adhoc

completed
2026-09-23T23:58:19.048343+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
264.5 s
total steps
451
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see plush animals and long marker pens, with two empty baskets behind them. I’ll sort plush animals into the left basket and pens into the right, starting with the tan animal near the middle.
move_to
right_x0.3200right_y0.2900right_z0.1800right_gripper1.0000left_x0.2950left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0219, -0.0261, 0.9995, -0.0208, 0.7967, 0.6109, -0.384, -0.012, -0.025, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=-0.0004 right_z=0.1816 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.1009, 9.2786, 1.8388, -0.022, 0.0952, -0.0659, -0.5265, -0.9915, 9.7709, 1.8681, -0.1001, 0.1245, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.29,"right_z":0.18,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.19},"note":"I see plush animals and long marker pens, with two empty baskets behind them. I’ll sort plush animals into the left basket and pens into the right, starting with the tan animal near the middle."})
tool
executing move_to over 25 steps (2.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe tan plush animal is beneath the right gripper, with its body near the jaw centre. I’m lowering around its body before closing.
move_to
right_x0.3100right_y0.2750right_z0.0550
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.7986, 0.617, -0.4042, -0.0261, -0.0376, 0.9995, 1.0191, 1.6672, 1.2201, -0.4744, 0.7815, 0.6975, 0.9998] state[eef_state]: left_x=0.2934 left_y=-0.0005 left_z=0.1797 left_yaw=-0.001 left_pitch=-0.0235 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3181 right_y=0.2863 right_z=0.1674 right_yaw=0.02 right_pitch=-0.0317 right_roll=-0.0271 right_gripper=0.9998 state[joint_eff]: [-0.2803, -1.7162, 8.841, 1.707, -0.1538, -0.0269, -0.0122, 0.6085, -7.8291, 9.1419, 1.2088, 0.525, 0.1734, -0.0366] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.275,"right_z":0.055},"note":"The tan plush animal is beneath the right gripper, with its body near the jaw centre. I’m lowering around its body before closing."})
tool
executing move_to over 8 steps (0.8s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe open jaws surround the tan animal’s torso, and the descent has stopped against the soft toy. I’m closing to secure it.
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]: [-0.0296, 0.8005, 0.6167, -0.4057, -0.0257, -0.038, 0.9995, 1.0203, 1.7802, 0.9131, -0.0334, 0.7776, 0.6964, 0.9997] state[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1787 left_yaw=-0.0011 left_pitch=-0.0274 left_roll=-0.0072 left_gripper=0.9995 right_x=0.3123 right_y=0.2787 right_z=0.0688 right_yaw=0.0247 right_pitch=-0.0228 right_roll=-0.0088 right_gripper=0.9997 state[joint_eff]: [-0.1026, -1.4017, 7.0632, 1.7216, -0.0708, -0.0659, -0.0122, 0.1573, -6.106, 4.6427, 1.116, 0.3883, 0.0122, -0.0171] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws surround the tan animal’s torso, and the descent has stopped against the soft toy. I’m closing to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe gripper closed almost completely, so the grasp may have missed the plush body. I’m lifting a short distance to check whether the animal comes with it.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0254, -0.038, 0.9995, 1.0199, 1.7824, 0.9062, 0.0017, 0.7849, 0.6888, 0.0376] state[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0281 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3145 right_y=0.2803 right_z=0.0708 right_yaw=0.0241 right_pitch=-0.0041 right_roll=0.0035 right_gripper=0.0376 state[joint_eff]: [-0.1709, -1.265, 7.1863, 1.7314, -0.0562, -0.0659, -0.0122, -0.2803, -8.3897, 6.2427, 1.0232, 0.232, 0.1148, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The gripper closed almost completely, so the grasp may have missed the plush body. I’m lifting a short distance to check whether the animal comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe tan animal appears to have risen slightly despite the narrow grip. I’m raising it vertically to confirm it is supported before moving toward a basket.
move_to
right_z0.2300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0257, -0.0376, 0.9995, 1.0199, 1.6989, 1.0168, -0.2298, 0.7658, 0.6849, 0.038] state[eef_state]: left_x=0.2932 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0013 left_pitch=-0.0281 left_roll=-0.0069 left_gripper=0.9995 right_x=0.312 right_y=0.2808 right_z=0.11 right_yaw=0.0376 right_pitch=-0.0371 right_roll=-0.0227 right_gripper=0.038 state[joint_eff]: [-0.0752, -1.1145, 7.0085, 1.7314, -0.0562, -0.0513, -0.0122, -0.0205, -11.2752, 9.1419, 1.3993, 0.525, 0.0122, 1.033] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.23},"note":"The tan animal appears to have risen slightly despite the narrow grip. I’m raising it vertically to confirm it is supported before moving toward a basket."})
tool
executing move_to over 8 steps (0.8s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe tan animal is now clearly lifted with the gripper. I’m carrying it toward the inner side of the left basket, keeping it above the rim.
move_to
right_x0.4800right_y0.4000right_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]: [-0.0296, 0.8005, 0.6167, -0.4068, -0.0254, -0.038, 0.9995, 1.0199, 1.6436, 1.3521, -0.6514, 0.7479, 0.6796, 0.0388] state[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0285 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3131 right_y=0.287 right_z=0.201 right_yaw=0.0504 right_pitch=-0.0664 right_roll=-0.0446 right_gripper=0.0388 state[joint_eff]: [-0.1983, -1.2239, 7.0632, 1.7021, -0.0415, -0.0708, -0.0122, -0.1573, -10.5641, 9.6479, 1.199, 0.4518, 0.0269, 1.0281] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.4,"right_z":0.29},"note":"The tan animal is now clearly lifted with the gripper. I’m carrying it toward the inner side of the left basket, keeping it above the rim."})
tool
executing move_to over 13 steps (1.3s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe animal is over the near-right portion of the left basket, but the arm is reaching its extension limit. I’m tilting forward and lowering gently into the basket before releasing.
move_to
right_x0.4800right_y0.4000right_z0.1450right_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]: [-0.0292, 0.8043, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8608, 2.5538, 2.8197, -1.2018, 0.6235, 0.5114, 0.0389] state[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1771 left_yaw=-0.0011 left_pitch=-0.0331 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4581 right_y=0.3802 right_z=0.2089 right_yaw=0.0631 right_pitch=-0.1475 right_roll=-0.1072 right_gripper=0.0389 state[joint_eff]: [-0.1436, -1.1419, 7.0632, 1.7167, -0.0464, -0.0806, -0.0122, -0.5812, -17.5932, 8.9368, 1.2625, 0.4811, 0.0073, 1.0281] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.4,"right_z":0.145,"right_pitch":0.35},"note":"The animal is over the near-right portion of the left basket, but the arm is reaching its extension limit. I’m tilting forward and lowering gently into the basket before releasing."})
tool
executing move_to over 17 steps (1.7s)
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 tan plush is resting against the inside of the left basket. I’m opening the gripper to leave it there.
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]: [-0.0296, 0.8108, 0.6159, -0.4072, -0.0254, -0.038, 0.9995, 0.9333, 3.0295, 3.1332, -0.6739, 0.8722, 0.1959, 0.0389] state[eef_state]: left_x=0.2936 left_y=-0.0006 left_z=0.1752 left_yaw=-0.0015 left_pitch=-0.04 left_roll=-0.0071 left_gripper=0.9995 right_x=0.5073 right_y=0.4637 right_z=0.1276 right_yaw=0.1173 right_pitch=0.1985 right_roll=-0.2338 right_gripper=0.0389 state[joint_eff]: [-0.0889, -1.812, 7.0222, 1.6972, -0.0611, -0.0464, -0.0122, -1.3744, -16.294, 7.1726, 1.9805, 0.4615, 0.0122, 0.7106] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_gripper":1},"note":"The tan plush is resting against the inside of the left basket. I’m opening the gripper to leave it there."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe tan toy remains at the left basket as the right hand releases. I’m withdrawing that arm and bringing the left gripper over the gray plush animal.
move_to
right_x0.3000right_y0.0000right_z0.2300right_pitch0.0000left_x0.3300left_y-0.0550left_z0.1050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8688, 3.0352, 3.1332, -0.6506, 0.8284, 0.1295, 0.9938] state[eef_state]: left_x=0.2937 left_y=-0.0006 left_z=0.1753 left_yaw=-0.0015 left_pitch=-0.0396 left_roll=-0.0071 left_gripper=0.9995 right_x=0.537 right_y=0.4389 right_z=0.1244 right_yaw=0.1196 right_pitch=0.1852 right_roll=-0.267 right_gripper=0.9938 state[joint_eff]: [-0.1026, -1.306, 7.0222, 1.6923, -0.0415, -0.0269, -0.0122, -0.4581, -18.4274, 7.2821, 1.2821, 0.0806, 0.1832, -0.2564] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0,"right_z":0.23,"right_pitch":0,"left_x":0.33,"left_y":-0.055,"left_z":0.105},"note":"The tan toy remains at the left basket as the right hand releases. I’m withdrawing that arm and bringing the left gripper over the gray plush animal."})
tool
executing move_to over 37 steps (3.7s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe gray plush sits left of the jaw centre, so I’m shifting sideways and lowering around its body. The right arm is still high after retracting; I’m bringing it back to a clear parked pose.
move_to
left_x0.3300left_y-0.0150left_z0.0300right_x0.2900right_y0.0000right_z0.2200right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3054, 1.121, 0.4614, 0.0086, -0.2443, -0.1967, 0.9995, 0.0921, 1.7947, 2.6465, -1.3697, 0.1539, -0.231, 0.9936] state[eef_state]: left_x=0.3266 left_y=-0.0544 left_z=0.1008 left_yaw=-0.0076 left_pitch=-0.0666 left_roll=-0.0022 left_gripper=0.9995 right_x=0.408 right_y=0.0141 right_z=0.4724 right_yaw=0.0823 right_pitch=0.0357 right_roll=-0.2618 right_gripper=0.9936 state[joint_eff]: [-0.5949, -3.1385, 6.3658, 1.8486, -0.1538, -0.0708, -0.0171, -0.6769, -10.4137, 5.8872, 2.5617, 0.0415, 0.0513, -0.0366] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.015,"left_z":0.03,"right_x":0.29,"right_y":0,"right_z":0.22,"right_roll":0},"note":"The gray plush sits left of the jaw centre, so I’m shifting sideways and lowering around its body. The right arm is still high after retracting; I’m bringing it back to a clear parked pose."})
tool
executing move_to over 17 steps (1.7s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe gray animal’s body is still left of the closing line. I’m moving a little farther left so both fingers can surround the plush rather than pinch its edge.
move_to
left_y0.0200left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1081, 1.3605, 0.2909, 0.5472, -0.1078, -0.062, 0.9995, -0.1001, 0.7948, 0.7532, -0.5411, -0.1268, -0.1291, 0.9936] state[eef_state]: left_x=0.3487 left_y=-0.0151 left_z=0.0617 left_yaw=0.0025 left_pitch=0.0427 left_roll=0.0109 left_gripper=0.9995 right_x=0.2885 right_y=-0.0029 right_z=0.2154 right_yaw=0.0734 right_pitch=-0.0081 right_roll=-0.024 right_gripper=0.9936 state[joint_eff]: [0.4034, -1.9761, 2.8239, 1.0037, 0.149, -0.1734, -0.0122, -0.5128, -1.1556, 7.9932, 2.1465, -0.2613, 0.1294, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.02,"left_z":0.025},"note":"The gray animal’s body is still left of the closing line. I’m moving a little farther left so both fingers can surround the plush rather than pinch its edge."})
tool
executing move_to over 4 steps (0.4s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe left fingers are now positioned around the gray plush. I’m closing gently through the soft body to establish a 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]: [0.0479, 1.5509, 0.2665, 0.878, -0.0063, 0.0265, 0.9995, -0.1043, 0.7975, 0.7265, -0.5392, -0.1394, -0.1329, 0.9936] state[eef_state]: left_x=0.3677 left_y=0.0223 left_z=0.0605 left_yaw=0.0252 left_pitch=0.1548 left_roll=0.0397 left_gripper=0.9995 right_x=0.2865 right_y=-0.0017 right_z=0.2032 right_yaw=0.0819 right_pitch=-0.0339 right_roll=-0.0153 right_gripper=0.9936 state[joint_eff]: [0.3487, -2.8786, 1.8393, 0.442, 0.149, -0.3883, -0.0122, 0.1299, -1.2239, 9.0325, 1.7118, 0.0464, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingers are now positioned around the gray plush. I’m closing gently through the soft body to establish a grasp."})
tool
executing move_to over 10 steps (1.0s)
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 jaws closed very narrowly, so I need to verify whether they caught the gray plush. I’m lifting straight up before attempting transport.
move_to
left_z0.1600left_x0.3500
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]: [0.0669, 1.5787, 0.2481, 0.934, 0.0311, 0.0303, 0.01, -0.1051, 0.7982, 0.7261, -0.5404, -0.1364, -0.1341, 0.9936] state[eef_state]: left_x=0.3657 left_y=0.0226 left_z=0.0572 left_yaw=0.0101 left_pitch=0.1652 left_roll=0.0289 left_gripper=0.01 right_x=0.2864 right_y=-0.0025 right_z=0.2025 right_yaw=0.0792 right_pitch=-0.0365 right_roll=-0.0175 right_gripper=0.9936 state[joint_eff]: [0.253, -2.7692, 2.8923, 1.3309, 0.1294, -0.0708, 0.735, -0.1162, -1.2103, 7.0632, 1.7314, -0.1197, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_z":0.16,"left_x":0.35},"note":"The jaws closed very narrowly, so I need to verify whether they caught the gray plush. I’m lifting straight up before attempting transport."})
tool
executing move_to over 7 steps (0.7s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe gray plush has risen with the left hand, confirming a fabric grip. I’m carrying it above the left basket with the tan animal.
move_to
left_x0.4800left_y-0.1500left_z0.2500left_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]: [0.0673, 1.0657, 0.408, 0.2867, 0.0269, 0.0265, 0.0114, -0.1051, 0.8024, 0.7261, -0.5407, -0.136, -0.1341, 0.9935] state[eef_state]: left_x=0.3522 left_y=0.0226 left_z=0.1515 left_yaw=0.0159 left_pitch=0.1907 left_roll=0.0283 left_gripper=0.0114 right_x=0.2867 right_y=-0.0026 right_z=0.2013 right_yaw=0.0789 right_pitch=-0.041 right_roll=-0.0169 right_gripper=0.9935 state[joint_eff]: [0.4308, -3.7949, 9.4974, 1.9658, 0.0415, 0.0366, 0.3687, -0.2393, -1.1692, 7.1043, 1.6679, -0.1245, -0.0562, -0.0171] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.15,"left_z":0.25,"left_pitch":0.1},"note":"The gray plush has risen with the left hand, confirming a fabric grip. I’m carrying it above the left basket with the tan animal."})
tool
executing move_to over 16 steps (1.6s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe gray toy is still visible near the left edge rather than in the basket, so that narrow grip did not hold. I’m returning with open jaws for one better-centred attempt.
move_to
left_x0.3500left_y0.0350left_z0.1400left_gripper1.0000left_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]: [-0.4522, 1.652, 1.317, -0.2043, -0.4347, -0.2344, 0.0122, -0.1051, 0.8078, 0.7254, -0.5415, -0.136, -0.1345, 0.9936] state[eef_state]: left_x=0.4751 left_y=-0.1441 left_z=0.2332 left_yaw=0.0234 left_pitch=0.0772 left_roll=0.0225 left_gripper=0.0122 right_x=0.287 right_y=-0.0026 right_z=0.1994 right_yaw=0.0792 right_pitch=-0.0478 right_roll=-0.0159 right_gripper=0.9936 state[joint_eff]: [-0.4718, -8.6496, 9.5111, 1.6435, -0.1783, 0.1343, 0.4078, -0.212, -1.5932, 6.9538, 1.6532, -0.1245, -0.022, -0.0073] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.035,"left_z":0.14,"left_gripper":1,"left_pitch":0},"note":"The gray toy is still visible near the left edge rather than in the basket, so that narrow grip did not hold. I’m returning with open jaws for one better-centred attempt."})
tool
executing move_to over 16 steps (1.6s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe gray toy’s upper body is visible between the open fingers. I’m advancing slightly and lowering so the jaws can catch a thicker section instead of loose fabric.
move_to
left_x0.3900left_y0.0450left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0994, 1.137, 0.5751, -0.0292, 0.0048, 0.0132, 0.9972, -0.1051, 0.8097, 0.725, -0.5407, -0.136, -0.1345, 0.9936] state[eef_state]: left_x=0.3513 left_y=0.0378 left_z=0.1345 left_yaw=0.0747 left_pitch=-0.0294 left_roll=0.0183 left_gripper=0.9972 right_x=0.2873 right_y=-0.0026 right_z=0.1989 right_yaw=0.0792 right_pitch=-0.0493 right_roll=-0.0157 right_gripper=0.9936 state[joint_eff]: [0.1299, -4.8068, 6.8308, 1.8926, 0.1832, 0.1636, 0.0611, -0.1026, -1.2239, 6.9128, 1.6923, -0.1099, -0.0659, -0.0171] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":0.045,"left_z":0.03},"note":"The gray toy’s upper body is visible between the open fingers. I’m advancing slightly and lowering so the jaws can catch a thicker section instead of loose fabric."})
tool
executing move_to over 7 steps (0.7s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe broad gray body lies too far toward the outer edge, but its head is farther forward and within reach. I’m repositioning the open jaws around the head rather than pressing on the body.
move_to
left_x0.4400left_y0.0050left_z0.0350
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1074, 1.607, 0.477, 0.5827, -0.0025, 0.0315, 0.998, -0.1051, 0.815, 0.725, -0.5411, -0.136, -0.1345, 0.9936] state[eef_state]: left_x=0.3965 left_y=0.0468 left_z=0.0517 left_yaw=0.0791 left_pitch=0.014 left_roll=0.0388 left_gripper=0.998 right_x=0.2877 right_y=-0.0027 right_z=0.1974 right_yaw=0.0793 right_pitch=-0.0549 right_roll=-0.0146 right_gripper=0.9936 state[joint_eff]: [0.3624, -4.4103, 4.0684, 0.5934, 0.1441, -0.1392, 0.0611, -0.2256, -1.4154, 7.1043, 1.6923, -0.0855, -0.0317, -0.0171] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":0.005,"left_z":0.035},"note":"The broad gray body lies too far toward the outer edge, but its head is farther forward and within reach. I’m repositioning the open jaws around the head rather than pressing on the body."})
tool
executing move_to over 4 steps (0.4s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe gray animal’s head and neck are now between the fingers. I’m closing here for the second grasp attempt.
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]: [-0.0406, 1.7805, 0.6086, 0.6769, -0.1261, -0.0208, 0.9981, -0.1051, 0.8165, 0.725, -0.5411, -0.136, -0.1345, 0.9936] state[eef_state]: left_x=0.4422 left_y=0.0078 left_z=0.0514 left_yaw=0.0637 left_pitch=0.0701 left_roll=0.0529 left_gripper=0.9981 right_x=0.2878 right_y=-0.0027 right_z=0.197 right_yaw=0.0793 right_pitch=-0.0564 right_roll=-0.0143 right_gripper=0.9936 state[joint_eff]: [-0.1436, -6.3521, 5.5043, 1.37, 0.1636, -0.188, -0.0073, -0.1983, -1.1966, 6.9402, 1.6532, -0.0904, -0.0171, -0.0171] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gray animal’s head and neck are now between the fingers. I’m closing here for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe gray toy slipped farther toward the outer edge, and the second close is empty; I’ll leave it rather than keep pushing it. I’m approaching the small brown plush with the left hand and the blue pen with the right.
move_to
left_x0.3000left_y-0.1700left_z0.1500left_gripper1.0000right_x0.2950right_y0.1900right_z0.1300right_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]: [-0.0406, 1.7992, 0.6106, 0.6598, -0.131, -0.0261, 0.0096, -0.1051, 0.8185, 0.725, -0.5407, -0.136, -0.1345, 0.9936] state[eef_state]: left_x=0.4394 left_y=0.0088 left_z=0.0406 left_yaw=0.0706 left_pitch=0.0368 left_roll=0.0543 left_gripper=0.0096 right_x=0.288 right_y=-0.0027 right_z=0.1965 right_yaw=0.0793 right_pitch=-0.0579 right_roll=-0.014 right_gripper=0.9936 state[joint_eff]: [-0.1162, -9.1556, 4.7248, 1.9756, 0.0171, 0.0171, 0.7692, -0.0479, -1.4291, 6.9128, 1.7167, -0.0855, -0.0659, -0.0171] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.17,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0.19,"right_z":0.13,"right_gripper":1},"note":"The gray toy slipped farther toward the outer edge, and the second close is empty; I’ll leave it rather than keep pushing it. I’m approaching the small brown plush with the left hand and the blue pen with the right."})
tool
executing move_to over 17 steps (1.7s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteThe brown plush is centred beneath the left jaws, while the blue pen is slightly left of the right jaw centre. I’m lowering both hands, with a small sideways correction for the pen.
move_to
left_z0.0150left_x0.3000left_y-0.1700right_x0.2850right_y0.2100right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.897, 1.3128, 0.7197, -0.2035, -0.7761, -0.5797, 0.9974, 0.841, 1.2892, 0.6914, -0.2581, 0.569, 0.4561, 0.9986] state[eef_state]: left_x=0.3032 left_y=-0.1757 left_z=0.1399 left_yaw=0.0189 left_pitch=0.0254 left_roll=0.047 left_gripper=0.9974 right_x=0.2859 right_y=0.1823 right_z=0.1122 right_yaw=0.1191 right_pitch=-0.1216 right_roll=-0.063 right_gripper=0.9986 state[joint_eff]: [0.0205, -5.1761, 8.6359, 1.2283, -0.4518, 0.0122, -0.0317, 0.2393, -5.0256, 8.9778, 1.4725, 0.4908, 0.1734, -0.1538] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015,"left_x":0.3,"left_y":-0.17,"right_x":0.285,"right_y":0.21,"right_z":-0.005},"note":"The brown plush is centred beneath the left jaws, while the blue pen is slightly left of the right jaw centre. I’m lowering both hands, with a small sideways correction for the pen."})
tool
executing move_to over 9 steps (0.9s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteThe left jaws surround the brown plush, so I’m closing them. The blue pen is just to the right of the right-hand closing line; I’m centring that hand at table height.
move_to
left_gripper0.0000right_y0.1900right_z-0.0100
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]: [-0.8932, 1.6886, 0.4343, 0.3809, -0.7681, -0.5831, 0.998, 0.9077, 1.6985, 0.5434, 0.3058, 0.6289, 0.5243, 0.9985] state[eef_state]: left_x=0.2933 left_y=-0.1631 left_z=0.0091 left_yaw=0.0192 left_pitch=-0.026 left_roll=0.1012 left_gripper=0.998 right_x=0.2934 right_y=0.2126 right_z=0.0142 right_yaw=0.1066 right_pitch=-0.0836 right_roll=-0.0376 right_gripper=0.9985 state[joint_eff]: [-0.0068, -6.5026, 3.8222, 1.5995, -0.4713, 0.0562, 0.0562, 0.5812, -3.8222, 3.4256, 0.2808, -0.1343, -0.149, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_y":0.19,"right_z":-0.01},"note":"The left jaws surround the brown plush, so I’m closing them. The blue pen is just to the right of the right-hand closing line; I’m centring that hand at table height."})
tool
executing move_to over 10 steps (1.0s)
step 260
top_cam
camera top_cam step 260
left_cam
camera left_cam step 260
right_cam
camera right_cam step 260
assistant
agent noteThe left gripper has a substantial opening around the brown plush, indicating a real grasp. I’m lifting it for confirmation while closing the right jaws on the blue pen.
move_to
left_z0.1000right_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]: [-0.8932, 1.7054, 0.4271, 0.3981, -0.7639, -0.5842, 0.2058, 0.8574, 1.734, 0.4606, 0.5503, 0.5941, 0.4938, 0.9985] state[eef_state]: left_x=0.292 left_y=-0.1622 left_z=0.0041 left_yaw=0.0172 left_pitch=-0.0326 left_roll=0.1037 left_gripper=0.2058 right_x=0.304 right_y=0.2056 right_z=0.0128 right_yaw=0.1023 right_pitch=-0.011 right_roll=0.0438 right_gripper=0.9985 state[joint_eff]: [-0.0205, -7.2684, 4.5744, 1.1111, -0.398, -0.0269, 0.8913, -0.8, -3.9453, 2.6735, 0.7595, 0.1197, -0.232, -0.0171] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1,"right_gripper":0},"note":"The left gripper has a substantial opening around the brown plush, indicating a real grasp. I’m lifting it for confirmation while closing the right jaws on the blue pen."})
tool
executing move_to over 10 steps (1.0s)
step 270
top_cam
camera top_cam step 270
left_cam
camera left_cam step 270
right_cam
camera right_cam step 270
assistant
agent noteThe brown plush has lifted, and the blue pen is secured between the right fingers. I’m raising both to carrying height before moving them to their separate baskets.
move_to
left_z0.2300right_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]: [-0.8932, 1.3685, 0.5858, -0.0963, -0.7589, -0.5842, 0.2083, 0.8558, 1.7386, 0.4568, 0.5598, 0.5911, 0.4904, 0.1526] state[eef_state]: left_x=0.2915 left_y=-0.1626 left_z=0.0878 left_yaw=0.0139 left_pitch=-0.035 left_roll=0.1004 left_gripper=0.2083 right_x=0.3038 right_y=0.2053 right_z=0.0115 right_yaw=0.105 right_pitch=-0.0115 right_roll=0.0431 right_gripper=0.1526 state[joint_eff]: [-0.1299, -6.0103, 8.3487, 1.1844, -0.3687, -0.0122, 0.2466, -0.2256, -6.6393, 4.506, 1.3895, 0.2222, -0.0171, 0.9939] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23,"right_z":0.2},"note":"The brown plush has lifted, and the blue pen is secured between the right fingers. I’m raising both to carrying height before moving them to their separate baskets."})
tool
executing move_to over 13 steps (1.3s)
step 283
top_cam
camera top_cam step 283
left_cam
camera left_cam step 283
right_cam
camera right_cam step 283
assistant
agent noteBoth objects are visibly supported. I’m moving the brown plush over the left basket and the blue pen over the right basket.
move_to
left_x0.5000left_y-0.1500left_z0.2400right_x0.4800right_y0.1300right_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]: [-0.8932, 1.243, 1.0328, -0.6792, -0.7555, -0.5922, 0.2114, 0.8558, 1.2861, 0.8913, -0.3344, 0.5823, 0.4866, 0.159] state[eef_state]: left_x=0.2929 left_y=-0.1651 left_z=0.2153 left_yaw=0.0162 left_pitch=-0.0429 left_roll=0.1003 left_gripper=0.2114 right_x=0.305 right_y=0.2086 right_z=0.1817 right_yaw=0.1136 right_pitch=-0.0207 right_roll=0.0393 right_gripper=0.159 state[joint_eff]: [-0.0342, -5.3402, 8.6632, 1.16, -0.3101, 0.0269, 0.3199, -0.3077, -6.5846, 9.4017, 1.3944, 0.2515, 0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.15,"left_z":0.24,"right_x":0.48,"right_y":0.13,"right_z":0.22},"note":"Both objects are visibly supported. I’m moving the brown plush over the left basket and the blue pen over the right basket."})
tool
executing move_to over 16 steps (1.6s)
step 299
top_cam
camera top_cam step 299
assistant
agent noteThe plush and pen are above the correct basket openings. I’m lowering them close to the basket floors to limit the drop.
move_to
left_z0.1500right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4454, 1.805, 1.5848, -0.506, -0.4438, -0.2436, 0.2133, 0.3229, 1.6459, 1.2972, -0.2947, 0.1654, 0.1398, 0.159] state[eef_state]: left_x=0.4902 left_y=-0.146 left_z=0.2215 left_yaw=0.043 left_pitch=-0.0856 left_roll=0.1061 left_gripper=0.2133 right_x=0.4691 right_y=0.1301 right_z=0.2015 right_yaw=0.1053 right_pitch=-0.0636 right_roll=0.0281 right_gripper=0.159 state[joint_eff]: [0.335, -10.2222, 9.2103, 1.6777, -0.1392, 0.2027, 0.1783, -0.5265, -8.1299, 9.7436, 1.7363, 0.0024, 0.0269, 1.0281] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"right_z":0.12},"note":"The plush and pen are above the correct basket openings. I’m lowering them close to the basket floors to limit the drop."})
tool
executing move_to over 6 steps (0.6s)
step 305
assistant
agent noteThe brown plush and blue pen are lowered into their respective baskets. I’m releasing both objects.
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]: [-0.4435, 1.8275, 1.3518, -0.3012, -0.4404, -0.2432, 0.2148, 0.3176, 1.7191, 1.0664, -0.0513, 0.1486, 0.1307, 0.159] state[eef_state]: left_x=0.4821 left_y=-0.1417 left_z=0.1475 left_yaw=0.0446 left_pitch=-0.1316 left_roll=0.1283 left_gripper=0.2148 right_x=0.46 right_y=0.1274 right_z=0.1137 right_yaw=0.1178 right_pitch=-0.125 right_roll=0.0185 right_gripper=0.159 state[joint_eff]: [-0.4581, -8.9231, 6.9265, 1.7411, -0.232, -0.0464, 0.1587, 0.4171, -7.9521, 6.7214, 1.9023, 0.1929, 0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). 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":1,"right_gripper":1},"note":"The brown plush and blue pen are lowered into their respective baskets. I’m releasing both objects."})
tool
executing move_to over 9 steps (0.9s)
step 314
assistant
agent noteThe blue pen is inside the right basket; the plush animals are at the left basket, with some fabric hanging over its near rim. I’m moving to the remaining yellow and black-capped pens before tidying the plush placement.
move_to
left_x0.3200left_y-0.1150left_z0.1400left_pitch0.0000right_x0.2800right_y0.1450right_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]: [-0.4435, 1.8385, 1.3422, -0.3012, -0.4404, -0.2466, 0.9953, 0.3168, 1.7287, 1.0515, -0.0521, 0.1455, 0.1261, 0.9951] state[eef_state]: left_x=0.4805 left_y=-0.1409 left_z=0.1383 left_yaw=0.0478 left_pitch=-0.1495 left_roll=0.1354 left_gripper=0.9953 right_x=0.4561 right_y=0.1263 right_z=0.103 right_yaw=0.1214 right_pitch=-0.1501 right_roll=0.012 right_gripper=0.9951 state[joint_eff]: [-0.335, -10.7009, 7.6103, 1.5018, -0.2564, -0.0073, -0.2027, -0.0068, -9.4291, 7.6513, 1.619, 0.0317, 0.0073, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.115,"left_z":0.14,"left_pitch":0,"right_x":0.28,"right_y":0.145,"right_z":0.13},"note":"The blue pen is inside the right basket; the plush animals are at the left basket, with some fabric hanging over its near rim. I’m moving to the remaining yellow and black-capped pens before tidying the plush placement."})
tool
executing move_to over 14 steps (1.4s)
step 328
assistant
agent noteThe yellow pen is centred under the left hand; the black-capped pen is slightly right of the other hand’s centre. I’m lowering to table level and correcting the right-hand alignment.
move_to
left_z-0.0050left_roll0.0000right_x0.2800right_y0.1300right_z-0.0050right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6769, 1.2427, 0.6693, -0.1711, -0.6357, -0.3531, 0.9966, 0.6773, 1.1275, 0.6662, -0.3096, 0.3744, 0.3527, 0.9963] state[eef_state]: left_x=0.3248 left_y=-0.1218 left_z=0.1358 left_yaw=0.0183 left_pitch=-0.0213 left_roll=0.1337 left_gripper=0.9966 right_x=0.2885 right_y=0.1537 right_z=0.132 right_yaw=0.1671 right_pitch=-0.1358 right_roll=0.0229 right_gripper=0.9963 state[joint_eff]: [-0.2393, -4.6838, 6.7077, 1.4335, -0.3883, -0.0757, 0.1294, 0.2667, -4.0137, 6.6256, 1.4383, 0.3004, 0.149, 0.1148] 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":{"left_z":-0.005,"left_roll":0,"right_x":0.28,"right_y":0.13,"right_z":-0.005,"right_pitch":0,"right_roll":0},"note":"The yellow pen is centred under the left hand; the black-capped pen is slightly right of the other hand’s centre. I’m lowering to table level and correcting the right-hand alignment."})
tool
executing move_to over 10 steps (1.0s)
step 338
assistant
agent noteAt table height, the yellow pen sits left of the closing line and the black-capped pen sits right of it. I’m making small sideways adjustments so each pen is between the fingertips.
move_to
left_y-0.0850right_y0.1100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6334, 1.718, 0.3489, 0.6456, -0.5575, -0.4191, 0.9967, 0.6571, 1.5963, 0.1684, 0.8284, 0.4076, 0.2974, 0.9965] state[eef_state]: left_x=0.3247 left_y=-0.118 left_z=-0.0003 left_yaw=0.0372 left_pitch=-0.0349 left_roll=0.0249 left_gripper=0.9967 right_x=0.2883 right_y=0.1385 right_z=0.0111 right_yaw=0.1547 right_pitch=0.0249 right_roll=0.0427 right_gripper=0.9965 state[joint_eff]: [0.1299, -4.8342, 2.7692, 0.5006, -0.022, 0.1929, 0.0024, -0.2256, -2.5915, 1.3197, -0.4078, 0.0171, -0.4176, 0.0024] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.085,"right_y":0.11},"note":"At table height, the yellow pen sits left of the closing line and the black-capped pen sits right of it. I’m making small sideways adjustments so each pen is between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 341
assistant
agent noteBoth pens now line up with their jaw centres. I’m closing the grippers, with a small additional descent for the right hand.
move_to
left_gripper0.0000right_gripper0.0000right_z-0.0100
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]: [-0.5133, 1.6943, 0.2844, 0.7303, -0.4965, -0.3634, 0.9967, 0.5339, 1.5581, 0.1123, 0.9096, 0.3317, 0.2432, 0.9965] state[eef_state]: left_x=0.3274 left_y=-0.0839 left_z=0.0003 left_yaw=0.0793 left_pitch=-0.0237 left_roll=0.0135 left_gripper=0.9967 right_x=0.2949 right_y=0.1117 right_z=0.0194 right_yaw=0.1219 right_pitch=0.0649 right_roll=0.0604 right_gripper=0.9965 state[joint_eff]: [-0.7726, -6.2154, 3.3573, 1.4921, 0.0317, 0.188, -0.0073, -0.1299, -4.2598, 3.3983, 1.58, 0.0562, -0.105, -0.0122] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0,"right_z":-0.01},"note":"Both pens now line up with their jaw centres. I’m closing the grippers, with a small additional descent for the right hand."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteBoth grippers show openings consistent with the pen diameters. I’m lifting to confirm that the yellow and black-capped pens are secure.
move_to
left_z0.2200right_z0.2100
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]: [-0.5144, 1.6886, 0.2794, 0.7349, -0.4934, -0.3637, 0.1535, 0.5167, 1.5536, 0.1032, 0.8917, 0.2829, 0.2134, 0.1498] state[eef_state]: left_x=0.3268 left_y=-0.0845 left_z=0.0013 left_yaw=0.0759 left_pitch=-0.0203 left_roll=0.0086 left_gripper=0.1535 right_x=0.2903 right_y=0.1123 right_z=0.0131 right_yaw=0.1617 right_pitch=0.0352 right_roll=0.0497 right_gripper=0.1498 state[joint_eff]: [0.0752, -4.9436, 4.0137, 1.5165, -0.2027, -0.0073, 1.0085, -0.0205, -4.4923, 3.4803, 1.5214, 0.149, 0.0269, 1.0037] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22,"right_z":0.21},"note":"Both grippers show openings consistent with the pen diameters. I’m lifting to confirm that the yellow and black-capped pens are secure."})
tool
executing move_to over 15 steps (1.5s)
step 366
assistant
agent noteBoth pens lifted cleanly. I’m bringing them over opposite sides of the right basket, keeping the two hands separated.
move_to
left_x0.4800left_y-0.4000left_z0.1900left_pitch0.4000right_x0.4900right_y0.0850right_z0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5156, 1.1042, 0.8642, -0.4286, -0.4934, -0.3676, 0.1535, 0.5167, 0.8944, 0.6765, -0.3481, 0.2756, 0.2092, 0.1553] state[eef_state]: left_x=0.3307 left_y=-0.0871 left_z=0.2081 left_yaw=0.0767 left_pitch=-0.0155 left_roll=0.0022 left_gripper=0.1535 right_x=0.2912 right_y=0.1143 right_z=0.195 right_yaw=0.1701 right_pitch=0.0272 right_roll=0.0472 right_gripper=0.1553 state[joint_eff]: [0.0068, -4.547, 8.8, 1.4872, -0.2076, -0.0171, 1.0281, -0.0752, -2.5778, 9.4838, 1.7167, 0.1099, 0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.4,"left_z":0.19,"left_pitch":0.4,"right_x":0.49,"right_y":0.085,"right_z":0.17},"note":"Both pens lifted cleanly. I’m bringing them over opposite sides of the right basket, keeping the two hands separated."})
tool
executing move_to over 28 steps (2.8s)
step 394
assistant
agent noteThe pens are above the basket, but both are near its edges. I’m turning the yellow pen inward and centring the black-capped pen before releasing them.
move_to
left_yaw-0.4500right_y0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9329, 2.3249, 1.8019, 0.1539, -0.9993, -0.3145, 0.1535, 0.1558, 1.6588, 1.0748, -0.0235, -0.0315, 0.0196, 0.1553] state[eef_state]: left_x=0.4781 left_y=-0.3895 left_z=0.1745 left_yaw=0.0831 left_pitch=0.3654 left_roll=0.0156 left_gripper=0.1535 right_x=0.4761 right_y=0.084 right_z=0.1493 right_yaw=0.1689 right_pitch=-0.0379 right_roll=0.0486 right_gripper=0.1553 state[joint_eff]: [-0.8821, -13.8598, 8.9094, 1.8779, -0.2271, 0.1832, 1.0281, -0.3077, -7.788, 9.7026, 2.0733, -0.0171, -0.0757, 1.0232] camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":-0.45,"right_y":0.12},"note":"The pens are above the basket, but both are near its edges. I’m turning the yellow pen inward and centring the black-capped pen before releasing them."})
tool
executing move_to over 4 steps (0.4s)
step 398
assistant
agent noteThe black-capped pen is centred inside the basket, so I’m releasing it. The left hand drifted outward while turning; I’m correcting that position before dropping the yellow pen.
move_to
left_x0.4600left_y-0.4000left_z0.1700right_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]: [-0.8036, 2.191, 1.4212, 0.4026, -0.5423, -0.1402, 0.1535, 0.2523, 1.6806, 1.0855, -0.0238, 0.0193, 0.0528, 0.1582] state[eef_state]: left_x=0.4833 left_y=-0.3647 left_z=0.1201 left_yaw=-0.275 left_pitch=0.2477 left_roll=0.0686 left_gripper=0.1535 right_x=0.4711 right_y=0.1216 right_z=0.1438 right_yaw=0.2048 right_pitch=-0.0495 right_roll=0.0463 right_gripper=0.1582 state[joint_eff]: [-0.1436, -17.5658, 7.6103, 2.0879, -0.0806, 0.1929, 1.0281, -0.3624, -7.665, 8.6769, 1.663, 0.3101, 0.1148, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.4,"left_z":0.17,"right_gripper":1},"note":"The black-capped pen is centred inside the basket, so I’m releasing it. The left hand drifted outward while turning; I’m correcting that position before dropping the yellow pen."})
tool
executing move_to over 9 steps (0.9s)
step 407
assistant
agent noteThe yellow pen is now on the inside of the basket’s left wall. I’m releasing it with the other two pens.
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]: [-0.8761, 2.1674, 1.5345, 0.1989, -0.6224, -0.1852, 0.1616, 0.2581, 1.6852, 1.0855, -0.0353, 0.049, 0.0715, 0.9957] state[eef_state]: left_x=0.463 left_y=-0.3891 left_z=0.1443 left_yaw=-0.2636 left_pitch=0.2106 left_roll=0.0889 left_gripper=0.1616 right_x=0.4701 right_y=0.1188 right_z=0.1395 right_yaw=0.1752 right_pitch=-0.0647 right_roll=0.043 right_gripper=0.9957 state[joint_eff]: [-1.4154, -14.147, 9.9214, 1.8144, 0.022, 0.0415, 1.0281, -0.0752, -8.3077, 8.5675, 1.7216, 0.0073, 0.0317, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 407): [image omitted: streamed camera frame] camera 'left_cam' (step 407): [image omitted: streamed camera frame] camera 'right_cam' (step 407): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The yellow pen is now on the inside of the basket’s left wall. I’m releasing it with the other two pens."})
tool
executing move_to over 9 steps (0.9s)
step 416
assistant
agent noteAll three pens are visible inside the right basket, and the tan and brown plush animals are in the left basket. The gray plush remains near the far-left edge after two failed grasps; I’m parking the arms to inspect the final layout safely.
move_to
left_x0.3000left_y0.0000left_z0.2300left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3000right_y0.0000right_z0.2300right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8585, 2.1674, 1.536, 0.1719, -0.6621, -0.1993, 0.9949, 0.2382, 1.6852, 1.0843, -0.0547, 0.0837, 0.0677, 0.9962] state[eef_state]: left_x=0.4701 left_y=-0.3728 left_z=0.1415 left_yaw=-0.2087 left_pitch=0.2009 left_roll=0.1049 left_gripper=0.9949 right_x=0.4704 right_y=0.1027 right_z=0.1354 right_yaw=0.128 right_pitch=-0.0832 right_roll=0.0171 right_gripper=0.9962 state[joint_eff]: [-1.5795, -12.547, 6.7897, 1.9756, 0.2125, 0.105, -0.1783, 1.3197, -8.3077, 7.2, 1.9023, -0.2759, 0.0073, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.23,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.3,"right_y":0,"right_z":0.23,"right_pitch":0,"right_roll":0},"note":"All three pens are visible inside the right basket, and the tan and brown plush animals are in the left basket. The gray plush remains near the far-left edge after two failed grasps; I’m parking the arms to inspect the final layout safely."})
tool
executing move_to over 34 steps (3.4s)
step 450
assistant
agent notePartially completed: I sorted all three marker pens into the right basket and the tan and brown plush animals into the left basket. The gray plush remains near the far-left edge after two unsuccessful grasps. I could not establish a reliable grasp to finish safely; both arms are parked.
give_up
hindsightThe marker pens were securely grasped at table level with settled gripper readings around 0.15–0.16. The gray plush slipped outward when a finger landed on its body; readings near 0.01 were empty despite misleading apparent motion in the occluded overhead view. Confirm actual object translation before transport. Cross-table basket reaches tracked poorly, especially during yaw changes; re-check lateral position before releasing. The baskets can shift when bulky plush animals contact their rims.
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]: [-0.0555, 0.8585, 0.7872, -0.4927, -0.094, -0.0731, 0.9966, -0.1314, 0.8776, 0.8158, -0.5243, -0.1944, -0.1467, 0.9964] state[eef_state]: left_x=0.3048 left_y=0.0033 left_z=0.2229 left_yaw=0.0493 left_pitch=0.0007 left_roll=-0.0012 left_gripper=0.9966 right_x=0.3048 right_y=-0.0023 right_z=0.2254 right_yaw=0.1081 right_pitch=-0.004 right_roll=-0.0015 right_gripper=0.9964 state[joint_eff]: [0.0889, -2.1949, 8.8684, 1.7705, 0.1197, 0.1441, 0.1587, -0.2256, -2.2359, 7.7607, 1.7607, -0.2222, -0.0757, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 450): [image omitted: streamed camera frame] camera 'left_cam' (step 450): [image omitted: streamed camera frame] camera 'right_cam' (step 450): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Partially completed: I sorted all three marker pens into the right basket and the tan and brown plush animals into the left basket. The gray plush remains near the far-left edge after two unsuccessful grasps. I could not establish a reliable grasp to finish safely; both arms are parked.","hindsight":"The marker pens were securely grasped at table level with settled gripper readings around 0.15–0.16. The gray plush slipped outward when a finger landed on its body; readings near 0.01 were empty despite misleading apparent motion in the occluded overhead view. Confirm actual object translation before transport. Cross-table basket reaches tracked poorly, especially during yaw changes; re-check lateral position before releasing. The baskets can shift when bulky plush animals contact their rims."})
tool
give_up: Partially completed: I sorted all three marker pens into the right basket and the tan and brown plush animals into the left basket. The gray plush remains near the far-left edge after two unsuccessful grasps. I could not establish a reliable grasp to finish safely; both arms are parked.
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 · 8.805 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, 0.7986, 0.617, -0.3805, -0.0219, -0.0261, 0.9995, -0.0208, 0.7967, 0.6109, -0.384, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=-0.0004 right_z=0.1816 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.1009, 9.2786, 1.8388, -0.022, 0.0952, -0.0659, -0.5265, -0.9915, 9.7709, 1.8681, -0.1001, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da414fae9d61ad09249f2748131ec6f6a1b5566e1310e2cbd20841dd07140be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e72aa98e6e3a95ca20b0b2298dac4504fc105a62bee4f796aeff7315b239c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258c074b7555f56aded0e7937f010f32a10745549f1b68e36814e61d2d5599f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.062 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGexPRGVEZq2bOTjvzn9VLk-2GwfBvceyvXMQDsrsvZZcOMJBgzvCuyQTiGqi6xtaiCWS2jr7P1PXwJeSdQrmVmO2Ll_G7wbnhRsRykqRMdPeDIKmZuxwbrKa-IhOEDl29g50DV1efz_7FUw9LvCVQN8PSSzQ5G5RRMQ_oEIbo01jH2nUqGQaCOBjdtlPOcVkgYPYoozZGpPPhgTwdi4S-YsqCU4cmzGJOCZ650rkNkVxaXtU4lZidKygcJdezjAdW_pTnCxzy3iveH17Qxmwe_-DzcASUjSHzDlkdUg2w3jYKmvn4hTsqOhsxszo2H_Kli6szVUxQFvnQSs9CFVQXdMYIaa09ObuXPna4xqD6qg-DNvRXI4k9uhwIaPRLY3L6CBiFREEtUsTOL6dQtS2UXOSQJyzXfCi2co9QH9ysAlkDjBGO2FoV_Qzy9aIfouIypCFjRBSWZ67RLddTXUPmh2j2md44x6DmBBWYIa9097BX_1NbHlo2yFlBvHQA4nHgFi54GJ0eJAX60l8nB-1KKb4GX78GbBCb71imjX5YtKAdiRFpHSIQesH5n3liv8WjVy2ar9KKP8kq-2m2Z5sUgElqEwe4BlvL8PD9OOju4KXAB8PbOwp_c1pWwKAQJO4qRMElJE-Qj-zOKSLiLlISJl75xGrAS9n_pU7T2tNJIdXjRZ7zr9tVaYwA5v2OkTa43JiecQ8IqXta6KEr_-NqoIDFw2FXPB7aX4C43HaWvt9srRoyipXQWON0rFIQa-s2PSS8zcxAJLUPm1YhiMWccjeAtzwKWUoKvRaiN-43E3EBrGFmRp3ZSZPRo6DAzoaEqQt4clzYPNnb-hSsTo4xOhZoAYVha1bkreQVRB4BReYQuF-g8hPRcuoDlxeINN1IAqKel3cDjDTLQm-JcexBA6XL5qdjTY4bh6OdTs0zFr1mzVK48pvzwy62cVRAEWElR3dXJNCqnzHPMw3kmEuNJB_y3rr_f54uFhperqIqpGx1sZbC-Yrbjht7xfBHjgIn_Uxoj9TnqOrAMdhl3x0reQWWc7ywsraTRCenoFtLPUjxz5JwMtRMRbTLiJ6sUvjiZh2vz7mbcZh_nT3wUe5CVWTZSaJAfLYbHoDsDCbX1VnAiN5XmeTuEnp6PzZa9WZel-ujXzgxvwvgm_GMCZkKiq-s1cskz_nkZJFyJ_ExmyRTDwjRgGWC4gvYaYFXkB7RJljHoPHHz7LOzU4JGUd4AEcIfjlyieMEmEs3RmxOH_TY3fZKHR8pW68DqBvD4WR-JJBq82Td8vMJRPpJH9mn48iYCxoOqe_fRBJZXJuyZ_Gtf6lStDGwQf8AqNTxxowffiFTTXXJzJfreSSXqLV3EjvOnHtJlECy98bNnogJ0UPwC2jTndqkvfO1WHMh4RMA4BxxNb0GfQAJoUGbYDss_-cbCqzO73fkfOzpR6v3xVpeD2IPg9yqCb_WcVbmvqje9Hhb_pL6ZfE0ZkH64miE9q99WKLVNnSYWbmsXR-F-pW49Cx9zb5fWk58d4B4K8TY_1PKT7bEudCtCrZezpJ0bWjMFw_kmjN35e3jX081xymZhkPzrPuJueQA4tuB_hB47nQLEkTHb3Zd0l-aXkyacv0L75n1rnEq4EOaR4fr0nhAPQFpbGlBEJiXmg3EN0XNbqut4GJU3UusxDiGtkRxMp06KmnlFPByI95_a6lKTJbCXO6gI8Y0jKcKECakC_QRlSMH-nPcAsScABOS3iYAokPJT0-eYm80dQfduXRkmKlAEm48HYD1zc8RSMul2PsgTipc_t3paOI3-1kJQ4b5BplOrNA7WAnIN9JyEonIssM8F1lvDuOBmN8YwvqMhGg7jS-DOfgVV_F-zkliN4Vx0_PafiUJj9zxUazDXXOefpJoD-YJS3-zDkdikX_wtpyGJgMnpIuatj792-EsfH5pCP146ZfqVsFTLEcx-vhv2E90RQTh24g_-36AxJ1vU8macoc4BR4a-cBx4FvPhWO_1K3ml1tG-SJ7ucxO99MFJBLAP-mmS__YJ0F09jQ-3geODVMu5eVaiAoSRh5IM0TVdUP29ZVRNRN2iEJ-Xqc7GhcavLn1TIRWHbfPyAFpliGIQ44-qabU9V9XN-NVhOBW3Bo0aurk0yWM0k2jCVMqobq-9cxYIC2saXRZziyO6CyuI2nxFFektWo91lliP3lLglasqRydxfQIjVAb8uEwLo2HgQwaUiGIuR0ycEnhhsTHJzQ9HQeiCcI4fa6s_OdOf2Gpss8dSj3hLf1lY9MG4mauntDPRnvqmRp1fan_pCdlMT9lq6R-lbf8B8vywcW2G8_hfH4BQUCxaQJLAU0l9Tnzcr_kyG4258i2OLf-GNrNjFfvM9S_gr1ZQIdKXx-H6CxU5fonsUYzFtaCyXRVWkFZlVg2iFau3fO6ooY2QFqHIYXikPLdJqEesexwE5lMi34XktA7StDGbSMqJ2q2Sb5wni12aRdZCpyvRP-A9vwHdv2bsUjqggtXTtvVmvORcGzu0IbCgqhtMGurBE_ZWMohTC50GHlLb5rMuiThAjruNwhK3_u_a2NFt8Lk6YwKDifIsqBOUeWAUViNV_B2DWkxSRn9yNPaTGCXm-S0h_IFV04vLqSsjbkBb1IGuaX04GnlfF7zLRTgUzbL-NH4csCgPHPepCpl_IZHc1chd2Pj2jE0FP_o2kFLoP8SPOK11GPhBPdpuQbkMoWihpSshvNg4BWfZS020bVLBWpIk822DuE8PDt-_wvqhaTV53GXLAR-ildj-6LOpyFfmqe73wxVOXc_B2W5GawG9RbHobDKfvBTDY1wPMF4ZYbHZcS0E37A==",
  "id": "rs_046df9010470ece3016ab467aa99b887d0b2f8365e0cb838b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.29,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"I see plush animals and long marker pens, with two empty baskets behind them. I’ll sort plush animals into the left basket and pens into the right, starting with the tan animal near the middle.\"}",
  "call_id": "call_QwNQGBd0Y7XrRlYiRAAHndKk",
  "id": "fc_046df9010470ece3016ab467b07b0c87d081fa502d2b6a6caf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QwNQGBd0Y7XrRlYiRAAHndKk",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.0296, 0.7986, 0.617, -0.4042, -0.0261, -0.0376, 0.9995, 1.0191, 1.6672, 1.2201, -0.4744, 0.7815, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.0005 left_z=0.1797 left_yaw=-0.001 left_pitch=-0.0235 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3181 right_y=0.2863 right_z=0.1674 right_yaw=0.02 right_pitch=-0.0317 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.7162, 8.841, 1.707, -0.1538, -0.0269, -0.0122, 0.6085, -7.8291, 9.1419, 1.2088, 0.525, 0.1734, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c1d0e2ac2d3e55009e3deb99068ca05293a166a7e67a6b7ea9e3e0390403c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69693d96b4b8fb2e56b6ec77a4b15f3b1d7b33f73c2cdc55611a95badf653003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b869043438937edee0311eb124d75912fdf568b85236c8dcec62c7c38ec59c1",
      "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 · 2.112 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, 0.7986, 0.617, -0.3805, -0.0219, -0.0261, 0.9995, -0.0208, 0.7967, 0.6109, -0.384, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=-0.0004 right_z=0.1816 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.1009, 9.2786, 1.8388, -0.022, 0.0952, -0.0659, -0.5265, -0.9915, 9.7709, 1.8681, -0.1001, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.7986, 0.617, -0.4042, -0.0261, -0.0376, 0.9995, 1.0191, 1.6672, 1.2201, -0.4744, 0.7815, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.0005 left_z=0.1797 left_yaw=-0.001 left_pitch=-0.0235 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3181 right_y=0.2863 right_z=0.1674 right_yaw=0.02 right_pitch=-0.0317 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.7162, 8.841, 1.707, -0.1538, -0.0269, -0.0122, 0.6085, -7.8291, 9.1419, 1.2088, 0.525, 0.1734, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c1d0e2ac2d3e55009e3deb99068ca05293a166a7e67a6b7ea9e3e0390403c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69693d96b4b8fb2e56b6ec77a4b15f3b1d7b33f73c2cdc55611a95badf653003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b869043438937edee0311eb124d75912fdf568b85236c8dcec62c7c38ec59c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGfIAzrjJMo2QhPAUkU3TEfaCJPgoeRd0ylNHVKLFBplNXOkpxCjgY7Ln15pP81XytKib-WSagEg_ONYJ7H6WWYjvkTLJ9_q9dCQ-8ymFeldyrVpE6aik8bsbc9CGpyja1hs_ipvCCtrDxzAInOAp43ZOSFo0acvIu4Os8cuhZ7tsjwDJkNDYLH8UwbsCbrXmP9nmxIuKD2UBhd_srEtOOI62VpP5KC3_nE2NdUZfma-G4Oiq-sXkDLkJBB1MnNTc7iircfPz_k3WoyZrafsoglrR5zY9KL1L3MO7yV7zV11T_ucJIULxb_yePpHXAoN5lZRiOFAkxB1-IVq7bSjxtH2-Rs8eVwrU86XhQGOeMSFksAG2V1bD3djjNttVjahz9saEXFj-fW1t5-jxRvKCY_VLdelGTroY8gGztIG8RD4o0vX4zHxoZh7mQU9CLWn4knbvt6U5_Qx73GNhIYQ7hQqkqH3UId66OGxcjgxGWhkvfkpJ3WLaaMT6mE1JC0p5NQr3oA9SmLSI6m_GehAMbc6pWs8KMqxb3zTflj-IrTkuAdQIL1Lgw49JY7593nJBCNB7uAiBt7tdYvfD37oj-jXexzg41TZG9YASfmrJbMvRX0X8nd2paQJMLn92Y5W7V_gefYBP-lr_Q4ps1j8DbC-SnHmxXaetKj4ZeBm-F1902xkPRQejNeTPJ5k1wTdKJrKXzF6-QcK8P6FZ6RlpxUmdOjBZowVRtHFJg3Uu4b1d51HuDLBga5fXf3N2cFvaejUFKe7mwQvZzdzztl3v3vdDx9iBGYBP6Ed4V8j5gc375nKSgAP_QqFfbMt6do6GCgKsB0YzebuqHm2Eotsa7z9nZJiNJIa1LhC_OM9ohqIQ69cqqMVs2Ph87MqSet2VdQaahycFJjACM6GSOhhuNT02i-PuuWSKv66rw6kQgS1oQl27rmi-7Oa6iRCkAYhdV2B02sR4JGhMsY6-xaUB8BYu4C9FzpgFDxwIzsG5WC8CcatlJnL4qhfrxZAIn8gw1EoBAtoN-ZBr5mkNEGHacoFhZO3BAFrmSwAQ-K2O2AOXObAh2hBTku-v30-xeq8ehiJTv51CD5NmuzSOK2wZAXh8UOdpY-_2lGG1Lxp4q3C0LA1s-4IpI_6R-zW9Qbf8vXdbfE28vG5E4dMG5AHRwUV4dImOIaCxaMUEBQnB3e1-ppQWDxRX6ovbr4YncIVzXtJ3ubbAgKqOoPXxzwDv2pMdFRoE3KgoFFl3XTkpifcABCka-aB2E-lUm5cIR-3x2yntNA2kdujgo5JAHJ0BQl-JH6VYm6Sb_3SpGNTtTr8pdQb0EJ5Bv21ZAW1mZppR9GUP4WU1gQFGQEN6PDrybg-iigzt6xctlNkXkBM56-Yvd0KHYn1KraFx4NWXIwvET73HlcoNEkAs1FQpUUXpxVocf6okkDnfkVUfwdS3Cd9ybvTozSPbeTUZPFSP_MaN5drzQuujw9hLWLi6ovumVJlUw7Y7jz-xTJHPU-GsFRtwKndeEKHH4wIn_rR9Kk_1ECBcvNm6NDkmEh8soc_14-tKmcfmCjNLkAvUZyaUyBwcvcvLSuQnBPB6z1xqpy464pvOHz5NKxX3sk6NQ4ufGnm76iTDxjE_73PN5yzaGEGJ_4HhVEmpOVganIJOpQxyaej",
  "id": "rs_046df9010470ece3016ab467c618cc87d0a86a8902264396c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.275,\"right_z\":0.055},\"note\":\"The tan plush animal is beneath the right gripper, with its body near the jaw centre. I’m lowering around its body before closing.\"}",
  "call_id": "call_mzMMJ18PxjNKGJPVlgIeifeQ",
  "id": "fc_046df9010470ece3016ab467c7ec3887d0942b6b7387f72399",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mzMMJ18PxjNKGJPVlgIeifeQ",
  "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]: [-0.0296, 0.8005, 0.6167, -0.4057, -0.0257, -0.038, 0.9995, 1.0203, 1.7802, 0.9131, -0.0334, 0.7776, 0.6964, 0.9997]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1787 left_yaw=-0.0011 left_pitch=-0.0274 left_roll=-0.0072 left_gripper=0.9995 right_x=0.3123 right_y=0.2787 right_z=0.0688 right_yaw=0.0247 right_pitch=-0.0228 right_roll=-0.0088 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.4017, 7.0632, 1.7216, -0.0708, -0.0659, -0.0122, 0.1573, -6.106, 4.6427, 1.116, 0.3883, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac093231fe2a1f4febbd0a74ad85040a6c38b0d9fd95c446bdb3ae5a61077c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b4979c56802b80ee8dd54618f5ae9dc06df9f634754d13c764b705259e793f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cdf34ebcdaf8fcb63dc6c48cf4be4c1d22f9f62cd7eb061e4cf98ae359c45bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.46 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.7986, 0.617, -0.4042, -0.0261, -0.0376, 0.9995, 1.0191, 1.6672, 1.2201, -0.4744, 0.7815, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.0005 left_z=0.1797 left_yaw=-0.001 left_pitch=-0.0235 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3181 right_y=0.2863 right_z=0.1674 right_yaw=0.02 right_pitch=-0.0317 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.7162, 8.841, 1.707, -0.1538, -0.0269, -0.0122, 0.6085, -7.8291, 9.1419, 1.2088, 0.525, 0.1734, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4057, -0.0257, -0.038, 0.9995, 1.0203, 1.7802, 0.9131, -0.0334, 0.7776, 0.6964, 0.9997]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1787 left_yaw=-0.0011 left_pitch=-0.0274 left_roll=-0.0072 left_gripper=0.9995 right_x=0.3123 right_y=0.2787 right_z=0.0688 right_yaw=0.0247 right_pitch=-0.0228 right_roll=-0.0088 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.4017, 7.0632, 1.7216, -0.0708, -0.0659, -0.0122, 0.1573, -6.106, 4.6427, 1.116, 0.3883, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac093231fe2a1f4febbd0a74ad85040a6c38b0d9fd95c446bdb3ae5a61077c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b4979c56802b80ee8dd54618f5ae9dc06df9f634754d13c764b705259e793f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cdf34ebcdaf8fcb63dc6c48cf4be4c1d22f9f62cd7eb061e4cf98ae359c45bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws surround the tan animal’s torso, and the descent has stopped against the soft toy. I’m closing to secure it.\"}",
  "call_id": "call_sZSBDwNMuhKjEUS9R25SKSUB",
  "id": "fc_046df9010470ece3016ab467cb794887d0b0344908d66c1f14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sZSBDwNMuhKjEUS9R25SKSUB",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0254, -0.038, 0.9995, 1.0199, 1.7824, 0.9062, 0.0017, 0.7849, 0.6888, 0.0376]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0281 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3145 right_y=0.2803 right_z=0.0708 right_yaw=0.0241 right_pitch=-0.0041 right_roll=0.0035 right_gripper=0.0376\nstate[joint_eff]: [-0.1709, -1.265, 7.1863, 1.7314, -0.0562, -0.0659, -0.0122, -0.2803, -8.3897, 6.2427, 1.0232, 0.232, 0.1148, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649850490b33bec5a92f55421948ba9de2c8bf1063549ae69a4b8c7390eec717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9fe1b72d3c225f03f0ce5f1e13a8f3ad757c3cddee30a5ede2113dd76ca8a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1c6d2a013d77b7c4dae7b3ea10f3eb2fadcfdcd2dc44a11872806fb75aa854",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.967 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, 0.7986, 0.617, -0.3805, -0.0219, -0.0261, 0.9995, -0.0208, 0.7967, 0.6109, -0.384, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2953 right_y=-0.0004 right_z=0.1816 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.1009, 9.2786, 1.8388, -0.022, 0.0952, -0.0659, -0.5265, -0.9915, 9.7709, 1.8681, -0.1001, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4057, -0.0257, -0.038, 0.9995, 1.0203, 1.7802, 0.9131, -0.0334, 0.7776, 0.6964, 0.9997]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1787 left_yaw=-0.0011 left_pitch=-0.0274 left_roll=-0.0072 left_gripper=0.9995 right_x=0.3123 right_y=0.2787 right_z=0.0688 right_yaw=0.0247 right_pitch=-0.0228 right_roll=-0.0088 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.4017, 7.0632, 1.7216, -0.0708, -0.0659, -0.0122, 0.1573, -6.106, 4.6427, 1.116, 0.3883, 0.0122, -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]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0254, -0.038, 0.9995, 1.0199, 1.7824, 0.9062, 0.0017, 0.7849, 0.6888, 0.0376]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0281 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3145 right_y=0.2803 right_z=0.0708 right_yaw=0.0241 right_pitch=-0.0041 right_roll=0.0035 right_gripper=0.0376\nstate[joint_eff]: [-0.1709, -1.265, 7.1863, 1.7314, -0.0562, -0.0659, -0.0122, -0.2803, -8.3897, 6.2427, 1.0232, 0.232, 0.1148, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649850490b33bec5a92f55421948ba9de2c8bf1063549ae69a4b8c7390eec717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9fe1b72d3c225f03f0ce5f1e13a8f3ad757c3cddee30a5ede2113dd76ca8a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1c6d2a013d77b7c4dae7b3ea10f3eb2fadcfdcd2dc44a11872806fb75aa854",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfRbP4gE6hGuxFONA3lpyn1wkfCSy6i2FixVrKI3C5MmhnGdG9NZ1Z2nYc5AxGcnkaDI_23Pb4KaTCzet2TD90zGzT010fLmSJINduo0sgdrqSIy0ZSzIQhkzFpIq0m0pnQA35RiRHEAWkKTPtsla6cHKjd5U0RV1en98DeFxivpPdsI9sVyFyCR3FGQ_cFWSw0z6nMG4X9sBqLJCcfypGZyN6Bx_bWba8o0NqqXLI08PmenZjAAmTr07bZvi1hzmm89jjDEdoe66TOjfTFsDwFz9AEz3y0-mGmqNRpMLGMWL4HTswGtcDNauvBiDNmWa_dZs_5Td7vKo1V5K-u2YWYCgRWJFV4w1M8BaUSDc4R3XHbMo1V70XYqyhVv5BXXTqNsA0s8Kg-grXKiH8ZNIdxCenQjAXAN8nnAvPU0Aial95PrdDQPHOjzPQt8EPpLpGhh-W4hKnOQ4Hm5OcDiklla-KVnpeq8Yr6rMbSampHzUFz5tmhV1M2j1Jo8lJvAQBmna-3InX6ezIuGA9FrNVUJnhW2L_qyMQcBh1l9FcaAV-ssRElMlyPu1HzLdLWeyzHDdkK7LylJ0uwjrHRLnkq3l87631d5WbqjEpG4HVKL3ZIBjOfaxILNepKCrIAkV-v0Dk_AhmQDQRbIhUHjiIR3X85sGovqWSLDDcVDKajhZr5sTtldL54t8FRBNCodlVwBnsqIMlVgiQVkrMUXLqxbYX0yfQ6gChmSlmcAHnuLTMdGHW1KGo8RKZxW4DkrzNtUry3N1FNZm85M82oyT-0YKNFY4PCZ-t2t0ZD0tPZEBmGPtB3yBvtihMLSf-b1wsecWIeEUDPJYVb4csDzyWHZB3-dct1t0KTGZ1lKkxGdi1GXZYz4vn-860zRekxT4dE5uXb3QNE13O1DbwoaqYCuWf42cQOM6iftekkBHK3J99c8nYHnpz3Cvnud69tgs3Ek93p5h9U32Pdajz_P0vfNl9SC-ROCMJofz9Xq5AapAziAUJzrddmi1MnAt55ek_qRigSWKMhy1H53iT381-wgoLYB7TgdCIJ72y0De-zu79uNKZ5VKe73Y1V7q52G3b9ys1kAVzuBjxMTVkwBi2CJFkOOvPBgciDwLlp5gWddZkNFkWA5BQrmKOtsjGwKBee9LTi9lIqnZZhC6s9fcfWJnd2jz5DcefSUVzoVikyrJUo34UFw_9fzG1Ibgedf4jDGolqXQaoQYAGxDAR9I4HoIplQz1M6Q-6TF1gJHb6bFW9AyAzE7rzhE7U9-ZqGK6MSgcumNgEjt2D5bx0lCu7-A==",
  "id": "rs_046df9010470ece3016ab467d03ef487d0ae62984e68663f0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper closed almost completely, so the grasp may have missed the plush body. I’m lifting a short distance to check whether the animal comes with it.\"}",
  "call_id": "call_UCLqgkVuZBTNEqSuVpSa81GO",
  "id": "fc_046df9010470ece3016ab467d0acf487d08283c4bea2c15a5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UCLqgkVuZBTNEqSuVpSa81GO",
  "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]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0257, -0.0376, 0.9995, 1.0199, 1.6989, 1.0168, -0.2298, 0.7658, 0.6849, 0.038]\nstate[eef_state]: left_x=0.2932 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0013 left_pitch=-0.0281 left_roll=-0.0069 left_gripper=0.9995 right_x=0.312 right_y=0.2808 right_z=0.11 right_yaw=0.0376 right_pitch=-0.0371 right_roll=-0.0227 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.1145, 7.0085, 1.7314, -0.0562, -0.0513, -0.0122, -0.0205, -11.2752, 9.1419, 1.3993, 0.525, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d7ce2ad679bff63a2a00e56dfafd0d34bc4943fb2917e4c1d5652572cbf9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ce8165bfec55fd3dddaca5f3f3817e9a459366d9b15a6d6e5069a7e631f99f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6702ced32d24dfe734da6b2066c584b41743e8c1bff488ab7fc3e41436cb25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 9.196 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]: [-0.0296, 0.7986, 0.617, -0.4042, -0.0261, -0.0376, 0.9995, 1.0191, 1.6672, 1.2201, -0.4744, 0.7815, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=-0.0005 left_z=0.1797 left_yaw=-0.001 left_pitch=-0.0235 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3181 right_y=0.2863 right_z=0.1674 right_yaw=0.02 right_pitch=-0.0317 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.7162, 8.841, 1.707, -0.1538, -0.0269, -0.0122, 0.6085, -7.8291, 9.1419, 1.2088, 0.525, 0.1734, -0.0366]",
      "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]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0254, -0.038, 0.9995, 1.0199, 1.7824, 0.9062, 0.0017, 0.7849, 0.6888, 0.0376]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0281 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3145 right_y=0.2803 right_z=0.0708 right_yaw=0.0241 right_pitch=-0.0041 right_roll=0.0035 right_gripper=0.0376\nstate[joint_eff]: [-0.1709, -1.265, 7.1863, 1.7314, -0.0562, -0.0659, -0.0122, -0.2803, -8.3897, 6.2427, 1.0232, 0.232, 0.1148, 1.0232]\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 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]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0257, -0.0376, 0.9995, 1.0199, 1.6989, 1.0168, -0.2298, 0.7658, 0.6849, 0.038]\nstate[eef_state]: left_x=0.2932 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0013 left_pitch=-0.0281 left_roll=-0.0069 left_gripper=0.9995 right_x=0.312 right_y=0.2808 right_z=0.11 right_yaw=0.0376 right_pitch=-0.0371 right_roll=-0.0227 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.1145, 7.0085, 1.7314, -0.0562, -0.0513, -0.0122, -0.0205, -11.2752, 9.1419, 1.3993, 0.525, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d7ce2ad679bff63a2a00e56dfafd0d34bc4943fb2917e4c1d5652572cbf9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ce8165bfec55fd3dddaca5f3f3817e9a459366d9b15a6d6e5069a7e631f99f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6702ced32d24dfe734da6b2066c584b41743e8c1bff488ab7fc3e41436cb25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGfUyYuJA7Bva8BqecdO-jof_Bz4JaHZX4-INdXQwrK7aapXcWf-uZ1Q9HCEQByoqF44-qhjZK05d8iF_6GBAKemZgj8t8beX_Ew92uZx4DIXcy3HDtJrGdP760353sppMJqnCPTnlkbV5d6S1FwGk4MULFNBRT12a-K-_D8VWWW8Q2Rz2So3xBsOVu8qybC3hCtpoaheDenifAmke_qflDOzQjflBp3-GbYTW1dYEMXbAStYiJZ3L2qgkCWeHEK0uHkSebWFYIB3bE8HHSFM9cQ-F5cDjObQWfUjmtxNbOjyhnNP1ms1pEdqBGYBAnfauNhfVpM-ZLyLD6OF68jS0iDx8eFlJhmW_QOsh4W0XN4mm0TUMZnpag0DigcQzTdyUjmAT2XoHFkAYXpPf9qxUrWahXXv07r_sYup0Y0r-hmeYrK2fQBiPGQF_ZxazqQMQOBlenWBNmT0yKNAx3lVPp0etaNKb_ia5xShfwIxTtlpzNarWzLgzG8uuNxJ0bpELSEoDhKQhOBAPrZUFmGCU7we5XXnu9kZvhyEpmjj6EPy923bsit4lzqRPf5Q17xcXI2HfwEhvYV8ckycdJetw3N4Lxu4OvlXLEZGQUQxROhrNYH-Pa5yh1xQh-aekdKf3LbFvPCCNQGp2P87Kpox0JGUuhwDOBxnZ9I1pHDaYs8BNYDeHVrXBeinm5ZTMONcZTfy0FEnJhyKHvjofY4ycGXxk1YB8uI8IEDe-QtRi11fg3VM6YkkzMOczXM6clNDb7HOwjiqYKcDjzGrjNt7fBDmEYLWoWtgkUdAZJceCmtHe1jdBYKkL-BEDt1F0ahLoGtpFk2jISDIdJOL6OznCnQItjNH845YGL6noDJf2vvYonFQ5LmN-rYbc6YsxF6PSCbqz1a8mRXJYTEcu1u8w2z2oJJXfcAXzbGQSCN7ZdLTg8F1GzebbD4Od_kipuPAsM1A1nydENmCZ-RAyQx6uL59qVnHSeq1C278WQCd400Mrmzx_vU03JSgS4jSRrxZVp2ll4_kUjPlK8Oq5zXzPsvbzXip_kAE8LM1qdaWSa9-nDzWP3xOuU5Wf90N4N1eQF4z7UC7Q95MGhgs3QAhSe7wdjyPzzxYODQdLXEq4JqII1naCi5pBIbp-vnUlNd0t9rIsz0YudpLTVfoVr_LcJcaGbWn5QJa0bd2mbCJh-jGpPqaBThR5nIUuly6zTZI_4JPpRKuvwYjBzwkeaB7IOO-HY6ZCKmnGjcXZJyVBq3Ax934P8uCckHpY0Sr9Mi-80FeB-BYphNxOJ4lmVo5GFCDZLNWJ3C_pFGMM7zHoFtIsTpuIZTagRctD12bHZ_vjPLlk8leGrOQXjoSMuiv5SnwcPS1dqGH3ZIvd-dQVWGe_DFMB2Kau5TSC_n4dxmC9x8JQWC1VUJXd6UHzKVe4ph6ijn-28llzkB4Lk6nvtkROwp0uBY3A8VhlcN9f58aHlaqLoknpLzQcB1UaYuM_dDVA==",
  "id": "rs_046df9010470ece3016ab467d347b487d093e55098287ec7fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.23},\"note\":\"The tan animal appears to have risen slightly despite the narrow grip. I’m raising it vertically to confirm it is supported before moving toward a basket.\"}",
  "call_id": "call_6tg4zbFWx4a0rAbO0DdmSBuC",
  "id": "fc_046df9010470ece3016ab467d44c3c87d0910b09716e4bc77f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6tg4zbFWx4a0rAbO0DdmSBuC",
  "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]: [-0.0296, 0.8005, 0.6167, -0.4068, -0.0254, -0.038, 0.9995, 1.0199, 1.6436, 1.3521, -0.6514, 0.7479, 0.6796, 0.0388]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0285 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3131 right_y=0.287 right_z=0.201 right_yaw=0.0504 right_pitch=-0.0664 right_roll=-0.0446 right_gripper=0.0388\nstate[joint_eff]: [-0.1983, -1.2239, 7.0632, 1.7021, -0.0415, -0.0708, -0.0122, -0.1573, -10.5641, 9.6479, 1.199, 0.4518, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f817539a13a6547137a0a57d23ef10c4f5b1efd883cbb750bbfe1686072647",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67818e43835f09243a05a415cbcc3dfdb5dd63c130b0e6ac574ba7aaa428a828",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aa745071542f6c501e2f4be7f1ff362d53a0242c4cd15f85a4eb9de932e77e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.636 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4057, -0.0257, -0.038, 0.9995, 1.0203, 1.7802, 0.9131, -0.0334, 0.7776, 0.6964, 0.9997]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1787 left_yaw=-0.0011 left_pitch=-0.0274 left_roll=-0.0072 left_gripper=0.9995 right_x=0.3123 right_y=0.2787 right_z=0.0688 right_yaw=0.0247 right_pitch=-0.0228 right_roll=-0.0088 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -1.4017, 7.0632, 1.7216, -0.0708, -0.0659, -0.0122, 0.1573, -6.106, 4.6427, 1.116, 0.3883, 0.0122, -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]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0257, -0.0376, 0.9995, 1.0199, 1.6989, 1.0168, -0.2298, 0.7658, 0.6849, 0.038]\nstate[eef_state]: left_x=0.2932 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0013 left_pitch=-0.0281 left_roll=-0.0069 left_gripper=0.9995 right_x=0.312 right_y=0.2808 right_z=0.11 right_yaw=0.0376 right_pitch=-0.0371 right_roll=-0.0227 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.1145, 7.0085, 1.7314, -0.0562, -0.0513, -0.0122, -0.0205, -11.2752, 9.1419, 1.3993, 0.525, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4068, -0.0254, -0.038, 0.9995, 1.0199, 1.6436, 1.3521, -0.6514, 0.7479, 0.6796, 0.0388]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0285 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3131 right_y=0.287 right_z=0.201 right_yaw=0.0504 right_pitch=-0.0664 right_roll=-0.0446 right_gripper=0.0388\nstate[joint_eff]: [-0.1983, -1.2239, 7.0632, 1.7021, -0.0415, -0.0708, -0.0122, -0.1573, -10.5641, 9.6479, 1.199, 0.4518, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f817539a13a6547137a0a57d23ef10c4f5b1efd883cbb750bbfe1686072647",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67818e43835f09243a05a415cbcc3dfdb5dd63c130b0e6ac574ba7aaa428a828",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aa745071542f6c501e2f4be7f1ff362d53a0242c4cd15f85a4eb9de932e77e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGfeDS9KPaTc8pdk8-qG7HrWgHQljd42UzYu_yYEkD4ccuAppPOKUExkdmm8Jm5Oa_MeGMRbUWwLDToeh3SjTOSvGhh-KoniZxcRCF28WMY1jWntZ0aiW9IfSS8jbYyF051q9BnzOj71wD-K9-16JYnGuymDoXhDhtvnhG-Oct934V9fDAZbrwcJtyDwR98Hk8n6t760Mo925KysX4CDMcl4ROeRAum4VrhHCENfTQPOLFmdFCYhXxFzjhXIcoVOQYlavkSlvP8sq6ARAUh5oafAycrJjelEDh_Ktrp4LtiYvGX4RoskY8ZlvCtKaK3-3xi0k_a-wGMO1RB-T1c3w0sVXIxi00O2Lkx5UWMu2E6sjXUk21W2rxLypgnjNUsSeGqG0ngjuV2NUtvny4hHaMwynfu1FS7kzZe4mFyRJiPQ1YZSEAFg4lOKhV1ePWgEJpdJcR8hqLvXEMu5AmeohENIn18VKykSTQSreDSJ6Hen8sdkkYsRz27YpleFiyf1_iBSMCrkc0N-Yi0Yx70ToA1-nIaRy_v0d_pyWsB_wB3Ghi1paTqFm_O90e7hWQUeafOzJYWjA0jzNpGNeXSxytL3GvmobMD5scNarkeHXM3xdFyruqI2Bo1n-YnRPu4Z5cDvoe1lzJFseoODrWiTgJYqOt9oUnye3XoSQ-fXM1zm2ajOpT_yOe3yBzOGQsKypEI0GLNH6G-l8xFG8LDTpYX6JWOg43VpdJkhYRARJmH6KyobgZiFhk7a4_xk1R3L45WZFMD74zK79OZRQ60yjTidclm2o4rdYWR5w2cb7EuG3lLkUZ45yX7v6D15mIeGT6rzmPERyhX6E4JsibOfOmbWmSCIrRcwkEv9KkIp0Z3yhT5_LCpJQiHP8tf_aFmo0_8Cy8xXXUBoUASH_btKMUGqWCAtCGVFTbl3UcQHwAeQZrA_9cjqfKPhT96UjE5-IKh6KOdWPHtJPycyVMh2B_arcO3h_ew7l9EjXXoCK9AUUwJh2jDV4x9gwB0IzdvM9quODXhZIm7f4MjHPE5Ivwy5xgwV2srDwBKGVQFnFzd61SKO-Hg5ir9_nAnHJ8uDtPbuDZHylAyV0hczX9tsMRkhUYMKyz6k5Lo0AAZxloEIqIBOxc6XskVf9kXu4vl0yFDtuvwKacNH_NMNQM1ZJHAvV76nZ4NMlGHAMbtB9AqmOHEM28_RbBsbL4-IbEncoVqGlIClS9l5-vgAq5RQ_YFS6Fu98a_XbEuyJo11IIJTDcVa9ERDc_C7y9GZlJpC5ZfEFIpYNL2jDDgLRBPlI4Zr0Ll-YJSp_Yaj6oZq5tJggoeB2xlhgI7NuMDRn5XZd82bhDo1v7PeLvuTU5o6WDuAQuourdpeUXNG-JbVs3PVhcTdi-eQFxc2cdFLSCfaYDA-xw4OBN0s3b4HTBdznv5HNNaIFalAaXQQni6uz_-_PkiAKGzfd7Ykm3umn-hcCQ9gCV6JJqu-Oi5yFJTXc9M4ay_4OsKxZcJhZjVde9pJCWH3HwlOKvxFCcGqYsinVDW9usJ2v1IbE7_BOD0fToQMSssHQr-pia3cTL9p29nvkHQgmEFsJoY0nFgTX8zCM7zJ5KUhA4wuI1-9Sfs_5O9llC8-IH_8t6RwOSdYe01-lPc3wo__i11zWz9afB5tXvVqZxgH4wjeDeb2v0P0rzFXW7Hrc89rP_9uoy8hh_9XmX2cUC-dQpFPQNe0eBipp50NuksVxywMV4lEX-cWU7lxHnZkALq_u3i4wwbPhHP0w5eCoNzc9z80w3Y-QSStYMBm5_ehw0e1YN0RIK6e1_5xSR1th1Xv-LT44kkZRbON4nYpIrOCe5FejJCTLPfER6slauUKGjK77k6IhST6rP7OEh6XnYWUu_wcSbRrT11RDoCuTM2CM3-IG9ti5KWU1ju2-32DL6ZfIIOaQVlNElIulM5xYLjfiqsF_8h6jhGFehc3fm_2p-FxsDE6-SA8FCQ8KaBltwUK8Z8BIpc5AnCqrz1ZoyHrnjfa5GgZQEzw0RmSaYMlFiHShSXPs5r8eBNUx6LEHlJEDyynXkxz_43RoBIqbpnkBEhE6KwEAipHAz9x0mIGBbUpeaJXUle9ceZvu8e4P6otJIE9toVx8n-JmpF4hwHwZgH8QIHlWRGDWTnJuMd5NXhj37USTpAOFHgfeV8PE3LMQYKaFt53_nusIEqO-XtbvtBuOvEj0qKln7fyZ3DwCzAt69eZsPs7T8PbxcEFazR3t1hIeSwUCWL4BPtELbv0djU0YddphfLp6CN7B52M_8bMAGyQ8aXvERSxnU6planXUxfx9jQQs9PnwOdKQUTbvXGa5XGRBsGG0v5cJQfoGrBXR-FBzo-1ev_G9k1jPmDvHoL33uSgU6UACDvR10P1E8yb0GpZUFfo1z3KTXJBfvVZNdV7cOlUXi4j9S0OzBH3rS3HllhV03xuqN1M0bfdSqr4FUXqApM17Xf7-b8KRVIZmlMRS2UvnFX9TWy94XLmE_s-E1eJcKS8KCA_WPIR1IZauLfDoKie_ft_Hy3dXA8Hqgbmkvr1EACGj5kjQCPXALsI_17jqRmA0w9N1dQPWHT69tPZMqLcwDtePskNG9h4i3g_D2mDg-gOXcCkYhe6Q6L_qG1emxf1zClFvjnzUaLbvp5rU4gV6gOGDTP7A5OB_P2wHwqb6HBU9Z5wRvwsI4rEdUkZqqyLMfOJXbaSrHl0k9UN3HlwZg_KwSRVT_DUNQFZ37Hmwt3YEJ-5F4h8_RQj9uRcfMoYQuKGrdmUN3xMdVPP9im_-HtHK-NiZVpBStMk25x7XKHYvPVTUWDRwOcqsbWlaybQNVvaQMS1uDsAR0LKi9Q0Yk0r7r8B3kpU86vAZx0RkCOhB-_PB1r9QYLM7Eu0aLs2bPD1uppjFBy4ncGX6pTwsA7AkikYgvnZ-kgevpkQuPRh1Er8uMBibL45jMqn_VxJF3YI5wRoqQS3OTFAftT5leF9jay1FbcjVSoBkjP7kNBsYbayKATq4_BQDorEVzdZ1l_VU0fYqDqR3lqS1MWGVqx1hfrsu7jOVC8QWf2qwh-Q",
  "id": "rs_046df9010470ece3016ab467d7478c87d0918c13b659e9bf78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.4,\"right_z\":0.29},\"note\":\"The tan animal is now clearly lifted with the gripper. I’m carrying it toward the inner side of the left basket, keeping it above the rim.\"}",
  "call_id": "call_Pz6niqoSjncjsXRafLTVQW2G",
  "id": "fc_046df9010470ece3016ab467ddc4c087d0b5bd46cf99824806",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pz6niqoSjncjsXRafLTVQW2G",
  "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]: [-0.0292, 0.8043, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8608, 2.5538, 2.8197, -1.2018, 0.6235, 0.5114, 0.0389]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1771 left_yaw=-0.0011 left_pitch=-0.0331 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4581 right_y=0.3802 right_z=0.2089 right_yaw=0.0631 right_pitch=-0.1475 right_roll=-0.1072 right_gripper=0.0389\nstate[joint_eff]: [-0.1436, -1.1419, 7.0632, 1.7167, -0.0464, -0.0806, -0.0122, -0.5812, -17.5932, 8.9368, 1.2625, 0.4811, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee73e08bede9e69ea0cc435c195953eafa1cc63b5393c7c2bade82717eb4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99dd2b4d55233f4034ad5febf2fdcae257b4f4a42a3e790c6d5b0778a7817e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f1b5842726bd03cab99df3a228ecac51b90826c49a6a83a810159e842f94fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.237 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 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]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0254, -0.038, 0.9995, 1.0199, 1.7824, 0.9062, 0.0017, 0.7849, 0.6888, 0.0376]\nstate[eef_state]: left_x=0.2932 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0281 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3145 right_y=0.2803 right_z=0.0708 right_yaw=0.0241 right_pitch=-0.0041 right_roll=0.0035 right_gripper=0.0376\nstate[joint_eff]: [-0.1709, -1.265, 7.1863, 1.7314, -0.0562, -0.0659, -0.0122, -0.2803, -8.3897, 6.2427, 1.0232, 0.232, 0.1148, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4068, -0.0254, -0.038, 0.9995, 1.0199, 1.6436, 1.3521, -0.6514, 0.7479, 0.6796, 0.0388]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0285 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3131 right_y=0.287 right_z=0.201 right_yaw=0.0504 right_pitch=-0.0664 right_roll=-0.0446 right_gripper=0.0388\nstate[joint_eff]: [-0.1983, -1.2239, 7.0632, 1.7021, -0.0415, -0.0708, -0.0122, -0.1573, -10.5641, 9.6479, 1.199, 0.4518, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0292, 0.8043, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8608, 2.5538, 2.8197, -1.2018, 0.6235, 0.5114, 0.0389]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1771 left_yaw=-0.0011 left_pitch=-0.0331 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4581 right_y=0.3802 right_z=0.2089 right_yaw=0.0631 right_pitch=-0.1475 right_roll=-0.1072 right_gripper=0.0389\nstate[joint_eff]: [-0.1436, -1.1419, 7.0632, 1.7167, -0.0464, -0.0806, -0.0122, -0.5812, -17.5932, 8.9368, 1.2625, 0.4811, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee73e08bede9e69ea0cc435c195953eafa1cc63b5393c7c2bade82717eb4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99dd2b4d55233f4034ad5febf2fdcae257b4f4a42a3e790c6d5b0778a7817e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f1b5842726bd03cab99df3a228ecac51b90826c49a6a83a810159e842f94fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfj0eZFt-g4w7Qg4IoGHSMkbTqQboGgN6GXk75OBGz_lHNhnZ9_jfC6Vbqm8hSWVqr5C0u5gxLn0dfB39_Q-OW2XRo92aB5dCqfKNMTBV0RRyLHjr-W8o17I1C2mYGRX3jVzC38STtU-RXdMEQLhAUa6-9vcH14i09yvEr3aniTKQV1-YFaIbgyd9xgvLTQOam5Fk5LkQxnDAB2ANnqrahaxbtyXtCankWzboKH3td-oPeaMo6lM6X3MjlPXmxyve7dqePN9EaDTw-fKpH3F0iTxT3obl59fyNbS6z_HEhxlSMXicscuBcb0Xz5g1KLBvmABeiiRnIQQt1q9wGW-bHSsiN0tQ-B3ghkBPgyKz1CCTJChp10LZ9e39_fGq1tDh_dLr1FD5ZMu5JhuhfP4I_uL3-ibEAoR6NX2iMtGOfVsJKYuJ5JW5vs5EqzYJosQlUn-A5oITnClb9IZy-0q9rd7ZTtitjLYlq7psXd_v7_9I6_t6IEPUKscoln7-89fQBTtfTX3Dj9orRQ8KTOdA-WdMgB1kCVMj5uUSBRxY7AEyEfBXwfgH5ClasAFdeLT3eQZHCWFZVodolq636PzVUBM3m9346jxUWohwOQppzyHxEktzQPBnDN4a2Y3HcEUykaHOXxtjVPTpgZYMP9kff-hQrnfq6gqNr5WS9G46CbgUDEGEPhYMqquOsWL0bD8T-P91aagiq5SyU7qOLHA-t7pMreo1IwnWkK5BzeRzVyr-Ik9j__f5TzjR7aZq2bt0WhIMEb-pXzTuBI-BYb0PlaDpvrI_rFAghkuwIOb8OaK4o8_8aIjAH--H1U_-MWrEFeLLbC65MBPsr8_Wo3q7GeOcwGsrh1ydwBTIKj4ehq41JFsqzjY0DArsnacbxTSCaqrjktaiDG3H5gGyxxphV2h4eW-xQezuaeb2hWRofEy31r7o23CcE6kf1VG48iFhacV024zHN738fDm5RO6bdS6csanmZ_HHC008xk_JhLhiQGfFIvziz29kRE6ITIrdROFigV7_D7mDY0Ltt8nsAM3j_WY3QJoIKvE1eT-3r0e-_ySuFPMfeP2PK4wmBR_ThNBkJZ_vsQiffQbPpWDzQxVV9-6qGm-JsL4ofjHCgSkvQGVSHmU0t3gFI-X7fXOL48SDdULIuaPHM0upnnjSKr9r6HpIOBDgGGLq7xbcBsynDnAEi8qzHgi0YZOn3p9lyHwZJzx37bMQxLz_csGW1RQ043xI5BfSt1N_OM67RolxLI1ghsJKSye1FuHGfyNi1hmSFo11XOeQUe9Y-QcjspGm0caUGdLWlmqcV73t6hr7jkgLhNuD4EiGhR3wVzTD3JqwrF76BQRZUNmP-aqbYhVCrjFD-jmoG9mrYRtmg0v9OxPk9hlJfM0Y5lt_ruL-O2ex-mtnCPd4Cf_TTYjp47UbIcmWbDCF_4aKlBx1nq68Rxb_rrlyBhLnpQnK03doIJRb_fYsUGyXfSSrQQIVtJakmKSWBCtiRx1yOvmUjPDpOyqdkyvd1lgu-D2Fn8VBM_",
  "id": "rs_046df9010470ece3016ab467e1473c87d0a1b787470a3af9ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.4,\"right_z\":0.145,\"right_pitch\":0.35},\"note\":\"The animal is over the near-right portion of the left basket, but the arm is reaching its extension limit. I’m tilting forward and lowering gently into the basket before releasing.\"}",
  "call_id": "call_LIlGX7a5341p3WLSGQUBFDGy",
  "id": "fc_046df9010470ece3016ab467e27fb087d09480d86ed160fe90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LIlGX7a5341p3WLSGQUBFDGy",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4072, -0.0254, -0.038, 0.9995, 0.9333, 3.0295, 3.1332, -0.6739, 0.8722, 0.1959, 0.0389]\nstate[eef_state]: left_x=0.2936 left_y=-0.0006 left_z=0.1752 left_yaw=-0.0015 left_pitch=-0.04 left_roll=-0.0071 left_gripper=0.9995 right_x=0.5073 right_y=0.4637 right_z=0.1276 right_yaw=0.1173 right_pitch=0.1985 right_roll=-0.2338 right_gripper=0.0389\nstate[joint_eff]: [-0.0889, -1.812, 7.0222, 1.6972, -0.0611, -0.0464, -0.0122, -1.3744, -16.294, 7.1726, 1.9805, 0.4615, 0.0122, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeb4203a6210facf1b30f226414f3332fc7ff3b10f822092156494a16318aff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f816f774dca02f48188b4c8f93eb153cc7968109eb961820096473135cde32e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6366c25bd8ad8f3965983d7c281a0e0b67bc9ce199f40666e858a763523bf07c",
      "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 8 attempt 0 · /responses · status 200 · 4.845 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 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]: [-0.0296, 0.8005, 0.6167, -0.4065, -0.0257, -0.0376, 0.9995, 1.0199, 1.6989, 1.0168, -0.2298, 0.7658, 0.6849, 0.038]\nstate[eef_state]: left_x=0.2932 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0013 left_pitch=-0.0281 left_roll=-0.0069 left_gripper=0.9995 right_x=0.312 right_y=0.2808 right_z=0.11 right_yaw=0.0376 right_pitch=-0.0371 right_roll=-0.0227 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.1145, 7.0085, 1.7314, -0.0562, -0.0513, -0.0122, -0.0205, -11.2752, 9.1419, 1.3993, 0.525, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0292, 0.8043, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8608, 2.5538, 2.8197, -1.2018, 0.6235, 0.5114, 0.0389]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1771 left_yaw=-0.0011 left_pitch=-0.0331 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4581 right_y=0.3802 right_z=0.2089 right_yaw=0.0631 right_pitch=-0.1475 right_roll=-0.1072 right_gripper=0.0389\nstate[joint_eff]: [-0.1436, -1.1419, 7.0632, 1.7167, -0.0464, -0.0806, -0.0122, -0.5812, -17.5932, 8.9368, 1.2625, 0.4811, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4072, -0.0254, -0.038, 0.9995, 0.9333, 3.0295, 3.1332, -0.6739, 0.8722, 0.1959, 0.0389]\nstate[eef_state]: left_x=0.2936 left_y=-0.0006 left_z=0.1752 left_yaw=-0.0015 left_pitch=-0.04 left_roll=-0.0071 left_gripper=0.9995 right_x=0.5073 right_y=0.4637 right_z=0.1276 right_yaw=0.1173 right_pitch=0.1985 right_roll=-0.2338 right_gripper=0.0389\nstate[joint_eff]: [-0.0889, -1.812, 7.0222, 1.6972, -0.0611, -0.0464, -0.0122, -1.3744, -16.294, 7.1726, 1.9805, 0.4615, 0.0122, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeb4203a6210facf1b30f226414f3332fc7ff3b10f822092156494a16318aff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f816f774dca02f48188b4c8f93eb153cc7968109eb961820096473135cde32e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6366c25bd8ad8f3965983d7c281a0e0b67bc9ce199f40666e858a763523bf07c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfnU0Pz6lqXsr-C3preL1Phhlz0umhRSYzktzzNjlgtO9BqEwb88lrC7QGhZVuUntNDi7NVHLRPh-MeidKcujUo8ga-LwpvqxUJIgtR1Oe-244ZZ-TgfvFCYinG6z6J3lYxnd0peuuypDjC7eWQMyUKUI_QKReoGpYKa_WZ1QE8DSk1eFbQVKoaHOy1v2hil3C4vLi6MDtdlSAOx7buLHKIzqiCn0R2nWzKYblV17WLAt2n6NBr84dAbmgSbU6-HHIKm6S8mIiIdB8GxmYtiYUaOzw-4D4hYKLQVZCYH_FV4xM6QyD6s2q4khJg49egtbXjofTS7nki3UBPQJ754usjt-nYhBq7OSPp4A6Nj22LweZUwoNx454qdirLcF4bQs2fqELYqgky_PaCjZnbiEiQ48vb-nPFjzJ4RgDmP1354fR-L_U6nrUViv5TQ6fH9yPXca_5G4AGmEaUIUWywEKzSFC4Lt8rlOfnMEfv7Cx7iF9I4X9LpSHpvsSJqpJKVZ49uh-z2n00gzGWpPk5Zo9nQdvDk75Annyw0dMSV2Hr277ANY1cAqjxm9ig_ycrnFUbMQH9PTe14qPsLf7tszlg_9-zwvtVkO5MAz77-WDvFc6AupwRcp5jceM_mZ_OrMhy8E_njUl6IuuZERkuntXpPqDiRmpN_Xg2WxcdPAbfOGoK_qIHWgRzqciNHzEBMJsF1pkb6UVaYuA42Qpap8g8G0Z7zYIIIO_Ikg9NwC-G4CrHjzt8hXxwPnFrhOpL_b1DHh8fTWaPkjzXWPvybiWMIXgmSmLzCrOZpUigldHFaNY4Qjg56l4UgqKKkqp7dy8eCaYU9-PGN1HHUd-idbprubEj0PxItKDkmh9jaAniX919eMvRewTIwEjLZWawmnk0gaCdB40abHuqjHO9AALi2n0WTD_YYM7vwVAc0gCmYuK9UDpaHpAuIuz31uVo_1zCMZFdENaKsCd9UGVeNnbWJy5i1z3ZIPallES8VXs_o7Wzjgv8vARU4-zQLvtJE66T34aXegKCME0lgrdM55GcuwrmyQ-ANOZ0FvQxp_d8J8s_NjQHvDm6Qok0VCKieecdnlSz6_sNZLvr0itSiYdq43wxJchvXqMgl_PNpxM38k8ly-x0UoACCVAh073vYjE4Gv6WZwpgRc8kj2d1sw4L71KkE3I0yxJhKkgo03NOSzmmsjwUmVExl6073zDp6u_dLIiHE4B7X1eTxSaZHHLwl3HYQQDMeJemdKcTe0Ocrg8=",
  "id": "rs_046df9010470ece3016ab467e6798487d0bea915b10293a2ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The tan plush is resting against the inside of the left basket. I’m opening the gripper to leave it there.\"}",
  "call_id": "call_Q2h6O8ScUkJJ7AjHGDvOe64u",
  "id": "fc_046df9010470ece3016ab467e6d6d887d0aad2e945fb461627",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q2h6O8ScUkJJ7AjHGDvOe64u",
  "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]: [-0.0296, 0.8108, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8688, 3.0352, 3.1332, -0.6506, 0.8284, 0.1295, 0.9938]\nstate[eef_state]: left_x=0.2937 left_y=-0.0006 left_z=0.1753 left_yaw=-0.0015 left_pitch=-0.0396 left_roll=-0.0071 left_gripper=0.9995 right_x=0.537 right_y=0.4389 right_z=0.1244 right_yaw=0.1196 right_pitch=0.1852 right_roll=-0.267 right_gripper=0.9938\nstate[joint_eff]: [-0.1026, -1.306, 7.0222, 1.6923, -0.0415, -0.0269, -0.0122, -0.4581, -18.4274, 7.2821, 1.2821, 0.0806, 0.1832, -0.2564]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3756b9c502b18de40e163c8c008d7b07d54fcd7974e3348b145c3091fe3845e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0ebf834bfa0ca326113d5e652da62a0bdc5a4f2db8883ecbb8bb7dcd0d6e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ab461d645517e61a07abce625be32415a391a0c10f60bf3dcc710025932981",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 4.754 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8005, 0.6167, -0.4068, -0.0254, -0.038, 0.9995, 1.0199, 1.6436, 1.3521, -0.6514, 0.7479, 0.6796, 0.0388]\nstate[eef_state]: left_x=0.2931 left_y=-0.0006 left_z=0.1785 left_yaw=-0.0015 left_pitch=-0.0285 left_roll=-0.0074 left_gripper=0.9995 right_x=0.3131 right_y=0.287 right_z=0.201 right_yaw=0.0504 right_pitch=-0.0664 right_roll=-0.0446 right_gripper=0.0388\nstate[joint_eff]: [-0.1983, -1.2239, 7.0632, 1.7021, -0.0415, -0.0708, -0.0122, -0.1573, -10.5641, 9.6479, 1.199, 0.4518, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4072, -0.0254, -0.038, 0.9995, 0.9333, 3.0295, 3.1332, -0.6739, 0.8722, 0.1959, 0.0389]\nstate[eef_state]: left_x=0.2936 left_y=-0.0006 left_z=0.1752 left_yaw=-0.0015 left_pitch=-0.04 left_roll=-0.0071 left_gripper=0.9995 right_x=0.5073 right_y=0.4637 right_z=0.1276 right_yaw=0.1173 right_pitch=0.1985 right_roll=-0.2338 right_gripper=0.0389\nstate[joint_eff]: [-0.0889, -1.812, 7.0222, 1.6972, -0.0611, -0.0464, -0.0122, -1.3744, -16.294, 7.1726, 1.9805, 0.4615, 0.0122, 0.7106]\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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8688, 3.0352, 3.1332, -0.6506, 0.8284, 0.1295, 0.9938]\nstate[eef_state]: left_x=0.2937 left_y=-0.0006 left_z=0.1753 left_yaw=-0.0015 left_pitch=-0.0396 left_roll=-0.0071 left_gripper=0.9995 right_x=0.537 right_y=0.4389 right_z=0.1244 right_yaw=0.1196 right_pitch=0.1852 right_roll=-0.267 right_gripper=0.9938\nstate[joint_eff]: [-0.1026, -1.306, 7.0222, 1.6923, -0.0415, -0.0269, -0.0122, -0.4581, -18.4274, 7.2821, 1.2821, 0.0806, 0.1832, -0.2564]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3756b9c502b18de40e163c8c008d7b07d54fcd7974e3348b145c3091fe3845e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0ebf834bfa0ca326113d5e652da62a0bdc5a4f2db8883ecbb8bb7dcd0d6e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ab461d645517e61a07abce625be32415a391a0c10f60bf3dcc710025932981",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGftLANSRWUXlmCau3oW5uYTnRQel7u5VpPopaZfaAt512hMHcDf87lsyrxVb0t5Hke1escU-N4MgdruHMIyoaRvv7EsXUeYSJhMAQ2xT6jaqiZhfetAgx8LMgRPBx9uCkuX2mrwXy4tiOqqY5Zly-GQfnNHtQ6BdXnRphTB3j8zy7A2nVvkRYDbXAO_jpPs1LYHO4nROePN0imBmiCha_xkI96z5C4pw3X5I5bsdrOW_WibfhaS5zggQLyR4CrPXbXknGBNXCuY6mpgL0bPAVRHLS-I6xAKs8SNs3jrpUQ-WO8cmlr5aIyfAAtvZbKH0-s-HP2Q9K_VSu08tafqwruguB6Km3ydr2WKNwjWSdSY2YIV7dFZRQIWaxFyU4J2nh4wS2SnDn34Yb1wdUxObzHw_yMEUHyA8o2EIjfPk1Y_mM9hAkehDFVJyt-NZMCqGa6QN8oTdsGjyg6pCbb8kb_HzmBOcw7Kzj5vmIzuAzqeikNhUAjeObom6C6RUpFii1SUs3qMwjWRHj-uXyi8DFlHgfNTj9e-3SpX1W3m_PFjEEvqG1zjyK90Lv4pd9_guG8E6oCuTzZ-fD14Lz6dyweoIaxX43t4RyT8v5a5SpwgNniVOkiHOLcHiLcL23jhzUB1bG_dJgLE5ruGAYpaZnTyU1AqA6PYknmITYBcnrmsZ05j6RIpimCJP5F-dlougCQI_920RF0Zz_bImqoKV-EjwsvtcCc1tQSBhJTAvOKiZVB3T2BNEjyEW9driuRrr0QPiEOgqg5SnlXKGqBZyfF36-j-4k_M7fvv8L9EDtL8wsaH6DVsu3n2GuAGdkqPa6UPlhZ04h8QctRFq4_qI_HKB3Py3dv5Wljg-hue6D0J7Ft6hiO_IhsUwZRNrJnXbjOGX0vf648zor86aJg5k2hrxdEPtpQeLAZL2g3t93sD4hyG8yUuI_a2Ui5hwKp1huZko_aoTEfZ8PWFegHUN68J_w2RPWAWqfgrHD4VEbBBwHtFgvOV6mpySNhLcHcW5QGK6bQ9Vr7VHc4JbxlNVB35dUE1vdsY9BFyuD5IHsJjhKqZ2RvhimzouA5EWSY0_pDlwHBuhuk1LwIt92bXNTNJehy1FFXouMcGARrJKvf0jXkXGLk39oa4qU5wPU7sGF8jo2eyAOTIudrdntolTTqdZIAnObDnChx5Zok4mr0Kfs96JORQeSmKlpLGa5z5MCMa42JHY8bJynL8P7H_L1DQEH-heqYCgCXKfklK97EX8CcLbDODT2m9oV260tL0phkc2PuHerMc0wlAUFs-64I-AYTJfZ_oA38Cb-TS0XWMXE8fQLsZG71boxsrNGeb0x_jM9OFx4SiZ0Sm4YqB7abCZhdMHCUCtvhtfKm7Ahh9uYxB1lo1gcK1iC5pQIaunv5wczPm53A-3vzbXZgFN0nLmSgQRK9lJYnmt34HURMH1A_3jIRW2Vl21lnAqd7zJmP4bzeqChrIFIHycAKveitxPyxwQ69brEfZad7Qz4K0BHAOFXpEFn-aw_-P_TSQGvNoSyzP5Pi-q_DuIsS8ftm2oodXAK5ygQIUKglWWDZ9hFnSSNuE9gnH4etP5lXSbIED3s4MpEEbuT5n20N3Sp4AZdFGTTjGAOw_8vuhlJdbJmzNoWpFDzai3zrkrvaVyzEqoHij1jfoGHmaIvEEScS_8GapTXB_hAs6fZkXt-0_-u0xGKiSBy3Z68VDKj5nlKfMRAjJ-YpSFcggOsiWgZzcu438Ezu4MD9HfwQ_w0tHfAh-aPhDmHrCY5_pFCgT5vRkTRbdhBeCDSgugC_ovb2D52ahOxjT19xuMkdterzRbZxR-VtkgMcTmo7wsAlOQManlx53mKlZjGZWhZm84AdU6DGpM6ccFBKUKPYkwQOrjZ144qhiuR-ehvKykRT23iTeQpfOkOOFssIc6v5qWseGeA==",
  "id": "rs_046df9010470ece3016ab467e9acc487d090da2c4175bb24b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"left_x\":0.33,\"left_y\":-0.055,\"left_z\":0.105},\"note\":\"The tan toy remains at the left basket as the right hand releases. I’m withdrawing that arm and bringing the left gripper over the gray plush animal.\"}",
  "call_id": "call_nOKjQRcLDXWadcss5u43bQnf",
  "id": "fc_046df9010470ece3016ab467ec0a4887d09815c6414c5392a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nOKjQRcLDXWadcss5u43bQnf",
  "output": [
    {
      "text": "executing move_to over 37 steps (3.7s)",
      "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]: [-0.3054, 1.121, 0.4614, 0.0086, -0.2443, -0.1967, 0.9995, 0.0921, 1.7947, 2.6465, -1.3697, 0.1539, -0.231, 0.9936]\nstate[eef_state]: left_x=0.3266 left_y=-0.0544 left_z=0.1008 left_yaw=-0.0076 left_pitch=-0.0666 left_roll=-0.0022 left_gripper=0.9995 right_x=0.408 right_y=0.0141 right_z=0.4724 right_yaw=0.0823 right_pitch=0.0357 right_roll=-0.2618 right_gripper=0.9936\nstate[joint_eff]: [-0.5949, -3.1385, 6.3658, 1.8486, -0.1538, -0.0708, -0.0171, -0.6769, -10.4137, 5.8872, 2.5617, 0.0415, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7efebe890622dbe147a24fb7d2e3fc50b05afa44c1463c415c3629f4be59b05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8549556373cd413fa4a78e3f4d322ef3e4e7df6b7d95f52b6a174b30af6c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b45c2fd61c475e528a8ce0be877f2846a1251d1962b80ed74fce7ff1e7d3f6c",
      "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 · 5.298 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0292, 0.8043, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8608, 2.5538, 2.8197, -1.2018, 0.6235, 0.5114, 0.0389]\nstate[eef_state]: left_x=0.2933 left_y=-0.0005 left_z=0.1771 left_yaw=-0.0011 left_pitch=-0.0331 left_roll=-0.0072 left_gripper=0.9995 right_x=0.4581 right_y=0.3802 right_z=0.2089 right_yaw=0.0631 right_pitch=-0.1475 right_roll=-0.1072 right_gripper=0.0389\nstate[joint_eff]: [-0.1436, -1.1419, 7.0632, 1.7167, -0.0464, -0.0806, -0.0122, -0.5812, -17.5932, 8.9368, 1.2625, 0.4811, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8688, 3.0352, 3.1332, -0.6506, 0.8284, 0.1295, 0.9938]\nstate[eef_state]: left_x=0.2937 left_y=-0.0006 left_z=0.1753 left_yaw=-0.0015 left_pitch=-0.0396 left_roll=-0.0071 left_gripper=0.9995 right_x=0.537 right_y=0.4389 right_z=0.1244 right_yaw=0.1196 right_pitch=0.1852 right_roll=-0.267 right_gripper=0.9938\nstate[joint_eff]: [-0.1026, -1.306, 7.0222, 1.6923, -0.0415, -0.0269, -0.0122, -0.4581, -18.4274, 7.2821, 1.2821, 0.0806, 0.1832, -0.2564]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3054, 1.121, 0.4614, 0.0086, -0.2443, -0.1967, 0.9995, 0.0921, 1.7947, 2.6465, -1.3697, 0.1539, -0.231, 0.9936]\nstate[eef_state]: left_x=0.3266 left_y=-0.0544 left_z=0.1008 left_yaw=-0.0076 left_pitch=-0.0666 left_roll=-0.0022 left_gripper=0.9995 right_x=0.408 right_y=0.0141 right_z=0.4724 right_yaw=0.0823 right_pitch=0.0357 right_roll=-0.2618 right_gripper=0.9936\nstate[joint_eff]: [-0.5949, -3.1385, 6.3658, 1.8486, -0.1538, -0.0708, -0.0171, -0.6769, -10.4137, 5.8872, 2.5617, 0.0415, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7efebe890622dbe147a24fb7d2e3fc50b05afa44c1463c415c3629f4be59b05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8549556373cd413fa4a78e3f4d322ef3e4e7df6b7d95f52b6a174b30af6c8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b45c2fd61c475e528a8ce0be877f2846a1251d1962b80ed74fce7ff1e7d3f6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGf18_Dwwf6gYh8Y9G2NDZa5iPur3_MaqVazCrdHRqIyd-peyMg0r_r9wThDiS1K_QIaZKyuyVu6XyFZTDRp5RhXZNZxbrdJ_wI9CNgPEJyqX2vKi2MxFbtq17YuXaWKssloUv3jZ27s9oINeM0zc6Acq8xbaeQvEQeRqN3Ht6JVtsR6NG7oD0gdcOVaMdEOJ9F65yuYGxRIpE2DrZ7fguKxraMwpvNR2h8HAHiyyuywmbJwDqfXvqQJktiBOTsglBdDeQjkhTcf2fAreOkglLMQn_6xM6aBXJo5cbYRy-5z1Oxaq3L2yVDMJJXcDsZj0eJH--Gt1pJayRDgK_ly9MW3iMmzXGg6rzqIWEkvplzBJ3cbCjhN2Gee9OGT7fey05DHlRD9IV1x4ehrrqQmb9C_jgg4HthUff2WlSqZTjQCbUuHH5xQMi3YLJ-wgN8gLNeiNTCP60ZJT9_8rA3nDBMYuZtPgLRT1YJknI8qzD-fWOEETR1UZ3j35SseZ4F3MngO1Dd_6UDYk02wukbW8TgjYrQ4OHy4DJApgQRvzka_f1at5KyJhIt0lQTqMGkfDHr1iC16Gem94K-nIyKDJiDJPzNc1V-L3NYfSdBn9jXnCJqAbLgJ9R1Y3KeLQVRAoZI3Nc51bT0Q296QrrFvdEP3d2Rq-OcyJS1xLbTLEf_IMkJ3zRxrItdyRxk1gcBEEkO1GGm74NfL3bmZXOpGR9aFoJOYJtwkXVfIcnxMx21eHX3oBXHPNIAWxYsGvMRCWMTXNJ5yO_vC2jYdnwDxwJbSo0iBZsSM1WxaphT085_Sy3NqhbLMa2smillrZtzj2qXdXrWc_IfG6qD8xcxPnnQKPWPKBwgkUcWtv-KnysATFVLEXExG7FDAQ8D1Cz0MPq-R38Q5HzihMKVLNQOy41iTnK1zmejz0yEGd3-yPVRUJy8TlgMk_2fShwadazkXXhIlE-Yi5jbiYDfzZM5e3kgNPQb4sxVU6BCUn0GICIaHfJ9rUCMnnb6ULJewvTvPb-h8b4-7vm-8oHwQrEWY5f7b-D27su4MFXVed9tsGcG-I6JDeiSq3cghQYJjv9l-SoSCSZBRanmh98rJc_7j-x3ZfW41H4uDwQCVGba1zjB-G4SQzTmPpWpYiVdxo8D6EZO7g3xNN-IoheeFc2qT1mYaolHCDqoxZb7FGNJDetvYfiuQUli8MsLFfsHGu9FcT2rp9YlrnQ3CEZM6I0JHKRybSbAN-IMbdm-uwGEOhxXZzWExpSS2pUtbdB8uZhGy4v_jte9b3ip-0HgCYC3sMwLSHxJr42xIUc1PHhrOoL8bvky6PKGUX_Wsepr7J-6sEjk62N6iIKJ_repLBVM_kJ6ncimmeRILkCpwVCRY2LLFcDZWv_QA5M3ueuhphyWcLJvXHoVkBoZ4ORKx3eszqJGt9hx2Wp4I0KLOyPZQT_BiwZuQVm51Z5iD1dPI3zQYWdnntVsbVvo-peC0AqNA97jfyEM0Ckq0qh3C8C5jI5xqk73nroENobv-qbXzFKRG7HzPELVnsS0a4AI5ezPCWBWMPOcJKvxYdGfOrhBFVOjuzDVYZQelZzlcOMdcXG0AnstId5eyWznYshqfha5ZSdYEE7-0Q8ses6IYAjL0O8C_Q6AhPifjFLbYFw-yzRI2q1OZ",
  "id": "rs_046df9010470ece3016ab467f22d9087d0abf7c9aae01a9e0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.015,\"left_z\":0.03,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"right_roll\":0},\"note\":\"The gray plush sits left of the jaw centre, so I’m shifting sideways and lowering around its body. The right arm is still high after retracting; I’m bringing it back to a clear parked pose.\"}",
  "call_id": "call_CS1rmoNISkiajgUpH2QgtpT5",
  "id": "fc_046df9010470ece3016ab467f41f1887d09442b7741c182e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CS1rmoNISkiajgUpH2QgtpT5",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.3605, 0.2909, 0.5472, -0.1078, -0.062, 0.9995, -0.1001, 0.7948, 0.7532, -0.5411, -0.1268, -0.1291, 0.9936]\nstate[eef_state]: left_x=0.3487 left_y=-0.0151 left_z=0.0617 left_yaw=0.0025 left_pitch=0.0427 left_roll=0.0109 left_gripper=0.9995 right_x=0.2885 right_y=-0.0029 right_z=0.2154 right_yaw=0.0734 right_pitch=-0.0081 right_roll=-0.024 right_gripper=0.9936\nstate[joint_eff]: [0.4034, -1.9761, 2.8239, 1.0037, 0.149, -0.1734, -0.0122, -0.5128, -1.1556, 7.9932, 2.1465, -0.2613, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38608371c16d8d4006057f169c309d8d618a774abaf34b6c6be924f81b7d46f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cb95d80e18ea12fd37b2e58c9f40d2711d4342643719c756ee315885186f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134c50fd17fcea0aab8234776a833f6b41e9808f08e721979d45bfb047073aa2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.653 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4072, -0.0254, -0.038, 0.9995, 0.9333, 3.0295, 3.1332, -0.6739, 0.8722, 0.1959, 0.0389]\nstate[eef_state]: left_x=0.2936 left_y=-0.0006 left_z=0.1752 left_yaw=-0.0015 left_pitch=-0.04 left_roll=-0.0071 left_gripper=0.9995 right_x=0.5073 right_y=0.4637 right_z=0.1276 right_yaw=0.1173 right_pitch=0.1985 right_roll=-0.2338 right_gripper=0.0389\nstate[joint_eff]: [-0.0889, -1.812, 7.0222, 1.6972, -0.0611, -0.0464, -0.0122, -1.3744, -16.294, 7.1726, 1.9805, 0.4615, 0.0122, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3054, 1.121, 0.4614, 0.0086, -0.2443, -0.1967, 0.9995, 0.0921, 1.7947, 2.6465, -1.3697, 0.1539, -0.231, 0.9936]\nstate[eef_state]: left_x=0.3266 left_y=-0.0544 left_z=0.1008 left_yaw=-0.0076 left_pitch=-0.0666 left_roll=-0.0022 left_gripper=0.9995 right_x=0.408 right_y=0.0141 right_z=0.4724 right_yaw=0.0823 right_pitch=0.0357 right_roll=-0.2618 right_gripper=0.9936\nstate[joint_eff]: [-0.5949, -3.1385, 6.3658, 1.8486, -0.1538, -0.0708, -0.0171, -0.6769, -10.4137, 5.8872, 2.5617, 0.0415, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.3605, 0.2909, 0.5472, -0.1078, -0.062, 0.9995, -0.1001, 0.7948, 0.7532, -0.5411, -0.1268, -0.1291, 0.9936]\nstate[eef_state]: left_x=0.3487 left_y=-0.0151 left_z=0.0617 left_yaw=0.0025 left_pitch=0.0427 left_roll=0.0109 left_gripper=0.9995 right_x=0.2885 right_y=-0.0029 right_z=0.2154 right_yaw=0.0734 right_pitch=-0.0081 right_roll=-0.024 right_gripper=0.9936\nstate[joint_eff]: [0.4034, -1.9761, 2.8239, 1.0037, 0.149, -0.1734, -0.0122, -0.5128, -1.1556, 7.9932, 2.1465, -0.2613, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38608371c16d8d4006057f169c309d8d618a774abaf34b6c6be924f81b7d46f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cb95d80e18ea12fd37b2e58c9f40d2711d4342643719c756ee315885186f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134c50fd17fcea0aab8234776a833f6b41e9808f08e721979d45bfb047073aa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGf8rHbcSUP8VLnQVj15bpEFW4xcqvizJECfmdaGYtDLM9TMk_aTh2uJjfOYLWg_YYl_aeflMonL-Phgocj1VBP1OGBA8wy494tWOpTl-wab_iWAQ2mus_fSx4F9Wmjng4H9qsW4N5LLSmRsWWrZXGqx0X8HNV4g5W5QjieV7bPv4W4478E5Ls92Tb8a3ZSBJ2-WaujL6eWULgQwEu--dcYReJRULYrIGHfX7H4k3ShnTVlTK7ivu9yX3sXstEmlQJkH20Sg-7uUVieulpZAavCSjxZiXIM5k5qe4oiLomrlNx7m3TvxFkjnTbkCKI-vajHWOs3iOothMH3rSOLmZdvtN45vQ6KGIf24l6jR_r4W5FP-N-zolOM0pyCusblifjx_ZAjZqSf5bwAlWSh_Zk-97H0-9XjzOg5UGXexwb8GsBTgGFVcuaPquLpbp4nhAMw1ygtV5v1B-QEcpG5vj9zwyjogoS0ZlO0ueGdUaCMy3mgLS6UDG0r4wKEe5kj2mFyvzgu-wkS7_GhnCGQC5T3lmB3EOv3MAqCIBvUDi_Wea7v6ptrko1KhmI1Wp_3fJ8dNcGmHY6oKvRxItGsHE0cKTE8uD6nWKENUhzGX44Jb5k1olwiHadSfoCaXZ8HXyzJjNJDwgr0NHRlNwm64kOjlB1qMsEYknmOcOOHgaNdkZhjtWeIKLFYmKXZa6ALzHMXXmHRFI3isNfkIcYVBnYsRU7RdFqJ3nZRhovGmGwEngkjwT-AmgLjW4xl89Qg4UcixvYLFqayUAx9junmXg7uDqDhRg_cVIpSckENOyd056MD_-zlvcWf3mJEHi3AriIx1bOamdg6KUKuu0_h4TSf72SsYSGas_5rk5jXy79uQaboEzRzUmRCz9RPL3ZHfee1OdWg6H1WI3Qbaz_slYF2hsMOy5geMBQHd9YTSs9ViyFfAaQdx3VQiBRfgcv1hrWtsPdJ5JqffEbi44Ut3GXfBAVX3s5rwYmwzkx7Cs6DMJ5qGUla041R7ImTAbjdx-B23xT8Gl0YzAVC51TzALlDmP2Q8g3FPmvR1st09gvZPpxMXBJ1Gba6FXR9TBNX5DmLR-qCMErJIK-oTx66ci5mEOHYUCJK-tX2BwfL2kcGAajaeQ4S5Z73I2mHdrKY99ER7iT3OJRk9mRIeox-lGLBH-8Yf470ZC4wmyffNx5C3p4mlLnYrqOFT6AiKwGrwQO_qNdl9AuX2vpjO-AOojtA1z-y3Xug3Z939OGbyFuiyLt3hsOc3IZqNtQcvyVZj0NFwU1LAjpYk6gihm6dJgAhqGDb53eSLmfMNTgEwl1qjP51Cc3CfEr21yvwnlz3heyrJSU_ieCKy3Y5pH0-kembWb7YvbXQiZhigwSFkrSexNvywF5XP9JOPAYIpTZWbEl8ysbCA6reAs6ziAfUtgDqt7rPuoCnykVopTUPpE3DbudcCyVDxcrRB0x4ArnY6H75AQRTFS3QYUxOtetDyTkZupmgkJPmN87lzwbiQ_PV6ziuJvopm4aASQlT-TMsp8kY6h3rMlXotBr8uZ2OyxZup_Icy4OFeOA0e4bz-cNFYeB4YbWAcJcj60oK4fkCnl03mXnrK6EL0Pi0MQ04mOSGkKuZFO9ahg5ZDvIzrjlpZYQWJ3uW42WwhRVmYIIShrrB_54IfK0bj9EjITn2LM6gyPADwUpIDxyx6_sXFh7oBwTp4Y-HBuVSjHrVu2rcwpkK-WNDE8jUCbR9XkwYV-GhH45ZKwLyHxk97LfWWv19IKR_tZs-A-5tMuV-FbcdEPOEVO6XeIBBw8c12pW7EyGxGrw==",
  "id": "rs_046df9010470ece3016ab467f88c2487d094d7d3010243a0ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.02,\"left_z\":0.025},\"note\":\"The gray animal’s body is still left of the closing line. I’m moving a little farther left so both fingers can surround the plush rather than pinch its edge.\"}",
  "call_id": "call_cpu6cmX3F4fEYwPVWYyAx6O2",
  "id": "fc_046df9010470ece3016ab467fb28ec87d0a996a51f2cad664a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cpu6cmX3F4fEYwPVWYyAx6O2",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0479, 1.5509, 0.2665, 0.878, -0.0063, 0.0265, 0.9995, -0.1043, 0.7975, 0.7265, -0.5392, -0.1394, -0.1329, 0.9936]\nstate[eef_state]: left_x=0.3677 left_y=0.0223 left_z=0.0605 left_yaw=0.0252 left_pitch=0.1548 left_roll=0.0397 left_gripper=0.9995 right_x=0.2865 right_y=-0.0017 right_z=0.2032 right_yaw=0.0819 right_pitch=-0.0339 right_roll=-0.0153 right_gripper=0.9936\nstate[joint_eff]: [0.3487, -2.8786, 1.8393, 0.442, 0.149, -0.3883, -0.0122, 0.1299, -1.2239, 9.0325, 1.7118, 0.0464, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c7666942eea77ce52e456141111306a1151a0de0e949102056d4220eb6d258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7280df47581d497a762f87240b83ce8528f5a618f89ba395f396b817b3e2a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db09dbb51a6aac16cfa244c972fca795bb0608a186a0d84530380bf891440a80",
      "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 · 2.901 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0296, 0.8108, 0.6159, -0.4068, -0.0254, -0.038, 0.9995, 0.8688, 3.0352, 3.1332, -0.6506, 0.8284, 0.1295, 0.9938]\nstate[eef_state]: left_x=0.2937 left_y=-0.0006 left_z=0.1753 left_yaw=-0.0015 left_pitch=-0.0396 left_roll=-0.0071 left_gripper=0.9995 right_x=0.537 right_y=0.4389 right_z=0.1244 right_yaw=0.1196 right_pitch=0.1852 right_roll=-0.267 right_gripper=0.9938\nstate[joint_eff]: [-0.1026, -1.306, 7.0222, 1.6923, -0.0415, -0.0269, -0.0122, -0.4581, -18.4274, 7.2821, 1.2821, 0.0806, 0.1832, -0.2564]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.3605, 0.2909, 0.5472, -0.1078, -0.062, 0.9995, -0.1001, 0.7948, 0.7532, -0.5411, -0.1268, -0.1291, 0.9936]\nstate[eef_state]: left_x=0.3487 left_y=-0.0151 left_z=0.0617 left_yaw=0.0025 left_pitch=0.0427 left_roll=0.0109 left_gripper=0.9995 right_x=0.2885 right_y=-0.0029 right_z=0.2154 right_yaw=0.0734 right_pitch=-0.0081 right_roll=-0.024 right_gripper=0.9936\nstate[joint_eff]: [0.4034, -1.9761, 2.8239, 1.0037, 0.149, -0.1734, -0.0122, -0.5128, -1.1556, 7.9932, 2.1465, -0.2613, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0479, 1.5509, 0.2665, 0.878, -0.0063, 0.0265, 0.9995, -0.1043, 0.7975, 0.7265, -0.5392, -0.1394, -0.1329, 0.9936]\nstate[eef_state]: left_x=0.3677 left_y=0.0223 left_z=0.0605 left_yaw=0.0252 left_pitch=0.1548 left_roll=0.0397 left_gripper=0.9995 right_x=0.2865 right_y=-0.0017 right_z=0.2032 right_yaw=0.0819 right_pitch=-0.0339 right_roll=-0.0153 right_gripper=0.9936\nstate[joint_eff]: [0.3487, -2.8786, 1.8393, 0.442, 0.149, -0.3883, -0.0122, 0.1299, -1.2239, 9.0325, 1.7118, 0.0464, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01c7666942eea77ce52e456141111306a1151a0de0e949102056d4220eb6d258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7280df47581d497a762f87240b83ce8528f5a618f89ba395f396b817b3e2a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db09dbb51a6aac16cfa244c972fca795bb0608a186a0d84530380bf891440a80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGf_ulZRmcbZHm2f0WKcEkAfUObo5NHPEYiRuLvgpcMm_xUnOwRVCfTvqcll1U8dNrjp8SJHyp5zDRFvBsPcs0shcDZ60xw7tDXrE1SBEfj-cAHctZsYe6kVLbUXpJHuqL-_JppF7077KFL3atcsBuOrcA7RQfsU5UfwgpE2x3vcFQazw6CPsb_vHweemmZp7mIPB6jiILtXuIPiZZ6j-i4AxeuzGeLCY2UqHIO7pLV89OIOtcUBXLPvHnmNd2Ljtcp7VL6See0XrU9cR3RMf668eocMeN2UtM-yJikmV-_AY3SvBDDyApGrcUGagsyu7GTrY-E31nZu-P3PQlzxEqcUCJ4Vxd5Ar503DchLZyljzEujMyOUrmtcYhyFlovhr3LhWsqWB_sxrSga9VCuSAmJ4XqNHBFhEB9D0y5AH-O5uPTQ5-e6NbZhrsU74JuzwWDuGr0ZC0PanCjiTJr-Y1F1FaOOy2AOL0maiZCeHESNc6Jrt6F3B3kk8r4sRasVaHCtcjpuAGSUSyMlhGFFY_rnKB-0nCKJuB3-LNjxcFfzJ7NNsTMt47QPvn2cUkctCSc8ivay8DotqCP7QZpQyS_9erNfGHl3RGlhvn161fjBoF1fkb52XalpMT8Pf5a3xY0nJAsJAW6Ui-G3bqMoCPKPUiItoSe8yqKDGxhMvCJVoBQBGJt44nRovU-QUQTYA8b9FY7Q9aGcGj0_KkTbxfIqy7tz2wDwBchbB2xwn7Qdox0Y5SLKLUYKzPpUWA4lh4nw7XHHQPFQRvwVoaSKTYSrvRzg53Hga8s8ZFQLT8oH8Pn5JXQBpoasUhv5zcmlJQfYCesK7v87rMVVl1Fe26udocX7f-QiSgOvNdDcBfZK_c4y7qs7DhT98LRyHfRRwh_FMzDqmIwQaU-VekvbZZ231F8udFmD0KCHJqiz9EMaw_SKsjpjYFt1V9nxWyzZR9ctO54KkNplEGRC5oTCGv8XsoWHdiQLxJAc6evvXUDqzy4LIPXWyD6eeARRvLmLPunF6EDqkQsSjb8Ue9Cei35y6XiaQK6aCZ1STEyO1pmeTnc9PYRrEzDpZxcrf5KM5Y9QRcy5wKJwXwwUXsZl9vr-M21WLUUfyebGTo8ogX0ZiP9zCsDgW6zTr5lKcr4GmtVqefCg5J-DDdlNOAW1V1FJDfj1KijnKPN-NBthXEMnmuUdfZ3ejHcFKU_9Ur2dMIyd7fmjN_5utWoItzAP2nJ8Gde6J0DQLQcjVqCdcWcKcn5FddrP9y15AH8Cc24k1U68",
  "id": "rs_046df9010470ece3016ab467fe428487d0bc2c1f7289f49157",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingers are now positioned around the gray plush. I’m closing gently through the soft body to establish a grasp.\"}",
  "call_id": "call_z68Lzmm0PPtbsw89d8nQ2L9r",
  "id": "fc_046df9010470ece3016ab467febf9c87d0b6c83849c4a18577",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z68Lzmm0PPtbsw89d8nQ2L9r",
  "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]: [0.0669, 1.5787, 0.2481, 0.934, 0.0311, 0.0303, 0.01, -0.1051, 0.7982, 0.7261, -0.5404, -0.1364, -0.1341, 0.9936]\nstate[eef_state]: left_x=0.3657 left_y=0.0226 left_z=0.0572 left_yaw=0.0101 left_pitch=0.1652 left_roll=0.0289 left_gripper=0.01 right_x=0.2864 right_y=-0.0025 right_z=0.2025 right_yaw=0.0792 right_pitch=-0.0365 right_roll=-0.0175 right_gripper=0.9936\nstate[joint_eff]: [0.253, -2.7692, 2.8923, 1.3309, 0.1294, -0.0708, 0.735, -0.1162, -1.2103, 7.0632, 1.7314, -0.1197, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb81a17b520d0329729d9665582bbeb4bfefb35f55781fb5dfcf3d9a8afe6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3c4b997228e0d998472d67aa4249e8570eb7f923de3dccfed3b83b97a9b7c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7df9d002f84b8c472bd07a829f02d6eadfd5c5c3085e3f4c48c63e0e3c0f11f",
      "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 · 3.612 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3054, 1.121, 0.4614, 0.0086, -0.2443, -0.1967, 0.9995, 0.0921, 1.7947, 2.6465, -1.3697, 0.1539, -0.231, 0.9936]\nstate[eef_state]: left_x=0.3266 left_y=-0.0544 left_z=0.1008 left_yaw=-0.0076 left_pitch=-0.0666 left_roll=-0.0022 left_gripper=0.9995 right_x=0.408 right_y=0.0141 right_z=0.4724 right_yaw=0.0823 right_pitch=0.0357 right_roll=-0.2618 right_gripper=0.9936\nstate[joint_eff]: [-0.5949, -3.1385, 6.3658, 1.8486, -0.1538, -0.0708, -0.0171, -0.6769, -10.4137, 5.8872, 2.5617, 0.0415, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0479, 1.5509, 0.2665, 0.878, -0.0063, 0.0265, 0.9995, -0.1043, 0.7975, 0.7265, -0.5392, -0.1394, -0.1329, 0.9936]\nstate[eef_state]: left_x=0.3677 left_y=0.0223 left_z=0.0605 left_yaw=0.0252 left_pitch=0.1548 left_roll=0.0397 left_gripper=0.9995 right_x=0.2865 right_y=-0.0017 right_z=0.2032 right_yaw=0.0819 right_pitch=-0.0339 right_roll=-0.0153 right_gripper=0.9936\nstate[joint_eff]: [0.3487, -2.8786, 1.8393, 0.442, 0.149, -0.3883, -0.0122, 0.1299, -1.2239, 9.0325, 1.7118, 0.0464, 0.022, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0669, 1.5787, 0.2481, 0.934, 0.0311, 0.0303, 0.01, -0.1051, 0.7982, 0.7261, -0.5404, -0.1364, -0.1341, 0.9936]\nstate[eef_state]: left_x=0.3657 left_y=0.0226 left_z=0.0572 left_yaw=0.0101 left_pitch=0.1652 left_roll=0.0289 left_gripper=0.01 right_x=0.2864 right_y=-0.0025 right_z=0.2025 right_yaw=0.0792 right_pitch=-0.0365 right_roll=-0.0175 right_gripper=0.9936\nstate[joint_eff]: [0.253, -2.7692, 2.8923, 1.3309, 0.1294, -0.0708, 0.735, -0.1162, -1.2103, 7.0632, 1.7314, -0.1197, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb81a17b520d0329729d9665582bbeb4bfefb35f55781fb5dfcf3d9a8afe6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3c4b997228e0d998472d67aa4249e8570eb7f923de3dccfed3b83b97a9b7c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7df9d002f84b8c472bd07a829f02d6eadfd5c5c3085e3f4c48c63e0e3c0f11f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgD3DrK5jkUqyS06V4z-Gc_ihPjH37Ilsd72Ly3tAFiuCdCMYpvOA5fXX7NwTap0wlLPtColgenTrZHklHbv32TBMr3FiyxXtmKStFBnrmdLGlrnpNsePJw6Yu5Vfo48fM2azAsNwdQTvNPTIx0G-Wi7iLZdmGf6YMSitKoBSyvHggTwa1Dp0tgqTapJ7nv9O3n6iNnHR5nl4AafPbNOlDsaeve0ChMslz4jHCm7Xtwo9UX1b0hJt1xf_vLNqBn3wxeCpAEUAnV7wO6UITUSnN0dCkgT5tHlhq1lrtenUPDYsJ5JAFn_Px4y8XwvQQ4SRRwr6xUZd2aNiP-ae7pCckM6BgzZ5GUNw_EXX86YBjPVmYwxPfyRJpmNlDw99OJDdtHCRWhFn2tSFCr3qWNN2LaY9yb3uBihZb1YplwyifHsVJ768rB5sHktDMngBB7RZslTaYLBt3scz9so9QLtDFKi8Y4n4EDS9h0eCcOg0Ufw1W5zOM1q3nRdsNG1aefVaImctHPXDDwfOpB9d7KYCptGSVQvCHBQ05U1xrk0A_-ep2H_AFUhBFMVI_ObWCGbsOz7ji-tK98jfx1hNz3IdQRS1jZMNdLlNXqTolcKqoMqUrl7DPS3v7ccLgldj0SFG3xko1ae2C1kJUlUsLBzJ75VRry_m5D2CGTOZAquJ2fernJ0L8DKLMXytugb0-ec_bKsv2o90vLYPFCVuPSLJPtgOBsBoOYCSXXd8vnrH1DFeJOnfsG-4YhtichdVsC-qK_wZjv6ZVxgYsgZLzAjnLRHncjDkxCs85QDUNTQc2Pbz-iR8H0COr4-N73cZXE__9UE3lFdehYhqF0zbbj7L5jNoEdxsw9BR1t9IjyFLkpUN7W6IggMAF_t3PncpdRZQklZms4va7b7VqblO7SeNe_3sVFFIQaFCvyixiLyHXKClwcIBkhJwZ4-u41pbay2hlfHs4aaBz2bvI1RCF_RaF2014ECv75RxVeykLihyRJBl2YGrjjzS2_1nrh1wUJo5DDP_qRvx9aSS2mbrsXwlV9alfEezc9CxBHuZVQ2ciH2Ym3JyQYiE_lct4xHrWrcoWxFCeUrZzixF948h1QxVAZiQxUzFO6BBU7eDVxVXewEXKfzzDgrrcVcgMWMjueNZCn0u8eknCSDcWSvm8_cW0FTkp6P73iRz8HOvalZUUaZ_Etwwohwr34yb2yvIIeTmRTqqIlvYtmi2RAqCkC4x0IyQooA1UsWQ9BLe02Q8IYzFK719UWr70GRHS1a0aralkkILxziFiu4Pdi8NvbKcSf5Q==",
  "id": "rs_046df9010470ece3016ab46801c7b087d0a755ac5cf9b72b2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_x\":0.35},\"note\":\"The jaws closed very narrowly, so I need to verify whether they caught the gray plush. I’m lifting straight up before attempting transport.\"}",
  "call_id": "call_FUpk61VX2NZhJM8igE4QFIY4",
  "id": "fc_046df9010470ece3016ab46802734087d08a2e462de948e8fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FUpk61VX2NZhJM8igE4QFIY4",
  "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]: [0.0673, 1.0657, 0.408, 0.2867, 0.0269, 0.0265, 0.0114, -0.1051, 0.8024, 0.7261, -0.5407, -0.136, -0.1341, 0.9935]\nstate[eef_state]: left_x=0.3522 left_y=0.0226 left_z=0.1515 left_yaw=0.0159 left_pitch=0.1907 left_roll=0.0283 left_gripper=0.0114 right_x=0.2867 right_y=-0.0026 right_z=0.2013 right_yaw=0.0789 right_pitch=-0.041 right_roll=-0.0169 right_gripper=0.9935\nstate[joint_eff]: [0.4308, -3.7949, 9.4974, 1.9658, 0.0415, 0.0366, 0.3687, -0.2393, -1.1692, 7.1043, 1.6679, -0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b1c4cdf6d3fd33f35bf53c9f9eab61502e7309f9366f6a4a61de6be2677c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1943b4b080ceba225e5c1cbb6994ee7ca6644dc3a4c9bc34fb34e8bdffb3ece8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9d144a192d474889b90487bc95970aa46cd26d967bbd33470f46faecdad6f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.882 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1081, 1.3605, 0.2909, 0.5472, -0.1078, -0.062, 0.9995, -0.1001, 0.7948, 0.7532, -0.5411, -0.1268, -0.1291, 0.9936]\nstate[eef_state]: left_x=0.3487 left_y=-0.0151 left_z=0.0617 left_yaw=0.0025 left_pitch=0.0427 left_roll=0.0109 left_gripper=0.9995 right_x=0.2885 right_y=-0.0029 right_z=0.2154 right_yaw=0.0734 right_pitch=-0.0081 right_roll=-0.024 right_gripper=0.9936\nstate[joint_eff]: [0.4034, -1.9761, 2.8239, 1.0037, 0.149, -0.1734, -0.0122, -0.5128, -1.1556, 7.9932, 2.1465, -0.2613, 0.1294, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0669, 1.5787, 0.2481, 0.934, 0.0311, 0.0303, 0.01, -0.1051, 0.7982, 0.7261, -0.5404, -0.1364, -0.1341, 0.9936]\nstate[eef_state]: left_x=0.3657 left_y=0.0226 left_z=0.0572 left_yaw=0.0101 left_pitch=0.1652 left_roll=0.0289 left_gripper=0.01 right_x=0.2864 right_y=-0.0025 right_z=0.2025 right_yaw=0.0792 right_pitch=-0.0365 right_roll=-0.0175 right_gripper=0.9936\nstate[joint_eff]: [0.253, -2.7692, 2.8923, 1.3309, 0.1294, -0.0708, 0.735, -0.1162, -1.2103, 7.0632, 1.7314, -0.1197, -0.0269, -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 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]: [0.0673, 1.0657, 0.408, 0.2867, 0.0269, 0.0265, 0.0114, -0.1051, 0.8024, 0.7261, -0.5407, -0.136, -0.1341, 0.9935]\nstate[eef_state]: left_x=0.3522 left_y=0.0226 left_z=0.1515 left_yaw=0.0159 left_pitch=0.1907 left_roll=0.0283 left_gripper=0.0114 right_x=0.2867 right_y=-0.0026 right_z=0.2013 right_yaw=0.0789 right_pitch=-0.041 right_roll=-0.0169 right_gripper=0.9935\nstate[joint_eff]: [0.4308, -3.7949, 9.4974, 1.9658, 0.0415, 0.0366, 0.3687, -0.2393, -1.1692, 7.1043, 1.6679, -0.1245, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b1c4cdf6d3fd33f35bf53c9f9eab61502e7309f9366f6a4a61de6be2677c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1943b4b080ceba225e5c1cbb6994ee7ca6644dc3a4c9bc34fb34e8bdffb3ece8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9d144a192d474889b90487bc95970aa46cd26d967bbd33470f46faecdad6f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgHLe5WV2GTRCshH6Z94iabIm67COKam34Kvpl3BlT1IyvUwasbIWW0g7mGnkvEojswdkooTL0dAyuIQOdlpylKAj-4p9BvJ1MUDRZe_K5PsSt-5Rv2dy5oL3QV4YuIUEVakYbmpJ3c6OCYFHIfR5ZhQQTYcr53o337YtCZPeCyftZYsjCh5x4VGT2RZiTk8UA-NET4G0dQa8J9lT_6ca2pmuxwgJTdvcs3v7MGmlTQqAVeWJNBm3QM7X30ENqWhtrnDhhMggXYMEtrRJOVhD0Y3iis1_Yw7kxvHokaBFlIIFeTiTXGRhO232o92StRAvgjD__Utox8BR6amRglN3Ie3Nm6XpCzwiFi_6eFU3dpSxTLm465-uPDXMIAD6_3fsYkGubk_dwAjfs4h9ti5WNd9MdcaF0-vi61JPaguNVP411-fZTTk98vTKY__8NunWxZwpw00sALCjQe5kSziJ26aPxhDMta5IOS5l4thziZFXHXns-q2JBIXp_hsqfRQJ3cD7r1JMxlAHuWFZX58LY5KwmFJajKNHlxWW74Wo73UFdl4V23DCit2uyALZ1E7OkyP3NcOWlmzfStjWnAgQ7SZh26W5w47WHz1NHqheTRBG-2I2egSlPVI2JrkBVlf3H8qu0S7VQAFfhGKqXKWwUDHIQb8fCRa9IaKRP-jYUetipI1kPUTQskdMLdkj1Ztvr1U9eJtrNm3fnArVn5T1JjH7sm4ajzsiS22mpcDqXvbzBY4uFAGAYYB7qEvwAkAEpyZWP7tGcJCHlA6ZUbpRvSQZDYsUhGLhuScqOP0-ZB4BuxIke60W5tuAqUSoBSnHyo0ZwbXVleTPTfqTlOvpfhgBP0HpgQnn_TkWzmQwBc_a5SVq4RXC5y_wWHaI_rauwxYmvVBg2FrGAvTUH5K96GpO6YqhXLaETlFpHC3P_QgcslLiqBdgu68sJ7BephX31pp-j18jrpYC1fwYyIofUBrtGKZlXvkpGmI96_LE3Rxj-c_MA-uGc4CTTc3H5IOlQJpAIyMzLaUrLkix48sbJmvZBR5YyWGrHBIsfHhSg6aF04i39NtEUoJ35zB1dZmuGb1p3ghmFBslSJjpeZtOUPjjFGZGnnTDFG_4BXB-8i9VEyE8-xgV_VqupZfXmZVGwK8r-BoIXxxttgxUlrlLwMnuFRmDNcYx9SD4lu8Skp2fhkbLCd4A0ZqDqAtBbQmqK-O3pKVgJXSQn1_xK9MX51f6lP0HD7gg2j3uF0yOZYU8wH0jCrv5Bqjdz-VtB2RnZ_E6rvelSebGEWvEeZWkO41Mcw0If7YWeAHb-WNY66G_gl9pTz_AQx4byWqwNwxZbWDJlCGpgED8YZ99H5x_W3AbFCtSm0az1YyrmFTxED4R9_0NzmOtEMIyl4y5KmqNATkgn0XFCFqb-6REadNEnuQN-lu7xpCWnd47LUWJPhKppD-MoybSh-jIKstEfV1Qmgr3sAlT9PkPYqLF1On_-mvQ==",
  "id": "rs_046df9010470ece3016ab4680596e087d0b87a37e4fe6201e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.15,\"left_z\":0.25,\"left_pitch\":0.1},\"note\":\"The gray plush has risen with the left hand, confirming a fabric grip. I’m carrying it above the left basket with the tan animal.\"}",
  "call_id": "call_37Wh7xA8GjVQbzmOsypRY8Os",
  "id": "fc_046df9010470ece3016ab46806a08087d0a84a5a6a00bc85a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_37Wh7xA8GjVQbzmOsypRY8Os",
  "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]: [-0.4522, 1.652, 1.317, -0.2043, -0.4347, -0.2344, 0.0122, -0.1051, 0.8078, 0.7254, -0.5415, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4751 left_y=-0.1441 left_z=0.2332 left_yaw=0.0234 left_pitch=0.0772 left_roll=0.0225 left_gripper=0.0122 right_x=0.287 right_y=-0.0026 right_z=0.1994 right_yaw=0.0792 right_pitch=-0.0478 right_roll=-0.0159 right_gripper=0.9936\nstate[joint_eff]: [-0.4718, -8.6496, 9.5111, 1.6435, -0.1783, 0.1343, 0.4078, -0.212, -1.5932, 6.9538, 1.6532, -0.1245, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ffc951ff6e127f45f4121913146a00a9f65ec68c06a6b63bb58ebbf70ca10d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3d1e2965b7faf7638f5952f9c2a317edfb1d0ec4c9e67c538ee20b8d7375b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0161cb7d1988f2de18faab6532431828be1a78c56a050968e76a9465529b084e",
      "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 · 9.651 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0479, 1.5509, 0.2665, 0.878, -0.0063, 0.0265, 0.9995, -0.1043, 0.7975, 0.7265, -0.5392, -0.1394, -0.1329, 0.9936]\nstate[eef_state]: left_x=0.3677 left_y=0.0223 left_z=0.0605 left_yaw=0.0252 left_pitch=0.1548 left_roll=0.0397 left_gripper=0.9995 right_x=0.2865 right_y=-0.0017 right_z=0.2032 right_yaw=0.0819 right_pitch=-0.0339 right_roll=-0.0153 right_gripper=0.9936\nstate[joint_eff]: [0.3487, -2.8786, 1.8393, 0.442, 0.149, -0.3883, -0.0122, 0.1299, -1.2239, 9.0325, 1.7118, 0.0464, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0673, 1.0657, 0.408, 0.2867, 0.0269, 0.0265, 0.0114, -0.1051, 0.8024, 0.7261, -0.5407, -0.136, -0.1341, 0.9935]\nstate[eef_state]: left_x=0.3522 left_y=0.0226 left_z=0.1515 left_yaw=0.0159 left_pitch=0.1907 left_roll=0.0283 left_gripper=0.0114 right_x=0.2867 right_y=-0.0026 right_z=0.2013 right_yaw=0.0789 right_pitch=-0.041 right_roll=-0.0169 right_gripper=0.9935\nstate[joint_eff]: [0.4308, -3.7949, 9.4974, 1.9658, 0.0415, 0.0366, 0.3687, -0.2393, -1.1692, 7.1043, 1.6679, -0.1245, -0.0562, -0.0171]",
      "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]: [-0.4522, 1.652, 1.317, -0.2043, -0.4347, -0.2344, 0.0122, -0.1051, 0.8078, 0.7254, -0.5415, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4751 left_y=-0.1441 left_z=0.2332 left_yaw=0.0234 left_pitch=0.0772 left_roll=0.0225 left_gripper=0.0122 right_x=0.287 right_y=-0.0026 right_z=0.1994 right_yaw=0.0792 right_pitch=-0.0478 right_roll=-0.0159 right_gripper=0.9936\nstate[joint_eff]: [-0.4718, -8.6496, 9.5111, 1.6435, -0.1783, 0.1343, 0.4078, -0.212, -1.5932, 6.9538, 1.6532, -0.1245, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ffc951ff6e127f45f4121913146a00a9f65ec68c06a6b63bb58ebbf70ca10d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3d1e2965b7faf7638f5952f9c2a317edfb1d0ec4c9e67c538ee20b8d7375b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0161cb7d1988f2de18faab6532431828be1a78c56a050968e76a9465529b084e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgQ8Rh0THK0_12aqy4ZHy8PovspyEhib2ltg2ueKuTnMYlzI0jNZnP6hMPfLakQ1kjC325WpxN_EyM0kjVZuxi9T4fxHNclqWxZlsbckyUEvD8-iIZlu66uVcVTVjBvrewE18knNuRjm4bWQL3Put4WfWm5fJyA4yZQGdUz92dlcWUEJfebQ6rETw4SxGQdY_Tgiq8sKvGVYQB5Pq6rY-zVf_0IXN-pibwHXUzoV2ZzEBrKGCrcA5hP5ODZUdv5WuQ7ytkx9KdCaZ_x5pQqy3p9m0SbCn9vH-Ub_RWbD1_wh_MngkmMYXrVELRs7bJ-ukwrmwnJO1oUZj7ODdVQCMw0LOH4jpliaOS1KKEjNSiMd5T-AlmYijKlZvtRUPJ_EE5on4w3ZRAhPrQb_G22givhccp2iR5hkQ672BYEked1_EAfFrIORrpZOW-sGGqOXQeSrG2Kw3lObvejBNOMH3nyQRrjRl-MnLolRFvZVIt0wKSjba3LHOU0j9k6l2Yqie_BEvQcuxzz7ZovfTYMHTAi8-B62u7FqHsx_aEsuFHcJfOkCGbB6PcHBWocT8cnHvZ0LmPPCMEVk0wyC0gxrZTyw0ym7NqqUGP6rfqY5WKzmBtYAVv47fmTN3AoelVtNEN4A_DIxOVNru6QMVisHo3a5FeBNntDsqXPhpZhfy39c-1HQ-94R1p5g9xrWLpmNBUvN-nFbqClnLwPJ5VvwaUQVKMenCoSs00pwLqov58IjthQ2kR1ste-fcDwrNgV1h8cb14VZnMVGKog2cqWfX1XYP7BTrCiGxaJHvua8Qmyup3Du2PkZ6BJPGK8a69hzBFKmw8rJcs1i6wV05SAaIoR6t02_3eNTxiKxzruyOvpRuu-4PxAJI3Fzk8FmPO2Yfy1pHnfSaihTkPt0icadLElWumiFcMLIBXycIilfnO4_zcZCOMNETVy8DzNaETss7vOC3BMDjKRZuxNGioPrLKt3RcUcd4-FbwXHdzqocQaJ_LkFG7BDriBoQOjTlbWsnvvLXF83-5fzOoM0sQMmiv0Z7ohRkXBIncjOHsD3DsmDjNaZWi91xpvDoAgCwy5Xm-QHCk3Hn-nUtDrkjQ1mZmdZplShAqBZtcRj1msYV6hzhIJw5HukccDp8oq3TiEXN0DobARX97c8APm3n2-MYO3eDGfgsUwEP7TJ_A4e-LKnwrgj1fFGJJCTry9NEoK_7RUB4F4Spn-_S2QeVHuifX9PKe7H5Y03qebpeJj_Li1kn7L8bmB41smtUFAwee6NH92TMPSiXE2MhsQIpLBqh_IpFdIZg6xRYv2RRHeZjnE4hrjG9clMG620FrI5vMJypd21S4xwsWkR2GJ_eUmLMRc7m_o2kz5-sW81ElzcyS1Dp4_1ykNOws1Bf1b1OQr5ftDBD5RcU3gVqD4Wv0z87oq08YzYrj9__0yODSMxEMTbuFTaZgt0wZpm-oeu9EQwdrWDs9Lt-CuEIKjwtZe0EKjj82IWp3_p03A2F1nPJmFUbnX4OhWJj2D01ioc7l43_NJEU1oUZ1Rz8D4z1l-yi-YKxJvP8gDSvAJalaY9i-90w5m5S_JBlNsqyE9MHvfRZ3nDKKKpEoWfcnbKweaRYHbZwhmBdS1QHDjVLn4U4bqpm2Qisv_RtelMAR9w49okuhsweM7kXBwyHnUUb3m9ziXa51cMgtoRkspJTpmnF9PUtgPHwwqcr_KoFF6FToFxEjBnRRFALAFP6ntiQ3RAGi0o7dUOZsACRKstwnuA5fgqis2qeYdhXHfchOKtg_pjk5ixHc-4UkLnjpLNAoKMZs2c8yImfCGLVLqTObfPpZR0SgvlHcSAHocE2p2t_9SY-kVpPrBmiwMKzJOi6_yhX8iYU716QXf1f5h_GlX3bUxHts09_Eao96isevc-b6FBaiE4kn-BXcj9ncNgyvrH65uX2JVGnWFFZHwBZ-7-CpECKLuCKDINWRxFvcU3MbqTvvSFMOQBYXlXGDun2kzjKt1mDIyw4Rs7XvWdp0TXIimgC307VOItXw1iYxYDbD2RXAprXzRESVwEsu8hqPMMvM79H0N1t3nE_8ZPNhTPnb27CD8u_hXHtMRdJYeiT9QdHMTVnXmrtR6RLHNeoZFU9n-6zkRB25aBY8alUESfArWz3VAsKqYVOIrS65sJOt-EhHAGlI2ELfn9zEoIM3kw1cuHyRJGyTQD5LtHwCKzULYTj5glyNclmc4WiYdHhCtDA8KhDc91LlgLijR69ca38LzFH-Blm0ebNtIy_MFW-PxMFq4aeWqerjOvMbtaKlc9UqtulQqGNwOAlqxvfSEiGRgzYunpledFxPTKQgpTFR-o_VjzlmT66sNOtbu44B_rnPm85xK-wALhKDp23mqm2TkXhrjXmoAsKY0gmuvK4ezBESFylyOeHAQTcdvjYlI2Etq",
  "id": "rs_046df9010470ece3016ab4680a9f4887d08b1481320bcb3e70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.035,\"left_z\":0.14,\"left_gripper\":1,\"left_pitch\":0},\"note\":\"The gray toy is still visible near the left edge rather than in the basket, so that narrow grip did not hold. I’m returning with open jaws for one better-centred attempt.\"}",
  "call_id": "call_euNBZ3g962bkO6t4FdM9tUDS",
  "id": "fc_046df9010470ece3016ab4680edeec87d0b2b8d817fd07a067",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_euNBZ3g962bkO6t4FdM9tUDS",
  "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]: [0.0994, 1.137, 0.5751, -0.0292, 0.0048, 0.0132, 0.9972, -0.1051, 0.8097, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3513 left_y=0.0378 left_z=0.1345 left_yaw=0.0747 left_pitch=-0.0294 left_roll=0.0183 left_gripper=0.9972 right_x=0.2873 right_y=-0.0026 right_z=0.1989 right_yaw=0.0792 right_pitch=-0.0493 right_roll=-0.0157 right_gripper=0.9936\nstate[joint_eff]: [0.1299, -4.8068, 6.8308, 1.8926, 0.1832, 0.1636, 0.0611, -0.1026, -1.2239, 6.9128, 1.6923, -0.1099, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e94553517672639a6cfe55f73b24e970519b6f6f6303ddb09c16a8db5e80130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71cb6b561b9659f67f664eceff3d9fb8a094a00b39d836eb1f0cd3f455a0e22b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99086a54c75ea76a7d6ebad7c6686638478341413f74404d2d019270140bb675",
      "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 · 4.98 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0669, 1.5787, 0.2481, 0.934, 0.0311, 0.0303, 0.01, -0.1051, 0.7982, 0.7261, -0.5404, -0.1364, -0.1341, 0.9936]\nstate[eef_state]: left_x=0.3657 left_y=0.0226 left_z=0.0572 left_yaw=0.0101 left_pitch=0.1652 left_roll=0.0289 left_gripper=0.01 right_x=0.2864 right_y=-0.0025 right_z=0.2025 right_yaw=0.0792 right_pitch=-0.0365 right_roll=-0.0175 right_gripper=0.9936\nstate[joint_eff]: [0.253, -2.7692, 2.8923, 1.3309, 0.1294, -0.0708, 0.735, -0.1162, -1.2103, 7.0632, 1.7314, -0.1197, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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]: [-0.4522, 1.652, 1.317, -0.2043, -0.4347, -0.2344, 0.0122, -0.1051, 0.8078, 0.7254, -0.5415, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4751 left_y=-0.1441 left_z=0.2332 left_yaw=0.0234 left_pitch=0.0772 left_roll=0.0225 left_gripper=0.0122 right_x=0.287 right_y=-0.0026 right_z=0.1994 right_yaw=0.0792 right_pitch=-0.0478 right_roll=-0.0159 right_gripper=0.9936\nstate[joint_eff]: [-0.4718, -8.6496, 9.5111, 1.6435, -0.1783, 0.1343, 0.4078, -0.212, -1.5932, 6.9538, 1.6532, -0.1245, -0.022, -0.0073]",
      "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]: [0.0994, 1.137, 0.5751, -0.0292, 0.0048, 0.0132, 0.9972, -0.1051, 0.8097, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3513 left_y=0.0378 left_z=0.1345 left_yaw=0.0747 left_pitch=-0.0294 left_roll=0.0183 left_gripper=0.9972 right_x=0.2873 right_y=-0.0026 right_z=0.1989 right_yaw=0.0792 right_pitch=-0.0493 right_roll=-0.0157 right_gripper=0.9936\nstate[joint_eff]: [0.1299, -4.8068, 6.8308, 1.8926, 0.1832, 0.1636, 0.0611, -0.1026, -1.2239, 6.9128, 1.6923, -0.1099, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e94553517672639a6cfe55f73b24e970519b6f6f6303ddb09c16a8db5e80130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71cb6b561b9659f67f664eceff3d9fb8a094a00b39d836eb1f0cd3f455a0e22b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99086a54c75ea76a7d6ebad7c6686638478341413f74404d2d019270140bb675",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgaF8FGnimwS_CFRobzPNuyebcRJGf3tFKIpQ0nS1PwwBR1StB3V9l5xvOrXKEbhPR0mXOudipLUIIHyInMweDyZi1P9v-tytKDjTt9TuHFcCbiNs1T2G-znq5jobFbzMJw0NhjwQYekCLFV7oaCJVjKHb3Tog78DtA9nTqaI_1piv-lys-2xDG1mtRi0gHWUjZg3gRL7049bKMfVlHv2Vqyd6h23Xh-kmOvgG_ne28e-KPaZvd5hfQHQSzpILob-d7qn47EtZfJ6j9GsGpTE61g-sSRxv68qMgYDOpc6yVupdul6X7ByEKYnLDlpVui13PexszvzePjKcy1eBGUnyqU4KZlNY4DQwInqVhSt1TYLexvZwhjQaB_tLqhdREwmlc01ZG_aNM4mU64KnPLxGCm37T7ABS8nqdYQOjQfitykycetZSZVgXVOcKMdXM75CUADu8_dzX8Q5P_SaSBlXOwNn8EVp_ghJ4lU_S0M_p7Evo1zbOBTTktY54mOPdtIyTzq27LTIeHsXsFAdZy_yyJ8NOBwUMrXd7ZXcpJpuxyas1EXgHaIJJirFikr8a4htYcKf_nURf_lSBfd2y2voHh-jyHTf_OAQBRqWOFipCslxWK6-BT9xFgmDlG5PCu8yXJL8OADzi93YGMTFARlqKjeoQYXCfceBvE4Tr1o5XiIdrdIogeBFx4X_gQHtO_KZ-JYtJefI2fSPfB-koQ8s9Jws9uH1IWZ0N9Q2hqqPmT24EeVeLkXN7-D1JijAgGp2oCi8bbAjura19-hwxDo6ZGN7F9V9gWfp9ruXpZJ--s18nE0FpSq0ddlQLEGpPfD3LKixvN6j2LF8vlzBDJ9DLo4yqvjNI8XOmFME5q7AuT22w_i9uz67EwcpLj0iZPkDlBqavsXhDeGSWxdYTwUuBV-Cwklg5e-kMgoYYYx7DXccb3uxZF7k-kZoP9MW4_Jymkxi7IsA7Hj2_x74aaN9dwMNXAoxd-mj3uG5fLA9Ms_zi4MoFJhRGfY1iyw5M28K2D6XPm5Ka_BQxzDaz1mMYoB7kgvWmAcf_tHun5qeW8uukuIgSCFG4zPwc1lINFzmu4vPYxfdaQTNLZazdonOmyNSuZxqJ4JgOcw79N11pwCQW210Tvf21-LhZsKtFUOWqVJP-o2RRw9-bm-QcpGy7AktmhlFJY2RMyqODXGb4_Ih6IUl3OWq5LdNb0IOVoppzsyib6eaDRpqofAO9fx36Wb1Ne_5bVPo7_zEnW3AsYID3Qb8gw2AugobzqxCV53N7Sp2RPFOfyxg_a-1egtU_0wicnVRFLouwYscbGq8y0eRyyRvdDmL0sB825pV-4KC5RlhgJ27nsRRQJLPfLWvAzbkzcm2wKADJr_wHncSxtiCa0bbhs0FC0OiDwiDzyhA1rlqgEJYDgrn9fqc0LuKaikGtkNrJAIHeBB2fyxrvKdebtt4D1zfpCQlTqUZ9GP3hIlbN6DSAXSMVGdnvTHfw5TgRtxi7EqlBaF2zXnPvFPNF0TpzqFM7iYQHlkc81q8fRbF3gWjJbygV3iQuTYiV0W6M72dtRMg6tGOfqfCSYCTYihfUo86K949x4WY2TGCrawA1fN-gg3OI9xw9rM8cIpD49e11c0I7c65ioUIIo6T0JKW5A5B3EOWFkWqg1hgEjVx6HLe2jxQUbyfekpAm3qMoyxUkLn2GPVZIpHyxlSZ-IStBQdDe0d_wLmSrxZjeyKnYORzjkDcCQeqt54w4tFXTNVsQD8YlB0cS4uE8PIIPxFMDIpazr8SyQ2NiEST5ZQ7qBlHDNvtcisDPP6qG-y4kAW29pcdsEksZMXM9t50SPHwvUNczEvBaa144sOB1Q32P4Q6Ks0Errzoy6xXXLT-MWLdfCWj1axaVOD7MJfOSJ7bAiSyOJcKkDc2w1L6XwFREIpp-0LnFE05Y96pLkI2bwWi1c-a1gqb7OECrtn9ip_4A461wIeksJocA_GAHXQqjiY2535pWWEU3GiAi4bdpOLaWs_fZOVjl4seRh3DDFhAUKufJiROtxC3ZV0ykGXOkhwt5y479r-4ic6sh85DD1Qq419oPkE01XLhwI5S4-2cRA_r53TaRDX1S1R7uG6coEJt4ZznCIfuI0weu6joia5tp_DLpqFIhsFm1rIzmt_E8k6xE3ak9XDQ23z4E0ow9YrwKeJGGRq9eGvlTKmyjm9MkYQ2DuTI3JAsvfPIMMN-HgC7wXmOO3yXXcfRBuyRllrSqCuKZryOGW6ytUfKMgqXD0DcA0GpIWIQah5sPX4FyRspCvJ3Ci1NYSR1UK5KtSSVGU2G3DDFhSgyVxj9ct6Y7jDB7gLsm4KgiwXmqcTIIMr6Si1XCauloqRm-xoeIUJdxISg3LpcOKgN6k4iUWUozRZ_VynJyF0QJdWdO5l27hm4IZqjKu47yxRWZqsRtho_OsY6462H6dgZBc-QPUgnLpuV-0Bk6pR1cum5pbLctsdc-UoRSYjmuWYmEuBCm7e7B2p1ctUsb1ILcEf2xIH0I2tb9afM_Wn9hV0vJtNQ3YH52pCA4ThEvIT8Vh8WsHeCaVLpIchUV7_u4OReHdwl8O7wUcT94_JfUbIIpcg-bApGG__f_IfmOdj_gb03faadWCy_av37xdb3ly5Pg17GNr6OtYyk-JgIjAGKBNZG7G8sj1uU0xin1spV2e8LPGarXJmCmtbQFx-MKpDdtTvk4k0Buc0u5tpZ8rjoGomruUeNntXaoHaIh18LedcO4EoPd0ga05C2PZvxT2qbxHc1wjYdnizlsWs7gsm45KzZd1_xCnSI_Ix1EfVG51ZyzGdope-D_05Pxra9YUsTYnerWWPIjxRXgba3FHWw72-BomEGap_mV-OaYrFuX",
  "id": "rs_046df9010470ece3016ab46813139087d0ba1e3bcf2ffa8d29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0.045,\"left_z\":0.03},\"note\":\"The gray toy’s upper body is visible between the open fingers. I’m advancing slightly and lowering so the jaws can catch a thicker section instead of loose fabric.\"}",
  "call_id": "call_w5LDVFluAYiLmuehzrj4Xo2T",
  "id": "fc_046df9010470ece3016ab468191b5487d0aa5c66f4bc425349",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w5LDVFluAYiLmuehzrj4Xo2T",
  "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]: [0.1074, 1.607, 0.477, 0.5827, -0.0025, 0.0315, 0.998, -0.1051, 0.815, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3965 left_y=0.0468 left_z=0.0517 left_yaw=0.0791 left_pitch=0.014 left_roll=0.0388 left_gripper=0.998 right_x=0.2877 right_y=-0.0027 right_z=0.1974 right_yaw=0.0793 right_pitch=-0.0549 right_roll=-0.0146 right_gripper=0.9936\nstate[joint_eff]: [0.3624, -4.4103, 4.0684, 0.5934, 0.1441, -0.1392, 0.0611, -0.2256, -1.4154, 7.1043, 1.6923, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006e9b151cc29df79e3206cb727a07c340b59e3e6a8309ad9847882ca12e192f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654bc927d7b5f9f8afcf37b5ddf2b4a91ca7f146504b8ba73dec728571e9c18d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb70c61283fed9d359dd62bf3f2b6e6118cada607e531f31d24e3d4757129e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.74 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 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]: [0.0673, 1.0657, 0.408, 0.2867, 0.0269, 0.0265, 0.0114, -0.1051, 0.8024, 0.7261, -0.5407, -0.136, -0.1341, 0.9935]\nstate[eef_state]: left_x=0.3522 left_y=0.0226 left_z=0.1515 left_yaw=0.0159 left_pitch=0.1907 left_roll=0.0283 left_gripper=0.0114 right_x=0.2867 right_y=-0.0026 right_z=0.2013 right_yaw=0.0789 right_pitch=-0.041 right_roll=-0.0169 right_gripper=0.9935\nstate[joint_eff]: [0.4308, -3.7949, 9.4974, 1.9658, 0.0415, 0.0366, 0.3687, -0.2393, -1.1692, 7.1043, 1.6679, -0.1245, -0.0562, -0.0171]",
      "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]: [0.0994, 1.137, 0.5751, -0.0292, 0.0048, 0.0132, 0.9972, -0.1051, 0.8097, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3513 left_y=0.0378 left_z=0.1345 left_yaw=0.0747 left_pitch=-0.0294 left_roll=0.0183 left_gripper=0.9972 right_x=0.2873 right_y=-0.0026 right_z=0.1989 right_yaw=0.0792 right_pitch=-0.0493 right_roll=-0.0157 right_gripper=0.9936\nstate[joint_eff]: [0.1299, -4.8068, 6.8308, 1.8926, 0.1832, 0.1636, 0.0611, -0.1026, -1.2239, 6.9128, 1.6923, -0.1099, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1074, 1.607, 0.477, 0.5827, -0.0025, 0.0315, 0.998, -0.1051, 0.815, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3965 left_y=0.0468 left_z=0.0517 left_yaw=0.0791 left_pitch=0.014 left_roll=0.0388 left_gripper=0.998 right_x=0.2877 right_y=-0.0027 right_z=0.1974 right_yaw=0.0793 right_pitch=-0.0549 right_roll=-0.0146 right_gripper=0.9936\nstate[joint_eff]: [0.3624, -4.4103, 4.0684, 0.5934, 0.1441, -0.1392, 0.0611, -0.2256, -1.4154, 7.1043, 1.6923, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006e9b151cc29df79e3206cb727a07c340b59e3e6a8309ad9847882ca12e192f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654bc927d7b5f9f8afcf37b5ddf2b4a91ca7f146504b8ba73dec728571e9c18d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb70c61283fed9d359dd62bf3f2b6e6118cada607e531f31d24e3d4757129e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGggGQbQ6TS-szmTnmK5xOpvzOsLr_IJuVm3QWuqqPizNMiNYsaV9yTOKhIGN9tiOWn0XCWo_5L41XYR3CjCyIbUYBzXxDDwGjvxswkUI2U6ZTODD0FUp6lf0eevoK5T25ypTOMpZkl8nti-ujLT4KZrS-iVm92vfXU4XMt89oppttw-P7RUdLQFGkiRPtPBJU_ohE7Jrh9mxM6TdyViO00gSBD5RNp6raNLZIf-KuNZsoSu0y7MPQEJVdW8jsohLqH2VNmLxMdCvv3DpmsB013ULpCQMrH-FgeBW39SBIQlJlGMlujOpDH77pSM7LdlxkdLD2pkOhXQdqLjzAADvOrBL3M0t6QEwRm58ZxBaTjZIYbgkmodN5teJoRD9s0IxupOHvb98AVUV1oNPWdrvIfWzlS5y1dhknKIQKHi8lwh7pTe2LXTIWtd0grGcTs4U5qk8-mCa8bCSxewTygapYEQF_V-zv6YDgzpTEf2hBrSGKqax9KCyMEdCE81-iqgLMe4fg3bCvn_9YxZdJREzGEG5ot3qtcWIVvPWdWEI2E56270u9tTL7oeolBo2_babkdWitG8Mvkrt-Ed4easaqG04tGJICc2Rh56N5I4uDfIH-otVT63rZDcQsF2SXHRIC1OJ4HFscoImZ1974NKlD9vtNzMxjdgNjGMAW25H3v4S5GnBLnDm8KQ3KJ4NHlCE5y4zjya8QZZ38RjjCmuRQacfBAwFOrgpbgy87xF1xShgpxjUCZCfIs3uqTpB7Le0mDc8pqVrOQaOCxmcfHFFGnXefXp9a9ExwAvFTuhZdkgucGeqvG7CcepwQ1Sb7ggemtwVphSaiXSC3HqZ3zd-Mbt_1XEHn6B2bFa_WIDcgzmSKyXTX-sNaPtcrC5Q0F5jnb2a0nuYQhJ9oz0xzjTdjgSRmGxaZCPAlWM6ku7LonLfaLIIMEqbwkwfQCYuFpXydNmrTUlVB6EKattXz9XO85ACYFZ9bmgl5d_E0m2RuwGxVo187WFkQpg1Ohq5mMWZbQmvThHqkNsrj8sg-BU3YnpaLeXfmuM4Xk7Qrh89reU5IbzKktzY1jtI9fDh1CfhiJ_f25NCpalKhQQOPSNt_A4ptaIdBiAXM_uekygef4qLvDPKEalba9i2ZIY4U3S2tCb7rRoQ-iCcZaeyLKYLKioxlXLQfvaOnj1tZwvy1b7epEIlbCLGvU5H-OAknWB0u4ZzgJQnFk_kVtScQmvPU6gjdsYB2ca0nUUsDgRTH-BMrYa8fUH3KXkVfOwQLF2f6bNL5D0-pH4xgO48IUtSTJw7xrv58aITX3oGcXKJaMDjmSzP4Cfz-IEY7FsNStvFD8cKN_khRhh2Rr49L1ZihdNFXMdjndTcn405yihhGqgrKvC5B6bNSTuG_e5je2LTlaNE2ZxwTBGDpwuUg8XsxSoq4n-pngGYlakyFhn_3t6vLCAcGWvAy_5cLSXIMeO4S4GYz2kBuYkZB-BbvIEZY0uBkdj6Wi041KXj2HCaQz1o0njJZQiBganYYDc1seDLe3a9gyDPWP5oUmgIppTNUzX-1_OA3jC0F5vFmAlgOKt71E=",
  "id": "rs_046df9010470ece3016ab4681e409487d0a0ce3a3a9203de7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.005,\"left_z\":0.035},\"note\":\"The broad gray body lies too far toward the outer edge, but its head is farther forward and within reach. I’m repositioning the open jaws around the head rather than pressing on the body.\"}",
  "call_id": "call_XTmmzigX6BxWK65kvfxu5SR8",
  "id": "fc_046df9010470ece3016ab4681f951c87d0b67d48769347a649",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XTmmzigX6BxWK65kvfxu5SR8",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0406, 1.7805, 0.6086, 0.6769, -0.1261, -0.0208, 0.9981, -0.1051, 0.8165, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4422 left_y=0.0078 left_z=0.0514 left_yaw=0.0637 left_pitch=0.0701 left_roll=0.0529 left_gripper=0.9981 right_x=0.2878 right_y=-0.0027 right_z=0.197 right_yaw=0.0793 right_pitch=-0.0564 right_roll=-0.0143 right_gripper=0.9936\nstate[joint_eff]: [-0.1436, -6.3521, 5.5043, 1.37, 0.1636, -0.188, -0.0073, -0.1983, -1.1966, 6.9402, 1.6532, -0.0904, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0a5b0c2774a1b4b073a19e8e93c2e9e6ddcff70bf8e8d9ba176e61ac96e3d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7612c2ec14d3140412f34bb44d2f29659f7697c126ea16554b3d90cbace9077c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa01ee8e340c9dce6329418776fc2722baa071025af2eb684087fa999f282ddc",
      "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 · 7.493 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 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]: [-0.4522, 1.652, 1.317, -0.2043, -0.4347, -0.2344, 0.0122, -0.1051, 0.8078, 0.7254, -0.5415, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4751 left_y=-0.1441 left_z=0.2332 left_yaw=0.0234 left_pitch=0.0772 left_roll=0.0225 left_gripper=0.0122 right_x=0.287 right_y=-0.0026 right_z=0.1994 right_yaw=0.0792 right_pitch=-0.0478 right_roll=-0.0159 right_gripper=0.9936\nstate[joint_eff]: [-0.4718, -8.6496, 9.5111, 1.6435, -0.1783, 0.1343, 0.4078, -0.212, -1.5932, 6.9538, 1.6532, -0.1245, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1074, 1.607, 0.477, 0.5827, -0.0025, 0.0315, 0.998, -0.1051, 0.815, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3965 left_y=0.0468 left_z=0.0517 left_yaw=0.0791 left_pitch=0.014 left_roll=0.0388 left_gripper=0.998 right_x=0.2877 right_y=-0.0027 right_z=0.1974 right_yaw=0.0793 right_pitch=-0.0549 right_roll=-0.0146 right_gripper=0.9936\nstate[joint_eff]: [0.3624, -4.4103, 4.0684, 0.5934, 0.1441, -0.1392, 0.0611, -0.2256, -1.4154, 7.1043, 1.6923, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0406, 1.7805, 0.6086, 0.6769, -0.1261, -0.0208, 0.9981, -0.1051, 0.8165, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4422 left_y=0.0078 left_z=0.0514 left_yaw=0.0637 left_pitch=0.0701 left_roll=0.0529 left_gripper=0.9981 right_x=0.2878 right_y=-0.0027 right_z=0.197 right_yaw=0.0793 right_pitch=-0.0564 right_roll=-0.0143 right_gripper=0.9936\nstate[joint_eff]: [-0.1436, -6.3521, 5.5043, 1.37, 0.1636, -0.188, -0.0073, -0.1983, -1.1966, 6.9402, 1.6532, -0.0904, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0a5b0c2774a1b4b073a19e8e93c2e9e6ddcff70bf8e8d9ba176e61ac96e3d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7612c2ec14d3140412f34bb44d2f29659f7697c126ea16554b3d90cbace9077c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa01ee8e340c9dce6329418776fc2722baa071025af2eb684087fa999f282ddc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgj9CCbFp-7ZL-KnB5u0qcYSaQyHVvil4gxtMjnY4IeDdhO9RZTiHGMOt1zPArMg8vg97uVNpN8PKttI1EVktksg5Qcos2ClNBW_DRF-V_41-h1dHHb-_gZNMoELSGwyr-oBRMQv_dEI1ktgLII4W51Aj1lwVg7TuOx75Agk8NZPjh_o5IjZciv-UTvFivcNR94jncYWT4VSery_zI8mqjsjC6if_dz5THylwAi75B8n4NhZdxBAE1g-e8cR4HGNHZXkwlw1cPUXprTmt4nuLW3OclgTZWDC6FEcgKJGCaJjoY4YKDSdIqWb5lyqDme9c16HRBNC8aOy6-zOhuVmjWZyGpEI5JdRLDWbsmW2BHw0ZYOOC1-id4HPf7X9MpuM3bziwOydWbU7VdjXEDBdIywKaKfcqgVPN4voVlIg39Ywd8eWVxYwXOb6B_RB0uGK7MoRc56g7YjOuqN5kotX5Ck1d3R2A4IEBs-Unzbke9hL9sWu3_JI6XnlhzbTuaQge5LrBjNQY24TwFxq_Izpd5_1q0pjya-kpdlYMoo5D5vTWMLI5-KIBFKSNcnLYjk9LdkKvmFC-O3WH4sQZwcq-R2ZpmnPgH-RXJpMurSx1RMNa2SMp2eVTUlrh0xaycKq84zzQo4r2xOKbNI3O9mBKOZZN3CiGybiwrhx9FGDqjWKU2OWzCosHiYMfMVR5kTLKufCn__pQfqQWOWuAjmPk87mGVP33CcS1PILJd52K_0mx2aK7iD08ZD8z3E6eCwkEMJLHeuKFnYf3KLf7D7kReUKzlG3hCcfHGYUKw-AxPEp0vG6xpJp93KTjHCbRFFAxUfEjwkp_9IN64i2x2Ae0YiOBDu4wJn5w5tQCgGpKGVHL4LEAKOrlKscZ9Q7YyGAvM0epzWKXGuyCQ6xgXyDjoDDGyl_3EaijJ481UzlY-KWtqNQT-CHm_ni4_vam2bIlTYHcPHXCDju1elaaA0uBNjDHa2SHemWmPKm7HXlAY2D29THyDDfIM8tIyRCG7bcSpXNo0AMaPHMnJZeEpZbYrJVgFJnmYdQLHet4rF9807UsR6nloFpa_mgCXyczojRly-gxCQk7_E_-Q62lGJRrYxC1OCTEyXRx60qFumNyusP1DD9W5VtUJjFtG55JQ05Zp81h1Y0H-SVxJ4EwfmC0imYvOkv03SCwZcGkwIJICs8PbUkxNgwqFgV_saMzsgCaT92JOhei-Svt2qrsMn9eTs8ViWhn56wMFOi7Ttr11wkZi97ndPTye_ibQcKPpdK5J8",
  "id": "rs_046df9010470ece3016ab46822672c87d08bd83d548b82145e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray animal’s head and neck are now between the fingers. I’m closing here for the second grasp attempt.\"}",
  "call_id": "call_1JsfbJnPJV1qjji2HXLg14ML",
  "id": "fc_046df9010470ece3016ab4682342c087d081abcee6e21fb2a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1JsfbJnPJV1qjji2HXLg14ML",
  "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]: [-0.0406, 1.7992, 0.6106, 0.6598, -0.131, -0.0261, 0.0096, -0.1051, 0.8185, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4394 left_y=0.0088 left_z=0.0406 left_yaw=0.0706 left_pitch=0.0368 left_roll=0.0543 left_gripper=0.0096 right_x=0.288 right_y=-0.0027 right_z=0.1965 right_yaw=0.0793 right_pitch=-0.0579 right_roll=-0.014 right_gripper=0.9936\nstate[joint_eff]: [-0.1162, -9.1556, 4.7248, 1.9756, 0.0171, 0.0171, 0.7692, -0.0479, -1.4291, 6.9128, 1.7167, -0.0855, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b03ed29c638af6b53990f1ace3edf618d9775e6df4c0e400404a43408a9d863c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca18f1c4f4aa48d417bdf56d89e5bcf0dd69fad03d41b5dfe23c04e64e4cb501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776a75e1152234c8872c6edfab4730b8eec3a1dfd5792b74f8734943692598a4",
      "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 · 3.939 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 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]: [0.0994, 1.137, 0.5751, -0.0292, 0.0048, 0.0132, 0.9972, -0.1051, 0.8097, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3513 left_y=0.0378 left_z=0.1345 left_yaw=0.0747 left_pitch=-0.0294 left_roll=0.0183 left_gripper=0.9972 right_x=0.2873 right_y=-0.0026 right_z=0.1989 right_yaw=0.0792 right_pitch=-0.0493 right_roll=-0.0157 right_gripper=0.9936\nstate[joint_eff]: [0.1299, -4.8068, 6.8308, 1.8926, 0.1832, 0.1636, 0.0611, -0.1026, -1.2239, 6.9128, 1.6923, -0.1099, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0406, 1.7805, 0.6086, 0.6769, -0.1261, -0.0208, 0.9981, -0.1051, 0.8165, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4422 left_y=0.0078 left_z=0.0514 left_yaw=0.0637 left_pitch=0.0701 left_roll=0.0529 left_gripper=0.9981 right_x=0.2878 right_y=-0.0027 right_z=0.197 right_yaw=0.0793 right_pitch=-0.0564 right_roll=-0.0143 right_gripper=0.9936\nstate[joint_eff]: [-0.1436, -6.3521, 5.5043, 1.37, 0.1636, -0.188, -0.0073, -0.1983, -1.1966, 6.9402, 1.6532, -0.0904, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0406, 1.7992, 0.6106, 0.6598, -0.131, -0.0261, 0.0096, -0.1051, 0.8185, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4394 left_y=0.0088 left_z=0.0406 left_yaw=0.0706 left_pitch=0.0368 left_roll=0.0543 left_gripper=0.0096 right_x=0.288 right_y=-0.0027 right_z=0.1965 right_yaw=0.0793 right_pitch=-0.0579 right_roll=-0.014 right_gripper=0.9936\nstate[joint_eff]: [-0.1162, -9.1556, 4.7248, 1.9756, 0.0171, 0.0171, 0.7692, -0.0479, -1.4291, 6.9128, 1.7167, -0.0855, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b03ed29c638af6b53990f1ace3edf618d9775e6df4c0e400404a43408a9d863c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca18f1c4f4aa48d417bdf56d89e5bcf0dd69fad03d41b5dfe23c04e64e4cb501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776a75e1152234c8872c6edfab4730b8eec3a1dfd5792b74f8734943692598a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgsOcbz_weeK6gqU9hF_ra6HaJfCIpYyIAIopAaU6RX03BhAUg_vlZZKzBIY8IZKfPsMCHGUc6VmpvDab9cIRCxWapOsJ03wKh2zifAUnC2kJLxANQqYJu2R8imAni9sM59kvBd_v6ggKoA4oes4N80kpTNu5MFdLjCkKqJALeSaSONdyzMQxqhlltHH73P4tpaHi21GCo5GGSHL-DFWZQ3VUnhy1qvBlBFApvzhMPjCuJ58Dag5IDq3JZ5LytgmmXCntIUFM91Lm1Gwhd0KpfqRWkS7bOgQyVqoEqV6AKiqhN9w9muKYW1Vd_pALBNOsLl5Ib1sK7XjsyueE44EpvJ_a6ApcPpVxao51tbdlFYCQrYh8CgHvX7pN7hGe5zORr7NTUwSF3eeuIDRljcCKSNa04cGtzynSVyWv-Izua_5lAPmQ3ICGU6CHmFYVsyNfzyl0KrCnQN9pxt4liA_O_y8P5-uIRu5VhGeHxsJD1NqM6maseKW2WxTKVahaHDgZKVfuFzw1z7LmYRPobg_3eMcs-Vun-l1Tgjq4cXYg0kPaq_YoSZGZMJIk3re10Y2qEBnMTgHb9QZvI0DOrk4l5a7f26QFwrf5emUsVZF8NiNoBiWqqEJtzH3ZhPNPNGvdjHo_Dhd6J3jQPM_VfSOREfxX5xvRVsAQqiuvQKZyw5ctwJErusVpZMjc9aVOdocipG7St5WFuCnKQUS6bYtT-XuacQFg6wMYxaHlsnMDRORSCx9vOVytlEcwxrapvUXS9jkPkhIjVuVnndzdLiyhP_ctveNofYe47axEGGmc6pY-yYyZtqVT6esw7Qkf4WqO0mmKyBo3oowYt_VxtmiPhFuB8yzh9gKoNVrXFR7H13UE4nWRdBc3Yk3mchQGR7cYr8lMRwfOer72GA6HrRFe9N4nVFlpenDWE0Xv86I712JKvlMHfsSzHcAv1LvBgFLALykELuGKH6dtBpaRT5jc1JFxJWxkgEqsmY36r7V3-PY9yT6HX3pmxT_n5-XY7i7_MxDZAvD-fuBOBS4n5hN9PN7sPK_ZcgNK7k4xuk6dN7OTU0Ns6H81D_w2WjyCA5xv0x9wnxKcTkd-HJQI1-ARoij0GgN4D6KrT-Qe78hRjilKCXwFyRn2xsW1GLPs8dOLrMLtk04E69zIqawm90hgOCYK1RmDRa85UrQ23jsdaNtufmLMIsGGJUfu2-v6506LADfcsWOnMWQPRAb5DigbcaQLyUxTQIk1I59lpcXZyPU6isN6f_sp9RMxS9-tlA2QWXYZX2KKd-s91y8H8hmB3paHqCUlqXEsIvuVB3fD1e4Lf1vxwPaEgQb5wSSnLMmFnPNziKhAVum5xUAcTn1gxI2djneXjCgiWgH7c0uwhosC9u1lCXjUpWeWNy605nVACREzRnyo20yiCn6nulHL4jXUlKeoyROqTmtH7z47SoK_HVbKw8sdPFfWhf2nnbVSqZC6Tj5tRv_0MGItcRA4Y-Go-9WDgRUyZC4lKLqCC1wfr8wdetHaisI16upyY5O3_qi0CAOtCAYYiEow4uJ_cGSD-EAu6bF8wS2r2rPB-TGsjPXssjtttPPQqKlB6TVq-Oef8A7GG3uCQUaHWRx0YX7VV5jvqS9Ol8m2k8O7oFkNE3LmQOg3wtfojexShbGYB749Mx1TLQ3Mv30JxJF_M5hlMDKp5sUz1nM8bzebgntFpTAH5y23aEh2XxlvLlGRkbpE0fc1SMPadOz85BEsOvaR5scfQw7rDPUTG9kddX-1khpWzQCQcv0AyAAQR7o9y6r_dL9GZz7tjpekACb25-HWSdtN25jr3GlP-ydTMsueIsfxRsNX3yNDZbW1Y7sFE3moCtVQpNedLDbHojQwXz8pb93rPe0mukgvMMVuGXeX9s6ed4kG979s11xfahnthvfWynnHD_FyWfW66_-Je7BB7ctRpMCxEpxzBZHGQ0zJFQ2VMHxmf4p2v8MTbNDUWZ_b5K_r7LosFCbxw-TWNp1Zs5_5eWiijng4IA9up6gP2WHFy5tGcz3pKyPHshYao4NKOiSaKbVBuspiYzrFIHo3zGWJgPaq4bNCJVES9QKCKOvcEf66dX0eecIwMgjQUAlVQsuW8EI4lEsRyK7KraT-7GTrAEWYR0YkzUyhkaEw_1tQvmzxtFmC4zHECi09Iq71ChwoBNV07pyGdVI_6c2rir1l2kBA8eiyaw7qhLcGqeM75iOGYQ2zhlJvb7M2-b_ow5G2O80OMc8epfw_ZiixC0BOfQ4KJD1_7CFAWnPNRjr2cU3VvHXPTyVSFf95gRdHpKZTv2ndi143sjlFxoY1WGg24T7WJ9hOvKo8uARHdSZ2IWFH1lr4Zl6Xh8iAN0cJEneHx7RfpjvqzqChT-dEm9olm8bs5zj2_xd1ApAQUdbWSDkPZtPJ4lRk9cuNMRgHEs56cqA_GinmX4JQCbecaWP_4WdUp_4tb5McmeoRcIfMMdptqDbv5x8aKcX20uGycpvMFHItTYgSrRGuCJCrsLMNoq5BNduAVQPPs5aGAbrWNMARvqJKjp2vaaZYJhxhRzcJycdyVOLGbwAPbs2Slqs17xrMttKX6mnqSrBHEa3l00MsZvJFTAMfea8BdJ",
  "id": "rs_046df9010470ece3016ab46826698887d08502a34405965496",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.17,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.19,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The gray toy slipped farther toward the outer edge, and the second close is empty; I’ll leave it rather than keep pushing it. I’m approaching the small brown plush with the left hand and the blue pen with the right.\"}",
  "call_id": "call_ea2FOmCAjq8no9AWQC1LvW65",
  "id": "fc_046df9010470ece3016ab4682ac91887d0a181e539f4647fd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ea2FOmCAjq8no9AWQC1LvW65",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.897, 1.3128, 0.7197, -0.2035, -0.7761, -0.5797, 0.9974, 0.841, 1.2892, 0.6914, -0.2581, 0.569, 0.4561, 0.9986]\nstate[eef_state]: left_x=0.3032 left_y=-0.1757 left_z=0.1399 left_yaw=0.0189 left_pitch=0.0254 left_roll=0.047 left_gripper=0.9974 right_x=0.2859 right_y=0.1823 right_z=0.1122 right_yaw=0.1191 right_pitch=-0.1216 right_roll=-0.063 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -5.1761, 8.6359, 1.2283, -0.4518, 0.0122, -0.0317, 0.2393, -5.0256, 8.9778, 1.4725, 0.4908, 0.1734, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95448d82a99a65e906d7bd507d670f358c575f0def4eed2ceae1f3b71aae2693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4b873eb26127f946d7fea02bcf91deb19f8dca3c1768358b0f8d962cc174c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22abc5509c7002841c7bc9c67138e87de221ced75a7248c66f0fb16c2116de8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 4.506 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1074, 1.607, 0.477, 0.5827, -0.0025, 0.0315, 0.998, -0.1051, 0.815, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.3965 left_y=0.0468 left_z=0.0517 left_yaw=0.0791 left_pitch=0.014 left_roll=0.0388 left_gripper=0.998 right_x=0.2877 right_y=-0.0027 right_z=0.1974 right_yaw=0.0793 right_pitch=-0.0549 right_roll=-0.0146 right_gripper=0.9936\nstate[joint_eff]: [0.3624, -4.4103, 4.0684, 0.5934, 0.1441, -0.1392, 0.0611, -0.2256, -1.4154, 7.1043, 1.6923, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0406, 1.7992, 0.6106, 0.6598, -0.131, -0.0261, 0.0096, -0.1051, 0.8185, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4394 left_y=0.0088 left_z=0.0406 left_yaw=0.0706 left_pitch=0.0368 left_roll=0.0543 left_gripper=0.0096 right_x=0.288 right_y=-0.0027 right_z=0.1965 right_yaw=0.0793 right_pitch=-0.0579 right_roll=-0.014 right_gripper=0.9936\nstate[joint_eff]: [-0.1162, -9.1556, 4.7248, 1.9756, 0.0171, 0.0171, 0.7692, -0.0479, -1.4291, 6.9128, 1.7167, -0.0855, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.897, 1.3128, 0.7197, -0.2035, -0.7761, -0.5797, 0.9974, 0.841, 1.2892, 0.6914, -0.2581, 0.569, 0.4561, 0.9986]\nstate[eef_state]: left_x=0.3032 left_y=-0.1757 left_z=0.1399 left_yaw=0.0189 left_pitch=0.0254 left_roll=0.047 left_gripper=0.9974 right_x=0.2859 right_y=0.1823 right_z=0.1122 right_yaw=0.1191 right_pitch=-0.1216 right_roll=-0.063 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -5.1761, 8.6359, 1.2283, -0.4518, 0.0122, -0.0317, 0.2393, -5.0256, 8.9778, 1.4725, 0.4908, 0.1734, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95448d82a99a65e906d7bd507d670f358c575f0def4eed2ceae1f3b71aae2693",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4b873eb26127f946d7fea02bcf91deb19f8dca3c1768358b0f8d962cc174c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22abc5509c7002841c7bc9c67138e87de221ced75a7248c66f0fb16c2116de8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgxmEl4GS-72ftvZ1XwOhqHQi3gWoFW_4Mn7qVcd69DVBcznfu8grCrW-jtwgV35k-Nm_sE7OcWZuqgvmj9FjNX9r4BVF1r2_cXDXXqeJ9guMe3lA_zkV8IJ9PuzITiYh_LtYlqyP80ieOnKLq3Fykc7tdN58KwVKq1qqrP-ig5AyeZss3brTUdvPbTdVJSD5HrgnG3gwe-2c1APtJbyhp4JHGXtTJ5Zwuf-1XSDCBxOfqnvP6b5Ywj10rt34Vi7XnaB9nYbN3bEKzbwSmWLIFRCqS5oCFeBMA3YKoOFPsVupQHUGtusR6X_kio48WeFPOKcJDEgqWYvdSamCjTQwwjEM_TrS7YbgVaTy3GWH8y1o3zGy8iTByloqUrykzrQa7U8q8Ve05pJ30TYNv24wGPw23QeivwXxViTohD_a48_NgedNkptJcGEMwM3bfgu9seFWIaY67IJEmXem_zcFf8Y8ApHTlOhoQ7WVuwrOAUdQyPjRCM2ksq954AYEpfWI_8zrahoQu4rzv-3kJtrG15zPvshaYNjTkmdhPizUheCxVQd6aBD_snZE8uAUtWXTNEufYai2GHFQJj7zJWM-NZ5TdvrXLaYkwylFEPYw8cOZG43C3jrUnc2XhllwCvMC46y53XdIY33kIOjLD0OiwXeaJFrwRmDOGGkzZUD9S2ei2I0L5eGb5KwxqWiRkaheFPm8MOF3Yh4fWittKG44Oa7Al391DDR_x5_H4UE_hMPuFSR-i3lgZovzL7KzhBEKo6SXFzys8fdt_yo_DpdWvrY-jKjlO9IasxOXJ6hDUkApO96cPWV8PM5fNoEHYvYA67R0n8SMAlYfM9yJpf2vEIzZrr9z1qc6ixSgMH1SmGsVz4MGKq7MK8g4F4wHbu2l_Ot1QTbxNszMB3dQ1wI50jJLfVux7lO1W5l1qVk5v245G_oHeWhqMWpEnsiCjxHtCMU59lRV5A1PLiap_fMdnPvM8Hkz_fS9vdNTXOPmls439ypGWhp8bS-WsPjWvD24fbKQzRfdEQ7Fzd3Hp23xWIQea-NGF4FyE3n2EkrkkoxAkUmLtm9aQAFtTZpV5DaR5Wg3xwWyMgvNvmQQd0G_Ht7iD-rv8-J_NWPoUXjH3OhTUpqO9WYs8FNO_W9X68X1AqRliSYjw9tvhSSqmo-WuF5MfHNy5H3jjsB9ww0EnoVdTfblxkCJCTFVBjZyU-6L3lY86KQP0A4uAfdAO042yQx5LxOwlgnYC1HHdwptmYMLQpltOJPxmqVfWPu_5wvVOBwruChrtmQyKgnBv_N1y5UPSZa8QEJRoGJEmVxMHi4aIfYVfzLd_pUNVDKG-dY7r0CCzVz083t9dKTJzlJfQvVEs4--i68sf5wqSCAfR_s36UUSOWfHUq49jePKYlEyHMfoKtsZVfjzWk6elZ-hx9p1UucXwInFzvlUVeKB2_L_GtBoVc_PxPfoJ7FfR8utgiHdpN89Ee7IAb2G0yZ1q4Uy98J7Dh-OoWQWiXslGIdwYm43q_DWbskOWvKQGAeZk6iA6fgGlTKDolirTOlCWFgmV9vgfMcTIRPGQ8soDcgeuQ7yCjfMFbhkLitZE8ldxJ",
  "id": "rs_046df9010470ece3016ab4682f4a1087d09a9caadba852a3f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"left_x\":0.3,\"left_y\":-0.17,\"right_x\":0.285,\"right_y\":0.21,\"right_z\":-0.005},\"note\":\"The brown plush is centred beneath the left jaws, while the blue pen is slightly left of the right jaw centre. I’m lowering both hands, with a small sideways correction for the pen.\"}",
  "call_id": "call_DiLsDaBtHLG9FyPpdHibBrCW",
  "id": "fc_046df9010470ece3016ab46830c6f487d081be3bc5c8984567",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DiLsDaBtHLG9FyPpdHibBrCW",
  "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]: [-0.8932, 1.6886, 0.4343, 0.3809, -0.7681, -0.5831, 0.998, 0.9077, 1.6985, 0.5434, 0.3058, 0.6289, 0.5243, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=-0.1631 left_z=0.0091 left_yaw=0.0192 left_pitch=-0.026 left_roll=0.1012 left_gripper=0.998 right_x=0.2934 right_y=0.2126 right_z=0.0142 right_yaw=0.1066 right_pitch=-0.0836 right_roll=-0.0376 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -6.5026, 3.8222, 1.5995, -0.4713, 0.0562, 0.0562, 0.5812, -3.8222, 3.4256, 0.2808, -0.1343, -0.149, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ca8cb6b61dd4c4805a1c272f501556338bcdc16a490f6e4d103657e5a727ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091b49dc88048ec7207087ba286109c1af331dbba80b3a6b5b2054584e8fdeec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a08be1debfed1a5b935f2194dfc4d11d0a6b6a13903940bd6373f6f004df24",
      "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 21 attempt 0 · /responses · status 200 · 2.922 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0406, 1.7805, 0.6086, 0.6769, -0.1261, -0.0208, 0.9981, -0.1051, 0.8165, 0.725, -0.5411, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4422 left_y=0.0078 left_z=0.0514 left_yaw=0.0637 left_pitch=0.0701 left_roll=0.0529 left_gripper=0.9981 right_x=0.2878 right_y=-0.0027 right_z=0.197 right_yaw=0.0793 right_pitch=-0.0564 right_roll=-0.0143 right_gripper=0.9936\nstate[joint_eff]: [-0.1436, -6.3521, 5.5043, 1.37, 0.1636, -0.188, -0.0073, -0.1983, -1.1966, 6.9402, 1.6532, -0.0904, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.897, 1.3128, 0.7197, -0.2035, -0.7761, -0.5797, 0.9974, 0.841, 1.2892, 0.6914, -0.2581, 0.569, 0.4561, 0.9986]\nstate[eef_state]: left_x=0.3032 left_y=-0.1757 left_z=0.1399 left_yaw=0.0189 left_pitch=0.0254 left_roll=0.047 left_gripper=0.9974 right_x=0.2859 right_y=0.1823 right_z=0.1122 right_yaw=0.1191 right_pitch=-0.1216 right_roll=-0.063 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -5.1761, 8.6359, 1.2283, -0.4518, 0.0122, -0.0317, 0.2393, -5.0256, 8.9778, 1.4725, 0.4908, 0.1734, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.6886, 0.4343, 0.3809, -0.7681, -0.5831, 0.998, 0.9077, 1.6985, 0.5434, 0.3058, 0.6289, 0.5243, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=-0.1631 left_z=0.0091 left_yaw=0.0192 left_pitch=-0.026 left_roll=0.1012 left_gripper=0.998 right_x=0.2934 right_y=0.2126 right_z=0.0142 right_yaw=0.1066 right_pitch=-0.0836 right_roll=-0.0376 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -6.5026, 3.8222, 1.5995, -0.4713, 0.0562, 0.0562, 0.5812, -3.8222, 3.4256, 0.2808, -0.1343, -0.149, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ca8cb6b61dd4c4805a1c272f501556338bcdc16a490f6e4d103657e5a727ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091b49dc88048ec7207087ba286109c1af331dbba80b3a6b5b2054584e8fdeec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a08be1debfed1a5b935f2194dfc4d11d0a6b6a13903940bd6373f6f004df24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGg386FhHJYNL4-6wgvGB6J94IelIsUvQhdar4hyRt3zd1zD1DReAdwIOgsV32MwrrcM6njeiMS2tzR2hpOE2ZpizSJULX_G7LEhavVLUpqn3XoDF96bBWCTF2IA42wHtU-Lj8kfTo6kFxVdZv71dhcZIkQ8jeLbJM4sZP2UoAEJ_AmiK88fGbG3hjGB6s7ze5VGuXuiYP4AmYpTYiDX-qFP9BFH0eBGCbUe9NIZ855UYz7QRi8n8l2kiHZwMxpDFsBINXONUIckHMzB6ro1vpua1MjtfOStlmda97cwOtjJxqhKAXQylzK3TUuLd3ju9NjXizXGB755dQuPEhHdeT4qHpeIFTiQL0OHuR4LBclDvL7jN88nyj2Huu1QX_I5kUp2plV8EpgfpA2XEriaqThAFpyfUOcJjXnJMEluQ6BK0HJH1vpIhbP24mtgGbC1s4Yx6r7EZF8aCUt_dGU3cLPr37sAp50iToXR7YvSJkfgGzHWfyaFNDY-ueZuKd0sZhEe8Nd_0WCILwmWDjg1xHf2m5Z3NeBU-G_WGou9pY5WunBT8nGQNO9mlk__CEOW1tfLNBwsbnaxNnWYseR-FOPiQifxwZ42wIlcHG6-UWKbjGqm2-XJsmqfZ_0tGa3qDXM5Uo-2IFCtCGBDhKjXWrJDoCHo6AiwiUkrrh4SwA82HIiN0OIvM-BWO_9ecxHKNd4tyKxfzeGZZag-wqUHDr_HK4eEKacksUh9-anhXvJXyHuom4pw8ufTTrlPt_zAx5nREdqnaBaArSfVgf5SYgCesUTlHBnpn9o0tKwHTVO37roMIAYcVQMOalPq4PuMXBIV-khnW-d5AQheW1hqnS4C5TOOcNYb9LyBiYcCTCwhFTWvUJCh-xlqVfbqaCZuPBp6YJPnOIFElUFZ2XPYD4nml2huYEtbr_Fo5jIuL5n-IZPE87Aadl95AqRVjMc2XWh-HsTkb-GlAfCoF5eg1tGrbMgZTIpV50kcIPnuKVdZSPUqrVc2nnuQMpsrjd-Q_0pL8xIaulfzTeaOgckSA5TDUUtvH4OXmr3KKXoFr7KFSSOyXKTzNlDDYTXl2X8o2WD-IMuHqGs5qBCBKddek3IimF-M2Gfker4RFjNEpBHQcUS5KwtORdkhOaVSfpnYlif8auxHeszXmPHsDPiFoym0Akc6xKO2_UwImSHPmkGajcnrBGaVZJM3qRDiNUQup_ai-8d9_H2oCOY3_rloCq5pSGsmOGcnDSfia1Bj1rT6EBMRtYGu_z4sxYytbUDBjhuNlHfeX5ppxgzXGEvxU0z9wWyhWUcZXE9tOaFlQqlqGN5IatdmgzD9r7k4btB4UBHQUXZQQZXzDG6AAc6APzEj_M2oATMfbxCjH4aVm-E9OFvo5x0w7aCn-7XfE9nvlQr44Juo1Wrx4JKEAlY8K6RLxx9mzOlWrcrcX-AJTPx0FF0ehjoDR1CSHg0Hdk5Ch163dqAuO-PjwlATUkn2ZJrKgSILAXHDzN1LbP7LNEoEO34fOadW2Nn4MgbIijy6GkDAz9mSLhtUj9INFr6bZGhxHbAYVk9Wkaybet2tIbWYvHyQI4sIZqvBz8NdANTrN6v_WNhNXKyp8S3BH1EoxeUAD0vY97NdYvpcQDGtbnYyY4dNXO5BpNSvolwPBiCTfYDGRa6j6Nofch_dfDHuG8yLDnV8HId7vi_f_UWf1yegTrm0JQRNgB_Jj5WDGjVC2f5nlHJmwzM81mBI17tDcoMMRbJauu9n5hTPg6nOVHJpz-wC8TgOYguYH8R_s0d3gY_N",
  "id": "rs_046df9010470ece3016ab46834240487d0b74bb427b0b8336d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_y\":0.19,\"right_z\":-0.01},\"note\":\"The left jaws surround the brown plush, so I’m closing them. The blue pen is just to the right of the right-hand closing line; I’m centring that hand at table height.\"}",
  "call_id": "call_qnRfbamjlxY7z0CKwEf3hVZq",
  "id": "fc_046df9010470ece3016ab468363e4887d0a2c5986f33d40347",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qnRfbamjlxY7z0CKwEf3hVZq",
  "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]: [-0.8932, 1.7054, 0.4271, 0.3981, -0.7639, -0.5842, 0.2058, 0.8574, 1.734, 0.4606, 0.5503, 0.5941, 0.4938, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.1622 left_z=0.0041 left_yaw=0.0172 left_pitch=-0.0326 left_roll=0.1037 left_gripper=0.2058 right_x=0.304 right_y=0.2056 right_z=0.0128 right_yaw=0.1023 right_pitch=-0.011 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -7.2684, 4.5744, 1.1111, -0.398, -0.0269, 0.8913, -0.8, -3.9453, 2.6735, 0.7595, 0.1197, -0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3226de6add0fcb71961e58f7c6fa820531203475469294dae3279635d86517bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8b41880286ca28708a75bdfa63293c440ae4bd82e69e54dbe421edb6ceb09a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9073c028a61fbb2532aaebd72da3e109762de8b42827d8efb93bfa73b781d16",
      "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 · 5.161 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0406, 1.7992, 0.6106, 0.6598, -0.131, -0.0261, 0.0096, -0.1051, 0.8185, 0.725, -0.5407, -0.136, -0.1345, 0.9936]\nstate[eef_state]: left_x=0.4394 left_y=0.0088 left_z=0.0406 left_yaw=0.0706 left_pitch=0.0368 left_roll=0.0543 left_gripper=0.0096 right_x=0.288 right_y=-0.0027 right_z=0.1965 right_yaw=0.0793 right_pitch=-0.0579 right_roll=-0.014 right_gripper=0.9936\nstate[joint_eff]: [-0.1162, -9.1556, 4.7248, 1.9756, 0.0171, 0.0171, 0.7692, -0.0479, -1.4291, 6.9128, 1.7167, -0.0855, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.6886, 0.4343, 0.3809, -0.7681, -0.5831, 0.998, 0.9077, 1.6985, 0.5434, 0.3058, 0.6289, 0.5243, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=-0.1631 left_z=0.0091 left_yaw=0.0192 left_pitch=-0.026 left_roll=0.1012 left_gripper=0.998 right_x=0.2934 right_y=0.2126 right_z=0.0142 right_yaw=0.1066 right_pitch=-0.0836 right_roll=-0.0376 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -6.5026, 3.8222, 1.5995, -0.4713, 0.0562, 0.0562, 0.5812, -3.8222, 3.4256, 0.2808, -0.1343, -0.149, -0.0317]\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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.7054, 0.4271, 0.3981, -0.7639, -0.5842, 0.2058, 0.8574, 1.734, 0.4606, 0.5503, 0.5941, 0.4938, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.1622 left_z=0.0041 left_yaw=0.0172 left_pitch=-0.0326 left_roll=0.1037 left_gripper=0.2058 right_x=0.304 right_y=0.2056 right_z=0.0128 right_yaw=0.1023 right_pitch=-0.011 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -7.2684, 4.5744, 1.1111, -0.398, -0.0269, 0.8913, -0.8, -3.9453, 2.6735, 0.7595, 0.1197, -0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3226de6add0fcb71961e58f7c6fa820531203475469294dae3279635d86517bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8b41880286ca28708a75bdfa63293c440ae4bd82e69e54dbe421edb6ceb09a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9073c028a61fbb2532aaebd72da3e109762de8b42827d8efb93bfa73b781d16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGg7BwWv3_frcjS4Hd5KcOMr_h_UjcjvWd7dTs0Upv5UpmIk2ewUTT6MFuhxWDW3b9kalHzwEYXx-2cRc-0HaT525S2NI-84RtTX6X7mu-cOVNaJg_t8f8Q1dxRyu8wlzN8Ittv9EjPGoNZh7uIWW-g2SvfQV28ewNLOjjPrXZQ4CGGXRjYfsmtQa0ckuW08ruItUZf6uif8fI-ciOV_oK30jiwCCBc5eWyj368G3Q8KH922LmfbzPhAzN2aBP5MMCu6tMaC8bICBS8l3w2cyvqwKXz8vSHQeL2dvKVuby2lSkXr-UeTF3DaP-A_jKN8frRC9Bew02sZqvGshZtaWBEsTspV2TD-eNq5OGz_jSx41Azk7UHP3MMRyriR5u_nyXvREegToNnqjf7hcwHNUawEEqkF4T5_WRuGt--YSZ1guCJ1n-t8Bn6EbIG5P9cRzXsP1rfjXvJwF9KfU33UkrQThKqca-4qckf57ldcaDgXJ6iHGISC87yXC7OGj4VkEHK7wMgs5uQEO2DYYNOV0ktGDToj--t3M_g6aoCCgk9vKiEpjJpfjsOA_yqjKjgQLyLneGCbobdQjBsf0eGQrST-mioTkR595L3hl7nqTLBMbDF85xjrJkJmml79vWIsoEbBuA1rRwTmyzQnmyW2Ce7wTjd5hBL6LbFROffwJybf1ZNJ10g5JLjeZXcZslu3jmbxN4CjomTK-TJ_hz81leA1skgIoHnQrh8O23AwEpSwOxo4O9RVcfKGe-PJevwP_q6cQN8pEWRwnxgP3Zc87WWhqOgL1uJjfdJH7s9TLHkJr7JGZdpEtaws2jlEvrbAcmYL7WSCOa33hS1ith_d2eQ2tQcqdBXow8lfT5rebd3SzGIWLDjcP5G3Y69ZADLZphBjC5wgNcbhaQa3WCYhpG0fR_z9zWBUMu9RE8shuhbTeJkqzSAOZnIwhTeWt92IlxEV3Z5UNiN1wUcAqOn9APvOUFDi2x0kfkYS50zyrh_jvyGb8KiKjV7ZbbKrK_NnWeMiqIuc8SgwWrSAUUgF5hs6L-kl1HBvxLn9g0IpF5vHTFTEIQrrYs36xvvD5ZvJw93685QO49ivQxwqFbvlbwiIFCRcY-SnHhpBynGgsvgE7HRpB0ZAHnGpewK_61ee84BE6_YuwLiXs9EuJ3RK8j8mrMs3X7ndF9nzMrzzk9vzKgHIsVMpxcu9njczTBZ9B2tIPCF_xYQFtSWJVU-LNpm4NCPhevBtroXlbxO9UBo_aEadFDwz-JzGaXPTNEcSJdz83_TcXvx9pm-AsRPWe1JUxj59Y8whfWqMPXocJCisDN7aPGkzfPAQrMJw1NTcmohhz6LtvIQqNEuhJR5v2oSJxkUOBqBvQNHkQRcu2awzH6Y=",
  "id": "rs_046df9010470ece3016ab468397f3087d0add3825163c79622",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"right_gripper\":0},\"note\":\"The left gripper has a substantial opening around the brown plush, indicating a real grasp. I’m lifting it for confirmation while closing the right jaws on the blue pen.\"}",
  "call_id": "call_52nOuhsOq8dACnr3Lh7Rz5zZ",
  "id": "fc_046df9010470ece3016ab4683a17d887d08ad3ed1ebbb0ba52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_52nOuhsOq8dACnr3Lh7Rz5zZ",
  "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]: [-0.8932, 1.3685, 0.5858, -0.0963, -0.7589, -0.5842, 0.2083, 0.8558, 1.7386, 0.4568, 0.5598, 0.5911, 0.4904, 0.1526]\nstate[eef_state]: left_x=0.2915 left_y=-0.1626 left_z=0.0878 left_yaw=0.0139 left_pitch=-0.035 left_roll=0.1004 left_gripper=0.2083 right_x=0.3038 right_y=0.2053 right_z=0.0115 right_yaw=0.105 right_pitch=-0.0115 right_roll=0.0431 right_gripper=0.1526\nstate[joint_eff]: [-0.1299, -6.0103, 8.3487, 1.1844, -0.3687, -0.0122, 0.2466, -0.2256, -6.6393, 4.506, 1.3895, 0.2222, -0.0171, 0.9939]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b6548e59054a1958c0c1b62f00ecdbd725eecc7be07424d2109ca38aa26b8d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2adedf963c809ae6118e5d287660e860587a1eac26024e461d6437cdb53a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d752487d08304c7d9906928bee05d2a33963a65cd0cac056b19b1a066828fa5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.988 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.897, 1.3128, 0.7197, -0.2035, -0.7761, -0.5797, 0.9974, 0.841, 1.2892, 0.6914, -0.2581, 0.569, 0.4561, 0.9986]\nstate[eef_state]: left_x=0.3032 left_y=-0.1757 left_z=0.1399 left_yaw=0.0189 left_pitch=0.0254 left_roll=0.047 left_gripper=0.9974 right_x=0.2859 right_y=0.1823 right_z=0.1122 right_yaw=0.1191 right_pitch=-0.1216 right_roll=-0.063 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -5.1761, 8.6359, 1.2283, -0.4518, 0.0122, -0.0317, 0.2393, -5.0256, 8.9778, 1.4725, 0.4908, 0.1734, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.7054, 0.4271, 0.3981, -0.7639, -0.5842, 0.2058, 0.8574, 1.734, 0.4606, 0.5503, 0.5941, 0.4938, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.1622 left_z=0.0041 left_yaw=0.0172 left_pitch=-0.0326 left_roll=0.1037 left_gripper=0.2058 right_x=0.304 right_y=0.2056 right_z=0.0128 right_yaw=0.1023 right_pitch=-0.011 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -7.2684, 4.5744, 1.1111, -0.398, -0.0269, 0.8913, -0.8, -3.9453, 2.6735, 0.7595, 0.1197, -0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.3685, 0.5858, -0.0963, -0.7589, -0.5842, 0.2083, 0.8558, 1.7386, 0.4568, 0.5598, 0.5911, 0.4904, 0.1526]\nstate[eef_state]: left_x=0.2915 left_y=-0.1626 left_z=0.0878 left_yaw=0.0139 left_pitch=-0.035 left_roll=0.1004 left_gripper=0.2083 right_x=0.3038 right_y=0.2053 right_z=0.0115 right_yaw=0.105 right_pitch=-0.0115 right_roll=0.0431 right_gripper=0.1526\nstate[joint_eff]: [-0.1299, -6.0103, 8.3487, 1.1844, -0.3687, -0.0122, 0.2466, -0.2256, -6.6393, 4.506, 1.3895, 0.2222, -0.0171, 0.9939]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b6548e59054a1958c0c1b62f00ecdbd725eecc7be07424d2109ca38aa26b8d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2adedf963c809ae6118e5d287660e860587a1eac26024e461d6437cdb53a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d752487d08304c7d9906928bee05d2a33963a65cd0cac056b19b1a066828fa5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhBOZIXypyz3CeDQD2EydmfdzhUZmRIP2W1RURlvsYe7VqoyvAzKFew2IH3SfhmmuJ6tmSxPt6YCzlttftqwsXi4kWXo7l1dD3gwh_gRHOS63vPfB1LkMPLI0HfC6GQwdRhR5gER-wDvMkdrdqWsO845PcyCzj_AcK4QI8Odp3P1rz09JNPZqc1N_IsqYSr8JZIDg2Iy2ngjGjwJxnORYDtktevpMSVxiHdLpfi_lkmF-dA0dJ78aCUpg2faWysYqutnuF9ZfEzWVbEKlON3nLTpfx_1oXVqAtcM1mABy1mNw6R9bYigwKFuhlgZWwu38D-MKidJCF9ZANg5rYcvM69e-36_tR4TJj_ezx65HhaIGYstIl4h-zEaTCedCQPgHWx6kBiKOTs7hrURXyEh1nY7aLslDWOWAQZ2I-_WxuNO9YKjA5Ro0viHep3A0saq-7f5GXDFNoVUU6jtwPrUw8Xq5Y50cuLIRmt7_CmEZbjW6twItK7WRTOa8JwxDVdOinLGbwNeRO4Ot-pZ5Mu0q0CSW1ekjLk-0vQas4fghfq0EdquEJwFEBN8tWBwHtmVEjwYX2vIxDFglxR5Iq4jk205nYej--nYMwq7ZhhGsSpypY-dN-antvZCBQwPI_0wzv_x6yR2WHlH-UaZgWHMC0f6easRgvkvntt7U6Mk78_aCYBbEm90w6wNkrYyQjaqbn-DtdMWMQqMxKoXmr43CllHtbaQIAJnYTz-Yd6gGZVPaUBxr9pCIvr0E0TF6rlVBL6T0zhXS6eIHgg85klqBQiESmyLzL5b68jQO-Bo2CGEq-9sCqNxKhwZGOTYcZnlQkzrKOukW2rQBgMMHm51ymz2Akcb-aMZ91gp0nm5cm_Cu4rbGonH_XLhPu0ku917-iJi9HHeBylJxHiEcdQbPXTcMXdUh3a-FnLO5-mkcMzoTnjSjsIDY9MTuKJZRcnzj7w6nc07zqLfdkRuSuD95NP4S38sGLTFXkqXtOQ772bzPz9UqIuajlRwkK5SdZGeHWV3FVR9ReTsOu1qwVND9ygg94Z77EV8btFec8s9r4NpkLm2eyDyLB5mGJgPm2UJ2jgdJbU0AfIrU2wmHebNOL7YdTtAE5fi_KNvnXAxEqKaY1rTSnrA1X442EHOCRdZwZP5eUxilccO6NSnkcajkx_KN9nXUTqzRAqhyuogAYJHo6FRJzu-ySQg4HDVkM1IOVhRA7plKK_JVC0WYB9P4HLBIofMvjxt60ITDL_iHs8X5LguulW6Xhpo3TG5V8CnJtrDjhHezp23BOPu09FyTI0D3AqwTXkz0DaZvoYOcuyIaGyTjZx7vwQq19kFDgQOzC_oOe67w4luHafj60atu4xkKr6dhrOXj2oYqmk9eOvJzMFiYUo8LRfGEFR1Eer8NEh8s8QJVa4FMUWAttnO5tjWffUwIg4535iY60cviJm12m2MJ2y-ueQLFTM-oFzGLPx7zV9JIuO4IvEFz3sZEQ9AKwwkD32WsRzN1l2Ts8C5hp16kQ_CZ6WOAndmF6Err4WDGpeSkVnS-HqGDll9YH5_Q3QviTqLLdnlkU4uZreA8e-Y_2ZIgAm3uVGLxW_L8YsU_jQIDj5mvyf7I1bZoZqDWzi3kwDdX-NZgsCU2MQrS15d8QC8vGDG_hCrzyB12eaM5Dd9mg9qzbjBZuBQ60Lb2BDAjpegswnKKXppeRsu-d3stqed1Wr0Y8yDOH7d7uJ5sOaPUjcLlGEhRxUpzWeRa1sZkEDJVeoDM0UJPHAFMG_FXRh7izDF0h-UJLvvjzCh1_ele_BTjyfV53KE92g6nRJDBJq317p0oaSmxoGqGCyI8ASf3mTYdUw0pdl6eImxRpuzkp-IR0SOWeXrzfmrI6nmCubpCB8ZVjHhrePGhhZMPW3MpEotZE9MflhPByUJYv28VaKXj19csZHqkVPJtp3S_W3pcCf5zRYKf_fW-hHn_QY05GNJicGIDNnNPaCTaNlY19HsJPmSHUBaeNCg-DKITMf4mB1sgMMI0DRBg5ZoikGuHmoUmgtRni5Qobp",
  "id": "rs_046df9010470ece3016ab4683daa4087d088554990a977524d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"right_z\":0.2},\"note\":\"The brown plush has lifted, and the blue pen is secured between the right fingers. I’m raising both to carrying height before moving them to their separate baskets.\"}",
  "call_id": "call_oWfym38KjDf3xtcDWVKAk4H1",
  "id": "fc_046df9010470ece3016ab4684044a087d09100e123a10066df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oWfym38KjDf3xtcDWVKAk4H1",
  "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]: [-0.8932, 1.243, 1.0328, -0.6792, -0.7555, -0.5922, 0.2114, 0.8558, 1.2861, 0.8913, -0.3344, 0.5823, 0.4866, 0.159]\nstate[eef_state]: left_x=0.2929 left_y=-0.1651 left_z=0.2153 left_yaw=0.0162 left_pitch=-0.0429 left_roll=0.1003 left_gripper=0.2114 right_x=0.305 right_y=0.2086 right_z=0.1817 right_yaw=0.1136 right_pitch=-0.0207 right_roll=0.0393 right_gripper=0.159\nstate[joint_eff]: [-0.0342, -5.3402, 8.6632, 1.16, -0.3101, 0.0269, 0.3199, -0.3077, -6.5846, 9.4017, 1.3944, 0.2515, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfd64c283fe86fe4e9b2afda87c5b6d192edbb05ad21daedd6d4448ad514d9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce6a0cb8854050cdfdb749bfa6c1cd784e054ce1d714df2cdf0ea8a9f98adf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d106bd55e2ee26d0e8dbaf96ad5a16f04f8d9c5e5bd1488fa4be77f18e2fd70d",
      "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 · 5.254 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.6886, 0.4343, 0.3809, -0.7681, -0.5831, 0.998, 0.9077, 1.6985, 0.5434, 0.3058, 0.6289, 0.5243, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=-0.1631 left_z=0.0091 left_yaw=0.0192 left_pitch=-0.026 left_roll=0.1012 left_gripper=0.998 right_x=0.2934 right_y=0.2126 right_z=0.0142 right_yaw=0.1066 right_pitch=-0.0836 right_roll=-0.0376 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -6.5026, 3.8222, 1.5995, -0.4713, 0.0562, 0.0562, 0.5812, -3.8222, 3.4256, 0.2808, -0.1343, -0.149, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.3685, 0.5858, -0.0963, -0.7589, -0.5842, 0.2083, 0.8558, 1.7386, 0.4568, 0.5598, 0.5911, 0.4904, 0.1526]\nstate[eef_state]: left_x=0.2915 left_y=-0.1626 left_z=0.0878 left_yaw=0.0139 left_pitch=-0.035 left_roll=0.1004 left_gripper=0.2083 right_x=0.3038 right_y=0.2053 right_z=0.0115 right_yaw=0.105 right_pitch=-0.0115 right_roll=0.0431 right_gripper=0.1526\nstate[joint_eff]: [-0.1299, -6.0103, 8.3487, 1.1844, -0.3687, -0.0122, 0.2466, -0.2256, -6.6393, 4.506, 1.3895, 0.2222, -0.0171, 0.9939]\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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.243, 1.0328, -0.6792, -0.7555, -0.5922, 0.2114, 0.8558, 1.2861, 0.8913, -0.3344, 0.5823, 0.4866, 0.159]\nstate[eef_state]: left_x=0.2929 left_y=-0.1651 left_z=0.2153 left_yaw=0.0162 left_pitch=-0.0429 left_roll=0.1003 left_gripper=0.2114 right_x=0.305 right_y=0.2086 right_z=0.1817 right_yaw=0.1136 right_pitch=-0.0207 right_roll=0.0393 right_gripper=0.159\nstate[joint_eff]: [-0.0342, -5.3402, 8.6632, 1.16, -0.3101, 0.0269, 0.3199, -0.3077, -6.5846, 9.4017, 1.3944, 0.2515, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfd64c283fe86fe4e9b2afda87c5b6d192edbb05ad21daedd6d4448ad514d9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce6a0cb8854050cdfdb749bfa6c1cd784e054ce1d714df2cdf0ea8a9f98adf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d106bd55e2ee26d0e8dbaf96ad5a16f04f8d9c5e5bd1488fa4be77f18e2fd70d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhHdQf1qvVCqnK04htgNhdrCYIzsFVuGdTQX9pKy4kQlp4vxDlZyzaDMtfXaqDEdEyKUz_SDksZH09ElaY2uBK5LUrYlNJHkOtWn9cw1Fa-dqRA3pdrE3LJZ24qetglNlW59IjdEvLO9DH9g7qkXJKa3XIr-RrqcUqv3wGO7GqslxHLy6LsnUEEehM0ad70i-cGuj22K8NZ-Ac4Y1t_ERr8uHJh2YKzLrD5_frJlp7cbWOkHJySRSFn9Sn5DfWBYjFkIRijr_6HJc3wF2FEUv7f_dDl5ObLohk7nWCBzOAiiqclT-M4rl8ARqjgqOOguWkwwqrNgJ9rUXXXJwSfPRUtVq9_lGs9JILy6xDYdk30IivxiwmJ5sIen90Hek-Qmw1_vlpdz1Py7wPKnShUomRdCZbFGr9ZNOsyPyfE6t0XXYEAvlQV8NWtcxOMLR85e5Ivcjhq84MAYSs-_yIagrV7fhLbqpFo36wY4rWasN9cFvQt4qg4zAS0DHyz4RRdVsZQ-NLqCBiYijU5uhCIh5w8FoPKWfFBuKID611NmndKFQpmie679nuGlx484bUhiOviyEU_KFOx60fcgImwVsEY_JS4WnvfF8NSPn8lC9s0S-EKYQJF2HitmIPae0LFp7Thlm7iQdBbd_yX1EfP6z-4WNkN4-A9SNE5YzwN1c3t16OLDiMJCK6-Q0Bmw8G2lfS8H76I0CbBJzt6NstO5IqPIWWQZTqaI6uyx354FYqeXeabbqZtJnNM6_7a4Rvxmv84mIVfIwV5VsdiAcODE71sSeFnJTRayLlswD5QosHeVvbfRffxyIRyOtZURjFaBpeGBS_m3bLo0wjHX0KN7HnjQVYziz2iOAr-d5otyYOZF2e_JNaU9gdq-QbWHna-SfISbaz4EWvk9l9ZuMSHqZYj2MP9GZcCAggRhZT_tQIls7Hx8GnQzb8VUgyxwIurfOa8FoOkkqzPTS_NQ6kbNCyEmbsPs-kSrLaB83n1d-PNLKKJk5URM8FwoXUM24nQzTmT_Z1wW27N9DkisB0j_q9aDcXTnJLkdw62j4FVkb_iBDdlmCrcloyDJyrAQmTedAESklj4bC-nsVwJVewS9fwCVnY_8aRcGpUOllCDf-C-HVOMraadynzfp2iABSkVpfFZFsYJWTKME4XqGBoX0v8l3buFtXyKhV2ivO4dqB8GrRvpdi0pU7i62JMAl0v6czHKc3S7M75mOd501obTHZQjmyudE4vkw0HgrgK8m3415iI0ETZvl77BwoIUCuOAKGyDGXVVc_VsVt70btn4J1YVeLcyfSLVo1KKhLrLZoPban4GARM-ulzmoBz3orN9gNEOxaDNN-_N2RvCGpqy4mavojNw5On37HGbjgMY_-WqvWcQpDKbjf0yfw2Hh7B0i65nknOLWTS08YX0NJSO5J8E01vrl0gNFZYE6K7SrST8DlhyCW-Nx1Mu8qUKI4_fUoGCoROfHbwKSaHtc89RrP2VV4w_QokqZ-QFALYfiHcstgERAsa1uNU2Jegzy4SFKwc0J3ZgTvEUw4hQ9kP73uUuaSoWNBVj-X-7mfOaILKxSJpRrlAKr_escODxLhjpTClnGiu64zQYR_ZUGLdo86UtnhgNjvn-6CJg_6ilazMT6SpmhMj4RKpDep7Xg7Kv4Upu60JZfWaej0iA3AJGBWKjG9zEerpdEI95g8QXygz3eiwX4a099z-6FNloLhP356Z2PFpGnJl22u0PWRX9hAqnBbgzg5CVs_AtSWNQbK8vH3_V4pb66m0wW8DtQMr-cbxwTx-CWLxMqOsjs5fcsrrY-yfDV8afWC7Y_3x4hQUCHPE2VaDb0SiKMw3Q_6AqphaH-qdHRyhWHkwa6DiPIh6RmR3jeE6PQ5PCEHZ1To-Bseop858aUUaAlPHGvXc6yLzRbX9k5NkHwiARoUCzqY-o7ciTuEIFz55nIMcyc860R5wPLx9dOe0ttk3gE6Vv1RWZt7uQ2IQxXnsBDJKL032SH0if5DY3bajnuGpI3cfr5vAtViSEzz3gqddu63yc1xre",
  "id": "rs_046df9010470ece3016ab46843bb2487d0b578b61a869ad223",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.15,\"left_z\":0.24,\"right_x\":0.48,\"right_y\":0.13,\"right_z\":0.22},\"note\":\"Both objects are visibly supported. I’m moving the brown plush over the left basket and the blue pen over the right basket.\"}",
  "call_id": "call_qJy267Rox2V4ej4g1464q6lx",
  "id": "fc_046df9010470ece3016ab468466ce487d084e7837771afc7fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qJy267Rox2V4ej4g1464q6lx",
  "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]: [-0.4454, 1.805, 1.5848, -0.506, -0.4438, -0.2436, 0.2133, 0.3229, 1.6459, 1.2972, -0.2947, 0.1654, 0.1398, 0.159]\nstate[eef_state]: left_x=0.4902 left_y=-0.146 left_z=0.2215 left_yaw=0.043 left_pitch=-0.0856 left_roll=0.1061 left_gripper=0.2133 right_x=0.4691 right_y=0.1301 right_z=0.2015 right_yaw=0.1053 right_pitch=-0.0636 right_roll=0.0281 right_gripper=0.159\nstate[joint_eff]: [0.335, -10.2222, 9.2103, 1.6777, -0.1392, 0.2027, 0.1783, -0.5265, -8.1299, 9.7436, 1.7363, 0.0024, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59047516686be0d807cd9f3c597304023d696be31609dae661af9635e86c6c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4987ba43d39ee645e3d0a30751c671c52ac3060488b33fecd83ccb9bd463dfb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43533e25efb2f6f6415b3b3181514e57b63a30e3778187143bd142f9aed3d2f8",
      "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 · 2.411 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.7054, 0.4271, 0.3981, -0.7639, -0.5842, 0.2058, 0.8574, 1.734, 0.4606, 0.5503, 0.5941, 0.4938, 0.9985]\nstate[eef_state]: left_x=0.292 left_y=-0.1622 left_z=0.0041 left_yaw=0.0172 left_pitch=-0.0326 left_roll=0.1037 left_gripper=0.2058 right_x=0.304 right_y=0.2056 right_z=0.0128 right_yaw=0.1023 right_pitch=-0.011 right_roll=0.0438 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -7.2684, 4.5744, 1.1111, -0.398, -0.0269, 0.8913, -0.8, -3.9453, 2.6735, 0.7595, 0.1197, -0.232, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.243, 1.0328, -0.6792, -0.7555, -0.5922, 0.2114, 0.8558, 1.2861, 0.8913, -0.3344, 0.5823, 0.4866, 0.159]\nstate[eef_state]: left_x=0.2929 left_y=-0.1651 left_z=0.2153 left_yaw=0.0162 left_pitch=-0.0429 left_roll=0.1003 left_gripper=0.2114 right_x=0.305 right_y=0.2086 right_z=0.1817 right_yaw=0.1136 right_pitch=-0.0207 right_roll=0.0393 right_gripper=0.159\nstate[joint_eff]: [-0.0342, -5.3402, 8.6632, 1.16, -0.3101, 0.0269, 0.3199, -0.3077, -6.5846, 9.4017, 1.3944, 0.2515, 0.0269, 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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4454, 1.805, 1.5848, -0.506, -0.4438, -0.2436, 0.2133, 0.3229, 1.6459, 1.2972, -0.2947, 0.1654, 0.1398, 0.159]\nstate[eef_state]: left_x=0.4902 left_y=-0.146 left_z=0.2215 left_yaw=0.043 left_pitch=-0.0856 left_roll=0.1061 left_gripper=0.2133 right_x=0.4691 right_y=0.1301 right_z=0.2015 right_yaw=0.1053 right_pitch=-0.0636 right_roll=0.0281 right_gripper=0.159\nstate[joint_eff]: [0.335, -10.2222, 9.2103, 1.6777, -0.1392, 0.2027, 0.1783, -0.5265, -8.1299, 9.7436, 1.7363, 0.0024, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59047516686be0d807cd9f3c597304023d696be31609dae661af9635e86c6c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4987ba43d39ee645e3d0a30751c671c52ac3060488b33fecd83ccb9bd463dfb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43533e25efb2f6f6415b3b3181514e57b63a30e3778187143bd142f9aed3d2f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhOl1EYvHRpvd2J2GhfLRoMC2-uRJHnuAyInWlA_yJJzf8qskdl4VW8uH959eXZERJkpBdyR9V_XfmKoA3zFv1DvOS0_WZfODzZLYTRasb4bx19lm-cuZZ6O9VCYAf4H7WHn7IQ3TDrAc_xQkZQrKoinlwzyCG-oMuagWiYzONfDvoNpfqOQoTYbmuJ7VYHVKj_zKrtUckNF7uj2L3GBQr9xyd7CAp36hs2vIcUF5nnG2m1J_xD2bVkJoLrmyT7h5Y3xrXSuZntnmgnK7PaLZM5UhK3ngcJF1JTAQqbhuOjtHaVcgNORYiNC2v0c2RuhcdzgdnS-3DS5OExwbii9_6ncXiKe5lNKJl9kFwexIg7qgflGUK6lrI6yJVWzleUJ8zV7W-PEDpJXU07MuBzM-Y0nBglBs6bTCn0vgEjZSmsRwHKh1DFtcxTueuTJUGt2GQRklqUrN6ortkHHPbNDX54BAIz8xMzMmKU47SOkxNSaYHsFuSIgMYQLQVvtKoJxEv5qqypz9Qor_4eCGporivztIWDUJXJO4HJxANK0V8evoHp9KdjRuw2yfV7phAry_is7vQbPgZxvc8uSle6kM0Kp6rl84nWX7fiCIaO8n5uS50i6C8bKuEaJyx7Iu2qk7gCIggr4ehsEwHQ70lgLNS0M9sEvg8GCxRaR6TV-Of6APfRMnVYkyF9R71xYXYPF4__pV4ePi4vmMhF1v7RvGcKGqXaCvA7CwVh51aUHtTX9qBJX7thQVZJJxq-Yh1MM9nkqNxJn6cDh0j2GhiQoEKC5YDaowD-IwCzFx0zSm16ZtERtgcDER2N0cgH0ztOvsvquw1rmSrr5dCywTmQxIis5XEDXqV1B2D9LmwUTpyN-SjqYEpMZkfqDMTz8aU93NzhGHt7mgfIbRZn0FvI2SwPuhFI3F3vqeOwMJsj-YvyaCVHqTYwFNhLYuzusdSkZItCD-soEGj64GtTYuZPosfQpg_bso6-Uwa7FroVgPcnzG-CDvdXSPfnsKnuyv8r6IrRK5AHrMRcyfmVzSBFEFMH0UijT4XfCPWC6g9OtlJ5lNr86p8hde3qxeEMxVnnnr08cm1I9SuhjdADchiBA2yIGbNI5GDI7VAEhSSVHy-dhMTpBM3ZSIchJ_X8m0wSzWf-d7BrH2KFpl3iifDlUfvrN5J7ZSySudtXVLmHLJPNZSUhs9p5wmWnF93NEZjOV0dHG2Xy5mKVb11F5TjPDZgETnOeR_By_MV7YwwTYjmjYKXfVuxaP42QkCnx9VZVYHTS6njs33_AYbcKTGqRUBwiAOhbtdVnkhWqwyrdsbq7bf2qiP_GeRVQ0SXS5QHqcWfuOWbiLUCBYm14iuLfW1RvScdFaaGkzv_Jk8u6gvsjNwKbuayU0kpNasI5lD6LUVXh6TDdse3kQGyvy237fvfU-_oNX3x1tzRHvOo5Tnfl5r9x8V_im6f2BB1KRoi02N7tNaPQa6HrUsQuEBXhw3RcxmtT-pkl2B4ejs9r5B4H6_7vPXNdorA-MrfWxSzCxINUAd2FtGesI1bJcu8tccMumbVUdBeoGeHOt4kT5TjpNlx7jQM-qqbTjyUTu5py07PT4Wp1RX1yKXmfxvn0oCOHS778jD0DW8KNiOg7xHrXxhZcgl9BuN2_a395ASzRW-EKIiJhYZAg7ju_oXZuBH1E2AD1So_bmMlEPnNgYn5RnenbD2Gi7MwjWqP3AAltbFhA1z44CPiigRGMf_0m8oPPgRJF5CJZU094DQQK9lmc5jmUrMTKFXGDO2VNKI-8jnnji9SPK1DibYaPDZMANeXTHOH6dPDwrCbJtK8Jve0MMLtAG9mRVF50IdTod2zCgEhfmonezduhIzCL6LWn_CEFLKofTnV2jDX5MOcgcn25EE8zEUljzvtOcncwjsKutcIsQIuW0jjlbu1AhP2IJxsN90QgnjpIoKsmqmnZLPwy_QHo-oenUV5ZrEHXOB8Vg1eVIjeJ-5AWF4dadEx-RBEBnxu8JgOqk5Qe5GIWLlPL2hYcC0ZEuNvZM8ft1SK_FDAU",
  "id": "rs_046df9010470ece3016ab4684a58d487d08e4aa1f4e7cd4797",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"right_z\":0.12},\"note\":\"The plush and pen are above the correct basket openings. I’m lowering them close to the basket floors to limit the drop.\"}",
  "call_id": "call_Tz2XcK5jhaqiXB8s82ku5Skf",
  "id": "fc_046df9010470ece3016ab4684d3ec887d08d747c20ccb8d118",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tz2XcK5jhaqiXB8s82ku5Skf",
  "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]: [-0.4435, 1.8275, 1.3518, -0.3012, -0.4404, -0.2432, 0.2148, 0.3176, 1.7191, 1.0664, -0.0513, 0.1486, 0.1307, 0.159]\nstate[eef_state]: left_x=0.4821 left_y=-0.1417 left_z=0.1475 left_yaw=0.0446 left_pitch=-0.1316 left_roll=0.1283 left_gripper=0.2148 right_x=0.46 right_y=0.1274 right_z=0.1137 right_yaw=0.1178 right_pitch=-0.125 right_roll=0.0185 right_gripper=0.159\nstate[joint_eff]: [-0.4581, -8.9231, 6.9265, 1.7411, -0.232, -0.0464, 0.1587, 0.4171, -7.9521, 6.7214, 1.9023, 0.1929, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa0234c6555a97ca0cae1928be27af5e39a75dc46ffe8a90c97b4007449e1cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da150f88d8dc77e7360fb6488ed0512d99ed58237a28ae343bebbfa88ba57c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b023025cbd5a01b2cf91d3cac510161f4c268a45da3848a7378746a246cc126e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 12.06 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.3685, 0.5858, -0.0963, -0.7589, -0.5842, 0.2083, 0.8558, 1.7386, 0.4568, 0.5598, 0.5911, 0.4904, 0.1526]\nstate[eef_state]: left_x=0.2915 left_y=-0.1626 left_z=0.0878 left_yaw=0.0139 left_pitch=-0.035 left_roll=0.1004 left_gripper=0.2083 right_x=0.3038 right_y=0.2053 right_z=0.0115 right_yaw=0.105 right_pitch=-0.0115 right_roll=0.0431 right_gripper=0.1526\nstate[joint_eff]: [-0.1299, -6.0103, 8.3487, 1.1844, -0.3687, -0.0122, 0.2466, -0.2256, -6.6393, 4.506, 1.3895, 0.2222, -0.0171, 0.9939]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4454, 1.805, 1.5848, -0.506, -0.4438, -0.2436, 0.2133, 0.3229, 1.6459, 1.2972, -0.2947, 0.1654, 0.1398, 0.159]\nstate[eef_state]: left_x=0.4902 left_y=-0.146 left_z=0.2215 left_yaw=0.043 left_pitch=-0.0856 left_roll=0.1061 left_gripper=0.2133 right_x=0.4691 right_y=0.1301 right_z=0.2015 right_yaw=0.1053 right_pitch=-0.0636 right_roll=0.0281 right_gripper=0.159\nstate[joint_eff]: [0.335, -10.2222, 9.2103, 1.6777, -0.1392, 0.2027, 0.1783, -0.5265, -8.1299, 9.7436, 1.7363, 0.0024, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8275, 1.3518, -0.3012, -0.4404, -0.2432, 0.2148, 0.3176, 1.7191, 1.0664, -0.0513, 0.1486, 0.1307, 0.159]\nstate[eef_state]: left_x=0.4821 left_y=-0.1417 left_z=0.1475 left_yaw=0.0446 left_pitch=-0.1316 left_roll=0.1283 left_gripper=0.2148 right_x=0.46 right_y=0.1274 right_z=0.1137 right_yaw=0.1178 right_pitch=-0.125 right_roll=0.0185 right_gripper=0.159\nstate[joint_eff]: [-0.4581, -8.9231, 6.9265, 1.7411, -0.232, -0.0464, 0.1587, 0.4171, -7.9521, 6.7214, 1.9023, 0.1929, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa0234c6555a97ca0cae1928be27af5e39a75dc46ffe8a90c97b4007449e1cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da150f88d8dc77e7360fb6488ed0512d99ed58237a28ae343bebbfa88ba57c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b023025cbd5a01b2cf91d3cac510161f4c268a45da3848a7378746a246cc126e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"The brown plush and blue pen are lowered into their respective baskets. I’m releasing both objects.\"}",
  "call_id": "call_drZHLHZwZw8QyDijY2zin8kI",
  "id": "fc_046df9010470ece3016ab46850662887d095d8cbb64596e22e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_drZHLHZwZw8QyDijY2zin8kI",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8385, 1.3422, -0.3012, -0.4404, -0.2466, 0.9953, 0.3168, 1.7287, 1.0515, -0.0521, 0.1455, 0.1261, 0.9951]\nstate[eef_state]: left_x=0.4805 left_y=-0.1409 left_z=0.1383 left_yaw=0.0478 left_pitch=-0.1495 left_roll=0.1354 left_gripper=0.9953 right_x=0.4561 right_y=0.1263 right_z=0.103 right_yaw=0.1214 right_pitch=-0.1501 right_roll=0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -10.7009, 7.6103, 1.5018, -0.2564, -0.0073, -0.2027, -0.0068, -9.4291, 7.6513, 1.619, 0.0317, 0.0073, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7054957b2a10af61135f8ee6a70e8ece1dfef972eef1958048144cee556dd63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2aab8093b936085f2649b9df9c14b02ba0a2fcd4f315c439d2cd614c859498b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b4c4a67b49fa264b7d9d15136580c6679a985c58be616222642e78a84c3354",
      "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 27 attempt 0 · /responses · status 200 · 5.466 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 104 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8932, 1.243, 1.0328, -0.6792, -0.7555, -0.5922, 0.2114, 0.8558, 1.2861, 0.8913, -0.3344, 0.5823, 0.4866, 0.159]\nstate[eef_state]: left_x=0.2929 left_y=-0.1651 left_z=0.2153 left_yaw=0.0162 left_pitch=-0.0429 left_roll=0.1003 left_gripper=0.2114 right_x=0.305 right_y=0.2086 right_z=0.1817 right_yaw=0.1136 right_pitch=-0.0207 right_roll=0.0393 right_gripper=0.159\nstate[joint_eff]: [-0.0342, -5.3402, 8.6632, 1.16, -0.3101, 0.0269, 0.3199, -0.3077, -6.5846, 9.4017, 1.3944, 0.2515, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8275, 1.3518, -0.3012, -0.4404, -0.2432, 0.2148, 0.3176, 1.7191, 1.0664, -0.0513, 0.1486, 0.1307, 0.159]\nstate[eef_state]: left_x=0.4821 left_y=-0.1417 left_z=0.1475 left_yaw=0.0446 left_pitch=-0.1316 left_roll=0.1283 left_gripper=0.2148 right_x=0.46 right_y=0.1274 right_z=0.1137 right_yaw=0.1178 right_pitch=-0.125 right_roll=0.0185 right_gripper=0.159\nstate[joint_eff]: [-0.4581, -8.9231, 6.9265, 1.7411, -0.232, -0.0464, 0.1587, 0.4171, -7.9521, 6.7214, 1.9023, 0.1929, 0.0757, 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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8385, 1.3422, -0.3012, -0.4404, -0.2466, 0.9953, 0.3168, 1.7287, 1.0515, -0.0521, 0.1455, 0.1261, 0.9951]\nstate[eef_state]: left_x=0.4805 left_y=-0.1409 left_z=0.1383 left_yaw=0.0478 left_pitch=-0.1495 left_roll=0.1354 left_gripper=0.9953 right_x=0.4561 right_y=0.1263 right_z=0.103 right_yaw=0.1214 right_pitch=-0.1501 right_roll=0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -10.7009, 7.6103, 1.5018, -0.2564, -0.0073, -0.2027, -0.0068, -9.4291, 7.6513, 1.619, 0.0317, 0.0073, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7054957b2a10af61135f8ee6a70e8ece1dfef972eef1958048144cee556dd63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2aab8093b936085f2649b9df9c14b02ba0a2fcd4f315c439d2cd614c859498b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b4c4a67b49fa264b7d9d15136580c6679a985c58be616222642e78a84c3354",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhe4ESCaYsSaoFz-ixQGZ-0R7baIAQ8vavK08eGcws1kOfYl5FSR8UAdAETlYqtSH9Aqr1iV5URCgoYpzuWLCEL3pYr_lXXoKvED2oq-gU4jhMuukAWyuioQEEPGUbrMrL1SEu1hzpKDTnTjG9GYukOMbPsMzf8OK__ERjYT_QJ_SulJxrmdOZsX2_wIQfB-J7JWiQboz2JOn2l62hLnLnej194UTlf9lt8AcXGuo3WwgTsNzkggMB1BwEy6jsyzXdZa2NHwehNY9C3ky-hZiE5OroAVTmuG5fSsLfezlZvXEP8QbnIQbW1K-hZcUlaV9_mqggAPUo6vetdIrc8WYQpMWTlbBaxy-JZVOwLE3e2NIQiXNrO1qlV6j40ugCnwjxPbml7npErFQIiwzSDVldkI4kc1W1rsnmXMbgFgALYHOVQz1RzCippBBasanJCooBgTdINtac5jzgbSvDYlsXd4XwnmUusdgqa1uYUtZ5ffQmvmaTC_gy-YeaVuWTH3WkM6GSf7vNRZNyW-Cxi05JsHMKBFGuOrGMYNhp3hUv524QnC1rri_pgrw0QXHjRDc2wDI8VTd2lxe6pIIksEgiozFeUo5HjD8_sFZblXdlctzuEHHcXV7Sv_utXYflbGnm7PoS9nLFtRejP8Ywm1osPimFn8F5T60Z-kHIHCGxMC4zSHEar0FkgYM_Um8-tlegNo8hJzajNMZtWf29T_kFdq6vNngx3k8k4B9Kc6UyZqoORUDTT3TIwI5OZiuGJv6hgnKt20PHHTuWekBG1a05Ph2-PjgIaJ4JCL8uriJRlD8M8ZWYGYNEQvUNYDij9qQjumLapySpY3LCzXcgtDJ3qgyRp8PlgFf4g9vjfDQPnSdt4EOZUeDeDe8GjkEu9qHFvkbZKTDFqU03L1CR6xACFUhKG-VTZftNVwPihQSIG40itFFbdVHmEx1gnBIz_ZwuMKOJn4xvGut8fm4XNGzjDKLJHpgmoPkuzWBonSH0LDSkT6cPVLKDwIYua2su3IQ_F574yAH-Wleky8rQXihDseoRyczwRJKh78_79R7cY6X6S0ppJW9mQTeV4GhQN2AvntS_THu1wI2wEeCnH7ds2k3Uy1VsmRPiaGjIu2yhPv0dlZJfSXJtkVwp8DeyKYxgbUTr6xhDrkYW9BwhNDLBA7GERAB4HF2jGrU9vn_TyLo7P_ndNgy2FW55ACXwqV8E2eaprCx8EMku5M0HFJcg3isylAROsvig6D8wJvMXAh6LrtTecjnMXkQRJQODYy1J5aZ7lHXPYo5h17pv7qCKIVTKdZ2x5kNTLO4Bkodegr0bKyoelfuFHG2y-3BGqV259Fc8SDrH5zMoahL4gx8J-vEtF9SM2Z5_viSQZVR6y6mLPfqyMEQXluwr5e11JohD2tH17CHy-cAKOTuaFe7G4pFtaj5shjhOGmGKjyzn8s0sXMYVCGhTCUi5zgHVPtiV3fcrRPafzA4FexnUaCeyC5jd_8TkafCAGKxGusWF51ZI6UkWcuHc9RUhPmAxhvVL38cObgkgmAR7UaIobiZ8XNsbJc8N7BE0PD0_qa6WZeWI7pU5evQwMKa6g1sxJ0_IEbG05qU2Yx1v3Ue9-ckOdx7cW6uXxcbzPQaCt9CBsXp8CPX8JNU7ypRWOnOALE9bm8ujY04t7Vubm_H-Ok1z0t12Z83ZGEDyUUYZKVPK4pEXPORtfYk2JFu-ba8Y9sNLC9z_j5Kftw_nzgFk7pLsWEUP87o7rOx0H4lZB0prYP5corR0qH-J0noV8v5YK6XGIHMbFB35FxffvJbKiwV1UiQviserj9zU5M3g13h-1E-jIMDqwsfQ9xf0MWCvqAnXqJTg7H3YgNBJtMvI2lUlUFQ0as40YYlKbNhYnR3ArMXt69j_g7pL5A3bsVgoWyePDy2gmgWjNbwCZlO8myR_Wf-wb72Ji39AdDgfJnMIWjLCnOuSu2aFuNtnuAOyQBsnbHwfoRR_pdkWbgX2TGVwFLchP86RsNQtP9R25ieRKQ4IakJzcb_P-0M8SB_95HCCkex5oAJqk2YaWNUeNRLmHtNuv_yOHxfCwXPTuO2EzvrdSUcCfO9i3WDI4prT3_cyNyq9Rv6gZX9QNnZLuV5EG-6yPMzqKnksHTs0a8CdZrcaT-qwFlJfrwfr82ZUa3Yiw6pNktNw8c9iVfRChiwusq0f8H2jO9AM1xh-yMv8sQI-0o5pK-oaQ8NsNML3Ia95Q2TQXnRTUjQCKbeItZF9YjwCAX97oiCCSQmuT--eiAiQEilwzoUgDKaszP9Lvo84Srbm1OLFEbN2DA3XArXIZwWO52BVIvX1iSIFgafaaPvyfkUaxE0j7y6YUSljQMW6PmfaZYJy3E1cc4fvgPWrd8i4MjXU1r5A2MnB-evnbhoPR5ze3LYABGO0RxIXKhi_kBW6gnlQMZA8Z4hmrBQR64xCHyaMsHW4sBoo2m_RWfe9ZnR8VgjlJnCL4ZIcTq5BhpyvjUjg-vlWA2XykEntTNTANiq8k_i7qEdCbcx1ojjyQDe8759k2WpptikzhSH6Gvu0h8hKsZpciHfg_X9ev0H6TSCVTg7QHU9fwAJ-5QkcXrcc8-ezom7H8b5gyTFasTgsYkQ0-ZHhryaUpLpoD7NyB6FYFp_QLPXraY316VeZ4aF8A3GpWE1hYp62xBSPUlfMobBsbbczrvFIJ6_2w1cr8ki8Vj9fyuXNmZRLUEhGygTEgL3eBEIos5mrfDXofyO5TrvMnOEPvgCVRDvs6ij-Mn2kcSk3zA-OF0gsbAIDi1FhO_l8TiSNcoOgrhKYTFph-NE46RNBuoMReytX9fonZFtJiRir3OxNBKQA9lA3aa9rtvLZa5-upN7t4CmISX0MiIcMk2zRTEXE2ycGXbbcOcJYfb7niDiLAwY24FfwwtGEtUZneAtyXi-QrtquNFlBQV8CXSUU3hmr9xTM9boGG4uv2NcCWBZtmC3KBAGVKVXG0a4Wyp0McrwdrwACRQbDwauLeN_FGlrGCs0pVhzrAWmXeCW_VewXVkosXhTy3UfPvpe8CbtB-3tz81-QdSg6Fxa8XKoT1_imPJfaV0ZGq6bkDn6n_BJ2MUyHQrTIpEpy1i-A9tZSyU9CVZXz8xhI6FgcVASUoKBj2rC7ffGTDkaH5WgBuTvX-YZMbyjqS3WSEugV6ZsmgV-gqmjT8Y7BHtj4WwvovMhrYTkb0_mRBuJBPSDxnNEhSZIVaEE9RcsN4wCZXu58W_hPdkjQnfX8wye6MGtxDjTc0V2Mh7F9TZ9axN8NL7yVwoxenxSyQ8MRnm88EcAoPHI2XltGgNuRiQI6g-2eS4DOKnYaVmNox3poDJ9VUZ0og4y8xKGF_axPCWEYvigiMfedbhyPNeCr1EGdBlYveabT24ZbVdFIVYWjHpItNqlPdc5T-5wenXw64NHmC2QEyRmQgxfkFerWez1shdCNW4XN-eIlt-HeBYLhbtTpMEVX8vE5xQGQpGI25KQBGdKLwJRheXaOimYdRlblwL68h1dBn_G80f9jPtFLpKEEgZtPod9eT0RZqbYx6H7C1gWsgZ6dZGfIYZuIsSjzJf2AjJDeEXwbElLUbKqK7wEvWWBHyd3QZAykSCbvjNfxJAhsKvRDq3nPoUBmOit3UYTHSUteNbJeXKNVrOAnBPoZc8INLhI7IEELUhfwJ_6ij6FKI6zzmmYwXatN3s08hk20xvOCIN7SCJ0kVeWB6CnmSRV9eFeTMkqQ9aqxdmYs1dqyGVf3QmoG7PZqOlLe-mrEG8XrKbmXn7JlJKu8QP5IWyT-hHSw9d9E=",
  "id": "rs_046df9010470ece3016ab4685340b087d081e56f7d7356d598",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.115,\"left_z\":0.14,\"left_pitch\":0,\"right_x\":0.28,\"right_y\":0.145,\"right_z\":0.13},\"note\":\"The blue pen is inside the right basket; the plush animals are at the left basket, with some fabric hanging over its near rim. I’m moving to the remaining yellow and black-capped pens before tidying the plush placement.\"}",
  "call_id": "call_3YEbpOuT78IKE0hSCxmVM9xu",
  "id": "fc_046df9010470ece3016ab4685c9f6c87d0a2bc2f75bf9987f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3YEbpOuT78IKE0hSCxmVM9xu",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6769, 1.2427, 0.6693, -0.1711, -0.6357, -0.3531, 0.9966, 0.6773, 1.1275, 0.6662, -0.3096, 0.3744, 0.3527, 0.9963]\nstate[eef_state]: left_x=0.3248 left_y=-0.1218 left_z=0.1358 left_yaw=0.0183 left_pitch=-0.0213 left_roll=0.1337 left_gripper=0.9966 right_x=0.2885 right_y=0.1537 right_z=0.132 right_yaw=0.1671 right_pitch=-0.1358 right_roll=0.0229 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -4.6838, 6.7077, 1.4335, -0.3883, -0.0757, 0.1294, 0.2667, -4.0137, 6.6256, 1.4383, 0.3004, 0.149, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e71ce2f91f7e579796e1da2c8325df28da05263d8f78073e68b0ac08f43270c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66fb98aed10db793f7c5cc5c6e5df868412ddf028a98d0e65724da88bb2f637b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835868484b68a87139f5f7063527726897cc1bb0e959f8f1aa1a0ca70e456eb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.046 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 104 changed as sent

message 108 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4454, 1.805, 1.5848, -0.506, -0.4438, -0.2436, 0.2133, 0.3229, 1.6459, 1.2972, -0.2947, 0.1654, 0.1398, 0.159]\nstate[eef_state]: left_x=0.4902 left_y=-0.146 left_z=0.2215 left_yaw=0.043 left_pitch=-0.0856 left_roll=0.1061 left_gripper=0.2133 right_x=0.4691 right_y=0.1301 right_z=0.2015 right_yaw=0.1053 right_pitch=-0.0636 right_roll=0.0281 right_gripper=0.159\nstate[joint_eff]: [0.335, -10.2222, 9.2103, 1.6777, -0.1392, 0.2027, 0.1783, -0.5265, -8.1299, 9.7436, 1.7363, 0.0024, 0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8385, 1.3422, -0.3012, -0.4404, -0.2466, 0.9953, 0.3168, 1.7287, 1.0515, -0.0521, 0.1455, 0.1261, 0.9951]\nstate[eef_state]: left_x=0.4805 left_y=-0.1409 left_z=0.1383 left_yaw=0.0478 left_pitch=-0.1495 left_roll=0.1354 left_gripper=0.9953 right_x=0.4561 right_y=0.1263 right_z=0.103 right_yaw=0.1214 right_pitch=-0.1501 right_roll=0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -10.7009, 7.6103, 1.5018, -0.2564, -0.0073, -0.2027, -0.0068, -9.4291, 7.6513, 1.619, 0.0317, 0.0073, -0.1197]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6769, 1.2427, 0.6693, -0.1711, -0.6357, -0.3531, 0.9966, 0.6773, 1.1275, 0.6662, -0.3096, 0.3744, 0.3527, 0.9963]\nstate[eef_state]: left_x=0.3248 left_y=-0.1218 left_z=0.1358 left_yaw=0.0183 left_pitch=-0.0213 left_roll=0.1337 left_gripper=0.9966 right_x=0.2885 right_y=0.1537 right_z=0.132 right_yaw=0.1671 right_pitch=-0.1358 right_roll=0.0229 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -4.6838, 6.7077, 1.4335, -0.3883, -0.0757, 0.1294, 0.2667, -4.0137, 6.6256, 1.4383, 0.3004, 0.149, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e71ce2f91f7e579796e1da2c8325df28da05263d8f78073e68b0ac08f43270c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66fb98aed10db793f7c5cc5c6e5df868412ddf028a98d0e65724da88bb2f637b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835868484b68a87139f5f7063527726897cc1bb0e959f8f1aa1a0ca70e456eb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhkAMHPD72PrzRGO_trLT5DaOiDPTij5lMVgD3UvQUg88izACnkFhArtMpDLtv0ysiI2itC7e5OGs9V9Egs_WmrwoDs-Kh4lJrydRHvh-yY61iX-cJK2u3Q8FD8v_gnJDD7DNBLmeljNYcr2ZsBcfT5dtklZory2LmeNgaUBpvU-77WL7qCbUQV7ESVOWG9lQD8OU78ucIAnQMIusQ04mBwwDIUHKAd3XP20UhLSo0UGpVoMzmDSxQWvekmPVMpudm7aD3zo4l3CtvZhU5_ZGVVdFHzzfV3FaTwVRbt_oqor2xe4lWleo3_wuzxmQIfxzg5lT7ZwMi4ym1tQEeHqb05-OWZE6WN2akxOzMeryP3DD36AuyxPxlxpW8SeB3QG8yRiqRKP-61Gv4_0QPEDGMN7EeNMzFLiBEMBMiTrEcsCacwV_I4vXZaDGlOCItGSFefDEScMoCFqjZ7xGheAoCwohR59-CcVhtdx5hZkAmoCekOXhH4e37oahqWKPJ426JVAq7gJ1_nN0G5QMBW0MkPi-ZeJruT2aiti5O3MyVZkg3r9xz-x0R0UEQql1l-6szQDTYJNDUFhEkfEGimQzwN_25wOp8kjKMWSCF51AS1jPqrMKZu4rOV2MiY_g1GQfQqFp-8VHx0OglPxI-_8wiMuIka0hnfX2I0TGKruh8ktsMmKvzS-nMKaxcTHL83ID5weU85pE1mZH9t1QC5oJLre3liV_dt6itk-zyUFFbxsXw9LgCrjLYVIrUCXYr12c3bOUqjQrOjTDA1fV1tUcbLGDpvOI6P7qWXj8-6i5ZImWe-pvXipYRC4c2DfFO5AcOSn-jdTO8r86kqb2_IDY5Jri4SAU-JjLy1vWrqERNuiKMyfXoPipjkM0euWTM_O0-HcetsbyVe7dbQ1KeAClX4-5NdgoG2pUx7J5667SpwyxIOsWD7-9jtdofoGRzYHRtsTRTmfXprtODQaE-nK7xs-gybKAlAXGdbA6BZR8C58HyD-bGURKmWUEgH64X46bQVZwiFmFAYoSw3YFKc52S8LPhdp_6-Ci2Un-RLUQFPKt7jKqryKCn1hpckkKtqijjhFFIp3cVxzQOcpj7OFQugeanwaBZO30L7FJH4Q1OQDZT-OEX6GZKqkICi6yCBVehEK65nK-GX6G94yx_bhC0Zamj7EHVogbaMErHmhVsljcZat1V-XINppBsIT9fyGUWQaq_ykblJH0nkmIPtPOqzNWfIEjl_WuOM-TrVN_mzWZ404UY6kBdC30QBRQEkEUCJoDZpI3WBK3U-Y-Gg0ChyS5C39UoEPtLCT33oJ58xmWbk4AjM2qlE-MGQajh6R2z6jO7r7Sp-i877zoXAs-AMrrBUbtU_knjl9xROEBLEE2RUjGxXi83-NGND9R1ZcgeVpGMtdz42huj2Wh1fLDrPF1xr1fCnFqap66n60eJy6-iZlO_G8K2ChrZZrxc_zYFF0zVHeb4wlWiPZpgYhA2q5CZ-I3Jhd6jG2LzoO12vSz968rB2V8K2gd6IjiV_-xu_SkKRQvTwCmL6C7OfOEKFwkhIjTMZfELMemNI9tda0QCAyvp1dlQlUk2wl1ldRCP_ECCshKMeIBQeqrx6B-QDHAky6LTWKZ4kYlToho0nvZMu_utKIEkZJ9dqRM5U1uVP7mcEsGJ9byG-5p33PorMATUstH5SrkVu8TyO1G-LQ8LXer7R3ZndbUdJoZ1bzUs1rlKsBy31Qi1ldj2miGBozw==",
  "id": "rs_046df9010470ece3016ab46861570887d08de3e9808faaadf0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.005,\"left_roll\":0,\"right_x\":0.28,\"right_y\":0.13,\"right_z\":-0.005,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow pen is centred under the left hand; the black-capped pen is slightly right of the other hand’s centre. I’m lowering to table level and correcting the right-hand alignment.\"}",
  "call_id": "call_tRjuq6eHE5wfrYqyuockc9Ii",
  "id": "fc_046df9010470ece3016ab46863b0a887d0852f01df89bc72cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tRjuq6eHE5wfrYqyuockc9Ii",
  "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]: [-0.6334, 1.718, 0.3489, 0.6456, -0.5575, -0.4191, 0.9967, 0.6571, 1.5963, 0.1684, 0.8284, 0.4076, 0.2974, 0.9965]\nstate[eef_state]: left_x=0.3247 left_y=-0.118 left_z=-0.0003 left_yaw=0.0372 left_pitch=-0.0349 left_roll=0.0249 left_gripper=0.9967 right_x=0.2883 right_y=0.1385 right_z=0.0111 right_yaw=0.1547 right_pitch=0.0249 right_roll=0.0427 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.8342, 2.7692, 0.5006, -0.022, 0.1929, 0.0024, -0.2256, -2.5915, 1.3197, -0.4078, 0.0171, -0.4176, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabce37e885143f152d5ddb1796a667011914cfb7d4ac2e6b044b4b45308ab5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36dda94b8a9cd80ce8e5ca3df31603dcb747b3e4457b512c8f1f9f5ee2768655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60456ab025ed60c69afb56b02671b3979c4bbbf3a549d86854255465a7d6a40f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.473 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 108 changed as sent

message 112 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8275, 1.3518, -0.3012, -0.4404, -0.2432, 0.2148, 0.3176, 1.7191, 1.0664, -0.0513, 0.1486, 0.1307, 0.159]\nstate[eef_state]: left_x=0.4821 left_y=-0.1417 left_z=0.1475 left_yaw=0.0446 left_pitch=-0.1316 left_roll=0.1283 left_gripper=0.2148 right_x=0.46 right_y=0.1274 right_z=0.1137 right_yaw=0.1178 right_pitch=-0.125 right_roll=0.0185 right_gripper=0.159\nstate[joint_eff]: [-0.4581, -8.9231, 6.9265, 1.7411, -0.232, -0.0464, 0.1587, 0.4171, -7.9521, 6.7214, 1.9023, 0.1929, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6769, 1.2427, 0.6693, -0.1711, -0.6357, -0.3531, 0.9966, 0.6773, 1.1275, 0.6662, -0.3096, 0.3744, 0.3527, 0.9963]\nstate[eef_state]: left_x=0.3248 left_y=-0.1218 left_z=0.1358 left_yaw=0.0183 left_pitch=-0.0213 left_roll=0.1337 left_gripper=0.9966 right_x=0.2885 right_y=0.1537 right_z=0.132 right_yaw=0.1671 right_pitch=-0.1358 right_roll=0.0229 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -4.6838, 6.7077, 1.4335, -0.3883, -0.0757, 0.1294, 0.2667, -4.0137, 6.6256, 1.4383, 0.3004, 0.149, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6334, 1.718, 0.3489, 0.6456, -0.5575, -0.4191, 0.9967, 0.6571, 1.5963, 0.1684, 0.8284, 0.4076, 0.2974, 0.9965]\nstate[eef_state]: left_x=0.3247 left_y=-0.118 left_z=-0.0003 left_yaw=0.0372 left_pitch=-0.0349 left_roll=0.0249 left_gripper=0.9967 right_x=0.2883 right_y=0.1385 right_z=0.0111 right_yaw=0.1547 right_pitch=0.0249 right_roll=0.0427 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.8342, 2.7692, 0.5006, -0.022, 0.1929, 0.0024, -0.2256, -2.5915, 1.3197, -0.4078, 0.0171, -0.4176, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabce37e885143f152d5ddb1796a667011914cfb7d4ac2e6b044b4b45308ab5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36dda94b8a9cd80ce8e5ca3df31603dcb747b3e4457b512c8f1f9f5ee2768655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60456ab025ed60c69afb56b02671b3979c4bbbf3a549d86854255465a7d6a40f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhp-CEhkVPWp2lyOqKHrowlpKD3P3G0jf0kEvTlywuC3aPMBdwwYFKxu-u-gVgMmF-xUSc2zaSIM1CtuTUdT0Wnvduve6ZYIzIfWyBKulCbN3P0tYZFQQoDQEJpjYcNT8e94ekapeRLcMupNdiRiNpU2_c3BiCXKpa_p0JUEi-_TivAIfSK38Boz4E9_MNyRGSMrimKJXS-fwTc_R-zdEs6aBsrtL13hlEftJSwibInPqqx6uelPNKUpvDdzKfvp146EC5c8np_jMFhemKEJ11pOb9fQV53BqA0UmY2ftQXwcng8PsLBE4rEZCLqTQrzytX7F2ynv7fu2iRq2yAMehJco94anFvFzF1EyzxTdkO2IKwmD2fWSS6VVPX43MfSnXRHYHLs_h50sGw2bXz-j71WPGGgCDcH_Uj_cR7hgvhAS8HiNr4VIaG_5HTu0c0vQsluRbY-1TAr1BpnDBiW5laHE1614-m01Il9hg6tDQYAQglX4BmDJj_8qQ4wbkeAwgLrvojJQlrg2Jhr__c4TEeDuW1tBQdSpkSy8bzxLyfU5pVH-RFzvD7PmHpu0NPz2Tggf5jvHi7vgrcxgYhhBnOVG_HE_8fksLf6lDvMh8CbsK-uMDqZ1AY75jBC9Yp1FCTfglZURQilfqV6O18tGI6yAmcoN5l1DwNhabUa3I6VeZA4g0EPb6K9Zx9jhHAuLc5_lJSmM18vJnkPio_Qm2KtpQbgnCT0220SU-XEeRCnhCj4ajlHyfV0al6WfwQkYea6T_9zZMqA8Tl0g4x45gqu6Hvqrslb9SXHkAC0iSv33uYst4boh-slbCJqe1E2649a9Fl42u96uI7WDVUyh1pAtlD9z6ZV2SFMCR_wX_1DRarMzWMNnWaoIRNTsXFTCbMVCwH7IggyMbtjITAIopvOnpImpaGc-9FmIbu7kULwcQCs7kceI91aT7HSR4zVUXI4jH79uobdJOKKBQijcoexPJlEu76vSY_UrpEQ_ppxO3xZ8K0lhRpfBlxfwgXdHrhB3bg_HhkvC1pllOlK0HgzImM3ihzGGWCff4Vd1SaX8YbWkzYImNQy2AqoN9q5b7B_bzoc70v6nkWcNnAqcAJRaKk8QTSJhNAynaI9tXxjDpzwqQXVAzb8WSYlnc_q8dryfHWutxV1oK6OmtQOl1-3ntFoZKQuEp2A9zI2E6kXHN9hO8nMVgTA_ve8H284XVrv4Smml2kHgg_cZs3kR2m-pwu4uDMKq6POy2d0UZXJEJeeIE8f57Lf2QxyTXsBvqYNsLtUQTtlz5JDjJnfpA5ZOmxRUxiabp8ljy3_IMYSELzLi7l1o67Ts-nFzAZOy6p69VKaPIRrFz8VFLQm0f5kuaqM79IajSYVpm-K0YpQzM_VDuIALTO92_Tv0n7jIr0pN9U8X-BdGgrr0g-U48v6WALqU2jgirY799r5UnDKg1Bepd-s744c95hbOPK1JWQyOIMabr80lBbU7b7VwvIU7aU-q3rQ8LCFt7K9hvJujCORI6ArCgIpIuFbu9ZDElO",
  "id": "rs_046df9010470ece3016ab468670b9c87d0a17609f1030d92bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.085,\"right_y\":0.11},\"note\":\"At table height, the yellow pen sits left of the closing line and the black-capped pen sits right of it. I’m making small sideways adjustments so each pen is between the fingertips.\"}",
  "call_id": "call_eTj7xB6JchO9MEJTG2LavDPL",
  "id": "fc_046df9010470ece3016ab468689f4087d0bccecd86da46eb7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eTj7xB6JchO9MEJTG2LavDPL",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5133, 1.6943, 0.2844, 0.7303, -0.4965, -0.3634, 0.9967, 0.5339, 1.5581, 0.1123, 0.9096, 0.3317, 0.2432, 0.9965]\nstate[eef_state]: left_x=0.3274 left_y=-0.0839 left_z=0.0003 left_yaw=0.0793 left_pitch=-0.0237 left_roll=0.0135 left_gripper=0.9967 right_x=0.2949 right_y=0.1117 right_z=0.0194 right_yaw=0.1219 right_pitch=0.0649 right_roll=0.0604 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -6.2154, 3.3573, 1.4921, 0.0317, 0.188, -0.0073, -0.1299, -4.2598, 3.3983, 1.58, 0.0562, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d60b9fc5a42201933c2898d7f64c9126d5dbb1edac8d304924abf014383bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92ace7542d6456e8e165fc70216cdfd0f647c0d7c99c9cf86e4474421fcba62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ac8049377e9b4494245b65c135a1eadbbc3eb4e8b6d858b520929f78ed8c40",
      "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 · 7.636 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.8385, 1.3422, -0.3012, -0.4404, -0.2466, 0.9953, 0.3168, 1.7287, 1.0515, -0.0521, 0.1455, 0.1261, 0.9951]\nstate[eef_state]: left_x=0.4805 left_y=-0.1409 left_z=0.1383 left_yaw=0.0478 left_pitch=-0.1495 left_roll=0.1354 left_gripper=0.9953 right_x=0.4561 right_y=0.1263 right_z=0.103 right_yaw=0.1214 right_pitch=-0.1501 right_roll=0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -10.7009, 7.6103, 1.5018, -0.2564, -0.0073, -0.2027, -0.0068, -9.4291, 7.6513, 1.619, 0.0317, 0.0073, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6334, 1.718, 0.3489, 0.6456, -0.5575, -0.4191, 0.9967, 0.6571, 1.5963, 0.1684, 0.8284, 0.4076, 0.2974, 0.9965]\nstate[eef_state]: left_x=0.3247 left_y=-0.118 left_z=-0.0003 left_yaw=0.0372 left_pitch=-0.0349 left_roll=0.0249 left_gripper=0.9967 right_x=0.2883 right_y=0.1385 right_z=0.0111 right_yaw=0.1547 right_pitch=0.0249 right_roll=0.0427 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.8342, 2.7692, 0.5006, -0.022, 0.1929, 0.0024, -0.2256, -2.5915, 1.3197, -0.4078, 0.0171, -0.4176, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5133, 1.6943, 0.2844, 0.7303, -0.4965, -0.3634, 0.9967, 0.5339, 1.5581, 0.1123, 0.9096, 0.3317, 0.2432, 0.9965]\nstate[eef_state]: left_x=0.3274 left_y=-0.0839 left_z=0.0003 left_yaw=0.0793 left_pitch=-0.0237 left_roll=0.0135 left_gripper=0.9967 right_x=0.2949 right_y=0.1117 right_z=0.0194 right_yaw=0.1219 right_pitch=0.0649 right_roll=0.0604 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -6.2154, 3.3573, 1.4921, 0.0317, 0.188, -0.0073, -0.1299, -4.2598, 3.3983, 1.58, 0.0562, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d60b9fc5a42201933c2898d7f64c9126d5dbb1edac8d304924abf014383bc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92ace7542d6456e8e165fc70216cdfd0f647c0d7c99c9cf86e4474421fcba62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ac8049377e9b4494245b65c135a1eadbbc3eb4e8b6d858b520929f78ed8c40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhtp4h7ixD2wXbn4-4u_kL3UeDEG2pJfKYF75yIT38ItofTVV33fvK6vPSQ46VNbCujgeH4O5vfv_6tLtj4-x2M2x56gV1J2eaqRtcdku8c-lYkmZDwVS5-74yLdICki1DfLsbcQh9fZ3F9b75MyGsoFpASPcaPCeIEpoazoTeq1tlhXCDmRzuaWze_zuMbfuadeW7RXap27zanmNfH9r3poF9nvoqWeZfn6GOSJxl8FDIjkNRUj6k4puAPIjFvPa5iwSK9JXYGRf87kHhahbdnQ6_a2xL7Jk5OsH2W3DfOllm91ruDFnPgRT1SRHEto-4bkwg5GY7mq3SgZFh1WOPaJsfFykt9VCIJK0XsrRVxjheYd1XC0P91N0hyS-E4zcUmkK00ilxqQAicfcFws2Gq4kGR5hlwBFHYi8hgFNRxD-9Hrkau4tkNul69WOWO_nttdyFbuSO1jpo20op-CEdAVIKAO83hNiC69WJdTjgHUZiKHw9IrUwBfojHXw1k6RX-dE9lvDBzTFN9zMl9aBZYUsd1jnQqcuLEPUgI_r09VEi1mMZHNUPz9an5Qd1kE3WlXfDThHXyGFexaklID0mqkGBO0j_zRdUf1OIjr7DTwiuBbWSEDeVc2LR4YTif1vTIwgS5UZowzCo_4TTLM7Za8btmL7tk_fvd3a77yo6bDXcotDMxahc7QPs8QWUMHNpV7OF_Pd4mfOVYE0CtNSFVo6bhVbSqT5bcoK3Rpaj2Sb1UB9KrSE-7J8jyBHZEF11QYbRulxBAWMM0sYNrgDmk5X_bvGxaZAAogFSmFs32JYm0knTw5JDgy9rtuZUXgGdQAODXYKaS6EAoN6gQUN6SGuIvif_ktK1AxDrNmgXMSpwPj-cdiU5R9B7eny2SMpDSIViXWZX4W25Og_f-D6flSTmfzk7-0_AqOLv4tLPG2ebETpMrE6ldnxx5Z-tj2bHO7A1Tc876BK3EjAZVfOPV9W7PvsquwP0dWmC_oP1jZ6vUzn_O3nfphSDjsqEWtI2vWlw3Dl_BFE1JNXLIcxQmNpnvYwIcWlcjCby2B6NqCm2CVTnv1w_rqC2zQUUpmNkOS0piIFH0Q-vS8zsiyMKu2uwsU7fB_XLm0PzbDPp5bPHASnPsU4LMjBSgn2usOxq-wR9qmZPgYQsJkCFJTNJ_ozmAjBMbNupRjmOKPIFnmlT_R3OkVxt2YPoFGsFbXdBOglh-gxRAweKlNPjTI4UtFYxl5-kAzp_iULwyJN5uzKHGYh5H5fVXZm5IXxnhpr2GDSYw8ljMq1ZGjf-2RkOCzLwM2GkBaxYW-Z16hL4yjVcdWJnm_fEgdN4Nqn1Cf_rlitMSgYlqPaB4oY_LEngnO3gTPV90cvyd4Ysvy8OX10pzCvAVsNRecGxxGNhFiOR5",
  "id": "rs_046df9010470ece3016ab4686b42c087d0a2b54e810cbf4445",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0,\"right_z\":-0.01},\"note\":\"Both pens now line up with their jaw centres. I’m closing the grippers, with a small additional descent for the right hand.\"}",
  "call_id": "call_PZ6X8wT3mztoySEnUnpZnKve",
  "id": "fc_046df9010470ece3016ab4686c5f5c87d0b21dacdae24af333",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PZ6X8wT3mztoySEnUnpZnKve",
  "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]: [-0.5144, 1.6886, 0.2794, 0.7349, -0.4934, -0.3637, 0.1535, 0.5167, 1.5536, 0.1032, 0.8917, 0.2829, 0.2134, 0.1498]\nstate[eef_state]: left_x=0.3268 left_y=-0.0845 left_z=0.0013 left_yaw=0.0759 left_pitch=-0.0203 left_roll=0.0086 left_gripper=0.1535 right_x=0.2903 right_y=0.1123 right_z=0.0131 right_yaw=0.1617 right_pitch=0.0352 right_roll=0.0497 right_gripper=0.1498\nstate[joint_eff]: [0.0752, -4.9436, 4.0137, 1.5165, -0.2027, -0.0073, 1.0085, -0.0205, -4.4923, 3.4803, 1.5214, 0.149, 0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3c92a9ebb4f3d8582e88f417937f18e56f980e2e427aa191b033129f76615c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c545709246bfc2f14e1e64f56a69007e288179b3760500f5b89238da82aa094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce219531cee96ba74860300aa31af92dafa5682385c128aa5a0b81cfb285cb6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.523 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6769, 1.2427, 0.6693, -0.1711, -0.6357, -0.3531, 0.9966, 0.6773, 1.1275, 0.6662, -0.3096, 0.3744, 0.3527, 0.9963]\nstate[eef_state]: left_x=0.3248 left_y=-0.1218 left_z=0.1358 left_yaw=0.0183 left_pitch=-0.0213 left_roll=0.1337 left_gripper=0.9966 right_x=0.2885 right_y=0.1537 right_z=0.132 right_yaw=0.1671 right_pitch=-0.1358 right_roll=0.0229 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -4.6838, 6.7077, 1.4335, -0.3883, -0.0757, 0.1294, 0.2667, -4.0137, 6.6256, 1.4383, 0.3004, 0.149, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5133, 1.6943, 0.2844, 0.7303, -0.4965, -0.3634, 0.9967, 0.5339, 1.5581, 0.1123, 0.9096, 0.3317, 0.2432, 0.9965]\nstate[eef_state]: left_x=0.3274 left_y=-0.0839 left_z=0.0003 left_yaw=0.0793 left_pitch=-0.0237 left_roll=0.0135 left_gripper=0.9967 right_x=0.2949 right_y=0.1117 right_z=0.0194 right_yaw=0.1219 right_pitch=0.0649 right_roll=0.0604 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -6.2154, 3.3573, 1.4921, 0.0317, 0.188, -0.0073, -0.1299, -4.2598, 3.3983, 1.58, 0.0562, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5144, 1.6886, 0.2794, 0.7349, -0.4934, -0.3637, 0.1535, 0.5167, 1.5536, 0.1032, 0.8917, 0.2829, 0.2134, 0.1498]\nstate[eef_state]: left_x=0.3268 left_y=-0.0845 left_z=0.0013 left_yaw=0.0759 left_pitch=-0.0203 left_roll=0.0086 left_gripper=0.1535 right_x=0.2903 right_y=0.1123 right_z=0.0131 right_yaw=0.1617 right_pitch=0.0352 right_roll=0.0497 right_gripper=0.1498\nstate[joint_eff]: [0.0752, -4.9436, 4.0137, 1.5165, -0.2027, -0.0073, 1.0085, -0.0205, -4.4923, 3.4803, 1.5214, 0.149, 0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3c92a9ebb4f3d8582e88f417937f18e56f980e2e427aa191b033129f76615c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c545709246bfc2f14e1e64f56a69007e288179b3760500f5b89238da82aa094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce219531cee96ba74860300aa31af92dafa5682385c128aa5a0b81cfb285cb6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGh2bDCyT3jmDLZPpRSuBXnAD_uP4JcMt6wEwqYCm_Fqb3V7KEb77Lc7TYFYyqgqflNmOR2-_lyF-YaqZlNnhJi-MH95H3v_Ysvn9RhOjRgc5DkiSu98wxpuQ0MIUh6Yp4pG-y8jiXGvhWxhKg4QC59YJySkb2rw0MriBpY1JcNUij93pAdh-4D0BNY8twCc0bTCI1cXORDsZLaVMSowt7dkwHRGAoBpvhZCZ3TiGyILMgaqO11vKuJMLVQDz2EGCTOxc8pwvJtsqt0RCo7n8QWkioC-rImTwXYFDASSjQiEhuTPzppTlGUFAx2mUeRcBekxbgG_HNCVCCysQNBjwMBaa4S1YNEGuL8lk_RTSd28XVPm815P86yo0ZJyCzxCPz3X5Qf5_b-qmgl_jRaUGl_DHrhUUClZ-mnE7Nuxzsf5AQ4MOj3uxEfgN8IRXcGAksQI43MYk_4QVVmhYKaaoyDq5SlmE-wUg5rdL1-9pnn4WldMXKN3VbaaZkmVdax9bXrRexUjHG4_6zGuip7o2Hz3ZKJjdFVZ-V5a5CYbEuHRVAXTisjcq2BR0JS0cR8dVqlKeQ65_KBH--8FBEUo0UgcbJeeGQr-8ZjNcXGMi18vEkT4R42_9VSfz5y6H-hQh19g5WUBZXZqJn-SuBaRL1SgqE8K7UXpOi3lsG6i71BmnHNc79nG5czbhmmAmdWlkEeYCu_uoZbMgY5Yh7qYmu-8cVtgWEMacUQIuDchzIkaOyMGub1vBQHtKUp0EZveWyF8YXtb5ISqWbE1PHYyldAxjPq1GvZ6XexZEectPv2ImO57Aa30EqrkhOt34mou1Sr6H-fL5vcJ-bIyuWnKiQtGb1B-5cLivcpzdQCetgmjOeuY7LiyMpKCD7mmRsjobQ86deOQ1ofmAzYTm8vgBvMjfG1Xlz2wSGDsBdD3VmMDl7ppfLeVG9oaLkAywvFhFotU3Ox47Betq6fxEM03ZFo_aBallfX9NBblT9f3hVrBVvKI__E8OLt4bkq8nSQIelzBXgEVaxY6gQtvmwr0Vc54hRGo-uENB-Bh90ETCAeC55qFWU77_Ke6BRAkIntpONocmCfkrJy3RzcMy9POSKEX7c_Uq544E5QEUHVaomcHbZfgZYdCUQ5eAyfyK2xm-PDFDf0LOVFlCKATCXOa4XHehCbo5j1yrG3V57QwserOmsPlSmqKf9B186Y52fZl8BOJtf3G-kryl2PZUsysKLXOISdWCaliczhTmgEoXThHJD84H_9vF4mVO6mEoJe92klpHBIGpjDPywAmyDXipf0CJOydY3VhKHQM0lwZa-uslFhEi3N1v_RJ5rx37tjEUVDJOgxVBFqBMixGtSF161T2hzM27rX7-nQukp2KmlaIx3RcPX4Mw4pkMo8XyMuVUeJcstIa7NDtyd6LkC3iebAg3H14nbBbqlccYoqHDmMGyRapBfEZ_dg4MUmRjz4TX9tpPqAgDl1eLkrnTgVnPCAppKnDW9rRAs9JWx7ehAMAPK5s6Am_HixNDJEVyuDWMVzKdnCw1MLZcG6GEyxMNThiNCGG72BH-wUCe5Etely6N_LBcdscBoalkFkR_jiJ_DQT7sZoSIciGosEfMx94b0e_J5bd9VYe5mkNG7EWXTCarEA9EZ8cR2ONz3cQUocRkwhCUYpmn3F-ykJKL4EigV0vbOYaNTycgCTLnqeD66MUMHu7r3jOyUYwMoFznLqZgYowLX188OOFhA1u9ydRrP0PmC3Ff3JNwyB8bRE_rJh4P5zQVxZQIrdfWW-nZG2s_3BcvwJnIIm7oW8jqJwUYwEbdYo6Lvb1JLK_9nY1S7CTHZfkgJh3IEiVy49GARDlrtTu156SR1q6pNuJJgRmm_sHwicGwRtSjasbRwmy6qsylfsN9-yatkJfq61zqiuLTyI4I77vf01CnW4awuBiKLAUUjKRoaczPnoq19FQDOxN-Q6ieZzT0ok344tU_wiskYZ7Srd0zBfHlx5NJ5Lx7YgZoilfpAn9QancJKl27vd_QVErkNQMgJSte_mI2UurDzJlwnTIVdOZIjpVmAlbybOFDh_BlKWmkNVQjqZsuqY90nvG9fruwCLDJsLT6_sC4rSaJcNme3hOCazKa3vrDzxZt8tsLMNK3SnnzoN4ZnRf918ZJ1MMAgvjIDvT_IFXbOdGuReHAXiL8qmbTojwSjgH5XVjXfiOec2qpESoqeG42ZWYzmRmY6N-6pBX5ZBfIgBPnVTANc3QF9GlakEdgTVMfRzZJbcPtdcRyzxHtWrabgZ21MhcKDSaR3VETj28e3OndDwbDLSngH7XzeftYeXDEAyzHC9zVkg1oov9mnALhtS_vjxK-olftcCwGdwtwV1JIR1xPGifvubD6PcSObWC5nFDQs9hrHPoxWXRDuLewK1sWTLQ6msl22uZTeafg0G3AyMzz5a7xJkl9Y8Qf10U0odvS1ilBS6cmZfWhScFagovVChEBG00rc2GLAVSvUrXekb3sYowZhqHLMfrXc1stR4QYYwEYvbqWIoF2UHZcFt-xgJ-9p8lMpI6v1JsmZdyvGyaVCNhmoAmk9PVHpO8OyOCpDhElbCu0Ci3G5bAnvfRzzw_5zueUNw62ip8-L2zkjD-nKHqjpS-jySm-yJR7BKkcS8fuCuiZD7g8Q3wQeaQzoq643MGR1isxerOP5rAt-agdtIWbDGQQUbktNVzXy-inYXzaj9gkRinsabuFySvX2s3XV0qgQLIKXflOrFr69LmvBaMQYrIFQW3qsihUzAqfFQvUTO_fh9j7k4wk9vxCjTGWvGsMtRa6MgBeMUca6bEqs9so5aW4XhcyWkRC_gJ6CjUmrgw1PVfj2SmZbse_YZnldu-h1rI6kYxNC9",
  "id": "rs_046df9010470ece3016ab4686fe6c887d0b5b67de47de8b520",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22,\"right_z\":0.21},\"note\":\"Both grippers show openings consistent with the pen diameters. I’m lifting to confirm that the yellow and black-capped pens are secure.\"}",
  "call_id": "call_jbhohPLRK00ZYARUdzVeXjYe",
  "id": "fc_046df9010470ece3016ab468752e3087d0b7c4b1b82825d2fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jbhohPLRK00ZYARUdzVeXjYe",
  "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]: [-0.5156, 1.1042, 0.8642, -0.4286, -0.4934, -0.3676, 0.1535, 0.5167, 0.8944, 0.6765, -0.3481, 0.2756, 0.2092, 0.1553]\nstate[eef_state]: left_x=0.3307 left_y=-0.0871 left_z=0.2081 left_yaw=0.0767 left_pitch=-0.0155 left_roll=0.0022 left_gripper=0.1535 right_x=0.2912 right_y=0.1143 right_z=0.195 right_yaw=0.1701 right_pitch=0.0272 right_roll=0.0472 right_gripper=0.1553\nstate[joint_eff]: [0.0068, -4.547, 8.8, 1.4872, -0.2076, -0.0171, 1.0281, -0.0752, -2.5778, 9.4838, 1.7167, 0.1099, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9f405df4f7230ab63d8a531e848244fa3b71d3447b23e2dbf9aead25ae50ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd5f5dca32870469c2103653fbca0151d48b9820f5001646d9b0e896cc21f61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb8a717183e2c715f41658646cf647b8474b02e72b27eefdef557c118cc5740",
      "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 · 11.58 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6334, 1.718, 0.3489, 0.6456, -0.5575, -0.4191, 0.9967, 0.6571, 1.5963, 0.1684, 0.8284, 0.4076, 0.2974, 0.9965]\nstate[eef_state]: left_x=0.3247 left_y=-0.118 left_z=-0.0003 left_yaw=0.0372 left_pitch=-0.0349 left_roll=0.0249 left_gripper=0.9967 right_x=0.2883 right_y=0.1385 right_z=0.0111 right_yaw=0.1547 right_pitch=0.0249 right_roll=0.0427 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -4.8342, 2.7692, 0.5006, -0.022, 0.1929, 0.0024, -0.2256, -2.5915, 1.3197, -0.4078, 0.0171, -0.4176, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5144, 1.6886, 0.2794, 0.7349, -0.4934, -0.3637, 0.1535, 0.5167, 1.5536, 0.1032, 0.8917, 0.2829, 0.2134, 0.1498]\nstate[eef_state]: left_x=0.3268 left_y=-0.0845 left_z=0.0013 left_yaw=0.0759 left_pitch=-0.0203 left_roll=0.0086 left_gripper=0.1535 right_x=0.2903 right_y=0.1123 right_z=0.0131 right_yaw=0.1617 right_pitch=0.0352 right_roll=0.0497 right_gripper=0.1498\nstate[joint_eff]: [0.0752, -4.9436, 4.0137, 1.5165, -0.2027, -0.0073, 1.0085, -0.0205, -4.4923, 3.4803, 1.5214, 0.149, 0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5156, 1.1042, 0.8642, -0.4286, -0.4934, -0.3676, 0.1535, 0.5167, 0.8944, 0.6765, -0.3481, 0.2756, 0.2092, 0.1553]\nstate[eef_state]: left_x=0.3307 left_y=-0.0871 left_z=0.2081 left_yaw=0.0767 left_pitch=-0.0155 left_roll=0.0022 left_gripper=0.1535 right_x=0.2912 right_y=0.1143 right_z=0.195 right_yaw=0.1701 right_pitch=0.0272 right_roll=0.0472 right_gripper=0.1553\nstate[joint_eff]: [0.0068, -4.547, 8.8, 1.4872, -0.2076, -0.0171, 1.0281, -0.0752, -2.5778, 9.4838, 1.7167, 0.1099, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9f405df4f7230ab63d8a531e848244fa3b71d3447b23e2dbf9aead25ae50ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd5f5dca32870469c2103653fbca0151d48b9820f5001646d9b0e896cc21f61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb8a717183e2c715f41658646cf647b8474b02e72b27eefdef557c118cc5740",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.4,\"left_z\":0.19,\"left_pitch\":0.4,\"right_x\":0.49,\"right_y\":0.085,\"right_z\":0.17},\"note\":\"Both pens lifted cleanly. I’m bringing them over opposite sides of the right basket, keeping the two hands separated.\"}",
  "call_id": "call_rZYG4RzkEQG2h7X1NqjcoUpm",
  "id": "fc_046df9010470ece3016ab46879b88487d0bdde916e476ed062",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rZYG4RzkEQG2h7X1NqjcoUpm",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9329, 2.3249, 1.8019, 0.1539, -0.9993, -0.3145, 0.1535, 0.1558, 1.6588, 1.0748, -0.0235, -0.0315, 0.0196, 0.1553]\nstate[eef_state]: left_x=0.4781 left_y=-0.3895 left_z=0.1745 left_yaw=0.0831 left_pitch=0.3654 left_roll=0.0156 left_gripper=0.1535 right_x=0.4761 right_y=0.084 right_z=0.1493 right_yaw=0.1689 right_pitch=-0.0379 right_roll=0.0486 right_gripper=0.1553\nstate[joint_eff]: [-0.8821, -13.8598, 8.9094, 1.8779, -0.2271, 0.1832, 1.0281, -0.3077, -7.788, 9.7026, 2.0733, -0.0171, -0.0757, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4277b4085c874842b0c217f299cc44def2985753d565e64908d6cc16294e781",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da45d59396840b9b026c3f67cbf50d69a994c25068919d0bc40ad0e474c55432",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23be24c4a5552af2b475d72b3aee96115e37fe1323abd3697610807a2b26bb20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.012 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 127 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5133, 1.6943, 0.2844, 0.7303, -0.4965, -0.3634, 0.9967, 0.5339, 1.5581, 0.1123, 0.9096, 0.3317, 0.2432, 0.9965]\nstate[eef_state]: left_x=0.3274 left_y=-0.0839 left_z=0.0003 left_yaw=0.0793 left_pitch=-0.0237 left_roll=0.0135 left_gripper=0.9967 right_x=0.2949 right_y=0.1117 right_z=0.0194 right_yaw=0.1219 right_pitch=0.0649 right_roll=0.0604 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -6.2154, 3.3573, 1.4921, 0.0317, 0.188, -0.0073, -0.1299, -4.2598, 3.3983, 1.58, 0.0562, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5156, 1.1042, 0.8642, -0.4286, -0.4934, -0.3676, 0.1535, 0.5167, 0.8944, 0.6765, -0.3481, 0.2756, 0.2092, 0.1553]\nstate[eef_state]: left_x=0.3307 left_y=-0.0871 left_z=0.2081 left_yaw=0.0767 left_pitch=-0.0155 left_roll=0.0022 left_gripper=0.1535 right_x=0.2912 right_y=0.1143 right_z=0.195 right_yaw=0.1701 right_pitch=0.0272 right_roll=0.0472 right_gripper=0.1553\nstate[joint_eff]: [0.0068, -4.547, 8.8, 1.4872, -0.2076, -0.0171, 1.0281, -0.0752, -2.5778, 9.4838, 1.7167, 0.1099, 0.0513, 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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9329, 2.3249, 1.8019, 0.1539, -0.9993, -0.3145, 0.1535, 0.1558, 1.6588, 1.0748, -0.0235, -0.0315, 0.0196, 0.1553]\nstate[eef_state]: left_x=0.4781 left_y=-0.3895 left_z=0.1745 left_yaw=0.0831 left_pitch=0.3654 left_roll=0.0156 left_gripper=0.1535 right_x=0.4761 right_y=0.084 right_z=0.1493 right_yaw=0.1689 right_pitch=-0.0379 right_roll=0.0486 right_gripper=0.1553\nstate[joint_eff]: [-0.8821, -13.8598, 8.9094, 1.8779, -0.2271, 0.1832, 1.0281, -0.3077, -7.788, 9.7026, 2.0733, -0.0171, -0.0757, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4277b4085c874842b0c217f299cc44def2985753d565e64908d6cc16294e781",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da45d59396840b9b026c3f67cbf50d69a994c25068919d0bc40ad0e474c55432",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23be24c4a5552af2b475d72b3aee96115e37fe1323abd3697610807a2b26bb20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_046df9010470ece3016ab4687f3a0487d0affa7d4c9b3552cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":-0.45,\"right_y\":0.12},\"note\":\"The pens are above the basket, but both are near its edges. I’m turning the yellow pen inward and centring the black-capped pen before releasing them.\"}",
  "call_id": "call_3PCur9dL5eRucmnRLjwZkg4E",
  "id": "fc_046df9010470ece3016ab468883f3087d09b7c878275199be4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3PCur9dL5eRucmnRLjwZkg4E",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8036, 2.191, 1.4212, 0.4026, -0.5423, -0.1402, 0.1535, 0.2523, 1.6806, 1.0855, -0.0238, 0.0193, 0.0528, 0.1582]\nstate[eef_state]: left_x=0.4833 left_y=-0.3647 left_z=0.1201 left_yaw=-0.275 left_pitch=0.2477 left_roll=0.0686 left_gripper=0.1535 right_x=0.4711 right_y=0.1216 right_z=0.1438 right_yaw=0.2048 right_pitch=-0.0495 right_roll=0.0463 right_gripper=0.1582\nstate[joint_eff]: [-0.1436, -17.5658, 7.6103, 2.0879, -0.0806, 0.1929, 1.0281, -0.3624, -7.665, 8.6769, 1.663, 0.3101, 0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ea8d3e01284bd7e044649aea52100b903aa5ee435e96fc8cd985c759a56c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39e2f5b427f5e553ce4bc783ac1ea6bcf576b7ba89bc3b72b1ab264bc0a639e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e0682c7ace24ae519eaf97b2766edad4a11e31d7c6436de2fac7d00dce7dee",
      "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 · 2.856 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 127 changed as sent

message 131 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5144, 1.6886, 0.2794, 0.7349, -0.4934, -0.3637, 0.1535, 0.5167, 1.5536, 0.1032, 0.8917, 0.2829, 0.2134, 0.1498]\nstate[eef_state]: left_x=0.3268 left_y=-0.0845 left_z=0.0013 left_yaw=0.0759 left_pitch=-0.0203 left_roll=0.0086 left_gripper=0.1535 right_x=0.2903 right_y=0.1123 right_z=0.0131 right_yaw=0.1617 right_pitch=0.0352 right_roll=0.0497 right_gripper=0.1498\nstate[joint_eff]: [0.0752, -4.9436, 4.0137, 1.5165, -0.2027, -0.0073, 1.0085, -0.0205, -4.4923, 3.4803, 1.5214, 0.149, 0.0269, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9329, 2.3249, 1.8019, 0.1539, -0.9993, -0.3145, 0.1535, 0.1558, 1.6588, 1.0748, -0.0235, -0.0315, 0.0196, 0.1553]\nstate[eef_state]: left_x=0.4781 left_y=-0.3895 left_z=0.1745 left_yaw=0.0831 left_pitch=0.3654 left_roll=0.0156 left_gripper=0.1535 right_x=0.4761 right_y=0.084 right_z=0.1493 right_yaw=0.1689 right_pitch=-0.0379 right_roll=0.0486 right_gripper=0.1553\nstate[joint_eff]: [-0.8821, -13.8598, 8.9094, 1.8779, -0.2271, 0.1832, 1.0281, -0.3077, -7.788, 9.7026, 2.0733, -0.0171, -0.0757, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8036, 2.191, 1.4212, 0.4026, -0.5423, -0.1402, 0.1535, 0.2523, 1.6806, 1.0855, -0.0238, 0.0193, 0.0528, 0.1582]\nstate[eef_state]: left_x=0.4833 left_y=-0.3647 left_z=0.1201 left_yaw=-0.275 left_pitch=0.2477 left_roll=0.0686 left_gripper=0.1535 right_x=0.4711 right_y=0.1216 right_z=0.1438 right_yaw=0.2048 right_pitch=-0.0495 right_roll=0.0463 right_gripper=0.1582\nstate[joint_eff]: [-0.1436, -17.5658, 7.6103, 2.0879, -0.0806, 0.1929, 1.0281, -0.3624, -7.665, 8.6769, 1.663, 0.3101, 0.1148, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ea8d3e01284bd7e044649aea52100b903aa5ee435e96fc8cd985c759a56c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39e2f5b427f5e553ce4bc783ac1ea6bcf576b7ba89bc3b72b1ab264bc0a639e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e0682c7ace24ae519eaf97b2766edad4a11e31d7c6436de2fac7d00dce7dee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGiND4lfF5pesbM1hezwbhlaZOcouQfbpZFyikQsguBcojq6fLpOwo79kKEoyce9fa9lo8iT88GEaKvuj36CV1Yqb32AO3RRyUm8IynbLAFJUpcVLaqsLSrU2uPSmlzKS37CeRCM9jZVLzdGZGFUsGCR5PTQcrLrcmOEdfzncRsBNs5yLmDKtypQau8pbXQEWQ5y7qCl_9eMqCYU2x6hNOXWD_unzqNhOwxNOU0s38A4jvi3WL3B1bmE-sBDoVqiD8gZAYfmiBaH5N5rLtzkxyCbuz01vquydDeT8obiAQfNHbHBM-XCqwc1tx99OMsUsbHLKgazCK0o7RX4kuO80HuzivzAYnPHMAYMACSWh847JjZV_wXzAkqMVcC2fJkZUFIQ2FY71KSHqds4X3HdFuEpKqs3foGG0DONEOlq5237irP3_38CeVR5GyqvA6pTMIykeStkTM-NNC0aEuffrARIUsTVrYDPQyAQOb-NU-0rjGzUlR0jwdkX5tz0XvakuCVnmrCYnHKErHhV99-DMVX_DQWgTRXSVoQMF6X-qBgXHfqvhPzciW6sn7D9-ABT0oPvKwzDzfTRP51phonlqWkrPwuwhJuNaRNUGYqEaT7FpZf8CPox_VvYT356WaqSXiITaS5r9BsDbxGPhjx8KKIZViBXNp1gIbr4hruEvC7bozn4tzmZJJIZ2jKEkyqOnwfRwf_cl9jtByihC2W57zeZ8H_nD7jjMt81pRxR9jbEzWJ9Di2ZT7-wtJEcTaQ7AxdyPoLKpg0ygw_2LvHB_KnqmFvIbL2nraKIXBSquwymLO1ke0sZrI6BYZ1fhUMUWIFZSW_grmpBhcSmmvsYrxwblj52BUYfLOtWvwmvxBABQvsP2uc2n3xN84jzO6-zlGQbE7S3YMuNB4_jlJmbaJ_Ls8BNuCHocF3i6AmDUiuIYUt_cp2Ap3gXwd2DgT218M7UAjbk7xzpl3IayWdtupdhSUmyOuMAor0FwEvJ286olNcbO5MTLAGkt6f3ZKCXBxib-Rwm2AFoha8icKRZGCAdc9vYkVmalIfKXXRNMBNEAjbcyKvUfhlASXuBE9pIGwJuIrTh12heKmv9K2_dtcYIqfYbb1vyoOv4N87BOs31RkndTL3Z3JQYa5pIfKzTe8i8eRRUVpTV_ln7TaUafeVHNjU5MkHcxbMf-frTUrrMrVfZB-32B4HMOHx4TKlN44OIdzVlO9LPUegCuo7q7ZomeshBjtpN78xr0RseXA56dRD1cYa1b_Ty--z32pRbTXGYzVz7Uja3E05UBMNEoLyiJjLEJFRcaDvv9-XIgoTCVFLTdZQM_4a-2MXtC9fFMsfRwa_S4kbOrboYdwa-5ZJQTMENcy9OB1y-Ug3Fof6LXKbyNzOCb3m7lP_j8eCZguVQIBBeyzRFGp6U72YDWx9A1273Oj--pjPld6wr61FWy5I5TPyU5TGUIFURlWPA8c6kkCQgAW357r4GqPPL_oNyNGvztwjyYlyn9PPfkO4zgLCjSSN8OpZQmDBERWWEdW17FXuTWNFUQ0QlwLycYoevV0f3SFMFfgbv9xXp0AGVFedZ-ENxPiaCm4uj3gR4-EHZeC_ml2bYgt0l1ZwsK_DAKoqKDSMmAfR1tLWSfB4k3aG6TndNtt1_FI61iS31AzuxLxZVrDhH56_e1YHQAVU0GuXPpKulWAwCpUtSD7hqsSAAjM2LxWoTOVfRTC8Bl2O9",
  "id": "rs_046df9010470ece3016ab4688b042887d08f3e4db66e0c8f60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.4,\"left_z\":0.17,\"right_gripper\":1},\"note\":\"The black-capped pen is centred inside the basket, so I’m releasing it. The left hand drifted outward while turning; I’m correcting that position before dropping the yellow pen.\"}",
  "call_id": "call_veaZcelmWctC37wpHHfc2cNJ",
  "id": "fc_046df9010470ece3016ab4688c9e2487d0b280565609d73490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_veaZcelmWctC37wpHHfc2cNJ",
  "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]: [-0.8761, 2.1674, 1.5345, 0.1989, -0.6224, -0.1852, 0.1616, 0.2581, 1.6852, 1.0855, -0.0353, 0.049, 0.0715, 0.9957]\nstate[eef_state]: left_x=0.463 left_y=-0.3891 left_z=0.1443 left_yaw=-0.2636 left_pitch=0.2106 left_roll=0.0889 left_gripper=0.1616 right_x=0.4701 right_y=0.1188 right_z=0.1395 right_yaw=0.1752 right_pitch=-0.0647 right_roll=0.043 right_gripper=0.9957\nstate[joint_eff]: [-1.4154, -14.147, 9.9214, 1.8144, 0.022, 0.0415, 1.0281, -0.0752, -8.3077, 8.5675, 1.7216, 0.0073, 0.0317, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1eb192001a97e4722748e309e67838eb5d535b897a995cf588303fd77a9bb67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1d3a7e56e73414baf7ecc7c42123c404d008adc8e88e7de9847568de9c595a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2114aac60a0398af5c711d31e6943b29cce04ab5ec93f3bda7255ff058733cbc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 9.677 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 131 changed as sent

message 135 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5156, 1.1042, 0.8642, -0.4286, -0.4934, -0.3676, 0.1535, 0.5167, 0.8944, 0.6765, -0.3481, 0.2756, 0.2092, 0.1553]\nstate[eef_state]: left_x=0.3307 left_y=-0.0871 left_z=0.2081 left_yaw=0.0767 left_pitch=-0.0155 left_roll=0.0022 left_gripper=0.1535 right_x=0.2912 right_y=0.1143 right_z=0.195 right_yaw=0.1701 right_pitch=0.0272 right_roll=0.0472 right_gripper=0.1553\nstate[joint_eff]: [0.0068, -4.547, 8.8, 1.4872, -0.2076, -0.0171, 1.0281, -0.0752, -2.5778, 9.4838, 1.7167, 0.1099, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8036, 2.191, 1.4212, 0.4026, -0.5423, -0.1402, 0.1535, 0.2523, 1.6806, 1.0855, -0.0238, 0.0193, 0.0528, 0.1582]\nstate[eef_state]: left_x=0.4833 left_y=-0.3647 left_z=0.1201 left_yaw=-0.275 left_pitch=0.2477 left_roll=0.0686 left_gripper=0.1535 right_x=0.4711 right_y=0.1216 right_z=0.1438 right_yaw=0.2048 right_pitch=-0.0495 right_roll=0.0463 right_gripper=0.1582\nstate[joint_eff]: [-0.1436, -17.5658, 7.6103, 2.0879, -0.0806, 0.1929, 1.0281, -0.3624, -7.665, 8.6769, 1.663, 0.3101, 0.1148, 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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8761, 2.1674, 1.5345, 0.1989, -0.6224, -0.1852, 0.1616, 0.2581, 1.6852, 1.0855, -0.0353, 0.049, 0.0715, 0.9957]\nstate[eef_state]: left_x=0.463 left_y=-0.3891 left_z=0.1443 left_yaw=-0.2636 left_pitch=0.2106 left_roll=0.0889 left_gripper=0.1616 right_x=0.4701 right_y=0.1188 right_z=0.1395 right_yaw=0.1752 right_pitch=-0.0647 right_roll=0.043 right_gripper=0.9957\nstate[joint_eff]: [-1.4154, -14.147, 9.9214, 1.8144, 0.022, 0.0415, 1.0281, -0.0752, -8.3077, 8.5675, 1.7216, 0.0073, 0.0317, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1eb192001a97e4722748e309e67838eb5d535b897a995cf588303fd77a9bb67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1d3a7e56e73414baf7ecc7c42123c404d008adc8e88e7de9847568de9c595a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2114aac60a0398af5c711d31e6943b29cce04ab5ec93f3bda7255ff058733cbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiRCV5taS_H0Hb_kxAd7TVZDd9tviwPy8lS2Za02kvEadahYh5ZC7xAP_wZJXBuqzRfaUu7BgMQSa7TmVOTYpVCeRRtHpIWwXoMD3ZfTcf_H80J25kxltXovuTY9z6AG_eNmB_vtJXg7MUSJVNvPQs8jJL3dhNijT2glVYOp2C3c4QuXTwHveLx5Zk4mGISVkkRfI3wXeSNKyTy5pPt6ks0-jvj8Z71jVcsfwEbilGnTgl3XsqswoejHMHmp8VZ37FgjYFM4LAaXpMXBD9HCNZ4g3JCgGkxGLF0CsOpAkIn7cgRNVjcACTFZy16Xgct3OstHn8n1Lkni6Zhjd-u0AQtEIy5Dj91sJgeXzrGkTLxbseLVwGICD5yaF7jsz1gLl039hBt7G8BKNujKXtww8TESAcQu3DYpYaSlpGVsNNuMbos0WOpBfVUmzAWK31ZFGtcVAkWFQXcG7W8tGtmFEQRfEDufFVTwynSe8QYqXsc-OpKp2O80OoTYsNzHnJNjrgrzI_dfb6NrUS87auLPyIJCKha4po-ii8IqbzW1OmTPZNi4fKfveegtlbV0CBQZOpji8zgskc8OFuT5m4ZluuIk41M-LSKIzs53mIsS-IBo4anT5og-UD7NSrNZ3g1xWvLVq11TMQn2PE0IDxCRXjx7ZWAC4UUr909ms-ypnamp1mNOW6-QCXEjV9JRdAgGHoW0ujxMi3ISYr4V1Emb-1TOtlt9cdLWknTxpEr3OlGou5AhEwMbj35wfdRdWUnbvuhfFkcK27GJWIlE0aS9IkDwQe9guzXN7KEOpl4FeKnHD6LJt8lG9JgQQER9_ikcwcXMBO7ScOyUk8Q5cKwYMWkv28sTiKjOwv4ngbhal5MyEYtQirJs5-2za4203xXlLiPYheK2-UnBYUVZwZm67-y977D1dSQoA3qZoFX3l0mFNViXDEC7h_i2Vsm-B6LYs8oZLn5IRcOaSlvsRiNZKNGrRbezY4-3IQpQQYZt2c2fgzELIK895nF78NUOvJDbzTHygdpNbt2cP0MDZOssiN0N88mRPh9oSRLGbdRAFapf8l6_96zB6gWNu91qbvl0CBuWL-KQtyNA_k703Qox4Y8tiBMycgUluYzOCii79yu3EWWXB1r2BuihVyl0MvR1wbfIJQBsvU-R_4uBg4xJEpMR0xRRGQQV2X-dQzgSk0e6SmrEaECdKDdspXi2E--VRf4qmx_UEBY0AnEIiWeO1fRGIdIBzakAGI33mjN9jnE_4R4Rnc16uN0XKhrYi64hCNk7OIFi0Jno7RFm1oHQyc-auGsD8r_qe-FossFThslM7kL8FPh4nfb7wkI3aaKm6Pd",
  "id": "rs_046df9010470ece3016ab468901d7087d08aa4ce836615f192",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow pen is now on the inside of the basket’s left wall. I’m releasing it with the other two pens.\"}",
  "call_id": "call_X7pM8VqbCnqM9eLNcfcuR0G2",
  "id": "fc_046df9010470ece3016ab4689088ec87d093f9a3f75862cc80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X7pM8VqbCnqM9eLNcfcuR0G2",
  "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]: [-0.8585, 2.1674, 1.536, 0.1719, -0.6621, -0.1993, 0.9949, 0.2382, 1.6852, 1.0843, -0.0547, 0.0837, 0.0677, 0.9962]\nstate[eef_state]: left_x=0.4701 left_y=-0.3728 left_z=0.1415 left_yaw=-0.2087 left_pitch=0.2009 left_roll=0.1049 left_gripper=0.9949 right_x=0.4704 right_y=0.1027 right_z=0.1354 right_yaw=0.128 right_pitch=-0.0832 right_roll=0.0171 right_gripper=0.9962\nstate[joint_eff]: [-1.5795, -12.547, 6.7897, 1.9756, 0.2125, 0.105, -0.1783, 1.3197, -8.3077, 7.2, 1.9023, -0.2759, 0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cadaa631da833917f8fed1dec062dc5398b3e6706aa7ed898295435418b9d4c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3dbd7ac3fc27bb23501e7a1bea5aab64d67feb6960a849ad293229b0f07686c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff006d132f5d479a06c4507527654b627b93125d4e8ad8e8f0b980590192b4a6",
      "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 · 9.292 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9329, 2.3249, 1.8019, 0.1539, -0.9993, -0.3145, 0.1535, 0.1558, 1.6588, 1.0748, -0.0235, -0.0315, 0.0196, 0.1553]\nstate[eef_state]: left_x=0.4781 left_y=-0.3895 left_z=0.1745 left_yaw=0.0831 left_pitch=0.3654 left_roll=0.0156 left_gripper=0.1535 right_x=0.4761 right_y=0.084 right_z=0.1493 right_yaw=0.1689 right_pitch=-0.0379 right_roll=0.0486 right_gripper=0.1553\nstate[joint_eff]: [-0.8821, -13.8598, 8.9094, 1.8779, -0.2271, 0.1832, 1.0281, -0.3077, -7.788, 9.7026, 2.0733, -0.0171, -0.0757, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8761, 2.1674, 1.5345, 0.1989, -0.6224, -0.1852, 0.1616, 0.2581, 1.6852, 1.0855, -0.0353, 0.049, 0.0715, 0.9957]\nstate[eef_state]: left_x=0.463 left_y=-0.3891 left_z=0.1443 left_yaw=-0.2636 left_pitch=0.2106 left_roll=0.0889 left_gripper=0.1616 right_x=0.4701 right_y=0.1188 right_z=0.1395 right_yaw=0.1752 right_pitch=-0.0647 right_roll=0.043 right_gripper=0.9957\nstate[joint_eff]: [-1.4154, -14.147, 9.9214, 1.8144, 0.022, 0.0415, 1.0281, -0.0752, -8.3077, 8.5675, 1.7216, 0.0073, 0.0317, -0.1832]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8585, 2.1674, 1.536, 0.1719, -0.6621, -0.1993, 0.9949, 0.2382, 1.6852, 1.0843, -0.0547, 0.0837, 0.0677, 0.9962]\nstate[eef_state]: left_x=0.4701 left_y=-0.3728 left_z=0.1415 left_yaw=-0.2087 left_pitch=0.2009 left_roll=0.1049 left_gripper=0.9949 right_x=0.4704 right_y=0.1027 right_z=0.1354 right_yaw=0.128 right_pitch=-0.0832 right_roll=0.0171 right_gripper=0.9962\nstate[joint_eff]: [-1.5795, -12.547, 6.7897, 1.9756, 0.2125, 0.105, -0.1783, 1.3197, -8.3077, 7.2, 1.9023, -0.2759, 0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cadaa631da833917f8fed1dec062dc5398b3e6706aa7ed898295435418b9d4c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3dbd7ac3fc27bb23501e7a1bea5aab64d67feb6960a849ad293229b0f07686c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff006d132f5d479a06c4507527654b627b93125d4e8ad8e8f0b980590192b4a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_046df9010470ece3016ab46893c88887d0b89e7e6e375fd2bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"All three pens are visible inside the right basket, and the tan and brown plush animals are in the left basket. The gray plush remains near the far-left edge after two failed grasps; I’m parking the arms to inspect the final layout safely.\"}",
  "call_id": "call_B2fxoSnJQDpdwKtCEMUjdYs7",
  "id": "fc_046df9010470ece3016ab4689a0b5087d0a88a0b23413e8064",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B2fxoSnJQDpdwKtCEMUjdYs7",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0555, 0.8585, 0.7872, -0.4927, -0.094, -0.0731, 0.9966, -0.1314, 0.8776, 0.8158, -0.5243, -0.1944, -0.1467, 0.9964]\nstate[eef_state]: left_x=0.3048 left_y=0.0033 left_z=0.2229 left_yaw=0.0493 left_pitch=0.0007 left_roll=-0.0012 left_gripper=0.9966 right_x=0.3048 right_y=-0.0023 right_z=0.2254 right_yaw=0.1081 right_pitch=-0.004 right_roll=-0.0015 right_gripper=0.9964\nstate[joint_eff]: [0.0889, -2.1949, 8.8684, 1.7705, 0.1197, 0.1441, 0.1587, -0.2256, -2.2359, 7.7607, 1.7607, -0.2222, -0.0757, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 450):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849220694d4991720dab62dc4c974bf8ca98d10a099060ecaf5e11a8086282f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 450):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b64a3584b33da690b1cc3aec822aff1ac116d7622e6928d49af3aae6bbb036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 450):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836d125af3220caf41125772c37739074111bce96d814905c79a56f5466be4c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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