4sVVXRN4D4uR",
  "id": "fc_0ad09716f164f771016ab2e8d2370087d0a5592ffeaa0a0797",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_afogoSqd9HhL4sVVXRN4D4uR",
  "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]: [-0.1017, 0.8566, 0.8024, -0.561, -0.157, -0.131, 0.9968, 0.4824, 1.454, 1.0927, -0.1947, 0.345, 0.231, 0.9963]\nstate[eef_state]: left_x=0.2965 left_y=0.0011 left_z=0.2172 left_yaw=0.0876 left_pitch=-0.0464 left_roll=-0.008 left_gripper=0.9968 right_x=0.4163 right_y=0.1546 right_z=0.2192 right_yaw=0.0648 right_pitch=0.0497 right_roll=0.0275 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.388, 6.8581, 1.6679, -0.105, -0.0806, -0.0122, -0.6769, -6.1744, 9.4838, 1.5165, 0.0855, 0.0073, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717e23a0f464dccf046231f7a31afb3cfdea9b80a88815c056f332dfa38633c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a35890f794e0ac4f015be1b04891ec7d666a3754f1bcd19b199db3c02b878b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d199268b084b86320349f829dbbfb667177d478f9d142f299b2bb2513d89358",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 8.057 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 114 changed as sent

message 114 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]: [-0.1017, 0.8566, 0.8024, -0.5602, -0.157, -0.131, 0.9968, 0.728, 1.6081, 0.3, 0.675, 0.5503, 0.3843, 0.9961]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.2173 left_yaw=0.0876 left_pitch=-0.0456 left_roll=-0.0081 left_gripper=0.9968 right_x=0.305 right_y=0.1529 right_z=0.0244 right_yaw=0.0635 right_pitch=0.041 right_roll=0.0222 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -1.853, 6.8855, 1.7265, -0.105, -0.0708, -0.0122, 0.6496, -3.0974, 2.4, 0.4029, -0.2613, 0.0073, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsujbeKQVZ67wOGShB8fIrsV-anN3C2DRimVp_tQM8S2JHyx9vub6Zy5foN-Az_JF_DVT11jpxg3jQFokKw42l3NTP68J46DducyWSUxhy0lh6vJBMk4B7q7-_8EF_nbp-oxdE5MG3xQuZY7-7rYJJZr4lTsH2YCbFgp0z0SmI-qjFi6e6TRhjAid2q41jO_X4P6zyMPlMZE1Uf0t1Gyc1ogmR131zFG8bTf14EtCuhkmAwyi1tu41zDg-PiGwGcz8J8XA9arfDIT_H3WdKCi0mzPqU48aIHXtVSbSce2Bmjzz4gDjjnT9rwRaUhUVCzQ6la1us0Usgh6rIgnaGH1cyWpkJptaW9rgx1DJ9xkPHWOyVBP7wfEME9sgJh_bbNGJHVSQC-KV1bSkZd6-zKb39cK-4Vv5PPBMFq214dFNZJ-LTCfrcEZv4WtKTsA6WGy-QGg5xzN8HNPR_f999hmNJeB28mj4J2zVjTTJKg_y6g5mAXx8A-JKpJa_2CYS4qv-n2Bycli4lzTYc6c_WcDDiPKCjXKa20K8G9WZGu48Ziw9vXtbr1I7MiyLpy8BIRkYaXIXn5suL0Gz-HDjOiT5hHDks_jGsLjyz2qQKzsc07Ybs7lKW2eoP-KNBoA_CaNWzwXhgvcvB3WBXkCHpUHNYWI5yxFaUG7s0iYrhMb_U31x_XqdjAPxM_NRLboHle6oU4SbftC8gMgawWSl9_AABNbb0Hupd9OMUiGhAitkgYeKxjo59mcvkE6Tp-b3viRkugcCUdeA9f6qY29FN15_OFUdYpD5xXZoV7-cRZHz0-q_ZYqz4mF0geMCyixI8mUdMBsmvFkn0zLn3dfha-21lTXepegrGdGhRk7OsgIObFyjgwxOlyyus1vLo371nl8a0U29nfZfsNoxiwHfaXNaHANDEqSOXjdT4aBDKVCbq5MyiaDQiyRSbsQhocnulJoor1kpkPCh_ZhyEM2jWVwY0B7zOawFTGS1UYSl5BBRIKvcYIIOSCcUesqI1n-tV4VXn7FImjof0_0jRpfz78d2f1sAznp-47rgDP4OXRx91kv4BP5MdcqAwo2OVHsmHp2WmmvkY3wjZ1PqxMV4bCHId9O1OTMJA-QY5-Pmm7LURjWt_7fYujGOoA5HPJ45Dnr9Bceqws35_fiPK75GMK6L5iYd2BcoeVEfNZaZY-chFgqCqjWtUNyFcQZfKmVOsNgD9K9THtN58rENB3biqruheG-AkTR1XSH5-D4IUPwge9_STjS24SOZEZAfvJNOiGFtCTF-0ODQ1jwOt0XmvVTgT69I9cEySqDGnAv-rx_DlQbzgcQBhqvSUKwAHKyk3NNK7E3SJ7b1BUTQp3G8dgDcpEL8ctESCWQkSpSsgh65VLUejWfEqpo4PrrMbXK37i4GC1CdXQffSlM_UkocL1wjL-erw==",
  "id": "rs_0ad09716f164f771016ab2e8d77a4087d0b3b2c8d266714af0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":-0.025,\"right_z\":0.25},\"note\":\"The right gripper is now above and clear of the shifted basket. I’m parking it away from the rim; the sorting is incomplete, and further basket contact should be avoided.\"}",
  "call_id": "call_46Qja51yWPxiKj5YbP5qUuJf",
  "id": "fc_0ad09716f164f771016ab2e8d96d6c87d0a2f51bb78f4c3cc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_46Qja51yWPxiKj5YbP5qUuJf",
  "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]: [-0.1017, 0.8612, 0.8024, -0.5602, -0.157, -0.131, 0.9968, -0.2401, 0.8734, 0.8589, -0.5156, -0.2203, -0.1078, 0.9963]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.2161 left_yaw=0.0876 left_pitch=-0.0501 left_roll=-0.0072 left_gripper=0.9968 right_x=0.3069 right_y=-0.0317 right_z=0.2484 right_yaw=-0.0012 right_pitch=0.0535 right_roll=0.0239 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.935, 6.9675, 1.7558, -0.0708, -0.0611, -0.0073, -0.3214, -2.2222, 7.7607, 1.7851, -0.2271, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4476b6155f8432c26216e1e511335041219de8a24195c9b83b0bef3e269dbc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe25905942e40f0fa74f4105b50b55b30798a2c0d3dcbdc6ac7835a80f52e82b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd4d3b0170a2c34e045c2cbda8a51d8e94967f23ac94ac3d8f4cd9ef547a0b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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