adhoc

completed
2026-09-24T01:19:11.859142+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
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
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
279.8 s
total steps
439
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and several slim toothbrush-like objects. I’ll sort the plush animals into the left basket and the slender objects into the right, starting with the gray plush on the left.
move_to
left_x0.2900left_y-0.0350left_z0.0900left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8032, 0.6163, -0.3809, -0.0219, -0.0334, 0.9996, -0.0212, 0.7979, 0.6117, -0.3855, -0.0124, -0.0257, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0005 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5128, -1.935, 9.4017, 1.8046, -0.0415, 0.1832, -0.0708, -0.3077, -1.2513, 9.7299, 1.8828, -0.0806, 0.1294, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.035,"left_z":0.09,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.20},"note":"I see plush animals and several slim toothbrush-like objects. I’ll sort the plush animals into the left basket and the slender objects into the right, starting with the gray plush on the left."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe gray plush is left of the jaw center in the wrist view. I’m shifting left and forward while lowering to grasp its body rather than the nearby yellow handle.
move_to
left_x0.3350left_y0.0050left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2764, 0.8883, 0.2687, 0.0162, -0.2298, -0.1738, 0.9995, -0.0208, 0.8082, 0.654, -0.4599, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.2883 left_y=-0.0362 left_z=0.0863 left_yaw=-0.0074 left_pitch=-0.0176 left_roll=0.001 left_gripper=0.9995 right_x=0.2908 right_y=-0.0004 right_z=0.1826 right_yaw=0.0003 right_pitch=-0.0427 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.0068, -1.7983, 6.5983, 1.79, -0.188, -0.0513, -0.0659, -0.1162, -1.4974, 9.7026, 1.7705, 0.0171, -0.022, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":0.005,"left_z":0.03},"note":"The gray plush is left of the jaw center in the wrist view. I’m shifting left and forward while lowering to grasp its body rather than the nearby yellow handle."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe gray plush remains offset toward the left jaw, and the descent stopped slightly high. I’m centering the jaws farther left before closing.
move_to
left_x0.3400left_y0.0400left_z0.0120
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0055, 1.4204, 0.2474, 0.6716, -0.025, -0.0074, 0.9995, -0.0212, 0.8139, 0.6533, -0.4603, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.3471 left_y=0.0099 left_z=0.052 left_yaw=0.0131 left_pitch=0.0661 left_roll=0.023 left_gripper=0.9995 right_x=0.291 right_y=-0.0005 right_z=0.1806 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.0889, -2.4957, 3.9316, 1.3065, 0.2759, -0.1245, -0.0122, -0.3077, -1.7573, 7.0769, 1.6972, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.04,"left_z":0.012},"note":"The gray plush remains offset toward the left jaw, and the descent stopped slightly high. I’m centering the jaws farther left before closing."})
tool
executing move_to over 3 steps (0.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe gray plush appears between the fingertips in the overhead view, but the arm is not descending further. I’ll relieve the downward contact and close to test the grasp.
move_to
left_z0.0600left_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]: [0.1585, 1.6833, 0.2012, 1.1358, 0.0986, 0.0971, 0.9995, -0.0212, 0.8185, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.3602 left_y=0.0436 left_z=0.0524 left_yaw=0.0018 left_pitch=0.221 left_roll=0.0797 left_gripper=0.9995 right_x=0.2913 right_y=-0.0005 right_z=0.1792 right_yaw=-0.0001 right_pitch=-0.0546 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.3624, -2.6051, 2.0171, 0.8181, 0.1636, -0.3248, -0.0122, -0.1983, -1.6068, 7.1179, 1.7411, -0.0415, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.06,"left_gripper":0},"note":"The gray plush appears between the fingertips in the overhead view, but the arm is not descending further. I’ll relieve the downward contact and close to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe gripper closed empty. The gray plush lies nearer the base than the fingertips, so I’m reopening and moving back to catch its upper edge within the left arm’s travel limit.
move_to
left_x0.3100left_y0.0500left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1566, 1.6497, 0.2134, 1.116, 0.0875, 0.0971, 0.0114, -0.0208, 0.8211, 0.6529, -0.4599, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.3643 left_y=0.0455 left_z=0.0632 left_yaw=0.0086 left_pitch=0.2461 left_roll=0.0874 left_gripper=0.0114 right_x=0.2915 right_y=-0.0003 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0568 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.0205, -4.041, 3.1385, 1.873, 0.1001, -0.0513, 0.9988, -0.0752, -1.5658, 7.2547, 1.6923, -0.0171, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":0.05,"left_z":0.025,"left_gripper":1},"note":"The gripper closed empty. The gray plush lies nearer the base than the fingertips, so I’m reopening and moving back to catch its upper edge within the left arm’s travel limit."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe open jaws now straddle the near edge of the gray plush. I’m moving slightly forward and closing for a second grasp attempt.
move_to
left_x0.3350left_z0.0150left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2344, 1.9091, 0.0128, 1.5471, 0.1692, 0.1169, 0.9952, -0.0212, 0.8215, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.3132 left_y=0.0479 left_z=0.0264 left_yaw=0.0059 left_pitch=0.2216 left_roll=0.0741 left_gripper=0.9952 right_x=0.2915 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0001 right_pitch=-0.0576 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.5675, -5.5726, 0.9778, 2.0293, 0.0073, 0.1001, -0.0317, -0.2803, -1.4017, 6.9812, 1.7314, -0.0317, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_z":0.015,"left_gripper":0},"note":"The open jaws now straddle the near edge of the gray plush. I’m moving slightly forward and closing for a second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe second close was empty, and the gray plush is beyond the left arm’s lateral limit. I’ll leave it undisturbed and sort the accessible tan plush and three toothbrushes.
move_to
left_x0.2900left_y-0.2100left_z0.1500left_gripper1.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2081, 2.0109, 0.091, 1.5574, 0.1459, 0.1047, 0.0119, -0.0208, 0.8215, 0.6529, -0.4599, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.3315 left_y=0.0474 left_z=0.0135 left_yaw=0.007 left_pitch=0.2074 left_roll=0.0675 left_gripper=0.0119 right_x=0.2915 right_y=-0.0004 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0572 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.294, -4.5197, 2.1949, 1.9609, -0.0513, -0.0366, 0.7888, -0.0752, -0.9915, 6.9812, 1.7118, -0.0269, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.21,"left_z":0.15,"left_gripper":1,"right_z":0.2},"note":"The second close was empty, and the gray plush is beyond the left arm’s lateral limit. I’ll leave it undisturbed and sort the accessible tan plush and three toothbrushes."})
tool
executing move_to over 23 steps (2.3s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe tan plush is just right of the jaw center. I’m aligning over its torso and lowering with the jaws open.
move_to
left_x0.2900left_y-0.2450left_z0.0450left_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]: [-1.0557, 1.383, 0.6445, 0.07, -0.9657, -0.5442, 0.9981, -0.0212, 0.8322, 0.7082, -0.5369, -0.012, -0.0307, 0.9998] state[eef_state]: left_x=0.2903 left_y=-0.2106 left_z=0.1452 left_yaw=-0.0177 left_pitch=0.2063 left_roll=0.0506 left_gripper=0.9981 right_x=0.2877 right_y=-0.0004 right_z=0.1852 right_yaw=0.0021 right_pitch=-0.0897 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [-0.1709, -4.6838, 7.788, 1.2625, -0.4127, -0.0122, -0.0269, -0.2393, -1.347, 10.0991, 1.707, -0.0366, -0.0366, -0.0171] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.245,"left_z":0.045,"left_pitch":0,"left_roll":0},"note":"The tan plush is just right of the jaw center. I’m aligning over its torso and lowering with the jaws open."})
tool
executing move_to over 7 steps (0.7s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe tan plush is centered between the jaws. I’m closing around its body.
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]: [-1.0569, 1.6886, 0.6819, 0.1188, -0.8612, -0.7422, 0.9981, -0.0212, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998] state[eef_state]: left_x=0.2917 left_y=-0.2368 left_z=0.0557 left_yaw=-0.0048 left_pitch=0.0374 left_roll=0.0242 left_gripper=0.9981 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0021 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.1162, -5.6, 6.188, 0.9792, -0.1441, 0.0171, -0.0024, -0.1846, -1.3333, 7.2, 1.663, -0.0269, -0.0562, -0.0171] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The tan plush is centered between the jaws. I’m closing around its body."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe gripper stopped at a nonzero opening, consistent with holding fabric. I’ll lift a short distance to confirm that the plush comes with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0561, 1.7, 0.6891, 0.144, -0.8597, -0.7559, 0.1491, -0.0212, 0.8326, 0.7078, -0.5419, -0.0116, -0.0307, 0.9998] state[eef_state]: left_x=0.2944 left_y=-0.2414 left_z=0.0569 left_yaw=0.0032 left_pitch=0.0469 left_roll=-0.0065 left_gripper=0.1491 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0018 right_pitch=-0.0954 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.9248, 4.6974, 1.0476, -0.4029, 0.0806, 0.9988, -0.1846, -1.2103, 6.9402, 1.6239, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The gripper stopped at a nonzero opening, consistent with holding fabric. I’ll lift a short distance to confirm that the plush comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe tan plush rose with the gripper. I’m lifting it higher so its dangling legs can clear the basket rim.
move_to
left_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]: [-1.0561, 1.5745, 0.7815, -0.0963, -0.8555, -0.7605, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998] state[eef_state]: left_x=0.2929 left_y=-0.2397 left_z=0.0992 left_yaw=0.0022 left_pitch=0.0331 left_roll=0.0076 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.8547, 8.3761, 1.2772, -0.4029, 0.0366, 1.033, -0.0889, -1.388, 7.0359, 1.6484, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.27},"note":"The tan plush rose with the gripper. I’m lifting it higher so its dangling legs can clear the basket rim."})
tool
executing move_to over 12 steps (1.2s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe plush is secure and clear of the table. I’m carrying it over the left basket.
move_to
left_x0.4750left_y-0.1450left_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]: [-1.0561, 1.4597, 1.3067, -0.7597, -0.8371, -0.7803, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998] state[eef_state]: left_x=0.2932 left_y=-0.2446 left_z=0.2475 left_yaw=0.0012 left_pitch=0.0093 left_roll=0.0038 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.2393, -7.3094, 9.4838, 1.2674, -0.525, 0.149, 1.0281, -0.0479, -1.2376, 6.9812, 1.6337, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.145,"left_z":0.27},"note":"The plush is secure and clear of the table. I’m carrying it over the left basket."})
tool
executing move_to over 14 steps (1.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe large tan plush is above the left basket. I’m lowering it into the opening before releasing it.
move_to
left_x0.4750left_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]: [-0.4438, 1.6714, 1.4956, -0.5404, -0.4114, -0.3233, 0.1599, -0.0212, 0.836, 0.7078, -0.5423, -0.0116, -0.0307, 0.9998] state[eef_state]: left_x=0.4593 left_y=-0.1362 left_z=0.2387 left_yaw=0.0567 left_pitch=-0.0784 left_roll=0.0243 left_gripper=0.1599 right_x=0.2871 right_y=-0.0004 right_z=0.1829 right_yaw=0.0018 right_pitch=-0.0992 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [0.0615, -8.4855, 10.7966, 2.0537, -0.0024, 0.3785, 1.033, -0.0889, -1.6342, 7.0632, 1.619, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_z":0.17},"note":"The large tan plush is above the left basket. I’m lowering it into the opening before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe wrist view shows the plush near the basket’s front-right edge. I’m moving it farther into the basket so it will land inside rather than on the rim.
move_to
left_x0.5300left_y-0.1200left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4267, 1.7481, 1.3064, -0.3618, -0.392, -0.3138, 0.1599, -0.0208, 0.8371, 0.7078, -0.5419, -0.0113, -0.0303, 0.9998] state[eef_state]: left_x=0.4625 left_y=-0.1322 left_z=0.1535 left_yaw=0.0581 left_pitch=-0.162 left_roll=0.0615 left_gripper=0.1599 right_x=0.2873 right_y=-0.0004 right_z=0.1827 right_yaw=0.0017 right_pitch=-0.1 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [0.1846, -9.5385, 7.3094, 2.0342, -0.2662, -0.0171, 1.0281, -0.0752, -1.0325, 6.9128, 1.6288, -0.022, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.12,"left_z":0.2},"note":"The wrist view shows the plush near the basket’s front-right edge. I’m moving it farther into the basket so it will land inside rather than on the rim."})
tool
executing move_to over 6 steps (0.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe plush is now over the basket interior. I’m opening the gripper to place it with the other plush animals.
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]: [-0.3363, 1.9491, 1.684, -0.5766, -0.3496, -0.2924, 0.1645, -0.0212, 0.8413, 0.7078, -0.5423, -0.0116, -0.0303, 0.9998] state[eef_state]: left_x=0.5186 left_y=-0.1134 left_z=0.1751 left_yaw=0.106 left_pitch=-0.2109 left_roll=0.0664 left_gripper=0.1645 right_x=0.2875 right_y=-0.0004 right_z=0.1815 right_yaw=0.0016 right_pitch=-0.1045 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.2667, -11.3573, 9.8393, 1.663, 0.022, 0.3932, 1.0379, -0.2256, -1.5932, 6.9128, 1.6239, -0.0171, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The plush is now over the basket interior. I’m opening the gripper to place it with the other plush animals."})
tool
executing move_to over 9 steps (0.9s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe large plush is resting inside the left basket. I’m withdrawing toward the smaller tan plush beside the yellow toothbrush.
move_to
left_x0.3000left_y-0.1400left_z0.1000left_pitch0.0000left_roll0.0000left_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]: [-0.3332, 1.9583, 1.6863, -0.5987, -0.3428, -0.3065, 0.9954, -0.0212, 0.8429, 0.7078, -0.5419, -0.0116, -0.0303, 0.9998] state[eef_state]: left_x=0.516 left_y=-0.112 left_z=0.1677 left_yaw=0.1141 left_pitch=-0.2387 left_roll=0.0642 left_gripper=0.9954 right_x=0.2877 right_y=-0.0004 right_z=0.1812 right_yaw=0.0016 right_pitch=-0.1057 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.6085, -11.6991, 6.5846, 1.6777, -0.2857, 0.0855, 0.1148, -0.1709, -1.388, 7.0906, 1.6093, -0.0122, 0.0024, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.14,"left_z":0.1,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The large plush is resting inside the left basket. I’m withdrawing toward the smaller tan plush beside the yellow toothbrush."})
tool
executing move_to over 17 steps (1.7s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe small plush is just left of the jaw center and close to the fingertips. I’m making a small lateral correction and lowering around its body.
move_to
left_x0.3000left_y-0.1250left_z0.0120
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7551, 1.2533, 0.5125, -0.0204, -0.5858, -0.4774, 0.9966, -0.0208, 0.8474, 0.7052, -0.5411, -0.0116, -0.0303, 0.9998] state[eef_state]: left_x=0.2997 left_y=-0.143 left_z=0.092 left_yaw=-0.0349 left_pitch=-0.045 left_roll=0.0216 left_gripper=0.9966 right_x=0.2878 right_y=-0.0003 right_z=0.1789 right_yaw=0.002 right_pitch=-0.1122 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [0.0342, -4.2462, 6.8308, 1.7949, -0.4225, -0.1001, 0.1197, -0.2256, -1.4017, 7.1453, 1.707, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.125,"left_z":0.012},"note":"The small plush is just left of the jaw center and close to the fingertips. I’m making a small lateral correction and lowering around its body."})
tool
executing move_to over 6 steps (0.6s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe small plush is centered between the fingers at table level. I’m closing on its body.
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]: [-0.6941, 1.5219, 0.3092, 0.4202, -0.5503, -0.4397, 0.9968, -0.0212, 0.8494, 0.7044, -0.5419, -0.012, -0.0303, 0.9998] state[eef_state]: left_x=0.2952 left_y=-0.1208 left_z=0.0103 left_yaw=-0.0194 left_pitch=-0.086 left_roll=0.0532 left_gripper=0.9968 right_x=0.2877 right_y=-0.0004 right_z=0.1779 right_yaw=0.002 right_pitch=-0.1156 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [0.4034, -4.2051, 3.4393, 1.3993, -0.1832, 0.0952, 0.0024, -0.212, -1.5795, 7.0359, 1.6044, -0.0366, -0.0122, -0.0171] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The small plush is centered between the fingers at table level. I’m closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe fingers stopped around the plush instead of closing empty. I’m lifting it to verify the hold and clear the basket rim.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.691, 1.5295, 0.3038, 0.4599, -0.5655, -0.4377, 0.3754, -0.0212, 0.8494, 0.704, -0.5419, -0.0116, -0.0303, 0.9998] state[eef_state]: left_x=0.2988 left_y=-0.1197 left_z=0.0137 left_yaw=-0.0072 left_pitch=-0.0585 left_roll=0.0462 left_gripper=0.3754 right_x=0.2876 right_y=-0.0004 right_z=0.1777 right_yaw=0.0017 right_pitch=-0.116 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.5675, -5.3402, 4.8479, 1.0672, -0.1343, -0.0513, 0.735, -0.0342, -1.3333, 7.1043, 1.5995, -0.0317, -0.0464, -0.0171] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The fingers stopped around the plush instead of closing empty. I’m lifting it to verify the hold and clear the basket rim."})
tool
executing move_to over 13 steps (1.3s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe small plush lifted successfully. I’m carrying it to the left basket while positioning the right arm above the light-blue toothbrush, well away from the left arm.
move_to
left_x0.5200left_y-0.1200left_z0.2200right_x0.2750right_y0.2150right_z0.0800right_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]: [-0.6903, 1.0973, 0.8223, -0.4866, -0.5682, -0.4458, 0.376, -0.0212, 0.8513, 0.7029, -0.5419, -0.0116, -0.0303, 0.9998] state[eef_state]: left_x=0.302 left_y=-0.1215 left_z=0.1872 left_yaw=-0.0002 left_pitch=-0.0539 left_roll=0.0385 left_gripper=0.376 right_x=0.2876 right_y=-0.0004 right_z=0.1767 right_yaw=0.0017 right_pitch=-0.119 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.4034, -4.1778, 8.841, 1.453, -0.2027, 0.0708, 0.0464, -0.2393, -1.1966, 7.0085, 1.619, -0.0464, -0.0659, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.12,"left_z":0.22,"right_x":0.275,"right_y":0.215,"right_z":0.08,"right_pitch":0,"right_roll":0},"note":"The small plush lifted successfully. I’m carrying it to the left basket while positioning the right arm above the light-blue toothbrush, well away from the left arm."})
tool
executing move_to over 18 steps (1.8s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe small plush is over the left basket, and the light-blue toothbrush is aligned in the right wrist view. I’m releasing the plush and lowering the right fingers around the toothbrush handle.
move_to
left_gripper1.0000right_x0.2750right_y0.2150right_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3298, 1.8263, 1.5299, -0.4316, -0.3115, -0.2321, 0.3767, 1.0103, 1.4773, 0.6075, -0.075, 0.754, 0.6689, 0.9998] state[eef_state]: left_x=0.5074 left_y=-0.1127 left_z=0.1949 left_yaw=0.041 left_pitch=-0.1192 left_roll=0.0412 left_gripper=0.3767 right_x=0.2672 right_y=0.2051 right_z=0.0653 right_yaw=0.0421 right_pitch=-0.0622 right_roll=-0.0575 right_gripper=0.9998 state[joint_eff]: [0.0205, -10.441, 10.0034, 1.8095, 0.022, 0.3834, 0.0659, 0.3077, -5.8051, 8.0205, 1.3211, 0.6569, 0.149, -0.0171] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.275,"right_y":0.215,"right_z":-0.008},"note":"The small plush is over the left basket, and the light-blue toothbrush is aligned in the right wrist view. I’m releasing the plush and lowering the right fingers around the toothbrush handle."})
tool
executing move_to over 7 steps (0.7s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe toothbrush handle is slightly right of center. I’m correcting that offset and closing, while parking the left arm clear of both baskets.
move_to
right_y0.2000right_gripper0.0000left_x0.2950left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_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]: [-0.3264, 1.8427, 1.5349, -0.4408, -0.3103, -0.2428, 0.9955, 1.0069, 1.7618, 0.5545, 0.3214, 0.7788, 0.675, 0.9997] state[eef_state]: left_x=0.5084 left_y=-0.1113 left_z=0.1872 left_yaw=0.0503 left_pitch=-0.1383 left_roll=0.0398 left_gripper=0.9955 right_x=0.2821 right_y=0.2206 right_z=0.012 right_yaw=0.0217 right_pitch=-0.0129 right_roll=-0.0147 right_gripper=0.9997 state[joint_eff]: [-0.5812, -11.4256, 6.4752, 1.6923, -0.1929, 0.0952, -0.2027, 0.0068, -4.1504, 3.5077, 0.3199, -0.1392, -0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.2,"right_gripper":0,"left_x":0.295,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The toothbrush handle is slightly right of center. I’m correcting that offset and closing, while parking the left arm clear of both baskets."})
tool
executing move_to over 17 steps (1.7s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe right gripper has a substantial opening around the toothbrush. I’m lifting it to verify the grasp while bringing the left arm above the yellow toothbrush.
move_to
right_z0.2000left_x0.2850left_y-0.0850left_z0.0750
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]: [-0.0467, 0.8307, 0.6968, -0.4183, -0.0772, -0.0734, 0.9966, 0.9665, 1.7294, 0.4885, 0.3809, 0.7475, 0.6285, 0.1747] state[eef_state]: left_x=0.303 left_y=0.0031 left_z=0.2047 left_yaw=0.0403 left_pitch=0.0174 left_roll=-0.0054 left_gripper=0.9966 right_x=0.2823 right_y=0.2038 right_z=0.0092 right_yaw=0.0271 right_pitch=-0.0184 right_roll=-0.0185 right_gripper=0.1747 state[joint_eff]: [0.0479, -0.8274, 6.8855, 1.8877, 0.1245, 0.1245, 0.1148, -0.6359, -7.9248, 3.1795, 1.3358, 0.2515, 0.0024, 0.9499] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2,"left_x":0.285,"left_y":-0.085,"left_z":0.075},"note":"The right gripper has a substantial opening around the toothbrush. I’m lifting it to verify the grasp while bringing the left arm above the yellow toothbrush."})
tool
executing move_to over 13 steps (1.3s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe light-blue toothbrush lifted with the right gripper. I’m moving it over the right basket while lowering the left fingers around the yellow handle.
move_to
right_x0.5100right_y0.2000right_z0.2100left_y-0.0750left_z-0.0080
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6064, 1.0561, 0.2863, 0.0555, -0.503, -0.3801, 0.9968, 0.9672, 1.3106, 0.9386, -0.4934, 0.7288, 0.627, 0.1778] state[eef_state]: left_x=0.2788 left_y=-0.0853 left_z=0.0672 left_yaw=-0.003 left_pitch=-0.0441 left_roll=0.0285 left_gripper=0.9968 right_x=0.2829 right_y=0.2095 right_z=0.1804 right_yaw=0.0409 right_pitch=-0.033 right_roll=-0.0156 right_gripper=0.1778 state[joint_eff]: [-0.1573, -3.0291, 5.9419, 1.7558, -0.4811, -0.0904, 0.0024, -0.4308, -6.612, 9.1419, 1.2186, 0.4615, -0.0415, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.2,"right_z":0.21,"left_y":-0.075,"left_z":-0.008},"note":"The light-blue toothbrush lifted with the right gripper. I’m moving it over the right basket while lowering the left fingers around the yellow handle."})
tool
executing move_to over 18 steps (1.8s)
step 253
top_cam
camera top_cam step 253
assistant
agent noteThe yellow handle is slightly left of center, so I’m nudging left and closing. The right arm is lowering the light-blue toothbrush into its basket.
move_to
left_y-0.0650left_gripper0.0000right_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]: [-0.5594, 1.5379, 0.1081, 0.749, -0.4725, -0.3519, 0.9968, 0.4969, 1.8908, 1.5764, -0.384, 0.3794, 0.2443, 0.1803] state[eef_state]: left_x=0.2836 left_y=-0.0785 left_z=-0.0012 left_yaw=0.0041 left_pitch=-0.0274 left_roll=0.0169 left_gripper=0.9968 right_x=0.4989 right_y=0.2002 right_z=0.1935 right_yaw=0.0443 right_pitch=-0.0693 right_roll=-0.0314 right_gripper=0.1803 state[joint_eff]: [0.5675, -2.8239, 2.3043, 1.072, -0.0757, 0.0415, -0.0122, -0.7316, -10.2769, 9.6479, 1.6386, 0.0562, -0.0122, 0.5153] 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_y":-0.065,"left_gripper":0,"right_z":0.14},"note":"The yellow handle is slightly left of center, so I’m nudging left and closing. The right arm is lowering the light-blue toothbrush into its basket."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteThe yellow toothbrush is held at a nonzero jaw opening. I’m lifting it for verification and releasing the light-blue toothbrush inside the right basket.
move_to
left_z0.2000right_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]: [-0.4881, 1.5314, 0.0921, 0.7811, -0.4313, -0.3126, 0.1577, 0.4915, 1.9167, 1.4158, -0.2173, 0.3649, 0.2398, 0.183] state[eef_state]: left_x=0.2869 left_y=-0.0647 left_z=-0.0001 left_yaw=0.0212 left_pitch=-0.0217 left_roll=0.016 left_gripper=0.1577 right_x=0.4956 right_y=0.1979 right_z=0.1408 right_yaw=0.0525 right_pitch=-0.0914 right_roll=-0.035 right_gripper=0.183 state[joint_eff]: [0.1846, -4.6974, 2.5504, 1.6044, -0.0708, 0.0952, 1.2283, 0.3077, -9.7983, 6.5162, 1.8144, 0.2222, 0.0269, 0.2662] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"right_gripper":1},"note":"The yellow toothbrush is held at a nonzero jaw opening. I’m lifting it for verification and releasing the light-blue toothbrush inside the right basket."})
tool
executing move_to over 13 steps (1.3s)
step 276
assistant
agent noteThe yellow toothbrush lifted successfully, and the light-blue one is in the right basket. I’m reaching toward the near-left side of that basket with the yellow brush while the right arm approaches the remaining toothbrush.
move_to
left_x0.4700left_y-0.3900left_z0.2300left_yaw-0.7000left_pitch0.5000right_x0.2550right_y0.1550right_z0.0700right_pitch0.0000right_roll0.0000right_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]: [-0.4881, 0.8776, 0.691, -0.4553, -0.4259, -0.3145, 0.1599, 0.4911, 1.9247, 1.4105, -0.2161, 0.3565, 0.239, 0.9968] state[eef_state]: left_x=0.2905 left_y=-0.0676 left_z=0.1905 left_yaw=0.0178 left_pitch=-0.009 left_roll=0.0036 left_gripper=0.1599 right_x=0.4947 right_y=0.1987 right_z=0.1343 right_yaw=0.0588 right_pitch=-0.1048 right_roll=-0.0358 right_gripper=0.9968 state[joint_eff]: [-0.1162, -1.7846, 8.9641, 1.5507, -0.2418, 0.0073, 1.033, -0.335, -11.2068, 7.159, 1.5702, 0.1343, -0.022, -0.0464] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.47,"left_y":-0.39,"left_z":0.23,"left_yaw":-0.7,"left_pitch":0.5,"right_x":0.255,"right_y":0.155,"right_z":0.07,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow toothbrush lifted successfully, and the light-blue one is in the right basket. I’m reaching toward the near-left side of that basket with the yellow brush while the right arm approaches the remaining toothbrush."})
tool
executing move_to over 29 steps (2.9s)
step 305
assistant
agent noteThe right basket has shifted toward the front, and the right fingers are close to its rim. I’m lifting the right arm clear and adjusting the yellow toothbrush over the basket’s new position.
move_to
left_x0.4400left_y-0.4000left_z0.2000right_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]: [-0.6971, 2.0071, 1.3006, 0.5369, -0.0715, -0.054, 0.1664, 0.934, 1.2465, 0.4248, 0.0727, 0.7582, 0.5701, 0.9977] state[eef_state]: left_x=0.4703 left_y=-0.3727 left_z=0.1965 left_yaw=-0.6193 left_pitch=0.3986 left_roll=-0.0209 left_gripper=0.1664 right_x=0.2684 right_y=0.1647 right_z=0.0888 right_yaw=0.0173 right_pitch=0.0541 right_roll=0.0161 right_gripper=0.9977 state[joint_eff]: [-0.6769, -11.5487, 9.4291, 2.2051, 0.3053, 0.3004, 1.033, 0.4444, -3.1658, 4.4239, 1.0427, 0.0415, 0.3443, 0.0757] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.4,"left_z":0.2,"right_z":0.23},"note":"The right basket has shifted toward the front, and the right fingers are close to its rim. I’m lifting the right arm clear and adjusting the yellow toothbrush over the basket’s new position."})
tool
executing move_to over 10 steps (1.0s)
step 315
assistant
agent noteThe yellow toothbrush is above the basket opening, so I’m releasing it. The remaining blue toothbrush is visible in front of the shifted basket; I’m moving the right arm toward it from above.
move_to
left_gripper1.0000right_x0.2050right_y0.1600right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7879, 2.0228, 1.2938, 0.5171, -0.1551, -0.0677, 0.1712, 0.9356, 1.0897, 0.8688, -0.5251, 0.7486, 0.5655, 0.9977] state[eef_state]: left_x=0.4432 left_y=-0.4017 left_z=0.1798 left_yaw=-0.6283 left_pitch=0.3584 left_roll=-0.0131 left_gripper=0.1712 right_x=0.2699 right_y=0.1696 right_z=0.2157 right_yaw=0.028 right_pitch=0.0508 right_roll=0.0185 right_gripper=0.9977 state[joint_eff]: [-0.4034, -14.2564, 6.065, 1.9609, -0.0855, -0.0806, 1.0281, -0.4581, -4.0274, 9.0735, 1.3748, 0.3492, 0.0269, -0.0024] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":1,"right_x":0.205,"right_y":0.16,"right_z":0.16},"note":"The yellow toothbrush is above the basket opening, so I’m releasing it. The remaining blue toothbrush is visible in front of the shifted basket; I’m moving the right arm toward it from above."})
tool
executing move_to over 9 steps (0.9s)
step 324
assistant
agent noteThe right basket now visibly contains the yellow and light-blue toothbrushes. I’m lowering toward the last toothbrush and lifting the left fingers clear of the rim.
move_to
right_x0.2050right_y0.1700right_z-0.0080left_z0.2900
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]: [-0.7841, 2.022, 1.2938, 0.5098, -0.1577, -0.0757, 0.9955, 1.2053, 0.9974, 0.654, -0.6182, 0.8913, 0.8333, 0.9978] state[eef_state]: left_x=0.4447 left_y=-0.3993 left_z=0.1786 left_yaw=-0.6179 left_pitch=0.3521 left_roll=-0.0197 left_gripper=0.9955 right_x=0.2077 right_y=0.1682 right_z=0.1594 right_yaw=0.0674 right_pitch=0.0299 right_roll=0.0095 right_gripper=0.9978 state[joint_eff]: [-0.4308, -11.6444, 6.2701, 1.9853, -0.0122, 0.0513, -0.2173, 0.3897, -3.0427, 6.4342, 1.072, 0.7106, 0.1538, -0.0073] 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":0.205,"right_y":0.17,"right_z":-0.008,"left_z":0.29},"note":"The right basket now visibly contains the yellow and light-blue toothbrushes. I’m lowering toward the last toothbrush and lifting the left fingers clear of the rim."})
tool
executing move_to over 11 steps (1.1s)
step 335
assistant
agent noteThe right arm contacted the basket instead of reaching the table, with a clear torque increase. I’m backing up and lifting away immediately, then parking the left arm to get a clear view of the last toothbrush.
move_to
right_x0.1700right_z0.2200right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2950left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_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]: [-0.7841, 1.9648, 1.5341, 0.1089, -0.1806, -0.1043, 0.9967, 1.2182, 1.4834, 0.3214, 0.5064, 1.285, 0.7803, 0.9978] state[eef_state]: left_x=0.4502 left_y=-0.3991 left_z=0.2311 left_yaw=-0.5874 left_pitch=0.2513 left_roll=-0.0228 left_gripper=0.9967 right_x=0.2401 right_y=0.1722 right_z=0.1011 right_yaw=-0.2119 right_pitch=0.3919 right_roll=0.1705 right_gripper=0.9978 state[joint_eff]: [-0.1846, -16.1709, 10.7145, 2.0879, 0.1343, 0.2808, 0.1148, 0.3761, 4.7658, -5.0256, -1.1404, -4.3297, 1.0183, -0.0073] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.17,"right_z":0.22,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.295,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The right arm contacted the basket instead of reaching the table, with a clear torque increase. I’m backing up and lifting away immediately, then parking the left arm to get a clear view of the last toothbrush."})
tool
executing move_to over 36 steps (3.6s)
step 371
assistant
agent noteThe right arm is clear of the basket. I’m parking it to check the tabletop and basket contents without the gripper blocking the view.
move_to
right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0517, 0.8162, 0.6888, -0.4252, -0.0734, -0.0731, 0.9968, 1.4151, 1.1435, 0.9928, -1.195, 0.9806, 1.2842, 0.9978] state[eef_state]: left_x=0.3 left_y=0.001 left_z=0.2036 left_yaw=0.0319 left_pitch=0.0168 left_roll=-0.0071 left_gripper=0.9968 right_x=0.1723 right_y=0.1747 right_z=0.2108 right_yaw=-0.0013 right_pitch=-0.0022 right_roll=-0.0 right_gripper=0.9978 state[joint_eff]: [0.1573, -1.812, 6.7214, 1.9072, 0.0562, 0.2271, -0.0024, 1.1282, -2.9333, 8.3624, 0.3834, 0.486, 0.1783, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The right arm is clear of the basket. I’m parking it to check the tabletop and basket contents without the gripper blocking the view."})
tool
executing move_to over 15 steps (1.5s)
step 386
assistant
agent noteThe last blue toothbrush is visible in front of the basket, with its handle nearest the table edge. I’m approaching that exposed handle from farther back to avoid the basket rim.
move_to
right_x0.1450right_y0.1700right_z0.0020right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0509, 0.8227, 0.688, -0.44, -0.0704, -0.0757, 0.9968, 0.0124, 0.799, 0.6792, -0.514, 0.078, 0.0338, 0.9978] state[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1984 left_yaw=0.0316 left_pitch=-0.0054 left_roll=-0.0091 left_gripper=0.9968 right_x=0.2849 right_y=-0.0066 right_z=0.1858 right_yaw=-0.0751 right_pitch=-0.0604 right_roll=-0.0044 right_gripper=0.9978 state[joint_eff]: [-0.1162, -1.935, 7.0769, 1.917, -0.0269, -0.0464, -0.0073, -0.1299, -1.3607, 7.9111, 1.8486, -0.1099, -0.0464, -0.0073] camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.145,"right_y":0.17,"right_z":0.002,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The last blue toothbrush is visible in front of the basket, with its handle nearest the table edge. I’m approaching that exposed handle from farther back to avoid the basket rim."})
tool
executing move_to over 15 steps (1.5s)
step 401
assistant
agent noteThe basket tipped as the right gripper approached the exposed handle. I’m stopping the pickup and withdrawing toward the base to disengage without pushing the basket farther.
move_to
right_x0.1100right_z0.0400
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]: [-0.0513, 0.8265, 0.688, -0.4435, -0.0704, -0.0788, 0.9968, 1.5368, 1.5562, 0.3805, -0.3565, 1.0142, 1.4414, 0.9978] state[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1966 left_yaw=0.0328 left_pitch=-0.0126 left_roll=-0.0111 left_gripper=0.9968 right_x=0.1522 right_y=0.1669 right_z=0.0098 right_yaw=0.0318 right_pitch=0.0137 right_roll=-0.0565 right_gripper=0.9978 state[joint_eff]: [0.0342, -1.7436, 7.2547, 1.8779, -0.1001, -0.0366, -0.0073, 0.5538, -4.9573, 3.2889, 0.0122, -0.2759, -0.2515, -0.0122] camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.11,"right_z":0.04},"note":"The basket tipped as the right gripper approached the exposed handle. I’m stopping the pickup and withdrawing toward the base to disengage without pushing the basket farther."})
tool
executing move_to over 4 steps (0.4s)
step 405
assistant
agent noteThe basket is still tipped, with objects visible inside, and the gripper is close to its front edge. I’m lifting straight up to clear the fingers before making any lateral motion.
move_to
right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0509, 0.8295, 0.688, -0.4446, -0.0708, -0.0788, 0.9968, 1.7527, 1.56, 0.5171, -0.7189, 0.9821, 1.7748, 0.9978] state[eef_state]: left_x=0.2985 left_y=0.0009 left_z=0.1955 left_yaw=0.0335 left_pitch=-0.0168 left_roll=-0.0105 left_gripper=0.9968 right_x=0.112 right_y=0.1835 right_z=0.0297 right_yaw=0.0655 right_pitch=-0.0054 right_roll=-0.0058 right_gripper=0.9978 state[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.746, -0.0855, -0.0708, -0.0122, 0.2803, -4.465, 4.8615, -0.359, 0.4322, 0.1392, -0.0122] camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.24},"note":"The basket is still tipped, with objects visible inside, and the gripper is close to its front edge. I’m lifting straight up to clear the fingers before making any lateral motion."})
tool
executing move_to over 14 steps (1.4s)
step 419
assistant
agent noteI’m stopping further sorting because the basket is tipped and the gray plush is outside the left arm’s reach. I’ll move both arms to clear positions so the basket and remaining objects can be safely repositioned.
move_to
right_x0.2500right_y0.0000right_z0.2800right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0509, 0.8314, 0.688, -0.4477, -0.0704, -0.0788, 0.9968, 1.7012, 1.2827, 0.8375, -1.0534, 0.9581, 1.7077, 0.9978] state[eef_state]: left_x=0.2982 left_y=0.0008 left_z=0.1943 left_yaw=0.0332 left_pitch=-0.0217 left_roll=-0.0103 left_gripper=0.9968 right_x=0.1132 right_y=0.2207 right_z=0.1427 right_yaw=0.0565 right_pitch=-0.0515 right_roll=0.1986 right_gripper=0.9978 state[joint_eff]: [-0.3487, -0.9915, 7.0632, 1.7509, -0.0562, -0.0269, -0.0122, 0.1162, -2.0034, 5.9966, -0.0122, 0.5201, -0.0073, -0.0122] camera 'top_cam' (step 419): [image omitted: streamed camera frame] camera 'left_cam' (step 419): [image omitted: streamed camera frame] camera 'right_cam' (step 419): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0,"right_z":0.28,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"I’m stopping further sorting because the basket is tipped and the gray plush is outside the left arm’s reach. I’ll move both arms to clear positions so the basket and remaining objects can be safely repositioned."})
tool
executing move_to over 19 steps (1.9s)
step 438
assistant
agent notePartially completed: the objects are plush toys and marker pens. Two plush toys are in the left basket, and two pens are in the right basket. The gray plush remains beyond the left arm’s lateral reach, and one pen remains on the table. Both arms are clear, and the right basket has settled upright. Operator repositioning is needed to finish safely.
give_up
hindsightLift completely clear of basket rims before retracting; diagonal withdrawal snagged and displaced the lightweight right basket. Its displacement made subsequent pickup coordinates invalid. The gray plush near the left fence could not be grasped at the left_y=0.05 limit. Reliable plush pickup locations were approximately left (0.30,-0.24,0.05) and (0.30,-0.12,0.01); the original left basket center was near (0.52,-0.12).
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]: [-0.0574, 0.8291, 0.688, -0.4843, -0.0711, -0.0826, 0.9968, 0.0101, 0.7204, 0.9676, -0.8791, 0.0841, 0.057, 0.9978] state[eef_state]: left_x=0.2929 left_y=-0.0007 left_z=0.1876 left_yaw=0.0295 left_pitch=-0.0559 left_roll=-0.0101 left_gripper=0.9968 right_x=0.2433 right_y=-0.0088 right_z=0.2591 right_yaw=-0.0951 right_pitch=-0.0581 right_roll=0.011 right_gripper=0.9978 state[joint_eff]: [-0.2256, -2.1402, 8.7726, 1.7411, -0.1587, -0.0366, -0.0073, -0.212, 0.3214, 8.7863, 1.7949, -0.0513, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 438): [image omitted: streamed camera frame] camera 'left_cam' (step 438): [image omitted: streamed camera frame] camera 'right_cam' (step 438): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: the objects are plush toys and marker pens. Two plush toys are in the left basket, and two pens are in the right basket. The gray plush remains beyond the left arm’s lateral reach, and one pen remains on the table. Both arms are clear, and the right basket has settled upright. Operator repositioning is needed to finish safely.","hindsight":"Lift completely clear of basket rims before retracting; diagonal withdrawal snagged and displaced the lightweight right basket. Its displacement made subsequent pickup coordinates invalid. The gray plush near the left fence could not be grasped at the left_y=0.05 limit. Reliable plush pickup locations were approximately left (0.30,-0.24,0.05) and (0.30,-0.12,0.01); the original left basket center was near (0.52,-0.12)."})
tool
give_up: Partially completed: the objects are plush toys and marker pens. Two plush toys are in the left basket, and two pens are in the right basket. The gray plush remains beyond the left arm’s lateral reach, and one pen remains on the table. Both arms are clear, and the right basket has settled upright. Operator repositioning is needed to finish safely.
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 · 7.961 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "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.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6163, -0.3809, -0.0219, -0.0334, 0.9996, -0.0212, 0.7979, 0.6117, -0.3855, -0.0124, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0005 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.935, 9.4017, 1.8046, -0.0415, 0.1832, -0.0708, -0.3077, -1.2513, 9.7299, 1.8828, -0.0806, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa30cc93e4d6630b73073ba5e4823ab93c609bdee68400ff7dfdda37e0a44c22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bde78dcb3d4fd25c51067ebc09adffddb71afdbf3ec1d5f25b24a76c2740367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fc7a556331ed035a1056fd9dbaa9af5aecbd4d8fab4273406812ec776b087b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.452 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHqlSLcP0-R6_CBA04YUGRIE2vWnqxpuOYbxYSuikCl5x2C09WvRQmlMHyfV6X6l2OsIiS-jV_ilq0UpqcJOxeuHwOoD8_mZ2yen1hxr0u1K6_aXdhjvb-lDrosEI-pbvXOseuF-MEMLP7QVshrjxIvk8Q7eVwAgSNKiGH9aeBAijrdKja9-X6herj5XA_usykSZqwv5sax95Wdp_wXqy3k8jLNwz9TQBcEYrONZ6-zxP74uA1i3swotQj8XIqRuUqqnMjrDdTblg7j5Yi75OfNSWbOjua54Bl-K_x3UFF2dwsK2YrA34lWsxdKa4gIn5mkpL3B9tbQPhTpY5TAb_qgoTX9j_5rGszGJdzS9uf6RAWvVKeTG8sQ9vjW_m9sdbWDlCoBzS0gdqSznKaUCDfNYQ7YBm-52DYxZ2coZTYFz0x8UrzQBWV-2G4B97LTcINMUlnFzdD3bmqa1O0qCUipXV8UCtOp_SX3PvpW1Q-08zcqcwPXuuHQpATw9aRJxkw9W_y4Ux5KUrcen8sFR7N_uI6j0gTeBTRVJ1qK3IK5Lr9wKEoxRBMsT78GPxI4q5uBTs_1TSW-1YMstaqFSDUE1F8A2eacp_KHjKWcSXUEYgNRo6bTNc0AOPorAeOj-WObNfLwvaoskhYIkkgNiZyX4ZMpXOCJ9vJBZASxDiUbWobBuHW-XaNBsNGy5NVtHxt_Cpno9_FW52QnecIdw9IH090y0XWHaFw1PSnr3xWyGQzrU53M4_lffrv6UnXqgvw6uzHfp5-6_7IabAPLz5Zx3XrUwwuz573SmdKoCpCbwnIgCrIo85ZSdGuuPAGuRX7-_8-fH1QgLN9IY2aMOOiWB_smdhBtFHedoYI7eBaflCUsZQE2DQpzXWm3Zhl45-J5zmaQ4Vr4z4MTdEpo7GEky-xE4iTh6lcNJBCtSofZDfhCpO3KPzR319GyApKhVDjn1ScLNr_QD-lzitqyGbwEcFg18M1HlL9uBHSBvcLTmbg6yjzNHdpgCPl4-UO6dDiw6qcukG4PiFUHcK96k1MiclF8hFc-MFKPZGA__fEd-j4-v7KuhvRmav6p9b1qjfuszcmJqus2Gc6MIaeEDTvfSAmvLLofk4YjVaczcDXrgYpcxsaoRy7KHGPOe-7Kd1edmUiBLdMIhM8DCIa93Zhbt7XAq_sI5hmJHUKzt1ET8GCvqRD-RjxlD2CQ0asKII-MkGH2Uo-c5sFIIm0kU7fZg69JIIJQDqZHd0MyXt3FP5qhOB9lc4vLB5SzFJ5ebS1wYpzQm-EcNLhaflea_PqyoZlRu0RaHY8kkVsUa5_RkFehSxxYLX1_HYeBuGeldX7MXcXiBTcd3UXSsB-BQRElildW_SuWLQPdCVWOx4RCGQAtvUbD84lD4Cgcm570-xdkybQiJ8p4W0uqCcTDofc3lZHxmsBr7S7u0Sx13opPA42jUXihBc6bEqqQkb0m4yn2oZr1wQeN32uIUdIhgQKKm1pn_YlmNYH6crY1kXPnFbz0ipOVFREFo3-fvHXBhcnVNVB1iOQfpkHoV2TiroQxulOQ5wpnhEXEngkC7RsegPeBn62t6DiFtQ8kgGrYXo_S9bd6PFjIXW19z-769MgSys_h3v62iY8s67cJ7BMq9PEzefGY1DZzEtVh3qoty3WeMJn64sN9aypVejT1wAJADyZrNmTF7nEWxLC_1Q5980QSYppmUdvolkRjvL76Sfzem_qhomH6tmACzWYo_3ffIGF2xIRVHrkKcvgniOUha6-dODH4EG0NLWu0W7gtASF7mbBzYyaIHfAXHVSFwBWq5wlyDTpoAi7e9yULJFiea7y9L4XsjHwuHRTkU2zaTnWtzHgdnqLwqHkF87TngNGP5Yphouj5piRKuaUYWbFnKob_kHqXDC0p3k2YNwCluGMNmtFHikiInNSsFVHBFuBVSXqLIM8FVuGRYJA0amuiOYH4Jh_KfmaN4BRL6CSBU7-murx0YFO10xquqSYqJdfYOLSl5i99IdIc4KjhTnOG_t5E4NvwZocSssv95ISK9lF4mRV-y8lNo4NXS_Ce49fYUdGSD_dVT-JAiWelv07L8b_S7V4BulOHzGMa8q1F1gOoS_t_GfaSAvTntqf4mTRd4pdiBN8gYyFIP__Dg7obeuzEtbPbch88O7lRXZy1D7U33_1By4RMxe5lKNUjiQE4cLOBIztXfgTheLj7zzn4EyS69Y6SDBTL4Kusxw78-wd0UCmetzTn9pVT1iDlApdZ0yBUwGNleaRe3W1yLPX7dCjAOcgLRpQx9z_pG4ZvsJIhp80mw1lRyHyd4jARXhW5_wp8FBn0O5Dpsv90w73uIWNxL2OjstSbQ8df8jQDZnQQ1mE-lLzinkrNNZIKDyVXtNNJJlEMd4178skKm0RgfjRKinA95kp4FE5R514wwZvLJ5Coj0r7W_yFGbAiqEbhKLQmh3BZeyPsuXAEMj6-7QVvoMsBHKI4FtS--1Fr3LzRn2nFygj3XOv0-AjFTF6BXYK3RxQGF3tu2BW2uGA9X9seL4GZNEosCRh1tQYbcJnBUmDv9GvrlXtAVlj_yEUaFyqBulFBfsLFrz9IJ033NzdynqP4Jgr73ExniV0CTis1XJISRKd5UDZOyWQhYdstxvDCRLBubycDbrqBF0xELp4CU3BgcrdqAhjtGmtuU812p-fwXTwv0zJBTAM1j26h8ZnpN1g2iLXce235mp93TpA-kckkBUNtkTZR_2DkP5wPrtwei4NkQ5czG7wjsFdxurkMgTf18IUT4-CytRnYxOtP_XRTWhRdr0rQ1yGm1LP2vrejlPN0jxsGEkg85eYkOObdhZnM1imB2tl-I_yMbaX-uuB8X1hjnRsdHN0tZSFe5bZh1PWrdOIfbinQSaJQVsLz2wikj0wCUpWPgtx68j466cVCq9iY93nd50ODgGwsXUji1Ms7WNL_9ZHPJeTYnvqEf7zYGZH9ZcJsihBfHOdJ6V0OhZyjG750ZsY4PGYmVIacWZ9OJw39gmjM-EBAE8A==",
  "id": "rs_031f1ba988f3c78a016ab47a9f304c87d0a4dd58be0f4c1a33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.035,\"left_z\":0.09,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see plush animals and several slim toothbrush-like objects. I’ll sort the plush animals into the left basket and the slender objects into the right, starting with the gray plush on the left.\"}",
  "call_id": "call_RZlI1IVjZmXPKqv4ID1ZNB3G",
  "id": "fc_031f1ba988f3c78a016ab47aa4991c87d0a74b43c57f7fb20a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RZlI1IVjZmXPKqv4ID1ZNB3G",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.2764, 0.8883, 0.2687, 0.0162, -0.2298, -0.1738, 0.9995, -0.0208, 0.8082, 0.654, -0.4599, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=-0.0362 left_z=0.0863 left_yaw=-0.0074 left_pitch=-0.0176 left_roll=0.001 left_gripper=0.9995 right_x=0.2908 right_y=-0.0004 right_z=0.1826 right_yaw=0.0003 right_pitch=-0.0427 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.7983, 6.5983, 1.79, -0.188, -0.0513, -0.0659, -0.1162, -1.4974, 9.7026, 1.7705, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc69cfc6eed59b2ea9eb447416a079eabc6788f072c8a7b4c6418e65a1824e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41aa6ae7db8d381cbea11d524db4030784b2f1ab1c9982d0473e28bae0283201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c59c53714d44f95bb40940f29e438019a57fb55a6b1aa3969a7099d33ca3bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.821 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6163, -0.3809, -0.0219, -0.0334, 0.9996, -0.0212, 0.7979, 0.6117, -0.3855, -0.0124, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0005 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.935, 9.4017, 1.8046, -0.0415, 0.1832, -0.0708, -0.3077, -1.2513, 9.7299, 1.8828, -0.0806, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.2764, 0.8883, 0.2687, 0.0162, -0.2298, -0.1738, 0.9995, -0.0208, 0.8082, 0.654, -0.4599, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=-0.0362 left_z=0.0863 left_yaw=-0.0074 left_pitch=-0.0176 left_roll=0.001 left_gripper=0.9995 right_x=0.2908 right_y=-0.0004 right_z=0.1826 right_yaw=0.0003 right_pitch=-0.0427 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.7983, 6.5983, 1.79, -0.188, -0.0513, -0.0659, -0.1162, -1.4974, 9.7026, 1.7705, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc69cfc6eed59b2ea9eb447416a079eabc6788f072c8a7b4c6418e65a1824e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41aa6ae7db8d381cbea11d524db4030784b2f1ab1c9982d0473e28bae0283201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c59c53714d44f95bb40940f29e438019a57fb55a6b1aa3969a7099d33ca3bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHqucKOtrWK_Z1FD2H_hYnnG2VBGzUtOy3ReGFsnbxBLHYbpagOa8WlU2SyKYkKi_MEBg5GNHJo0w0wRs4mWBfeFTZwe6cw2f5ltpXi5Ek_nu_TPvAevMIXUxcM-jiMNo_XAGGYNWuef9SwUeULhIWRMZwNnb3UvXgoRU1MFhsAba7kKoNyVCQsd8yh0crRrXUil3kDUXZ5wQp1OUKP6kufABLB6prmxR5xeUeBBqlut232NtfnsBPuzUv0AfpTCdFwFgB75s5Bz3Ps36f5gBXWTPzRhmrgBw9DaGyuu4WUkAe45WGT3Q1uVefAvKlAC17t9BOJ6vEwtnbDedt8QlYhLe8zy4jAbuZFHfl2hs46AdMeIljLDQM9wW1POIWF0biEbmKj2ZNxGB5k4IrQWNfM4bKVenncNT0Z3hx9Mealv5jPUNw016LLagbd6kvp2B-zeKKceu8pSve0eAn4NprJ2i-Yk_rTTn3CQsRxnMQWLWEZmtIB6J29RTd8EMAb4Xa8AHAHsCoCP3mbr7n4svMJh6hZcP9VFusF_46B5_XsOJcOEzr7KYaLjB3a_O2FMOb5_EiGjDaKnffaucd1fXss--PNL5qMxJLOmPI-ROCp0n0DdyhwolyQe7zOBQOq6E07yb-4r75PqGsSwp0cK3WnLXb-o17GDjMkcuLmbW2Ikf5yTYUg--6xWxU3y39LHxZXXPV4QgTH5nVHtdtfVBPKnj1Q_uGHgJnLGhqhC_7laNkHEvlhB_25Grko8QFbhY8yM6g7XMg6qUaSjZjT9OofQp57Jexvku0CiF1IAHEExtIcPiEEEc67x3g5q5iWLJLkzJwFGn8Sf1O3H9Z9VKGb0xBBPSbxCbnjw3dE4_HwxgWrUI5gM3pnGpM45VUGisC97FFe69FebdwGVxomPUy8nvGEHWC9IPY7sEW1cz7RNialTxN_IeQQu_kYH9Oz08bTtEp2WWZfweSHKLahU6XmDdx_ftbzUal9ddhk1t25bhR0c5ZdcwUsfPM0VgxlDkPnimDBRqr7qNiSCuGsRcsvdqXvHLuK05k1WQx8WlxeudFVy1sCPb869Qso7SoHyIalfuIreUFaL55DGyZ208D32VQybsotFVW0wuQneCoHXbJYB6O6V9f6JTY1W1kh71jiF1wl8DDmziQqIVZrSktmNDewCB24Um-RQOVp2V6ACzZnQi2Ux52Pmxi0fDoSSHm2pFJ9v8LOsjjPR-tlF88NJm1UHQtYl9_ajzzK0oK-dSkCt_jKdPxNP522VI_3a6sCSog0x_FkxOkFVCvsi_tO_JGiJp3OSWoS442FxgCdnH3IO6nIulChJSoQmVZoWMtbTIGdxpZGGn5LAXod0Ps8cMNhI19QXWNFVQqRF_aCd7nhPCRJ0nGtY7vgIVaMcDb-yWT5GIrJbauQeGqvvDmVvPpZAIbUNDR80BlDGWlUfFOEUiHqzGHDEb-6AXNnTGiAH5J_eC5Na0HQFZrR9Couq3clHC9CCKoHEdIpYDVf78h70JXwf7ML-kzPLOM-xkvx4KU_RuXI4eQhDWAFxlLggGCRQKIaCmq9zqphLo-EgNKOBv77Og8IEPsf74NOyPu02GH4TH5macwp7TX3Vsz-nlIxO316mxzgmXYsrw310qMA9KcPER0AlUZtAfz0yUw1CkCqedn1KA8oce6aF5dyDIuEzz5KT5AbG37tF9ZSG8rHLJTF5sLBVRUra_-SVIPZJxgSuCTp5xs_9DeV72_u9ypRa6lQUK4dbWnYMP6wI9tAp9jXkD_Bpwzf-S3Nmv21v",
  "id": "rs_031f1ba988f3c78a016ab47aab7ab487d097015a71720c2e63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":0.005,\"left_z\":0.03},\"note\":\"The gray plush is left of the jaw center in the wrist view. I’m shifting left and forward while lowering to grasp its body rather than the nearby yellow handle.\"}",
  "call_id": "call_OmANWc9oFzF471OsYut1hB9d",
  "id": "fc_031f1ba988f3c78a016ab47aadc56087d0923ab162e5d49311",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OmANWc9oFzF471OsYut1hB9d",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [0.0055, 1.4204, 0.2474, 0.6716, -0.025, -0.0074, 0.9995, -0.0212, 0.8139, 0.6533, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3471 left_y=0.0099 left_z=0.052 left_yaw=0.0131 left_pitch=0.0661 left_roll=0.023 left_gripper=0.9995 right_x=0.291 right_y=-0.0005 right_z=0.1806 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.4957, 3.9316, 1.3065, 0.2759, -0.1245, -0.0122, -0.3077, -1.7573, 7.0769, 1.6972, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d961d9603857673b9d7845d278a69f141d2668d06188c5310a94174c2d06981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad4cb21017ca356cbe7569d02a484ab839643fa48d8a9bfd400f19909a64f70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77eac038e34747a00c450ed07593e7f686b739942fa256eea51426eec8195884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.438 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 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]: [-0.2764, 0.8883, 0.2687, 0.0162, -0.2298, -0.1738, 0.9995, -0.0208, 0.8082, 0.654, -0.4599, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=-0.0362 left_z=0.0863 left_yaw=-0.0074 left_pitch=-0.0176 left_roll=0.001 left_gripper=0.9995 right_x=0.2908 right_y=-0.0004 right_z=0.1826 right_yaw=0.0003 right_pitch=-0.0427 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.7983, 6.5983, 1.79, -0.188, -0.0513, -0.0659, -0.1162, -1.4974, 9.7026, 1.7705, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.0055, 1.4204, 0.2474, 0.6716, -0.025, -0.0074, 0.9995, -0.0212, 0.8139, 0.6533, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3471 left_y=0.0099 left_z=0.052 left_yaw=0.0131 left_pitch=0.0661 left_roll=0.023 left_gripper=0.9995 right_x=0.291 right_y=-0.0005 right_z=0.1806 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.4957, 3.9316, 1.3065, 0.2759, -0.1245, -0.0122, -0.3077, -1.7573, 7.0769, 1.6972, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d961d9603857673b9d7845d278a69f141d2668d06188c5310a94174c2d06981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad4cb21017ca356cbe7569d02a484ab839643fa48d8a9bfd400f19909a64f70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77eac038e34747a00c450ed07593e7f686b739942fa256eea51426eec8195884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHq3PID5gujpYWNox4ElYr9BerQFCKJd-fmRccxhVQf5XRRHBzBEHm3jCnNxs_ErZBhlmz2RMcwrLhDaw1Nygy4Dl8YoOrLjly76hgXUjwgKJjQKR3U1UjBJiNZfxNrRQucTV1Zj_rzQdP8whDW0rFN1CKeZprt41DpXB8DjVR7W4BLRlb5FlqpwM5HguDs_gYC3PopgLawHNEgUDp7NKGXu9VfhvfUFHHsAFrfO3Pua-3b_HKeaFXdqSHLU-eNGEiFdNea7QYf5GjvIT4eSNcKso8toPPiwOVzKQW1BE2uo5RIMQPMTTfcYhZcYVD--9CWsbuDN0app-twIZ29lVlGvyDosaluK_syPxMLxCS3VsGjCqL8Ba1bwLs2dz_Q4J96WtDkbmMPlJ_qpRSJVxbvacBRiQQn-NeXMBzhpV3d0M5NKUC3J_IuG8P29I4fD3s53C7aWd00sb7uCjp6DeJO1jI4H7IFxykvAJ-LiLGLv_KN4F-s69WXQAqhp3JS9SdPcFrRL66QDKz5axkAZ999H-RUjYqGKZ7Mm6aSRjgESSFu_AHs91XFKxx9KyuXra8fDJMUPdf60VMAwRFgKo3vGI049zXSvcoLQWfQHBJ7ftAP_jm0zFq5NN5jR0Y9RxDvhlmj76vAD4XRSwGiYXc8tAXjptf3IzhS2KOq_cV9jphcGl-3nKCmIezehDWN-Nmc8C-tvT2DwGgLK2DBeKWiwVssNZupmtNoNKiRujAOYk3yCpM7KSTuQzi9lXttks1Tfd1xAtp0rj3Aq_ekWxeBzytA6T5e8aqOjXL3bxvwh158Ve_s15M6qwpvvOpa6F5ejezV4nIeG607V20lk566-146tVkm0B7oCOOPriZiaOhJfih5YvxwAfENxQIJSZgFxJaU-jveioKGXc26gmRqE2IvJsHPWLVuujpdlHQcx7IYw-fkuFYo_a6HkdrhzTw_iNU6PBqm936CXhaR7WadphZ-JTu0hQpfljEHnrFEb7HeP5q-nKcZ6_jPjohjPhNNnfhAM-mo3cAX-2eHgW72a35LvNSbjGdBJgdxRdKTddph9X6Dl1NzXexVD7jpxUzVWT-jL2byPBVhuKCf10fu6sV_-aLmXDnZr0qQQ9zrwU6MT491Wht8XNJVCckdpHz2Q78XiU0ffYA1Yd5ISAM1qoc2ZRelsd-dPgI6g0Vgbfr5k-NnXqxSu8SRyYpZPRsU2L9NSCAgErT1kUiK9xfcsWPV9NXAYSa6bM1SdpBI144MIcV_uAAp5UYFYcP2APJ10kuhPB_GA9fnzzo1ezidRqzzur3e96wZviAoSQYHjB9JcbqOXVb5DlVwwN4pfdpzU85ZLjCq1ejoyPkQkb6uh6oTK6mK8nDBc279cpBXViSwOfiW_czmo1WsRtIPk3uchrl1hPYrR_3CecHCJ1_ycpADGnBqJw2AvQ1tFu77nOSyaN9RRx7gF2vKcjrInHR-fcG6kAzPbFKNxm345wPw75xw4mZlZRq1lbU9xTXwpFYGVaoyKkoSuDfb0DDyWXMnPh7f2Aso7BnppJ-dwxEOAEkx_R8pZ5EvMFEda2aOtKCcoRBxfq1twxs9uiMzONHzH66KrnwgXaYI8R8R_OJ4_lQhzghrvXQGhe1i_YnjUICfzuKChksa2nE54LMwlcIvM2PSRFMaqgB-Kx8DbBQQylQmZtmF-pqEYJ4cCjD32es9Ycj2Hbq96oHlUvKXz3wuS-sT-WDfNAoJzuiUZ_DZWES2YIvX6X_yMBIlF-s737q5ZGEKvkFzS521toGJEm9xEu4dhfAtGifKhZ7puu8im69ZHKVmR_8elSNReLrz8WfGvzscBe6CTW3e9igB16g3DjIMXzHahM-rbqE4McAEPVCK1dXW88TMXYlKfb_MSINhq3SSeMbA1XPSpSMAlN-0A-IYqqnPfFUZMO6hBS2r5Hkfd3ZM8h8lA4RY3HPI0Jq4tAD87lMKZ4lq_oaTO-ow-Ef3qhE1HfxreRuaAvM73RDEOUIz4g5VgE91WQWbErBogMD-tjJc9fcgfL1TG3z5Ik0HBTf7dgggSGswE46Fiy5UkKW3hUy5GGn6tH7S_wqChUbYmONKsB5ULc653NG9D59jbz9cF4I3lGfjD76TPWg==",
  "id": "rs_031f1ba988f3c78a016ab47ab2942087d0971e46d68902d629",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.04,\"left_z\":0.012},\"note\":\"The gray plush remains offset toward the left jaw, and the descent stopped slightly high. I’m centering the jaws farther left before closing.\"}",
  "call_id": "call_Xa4ICSBxsiTwA47lAJXN9aO9",
  "id": "fc_031f1ba988f3c78a016ab47ab6652087d089de9472ea0b2de6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xa4ICSBxsiTwA47lAJXN9aO9",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "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]: [0.1585, 1.6833, 0.2012, 1.1358, 0.0986, 0.0971, 0.9995, -0.0212, 0.8185, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=0.0436 left_z=0.0524 left_yaw=0.0018 left_pitch=0.221 left_roll=0.0797 left_gripper=0.9995 right_x=0.2913 right_y=-0.0005 right_z=0.1792 right_yaw=-0.0001 right_pitch=-0.0546 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -2.6051, 2.0171, 0.8181, 0.1636, -0.3248, -0.0122, -0.1983, -1.6068, 7.1179, 1.7411, -0.0415, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6562d85f0626cd74093d75e26ce7f8db88f0708794bcb5ea4ba4f29a704d244",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0b2d988104f45e0ad01ca897d0a9b14cbb27ddcff195b84c40bd3043ecbf61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6054feacb44d782b2918daffd187904dc2ac3b61b84aaf8662f23db2db492f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 8.7 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6163, -0.3809, -0.0219, -0.0334, 0.9996, -0.0212, 0.7979, 0.6117, -0.3855, -0.0124, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0005 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.935, 9.4017, 1.8046, -0.0415, 0.1832, -0.0708, -0.3077, -1.2513, 9.7299, 1.8828, -0.0806, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.0055, 1.4204, 0.2474, 0.6716, -0.025, -0.0074, 0.9995, -0.0212, 0.8139, 0.6533, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3471 left_y=0.0099 left_z=0.052 left_yaw=0.0131 left_pitch=0.0661 left_roll=0.023 left_gripper=0.9995 right_x=0.291 right_y=-0.0005 right_z=0.1806 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.4957, 3.9316, 1.3065, 0.2759, -0.1245, -0.0122, -0.3077, -1.7573, 7.0769, 1.6972, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.1585, 1.6833, 0.2012, 1.1358, 0.0986, 0.0971, 0.9995, -0.0212, 0.8185, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=0.0436 left_z=0.0524 left_yaw=0.0018 left_pitch=0.221 left_roll=0.0797 left_gripper=0.9995 right_x=0.2913 right_y=-0.0005 right_z=0.1792 right_yaw=-0.0001 right_pitch=-0.0546 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -2.6051, 2.0171, 0.8181, 0.1636, -0.3248, -0.0122, -0.1983, -1.6068, 7.1179, 1.7411, -0.0415, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6562d85f0626cd74093d75e26ce7f8db88f0708794bcb5ea4ba4f29a704d244",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0b2d988104f45e0ad01ca897d0a9b14cbb27ddcff195b84c40bd3043ecbf61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6054feacb44d782b2918daffd187904dc2ac3b61b84aaf8662f23db2db492f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHq918XuyJdyI7yE9-zQbtVWDC6o6PJMCCgGw3UOZxvV5bgm3MpjvrV6yx-QI_fyJ4ip2hyXXK_WAjtVQ5MaaxCJFlmaiD3bQocmH5SKsJiyWTYGccUk3QC1J4yGq2C6P9x5OIcoHbbfjkyKH8T7hOJoX8a15xucQEFEjJhqf1mfiS8yKTP0qGwH4GyeoaV0X95E2KC5m-DforAdmuuQBFivhakAD_s3UJspQ_v-h0Jut3d0sDA3p5M5N17vLWHn4flpgw5rgJFOD8CNa4qtiRK_ui_5WlTfP5HdjWjQPOikmsBPa95QHW91R7SHnC4Ul6nPCOtSpfhg3AeB6gKDqFViTiOUW2IFQndteIR4vkJ7IBxaevvQq2nFOozcUS9d5G7MzD4g9x6S65FpuTUftyTtLs0zKqrY6JbDT1kbo1f6knscnuzf6OCunt-lInMNB_Ce2nOIQNzYTcYopKD3fShzP1Qjx5AeLPfTJAUuU1PSfgYOIIYRWohOv4QvUMI-n1rcBt-sMo6HOGm1ALTFqGkxFIm5mJZPlkY0L9j_vcssNhnRYiSpL_mgl0VE-sPclB87NNTo1MJgzfJ7HupvYqgx2OIcFPL0qlNHrsMixoOhXLmhBpW2Kn_s2kzXGq3FH4zR7aRB-ZccIssFAovVwLGG8oSKjksOz-EIWZ76PwTQ5I0Hn5wWhypjVHi3mePdVvOD9rfk0k2I9bvo9yDnRj_Wxbi7EhFkmaEIZ_HFR2Z5eKuW7Q8Sg4dcI67SpVF2r4rlKFYBPUUv0qTUXAZzXqOwzwmoeev94M2niyyZq6C4__lzxDldNBz7PdPkp5KY0RuhnrWxYsUpzABb0iY4aMig-_X1SnpqaLDze1CLKsmc0_ZqwPKjrxYIazRwoClDMSuxxqTbw8JF6UsTVwxVHJVnvIXvRHHQho9fe8UrLR5Gu3YUxyX62rc3AUQ4E717PtFaLSwtgtdfPo4zPFM5pDdam1wGHTzQMcbatmyYp9ojKb-OA3vLF3bfguX-8LTqmSVxAv4TieyT3eCsw5ClgOY_s_o-PQXaLuXOwdbQXDqkio9mixCmntUU31rFGpazGaeiVD2-HF6xS9QvYekqPDyxWhxEpWrAJUsUUQgIjx_J8L5-5x4j4OBvjZiOoKKScAJGHto5knpxIOlHgihIvyFHUhqnOTRhRzQlbTCmcngATKgHPT5bGks8f5wFdqmPpnHyRymb-f0Tr9n5iHUECNSD8QTPxiu-puiISAEhWSU189_nG32vwmilwaAvGxsuP8zNnDQdMBiB4fBoMf-cGf20ZmY3nq2oh9EVtZbqWddi8ObifN7tPisw9MZ1O6mw3-vkBhjPWzaSOTjEU1WacCh50BcAn-Hcg8sgoUQueHyDPzI1M3QQ8S4hGYJF3t_duaXylgl1wZcSev8ZTOFOlVlXQpVJPdUk6HW7DKL4RLBE3RfI9MDsmuo3X5NZJwPJTQjJKWzbCbOKGTTnEKXjup25hEKQu5FmJoQbF4rOs68vPOYPfXZ43N5KVyoJZDMQHPVdcoMKiIac9SCdnoDB5ZylkWVRrDVwEQOnMKnAMpKbvvPW7n_vIK4Am1MQ9IJoR0BEk58oYCeG6K_9ZMXUa5kSxUvCE_w56erkN2jgdLjMZKFQVQFWKkPJG2u_wRmNAR1Qby8jjJPcozuZ4rW2jpNSRumBCnj3PfeKMm2e4w9hpku2WzjOkV7sEck-xFztYRgnw8SVkoRNOZCdu_YPPjNXoHdQBOXLQRebqQ7esC6NxZ4=",
  "id": "rs_031f1ba988f3c78a016ab47ababd4887d0961791012ad46d70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06,\"left_gripper\":0},\"note\":\"The gray plush appears between the fingertips in the overhead view, but the arm is not descending further. I’ll relieve the downward contact and close to test the grasp.\"}",
  "call_id": "call_iyMr3NHZquodTph2ZN0zm37S",
  "id": "fc_031f1ba988f3c78a016ab47abcd93c87d0befb5306c31fd2af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iyMr3NHZquodTph2ZN0zm37S",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [0.1566, 1.6497, 0.2134, 1.116, 0.0875, 0.0971, 0.0114, -0.0208, 0.8211, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0455 left_z=0.0632 left_yaw=0.0086 left_pitch=0.2461 left_roll=0.0874 left_gripper=0.0114 right_x=0.2915 right_y=-0.0003 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0568 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.041, 3.1385, 1.873, 0.1001, -0.0513, 0.9988, -0.0752, -1.5658, 7.2547, 1.6923, -0.0171, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6270d242b5c203006c19f6dcc0fcf12a4b5c016773b3567ba27765559934adb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18dac6d8d607862c9c6b2619b08fb8d231e3761a5795011f347f801fb64dcaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c8751d57b574c5e025fcf83f6a4be9a80a5f50117cf26a480d2a17671891fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 9.649 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 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]: [-0.2764, 0.8883, 0.2687, 0.0162, -0.2298, -0.1738, 0.9995, -0.0208, 0.8082, 0.654, -0.4599, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=-0.0362 left_z=0.0863 left_yaw=-0.0074 left_pitch=-0.0176 left_roll=0.001 left_gripper=0.9995 right_x=0.2908 right_y=-0.0004 right_z=0.1826 right_yaw=0.0003 right_pitch=-0.0427 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.7983, 6.5983, 1.79, -0.188, -0.0513, -0.0659, -0.1162, -1.4974, 9.7026, 1.7705, 0.0171, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.1585, 1.6833, 0.2012, 1.1358, 0.0986, 0.0971, 0.9995, -0.0212, 0.8185, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=0.0436 left_z=0.0524 left_yaw=0.0018 left_pitch=0.221 left_roll=0.0797 left_gripper=0.9995 right_x=0.2913 right_y=-0.0005 right_z=0.1792 right_yaw=-0.0001 right_pitch=-0.0546 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -2.6051, 2.0171, 0.8181, 0.1636, -0.3248, -0.0122, -0.1983, -1.6068, 7.1179, 1.7411, -0.0415, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.1566, 1.6497, 0.2134, 1.116, 0.0875, 0.0971, 0.0114, -0.0208, 0.8211, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0455 left_z=0.0632 left_yaw=0.0086 left_pitch=0.2461 left_roll=0.0874 left_gripper=0.0114 right_x=0.2915 right_y=-0.0003 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0568 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.041, 3.1385, 1.873, 0.1001, -0.0513, 0.9988, -0.0752, -1.5658, 7.2547, 1.6923, -0.0171, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6270d242b5c203006c19f6dcc0fcf12a4b5c016773b3567ba27765559934adb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18dac6d8d607862c9c6b2619b08fb8d231e3761a5795011f347f801fb64dcaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c8751d57b574c5e025fcf83f6a4be9a80a5f50117cf26a480d2a17671891fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrI-DjYToi1_RcfUWaNzgMJr8JSejI_yAq4F3jg43Pf94c_zKin8z3pzDQVBYKdFOimyhOgRiSnF5Q46A9gfo_USXZEjdZYYePj8Rcmevb4ZP0WzEo2rQwmYdK53ft47NYoN6Ou6x9i-yvnG370EK5HZ9NNW8SQ2fLfSobczvbZ9VjcHWPhcx4v8avKd3tLK-S_1rBWHLzRQhyDuopDWgjQ823SJ1lMDLautL4_YW_9R0xumuRCsS6mGW7MB1DZl2M4Cp0a2O1KeUEoP7rGeqGUJ8nwuY1K0VdSd-EOik1zUtnSthjWOrhIVhiQ4rbIwTQFQhnKeooy6AmYWkl3UneHXqnFNlUzO-8uaamRuQvIrq5aLRVPp4iKIwmER4yiCfl8z_CqcIDRHR5Jzln-GhcTqfgwDlKB2whBtWot3BuAMx8Sc1Dhmvi8fiBQBIBL9-6R8ynjcmvcO4yUuPzr4_-YT5ZuTr1Y9gjGOb7t_sa3GmOuN7prft1aisKhzEL-XVmLG0TC4SlSuEB54y4W9rhAmrvT0LHQMHdrlwtZ-fBhTm0LysD87l3tpaBDmrfuqcnv1pATzF6TnphEB0tld9qLP9Ame7eQ7dwF480r3yqoJpcQQqFbAVjlC44hmb0rJflHlmbjRtYj6kE1iKKUxV399R86XwsmgZvdgv6iuY6V2aAjRzQ0vD0qAHyQPMrhdcJZT4QVL5uFE5kRta3F1VWkdbsphrHYuQY0b2Cks9dZQkJA3dnJQecYpeU-7-wNTwyVuBjMNFg2VBch6_Uc7mJ5HbVjPhJ0BXs2yL8wvrEh8arofJwC3otdmJ9xuWNU4gwBFWBNzDuQMbxoCU671g3ciBPkUKHj3o1ydjH0kvtSE6EyDYkpy31b8I_HRXjp-7-SuyzzmoVe0ejZuL4lqENAnwvhG0SqD2wh79iDqtAE4J3_zsOBdrTwXf5h_2aTTNtnDVkBPm2DcHb1YoiUon2WWvqa6Mj4p-RKQ4fM6x-Mc2XbfW_JO2ztFEOqcK3wiB0mpZVwnlJyqZnKCt6uw0q3p5_KAqJRPV-sIGzIuXNhhgwn8xXQFU-voSCM0Oukensqf3G_U7lCLeh6VAQbSAuqy4oUsJ9oxK8jgRfwm2ram0YqcNcMd9HEt7iXfZ8IpYhLFspIfocETlpbJgzUbr8Pyl6tIklojfUNPh-bEQ3nqk3T36tfQOj7jkgqiXdFrQAgcKRl8xFLYzbA8JP8bbhCmwjcCIFzyblnxfgsv_v-p2z8PjesHL0ubOVfWFVAmilb_MuIs4IPEHRnAT4KGyv3xrTFcl4IlTCx-vMwsV5mbb_S1tng-79BhfYvUqGBXrJ7Sp9sk-W0M9bEARlhYO3LsNYcPclbhgRZ_k3TOhSgt0W_uW8Hna7dnpJrlMgOqGpuzH-GIZCrUfgRQP5tqTAFpsDcfIeolDAhzbkscC8xr6QZAlj483VpRNj3vPQANiHOtGUIkQBe_HpQYFwshhlPHYJfeio10AqiThVuRQpBthgzJQq8hZDM3pArrh1TqADEJT4AucnPjCo6KlfkoYj2SYgPADGavsPyTYrErMMwm1mOZNefGv0-5ljgPH3Xgmn4Eu35Sto_sPCvOcn_l551ZRgDcEbKaaRky5oB4nN1aCKUMTdhxy1ROWzHnSdSJrpUA7YqbgGQnCWRvzCbI2p1Q-pZmMBJ51_CdyE9ppUWLUbE0fzTCbcWLbi29ljkhdRKZjaKwugklpisw9rHhj9qWykhe_M1C2j9BsTSlq7eajezdaAElQTSQG79R92s_NwuWVeLi-CNRtlz31rWjmgUUOPa_GdeU_8zZ5TodDWxZ80DlmqH9I3GVlqPyfA5yfy4840GGmZ6AaJTPpLAR7UZAZ9Sn_0hXNrY6dmJLv-Un8u4y2E5PB5DSP6ZWCMvVC_iKqBfilwqfdKZh3dW3Zv0LP6JwLcFObLF0sKoCX7gb2vLr_0OoLOJJoPun9lc6KxfLArpDMS2TzNBmhjkLKxDwc-NNFISxq8iTO6k3CpmxrnNlgqhcOuxAikj6HVoiSXMPG_lnYa0JhYxrZDHQWTyMMmhv-lfgEdIF2zS0ssyBDJie0cdd79eSAuKaP2a2A6tGqont9PCG7CgQdkI5Deay1ZwBq1Rfo0TLUIA9PNNAx-Yi0k9owAFj7RAp2Hvrx4_XhamqMbYCHA3jLfpsmqfrfZKwhhLfyrZZGFR9uAQSap0rsNqG-7e_1BGJLreEnV5WjDGEeINbgJMe--qBEkGpshGCRMXCnVxM3xf8qY7gkM70kquyuQmrJHtAvwIfPX3aAfHFVf72hU4ROmz6HOLoQVxURjBq_LgVqGp6YCAX3n-jM1QEahqoO6CL8v0AOjPwje-73eiovD0wQwLBp-8l71krfwBsbdTBd1Py0uzaDHFRomQfGyU7SG-sCkHCJ1NuC9dcYWrHnQ8hxNJUL63N8mkXSvtWhKfZKw7p0ba1sgLApZVtbLkcqdm2d970IQ9RIT2G82LfPQjbAfpAbqCKvoX5fbcPbAKh8gDOM3BQJERL-f4KeNDdj1thPsRfEXs1nYj_2DSeTZRXvk6ALD491dQOp6yQcM1HtygakxresRn0ywLBauUXmvTIs2WiGMXAI3epWbJfGJ5l6DIzG9BfA==",
  "id": "rs_031f1ba988f3c78a016ab47ac1031487d0a1bde70dbeffcd94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.05,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The gripper closed empty. The gray plush lies nearer the base than the fingertips, so I’m reopening and moving back to catch its upper edge within the left arm’s travel limit.\"}",
  "call_id": "call_fjeV6SEqmrV52yPqHfl7GD0R",
  "id": "fc_031f1ba988f3c78a016ab47ac71d1c87d08e4af9e21f99cb10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fjeV6SEqmrV52yPqHfl7GD0R",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [0.2344, 1.9091, 0.0128, 1.5471, 0.1692, 0.1169, 0.9952, -0.0212, 0.8215, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=0.0479 left_z=0.0264 left_yaw=0.0059 left_pitch=0.2216 left_roll=0.0741 left_gripper=0.9952 right_x=0.2915 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0001 right_pitch=-0.0576 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -5.5726, 0.9778, 2.0293, 0.0073, 0.1001, -0.0317, -0.2803, -1.4017, 6.9812, 1.7314, -0.0317, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cf26725a2e2aa94348c647dc91849643af4e6c4e22d4cd35dc9ad0536971d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c53c5d235e53db555d465c756af5350ca5dd60fcd30734b5c6fcf88ab416a39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba71f49507d0f635f53cd1bc1e41ab8be5fc931cc9996b4f9bac3da60731726",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 10.36 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 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]: [0.0055, 1.4204, 0.2474, 0.6716, -0.025, -0.0074, 0.9995, -0.0212, 0.8139, 0.6533, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3471 left_y=0.0099 left_z=0.052 left_yaw=0.0131 left_pitch=0.0661 left_roll=0.023 left_gripper=0.9995 right_x=0.291 right_y=-0.0005 right_z=0.1806 right_yaw=-0.0001 right_pitch=-0.0496 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.4957, 3.9316, 1.3065, 0.2759, -0.1245, -0.0122, -0.3077, -1.7573, 7.0769, 1.6972, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.1566, 1.6497, 0.2134, 1.116, 0.0875, 0.0971, 0.0114, -0.0208, 0.8211, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0455 left_z=0.0632 left_yaw=0.0086 left_pitch=0.2461 left_roll=0.0874 left_gripper=0.0114 right_x=0.2915 right_y=-0.0003 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0568 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.041, 3.1385, 1.873, 0.1001, -0.0513, 0.9988, -0.0752, -1.5658, 7.2547, 1.6923, -0.0171, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.2344, 1.9091, 0.0128, 1.5471, 0.1692, 0.1169, 0.9952, -0.0212, 0.8215, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=0.0479 left_z=0.0264 left_yaw=0.0059 left_pitch=0.2216 left_roll=0.0741 left_gripper=0.9952 right_x=0.2915 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0001 right_pitch=-0.0576 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -5.5726, 0.9778, 2.0293, 0.0073, 0.1001, -0.0317, -0.2803, -1.4017, 6.9812, 1.7314, -0.0317, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cf26725a2e2aa94348c647dc91849643af4e6c4e22d4cd35dc9ad0536971d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c53c5d235e53db555d465c756af5350ca5dd60fcd30734b5c6fcf88ab416a39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba71f49507d0f635f53cd1bc1e41ab8be5fc931cc9996b4f9bac3da60731726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrT0c3uE4kr2z71m8ZgqAcUohSAJRvcZBym-d6N98OI0h1_qEN7fgeIDhciJUwEcv-UqW2Aa8VDEsI-EOus27Tl9_8gCUWP40XSg24B0QnrEjG-81-De3wsS-mzare1TgoFb9e5i06-HRJqCP4hzwCL-Vvphj1uz-OlDtno0Z2JJpYASnDKakIw6KqDe3A3YWovU--R8hI1rj3fHeYMCM1W2xHtWWaSKgkVALV3rkizve61ij2tl_INkyxdRfpF3Buqvj81rNj8I5qi5FkDMZcMDSvoqprmbAZ7opG1Fne0JNpkgn8I-YYghM0iWLB9G-gLqsfSx57Swwyax5TB2X6J-Gi6RfzJtc9OOzkJ3RbTkDVEakqxGGcemMAnORmxZq58webN0Cg7GpJ01nUx73qbEz9gkJacC9PCurNVKzBF20Du7W3GvwbNzd5Y4G7RwkQffnSZthSf7dLQIM8B-tpLTe4ZYgjcFxHWlGhdzFPGr_VSRMD-lu-DhqkDpv18i_DHasIbaG8_pqgSDjaz27SnL7klFW8gH8xr3LqRB_0yAnvcMM2vwwRWgGta9lUMEXz97MqUgWusv67tBXOkRhG_2xyRCNQRjpqD_GJi4_SeS0FkAmibyNIbK-erxg_NLo0ge93lqFRMJTJb9A3DoGBsc0LpW2iv7AFkdMQUSaZI-NtNUrN4sIoW3kCKQwGZZ2xtO_olSFJPTmP_T8Kr0ck8RmilqTvc0j5fCXo7Pmi4AVjS3vW6DjPo5Mye3AD235ACksyuJtbvvroY2mi0DRcw6l-JeL8ZQFL8atcoCenfOJGd52gVgKUuj5rLIvhFdqBYIowbqJKJ8Q8Egk5s5zhQTG_dTGqo5BHv4s3nmnJSqT9zSPEPkkYa1ugrsDES4qzdSZNWlkM82-gAQ2uE01QG3wvWrQJs87k_chTreb6DFnt35vH4z4149HqeCtmO1q6dY64cSTwngMyn4vvY_qeMb8o2YHqgnlfPWBH8E4_ND0Cq-guA93co826e5CEAsuWjqg-6Zarr18TRHsO5qNc41e5wzzEF9lSS1_UHgzHP9u-YzpMw2xWjgpQSMK6t7p-sFElCPoJSb6HJCAtRzx9DKrbKvTNel8-PtoMBQTNeHE17OqXay_ZtH4GIISkSli1E8AldrQV75NRfG_8KzppxFuq3zGrTo-JdMk-VsAsqtu7p7k2OzBBcJPsAvPm83vmwOsSS48wc40Q1aMrvJrbyWLZ4b_Dbw_9nXD5dldIWRyLh_gx8klicIRDAwpniDWklrW80uTThnV2GGiLFhO-IRPxR7d1C9TdBC5T4rp3ItPOhHRufDEsk9IP8odtI4517I2HP11uwqhP97syLJDaVx4Sv-TkaxmVIA0W_FN5ni-PhMqYeyTLxl7hdna9pLSrEVor6vTy147AitfZVoL_-F1FazaGBsLr1adwasTYZU3ZzCTdcDYgfnOjF63aj7n-5VqGssdiJ5loIMyECZ1UdWTp6c7-AfGDHOH2AN0uY7oUkxKgnViMzDJk1POmz2XVcaMp4YmBt7gyDDaPZQA8tiHBlo8YLGxU9p0ePFqBvg2Fh5Gccq8unr1Dfz2O0JyFb0rbwqMzKN-B0yCMaPyuPKSLaR0BV6tOHqz4mQTIEuRJUu5Hy6WSj0xnpxqq3qGapBx1GWnn16IjXR7Kg6QhBvSwelQE4Unu3U4oBz0fpSNZIX8jDPPIhcOPMpkMMJOMPAyMxgH5NbsSe8TJFZ3okgdTuYNKNDkVKadwB_KA-ZKFawehplJmJQwYosR33Dd11_3xrw5Ff1pAazCvbDgX0A-urrCgpu2b89eaYTdfNzt86A6-hxrCziJVki_jduRM4LOChb2OxmuGIugqIlsjiIj2-BOHgEXUXZoeGC4FUb75hq-Es3e9FKFgD_7IHmWFvygt1juyKUtmxZdJ1KJsIiw34kVNOfYPg-2FZn-mzuMaCrQ4-Lralu3oXgE8HR8zl8bocuRIwB0qP8xCMCZYhw1OYgB1gZtKUDqXRXURZQNKVWpKLU39fL_-ZMPTE-shoCc7oG3n2N1wlZfYZG0BTZIlrDqEhed2A4kqhJ88HdBvfuijedRGI1pGmzH6cCiwGaMRTAxKDYZeGt1x_pAafWVSbI7rBaNylFyYgJiqbtRMUv1HPZ8r457AC36w3F3Gh-jUDuemVv_R4evh0JjfBLF32UMoUftkdtXVjgafOZyr9c-iT4umJYIoqZgC0eCZ4kls64OtIPqusolot7rsP9YcgVlz_QO4c4zKhEWuTM53VifGR7JeJLlPnj4hmrTV9Uk0VCVyrmfTtFN-a5f-xywfkEyPPRWkpcXnDrPlaHxCO0qOUap1QlLkk5wtcR_km",
  "id": "rs_031f1ba988f3c78a016ab47acce76c87d084134b90aa0ad50e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_z\":0.015,\"left_gripper\":0},\"note\":\"The open jaws now straddle the near edge of the gray plush. I’m moving slightly forward and closing for a second grasp attempt.\"}",
  "call_id": "call_XPRrnUA7ZupM5NDMj3ToQZA4",
  "id": "fc_031f1ba988f3c78a016ab47ad101f087d090eb4f5cd8c5383a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XPRrnUA7ZupM5NDMj3ToQZA4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [0.2081, 2.0109, 0.091, 1.5574, 0.1459, 0.1047, 0.0119, -0.0208, 0.8215, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3315 left_y=0.0474 left_z=0.0135 left_yaw=0.007 left_pitch=0.2074 left_roll=0.0675 left_gripper=0.0119 right_x=0.2915 right_y=-0.0004 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0572 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.5197, 2.1949, 1.9609, -0.0513, -0.0366, 0.7888, -0.0752, -0.9915, 6.9812, 1.7118, -0.0269, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35134c5f502d191d6524947bcf6c02dece6ad22064d3fe8f03ea4efd7a88897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67283ccfaf7cd261ce5e673ee8f0f093dabbf22ab3b8cc586ec671e7aa29f79e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd3fdff8a60c487b6b045fb8c4143177375b6a506e1fa94571e400cbd9c12a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.992 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 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]: [0.1585, 1.6833, 0.2012, 1.1358, 0.0986, 0.0971, 0.9995, -0.0212, 0.8185, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=0.0436 left_z=0.0524 left_yaw=0.0018 left_pitch=0.221 left_roll=0.0797 left_gripper=0.9995 right_x=0.2913 right_y=-0.0005 right_z=0.1792 right_yaw=-0.0001 right_pitch=-0.0546 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -2.6051, 2.0171, 0.8181, 0.1636, -0.3248, -0.0122, -0.1983, -1.6068, 7.1179, 1.7411, -0.0415, -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"
}
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]: [0.2344, 1.9091, 0.0128, 1.5471, 0.1692, 0.1169, 0.9952, -0.0212, 0.8215, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=0.0479 left_z=0.0264 left_yaw=0.0059 left_pitch=0.2216 left_roll=0.0741 left_gripper=0.9952 right_x=0.2915 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0001 right_pitch=-0.0576 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -5.5726, 0.9778, 2.0293, 0.0073, 0.1001, -0.0317, -0.2803, -1.4017, 6.9812, 1.7314, -0.0317, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.2081, 2.0109, 0.091, 1.5574, 0.1459, 0.1047, 0.0119, -0.0208, 0.8215, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3315 left_y=0.0474 left_z=0.0135 left_yaw=0.007 left_pitch=0.2074 left_roll=0.0675 left_gripper=0.0119 right_x=0.2915 right_y=-0.0004 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0572 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.5197, 2.1949, 1.9609, -0.0513, -0.0366, 0.7888, -0.0752, -0.9915, 6.9812, 1.7118, -0.0269, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35134c5f502d191d6524947bcf6c02dece6ad22064d3fe8f03ea4efd7a88897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67283ccfaf7cd261ce5e673ee8f0f093dabbf22ab3b8cc586ec671e7aa29f79e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd3fdff8a60c487b6b045fb8c4143177375b6a506e1fa94571e400cbd9c12a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrfBiJaUo6RBW3VbKHn95UDVXLci3327nNaGfGTsLaLJROFFGmFzdLWAKhmf4kHu64rT0p9dHUPGRrtTfaKA2KntSLeAw7Wv-zC82JL8_U1nAIjud-Sb_nu-C0XLzO0GjZ_kJLXf2QBPXo_hn1CS8l0qOKQFiGjv2trSRrA76hzlZ_wY2Dn8agTtk9jbZe4B2LdS-iVu8OtyUg11ZkFUvklbtQj-ZVHkmcmL3PhXhwgjepo6hmUO81UfXRIMToWDZrCV5hSnHuogIA2yaZRbgvH5WrrDpWixKBA7uOX4fX2SKewt2tVxA8WJmb694ccv7gGYfPo9YNkgbGK16jXpAy_Fi4xOzKPzL8KdwmXiDqRpdPqOyP5gAw07u9NF1V2FqFj1MGtkDttRxw4JFfpq0qxrOyfoD1lZSKfRaYvQQmiHkNIhSsElGDbW1HQ2efBRBhkDOMY5dvswqV1ZwtipldTx2twOxFL0_rviGuddVI5vXGKEihe-P3aqzhGzgWPcgV4fW5rlF5iiFLpTywNKmti4dIhcH1Flj8EsHo88ABV_4irayEsp4SX9UOfg2cvy1hNzKvyxW_RRQTMSvzh_6plMXBW26km9vRZ_lc3gMQ-FHRwCTjqTLoAMzm85KQBXfCTk8mhKlIZoax0cNtzmT9YUlk5B1F5KxDiQIFjy1YfcYX_BYf88itUcfUEXOiQ4GOS5N5jPq4d4oeQ_gwQCj4BeWSRE-q8ECORxig6NmDXtBBsQFRHBuOVhYWkvT5Q3P6l8fY1olVNONcsYmXQNuBTqeipkfNYHIIDe7H2-pH5WGmqS3UOLWPzE6zt2zHTM5G0y5GNtAFKFXxr3MgVP8lGsvkH3pmLhwF7oAtZK6EeStV9RwrRbUosZ9YQD_ACv_-Z54Q8624WCtkdHEnZXI7zcIJNE96UC3_--j045oMb7bW_49Ojpvf0xA7NQg5AFRi0gMhFXy9Fsu_sQJH5u2FSmxppZjld_2gVJdI1vNNqLxEkFr4cMoZV1olg-sCeGlgnLlk-7TDfLSZR5rAYgXTOH2lZzcfb9VmpxZv1Jgd__Y2qlnhlfujV3tLdlf_fq39IZpHxssHgjA1gPS0MnsM4te5vF15fneg5RDLECvPQI413DrwuHvQja3awr94rLi21Fn6Hk-bJuQd_h5jCmtbnDPnqCMbD6ah2-qe9-Fp2pqM8SK14V2fPSljYdvFAUSu-maEHTLejXrFEF-dLKAOAmrTm_YQ6568xfWndRdKYdTE0qdH_xOOIVUoVG5YxL_e6y7vsExsuYyckpiEgV2Zm2PYjZav0_XEHea7EkYVd_Lbn_aSaHh6b4OsaWyxITElybUEmUPRfPGQ_Dv8YmSGYqIw-7mizXJGxjrIZR-ow1uN2WDx2AiNW-s9YNvkMTfS-fKvB-24utWJ-jV8iRh3mqWf011Vet3LrrRhAk5TMG0ZUkVfLBdCSNAihL8lw40yQkwZ5BoLgLo0B6aikOLdFt6IgeYfWe3-pD9M0s5NnSBSq16aWuf49_RkOGKh2ygE9jNUQnDSbTrkCm2Z5GmXW2RILfpZD1wqLHfWKA7OOvwnpHVUoKzkT02HvvwoARlY2JFzl5hmagLtJPQALLbJoZMg9YsT2rSTDZ90q59aT4M0hUUjRs-sst7VX7_8eWZF_2cs8FXu1oB_WVJNmL1Z-JYOJLjm0XyMX7xDv9bGS6P_dcT6AFuRq8OpNR2dO5LvpL1iEvQNs1OH_bVrzKOx-PaHDN6ZNMCvVYAXjN6T5ZcmahjC8St7PMvwa3EYvV68_uH_l_cIQtTZo2EVPcHFzqI8Voaco0KCNrJ2zsItshjdbeP6fD13zDV-9LxURrRHJOeV41i0chJ3QzDWtD9Un_nWEyidrRX70-BV4qUqgs7tFDRWZEueYsUxGLkm5OtNlWDqoTQ7QW5gSqQi7jh4j3xKSa5im_gMDmBglSlUA6i8UpvSxgiAdA52ZTHNp7p9Vdeu9ZIWQEUzDFkv2-WbQKsL1P1RkIDyutgP5A4gR6S_WnZH9QJCzsQQATtXhxxGgL81m3Wi3KvKQiCzaIQKgCH0N5KLp1s-qjZWQm5neXe4l48vSaH2CuYh6J_66eaEJTDf4hIpttEtNmvlNuoRIG9KZTNf82Vm4vJsM6cu86tfwkTyqq5noYySQ6j4KcDvZewQEvRf3TAhjuKgIcKXK2MsRrzxhNoOEJjsQRLY0tHDWzjHzZD61kcMFhyyySg4IYJVAy6LcvxHJ5wPpO3TODnawlkz-XAVfYTqbWJmKropCKLsMvbTx2TWMegBcsz0NG-OCIVtZUmri2oEGbO8E_-i1GsEhJdR8_NJsDElAC7VNL2nPx54OGYlbOGpZWFLrcBpD9Xc0yTnR4GvZKUo0uIqzL7Rpu72qNa2F-usEGMMGK_MpjHUOoAWE0gy8IdNlsjsjdppzLZDZ7JtqkomPA_TtnDRQ0rCQ5irI9qy3e9CGn5KXDPVN_EJ76n-NuprA7Fe40jXCbys65oYiNRjOWEAJf1n6mFV6vOFO2YnttBMUcTe6yDoIExS9q8HilL_1KnamSA-__pny600byQNuBicDHtPdE4GQvv9Bn0tWP__jXdjOrha53VPcbkSOPGNNR_ToFJQeVChaLMsrWnljZlu45IG22hfa-a4p2FWoRY9D-gIwzbhShdrOwDTta6JCHwEAy1ImCN576JmKGIi_nRX0-gaCp1lhxHyCLzv_DV2FUE8r5nG0G-i_kUG2rg2qWfoHn0TsVhLahtKalCjdGb9fciJBBHQVDAWu4L4g9Oeo05Cc_CxviUWAqE8WNtiv33_1rFU1UfFjJS9R9hian58JRDiISQ3sQVu0egItJHxnvsjBLIZIL-a40GBawbzp72JSXJuWF4iSSYnObEIEkgdt-RyPi01X0G3gh91nZhmSvsPXu6voDGvfV57SlV-3mDARZFMkZ9m_C3yJOfKmVzXTrKMmW8pOb9CGicTu1_blDGCBpCSpCWfQJU2jWfcQaTdniAteURKu_9JRFXhIoHNsLRaAWWonMPKwXf4RSnI9gqGXEe_zQVmg099QB64J-U39Wiz4w43fHoYIVOqPfhoUzPgqSo2xfjK5UdwUejuIfIF0jhqha_qWY0iA4yLmKBQvwetE4vkevtmbkUUOOapgNMqiM3elGAmE21IPcdCFoLJMyjU7I-3IaqKy9wiUhAX4LRNDcVOGLGbhgxETEu94n7bzp3cP--lblgFTwyHU8531WvH-ysuhmH8wEGgc3sJK7hOnJaoY61UnAbrwcM3AbHATmSBO4k5YIYYlL4vW1-ysiu-GNe4oUacdzwrywkKFvy9xktNzDFG0sjenA3yi5E6nh9B11DHc-y8PDxfBvFqmQE8TYQAQ8PaHQm84LcI9-5NgEHdOOmoHBaVgP6zPCq9vjo09dd-soZDJiFseD8L-3oYTjoqa8Mkr82pRe99YITJLqegMs71l-0EMBERLRdhdnDN002q2ivv-g3OgfpIKbvCGObpnlltoH6lF5CpLT4J5CYV_SzY0JZdPgX31ZS_XX7Ieb1dJUGtYXPHp-bfKGLH7qu1iSSfbhlaTJ4SztQKTLwCOr3TjumY5i6PsGcKXtgdt1iLYgpH8X17VYYgQxfrotGidnYwSPjrvpj5qLmuoQrd1xjvusQnFG2DND_Vb-p-KYe3oqwERHMKVdewhbDM99iKwS7jRiCci5zDjvEu21-PSlcl5S0KP--NAqwprVY7E6aFsEivdTyYO5p4fNFXmUxpnw133o-hOmBnH6a7QUKl-7qJNB08a0gnzPrGExWR0GQVsVpUx8SCnzwLL0rfoZ5r_OagteLIAOWGcFztsdDsoiq-yuKmJBShQScAwxiwhmG2zoJg_mW_-L0NsasG-D5KooaznNcPJaoVpUrHreo5PeIdmkupqwg==",
  "id": "rs_031f1ba988f3c78a016ab47ad66c9087d0941be2381bcd0f77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.21,\"left_z\":0.15,\"left_gripper\":1,\"right_z\":0.2},\"note\":\"The second close was empty, and the gray plush is beyond the left arm’s lateral limit. I’ll leave it undisturbed and sort the accessible tan plush and three toothbrushes.\"}",
  "call_id": "call_gTidWi1m6IXCCNYIlQArxv9M",
  "id": "fc_031f1ba988f3c78a016ab47ade609087d0bfd5d441675c92fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gTidWi1m6IXCCNYIlQArxv9M",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-1.0557, 1.383, 0.6445, 0.07, -0.9657, -0.5442, 0.9981, -0.0212, 0.8322, 0.7082, -0.5369, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.2106 left_z=0.1452 left_yaw=-0.0177 left_pitch=0.2063 left_roll=0.0506 left_gripper=0.9981 right_x=0.2877 right_y=-0.0004 right_z=0.1852 right_yaw=0.0021 right_pitch=-0.0897 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.6838, 7.788, 1.2625, -0.4127, -0.0122, -0.0269, -0.2393, -1.347, 10.0991, 1.707, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb658533a46206bc8d3cf5ad9dba990376cd7e2baa7cc1a72744cf44ba60960",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c3a830f6afe7c0b1ab07af024e969a25999f545278bf8ee9b111577bba580b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd73ecb52a9b51154ec69cfe482cd2c9ced09e2dc61c253e7eeac4e07139cf90",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.485 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 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]: [0.1566, 1.6497, 0.2134, 1.116, 0.0875, 0.0971, 0.0114, -0.0208, 0.8211, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3643 left_y=0.0455 left_z=0.0632 left_yaw=0.0086 left_pitch=0.2461 left_roll=0.0874 left_gripper=0.0114 right_x=0.2915 right_y=-0.0003 right_z=0.1785 right_yaw=0.0006 right_pitch=-0.0568 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.041, 3.1385, 1.873, 0.1001, -0.0513, 0.9988, -0.0752, -1.5658, 7.2547, 1.6923, -0.0171, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [0.2081, 2.0109, 0.091, 1.5574, 0.1459, 0.1047, 0.0119, -0.0208, 0.8215, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3315 left_y=0.0474 left_z=0.0135 left_yaw=0.007 left_pitch=0.2074 left_roll=0.0675 left_gripper=0.0119 right_x=0.2915 right_y=-0.0004 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0572 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.5197, 2.1949, 1.9609, -0.0513, -0.0366, 0.7888, -0.0752, -0.9915, 6.9812, 1.7118, -0.0269, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-1.0557, 1.383, 0.6445, 0.07, -0.9657, -0.5442, 0.9981, -0.0212, 0.8322, 0.7082, -0.5369, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.2106 left_z=0.1452 left_yaw=-0.0177 left_pitch=0.2063 left_roll=0.0506 left_gripper=0.9981 right_x=0.2877 right_y=-0.0004 right_z=0.1852 right_yaw=0.0021 right_pitch=-0.0897 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.6838, 7.788, 1.2625, -0.4127, -0.0122, -0.0269, -0.2393, -1.347, 10.0991, 1.707, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb658533a46206bc8d3cf5ad9dba990376cd7e2baa7cc1a72744cf44ba60960",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c3a830f6afe7c0b1ab07af024e969a25999f545278bf8ee9b111577bba580b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd73ecb52a9b51154ec69cfe482cd2c9ced09e2dc61c253e7eeac4e07139cf90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrursHz-Krt5vJDeCzUqEWlAAucy2_DcVaalp63SnCO2HPLRe26c7qpvmtiWidVWXZbZDg82lvAyfV62Ir7GW20C3-3Fl8RVG3UKadoz4ZccvZKKmlAr-Khg0a_rYW3uzP6eiUZL61aSO5Hb-NKdmJCtF6_vY-LMaviCu1HcEWTTPKKwBBFpYYZm0xkNMMWHegaCeH5FMOg2NZrWGukLjceRVu55y1D9vDkQcD7Yih0An-VFIRgjw6HBUuK5LsCDGHPS6rgE94twLb4Y6Sb9IMZtQz_26XTizBEgVKpdnwCE-02yqIqWjm4_RLHogMcEmkFGowDzEyOFCDXF3GJzFve6wL2KnsQr6NCHFQ-x16TSIjFuiijYKj17PGcRHf-haVzwOBWyFY6p1Ndtmxl6Qt9oLpdf9-tL3-rFn4YmXDy9qZNnXG1WRIyK_UECyvvKd09lvGkmKeGtGv23-2mAgECvl18O9ZN5YZruT2DTYKhpv2hAneD2ZLZasThY8n2GA6rr0NeDPhBGWmBft5TS9dFvZBS25i06HRWULBzYd5CpCimsRloq6_xNFpIW23TUL9s0XzpVKpDN8XXLSjBwCH1RwOAxue93ALgKGt4V9OAJIRFUjKKENkIbLc-uD1olf2dk6WGwJptUCLwAN2zoyzGjDM4eo87jcXtdcy1mYeK3zldLO9vjBxrSaWQnYmU-qzoqAQVNzuiUX3uhg-R5L_mDdaGBXYIKBT1qrCPFIqI5857B8LVqQtYW-k937xfJRHKIE6e0mN85NVzaj0g_ddyPwRdFkRSxm9FBUz5znljr6GtqfjT23M4GnzBcLycrDNhkBvQ33Hwh0TjU9S59v0MVRbSveo0eXP9HhInZoFo2cj29muiPxPxIyKH4jeGOEUDgzW9qB-s3XHJyr6i8jry3ErtDO30Fzw_zK0-FbHSVxoEd7rj2h85FDixzgcJx99r9KWA4yTy-6t3Sl4YEZgaNHa_U_mOWl9eHmawmRxupVQ9g1fcEg4Szx0LdBFZ716f20RODLrrCT6cuChu2_mK5XATaxqQm-5TWqsumfXjyXEiyldavWdjEN8UJn5nLT50TcA_GRpFzY0IcibazASbQnwuHDm9lii5QPuWnDfWvjLhb0ZpfeUqMkfOz-_xrOo0AWZdGM9UfzAVeABr5sSpVukZP46eXZhqWPX3Ru5IfRrhNP1tdI7n5uGa5oJERJBXd1KM_hxnOGYOYrCUkK4xenQkpAKmRECJiRJdbocNcfONDGh12Pa8lhyaJ1EosGtNZOluXPaarWju-zg9d2aTf47wtAlvlMz630HCsQ4zox0KV5om6v3cQwK9jV5CSqOqlDjx-Zc2TIJwYR2X8Sp5IBbgABjjZLeGA9Lu3locEZO-SsY_Cs36Ku9snk5yOJgIQrtNPfaUT8AojAMhacWt3qoWXfjUNyi2PFkEnCOzhhw=",
  "id": "rs_031f1ba988f3c78a016ab47aed032c87d08c7b6ea43e993761",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.245,\"left_z\":0.045,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The tan plush is just right of the jaw center. I’m aligning over its torso and lowering with the jaws open.\"}",
  "call_id": "call_R8qIxrCoIc74XI5QM6yI68iP",
  "id": "fc_031f1ba988f3c78a016ab47aedf9c487d08347c3df6d2e98cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R8qIxrCoIc74XI5QM6yI68iP",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-1.0569, 1.6886, 0.6819, 0.1188, -0.8612, -0.7422, 0.9981, -0.0212, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2917 left_y=-0.2368 left_z=0.0557 left_yaw=-0.0048 left_pitch=0.0374 left_roll=0.0242 left_gripper=0.9981 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0021 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.6, 6.188, 0.9792, -0.1441, 0.0171, -0.0024, -0.1846, -1.3333, 7.2, 1.663, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4844dd0d991588613dc2b7b43ef6be162f572d0fcd79da985ed61aeb1c534fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f120b0f9f44fd1591812a88ef3eb185447cee6f61f7eaa6f7c3dd8e2dd2cdb90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d135220e7dde9c33c0c4c44760ca7d8a9091c2bfaa1d6eef9697c6c9aadaa2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.39 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 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]: [0.2344, 1.9091, 0.0128, 1.5471, 0.1692, 0.1169, 0.9952, -0.0212, 0.8215, 0.6529, -0.4603, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=0.0479 left_z=0.0264 left_yaw=0.0059 left_pitch=0.2216 left_roll=0.0741 left_gripper=0.9952 right_x=0.2915 right_y=-0.0005 right_z=0.1784 right_yaw=-0.0001 right_pitch=-0.0576 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -5.5726, 0.9778, 2.0293, 0.0073, 0.1001, -0.0317, -0.2803, -1.4017, 6.9812, 1.7314, -0.0317, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-1.0557, 1.383, 0.6445, 0.07, -0.9657, -0.5442, 0.9981, -0.0212, 0.8322, 0.7082, -0.5369, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.2106 left_z=0.1452 left_yaw=-0.0177 left_pitch=0.2063 left_roll=0.0506 left_gripper=0.9981 right_x=0.2877 right_y=-0.0004 right_z=0.1852 right_yaw=0.0021 right_pitch=-0.0897 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.6838, 7.788, 1.2625, -0.4127, -0.0122, -0.0269, -0.2393, -1.347, 10.0991, 1.707, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-1.0569, 1.6886, 0.6819, 0.1188, -0.8612, -0.7422, 0.9981, -0.0212, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2917 left_y=-0.2368 left_z=0.0557 left_yaw=-0.0048 left_pitch=0.0374 left_roll=0.0242 left_gripper=0.9981 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0021 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.6, 6.188, 0.9792, -0.1441, 0.0171, -0.0024, -0.1846, -1.3333, 7.2, 1.663, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4844dd0d991588613dc2b7b43ef6be162f572d0fcd79da985ed61aeb1c534fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f120b0f9f44fd1591812a88ef3eb185447cee6f61f7eaa6f7c3dd8e2dd2cdb90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d135220e7dde9c33c0c4c44760ca7d8a9091c2bfaa1d6eef9697c6c9aadaa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrxoSeCsOAX8a6vSVxhxMUaJeZCjGupr9UAlmlwHBAT3Se0JxP-H16triI2Bx_Ms6b21dmWLFBFvhJTOjmkElXqh_7eeqlvzIkRJuU9Kg1-a-ZSPO2OxDwOO-ZhBM6hM9N2nGq9Pro5igf_8HkTdZjolE_x_fb5tMOujlgnIB2EQlA9pJ6iL1mQPVb-ZZNZIPrLpWOi-142JkPADivWf4L3c_NBTtWuDq9puqkKHxm55n-mLQguTWEijpecyXgHjTBfxUxeXShQAyWU3aY3mOIZKhuRcPRWFKN5InrutEnZ_oSLW53BXGOa4hjKxRM1yBLw5oDEEOVlDTQ9-sXg2Ev7iDlkpNHLBmbfLg1BT1jF-Y13iC0UBXicToJ0FwDcq8CDgr8DEBwymhcxY6nQvStytgq3sazGkp1E3fEDJHpKJ99PvQQ-XwS0p1WYgwGEzHYi8p9TlGzB4rHs9coISb4hFxRen80yU3C4BcvAR3LcH1j_UnVI0D08RJ60PPrZ8-Y6QxCRmmrXFMtIab3ta6nnMbFB73ADIhQwXe6oTzWXQoyBkd-spyh0nUDCDpHzLy-kSGLHQlTqmYBWkz8KrvUMFTwTRLd0hetCtRsCnVpR1cz7MHI1bV75xeAvKVQPUwLv5Gmhf9Vfh9bo2TGFidc6DyhMtTS7FbvJ7WP32TwyEsUVskDddrFjlXsgcNd84YWwS_68MfmxbdW6FMrF-dnIq7fjT6ZzWL6agCN9jNOYJzNTO2MoXqmCs746_yF6t1YBRMw-7sKiiR311KVk8VcOjkw-rzJySJ9khF0cgaCP2x7_iySu_kh9OFJuNgepwr_zqEkS1w9lcx7mo1CB1Wfyvlsy79gsd7TyIbctouuoRi2YqBQU2kcvgpIoJxFIw0dyKMlWBj9DLt4QWtulQb5O9S6YsniQ42L5u8EmFjflPe_XgOmoTKQCIF49HLLAHlWZXv-Y5ANAHgNdlvIZ0kc5tzP4ZMFuHKE6S-ct5GJNqPAkVQdcQ3DXe0tKZDLfdEOF4xxg3c1sYXmDvTJ7l09LBM4cq8T_bJ-42sB73oAzeOKiUE_X0OL0YIRtFw2m3fJQV-ZQ67ZOZZf0tksdv-SVKGTieVLBxqn1kBR5vL6jFf6ykDQiz9veku3K3yc8UPjJskc4Um73ch6yFfp3TnXcCzVhUdxzMZjTcE0xvMZS5bI3v8eK6o8TMMrYEdMRf_lqr7XRiCSJ3FViRTBL_o9i10znpOksxlLyDNQGXzK9EycW0gu4Go4E04WJAHN7DDV0B3ZQUIewLcFu8oYN8GCIfBeNxYimW-XU_on0rrbx44g=",
  "id": "rs_031f1ba988f3c78a016ab47af0d43487d08ec20c443b607217",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan plush is centered between the jaws. I’m closing around its body.\"}",
  "call_id": "call_s0pYfC1rbBksOtfE8KMMhpcS",
  "id": "fc_031f1ba988f3c78a016ab47af14e9c87d08f3c7c2a4d5ed68c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s0pYfC1rbBksOtfE8KMMhpcS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-1.0561, 1.7, 0.6891, 0.144, -0.8597, -0.7559, 0.1491, -0.0212, 0.8326, 0.7078, -0.5419, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=-0.2414 left_z=0.0569 left_yaw=0.0032 left_pitch=0.0469 left_roll=-0.0065 left_gripper=0.1491 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0018 right_pitch=-0.0954 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 4.6974, 1.0476, -0.4029, 0.0806, 0.9988, -0.1846, -1.2103, 6.9402, 1.6239, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870e118f226186ffa53a37a673326dcb6ca817ff4727d6ce7a88b217b523d662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b75360609732e88edb275ba65f07e57941658d18233281fbb2065d84e8c85ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0adc781bd77f7598dce2bf826aa9a1f4aa9280e6d27f41a6553764fab37dc5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.554 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 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]: [0.2081, 2.0109, 0.091, 1.5574, 0.1459, 0.1047, 0.0119, -0.0208, 0.8215, 0.6529, -0.4599, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3315 left_y=0.0474 left_z=0.0135 left_yaw=0.007 left_pitch=0.2074 left_roll=0.0675 left_gripper=0.0119 right_x=0.2915 right_y=-0.0004 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0572 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.5197, 2.1949, 1.9609, -0.0513, -0.0366, 0.7888, -0.0752, -0.9915, 6.9812, 1.7118, -0.0269, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-1.0569, 1.6886, 0.6819, 0.1188, -0.8612, -0.7422, 0.9981, -0.0212, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2917 left_y=-0.2368 left_z=0.0557 left_yaw=-0.0048 left_pitch=0.0374 left_roll=0.0242 left_gripper=0.9981 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0021 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.6, 6.188, 0.9792, -0.1441, 0.0171, -0.0024, -0.1846, -1.3333, 7.2, 1.663, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0561, 1.7, 0.6891, 0.144, -0.8597, -0.7559, 0.1491, -0.0212, 0.8326, 0.7078, -0.5419, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=-0.2414 left_z=0.0569 left_yaw=0.0032 left_pitch=0.0469 left_roll=-0.0065 left_gripper=0.1491 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0018 right_pitch=-0.0954 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 4.6974, 1.0476, -0.4029, 0.0806, 0.9988, -0.1846, -1.2103, 6.9402, 1.6239, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870e118f226186ffa53a37a673326dcb6ca817ff4727d6ce7a88b217b523d662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b75360609732e88edb275ba65f07e57941658d18233281fbb2065d84e8c85ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0adc781bd77f7598dce2bf826aa9a1f4aa9280e6d27f41a6553764fab37dc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The gripper stopped at a nonzero opening, consistent with holding fabric. I’ll lift a short distance to confirm that the plush comes with it.\"}",
  "call_id": "call_IBg2CaMiuNEmVpZehgZtndae",
  "id": "fc_031f1ba988f3c78a016ab47af44a9487d0a5272ce4151c32e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IBg2CaMiuNEmVpZehgZtndae",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0561, 1.5745, 0.7815, -0.0963, -0.8555, -0.7605, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.2397 left_z=0.0992 left_yaw=0.0022 left_pitch=0.0331 left_roll=0.0076 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8547, 8.3761, 1.2772, -0.4029, 0.0366, 1.033, -0.0889, -1.388, 7.0359, 1.6484, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae3230455b0b6555cc3c2289728338aafca49632c24a182ab40c5231f1d1289",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1d612161535137bf19285fa57bf3e21e544fbb5a511feb89493838684db273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07782252909491e886f372b2a1c4e123bddba0aad6cf45b75910934611e3e80b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.811 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 41 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]: [-1.0557, 1.383, 0.6445, 0.07, -0.9657, -0.5442, 0.9981, -0.0212, 0.8322, 0.7082, -0.5369, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2903 left_y=-0.2106 left_z=0.1452 left_yaw=-0.0177 left_pitch=0.2063 left_roll=0.0506 left_gripper=0.9981 right_x=0.2877 right_y=-0.0004 right_z=0.1852 right_yaw=0.0021 right_pitch=-0.0897 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.6838, 7.788, 1.2625, -0.4127, -0.0122, -0.0269, -0.2393, -1.347, 10.0991, 1.707, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0561, 1.7, 0.6891, 0.144, -0.8597, -0.7559, 0.1491, -0.0212, 0.8326, 0.7078, -0.5419, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=-0.2414 left_z=0.0569 left_yaw=0.0032 left_pitch=0.0469 left_roll=-0.0065 left_gripper=0.1491 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0018 right_pitch=-0.0954 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 4.6974, 1.0476, -0.4029, 0.0806, 0.9988, -0.1846, -1.2103, 6.9402, 1.6239, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 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]: [-1.0561, 1.5745, 0.7815, -0.0963, -0.8555, -0.7605, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.2397 left_z=0.0992 left_yaw=0.0022 left_pitch=0.0331 left_roll=0.0076 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8547, 8.3761, 1.2772, -0.4029, 0.0366, 1.033, -0.0889, -1.388, 7.0359, 1.6484, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae3230455b0b6555cc3c2289728338aafca49632c24a182ab40c5231f1d1289",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1d612161535137bf19285fa57bf3e21e544fbb5a511feb89493838684db273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07782252909491e886f372b2a1c4e123bddba0aad6cf45b75910934611e3e80b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHr425fbfT355QDp1k8sHeREcPhwGYI2swec332PBN5sj-x3bEGW4CmzNhRwBfBBGsASJW3vgPL33Bx7Tk0iW4DjnVjqfeTqsY23nJ1-krzsT-su7k358TaAhT7qB7XcL8ESwrmq1W_8Q0PAQKQdinxyVtEUAGEStzTtgAi3LzlY5K-fvj8D7JgoWooM4H3g59hs-QWb7RXnWIEMCIIItuqMODiZzkJ-h2Yl2qn0XNFoL_PDPZupOUAlVymiONPg_0yMn84y2ulg-6nWNADx9zYuh9H0QFPxb3vvgPb4HQFq6qS8ViESv7c6K4SYe23PwTkXyIdnLCqlIiHSdmdwosPDB63hYeMM64d2eh2e9oX1WQVrikNw5CobGE3gjvD0eChQ9LBQgO9lT2UpM_kitKkHDnOUTmrPrBX2rkejvG-cmaJ0fc5pvjiZGdnNCT9g9iDiW5XjA2I0SvNi0hSN1BdUstTD2JVtK6ElY5pFJPb5KEU0Sb_qKpzfwnZCaCYYPIdHA4BfQlbf1bqbqMFjk2y7S8LWoU2hgDkP5jsZm0v9Riajyl52g13E4FTQOQQp3TY3GPDvy_9lgSP_TfbIcXtkApNJxhAkTreA2SzPwP9WuWxE_HWKuRwG9FpZQrrJaEzTqukyPZYPQzN_TYM9fqe3kp9LpdHAjljG1JPG2X6nLWbvbqiL9qHqldpWUEJ_aMyh1o-TNgT2QsDMwACKqXYrma6Hr8oPut139P-_GirlY736WnByWrd-eNBYkDIGZHTCH1d_iHPThDQBUxqQKbbL0mIXHeKQtpvUX6Hyh8QwXr8KawNbR5OgPi0VC6W8BOLGMyYjC4Cn0HnYM4EUJib7nIHKJJFkfub155_cLkpuwPiB9VKbH_EhR1xqGeT_3oqAQb5zD9QIVOl05KV2pL8Zm7kbadQyUb-P4TqiqjZsNK0hGZ0tza0yG4_KPBcWb47T3yma-ik9epVX0vfrNgYb0SVf6vNwK6H-Cn_e_VHfArkc_GjTG9hEFYrZlNixB9myRsHhkUA0qOmQDR9nlgb9axsSHZH2g0e14iSodhUBLesgkJ7fU1qspGUNEpKxcgPqa5D4qvUnyHykGU5BCBwQASd47hNMr3Ye94-2C__07BLNsL5IXdZLqvMaeWAX_PzMA7848fwivSwd0RDW0yyewfaO6volws3Ft34REjpYVDI071USS5MYyWLBx4056YvTAZ0hvQ7vaLlPRen9JKo-ftCRHb9fnJmFa1m26BJNfHve11duAQdVOgd0k-13VreLzJre-DSzDKyqHFYKpfjVIecdnf5_SDoyknF44CgGrd2VeV6J81VarTwfZ7vgXEyyhxvWO_zj62sDTlF94ue8ObXgz2QBU5qGdhbt7CJm2CE=",
  "id": "rs_031f1ba988f3c78a016ab47af6cc5487d087d1318d48bf29bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.27},\"note\":\"The tan plush rose with the gripper. I’m lifting it higher so its dangling legs can clear the basket rim.\"}",
  "call_id": "call_VrbF0ESyit2EX50DqhUQqfWG",
  "id": "fc_031f1ba988f3c78a016ab47af7743487d081b0302b2695e363",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VrbF0ESyit2EX50DqhUQqfWG",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-1.0561, 1.4597, 1.3067, -0.7597, -0.8371, -0.7803, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=-0.2446 left_z=0.2475 left_yaw=0.0012 left_pitch=0.0093 left_roll=0.0038 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.3094, 9.4838, 1.2674, -0.525, 0.149, 1.0281, -0.0479, -1.2376, 6.9812, 1.6337, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bca9aaeb32e1f1f84fc13ada0025b8b53ff49b2853692bb7f025f060d802bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc96215032fe90438a9e0c7557466a06fcad368e0015f27ea568017fd9f0406",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33290110d1ba966b6c07cd2153bb9679f8e9f23bbac52ef50dfb4305bd8ff87f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.674 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 45 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]: [-1.0569, 1.6886, 0.6819, 0.1188, -0.8612, -0.7422, 0.9981, -0.0212, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2917 left_y=-0.2368 left_z=0.0557 left_yaw=-0.0048 left_pitch=0.0374 left_roll=0.0242 left_gripper=0.9981 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0021 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.6, 6.188, 0.9792, -0.1441, 0.0171, -0.0024, -0.1846, -1.3333, 7.2, 1.663, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 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]: [-1.0561, 1.5745, 0.7815, -0.0963, -0.8555, -0.7605, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.2397 left_z=0.0992 left_yaw=0.0022 left_pitch=0.0331 left_roll=0.0076 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8547, 8.3761, 1.2772, -0.4029, 0.0366, 1.033, -0.0889, -1.388, 7.0359, 1.6484, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 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]: [-1.0561, 1.4597, 1.3067, -0.7597, -0.8371, -0.7803, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=-0.2446 left_z=0.2475 left_yaw=0.0012 left_pitch=0.0093 left_roll=0.0038 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.3094, 9.4838, 1.2674, -0.525, 0.149, 1.0281, -0.0479, -1.2376, 6.9812, 1.6337, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bca9aaeb32e1f1f84fc13ada0025b8b53ff49b2853692bb7f025f060d802bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc96215032fe90438a9e0c7557466a06fcad368e0015f27ea568017fd9f0406",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33290110d1ba966b6c07cd2153bb9679f8e9f23bbac52ef50dfb4305bd8ff87f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHr-CnMsucuqCGUpJT9oqO-anhtKjuaqusmnrpXoc9oNFaQClJfVtFka-p4CU25qwgsfxQVel91Xcz03yM3ANwbW7OHT3kbOh93dHPzHAAzlZ4ikjl-pruEi-O_iwUaMs9frmEVUfyNWXT5hQ5E2G8Db8UXrxduOqlrNOuec11hNjai6uMKmuBzOQJtOosSbYf5rgig2snMdePTOGmoKGGrN7Le-TWIwMC3xXgdNDVHIsM7L5jZ7n8dBn9O7-3utdJOggspmp3UCDEB-Ejw7gCgtWx-GpgH8MsRm81H-dwzvf9y5CzkKROY9zzgvmoYe7KBZtsvBElSv-owlYHMXFI4SlA_-4hxYAS6GoCk1TCeSdNSvOarK87BR35bP09fyFGrDOGw7OO8n8ZjniRWtwuKVSkQyaQfFLZ1fzpcfMphu7VSXtYpHYM2scq5IDPle-SjCkjBM-3nXI0lxJ5m-mO7A3JznQU0HAvc1_-wWcvA3NkIcYpa-9_Vpz14EZTOfrMllXz6dzzO9UzMztkE8wb2JnuF3GJI6y2Q8SXDsvdGKawneDGXnTkrsegDWHeZVcQXrJH1Xo0bD4JqXtD7uBJ_gOSbsSx99s5N6YKRUwr15113HL7s51nZHtmDxOoH3l00whtfEul1EH8IBMH6oTdnj1dAdBis_ZT8-tQIvmDzkt-QqldKQWN7quR-s6lwMgP7g0W5S4-6ObOaRmIyCTN69MRW7rheV5pvhpbD8Yej_bA7Ywm5j56SaLCj7bZbej2hOplr02cIgCDsBT3PvYyrcYlQUKJSLO3RGlbvzL2C6oOqzn0LWokiW0jCWGnl9NKTfXTjMeCqEjyjEc8ZOcstAks8Yeitynpyqx0uUeYQ6jOL-4hNt0kNXjNYaJ3UJn23nH_oMWB4APxfnKBpzS_h3yrdQzpnKy60DUkjHyE7HNsUAX5zQp59gtM16GCR-pPYFeR_brp2qnHShl6OJMldfNBs_5lBktqU6ddnaGbh-4a6JWx79LLiYecdQvLn0SxlT0iLxob06_Fr5zXUV5lX1O8xtByLyI7MFTdN_MDI36mZ8C7RgecCYWos-kbitjvxh_qTIgWDQUmmUC058fM82dRqzyG5zFbs2NaZjFhyzudzFm2keu6U82-f7G2Fq4ktpQU6Q9MFR-bsm0QJ5zK2qx7PHPKODogjV25fh22FlGgkj2m0x7c1vNbRAmoGL-ntouwjTLszHCAaaTebU5IpYwq7gjDzJ4z8wPeL7Dl1i_iHri6-QjT8H27a6K1FK6pDRcIdSi9v2F4PhWbPtZ-3QB2aVgA6y0jpgd-3ufFwwX9by1alfKwCVQMJ0X_Hh0GubWPc_-WYXfWq4hFwUysi9msd9AJaS7CLI5e4Qq79hUvV3UdHguQ7DijR5fT7va-m19lblSNXQQlHy_2k48Tb4iT8lKRr8A9xD6iJsUhNFyhXj7oke9j5o1DPKaIL2yFIORdxyCt1tiJgtSbndi4G8XKsMlt2thUuXFi_64nUV1NWc-bQeyx9J3bbUWIvjrIApBx6kY7gXqUuWHtnMGJVSZGzondMzABMgw6fXBjgTs7GKfn1F-UtyBUO_RajU5VXYgU7qPcsS3jFE1XRMnu94NKqNhtef1ak-mtJt4u0yBtg__E_WtjYtjAajHZy-23fjbFYIh-MDFvQCFlJvCQb3X89n97Wsq90uZ65r6hJx6NCh4rMd0Kah3rjcrNXSqACvSw3i7HFIbMCJleLIHVqRjQq7Wu9Z_uQr7VwZOpcfeFjSnoZHckmWwJ3IApjqBUDjqqotaNKC1hRmlpKodr79u81MbXTozlq50dHmA1nJLxg6fuivXoTYstkGKKD4ffYYOrrt2kEn9-U-Dkmm0bAHpcUUlpAv5I5oPiWCEQApio-KaCbRb_h9siPw4ij40VRR0wJulLK5d5FnO06NHEC4cPUw7UtxZutg9j7uNh18p40XYTZuPEVzAfdNDE_HKjWWpKcZZSoOy0p4jnD6EA76hWfIr9BvZZYLKYNqRLXf5vg=",
  "id": "rs_031f1ba988f3c78a016ab47afa7a9087d086de5ce2c533c2a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.145,\"left_z\":0.27},\"note\":\"The plush is secure and clear of the table. I’m carrying it over the left basket.\"}",
  "call_id": "call_J7b2ffHnVpTDYik2GkYXy1vM",
  "id": "fc_031f1ba988f3c78a016ab47afd453c87d0b2eab5aff0e82a90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J7b2ffHnVpTDYik2GkYXy1vM",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4438, 1.6714, 1.4956, -0.5404, -0.4114, -0.3233, 0.1599, -0.0212, 0.836, 0.7078, -0.5423, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1362 left_z=0.2387 left_yaw=0.0567 left_pitch=-0.0784 left_roll=0.0243 left_gripper=0.1599 right_x=0.2871 right_y=-0.0004 right_z=0.1829 right_yaw=0.0018 right_pitch=-0.0992 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.4855, 10.7966, 2.0537, -0.0024, 0.3785, 1.033, -0.0889, -1.6342, 7.0632, 1.619, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2daeba3298bf7d02205228323c12ef68c0dce4b93b5348557a8e9c8fbaeae1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d099cfb884c158b90c709d22928ca33ae5ac3e704414c6797280492b5edba2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fca326abf6428322597a04db4de8e5414f709f7f2371b1ec8ddd7c0d536a75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.307 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 45 changed as sent

message 49 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0561, 1.7, 0.6891, 0.144, -0.8597, -0.7559, 0.1491, -0.0212, 0.8326, 0.7078, -0.5419, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=-0.2414 left_z=0.0569 left_yaw=0.0032 left_pitch=0.0469 left_roll=-0.0065 left_gripper=0.1491 right_x=0.287 right_y=-0.0004 right_z=0.1839 right_yaw=0.0018 right_pitch=-0.0954 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 4.6974, 1.0476, -0.4029, 0.0806, 0.9988, -0.1846, -1.2103, 6.9402, 1.6239, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 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]: [-1.0561, 1.4597, 1.3067, -0.7597, -0.8371, -0.7803, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=-0.2446 left_z=0.2475 left_yaw=0.0012 left_pitch=0.0093 left_roll=0.0038 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.3094, 9.4838, 1.2674, -0.525, 0.149, 1.0281, -0.0479, -1.2376, 6.9812, 1.6337, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 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]: [-0.4438, 1.6714, 1.4956, -0.5404, -0.4114, -0.3233, 0.1599, -0.0212, 0.836, 0.7078, -0.5423, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1362 left_z=0.2387 left_yaw=0.0567 left_pitch=-0.0784 left_roll=0.0243 left_gripper=0.1599 right_x=0.2871 right_y=-0.0004 right_z=0.1829 right_yaw=0.0018 right_pitch=-0.0992 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.4855, 10.7966, 2.0537, -0.0024, 0.3785, 1.033, -0.0889, -1.6342, 7.0632, 1.619, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2daeba3298bf7d02205228323c12ef68c0dce4b93b5348557a8e9c8fbaeae1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d099cfb884c158b90c709d22928ca33ae5ac3e704414c6797280492b5edba2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fca326abf6428322597a04db4de8e5414f709f7f2371b1ec8ddd7c0d536a75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHsDRm1y8KdJ6rNwnCH6Fv_y8cGKYIFs4Efuyf0BsIH3rp-opN9sf6lYt-wkT5PKcstLL4hTBwMPgybI1Qf2cJUEMOPLMSj78jM0qMMgTQSXuXX8O-vl7INzmgLLrHmCxv1QBizePSleH_8dq_vDxwim1iOUewHq10JGJr4t_RbIljcTRQkSLSdK-2uTGa7wwz-YapcYLBkuwdmi0OepmfX-kmA_hOU4PRhKXw6f1AFLwZATFJUs89TWtniK-OQJ1IhyLWZtUc8J9kPrhshWQMEju1mTc0jtLtRwxwYp0eFlxDVt19Ss1C2fiMbjJQP8r5ajdCocP5Wfd9j-EwTXKQacdB1zxOcInizALP0weMH498P_rlGqeHF18pUmQu-klKxzS9ZTvpcnSN-UObHKLlp1NlvKxEBvgpKFHm88WYZfM9YqTlF1ofPFUu870pD_O93EX1fOrAeKNffy9kWc_UjsIoZ-zdrEsfB544VphZTy888428hGjKdn7_7RlW8tSzSkiayLamNhhp12a2htcW885kOyHf-4bzAMZFepU0Z22EdzoVIuQeicSBV71GW32uhoM6BR8aa2GQof5yyt_I9anT-j-yw7KLD-WgZvqDiOsTTtKQWvXfpAPk80sWFhT3N5yhue33AQGSO8IJ-9RtiuWUffKKe7Y-_ABemkGho6yhEs0u52AlZXS4Ojt8Lg5w-i6L_LTzdo59kbU0A3UJWJn_hIuF6lVwULE56p1-RpRAXfNHPTCCdmzaSN5eI8JbbZkVcfKguhtH_NRieWEXrrnpKFKm3BsoGgLf43y7xtVDMDc_sju9JnStPrqGOPzdIqZmrhcKxzwpHVc46msNwB4NuNIRCTLbQhi3BFZqyKDia2ULdE610LBKxM_aOnxYc8qBzghob7oxPA_JVlKLbKN3LHlDD2jLxHOkrGpjR5tRuCCQHvR6xe0IQGj4lMQgJFM8F20EydwIGE_Etf_y5zyHP1v62CDWeZ8VgsoSmlo6CwMtx2kOogUfcUYWWm64BfP7aGILZXHuzWNMXzaqUSrP8o-jaxt26O16nBs7RU9-aAhpHm6t1iDZbCZg7qnPxrM0bZ3f-na4JTzkHyQgWeC8g3QVY72AqbDnnun9AuIV9cPu2jkfH2k9qAvInpLLzf-2AqYdSbqJd41LkBcs3Rs6ZpvXHJAXpCB-zDb01EChjLh097pPIpM9PiYk1tF8wTE3CFVmFxh3zn8t6DfdxpMsbLiRp3zmd0UOy3aV7H0Zj_dTQ_dYXWursA3sl5yZZfkGLRgDtrc-UvcPicam2_CWB3tMpUSq9XNgXNhhdjs1bykE59zxdLAmCEcOfBGV33Yo7Dwpjx548HnpryZDw3lifOJa9myygVenhWez84YCv4JplYcNO6ChU2CcxGpfZ9TEZv54UrjBKMCYPrsqokYYDv5Nvs_0nB2MwENnJFIWCRRfxwTi4KKoBlEgl1MfAJyGV0S5t5bR7lnXX20jSVgR6dAPI1n7ksdhKb2cbBGU0=",
  "id": "rs_031f1ba988f3c78a016ab47b00e8c087d098793b601914da9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_z\":0.17},\"note\":\"The large tan plush is above the left basket. I’m lowering it into the opening before releasing it.\"}",
  "call_id": "call_IQf8z8C64GiH7sFhHAGMRhoT",
  "id": "fc_031f1ba988f3c78a016ab47b0256d087d080468cb139465b8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IQf8z8C64GiH7sFhHAGMRhoT",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4267, 1.7481, 1.3064, -0.3618, -0.392, -0.3138, 0.1599, -0.0208, 0.8371, 0.7078, -0.5419, -0.0113, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1322 left_z=0.1535 left_yaw=0.0581 left_pitch=-0.162 left_roll=0.0615 left_gripper=0.1599 right_x=0.2873 right_y=-0.0004 right_z=0.1827 right_yaw=0.0017 right_pitch=-0.1 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.5385, 7.3094, 2.0342, -0.2662, -0.0171, 1.0281, -0.0752, -1.0325, 6.9128, 1.6288, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f53c12eafffc437eff529b895a514d91a67821055daff9a86c2b0683a3a0804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21aecfb5a0c80d78e0997a5fb72c07ef1fefaf37f34c0cd00f6652e78b68c527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91662ba8f58af78479e7d4ac460eaeb76fd714ae785688834e543d0eaceb5d0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 1.971 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 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]: [-1.0561, 1.5745, 0.7815, -0.0963, -0.8555, -0.7605, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2929 left_y=-0.2397 left_z=0.0992 left_yaw=0.0022 left_pitch=0.0331 left_roll=0.0076 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8547, 8.3761, 1.2772, -0.4029, 0.0366, 1.033, -0.0889, -1.388, 7.0359, 1.6484, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 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]: [-0.4438, 1.6714, 1.4956, -0.5404, -0.4114, -0.3233, 0.1599, -0.0212, 0.836, 0.7078, -0.5423, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1362 left_z=0.2387 left_yaw=0.0567 left_pitch=-0.0784 left_roll=0.0243 left_gripper=0.1599 right_x=0.2871 right_y=-0.0004 right_z=0.1829 right_yaw=0.0018 right_pitch=-0.0992 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.4855, 10.7966, 2.0537, -0.0024, 0.3785, 1.033, -0.0889, -1.6342, 7.0632, 1.619, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 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]: [-0.4267, 1.7481, 1.3064, -0.3618, -0.392, -0.3138, 0.1599, -0.0208, 0.8371, 0.7078, -0.5419, -0.0113, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1322 left_z=0.1535 left_yaw=0.0581 left_pitch=-0.162 left_roll=0.0615 left_gripper=0.1599 right_x=0.2873 right_y=-0.0004 right_z=0.1827 right_yaw=0.0017 right_pitch=-0.1 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.5385, 7.3094, 2.0342, -0.2662, -0.0171, 1.0281, -0.0752, -1.0325, 6.9128, 1.6288, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f53c12eafffc437eff529b895a514d91a67821055daff9a86c2b0683a3a0804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21aecfb5a0c80d78e0997a5fb72c07ef1fefaf37f34c0cd00f6652e78b68c527",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91662ba8f58af78479e7d4ac460eaeb76fd714ae785688834e543d0eaceb5d0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHsI-ExkKqoMN-udKHTUAKGs4IhiGehn9auENQ8AQaqJmSJWnd98y9vVxcvPLc6lQkf0Zx0VoZak1ic9hpoAabZJsuVXDnJwqzQRx8BMt2qfls0xQv82tMPLxJiX9FHKY3pA4C1O8ALgyJhKg6ItxzGPLBo3LgVaWgMUH2YeHqOi9lKyShDMJyL8Dl5nbCmG802DK2qkASgpbgVm3FLgWe_On1wJB4USAS029KnFXggzqg24klGwUB_4lbCUWgbZABhK8bnRp8pAyB_n9H6KHTPdZ3PTyvb9aecGQprPjPxJLiYXDf56IvALNEnxFfs8WdQnlCiMAuIdRwjAZDwQIspsNXtPh86kJ6kalomG2pwsuVKY992XaA0-6LAp0NBESJRnAnhkIXrR240e2xWUahH5heK7H7JqLMdkcGELB5zpqdeIfWbQg1iU4sfh644KVQd_HA2QB4ilHz4JIzSwhtjML9xZNRNK4hbzUifI_g5PtAKRKfYmRUk1bhb81mWMSmCtxAdyh5aUvL3F3g-ql1DMJA3v_bUylni0kYWbeKKnX1XkPFfV0ES50jrPpO2Cvf4dIAvJ-q8hNwFXl10pXiVWIvIgdv0JtyCJ7ODY6VndVL0_szwe1U87g7sOV4Ne9Hh2WwPE88FMHtxJut0x0BYZ_SH2BfKLH9F-GF8FSB1ehRRQp7ozdYyT_CVX-J-SdEICRl6nIL8K0KMkovrc2VH2U70d-rCQu1F9-TnFP-AHLQVoJd93Lqw6Mx7cVr-8dF4JnMjibSrVImlEkyF6tvxc7QICMKLwQqp2cjRrSA9Jowwkq7s2vquMyRlE_xFs-iKzFb54pGnFKWv9X-IKT9K9PA5gdMRRu3072UAWzZG7IjWHHEWoBM_E_RwR-HVFhw9qVG16usTgrOsApSozpbWG5tZ2gjmgnqe-4EckLsMCpZkGJRhlgLB5PBWmbqIOVUSD8SdDylytSC0sDDZIBSi8UIFzDOnwLR2dWI1l7XIqBCDZNxIata-vWAVWn-NXFoOrni6riKrboyDfhjJgKHWex0VDC7dUctBSeNiwcUuSDCBJv2OuYpwOeHwTUJE8_RfnwuxVY7DAoZVsbGEBMdKWgdtaZabNXiBvo3GcqvYKgoRussrHFHslYjuUuNCj7qxQ19FCBo20XufjueP9totJxzs62jz5VXhWg5TrZLhK2KMjSzn9hmLgPTrrbdEObemAxfRpcys5P53wTd4ckD16fQV0HtgSxP091RDcwcSY5TSfuzGZWa1qJ1-fOfBL8mbWSbL1W5A05mpCry2Be3Keq6RcW8o0qwDpfJ4cpIT1SyhSle2zIloI7J7OwurCcNfbBgw8C8nETHtMsE-WoGNGD4rZn7iA2bnEVzCpGnyTQ61obT2Z_Z4CWCB6bgLFBe4mKUkiOrM_oo0WMZxhjsc5gXWOHiYr2S10X7YD5ntMz3NBC-8E19GahYn9Ln27DVkNBvr9-ELaXUTnUIvRC0QviK9mqpdZGwe4ENj0QNDogrL7Ao4Oy1FHrf3mjgXFt8dx9b9HSCPz_qiqyPW6qAqdgRLCZu0nt3DX3sD51QJIjLcQkX578nKkoNPW9_8mXcb0sEhM81V3miSxca4U6RO_u5I5zwflISmcLc7u7mBJC9V6wr3m6t59Q7F5zrIzqJGE98pfoJqt47RGE3HxGLoOEvIJCWnIhqhvwZEETL4owsO5Z4hzn5dVjdxO_DoHDCn-0jViDEHuGcQ87lRaXEu3FiQmJ2m-4mbQIwyuDmFKnT7axBiB71Tdy7cCRTD24hVhyLVcgJ0DWsDmRKhPWwtwELFknvXfPEhp2nOZ5H80NabHsi2b4RkGGdkWiZ5uKbGtsf5m8zrzRKeG6IOzOPgWTOvZQFUVhLWQB1aqR9M0QRz9Ynjz81i0t2vxxSEsFHLHSF6j3v6rvHWTvNLw0e34BQN9OjpudigQLns19yVMHrs=",
  "id": "rs_031f1ba988f3c78a016ab47b04c44887d089d41f30739e97b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.12,\"left_z\":0.2},\"note\":\"The wrist view shows the plush near the basket’s front-right edge. I’m moving it farther into the basket so it will land inside rather than on the rim.\"}",
  "call_id": "call_HAmIduKbMVpfORNy8rHcV3u8",
  "id": "fc_031f1ba988f3c78a016ab47b0819f087d09ff21d9f75f9817f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HAmIduKbMVpfORNy8rHcV3u8",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.3363, 1.9491, 1.684, -0.5766, -0.3496, -0.2924, 0.1645, -0.0212, 0.8413, 0.7078, -0.5423, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.5186 left_y=-0.1134 left_z=0.1751 left_yaw=0.106 left_pitch=-0.2109 left_roll=0.0664 left_gripper=0.1645 right_x=0.2875 right_y=-0.0004 right_z=0.1815 right_yaw=0.0016 right_pitch=-0.1045 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3573, 9.8393, 1.663, 0.022, 0.3932, 1.0379, -0.2256, -1.5932, 6.9128, 1.6239, -0.0171, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46b86b167d2d13c85d8fddad2d0183ddd23328bb8d4a447d615eb51613fbd07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4701817873f23cae63a7d96378506137ad859f2b316ef8f67db39263fb4f30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bb023642d70855145fcb87738b01d520bf84f0a430a0ea80dc9d53c238bd09",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 6.005 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 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]: [-1.0561, 1.4597, 1.3067, -0.7597, -0.8371, -0.7803, 0.1552, -0.0208, 0.8326, 0.7078, -0.5419, -0.012, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=-0.2446 left_z=0.2475 left_yaw=0.0012 left_pitch=0.0093 left_roll=0.0038 left_gripper=0.1552 right_x=0.287 right_y=-0.0003 right_z=0.1839 right_yaw=0.0025 right_pitch=-0.0954 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.3094, 9.4838, 1.2674, -0.525, 0.149, 1.0281, -0.0479, -1.2376, 6.9812, 1.6337, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 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]: [-0.4267, 1.7481, 1.3064, -0.3618, -0.392, -0.3138, 0.1599, -0.0208, 0.8371, 0.7078, -0.5419, -0.0113, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1322 left_z=0.1535 left_yaw=0.0581 left_pitch=-0.162 left_roll=0.0615 left_gripper=0.1599 right_x=0.2873 right_y=-0.0004 right_z=0.1827 right_yaw=0.0017 right_pitch=-0.1 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.5385, 7.3094, 2.0342, -0.2662, -0.0171, 1.0281, -0.0752, -1.0325, 6.9128, 1.6288, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3363, 1.9491, 1.684, -0.5766, -0.3496, -0.2924, 0.1645, -0.0212, 0.8413, 0.7078, -0.5423, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.5186 left_y=-0.1134 left_z=0.1751 left_yaw=0.106 left_pitch=-0.2109 left_roll=0.0664 left_gripper=0.1645 right_x=0.2875 right_y=-0.0004 right_z=0.1815 right_yaw=0.0016 right_pitch=-0.1045 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3573, 9.8393, 1.663, 0.022, 0.3932, 1.0379, -0.2256, -1.5932, 6.9128, 1.6239, -0.0171, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46b86b167d2d13c85d8fddad2d0183ddd23328bb8d4a447d615eb51613fbd07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4701817873f23cae63a7d96378506137ad859f2b316ef8f67db39263fb4f30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bb023642d70855145fcb87738b01d520bf84f0a430a0ea80dc9d53c238bd09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is now over the basket interior. I’m opening the gripper to place it with the other plush animals.\"}",
  "call_id": "call_s2rnd7TPPsddJ5leTr8yhnYk",
  "id": "fc_031f1ba988f3c78a016ab47b0ab27087d0bb381226500d2e3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s2rnd7TPPsddJ5leTr8yhnYk",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3332, 1.9583, 1.6863, -0.5987, -0.3428, -0.3065, 0.9954, -0.0212, 0.8429, 0.7078, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.516 left_y=-0.112 left_z=0.1677 left_yaw=0.1141 left_pitch=-0.2387 left_roll=0.0642 left_gripper=0.9954 right_x=0.2877 right_y=-0.0004 right_z=0.1812 right_yaw=0.0016 right_pitch=-0.1057 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -11.6991, 6.5846, 1.6777, -0.2857, 0.0855, 0.1148, -0.1709, -1.388, 7.0906, 1.6093, -0.0122, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b650eaf52655342af8b8087b831f1970c7ce5930ea8d143411868fc66078c691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a7c7359d49f5a568fd1b6f9347c523e99a9b87e25ce751fc27f2978789a771",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953b28c2c75e45b2e55c58eb27bb390dbfbbb8d3f2fe1d2cd3c1871c42adb1ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.98 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 60 changed as sent

message 49 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]: [-0.4438, 1.6714, 1.4956, -0.5404, -0.4114, -0.3233, 0.1599, -0.0212, 0.836, 0.7078, -0.5423, -0.0116, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1362 left_z=0.2387 left_yaw=0.0567 left_pitch=-0.0784 left_roll=0.0243 left_gripper=0.1599 right_x=0.2871 right_y=-0.0004 right_z=0.1829 right_yaw=0.0018 right_pitch=-0.0992 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.4855, 10.7966, 2.0537, -0.0024, 0.3785, 1.033, -0.0889, -1.6342, 7.0632, 1.619, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3363, 1.9491, 1.684, -0.5766, -0.3496, -0.2924, 0.1645, -0.0212, 0.8413, 0.7078, -0.5423, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.5186 left_y=-0.1134 left_z=0.1751 left_yaw=0.106 left_pitch=-0.2109 left_roll=0.0664 left_gripper=0.1645 right_x=0.2875 right_y=-0.0004 right_z=0.1815 right_yaw=0.0016 right_pitch=-0.1045 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3573, 9.8393, 1.663, 0.022, 0.3932, 1.0379, -0.2256, -1.5932, 6.9128, 1.6239, -0.0171, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 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]: [-0.3332, 1.9583, 1.6863, -0.5987, -0.3428, -0.3065, 0.9954, -0.0212, 0.8429, 0.7078, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.516 left_y=-0.112 left_z=0.1677 left_yaw=0.1141 left_pitch=-0.2387 left_roll=0.0642 left_gripper=0.9954 right_x=0.2877 right_y=-0.0004 right_z=0.1812 right_yaw=0.0016 right_pitch=-0.1057 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -11.6991, 6.5846, 1.6777, -0.2857, 0.0855, 0.1148, -0.1709, -1.388, 7.0906, 1.6093, -0.0122, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b650eaf52655342af8b8087b831f1970c7ce5930ea8d143411868fc66078c691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a7c7359d49f5a568fd1b6f9347c523e99a9b87e25ce751fc27f2978789a771",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953b28c2c75e45b2e55c58eb27bb390dbfbbb8d3f2fe1d2cd3c1871c42adb1ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHsS0AeTfbZzoWwrJCyQJQHzTTJf8iUnadDMroDjo_Z1gHBsBs-VTsxX8-_wDvBNgsMUt_7vakAPcrvfbMPQ0JWGA5TjfkWpBAehPuPVh-F4Oy22O95jU0ah8wjfzsKfETJZdxVlVsg1-hzypq49SZmGcF9mKuM6DN9o7w1LMyUMIGSNUT-e-mZKH4RnZa2avE81UFI6Ys6eOJ3Rv63AtWe4oqHbzeC8_joA8HbotXvbshTdQ1wElFF0dCrlWaVe3ljfusMJyoC7PeYf37wVzeyrXgzbiVHCcuiB1i8WDF41MEFPj2BNQt2u3mwcKLoOS-VeYrpipIFyhsRxp4Cgaik15FVJPc8eJCYNkbs1y-9cldmwvz5J_G5ObX9JuWQgo6XqPFOk66wPHcgDMa0ZJ0zXfDd3gbrYmUA0RW5xSIw4RkkVEJTn3m3uSDEPr0X-c3X7d23Ftlq9-4BDCekYkKKCqzhw6FlFXPZFfCNHC4_BNBa8mWDEcUOHfetgFjhYJ7hG0Fh4wX2LGQ370WG5xztvaw70XbWdJuJmUJTR3hDR8jjp84mJ8OeJ_ZPsPYHMVWzKky3ZUaAU34q-SUHGgTD1qB9ouKKt3yJFj1oUHWKrk0InPiKQOlgRF0nLeRk-sxXSO9KMwrfEhEeae-DNhO9hohsjj-kMwuK-MJOLHaQSoc7CmuvTyWj6yVwMdDYAcyCD66adg0YrRlFR6P5LPKYqREhzyyhuGN_Mf98jBNZ8j5y53WfSjMzAkGAzL-ZowhZAzL_R_ElYRhf0FLUgKmYBwYmsHMAFKQgyRXZ4U0mQ8jxvDqedi25rfTOwcezxowULy8m2Wp28txl54L7AvzzjpE9ljdZ1K5l6CA6lt7iv1InGOUyj4LDoYhA_1f5VPJRdMwFIha9Tcf06EagKqezlZIkDmgLdhSy2XpBMwSgW0nNXxR7Cu5RRdjBsqAP4WISNuZXySZgAHZEwSyONRv85hHre8qGcyNSXLKA883u1MJ3l1XgxmOCXXZ2xHxRzZqMtla6tvtxoM5wczgTF76zsi_RbZDUCq6DTVoV3BsW2NZXA-2vjTzIlV-g6oMY24WnNOpxIkjTN_KdE_BKRq-PF5gvByOZ0VDR9SR3ONBsQlSHLLi3Jo071taDloD-iaAw9mbrR0J0H7qLkK2f-OLskMb4jsiwmykSKkG4V512uK_sYKfNkS-9WIogiKjP28vScDS0OEKOGWPfXeiyGfJHePtthujgwKFQSFthoBZ26qf2sAX275RcmwhS1QPNHp1Y07OCD0ogXJi0fcprYQisLlT90VZwN2ahTCmzulclbQwBCN-oxW9dq7tMhlyzaIzbivoc6uJp6FtOHqKpUCRH4RuspqEx9qlMdPYGkM8wvglVXWejvYRKxIJtFLQaLEGtxpBYywJhgNHrLuZnYTL7lgw0a6svoBF9afQ6kGNEz126uaZUbbdTeKP57CrJ1KFZt2dSB7izv1cMdSFvDyMmSYOLJZMJVBmHq4fJgYSZ13-NQcVr_1YF-NyP6CwW9lIp5gqzlAAoeNnzbDU77Ek1UOw-qlyuYz692MXWv1hxMt0l_2p5nogSwUHTf3EMr1PZO-Qj3kifb-3zbeSJK8vvlONJQXv9ZKc0PNxx_bqdIlJmChY1v2tmi1Fad4TrbC_udSXelHXNXZ9FbOy9_0RfG2-tL36zfHu2hlDvYUIPpP4S3jq4M6NL9ak6JEHoMTTCmbY4K41TPGzvZmd19msQLHhZ4afWFPY9S5SQwZ6LBGu8cbRIU9Nok8rmyORc7O_sTcwDmXyltzNwhMuaI9qJnE5lUH2ZbKyBpwQa2P6NMYshLcdf7pq92jUUI2b4u_BQbo_N_EwRrOPTNG5NYBmGZXNbPCf50b-p4Uuk3ro7t1m5dgYCZb-AvPkp5w2v6KoI1uywXNecfzkGGUGjHcNc5bizu_R4aptqf2hwX0OpM9cIWDb25xq7xxWGfx0xEPZLsQT1zMzXENMFq-SgeSr2XaSUYoVCLPXUQq2UCj1Hg5fQMRpjO41tqxjSQJn4hLseA02wmEv6Awh_medEbsHVM6kDu9kPWUBjifvfTFnfp3rdFJTiyc0b9MpNeYKYuHwT4H3Mq5wm80ByQmfFVqp-kAYOW05yrKQ6X1MqqGpyAzwETC2LhouYb4GXgMmxKWRl77D20TP_psaRdTTfqoc2Bw3C89c1WzgHQq-C_v1Fckk0=",
  "id": "rs_031f1ba988f3c78a016ab47b0d850c87d0a8f3b5720e8648fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.14,\"left_z\":0.1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The large plush is resting inside the left basket. I’m withdrawing toward the smaller tan plush beside the yellow toothbrush.\"}",
  "call_id": "call_nxIGC5a0A6JMGF4EaaEpeAfT",
  "id": "fc_031f1ba988f3c78a016ab47b11466087d0a5174442d89c50a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nxIGC5a0A6JMGF4EaaEpeAfT",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7551, 1.2533, 0.5125, -0.0204, -0.5858, -0.4774, 0.9966, -0.0208, 0.8474, 0.7052, -0.5411, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.143 left_z=0.092 left_yaw=-0.0349 left_pitch=-0.045 left_roll=0.0216 left_gripper=0.9966 right_x=0.2878 right_y=-0.0003 right_z=0.1789 right_yaw=0.002 right_pitch=-0.1122 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -4.2462, 6.8308, 1.7949, -0.4225, -0.1001, 0.1197, -0.2256, -1.4017, 7.1453, 1.707, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca50c0ef5146388ba15c7ec6dcdec6c00dcac4a48d058a96a6c855280ea2729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35563259a85cecb29c3c11839847bd5d0c25dcfe1aac534cd2a1c0ce68d1ca8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f4345c170cb349d2567e9684a6a7fa4574e8a3f9335edea9729d81e60e1a1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.959 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 60 changed as sent

message 64 changed as sent

message 53 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]: [-0.4267, 1.7481, 1.3064, -0.3618, -0.392, -0.3138, 0.1599, -0.0208, 0.8371, 0.7078, -0.5419, -0.0113, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1322 left_z=0.1535 left_yaw=0.0581 left_pitch=-0.162 left_roll=0.0615 left_gripper=0.1599 right_x=0.2873 right_y=-0.0004 right_z=0.1827 right_yaw=0.0017 right_pitch=-0.1 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.5385, 7.3094, 2.0342, -0.2662, -0.0171, 1.0281, -0.0752, -1.0325, 6.9128, 1.6288, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 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]: [-0.3332, 1.9583, 1.6863, -0.5987, -0.3428, -0.3065, 0.9954, -0.0212, 0.8429, 0.7078, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.516 left_y=-0.112 left_z=0.1677 left_yaw=0.1141 left_pitch=-0.2387 left_roll=0.0642 left_gripper=0.9954 right_x=0.2877 right_y=-0.0004 right_z=0.1812 right_yaw=0.0016 right_pitch=-0.1057 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -11.6991, 6.5846, 1.6777, -0.2857, 0.0855, 0.1148, -0.1709, -1.388, 7.0906, 1.6093, -0.0122, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 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]: [-0.7551, 1.2533, 0.5125, -0.0204, -0.5858, -0.4774, 0.9966, -0.0208, 0.8474, 0.7052, -0.5411, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.143 left_z=0.092 left_yaw=-0.0349 left_pitch=-0.045 left_roll=0.0216 left_gripper=0.9966 right_x=0.2878 right_y=-0.0003 right_z=0.1789 right_yaw=0.002 right_pitch=-0.1122 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -4.2462, 6.8308, 1.7949, -0.4225, -0.1001, 0.1197, -0.2256, -1.4017, 7.1453, 1.707, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca50c0ef5146388ba15c7ec6dcdec6c00dcac4a48d058a96a6c855280ea2729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35563259a85cecb29c3c11839847bd5d0c25dcfe1aac534cd2a1c0ce68d1ca8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f4345c170cb349d2567e9684a6a7fa4574e8a3f9335edea9729d81e60e1a1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHsXmr_BMMN6Z7sIbLv93E5cUg82hCRSoALRq9eRrktjifO4pA7rtrsFWdo5j6MTeX1O7VPhIlb2DhAodn2ZumxJU4ZzaRUthD0ZF83URYc97oJVJwulrjW4BP0L8tf2-ep8nZwC-SESLAdz1fiXHmGVOe4gpHgNx_m8W7QvowMjSKvo0yeTW5r2p4NbRlQl-SCJC5DIGDV_h13iAl6wzOeQ8wd6Qhew3bT0JLrwr7Ci6FmbA73JS_ou0hQ6TmMk0X4aAF9FdCVYQFcLi30pssgEjqoK73yCdZlWuzHb6e1ND_ZPdIqzTEAIY_28Mi6nw465DkNITbmGEYr25kF5ioT7d0v8s0pJ1hIr6juWniEeHPjfMyudfiDJbrOu2kjh5k5UKL697axLB8AtiopNcVJ2diB9HSBrTkLuaZzjC0wUZzrDLF8fRktkpXN4QWAz8c-5ye1rwxMAwNFyemSScfV8q5IANuXeOl6ShHW5Ea8zAjGytLcdQH_mnQD7dDDBrvVzyr0S7nzdA44CLlZ2ODOxkKesn8hrtYD5zJUv7FP-N1XAtZvhzkgPuzyeWoJm98gIxTveeo2HSmA4MiGXP_htwiFi8FwlCUQMBsRsZh_BSKN4r-86ILJJWCTI-cOA9gkPnueLWajfXMhNwe1UWSZ2Z1_KtqK85Xj2166gWdiAbUvENfmNxCwrwits6FRbA2FVLKhn6t1eZVSzEluXyH8mJ4Y3xHEbs8kQRNArPgpNO_Av0HWLi4Zed1QwdAYXEQ7D7nisWnmFoGStTqgvdJWFLlBTs0Kl56xkaSYYo24moOukjAXyXbETniwde9BDaNjd0HZKhYlOjF7jd64czuU_47JXj7rB6mLpUQ_wNbVmYthemkq5TFFbFtxP5xSLsTaHHzk8KZOYu37kaVXEL30hHYxrd0wtpWYADAcRKAvMtFTWluHI5MNfOb-Sp2mfGOkTO4vKeswozSe4F40x4nirIZnc7CTaAp-yVJZsX_odmGMCDuXPagYETvJS2vq8KZ1y7noXXVA3Tty549gyEL2bGJQkyMtuidgFswkFKPy7QO1dz8IM4uYWW8uwVjU8IVniQwqfUL4HRZOLrFrDl-S62-r2tPtTXG0Or3QZlqGQV8BUn6Ri7o0J0PUfMk4V0LiWCrqtu5TV-6Z-yUWfqPocrRWOyxe_bfnbxBedXhggPrIO8kW0GwB6LmPwKm6tauogDwhyvY7H7FA_sWZLX6GFRTaP1anJF1Fcdk4A_awW2q78CRsXVgpHZ8fv6BC-lKmjMfr3NgpwSnttQInTE_xdhI1mlWAulZKsboXarA2Jjy7XjAVtPceXRsyrM5dm1tOVxA5m9sTNGxub_Si3o7SvSGIsot5TqgrubDMHRTOWWrI0VcWFoJNyLqqhVN1vSPx075UoF06v4WrHGVdbDVCIawcA0d6q-_0oIftY8xfDPE8DVOXHeAo5KJPsa66ukatMYWRxxE7ZLFxam-swJ6rL0pdSEKz-p5exDAy1VVM5L8RWIRz0ufvjFTfgCAp7A-7mmyEwR3RBU6Xbj-8VCYorIKQWddNNbmnqbKgwtkh0AXj7v4JyNJA6bw8S_BZiDjfwbXD6eTq2y4YXN9i1Hw2hs0J6WG9q9LlkacIazGWD5s8=",
  "id": "rs_031f1ba988f3c78a016ab47b15049087d0ba42becf02b915fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.125,\"left_z\":0.012},\"note\":\"The small plush is just left of the jaw center and close to the fingertips. I’m making a small lateral correction and lowering around its body.\"}",
  "call_id": "call_riQrisfUTeGXWzxsSgQ2QFAx",
  "id": "fc_031f1ba988f3c78a016ab47b16dcd487d0b3a7cdb2c1dd8c48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_riQrisfUTeGXWzxsSgQ2QFAx",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.6941, 1.5219, 0.3092, 0.4202, -0.5503, -0.4397, 0.9968, -0.0212, 0.8494, 0.7044, -0.5419, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=-0.1208 left_z=0.0103 left_yaw=-0.0194 left_pitch=-0.086 left_roll=0.0532 left_gripper=0.9968 right_x=0.2877 right_y=-0.0004 right_z=0.1779 right_yaw=0.002 right_pitch=-0.1156 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2051, 3.4393, 1.3993, -0.1832, 0.0952, 0.0024, -0.212, -1.5795, 7.0359, 1.6044, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e7851a8e9cd3120a4ff7f1dcac7f6c50c4b3c304001e1241ea498528f772e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97181354ba246311ada30daff5f7462142433e90c8939edeef2cf709dc75e319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc77bb25079148e3840cdda2607dd42bf2ee01a5ef5b8a2b8aac662c42e4db69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 64 changed as sent

message 68 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3363, 1.9491, 1.684, -0.5766, -0.3496, -0.2924, 0.1645, -0.0212, 0.8413, 0.7078, -0.5423, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.5186 left_y=-0.1134 left_z=0.1751 left_yaw=0.106 left_pitch=-0.2109 left_roll=0.0664 left_gripper=0.1645 right_x=0.2875 right_y=-0.0004 right_z=0.1815 right_yaw=0.0016 right_pitch=-0.1045 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.3573, 9.8393, 1.663, 0.022, 0.3932, 1.0379, -0.2256, -1.5932, 6.9128, 1.6239, -0.0171, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 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]: [-0.7551, 1.2533, 0.5125, -0.0204, -0.5858, -0.4774, 0.9966, -0.0208, 0.8474, 0.7052, -0.5411, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.143 left_z=0.092 left_yaw=-0.0349 left_pitch=-0.045 left_roll=0.0216 left_gripper=0.9966 right_x=0.2878 right_y=-0.0003 right_z=0.1789 right_yaw=0.002 right_pitch=-0.1122 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -4.2462, 6.8308, 1.7949, -0.4225, -0.1001, 0.1197, -0.2256, -1.4017, 7.1453, 1.707, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6941, 1.5219, 0.3092, 0.4202, -0.5503, -0.4397, 0.9968, -0.0212, 0.8494, 0.7044, -0.5419, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=-0.1208 left_z=0.0103 left_yaw=-0.0194 left_pitch=-0.086 left_roll=0.0532 left_gripper=0.9968 right_x=0.2877 right_y=-0.0004 right_z=0.1779 right_yaw=0.002 right_pitch=-0.1156 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2051, 3.4393, 1.3993, -0.1832, 0.0952, 0.0024, -0.212, -1.5795, 7.0359, 1.6044, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e7851a8e9cd3120a4ff7f1dcac7f6c50c4b3c304001e1241ea498528f772e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97181354ba246311ada30daff5f7462142433e90c8939edeef2cf709dc75e319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc77bb25079148e3840cdda2607dd42bf2ee01a5ef5b8a2b8aac662c42e4db69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small plush is centered between the fingers at table level. I’m closing on its body.\"}",
  "call_id": "call_XI9Sgip4zgivthNqmt7fYqE6",
  "id": "fc_031f1ba988f3c78a016ab47b19f65887d0a41f04994773f57c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XI9Sgip4zgivthNqmt7fYqE6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.691, 1.5295, 0.3038, 0.4599, -0.5655, -0.4377, 0.3754, -0.0212, 0.8494, 0.704, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1197 left_z=0.0137 left_yaw=-0.0072 left_pitch=-0.0585 left_roll=0.0462 left_gripper=0.3754 right_x=0.2876 right_y=-0.0004 right_z=0.1777 right_yaw=0.0017 right_pitch=-0.116 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.3402, 4.8479, 1.0672, -0.1343, -0.0513, 0.735, -0.0342, -1.3333, 7.1043, 1.5995, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aa22a23baad64403b1ced9e37213466b09e100c46029fb06938652725c3cae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57d0ba611900620722774ba5c8c9f0b256ac8d54d51e1319a7618093fa09fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d637f375eb3016899119a41c23d704875a656b874e9c7fbcfb75eebc0da8e0f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.107 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 71 changed as sent

message 60 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]: [-0.3332, 1.9583, 1.6863, -0.5987, -0.3428, -0.3065, 0.9954, -0.0212, 0.8429, 0.7078, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.516 left_y=-0.112 left_z=0.1677 left_yaw=0.1141 left_pitch=-0.2387 left_roll=0.0642 left_gripper=0.9954 right_x=0.2877 right_y=-0.0004 right_z=0.1812 right_yaw=0.0016 right_pitch=-0.1057 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -11.6991, 6.5846, 1.6777, -0.2857, 0.0855, 0.1148, -0.1709, -1.388, 7.0906, 1.6093, -0.0122, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6941, 1.5219, 0.3092, 0.4202, -0.5503, -0.4397, 0.9968, -0.0212, 0.8494, 0.7044, -0.5419, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=-0.1208 left_z=0.0103 left_yaw=-0.0194 left_pitch=-0.086 left_roll=0.0532 left_gripper=0.9968 right_x=0.2877 right_y=-0.0004 right_z=0.1779 right_yaw=0.002 right_pitch=-0.1156 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2051, 3.4393, 1.3993, -0.1832, 0.0952, 0.0024, -0.212, -1.5795, 7.0359, 1.6044, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.691, 1.5295, 0.3038, 0.4599, -0.5655, -0.4377, 0.3754, -0.0212, 0.8494, 0.704, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1197 left_z=0.0137 left_yaw=-0.0072 left_pitch=-0.0585 left_roll=0.0462 left_gripper=0.3754 right_x=0.2876 right_y=-0.0004 right_z=0.1777 right_yaw=0.0017 right_pitch=-0.116 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.3402, 4.8479, 1.0672, -0.1343, -0.0513, 0.735, -0.0342, -1.3333, 7.1043, 1.5995, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aa22a23baad64403b1ced9e37213466b09e100c46029fb06938652725c3cae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57d0ba611900620722774ba5c8c9f0b256ac8d54d51e1319a7618093fa09fde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d637f375eb3016899119a41c23d704875a656b874e9c7fbcfb75eebc0da8e0f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The fingers stopped around the plush instead of closing empty. I’m lifting it to verify the hold and clear the basket rim.\"}",
  "call_id": "call_bD5Kgg1OvGAzpP6r8oA3t2FW",
  "id": "fc_031f1ba988f3c78a016ab47b1d990087d0993cf142763cf0c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bD5Kgg1OvGAzpP6r8oA3t2FW",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.0973, 0.8223, -0.4866, -0.5682, -0.4458, 0.376, -0.0212, 0.8513, 0.7029, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.1215 left_z=0.1872 left_yaw=-0.0002 left_pitch=-0.0539 left_roll=0.0385 left_gripper=0.376 right_x=0.2876 right_y=-0.0004 right_z=0.1767 right_yaw=0.0017 right_pitch=-0.119 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.1778, 8.841, 1.453, -0.2027, 0.0708, 0.0464, -0.2393, -1.1966, 7.0085, 1.619, -0.0464, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c962e7f9561a2ef5ae10d2db15518cd867239f7d5c8545c726879debb2d013f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3fce9afd1ba3d8ebd9464608786e2c3475904eb4b19260836216b9870e8e50d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b137f70a054b704c557ebaddf7dbce77facc30a028715fdc91816da6ee9127",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.237 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 71 changed as sent

message 74 changed as sent

message 64 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]: [-0.7551, 1.2533, 0.5125, -0.0204, -0.5858, -0.4774, 0.9966, -0.0208, 0.8474, 0.7052, -0.5411, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.143 left_z=0.092 left_yaw=-0.0349 left_pitch=-0.045 left_roll=0.0216 left_gripper=0.9966 right_x=0.2878 right_y=-0.0003 right_z=0.1789 right_yaw=0.002 right_pitch=-0.1122 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -4.2462, 6.8308, 1.7949, -0.4225, -0.1001, 0.1197, -0.2256, -1.4017, 7.1453, 1.707, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.691, 1.5295, 0.3038, 0.4599, -0.5655, -0.4377, 0.3754, -0.0212, 0.8494, 0.704, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1197 left_z=0.0137 left_yaw=-0.0072 left_pitch=-0.0585 left_roll=0.0462 left_gripper=0.3754 right_x=0.2876 right_y=-0.0004 right_z=0.1777 right_yaw=0.0017 right_pitch=-0.116 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.3402, 4.8479, 1.0672, -0.1343, -0.0513, 0.735, -0.0342, -1.3333, 7.1043, 1.5995, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 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]: [-0.6903, 1.0973, 0.8223, -0.4866, -0.5682, -0.4458, 0.376, -0.0212, 0.8513, 0.7029, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.1215 left_z=0.1872 left_yaw=-0.0002 left_pitch=-0.0539 left_roll=0.0385 left_gripper=0.376 right_x=0.2876 right_y=-0.0004 right_z=0.1767 right_yaw=0.0017 right_pitch=-0.119 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.1778, 8.841, 1.453, -0.2027, 0.0708, 0.0464, -0.2393, -1.1966, 7.0085, 1.619, -0.0464, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c962e7f9561a2ef5ae10d2db15518cd867239f7d5c8545c726879debb2d013f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3fce9afd1ba3d8ebd9464608786e2c3475904eb4b19260836216b9870e8e50d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b137f70a054b704c557ebaddf7dbce77facc30a028715fdc91816da6ee9127",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHsjJcaultTe95TULka472F7ppnbsi8hp7wEscq4X47aiUYheE4Hhknm5WvSwPyysk3n446OMtp9eyPi5HXewDnE5MG9O0DQo9ZaQSKSn_s_8O-zwJtLeAfF7zlH3TFcSWL4Hv8coW5Q-qm4P9Ry4rXCnl4yhlUjNTXZuW5F3QDsJvMroOJ0WZOyMBetIZtNsD9x8LcApjyvGrCTWGKBzGvSdY_ywlOfJNqqkiRKK-Ml-eYDs0c9yVKsfpTEBFrEuejCTK7B41cG_DoOjWyCwTFXdM51KtG9btgCNn3IQ8XOXsiiJ_emqU_bImWxEg8VOFzFOfaw9WLO9H83aJAn0NlEyqGk1zE5gm55ZM6rUAZu26lrdMjbtZMZ9ueWvYcb3LrMqw2dhpxylEN5hsvH0j4yD4AQIyIV2vnQucpQ-RzTallUdLYeW_UTUQ9zE2JAqWzYZEEbeynlWU3Qq0GDPfGMpH_2FtxxYnLIPTsw6lpNErsIuAjXy1GAT0XlEAx8twN68PEs8tftKV_kn7SHsYVSjW48xWJU3IkmznhpVf5Yb1-Do23EugqWOVSOSLVVHR9x__qgPuSYLkZmqhDl1BV7r6-A5EKlE5rvLM8ZBOdjTrSuf9euE6CHXtXr_VmSwqMyQnY9SMBwx4ukmgRt3A1ehguOemobvtmJYUMISfQAoQbSXFMJ4A0hc0_8xGuKQusSJ8N-qCaZLFV_r_2aygWQCVunp1R83rFs9GBzGQYOjpu8LIHsyAtbKuI0O8OJgzNUmaO-nT7jMjxgcd9LpNI0eOT0-q0ENdRDc3hiIZgzXta5WcAEcv8yb8Im0biOBiq77qkoq69JiOJ882WnVfN7JQt3QkUYW6-PN2xap4p1txYQTUYOQQx2mFv7IyrgXhMnKuhUF0IU1fztW3DufyNC6jzQKfNOnPTFCRZQ5nN3SRMTcMCgBPc-dD_M78naj0tQWTuAAhH8GreyGxC2ykRMugafMtmao6OzSngXDjqGr6dfaejjI_7Kp9FjVKVHFrvpcuLaF2aSb7AxYYYFzlEPcsOFLa7a_yAdiURk7EKaLqkthfUvPEGHhR56WjO2EMCQEemr-4FMKUefYcjUgeLL722vLxgyEyTpRykie5xhgmCsU6qcIpZWN3AtJhgqmUgm7R4RWiwDAhpiE9r6xbFmR7L7d_9OiXJja3JJkKnwQI3qWWaqJqoQKTMUBLgdQzB8wllioWHIsXd0_NbUnAV83jTeOYifAfujxtucuLMYWxi8pTx-1j5Sf0FUYejmcMiDpQvh6CtUPMAJe_3MO-OKe76EfqrOQYBAW-iV_vjnO7vtVX5qDjudO4fXx3sFvfoT1gJ0Qd24IQSC_CSz7C7bZSE1bpL8ZRHThPhfoWQocNzGtfGZpYypF0kUNsAPsHb7XW1DyyuDu4Bx4smANcZd7iq2qJ2UR6Ol0Nb3bdrYXjfLhf3jWRMlQ7YsQa6CzpJnGa64UUDr_J-VT-evjMX2OqSYfaItvvNLoPfOkJxa7-8=",
  "id": "rs_031f1ba988f3c78a016ab47b210fdc87d0a173dfcd89545db0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.12,\"left_z\":0.22,\"right_x\":0.275,\"right_y\":0.215,\"right_z\":0.08,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The small plush lifted successfully. I’m carrying it to the left basket while positioning the right arm above the light-blue toothbrush, well away from the left arm.\"}",
  "call_id": "call_YnunOMZQu2JmR5UzNqTJgRCl",
  "id": "fc_031f1ba988f3c78a016ab47b22886c87d0a316a68807826d78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YnunOMZQu2JmR5UzNqTJgRCl",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.3298, 1.8263, 1.5299, -0.4316, -0.3115, -0.2321, 0.3767, 1.0103, 1.4773, 0.6075, -0.075, 0.754, 0.6689, 0.9998]\nstate[eef_state]: left_x=0.5074 left_y=-0.1127 left_z=0.1949 left_yaw=0.041 left_pitch=-0.1192 left_roll=0.0412 left_gripper=0.3767 right_x=0.2672 right_y=0.2051 right_z=0.0653 right_yaw=0.0421 right_pitch=-0.0622 right_roll=-0.0575 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 10.0034, 1.8095, 0.022, 0.3834, 0.0659, 0.3077, -5.8051, 8.0205, 1.3211, 0.6569, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5601bb78c08a17e9603dfe6c32b3d6a5fdde1eb72e9ecc4994ad13aed54618d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6804c4886f35d628c58a06c99c035d7d0860bb2bdc371b8d9ae7ab3540cc9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f385199b850b0244f9ea5b0baaf5a0ab845b0b1316b5b70e2219eb9ceabcf63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.025 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 74 changed as sent

message 78 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6941, 1.5219, 0.3092, 0.4202, -0.5503, -0.4397, 0.9968, -0.0212, 0.8494, 0.7044, -0.5419, -0.012, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=-0.1208 left_z=0.0103 left_yaw=-0.0194 left_pitch=-0.086 left_roll=0.0532 left_gripper=0.9968 right_x=0.2877 right_y=-0.0004 right_z=0.1779 right_yaw=0.002 right_pitch=-0.1156 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2051, 3.4393, 1.3993, -0.1832, 0.0952, 0.0024, -0.212, -1.5795, 7.0359, 1.6044, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 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]: [-0.6903, 1.0973, 0.8223, -0.4866, -0.5682, -0.4458, 0.376, -0.0212, 0.8513, 0.7029, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.1215 left_z=0.1872 left_yaw=-0.0002 left_pitch=-0.0539 left_roll=0.0385 left_gripper=0.376 right_x=0.2876 right_y=-0.0004 right_z=0.1767 right_yaw=0.0017 right_pitch=-0.119 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.1778, 8.841, 1.453, -0.2027, 0.0708, 0.0464, -0.2393, -1.1966, 7.0085, 1.619, -0.0464, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.3298, 1.8263, 1.5299, -0.4316, -0.3115, -0.2321, 0.3767, 1.0103, 1.4773, 0.6075, -0.075, 0.754, 0.6689, 0.9998]\nstate[eef_state]: left_x=0.5074 left_y=-0.1127 left_z=0.1949 left_yaw=0.041 left_pitch=-0.1192 left_roll=0.0412 left_gripper=0.3767 right_x=0.2672 right_y=0.2051 right_z=0.0653 right_yaw=0.0421 right_pitch=-0.0622 right_roll=-0.0575 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 10.0034, 1.8095, 0.022, 0.3834, 0.0659, 0.3077, -5.8051, 8.0205, 1.3211, 0.6569, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5601bb78c08a17e9603dfe6c32b3d6a5fdde1eb72e9ecc4994ad13aed54618d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6804c4886f35d628c58a06c99c035d7d0860bb2bdc371b8d9ae7ab3540cc9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f385199b850b0244f9ea5b0baaf5a0ab845b0b1316b5b70e2219eb9ceabcf63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHso_pQXoE9_V6wu43xIR2xlOqr2dYrwik5p43CREqXjC0-S1XQG1nh5qwNS1lBCFhoFndIwqmHoF6KKhGvje1EaaCxtHA6SzxyoFPC1oUI3M578NLV2H8mdGU1kpUp66vNysoWeHEPo4gW8QbgabpHrZsuuG5_elXl3BJSXILg5g5BJgE5yWVjVFdyZN9N1EUAJSDTqrsWo16_WOa8uiwaX1PMoXUC8CVn_BzJaASFSRDjCH0teI_9ucpMvUy2mGSXzJw1Pks7JALy7GUUUHZSfl2LJounratzkUUewfgQQTzCvcL8Jv_i5P1XuND98qNye8Gyol3aHAGHOJzs1C8Ne8E6begxDQ5YcZhZtOKoMDs9ML2excBMd5RGQVADrZ41JuFxQWPJG6bOPssnbB9mApUBWiLMiyvAI_QLtQ__NYQv0teP2XC8QRDwNozh1vu1Km3fk2K6OPyFWB77qE0fpgxuAFNG0vbYNby-cQlNEO-sAMG-9PQqGo4wLP_ENdPyx_hYcb2yCAzLFKSz75tDetXYpZYaaIGTHJOCV5PhPprBrBG8jjWOLeGgDu1tobP5MTnYPFXZtETdw_dktAXaDJG-gtDFAljAGnJ3wyuotNcHS1V32oGp6J3aAMSpYjiFJPwRmGew6vDgr4ZYsVWt1ocTxumwdjw1vwV0_Zgx0reZ5fHwBraTeVD3Uunhbcor6HmrOPQjYyV4F9XxTBMHCibtV4LGRzIMolSHPXNfJCUIgUldgGBXhKjrtzXGM3WVpfo_WSnJHfMpi3mnr7VzswElm_iqLnw8gq-jri90rNtgfTBgcm8C0vOJKkDwCli9X1BI4HOjx-gjL-XPV5zZDp3w9aSLjuPPjc31jsijP1-VMeok82Yd0J74B_xRThb_38vElopEcTqBwXPjqZg3VGSVIUkrOtrg_UDVXZ_CBaIno_Fjk2FDE05wLeTxdXJBlg0YJhOYTPW3Rmj22QV5E_ixH5rBIGbDx_H1FON5zJ2n6i0GouoH3_t_rj1ZqsjlJbkWb2V5ey4lj-wFj00zG-FPIN5rayPdq-1u6gcNxE_bBNvdT2pwzE0tTJGfVpYuef1bSre1QtVAeY8fTIdX73NuWY0b8pZ9aT44dwMuSJvExfC38spQbRKqNGov7hkkETGVw_gBdbKRbSFKCLa8BdyE4fuuuTzqRErQS4b3-bE4cIQkxzKgNE8rrFL7ObWLxYJNqnjk14HAGscLCfediPu7KBWY4LlzgABIADPjdnnaQtSZXiwxXkGZBtCTTFmq7TIXG4u03_m1lG_fwZowfUscafTPI-iOR4POQTWXxtx3uJZ14r5VARIcpVsZLO291IS9uur24-Va9NYl9O7z-UBaaDL3BfwjZAYc5OElcO9hFrRpyuuwnvJ-r6rplo08W",
  "id": "rs_031f1ba988f3c78a016ab47b26b2c087d0b79496eeb2d8a82f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.275,\"right_y\":0.215,\"right_z\":-0.008},\"note\":\"The small plush is over the left basket, and the light-blue toothbrush is aligned in the right wrist view. I’m releasing the plush and lowering the right fingers around the toothbrush handle.\"}",
  "call_id": "call_ah4Mift03rvhwDy950LF7Dv0",
  "id": "fc_031f1ba988f3c78a016ab47b27b52887d0962dfb7eccf621dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ah4Mift03rvhwDy950LF7Dv0",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.3264, 1.8427, 1.5349, -0.4408, -0.3103, -0.2428, 0.9955, 1.0069, 1.7618, 0.5545, 0.3214, 0.7788, 0.675, 0.9997]\nstate[eef_state]: left_x=0.5084 left_y=-0.1113 left_z=0.1872 left_yaw=0.0503 left_pitch=-0.1383 left_roll=0.0398 left_gripper=0.9955 right_x=0.2821 right_y=0.2206 right_z=0.012 right_yaw=0.0217 right_pitch=-0.0129 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -11.4256, 6.4752, 1.6923, -0.1929, 0.0952, -0.2027, 0.0068, -4.1504, 3.5077, 0.3199, -0.1392, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1524cf6137063245625e5660540e980fe5edacf2b4a6da37a122435be23f6e56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7af23d36228996277be0dfbebb11fa66eaf5679a9d7c954451a1695147cefe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc87026cd782156247c582cb8761ac72528f5257fead4fcbe5a4281ec24baec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.98 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 78 changed as sent

message 82 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]: [-0.691, 1.5295, 0.3038, 0.4599, -0.5655, -0.4377, 0.3754, -0.0212, 0.8494, 0.704, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.2988 left_y=-0.1197 left_z=0.0137 left_yaw=-0.0072 left_pitch=-0.0585 left_roll=0.0462 left_gripper=0.3754 right_x=0.2876 right_y=-0.0004 right_z=0.1777 right_yaw=0.0017 right_pitch=-0.116 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.3402, 4.8479, 1.0672, -0.1343, -0.0513, 0.735, -0.0342, -1.3333, 7.1043, 1.5995, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.3298, 1.8263, 1.5299, -0.4316, -0.3115, -0.2321, 0.3767, 1.0103, 1.4773, 0.6075, -0.075, 0.754, 0.6689, 0.9998]\nstate[eef_state]: left_x=0.5074 left_y=-0.1127 left_z=0.1949 left_yaw=0.041 left_pitch=-0.1192 left_roll=0.0412 left_gripper=0.3767 right_x=0.2672 right_y=0.2051 right_z=0.0653 right_yaw=0.0421 right_pitch=-0.0622 right_roll=-0.0575 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 10.0034, 1.8095, 0.022, 0.3834, 0.0659, 0.3077, -5.8051, 8.0205, 1.3211, 0.6569, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.3264, 1.8427, 1.5349, -0.4408, -0.3103, -0.2428, 0.9955, 1.0069, 1.7618, 0.5545, 0.3214, 0.7788, 0.675, 0.9997]\nstate[eef_state]: left_x=0.5084 left_y=-0.1113 left_z=0.1872 left_yaw=0.0503 left_pitch=-0.1383 left_roll=0.0398 left_gripper=0.9955 right_x=0.2821 right_y=0.2206 right_z=0.012 right_yaw=0.0217 right_pitch=-0.0129 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -11.4256, 6.4752, 1.6923, -0.1929, 0.0952, -0.2027, 0.0068, -4.1504, 3.5077, 0.3199, -0.1392, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1524cf6137063245625e5660540e980fe5edacf2b4a6da37a122435be23f6e56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7af23d36228996277be0dfbebb11fa66eaf5679a9d7c954451a1695147cefe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc87026cd782156247c582cb8761ac72528f5257fead4fcbe5a4281ec24baec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHstqgtln2viP_tKi6_DqSHQirpPhy28ummatkTCK6K8o3iODaqEWW38CerlxfZT33aGb7dN0F4kZtvsd7JE7kRRmDYeUs1vENWV-f5wI04kM27ciNdXW9oktwgzeMM3q0bX16bdKkudl6Bjcg1nRHPgU5boCf5-bmfq39jAGhPbxi1zn566_pHQpDPfeBs0rO3q6KA9CDVmMLkPd1IyJzLuneS44qNAwqdlj-vWTAA98IlPUTTuR45rQjTE5TmzfHLgzguivW9AKpLjSMqZ9t5X3YNfaDpTmmtwowzriPk_CatVpoP0e1aTJHLgjPh7vMJTtsoVbiZ7TwkmnHpu6WUhUdKk4nAg3Czd5-23tTOk96ubVg0YghzZOH2JV3pga3j2X6w5OasfjFoi9uBEBx_HZFQs6_ICwpws99YdbnYJaB611NNX1lBJbQ3ttgIE4OLUv3ZwZqAGEOWEntS1L4v9rC_0x5o35LUTfEhNF2MsPzi_PeusjRwql2-cwTCUFvHz2tF8Cl0RwC_jGQEy_tgiaZllfOZtzuErlcCJn8OCa8cy8Zct1JpR9ixBl9GEKcQkhAYNv8i3HJfgiNJAIoeWlM_ItWTUG5k1LjFzoVRpkWXtZ1nCxiahc3ZPCPM9I-foEmbDqgPzpF08U-2Vg076l0U8KGoDDftOji17_LBS56DOppElWcbtXrhuqpsmQgO--uay7b2uPWLSWnE5ENttJbBG-zfKwWeIa5Ngs0qQsiULrFbCjGhdQBoaMZq6SS79D7wQkkaY4Z540OeSNCwt72OSI-2YKv6LDZXeXdJ1i4zfKi7UJn2oxt2DzCTLkCMV_58GLouAXJrn5usDO5XDTDz9D6G1izazny8r6U0_OtgXCbxyd5a7T1NAYl-G0FeO9MzjA7HtTcjAYEYyqzgX81_G4hPKZrLhZwYHNt70IMsiQWHs_xeHOAiTi1AZinty94Vk4E37mQ-UD5tslMrEYH41RbXcRve05-l7-wz3XYbByQ0ks6ZrFSOhHTjsI4f2h_FLB1dhHCZmmG5d9lhupUS_lP_MbVstwgPziCyH4TXxrAxi0LuYFH09OfWfEIaH5jrLwSNTIaWG37dxuv6mrxJNJ_0qTRbtomywe8ssdOECt-UiVUewOsh8hGfmuNCII_G64w7KNRT0GCY7ETPWvSU7_T4SlF9mr_wES0Xe1ISrM1qpSH1y4w9j9OT0eJvGa8LD61YfFpMbMvno2aOa7scmkyzKvKQ9aRazgzU8oJIZJCJh6k8Wl0Kq2kYmYPil5QSjAs0EnB_3QNHgUwkkiNfccvhtikryILkpzeWlpZSF3ege6xFw1oYLdW1idN8tteisT3jj4Etr8k0-JtVDCK2MrswvgXwymDgtUq8t-xz7_XY63waiDwY8jw3BFLB53USaGTXUfBv3j2OHJOxwv9C64wD9KULUnx0pWjh4C9xBG8jN1ktr_tt1lWjm8idaGqsNunIv4-VAMmr5Pf7LrSLpYMwsHmEqPqdJZ4OK520x-7VaWBVZ3XphMXV8uVfGaZWd6ZT2ga5UaE21WV9LsFpdy9bUIlP-nhRiStPDh-xM1YzPP_goS8UXtpM42ht556g4ljexCdNVn3-SvhDbARvo4_VAoO8xDc7ZPXrMdkhex_1QlM6z6iYdB0VS0G2v",
  "id": "rs_031f1ba988f3c78a016ab47b2a9aa087d091dcee6de02b99d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.2,\"right_gripper\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The toothbrush handle is slightly right of center. I’m correcting that offset and closing, while parking the left arm clear of both baskets.\"}",
  "call_id": "call_jY1EfRnvFY2omuG965gvdpvW",
  "id": "fc_031f1ba988f3c78a016ab47b2c300887d08abdaf14312f17ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jY1EfRnvFY2omuG965gvdpvW",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0467, 0.8307, 0.6968, -0.4183, -0.0772, -0.0734, 0.9966, 0.9665, 1.7294, 0.4885, 0.3809, 0.7475, 0.6285, 0.1747]\nstate[eef_state]: left_x=0.303 left_y=0.0031 left_z=0.2047 left_yaw=0.0403 left_pitch=0.0174 left_roll=-0.0054 left_gripper=0.9966 right_x=0.2823 right_y=0.2038 right_z=0.0092 right_yaw=0.0271 right_pitch=-0.0184 right_roll=-0.0185 right_gripper=0.1747\nstate[joint_eff]: [0.0479, -0.8274, 6.8855, 1.8877, 0.1245, 0.1245, 0.1148, -0.6359, -7.9248, 3.1795, 1.3358, 0.2515, 0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6488f1e83fea232e3ebdd45d281f7e96ec05bbcf9b2576a4afa6da340947e5b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a303b21f1656224ec329140b2ba614d3c52ebe6d3401c301558ab093656c8595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4b71a4aebb7ce37c589feae519d89061525957bb24147396127a05ef0e98ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.812 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 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]: [-0.6903, 1.0973, 0.8223, -0.4866, -0.5682, -0.4458, 0.376, -0.0212, 0.8513, 0.7029, -0.5419, -0.0116, -0.0303, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.1215 left_z=0.1872 left_yaw=-0.0002 left_pitch=-0.0539 left_roll=0.0385 left_gripper=0.376 right_x=0.2876 right_y=-0.0004 right_z=0.1767 right_yaw=0.0017 right_pitch=-0.119 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -4.1778, 8.841, 1.453, -0.2027, 0.0708, 0.0464, -0.2393, -1.1966, 7.0085, 1.619, -0.0464, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.3264, 1.8427, 1.5349, -0.4408, -0.3103, -0.2428, 0.9955, 1.0069, 1.7618, 0.5545, 0.3214, 0.7788, 0.675, 0.9997]\nstate[eef_state]: left_x=0.5084 left_y=-0.1113 left_z=0.1872 left_yaw=0.0503 left_pitch=-0.1383 left_roll=0.0398 left_gripper=0.9955 right_x=0.2821 right_y=0.2206 right_z=0.012 right_yaw=0.0217 right_pitch=-0.0129 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -11.4256, 6.4752, 1.6923, -0.1929, 0.0952, -0.2027, 0.0068, -4.1504, 3.5077, 0.3199, -0.1392, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 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]: [-0.0467, 0.8307, 0.6968, -0.4183, -0.0772, -0.0734, 0.9966, 0.9665, 1.7294, 0.4885, 0.3809, 0.7475, 0.6285, 0.1747]\nstate[eef_state]: left_x=0.303 left_y=0.0031 left_z=0.2047 left_yaw=0.0403 left_pitch=0.0174 left_roll=-0.0054 left_gripper=0.9966 right_x=0.2823 right_y=0.2038 right_z=0.0092 right_yaw=0.0271 right_pitch=-0.0184 right_roll=-0.0185 right_gripper=0.1747\nstate[joint_eff]: [0.0479, -0.8274, 6.8855, 1.8877, 0.1245, 0.1245, 0.1148, -0.6359, -7.9248, 3.1795, 1.3358, 0.2515, 0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6488f1e83fea232e3ebdd45d281f7e96ec05bbcf9b2576a4afa6da340947e5b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a303b21f1656224ec329140b2ba614d3c52ebe6d3401c301558ab093656c8595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4b71a4aebb7ce37c589feae519d89061525957bb24147396127a05ef0e98ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHsyCZ6h23VuT9rzipdDGja234sfcd7KXpawZPq2OiSaHfu52_LlUrM-HefpNh9KpKgD3elZUg4IoxEqSHqfL3yzgcAoeDVo6HC_TXdHHzjvTwGOqP3v7oblG7l6LOPQCut-aO9uA9r_KleSscjPp_VckhUczl8iFHBLdqgmwX5l6jGPgbwQ6yDDpwpi6gG8aEK8yzAF2sVZLGITYYXu9DbsYCMETfKYQ0_eni0Zd5ANCTdNwjWFWmwKRm1jfDUO_Wo0q0wXv5k6ool2KGrQdfuEa61_IhstgH5OlVksYqYtkUT98gh71R6Khdd8gEVYzHYv5nQk1A1cQj-7O09eQmwjYLTZnzetP8mzoL65GIyVrSGDw_54_4lFudT5D-GuAwGgejWLr1IqmASFSh3V9Tt5lChfyQgKDuhnHpou8Orq1fn9CbpJss6c_dleHsK4lzbopcX1Y2RyLYieqZHtuqZNAjzg-KYRsW_1_6bySaWF9QRbKzro7An68KwRYS-bfoPmpoVADyv_YW5tv1SL2lZa944t0gbI1N6s8PjW4EZSg8jVyd71TTOnfPzf_H-4-5TBmUIPaTSw6cG2fzyAmUxNvuUYR5G50IZ-L4B-E2aS6o3eIB0UjwA-hlcTeJQ6yvXkPwznSoXhXin0RmKNjU-KVrbitDDICo48Jclqqy2LCb4wAX_Tkij26fBhZi1cbL6iE8iC39HuhpONcs11puKRy0VjMkdbKwuHgQ3PjlpmuYKbNVp4p-u28EOIS1L_ki3Wg4WoTEHf8xZKSSE2b-gOIvX9DGYxZyniuan2dkVb3k8ibYY7shp15gsJy4ncV-vztxBdCdMz-MMiIqD_QttA7ZcXIJFysdQQrjFGsOEQluIneRkAqVFvlyDTpALi1s7o4ElGpuPUSDyvOA7nij2xFKjVYt0gr8-ntuEpx6qJ-nN0Fvd1TYB7LQfSHlIn8bkjXphYPr8DWbsftQq-z1g-jVU7LPa9wyaU5uV5KahGlAol89HQj6zdswkWJqTUQ14GFOk88GBAGshMYVBj2GcSgvcKzvyHqzp7czLb0TSlp4PomFrfB4OKcZ-wDgvBgfFC60PzOc-S3mbA6y8YDakGwWaoxaZP0ZfBiwZ0AnPbTyjLhHgsSqSDy8DOKd1K2x5sMtUvtqGK8RVnII5v_qjkOrhYIXWMfMh69DzLJsjHq7AXd_qe1iPOGDF9oYaApXMdbddRXLmdTwtKTwZre9HfZ-2Xr2zDYNx1JDFNn6vgWKn8nf3GkALS_hHH75g9sslhsOmPPihRGbmBmzE0o2YUrpMoEnbTjyGRH-KZUjCCMvvyx_5yDyvx4yhES-r7dXQWkxUHuiAnFIAHF5l1ZxGBQNAu6uBSsBSd0WN7OzwfWQnyjgtw4obLTd7LMtnMtC1G6J607JiPHfW5psW-AmegU9F6Dv6Uk-Rngbxr1dh676zodDlLPJcSSxzIoczWAd7t75KeJ9l3xQ1KjNEUeR_nC9aS86gl4O1WlnjQPi_7pwx1EIoBgyowht-B4UKUJ0ANH7zC_UMrGgbyGLetggx1R60cKi_gwe0_OtFIru2wFyE3XSoSSCzh1kIWT-CszCGYdHOtMu0et0JcNz0Vo1cC-a9D4JiwEE74DPPazsFP_0i0Hhe4NJR54ch-jMcVk87h",
  "id": "rs_031f1ba988f3c78a016ab47b304a3c87d09e3b7adea9449711",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"left_x\":0.285,\"left_y\":-0.085,\"left_z\":0.075},\"note\":\"The right gripper has a substantial opening around the toothbrush. I’m lifting it to verify the grasp while bringing the left arm above the yellow toothbrush.\"}",
  "call_id": "call_wE26hLrfz9WkIaN3qlRnjSyQ",
  "id": "fc_031f1ba988f3c78a016ab47b31e92887d0af24f5ae7dce4ba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wE26hLrfz9WkIaN3qlRnjSyQ",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.6064, 1.0561, 0.2863, 0.0555, -0.503, -0.3801, 0.9968, 0.9672, 1.3106, 0.9386, -0.4934, 0.7288, 0.627, 0.1778]\nstate[eef_state]: left_x=0.2788 left_y=-0.0853 left_z=0.0672 left_yaw=-0.003 left_pitch=-0.0441 left_roll=0.0285 left_gripper=0.9968 right_x=0.2829 right_y=0.2095 right_z=0.1804 right_yaw=0.0409 right_pitch=-0.033 right_roll=-0.0156 right_gripper=0.1778\nstate[joint_eff]: [-0.1573, -3.0291, 5.9419, 1.7558, -0.4811, -0.0904, 0.0024, -0.4308, -6.612, 9.1419, 1.2186, 0.4615, -0.0415, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c2b2ac64b2f70f66ea0fc015872b38edd47734b63d3a4c9d6f5298b3a0a31bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bd1e3ecdcba2d3edee1a2d6619a9c98ed055f952412494706ddf9737735378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce422e6bd724053ac2b206dd23113e3ae0c2f1b5b469c432449c205223a1932",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.534 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 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]: [-0.3298, 1.8263, 1.5299, -0.4316, -0.3115, -0.2321, 0.3767, 1.0103, 1.4773, 0.6075, -0.075, 0.754, 0.6689, 0.9998]\nstate[eef_state]: left_x=0.5074 left_y=-0.1127 left_z=0.1949 left_yaw=0.041 left_pitch=-0.1192 left_roll=0.0412 left_gripper=0.3767 right_x=0.2672 right_y=0.2051 right_z=0.0653 right_yaw=0.0421 right_pitch=-0.0622 right_roll=-0.0575 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 10.0034, 1.8095, 0.022, 0.3834, 0.0659, 0.3077, -5.8051, 8.0205, 1.3211, 0.6569, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 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]: [-0.0467, 0.8307, 0.6968, -0.4183, -0.0772, -0.0734, 0.9966, 0.9665, 1.7294, 0.4885, 0.3809, 0.7475, 0.6285, 0.1747]\nstate[eef_state]: left_x=0.303 left_y=0.0031 left_z=0.2047 left_yaw=0.0403 left_pitch=0.0174 left_roll=-0.0054 left_gripper=0.9966 right_x=0.2823 right_y=0.2038 right_z=0.0092 right_yaw=0.0271 right_pitch=-0.0184 right_roll=-0.0185 right_gripper=0.1747\nstate[joint_eff]: [0.0479, -0.8274, 6.8855, 1.8877, 0.1245, 0.1245, 0.1148, -0.6359, -7.9248, 3.1795, 1.3358, 0.2515, 0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 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]: [-0.6064, 1.0561, 0.2863, 0.0555, -0.503, -0.3801, 0.9968, 0.9672, 1.3106, 0.9386, -0.4934, 0.7288, 0.627, 0.1778]\nstate[eef_state]: left_x=0.2788 left_y=-0.0853 left_z=0.0672 left_yaw=-0.003 left_pitch=-0.0441 left_roll=0.0285 left_gripper=0.9968 right_x=0.2829 right_y=0.2095 right_z=0.1804 right_yaw=0.0409 right_pitch=-0.033 right_roll=-0.0156 right_gripper=0.1778\nstate[joint_eff]: [-0.1573, -3.0291, 5.9419, 1.7558, -0.4811, -0.0904, 0.0024, -0.4308, -6.612, 9.1419, 1.2186, 0.4615, -0.0415, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c2b2ac64b2f70f66ea0fc015872b38edd47734b63d3a4c9d6f5298b3a0a31bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bd1e3ecdcba2d3edee1a2d6619a9c98ed055f952412494706ddf9737735378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce422e6bd724053ac2b206dd23113e3ae0c2f1b5b469c432449c205223a1932",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHs6jH2UCjObZf8OVlIF__y2gHMitC-gKZ3ICy2GrJ6sXq3kZhX0jkzSdMkHuGj_2OMXXQtZgydSmwigtgWx2lypsmAYY-R22ydABjGoXlVAK8l6wDnM9-rCOmgaWA7TsGgSzpAiV7KEGo8iE3_uECqrhSnnVSkf8XBAhhSvgmAxq3AmegC7Oce1kHbuEooZRk4nk4Kb1a4coWd4Y2qK7a1LFAXrzrv6SUuLNmM9o0W2J0B7j9G6TG9679MyFxKlLkD3Zbr7vn6V0taWWZv2MlLr_HQ1Kw1_AdqKTzPjJ8ZrJ9jBHAE_JidAE1loV6vP2S97jb8fclu8R6sqwC3Z96lPJ0LvNVJOZOUZ5mWY2HJuRc-aayuuv1aZ7s-f5TfMRAFvwakaSi7EKkmkLp5El2fRp-KnQhiuV3nUTWuwiv8OKUqFY5vT-rPXMqc6ZIq8aWxRXy876xPK3zmJ5rI-EdWP0AekwAosuSVPQy3DV6_KDGWONQzefeWRwvUruKMUipmqOj-TtPY7pDjZS5QDKolBwp6G0z4-6qiM5UIZXcP63oH76wEtDzJP_XHsgqD9NdDd-F5l7-3IFychddA_3inG9d6ADgWiC3EIf0_TCcYLko3cDMV2e9cydP2iWJWq-Aqf8ZTX1wluNxxED37Xmt6EnDIYhWeZ2waN8ceStKYJCcBnTRoZiTmjfYc3G2Eqtv0Nv0uJMkAoYz0-Tki-rMMcskB0ydxjoiYPSmrWbWdnGvh7ekdVpBtYKEq2hSvuW4na0i5YLpxQlgMu4qLO8ThJefpHwkkR-x2XJXmHyx_uHqB-xd9GhFRvAEnws55E9z492HfFe3fVh61m-uVETZFlZuocSsRju_lK9QOdhyFllcxSK4m_ADeZxWCXAzKkUsGW2KAkXWiBm9duNolJZNbQpwHUayeZjPl8uO-gYEBW6J12h3cJDEe8qbk33WBPAop9cMqeJqx8aNBxUlaI_h6lRm2Bw3e9_qtfeKQiHqaYB9SpdSYc_oY7n7vYuqH1r_0NY-aruOBJtiEEqu8pzxQc_Q4AgbraS1KiFaXPsMzSrF37DDy8xllm5uT2upfva54zfevLAhum2NPBhr7GBIC70o0fn88hW_0JhhEKiOjSWKpGpmrQ3dEEP4yiigoih9exxLxt28k3gynu0ou9Jsj-sEKiJBsyfEH5Tm3olSHDyLaUc4fJ2sX5VeafkwEcgcBkmhZoUs_zBy8SzXtqVk5PTdiftG16hWobqmmwVSdtAoO7I1D1MD517M7owAGWZtbvICWRNguMZxdrAzraTMJQ_kc5FZROGDUrC8wGQlUUapXPyENQOwiDc9gNrh7XC6HDq5FCRVCM0kxQtLlHb8mb7II9dfzDfnsVddRptAIrd8DcDUauBLo-YT3yqZ788x2uhkAa_61cCSt9eLs3cs3WmJ_XZpAAu2_DpSjlFOxeK4WtTpKWZn-PLwuOwz71ZoLV3oOxPfK3A6fcDkMLQkhnKLMi_Y_ufAhcHYM0lCVHa60DOKt14lxcCBmPlBFDVBaP2GGtqR8soDrcvLtG56s8yHJg3395JULhNHpGf4bkXQz_yE6wkWCEiAmvxYbI07a0sMo3GxBlCGS6c4_yN9dwCOdQXfPMzYE69KLobN9Ba0pBJ2SNb-vecraZCSVuKhvbW-xMQdkrFGzjJlEP2A2aCLL_SDr0dNfdl-PZAFZgrnri7m87I666doTtoxJUWx5mjtk5Ls1eqs8pJEy0T5gSLHUs9d27-cia6v5yaM4S-xtMwWwmHPWNX13xZrHA4HUznPg1ZCauKWU_0WMUTm6SCMieYfgQB9Lu4mmyl7cTq45gf2N-X8izuJgIjEo8zxMLnu1_ZnG4o26sc3sfzPNb2ocGDGRUtZRTNyufnYfpk1dCpRoN7czoX9EGno-ZVeJGDxLNfKay7X4-qrS3PY5J1K-lFU7vOxEqlOzOw_wSb0-emms938Jga0sMEsjWs8G-SBXSXV9o_mSffZHjFiYLTVzb4tVm46GvCW-6DQtaV_2pvxLlrV_W1eq0GKIag88hW77Er3Eb-JqCj260DE5MPg==",
  "id": "rs_031f1ba988f3c78a016ab47b35794087d08e0624371818b8e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.2,\"right_z\":0.21,\"left_y\":-0.075,\"left_z\":-0.008},\"note\":\"The light-blue toothbrush lifted with the right gripper. I’m moving it over the right basket while lowering the left fingers around the yellow handle.\"}",
  "call_id": "call_tiF5lzqjpFJARp8quS7LXE2f",
  "id": "fc_031f1ba988f3c78a016ab47b38ff6c87d0aefe4b29ab50ca8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tiF5lzqjpFJARp8quS7LXE2f",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.5594, 1.5379, 0.1081, 0.749, -0.4725, -0.3519, 0.9968, 0.4969, 1.8908, 1.5764, -0.384, 0.3794, 0.2443, 0.1803]\nstate[eef_state]: left_x=0.2836 left_y=-0.0785 left_z=-0.0012 left_yaw=0.0041 left_pitch=-0.0274 left_roll=0.0169 left_gripper=0.9968 right_x=0.4989 right_y=0.2002 right_z=0.1935 right_yaw=0.0443 right_pitch=-0.0693 right_roll=-0.0314 right_gripper=0.1803\nstate[joint_eff]: [0.5675, -2.8239, 2.3043, 1.072, -0.0757, 0.0415, -0.0122, -0.7316, -10.2769, 9.6479, 1.6386, 0.0562, -0.0122, 0.5153]\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:a71b3ed52ddafbeaffc2148dd29669e84b0e95302390bab41429c762c38daa04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db67bc614b1cbde03d2f0c0dbac1fee5c221a5018fe505cfbdc0902cdd930e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57df961e8ac381d10533b4795b1c8ae973c17b1a800f759fe59cbe355fd7db0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 10.51 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 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]: [-0.3264, 1.8427, 1.5349, -0.4408, -0.3103, -0.2428, 0.9955, 1.0069, 1.7618, 0.5545, 0.3214, 0.7788, 0.675, 0.9997]\nstate[eef_state]: left_x=0.5084 left_y=-0.1113 left_z=0.1872 left_yaw=0.0503 left_pitch=-0.1383 left_roll=0.0398 left_gripper=0.9955 right_x=0.2821 right_y=0.2206 right_z=0.012 right_yaw=0.0217 right_pitch=-0.0129 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -11.4256, 6.4752, 1.6923, -0.1929, 0.0952, -0.2027, 0.0068, -4.1504, 3.5077, 0.3199, -0.1392, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 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]: [-0.6064, 1.0561, 0.2863, 0.0555, -0.503, -0.3801, 0.9968, 0.9672, 1.3106, 0.9386, -0.4934, 0.7288, 0.627, 0.1778]\nstate[eef_state]: left_x=0.2788 left_y=-0.0853 left_z=0.0672 left_yaw=-0.003 left_pitch=-0.0441 left_roll=0.0285 left_gripper=0.9968 right_x=0.2829 right_y=0.2095 right_z=0.1804 right_yaw=0.0409 right_pitch=-0.033 right_roll=-0.0156 right_gripper=0.1778\nstate[joint_eff]: [-0.1573, -3.0291, 5.9419, 1.7558, -0.4811, -0.0904, 0.0024, -0.4308, -6.612, 9.1419, 1.2186, 0.4615, -0.0415, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 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]: [-0.5594, 1.5379, 0.1081, 0.749, -0.4725, -0.3519, 0.9968, 0.4969, 1.8908, 1.5764, -0.384, 0.3794, 0.2443, 0.1803]\nstate[eef_state]: left_x=0.2836 left_y=-0.0785 left_z=-0.0012 left_yaw=0.0041 left_pitch=-0.0274 left_roll=0.0169 left_gripper=0.9968 right_x=0.4989 right_y=0.2002 right_z=0.1935 right_yaw=0.0443 right_pitch=-0.0693 right_roll=-0.0314 right_gripper=0.1803\nstate[joint_eff]: [0.5675, -2.8239, 2.3043, 1.072, -0.0757, 0.0415, -0.0122, -0.7316, -10.2769, 9.6479, 1.6386, 0.0562, -0.0122, 0.5153]\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,$blob:a71b3ed52ddafbeaffc2148dd29669e84b0e95302390bab41429c762c38daa04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db67bc614b1cbde03d2f0c0dbac1fee5c221a5018fe505cfbdc0902cdd930e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57df961e8ac381d10533b4795b1c8ae973c17b1a800f759fe59cbe355fd7db0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHs_d0PhPr4vWNXo1QAXTrcQFp9LphjgRYAlGymKPCd-VgwxJhHuUpKj6pvgNHFsU_w8SF0wlZ3JpdMcqBGY_H47los5PNi_iOc9G6G79oNN9RKcTIowO9YAJA6IgIhuUAlfeW8kpaJq0cCM0VrgaCf4toCCl6ffYCiZt_Umc4TQb3H96-wD2i3u0MWbAxWHT6yYrPyD3ZXFXoGP6oRn75OIpkd0u-3-jCmFSZNISK4_hWKEx6QmNhyutwECUEB7IoJnCer2WfRe0gAzxBC_KLirum5rwIop3sgIOaaH_4TxJKlhGnXD3pbKI8rnh7QQWrQy3A67nZVhCvfLYzvTEnlM1rmLAKp7U8GE7Rq31Tp1qyvjmLzQAVp1COshEKRXAs35e9cDf2M7OISJSw4Sw4VK4I6xY19Jl5NQk1Bltf-naS8b5R4zEsan6OwEBxs0wc8mb_kOPbsdcL2mbvqE4VObVmYWelYbT18MSSg8gWHPtan0FCd9ZTyJIARiHE9RuYi-iO4s0ijRflO6WC6k_EwNlTcGVMm6pkRdX1Ud64qEWgrc0Ox9j5HiXfQ3BiAiqYPOpjHI9002AMS6TmJ5OXvVqd5EVlKZX-6OzZyWt1I6-uqGIirrfyyeYFtLl0rd1397LpiUp5oBrfI3VKx0sz8j80Ms75rCNdwlgzAtgNAx-4aa4YjleJu5rHovM3xCGVSsWpxSUrC29EBBWlfeTM29DeD-MoSPP3ZUNQbC9i-dhAqmdJfYxMX4EaHrGWWaxdWss-6AbB17C6ajVhgR9SDpZrXGCirAJqgHzfjZKW-yJTvQUPqrRxc7olVVrgSUaAaKjxRWW42ek1J8-5daqLgGF6JfVZbt6b7xsUWp4pOJVfsSZzz4HkqmIXcMelwXXmY0S7lrz86anK-6v9y57Fc9T5rDngZoBT0F_ZwDixGg_m6dHya7vH7A1MZXQMfSNwkwZ42Y96NcTTMzKMoKdBIolL4t6_CHazRqGZR8CdvZBbTvJtzEbnOppou8KKZ5EMJuha35HLpuRzoz6wK7Fke4XZ16iT4Q9SLQWXFaet0brwQvUTNjLlWJ6p3dvK9mVjb4B34u1XSovivTCjj18UBqcj-bc5L_yFuLBVNpqEsO9w7u7VFMTI8CPArZqKbk4MDxKn03ZDQFLGMh0BWyul9WyPvs9lydS_2RL14BO7QKZTGpMDdn6Ut8mBijpIW9FE3Um-imByoiU035JxMAXI2FXIGDGJfliMJJalIJNsPvSJb-PgR8g8ooDtDV49R-ufZDeGwjX8rxCpKIoBZ1bmtynBOlTegZfP09duwKyqrmRd3xwdMvqAMcyLhBzeJfPvzjfgcModKGdzWSqPr-e_K4n74sGWUd-HVcRuAQXsN_aUNHCiRIC0Z7TxHryKy8l4xqg6A4UZAaBcOPpUm1Xqt4ZkJeIOOW3NJZ-5nvwmKAfEMVh3b0eToc7-zg8mrTMEnLm1nEsW9G1Dn7twjvjLKbm_rFJ6I8uniSY4ioUDaOuQLApI0zr9o4wNKhDa-b7DB6mJU1PigkvKTCwl3LlRgSOw==",
  "id": "rs_031f1ba988f3c78a016ab47b3cfecc87d0a58f271d81996a76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.065,\"left_gripper\":0,\"right_z\":0.14},\"note\":\"The yellow handle is slightly left of center, so I’m nudging left and closing. The right arm is lowering the light-blue toothbrush into its basket.\"}",
  "call_id": "call_SbkSoNGRsy97z91DZEWjFuPm",
  "id": "fc_031f1ba988f3c78a016ab47b3e755c87d0a2a34af71057caf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SbkSoNGRsy97z91DZEWjFuPm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4881, 1.5314, 0.0921, 0.7811, -0.4313, -0.3126, 0.1577, 0.4915, 1.9167, 1.4158, -0.2173, 0.3649, 0.2398, 0.183]\nstate[eef_state]: left_x=0.2869 left_y=-0.0647 left_z=-0.0001 left_yaw=0.0212 left_pitch=-0.0217 left_roll=0.016 left_gripper=0.1577 right_x=0.4956 right_y=0.1979 right_z=0.1408 right_yaw=0.0525 right_pitch=-0.0914 right_roll=-0.035 right_gripper=0.183\nstate[joint_eff]: [0.1846, -4.6974, 2.5504, 1.6044, -0.0708, 0.0952, 1.2283, 0.3077, -9.7983, 6.5162, 1.8144, 0.2222, 0.0269, 0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eabac2366b0a2414d5bf4728fc399394acea9d7fcbc128c3272623b4815479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e1d2dee6189751bd5710f6716fe2f44e53c998b71eb674a92c3039f50cefa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9e112ed00e7958d85f194372b1331a6dff1e010b964c2f21edca78f82704de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 8.799 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 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]: [-0.0467, 0.8307, 0.6968, -0.4183, -0.0772, -0.0734, 0.9966, 0.9665, 1.7294, 0.4885, 0.3809, 0.7475, 0.6285, 0.1747]\nstate[eef_state]: left_x=0.303 left_y=0.0031 left_z=0.2047 left_yaw=0.0403 left_pitch=0.0174 left_roll=-0.0054 left_gripper=0.9966 right_x=0.2823 right_y=0.2038 right_z=0.0092 right_yaw=0.0271 right_pitch=-0.0184 right_roll=-0.0185 right_gripper=0.1747\nstate[joint_eff]: [0.0479, -0.8274, 6.8855, 1.8877, 0.1245, 0.1245, 0.1148, -0.6359, -7.9248, 3.1795, 1.3358, 0.2515, 0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 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]: [-0.5594, 1.5379, 0.1081, 0.749, -0.4725, -0.3519, 0.9968, 0.4969, 1.8908, 1.5764, -0.384, 0.3794, 0.2443, 0.1803]\nstate[eef_state]: left_x=0.2836 left_y=-0.0785 left_z=-0.0012 left_yaw=0.0041 left_pitch=-0.0274 left_roll=0.0169 left_gripper=0.9968 right_x=0.4989 right_y=0.2002 right_z=0.1935 right_yaw=0.0443 right_pitch=-0.0693 right_roll=-0.0314 right_gripper=0.1803\nstate[joint_eff]: [0.5675, -2.8239, 2.3043, 1.072, -0.0757, 0.0415, -0.0122, -0.7316, -10.2769, 9.6479, 1.6386, 0.0562, -0.0122, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 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]: [-0.4881, 1.5314, 0.0921, 0.7811, -0.4313, -0.3126, 0.1577, 0.4915, 1.9167, 1.4158, -0.2173, 0.3649, 0.2398, 0.183]\nstate[eef_state]: left_x=0.2869 left_y=-0.0647 left_z=-0.0001 left_yaw=0.0212 left_pitch=-0.0217 left_roll=0.016 left_gripper=0.1577 right_x=0.4956 right_y=0.1979 right_z=0.1408 right_yaw=0.0525 right_pitch=-0.0914 right_roll=-0.035 right_gripper=0.183\nstate[joint_eff]: [0.1846, -4.6974, 2.5504, 1.6044, -0.0708, 0.0952, 1.2283, 0.3077, -9.7983, 6.5162, 1.8144, 0.2222, 0.0269, 0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eabac2366b0a2414d5bf4728fc399394acea9d7fcbc128c3272623b4815479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e1d2dee6189751bd5710f6716fe2f44e53c998b71eb674a92c3039f50cefa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9e112ed00e7958d85f194372b1331a6dff1e010b964c2f21edca78f82704de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHtK8CkMgyYYZnjvtSlDAPrDZKq9lZ37gXCayBDdOFd-DfMEeYaoImp4FQcxEXDq9h5uujaCzxPepYzxHy3U3UK3hKLLEuzsPxDM__RVwAaHD2NsldVtf2T86XujhYAh5Y6aM7kxaDuxhCcSogsaqfNjF1WK3fvxv0RfwbNpMQwlfRYcm3FzFGfnh6Xbn7xdOw8UlrJJ4ESl7LoR4IXQ_ld-Tl0gdXHhkzIGH_UHLme01tRIXL2rPFO3PrkwaGa8rLIMSMawzFkfc-Fahd8LKVOrqeBoBfIEHKHdR-mgB3ibkN0qjzwkI1Yv2psItHaBVqtttNi478r0SwJhXplLgHyly7BobFyoi5J0cEG_28LWsVBwO3f2HgzH0yCsZDMeyjQxJ0xmk0RpPaRsOYzyHLDN2XuqCvFiEYfUOi52oSgI5imniSnTa4CQ6zihbYdZtTQek-CZaogOJHhnJdt4or8T7c5v_J3fqFl2dqwKpKWb9KhQt5P4cq3JudDkCdlxxRDTjN-RPzNatPrgPaKLQGgaUU7kJu0xminI7xKbGOR7WLIrcyXiyjTM_7c2N-78GnsAbypJAgkAATKM7BGHnG1tGiBf-6TbeMIHbdNaxuLsQ1XuoXXytNjSkAyRtr51taHfYV9tm7t03m3b5qOQDuZSEo4UojIzZvGXtGYs9bciGqcBTcZvFeCLJOpIAE-F1-QcZeudSTSt1zWnFRGwEG-pYqczAobQF2OIznrpXmtQGDsGfXWc-L3SABByTpUZV-u1opZv-aMuipnJBRtNju_FSQ8Rhv2vyrGWq8aMEa14-YgUiaJ48DZ8JJIImFUEGq61YrIzab-PwQD_Wp3B_1vhnQoBHFXrUkKq8vTrX0aVngTThlr3shAzq399PS5ilG74PSZZ_7orTvXdmvB06LNBmXhzyOikovEhBe75Vv-QYSRPVm2ebUKQH3baImqiWsU4OkfB2eNDAd1yVWCV683by7AAEsXnKxzCfCUAWB_aHBs5glthhBQKx-f-lgWePelpT-Um2Q72jVvLdlnXemqBeef4weuM5aYyHydvfq0xcNOMtYhc-2Yy7Zj4BAMac9ZgXQaXB-HAz-CnbUHLpPL3Y2ZiS4CoS14BKalJsSXpBQ_Tx6d66I6YnxCebCvT8mI3jvA2Bx9a_jY6rC3-ouzwQQHVOtpwyoeAO0spnNeRw4U8kNe1-BpNj7YkAXXNXG68KUIOymMFf1G4ZIzWDv9_7xL3ccg0j7w8ig1t2gOj1gbsmk3u6x_BeAb_6gKGOxS6Lfc_QEkGzUsp1noHW1QlsB4Pgv-f7QD37gKXRUtpkIGGhczOFWDAA_GCXME4yOx5_t04PoMMxHIsc3qEZlrIeGWHBgxCaqCTzHrKU30xZF7o5o7I2U8REImQgqKKOAmhRH5M3ASrQIzqlRYHZ0D6LFfrA97OZpRPolvqWsSZbUq_oX6mqLY2vhwVmf3l3h0h6qrVkMsfk-Z7AJSLZdzF8jgrrdrKlj_Q9axZMxV3pKKD9MN4JPNkND9BjX3Wys-3CW5DJDrnhegXMzLPSPAKU9BNlDujmYfavHu0a9tpf-emeIIUBAhM7YJ8JEqC_h4eBKsB9qLY0v2BQiDZKH4nnkstJOsks0pg2AO-uNIlEIdWweyP-quBerEASLzGbUbwgDz-O95cT5UqZ_7CUNFMnMhiHsG9LISTVl1DeTNA71oKTS35L8zd7GolKgV30K3wb2S-BkqYlI3fL-wjXnmdRPb-j1j9bdpwgVeC2twBLhE6klq1yMlSoms9Vm7nalMGp-efki2E4VAEUvx9xqMIs1r5zH96NrMOn_dZU_D2gZHqKI4BpsTfNVChxfUkoUWCQE_ucCG1G8cFIddq12IMO8076njAqGH9_lIl68g1sFjRS1-lV6S6E1h50oB4PZr1fGXILRZM1I0VTDPMjZo7m70BtMU-ensWT9zYxXyo6Nr4arD9EsyKi_rDGfocANNA80GyxMrwfDYzgbpScuFnwHMEb3KAaPQNitjU5tb9vqZO93l62iTw4NuGHSWgLkIfDdUaVFBzPkn8-4om0ZlWplxiBv7DV_RXCja2tNldOq6N_vo4XEoE4t_iSXxNPQpqNe8dO_J8uisDVSW7qs44ONpwxWWALbhScpxSdMJNaESh87YjOuMyaUgGr0_L0kfLFWAP2UDLmhSaqds1z9UYvXk-pDiV85uffu1j3aNmKvdIlTiRynARKnD5AfCygx2371yqxnOi9DmcAA78DunUj0ymk6KWTJjkT_IeWe5Wugq8Kp0jhrVmQabLr-wMYV1IJBK9lJMd0Hd47bzqlOcDMMVzhNzfBMWdl6NRHfXu-dM59NluhN6Ri5g6xnx4ZVkONs3Mr3-_VK18ZqMd-othDCXFN0OwKYF33mUddsaHMt-h9f0PZo43UsUvmFVO0fsxLV5-1o1vIoP2cSJxWiAKJobCR7204Sn6G8b1jl-3cA5x0rXizOCgWLLYH6bbA1opd0tATr9HTxKXcmmGStITsPeo7JWkNnnhjNmrPq3k_d5YNg4wEE6DYMtMI6tgE5BMMivLaly4Ti9koDaeiXhWJBPcShCKH6NNrQvjZx718N5DI-BwOtmj9vLvJF1RMSnvomvw8gd4DQLabC1mXY3PgJUIrIcAM6VHs1elwjPSXXQyCENrS6UTgO2HBmWeJfsGexdd6hxzobq9-kvscmBe5Afx5rPbUq30BokQQf2ZFhdqtC7Xf0o1JorsRR72NSbhtedOIKawCAD7bAZLYQzJKAI76pZjQaFcc7B-ZjMvdcf06uhfVVdDjjFZzIuAu10Um2TqWN96ZidI-dSbX70bdHNvP9g7ObZW-TyhGfS-EMNhK_hNNNq4xYpdiClTxptxxn3ruyQz-a06TJtvrHjQyRvk2U_dWQOf5aRDvf2proENHCsQNqFcpBbrWgGAJckUNYE76uDPKe8Fdt4D0xXD8djSMLZZpWTJQTE86nfRj3MXLQEcGxnjZB-ghER78aF31j2d_zJT0hkKykpXcbe6SFvKarbmnFSVEqGTc3XnYYGcxGiHCTnIqq_w29Hr8J-dHJqn_JnoLw5BJK-UzohvdrhBjWQhhhM_DIl-Jx9JhHFVkUTh8pjHDi3cMxEV_1aBlHqQjmgmvWWYn-qLByr_-HAPOLabkEE0uvOsUYjH5I7EzWyuLJmr7lJTr2C916H7qFWJ3i0cFeIOEYtYDPo2MsndOCI2AY7W3dz_nkNnEhrX-hw3SKxaok37gmwPwUjpA_tDXOsvvHIJwjsloDNBAdUOSVxk7APgcnGsCebeVQWEs8H4rFYGa9ZDFRANbzlRvFCQnV6UBvi2noqGaFGkwtYC-cxFIMpBDJZaSOW1DrYUXmWQ9GH33074NbCBz2R_Co61xFnV3ehcsrpiS60C9ZjfA7GJyVV2JHjdchWxD746DhIbF48PwoyFtWFllFlqREtiozK6GJkRrMNB9BfmyWq_V95y9KWYlI7Wgtf-3j9LqjipkmmyLHrcBR7_DfMcL95YPleURMlLJ6iU_kSwEvjb7ZzJipu-zp-PqiSSUyLn-MT1esGYbBLoFAlS-qxapkwswk0rJ9bST1AyseQ4DS0G1SEyC15az_wiWp_RzrkcOFR-F3CAnNwOdTrMWqj9DSxD5UzkuDFe11qf-d7lgMe1DJLtC5FO136jHEfcNBg1NdiOHnaIwYbWsHLyfq8VPexboCoMVs96bzStdNmdSpWlLYB1O6_qJhiN_35gJTjBmb93TX03gqpCc8u9K8j3",
  "id": "rs_031f1ba988f3c78a016ab47b416fa087d0a7cacd46ac48b51f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"right_gripper\":1},\"note\":\"The yellow toothbrush is held at a nonzero jaw opening. I’m lifting it for verification and releasing the light-blue toothbrush inside the right basket.\"}",
  "call_id": "call_EPv1bzHaFTQRr7QOunGShGBi",
  "id": "fc_031f1ba988f3c78a016ab47b4a03cc87d09de0a404915b5ecf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EPv1bzHaFTQRr7QOunGShGBi",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.4881, 0.8776, 0.691, -0.4553, -0.4259, -0.3145, 0.1599, 0.4911, 1.9247, 1.4105, -0.2161, 0.3565, 0.239, 0.9968]\nstate[eef_state]: left_x=0.2905 left_y=-0.0676 left_z=0.1905 left_yaw=0.0178 left_pitch=-0.009 left_roll=0.0036 left_gripper=0.1599 right_x=0.4947 right_y=0.1987 right_z=0.1343 right_yaw=0.0588 right_pitch=-0.1048 right_roll=-0.0358 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.7846, 8.9641, 1.5507, -0.2418, 0.0073, 1.033, -0.335, -11.2068, 7.159, 1.5702, 0.1343, -0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70efe2ba1a8114c3e277503aa4ba5e78436020691a4d334dd2ad501901546bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c59985d78ea8957fbe689d6eaf2a1e85aa5c4f4e4369271e707b459b32056b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a66d6a9b20b943b895ceb89629641ee912d17c06df1eaaf9f90ff38122409e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 8.858 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 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]: [-0.6064, 1.0561, 0.2863, 0.0555, -0.503, -0.3801, 0.9968, 0.9672, 1.3106, 0.9386, -0.4934, 0.7288, 0.627, 0.1778]\nstate[eef_state]: left_x=0.2788 left_y=-0.0853 left_z=0.0672 left_yaw=-0.003 left_pitch=-0.0441 left_roll=0.0285 left_gripper=0.9968 right_x=0.2829 right_y=0.2095 right_z=0.1804 right_yaw=0.0409 right_pitch=-0.033 right_roll=-0.0156 right_gripper=0.1778\nstate[joint_eff]: [-0.1573, -3.0291, 5.9419, 1.7558, -0.4811, -0.0904, 0.0024, -0.4308, -6.612, 9.1419, 1.2186, 0.4615, -0.0415, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 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]: [-0.4881, 1.5314, 0.0921, 0.7811, -0.4313, -0.3126, 0.1577, 0.4915, 1.9167, 1.4158, -0.2173, 0.3649, 0.2398, 0.183]\nstate[eef_state]: left_x=0.2869 left_y=-0.0647 left_z=-0.0001 left_yaw=0.0212 left_pitch=-0.0217 left_roll=0.016 left_gripper=0.1577 right_x=0.4956 right_y=0.1979 right_z=0.1408 right_yaw=0.0525 right_pitch=-0.0914 right_roll=-0.035 right_gripper=0.183\nstate[joint_eff]: [0.1846, -4.6974, 2.5504, 1.6044, -0.0708, 0.0952, 1.2283, 0.3077, -9.7983, 6.5162, 1.8144, 0.2222, 0.0269, 0.2662]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 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]: [-0.4881, 0.8776, 0.691, -0.4553, -0.4259, -0.3145, 0.1599, 0.4911, 1.9247, 1.4105, -0.2161, 0.3565, 0.239, 0.9968]\nstate[eef_state]: left_x=0.2905 left_y=-0.0676 left_z=0.1905 left_yaw=0.0178 left_pitch=-0.009 left_roll=0.0036 left_gripper=0.1599 right_x=0.4947 right_y=0.1987 right_z=0.1343 right_yaw=0.0588 right_pitch=-0.1048 right_roll=-0.0358 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.7846, 8.9641, 1.5507, -0.2418, 0.0073, 1.033, -0.335, -11.2068, 7.159, 1.5702, 0.1343, -0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70efe2ba1a8114c3e277503aa4ba5e78436020691a4d334dd2ad501901546bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c59985d78ea8957fbe689d6eaf2a1e85aa5c4f4e4369271e707b459b32056b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a66d6a9b20b943b895ceb89629641ee912d17c06df1eaaf9f90ff38122409e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHtULy8znKfy-aPAKAGt6y-kvoTRlNPwBOeoxCTBebhDJR4mkpYhdU7-U-ca535JT4cRnyJlmu0J_fgIVya5ma--nK11Bc9o1WM9n3x7-iAa0r13PLh8PRWIc0O4sAHEIwm1U1DDhJqe0CEybtLsjLelNEZA-dhlzD_2vD35j5-2ruAYub0WwMgTLFyxcqZfQcmjMSnib93D5EZtK2i7wZWiV5Ty6KiwDcVF69DHCEGKfLriTsJvE6xyblS5zY_Dkc2cuWS1nJxNyp_Jt6wNUO6SebtxhJvThHRaYKxi16dSeLpiI6Rc_Ne9JbzamYjxjhXDMPn0IemOM8jF8rmRURgcvQGxe9JgcwJRr8HQPIbnNdcyu8BmnMODjtFLJIHvQfZvJiYHHVPoFdfZc9O10IxXdMsXrHxo9yt_q2s2eeQvvUWQblCDc8zkxWJAulc7D2fwLzwoMwZvXnFgZowR0EBX9TCDrBaLfTF46RVxv71pTOc3A2Sti7fJZvdz-GCI8YYqPtdwfvxd3_OlP-jtbA9P99x2BTGZn4aW3rHshD_rHdsL7oKiVvf4P1UDPJO0rjmArmSicQ7eQF9bnHXlchbG6kQ78pxdugnxO4sNBCWJ_swY-l0uMEmfC6xvvUpiV1-m2HPfbhYyl5cgG5XLnn0qHqURl36ilm_o3uE6NsgcN3XfonBaEIg_ojSij634pbmK7co617Lw7uTi-L_CicFGY00L26s5pL53ubJwMhHa9rHP83tUnyytkH8ZK8DGGJzHsydH7j6pHFzcdmuaGg_er8ZhgYd8x0wcPthWyrwcvIyK_GEG6MrT5NXUxa6BR2ZJ_5ygzzDmeBlCAub2d6zBx3190cT52j01ASVe1Os08XVcj-vAxyINW8HTo7EFM_0iedWdwdxMlIRtz4oPIwb0nTDvl4kRRvzxQZ7O1DaUzW5qu424FKDYz5g6HMfONT15-7NoLQo11M36QKLfEO8f7UecXq7O1Y50fb1JaM2KRBhsQPt4kIH45wJKLwvWaztVL0HzS8iZbENWqMlHUMn577bvbRlbudmCHpvZsmuk3ORNl4H-5HUwFTxJMe3-ehMtkK6W3sQfcUh_O-O_B633YY8StwsETNhq5ohbultQwffEDHNo54PGVewIbVXfek0UrtuOZx5UiOOxQTHK10cu_wFWo2A-0lkL34K1mDsajIrPV-LXs4M29NFMJsGvO1W1m2Pe98NhdNUJjboQ4bNNSqKR9KnExnMtvcDreHYw4GItwkWRm_qHmj6qXN7sVeU4Aez4441w2ke_MGM_ARzoO9pPEAVsugo9zk9uUfRLcJuQEpIvtFMjZ2E8cWn-ZzwuYVny1mIJ94PguRLRCVAlpdQzzNcJFMURC_9Uad1uFGO5QhFA5uIHsVgiNNAG8pTV08J8aUDuIn16kc6K2LooZ11gnS1Q_b8dQ2cxKvvrysKieajqkXP6MDshhp9-qKxMhHa_h6gTimUXXwYw5nNRSLmSZ4Wz5W1sfqmFYSQUGqTCYoaVDdDz12AfxKv_GV-hUZgnWC0HHJuzVkwDyovrTrb0Ds_kXgpPfM9FWTelDuHlnAViOOu6y8LkExlJKoMr6Q5B39nMJS-k6oCQ5aexz1-Xn6_e5DLVxVn0V1iQtqbd_sbHBtrKdZN2_NuoC13pFYK7FNUJ8FNvRz8MRPya1H0kYyHgMZ7lJ79xE6wET9QGkYUx8h9WjiJaXaziM9nkUleyGCf9xlxsWQbuGYoeATNz02qzp9t8qJbgsPs1WSCr9mTqnwDGX1bRk3hsnlqemKR1vH0gn-7-idqZerlQ_WYU7RkPauFnEDW7q8EEkVJjp4x1talyTqEr20R28UsMATovKn2px4m4VFIp17NOvURBbodZRPtNU1vUmu4LUyHXuL7kX85gsU4C3g6c4Kmo7zw9f2EeZzY6d5wI3Rmg7aXluOtNaAM3ZUKTgZwGSOPbPKN81-Fdr5oGgRPCI_XBxOgXGjVliitIaQqGfsw-9qMn214R18GEMlYUzgg1LjNCd-GCM2nVYuYjWzOc_PpRK5bZoKhcJPMW5Gh3wOsVKgypJywYxtfcE8ODANZzvd4iCRsLYbpbOR18KWDYz00BYiwVYtOpz_c7rAbFpfSrn7mnWZmyfZ1BY-FPXW2x5R1ivc1BObKQgBEFy67Q1Yaf15FFQ4ok_KPjooFxGih261yvhd-xVwHP8iu4IPVDEfKaWFymBuovaRxKgx7JCJF4seEI76EtpKkWWzlYYQWwohw_p-7GdZEkbNZRuf_QLT23xZcNNLsDMWkTu53SRm9z0T5JUCxba54yDih8q-A-CB9GR-kbF6uXjuS30ncJGS3-DzHxwA5rw2alnhVj2sdfh5Fe3lucut_1j373HhVB6Gv5asPqqqYA47Wa6iSBpu-R9OuqHx2JDuqEKtekZJKzN0-yrzoaEfzlOYm5YE5QoMjnI5nqopMzKNc46OCy-XQxmcHMOiejUOxVbSCqjURCGkBCAfcqy6RJ8kdc9GqmJpnN0EdkO5kXxfqDEayYIzo3yWfKm_9V2k_dO0p8IQ1hHMNfpUNM6s92H7UL8bbdgAa8hFdCxrm49aANqbrTfFmN7U3o-h07emhdchzHvadsZRn0njG7hmE4lowlxPYcFJWIEWEScIRLoKXROZUPY-igwXgwGKvgSAotZ31cvPGT",
  "id": "rs_031f1ba988f3c78a016ab47b4d90ac87d0b980c498af766a62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.39,\"left_z\":0.23,\"left_yaw\":-0.7,\"left_pitch\":0.5,\"right_x\":0.255,\"right_y\":0.155,\"right_z\":0.07,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow toothbrush lifted successfully, and the light-blue one is in the right basket. I’m reaching toward the near-left side of that basket with the yellow brush while the right arm approaches the remaining toothbrush.\"}",
  "call_id": "call_rnSY90ApX3lkKfr08fZxdIMo",
  "id": "fc_031f1ba988f3c78a016ab47b53080087d0a9fae6004da75590",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rnSY90ApX3lkKfr08fZxdIMo",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.6971, 2.0071, 1.3006, 0.5369, -0.0715, -0.054, 0.1664, 0.934, 1.2465, 0.4248, 0.0727, 0.7582, 0.5701, 0.9977]\nstate[eef_state]: left_x=0.4703 left_y=-0.3727 left_z=0.1965 left_yaw=-0.6193 left_pitch=0.3986 left_roll=-0.0209 left_gripper=0.1664 right_x=0.2684 right_y=0.1647 right_z=0.0888 right_yaw=0.0173 right_pitch=0.0541 right_roll=0.0161 right_gripper=0.9977\nstate[joint_eff]: [-0.6769, -11.5487, 9.4291, 2.2051, 0.3053, 0.3004, 1.033, 0.4444, -3.1658, 4.4239, 1.0427, 0.0415, 0.3443, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192ca23504e5330832f2749dd331089a6e44ea6b359ed0282b6570b7d3621f53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a14b8348f21bfabe19ffc3bf695e47d1f620d804b8e1eede791774d3bd666a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cab5e1eb41290e0b72b4960ee29caca320cc69e8073a3a408801c64de88beab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 5.084 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 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]: [-0.5594, 1.5379, 0.1081, 0.749, -0.4725, -0.3519, 0.9968, 0.4969, 1.8908, 1.5764, -0.384, 0.3794, 0.2443, 0.1803]\nstate[eef_state]: left_x=0.2836 left_y=-0.0785 left_z=-0.0012 left_yaw=0.0041 left_pitch=-0.0274 left_roll=0.0169 left_gripper=0.9968 right_x=0.4989 right_y=0.2002 right_z=0.1935 right_yaw=0.0443 right_pitch=-0.0693 right_roll=-0.0314 right_gripper=0.1803\nstate[joint_eff]: [0.5675, -2.8239, 2.3043, 1.072, -0.0757, 0.0415, -0.0122, -0.7316, -10.2769, 9.6479, 1.6386, 0.0562, -0.0122, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 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]: [-0.4881, 0.8776, 0.691, -0.4553, -0.4259, -0.3145, 0.1599, 0.4911, 1.9247, 1.4105, -0.2161, 0.3565, 0.239, 0.9968]\nstate[eef_state]: left_x=0.2905 left_y=-0.0676 left_z=0.1905 left_yaw=0.0178 left_pitch=-0.009 left_roll=0.0036 left_gripper=0.1599 right_x=0.4947 right_y=0.1987 right_z=0.1343 right_yaw=0.0588 right_pitch=-0.1048 right_roll=-0.0358 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.7846, 8.9641, 1.5507, -0.2418, 0.0073, 1.033, -0.335, -11.2068, 7.159, 1.5702, 0.1343, -0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 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]: [-0.6971, 2.0071, 1.3006, 0.5369, -0.0715, -0.054, 0.1664, 0.934, 1.2465, 0.4248, 0.0727, 0.7582, 0.5701, 0.9977]\nstate[eef_state]: left_x=0.4703 left_y=-0.3727 left_z=0.1965 left_yaw=-0.6193 left_pitch=0.3986 left_roll=-0.0209 left_gripper=0.1664 right_x=0.2684 right_y=0.1647 right_z=0.0888 right_yaw=0.0173 right_pitch=0.0541 right_roll=0.0161 right_gripper=0.9977\nstate[joint_eff]: [-0.6769, -11.5487, 9.4291, 2.2051, 0.3053, 0.3004, 1.033, 0.4444, -3.1658, 4.4239, 1.0427, 0.0415, 0.3443, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192ca23504e5330832f2749dd331089a6e44ea6b359ed0282b6570b7d3621f53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a14b8348f21bfabe19ffc3bf695e47d1f620d804b8e1eede791774d3bd666a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cab5e1eb41290e0b72b4960ee29caca320cc69e8073a3a408801c64de88beab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHtg_EGeiic8K5Vg0KPjN8k4gCepeHNMzoDGsidQnS0PDtvhojn08ssEMALmhcxctugrTh3H_1RSNlCqQxnQGHp2b1vNCyUawFUMQYCBnDSpkDI5MaOO9byYVL_HUw_WC_XMRYeDgr0jFbkYXpUKymghRc9KlIc7DWUWlEeQmVfyaqx463Cz28jK7R7BE1whiG7o2AnWE1-RORNNe5GIxxdaeNvUJnY5pnRFPthWidhVkPGPtEfO16EMFr2uJvJzUEh8VVzXNrr_daSenlp0AK9wJgFuNCZZWE2hQ1Ygo27UVeeVW87XUqfATzu3Sgou4UY6dqEyvdO6_C4i1KmuwkB3oT-HUJq5EQryHQxWuSuTK6Y_ooIY-WtxQ9RO8cCOADCaNOghFSVgPS1OZAE8ex1yEk_F85Fn0zCfJfO7_5PqTPNyp9ti3Km-WtETkxDNIAuSaifTFkcZvIYGRukgE63AoXNwMkwih1VIhUYCsyR74BMssdJ9R0U6KnUJAD2d8-UHu7-GuUmnpHbNmaBrrR8zfYCRsoJCJqos4RJb-6s8UuW1dbDciB3a_yrAO_T6qH6PWjvVLBxbZqbiQx_dHHI2aazmqhhhoHiFULxqcicAO78h5KY2AN2OPt-W3K8Fq1DuXK5M1bQTsvmZTapADrFUdKIwL9NQP6-x-xKbKfIxQWmyPrH-qbQLUNhldLV7QGtQ_y2H0Q6sErdPDjAp7jUHK_duz4B42Te9fYiWTmoLjDftJRdmPsvxcbDgpdamAGgSfLMySwdJJmxA5ni_XL62TUzPjhLQeVPtghdBeEmWTeUwrnDdZhC14tmn7zBzNXtf3JZpUKVDal8hwHWZg9U9gKH85NymoJD42w_G_oZXFuC87874GeRxPOYhICahs-Cgiz2NRlAYByXVh30kzxP1fSbCgbYDqtzJxv04PlHJgdxffzoOkRJh3CFkfziAHIBcaaE0wJZvBAroUdBxb6uLrsz2Y5m4MHGgUFjrv1YQxdZDDdg6bvC_1zSjeVLyjtnmnqpKZqopB74HotVJoL1iak2dgD--6ZdEyy_WnyhL-Um12xpWIyq0urPWlDlZ6zMHCMP2ZdHvk0H6lZIQAztZfjb6MgG1AJGnb0rVRsmuq2wZ6VNAyFW6VMfBvTvyvch2qp0H3QqmxNjis3vJC-rxLjYjG2vAFaiBXuIIOhh-ok-pYXthKKGBWiBoxON4pLyN1TLkld-_b282HIkpvvTKU8KBIWhrLLvwOeJMZdpdxxBsNDmnsETjAr9OOX9mx1kUyxPELckCkzI2Bry6TK6XRwTImFhxq5RBOYFM37LEAaD4telLfZOjqQPX7QfiMvLhe1wVMHQYkcIqV6o2_SfdS2vyzjolcl-Qjp-n23hi73XHown2bm2VOmn_oC5u4SyzUknSL-Q1_DNVTjNAc5Q_SWqTwPuNq6Zn7ApWVurFiZ5JVQ5qrPZ23BcdzKzatIjiMry-4oEQUHv_rToPU9Im82LhkF16ILuQWsRr76AlMNsdUbS505TqQSubWVi6DOhJBxgBPkjfId0swu9gQazMYk_usJrEcUfTSF92n3nUouliGfuGfZjbWDRxL5cdBii8KopOjhdE6tVSRzkSH1NlOByafXEgjXfyD6CKT__3x8HJoiUllCrZequJcHM4u6_h5QyztuyP71vuuuuu1N-z1dWFWODFkE96aQsaWI0w4FwkFbHtS4TXP55439YLQLFYfxWhFg7WtGk8s9eGkB_JENpMyqwlUCkI1nSTH-39cCtmetS0yGcH5l69YihAtPHm-uQk8tPn1-yDK5kimTCX-WvQo_667FMf28YnkMzqUUvM3U6MgjwtPlIVzVUEeuyvMfErex5dbmI9lXYXn2JW9dnwMakVpWi8hWdVKtI1Mcsh0wtHwDuiPbSesKyZ1VagMhpLssizjRgrQSA1v1-XMiyoxlYEHwkDHlvip2ifc9BxeMlyYqhspEPu35d84NIvpcJKFiC_2nUbe8-fVljwjCwytGHC9hXSOSJI_zitXxeI843M0dJ98eCz4ogp8wFor4D2jw3O4ItvyLbqQ56rUfMGTeE-f9h9e73MeBLk3xvhxP9BRXY-hfpXaUxQBuY7lxR9Ia-rlEriXhhyAqTlIfdDFU6iz98WkJ_iXaDYavQLdYUv5WqSCvyyhdDkOCkSErk81gyc14aYKdKM_LZFm9wnA9U5EE_oFFave3UsRfPyNj5QM_2hSFEuJlZmLJjYRFR5a8o8z20dS0_LeNdEnDuJoJmEadTZbLw3GUdFJmor3fbjzsIh5iaRn6P1o-LEUkByiGBbozy8cXdDzoDBVbkO7-r2-7ignECbEydGUJBjNZeis0Ey-lwox15SyocSRn91sp-tUigmohVHvR0fjT3im0_-QZCDM65pO0hOkQ1Mxj7Y1VrKUmQjzSTu6LMZuxYf2kEYgSEiEHiSAu0khEwV-6-3FX-I1uf_XJgbkx4V_xGeuTQ0hTHAV0e39McpAVBPWwbs8pb0ZuLXXEwcSVJKGF6DvGzb3Do7x_Vho7au-0u_vC197n8x2gXg_g1JJNee83P7NMfqkZFk6AoTRLUH-cRT0LnHBclfxdbeFKWpDjlRE5Cy6ghGs19e6oo4zyUkDmhLja91XwmvneU7LwSFF2Pq7GFMnjbGx67GmO6vIeilK52COz6QWR_Kkp5LXmgGTY67H3I5xlz47WVkFb3pbkAT_Cx3VdiWBgT-MTHAWOKSCeXT0gaqMcBssDf9XXb-RTVBIxAbl0yRKFYEA343XHHIz_7e3t5eMCRcpJ81jm8kaoEKydyfh7Jm960JVX-HTJzb36pcEOFq76NmbGwoFy_REewEw7VJjFPhnJNZhzHJRUrxOSHJjbaLkjrd6NQ2s-DOKJ6C8MgKNwX7fbgcfSU8xY5-BH3XC-bPidOVBklOrXF7sVd1kbCTZ0cvyIEi2gf2m9_-Bw1N8Es2MyDZtGJbcMhwChI8Rfd35Ohwhj3TBzsB1V1pF2mWprlKViiWcIYqQYDmUvDIgEKvGIkCOw16yrsk1vUBf2jmpGo=",
  "id": "rs_031f1ba988f3c78a016ab47b58f1e887d09a97ef703301cc6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.4,\"left_z\":0.2,\"right_z\":0.23},\"note\":\"The right basket has shifted toward the front, and the right fingers are close to its rim. I’m lifting the right arm clear and adjusting the yellow toothbrush over the basket’s new position.\"}",
  "call_id": "call_I0tPzVLAGU8EY4jcgv3ueiLz",
  "id": "fc_031f1ba988f3c78a016ab47b5f754487d0add391be661b8b2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I0tPzVLAGU8EY4jcgv3ueiLz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7879, 2.0228, 1.2938, 0.5171, -0.1551, -0.0677, 0.1712, 0.9356, 1.0897, 0.8688, -0.5251, 0.7486, 0.5655, 0.9977]\nstate[eef_state]: left_x=0.4432 left_y=-0.4017 left_z=0.1798 left_yaw=-0.6283 left_pitch=0.3584 left_roll=-0.0131 left_gripper=0.1712 right_x=0.2699 right_y=0.1696 right_z=0.2157 right_yaw=0.028 right_pitch=0.0508 right_roll=0.0185 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -14.2564, 6.065, 1.9609, -0.0855, -0.0806, 1.0281, -0.4581, -4.0274, 9.0735, 1.3748, 0.3492, 0.0269, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81ffe77d5827c7618ef4ad525c4eea459f42c59dd79115fe601249134cef420",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd45aab872b2c06f675d13ede06f20792ed8ffdf18d4c7cf25128151bd092002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5379eddf2500ab03612063bae885ba35da1cd8892db4689460fb97774e61424",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.204 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 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]: [-0.4881, 1.5314, 0.0921, 0.7811, -0.4313, -0.3126, 0.1577, 0.4915, 1.9167, 1.4158, -0.2173, 0.3649, 0.2398, 0.183]\nstate[eef_state]: left_x=0.2869 left_y=-0.0647 left_z=-0.0001 left_yaw=0.0212 left_pitch=-0.0217 left_roll=0.016 left_gripper=0.1577 right_x=0.4956 right_y=0.1979 right_z=0.1408 right_yaw=0.0525 right_pitch=-0.0914 right_roll=-0.035 right_gripper=0.183\nstate[joint_eff]: [0.1846, -4.6974, 2.5504, 1.6044, -0.0708, 0.0952, 1.2283, 0.3077, -9.7983, 6.5162, 1.8144, 0.2222, 0.0269, 0.2662]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 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]: [-0.6971, 2.0071, 1.3006, 0.5369, -0.0715, -0.054, 0.1664, 0.934, 1.2465, 0.4248, 0.0727, 0.7582, 0.5701, 0.9977]\nstate[eef_state]: left_x=0.4703 left_y=-0.3727 left_z=0.1965 left_yaw=-0.6193 left_pitch=0.3986 left_roll=-0.0209 left_gripper=0.1664 right_x=0.2684 right_y=0.1647 right_z=0.0888 right_yaw=0.0173 right_pitch=0.0541 right_roll=0.0161 right_gripper=0.9977\nstate[joint_eff]: [-0.6769, -11.5487, 9.4291, 2.2051, 0.3053, 0.3004, 1.033, 0.4444, -3.1658, 4.4239, 1.0427, 0.0415, 0.3443, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.7879, 2.0228, 1.2938, 0.5171, -0.1551, -0.0677, 0.1712, 0.9356, 1.0897, 0.8688, -0.5251, 0.7486, 0.5655, 0.9977]\nstate[eef_state]: left_x=0.4432 left_y=-0.4017 left_z=0.1798 left_yaw=-0.6283 left_pitch=0.3584 left_roll=-0.0131 left_gripper=0.1712 right_x=0.2699 right_y=0.1696 right_z=0.2157 right_yaw=0.028 right_pitch=0.0508 right_roll=0.0185 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -14.2564, 6.065, 1.9609, -0.0855, -0.0806, 1.0281, -0.4581, -4.0274, 9.0735, 1.3748, 0.3492, 0.0269, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81ffe77d5827c7618ef4ad525c4eea459f42c59dd79115fe601249134cef420",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd45aab872b2c06f675d13ede06f20792ed8ffdf18d4c7cf25128151bd092002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5379eddf2500ab03612063bae885ba35da1cd8892db4689460fb97774e61424",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHtmqX0w6xKANS70qQod5uQ2bQgb-G_T92rdqViJQz_Q_vDRrGrZJ0zIM2tRW9-BxNRlXqZWdRx6dOBviScRe5knJHHSn3Z0dmCuZPWX1HBjE0Vj4jsoRj5bOhnwNedvVN2YrHlC3D-fCBAbcmUYlswXvW8UWIAlik3zJFmxOisSNxNVt9VmMlQS_SQUMzN1Tjpp6Y7tHjTk1QSeVJ8Yc-av1zwUXCjkpTn8akvPSKqW5aTq8D3pd92zIgDkbt_UG_5d_biVDNflE9NlB-Ue3JCdnq1ZIG6bdUnPPHFXpqovL34oqN7YutJAOQPenBryvGbRlOa2_ar_aSLMfNhkxyykDwYN-PmiU-tWYkiSHDugaDIEdCHrKGa41_8cUMIOARJzGWf7MpHQJXdtbDZI46ODsB5bPfvi0LC60qWhJ1brn9lwgsqa0Rmq_OUoIPrsu1NnEnV-Jlwrjz6riad0ZeVMwD8kqUctDp36giz4te9zRZoZvi2PJ8esOIiaO6MPdyb1KzksPtYKtC61ap4OD6e3Buosoy9-qI4qzfGKpCaxuHqMYTi_tb7qphuE87PvjLAsgOmhOQD4jdJsKGDJuyJvhPkkLK1nIln9zLsoxqCUT95nYG0VoysQsHkwi7rF0mGEa5QZlrtesnX6M0o5Mv2qIH_8QjmMnl-EQXFmQuoT9zLfZ6dmndwXoIzdyNfm_ZicMRtJdEihibcDt1GCewJUxB387yMDlTE_9k4gexUtnsK2dru700TdGraaohPdPjkIpaFKvDScO3gsDvAU7YfiTIVKNrQapOg8n-tCxCcA9rSymkcoghpv8XbCR6TdCxnvH2QxLo9lviGUSTbndjHMpyVjqHsjucU0HxEF8WoLtMZYyf2YBGuNThDnVgbNPucs6QQ8nj4EIpMC96Y_roe7xx7Xip9mDShgSzKclwCRFxgZEzko6AGcAMK8h4DXiYw1Sfcl1FbogdUotxJWQfyyU5ns-CuB-pP-ikDWEHwe_u-AOvuof9Rq9ZZE__BY6vLxokvoF-h7GJJztRlGmwAvkl42emZTTD_ufsjufgeH-jw7inyPL2boDRDyfPsGrNabvG4kq25-LDC4L85u1NRO3OSGlg8KrVjMwPHE7ShosNU-W7A7-6SeOKOoQqC-59ckC-b9-ccwvWO6cKBO_-BZLzyXVfzDJ6PLbDhXE9LKyZc-7bMI4_TA1-nfoE5-AxU0qDg8q6vSEO0PWn-BM09AzUBSfHZ2jVWRj90DgiOsbd4ph7u8aiIfIzoZeNfIx7EaMJml4zE4HCpLkrA4pdxcv3Onamqlo8sR_v3JRy-UFiH6ByTLKtAXHl0SsjNXvzx2xpsACHyou4LnpLWunETGPNqEjpQLGBDQ9ujnRyDV0A7hnsPWZmrhVk_slMBWiqvEUSxustmdsRVofRheftfMYkag8YsWjXumxz9tQ08O2GnhKQ-tEJ4segygYtoXl-o3xxZkixozX0MMCNOlEvQezHSIvTm6kRqihJ4AvtXEC8jNNEHUBpnuOvN92qnRS_JjDfVZ6YQFhzOCSTBaDLPzrRHv6oVecprl12u4rgHHZ6uEPPp24blDf0VQLcb0nsPBNIs2tCplsfWVtAoXINK73NMZkJo9z1LUEf4Jq9FuXrZYGSyTIvm8p-el3eVHmbdqOHmnbGbYqDGedynWlGJ1tIIb2xI8op6Ta-YZk5yuXATUxwRxs5AXSxX5D0t11Q8fpPW_igXZg4dAP6oSfbrjW_xJQqypTvuYmXWLNmvEhak=",
  "id": "rs_031f1ba988f3c78a016ab47b635f3c87d0945aa6033972e7a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.205,\"right_y\":0.16,\"right_z\":0.16},\"note\":\"The yellow toothbrush is above the basket opening, so I’m releasing it. The remaining blue toothbrush is visible in front of the shifted basket; I’m moving the right arm toward it from above.\"}",
  "call_id": "call_Vn3q0ppJZlZ5t5KtYyIzAwv9",
  "id": "fc_031f1ba988f3c78a016ab47b65581887d0b8c411ff53dfcdb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vn3q0ppJZlZ5t5KtYyIzAwv9",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7841, 2.022, 1.2938, 0.5098, -0.1577, -0.0757, 0.9955, 1.2053, 0.9974, 0.654, -0.6182, 0.8913, 0.8333, 0.9978]\nstate[eef_state]: left_x=0.4447 left_y=-0.3993 left_z=0.1786 left_yaw=-0.6179 left_pitch=0.3521 left_roll=-0.0197 left_gripper=0.9955 right_x=0.2077 right_y=0.1682 right_z=0.1594 right_yaw=0.0674 right_pitch=0.0299 right_roll=0.0095 right_gripper=0.9978\nstate[joint_eff]: [-0.4308, -11.6444, 6.2701, 1.9853, -0.0122, 0.0513, -0.2173, 0.3897, -3.0427, 6.4342, 1.072, 0.7106, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f20fc7ac1fff1a456087d9408d729d3e5e1d8bd01cb04cd3298bbca353ef320",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc94d12d9bf8b395580315711839f92b10cd44c4d4dbb58f7dff441ae87a8d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b814361078cb8ad653fbaf22d4a02d76dada24bf74825e289c888f47b21fd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.902 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 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]: [-0.4881, 0.8776, 0.691, -0.4553, -0.4259, -0.3145, 0.1599, 0.4911, 1.9247, 1.4105, -0.2161, 0.3565, 0.239, 0.9968]\nstate[eef_state]: left_x=0.2905 left_y=-0.0676 left_z=0.1905 left_yaw=0.0178 left_pitch=-0.009 left_roll=0.0036 left_gripper=0.1599 right_x=0.4947 right_y=0.1987 right_z=0.1343 right_yaw=0.0588 right_pitch=-0.1048 right_roll=-0.0358 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.7846, 8.9641, 1.5507, -0.2418, 0.0073, 1.033, -0.335, -11.2068, 7.159, 1.5702, 0.1343, -0.022, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.7879, 2.0228, 1.2938, 0.5171, -0.1551, -0.0677, 0.1712, 0.9356, 1.0897, 0.8688, -0.5251, 0.7486, 0.5655, 0.9977]\nstate[eef_state]: left_x=0.4432 left_y=-0.4017 left_z=0.1798 left_yaw=-0.6283 left_pitch=0.3584 left_roll=-0.0131 left_gripper=0.1712 right_x=0.2699 right_y=0.1696 right_z=0.2157 right_yaw=0.028 right_pitch=0.0508 right_roll=0.0185 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -14.2564, 6.065, 1.9609, -0.0855, -0.0806, 1.0281, -0.4581, -4.0274, 9.0735, 1.3748, 0.3492, 0.0269, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.7841, 2.022, 1.2938, 0.5098, -0.1577, -0.0757, 0.9955, 1.2053, 0.9974, 0.654, -0.6182, 0.8913, 0.8333, 0.9978]\nstate[eef_state]: left_x=0.4447 left_y=-0.3993 left_z=0.1786 left_yaw=-0.6179 left_pitch=0.3521 left_roll=-0.0197 left_gripper=0.9955 right_x=0.2077 right_y=0.1682 right_z=0.1594 right_yaw=0.0674 right_pitch=0.0299 right_roll=0.0095 right_gripper=0.9978\nstate[joint_eff]: [-0.4308, -11.6444, 6.2701, 1.9853, -0.0122, 0.0513, -0.2173, 0.3897, -3.0427, 6.4342, 1.072, 0.7106, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f20fc7ac1fff1a456087d9408d729d3e5e1d8bd01cb04cd3298bbca353ef320",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc94d12d9bf8b395580315711839f92b10cd44c4d4dbb58f7dff441ae87a8d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b814361078cb8ad653fbaf22d4a02d76dada24bf74825e289c888f47b21fd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHtrEUBqI_sWVPUMQw3CHofjEUizqiU4jDlITx_UgahPqsBcjz6IBI5JTW3ZIp0P0nfZhcYsRBbYEZ-83xgNxXSWPmRCXTaCx_Tqd_Ujz3iTr8p8yOpES0YsSV-YsV8EuG2ym-jwh46l8owO4Tx2BKaz7YU6usxGfFr4iahG8j7PXD7CSnaneCtEiTU2M4_h6RjCsdpqKZDksr9NFVAdJa9B0RSllCyaGwdJoR5cHlBIvnn2N1Dl9IoOSvjSFAW4ftJit6G3dMIT-pMhBju8qZUbJYpJm_nq46RAVQVoRQOl-2PJtpLKFqBMc3YZSlj4KEt3sFokhO33WKc0UYrnHMjI8yH3FoBCNzJh1fxn448txnlbaBYwInBPWezuGZv0Yo4ABo1_TKdA2MDLIQDolEHys1AsmrJSfuUpqrpz24-AkDh8IfLBrfaN8d7w_XhBf5_LaNFenwfqOn7A1FKvS3jo7H6S2YJBYzc38uNpT5ByafLTwskq979gllZYhETl34l8o3MFotLia8AOQQeTPzjaOYucZK8k6HGht4zajx69zaR5P2FayOaS2cIkc9G9M9Pc8FGwPrYFnL5AQjWiYWkySiOSHhRbGe5iuiaDYY7dO0LXCfTCi_wk9MRseQMEoG17dsJeUflJzDS6jCjJMw8UNX2zgRGwcPAa0fiwFVdXg0I5yr4wOXEpbinNG-RpfzADKfqjhkiRLEbTk9tWhJfMHl4hZE2NSDQbltnmPXnFy1YBEYZhV9KI7j8lpfkPLkv-mQUu8fUHMbs8U2OOJp95gq11jISTDxQkqjj-kWFnOsy3FWJLWdQSJL1QT-zxS-ffj9WkzjWFgKRG8CVICboeodoMMOoxJhZIrBvYEVpmfjC1nYS-UIhIxnaKheXRQbO-xbpwEe7cdoc2Bs842AiCpVHxT3kU7LPUz-4KQR-wt-EtVRdhcqFzVDBSPRAdYqquxlMM_hRM7Aidkb7o7PhjaQdfPV5v2WrN367ELBd76zOFMGrGg6H-kYKeex7Cs4KG_pd1LOuv5mKNT1-ByKNDg-ID0PTdnQ9b3Sg-U0tkW2gJYpe9v6kPG8Vmyvy3BRU0SjfUJazPni_WAa6cB81-tcB2QVvJQ4NUgg5uxNx7nGVdRaXxXrI8lWnC3qykaiZikszXddOAKVXoi1A0s12oYxFE0Va0AH449Mx403bvdQQIhrV2_jNBIwtXi-iaHhDXeyS_hivRf81oH7LjgQxaDwJos_tFcXgcM2Ymh6VrQJQP0dguuPQ39Q0XfrZXgFZ1BH021WCXjW8p1NeBj3w1Aa1uU82U_U31-mSpNW5SK_PH5Jt4SDvvoZGSxl3bvwBP3AQ1WVDQD1wApI3IgLCJfobwrWfSkV6RhHlYd0Pp3HNsN1f6FFNM003fVgPbcLFlxLjn0VgTrPE5EfB4ozkP_wNqYbAnQOfRjn5PIAlw4wSH7aqF9V87mvHe_B7Uk1FOmZJ3ZVsNcKgI8zJhpGIpqbgzuXGAxdvxdksrlFfat4CZ1PXDDlGiwL_ax7lB_XuM10stz2KE9FUH5NV9CDi9Hxa159ykuafn-wyzmiWlGQ2vdPZudK2-tnoRNJAHbOrCh11VU9IftZK-4dNxqVtpVZmFderYcYKn_NPj5MiyQDGw_9wVEH0VImxBb-40IJh5z5bIG7-VhR738rHbqan1PnINQyGWbx_ahpAAhYnu2eLE8ZacEygg_ONokX8g6MMxsxJwypYD58Kltnoo1ixOQteIJqpk8ql_M0RZ8cntyvg=",
  "id": "rs_031f1ba988f3c78a016ab47b68aab887d0ba41fcc906536fe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.205,\"right_y\":0.17,\"right_z\":-0.008,\"left_z\":0.29},\"note\":\"The right basket now visibly contains the yellow and light-blue toothbrushes. I’m lowering toward the last toothbrush and lifting the left fingers clear of the rim.\"}",
  "call_id": "call_ac8fEX2Hpq4i293ELHafInhI",
  "id": "fc_031f1ba988f3c78a016ab47b6a672487d09790438a198fe7c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ac8fEX2Hpq4i293ELHafInhI",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.7841, 1.9648, 1.5341, 0.1089, -0.1806, -0.1043, 0.9967, 1.2182, 1.4834, 0.3214, 0.5064, 1.285, 0.7803, 0.9978]\nstate[eef_state]: left_x=0.4502 left_y=-0.3991 left_z=0.2311 left_yaw=-0.5874 left_pitch=0.2513 left_roll=-0.0228 left_gripper=0.9967 right_x=0.2401 right_y=0.1722 right_z=0.1011 right_yaw=-0.2119 right_pitch=0.3919 right_roll=0.1705 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -16.1709, 10.7145, 2.0879, 0.1343, 0.2808, 0.1148, 0.3761, 4.7658, -5.0256, -1.1404, -4.3297, 1.0183, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5386fc576306870c68d35da78c1bc7c9dfeb8793b0b813649c627ee255bed743",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445b67daa14230bedd0634901597ee9df9d02dc29f4dd392cf07708c83deeef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdaf42b59c4f0d9127cc1b04775c5e3f13024596087da785e26139797ffc5c74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 8.45 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 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]: [-0.6971, 2.0071, 1.3006, 0.5369, -0.0715, -0.054, 0.1664, 0.934, 1.2465, 0.4248, 0.0727, 0.7582, 0.5701, 0.9977]\nstate[eef_state]: left_x=0.4703 left_y=-0.3727 left_z=0.1965 left_yaw=-0.6193 left_pitch=0.3986 left_roll=-0.0209 left_gripper=0.1664 right_x=0.2684 right_y=0.1647 right_z=0.0888 right_yaw=0.0173 right_pitch=0.0541 right_roll=0.0161 right_gripper=0.9977\nstate[joint_eff]: [-0.6769, -11.5487, 9.4291, 2.2051, 0.3053, 0.3004, 1.033, 0.4444, -3.1658, 4.4239, 1.0427, 0.0415, 0.3443, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.7841, 2.022, 1.2938, 0.5098, -0.1577, -0.0757, 0.9955, 1.2053, 0.9974, 0.654, -0.6182, 0.8913, 0.8333, 0.9978]\nstate[eef_state]: left_x=0.4447 left_y=-0.3993 left_z=0.1786 left_yaw=-0.6179 left_pitch=0.3521 left_roll=-0.0197 left_gripper=0.9955 right_x=0.2077 right_y=0.1682 right_z=0.1594 right_yaw=0.0674 right_pitch=0.0299 right_roll=0.0095 right_gripper=0.9978\nstate[joint_eff]: [-0.4308, -11.6444, 6.2701, 1.9853, -0.0122, 0.0513, -0.2173, 0.3897, -3.0427, 6.4342, 1.072, 0.7106, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 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]: [-0.7841, 1.9648, 1.5341, 0.1089, -0.1806, -0.1043, 0.9967, 1.2182, 1.4834, 0.3214, 0.5064, 1.285, 0.7803, 0.9978]\nstate[eef_state]: left_x=0.4502 left_y=-0.3991 left_z=0.2311 left_yaw=-0.5874 left_pitch=0.2513 left_roll=-0.0228 left_gripper=0.9967 right_x=0.2401 right_y=0.1722 right_z=0.1011 right_yaw=-0.2119 right_pitch=0.3919 right_roll=0.1705 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -16.1709, 10.7145, 2.0879, 0.1343, 0.2808, 0.1148, 0.3761, 4.7658, -5.0256, -1.1404, -4.3297, 1.0183, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5386fc576306870c68d35da78c1bc7c9dfeb8793b0b813649c627ee255bed743",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445b67daa14230bedd0634901597ee9df9d02dc29f4dd392cf07708c83deeef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdaf42b59c4f0d9127cc1b04775c5e3f13024596087da785e26139797ffc5c74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHtwxN_akmm6lNZ2jGYYJsfdiln3-vNv82P3d7MdY430E1kbNyAZy20GBh7Av932BtTMSr_SyBji6OB0KgtYzxx7EwIYw97dtf1m1ExJKUbaucQArrgrrn0UC536Y7yUO-1PlJt2U8gpMv1xfKIy00XPqiBJfICopoZEnphdKjgaQk3xmo9kWPnI2Vcr-4NJJCwJEYM9vtdr9qUOWiy9YVFPHlMHt-UMIEf7df4muYqSS-Na_3ffBtvlKDKGuQhZollr2tSzKB2VI2DWh9W4rB6m_UPizdmKoWch_hRMmKsH5z27OCI_4yI0uSEpkFIVg2sjJKSkNg2IzeCPBjXNtsD6npgRV4uxzCeKJ4Dzp1qM-k8ckFf8thBAlamLDBOyIZOFVaaFmTyg-lG15mMeBP-InQS1T9A8w6ByhhuFTglKLpA623OSQzqotxR9Jb_I3XeKY4y8aMTGN_1upbEsNS8XOTtD2siAsN9WQ_UeuMloOGl8hP57cPlTVRid6EKjYaPfGxCXfh6kkXbN1guX8JoQ2_qC--6VwCo8W_Gd-z4YhvVAGUra_1475DFPRobmXPmc4nChJF6PS6feBv-c2XJcdBQm4nHT1h8ms6aWgFjbraG7coY3xZkYLet35ltAEcuDkYQx7tqs-CloQ2gsKrBceSNkqphGPv28hMgRLF5UjWgbYi-0RrO865ym5qnTDbZZo59IGDp9jD8IpZifQCkFPTajQcq-803tppA7l8RGGT0rWz-YmQrmJFaoutF5nhf3PBnSQqFYnHlhH9GNibLgi4X27bklsVNy4Y49x7aBBgYRIn5ZfZ8A1lkB2v0w3glFdVWnqzoPVocOyaaFDBNy4WYFuFNLOkgodjJ3YP1wdZ1XVrkNaYClFsK1PxJ5F47PjSuaJYHsxB40HkYCQGWd6UgPVPEJ514uN3Eq0XjSKRKFffFG4msbdTXPvk7uOIAlHA_Qq8B84FF-4TjNTOSHvRcObx_pxs84LMlpXXLW3SxkwDZ9PHdOGqyoyWyTjfZuFdT6xpE4VwPdrLoYxl4db6bC7Z5kVW4YTwciFVUsiZw2k3gj7SXjWmwKF-BmQ7q_wMwQRWawix_vofnPRZMK9MVwgjRTftDEyj6qj09idv9006m54l0D6xbFMbCJUiZS22HVYu0GlbgppHlinXKcCwN0RyBa0_nBLa9zGwABJHcApsS8KqLNNf8mjqxkSu14pv4ti_Dw3XAdNwcygl9iZvYdUWSPPFM1zwKnaTVGXDcjNXr57axwUu_XrV0iJYWba1b3FGgxSdGU__r_LwzDR3UnVqCqRfslLzAcMPEE1DdSUC5V4RExMO6PUmGL0DqOMLFPgpEJ3DKkD-ODsJkKFpFI-B1D8qNZnYoYbs1JF_XGrlGhMSo_DaX8ScXvJUKE7stSGyDSzzicFsczOkbl5kro0z4fmH0h30XAykEKe5RWuUjlQKdErbKyMfb4cx2QwqL-21QIciyR3ZPD6p_ct0SOpnbVCmjsMXA4T_H7T2r3viXnCSZ6Zc9SxOZU6k8q",
  "id": "rs_031f1ba988f3c78a016ab47b6dd58487d0bc912ea15aa1923c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.17,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The right arm contacted the basket instead of reaching the table, with a clear torque increase. I’m backing up and lifting away immediately, then parking the left arm to get a clear view of the last toothbrush.\"}",
  "call_id": "call_7vIOmb35lDcf1koYlSEd56nd",
  "id": "fc_031f1ba988f3c78a016ab47b6ef0c487d08f0781f541004408",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7vIOmb35lDcf1koYlSEd56nd",
  "output": [
    {
      "text": "executing move_to over 36 steps (3.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0517, 0.8162, 0.6888, -0.4252, -0.0734, -0.0731, 0.9968, 1.4151, 1.1435, 0.9928, -1.195, 0.9806, 1.2842, 0.9978]\nstate[eef_state]: left_x=0.3 left_y=0.001 left_z=0.2036 left_yaw=0.0319 left_pitch=0.0168 left_roll=-0.0071 left_gripper=0.9968 right_x=0.1723 right_y=0.1747 right_z=0.2108 right_yaw=-0.0013 right_pitch=-0.0022 right_roll=-0.0 right_gripper=0.9978\nstate[joint_eff]: [0.1573, -1.812, 6.7214, 1.9072, 0.0562, 0.2271, -0.0024, 1.1282, -2.9333, 8.3624, 0.3834, 0.486, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee3b33cbfb839fc284472839d1660c83c7e454fcc6a978771f27517d5aa6f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8649093274d1db56931052b8857efcb27eda3bee7e88eb8abb34f3a3661f020f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3972c2bbc96dd1e515200282bfe899ceafc814ab941a50bf7f821c209d6fc8c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.245 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 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]: [-0.7879, 2.0228, 1.2938, 0.5171, -0.1551, -0.0677, 0.1712, 0.9356, 1.0897, 0.8688, -0.5251, 0.7486, 0.5655, 0.9977]\nstate[eef_state]: left_x=0.4432 left_y=-0.4017 left_z=0.1798 left_yaw=-0.6283 left_pitch=0.3584 left_roll=-0.0131 left_gripper=0.1712 right_x=0.2699 right_y=0.1696 right_z=0.2157 right_yaw=0.028 right_pitch=0.0508 right_roll=0.0185 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -14.2564, 6.065, 1.9609, -0.0855, -0.0806, 1.0281, -0.4581, -4.0274, 9.0735, 1.3748, 0.3492, 0.0269, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 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]: [-0.7841, 1.9648, 1.5341, 0.1089, -0.1806, -0.1043, 0.9967, 1.2182, 1.4834, 0.3214, 0.5064, 1.285, 0.7803, 0.9978]\nstate[eef_state]: left_x=0.4502 left_y=-0.3991 left_z=0.2311 left_yaw=-0.5874 left_pitch=0.2513 left_roll=-0.0228 left_gripper=0.9967 right_x=0.2401 right_y=0.1722 right_z=0.1011 right_yaw=-0.2119 right_pitch=0.3919 right_roll=0.1705 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -16.1709, 10.7145, 2.0879, 0.1343, 0.2808, 0.1148, 0.3761, 4.7658, -5.0256, -1.1404, -4.3297, 1.0183, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 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]: [-0.0517, 0.8162, 0.6888, -0.4252, -0.0734, -0.0731, 0.9968, 1.4151, 1.1435, 0.9928, -1.195, 0.9806, 1.2842, 0.9978]\nstate[eef_state]: left_x=0.3 left_y=0.001 left_z=0.2036 left_yaw=0.0319 left_pitch=0.0168 left_roll=-0.0071 left_gripper=0.9968 right_x=0.1723 right_y=0.1747 right_z=0.2108 right_yaw=-0.0013 right_pitch=-0.0022 right_roll=-0.0 right_gripper=0.9978\nstate[joint_eff]: [0.1573, -1.812, 6.7214, 1.9072, 0.0562, 0.2271, -0.0024, 1.1282, -2.9333, 8.3624, 0.3834, 0.486, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee3b33cbfb839fc284472839d1660c83c7e454fcc6a978771f27517d5aa6f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8649093274d1db56931052b8857efcb27eda3bee7e88eb8abb34f3a3661f020f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3972c2bbc96dd1e515200282bfe899ceafc814ab941a50bf7f821c209d6fc8c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHt8Dfaj67kgVUZ1-10TrPLEPZE9Vwx9qn5i8BpZX1SmcEuuWts4_r_TiTQdhYcljAPP7j7Cf7aR4C914Ucj3A2p3ihI8g9Up1K_7RedUnWRBOKnN-nbEmkV3d-wDSU07K6OX62SSLmU0yqKupTP-iKtZciebeS3UpA2jBjCuNLXfzQeC4ql3vrMKlaCCLMlCG01wd9dyAV9RBESsNXHudO0077HmjJnunMzYKMeXhlQGsRkZ9mQbZnEWkZg89twka-cQchD0UOLz9jKNHAJE6vGPLFGN3wwsS0iChQoI5cO65b_W88gOLgjXxwjtIxnDW_m03K8REceOExt8K72FBPdvReF-l3CHvrag05xtp8TgzSHX8OMTPui3RhLpRkUdK3mkVvKIBoHkbuRsD_ctIXg2sqxjz-2Vucm6CouMMSByB9Qrf7qpslxkHrQlUkl8C0TiMRq-YwYCR1BGBDaptmBdV_hf1TWpkSMvcIQtSwn_B63egEbXYD0AMCmeO2_k65FjjvVKTOGccBCdiRNrbIOaGTXfCgRef14YA5sOBdsih2jpAI6qrFLPMU7ieCcmeXXQiU2VKmI-MRVf4KyNIN_Ysq04SSx47dwjSQUWRMDJnzK5cvdIsO6X-rbINDCZ2Pq9g_ZZ8cXfGh7MaoIJY4GteO24r3aCldK_uwuJ-rhQTg8UHKaHus62cv8rTh3Nu6BkD6tX1F160xBcoGvuG4rDDTfPlsE7Bz7KwuLrfBU_WQShXf14uXJlPCU2wVIOo_KJTziHghqGNXyZ6LbCfGsG3CPgkzaP6_x_65Ux5COpfUG1U1d_3E_SAa1zX3O02jzkvW801Z3Ri6fFD_HS7nLXUAG53Oqpi009qbJ25d-J0ZJmPqCaQWzHmb7al_dH4k4wubCbS-csJPKDA3aCX8POLo7z6AcOCLnSvFSgZ_zB-YoVAmXHWBysAG2_SRuLdbNegf2x3Iwqjk_HPnqJstL0eGrM4cPpXk0dJ7NYhzcwrZn541mszmaae-17KskKKJeyQjRaz9dn4hQxfuuFYfx8-_GAXamAZbXmoMJHUxxndW10GqkdDfNGCRhE9wilX04JWswDotkPr79iWkR_YOqwOMkwPtGYMS-pxbmEQpDRvjJht7ZJb_FCTzAEmXwyn0RbeJX6UE5fx5rz02Zp8Jhm0GwptTdKCV15VRcX7oChRHLNO4TIfrBKB5RLYgMeywYUhUo2FJZB72b7oY4Dzm3y6kIU31Ct6SQqHYCWY4DNQz_KKvZuEAnZpEyx7Vd6ACZGSOSgkpuFhTmlzcU9VN5NChzHl51ADmwSqlsPX2N68dM8nuzNsKa11iEct54NlfD2JKz2Z2GgSnWPUpThReebhZ5wCUIP9D3I5NEmbOBzO1W8ajVAVVXOQ0j-kn3Sb_328jvEQbssLT_cgRvVCTWz8szd3_zBaV2lQQHK1YTdRDHEWWKCFmUXDnsk7sO4tSxvgyEWBo_AkiBMCTtRldRY2nuOg93WvCqu7bLCvXnTN5vGM4H0CxwjB8Q9zhK_5iwGGVc0ayg1iqVPrSFyF6Ad7bUIx_dBO2BPb0GJjx6bSnDp1Y4nt1dQXJbFfDb-k9UQmoBpiw5VZzMNZZKC-tRaT7N7ZUkZGmVZCjXzmFi_DFzpC_AvK8grv-xdPOVIfSsgAGI8GM7A97ZcOb6rZIwJWNguoNZTHNq1pflJIeDjHqG5ol_17jvktjNZxbFjxQPsGz77ES6iiHw29dMg81o2c2P8VPX_UzKrZZBDF6aoBzWTId_08o1NljBSJn54PxAshk5nPDh-dpId7hQmSRXomzWgf9zcYDLLuVGv_AG8r9jUxHmcKFluujxGLa9jR-aDInJDPAV4T9eMMTlygmIpytl8lf2xdI9Ezc_4fXJDPh857yZE5WCxuhOC_akn1ndmv7EBZzf2ooenNmzd2aKXdHC-Cuxo7Ikpl8XQZfM6zFJg-f7C3hJOS_9zQ8-7UZfYppMFRQ2sR9d8ccdwTB5bJO6EhW7jxZFODvlfBH20I4tuQqU1dpqa78zrnlZBHDoLlmsqB-ysjpk7AKGF1kc2WVZ4o3V52tKCwtLqFizVAsP23ihGyIH8mG_RAYizCQhHqlMjsZxrWSuFViePwm6daJXgb7UhmTjBnkGSCl0maoEUQv0Q2jJQ_PQqdrHcDJQOOeRDn_Uzk3x0VgARPQqBksT_W5y84ctJkW1_1L2VWhZ-ehsFhCLOSaO80sAuesfJFjp58BgLhGVGO9rLIfpCpQPzI5Wdij0TWK_a9pA1VN0tLwgXW2-G019tpF4OGs8ZHp19gTRP1q3RuMS3qS4oTH9yZexdzK3Jj3DXeuXsJe9fPs70uRoH19PYO86l4qw5CF3KY1ItDYsQ_SaIPsTUBT2Sr5xasGVw5Pqfal96B2L7SmcpcFiyrvvqqD2OwGW-oWiV6XOMhVZMC9hy8IsWU02ZjjgmHZ_dtBAlqY_rdf3MNKqsJkLT39qnYgf6yQGXktcuk0vPEfXFVRHQyQbOtB58ab9ZPy6IvIQw7myDUpm3oJgoRU-ZInBYP6D1WIcAdsMKBNT6UTqYnpS-pgjodhedGKSE01c8MsbEGDyEdB2hNo53rx0LOUBikCtxTJsIwB_OXCIaTUeLxRpiHW6yxpszJW9z7RK_-IMRsYZgN9nMLP7Oy8vGbUFCZgQaWYdI-BC51WW3nxclY8oXej8fq1NtDTAERm4Tkieq5hfi4korIa_lT1FSdJpq0_Sj3kmAYf_RFssLCQKikUKxKapdq5hP2HlXv3GW5zKtkKtWnAgZJZPaMNjr5VxmL7yw3FH63csdCD8XUGQSxwmsYEfx0a2sp38yxZsNhmt42UxYg-KvyxVxEMigBebj1ANWkhdwWBJUzgkP6jGN9GLhgh8ow9b60i26uOMNwNcqDYddt2bgl5amvvPBnlf4XDcxJe35Hosz2memXl9rR5RXuPtN2XJfMl4dOWh6relOas742Rz289MAMN9uVLEiTGkg3QREZvMzo43OOHpZ_a4jMBh6j1yQ37Ss9FZcVqgUGNkvliSVbuW1vtOTMfhuhsJp_TMVuNAEl3hrep75QypzeQHKdnh2X931P4zya4ujnYSJhY=",
  "id": "rs_031f1ba988f3c78a016ab47b76029487d09cae1fd7dea92c8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The right arm is clear of the basket. I’m parking it to check the tabletop and basket contents without the gripper blocking the view.\"}",
  "call_id": "call_Z5iNqJvDOWzA9feu1zSMv7DF",
  "id": "fc_031f1ba988f3c78a016ab47b7b67ec87d0ae3f5cb9a7b8fadc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z5iNqJvDOWzA9feu1zSMv7DF",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0509, 0.8227, 0.688, -0.44, -0.0704, -0.0757, 0.9968, 0.0124, 0.799, 0.6792, -0.514, 0.078, 0.0338, 0.9978]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1984 left_yaw=0.0316 left_pitch=-0.0054 left_roll=-0.0091 left_gripper=0.9968 right_x=0.2849 right_y=-0.0066 right_z=0.1858 right_yaw=-0.0751 right_pitch=-0.0604 right_roll=-0.0044 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.935, 7.0769, 1.917, -0.0269, -0.0464, -0.0073, -0.1299, -1.3607, 7.9111, 1.8486, -0.1099, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263bf77929bd3aa5bbb6ff4de02a81a5de89cbbeef4fe737f37cee5728af9383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02516c06c994fdb813264726fc96170585b6aa1a1cfd89965c271d096305dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ca07e30003846fe9cd90773b23069bce0cc6201f9b9790b92cf329a0074542",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 10.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 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]: [-0.7841, 2.022, 1.2938, 0.5098, -0.1577, -0.0757, 0.9955, 1.2053, 0.9974, 0.654, -0.6182, 0.8913, 0.8333, 0.9978]\nstate[eef_state]: left_x=0.4447 left_y=-0.3993 left_z=0.1786 left_yaw=-0.6179 left_pitch=0.3521 left_roll=-0.0197 left_gripper=0.9955 right_x=0.2077 right_y=0.1682 right_z=0.1594 right_yaw=0.0674 right_pitch=0.0299 right_roll=0.0095 right_gripper=0.9978\nstate[joint_eff]: [-0.4308, -11.6444, 6.2701, 1.9853, -0.0122, 0.0513, -0.2173, 0.3897, -3.0427, 6.4342, 1.072, 0.7106, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 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]: [-0.0517, 0.8162, 0.6888, -0.4252, -0.0734, -0.0731, 0.9968, 1.4151, 1.1435, 0.9928, -1.195, 0.9806, 1.2842, 0.9978]\nstate[eef_state]: left_x=0.3 left_y=0.001 left_z=0.2036 left_yaw=0.0319 left_pitch=0.0168 left_roll=-0.0071 left_gripper=0.9968 right_x=0.1723 right_y=0.1747 right_z=0.2108 right_yaw=-0.0013 right_pitch=-0.0022 right_roll=-0.0 right_gripper=0.9978\nstate[joint_eff]: [0.1573, -1.812, 6.7214, 1.9072, 0.0562, 0.2271, -0.0024, 1.1282, -2.9333, 8.3624, 0.3834, 0.486, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 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]: [-0.0509, 0.8227, 0.688, -0.44, -0.0704, -0.0757, 0.9968, 0.0124, 0.799, 0.6792, -0.514, 0.078, 0.0338, 0.9978]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1984 left_yaw=0.0316 left_pitch=-0.0054 left_roll=-0.0091 left_gripper=0.9968 right_x=0.2849 right_y=-0.0066 right_z=0.1858 right_yaw=-0.0751 right_pitch=-0.0604 right_roll=-0.0044 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.935, 7.0769, 1.917, -0.0269, -0.0464, -0.0073, -0.1299, -1.3607, 7.9111, 1.8486, -0.1099, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263bf77929bd3aa5bbb6ff4de02a81a5de89cbbeef4fe737f37cee5728af9383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02516c06c994fdb813264726fc96170585b6aa1a1cfd89965c271d096305dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ca07e30003846fe9cd90773b23069bce0cc6201f9b9790b92cf329a0074542",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHuF5CULrk_4ZRy-1o6klpDwH2XE3S4AhASnTqoD2yHwriA1OQeHyc5Ec9U2y9QaBo-T7RrQ-VwkEtKQe7rNQ7SCyyo98oWFfUdlTHuhvO7Ihfjmh6asVSLPggbTp5lLyUnKlap1jKRA_yIBdCkTlfhj2J5vDmoWkJ8en6zeIvo7wnUSOzrJSTQiuD7l65qn0Kj7x9eZ5XmCgfSfnl7AX5Sry6ilhxz4y3235TJSSUEun1wuYD7qmyBLKUBAGdNcUarIWz_QdsD7XvAVEvYQK-xcvJqhWIUnVe3AfBlZg_3yG7Pjlh8ZNnkU55ECQfLYXVWhrJMmbyrMp1uNtv6G6o34V7GkP2LacDkNangd9t6vfH06SHuxltTmFCEcz5t-LjKiRxKlsDRw22Mq46Opnz_lJohNrPXED2jucR0Quw1CBgTkD84fCKizzv-TEDI29VKR0nDwhalRB1JK4dbsI4EMIaDreAZzdqMKusLti3rllcajfWqMFo-ileqAamhrUiTU8mCxALKgZOcDLgzLCbTxlbqojnaBArKB2snZF136RVSlP9UcbbaZrpZdWSuUSzn7DUuxn2okPkqeZEp4KOQheEKDBwK54gT5b_E3Nws5cCiWupV5qT7mLXpkoYkBS5CmtYOlxeEQ99V3g5ecw9B4GZQuX_K3byyzN5kDuwrwKW8Wt9pt2lyqbe6Xj00bmpZWrnV9u_TMRt4Q6zvGOISV3y91I3PmUTg1ZYOO02k-_gE1xJ7nqrgNVK2K9vU6yfnvAVC5tZTzXbcTL5OwXyvMWqdYl8OJ747f00iqMc0_l4ldvI4HJ9qWJp45o6BHLCGR6OIqGchJNSVahLD7eKSgqXSrXcwm7A1XF7RpBuPwnfbGrWJoorXVbeBFJL7bkdGWhZqaTdgvDTPaBmYJQoWZ5MndM2OQDLFFWDBLy3uY5Fyd6rZc5uYqC2pgTdDeDLgfowd7JKubzv2dkvCwwaqkCg3pHp-UUoPD9VfnKPeCyvfQC7dRYswluMoQ00pxMnsZvV6iWxZyl7OT2XWoBtFmeRAAkslZA_Yf642G4GYFm7vKX3dFsKH7lUgFR96v1vc8ETm76VMBUZ7en1hsTzwsJE_XrDoBxrEcbR0iumRq3s2zUZCcmlmDn_kRsCa7n0pbavqhOt_k-DfzsoqvtGf3SqJlvdTWbt2XD7Um-oSqoq9xHfhWfiCgmA-mM1f153PGkTKMptgURv-_cr9YWNukXdEIbR6Ghbc13val06mip-Fm8DLt-S2BlzxQM1W0OhCgLFVgKqh4vQsvZmUQD3ryeed6eGJ0P8eBj-TdMWhj36Z4pGUFPm9AloMeRJgqX29QLv4fNoTzloC8ScPBl2T6-lUeuuNm9NLNw-cmeEXYse32H6mMEVIDPRClci9w0wIWuC3blxObKlXX5iryYVUm77kZ46XAXOvb20fitdbpEOSJRVFGFCHLsi1sdLMWU0pd8yNu4IWhVvHVZb8C5Ie-K-Dj2WMsRaBrjRBVMDftWKjs3eZPDRHxru44ErQzOiHZsbxo1d0trgs-fr-Kx9YXFgcXTXwWVKWKRZM9QjH29A5C1C1Ut8oFucOPjDri-rk_UpXT7Q1FvAJuopLtqGqD_3Tqwsal_ZV3h-ILrY5rWBGq1fuE61-H96v_DR6bwTikUnA1sEb2gD1aIPXuENIbqVb6Jq9yzP7ZW6IStMACR3YsZ-Oh6H_L_y8Sc_jN3gGLB_q9gCXXk1c91RpOZ-jiBnLqRqtU0ZO1LpmBRda82CvJxz-9g9UMEHyxYxan-JN2SXTxQKjkl7_n5st8o5bM2psGoB9xGa4o8eIjapGRddSABBPwqOfqPzN5JQ6AYS6-RPe5ufNb9Fte1BNmnSPPUNK5WYAXHfyKZTs9AmFqD7s8lUA1C6EhexBYH89OezDTY_0lHYICeF9cjVOTyixtYYXNn1IVnBAJ3felqvADo4RCbxWQOJMeD3rpJN95E3UvIyi8vFlGc7GgQ88ruJHvrR5iGCPrCDzniC2dZ5tHvzD6_7DpVcx7TWT7D7atGkUsnB3v7sUzHJph8F2fXmfN9jyuGgVq9k7v9jLGm214BS83qXXBrSPckMNdowsdXUWFdmFaO2yCSGn1kSoRleexYRfBAfvLkSjyrYxoj8LOyVKvD8Oy4B51U8fquL9Te6bDPktaOyMSvKYrYIpPJILjBmqxNY6FCM8EA6LdZgZ9gPJfC3IO5klvj3xoYQfMnXCKkU3StRmmNvasb_20iw0AWpoGj2P3MU7IgPhzOTlLzbXzcEmbSCQKFLiGtmVLNBPtDX2txok6rMGRGQuJ1AkFxjxkpzhLYVbL0SpmLWIDqFqAlqPqkFic-3gRtVfGAMyTKppwB2VFimBbJ57rI6S77JOxSOL5qjziPt5ZDky-CtzGRTcjr2CPDOKzh_Jc-Bfwr9VRuZaZyRX3B3O9jSqYVhCRSHhMqv7gBBb1oYSNBCcB4xOshlQWbXu5EWoaQb87xiniZR5QMiW3C9Zxts5K5p5BOVIe9FIDPs7qLq4YkHtsWgdBCkCyxFthoMCoiSuf5q75MhyCngQH0188opPdUQ==",
  "id": "rs_031f1ba988f3c78a016ab47b7f1d7087d083be72854390f922",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.145,\"right_y\":0.17,\"right_z\":0.002,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The last blue toothbrush is visible in front of the basket, with its handle nearest the table edge. I’m approaching that exposed handle from farther back to avoid the basket rim.\"}",
  "call_id": "call_vFKJNc5ZpUD8VS8sUiBeRxKV",
  "id": "fc_031f1ba988f3c78a016ab47b8410c887d0a2b0c6f0074bb150",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vFKJNc5ZpUD8VS8sUiBeRxKV",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0513, 0.8265, 0.688, -0.4435, -0.0704, -0.0788, 0.9968, 1.5368, 1.5562, 0.3805, -0.3565, 1.0142, 1.4414, 0.9978]\nstate[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1966 left_yaw=0.0328 left_pitch=-0.0126 left_roll=-0.0111 left_gripper=0.9968 right_x=0.1522 right_y=0.1669 right_z=0.0098 right_yaw=0.0318 right_pitch=0.0137 right_roll=-0.0565 right_gripper=0.9978\nstate[joint_eff]: [0.0342, -1.7436, 7.2547, 1.8779, -0.1001, -0.0366, -0.0073, 0.5538, -4.9573, 3.2889, 0.0122, -0.2759, -0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57d533dd973ce5f4a64e4a99659f6df74756132c903b47a994c5626ea403549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ecb2f60a26d125cc87176927d10328daf47bf658f83cb0a54d7eda46bc0b281",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5b96842f88c70b3b200ac7066b5531ebfacf394223c46a4927805cd5744f54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 7.816 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 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]: [-0.7841, 1.9648, 1.5341, 0.1089, -0.1806, -0.1043, 0.9967, 1.2182, 1.4834, 0.3214, 0.5064, 1.285, 0.7803, 0.9978]\nstate[eef_state]: left_x=0.4502 left_y=-0.3991 left_z=0.2311 left_yaw=-0.5874 left_pitch=0.2513 left_roll=-0.0228 left_gripper=0.9967 right_x=0.2401 right_y=0.1722 right_z=0.1011 right_yaw=-0.2119 right_pitch=0.3919 right_roll=0.1705 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -16.1709, 10.7145, 2.0879, 0.1343, 0.2808, 0.1148, 0.3761, 4.7658, -5.0256, -1.1404, -4.3297, 1.0183, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 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]: [-0.0509, 0.8227, 0.688, -0.44, -0.0704, -0.0757, 0.9968, 0.0124, 0.799, 0.6792, -0.514, 0.078, 0.0338, 0.9978]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1984 left_yaw=0.0316 left_pitch=-0.0054 left_roll=-0.0091 left_gripper=0.9968 right_x=0.2849 right_y=-0.0066 right_z=0.1858 right_yaw=-0.0751 right_pitch=-0.0604 right_roll=-0.0044 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.935, 7.0769, 1.917, -0.0269, -0.0464, -0.0073, -0.1299, -1.3607, 7.9111, 1.8486, -0.1099, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 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]: [-0.0513, 0.8265, 0.688, -0.4435, -0.0704, -0.0788, 0.9968, 1.5368, 1.5562, 0.3805, -0.3565, 1.0142, 1.4414, 0.9978]\nstate[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1966 left_yaw=0.0328 left_pitch=-0.0126 left_roll=-0.0111 left_gripper=0.9968 right_x=0.1522 right_y=0.1669 right_z=0.0098 right_yaw=0.0318 right_pitch=0.0137 right_roll=-0.0565 right_gripper=0.9978\nstate[joint_eff]: [0.0342, -1.7436, 7.2547, 1.8779, -0.1001, -0.0366, -0.0073, 0.5538, -4.9573, 3.2889, 0.0122, -0.2759, -0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57d533dd973ce5f4a64e4a99659f6df74756132c903b47a994c5626ea403549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ecb2f60a26d125cc87176927d10328daf47bf658f83cb0a54d7eda46bc0b281",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5b96842f88c70b3b200ac7066b5531ebfacf394223c46a4927805cd5744f54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_031f1ba988f3c78a016ab47b87d1f087d0aa8767a64ef3bf3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.11,\"right_z\":0.04},\"note\":\"The basket tipped as the right gripper approached the exposed handle. I’m stopping the pickup and withdrawing toward the base to disengage without pushing the basket farther.\"}",
  "call_id": "call_ucGDMuGOE2GHOpjdHRgeOyXL",
  "id": "fc_031f1ba988f3c78a016ab47b8f882c87d09ee574cb5e30683e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ucGDMuGOE2GHOpjdHRgeOyXL",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8295, 0.688, -0.4446, -0.0708, -0.0788, 0.9968, 1.7527, 1.56, 0.5171, -0.7189, 0.9821, 1.7748, 0.9978]\nstate[eef_state]: left_x=0.2985 left_y=0.0009 left_z=0.1955 left_yaw=0.0335 left_pitch=-0.0168 left_roll=-0.0105 left_gripper=0.9968 right_x=0.112 right_y=0.1835 right_z=0.0297 right_yaw=0.0655 right_pitch=-0.0054 right_roll=-0.0058 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.746, -0.0855, -0.0708, -0.0122, 0.2803, -4.465, 4.8615, -0.359, 0.4322, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20400027c69f4b0a50e475ddb8f4d102fdf6af8bfa46ca408f0f59de0cb8319c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691ebaa3f881f9a7d93b490c6247230626539eb5fc851875a2666625de715d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e482052d262a73846ea39c4be336d178c3927248424e5ce471d839d4dbf78c42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 8.385 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 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]: [-0.0517, 0.8162, 0.6888, -0.4252, -0.0734, -0.0731, 0.9968, 1.4151, 1.1435, 0.9928, -1.195, 0.9806, 1.2842, 0.9978]\nstate[eef_state]: left_x=0.3 left_y=0.001 left_z=0.2036 left_yaw=0.0319 left_pitch=0.0168 left_roll=-0.0071 left_gripper=0.9968 right_x=0.1723 right_y=0.1747 right_z=0.2108 right_yaw=-0.0013 right_pitch=-0.0022 right_roll=-0.0 right_gripper=0.9978\nstate[joint_eff]: [0.1573, -1.812, 6.7214, 1.9072, 0.0562, 0.2271, -0.0024, 1.1282, -2.9333, 8.3624, 0.3834, 0.486, 0.1783, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 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]: [-0.0513, 0.8265, 0.688, -0.4435, -0.0704, -0.0788, 0.9968, 1.5368, 1.5562, 0.3805, -0.3565, 1.0142, 1.4414, 0.9978]\nstate[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1966 left_yaw=0.0328 left_pitch=-0.0126 left_roll=-0.0111 left_gripper=0.9968 right_x=0.1522 right_y=0.1669 right_z=0.0098 right_yaw=0.0318 right_pitch=0.0137 right_roll=-0.0565 right_gripper=0.9978\nstate[joint_eff]: [0.0342, -1.7436, 7.2547, 1.8779, -0.1001, -0.0366, -0.0073, 0.5538, -4.9573, 3.2889, 0.0122, -0.2759, -0.2515, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 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]: [-0.0509, 0.8295, 0.688, -0.4446, -0.0708, -0.0788, 0.9968, 1.7527, 1.56, 0.5171, -0.7189, 0.9821, 1.7748, 0.9978]\nstate[eef_state]: left_x=0.2985 left_y=0.0009 left_z=0.1955 left_yaw=0.0335 left_pitch=-0.0168 left_roll=-0.0105 left_gripper=0.9968 right_x=0.112 right_y=0.1835 right_z=0.0297 right_yaw=0.0655 right_pitch=-0.0054 right_roll=-0.0058 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.746, -0.0855, -0.0708, -0.0122, 0.2803, -4.465, 4.8615, -0.359, 0.4322, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20400027c69f4b0a50e475ddb8f4d102fdf6af8bfa46ca408f0f59de0cb8319c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691ebaa3f881f9a7d93b490c6247230626539eb5fc851875a2666625de715d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e482052d262a73846ea39c4be336d178c3927248424e5ce471d839d4dbf78c42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHuY9veHogNCD-gF5_OOQU0Xe28LLSUgVNaa1SWD9FuMPMCnLgTjGbpUKPL33KL8sZmb3v6L5X9kqroa_VWjpn8RJnqdHw_9ulvNnfajW07k6rMvtG2IaFJ00Sa4CMHLkJthAiejQ_5cfAxPOcl20-fd253Rc4qSRdAJO6kbULlMjGqTOM55znfp7-OZBWpzFeY8IR-sCjJWkOlGW3mkzf8b2RIhy3Z6akuf4oP3KBqsSgcvvuQHZdfLBXSbXTpjzugB1hOgBKqDaMl_5Vv7FvrHnVPsPY0OauKn2Rue0FxD-Zcy2Rh0oU-Tzp9IiG3A7kt9qVL3kD76aqqqgfMxwFRDS0MCTNidPfSl6UhzHzV6f_LkQtqljjTj5CbhdN5lnAJUzavG8NbSf55ndUf0yAvvyHp2CzLwAZwk13BYNWf1hWBUu49WfZtL-JEnylV33ABhFNJUuadLM8QqyfQOkwE8ymLBFPdvBQg_zp-b1bnrOQXRlgGu13wjPifeeM3WMzRjEsQ6xDvrGvpROz2hy_kvTuSHQhpZbjamvQNtMV1lX0OXZHOR79kIoFmdL-OcTN85JEDHrBfNWHR7lzHrSRF5O7iukVZmn04o1QfO244mc00TBE-ZXXCVm87_sgHyR4t388UJrtiQ1gyvPwJLXSpAAyJHkj_BjSejVMkpIP3KbdAG1bJHfkd06Tgm8jA9qCKsuaWG-aevbAzZtNrw0aW-7e6p9siuYYuQU10ZG-v-ICW1FCaWZ-RIwX0qDVCQ7xeIealQU4xfD_5sKrBQa7tNZsH02tTvBZ6-cI5XcT4lwcqsCJmCcCN6SPE1RTkyopbyMDfZ4pTeh1XWCRCPGuw2cwT89H4-gHBK2R07Uk22iIa-FN-tlr1MfJ-iHUEFp8jMiKc21l3vK1WrDfTACAC56L_pWkf11IiimqTgZ1vKcwzajNxGyQgXIb2T1JQlaui5CWxgdS-xDI9rnLNGo1KUkLPU4ZP7fjFw0yEIMj7lnTqo0tk_ZvF72ToyWVbS7715Nx8AxN2gkQ0xLmI7JIr-NYdJ0nkgNcyRPXm87CW0YxLPm6TKjNZNsq0DqV3d3xqhOrJNZcWUEsX-rHeY9QFJyrSBWYFGf58X-mT_fOtHv0Yb8UsFCUgYjeMCGMoesSa23JQo8l53nVVpr45n56wmDfKyVDqDRj9Co9krKtOoqBpGWz0XvPsadOQ4iiLLcNA0nGU_Qlbdu9JVMXflntxJ6OQaTi_KTB9Mp9K1MfxeF3eUxhKBmx77YIcqCFBxZu-RaXZ0BAQju88djTXBIm-tmgHOU4LZZkgN_GotwAtahS0GtDxlqSHHnrtfGCG5yleCFgSChYLElsUzLHFTvfdY6g-lC14VliyJnZzRKKa4rANyly15MTwT3T93o49FjLrOv_Jr03NDs1DPe4xqDn4T4wUyp8lvGYr2OYtR6RDdvqh5Pln0kOLqOUSENL42O0FVn4PfOCJx2WRep9fbXCbsXSXnALYWXjED94S3__FzqaawNzI8vS8T2lf6ZmCRGzQnKH7Rm3WL45YSzTLbox6utaZDfkVN3finL4K_H1ji7cx7eS92ODiteK922j059Bk_tAY_g5Ijzh5UlczfeBuam5W-b_g_Waruco5jLO8fr-cgABQmru_hNjopjef45mHpLLpNPdzgxlUzv9Aws5sz9wKtoJ3KfGrUqVF4BOZoGUZOOmSnDU4zCGp6mLAAAQ9I3JmmlPK2iFzRCOE_i94vK6KCbG0YU_1FyTc5HIErizTEyjk0dheBEjbvVs-UzIBsbwgIXdBbUx8f3_WJbAR5KoG2dLJ5ar7cM1o0ZiJkmOVZnZDZV0rBR7wP-gdd_WktfPD1Aby7aXNCBwh199Lchm7kvmopOEwktze9wKL-egaqjD-y3m3_dB788xA5QsmaFfDWH7iSOOE2MRUU_W-_Rjq8RdKTFsOuJZr8ghVNVdEvbq17Y5o_N6cWmBlNh5h3QFaZnJJQHJUBj6lj-RHe-AmCdHGp-zed-PmB_0ERhBnduNz9TJgi6RrGUPeyV7DXM14LbQK0gMVs8x_41BzOmRlm8KHcxIdd8fEvnIOn1AByIGen4v7FhOBkKTqJDvdGrkTBOXbm7xI7qe9aMyobtvyduoqBddOi-1YRcNox5q3gaLFVHoH8ZPCuzeZrfwvkTK-jJKe3HtoJSwdM1pvfSaosy0uJ_pz1soaRIDxUobCiIMHmc1OSat9JHaIygXlVIM_JaF36rVfPiBrC9t-FYSKg8cg-7COMXYNQT8Wx4djtm8Zh07U2mv03GLFn5T6qKyYn_FzRhbNrNI2kHvhe58yIynX_hnyOIsWXcSZzB2WsxmgISnL7l4ivlHoh24fyDU2wzmcjTTqhz-ncfyMK-FxejV84Y2dHHJC19wzc6zq4YAKyKXYwBe5h_eOROipgrDJl4Vur4AnjiMjlVUouEo6WlJzQ6EwkSM7nPsTP29bt9suTC02A2DFIXgAuRT7Vsd8VnNhcmSB_b_y1YQ4wFv75iFS7ihNm8bg7bwOocLQ=",
  "id": "rs_031f1ba988f3c78a016ab47b93042c87d0b9576bff0989aedf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.24},\"note\":\"The basket is still tipped, with objects visible inside, and the gripper is close to its front edge. I’m lifting straight up to clear the fingers before making any lateral motion.\"}",
  "call_id": "call_ImXsWnbhsDF6lVn2DbNzZLkr",
  "id": "fc_031f1ba988f3c78a016ab47b97bfd087d0b0c5c956323484e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ImXsWnbhsDF6lVn2DbNzZLkr",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0509, 0.8314, 0.688, -0.4477, -0.0704, -0.0788, 0.9968, 1.7012, 1.2827, 0.8375, -1.0534, 0.9581, 1.7077, 0.9978]\nstate[eef_state]: left_x=0.2982 left_y=0.0008 left_z=0.1943 left_yaw=0.0332 left_pitch=-0.0217 left_roll=-0.0103 left_gripper=0.9968 right_x=0.1132 right_y=0.2207 right_z=0.1427 right_yaw=0.0565 right_pitch=-0.0515 right_roll=0.1986 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -0.9915, 7.0632, 1.7509, -0.0562, -0.0269, -0.0122, 0.1162, -2.0034, 5.9966, -0.0122, 0.5201, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da5e094c88dcbf81f682e9d09edea4f27101c2e450e810ffd4321f84b775668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef629e12fbd3e04db0221a380680705a37a3fae1bc481ed377ee9014ab51e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:825956cf558e76c02ea9b573c388545fc66ddc3eada740b03e0364d78a936062",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 8.131 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 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]: [-0.0509, 0.8227, 0.688, -0.44, -0.0704, -0.0757, 0.9968, 0.0124, 0.799, 0.6792, -0.514, 0.078, 0.0338, 0.9978]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1984 left_yaw=0.0316 left_pitch=-0.0054 left_roll=-0.0091 left_gripper=0.9968 right_x=0.2849 right_y=-0.0066 right_z=0.1858 right_yaw=-0.0751 right_pitch=-0.0604 right_roll=-0.0044 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.935, 7.0769, 1.917, -0.0269, -0.0464, -0.0073, -0.1299, -1.3607, 7.9111, 1.8486, -0.1099, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 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]: [-0.0509, 0.8295, 0.688, -0.4446, -0.0708, -0.0788, 0.9968, 1.7527, 1.56, 0.5171, -0.7189, 0.9821, 1.7748, 0.9978]\nstate[eef_state]: left_x=0.2985 left_y=0.0009 left_z=0.1955 left_yaw=0.0335 left_pitch=-0.0168 left_roll=-0.0105 left_gripper=0.9968 right_x=0.112 right_y=0.1835 right_z=0.0297 right_yaw=0.0655 right_pitch=-0.0054 right_roll=-0.0058 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -1.5248, 6.9949, 1.746, -0.0855, -0.0708, -0.0122, 0.2803, -4.465, 4.8615, -0.359, 0.4322, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 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]: [-0.0509, 0.8314, 0.688, -0.4477, -0.0704, -0.0788, 0.9968, 1.7012, 1.2827, 0.8375, -1.0534, 0.9581, 1.7077, 0.9978]\nstate[eef_state]: left_x=0.2982 left_y=0.0008 left_z=0.1943 left_yaw=0.0332 left_pitch=-0.0217 left_roll=-0.0103 left_gripper=0.9968 right_x=0.1132 right_y=0.2207 right_z=0.1427 right_yaw=0.0565 right_pitch=-0.0515 right_roll=0.1986 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -0.9915, 7.0632, 1.7509, -0.0562, -0.0269, -0.0122, 0.1162, -2.0034, 5.9966, -0.0122, 0.5201, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da5e094c88dcbf81f682e9d09edea4f27101c2e450e810ffd4321f84b775668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef629e12fbd3e04db0221a380680705a37a3fae1bc481ed377ee9014ab51e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:825956cf558e76c02ea9b573c388545fc66ddc3eada740b03e0364d78a936062",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHuiSFN_FLVk_eaBAgcl0nHEUYG_S52eNMbPlwjin-rNSgPNjMzAgMZXWb1yszScLfDOcjf3ccVarrdBv3I12Qr4j1C1wI8bTSbOYo4jIGvRsiUeufdgRlIXjWUQ4x3nQe5qebJb7H4JZsOeBtYF2G7cBEVKc0WSfBjS_eB91NWi4CUa2D0LNyzlKZLeF2XegFx9NdvTEMNo5_cpLkWOB5YMaeGuYa_Usm3vvM8X7NYBdrLNM6dbhitJJH2GuU8nfvlB56FKL_1OS81E58KOb2lVmn6GP9i5iyYRROROQioDopg_snmzjRTHQrbY_UxPZGtOIOyX64WaffDpHPzhzVgFoiRhRcJFOcnZp9WD-j4KMuZs319eWnTs1Zv9ktyQPLlDD2S_FTfUeCvC_w-zBU-3eVlHrOR2p3kuQLyuoN9_T8b01D7ArMtmLOOdM01KaXvHnIiXzEO5X8cZF_J2PObeRjlmGpyM0Ieym_dht9iCe0t9O_9zYaZbH5QqLRpQ-lMwILUpNgAic4vRy6Un0La2bMMXRP-lXBug-cp1ZW6HODm9DsyIIZKlNUg1QppP1fZ_SomV2cUxFs8Pukk0hm-WqNvzi5sUQTnvvQtaWd2DCl22KGJ3S0bPY2oO7KqDn7LncXr_N7Jxg-IS-f2dVk1Cp6d698CJPceUolq_dtq8CttsDDo45OJ5F1JLxatNGRNN78Eu_JG-nAtTNlzAq8b6trTcxuegoAASSCK26bmrMoIS5NUlGRnTIHRtrkW9k0utbkfBL45K4-YA3m5qAQX2CZ4b6wvOeqqPTDtg31XL1wQPynhIzDf0DLxbFIiHRbgbThZP1dd9Y0YtxB7JxUJ6TriVZ0SVw2uecr4f_z4s_8Er8vrk6oCMj5p2HhyyR3H3PszWFEUH-85IVp7eUzBWAqAMGt4VgB-RbIG5KRElL9FRjx4Qgou5UXr3FJE8cgUrUR0su-dv0NoGtreMPxM_f36Gt_hiWQ1W6ZqWWQIRqGpcWFpUZ-UitBQvKewXvko4_nzoljLbh535vuPhfAMLFgaOJwBExZCRAl3vX-tbsdQmNHIfK2we-UivqkmttrJiR1ZkkBMjFNrcJb-tBeTemIe1etj-JJFPzOPV6urLR9cVNhrkTaJ9ytGfUkdyRiIwFeWbMPQV6_6eh7FQRmkSBiLf26EKJsZWFlMMd7wHH9vH8LOKJhLPawOiin4BTjatPmJIjg8PyhIQ0Cpp00ZegBOPKtOvc7zaJMApERlAj67acMipdZ38-1-MFs_iAua60Ea_qV2B9s1bYSSVheQ4XfwqhB7mODU6byUh-mi-OwQl3cOcjN54EAufty_oI3qhmY2kzV_PGFRtj8V0u69MRnEbJ77XobmPZTyd8FEEHgBXB24qr5VCGyVaOxm9WMEG9rYIBfPYSrWRiI6ghSQjnQl__AMMZ9A5XidbUS8pq-cv0GnTF4aBQgOg1YkUtuVBg15m8_zzJk61zCQ7lYJQTUbwu2WlfDJH1PgGgOkjACGZRkV3YC-qfQ265LkIUwM9uLWf3zSgch-BT5OdRGEg878z97bPW5mZGz09iSOE0-YsZOL6NMXkDv9ZTd23P5_3dsGdpIk0JR6gcbPd3Sv8h41-oXQieAFLmk4rC8238noLTWCHBqCCiWlvUCBS1sj2WEIeBt4PXNXQka9bk9emKr0SVHImio4QT345kQ_zfextcGFl-sAawZteng85ASR1HnMWBUGkb7KuHZjfC20LvIb_IcSjj_Xz14I5ix2HqevL4iRSQGlVjPqnWQp-SJsq6Dbq8EQ_kQerFQrmk0JE0JjF_ZHhsOvPUYQlzKOdlqr-SY4mqgbWkFVZJmlRKiKnsBpP5cKN0UmJgK4p_IY62j9zx1EtX8cTpcLeq5McBb2lsHFE2YDjaR2WnZSWa5lb7ftx8YW970_SjV4sHPK4cR82KnInEkti6NmfJf-iF97tgEC6BqjdwZxHWEzZLCYTAyDUEcjk9Zya7Hkn5hqJuU6WRRYMZAasSVAJzvt3ul63M4cXisV_45Sv7jFsLKeKTcF4659LXS7HeY8zRZ8pEXlN64vEABLc4Pkr3ey19PyL-IS0oqb4JyYl0xl7xgnBKOpyYPGaf1HfKSXQd7Nrc9Gq8EbHTdU6w9bsUIJwZVgCwGLUHnNZosa-dT79VEcWkjTL-iJKXqth4aeMxHyy8NXqcg7GoSbRPqGFahDupk8Fo7AdJ-RZNltKLnUaw1TK_XrmZNbN6H1LwhE_wLw6fCPPCXsfcL5qpFCBejt8iCiHbl3ghKvf9TVQ2FzMLiMxGCzNeZFkGk_wKqdDSwxlnDl8-4bUjwo2lKtL2GSxw879ZNmCaNGQUYVJNnZz3kikJCf-HDanFezRT3GxqHBvQxKt3dDhs06g1epFJrfYLoJiASsiIBuwHp1ufHD2ajZxAHR5B3jZJZjv8suQpYYhiIMOsyZsuNsQrr0Q-ejUvvYrD9wvNOZQ1CYDtRv-ySUqeeOUKaWLZB1xTbHv-AJQOGXy9d1H9sa5u36ivnR90aQTpowjGNrw5e4HF4iWpua5WGBs7rtUgs-j9SKSg8JOyNq_rej6sigoHNr3KJ4eq-SYYReJgt6bbtSxOzfNHgW5TdgU0N0-O5YqxsQnig5sqJ7p80JyV-YxadUT7Uk0aABknVWua0pxZlsY-SADobfVMTchjV-UbLGvTjC13rKTnFwPIaJv3maso6h5MCKDLI9iQDUR2eKWpJ9E46JFhptapy2ezK9A0r3onmOvYg0pYg==",
  "id": "rs_031f1ba988f3c78a016ab47b9bc76c87d0a4dc99828aa62c32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0,\"right_z\":0.28,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"I’m stopping further sorting because the basket is tipped and the gray plush is outside the left arm’s reach. I’ll move both arms to clear positions so the basket and remaining objects can be safely repositioned.\"}",
  "call_id": "call_Quv9GgpoFGr65gnH1TfC7Iyy",
  "id": "fc_031f1ba988f3c78a016ab47ba1140887d08e897469ebdbb2e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Quv9GgpoFGr65gnH1TfC7Iyy",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0574, 0.8291, 0.688, -0.4843, -0.0711, -0.0826, 0.9968, 0.0101, 0.7204, 0.9676, -0.8791, 0.0841, 0.057, 0.9978]\nstate[eef_state]: left_x=0.2929 left_y=-0.0007 left_z=0.1876 left_yaw=0.0295 left_pitch=-0.0559 left_roll=-0.0101 left_gripper=0.9968 right_x=0.2433 right_y=-0.0088 right_z=0.2591 right_yaw=-0.0951 right_pitch=-0.0581 right_roll=0.011 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -2.1402, 8.7726, 1.7411, -0.1587, -0.0366, -0.0073, -0.212, 0.3214, 8.7863, 1.7949, -0.0513, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bb0239e77d49b9ead7aab8e23d357efdc2e367cd48adbf2a6f9a4caf302cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca3924d98fab5f66b9c2b5e6e940a860d9e44bb9e12edfdb3f95b624b856093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 438):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d829774f5386e94c87ca8768e82b1f432bcfb8507f13ece6f74937e71c6b269d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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