adhoc

completed
2026-09-24T00:37:03.519889+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
275.6 s
total steps
420
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 clustered near the middle and slim pens around them, with two empty turquoise baskets behind. I’ll sort the plush animals into the left basket and the pens into the right, starting with the front plush.
move_to
left_x0.3000left_y-0.2500left_z0.1500left_gripper1.0000right_x0.2960right_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, 0.8013, 0.6155, -0.3801, -0.0219, -0.0257, 0.9996, -0.0151, 0.7986, 0.6106, -0.3782, -0.0113, -0.0257, 0.9992] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0003 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9992 state[joint_eff]: [-0.4308, -1.7573, 9.4564, 1.7607, -0.0317, 0.1197, -0.0611, -0.8, -1.5658, 9.7846, 1.7411, -0.1245, 0.0659, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.25,"left_z":0.15,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.20},"note":"I see plush animals clustered near the middle and slim pens around them, with two empty turquoise baskets behind. I’ll sort the plush animals into the left basket and the pens into the right, starting with the front plush."})
tool
executing move_to over 23 steps (2.3s)
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 wrist view shows the beige plush centered between the jaws, with its body directly below the gripper. I’m lowering onto its body for a soft grasp.
move_to
left_z0.0350left_x0.3000left_y-0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0393, 1.5307, 0.9531, -0.358, -0.8089, -0.7681, 0.9995, -0.0208, 0.8055, 0.6426, -0.4526, -0.0109, -0.0299, 0.9992] state[eef_state]: left_x=0.2964 left_y=-0.2449 left_z=0.1379 left_yaw=-0.0014 left_pitch=-0.0236 left_roll=0.0163 left_gripper=0.9995 right_x=0.2902 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0035 right_pitch=-0.0492 right_roll=-0.0034 right_gripper=0.9992 state[joint_eff]: [-0.3077, -6.7897, 8.8547, 1.2088, -0.4469, 0.0073, -0.0659, -0.3624, -0.9231, 10.2632, 1.8095, -0.0806, -0.0562, -0.0122] 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_z":0.035,"left_x":0.3,"left_y":-0.25},"note":"The wrist view shows the beige plush centered between the jaws, with its body directly below the gripper. I’m lowering onto its body for a soft grasp."})
tool
executing move_to over 7 steps (0.7s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe fingers are around the beige plush’s torso, and the descent has stopped against the soft toy. I’m closing the jaws to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0374, 1.7596, 0.7795, 0.0929, -0.8318, -0.7712, 0.9995, -0.0208, 0.8055, 0.6422, -0.4561, -0.0109, -0.0296, 0.9992] state[eef_state]: left_x=0.3063 left_y=-0.255 left_z=0.0548 left_yaw=0.0161 left_pitch=0.0164 left_roll=-0.0191 left_gripper=0.9995 right_x=0.2897 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0037 right_pitch=-0.053 right_roll=-0.003 right_gripper=0.9992 state[joint_eff]: [-0.1026, -5.7504, 3.4667, 0.7497, -0.1245, 0.0073, -0.0122, -0.0615, -0.759, 7.0359, 1.7314, -0.022, -0.0513, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are around the beige plush’s torso, and the descent has stopped against the soft toy. I’m closing the jaws to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe jaws closed almost completely, so the first grasp did not securely capture the plush. I’m reopening and moving a little farther forward and lower to get around its torso.
move_to
left_gripper1.0000left_x0.3350left_y-0.2500left_z0.0180
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]: [-1.0378, 1.7634, 0.7788, 0.1406, -0.8356, -0.7837, 0.0325, -0.0208, 0.8062, 0.6422, -0.4599, -0.0109, -0.0296, 0.9992] state[eef_state]: left_x=0.3097 left_y=-0.2601 left_z=0.0594 left_yaw=0.026 left_pitch=0.0398 left_roll=-0.0661 left_gripper=0.0325 right_x=0.2892 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0037 right_pitch=-0.0576 right_roll=-0.003 right_gripper=0.9992 state[joint_eff]: [-0.0752, -7.8564, 5.3538, 0.862, -0.3834, 0.1197, 0.9451, -0.3761, -1.306, 7.1726, 1.7656, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.335,"left_y":-0.25,"left_z":0.018},"note":"The jaws closed almost completely, so the first grasp did not securely capture the plush. I’m reopening and moving a little farther forward and lower to get around its torso."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe plush torso now sits between the open fingers rather than below their tips. I’m closing for the adjusted grasp.
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]: [-0.9596, 1.8771, 0.757, 0.4267, -0.8074, -0.7258, 0.9952, -0.0208, 0.8089, 0.6418, -0.4606, -0.0105, -0.0296, 0.9992] state[eef_state]: left_x=0.3417 left_y=-0.2591 left_z=0.0466 left_yaw=0.0627 left_pitch=0.1019 left_roll=-0.1554 left_gripper=0.9952 right_x=0.2892 right_y=-0.0006 right_z=0.1767 right_yaw=-0.004 right_pitch=-0.0614 right_roll=-0.0031 right_gripper=0.9992 state[joint_eff]: [0.5812, -4.9026, 3.3299, 0.9646, 0.022, 0.2955, -0.1148, -0.2256, -1.5111, 6.9949, 1.6532, -0.0269, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush torso now sits between the open fingers rather than below their tips. I’m closing for the adjusted grasp."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe gripper remains about two centimeters open, which indicates it has material between the jaws. I’m lifting a short distance to check that the plush comes with it.
move_to
left_z0.1350left_x0.3400left_y-0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9615, 1.8755, 0.7574, 0.466, -0.8127, -0.7338, 0.2118, -0.0208, 0.812, 0.6418, -0.4599, -0.0101, -0.0296, 0.9992] state[eef_state]: left_x=0.3443 left_y=-0.263 left_z=0.0537 left_yaw=0.073 left_pitch=0.1254 left_roll=-0.1964 left_gripper=0.2118 right_x=0.2895 right_y=-0.0006 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9992 state[joint_eff]: [0.0752, -8.3214, 4.9299, 1.1013, -0.232, 0.0562, 0.823, -0.1162, -1.306, 7.0359, 1.6777, -0.0415, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.135,"left_x":0.34,"left_y":-0.25},"note":"The gripper remains about two centimeters open, which indicates it has material between the jaws. I’m lifting a short distance to check that the plush comes with it."})
tool
executing move_to over 6 steps (0.6s)
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 beige plush lifted with the gripper. I’m carrying it above the near half of the left basket, high enough to clear the rim.
move_to
left_x0.5200left_y-0.1200left_z0.2500left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.952, 1.6501, 0.799, 0.1688, -0.8051, -0.7372, 0.2131, -0.0208, 0.8131, 0.6415, -0.4599, -0.0105, -0.0296, 0.9992] state[eef_state]: left_x=0.337 left_y=-0.2475 left_z=0.1093 left_yaw=0.0757 left_pitch=0.1055 left_roll=-0.1759 left_gripper=0.2131 right_x=0.2895 right_y=-0.0006 right_z=0.1755 right_yaw=-0.004 right_pitch=-0.0652 right_roll=-0.0031 right_gripper=0.9992 state[joint_eff]: [0.0889, -9.6889, 9.1419, 1.663, -0.2906, 0.0952, 0.1245, -0.0889, -1.1966, 7.0085, 1.7167, -0.0415, -0.0171, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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":0.52,"left_y":-0.12,"left_z":0.25,"left_pitch":0.3},"note":"The beige plush lifted with the gripper. I’m carrying it above the near half of the left basket, high enough to clear the rim."})
tool
executing move_to over 15 steps (1.5s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe plush is above the left basket, slightly toward its near edge. I’m lowering it farther inside before releasing it.
move_to
left_x0.5450left_y-0.1050left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.345, 1.7, 1.1694, 0.178, -0.3622, -0.3241, 0.2146, -0.0208, 0.8185, 0.6415, -0.4606, -0.0105, -0.0296, 0.9992] state[eef_state]: left_x=0.5086 left_y=-0.1125 left_z=0.2205 left_yaw=0.1316 left_pitch=0.2295 left_roll=-0.1757 left_gripper=0.2146 right_x=0.2897 right_y=-0.0006 right_z=0.174 right_yaw=-0.004 right_pitch=-0.0713 right_roll=-0.003 right_gripper=0.9992 state[joint_eff]: [0.0889, -8.9504, 9.9761, 2.1221, 0.1197, 0.3297, 0.149, -0.0205, -1.7299, 6.9949, 1.6972, -0.0269, -0.0122, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.545,"left_y":-0.105,"left_z":0.15},"note":"The plush is above the left basket, slightly toward its near edge. I’m lowering it farther inside before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe plush is lowered into the left basket’s opening. I’m opening the fingers to leave it there.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3038, 1.8938, 1.1492, 0.3763, -0.3325, -0.318, 0.2169, -0.0208, 0.8192, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992] state[eef_state]: left_x=0.5393 left_y=-0.1049 left_z=0.1553 left_yaw=0.1422 left_pitch=0.2113 left_roll=-0.1723 left_gripper=0.2169 right_x=0.2898 right_y=-0.0007 right_z=0.1737 right_yaw=-0.0041 right_pitch=-0.0721 right_roll=-0.0035 right_gripper=0.9992 state[joint_eff]: [0.7453, -7.7607, 6.4068, 1.5995, 0.0317, 0.1294, 0.2125, -0.0752, -1.4291, 6.9675, 1.6484, -0.0269, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The plush is lowered into the left basket’s opening. I’m opening the fingers to leave it there."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteI’ve released the first plush and will check its position as the arm clears the basket. I’m returning above the small brown plush for the next pickup.
move_to
left_x0.3600left_y-0.1450left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2974, 1.9095, 1.1488, 0.4347, -0.3355, -0.329, 0.9951, -0.0208, 0.823, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992] state[eef_state]: left_x=0.5451 left_y=-0.1025 left_z=0.1599 left_yaw=0.1617 left_pitch=0.2488 left_roll=-0.2011 left_gripper=0.9951 right_x=0.29 right_y=-0.0007 right_z=0.1727 right_yaw=-0.0041 right_pitch=-0.0759 right_roll=-0.0034 right_gripper=0.9992 state[joint_eff]: [-0.0752, -9.1829, 6.4068, 1.8095, 0.0562, 0.1832, -0.0073, -0.2393, -1.7162, 6.9675, 1.6972, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.145,"left_z":0.2,"left_pitch":0},"note":"I’ve released the first plush and will check its position as the arm clears the basket. I’m returning above the small brown plush for the next pickup."})
tool
executing move_to over 15 steps (1.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe large bear appears caught on the fingers rather than settled in the basket, and the basket has shifted farther back. I’m securing the bear again and lifting it clear so I can place it farther inside.
move_to
left_gripper0.1500left_z0.2900left_x0.4000left_y-0.1450left_pitch0.3500
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]: [-0.6277, 1.3495, 0.9516, -0.2314, -0.5339, -0.6182, 0.9966, -0.0208, 0.8276, 0.6415, -0.4599, -0.0105, -0.0299, 0.9992] state[eef_state]: left_x=0.3713 left_y=-0.1539 left_z=0.1994 left_yaw=0.1306 left_pitch=0.0215 left_roll=-0.2162 left_gripper=0.9966 right_x=0.2904 right_y=-0.0006 right_z=0.1716 right_yaw=-0.0038 right_pitch=-0.0797 right_roll=-0.0031 right_gripper=0.9992 state[joint_eff]: [-0.1299, -7.0769, 7.0359, 1.6532, -0.3101, -0.0269, 0.1392, -0.0615, -1.5111, 6.9675, 1.7314, -0.0122, -0.0708, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15,"left_z":0.29,"left_x":0.4,"left_y":-0.145,"left_pitch":0.35},"note":"The large bear appears caught on the fingers rather than settled in the basket, and the basket has shifted farther back. I’m securing the bear again and lifting it clear so I can place it farther inside."})
tool
executing move_to over 11 steps (1.1s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe bear is resting just in front of the shifted basket, not inside it. I’m repositioning the open jaws around its upper body for a direct lift into the opening.
move_to
left_x0.4750left_y-0.1700left_z0.1200left_gripper1.0000left_pitch0.2000
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]: [-0.5941, 1.3331, 0.9516, 0.0238, -0.5949, -0.4145, 0.1537, -0.0208, 0.8307, 0.6415, -0.4603, -0.0109, -0.0296, 0.9992] state[eef_state]: left_x=0.3975 left_y=-0.1448 left_z=0.2575 left_yaw=0.1326 left_pitch=0.2628 left_roll=-0.1925 left_gripper=0.1537 right_x=0.2905 right_y=-0.0005 right_z=0.1707 right_yaw=-0.0037 right_pitch=-0.0832 right_roll=-0.0025 right_gripper=0.9992 state[joint_eff]: [0.1846, -7.4051, 9.2103, 2.0049, -0.1099, 0.3004, 0.0562, -0.1026, -1.6752, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.17,"left_z":0.12,"left_gripper":1,"left_pitch":0.2},"note":"The bear is resting just in front of the shifted basket, not inside it. I’m repositioning the open jaws around its upper body for a direct lift into the opening."})
tool
executing move_to over 9 steps (0.9s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe bear’s upper body fills the gap between the jaws. I’m closing around it before lifting.
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]: [-0.522, 1.7966, 0.9279, 0.4934, -0.5995, -0.4171, 0.9953, -0.0208, 0.8333, 0.6415, -0.4614, -0.0101, -0.0299, 0.9992] state[eef_state]: left_x=0.4712 left_y=-0.152 left_z=0.1421 left_yaw=0.2071 left_pitch=0.2505 left_roll=-0.1818 left_gripper=0.9953 right_x=0.2905 right_y=-0.0007 right_z=0.1698 right_yaw=-0.0041 right_pitch=-0.087 right_roll=-0.0032 right_gripper=0.9992 state[joint_eff]: [-0.1436, -6.1744, 7.2274, 1.2137, 0.9499, -0.1294, -0.0904, -0.1299, -1.5795, 6.9675, 1.6679, -0.0415, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bear’s upper body fills the gap between the jaws. I’m closing around it before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe gripper has captured part of the bear. I’m lifting vertically to confirm the bear clears the tabletop before moving it over the basket.
move_to
left_z0.2600left_x0.4750left_y-0.1500left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5266, 1.8008, 0.9314, 0.5213, -0.6285, -0.4194, 0.1288, -0.0208, 0.8356, 0.6415, -0.4603, -0.0105, -0.0299, 0.9992] state[eef_state]: left_x=0.4729 left_y=-0.1507 left_z=0.1482 left_yaw=0.2338 left_pitch=0.2772 left_roll=-0.1952 left_gripper=0.1288 right_x=0.2908 right_y=-0.0006 right_z=0.1694 right_yaw=-0.0038 right_pitch=-0.0881 right_roll=-0.003 right_gripper=0.9992 state[joint_eff]: [0.3077, -9.1145, 5.8188, 1.4969, 0.1392, -0.0269, 0.9841, -0.1573, -1.6068, 6.9675, 1.6581, -0.0024, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.26,"left_x":0.475,"left_y":-0.15,"left_pitch":0.3},"note":"The gripper has captured part of the bear. I’m lifting vertically to confirm the bear clears the tabletop before moving it over the basket."})
tool
executing move_to over 8 steps (0.8s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe bear rose with the gripper. I’m moving it over the shifted left basket’s near opening, using a forward tilt to reach without pushing the basket again.
move_to
left_x0.5950left_y-0.0650left_z0.2900left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5266, 1.6859, 1.1385, 0.1291, -0.6323, -0.4263, 0.1312, -0.0208, 0.836, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992] state[eef_state]: left_x=0.4737 left_y=-0.1505 left_z=0.2118 left_yaw=0.2284 left_pitch=0.2266 left_roll=-0.1511 left_gripper=0.1312 right_x=0.2908 right_y=-0.0007 right_z=0.1692 right_yaw=-0.0041 right_pitch=-0.0889 right_roll=-0.0032 right_gripper=0.9992 state[joint_eff]: [-0.0205, -12.4103, 10.4547, 2.0049, -0.1343, 0.2466, 0.9451, -0.0479, -1.4838, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.595,"left_y":-0.065,"left_z":0.29,"left_pitch":0.5},"note":"The bear rose with the gripper. I’m moving it over the shifted left basket’s near opening, using a forward tilt to reach without pushing the basket again."})
tool
executing move_to over 10 steps (1.0s)
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 hanging bear is offset to the right of the jaws, so it is still near the basket’s right rim. I’m shifting left and lowering slightly to center the bear itself over the opening.
move_to
left_y0.0050left_x0.5950left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2401, 1.9259, 1.4197, 0.2909, -0.4095, -0.2306, 0.1324, -0.0208, 0.8387, 0.6411, -0.461, -0.0105, -0.0296, 0.9992] state[eef_state]: left_x=0.583 left_y=-0.0667 left_z=0.2439 left_yaw=0.246 left_pitch=0.3646 left_roll=-0.1358 left_gripper=0.1324 right_x=0.2908 right_y=-0.0006 right_z=0.1682 right_yaw=-0.004 right_pitch=-0.0923 right_roll=-0.0026 right_gripper=0.9992 state[joint_eff]: [0.3897, -10.7009, 10.1949, 2.381, 0.1587, 0.3834, 0.8767, -0.1026, -1.5658, 6.9812, 1.6825, -0.0122, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_y":0.005,"left_x":0.595,"left_z":0.22},"note":"The hanging bear is offset to the right of the jaws, so it is still near the basket’s right rim. I’m shifting left and lowering slightly to center the bear itself over the opening."})
tool
executing move_to over 7 steps (0.7s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe bear now overlaps the left basket opening rather than its outside edge. I’m releasing it here.
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]: [-0.0814, 1.9522, 1.3701, 0.3408, -0.2779, -0.2161, 0.1349, -0.0208, 0.8417, 0.6411, -0.4599, -0.0105, -0.0296, 0.9992] state[eef_state]: left_x=0.5914 left_y=0.0039 left_z=0.2153 left_yaw=0.2742 left_pitch=0.3297 left_roll=-0.1384 left_gripper=0.1349 right_x=0.2912 right_y=-0.0006 right_z=0.1676 right_yaw=-0.004 right_pitch=-0.0942 right_roll=-0.0026 right_gripper=0.9992 state[joint_eff]: [0.5675, -10.3316, 6.5436, 2.2979, 0.0659, 0.1978, 0.5397, -0.1846, -1.7436, 7.159, 1.6777, -0.0464, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bear now overlaps the left basket opening rather than its outside edge. I’m releasing it here."})
tool
executing move_to over 9 steps (0.9s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe bear is now in the left basket. I’m bringing the left hand over the small brown plush and the right hand over the blue-capped pen; these pickups are well separated.
move_to
left_x0.3300left_y-0.1400left_z0.1200left_pitch0.0000left_yaw0.0000left_roll0.0000right_x0.3450right_y0.2150right_z0.0800right_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]: [-0.0807, 1.9583, 1.359, 0.3305, -0.276, -0.2241, 0.9955, -0.0208, 0.8421, 0.6411, -0.4603, -0.0105, -0.0296, 0.9992] state[eef_state]: left_x=0.5898 left_y=0.0042 left_z=0.2043 left_yaw=0.2747 left_pitch=0.3033 left_roll=-0.137 left_gripper=0.9955 right_x=0.2911 right_y=-0.0006 right_z=0.1675 right_yaw=-0.004 right_pitch=-0.095 right_roll=-0.0026 right_gripper=0.9992 state[joint_eff]: [-0.3897, -11.5761, 7.747, 1.9902, -0.0806, -0.0073, -0.2418, -0.1299, -1.5111, 7.1863, 1.663, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.14,"left_z":0.12,"left_pitch":0,"left_yaw":0,"left_roll":0,"right_x":0.345,"right_y":0.215,"right_z":0.08,"right_gripper":1},"note":"The bear is now in the left basket. I’m bringing the left hand over the small brown plush and the right hand over the blue-capped pen; these pickups are well separated."})
tool
executing move_to over 20 steps (2.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe small plush is just beneath the left fingertips, and the blue pen is aligned along the right jaw column. I’m lowering both open grippers to their pickup heights.
move_to
left_x0.3100left_y-0.1450left_z0.0120right_x0.3350right_y0.2250right_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]: [-0.6582, 1.3125, 0.6224, 0.033, -0.5243, -0.3939, 0.9967, 0.7856, 1.623, 0.7979, -0.0647, 0.5678, 0.5087, 0.9992] state[eef_state]: left_x=0.3382 left_y=-0.1452 left_z=0.1215 left_yaw=-0.0273 left_pitch=0.0087 left_roll=-0.0114 left_gripper=0.9967 right_x=0.3347 right_y=0.2056 right_z=0.0663 right_yaw=0.0275 right_pitch=-0.1487 right_roll=-0.045 right_gripper=0.9992 state[joint_eff]: [-0.1436, -5.7094, 6.3658, 1.6337, -0.3004, -0.0464, 0.1099, 0.4308, -6.9675, 8.1573, 1.4335, 0.5104, 0.2711, -0.0952] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.145,"left_z":0.012,"right_x":0.335,"right_y":0.225,"right_z":-0.008},"note":"The small plush is just beneath the left fingertips, and the blue pen is aligned along the right jaw column. I’m lowering both open grippers to their pickup heights."})
tool
executing move_to over 8 steps (0.8s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe brown plush and blue pen are within the open jaws but slightly off center. I’m making small lateral corrections while closing to capture each object.
move_to
left_y-0.1300right_y0.2050left_gripper0.0000right_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]: [-0.7319, 1.6268, 0.3511, 0.5793, -0.6086, -0.4274, 0.9968, 0.8227, 1.8534, 0.7582, 0.2485, 0.6029, 0.5476, 0.9992] state[eef_state]: left_x=0.3143 left_y=-0.1417 left_z=0.0209 left_yaw=-0.0178 left_pitch=0.0112 left_roll=0.0259 left_gripper=0.9968 right_x=0.3443 right_y=0.2289 right_z=0.0138 right_yaw=0.0222 right_pitch=-0.0987 right_roll=-0.0035 right_gripper=0.9992 state[joint_eff]: [-0.4718, -4.4923, 2.8103, 1.1306, 0.2222, -0.2662, -0.0024, 0.5128, -5.094, 4.7248, 0.4518, 0.0464, -0.0073, -0.0171] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.13,"right_y":0.205,"left_gripper":0,"right_gripper":0},"note":"The brown plush and blue pen are within the open jaws but slightly off center. I’m making small lateral corrections while closing to capture each object."})
tool
executing move_to over 10 steps (1.0s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteBoth grippers have stopped with clear gaps: about two centimeters on the plush and one-and-a-half on the pen. I’m lifting them a short distance to verify both pickups.
move_to
left_z0.1000right_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6918, 1.6119, 0.3344, 0.6334, -0.6025, -0.4004, 0.2056, 0.7723, 1.821, 0.6899, 0.313, 0.5648, 0.5022, 0.1474] state[eef_state]: left_x=0.3216 left_y=-0.1317 left_z=0.0293 left_yaw=0.0041 left_pitch=0.0481 left_roll=0.0124 left_gripper=0.2056 right_x=0.3456 right_y=0.2097 right_z=0.0117 right_yaw=0.0259 right_pitch=-0.098 right_roll=0.001 right_gripper=0.1474 state[joint_eff]: [0.2393, -5.7915, 3.0564, 1.4042, 0.0122, 0.0171, 0.9402, -0.5538, -9.2376, 4.0547, 1.3993, 0.1832, -0.0269, 1.0037] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1,"right_z":0.09},"note":"Both grippers have stopped with clear gaps: about two centimeters on the plush and one-and-a-half on the pen. I’m lifting them a short distance to verify both pickups."})
tool
executing move_to over 6 steps (0.6s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteBoth objects rose with their grippers. I’m carrying the brown plush to the left basket and the blue pen to the right basket, clearing the rims.
move_to
left_x0.5850left_y-0.0250left_z0.2600left_pitch0.4500right_x0.5450right_y0.1800right_z0.2300right_pitch0.3500
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, 1.3197, 0.4408, 0.2508, -0.5999, -0.4015, 0.208, 0.7708, 1.6287, 0.791, 0.0151, 0.5491, 0.4965, 0.1516] state[eef_state]: left_x=0.3216 left_y=-0.1316 left_z=0.0906 left_yaw=0.0047 left_pitch=0.0594 left_roll=-0.0001 left_gripper=0.208 right_x=0.3444 right_y=0.211 right_z=0.072 right_yaw=0.0387 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.1516 state[joint_eff]: [-0.294, -4.8752, 8.5949, 1.58, -0.2759, -0.0464, 0.2369, -0.1846, -9.0325, 8.2667, 1.4237, 0.3248, 0.0024, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.585,"left_y":-0.025,"left_z":0.26,"left_pitch":0.45,"right_x":0.545,"right_y":0.18,"right_z":0.23,"right_pitch":0.35},"note":"Both objects rose with their grippers. I’m carrying the brown plush to the left basket and the blue pen to the right basket, clearing the rims."})
tool
executing move_to over 21 steps (2.1s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteBoth objects are above their assigned baskets, but the long pen extends toward the near rim. I’m reaching slightly farther in before releasing so the pen falls inside rather than across the edge.
move_to
left_x0.5950left_z0.1900right_x0.5950right_z0.2000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0765, 1.8709, 1.2747, 0.3977, -0.1333, -0.0589, 0.2097, 0.4362, 1.8797, 1.2839, 0.2756, 0.3798, 0.0814, 0.1516] state[eef_state]: left_x=0.5755 left_y=-0.017 left_z=0.2282 left_yaw=0.0636 left_pitch=0.369 left_roll=-0.0187 left_gripper=0.2097 right_x=0.533 right_y=0.1802 right_z=0.2022 right_yaw=0.0526 right_pitch=0.2694 right_roll=-0.0232 right_gripper=0.1516 state[joint_eff]: [-0.0889, -10.7556, 9.9077, 2.1954, 0.2222, 0.3199, 0.1587, -0.7043, -9.6615, 9.812, 2.337, 0.1294, 0.0024, 1.0281] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.595,"left_z":0.19,"right_x":0.595,"right_z":0.2,"right_pitch":0.5},"note":"Both objects are above their assigned baskets, but the long pen extends toward the near rim. I’m reaching slightly farther in before releasing so the pen falls inside rather than across the edge."})
tool
executing move_to over 8 steps (0.8s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteThe small plush is supported in the left basket, and the pen is over the right basket’s interior. I’m opening both grippers to complete these placements.
move_to
left_gripper1.0000right_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]: [-0.0696, 1.9076, 1.277, 0.3988, -0.1337, -0.0605, 0.2125, 0.3935, 2.1193, 1.3602, 0.5682, 0.3435, -0.0051, 0.1516] state[eef_state]: left_x=0.5798 left_y=-0.0132 left_z=0.2091 left_yaw=0.07 left_pitch=0.3362 left_roll=-0.0153 left_gripper=0.2125 right_x=0.5839 right_y=0.1819 right_z=0.1676 right_yaw=0.0761 right_pitch=0.3857 right_roll=-0.0561 right_gripper=0.1516 state[joint_eff]: [-0.4991, -11.1658, 6.8308, 2.1368, -0.0659, -0.0562, 0.2808, -0.8821, -11.7538, 9.0735, 2.3077, 0.0415, -0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":1},"note":"The small plush is supported in the left basket, and the pen is over the right basket’s interior. I’m opening both grippers to complete these placements."})
tool
executing move_to over 9 steps (0.9s)
step 255
top_cam
camera top_cam step 255
left_cam
camera left_cam step 255
assistant
agent noteThe bear and brown plush are in the left basket, and the blue pen is in the right. I’m moving to the remaining gray plush on the left and the dark pen on the right.
move_to
left_x0.3350left_y0.0050left_z0.1100left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.3450right_y0.1450right_z0.0900right_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]: [-0.0692, 1.9079, 1.277, 0.387, -0.1341, -0.0669, 0.9954, 0.3923, 2.1361, 1.3544, 0.5591, 0.3344, -0.0109, 0.9954] state[eef_state]: left_x=0.5792 left_y=-0.0129 left_z=0.2061 left_yaw=0.0738 left_pitch=0.3241 left_roll=-0.02 left_gripper=0.9954 right_x=0.5834 right_y=0.1826 right_z=0.1529 right_yaw=0.0903 right_pitch=0.3548 right_roll=-0.0705 right_gripper=0.9954 state[joint_eff]: [-0.1436, -10.4957, 6.9675, 2.0293, -0.0366, 0.022, -0.2173, -0.253, -13.4632, 7.0496, 1.9853, 0.0855, -0.022, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":0.005,"left_z":0.11,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.345,"right_y":0.145,"right_z":0.09,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The bear and brown plush are in the left basket, and the blue pen is in the right. I’m moving to the remaining gray plush on the left and the dark pen on the right."})
tool
executing move_to over 19 steps (1.9s)
step 274
assistant
agent noteThe gray plush is offset left of the wrist view, so I’m correcting toward it while lowering. The right hand is lowering onto the dark pen, with the blue pen already visible inside its basket.
move_to
left_x0.3300left_y0.0400left_z0.0050right_x0.3350right_y0.1450right_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]: [-0.0036, 1.1145, 0.4355, 0.1371, -0.0216, -0.0322, 0.9967, 0.6117, 1.4494, 0.5949, 0.2684, 0.4976, 0.3061, 0.9963] state[eef_state]: left_x=0.3435 left_y=0.0061 left_z=0.1148 left_yaw=0.0184 left_pitch=0.0241 left_roll=-0.0062 left_gripper=0.9967 right_x=0.3591 right_y=0.1533 right_z=0.1042 right_yaw=0.0263 right_pitch=0.0586 right_roll=0.0149 right_gripper=0.9963 state[joint_eff]: [0.4034, -3.7675, 6.735, 1.8388, 0.1148, 0.1538, 0.1148, 0.5265, -5.9556, 5.1897, 1.2283, 0.3053, 0.2027, 0.0806] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":0.04,"left_z":0.005,"right_x":0.335,"right_y":0.145,"right_z":-0.008},"note":"The gray plush is offset left of the wrist view, so I’m correcting toward it while lowering. The right hand is lowering onto the dark pen, with the blue pen already visible inside its basket."})
tool
executing move_to over 8 steps (0.8s)
step 282
assistant
agent noteThe gray plush is between the left fingers. The right basket shifted into the pickup path and is touching the right hand, so I’m withdrawing that hand to clear the rim and reassess the remaining pen.
move_to
left_gripper0.0000right_x0.2900right_y0.0550right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1646, 1.6047, 0.2089, 0.9787, 0.0971, 0.0868, 0.9967, 0.6357, 1.8133, 0.3969, 1.0248, 0.5564, 0.3153, 0.9963] state[eef_state]: left_x=0.3531 left_y=0.0449 left_z=0.0456 left_yaw=0.0211 left_pitch=0.1496 left_roll=0.0526 left_gripper=0.9967 right_x=0.3622 right_y=0.1558 right_z=0.0516 right_yaw=-0.0201 right_pitch=0.2327 right_roll=0.1149 right_gripper=0.9963 state[joint_eff]: [0.6359, -2.2496, 0.9094, -0.2418, 0.2222, -0.5836, -0.0122, 0.5265, -1.2513, 0.4308, -0.8278, -0.5739, 0.0806, -0.0024] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.29,"right_y":0.055,"right_z":0.18,"right_pitch":0},"note":"The gray plush is between the left fingers. The right basket shifted into the pickup path and is touching the right hand, so I’m withdrawing that hand to clear the rim and reassess the remaining pen."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe left grasp closed empty, so I’m moving forward to the gray plush’s body for one adjusted attempt. The right hand did not clear the basket on the diagonal retreat; I’m lifting it straight up instead.
move_to
left_x0.3800left_y0.0500left_z0.0350left_gripper1.0000right_x0.3500right_y0.1400right_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1661, 1.5986, 0.2073, 1.0103, 0.0868, 0.0895, 0.0093, 0.5896, 1.6646, 0.3389, 0.9279, 0.5041, 0.3164, 0.9963] state[eef_state]: left_x=0.3558 left_y=0.0478 left_z=0.0543 left_yaw=0.0292 left_pitch=0.1848 left_roll=0.0642 left_gripper=0.0093 right_x=0.3528 right_y=0.1377 right_z=0.0649 right_yaw=-0.0215 right_pitch=0.2159 right_roll=0.1289 right_gripper=0.9963 state[joint_eff]: [-0.2667, -4.465, 4.1368, 1.536, 0.0855, -0.0513, 0.7643, 0.0205, -5.0803, 3.5897, 1.453, 0.0659, 0.1099, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":0.05,"left_z":0.035,"left_gripper":1,"right_x":0.35,"right_y":0.14,"right_z":0.26},"note":"The left grasp closed empty, so I’m moving forward to the gray plush’s body for one adjusted attempt. The right hand did not clear the basket on the diagonal retreat; I’m lifting it straight up instead."})
tool
executing move_to over 13 steps (1.3s)
step 305
assistant
agent noteThe gray plush is now alongside the left jaws, though close to the outer reach limit. A dark pen appears caught beside the right fingers after clearing the basket, so I’m closing both hands to see whether either has a secure hold.
move_to
left_gripper0.0000right_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]: [0.1555, 1.8034, 0.268, 1.1187, 0.0826, 0.0814, 0.9964, 0.5964, 1.1572, 0.828, -0.0742, 0.4973, 0.3149, 0.9963] state[eef_state]: left_x=0.3719 left_y=0.0472 left_z=0.0267 left_yaw=0.0272 left_pitch=0.1493 left_roll=0.0536 left_gripper=0.9964 right_x=0.3536 right_y=0.1425 right_z=0.2431 right_yaw=-0.0073 right_pitch=0.2097 right_roll=0.1263 right_gripper=0.9963 state[joint_eff]: [-0.0615, -5.053, 5.0667, 2.0977, -0.0464, 0.0659, 0.0415, 0.6222, -5.2444, 9.7983, 1.6874, 0.3101, 0.0366, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). 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_gripper":0,"right_gripper":0},"note":"The gray plush is now alongside the left jaws, though close to the outer reach limit. A dark pen appears caught beside the right fingers after clearing the basket, so I’m closing both hands to see whether either has a secure hold."})
tool
executing move_to over 10 steps (1.0s)
step 315
assistant
agent noteBoth grasps closed empty. The gray plush is beyond the left hand’s outer lateral limit, so I’m clearing both hands from the table to verify the remaining objects and leave the baskets unobstructed.
move_to
left_x0.3000left_y0.0000left_z0.2000left_gripper1.0000left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2900right_y0.0000right_z0.2500right_gripper1.0000right_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]: [0.1551, 1.8107, 0.2699, 1.1156, 0.0814, 0.0784, 0.0091, 0.598, 1.1614, 0.8253, -0.0933, 0.4862, 0.3103, 0.0101] state[eef_state]: left_x=0.3716 left_y=0.0472 left_z=0.024 left_yaw=0.0296 left_pitch=0.1411 left_roll=0.0502 left_gripper=0.0091 right_x=0.3518 right_y=0.1441 right_z=0.236 right_yaw=0.0091 right_pitch=0.186 right_roll=0.1109 right_gripper=0.0101 state[joint_eff]: [-0.0889, -6.5436, 2.9607, 1.8437, 0.0464, 0.0122, 0.6716, -0.2256, -4.4103, 7.4598, 1.9658, 0.1734, 0.0073, 0.8327] approver: 10 step(s) modified (delta_clamped ×10). 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_x":0.3,"left_y":0,"left_z":0.2,"left_gripper":1,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.29,"right_y":0,"right_z":0.25,"right_gripper":1,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"Both grasps closed empty. The gray plush is beyond the left hand’s outer lateral limit, so I’m clearing both hands from the table to verify the remaining objects and leave the baskets unobstructed."})
tool
executing move_to over 13 steps (1.3s)
step 328
assistant
agent noteWith the hands clear, the two tan plush toys are in the left basket, but the right basket is empty and a pen lies diagonally in front of it. I’ll make one direct pickup of that accessible pen; the gray plush remains outside the left hand’s lateral reach.
move_to
right_x0.2550right_y0.1200right_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]: [-0.0242, 0.8406, 0.6453, -0.3283, -0.0158, -0.0238, 0.9971, 0.0006, 0.8391, 0.8547, -0.5926, 0.0418, 0.0139, 0.9964] state[eef_state]: left_x=0.3098 left_y=-0.0011 left_z=0.1968 left_yaw=-0.0115 left_pitch=0.0423 left_roll=-0.0022 left_gripper=0.9971 right_x=0.2944 right_y=-0.0036 right_z=0.2379 right_yaw=-0.0501 right_pitch=-0.0102 right_roll=0.004 right_gripper=0.9964 state[joint_eff]: [-0.2667, -2.3453, 8.9778, 1.6337, -0.0464, -0.0024, 0.0073, -0.212, -1.853, 9.853, 1.6386, -0.0904, 0.0171, -0.0952] camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.255,"right_y":0.12,"right_z":0.075},"note":"With the hands clear, the two tan plush toys are in the left basket, but the right basket is empty and a pen lies diagonally in front of it. I’ll make one direct pickup of that accessible pen; the gray plush remains outside the left hand’s lateral reach."})
tool
executing move_to over 11 steps (1.1s)
step 339
assistant
agent noteThe pen’s shaft is just to the right of the wrist’s jaw column. I’m shifting slightly right and lowering to grasp it away from the basket rim.
move_to
right_x0.2650right_y0.1020right_z-0.0060
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]: [-0.0246, 0.8448, 0.6495, -0.3504, -0.0231, -0.0349, 0.998, 0.8238, 1.0679, 0.3489, -0.1314, 0.6411, 0.5114, 0.9971] state[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1929 left_yaw=0.0002 left_pitch=0.0203 left_roll=-0.0076 left_gripper=0.998 right_x=0.249 right_y=0.1187 right_z=0.0681 right_yaw=0.0156 right_pitch=-0.0813 right_roll=-0.055 right_gripper=0.9971 state[joint_eff]: [-0.1299, -1.812, 6.9265, 1.9316, 0.0366, 0.0757, 0.0855, 0.1983, -3.4667, 5.6957, 1.4188, 0.5592, 0.1392, 0.0611] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.102,"right_z":-0.006},"note":"The pen’s shaft is just to the right of the wrist’s jaw column. I’m shifting slightly right and lowering to grasp it away from the basket rim."})
tool
executing move_to over 5 steps (0.5s)
step 344
assistant
agent noteThe right fingertips are at table height around the pen’s last visible position. I’m closing once to test the pickup.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0246, 0.8497, 0.6487, -0.3542, -0.0231, -0.038, 0.9981, 0.6941, 1.4319, 0.1875, 0.4873, 0.5922, 0.4412, 0.9971] state[eef_state]: left_x=0.3076 left_y=0.0001 left_z=0.1903 left_yaw=0.0018 left_pitch=0.0107 left_roll=-0.01 left_gripper=0.9981 right_x=0.2732 right_y=0.1038 right_z=0.012 right_yaw=-0.037 right_pitch=-0.0402 right_roll=-0.0215 right_gripper=0.9971 state[joint_eff]: [-0.1983, -1.9487, 7.0906, 1.8779, -0.0464, -0.0171, -0.0122, -0.3624, -1.9761, 1.2239, -0.149, -0.2076, -0.4029, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are at table height around the pen’s last visible position. I’m closing once to test the pickup."})
tool
executing move_to over 10 steps (1.0s)
step 354
assistant
agent noteThe gripper has a stable gap of about 1.4 centimeters, consistent with a pen. I’m lifting vertically to confirm it is held before moving over the basket.
move_to
right_z0.1150
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]: [-0.0246, 0.8509, 0.6487, -0.3534, -0.0231, -0.0387, 0.998, 0.688, 1.4357, 0.1787, 0.506, 0.5789, 0.4374, 0.1487] state[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1901 left_yaw=0.0022 left_pitch=0.0104 left_roll=-0.0106 left_gripper=0.998 right_x=0.2727 right_y=0.1037 right_z=0.0105 right_yaw=-0.0308 right_pitch=-0.0417 right_roll=-0.0137 right_gripper=0.1487 state[joint_eff]: [-0.0752, -1.7709, 7.0359, 1.7851, -0.0317, -0.0562, -0.0122, 0.3897, -4.0547, 4.9846, 1.3016, 0.3004, -0.022, 1.0085] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The gripper has a stable gap of about 1.4 centimeters, consistent with a pen. I’m lifting vertically to confirm it is held before moving over the basket."})
tool
executing move_to over 7 steps (0.7s)
step 361
assistant
agent noteThe pen lifted with the jaws. The right basket is now closer than before, so I’m moving above its center using its current position rather than the earlier placement coordinates.
move_to
right_x0.4700right_y0.1750right_z0.2300right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0246, 0.8566, 0.6487, -0.3531, -0.0235, -0.0383, 0.9981, 0.6868, 1.0096, 0.4198, -0.1349, 0.5667, 0.4335, 0.1531] state[eef_state]: left_x=0.3083 left_y=0.0001 left_z=0.1886 left_yaw=0.0023 left_pitch=0.005 left_roll=-0.0099 left_gripper=0.9981 right_x=0.2749 right_y=0.1074 right_z=0.104 right_yaw=-0.0201 right_pitch=-0.0272 right_roll=0.0066 right_gripper=0.1531 state[joint_eff]: [-0.0068, -1.9897, 7.3641, 1.7363, -0.0464, -0.0513, -0.0073, 0.0205, -3.0154, 9.3333, 1.5311, 0.2369, 0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.175,"right_z":0.23,"right_pitch":0.1},"note":"The pen lifted with the jaws. The right basket is now closer than before, so I’m moving above its center using its current position rather than the earlier placement coordinates."})
tool
executing move_to over 16 steps (1.6s)
step 377
assistant
agent noteThe pen is over the right basket’s opening. I’m lowering it close to the basket floor so it can be released without bouncing out.
move_to
right_z0.1300
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]: [-0.0246, 0.8619, 0.6487, -0.3546, -0.0235, -0.0383, 0.9981, 0.5163, 1.6642, 1.2594, -0.1646, 0.4587, 0.2462, 0.1552] state[eef_state]: left_x=0.3085 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0018 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4595 right_y=0.175 right_z=0.2105 right_yaw=-0.0059 right_pitch=0.0617 right_roll=-0.0106 right_gripper=0.1552 state[joint_eff]: [-0.0615, -2.0855, 7.0632, 1.7607, -0.0415, -0.0415, -0.0171, -0.8274, -8.3761, 9.4838, 1.5946, 0.1148, 0.0269, 1.033] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The pen is over the right basket’s opening. I’m lowering it close to the basket floor so it can be released without bouncing out."})
tool
executing move_to over 6 steps (0.6s)
step 383
assistant
agent noteThe pen is lowered inside the basket. I’m releasing it before lifting the fingers straight clear of the rim.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0246, 0.8623, 0.6487, -0.3534, -0.0235, -0.0383, 0.9981, 0.5129, 1.7519, 1.0466, 0.0776, 0.4583, 0.2424, 0.1558] state[eef_state]: left_x=0.3087 left_y=0.0001 left_z=0.1868 left_yaw=0.0023 left_pitch=-0.0011 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4531 right_y=0.1696 right_z=0.1245 right_yaw=-0.0059 right_pitch=0.0109 right_roll=-0.0427 right_gripper=0.1558 state[joint_eff]: [-0.0615, -1.7709, 7.0632, 1.7558, -0.0659, -0.0366, -0.0122, -0.0615, -8.0205, 6.6803, 1.8681, 0.1197, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pen is lowered inside the basket. I’m releasing it before lifting the fingers straight clear of the rim."})
tool
executing move_to over 9 steps (0.9s)
step 392
assistant
agent noteThe wrist view confirms the dark marker is lying inside the right basket. I’m lifting vertically so the open fingers do not catch or drag the basket rim.
move_to
right_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]: [-0.0246, 0.8623, 0.6487, -0.3538, -0.0235, -0.0387, 0.9981, 0.5129, 1.7657, 1.0386, 0.0799, 0.4583, 0.2394, 0.9954] state[eef_state]: left_x=0.3086 left_y=0.0001 left_z=0.1867 left_yaw=0.0025 left_pitch=-0.0015 left_roll=-0.0101 left_gripper=0.9981 right_x=0.4517 right_y=0.1688 right_z=0.1154 right_yaw=-0.0043 right_pitch=-0.0061 right_roll=-0.055 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.7802, -0.0415, -0.0366, -0.0122, -0.3487, -10.0171, 7.1863, 1.619, 0.0611, -0.0464, -0.1685] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.29},"note":"The wrist view confirms the dark marker is lying inside the right basket. I’m lifting vertically so the open fingers do not catch or drag the basket rim."})
tool
executing move_to over 12 steps (1.2s)
step 404
assistant
agent noteThe marker remains in the right basket and the tan plush toys remain in the left. I’m parking both arms; the yellow pen and the gray plush still need sorting, and the gray plush needs to be moved inward to become reachable.
move_to
left_x0.2960left_y0.0000left_z0.2000right_x0.2960right_y0.0000right_z0.2000right_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]: [-0.0246, 0.8642, 0.6487, -0.3515, -0.0235, -0.0383, 0.9981, 0.5129, 1.6886, 1.5875, -0.5571, 0.4511, 0.2382, 0.9963] state[eef_state]: left_x=0.3091 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0011 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4561 right_y=0.1726 right_z=0.2692 right_yaw=0.0021 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.4838, 7.0359, 1.7509, -0.0415, -0.0415, -0.0171, -0.1299, -9.5521, 9.3333, 1.5507, 0.1441, -0.022, 0.0855] camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The marker remains in the right basket and the tan plush toys remain in the left. I’m parking both arms; the yellow pen and the gray plush still need sorting, and the gray plush needs to be moved inward to become reachable."})
tool
executing move_to over 15 steps (1.5s)
step 419
assistant
agent notePartially sorted the objects into plush toys in the left basket and pens/markers in the right basket. The tan plush toys and a dark marker are placed, but the yellow pen and gray plush remain unsorted. The gray plush lies beyond the left arm’s lateral workspace limit; two pickup attempts were empty. Both arms are parked. Please move the gray plush inward before continuing.
give_up
hindsightBasket locations changed when open fingers caught their rims during retreat. Lift vertically clear of a basket before retracting, and use its current position for every placement. The large bear hung substantially to the side of the grasp point, so centering the gripper over the basket did not center the toy; an initial release left it outside and required recovery. The gray plush at the outer left edge remained left of the jaw column even at left_y=0.05 and could not be grasped with the available lateral reach.
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]: [-0.025, 0.8188, 0.6498, -0.4335, -0.0231, -0.0387, 0.9981, 0.0082, 0.8349, 0.6991, -0.4263, 0.0509, 0.0097, 0.9964] state[eef_state]: left_x=0.2947 left_y=0.0003 left_z=0.1831 left_yaw=0.0018 left_pitch=-0.0366 left_roll=-0.0094 left_gripper=0.9981 right_x=0.3024 right_y=-0.0029 right_z=0.2027 right_yaw=-0.048 right_pitch=0.005 right_roll=-0.0037 right_gripper=0.9964 state[joint_eff]: [-0.3077, -2.3316, 10.1812, 1.5995, -0.0708, -0.0562, -0.0171, -0.4034, -1.5111, 7.2274, 1.7802, -0.0317, -0.0611, -0.0073] 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
give_up({"reason":"Partially sorted the objects into plush toys in the left basket and pens/markers in the right basket. The tan plush toys and a dark marker are placed, but the yellow pen and gray plush remain unsorted. The gray plush lies beyond the left arm’s lateral workspace limit; two pickup attempts were empty. Both arms are parked. Please move the gray plush inward before continuing.","hindsight":"Basket locations changed when open fingers caught their rims during retreat. Lift vertically clear of a basket before retracting, and use its current position for every placement. The large bear hung substantially to the side of the grasp point, so centering the gripper over the basket did not center the toy; an initial release left it outside and required recovery. The gray plush at the outer left edge remained left of the jaw column even at left_y=0.05 and could not be grasped with the available lateral reach."})
tool
give_up: Partially sorted the objects into plush toys in the left basket and pens/markers in the right basket. The tan plush toys and a dark marker are placed, but the yellow pen and gray plush remain unsorted. The gray plush lies beyond the left arm’s lateral workspace limit; two pickup attempts were empty. Both arms are parked. Please move the gray plush inward before continuing.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 12.31 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, 0.8013, 0.6155, -0.3801, -0.0219, -0.0257, 0.9996, -0.0151, 0.7986, 0.6106, -0.3782, -0.0113, -0.0257, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0003 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -1.7573, 9.4564, 1.7607, -0.0317, 0.1197, -0.0611, -0.8, -1.5658, 9.7846, 1.7411, -0.1245, 0.0659, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c047fb791ebf64d8db619b8bc7661f539306af7a6dc67867da4c8e951a88288e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dc99ecc7e0f2b561c62e11d3267358997dcf21b3d5319ec533bf7776fe00f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8da2086f9cc21dd17c88fb275aa6ac064332938823152bf4cd2d5822825fed",
      "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 · 6.556 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_01c3dcea89220b28016ab470beb54887d091397c7c0bf9e4a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.25,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see plush animals clustered near the middle and slim pens around them, with two empty turquoise baskets behind. I’ll sort the plush animals into the left basket and the pens into the right, starting with the front plush.\"}",
  "call_id": "call_9oiNSFUh6VaaCThFxM1qdL54",
  "id": "fc_01c3dcea89220b28016ab470c84e5087d0bdf35aacc42e246a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9oiNSFUh6VaaCThFxM1qdL54",
  "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]: [-1.0393, 1.5307, 0.9531, -0.358, -0.8089, -0.7681, 0.9995, -0.0208, 0.8055, 0.6426, -0.4526, -0.0109, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.2964 left_y=-0.2449 left_z=0.1379 left_yaw=-0.0014 left_pitch=-0.0236 left_roll=0.0163 left_gripper=0.9995 right_x=0.2902 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0035 right_pitch=-0.0492 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.7897, 8.8547, 1.2088, -0.4469, 0.0073, -0.0659, -0.3624, -0.9231, 10.2632, 1.8095, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a42b31450968fc32b928dad731f5de5deede8fd230681a6a9ad2572d52cbb07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27ea1af517af670ed0ee63cff8c17ede2b9d40a9ffecf1f5389cb7777691c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ba36eefc4f773d1fd9f97cd7f197eb3b114711eaa387fe2d8afe0d80219348",
      "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 · 2.218 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, 0.8013, 0.6155, -0.3801, -0.0219, -0.0257, 0.9996, -0.0151, 0.7986, 0.6106, -0.3782, -0.0113, -0.0257, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0003 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -1.7573, 9.4564, 1.7607, -0.0317, 0.1197, -0.0611, -0.8, -1.5658, 9.7846, 1.7411, -0.1245, 0.0659, -0.0952]",
      "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]: [-1.0393, 1.5307, 0.9531, -0.358, -0.8089, -0.7681, 0.9995, -0.0208, 0.8055, 0.6426, -0.4526, -0.0109, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.2964 left_y=-0.2449 left_z=0.1379 left_yaw=-0.0014 left_pitch=-0.0236 left_roll=0.0163 left_gripper=0.9995 right_x=0.2902 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0035 right_pitch=-0.0492 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.7897, 8.8547, 1.2088, -0.4469, 0.0073, -0.0659, -0.3624, -0.9231, 10.2632, 1.8095, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a42b31450968fc32b928dad731f5de5deede8fd230681a6a9ad2572d52cbb07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27ea1af517af670ed0ee63cff8c17ede2b9d40a9ffecf1f5389cb7777691c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ba36eefc4f773d1fd9f97cd7f197eb3b114711eaa387fe2d8afe0d80219348",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDgISOaS7C9Q_IJBz4aLGJnL_jxYovV9nOCKMY00b086dzIV2jwKlOXq9RetGn3Lnw9I6dR2GALxrytDX_i14WNxYqTCSNY_77lmNyIaJk-lKVISUaE5NCBAMcN_79ZkgGcPfDI8vzLc9YlUf2LCD4hBwr7s5S4Br6KH-yauTRQ9CQSAtdfsxLXKFKulyLDSj6BJXKVR05RTFFTE9DM6GSBYAlNpF43WeqGkXzaF-uwpIew2l89NKikjrPAihvo6i17k9SUEbKe_ZQdgLwnP5qunIulia7bXIlWXV0fwRM97RiJFhgc_3ESiv_IW3yjfzulo24AuxjJ6Y96jKIHbCU148FufTUW5SxYlciqcg_ecjygzA9tYFQU6fkSipdIzHButB4yaDUl-zxEkFOlEk_BEysR_y4BTzwJN_i0n67XXvr56HloebGoQufaNGiW33ecbA-Q08-pYCd9av8HbtX4HUUewsWV94GJMpzHWfC4dYvMTcfioU6oev77pqKIRlfskX-BYHvdWuLzL03vzYEN5OD8h0QRQimYWWU7ZR1YxPgsH9Bw5mPTerTMe0DgjHMo2vubBTZkrY7f8_5LBgLyOng86rBprGOVb76pDmb1u466jgFsFB-ToEVoQ9f0pYrap5be1XcDdSlv7ip_X-G-9wo4Fp2jtGmiM1mTNJ9mM-Iibatd2X2hRHuyyVnpNyzNnQqJCEUsuUdA9avT2vc1-nYkYpnj8DylqANysbOh-EjmJOs_z99yJGE0h5jV9Jj_lOffGRwScas10-CDZFhzVXSVC6tA6CeqUuCZjRz4tQqdCdjBrPcuArPo24LIXh4Uxa48e4-jd3UeJrFbtjc_uBPOC3W_ahzuv4n5GZIshQ7c_B5wdznZuyLJbayeZvQvFtCT_o5O18EoWhPeI4-M3urc-_pBJzVp76Ctl_X4mtJADV5hJSFwM8Laxqibr5__TP4tTg4cy1Bz95uPefiRdb6P5j5e-58xrb4q_o1QpqTYnsvQZtcuHou5hB5ibEA-HRE55jJaelP9E_85de9OMHSZDD59zluu3hARQXxACi11CuZhiuzXU1V_H2d3ZcLl3Xt25dGiY5KgpN1RWHVGQLK1VgXWlMUtMSP9jGnncF6OdsCGnPeaodqU2IEi3m_oQsQghVjD6NEuHq86tTEUB-mrLFQdhkPAHkfIg5SLkgjLO7_gEun-FFRXPtAHmH69eMkdXSQC6Teqes-3N7Q6DF92Ir_CvGuiyT2A3tAZQ4dC8DPoWlvSI3_ZncNJ1Xq9145KjxM0glN-VHYzc2qvDrQ9984-gpIFVA1JO4iZcyktZS1rAuTtSnUC86hM-nqdwA1LjO4En3ytzCeYODKVV5hDuRuvcEwbwDkrtiDndhbbSHkgBj8_OCYQlkFATeMK0kHmsQwDpzzG2CgUTE54yZgi0t9gIjAZABgtVS1aj_x6CZSP4-bCkt-f68qIWD6U6yymqrqST6cPMbRdSqkGJSkVcP9qpnncDaFJPLKnV9lipyzNu8nRaOIHUxHXFZ1gtSBCnhqOndgdfdAc7EU1tuqFqYBcecX41_IGEn5u7EbdGnYsBqCtcS5_Y2AmeScIlau748LF6IDPd5CMyhqyPtMBZJGqWClF6tL-7XYnoFJIdfoLYoactw_6sURz_qiUAFmHkymHuhI7jqcQ9tPj3Qkgjegfc1Jn4VZ9LYqPJQLS9lM1c84EIx9QthVtSbsPreDYWRJE-VxvlhB4E3pm6f1iwGDu69jet5y41XfJnwx18KQmgkubcsdRwS2Ba9ulCVosbiyS-BBcT9MSGIwZwiQ55cIj5VbVD9RzphbDwPrA1KmRwEHM7SdaKPT2dTtVWcTTuZa0D1fuX1GvHmxhhAiRn7TpgkO7tFvw6Z4VDQKcitU7zlJYWAGaPGRYHmPFwChXTFqi33S6mi6NNPGxXtE_K1hXYwl8yAjNCWUBmtG4Ex4FVERXyFo1NErUkrs4WtwrGy7wsPYwishl3l1yuQAudK-K2-_9mneTLVHTXkRw_5ayJtOWwAvg7QMUObZDrgDgviZ8J4YXBKtOimhX3MHMNxGfur6LJB_J9xVNouDNKobIYi98kdzfkWOnQFWoyof5bLnmK_BXQEH7oOHSoQ8U0jqGjoaZ04_GqMHRkWys0OsYrMLFIvYF2BJAzthn",
  "id": "rs_01c3dcea89220b28016ab470db053887d093cc755483d83e9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_x\":0.3,\"left_y\":-0.25},\"note\":\"The wrist view shows the beige plush centered between the jaws, with its body directly below the gripper. I’m lowering onto its body for a soft grasp.\"}",
  "call_id": "call_xZXnbkPiGDN31FQP958hhEvo",
  "id": "fc_01c3dcea89220b28016ab470dec44c87d099693ff660167790",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xZXnbkPiGDN31FQP958hhEvo",
  "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]: [-1.0374, 1.7596, 0.7795, 0.0929, -0.8318, -0.7712, 0.9995, -0.0208, 0.8055, 0.6422, -0.4561, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3063 left_y=-0.255 left_z=0.0548 left_yaw=0.0161 left_pitch=0.0164 left_roll=-0.0191 left_gripper=0.9995 right_x=0.2897 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0037 right_pitch=-0.053 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.7504, 3.4667, 0.7497, -0.1245, 0.0073, -0.0122, -0.0615, -0.759, 7.0359, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4baadfb101c0516693afc927686afec0386a3bf9d9f05ec2cb768bea8dfbd4df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b214b7e73f5251d914d858c6fa70e885b406ce618d1ec1f850ba2517135f33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac4baed44acd5c7d20e140e05237f5b71a0c717a805e7ea4e0b656a37ce8dd1",
      "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 · 4.054 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]: [-1.0393, 1.5307, 0.9531, -0.358, -0.8089, -0.7681, 0.9995, -0.0208, 0.8055, 0.6426, -0.4526, -0.0109, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.2964 left_y=-0.2449 left_z=0.1379 left_yaw=-0.0014 left_pitch=-0.0236 left_roll=0.0163 left_gripper=0.9995 right_x=0.2902 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0035 right_pitch=-0.0492 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.7897, 8.8547, 1.2088, -0.4469, 0.0073, -0.0659, -0.3624, -0.9231, 10.2632, 1.8095, -0.0806, -0.0562, -0.0122]",
      "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]: [-1.0374, 1.7596, 0.7795, 0.0929, -0.8318, -0.7712, 0.9995, -0.0208, 0.8055, 0.6422, -0.4561, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3063 left_y=-0.255 left_z=0.0548 left_yaw=0.0161 left_pitch=0.0164 left_roll=-0.0191 left_gripper=0.9995 right_x=0.2897 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0037 right_pitch=-0.053 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.7504, 3.4667, 0.7497, -0.1245, 0.0073, -0.0122, -0.0615, -0.759, 7.0359, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4baadfb101c0516693afc927686afec0386a3bf9d9f05ec2cb768bea8dfbd4df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b214b7e73f5251d914d858c6fa70e885b406ce618d1ec1f850ba2517135f33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac4baed44acd5c7d20e140e05237f5b71a0c717a805e7ea4e0b656a37ce8dd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are around the beige plush’s torso, and the descent has stopped against the soft toy. I’m closing the jaws to secure it.\"}",
  "call_id": "call_XxrAGsb0K0htL1kP6Atom7pI",
  "id": "fc_01c3dcea89220b28016ab470e2feac87d08fa6cf20caae80f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XxrAGsb0K0htL1kP6Atom7pI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0378, 1.7634, 0.7788, 0.1406, -0.8356, -0.7837, 0.0325, -0.0208, 0.8062, 0.6422, -0.4599, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3097 left_y=-0.2601 left_z=0.0594 left_yaw=0.026 left_pitch=0.0398 left_roll=-0.0661 left_gripper=0.0325 right_x=0.2892 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0037 right_pitch=-0.0576 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -7.8564, 5.3538, 0.862, -0.3834, 0.1197, 0.9451, -0.3761, -1.306, 7.1726, 1.7656, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c8ccaec2d72d913c58c95ef77e49022c52f82fb02b4c1f2fdb42fc69b230e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350afc28e85fcd2d163a2eca095d92f87a557b5593adb753b589b281b8427f04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532c18f0a36a91da4bdad695187555bdec310383d36273bc2f929df2ade42544",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.217 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 13 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, 0.8013, 0.6155, -0.3801, -0.0219, -0.0257, 0.9996, -0.0151, 0.7986, 0.6106, -0.3782, -0.0113, -0.0257, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0011 right_z=0.1821 right_yaw=0.0003 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -1.7573, 9.4564, 1.7607, -0.0317, 0.1197, -0.0611, -0.8, -1.5658, 9.7846, 1.7411, -0.1245, 0.0659, -0.0952]",
      "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]: [-1.0374, 1.7596, 0.7795, 0.0929, -0.8318, -0.7712, 0.9995, -0.0208, 0.8055, 0.6422, -0.4561, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3063 left_y=-0.255 left_z=0.0548 left_yaw=0.0161 left_pitch=0.0164 left_roll=-0.0191 left_gripper=0.9995 right_x=0.2897 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0037 right_pitch=-0.053 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.7504, 3.4667, 0.7497, -0.1245, 0.0073, -0.0122, -0.0615, -0.759, 7.0359, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 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]: [-1.0378, 1.7634, 0.7788, 0.1406, -0.8356, -0.7837, 0.0325, -0.0208, 0.8062, 0.6422, -0.4599, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3097 left_y=-0.2601 left_z=0.0594 left_yaw=0.026 left_pitch=0.0398 left_roll=-0.0661 left_gripper=0.0325 right_x=0.2892 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0037 right_pitch=-0.0576 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -7.8564, 5.3538, 0.862, -0.3834, 0.1197, 0.9451, -0.3761, -1.306, 7.1726, 1.7656, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c8ccaec2d72d913c58c95ef77e49022c52f82fb02b4c1f2fdb42fc69b230e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350afc28e85fcd2d163a2eca095d92f87a557b5593adb753b589b281b8427f04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532c18f0a36a91da4bdad695187555bdec310383d36273bc2f929df2ade42544",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDt23E1ZTvq4VfBjVmh6RS6ydqTOhqwaCLIpFkjOuUGLcNfobaPSOPNeY_MvGPOdgYS9lU_qURp397jsReRuxWMBggYM2DNp-FoTYSX8fftT5IRHHa9SuChaDqnA3qtgfiaZ9feV1M1R8Fp2pQg8UY_as_2l2NmS0ytcoCeco7T2nERveNcs12Fp5YZL5BOkSLIT0T3VQ65E-vtcBKmsXdDDZCM5_yVm3zqXR0boBscRTj-jXR3gxg7q6IA1LdMlSCg9N2hgyc6hiEFJpr99fvpTIpE3IWrFBDmT-RZj9ZIgTv7TevUXi9dRyvxHMmV4Trvjyqbk4o-KrKccLr9FY3Sjh6zKPJBbBibxyXiehR2ZnI6vw1QILvb8tei2UK39VpzfBMd4-t6oLwilmiKsTQSPSvmdkgVhPY4BcDZE9-EaZPrA8SfMk-kXHWbyCgKavuxXuB93JK1fNxg0_zJNPbc40DM9ZVtHUBfLPQZ8dfqXu00TfTOTmuEPauxPNHVQezGLako8JaeA8UjPC5evRcLBG_-lLplym0oH9nz7FYNKc0Kg6asFcfgmPsf2QPEa03SDBe4kh6TWMMZE5gVYYYhzz5iUD46txnoejW5QCtiPayaSyYUb2upd9Z_WupRuTNXPkQ1vqL2CG2XPwKi4j0wbZ31Qv8vm4oRZWTx0BtlOvjBMjwI6RGcU0l9qaL-uTVnq_M9zE1ExcWqObXxrXxX7Vsd-wfg26tSgbofhQ0uJrhRS_8SALN0SXFyC84WYYQbmX6VaoBJJV39XPhDrqnC9vEKsKWwlT-CN5e89nHsjthV8gypAHwJ0r6GGtZA8A2uAWlEan2iEHhhlYjY94gZOyas2evLQAHZ6-WbYi7V_HmviYnFvCwVOf38CN-kiA4aXdsjTfVKAlLFDimfRFbAGeLwndE0g49R3o68X_MGknFazaTziUCsERt2WrQYis_Nk9Gr3QT8JUTw_bc8Iq9QXQJ8-1ImoDy5uxgqba1JYOAmvB-HonoOq8wIBtgI48cVGmo4aNv__MpTckjfM4a4onN-VCxG6mtUpHC3q6w15B_YHfC2oekYUtoGkPhhftMlRYZS9wiF5K6lTA914yOoSA-HSNcUM_b21gGjj-DoVMsr1mB_S_7ze-CRY_Y5j8CSAA0m1007jvJvlSAKsAla074yQ3eKi7Pq2EnqRj9UMAMwnA7qXyD54lAS9jXGct6XaI_EeUNg0V_p0EbLUopfXFYmTijkdz4Mus7IhncLJUcCtzvc8lJ91xdEYnd7okZIP1iVasmSiUXX1kaXIFjncOvPFHLtkl4TTnnnnD3LhTE19hF8VcrLt83UY5_Pu0K9S2db_A0kLyHXKHXC1mMRlwbioQkRe5qTFittdo5VIeMlQEHkAPlgnRUHkBNgvRMSkiZz2-_rayFRhoTUrJJuA3O95H5xIP5NaYONM4J5L_SxRN_wARweqqPU3jGQvlm78FU9i2CGLlRtBM8-RxmXYoOlS-u0odsZZYRrFAnoBSI=",
  "id": "rs_01c3dcea89220b28016ab470eaaf1087d0a9c49849144ca8eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.335,\"left_y\":-0.25,\"left_z\":0.018},\"note\":\"The jaws closed almost completely, so the first grasp did not securely capture the plush. I’m reopening and moving a little farther forward and lower to get around its torso.\"}",
  "call_id": "call_qZOOy6IC0SVfeUJGrQdqOFlS",
  "id": "fc_01c3dcea89220b28016ab470ebac7c87d0bf016edd14db6bdc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qZOOy6IC0SVfeUJGrQdqOFlS",
  "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]: [-0.9596, 1.8771, 0.757, 0.4267, -0.8074, -0.7258, 0.9952, -0.0208, 0.8089, 0.6418, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3417 left_y=-0.2591 left_z=0.0466 left_yaw=0.0627 left_pitch=0.1019 left_roll=-0.1554 left_gripper=0.9952 right_x=0.2892 right_y=-0.0006 right_z=0.1767 right_yaw=-0.004 right_pitch=-0.0614 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.9026, 3.3299, 0.9646, 0.022, 0.2955, -0.1148, -0.2256, -1.5111, 6.9949, 1.6532, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba2eb1104d094886f75b99554891337d7c72cd36ef188a38d6f1007e16748e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1005fb8dfe955e6b462388f6aec27029feea60f1c215638d8cd008cd13678cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28cc70784e98e12c64c89125ff7e5031fe74044814721ce24709f8849cdb036",
      "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 · 2.459 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 13 changed as sent

message 17 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]: [-1.0393, 1.5307, 0.9531, -0.358, -0.8089, -0.7681, 0.9995, -0.0208, 0.8055, 0.6426, -0.4526, -0.0109, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.2964 left_y=-0.2449 left_z=0.1379 left_yaw=-0.0014 left_pitch=-0.0236 left_roll=0.0163 left_gripper=0.9995 right_x=0.2902 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0035 right_pitch=-0.0492 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -6.7897, 8.8547, 1.2088, -0.4469, 0.0073, -0.0659, -0.3624, -0.9231, 10.2632, 1.8095, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 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]: [-1.0378, 1.7634, 0.7788, 0.1406, -0.8356, -0.7837, 0.0325, -0.0208, 0.8062, 0.6422, -0.4599, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3097 left_y=-0.2601 left_z=0.0594 left_yaw=0.026 left_pitch=0.0398 left_roll=-0.0661 left_gripper=0.0325 right_x=0.2892 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0037 right_pitch=-0.0576 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -7.8564, 5.3538, 0.862, -0.3834, 0.1197, 0.9451, -0.3761, -1.306, 7.1726, 1.7656, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9596, 1.8771, 0.757, 0.4267, -0.8074, -0.7258, 0.9952, -0.0208, 0.8089, 0.6418, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3417 left_y=-0.2591 left_z=0.0466 left_yaw=0.0627 left_pitch=0.1019 left_roll=-0.1554 left_gripper=0.9952 right_x=0.2892 right_y=-0.0006 right_z=0.1767 right_yaw=-0.004 right_pitch=-0.0614 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.9026, 3.3299, 0.9646, 0.022, 0.2955, -0.1148, -0.2256, -1.5111, 6.9949, 1.6532, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba2eb1104d094886f75b99554891337d7c72cd36ef188a38d6f1007e16748e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1005fb8dfe955e6b462388f6aec27029feea60f1c215638d8cd008cd13678cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28cc70784e98e12c64c89125ff7e5031fe74044814721ce24709f8849cdb036",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush torso now sits between the open fingers rather than below their tips. I’m closing for the adjusted grasp.\"}",
  "call_id": "call_QLfnNkgqfEH4Yg1D4sgusCBu",
  "id": "fc_01c3dcea89220b28016ab470efcfbc87d0b561f7d207895394",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QLfnNkgqfEH4Yg1D4sgusCBu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9615, 1.8755, 0.7574, 0.466, -0.8127, -0.7338, 0.2118, -0.0208, 0.812, 0.6418, -0.4599, -0.0101, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3443 left_y=-0.263 left_z=0.0537 left_yaw=0.073 left_pitch=0.1254 left_roll=-0.1964 left_gripper=0.2118 right_x=0.2895 right_y=-0.0006 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -8.3214, 4.9299, 1.1013, -0.232, 0.0562, 0.823, -0.1162, -1.306, 7.0359, 1.6777, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7fe4ba27d421dfeace4d55626cf467b593bd0dff07d56a48ad05b99dfe2c73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9e6cdfb095707bca61a016d897bb49c90b43580a1789faccc838b76198c2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2464738d528626e62b80b411a1c5d29db5209fe8cf1d71ae1ac880c952848bf5",
      "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 6 attempt 0 · /responses · status 200 · 4.92 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 20 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]: [-1.0374, 1.7596, 0.7795, 0.0929, -0.8318, -0.7712, 0.9995, -0.0208, 0.8055, 0.6422, -0.4561, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3063 left_y=-0.255 left_z=0.0548 left_yaw=0.0161 left_pitch=0.0164 left_roll=-0.0191 left_gripper=0.9995 right_x=0.2897 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0037 right_pitch=-0.053 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -5.7504, 3.4667, 0.7497, -0.1245, 0.0073, -0.0122, -0.0615, -0.759, 7.0359, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9596, 1.8771, 0.757, 0.4267, -0.8074, -0.7258, 0.9952, -0.0208, 0.8089, 0.6418, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3417 left_y=-0.2591 left_z=0.0466 left_yaw=0.0627 left_pitch=0.1019 left_roll=-0.1554 left_gripper=0.9952 right_x=0.2892 right_y=-0.0006 right_z=0.1767 right_yaw=-0.004 right_pitch=-0.0614 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.9026, 3.3299, 0.9646, 0.022, 0.2955, -0.1148, -0.2256, -1.5111, 6.9949, 1.6532, -0.0269, -0.0464, -0.0122]\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 20 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]: [-0.9615, 1.8755, 0.7574, 0.466, -0.8127, -0.7338, 0.2118, -0.0208, 0.812, 0.6418, -0.4599, -0.0101, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3443 left_y=-0.263 left_z=0.0537 left_yaw=0.073 left_pitch=0.1254 left_roll=-0.1964 left_gripper=0.2118 right_x=0.2895 right_y=-0.0006 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -8.3214, 4.9299, 1.1013, -0.232, 0.0562, 0.823, -0.1162, -1.306, 7.0359, 1.6777, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7fe4ba27d421dfeace4d55626cf467b593bd0dff07d56a48ad05b99dfe2c73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9e6cdfb095707bca61a016d897bb49c90b43580a1789faccc838b76198c2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2464738d528626e62b80b411a1c5d29db5209fe8cf1d71ae1ac880c952848bf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.135,\"left_x\":0.34,\"left_y\":-0.25},\"note\":\"The gripper remains about two centimeters open, which indicates it has material between the jaws. I’m lifting a short distance to check that the plush comes with it.\"}",
  "call_id": "call_gZHvuplUAcn9WKw6NSgLl4li",
  "id": "fc_01c3dcea89220b28016ab470f2dc4c87d0b789b069d3b8705e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gZHvuplUAcn9WKw6NSgLl4li",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.952, 1.6501, 0.799, 0.1688, -0.8051, -0.7372, 0.2131, -0.0208, 0.8131, 0.6415, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.337 left_y=-0.2475 left_z=0.1093 left_yaw=0.0757 left_pitch=0.1055 left_roll=-0.1759 left_gripper=0.2131 right_x=0.2895 right_y=-0.0006 right_z=0.1755 right_yaw=-0.004 right_pitch=-0.0652 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -9.6889, 9.1419, 1.663, -0.2906, 0.0952, 0.1245, -0.0889, -1.1966, 7.0085, 1.7167, -0.0415, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bcd02b1237bc6d009832a0cdad121c21589e0ddbdd83bd3bd5e71e0bc34097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75cc53d71d2485e8f254ef24141f077408a9384c776438af1dd3e1521f5f6d24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71d7a1e8d5b5aea9d1178beee252b6286ebe5c874c0063c8ec886a62f9b52f0",
      "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 · 3.173 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 20 changed as sent

message 23 changed as sent

message 13 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]: [-1.0378, 1.7634, 0.7788, 0.1406, -0.8356, -0.7837, 0.0325, -0.0208, 0.8062, 0.6422, -0.4599, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3097 left_y=-0.2601 left_z=0.0594 left_yaw=0.026 left_pitch=0.0398 left_roll=-0.0661 left_gripper=0.0325 right_x=0.2892 right_y=-0.0005 right_z=0.1777 right_yaw=-0.0037 right_pitch=-0.0576 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -7.8564, 5.3538, 0.862, -0.3834, 0.1197, 0.9451, -0.3761, -1.306, 7.1726, 1.7656, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 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]: [-0.9615, 1.8755, 0.7574, 0.466, -0.8127, -0.7338, 0.2118, -0.0208, 0.812, 0.6418, -0.4599, -0.0101, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3443 left_y=-0.263 left_z=0.0537 left_yaw=0.073 left_pitch=0.1254 left_roll=-0.1964 left_gripper=0.2118 right_x=0.2895 right_y=-0.0006 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -8.3214, 4.9299, 1.1013, -0.232, 0.0562, 0.823, -0.1162, -1.306, 7.0359, 1.6777, -0.0415, -0.0464, -0.0122]\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 23 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]: [-0.952, 1.6501, 0.799, 0.1688, -0.8051, -0.7372, 0.2131, -0.0208, 0.8131, 0.6415, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.337 left_y=-0.2475 left_z=0.1093 left_yaw=0.0757 left_pitch=0.1055 left_roll=-0.1759 left_gripper=0.2131 right_x=0.2895 right_y=-0.0006 right_z=0.1755 right_yaw=-0.004 right_pitch=-0.0652 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -9.6889, 9.1419, 1.663, -0.2906, 0.0952, 0.1245, -0.0889, -1.1966, 7.0085, 1.7167, -0.0415, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bcd02b1237bc6d009832a0cdad121c21589e0ddbdd83bd3bd5e71e0bc34097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75cc53d71d2485e8f254ef24141f077408a9384c776438af1dd3e1521f5f6d24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71d7a1e8d5b5aea9d1178beee252b6286ebe5c874c0063c8ec886a62f9b52f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHD5z_OAqIaJk98RN2OVSz13yRPqRJopTxpSi2rjbTkChxTvgRban_1F3e_BHkia7joDaoDLDYrMBDxxKFf-JHDwjq6LnzER2-HusB21B_ptfiZNbczc0MazpEd0fcwPcv5D9LmI9pAoHDm3LqC4t5J0JNEckjXmHL6sf7J3BTaw8ofsCBSv-Vs_rlb9ZEcyhxkLUV3cQIgNRuYh1iRyme6lRklfbFNri3ji5ns-T-Dx48JlUzKG6KXzkxntGDsfl_R9dCkn6JBZf-FeoIV4vFnjfn1mtll0FjxDsJ2uXi6oCrv5BkrfyJztkeXgQXD_Fbk2aA8VKY9RxnNjSKkOjoKQ8k8M_N3NcIGFykXrogZ6KDjO1xeUHgut_X5rzof8wfYcPDIEV89UkPcyUq2yngItQAJ2kbRhS2yDFeKy0xoHJ0QW19FPDnarTUYl4IAXLoo1iQjmCgHaz4_TDaA0KQqcygI5Y-B0iX2Miiq9dTzleYhMUpdQQXZLW6yVvzz2uH-0wd41FWavIib5GGcLJOlMRL6tNNPJLf_HBMTfYMoJxqBxGxoQAZQvAjO5iI6HuI0ltOl9Cu2Mq7U8RD5-418c2T1SdkI4kwqukkTTbJQpEsm_RsufnKkyjiqRtTY5hpa4ACEMYPPcwiCVNA4QKy8N1bchQH2tp0dpnMh8ATdQGCNmu2fCtCk_qpTqDJ44CR7CR8Y-r4y2st2ABOPL836CtPjHqTD5s6AUHFcbgwRe7SvPSux7oEGWpQrzKQPObhaEJ3RxYdHhfjOLA1IdGduiWMJXNXa8O1WC8AvunHXP0AQNH6gh-wxjguSqTdMx9dTRUd53FgV4RFYg7rVDhC3IqMyCeM2dgeJw5iGtg9nKQVkseTJKk-GWO-9dTklqCpMxSW16A8oLI1jmzRsgjGy29qqlZwSc1du197wubW02hGZXRLd5jtCnu41y_K_CCjnVrqgmHazkl5Nes_o4iSNVsb7kqDGclJcsxoB6WS_fV2nK3KgArvfyOrIFyQ5HtWFGEcfzpWqsAp-GTTAtK4eNBLCrYvY2Kncid2vnrzfXEDRhD2IcBG6pxzutAHtysCfHEnmNf2-y8yPzgERMbnjejgl0zzaYOQIFkpblvLL5CguznFvkWfIfqEVn8L-qxtWuHcokxqOecmc4H_XAf_W5VUutjpME-AXlBMF2DCGBKkPFAK7GPY3AT1cpnisSjikWoPgDjCePMxboTZRaaG-gMNDO9Fd2Av15RitRK2brS4XCeQ8POKoiLctObDdgqSKFsG3ouGo0bcOxKzKm7lVv_9u9sPr6NCb5XWTbRpySOPTwvGS0_gtNdz49O0xiEPQHG8CUAho6WRkoih5-1G4tEj2AWf7XXi4gOXDHfrOz8fA298dmJAxLvpBTunWSiuSwsVdjasq7GAf2XUP-TpXDMVZPLtpOdaXoGV1_omvBD80aM4Ba1AHFU6IkQPTie8TQKV8yzQenK4ijaXDbVowAIS4hHB8ePYMYfeDGzAv3CHc1jPsAMuCSWxqMWb0tzpMeFPBUgkouw-ID3JulIxf5sm2Fvbr8WWYzGo71DS2SgcaP1gR6_lWCXTYteZFPvLIsjBF0byoBFHdUkKEV8gx4AQjbjkkAKrOHjODHGDahelPJ7hUBXX3JeI6W2MyBdcAGuNzS0GG7w66aeUKYmMdYeg4zZLTcyOgZLblmESkehzCBbeIEyAg1XUP-GxvtV25Eb98a0-Un0By1UcGSGFdsFq8jRmt6qb9ZR9HWwvOYXGK6kzDhG--gljNYLucj4wjD",
  "id": "rs_01c3dcea89220b28016ab470f612e487d0aabdbb72da18987c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.12,\"left_z\":0.25,\"left_pitch\":0.3},\"note\":\"The beige plush lifted with the gripper. I’m carrying it above the near half of the left basket, high enough to clear the rim.\"}",
  "call_id": "call_gjj5JKPJcPNeO5AalPwGkGvt",
  "id": "fc_01c3dcea89220b28016ab470f868ac87d08de692f179a0c904",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gjj5JKPJcPNeO5AalPwGkGvt",
  "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]: [-0.345, 1.7, 1.1694, 0.178, -0.3622, -0.3241, 0.2146, -0.0208, 0.8185, 0.6415, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5086 left_y=-0.1125 left_z=0.2205 left_yaw=0.1316 left_pitch=0.2295 left_roll=-0.1757 left_gripper=0.2146 right_x=0.2897 right_y=-0.0006 right_z=0.174 right_yaw=-0.004 right_pitch=-0.0713 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9504, 9.9761, 2.1221, 0.1197, 0.3297, 0.149, -0.0205, -1.7299, 6.9949, 1.6972, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:391e896c18baf98252bdf9f5810d73e7d7b1f73d750997c5121169efffe75866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdcb4c8b603d7a966cc0cfabc6abbad7497674e9f4c0ad9b6b17e841177edac3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc786056e98c329b4657fcd09a06e9f444a3f846b9b5638f934810c0c4a22f20",
      "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 · 2.208 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 23 changed as sent

message 27 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9596, 1.8771, 0.757, 0.4267, -0.8074, -0.7258, 0.9952, -0.0208, 0.8089, 0.6418, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3417 left_y=-0.2591 left_z=0.0466 left_yaw=0.0627 left_pitch=0.1019 left_roll=-0.1554 left_gripper=0.9952 right_x=0.2892 right_y=-0.0006 right_z=0.1767 right_yaw=-0.004 right_pitch=-0.0614 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.9026, 3.3299, 0.9646, 0.022, 0.2955, -0.1148, -0.2256, -1.5111, 6.9949, 1.6532, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 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]: [-0.952, 1.6501, 0.799, 0.1688, -0.8051, -0.7372, 0.2131, -0.0208, 0.8131, 0.6415, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.337 left_y=-0.2475 left_z=0.1093 left_yaw=0.0757 left_pitch=0.1055 left_roll=-0.1759 left_gripper=0.2131 right_x=0.2895 right_y=-0.0006 right_z=0.1755 right_yaw=-0.004 right_pitch=-0.0652 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -9.6889, 9.1419, 1.663, -0.2906, 0.0952, 0.1245, -0.0889, -1.1966, 7.0085, 1.7167, -0.0415, -0.0171, -0.0171]\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 27 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]: [-0.345, 1.7, 1.1694, 0.178, -0.3622, -0.3241, 0.2146, -0.0208, 0.8185, 0.6415, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5086 left_y=-0.1125 left_z=0.2205 left_yaw=0.1316 left_pitch=0.2295 left_roll=-0.1757 left_gripper=0.2146 right_x=0.2897 right_y=-0.0006 right_z=0.174 right_yaw=-0.004 right_pitch=-0.0713 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9504, 9.9761, 2.1221, 0.1197, 0.3297, 0.149, -0.0205, -1.7299, 6.9949, 1.6972, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:391e896c18baf98252bdf9f5810d73e7d7b1f73d750997c5121169efffe75866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdcb4c8b603d7a966cc0cfabc6abbad7497674e9f4c0ad9b6b17e841177edac3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc786056e98c329b4657fcd09a06e9f444a3f846b9b5638f934810c0c4a22f20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHD-GNnpFwZ1dlCMduw2b_u8qlA5z-isxFt2n6xO7VmwYpgP7mg7kTFgf57alHZij8Wa31ZlzrK7LcEZN_VE-6dZaH-bg4nXWo1mrNXa60BLQ85gyd_BYKoEKasJOl9KqgwJJO_G6klEU6LlcZJKmPWc3tMJisnjuKqx2fxO_THhcaks-dLLZW6clREoduvJCkhx8HAw8doKtzTrUdFz0draCKh7hK-ZDl7szZf2EaiJaSVKJH7_28h2n5IYWhGTeBMpprk5ZjoiOGCqRYwuqc1W3fCKaYQr7MnCbE8bVdJh4gOqmj38quRVL9scpxijl9SzLN_SvdqbMcMTVp3N46bCo1wMUt_6o6TwLF5N67kaZ1dDCTfIVnJ-yfDHm2Hucq1G50SS22ibCk7mXsX5GcUtZpg6KENAKLMYKGQLmFSW54EDqt-9tCc6yM6VGyDUfDCqDm4GNtupLYLi4SAFfwhiAP3YYlJI7yswZ3pzVxPttI3nkRvGiEYVpgD9gJitMuTtimnyEqK6WBvcnmBkgqvn3O2Z0-Rfdwel3oZ4VId9Ss18kUHWrK0iLinhu1Me3oZxVP09UMkRpE2iqy8ojeCXG2GH9AKhTZGZ1J6NgFHaR45W__INmylRX53sfCSUMuhoTtigYxLFtpn0NLDqf_-DOcV4g9RPw_ST6jKlYGvFPnQ8hA8Qt-6WBQz3CxclqQ3VUV8AVyrg6alPsW3SHU4z10-XiE5vuH4bXCmXWFALihs5h7M6tkHd7m_hgRDj24nzKbYbUzFZIz8LNxd9vT56F8_dQ0kJHnltt2PXh0BoMnXRUPcXKWNXkv8cHXrn7TnVXcg-9OvmvjAnk9WS89YtS6YmEnbARc-FGt52vJh3YeMCw5vZjk-mnCEx63DcJm3ThawAEyqpoCgfFGDA4zsniqqFDBQgMWD50wVT_logXoVGKd5p7kp83h3RhRe1rmJJAlC1AbTHvKBj_hI3fDSZfIkHrswzYgOR99_UYf50cQqVWzYhKuIiZg0CjXrgYDddrggLyIYu_EX3PkJruG7O3CPV35m28kia8MWMoqtoWUoWMrztEkyvh4udLA9bveppUURM15hd7pmnOmkKchZXj_JjNiLikP_aCD0n43iZvQKsPsVTHEflGFyEpMCQrv0oTmVtMD-zGpZAUpgOn--bKyIjt6WMlpThS64V4-znSVjMMWSXc24WNLfsD2WZbGm3oC2UQkpetRyVfPgsvaMuXUfwGnCbgrFYQEru7fvYwODlU1IIpCjZD3QfATOguU-PJRzkWXIFQW41YnHID6xVrGyhCAS6_dDhDEVR4N6d3rRQv_5qgejGNUYT8GObhQlN2YYx5mS8NcvBaONGjyKCKeETLeLoT62Bs2ThN6O8ujmGf02V-DFZT78j1NdwdpFUcJRMDbo1Th9nA6mrFGiQqvVIkTyCRwH3v4v4p3bo05APkKOj2bdtgo6PrpC-lr9KNWdPSNqVz83RYvEoG_3lEw==",
  "id": "rs_01c3dcea89220b28016ab470fc201487d0bec36c9b98b40b9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.545,\"left_y\":-0.105,\"left_z\":0.15},\"note\":\"The plush is above the left basket, slightly toward its near edge. I’m lowering it farther inside before releasing it.\"}",
  "call_id": "call_kdEsqDrKi7MTOjZfLFIoUFIO",
  "id": "fc_01c3dcea89220b28016ab470fd2f7887d0b4b814f81a370be2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kdEsqDrKi7MTOjZfLFIoUFIO",
  "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]: [-0.3038, 1.8938, 1.1492, 0.3763, -0.3325, -0.318, 0.2169, -0.0208, 0.8192, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5393 left_y=-0.1049 left_z=0.1553 left_yaw=0.1422 left_pitch=0.2113 left_roll=-0.1723 left_gripper=0.2169 right_x=0.2898 right_y=-0.0007 right_z=0.1737 right_yaw=-0.0041 right_pitch=-0.0721 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -7.7607, 6.4068, 1.5995, 0.0317, 0.1294, 0.2125, -0.0752, -1.4291, 6.9675, 1.6484, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448998c883316ecc65b1a7bf79d8b97b556da76b1b01563b9cf8501a4d587f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba734ee0d12fb97b2c7b7ede08101bdeafc3206e04f43be2743e9ba12bdcbeaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c39875c4a1af105ae8227fd86fbd0afb4c5354e3b93bf374e4e8e221401b24",
      "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 · 4.224 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 27 changed as sent

message 31 changed as sent

message 20 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]: [-0.9615, 1.8755, 0.7574, 0.466, -0.8127, -0.7338, 0.2118, -0.0208, 0.812, 0.6418, -0.4599, -0.0101, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3443 left_y=-0.263 left_z=0.0537 left_yaw=0.073 left_pitch=0.1254 left_roll=-0.1964 left_gripper=0.2118 right_x=0.2895 right_y=-0.0006 right_z=0.176 right_yaw=-0.0043 right_pitch=-0.0637 right_roll=-0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.0752, -8.3214, 4.9299, 1.1013, -0.232, 0.0562, 0.823, -0.1162, -1.306, 7.0359, 1.6777, -0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 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]: [-0.345, 1.7, 1.1694, 0.178, -0.3622, -0.3241, 0.2146, -0.0208, 0.8185, 0.6415, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5086 left_y=-0.1125 left_z=0.2205 left_yaw=0.1316 left_pitch=0.2295 left_roll=-0.1757 left_gripper=0.2146 right_x=0.2897 right_y=-0.0006 right_z=0.174 right_yaw=-0.004 right_pitch=-0.0713 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9504, 9.9761, 2.1221, 0.1197, 0.3297, 0.149, -0.0205, -1.7299, 6.9949, 1.6972, -0.0269, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3038, 1.8938, 1.1492, 0.3763, -0.3325, -0.318, 0.2169, -0.0208, 0.8192, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5393 left_y=-0.1049 left_z=0.1553 left_yaw=0.1422 left_pitch=0.2113 left_roll=-0.1723 left_gripper=0.2169 right_x=0.2898 right_y=-0.0007 right_z=0.1737 right_yaw=-0.0041 right_pitch=-0.0721 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -7.7607, 6.4068, 1.5995, 0.0317, 0.1294, 0.2125, -0.0752, -1.4291, 6.9675, 1.6484, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448998c883316ecc65b1a7bf79d8b97b556da76b1b01563b9cf8501a4d587f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba734ee0d12fb97b2c7b7ede08101bdeafc3206e04f43be2743e9ba12bdcbeaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c39875c4a1af105ae8227fd86fbd0afb4c5354e3b93bf374e4e8e221401b24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is lowered into the left basket’s opening. I’m opening the fingers to leave it there.\"}",
  "call_id": "call_FGQ7lInsVQ8FigO16u8pHFga",
  "id": "fc_01c3dcea89220b28016ab470ffecc087d09dd45516fbd2db74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FGQ7lInsVQ8FigO16u8pHFga",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2974, 1.9095, 1.1488, 0.4347, -0.3355, -0.329, 0.9951, -0.0208, 0.823, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5451 left_y=-0.1025 left_z=0.1599 left_yaw=0.1617 left_pitch=0.2488 left_roll=-0.2011 left_gripper=0.9951 right_x=0.29 right_y=-0.0007 right_z=0.1727 right_yaw=-0.0041 right_pitch=-0.0759 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.1829, 6.4068, 1.8095, 0.0562, 0.1832, -0.0073, -0.2393, -1.7162, 6.9675, 1.6972, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59a9211eeba9824b12c2423fc97ca22e8902d8a5516ada4ff86828f48eeabc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c96822a004ed829cd3192a0dbb57f113e34e6cddf2a2808b1b7732654798e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1d0af7e32b65e6563fd3693d7b73e5ece7aa29a3bdfae7486ad497c47698e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 11.07 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 34 changed as sent

message 23 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]: [-0.952, 1.6501, 0.799, 0.1688, -0.8051, -0.7372, 0.2131, -0.0208, 0.8131, 0.6415, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.337 left_y=-0.2475 left_z=0.1093 left_yaw=0.0757 left_pitch=0.1055 left_roll=-0.1759 left_gripper=0.2131 right_x=0.2895 right_y=-0.0006 right_z=0.1755 right_yaw=-0.004 right_pitch=-0.0652 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -9.6889, 9.1419, 1.663, -0.2906, 0.0952, 0.1245, -0.0889, -1.1966, 7.0085, 1.7167, -0.0415, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3038, 1.8938, 1.1492, 0.3763, -0.3325, -0.318, 0.2169, -0.0208, 0.8192, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5393 left_y=-0.1049 left_z=0.1553 left_yaw=0.1422 left_pitch=0.2113 left_roll=-0.1723 left_gripper=0.2169 right_x=0.2898 right_y=-0.0007 right_z=0.1737 right_yaw=-0.0041 right_pitch=-0.0721 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -7.7607, 6.4068, 1.5995, 0.0317, 0.1294, 0.2125, -0.0752, -1.4291, 6.9675, 1.6484, -0.0269, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2974, 1.9095, 1.1488, 0.4347, -0.3355, -0.329, 0.9951, -0.0208, 0.823, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5451 left_y=-0.1025 left_z=0.1599 left_yaw=0.1617 left_pitch=0.2488 left_roll=-0.2011 left_gripper=0.9951 right_x=0.29 right_y=-0.0007 right_z=0.1727 right_yaw=-0.0041 right_pitch=-0.0759 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.1829, 6.4068, 1.8095, 0.0562, 0.1832, -0.0073, -0.2393, -1.7162, 6.9675, 1.6972, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59a9211eeba9824b12c2423fc97ca22e8902d8a5516ada4ff86828f48eeabc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c96822a004ed829cd3192a0dbb57f113e34e6cddf2a2808b1b7732654798e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1d0af7e32b65e6563fd3693d7b73e5ece7aa29a3bdfae7486ad497c47698e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEFJcxfG0pg0t3HHOComM6F8yUYVUJSRQDuOqVgqgugNwH6cHyg4b5XiXM0M9gvx7nuIxhgBvfXKPc2awfPa69C25CO92MBpML2StJPstGWxb9d6-fzmT8CNRXW9JoEHYp_lx11Y-kxNWZFys4wog9JkrsOlAnIxnZkEO_b_PRAO9BBKs_Hvxivt4jfJMVdh0Fq31Oc9PgVr-ASBpS_mq3s4qrSnpmB-iCUrZuL6iMiiVwurRAkGLrNU4-aX924yD_B7vPx1trQrTSCrYAFsJNati4FKFxToz5XjWGA8HD-lGlZ15cASI-WGJXzJy2LvRZLaBk-PqY1ajAT0G_yQ25LiglAZ1QBr6HsRDE5qnV_fOgQz15ng0Z1rh-RmXYpV-z31odJ47de8u7AaF39LGOFPCRUkN-aoYXB4JkKerFhN1oL_oh73anyBRhY1KmKe1reaESGGTWXvQgjTOJrTQXd8g2UJ2Rs_hY4kzjhOgWcVv8cSUEr3MOA4XbvV5F-v3rEqEqQGfOtrYneOW3C-YnIrNMFX2gg7Li0ZI4YzpZgf6kXEBHcmDiJpmfNPQhID2r1cDCxvycpfONHO_hRp_jkEtYmhrK0LyRRMSntpYIxMpjstyUYowM2-SVjcJotpkXbRDajHer2oigdhBvrMzSifsRnnLjzU-tJNLNJJp0qlNR4FNqDMIoaHHNBjNK1gMOWPzrUSzgecEjlpiZlZf0Qiowi9Kk7izw9pUHkE5EbL1SuBaKcAzGwe3qRMi0l_DX_saLbd-SxTRto114qvr5CqbAL2WvXTB_2UtwAwnAv6OvW5tKhn0Equc1BnDvI-wKJ_WfRujjUpJbGv8t5SIwTMbd1z_eM_vPKqQRCC_3fOi44HlxQP0SHFfir7P_ypYK5sBS3S5Od1wmn7SCnrC2qb47_jpNeD0FNQDbhcIe64rsCGMPUvUuVkM4uaMfUTc2DBC7AXwp6EVesGQ-WumH3fO_dstQsWQAI4tdhHXqRK8o0wgkGtWOesAjF441Xei2I3YcBs9-RAt5deOVA4SP2QlQ91XO69JdBXWRZCR8LNhyWBlqSWWPpdBT8iqgfOn1KjbydWzSb9XO0ZtBE_ONeuKk6NpCNWVFX-JrO54hzGUphJWB2jR9FugevF5EEiaiiunsLU4obk5iGQJ0Txrn5xN8WXx9_DqnJldBjOuw7y3sLnXS9MdOug2mCiH4WdPJLSBikQu3_SSXDKtE11BsgOI4M3d0FmWqvVnSCnPeFa-bX1nfK5Yqzx6otIYq_aH5y7_sYUSh2BjcNQy9cxHtrbYE4Sl3RSQhN34cmJ4Bwz-VKbVBiprpm-1_AMG5YCvVGzqasLqA9DPcf0eLE6d4J9ifyxCCf8x9RYxWxTiV5hLrMWZN2Cp2tjoSC0kZr2mdLbaXEqTMn8XQq-9o_A2-Dj2PA5XHeroPndCDs3Q6JTyyHgUqnPQCe9xk0_Rd9EZspDeeAT6Ge05LO5t-MynZf4r7Fo3Etfvpeg2ilChzzJ-l-5jgRvqu2Gq01NRKVxJ6TeNTzG6UKWtK1kBh4Wvst8OoFFHHCSkSN2nYgaoBBWnPCOvr9allNAtdnjlpwus1m2bgBn6zp3U9K2KhytVw1anAUIKUef8HtNgSUxJCmlyR237VzFoB2I0sFxjzo7AeoLwz42v0P_FpJuiBoadfyO6yfTVkQbHEMFxw3zlmX964bmrTx5Yfeutg1AWFHJG00yi-O3jUfpsKd8RiHDECIUnBI4-QwEuqrYZ5VgeI_SYE=",
  "id": "rs_01c3dcea89220b28016ab47102aec087d09256e4f81bd453af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.145,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"I’ve released the first plush and will check its position as the arm clears the basket. I’m returning above the small brown plush for the next pickup.\"}",
  "call_id": "call_memK0ttOS0N0uTvuf4vIafCt",
  "id": "fc_01c3dcea89220b28016ab471048ad887d0899c6ca731337f40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_memK0ttOS0N0uTvuf4vIafCt",
  "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]: [-0.6277, 1.3495, 0.9516, -0.2314, -0.5339, -0.6182, 0.9966, -0.0208, 0.8276, 0.6415, -0.4599, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3713 left_y=-0.1539 left_z=0.1994 left_yaw=0.1306 left_pitch=0.0215 left_roll=-0.2162 left_gripper=0.9966 right_x=0.2904 right_y=-0.0006 right_z=0.1716 right_yaw=-0.0038 right_pitch=-0.0797 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -7.0769, 7.0359, 1.6532, -0.3101, -0.0269, 0.1392, -0.0615, -1.5111, 6.9675, 1.7314, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58089359bfd892d3908e374f5a916a9d733d101a60ef7e3f7b5d7c32d969b91f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e881a545c91045d5d354e5b7658dad24ac581ae01b21d98e9764f5ce1714cb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa47ba6058bbcad16001bacde6540bc760b24199134568206dd270873d19a11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 7.437 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 34 changed as sent

message 38 changed as sent

message 27 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]: [-0.345, 1.7, 1.1694, 0.178, -0.3622, -0.3241, 0.2146, -0.0208, 0.8185, 0.6415, -0.4606, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5086 left_y=-0.1125 left_z=0.2205 left_yaw=0.1316 left_pitch=0.2295 left_roll=-0.1757 left_gripper=0.2146 right_x=0.2897 right_y=-0.0006 right_z=0.174 right_yaw=-0.004 right_pitch=-0.0713 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -8.9504, 9.9761, 2.1221, 0.1197, 0.3297, 0.149, -0.0205, -1.7299, 6.9949, 1.6972, -0.0269, -0.0122, -0.0171]",
      "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]: [-0.2974, 1.9095, 1.1488, 0.4347, -0.3355, -0.329, 0.9951, -0.0208, 0.823, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5451 left_y=-0.1025 left_z=0.1599 left_yaw=0.1617 left_pitch=0.2488 left_roll=-0.2011 left_gripper=0.9951 right_x=0.29 right_y=-0.0007 right_z=0.1727 right_yaw=-0.0041 right_pitch=-0.0759 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.1829, 6.4068, 1.8095, 0.0562, 0.1832, -0.0073, -0.2393, -1.7162, 6.9675, 1.6972, -0.0317, -0.0562, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6277, 1.3495, 0.9516, -0.2314, -0.5339, -0.6182, 0.9966, -0.0208, 0.8276, 0.6415, -0.4599, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3713 left_y=-0.1539 left_z=0.1994 left_yaw=0.1306 left_pitch=0.0215 left_roll=-0.2162 left_gripper=0.9966 right_x=0.2904 right_y=-0.0006 right_z=0.1716 right_yaw=-0.0038 right_pitch=-0.0797 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -7.0769, 7.0359, 1.6532, -0.3101, -0.0269, 0.1392, -0.0615, -1.5111, 6.9675, 1.7314, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58089359bfd892d3908e374f5a916a9d733d101a60ef7e3f7b5d7c32d969b91f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e881a545c91045d5d354e5b7658dad24ac581ae01b21d98e9764f5ce1714cb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa47ba6058bbcad16001bacde6540bc760b24199134568206dd270873d19a11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHESVcwEw6Yr-UbZVdhUfRS9BmmnWwC9qkeOlVFi4i89Gf7cQeuCg4BMw19zeOTXV-LFxn8G50igov8rHv-lX31daFFJIW9v455V2D70kihrHkdCdt4HF8zkDnN6MgA_i9X1zS2IR441n-pK4oXlngArN1mwjWhiQ6aSl2tNQbilpHGDhMkKWsKzrMVotI8Os1RUQd5qIP0rnLsKvT2rH_5b4nfLfCxsylIy9bZlsid6_pX_10sAVqJq23IvSBN0XIJcImLOIpd1WNlrkhgi-UZlxVLC0BgTs_Gtr2Cset_hCUHQLUSqJqFhU9H5fr5PBKLFIfSx2q_0PEy8mW3d5e4-LDxnrbxMjVHzF5J-QXxY9hs4ZvTuhsNHEsZ5sJ-nU_F7opC7Lij84rGHzK53TdYWQ41j_is9wwxLwGJP-X3dbIMrCXUtjjmvu2h68QbCapxiU-9uKFQYLtOmQ7BMojg8it29Sxv449mySqJTleGcZZf4MaK4SCeUSr0Swx1kEylY-9mFxvOsFfg9Im0cTrOOuv8-eqCAwC4RUXMrV9OdRDyxdtiHTD2Q42xXYV8_Y4I2IAgakfmUq9ufr5yZQoa-m8LCrHLG7BowNVdUEhYd62VY7adRcGUilBfNly5sRaqFh1vq1VeuYhbAA3ecL4fW8emKLI25CLCWycjR49T6YyVNO3ssEVhrReEA5pZQ9_eNv4rhKS1kgmjT8RNeWCJE8-oRGKYt9Yeb1iihP_CY93-JRAzedqiue1402cKjES80ITwarPCjGSTGoRhz6QxtbzfeOL0pNDVgfy4fg8KyYKi7Agy6buBWFUmUXwHevGAypUC6bWL8t5shu6J2JI44xmw-WiqE27lOuYjTFBKBkuXc9JImPOu94NTjjOy5s5_KGk_DWCq03gfGER8GveyjVmo7j-HwBzKq4SkF_naRUyjbx73dI8bli1OgS2iz2slKE-8NWpcGI1u8VH-vXXY_rOdwFZFgffVPi7KocVz00alvX4zqqgikUTv9V-cg0bgd4gO1LhBGYIop9rklsU_ZUO6rsnKzCzqFzyvumXbNsUH38TAMOg3aXujASvug_8DTHuNJrTSKamrcMwz6-p-ed0wpGfT6BYErVAeoLj6BH5iwZrd8A8JjOk06qxQAZUlob3YW-hmcCms9ianpzeSlr7w7vT7d01ORA4oBL0PvB8NTxx55XmXobHjHin1kcqk15v0fl8Y8lUlhpZ7OYUPeh4qfpodZXf2kj5HvcuMDraJENEkEZpHeJITdNFf6pGhX3Ifvt9jK_xWs12goqkM-nlHiumeqKuknMGdV6cxkqtWKzHeJLxLhR7PIdvIFrUyTxp9lEz0_sYDxEofzjSM4HFTw0_VEvU1y2Bq5FZPH4cwG0aWItOCPlWSPPblQL0wpK5DlnxhsdDeOuiQLWwOcVJYrE8bn79MeXJ1DyKXhIIw73T6Wq0PEV761v-7g1JGiBSkqkNHSOZfmOi4DvupY1djuAHORTQvmAq31I9W44Sd49xsAtk-6x14aE-LGTQsGtRMIA9S32oDCFMQSiL9SC1987dEC9dZfXrWFZvwo2prkUTX73odx_ZtGvOvJ2C22b0zb-q0HNryiACjReedKJTIhaPk_HTYWYrcyz5Y7tGKNn0FA1XHnj-ALO88sSh0IcQCwdm2EFSPolj5-HgRM6cudS5K8SJMmGY-8t6P7NcTuGdChdEbYvroRU2Zw1NruwgnYtbL37ihgWlrcpALwrKkzWN2rc-zN4s93oYiSVhNmc9UFC33fGBF5kFiZT6h6oQbxLaLyAJmNLrrL_NVjd2XZ_Bxd622GE3zv-ubIm6mC7E7yPr8VZuaBVzMe2w6PxoYX7IgXcgXMlTL2KXDln6K3SbZKbcHiCPqKUL3cczELts78VBoBEpjWINRIZ3PuMh8mIIgSSrri1j79ejvtkUxju643kvvameVCGK83ugsc_mSw5l0cxCyHBYb2bKaKr0ytG_91XQ41rDTWnBJFj3xhFe4NESeS21zEz3fikRkEM4CIXaUy9KcQLScWGBCaDOOkzSYUQP-6Jf4zNMymmEOZ8J5KJKUFbHB0pg_zzLyC_eY67uw_fmq9DtQpY0oql7dsD5TvarSJzr-dUZacrLrQOArbn1gLMfETSZTfMk70Rpddro91_WjRWHYeAeXl7FDj85OZnnvC6BrX_X1Z5lwVOaD38WEhO54OM40_mnr0kb8jnHx4WTzc373n03r_AzJIzm6eGYRd2WKrrwj6RVjRKY6xLvgmRbNs6YzFbe0t4NjpbglxOYTUptM2MK3KFIDcajNFjtG8M6HALdPJSY6jDnS4w-CDoKYgjVYjJnmzEc33PP58Wpu4sFQJtPS6HrbyXtelXzzSHz1SoeUyCPt8yKLVHuR4flsPxINaiYZ-jXfa7SSmJiGqJKXJ6c55xZllivOYA79nViy0YZ_q_pwGs_xEseeVVB2bMKsfH1kadnMcdsreiJvz2W5Cy8dcI9KA24A7wndYaryC1RYP9Qp9OmYETv1fYSkBjetBedbvQFbCN22tdEvplZjZxVHDR3T-mY0WVRzK_cJRxWNmx639FiH-hdQ4g_kCTuyy4twuzqmDPXk-QP-qmygL1uhQUZBZSzLf5XUh8awJcO5OaTAlI0NHSTkRbtqO26nJnukttqHTStCKTJK7zRIX_rgBfzZFrPVGwchF7SgNf3UNR3D7eUzmhly0q1w8BcoKje8migyY2Znb0_QuJb04TOf-iDu9fcC0DXbBF8icyK7IGdTsfKdS8v2RJuR6peHb5gPyAKFVMLJMIe8sPhmo1O17GtMbSwJP0FfsUUEXvbajlfqlB92zt-QreZZoAIBUAv8HlH4_3TAM65Gv18kU06oVOAKVgI6rfFJFOVVPn1W2Y5BeTeyvZs01YFFbtGOstIaKZ3VtAQJTXZ2oxhW3VPjrCWAlBte4bpmuG9pTLctdO0huurM7OjM6MLjOZTVSWxyVU5n3G1rl3CvJL1Jnapf-anJIN1QU8ZKMQPF_hxW3gNCWsTmMpB7N5Q0otxAET03xkxjSqng-1trP9EpngtglHEXRHj3o9Wm9opEMFM9MCubxgg_aML7sokTP8QsodYJbrEp3LmsGmDeZU5hQOLOEsi_hp_jZSKIAu40LsnhkUZe2hJtaVouxpS_CQDvHKgLjZH-mjOE2tW2QM33Ug97VzDwmD8jXWMy3055MzgGQgvAdbvbWcy1ZM6yPx9huiSvJPIZwE1M9DWfTNwAlwulatMz9F_B1ODH63_gg-P6UgoNnxEkJLY13x0TQ3LrakVJyebJHmZ_sF6p52yJ5skoJ_lpgogy5q4TgBuSzJkbISpJVFSsc1vsUfCVdEMET20P3VEOwgh294PPvbyhnci5I2MYbSx9HRAvuscdg74TSXJemorFUupX9rmOrtJGAaXycte-9ZvPHU5YyZAUzLgAPfaj9X1fMxGfUKlh9qGZZiA==",
  "id": "rs_01c3dcea89220b28016ab4710841dc87d0b9f8486f1616e480",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15,\"left_z\":0.29,\"left_x\":0.4,\"left_y\":-0.145,\"left_pitch\":0.35},\"note\":\"The large bear appears caught on the fingers rather than settled in the basket, and the basket has shifted farther back. I’m securing the bear again and lifting it clear so I can place it farther inside.\"}",
  "call_id": "call_68EatiRrs6pYsS6H5kfNMtlm",
  "id": "fc_01c3dcea89220b28016ab4711088d087d0b424492c809d191b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_68EatiRrs6pYsS6H5kfNMtlm",
  "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]: [-0.5941, 1.3331, 0.9516, 0.0238, -0.5949, -0.4145, 0.1537, -0.0208, 0.8307, 0.6415, -0.4603, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3975 left_y=-0.1448 left_z=0.2575 left_yaw=0.1326 left_pitch=0.2628 left_roll=-0.1925 left_gripper=0.1537 right_x=0.2905 right_y=-0.0005 right_z=0.1707 right_yaw=-0.0037 right_pitch=-0.0832 right_roll=-0.0025 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -7.4051, 9.2103, 2.0049, -0.1099, 0.3004, 0.0562, -0.1026, -1.6752, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90aa15d530ade01109f5d88e6d2fa4181b2f32ab9dcf7c07b4a4f69d969919d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7169add48857b638a752f8996ca04a059dd94732249f3cf80cc8fd5ad855a93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ba370f868b451c676b45ac4633902759e0230059f83aeda0c63a630fac1f5d",
      "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 · 2.234 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 38 changed as sent

message 42 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3038, 1.8938, 1.1492, 0.3763, -0.3325, -0.318, 0.2169, -0.0208, 0.8192, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5393 left_y=-0.1049 left_z=0.1553 left_yaw=0.1422 left_pitch=0.2113 left_roll=-0.1723 left_gripper=0.2169 right_x=0.2898 right_y=-0.0007 right_z=0.1737 right_yaw=-0.0041 right_pitch=-0.0721 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -7.7607, 6.4068, 1.5995, 0.0317, 0.1294, 0.2125, -0.0752, -1.4291, 6.9675, 1.6484, -0.0269, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6277, 1.3495, 0.9516, -0.2314, -0.5339, -0.6182, 0.9966, -0.0208, 0.8276, 0.6415, -0.4599, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3713 left_y=-0.1539 left_z=0.1994 left_yaw=0.1306 left_pitch=0.0215 left_roll=-0.2162 left_gripper=0.9966 right_x=0.2904 right_y=-0.0006 right_z=0.1716 right_yaw=-0.0038 right_pitch=-0.0797 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -7.0769, 7.0359, 1.6532, -0.3101, -0.0269, 0.1392, -0.0615, -1.5111, 6.9675, 1.7314, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5941, 1.3331, 0.9516, 0.0238, -0.5949, -0.4145, 0.1537, -0.0208, 0.8307, 0.6415, -0.4603, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3975 left_y=-0.1448 left_z=0.2575 left_yaw=0.1326 left_pitch=0.2628 left_roll=-0.1925 left_gripper=0.1537 right_x=0.2905 right_y=-0.0005 right_z=0.1707 right_yaw=-0.0037 right_pitch=-0.0832 right_roll=-0.0025 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -7.4051, 9.2103, 2.0049, -0.1099, 0.3004, 0.0562, -0.1026, -1.6752, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90aa15d530ade01109f5d88e6d2fa4181b2f32ab9dcf7c07b4a4f69d969919d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7169add48857b638a752f8996ca04a059dd94732249f3cf80cc8fd5ad855a93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ba370f868b451c676b45ac4633902759e0230059f83aeda0c63a630fac1f5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHEa8rxuB3fdQTU2scBySpd0tN81X4_XeciShpaMNyT4vfnuhmoKCfT4rd-h-8fWSc-Aj6h8kjQGXCzV5iKxf7zMFNpNN_vOTecQAkgUPq5YRTxb_ZyEtz8B4iS_PuNbYmyyz-uCoBnSg1XWOqqLEfmDoWlqryFcvXwCuPWS-93GWpivTAg2iyhWbpIPNS23syrSc5JXNu3bx-pXb9yVpVG8YZzZTPEAxygbr6CqsBCC_G_65JRXXLe91EcHGOikfymBm9A5u62WxVZpuIE62GEWh5o_AErAMR9UkKyo87C0cIykl1gBqS7NZZVWvOJDKPQ1Jkvik43SD9kaYq0oEy5_Xm5nvbjcqsT-6Xiybi5KUhpH9yWX3Z2dL_eZ9gKqEbYQ_uqJpHeoNwzn7NlYvA53r3OnhZkQLQ1zQKfPkTV2k2qkbRkJ8S-LaDllxKP-tEtn58p_0OiDvDznogUKvJlOi1SkIVMvat04g-oQ_VWWKZzPKKWaWOUrLjsx0KroZV-iCPspawI5BLcb3_Ztjq3KtxsW_hvDqeLlNG8K6WRRDNyL2LziVzjjZ3yMVgtx5e-FPtLyGJWxlQZa7trUjGJziGubp5cBV10HMMsx075EdB42NoJHxJZvT8KP5MkJOiMk4F8amBxCHXvrqx_0twolLc4AU3iaLF0xVHs9AoPRxyxtNUUZ8D2GXQ0en0FRShnsmCuBYLmUTCmdM9uXjdNUelayOoN0hReMExquFbxoL3qashsBmd0kZ1oE7ye1ckEHqnLcsGa-s48JYf_qKdwSczgE4BTr0adZtqRSKWU2yd1fxloPql1-7m_6-QMt2WMdzGs-sd8H5rcmIrc38Sa_vrEy-mnvRbvM4UwJwmpd7RQ_kFRjLJfl-STACQknMgCZJx3NLh9rKtyviIlHhWQoU0h3otGh879FKuG3GKUKvbNC5rmnBqvYKd99XFBuy5V1XA-oPyEyMR9G8p9ndQUW3qH3TKvX3xQ7aBtIO03eo0_O4EhBWmcUz-FiuImLxgDPRXoG4tWfm7Lo1SMKLlSv3MuYxlfYWdVgzoFbZIf8ve7Gb3RKGPz64KRlXTtzc0VAplLPjcs0yjhyVeG2L9_Ie7JXZ-7NgFZA_TYLm68jvMa4UUlAH7ZKJ1ps9JJdt9Yk0mzkOAYoCqUmbvxMLpLwmTuzIVW4ISAV-yKPQE2qxPMw9QSzcOnVYKxp3FQMPrAWiZR7-lIR8xPa7NO7KkE82mWTfZLcHjtLMJPTKKxcZPd079VqeEmVl3OqzIHqrtMb6Knl4lSN-TA9D1xSFaKCdd0Kn1loiEOdFWclr0_XTapEhiKSuP64DM5Ml4jtCcO-ttXGMlXPlBaRfeJJ6f4WCFyzdRyiUVKuMD_CUSg2EKrhRSPdrSu_RkbDUOZ60HshawvmqyLkPRrAYqR4LX-CJrxrjTyG033dmumj28vK4ucjPmVnONlQYoA6tJX3UREz2QOcyu8IzMJexokuoImw6OLR6AZW5J0z8H_ufqnAJARkgEzDxKDOAIVsKlzvLr1Q8139Upios-yImGajD8aXPkURwBBhekiUcQSiy3GN46b1hjs-xftlN-cdD6NdCKYYMA5eT-nofdyxHB48Uorsbt8zWTC5OysLq5vRFNvX5FRfSqVNHl1RC3hvUTDhxyUvYx-hkxnJb2kLAT-1qB4z3JQEW1UbhFOMEDw_8xsn6MgLfy6tIzqsmJKbCuLP1f8PsKKvzmlN9oxATXWrXxkb9peDR67YqNaJcV5Ma6OA37cVmVM_tuwRs2OMEJ4PFmWCT00dQtpou6eP8zcZXwza1IKM9XAsdFMt78O41REy098ittd4D4ifZSLNCAzgC3G3YuMibrQN1nIDtDjXDeXLXFPTuzUsX1l30ow9K3D0eFcYWKACmwzZd1O-iwwcHQ66fjBhlvtyMN6ua002u5kU0bS3JnFmBLhnthLdcMUPyNN3oO-5d-y9BamBfOzySM1y7ME0CwiSobanL82qEte_Wn8Z-h2fRJwf1vr4ITI-jd5DNDfYYPfFdU-RKoQNRuCvl7EMo61U5mXdQhicrJ3GvLZk0h3vLMiwBEYVzzwZtbFIIEXWj4b1zuaSAYxucU4xXY1W5jntdWrquT7UJ64Uhy5fji3jpKB5udXVNpUS6ZLDvvGqCBZXzP9PYp_xI1jlxdV6MWfXCS5JzvgoH7RSnA9pWbK5RQuNNdFGP8jwEcv21E9pvcXdxAKmN6qLcK77p2tq527W6-n1TA071rDte-aj6RkqN4zjBll6PJbm-YRd-5ncrMEAnDV7Rm-OxcZE0Ft4MZe4NjpNUfMQSUwh20lU74i038DA_zddz_GeZ6bg1iCtM7O58oqHX9HBrhefVeP37VLlJXIVbL-6YW0ysBQP6SjqFTH66CoJttolGz0XHFVUrbWGh9K5hZLK8mJzw1tsSy5rg8E2X3o1w6wypLkzfOa4Sz_rdCxlgNdBKEu_ckzIaWFjGTaBItyFFat12plrNEawVQialNOrrVRwXSUD6ZfOGoqI1bPPx1ELORv5U-q6Mv7DNCipC-KR2SYi78TpQ3mShz031SB_xLgUZw==",
  "id": "rs_01c3dcea89220b28016ab4711486e887d0aa19318b8b19b752",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.17,\"left_z\":0.12,\"left_gripper\":1,\"left_pitch\":0.2},\"note\":\"The bear is resting just in front of the shifted basket, not inside it. I’m repositioning the open jaws around its upper body for a direct lift into the opening.\"}",
  "call_id": "call_Eyv5g7ZWwiyvdMA8rIgFX19M",
  "id": "fc_01c3dcea89220b28016ab47119870487d081386d50a495e4ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eyv5g7ZWwiyvdMA8rIgFX19M",
  "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]: [-0.522, 1.7966, 0.9279, 0.4934, -0.5995, -0.4171, 0.9953, -0.0208, 0.8333, 0.6415, -0.4614, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4712 left_y=-0.152 left_z=0.1421 left_yaw=0.2071 left_pitch=0.2505 left_roll=-0.1818 left_gripper=0.9953 right_x=0.2905 right_y=-0.0007 right_z=0.1698 right_yaw=-0.0041 right_pitch=-0.087 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.1744, 7.2274, 1.2137, 0.9499, -0.1294, -0.0904, -0.1299, -1.5795, 6.9675, 1.6679, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96685039a68e5228a9ee26637fda4f0a050120881a62dea42f44d23a9d8bfe59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830487c052b99f4c0e314e4f27cd7c9504b17b332a1bfb2f60bbd7185612eaae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fef2b0b34e198b471cdc3cd6776ad8541824a8fb2f662e8c1ff16f785a39d1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.36 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2974, 1.9095, 1.1488, 0.4347, -0.3355, -0.329, 0.9951, -0.0208, 0.823, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.5451 left_y=-0.1025 left_z=0.1599 left_yaw=0.1617 left_pitch=0.2488 left_roll=-0.2011 left_gripper=0.9951 right_x=0.29 right_y=-0.0007 right_z=0.1727 right_yaw=-0.0041 right_pitch=-0.0759 right_roll=-0.0034 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.1829, 6.4068, 1.8095, 0.0562, 0.1832, -0.0073, -0.2393, -1.7162, 6.9675, 1.6972, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5941, 1.3331, 0.9516, 0.0238, -0.5949, -0.4145, 0.1537, -0.0208, 0.8307, 0.6415, -0.4603, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3975 left_y=-0.1448 left_z=0.2575 left_yaw=0.1326 left_pitch=0.2628 left_roll=-0.1925 left_gripper=0.1537 right_x=0.2905 right_y=-0.0005 right_z=0.1707 right_yaw=-0.0037 right_pitch=-0.0832 right_roll=-0.0025 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -7.4051, 9.2103, 2.0049, -0.1099, 0.3004, 0.0562, -0.1026, -1.6752, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.522, 1.7966, 0.9279, 0.4934, -0.5995, -0.4171, 0.9953, -0.0208, 0.8333, 0.6415, -0.4614, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4712 left_y=-0.152 left_z=0.1421 left_yaw=0.2071 left_pitch=0.2505 left_roll=-0.1818 left_gripper=0.9953 right_x=0.2905 right_y=-0.0007 right_z=0.1698 right_yaw=-0.0041 right_pitch=-0.087 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.1744, 7.2274, 1.2137, 0.9499, -0.1294, -0.0904, -0.1299, -1.5795, 6.9675, 1.6679, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96685039a68e5228a9ee26637fda4f0a050120881a62dea42f44d23a9d8bfe59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830487c052b99f4c0e314e4f27cd7c9504b17b332a1bfb2f60bbd7185612eaae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fef2b0b34e198b471cdc3cd6776ad8541824a8fb2f662e8c1ff16f785a39d1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEd8zlBN4KTEeGTvSksZO4JOi-raOuc3mgQVbKrdn-73x5wsM5RWhtit1lzemuiwAZ3gsGVILfbL1qs76NFZU3VAFt55GDw9BmpY9MgdIBK1Y1j7rBSFePcBaM1RlFvTSdGH_eDQxoBf1j1UwxlR8xb0rbH8JKAx1wLfX46rjzQfJzQCPF6OewtowE7RUrGC22ClT26r6xHJZC1mN6J5QfAeADecgKub4k_q4OXC_UYil_8pYAzVdaigyQRinHaeg03ndLqAFKdN5Mw1c2Edav5SX435aZO-fnBDoNbnn6OVsEcKAlHKUeflUkOJo5MwFy7ha2fMGh1zG4Jv9n4sXF_R0s3ocpJ1OzyQ6y92kI9ryHwwxDbngZvMOpS0E-SnofRuJv0Ak-WoO6rH0RTLFGhps2q9dYm7Nf-HylnvtwB7xhllTFb_JbUOGeNaUEJ5vm6J2bH2q9QeROygUnvLNIrQRrWy26foud0J4gbbCfd5GIofBkZY6424wf-Y2N4NZXnKVjGm0D1gS_7YWPsn8jvAVgd5r4Cop1SyKZi21cZKmqKrz_QzUEqNV394oQeGTyLnEKhObVwHKaf0N5KKrJLQU0Ysyq2mHJJCCN6ZlXnxwMlS0iq_MoWZdmSd-ajhh4feEpm_9v8tFUdNkxhPjMFbIalUPvUiSGU63T-F9zGGGH2XouAk2QjsLRy74MyTX16qxvPuKpLrwCernxNe_VfyuYZliCfO3QSit6atvchgaQyFALQcFrpn_N9_zkPUcCXr4ATlEbzpFnFoTFP3zaFhXLWur-jykFZrqCFyrMESX2mTuIkSQEyVbLLTWNcYmFrJNIl_j1FbdSCPh4j-dOb9krNK7qHDBglzU5CenowhpwwFxN9k4X4AcQrG9NC5ku2-q7P27U-hOCOuV0cW9fh3M8A52oWv8TBbCh-_dvTM3ave_vr4xq7DWCRG4LahrnbiymE_2FNX7xwZdpjzxl2JbymnliymSM14k3cszNnFxdwD57tllMVdEkJx8DcPGMD8YNmhx5TPZDAAFPZPKwLn2PXc0Sbkam62mN_LYSxzWPbRN2Eg0uPOtbfhMsKx_SJ2kB4e4Wqo7owbKTc21PYmeO0knNrqDHeeyAZd89Axreqiw3BjMpEORWhDXtthE1gLODCCreSafKfd7R3WCAl5XPoANM8Z0nYjrtfv5bwdoWgAE5o2wwvc1YcDQx4WRVOcN0Grc_oG9hLA5HmIAOn4_BvbAl83-3NHbe_uv5BlTuQBg2qqlSiQJwbK1-3pD6ZdI8dt6DG8kpc6n9AaiNUP3fnjycUXKwjSdmseS1fAanId7wxiX9UlK058whx99W5",
  "id": "rs_01c3dcea89220b28016ab4711cb56087d09af4a32eee99ad98",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s upper body fills the gap between the jaws. I’m closing around it before lifting.\"}",
  "call_id": "call_P85z8iBiuiFXjOHRnnqtZpjK",
  "id": "fc_01c3dcea89220b28016ab4711d218487d0a4436564382b7b10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P85z8iBiuiFXjOHRnnqtZpjK",
  "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]: [-0.5266, 1.8008, 0.9314, 0.5213, -0.6285, -0.4194, 0.1288, -0.0208, 0.8356, 0.6415, -0.4603, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4729 left_y=-0.1507 left_z=0.1482 left_yaw=0.2338 left_pitch=0.2772 left_roll=-0.1952 left_gripper=0.1288 right_x=0.2908 right_y=-0.0006 right_z=0.1694 right_yaw=-0.0038 right_pitch=-0.0881 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -9.1145, 5.8188, 1.4969, 0.1392, -0.0269, 0.9841, -0.1573, -1.6068, 6.9675, 1.6581, -0.0024, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa292038d16c2cad2e3d4e1bed1af4efea44ff96d8359fd994c166f4631e5e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0843f524141e8896469fb197095199b98495c99a08d29b4f6e151459d14de73c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad497174db35aa8f5ef3861d053ce606e6b8d258055f477f7c3208d247405c72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.491 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6277, 1.3495, 0.9516, -0.2314, -0.5339, -0.6182, 0.9966, -0.0208, 0.8276, 0.6415, -0.4599, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3713 left_y=-0.1539 left_z=0.1994 left_yaw=0.1306 left_pitch=0.0215 left_roll=-0.2162 left_gripper=0.9966 right_x=0.2904 right_y=-0.0006 right_z=0.1716 right_yaw=-0.0038 right_pitch=-0.0797 right_roll=-0.0031 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -7.0769, 7.0359, 1.6532, -0.3101, -0.0269, 0.1392, -0.0615, -1.5111, 6.9675, 1.7314, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.522, 1.7966, 0.9279, 0.4934, -0.5995, -0.4171, 0.9953, -0.0208, 0.8333, 0.6415, -0.4614, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4712 left_y=-0.152 left_z=0.1421 left_yaw=0.2071 left_pitch=0.2505 left_roll=-0.1818 left_gripper=0.9953 right_x=0.2905 right_y=-0.0007 right_z=0.1698 right_yaw=-0.0041 right_pitch=-0.087 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.1744, 7.2274, 1.2137, 0.9499, -0.1294, -0.0904, -0.1299, -1.5795, 6.9675, 1.6679, -0.0415, -0.0562, -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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5266, 1.8008, 0.9314, 0.5213, -0.6285, -0.4194, 0.1288, -0.0208, 0.8356, 0.6415, -0.4603, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4729 left_y=-0.1507 left_z=0.1482 left_yaw=0.2338 left_pitch=0.2772 left_roll=-0.1952 left_gripper=0.1288 right_x=0.2908 right_y=-0.0006 right_z=0.1694 right_yaw=-0.0038 right_pitch=-0.0881 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -9.1145, 5.8188, 1.4969, 0.1392, -0.0269, 0.9841, -0.1573, -1.6068, 6.9675, 1.6581, -0.0024, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa292038d16c2cad2e3d4e1bed1af4efea44ff96d8359fd994c166f4631e5e09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0843f524141e8896469fb197095199b98495c99a08d29b4f6e151459d14de73c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad497174db35aa8f5ef3861d053ce606e6b8d258055f477f7c3208d247405c72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.26,\"left_x\":0.475,\"left_y\":-0.15,\"left_pitch\":0.3},\"note\":\"The gripper has captured part of the bear. I’m lifting vertically to confirm the bear clears the tabletop before moving it over the basket.\"}",
  "call_id": "call_uzUClwWPC3lr0TuzG2nEtpud",
  "id": "fc_01c3dcea89220b28016ab47120086887d09154d9fef7ea08ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uzUClwWPC3lr0TuzG2nEtpud",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5266, 1.6859, 1.1385, 0.1291, -0.6323, -0.4263, 0.1312, -0.0208, 0.836, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.1505 left_z=0.2118 left_yaw=0.2284 left_pitch=0.2266 left_roll=-0.1511 left_gripper=0.1312 right_x=0.2908 right_y=-0.0007 right_z=0.1692 right_yaw=-0.0041 right_pitch=-0.0889 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.4103, 10.4547, 2.0049, -0.1343, 0.2466, 0.9451, -0.0479, -1.4838, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cd2db21df4de06644c2792865be4a2234b42bcab2a51dd9cfeea1d7e0e1f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0025e8175adb32e893a4176770e627958120c0e6112d2a7db538ef4ba2310d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93e8420a2c6a9af2221623c0cd3826cd08c55a39cbb58c3649af14653542644",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 5.544 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 53 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5941, 1.3331, 0.9516, 0.0238, -0.5949, -0.4145, 0.1537, -0.0208, 0.8307, 0.6415, -0.4603, -0.0109, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3975 left_y=-0.1448 left_z=0.2575 left_yaw=0.1326 left_pitch=0.2628 left_roll=-0.1925 left_gripper=0.1537 right_x=0.2905 right_y=-0.0005 right_z=0.1707 right_yaw=-0.0037 right_pitch=-0.0832 right_roll=-0.0025 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -7.4051, 9.2103, 2.0049, -0.1099, 0.3004, 0.0562, -0.1026, -1.6752, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5266, 1.8008, 0.9314, 0.5213, -0.6285, -0.4194, 0.1288, -0.0208, 0.8356, 0.6415, -0.4603, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4729 left_y=-0.1507 left_z=0.1482 left_yaw=0.2338 left_pitch=0.2772 left_roll=-0.1952 left_gripper=0.1288 right_x=0.2908 right_y=-0.0006 right_z=0.1694 right_yaw=-0.0038 right_pitch=-0.0881 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -9.1145, 5.8188, 1.4969, 0.1392, -0.0269, 0.9841, -0.1573, -1.6068, 6.9675, 1.6581, -0.0024, -0.0659, -0.0122]\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 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]: [-0.5266, 1.6859, 1.1385, 0.1291, -0.6323, -0.4263, 0.1312, -0.0208, 0.836, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.1505 left_z=0.2118 left_yaw=0.2284 left_pitch=0.2266 left_roll=-0.1511 left_gripper=0.1312 right_x=0.2908 right_y=-0.0007 right_z=0.1692 right_yaw=-0.0041 right_pitch=-0.0889 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.4103, 10.4547, 2.0049, -0.1343, 0.2466, 0.9451, -0.0479, -1.4838, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10cd2db21df4de06644c2792865be4a2234b42bcab2a51dd9cfeea1d7e0e1f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0025e8175adb32e893a4176770e627958120c0e6112d2a7db538ef4ba2310d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93e8420a2c6a9af2221623c0cd3826cd08c55a39cbb58c3649af14653542644",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHElkmALEjmIZ-5o_3VzU7s-enxcKt3ezd9K8ckVxvNDtQSoncCnl2HGimNdFjVjWsnOFDDSedtB6RgxS62oC3gsJCkcGFM4sK3A4F3zBosDWECeXu73uheco2KlZImQhraV6pDr90iwen_UHzkCER6J_s1YlgRx3nwx47OidLuy2kyAeeoDsQSa6MzgMZ7Fx7o3L6XsNjkTsIWPalGZe43y5mx-yTJ0ybf5-ey7WwmxOTo9NXzNhgeyvGrBdYtSo2hPxcm5oPitpDu2kYsxr_fzheivwEV0RccTdnl9xzhfWkme2_ZaBdwt5vNcygXh5LQC_o536aXuH00b0pqHjr-wKhx9iHUWCxu-S4DFcBEUqTIyk75sd8QaGp4xrJVqbfc4zU05Q2duc9NoXZvwUXsHpx2bAJcSiEj2WmANXsFeSSrA17O5PjFak6XRcn3IkGaZS4d2KZ51BnxdmvrJcMZD1RSaBatny-Ik6RRXNwIqbNlCWKH8zBlY9cCQCm1dKKhOanY3gTbJoMLAv8kln09cn7cGzG47adI0b02nu_2SG9P1ikMFIq143QCa4nxjd5c_FllLUIM9ZGf81xiFYJwTplDzo8cG9lJKRyvzKBbTsmsOdBtefkqTqdBODoqpJgnBquo4JWkKcuFsfjNt0ss71N02rkWNfp02C-5xhz7VXX_7Epjr4vU4SZvKtM7W_hcz2sJ-Mdqir8LqyFgDnTsUj6mw8TXqf9yUaRfeNgTtuBHtht6mynODzVvIm8ntDyuWXjaSBjYunz1a_otJrmmmmosBO8v_Jxw-c3KUHmGa8NI_yXggksQYeEGR2nCi1zHPOxBNzLxUOQbLpiZCdfmQfDoV_1KGWq44IywJ5x9D4XSbOBkLshZQHA2pHxrmo9TdPk392RLsYz6tbY2CX0yvhRhHr7yoRMjavBjTHkdN8iFAbJvVYbUoqHCfKkvZMdOfvbGj9IiJl58h7TDiCBZxsTxuFOD3mwwqbYILjDTLeLXMS2TmcrcJTFfGs9Be6JnB4kHq5Q49PKVQLjF7Bn76Av2ICkZ21tgn-L3fp_c7VuHZnY-D1ruzcAr8-6y_u_DgKo6iIRrSUiXDFbN9suSsHEHU1FtJsR8CcEBnkYtBWt-Q6i4D2T_wlzjH6suc9K5kF8uxugmTWhMTAmod_UtI2PMWK2wzh7Uoc5reHn2mhQxs4S7wK8tJuXxK4Mb-9AuOdcmRQAWdajf3BY4DYhpwzt_BzyN0aRPbr8ytrMO6YF9SmkwLMRtvrNY_MV5O1urX-8hmC8nQPYbTe-rBIKDcUdcY0BONyfKwqmjJM6RDwiVQrL7l0KTo4k0FifmN_51U",
  "id": "rs_01c3dcea89220b28016ab47123084887d0a5305d96be1e7c41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.595,\"left_y\":-0.065,\"left_z\":0.29,\"left_pitch\":0.5},\"note\":\"The bear rose with the gripper. I’m moving it over the shifted left basket’s near opening, using a forward tilt to reach without pushing the basket again.\"}",
  "call_id": "call_t6wkCvFvtc8WU7DGLFwUAPpr",
  "id": "fc_01c3dcea89220b28016ab47123e98887d08369781d24b2ecc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t6wkCvFvtc8WU7DGLFwUAPpr",
  "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]: [-0.2401, 1.9259, 1.4197, 0.2909, -0.4095, -0.2306, 0.1324, -0.0208, 0.8387, 0.6411, -0.461, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.583 left_y=-0.0667 left_z=0.2439 left_yaw=0.246 left_pitch=0.3646 left_roll=-0.1358 left_gripper=0.1324 right_x=0.2908 right_y=-0.0006 right_z=0.1682 right_yaw=-0.004 right_pitch=-0.0923 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -10.7009, 10.1949, 2.381, 0.1587, 0.3834, 0.8767, -0.1026, -1.5658, 6.9812, 1.6825, -0.0122, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f47a293bd86c7af6a5d1f4ba2a3179814a4f00fe3b101008e466dfc2ff02be2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa9dd73d93dd1478d78953b610ad35c90576e9f658cc40e016f42864fb76960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06b7d580e089e3b69ef9b400a14cdaac557411ab9cdfb58d7c065ba794a4f33",
      "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 · 2.047 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 53 changed as sent

message 57 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.522, 1.7966, 0.9279, 0.4934, -0.5995, -0.4171, 0.9953, -0.0208, 0.8333, 0.6415, -0.4614, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4712 left_y=-0.152 left_z=0.1421 left_yaw=0.2071 left_pitch=0.2505 left_roll=-0.1818 left_gripper=0.9953 right_x=0.2905 right_y=-0.0007 right_z=0.1698 right_yaw=-0.0041 right_pitch=-0.087 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -6.1744, 7.2274, 1.2137, 0.9499, -0.1294, -0.0904, -0.1299, -1.5795, 6.9675, 1.6679, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.5266, 1.6859, 1.1385, 0.1291, -0.6323, -0.4263, 0.1312, -0.0208, 0.836, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.1505 left_z=0.2118 left_yaw=0.2284 left_pitch=0.2266 left_roll=-0.1511 left_gripper=0.1312 right_x=0.2908 right_y=-0.0007 right_z=0.1692 right_yaw=-0.0041 right_pitch=-0.0889 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.4103, 10.4547, 2.0049, -0.1343, 0.2466, 0.9451, -0.0479, -1.4838, 7.0359, 1.6825, -0.0171, -0.0562, -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 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]: [-0.2401, 1.9259, 1.4197, 0.2909, -0.4095, -0.2306, 0.1324, -0.0208, 0.8387, 0.6411, -0.461, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.583 left_y=-0.0667 left_z=0.2439 left_yaw=0.246 left_pitch=0.3646 left_roll=-0.1358 left_gripper=0.1324 right_x=0.2908 right_y=-0.0006 right_z=0.1682 right_yaw=-0.004 right_pitch=-0.0923 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -10.7009, 10.1949, 2.381, 0.1587, 0.3834, 0.8767, -0.1026, -1.5658, 6.9812, 1.6825, -0.0122, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f47a293bd86c7af6a5d1f4ba2a3179814a4f00fe3b101008e466dfc2ff02be2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa9dd73d93dd1478d78953b610ad35c90576e9f658cc40e016f42864fb76960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06b7d580e089e3b69ef9b400a14cdaac557411ab9cdfb58d7c065ba794a4f33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHErF0hdW3sYSNN_3D2akF3HPW_75jGOnN_KIhLgHE_hTiN8yFp050P8N130sUDx5YkO4Lp8Cbzspd02x1DLTNeN83khZjgXj4ysRgMhD3THeS1qhhNJOqsJDAfA4dL9rlK-ddr3-qlPB5Zs71na1NU5qNBzabF73FOcpkSPkzJg21BlNDJl5vh127kerjjuB5kIDL8UAnOT1KLT-OLtUMFHBdz-aROOuv2ustWNkWn7NmAVXhtK99KuoM7oi9lsEJqOM3rx7hHDT46NQvVyVyj4jRgfvOjL683qVErTqKc9-MUHCsw_p0D76OJXZlp4kQgGdx6Cla_S8zwE2TuD1vVFT1rJRwbYC5CEryIF5rvmamStldVjCxXDPA_3gj9F8o0M71jLUAISzodqL1BXFpnb7tS6q6Ezt3nM4idWUKGtKC0tp7oZ1Gf_BYCBJuoocn0B9HqxWTMloOJ7WqZhetgrbhmqXJGWBKCMYrspAS4dybZjVsIro8C5gJoHkwnXhnWj_0ECP1RpoOM3_KHtuDm5yszz6aNml6IpqHw3a2PJTexvXgCXzokLrbUcUgPlHWgRqBKLMD4hYSF_dbBRaWCCMpJAq91Nw6iViOfwfzqnmS7mPvgyjShhDgTCe_uUN3UhAM9r_QL7fHqp8z8cJTfPVMrwC-MN77ICYsy1pzLzt8znnr14_VOGeCUMIhq8w4XJsw_Y2ByUaIOVYoilz-a-dOTZwlxjBw-8mJBEDqBWhjYSFFZK6l8KTqBQS1TtfCYOw1pRvVkWL0_kYpgq7dh0oCiqWONntOJexDpEhoMKh5tunjZ7Hftmp26bcrd9VrwBaSnCiOZbwL2fqZy5TxN10WRdxDs1e07XsM-3G4tKEZCE_8jtakoSS6IjQ6xR9PO6sQe8RWT7ClOPPRWy8R3baL_-9J6xvswVVdJfxmHT2UkhTreTNTBz0aY892UMXDaoEyiutetlh4LWqcfMsTib-Z3cbmSICMoGmuLwLj4pEWjY5wIQmpLCCLwV-WKGIHBlidgi3a57p1rxndoh8GGgMVufwqffD53jUj2-9W-_oux1-kns5abRe50eD3lz2l61o5SABlGCacaLkpZ0Kvkbk9yt4o5YzxCsZLXioU3b7bB6bpgiKOBN4-cLbjGoMwHNHWb3TpZFt_eWOsSI1bi5jY2jYPj-ElMkBZtj8HILHxHNtgCEHTnLY6iEWGXvV-iBwZcAeJuIbBB0D2XaBGKBns8f-ht7Q9C1J4RrGMfqAVvPYBIA3zTAqx5XgnoUSNLl8kuHX6FYuMTPQcpFo9gFx6g8_dsFYD18G7k5_ouqFOQCSPDgnUTvqeF6Q-NwdLmOMQ1erq3g1eYm0BvuhpBvtZyguVMzK1cnLu0fTfKVPrHhTXRh4yqIYeSFYq6lwH9Nig0G5AkWJfnMeTiaPp98yeWXRy4nzJNetX4TxM4c2Rmj1QLsEaZPuvbK6sNRCvnnVrBsEPkbXaB_pVJGHxsMCe-WeBAoG554AjRbbPmmaX1KOtSzMkgASc9Ve4IDiAvX1mi7AFOTCIgFwRT6j2RoEUbJap1VJTf7_IC-EhxSom208JXiKhtMO90drrmMhfUQVF1xPJIIF4vhVj5jQdoNT6WP5-c97YRcZGshlcR2y0Ew6nujAN-epjDqnSysSYFfhugBv55kannZf07AVWlCjOIvtl3ha2cRzCipirmO3QIEFb3c8cSuLhQp-1ywJ0c_myiuIPwpnhVelX9iK1aUX3cs4Y8BJK9rYG564mUSIFgcg_IUXtgvgVQl9aovL4Ecc5sZ7eXTWY5FtISo9MBrHDxu23V7P7oVDb0HubR5NAel4z1IJPeknV83RFFMHO9rbaf0MTVyzcYXmdH_F3zDAs8VRHscW19bAkMPR-VroJkebhbGFQ5sbktSyS1J7X4_pSnkaOV161UV8xsAa2uruiSYi1tgB0TsjjbLdcfQG6Y=",
  "id": "rs_01c3dcea89220b28016ab471275ac087d092d4417cbc6ed214",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.005,\"left_x\":0.595,\"left_z\":0.22},\"note\":\"The hanging bear is offset to the right of the jaws, so it is still near the basket’s right rim. I’m shifting left and lowering slightly to center the bear itself over the opening.\"}",
  "call_id": "call_HwO8ZIMx7rl52weUchmaEgPj",
  "id": "fc_01c3dcea89220b28016ab4712a8eb887d0a61f950e15d6977b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HwO8ZIMx7rl52weUchmaEgPj",
  "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]: [-0.0814, 1.9522, 1.3701, 0.3408, -0.2779, -0.2161, 0.1349, -0.0208, 0.8417, 0.6411, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5914 left_y=0.0039 left_z=0.2153 left_yaw=0.2742 left_pitch=0.3297 left_roll=-0.1384 left_gripper=0.1349 right_x=0.2912 right_y=-0.0006 right_z=0.1676 right_yaw=-0.004 right_pitch=-0.0942 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.3316, 6.5436, 2.2979, 0.0659, 0.1978, 0.5397, -0.1846, -1.7436, 7.159, 1.6777, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e988f406052acacac17e93943e72296523660deeb35e42a84d1996f4a3d00fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fea6e395b962ab54aecfd68d53559d5b4dbfd7bb2f8ace86a42e42dc03990bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9363c557dc0361f4182acf9f276031d681bb80b5adc933648a7c6f71967ffdc",
      "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 · 6.658 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 57 changed as sent

message 61 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5266, 1.8008, 0.9314, 0.5213, -0.6285, -0.4194, 0.1288, -0.0208, 0.8356, 0.6415, -0.4603, -0.0105, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4729 left_y=-0.1507 left_z=0.1482 left_yaw=0.2338 left_pitch=0.2772 left_roll=-0.1952 left_gripper=0.1288 right_x=0.2908 right_y=-0.0006 right_z=0.1694 right_yaw=-0.0038 right_pitch=-0.0881 right_roll=-0.003 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -9.1145, 5.8188, 1.4969, 0.1392, -0.0269, 0.9841, -0.1573, -1.6068, 6.9675, 1.6581, -0.0024, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.2401, 1.9259, 1.4197, 0.2909, -0.4095, -0.2306, 0.1324, -0.0208, 0.8387, 0.6411, -0.461, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.583 left_y=-0.0667 left_z=0.2439 left_yaw=0.246 left_pitch=0.3646 left_roll=-0.1358 left_gripper=0.1324 right_x=0.2908 right_y=-0.0006 right_z=0.1682 right_yaw=-0.004 right_pitch=-0.0923 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -10.7009, 10.1949, 2.381, 0.1587, 0.3834, 0.8767, -0.1026, -1.5658, 6.9812, 1.6825, -0.0122, -0.0464, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0814, 1.9522, 1.3701, 0.3408, -0.2779, -0.2161, 0.1349, -0.0208, 0.8417, 0.6411, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5914 left_y=0.0039 left_z=0.2153 left_yaw=0.2742 left_pitch=0.3297 left_roll=-0.1384 left_gripper=0.1349 right_x=0.2912 right_y=-0.0006 right_z=0.1676 right_yaw=-0.004 right_pitch=-0.0942 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.3316, 6.5436, 2.2979, 0.0659, 0.1978, 0.5397, -0.1846, -1.7436, 7.159, 1.6777, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e988f406052acacac17e93943e72296523660deeb35e42a84d1996f4a3d00fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fea6e395b962ab54aecfd68d53559d5b4dbfd7bb2f8ace86a42e42dc03990bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9363c557dc0361f4182acf9f276031d681bb80b5adc933648a7c6f71967ffdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bear now overlaps the left basket opening rather than its outside edge. I’m releasing it here.\"}",
  "call_id": "call_2FAJx7fWXuZnioTQNdm4o8MO",
  "id": "fc_01c3dcea89220b28016ab4712da66487d0b85a07a150d916cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2FAJx7fWXuZnioTQNdm4o8MO",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 1.9583, 1.359, 0.3305, -0.276, -0.2241, 0.9955, -0.0208, 0.8421, 0.6411, -0.4603, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5898 left_y=0.0042 left_z=0.2043 left_yaw=0.2747 left_pitch=0.3033 left_roll=-0.137 left_gripper=0.9955 right_x=0.2911 right_y=-0.0006 right_z=0.1675 right_yaw=-0.004 right_pitch=-0.095 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -11.5761, 7.747, 1.9902, -0.0806, -0.0073, -0.2418, -0.1299, -1.5111, 7.1863, 1.663, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e061e8c6fd4ad7d27bd289ada6a96abd1f5108fa0939f4371292f13c6e5d97ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e87ef6fc94fd3cc892dfd91c714d8c9ff072b3054fb7230c47bdf6792590fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785778c183268cdeb7c4e42ec3d0f14d6e8784b2211e11fcc73be4ec4c22cd32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.417 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 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]: [-0.5266, 1.6859, 1.1385, 0.1291, -0.6323, -0.4263, 0.1312, -0.0208, 0.836, 0.6415, -0.4606, -0.0101, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.1505 left_z=0.2118 left_yaw=0.2284 left_pitch=0.2266 left_roll=-0.1511 left_gripper=0.1312 right_x=0.2908 right_y=-0.0007 right_z=0.1692 right_yaw=-0.0041 right_pitch=-0.0889 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -12.4103, 10.4547, 2.0049, -0.1343, 0.2466, 0.9451, -0.0479, -1.4838, 7.0359, 1.6825, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0814, 1.9522, 1.3701, 0.3408, -0.2779, -0.2161, 0.1349, -0.0208, 0.8417, 0.6411, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5914 left_y=0.0039 left_z=0.2153 left_yaw=0.2742 left_pitch=0.3297 left_roll=-0.1384 left_gripper=0.1349 right_x=0.2912 right_y=-0.0006 right_z=0.1676 right_yaw=-0.004 right_pitch=-0.0942 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.3316, 6.5436, 2.2979, 0.0659, 0.1978, 0.5397, -0.1846, -1.7436, 7.159, 1.6777, -0.0464, -0.0269, -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 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]: [-0.0807, 1.9583, 1.359, 0.3305, -0.276, -0.2241, 0.9955, -0.0208, 0.8421, 0.6411, -0.4603, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5898 left_y=0.0042 left_z=0.2043 left_yaw=0.2747 left_pitch=0.3033 left_roll=-0.137 left_gripper=0.9955 right_x=0.2911 right_y=-0.0006 right_z=0.1675 right_yaw=-0.004 right_pitch=-0.095 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -11.5761, 7.747, 1.9902, -0.0806, -0.0073, -0.2418, -0.1299, -1.5111, 7.1863, 1.663, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e061e8c6fd4ad7d27bd289ada6a96abd1f5108fa0939f4371292f13c6e5d97ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e87ef6fc94fd3cc892dfd91c714d8c9ff072b3054fb7230c47bdf6792590fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785778c183268cdeb7c4e42ec3d0f14d6e8784b2211e11fcc73be4ec4c22cd32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHE1DmQDAcE2-0RsUpOWFEX-4cJIaHXbZEkQvISenrQJzeXBV-LWY9niw8VkV78BxXJyrWjUQHj4F7HBnbqxwnE7SV7liz1WX31MlK9v-nwOc9MD3yQY92lXFg56_zELTA1fgaxlGwbEMUQnqTXn_SHoRyoNFynAQ3wLw_5WrMPSUJAbOdifIKuBrp7Rbq43Y8D4ce6RzC0NqqS_RzzBrj7HzUWN2RW7tAsBzb9r92BoxGsAV9sDkUNR2n6gigHIYupuGB1dxEMvm2PkJGFAikx6XAZ0Mipbd_tTkNtAiI0CqpueZ-0hXx3WxI6vm_I5wDzgIbj3OENa0ulXm2GEMIspQM5hOKUpDxRalXYVE16pVl_wpFlylZYKWm0oSzMPhWiw7iBZPop6I2vgp7mIkMnjEVbyNZF5U8i61pcw_7zsemjbYmFmQQnMy4W_2IK0cAjVHAllrWqisA0kNMWqODH5beeNGdUvB_FGiwiSEk-R1UAR3yUHcwSTF9aMiQQxbnBZKYEG7MIE1almF5ZVmikRppgAonGiv02dtxJFHL8Q5a06fgEsyG_EgGvQ4WkWswjachx5XRULBoAS0xn7_Zd1Tz_b9hIpgjZdKb8-SzpFpLjb8csUriLsg1YMnQ7IeIW2keJ31VJwLx_d1ZEXPS-eKoXXzFujmJ2q_Pdg7Xkeq3adZP1aMyznpFj0mDadF5wxCygbk1jcjQXMPx-cHd9OJQitTezqZh90H-T7p_KGFddXfvS6O9XMcpmrME6R20hSl-38oSAqLis0YSjviOrBsU-C0scC8BICw2FiIHappdULbexNkx8eQaqehbjXVJF-ojHjxMPQ10MdsJgrffh4JNKInDSlf4-y9SY6bON47SxSihTYrm-1iuSmw_GETtCA8m8xtvmM0eLmp2onwunNXC6KJACU7Am3ht4tX3t6JZ7EC52DbI7pBwDacRW7s27fqKyxy_hqggbvu5Z-PzxOoIvZU1SBonZ01ql6yGSNUE9gyFBg-yaeUzrPd_39_0iZb-U8yf9PnQoVagHcFCF-YRBv-gWoGvCVAsFch5cwWDRJq_aujYI6lwWRXCphH4j9Up2mO6jeQCvapg2toKvUphXN3vw_VPzuirdguvPWW9LLx-FiS_brGh_Ki7cFmVPPK3s1mMZ1ZGx9f4jeUbXaKmT_SxbwSk8S6J-b4QV0i2l-8bHEDJSG-aspFWuBVWJa0eNjfd4_HFypzXu8drLPXYVrSPdlnkhtt3nlf0-4QgxUaRD0lTvHQXXmoRpAI_UDlj00zjeoNWYEawlHw3jHBXEq5ZsMxfA4py4Hf0Sq5iBVNEFSiBnP-eMQzSW_4cSZUdruKve2ZcJss68btF99-0Z6A_4Zb5tJMUIm79Ooro4aENGPMsiMrQScMWhKpjOvZZ0cEctJMs-H6eJ9Vovu6XHeF9tPZT-85z8oB1TOIzr4vQjTJ23yu4f-sTIVX1sGzXskR_xEVgnGtURvARQIVc8Pnoqdjw-dRgHBeCNgykLppLaH6iljx4pKWNus5wIGg0UfTjQx6mX7ZS500RPissEPN4cfXFlKImYh8lF3Kbtaz16rLMxspqyZKyX3MSSgU4kGa0XeEtDrXyZi1WZCJsa3PQGYDYX0S0oz0PmpS40_jsEY-fdALYBPKaGmIM3-t2w9kODt12ZHf6i7-EPabgG3kcfAHFleUkM8hvTtxGttpOYFEcvKeiattMFnau5UHbPzcvKgSRQBm-DEn26fi7K7KrSQQatNK_9yeGRFKO2lTkXlFNqS2-0gJIG545L8fRvM8Y1sjPC6n_l1YAdKHUs-54E4guAYUI6dApHa3TQ2mIbUvGgA1_vJs5AVL8e5ULOob51i8dpgC_ovtQa_qh7-JNMRksxm0IA81iiAZCLu5kR5hVd99r7BigoBrgXgrsK-F0YW_J00vt1IjWNsTriwnGtjtnNTb16UJH5IonNIwIG3VKPWr9to_7-PTp9FJc9zbv0paNpjnOpGzddbyhcj-77LLZqFhH5UjvijJojNSzPaAtKXmVpaCU9rTPo_-XEBQwIQh76Rh8Sc1sWHHRIqewWGyWCC11FiCLelCloz_e94XI85-iqKZiM42k5RRpILeJ-pRpXILv6ebbCYkHT0YiE9r2Qbj4E-k54u6jNF3ZvCyFMPAdaX3TIvz8G9ijiqoHqeQ68Tr9xSa4tlYo4iCFanlnT6tRlcUnhwunSy0Qsvalr2FW8JESEebiaNZZcIp7iLRsBv490RaSFIc5gqJ9On8pU53Skixe5_-MHa1CaHJhv5RabNVZsO6GJOwlxQ3_kk2jimzuSZ5uXn3CRlnrcVtwWjwIVThV2brauK_8gtzyxcZDb5KSNJS5n6pVrPqM4LH_7svxO6ZDejVA==",
  "id": "rs_01c3dcea89220b28016ab47130707487d096ff1aaea24dabdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.14,\"left_z\":0.12,\"left_pitch\":0,\"left_yaw\":0,\"left_roll\":0,\"right_x\":0.345,\"right_y\":0.215,\"right_z\":0.08,\"right_gripper\":1},\"note\":\"The bear is now in the left basket. I’m bringing the left hand over the small brown plush and the right hand over the blue-capped pen; these pickups are well separated.\"}",
  "call_id": "call_bbiJy3LbdGHoOJRGqtqoHA4U",
  "id": "fc_01c3dcea89220b28016ab47134766487d088ea871988d1a155",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bbiJy3LbdGHoOJRGqtqoHA4U",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.6582, 1.3125, 0.6224, 0.033, -0.5243, -0.3939, 0.9967, 0.7856, 1.623, 0.7979, -0.0647, 0.5678, 0.5087, 0.9992]\nstate[eef_state]: left_x=0.3382 left_y=-0.1452 left_z=0.1215 left_yaw=-0.0273 left_pitch=0.0087 left_roll=-0.0114 left_gripper=0.9967 right_x=0.3347 right_y=0.2056 right_z=0.0663 right_yaw=0.0275 right_pitch=-0.1487 right_roll=-0.045 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 6.3658, 1.6337, -0.3004, -0.0464, 0.1099, 0.4308, -6.9675, 8.1573, 1.4335, 0.5104, 0.2711, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35d5910d7c3b575399972a61857812b63be7985a03778c7d16a8270c27a53c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdab60d6c035d5bb8e35b3186e578e077efe983f7add3f87d2a59145f5f31c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cf8446d2a0d688a2b244a2c64ef0ec4b00bb6747ab861d0d1c6d8cde39c6e3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 6.907 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]: [-0.2401, 1.9259, 1.4197, 0.2909, -0.4095, -0.2306, 0.1324, -0.0208, 0.8387, 0.6411, -0.461, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.583 left_y=-0.0667 left_z=0.2439 left_yaw=0.246 left_pitch=0.3646 left_roll=-0.1358 left_gripper=0.1324 right_x=0.2908 right_y=-0.0006 right_z=0.1682 right_yaw=-0.004 right_pitch=-0.0923 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -10.7009, 10.1949, 2.381, 0.1587, 0.3834, 0.8767, -0.1026, -1.5658, 6.9812, 1.6825, -0.0122, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.0807, 1.9583, 1.359, 0.3305, -0.276, -0.2241, 0.9955, -0.0208, 0.8421, 0.6411, -0.4603, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5898 left_y=0.0042 left_z=0.2043 left_yaw=0.2747 left_pitch=0.3033 left_roll=-0.137 left_gripper=0.9955 right_x=0.2911 right_y=-0.0006 right_z=0.1675 right_yaw=-0.004 right_pitch=-0.095 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -11.5761, 7.747, 1.9902, -0.0806, -0.0073, -0.2418, -0.1299, -1.5111, 7.1863, 1.663, -0.0317, -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]: [-0.6582, 1.3125, 0.6224, 0.033, -0.5243, -0.3939, 0.9967, 0.7856, 1.623, 0.7979, -0.0647, 0.5678, 0.5087, 0.9992]\nstate[eef_state]: left_x=0.3382 left_y=-0.1452 left_z=0.1215 left_yaw=-0.0273 left_pitch=0.0087 left_roll=-0.0114 left_gripper=0.9967 right_x=0.3347 right_y=0.2056 right_z=0.0663 right_yaw=0.0275 right_pitch=-0.1487 right_roll=-0.045 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 6.3658, 1.6337, -0.3004, -0.0464, 0.1099, 0.4308, -6.9675, 8.1573, 1.4335, 0.5104, 0.2711, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35d5910d7c3b575399972a61857812b63be7985a03778c7d16a8270c27a53c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdab60d6c035d5bb8e35b3186e578e077efe983f7add3f87d2a59145f5f31c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cf8446d2a0d688a2b244a2c64ef0ec4b00bb6747ab861d0d1c6d8cde39c6e3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHE-JAVxm45Yuj9GMGOwYTBuZ0nTGPSxfWbW-tQRw-vtc8pMBuUgq9uRrrb-OOFU0TCgEEtfGSAM-Y2GpKh6uwEAA6LnRRnyQrPz2wH6Kizlkxub9Q61mLIl9G_W96pGJDRrDBZ9swbFdQ3ETALifo9fhpA0BaXOm-zt-HviljMNBwK2dZwYUvZQJzztPXOmHtoJf6H9MYxB7peZSdGP9wL7GK98XFZxbVMlMABOyMCROMcUddaflt7UDAkZhY9sQG8hOAEernC_d6CnVMq8GPAenlqIzPFvR1tTvJfTEYOzCKyImN4-ZHXzb7_YlhWdWgsP-JwWWCrBfw-eUUnyRDrvXGnt8E1jWy8ile2WARrRsCSfOiMvWtg7nbQYfcl7P5YhYX-yGLuek6tqVkO3y1zUrHMhEDw0QMiDQnrCjA3dCQjeL1snVcp3rdQ-fES8j-GU4wmKbYz9fbaARdrtwx6feA9OzrMkE59mvtaNkn31O8QTeT_D45Mi5TBPC4fEBaYrlqLCfzB6ivi8fw0YnipplJhyn5Dz0jjZIqmBVF9x8yFVvIUIvFRoJY1jmVw03HfwkD6IoiBEYuclliWkXdZEBrPvzbu2xTpJJfSzVgdOWkiBPXprQeDItxAHx-G3tZqHNH6vKgkb-PE-h41PMRnr0fnAIdPgk5e3hzIrkA8qA998mTG4j6XNBHSJ8cCfmgu9bBSQ1FE8w4xCJLgQoCiqxxfux78CX86WDqOZmjN-GES4QUrgItjQIHJrDjF3eAcjtfQXVpcpMZ0X82bqPGeSHYjQg1ZpwkTFqb5dXMtDv-H9fN_y2cSYv_gUo20SdkDfL5TkRyoAvlej115Pp_HKG0REs3QsmG09JxHQWeG88pMp97zAi_8DOcN4hrthVzii5duZ6UahGTGJwOXzg2-tzU_omERiBSxXSKRVJ8smrowOc1qilOn2hGew6Lb5m50XnAk9uvAa2w7gu7bYngz-bKyQFF8bajTURLBctIxRplRPVLdZNP3F-RsP-cwZYxUuywu0Lf8wk_o57IDPNu7SAKO1c9Apbry07yMEldiTwypWXJ0KvNJBMNcBqtELNmgymYxuZB3seA06cw3lQ3rmWWwiUkichRxH3V0ywLKVddQV29lmGrZsiESEG5Bg416P0RAUiNLeSBbzSzfuDRcOn7tAOTWDAYul-BiOHpRwkxY3yqtqhAo5_a0iMgsJH1CHEjKe8y7vjAezCiBaZw_Ot73L05Zw8prLvvuVQHc-l_l040luFGyyLH2gB-ENdLfGYpQ13FCDYXUNfkYGI-Ui-kt0t9S6o6jqQxKk6mCdPGFCUvI4EpwjdyOU7ZNMxha5sVY2X3cLJ7NT-X2cUDQUODmN_WP0JZEJigyLueXiOEYIz1B3VJpdqQmsFnneXuBg9gHTYgF9G4aGOOj9XieYkULRsisJBimLcSc6baGRcy2z9Ai6Maqfuic-Tp4eckFheAfHiQmA7U0zgfGA6aeood4NzawPNxjIspOMX4-og5S1UKURWIwNaPgkUcqWL0nGcnU4aQPFltbWC7yoNiGAyhTBPcv8C5QUTy00IUHEobW7Rkgc4885R5qAHP9wfwvAkkB4SC8ZhPbEmH1YOBLSiTxMVGw5X_2Oeys-12qtg56gc6d9HSg_p-DC8C9n6sc12IIomSuzC2tTV7H9lbfVduYJ3HRy1wJXOExjYbpjLrksSpJEyr51V0bGPBFJixrgUO26tWyq90Nn2ccyMz4OrCGg3Yo7R3rQl7-yKlkLAIB7TiHJhPreV8nAIX1UbhM6PxWTOE4YP8nLLb3tTamGESkrc4oNfFeDGm_Vyq6cB1m1_RN8_ak2CPwLXUfFvroTK7Zjem87xwdhXuHJJ1pEAJDX2treXndRRXwb3OXV3ZAK-dvWv0qBvk8pvlEGtnwMXzNbH6jVuQCaYKHXBrQv3FiSa8-H-npTUT2dxws644DqWvV3VPB11qctjvEShUbzc-l4x73BAhmxj7HisIXtD-zMjfgbhy5ANn8CPQ3F5JL2RzV07hMsy5BHnvSR68T55UXkPnSiFWBjeg1kZv-anQ-HajcqSY8JK82AXs8Tswfl4rK__q1ReFD69HpT0Ej34WnGo8G8eEaMZ3EQ86aN5InP0SkfoDeob4MGCMwIcpLPESIBa_00qtJJIJ9N7YwgsXA0TbKUvGumsNcLe18Au8B_DnW_jkdJHQeN0yE-91PKWvjnorDo6-psGs0TCEVPG_pKrdJRq_dWBCvsSqGRranm0TY9Adl995yhevtyMpKjxcRvhPlMSyV7fs9j9zlUlVIcGBINSLzqz6T7xPaLFnrcPVIxr0CQTJc61WFyDWpeikrrGVgtrpOqL-9CmX6q",
  "id": "rs_01c3dcea89220b28016ab471390f8c87d0a7a0afa212a13b4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.145,\"left_z\":0.012,\"right_x\":0.335,\"right_y\":0.225,\"right_z\":-0.008},\"note\":\"The small plush is just beneath the left fingertips, and the blue pen is aligned along the right jaw column. I’m lowering both open grippers to their pickup heights.\"}",
  "call_id": "call_Cd0OwPFvpkI5JouJPS2QjVcG",
  "id": "fc_01c3dcea89220b28016ab4713cd99087d0a3f4c1a65a34fa77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cd0OwPFvpkI5JouJPS2QjVcG",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "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]: [-0.7319, 1.6268, 0.3511, 0.5793, -0.6086, -0.4274, 0.9968, 0.8227, 1.8534, 0.7582, 0.2485, 0.6029, 0.5476, 0.9992]\nstate[eef_state]: left_x=0.3143 left_y=-0.1417 left_z=0.0209 left_yaw=-0.0178 left_pitch=0.0112 left_roll=0.0259 left_gripper=0.9968 right_x=0.3443 right_y=0.2289 right_z=0.0138 right_yaw=0.0222 right_pitch=-0.0987 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.4923, 2.8103, 1.1306, 0.2222, -0.2662, -0.0024, 0.5128, -5.094, 4.7248, 0.4518, 0.0464, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa751fe9653a24680961eabedd9b59d77987dc7f9de107800ae241d55c57794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1e0da50c64b12a459dad8b752daa7411ac17f0da1bb9437200408643f5df75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8f9739281039f00bc79e51a89badf8b1dcbe7e029d35e85a774e1c18a0664b",
      "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 · 2.776 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 68 changed as sent

message 72 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0814, 1.9522, 1.3701, 0.3408, -0.2779, -0.2161, 0.1349, -0.0208, 0.8417, 0.6411, -0.4599, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5914 left_y=0.0039 left_z=0.2153 left_yaw=0.2742 left_pitch=0.3297 left_roll=-0.1384 left_gripper=0.1349 right_x=0.2912 right_y=-0.0006 right_z=0.1676 right_yaw=-0.004 right_pitch=-0.0942 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.3316, 6.5436, 2.2979, 0.0659, 0.1978, 0.5397, -0.1846, -1.7436, 7.159, 1.6777, -0.0464, -0.0269, -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 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]: [-0.6582, 1.3125, 0.6224, 0.033, -0.5243, -0.3939, 0.9967, 0.7856, 1.623, 0.7979, -0.0647, 0.5678, 0.5087, 0.9992]\nstate[eef_state]: left_x=0.3382 left_y=-0.1452 left_z=0.1215 left_yaw=-0.0273 left_pitch=0.0087 left_roll=-0.0114 left_gripper=0.9967 right_x=0.3347 right_y=0.2056 right_z=0.0663 right_yaw=0.0275 right_pitch=-0.1487 right_roll=-0.045 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 6.3658, 1.6337, -0.3004, -0.0464, 0.1099, 0.4308, -6.9675, 8.1573, 1.4335, 0.5104, 0.2711, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7319, 1.6268, 0.3511, 0.5793, -0.6086, -0.4274, 0.9968, 0.8227, 1.8534, 0.7582, 0.2485, 0.6029, 0.5476, 0.9992]\nstate[eef_state]: left_x=0.3143 left_y=-0.1417 left_z=0.0209 left_yaw=-0.0178 left_pitch=0.0112 left_roll=0.0259 left_gripper=0.9968 right_x=0.3443 right_y=0.2289 right_z=0.0138 right_yaw=0.0222 right_pitch=-0.0987 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.4923, 2.8103, 1.1306, 0.2222, -0.2662, -0.0024, 0.5128, -5.094, 4.7248, 0.4518, 0.0464, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa751fe9653a24680961eabedd9b59d77987dc7f9de107800ae241d55c57794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1e0da50c64b12a459dad8b752daa7411ac17f0da1bb9437200408643f5df75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8f9739281039f00bc79e51a89badf8b1dcbe7e029d35e85a774e1c18a0664b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFF-Dk5OmhL2YtbTWuMxjXS6mpG71wK3VAzn2r-CSKDXnBmTHvfYhXQ8ZzHvOpcSVpDJCz0AqP-saKQaLm-F94I48wRwzqAcg4v8jQix0QPpAehVC5aF5VwZCl6g6yOsNsODQtz9i3DXeeb8XX1skrWi1LAMq2bWQaWzl2Oloo0raj2OPkDtsnSXCZKz7HQGSeUg--OvALtU0oTEq2QKHsE6V6BNkEa8DOp0hgkmOFfkaZdkzHeFDMj7oYNrmJlGhhKvJcTQz0cRfJhZSm94sqGIz8rHKaunn9z-9dZX9gAWYfypgm4Osn_HDcGQAoqJaSmSe6ybvRVMSweSL-NsDbWXkoJjAmz3neSIKtnztQVzIOwnHdZoiJVL_NjgQo2jV1ZSKIeRKLM7iZxmfAlD8VcqQYZYpLNx8nbuvcVFj1TGPGhEMechQmLJJQVl9mX7l1ir-FVhiG8LLrBtQlHQ1ywIeRne8-AmOM7GD57CaZRIzRij-_lhC74qtnhVrEfASc3ODNz76O91XsEc5REPPtebuvGy_dfY_kEuGcVSWenhNbVYJ-kWDLJBjmUKAdlxv7v_vP6c-v_QmlsN5sSsz_gnyil7OLMS-He4XlIdiTbDx7VNwSq6pr2J-iLq9lXqHwqV_a113QX_vYk3JJvuo0sGgW5yRCdq3TWE1HdxPFyemXmUjGqj5OA-oJMC8rNdF6rTGS_DZOQmiCofBDou86IiKXMZzvJjJjoKXiAS0aJwnZendyz-mxZ7eMivvYR-DU-sWmGhKg9rhmKSs4Wj8I8yszmVrKYOmwHIlLnczof_rgm5rXSukTmW_wlusb4iWFcRPf4Fuy8_dYYVpwjgsGfDolWKKX1TNjcjU556iOh0BI1_1lkzwN3Hx4DZSyV73MjIj-Aa7R1j8R-tIxoFCllo8AHz9sd1GPEU49vf-YRO8GrIcbPyFiRexdtW7gksW-JDy-9WQ93mTfScwRna5G8HwUcnCNUIASLKU1Q2RirCBWa2MRkiKfPW6SSbuCR5Q34PPpv4n1yLZGrTiDT_fxTM_skhxpYzR-q7Ftg2xofhnbkLucZPJoUNPvo9JfcMn4aiQJqnt-0IDXEZP--bGE9KAuE8_lh2L4Cy7hAQtEgOm4PQccZf3ZIoBm1DFRO69Xb7VoSff-Wjg-RKGGfPaI_1K_KfaUIuGqQptLvZjHUvdtsyWQ27cRjTWFg2Wr9lkeQbxkPRUA_L0tZtgimPJkuQsC7AJyEDodSYgpfOudmvOtkRN4wlFhOUFy7gOFqU4CxWdQss8YOXpZwoGb-obXFgB0MV1DBc6ydl0KzsgvIYdYXe7vmpIpMzEp6blsOUE1XIikWs_maTPs0MUi8rXT5RWqw5VtmsMesXeDcy7yXqActSDRt8mUO-2EKBEUYnrEjFF4EfVVPLDshwvJvAjJmUmLr9iSnQh2M7HvVgHz3u2hC861C8WnoaqzTE1R1vWKsas_rvcuxxOhkcrPJFfKmg8vp7NSGALROiq3Qhig66UWtPja7hEiqfpQKWuT1sHzHvztjp1Fghfsfm8qORv9JOSI3euPl0I7PirEBf3p0Y_wBHO3hkkI2L8oxKSUe8-sE8LuImLL0z3ILnsnEs6iwSH1HjkvX-Qn4Y1ZwrT9z3L08OjnmlIkkcs-LHW0fKqxEDIUvr-Em9ILQ0uRa3R8DgTKLlKGG3svHHC9kkuMI8tNQ3e4zGB1DCVwd3JTz_ztZF86OZdApCfbB_-5ckSFZGI8yIVuQYTBOwfHrooKaN5dmPrNvfgk-eZdXin445rvayDv4V5HHdsgP1XtGSnl6WfVD_wjnGgnSLiMhd3C3g5k67LK0a6u9O9tY3mefkoIQeKf81xpZaECFnJANEqbQOlZ4G2CH7ZTgNK8KZH5U2Myt3Utqxq9S_Tubkxs6WRLcqFC8UVrwwnXHcJm44_GGkSfNguQNemOFYDCYfAQmhVgNlDoisP12md9arrCRC0E3YBIDKgEL7qFIqOAICXlPSC8W0YFylghJ5tjk7-1W3D1Z3RAaSgNDLMHCgGQXLpt7sX_gTdz1A7XIIqcnX4EKi-RriNLJe0CpQu-K5Dxw3eZMc2vdh9H21tX0Lmcw8LQ272U0dSjK_WtrIFQFWAkAPnONPQDif7evXVzy4uSIlH4R4SjzOOHzHpLQXL1G9rtSQQBqw6tnFN0xvc2zIb4bpJB1yD_ipYw6Yk_Bkb2sHVuj-XlzEBAE-hw8ynAm7OMXNJVxy-dES5RKHCO11hnk4Jc1Yq6i4ET4kHz7laXuI8Z6tVuABfvMOeSKKYos1GX4Al1LZCcncuxBuGAWuraG4pGYunDddWV14V1-uEQh88ZenHsOTfZtzheQLrdQO7ALnkH9-TUzj0FwXDI6zZWHgg==",
  "id": "rs_01c3dcea89220b28016ab4714050d087d082d0f812b203f3b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"right_y\":0.205,\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The brown plush and blue pen are within the open jaws but slightly off center. I’m making small lateral corrections while closing to capture each object.\"}",
  "call_id": "call_ubY4Wn0VbCDReOYAlPWihs8o",
  "id": "fc_01c3dcea89220b28016ab47144937487d0979eeed2cc236803",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ubY4Wn0VbCDReOYAlPWihs8o",
  "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]: [-0.6918, 1.6119, 0.3344, 0.6334, -0.6025, -0.4004, 0.2056, 0.7723, 1.821, 0.6899, 0.313, 0.5648, 0.5022, 0.1474]\nstate[eef_state]: left_x=0.3216 left_y=-0.1317 left_z=0.0293 left_yaw=0.0041 left_pitch=0.0481 left_roll=0.0124 left_gripper=0.2056 right_x=0.3456 right_y=0.2097 right_z=0.0117 right_yaw=0.0259 right_pitch=-0.098 right_roll=0.001 right_gripper=0.1474\nstate[joint_eff]: [0.2393, -5.7915, 3.0564, 1.4042, 0.0122, 0.0171, 0.9402, -0.5538, -9.2376, 4.0547, 1.3993, 0.1832, -0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bfcf1b4294df2b1a8a0649dd32c256c1a0fa4a77403109fe0006093ccd3de3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078b99afd5201311cc2a739b8fb989fdd9bac5d3ad931702f5f6f1fc98a4782f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e60de65064f5abe4ef6483d5248d0089b6beb2bbc3935aa1df5812bba71edfe",
      "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 · 3.611 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 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]: [-0.0807, 1.9583, 1.359, 0.3305, -0.276, -0.2241, 0.9955, -0.0208, 0.8421, 0.6411, -0.4603, -0.0105, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.5898 left_y=0.0042 left_z=0.2043 left_yaw=0.2747 left_pitch=0.3033 left_roll=-0.137 left_gripper=0.9955 right_x=0.2911 right_y=-0.0006 right_z=0.1675 right_yaw=-0.004 right_pitch=-0.095 right_roll=-0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -11.5761, 7.747, 1.9902, -0.0806, -0.0073, -0.2418, -0.1299, -1.5111, 7.1863, 1.663, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7319, 1.6268, 0.3511, 0.5793, -0.6086, -0.4274, 0.9968, 0.8227, 1.8534, 0.7582, 0.2485, 0.6029, 0.5476, 0.9992]\nstate[eef_state]: left_x=0.3143 left_y=-0.1417 left_z=0.0209 left_yaw=-0.0178 left_pitch=0.0112 left_roll=0.0259 left_gripper=0.9968 right_x=0.3443 right_y=0.2289 right_z=0.0138 right_yaw=0.0222 right_pitch=-0.0987 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.4923, 2.8103, 1.1306, 0.2222, -0.2662, -0.0024, 0.5128, -5.094, 4.7248, 0.4518, 0.0464, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6918, 1.6119, 0.3344, 0.6334, -0.6025, -0.4004, 0.2056, 0.7723, 1.821, 0.6899, 0.313, 0.5648, 0.5022, 0.1474]\nstate[eef_state]: left_x=0.3216 left_y=-0.1317 left_z=0.0293 left_yaw=0.0041 left_pitch=0.0481 left_roll=0.0124 left_gripper=0.2056 right_x=0.3456 right_y=0.2097 right_z=0.0117 right_yaw=0.0259 right_pitch=-0.098 right_roll=0.001 right_gripper=0.1474\nstate[joint_eff]: [0.2393, -5.7915, 3.0564, 1.4042, 0.0122, 0.0171, 0.9402, -0.5538, -9.2376, 4.0547, 1.3993, 0.1832, -0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bfcf1b4294df2b1a8a0649dd32c256c1a0fa4a77403109fe0006093ccd3de3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078b99afd5201311cc2a739b8fb989fdd9bac5d3ad931702f5f6f1fc98a4782f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e60de65064f5abe4ef6483d5248d0089b6beb2bbc3935aa1df5812bba71edfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"right_z\":0.09},\"note\":\"Both grippers have stopped with clear gaps: about two centimeters on the plush and one-and-a-half on the pen. I’m lifting them a short distance to verify both pickups.\"}",
  "call_id": "call_3ajX4CWBI8VBW3BNMC45ZaCW",
  "id": "fc_01c3dcea89220b28016ab47148599c87d0941be07b56e6d697",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3ajX4CWBI8VBW3BNMC45ZaCW",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.3197, 0.4408, 0.2508, -0.5999, -0.4015, 0.208, 0.7708, 1.6287, 0.791, 0.0151, 0.5491, 0.4965, 0.1516]\nstate[eef_state]: left_x=0.3216 left_y=-0.1316 left_z=0.0906 left_yaw=0.0047 left_pitch=0.0594 left_roll=-0.0001 left_gripper=0.208 right_x=0.3444 right_y=0.211 right_z=0.072 right_yaw=0.0387 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.1516\nstate[joint_eff]: [-0.294, -4.8752, 8.5949, 1.58, -0.2759, -0.0464, 0.2369, -0.1846, -9.0325, 8.2667, 1.4237, 0.3248, 0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c654b20e28cb25b0aff414b2df5bfd53ae366580b195a5dbe9410a1212f58137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7588565660de15a1325db50ddb63956b749773590aca1b46a0d3e692788efd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e58491c99b5a3f3facceeae4bb51c60c900cc4c02ac93f483557c979a1d2f54d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.422 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 79 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]: [-0.6582, 1.3125, 0.6224, 0.033, -0.5243, -0.3939, 0.9967, 0.7856, 1.623, 0.7979, -0.0647, 0.5678, 0.5087, 0.9992]\nstate[eef_state]: left_x=0.3382 left_y=-0.1452 left_z=0.1215 left_yaw=-0.0273 left_pitch=0.0087 left_roll=-0.0114 left_gripper=0.9967 right_x=0.3347 right_y=0.2056 right_z=0.0663 right_yaw=0.0275 right_pitch=-0.1487 right_roll=-0.045 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 6.3658, 1.6337, -0.3004, -0.0464, 0.1099, 0.4308, -6.9675, 8.1573, 1.4335, 0.5104, 0.2711, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6918, 1.6119, 0.3344, 0.6334, -0.6025, -0.4004, 0.2056, 0.7723, 1.821, 0.6899, 0.313, 0.5648, 0.5022, 0.1474]\nstate[eef_state]: left_x=0.3216 left_y=-0.1317 left_z=0.0293 left_yaw=0.0041 left_pitch=0.0481 left_roll=0.0124 left_gripper=0.2056 right_x=0.3456 right_y=0.2097 right_z=0.0117 right_yaw=0.0259 right_pitch=-0.098 right_roll=0.001 right_gripper=0.1474\nstate[joint_eff]: [0.2393, -5.7915, 3.0564, 1.4042, 0.0122, 0.0171, 0.9402, -0.5538, -9.2376, 4.0547, 1.3993, 0.1832, -0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 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, 1.3197, 0.4408, 0.2508, -0.5999, -0.4015, 0.208, 0.7708, 1.6287, 0.791, 0.0151, 0.5491, 0.4965, 0.1516]\nstate[eef_state]: left_x=0.3216 left_y=-0.1316 left_z=0.0906 left_yaw=0.0047 left_pitch=0.0594 left_roll=-0.0001 left_gripper=0.208 right_x=0.3444 right_y=0.211 right_z=0.072 right_yaw=0.0387 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.1516\nstate[joint_eff]: [-0.294, -4.8752, 8.5949, 1.58, -0.2759, -0.0464, 0.2369, -0.1846, -9.0325, 8.2667, 1.4237, 0.3248, 0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c654b20e28cb25b0aff414b2df5bfd53ae366580b195a5dbe9410a1212f58137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7588565660de15a1325db50ddb63956b749773590aca1b46a0d3e692788efd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e58491c99b5a3f3facceeae4bb51c60c900cc4c02ac93f483557c979a1d2f54d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFN073_9M19Pj2G3JqHLK8aCEp9SAXi8nJr8rg34VKVK_BikYuQVfVlB_qrG6Q1vCK7XeSCK4IGkVN5_6FZtoX11G_f_qyKT6TR4cII70IZLo8oJIzjJ0CWsYx2bHV8rHCNAwD78WE10CQs7UF0TxO8IO60Gj51jKiSJZ76TLC9vp_eKJJS0qlYHN0RYkClnzTUShOKodEIIm4emfLiZkN-IxP76xu3wDppZ7Qc-bi3YCG6XZ-cNo892WSae-vdX9sovxOqxDevguHBF3Uk58E6xkq8QlX6qsR-Xvdu0DPNPaERmrfRew7H1FG0A5GW7N4YeBbz-KTlrDP5xzb0sqHiwEgvz5kJ4hSghexA3S6vZo2tlua5abomhXQZdlbXuqsnr7TP7-sAgxnpEgQOj_0yxcSwckPIu9d-r7jUtuEopiGcpjHE-eiLVoK4TbTP2glMWwrenmY93UTX5SMP8XLjcNYfFVQOebjAMUDt-7BoDPGaWUeh_qGB6vJDffRjoTt83Lb1hTV9JGizVm948O4XU8S4O1rJpArj40sJ60Rb2pcJIWk45YdPYOmk_Ovj4JxNoHE34_aJ2bGdog3JdwH_1_XX5zYPgOg0NyBUvIXUdqwjADkAY9umvDS-yc6esQCw1vTZZg5B2HZtFoK4QB6HetnJZ3y2QWOY-zeVCNu_jDMXCzhEZIoG3hMcFntarPgxdmSFP5LHf3ZcskZHUc5t0XzFWN-UghyKtjZ5jfmno4rgXJVhbS5O-uoE95bv17a1ansnbV10qZLdDC6H3vKyiMHNd0X5UO0SotruCXF501KK-QshrJ9KmiPuzvWE7Y9_Qq62KVC4ZJzWShZ32JKAxvu9YDnT-QLBM0aJX31Ig-g6FsIjN5IABeHBRnxpoT_tlLA5SmX39363o-ypKzL41iDYul6BSF48ihFH43irN1kx-WOp3fFeuUthY1etaOEx3DG2bHG7Jb3XldVkJ09ybfVVWaCmFagIgxwsbylVEKh3A5dR15UCKstDKFiBiEUUshmvs3JkgFFuZrqtSfQBnIjFmJgEUDRjcT0w0jufTL2wE7ZCXJ3Xfhux2Jh6KIbXuF417rTj19dzdw9GYseQcdPDcu7lHGqV5Ic6ul5IJp2zPJaeqddaWyXD1UrQzJwRnG8ptIhAYIjHlWllVmvgSDkpFV04rQHS_ppN41COTezpcP9YUM-V9X4LJ_0KVkP5YfvImvosEFrXcL9rv3kEkkgCB1QXBJ-J1et_FEJDyfTFT7TciLEqF6UnllwJrMf33xhO8084WQZrQST_u87raa2miPAzDMqZfO8DLD2pmwocxlzC6t68OoLk_AxrrUxGu-adbxq3ggwAx152nyGcj7K9TrGPj61vXHd6zUmSJevtfsas1i7FfouaMZ3ekEVKwCF0qvjvDLFBiZc3D8sOesN2pDutQTdl4JSNbKPF8An9J75DlBUfqav244hP0-LjsR8lxdwj1RVPZoGoYH7PeYoCfe2AKhm2-kS1Dyff56ua3x--QzmhYgIsnS1iuOeQ",
  "id": "rs_01c3dcea89220b28016ab4714b6f1c87d08a1c5e7fcf687fa0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.585,\"left_y\":-0.025,\"left_z\":0.26,\"left_pitch\":0.45,\"right_x\":0.545,\"right_y\":0.18,\"right_z\":0.23,\"right_pitch\":0.35},\"note\":\"Both objects rose with their grippers. I’m carrying the brown plush to the left basket and the blue pen to the right basket, clearing the rims.\"}",
  "call_id": "call_iHm4cbwXDPVnKcB4jBQBAap0",
  "id": "fc_01c3dcea89220b28016ab4714c92fc87d0a37977b39a2559a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iHm4cbwXDPVnKcB4jBQBAap0",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.0765, 1.8709, 1.2747, 0.3977, -0.1333, -0.0589, 0.2097, 0.4362, 1.8797, 1.2839, 0.2756, 0.3798, 0.0814, 0.1516]\nstate[eef_state]: left_x=0.5755 left_y=-0.017 left_z=0.2282 left_yaw=0.0636 left_pitch=0.369 left_roll=-0.0187 left_gripper=0.2097 right_x=0.533 right_y=0.1802 right_z=0.2022 right_yaw=0.0526 right_pitch=0.2694 right_roll=-0.0232 right_gripper=0.1516\nstate[joint_eff]: [-0.0889, -10.7556, 9.9077, 2.1954, 0.2222, 0.3199, 0.1587, -0.7043, -9.6615, 9.812, 2.337, 0.1294, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143db0a380f55b74e7f35aca871330c6941d8ce3b70fef286c9f965c3bfeff30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6a9834e6f2f0faef41de6260f82f69de776b1a21d530c60672c2f412eca63b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b49cdb1d8cbb938c7b08657a8f7203e5f650b0f61cf733a498656fd4059726",
      "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 23 attempt 0 · /responses · status 200 · 2.348 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 79 changed as sent

message 83 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7319, 1.6268, 0.3511, 0.5793, -0.6086, -0.4274, 0.9968, 0.8227, 1.8534, 0.7582, 0.2485, 0.6029, 0.5476, 0.9992]\nstate[eef_state]: left_x=0.3143 left_y=-0.1417 left_z=0.0209 left_yaw=-0.0178 left_pitch=0.0112 left_roll=0.0259 left_gripper=0.9968 right_x=0.3443 right_y=0.2289 right_z=0.0138 right_yaw=0.0222 right_pitch=-0.0987 right_roll=-0.0035 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -4.4923, 2.8103, 1.1306, 0.2222, -0.2662, -0.0024, 0.5128, -5.094, 4.7248, 0.4518, 0.0464, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 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, 1.3197, 0.4408, 0.2508, -0.5999, -0.4015, 0.208, 0.7708, 1.6287, 0.791, 0.0151, 0.5491, 0.4965, 0.1516]\nstate[eef_state]: left_x=0.3216 left_y=-0.1316 left_z=0.0906 left_yaw=0.0047 left_pitch=0.0594 left_roll=-0.0001 left_gripper=0.208 right_x=0.3444 right_y=0.211 right_z=0.072 right_yaw=0.0387 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.1516\nstate[joint_eff]: [-0.294, -4.8752, 8.5949, 1.58, -0.2759, -0.0464, 0.2369, -0.1846, -9.0325, 8.2667, 1.4237, 0.3248, 0.0024, 1.0281]\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 83 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]: [-0.0765, 1.8709, 1.2747, 0.3977, -0.1333, -0.0589, 0.2097, 0.4362, 1.8797, 1.2839, 0.2756, 0.3798, 0.0814, 0.1516]\nstate[eef_state]: left_x=0.5755 left_y=-0.017 left_z=0.2282 left_yaw=0.0636 left_pitch=0.369 left_roll=-0.0187 left_gripper=0.2097 right_x=0.533 right_y=0.1802 right_z=0.2022 right_yaw=0.0526 right_pitch=0.2694 right_roll=-0.0232 right_gripper=0.1516\nstate[joint_eff]: [-0.0889, -10.7556, 9.9077, 2.1954, 0.2222, 0.3199, 0.1587, -0.7043, -9.6615, 9.812, 2.337, 0.1294, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143db0a380f55b74e7f35aca871330c6941d8ce3b70fef286c9f965c3bfeff30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6a9834e6f2f0faef41de6260f82f69de776b1a21d530c60672c2f412eca63b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b49cdb1d8cbb938c7b08657a8f7203e5f650b0f61cf733a498656fd4059726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFVy0RtqKPzqcfxz6M8B36Qms7kPiox3DD3LnATTbNWK8sesAP4p0o_x5R3nUKY4Od4e_pHC2SojQ7CsjGYWFnZO4kaTzN7tBPrYxMNz4CRZgPmRlYPdR_xCY-VkQQ3vCC764IZGK1Dk0X2YOJXb9i2mPpKyuRGyA66__xfCADkpxUG2UgkfcgBwkKqKEX3pIFxn7R_QpywGzoyzDwFjLG2RI0JBuifm5A_lU5KNR5LOGPSSkFw7jf3mk9165oTZQc1Z5OZ_13zuSf6M0HDHdIXJ-cem293XloyI3b9C1ue5QELkXUZoyqpjvgim3ln3i_i7V-R6h-jGfhgkuULUUVM-Wzy46mV6Wh7hKGhfNW0OCRgHPsNyxgT9ChNWz4e1H4HFNYg1-Cd1sVYuSPvVZgHlMvQD8eWVuqp4IN6R2Zw7X14fujlxCj6p2dpXvuWtvM6CtLkFMBbw1er0sYzWYJ3ZBQw9ARAUXmqCxn2cRWYCRETiyjSjUYv9H8iInH8MHfeHJgGsWj9rO25JXxW2JMPsArXKNOmGj3QRPVt-fPaf-Cg3qIUsvw_s7j_n1jpem5z8MZxi8amNSNHs03ox4BjdBg3LGZWAfv9eGI5kwE9bKVaiV295iQhcHNAHuLN446IWzzfFU81Cht4wEQhu7u0mFoKndXF2NTLBIGpq1i5-RQXS4Qyfb61O42FijzBBwnS4ETZEqjzSO3k59XQK0hjE7Boz3zVM9cLzlY-Ij6K7sVnmDbybnKPFu1WGIBIeMDRwgB8s5pSWe9T9ac1ElDfw2oRNRHcUJFf3zkhvMGYVVk1SJn78nqY4v_UwYQZn2r0-B9gDLJO4rY5ThZ92_wTrkqnoqgu8xOrlnEopdW5DMIAcABZNxcLk9B-9ZZProMkfKY1QpJAdDK1gfoKZn67qUVUPdQ-30N_xaBVrRFUbSdMi8y7r8gFtYT2v0QrKtb48VUG4U51GKImWMmXuEg7_nWk1PWPhRByzalfOSYt4rATbSd7sq0otikT7B_nHRe57M6O1sZyGPq4dC-7O2aMvG7TBorbLrs5HPAOfhe0p1Wxz4Z4gKFnFE2AXLX38a95WzP1jGHGbGSFd3JoRnBsmkCp-Ky2dYrqqK4Lh9kD-Agu8za2pDhgp4PcGWLDUCtadQ51QTGRF6aFA6V-TWQzs2M4oe4XexW1rcjQe5hJ-IB9-Wa7pqYMkzgVQW02xy0kuGyh6i_bEZHL0UOntDX4CJ8cOYKe8taM_V94KVuCS_J40aq9B5tgmoAUefa6uEIiZOdtOdeWQHfCxSniMS--ZUSyrHAeCACB2AlX72IpDcZEUjuMP1Iflz2_6elKwdUGVpLw_hZ3T2o5wfHFArWZjeTaOdGoimjPfMd8GRjjkb9Jkeye2vnBVNt-RIOhPBMEB9HT25rZQjox42XkjB_YoiVS4y3p9BJ6H1jxRjBFT1jXWV4QJ1C27qD_EQErcxwsTKTaYcvKzEYL9m2il0Jcri-wyJ7mXBNDx81C_6mKqQ83FM68jFsvMOXmO-oQuxCagbXqd2D3ZOBEd7HCb9sWOsdDFyUypeclFhR7IXJeTz53bpVP5fORZ1fSnUcpMD_oE4iNzfd85S-luzHSJ_n1xY4qfJwiDRDBuh3rPRorzlh03YH4W1WNTRG-0BdmejeyYvbw3_nY7a07WrYOfflU1cb8Gady7yFPydGXIWtng46yQKbJLGiindrDkBLcamcuAXaGACj8hXqUGpsw2ycZDggHSVyO-5GlRw1u9htrDWrs7YeuExzjozbbEWwqTKEuqI2mvnFtYISbJXyjdY9nctqWJwL6lQd6nrwpUT7tlEngPbHfc-SERmuEHWmlZdlYVtf-CpsMmQsZlwUwBW-eGaopo00lQ7cjLLUgRoXPKm0E_kbWxT-RpnN7DgNmDKbmcy8yiKQ_w68nlyuU-PDfsrBWldvCIOY8nZ6P6TxfYT2k2daxPSe4saLukPyelDHDadJNcO2n5q493BpRudaLIFwGnTbsXkOJsk3twZ91ZrpAToGWLtLcoCvAiBXEjJC4",
  "id": "rs_01c3dcea89220b28016ab47150f0ec87d0a6ed5440df9f899c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.595,\"left_z\":0.19,\"right_x\":0.595,\"right_z\":0.2,\"right_pitch\":0.5},\"note\":\"Both objects are above their assigned baskets, but the long pen extends toward the near rim. I’m reaching slightly farther in before releasing so the pen falls inside rather than across the edge.\"}",
  "call_id": "call_tilQpI1ShRvW3ilj1FSYhKsJ",
  "id": "fc_01c3dcea89220b28016ab47153c15087d0ad0e82a2fe3b252d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tilQpI1ShRvW3ilj1FSYhKsJ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "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]: [-0.0696, 1.9076, 1.277, 0.3988, -0.1337, -0.0605, 0.2125, 0.3935, 2.1193, 1.3602, 0.5682, 0.3435, -0.0051, 0.1516]\nstate[eef_state]: left_x=0.5798 left_y=-0.0132 left_z=0.2091 left_yaw=0.07 left_pitch=0.3362 left_roll=-0.0153 left_gripper=0.2125 right_x=0.5839 right_y=0.1819 right_z=0.1676 right_yaw=0.0761 right_pitch=0.3857 right_roll=-0.0561 right_gripper=0.1516\nstate[joint_eff]: [-0.4991, -11.1658, 6.8308, 2.1368, -0.0659, -0.0562, 0.2808, -0.8821, -11.7538, 9.0735, 2.3077, 0.0415, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095d264b1a0c46284121a92de085f741063929492e7c53488748a5da8d56f560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb585aebbfb9679011fc75e7916ba8b8996cead307656f9d66a6ed66806f382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17ba31642b3696e884880f77efcd7d9b5b0a3f0f5abf9a5b694da063d551f84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 18.78 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 83 changed as sent

message 87 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6918, 1.6119, 0.3344, 0.6334, -0.6025, -0.4004, 0.2056, 0.7723, 1.821, 0.6899, 0.313, 0.5648, 0.5022, 0.1474]\nstate[eef_state]: left_x=0.3216 left_y=-0.1317 left_z=0.0293 left_yaw=0.0041 left_pitch=0.0481 left_roll=0.0124 left_gripper=0.2056 right_x=0.3456 right_y=0.2097 right_z=0.0117 right_yaw=0.0259 right_pitch=-0.098 right_roll=0.001 right_gripper=0.1474\nstate[joint_eff]: [0.2393, -5.7915, 3.0564, 1.4042, 0.0122, 0.0171, 0.9402, -0.5538, -9.2376, 4.0547, 1.3993, 0.1832, -0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 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]: [-0.0765, 1.8709, 1.2747, 0.3977, -0.1333, -0.0589, 0.2097, 0.4362, 1.8797, 1.2839, 0.2756, 0.3798, 0.0814, 0.1516]\nstate[eef_state]: left_x=0.5755 left_y=-0.017 left_z=0.2282 left_yaw=0.0636 left_pitch=0.369 left_roll=-0.0187 left_gripper=0.2097 right_x=0.533 right_y=0.1802 right_z=0.2022 right_yaw=0.0526 right_pitch=0.2694 right_roll=-0.0232 right_gripper=0.1516\nstate[joint_eff]: [-0.0889, -10.7556, 9.9077, 2.1954, 0.2222, 0.3199, 0.1587, -0.7043, -9.6615, 9.812, 2.337, 0.1294, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 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]: [-0.0696, 1.9076, 1.277, 0.3988, -0.1337, -0.0605, 0.2125, 0.3935, 2.1193, 1.3602, 0.5682, 0.3435, -0.0051, 0.1516]\nstate[eef_state]: left_x=0.5798 left_y=-0.0132 left_z=0.2091 left_yaw=0.07 left_pitch=0.3362 left_roll=-0.0153 left_gripper=0.2125 right_x=0.5839 right_y=0.1819 right_z=0.1676 right_yaw=0.0761 right_pitch=0.3857 right_roll=-0.0561 right_gripper=0.1516\nstate[joint_eff]: [-0.4991, -11.1658, 6.8308, 2.1368, -0.0659, -0.0562, 0.2808, -0.8821, -11.7538, 9.0735, 2.3077, 0.0415, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095d264b1a0c46284121a92de085f741063929492e7c53488748a5da8d56f560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb585aebbfb9679011fc75e7916ba8b8996cead307656f9d66a6ed66806f382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17ba31642b3696e884880f77efcd7d9b5b0a3f0f5abf9a5b694da063d551f84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"The small plush is supported in the left basket, and the pen is over the right basket’s interior. I’m opening both grippers to complete these placements.\"}",
  "call_id": "call_oH9a5XYQXCSNQYzqIpj2PZpD",
  "id": "fc_01c3dcea89220b28016ab471574bf887d0887b4ddabaec6ae6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oH9a5XYQXCSNQYzqIpj2PZpD",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0692, 1.9079, 1.277, 0.387, -0.1341, -0.0669, 0.9954, 0.3923, 2.1361, 1.3544, 0.5591, 0.3344, -0.0109, 0.9954]\nstate[eef_state]: left_x=0.5792 left_y=-0.0129 left_z=0.2061 left_yaw=0.0738 left_pitch=0.3241 left_roll=-0.02 left_gripper=0.9954 right_x=0.5834 right_y=0.1826 right_z=0.1529 right_yaw=0.0903 right_pitch=0.3548 right_roll=-0.0705 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.4957, 6.9675, 2.0293, -0.0366, 0.022, -0.2173, -0.253, -13.4632, 7.0496, 1.9853, 0.0855, -0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b246446d22ae787443a0676a30a5b513c06e70a6189df7f2b2c0671a4d2b8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0002b3cbb6ef3a7bed1a8d0e3ba6d11478941f3967c04980730d034f478ca7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ab859e7df28cf8462689d2141a4d4ea82e985bf4d486d297cc54b93934d30d",
      "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 · 7.362 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 90 changed as sent

message 79 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, 1.3197, 0.4408, 0.2508, -0.5999, -0.4015, 0.208, 0.7708, 1.6287, 0.791, 0.0151, 0.5491, 0.4965, 0.1516]\nstate[eef_state]: left_x=0.3216 left_y=-0.1316 left_z=0.0906 left_yaw=0.0047 left_pitch=0.0594 left_roll=-0.0001 left_gripper=0.208 right_x=0.3444 right_y=0.211 right_z=0.072 right_yaw=0.0387 right_pitch=-0.1091 right_roll=0.0019 right_gripper=0.1516\nstate[joint_eff]: [-0.294, -4.8752, 8.5949, 1.58, -0.2759, -0.0464, 0.2369, -0.1846, -9.0325, 8.2667, 1.4237, 0.3248, 0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 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]: [-0.0696, 1.9076, 1.277, 0.3988, -0.1337, -0.0605, 0.2125, 0.3935, 2.1193, 1.3602, 0.5682, 0.3435, -0.0051, 0.1516]\nstate[eef_state]: left_x=0.5798 left_y=-0.0132 left_z=0.2091 left_yaw=0.07 left_pitch=0.3362 left_roll=-0.0153 left_gripper=0.2125 right_x=0.5839 right_y=0.1819 right_z=0.1676 right_yaw=0.0761 right_pitch=0.3857 right_roll=-0.0561 right_gripper=0.1516\nstate[joint_eff]: [-0.4991, -11.1658, 6.8308, 2.1368, -0.0659, -0.0562, 0.2808, -0.8821, -11.7538, 9.0735, 2.3077, 0.0415, -0.022, 1.0281]\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 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]: [-0.0692, 1.9079, 1.277, 0.387, -0.1341, -0.0669, 0.9954, 0.3923, 2.1361, 1.3544, 0.5591, 0.3344, -0.0109, 0.9954]\nstate[eef_state]: left_x=0.5792 left_y=-0.0129 left_z=0.2061 left_yaw=0.0738 left_pitch=0.3241 left_roll=-0.02 left_gripper=0.9954 right_x=0.5834 right_y=0.1826 right_z=0.1529 right_yaw=0.0903 right_pitch=0.3548 right_roll=-0.0705 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.4957, 6.9675, 2.0293, -0.0366, 0.022, -0.2173, -0.253, -13.4632, 7.0496, 1.9853, 0.0855, -0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b246446d22ae787443a0676a30a5b513c06e70a6189df7f2b2c0671a4d2b8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0002b3cbb6ef3a7bed1a8d0e3ba6d11478941f3967c04980730d034f478ca7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ab859e7df28cf8462689d2141a4d4ea82e985bf4d486d297cc54b93934d30d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFrFLp-jJRnrzV4gaG0zKqROLWPZFmWBqq2fDyJsGPZpZjVx77QY3hHwg0YwTDLQCOpgMzMw1byk06STENQ4RyJ33MkXtEjLHqjbJN5YgkvU3ksT0vsO1vEu0kIJBL3_b7G6Y4ZXU531r1oUjqy6sU0Qs3-7bihIA5GxuHpjMqE8ApmsYABoVpRZw583tEpUZ08iP8-PkEtsdmg1bqHMSTYlCP6Shbh9k97kBzFHIehvomi3m4qyIlHW35F809VtztMp497EK7Q4lNgoX-aXxUMXPjIUaw96p0jia6DY1mmIw4cLj1NE0OpjhxIFyzGOgCNWpDrD-ATsjejfBIJhgBQZroqCKnEOleWGC44hJjvs_vYxhmTLkOV8PIDXdDW00hNno6pOrbzmAk1G6i_V8AVeWF_hI1Eg1YcURo3SwT4SoGvtao3J-ZfqyZVj8DB-0xkJI1Lu9sGRJI5jkWbHBiLfgLL9rKJeOkOTKo50jv8qO1wejWlwZbZ5_JvuboUakRQTo97h0wLVMgp64UFr5Gh24x0ML-NO-MYU_6uCLt05D7rLMfa4ehAElN0WJ9BCAY2h91ftz6sLnskIGQGBZMH0wFmZ6AGL4BTw2OjLhIr9frVx_0z4_lB5eX3a7KdV-jR5nAIJALw015REazgfcEe2fs3USfAn2GuBHpagucVKgz0J7wUfVbC9YaftmuqlW3E8Lz77Q1YPRCoBPvdGTcdNtXgsvtecfnmjbOdYCmgEyIEzJCut7Xsrws98la_nx-LBY08bIkpYKj-wCIkpWsLTZvaF7-9NcU3YZtcFhuXMM8NOO1kKg4KI7abgChU39clY2Fl1jOAYpZTwaCNP9VVC4_TO89iNgAn8e5gaAGWM012cdXB4E-BPM6rw4gNSNO3A-f9ge98O3uzxNuIZc7_eQGURS9F6hUdQHBMYwAgNv4idHKd5eXY7aXLBriNANjXaL1LhtrTbS0pg6sp3xH5s53IEoP0VovYkRtSydxaWNdH_Fw7EWwt3in7i1u4Ks6CTxME6oguYRg9vWt33J8-74DmEGjWB-_WaYMSmpnVUfeuusw6W1-J9EOKCx9Zh8v1k3kZcRmdu9jr9YnIlXLkK8NLdOiQM8_6cPeNNi8HX3bUa4kM4NEDIEUJdJCp85K2qYD_UoIGeRvOyVKv8uGXmfgwCIBuC11kxjG9K2CjrFt_v5pVYvcAAE7UxyzWYQJxong4HMitJCYiUMtJcGeK_6BWcBm6MYiz5KCS48Vl_MCRF0D_OpyzVD3yRq5FyVfnydsT6sgMhtZ0mOAiM3j4KzWT5ZQ60L_FziqiaNcGIECLdmDLYk7oikwy7Qb9i42WvIC3X6o7wXEwk17CmYXKcxOqKARm9BYAGK2FnldQpZE1T5OM2NPo1Q0k-MIep_-gU7dw0mdxKq1u54fDf0KTi3viZlLYHfCbOfNp4emh1gUitEMm53bEP2EIXcW0-2rYzj30rjZNY4ROLH90kvIXap4gUUK2h6sLCQ0HUakpBKvQiQBEmQiA4XBh68cUCKvWhYJaes80-x3mFeM_lPQbEe1N7Mn7sXG1jURM7Z0eSMXN-huuJOUioc8h89nByMPRE6Odtatqoz7MBFH5OVmN6BVgKyQGtT30DGdfAW92ASaCKw5W-bvyV4QmoZfsM6S9Tu-AWH7HPfP7Ybq2_F9I9tIC-P2SAtGpuiXch9Gr57yKRN6gl2dUNPRHix9UhwhzLb4mAbxpkl7eY7urRgI9UUOoCOIHvEWluISY6VPiGs6yR4kBgVNUIa92ufKI38n6T3iISboZhoXd9FHhOU-2coYsz8xKNpLgx8HQdtAIdlDdUmeyxO5nv11yJXzn0KWeIDiEwfpbXmqvZGSNnoztJRaRBiLtpn99DxgsGkRrBj8=",
  "id": "rs_01c3dcea89220b28016ab4715c1c9487d08453a7e12374f2f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":0.005,\"left_z\":0.11,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.345,\"right_y\":0.145,\"right_z\":0.09,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The bear and brown plush are in the left basket, and the blue pen is in the right. I’m moving to the remaining gray plush on the left and the dark pen on the right.\"}",
  "call_id": "call_iGh8p1AkuaVqjsVVsrJLIH7K",
  "id": "fc_01c3dcea89220b28016ab4716487dc87d08d1cf74a9e60c2e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iGh8p1AkuaVqjsVVsrJLIH7K",
  "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]: [-0.0036, 1.1145, 0.4355, 0.1371, -0.0216, -0.0322, 0.9967, 0.6117, 1.4494, 0.5949, 0.2684, 0.4976, 0.3061, 0.9963]\nstate[eef_state]: left_x=0.3435 left_y=0.0061 left_z=0.1148 left_yaw=0.0184 left_pitch=0.0241 left_roll=-0.0062 left_gripper=0.9967 right_x=0.3591 right_y=0.1533 right_z=0.1042 right_yaw=0.0263 right_pitch=0.0586 right_roll=0.0149 right_gripper=0.9963\nstate[joint_eff]: [0.4034, -3.7675, 6.735, 1.8388, 0.1148, 0.1538, 0.1148, 0.5265, -5.9556, 5.1897, 1.2283, 0.3053, 0.2027, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464339beef2dddbb26b4a04429acc780fdd5c1157efbc0de91e8d0bc0b9238fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8cf89787e0605883460af0d080f5b8acc9b0f73a74f034eab348e3cd212c578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4eb550a7613841e0718874847cadfbe1731dae407d0e90715df5bb04b33855",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.979 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 90 changed as sent

message 94 changed as sent

message 83 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]: [-0.0765, 1.8709, 1.2747, 0.3977, -0.1333, -0.0589, 0.2097, 0.4362, 1.8797, 1.2839, 0.2756, 0.3798, 0.0814, 0.1516]\nstate[eef_state]: left_x=0.5755 left_y=-0.017 left_z=0.2282 left_yaw=0.0636 left_pitch=0.369 left_roll=-0.0187 left_gripper=0.2097 right_x=0.533 right_y=0.1802 right_z=0.2022 right_yaw=0.0526 right_pitch=0.2694 right_roll=-0.0232 right_gripper=0.1516\nstate[joint_eff]: [-0.0889, -10.7556, 9.9077, 2.1954, 0.2222, 0.3199, 0.1587, -0.7043, -9.6615, 9.812, 2.337, 0.1294, 0.0024, 1.0281]",
      "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]: [-0.0692, 1.9079, 1.277, 0.387, -0.1341, -0.0669, 0.9954, 0.3923, 2.1361, 1.3544, 0.5591, 0.3344, -0.0109, 0.9954]\nstate[eef_state]: left_x=0.5792 left_y=-0.0129 left_z=0.2061 left_yaw=0.0738 left_pitch=0.3241 left_roll=-0.02 left_gripper=0.9954 right_x=0.5834 right_y=0.1826 right_z=0.1529 right_yaw=0.0903 right_pitch=0.3548 right_roll=-0.0705 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.4957, 6.9675, 2.0293, -0.0366, 0.022, -0.2173, -0.253, -13.4632, 7.0496, 1.9853, 0.0855, -0.022, -0.1783]\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]: [-0.0036, 1.1145, 0.4355, 0.1371, -0.0216, -0.0322, 0.9967, 0.6117, 1.4494, 0.5949, 0.2684, 0.4976, 0.3061, 0.9963]\nstate[eef_state]: left_x=0.3435 left_y=0.0061 left_z=0.1148 left_yaw=0.0184 left_pitch=0.0241 left_roll=-0.0062 left_gripper=0.9967 right_x=0.3591 right_y=0.1533 right_z=0.1042 right_yaw=0.0263 right_pitch=0.0586 right_roll=0.0149 right_gripper=0.9963\nstate[joint_eff]: [0.4034, -3.7675, 6.735, 1.8388, 0.1148, 0.1538, 0.1148, 0.5265, -5.9556, 5.1897, 1.2283, 0.3053, 0.2027, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464339beef2dddbb26b4a04429acc780fdd5c1157efbc0de91e8d0bc0b9238fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8cf89787e0605883460af0d080f5b8acc9b0f73a74f034eab348e3cd212c578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4eb550a7613841e0718874847cadfbe1731dae407d0e90715df5bb04b33855",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHF0Vb85Tn530RW8SqbpVoQ1AIk0RxnGEoNpFUVGeO2q_Uno2rKo5OAiKowdkdsxr6T-5mivfOXLeONT4TxJaHhL9o5wxYtSopyyApEkf_er1kG3H8KYv9K16M3uRqIEMvJbu9ZGT4roLt2GtHIxVArAr387b11BwuGDRsjJpf6R4yhaJAGHJEfeqn-3dLbhs1_zzkUq3P_XurTAtCVCgAvFMZ3shX4T5GXyIl66RdGQ5SvsMbv4iJd6m261Or_2myCkXHLTdwoIzMeesS1t9WbT5EPVTaRntlVg_cBdx65bcA4M4I0zDZ4_obFcq9ekx2jGSMY43vx1Yb08q3zvvGq2nK7M05dIdKTONTssS_x7RriY7WvbBdJkUIRAfZbE1EbG-U9LS7Nrz1MlEZyr8xG1TK-hsKvHB489U0tnGS7uIHqEwdlkff__8pGwReXQIip7dZuE3xZsZgi0zt1mDTqYztD-wPRYGQytMkRViUcLMYBwFS42AyqOcWBlndUvrJT-PX8i-ubRATvHRaOzIKUB2a9pw0TBxjbPc4sT0-10jj0jpNfvpqEP6jxMZBmU3avpoJSSwR3JOoIusUYO-g6w-jJrGf89ZwOkqBVmZVuAMkpu127932V1iwXWTVDYebLp2Uc-V7yt0i6QDL0BDWCHf-ymbWHvGKTC3oM-KzOzZSUo2Q2nDdmlWzrRE8wcffBll7aSOOeywPO_SKK6w9iiwTWnyjtsLdIvsLHD8qXRaEd0u4W9yQR1qfJT5uJjrM_ed8rMDx6gYcSehTqfmBXFEvPOuuJMJc3OnR9UgtbSNx8e1EM6rEUzrMtH003PVBAXoJoJyv203M2tY34Y3Llr_9Y-M4Ku9_Cv0zY6YUUdFp27owRx2uRl0tVISdh4RhDhEvE0rDuMt4fQf_g2MO4H5mm8HVMd9YKQTzDzzJHILGW1NXM7OaznVctMIcAHmL7mJwAId491zpfQZ6uBU9lYNxqe10vae2m9DiJE_YTFtbVOsTdFHdjFNMFulK8RiYQTda-02-r5inZ4r_oDzgcPd-c6QCAy0vwbQ6t1eLBbsUBrUUWhszYJAYoLi0NfBD3z1nNUQCMYIf0hFmdilFfaLVV6nHCpVBsbBKNaa91QLLsSxdyh7UqZ4GBtFuk2kHPlvYIPvWDarA7ydOL2mij2Qy4hkGGIkCGBMvpAWuIJ7aG0TveEEbmJaFWxRih31pNZJf_1J1pwq_mcL6_b3zw1Nfdxr4PB1iMMtf01mR6zxPJL-QVQmpKveHtK2AMGFom6JISPuSgGgctF7zQZa58dPsoQCxiIC7gmlXaAb--z-sOBgZdk1CfTz5Ih4PX1x-b_6ocoab5Ddp6Qnj6r9BBMPiZ9jxJfHWJ2sPeq7EFpBug7EsxFZKl2d2_kvBgJ-MzBZbAeskkqZ27usJjedREZiB24OxygGSAqr0JSh0bduRD71Umi0LxkH7wXUIFK8PGKJ-u8ZpWNU1ESInEo7Y8tWlH0GVKC2M_GjFOh453-KvvvfHwbxlQJl9jX-OnA7HfmHh4XfDy2aOull6sn9R6Mce8zJxO9UJd5iEqB9IOpjY1Z-OWu6jriMmJj65pXxaeLG_W7XJprwHTTcG1NXkZGBIUxDRXMYC6YVNLrcEWrrUvXmtTA1wkaOu4MdimkV-lAGfVWnCruApbuKnI5x6gV6iB-5SQcPS3RmsnPY7zzHiXOxwFV1hlzMFxjuw5uxnkCEQW12NYbk3B0thDlT6Gfthktt_XIJPpq8YdxxUy3Z8dsjapE9yliOUz7HV1bQmS1nvng00XYcLdK8jcQXYUenObF_KGsDs3QS_OXGPQHacNBdjjHf3K5o_f5iS3uewchBHYghwmIixMJkDAoXFsiAwIiiIPWz0ELLAvbYjtYW6me6ps2u2JYLb7E49PqgCV0fUjsBzRO-5LxXNXdKOcJAFUh_rJk21yd1T7VEMwufraj0AVFkLEd8_Rwwsm_nRayPqbVS-MAnMyEg921QJrs3W1-8biMw6m9rrfb9-v1pMxx2FWVkgfU--y6dYe_zSsHJ_Kkz6D_C5V1BivDwqRyRj4UL7yvjPpoDkm9ienL-6udfoZi63UJt-Vsefd9cnii96Xk9ArlT72C-wnPpZRxAftp7N1FpaZUK0rtL4IAevwB_0NddCqLdMCdJmlFquYqk65Bdgv9y7ztALVa3dGcRr2-AVPixWARbky3tjVXXaRS-V2CtkphZhz1nvuW1PV-vysPozhfeRg-YvnKHv5ltCadkx7f8LpQIqNgTnj1-DC5XLqDR7uCIFRHXSLzG0XxxdW_Jyk1NCaB7W0YtcCLztM4ubQ6zcLGx93kY6S46tlq373t7GWqYps6VDRrwTcFQbRevNeIZtuzV1UCQsfCBVzVLk_G3w6e-Scp5V73rV-9KmXe2NMKiOtdjFQSiSdotjdv9cldx-ly2wqOjWGdJHfEUzU3NWtlPt3U08dOSeY=",
  "id": "rs_01c3dcea89220b28016ab4716f03ac87d089289d7fd6802817",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.04,\"left_z\":0.005,\"right_x\":0.335,\"right_y\":0.145,\"right_z\":-0.008},\"note\":\"The gray plush is offset left of the wrist view, so I’m correcting toward it while lowering. The right hand is lowering onto the dark pen, with the blue pen already visible inside its basket.\"}",
  "call_id": "call_PmJEsZYM4w55DazjzKhqW36z",
  "id": "fc_01c3dcea89220b28016ab47173b26c87d0b9608707289c4a75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PmJEsZYM4w55DazjzKhqW36z",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "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]: [0.1646, 1.6047, 0.2089, 0.9787, 0.0971, 0.0868, 0.9967, 0.6357, 1.8133, 0.3969, 1.0248, 0.5564, 0.3153, 0.9963]\nstate[eef_state]: left_x=0.3531 left_y=0.0449 left_z=0.0456 left_yaw=0.0211 left_pitch=0.1496 left_roll=0.0526 left_gripper=0.9967 right_x=0.3622 right_y=0.1558 right_z=0.0516 right_yaw=-0.0201 right_pitch=0.2327 right_roll=0.1149 right_gripper=0.9963\nstate[joint_eff]: [0.6359, -2.2496, 0.9094, -0.2418, 0.2222, -0.5836, -0.0122, 0.5265, -1.2513, 0.4308, -0.8278, -0.5739, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f475f6082e699bbaa52575d495ed5c28e4e41a973dbf2c2295ce4a2e70dbdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e0502192a5c73250e7a7f205f00f95e9eea66d3f69b4c82c5403c5f379a8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b486365bb2fc2446e165c21956b4e3cf2e763426ecf9d5a750881c3b526d40",
      "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 · 4.844 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 94 changed as sent

message 98 changed as sent

message 87 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]: [-0.0696, 1.9076, 1.277, 0.3988, -0.1337, -0.0605, 0.2125, 0.3935, 2.1193, 1.3602, 0.5682, 0.3435, -0.0051, 0.1516]\nstate[eef_state]: left_x=0.5798 left_y=-0.0132 left_z=0.2091 left_yaw=0.07 left_pitch=0.3362 left_roll=-0.0153 left_gripper=0.2125 right_x=0.5839 right_y=0.1819 right_z=0.1676 right_yaw=0.0761 right_pitch=0.3857 right_roll=-0.0561 right_gripper=0.1516\nstate[joint_eff]: [-0.4991, -11.1658, 6.8308, 2.1368, -0.0659, -0.0562, 0.2808, -0.8821, -11.7538, 9.0735, 2.3077, 0.0415, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0036, 1.1145, 0.4355, 0.1371, -0.0216, -0.0322, 0.9967, 0.6117, 1.4494, 0.5949, 0.2684, 0.4976, 0.3061, 0.9963]\nstate[eef_state]: left_x=0.3435 left_y=0.0061 left_z=0.1148 left_yaw=0.0184 left_pitch=0.0241 left_roll=-0.0062 left_gripper=0.9967 right_x=0.3591 right_y=0.1533 right_z=0.1042 right_yaw=0.0263 right_pitch=0.0586 right_roll=0.0149 right_gripper=0.9963\nstate[joint_eff]: [0.4034, -3.7675, 6.735, 1.8388, 0.1148, 0.1538, 0.1148, 0.5265, -5.9556, 5.1897, 1.2283, 0.3053, 0.2027, 0.0806]",
      "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]: [0.1646, 1.6047, 0.2089, 0.9787, 0.0971, 0.0868, 0.9967, 0.6357, 1.8133, 0.3969, 1.0248, 0.5564, 0.3153, 0.9963]\nstate[eef_state]: left_x=0.3531 left_y=0.0449 left_z=0.0456 left_yaw=0.0211 left_pitch=0.1496 left_roll=0.0526 left_gripper=0.9967 right_x=0.3622 right_y=0.1558 right_z=0.0516 right_yaw=-0.0201 right_pitch=0.2327 right_roll=0.1149 right_gripper=0.9963\nstate[joint_eff]: [0.6359, -2.2496, 0.9094, -0.2418, 0.2222, -0.5836, -0.0122, 0.5265, -1.2513, 0.4308, -0.8278, -0.5739, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f475f6082e699bbaa52575d495ed5c28e4e41a973dbf2c2295ce4a2e70dbdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e0502192a5c73250e7a7f205f00f95e9eea66d3f69b4c82c5403c5f379a8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b486365bb2fc2446e165c21956b4e3cf2e763426ecf9d5a750881c3b526d40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHF5UNon-PXxgG82QFm7hpD_E3meu0ayvtOJBjcV6aqzSEEArnMIxzsOtctZRhfgMkUeIMx-uS6Efg7ekSnE62HFonmoCMFtQ7jf0fuYPSB5oTv9bqd2Jnhe6nXGHIXVKwgSS4Ixhqxkpnz4sTRZp8mSmX9TXJMGbv48oW9xaAMwyCb6KEl9wbguUIzJMscIyOZzGMX4632pjBf80Ytl9Uz3mBqKJPnVh_LAf9EnRqOI_hSQEfisZjPHbajE2gPB5JeQGWyJBYChQ27rjvDlpSs6jgJN2zcpapRRLB-aqdzODFLZloF7p4y3BsPHmNweFQsJBpxdtRNnvPSWjCmEIAFNzOUGaKZIerUj3rJ0a_QA5pszCVW19vUN-kIz-_ocx8jD2y28oFB43oPvWct5JT-AhMZ1St7KIekLDs6zriPe8nNWdwZZv8EQLpHdSKndGh4tqLu3AqF5yXxN1zsE4XAQh_tVOj8VOiOmfOL2MLpLV7d72xgemhqp3SZ_X3GGj9xY5BDJvJGsM_vGCtQEduzdlNeYMzTK_-YjQPvN4rtmauSIkzyfgr7acgJLsKBFe57KmUBZYCYEfYR_LAUx8tojKj58LWU1r7sFJwW8jpX0HbuOWODML3UP6pMmWP1Ekyq-g1Y2hKGLJKt4AyALLc27WNdU4xjGQcJZfemGMjSBXUg0CStI-NCZP5s_4glnzsKQa_WFVgYjWK38P1ZoS3wn27DviE2JRYGFMbbH6jPN1LWKVaURDwxSjFz_ljruptipCdSNxMXjJE3h30W71KgKZY264xMAc2p065IJClCkdPFr4ZZTGpiSP0hF-sjHjtM_y_4xPUI37TQqPjKF3tC-EyQWXVU34Wo3IpdmTwlBbY4vYrFrL58hAL8_lc3OAwucxEkG_QXUh-CIqPcNad7QQOXoy1OZGs5GyOijeGhl4T-GfO_wy9hupdwukofyHr8MZ2G6CkB41qNJTW07Z0-fTmZ5E1zQfUyrkpOtK5kf0VCf5Q0xvZlDwaV8Ze5PbTwbzbfqvKw14uwIyqHcrttc3VyfqbbocIvFnohxEA3OYuq4Y_Nwby-WIkLDtjv163Un85fqngYQhWyTDSCFq2RqDUCG-2qzlzwSW0ZY8xbojKblg0On9C0d_sZJ8qnf_8QVl4aHQe-QW1Z1XXpDfaLNuYgLZx26e3s6gGq9z02juI7f8LMctSmNRr8X451jW5WYrcp8x6bey9X-yH7_rEaIW9P27ubuQ2a8HFhfXHvlAq4FeOvLpsELDsTR9WOkP1xM6H9u0SilBPhDak6li4v_8eKsCaW8ZO1CwP7UQSx2dDM3WF1-bASa37iqx1XH6YOTOGe5cfMTs-YjX_4NA4VyZSHWjdQXVD4_OqEvyVRt-4PQtkfPqHH17OAySAn6Sw7zXMj3_Fvrdol4WojNGtC0aX9NPyDqHPk0VknXuJtUD2jWt-6mf9WBOYSvz-lP7mID3JOhH-Rzy5IeUkcCsUnAtnDvIWWIakAO1xQax554nVICbN5MmP9Y8ZjZIQTgEeSpbSeBGAX8SjgzL-Nwmb63hw==",
  "id": "rs_01c3dcea89220b28016ab471772ee887d09919cceb20cf1556",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.29,\"right_y\":0.055,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"The gray plush is between the left fingers. The right basket shifted into the pickup path and is touching the right hand, so I’m withdrawing that hand to clear the rim and reassess the remaining pen.\"}",
  "call_id": "call_OoGARais4k9pUM6bGYPc5qoD",
  "id": "fc_01c3dcea89220b28016ab47178760487d0827d86ff0878b2c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OoGARais4k9pUM6bGYPc5qoD",
  "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]: [0.1661, 1.5986, 0.2073, 1.0103, 0.0868, 0.0895, 0.0093, 0.5896, 1.6646, 0.3389, 0.9279, 0.5041, 0.3164, 0.9963]\nstate[eef_state]: left_x=0.3558 left_y=0.0478 left_z=0.0543 left_yaw=0.0292 left_pitch=0.1848 left_roll=0.0642 left_gripper=0.0093 right_x=0.3528 right_y=0.1377 right_z=0.0649 right_yaw=-0.0215 right_pitch=0.2159 right_roll=0.1289 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -4.465, 4.1368, 1.536, 0.0855, -0.0513, 0.7643, 0.0205, -5.0803, 3.5897, 1.453, 0.0659, 0.1099, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2708b499bf569db11ffda16d8fb38ab101f8adac77e69a477ca715cbac7b0d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271d9a75d192bba38dca4b128bae8a2b2164a63e08501bfee87e1bf78168746d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c97e9e3e7b190525bfe139d696cbe29cae06f4ff38fd11bcb8b49993993067",
      "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 · 6.611 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]: [-0.0692, 1.9079, 1.277, 0.387, -0.1341, -0.0669, 0.9954, 0.3923, 2.1361, 1.3544, 0.5591, 0.3344, -0.0109, 0.9954]\nstate[eef_state]: left_x=0.5792 left_y=-0.0129 left_z=0.2061 left_yaw=0.0738 left_pitch=0.3241 left_roll=-0.02 left_gripper=0.9954 right_x=0.5834 right_y=0.1826 right_z=0.1529 right_yaw=0.0903 right_pitch=0.3548 right_roll=-0.0705 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.4957, 6.9675, 2.0293, -0.0366, 0.022, -0.2173, -0.253, -13.4632, 7.0496, 1.9853, 0.0855, -0.022, -0.1783]\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]: [0.1646, 1.6047, 0.2089, 0.9787, 0.0971, 0.0868, 0.9967, 0.6357, 1.8133, 0.3969, 1.0248, 0.5564, 0.3153, 0.9963]\nstate[eef_state]: left_x=0.3531 left_y=0.0449 left_z=0.0456 left_yaw=0.0211 left_pitch=0.1496 left_roll=0.0526 left_gripper=0.9967 right_x=0.3622 right_y=0.1558 right_z=0.0516 right_yaw=-0.0201 right_pitch=0.2327 right_roll=0.1149 right_gripper=0.9963\nstate[joint_eff]: [0.6359, -2.2496, 0.9094, -0.2418, 0.2222, -0.5836, -0.0122, 0.5265, -1.2513, 0.4308, -0.8278, -0.5739, 0.0806, -0.0024]",
      "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]: [0.1661, 1.5986, 0.2073, 1.0103, 0.0868, 0.0895, 0.0093, 0.5896, 1.6646, 0.3389, 0.9279, 0.5041, 0.3164, 0.9963]\nstate[eef_state]: left_x=0.3558 left_y=0.0478 left_z=0.0543 left_yaw=0.0292 left_pitch=0.1848 left_roll=0.0642 left_gripper=0.0093 right_x=0.3528 right_y=0.1377 right_z=0.0649 right_yaw=-0.0215 right_pitch=0.2159 right_roll=0.1289 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -4.465, 4.1368, 1.536, 0.0855, -0.0513, 0.7643, 0.0205, -5.0803, 3.5897, 1.453, 0.0659, 0.1099, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2708b499bf569db11ffda16d8fb38ab101f8adac77e69a477ca715cbac7b0d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271d9a75d192bba38dca4b128bae8a2b2164a63e08501bfee87e1bf78168746d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c97e9e3e7b190525bfe139d696cbe29cae06f4ff38fd11bcb8b49993993067",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHF_C1xI2AqkmjMKkPV1o68sykhETsD1vumBX71BA7I-tRS2H-VPeVMs-kzQ4bpEBKGu01IL4z4CBj9NK_hGjfN4QWpWiWs2j2BkJwVTr8B5Rpk-7ATpXt-IKzs-xMLygXxPpWJoTV_z8373TTMvxb42hw4yjYWumXJb43m9ZKibk-tRkYO-VMxaJtWPWcnVHF37EBVdf5-L16LNY5A16fJLzcqjOGJiT4vw0y2BV9fcbSzYdw8JWNB03yxgYSBlGeLBJ2aedX1Oqt7Mn63eoYzbvRsjjmKVvP7EspVT-ZPeipWzOD2ZT70869YbhoL_94EFg9LrcVV0linRW3fg0DTmfdRsS5YPMyYATNtMkc_BuIX6TOupIUovUshTT5K_LOYpH_ZYz248c7eYwDySV2EssssBQncDedHMUmXX-RpBrmjmzV_aTF1jTUX8u-akPi2KM2WKksXl503k9lCusBMsVKsSbvktzgiEE_597QAOhd35n2FjwOVNF-qZMdNJMgpMPzrI8NqZ2MNUd1hL47M-y8hzZ8VZJ4XGdi-GLEPQxpclf2Dnw80npN5SpAfGw9pVFsxH6MdfYrxOyhlxRHWxjeCcBZKlrAXVcfgX-ne_HgyILULsUdLi9RGXi314kiXHcMPAkjF0EKzpm98_j61CbqcRDu3HswfskH2-60vggm_B1vsf5Iz9xLayV4N2bA33p9oTxgK0nxSja2hPn4HcGinfV1XAVAcTy_HBJM1i9PwgW55e0nW60UagJIlko3yoUL_V250WSJMjq1ioljvSxohtYkQ71RbatEZG0fHAgRjnygUi-aveCJ4upJkAO_99f01YS1lOU9urXZAdsk6VUX4flwvhcaaVW2WeP453qzT3qPCBXB7cQlKFwV_nA7Xw7fhj3Za8HbTtXNpmU2TKjLDeJHxQ15TB2230agSz4_OMKa-UzWsQr0J9N5-INVZK0P7Eujwh3ypUewzhn4PtaI9QyXQY_JhSDItdHkzUchABSToSY4pDaY7kM4qVydqeo0fKK5fJuUBTp6wXRqISCG67v8PRdSetRLkarG_IJelsLLew6IAZeM5FMwr7SLEOXIcb06FkYjKlBclvjSPYyCC_FqnTp295cnC6uz2S2Dl37oq7_bMnq_su5bvbwcHrsLNeFGFNZ42gNheOL7IHuTkJXwLoCqmZxNkfOdKCe89pg7hXrs7HJx6s9mmD85T68Qxab_w8hfp2bhQO_nKBawGDkOPJFEa-CkTt1KEE0MxkkYY-bAfKbKoiv6XmpV4wIJvdFZSTOWieKfa3aiKE6hnhlpo0GAe4al_e9qRrS4rFYx0p5y3Pri2YY-esFgZltYXqeVW25T2WLcvmbwctIg2R_qMRnNPAsMp1jAFaarFhPgEBlzNIw5G2J6u8goH_EkbHbETvNXezTh8091wiO3qfs5V-PVprLno1XY0ovoSya_P94JOd2daIPB1P-oL3yMDp4aeq4jobLXGBFCK3DsYho3pCUbI8lkmuWkH2CpIEAf5-Ptq0bcJY1gMJosMOWYpkCEfNbFqI-l1xNvQsNKfj36z_piENEnC5ryV6DfVC8GJUSn0_Nd6LejupWPO8W1TcyywPNtoRsBRxZTThlu30BVyXvgHcbgM0h0ZYUhhmOZtb8E_PZsHvT1aXoZ2_",
  "id": "rs_01c3dcea89220b28016ab4717c59ac87d0bd0d39028a76c0b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":0.05,\"left_z\":0.035,\"left_gripper\":1,\"right_x\":0.35,\"right_y\":0.14,\"right_z\":0.26},\"note\":\"The left grasp closed empty, so I’m moving forward to the gray plush’s body for one adjusted attempt. The right hand did not clear the basket on the diagonal retreat; I’m lifting it straight up instead.\"}",
  "call_id": "call_fTBqomArPYOA8CAtpCuDPNoe",
  "id": "fc_01c3dcea89220b28016ab4717e134487d081da250224f73a1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fTBqomArPYOA8CAtpCuDPNoe",
  "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]: [0.1555, 1.8034, 0.268, 1.1187, 0.0826, 0.0814, 0.9964, 0.5964, 1.1572, 0.828, -0.0742, 0.4973, 0.3149, 0.9963]\nstate[eef_state]: left_x=0.3719 left_y=0.0472 left_z=0.0267 left_yaw=0.0272 left_pitch=0.1493 left_roll=0.0536 left_gripper=0.9964 right_x=0.3536 right_y=0.1425 right_z=0.2431 right_yaw=-0.0073 right_pitch=0.2097 right_roll=0.1263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -5.053, 5.0667, 2.0977, -0.0464, 0.0659, 0.0415, 0.6222, -5.2444, 9.7983, 1.6874, 0.3101, 0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676beecd19ab22899474589cd408a3d9d8677d7e3403bcfb03ec50bd7a94a7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9031ecad3c34158b9974bcbfba5de1a31de55a3a2aacbe6b8956f51c20bd53d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfe67a1698fd029b94fa016b576120e78275ed388ddda2df161ab2e1faa2ac8",
      "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 · 10.05 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]: [-0.0036, 1.1145, 0.4355, 0.1371, -0.0216, -0.0322, 0.9967, 0.6117, 1.4494, 0.5949, 0.2684, 0.4976, 0.3061, 0.9963]\nstate[eef_state]: left_x=0.3435 left_y=0.0061 left_z=0.1148 left_yaw=0.0184 left_pitch=0.0241 left_roll=-0.0062 left_gripper=0.9967 right_x=0.3591 right_y=0.1533 right_z=0.1042 right_yaw=0.0263 right_pitch=0.0586 right_roll=0.0149 right_gripper=0.9963\nstate[joint_eff]: [0.4034, -3.7675, 6.735, 1.8388, 0.1148, 0.1538, 0.1148, 0.5265, -5.9556, 5.1897, 1.2283, 0.3053, 0.2027, 0.0806]",
      "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]: [0.1661, 1.5986, 0.2073, 1.0103, 0.0868, 0.0895, 0.0093, 0.5896, 1.6646, 0.3389, 0.9279, 0.5041, 0.3164, 0.9963]\nstate[eef_state]: left_x=0.3558 left_y=0.0478 left_z=0.0543 left_yaw=0.0292 left_pitch=0.1848 left_roll=0.0642 left_gripper=0.0093 right_x=0.3528 right_y=0.1377 right_z=0.0649 right_yaw=-0.0215 right_pitch=0.2159 right_roll=0.1289 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -4.465, 4.1368, 1.536, 0.0855, -0.0513, 0.7643, 0.0205, -5.0803, 3.5897, 1.453, 0.0659, 0.1099, -0.0122]\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 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]: [0.1555, 1.8034, 0.268, 1.1187, 0.0826, 0.0814, 0.9964, 0.5964, 1.1572, 0.828, -0.0742, 0.4973, 0.3149, 0.9963]\nstate[eef_state]: left_x=0.3719 left_y=0.0472 left_z=0.0267 left_yaw=0.0272 left_pitch=0.1493 left_roll=0.0536 left_gripper=0.9964 right_x=0.3536 right_y=0.1425 right_z=0.2431 right_yaw=-0.0073 right_pitch=0.2097 right_roll=0.1263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -5.053, 5.0667, 2.0977, -0.0464, 0.0659, 0.0415, 0.6222, -5.2444, 9.7983, 1.6874, 0.3101, 0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676beecd19ab22899474589cd408a3d9d8677d7e3403bcfb03ec50bd7a94a7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9031ecad3c34158b9974bcbfba5de1a31de55a3a2aacbe6b8956f51c20bd53d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfe67a1698fd029b94fa016b576120e78275ed388ddda2df161ab2e1faa2ac8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGHmjrA1CWXen1UZvO-yN7mNvuu4AbS4eiGf3zhbxWzyXEcP97ObLZten4pKYAyvrfC5fKhVCLYPe6tvdkpOTkUFxWxMUi4tJAjU5d5ltnH4YtTNgNwUrbld-NHtX3dD5PNmmnsJLp42ixuIsdvCuWDVc281fizGLuZbqsrFRBwcaLVjkfu0-s9GERMQoGqxtqUzV66YPXAlw0PUI1ptYsrvPphhj_bIXr5gD1DyNtN8DE51ZDE0cbABzGPM_y96ZUclVfPRnRuDGQwVUoz45azXqTcMjVCilN63q2Io4MCdFntV-3cW8pyubfZO9lEaFUKWarrDbYrBwl9tki02icfq_YclDaocut3p9BXtf3gs53ftKWVw-1bLkRr9y2hX0NUk_mnF1DCeUgO3XSs44sZBez3tj_z3MHU_bN6qsufXRoF4xjNd_Lmk03ONxXQ-Krh76TzM5sPvl16sbrA3beciNJq-mzq7xM1G6uydMPFUs9_AcHRfuwVGrUwAnQ78TazJDsm61ktbscIqaK_OPlVrA4aDDxAlytDIdAT02_flNMUlEhe_PfJgLEjjFjZA2WtGXohQcxFTZqub340N7l4j2t9fFfSjwDWmNRDSK2wD_Z_DgwiVGKkn_7NWR4f7ZahdXHrf2jq_-9pidOX3UAl0eHR9f_-zqmDKtCb1hSbv-UUT5SHq1ZL-gUwOuZzv570k8C0O6NgBTgwJrWih_tWPA2dAThG2bPbKWFHYb4OR5iF7A80hwJj06YQOobI5CNa_vb1qKkQik9YswORkYY3QRG2dNG9df6bpLoOyTSY1LB-zk8Ccc7bClLHgzRDcS7bSbGLr2X3RzN6p9_91VthNdJIfT7fYHPxWNSXCAXpxvijQWjkuYNoXtk0dCsOr6HzukwVzN9MQbQko6EbF3OhlCKLXGmauVfKnmaufStyZBN68b10HvEks5P8IaeggU63q--7RmiFWS4VR8goU4sN4UXARI8kbJvqNhCFxjc7fHcsCxJdycNN9ROVONuG5tNRbX8KFbrXgfKytF1d2PcAaeEkDp7fOF9SiF-snxSigSfRGCXfuuxpSIOsHn0kTCenrl2NOiyb8oYyfQUxZmXrW56tPXhre0nqhbuGG4aOA-enuGmohGzfQQvXBnsvbI37xNKesF_GK6bJ4i1I7yo2pfRxoF54wMRmLuXfIKXpQmt34BWerarQS8VjO1VB15Tll42kmmRNg-6LtZ4-oRTF01PtoyGxwwKf7tRLRQj_rtmBUvgTK0r2FnqRygfsDL3_aqlZOcAZs1Go-RC50jf_nfElXfB7kV_xQ_2HKYndLcWJ6uovFsSFdPPHMnaJAmfwVy2jg7m1MYEEJhvqmM2oRqcmdJbH2SaSP_bJW_Odf8sJWoWLeUQMIrDLeu1AdIXtnDjcnSHTBM_Y9wq59PD7yBMULlM9Yhk59ZuYTRZ6sfmtktznzYnNF-LXHdPtt6wJFmiKJ3EZ3WiBnGsK6gatqARPVPBMSxG0qJLiDzu0Dgeey8LaNTHCBtK0OsLqD083JFHzDFKd5tXzDc-btZ1Ku6uGeMFaUcIkIQbBiGmTyQHyUuVXCTGB9hXAqDdPgBGrwl0QcvVhqqFmglTo_hd8pzDV4AbhP8yLIwcplGu1oRdGIoUH2t7YLWMpfvdFa3KQzBw5rsF2uLb5qnRUkpN8IZqQmefN3zbBlBdLQBFBGUvXcCcii4fHy_HaoHjdcFSrkQspiaG_DKp1eiO7Qh-6x4QS1Pllid1rg_TVn-2x9YxMkByDdD_dfvLIF2LYevazdRINXc6J_6x85kxcKAgOuxlt0CIqfst7agDAD1ogpUvGMxXYG5cWBkHLerzOrtXuufq8xgIkoa1M5eMyoPFv92VnsPRfQiOZskeTJyzpBTsJ1keb82Hcz5gvz0VEkBOdYoqmFpuPRaSfloiyGuylERHmabjj2BIq79JE974Y49tR8yEAg5eCknksTVLmlo88rvu84Ff_dtjVtSxU_DsViEaamsyHJrcob23gZcw68uviFieKFsgXDaqtsU9tKj7v_n3RpAHSkD6u0QXRS9BbFVsXyDAeiMJIi6mEwLOkN6PLwrn_hB0xxeI8TX1dth0KmcpWiX0S3snE8-_lnH-REsEI-EM21H6q_MVumaXDbysKF9AlNIl0r-w73W8dmy4j4nhCHR-EbE9Aq_0IaLX2F7HL49umL_GYBGvRWMTXO-TUkwOQUVmPm0SOIYEAjkXLtNxJndoU7m5EkQG5qmj3aOlCGc6gDerUOZ0DMJemz4vnVXlMwLp8YOPPlif5TTbsPXSt775KejNl2GpHrvDiuNSGKIcl1Bnfk_GJ8QQtr93PxhmzvSK20mJ2vFK4yoJE6Gl6n8iog37AXhOk5Y_-FwP5GLw54jHI0jHYQzedY0JsEP4Z0JpJTDKAGyUeMRSi",
  "id": "rs_01c3dcea89220b28016ab471826dec87d08eaf02fa69ee55e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The gray plush is now alongside the left jaws, though close to the outer reach limit. A dark pen appears caught beside the right fingers after clearing the basket, so I’m closing both hands to see whether either has a secure hold.\"}",
  "call_id": "call_lJUgfpDaLpCnKiXZJJqtsMsL",
  "id": "fc_01c3dcea89220b28016ab47185dca887d0880f99d3a2fd36c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lJUgfpDaLpCnKiXZJJqtsMsL",
  "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]: [0.1551, 1.8107, 0.2699, 1.1156, 0.0814, 0.0784, 0.0091, 0.598, 1.1614, 0.8253, -0.0933, 0.4862, 0.3103, 0.0101]\nstate[eef_state]: left_x=0.3716 left_y=0.0472 left_z=0.024 left_yaw=0.0296 left_pitch=0.1411 left_roll=0.0502 left_gripper=0.0091 right_x=0.3518 right_y=0.1441 right_z=0.236 right_yaw=0.0091 right_pitch=0.186 right_roll=0.1109 right_gripper=0.0101\nstate[joint_eff]: [-0.0889, -6.5436, 2.9607, 1.8437, 0.0464, 0.0122, 0.6716, -0.2256, -4.4103, 7.4598, 1.9658, 0.1734, 0.0073, 0.8327]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709c04d896f056903ec03430ce18c4c5f9471331c12400fee8d3a3abb76d09e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38139a02b1034b3b9c57f4de07af0a3959dcd3beae3c2bd75481888290685e75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07768a716696e86b64392f7cfa26c3f27e3c750ddff19044da611456cc038b8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.657 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]: [0.1646, 1.6047, 0.2089, 0.9787, 0.0971, 0.0868, 0.9967, 0.6357, 1.8133, 0.3969, 1.0248, 0.5564, 0.3153, 0.9963]\nstate[eef_state]: left_x=0.3531 left_y=0.0449 left_z=0.0456 left_yaw=0.0211 left_pitch=0.1496 left_roll=0.0526 left_gripper=0.9967 right_x=0.3622 right_y=0.1558 right_z=0.0516 right_yaw=-0.0201 right_pitch=0.2327 right_roll=0.1149 right_gripper=0.9963\nstate[joint_eff]: [0.6359, -2.2496, 0.9094, -0.2418, 0.2222, -0.5836, -0.0122, 0.5265, -1.2513, 0.4308, -0.8278, -0.5739, 0.0806, -0.0024]",
      "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]: [0.1555, 1.8034, 0.268, 1.1187, 0.0826, 0.0814, 0.9964, 0.5964, 1.1572, 0.828, -0.0742, 0.4973, 0.3149, 0.9963]\nstate[eef_state]: left_x=0.3719 left_y=0.0472 left_z=0.0267 left_yaw=0.0272 left_pitch=0.1493 left_roll=0.0536 left_gripper=0.9964 right_x=0.3536 right_y=0.1425 right_z=0.2431 right_yaw=-0.0073 right_pitch=0.2097 right_roll=0.1263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -5.053, 5.0667, 2.0977, -0.0464, 0.0659, 0.0415, 0.6222, -5.2444, 9.7983, 1.6874, 0.3101, 0.0366, -0.0073]\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 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]: [0.1551, 1.8107, 0.2699, 1.1156, 0.0814, 0.0784, 0.0091, 0.598, 1.1614, 0.8253, -0.0933, 0.4862, 0.3103, 0.0101]\nstate[eef_state]: left_x=0.3716 left_y=0.0472 left_z=0.024 left_yaw=0.0296 left_pitch=0.1411 left_roll=0.0502 left_gripper=0.0091 right_x=0.3518 right_y=0.1441 right_z=0.236 right_yaw=0.0091 right_pitch=0.186 right_roll=0.1109 right_gripper=0.0101\nstate[joint_eff]: [-0.0889, -6.5436, 2.9607, 1.8437, 0.0464, 0.0122, 0.6716, -0.2256, -4.4103, 7.4598, 1.9658, 0.1734, 0.0073, 0.8327]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709c04d896f056903ec03430ce18c4c5f9471331c12400fee8d3a3abb76d09e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38139a02b1034b3b9c57f4de07af0a3959dcd3beae3c2bd75481888290685e75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07768a716696e86b64392f7cfa26c3f27e3c750ddff19044da611456cc038b8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGSD9Bn4OHNJ4n0O00xNqIOj3ET5s-WGAZ52197kvQsDvyQxcGcICntBQ8-B_xxQTSBAI0XP6hINtG7xME3jhGah-h4p2wwhkc56_NG-Lct7YEC1DbPHKWNy-yAQN2q_BvuFZruL-PzW4Q8JpiN7K0-Mc7V2rgqaOxMrQfAzPtXY6Hc6mCclH0wYkcOgXTy_hG1IrBjK4HTIdQQM6BhyM6TFG3BGu0l8ntWt9D2M5RKvfdAv8hXM4RyRSXGxdDkxqWwrBPqF83_SQaJsLt3kHkds16YiF4W9m4R2POBNwB9eXuS7YBl1MrzIIOtkeakM3qRUXbn1_C6Gb4g01El9iLhxIXEdBEaO3bFp19JMygpIU9RALa6Su0QnWzvXSVjwEDH_-DNYMXJbRlIpptLW_lIvp-Q4vu7_l3PJsBKD_4sdchP36xHAk0zeZb623r6o9lRw4z2AhtjOVrqxFv1U9fdtV7YDr-aTnEvjtvFNBHFMuMhZf5RNpPGSKLxLBkzJa_gitE_C-6GEti12W605qHSqOf3DGPnNiiiVG2GrrjDvFsdcH5y2dM1RePw46CMRH_maV137CxMPWTkBNA1jEFKW_vUwXF7yVKig_XtUTFTJkPcaUye7V6Ok7358HMv7h0qqtfDftJ5RyajQVjYcs9yPaZTru6Aull5CGjbovYfqtWvJqUgVlIbAk_5gkx6gDax_KenYOy55aaW6IIr_BwVPJr9yTw8vm9nJdYMjAerBAaPzGo3m-zbXQT-mLJpkKDr3NYcmKZ9gFQY-kbnjjwtFq5b9hVz7k34jh_FKV3nwKmKpB9dJ1y46e-MJpISZTH9piXreG0nYOV4AcA_uRhLiTRdDHiEunmm8tRqhWH5Wlk-RGtGb-rx8tAAhHCu4CsmZljU-YDAXSodEMuWAwdzIzc4yaSMIw66ObH4Ax0S3D3xY3DRvES1OiB1_O_IgkdfUGcUdx4xiJe-z5iVZcHf3p2Ub6QO6TOxVYF43boOPmvSoJtvxvoaFNRBnDDoqLeXEURnkYZQzn96lQZJAgM5ouM8hG6v8-iZtzTZSGJ3AFWHkz7nH__EVJkts4HwIuGzZMuujfLuJyR7HD7nQEGzZYycUAFr0_Ulo8SXt-OVDPgN1HINvtAeGo5CoggMWkDyLua8cES7D90P26B8wlcO06bG5xrL3nan1jEO7bBbmZbPt_UWBqCjjX4wcUcBLD2zhubeIO1RaswgMfZeE22eqWzEeNKPANEUGP4csq7I6tdgt73pc7S6lyTd55W4RzFVZlvMgQudnSqlC2Bpwld1FdVvu2KtKTEN4_UzCTe96lnN5ElsNgWgGjtvIz7uP1GJHA2XGIhto8QVA_JtfdQl8iqpuinmH4Lhj-vuZkbpkAkD94dt36ngfWsRNDfMp1b6XIxzNszROdJKyeHqW4Yx-hD67fi9GNmciJlLqbHgifTBYL5zEqPcCeH22MyLIOl9Rg_3dPL6VM-FGj7GZfGya8vcSjEl0q1-12cJ-8lb9yXSCUloymcbZ38X-UnXLzc7qvNMWGdYXM4LpQcb_I1EwnoLTylHV6Fxqvwbyxl4ZcYle6bKZWvHm-GdMmx1xKunLKnBa8VAyNuPTxAJpVnUTXRWWwKTA8dnRJQ4lWS4Q1jlauHg9-a1AWi1nYFRYoDMNIs_3pSHBNQI6sbCtFUPaeC9nOlZkck4PQhsLdY1Amc01O0eZW0SoW1sjcg37Fbe-Ryp9De2SNKSCo1ZpZSbC8oJtqXf04YOXISUGj6d4etU7TxEPQkaSGjc28--wIT180T3XMxjIKP22jWcTGTPv-YQO5s-lnBTH2I1zcGuREpa-WUI4KBCPyz21rMePET9sKdHFmDp-q-TCOkOS-iCf1qWmLXw-kzj0LHy3nOEkLhLmtU62Q6SfWk86XxbumxADPWJgCPQO8pBYfmu0fALJb8fyl-nyBwtzIJWCQ30N5a5f6lzwLvYzGEugf0RS1wrUL8Z5bKIpzzlOUZETldMbpgrT0qUKSwby21xkWtqkawJFar0L2ASqfahTf3C2--oVd0UmHmVy-L9-HfiLqFqFN6nks0ZwXPL_rmtr6VYSvpwZ2Gms_9gyoik4UEDp5uhy1Zq8GmQh4ewpY2S2pmIABCpWXGfmoZ24NElbadc-ED3Xqi4u7uiGLND6wf260GwSlNIzg_-73LavNkN-Ft4d-dWsP7mbjhR4f-uNfRqvpZ6HnoXmbLxajkjVgtLcUUprmVMut8k8bb9npFSVJlmquD-rzIP3EGc0O6fpleI6_HH2_JnVs-cdaXduyVNQCE6gurBB6uyv2csq4DP6Ek3An04V39zPFVXpoepUf45fH3aG1FzCbzMDgch0OTv2Vf_lqJAs_rohCjfMPGDRp80U8mC3Ia0GVzSTO3oeyQJtD6OQ17GuBZzHLA_YI05sdajH6SPrc_jYmwiEaGctTslWdcahQNPcgGKYJpn_5LJBtctm3QgUIxTo6tilLRTDJQuOklvXL7HJEsHNNTQi-jBMPmvgTCr5-JfEYAfIQlF9YrUIla4xZfDOIZSQHYiw2TEJ2dRxxujsLPRqJjq3DKAa0CtVHnvuIIDOyh3fZGDhB7XlwjmcVuGOPc-HPypKJGZii6BvaoKpI2fL-r3Z03QVTTfGSAbS1wDk7SLJQ1ddBD4dcBxIjYXAZ5MHIATORZQtkgUgVuFAaCyN09yipLKa4mWMdL7FCyTINBOHRIcSwzvsZbC8tYpAENHw1trmOX22ON8Cf9bBi-nLusu4pmqWfW6ZcjsMHpsUTS_NAp3KAekfc3yS2GqeJsJOpvOKSqLGyeKDyxSCeuF7qtxXyGEFQIFB0m22IKaWrXoBb597CwKPIiLCH4t8pPQlXY9GihPDaF-e_LL6GBtg5jByHlRl4dIgDW12vjFEDy2GQzEr365gdblxJRdr8UCupfFI5LOTXZtJPxe_uDrN1nEQRJD0ix2ajsk9knhuL-bhhpwxspTt63UwPx4F-z89pmNsPYO9Hx_1CxnaPzFNZ0N4lP4LRx8PQ6Yl0drWt6ZS_VfgQ-sdDVWpOZn0qiOLu6iFrVy3fBjrnc7d2CIMp9NQHzsL2jesvYDrNfWS-coDqRtkCSRkt0w7WNGxHAP8yEr-6rqzUurGiPVYqRQur2CfGA7gI5-EWsVRXppcXWD9TddRTcSz9l1tiHFlsgmQCP2kIN9K1g2QCGTo8IlaYtZ0F7oLQKPfJ9Gg6O0empR0ua1ia1ewpfO1yUIIPu0vdRAvjuc",
  "id": "rs_01c3dcea89220b28016ab47189acb087d0a452c683a8b3cc28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.25,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"Both grasps closed empty. The gray plush is beyond the left hand’s outer lateral limit, so I’m clearing both hands from the table to verify the remaining objects and leave the baskets unobstructed.\"}",
  "call_id": "call_Ykr89LnUFuewNgvRz99UFkOJ",
  "id": "fc_01c3dcea89220b28016ab4718edb8087d0ac80b137a102a889",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ykr89LnUFuewNgvRz99UFkOJ",
  "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]: [-0.0242, 0.8406, 0.6453, -0.3283, -0.0158, -0.0238, 0.9971, 0.0006, 0.8391, 0.8547, -0.5926, 0.0418, 0.0139, 0.9964]\nstate[eef_state]: left_x=0.3098 left_y=-0.0011 left_z=0.1968 left_yaw=-0.0115 left_pitch=0.0423 left_roll=-0.0022 left_gripper=0.9971 right_x=0.2944 right_y=-0.0036 right_z=0.2379 right_yaw=-0.0501 right_pitch=-0.0102 right_roll=0.004 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.3453, 8.9778, 1.6337, -0.0464, -0.0024, 0.0073, -0.212, -1.853, 9.853, 1.6386, -0.0904, 0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b431251707cbe670e27898b6d3eae902f2c85e7c8c71ba52dcbd1b169b50d05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad90b073623acef45b4b9e0ce513e2102c38dfefd773e4b3f93ccb43cdbe03d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203c50493ad3d4631a7c40aba7e0b0d19992f6e2e17f6f8b90caa2d50cce29ed",
      "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 · 3.906 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]: [0.1661, 1.5986, 0.2073, 1.0103, 0.0868, 0.0895, 0.0093, 0.5896, 1.6646, 0.3389, 0.9279, 0.5041, 0.3164, 0.9963]\nstate[eef_state]: left_x=0.3558 left_y=0.0478 left_z=0.0543 left_yaw=0.0292 left_pitch=0.1848 left_roll=0.0642 left_gripper=0.0093 right_x=0.3528 right_y=0.1377 right_z=0.0649 right_yaw=-0.0215 right_pitch=0.2159 right_roll=0.1289 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -4.465, 4.1368, 1.536, 0.0855, -0.0513, 0.7643, 0.0205, -5.0803, 3.5897, 1.453, 0.0659, 0.1099, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [0.1551, 1.8107, 0.2699, 1.1156, 0.0814, 0.0784, 0.0091, 0.598, 1.1614, 0.8253, -0.0933, 0.4862, 0.3103, 0.0101]\nstate[eef_state]: left_x=0.3716 left_y=0.0472 left_z=0.024 left_yaw=0.0296 left_pitch=0.1411 left_roll=0.0502 left_gripper=0.0091 right_x=0.3518 right_y=0.1441 right_z=0.236 right_yaw=0.0091 right_pitch=0.186 right_roll=0.1109 right_gripper=0.0101\nstate[joint_eff]: [-0.0889, -6.5436, 2.9607, 1.8437, 0.0464, 0.0122, 0.6716, -0.2256, -4.4103, 7.4598, 1.9658, 0.1734, 0.0073, 0.8327]\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 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]: [-0.0242, 0.8406, 0.6453, -0.3283, -0.0158, -0.0238, 0.9971, 0.0006, 0.8391, 0.8547, -0.5926, 0.0418, 0.0139, 0.9964]\nstate[eef_state]: left_x=0.3098 left_y=-0.0011 left_z=0.1968 left_yaw=-0.0115 left_pitch=0.0423 left_roll=-0.0022 left_gripper=0.9971 right_x=0.2944 right_y=-0.0036 right_z=0.2379 right_yaw=-0.0501 right_pitch=-0.0102 right_roll=0.004 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.3453, 8.9778, 1.6337, -0.0464, -0.0024, 0.0073, -0.212, -1.853, 9.853, 1.6386, -0.0904, 0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b431251707cbe670e27898b6d3eae902f2c85e7c8c71ba52dcbd1b169b50d05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad90b073623acef45b4b9e0ce513e2102c38dfefd773e4b3f93ccb43cdbe03d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203c50493ad3d4631a7c40aba7e0b0d19992f6e2e17f6f8b90caa2d50cce29ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGZh9A9cy7RzELv5aEZ4DNuZkHnKErbc_6AG6MpiU-NUNSTWibjxYet_p0DPejCtlMAxRT6lL_MWXjenqVApkAshRy-1Z--4q5jNrUUv84Iq3pgG2a_q5DsFmShbtAroTr3BeTNMP6kcEWM17uh9ihCxQ7-PAmocV3RXyI8ZrD36FNY7JP8MD_GYBiwP43_AZQf6dTDOV0G86jH3gkFJS-Y3_iy1zBFvRcuFr6QEwYTEQuBLvHPYXN423UgqHXs3LIX4wJCdVrPPFHkskBTIGp-kjf0iHejv9ubiukovJ5Eh3hdKd-ct59LCRBe1A011NK6peAzAKdnllspJft6xfd0b2K79BLFnLSAOE1IljFbs6Fa_If9FFFvXkM-2JIymD9Z_sTwyhVehdphDSNCezptoiI8yj6Wxw8JZh7MbELSlP3bvaNKZpyMSnYzwn7KIhw_bgzB6Zt5BNRHKl29E2vFhcZ64U7okewQO60569G3nwk8A0YqDktpnBjNKb6pil0EOAKUsz-7qpkfLDuUI3CIDglF1bI_VTjIcRBX2VMe5MFZzm7XxK2vZYDrxdNfgDslIjs9F_b75Yitf7JFu_AmbGgTVn1su-ILknOiOVLThC2_w33-ZDWRi2MdP7bAEVsAwbAuo2VKXwwxU21aYyBkuUSexo9uiXvUXIAKI7T0vn44MZlfrqjVtpseKbvx_qJDirdn1xKEJmoYJAdIuCFG6YJPjI48LjAofhV2jthXHrnRGQC9jVOh0OnFmNbwsiinCSNvpSzdr9O_m6FPYSNM8SRBJz6hd_WDY_xozZ4cHDWTfrdofzRt3w4abVT0g6d-03oPpT1YolzkNq1QyNkamOFYvN0UzsLcM9cxwsFwhu1WJROWT4tnxk6-ygxPZmed461ZS53F-4w80biPsEZozuCE7yNzJZpeq-f0YobntyZ2KjBzHpL9s-rG-Ho3TfPy0FGeZvjyIWD9utS1WM2eE9eSBDuuIUkI3oGISO2IvdSQ7r_e2uE726h-CdjEDRd42eatYIhXBb6jWPE86ql9VmupJ-FiseDYlAIknYYpG3XzknxLHLJjMK6RCuEB81ZWrnBgtx2V723e9rF2doirlJjfibxvbMIpcrqJVSMsz_pVRB4bhD1c8AFGo7x9zFKRcJa_qPI8PbQf88Ac6UN6aJyXeoKlJbo3Af08jkaZGhRI9PRsVV7CBc1WLknhxCjjLDGQ96mbRMz3YzuX_ToHfzBBjc-uPE3ZW7lg1JCumikHtyUSF1fHvQDrqdefxiYmGj2_beKKEP9imOlIxgPXMfY-PVNSSu_My_s56mT53kHVVoCuIhQA1Yazt171Tq6CWj-HsqcoDx9dxZF1TkecZXm3PYXCj_sq9QaX6x2LyvVMBE9u_9wRWlamzUNTcAMNE11WadswUxr4YtL5AQDB-ksTWidA2zAwOJiWg-tBsPsBT4k0wLThsI-kuREOwERzCVFVvVMASccyOwh2BmMMmHRMDHguZ8OUkND2Hqxy3kN2mJCY4JevikLh_GxCwx3vcNqp7VPqWFx_SmfaJUaPfGEemV1Dqc7Y8uQhPrxA6dFhYeAnkKwTXX02A9Y4S9T3D5DWSc9A4V4neFDBFOVSI4KPr57ieG0OvfjEHirgqi9RYrqsAW1pzwPm85iNZU8VBeltkdAvAooAajubublwljEOAMKbrfyGZXBtX9gxnn_fb2pR3jnnDUd6sq_ILdWAgagBBSkXN_OQSlAEyelO9QDFvUih5ZaPAljyLSwGpOmNPNiuO-CMZGuVlwoxkeMd2qynEKiGj-l3-V0m6KLMbo38lfb77dGZiHpWMmcS1ctDbKQNm1fDQD69HmZW9UysdVvCsLNUjWcOFGWSWohae5yeoFS52kla4ezpRrLVecZOg5ot4E_djgI1UPwwL-SDWbMnooLXA1meZAEVSWCoEmORzLEcEGPmMUHzoS4gnm55OOXIKBjzQPYLlX_4oWPb0V_cVygBspmCYKUU5c0Q5CPZVhrI4mdQnBiWxkNEbTjsidiRXKDgwQFBua21QpFLtNihycHVG-zb0MURUTm93w6wyWhSJyHevpgzYWa8g3VK5CJxJ8s657HnaVvQ3si_fYvyzGfPwFSP3qaHaVIQh9V9ynOSLfAMDD5-60pdrlU=",
  "id": "rs_01c3dcea89220b28016ab471950f5c87d09c2f298f8cd0c95a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.12,\"right_z\":0.075},\"note\":\"With the hands clear, the two tan plush toys are in the left basket, but the right basket is empty and a pen lies diagonally in front of it. I’ll make one direct pickup of that accessible pen; the gray plush remains outside the left hand’s lateral reach.\"}",
  "call_id": "call_RqXMrFf5r1pIyKrITRYQTiPy",
  "id": "fc_01c3dcea89220b28016ab4719893d087d09bd00efa75b84aa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RqXMrFf5r1pIyKrITRYQTiPy",
  "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]: [-0.0246, 0.8448, 0.6495, -0.3504, -0.0231, -0.0349, 0.998, 0.8238, 1.0679, 0.3489, -0.1314, 0.6411, 0.5114, 0.9971]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1929 left_yaw=0.0002 left_pitch=0.0203 left_roll=-0.0076 left_gripper=0.998 right_x=0.249 right_y=0.1187 right_z=0.0681 right_yaw=0.0156 right_pitch=-0.0813 right_roll=-0.055 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.812, 6.9265, 1.9316, 0.0366, 0.0757, 0.0855, 0.1983, -3.4667, 5.6957, 1.4188, 0.5592, 0.1392, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aea27ec51d6dc55fe96d97459926f3d14478215f091857fd467db9c7a36c792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d9a688e28828cf134afb905093c3efc18c298fbec358650b5f1a80ab917a37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed073b00225ce2d81c4ebb12f7cbe4dfabc3179a7bf51931d7523f3139dd622",
      "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 · 2.91 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]: [0.1555, 1.8034, 0.268, 1.1187, 0.0826, 0.0814, 0.9964, 0.5964, 1.1572, 0.828, -0.0742, 0.4973, 0.3149, 0.9963]\nstate[eef_state]: left_x=0.3719 left_y=0.0472 left_z=0.0267 left_yaw=0.0272 left_pitch=0.1493 left_roll=0.0536 left_gripper=0.9964 right_x=0.3536 right_y=0.1425 right_z=0.2431 right_yaw=-0.0073 right_pitch=0.2097 right_roll=0.1263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -5.053, 5.0667, 2.0977, -0.0464, 0.0659, 0.0415, 0.6222, -5.2444, 9.7983, 1.6874, 0.3101, 0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0242, 0.8406, 0.6453, -0.3283, -0.0158, -0.0238, 0.9971, 0.0006, 0.8391, 0.8547, -0.5926, 0.0418, 0.0139, 0.9964]\nstate[eef_state]: left_x=0.3098 left_y=-0.0011 left_z=0.1968 left_yaw=-0.0115 left_pitch=0.0423 left_roll=-0.0022 left_gripper=0.9971 right_x=0.2944 right_y=-0.0036 right_z=0.2379 right_yaw=-0.0501 right_pitch=-0.0102 right_roll=0.004 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.3453, 8.9778, 1.6337, -0.0464, -0.0024, 0.0073, -0.212, -1.853, 9.853, 1.6386, -0.0904, 0.0171, -0.0952]",
      "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]: [-0.0246, 0.8448, 0.6495, -0.3504, -0.0231, -0.0349, 0.998, 0.8238, 1.0679, 0.3489, -0.1314, 0.6411, 0.5114, 0.9971]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1929 left_yaw=0.0002 left_pitch=0.0203 left_roll=-0.0076 left_gripper=0.998 right_x=0.249 right_y=0.1187 right_z=0.0681 right_yaw=0.0156 right_pitch=-0.0813 right_roll=-0.055 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.812, 6.9265, 1.9316, 0.0366, 0.0757, 0.0855, 0.1983, -3.4667, 5.6957, 1.4188, 0.5592, 0.1392, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aea27ec51d6dc55fe96d97459926f3d14478215f091857fd467db9c7a36c792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d9a688e28828cf134afb905093c3efc18c298fbec358650b5f1a80ab917a37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed073b00225ce2d81c4ebb12f7cbe4dfabc3179a7bf51931d7523f3139dd622",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGfBaY2ZWUqzdRbEi4RtGZW1cfduv9T6ICebr5Ti4f_uM6O0tDf9ieWGzIWHUKirxbbHjtc7GQZ3Kpr79VFF82896WrdE6POVKa_JVIg4ZhCU0gdceZCiTGoR9x7YsOGun_C1RwEczJjhYCzYKwGps6kpiAxOAqZ9MZ2Eour6gukAYY63-DMfZYiug-K4goaTAMpu-Vdt-0dECoVc3puuke79TEo87e03SJVlUrATTEAMssq6A6o8gh7dxGKzfUjDKSifLv79dv9cOtVWRJU0nxSfdPoq3ou7Bp9Hx36Z0kcRD-Xn_lsQlK9KQZF4z75kUT9hcG1tRFBSFPWkRMylvRtPYli1n1you310NWCUMaQVYKOqkOCYetOr0NKRbA-YOVtbTlXjVznSjIgDYnCw7sFDGPuS19ZfwdHgWcRfwASiONm7nUUBfBAE6rUtdcP8vhyaf8hpMHEhcnBgXvJx3ZoPNsnvwvePmgwBL8ZaGFlpxM1I-87lh3jRLeAYwt53Y4MueiE6KNH9fbK8-R2jVENlElTksFQaqd5xAOMZ_CnPn1OFR2lxSiIj4yO8vyvF-pWRf7dz4SzhPBDVB1_-EKWjzIE2XQ4xrf0ydhQ11_WpgEqMvZJEoWttbAlvJ9c_7foXtt_-UpEWQUGYVMz5vUidcv_xCOvgZY6ZLecORQRZdjrHhSaysfYea6FTTeoSwwQ2ZViMC7qjWUBaMPH649hPzIc2aoL6kFfpXqPTIYJ0RgSYyFh0HzgGB37QvRMEazdZJ2VYHHrjm20dGBXKVUFpolQ8w_0PwLIZfBRuDpGTwuMDMIU6xex2J1Z-JshU-4HVE7hGjecSBdKLEig95Q7r8IW-QM4dXn-8D3zCDu8GPJVW-sqE6Y0PmgOMYwfove4LFn1LhdVlD9JKeIHReK4IllhOHqolcci8kXClWVknJPAzRgd7OrBnCu8ppIy78Uk2TAmFEkNp85JixhiRBk3tkdFB9JA-NKy79dybTQEo9g3Yf6G1kSGHD_Ft4rwO5tht3gGa7O4jy-OBmnJFvR6QZHSIVTXhCqsIUQgJ_c6p0OBYyl_qAtveeIDV9LEgzAowtvt89w4HmlWxPXMj2hTBWI_b6dNsOlYXacUJSAmIdx4NaQ3dNmgkOL3ROiBhfGK8uZfb4R4-WVYRY5Uh9Jo7GP9doXXvfRFy9ZFj9xtKG2Sn2bMjFT2zvBjlW0SextHZP3nKO31w6lMAe8PtJgJmzLM0IR4G3KxfXBkoGOPzCCzuzqdWhAoVI-IPTIbefLnWX8c3XyPGJk0PqpJb9rAvbNMEsjKjI66h7RF3XsHKBH-7hfvzfhklweQHRWvBS-eCzVkaQXV3PiDOb9bjpqiLkmrMJbQLt2NsXseviZJeRLcbKKZODPEYkPPSvW9DaZpMHFiqVYyZrrNYvkRqQif1pPVYTHy7V3J9FmU7x3PAw3EV4vRib6Kq8nl2lC096N",
  "id": "rs_01c3dcea89220b28016ab4719cbb4087d0b5d315c82ff9cd90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.102,\"right_z\":-0.006},\"note\":\"The pen’s shaft is just to the right of the wrist’s jaw column. I’m shifting slightly right and lowering to grasp it away from the basket rim.\"}",
  "call_id": "call_JtKpZUeRtdlEyJAfJKd3371e",
  "id": "fc_01c3dcea89220b28016ab4719de28087d0bfe4e9f199fb09eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JtKpZUeRtdlEyJAfJKd3371e",
  "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]: [-0.0246, 0.8497, 0.6487, -0.3542, -0.0231, -0.038, 0.9981, 0.6941, 1.4319, 0.1875, 0.4873, 0.5922, 0.4412, 0.9971]\nstate[eef_state]: left_x=0.3076 left_y=0.0001 left_z=0.1903 left_yaw=0.0018 left_pitch=0.0107 left_roll=-0.01 left_gripper=0.9981 right_x=0.2732 right_y=0.1038 right_z=0.012 right_yaw=-0.037 right_pitch=-0.0402 right_roll=-0.0215 right_gripper=0.9971\nstate[joint_eff]: [-0.1983, -1.9487, 7.0906, 1.8779, -0.0464, -0.0171, -0.0122, -0.3624, -1.9761, 1.2239, -0.149, -0.2076, -0.4029, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783e02246439227dbd6e6f5c788333fae0ed16f41ff9d93c16a978f126873734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed9fb52b44f5522ac3e724964b1a2d37f9fdd3c2b90cf2905fa91205aca28aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7495147408da3e885d86e75a52f43c71914e82debc020bc337fb5a2ce0dc5ea6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 5.404 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]: [0.1551, 1.8107, 0.2699, 1.1156, 0.0814, 0.0784, 0.0091, 0.598, 1.1614, 0.8253, -0.0933, 0.4862, 0.3103, 0.0101]\nstate[eef_state]: left_x=0.3716 left_y=0.0472 left_z=0.024 left_yaw=0.0296 left_pitch=0.1411 left_roll=0.0502 left_gripper=0.0091 right_x=0.3518 right_y=0.1441 right_z=0.236 right_yaw=0.0091 right_pitch=0.186 right_roll=0.1109 right_gripper=0.0101\nstate[joint_eff]: [-0.0889, -6.5436, 2.9607, 1.8437, 0.0464, 0.0122, 0.6716, -0.2256, -4.4103, 7.4598, 1.9658, 0.1734, 0.0073, 0.8327]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0246, 0.8448, 0.6495, -0.3504, -0.0231, -0.0349, 0.998, 0.8238, 1.0679, 0.3489, -0.1314, 0.6411, 0.5114, 0.9971]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1929 left_yaw=0.0002 left_pitch=0.0203 left_roll=-0.0076 left_gripper=0.998 right_x=0.249 right_y=0.1187 right_z=0.0681 right_yaw=0.0156 right_pitch=-0.0813 right_roll=-0.055 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.812, 6.9265, 1.9316, 0.0366, 0.0757, 0.0855, 0.1983, -3.4667, 5.6957, 1.4188, 0.5592, 0.1392, 0.0611]",
      "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]: [-0.0246, 0.8497, 0.6487, -0.3542, -0.0231, -0.038, 0.9981, 0.6941, 1.4319, 0.1875, 0.4873, 0.5922, 0.4412, 0.9971]\nstate[eef_state]: left_x=0.3076 left_y=0.0001 left_z=0.1903 left_yaw=0.0018 left_pitch=0.0107 left_roll=-0.01 left_gripper=0.9981 right_x=0.2732 right_y=0.1038 right_z=0.012 right_yaw=-0.037 right_pitch=-0.0402 right_roll=-0.0215 right_gripper=0.9971\nstate[joint_eff]: [-0.1983, -1.9487, 7.0906, 1.8779, -0.0464, -0.0171, -0.0122, -0.3624, -1.9761, 1.2239, -0.149, -0.2076, -0.4029, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783e02246439227dbd6e6f5c788333fae0ed16f41ff9d93c16a978f126873734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed9fb52b44f5522ac3e724964b1a2d37f9fdd3c2b90cf2905fa91205aca28aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7495147408da3e885d86e75a52f43c71914e82debc020bc337fb5a2ce0dc5ea6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_01c3dcea89220b28016ab471a0fcc087d0824478694199cd92",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at table height around the pen’s last visible position. I’m closing once to test the pickup.\"}",
  "call_id": "call_aaxu0O3mRhKgfo9Rsh7Up9AU",
  "id": "fc_01c3dcea89220b28016ab471a17f9487d0b2c4bbea7d6686ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aaxu0O3mRhKgfo9Rsh7Up9AU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8509, 0.6487, -0.3534, -0.0231, -0.0387, 0.998, 0.688, 1.4357, 0.1787, 0.506, 0.5789, 0.4374, 0.1487]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1901 left_yaw=0.0022 left_pitch=0.0104 left_roll=-0.0106 left_gripper=0.998 right_x=0.2727 right_y=0.1037 right_z=0.0105 right_yaw=-0.0308 right_pitch=-0.0417 right_roll=-0.0137 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.7709, 7.0359, 1.7851, -0.0317, -0.0562, -0.0122, 0.3897, -4.0547, 4.9846, 1.3016, 0.3004, -0.022, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd264c8dc0a6a3038ffea4b91683b7d229f864b10f48cb54cf764cfd1efb2923",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e9e0a2522d2d3703bee9471c4f4b176883c07280766b78593aa9034fcff8e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c485e7bf2d2235fd932f69a22fefae75fd3581f8043a7c724b953b5d3559fe5",
      "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 · 5.162 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]: [-0.0242, 0.8406, 0.6453, -0.3283, -0.0158, -0.0238, 0.9971, 0.0006, 0.8391, 0.8547, -0.5926, 0.0418, 0.0139, 0.9964]\nstate[eef_state]: left_x=0.3098 left_y=-0.0011 left_z=0.1968 left_yaw=-0.0115 left_pitch=0.0423 left_roll=-0.0022 left_gripper=0.9971 right_x=0.2944 right_y=-0.0036 right_z=0.2379 right_yaw=-0.0501 right_pitch=-0.0102 right_roll=0.004 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.3453, 8.9778, 1.6337, -0.0464, -0.0024, 0.0073, -0.212, -1.853, 9.853, 1.6386, -0.0904, 0.0171, -0.0952]",
      "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]: [-0.0246, 0.8497, 0.6487, -0.3542, -0.0231, -0.038, 0.9981, 0.6941, 1.4319, 0.1875, 0.4873, 0.5922, 0.4412, 0.9971]\nstate[eef_state]: left_x=0.3076 left_y=0.0001 left_z=0.1903 left_yaw=0.0018 left_pitch=0.0107 left_roll=-0.01 left_gripper=0.9981 right_x=0.2732 right_y=0.1038 right_z=0.012 right_yaw=-0.037 right_pitch=-0.0402 right_roll=-0.0215 right_gripper=0.9971\nstate[joint_eff]: [-0.1983, -1.9487, 7.0906, 1.8779, -0.0464, -0.0171, -0.0122, -0.3624, -1.9761, 1.2239, -0.149, -0.2076, -0.4029, -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 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]: [-0.0246, 0.8509, 0.6487, -0.3534, -0.0231, -0.0387, 0.998, 0.688, 1.4357, 0.1787, 0.506, 0.5789, 0.4374, 0.1487]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1901 left_yaw=0.0022 left_pitch=0.0104 left_roll=-0.0106 left_gripper=0.998 right_x=0.2727 right_y=0.1037 right_z=0.0105 right_yaw=-0.0308 right_pitch=-0.0417 right_roll=-0.0137 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.7709, 7.0359, 1.7851, -0.0317, -0.0562, -0.0122, 0.3897, -4.0547, 4.9846, 1.3016, 0.3004, -0.022, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd264c8dc0a6a3038ffea4b91683b7d229f864b10f48cb54cf764cfd1efb2923",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e9e0a2522d2d3703bee9471c4f4b176883c07280766b78593aa9034fcff8e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c485e7bf2d2235fd932f69a22fefae75fd3581f8043a7c724b953b5d3559fe5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_01c3dcea89220b28016ab471a51dbc87d0838cf17054a36cf0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The gripper has a stable gap of about 1.4 centimeters, consistent with a pen. I’m lifting vertically to confirm it is held before moving over the basket.\"}",
  "call_id": "call_dIel8ap4llXb1evoJJ7bekTP",
  "id": "fc_01c3dcea89220b28016ab471a7165887d094fbde5d47f2e2b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dIel8ap4llXb1evoJJ7bekTP",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0246, 0.8566, 0.6487, -0.3531, -0.0235, -0.0383, 0.9981, 0.6868, 1.0096, 0.4198, -0.1349, 0.5667, 0.4335, 0.1531]\nstate[eef_state]: left_x=0.3083 left_y=0.0001 left_z=0.1886 left_yaw=0.0023 left_pitch=0.005 left_roll=-0.0099 left_gripper=0.9981 right_x=0.2749 right_y=0.1074 right_z=0.104 right_yaw=-0.0201 right_pitch=-0.0272 right_roll=0.0066 right_gripper=0.1531\nstate[joint_eff]: [-0.0068, -1.9897, 7.3641, 1.7363, -0.0464, -0.0513, -0.0073, 0.0205, -3.0154, 9.3333, 1.5311, 0.2369, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6298026021c9e8cec5111a21ec33f7ccbb2a7a345c776aa8a3e0bfdb4ae84c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de52a5c9ed8706dc2731af16a2781b51553befcfb7d081382376d3f841b7c917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b755e9cd7765487d9fe81b545aed3f656e37b8b714333b805c3288adcd7e9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.518 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]: [-0.0246, 0.8448, 0.6495, -0.3504, -0.0231, -0.0349, 0.998, 0.8238, 1.0679, 0.3489, -0.1314, 0.6411, 0.5114, 0.9971]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1929 left_yaw=0.0002 left_pitch=0.0203 left_roll=-0.0076 left_gripper=0.998 right_x=0.249 right_y=0.1187 right_z=0.0681 right_yaw=0.0156 right_pitch=-0.0813 right_roll=-0.055 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.812, 6.9265, 1.9316, 0.0366, 0.0757, 0.0855, 0.1983, -3.4667, 5.6957, 1.4188, 0.5592, 0.1392, 0.0611]",
      "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]: [-0.0246, 0.8509, 0.6487, -0.3534, -0.0231, -0.0387, 0.998, 0.688, 1.4357, 0.1787, 0.506, 0.5789, 0.4374, 0.1487]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1901 left_yaw=0.0022 left_pitch=0.0104 left_roll=-0.0106 left_gripper=0.998 right_x=0.2727 right_y=0.1037 right_z=0.0105 right_yaw=-0.0308 right_pitch=-0.0417 right_roll=-0.0137 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.7709, 7.0359, 1.7851, -0.0317, -0.0562, -0.0122, 0.3897, -4.0547, 4.9846, 1.3016, 0.3004, -0.022, 1.0085]",
      "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]: [-0.0246, 0.8566, 0.6487, -0.3531, -0.0235, -0.0383, 0.9981, 0.6868, 1.0096, 0.4198, -0.1349, 0.5667, 0.4335, 0.1531]\nstate[eef_state]: left_x=0.3083 left_y=0.0001 left_z=0.1886 left_yaw=0.0023 left_pitch=0.005 left_roll=-0.0099 left_gripper=0.9981 right_x=0.2749 right_y=0.1074 right_z=0.104 right_yaw=-0.0201 right_pitch=-0.0272 right_roll=0.0066 right_gripper=0.1531\nstate[joint_eff]: [-0.0068, -1.9897, 7.3641, 1.7363, -0.0464, -0.0513, -0.0073, 0.0205, -3.0154, 9.3333, 1.5311, 0.2369, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6298026021c9e8cec5111a21ec33f7ccbb2a7a345c776aa8a3e0bfdb4ae84c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de52a5c9ed8706dc2731af16a2781b51553befcfb7d081382376d3f841b7c917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b755e9cd7765487d9fe81b545aed3f656e37b8b714333b805c3288adcd7e9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGuT4YP7T_Vq2wroULeRjFrb9NLkS_b7YJmFGSCzpxNZVD9aq5-RV28R_bcZRn8mxGvnJ__JgV9qWeVzNh8KzCc0SB_-F3xvpF0waTNXmDd5oKVKiWpdPUbasCtEt70c_hkcbj2-Qg10WMqqSC6AQhFL5OTRJC-dAEubGY6rE_LVySPdTuFr88Bxw4F0rnxQzo98RhjiFUNAdF64R_OavcZYj3tOXCdcjfQKyhB3yuAoEAQ_YOebYpobaYeDpTxy4GWV4aVJ0TeWDxbsO6Eww0W4AfPRl8tb4eoKYOpf6IUfZLmn5E6E2OfHRU-Iwh9Gvfkfkt_5NxndJ6EgwnSeWUKTLFB2b3AukoRj-ZuK1pvID5tGbwZbrXTbenBK6B3NgOhYx-V6fWlRMP9pdg459EE9bW4CDyHBvt7oqpsT-AbZ3mxyyqpQpjv85AVaxNR17-zrKoWi3MZfgyVN8ORom6BYVqBqYdUtR6K5FIiFAGQpxJjrVZxMB7olslsVEznAyqv38GS9bqPEfxAswTuvAouhlhwhE_lXnd1yjJqoAUkymSKWeRiGrOerLg0Q2_m8OyGY_c4WPVjdkPxiuyWvVuLOhvl0fLoNL6sK2D8U18GXMYA7zcBkPL43AAsbRGDGt8TqcEj9e-QnOiNZfkQP4rnqHrI0lsn_rt6xBm2WZZ_25j5SpiuxJ8PQnIJGnjt0X9Hr8QcvaPepPRrxcZUua2gr_ebdBwV_MwbuWYkc6l-mQCZWvyBODnFivMfqWg9nec62LI0uv8W2d3PgfmCfRvV_yMCKKKwBMO0FRKNxMl83ZS98R1Eo3tHIsfI-djNtIGmlIYYfOKPbfBTrXn9GRHRxLtzfj9Q8LmaQsRobdzTPloaP4pq1ai4ViRXM8QPVaokOvcAtDiDaWVK6p3YT7rffj_Q5hYhS3MKRfAIgnmahmITVqx4LLhP8f6NeXx000NL3NrLwYLt7s1Sy3wmkVMxXEJBG9f5w0BkL9h5sISFnV4pij4fr90STAcEp-LECPJIPSi8vwHhAqINFS8DA04mT5QraTffkQjphQqAp8bCN7yl9cijX3rfFEK9zsyTJuRtJYHn1YTVkF5kqDInVTFYBTBg_p9ShJs1q8fRzOHVJONLsiBKkclp7l7A6O8mCpDhBBq6YFvWPMcvkBD3kZEMWUXffEC1ulIgwY9tuA29G23T_9tId7LtT4GGK96TW18wObwXm285fZ-Hg57tDsWgRDS-sTm5_PVMcKOBUC0wr8cF0vs65YTrpD102sMjG2ZiwUAIly80c6N6X81Ysq6UBZsP2JByiUR-JRwDPBxTfHIWTkX9F7DSorARt1gpdIetJy_x7y8q5wQLV_6dltdobIIFJqgh3xbK3_0FpDUlHfpTAo3wTnMGH4r7YQigSSDFsCkrHqBHE0O-raj1d_fWohxttlGXWIyYkkRl6PpEhEyCNxd1dqM166cpKYOt7jlLS78repFAdYMx2kue_lRdK6sT1adPnbeFSoF7OvA4vo6_pkDH2cFXPpJAuYa32eM2o6IpneWgOsrCWkRtLzQ7JoRZjfwxqS7osFOXpXEb2Rp2Qk7xJVbMBEiYl4GcRkJVSPK2yknz53CRJFvyFCmAWNCCbcuuqsVQrXPx7bAZgvwF9qKNgcGc15BWKOnScvbiPBV5RcIpuis8ftFG53suVL0J5v8FWaCzhnz002VimJUeT1GSHvGDISi1MpK5rXNI-LubEDEkKqHc0tqseBm4U_tTaazSzJeyx7zvaiNeEVUlzcZJCNNaC4DDvA8lEA__enlw2BGeVXhVxPISZq4iFA==",
  "id": "rs_01c3dcea89220b28016ab471aacc1c87d09e360c32a8415da5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.175,\"right_z\":0.23,\"right_pitch\":0.1},\"note\":\"The pen lifted with the jaws. The right basket is now closer than before, so I’m moving above its center using its current position rather than the earlier placement coordinates.\"}",
  "call_id": "call_Sgnm2z2paYDUEtv1PH856xGe",
  "id": "fc_01c3dcea89220b28016ab471ad7a3087d0a958be987008ade5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sgnm2z2paYDUEtv1PH856xGe",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.0246, 0.8619, 0.6487, -0.3546, -0.0235, -0.0383, 0.9981, 0.5163, 1.6642, 1.2594, -0.1646, 0.4587, 0.2462, 0.1552]\nstate[eef_state]: left_x=0.3085 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0018 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4595 right_y=0.175 right_z=0.2105 right_yaw=-0.0059 right_pitch=0.0617 right_roll=-0.0106 right_gripper=0.1552\nstate[joint_eff]: [-0.0615, -2.0855, 7.0632, 1.7607, -0.0415, -0.0415, -0.0171, -0.8274, -8.3761, 9.4838, 1.5946, 0.1148, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2722529fe96f2c3da8d0795f86910d46cc84722f77fccb203471193fbc06aa33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ccab59a166d4b419b932627aec8bd318fab89598e44711cb2ad90b45b61770",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1039f9643d74bee76d24f9fc818fb2e487fbe343eca19eae4ebe454725a2a96",
      "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 · 2.73 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]: [-0.0246, 0.8497, 0.6487, -0.3542, -0.0231, -0.038, 0.9981, 0.6941, 1.4319, 0.1875, 0.4873, 0.5922, 0.4412, 0.9971]\nstate[eef_state]: left_x=0.3076 left_y=0.0001 left_z=0.1903 left_yaw=0.0018 left_pitch=0.0107 left_roll=-0.01 left_gripper=0.9981 right_x=0.2732 right_y=0.1038 right_z=0.012 right_yaw=-0.037 right_pitch=-0.0402 right_roll=-0.0215 right_gripper=0.9971\nstate[joint_eff]: [-0.1983, -1.9487, 7.0906, 1.8779, -0.0464, -0.0171, -0.0122, -0.3624, -1.9761, 1.2239, -0.149, -0.2076, -0.4029, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0246, 0.8566, 0.6487, -0.3531, -0.0235, -0.0383, 0.9981, 0.6868, 1.0096, 0.4198, -0.1349, 0.5667, 0.4335, 0.1531]\nstate[eef_state]: left_x=0.3083 left_y=0.0001 left_z=0.1886 left_yaw=0.0023 left_pitch=0.005 left_roll=-0.0099 left_gripper=0.9981 right_x=0.2749 right_y=0.1074 right_z=0.104 right_yaw=-0.0201 right_pitch=-0.0272 right_roll=0.0066 right_gripper=0.1531\nstate[joint_eff]: [-0.0068, -1.9897, 7.3641, 1.7363, -0.0464, -0.0513, -0.0073, 0.0205, -3.0154, 9.3333, 1.5311, 0.2369, 0.0073, 1.033]\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 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]: [-0.0246, 0.8619, 0.6487, -0.3546, -0.0235, -0.0383, 0.9981, 0.5163, 1.6642, 1.2594, -0.1646, 0.4587, 0.2462, 0.1552]\nstate[eef_state]: left_x=0.3085 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0018 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4595 right_y=0.175 right_z=0.2105 right_yaw=-0.0059 right_pitch=0.0617 right_roll=-0.0106 right_gripper=0.1552\nstate[joint_eff]: [-0.0615, -2.0855, 7.0632, 1.7607, -0.0415, -0.0415, -0.0171, -0.8274, -8.3761, 9.4838, 1.5946, 0.1148, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2722529fe96f2c3da8d0795f86910d46cc84722f77fccb203471193fbc06aa33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ccab59a166d4b419b932627aec8bd318fab89598e44711cb2ad90b45b61770",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1039f9643d74bee76d24f9fc818fb2e487fbe343eca19eae4ebe454725a2a96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGzgFmaHD6sQoxzcK_-PnveNHlic_INc2isbZ3XV8f0e7_AV9l078AEh5I9Nfb6Jz9DdZMTAwyfMRQORKmwUSIFfQ6578CRrm59pTwWrOKAUUzl7llrhdnXpuoSRalTUyIgS9PhhwMShWsiAUA70LipoRPT0yrP8ochBkpzFEgRxR3MrmLhyDPMTf1m68YVBA1Bgk0KyN8flVLmOcUzT28SGURJ3MH98GsPpAU5Dmuh6KJzTrrklf_1G1wVDiPpeelvhWEyiOiWO5gVJne4OCK54UF0dbwgCH1PBk8n2v7AjW3mbs-n8YbtWHfsk6JKBtJyVbD0qFoyVj5oawejjFx64hcYWkCjJPJdXKB_UCUtZXs8O5eEHAy7Uw6HPYc51ZntjGfQGEz0jqFL-8lZ1hLtl2tdF6iadD6GYLNPwOp7cdTbzT8ZQV_IEXDw5NJA5M0m4XbaSUebY7Lz9dG-3DfoA26Flh-zGdCSEFTYB2eos9k5MclH2XeMTMZlLEpPGoboOe4Qq1eoa-LIHGOjFwUlKt5szLFvLyN_wYxxUDP_hD2qE7UXp-XAGWg5-_59eV4a_na-ePC8dJMRUoUq1338NQ43S8BKYPbZhUUnx28X2VXBMr9UJ82n07xTU4Tf60op8fYq3Cd82T_AxONzHx7eJMPmWOBFSw41dJdxO2jEE3nWPStPVw9rLS7BjszsL83OEf8-9RTP296Xjr2-zcr9l-QBrEN41ABB75Qn_Ss-oh6f5eGSd__0_aO-Q-bHAQ12yBKkIc8bVxcXLnPkEpd730rW4rRBO7w7ZjMfrV_8n0az83-thPuDD5UknLdHMOBHDy8g_C3_ruM1rQEdd5HfIGCXxGmTbiNIzbrBhxHgrTslBOjMby2ZlWXxjg65lHaD6exb0F_IE479dPGtaGNEo1q87cN20NbW9uI1i8SPbwcS0AUBv3t654hjl6W-rdeGqG2KJV6KpMiqDdUXRAJBqCzx4lcQZ5-3CrIEHElomcB8D-OhS5OfMP7CoxKUeckCU6zaL1sdxSZk1P4sOiKcN1aOYuI3N0cBU54kR_CRl_OB0C8Gr6cOXGEoz6HHF_ThnHtEayi2VMz5jWbSZtfww23O7VD-k-H3uIzpCDHXluQrDmBBAzseYmKNNLuM2BHspRgp051Vs1g8OEs5fvt1loZtIY8yZnaGdWf0LerBNKHGVClZEQTVgDYl9Fjd_Q3-fwTkaoEcTr2VWLquuuwLBLeam5M5ZkDGRRyDvouS6c2twN4vco1rvDSTa9UcTRB5ZhUIc_Xx0khIEdwvSBx8Sv0VzTmw_LCfBTLObGQCh2S84LsYAVkTnXegK2G_TwUVTcRNxnyL-WjDiF_z6Ba7UaaQMY2VqijJBjWQQJWVE6-PsBIdPo1ss37-ZOSPJVMY9UUoEN8nCM1rHc_6HKuaCzZ0l4iDYm02-goAvyjzb2vXVzv7ueRgIJmXLtuJlzVrGAmLumAUKVHnB5JkOklPqCQRJR1Ir6j1uVcareG9eq4=",
  "id": "rs_01c3dcea89220b28016ab471b1af6087d0834b5703345ef647",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The pen is over the right basket’s opening. I’m lowering it close to the basket floor so it can be released without bouncing out.\"}",
  "call_id": "call_ZdDK2gpe4wQnCvpZ0gcK1DNA",
  "id": "fc_01c3dcea89220b28016ab471b2ae5c87d0b6172deacd347379",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZdDK2gpe4wQnCvpZ0gcK1DNA",
  "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]: [-0.0246, 0.8623, 0.6487, -0.3534, -0.0235, -0.0383, 0.9981, 0.5129, 1.7519, 1.0466, 0.0776, 0.4583, 0.2424, 0.1558]\nstate[eef_state]: left_x=0.3087 left_y=0.0001 left_z=0.1868 left_yaw=0.0023 left_pitch=-0.0011 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4531 right_y=0.1696 right_z=0.1245 right_yaw=-0.0059 right_pitch=0.0109 right_roll=-0.0427 right_gripper=0.1558\nstate[joint_eff]: [-0.0615, -1.7709, 7.0632, 1.7558, -0.0659, -0.0366, -0.0122, -0.0615, -8.0205, 6.6803, 1.8681, 0.1197, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c889a3a4491a45717f5ea215695a29b28f41a2a604eac51dbeb55006511b83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f4ca9d60728934ed5b9eeb9151337eace22d014677c0d94d3cd5d6e2e792f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e0274d49d377613b920bfd032fa687064b83312effb55025feb53ea02ac06a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.347 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]: [-0.0246, 0.8509, 0.6487, -0.3534, -0.0231, -0.0387, 0.998, 0.688, 1.4357, 0.1787, 0.506, 0.5789, 0.4374, 0.1487]\nstate[eef_state]: left_x=0.3078 left_y=0.0001 left_z=0.1901 left_yaw=0.0022 left_pitch=0.0104 left_roll=-0.0106 left_gripper=0.998 right_x=0.2727 right_y=0.1037 right_z=0.0105 right_yaw=-0.0308 right_pitch=-0.0417 right_roll=-0.0137 right_gripper=0.1487\nstate[joint_eff]: [-0.0752, -1.7709, 7.0359, 1.7851, -0.0317, -0.0562, -0.0122, 0.3897, -4.0547, 4.9846, 1.3016, 0.3004, -0.022, 1.0085]",
      "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]: [-0.0246, 0.8619, 0.6487, -0.3546, -0.0235, -0.0383, 0.9981, 0.5163, 1.6642, 1.2594, -0.1646, 0.4587, 0.2462, 0.1552]\nstate[eef_state]: left_x=0.3085 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0018 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4595 right_y=0.175 right_z=0.2105 right_yaw=-0.0059 right_pitch=0.0617 right_roll=-0.0106 right_gripper=0.1552\nstate[joint_eff]: [-0.0615, -2.0855, 7.0632, 1.7607, -0.0415, -0.0415, -0.0171, -0.8274, -8.3761, 9.4838, 1.5946, 0.1148, 0.0269, 1.033]",
      "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]: [-0.0246, 0.8623, 0.6487, -0.3534, -0.0235, -0.0383, 0.9981, 0.5129, 1.7519, 1.0466, 0.0776, 0.4583, 0.2424, 0.1558]\nstate[eef_state]: left_x=0.3087 left_y=0.0001 left_z=0.1868 left_yaw=0.0023 left_pitch=-0.0011 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4531 right_y=0.1696 right_z=0.1245 right_yaw=-0.0059 right_pitch=0.0109 right_roll=-0.0427 right_gripper=0.1558\nstate[joint_eff]: [-0.0615, -1.7709, 7.0632, 1.7558, -0.0659, -0.0366, -0.0122, -0.0615, -8.0205, 6.6803, 1.8681, 0.1197, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c889a3a4491a45717f5ea215695a29b28f41a2a604eac51dbeb55006511b83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f4ca9d60728934ed5b9eeb9151337eace22d014677c0d94d3cd5d6e2e792f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e0274d49d377613b920bfd032fa687064b83312effb55025feb53ea02ac06a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHG2SuM1gpPan71pEzwO6YobqywUujRvXx_q3NKeeZrLAm5tuZwvoopDbQAHrJGhCo7_yVFOWlS07hEgOLrvdINfmZetcjc-_R8tx4wszH1mztLQH-Rf5SVYHLYmOiW2xnJ0wmiWs6GKvQeMXKrtxhoaRTDL2OIZzX1knq6arxGC1gj-n5XMWXG8BHjyonWgajTZcWBu2zKYBdedbbjhlkzo1pzQRLjrpf5YgJJBwZGMpOadYWBSKwqUnx0pAkhYGo4Np7toptf5lrQufPHdpL-gxs3wyvRmdOWSuv6halLE_rbmIwX0GlVxpv3650A3Yex8jmohdznheYCUuvB3VC6hx0j2Zv9ikD3nZq7sQ1g74zm8JCHNDhwWRN1qX3u9e0YwuFM7dwt0yBg92JvBkfcbCUh2N8fmqiu4vNgNxmJPiq8PWErg-f8HHF-Xl14HdHumohGnQ0_EZleP1pb90NGq1GRUFqDA-hEEu3jM7R-taCmeyb4sMZTbneX8BOwv5ZklY8VHyCW4dJu4es6dND_681nHYJDU4x5AfDy3oVg6bIaTNjMT7MjG4PFa430vkBB_TLjFArF6VDk-PtTUFDBoqNVVKxTeyexqDamZOwNP0-UNse0CzIlmi21T1nZJ82_J0HCZ2T0CEeE4Rj5NJOpg5PCFTitofpRCZ10ZNHstubP8eirTshlzb3OX2LYZU-C9DJsssdAufCChspOXEvS1Fia86Dqmtx58B5wLgitNc59NtBOKnLfHpWpIBcpUUNzFTW7H4_5SgQpOh2lfgZ3boku_dafwor9DPGhKcNDat3uVE-JGU8QfTx1ocIGWumign6C4uBBuNMCvG2ICeWGMDIdEn2kcbKqVtWvRJhHTPnrqs9g_QvigT4-5d8K266BHVnxdNKKlCyL_waFCoSlYvuaFF_TpY3tloy8tEPPJkNNX7nQtVTAg7weZaM4DslKoNth5s-sfo6kIgdPdbGEDEFsyGk22G8H_GwAM4myOO1N18YWuy3GMqq2DDTHeItjnTJaJwv-QWKB5SRHYXp-EQgisS_1mZqpqn25xH-yQkA19ZhISdzS6q_1LdMxMsf2sifAiRO2f_mGZfUaoSnqh_OK2kdt6egn1ocZu-bt6n68XfL6yUwqYigdlGcfYr1zSIiTl5lOYUxOTtL38frm3mXUCqHxDcDqvrsfBQ1FFgZYyNWbf_dZxXtOzxycVWLAJzzdUTC77CPCTCtI8UKLTSSLBROjnM5m-ldKjsjJXD-hejj5ArTkQgJFZAGc1zXloqZ37fsGc_hwzdjg7HMPdT3PETIhgwaLumzKZadFFcWgZNtSjW3fdx7IQJz5CxJEt_1CzenCNALVGVq4uKIoBow==",
  "id": "rs_01c3dcea89220b28016ab471b5b92087d0a57f832b1758bb85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen is lowered inside the basket. I’m releasing it before lifting the fingers straight clear of the rim.\"}",
  "call_id": "call_G7ipBKROtVeED5zlSuSXVSCM",
  "id": "fc_01c3dcea89220b28016ab471b6225487d0bc28e1f0fc49c5f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G7ipBKROtVeED5zlSuSXVSCM",
  "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]: [-0.0246, 0.8623, 0.6487, -0.3538, -0.0235, -0.0387, 0.9981, 0.5129, 1.7657, 1.0386, 0.0799, 0.4583, 0.2394, 0.9954]\nstate[eef_state]: left_x=0.3086 left_y=0.0001 left_z=0.1867 left_yaw=0.0025 left_pitch=-0.0015 left_roll=-0.0101 left_gripper=0.9981 right_x=0.4517 right_y=0.1688 right_z=0.1154 right_yaw=-0.0043 right_pitch=-0.0061 right_roll=-0.055 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.7802, -0.0415, -0.0366, -0.0122, -0.3487, -10.0171, 7.1863, 1.619, 0.0611, -0.0464, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9baffe6eb93562c724fed4e3e122b5ad38dec9595736a6021d72c3ada434980",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a3103bf6e7a9f0ef8c95e2a49ecce2e6f4af614fc6fe8413edb6e4df3806799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be134b0c3d96612aca92d1ec79bff044097ae55a6a458dda47af12501d829d63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.637 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

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]: [-0.0246, 0.8566, 0.6487, -0.3531, -0.0235, -0.0383, 0.9981, 0.6868, 1.0096, 0.4198, -0.1349, 0.5667, 0.4335, 0.1531]\nstate[eef_state]: left_x=0.3083 left_y=0.0001 left_z=0.1886 left_yaw=0.0023 left_pitch=0.005 left_roll=-0.0099 left_gripper=0.9981 right_x=0.2749 right_y=0.1074 right_z=0.104 right_yaw=-0.0201 right_pitch=-0.0272 right_roll=0.0066 right_gripper=0.1531\nstate[joint_eff]: [-0.0068, -1.9897, 7.3641, 1.7363, -0.0464, -0.0513, -0.0073, 0.0205, -3.0154, 9.3333, 1.5311, 0.2369, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "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]: [-0.0246, 0.8623, 0.6487, -0.3534, -0.0235, -0.0383, 0.9981, 0.5129, 1.7519, 1.0466, 0.0776, 0.4583, 0.2424, 0.1558]\nstate[eef_state]: left_x=0.3087 left_y=0.0001 left_z=0.1868 left_yaw=0.0023 left_pitch=-0.0011 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4531 right_y=0.1696 right_z=0.1245 right_yaw=-0.0059 right_pitch=0.0109 right_roll=-0.0427 right_gripper=0.1558\nstate[joint_eff]: [-0.0615, -1.7709, 7.0632, 1.7558, -0.0659, -0.0366, -0.0122, -0.0615, -8.0205, 6.6803, 1.8681, 0.1197, -0.0024, 1.0281]\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 142 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]: [-0.0246, 0.8623, 0.6487, -0.3538, -0.0235, -0.0387, 0.9981, 0.5129, 1.7657, 1.0386, 0.0799, 0.4583, 0.2394, 0.9954]\nstate[eef_state]: left_x=0.3086 left_y=0.0001 left_z=0.1867 left_yaw=0.0025 left_pitch=-0.0015 left_roll=-0.0101 left_gripper=0.9981 right_x=0.4517 right_y=0.1688 right_z=0.1154 right_yaw=-0.0043 right_pitch=-0.0061 right_roll=-0.055 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.7802, -0.0415, -0.0366, -0.0122, -0.3487, -10.0171, 7.1863, 1.619, 0.0611, -0.0464, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9baffe6eb93562c724fed4e3e122b5ad38dec9595736a6021d72c3ada434980",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a3103bf6e7a9f0ef8c95e2a49ecce2e6f4af614fc6fe8413edb6e4df3806799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be134b0c3d96612aca92d1ec79bff044097ae55a6a458dda47af12501d829d63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHG8S89UMnqD7FE_LOo331A5EG8vjGpr9UinIwr7NzK2O9s6z9YbShXLi3tWDxmOgMr5ABH1s2YnVP4fOVYzXoLdiZluaZF9L0JruxeGjKyL_lGTFRqhwiMv9a2fkrUqtoAiMF-DMw8zB0crlyrJ1H0irypQArLqq36FCpEb3rCo35oD3eH0IrtHRFm9mkxxz37g194Q3jb3xaC9fHlo09e47xow-8WBdcbDZXS-27r2glyxexWtYqYGeUqz_0t7K9JQFb0K6xRycWV8_ESmvAfQkqVX_Hc0UN28CgR-QEln5tqGC1iBcPjMBwVJWPjiSq8E_w9_iIutsfKYQos7NcGR-2RoiLz-pHTmu6LsJobiIK0SbDsxTZt7xkotJCRxRcGjOUNsoG6CewsDNwXlCZ7Jnm9ahAJdf838GYBupDKz5epWhZrfKWOdOdm4P8c5xP6XjzdnYh2Jff3jMDli5KDyf5XQY5AkmO7tWIBsUyNQVdLwNXGUB7bLhCxfX6iwW7XqkwI3bxkCd7VKzVl3sfbYyC4fIHLn975m8B3VlPpkVvMIynjRzWfYysD4M3TFgOIQOf3SQhOTTCW4zMIIE07Z6GEjlPEZImKCDny4a50bJKnoZ9gxA3eSbGqtjmKY9-VQ9xIWg490rlFQWyttpSWhaAWarV1-aa1uI6V6Gvhgyf9dU-G5BrhnuUwkiv4t6O66ZlXkVPDbMVrFFCgFmk6c3la-0S2KgM2OxMgOu3ZCtp4B04yRS0kH8ijmlPgC9Gq_UkMwPkga8U0mOlwwcJ4cJWglanyfv7qqpQIxt4XsarMmsquN749gKdPbgQx-aY5G4nhBpvaEUlDY0QOkiDH0rzaflNZ1zIHoa0Ujy7ckJ-Mu-2qmtq6RQk5hKtQFZWErdRwxIGsISInUtU1OYCiNb0E2ehXwGujkry8VEO1uNTH5br7f7jzvyv2LvVQ0LPKa5_Gx5riR7CXKa0z7XGEqSOaN-iG38rGDw4JorWvWBdT-b6SKrG1Op8KnaxHtL2a-xOHiF2gzms9WujmA5BO4Vm5uZNgk9t1LSmd3PLOiROGr2R3mw7t-FAYpjL6Z98TsLQ7-xCcXmpQovmz1A169FJju4NKw20gzdmoBmcvHOYHTIK3WNUWeLjMXQ5xjNPdHebDrai0-Ec3Pbltj5fJgslOjbuqJBnW27GGHBHfJ-bjnJFv-GMAeF1n7g1RTu100o6APdsOcyW29T8RjuSC0ye1PoK6x_yoNFfUFZMcLBVBKvLd_AL8RQHdXZOJMmfasZJQJ9_1ERoodhwDfOKK9xH-sZO03ez55aPfGT00RKuNZppw5TAQRcaI27Y4t6dzwK-4t5fIaPXoCnBLNefmpvsts7hZJ-rlEVmiySIgXfRDfG789ivI4z64mKDw3hg7XTnUUGmxO7jkBmYoK8_AM7k2hkbiVvJ5_hfTZmJsz_rgb-rCMX-uj98BtCQOiAOaRyFmU07k9DmDBEoxQOYbD2HukTJUOe5YOHOaBSGl0uN6w5Z3Jr7pVkLmHDHi9-lVTOEb-p2vC9VhrAqvn1so3uVPfw88t6YPESQQsT3YvlW4adahk56DjRWstZNAYtfGs82HTnmtkvzlMQGLriO6cONM0tIG0mUZ5LHjxe4nJ3ulFzyX0ILdmqpkoLsy12XqJ",
  "id": "rs_01c3dcea89220b28016ab471b9c3fc87d08a6837d7fdc27034",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.29},\"note\":\"The wrist view confirms the dark marker is lying inside the right basket. I’m lifting vertically so the open fingers do not catch or drag the basket rim.\"}",
  "call_id": "call_9p5mtADrr8ab7pvnzYWEmWuK",
  "id": "fc_01c3dcea89220b28016ab471bb127487d0bd5420827655da2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9p5mtADrr8ab7pvnzYWEmWuK",
  "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]: [-0.0246, 0.8642, 0.6487, -0.3515, -0.0235, -0.0383, 0.9981, 0.5129, 1.6886, 1.5875, -0.5571, 0.4511, 0.2382, 0.9963]\nstate[eef_state]: left_x=0.3091 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0011 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4561 right_y=0.1726 right_z=0.2692 right_yaw=0.0021 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4838, 7.0359, 1.7509, -0.0415, -0.0415, -0.0171, -0.1299, -9.5521, 9.3333, 1.5507, 0.1441, -0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6091c23ab541daabc464669c88de8388fd67664ddb48098203a386ed156192",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d618e408efe6a3e5577cc894b7aee018a746a837f7226d4e0c33b8a9e81e8ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a024873240ba35fca86f2bd8b8b38fbc737ddec5a39f07015048737ad295daea",
      "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 39 attempt 0 · /responses · status 200 · 4.821 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

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]: [-0.0246, 0.8619, 0.6487, -0.3546, -0.0235, -0.0383, 0.9981, 0.5163, 1.6642, 1.2594, -0.1646, 0.4587, 0.2462, 0.1552]\nstate[eef_state]: left_x=0.3085 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0018 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4595 right_y=0.175 right_z=0.2105 right_yaw=-0.0059 right_pitch=0.0617 right_roll=-0.0106 right_gripper=0.1552\nstate[joint_eff]: [-0.0615, -2.0855, 7.0632, 1.7607, -0.0415, -0.0415, -0.0171, -0.8274, -8.3761, 9.4838, 1.5946, 0.1148, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 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]: [-0.0246, 0.8623, 0.6487, -0.3538, -0.0235, -0.0387, 0.9981, 0.5129, 1.7657, 1.0386, 0.0799, 0.4583, 0.2394, 0.9954]\nstate[eef_state]: left_x=0.3086 left_y=0.0001 left_z=0.1867 left_yaw=0.0025 left_pitch=-0.0015 left_roll=-0.0101 left_gripper=0.9981 right_x=0.4517 right_y=0.1688 right_z=0.1154 right_yaw=-0.0043 right_pitch=-0.0061 right_roll=-0.055 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.6479, 7.0632, 1.7802, -0.0415, -0.0366, -0.0122, -0.3487, -10.0171, 7.1863, 1.619, 0.0611, -0.0464, -0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 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]: [-0.0246, 0.8642, 0.6487, -0.3515, -0.0235, -0.0383, 0.9981, 0.5129, 1.6886, 1.5875, -0.5571, 0.4511, 0.2382, 0.9963]\nstate[eef_state]: left_x=0.3091 left_y=0.0001 left_z=0.1867 left_yaw=0.0023 left_pitch=-0.0011 left_roll=-0.0098 left_gripper=0.9981 right_x=0.4561 right_y=0.1726 right_z=0.2692 right_yaw=0.0021 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4838, 7.0359, 1.7509, -0.0415, -0.0415, -0.0171, -0.1299, -9.5521, 9.3333, 1.5507, 0.1441, -0.022, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6091c23ab541daabc464669c88de8388fd67664ddb48098203a386ed156192",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d618e408efe6a3e5577cc894b7aee018a746a837f7226d4e0c33b8a9e81e8ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a024873240ba35fca86f2bd8b8b38fbc737ddec5a39f07015048737ad295daea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHHBqp-kHVtXkQB8K6qfu0e0A1AMVPBneqPyFXH7BvrvxZalGOLKdwh5Ewfxax8SajSjp0wFuB5HLEOhTBeC3D5T9NkJaiYHqrdwwLzZo-hMrGNzY7kYHEXKDUCsSWQoE4klkqSzl5vgA-MS5thMX_tarozqRaMeHLcL7QSKLoL44AS9WM4NPUVJjRZFv3ncardGAzLdddhYrPP6Pjowtlfwprcu9Q7pgu_bOjSsW_7fIo45ZUIHPo3vcTTd1ddrnrsTlToRgLN8xKI9auppmLJHUj6YeKiocx73soquVCqoiL49POyPTynR4-xKiXeZYw3idZccbHqJKRwjrac9aVe8Lkx6XsHxnDH_BuydL0irvePrZ3cjf6-yNdhIdHoR3zkVHCqnqgJ2Wa_jOekpx3GY6t1bQCiL3hyw-Xho7RRH-87ShgLKdF9jAJhkSjT3-aM5OEtqaNeCwhuI1s4PjUAiHonDkwPvdHw-zzVx0aHrbgThTOUfPvkjGfkqgwlwqnKcHnhFxTgAjQ_OdzEJWNzwN7WQXLtGv8lT4RMPIIOL-YuCP03AouUDhXBQ8uYYOfu2-z42yQavq6oqRsexstJ3hJLQAPiiXAEr-zvIkVyoysd8ZDh2GPMOoyhMwFA0WGKwImRM1b7i7Ky22hyU-tC-tQluiF_BucKwPrtegLFqme33z2v5FQ720WiMLd-HorPZ4WPo3PsoKbVqHi9k7xtATU6-VxxMiaRfc1kn_hUnkt4Egnd2cuIiNihqOxgPokEm6jCfpW_McreEwwll6LCOF-WRowE5pjSufdcnyc4C_8EulxIdgC47Pa2EqgnfOiX5T-FBXgPwu7k3OiySTklqSToTFknyXsZc-9HYWWxoRizokdcCdDw8vZGQHqOVhb_hC_q-32KUYDY6UpLm1oeu9OSOudsz6uZe1ZrlBgC2WDc04Zy2jHQ60O6wctPl1-mFG_cDKSO_F1TL8FBz88jYOn3puO-MfFz6O36nKGfSNJGlZ0WmDkjLBUnufCLEb_slHG_pGCGS8LrrCP6WftkYod4SwDwixItypwfZpxmURn4IbrkWbcY4JfmxITP4raCS2GDQJwgDVxSEPSht-v1jqy9odoAIoolg-ciLlh07WWF2VLjl4O0IwxmQkgnA9hCesaLKkw7lKVwgYEbyzQ9bmT8KfUT2JqQjq8xUL6ZEZ5RQqkYAVPLyuxrDA0abSVWc2OT-kKA17ZsxwXvLv5kFefospsj2pDjgPXYBuqanUR-ZGlVR6Dyv4qr6fKF1QTeq1ouplccQXBbeVxKXHSXUMEtRSIiTDsw0Nh23Z4w8q6jCGM-TPARWh4SvdS9XTwE59aLHqO8I1y7P_yGBAp2-fryZ8t1FEbco5KkGbDjsMHoMMmnWiZVaIJT975lt6P7YTOVzVayjllHzkK-KcviU4sD8GwFTBp1z5rcSsTkGPJxIL_1se4PO-2xbRX6fSkEH",
  "id": "rs_01c3dcea89220b28016ab471bf472887d0bc8b1f08b4346fd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The marker remains in the right basket and the tan plush toys remain in the left. I’m parking both arms; the yellow pen and the gray plush still need sorting, and the gray plush needs to be moved inward to become reachable.\"}",
  "call_id": "call_RWVKCELx7ZkmIgUENFc2ud5h",
  "id": "fc_01c3dcea89220b28016ab471c02d0887d09ee97d44da04c690",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RWVKCELx7ZkmIgUENFc2ud5h",
  "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]: [-0.025, 0.8188, 0.6498, -0.4335, -0.0231, -0.0387, 0.9981, 0.0082, 0.8349, 0.6991, -0.4263, 0.0509, 0.0097, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=0.0003 left_z=0.1831 left_yaw=0.0018 left_pitch=-0.0366 left_roll=-0.0094 left_gripper=0.9981 right_x=0.3024 right_y=-0.0029 right_z=0.2027 right_yaw=-0.048 right_pitch=0.005 right_roll=-0.0037 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -2.3316, 10.1812, 1.5995, -0.0708, -0.0562, -0.0171, -0.4034, -1.5111, 7.2274, 1.7802, -0.0317, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0e6318c6cbc7e932ae4d662d98adbb3b6513937e4e5ddb36d76b39f0488f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92205e464190ab731b7b4440bb4a2be9e74204a930057f65b864d57f61db8af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d8d41b3755d9f58a577feea8e23589309ecfac1ebbf16fca2c82d594cd8af7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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